diff --git a/.ackrc b/.ackrc deleted file mode 100644 index 0215ca1eebeb..000000000000 --- a/.ackrc +++ /dev/null @@ -1 +0,0 @@ ---ignore-dir=Documentation diff --git a/.ci/Jenkinsfile-compile b/.ci/Jenkinsfile-compile index f6a6275632f5..fcf70a5a2fdc 100644 --- a/.ci/Jenkinsfile-compile +++ b/.ci/Jenkinsfile-compile @@ -9,7 +9,7 @@ pipeline { script { def build_nodes = [:] def docker_images = [ - armhf: "px4io/px4-dev-armhf:2022-08-12", + armhf: "px4io/px4-dev-armhf:2023-06-26", arm64: "px4io/px4-dev-aarch64:2022-08-12", base: "px4io/px4-dev-ros2-foxy:2022-08-12", nuttx: "px4io/px4-dev-nuttx-focal:2022-08-12", @@ -35,6 +35,7 @@ pipeline { def nuttx_builds_archive = [ target: [ + "3dr_ctrl-zero-h7-oem-revg_default", "airmind_mindpx-v2_default", "ark_can-flow_canbootloader", "ark_can-flow_default", @@ -42,19 +43,25 @@ pipeline { "ark_can-gps_default", "ark_can-rtk-gps_canbootloader", "ark_can-rtk-gps_default", + "ark_cannode_canbootloader", + "ark_cannode_default", "ark_fmu-v6x_bootloader", "ark_fmu-v6x_default", + "ark_pi6x_bootloader", + "ark_pi6x_default", "atl_mantis-edu_default", "av_x-v1_default", - "bitcraze_crazyflie_default", "bitcraze_crazyflie21_default", + "bitcraze_crazyflie_default", "cuav_can-gps-v1_canbootloader", "cuav_can-gps-v1_default", "cuav_nora_default", "cuav_x7pro_default", "cubepilot_cubeorange_default", + "cubepilot_cubeorangeplus_default", "cubepilot_cubeyellow_default", "diatone_mamba-f405-mk2_default", + "flywoo_gn-f405_default", "freefly_can-rtk-gps_canbootloader", "freefly_can-rtk-gps_default", "holybro_can-gps-v1_canbootloader", @@ -62,8 +69,8 @@ pipeline { "holybro_durandal-v1_default", "holybro_kakutef7_default", "holybro_kakuteh7_default", - "holybro_kakuteh7v2_default", "holybro_kakuteh7mini_default", + "holybro_kakuteh7v2_default", "holybro_pix32v5_default", "matek_gnss-m9n-f4_canbootloader", "matek_gnss-m9n-f4_default", @@ -72,9 +79,9 @@ pipeline { "matek_h743_default", "modalai_fc-v1_default", "modalai_fc-v2_default", - "modalai_voxl2-io_default", - "mro_ctrl-zero-f7_default", + "mro_ctrl-zero-classic_default", "mro_ctrl-zero-f7-oem_default", + "mro_ctrl-zero-f7_default", "mro_ctrl-zero-h7-oem_default", "mro_ctrl-zero-h7_default", "mro_pixracerpro_default", @@ -84,7 +91,7 @@ pipeline { "nxp_fmuk66-e_socketcan", "nxp_fmuk66-v3_default", "nxp_fmuk66-v3_socketcan", - "nxp_fmurt1062-v1_default", + "nxp_mr-canhubk3_default", "nxp_ucans32k146_canbootloader", "nxp_ucans32k146_default", "omnibus_f4sd_default", @@ -100,19 +107,28 @@ pipeline { "px4_fmu-v5_debug", "px4_fmu-v5_default", "px4_fmu-v5_lto", + "px4_fmu-v5_rover", "px4_fmu-v5_stackcheck", "px4_fmu-v5_uavcanv0periph", "px4_fmu-v5x_default", + "px4_fmu-v5x_rover", "px4_fmu-v6c_default", + "px4_fmu-v6c_rover", "px4_fmu-v6u_default", + "px4_fmu-v6u_rover", "px4_fmu-v6x_default", + "px4_fmu-v6x_rover", + "px4_fmu-v6xrt_bootloader", + "px4_fmu-v6xrt_default", + "px4_fmu-v6xrt_rover", "px4_io-v2_default", "raspberrypi_pico_default", + "siyi_n7_default", "sky-drones_smartap-airlink_default", "spracing_h7extreme_default", "thepeach_k1_default", "thepeach_r1_default", - "uvify_core_default" + "uvify_core_default", ], image: docker_images.nuttx, archive: true @@ -164,7 +180,7 @@ pipeline { } options { buildDiscarder(logRotator(numToKeepStr: '5', artifactDaysToKeepStr: '14')) - timeout(time: 90, unit: 'MINUTES') + timeout(time: 120, unit: 'MINUTES') } } diff --git a/.ci/Jenkinsfile-hardware b/.ci/Jenkinsfile-hardware index bb1b8f8a732b..73483107a748 100644 --- a/.ci/Jenkinsfile-hardware +++ b/.ci/Jenkinsfile-hardware @@ -12,7 +12,7 @@ pipeline { stage("build cubepilot_cubeorange_test") { agent { docker { - image 'px4io/px4-dev-nuttx-focal:2021-09-08' + image 'px4io/px4-dev-nuttx-focal:2022-08-12' args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw' } } @@ -91,7 +91,7 @@ pipeline { stage("build cuav_x7pro_test") { agent { docker { - image 'px4io/px4-dev-nuttx-focal:2021-09-08' + image 'px4io/px4-dev-nuttx-focal:2022-08-12' args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw' } } @@ -165,7 +165,7 @@ pipeline { stage("build px4_fmu-v4_test") { agent { docker { - image 'px4io/px4-dev-nuttx-focal:2021-09-08' + image 'px4io/px4-dev-nuttx-focal:2022-08-12' args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw' } } @@ -238,7 +238,7 @@ pipeline { stage("build px4_fmu-v4pro_test") { agent { docker { - image 'px4io/px4-dev-nuttx-focal:2021-09-08' + image 'px4io/px4-dev-nuttx-focal:2022-08-12' args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw' } } @@ -312,7 +312,7 @@ pipeline { stage("build px4_fmu-v5_debug") { agent { docker { - image 'px4io/px4-dev-nuttx-focal:2021-09-08' + image 'px4io/px4-dev-nuttx-focal:2022-08-12' args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw' } } @@ -362,7 +362,7 @@ pipeline { sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_stress"' // test dataman - sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests dataman"' + sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests dataman" --ignore-stdout-errors' sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests file" || true' sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests"' @@ -403,7 +403,7 @@ pipeline { stage("build px4_fmu-v5_stackcheck") { agent { docker { - image 'px4io/px4-dev-nuttx-focal:2021-09-08' + image 'px4io/px4-dev-nuttx-focal:2022-08-12' args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw' } } @@ -449,7 +449,7 @@ pipeline { sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests latency_test" || true' // test dataman - sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests dataman"' + sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests dataman" --ignore-stdout-errors' } } stage("status") { @@ -486,7 +486,7 @@ pipeline { stage("build px4_fmu-v5_test") { agent { docker { - image 'px4io/px4-dev-nuttx-focal:2021-09-08' + image 'px4io/px4-dev-nuttx-focal:2022-08-12' args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw' } } @@ -560,7 +560,7 @@ pipeline { stage("build nxp_fmuk66-v3_test") { agent { docker { - image 'px4io/px4-dev-nuttx-focal:2021-09-08' + image 'px4io/px4-dev-nuttx-focal:2022-08-12' args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw' } } diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json index b0914106edcc..4e9788b228bd 100644 --- a/.devcontainer/devcontainer.json +++ b/.devcontainer/devcontainer.json @@ -2,7 +2,7 @@ // https://github.com/microsoft/vscode-dev-containers/tree/v0.134.0/containers/cpp { "name": "px4-dev-nuttx", - "image": "px4io/px4-dev-nuttx-focal:2021-09-08", + "image": "px4io/px4-dev-nuttx-focal:2022-08-12", "runArgs": [ "--cap-add=SYS_PTRACE", "--security-opt", "seccomp=unconfined" ], @@ -15,6 +15,7 @@ "extensions": [ "chiehyu.vscode-astyle", "dan-c-underwood.arm", + "editorconfig.editorconfig", "fredericbonnet.cmake-test-adapter", "github.vscode-pull-request-github", "marus25.cortex-debug", @@ -29,7 +30,8 @@ "twxs.cmake", "uavcan.dsdl", "wholroyd.jinja", - "zixuanwang.linkerscript" + "zixuanwang.linkerscript", + "ms-vscode.makefile-tools" ], "containerUser": "user", diff --git a/.editorconfig b/.editorconfig new file mode 100644 index 000000000000..1ac25a4f5860 --- /dev/null +++ b/.editorconfig @@ -0,0 +1,14 @@ +root = true + +[*] +insert_final_newline = true + +[{*.{c,cpp,cc,h,hpp},CMakeLists.txt,Kconfig}] +indent_style = tab +tab_width = 8 +# Not in the official standard, but supported by many editors +max_line_length = 120 + +[*.yaml, *.yml] +indent_style = space +indent_size = 2 diff --git a/.github/ISSUE_TEMPLATE/1_Bug_report.md b/.github/ISSUE_TEMPLATE/1_Bug_report.md deleted file mode 100644 index cc0bc6d96fdf..000000000000 --- a/.github/ISSUE_TEMPLATE/1_Bug_report.md +++ /dev/null @@ -1,34 +0,0 @@ ---- -name: 🐛 Bug report -about: Create a report to help us improve -labels: bug-report - ---- - -## Describe the bug -A clear and concise description of the bug. - -## To Reproduce -Steps to reproduce the behavior: -1. Drone switched on '...' -2. Uploaded mission '....' (attach QGC mission file) -3. Took off '....' -4. See error - -## Expected behavior -A clear and concise description of what you expected to happen. - -## Log Files and Screenshots -*Always* provide a link to the flight log file: -- Download the flight log file from the vehicle ([tutorial](https://docs.px4.io/main/en/getting_started/flight_reporting.html)). -- Upload the log to the [PX4 Flight Review](http://logs.px4.io/) -- Share the link to the log (Copy and paste the URL of the log) - -Add screenshots to help explain your problem. - -## Drone (please complete the following information): -- Describe the type of drone. -- Photo of the IMU / autopilot setup if possible. - -## Additional context -Add any other context about the problem here. diff --git a/.github/ISSUE_TEMPLATE/2_Feature_request.md b/.github/ISSUE_TEMPLATE/2_Feature_request.md deleted file mode 100644 index adcdc30fd8b7..000000000000 --- a/.github/ISSUE_TEMPLATE/2_Feature_request.md +++ /dev/null @@ -1,20 +0,0 @@ ---- -name: 🚀 Feature Request -about: Suggest an idea for this project -labels: feature-request - ---- - -For general questions please use [PX4 Discuss](http://discuss.px4.io/) or Discord (you can find an invite link on this project README). - -## Describe problem solved by the proposed feature -A clear and concise description of the problem, if any, this feature will solve. E.g. I'm always frustrated when ... - -## Describe your preferred solution -A clear and concise description of what you want to happen. - -## Describe possible alternatives -A clear and concise description of alternative solutions or features you've considered. - -## Additional context -Add any other context or screenshots for the feature request here. diff --git a/.github/ISSUE_TEMPLATE/3_Support_question.md b/.github/ISSUE_TEMPLATE/3_Support_question.md deleted file mode 100644 index 7c331f2dc17d..000000000000 --- a/.github/ISSUE_TEMPLATE/3_Support_question.md +++ /dev/null @@ -1,13 +0,0 @@ ---- -name: ⛔ Support Question -about: See http://discuss.px4.io/ for questions about using PX4. - ---- - -## Attention! Please read the note below - -We use GitHub issues only to discuss PX4 bugs and new features. - -**For questions about using PX4 or related components, please use [PX4 Discuss](http://discuss.px4.io/).** - -Thanks! diff --git a/.github/ISSUE_TEMPLATE/4_Documentation_issue.md b/.github/ISSUE_TEMPLATE/4_Documentation_issue.md deleted file mode 100644 index 0e14e82cc564..000000000000 --- a/.github/ISSUE_TEMPLATE/4_Documentation_issue.md +++ /dev/null @@ -1,11 +0,0 @@ ---- -name: ⛔ Documentation Issue -about: See https://github.com/PX4/px4_user_guide for documentation issues - ---- - -## Attention! Please read the note below - -**Please submit the documentation issue to the [User Guide](https://github.com/PX4/px4_user_guide) repository.** - -Thanks! diff --git a/.github/ISSUE_TEMPLATE/bug_report.yml b/.github/ISSUE_TEMPLATE/bug_report.yml new file mode 100644 index 000000000000..ffbb271a900f --- /dev/null +++ b/.github/ISSUE_TEMPLATE/bug_report.yml @@ -0,0 +1,94 @@ +name: 🐛 Bug report +description: Create a report to help us improve +title: "[Bug] " +labels: ["bug-report"] +body: + - type: textarea + attributes: + label: Describe the bug + description: A clear and concise description of the bug. + validations: + required: true + + - type: textarea + attributes: + label: To Reproduce + description: | + Steps to reproduce the behavior. + 1. Drone switched on '...' + 2. Uploaded mission '....' (attach QGC mission file) + 3. Took off '....' + 4. See error + validations: + required: false + + - type: textarea + attributes: + label: Expected behavior + description: A clear and concise description of what you expected to happen. + validations: + required: false + + - type: textarea + attributes: + label: Screenshot / Media + description: Add screenshot / media if you have them + + - type: textarea + attributes: + label: Flight Log + description: | + *Always* provide a link to the flight log file: + - Download the flight log file from the vehicle ([tutorial](https://docs.px4.io/main/en/getting_started/flight_reporting.html)). + - Upload the log to the [PX4 Flight Review](http://logs.px4.io/) + - Share the link to the log (Copy and paste the URL of the log) + placeholder: | + # PASTE HERE THE LINK TO THE LOG + validations: + required: false + + - type: markdown + attributes: + value: | + ## Setup + + - type: textarea + attributes: + label: Software Version + description: | + Which version of PX4 are you using? + placeholder: | + # If you don't know the version, paste the output of `ver all` in the MAVLink Shell of QGC + validations: + required: false + + - type: input + attributes: + label: Flight controller + description: Specify your flight controller model (what type is it, where was it bought from, ...). + validations: + required: false + + - type: dropdown + attributes: + label: Vehicle type + options: + - Multicopter + - Helicopter + - Fixed Wing + - Hybrid VTOL + - Airship/Balloon + - Rover + - Boat + - Submarine + - Other + + - type: textarea + attributes: + label: How are the different components wired up (including port information) + description: Details about how all is wired. + + - type: textarea + attributes: + label: Additional context + description: Add any other context about the problem here. diff --git a/.github/ISSUE_TEMPLATE/config.yml b/.github/ISSUE_TEMPLATE/config.yml new file mode 100644 index 000000000000..92ab6b518435 --- /dev/null +++ b/.github/ISSUE_TEMPLATE/config.yml @@ -0,0 +1,8 @@ +blank_issues_enabled: false +contact_links: + - name: Support Question + url: https://docs.px4.io/main/en/contribute/support.html#forums-and-chat + about: For questions about using PX4 or related components, please use the discuss forum and discord server + - name: Documentation Issue + url: https://github.com/PX4/PX4-user_guide/issues + about: If you found an issue in documentation, please submit it directly to the docs repository issues diff --git a/.github/ISSUE_TEMPLATE/feature_request.yml b/.github/ISSUE_TEMPLATE/feature_request.yml new file mode 100644 index 000000000000..955ef1f353fd --- /dev/null +++ b/.github/ISSUE_TEMPLATE/feature_request.yml @@ -0,0 +1,35 @@ +name: 🚀 Feature Request +description: Suggest an idea for this project +labels: ["feature-request"] +body: + - type: markdown + attributes: + value: | + ## Please note that feature requests are not 'fire and forget' + It is a lot more likely that the feature you would like to have will be implemented if you keep watching your feature request, and provide more details to developers looking into implementing your feature, and help them with testing. + + - type: textarea + attributes: + label: Describe problem solved by the proposed feature + description: A clear and concise description of the problem, if any, this feature will solve. E.g. I'm always frustrated when ... + validations: + required: true + + - type: textarea + attributes: + label: Describe your preferred solution + description: A clear and concise description of what you want to happen. + validations: + required: true + + - type: textarea + attributes: + label: Describe possible alternatives + description: A clear and concise description of any alternative solutions or features you've considered. + validations: + required: true + + - type: textarea + attributes: + label: Additional context + description: Add any other context or screenshots for the feature request here. diff --git a/.github/PULL_REQUEST_TEMPLATE.md b/.github/PULL_REQUEST_TEMPLATE.md index e892c11e19b0..034f46e2b86d 100644 --- a/.github/PULL_REQUEST_TEMPLATE.md +++ b/.github/PULL_REQUEST_TEMPLATE.md @@ -23,7 +23,7 @@ For release notes: ``` Feature/Bugfix XYZ New parameter: XYZ_Z -Documentation: Need to clarfiy page ... / done, read docs.px4.io/... +Documentation: Need to clarify page ... / done, read docs.px4.io/... ``` ### Alternatives diff --git a/.github/slack.svg b/.github/slack.svg deleted file mode 100644 index 2b0fbae4aa97..000000000000 --- a/.github/slack.svg +++ /dev/null @@ -1,24 +0,0 @@ - - - - - - - - - - - - - - - - - - slack - slack - Join us! - Join us! - - - diff --git a/.github/stale.yml b/.github/stale.yml deleted file mode 100644 index f20bbd3977b2..000000000000 --- a/.github/stale.yml +++ /dev/null @@ -1,15 +0,0 @@ -# Number of days of inactivity before an issue becomes stale -daysUntilStale: 90 -# Number of days of inactivity before a stale issue is closed, or `false` to disable -daysUntilClose: false -# Issues with these labels will never be considered stale -exemptLabels: - - pinned -# Label to use when marking an issue as stale -staleLabel: stale -# Comment to post when marking an issue as stale. Set to `false` to disable -markComment: > - This issue has been automatically marked as stale because it has not had - recent activity. Thank you for your contributions. -# Comment to post when closing a stale issue. Set to `false` to disable -closeComment: false diff --git a/.github/workflows/build_all_targets.yml b/.github/workflows/build_all_targets.yml new file mode 100644 index 000000000000..0aa6ce92e592 --- /dev/null +++ b/.github/workflows/build_all_targets.yml @@ -0,0 +1,90 @@ +# NOTE: this workflow is now running on Dronecode / PX4 AWS account. +# - If you want to keep the tests running in GitHub Actions you need to uncomment the "runs-on: ubuntu-latest" lines +# and comment the "runs-on: [runs-on,runner=..." lines. +# - If you would like to duplicate this setup try setting up "RunsOn" on your own AWS account try https://runs-on.com + +name: Build all targets + +on: + push: + branches: + - 'main' + - 'stable' + - 'beta' + - 'release/*' + pull_request: + branches: + - '*' + +jobs: + group_targets: + name: Scan for Board Targets + # runs-on: ubuntu-latest + runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}"] + outputs: + matrix: ${{ steps.set-matrix.outputs.matrix }} + timestamp: ${{ steps.set-timestamp.outputs.timestamp }} + steps: + - uses: actions/checkout@v4 + + - name: Install Python Dependencies + uses: py-actions/py-dependency-install@v4 + with: + path: "./Tools/setup/requirements.txt" + + - id: set-matrix + run: echo "::set-output name=matrix::$(./Tools/generate_board_targets_json.py --group)" + + - id: set-timestamp + run: echo "::set-output name=timestamp::$(date +"%Y%m%d%H%M%S")" + + setup: + name: ${{ matrix.group }} + # runs-on: ubuntu-latest + runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}"] + needs: group_targets + strategy: + matrix: ${{ fromJson(needs.group_targets.outputs.matrix) }} + container: + image: ${{ matrix.container }} + steps: + - uses: actions/checkout@v4 + with: + fetch-depth: 0 + + - name: ownership workaround + run: git config --system --add safe.directory '*' + + - name: ccache setup keys + uses: actions/cache@v4 + with: + path: ~/.ccache + key: ${{ matrix.group }}-ccache-${{ needs.group_targets.outputs.timestamp }} + restore-keys: ${{ matrix.group }}-ccache-${{ needs.group_targets.outputs.timestamp }} + + - name: setup ccache + run: | + mkdir -p ~/.ccache + echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf + echo "compression = true" >> ~/.ccache/ccache.conf + echo "compression_level = 6" >> ~/.ccache/ccache.conf + echo "max_size = 120M" >> ~/.ccache/ccache.conf + echo "hash_dir = false" >> ~/.ccache/ccache.conf + ccache -s + ccache -z + + - name: build target group + run: | + ./Tools/ci_build_all_runner.sh ${{matrix.targets}} + + - name: Upload px4 package + uses: actions/upload-artifact@v4 + with: + name: px4_${{matrix.group}}_build_artifacts + path: | + build/**/*.px4 + build/**/*.bin + compression-level: 0 + + - name: ccache post-run + run: ccache -s diff --git a/.github/workflows/checks.yml b/.github/workflows/checks.yml index ef15d321717e..a2d7aa5f97a8 100644 --- a/.github/workflows/checks.yml +++ b/.github/workflows/checks.yml @@ -16,6 +16,7 @@ jobs: matrix: check: [ "check_format", + "check_newlines", "tests", "tests_coverage", "px4_fmu-v2_default stack_check", @@ -23,12 +24,13 @@ jobs: "shellcheck_all", "NO_NINJA_BUILD=1 px4_fmu-v5_default", "NO_NINJA_BUILD=1 px4_sitl_default", + "px4_sitl_allyes", "airframe_metadata", "module_documentation", "parameters_metadata", ] container: - image: px4io/px4-dev-nuttx-focal:2021-09-08 + image: px4io/px4-dev-nuttx-focal:2022-08-12 options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined steps: - uses: actions/checkout@v1 diff --git a/.github/workflows/compile_linux.yml b/.github/workflows/compile_linux.yml deleted file mode 100644 index d14b533475f9..000000000000 --- a/.github/workflows/compile_linux.yml +++ /dev/null @@ -1,54 +0,0 @@ -name: Linux Targets - -on: - push: - branches: - - 'main' - pull_request: - branches: - - '*' - -jobs: - build: - runs-on: ubuntu-latest - container: px4io/px4-dev-armhf:2021-09-08 - strategy: - matrix: - config: [ - beaglebone_blue_default, - emlid_navio2_default, - px4_raspberrypi_default, - scumaker_pilotpi_default, - ] - steps: - - uses: actions/checkout@v1 - with: - token: ${{secrets.ACCESS_TOKEN}} - - - name: Prepare ccache timestamp - id: ccache_cache_timestamp - shell: cmake -P {0} - run: | - string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC) - message("::set-output name=timestamp::${current_date}") - - name: ccache cache files - uses: actions/cache@v2 - with: - path: ~/.ccache - key: ${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}} - restore-keys: ${{matrix.config}}-ccache- - - name: setup ccache - run: | - mkdir -p ~/.ccache - echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf - echo "compression = true" >> ~/.ccache/ccache.conf - echo "compression_level = 6" >> ~/.ccache/ccache.conf - echo "max_size = 100M" >> ~/.ccache/ccache.conf - echo "hash_dir = false" >> ~/.ccache/ccache.conf - ccache -s - ccache -z - - - name: make ${{matrix.config}} - run: make ${{matrix.config}} - - name: ccache post-run - run: ccache -s diff --git a/.github/workflows/compile_linux_arm64.yml b/.github/workflows/compile_linux_arm64.yml deleted file mode 100644 index 81ecc1256905..000000000000 --- a/.github/workflows/compile_linux_arm64.yml +++ /dev/null @@ -1,51 +0,0 @@ -name: Linux ARM64 Targets - -on: - push: - branches: - - 'main' - pull_request: - branches: - - '*' - -jobs: - build: - runs-on: ubuntu-latest - container: px4io/px4-dev-aarch64:2021-09-08 - strategy: - matrix: - config: [ - scumaker_pilotpi_arm64, - ] - steps: - - uses: actions/checkout@v1 - with: - token: ${{secrets.ACCESS_TOKEN}} - - - name: Prepare ccache timestamp - id: ccache_cache_timestamp - shell: cmake -P {0} - run: | - string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC) - message("::set-output name=timestamp::${current_date}") - - name: ccache cache files - uses: actions/cache@v2 - with: - path: ~/.ccache - key: ${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}} - restore-keys: ${{matrix.config}}-ccache- - - name: setup ccache - run: | - mkdir -p ~/.ccache - echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf - echo "compression = true" >> ~/.ccache/ccache.conf - echo "compression_level = 6" >> ~/.ccache/ccache.conf - echo "max_size = 100M" >> ~/.ccache/ccache.conf - echo "hash_dir = false" >> ~/.ccache/ccache.conf - ccache -s - ccache -z - - - name: make ${{matrix.config}} - run: make ${{matrix.config}} - - name: ccache post-run - run: ccache -s diff --git a/.github/workflows/compile_macos.yml b/.github/workflows/compile_macos.yml index 45f6f5a61521..5c45a7710845 100644 --- a/.github/workflows/compile_macos.yml +++ b/.github/workflows/compile_macos.yml @@ -10,15 +10,19 @@ on: jobs: build: - runs-on: macos-10.15 + runs-on: macos-latest strategy: matrix: config: [ px4_fmu-v5_default, px4_sitl - #tests, # includes px4_sitl ] steps: + - name: install Python 3.10 + uses: actions/setup-python@v4 + with: + python-version: "3.10" + - uses: actions/checkout@v1 with: token: ${{secrets.ACCESS_TOKEN}} diff --git a/.github/workflows/compile_nuttx.yml b/.github/workflows/compile_nuttx.yml deleted file mode 100644 index 67b055fdd97b..000000000000 --- a/.github/workflows/compile_nuttx.yml +++ /dev/null @@ -1,129 +0,0 @@ -name: Nuttx Targets - -on: - push: - branches: - - 'main' - pull_request: - branches: - - '*' - -jobs: - build: - runs-on: ubuntu-latest - container: px4io/px4-dev-nuttx-focal:2021-09-08 - strategy: - fail-fast: false - matrix: - config: [ - airmind_mindpx-v2, - ark_can-flow, - ark_can-gps, - ark_can-rtk-gps, - ark_cannode, - ark_fmu-v6x, - atl_mantis-edu, - av_x-v1, - bitcraze_crazyflie, - bitcraze_crazyflie21, - cuav_can-gps-v1, - cuav_nora, - cuav_x7pro, - cubepilot_cubeorange, - cubepilot_cubeorangeplus, - cubepilot_cubeyellow, - diatone_mamba-f405-mk2, - freefly_can-rtk-gps, - holybro_can-gps-v1, - holybro_durandal-v1, - holybro_kakutef7, - holybro_kakuteh7, - holybro_pix32v5, - matek_gnss-m9n-f4, - matek_h743, - matek_h743-mini, - matek_h743-slim, - modalai_fc-v1, - modalai_fc-v2, - mro_ctrl-zero-f7, - mro_ctrl-zero-f7-oem, - mro_ctrl-zero-h7, - mro_ctrl-zero-h7-oem, - mro_pixracerpro, - mro_x21, - mro_x21-777, - nxp_fmuk66-e, - nxp_fmuk66-v3, - nxp_fmurt1062-v1, - nxp_mr-canhubk3, - nxp_ucans32k146, - omnibus_f4sd, - px4_fmu-v2, - px4_fmu-v3, - px4_fmu-v4, - px4_fmu-v4pro, - px4_fmu-v5, - px4_fmu-v5x, - px4_fmu-v6c, - px4_fmu-v6u, - px4_fmu-v6x, - raspberrypi_pico, - sky-drones_smartap-airlink, - spracing_h7extreme, - uvify_core - ] - steps: - - uses: actions/checkout@v1 - with: - token: ${{secrets.ACCESS_TOKEN}} - - - name: Prepare ccache timestamp - id: ccache_cache_timestamp - shell: cmake -P {0} - run: | - string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC) - message("::set-output name=timestamp::${current_date}") - - name: ccache cache files - uses: actions/cache@v2 - with: - path: ~/.ccache - key: ${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}} - restore-keys: ${{matrix.config}}-ccache- - - name: setup ccache - run: | - mkdir -p ~/.ccache - echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf - echo "compression = true" >> ~/.ccache/ccache.conf - echo "compression_level = 6" >> ~/.ccache/ccache.conf - echo "max_size = 120M" >> ~/.ccache/ccache.conf - echo "hash_dir = false" >> ~/.ccache/ccache.conf - ccache -s - ccache -z - - - name: make all_variants_${{matrix.config}} - run: make all_variants_${{matrix.config}} - timeout-minutes: 45 - - name: make ${{matrix.config}} bloaty_compileunits - run: make ${{matrix.config}} bloaty_compileunits || true - - name: make ${{matrix.config}} bloaty_inlines - run: make ${{matrix.config}} bloaty_inlines || true - - name: make ${{matrix.config}} bloaty_segments - run: make ${{matrix.config}} bloaty_segments || true - - name: make ${{matrix.config}} bloaty_symbols - run: make ${{matrix.config}} bloaty_symbols || true - - name: make ${{matrix.config}} bloaty_templates - run: make ${{matrix.config}} bloaty_templates || true - - name: make ${{matrix.config}} bloaty_ram - run: make ${{matrix.config}} bloaty_ram || true - - name: make ${{matrix.config}} bloaty_compare_master - run: make ${{matrix.config}} bloaty_compare_master || true - - name: ccache post-run - run: ccache -s - - - name: Upload px4 package - uses: actions/upload-artifact@v2 - with: - name: px4_package_${{matrix.config}} - path: | - build/**/*.px4 - build/**/*.bin diff --git a/.github/workflows/deploy_all.yml b/.github/workflows/deploy_all.yml index 8b0925e68809..3f1a4c0049b1 100644 --- a/.github/workflows/deploy_all.yml +++ b/.github/workflows/deploy_all.yml @@ -24,12 +24,15 @@ jobs: needs: enumerate_targets strategy: matrix: ${{fromJson(needs.enumerate_targets.outputs.matrix)}} - container: px4io/px4-dev-${{ matrix.container }}:2021-09-08 + container: ${{ matrix.container }} steps: - uses: actions/checkout@v1 with: token: ${{secrets.ACCESS_TOKEN}} + - name: ownership workaround + run: git config --system --add safe.directory '*' + - name: make ${{matrix.target}} run: make ${{matrix.target}} @@ -51,4 +54,3 @@ jobs: AWS_REGION: 'us-west-1' SOURCE_DIR: 'build/${{ matrix.target }}/_metadata/' DEST_DIR: 'Firmware/${{ env.version }}/${{ matrix.target }}/' - diff --git a/.github/workflows/failsafe_sim.yml b/.github/workflows/failsafe_sim.yml index 6d5e73d5a521..4d2ed21728a0 100644 --- a/.github/workflows/failsafe_sim.yml +++ b/.github/workflows/failsafe_sim.yml @@ -21,7 +21,7 @@ jobs: "failsafe_web", ] container: - image: px4io/px4-dev-nuttx-focal:2021-09-08 + image: px4io/px4-dev-nuttx-focal:2022-08-12 options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined steps: - uses: actions/checkout@v1 diff --git a/.github/workflows/mavros_mission_tests.yml b/.github/workflows/mavros_mission_tests.yml index 7e95b1fff082..a90d51804ef5 100644 --- a/.github/workflows/mavros_mission_tests.yml +++ b/.github/workflows/mavros_mission_tests.yml @@ -11,6 +11,8 @@ on: jobs: build: runs-on: ubuntu-latest + env: + ACTIONS_ALLOW_USE_UNSECURE_NODE_VERSION: true strategy: fail-fast: false matrix: diff --git a/.github/workflows/mavros_offboard_tests.yml b/.github/workflows/mavros_offboard_tests.yml index 812f63fec406..020caaa2d048 100644 --- a/.github/workflows/mavros_offboard_tests.yml +++ b/.github/workflows/mavros_offboard_tests.yml @@ -11,6 +11,8 @@ on: jobs: build: runs-on: ubuntu-latest + env: + ACTIONS_ALLOW_USE_UNSECURE_NODE_VERSION: true strategy: fail-fast: false matrix: diff --git a/.github/workflows/metadata.yml b/.github/workflows/metadata.yml index 10799ba38f54..bdcf17859090 100644 --- a/.github/workflows/metadata.yml +++ b/.github/workflows/metadata.yml @@ -103,7 +103,7 @@ jobs: uorb_graph: runs-on: ubuntu-latest - container: px4io/px4-dev-nuttx-focal:2021-09-08 + container: px4io/px4-dev-nuttx-focal:2022-08-12 steps: - uses: actions/checkout@v1 with: @@ -128,4 +128,6 @@ jobs: run: | git clone https://github.com/PX4/px4_msgs.git rm px4_msgs/msg/*.msg + rm px4_msgs/srv/*.srv cp msg/*.msg px4_msgs/msg/ + cp srv/*.srv px4_msgs/srv/ diff --git a/.github/workflows/nuttx_env_config.yml b/.github/workflows/nuttx_env_config.yml new file mode 100644 index 000000000000..d151444ea9c1 --- /dev/null +++ b/.github/workflows/nuttx_env_config.yml @@ -0,0 +1,32 @@ +name: Nuttx Target with extra env config + +on: + push: + branches: + - 'main' + pull_request: + branches: + - '*' + +jobs: + build: + runs-on: ubuntu-latest + container: px4io/px4-dev-nuttx-focal:2022-08-12 + strategy: + matrix: + config: [ + px4_fmu-v5, + ] + steps: + - uses: actions/checkout@v1 + with: + token: ${{secrets.ACCESS_TOKEN}} + + - name: make ${{matrix.config}} + env: + PX4_EXTRA_NUTTX_CONFIG: "CONFIG_NSH_LOGIN_PASSWORD=\"test\";CONFIG_NSH_CONSOLE_LOGIN=y" + run: | + echo "PX4_EXTRA_NUTTX_CONFIG: $PX4_EXTRA_NUTTX_CONFIG" + make ${{matrix.config}} nuttx_context + # Check that the config option is set + grep CONFIG_NSH_LOGIN_PASSWORD build/${{matrix.config}}_default/NuttX/nuttx/.config diff --git a/.github/workflows/sitl_tests.yml b/.github/workflows/sitl_tests.yml index 3282c797c5f7..0492137a4990 100644 --- a/.github/workflows/sitl_tests.yml +++ b/.github/workflows/sitl_tests.yml @@ -1,3 +1,8 @@ +# NOTE: this workflow is now running on Dronecode / PX4 AWS account. +# - If you want to keep the tests running in GitHub Actions you need to uncomment the "runs-on: ubuntu-latest" lines +# and comment the "runs-on: [runs-on,runner=..." lines. +# - If you would like to duplicate this setup try setting up "RunsOn" on your own AWS account try https://runs-on.com + name: SITL Tests on: @@ -10,126 +15,139 @@ on: jobs: build: - runs-on: ubuntu-latest + name: Testing PX4 ${{ matrix.config.model }} + runs-on: [runs-on,runner=16cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}"] + container: + image: px4io/px4-dev-simulation-focal:2021-09-08 + options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined strategy: fail-fast: false matrix: config: - {model: "iris", latitude: "59.617693", longitude: "-151.145316", altitude: "48", build_type: "RelWithDebInfo" } # Alaska - # - {model: "standard_vtol", latitude: "-38.071235", longitude: "145.281220", altitude: "31", build_type: "AddressSanitizer" } # Australia - {model: "tailsitter" , latitude: "29.660316", longitude: "-82.316658", altitude: "30", build_type: "RelWithDebInfo" } # Florida - {model: "standard_vtol", latitude: "47.397742", longitude: "8.545594", altitude: "488", build_type: "Coverage" } # Zurich - container: - image: px4io/px4-dev-simulation-focal:2021-09-08 - options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined steps: - - uses: actions/checkout@v1 - with: - token: ${{ secrets.ACCESS_TOKEN }} - - - name: Download MAVSDK - run: wget "https://github.com/mavlink/MAVSDK/releases/download/v$(cat test/mavsdk_tests/MAVSDK_VERSION)/libmavsdk-dev_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb" - - name: Install MAVSDK - run: dpkg -i "libmavsdk-dev_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb" - - - name: Prepare ccache timestamp - id: ccache_cache_timestamp - shell: cmake -P {0} - run: | - string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC) - message("::set-output name=timestamp::${current_date}") - - name: ccache cache files - uses: actions/cache@v2 - with: - path: ~/.ccache - key: sitl_tests-${{matrix.config.build_type}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}} - restore-keys: sitl_tests-${{matrix.config.build_type}}-ccache- - - name: setup ccache - run: | - mkdir -p ~/.ccache - echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf - echo "compression = true" >> ~/.ccache/ccache.conf - echo "compression_level = 6" >> ~/.ccache/ccache.conf - echo "max_size = 100M" >> ~/.ccache/ccache.conf - echo "hash_dir = false" >> ~/.ccache/ccache.conf - ccache -s - ccache -z - - - name: check environment - env: - PX4_HOME_LAT: ${{matrix.config.latitude}} - PX4_HOME_LON: ${{matrix.config.longitude}} - PX4_HOME_ALT: ${{matrix.config.altitude}} - PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}} - run: | - export - ulimit -a - - name: Build PX4 - env: - PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}} - run: make px4_sitl_default - - name: ccache post-run px4/firmware - run: ccache -s - - name: Build SITL Gazebo - env: - PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}} - run: make px4_sitl_default sitl_gazebo-classic - - name: ccache post-run sitl_gazebo-classic - run: ccache -s - - name: Build MAVSDK tests - env: - PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}} - DONT_RUN: 1 - run: make px4_sitl_default sitl_gazebo-classic mavsdk_tests - - name: ccache post-run mavsdk_tests - run: ccache -s - - - name: Core dump settings - run: | - ulimit -c unlimited - echo "`pwd`/%e.core" > /proc/sys/kernel/core_pattern - - - name: Run SITL tests - env: - PX4_HOME_LAT: ${{matrix.config.latitude}} - PX4_HOME_LON: ${{matrix.config.longitude}} - PX4_HOME_ALT: ${{matrix.config.altitude}} - PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}} - run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 --abort-early --model ${{matrix.config.model}} --upload test/mavsdk_tests/configs/sitl.json --verbose - timeout-minutes: 45 - - - name: Look at core files - if: failure() - run: gdb build/px4_sitl_default/bin/px4 px4.core -ex "thread apply all bt" -ex "quit" - - name: Upload px4 coredump - if: failure() - uses: actions/upload-artifact@v2-preview - with: - name: coredump - path: px4.core - - - name: Upload px4 binary - if: failure() - uses: actions/upload-artifact@v2-preview - with: - name: binary - path: build/px4_sitl_default/bin/px4 - - # Report test coverage - - name: Upload coverage - if: contains(matrix.config.build_type, 'Coverage') - run: | - git config --global credential.helper "" # disable the keychain credential helper - git config --global --add credential.helper store # enable the local store credential helper - echo "https://x-access-token:${{ secrets.ACCESS_TOKEN }}@github.com" >> ~/.git-credentials # add credential - git config --global url."https://github.com/".insteadof git@github.com: # credentials add credential - mkdir -p coverage - lcov --directory build/px4_sitl_default --base-directory build/px4_sitl_default --gcov-tool gcov --capture -o coverage/lcov.info - - name: Upload coverage information to Codecov - if: contains(matrix.config.build_type, 'Coverage') - uses: codecov/codecov-action@v1 - with: - token: ${{ secrets.CODECOV_TOKEN }} - flags: mavsdk - file: coverage/lcov.info + - uses: actions/checkout@v4 + with: + fetch-depth: 0 + + - name: Git Ownership Workaround + run: git config --system --add safe.directory '*' + + - id: set-timestamp + name: Set timestamp for cache + run: echo "::set-output name=timestamp::$(date +"%Y%m%d%H%M%S")" + + - name: Cache Key Config + uses: actions/cache@v4 + with: + path: ~/.ccache + key: sitl-ccache-${{ steps.set-timestamp.outputs.timestamp }} + restore-keys: sitl-ccache-${{ steps.set-timestamp.outputs.timestamp }} + + - name: Cache Conf Config + run: | + mkdir -p ~/.ccache + echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf + echo "compression = true" >> ~/.ccache/ccache.conf + echo "compression_level = 6" >> ~/.ccache/ccache.conf + echo "max_size = 120M" >> ~/.ccache/ccache.conf + echo "hash_dir = false" >> ~/.ccache/ccache.conf + ccache -s + ccache -z + + - name: Build PX4 + env: + PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}} + run: make px4_sitl_default + + - name: Cache Post-Run [px4_sitl_default] + run: ccache -s + + - name: Build SITL Gazebo + env: + PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}} + run: make px4_sitl_default sitl_gazebo-classic + + - name: Cache Post-Run [sitl_gazebo-classic] + run: ccache -s + + - name: Download MAVSDK + run: wget "https://github.com/mavlink/MAVSDK/releases/download/v$(cat test/mavsdk_tests/MAVSDK_VERSION)/libmavsdk-dev_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb" + + - name: Install MAVSDK + run: dpkg -i "libmavsdk-dev_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb" + + - name: Check PX4 Environment Variables + env: + PX4_HOME_LAT: ${{matrix.config.latitude}} + PX4_HOME_LON: ${{matrix.config.longitude}} + PX4_HOME_ALT: ${{matrix.config.altitude}} + PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}} + run: | + export + ulimit -a + + - name: Build PX4 / MAVSDK tests + env: + PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}} + DONT_RUN: 1 + run: make px4_sitl_default sitl_gazebo-classic mavsdk_tests + + - name: Cache Post-Run [px4_sitl_default sitl_gazebo-classic mavsdk_tests] + run: ccache -s + + - name: Core Dump Settings + run: | + ulimit -c unlimited + echo "`pwd`/%e.core" > /proc/sys/kernel/core_pattern + + - name: Run SITL / MAVSDK Tests + env: + PX4_HOME_LAT: ${{matrix.config.latitude}} + PX4_HOME_LON: ${{matrix.config.longitude}} + PX4_HOME_ALT: ${{matrix.config.altitude}} + PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}} + run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 10 --abort-early --model ${{matrix.config.model}} --upload test/mavsdk_tests/configs/sitl.json --verbose + timeout-minutes: 45 + + - name: Upload failed logs + if: failure() + uses: actions/upload-artifact@v4 + with: + name: failed-${{matrix.config.model}}-logs.zip + path: | + logs/**/**/**/*.log + logs/**/**/**/*.ulg + build/px4_sitl_default/tmp_mavsdk_tests/rootfs/*.ulg + + - name: Look at Core files + if: failure() && ${{ hashFiles('px4.core') != '' }} + run: gdb build/px4_sitl_default/bin/px4 px4.core -ex "thread apply all bt" -ex "quit" + + - name: Upload PX4 coredump + if: failure() && ${{ hashFiles('px4.core') != '' }} + uses: actions/upload-artifact@v4 + with: + name: coredump + path: px4.core + + - name: Setup & Generate Coverage Report + if: contains(matrix.config.build_type, 'Coverage') + run: | + git config --global credential.helper "" # disable the keychain credential helper + git config --global --add credential.helper store # enable the local store credential helper + echo "https://x-access-token:${{ secrets.ACCESS_TOKEN }}@github.com" >> ~/.git-credentials # add credential + git config --global url."https://github.com/".insteadof git@github.com: # credentials add credential + mkdir -p coverage + lcov --directory build/px4_sitl_default --base-directory build/px4_sitl_default --gcov-tool gcov --capture -o coverage/lcov.info + + - name: Upload Coverage Information to Codecov + if: contains(matrix.config.build_type, 'Coverage') + uses: codecov/codecov-action@v4 + with: + token: ${{ secrets.CODECOV_TOKEN }} + flags: mavsdk + file: coverage/lcov.info diff --git a/.github/workflows/stale.yml b/.github/workflows/stale.yml new file mode 100644 index 000000000000..9e97122d4383 --- /dev/null +++ b/.github/workflows/stale.yml @@ -0,0 +1,16 @@ +name: 'Handle stale issues and PRs' +on: + schedule: + - cron: '30 1 * * *' + +jobs: + stale: + runs-on: ubuntu-latest + steps: + - uses: actions/stale@v8 + with: + days-before-stale: 30 + days-before-close: -1 + stale-issue-label: 'stale' + stale-pr-label: 'stale' + remove-stale-when-updated: true diff --git a/.github_changelog_generator b/.github_changelog_generator deleted file mode 100644 index b89c58ad0567..000000000000 --- a/.github_changelog_generator +++ /dev/null @@ -1,33 +0,0 @@ -# How to install: -# gem install github_changelog_generator -# How to run: -# github_changelog_generator -u PX4 -p Firmware -# Description: -# The following params are sensible defaults for the PX4 project, -# if you want to do a changelog before a release you need to update since-tag and future-releases, - -# Params: -# github_changelog_generator --help for all options - -# max-issues -# max threshold for github api queries -# make sure you set your CHANGELOG_GITHUB_TOKEN before -# running -max-issues=1500 - -# exclude-tags-regex -# excludes release candidates -exclude-tags-regex=rc[0-9]{1,}|beta[0-9]{1,} - -# since-tag -# version of last stable release -# you need to change this depending on what you need -# if you want a changelog between versions this is the lowest version -since-tag=1.6.5 - -# future-release -# version you are about to release -# if you want a changelog between a version and all unreleased changes grouped as a release -# eg: v1.6.5 to v1.7.0 -future-release=v1.7.0 - diff --git a/.gitmodules b/.gitmodules index 78c25c23353f..a783b1693843 100644 --- a/.gitmodules +++ b/.gitmodules @@ -62,3 +62,24 @@ path = src/modules/uxrce_dds_client/Micro-XRCE-DDS-Client url = https://github.com/PX4/Micro-XRCE-DDS-Client.git branch = px4 +[submodule "src/lib/cdrstream/cyclonedds"] + path = src/lib/cdrstream/cyclonedds + url = https://github.com/px4/cyclonedds +[submodule "src/lib/cdrstream/rosidl"] + path = src/lib/cdrstream/rosidl + url = https://github.com/px4/rosidl +[submodule "src/modules/zenoh/zenoh-pico"] + path = src/modules/zenoh/zenoh-pico + url = https://github.com/px4/zenoh-pico + branch = dev/1.0.0-px4 +[submodule "src/lib/heatshrink/heatshrink"] + path = src/lib/heatshrink/heatshrink + url = https://github.com/PX4/heatshrink.git + branch = px4 +[submodule "Tools/simulation/gz"] + path = Tools/simulation/gz + url = https://github.com/PX4/PX4-gazebo-models.git + branch = main +[submodule "boards/modalai/voxl2/libfc-sensor-api"] + path = boards/modalai/voxl2/libfc-sensor-api + url = https://gitlab.com/voxl-public/voxl-sdk/core-libs/libfc-sensor-api.git diff --git a/.travis.yml b/.travis.yml deleted file mode 100644 index 347ccc884c89..000000000000 --- a/.travis.yml +++ /dev/null @@ -1,35 +0,0 @@ -language: cpp - -git: - depth: 100 - submodules: false - -matrix: - fast_finish: true - include: - - os: linux - dist: xenial - # In order to stay under the coverity rate limit, we only run this weekly - # and not on push which is configured in travis-ci settings. - if: branch = main - -before_install: - - echo -n | openssl s_client -connect scan.coverity.com:443 | sed -ne '/-BEGIN CERTIFICATE-/,/-END CERTIFICATE-/p' | sudo tee -a /etc/ssl/certs/ca- - -install: - - export PATH=$HOME/.local/bin:$PATH - - pip install --user --upgrade pip - - pip install --user -r Tools/setup/requirements.txt - -script: - - make - -addons: - coverity_scan: - project: - name: "PX4/Firmware" - description: "Build submitted via Travis CI" - notification_email: ci@px4.io - build_command_prepend: "make distclean" - build_command: "make px4_sitl_default" - branch_pattern: coverity_scan diff --git a/.vscode/cmake-kits.json b/.vscode/cmake-kits.json index a7d7e14b60ae..517c8c6d5269 100644 --- a/.vscode/cmake-kits.json +++ b/.vscode/cmake-kits.json @@ -2,4 +2,4 @@ { "name": "PX4 detect" } -] \ No newline at end of file +] diff --git a/.vscode/cmake-variants.yaml b/.vscode/cmake-variants.yaml index 2e04d91b8b09..d55b170485e2 100644 --- a/.vscode/cmake-variants.yaml +++ b/.vscode/cmake-variants.yaml @@ -71,6 +71,26 @@ CONFIG: buildType: MinSizeRel settings: CONFIG: px4_fmu-v5x_default + px4_fmu-v6c_default: + short: px4_fmu-v6c + buildType: MinSizeRel + settings: + CONFIG: px4_fmu-v6c_default + px4_fmu-v6c_bootloader: + short: px4_fmu-v6c_bootloader + buildType: MinSizeRel + settings: + CONFIG: px4_fmu-v6c_bootloader + px4_fmu-v6u_default: + short: px4_fmu-v6u + buildType: MinSizeRel + settings: + CONFIG: px4_fmu-v6u_default + px4_fmu-v6u_bootloader: + short: px4_fmu-v6u_bootloader + buildType: MinSizeRel + settings: + CONFIG: px4_fmu-v6u_bootloader px4_fmu-v6x_default: short: px4_fmu-v6x buildType: MinSizeRel @@ -81,6 +101,21 @@ CONFIG: buildType: MinSizeRel settings: CONFIG: px4_fmu-v6x_bootloader + px4_fmu-v6xrt_default: + short: px4_fmu-v6xrt + buildType: MinSizeRel + settings: + CONFIG: px4_fmu-v6xrt_default + px4_fmu-v6xrt_bootloader: + short: px4_fmu-v6xrt_bootloader + buildType: MinSizeRel + settings: + CONFIG: px4_fmu-v6xrt_bootloader + 3dr_ctrl-zero-h7-oem-revg_default: + short: 3dr_ctrl-zero-h7-oem-revg + buildType: MinSizeRel + settings: + CONFIG: 3dr_ctrl-zero-h7-oem-revg_default airmind_mindpx-v2_default: short: airmind_mindpx-v2 buildType: MinSizeRel @@ -121,6 +156,16 @@ CONFIG: buildType: MinSizeRel settings: CONFIG: ark_can-rtk-gps_canbootloader + ark_septentrio-gps_default: + short: ark_septentrio-gps_default + buildType: MinSizeRel + settings: + CONFIG: ark_septentrio-gps_default + ark_septentrio-gps_canbootloader: + short: ark_septentrio-gps_canbootloader + buildType: MinSizeRel + settings: + CONFIG: ark_septentrio-gps_canbootloader ark_cannode_default: short: ark_cannode_default buildType: MinSizeRel @@ -141,6 +186,16 @@ CONFIG: buildType: MinSizeRel settings: CONFIG: ark_fmu-v6x_default + ark_pi6x_bootloader: + short: ark_pi6x_bootloader + buildType: MinSizeRel + settings: + CONFIG: ark_pi6x_bootloader + ark_pi6x_default: + short: ark_pi6x_default + buildType: MinSizeRel + settings: + CONFIG: ark_pi6x_default atl_mantis-edu_default: short: atl_mantis-edu buildType: MinSizeRel @@ -181,6 +236,11 @@ CONFIG: buildType: MinSizeRel settings: CONFIG: cubepilot_cubeorange_test + cubepilot_cubeorangeplus_test: + short: cubepilot_cubeorangeplus + buildType: MinSizeRel + settings: + CONFIG: cubepilot_cubeorangeplus_test emlid_navio2_default: short: emlid_navio2 buildType: MinSizeRel diff --git a/.vscode/extensions.json b/.vscode/extensions.json index b49f65908330..3da9f2675427 100644 --- a/.vscode/extensions.json +++ b/.vscode/extensions.json @@ -4,6 +4,7 @@ "recommendations": [ "chiehyu.vscode-astyle", "dan-c-underwood.arm", + "editorconfig.editorconfig", "fredericbonnet.cmake-test-adapter", "github.vscode-pull-request-github", "marus25.cortex-debug", @@ -18,6 +19,7 @@ "twxs.cmake", "uavcan.dsdl", "wholroyd.jinja", - "zixuanwang.linkerscript" + "zixuanwang.linkerscript", + "ms-vscode.makefile-tools" ] } diff --git a/.vscode/settings.json b/.vscode/settings.json index 35c3146dcf78..0192c81e8602 100644 --- a/.vscode/settings.json +++ b/.vscode/settings.json @@ -15,6 +15,7 @@ "cmake.buildDirectory": "${workspaceFolder}/build/${variant:CONFIG}", "cmake.configureOnOpen": true, "cmake.ctest.parallelJobs": 1, + "cmake.options.statusBarVisibility": "compact", "cmake.skipConfigureIfCachePresent": true, "cmakeExplorer.buildDir": "${workspaceFolder}/build/px4_sitl_test", "cmakeExplorer.parallelJobs": 1, @@ -127,5 +128,6 @@ "terminal.integrated.scrollback": 15000, "yaml.schemas": { "${workspaceFolder}/validation/module_schema.yaml": "${workspaceFolder}/src/modules/*/module.yaml" - } + }, + "ros.distro": "humble" } diff --git a/.ycm_extra_conf.py b/.ycm_extra_conf.py deleted file mode 100644 index 4f7cfc202001..000000000000 --- a/.ycm_extra_conf.py +++ /dev/null @@ -1,172 +0,0 @@ -# This file is NOT licensed under the GPLv3, which is the license for the rest -# of YouCompleteMe. -# -# Here's the license text for this file: -# -# This is free and unencumbered software released into the public domain. -# -# Anyone is free to copy, modify, publish, use, compile, sell, or -# distribute this software, either in source code form or as a compiled -# binary, for any purpose, commercial or non-commercial, and by any -# means. -# -# In jurisdictions that recognize copyright laws, the author or authors -# of this software dedicate any and all copyright interest in the -# software to the public domain. We make this dedication for the benefit -# of the public at large and to the detriment of our heirs and -# successors. We intend this dedication to be an overt act of -# relinquishment in perpetuity of all present and future rights to this -# software under copyright law. -# -# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, -# EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF -# MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. -# IN NO EVENT SHALL THE AUTHORS BE LIABLE FOR ANY CLAIM, DAMAGES OR -# OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, -# ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR -# OTHER DEALINGS IN THE SOFTWARE. -# -# For more information, please refer to - -import os -import ycm_core - -# These are the compilation flags that will be used in case there's no -# compilation database set (by default, one is not set). -# CHANGE THIS LIST OF FLAGS. YES, THIS IS THE DROID YOU HAVE BEEN LOOKING FOR. -flags = [ -'-Wall', -'-Wextra', -'-Werror', -#'-Wc++98-compat', -'-Wno-long-long', -'-Wno-variadic-macros', -'-fexceptions', -'-DNDEBUG', -# You 100% do NOT need -DUSE_CLANG_COMPLETER in your flags; only the YCM -# source code needs it. -#'-DUSE_CLANG_COMPLETER', -# THIS IS IMPORTANT! Without a "-std=" flag, clang won't know which -# language to use when compiling headers. So it will guess. Badly. So C++ -# headers will be compiled as C headers. You don't want that so ALWAYS specify -# a "-std=". -# For a C project, you would set this to something like 'c99' instead of -# 'c++14'. -'-std=c++14', -# ...and the same thing goes for the magic -x option which specifies the -# language that the files to be compiled are written in. This is mostly -# relevant for c++ headers. -# For a C project, you would set this to 'c' instead of 'c++'. -'-x', -'c++', -'-undef', # get rid of standard definitions to allow us to include arm math header -'-I', os.path.join(os.path.expanduser("~"),'gcc-arm-none-eabi-4_7-2013q3/arm-none-eabi/include'), -'-I', 'Build/px4_io-v2_default.build/nuttx-export/include/', -'-I', './NuttX/nuttx/arch/arm/include', -'-include', './src/include/visibility.h', -'-I', './src', -'-I', './src/modules', -'-I', './src/include', -'-I', './src/lib', -'-I', './NuttX', -] - - -# Set this to the absolute path to the folder (NOT the file!) containing the -# compile_commands.json file to use that instead of 'flags'. See here for -# more details: http://clang.llvm.org/docs/JSONCompilationDatabase.html -# -# Most projects will NOT need to set this to anything; you can just change the -# 'flags' list of compilation flags. Notice that YCM itself uses that approach. -compilation_database_folder = '' - -if os.path.exists( compilation_database_folder ): - database = ycm_core.CompilationDatabase( compilation_database_folder ) -else: - database = None - -SOURCE_EXTENSIONS = [ '.cpp', '.cxx', '.cc', '.c', '.m', '.mm' ] - -def DirectoryOfThisScript(): - return os.path.dirname( os.path.abspath( __file__ ) ) - - -def MakeRelativePathsInFlagsAbsolute( flags, working_directory ): - if not working_directory: - return list( flags ) - new_flags = [] - make_next_absolute = False - path_flags = [ '-isystem', '-I', '-iquote', '--sysroot=' ] - for flag in flags: - new_flag = flag - - if make_next_absolute: - make_next_absolute = False - if not flag.startswith( '/' ): - new_flag = os.path.join( working_directory, flag ) - - for path_flag in path_flags: - if flag == path_flag: - make_next_absolute = True - break - - if flag.startswith( path_flag ): - path = flag[ len( path_flag ): ] - new_flag = path_flag + os.path.join( working_directory, path ) - break - - if new_flag: - new_flags.append( new_flag ) - return new_flags - - -def IsHeaderFile( filename ): - extension = os.path.splitext( filename )[ 1 ] - return extension in [ '.h', '.hxx', '.hpp', '.hh' ] - - -def GetCompilationInfoForFile( filename ): - # The compilation_commands.json file generated by CMake does not have entries - # for header files. So we do our best by asking the db for flags for a - # corresponding source file, if any. If one exists, the flags for that file - # should be good enough. - if IsHeaderFile( filename ): - basename = os.path.splitext( filename )[ 0 ] - for extension in SOURCE_EXTENSIONS: - replacement_file = basename + extension - if os.path.exists( replacement_file ): - compilation_info = database.GetCompilationInfoForFile( - replacement_file ) - if compilation_info.compiler_flags_: - return compilation_info - return None - return database.GetCompilationInfoForFile( filename ) - - -def FlagsForFile( filename, **kwargs ): - if database: - # Bear in mind that compilation_info.compiler_flags_ does NOT return a - # python list, but a "list-like" StringVec object - compilation_info = GetCompilationInfoForFile( filename ) - if not compilation_info: - return None - - final_flags = MakeRelativePathsInFlagsAbsolute( - compilation_info.compiler_flags_, - compilation_info.compiler_working_dir_ ) - - # NOTE: This is just for YouCompleteMe; it's highly likely that your project - # does NOT need to remove the stdlib flag. DO NOT USE THIS IN YOUR - # ycm_extra_conf IF YOU'RE NOT 100% SURE YOU NEED IT. - #try: - # final_flags.remove( '-stdlib=libc++' ) - #except ValueError: - # pass - else: - relative_to = DirectoryOfThisScript() - final_flags = MakeRelativePathsInFlagsAbsolute( flags, relative_to ) - - return { - 'flags': final_flags, - 'do_cache': True - } diff --git a/CMakeLists.txt b/CMakeLists.txt index 741e8e574aec..b63a44dfe9ed 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -1,6 +1,6 @@ ############################################################################ # -# Copyright (c) 2017 - 2022 PX4 Development Team. All rights reserved. +# Copyright (c) 2017 - 2024 PX4 Development Team. All rights reserved. # # Redistribution and use in source and binary forms, with or without # modification, are permitted provided that the following conditions @@ -113,12 +113,20 @@ include(px4_parse_function_args) include(px4_git) execute_process( - COMMAND git describe --exclude ext/* --always --tags + COMMAND git describe --exclude ext/* --tags --match "v[0-9]*" OUTPUT_VARIABLE PX4_GIT_TAG OUTPUT_STRIP_TRAILING_WHITESPACE + RESULTS_VARIABLE GIT_DESCRIBE_RESULT WORKING_DIRECTORY ${PX4_SOURCE_DIR} ) +# if proper git tag unavilable default to v0.0.0 +if(NOT ${GIT_DESCRIBE_RESULT} MATCHES "0") + set(PX4_GIT_TAG "v0.0.0") +endif() + +message(STATUS "PX4_GIT_TAG: ${PX4_GIT_TAG}") + # git describe to X.Y.Z version string(REPLACE "." ";" VERSION_LIST ${PX4_GIT_TAG}) @@ -132,7 +140,9 @@ list(GET VERSION_LIST 2 PX4_VERSION_PATCH) string(REPLACE "-" ";" PX4_VERSION_PATCH ${PX4_VERSION_PATCH}) list(GET PX4_VERSION_PATCH 0 PX4_VERSION_PATCH) -message(STATUS "PX4 version: ${PX4_GIT_TAG} (${PX4_VERSION_MAJOR}.${PX4_VERSION_MINOR}.${PX4_VERSION_PATCH})") +# # Capture only the hash part after 'g' +string(REGEX MATCH "g([a-f0-9]+)$" GIT_HASH "${PX4_GIT_TAG}") +set(PX4_GIT_HASH ${CMAKE_MATCH_1}) define_property(GLOBAL PROPERTY PX4_MODULE_LIBRARIES BRIEF_DOCS "PX4 module libs" @@ -148,6 +158,7 @@ define_property(GLOBAL PROPERTY PX4_MODULE_PATHS BRIEF_DOCS "PX4 module paths" FULL_DOCS "List of paths to all PX4 modules" ) + define_property(GLOBAL PROPERTY PX4_SRC_FILES BRIEF_DOCS "src files from all PX4 modules & libs" FULL_DOCS "SRC files from px4_add_{module,library}" @@ -414,6 +425,8 @@ endif() # add_library(parameters_interface INTERFACE) add_library(kernel_parameters_interface INTERFACE) +add_library(events_interface INTERFACE) +add_library(kernel_events_interface INTERFACE) include(px4_add_library) add_subdirectory(src/lib EXCLUDE_FROM_ALL) @@ -440,8 +453,11 @@ add_subdirectory(src/lib/parameters EXCLUDE_FROM_ALL) if(${PX4_PLATFORM} STREQUAL "nuttx" AND NOT CONFIG_BUILD_FLAT) target_link_libraries(parameters_interface INTERFACE usr_parameters) target_link_libraries(kernel_parameters_interface INTERFACE parameters) + target_link_libraries(events_interface INTERFACE usr_events) + target_link_libraries(kernel_events_interface INTERFACE events) else() target_link_libraries(parameters_interface INTERFACE parameters) + target_link_libraries(events_interface INTERFACE events) endif() # firmware added last to generate the builtin for included modules @@ -479,7 +495,7 @@ include(package) # install python requirements using configured python add_custom_target(install_python_requirements - COMMAND ${PYTHON_EXECUTABLE} -m pip install --requirement ${PX4_SOURCE_DIR}/Tools/setup/requirements.txt + COMMAND ${PYTHON_EXECUTABLE} -m pip install --break-system-packages --requirement ${PX4_SOURCE_DIR}/Tools/setup/requirements.txt DEPENDS ${PX4_SOURCE_DIR}/Tools/setup/requirements.txt USES_TERMINAL ) diff --git a/Firmware.sublime-project b/Firmware.sublime-project deleted file mode 100644 index d89a58de3f19..000000000000 --- a/Firmware.sublime-project +++ /dev/null @@ -1,83 +0,0 @@ -{ - "folders": - [ - { - "path": ".", - "file_exclude_patterns": - [ - "*.o", - "*.a", - "*.d", - ".built", - ".context", - ".depend", - ".config", - ".version", - "Make.dep", - ".configured", - "*.sublime-project", - "*.sublime-workspace", - ".project", - ".cproject", - "cscope.out" - ], - "folder_exclude_patterns": - [ - ".settings", - "nuttx/arch/arm/src/board", - "nuttx/arch/arm/src/chip", - "build_*" - ] - } - ], - "settings": - { - "tab_size": 8, - "translate_tabs_to_spaces": false, - "highlight_line": true, - "AStyleFormatter": - { - "options_c": - { - "use_only_additional_options": true, - "additional_options_file": "${project_path}/Tools/astyle/astylerc" - }, - "options_c++": - { - "use_only_additional_options": true, - "additional_options_file": "${project_path}/Tools/astyle/astylerc" - } - } - }, - "build_systems": - [ - { - "name": "PX4: make all", - "working_dir": "${project_path}", - "file_regex": "^(..[^:]*):([0-9]+):?([0-9]+)?:? (.*)$", - "cmd": ["make"], - "shell": true - }, - { - "name": "PX4: make and upload", - "working_dir": "${project_path}", - "file_regex": "^(..[^:]*):([0-9]+):?([0-9]+)?:? (.*)$", - "cmd": ["make upload px4_fmu-v2_default -j8"], - "shell": true - }, - { - "name": "PX4: make posix", - "working_dir": "${project_path}", - "file_regex": "^(..[^:]*):([0-9]+):?([0-9]+)?:? (.*)$", - "cmd": ["make posix"], - "shell": true - }, - { - "name": "MindPX_V2: make and upload", - "working_dir": "${project_path}", - "file_regex": "^(..[^:]*):([0-9]+):?([0-9]+)?:? (.*)$", - "cmd": ["make upload mindpx-v2_default -j8"], - "shell": true - } - ] -} diff --git a/Jenkinsfile b/Jenkinsfile index a983c043c05b..d7f166b5fe4d 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -94,7 +94,7 @@ pipeline { stage('failsafe docs') { agent { - docker { image 'px4io/px4-dev-nuttx-focal:2021-08-18' } + docker { image 'px4io/px4-dev-nuttx-focal:2022-08-12' } } steps { sh '''#!/bin/bash -l @@ -105,6 +105,7 @@ pipeline { ./emsdk activate latest; cd ..; . ./_emscripten_sdk/emsdk_env.sh; + git fetch --all --tags; make failsafe_web; cd build/px4_sitl_default_failsafe_web; mkdir -p failsafe_sim; @@ -125,7 +126,7 @@ pipeline { stage('uORB graphs') { agent { docker { - image 'px4io/px4-dev-nuttx-focal:2021-08-18' + image 'px4io/px4-dev-nuttx-focal:2022-08-12' args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw' } } @@ -170,9 +171,9 @@ pipeline { sh('cp airframes.md PX4-user_guide/en/airframes/airframe_reference.md') sh('cp parameters.md PX4-user_guide/en/advanced_config/parameter_reference.md') sh('cp -R modules/*.md PX4-user_guide/en/modules/') - sh('cp -R graph_*.json PX4-user_guide/.vuepress/public/en/middleware/') + sh('cp -R graph_*.json PX4-user_guide/public/middleware/') // vitepress sh('cp -R msg_docs/*.md PX4-user_guide/en/msg_docs/') - sh('cp -R failsafe_sim/* PX4-user_guide/.vuepress/public/en/config/failsafe') + sh('cp -R failsafe_sim/* PX4-user_guide/public/config/failsafe') // vitepress sh('cd PX4-user_guide; git status; git add .; git commit -a -m "Update PX4 Firmware metadata `date`" || true') sh('cd PX4-user_guide; git push origin main || true') sh('rm -rf PX4-user_guide') @@ -230,7 +231,9 @@ pipeline { sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_msgs.git") // 'main' branch sh('rm -f px4_msgs/msg/*.msg') + sh('rm -f px4_msgs/srv/*.srv') sh('cp msg/*.msg px4_msgs/msg/') + sh('cp srv/*.srv px4_msgs/srv/') sh('cd px4_msgs; git status; git add .; git commit -a -m "Update message definitions `date`" || true') sh('cd px4_msgs; git push origin main || true') sh('rm -rf px4_msgs') diff --git a/Kconfig b/Kconfig index 0bcdf14ff92d..f9f2e5e8ec44 100644 --- a/Kconfig +++ b/Kconfig @@ -185,6 +185,17 @@ menu "Serial ports" string "EXT2 tty port" endmenu +menu "File paths" + + config BOARD_ROOT_PATH + string "PX4 Root file path" + default "/fs/microsd" + + config BOARD_PARAM_FILE + string "Parameter file" + default "/fs/mtd_params" +endmenu + menu "drivers" source "src/drivers/Kconfig" endmenu @@ -205,3 +216,5 @@ menu "platforms" depends on PLATFORM_QURT || PLATFORM_POSIX source "platforms/common/Kconfig" endmenu + +source "src/lib/*/Kconfig" diff --git a/Makefile b/Makefile index 53b90e3d01cb..5de475d79074 100644 --- a/Makefile +++ b/Makefile @@ -1,6 +1,6 @@ ############################################################################ # -# Copyright (c) 2015 - 2020 PX4 Development Team. All rights reserved. +# Copyright (c) 2015 - 2024 PX4 Development Team. All rights reserved. # # Redistribution and use in source and binary forms, with or without # modification, are permitted provided that the following conditions @@ -266,7 +266,6 @@ px4fmu_firmware: \ misc_qgc_extra_firmware: \ check_nxp_fmuk66-v3_default \ - check_nxp_fmurt1062-v1_default \ check_mro_x21_default \ check_bitcraze_crazyflie_default \ check_bitcraze_crazyflie21_default \ @@ -324,7 +323,33 @@ px4io_update: cp build/cubepilot_io-v2_default/cubepilot_io-v2_default.bin boards/cubepilot/cubeyellow/extras/cubepilot_io-v2_default.bin git status -bootloaders_update: ark_fmu-v6x_bootloader cuav_nora_bootloader cuav_x7pro_bootloader cubepilot_cubeorange_bootloader holybro_durandal-v1_bootloader holybro_kakuteh7_bootloader matek_h743_bootloader matek_h743-mini_bootloader matek_h743-slim_bootloader modalai_fc-v2_bootloader mro_ctrl-zero-classic_bootloader mro_ctrl-zero-h7_bootloader mro_ctrl-zero-h7-oem_bootloader mro_pixracerpro_bootloader px4_fmu-v6c_bootloader px4_fmu-v6u_bootloader px4_fmu-v6x_bootloader +bootloaders_update: \ + 3dr_ctrl-zero-h7-oem-revg_bootloader \ + ark_fmu-v6x_bootloader \ + ark_pi6x_bootloader \ + cuav_nora_bootloader \ + cuav_x7pro_bootloader \ + cubepilot_cubeorange_bootloader \ + cubepilot_cubeorangeplus_bootloader \ + hkust_nxt-dual_bootloader \ + hkust_nxt-v1_bootloader \ + holybro_durandal-v1_bootloader \ + holybro_kakuteh7_bootloader \ + holybro_kakuteh7mini_bootloader \ + holybro_kakuteh7v2_bootloader \ + matek_h743_bootloader \ + matek_h743-mini_bootloader \ + matek_h743-slim_bootloader \ + modalai_fc-v2_bootloader \ + mro_ctrl-zero-classic_bootloader \ + mro_ctrl-zero-h7_bootloader \ + mro_ctrl-zero-h7-oem_bootloader \ + mro_pixracerpro_bootloader \ + px4_fmu-v6c_bootloader \ + px4_fmu-v6u_bootloader \ + px4_fmu-v6x_bootloader \ + px4_fmu-v6xrt_bootloader \ + siyi_n7_bootloader git status .PHONY: coverity_scan @@ -355,9 +380,9 @@ doxygen: @$(PX4_MAKE) -C "$(SRC_DIR)"/build/doxygen @touch "$(SRC_DIR)"/build/doxygen/Documentation/.nojekyll -# Astyle +# Style # -------------------------------------------------------------------- -.PHONY: check_format format +.PHONY: check_format format check_newlines check_format: $(call colorecho,'Checking formatting with astyle') @@ -368,6 +393,10 @@ format: $(call colorecho,'Formatting with astyle') @"$(SRC_DIR)"/Tools/astyle/check_code_style_all.sh --fix +check_newlines: + $(call colorecho,'Checking for missing or duplicate newlines at the end of files') + @"$(SRC_DIR)"/Tools/astyle/check_newlines.sh + # Testing # -------------------------------------------------------------------- .PHONY: tests tests_coverage tests_mission tests_mission_coverage tests_offboard tests_avoidance @@ -484,7 +513,9 @@ validate_module_configs: @find "$(SRC_DIR)"/src/modules "$(SRC_DIR)"/src/drivers "$(SRC_DIR)"/src/lib -name *.yaml -type f \ -not -path "$(SRC_DIR)/src/lib/mixer_module/*" \ -not -path "$(SRC_DIR)/src/modules/uxrce_dds_client/dds_topics.yaml" \ + -not -path "$(SRC_DIR)/src/modules/zenoh/zenoh-pico/*" \ -not -path "$(SRC_DIR)/src/lib/events/libevents/*" \ + -not -path "$(SRC_DIR)/src/lib/cdrstream/*" \ -not -path "$(SRC_DIR)/src/lib/crypto/libtommath/*" -print0 | \ xargs -0 "$(SRC_DIR)"/Tools/validate_yaml.py --schema-file "$(SRC_DIR)"/validation/module_schema.yaml @@ -519,14 +550,14 @@ distclean: # All other targets are handled by PX4_MAKE. Add a rule here to avoid printing an error. %: $(if $(filter $(FIRST_ARG),$@), \ - $(error "Make target $@ not found. It either does not exist or $@ cannot be the first argument. Use '$(MAKE) help|list_config_targets' to get a list of all possible [configuration] targets."),@#) + $(error "Make target $@ not found. It either does not exist or $@ cannot be the first argument. Use '$(MAKE) list_config_targets' to get a list of all possible [configuration] targets."),@#) # Print a list of non-config targets (based on http://stackoverflow.com/a/26339924/1487069) help: @echo "Usage: $(MAKE) " @echo "Where is one of:" @$(MAKE) -pRrq -f $(lastword $(MAKEFILE_LIST)) : 2>/dev/null | \ - awk -v RS= -F: '/^# File/,/^# Finished Make data base/ {if ($$1 !~ "^[#.]") {print $$1}}' | sort | \ + awk -v RS= -F: '/(^|\n)# Files(\n|$$)/,/(^|\n)# Finished Make data base/ {if ($$1 !~ "^[#.]") {print $$1}}' | sort | \ egrep -v -e '^[^[:alnum:]]' -e '^($(subst $(space),|,$(ALL_CONFIG_TARGETS)))$$' -e '_default$$' -e '^(Makefile)' @echo @echo "Or, $(MAKE) []" diff --git a/README.md b/README.md index 0665aef3fab2..c2909b1a9ec6 100644 --- a/README.md +++ b/README.md @@ -114,7 +114,7 @@ These boards are maintained to be compatible with PX4-Autopilot by the Manufactu ### Community supported -These boards don't fully comply industry standards, and thus is solely maintained by the PX4 publc community members. +These boards don't fully comply industry standards, and thus is solely maintained by the PX4 public community members. ### Experimental diff --git a/ROMFS/CMakeLists.txt b/ROMFS/CMakeLists.txt index 532b659b05e0..a520a4d377d1 100644 --- a/ROMFS/CMakeLists.txt +++ b/ROMFS/CMakeLists.txt @@ -120,6 +120,7 @@ add_custom_command( ${romfs_gen_root_dir}/init.d/rc.serial ${romfs_gen_root_dir}/init.d/rc.autostart ${romfs_gen_root_dir}/init.d/rc.autostart.post + ${romfs_gen_root_dir}/init.d/rc.filepaths ${romfs_copy_stamp} COMMAND ${CMAKE_COMMAND} -E remove_directory ${romfs_gen_root_dir}/* COMMAND ${CMAKE_COMMAND} -E tar xf ${romfs_tar_file} @@ -131,6 +132,9 @@ add_custom_command( --rc-dir ${romfs_gen_root_dir}/init.d --serial-ports ${board_serial_ports} ${added_arguments} --config-files ${module_config_files} #--verbose + COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/filepaths/generate_config.py + --rc-dir ${romfs_gen_root_dir}/init.d + --params-file ${CONFIG_BOARD_PARAM_FILE} COMMAND ${CMAKE_COMMAND} -E touch ${romfs_copy_stamp} WORKING_DIRECTORY ${romfs_gen_root_dir} DEPENDS ${romfs_tar_file} @@ -320,6 +324,7 @@ add_custom_target(romfs_gen_files_target DEPENDS ${romfs_copy_stamp} ${romfs_gen_root_dir}/init.d/rc.serial + ${romfs_gen_root_dir}/init.d/rc.filepaths romfs_extras.stamp ) diff --git a/ROMFS/cannode/init.d/rcS b/ROMFS/cannode/init.d/rcS index 0d9da3a10afc..96edd27ead1b 100644 --- a/ROMFS/cannode/init.d/rcS +++ b/ROMFS/cannode/init.d/rcS @@ -21,25 +21,14 @@ set R / # ver all -if mft query -q -k MTD -s MTD_PARAMETERS -v /fs/mtd_params -then - set PARAM_FILE /fs/mtd_params -fi - -if mft query -q -k MTD -s MTD_PARAMETERS -v /dev/eeeprom0 -then - set PARAM_FILE /dev/eeeprom0 -fi - -if mft query -q -k MTD -s MTD_PARAMETERS -v /mnt/qspi/params -then - set PARAM_FILE /mnt/qspi/params -fi +# Load param file location from kconfig +. ${R}etc/init.d/rc.filepaths # # Load parameters. # param select $PARAM_FILE + if ! param load then param reset_all diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/10017_jmavsim_iris b/ROMFS/px4fmu_common/init.d-posix/airframes/10017_jmavsim_iris index fbf554091555..4cd88cc111df 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/10017_jmavsim_iris +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/10017_jmavsim_iris @@ -29,4 +29,3 @@ param set-default PWM_MAIN_FUNC1 101 param set-default PWM_MAIN_FUNC2 102 param set-default PWM_MAIN_FUNC3 103 param set-default PWM_MAIN_FUNC4 104 - diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/10018_gazebo-classic_iris_foggy_lidar b/ROMFS/px4fmu_common/init.d-posix/airframes/10018_gazebo-classic_iris_foggy_lidar index 161a32492009..c929125c47f7 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/10018_gazebo-classic_iris_foggy_lidar +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/10018_gazebo-classic_iris_foggy_lidar @@ -30,4 +30,3 @@ param set-default PWM_MAIN_FUNC3 103 param set-default PWM_MAIN_FUNC4 104 param set-default EKF2_RNG_A_HMAX 10 - diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/10019_gazebo-classic_omnicopter b/ROMFS/px4fmu_common/init.d-posix/airframes/10019_gazebo-classic_omnicopter index 36bed6a03bc6..765d3c9b0c89 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/10019_gazebo-classic_omnicopter +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/10019_gazebo-classic_omnicopter @@ -94,4 +94,3 @@ param set-default CA_METHOD 0 # disable attitude failure detection param set-default FD_FAIL_P 0 param set-default FD_FAIL_R 0 - diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/10030_gazebo-classic_px4vision b/ROMFS/px4fmu_common/init.d-posix/airframes/10030_gazebo-classic_px4vision index b82481b7c9e5..f2abb94e2333 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/10030_gazebo-classic_px4vision +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/10030_gazebo-classic_px4vision @@ -12,4 +12,3 @@ param set-default PWM_MAIN_FUNC1 101 param set-default PWM_MAIN_FUNC2 102 param set-default PWM_MAIN_FUNC3 103 param set-default PWM_MAIN_FUNC4 104 - diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/10040_sihsim_quadx b/ROMFS/px4fmu_common/init.d-posix/airframes/10040_sihsim_quadx index 3124ff4f69d5..0849dc91d6f4 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/10040_sihsim_quadx +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/10040_sihsim_quadx @@ -22,18 +22,17 @@ param set-default CBRK_SUPPLY_CHK 894281 # - without safety switch param set-default CBRK_IO_SAFETY 22027 +# Square quadrotor X PX4 numbering param set-default CA_ROTOR_COUNT 4 -param set-default CA_ROTOR0_PX 0.15 -param set-default CA_ROTOR0_PY 0.15 -param set-default CA_ROTOR0_KM 0.05 -param set-default CA_ROTOR1_PX -0.15 -param set-default CA_ROTOR1_PY -0.15 -param set-default CA_ROTOR1_KM 0.05 -param set-default CA_ROTOR2_PX 0.15 -param set-default CA_ROTOR2_PY -0.15 +param set-default CA_ROTOR0_PX 1 +param set-default CA_ROTOR0_PY 1 +param set-default CA_ROTOR1_PX -1 +param set-default CA_ROTOR1_PY -1 +param set-default CA_ROTOR2_PX 1 +param set-default CA_ROTOR2_PY -1 param set-default CA_ROTOR2_KM -0.05 -param set-default CA_ROTOR3_PX -0.15 -param set-default CA_ROTOR3_PY 0.15 +param set-default CA_ROTOR3_PX -1 +param set-default CA_ROTOR3_PY 1 param set-default CA_ROTOR3_KM -0.05 param set-default PWM_MAIN_FUNC1 101 diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/10041_sihsim_airplane b/ROMFS/px4fmu_common/init.d-posix/airframes/10041_sihsim_airplane index 47f8c70b00e7..d863ad63587d 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/10041_sihsim_airplane +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/10041_sihsim_airplane @@ -24,9 +24,7 @@ param set-default CBRK_SUPPLY_CHK 894281 # - without safety switch param set-default CBRK_IO_SAFETY 22027 -param set-default BAT_N_CELLS 3 - -param set-default SIH_T_MAX 6.0 +param set-default SIH_T_MAX 6 param set-default SIH_MASS 0.3 param set-default SIH_IXX 0.00402 param set-default SIH_IYY 0.0144 @@ -45,9 +43,9 @@ param set-default CA_ROTOR_COUNT 1 param set-default CA_SV_CS_COUNT 3 param set-default CA_SV_CS0_TRQ_R -0.5 param set-default CA_SV_CS0_TYPE 1 -param set-default CA_SV_CS1_TRQ_P 1.0 +param set-default CA_SV_CS1_TRQ_P 1 param set-default CA_SV_CS1_TYPE 3 -param set-default CA_SV_CS2_TRQ_Y 1.0 +param set-default CA_SV_CS2_TRQ_Y 1 param set-default CA_SV_CS2_TYPE 4 param set-default PWM_MAIN_FUNC3 201 param set-default PWM_MAIN_FUNC4 202 diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/10042_sihsim_xvert b/ROMFS/px4fmu_common/init.d-posix/airframes/10042_sihsim_xvert index c98cc5c8edfb..2ab294ac2476 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/10042_sihsim_xvert +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/10042_sihsim_xvert @@ -17,6 +17,7 @@ param set-default SENS_EN_GPSSIM 1 param set-default SENS_EN_BAROSIM 1 param set-default SENS_EN_MAGSIM 1 +param set-default VT_B_TRANS_DUR 5 param set-default VT_ELEV_MC_LOCK 0 param set-default VT_TYPE 0 param set-default VT_FW_DIFTHR_EN 1 @@ -32,16 +33,14 @@ param set-default CBRK_SUPPLY_CHK 894281 # - without safety switch param set-default CBRK_IO_SAFETY 22027 -param set-default BAT_N_CELLS 3 - -param set-default SIH_T_MAX 2.0 +param set-default SIH_T_MAX 2 param set-default SIH_Q_MAX 0.0165 param set-default SIH_MASS 0.2 # IXX and IZZ are inverted from the thesis as the body frame is pitched by 90 deg param set-default SIH_IXX 0.00354 param set-default SIH_IYY 0.000625 param set-default SIH_IZZ 0.00300 -param set-default SIH_IXZ 0.0 +param set-default SIH_IXZ 0 param set-default SIH_KDV 0.2 param set-default SIH_L_ROLL 0.145 diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1010_gazebo-classic_iris_opt_flow b/ROMFS/px4fmu_common/init.d-posix/airframes/1010_gazebo-classic_iris_opt_flow index e59ce4d24fbd..d334bdb43088 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/1010_gazebo-classic_iris_opt_flow +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1010_gazebo-classic_iris_opt_flow @@ -31,6 +31,7 @@ param set-default PWM_MAIN_FUNC4 104 # EKF2 param set-default EKF2_GPS_CTRL 0 +param set-default EKF2_HGT_REF 0 param set-default EKF2_EVP_NOISE 0.05 param set-default EKF2_EVA_NOISE 0.05 param set-default EKF2_OF_CTRL 1 @@ -39,9 +40,12 @@ param set-default EKF2_OF_CTRL 1 param set-default LPE_FUSION 242 param set-default LPE_FAKE_ORIGIN 1 +# Commander +# param set-default COM_HOME_EN 0 # Disable setting of home position + param set-default MPC_ALT_MODE 2 param set-default SENS_FLOW_ROT 6 param set-default SENS_FLOW_MINHGT 0.7 -param set-default SENS_FLOW_MAXHGT 3.0 +param set-default SENS_FLOW_MAXHGT 15 param set-default SENS_FLOW_MAXR 2.5 diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1012_gazebo-classic_iris_rplidar b/ROMFS/px4fmu_common/init.d-posix/airframes/1012_gazebo-classic_iris_rplidar index 3fd2ef636f4d..952be680bf4c 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/1012_gazebo-classic_iris_rplidar +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1012_gazebo-classic_iris_rplidar @@ -30,4 +30,3 @@ param set-default PWM_MAIN_FUNC3 103 param set-default PWM_MAIN_FUNC4 104 param set-default LPE_FUSION 242 - diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1013_gazebo-classic_iris_vision b/ROMFS/px4fmu_common/init.d-posix/airframes/1013_gazebo-classic_iris_vision index df11976012a3..de17714dff8f 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/1013_gazebo-classic_iris_vision +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1013_gazebo-classic_iris_vision @@ -18,4 +18,3 @@ param set-default LPE_FUSION 132 # AEQ: External heading set to use vision input param set-default ATT_EXT_HDG_M 1 - diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1015_gazebo-classic_iris_obs_avoid b/ROMFS/px4fmu_common/init.d-posix/airframes/1014_gazebo-classic_iris_obs_avoid similarity index 100% rename from ROMFS/px4fmu_common/init.d-posix/airframes/1015_gazebo-classic_iris_obs_avoid rename to ROMFS/px4fmu_common/init.d-posix/airframes/1014_gazebo-classic_iris_obs_avoid diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1015_gazebo-classic_iris_obs_avoid.post b/ROMFS/px4fmu_common/init.d-posix/airframes/1014_gazebo-classic_iris_obs_avoid.post similarity index 100% rename from ROMFS/px4fmu_common/init.d-posix/airframes/1015_gazebo-classic_iris_obs_avoid.post rename to ROMFS/px4fmu_common/init.d-posix/airframes/1014_gazebo-classic_iris_obs_avoid.post diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1015_gazebo-classic_iris_depth_camera b/ROMFS/px4fmu_common/init.d-posix/airframes/1015_gazebo-classic_iris_depth_camera new file mode 100644 index 000000000000..3dc7b0fd7558 --- /dev/null +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1015_gazebo-classic_iris_depth_camera @@ -0,0 +1,8 @@ +#!/bin/sh +# +# @name 3DR Iris Quadrotor with a depth camera (forward-facing) +# +# @type Quadrotor Wide +# + +. ${R}etc/init.d-posix/airframes/10015_gazebo-classic_iris diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1016_gazebo-classic_iris_downward_depth_camera b/ROMFS/px4fmu_common/init.d-posix/airframes/1016_gazebo-classic_iris_downward_depth_camera new file mode 100644 index 000000000000..b7e7bf51b9a5 --- /dev/null +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1016_gazebo-classic_iris_downward_depth_camera @@ -0,0 +1,8 @@ +#!/bin/sh +# +# @name 3DR Iris Quadrotor with a depth camera (downward-facing) +# +# @type Quadrotor Wide +# + +. ${R}etc/init.d-posix/airframes/10015_gazebo-classic_iris diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1021_gazebo-classic_uuv_hippocampus b/ROMFS/px4fmu_common/init.d-posix/airframes/1021_gazebo-classic_uuv_hippocampus index ca67af3f0187..59c009bed966 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/1021_gazebo-classic_uuv_hippocampus +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1021_gazebo-classic_uuv_hippocampus @@ -8,37 +8,36 @@ param set-default CA_AIRFRAME 7 param set-default CA_ROTOR_COUNT 4 param set-default CA_R_REV 255 -param set-default CA_ROTOR0_AX 1.0000 -param set-default CA_ROTOR0_AY 0.0000 -param set-default CA_ROTOR0_AZ 0.0000 -param set-default CA_ROTOR0_KM 0.0000 -param set-default CA_ROTOR0_PX 0.0000 -param set-default CA_ROTOR0_PY -0.3000 -param set-default CA_ROTOR0_PZ -0.3000 -param set-default CA_ROTOR1_AX 1.0000 -param set-default CA_ROTOR1_AY 0.0000 -param set-default CA_ROTOR1_AZ 0.0000 -param set-default CA_ROTOR1_KM 0.0000 -param set-default CA_ROTOR1_PX 0.0000 -param set-default CA_ROTOR1_PY 0.3000 -param set-default CA_ROTOR1_PZ -0.3000 -param set-default CA_ROTOR2_AX 1.0000 -param set-default CA_ROTOR2_AY 0.0000 -param set-default CA_ROTOR2_AZ 0.0000 -param set-default CA_ROTOR2_KM 0.0000 -param set-default CA_ROTOR2_PX 0.0000 -param set-default CA_ROTOR2_PY 0.3000 -param set-default CA_ROTOR2_PZ 0.3000 -param set-default CA_ROTOR3_AX 1.0000 -param set-default CA_ROTOR3_AY 0.0000 -param set-default CA_ROTOR3_AZ 0.0000 -param set-default CA_ROTOR3_KM 0.0000 -param set-default CA_ROTOR3_PX 0.0000 -param set-default CA_ROTOR3_PY -0.3000 -param set-default CA_ROTOR3_PZ 0.3000 +param set-default CA_ROTOR0_AX 1 +param set-default CA_ROTOR0_AY 0 +param set-default CA_ROTOR0_AZ 0 +param set-default CA_ROTOR0_KM 0 +param set-default CA_ROTOR0_PX 0 +param set-default CA_ROTOR0_PY -0.3 +param set-default CA_ROTOR0_PZ -0.3 +param set-default CA_ROTOR1_AX 1 +param set-default CA_ROTOR1_AY 0 +param set-default CA_ROTOR1_AZ 0 +param set-default CA_ROTOR1_KM 0 +param set-default CA_ROTOR1_PX 0 +param set-default CA_ROTOR1_PY 0.3 +param set-default CA_ROTOR1_PZ -0.3 +param set-default CA_ROTOR2_AX 1 +param set-default CA_ROTOR2_AY 0 +param set-default CA_ROTOR2_AZ 0 +param set-default CA_ROTOR2_KM 0 +param set-default CA_ROTOR2_PX 0 +param set-default CA_ROTOR2_PY 0.3 +param set-default CA_ROTOR2_PZ 0.3 +param set-default CA_ROTOR3_AX 1 +param set-default CA_ROTOR3_AY 0 +param set-default CA_ROTOR3_AZ 0 +param set-default CA_ROTOR3_KM 0 +param set-default CA_ROTOR3_PX 0 +param set-default CA_ROTOR3_PY -0.3 +param set-default CA_ROTOR3_PZ 0.3 param set-default PWM_MAIN_FUNC1 101 param set-default PWM_MAIN_FUNC2 102 param set-default PWM_MAIN_FUNC3 103 param set-default PWM_MAIN_FUNC4 104 - diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1022_gazebo-classic_uuv_bluerov2_heavy b/ROMFS/px4fmu_common/init.d-posix/airframes/1022_gazebo-classic_uuv_bluerov2_heavy index 71d0574e1df2..6f742e4fe88c 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/1022_gazebo-classic_uuv_bluerov2_heavy +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1022_gazebo-classic_uuv_bluerov2_heavy @@ -9,49 +9,49 @@ param set-default CA_AIRFRAME 7 param set-default CA_ROTOR_COUNT 8 param set-default CA_R_REV 255 -param set-default CA_ROTOR0_AX 1.0000 -param set-default CA_ROTOR0_AY -1.0000 -param set-default CA_ROTOR0_AZ 0.0000 -param set-default CA_ROTOR0_KM 0.0000 -param set-default CA_ROTOR0_PX 0.5000 -param set-default CA_ROTOR0_PY 0.3000 -param set-default CA_ROTOR0_PZ 0.2000 -param set-default CA_ROTOR1_AX 1.0000 -param set-default CA_ROTOR1_AY 1.0000 -param set-default CA_ROTOR1_AZ 0.0000 -param set-default CA_ROTOR1_KM 0.0000 -param set-default CA_ROTOR1_PX 0.5000 -param set-default CA_ROTOR1_PY -0.3000 -param set-default CA_ROTOR1_PZ 0.2000 -param set-default CA_ROTOR2_AX 1.0000 -param set-default CA_ROTOR2_AY 1.0000 -param set-default CA_ROTOR2_AZ 0.0000 -param set-default CA_ROTOR2_KM 0.0000 -param set-default CA_ROTOR2_PX -0.5000 -param set-default CA_ROTOR2_PY 0.3000 -param set-default CA_ROTOR2_PZ 0.2000 -param set-default CA_ROTOR3_AX 1.0000 -param set-default CA_ROTOR3_AY -1.0000 -param set-default CA_ROTOR3_AZ 0.0000 -param set-default CA_ROTOR3_KM 0.0000 -param set-default CA_ROTOR3_PX -0.5000 -param set-default CA_ROTOR3_PY -0.3000 -param set-default CA_ROTOR3_PZ 0.2000 -param set-default CA_ROTOR4_AZ -1.0000 -param set-default CA_ROTOR4_KM 0.0000 -param set-default CA_ROTOR4_PX 0.5000 -param set-default CA_ROTOR4_PY 0.5000 -param set-default CA_ROTOR5_AZ 1.0000 -param set-default CA_ROTOR5_KM 0.0000 -param set-default CA_ROTOR5_PX 0.5000 -param set-default CA_ROTOR5_PY -0.5000 -param set-default CA_ROTOR6_AZ 1.0000 -param set-default CA_ROTOR6_KM 0.0000 -param set-default CA_ROTOR6_PX -0.5000 -param set-default CA_ROTOR6_PY 0.5000 -param set-default CA_ROTOR7_KM 0.0000 -param set-default CA_ROTOR7_PX -0.5000 -param set-default CA_ROTOR7_PY -0.5000 +param set-default CA_ROTOR0_AX 1 +param set-default CA_ROTOR0_AY -1 +param set-default CA_ROTOR0_AZ 0 +param set-default CA_ROTOR0_KM 0 +param set-default CA_ROTOR0_PX 0.5 +param set-default CA_ROTOR0_PY 0.3 +param set-default CA_ROTOR0_PZ 0.2 +param set-default CA_ROTOR1_AX 1 +param set-default CA_ROTOR1_AY 1 +param set-default CA_ROTOR1_AZ 0 +param set-default CA_ROTOR1_KM 0 +param set-default CA_ROTOR1_PX 0.5 +param set-default CA_ROTOR1_PY -0.3 +param set-default CA_ROTOR1_PZ 0.2 +param set-default CA_ROTOR2_AX 1 +param set-default CA_ROTOR2_AY 1 +param set-default CA_ROTOR2_AZ 0 +param set-default CA_ROTOR2_KM 0 +param set-default CA_ROTOR2_PX -0.5 +param set-default CA_ROTOR2_PY 0.3 +param set-default CA_ROTOR2_PZ 0.2 +param set-default CA_ROTOR3_AX 1 +param set-default CA_ROTOR3_AY -1 +param set-default CA_ROTOR3_AZ 0 +param set-default CA_ROTOR3_KM 0 +param set-default CA_ROTOR3_PX -0.5 +param set-default CA_ROTOR3_PY -0.3 +param set-default CA_ROTOR3_PZ 0.2 +param set-default CA_ROTOR4_AZ -1 +param set-default CA_ROTOR4_KM 0 +param set-default CA_ROTOR4_PX 0.5 +param set-default CA_ROTOR4_PY 0.5 +param set-default CA_ROTOR5_AZ 1 +param set-default CA_ROTOR5_KM 0 +param set-default CA_ROTOR5_PX 0.5 +param set-default CA_ROTOR5_PY -0.5 +param set-default CA_ROTOR6_AZ 1 +param set-default CA_ROTOR6_KM 0 +param set-default CA_ROTOR6_PX -0.5 +param set-default CA_ROTOR6_PY 0.5 +param set-default CA_ROTOR7_KM 0 +param set-default CA_ROTOR7_PX -0.5 +param set-default CA_ROTOR7_PY -0.5 param set-default PWM_MAIN_FUNC1 101 param set-default PWM_MAIN_FUNC2 102 @@ -61,4 +61,3 @@ param set-default PWM_MAIN_FUNC5 105 param set-default PWM_MAIN_FUNC6 106 param set-default PWM_MAIN_FUNC7 107 param set-default PWM_MAIN_FUNC8 108 - diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1030_gazebo-classic_plane b/ROMFS/px4fmu_common/init.d-posix/airframes/1030_gazebo-classic_plane index 462cfe50100a..dc45a34029bf 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/1030_gazebo-classic_plane +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1030_gazebo-classic_plane @@ -54,9 +54,9 @@ param set-default CA_SV_CS0_TRQ_R -0.5 param set-default CA_SV_CS0_TYPE 1 param set-default CA_SV_CS1_TRQ_R 0.5 param set-default CA_SV_CS1_TYPE 2 -param set-default CA_SV_CS2_TRQ_P 1.0 +param set-default CA_SV_CS2_TRQ_P 1 param set-default CA_SV_CS2_TYPE 3 -param set-default CA_SV_CS3_TRQ_Y 1.0 +param set-default CA_SV_CS3_TRQ_Y 1 param set-default CA_SV_CS3_TYPE 4 param set-default CA_SV_CS4_TYPE 9 param set-default CA_SV_CS5_TYPE 10 @@ -68,5 +68,3 @@ param set-default PWM_MAIN_FUNC7 202 param set-default PWM_MAIN_FUNC8 203 param set-default PWM_MAIN_FUNC9 206 param set-default PWM_MAIN_REV 256 - - diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1031_gazebo-classic_plane_cam b/ROMFS/px4fmu_common/init.d-posix/airframes/1031_gazebo-classic_plane_cam index 743698450c56..695f851ff08e 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/1031_gazebo-classic_plane_cam +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1031_gazebo-classic_plane_cam @@ -39,7 +39,6 @@ param set-default FW_T_SINK_MIN 2.2 param set-default FW_W_EN 1 -param set-default MIS_LTRMIN_ALT 30 param set-default MIS_TAKEOFF_ALT 30 param set-default NAV_ACC_RAD 15 @@ -57,9 +56,9 @@ param set-default CA_SV_CS0_TRQ_R -0.5 param set-default CA_SV_CS0_TYPE 1 param set-default CA_SV_CS1_TRQ_R 0.5 param set-default CA_SV_CS1_TYPE 2 -param set-default CA_SV_CS2_TRQ_P 1.0 +param set-default CA_SV_CS2_TRQ_P 1 param set-default CA_SV_CS2_TYPE 3 -param set-default CA_SV_CS3_TRQ_Y 1.0 +param set-default CA_SV_CS3_TRQ_Y 1 param set-default CA_SV_CS3_TYPE 4 param set-default CA_SV_CS4_TYPE 9 param set-default CA_SV_CS5_TYPE 10 diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1032_gazebo-classic_plane_catapult b/ROMFS/px4fmu_common/init.d-posix/airframes/1032_gazebo-classic_plane_catapult index d730e4a55f7d..12e828c08c66 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/1032_gazebo-classic_plane_catapult +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1032_gazebo-classic_plane_catapult @@ -7,6 +7,7 @@ param set-default FW_LAUN_DETCN_ON 1 param set-default FW_THR_IDLE 0.1 # needs to be running before throw as that's how gazebo detects arming +param set-default FW_LAUN_AC_THLD 10 param set-default FW_LND_ANG 8 @@ -40,7 +41,6 @@ param set-default FW_T_SINK_MIN 2.2 param set-default FW_W_EN 1 -param set-default MIS_LTRMIN_ALT 30 param set-default MIS_TAKEOFF_ALT 30 param set-default NAV_ACC_RAD 15 @@ -56,9 +56,9 @@ param set-default CA_SV_CS0_TRQ_R -0.5 param set-default CA_SV_CS0_TYPE 1 param set-default CA_SV_CS1_TRQ_R 0.5 param set-default CA_SV_CS1_TYPE 2 -param set-default CA_SV_CS2_TRQ_P 1.0 +param set-default CA_SV_CS2_TRQ_P 1 param set-default CA_SV_CS2_TYPE 3 -param set-default CA_SV_CS3_TRQ_Y 1.0 +param set-default CA_SV_CS3_TRQ_Y 1 param set-default CA_SV_CS3_TYPE 4 param set-default CA_SV_CS4_TYPE 9 param set-default CA_SV_CS5_TYPE 10 @@ -70,4 +70,3 @@ param set-default PWM_MAIN_FUNC7 202 param set-default PWM_MAIN_FUNC8 203 param set-default PWM_MAIN_FUNC9 206 param set-default PWM_MAIN_REV 256 - diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1033_jsbsim_rascal b/ROMFS/px4fmu_common/init.d-posix/airframes/1033_jsbsim_rascal index 89675aed623d..ef9df5af984e 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/1033_jsbsim_rascal +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1033_jsbsim_rascal @@ -24,7 +24,6 @@ param set-default FW_RR_P 0.085 param set-default FW_W_EN 1 param set-default MIS_TAKEOFF_ALT 20 -param set-default MIS_DIST_1WP 2500 param set-default NAV_ACC_RAD 15 param set-default NAV_DLL_ACT 2 @@ -42,9 +41,9 @@ param set-default CA_SV_CS0_TRQ_R -0.5 param set-default CA_SV_CS0_TYPE 1 param set-default CA_SV_CS1_TRQ_R 0.5 param set-default CA_SV_CS1_TYPE 2 -param set-default CA_SV_CS2_TRQ_P 1.0 +param set-default CA_SV_CS2_TRQ_P 1 param set-default CA_SV_CS2_TYPE 3 -param set-default CA_SV_CS3_TRQ_Y 1.0 +param set-default CA_SV_CS3_TRQ_Y 1 param set-default CA_SV_CS3_TYPE 4 param set-default CA_SV_CS4_TYPE 9 param set-default CA_SV_CS5_TYPE 10 @@ -56,4 +55,3 @@ param set-default PWM_MAIN_FUNC7 202 param set-default PWM_MAIN_FUNC8 203 param set-default PWM_MAIN_FUNC9 206 param set-default PWM_MAIN_REV 256 - diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1034_flightgear_rascal-electric b/ROMFS/px4fmu_common/init.d-posix/airframes/1034_flightgear_rascal-electric index e90fb1c65771..ef9df5af984e 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/1034_flightgear_rascal-electric +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1034_flightgear_rascal-electric @@ -24,7 +24,6 @@ param set-default FW_RR_P 0.085 param set-default FW_W_EN 1 param set-default MIS_TAKEOFF_ALT 20 -param set-default MIS_DIST_1WP 2500 param set-default NAV_ACC_RAD 15 param set-default NAV_DLL_ACT 2 @@ -42,9 +41,9 @@ param set-default CA_SV_CS0_TRQ_R -0.5 param set-default CA_SV_CS0_TYPE 1 param set-default CA_SV_CS1_TRQ_R 0.5 param set-default CA_SV_CS1_TYPE 2 -param set-default CA_SV_CS2_TRQ_P 1.0 +param set-default CA_SV_CS2_TRQ_P 1 param set-default CA_SV_CS2_TYPE 3 -param set-default CA_SV_CS3_TRQ_Y 1.0 +param set-default CA_SV_CS3_TRQ_Y 1 param set-default CA_SV_CS3_TYPE 4 param set-default CA_SV_CS4_TYPE 9 param set-default CA_SV_CS5_TYPE 10 diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1035_gazebo-classic_techpod b/ROMFS/px4fmu_common/init.d-posix/airframes/1035_gazebo-classic_techpod index 2c2d18380677..68bb1420949d 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/1035_gazebo-classic_techpod +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1035_gazebo-classic_techpod @@ -40,9 +40,9 @@ param set-default CA_SV_CS0_TRQ_R -0.5 param set-default CA_SV_CS0_TYPE 1 param set-default CA_SV_CS1_TRQ_R 0.5 param set-default CA_SV_CS1_TYPE 2 -param set-default CA_SV_CS2_TRQ_P 1.0 +param set-default CA_SV_CS2_TRQ_P 1 param set-default CA_SV_CS2_TYPE 3 -param set-default CA_SV_CS3_TRQ_Y 1.0 +param set-default CA_SV_CS3_TRQ_Y 1 param set-default CA_SV_CS3_TYPE 4 param set-default CA_SV_CS4_TYPE 9 param set-default CA_SV_CS5_TYPE 10 @@ -54,4 +54,3 @@ param set-default PWM_MAIN_FUNC7 202 param set-default PWM_MAIN_FUNC8 203 param set-default PWM_MAIN_FUNC9 206 param set-default PWM_MAIN_REV 256 - diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1036_jsbsim_malolo b/ROMFS/px4fmu_common/init.d-posix/airframes/1036_jsbsim_malolo index 89675aed623d..ef9df5af984e 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/1036_jsbsim_malolo +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1036_jsbsim_malolo @@ -24,7 +24,6 @@ param set-default FW_RR_P 0.085 param set-default FW_W_EN 1 param set-default MIS_TAKEOFF_ALT 20 -param set-default MIS_DIST_1WP 2500 param set-default NAV_ACC_RAD 15 param set-default NAV_DLL_ACT 2 @@ -42,9 +41,9 @@ param set-default CA_SV_CS0_TRQ_R -0.5 param set-default CA_SV_CS0_TYPE 1 param set-default CA_SV_CS1_TRQ_R 0.5 param set-default CA_SV_CS1_TYPE 2 -param set-default CA_SV_CS2_TRQ_P 1.0 +param set-default CA_SV_CS2_TRQ_P 1 param set-default CA_SV_CS2_TYPE 3 -param set-default CA_SV_CS3_TRQ_Y 1.0 +param set-default CA_SV_CS3_TRQ_Y 1 param set-default CA_SV_CS3_TYPE 4 param set-default CA_SV_CS4_TYPE 9 param set-default CA_SV_CS5_TYPE 10 @@ -56,4 +55,3 @@ param set-default PWM_MAIN_FUNC7 202 param set-default PWM_MAIN_FUNC8 203 param set-default PWM_MAIN_FUNC9 206 param set-default PWM_MAIN_REV 256 - diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1037_gazebo-classic_believer b/ROMFS/px4fmu_common/init.d-posix/airframes/1037_gazebo-classic_believer index fc329d376eb0..0a8343a4c889 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/1037_gazebo-classic_believer +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1037_gazebo-classic_believer @@ -48,9 +48,9 @@ param set-default CA_SV_CS0_TRQ_R -0.5 param set-default CA_SV_CS0_TYPE 1 param set-default CA_SV_CS1_TRQ_R 0.5 param set-default CA_SV_CS1_TYPE 2 -param set-default CA_SV_CS2_TRQ_P 1.0 +param set-default CA_SV_CS2_TRQ_P 1 param set-default CA_SV_CS2_TYPE 3 -param set-default CA_SV_CS3_TRQ_Y 1.0 +param set-default CA_SV_CS3_TRQ_Y 1 param set-default CA_SV_CS3_TYPE 4 param set-default CA_SV_CS4_TYPE 9 param set-default CA_SV_CS5_TYPE 10 @@ -62,4 +62,3 @@ param set-default PWM_MAIN_FUNC7 202 param set-default PWM_MAIN_FUNC8 203 param set-default PWM_MAIN_FUNC9 206 param set-default PWM_MAIN_REV 256 - diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1038_gazebo-classic_glider b/ROMFS/px4fmu_common/init.d-posix/airframes/1038_gazebo-classic_glider index 294c07b3efc9..ef2cd026061e 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/1038_gazebo-classic_glider +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1038_gazebo-classic_glider @@ -39,7 +39,6 @@ param set-default FW_T_SINK_MIN 2.2 param set-default FW_W_EN 1 -param set-default MIS_LTRMIN_ALT 30 param set-default MIS_TAKEOFF_ALT 30 param set-default NAV_ACC_RAD 15 @@ -55,9 +54,9 @@ param set-default CA_SV_CS0_TRQ_R -0.5 param set-default CA_SV_CS0_TYPE 1 param set-default CA_SV_CS1_TRQ_R 0.5 param set-default CA_SV_CS1_TYPE 2 -param set-default CA_SV_CS2_TRQ_P 1.0 +param set-default CA_SV_CS2_TRQ_P 1 param set-default CA_SV_CS2_TYPE 3 -param set-default CA_SV_CS3_TRQ_Y 1.0 +param set-default CA_SV_CS3_TRQ_Y 1 param set-default CA_SV_CS3_TYPE 4 param set-default CA_SV_CS4_TYPE 9 param set-default CA_SV_CS5_TYPE 10 diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1039_flightgear_rascal b/ROMFS/px4fmu_common/init.d-posix/airframes/1039_flightgear_rascal index 490d15b9c7f6..544fd746e100 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/1039_flightgear_rascal +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1039_flightgear_rascal @@ -23,9 +23,7 @@ param set-default FW_RR_P 0.085 param set-default FW_W_EN 1 -param set-default MIS_LTRMIN_ALT 30 param set-default MIS_TAKEOFF_ALT 20 -param set-default MIS_DIST_1WP 2500 param set-default NAV_ACC_RAD 15 param set-default NAV_DLL_ACT 2 @@ -47,9 +45,9 @@ param set-default CA_SV_CS0_TRQ_R -0.5 param set-default CA_SV_CS0_TYPE 1 param set-default CA_SV_CS1_TRQ_R 0.5 param set-default CA_SV_CS1_TYPE 2 -param set-default CA_SV_CS2_TRQ_P 1.0 +param set-default CA_SV_CS2_TRQ_P 1 param set-default CA_SV_CS2_TYPE 3 -param set-default CA_SV_CS3_TRQ_Y 1.0 +param set-default CA_SV_CS3_TRQ_Y 1 param set-default CA_SV_CS3_TYPE 4 param set-default CA_SV_CS4_TYPE 9 param set-default CA_SV_CS5_TYPE 10 diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1039_gazebo-classic_advanced_plane b/ROMFS/px4fmu_common/init.d-posix/airframes/1039_gazebo-classic_advanced_plane index 768a8fbf8409..1fafd1d4880f 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/1039_gazebo-classic_advanced_plane +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1039_gazebo-classic_advanced_plane @@ -8,7 +8,6 @@ param set-default FW_LND_ANG 8 -param set-default FW_THR_LND_MAX 0 param set-default NPFG_PERIOD 12 @@ -36,7 +35,6 @@ param set-default NAV_DLL_ACT 2 param set-default RWTO_TKOFF 1 -#param set-default SYS_CTRL_ALLOC 1 param set-default CA_AIRFRAME 1 param set-default CA_ROTOR_COUNT 1 @@ -47,9 +45,9 @@ param set-default CA_SV_CS0_TRQ_R -0.5 param set-default CA_SV_CS0_TYPE 1 param set-default CA_SV_CS1_TRQ_R 0.5 param set-default CA_SV_CS1_TYPE 2 -param set-default CA_SV_CS2_TRQ_P 1.0 +param set-default CA_SV_CS2_TRQ_P 1 param set-default CA_SV_CS2_TYPE 3 -param set-default CA_SV_CS3_TRQ_Y 1.0 +param set-default CA_SV_CS3_TRQ_Y 1 param set-default CA_SV_CS3_TYPE 4 param set-default CA_SV_CS4_TYPE 9 param set-default CA_SV_CS5_TYPE 10 @@ -61,7 +59,3 @@ param set-default PWM_MAIN_FUNC7 202 param set-default PWM_MAIN_FUNC8 203 param set-default PWM_MAIN_FUNC9 206 param set-default PWM_MAIN_REV 256 - - -set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix -set MIXER custom diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1040_gazebo-classic_standard_vtol b/ROMFS/px4fmu_common/init.d-posix/airframes/1040_gazebo-classic_standard_vtol index 4e25647e0151..2324f9588571 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/1040_gazebo-classic_standard_vtol +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1040_gazebo-classic_standard_vtol @@ -27,8 +27,8 @@ param set-default CA_ROTOR2_KM -0.05 param set-default CA_ROTOR3_PX -0.1515 param set-default CA_ROTOR3_PY 0.1875 param set-default CA_ROTOR3_KM -0.05 -param set-default CA_ROTOR4_AX 1.0 -param set-default CA_ROTOR4_AZ 0.0 +param set-default CA_ROTOR4_AX 1 +param set-default CA_ROTOR4_AZ 0 param set-default CA_ROTOR4_PX 0.2 param set-default CA_SV_CS_COUNT 3 @@ -37,7 +37,7 @@ param set-default CA_SV_CS0_TRQ_R -0.5 param set-default CA_SV_CS1_TYPE 2 param set-default CA_SV_CS1_TRQ_R 0.5 param set-default CA_SV_CS2_TYPE 3 -param set-default CA_SV_CS2_TRQ_P 1.0 +param set-default CA_SV_CS2_TRQ_P 1 param set-default PWM_MAIN_FUNC1 101 param set-default PWM_MAIN_FUNC2 102 param set-default PWM_MAIN_FUNC3 103 @@ -47,6 +47,8 @@ param set-default PWM_MAIN_FUNC6 201 param set-default PWM_MAIN_FUNC7 202 param set-default PWM_MAIN_FUNC8 203 +param set-default FW_AIRSPD_MAX 25 +param set-default FW_THR_ASPD_MAX 0.4 param set-default NPFG_PERIOD 12 param set-default FW_PR_FF 0.2 param set-default FW_PR_P 0.9 @@ -62,19 +64,17 @@ param set-default FW_T_SINK_MAX 2.7 param set-default FW_T_SINK_MIN 2.2 param set-default MC_AIRMODE 1 +param set-default MC_ROLL_P 4 param set-default MC_ROLLRATE_P 0.3 param set-default MC_YAW_P 1.6 +param set-default MC_YAWRATE_P 0.3 -param set-default MIS_TAKEOFF_ALT 10 -param set-default MPC_XY_P 0.8 -param set-default MPC_XY_VEL_P_ACC 3 -param set-default MPC_XY_VEL_I_ACC 4 -param set-default MPC_XY_VEL_D_ACC 0.1 +param set-default MIS_TAKEOFF_ALT 10 param set-default NAV_ACC_RAD 5 param set-default VT_FWD_THRUST_EN 4 +param set-default VT_FWD_THRUST_SC 1 param set-default VT_F_TRANS_THR 0.75 param set-default VT_TYPE 2 - diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1041_gazebo-classic_tailsitter b/ROMFS/px4fmu_common/init.d-posix/airframes/1041_gazebo-classic_tailsitter index 2ab3d13e80d3..a803fcee3cde 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/1041_gazebo-classic_tailsitter +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1041_gazebo-classic_tailsitter @@ -48,36 +48,30 @@ param set-default PWM_MAIN_REV 96 # invert both elevons param set-default EKF2_MULTI_IMU 0 param set-default SENS_IMU_MODE 1 -param set-default NPFG_PERIOD 12 -param set-default FW_PR_I 0.2 -param set-default FW_PR_P 0.2 +param set-default FW_P_TC 0.6 + +param set-default FW_PR_FF 0.0 param set-default FW_PSP_OFF 2 -param set-default FW_P_LIM_MIN -15 -param set-default FW_RR_P 0.2 -param set-default FW_THR_TRIM 0.33 -param set-default FW_THR_MAX 0.6 +param set-default FW_RR_FF 0.1 +param set-default FW_RR_I 0.2 +param set-default FW_RR_P 0.5 +param set-default FW_THR_TRIM 0.35 +param set-default FW_THR_MAX 0.8 param set-default FW_THR_MIN 0.05 -param set-default FW_T_ALT_TC 2 -param set-default FW_T_CLMB_MAX 8 -param set-default FW_T_SINK_MAX 2.7 -param set-default FW_T_SINK_MIN 2.2 -param set-default FW_T_TAS_TC 2 +param set-default FW_T_CLMB_MAX 6 +param set-default FW_T_HRATE_FF 0.5 +param set-default FW_T_SINK_MAX 3 +param set-default FW_T_SINK_MIN 1.6 param set-default MC_AIRMODE 1 -param set-default MC_ROLLRATE_P 0.3 - -param set-default MPC_XY_P 0.8 -param set-default MPC_XY_VEL_P_ACC 3 -param set-default MPC_XY_VEL_I_ACC 4 -param set-default MPC_XY_VEL_D_ACC 0.1 - -param set-default NAV_ACC_RAD 5 +param set-default MC_ROLL_P 3 +param set-default MC_PITCH_P 3 +param set-default VT_ARSP_TRANS 10 +param set-default VT_B_TRANS_DUR 5 param set-default VT_FW_DIFTHR_EN 1 -param set-default VT_FW_DIFTHR_S_Y 0.5 +param set-default VT_FW_DIFTHR_S_Y 1 param set-default VT_F_TRANS_DUR 1.5 -param set-default VT_F_TRANS_THR 0.7 param set-default VT_TYPE 0 param set-default WV_EN 0 - diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1042_gazebo-classic_tiltrotor b/ROMFS/px4fmu_common/init.d-posix/airframes/1042_gazebo-classic_tiltrotor index 9293cd3140b1..060399be7690 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/1042_gazebo-classic_tiltrotor +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1042_gazebo-classic_tiltrotor @@ -31,7 +31,7 @@ param set-default CA_SV_CS0_TRQ_R -0.5 param set-default CA_SV_CS0_TYPE 1 param set-default CA_SV_CS1_TRQ_R 0.5 param set-default CA_SV_CS1_TYPE 2 -param set-default CA_SV_CS2_TRQ_P 1.0 +param set-default CA_SV_CS2_TRQ_P 1 param set-default CA_SV_CS2_TYPE 3 param set-default CA_SV_CS_COUNT 3 param set-default CA_SV_TL_COUNT 2 diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1043_gazebo-classic_standard_vtol_drop b/ROMFS/px4fmu_common/init.d-posix/airframes/1043_gazebo-classic_standard_vtol_drop index f029918529f2..eadf0d4e0249 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/1043_gazebo-classic_standard_vtol_drop +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1043_gazebo-classic_standard_vtol_drop @@ -27,8 +27,8 @@ param set-default CA_ROTOR2_KM -0.05 param set-default CA_ROTOR3_PX -0.1515 param set-default CA_ROTOR3_PY 0.1875 param set-default CA_ROTOR3_KM -0.05 -param set-default CA_ROTOR4_AX 1.0 -param set-default CA_ROTOR4_AZ 0.0 +param set-default CA_ROTOR4_AX 1 +param set-default CA_ROTOR4_AZ 0 param set-default CA_ROTOR4_PX 0.2 param set-default CA_SV_CS_COUNT 3 @@ -37,7 +37,7 @@ param set-default CA_SV_CS0_TRQ_R -0.5 param set-default CA_SV_CS1_TYPE 2 param set-default CA_SV_CS1_TRQ_R 0.5 param set-default CA_SV_CS2_TYPE 3 -param set-default CA_SV_CS2_TRQ_P 1.0 +param set-default CA_SV_CS2_TRQ_P 1 param set-default PWM_MAIN_FUNC1 101 param set-default PWM_MAIN_FUNC2 102 param set-default PWM_MAIN_FUNC3 103 @@ -88,4 +88,3 @@ param set-default PWM_MAIN_FUNC11 422 param set-default RC_MAP_AUX1 8 param set-default RC_MAP_AUX2 9 param set-default RC_MAP_AUX3 10 - diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1044_gazebo-classic_plane_lidar b/ROMFS/px4fmu_common/init.d-posix/airframes/1044_gazebo-classic_plane_lidar index a92e0cf2c806..23b7757d4bcd 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/1044_gazebo-classic_plane_lidar +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1044_gazebo-classic_plane_lidar @@ -39,7 +39,6 @@ param set-default FW_T_SINK_MIN 2.2 param set-default FW_W_EN 1 -param set-default MIS_LTRMIN_ALT 30 param set-default MIS_TAKEOFF_ALT 30 param set-default NAV_ACC_RAD 15 @@ -57,9 +56,9 @@ param set-default CA_SV_CS0_TRQ_R -0.5 param set-default CA_SV_CS0_TYPE 1 param set-default CA_SV_CS1_TRQ_R 0.5 param set-default CA_SV_CS1_TYPE 2 -param set-default CA_SV_CS2_TRQ_P 1.0 +param set-default CA_SV_CS2_TRQ_P 1 param set-default CA_SV_CS2_TYPE 3 -param set-default CA_SV_CS3_TRQ_Y 1.0 +param set-default CA_SV_CS3_TRQ_Y 1 param set-default CA_SV_CS3_TYPE 4 param set-default CA_SV_CS4_TYPE 9 param set-default CA_SV_CS5_TYPE 10 diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1045_gazebo-classic_quadtailsitter b/ROMFS/px4fmu_common/init.d-posix/airframes/1045_gazebo-classic_quadtailsitter new file mode 100644 index 000000000000..9539ba6d7402 --- /dev/null +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1045_gazebo-classic_quadtailsitter @@ -0,0 +1,74 @@ +#!/bin/sh +# +# @name Quadrotor + Tailsitter +# +# @type VTOL Quad Tailsitter +# + +. ${R}etc/init.d/rc.vtol_defaults + +param set-default MAV_TYPE 20 + +param set-default CA_AIRFRAME 4 + +param set-default CA_ROTOR_COUNT 4 +param set-default CA_ROTOR0_PX 0.15 +param set-default CA_ROTOR0_PY 0.23 +param set-default CA_ROTOR0_KM 0.05 +param set-default CA_ROTOR1_PX -0.15 +param set-default CA_ROTOR1_PY -0.23 +param set-default CA_ROTOR1_KM 0.05 +param set-default CA_ROTOR2_PX 0.15 +param set-default CA_ROTOR2_PY -0.23 +param set-default CA_ROTOR2_KM -0.05 +param set-default CA_ROTOR3_PX -0.15 +param set-default CA_ROTOR3_PY 0.23 +param set-default CA_ROTOR3_KM -0.05 + +param set-default CA_SV_CS_COUNT 0 + +param set-default PWM_MAIN_FUNC1 101 +param set-default PWM_MAIN_FUNC2 102 +param set-default PWM_MAIN_FUNC3 103 +param set-default PWM_MAIN_FUNC4 104 +param set-default PWM_MAIN_FUNC5 0 + +param set-default FD_FAIL_R 70 + +param set-default FW_P_TC 0.6 + +param set-default FW_PR_I 0.3 +param set-default FW_PR_P 0.5 +param set-default FW_PSP_OFF 2 +param set-default FW_RR_FF 0.1 +param set-default FW_RR_I 0.1 +param set-default FW_RR_P 0.2 +param set-default FW_YR_FF 0 # make yaw rate controller very weak, only keep default P +param set-default FW_YR_I 0 +param set-default FW_THR_TRIM 0.35 +param set-default FW_THR_MAX 0.8 +param set-default FW_THR_MIN 0.05 +param set-default FW_T_CLMB_MAX 6 +param set-default FW_T_HRATE_FF 0.5 +param set-default FW_T_SINK_MAX 3 +param set-default FW_T_SINK_MIN 1.6 +param set-default FW_AIRSPD_STALL 10 +param set-default FW_AIRSPD_MIN 14 +param set-default FW_AIRSPD_TRIM 18 +param set-default FW_AIRSPD_MAX 22 + +param set-default MC_AIRMODE 2 +param set-default MAN_ARM_GESTURE 0 # required for yaw airmode +param set-default MC_ROLL_P 3 +param set-default MC_PITCH_P 3 +param set-default MC_ROLLRATE_P 0.3 +param set-default MC_PITCHRATE_P 0.3 + +param set-default VT_ARSP_TRANS 15 +param set-default VT_B_TRANS_DUR 5 +param set-default VT_FW_DIFTHR_EN 7 +param set-default VT_FW_DIFTHR_S_Y 1 +param set-default VT_F_TRANS_DUR 1.5 +param set-default VT_TYPE 0 + +param set-default WV_EN 0 diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1060_gazebo-classic_rover b/ROMFS/px4fmu_common/init.d-posix/airframes/1060_gazebo-classic_rover index d58f5aebaec1..920d022f2107 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/1060_gazebo-classic_rover +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1060_gazebo-classic_rover @@ -22,7 +22,7 @@ param set-default NAV_ACC_RAD 0.5 param set-default NAV_LOITER_RAD 2 param set-default GND_MAX_ANG 0.6 -param set-default GND_WHEEL_BASE 2.0 +param set-default GND_WHEEL_BASE 2 param set-default CA_AIRFRAME 5 @@ -31,4 +31,3 @@ param set-default PWM_MAIN_FUNC1 201 param set-default PWM_MAIN_FUNC2 201 param set-default PWM_MAIN_FUNC6 101 param set-default PWM_MAIN_FUNC7 101 - diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1061_gazebo-classic_r1_rover b/ROMFS/px4fmu_common/init.d-posix/airframes/1061_gazebo-classic_r1_rover index ced7bb26cf84..54905d502be6 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/1061_gazebo-classic_r1_rover +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1061_gazebo-classic_r1_rover @@ -4,31 +4,9 @@ # @type Rover # @class Rover -. ${R}etc/init.d/rc.rover_defaults +. ${R}etc/init.d/rc.rover_differential_defaults -param set-default GND_L1_DIST 5 -param set-default GND_SP_CTRL_MODE 1 -param set-default GND_SPEED_D 3 -param set-default GND_SPEED_I 0.001 -param set-default GND_SPEED_IMAX 0.125 -param set-default GND_SPEED_P 0.25 -param set-default GND_SPEED_THR_SC 1 -param set-default GND_SPEED_TRIM 4 -param set-default GND_THR_CRUISE 0.3 -param set-default GND_THR_MAX 0.5 -param set-default GND_THR_MIN 0 - -param set-default NAV_ACC_RAD 0.5 -param set-default NAV_LOITER_RAD 2 - -param set-default GND_MAX_ANG 0.6 -param set-default GND_WHEEL_BASE 2.0 - -param set-default CA_AIRFRAME 6 - -param set-default CA_R_REV 3 param set-default PWM_MAIN_FUNC1 101 param set-default PWM_MAIN_FUNC2 101 param set-default PWM_MAIN_FUNC6 102 param set-default PWM_MAIN_FUNC7 102 - diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1062_flightgear_tf-r1 b/ROMFS/px4fmu_common/init.d-posix/airframes/1062_flightgear_tf-r1 index 40c5cb8d04f9..75cbe5b5dfaf 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/1062_flightgear_tf-r1 +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1062_flightgear_tf-r1 @@ -29,7 +29,7 @@ param set-default NAV_ACC_RAD 0.5 param set-default NAV_LOITER_RAD 2 param set-default GND_MAX_ANG 0.6 -param set-default GND_WHEEL_BASE 3.0 +param set-default GND_WHEEL_BASE 3 param set-default CA_AIRFRAME 5 @@ -38,4 +38,3 @@ param set-default PWM_MAIN_FUNC1 201 param set-default PWM_MAIN_FUNC2 201 param set-default PWM_MAIN_FUNC6 101 param set-default PWM_MAIN_FUNC7 101 - diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1070_gazebo-classic_boat b/ROMFS/px4fmu_common/init.d-posix/airframes/1070_gazebo-classic_boat index c173598078c8..fce37ecde279 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/1070_gazebo-classic_boat +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1070_gazebo-classic_boat @@ -22,7 +22,7 @@ param set-default NAV_ACC_RAD 0.5 param set-default NAV_LOITER_RAD 2 param set-default GND_MAX_ANG 0.6 -param set-default GND_WHEEL_BASE 2.0 +param set-default GND_WHEEL_BASE 2 param set-default CA_AIRFRAME 9 @@ -41,4 +41,3 @@ param set-default CA_R_REV 3 param set-default PWM_MAIN_FUNC1 101 param set-default PWM_MAIN_FUNC2 102 - diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/17001_flightgear_tf-g1 b/ROMFS/px4fmu_common/init.d-posix/airframes/17001_flightgear_tf-g1 index f733f9cf25f2..dd3b5759bab0 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/17001_flightgear_tf-g1 +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/17001_flightgear_tf-g1 @@ -14,7 +14,7 @@ param set-default FW_AIRSPD_STALL 8 -param set-default FW_P_RMAX_NEG 20.0 +param set-default FW_P_RMAX_NEG 20 param set-default FW_W_RMAX 10 param set-default FW_W_EN 1 @@ -37,7 +37,7 @@ param set-default FW_P_LIM_MAX 25 param set-default FW_P_LIM_MIN -5 param set-default FW_R_LIM 30 -param set-default FW_MAN_R_MAX 30.0 +param set-default FW_MAN_R_MAX 30 param set-default FW_THR_TRIM 0.8 param set-default FW_THR_IDLE 0 @@ -64,4 +64,3 @@ param set-default PWM_MAIN_FUNC4 203 param set-default PWM_MAIN_FUNC5 407 param set-default PWM_MAIN_FUNC6 408 param set-default PWM_MAIN_FUNC7 409 - diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/17002_flightgear_tf-g2 b/ROMFS/px4fmu_common/init.d-posix/airframes/17002_flightgear_tf-g2 index 5ed2fbf9667d..ffb9ef2235e5 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/17002_flightgear_tf-g2 +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/17002_flightgear_tf-g2 @@ -14,7 +14,7 @@ param set-default FW_AIRSPD_STALL 5 -param set-default FW_P_RMAX_NEG 20.0 +param set-default FW_P_RMAX_NEG 20 param set-default FW_W_RMAX 10 param set-default FW_W_EN 1 @@ -29,9 +29,9 @@ param set-default NAV_LOITER_RAD 50 # Parameters related to autogyro takeoff PR #param set-default AG_TKOFF 1 #param set-default AG_PROT_TYPE 1 -#param set-default AG_PROT_MIN_RPM 50.0 -#param set-default AG_PROT_TRG_RPM 900.0 -#param set-defoult AG_ROTOR_RPM 900.0 +#param set-default AG_PROT_MIN_RPM 50 +#param set-default AG_PROT_TRG_RPM 900 +#param set-defoult AG_ROTOR_RPM 900 param set-default FW_ARSP_SCALE_EN 0 @@ -42,7 +42,7 @@ param set-default FW_P_LIM_MAX 25 param set-default FW_P_LIM_MIN -5 param set-default FW_R_LIM 30 -param set-default FW_MAN_R_MAX 30.0 +param set-default FW_MAN_R_MAX 30 param set-default FW_THR_CRUISE 0.8 param set-default FW_THR_IDLE 0 @@ -69,4 +69,3 @@ param set-default PWM_MAIN_FUNC4 203 param set-default PWM_MAIN_FUNC5 407 param set-default PWM_MAIN_FUNC6 408 param set-default PWM_MAIN_FUNC7 409 - diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/2507_gazebo-classic_cloudship b/ROMFS/px4fmu_common/init.d-posix/airframes/2507_gazebo-classic_cloudship index 01f7c2ac2b48..b0eb3bbddc8f 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/2507_gazebo-classic_cloudship +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/2507_gazebo-classic_cloudship @@ -14,21 +14,21 @@ param set-default CA_AIRFRAME 9 param set-default CA_ROTOR_COUNT 3 -param set-default CA_ROTOR0_AX 1.0000 -param set-default CA_ROTOR0_AZ 0.0000 -param set-default CA_ROTOR0_KM 0.0000 -param set-default CA_ROTOR0_PY 2.0000 -param set-default CA_ROTOR1_AX 1.0000 -param set-default CA_ROTOR1_AZ 0.0000 -param set-default CA_ROTOR1_KM 0.0000 -param set-default CA_ROTOR1_PY -2.0000 -param set-default CA_ROTOR2_AY -1.0000 -param set-default CA_ROTOR2_AZ 0.0000 -param set-default CA_ROTOR2_KM 0.0000 -param set-default CA_ROTOR2_PX -10.0000 +param set-default CA_ROTOR0_AX 1 +param set-default CA_ROTOR0_AZ 0 +param set-default CA_ROTOR0_KM 0 +param set-default CA_ROTOR0_PY 2 +param set-default CA_ROTOR1_AX 1 +param set-default CA_ROTOR1_AZ 0 +param set-default CA_ROTOR1_KM 0 +param set-default CA_ROTOR1_PY -2 +param set-default CA_ROTOR2_AY -1 +param set-default CA_ROTOR2_AZ 0 +param set-default CA_ROTOR2_KM 0 +param set-default CA_ROTOR2_PX -10 param set-default CA_SV_CS_COUNT 1 -param set-default CA_SV_CS0_TRQ_P 1.0000 +param set-default CA_SV_CS0_TRQ_P 1 param set-default CA_R_REV 7 @@ -36,4 +36,3 @@ param set-default PWM_MAIN_FUNC1 101 param set-default PWM_MAIN_FUNC2 102 param set-default PWM_MAIN_FUNC3 201 param set-default PWM_MAIN_FUNC4 103 - diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/3011_jsbsim_hexarotor_x b/ROMFS/px4fmu_common/init.d-posix/airframes/3011_jsbsim_hexarotor_x index b17de91d1b57..a3fd956dfd59 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/3011_jsbsim_hexarotor_x +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/3011_jsbsim_hexarotor_x @@ -13,9 +13,9 @@ param set-default MAV_TYPE 13 param set-default MC_PITCHRATE_P 0.1 param set-default MC_PITCHRATE_I 0.05 -param set-default MC_PITCH_P 6.0 +param set-default MC_PITCH_P 6 param set-default MC_ROLLRATE_I 0.1 -param set-default MC_ROLL_P 6.0 +param set-default MC_ROLL_P 6 param set-default MPC_XY_VEL_I_ACC 4 param set-default MPC_XY_VEL_P_ACC 3 @@ -27,11 +27,11 @@ param set-default MNT_MODE_IN 4 param set-default MNT_DO_STAB 2 -param set-default CA_ROTOR0_PX 0.0 -param set-default CA_ROTOR0_PY 1.0 +param set-default CA_ROTOR0_PX 0 +param set-default CA_ROTOR0_PY 1 param set-default CA_ROTOR0_KM -0.05 -param set-default CA_ROTOR1_PX 0.0 -param set-default CA_ROTOR1_PY -1.0 +param set-default CA_ROTOR1_PX 0 +param set-default CA_ROTOR1_PY -1 param set-default CA_ROTOR1_KM 0.05 param set-default CA_ROTOR2_PX 0.866025 param set-default CA_ROTOR2_PY -0.5 diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/4001_gz_x500 b/ROMFS/px4fmu_common/init.d-posix/airframes/4001_gz_x500 index bb6bedd386d1..bca3feddfb8b 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/4001_gz_x500 +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/4001_gz_x500 @@ -52,3 +52,4 @@ param set-default SIM_GZ_EC_MAX3 1000 param set-default SIM_GZ_EC_MAX4 1000 param set-default MPC_THR_HOVER 0.60 +param set-default NAV_DLL_ACT 2 diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/4003_gz_rc_cessna b/ROMFS/px4fmu_common/init.d-posix/airframes/4003_gz_rc_cessna index e87e013e5d77..d7ea1f3b37a4 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/4003_gz_rc_cessna +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/4003_gz_rc_cessna @@ -70,9 +70,9 @@ param set-default CA_SV_CS0_TRQ_R -0.5 param set-default CA_SV_CS0_TYPE 1 param set-default CA_SV_CS1_TRQ_R 0.5 param set-default CA_SV_CS1_TYPE 2 -param set-default CA_SV_CS2_TRQ_P 1.0 +param set-default CA_SV_CS2_TRQ_P 1 param set-default CA_SV_CS2_TYPE 3 -param set-default CA_SV_CS3_TRQ_Y 1.0 +param set-default CA_SV_CS3_TRQ_Y 1 param set-default CA_SV_CS3_TYPE 4 param set-default CA_SV_CS4_TYPE 9 param set-default CA_SV_CS5_TYPE 10 diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/4004_gz_standard_vtol b/ROMFS/px4fmu_common/init.d-posix/airframes/4004_gz_standard_vtol index 39f5f8f3e25d..96bb25d69a52 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/4004_gz_standard_vtol +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/4004_gz_standard_vtol @@ -40,8 +40,8 @@ param set-default CA_ROTOR2_KM -0.05 param set-default CA_ROTOR3_PX -0.1515 param set-default CA_ROTOR3_PY 0.1875 param set-default CA_ROTOR3_KM -0.05 -param set-default CA_ROTOR4_AX 1.0 -param set-default CA_ROTOR4_AZ 0.0 +param set-default CA_ROTOR4_AX 1 +param set-default CA_ROTOR4_AZ 0 param set-default CA_ROTOR4_PX 0.2 param set-default SIM_GZ_EC_FUNC1 101 @@ -66,7 +66,6 @@ param set-default SIM_GZ_SV_FUNC2 202 param set-default SIM_GZ_SV_FUNC3 203 param set-default COM_RC_IN_MODE 1 -param set-default ASPD_PRIMARY 1 param set-default CA_SV_CS_COUNT 3 param set-default CA_SV_CS0_TYPE 1 @@ -74,9 +73,9 @@ param set-default CA_SV_CS0_TRQ_R -0.5 param set-default CA_SV_CS1_TYPE 2 param set-default CA_SV_CS1_TRQ_R 0.5 param set-default CA_SV_CS2_TYPE 3 -param set-default CA_SV_CS2_TRQ_P 1.0 +param set-default CA_SV_CS2_TRQ_P 1 -param set-default FW_L1_PERIOD 12 +param set-default NPFG_PERIOD 12 param set-default FW_PR_FF 0.2 param set-default FW_PR_P 0.9 param set-default FW_PSP_OFF 2 @@ -102,8 +101,9 @@ param set-default MPC_XY_VEL_I_ACC 4 param set-default MPC_XY_VEL_D_ACC 0.1 param set-default NAV_ACC_RAD 5 +param set-default NAV_DLL_ACT 2 param set-default VT_FWD_THRUST_EN 4 -param set-default VT_F_TRANS_THR 0.75 +param set-default VT_F_TRANS_THR 0.3 param set-default VT_TYPE 2 param set-default FD_ESCS_EN 0 diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/4006_gz_px4vision b/ROMFS/px4fmu_common/init.d-posix/airframes/4006_gz_px4vision index 8969f19802e7..acfcef896069 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/4006_gz_px4vision +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/4006_gz_px4vision @@ -52,12 +52,8 @@ param set-default MAV_1_MODE 9 # param set-default SER_TEL1_BAUD 921600 Not found # Vehicle attitude PID tuning -param set-default MC_ACRO_EXPO 0 -param set-default MC_ACRO_EXPO_Y 0 param set-default MC_ACRO_P_MAX 200 param set-default MC_ACRO_R_MAX 200 -param set-default MC_ACRO_SUPEXPO 0 -param set-default MC_ACRO_SUPEXPOY 0 param set-default MC_ACRO_Y_MAX 150 param set-default MC_PITCHRATE_D 0.0015 param set-default MC_ROLLRATE_D 0.0015 @@ -109,31 +105,19 @@ param set-default CBRK_IO_SAFETY 22027 param set-default THR_MDL_FAC 0.3 +# Square quadrotor X PX4 numbering param set-default CA_ROTOR_COUNT 4 -param set-default CA_ROTOR0_PX 0.15 -param set-default CA_ROTOR0_PY 0.15 -param set-default CA_ROTOR0_KM 0.05 -param set-default CA_ROTOR1_PX -0.15 -param set-default CA_ROTOR1_PY -0.15 -param set-default CA_ROTOR1_KM 0.05 -param set-default CA_ROTOR2_PX 0.15 -param set-default CA_ROTOR2_PY -0.15 +param set-default CA_ROTOR0_PX 1 +param set-default CA_ROTOR0_PY 1 +param set-default CA_ROTOR1_PX -1 +param set-default CA_ROTOR1_PY -1 +param set-default CA_ROTOR2_PX 1 +param set-default CA_ROTOR2_PY -1 param set-default CA_ROTOR2_KM -0.05 -param set-default CA_ROTOR3_PX -0.15 -param set-default CA_ROTOR3_PY 0.15 +param set-default CA_ROTOR3_PX -1 +param set-default CA_ROTOR3_PY 1 param set-default CA_ROTOR3_KM -0.05 -# Outputs -# param set-default PWM_AUX_FUNC1 101 -# param set-default PWM_AUX_FUNC2 102 -# param set-default PWM_AUX_FUNC3 103 -# param set-default PWM_AUX_FUNC4 104 - -# param set-default PWM_MAIN_FUNC1 101 -# param set-default PWM_MAIN_FUNC2 102 -# param set-default PWM_MAIN_FUNC3 103 -# param set-default PWM_MAIN_FUNC4 104 - param set-default SIM_GZ_EC_FUNC1 101 param set-default SIM_GZ_EC_FUNC2 102 param set-default SIM_GZ_EC_FUNC3 103 @@ -149,4 +133,4 @@ param set-default SIM_GZ_EC_MAX2 1100 param set-default SIM_GZ_EC_MAX3 1100 param set-default SIM_GZ_EC_MAX4 1100 - +param set-default NAV_DLL_ACT 2 diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/4008_gz_advanced_plane b/ROMFS/px4fmu_common/init.d-posix/airframes/4008_gz_advanced_plane new file mode 100644 index 000000000000..2a49b085416f --- /dev/null +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/4008_gz_advanced_plane @@ -0,0 +1,82 @@ +#!/bin/sh +# +# @name Advanced Plane SITL +# + +. ${R}etc/init.d/rc.fw_defaults + +PX4_SIMULATOR=${PX4_SIMULATOR:=gz} +PX4_GZ_WORLD=${PX4_GZ_WORLD:=default} +PX4_SIM_MODEL=${PX4_SIM_MODEL:=advanced_plane} + +param set-default SIM_GZ_EN 1 + +param set-default SENS_EN_GPSSIM 1 +param set-default SENS_EN_MAGSIM 1 +param set-default SENS_EN_ARSPDSIM 1 + +param set-default FW_LND_ANG 8 +param set-default NPFG_PERIOD 12 + +param set-default FW_MAN_P_MAX 30 +param set-default FW_PR_P 0.9 +param set-default FW_PR_FF 0.5 +param set-default FW_PR_I 0.5 + +param set-default FW_PSP_OFF 2 +param set-default FW_P_LIM_MAX 32 +param set-default FW_P_LIM_MIN -15 + +param set-default FW_RR_FF 0.5 +param set-default FW_RR_P 0.3 +param set-default FW_RR_I 0.5 + +param set-default FW_YR_FF 0.5 +param set-default FW_YR_P 0.6 +param set-default FW_YR_I 0.5 + +param set-default FW_SPOILERS_LND 0.4 + +param set-default FW_THR_MIN 0.05 +param set-default FW_THR_TRIM 0.25 + +param set-default FW_T_CLMB_MAX 8 +param set-default FW_T_SINK_MAX 2.7 +param set-default FW_T_SINK_MIN 2.2 + +param set-default FW_W_EN 1 + +param set-default MIS_TAKEOFF_ALT 30 + +param set-default NAV_ACC_RAD 15 +param set-default NAV_DLL_ACT 2 + +param set-default RWTO_TKOFF 1 + +param set-default CA_AIRFRAME 1 + +param set-default CA_ROTOR_COUNT 1 +param set-default CA_ROTOR0_PX 0.3 + +param set-default CA_SV_CS_COUNT 6 +param set-default CA_SV_CS0_TRQ_R -0.5 +param set-default CA_SV_CS0_TYPE 1 +param set-default CA_SV_CS1_TRQ_R 0.5 +param set-default CA_SV_CS1_TYPE 2 +param set-default CA_SV_CS2_TRQ_P 1 +param set-default CA_SV_CS2_TYPE 3 +param set-default CA_SV_CS3_TRQ_Y 1 +param set-default CA_SV_CS3_TYPE 4 +param set-default CA_SV_CS4_TYPE 9 +param set-default CA_SV_CS5_TYPE 10 + +param set-default SIM_GZ_EC_FUNC1 101 +param set-default SIM_GZ_EC_MIN1 10 +param set-default SIM_GZ_EC_MAX1 1600 + +param set-default SIM_GZ_SV_FUNC1 201 +param set-default SIM_GZ_SV_FUNC2 202 +param set-default SIM_GZ_SV_FUNC3 203 +param set-default SIM_GZ_SV_FUNC4 204 +param set-default SIM_GZ_SV_FUNC5 205 +param set-default SIM_GZ_SV_FUNC6 206 diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/4009_gz_r1_rover b/ROMFS/px4fmu_common/init.d-posix/airframes/4009_gz_r1_rover new file mode 100644 index 000000000000..7697e23db769 --- /dev/null +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/4009_gz_r1_rover @@ -0,0 +1,51 @@ +#!/bin/sh +# @name Aion Robotics R1 Rover +# @type Rover +# @class Rover + +. ${R}etc/init.d/rc.rover_differential_defaults + +PX4_SIMULATOR=${PX4_SIMULATOR:=gz} +PX4_GZ_WORLD=${PX4_GZ_WORLD:=rover} +PX4_SIM_MODEL=${PX4_SIM_MODEL:=r1_rover} + +param set-default SIM_GZ_EN 1 # Gazebo bridge + +# Rover parameters +param set-default RD_WHEEL_TRACK 0.3 +param set-default RD_MAN_YAW_SCALE 0.1 +param set-default RD_YAW_RATE_I 0.1 +param set-default RD_YAW_RATE_P 5 +param set-default RD_MAX_ACCEL 6 +param set-default RD_MAX_JERK 30 +param set-default RD_MAX_SPEED 7 +param set-default RD_HEADING_P 5 +param set-default RD_HEADING_I 0.1 +param set-default RD_MAX_YAW_RATE 180 +param set-default RD_MISS_SPD_DEF 7 +param set-default RD_TRANS_DRV_TRN 0.349066 +param set-default RD_TRANS_TRN_DRV 0.174533 + +# Pure pursuit parameters +param set-default PP_LOOKAHD_MAX 30 +param set-default PP_LOOKAHD_MIN 2 +param set-default PP_LOOKAHD_GAIN 1 + +# Simulated sensors +param set-default SENS_EN_GPSSIM 1 +param set-default SENS_EN_BAROSIM 0 +param set-default SENS_EN_MAGSIM 1 +param set-default SENS_EN_ARSPDSIM 0 + +# Actuator mapping +param set-default SIM_GZ_WH_FUNC1 101 # right wheel +param set-default SIM_GZ_WH_MIN1 0 +param set-default SIM_GZ_WH_MAX1 200 +param set-default SIM_GZ_WH_DIS1 100 + +param set-default SIM_GZ_WH_FUNC2 102 # left wheel +param set-default SIM_GZ_WH_MIN2 0 +param set-default SIM_GZ_WH_MAX2 200 +param set-default SIM_GZ_WH_DIS2 100 + +param set-default SIM_GZ_WH_REV 1 # reverse right wheel diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/4010_gz_x500_mono_cam b/ROMFS/px4fmu_common/init.d-posix/airframes/4010_gz_x500_mono_cam new file mode 100644 index 000000000000..835211904f03 --- /dev/null +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/4010_gz_x500_mono_cam @@ -0,0 +1,10 @@ +#!/bin/sh +# +# @name Gazebo x500 mono cam +# +# @type Quadrotor +# + +PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500_mono_cam} + +. ${R}etc/init.d-posix/airframes/4001_gz_x500 diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/4011_gz_lawnmower b/ROMFS/px4fmu_common/init.d-posix/airframes/4011_gz_lawnmower new file mode 100644 index 000000000000..c0d91e222365 --- /dev/null +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/4011_gz_lawnmower @@ -0,0 +1,95 @@ +#!/bin/sh +# @name Gazebo lawnmower +# @type Rover +# @class Rover + +. ${R}etc/init.d/rc.rover_differential_defaults + +PX4_SIMULATOR=${PX4_SIMULATOR:=gz} +PX4_GZ_WORLD=${PX4_GZ_WORLD:=default} +PX4_SIM_MODEL=${PX4_SIM_MODEL:=lawnmower} + +param set-default SIM_GZ_EN 1 # Gazebo bridge + +# Simulated sensors +param set-default SENS_EN_GPSSIM 1 +param set-default SENS_EN_BAROSIM 0 +param set-default SENS_EN_MAGSIM 1 +param set-default SENS_EN_ARSPDSIM 0 +# We can arm and drive in manual mode when it slides and GPS check fails: +param set-default COM_ARM_WO_GPS 1 + +# Rover parameters +param set-default RD_WHEEL_TRACK 0.9 +param set-default RD_MAN_YAW_SCALE 0.1 +param set-default RD_YAW_RATE_I 0.1 +param set-default RD_YAW_RATE_P 5 +param set-default RD_MAX_ACCEL 1 +param set-default RD_MAX_JERK 3 +param set-default RD_MAX_SPEED 8 +param set-default RD_HEADING_P 5 +param set-default RD_HEADING_I 0.1 +param set-default RD_MAX_YAW_RATE 30 +param set-default RD_MISS_SPD_DEF 8 +param set-default RD_TRANS_DRV_TRN 0.349066 +param set-default RD_TRANS_TRN_DRV 0.174533 + +# Pure pursuit parameters +param set-default PP_LOOKAHD_MAX 30 +param set-default PP_LOOKAHD_MIN 2 +param set-default PP_LOOKAHD_GAIN 1 + +# Actuator mapping - set SITL motors/servos output parameters: + +# "Motors" - motor channels 0 (Right) and 1 (Left) - via Wheels GZ bridge: +param set-default SIM_GZ_WH_FUNC1 101 # right wheel +#param set-default SIM_GZ_WH_MIN1 0 +#param set-default SIM_GZ_WH_MAX1 200 +#param set-default SIM_GZ_WH_DIS1 100 +#param set-default SIM_GZ_WH_FAIL1 100 + +param set-default SIM_GZ_WH_FUNC2 102 # left wheel +#param set-default SIM_GZ_WH_MIN2 0 +#param set-default SIM_GZ_WH_MAX2 200 +#param set-default SIM_GZ_WH_DIS2 100 +#param set-default SIM_GZ_WH_FAIL2 100 + +param set-default SIM_GZ_WH_REV 0 # no need to reverse any wheels + +# Note: The servo configurations ( SIM_GZ_SV_FUNC*) outlined below are intended for educational purposes in this simulation. +# They do not have physical effects in the simulated environment, except for actuating the joints. Their definitions are meant to demonstrate +# how actuators could be mapped and configured in a real-world application, providing a foundation for understanding and implementing actuator +# controls in practical scenarios. + +# Cutter deck blades clutch, PCA9685 servo channel 3, "RC FLAPS" (406) - leftmost switch, or "Servo 3" (203): +param set-default SIM_GZ_SV_FUNC3 203 +param set-default SIM_GZ_SV_MIN3 0 +param set-default SIM_GZ_SV_MAX3 1000 +param set-default SIM_GZ_SV_DIS3 500 +param set-default SIM_GZ_SV_FAIL3 500 + +# Gas engine throttle, PCA9685 servo channel 4, "RC AUX1" (407) - left knob, or "Servo 4" (204): +# - on minimum when disarmed or failed: +param set-default SIM_GZ_SV_FUNC4 204 +param set-default SIM_GZ_SV_MIN4 0 +param set-default SIM_GZ_SV_MAX4 1000 +param set-default SIM_GZ_SV_DIS4 500 +param set-default SIM_GZ_SV_FAIL4 500 + +# Controlling PCA9685 servos 5,6,7,8 directly via "Servo 5..8" setting, by publishing actuator_servos.control[]: + +# Strobes, PCA9685 servo channel 5, "Servo 5" (205) - flashing indicates Mission mode: +#param set-default SIM_GZ_SV_FUNC5 205 +#param set-default SIM_GZ_SV_MIN5 1000 +#param set-default SIM_GZ_SV_MAX5 2000 +#param set-default SIM_GZ_SV_DIS5 1000 +#param set-default SIM_GZ_SV_FAIL5 1000 + +# Horn, PCA9685 servo channel 6, "Servo 6" (206) - for alarms like GPS failure: +#param set-default SIM_GZ_SV_FUNC6 206 + +# Spare PCA9685 servo channel 7 on "RC AUX2" (408) - right knob, or "Servo 7" (207): +#param set-default SIM_GZ_SV_FUNC7 207 + +# Spare PCA9685 servo channel 8 - "Servo 8" (208): +#param set-default SIM_GZ_SV_FUNC8 208 diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/4012_gz_rover_ackermann b/ROMFS/px4fmu_common/init.d-posix/airframes/4012_gz_rover_ackermann new file mode 100644 index 000000000000..6f81b7036aa0 --- /dev/null +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/4012_gz_rover_ackermann @@ -0,0 +1,49 @@ +#!/bin/sh +# @name Rover Ackermann +# @type Rover +# @class Rover + +. ${R}etc/init.d/rc.rover_ackermann_defaults + +PX4_SIMULATOR=${PX4_SIMULATOR:=gz} +PX4_GZ_WORLD=${PX4_GZ_WORLD:=rover} +PX4_SIM_MODEL=${PX4_SIM_MODEL:=rover_ackermann} + +param set-default SIM_GZ_EN 1 # Gazebo bridge + +# Rover parameters +param set-default NAV_ACC_RAD 0.5 +param set-default RA_ACC_RAD_GAIN 2 +param set-default RA_ACC_RAD_MAX 3 +param set-default RA_MAX_ACCEL 1.5 +param set-default RA_MAX_JERK 15 +param set-default RA_MAX_SPEED 3 +param set-default RA_MAX_STR_ANG 0.5236 +param set-default RA_MAX_STR_RATE 360 +param set-default RA_MISS_VEL_DEF 3 +param set-default RA_MISS_VEL_GAIN 5 +param set-default RA_MISS_VEL_MIN 1 +param set-default RA_SPEED_I 0.01 +param set-default RA_SPEED_P 2 +param set-default RA_WHEEL_BASE 0.321 + +# Pure Pursuit parameters +param set-default PP_LOOKAHD_GAIN 1 +param set-default PP_LOOKAHD_MAX 10 +param set-default PP_LOOKAHD_MIN 1 + +# Simulated sensors +param set-default SENS_EN_GPSSIM 1 +param set-default SENS_EN_BAROSIM 0 +param set-default SENS_EN_MAGSIM 1 +param set-default SENS_EN_ARSPDSIM 0 + +# Wheels +param set-default SIM_GZ_WH_FUNC1 101 +param set-default SIM_GZ_WH_MIN1 0 +param set-default SIM_GZ_WH_MAX1 200 +param set-default SIM_GZ_WH_DIS1 100 + +# Steering +param set-default SIM_GZ_SV_FUNC1 201 +param set-default SIM_GZ_SV_REV 1 diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/4013_gz_x500_lidar b/ROMFS/px4fmu_common/init.d-posix/airframes/4013_gz_x500_lidar new file mode 100644 index 000000000000..a316310abe42 --- /dev/null +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/4013_gz_x500_lidar @@ -0,0 +1,10 @@ +#!/bin/sh +# +# @name Gazebo x500 lidar +# +# @type Quadrotor +# + +PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500_lidar} + +. ${R}etc/init.d-posix/airframes/4001_gz_x500 diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/6011_gazebo-classic_typhoon_h480 b/ROMFS/px4fmu_common/init.d-posix/airframes/6011_gazebo-classic_typhoon_h480 index 05ae1af81a5a..f75374b15c64 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/6011_gazebo-classic_typhoon_h480 +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/6011_gazebo-classic_typhoon_h480 @@ -9,14 +9,14 @@ param set-default MAV_TYPE 13 -param set-default MC_PITCHRATE_P 0.0800 -param set-default MC_PITCHRATE_I 0.0400 -param set-default MC_PITCHRATE_D 0.0010 -param set-default MC_PITCH_P 9.0 -param set-default MC_ROLLRATE_P 0.0800 -param set-default MC_ROLLRATE_I 0.0400 -param set-default MC_ROLLRATE_D 0.0010 -param set-default MC_ROLL_P 9.0 +param set-default MC_PITCHRATE_P 0.08 +param set-default MC_PITCHRATE_I 0.04 +param set-default MC_PITCHRATE_D 0.001 +param set-default MC_PITCH_P 9 +param set-default MC_ROLLRATE_P 0.08 +param set-default MC_ROLLRATE_I 0.04 +param set-default MC_ROLLRATE_D 0.001 +param set-default MC_ROLL_P 9 param set-default MPC_XY_VEL_I_ACC 4 param set-default MPC_XY_VEL_P_ACC 3 @@ -31,11 +31,11 @@ param set-default MAV_PROTO_VER 2 param set-default CA_AIRFRAME 0 param set-default CA_ROTOR_COUNT 6 -param set-default CA_ROTOR0_PX 0.0 -param set-default CA_ROTOR0_PY 1.0 +param set-default CA_ROTOR0_PX 0 +param set-default CA_ROTOR0_PY 1 param set-default CA_ROTOR0_KM -0.05 -param set-default CA_ROTOR1_PX 0.0 -param set-default CA_ROTOR1_PY -1.0 +param set-default CA_ROTOR1_PX 0 +param set-default CA_ROTOR1_PY -1 param set-default CA_ROTOR1_KM 0.05 param set-default CA_ROTOR2_PX 0.866025 param set-default CA_ROTOR2_PY -0.5 @@ -63,4 +63,3 @@ param set-default PWM_MAIN_FUNC9 422 # Landing gear param set-default PWM_MAIN_FUNC10 400 param set-default PWM_MAIN_FUNC11 400 - diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/8011_gz_omnicopter b/ROMFS/px4fmu_common/init.d-posix/airframes/8011_gz_omnicopter new file mode 100644 index 000000000000..b43b61025c2e --- /dev/null +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/8011_gz_omnicopter @@ -0,0 +1,121 @@ +#!/bin/sh +# +# @name 6DoF Omnicopter SITL +# +# @type Quadrotor Wide +# +# @maintainer Jaeyoung Lim +# + +. ${R}etc/init.d/rc.mc_defaults + +PX4_SIMULATOR=${PX4_SIMULATOR:=gz} +PX4_GZ_WORLD=${PX4_GZ_WORLD:=default} +PX4_SIM_MODEL=${PX4_SIM_MODEL:=omnicopter} + +param set-default CA_AIRFRAME 0 + +param set-default CA_ROTOR_COUNT 8 +param set-default CA_R_REV 255 + +param set-default CA_ROTOR0_PX 0.14435 +param set-default CA_ROTOR0_PY -0.14435 +param set-default CA_ROTOR0_PZ -0.14435 +param set-default CA_ROTOR0_KM 0.05 # CCW +param set-default CA_ROTOR0_AX -0.788675 +param set-default CA_ROTOR0_AY -0.211325 +param set-default CA_ROTOR0_AZ -0.57735 + +param set-default CA_ROTOR1_PX -0.14435 +param set-default CA_ROTOR1_PY -0.14435 +param set-default CA_ROTOR1_PZ -0.14435 +param set-default CA_ROTOR1_KM 0.05 +param set-default CA_ROTOR1_AX 0.211325 +param set-default CA_ROTOR1_AY -0.788675 +param set-default CA_ROTOR1_AZ 0.57735 + +param set-default CA_ROTOR2_PX 0.14435 +param set-default CA_ROTOR2_PY 0.14435 +param set-default CA_ROTOR2_PZ -0.14435 +param set-default CA_ROTOR2_KM 0.05 +param set-default CA_ROTOR2_AX -0.211325 +param set-default CA_ROTOR2_AY 0.788675 +param set-default CA_ROTOR2_AZ 0.57735 + +param set-default CA_ROTOR3_PX -0.14435 +param set-default CA_ROTOR3_PY 0.14435 +param set-default CA_ROTOR3_PZ -0.14435 +param set-default CA_ROTOR3_KM 0.05 +param set-default CA_ROTOR3_AX 0.788675 +param set-default CA_ROTOR3_AY 0.211325 +param set-default CA_ROTOR3_AZ -0.57735 + +param set-default CA_ROTOR4_PX 0.14435 +param set-default CA_ROTOR4_PY -0.14435 +param set-default CA_ROTOR4_PZ 0.14435 +param set-default CA_ROTOR4_KM 0.05 +param set-default CA_ROTOR4_AX 0.788675 +param set-default CA_ROTOR4_AY 0.211325 +param set-default CA_ROTOR4_AZ -0.57735 + +param set-default CA_ROTOR5_PX -0.14435 +param set-default CA_ROTOR5_PY -0.14435 +param set-default CA_ROTOR5_PZ 0.14435 +param set-default CA_ROTOR5_KM 0.05 +param set-default CA_ROTOR5_AX -0.211325 +param set-default CA_ROTOR5_AY 0.788675 +param set-default CA_ROTOR5_AZ 0.57735 + +param set-default CA_ROTOR6_PX 0.14435 +param set-default CA_ROTOR6_PY 0.14435 +param set-default CA_ROTOR6_PZ 0.14435 +param set-default CA_ROTOR6_KM 0.05 +param set-default CA_ROTOR6_AX 0.211325 +param set-default CA_ROTOR6_AY -0.788675 +param set-default CA_ROTOR6_AZ 0.57735 + +param set-default CA_ROTOR7_PX -0.14435 +param set-default CA_ROTOR7_PY 0.14435 +param set-default CA_ROTOR7_PZ 0.14435 +param set-default CA_ROTOR7_KM 0.05 +param set-default CA_ROTOR7_AX -0.788675 +param set-default CA_ROTOR7_AY -0.211325 +param set-default CA_ROTOR7_AZ -0.57735 + +param set-default SIM_GZ_EN 1 +param set-default SENS_EN_GPSSIM 1 +param set-default SENS_EN_BAROSIM 0 +param set-default SENS_EN_MAGSIM 1 + +param set-default SIM_GZ_EC_FUNC1 101 +param set-default SIM_GZ_EC_FUNC2 102 +param set-default SIM_GZ_EC_FUNC3 103 +param set-default SIM_GZ_EC_FUNC4 104 +param set-default SIM_GZ_EC_FUNC5 105 +param set-default SIM_GZ_EC_FUNC6 106 +param set-default SIM_GZ_EC_FUNC7 107 +param set-default SIM_GZ_EC_FUNC8 108 + +param set-default SIM_GZ_EC_MIN1 0 +param set-default SIM_GZ_EC_MIN2 0 +param set-default SIM_GZ_EC_MIN3 0 +param set-default SIM_GZ_EC_MIN4 0 +param set-default SIM_GZ_EC_MIN5 0 +param set-default SIM_GZ_EC_MIN6 0 +param set-default SIM_GZ_EC_MIN7 0 +param set-default SIM_GZ_EC_MIN8 0 + +param set-default SIM_GZ_EC_MAX1 1100 +param set-default SIM_GZ_EC_MAX2 1100 +param set-default SIM_GZ_EC_MAX3 1100 +param set-default SIM_GZ_EC_MAX4 1100 +param set-default SIM_GZ_EC_MAX5 1100 +param set-default SIM_GZ_EC_MAX6 1100 +param set-default SIM_GZ_EC_MAX7 1100 +param set-default SIM_GZ_EC_MAX8 1100 +# disable MC desaturation which improves attitude tracking +param set-default CA_METHOD 0 + +# disable attitude failure detection +param set-default FD_FAIL_P 0 +param set-default FD_FAIL_R 0 diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt b/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt index 4c61e70643ab..9235b2e66340 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt @@ -39,8 +39,10 @@ px4_add_romfs_files( 1012_gazebo-classic_iris_rplidar 1013_gazebo-classic_iris_vision 1013_gazebo-classic_iris_vision.post - 1015_gazebo-classic_iris_obs_avoid - 1015_gazebo-classic_iris_obs_avoid.post + 1014_gazebo-classic_iris_obs_avoid + 1014_gazebo-classic_iris_obs_avoid.post + 1015_gazebo-classic_iris_depth_camera + 1016_gazebo-classic_iris_downward_depth_camera 1017_gazebo-classic_iris_opt_flow_mockup 1019_gazebo-classic_iris_dual_gps 1021_gazebo-classic_uuv_hippocampus @@ -60,6 +62,7 @@ px4_add_romfs_files( 1042_gazebo-classic_tiltrotor 1043_gazebo-classic_standard_vtol_drop 1044_gazebo-classic_plane_lidar + 1045_gazebo-classic_quadtailsitter 1060_gazebo-classic_rover 1061_gazebo-classic_r1_rover 1062_flightgear_tf-r1 @@ -76,10 +79,18 @@ px4_add_romfs_files( 4004_gz_standard_vtol 4005_gz_x500_vision 4006_gz_px4vision + 4008_gz_advanced_plane + 4009_gz_r1_rover + 4010_gz_x500_mono_cam + 4011_gz_lawnmower + 4012_gz_rover_ackermann + 4013_gz_x500_lidar 6011_gazebo-classic_typhoon_h480 6011_gazebo-classic_typhoon_h480.post + 8011_gz_omnicopter + 10015_gazebo-classic_iris 10016_none_iris 10017_jmavsim_iris @@ -93,4 +104,6 @@ px4_add_romfs_files( 17001_flightgear_tf-g1 17002_flightgear_tf-g2 + + # [22000, 22999] Reserve for custom models ) diff --git a/ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator b/ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator index 1f4693d4c1b3..76be887e84bb 100644 --- a/ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator +++ b/ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator @@ -15,6 +15,9 @@ if [ "$PX4_SIMULATOR" = "sihsim" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "0" if [ -n "${PX4_HOME_LON}" ]; then param set SIH_LOC_LON0 ${PX4_HOME_LON} fi + if [ -n "${PX4_HOME_ALT}" ]; then + param set SIH_LOC_H0 ${PX4_HOME_ALT} + fi if simulator_sih start; then @@ -36,144 +39,121 @@ if [ "$PX4_SIMULATOR" = "sihsim" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "0" exit 1 fi -elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" -eq "1" ]; then +elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" = "1" ]; then + # Use Gazebo - # source generated gz_env.sh for GZ_SIM_RESOURCE_PATH - if [ -f ./gz_env.sh ]; then - . ./gz_env.sh + echo "INFO [init] Gazebo simulator" - elif [ -f ../gz_env.sh ]; then - . ../gz_env.sh - fi + # Only start up Gazebo if PX4_GZ_STANDALONE is not set. + if [ -z "${PX4_GZ_STANDALONE}" ]; then - # "gz sim" only avaiilable in Garden and later - GZ_SIM_VERSIONS=$(gz sim --versions 2>&1) - if [ $? -eq 0 ] && [ "${GZ_SIM_VERSIONS}" != "" ] - then - # "gz sim" from Garden on - gz_command="gz" - gz_sub_command="sim" - else - echo "ERROR [init] Gazebo gz please install gz-garden" - exit 1 - fi + # "gz sim" only available in Garden and later + GZ_SIM_VERSIONS=$(gz sim --versions 2>&1) + if [ $? -eq 0 ] && [ "${GZ_SIM_VERSIONS}" != "" ] + then + # "gz sim" from Garden on + gz_command="gz" + gz_sub_command="sim" + + # Specify render engine if `GZ_SIM_RENDER_ENGINE` is set + # (for example, if you want to use Ogre 1.x instead of Ogre 2.x): + if [ -n "${PX4_GZ_SIM_RENDER_ENGINE}" ]; then + echo "INFO [init] Setting Gazebo render engine to '${PX4_GZ_SIM_RENDER_ENGINE}'!" + gz_sub_command="${gz_sub_command} --render-engine ${PX4_GZ_SIM_RENDER_ENGINE}" + fi + else + echo "ERROR [init] Gazebo gz please install gz-garden" + exit 1 + fi - # look for running ${gz_command} gazebo world - gz_world=$( ${gz_command} topic -l | grep -m 1 -e "/world/.*/clock" | sed 's/\/world\///g; s/\/clock//g' ) + # look for running ${gz_command} gazebo world + gz_world=$( ${gz_command} topic -l | grep -m 1 -e "^/world/.*/clock" | sed 's/\/world\///g; s/\/clock//g' ) - # shellcheck disable=SC2153 - if [ -z "${gz_world}" ] && [ -n "${PX4_GZ_WORLDS}" ] && [ -n "${PX4_GZ_WORLD}" ]; then + # shellcheck disable=SC2153 + if [ -z "${gz_world}" ] && [ -n "${PX4_GZ_WORLD}" ]; then - echo "INFO [init] starting gazebo with world: ${PX4_GZ_WORLDS}/${PX4_GZ_WORLD}.sdf" + # source generated gz_env.sh for GZ_SIM_RESOURCE_PATH + if [ -f ./gz_env.sh ]; then + . ./gz_env.sh - ${gz_command} ${gz_sub_command} --verbose=1 -r -s "${PX4_GZ_WORLDS}/${PX4_GZ_WORLD}.sdf" & + elif [ -f ../gz_env.sh ]; then + . ../gz_env.sh + fi - if [ -z "${HEADLESS}" ]; then - # HEADLESS not set, starting gui - ${gz_command} ${gz_sub_command} -g & - fi + echo "INFO [init] starting gazebo with world: ${PX4_GZ_WORLDS}/${PX4_GZ_WORLD}.sdf" + + ${gz_command} ${gz_sub_command} --verbose=1 -r -s "${PX4_GZ_WORLDS}/${PX4_GZ_WORLD}.sdf" & + if [ -z "${HEADLESS}" ]; then + # HEADLESS not set, starting gui + ${gz_command} ${gz_sub_command} -g & + fi + + else + # Gazebo is already running, do not start the simulator, nor the GUI + echo "INFO [init] gazebo already running world: ${gz_world}" + PX4_GZ_WORLD=${gz_world} + fi else - echo "INFO [init] gazebo already running world: ${gz_world}" - PX4_GZ_WORLD=${gz_world} + echo "INFO [init] Standalone PX4 launch, waiting for Gazebo" fi # start gz_bridge - if [ -n "${PX4_GZ_MODEL}" ] && [ -z "${PX4_GZ_MODEL_NAME}" ]; then + if [ -n "${PX4_SIM_MODEL#*gz_}" ] && [ -z "${PX4_GZ_MODEL_NAME}" ]; then # model specified, gz_bridge will spawn model if [ -n "${PX4_GZ_MODEL_POSE}" ]; then + # model pose provided: [x, y, z, roll, pitch, yaw] + # Clean potential input line formatting. model_pose="$( echo "${PX4_GZ_MODEL_POSE}" | sed -e 's/^[ \t]*//; s/[ \t]*$//; s/,/ /g; s/ / /g; s/ /,/g' )" echo "INFO [init] PX4_GZ_MODEL_POSE set, spawning at: ${model_pose}" else + # model pose not provided, origin will be used + echo "WARN [init] PX4_GZ_MODEL_POSE not set, spawning at origin." model_pose="0,0,0,0,0,0" fi # start gz bridge with pose arg. - if gz_bridge start -p "${model_pose}" -m "${PX4_GZ_MODEL}" -w "${PX4_GZ_WORLD}" -i "${px4_instance}"; then - if param compare -s SENS_EN_BAROSIM 1 - then - sensor_baro_sim start - fi - if param compare -s SENS_EN_GPSSIM 1 - then - sensor_gps_sim start - fi - if param compare -s SENS_EN_MAGSIM 1 - then - sensor_mag_sim start - fi - if param compare -s SENS_EN_ARSPDSIM 1 - then - sensor_airspeed_sim start - fi - - else - echo "ERROR [init] gz_bridge failed to start" + if ! gz_bridge start -p "${model_pose}" -m "${PX4_SIM_MODEL#*gz_}" -w "${PX4_GZ_WORLD}" -i "${px4_instance}"; then + echo "ERROR [init] gz_bridge failed to start and spawn model" exit 1 fi - elif [ -n "${PX4_GZ_MODEL_NAME}" ] && [ -z "${PX4_GZ_MODEL}" ]; then + elif [ -n "${PX4_GZ_MODEL_NAME}" ]; then # model name specificed, gz_bridge will attach to existing model - if gz_bridge start -n "${PX4_GZ_MODEL_NAME}" -w "${PX4_GZ_WORLD}"; then - if param compare -s SENS_EN_BAROSIM 1 - then - sensor_baro_sim start - fi - if param compare -s SENS_EN_GPSSIM 1 - then - sensor_gps_sim start - fi - if param compare -s SENS_EN_MAGSIM 1 - then - sensor_mag_sim start - fi - if param compare -s SENS_EN_ARSPDSIM 1 - then - sensor_airspeed_sim start - fi - - else - echo "ERROR [init] gz_bridge failed to start" - exit 1 - fi - - elif [ -n "${PX4_SIM_MODEL}" ] && [ -z "${PX4_GZ_MODEL_NAME}" ] && [ -z "${PX4_GZ_MODEL}" ]; then - - echo "WARN [init] PX4_GZ_MODEL_NAME or PX4_GZ_MODEL not set using PX4_SIM_MODEL." - - if gz_bridge start -m "${PX4_SIM_MODEL#*gz_}" -w "${PX4_GZ_WORLD}" -i "${px4_instance}"; then - if param compare -s SENS_EN_BAROSIM 1 - then - sensor_baro_sim start - fi - if param compare -s SENS_EN_GPSSIM 1 - then - sensor_gps_sim start - fi - if param compare -s SENS_EN_MAGSIM 1 - then - sensor_mag_sim start - fi - if param compare -s SENS_EN_ARSPDSIM 1 - then - sensor_airspeed_sim start - fi - - else - echo "ERROR [init] gz_bridge failed to start" + echo "INFO [init] PX4_GZ_MODEL_NAME set, PX4 will attach to existing model" + if ! gz_bridge start -n "${PX4_GZ_MODEL_NAME}" -w "${PX4_GZ_WORLD}"; then + echo "ERROR [init] gz_bridge failed to start and attach to existing model" exit 1 fi else - echo "ERROR [init] failed to pass only PX4_GZ_MODEL_NAME or PX4_GZ_MODEL" + echo "ERROR [init] failed to pass only PX4_GZ_MODEL_NAME or PX4_SIM_MODEL" exit 1 fi + # Start the sensor simulator modules + if param compare -s SENS_EN_BAROSIM 1 + then + sensor_baro_sim start + fi + if param compare -s SENS_EN_GPSSIM 1 + then + sensor_gps_sim start + fi + if param compare -s SENS_EN_MAGSIM 1 + then + sensor_mag_sim start + fi + if param compare -s SENS_EN_ARSPDSIM 1 + then + sensor_airspeed_sim start + fi + elif [ "$PX4_SIM_MODEL" = "jmavsim_iris" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "10017" ]; then echo "INFO [init] jMAVSim simulator" @@ -190,6 +170,12 @@ elif [ "$PX4_SIM_MODEL" = "jmavsim_iris" ] || [ "$(param show -q SYS_AUTOSTART)" else # otherwise start simulator (mavlink) module + + # EKF2 specifics + param set-default EKF2_GPS_DELAY 10 + param set-default EKF2_MULTI_IMU 3 + param set-default SENS_IMU_MODE 0 + simulator_tcp_port=$((4560+px4_instance)) # Check if PX4_SIM_HOSTNAME environment variable is empty diff --git a/ROMFS/px4fmu_common/init.d-posix/rcS b/ROMFS/px4fmu_common/init.d-posix/rcS index 7ecbfc3dcb57..8902b3664f07 100644 --- a/ROMFS/px4fmu_common/init.d-posix/rcS +++ b/ROMFS/px4fmu_common/init.d-posix/rcS @@ -153,11 +153,11 @@ fi param set-default BAT1_N_CELLS 4 -param set-default CBRK_AIRSPD_CHK 0 param set-default CBRK_SUPPLY_CHK 894281 # disable check, no CPU load reported on posix yet param set-default COM_CPU_MAX -1 +param set-default COM_RAM_MAX -1 # Don't require RC calibration and configuration param set-default COM_RC_IN_MODE 1 @@ -165,10 +165,6 @@ param set-default COM_RC_IN_MODE 1 # Speedup SITL startup param set-default EKF2_REQ_GPS_H 0.5 -# Multi-EKF -param set-default EKF2_MULTI_IMU 3 -param set-default SENS_IMU_MODE 0 - param set-default IMU_GYRO_FFT_EN 1 param set-default MAV_PROTO_VER 2 # Ensures QGC does not drop the first few packets after a SITL restart due to MAVLINK 1 packets @@ -187,6 +183,7 @@ param set-default SYS_FAILURE_EN 1 # does not go below 50% by default, but failure injection can trigger failsafes. param set-default COM_LOW_BAT_ACT 2 + # Adapt timeout parameters if simulation runs faster or slower than realtime. if [ -n "$PX4_SIM_SPEED_FACTOR" ]; then COM_DL_LOSS_T_LONGER=$(echo "$PX4_SIM_SPEED_FACTOR * 10" | bc) @@ -244,13 +241,35 @@ then fi load_mon start -battery_simulator start + +if param compare SIM_BAT_ENABLE 1 +then + battery_simulator start +fi + tone_alarm start rc_update start manual_control start sensors start commander start +# +# state estimator selection +if param compare -s EKF2_EN 1 +then + ekf2 start & +fi + +if param compare -s LPE_EN 1 +then + local_position_estimator start +fi + +if param compare -s ATT_EN 1 +then + attitude_estimator_q start +fi + if ! pwm_out_sim start -m sim then tune_control play error @@ -325,7 +344,7 @@ fi [ -e "$autostart_file".post ] && . "$autostart_file".post # Run script to start logging -if param compare SYS_MC_EST_GROUP 2 +if param compare -s EKF2_EN 1 then set LOGGER_ARGS "-p ekf2_timestamps" else diff --git a/ROMFS/px4fmu_common/init.d/CMakeLists.txt b/ROMFS/px4fmu_common/init.d/CMakeLists.txt index 3f19c22f01d6..3319779096c5 100644 --- a/ROMFS/px4fmu_common/init.d/CMakeLists.txt +++ b/ROMFS/px4fmu_common/init.d/CMakeLists.txt @@ -34,26 +34,87 @@ add_subdirectory(airframes) px4_add_romfs_files( - rc.airship_apps - rc.airship_defaults + rc.autostart_ext - rc.balloon_apps - rc.balloon_defaults - rc.boat_defaults - rc.fw_apps - rc.fw_defaults - rc.heli_defaults - rc.logging - rc.mc_apps - rc.mc_defaults + rcS rc.sensors - rc.thermal_cal - rc.rover_apps - rc.rover_defaults - rc.uuv_apps - rc.uuv_defaults rc.vehicle_setup - rc.vtol_apps - rc.vtol_defaults + + # TODO + rc.balloon_apps + rc.balloon_defaults + rc.sysinit ) + +if(CONFIG_MODULES_AIRSHIP_ATT_CONTROL) + px4_add_romfs_files( + rc.airship_apps + rc.airship_defaults + ) +endif() + +if(CONFIG_MODULES_FW_RATE_CONTROL) + px4_add_romfs_files( + rc.fw_apps + rc.fw_defaults + ) +endif() + +if(CONFIG_MODULES_MC_RATE_CONTROL) + px4_add_romfs_files( + rc.heli_defaults + rc.mc_apps + rc.mc_defaults + ) +endif() + +if(CONFIG_MODULES_ROVER_POS_CONTROL) + px4_add_romfs_files( + rc.rover_apps + rc.rover_defaults + + rc.boat_defaults # hack + ) +endif() + +if(CONFIG_MODULES_ROVER_DIFFERENTIAL) + px4_add_romfs_files( + rc.rover_differential_apps + rc.rover_differential_defaults + ) +endif() + +if(CONFIG_MODULES_ROVER_ACKERMANN) + px4_add_romfs_files( + rc.rover_ackermann_apps + rc.rover_ackermann_defaults + ) +endif() + +if(CONFIG_MODULES_UUV_ATT_CONTROL) + px4_add_romfs_files( + rc.uuv_apps + rc.uuv_defaults + ) +endif() + +if(CONFIG_MODULES_VTOL_ATT_CONTROL) + px4_add_romfs_files( + rc.vtol_apps + rc.vtol_defaults + ) +endif() + + +if(CONFIG_MODULES_LOGGER) + px4_add_romfs_files( + rc.logging + ) +endif() + +if(CONFIG_MODULES_TEMPERATURE_COMPENSATION) + px4_add_romfs_files( + rc.thermal_cal + ) +endif() diff --git a/ROMFS/px4fmu_common/init.d/airframes/1001_rc_quad_x.hil b/ROMFS/px4fmu_common/init.d/airframes/1001_rc_quad_x.hil index 9cbf0286603b..1b04f904c9be 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/1001_rc_quad_x.hil +++ b/ROMFS/px4fmu_common/init.d/airframes/1001_rc_quad_x.hil @@ -11,30 +11,30 @@ . ${R}etc/init.d/rc.mc_defaults - param set SYS_HITL 1 param set UAVCAN_ENABLE 0 +# disable some checks to allow to fly +# - without real battery +param set-default CBRK_SUPPLY_CHK 894281 +# - without safety switch +param set-default CBRK_IO_SAFETY 22027 + +# Square quadrotor X PX4 numbering param set-default CA_ROTOR_COUNT 4 -param set-default CA_ROTOR0_PX 0.15 -param set-default CA_ROTOR0_PY 0.15 -param set-default CA_ROTOR1_PX -0.15 -param set-default CA_ROTOR1_PY -0.15 -param set-default CA_ROTOR2_PX 0.15 -param set-default CA_ROTOR2_PY -0.15 +param set-default CA_ROTOR0_PX 1 +param set-default CA_ROTOR0_PY 1 +param set-default CA_ROTOR1_PX -1 +param set-default CA_ROTOR1_PY -1 +param set-default CA_ROTOR2_PX 1 +param set-default CA_ROTOR2_PY -1 param set-default CA_ROTOR2_KM -0.05 -param set-default CA_ROTOR3_PX -0.15 -param set-default CA_ROTOR3_PY 0.15 +param set-default CA_ROTOR3_PX -1 +param set-default CA_ROTOR3_PY 1 param set-default CA_ROTOR3_KM -0.05 param set-default HIL_ACT_FUNC1 101 param set-default HIL_ACT_FUNC2 102 param set-default HIL_ACT_FUNC3 103 param set-default HIL_ACT_FUNC4 104 - -# disable some checks to allow to fly -# - without real battery -param set-default CBRK_SUPPLY_CHK 894281 -# - without safety switch -param set-default CBRK_IO_SAFETY 22027 diff --git a/ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil b/ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil index 60a01fb403e6..461120e57203 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil +++ b/ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil @@ -14,7 +14,6 @@ . ${R}etc/init.d/rc.vtol_defaults - param set-default BAT1_N_CELLS 3 param set-default COM_RC_IN_MODE 1 @@ -55,26 +54,29 @@ param set-default VT_TYPE 2 param set-default CA_AIRFRAME 2 param set-default CA_ROTOR_COUNT 5 -param set-default CA_ROTOR0_PX 0.15 -param set-default CA_ROTOR0_PY 0.15 -param set-default CA_ROTOR1_PX -0.15 -param set-default CA_ROTOR1_PY -0.15 -param set-default CA_ROTOR2_PX 0.15 -param set-default CA_ROTOR2_PY -0.15 +param set-default CA_ROTOR4_AX 1 +param set-default CA_ROTOR4_AZ 0 +param set-default CA_ROTOR4_PX 0.2 + +# Square quadrotor X PX4 numbering +param set-default CA_ROTOR_COUNT 4 +param set-default CA_ROTOR0_PX 1 +param set-default CA_ROTOR0_PY 1 +param set-default CA_ROTOR1_PX -1 +param set-default CA_ROTOR1_PY -1 +param set-default CA_ROTOR2_PX 1 +param set-default CA_ROTOR2_PY -1 param set-default CA_ROTOR2_KM -0.05 -param set-default CA_ROTOR3_PX -0.15 -param set-default CA_ROTOR3_PY 0.15 +param set-default CA_ROTOR3_PX -1 +param set-default CA_ROTOR3_PY 1 param set-default CA_ROTOR3_KM -0.05 -param set-default CA_ROTOR4_AX 1.0 -param set-default CA_ROTOR4_AZ 0.0 -param set-default CA_ROTOR4_PX 0.2 param set-default CA_SV_CS_COUNT 3 param set-default CA_SV_CS0_TRQ_R -0.5 param set-default CA_SV_CS0_TYPE 1 param set-default CA_SV_CS1_TRQ_R 0.5 param set-default CA_SV_CS1_TYPE 2 -param set-default CA_SV_CS2_TRQ_P 1.0 +param set-default CA_SV_CS2_TRQ_P 1 param set-default CA_SV_CS2_TYPE 3 param set-default HIL_ACT_FUNC1 101 @@ -98,5 +100,3 @@ param set-default CBRK_SUPPLY_CHK 894281 param set-default CBRK_IO_SAFETY 22027 param set-default MAV_TYPE 22 - - diff --git a/ROMFS/px4fmu_common/init.d/airframes/11001_hexa_cox b/ROMFS/px4fmu_common/init.d/airframes/11001_hexa_cox index 5424cbf9a27e..754d048ef89d 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/11001_hexa_cox +++ b/ROMFS/px4fmu_common/init.d/airframes/11001_hexa_cox @@ -44,4 +44,3 @@ param set-default CA_ROTOR4_KM -0.05 param set-default CA_ROTOR5_PX 0.25 param set-default CA_ROTOR5_PY -0.433 param set-default CA_ROTOR5_PZ 0.05 - diff --git a/ROMFS/px4fmu_common/init.d/airframes/1100_rc_quad_x_sih.hil b/ROMFS/px4fmu_common/init.d/airframes/1100_rc_quad_x_sih.hil index b1b42bd3e35a..2aab1ebe47f6 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/1100_rc_quad_x_sih.hil +++ b/ROMFS/px4fmu_common/init.d/airframes/1100_rc_quad_x_sih.hil @@ -12,26 +12,8 @@ . ${R}etc/init.d/rc.mc_defaults - param set UAVCAN_ENABLE 0 -param set-default CA_ROTOR_COUNT 4 -param set-default CA_ROTOR0_PX 0.15 -param set-default CA_ROTOR0_PY 0.15 -param set-default CA_ROTOR1_PX -0.15 -param set-default CA_ROTOR1_PY -0.15 -param set-default CA_ROTOR2_PX 0.15 -param set-default CA_ROTOR2_PY -0.15 -param set-default CA_ROTOR2_KM -0.05 -param set-default CA_ROTOR3_PX -0.15 -param set-default CA_ROTOR3_PY 0.15 -param set-default CA_ROTOR3_KM -0.05 - -param set-default HIL_ACT_FUNC1 101 -param set-default HIL_ACT_FUNC2 102 -param set-default HIL_ACT_FUNC3 103 -param set-default HIL_ACT_FUNC4 104 - # set SYS_HITL to 2 to start the SIH and avoid sensors startup param set SYS_HITL 2 @@ -42,3 +24,21 @@ param set-default CBRK_SUPPLY_CHK 894281 param set-default CBRK_IO_SAFETY 22027 param set SIH_VEHICLE_TYPE 0 + +# Square quadrotor X PX4 numbering +param set-default CA_ROTOR_COUNT 4 +param set-default CA_ROTOR0_PX 1 +param set-default CA_ROTOR0_PY 1 +param set-default CA_ROTOR1_PX -1 +param set-default CA_ROTOR1_PY -1 +param set-default CA_ROTOR2_PX 1 +param set-default CA_ROTOR2_PY -1 +param set-default CA_ROTOR2_KM -0.05 +param set-default CA_ROTOR3_PX -1 +param set-default CA_ROTOR3_PY 1 +param set-default CA_ROTOR3_KM -0.05 + +param set-default HIL_ACT_FUNC1 101 +param set-default HIL_ACT_FUNC2 102 +param set-default HIL_ACT_FUNC3 103 +param set-default HIL_ACT_FUNC4 104 diff --git a/ROMFS/px4fmu_common/init.d/airframes/1101_rc_plane_sih.hil b/ROMFS/px4fmu_common/init.d/airframes/1101_rc_plane_sih.hil index 0ec506b68f95..dacfa2ec7be0 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/1101_rc_plane_sih.hil +++ b/ROMFS/px4fmu_common/init.d/airframes/1101_rc_plane_sih.hil @@ -21,9 +21,9 @@ param set-default CA_ROTOR0_PX 0.3 param set-default CA_SV_CS_COUNT 4 param set-default CA_SV_CS0_TRQ_R 0.5 param set-default CA_SV_CS0_TYPE 2 -param set-default CA_SV_CS1_TRQ_P 1.0 +param set-default CA_SV_CS1_TRQ_P 1 param set-default CA_SV_CS1_TYPE 3 -param set-default CA_SV_CS2_TRQ_Y 1.0 +param set-default CA_SV_CS2_TRQ_Y 1 param set-default CA_SV_CS2_TYPE 4 param set-default CA_SV_CS3_TYPE 10 @@ -44,9 +44,7 @@ param set-default CBRK_SUPPLY_CHK 894281 # - without safety switch param set-default CBRK_IO_SAFETY 22027 -param set-default BAT_N_CELLS 3 - -param set SIH_T_MAX 6.0 +param set SIH_T_MAX 6 param set SIH_MASS 0.3 param set SIH_IXX 0.00402 param set SIH_IYY 0.0144 diff --git a/ROMFS/px4fmu_common/init.d/airframes/1102_tailsitter_duo_sih.hil b/ROMFS/px4fmu_common/init.d/airframes/1102_tailsitter_duo_sih.hil index cbb41cccd53d..a9b2f7f03b1b 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/1102_tailsitter_duo_sih.hil +++ b/ROMFS/px4fmu_common/init.d/airframes/1102_tailsitter_duo_sih.hil @@ -20,6 +20,7 @@ param set-default EKF2_FUSE_BETA 0 # side slip fusion is currently not supported for tailsitters param set UAVCAN_ENABLE 0 +param set-default VT_B_TRANS_DUR 5 param set-default VT_ELEV_MC_LOCK 0 param set-default VT_MOT_COUNT 2 param set-default VT_TYPE 0 @@ -61,8 +62,6 @@ param set-default CBRK_SUPPLY_CHK 894281 # - without safety switch param set-default CBRK_IO_SAFETY 22027 -param set-default BAT_N_CELLS 3 - param set SIH_T_MAX 2.0 param set SIH_Q_MAX 0.0165 param set SIH_MASS 0.2 @@ -70,7 +69,7 @@ param set SIH_MASS 0.2 param set SIH_IXX 0.00354 param set SIH_IYY 0.000625 param set SIH_IZZ 0.00300 -param set SIH_IXZ 0.0 +param set SIH_IXZ 0 param set SIH_KDV 0.2 param set SIH_L_ROLL 0.145 diff --git a/ROMFS/px4fmu_common/init.d/airframes/13000_generic_vtol_standard b/ROMFS/px4fmu_common/init.d/airframes/13000_generic_vtol_standard index 38dc721bc785..d360b3835e57 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/13000_generic_vtol_standard +++ b/ROMFS/px4fmu_common/init.d/airframes/13000_generic_vtol_standard @@ -14,6 +14,21 @@ param set-default CA_AIRFRAME 2 param set-default CA_ROTOR_COUNT 5 +param set-default CA_ROTOR4_AX 1 +param set-default CA_ROTOR4_AZ 0 +param set-default CA_SV_CS_COUNT 4 +param set-default CA_SV_CS0_TYPE 1 +param set-default CA_SV_CS0_TRQ_R -0.5 +param set-default CA_SV_CS1_TYPE 2 +param set-default CA_SV_CS1_TRQ_R 0.5 +param set-default CA_SV_CS2_TYPE 3 +param set-default CA_SV_CS2_TRQ_P 1 +param set-default CA_SV_CS3_TRQ_Y 1 +param set-default CA_SV_CS3_TYPE 4 +param set-default VT_TYPE 2 +param set-default MAV_TYPE 22 + +# Square quadrotor X PX4 numbering param set-default CA_ROTOR0_PX 1 param set-default CA_ROTOR0_PY 1 param set-default CA_ROTOR1_PX -1 @@ -24,16 +39,3 @@ param set-default CA_ROTOR2_KM -0.05 param set-default CA_ROTOR3_PX -1 param set-default CA_ROTOR3_PY 1 param set-default CA_ROTOR3_KM -0.05 -param set-default CA_ROTOR4_AX 1.0 -param set-default CA_ROTOR4_AZ 0.0 -param set-default CA_SV_CS_COUNT 4 -param set-default CA_SV_CS0_TYPE 1 -param set-default CA_SV_CS0_TRQ_R -0.5 -param set-default CA_SV_CS1_TYPE 2 -param set-default CA_SV_CS1_TRQ_R 0.5 -param set-default CA_SV_CS2_TYPE 3 -param set-default CA_SV_CS2_TRQ_P 1.0 -param set-default CA_SV_CS3_TRQ_Y 1.0 -param set-default CA_SV_CS3_TYPE 4 -param set-default VT_TYPE 2 -param set-default MAV_TYPE 22 diff --git a/ROMFS/px4fmu_common/init.d/airframes/13013_deltaquad b/ROMFS/px4fmu_common/init.d/airframes/13013_deltaquad index 594a8914829e..6456ccc74418 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/13013_deltaquad +++ b/ROMFS/px4fmu_common/init.d/airframes/13013_deltaquad @@ -28,13 +28,13 @@ param set-default BAT1_CAPACITY 23000 param set-default BAT1_N_CELLS 4 param set-default BAT1_R_INTERNAL 0.0025 -param set-default CBRK_AIRSPD_CHK 162128 +param set-default SYS_HAS_NUM_ASPD 0 param set-default CBRK_IO_SAFETY 22027 param set-default EKF2_GPS_POS_X -0.12 param set-default EKF2_IMU_POS_X -0.12 -param set-default FW_ARSP_MODE 1 +param set-default FW_USE_AIRSPD 0 param set-default NPFG_PERIOD 25 param set-default FW_PR_FF 0.7 param set-default FW_PR_I 0.18 @@ -66,7 +66,6 @@ param set-default MC_PITCHRATE_I 0.05 param set-default MC_YAWRATE_MAX 20 param set-default MC_AIRMODE 1 -param set-default MIS_DIST_1WP 100 param set-default MIS_TAKEOFF_ALT 15 param set-default MPC_XY_P 0.8 @@ -120,8 +119,8 @@ param set-default CA_ROTOR2_KM -0.05 param set-default CA_ROTOR3_PX -0.1515 param set-default CA_ROTOR3_PY 0.1875 param set-default CA_ROTOR3_KM -0.05 -param set-default CA_ROTOR4_AX 1.0 -param set-default CA_ROTOR4_AZ 0.0 +param set-default CA_ROTOR4_AX 1 +param set-default CA_ROTOR4_AZ 0 param set-default CA_ROTOR4_PX 0.2 param set-default CA_SV_CS_COUNT 3 @@ -130,4 +129,4 @@ param set-default CA_SV_CS0_TRQ_R -0.5 param set-default CA_SV_CS1_TYPE 2 param set-default CA_SV_CS1_TRQ_R 0.5 param set-default CA_SV_CS2_TYPE 3 -param set-default CA_SV_CS2_TRQ_P 1.0 +param set-default CA_SV_CS2_TRQ_P 1 diff --git a/ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark b/ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark index ac5931075862..ee98e2c889ea 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark +++ b/ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark @@ -80,6 +80,10 @@ param set-default VT_TYPE 2 param set-default CA_AIRFRAME 2 param set-default CA_ROTOR_COUNT 5 +param set-default CA_ROTOR4_AX 1 +param set-default CA_ROTOR4_AZ 0 + +# Square quadrotor X PX4 numbering param set-default CA_ROTOR0_PX 1 param set-default CA_ROTOR0_PY 1 param set-default CA_ROTOR1_PX -1 @@ -90,18 +94,16 @@ param set-default CA_ROTOR2_KM -0.05 param set-default CA_ROTOR3_PX -1 param set-default CA_ROTOR3_PY 1 param set-default CA_ROTOR3_KM -0.05 -param set-default CA_ROTOR4_AX 1.0 -param set-default CA_ROTOR4_AZ 0.0 param set-default CA_SV_CS_COUNT 3 param set-default CA_SV_CS0_TYPE 15 -param set-default CA_SV_CS0_TRQ_R 1.0 -param set-default CA_SV_CS1_TRQ_P 0.5000 -param set-default CA_SV_CS1_TRQ_R 0.0000 -param set-default CA_SV_CS1_TRQ_Y -0.5000 +param set-default CA_SV_CS0_TRQ_R 1 +param set-default CA_SV_CS1_TRQ_P 0.5 +param set-default CA_SV_CS1_TRQ_R 0 +param set-default CA_SV_CS1_TRQ_Y -0.5 param set-default CA_SV_CS1_TYPE 13 -param set-default CA_SV_CS2_TRQ_P 0.5000 -param set-default CA_SV_CS2_TRQ_Y 0.5000 +param set-default CA_SV_CS2_TRQ_P 0.5 +param set-default CA_SV_CS2_TRQ_Y 0.5 param set-default CA_SV_CS2_TYPE 14 param set-default PWM_MAIN_FUNC1 201 @@ -117,5 +119,3 @@ param set-default PWM_MAIN_TIM0 50 param set-default PWM_MAIN_DIS1 1500 param set-default PWM_MAIN_DIS2 1500 param set-default PWM_MAIN_DIS4 1500 - - diff --git a/ROMFS/px4fmu_common/init.d/airframes/13030_generic_vtol_quad_tiltrotor b/ROMFS/px4fmu_common/init.d/airframes/13030_generic_vtol_quad_tiltrotor index 7c0c1af8a51f..783b6463919c 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/13030_generic_vtol_quad_tiltrotor +++ b/ROMFS/px4fmu_common/init.d/airframes/13030_generic_vtol_quad_tiltrotor @@ -19,30 +19,30 @@ param set-default MAV_TYPE 21 param set-default VT_TYPE 1 param set-default CA_AIRFRAME 3 -param set-default CA_ROTOR_COUNT 4 -param set-default CA_ROTOR0_PX 0.15 -param set-default CA_ROTOR0_PY 0.15 param set-default CA_ROTOR0_TILT 1 -param set-default CA_ROTOR1_PX -0.15 -param set-default CA_ROTOR1_PY -0.15 param set-default CA_ROTOR1_TILT 2 -param set-default CA_ROTOR2_PX 0.15 -param set-default CA_ROTOR2_PY -0.15 -param set-default CA_ROTOR2_KM -0.05 param set-default CA_ROTOR2_TILT 3 -param set-default CA_ROTOR3_PX -0.15 -param set-default CA_ROTOR3_PY 0.15 -param set-default CA_ROTOR3_KM -0.05 param set-default CA_ROTOR3_TILT 4 param set-default CA_SV_CS_COUNT 4 param set-default CA_SV_CS0_TYPE 1 param set-default CA_SV_CS0_TRQ_R -0.5 param set-default CA_SV_CS1_TRQ_R 0.5 param set-default CA_SV_CS1_TYPE 2 -param set-default CA_SV_CS2_TRQ_P 1.0 +param set-default CA_SV_CS2_TRQ_P 1 param set-default CA_SV_CS2_TYPE 3 -param set-default CA_SV_CS3_TRQ_Y 1.0 +param set-default CA_SV_CS3_TRQ_Y 1 param set-default CA_SV_CS3_TYPE 4 param set-default CA_SV_TL_COUNT 4 - +# Square quadrotor X PX4 numbering +param set-default CA_ROTOR_COUNT 4 +param set-default CA_ROTOR0_PX 1 +param set-default CA_ROTOR0_PY 1 +param set-default CA_ROTOR1_PX -1 +param set-default CA_ROTOR1_PY -1 +param set-default CA_ROTOR2_PX 1 +param set-default CA_ROTOR2_PY -1 +param set-default CA_ROTOR2_KM -0.05 +param set-default CA_ROTOR3_PX -1 +param set-default CA_ROTOR3_PY 1 +param set-default CA_ROTOR3_KM -0.05 diff --git a/ROMFS/px4fmu_common/init.d/airframes/13100_generic_vtol_tiltrotor b/ROMFS/px4fmu_common/init.d/airframes/13100_generic_vtol_tiltrotor index 19f9a95eb9e0..be1d47979dfc 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/13100_generic_vtol_tiltrotor +++ b/ROMFS/px4fmu_common/init.d/airframes/13100_generic_vtol_tiltrotor @@ -12,19 +12,22 @@ . ${R}etc/init.d/rc.vtol_defaults param set-default CA_AIRFRAME 3 +param set-default CA_ROTOR0_TILT 2 +param set-default CA_ROTOR2_TILT 1 + +# Square quadrotor X PX4 numbering param set-default CA_ROTOR_COUNT 4 param set-default CA_ROTOR0_PX 1 param set-default CA_ROTOR0_PY 1 -param set-default CA_ROTOR0_TILT 2 param set-default CA_ROTOR1_PX -1 param set-default CA_ROTOR1_PY -1 param set-default CA_ROTOR2_PX 1 param set-default CA_ROTOR2_PY -1 -param set-default CA_ROTOR2_TILT 1 param set-default CA_ROTOR2_KM -0.05 param set-default CA_ROTOR3_PX -1 param set-default CA_ROTOR3_PY 1 param set-default CA_ROTOR3_KM -0.05 + param set-default CA_SV_CS_COUNT 4 param set-default CA_SV_CS0_TYPE 1 param set-default CA_SV_CS0_TRQ_R -0.5 diff --git a/ROMFS/px4fmu_common/init.d/airframes/13200_generic_vtol_tailsitter b/ROMFS/px4fmu_common/init.d/airframes/13200_generic_vtol_tailsitter index fccaee8cf5ce..2424a72d0a09 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/13200_generic_vtol_tailsitter +++ b/ROMFS/px4fmu_common/init.d/airframes/13200_generic_vtol_tailsitter @@ -31,3 +31,4 @@ param set-default CA_SV_CS1_TYPE 6 param set-default MAV_TYPE 19 param set-default VT_TYPE 0 param set-default VT_ELEV_MC_LOCK 0 +param set-default VT_B_TRANS_DUR 5 diff --git a/ROMFS/px4fmu_common/init.d/airframes/14001_generic_mc_with_tilt b/ROMFS/px4fmu_common/init.d/airframes/14001_generic_mc_with_tilt index e675cafe1b95..9bd320f85c22 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/14001_generic_mc_with_tilt +++ b/ROMFS/px4fmu_common/init.d/airframes/14001_generic_mc_with_tilt @@ -20,16 +20,15 @@ param set-default MAV_TYPE 15 param set-default CA_AIRFRAME 8 # Tricopter -param set-default CA_ROTOR0_PX 0.2500 -param set-default CA_ROTOR0_PY 0.4330 -param set-default CA_ROTOR1_PX 0.2500 -param set-default CA_ROTOR1_PY -0.4300 -param set-default CA_ROTOR2_PX -0.5000 -param set-default CA_ROTOR2_PY 0.0000 +param set-default CA_ROTOR0_PX 0.25 +param set-default CA_ROTOR0_PY 0.433 +param set-default CA_ROTOR1_PX 0.25 +param set-default CA_ROTOR1_PY -0.43 +param set-default CA_ROTOR2_PX -0.5 +param set-default CA_ROTOR2_PY 0 param set-default CA_ROTOR2_TILT 1 param set-default CA_ROTOR_COUNT 3 -param set-default CA_SV_TL0_MAXA 45.0000 -param set-default CA_SV_TL0_MINA -45.0000 +param set-default CA_SV_TL0_MAXA 45 +param set-default CA_SV_TL0_MINA -45 param set-default CA_SV_TL0_TD 90 param set-default CA_SV_TL_COUNT 1 - diff --git a/ROMFS/px4fmu_common/init.d/airframes/16001_helicopter b/ROMFS/px4fmu_common/init.d/airframes/16001_helicopter index 36f1a68f1472..de21a8821668 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/16001_helicopter +++ b/ROMFS/px4fmu_common/init.d/airframes/16001_helicopter @@ -24,5 +24,3 @@ param set-default MC_PITCHRATE_D 0 param set-default MC_PITCHRATE_FF 0.1 param set-default CA_AIRFRAME 10 - - diff --git a/ROMFS/px4fmu_common/init.d/airframes/18001_TF-B1 b/ROMFS/px4fmu_common/init.d/airframes/18001_TF-B1 index 90965eeb32db..d657af7d57bd 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/18001_TF-B1 +++ b/ROMFS/px4fmu_common/init.d/airframes/18001_TF-B1 @@ -23,4 +23,3 @@ param set-default MAV_0_MODE 1 param set-default MAV_0_CONFIG 102 param set-default GPS_UBX_DYNMODEL 8 param set-default SER_TEL2_BAUD 9600 - diff --git a/ROMFS/px4fmu_common/init.d/airframes/2100_standard_plane b/ROMFS/px4fmu_common/init.d/airframes/2100_standard_plane index cd454eafed46..d872654722a3 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/2100_standard_plane +++ b/ROMFS/px4fmu_common/init.d/airframes/2100_standard_plane @@ -18,7 +18,7 @@ param set-default CA_SV_CS0_TYPE 1 param set-default CA_SV_CS0_TRQ_R -0.5 param set-default CA_SV_CS1_TRQ_R 0.5 param set-default CA_SV_CS1_TYPE 2 -param set-default CA_SV_CS2_TRQ_P 1.0 +param set-default CA_SV_CS2_TRQ_P 1 param set-default CA_SV_CS2_TYPE 3 -param set-default CA_SV_CS3_TRQ_Y 1.0 +param set-default CA_SV_CS3_TRQ_Y 1 param set-default CA_SV_CS3_TYPE 4 diff --git a/ROMFS/px4fmu_common/init.d/airframes/2106_albatross b/ROMFS/px4fmu_common/init.d/airframes/2106_albatross index e918ea0f3c06..e27d146e0301 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/2106_albatross +++ b/ROMFS/px4fmu_common/init.d/airframes/2106_albatross @@ -17,6 +17,7 @@ # @maintainer Andreas Antener # # @board bitcraze_crazyflie exclude +# @board diatone_mamba-f405-mk2 exclude # . ${R}etc/init.d/rc.fw_defaults @@ -34,17 +35,17 @@ param set-default FW_W_RMAX 0 param set-default CA_AIRFRAME 1 param set-default CA_ROTOR_COUNT 1 param set-default CA_SV_CS_COUNT 7 -param set-default CA_SV_CS0_TRQ_R -0.5000 +param set-default CA_SV_CS0_TRQ_R -0.5 param set-default CA_SV_CS0_TYPE 1 #left aileron -param set-default CA_SV_CS1_TRQ_R 0.5000 +param set-default CA_SV_CS1_TRQ_R 0.5 param set-default CA_SV_CS1_TYPE 2 #right aileron -param set-default CA_SV_CS2_TRQ_P 0.5000 -param set-default CA_SV_CS2_TRQ_Y -0.5000 +param set-default CA_SV_CS2_TRQ_P 0.5 +param set-default CA_SV_CS2_TRQ_Y -0.5 param set-default CA_SV_CS2_TYPE 13 #left A-tail -param set-default CA_SV_CS3_TRQ_P 0.5000 -param set-default CA_SV_CS3_TRQ_Y 0.5000 +param set-default CA_SV_CS3_TRQ_P 0.5 +param set-default CA_SV_CS3_TRQ_Y 0.5 param set-default CA_SV_CS3_TYPE 14 #right A-tail -param set-default CA_SV_CS4_TRQ_Y 1.0000 +param set-default CA_SV_CS4_TRQ_Y 1 param set-default CA_SV_CS4_TYPE 12 param set-default CA_SV_CS5_TYPE 9 #left flap param set-default CA_SV_CS6_TYPE 10 #right flap @@ -71,5 +72,3 @@ param set-default PWM_MAIN_DIS5 1000 param set-default PWM_MAIN_DIS6 1500 param set-default PWM_MAIN_DIS7 1500 param set-default PWM_MAIN_DIS8 1500 - - diff --git a/ROMFS/px4fmu_common/init.d/airframes/24001_dodeca_cox b/ROMFS/px4fmu_common/init.d/airframes/24001_dodeca_cox index 23944e9e0ccf..f894d47d74fd 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/24001_dodeca_cox +++ b/ROMFS/px4fmu_common/init.d/airframes/24001_dodeca_cox @@ -66,4 +66,3 @@ param set-default CA_ROTOR11_PX -0.344 param set-default CA_ROTOR11_PY -0.25 param set-default CA_ROTOR11_PZ -0.05 param set-default CA_ROTOR11_KM -0.05 - diff --git a/ROMFS/px4fmu_common/init.d/airframes/2507_cloudship b/ROMFS/px4fmu_common/init.d/airframes/2507_cloudship index a458d830ea65..82abd7e55d24 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/2507_cloudship +++ b/ROMFS/px4fmu_common/init.d/airframes/2507_cloudship @@ -21,21 +21,20 @@ param set-default CBRK_IO_SAFETY 22027 param set-default CA_AIRFRAME 9 param set-default CA_ROTOR_COUNT 3 -param set-default CA_ROTOR0_AX 1.0000 -param set-default CA_ROTOR0_AZ 0.0000 -param set-default CA_ROTOR0_KM 0.0000 -param set-default CA_ROTOR0_PY 2.0000 -param set-default CA_ROTOR1_AX 1.0000 -param set-default CA_ROTOR1_AZ 0.0000 -param set-default CA_ROTOR1_KM 0.0000 -param set-default CA_ROTOR1_PY -2.0000 -param set-default CA_ROTOR2_AY -1.0000 -param set-default CA_ROTOR2_AZ 0.0000 -param set-default CA_ROTOR2_KM 0.0000 -param set-default CA_ROTOR2_PX -10.0000 +param set-default CA_ROTOR0_AX 1 +param set-default CA_ROTOR0_AZ 0 +param set-default CA_ROTOR0_KM 0 +param set-default CA_ROTOR0_PY 2 +param set-default CA_ROTOR1_AX 1 +param set-default CA_ROTOR1_AZ 0 +param set-default CA_ROTOR1_KM 0 +param set-default CA_ROTOR1_PY -2 +param set-default CA_ROTOR2_AY -1 +param set-default CA_ROTOR2_AZ 0 +param set-default CA_ROTOR2_KM 0 +param set-default CA_ROTOR2_PX -10 param set-default CA_SV_CS_COUNT 1 -param set-default CA_SV_CS0_TRQ_P 1.0000 +param set-default CA_SV_CS0_TRQ_P 1 param set-default CA_R_REV 7 - diff --git a/ROMFS/px4fmu_common/init.d/airframes/4001_quad_x b/ROMFS/px4fmu_common/init.d/airframes/4001_quad_x index c3df7a9c58a3..47c11b7ccecf 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/4001_quad_x +++ b/ROMFS/px4fmu_common/init.d/airframes/4001_quad_x @@ -10,15 +10,15 @@ . ${R}etc/init.d/rc.mc_defaults +# Square quadrotor X PX4 numbering param set-default CA_ROTOR_COUNT 4 -param set-default CA_ROTOR0_PX 0.15 -param set-default CA_ROTOR0_PY 0.15 -param set-default CA_ROTOR1_PX -0.15 -param set-default CA_ROTOR1_PY -0.15 -param set-default CA_ROTOR2_PX 0.15 -param set-default CA_ROTOR2_PY -0.15 +param set-default CA_ROTOR0_PX 1 +param set-default CA_ROTOR0_PY 1 +param set-default CA_ROTOR1_PX -1 +param set-default CA_ROTOR1_PY -1 +param set-default CA_ROTOR2_PX 1 +param set-default CA_ROTOR2_PY -1 param set-default CA_ROTOR2_KM -0.05 -param set-default CA_ROTOR3_PX -0.15 -param set-default CA_ROTOR3_PY 0.15 +param set-default CA_ROTOR3_PX -1 +param set-default CA_ROTOR3_PY 1 param set-default CA_ROTOR3_KM -0.05 - diff --git a/ROMFS/px4fmu_common/init.d/airframes/4014_s500 b/ROMFS/px4fmu_common/init.d/airframes/4014_s500 index 309e949adb9c..41fc2b7f93a6 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/4014_s500 +++ b/ROMFS/px4fmu_common/init.d/airframes/4014_s500 @@ -18,14 +18,15 @@ param set-default MC_PITCHRATE_P 0.18 param set-default MC_ROLLRATE_I 0.15 param set-default MC_PITCHRATE_I 0.15 +# Square quadrotor X PX4 numbering param set-default CA_ROTOR_COUNT 4 -param set-default CA_ROTOR0_PX 0.15 -param set-default CA_ROTOR0_PY 0.15 -param set-default CA_ROTOR1_PX -0.15 -param set-default CA_ROTOR1_PY -0.15 -param set-default CA_ROTOR2_PX 0.15 -param set-default CA_ROTOR2_PY -0.15 +param set-default CA_ROTOR0_PX 1 +param set-default CA_ROTOR0_PY 1 +param set-default CA_ROTOR1_PX -1 +param set-default CA_ROTOR1_PY -1 +param set-default CA_ROTOR2_PX 1 +param set-default CA_ROTOR2_PY -1 param set-default CA_ROTOR2_KM -0.05 -param set-default CA_ROTOR3_PX -0.15 -param set-default CA_ROTOR3_PY 0.15 +param set-default CA_ROTOR3_PX -1 +param set-default CA_ROTOR3_PY 1 param set-default CA_ROTOR3_KM -0.05 diff --git a/ROMFS/px4fmu_common/init.d/airframes/4015_holybro_s500 b/ROMFS/px4fmu_common/init.d/airframes/4015_holybro_s500 index 37cf5bb6f990..e78cbf44243c 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/4015_holybro_s500 +++ b/ROMFS/px4fmu_common/init.d/airframes/4015_holybro_s500 @@ -22,14 +22,15 @@ param set-default MC_PITCHRATE_I 0.3 param set-default MC_ROLLRATE_D 0.004 param set-default MC_PITCHRATE_D 0.004 +# Square quadrotor X PX4 numbering param set-default CA_ROTOR_COUNT 4 -param set-default CA_ROTOR0_PX 0.15 -param set-default CA_ROTOR0_PY 0.15 -param set-default CA_ROTOR1_PX -0.15 -param set-default CA_ROTOR1_PY -0.15 -param set-default CA_ROTOR2_PX 0.15 -param set-default CA_ROTOR2_PY -0.15 +param set-default CA_ROTOR0_PX 1 +param set-default CA_ROTOR0_PY 1 +param set-default CA_ROTOR1_PX -1 +param set-default CA_ROTOR1_PY -1 +param set-default CA_ROTOR2_PX 1 +param set-default CA_ROTOR2_PY -1 param set-default CA_ROTOR2_KM -0.05 -param set-default CA_ROTOR3_PX -0.15 -param set-default CA_ROTOR3_PY 0.15 +param set-default CA_ROTOR3_PX -1 +param set-default CA_ROTOR3_PY 1 param set-default CA_ROTOR3_KM -0.05 diff --git a/ROMFS/px4fmu_common/init.d/airframes/4016_holybro_px4vision b/ROMFS/px4fmu_common/init.d/airframes/4016_holybro_px4vision index d6fd77945bf2..77e51bf08e35 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/4016_holybro_px4vision +++ b/ROMFS/px4fmu_common/init.d/airframes/4016_holybro_px4vision @@ -45,12 +45,8 @@ param set-default MAV_1_MODE 9 param set-default SER_TEL1_BAUD 921600 # Vehicle attitude PID tuning -param set-default MC_ACRO_EXPO 0 -param set-default MC_ACRO_EXPO_Y 0 param set-default MC_ACRO_P_MAX 200 param set-default MC_ACRO_R_MAX 200 -param set-default MC_ACRO_SUPEXPO 0 -param set-default MC_ACRO_SUPEXPOY 0 param set-default MC_ACRO_Y_MAX 150 param set-default MC_PITCHRATE_D 0.0015 param set-default MC_ROLLRATE_D 0.0015 @@ -101,18 +97,17 @@ param set-default CBRK_IO_SAFETY 22027 param set-default THR_MDL_FAC 0.3 +# Square quadrotor X PX4 numbering param set-default CA_ROTOR_COUNT 4 -param set-default CA_ROTOR0_PX 0.15 -param set-default CA_ROTOR0_PY 0.15 -param set-default CA_ROTOR0_KM 0.05 -param set-default CA_ROTOR1_PX -0.15 -param set-default CA_ROTOR1_PY -0.15 -param set-default CA_ROTOR1_KM 0.05 -param set-default CA_ROTOR2_PX 0.15 -param set-default CA_ROTOR2_PY -0.15 +param set-default CA_ROTOR0_PX 1 +param set-default CA_ROTOR0_PY 1 +param set-default CA_ROTOR1_PX -1 +param set-default CA_ROTOR1_PY -1 +param set-default CA_ROTOR2_PX 1 +param set-default CA_ROTOR2_PY -1 param set-default CA_ROTOR2_KM -0.05 -param set-default CA_ROTOR3_PX -0.15 -param set-default CA_ROTOR3_PY 0.15 +param set-default CA_ROTOR3_PX -1 +param set-default CA_ROTOR3_PY 1 param set-default CA_ROTOR3_KM -0.05 # Outputs @@ -120,4 +115,3 @@ param set-default PWM_AUX_FUNC1 101 param set-default PWM_AUX_FUNC2 102 param set-default PWM_AUX_FUNC3 103 param set-default PWM_AUX_FUNC4 104 - diff --git a/ROMFS/px4fmu_common/init.d/airframes/4017_nxp_hovergames b/ROMFS/px4fmu_common/init.d/airframes/4017_nxp_hovergames index 7094a554618b..2cc60c5217e8 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/4017_nxp_hovergames +++ b/ROMFS/px4fmu_common/init.d/airframes/4017_nxp_hovergames @@ -6,6 +6,7 @@ # @class Copter # # @board px4_fmu-v2 exclude +# @board px4_fmu-v5x exclude # @board bitcraze_crazyflie exclude # # @maintainer Iain Galloway @@ -21,14 +22,15 @@ param set-default MC_ROLLRATE_I 0.15 param set-default MC_PITCHRATE_P 0.18 param set-default MC_PITCHRATE_I 0.15 +# Square quadrotor X PX4 numbering param set-default CA_ROTOR_COUNT 4 -param set-default CA_ROTOR0_PX 0.15 -param set-default CA_ROTOR0_PY 0.15 -param set-default CA_ROTOR1_PX -0.15 -param set-default CA_ROTOR1_PY -0.15 -param set-default CA_ROTOR2_PX 0.15 -param set-default CA_ROTOR2_PY -0.15 +param set-default CA_ROTOR0_PX 1 +param set-default CA_ROTOR0_PY 1 +param set-default CA_ROTOR1_PX -1 +param set-default CA_ROTOR1_PY -1 +param set-default CA_ROTOR2_PX 1 +param set-default CA_ROTOR2_PY -1 param set-default CA_ROTOR2_KM -0.05 -param set-default CA_ROTOR3_PX -0.15 -param set-default CA_ROTOR3_PY 0.15 +param set-default CA_ROTOR3_PX -1 +param set-default CA_ROTOR3_PY 1 param set-default CA_ROTOR3_KM -0.05 diff --git a/ROMFS/px4fmu_common/init.d/airframes/4019_x500_v2 b/ROMFS/px4fmu_common/init.d/airframes/4019_x500_v2 index 1fb639236ea5..4b56f8ae3a54 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/4019_x500_v2 +++ b/ROMFS/px4fmu_common/init.d/airframes/4019_x500_v2 @@ -22,21 +22,20 @@ param set-default MC_PITCHRATE_I 0.3 param set-default MC_ROLLRATE_D 0.004 param set-default MC_PITCHRATE_D 0.004 +param set-default PWM_MAIN_FUNC1 101 +param set-default PWM_MAIN_FUNC2 102 +param set-default PWM_MAIN_FUNC3 103 +param set-default PWM_MAIN_FUNC4 104 + +# Square quadrotor X PX4 numbering param set-default CA_ROTOR_COUNT 4 -param set-default CA_ROTOR0_PX 0.25 -param set-default CA_ROTOR0_PY 0.25 -param set-default CA_ROTOR1_PX -0.25 -param set-default CA_ROTOR1_PY -0.25 -param set-default CA_ROTOR2_PX 0.25 -param set-default CA_ROTOR2_PY -0.25 +param set-default CA_ROTOR0_PX 1 +param set-default CA_ROTOR0_PY 1 +param set-default CA_ROTOR1_PX -1 +param set-default CA_ROTOR1_PY -1 +param set-default CA_ROTOR2_PX 1 +param set-default CA_ROTOR2_PY -1 param set-default CA_ROTOR2_KM -0.05 -param set-default CA_ROTOR3_PX -0.25 -param set-default CA_ROTOR3_PY 0.25 +param set-default CA_ROTOR3_PX -1 +param set-default CA_ROTOR3_PY 1 param set-default CA_ROTOR3_KM -0.05 - -param set-default PWM_AUX_FUNC1 101 -param set-default PWM_AUX_FUNC2 102 -param set-default PWM_AUX_FUNC3 103 -param set-default PWM_AUX_FUNC4 104 -param set-default PWM_AUX_TIM0 -4 - diff --git a/ROMFS/px4fmu_common/init.d/airframes/4020_holybro_px4vision_v1_5 b/ROMFS/px4fmu_common/init.d/airframes/4020_holybro_px4vision_v1_5 index b2019b7badb8..8ef02418928e 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/4020_holybro_px4vision_v1_5 +++ b/ROMFS/px4fmu_common/init.d/airframes/4020_holybro_px4vision_v1_5 @@ -45,12 +45,8 @@ param set-default MAV_1_MODE 9 param set-default SER_TEL1_BAUD 921600 # Vehicle attitude PID tuning -param set-default MC_ACRO_EXPO 0 -param set-default MC_ACRO_EXPO_Y 0 param set-default MC_ACRO_P_MAX 200 param set-default MC_ACRO_R_MAX 200 -param set-default MC_ACRO_SUPEXPO 0 -param set-default MC_ACRO_SUPEXPOY 0 param set-default MC_ACRO_Y_MAX 150 param set-default MC_PITCHRATE_D 0.0015 param set-default MC_ROLLRATE_D 0.0015 @@ -102,18 +98,17 @@ param set-default CBRK_IO_SAFETY 22027 param set-default THR_MDL_FAC 0.3 +# Square quadrotor X PX4 numbering param set-default CA_ROTOR_COUNT 4 -param set-default CA_ROTOR0_PX 0.15 -param set-default CA_ROTOR0_PY 0.15 -param set-default CA_ROTOR0_KM 0.05 -param set-default CA_ROTOR1_PX -0.15 -param set-default CA_ROTOR1_PY -0.15 -param set-default CA_ROTOR1_KM 0.05 -param set-default CA_ROTOR2_PX 0.15 -param set-default CA_ROTOR2_PY -0.15 +param set-default CA_ROTOR0_PX 1 +param set-default CA_ROTOR0_PY 1 +param set-default CA_ROTOR1_PX -1 +param set-default CA_ROTOR1_PY -1 +param set-default CA_ROTOR2_PX 1 +param set-default CA_ROTOR2_PY -1 param set-default CA_ROTOR2_KM -0.05 -param set-default CA_ROTOR3_PX -0.15 -param set-default CA_ROTOR3_PY 0.15 +param set-default CA_ROTOR3_PX -1 +param set-default CA_ROTOR3_PY 1 param set-default CA_ROTOR3_KM -0.05 # Outputs @@ -121,4 +116,3 @@ param set-default PWM_AUX_FUNC1 101 param set-default PWM_AUX_FUNC2 102 param set-default PWM_AUX_FUNC3 103 param set-default PWM_AUX_FUNC4 104 - diff --git a/ROMFS/px4fmu_common/init.d/airframes/4040_reaper b/ROMFS/px4fmu_common/init.d/airframes/4040_reaper deleted file mode 100644 index c8c6c5a7abb1..000000000000 --- a/ROMFS/px4fmu_common/init.d/airframes/4040_reaper +++ /dev/null @@ -1,65 +0,0 @@ -#!/bin/sh -# -# @name Reaper 500 Quad -# -# @type Quadrotor H -# @class Copter -# -# @maintainer Blankered -# -# @board px4_fmu-v2 exclude -# @board bitcraze_crazyflie exclude -# - -. ${R}etc/init.d/rc.mc_defaults - -param set-default MC_ROLLRATE_P 0.14 -param set-default MC_ROLLRATE_I 0.1 -param set-default MC_ROLLRATE_D 0.004 -param set-default MC_PITCH_P 6 -param set-default MC_PITCHRATE_P 0.14 -param set-default MC_PITCHRATE_I 0.09 -param set-default MC_PITCHRATE_D 0.004 -param set-default MC_YAW_P 4 - -param set-default NAV_ACC_RAD 2 - -param set-default RTL_RETURN_ALT 30 -param set-default RTL_DESCEND_ALT 10 - -param set-default CA_ROTOR_COUNT 4 -param set-default CA_ROTOR0_PX 0.15 -param set-default CA_ROTOR0_PY 0.15 -param set-default CA_ROTOR0_KM -0.05 -param set-default CA_ROTOR1_PX -0.15 -param set-default CA_ROTOR1_PY -0.15 -param set-default CA_ROTOR1_KM -0.05 -param set-default CA_ROTOR2_PX 0.15 -param set-default CA_ROTOR2_PY -0.15 -param set-default CA_ROTOR2_KM 0.05 -param set-default CA_ROTOR3_PX -0.15 -param set-default CA_ROTOR3_PY 0.15 -param set-default CA_ROTOR3_KM 0.05 - -param set-default PWM_MAIN_FUNC1 101 -param set-default PWM_MAIN_FUNC2 102 -param set-default PWM_MAIN_FUNC3 103 -param set-default PWM_MAIN_FUNC4 104 -param set-default PWM_MAIN_MIN1 1100 -param set-default PWM_MAIN_MIN2 1100 -param set-default PWM_MAIN_MIN3 1100 -param set-default PWM_MAIN_MIN4 1100 -param set-default PWM_MAIN_MAX1 1900 -param set-default PWM_MAIN_MAX2 1900 -param set-default PWM_MAIN_MAX3 1900 -param set-default PWM_MAIN_MAX4 1900 - -param set-default PWM_MAIN_TIM0 50 -param set-default PWM_MAIN_TIM1 50 -param set-default PWM_MAIN_TIM2 50 - -param set-default PWM_AUX_TIM0 50 -param set-default PWM_AUX_TIM1 50 -param set-default PWM_AUX_TIM2 50 - - diff --git a/ROMFS/px4fmu_common/init.d/airframes/4041_beta75x b/ROMFS/px4fmu_common/init.d/airframes/4041_beta75x index 9c723c74fd1a..5549255ec452 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/4041_beta75x +++ b/ROMFS/px4fmu_common/init.d/airframes/4041_beta75x @@ -46,22 +46,20 @@ param set-default SYS_HAS_MAG 0 param set-default BAT1_N_CELLS 2 +# Square quadrotor X with reverse turn direction param set-default CA_ROTOR_COUNT 4 -param set-default CA_ROTOR0_PX 0.03 -param set-default CA_ROTOR0_PY 0.03 +param set-default CA_ROTOR0_PX 1 +param set-default CA_ROTOR0_PY 1 param set-default CA_ROTOR0_KM -0.05 -param set-default CA_ROTOR1_PX -0.03 -param set-default CA_ROTOR1_PY -0.03 +param set-default CA_ROTOR1_PX -1 +param set-default CA_ROTOR1_PY -1 param set-default CA_ROTOR1_KM -0.05 -param set-default CA_ROTOR2_PX 0.03 -param set-default CA_ROTOR2_PY -0.03 -param set-default CA_ROTOR2_KM 0.05 -param set-default CA_ROTOR3_PX -0.03 -param set-default CA_ROTOR3_PY 0.03 -param set-default CA_ROTOR3_KM 0.05 +param set-default CA_ROTOR2_PX 1 +param set-default CA_ROTOR2_PY -1 +param set-default CA_ROTOR3_PX -1 +param set-default CA_ROTOR3_PY 1 param set-default PWM_MAIN_FUNC1 104 param set-default PWM_MAIN_FUNC2 101 param set-default PWM_MAIN_FUNC3 102 param set-default PWM_MAIN_FUNC4 103 - diff --git a/ROMFS/px4fmu_common/init.d/airframes/4050_generic_250 b/ROMFS/px4fmu_common/init.d/airframes/4050_generic_250 index efc06c3a3a23..d460138cc815 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/4050_generic_250 +++ b/ROMFS/px4fmu_common/init.d/airframes/4050_generic_250 @@ -36,16 +36,15 @@ param set-default SDLOG_PROFILE 19 param set-default IMU_DGYRO_CUTOFF 50 param set-default IMU_GYRO_CUTOFF 90 +# Square quadrotor X PX4 numbering param set-default CA_ROTOR_COUNT 4 -param set-default CA_ROTOR0_PX 0.15 -param set-default CA_ROTOR0_PY 0.15 -param set-default CA_ROTOR1_PX -0.15 -param set-default CA_ROTOR1_PY -0.15 -param set-default CA_ROTOR2_PX 0.15 -param set-default CA_ROTOR2_PY -0.15 +param set-default CA_ROTOR0_PX 1 +param set-default CA_ROTOR0_PY 1 +param set-default CA_ROTOR1_PX -1 +param set-default CA_ROTOR1_PY -1 +param set-default CA_ROTOR2_PX 1 +param set-default CA_ROTOR2_PY -1 param set-default CA_ROTOR2_KM -0.05 -param set-default CA_ROTOR3_PX -0.15 -param set-default CA_ROTOR3_PY 0.15 +param set-default CA_ROTOR3_PX -1 +param set-default CA_ROTOR3_PY 1 param set-default CA_ROTOR3_KM -0.05 - - diff --git a/ROMFS/px4fmu_common/init.d/airframes/4052_holybro_qav250 b/ROMFS/px4fmu_common/init.d/airframes/4052_holybro_qav250 index a01c35a3ac85..4dc7f90aea95 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/4052_holybro_qav250 +++ b/ROMFS/px4fmu_common/init.d/airframes/4052_holybro_qav250 @@ -46,20 +46,20 @@ param set-default MPC_Z_VEL_I_ACC 1.7 param set-default THR_MDL_FAC 0.3 +# Square quadrotor X PX4 numbering param set-default CA_ROTOR_COUNT 4 -param set-default CA_ROTOR0_PX 0.15 -param set-default CA_ROTOR0_PY 0.15 -param set-default CA_ROTOR1_PX -0.15 -param set-default CA_ROTOR1_PY -0.15 -param set-default CA_ROTOR2_PX 0.15 -param set-default CA_ROTOR2_PY -0.15 +param set-default CA_ROTOR0_PX 1 +param set-default CA_ROTOR0_PY 1 +param set-default CA_ROTOR1_PX -1 +param set-default CA_ROTOR1_PY -1 +param set-default CA_ROTOR2_PX 1 +param set-default CA_ROTOR2_PY -1 param set-default CA_ROTOR2_KM -0.05 -param set-default CA_ROTOR3_PX -0.15 -param set-default CA_ROTOR3_PY 0.15 +param set-default CA_ROTOR3_PX -1 +param set-default CA_ROTOR3_PY 1 param set-default CA_ROTOR3_KM -0.05 param set-default PWM_MAIN_FUNC1 101 param set-default PWM_MAIN_FUNC2 102 param set-default PWM_MAIN_FUNC3 103 param set-default PWM_MAIN_FUNC4 104 - diff --git a/ROMFS/px4fmu_common/init.d/airframes/4053_holybro_kopis2 b/ROMFS/px4fmu_common/init.d/airframes/4053_holybro_kopis2 index 64d14b8d5c40..81e4b26d4837 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/4053_holybro_kopis2 +++ b/ROMFS/px4fmu_common/init.d/airframes/4053_holybro_kopis2 @@ -53,16 +53,17 @@ param set-default MC_AIRMODE 1 param set-default EV_TSK_RC_LOSS 1 +# Square quadrotor X PX4 numbering param set-default CA_ROTOR_COUNT 4 -param set-default CA_ROTOR0_PX 0.15 -param set-default CA_ROTOR0_PY 0.15 -param set-default CA_ROTOR1_PX -0.15 -param set-default CA_ROTOR1_PY -0.15 -param set-default CA_ROTOR2_PX 0.15 -param set-default CA_ROTOR2_PY -0.15 +param set-default CA_ROTOR0_PX 1 +param set-default CA_ROTOR0_PY 1 +param set-default CA_ROTOR1_PX -1 +param set-default CA_ROTOR1_PY -1 +param set-default CA_ROTOR2_PX 1 +param set-default CA_ROTOR2_PY -1 param set-default CA_ROTOR2_KM -0.05 -param set-default CA_ROTOR3_PX -0.15 -param set-default CA_ROTOR3_PY 0.15 +param set-default CA_ROTOR3_PX -1 +param set-default CA_ROTOR3_PY 1 param set-default CA_ROTOR3_KM -0.05 param set-default PWM_MAIN_FUNC1 104 @@ -72,5 +73,3 @@ param set-default PWM_MAIN_FUNC4 103 param set-default PWM_MAIN_TIM0 -2 param set-default PWM_MAIN_TIM1 -2 - - diff --git a/ROMFS/px4fmu_common/init.d/airframes/4061_atl_mantis_edu b/ROMFS/px4fmu_common/init.d/airframes/4061_atl_mantis_edu index bcfcd10fda0b..e5e5e083437f 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/4061_atl_mantis_edu +++ b/ROMFS/px4fmu_common/init.d/airframes/4061_atl_mantis_edu @@ -7,16 +7,19 @@ # # @maintainer # @board px4_fmu-v2 exclude +# @board cuav_x7pro exclude +# @board px4_fmu-v4pro exclude +# @board px4_fmu-v5x exclude +# @board px4_fmu-v6x exclude # . ${R}etc/init.d/rc.mc_defaults - # Battery settings param set-default BAT_CRIT_THR 0.20 param set-default BAT_LOW_THR 0.25 -param set-default BAT1_CAPACITY 2800.0 +param set-default BAT1_CAPACITY 2800 param set-default BAT1_N_CELLS 3 param set-default BAT1_R_INTERNAL 0.02 param set-default BAT1_V_CHARGED 4.26 @@ -37,8 +40,7 @@ param set-default COM_RC_LOSS_T 3 # ekf2 -param set-default EKF2_TERR_MASK 1 -param set-default EKF2_BARO_NOISE 2.0 +param set-default EKF2_BARO_NOISE 2 param set-default EKF2_BCOEF_X 31.5 param set-default EKF2_BCOEF_Y 25.5 @@ -56,11 +58,11 @@ param set-default EKF2_MAG_NOISE 0.1 param set-default EKF2_MIN_RNG 0.15 param set-default EKF2_OF_DELAY 38 -param set-default EKF2_OF_GATE 2.0 +param set-default EKF2_OF_GATE 2 param set-default EKF2_OF_POS_X -0.035 param set-default EKF2_OF_POS_Z 0.033 param set-default EKF2_OF_MIN_RNG 0.01 -param set-default EKF2_OF_A_HMAX 7.0 +param set-default EKF2_OF_A_HMAX 7 param set-default EKF2_OF_QMIN 30 param set-default EKF2_PCOEF_XN -0.3 @@ -68,18 +70,18 @@ param set-default EKF2_PCOEF_XP -0.4 param set-default EKF2_PCOEF_YN -0.4 param set-default EKF2_PCOEF_YP -0.4 -param set-default EKF2_RNG_A_VMAX 1.0 +param set-default EKF2_RNG_A_VMAX 1 param set-default EKF2_RNG_CTRL 0 param set-default EKF2_RNG_DELAY 55 param set-default EKF2_RNG_POS_X -0.035 -param set-default EKF2_RNG_POS_Y 0.0 +param set-default EKF2_RNG_POS_Y 0 param set-default EKF2_RNG_POS_Z 0.033 -param set-default EKF2_TERR_NOISE 1.0 +param set-default EKF2_TERR_NOISE 1 # Maximum allowed angle velocity in the landed state -param set-default LNDMC_ROT_MAX 40.0 +param set-default LNDMC_ROT_MAX 40 # Maximum vertical velocity allowed in the landed state param set-default LNDMC_Z_VEL_MAX 0.7 @@ -94,36 +96,36 @@ param set-default IMU_GYRO_CUTOFF 65 param set-default MC_PITCHRATE_P 0.075 param set-default MC_PITCHRATE_I 0.1 param set-default MC_PITCHRATE_D 0.0005 -param set-default MC_PITCHRATE_MAX 360.0 -param set-default MC_PITCH_P 8.0 +param set-default MC_PITCHRATE_MAX 360 +param set-default MC_PITCH_P 8 # Roll angle & rate setting param set-default MC_ROLLRATE_P 0.055 param set-default MC_ROLLRATE_I 0.1 param set-default MC_ROLLRATE_D 0.0005 -param set-default MC_ROLLRATE_MAX 360.0 -param set-default MC_ROLL_P 8.0 +param set-default MC_ROLLRATE_MAX 360 +param set-default MC_ROLL_P 8 # Yaw angle & rate setting param set-default MC_YAWRATE_P 0.1 -param set-default MC_YAWRATE_MAX 120.0 +param set-default MC_YAWRATE_MAX 120 param set-default MC_YAW_P 2.5 -param set-default MPC_ACC_DOWN_MAX 2.0 -param set-default MPC_ACC_HOR 3.0 -param set-default MPC_ACC_HOR_MAX 10.0 -param set-default MPC_ACC_UP_MAX 3.0 +param set-default MPC_ACC_DOWN_MAX 2 +param set-default MPC_ACC_HOR 3 +param set-default MPC_ACC_HOR_MAX 10 +param set-default MPC_ACC_UP_MAX 3 param set-default MPC_ALT_MODE 0 param set-default MPC_LAND_SPEED 0.5 param set-default MPC_MAN_TILT_MAX 20 -param set-default MPC_YAWRAUTO_MAX 80.0 +param set-default MPC_YAWRAUTO_MAX 80 param set-default MPC_THR_HOVER 0.54 param set-default MPC_THR_MAX 0.9 param set-default MPC_THR_MIN 0.06 param set-default MPC_TILTMAX_AIR 30 -param set-default MPC_XY_P 1.0 -param set-default MPC_Z_P 2.0 -param set-default MPC_Z_VEL_MAX_DN 2.0 +param set-default MPC_XY_P 1 +param set-default MPC_Z_P 2 +param set-default MPC_Z_VEL_MAX_DN 2 # gimbal configuration param set-default MNT_MODE_IN 0 @@ -150,21 +152,22 @@ param set-default RC1_TRIM 1000 # optical flow param set-default SENS_FLOW_MAXR 7.4 param set-default SENS_FLOW_MINHGT 0.15 -param set-default SENS_FLOW_MAXHGT 5.0 +param set-default SENS_FLOW_MAXHGT 5 # ignore the SD card errors and use normal startup sound set STARTUP_TUNE "1" +# Square quadrotor X PX4 numbering param set-default CA_ROTOR_COUNT 4 -param set-default CA_ROTOR0_PX 0.15 -param set-default CA_ROTOR0_PY 0.15 -param set-default CA_ROTOR1_PX -0.15 -param set-default CA_ROTOR1_PY -0.15 -param set-default CA_ROTOR2_PX 0.15 -param set-default CA_ROTOR2_PY -0.15 +param set-default CA_ROTOR0_PX 1 +param set-default CA_ROTOR0_PY 1 +param set-default CA_ROTOR1_PX -1 +param set-default CA_ROTOR1_PY -1 +param set-default CA_ROTOR2_PX 1 +param set-default CA_ROTOR2_PY -1 param set-default CA_ROTOR2_KM -0.05 -param set-default CA_ROTOR3_PX -0.15 -param set-default CA_ROTOR3_PY 0.15 +param set-default CA_ROTOR3_PX -1 +param set-default CA_ROTOR3_PY 1 param set-default CA_ROTOR3_KM -0.05 param set-default TAP_ESC_FUNC1 101 diff --git a/ROMFS/px4fmu_common/init.d/airframes/4071_ifo b/ROMFS/px4fmu_common/init.d/airframes/4071_ifo index fdb02714c2a5..8cfc14ae1ef7 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/4071_ifo +++ b/ROMFS/px4fmu_common/init.d/airframes/4071_ifo @@ -12,6 +12,7 @@ # @board px4_fmu-v4pro exclude # @board px4_fmu-v5 exclude # @board px4_fmu-v5x exclude +# @board px4_fmu-v6x exclude # @board bitcraze_crazyflie exclude # @board cuav_x7pro exclude # @@ -73,23 +74,22 @@ param set-default MAV_1_CONFIG 102 param set-default MAV_1_MODE 0 param set-default SER_TEL2_BAUD 57600 +param set-default PWM_MAIN_TIM0 0 +# Square quadrotor X PX4 numbering param set-default CA_ROTOR_COUNT 4 -param set-default CA_ROTOR0_PX 0.15 -param set-default CA_ROTOR0_PY 0.15 -param set-default CA_ROTOR1_PX -0.15 -param set-default CA_ROTOR1_PY -0.15 -param set-default CA_ROTOR2_PX 0.15 -param set-default CA_ROTOR2_PY -0.15 +param set-default CA_ROTOR0_PX 1 +param set-default CA_ROTOR0_PY 1 +param set-default CA_ROTOR1_PX -1 +param set-default CA_ROTOR1_PY -1 +param set-default CA_ROTOR2_PX 1 +param set-default CA_ROTOR2_PY -1 param set-default CA_ROTOR2_KM -0.05 -param set-default CA_ROTOR3_PX -0.15 -param set-default CA_ROTOR3_PY 0.15 +param set-default CA_ROTOR3_PX -1 +param set-default CA_ROTOR3_PY 1 param set-default CA_ROTOR3_KM -0.05 -param set-default PWM_MAIN_TIM0 0 - param set-default PWM_MAIN_FUNC1 101 param set-default PWM_MAIN_FUNC2 102 param set-default PWM_MAIN_FUNC3 103 param set-default PWM_MAIN_FUNC4 104 - diff --git a/ROMFS/px4fmu_common/init.d/airframes/4073_ifo-s b/ROMFS/px4fmu_common/init.d/airframes/4073_ifo-s index b87002620520..276e1b45db27 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/4073_ifo-s +++ b/ROMFS/px4fmu_common/init.d/airframes/4073_ifo-s @@ -10,6 +10,7 @@ # @board px4_fmu-v4pro exclude # @board px4_fmu-v5 exclude # @board px4_fmu-v5x exclude +# @board px4_fmu-v6x exclude # @board bitcraze_crazyflie exclude # @board cuav_x7pro exclude # @@ -91,22 +92,22 @@ param set-default EKF2_OF_POS_Z -0.07 # Failsafe param set-default COM_LOW_BAT_ACT 3 +param set-default PWM_MAIN_TIM0 -3 + +# Square quadrotor X PX4 numbering param set-default CA_ROTOR_COUNT 4 -param set-default CA_ROTOR0_PX 0.15 -param set-default CA_ROTOR0_PY 0.15 -param set-default CA_ROTOR1_PX -0.15 -param set-default CA_ROTOR1_PY -0.15 -param set-default CA_ROTOR2_PX 0.15 -param set-default CA_ROTOR2_PY -0.15 +param set-default CA_ROTOR0_PX 1 +param set-default CA_ROTOR0_PY 1 +param set-default CA_ROTOR1_PX -1 +param set-default CA_ROTOR1_PY -1 +param set-default CA_ROTOR2_PX 1 +param set-default CA_ROTOR2_PY -1 param set-default CA_ROTOR2_KM -0.05 -param set-default CA_ROTOR3_PX -0.15 -param set-default CA_ROTOR3_PY 0.15 +param set-default CA_ROTOR3_PX -1 +param set-default CA_ROTOR3_PY 1 param set-default CA_ROTOR3_KM -0.05 -param set-default PWM_MAIN_TIM0 -3 - param set-default PWM_MAIN_FUNC1 101 param set-default PWM_MAIN_FUNC2 102 param set-default PWM_MAIN_FUNC3 103 param set-default PWM_MAIN_FUNC4 104 - diff --git a/ROMFS/px4fmu_common/init.d/airframes/4500_clover4 b/ROMFS/px4fmu_common/init.d/airframes/4500_clover4 index cbfbc1c6bae2..885f0239d589 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/4500_clover4 +++ b/ROMFS/px4fmu_common/init.d/airframes/4500_clover4 @@ -8,6 +8,7 @@ # @maintainer Oleg Kalachev # # @board px4_fmu-v2 exclude +# @board px4_fmu-v4pro exclude # @board bitcraze_crazyflie exclude # @@ -27,16 +28,17 @@ param set-default MPC_XY_P 1.1 param set-default MPC_Z_VEL_P_ACC 4.8 param set-default MPC_Z_P 1.2 +# Square quadrotor X PX4 numbering param set-default CA_ROTOR_COUNT 4 -param set-default CA_ROTOR0_PX 0.15 -param set-default CA_ROTOR0_PY 0.15 -param set-default CA_ROTOR1_PX -0.15 -param set-default CA_ROTOR1_PY -0.15 -param set-default CA_ROTOR2_PX 0.15 -param set-default CA_ROTOR2_PY -0.15 +param set-default CA_ROTOR0_PX 1 +param set-default CA_ROTOR0_PY 1 +param set-default CA_ROTOR1_PX -1 +param set-default CA_ROTOR1_PY -1 +param set-default CA_ROTOR2_PX 1 +param set-default CA_ROTOR2_PY -1 param set-default CA_ROTOR2_KM -0.05 -param set-default CA_ROTOR3_PX -0.15 -param set-default CA_ROTOR3_PY 0.15 +param set-default CA_ROTOR3_PX -1 +param set-default CA_ROTOR3_PY 1 param set-default CA_ROTOR3_KM -0.05 param set-default PWM_MAIN_FUNC1 101 diff --git a/ROMFS/px4fmu_common/init.d/airframes/4601_droneblocks_dexi_5 b/ROMFS/px4fmu_common/init.d/airframes/4601_droneblocks_dexi_5 new file mode 100644 index 000000000000..d599af5b3868 --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/airframes/4601_droneblocks_dexi_5 @@ -0,0 +1,80 @@ +#!/bin/sh +# +# @name Droneblocks DEXI 5 +# +# @type Quadrotor x +# @class Copter +# +# @maintainer Dennis Baldwin +# @maintainer Alex klimaj +# +# @board px4_fmu-v2 exclude +# @board px4_fmu-v3 exclude +# @board px4_fmu-v4 exclude +# @board px4_fmu-v4pro exclude +# @board px4_fmu-v5 exclude +# @board px4_fmu-v5x exclude +# @board px4_fmu-v6x exclude +# @board bitcraze_crazyflie exclude +# @board diatone_mamba-f405-mk2 exclude +# @board ark_fmu-v6x exclude +# + +. ${R}etc/init.d/rc.mc_defaults + +param set-default BAT1_CAPACITY 4000 +param set-default BAT1_N_CELLS 6 +param set-default BAT1_V_EMPTY 3.3 +param set-default BAT_AVRG_CURRENT 13 + +# Square quadrotor X PX4 numbering +param set-default CA_ROTOR_COUNT 4 +param set-default CA_ROTOR0_PX 0.0762 +param set-default CA_ROTOR0_PY 0.09525 +param set-default CA_ROTOR0_KM 0.05 +param set-default CA_ROTOR1_PX -0.0762 +param set-default CA_ROTOR1_PY -0.09525 +param set-default CA_ROTOR1_KM 0.05 +param set-default CA_ROTOR2_PX 0.0762 +param set-default CA_ROTOR2_PY -0.09525 +param set-default CA_ROTOR2_KM -0.05 +param set-default CA_ROTOR3_PX -0.0762 +param set-default CA_ROTOR3_PY 0.09525 +param set-default CA_ROTOR3_KM -0.05 + +param set-default EKF2_MIN_RNG 0.01 +param set-default EKF2_OF_POS_X 0.043 +param set-default EKF2_OF_POS_Y 0.011 +param set-default EKF2_OF_QMIN_GND 1 +param set-default EKF2_RNG_POS_X 0.043 +param set-default EKF2_RNG_POS_Y 0.0 + +param set-default IMU_GYRO_DNF_EN 2 + +param set-default MC_PITCHRATE_D 0.0013 +param set-default MC_PITCHRATE_I 0.185 +param set-default MC_PITCHRATE_P 0.105 +param set-default MC_PITCH_P 7.5 +param set-default MC_ROLLRATE_D 0.0010 +param set-default MC_ROLLRATE_I 0.165 +param set-default MC_ROLLRATE_P 0.095 +param set-default MC_ROLL_P 7.5 +param set-default MC_YAWRATE_I 0.35 +param set-default MC_YAWRATE_P 0.13 + +param set-default MPC_THR_HOVER 0.22 +param set-default MPC_THR_MAX 0.5 +param set-default MPC_THR_MIN 0.025 +param set-default MPC_VEL_MANUAL 5.0 +param set-default MPC_XY_VEL_MAX 8.0 + +param set-default RC_CRSF_PRT_CFG 300 +param set-default RC_CRSF_TEL_EN 1 + +param set-default RTL_RETURN_ALT 15 + +param set-default SENS_FLOW_MINHGT 0.0 + +param set-default SER_TEL2_BAUD 3000000 + +param set-default UXRCE_DDS_CFG 102 diff --git a/ROMFS/px4fmu_common/init.d/airframes/4900_crazyflie b/ROMFS/px4fmu_common/init.d/airframes/4900_crazyflie deleted file mode 100644 index 211feb492489..000000000000 --- a/ROMFS/px4fmu_common/init.d/airframes/4900_crazyflie +++ /dev/null @@ -1,91 +0,0 @@ -#!/bin/sh -# -# @name Crazyflie 2 -# -# @type Quadrotor x -# @class Copter -# -# @maintainer Dennis Shtatov -# -# @board px4_fmu-v2 exclude -# @board px4_fmu-v3 exclude -# @board px4_fmu-v4 exclude -# @board px4_fmu-v4pro exclude -# @board px4_fmu-v5 exclude -# @board px4_fmu-v5x exclude -# -. ${R}etc/init.d/rc.mc_defaults - -param set-default BAT1_N_CELLS 1 -param set-default BAT1_CAPACITY 240 -param set-default BAT1_SOURCE 1 - -param set-default CBRK_SUPPLY_CHK 894281 -param set-default COM_RC_IN_MODE 1 - -param set-default EKF2_ABL_LIM 2 -param set-default EKF2_HGT_REF 2 -param set-default EKF2_RNG_CTRL 2 -param set-default EKF2_MAG_TYPE 1 -param set-default EKF2_OF_CTRL 1 -param set-default EKF2_OF_DELAY 10 - -param set-default IMU_GYRO_CUTOFF 100 -param set-default IMU_ACCEL_CUTOFF 30 - -param set-default MC_AIRMODE 1 -param set-default IMU_DGYRO_CUTOFF 70 -param set-default MC_PITCHRATE_D 0.002 -param set-default MC_PITCHRATE_P 0.07 -param set-default MC_ROLLRATE_D 0.002 -param set-default MC_ROLLRATE_P 0.07 -param set-default MC_YAW_P 3 - -param set-default MPC_THR_HOVER 0.7 -param set-default MPC_THR_MAX 1 -param set-default MPC_Z_P 1.5 -param set-default MPC_Z_VEL_P_ACC 8 -param set-default MPC_Z_VEL_I_ACC 6 -param set-default MPC_HOLD_MAX_XY 0.1 -param set-default MPC_MAX_FLOW_HGT 3 - -param set-default NAV_RCL_ACT 3 - -param set-default CA_ROTOR_COUNT 4 -param set-default CA_ROTOR0_PX 0.03 -param set-default CA_ROTOR0_PY 0.03 -param set-default CA_ROTOR1_PX -0.03 -param set-default CA_ROTOR1_PY 0.03 -param set-default CA_ROTOR1_KM -0.05 -param set-default CA_ROTOR2_PX -0.03 -param set-default CA_ROTOR2_PY -0.03 -param set-default CA_ROTOR3_PX 0.03 -param set-default CA_ROTOR3_PY -0.03 -param set-default CA_ROTOR3_KM -0.05 - -# Run the motors at 328.125 kHz (recommended) -param set-default PWM_MAIN_TIM0 3921 -param set-default PWM_MAIN_TIM1 3921 - -param set-default PWM_MAIN_FUNC1 101 -param set-default PWM_MAIN_FUNC2 102 -param set-default PWM_MAIN_FUNC3 103 -param set-default PWM_MAIN_FUNC4 104 -param set-default PWM_MAIN_DIS0 0 -param set-default PWM_MAIN_DIS1 0 -param set-default PWM_MAIN_DIS2 0 -param set-default PWM_MAIN_DIS3 0 -param set-default PWM_MAIN_MIN0 0 -param set-default PWM_MAIN_MIN1 0 -param set-default PWM_MAIN_MIN2 0 -param set-default PWM_MAIN_MIN3 0 -param set-default PWM_MAIN_MAX0 255 -param set-default PWM_MAIN_MAX1 255 -param set-default PWM_MAIN_MAX2 255 -param set-default PWM_MAIN_MAX3 255 - - -param set-default SENS_FLOW_MINRNG 0.05 - -syslink start -mavlink start -d /dev/bridge0 -b 57600 -m osd -r 40000 diff --git a/ROMFS/px4fmu_common/init.d/airframes/4901_crazyflie21 b/ROMFS/px4fmu_common/init.d/airframes/4901_crazyflie21 index 3462b7575f75..4833d17af23c 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/4901_crazyflie21 +++ b/ROMFS/px4fmu_common/init.d/airframes/4901_crazyflie21 @@ -13,11 +13,12 @@ # @board px4_fmu-v4pro exclude # @board px4_fmu-v5 exclude # @board px4_fmu-v5x exclude +# @board px4_fmu-v6x exclude +# @board diatone_mamba-f405-mk2 exclude # . ${R}etc/init.d/rc.mc_defaults -param set-default SYS_MC_EST_GROUP 2 param set-default SYS_HAS_MAG 0 param set-default EKF2_OF_CTRL 1 param set-default EKF2_GPS_CTRL 0 @@ -41,7 +42,6 @@ param set-default MC_ROLLRATE_P 0.07 param set-default MC_YAW_P 3 param set-default MPC_THR_HOVER 0.7 -param set-default MPC_THR_MAX 1 param set-default MPC_Z_P 1.5 param set-default MPC_Z_VEL_P_ACC 8 param set-default MPC_Z_VEL_I_ACC 6 @@ -50,22 +50,22 @@ param set-default MPC_MAX_FLOW_HGT 3 param set-default NAV_RCL_ACT 3 -param set-default CA_ROTOR_COUNT 4 -param set-default CA_ROTOR0_PX 0.03 -param set-default CA_ROTOR0_PY 0.03 -param set-default CA_ROTOR1_PX -0.03 -param set-default CA_ROTOR1_PY 0.03 -param set-default CA_ROTOR1_KM -0.05 -param set-default CA_ROTOR2_PX -0.03 -param set-default CA_ROTOR2_PY -0.03 -param set-default CA_ROTOR3_PX 0.03 -param set-default CA_ROTOR3_PY -0.03 -param set-default CA_ROTOR3_KM -0.05 - # Run the motors at 328.125 kHz (recommended) param set-default PWM_MAIN_TIM0 3921 param set-default PWM_MAIN_TIM1 3921 +# Square quadrotor X clockwise numbering +param set-default CA_ROTOR0_PX 1 +param set-default CA_ROTOR0_PY 1 +param set-default CA_ROTOR1_PX -1 +param set-default CA_ROTOR1_PY 1 +param set-default CA_ROTOR1_KM -0.05 +param set-default CA_ROTOR2_PX -1 +param set-default CA_ROTOR2_PY -1 +param set-default CA_ROTOR3_PX 1 +param set-default CA_ROTOR3_PY -1 +param set-default CA_ROTOR3_KM -0.05 + param set-default PWM_MAIN_FUNC1 101 param set-default PWM_MAIN_FUNC2 102 param set-default PWM_MAIN_FUNC3 103 diff --git a/ROMFS/px4fmu_common/init.d/airframes/50000_generic_ground_vehicle b/ROMFS/px4fmu_common/init.d/airframes/50000_generic_ground_vehicle deleted file mode 100644 index ba4598ce832d..000000000000 --- a/ROMFS/px4fmu_common/init.d/airframes/50000_generic_ground_vehicle +++ /dev/null @@ -1,52 +0,0 @@ -#!/bin/sh -# -# @name Generic Ground Vehicle (Ackermann) -# -# @type Rover -# @class Rover -# -# @output Motor1 throttle -# @output Servo1 steering -# -# @maintainer -# -# @board bitcraze_crazyflie exclude -# - -. ${R}etc/init.d/rc.rover_defaults - - -param set-default BAT1_N_CELLS 2 - -param set-default EKF2_ANGERR_INIT 0.01 -param set-default EKF2_GBIAS_INIT 0.01 -param set-default EKF2_MAG_TYPE 1 - -param set-default FW_AIRSPD_MAX 3 -param set-default FW_AIRSPD_MIN 0 -param set-default FW_AIRSPD_TRIM 1 - -# Settings for a typical wheelbase 0f 0.3m -param set-default GND_L1_DIST 1 -param set-default GND_L1_PERIOD 5 -param set-default GND_SP_CTRL_MODE 1 -param set-default GND_SPEED_P 0.25 -param set-default GND_SPEED_I 3 -param set-default GND_SPEED_D 0.001 -param set-default GND_SPEED_IMAX 0.125 -param set-default GND_SPEED_THR_SC 1 -param set-default GND_THR_CRUISE 0.3 -param set-default GND_THR_MAX 0.5 -param set-default GND_THR_MIN 0 - -param set-default NAV_ACC_RAD 0.5 - -param set-default CA_AIRFRAME 5 - -param set-default CA_R_REV 1 -param set-default PWM_MAIN_FUNC1 201 -param set-default PWM_MAIN_FUNC2 201 -param set-default PWM_MAIN_FUNC6 101 -param set-default PWM_MAIN_FUNC7 101 - - diff --git a/ROMFS/px4fmu_common/init.d/airframes/50000_generic_rover_differential b/ROMFS/px4fmu_common/init.d/airframes/50000_generic_rover_differential new file mode 100644 index 000000000000..8c490d497be2 --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/airframes/50000_generic_rover_differential @@ -0,0 +1,12 @@ +#!/bin/sh +# +# @name Generic Rover Differential +# +# @type Rover +# @class Rover +# +# @board px4_fmu-v2 exclude +# @board bitcraze_crazyflie exclude +# + +. ${R}etc/init.d/rc.rover_differential_defaults diff --git a/ROMFS/px4fmu_common/init.d/airframes/50001_aion_robotics_r1_rover b/ROMFS/px4fmu_common/init.d/airframes/50001_aion_robotics_r1_rover new file mode 100644 index 000000000000..c06b158cf857 --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/airframes/50001_aion_robotics_r1_rover @@ -0,0 +1,22 @@ +#!/bin/sh +# +# @name Aion Robotics R1 UGV +# +# @url https://www.aionrobotics.com/r1 +# +# @type Rover +# @class Rover +# +# @board px4_fmu-v2 exclude +# @board bitcraze_crazyflie exclude +# + +. ${R}etc/init.d/rc.rover_differential_defaults + +param set-default BAT1_N_CELLS 4 + +# Set geometry & output configration +param set-default RBCLW_ADDRESS 128 +param set-default RBCLW_FUNC1 101 +param set-default RBCLW_FUNC2 102 +param set-default RBCLW_REV 1 # reverse right wheels diff --git a/ROMFS/px4fmu_common/init.d/airframes/50003_aion_robotics_r1_rover b/ROMFS/px4fmu_common/init.d/airframes/50003_aion_robotics_r1_rover deleted file mode 100644 index 53c857a16e28..000000000000 --- a/ROMFS/px4fmu_common/init.d/airframes/50003_aion_robotics_r1_rover +++ /dev/null @@ -1,61 +0,0 @@ -#!/bin/sh -# -# @name Aion Robotics R1 UGV -# -# @url https://www.aionrobotics.com/r1 -# -# @type Rover -# @class Rover -# -# @board px4_fmu-v2 exclude -# @board bitcraze_crazyflie exclude -# - -. ${R}etc/init.d/rc.rover_defaults - -param set-default BAT1_N_CELLS 4 - -param set-default EKF2_GBIAS_INIT 0.01 -param set-default EKF2_ANGERR_INIT 0.01 -param set-default EKF2_MAG_TYPE 1 - -param set-default FW_AIRSPD_MIN 0 -param set-default FW_AIRSPD_TRIM 1 -param set-default FW_AIRSPD_MAX 3 - -param set-default GND_SP_CTRL_MODE 1 -param set-default GND_L1_DIST 5 -param set-default GND_L1_PERIOD 3 -param set-default GND_THR_CRUISE 0.7 -param set-default GND_THR_MAX 0.5 - -# Because this is differential drive, it can make a turn with radius 0. -# This corresponds to a turn angle of pi radians. -# If a special case is made for differential-drive, this will need to change. -param set-default GND_MAX_ANG 3.142 -param set-default GND_WHEEL_BASE 0.3 - -# TODO: Set to -1.0, to allow reversing. This will require many changes in the codebase -# to support negative throttle. -param set-default GND_THR_MIN 0 -param set-default GND_SPEED_P 0.25 -param set-default GND_SPEED_I 3 -param set-default GND_SPEED_D 0.001 -param set-default GND_SPEED_IMAX 0.125 -param set-default GND_SPEED_THR_SC 1 - -param set-default NAV_ACC_RAD 0.5 - -# Differential drive acts like ackermann steering with a maximum turn angle of 180 degrees, or pi radians -param set-default GND_MAX_ANG 3.1415 - -# Set geometry & output configration -param set-default CA_AIRFRAME 6 -param set-default CA_R_REV 3 -param set-default PWM_MAIN_FUNC1 101 -param set-default PWM_MAIN_FUNC2 102 -param set-default PWM_MAIN_DIS1 1500 -param set-default PWM_MAIN_DIS2 1500 -param set-default PWM_MAIN_TIM0 50 -param set-default PWM_MAIN_TIM1 50 - diff --git a/ROMFS/px4fmu_common/init.d/airframes/50004_nxpcup_car_dfrobot_gpx b/ROMFS/px4fmu_common/init.d/airframes/50004_nxpcup_car_dfrobot_gpx deleted file mode 100644 index 6d4bd2f4f569..000000000000 --- a/ROMFS/px4fmu_common/init.d/airframes/50004_nxpcup_car_dfrobot_gpx +++ /dev/null @@ -1,64 +0,0 @@ -#!/bin/sh -# -# @name NXP Cup car: DF Robot GPX - -# -# @type Rover -# @class Rover -# -# @board px4_fmu-v2 exclude -# -# @output Motor1 Speed of left wheels -# @output Servo1 Steering servo -# -# @maintainer Katrin Moritz -# -# @board px4_fmu-v2 exclude -# @board bitcraze_crazyflie exclude -# - -. ${R}etc/init.d/rc.rover_defaults - -param set-default BAT1_N_CELLS 2 - -param set-default EKF2_GBIAS_INIT 0.01 -param set-default EKF2_ANGERR_INIT 0.01 -param set-default EKF2_MAG_TYPE 1 - -param set-default FW_AIRSPD_MIN 0 -param set-default FW_AIRSPD_TRIM 1 -param set-default FW_AIRSPD_MAX 3 - -param set-default GND_THR_CRUISE 0.3 -param set-default GND_THR_MAX 0.5 - -# Differential drive acts like ackermann steering with a maximum turn angle of 60 degrees, or pi/3 radians -param set-default GND_MAX_ANG 1.042 -param set-default GND_WHEEL_BASE 0.17 - -# TODO: Set to -1.0, to allow reversing. This will require many changes in the codebase -# to support negative throttle. -param set-default GND_THR_MIN 0.0 -param set-default GND_SPEED_P 0.25 -param set-default GND_SPEED_I 3 -param set-default GND_SPEED_D 0.001 -param set-default GND_SPEED_IMAX 0.125 -param set-default GND_SPEED_THR_SC 1 - -param set-default NAV_ACC_RAD 0.5 - -param set-default CA_AIRFRAME 5 - -param set-default CA_R_REV 1 -param set-default PWM_MAIN_FUNC2 201 -param set-default PWM_MAIN_FUNC3 101 -param set-default PWM_MAIN_FUNC4 101 - -# Provide ESC a constant 1500 us pulse to idle -param set-default PWM_MAIN_DIS2 1500 -param set-default PWM_MAIN_DIS3 1485 -param set-default PWM_MAIN_DIS4 1485 -param set-default PWM_MAIN_FAIL3 1485 -param set-default PWM_MAIN_FAIL4 1485 -param set-default PWM_MAIN_MIN3 970 -param set-default PWM_MAIN_MIN4 970 diff --git a/ROMFS/px4fmu_common/init.d/airframes/5001_quad_+ b/ROMFS/px4fmu_common/init.d/airframes/5001_quad_+ index d68331179223..4f1f578ad170 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/5001_quad_+ +++ b/ROMFS/px4fmu_common/init.d/airframes/5001_quad_+ @@ -1,12 +1,10 @@ #!/bin/sh # -# @name Generic 10" Quad + geometry +# @name Generic Quad + geometry # # @type Quadrotor + # @class Copter # -# @maintainer Lorenz Meier -# # @board bitcraze_crazyflie exclude # @board px4_fmu-v2 exclude # @@ -14,13 +12,17 @@ . ${R}etc/init.d/rc.mc_defaults param set-default CA_ROTOR_COUNT 4 -param set-default CA_ROTOR0_PX 0.15 -param set-default CA_ROTOR0_PY 0.15 -param set-default CA_ROTOR0_KM -0.05 -param set-default CA_ROTOR1_PX -0.15 -param set-default CA_ROTOR1_PY -0.15 -param set-default CA_ROTOR1_KM -0.05 -param set-default CA_ROTOR2_PX 0.15 -param set-default CA_ROTOR2_PY -0.15 -param set-default CA_ROTOR3_PX -0.15 -param set-default CA_ROTOR3_PY 0.15 + +param set-default CA_ROTOR0_PX 0 +param set-default CA_ROTOR0_PY 1 + +param set-default CA_ROTOR1_PX 0 +param set-default CA_ROTOR1_PY -1 + +param set-default CA_ROTOR2_PX 1 +param set-default CA_ROTOR2_PY 0 +param set-default CA_ROTOR2_KM -0.05 + +param set-default CA_ROTOR3_PX -1 +param set-default CA_ROTOR3_PY 0 +param set-default CA_ROTOR3_KM -0.05 diff --git a/ROMFS/px4fmu_common/init.d/airframes/51000_generic_rover_ackermann b/ROMFS/px4fmu_common/init.d/airframes/51000_generic_rover_ackermann new file mode 100644 index 000000000000..43620a50ddcd --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/airframes/51000_generic_rover_ackermann @@ -0,0 +1,12 @@ +#!/bin/sh +# +# @name Generic Rover Ackermann +# +# @type Rover +# @class Rover +# +# @board px4_fmu-v2 exclude +# @board bitcraze_crazyflie exclude +# + +. ${R}etc/init.d/rc.rover_ackermann_defaults diff --git a/ROMFS/px4fmu_common/init.d/airframes/51001_axial_scx10_2_trail_honcho b/ROMFS/px4fmu_common/init.d/airframes/51001_axial_scx10_2_trail_honcho new file mode 100644 index 000000000000..6f50c7f4a1e0 --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/airframes/51001_axial_scx10_2_trail_honcho @@ -0,0 +1,37 @@ +#!/bin/sh +# +# @name Axial SCX10 2 Trail Honcho +# +# @url https://www.axialadventure.com/product/1-10-scx10-ii-trail-honcho-4wd-rock-crawler-brushed-rtr/AXID9059.html +# +# @type Rover +# @class Rover +# +# @board px4_fmu-v2 exclude +# @board bitcraze_crazyflie exclude +# + +. ${R}etc/init.d/rc.rover_ackermann_defaults + +param set-default BAT1_N_CELLS 3 + +# Rover parameters +param set-default NAV_ACC_RAD 0.5 +param set-default RA_ACC_RAD_GAIN 2 +param set-default RA_ACC_RAD_MAX 3 +param set-default RA_MAX_ACCEL 0.5 +param set-default RA_MAX_JERK 10 +param set-default RA_MAX_SPEED 2.7 +param set-default RA_MAX_STR_ANG 0.5236 +param set-default RA_MAX_STR_RATE 270 +param set-default RA_MISS_VEL_DEF 2.7 +param set-default RA_MISS_VEL_GAIN 3.5 +param set-default RA_MISS_VEL_MIN 1 +param set-default RA_SPEED_I 0.1 +param set-default RA_SPEED_P 0.5 +param set-default RA_WHEEL_BASE 0.321 + +# Pure pursuit parameters +param set-default PP_LOOKAHD_GAIN 1 +param set-default PP_LOOKAHD_MAX 10 +param set-default PP_LOOKAHD_MIN 1.5 diff --git a/ROMFS/px4fmu_common/init.d/airframes/59000_generic_ground_vehicle b/ROMFS/px4fmu_common/init.d/airframes/59000_generic_ground_vehicle new file mode 100644 index 000000000000..a773c1158d44 --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/airframes/59000_generic_ground_vehicle @@ -0,0 +1,50 @@ +#!/bin/sh +# +# @name Generic Ground Vehicle (Deprecated) +# +# @type Rover +# @class Rover +# +# @output Motor1 throttle +# @output Servo1 steering +# +# @maintainer +# +# @board bitcraze_crazyflie exclude +# + +. ${R}etc/init.d/rc.rover_defaults + + +param set-default BAT1_N_CELLS 2 + +param set-default EKF2_ANGERR_INIT 0.01 +param set-default EKF2_GBIAS_INIT 0.01 +param set-default EKF2_MAG_TYPE 1 + +param set-default FW_AIRSPD_MAX 3 +param set-default FW_AIRSPD_MIN 0 +param set-default FW_AIRSPD_TRIM 1 + +# Settings for a typical wheelbase 0f 0.3m +param set-default GND_L1_DIST 1 +param set-default GND_L1_PERIOD 5 +param set-default GND_SP_CTRL_MODE 1 +param set-default GND_SPEED_P 0.25 +param set-default GND_SPEED_I 3 +param set-default GND_SPEED_D 0.001 +param set-default GND_SPEED_IMAX 0.125 +param set-default GND_SPEED_THR_SC 1 +param set-default GND_THR_CRUISE 0.3 +param set-default GND_THR_MAX 0.5 +param set-default GND_THR_MIN 0 + +param set-default NAV_ACC_RAD 0.5 + +param set-default CA_AIRFRAME 5 + +param set-default CA_R_REV 1 +param set-default PWM_MAIN_FUNC1 201 +param set-default PWM_MAIN_FUNC2 201 +param set-default PWM_MAIN_FUNC6 101 +param set-default PWM_MAIN_FUNC7 101 diff --git a/ROMFS/px4fmu_common/init.d/airframes/59001_nxpcup_car_dfrobot_gpx b/ROMFS/px4fmu_common/init.d/airframes/59001_nxpcup_car_dfrobot_gpx new file mode 100644 index 000000000000..9f08553d970f --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/airframes/59001_nxpcup_car_dfrobot_gpx @@ -0,0 +1,64 @@ +#!/bin/sh +# +# @name NXP Cup car: DF Robot GPX (Deprecated) + +# +# @type Rover +# @class Rover +# +# @board px4_fmu-v2 exclude +# +# @output Motor1 Speed of left wheels +# @output Servo1 Steering servo +# +# @maintainer Katrin Moritz +# +# @board px4_fmu-v2 exclude +# @board bitcraze_crazyflie exclude +# + +. ${R}etc/init.d/rc.rover_defaults + +param set-default BAT1_N_CELLS 2 + +param set-default EKF2_GBIAS_INIT 0.01 +param set-default EKF2_ANGERR_INIT 0.01 +param set-default EKF2_MAG_TYPE 1 + +param set-default FW_AIRSPD_MIN 0 +param set-default FW_AIRSPD_TRIM 1 +param set-default FW_AIRSPD_MAX 3 + +param set-default GND_THR_CRUISE 0.3 +param set-default GND_THR_MAX 0.5 + +# Differential drive acts like ackermann steering with a maximum turn angle of 60 degrees, or pi/3 radians +param set-default GND_MAX_ANG 1.042 +param set-default GND_WHEEL_BASE 0.17 + +# TODO: Set to -1, to allow reversing. This will require many changes in the codebase +# to support negative throttle. +param set-default GND_THR_MIN 0 +param set-default GND_SPEED_P 0.25 +param set-default GND_SPEED_I 3 +param set-default GND_SPEED_D 0.001 +param set-default GND_SPEED_IMAX 0.125 +param set-default GND_SPEED_THR_SC 1 + +param set-default NAV_ACC_RAD 0.5 + +param set-default CA_AIRFRAME 5 + +param set-default CA_R_REV 1 +param set-default PWM_MAIN_FUNC2 201 +param set-default PWM_MAIN_FUNC3 101 +param set-default PWM_MAIN_FUNC4 101 + +# Provide ESC a constant 1500 us pulse to idle +param set-default PWM_MAIN_DIS2 1500 +param set-default PWM_MAIN_DIS3 1485 +param set-default PWM_MAIN_DIS4 1485 +param set-default PWM_MAIN_FAIL3 1485 +param set-default PWM_MAIN_FAIL4 1485 +param set-default PWM_MAIN_MIN3 970 +param set-default PWM_MAIN_MIN4 970 diff --git a/ROMFS/px4fmu_common/init.d/airframes/60000_uuv_generic b/ROMFS/px4fmu_common/init.d/airframes/60000_uuv_generic index d6f84f0d44f0..aecf862113d7 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/60000_uuv_generic +++ b/ROMFS/px4fmu_common/init.d/airframes/60000_uuv_generic @@ -5,8 +5,6 @@ # @type Underwater Robot # @class Underwater Robot # -# @maintainer -# # @board px4_fmu-v2 exclude # @board bitcraze_crazyflie exclude # @@ -44,4 +42,3 @@ param set-default CA_ROTOR3_KM 0 param set-default CA_ROTOR3_PX 0 param set-default CA_ROTOR3_PY -0.3 param set-default CA_ROTOR3_PZ 0.3 - diff --git a/ROMFS/px4fmu_common/init.d/airframes/60001_uuv_hippocampus b/ROMFS/px4fmu_common/init.d/airframes/60001_uuv_hippocampus index 672d411bc319..a94d0bd00e74 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/60001_uuv_hippocampus +++ b/ROMFS/px4fmu_common/init.d/airframes/60001_uuv_hippocampus @@ -12,38 +12,7 @@ # . ${R}etc/init.d/rc.uuv_defaults - -param set-default CA_AIRFRAME 7 -param set-default CA_ROTOR_COUNT 4 -param set-default CA_R_REV 255 -param set-default CA_ROTOR0_AX 1 -param set-default CA_ROTOR0_AY 0 -param set-default CA_ROTOR0_AZ 0 -param set-default CA_ROTOR0_KM 0 -param set-default CA_ROTOR0_PX 0 -param set-default CA_ROTOR0_PY -0.3 -param set-default CA_ROTOR0_PZ -0.3 -param set-default CA_ROTOR1_AX 1 -param set-default CA_ROTOR1_AY 0 -param set-default CA_ROTOR1_AZ 0 -param set-default CA_ROTOR1_KM 0 -param set-default CA_ROTOR1_PX 0 -param set-default CA_ROTOR1_PY 0.3 -param set-default CA_ROTOR1_PZ -0.3 -param set-default CA_ROTOR2_AX 1 -param set-default CA_ROTOR2_AY 0 -param set-default CA_ROTOR2_AZ 0 -param set-default CA_ROTOR2_KM 0 -param set-default CA_ROTOR2_PX 0 -param set-default CA_ROTOR2_PY 0.3 -param set-default CA_ROTOR2_PZ 0.3 -param set-default CA_ROTOR3_AX 1 -param set-default CA_ROTOR3_AY 0 -param set-default CA_ROTOR3_AZ 0 -param set-default CA_ROTOR3_KM 0 -param set-default CA_ROTOR3_PX 0 -param set-default CA_ROTOR3_PY -0.3 -param set-default CA_ROTOR3_PZ 0.3 +. ${R}etc/init.d/airframes/60000_uuv_generic param set-default PWM_MAIN_FUNC1 101 param set-default PWM_MAIN_FUNC2 102 diff --git a/ROMFS/px4fmu_common/init.d/airframes/60002_uuv_bluerov2_heavy b/ROMFS/px4fmu_common/init.d/airframes/60002_uuv_bluerov2_heavy index fb63525159cd..2afdc17eee63 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/60002_uuv_bluerov2_heavy +++ b/ROMFS/px4fmu_common/init.d/airframes/60002_uuv_bluerov2_heavy @@ -30,7 +30,7 @@ param set-default MAV_1_CONFIG 102 param set-default BAT1_A_PER_V 37.8798 param set-default BAT1_CAPACITY 18000 -param set-default BAT1_V_DIV 11.0 +param set-default BAT1_V_DIV 11 param set-default BAT1_N_CELLS 4 param set-default BAT_V_OFFS_CURR 0.33 @@ -38,49 +38,49 @@ param set-default CA_AIRFRAME 7 param set-default CA_ROTOR_COUNT 8 param set-default CA_R_REV 255 -param set-default CA_ROTOR0_AX 1.0000 -param set-default CA_ROTOR0_AY -1.0000 -param set-default CA_ROTOR0_AZ 0.0000 -param set-default CA_ROTOR0_KM 0.0000 -param set-default CA_ROTOR0_PX 0.5000 -param set-default CA_ROTOR0_PY 0.3000 -param set-default CA_ROTOR0_PZ 0.2000 -param set-default CA_ROTOR1_AX 1.0000 -param set-default CA_ROTOR1_AY 1.0000 -param set-default CA_ROTOR1_AZ 0.0000 -param set-default CA_ROTOR1_KM 0.0000 -param set-default CA_ROTOR1_PX 0.5000 -param set-default CA_ROTOR1_PY -0.3000 -param set-default CA_ROTOR1_PZ 0.2000 -param set-default CA_ROTOR2_AX 1.0000 -param set-default CA_ROTOR2_AY 1.0000 -param set-default CA_ROTOR2_AZ 0.0000 -param set-default CA_ROTOR2_KM 0.0000 -param set-default CA_ROTOR2_PX -0.5000 -param set-default CA_ROTOR2_PY 0.3000 -param set-default CA_ROTOR2_PZ 0.2000 -param set-default CA_ROTOR3_AX 1.0000 -param set-default CA_ROTOR3_AY -1.0000 -param set-default CA_ROTOR3_AZ 0.0000 -param set-default CA_ROTOR3_KM 0.0000 -param set-default CA_ROTOR3_PX -0.5000 -param set-default CA_ROTOR3_PY -0.3000 -param set-default CA_ROTOR3_PZ 0.2000 -param set-default CA_ROTOR4_AZ -1.0000 -param set-default CA_ROTOR4_KM 0.0000 -param set-default CA_ROTOR4_PX 0.5000 -param set-default CA_ROTOR4_PY 0.5000 -param set-default CA_ROTOR5_AZ 1.0000 -param set-default CA_ROTOR5_KM 0.0000 -param set-default CA_ROTOR5_PX 0.5000 -param set-default CA_ROTOR5_PY -0.5000 -param set-default CA_ROTOR6_AZ 1.0000 -param set-default CA_ROTOR6_KM 0.0000 -param set-default CA_ROTOR6_PX -0.5000 -param set-default CA_ROTOR6_PY 0.5000 -param set-default CA_ROTOR7_KM 0.0000 -param set-default CA_ROTOR7_PX -0.5000 -param set-default CA_ROTOR7_PY -0.5000 +param set-default CA_ROTOR0_AX 1 +param set-default CA_ROTOR0_AY -1 +param set-default CA_ROTOR0_AZ 0 +param set-default CA_ROTOR0_KM 0 +param set-default CA_ROTOR0_PX 0.5 +param set-default CA_ROTOR0_PY 0.3 +param set-default CA_ROTOR0_PZ 0.2 +param set-default CA_ROTOR1_AX 1 +param set-default CA_ROTOR1_AY 1 +param set-default CA_ROTOR1_AZ 0 +param set-default CA_ROTOR1_KM 0 +param set-default CA_ROTOR1_PX 0.5 +param set-default CA_ROTOR1_PY -0.3 +param set-default CA_ROTOR1_PZ 0.2 +param set-default CA_ROTOR2_AX 1 +param set-default CA_ROTOR2_AY 1 +param set-default CA_ROTOR2_AZ 0 +param set-default CA_ROTOR2_KM 0 +param set-default CA_ROTOR2_PX -0.5 +param set-default CA_ROTOR2_PY 0.3 +param set-default CA_ROTOR2_PZ 0.2 +param set-default CA_ROTOR3_AX 1 +param set-default CA_ROTOR3_AY -1 +param set-default CA_ROTOR3_AZ 0 +param set-default CA_ROTOR3_KM 0 +param set-default CA_ROTOR3_PX -0.5 +param set-default CA_ROTOR3_PY -0.3 +param set-default CA_ROTOR3_PZ 0.2 +param set-default CA_ROTOR4_AZ -1 +param set-default CA_ROTOR4_KM 0 +param set-default CA_ROTOR4_PX 0.5 +param set-default CA_ROTOR4_PY 0.5 +param set-default CA_ROTOR5_AZ 1 +param set-default CA_ROTOR5_KM 0 +param set-default CA_ROTOR5_PX 0.5 +param set-default CA_ROTOR5_PY -0.5 +param set-default CA_ROTOR6_AZ 1 +param set-default CA_ROTOR6_KM 0 +param set-default CA_ROTOR6_PX -0.5 +param set-default CA_ROTOR6_PY 0.5 +param set-default CA_ROTOR7_KM 0 +param set-default CA_ROTOR7_PX -0.5 +param set-default CA_ROTOR7_PY -0.5 param set-default PWM_MAIN_FUNC1 101 param set-default PWM_MAIN_FUNC2 102 diff --git a/ROMFS/px4fmu_common/init.d/airframes/6001_hexa_x b/ROMFS/px4fmu_common/init.d/airframes/6001_hexa_x index 73c2f5ca4274..016671a5f570 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/6001_hexa_x +++ b/ROMFS/px4fmu_common/init.d/airframes/6001_hexa_x @@ -16,10 +16,10 @@ param set-default MAV_TYPE 13 param set-default CA_ROTOR_COUNT 6 -param set-default CA_ROTOR0_PX 0.0 +param set-default CA_ROTOR0_PX 0 param set-default CA_ROTOR0_PY 0.5 param set-default CA_ROTOR0_KM -0.05 -param set-default CA_ROTOR1_PX 0.0 +param set-default CA_ROTOR1_PX 0 param set-default CA_ROTOR1_PY -0.5 param set-default CA_ROTOR2_PX 0.43 param set-default CA_ROTOR2_PY -0.25 @@ -31,5 +31,3 @@ param set-default CA_ROTOR4_PY 0.25 param set-default CA_ROTOR5_PX -0.43 param set-default CA_ROTOR5_PY -0.25 param set-default CA_ROTOR5_KM -0.05 - - diff --git a/ROMFS/px4fmu_common/init.d/airframes/6002_draco_r b/ROMFS/px4fmu_common/init.d/airframes/6002_draco_r index ec3b5c608960..7d641c272dac 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/6002_draco_r +++ b/ROMFS/px4fmu_common/init.d/airframes/6002_draco_r @@ -97,10 +97,10 @@ param set-default SER_TEL2_BAUD 921600 param set-default CA_ROTOR_COUNT 6 -param set-default CA_ROTOR0_PX 0.0 +param set-default CA_ROTOR0_PX 0 param set-default CA_ROTOR0_PY 0.5 param set-default CA_ROTOR0_KM -0.05 -param set-default CA_ROTOR1_PX 0.0 +param set-default CA_ROTOR1_PX 0 param set-default CA_ROTOR1_PY -0.5 param set-default CA_ROTOR2_PX 0.43 param set-default CA_ROTOR2_PY -0.25 @@ -123,4 +123,3 @@ param set-default PWM_MAIN_FUNC6 106 param set-default PWM_MAIN_TIM0 -1 param set-default PWM_MAIN_TIM1 -1 param set-default PWM_MAIN_TIM2 -1 - diff --git a/ROMFS/px4fmu_common/init.d/airframes/7001_hexa_+ b/ROMFS/px4fmu_common/init.d/airframes/7001_hexa_+ index 308bdfb1b857..872e0bb941f4 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/7001_hexa_+ +++ b/ROMFS/px4fmu_common/init.d/airframes/7001_hexa_+ @@ -17,10 +17,10 @@ param set-default MAV_TYPE 13 param set-default CA_ROTOR_COUNT 6 param set-default CA_ROTOR0_PX 0.5 -param set-default CA_ROTOR0_PY 0.0 +param set-default CA_ROTOR0_PY 0 param set-default CA_ROTOR0_KM -0.05 param set-default CA_ROTOR1_PX -0.5 -param set-default CA_ROTOR1_PY 0.0 +param set-default CA_ROTOR1_PY 0 param set-default CA_ROTOR2_PX -0.25 param set-default CA_ROTOR2_PY -0.43 param set-default CA_ROTOR2_KM -0.05 @@ -31,5 +31,3 @@ param set-default CA_ROTOR4_PY -0.43 param set-default CA_ROTOR5_PX -0.25 param set-default CA_ROTOR5_PY 0.43 param set-default CA_ROTOR5_KM -0.05 - - diff --git a/ROMFS/px4fmu_common/init.d/airframes/8001_octo_x b/ROMFS/px4fmu_common/init.d/airframes/8001_octo_x index 19c112b3066a..4f2d13b24cca 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/8001_octo_x +++ b/ROMFS/px4fmu_common/init.d/airframes/8001_octo_x @@ -36,5 +36,3 @@ param set-default CA_ROTOR6_PY -0.46 param set-default CA_ROTOR7_KM -0.05 param set-default CA_ROTOR7_PX -0.19 param set-default CA_ROTOR7_PY 0.46 - - diff --git a/ROMFS/px4fmu_common/init.d/airframes/9001_octo_+ b/ROMFS/px4fmu_common/init.d/airframes/9001_octo_+ index 53dba8b799d4..98e45f9bef50 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/9001_octo_+ +++ b/ROMFS/px4fmu_common/init.d/airframes/9001_octo_+ @@ -36,4 +36,3 @@ param set-default CA_ROTOR6_PY -0.5 param set-default CA_ROTOR7_KM -0.05 param set-default CA_ROTOR7_PX 0 param set-default CA_ROTOR7_PY 0.5 - diff --git a/ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt b/ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt index 8e9931aa89f8..634eb3e1b882 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt +++ b/ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt @@ -32,96 +32,139 @@ ############################################################################ px4_add_romfs_files( - # [0-999] Reserved (historical)" - - # [1000, 1999] Simulation setups" - 1001_rc_quad_x.hil - 1002_standard_vtol.hil - 1100_rc_quad_x_sih.hil - 1101_rc_plane_sih.hil - 1102_tailsitter_duo_sih.hil - - # [2000, 2999] Standard planes" - 2100_standard_plane - 2106_albatross - - 2507_cloudship - - # [3000, 3999] Flying wing" - 3000_generic_wing - - # [4000, 4999] Quadrotor x" - 4001_quad_x - 4014_s500 - 4015_holybro_s500 - 4016_holybro_px4vision - 4017_nxp_hovergames - 4019_x500_v2 - 4020_holybro_px4vision_v1_5 - 4040_reaper - 4041_beta75x - 4050_generic_250 - 4052_holybro_qav250 - 4053_holybro_kopis2 - 4061_atl_mantis_edu - 4071_ifo - 4073_ifo-s - 4500_clover4 - 4900_crazyflie - 4901_crazyflie21 - - # [5000, 5999] Quadrotor +" - 5001_quad_+ - - # [6000, 6999] Hexarotor x" - 6001_hexa_x - 6002_draco_r - - # [7000, 7999] Hexarotor +" - 7001_hexa_+ - - # [8000, 8999] Octorotor +" - 8001_octo_x - - # [9000, 9999] Octorotor +" - 9001_octo_+ - - # [11000, 11999] Hexa Cox - 11001_hexa_cox - - # [12000, 12999] Octo Cox - 12001_octo_cox - - # [13000, 13999] VTOL - 13000_generic_vtol_standard - 13100_generic_vtol_tiltrotor - 13013_deltaquad - 13014_vtol_babyshark - 13030_generic_vtol_quad_tiltrotor - 13200_generic_vtol_tailsitter - - # [14000, 14999] MC with tilt - 14001_generic_mc_with_tilt - - 16001_helicopter - - # [17000, 17999] Autogyro - 17002_TF-AutoG2 - 17003_TF-G2 + # [0-999] Reserved (historical) # [18000, 18999] High-altitude balloons 18001_TF-B1 # [22000, 22999] Reserve for custom models - - 24001_dodeca_cox - - 50000_generic_ground_vehicle - 50004_nxpcup_car_dfrobot_gpx - 50003_aion_robotics_r1_rover - - # [60000, 61000] (Unmanned) Underwater Robots - 60000_uuv_generic - 60001_uuv_hippocampus - 60002_uuv_bluerov2_heavy ) + +if(CONFIG_MODULES_SIMULATION_PWM_OUT_SIM) + px4_add_romfs_files( + # [1000, 1999] Simulation setups + 1001_rc_quad_x.hil + 1002_standard_vtol.hil + 1100_rc_quad_x_sih.hil + 1101_rc_plane_sih.hil + 1102_tailsitter_duo_sih.hil + ) +endif() + +if(CONFIG_MODULES_MC_RATE_CONTROL) + px4_add_romfs_files( + # [4000, 4999] Quadrotor x + 4001_quad_x + 4014_s500 + 4015_holybro_s500 + 4016_holybro_px4vision + 4017_nxp_hovergames + 4019_x500_v2 + 4020_holybro_px4vision_v1_5 + 4041_beta75x + 4050_generic_250 + 4052_holybro_qav250 + 4053_holybro_kopis2 + 4061_atl_mantis_edu + 4071_ifo + 4073_ifo-s + 4500_clover4 + 4601_droneblocks_dexi_5 + 4901_crazyflie21 + + # [5000, 5999] Quadrotor + + 5001_quad_+ + + # [6000, 6999] Hexarotor x + 6001_hexa_x + 6002_draco_r + + # [7000, 7999] Hexarotor + + 7001_hexa_+ + + # [8000, 8999] Octorotor + + 8001_octo_x + + # [9000, 9999] Octorotor + + 9001_octo_+ + + # [11000, 11999] Hexa Cox + 11001_hexa_cox + + # [12000, 12999] Octo Cox + 12001_octo_cox + + # [14000, 14999] MC with tilt + 14001_generic_mc_with_tilt + + 16001_helicopter + + 24001_dodeca_cox + ) +endif() + +if(CONFIG_MODULES_FW_RATE_CONTROL) + px4_add_romfs_files( + # [2000, 2999] Standard planes + 2100_standard_plane + 2106_albatross + + # [3000, 3999] Flying wing + 3000_generic_wing + + # [17000, 17999] Autogyro + 17002_TF-AutoG2 + 17003_TF-G2 + ) +endif() + +if(CONFIG_MODULES_AIRSHIP_ATT_CONTROL) + px4_add_romfs_files( + 2507_cloudship + ) +endif() + +if(CONFIG_MODULES_VTOL_ATT_CONTROL) + px4_add_romfs_files( + # [13000, 13999] VTOL + 13000_generic_vtol_standard + 13100_generic_vtol_tiltrotor + 13013_deltaquad + 13014_vtol_babyshark + 13030_generic_vtol_quad_tiltrotor + 13200_generic_vtol_tailsitter + ) +endif() + +if(CONFIG_MODULES_ROVER_DIFFERENTIAL) + px4_add_romfs_files( + # [50000, 50999] Differential rovers + 50000_generic_rover_differential + 50001_aion_robotics_r1_rover + ) +endif() + +if(CONFIG_MODULES_ROVER_ACKERMANN) + px4_add_romfs_files( + # [51000, 51999] Ackermann rovers + 51000_generic_rover_ackermann + 51001_axial_scx10_2_trail_honcho + ) +endif() + +if(CONFIG_MODULES_ROVER_POS_CONTROL) + px4_add_romfs_files( + # [59000, 59999] Rover position control (deprecated) + 59000_generic_ground_vehicle + 59001_nxpcup_car_dfrobot_gpx + ) +endif() + +if(CONFIG_MODULES_UUV_ATT_CONTROL) + px4_add_romfs_files( + # [60000, 61000] (Unmanned) Underwater Robots + 60000_uuv_generic + 60001_uuv_hippocampus + 60002_uuv_bluerov2_heavy + ) +endif() diff --git a/ROMFS/px4fmu_common/init.d/rc.airship_apps b/ROMFS/px4fmu_common/init.d/rc.airship_apps index 837a3a21613d..090c16b2231d 100644 --- a/ROMFS/px4fmu_common/init.d/rc.airship_apps +++ b/ROMFS/px4fmu_common/init.d/rc.airship_apps @@ -5,49 +5,6 @@ # NOTE: Script variables are declared/initialized/unset in the rcS script. # -############################################################################### -# Begin Estimator Group Selection # -############################################################################### - -# -# LPE -# -if param compare SYS_MC_EST_GROUP 1 -then - # - # Try to start LPE. If it fails, start EKF2 as a default. - # Unfortunately we do not build it on px4_fmu-v2 due to a limited flash. - # - if attitude_estimator_q start - then - echo "WARN [init] Estimator LPE unsupported, EKF2 recommended." - local_position_estimator start - else - echo "ERROR [init] Estimator LPE not available. Using EKF2" - param set SYS_MC_EST_GROUP 2 - param save - reboot - fi -else - # - # Q estimator (attitude estimation only) - # - if param compare SYS_MC_EST_GROUP 3 - then - attitude_estimator_q start - else - # - # EKF2 - # - param set SYS_MC_EST_GROUP 2 - ekf2 start & - fi -fi - -############################################################################### -# End Estimator Group Selection # -############################################################################### - # # Start Control Allocator # diff --git a/ROMFS/px4fmu_common/init.d/rc.balloon_apps b/ROMFS/px4fmu_common/init.d/rc.balloon_apps index 2adb216ec145..7f42a3b27ead 100644 --- a/ROMFS/px4fmu_common/init.d/rc.balloon_apps +++ b/ROMFS/px4fmu_common/init.d/rc.balloon_apps @@ -4,39 +4,3 @@ # # NOTE: Script variables are declared/initialized/unset in the rcS script. # - -# -# Start the attitude and position estimator. -# - -if param compare SYS_MC_EST_GROUP 1 -then - # - # Try to start LPE. If it fails, start EKF2 as a default. - # Unfortunately we do not build it on px4_fmu-v2 due to a limited flash. - # - if attitude_estimator_q start - then - echo "WARN [init] Estimator LPE unsupported, EKF2 recommended." - local_position_estimator start - else - echo "ERROR [init] Estimator LPE not available. Using EKF2" - param set SYS_MC_EST_GROUP 2 - param save - reboot - fi -else - # - # Q estimator (attitude estimation only) - # - if param compare SYS_MC_EST_GROUP 3 - then - attitude_estimator_q start - else - # - # EKF2 - # - param set SYS_MC_EST_GROUP 2 - ekf2 start & - fi -fi diff --git a/ROMFS/px4fmu_common/init.d/rc.balloon_defaults b/ROMFS/px4fmu_common/init.d/rc.balloon_defaults index 6f7d925e0c42..70161f3fa3d5 100644 --- a/ROMFS/px4fmu_common/init.d/rc.balloon_defaults +++ b/ROMFS/px4fmu_common/init.d/rc.balloon_defaults @@ -13,4 +13,6 @@ param set-default MAV_TYPE 8 # # Default parameters for balloon UAVs. # -param set-default SYS_MC_EST_GROUP 1 +param set-default LPE_EN 1 +param set-default ATT_EN 1 +param set-default EKF2_EN 0 diff --git a/ROMFS/px4fmu_common/init.d/rc.fw_apps b/ROMFS/px4fmu_common/init.d/rc.fw_apps index f3c559298e8c..81af5e1acd7a 100644 --- a/ROMFS/px4fmu_common/init.d/rc.fw_apps +++ b/ROMFS/px4fmu_common/init.d/rc.fw_apps @@ -5,11 +5,6 @@ # NOTE: Script variables are declared/initialized/unset in the rcS script. # -# -# Start the attitude and position estimator. -# -ekf2 start & - # # Start Control Allocator # diff --git a/ROMFS/px4fmu_common/init.d/rc.fw_defaults b/ROMFS/px4fmu_common/init.d/rc.fw_defaults index 77b10d8cfc61..32991e59b98c 100644 --- a/ROMFS/px4fmu_common/init.d/rc.fw_defaults +++ b/ROMFS/px4fmu_common/init.d/rc.fw_defaults @@ -17,7 +17,7 @@ param set-default COM_POS_FS_DELAY 5 # there is a 2.5 factor applied on the _FS thresholds if for invalidation param set-default COM_POS_FS_EPH 50 -param set-default COM_VEL_FS_EVH 5 +param set-default COM_VEL_FS_EVH 3 param set-default COM_POS_LOW_EPH 50 @@ -28,12 +28,12 @@ param set-default EKF2_ARSP_THR 8 param set-default EKF2_FUSE_BETA 1 param set-default EKF2_GPS_CHECK 21 param set-default EKF2_MAG_ACCLIM 0 -param set-default EKF2_MAG_YAWLIM 0 param set-default EKF2_REQ_EPH 10 param set-default EKF2_REQ_EPV 10 param set-default EKF2_REQ_HDRIFT 0.5 param set-default EKF2_REQ_SACC 1 -param set-default EKF2_REQ_VDRIFT 1.0 +param set-default EKF2_REQ_VDRIFT 1 +param set-default EKF2_RNG_QLTY_T 3 param set-default RTL_TYPE 1 param set-default RTL_RETURN_ALT 100 @@ -53,3 +53,5 @@ param set-default MIS_TKO_LAND_REQ 2 # FW takeoff acceleration can easily exceed ublox GPS 2G default. # param set-default GPS_UBX_DYNMODEL 8 + +param set-default SYS_HAS_NUM_ASPD 1 # by default require an airspeed sensor diff --git a/ROMFS/px4fmu_common/init.d/rc.mc_apps b/ROMFS/px4fmu_common/init.d/rc.mc_apps index 8158ab8b03cf..d5d9989c8666 100644 --- a/ROMFS/px4fmu_common/init.d/rc.mc_apps +++ b/ROMFS/px4fmu_common/init.d/rc.mc_apps @@ -5,49 +5,6 @@ # NOTE: Script variables are declared/initialized/unset in the rcS script. # -############################################################################### -# Begin Estimator Group Selection # -############################################################################### - -# -# LPE -# -if param compare SYS_MC_EST_GROUP 1 -then - # - # Try to start LPE. If it fails, start EKF2 as a default. - # Unfortunately we do not build it on px4_fmu-v2 due to a limited flash. - # - if attitude_estimator_q start - then - echo "WARN [init] Estimator LPE unsupported, EKF2 recommended." - local_position_estimator start - else - echo "ERROR [init] Estimator LPE not available. Using EKF2" - param set SYS_MC_EST_GROUP 2 - param save - reboot - fi -else - # - # Q estimator (attitude estimation only) - # - if param compare SYS_MC_EST_GROUP 3 - then - attitude_estimator_q start - else - # - # EKF2 - # - param set SYS_MC_EST_GROUP 2 - ekf2 start & - fi -fi - -############################################################################### -# End Estimator Group Selection # -############################################################################### - # # Start Control Allocator # diff --git a/ROMFS/px4fmu_common/init.d/rc.rover_ackermann_apps b/ROMFS/px4fmu_common/init.d/rc.rover_ackermann_apps new file mode 100644 index 000000000000..181233babe26 --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/rc.rover_ackermann_apps @@ -0,0 +1,8 @@ +#!/bin/sh +# Standard apps for an ackermann rover. + +# Start rover ackermann module. +rover_ackermann start + +# Start Land Detector. +land_detector start rover diff --git a/ROMFS/px4fmu_common/init.d/rc.rover_ackermann_defaults b/ROMFS/px4fmu_common/init.d/rc.rover_ackermann_defaults new file mode 100644 index 000000000000..fe0ae7aa9bb8 --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/rc.rover_ackermann_defaults @@ -0,0 +1,11 @@ +#!/bin/sh +# Ackermann rover parameters. + +set VEHICLE_TYPE rover_ackermann +param set-default MAV_TYPE 10 # MAV_TYPE_GROUND_ROVER +param set-default CA_AIRFRAME 5 # Rover (Ackermann) +param set-default CA_R_REV 1 # Motor is assumed to be reversible +param set-default EKF2_MAG_TYPE 1 # Make sure magnetometer is fused even when not flying +param set-default NAV_ACC_RAD 0.5 # Waypoint acceptance radius +param set-default EKF2_GBIAS_INIT 0.01 +param set-default EKF2_ANGERR_INIT 0.01 diff --git a/ROMFS/px4fmu_common/init.d/rc.rover_apps b/ROMFS/px4fmu_common/init.d/rc.rover_apps index 4d04b53faa09..2decfbb5ed15 100644 --- a/ROMFS/px4fmu_common/init.d/rc.rover_apps +++ b/ROMFS/px4fmu_common/init.d/rc.rover_apps @@ -5,13 +5,6 @@ # NOTE: Script variables are declared/initialized/unset in the rcS script. # -# -# Start the attitude and position estimator. -# -ekf2 start & -#attitude_estimator_q start -#local_position_estimator start - # # Start Control Allocator # @@ -22,7 +15,6 @@ control_allocator start # rover_pos_control start - # # Start Land Detector. # diff --git a/ROMFS/px4fmu_common/init.d/rc.rover_defaults b/ROMFS/px4fmu_common/init.d/rc.rover_defaults index c4cd9d35a34a..2e03de6597c6 100644 --- a/ROMFS/px4fmu_common/init.d/rc.rover_defaults +++ b/ROMFS/px4fmu_common/init.d/rc.rover_defaults @@ -10,9 +10,6 @@ set VEHICLE_TYPE rover # MAV_TYPE_GROUND_ROVER 10 param set-default MAV_TYPE 10 -# Enable Airspeed check circuit breaker because Rovers will have no airspeed sensor -param set-default CBRK_AIRSPD_CHK 162128 - param set-default MIS_TAKEOFF_ALT 0.01 param set-default NAV_ACC_RAD 2 diff --git a/ROMFS/px4fmu_common/init.d/rc.rover_differential_apps b/ROMFS/px4fmu_common/init.d/rc.rover_differential_apps new file mode 100644 index 000000000000..e1a7ecd9ccd2 --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/rc.rover_differential_apps @@ -0,0 +1,8 @@ +#!/bin/sh +# Standard apps for a differential rover. + +# Start rover differential module. +rover_differential start + +# Start Land Detector. +land_detector start rover diff --git a/ROMFS/px4fmu_common/init.d/rc.rover_differential_defaults b/ROMFS/px4fmu_common/init.d/rc.rover_differential_defaults new file mode 100644 index 000000000000..7c29ba364f3e --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/rc.rover_differential_defaults @@ -0,0 +1,11 @@ +#!/bin/sh +# Differential rover parameters. + +set VEHICLE_TYPE rover_differential +param set-default MAV_TYPE 10 # MAV_TYPE_GROUND_ROVER +param set-default CA_AIRFRAME 6 # Rover (Differential) +param set-default CA_R_REV 3 # Right and left motors reversible +param set-default EKF2_MAG_TYPE 1 # Make sure magnetometer is fused even when not flying +param set-default NAV_ACC_RAD 0.5 # Waypoint acceptance radius +param set-default EKF2_GBIAS_INIT 0.01 +param set-default EKF2_ANGERR_INIT 0.01 diff --git a/ROMFS/px4fmu_common/init.d/rc.sensors b/ROMFS/px4fmu_common/init.d/rc.sensors index dd7a1d6bf280..5410d28beeb1 100644 --- a/ROMFS/px4fmu_common/init.d/rc.sensors +++ b/ROMFS/px4fmu_common/init.d/rc.sensors @@ -138,6 +138,12 @@ then adis16507 -S start fi +# SCH16T spi external IMU +if param compare -s SENS_EN_SCH16T 1 +then + sch16t -S start +fi + # Eagle Tree airspeed sensor external I2C if param compare -s SENS_EN_ETSASPD 1 then @@ -172,6 +178,12 @@ then ms5525dso start -X fi +# TE ASP5033 differential pressure sensor external I2C +if param compare -s SENS_EN_ASP5033 1 +then + asp5033 start -X +fi + # SHT3x temperature and hygrometer sensor, external I2C if param compare -s SENS_EN_SHT3X 1 then diff --git a/ROMFS/px4fmu_common/init.d/rc.sysinit b/ROMFS/px4fmu_common/init.d/rc.sysinit new file mode 100644 index 000000000000..9f878a1387bb --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/rc.sysinit @@ -0,0 +1,4 @@ +#!/bin/sh +# +# Standard system init script +# diff --git a/ROMFS/px4fmu_common/init.d/rc.thermal_cal b/ROMFS/px4fmu_common/init.d/rc.thermal_cal index 484b9af69fb6..9614c15b1945 100644 --- a/ROMFS/px4fmu_common/init.d/rc.thermal_cal +++ b/ROMFS/px4fmu_common/init.d/rc.thermal_cal @@ -22,6 +22,11 @@ then set TEMP_COMP_START "true" fi +if param compare -s TC_M_ENABLE 1 +then + set TEMP_COMP_START "true" +fi + if [ "x$TEMP_COMP_START" != "x" ] then temperature_compensation start diff --git a/ROMFS/px4fmu_common/init.d/rc.uuv_apps b/ROMFS/px4fmu_common/init.d/rc.uuv_apps index d2eb13208c25..f604b644525c 100644 --- a/ROMFS/px4fmu_common/init.d/rc.uuv_apps +++ b/ROMFS/px4fmu_common/init.d/rc.uuv_apps @@ -5,16 +5,6 @@ # NOTE: Script variables are declared/initialized/unset in the rcS script. # -############################################################################### -# Begin Estimator Group Selection # -############################################################################### - -ekf2 start & - -############################################################################### -# End Estimator Group Selection # -############################################################################### - # # Start Control Allocator # diff --git a/ROMFS/px4fmu_common/init.d/rc.uuv_defaults b/ROMFS/px4fmu_common/init.d/rc.uuv_defaults index 344cfff7cdfb..3398fac3f51d 100644 --- a/ROMFS/px4fmu_common/init.d/rc.uuv_defaults +++ b/ROMFS/px4fmu_common/init.d/rc.uuv_defaults @@ -9,6 +9,3 @@ set VEHICLE_TYPE uuv # MAV_TYPE_SUBMARINE 12 param set-default MAV_TYPE 12 - -# UUV don't have an airspeed sensor, so disable checks around it -param set-default CBRK_AIRSPD_CHK 162128 diff --git a/ROMFS/px4fmu_common/init.d/rc.vehicle_setup b/ROMFS/px4fmu_common/init.d/rc.vehicle_setup index 4f8497bc19b2..ef455c2ff759 100644 --- a/ROMFS/px4fmu_common/init.d/rc.vehicle_setup +++ b/ROMFS/px4fmu_common/init.d/rc.vehicle_setup @@ -32,6 +32,24 @@ then . ${R}etc/init.d/rc.rover_apps fi +# +# Differential Rover setup. +# +if [ $VEHICLE_TYPE = rover_differential ] +then + # Start differential drive rover apps. + . ${R}etc/init.d/rc.rover_differential_apps +fi + +# +# Ackermann Rover setup. +# +if [ $VEHICLE_TYPE = rover_ackermann ] +then + # Start ackermann drive rover apps. + . ${R}etc/init.d/rc.rover_ackermann_apps +fi + # # VTOL setup. # @@ -67,5 +85,4 @@ fi if [ $VEHICLE_TYPE = none ] then echo "No autostart ID found" - ekf2 start & fi diff --git a/ROMFS/px4fmu_common/init.d/rc.vtol_apps b/ROMFS/px4fmu_common/init.d/rc.vtol_apps index fdc16af83dc5..c28adef56ae9 100644 --- a/ROMFS/px4fmu_common/init.d/rc.vtol_apps +++ b/ROMFS/px4fmu_common/init.d/rc.vtol_apps @@ -5,16 +5,6 @@ # NOTE: Script variables are declared/initialized/unset in the rcS script. # -############################################################################### -# Begin Estimator group selection # -############################################################################### - -ekf2 start & - -############################################################################### -# End Estimator group selection # -############################################################################### - # # Start Control Allocator # diff --git a/ROMFS/px4fmu_common/init.d/rc.vtol_defaults b/ROMFS/px4fmu_common/init.d/rc.vtol_defaults index 2c273e91096e..b666d59bb862 100644 --- a/ROMFS/px4fmu_common/init.d/rc.vtol_defaults +++ b/ROMFS/px4fmu_common/init.d/rc.vtol_defaults @@ -21,7 +21,7 @@ param set-default MIS_YAW_TMT 10 param set-default EKF2_ARSP_THR 10 param set-default EKF2_FUSE_BETA 1 -param set-default HTE_VXY_THR 2.0 +param set-default HTE_VXY_THR 2 param set-default MIS_TKO_LAND_REQ 2 @@ -42,4 +42,6 @@ param set-default MPC_MAN_Y_MAX 90 param set-default RTL_TYPE 1 +param set-default SYS_HAS_NUM_ASPD 1 # by default require an airspeed sensor + param set-default WV_EN 1 diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS index 04a07cfee97f..28804361d1ed 100644 --- a/ROMFS/px4fmu_common/init.d/rcS +++ b/ROMFS/px4fmu_common/init.d/rcS @@ -30,12 +30,18 @@ set LOGGER_BUF 8 set PARAM_FILE "" set PARAM_BACKUP_FILE "" set RC_INPUT_ARGS "" -set SDCARD_AVAILABLE no +set STORAGE_AVAILABLE no set SDCARD_EXT_PATH /fs/microsd/ext_autostart set SDCARD_FORMAT no set STARTUP_TUNE 1 set VEHICLE_TYPE none +# Airframe parameter versioning +# Value set to 1 by default but can optionally be overridden in the airframe configuration startup script. +# Airframe maintainers can ensure a reset to the airframe defaults during an update by increasing by one. +# e.g. add line "set PARAM_DEFAULTS_VER 2" in your airframe file to build the first update that enfoces a reset. +set PARAM_DEFAULTS_VER 1 + # # Print full system version. # @@ -56,11 +62,11 @@ then umount /fs/microsd else - set SDCARD_AVAILABLE yes + set STORAGE_AVAILABLE yes fi fi - if [ $SDCARD_AVAILABLE = no -o $SDCARD_FORMAT = yes ] + if [ $STORAGE_AVAILABLE = no -o $SDCARD_FORMAT = yes ] then echo "INFO [init] formatting /dev/mmcsd0" set STARTUP_TUNE 15 # tune 15 = SD_ERROR (overridden to SD_INIT if format + mount succeeds) @@ -71,7 +77,7 @@ then if mount -t vfat /dev/mmcsd0 /fs/microsd then - set SDCARD_AVAILABLE yes + set STORAGE_AVAILABLE yes set STARTUP_TUNE 14 # tune 14 = SD_INIT else echo "ERROR [init] card mount failed" @@ -80,19 +86,33 @@ then echo "ERROR [init] format failed" fi fi +else + # Is there a device mounted for storage + if mft query -q -k MTD -s MTD_PARAMETERS -v /mnt/microsd + then + set STORAGE_AVAILABLE yes + fi +fi - if [ $SDCARD_AVAILABLE = yes ] +if [ $STORAGE_AVAILABLE = yes ] +then + if hardfault_log check then - if hardfault_log check + set STARTUP_TUNE 2 # tune 2 = ERROR_TUNE + if hardfault_log commit then - set STARTUP_TUNE 2 # tune 2 = ERROR_TUNE - if hardfault_log commit - then - hardfault_log reset - fi + hardfault_log reset fi fi + # Check for an update of the ext_autostart folder, and replace the old one with it + if [ -e /fs/microsd/ext_autostart_new ] + then + echo "Updating external autostart files" + rm -r $SDCARD_EXT_PATH + mv /fs/microsd/ext_autostart_new $SDCARD_EXT_PATH + fi + set PARAM_FILE /fs/microsd/params set PARAM_BACKUP_FILE "/fs/microsd/parameters_backup.bson" fi @@ -106,13 +126,14 @@ then . $FRC else - # - # Set the parameter file the board supports params on - # MTD device. - # - if mft query -q -k MTD -s MTD_PARAMETERS -v /fs/mtd_params + # Load param file location from kconfig + . ${R}etc/init.d/rc.filepaths + + # Check if /fs/mtd_params is a valid BSON file + if ! bsondump docsize /fs/mtd_caldata then - set PARAM_FILE /fs/mtd_params + echo "New /fs/mtd_caldata size is:" + bsondump docsize /fs/mtd_caldata fi # @@ -157,23 +178,21 @@ else fi fi - if [ $SDCARD_AVAILABLE = yes ] + if [ $STORAGE_AVAILABLE = yes ] then param select-backup $PARAM_BACKUP_FILE fi - if ver hwcmp PX4_FMU_V5X PX4_FMU_V6X ARK_FMU_V6X + if mft query -q -k MFT -s MFT_ETHERNET -v 1 then netman update -i eth0 fi - # - # If the airframe has been previously reset SYS_AUTCONFIG will have been set to 1 and other params will be reset on the next boot. - # + # To trigger a parameter reset during boot SYS_AUTCONFIG was set to 1 before if param greater SYS_AUTOCONFIG 0 then - # Reset params except Airframe, RC calibration, sensor calibration, flight modes, total flight time, and next flight UUID. - param reset_all SYS_AUTOSTART RC* CAL_* COM_FLTMODE* LND_FLIGHT* TC_* COM_FLIGHT* + # Reset parameters except airframe, parameter version, RC calibration, sensor calibration, flight modes, total flight time, flight UUID + param reset_all SYS_AUTOSTART SYS_PARAM_VER RC* CAL_* COM_FLTMODE* LND_FLIGHT* TC_* COM_FLIGHT* fi # @@ -198,25 +217,42 @@ else fi unset BOARD_RC_DEFAULTS - # - # Set parameters and env variables for selected SYS_AUTOSTART. - # - set AUTOSTART_PATH etc/init.d/rc.autostart + # Load airframe configuration based on SYS_AUTOSTART parameter if ! param compare SYS_AUTOSTART 0 then - if param greater SYS_AUTOSTART 1000000 + # rc.autostart directly run the right airframe script which sets the VEHICLE_TYPE + # Look for airframe in ROMFS + . ${R}etc/init.d/rc.autostart + + if [ ${VEHICLE_TYPE} == none ] then # Use external startup file - if [ $SDCARD_AVAILABLE = yes ] + if [ $STORAGE_AVAILABLE = yes ] then - set AUTOSTART_PATH etc/init.d/rc.autostart_ext + . ${R}etc/init.d/rc.autostart_ext else - echo "ERROR [init] SD card not mounted - trying to load airframe from ROMFS" + echo "ERROR [init] SD card not mounted - can't load external airframe" fi fi - . ${R}$AUTOSTART_PATH + + if [ ${VEHICLE_TYPE} == none ] + then + echo "ERROR [init] No airframe file found for SYS_AUTOSTART value" + param set SYS_AUTOSTART 0 + tune_control play error + fi + fi + + # Check parameter version and reset upon airframe configuration version mismatch. + # Reboot required because "param reset_all" would reset all "param set" lines from airframe. + if ! param compare SYS_PARAM_VER ${PARAM_DEFAULTS_VER} + then + echo "Switched to different parameter version. Resetting parameters." + param set SYS_PARAM_VER ${PARAM_DEFAULTS_VER} + param set SYS_AUTOCONFIG 1 + param save + reboot fi - unset AUTOSTART_PATH # # Start the tone_alarm driver. @@ -254,6 +290,8 @@ else # rgbled start -X -q rgbled_ncp5623c start -X -q + rgbled_lp5562 start -X -q + rgbled_is31fl3195 start -X -q # # Override parameters from user configuration file. @@ -264,12 +302,9 @@ else . $FCONFIG fi - # - # Start IO for PWM output or RC input if enabled - # - if param compare -s SYS_USE_IO 1 + if px4io supported then - # Check if PX4IO present and update firmware if needed. + # Check if PX4IO present and update firmware if needed. if [ -f $IOFW ] then if ! px4io checkcrc ${IOFW} @@ -291,12 +326,12 @@ else tune_control stop fi fi - fi - if ! px4io start - then - echo "PX4IO start failed" - set STARTUP_TUNE 2 # tune 2 = ERROR_TUNE + if ! px4io start + then + echo "PX4IO start failed" + set STARTUP_TUNE 2 # tune 2 = ERROR_TUNE + fi fi fi @@ -384,6 +419,23 @@ else pwm_out start fi + # + # state estimator selection + if param compare -s EKF2_EN 1 + then + ekf2 start & + fi + + if param compare -s LPE_EN 1 + then + local_position_estimator start + fi + + if param compare -s ATT_EN 1 + then + attitude_estimator_q start + fi + # # Configure vehicle type specific parameters. # Note: rc.vehicle_setup is the entry point for all vehicle type specific setup. @@ -415,6 +467,14 @@ else # Must be started after the serial config is read rc_input start $RC_INPUT_ARGS + # Manages USB interface + if ! cdcacm_autostart start + then + sercon + echo "Starting MAVLink on /dev/ttyACM0" + mavlink start -d /dev/ttyACM0 + fi + # # Play the startup tune (if not disabled or there is an error) # @@ -432,7 +492,12 @@ else # # Start a thermal calibration if required. # - . ${R}etc/init.d/rc.thermal_cal + set RC_THERMAL_CAL ${R}etc/init.d/rc.thermal_cal + if [ -f ${RC_THERMAL_CAL} ] + then + . ${RC_THERMAL_CAL} + fi + unset RC_THERMAL_CAL # # Start gimbal to control mounts such as gimbals, disabled by default. @@ -493,7 +558,12 @@ else # # Start the logger. # - . ${R}etc/init.d/rc.logging + set RC_LOGGING ${R}etc/init.d/rc.logging + if [ -f ${RC_LOGGING} ] + then + . ${RC_LOGGING} + fi + unset RC_LOGGING # # Set additional parameters and env variables for selected AUTOSTART. @@ -527,6 +597,10 @@ else cyphal start fi fi + if param greater -s ZENOH_ENABLE 0 + then + zenoh start + fi # # End of autostart. @@ -545,8 +619,9 @@ unset LOGGER_ARGS unset LOGGER_BUF unset PARAM_FILE unset PARAM_BACKUP_FILE +unset PARAM_DEFAULTS_VER unset RC_INPUT_ARGS -unset SDCARD_AVAILABLE +unset STORAGE_AVAILABLE unset SDCARD_EXT_PATH unset SDCARD_FORMAT unset STARTUP_TUNE diff --git a/SECURITY.md b/SECURITY.md new file mode 100644 index 000000000000..ed99e771bbc8 --- /dev/null +++ b/SECURITY.md @@ -0,0 +1,25 @@ +# Security Policy + +## Supported Versions + +The following is a list of versions the development team is currently supporting. + +| Version | Supported | +| ------- | ------------------ | +| 1.4.x | :white_check_mark: | +| 1.3.3 | :white_check_mark: | +| < 1.3 | :x: | + +## Reporting a Vulnerability + +We currently only receive security vulnerability reports through GitHub. + +To begin a report, please go to the top-level repository, for example, PX4/PX4-Autopilot, +and click on the Security tab. If you are on mobile, click the ... dropdown menu, and then click Security. + +Click Report a Vulnerability to open the advisory form. Fill in the advisory details form. +Make sure your title is descriptive, and the development team can find all of the relevant details needed +to verify on the description box. We recommend you add as much data as possible. We welcome logs, +screenshots, photos, and videos, anything that can help us verify and identify the issues being reported. + +At the bottom of the form, click Submit report. The maintainer team will be notified and will get back to you ASAP. diff --git a/Tools/HIL/run_nsh_cmd.py b/Tools/HIL/run_nsh_cmd.py index dcdd9ec1e7b3..7c37679adf43 100755 --- a/Tools/HIL/run_nsh_cmd.py +++ b/Tools/HIL/run_nsh_cmd.py @@ -39,7 +39,7 @@ def print_line(line): print('{0}'.format(line), end='') -def do_nsh_cmd(port_url, baudrate, cmd): +def do_nsh_cmd(port_url, baudrate, cmd, ignore_stdout_errors=False): ser = serial.serial_for_url(url=port_url, baudrate=baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=1, xonxoff=False, rtscts=False, dsrdtr=False, inter_byte_timeout=1) timeout_start = time.monotonic() @@ -106,7 +106,7 @@ def do_nsh_cmd(port_url, baudrate, cmd): if success_cmd in serial_line: sys.exit(return_code) else: - if "ERROR " in serial_line: + if "ERROR " in serial_line and not ignore_stdout_errors: return_code = -1 print_line(serial_line) @@ -148,6 +148,8 @@ def main(): parser.add_argument('--device', "-d", nargs='?', default=default_device, help='', required=device_required) parser.add_argument("--baudrate", "-b", dest="baudrate", type=int, help="serial port baud rate (default=57600)", default=57600) parser.add_argument("--cmd", "-c", dest="cmd", help="Command to run") + parser.add_argument('--ignore-stdout-errors', action='store_true', + help='Ignore errors printed to stdout') args = parser.parse_args() tmp_file = "{0}/pyserial_spy_file.txt".format(tempfile.gettempdir()) @@ -155,7 +157,7 @@ def main(): print("pyserial url: {0}".format(port_url)) - do_nsh_cmd(port_url, args.baudrate, args.cmd) + do_nsh_cmd(port_url, args.baudrate, args.cmd, args.ignore_stdout_errors) if __name__ == "__main__": main() diff --git a/Tools/Matlab/ellipsoid_fit.m b/Tools/Matlab/ellipsoid_fit.m index d288aa382136..ead7e6d7c355 100644 --- a/Tools/Matlab/ellipsoid_fit.m +++ b/Tools/Matlab/ellipsoid_fit.m @@ -45,7 +45,7 @@ % * center - ellispoid center coordinates [xc; yc; zc] % * ax - ellipsoid radii [a; b; c] % * evecs - ellipsoid radii directions as columns of the 3x3 matrix -% * v - the 9 parameters describing the ellipsoid algebraically: +% * v - the 9 parameters describing the ellipsoid algebraically: % Ax^2 + By^2 + Cz^2 + 2Dxy + 2Exz + 2Fyz + 2Gx + 2Hy + 2Iz = 1 % % Author: @@ -59,7 +59,7 @@ if flag == 2 && nargin == 2 equals = 'xy'; end - + if size( X, 2 ) ~= 3 error( 'Input data must have three columns!' ); else @@ -69,7 +69,7 @@ end % need nine or more data points -if length( x ) < 9 && flag == 0 +if length( x ) < 9 && flag == 0 error( 'Must have at least 9 points to fit a unique ellipsoid' ); end if length( x ) < 6 && flag == 1 @@ -91,7 +91,7 @@ 2 * x .* z, ... 2 * y .* z, ... 2 * x, ... - 2 * y, ... + 2 * y, ... 2 * z ]; % ndatapoints x 9 ellipsoid parameters elseif flag == 1 % fit ellipsoid in the form Ax^2 + By^2 + Cz^2 + 2Gx + 2Hy + 2Iz = 1 @@ -99,7 +99,7 @@ y .* y, ... z .* z, ... 2 * x, ... - 2 * y, ... + 2 * y, ... 2 * z ]; % ndatapoints x 6 ellipsoid parameters elseif flag == 2 % fit ellipsoid in the form Ax^2 + By^2 + Cz^2 + 2Gx + 2Hy + 2Iz = 1, @@ -127,7 +127,7 @@ % fit sphere in the form A(x^2 + y^2 + z^2) + 2Gx + 2Hy + 2Iz = 1 D = [ x .* x + y .* y + z .* z, ... 2 * x, ... - 2 * y, ... + 2 * y, ... 2 * z ]; % ndatapoints x 4 sphere parameters end @@ -170,5 +170,3 @@ radii = ( sqrt( gam ./ v( 1:3 ) ) )'; evecs = eye( 3 ); end - - diff --git a/Tools/astyle/check_code_style.sh b/Tools/astyle/check_code_style.sh index 3a2fcef35be8..c68b32a9a2bc 100755 --- a/Tools/astyle/check_code_style.sh +++ b/Tools/astyle/check_code_style.sh @@ -3,22 +3,20 @@ FILE=$1 DIR=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd ) -if [ -f "$FILE" ]; then - CHECK_FAILED=$(${DIR}/fix_code_style.sh --dry-run --formatted $FILE) - if [ -n "$CHECK_FAILED" ]; then - ${DIR}/fix_code_style.sh --quiet < $FILE > $FILE.pretty +CHECK_FAILED=$(${DIR}/fix_code_style.sh --dry-run --formatted $FILE) +if [ -n "$CHECK_FAILED" ]; then + ${DIR}/fix_code_style.sh --quiet < $FILE > $FILE.pretty - echo -e 'Formatting issue found in' $FILE - echo - git --no-pager diff --no-index --minimal --histogram --color=always $FILE $FILE.pretty | grep -vE -e "^.{,4}diff.*\.pretty.{,3}$" -e "^.{,4}--- a/.*$" -e "^.{,4}\+\+\+ b/.*$" -e "^.{,5}@@ .* @@.*$" -e "^.{,4}index .{10}\.\." - rm -f $FILE.pretty - echo + echo -e 'Formatting issue found in' $FILE + echo + git --no-pager diff --no-index --minimal --histogram --color=always $FILE $FILE.pretty | grep -vE -e "^.{,4}diff.*\.pretty.{,3}$" -e "^.{,4}--- a/.*$" -e "^.{,4}\+\+\+ b/.*$" -e "^.{,5}@@ .* @@.*$" -e "^.{,4}index .{10}\.\." + rm -f $FILE.pretty + echo - if [[ $PX4_ASTYLE_FIX -eq 1 ]]; then - ${DIR}/fix_code_style.sh $FILE - else - echo 'to fix automatically run "make format" or "./Tools/astyle/fix_code_style.sh' $FILE'"' - exit 1 - fi + if [[ $PX4_ASTYLE_FIX -eq 1 ]]; then + ${DIR}/fix_code_style.sh $FILE + else + echo 'to fix automatically run "make format" or "./Tools/astyle/fix_code_style.sh' $FILE'"' + exit 1 fi fi diff --git a/Tools/astyle/check_newlines.sh b/Tools/astyle/check_newlines.sh new file mode 100755 index 000000000000..516047693576 --- /dev/null +++ b/Tools/astyle/check_newlines.sh @@ -0,0 +1,19 @@ +#!/usr/bin/env bash + +return_value=0 + +# Check if there are files checked in that don't end in a newline (POSIX requirement) +git grep --cached -Il '' | xargs -L1 bash -c 'if test "$(tail -c 1 "$0")"; then echo "No new line at end of $0"; exit 1; fi' + +if [ $? -ne 0 ]; then + return_value=1 +fi + +# Check if there are files checked in that have duplicate newlines at the end (fail trailing whitespace checks) +git grep --cached -Il '' | xargs -L1 bash -c 'if tail -c 2 "$0" | ( read x && read y && [ x"$x" = x ] && [ x"$y" = x ]); then echo "Multiple newlines at the end of $0"; exit 1; fi' + +if [ $? -ne 0 ]; then + return_value=1 +fi + +exit $return_value diff --git a/Tools/astyle/files_to_check_code_style.sh b/Tools/astyle/files_to_check_code_style.sh index 6704ac262f81..c94132867ee1 100755 --- a/Tools/astyle/files_to_check_code_style.sh +++ b/Tools/astyle/files_to_check_code_style.sh @@ -18,12 +18,18 @@ exec find boards msg src platforms test \ -path src/lib/events/libevents -prune -o \ -path src/lib/parameters/uthash -prune -o \ -path src/lib/wind_estimator/python/generated -prune -o \ - -path src/modules/ekf2/EKF -prune -o \ + -path src/modules/ekf2/EKF/python/ekf_derivation/generated -prune -o \ + -path src/modules/ekf2/EKF/yaw_estimator/derivation/generated -prune -o \ -path src/modules/gyro_fft/CMSIS_5 -prune -o \ -path src/modules/mavlink/mavlink -prune -o \ -path test/mavsdk_tests/catch2 -prune -o \ -path src/lib/crypto/monocypher -prune -o \ -path src/lib/crypto/libtomcrypt -prune -o \ -path src/lib/crypto/libtommath -prune -o \ + -path src/lib/heatshrink/heatshrink -prune -o \ -path src/modules/uxrce_dds_client/Micro-XRCE-DDS-Client -prune -o \ - -type f \( -name "*.c" -o -name "*.h" -o -name "*.cpp" -o -name "*.hpp" \) | grep $PATTERN + -path src/lib/cdrstream/cyclonedds -prune -o \ + -path src/lib/cdrstream/rosidl -prune -o \ + -path src/modules/zenoh/zenoh-pico -prune -o \ + -path boards/modalai/voxl2/libfc-sensor-api -prune -o \ + \( -type f \( -name "*.c" -o -name "*.h" -o -name "*.cpp" -o -name "*.hpp" \) -print \) | grep $PATTERN diff --git a/Tools/auterion/remote_update_fmu.sh b/Tools/auterion/remote_update_fmu.sh new file mode 100755 index 000000000000..2eeb66b99976 --- /dev/null +++ b/Tools/auterion/remote_update_fmu.sh @@ -0,0 +1,115 @@ +#!/bin/bash +# Flash PX4 to a device running AuterionOS in the local network +if [ "$1" == "-h" ] || [ "$1" == "--help" ] || [ $# -lt 2 ]; then + echo "Usage: $0 -f [-c ] -d [-u ] [-p ] [--revert]" + exit 1 +fi + +ssh_port=22 +ssh_user=root + +while getopts ":f:c:d:p:u:r" opt; do + case ${opt} in + f ) + if [ -n "$OPTARG" ]; then + firmware_file="$OPTARG" + else + echo "ERROR: -f requires a non-empty option argument." + exit 1 + fi + ;; + c ) + if [ -f "$OPTARG/rc.autostart" ]; then + config_dir="$OPTARG" + else + echo "ERROR: -c configuration directory is empty or does not contain a valid rc.autostart" + exit 1 + fi + ;; + d ) + if [ "$OPTARG" ]; then + device="$OPTARG" + else + echo "ERROR: -d requires a non-empty option argument." + exit 1 + fi + ;; + p ) + if [[ "$OPTARG" =~ ^[0-9]+$ ]]; then + ssh_port="$OPTARG" + else + echo "ERROR: -p ssh_port must be a number." + exit 1 + fi + ;; + u ) + if [ "$OPTARG" ]; then + ssh_user="$OPTARG" + else + echo "ERROR: -u requires a non-empty option argument." + exit 1 + fi + ;; + r ) + revert=true + ;; + esac +done + +if [ -z "$device" ]; then + echo "Error: missing device" + exit 1 +fi + +target_dir=/shared_container_dir/fmu +target_file_name="update-dev.tar" + +if [ "$revert" == true ]; then + # revert to the release version which was originally deployed + cmd="cp $target_dir/update.tar $target_dir/$target_file_name" + ssh -t -p $ssh_port $ssh_user@$device "$cmd" +else + # create custom update-dev.tar + tmp_dir="$(mktemp -d)" + config_path="" + firmware_path="" + + if [ -d "$config_dir" ]; then + cp -r "$config_dir" "$tmp_dir/config" + config_path=config + fi + + if [ -f "$firmware_file" ]; then + extension="${firmware_file##*.}" + cp "$firmware_file" "$tmp_dir/firmware.$extension" + if [ "$extension" == "elf" ]; then + # ensure the file is stripped to reduce file size + arm-none-eabi-strip "$tmp_dir/firmware.$extension" + fi + firmware_path="firmware.$extension" + fi + + pushd "$tmp_dir" &>/dev/null + + if [ -z $firmware_path ] && [ -z $config_path ]; then + exit 1 + fi + + tar_name="tar" + + if [ -x "$(command -v gtar)" ]; then + # check if gnu-tar is installed on macOS and use that instead + tar_name="gtar" + fi + + $tar_name -C "$tmp_dir" --sort=name --owner=root:0 --group=root:0 --mtime='2019-01-01 00:00:00' -cvf $target_file_name $firmware_path $config_path + + # send it to the target to start flashing + scp -P $ssh_port "$target_file_name" $ssh_user@"$device":$target_dir + popd &>/dev/null + rm -rf "$tmp_dir" +fi + +# grab status output for flashing progress +cmd="tail --follow=name $target_dir/update_status 2>/dev/null || true" +ssh -t -p $ssh_port $ssh_user@$device "$cmd" diff --git a/Tools/auterion/upload_skynode.sh b/Tools/auterion/upload_skynode.sh new file mode 100755 index 000000000000..10d8740b4242 --- /dev/null +++ b/Tools/auterion/upload_skynode.sh @@ -0,0 +1,51 @@ +#!/usr/bin/env bash + +DIR="$(dirname $(readlink -f $0))" +DEFAULT_AUTOPILOT_HOST=10.41.1.1 +DEFAULT_AUTOPILOT_PORT=33333 +DEFAULT_AUTOPILOT_USER=auterion + +for i in "$@" +do + case $i in + --file=*) + PX4_BINARY_FILE="${i#*=}" + ;; + --default-ip=*) + DEFAULT_AUTOPILOT_HOST="${i#*=}" + ;; + --default-port=*) + DEFAULT_AUTOPILOT_PORT="${i#*=}" + ;; + --default-user=*) + DEFAULT_AUTOPILOT_USER="${i#*=}" + ;; + --revert) + REVERT_AUTOPILOT_ARGUMENT=-r + ;; + --wifi) + DEFAULT_AUTOPILOT_HOST=10.41.0.1 + ;; + *) + # unknown option + ;; + esac +done + +# allow these to be overridden +[ -z "$AUTOPILOT_HOST" ] && AUTOPILOT_HOST=$DEFAULT_AUTOPILOT_HOST +[ -z "$AUTOPILOT_PORT" ] && AUTOPILOT_PORT=$DEFAULT_AUTOPILOT_PORT +[ -z "$AUTOPILOT_USER" ] && AUTOPILOT_USER=$DEFAULT_AUTOPILOT_USER + +ARGUMENTS=() +ARGUMENTS+=(-d "$AUTOPILOT_HOST") +ARGUMENTS+=(-p "$AUTOPILOT_PORT") +ARGUMENTS+=(-u "$AUTOPILOT_USER") +ARGUMENTS+=(${PX4_BINARY_FILE:+-f "$PX4_BINARY_FILE"}) +ARGUMENTS+=($REVERT_AUTOPILOT_ARGUMENT) + +echo "Flashing $AUTOPILOT_HOST ..." + +"$DIR"/remote_update_fmu.sh "${ARGUMENTS[@]}" + +exit 0 diff --git a/Tools/check_submodules.sh b/Tools/check_submodules.sh index 8082491ee204..1931deb9a31d 100755 --- a/Tools/check_submodules.sh +++ b/Tools/check_submodules.sh @@ -6,7 +6,7 @@ function check_git_submodule { if [[ -f $1"/.git" || -d $1"/.git" ]]; then # always update within CI environment or configuring withing VSCode CMake where you can't interact - if [ "$CI" == "true" ] || [ -n "${VSCODE_PID+set}" ]; then + if [ "$CI" == "true" ] || [ -n "${VSCODE_PID+set}" ] || [ -n "${CLION_IDE+set}" ]; then git submodule --quiet sync --recursive -- $1 git submodule --quiet update --init --recursive --jobs=8 -- $1 || true git submodule --quiet sync --recursive -- $1 diff --git a/Tools/ci_build_all_runner.sh b/Tools/ci_build_all_runner.sh new file mode 100755 index 000000000000..bfb77e2623a9 --- /dev/null +++ b/Tools/ci_build_all_runner.sh @@ -0,0 +1,19 @@ +#!/bin/bash +# This script is meant to be used by the build_all.yml workflow in a github runner +# Please only modify if you know what you are doing +set -e + +echo "### :clock1: Build Times" >> $GITHUB_STEP_SUMMARY +targets=$1 +for target in ${targets//,/ } +do + echo "::group::Building: [${target}]" + start=$(date +%s) + make $target + stop=$(date +%s) + diff=$(($stop-$start)) + build_time="$(($diff /60/60))h $(($diff /60))m $(($diff % 60))s elapsed" + echo -e "\033[0;32mBuild Time: [$build_time]" + echo "* **$target** - $build_time" >> $GITHUB_STEP_SUMMARY + echo "::endgroup::" +done diff --git a/Tools/cryptotools.py b/Tools/cryptotools.py index 6e4bd42d63e5..f452bea444f5 100755 --- a/Tools/cryptotools.py +++ b/Tools/cryptotools.py @@ -170,4 +170,3 @@ def generate_key(key_file): fs.write(f.read()) except: pass - diff --git a/Tools/docker_run.sh b/Tools/docker_run.sh index 3ac640428ea4..c78b9cc7e1ea 100755 --- a/Tools/docker_run.sh +++ b/Tools/docker_run.sh @@ -4,16 +4,16 @@ if [ -z ${PX4_DOCKER_REPO+x} ]; then echo "guessing PX4_DOCKER_REPO based on input"; if [[ $@ =~ .*px4_fmu.* ]]; then # nuttx-px4fmu-v{1,2,3,4,5} - PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2021-09-08" + PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2022-08-12" elif [[ $@ =~ .*navio2.* ]] || [[ $@ =~ .*raspberry.* ]] || [[ $@ =~ .*beaglebone.* ]] || [[ $@ =~ .*pilotpi.default ]]; then # beaglebone_blue_default, emlid_navio2_default, px4_raspberrypi_default, scumaker_pilotpi_default - PX4_DOCKER_REPO="px4io/px4-dev-armhf:2021-08-18" + PX4_DOCKER_REPO="px4io/px4-dev-armhf:2023-06-26" elif [[ $@ =~ .*pilotpi.arm64 ]]; then # scumaker_pilotpi_arm64 - PX4_DOCKER_REPO="px4io/px4-dev-aarch64:latest" + PX4_DOCKER_REPO="px4io/px4-dev-aarch64:2022-08-12" elif [[ $@ =~ .*navio2.* ]] || [[ $@ =~ .*raspberry.* ]] || [[ $@ =~ .*bebop.* ]]; then # posix_rpi_cross, posix_bebop_default - PX4_DOCKER_REPO="px4io/px4-dev-armhf:2021-08-18" + PX4_DOCKER_REPO="px4io/px4-dev-armhf:2023-06-26" elif [[ $@ =~ .*clang.* ]] || [[ $@ =~ .*scan-build.* ]]; then # clang tools PX4_DOCKER_REPO="px4io/px4-dev-clang:2021-02-04" @@ -27,7 +27,7 @@ fi # otherwise default to nuttx if [ -z ${PX4_DOCKER_REPO+x} ]; then - PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2021-09-08" + PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2022-08-12" fi # docker hygiene diff --git a/Tools/ecl_ekf/analyse_logdata_ekf.py b/Tools/ecl_ekf/analyse_logdata_ekf.py index f0c33cfc8e41..98e7c23b9304 100644 --- a/Tools/ecl_ekf/analyse_logdata_ekf.py +++ b/Tools/ecl_ekf/analyse_logdata_ekf.py @@ -139,7 +139,3 @@ def find_checks_that_apply( innov_fail_checks.append('ofy') return sensor_checks, innov_fail_checks - - - - diff --git a/Tools/ecl_ekf/analysis/checks.py b/Tools/ecl_ekf/analysis/checks.py index ac0248a4c1c1..36f806ead993 100644 --- a/Tools/ecl_ekf/analysis/checks.py +++ b/Tools/ecl_ekf/analysis/checks.py @@ -56,11 +56,14 @@ def perform_imu_checks( # perform the vibration check imu_status['imu_vibration_check'] = 'Pass' for imu_vibr_metric in ['imu_coning', 'imu_hfgyro', 'imu_hfaccel']: - mean_metric = '{:s}_mean'.format(imu_vibr_metric) - peak_metric = '{:s}_peak'.format(imu_vibr_metric) - if imu_metrics[mean_metric] > check_levels['{:s}_warn'.format(mean_metric)] \ - or imu_metrics[peak_metric] > check_levels['{:s}_warn'.format(peak_metric)]: - imu_status['imu_vibration_check'] = 'Warning' + mean_metric = '{:s}_mean_warn'.format(imu_vibr_metric) + peak_metric = '{:s}_peak_warn'.format(imu_vibr_metric) + mean_key = '{:s}_mean'.format(imu_vibr_metric) + peak_key = '{:s}_peak'.format(imu_vibr_metric) + if mean_key in imu_metrics and peak_key in imu_metrics: + if imu_metrics[mean_key] > check_levels[mean_metric] \ + or imu_metrics[peak_key] > check_levels[peak_metric]: + imu_status['imu_vibration_check'] = 'Warning' if imu_status['imu_vibration_check'] == 'Warning': print('IMU vibration check warning.') diff --git a/Tools/ecl_ekf/analysis/metrics.py b/Tools/ecl_ekf/analysis/metrics.py index 6c07c12caa01..47a8bb412e4e 100644 --- a/Tools/ecl_ekf/analysis/metrics.py +++ b/Tools/ecl_ekf/analysis/metrics.py @@ -54,7 +54,7 @@ def calculate_sensor_metrics( # calculates peak, mean, percentage above 0.5 std, and percentage above std metrics for # estimator status variables for signal, result_id in [('hgt_test_ratio', 'hgt'), - ('mag_test_ratio', 'mag'), + ('hdg_test_ratio', 'mag'), ('vel_test_ratio', 'vel'), ('pos_test_ratio', 'pos'), ('tas_test_ratio', 'tas'), @@ -104,9 +104,9 @@ def calculate_innov_fail_metrics( # calculate innovation check fail metrics for signal_id, signal, result in [('posv', 'reject_ver_pos', 'hgt_fail_percentage'), - ('magx', 'reject_mag_x', 'magx_fail_percentage'), - ('magy', 'reject_mag_y', 'magy_fail_percentage'), - ('magz', 'reject_mag_z', 'magz_fail_percentage'), + ('magx', 'fs_bad_mag_x', 'magx_fail_percentage'), + ('magy', 'fs_bad_mag_y', 'magy_fail_percentage'), + ('magz', 'fs_bad_mag_z', 'magz_fail_percentage'), ('yaw', 'reject_yaw', 'yaw_fail_percentage'), ('velh', 'reject_hor_vel', 'vel_fail_percentage'), ('velv', 'reject_ver_vel', 'vel_fail_percentage'), diff --git a/Tools/ecl_ekf/batch_process_logdata_ekf.py b/Tools/ecl_ekf/batch_process_logdata_ekf.py index 9d41431a104d..d118c655eb76 100755 --- a/Tools/ecl_ekf/batch_process_logdata_ekf.py +++ b/Tools/ecl_ekf/batch_process_logdata_ekf.py @@ -84,4 +84,4 @@ def main() -> None: if __name__ == '__main__': - main() \ No newline at end of file + main() diff --git a/Tools/ecl_ekf/plotting/pdf_report.py b/Tools/ecl_ekf/plotting/pdf_report.py index a22e7fec634f..35821fbc4697 100644 --- a/Tools/ecl_ekf/plotting/pdf_report.py +++ b/Tools/ecl_ekf/plotting/pdf_report.py @@ -43,6 +43,11 @@ def create_pdf_report(ulog: ULog, multi_instance: int, output_plot_filename: str except: raise PreconditionError('could not find estimator_states instance', multi_instance) + try: + estimator_sensor_bias = ulog.get_dataset('estimator_sensor_bias', multi_instance).data + except: + raise PreconditionError('could not find estimator_sensor_bias instance', multi_instance) + try: estimator_innovations = ulog.get_dataset('estimator_innovations', multi_instance).data estimator_innovation_variances = ulog.get_dataset('estimator_innovation_variances', multi_instance).data @@ -155,7 +160,7 @@ def create_pdf_report(ulog: ULog, multi_instance: int, output_plot_filename: str # plot normalised innovation test levels # define variables to plot - variables = [['mag_test_ratio'], ['vel_test_ratio', 'pos_test_ratio'], ['hgt_test_ratio']] + variables = [['hdg_test_ratio'], ['vel_test_ratio', 'pos_test_ratio'], ['hgt_test_ratio']] y_labels = ['mag', 'vel, pos', 'hgt'] legend = [['mag'], ['vel', 'pos'], ['hgt']] if np.amax(estimator_status['hagl_test_ratio']) > 0.0: # plot hagl test ratio, if applicable @@ -218,11 +223,11 @@ def create_pdf_report(ulog: ULog, multi_instance: int, output_plot_filename: str data_plot.save() data_plot.close() - # plot innovation_check_flags summary + # plot innovation flags summary data_plot = CheckFlagsPlot( status_flags_time, estimator_status_flags, [['reject_hor_vel', 'reject_hor_pos'], ['reject_ver_vel', 'reject_ver_pos', 'reject_hagl'], - ['reject_mag_x', 'reject_mag_y', 'reject_mag_z', + ['fs_bad_mag_x', 'fs_bad_mag_y', 'fs_bad_mag_z', 'reject_yaw'], ['reject_airspeed'], ['reject_sideslip'], ['reject_optflow_x', 'reject_optflow_y']], x_label='time (sec)', @@ -299,21 +304,21 @@ def create_pdf_report(ulog: ULog, multi_instance: int, output_plot_filename: str data_plot.save() data_plot.close() - # Plot the delta angle bias estimates + # Plot the gyro bias estimates data_plot = CheckFlagsPlot( - 1e-6 * estimator_states['timestamp'], estimator_states, - [['states[10]'], ['states[11]'], ['states[12]']], - x_label='time (sec)', y_labels=['X (rad)', 'Y (rad)', 'Z (rad)'], - plot_title='Delta Angle Bias Estimates', annotate=False, pdf_handle=pdf_pages) + 1e-6 * estimator_sensor_bias['timestamp'], estimator_sensor_bias, + [['gyro_bias[0]'], ['gyro_bias[1]'], ['gyro_bias[2]']], + x_label='time (sec)', y_labels=['X (rad/s)', 'Y (rad/s)', 'Z (rad/s)'], + plot_title='Gyro Bias Estimates', annotate=False, pdf_handle=pdf_pages) data_plot.save() data_plot.close() - # Plot the delta velocity bias estimates + # Plot the accel bias estimates data_plot = CheckFlagsPlot( - 1e-6 * estimator_states['timestamp'], estimator_states, - [['states[13]'], ['states[14]'], ['states[15]']], - x_label='time (sec)', y_labels=['X (m/s)', 'Y (m/s)', 'Z (m/s)'], - plot_title='Delta Velocity Bias Estimates', annotate=False, pdf_handle=pdf_pages) + 1e-6 * estimator_sensor_bias['timestamp'], estimator_sensor_bias, + [['accel_bias[0]'], ['accel_bias[1]'], ['accel_bias[2]']], + x_label='time (sec)', y_labels=['X (m/s^2)', 'Y (m/s^2)', 'Z (m/s^2)'], + plot_title='Accel Bias Estimates', annotate=False, pdf_handle=pdf_pages) data_plot.save() data_plot.close() diff --git a/Tools/filepaths/generate_config.py b/Tools/filepaths/generate_config.py new file mode 100755 index 000000000000..d4aa8b6d2625 --- /dev/null +++ b/Tools/filepaths/generate_config.py @@ -0,0 +1,61 @@ +#!/usr/bin/env python3 +""" Script to generate Serial rc.filepaths for the ROMFS startup script """ + +import argparse +import os +import sys + +try: + from jinja2 import Environment, FileSystemLoader +except ImportError as e: + print("Failed to import jinja2: " + str(e)) + print("") + print("You may need to install it using:") + print(" pip3 install --user jinja2") + print("") + sys.exit(1) + +try: + import yaml +except ImportError as e: + print("Failed to import yaml: " + str(e)) + print("") + print("You may need to install it using:") + print(" pip3 install --user pyyaml") + print("") + sys.exit(1) + +parser = argparse.ArgumentParser(description='Generate PX4 ROMFS filepaths') + +parser.add_argument('--config-files', type=str, nargs='*', default=[], + help='YAML module config file(s)') +parser.add_argument('--constrained-flash', action='store_true', + help='Reduce verbosity in ROMFS scripts to reduce flash size') +parser.add_argument('--rc-dir', type=str, action='store', + help='ROMFS output directory', default=None) +parser.add_argument('--params-file', type=str, action='store', + help='Parameter output file', default=None) +parser.add_argument('-v', '--verbose', dest='verbose', action='store_true', + help='Verbose Output') + +args = parser.parse_args() + +verbose = args.verbose +constrained_flash = args.constrained_flash +rc_filepaths_output_dir = args.rc_dir +rc_filepaths_template = 'rc.filepaths.jinja' + + +jinja_env = Environment(loader=FileSystemLoader( + os.path.dirname(os.path.realpath(__file__)))) + +# generate the ROMFS script using a jinja template +if rc_filepaths_output_dir is not None: + rc_filepath_output_file = os.path.join(rc_filepaths_output_dir, "rc.filepaths") + + if verbose: print("Generating {:}".format(rc_filepath_output_file)) + template = jinja_env.get_template(rc_filepaths_template) + with open(rc_filepath_output_file, 'w') as fid: + fid.write(template.render(constrained_flash=constrained_flash, params_file=args.params_file)) +else: + raise Exception("--rc-dir needs to be specified") diff --git a/Tools/filepaths/rc.filepaths.jinja b/Tools/filepaths/rc.filepaths.jinja new file mode 100644 index 000000000000..30a2c2cce643 --- /dev/null +++ b/Tools/filepaths/rc.filepaths.jinja @@ -0,0 +1,6 @@ +{# jinja template to generate the serial autostart script. #} + +# serial autostart script generated with generate_serial_config.py + + +set PARAM_FILE {{ params_file }} diff --git a/Tools/generate_board_targets_json.py b/Tools/generate_board_targets_json.py index 83b21e9a74b5..649b3fceefa6 100755 --- a/Tools/generate_board_targets_json.py +++ b/Tools/generate_board_targets_json.py @@ -23,11 +23,14 @@ help='Verbose Output') parser.add_argument('-p', '--pretty', dest='pretty', action='store_true', help='Pretty output instead of a single line') +parser.add_argument('-g', '--groups', dest='group', action='store_true', + help='Groups targets') args = parser.parse_args() verbose = args.verbose build_configs = [] +grouped_targets = {} excluded_boards = ['modalai_voxl2', 'px4_ros2'] # TODO: fix and enable excluded_manufacturers = ['atlflight'] excluded_platforms = ['qurt'] @@ -37,10 +40,27 @@ 'uavcanv1', # TODO: fix and enable ] +github_action_config = { 'include': build_configs } +extra_args = {} +if args.pretty: + extra_args['indent'] = 2 + +def chunks(arr, size): + # splits array into parts + for i in range(0, len(arr), size): + yield arr[i:i + size] + +def comma_targets(targets): + # turns array of targets into a comma split string + return ",".join(targets) + def process_target(px4board_file, target_name): + # reads through the board file and grabs + # useful information for building ret = None platform = None toolchain = None + group = None if px4board_file.endswith("default.px4board") or \ px4board_file.endswith("recovery.px4board") or \ @@ -61,23 +81,36 @@ def process_target(px4board_file, target_name): if platform not in excluded_platforms: # get the container based on the platform and toolchain - container = platform if platform == 'posix': - container = 'base-focal' + container = 'px4io/px4-dev-base-focal:2021-09-08' + group = 'base' if toolchain: if toolchain.startswith('aarch64'): - container = 'aarch64' + container = 'px4io/px4-dev-aarch64:2022-08-12' + group = 'aarch64' elif toolchain == 'arm-linux-gnueabihf': - container = 'armhf' + container = 'px4io/px4-dev-armhf:2023-06-26' + group = 'armhf' else: - if verbose: print(f'possibly unmatched toolchain: {toolchain}') + if verbose: print(f'unmatched toolchain: {toolchain}') elif platform == 'nuttx': - container = 'nuttx-focal' + container = 'px4io/px4-dev-nuttx-focal:2022-08-12' + group = 'nuttx' + else: + if verbose: print(f'unmatched platform: {platform}') ret = {'target': target_name, 'container': container} + if(args.group): + ret['arch'] = group return ret +# Look for board targets in the ./boards directory +if(verbose): + print("=======================") + print("= scanning for boards =") + print("=======================") + for manufacturer in os.scandir(os.path.join(source_dir, 'boards')): if not manufacturer.is_dir(): continue @@ -104,13 +137,140 @@ def process_target(px4board_file, target_name): if verbose: print(f'excluding label {label} ({target_name})') continue target = process_target(files.path, target_name) + if (args.group and target is not None): + if (target['arch'] not in grouped_targets): + grouped_targets[target['arch']] = {} + grouped_targets[target['arch']]['container'] = target['container'] + grouped_targets[target['arch']]['manufacturers'] = {} + if(manufacturer.name not in grouped_targets[target['arch']]['manufacturers']): + grouped_targets[target['arch']]['manufacturers'][manufacturer.name] = {} + grouped_targets[target['arch']]['manufacturers'][manufacturer.name] = [] + grouped_targets[target['arch']]['manufacturers'][manufacturer.name].append(target_name) if target is not None: build_configs.append(target) +if(verbose): + import pprint + print("============================") + print("= Boards found in ./boards =") + print("============================") + pprint.pp(grouped_targets) -github_action_config = { 'include': build_configs } -extra_args = {} -if args.pretty: - extra_args['indent'] = 2 -print(json.dumps(github_action_config, **extra_args)) +if (args.group): + # if we are using this script for grouping builds + # we loop trough the manufacturers list and split their targets + # if a manufacturer has more than a LIMIT of boards then we split that + # into sub groups such as "arch-manufacturer name-index" + # example: + # nuttx-px4-0 + # nuttx-px4-1 + # nuttx-px4-2 + # nuttx-ark-0 + # nuttx-ark-1 + # if the manufacturer doesn't have more targets than LIMIT then we add + # them to a generic group with the following structure "arch-index" + # example: + # nuttx-0 + # nuttx-1 + final_groups = [] + temp_group = [] + group_number = {} + last_man = '' + last_arch = '' + SPLIT_LIMIT = 10 + LOWER_LIMIT = 5 + for arch in grouped_targets: + if(last_arch == ''): + last_arch = arch + if(arch not in group_number): + group_number[arch] = 0 + + if(last_arch != arch and len(temp_group) > 0): + group_name = last_arch + "-" + str(group_number[last_arch]) + group_number[last_arch] += 1 + targets = comma_targets(temp_group) + final_groups.append({ + "container": grouped_targets[last_arch]['container'], + "targets": targets, + "arch": last_arch, + "group": group_name, + "len": len(temp_group) + }) + last_arch = arch + temp_group = [] + for man in grouped_targets[arch]['manufacturers']: + for tar in grouped_targets[arch]['manufacturers'][man]: + if(last_man != man): + man_len = len(grouped_targets[arch]['manufacturers'][man]) + if(man_len > LOWER_LIMIT and man_len < (SPLIT_LIMIT + 1)): + # Manufacturers can have their own group + group_name = arch + "-" + man + targets = comma_targets(grouped_targets[arch]['manufacturers'][man]) + last_man = man + final_groups.append({ + "container": grouped_targets[arch]['container'], + "targets": targets, + "arch": arch, + "group": group_name, + "len": len(grouped_targets[arch]['manufacturers'][man]) + }) + elif(man_len >= (SPLIT_LIMIT + 1)): + # Split big man groups into subgroups + # example: Pixhawk + chunk_limit = SPLIT_LIMIT + chunk_counter = 0 + for chunk in chunks(grouped_targets[arch]['manufacturers'][man], chunk_limit): + group_name = arch + "-" + man + "-" + str(chunk_counter) + targets = comma_targets(chunk) + last_man = man + final_groups.append({ + "container": grouped_targets[arch]['container'], + "targets": targets, + "arch": arch, + "group": group_name, + "len": len(chunk), + }) + chunk_counter += 1 + else: + temp_group.append(tar) + + if(last_arch != arch and len(temp_group) > 0): + group_name = last_arch + "-" + str(group_number[last_arch]) + group_number[last_arch] += 1 + targets = comma_targets(temp_group) + final_groups.append({ + "container": grouped_targets[last_arch]['container'], + "targets": targets, + "arch": last_arch, + "group": group_name, + "len": len(temp_group) + }) + last_arch = arch + temp_group = [] + if(len(temp_group) > (LOWER_LIMIT - 1)): + group_name = arch + "-" + str(group_number[arch]) + last_arch = arch + group_number[arch] += 1 + targets = comma_targets(temp_group) + final_groups.append({ + "container": grouped_targets[arch]['container'], + "targets": targets, + "arch": arch, + "group": group_name, + "len": len(temp_group) + }) + temp_group = [] + if(verbose): + import pprint + print("================") + print("= final_groups =") + print("================") + pprint.pp(final_groups) + + print("===============") + print("= JSON output =") + print("===============") + print(json.dumps({ "include": final_groups }, **extra_args)) +else: + print(json.dumps(github_action_config, **extra_args)) diff --git a/Tools/kconfig/allyesconfig.py b/Tools/kconfig/allyesconfig.py new file mode 100644 index 000000000000..889b659195ed --- /dev/null +++ b/Tools/kconfig/allyesconfig.py @@ -0,0 +1,126 @@ +#!/usr/bin/env python3 + +# Copyright (c) 2018-2019, Ulf Magnusson +# SPDX-License-Identifier: ISC + +""" +Writes a configuration file where as many symbols as possible are set to 'y'. + +The default output filename is '.config'. A different filename can be passed +in the KCONFIG_CONFIG environment variable. + +Usage for the Linux kernel: + + $ make [ARCH=] scriptconfig SCRIPT=Kconfiglib/allyesconfig.py +""" +import kconfiglib +import os + + +exception_list = [ + 'DRIVERS_BOOTLOADERS', # Only used for bootloader target + 'MODULES_PX4IOFIRMWARE', # Only needed for PX4IO firmware itself, maybe fix through dependencies + 'BOARD_LTO', # Experimental + 'BOARD_TESTING', # Don't build test suite + 'BOARD_CONSTRAINED_FLASH', # only used to reduce flash size + 'BOARD_NO_HELP', # only used to reduce flash size + 'BOARD_CONSTRAINED_MEMORY', # only used to reduce flash size + 'BOARD_EXTERNAL_METADATA', # only used to reduce flash size + 'BOARD_CRYPTO', # Specialized use + 'BOARD_PROTECTED', # Experimental for MPU use + 'DRIVERS_LIGHTS_RGBLED_PWM', # Only on specific boards, needs dependency fixing + 'DRIVERS_LIGHTS_NEOPIXEL', # Only on specific boards, needs dependency fixing + 'DRIVERS_DISTANCE_SENSOR_LIGHTWARE_SF45_SERIAL', # Only on specific boards, needs dependency fixing + 'PARAM_PRIMARY', # Plainly broken + 'PARAM_REMOTE', # Plainly broken + 'DRIVERS_ACTUATORS_VOXL_ESC', # Dependency need fixing, requires VOXL_ESC_DEFAULT_XXX + 'DRIVERS_VOXL2_IO', # Dependency need fixing, requires VOXL2_IO_DEFAULT_XX + 'DRIVERS_BAROMETER_TCBP001TA', # Requires hardcoded PX4_SPI_BUS_BARO mapping + 'DRIVERS_DISTANCE_SENSOR_BROADCOM_AFBRS50', # Requires hardcoded PX4_SPI_BUS_BARO mapping + 'DRIVERS_DISTANCE_SENSOR_SRF05', # Requires hardcoded GPIO_ULTRASOUND + 'DRIVERS_PPS_CAPTURE', # Requires PPS GPIO config + 'DRIVERS_PWM_INPUT', # Requires PWM config + 'DRIVERS_TEST_PPM', # PIN config not portable + 'DRIVERS_TATTU_CAN', # Broken needs fixing + 'MODULES_REPLAY', # Fails on NuttX targets maybe force POSIX dependency? + 'SYSTEMCMDS_HIST', # This module can only be used on boards that enable BOARD_ENABLE_LOG_HISTORY + 'SYSTEMCMDS_GPIO', # PIN config not portable + 'SYSTEMCMDS_SHUTDOWN', # Needs dependency checking + 'EXAMPLES_DYN_HELLO', # NuttX doesn't support dynamic linking + 'SYSTEMCMDS_DYN', # NuttX doesn't support dynamic linking + 'DRIVERS_RPI_RC_IN', # RPI specific driver + 'SYSTEMCMDS_I2C_LAUNCHER', # undefined reference to `system', + 'MODULES_MUORB_APPS', # Weird QURT/Posix package doesn't work on x86 px4 sitl + 'MODULES_SIMULATION_SIMULATOR_SIH', # Causes compile errors +] + +exception_list_sitl = [ + 'DRIVERS_BAROMETER', # Fails I2C dependencies + 'COMMON_BAROMETERS', # Fails I2C dependencies + 'DRIVERS_ADC_BOARD_ADC', # Fails HW dependencies, I think this only works on NuttX + 'DRIVERS_CAMERA_CAPTURE', # GPIO config failure + 'DRIVERS_DSHOT', # No Posix driver, I think this only works on NuttX + 'DRIVERS_PWM_OUT', # No Posix driver, I think this only works on NuttX + 'COMMON', # Fails I2C dependencies + 'DRIVERS', # Fails I2C dependencies + 'SYSTEMCMDS_REBOOT', # Sitl can't reboot + 'MODULES_BATTERY_STATUS', # Sitl doesn't provide a power brick + 'SYSTEMCMDS_SERIAL_PASSTHRU', # Not supported in SITL + 'SYSTEMCMDS_SERIAL_TEST', # Not supported in SITL + 'SYSTEMCMDS_SD_STRESS', # Not supported in SITL + 'SYSTEMCMDS_SD_BENCH', # Not supported in SITL + 'SYSTEMCMDS_I2CDETECT', # Not supported in SITL + 'SYSTEMCMDS_DMESG', # Not supported in SITL + 'SYSTEMCMDS_USB_CONNECTED', # Not supported in SITL +] + +def main(): + kconf = kconfiglib.standard_kconfig(__doc__) + + + if 'BASE_DEFCONFIG' in os.environ: + kconf.load_config(os.environ['BASE_DEFCONFIG']) + + if 'MODEL' in os.environ: + if os.environ['MODEL'] == 'sitl': + for sym in kconf.unique_defined_syms: + if sym.name.startswith(tuple(exception_list_sitl)): + exception_list.append(sym.name) + + + # See allnoconfig.py + kconf.warn = False + + # Try to set all symbols to 'y'. Dependencies might truncate the value down + # later, but this will at least give the highest possible value. + # + # Assigning 0/1/2 to non-bool/tristate symbols has no effect (int/hex + # symbols still take a string, because they preserve formatting). + for sym in kconf.unique_defined_syms: + # Set choice symbols to 'm'. This value will be ignored for choices in + # 'y' mode (the "normal" mode), which will instead just get their + # default selection, but will set all symbols in m-mode choices to 'm', + # which is as high as they can go. + # + # Here's a convoluted example of how you might get an m-mode choice + # even during allyesconfig: + # + # choice + # tristate "weird choice" + # depends on m + if sym.name not in exception_list: + sym.set_value(1 if sym.choice else 2) + + # Set all choices to the highest possible mode + for choice in kconf.unique_choices: + choice.set_value(2) + + kconf.warn = True + + kconf.load_allconfig("allyes.config") + + print(kconf.write_config()) + + +if __name__ == "__main__": + main() diff --git a/Tools/mavlink_shell.py b/Tools/mavlink_shell.py index 35c8d130ed5a..7dd3675bc1b1 100755 --- a/Tools/mavlink_shell.py +++ b/Tools/mavlink_shell.py @@ -243,4 +243,3 @@ def erase_last_n_chars(N): if __name__ == '__main__': main() - diff --git a/Tools/mavlink_ulog_streaming.py b/Tools/mavlink_ulog_streaming.py index c0ff6fe15dc3..2b21f1032741 100755 --- a/Tools/mavlink_ulog_streaming.py +++ b/Tools/mavlink_ulog_streaming.py @@ -282,4 +282,3 @@ def main(): if __name__ == '__main__': main() - diff --git a/Tools/migrate_c_params.py b/Tools/migrate_c_params.py new file mode 100755 index 000000000000..042bdfb543f9 --- /dev/null +++ b/Tools/migrate_c_params.py @@ -0,0 +1,450 @@ +#!/usr/bin/python3 + +""" +Migrate c parameter definitions to yaml module definitions. + +This script is used to transition legacy c parameter definitions to +yaml module definitions. It parses each specified legacy c file +and produces a corresponding yaml definition in the same directory. +For modules with multiple parameter c files and/or existing module.yaml files, +the resulting list of yaml files must be merged separately, either manually +or with a tool like yq4: + + yq eval-all '. as $item ireduce ({}; . *+ $item)' *.yaml + +The legacy files and temporary yaml files can then be manually deleted +and the CMakeLists.txt updated after proofreading. +""" + +import argparse +import ast +import sys +import re +import math +import logging +import os +from dataclasses import dataclass, field +from typing import Any + +import yaml + +global default_var +default_var = {} + +@dataclass +class Parameter: + """ + Single parameter + """ + + name: str + type: str + fields: dict[str, str] = field(init=False, default_factory=dict) + default: str = "" + category: str = "" + enum: dict[str, str] = field(init=False, default_factory=dict) + bitmask: dict[int, str] = field(init=False, default_factory=dict) + volatile: bool = False + boolean: bool = False + + def __lt__(self, other): + return self.name < other.name + +@dataclass +class ParameterGroup: + """ + Single parameter group + """ + + name: str + parameters: list[Parameter] = field(init=False, default_factory=list) + no_code_generation: bool = False + + +class SourceParser: + """ + Parses provided data and stores all found parameters internally. + """ + + re_split_lines = re.compile(r'[\r\n]+') + re_comment_start = re.compile(r'^\/\*\*') + re_comment_content = re.compile(r'^\*\s*(.*)') + re_comment_tag = re.compile(r'@([a-zA-Z][a-zA-Z0-9_]*)\s*(.*)') + re_comment_end = re.compile(r'(.*?)\s*\*\/') + re_parameter_definition = re.compile(r'PARAM_DEFINE_([A-Z_][A-Z0-9_]*)\s*\(([A-Z_][A-Z0-9_]*)\s*,\s*([^ ,\)]+)\s*\)\s*;') + re_px4_parameter_definition = re.compile(r'PX4_PARAM_DEFINE_([A-Z_][A-Z0-9_]*)\s*\(([A-Z_][A-Z0-9_]*)\s*\)\s*;') + re_px4_param_default_definition = re.compile(r'#define\s*PARAM_([A-Z_][A-Z0-9_]*)\s*([^ ,\)]+)\s*') + re_cut_type_specifier = re.compile(r'[a-z]+$') + re_is_a_number = re.compile(r'^-?[0-9\.]') + re_remove_dots = re.compile(r'\.+$') + re_remove_carriage_return = re.compile('\n+') + + valid_tags = set(["group", "board", "min", "max", "unit", "decimal", + "increment", "reboot_required", "value", "boolean", + "bit", "category", "volatile"]) + + # Order of parameter groups + priority = { + # All other groups = 0 (sort alphabetically) + "Miscellaneous": -10 + } + + def __init__(self): + self.param_groups = {} + + def parse(self, contents): + """ + Incrementally parse program contents and append all found parameters + to the list. + """ + # This code is essentially a comment-parsing grammar. "state" + # represents parser state. It contains human-readable state + # names. + state = None + for line in self.re_split_lines.split(contents): + line = line.strip() + # Ignore empty lines + if line == "": + continue + if self.re_comment_start.match(line): + state = "wait-short" + short_desc = None + long_desc = None + tags = {} + def_values = {} + def_bitmask = {} + elif state is not None and state != "comment-processed": + m = self.re_comment_end.search(line) + if m: + line = m.group(1) + last_comment_line = True + else: + last_comment_line = False + m = self.re_comment_content.match(line) + if m: + comment_content = m.group(1) + if comment_content == "": + # When short comment ends with empty comment line, + # start waiting for the next part - long comment. + if state == "wait-short-end": + state = "wait-long" + else: + m = self.re_comment_tag.match(comment_content) + if m: + tag, desc = m.group(1, 2) + if (tag == "value"): + # Take the meta info string and split + # the code and description + metainfo = desc.split(" ", 1) + def_values[metainfo[0]] = metainfo[1] + elif (tag == "bit"): + # Take the meta info string and split + # the code and description + metainfo = desc.split(" ", 1) + def_bitmask[metainfo[0]] = metainfo[1] + else: + tags[tag] = desc + current_tag = tag + state = "wait-tag-end" + elif state == "wait-short": + # Store first line of the short description + short_desc = comment_content + state = "wait-short-end" + elif state == "wait-short-end": + # Append comment line to the short description + short_desc += "\n" + comment_content + elif state == "wait-long": + # Store first line of the long description + long_desc = comment_content + state = "wait-long-end" + elif state == "wait-long-end": + # Append comment line to the long description + long_desc += "\n" + comment_content + elif state == "wait-tag-end": + # Append comment line to the tag text + tags[current_tag] += "\n" + comment_content + else: + raise AssertionError( + "Invalid parser state: %s" % state) + elif not last_comment_line: + # Invalid comment line (inside comment, but not + # startin with "*" or "*/". Reset parsed content. + state = None + if last_comment_line: + state = "comment-processed" + else: + tp = None + name = None + defval = "" + # Non-empty line outside the comment + m = self.re_px4_param_default_definition.match(line) + # Default value handling + if m: + name_m, defval_m = m.group(1, 2) + default_var[name_m] = defval_m + m = self.re_parameter_definition.match(line) + if m: + tp, name, defval = m.group(1, 2, 3) + else: + m = self.re_px4_parameter_definition.match(line) + if m: + tp, name = m.group(1, 2) + if (name+'_DEFAULT') in default_var: + defval = default_var[name+'_DEFAULT'] + if tp is not None: + # Remove trailing type specifier from numbers: 0.1f => 0.1 + if defval != "" and self.re_is_a_number.match(defval): + defval = self.re_cut_type_specifier.sub('', defval) + param = Parameter(name=name, type=tp, default=defval) + param.fields["short_desc"] = name + # If comment was found before the parameter declaration, + # inject its data into the newly created parameter. + group = "Miscellaneous" + if state == "comment-processed": + if short_desc is not None: + if '\n' in short_desc: + raise Exception('short description must be a single line (parameter: {:})'.format(name)) + if len(short_desc) > 150: + raise Exception('short description too long (150 max, is {:}, parameter: {:})'.format(len(short_desc), name)) + param.fields["short_desc"] = self.re_remove_dots.sub('', short_desc) + if long_desc is not None: + long_desc = self.re_remove_carriage_return.sub(' ', long_desc) + param.fields["long_desc"] = long_desc + for tag in tags: + if tag == "group": + group = tags[tag] + elif tag == "volatile": + param.volatile = True + elif tag == "category": + param.category = tags[tag] + elif tag == "boolean": + param.boolean = True + elif tag not in self.valid_tags: + sys.stderr.write("Skipping invalid documentation tag: '%s'\n" % tag) + return False + else: + param.fields[tag] = tags[tag] + for def_value in def_values: + param.enum[def_value] = def_values[def_value] + for def_bit in def_bitmask: + param.bitmask[def_bit] = def_bitmask[def_bit] + # Store the parameter + if group not in self.param_groups: + self.param_groups[group] = ParameterGroup(group) + self.param_groups[group].parameters.append(param) + state = None + return True + + def validate(self): + """ + Validates the parameter meta data. + """ + seenParamNames = [] + + for group in self.parameter_groups: + for param in sorted(group.parameters): + name = param.name + if len(name) > 16: + sys.stderr.write("Parameter Name {0} is too long (Limit is 16)\n".format(name)) + return False + board = param.fields.get("board", "") + # Check for duplicates + name_plus_board = name + "+" + board + for seenParamName in seenParamNames: + if seenParamName == name_plus_board: + sys.stderr.write("Duplicate parameter definition: {0}\n".format(name_plus_board)) + return False + seenParamNames.append(name_plus_board) + # Validate values + default = param.default + min = param.fields.get("min", "") + max = param.fields.get("max", "") + units = param.fields.get("unit", "") + if default != "" and not self.is_number(default): + sys.stderr.write("Default value not number: {0} {1}\n".format(name, default)) + return False + if min != "": + if not self.is_number(default): + sys.stderr.write("Min value not number: {0} {1}\n".format(name, min)) + return False + if default != "" and float(default) < float(min): + sys.stderr.write("Default value is smaller than min: {0} default:{1} min:{2}\n".format(name, default, min)) + return False + if max != "": + if not self.is_number(max): + sys.stderr.write("Max value not number: {0} {1}\n".format(name, max)) + return False + if default != "" and float(default) > float(max): + sys.stderr.write("Default value is larger than max: {0} default:{1} max:{2}\n".format(name, default, max)) + return False + for code in sorted(param.enum, key=float): + if not self.is_number(code): + sys.stderr.write("Min value not number: {0} {1}\n".format(name, code)) + return False + if param.enum.get(code, "") == "": + sys.stderr.write("Description for enum value is empty: {0} {1}\n".format(name, code)) + return False + for index in sorted(param.bitmask.keys(), key=float): + if not self.is_number(index): + sys.stderr.write("bit value not number: {0} {1}\n".format(name, index)) + return False + if not int(min) <= math.pow(2, int(index)) <= int(max): + sys.stderr.write("Bitmask bit must be between {0} and {1}: {2} {3}\n".format(min, max, name, math.pow(2, int(index)))) + return False + if param.bitmask.get(index, "") == "": + sys.stderr.write("Description for bitmask bit is empty: {0} {1}\n".format(name, index)) + return False + return True + + def is_number(self, num): + try: + float(num) + return True + except ValueError: + return False + + @property + def parameter_groups(self) -> list[ParameterGroup]: + """ + Returns the parsed list of parameters. Every parameter is a Parameter + object. Note that returned object is not a copy. Modifications affect + state of the parser. + """ + groups = self.param_groups.values() + groups = sorted(groups, key=lambda x: x.name) + groups = sorted(groups, key=lambda x: self.priority.get(x.name, 0), + reverse=True) + + return groups + + +def parse(filename: str) -> list[ParameterGroup]: + with open(filename) as f: + cdata = f.read() + + parser = SourceParser() + if not parser.parse(cdata): + logging.error(f"Error parsing c parameter file {filename}") + sys.exit(1) + if not parser.validate(): + logging.error(f"Error while validating c parameter file {filename}") + sys.exit(1) + + return parser.parameter_groups + + +def cast(val: str) -> Any: + if val == "true": + return True + elif val == "false": + return False + try: + return ast.literal_eval(val) + except ValueError: + return val + + +def generate_yaml(filename: str, groups: list[ParameterGroup]) -> str: + data = dict() + + module_name = os.path.dirname(os.path.realpath(filename)).split(os.sep)[-1] + + data["module_name"] = module_name + data["parameters"] = list() + + for group in groups: + g = dict() + g["group"] = group.name + g["definitions"] = dict() + + for parameter in group.parameters: + p = dict() + + p["description"] = dict() + p["description"]["short"] = parameter.fields["short_desc"] + del parameter.fields["short_desc"] + if "long_desc" in parameter.fields: + p["description"]["long"] = parameter.fields["long_desc"] + del parameter.fields["long_desc"] + + if parameter.category != "": + p["category"] = parameter.category.title() + # the enum check has to happen first + # since some parameters are both boolean and enum at the same time + # (even with more than 0 and 1 as options for some reason) so let's assume + # they are enums not booleans + if len(parameter.enum) > 0: + p["type"] = "enum" + p["values"] = dict() + for key, val in parameter.enum.items(): + try: + p["values"][int(key)] = val + except ValueError: + p["values"][float(key)] = val + p["type"] = "float" + elif parameter.boolean: + p["type"] = "boolean" + elif len(parameter.bitmask) > 0: + p["type"] = "bitmask" + p["bit"] = dict() + for key, val in parameter.bitmask.items(): + p["bit"][int(key)] = val.strip() + elif parameter.type == "FLOAT": + p["type"] = "float" + else: + p["type"] = "int32" + p["default"] = cast(parameter.default) + + if parameter.volatile: + p["volatile"] = bool(parameter.volatile) + + for key, val in parameter.fields.items(): + try: + p[key] = cast(val) + except SyntaxError: + p[key] = val + + g["definitions"][parameter.name] = p + data["parameters"].append(g) + + return yaml.dump(data, sort_keys=False) + + +def main(): + parser = argparse.ArgumentParser(description="Migrate legacy c parameter definitions to yaml") + parser.add_argument('input_file', nargs='+', help='input file(s)') + parser.add_argument('--update-cmake', action=argparse.BooleanOptionalAction) + args = parser.parse_args() + + input_files = args.input_file + update_cmake = args.update_cmake + + logging.basicConfig(level=logging.INFO) + + for filename in input_files: + logging.info(f"Migrating c parameter file {filename}") + + parameter_groups = parse(filename) + output = generate_yaml(filename, parameter_groups) + + dirname, fname = os.path.split(os.path.realpath(filename)) + fname = fname.split(".")[0] + with open(os.path.join(dirname, f"module_{fname}.yaml"), "w") as f: + f.write(output) + if update_cmake: + with open(os.path.join(dirname, "CMakeLists.txt"), "r+") as f: + content = f.read() + if "MODULE_CONFIG" not in content: + try: + index = content.index("DEPENDS") + except ValueError: + index = content.index("px4_add_module") + index += content[index:].index(")") + content = content[:index] + "MODULE_CONFIG\n\t\tmodule.yaml\n\t" + content[index:] + f.seek(0) + f.write(content) + f.truncate() + + +if __name__ == "__main__": + main() diff --git a/Tools/models/sdp3x_pitot_model.py b/Tools/models/sdp3x_pitot_model.py index 44c013fdc88d..864823d6634d 100644 --- a/Tools/models/sdp3x_pitot_model.py +++ b/Tools/models/sdp3x_pitot_model.py @@ -107,4 +107,4 @@ ##plt.plot(airspeed_corrected,(airspeed_corrected-airspeed_raw)/airspeed_corrected) ##plt.xlabel('airspeed [m/s]') ##plt.ylabel('relative error [-]') -##plt.show() \ No newline at end of file +##plt.show() diff --git a/Tools/module_config/output_groups_from_timer_config.py b/Tools/module_config/output_groups_from_timer_config.py index 561c71fd8473..8a932ec9dea7 100755 --- a/Tools/module_config/output_groups_from_timer_config.py +++ b/Tools/module_config/output_groups_from_timer_config.py @@ -34,33 +34,41 @@ def extract_timer(line): if search: return search.group(1), 'generic' - # nxp rt1062 format: initIOPWM(PWM::FlexPWM2), - search = re.search('PWM::Flex([0-9a-zA-Z_]+)[,\)]', line, re.IGNORECASE) + # NXP FlexPWM format format: initIOPWM(PWM::FlexPWM2), + search = re.search('PWM::Flex([0-9a-zA-Z_]+)..PWM::Submodule([0-9])[,\)]', line, re.IGNORECASE) if search: - return search.group(1), 'imxrt' + return (search.group(1) + '_' + search.group(2)), 'imxrt' return None, 'unknown' -def extract_timer_from_channel(line, num_channels_already_found): +def extract_timer_from_channel(line, timer_names): # Try format: initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel1}, {GPIO::PortA, GPIO::Pin0}), search = re.search('Timer::([0-9a-zA-Z_]+), ', line, re.IGNORECASE) if search: return search.group(1) - # nxp rt1062 format: initIOTimerChannel(io_timers, {PWM::PWM2_PWM_A, PWM::Submodule0}, IOMUX::Pad::GPIO_B0_06), - search = re.search('PWM::(PWM[0-9]+)[_,\)]', line, re.IGNORECASE) + # NXP FlexPWM format: initIOTimerChannel(io_timers, {PWM::PWM2_PWM_A, PWM::Submodule0}, IOMUX::Pad::GPIO_B0_06), + search = re.search('PWM::(PWM[0-9]+).*PWM::Submodule([0-9])', line, re.IGNORECASE) if search: - # imxrt uses a 1:1 timer group to channel association - return str(num_channels_already_found) + return str(timer_names.index((search.group(1) + '_' + search.group(2)))) return None +def imxrt_is_dshot(line): + + # NXP FlexPWM format format: initIOPWM(PWM::FlexPWM2), + search = re.search('(initIOPWMDshot)', line, re.IGNORECASE) + if search: + return True + + return False + def get_timer_groups(timer_config_file, verbose=False): with open(timer_config_file, 'r') as f: timer_config = f.read() # timers - dshot_support = {} # key: timer + dshot_support = {str(i): False for i in range(16)} timers_start_marker = 'io_timers_t io_timers' timers_start = timer_config.find(timers_start_marker) if timers_start == -1: @@ -69,6 +77,7 @@ def get_timer_groups(timer_config_file, verbose=False): open_idx, close_idx = find_matching_brackets(('{', '}'), timer_config, verbose) timers_str = timer_config[open_idx:close_idx] timers = [] + timer_names = [] for line in timers_str.splitlines(): line = line.strip() if len(line) == 0 or line.startswith('//'): @@ -77,12 +86,11 @@ def get_timer_groups(timer_config_file, verbose=False): if timer_type == 'imxrt': if verbose: print('imxrt timer found') - max_num_channels = 16 # Just add a fixed number of timers - timers = [str(i) for i in range(max_num_channels)] - dshot_support = {str(i): False for i in range(max_num_channels)} - break - - if timer: + timer_names.append(timer) + if imxrt_is_dshot(line): + dshot_support[str(len(timers))] = True + timers.append(str(len(timers))) + elif timer: if verbose: print('found timer def: {:}'.format(timer)) dshot_support[timer] = 'DMA' in line timers.append(timer) @@ -109,7 +117,7 @@ def get_timer_groups(timer_config_file, verbose=False): continue if verbose: print('--'+line+'--') - timer = extract_timer_from_channel(line, len(channel_timers)) + timer = extract_timer_from_channel(line, timer_names) if timer: if verbose: print('Found timer: {:} in channel line {:}'.format(timer, line)) diff --git a/Tools/msg/generate_msg_docs.py b/Tools/msg/generate_msg_docs.py index 81a998fbf393..a44a317b5279 100755 --- a/Tools/msg/generate_msg_docs.py +++ b/Tools/msg/generate_msg_docs.py @@ -81,15 +81,15 @@ def get_msgs_list(msgdir): with open(output_file, 'w') as content_file: content_file.write(markdown_output) - readme_markdown_file_link='- [%s](%s.md)' % (msg_name,msg_name) + index_markdown_file_link='- [%s](%s.md)' % (msg_name,msg_name) if summary_description: - readme_markdown_file_link+=" — %s" % summary_description - filelist_in_markdown+=readme_markdown_file_link+"\n" + index_markdown_file_link+=" — %s" % summary_description + filelist_in_markdown+=index_markdown_file_link+"\n" - # Write out the README.md file - readme_text="""# uORB Message Reference + # Write out the index.md file + index_text="""# uORB Message Reference -:::note +::: info This list is [auto-generated](https://github.com/PX4/PX4-Autopilot/blob/main/Tools/msg/generate_msg_docs.py) from the source code. ::: @@ -98,6 +98,6 @@ def get_msgs_list(msgdir): %s """ % (filelist_in_markdown) - readme_file = os.path.join(output_dir, 'README.md') - with open(readme_file, 'w') as content_file: - content_file.write(readme_text) + index_file = os.path.join(output_dir, 'index.md') + with open(index_file, 'w') as content_file: + content_file.write(index_text) diff --git a/Tools/msg/px_generate_uorb_compressed_fields.py b/Tools/msg/px_generate_uorb_compressed_fields.py new file mode 100755 index 000000000000..f654eef440d0 --- /dev/null +++ b/Tools/msg/px_generate_uorb_compressed_fields.py @@ -0,0 +1,235 @@ +#!/usr/bin/env python3 +############################################################################# +# +# Copyright (C) 2023 PX4 Pro Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################# + +""" +Generates cpp source + header files with compressed uorb topic fields from json files +""" + +import argparse +import json +import struct +from operator import itemgetter +import sys +import os + +sys.path.append(os.path.join(os.path.dirname(os.path.realpath(__file__)), '../../src/lib/heatshrink')) +import heatshrink_encode + + +def parse_json_files(json_files: [str]) -> dict: + """Read list of json files into a dict""" + definitions = {} + for json_file in json_files: + with open(json_file, encoding='utf-8') as file_handle: + definition = json.load(file_handle) + assert definition['name'] not in definitions + definitions[definition['name']] = definition + definitions[definition['name']]['completed'] = False + + return definitions + + +def get_ordered_list_by_dependency(name: str, definitions: dict) -> [str]: + """Iterate dependency graph and create an ordered list""" + if definitions[name]['completed']: + return [] + ret = [] + # Get nested types first (DFS) + for dependency in definitions[name]['dependencies']: + ret.extend(get_ordered_list_by_dependency(dependency, definitions)) + + ret.append(name) + definitions[name]['completed'] = True + return ret + + +def get_field_definitions(names: [str], definitions: dict) -> (bytes, [str]): + """Get byte array with all definitions""" + ret = bytes() + formats_list = [] + + for name in names: + # Format as '<# orb_ids><# orb_ids dependencies' + assert len(definitions[name]['orb_ids']) < 255 + assert len(definitions[name]['dependencies']) < 255 + ret += struct.pack(' orb_id >= 0 + ret += struct.pack(' + +namespace uORB { + +static const uint8_t compressed_fields[] = { + {FIELDS} +}; + +const uint8_t* orb_compressed_message_formats() +{ + return compressed_fields; +} +unsigned orb_compressed_message_formats_size() +{ + return sizeof(compressed_fields) / sizeof(compressed_fields[0]); +} + +} // namespace uORB +'''.replace('{FIELDS}', fields_str)) + + +def c_encode(s, encoding='ascii'): + result = '' + for c in s: + if not (32 <= ord(c) < 127) or c in ('\\', '"'): + result += '\\%03o' % ord(c) + else: + result += c + return '"' + result + '"' + + +def write_fields_to_hpp_file(file_name: str, definitions: dict, window_length: int, lookahead_length: int, + format_list: [str]): + max_tokenized_field_length, max_tokenized_field_length_msg = max( + ((len(definitions[k]['fields']), k) for k in definitions), key=itemgetter(0)) + max_untokenized_field_length = max(definitions[k]['fields_total_length'] for k in definitions) + max_num_orb_ids = max(len(definitions[k]['orb_ids']) for k in definitions) + max_num_orb_id_dependencies = max(len(definitions[k]['dependencies']) for k in definitions) + + with open(file_name, 'w') as file_handle: + file_handle.write(''' +// Auto-generated from px4_generate_uorb_compressed_fields.py +#include + +namespace uORB { + + /** + * Get compressed string of all uorb message format definitions + */ +const uint8_t* orb_compressed_message_formats(); + +/** + * Get length of compressed message format definitions + */ +unsigned orb_compressed_message_formats_size(); + +static constexpr unsigned orb_tokenized_fields_max_length = {MAX_TOKENIZED_FIELD_LENGTH}; // {MAX_TOKENIZED_FIELD_LENGTH_MSG} +static constexpr unsigned orb_untokenized_fields_max_length = {MAX_UNTOKENIZED_FIELD_LENGTH}; +static constexpr unsigned orb_compressed_max_num_orb_ids = {MAX_NUM_ORB_IDS}; +static constexpr unsigned orb_compressed_max_num_orb_id_dependencies = {MAX_NUM_ORB_ID_DEPENDENCIES}; + +static constexpr unsigned orb_compressed_heatshrink_window_length = {WINDOW_LENGTH}; +static constexpr unsigned orb_compressed_heatshrink_lookahead_length = {LOOKAHEAD_LENGTH}; + +#define ORB_DECOMPRESSED_MESSAGE_FIELDS {{DECOMPRESSED_MESSAGE_FIELDS}} + +} // namespace uORB +''' + .replace('{MAX_TOKENIZED_FIELD_LENGTH}', str(max_tokenized_field_length)) + .replace('{MAX_TOKENIZED_FIELD_LENGTH_MSG}', max_tokenized_field_length_msg) + .replace('{MAX_UNTOKENIZED_FIELD_LENGTH}', str(max_untokenized_field_length)) + .replace('{MAX_NUM_ORB_IDS}', str(max_num_orb_ids)) + .replace('{MAX_NUM_ORB_ID_DEPENDENCIES}', str(max_num_orb_id_dependencies)) + .replace('{WINDOW_LENGTH}', str(window_length)) + .replace('{LOOKAHEAD_LENGTH}', str(lookahead_length)) + .replace('{DECOMPRESSED_MESSAGE_FIELDS}', ','.join(c_encode(x) for x in format_list)) + ) + + +def main(): + parser = argparse.ArgumentParser(description='Generate compressed uorb topic fields') + parser.add_argument('-f', dest='file', + help="json input files", + nargs="+") + parser.add_argument('--source-output-file', dest='output_cpp', + help='cpp output file to generate') + parser.add_argument('--header-output-file', dest='output_hpp', + help='hpp output file to generate') + parser.add_argument('-v', '--verbose', + action='store_true', + help="verbose output") + args = parser.parse_args() + + if args.file is not None: + definitions = parse_json_files(args.file) + + # Get array of all field definitions + names = [] + for definition in definitions: + names.extend(get_ordered_list_by_dependency(definitions[definition]['name'], definitions)) + names.reverse() # Dependent definitions must be after + assert len(names) == len(definitions) + for definition in definitions: # sanity check + assert definitions[definition]['completed'] + field_definitions, format_list = get_field_definitions(names, definitions) + + # Compress + window_size = 8 # Larger value = better compression; memory requirement (for decompression): 2 ^ window_size + lookahead = 4 + compressed_field_definitions = heatshrink_encode.encode(field_definitions, window_size, lookahead) + + if args.verbose: + print( + f'Field definitions: size: {len(field_definitions)}, reduction from compression: {len(field_definitions) - len(compressed_field_definitions)}') + + # Write cpp & hpp file + write_fields_to_cpp_file(args.output_cpp, compressed_field_definitions) + write_fields_to_hpp_file(args.output_hpp, definitions, window_size, lookahead, format_list) + + +if __name__ == "__main__": + main() diff --git a/Tools/msg/px_generate_uorb_topic_files.py b/Tools/msg/px_generate_uorb_topic_files.py index 4a26cbf10a01..dad0b3045182 100755 --- a/Tools/msg/px_generate_uorb_topic_files.py +++ b/Tools/msg/px_generate_uorb_topic_files.py @@ -70,9 +70,8 @@ __email__ = "thomasgubler@gmail.com" -TEMPLATE_FILE = ['msg.h.em', 'msg.cpp.em'] -TOPICS_LIST_TEMPLATE_FILE = ['uORBTopics.hpp.em', 'uORBTopics.cpp.em'] -OUTPUT_FILE_EXT = ['.h', '.cpp'] +TEMPLATE_FILE = ['msg.h.em', 'msg.cpp.em', 'uorb_idl_header.h.em', 'msg.json.em'] +TOPICS_LIST_TEMPLATE_FILE = ['uORBTopics.hpp.em', 'uORBTopics.cpp.em', None, None] INCL_DEFAULT = ['std_msgs:./msg/std_msgs'] PACKAGE = 'px4' TOPICS_TOKEN = '# TOPICS ' @@ -105,7 +104,7 @@ def get_topics(filename): return result -def generate_output_from_file(format_idx, filename, outputdir, package, templatedir, includepath): +def generate_output_from_file(format_idx, filename, outputdir, package, templatedir, includepath, all_topics): """ Converts a single .msg file to an uorb header/source file """ @@ -150,10 +149,12 @@ def generate_output_from_file(format_idx, filename, outputdir, package, template em_globals = { "name_snake_case": full_type_name_snake, "file_name_in": filename, + "file_base_name": file_base_name, "search_path": search_path, "msg_context": msg_context, "spec": spec, "topics": topics, + "all_topics": all_topics, } # Make sure output directory exists: @@ -161,7 +162,11 @@ def generate_output_from_file(format_idx, filename, outputdir, package, template os.makedirs(outputdir) template_file = os.path.join(templatedir, TEMPLATE_FILE[format_idx]) - output_file = os.path.join(outputdir, full_type_name_snake + OUTPUT_FILE_EXT[format_idx]) + extension = os.path.splitext(os.path.splitext(TEMPLATE_FILE[format_idx])[0])[1] + if format_idx == 2: + output_file = os.path.join(outputdir, file_base_name + extension) + else: + output_file = os.path.join(outputdir, full_type_name_snake + extension) return generate_by_template(output_file, template_file, em_globals) @@ -191,17 +196,13 @@ def generate_by_template(output_file, template_file, em_globals): return True -def generate_topics_list_file_from_files(files, outputdir, template_filename, templatedir): +def generate_topics_list_file_from_files(files, outputdir, template_filename, templatedir, all_topics): # generate cpp file with topics list filenames = [] for filename in [os.path.basename(p) for p in files if os.path.basename(p).endswith(".msg")]: filenames.append(re.sub(r'(?= 0: + type_name = type_name[sl_pos + 1:] + + all_fields_str += type_name + ' ' + field.name + '\n' + + if sl_pos >= 0: # nested type, add all nested fields + children_fields = get_children_fields(field.base_type, search_path) + all_fields_str += get_message_fields_str_for_message_hash(children_fields, search_path) + + return all_fields_str + + +def hash_32_fnv1a(data: str): + hash_val = 0x811c9dc5 + prime = 0x1000193 + for i in range(len(data)): + value = ord(data[i]) + hash_val = hash_val ^ value + hash_val *= prime + hash_val &= 0xffffffff + return hash_val + + +def get_message_hash(msg_fields, search_path): + """ + Get a 32 bit message hash over all fields + """ + all_fields_str = get_message_fields_str_for_message_hash(msg_fields, search_path) + return hash_32_fnv1a(all_fields_str) + + def add_padding_bytes(fields, search_path): """ Add padding fields before the embedded types, at the end and calculate the diff --git a/Tools/msg/templates/cdrstream/uorb_idl_header.h.em b/Tools/msg/templates/cdrstream/uorb_idl_header.h.em new file mode 100644 index 000000000000..4ad097a54cf7 --- /dev/null +++ b/Tools/msg/templates/cdrstream/uorb_idl_header.h.em @@ -0,0 +1,65 @@ +@{ +import genmsg.msgs +import re + +from px_generate_uorb_topic_helper import * # this is in Tools/ + +uorb_struct = '%s_s'%name_snake_case +uorb_struct_upper = name_snake_case.upper() +}@ + +/**************************************************************** + + PX4 Cyclone DDS IDL to C Translator compatible idl struct + Source: @file_name_in + Compatible with Cyclone DDS: V0.11.0 + +*****************************************************************/ +#ifndef DDSC_IDL_UORB_@(uorb_struct_upper)_H +#define DDSC_IDL_UORB_@(uorb_struct_upper)_H + +#include "dds/ddsc/dds_public_impl.h" +#include "dds/cdr/dds_cdrstream.h" +#include + +@############################## +@# Includes for dependencies +@############################## +@{ +for field in spec.parsed_fields(): + if (not field.is_builtin): + if (not field.is_header): + (package, name) = genmsg.names.package_resource_name(field.base_type) + package = package or spec.package # convert '' to package + + print('#include "%s.h"'%(name)) + name = re.sub(r'(?'%(name)) +}@ + + +#ifdef __cplusplus +extern "C" { +#endif + +@{ +for field in spec.parsed_fields(): + if (not field.is_builtin): + if (not field.is_header): + (package, name) = genmsg.names.package_resource_name(field.base_type) + package = package or spec.package # convert '' to package + + print('typedef px4_msg_%s px4_msg_px4__msg__%s;' % (name,name)) +}@ + + + +typedef struct @uorb_struct px4_msg_@(file_base_name); + +extern const struct dds_cdrstream_desc px4_msg_@(file_base_name)_cdrstream_desc; + +#ifdef __cplusplus +} +#endif + +#endif /* DDSC_IDL_UORB_@(uorb_struct_upper)_H */ diff --git a/Tools/msg/templates/ucdr/msg.h.em b/Tools/msg/templates/ucdr/msg.h.em index 5f68b9256e3c..b7d134745885 100644 --- a/Tools/msg/templates/ucdr/msg.h.em +++ b/Tools/msg/templates/ucdr/msg.h.em @@ -124,8 +124,9 @@ static inline constexpr int ucdr_topic_size_@(topic)() return @(struct_size); } -bool ucdr_serialize_@(topic)(const @(uorb_struct)& topic, ucdrBuffer& buf, int64_t time_offset = 0) +static inline bool ucdr_serialize_@(topic)(const void* data, ucdrBuffer& buf, int64_t time_offset = 0) { + const @(uorb_struct)& topic = *static_cast(data); @{ for field_type, field_name, field_size, padding in fields: if padding > 0: @@ -152,7 +153,7 @@ for field_type, field_name, field_size, padding in fields: return true; } -bool ucdr_deserialize_@(topic)(ucdrBuffer& buf, @(uorb_struct)& topic, int64_t time_offset = 0) +static inline bool ucdr_deserialize_@(topic)(ucdrBuffer& buf, @(uorb_struct)& topic, int64_t time_offset = 0) { @{ for field_type, field_name, field_size, padding in fields: diff --git a/Tools/msg/templates/uorb/msg.cpp.em b/Tools/msg/templates/uorb/msg.cpp.em index e613d9511fcc..4ffe4c38d14c 100644 --- a/Tools/msg/templates/uorb/msg.cpp.em +++ b/Tools/msg/templates/uorb/msg.cpp.em @@ -14,6 +14,7 @@ @# - spec (msggen.MsgSpec) Parsed specification of the .msg file @# - search_path (dict) search paths for genmsg @# - topics (List of String) topic names +@# - all_topics (List of String) all generated topic names (sorted) @############################################### /**************************************************************************** * @@ -57,9 +58,9 @@ from px_generate_uorb_topic_helper import * # this is in Tools/ uorb_struct = '%s_s'%name_snake_case +message_hash = get_message_hash(spec.parsed_fields(), search_path) sorted_fields = sorted(spec.parsed_fields(), key=sizeof_field_type, reverse=True) struct_size, padding_end_size = add_padding_bytes(sorted_fields, search_path) -topic_fields = ["%s %s" % (convert_type(field.type, True), field.name) for field in sorted_fields] }@ #include @@ -72,12 +73,16 @@ topic_fields = ["%s %s" % (convert_type(field.type, True), field.name) for field #include #include -@# join all msg files in one line e.g: "float[3] position;float[3] velocity;bool armed" -@# This is used for the logger -constexpr char __orb_@(name_snake_case)_fields[] = "@( ";".join(topic_fields) );"; +@{ +queue_length = 1 +for constant in spec.constants: + if constant.name == 'ORB_QUEUE_LENGTH': + queue_length = constant.val +}@ @[for topic in topics]@ -ORB_DEFINE(@topic, struct @uorb_struct, @(struct_size-padding_end_size), __orb_@(name_snake_case)_fields, static_cast(ORB_ID::@topic)); +static_assert(static_cast(ORB_ID::@topic) == @(all_topics.index(topic)), "ORB_ID index mismatch"); +ORB_DEFINE(@topic, struct @uorb_struct, @(struct_size-padding_end_size), @(message_hash)u, static_cast(ORB_ID::@topic), @queue_length); @[end for] void print_message(const orb_metadata *meta, const @uorb_struct& message) diff --git a/Tools/msg/templates/uorb/msg.json.em b/Tools/msg/templates/uorb/msg.json.em new file mode 100644 index 000000000000..81d6bbbc4f58 --- /dev/null +++ b/Tools/msg/templates/uorb/msg.json.em @@ -0,0 +1,50 @@ +@############################################### +@# +@# PX4 ROS compatible message source code +@# generation for C++ +@# +@# EmPy template for generating .h files +@# Based on the original template for ROS +@# +@############################################### +@# Start of Template +@# +@# Context: +@# - file_name_in (String) Source file +@# - spec (msggen.MsgSpec) Parsed specification of the .msg file +@# - search_path (dict) search paths for genmsg +@# - topics (List of String) topic names +@# - all_topics (List of String) all generated topic names (sorted) +@############################################### + +@{ +import genmsg.msgs +import json + +from px_generate_uorb_topic_helper import * # this is in Tools/ + +uorb_struct = '%s_s'%name_snake_case + +sorted_fields = sorted(spec.parsed_fields(), key=sizeof_field_type, reverse=True) +struct_size, padding_end_size = add_padding_bytes(sorted_fields, search_path) +topic_fields = ["%s %s" % (convert_type(field.type, True), field.name) for field in sorted_fields] + +dependencies = [] +for field in spec.parsed_fields(): + if not field.is_header: + type_name = field.type + # detect embedded types + sl_pos = type_name.find('/') + if sl_pos >= 0: # nested type + dependencies.append(field.base_type) +}@ + +{ +@# join all msg files in one line e.g: "float[3] position;float[3] velocity;bool armed;" + "fields": @( json.dumps(bytearray(";".join(topic_fields)+";", 'utf-8').decode('unicode_escape')) ), + "fields_total_length": @(sum([len(convert_type(field.type))+1+len(field.name)+1 for field in sorted_fields])), + "orb_ids": @( json.dumps([ all_topics.index(topic) for topic in topics]) ), + "main_orb_id": @( all_topics.index(name_snake_case) if name_snake_case in all_topics else -1 ), + "dependencies": @( json.dumps(list(set(dependencies))) ), + "name": "@( spec.full_name )" +} diff --git a/Tools/msg/templates/uorb/uORBTopics.cpp.em b/Tools/msg/templates/uorb/uORBTopics.cpp.em index c8b1c8839760..fbbee44cf030 100644 --- a/Tools/msg/templates/uorb/uORBTopics.cpp.em +++ b/Tools/msg/templates/uorb/uORBTopics.cpp.em @@ -8,7 +8,7 @@ @# @# Context: @# - msgs (List) list of all msg files -@# - multi_topics (List) list of all multi-topic names +@# - all_topics (List) list of all topic names (sorted) @############################################### /**************************************************************************** * @@ -50,9 +50,7 @@ msg_names = list(set([mn.replace(".msg", "") for mn in msgs])) # set() filters d msg_names.sort() msgs_count = len(msg_names) -topic_names = list(set(topics)) # set() filters duplicates -topic_names.sort() -topics_count = len(topics) +topics_count = len(all_topics) }@ @[for msg_name in msg_names]@ @@ -60,8 +58,8 @@ topics_count = len(topics) @[end for] const constexpr struct orb_metadata *const uorb_topics_list[ORB_TOPICS_COUNT] = { -@[for idx, topic_name in enumerate(topic_names, 1)]@ - ORB_ID(@(topic_name))@[if idx != topic_names], @[end if] +@[for idx, topic_name in enumerate(all_topics, 1)]@ + ORB_ID(@(topic_name))@[if idx != all_topics], @[end if] @[end for] }; @@ -76,5 +74,5 @@ const struct orb_metadata *get_orb_meta(ORB_ID id) return nullptr; } - return uorb_topics_list[static_cast(id)]; + return uorb_topics_list[static_cast(id)]; } diff --git a/Tools/msg/templates/uorb/uORBTopics.hpp.em b/Tools/msg/templates/uorb/uORBTopics.hpp.em index aea7015cc76b..d0a6586d7303 100644 --- a/Tools/msg/templates/uorb/uORBTopics.hpp.em +++ b/Tools/msg/templates/uorb/uORBTopics.hpp.em @@ -7,7 +7,8 @@ @# Start of Template @# @# Context: -@# - topics (List) list of all topic names +@# - msgs (List) list of all msg files +@# - all_topics (List) list of all topic names (sorted) @############################################### /**************************************************************************** * @@ -43,9 +44,7 @@ ****************************************************************************/ @{ -topics_count = len(topics) -topic_names_all = list(set(topics)) # set() filters duplicates -topic_names_all.sort() +topics_count = len(all_topics) }@ #pragma once @@ -62,8 +61,8 @@ static constexpr size_t orb_topics_count() { return ORB_TOPICS_COUNT; } */ extern const struct orb_metadata *const *orb_get_topics() __EXPORT; -enum class ORB_ID : uint8_t { -@[for idx, topic_name in enumerate(topic_names_all)]@ +enum class ORB_ID : orb_id_size_t { +@[for idx, topic_name in enumerate(all_topics)]@ @(topic_name) = @(idx), @[end for] INVALID diff --git a/Tools/process_sensor_caldata.py b/Tools/process_sensor_caldata.py index 625e5da4260c..15ef1c84ce4d 100755 --- a/Tools/process_sensor_caldata.py +++ b/Tools/process_sensor_caldata.py @@ -17,7 +17,7 @@ Data can be gathered using the following sequence: 1) Power up the board and set the TC_A_ENABLE, TC_B_ENABLE and TC_G_ENABLE parameters to 1 -2) Set all CAL_GYR and CAL_ACC parameters to defaults +2) Set all CAL_ACC*, CAL_GYR*, and CAL_MAG* parameters to defaults 3) Set the parameter SDLOG_MODE to 2, and SDLOG_PROFILE "Thermal calibration" bit (2) to enable logging of sensor data for calibration and power off 4) Cold soak the board for 30 minutes 5) Move to a warm dry, still air, constant pressure environment. @@ -31,7 +31,6 @@ Outputs thermal compensation parameters in a file named .params which can be loaded onto the board using QGroundControl Outputs summary plots in a pdf file named .pdf - """ def resampleWithDeltaX(x,y): @@ -87,6 +86,27 @@ def is_valid_directory(parser, arg): ulog = ULog(ulog_file_name, None) data = ulog.data_list +# extract accel data +num_accels = 0 +for d in data: + if d.name == 'sensor_accel': + if d.multi_id == 0: + sensor_accel_0 = d.data + print('found accel 0 data') + num_accels += 1 + elif d.multi_id == 1: + sensor_accel_1 = d.data + print('found accel 1 data') + num_accels += 1 + elif d.multi_id == 2: + sensor_accel_2 = d.data + print('found accel 2 data') + num_accels += 1 + elif d.multi_id == 3: + sensor_accel_3 = d.data + print('found accel 3 data') + num_accels += 1 + # extract gyro data num_gyros = 0 for d in data: @@ -108,26 +128,26 @@ def is_valid_directory(parser, arg): print('found gyro 3 data') num_gyros += 1 -# extract accel data -num_accels = 0 +# extract mag data +num_mags = 0 for d in data: - if d.name == 'sensor_accel': + if d.name == 'sensor_mag': if d.multi_id == 0: - sensor_accel_0 = d.data - print('found accel 0 data') - num_accels += 1 + sensor_mag_0 = d.data + print('found mag 0 data') + num_mags += 1 elif d.multi_id == 1: - sensor_accel_1 = d.data - print('found accel 1 data') - num_accels += 1 + sensor_mag_1 = d.data + print('found mag 1 data') + num_mags += 1 elif d.multi_id == 2: - sensor_accel_2 = d.data - print('found accel 2 data') - num_accels += 1 + sensor_mag_2 = d.data + print('found mag 2 data') + num_mags += 1 elif d.multi_id == 3: - sensor_accel_3 = d.data - print('found accel 3 data') - num_accels += 1 + sensor_mag_3 = d.data + print('found mag 3 data') + num_mags += 1 # extract baro data num_baros = 0 @@ -155,111 +175,119 @@ def is_valid_directory(parser, arg): output_plot_filename = ulog_file_name + ".pdf" pp = PdfPages(output_plot_filename) + + ################################################################################# -# define data dictionary of gyro 0 thermal correction parameters -gyro_0_params = { -'TC_G0_ID':0, -'TC_G0_TMIN':0.0, -'TC_G0_TMAX':0.0, -'TC_G0_TREF':0.0, -'TC_G0_X0_0':0.0, -'TC_G0_X1_0':0.0, -'TC_G0_X2_0':0.0, -'TC_G0_X3_0':0.0, -'TC_G0_X0_1':0.0, -'TC_G0_X1_1':0.0, -'TC_G0_X2_1':0.0, -'TC_G0_X3_1':0.0, -'TC_G0_X0_2':0.0, -'TC_G0_X1_2':0.0, -'TC_G0_X2_2':0.0, -'TC_G0_X3_2':0.0 +################################################################################# + +# define data dictionary of accel 0 thermal correction parameters +accel_0_params = { +'TC_A0_ID':0, +'TC_A0_TMIN':0.0, +'TC_A0_TMAX':0.0, +'TC_A0_TREF':0.0, +'TC_A0_X0_0':0.0, +'TC_A0_X1_0':0.0, +'TC_A0_X2_0':0.0, +'TC_A0_X3_0':0.0, +'TC_A0_X0_1':0.0, +'TC_A0_X1_1':0.0, +'TC_A0_X2_1':0.0, +'TC_A0_X3_1':0.0, +'TC_A0_X0_2':0.0, +'TC_A0_X1_2':0.0, +'TC_A0_X2_2':0.0, +'TC_A0_X3_2':0.0 } -# curve fit the data for gyro 0 corrections -if num_gyros >= 1 and not math.isnan(sensor_gyro_0['temperature'][0]): - gyro_0_params['TC_G0_ID'] = int(np.median(sensor_gyro_0['device_id'])) +# curve fit the data for accel 0 corrections +if num_accels >= 1 and not math.isnan(sensor_accel_0['temperature'][0]): + accel_0_params['TC_A0_ID'] = int(np.median(sensor_accel_0['device_id'])) # find the min, max and reference temperature - gyro_0_params['TC_G0_TMIN'] = np.amin(sensor_gyro_0['temperature']) - gyro_0_params['TC_G0_TMAX'] = np.amax(sensor_gyro_0['temperature']) - gyro_0_params['TC_G0_TREF'] = 0.5 * (gyro_0_params['TC_G0_TMIN'] + gyro_0_params['TC_G0_TMAX']) - temp_rel = sensor_gyro_0['temperature'] - gyro_0_params['TC_G0_TREF'] - temp_rel_resample = np.linspace(gyro_0_params['TC_G0_TMIN']-gyro_0_params['TC_G0_TREF'], gyro_0_params['TC_G0_TMAX']-gyro_0_params['TC_G0_TREF'], 100) - temp_resample = temp_rel_resample + gyro_0_params['TC_G0_TREF'] + accel_0_params['TC_A0_TMIN'] = np.amin(sensor_accel_0['temperature']) + accel_0_params['TC_A0_TMAX'] = np.amax(sensor_accel_0['temperature']) + accel_0_params['TC_A0_TREF'] = 0.5 * (accel_0_params['TC_A0_TMIN'] + accel_0_params['TC_A0_TMAX']) + + temp_rel = sensor_accel_0['temperature'] - accel_0_params['TC_A0_TREF'] + temp_rel_resample = np.linspace(accel_0_params['TC_A0_TMIN']-accel_0_params['TC_A0_TREF'], accel_0_params['TC_A0_TMAX']-accel_0_params['TC_A0_TREF'], 100) + temp_resample = temp_rel_resample + accel_0_params['TC_A0_TREF'] - sensor_gyro_0['x'] = median_filter(sensor_gyro_0['x']) - sensor_gyro_0['y'] = median_filter(sensor_gyro_0['y']) - sensor_gyro_0['z'] = median_filter(sensor_gyro_0['z']) + sensor_accel_0['x'] = median_filter(sensor_accel_0['x']) + sensor_accel_0['y'] = median_filter(sensor_accel_0['y']) + sensor_accel_0['z'] = median_filter(sensor_accel_0['z']) # fit X axis + correction_x = sensor_accel_0['x'] - np.median(sensor_accel_0['x']) if noResample: - coef_gyro_0_x = np.polyfit(temp_rel, sensor_gyro_0['x'], 3) + coef_accel_0_x = np.polyfit(temp_rel,correction_x, 3) else: - temp, sens = resampleWithDeltaX(temp_rel, sensor_gyro_0['x']) - coef_gyro_0_x = np.polyfit(temp, sens, 3) + temp, sens = resampleWithDeltaX(temp_rel,correction_x) + coef_accel_0_x = np.polyfit(temp, sens, 3) - gyro_0_params['TC_G0_X3_0'] = coef_gyro_0_x[0] - gyro_0_params['TC_G0_X2_0'] = coef_gyro_0_x[1] - gyro_0_params['TC_G0_X1_0'] = coef_gyro_0_x[2] - gyro_0_params['TC_G0_X0_0'] = coef_gyro_0_x[3] - fit_coef_gyro_0_x = np.poly1d(coef_gyro_0_x) - gyro_0_x_resample = fit_coef_gyro_0_x(temp_rel_resample) + accel_0_params['TC_A0_X3_0'] = coef_accel_0_x[0] + accel_0_params['TC_A0_X2_0'] = coef_accel_0_x[1] + accel_0_params['TC_A0_X1_0'] = coef_accel_0_x[2] + accel_0_params['TC_A0_X0_0'] = coef_accel_0_x[3] + fit_coef_accel_0_x = np.poly1d(coef_accel_0_x) + correction_x_resample = fit_coef_accel_0_x(temp_rel_resample) # fit Y axis + correction_y = sensor_accel_0['y'] - np.median(sensor_accel_0['y']) if noResample: - coef_gyro_0_y = np.polyfit(temp_rel, sensor_gyro_0['y'], 3) + coef_accel_0_y = np.polyfit(temp_rel, correction_y, 3) else: - temp, sens = resampleWithDeltaX(temp_rel,sensor_gyro_0['y']) - coef_gyro_0_y = np.polyfit(temp, sens, 3) + temp, sens = resampleWithDeltaX(temp_rel,correction_y) + coef_accel_0_y = np.polyfit(temp, sens, 3) - gyro_0_params['TC_G0_X3_1'] = coef_gyro_0_y[0] - gyro_0_params['TC_G0_X2_1'] = coef_gyro_0_y[1] - gyro_0_params['TC_G0_X1_1'] = coef_gyro_0_y[2] - gyro_0_params['TC_G0_X0_1'] = coef_gyro_0_y[3] - fit_coef_gyro_0_y = np.poly1d(coef_gyro_0_y) - gyro_0_y_resample = fit_coef_gyro_0_y(temp_rel_resample) + accel_0_params['TC_A0_X3_1'] = coef_accel_0_y[0] + accel_0_params['TC_A0_X2_1'] = coef_accel_0_y[1] + accel_0_params['TC_A0_X1_1'] = coef_accel_0_y[2] + accel_0_params['TC_A0_X0_1'] = coef_accel_0_y[3] + fit_coef_accel_0_y = np.poly1d(coef_accel_0_y) + correction_y_resample = fit_coef_accel_0_y(temp_rel_resample) # fit Z axis + correction_z = sensor_accel_0['z'] - np.median(sensor_accel_0['z']) if noResample: - coef_gyro_0_z = np.polyfit(temp_rel, sensor_gyro_0['z'],3) + coef_accel_0_z = np.polyfit(temp_rel,correction_z, 3) else: - temp, sens = resampleWithDeltaX(temp_rel, sensor_gyro_0['z']) - coef_gyro_0_z = np.polyfit(temp, sens ,3) + temp, sens = resampleWithDeltaX(temp_rel,correction_z) + coef_accel_0_z = np.polyfit(temp, sens, 3) - gyro_0_params['TC_G0_X3_2'] = coef_gyro_0_z[0] - gyro_0_params['TC_G0_X2_2'] = coef_gyro_0_z[1] - gyro_0_params['TC_G0_X1_2'] = coef_gyro_0_z[2] - gyro_0_params['TC_G0_X0_2'] = coef_gyro_0_z[3] - fit_coef_gyro_0_z = np.poly1d(coef_gyro_0_z) - gyro_0_z_resample = fit_coef_gyro_0_z(temp_rel_resample) + accel_0_params['TC_A0_X3_2'] = coef_accel_0_z[0] + accel_0_params['TC_A0_X2_2'] = coef_accel_0_z[1] + accel_0_params['TC_A0_X1_2'] = coef_accel_0_z[2] + accel_0_params['TC_A0_X0_2'] = coef_accel_0_z[3] + fit_coef_accel_0_z = np.poly1d(coef_accel_0_z) + correction_z_resample = fit_coef_accel_0_z(temp_rel_resample) - # gyro0 vs temperature + # accel 0 vs temperature plt.figure(1,figsize=(20,13)) # draw plots plt.subplot(3,1,1) - plt.plot(sensor_gyro_0['temperature'],sensor_gyro_0['x'],'b') - plt.plot(temp_resample,gyro_0_x_resample,'r') - plt.title('Gyro 0 ({}) Bias vs Temperature'.format(gyro_0_params['TC_G0_ID'])) - plt.ylabel('X bias (rad/s)') + plt.plot(sensor_accel_0['temperature'],correction_x,'b') + plt.plot(temp_resample,correction_x_resample,'r') + plt.title('Accel 0 ({}) Bias vs Temperature'.format(accel_0_params['TC_A0_ID'])) + plt.ylabel('X bias (m/s/s)') plt.xlabel('temperature (degC)') plt.grid() # draw plots plt.subplot(3,1,2) - plt.plot(sensor_gyro_0['temperature'],sensor_gyro_0['y'],'b') - plt.plot(temp_resample,gyro_0_y_resample,'r') - plt.ylabel('Y bias (rad/s)') + plt.plot(sensor_accel_0['temperature'],correction_y,'b') + plt.plot(temp_resample,correction_y_resample,'r') + plt.ylabel('Y bias (m/s/s)') plt.xlabel('temperature (degC)') plt.grid() # draw plots plt.subplot(3,1,3) - plt.plot(sensor_gyro_0['temperature'],sensor_gyro_0['z'],'b') - plt.plot(temp_resample,gyro_0_z_resample,'r') - plt.ylabel('Z bias (rad/s)') + plt.plot(sensor_accel_0['temperature'],correction_z,'b') + plt.plot(temp_resample,correction_z_resample,'r') + plt.ylabel('Z bias (m/s/s)') plt.xlabel('temperature (degC)') plt.grid() @@ -269,221 +297,230 @@ def is_valid_directory(parser, arg): ################################################################################# -# define data dictionary of gyro 1 thermal correction parameters -gyro_1_params = { -'TC_G1_ID':0, -'TC_G1_TMIN':0.0, -'TC_G1_TMAX':0.0, -'TC_G1_TREF':0.0, -'TC_G1_X0_0':0.0, -'TC_G1_X1_0':0.0, -'TC_G1_X2_0':0.0, -'TC_G1_X3_0':0.0, -'TC_G1_X0_1':0.0, -'TC_G1_X1_1':0.0, -'TC_G1_X2_1':0.0, -'TC_G1_X3_1':0.0, -'TC_G1_X0_2':0.0, -'TC_G1_X1_2':0.0, -'TC_G1_X2_2':0.0, -'TC_G1_X3_2':0.0 +# define data dictionary of accel 1 thermal correction parameters +accel_1_params = { +'TC_A1_ID':0, +'TC_A1_TMIN':0.0, +'TC_A1_TMAX':0.0, +'TC_A1_TREF':0.0, +'TC_A1_X0_0':0.0, +'TC_A1_X1_0':0.0, +'TC_A1_X2_0':0.0, +'TC_A1_X3_0':0.0, +'TC_A1_X0_1':0.0, +'TC_A1_X1_1':0.0, +'TC_A1_X2_1':0.0, +'TC_A1_X3_1':0.0, +'TC_A1_X0_2':0.0, +'TC_A1_X1_2':0.0, +'TC_A1_X2_2':0.0, +'TC_A1_X3_2':0.0 } -# curve fit the data for gyro 1 corrections -if num_gyros >= 2 and not math.isnan(sensor_gyro_1['temperature'][0]): - gyro_1_params['TC_G1_ID'] = int(np.median(sensor_gyro_1['device_id'])) +# curve fit the data for accel 1 corrections +if num_accels >= 2 and not math.isnan(sensor_accel_1['temperature'][0]): + accel_1_params['TC_A1_ID'] = int(np.median(sensor_accel_1['device_id'])) # find the min, max and reference temperature - gyro_1_params['TC_G1_TMIN'] = np.amin(sensor_gyro_1['temperature']) - gyro_1_params['TC_G1_TMAX'] = np.amax(sensor_gyro_1['temperature']) - gyro_1_params['TC_G1_TREF'] = 0.5 * (gyro_1_params['TC_G1_TMIN'] + gyro_1_params['TC_G1_TMAX']) - temp_rel = sensor_gyro_1['temperature'] - gyro_1_params['TC_G1_TREF'] - temp_rel_resample = np.linspace(gyro_1_params['TC_G1_TMIN']-gyro_1_params['TC_G1_TREF'], gyro_1_params['TC_G1_TMAX']-gyro_1_params['TC_G1_TREF'], 100) - temp_resample = temp_rel_resample + gyro_1_params['TC_G1_TREF'] + accel_1_params['TC_A1_TMIN'] = np.amin(sensor_accel_1['temperature']) + accel_1_params['TC_A1_TMAX'] = np.amax(sensor_accel_1['temperature']) + accel_1_params['TC_A1_TREF'] = 0.5 * (accel_1_params['TC_A1_TMIN'] + accel_1_params['TC_A1_TMAX']) + + temp_rel = sensor_accel_1['temperature'] - accel_1_params['TC_A1_TREF'] + temp_rel_resample = np.linspace(accel_1_params['TC_A1_TMIN']-accel_1_params['TC_A1_TREF'], accel_1_params['TC_A1_TMAX']-accel_1_params['TC_A1_TREF'], 100) + temp_resample = temp_rel_resample + accel_1_params['TC_A1_TREF'] - sensor_gyro_1['x'] = median_filter(sensor_gyro_1['x']) - sensor_gyro_1['y'] = median_filter(sensor_gyro_1['y']) - sensor_gyro_1['z'] = median_filter(sensor_gyro_1['z']) + sensor_accel_1['x'] = median_filter(sensor_accel_1['x']) + sensor_accel_1['y'] = median_filter(sensor_accel_1['y']) + sensor_accel_1['z'] = median_filter(sensor_accel_1['z']) # fit X axis + correction_x = sensor_accel_1['x'] - np.median(sensor_accel_1['x']) if noResample: - coef_gyro_1_x = np.polyfit(temp_rel,sensor_gyro_1['x'],3) + coef_accel_1_x = np.polyfit(temp_rel, correction_x, 3) else: - temp, sens = resampleWithDeltaX(temp_rel,sensor_gyro_1['x']) - coef_gyro_1_x = np.polyfit(temp, sens ,3) + temp, sens = resampleWithDeltaX(temp_rel, correction_x) + coef_accel_1_x = np.polyfit(temp, sens, 3) - gyro_1_params['TC_G1_X3_0'] = coef_gyro_1_x[0] - gyro_1_params['TC_G1_X2_0'] = coef_gyro_1_x[1] - gyro_1_params['TC_G1_X1_0'] = coef_gyro_1_x[2] - gyro_1_params['TC_G1_X0_0'] = coef_gyro_1_x[3] - fit_coef_gyro_1_x = np.poly1d(coef_gyro_1_x) - gyro_1_x_resample = fit_coef_gyro_1_x(temp_rel_resample) + accel_1_params['TC_A1_X3_0'] = coef_accel_1_x[0] + accel_1_params['TC_A1_X2_0'] = coef_accel_1_x[1] + accel_1_params['TC_A1_X1_0'] = coef_accel_1_x[2] + accel_1_params['TC_A1_X0_0'] = coef_accel_1_x[3] + fit_coef_accel_1_x = np.poly1d(coef_accel_1_x) + correction_x_resample = fit_coef_accel_1_x(temp_rel_resample) # fit Y axis + correction_y = sensor_accel_1['y'] - np.median(sensor_accel_1['y']) if noResample: - coef_gyro_1_y = np.polyfit(temp_rel,sensor_gyro_1['y'],3) + coef_accel_1_y = np.polyfit(temp_rel,correction_y,3) else: - temp, sens = resampleWithDeltaX(temp_rel,sensor_gyro_1['y']) - coef_gyro_1_y = np.polyfit(temp, sens ,3) + temp, sens = resampleWithDeltaX(temp_rel,correction_y) + coef_accel_1_y = np.polyfit(temp, sens ,3) - gyro_1_params['TC_G1_X3_1'] = coef_gyro_1_y[0] - gyro_1_params['TC_G1_X2_1'] = coef_gyro_1_y[1] - gyro_1_params['TC_G1_X1_1'] = coef_gyro_1_y[2] - gyro_1_params['TC_G1_X0_1'] = coef_gyro_1_y[3] - fit_coef_gyro_1_y = np.poly1d(coef_gyro_1_y) - gyro_1_y_resample = fit_coef_gyro_1_y(temp_rel_resample) + accel_1_params['TC_A1_X3_1'] = coef_accel_1_y[0] + accel_1_params['TC_A1_X2_1'] = coef_accel_1_y[1] + accel_1_params['TC_A1_X1_1'] = coef_accel_1_y[2] + accel_1_params['TC_A1_X0_1'] = coef_accel_1_y[3] + fit_coef_accel_1_y = np.poly1d(coef_accel_1_y) + correction_y_resample = fit_coef_accel_1_y(temp_rel_resample) # fit Z axis + correction_z = sensor_accel_1['z'] - np.median(sensor_accel_1['z']) if noResample: - coef_gyro_1_z = np.polyfit(temp_rel,sensor_gyro_1['z'],3) + coef_accel_1_z = np.polyfit(temp_rel,correction_z, 3) else: - temp, sens = resampleWithDeltaX(temp_rel,sensor_gyro_1['z']) - coef_gyro_1_z = np.polyfit(temp, sens ,3) + temp, sens = resampleWithDeltaX(temp_rel,correction_z) + coef_accel_1_z = np.polyfit(temp, sens, 3) - gyro_1_params['TC_G1_X3_2'] = coef_gyro_1_z[0] - gyro_1_params['TC_G1_X2_2'] = coef_gyro_1_z[1] - gyro_1_params['TC_G1_X1_2'] = coef_gyro_1_z[2] - gyro_1_params['TC_G1_X0_2'] = coef_gyro_1_z[3] - fit_coef_gyro_1_z = np.poly1d(coef_gyro_1_z) - gyro_1_z_resample = fit_coef_gyro_1_z(temp_rel_resample) + accel_1_params['TC_A1_X3_2'] = coef_accel_1_z[0] + accel_1_params['TC_A1_X2_2'] = coef_accel_1_z[1] + accel_1_params['TC_A1_X1_2'] = coef_accel_1_z[2] + accel_1_params['TC_A1_X0_2'] = coef_accel_1_z[3] + fit_coef_accel_1_z = np.poly1d(coef_accel_1_z) + correction_z_resample = fit_coef_accel_1_z(temp_rel_resample) - # gyro1 vs temperature + # accel 1 vs temperature plt.figure(2,figsize=(20,13)) # draw plots plt.subplot(3,1,1) - plt.plot(sensor_gyro_1['temperature'],sensor_gyro_1['x'],'b') - plt.plot(temp_resample,gyro_1_x_resample,'r') - plt.title('Gyro 1 ({}) Bias vs Temperature'.format(gyro_1_params['TC_G1_ID'])) - plt.ylabel('X bias (rad/s)') + plt.plot(sensor_accel_1['temperature'],correction_x,'b') + plt.plot(temp_resample,correction_x_resample,'r') + plt.title('Accel 1 ({}) Bias vs Temperature'.format(accel_1_params['TC_A1_ID'])) + plt.ylabel('X bias (m/s/s)') plt.xlabel('temperature (degC)') plt.grid() # draw plots plt.subplot(3,1,2) - plt.plot(sensor_gyro_1['temperature'],sensor_gyro_1['y'],'b') - plt.plot(temp_resample,gyro_1_y_resample,'r') - plt.ylabel('Y bias (rad/s)') + plt.plot(sensor_accel_1['temperature'],correction_y,'b') + plt.plot(temp_resample,correction_y_resample,'r') + plt.ylabel('Y bias (m/s/s)') plt.xlabel('temperature (degC)') plt.grid() # draw plots plt.subplot(3,1,3) - plt.plot(sensor_gyro_1['temperature'],sensor_gyro_1['z'],'b') - plt.plot(temp_resample,gyro_1_z_resample,'r') - plt.ylabel('Z bias (rad/s)') + plt.plot(sensor_accel_1['temperature'],correction_z,'b') + plt.plot(temp_resample,correction_z_resample,'r') + plt.ylabel('Z bias (m/s/s)') plt.xlabel('temperature (degC)') plt.grid() pp.savefig() -################################################################################# ################################################################################# -# define data dictionary of gyro 2 thermal correction parameters -gyro_2_params = { -'TC_G2_ID':0, -'TC_G2_TMIN':0.0, -'TC_G2_TMAX':0.0, -'TC_G2_TREF':0.0, -'TC_G2_X0_0':0.0, -'TC_G2_X1_0':0.0, -'TC_G2_X2_0':0.0, -'TC_G2_X3_0':0.0, -'TC_G2_X0_1':0.0, -'TC_G2_X1_1':0.0, -'TC_G2_X2_1':0.0, -'TC_G2_X3_1':0.0, -'TC_G2_X0_2':0.0, -'TC_G2_X1_2':0.0, -'TC_G2_X2_2':0.0, -'TC_G2_X3_2':0.0 -} - -# curve fit the data for gyro 2 corrections -if num_gyros >= 3 and not math.isnan(sensor_gyro_2['temperature'][0]): - gyro_2_params['TC_G2_ID'] = int(np.median(sensor_gyro_2['device_id'])) - - # find the min, max and reference temperature - gyro_2_params['TC_G2_TMIN'] = np.amin(sensor_gyro_2['temperature']) - gyro_2_params['TC_G2_TMAX'] = np.amax(sensor_gyro_2['temperature']) - gyro_2_params['TC_G2_TREF'] = 0.5 * (gyro_2_params['TC_G2_TMIN'] + gyro_2_params['TC_G2_TMAX']) - temp_rel = sensor_gyro_2['temperature'] - gyro_2_params['TC_G2_TREF'] - temp_rel_resample = np.linspace(gyro_2_params['TC_G2_TMIN']-gyro_2_params['TC_G2_TREF'], gyro_2_params['TC_G2_TMAX']-gyro_2_params['TC_G2_TREF'], 100) - temp_resample = temp_rel_resample + gyro_2_params['TC_G2_TREF'] - - sensor_gyro_2['x'] = median_filter(sensor_gyro_2['x']) - sensor_gyro_2['y'] = median_filter(sensor_gyro_2['y']) - sensor_gyro_2['z'] = median_filter(sensor_gyro_2['z']) - - # fit X axis - if noResample: - coef_gyro_2_x = np.polyfit(temp_rel,sensor_gyro_2['x'],3) - else: - temp, sens = resampleWithDeltaX(temp_rel,sensor_gyro_2['x']) - coef_gyro_2_x = np.polyfit(temp, sens ,3) - - gyro_2_params['TC_G2_X3_0'] = coef_gyro_2_x[0] - gyro_2_params['TC_G2_X2_0'] = coef_gyro_2_x[1] - gyro_2_params['TC_G2_X1_0'] = coef_gyro_2_x[2] - gyro_2_params['TC_G2_X0_0'] = coef_gyro_2_x[3] - fit_coef_gyro_2_x = np.poly1d(coef_gyro_2_x) - gyro_2_x_resample = fit_coef_gyro_2_x(temp_rel_resample) +################################################################################# - # fit Y axis - if noResample: - coef_gyro_2_y = np.polyfit(temp_rel, sensor_gyro_2['y'], 3) +# define data dictionary of accel 2 thermal correction parameters +accel_2_params = { +'TC_A2_ID':0, +'TC_A2_TMIN':0.0, +'TC_A2_TMAX':0.0, +'TC_A2_TREF':0.0, +'TC_A2_X0_0':0.0, +'TC_A2_X1_0':0.0, +'TC_A2_X2_0':0.0, +'TC_A2_X3_0':0.0, +'TC_A2_X0_1':0.0, +'TC_A2_X1_1':0.0, +'TC_A2_X2_1':0.0, +'TC_A2_X3_1':0.0, +'TC_A2_X0_2':0.0, +'TC_A2_X1_2':0.0, +'TC_A2_X2_2':0.0, +'TC_A2_X3_2':0.0 +} + +# curve fit the data for accel 2 corrections +if num_accels >= 3 and not math.isnan(sensor_accel_2['temperature'][0]): + accel_2_params['TC_A2_ID'] = int(np.median(sensor_accel_2['device_id'])) + + # find the min, max and reference temperature + accel_2_params['TC_A2_TMIN'] = np.amin(sensor_accel_2['temperature']) + accel_2_params['TC_A2_TMAX'] = np.amax(sensor_accel_2['temperature']) + accel_2_params['TC_A2_TREF'] = 0.5 * (accel_2_params['TC_A2_TMIN'] + accel_2_params['TC_A2_TMAX']) + + temp_rel = sensor_accel_2['temperature'] - accel_2_params['TC_A2_TREF'] + temp_rel_resample = np.linspace(accel_2_params['TC_A2_TMIN']-accel_2_params['TC_A2_TREF'], accel_2_params['TC_A2_TMAX']-accel_2_params['TC_A2_TREF'], 100) + temp_resample = temp_rel_resample + accel_2_params['TC_A2_TREF'] + + sensor_accel_2['x'] = median_filter(sensor_accel_2['x']) + sensor_accel_2['y'] = median_filter(sensor_accel_2['y']) + sensor_accel_2['z'] = median_filter(sensor_accel_2['z']) + + # fit X axis + correction_x = sensor_accel_2['x'] - np.median(sensor_accel_2['x']) + if noResample: + coef_accel_2_x = np.polyfit(temp_rel,correction_x, 3) + else: + temp, sens = resampleWithDeltaX(temp_rel, correction_x) + coef_accel_2_x = np.polyfit(temp, sens, 3) + + accel_2_params['TC_A2_X3_0'] = coef_accel_2_x[0] + accel_2_params['TC_A2_X2_0'] = coef_accel_2_x[1] + accel_2_params['TC_A2_X1_0'] = coef_accel_2_x[2] + accel_2_params['TC_A2_X0_0'] = coef_accel_2_x[3] + fit_coef_accel_2_x = np.poly1d(coef_accel_2_x) + correction_x_resample = fit_coef_accel_2_x(temp_rel_resample) + + # fit Y axis + correction_y = sensor_accel_2['y'] - np.median(sensor_accel_2['y']) + if noResample: + coef_accel_2_y = np.polyfit(temp_rel,correction_y,3) else: - temp, sens = resampleWithDeltaX(temp_rel, sensor_gyro_2['y']) - coef_gyro_2_y = np.polyfit(temp, sens, 3) + temp, sens = resampleWithDeltaX(temp_rel,correction_y) + coef_accel_2_y = np.polyfit(temp, sens ,3) - gyro_2_params['TC_G2_X3_1'] = coef_gyro_2_y[0] - gyro_2_params['TC_G2_X2_1'] = coef_gyro_2_y[1] - gyro_2_params['TC_G2_X1_1'] = coef_gyro_2_y[2] - gyro_2_params['TC_G2_X0_1'] = coef_gyro_2_y[3] - fit_coef_gyro_2_y = np.poly1d(coef_gyro_2_y) - gyro_2_y_resample = fit_coef_gyro_2_y(temp_rel_resample) + accel_2_params['TC_A2_X3_1'] = coef_accel_2_y[0] + accel_2_params['TC_A2_X2_1'] = coef_accel_2_y[1] + accel_2_params['TC_A2_X1_1'] = coef_accel_2_y[2] + accel_2_params['TC_A2_X0_1'] = coef_accel_2_y[3] + fit_coef_accel_2_y = np.poly1d(coef_accel_2_y) + correction_y_resample = fit_coef_accel_2_y(temp_rel_resample) # fit Z axis + correction_z = sensor_accel_2['z'] - np.median(sensor_accel_2['z']) if noResample: - coef_gyro_2_z = np.polyfit(temp_rel,sensor_gyro_2['z'], 3) + coef_accel_2_z = np.polyfit(temp_rel,correction_z,3) else: - temp, sens = resampleWithDeltaX(temp_rel,sensor_gyro_2['z']) - coef_gyro_2_z = np.polyfit(temp, sens, 3) + temp, sens = resampleWithDeltaX(temp_rel,correction_z) + coef_accel_2_z = np.polyfit(temp, sens ,3) - gyro_2_params['TC_G2_X3_2'] = coef_gyro_2_z[0] - gyro_2_params['TC_G2_X2_2'] = coef_gyro_2_z[1] - gyro_2_params['TC_G2_X1_2'] = coef_gyro_2_z[2] - gyro_2_params['TC_G2_X0_2'] = coef_gyro_2_z[3] - fit_coef_gyro_2_z = np.poly1d(coef_gyro_2_z) - gyro_2_z_resample = fit_coef_gyro_2_z(temp_rel_resample) + accel_2_params['TC_A2_X3_2'] = coef_accel_2_z[0] + accel_2_params['TC_A2_X2_2'] = coef_accel_2_z[1] + accel_2_params['TC_A2_X1_2'] = coef_accel_2_z[2] + accel_2_params['TC_A2_X0_2'] = coef_accel_2_z[3] + fit_coef_accel_2_z = np.poly1d(coef_accel_2_z) + correction_z_resample = fit_coef_accel_2_z(temp_rel_resample) - # gyro2 vs temperature + # accel 2 vs temperature plt.figure(3,figsize=(20,13)) # draw plots plt.subplot(3,1,1) - plt.plot(sensor_gyro_2['temperature'],sensor_gyro_2['x'],'b') - plt.plot(temp_resample,gyro_2_x_resample,'r') - plt.title('Gyro 2 ({}) Bias vs Temperature'.format(gyro_2_params['TC_G2_ID'])) - plt.ylabel('X bias (rad/s)') + plt.plot(sensor_accel_2['temperature'],correction_x,'b') + plt.plot(temp_resample,correction_x_resample,'r') + plt.title('Accel 2 ({}) Bias vs Temperature'.format(accel_2_params['TC_A2_ID'])) + plt.ylabel('X bias (m/s/s)') plt.xlabel('temperature (degC)') plt.grid() # draw plots plt.subplot(3,1,2) - plt.plot(sensor_gyro_2['temperature'],sensor_gyro_2['y'],'b') - plt.plot(temp_resample,gyro_2_y_resample,'r') - plt.ylabel('Y bias (rad/s)') + plt.plot(sensor_accel_2['temperature'],correction_y,'b') + plt.plot(temp_resample,correction_y_resample,'r') + plt.ylabel('Y bias (m/s/s)') plt.xlabel('temperature (degC)') plt.grid() # draw plots plt.subplot(3,1,3) - plt.plot(sensor_gyro_2['temperature'],sensor_gyro_2['z'],'b') - plt.plot(temp_resample,gyro_2_z_resample,'r') - plt.ylabel('Z bias (rad/s)') + plt.plot(sensor_accel_2['temperature'],correction_z,'b') + plt.plot(temp_resample,correction_z_resample,'r') + plt.ylabel('Z bias (m/s/s)') plt.xlabel('temperature (degC)') plt.grid() @@ -493,544 +530,1096 @@ def is_valid_directory(parser, arg): ################################################################################# -# define data dictionary of gyro 3 thermal correction parameters -gyro_3_params = { -'TC_G3_ID':0, -'TC_G3_TMIN':0.0, -'TC_G3_TMAX':0.0, -'TC_G3_TREF':0.0, -'TC_G3_X0_0':0.0, -'TC_G3_X1_0':0.0, -'TC_G3_X2_0':0.0, -'TC_G3_X3_0':0.0, -'TC_G3_X0_1':0.0, -'TC_G3_X1_1':0.0, -'TC_G3_X2_1':0.0, -'TC_G3_X3_1':0.0, -'TC_G3_X0_2':0.0, -'TC_G3_X1_2':0.0, -'TC_G3_X2_2':0.0, -'TC_G3_X3_2':0.0 +# define data dictionary of accel 3 thermal correction parameters +accel_3_params = { +'TC_A3_ID':0, +'TC_A3_TMIN':0.0, +'TC_A3_TMAX':0.0, +'TC_A3_TREF':0.0, +'TC_A3_X0_0':0.0, +'TC_A3_X1_0':0.0, +'TC_A3_X2_0':0.0, +'TC_A3_X3_0':0.0, +'TC_A3_X0_1':0.0, +'TC_A3_X1_1':0.0, +'TC_A3_X2_1':0.0, +'TC_A3_X3_1':0.0, +'TC_A3_X0_2':0.0, +'TC_A3_X1_2':0.0, +'TC_A3_X2_2':0.0, +'TC_A3_X3_2':0.0 } -# curve fit the data for gyro 3 corrections -if num_gyros >= 4 and not math.isnan(sensor_gyro_3['temperature'][0]): - gyro_3_params['TC_G3_ID'] = int(np.median(sensor_gyro_3['device_id'])) +# curve fit the data for accel 2 corrections +if num_accels >= 4 and not math.isnan(sensor_accel_3['temperature'][0]): + accel_3_params['TC_A3_ID'] = int(np.median(sensor_accel_3['device_id'])) # find the min, max and reference temperature - gyro_3_params['TC_G3_TMIN'] = np.amin(sensor_gyro_3['temperature']) - gyro_3_params['TC_G3_TMAX'] = np.amax(sensor_gyro_3['temperature']) - gyro_3_params['TC_G3_TREF'] = 0.5 * (gyro_3_params['TC_G3_TMIN'] + gyro_3_params['TC_G3_TMAX']) - temp_rel = sensor_gyro_3['temperature'] - gyro_3_params['TC_G3_TREF'] - temp_rel_resample = np.linspace(gyro_3_params['TC_G3_TMIN']-gyro_3_params['TC_G3_TREF'], gyro_3_params['TC_G3_TMAX']-gyro_3_params['TC_G3_TREF'], 100) - temp_resample = temp_rel_resample + gyro_3_params['TC_G3_TREF'] + accel_3_params['TC_A3_TMIN'] = np.amin(sensor_accel_3['temperature']) + accel_3_params['TC_A3_TMAX'] = np.amax(sensor_accel_3['temperature']) + accel_3_params['TC_A3_TREF'] = 0.5 * (accel_3_params['TC_A3_TMIN'] + accel_3_params['TC_A3_TMAX']) - sensor_gyro_3['x'] = median_filter(sensor_gyro_3['x']) - sensor_gyro_3['y'] = median_filter(sensor_gyro_3['y']) - sensor_gyro_3['z'] = median_filter(sensor_gyro_3['z']) + temp_rel = sensor_accel_3['temperature'] - accel_3_params['TC_A3_TREF'] + temp_rel_resample = np.linspace(accel_3_params['TC_A3_TMIN']-accel_3_params['TC_A3_TREF'], accel_3_params['TC_A3_TMAX']-accel_3_params['TC_A3_TREF'], 100) + temp_resample = temp_rel_resample + accel_3_params['TC_A3_TREF'] + + sensor_accel_3['x'] = median_filter(sensor_accel_3['x']) + sensor_accel_3['y'] = median_filter(sensor_accel_3['y']) + sensor_accel_3['z'] = median_filter(sensor_accel_3['z']) # fit X axis - coef_gyro_3_x = np.polyfit(temp_rel,sensor_gyro_3['x'], 3) - gyro_3_params['TC_G3_X3_0'] = coef_gyro_3_x[0] - gyro_3_params['TC_G3_X2_0'] = coef_gyro_3_x[1] - gyro_3_params['TC_G3_X1_0'] = coef_gyro_3_x[2] - gyro_3_params['TC_G3_X0_0'] = coef_gyro_3_x[3] - fit_coef_gyro_3_x = np.poly1d(coef_gyro_3_x) - gyro_3_x_resample = fit_coef_gyro_3_x(temp_rel_resample) + correction_x = sensor_accel_3['x'] - np.median(sensor_accel_3['x']) + coef_accel_3_x = np.polyfit(temp_rel, correction_x, 3) + accel_3_params['TC_A3_X3_0'] = coef_accel_3_x[0] + accel_3_params['TC_A3_X2_0'] = coef_accel_3_x[1] + accel_3_params['TC_A3_X1_0'] = coef_accel_3_x[2] + accel_3_params['TC_A3_X0_0'] = coef_accel_3_x[3] + fit_coef_accel_3_x = np.poly1d(coef_accel_3_x) + correction_x_resample = fit_coef_accel_3_x(temp_rel_resample) # fit Y axis - coef_gyro_3_y = np.polyfit(temp_rel,sensor_gyro_3['y'], 3) - gyro_3_params['TC_G3_X3_1'] = coef_gyro_3_y[0] - gyro_3_params['TC_G3_X2_1'] = coef_gyro_3_y[1] - gyro_3_params['TC_G3_X1_1'] = coef_gyro_3_y[2] - gyro_3_params['TC_G3_X0_1'] = coef_gyro_3_y[3] - fit_coef_gyro_3_y = np.poly1d(coef_gyro_3_y) - gyro_3_y_resample = fit_coef_gyro_3_y(temp_rel_resample) + correction_y = sensor_accel_3['y'] - np.median(sensor_accel_3['y']) + coef_accel_3_y = np.polyfit(temp_rel, correction_y, 3) + accel_3_params['TC_A3_X3_1'] = coef_accel_3_y[0] + accel_3_params['TC_A3_X2_1'] = coef_accel_3_y[1] + accel_3_params['TC_A3_X1_1'] = coef_accel_3_y[2] + accel_3_params['TC_A3_X0_1'] = coef_accel_3_y[3] + fit_coef_accel_3_y = np.poly1d(coef_accel_3_y) + correction_y_resample = fit_coef_accel_3_y(temp_rel_resample) # fit Z axis - coef_gyro_3_z = np.polyfit(temp_rel,sensor_gyro_3['z'], 3) - gyro_3_params['TC_G3_X3_2'] = coef_gyro_3_z[0] - gyro_3_params['TC_G3_X2_2'] = coef_gyro_3_z[1] - gyro_3_params['TC_G3_X1_2'] = coef_gyro_3_z[2] - gyro_3_params['TC_G3_X0_2'] = coef_gyro_3_z[3] - fit_coef_gyro_3_z = np.poly1d(coef_gyro_3_z) - gyro_3_z_resample = fit_coef_gyro_3_z(temp_rel_resample) - - # gyro3 vs temperature + correction_z = sensor_accel_3['z'] - np.median(sensor_accel_3['z']) + coef_accel_3_z = np.polyfit(temp_rel, correction_z, 3) + accel_3_params['TC_A3_X3_2'] = coef_accel_3_z[0] + accel_3_params['TC_A3_X2_2'] = coef_accel_3_z[1] + accel_3_params['TC_A3_X1_2'] = coef_accel_3_z[2] + accel_3_params['TC_A3_X0_2'] = coef_accel_3_z[3] + fit_coef_accel_3_z = np.poly1d(coef_accel_3_z) + correction_z_resample = fit_coef_accel_3_z(temp_rel_resample) + + # accel 3 vs temperature plt.figure(4,figsize=(20,13)) # draw plots plt.subplot(3,1,1) - plt.plot(sensor_gyro_3['temperature'],sensor_gyro_3['x'], 'b') - plt.plot(temp_resample,gyro_3_x_resample, 'r') - plt.title('Gyro 2 ({}) Bias vs Temperature'.format(gyro_3_params['TC_G3_ID'])) - plt.ylabel('X bias (rad/s)') + plt.plot(sensor_accel_3['temperature'],correction_x,'b') + plt.plot(temp_resample,correction_x_resample,'r') + plt.title('Accel 3 ({}) Bias vs Temperature'.format(accel_3_params['TC_A3_ID'])) + plt.ylabel('X bias (m/s/s)') plt.xlabel('temperature (degC)') plt.grid() # draw plots plt.subplot(3,1,2) - plt.plot(sensor_gyro_3['temperature'],sensor_gyro_3['y'],'b') - plt.plot(temp_resample,gyro_3_y_resample,'r') - plt.ylabel('Y bias (rad/s)') + plt.plot(sensor_accel_3['temperature'],correction_y,'b') + plt.plot(temp_resample,correction_y_resample,'r') + plt.ylabel('Y bias (m/s/s)') plt.xlabel('temperature (degC)') plt.grid() # draw plots plt.subplot(3,1,3) - plt.plot(sensor_gyro_3['temperature'],sensor_gyro_3['z'],'b') - plt.plot(temp_resample,gyro_3_z_resample,'r') - plt.ylabel('Z bias (rad/s)') + plt.plot(sensor_accel_3['temperature'],correction_z,'b') + plt.plot(temp_resample,correction_z_resample,'r') + plt.ylabel('Z bias (m/s/s)') plt.xlabel('temperature (degC)') plt.grid() pp.savefig() + ################################################################################# ################################################################################# -# define data dictionary of accel 0 thermal correction parameters -accel_0_params = { -'TC_A0_ID':0, -'TC_A0_TMIN':0.0, -'TC_A0_TMAX':0.0, -'TC_A0_TREF':0.0, -'TC_A0_X0_0':0.0, -'TC_A0_X1_0':0.0, -'TC_A0_X2_0':0.0, -'TC_A0_X3_0':0.0, -'TC_A0_X0_1':0.0, -'TC_A0_X1_1':0.0, -'TC_A0_X2_1':0.0, -'TC_A0_X3_1':0.0, -'TC_A0_X0_2':0.0, -'TC_A0_X1_2':0.0, -'TC_A0_X2_2':0.0, -'TC_A0_X3_2':0.0 +# define data dictionary of gyro 0 thermal correction parameters +gyro_0_params = { +'TC_G0_ID':0, +'TC_G0_TMIN':0.0, +'TC_G0_TMAX':0.0, +'TC_G0_TREF':0.0, +'TC_G0_X0_0':0.0, +'TC_G0_X1_0':0.0, +'TC_G0_X2_0':0.0, +'TC_G0_X3_0':0.0, +'TC_G0_X0_1':0.0, +'TC_G0_X1_1':0.0, +'TC_G0_X2_1':0.0, +'TC_G0_X3_1':0.0, +'TC_G0_X0_2':0.0, +'TC_G0_X1_2':0.0, +'TC_G0_X2_2':0.0, +'TC_G0_X3_2':0.0 } -# curve fit the data for accel 0 corrections -if num_accels >= 1 and not math.isnan(sensor_accel_0['temperature'][0]): - accel_0_params['TC_A0_ID'] = int(np.median(sensor_accel_0['device_id'])) - - # find the min, max and reference temperature - accel_0_params['TC_A0_TMIN'] = np.amin(sensor_accel_0['temperature']) - accel_0_params['TC_A0_TMAX'] = np.amax(sensor_accel_0['temperature']) - accel_0_params['TC_A0_TREF'] = 0.5 * (accel_0_params['TC_A0_TMIN'] + accel_0_params['TC_A0_TMAX']) - temp_rel = sensor_accel_0['temperature'] - accel_0_params['TC_A0_TREF'] - temp_rel_resample = np.linspace(accel_0_params['TC_A0_TMIN']-accel_0_params['TC_A0_TREF'], accel_0_params['TC_A0_TMAX']-accel_0_params['TC_A0_TREF'], 100) - temp_resample = temp_rel_resample + accel_0_params['TC_A0_TREF'] +# curve fit the data for gyro 0 corrections +if num_gyros >= 1: - sensor_accel_0['x'] = median_filter(sensor_accel_0['x']) - sensor_accel_0['y'] = median_filter(sensor_accel_0['y']) - sensor_accel_0['z'] = median_filter(sensor_accel_0['z']) + #if the gyro has no temperature data, use the corresponding accel instance or the primary baro temp. + if math.isnan(sensor_gyro_0['temperature'][0]): + if not math.isnan(sensor_accel_0['temperature'][0]): + sensor_gyro_0['temperature'] = sensor_accel_0['temperature'] + elif not math.isnan(sensor_baro_0['temperature'][0]): + sensor_gyro_0['temperature'] = sensor_baro_0['temperature'] - # fit X axis - correction_x = sensor_accel_0['x'] - np.median(sensor_accel_0['x']) - if noResample: - coef_accel_0_x = np.polyfit(temp_rel,correction_x, 3) - else: - temp, sens = resampleWithDeltaX(temp_rel,correction_x) - coef_accel_0_x = np.polyfit(temp, sens, 3) + if not math.isnan(sensor_gyro_0['temperature'][0]): - accel_0_params['TC_A0_X3_0'] = coef_accel_0_x[0] - accel_0_params['TC_A0_X2_0'] = coef_accel_0_x[1] - accel_0_params['TC_A0_X1_0'] = coef_accel_0_x[2] - accel_0_params['TC_A0_X0_0'] = coef_accel_0_x[3] - fit_coef_accel_0_x = np.poly1d(coef_accel_0_x) - correction_x_resample = fit_coef_accel_0_x(temp_rel_resample) + gyro_0_params['TC_G0_ID'] = int(np.median(sensor_gyro_0['device_id'])) - # fit Y axis - correction_y = sensor_accel_0['y'] - np.median(sensor_accel_0['y']) - if noResample: - coef_accel_0_y = np.polyfit(temp_rel, correction_y, 3) - else: - temp, sens = resampleWithDeltaX(temp_rel,correction_y) - coef_accel_0_y = np.polyfit(temp, sens, 3) + # find the min, max and reference temperature + gyro_0_params['TC_G0_TMIN'] = np.amin(sensor_gyro_0['temperature']) + gyro_0_params['TC_G0_TMAX'] = np.amax(sensor_gyro_0['temperature']) + gyro_0_params['TC_G0_TREF'] = 0.5 * (gyro_0_params['TC_G0_TMIN'] + gyro_0_params['TC_G0_TMAX']) - accel_0_params['TC_A0_X3_1'] = coef_accel_0_y[0] - accel_0_params['TC_A0_X2_1'] = coef_accel_0_y[1] - accel_0_params['TC_A0_X1_1'] = coef_accel_0_y[2] - accel_0_params['TC_A0_X0_1'] = coef_accel_0_y[3] - fit_coef_accel_0_y = np.poly1d(coef_accel_0_y) - correction_y_resample = fit_coef_accel_0_y(temp_rel_resample) + temp_rel = sensor_gyro_0['temperature'] - gyro_0_params['TC_G0_TREF'] + temp_rel_resample = np.linspace(gyro_0_params['TC_G0_TMIN']-gyro_0_params['TC_G0_TREF'], gyro_0_params['TC_G0_TMAX']-gyro_0_params['TC_G0_TREF'], 100) + temp_resample = temp_rel_resample + gyro_0_params['TC_G0_TREF'] - # fit Z axis - correction_z = sensor_accel_0['z'] - np.median(sensor_accel_0['z']) - if noResample: - coef_accel_0_z = np.polyfit(temp_rel,correction_z, 3) - else: - temp, sens = resampleWithDeltaX(temp_rel,correction_z) - coef_accel_0_z = np.polyfit(temp, sens, 3) + sensor_gyro_0['x'] = median_filter(sensor_gyro_0['x']) + sensor_gyro_0['y'] = median_filter(sensor_gyro_0['y']) + sensor_gyro_0['z'] = median_filter(sensor_gyro_0['z']) - accel_0_params['TC_A0_X3_2'] = coef_accel_0_z[0] - accel_0_params['TC_A0_X2_2'] = coef_accel_0_z[1] - accel_0_params['TC_A0_X1_2'] = coef_accel_0_z[2] - accel_0_params['TC_A0_X0_2'] = coef_accel_0_z[3] - fit_coef_accel_0_z = np.poly1d(coef_accel_0_z) - correction_z_resample = fit_coef_accel_0_z(temp_rel_resample) + # fit X axis + if noResample: + coef_gyro_0_x = np.polyfit(temp_rel, sensor_gyro_0['x'], 3) + else: + temp, sens = resampleWithDeltaX(temp_rel, sensor_gyro_0['x']) + coef_gyro_0_x = np.polyfit(temp, sens, 3) + + gyro_0_params['TC_G0_X3_0'] = coef_gyro_0_x[0] + gyro_0_params['TC_G0_X2_0'] = coef_gyro_0_x[1] + gyro_0_params['TC_G0_X1_0'] = coef_gyro_0_x[2] + gyro_0_params['TC_G0_X0_0'] = coef_gyro_0_x[3] + fit_coef_gyro_0_x = np.poly1d(coef_gyro_0_x) + gyro_0_x_resample = fit_coef_gyro_0_x(temp_rel_resample) + + # fit Y axis + if noResample: + coef_gyro_0_y = np.polyfit(temp_rel, sensor_gyro_0['y'], 3) + else: + temp, sens = resampleWithDeltaX(temp_rel,sensor_gyro_0['y']) + coef_gyro_0_y = np.polyfit(temp, sens, 3) + + gyro_0_params['TC_G0_X3_1'] = coef_gyro_0_y[0] + gyro_0_params['TC_G0_X2_1'] = coef_gyro_0_y[1] + gyro_0_params['TC_G0_X1_1'] = coef_gyro_0_y[2] + gyro_0_params['TC_G0_X0_1'] = coef_gyro_0_y[3] + fit_coef_gyro_0_y = np.poly1d(coef_gyro_0_y) + gyro_0_y_resample = fit_coef_gyro_0_y(temp_rel_resample) + + # fit Z axis + if noResample: + coef_gyro_0_z = np.polyfit(temp_rel, sensor_gyro_0['z'],3) + else: + temp, sens = resampleWithDeltaX(temp_rel, sensor_gyro_0['z']) + coef_gyro_0_z = np.polyfit(temp, sens ,3) + + gyro_0_params['TC_G0_X3_2'] = coef_gyro_0_z[0] + gyro_0_params['TC_G0_X2_2'] = coef_gyro_0_z[1] + gyro_0_params['TC_G0_X1_2'] = coef_gyro_0_z[2] + gyro_0_params['TC_G0_X0_2'] = coef_gyro_0_z[3] + fit_coef_gyro_0_z = np.poly1d(coef_gyro_0_z) + gyro_0_z_resample = fit_coef_gyro_0_z(temp_rel_resample) + + # gyro0 vs temperature + plt.figure(5,figsize=(20,13)) + + # draw plots + plt.subplot(3,1,1) + plt.plot(sensor_gyro_0['temperature'],sensor_gyro_0['x'],'b') + plt.plot(temp_resample,gyro_0_x_resample,'r') + plt.title('Gyro 0 ({}) Bias vs Temperature'.format(gyro_0_params['TC_G0_ID'])) + plt.ylabel('X bias (rad/s)') + plt.xlabel('temperature (degC)') + plt.grid() + + # draw plots + plt.subplot(3,1,2) + plt.plot(sensor_gyro_0['temperature'],sensor_gyro_0['y'],'b') + plt.plot(temp_resample,gyro_0_y_resample,'r') + plt.ylabel('Y bias (rad/s)') + plt.xlabel('temperature (degC)') + plt.grid() + + # draw plots + plt.subplot(3,1,3) + plt.plot(sensor_gyro_0['temperature'],sensor_gyro_0['z'],'b') + plt.plot(temp_resample,gyro_0_z_resample,'r') + plt.ylabel('Z bias (rad/s)') + plt.xlabel('temperature (degC)') + plt.grid() + + pp.savefig() - # accel 0 vs temperature - plt.figure(5,figsize=(20,13)) - # draw plots - plt.subplot(3,1,1) - plt.plot(sensor_accel_0['temperature'],correction_x,'b') - plt.plot(temp_resample,correction_x_resample,'r') - plt.title('Accel 0 ({}) Bias vs Temperature'.format(accel_0_params['TC_A0_ID'])) - plt.ylabel('X bias (m/s/s)') - plt.xlabel('temperature (degC)') - plt.grid() +################################################################################# - # draw plots - plt.subplot(3,1,2) - plt.plot(sensor_accel_0['temperature'],correction_y,'b') - plt.plot(temp_resample,correction_y_resample,'r') - plt.ylabel('Y bias (m/s/s)') - plt.xlabel('temperature (degC)') - plt.grid() +################################################################################# - # draw plots - plt.subplot(3,1,3) - plt.plot(sensor_accel_0['temperature'],correction_z,'b') - plt.plot(temp_resample,correction_z_resample,'r') - plt.ylabel('Z bias (m/s/s)') - plt.xlabel('temperature (degC)') - plt.grid() +# define data dictionary of gyro 1 thermal correction parameters +gyro_1_params = { +'TC_G1_ID':0, +'TC_G1_TMIN':0.0, +'TC_G1_TMAX':0.0, +'TC_G1_TREF':0.0, +'TC_G1_X0_0':0.0, +'TC_G1_X1_0':0.0, +'TC_G1_X2_0':0.0, +'TC_G1_X3_0':0.0, +'TC_G1_X0_1':0.0, +'TC_G1_X1_1':0.0, +'TC_G1_X2_1':0.0, +'TC_G1_X3_1':0.0, +'TC_G1_X0_2':0.0, +'TC_G1_X1_2':0.0, +'TC_G1_X2_2':0.0, +'TC_G1_X3_2':0.0 +} - pp.savefig() +# curve fit the data for gyro 1 corrections +if num_gyros >= 2: + + #if the gyro has no temperature data, use the corresponding accel instance or the primary baro temp. + if math.isnan(sensor_gyro_1['temperature'][0]): + if not math.isnan(sensor_accel_1['temperature'][0]): + sensor_gyro_1['temperature'] = sensor_accel_1['temperature'] + elif not math.isnan(sensor_baro_0['temperature'][0]): + sensor_gyro_1['temperature'] = sensor_baro_0['temperature'] + + if not math.isnan(sensor_gyro_1['temperature'][0]): + + gyro_1_params['TC_G1_ID'] = int(np.median(sensor_gyro_1['device_id'])) + + # find the min, max and reference temperature + gyro_1_params['TC_G1_TMIN'] = np.amin(sensor_gyro_1['temperature']) + gyro_1_params['TC_G1_TMAX'] = np.amax(sensor_gyro_1['temperature']) + gyro_1_params['TC_G1_TREF'] = 0.5 * (gyro_1_params['TC_G1_TMIN'] + gyro_1_params['TC_G1_TMAX']) + + temp_rel = sensor_gyro_1['temperature'] - gyro_1_params['TC_G1_TREF'] + temp_rel_resample = np.linspace(gyro_1_params['TC_G1_TMIN']-gyro_1_params['TC_G1_TREF'], gyro_1_params['TC_G1_TMAX']-gyro_1_params['TC_G1_TREF'], 100) + temp_resample = temp_rel_resample + gyro_1_params['TC_G1_TREF'] + + sensor_gyro_1['x'] = median_filter(sensor_gyro_1['x']) + sensor_gyro_1['y'] = median_filter(sensor_gyro_1['y']) + sensor_gyro_1['z'] = median_filter(sensor_gyro_1['z']) + + # fit X axis + if noResample: + coef_gyro_1_x = np.polyfit(temp_rel,sensor_gyro_1['x'],3) + else: + temp, sens = resampleWithDeltaX(temp_rel,sensor_gyro_1['x']) + coef_gyro_1_x = np.polyfit(temp, sens ,3) + + gyro_1_params['TC_G1_X3_0'] = coef_gyro_1_x[0] + gyro_1_params['TC_G1_X2_0'] = coef_gyro_1_x[1] + gyro_1_params['TC_G1_X1_0'] = coef_gyro_1_x[2] + gyro_1_params['TC_G1_X0_0'] = coef_gyro_1_x[3] + fit_coef_gyro_1_x = np.poly1d(coef_gyro_1_x) + gyro_1_x_resample = fit_coef_gyro_1_x(temp_rel_resample) + + # fit Y axis + if noResample: + coef_gyro_1_y = np.polyfit(temp_rel,sensor_gyro_1['y'],3) + else: + temp, sens = resampleWithDeltaX(temp_rel,sensor_gyro_1['y']) + coef_gyro_1_y = np.polyfit(temp, sens ,3) + + gyro_1_params['TC_G1_X3_1'] = coef_gyro_1_y[0] + gyro_1_params['TC_G1_X2_1'] = coef_gyro_1_y[1] + gyro_1_params['TC_G1_X1_1'] = coef_gyro_1_y[2] + gyro_1_params['TC_G1_X0_1'] = coef_gyro_1_y[3] + fit_coef_gyro_1_y = np.poly1d(coef_gyro_1_y) + gyro_1_y_resample = fit_coef_gyro_1_y(temp_rel_resample) + + # fit Z axis + if noResample: + coef_gyro_1_z = np.polyfit(temp_rel,sensor_gyro_1['z'],3) + else: + temp, sens = resampleWithDeltaX(temp_rel,sensor_gyro_1['z']) + coef_gyro_1_z = np.polyfit(temp, sens ,3) + + gyro_1_params['TC_G1_X3_2'] = coef_gyro_1_z[0] + gyro_1_params['TC_G1_X2_2'] = coef_gyro_1_z[1] + gyro_1_params['TC_G1_X1_2'] = coef_gyro_1_z[2] + gyro_1_params['TC_G1_X0_2'] = coef_gyro_1_z[3] + fit_coef_gyro_1_z = np.poly1d(coef_gyro_1_z) + gyro_1_z_resample = fit_coef_gyro_1_z(temp_rel_resample) + + # gyro1 vs temperature + plt.figure(6,figsize=(20,13)) + + # draw plots + plt.subplot(3,1,1) + plt.plot(sensor_gyro_1['temperature'],sensor_gyro_1['x'],'b') + plt.plot(temp_resample,gyro_1_x_resample,'r') + plt.title('Gyro 1 ({}) Bias vs Temperature'.format(gyro_1_params['TC_G1_ID'])) + plt.ylabel('X bias (rad/s)') + plt.xlabel('temperature (degC)') + plt.grid() + + # draw plots + plt.subplot(3,1,2) + plt.plot(sensor_gyro_1['temperature'],sensor_gyro_1['y'],'b') + plt.plot(temp_resample,gyro_1_y_resample,'r') + plt.ylabel('Y bias (rad/s)') + plt.xlabel('temperature (degC)') + plt.grid() + + # draw plots + plt.subplot(3,1,3) + plt.plot(sensor_gyro_1['temperature'],sensor_gyro_1['z'],'b') + plt.plot(temp_resample,gyro_1_z_resample,'r') + plt.ylabel('Z bias (rad/s)') + plt.xlabel('temperature (degC)') + plt.grid() + + pp.savefig() ################################################################################# ################################################################################# -# define data dictionary of accel 1 thermal correction parameters -accel_1_params = { -'TC_A1_ID':0, -'TC_A1_TMIN':0.0, -'TC_A1_TMAX':0.0, -'TC_A1_TREF':0.0, -'TC_A1_X0_0':0.0, -'TC_A1_X1_0':0.0, -'TC_A1_X2_0':0.0, -'TC_A1_X3_0':0.0, -'TC_A1_X0_1':0.0, -'TC_A1_X1_1':0.0, -'TC_A1_X2_1':0.0, -'TC_A1_X3_1':0.0, -'TC_A1_X0_2':0.0, -'TC_A1_X1_2':0.0, -'TC_A1_X2_2':0.0, -'TC_A1_X3_2':0.0 +# define data dictionary of gyro 2 thermal correction parameters +gyro_2_params = { +'TC_G2_ID':0, +'TC_G2_TMIN':0.0, +'TC_G2_TMAX':0.0, +'TC_G2_TREF':0.0, +'TC_G2_X0_0':0.0, +'TC_G2_X1_0':0.0, +'TC_G2_X2_0':0.0, +'TC_G2_X3_0':0.0, +'TC_G2_X0_1':0.0, +'TC_G2_X1_1':0.0, +'TC_G2_X2_1':0.0, +'TC_G2_X3_1':0.0, +'TC_G2_X0_2':0.0, +'TC_G2_X1_2':0.0, +'TC_G2_X2_2':0.0, +'TC_G2_X3_2':0.0 } -# curve fit the data for accel 1 corrections -if num_accels >= 2 and not math.isnan(sensor_accel_1['temperature'][0]): - accel_1_params['TC_A1_ID'] = int(np.median(sensor_accel_1['device_id'])) +# curve fit the data for gyro 2 corrections +if num_gyros >= 3: - # find the min, max and reference temperature - accel_1_params['TC_A1_TMIN'] = np.amin(sensor_accel_1['temperature']) - accel_1_params['TC_A1_TMAX'] = np.amax(sensor_accel_1['temperature']) - accel_1_params['TC_A1_TREF'] = 0.5 * (accel_1_params['TC_A1_TMIN'] + accel_1_params['TC_A1_TMAX']) - temp_rel = sensor_accel_1['temperature'] - accel_1_params['TC_A1_TREF'] - temp_rel_resample = np.linspace(accel_1_params['TC_A1_TMIN']-accel_1_params['TC_A1_TREF'], accel_1_params['TC_A1_TMAX']-accel_1_params['TC_A1_TREF'], 100) - temp_resample = temp_rel_resample + accel_1_params['TC_A1_TREF'] + #if the gyro has no temperature data, use the corresponding accel instance or the primary baro temp. + if math.isnan(sensor_gyro_2['temperature'][0]): + if not math.isnan(sensor_accel_2['temperature'][0]): + sensor_gyro_2['temperature'] = sensor_accel_2['temperature'] + elif not math.isnan(sensor_baro_0['temperature'][0]): + sensor_gyro_2['temperature'] = sensor_baro_0['temperature'] - sensor_accel_1['x'] = median_filter(sensor_accel_1['x']) - sensor_accel_1['y'] = median_filter(sensor_accel_1['y']) - sensor_accel_1['z'] = median_filter(sensor_accel_1['z']) + if not math.isnan(sensor_gyro_2['temperature'][0]): - # fit X axis - correction_x = sensor_accel_1['x'] - np.median(sensor_accel_1['x']) - if noResample: - coef_accel_1_x = np.polyfit(temp_rel, correction_x, 3) - else: - temp, sens = resampleWithDeltaX(temp_rel, correction_x) - coef_accel_1_x = np.polyfit(temp, sens, 3) + gyro_2_params['TC_G2_ID'] = int(np.median(sensor_gyro_2['device_id'])) - accel_1_params['TC_A1_X3_0'] = coef_accel_1_x[0] - accel_1_params['TC_A1_X2_0'] = coef_accel_1_x[1] - accel_1_params['TC_A1_X1_0'] = coef_accel_1_x[2] - accel_1_params['TC_A1_X0_0'] = coef_accel_1_x[3] - fit_coef_accel_1_x = np.poly1d(coef_accel_1_x) - correction_x_resample = fit_coef_accel_1_x(temp_rel_resample) + # find the min, max and reference temperature + gyro_2_params['TC_G2_TMIN'] = np.amin(sensor_gyro_2['temperature']) + gyro_2_params['TC_G2_TMAX'] = np.amax(sensor_gyro_2['temperature']) + gyro_2_params['TC_G2_TREF'] = 0.5 * (gyro_2_params['TC_G2_TMIN'] + gyro_2_params['TC_G2_TMAX']) - # fit Y axis - correction_y = sensor_accel_1['y'] - np.median(sensor_accel_1['y']) - if noResample: - coef_accel_1_y = np.polyfit(temp_rel,correction_y,3) - else: - temp, sens = resampleWithDeltaX(temp_rel,correction_y) - coef_accel_1_y = np.polyfit(temp, sens ,3) + temp_rel = sensor_gyro_2['temperature'] - gyro_2_params['TC_G2_TREF'] + temp_rel_resample = np.linspace(gyro_2_params['TC_G2_TMIN']-gyro_2_params['TC_G2_TREF'], gyro_2_params['TC_G2_TMAX']-gyro_2_params['TC_G2_TREF'], 100) + temp_resample = temp_rel_resample + gyro_2_params['TC_G2_TREF'] - accel_1_params['TC_A1_X3_1'] = coef_accel_1_y[0] - accel_1_params['TC_A1_X2_1'] = coef_accel_1_y[1] - accel_1_params['TC_A1_X1_1'] = coef_accel_1_y[2] - accel_1_params['TC_A1_X0_1'] = coef_accel_1_y[3] - fit_coef_accel_1_y = np.poly1d(coef_accel_1_y) - correction_y_resample = fit_coef_accel_1_y(temp_rel_resample) + sensor_gyro_2['x'] = median_filter(sensor_gyro_2['x']) + sensor_gyro_2['y'] = median_filter(sensor_gyro_2['y']) + sensor_gyro_2['z'] = median_filter(sensor_gyro_2['z']) - # fit Z axis - correction_z = sensor_accel_1['z'] - np.median(sensor_accel_1['z']) - if noResample: - coef_accel_1_z = np.polyfit(temp_rel,correction_z, 3) - else: - temp, sens = resampleWithDeltaX(temp_rel,correction_z) - coef_accel_1_z = np.polyfit(temp, sens, 3) + # fit X axis + if noResample: + coef_gyro_2_x = np.polyfit(temp_rel,sensor_gyro_2['x'],3) + else: + temp, sens = resampleWithDeltaX(temp_rel,sensor_gyro_2['x']) + coef_gyro_2_x = np.polyfit(temp, sens ,3) + + gyro_2_params['TC_G2_X3_0'] = coef_gyro_2_x[0] + gyro_2_params['TC_G2_X2_0'] = coef_gyro_2_x[1] + gyro_2_params['TC_G2_X1_0'] = coef_gyro_2_x[2] + gyro_2_params['TC_G2_X0_0'] = coef_gyro_2_x[3] + fit_coef_gyro_2_x = np.poly1d(coef_gyro_2_x) + gyro_2_x_resample = fit_coef_gyro_2_x(temp_rel_resample) + + # fit Y axis + if noResample: + coef_gyro_2_y = np.polyfit(temp_rel, sensor_gyro_2['y'], 3) + else: + temp, sens = resampleWithDeltaX(temp_rel, sensor_gyro_2['y']) + coef_gyro_2_y = np.polyfit(temp, sens, 3) + + gyro_2_params['TC_G2_X3_1'] = coef_gyro_2_y[0] + gyro_2_params['TC_G2_X2_1'] = coef_gyro_2_y[1] + gyro_2_params['TC_G2_X1_1'] = coef_gyro_2_y[2] + gyro_2_params['TC_G2_X0_1'] = coef_gyro_2_y[3] + fit_coef_gyro_2_y = np.poly1d(coef_gyro_2_y) + gyro_2_y_resample = fit_coef_gyro_2_y(temp_rel_resample) + + # fit Z axis + if noResample: + coef_gyro_2_z = np.polyfit(temp_rel,sensor_gyro_2['z'], 3) + else: + temp, sens = resampleWithDeltaX(temp_rel,sensor_gyro_2['z']) + coef_gyro_2_z = np.polyfit(temp, sens, 3) + + gyro_2_params['TC_G2_X3_2'] = coef_gyro_2_z[0] + gyro_2_params['TC_G2_X2_2'] = coef_gyro_2_z[1] + gyro_2_params['TC_G2_X1_2'] = coef_gyro_2_z[2] + gyro_2_params['TC_G2_X0_2'] = coef_gyro_2_z[3] + fit_coef_gyro_2_z = np.poly1d(coef_gyro_2_z) + gyro_2_z_resample = fit_coef_gyro_2_z(temp_rel_resample) + + # gyro2 vs temperature + plt.figure(7,figsize=(20,13)) + + # draw plots + plt.subplot(3,1,1) + plt.plot(sensor_gyro_2['temperature'],sensor_gyro_2['x'],'b') + plt.plot(temp_resample,gyro_2_x_resample,'r') + plt.title('Gyro 2 ({}) Bias vs Temperature'.format(gyro_2_params['TC_G2_ID'])) + plt.ylabel('X bias (rad/s)') + plt.xlabel('temperature (degC)') + plt.grid() + + # draw plots + plt.subplot(3,1,2) + plt.plot(sensor_gyro_2['temperature'],sensor_gyro_2['y'],'b') + plt.plot(temp_resample,gyro_2_y_resample,'r') + plt.ylabel('Y bias (rad/s)') + plt.xlabel('temperature (degC)') + plt.grid() + + # draw plots + plt.subplot(3,1,3) + plt.plot(sensor_gyro_2['temperature'],sensor_gyro_2['z'],'b') + plt.plot(temp_resample,gyro_2_z_resample,'r') + plt.ylabel('Z bias (rad/s)') + plt.xlabel('temperature (degC)') + plt.grid() + + pp.savefig() - accel_1_params['TC_A1_X3_2'] = coef_accel_1_z[0] - accel_1_params['TC_A1_X2_2'] = coef_accel_1_z[1] - accel_1_params['TC_A1_X1_2'] = coef_accel_1_z[2] - accel_1_params['TC_A1_X0_2'] = coef_accel_1_z[3] - fit_coef_accel_1_z = np.poly1d(coef_accel_1_z) - correction_z_resample = fit_coef_accel_1_z(temp_rel_resample) +################################################################################# - # accel 1 vs temperature - plt.figure(6,figsize=(20,13)) +################################################################################# - # draw plots - plt.subplot(3,1,1) - plt.plot(sensor_accel_1['temperature'],correction_x,'b') - plt.plot(temp_resample,correction_x_resample,'r') - plt.title('Accel 1 ({}) Bias vs Temperature'.format(accel_1_params['TC_A1_ID'])) - plt.ylabel('X bias (m/s/s)') - plt.xlabel('temperature (degC)') - plt.grid() +# define data dictionary of gyro 3 thermal correction parameters +gyro_3_params = { +'TC_G3_ID':0, +'TC_G3_TMIN':0.0, +'TC_G3_TMAX':0.0, +'TC_G3_TREF':0.0, +'TC_G3_X0_0':0.0, +'TC_G3_X1_0':0.0, +'TC_G3_X2_0':0.0, +'TC_G3_X3_0':0.0, +'TC_G3_X0_1':0.0, +'TC_G3_X1_1':0.0, +'TC_G3_X2_1':0.0, +'TC_G3_X3_1':0.0, +'TC_G3_X0_2':0.0, +'TC_G3_X1_2':0.0, +'TC_G3_X2_2':0.0, +'TC_G3_X3_2':0.0 +} - # draw plots - plt.subplot(3,1,2) - plt.plot(sensor_accel_1['temperature'],correction_y,'b') - plt.plot(temp_resample,correction_y_resample,'r') - plt.ylabel('Y bias (m/s/s)') - plt.xlabel('temperature (degC)') - plt.grid() +# curve fit the data for gyro 3 corrections +if num_gyros >= 4: + + #if the gyro has no temperature data, use the corresponding accel instance or the primary baro temp. + if math.isnan(sensor_gyro_3['temperature'][0]): + if not math.isnan(sensor_accel_3['temperature'][0]): + sensor_gyro_3['temperature'] = sensor_accel_3['temperature'] + elif not math.isnan(sensor_baro_0['temperature'][0]): + sensor_gyro_3['temperature'] = sensor_baro_0['temperature'] + + if not math.isnan(sensor_gyro_3['temperature'][0]): + + gyro_3_params['TC_G3_ID'] = int(np.median(sensor_gyro_3['device_id'])) + + # find the min, max and reference temperature + gyro_3_params['TC_G3_TMIN'] = np.amin(sensor_gyro_3['temperature']) + gyro_3_params['TC_G3_TMAX'] = np.amax(sensor_gyro_3['temperature']) + gyro_3_params['TC_G3_TREF'] = 0.5 * (gyro_2_params['TC_G3_TMIN'] + gyro_2_params['TC_G3_TMAX']) + + temp_rel = sensor_gyro_3['temperature'] - gyro_2_params['TC_G3_TREF'] + temp_rel_resample = np.linspace(gyro_3_params['TC_G3_TMIN']-gyro_3_params['TC_G3_TREF'], gyro_3_params['TC_G3_TMAX']-gyro_3_params['TC_G3_TREF'], 100) + temp_resample = temp_rel_resample + gyro_3_params['TC_G3_TREF'] + + sensor_gyro_3['x'] = median_filter(sensor_gyro_3['x']) + sensor_gyro_3['y'] = median_filter(sensor_gyro_3['y']) + sensor_gyro_3['z'] = median_filter(sensor_gyro_3['z']) + + # fit X axis + coef_gyro_3_x = np.polyfit(temp_rel,sensor_gyro_3['x'], 3) + gyro_3_params['TC_G3_X3_0'] = coef_gyro_3_x[0] + gyro_3_params['TC_G3_X2_0'] = coef_gyro_3_x[1] + gyro_3_params['TC_G3_X1_0'] = coef_gyro_3_x[2] + gyro_3_params['TC_G3_X0_0'] = coef_gyro_3_x[3] + fit_coef_gyro_3_x = np.poly1d(coef_gyro_3_x) + gyro_3_x_resample = fit_coef_gyro_3_x(temp_rel_resample) + + # fit Y axis + coef_gyro_3_y = np.polyfit(temp_rel,sensor_gyro_3['y'], 3) + gyro_3_params['TC_G3_X3_1'] = coef_gyro_3_y[0] + gyro_3_params['TC_G3_X2_1'] = coef_gyro_3_y[1] + gyro_3_params['TC_G3_X1_1'] = coef_gyro_3_y[2] + gyro_3_params['TC_G3_X0_1'] = coef_gyro_3_y[3] + fit_coef_gyro_3_y = np.poly1d(coef_gyro_3_y) + gyro_3_y_resample = fit_coef_gyro_3_y(temp_rel_resample) + + # fit Z axis + coef_gyro_3_z = np.polyfit(temp_rel,sensor_gyro_3['z'], 3) + gyro_3_params['TC_G3_X3_2'] = coef_gyro_3_z[0] + gyro_3_params['TC_G3_X2_2'] = coef_gyro_3_z[1] + gyro_3_params['TC_G3_X1_2'] = coef_gyro_3_z[2] + gyro_3_params['TC_G3_X0_2'] = coef_gyro_3_z[3] + fit_coef_gyro_3_z = np.poly1d(coef_gyro_3_z) + gyro_3_z_resample = fit_coef_gyro_3_z(temp_rel_resample) + + # gyro3 vs temperature + plt.figure(8,figsize=(20,13)) + + # draw plots + plt.subplot(3,1,1) + plt.plot(sensor_gyro_3['temperature'],sensor_gyro_3['x'], 'b') + plt.plot(temp_resample,gyro_3_x_resample, 'r') + plt.title('Gyro 2 ({}) Bias vs Temperature'.format(gyro_3_params['TC_G3_ID'])) + plt.ylabel('X bias (rad/s)') + plt.xlabel('temperature (degC)') + plt.grid() + + # draw plots + plt.subplot(3,1,2) + plt.plot(sensor_gyro_3['temperature'],sensor_gyro_3['y'],'b') + plt.plot(temp_resample,gyro_3_y_resample,'r') + plt.ylabel('Y bias (rad/s)') + plt.xlabel('temperature (degC)') + plt.grid() + + # draw plots + plt.subplot(3,1,3) + plt.plot(sensor_gyro_3['temperature'],sensor_gyro_3['z'],'b') + plt.plot(temp_resample,gyro_3_z_resample,'r') + plt.ylabel('Z bias (rad/s)') + plt.xlabel('temperature (degC)') + plt.grid() + + pp.savefig() - # draw plots - plt.subplot(3,1,3) - plt.plot(sensor_accel_1['temperature'],correction_z,'b') - plt.plot(temp_resample,correction_z_resample,'r') - plt.ylabel('Z bias (m/s/s)') - plt.xlabel('temperature (degC)') - plt.grid() +################################################################################# - pp.savefig() +################################################################################# + +# define data dictionary of mag 0 thermal correction parameters +mag_0_params = { +'TC_M0_ID':0, +'TC_M0_TMIN':0.0, +'TC_M0_TMAX':0.0, +'TC_M0_TREF':0.0, +'TC_M0_X0_0':0.0, +'TC_M0_X1_0':0.0, +'TC_M0_X2_0':0.0, +'TC_M0_X3_0':0.0, +'TC_M0_X0_1':0.0, +'TC_M0_X1_1':0.0, +'TC_M0_X2_1':0.0, +'TC_M0_X3_1':0.0, +'TC_M0_X0_2':0.0, +'TC_M0_X1_2':0.0, +'TC_M0_X2_2':0.0, +'TC_M0_X3_2':0.0 +} + +# curve fit the data for mag 0 corrections +if num_mags >= 1: + if math.isnan(sensor_mag_0['temperature'][0]): + if not math.isnan(sensor_baro_0['temperature'][0]): + sensor_mag_0['temperature'] = sensor_baro_0['temperature'] + + if not math.isnan(sensor_mag_0['temperature'][0]): + # find the min, max and reference temperature + mag_0_params['TC_M0_TMIN'] = np.amin(sensor_mag_0['temperature']) + mag_0_params['TC_M0_TMAX'] = np.amax(sensor_mag_0['temperature']) + mag_0_params['TC_M0_TREF'] = 0.5 * (mag_0_params['TC_M0_TMIN'] + mag_0_params['TC_M0_TMAX']) + + temp_rel = sensor_mag_0['temperature'] - mag_0_params['TC_M0_TREF'] + temp_rel_resample = np.linspace(mag_0_params['TC_M0_TMIN']-mag_0_params['TC_M0_TREF'], mag_0_params['TC_M0_TMAX']-mag_0_params['TC_M0_TREF'], 100) + temp_resample = temp_rel_resample + mag_0_params['TC_M0_TREF'] + + sensor_mag_0['x'] = median_filter(sensor_mag_0['x']) + sensor_mag_0['y'] = median_filter(sensor_mag_0['y']) + sensor_mag_0['z'] = median_filter(sensor_mag_0['z']) + + # fit X axis + correction_x = sensor_mag_0['x'] - np.median(sensor_mag_0['x']) + + if noResample: + coef_mag_0_x = np.polyfit(temp_rel,correction_x, 3) + else: + temp, sens = resampleWithDeltaX(temp_rel,correction_x) + coef_mag_0_x = np.polyfit(temp, sens, 3) + + mag_0_params['TC_M0_X3_0'] = coef_mag_0_x[0] + mag_0_params['TC_M0_X2_0'] = coef_mag_0_x[1] + mag_0_params['TC_M0_X1_0'] = coef_mag_0_x[2] + mag_0_params['TC_M0_X0_0'] = coef_mag_0_x[3] + + fit_coef_mag_0_x = np.poly1d(coef_mag_0_x) + correction_x_resample = fit_coef_mag_0_x(temp_rel_resample) + + # fit Y axis + correction_y = sensor_mag_0['y'] - np.median(sensor_mag_0['y']) + + if noResample: + coef_mag_0_y = np.polyfit(temp_rel, correction_y, 3) + else: + temp, sens = resampleWithDeltaX(temp_rel,correction_y) + coef_mag_0_y = np.polyfit(temp, sens, 3) + + mag_0_params['TC_M0_X3_1'] = coef_mag_0_y[0] + mag_0_params['TC_M0_X2_1'] = coef_mag_0_y[1] + mag_0_params['TC_M0_X1_1'] = coef_mag_0_y[2] + mag_0_params['TC_M0_X0_1'] = coef_mag_0_y[3] + + fit_coef_mag_0_y = np.poly1d(coef_mag_0_y) + correction_y_resample = fit_coef_mag_0_y(temp_rel_resample) + + # fit Z axis + correction_z = sensor_mag_0['z'] - np.median(sensor_mag_0['z']) + + if noResample: + coef_mag_0_z = np.polyfit(temp_rel,correction_z, 3) + else: + temp, sens = resampleWithDeltaX(temp_rel,correction_z) + coef_mag_0_z = np.polyfit(temp, sens, 3) + + mag_0_params['TC_M0_X3_2'] = coef_mag_0_z[0] + mag_0_params['TC_M0_X2_2'] = coef_mag_0_z[1] + mag_0_params['TC_M0_X1_2'] = coef_mag_0_z[2] + mag_0_params['TC_M0_X0_2'] = coef_mag_0_z[3] + + fit_coef_mag_0_z = np.poly1d(coef_mag_0_z) + correction_z_resample = fit_coef_mag_0_z(temp_rel_resample) + + # mag 0 vs temperature + plt.figure(9,figsize=(20,13)) + + # draw plots + plt.subplot(3,1,1) + plt.plot(sensor_mag_0['temperature'],correction_x,'b') + plt.plot(temp_resample,correction_x_resample,'r') + plt.title('Mag 0 ({}) Bias vs Temperature'.format(mag_0_params['TC_M0_ID'])) + plt.ylabel('X bias (Gauss)') + plt.xlabel('temperature (degC)') + plt.grid() + + # draw plots + plt.subplot(3,1,2) + plt.plot(sensor_mag_0['temperature'],correction_y,'b') + plt.plot(temp_resample,correction_y_resample,'r') + plt.ylabel('Y bias (Gauss)') + plt.xlabel('temperature (degC)') + plt.grid() + + # draw plots + plt.subplot(3,1,3) + plt.plot(sensor_mag_0['temperature'],correction_z,'b') + plt.plot(temp_resample,correction_z_resample,'r') + plt.ylabel('Z bias (Gauss)') + plt.xlabel('temperature (degC)') + plt.grid() + + pp.savefig() ################################################################################# ################################################################################# -# define data dictionary of accel 2 thermal correction parameters -accel_2_params = { -'TC_A2_ID':0, -'TC_A2_TMIN':0.0, -'TC_A2_TMAX':0.0, -'TC_A2_TREF':0.0, -'TC_A2_X0_0':0.0, -'TC_A2_X1_0':0.0, -'TC_A2_X2_0':0.0, -'TC_A2_X3_0':0.0, -'TC_A2_X0_1':0.0, -'TC_A2_X1_1':0.0, -'TC_A2_X2_1':0.0, -'TC_A2_X3_1':0.0, -'TC_A2_X0_2':0.0, -'TC_A2_X1_2':0.0, -'TC_A2_X2_2':0.0, -'TC_A2_X3_2':0.0 +# define data dictionary of mag 1 thermal correction parameters +mag_1_params = { +'TC_M1_ID':0, +'TC_M1_TMIN':0.0, +'TC_M1_TMAX':0.0, +'TC_M1_TREF':0.0, +'TC_M1_X0_0':0.0, +'TC_M1_X1_0':0.0, +'TC_M1_X2_0':0.0, +'TC_M1_X3_0':0.0, +'TC_M1_X0_1':0.0, +'TC_M1_X1_1':0.0, +'TC_M1_X2_1':0.0, +'TC_M1_X3_1':0.0, +'TC_M1_X0_2':0.0, +'TC_M1_X1_2':0.0, +'TC_M1_X2_2':0.0, +'TC_M1_X3_2':0.0 } -# curve fit the data for accel 2 corrections -if num_accels >= 3 and not math.isnan(sensor_accel_2['temperature'][0]): - accel_2_params['TC_A2_ID'] = int(np.median(sensor_accel_2['device_id'])) +# curve fit the data for mag 1 corrections +if num_mags >= 2: + if math.isnan(sensor_mag_1['temperature'][0]): + if not math.isnan(sensor_baro_0['temperature'][0]): + sensor_mag_1['temperature'] = sensor_baro_0['temperature'] - # find the min, max and reference temperature - accel_2_params['TC_A2_TMIN'] = np.amin(sensor_accel_2['temperature']) - accel_2_params['TC_A2_TMAX'] = np.amax(sensor_accel_2['temperature']) - accel_2_params['TC_A2_TREF'] = 0.5 * (accel_2_params['TC_A2_TMIN'] + accel_2_params['TC_A2_TMAX']) - temp_rel = sensor_accel_2['temperature'] - accel_2_params['TC_A2_TREF'] - temp_rel_resample = np.linspace(accel_2_params['TC_A2_TMIN']-accel_2_params['TC_A2_TREF'], accel_2_params['TC_A2_TMAX']-accel_2_params['TC_A2_TREF'], 100) - temp_resample = temp_rel_resample + accel_2_params['TC_A2_TREF'] + if not math.isnan(sensor_mag_1['temperature'][0]): - sensor_accel_2['x'] = median_filter(sensor_accel_2['x']) - sensor_accel_2['y'] = median_filter(sensor_accel_2['y']) - sensor_accel_2['z'] = median_filter(sensor_accel_2['z']) + mag_1_params['TC_M1_ID'] = int(np.median(sensor_mag_1['device_id'])) - # fit X axis - correction_x = sensor_accel_2['x'] - np.median(sensor_accel_2['x']) - if noResample: - coef_accel_2_x = np.polyfit(temp_rel,correction_x, 3) - else: - temp, sens = resampleWithDeltaX(temp_rel, correction_x) - coef_accel_2_x = np.polyfit(temp, sens, 3) + # find the min, max and reference temperature + mag_1_params['TC_M1_TMIN'] = np.amin(sensor_mag_1['temperature']) + mag_1_params['TC_M1_TMAX'] = np.amax(sensor_mag_1['temperature']) + mag_1_params['TC_M1_TREF'] = 0.5 * (mag_1_params['TC_M1_TMIN'] + mag_1_params['TC_M1_TMAX']) + + temp_rel = sensor_mag_1['temperature'] - mag_1_params['TC_M1_TREF'] + temp_rel_resample = np.linspace(mag_1_params['TC_M1_TMIN']-mag_1_params['TC_M1_TREF'], mag_1_params['TC_M1_TMAX']-mag_1_params['TC_M1_TREF'], 100) + temp_resample = temp_rel_resample + mag_1_params['TC_M1_TREF'] + + sensor_mag_1['x'] = median_filter(sensor_mag_1['x']) + sensor_mag_1['y'] = median_filter(sensor_mag_1['y']) + sensor_mag_1['z'] = median_filter(sensor_mag_1['z']) + + # fit X axis + correction_x = sensor_mag_1['x'] - np.median(sensor_mag_1['x']) + + if noResample: + coef_mag_1_x = np.polyfit(temp_rel, correction_x, 3) + else: + temp, sens = resampleWithDeltaX(temp_rel, correction_x) + coef_mag_1_x = np.polyfit(temp, sens, 3) + + mag_1_params['TC_M1_X3_0'] = coef_mag_1_x[0] + mag_1_params['TC_M1_X2_0'] = coef_mag_1_x[1] + mag_1_params['TC_M1_X1_0'] = coef_mag_1_x[2] + mag_1_params['TC_M1_X0_0'] = coef_mag_1_x[3] + + fit_coef_mag_1_x = np.poly1d(coef_mag_1_x) + correction_x_resample = fit_coef_mag_1_x(temp_rel_resample) + + # fit Y axis + correction_y = sensor_mag_1['y'] - np.median(sensor_mag_1['y']) + + if noResample: + coef_mag_1_y = np.polyfit(temp_rel,correction_y,3) + else: + temp, sens = resampleWithDeltaX(temp_rel,correction_y) + coef_mag_1_y = np.polyfit(temp, sens ,3) + + mag_1_params['TC_M1_X3_1'] = coef_mag_1_y[0] + mag_1_params['TC_M1_X2_1'] = coef_mag_1_y[1] + mag_1_params['TC_M1_X1_1'] = coef_mag_1_y[2] + mag_1_params['TC_M1_X0_1'] = coef_mag_1_y[3] + + fit_coef_mag_1_y = np.poly1d(coef_mag_1_y) + correction_y_resample = fit_coef_mag_1_y(temp_rel_resample) + + # fit Z axis + correction_z = sensor_mag_1['z'] - np.median(sensor_mag_1['z']) + + if noResample: + coef_mag_1_z = np.polyfit(temp_rel,correction_z, 3) + else: + temp, sens = resampleWithDeltaX(temp_rel,correction_z) + coef_mag_1_z = np.polyfit(temp, sens, 3) + + mag_1_params['TC_M1_X3_2'] = coef_mag_1_z[0] + mag_1_params['TC_M1_X2_2'] = coef_mag_1_z[1] + mag_1_params['TC_M1_X1_2'] = coef_mag_1_z[2] + mag_1_params['TC_M1_X0_2'] = coef_mag_1_z[3] + + fit_coef_mag_1_z = np.poly1d(coef_mag_1_z) + correction_z_resample = fit_coef_mag_1_z(temp_rel_resample) + + # mag 1 vs temperature + plt.figure(10,figsize=(20,13)) + + # draw plots + plt.subplot(3,1,1) + plt.plot(sensor_mag_1['temperature'],correction_x,'b') + plt.plot(temp_resample,correction_x_resample,'r') + plt.title('Mag 1 ({}) Bias vs Temperature'.format(mag_1_params['TC_M1_ID'])) + plt.ylabel('X bias (Gauss)') + plt.xlabel('temperature (degC)') + plt.grid() + + # draw plots + plt.subplot(3,1,2) + plt.plot(sensor_mag_1['temperature'],correction_y,'b') + plt.plot(temp_resample,correction_y_resample,'r') + plt.ylabel('Y bias (Gauss)') + plt.xlabel('temperature (degC)') + plt.grid() + + # draw plots + plt.subplot(3,1,3) + plt.plot(sensor_mag_1['temperature'],correction_z,'b') + plt.plot(temp_resample,correction_z_resample,'r') + plt.ylabel('Z bias (Gauss)') + plt.xlabel('temperature (degC)') + plt.grid() + + pp.savefig() + + +################################################################################# + +################################################################################# + +# define data dictionary of mag 2 thermal correction parameters +mag_2_params = { +'TC_M2_ID':0, +'TC_M2_TMIN':0.0, +'TC_M2_TMAX':0.0, +'TC_M2_TREF':0.0, +'TC_M2_X0_0':0.0, +'TC_M2_X1_0':0.0, +'TC_M2_X2_0':0.0, +'TC_M2_X3_0':0.0, +'TC_M2_X0_1':0.0, +'TC_M2_X1_1':0.0, +'TC_M2_X2_1':0.0, +'TC_M2_X3_1':0.0, +'TC_M2_X0_2':0.0, +'TC_M2_X1_2':0.0, +'TC_M2_X2_2':0.0, +'TC_M2_X3_2':0.0 +} + +# curve fit the data for mag 2 corrections +if num_mags >= 3: + if math.isnan(sensor_mag_2['temperature'][0]): + if not math.isnan(sensor_baro_0['temperature'][0]): + sensor_mag_2['temperature'] = sensor_baro_0['temperature'] + + if not math.isnan(sensor_mag_2['temperature'][0]): + + mag_2_params['TC_M2_ID'] = int(np.median(sensor_mag_2['device_id'])) + + # find the min, max and reference temperature + mag_2_params['TC_M2_TMIN'] = np.amin(sensor_mag_2['temperature']) + mag_2_params['TC_M2_TMAX'] = np.amax(sensor_mag_2['temperature']) + mag_2_params['TC_M2_TREF'] = 0.5 * (mag_2_params['TC_M2_TMIN'] + mag_2_params['TC_M2_TMAX']) + + temp_rel = sensor_mag_2['temperature'] - mag_2_params['TC_M2_TREF'] + temp_rel_resample = np.linspace(mag_2_params['TC_M2_TMIN']-mag_2_params['TC_M2_TREF'], mag_2_params['TC_M2_TMAX']-mag_2_params['TC_M2_TREF'], 100) + temp_resample = temp_rel_resample + mag_2_params['TC_M2_TREF'] + + sensor_mag_2['x'] = median_filter(sensor_mag_2['x']) + sensor_mag_2['y'] = median_filter(sensor_mag_2['y']) + sensor_mag_2['z'] = median_filter(sensor_mag_2['z']) - accel_2_params['TC_A2_X3_0'] = coef_accel_2_x[0] - accel_2_params['TC_A2_X2_0'] = coef_accel_2_x[1] - accel_2_params['TC_A2_X1_0'] = coef_accel_2_x[2] - accel_2_params['TC_A2_X0_0'] = coef_accel_2_x[3] - fit_coef_accel_2_x = np.poly1d(coef_accel_2_x) - correction_x_resample = fit_coef_accel_2_x(temp_rel_resample) + # fit X axis + correction_x = sensor_mag_2['x'] - np.median(sensor_mag_2['x']) - # fit Y axis - correction_y = sensor_accel_2['y'] - np.median(sensor_accel_2['y']) - if noResample: - coef_accel_2_y = np.polyfit(temp_rel,correction_y,3) - else: - temp, sens = resampleWithDeltaX(temp_rel,correction_y) - coef_accel_2_y = np.polyfit(temp, sens ,3) + if noResample: + coef_mag_2_x = np.polyfit(temp_rel,correction_x, 3) + else: + temp, sens = resampleWithDeltaX(temp_rel, correction_x) + coef_mag_2_x = np.polyfit(temp, sens, 3) - accel_2_params['TC_A2_X3_1'] = coef_accel_2_y[0] - accel_2_params['TC_A2_X2_1'] = coef_accel_2_y[1] - accel_2_params['TC_A2_X1_1'] = coef_accel_2_y[2] - accel_2_params['TC_A2_X0_1'] = coef_accel_2_y[3] - fit_coef_accel_2_y = np.poly1d(coef_accel_2_y) - correction_y_resample = fit_coef_accel_2_y(temp_rel_resample) + mag_2_params['TC_M2_X3_0'] = coef_mag_2_x[0] + mag_2_params['TC_M2_X2_0'] = coef_mag_2_x[1] + mag_2_params['TC_M2_X1_0'] = coef_mag_2_x[2] + mag_2_params['TC_M2_X0_0'] = coef_mag_2_x[3] - # fit Z axis - correction_z = sensor_accel_2['z'] - np.median(sensor_accel_2['z']) - if noResample: - coef_accel_2_z = np.polyfit(temp_rel,correction_z,3) - else: - temp, sens = resampleWithDeltaX(temp_rel,correction_z) - coef_accel_2_z = np.polyfit(temp, sens ,3) + fit_coef_mag_2_x = np.poly1d(coef_mag_2_x) + correction_x_resample = fit_coef_mag_2_x(temp_rel_resample) - accel_2_params['TC_A2_X3_2'] = coef_accel_2_z[0] - accel_2_params['TC_A2_X2_2'] = coef_accel_2_z[1] - accel_2_params['TC_A2_X1_2'] = coef_accel_2_z[2] - accel_2_params['TC_A2_X0_2'] = coef_accel_2_z[3] - fit_coef_accel_2_z = np.poly1d(coef_accel_2_z) - correction_z_resample = fit_coef_accel_2_z(temp_rel_resample) + # fit Y axis + correction_y = sensor_mag_2['y'] - np.median(sensor_mag_2['y']) - # accel 2 vs temperature - plt.figure(7,figsize=(20,13)) + if noResample: + coef_mag_2_y = np.polyfit(temp_rel,correction_y,3) + else: + temp, sens = resampleWithDeltaX(temp_rel,correction_y) + coef_mag_2_y = np.polyfit(temp, sens ,3) - # draw plots - plt.subplot(3,1,1) - plt.plot(sensor_accel_2['temperature'],correction_x,'b') - plt.plot(temp_resample,correction_x_resample,'r') - plt.title('Accel 2 ({}) Bias vs Temperature'.format(accel_2_params['TC_A2_ID'])) - plt.ylabel('X bias (m/s/s)') - plt.xlabel('temperature (degC)') - plt.grid() + mag_2_params['TC_M2_X3_1'] = coef_mag_2_y[0] + mag_2_params['TC_M2_X2_1'] = coef_mag_2_y[1] + mag_2_params['TC_M2_X1_1'] = coef_mag_2_y[2] + mag_2_params['TC_M2_X0_1'] = coef_mag_2_y[3] - # draw plots - plt.subplot(3,1,2) - plt.plot(sensor_accel_2['temperature'],correction_y,'b') - plt.plot(temp_resample,correction_y_resample,'r') - plt.ylabel('Y bias (m/s/s)') - plt.xlabel('temperature (degC)') - plt.grid() + fit_coef_mag_2_y = np.poly1d(coef_mag_2_y) + correction_y_resample = fit_coef_mag_2_y(temp_rel_resample) - # draw plots - plt.subplot(3,1,3) - plt.plot(sensor_accel_2['temperature'],correction_z,'b') - plt.plot(temp_resample,correction_z_resample,'r') - plt.ylabel('Z bias (m/s/s)') - plt.xlabel('temperature (degC)') - plt.grid() + # fit Z axis + correction_z = sensor_mag_2['z'] - np.median(sensor_mag_2['z']) - pp.savefig() + if noResample: + coef_mag_2_z = np.polyfit(temp_rel,correction_z,3) + else: + temp, sens = resampleWithDeltaX(temp_rel,correction_z) + coef_mag_2_z = np.polyfit(temp, sens ,3) + + mag_2_params['TC_M2_X3_2'] = coef_mag_2_z[0] + mag_2_params['TC_M2_X2_2'] = coef_mag_2_z[1] + mag_2_params['TC_M2_X1_2'] = coef_mag_2_z[2] + mag_2_params['TC_M2_X0_2'] = coef_mag_2_z[3] + + fit_coef_mag_2_z = np.poly1d(coef_mag_2_z) + correction_z_resample = fit_coef_mag_2_z(temp_rel_resample) + + # mag 2 vs temperature + plt.figure(11,figsize=(20,13)) + + # draw plots + plt.subplot(3,1,1) + plt.plot(sensor_mag_2['temperature'],correction_x,'b') + plt.plot(temp_resample,correction_x_resample,'r') + plt.title('Mag 2 ({}) Bias vs Temperature'.format(mag_2_params['TC_M2_ID'])) + plt.ylabel('X bias (Gauss)') + plt.xlabel('temperature (degC)') + plt.grid() + + # draw plots + plt.subplot(3,1,2) + plt.plot(sensor_mag_2['temperature'],correction_y,'b') + plt.plot(temp_resample,correction_y_resample,'r') + plt.ylabel('Y bias (Gauss)') + plt.xlabel('temperature (degC)') + plt.grid() + + # draw plots + plt.subplot(3,1,3) + plt.plot(sensor_mag_2['temperature'],correction_z,'b') + plt.plot(temp_resample,correction_z_resample,'r') + plt.ylabel('Z bias (Gauss)') + plt.xlabel('temperature (degC)') + plt.grid() + + pp.savefig() ################################################################################# ################################################################################# -# define data dictionary of accel 3 thermal correction parameters -accel_3_params = { -'TC_A3_ID':0, -'TC_A3_TMIN':0.0, -'TC_A3_TMAX':0.0, -'TC_A3_TREF':0.0, -'TC_A3_X0_0':0.0, -'TC_A3_X1_0':0.0, -'TC_A3_X2_0':0.0, -'TC_A3_X3_0':0.0, -'TC_A3_X0_1':0.0, -'TC_A3_X1_1':0.0, -'TC_A3_X2_1':0.0, -'TC_A3_X3_1':0.0, -'TC_A3_X0_2':0.0, -'TC_A3_X1_2':0.0, -'TC_A3_X2_2':0.0, -'TC_A3_X3_2':0.0 +# define data dictionary of mag 3 thermal correction parameters +mag_3_params = { +'TC_M3_ID':0, +'TC_M3_TMIN':0.0, +'TC_M3_TMAX':0.0, +'TC_M3_TREF':0.0, +'TC_M3_X0_0':0.0, +'TC_M3_X1_0':0.0, +'TC_M3_X2_0':0.0, +'TC_M3_X3_0':0.0, +'TC_M3_X0_1':0.0, +'TC_M3_X1_1':0.0, +'TC_M3_X2_1':0.0, +'TC_M3_X3_1':0.0, +'TC_M3_X0_2':0.0, +'TC_M3_X1_2':0.0, +'TC_M3_X2_2':0.0, +'TC_M3_X3_2':0.0 } -# curve fit the data for accel 2 corrections -if num_accels >= 4 and not math.isnan(sensor_accel_3['temperature'][0]): - accel_3_params['TC_A3_ID'] = int(np.median(sensor_accel_3['device_id'])) +# curve fit the data for mag 3 corrections +if num_mags >= 4: + if math.isnan(sensor_mag_3['temperature'][0]): + if not math.isnan(sensor_baro_0['temperature'][0]): + sensor_mag_3['temperature'] = sensor_baro_0['temperature'] - # find the min, max and reference temperature - accel_3_params['TC_A3_TMIN'] = np.amin(sensor_accel_3['temperature']) - accel_3_params['TC_A3_TMAX'] = np.amax(sensor_accel_3['temperature']) - accel_3_params['TC_A3_TREF'] = 0.5 * (accel_3_params['TC_A3_TMIN'] + accel_3_params['TC_A3_TMAX']) - temp_rel = sensor_accel_3['temperature'] - accel_3_params['TC_A3_TREF'] - temp_rel_resample = np.linspace(accel_3_params['TC_A3_TMIN']-accel_3_params['TC_A3_TREF'], accel_3_params['TC_A3_TMAX']-accel_3_params['TC_A3_TREF'], 100) - temp_resample = temp_rel_resample + accel_3_params['TC_A3_TREF'] + if not math.isnan(sensor_mag_3['temperature'][0]): - sensor_accel_3['x'] = median_filter(sensor_accel_3['x']) - sensor_accel_3['y'] = median_filter(sensor_accel_3['y']) - sensor_accel_3['z'] = median_filter(sensor_accel_3['z']) + mag_3_params['TC_M3_ID'] = int(np.median(sensor_mag_3['device_id'])) - # fit X axis - correction_x = sensor_accel_3['x'] - np.median(sensor_accel_3['x']) - coef_accel_3_x = np.polyfit(temp_rel, correction_x, 3) - accel_3_params['TC_A3_X3_0'] = coef_accel_3_x[0] - accel_3_params['TC_A3_X2_0'] = coef_accel_3_x[1] - accel_3_params['TC_A3_X1_0'] = coef_accel_3_x[2] - accel_3_params['TC_A3_X0_0'] = coef_accel_3_x[3] - fit_coef_accel_3_x = np.poly1d(coef_accel_3_x) - correction_x_resample = fit_coef_accel_3_x(temp_rel_resample) + # find the min, max and reference temperature + mag_3_params['TC_M3_TMIN'] = np.amin(sensor_mag_3['temperature']) + mag_3_params['TC_M3_TMAX'] = np.amax(sensor_mag_3['temperature']) + mag_3_params['TC_M3_TREF'] = 0.5 * (mag_3_params['TC_M3_TMIN'] + mag_3_params['TC_M3_TMAX']) - # fit Y axis - correction_y = sensor_accel_3['y'] - np.median(sensor_accel_3['y']) - coef_accel_3_y = np.polyfit(temp_rel, correction_y, 3) - accel_3_params['TC_A3_X3_1'] = coef_accel_3_y[0] - accel_3_params['TC_A3_X2_1'] = coef_accel_3_y[1] - accel_3_params['TC_A3_X1_1'] = coef_accel_3_y[2] - accel_3_params['TC_A3_X0_1'] = coef_accel_3_y[3] - fit_coef_accel_3_y = np.poly1d(coef_accel_3_y) - correction_y_resample = fit_coef_accel_3_y(temp_rel_resample) + temp_rel = sensor_mag_3['temperature'] - mag_3_params['TC_M3_TREF'] + temp_rel_resample = np.linspace(mag_3_params['TC_M3_TMIN']-mag_3_params['TC_M3_TREF'], mag_3_params['TC_M3_TMAX']-mag_3_params['TC_M3_TREF'], 100) + temp_resample = temp_rel_resample + mag_3_params['TC_M3_TREF'] - # fit Z axis - correction_z = sensor_accel_3['z'] - np.median(sensor_accel_3['z']) - coef_accel_3_z = np.polyfit(temp_rel, correction_z, 3) - accel_3_params['TC_A3_X3_2'] = coef_accel_3_z[0] - accel_3_params['TC_A3_X2_2'] = coef_accel_3_z[1] - accel_3_params['TC_A3_X1_2'] = coef_accel_3_z[2] - accel_3_params['TC_A3_X0_2'] = coef_accel_3_z[3] - fit_coef_accel_3_z = np.poly1d(coef_accel_3_z) - correction_z_resample = fit_coef_accel_3_z(temp_rel_resample) + # Delete the dataset first and last 10 seconds of data + sensor_mag_3 = np.delete(sensor_mag_3, range(0,1000), axis=['x']) + sensor_mag_3 = np.delete(sensor_mag_3, range(-1000,), axis=['x']) - # accel 3 vs temperature - plt.figure(8,figsize=(20,13)) + sensor_mag_3['x'] = median_filter(sensor_mag_3['x']) + sensor_mag_3['y'] = median_filter(sensor_mag_3['y']) + sensor_mag_3['z'] = median_filter(sensor_mag_3['z']) - # draw plots - plt.subplot(3,1,1) - plt.plot(sensor_accel_3['temperature'],correction_x,'b') - plt.plot(temp_resample,correction_x_resample,'r') - plt.title('Accel 3 ({}) Bias vs Temperature'.format(accel_3_params['TC_A3_ID'])) - plt.ylabel('X bias (m/s/s)') - plt.xlabel('temperature (degC)') - plt.grid() + # fit X axis + correction_x = sensor_mag_3['x'] - np.median(sensor_mag_3['x']) - # draw plots - plt.subplot(3,1,2) - plt.plot(sensor_accel_3['temperature'],correction_y,'b') - plt.plot(temp_resample,correction_y_resample,'r') - plt.ylabel('Y bias (m/s/s)') - plt.xlabel('temperature (degC)') - plt.grid() + if noResample: + coef_mag_3_x = np.polyfit(temp_rel,correction_x, 3) + else: + temp, sens = resampleWithDeltaX(temp_rel,correction_x) + coef_mag_3_x = np.polyfit(temp, sens, 3) - # draw plots - plt.subplot(3,1,3) - plt.plot(sensor_accel_3['temperature'],correction_z,'b') - plt.plot(temp_resample,correction_z_resample,'r') - plt.ylabel('Z bias (m/s/s)') - plt.xlabel('temperature (degC)') - plt.grid() + mag_3_params['TC_M3_X3_0'] = coef_mag_3_x[0] + mag_3_params['TC_M3_X2_0'] = coef_mag_3_x[1] + mag_3_params['TC_M3_X1_0'] = coef_mag_3_x[2] + mag_3_params['TC_M3_X0_0'] = coef_mag_3_x[3] - pp.savefig() + fit_coef_mag_3_x = np.poly1d(coef_mag_3_x) + correction_x_resample = fit_coef_mag_3_x(temp_rel_resample) + + # fit Y axis + correction_y = sensor_mag_3['y'] - np.median(sensor_mag_3['y']) + + if noResample: + coef_mag_3_y = np.polyfit(temp_rel, correction_y, 3) + else: + temp, sens = resampleWithDeltaX(temp_rel,correction_y) + coef_mag_3_y = np.polyfit(temp, sens, 3) + + mag_3_params['TC_M3_X3_1'] = coef_mag_3_y[0] + mag_3_params['TC_M3_X2_1'] = coef_mag_3_y[1] + mag_3_params['TC_M3_X1_1'] = coef_mag_3_y[2] + mag_3_params['TC_M3_X0_1'] = coef_mag_3_y[3] + + fit_coef_mag_3_y = np.poly1d(coef_mag_3_y) + correction_y_resample = fit_coef_mag_3_y(temp_rel_resample) + + # fit Z axis + correction_z = sensor_mag_3['z'] - np.median(sensor_mag_3['z']) + + if noResample: + coef_mag_3_z = np.polyfit(temp_rel,correction_z, 3) + else: + temp, sens = resampleWithDeltaX(temp_rel,correction_z) + coef_mag_3_z = np.polyfit(temp, sens, 3) + + mag_3_params['TC_M3_X3_2'] = coef_mag_3_z[0] + mag_3_params['TC_M3_X2_2'] = coef_mag_3_z[1] + mag_3_params['TC_M3_X1_2'] = coef_mag_3_z[2] + mag_3_params['TC_M3_X0_2'] = coef_mag_3_z[3] + + fit_coef_mag_3_z = np.poly1d(coef_mag_3_z) + correction_z_resample = fit_coef_mag_3_z(temp_rel_resample) + + # mag 3 vs temperature + plt.figure(12,figsize=(20,13)) + + # draw plots + plt.subplot(3,1,1) + plt.plot(sensor_mag_3['temperature'],correction_x,'b') + plt.plot(temp_resample,correction_x_resample,'r') + plt.title('Mag 3 ({}) Bias vs Temperature'.format(mag_3_params['TC_M3_ID'])) + plt.ylabel('X bias (Gauss)') + plt.xlabel('temperature (degC)') + plt.grid() + + # draw plots + plt.subplot(3,1,2) + plt.plot(sensor_mag_3['temperature'],correction_y,'b') + plt.plot(temp_resample,correction_y_resample,'r') + plt.ylabel('Y bias (Gauss)') + plt.xlabel('temperature (degC)') + plt.grid() + + # draw plots + plt.subplot(3,1,3) + plt.plot(sensor_mag_3['temperature'],correction_z,'b') + plt.plot(temp_resample,correction_z_resample,'r') + plt.ylabel('Z bias (Gauss)') + plt.xlabel('temperature (degC)') + plt.grid() + + pp.savefig() ################################################################################# @@ -1057,6 +1646,7 @@ def is_valid_directory(parser, arg): baro_0_params['TC_B0_TMIN'] = np.amin(sensor_baro_0['temperature']) baro_0_params['TC_B0_TMAX'] = np.amax(sensor_baro_0['temperature']) baro_0_params['TC_B0_TREF'] = 0.5 * (baro_0_params['TC_B0_TMIN'] + baro_0_params['TC_B0_TMAX']) + temp_rel = sensor_baro_0['temperature'] - baro_0_params['TC_B0_TREF'] temp_rel_resample = np.linspace(baro_0_params['TC_B0_TMIN']-baro_0_params['TC_B0_TREF'], baro_0_params['TC_B0_TMAX']-baro_0_params['TC_B0_TREF'], 100) temp_resample = temp_rel_resample + baro_0_params['TC_B0_TREF'] @@ -1077,11 +1667,12 @@ def is_valid_directory(parser, arg): baro_0_params['TC_B0_X2'] = coef_baro_0_x[3] baro_0_params['TC_B0_X1'] = coef_baro_0_x[4] baro_0_params['TC_B0_X0'] = coef_baro_0_x[5] + fit_coef_baro_0_x = np.poly1d(coef_baro_0_x) baro_0_x_resample = fit_coef_baro_0_x(temp_rel_resample) # baro 0 vs temperature -plt.figure(9,figsize=(20,13)) +plt.figure(13,figsize=(20,13)) # draw plots plt.plot(sensor_baro_0['temperature'],100*sensor_baro_0['pressure']-100*median_pressure,'b') @@ -1116,6 +1707,7 @@ def is_valid_directory(parser, arg): baro_1_params['TC_B1_TMIN'] = np.amin(sensor_baro_1['temperature']) baro_1_params['TC_B1_TMAX'] = np.amax(sensor_baro_1['temperature']) baro_1_params['TC_B1_TREF'] = 0.5 * (baro_1_params['TC_B1_TMIN'] + baro_1_params['TC_B1_TMAX']) + temp_rel = sensor_baro_1['temperature'] - baro_1_params['TC_B1_TREF'] temp_rel_resample = np.linspace(baro_1_params['TC_B1_TMIN']-baro_1_params['TC_B1_TREF'], baro_1_params['TC_B1_TMAX']-baro_1_params['TC_B1_TREF'], 100) temp_resample = temp_rel_resample + baro_1_params['TC_B1_TREF'] @@ -1136,11 +1728,12 @@ def is_valid_directory(parser, arg): baro_1_params['TC_B1_X2'] = coef_baro_1_x[3] baro_1_params['TC_B1_X1'] = coef_baro_1_x[4] baro_1_params['TC_B1_X0'] = coef_baro_1_x[5] + fit_coef_baro_1_x = np.poly1d(coef_baro_1_x) baro_1_x_resample = fit_coef_baro_1_x(temp_rel_resample) # baro 2 vs temperature - plt.figure(10,figsize=(20,13)) + plt.figure(14,figsize=(20,13)) # draw plots plt.plot(sensor_baro_1['temperature'],100*sensor_baro_1['pressure']-100*median_pressure,'b') @@ -1164,7 +1757,6 @@ def is_valid_directory(parser, arg): 'TC_B2_X3':0.0, 'TC_B2_X4':0.0, 'TC_B2_X5':0.0, -'TC_B2_SCL':1.0, } if num_baros >= 3: @@ -1176,6 +1768,7 @@ def is_valid_directory(parser, arg): baro_2_params['TC_B2_TMIN'] = np.amin(sensor_baro_2['temperature']) baro_2_params['TC_B2_TMAX'] = np.amax(sensor_baro_2['temperature']) baro_2_params['TC_B2_TREF'] = 0.5 * (baro_2_params['TC_B2_TMIN'] + baro_2_params['TC_B2_TMAX']) + temp_rel = sensor_baro_2['temperature'] - baro_2_params['TC_B2_TREF'] temp_rel_resample = np.linspace(baro_2_params['TC_B2_TMIN']-baro_2_params['TC_B2_TREF'], baro_2_params['TC_B2_TMAX']-baro_2_params['TC_B2_TREF'], 100) temp_resample = temp_rel_resample + baro_2_params['TC_B2_TREF'] @@ -1196,11 +1789,12 @@ def is_valid_directory(parser, arg): baro_2_params['TC_B2_X2'] = coef_baro_2_x[3] baro_2_params['TC_B2_X1'] = coef_baro_2_x[4] baro_2_params['TC_B2_X0'] = coef_baro_2_x[5] + fit_coef_baro_2_x = np.poly1d(coef_baro_2_x) baro_2_x_resample = fit_coef_baro_2_x(temp_rel_resample) # baro 2 vs temperature - plt.figure(11,figsize=(20,13)) + plt.figure(15,figsize=(20,13)) # draw plots plt.plot(sensor_baro_2['temperature'],100*sensor_baro_2['pressure']-100*median_pressure,'b') @@ -1224,7 +1818,6 @@ def is_valid_directory(parser, arg): 'TC_B3_X3':0.0, 'TC_B3_X4':0.0, 'TC_B3_X5':0.0, -'TC_B3_SCL':1.0, } if num_baros >= 4: @@ -1236,6 +1829,7 @@ def is_valid_directory(parser, arg): baro_3_params['TC_B3_TMIN'] = np.amin(sensor_baro_3['temperature']) baro_3_params['TC_B3_TMAX'] = np.amax(sensor_baro_3['temperature']) baro_3_params['TC_B3_TREF'] = 0.5 * (baro_3_params['TC_B3_TMIN'] + baro_3_params['TC_B3_TMAX']) + temp_rel = sensor_baro_3['temperature'] - baro_3_params['TC_B3_TREF'] temp_rel_resample = np.linspace(baro_3_params['TC_B3_TMIN']-baro_3_params['TC_B3_TREF'], baro_3_params['TC_B3_TMAX']-baro_3_params['TC_B3_TREF'], 100) temp_resample = temp_rel_resample + baro_3_params['TC_B3_TREF'] @@ -1251,11 +1845,12 @@ def is_valid_directory(parser, arg): baro_3_params['TC_B3_X2'] = coef_baro_3_x[3] baro_3_params['TC_B3_X1'] = coef_baro_3_x[4] baro_3_params['TC_B3_X0'] = coef_baro_3_x[5] + fit_coef_baro_3_x = np.poly1d(coef_baro_3_x) baro_3_x_resample = fit_coef_baro_3_x(temp_rel_resample) # baro 3 vs temperature - plt.figure(12,figsize=(20,13)) + plt.figure(16,figsize=(20,13)) # draw plots plt.plot(sensor_baro_3['temperature'],100*sensor_baro_3['pressure']-100*median_pressure,'b') @@ -1272,7 +1867,7 @@ def is_valid_directory(parser, arg): # close the pdf file pp.close() -# clase all figures +# close all figures plt.close("all") # write correction parameters to file @@ -1322,47 +1917,6 @@ def is_valid_directory(parser, arg): type = "9" file.write("1"+"\t"+"1"+"\t"+key+"\t"+str(accel_3_params[key])+"\t"+type+"\n") -# baro 0 corrections -key_list_baro = list(baro_0_params.keys()) -key_list_baro.sort -for key in key_list_baro: - if key == 'TC_B0_ID': - type = "6" - else: - type = "9" - file.write("1"+"\t"+"1"+"\t"+key+"\t"+str(baro_0_params[key])+"\t"+type+"\n") - -# baro 1 corrections -key_list_baro = list(baro_1_params.keys()) -key_list_baro.sort -for key in key_list_baro: - if key == 'TC_B1_ID': - type = "6" - else: - type = "9" - file.write("1"+"\t"+"1"+"\t"+key+"\t"+str(baro_1_params[key])+"\t"+type+"\n") - -# baro 2 corrections -key_list_baro = list(baro_2_params.keys()) -key_list_baro.sort -for key in key_list_baro: - if key == 'TC_B2_ID': - type = "6" - else: - type = "9" - file.write("1"+"\t"+"1"+"\t"+key+"\t"+str(baro_2_params[key])+"\t"+type+"\n") - -# baro 3 corrections -key_list_baro = list(baro_3_params.keys()) -key_list_baro.sort -for key in key_list_baro: - if key == 'TC_B3_ID': - type = "6" - else: - type = "9" - file.write("1"+"\t"+"1"+"\t"+key+"\t"+str(baro_3_params[key])+"\t"+type+"\n") - - # gyro 0 corrections key_list_gyro = list(gyro_0_params.keys()) key_list_gyro.sort() @@ -1403,6 +1957,86 @@ def is_valid_directory(parser, arg): type = "9" file.write("1"+"\t"+"1"+"\t"+key+"\t"+str(gyro_3_params[key])+"\t"+type+"\n") +# accel 0 corrections +key_list_mag = list(mag_0_params.keys()) +key_list_mag.sort +for key in key_list_mag: + if key == 'TC_M0_ID': + type = "6" + else: + type = "9" + file.write("1"+"\t"+"1"+"\t"+key+"\t"+str(mag_0_params[key])+"\t"+type+"\n") + +# mag 1 corrections +key_list_mag = list(mag_1_params.keys()) +key_list_mag.sort +for key in key_list_mag: + if key == 'TC_M1_ID': + type = "6" + else: + type = "9" + file.write("1"+"\t"+"1"+"\t"+key+"\t"+str(mag_1_params[key])+"\t"+type+"\n") + +# mag 2 corrections +key_list_mag = list(mag_2_params.keys()) +key_list_mag.sort +for key in key_list_mag: + if key == 'TC_M2_ID': + type = "6" + else: + type = "9" + file.write("1"+"\t"+"1"+"\t"+key+"\t"+str(mag_2_params[key])+"\t"+type+"\n") + +# mag 3 corrections +key_list_mag = list(mag_3_params.keys()) +key_list_mag.sort +for key in key_list_mag: + if key == 'TC_M3_ID': + type = "6" + else: + type = "9" + file.write("1"+"\t"+"1"+"\t"+key+"\t"+str(mag_3_params[key])+"\t"+type+"\n") + +# baro 0 corrections +key_list_baro = list(baro_0_params.keys()) +key_list_baro.sort +for key in key_list_baro: + if key == 'TC_B0_ID': + type = "6" + else: + type = "9" + file.write("1"+"\t"+"1"+"\t"+key+"\t"+str(baro_0_params[key])+"\t"+type+"\n") + +# baro 1 corrections +key_list_baro = list(baro_1_params.keys()) +key_list_baro.sort +for key in key_list_baro: + if key == 'TC_B1_ID': + type = "6" + else: + type = "9" + file.write("1"+"\t"+"1"+"\t"+key+"\t"+str(baro_1_params[key])+"\t"+type+"\n") + +# baro 2 corrections +key_list_baro = list(baro_2_params.keys()) +key_list_baro.sort +for key in key_list_baro: + if key == 'TC_B2_ID': + type = "6" + else: + type = "9" + file.write("1"+"\t"+"1"+"\t"+key+"\t"+str(baro_2_params[key])+"\t"+type+"\n") + +# baro 3 corrections +key_list_baro = list(baro_3_params.keys()) +key_list_baro.sort +for key in key_list_baro: + if key == 'TC_B3_ID': + type = "6" + else: + type = "9" + file.write("1"+"\t"+"1"+"\t"+key+"\t"+str(baro_3_params[key])+"\t"+type+"\n") + file.close() print('Correction parameters written to ' + test_results_filename) diff --git a/Tools/px4airframes/__init__.py b/Tools/px4airframes/__init__.py index 43e82d26433b..be02bd2190b3 100644 --- a/Tools/px4airframes/__init__.py +++ b/Tools/px4airframes/__init__.py @@ -1 +1 @@ -__all__ = ["srcscanner", "srcparser", "xmlout", "rcout"] \ No newline at end of file +__all__ = ["srcscanner", "srcparser", "xmlout", "rcout"] diff --git a/Tools/px4airframes/markdownout.py b/Tools/px4airframes/markdownout.py index e6b69ce31ae2..bf1a605723f7 100644 --- a/Tools/px4airframes/markdownout.py +++ b/Tools/px4airframes/markdownout.py @@ -7,7 +7,7 @@ class MarkdownTablesOutput(): def __init__(self, groups, board, image_path): result = """# Airframes Reference -:::note +::: info **This list is [auto-generated](https://github.com/PX4/PX4-Autopilot/blob/main/Tools/px4airframes/markdownout.py) from the source code** using the build command: `make airframe_metadata`. ::: diff --git a/Tools/px4airframes/rcout.py b/Tools/px4airframes/rcout.py index 9bc8747185a2..a6bdc9e94410 100644 --- a/Tools/px4airframes/rcout.py +++ b/Tools/px4airframes/rcout.py @@ -79,12 +79,6 @@ def __init__(self, groups, board, post_start=False): result += "then\n" result += "\techo \"Loading airframe: /etc/init.d/airframes/${AIRFRAME}\"\n" result += "\t. /etc/init.d/airframes/${AIRFRAME}\n" - if not post_start: - result += "else\n" - result += "\techo \"ERROR [init] No file matches SYS_AUTOSTART value found in : /etc/init.d/airframes\"\n" - # Reset the configuration - result += "\tparam set SYS_AUTOSTART 0\n" - result += "\ttone_alarm ${TUNE_ERR}\n" result += "fi\n" result += "unset AIRFRAME" self.output = result diff --git a/Tools/px4events/srcparser.py b/Tools/px4events/srcparser.py index d042a104b8ac..290aded54145 100644 --- a/Tools/px4events/srcparser.py +++ b/Tools/px4events/srcparser.py @@ -250,6 +250,22 @@ def parse_message(s): event.group = "arming_check" event.prepend_arguments([('navigation_mode_group_t', 'modes'), ('uint8_t', 'health_component_index')]) + elif call in ['reporter.healthFailureExt', 'reporter.armingCheckFailureExt']: # from ROS2 + assert len(args_split) == num_args + 3, \ + "Unexpected Number of arguments for: {:}, {:}".format(args_split, num_args) + m = self.re_event_id.search(args_split[0]) + if m: + _, event_name = m.group(1, 2) + else: + raise Exception("Could not extract event ID from {:}".format(args_split[0])) + event.name = event_name + event.message = args_split[2][1:-1] + if 'health' in call: + event.group = "health" + else: + event.group = "arming_check" + event.prepend_arguments([('navigation_mode_group_t', 'modes'), + ('uint8_t', 'health_component_index')]) else: raise Exception("unknown event method call: {}, args: {}".format(call, args)) diff --git a/Tools/px4moduledoc/markdownout.py b/Tools/px4moduledoc/markdownout.py index 290618446ebd..469e031a6380 100644 --- a/Tools/px4moduledoc/markdownout.py +++ b/Tools/px4moduledoc/markdownout.py @@ -19,7 +19,7 @@ def __init__(self, module_groups): They describe the provided functionality, high-level implementation overview and how to use the command-line interface. -:::note +::: info **This is auto-generated from the source code** and contains the most recent modules documentation. ::: diff --git a/Tools/px4moduledoc/srcparser.py b/Tools/px4moduledoc/srcparser.py index b9b348252013..3eacbf432548 100644 --- a/Tools/px4moduledoc/srcparser.py +++ b/Tools/px4moduledoc/srcparser.py @@ -15,7 +15,7 @@ class ModuleDocumentation(object): # TOC in https://github.com/PX4/PX4-user_guide/blob/main/en/SUMMARY.md valid_categories = ['driver', 'estimator', 'controller', 'system', 'communication', 'command', 'template', 'simulation', 'autotune'] - valid_subcategories = ['', 'distance_sensor', 'imu', 'ins', 'airspeed_sensor', + valid_subcategories = ['', 'camera', 'distance_sensor', 'imu', 'ins', 'airspeed_sensor', 'magnetometer', 'baro', 'optical_flow', 'rpm_sensor', 'transponder'] max_line_length = 80 # wrap lines that are longer than this diff --git a/Tools/px_process_events.py b/Tools/px_process_events.py index 66e9aaa52910..e79c956cf41b 100755 --- a/Tools/px_process_events.py +++ b/Tools/px_process_events.py @@ -55,6 +55,10 @@ def main(): metavar="PATH", nargs='*', help="one or more paths/files to source files to scan for events") + parser.add_argument("-b", "--base-path", + default="", + metavar="PATH", + help="path prefix for everything passed with --src-path") parser.add_argument("-j", "--json", nargs='?', const="events.json", @@ -84,7 +88,7 @@ def main(): # canonicalize + remove duplicates src_paths = set() for path in args.src_path: - src_paths.add(os.path.realpath(path)) + src_paths.add(os.path.realpath(os.path.join(args.base_path, path))) if not scanner.ScanDir(src_paths, parser): sys.exit(1) diff --git a/Tools/px_uploader.py b/Tools/px_uploader.py index d479be314837..0ab3a6ff258d 100755 --- a/Tools/px_uploader.py +++ b/Tools/px_uploader.py @@ -1,7 +1,7 @@ #!/usr/bin/env python3 ############################################################################ # -# Copyright (c) 2012-2017 PX4 Development Team. All rights reserved. +# Copyright (c) 2012-2024 PX4 Development Team. All rights reserved. # # Redistribution and use in source and binary forms, with or without # modification, are permitted provided that the following conditions @@ -50,9 +50,6 @@ # Currently only used for informational purposes. # -# for python2.7 compatibility -from __future__ import print_function - import sys import argparse import binascii @@ -70,35 +67,32 @@ try: import serial except ImportError as e: - print("Failed to import serial: " + str(e)) + print(f"Failed to import serial: {e}") print("") print("You may need to install it using:") - print(" pip3 install --user pyserial") + print(" python -m pip install pyserial") print("") sys.exit(1) -# Define time to use time.time() by default -def _time(): - return time.time() - # Detect python version if sys.version_info[0] < 3: - runningPython3 = False -else: - runningPython3 = True - if sys.version_info[1] >=3: - # redefine to use monotonic time when available - def _time(): - try: - return time.monotonic() - except Exception: - return time.time() + raise RuntimeError("Python 2 is not supported. Please try again using Python 3.") + sys.exit(1) + + +# Use monotonic time where available +def _time(): + try: + return time.monotonic() + except Exception: + return time.time() class FirmwareNotSuitableException(Exception): def __init__(self, message): super(FirmwareNotSuitableException, self).__init__(message) + class firmware(object): '''Loads a firmware file''' @@ -163,13 +157,13 @@ def __crc32(self, bytes, state): def crc(self, padlen): state = self.__crc32(self.image, int(0)) - for i in range(len(self.image), (padlen - 1), 4): + for _ in range(len(self.image), (padlen - 1), 4): state = self.__crc32(self.crcpad, state) return state -class uploader(object): - '''Uploads a firmware file to the PX FMU bootloader''' +class uploader: + '''Uploads a firmware file to the PX4 bootloader''' # protocol bytes INSYNC = b'\x12' @@ -195,6 +189,8 @@ class uploader(object): GET_CHIP = b'\x2c' # rev5+ , get chip version SET_BOOT_DELAY = b'\x2d' # rev5+ , set boot delay GET_CHIP_DES = b'\x2e' # rev5+ , get chip description in ASCII + GET_VERSION = b'\x2f' # rev5+ , get chip description in ASCII + CHIP_FULL_ERASE = b'\x40' # full erase of flash, rev6+ MAX_DES_LENGTH = 20 REBOOT = b'\x30' @@ -205,6 +201,7 @@ class uploader(object): INFO_BOARD_ID = b'\x02' # board type INFO_BOARD_REV = b'\x03' # board revision INFO_FLASH_SIZE = b'\x04' # max firmware size in bytes + BL_VERSION = b'\x07' # get bootloader version, e.g. major.minor.patch.githash (up to 20 chars) PROG_MULTI_MAX = 252 # protocol max is 255, must be multiple of 4 READ_MULTI_MAX = 252 # protocol max is 255 @@ -235,6 +232,7 @@ def __init__(self, portname, baudrate_bootloader, baudrate_flightstack): self.baudrate_bootloader = baudrate_bootloader self.baudrate_flightstack = baudrate_flightstack self.baudrate_flightstack_idx = -1 + self.force_erase = False def close(self): if self.port is not None: @@ -357,19 +355,22 @@ def __determineInterface(self): self.port.baudrate = self.baudrate_bootloader * 2.33 except NotImplementedError as e: # This error can occur because pySerial on Windows does not support odd baudrates - print(str(e) + " -> could not check for FTDI device, assuming USB connection") + print(f"{e} -> could not check for FTDI device, assuming USB connection") return self.__send(uploader.GET_SYNC + uploader.EOC) try: self.__getSync(False) - except: + except RuntimeError: # if it fails we are on a real serial port - only leave this enabled on Windows if sys.platform.startswith('win'): self.ackWindowedMode = True finally: - self.port.baudrate = self.baudrate_bootloader + try: + self.port.baudrate = self.baudrate_bootloader + except Exception: + pass # send the GET_DEVICE command and wait for an info parameter def __getInfo(self, param): @@ -410,6 +411,17 @@ def __getCHIPDes(self): pieces = value.split(b",") return pieces + def __getVersion(self): + self.__send(uploader.GET_VERSION + uploader.EOC) + try: + length = self.__recv_int() + value = self.__recv(length) + self.__getSync() + except RuntimeError: + # Bootloader doesn't support version call + return "unknown" + return value.decode() + def __drawProgressBar(self, label, progress, maxVal): if maxVal < progress: progress = maxVal @@ -421,10 +433,16 @@ def __drawProgressBar(self, label, progress, maxVal): # send the CHIP_ERASE command and wait for the bootloader to become ready def __erase(self, label): - print("Windowed mode: %s" % self.ackWindowedMode) + print(f"Windowed mode: {self.ackWindowedMode}") print("\n", end='') - self.__send(uploader.CHIP_ERASE + - uploader.EOC) + + if self.force_erase: + print("Trying force erase of full chip...\n") + self.__send(uploader.CHIP_FULL_ERASE + + uploader.EOC) + else: + self.__send(uploader.CHIP_ERASE + + uploader.EOC) # erase is very slow, give it 30s deadline = _time() + 30.0 @@ -441,9 +459,14 @@ def __erase(self, label): if self.__trySync(): self.__drawProgressBar(label, 10.0, 10.0) + if self.force_erase: + print("\nForce erase done.\n") return - raise RuntimeError("timed out waiting for erase") + if self.force_erase: + raise RuntimeError("timed out waiting for erase, force erase is likely not supported by bootloader!") + else: + raise RuntimeError("timed out waiting for erase") # send a PROG_MULTI command to write a collection of bytes def __program_multi(self, data, windowMode): @@ -581,8 +604,11 @@ def identify(self): self.board_rev = self.__getInfo(uploader.INFO_BOARD_REV) self.fw_maxsize = self.__getInfo(uploader.INFO_FLASH_SIZE) + self.version = self.__getVersion() + # upload the firmware - def upload(self, fw_list, force=False, boot_delay=None, boot_check=False): + def upload(self, fw_list, force=False, boot_delay=None, boot_check=False, force_erase=False): + self.force_erase = force_erase # select correct binary found_suitable_firmware = False for file in fw_list: @@ -611,6 +637,8 @@ def upload(self, fw_list, force=False, boot_delay=None, boot_check=False): print("Loaded firmware for board id: %s,%s size: %d bytes (%.2f%%) " % (fw.property('board_id'), fw.property('board_revision'), fw.property('image_size'), percent)) print() + print(f"Bootloader version: {self.version}") + # Make sure we are doing the right thing start = _time() if self.board_type != fw.property('board_id'): @@ -640,14 +668,14 @@ def upload(self, fw_list, force=False, boot_delay=None, boot_check=False): self.otp_coa = self.otp[32:160] # show user: try: - print("sn: ", end='') + print("Sn: ", end='') for byte in range(0, 12, 4): x = self.__getSN(byte) x = x[::-1] # reverse the bytes self.sn = self.sn + x print(binascii.hexlify(x).decode('Latin-1'), end='') # show user print('') - print("chip: %08x" % self.__getCHIP()) + print("Chip: %08x" % self.__getCHIP()) otp_id = self.otp_id.decode('Latin-1') if ("PX4" in otp_id): @@ -657,17 +685,19 @@ def upload(self, fw_list, force=False, boot_delay=None, boot_check=False): print("OTP pid: " + binascii.hexlify(self.otp_pid).decode('Latin-1')) print("OTP coa: " + binascii.b2a_base64(self.otp_coa).decode('Latin-1')) - except Exception: + except Exception as e: # ignore bad character encodings + print(f"Exception ignored: {e}") pass # Silicon errata check was added in v5 if (self.bl_rev >= 5): des = self.__getCHIPDes() if (len(des) == 2): - print("family: %s" % des[0]) - print("revision: %s" % des[1]) - print("flash: %d bytes" % self.fw_maxsize) + family, revision = des + print(f"Family: {family.decode()}") + print(f"Revision: {revision.decode()}") + print(f"Flash: {self.fw_maxsize} bytes") # Prevent uploads where the maximum image size of the board config is smaller than the flash # of the board. This is a hint the user chose the wrong config and will lack features @@ -678,8 +708,7 @@ def upload(self, fw_list, force=False, boot_delay=None, boot_check=False): # https://github.com/PX4/Firmware/blob/master/src/drivers/boards/common/stm32/board_mcu_version.c#L125-L144 if self.fw_maxsize > fw.property('image_maxsize') and not force: - raise RuntimeError("Board can accept larger flash images (%u bytes) than board config (%u bytes). Please use the correct board configuration to avoid lacking critical functionality." - % (self.fw_maxsize, fw.property('image_maxsize'))) + raise RuntimeError(f"Board can accept larger flash images ({self.fw_maxsize} bytes) than board config ({fw.property('image_maxsize')} bytes). Please use the correct board configuration to avoid lacking critical functionality.") else: # If we're still on bootloader v4 on a Pixhawk, we don't know if we # have the silicon errata and therefore need to flash px4_fmu-v2 @@ -780,16 +809,13 @@ def send_reboot(self, use_protocol_splitter_format=False): def main(): - # Python2 is EOL - if not runningPython3: - raise RuntimeError("Python 2 is not supported. Please try again using Python 3.") - # Parse commandline arguments parser = argparse.ArgumentParser(description="Firmware uploader for the PX autopilot system.") parser.add_argument('--port', action="store", required=True, help="Comma-separated list of serial port(s) to which the FMU may be attached") parser.add_argument('--baud-bootloader', action="store", type=int, default=115200, help="Baud rate of the serial port (default is 115200) when communicating with bootloader, only required for true serial ports.") parser.add_argument('--baud-flightstack', action="store", default="57600", help="Comma-separated list of baud rate of the serial port (default is 57600) when communicating with flight stack (Mavlink or NSH), only required for true serial ports.") parser.add_argument('--force', action='store_true', default=False, help='Override board type check, or silicon errata checks and continue loading') + parser.add_argument('--force-erase', action="store_true", help="Do not perform the blank check, always erase every sector of the application space") parser.add_argument('--boot-delay', type=int, default=None, help='minimum boot delay to store in flash') parser.add_argument('--use-protocol-splitter-format', action='store_true', help='use protocol splitter format for reboot') parser.add_argument('firmware', action="store", nargs='+', help="Firmware file(s)") @@ -867,9 +893,10 @@ def main(): # Windows, don't open POSIX ports if "/" not in port: up = uploader(port, args.baud_bootloader, baud_flightstack) - except Exception: + except Exception as e: # open failed, rate-limit our attempts time.sleep(0.05) + print(f"Exception ignored: {e}") # and loop to the next port continue @@ -884,10 +911,10 @@ def main(): up.identify() found_bootloader = True print() - print("Found board id: %s,%s bootloader version: %s on %s" % (up.board_type, up.board_rev, up.bl_rev, port)) + print(f"Found board id: {up.board_type},{up.board_rev} bootloader protocol revision {up.bl_rev} on {port}") break - except Exception: + except (RuntimeError, serial.SerialException): if not up.send_reboot(args.use_protocol_splitter_format): break @@ -907,14 +934,14 @@ def main(): try: # ok, we have a bootloader, try flashing it - up.upload(args.firmware, force=args.force, boot_delay=args.boot_delay) + up.upload(args.firmware, force=args.force, boot_delay=args.boot_delay, force_erase=args.force_erase) # if we made this far without raising exceptions, the upload was successful successful = True - except RuntimeError as ex: + except RuntimeError as e: # print the error - print("\nERROR: %s" % ex.args) + print(f"\n\nError: {e}") except FirmwareNotSuitableException: unsuitable_board = True diff --git a/Tools/serial/generate_config.py b/Tools/serial/generate_config.py index 099091dfe470..dc9c2762f9e5 100755 --- a/Tools/serial/generate_config.py +++ b/Tools/serial/generate_config.py @@ -330,4 +330,3 @@ def parse_yaml_serial_config(yaml_config): fid.write(template.render(serial_devices=serial_devices, ethernet_configuration=ethernet_configuration, commands=commands, serial_ports=serial_ports)) - diff --git a/Tools/serial/rc.serial.jinja b/Tools/serial/rc.serial.jinja index 753f2af75023..3ff8d62b811c 100644 --- a/Tools/serial/rc.serial.jinja +++ b/Tools/serial/rc.serial.jinja @@ -30,4 +30,3 @@ unset PRT unset PRT_F unset BAUD_PARAM unset MAV_ARGS - diff --git a/Tools/serial/serial_params.c.jinja b/Tools/serial/serial_params.c.jinja index 13cee1e896ea..cdc6e999a51a 100644 --- a/Tools/serial/serial_params.c.jinja +++ b/Tools/serial/serial_params.c.jinja @@ -70,4 +70,3 @@ PARAM_DEFINE_INT32({{ command.port_param_name }}, {{ command.default_port }}); {% endfor -%} {% endif %} - diff --git a/Tools/setup/arch.sh b/Tools/setup/arch.sh index f27d7e756faa..1ab164b2aaf4 100755 --- a/Tools/setup/arch.sh +++ b/Tools/setup/arch.sh @@ -1,7 +1,7 @@ #! /usr/bin/env bash ## Bash script to setup PX4 development environment on Arch Linux. -## Tested on Manjaro 20.2.1. +## Tested on Arch 2023-03-01 ## ## Installs: ## - Common dependencies and tools for nuttx, jMAVSim @@ -50,6 +50,7 @@ sudo pacman -Sy --noconfirm --needed \ cmake \ cppcheck \ doxygen \ + fuse2 \ gdb \ git \ gnutls \ @@ -66,7 +67,7 @@ sudo pacman -Sy --noconfirm --needed \ # Python dependencies echo "Installing PX4 Python3 dependencies" -pip install --user -r ${DIR}/requirements.txt +pip install --break-system-packages -r ${DIR}/${REQUIREMENTS_FILE} # NuttX toolchain (arm-none-eabi-gcc) if [[ $INSTALL_NUTTX == "true" ]]; then @@ -74,45 +75,17 @@ if [[ $INSTALL_NUTTX == "true" ]]; then echo "Installing NuttX dependencies" sudo pacman -S --noconfirm --needed \ - gperf \ - vim \ + arm-none-eabi-gcc \ + arm-none-eabi-newlib \ ; if [ ! -z "$USER" ]; then # add user to dialout group (serial port access) - sudo usermod -aG uucp $USER + sudo echo usermod -aG uucp $USER fi - # remove modem manager (interferes with PX4 serial port usage) - sudo pacman -R modemmanager --noconfirm - - # arm-none-eabi-gcc - NUTTX_GCC_VERSION="10-2020-q4-major" - NUTTX_GCC_VERSION_SHORT="10-2020q4" - - source $HOME/.profile # load changed path for the case the script is reran before relogin - if [ $(which arm-none-eabi-gcc) ]; then - GCC_VER_STR=$(arm-none-eabi-gcc --version) - GCC_FOUND_VER=$(echo $GCC_VER_STR | grep -c "${NUTTX_GCC_VERSION}") - fi - - if [[ "$GCC_FOUND_VER" == "1" ]]; then - echo "arm-none-eabi-gcc-${NUTTX_GCC_VERSION} found, skipping installation" - - else - echo "Installing arm-none-eabi-gcc-${NUTTX_GCC_VERSION}"; - wget -O /tmp/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-linux.tar.bz2 https://armkeil.blob.core.windows.net/developer/Files/downloads/gnu-rm/${NUTTX_GCC_VERSION_SHORT}/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-x86_64-linux.tar.bz2 && \ - sudo tar -jxf /tmp/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-linux.tar.bz2 -C /opt/; - - # add arm-none-eabi-gcc to user's PATH - exportline="export PATH=/opt/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}/bin:\$PATH" - - if grep -Fxq "$exportline" $HOME/.profile; then - echo "${NUTTX_GCC_VERSION} path already set."; - else - echo $exportline >> $HOME/.profile; - fi - fi + # don't run modem manager (interferes with PX4 serial port usage) + sudo systemctl disable --now ModemManager fi # Simulation tools @@ -123,7 +96,6 @@ if [[ $INSTALL_SIM == "true" ]]; then # java (jmavsim) sudo pacman -S --noconfirm --needed \ ant \ - jdk-openjdk \ ; # Gazebo setup @@ -161,5 +133,5 @@ fi if [[ $INSTALL_NUTTX == "true" ]]; then echo - echo "Reboot or logout, login computer before attempting to build NuttX targets" + echo "Reboot or logout, login computer before attempting to flash NuttX targets" fi diff --git a/Tools/setup/macos.sh b/Tools/setup/macos.sh index f2c64483be88..f0686ab6d40f 100755 --- a/Tools/setup/macos.sh +++ b/Tools/setup/macos.sh @@ -34,6 +34,7 @@ if [[ $REINSTALL_FORMULAS == "--reinstall" ]]; then brew tap PX4/px4 brew reinstall px4-dev brew install ncurses + brew install python-tk else if brew ls --versions px4-dev > /dev/null; then echo "px4-dev already installed" @@ -42,6 +43,7 @@ else brew tap PX4/px4 brew install px4-dev brew install ncurses + brew install python-tk fi fi diff --git a/Tools/setup/optional-requirements.txt b/Tools/setup/optional-requirements.txt index e13696aa4edd..844ad80bb55c 100644 --- a/Tools/setup/optional-requirements.txt +++ b/Tools/setup/optional-requirements.txt @@ -1 +1 @@ -symforce>=0.5.0 +symforce>=0.9.0 diff --git a/Tools/setup/requirements.txt b/Tools/setup/requirements.txt index 27a62a208d50..0202963fd773 100644 --- a/Tools/setup/requirements.txt +++ b/Tools/setup/requirements.txt @@ -1,14 +1,13 @@ argcomplete -argparse>=1.2 cerberus coverage -empy>=3.3 +empy==3.3.4 future jinja2>=2.8 jsonschema kconfiglib lxml -matplotlib>=3.0.* +matplotlib>=3.0 numpy>=1.13 nunavut>=1.1.0 packaging diff --git a/Tools/setup/ubuntu.sh b/Tools/setup/ubuntu.sh index af7ec2fbffca..346e071cdcc1 100755 --- a/Tools/setup/ubuntu.sh +++ b/Tools/setup/ubuntu.sh @@ -66,6 +66,8 @@ elif [[ "${UBUNTU_RELEASE}" == "20.04" ]]; then echo "Ubuntu 20.04" elif [[ "${UBUNTU_RELEASE}" == "22.04" ]]; then echo "Ubuntu 22.04" +elif [[ "${UBUNTU_RELEASE}" == "21.3" ]]; then + echo "Linux Mint 21.3" fi @@ -146,7 +148,7 @@ if [[ $INSTALL_NUTTX == "true" ]]; then util-linux \ vim-common \ ; - if [[ "${UBUNTU_RELEASE}" == "20.04" || "${UBUNTU_RELEASE}" == "22.04" ]]; then + if [[ "${UBUNTU_RELEASE}" == "20.04" || "${UBUNTU_RELEASE}" == "22.04" || "${UBUNTU_RELEASE}" == "21.3" ]]; then sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \ kconfig-frontends \ ; @@ -155,7 +157,7 @@ if [[ $INSTALL_NUTTX == "true" ]]; then if [ -n "$USER" ]; then # add user to dialout group (serial port access) - sudo usermod -a -G dialout $USER + sudo usermod -aG dialout $USER fi # arm-none-eabi-gcc @@ -165,7 +167,7 @@ if [[ $INSTALL_NUTTX == "true" ]]; then source $HOME/.profile # load changed path for the case the script is reran before relogin if [ $(which arm-none-eabi-gcc) ]; then GCC_VER_STR=$(arm-none-eabi-gcc --version) - GCC_FOUND_VER=$(echo $GCC_VER_STR | grep -c "${NUTTX_GCC_VERSION}") + GCC_FOUND_VER=$(echo $GCC_VER_STR | grep -c "${NUTTX_GCC_VERSION}" || true) fi if [[ "$GCC_FOUND_VER" == "1" ]]; then @@ -205,6 +207,8 @@ if [[ $INSTALL_SIM == "true" ]]; then java_version=13 elif [[ "${UBUNTU_RELEASE}" == "22.04" ]]; then java_version=11 + elif [[ "${UBUNTU_RELEASE}" == "21.3" ]]; then + java_version=11 else java_version=14 fi @@ -228,6 +232,17 @@ if [[ $INSTALL_SIM == "true" ]]; then echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null sudo apt-get update -y --quiet + # Install Gazebo + gazebo_packages="gz-harmonic" + elif [[ "${UBUNTU_RELEASE}" == "21.3" ]]; then + echo "Gazebo (Garden) will be installed" + echo "Earlier versions will be removed" + # Add Gazebo binary repository + sudo wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg + echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable jammy main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null + + sudo apt-get update -y --quiet + # Install Gazebo gazebo_packages="gz-garden" else diff --git a/Tools/simulation/gazebo-classic/sitl_gazebo-classic b/Tools/simulation/gazebo-classic/sitl_gazebo-classic index 2e3ed9bfb04d..f1d11a612699 160000 --- a/Tools/simulation/gazebo-classic/sitl_gazebo-classic +++ b/Tools/simulation/gazebo-classic/sitl_gazebo-classic @@ -1 +1 @@ -Subproject commit 2e3ed9bfb04d8865e59380afa575dd37b0d6c8e0 +Subproject commit f1d11a6126990d487d4aa8ff68c23ff370516510 diff --git a/Tools/simulation/gz b/Tools/simulation/gz new file mode 160000 index 000000000000..536305adee09 --- /dev/null +++ b/Tools/simulation/gz @@ -0,0 +1 @@ +Subproject commit 536305adee09b9ace391b16107e625cf7c6db7e7 diff --git a/Tools/simulation/gz/models/px4vision/model.config b/Tools/simulation/gz/models/px4vision/model.config deleted file mode 100644 index 82f9eac095ff..000000000000 --- a/Tools/simulation/gz/models/px4vision/model.config +++ /dev/null @@ -1,15 +0,0 @@ - - - PX4 Vision - 1.0 - model.sdf - - - Jaeyoung Lim - jaeyoung@auterion.com - - - - This is a model of the Holybro PX4 Vision - - diff --git a/Tools/simulation/gz/models/px4vision/model.sdf b/Tools/simulation/gz/models/px4vision/model.sdf deleted file mode 100644 index 630e8d6c51f9..000000000000 --- a/Tools/simulation/gz/models/px4vision/model.sdf +++ /dev/null @@ -1,10 +0,0 @@ - - - - - - https://fuel.gazebosim.org/1.0/PX4/models/PX4 Vision - - - - diff --git a/Tools/simulation/gz/models/rc_cessna/meshes/body.dae b/Tools/simulation/gz/models/rc_cessna/meshes/body.dae deleted file mode 100644 index 606f95644b46..000000000000 --- a/Tools/simulation/gz/models/rc_cessna/meshes/body.dae +++ /dev/null @@ -1,4173 +0,0 @@ - - - - - SketchUp 15.3.331 - - 2015-05-27T19:02:35Z - 2015-05-27T19:02:35Z - - Z_UP - - - - - - 0.001745328 -0.9999985 0 70.84882 0.9999985 0.001745328 0 -0.03157813 0 0 1 -19.50896 0 0 0 1 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 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0 1 2 1 0 3 3 8 1 8 3 9 9 3 10 2 14 15 14 2 1 18 2 19 2 18 0 22 3 0 24 9 10 9 24 25 28 8 9 1 30 14 30 1 8 22 10 3 14 32 15 19 15 34 15 19 2 36 18 19 18 36 37 18 22 0 28 9 25 22 24 10 40 25 24 28 30 8 30 28 42 30 44 14 15 32 46 14 44 32 15 46 34 48 19 34 19 48 36 36 50 37 50 36 51 37 22 18 40 28 25 22 54 24 40 24 54 42 44 30 44 42 56 58 42 28 32 60 46 44 62 32 34 46 64 48 34 64 48 66 36 66 48 67 66 51 36 51 70 50 50 22 37 72 28 40 22 74 54 76 40 54 56 62 44 62 56 78 80 56 42 80 42 58 58 28 72 46 60 82 60 62 84 62 60 32 64 46 82 48 64 86 86 67 48 67 86 88 90 66 67 66 92 51 92 66 90 92 70 51 70 22 50 76 72 40 72 76 94 22 96 74 76 54 74 98 62 78 80 78 56 78 80 100 102 80 58 104 58 72 82 106 107 106 82 60 98 84 62 60 84 106 64 82 110 64 110 86 112 88 86 88 112 113 116 67 88 116 90 67 92 118 119 118 92 90 92 119 70 70 119 22 104 72 94 96 76 74 76 96 122 76 122 94 22 124 96 126 98 78 126 78 100 102 100 80 100 102 128 102 58 104 110 107 130 107 110 82 86 110 112 132 113 112 113 134 88 134 113 135 134 116 88 118 90 116 118 138 119 138 118 139 119 138 22 122 104 94 104 122 142 96 144 122 144 96 145 145 96 124 124 148 145 148 124 22 150 126 100 150 100 128 152 128 102 128 152 153 142 102 104 102 142 152 112 110 130 156 113 132 112 130 132 135 113 156 135 158 134 158 135 159 162 116 134 162 118 116 162 139 118 139 162 164 166 139 167 139 166 138 138 166 22 122 170 142 145 172 144 144 170 122 148 172 145 148 166 167 166 148 22 174 150 128 174 128 153 153 176 177 176 153 152 142 180 152 180 142 170 182 135 156 159 135 182 159 184 158 184 159 185 184 185 186 158 162 134 158 164 162 164 158 184 139 164 167 172 190 144 144 190 170 148 167 172 153 177 174 180 176 152 176 192 177 192 176 193 170 196 180 196 170 190 185 159 182 198 186 185 200 184 186 200 164 184 164 200 202 167 164 202 172 202 190 172 167 202 180 193 176 192 204 205 204 192 193 204 193 196 196 193 180 190 200 196 200 190 202 186 198 204 200 186 204 200 204 196 204 198 205

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4 5 6 7 6 5 11 4 12 12 4 13 6 13 4 6 7 16 17 16 7 5 20 7 21 7 20 5 4 23 26 27 12 11 12 27 12 13 29 13 6 31 16 31 6 4 11 23 17 33 16 7 21 17 35 17 21 38 39 20 21 20 39 5 23 20 26 12 29 11 27 23 27 26 41 43 29 31 13 31 29 16 45 31 47 33 17 33 45 16 35 47 17 39 49 21 35 21 49 52 39 53 38 53 39 20 23 38 26 29 41 27 55 23 55 27 41 57 43 45 31 45 43 29 43 59 47 61 33 33 63 45 65 47 35 65 35 49 68 49 69 39 69 49 39 52 69 53 71 52 38 23 53 41 29 73 55 75 23 55 41 77 79 57 63 45 63 57 43 57 81 59 43 81 73 29 59 83 61 47 33 61 63 85 63 61 83 47 65 87 65 49 89 87 68 49 68 87 68 69 91 91 69 93 52 93 69 52 71 93 53 23 71 95 77 73 41 73 77 75 97 23 75 55 77 79 63 99 101 81 79 57 79 81 59 81 103 73 59 105 61 83 108 109 108 83 63 85 99 108 85 61 111 83 65 87 111 65 114 115 89 87 89 115 89 68 117 68 91 117 91 93 120 121 120 93 71 121 93 23 121 71 95 73 105 95 123 77 123 97 77 75 77 97 97 125 23 79 99 127 101 79 127 129 103 101 81 101 103 105 59 103 83 111 109 131 109 111 115 111 87 115 114 133 136 114 137 89 137 114 89 117 137 117 91 120 140 120 141 121 141 120 23 141 121 143 123 105 95 105 123 125 97 146 146 97 147 123 147 97 23 125 149 146 149 125 101 127 151 129 101 151 154 155 129 103 129 155 155 143 103 105 103 143 131 111 115 133 114 157 133 131 115 157 114 136 160 136 161 137 161 136 137 117 163 117 120 163 165 163 140 120 140 163 141 168 140 169 140 168 23 168 141 143 171 123 147 173 146 123 171 147 146 173 149 23 149 168 169 168 149 129 151 175 154 129 175 155 154 178 179 178 154 171 143 181 155 181 143 157 136 183 183 136 160 187 188 189 188 160 189 161 189 160 137 163 161 189 161 165 163 165 161 169 165 140 147 191 173 171 191 147 173 169 149 175 179 154 155 178 181 194 178 195 179 195 178 191 171 197 181 197 171 183 160 188 188 187 199 187 189 201 203 201 165 189 165 201 203 165 169 191 203 173 203 169 173 178 194 181 197 194 206 194 195 206 207 206 195 181 194 197 203 191 201 197 201 191 206 199 187 206 187 201 197 206 201 207 199 206

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0 1 2 6 0 2 0 8 1 8 0 9 2 1 12 6 2 12 0 14 15 14 0 6 0 18 9 1 20 21 20 1 8 1 24 12 26 6 12 6 26 27 27 26 28 14 6 32 15 34 0 34 18 0 36 37 38 37 20 39 20 37 36 20 36 21 1 21 24 12 24 44 26 12 44 46 26 47 26 46 28 28 46 48 28 48 27 27 48 6 6 48 49 54 6 49 6 54 32 37 56 57 56 37 39 37 57 38 36 38 60 21 36 24 24 60 44 26 44 47 62 46 47 46 62 63 57 66 67 66 57 56 38 57 70 24 36 60 60 38 72 44 60 74 47 44 74 76 62 77 62 76 63 62 47 80 66 82 67 57 67 84 70 84 86 84 70 57 38 70 72 60 72 74 47 74 80 88 77 89 77 88 90 77 90 91 77 91 92 77 92 76 62 80 77 70 86 98 72 70 98 74 72 100 80 74 100 102 89 103 89 102 104 89 104 88 88 104 90 90 104 91 91 104 92 77 108 89 77 80 108 98 86 110 72 98 100 80 100 108 112 102 113 102 112 104 89 116 103 102 103 118 89 108 116 98 110 120 100 98 120 108 100 120 122 112 113 112 122 123 102 118 113 103 116 126 103 126 118 108 120 116 120 110 128 123 122 130 116 128 126 116 120 128 130 122 132

- - - -

3 4 5 3 5 7 10 5 11 4 11 5 13 4 3 13 3 7 7 5 16 17 16 5 10 19 5 11 4 22 23 22 4 13 25 4 29 30 31 31 30 7 13 7 30 33 7 16 5 35 17 5 19 35 23 40 22 40 41 22 42 22 41 43 41 40 25 23 4 45 25 13 45 13 30 50 51 7 7 51 31 31 51 29 51 52 29 29 52 30 53 30 52 33 55 7 50 7 55 42 41 58 59 58 41 43 59 41 61 43 40 25 40 23 45 61 25 53 45 30 64 65 52 53 52 65 58 59 68 69 68 59 71 59 43 61 40 25 73 43 61 75 61 45 75 45 53 64 78 65 79 65 78 81 53 65 69 83 68 85 69 59 59 71 85 87 85 71 73 71 43 75 73 61 81 75 53 78 93 79 93 94 79 94 95 79 95 96 79 97 79 96 79 81 65 99 87 71 99 71 73 101 73 75 101 75 81 93 105 94 94 105 95 95 105 96 96 105 97 105 106 97 107 97 106 97 109 79 109 81 79 111 87 99 101 99 73 109 101 81 105 114 106 115 106 114 107 117 97 119 107 106 117 109 97 121 111 99 121 99 101 121 101 109 124 125 114 115 114 125 115 119 106 127 117 107 119 127 107 117 121 109 129 111 121 131 125 124 127 129 117 129 121 117 133 125 131

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0 1 2 1 0 3 3 0 4 10 1 11 1 10 2 0 14 4 14 0 15 18 3 4 10 20 21 20 10 11 24 25 26 25 24 15 15 24 27 15 27 14 4 32 33 32 4 14 33 18 4 36 20 37 20 36 21 40 25 41 25 40 26 44 27 24 27 44 14 32 14 44 36 46 47 46 36 37 50 41 51 41 50 52 41 52 40 47 56 57 56 47 46 60 51 61 51 60 62 51 62 52 51 52 50 57 66 67 66 57 56 70 61 71 61 70 60 60 70 62 74 71 75 71 74 70 78 75 79 75 78 74 82 79 83 79 82 78 86 83 87 83 86 82

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5 6 7 7 6 8 9 8 6 9 12 8 13 8 12 16 6 17 5 17 6 5 7 19 13 12 22 23 22 12 17 28 16 28 29 16 16 29 30 31 30 29 17 5 34 35 34 5 5 19 35 23 38 22 39 22 38 31 42 30 43 30 42 17 45 28 29 28 45 45 17 34 39 38 48 49 48 38 42 53 43 53 54 43 55 43 54 48 49 58 59 58 49 54 53 55 53 63 55 63 64 55 65 55 64 58 59 68 69 68 59 63 72 64 64 72 65 73 65 72 72 76 73 77 73 76 76 80 77 81 77 80 80 84 81 85 81 84 84 88 85 89 85 88

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0 1 2 1 0 3 3 0 4 5 6 7 7 6 8 9 8 6 4 10 3 10 4 11 12 5 13 7 13 5 14 1 15 1 14 16 1 16 2 9 17 8 17 18 8 19 8 18 0 2 20 21 9 6 22 10 11 10 22 23 24 25 13 12 13 25 14 26 27 26 14 15 19 18 28 29 28 18 2 16 20 21 17 9 22 30 23 30 22 31 32 25 33 24 33 25 27 34 35 34 27 26 28 29 36 37 36 29 30 38 39 38 30 31 32 33 40 41 40 33 35 42 43 42 35 34 36 37 44 45 44 37 46 47 48 47 46 39 47 39 49 49 39 38 40 41 50 50 41 51 41 52 51 53 51 52 48 54 55 54 48 47 51 53 56 57 56 53 58 59 60 59 58 61 59 61 46 59 46 48 53 52 62 52 63 62 63 64 62 65 62 64 48 55 59 62 57 53 66 60 67 60 66 68 60 68 61 60 61 58 64 63 65 63 69 65 69 70 65 71 65 70 72 67 73 67 72 66 66 72 68 69 74 70 70 74 71 75 71 74 76 73 77 73 76 72 74 78 75 79 75 78 80 77 81 77 80 76 78 82 79 83 79 82 84 81 85 81 84 80 82 86 83 87 83 86 88 85 89 85 88 84 86 90 87 91 87 90

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0 1 2 6 7 8 6 7 8 12 13 14 13 12 15 20 21 22 0 1 2 26 27 28 32 33 34 38 39 40 39 38 41 46 47 48 52 53 54 20 22 58 60 61 62 26 28 66 26 68 27 70 41 38 41 70 71 41 71 72 41 72 73 78 47 46 80 81 82 86 87 80 60 90 61 62 61 92 78 94 47 96 68 26 98 60 99 96 102 68 104 102 105 105 108 104 108 110 111 111 78 46 114 115 116 115 114 117 117 114 118 117 118 119 80 82 126 128 87 86 130 86 80 132 90 60 110 78 111 134 98 99 98 132 60 105 102 96 105 110 108 136 87 128 138 139 136 142 143 144 143 142 138 138 142 145 138 145 139 139 145 146 146 152 134 80 126 154 156 128 86 156 86 130 130 80 154 132 158 90 152 98 134 160 132 98 138 136 128 142 144 162 142 164 145 145 152 146 138 128 143 143 156 144 154 126 166 143 128 156 130 168 156 154 170 130 158 172 90 174 158 132 152 160 98 176 132 160 144 156 162 142 162 164 145 164 152 154 166 178 156 168 162 130 180 168 130 170 180 154 174 170 172 158 174 174 132 176 164 160 152 180 176 160 162 182 164 154 178 174 166 172 178 168 180 162 170 174 180 178 172 174 180 174 176 164 182 160 180 160 182 180 182 162

- - - -

3 4 5 9 10 11 9 10 11 16 17 18 19 18 17 23 24 25 3 4 5 29 30 31 35 36 37 42 43 44 45 44 43 49 50 51 55 56 57 59 23 25 63 64 65 67 29 31 30 69 31 74 75 42 75 76 42 76 77 42 43 42 77 51 50 79 83 84 85 85 88 89 64 91 65 93 64 63 50 95 79 31 69 97 100 65 101 69 103 97 106 103 107 107 109 106 112 113 109 51 79 112 120 121 122 121 123 122 122 123 124 125 124 123 127 83 85 89 88 129 85 89 131 65 91 133 112 79 113 100 101 135 65 133 101 97 103 106 109 113 106 129 88 137 137 140 141 147 148 140 140 148 141 148 149 141 141 149 150 151 150 149 135 153 147 155 127 85 89 129 157 131 89 157 155 85 131 91 159 133 135 101 153 101 133 161 129 137 141 163 151 149 148 165 149 147 153 148 150 129 141 151 157 150 167 127 155 157 129 150 157 169 131 131 171 155 91 173 159 133 159 175 101 161 153 161 133 177 163 157 151 165 163 149 153 165 148 179 167 155 163 169 157 169 181 131 181 171 131 171 175 155 175 159 173 177 133 175 153 161 165 161 177 181 165 183 163 175 179 155 179 173 167 163 181 169 181 175 171 175 173 179 177 175 181 161 183 165 183 161 181 163 183 181

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- - - -

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0 1 2 3 4 5 6 0 2 3 5 7 8 1 0 5 4 9 6 2 10 11 3 7 8 0 6 7 5 9 8 12 13 14 15 9 6 16 17 18 19 7 8 6 17 18 7 9 17 12 8 9 15 18 17 16 12 15 19 18

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0 1 2 6 7 8 12 2 1 2 14 0 6 8 16 12 18 2 12 1 20 2 18 22 24 6 16 26 18 12 28 12 20 24 16 30 26 12 28 26 32 18 28 20 34 36 24 30 26 28 34 26 38 32 40 36 30 26 34 42 26 44 38 38 46 32 48 36 40 50 26 42 26 50 44 38 44 50 46 52 32 46 38 54 56 48 40 38 50 54 52 46 58 46 54 60 62 56 40 60 58 46 64 65 62 64 62 40 65 68 69 68 65 64 72 69 68 72 68 74

- - - -

3 4 5 9 10 11 4 3 13 5 15 3 17 9 11 3 19 13 21 4 13 23 19 3 17 11 25 13 19 27 21 13 29 31 17 25 29 13 27 19 33 27 35 21 29 31 25 37 35 29 27 33 39 27 31 37 41 43 35 27 39 45 27 33 47 39 41 37 49 45 51 27 43 27 51 51 45 39 33 53 47 55 39 47 41 49 57 55 51 39 59 47 53 61 55 47 41 57 63 47 59 61 63 66 67 41 63 67 70 71 66 67 66 71 71 70 73 75 71 73

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0 1 2 3 4 5 1 6 2 3 7 4 0 2 8 9 3 5 6 10 2 3 11 7 12 0 8 9 5 13 8 2 14 15 3 9 6 16 10 11 17 7 18 12 8 9 13 19 20 8 21 22 9 23 6 24 16 17 25 7 18 8 26 27 9 19 20 28 8 9 29 23 6 30 24 25 31 7 28 26 8 9 27 29 30 32 24 25 33 31

- - - - - - - 0.6183137 0.1571624 11.29705 7.88642 17.4769 3.642339 15.50908 17.68313 4.062503 15.50908 17.68313 4.062503 7.88642 17.4769 3.642339 0.6183137 0.1571624 11.29705 2.474 16.85834 2.405215 2.474 16.85834 2.405215 10.43824 8.195949 9.201113 10.43824 8.195949 9.201113 0.695634 0.002521817 9.67332 0.695634 0.002521817 9.67332 15.38649 13.37893 6.73515 15.38649 13.37893 6.73515 8.029934 0.4127355 12.13679 8.029934 0.4127355 12.13679 0 3.015491 5.412419 0 3.015491 5.412419 15.38649 10.28612 8.590837 15.38649 10.28612 8.590837 8.029934 0.4127355 12.13679 15.44155 0.6683086 12.97653 15.44155 0.6683086 12.97653 8.029934 0.4127355 12.13679 -0.0002484635 5.414941 2.405215 -0.0002484635 5.414941 2.405215 15.38649 7.81187 9.905281 15.38649 7.81187 9.905281 15.38649 3.945856 11.76097 15.38649 3.945856 11.76097 1.468837 12.06448 1.24541 1.468837 12.06448 1.24541 0.7729543 7.734549 0.008285969 0.7729543 7.734549 0.008285969 - - - - - - - - - - -0.6924069 0.3710609 0.6187782 -0.1331988 0.4468696 0.8846274 -0.1195708 0.4786576 0.8698216 0.1195708 -0.4786576 -0.8698216 0.1331988 -0.4468696 -0.8846274 0.6924069 -0.3710609 -0.6187782 -0.5348105 0.4506476 0.7147688 0.5348105 -0.4506476 -0.7147688 -0.1995591 0.4963289 0.8448868 0.1995591 -0.4963289 -0.8448868 -0.9922789 0.1193052 0.03389481 0.9922789 -0.1193052 -0.03389481 -0.1270045 0.52242 0.8431769 0.1270045 -0.52242 -0.8431769 -0.1170376 0.3819855 0.9167275 0.1170376 -0.3819855 -0.9167275 -0.9322249 0.2277077 0.2812576 0.9322249 -0.2277077 -0.2812576 -0.1027538 0.495148 0.8627109 0.1027538 -0.495148 -0.8627109 -0.1170376 0.3819855 0.9167275 -0.1407611 0.3675104 0.9193054 0.1407611 -0.3675104 -0.9193054 0.1170376 -0.3819855 -0.9167275 -0.9736062 0.2068896 0.09637198 0.9736062 -0.2068896 -0.09637198 -0.09183896 0.4476075 0.8895016 0.09183896 -0.4476075 -0.8895016 -0.1632715 0.3625534 0.9175497 0.1632715 -0.3625534 -0.9175497 -0.9771167 0.2087938 -0.04059647 0.9771167 -0.2087938 0.04059647 -0.9729526 0.1927465 -0.1273268 0.9729526 -0.1927465 0.1273268 - - - - - - - - - - - - - - -

0 1 2 3 4 5 0 6 1 4 7 5 8 0 2 3 5 9 0 10 6 7 11 5 12 8 2 3 9 13 14 0 8 9 5 15 10 16 6 7 17 11 18 8 12 13 9 19 20 8 21 22 9 23 16 24 6 7 25 17 26 8 18 19 9 27 8 28 21 22 29 9 24 30 6 7 31 25 28 8 26 27 9 29 24 32 30 31 33 25

- - - - - - - 109.3701 0.6299213 14.33071 108.1496 1.535433 14.68504 106.8898 0.6299213 14.33071 106.8898 0.6299213 14.33071 108.1496 1.535433 14.68504 109.3701 0.6299213 14.33071 109.1081 2.795276 14.71191 109.1081 2.795276 14.71191 106.2992 2.795276 15 106.2992 2.795276 15 109.1081 2.795276 14.71191 109.3701 0.6299213 14.33071 109.1081 0.6299213 14.71191 109.1081 0.6299213 14.71191 109.3701 0.6299213 14.33071 109.1081 2.795276 14.71191 105.9843 1.535433 15 105.9843 1.535433 15 108.4574 2.795276 15.19797 108.4574 0.6299213 15.19797 108.4574 2.795276 15.19797 108.4574 0.6299213 15.19797 105.0787 2.795276 15.59055 105.0787 2.795276 15.59055 105.0787 0.6299213 15 105.0787 0.6299213 15 107.6911 0.6299213 16.52536 107.6911 2.795276 16.52536 107.6911 2.795276 16.52536 107.6911 0.6299213 16.52536 107.6911 2.795276 18.0581 107.6911 0.6299213 18.0581 107.6911 2.795276 18.0581 107.6911 0.6299213 18.0581 104.7638 1.535433 15.90551 104.7638 1.535433 15.90551 108.4574 2.795276 19.38549 108.4574 0.6299213 19.38549 108.4574 2.795276 19.38549 108.4574 0.6299213 19.38549 105.0787 2.795276 16.85039 105.0787 2.795276 16.85039 104.4488 0.6299213 15.90551 104.4488 0.6299213 15.90551 109.799 0.6299213 20.19685 109.5938 2.795276 20.07275 109.5938 2.795276 20.07275 109.799 0.6299213 20.19685 109.799 0.6299213 20.19685 108.1496 0.6299213 20.19685 109.5938 2.795276 20.07275 109.5938 2.795276 20.07275 108.1496 0.6299213 20.19685 109.799 0.6299213 20.19685 104.7638 1.535433 17.12598 104.7638 1.535433 17.12598 108.4252 2.795276 19.92126 108.4252 2.795276 19.92126 105.6693 2.795276 18.38583 105.6693 2.795276 18.38583 104.7638 0.6299213 17.75591 104.7638 0.6299213 17.75591 107.2047 1.535433 19.6063 107.2047 1.535433 19.6063 105.6693 0.6299213 18.97638 105.6693 0.6299213 18.97638 106.2992 2.795276 18.97638 106.2992 2.795276 18.97638 105.3543 1.535433 18.66142 105.3543 1.535433 18.66142 - - - - - - - - - - 0.09351876 -0.2509625 0.9634688 0.06002517 -0.2328579 0.9706566 0.1486023 -0.3021471 0.9416074 -0.1486023 0.3021471 -0.9416074 -0.06002517 0.2328579 -0.9706566 -0.09351876 0.2509625 -0.9634688 0.1333852 -0.122455 0.98347 -0.1333852 0.122455 -0.98347 0.2885481 -0.1575084 0.944421 -0.2885481 0.1575084 -0.944421 -0.6286133 -7.255316e-016 -0.777718 -0.8241312 -6.216151e-016 -0.5663989 -0.7209196 -6.874281e-016 -0.6930187 0.7209196 6.874281e-016 0.6930187 0.8241312 6.216151e-016 0.5663989 0.6286133 7.255316e-016 0.777718 0.3846238 -0.2114245 0.8985345 -0.3846238 0.2114245 -0.8985345 -0.7475686 -9.666983e-016 -0.6641846 -0.7475686 -9.666983e-016 -0.6641846 0.7475686 9.666983e-016 0.6641846 0.7475686 9.666983e-016 0.6641846 0.8070997 -0.2206897 0.5476185 -0.8070997 0.2206897 -0.5476185 0.572045 -0.2716679 0.7739258 -0.572045 0.2716679 -0.7739258 -0.9659258 -1.331323e-015 -0.258819 -0.9659258 -1.331323e-015 -0.258819 0.9659258 1.331323e-015 0.258819 0.9659258 1.331323e-015 0.258819 -0.9659258 -1.375102e-015 0.258819 -0.9659258 -1.375102e-015 0.258819 0.9659258 1.375102e-015 -0.258819 0.9659258 1.375102e-015 -0.258819 0.9294636 -0.2466642 0.2743251 -0.9294636 0.2466642 -0.2743251 -0.7142545 -8.4612e-016 0.6998861 -0.7142545 -8.4612e-016 0.6998861 0.7142545 8.4612e-016 -0.6998861 0.7142545 8.4612e-016 -0.6998861 0.9466058 -0.2802255 -0.1594089 -0.9466058 0.2802255 0.1594089 0.9345378 -0.2587797 0.2442787 -0.9345378 0.2587797 -0.2442787 -0.5174935 -3.954929e-016 0.8556872 -0.5174935 -3.954929e-016 0.8556872 0.5174935 3.954929e-016 -0.8556872 0.5174935 3.954929e-016 -0.8556872 6.00499e-017 -0.05721926 -0.9983616 0.2456598 -0.1204765 -0.9618403 0.07577143 -0.1073528 -0.9913294 -0.07577143 0.1073528 0.9913294 -0.2456598 0.1204765 0.9618403 -6.00499e-017 0.05721926 0.9983616 0.9475641 -0.2318609 -0.2199153 -0.9475641 0.2318609 0.2199153 0.2599088 -0.1536623 -0.9533285 -0.2599088 0.1536623 0.9533285 0.7942332 -0.3070821 -0.5243036 -0.7942332 0.3070821 0.5243036 0.9223463 -0.1483237 -0.3567595 -0.9223463 0.1483237 0.3567595 0.421693 -0.1438412 -0.8952568 -0.421693 0.1438412 0.8952568 0.5936854 -0.05949449 -0.8024949 -0.5936854 0.05949449 0.8024949 0.5035133 -0.1974451 -0.8411241 -0.5035133 0.1974451 0.8411241 0.7595726 -0.1740623 -0.6266991 -0.7595726 0.1740623 0.6266991 - - - - - - - - - - - - - - -

0 1 2 0 6 1 1 8 2 6 8 1 10 11 12 2 8 16 18 12 19 12 18 10 8 22 16 2 16 24 26 18 19 18 26 27 16 22 24 30 26 31 26 30 27 22 34 24 36 31 37 31 36 30 40 34 22 34 42 24 44 36 37 36 44 45 40 42 34 48 49 50 40 54 42 50 49 56 40 58 54 54 60 42 56 49 62 58 60 54 49 64 62 56 62 66 58 68 60 62 64 66 66 68 58 68 64 60 66 64 68

- - - -

3 4 5 4 7 5 3 9 4 4 9 7 13 14 15 17 9 3 15 20 13 21 13 20 17 23 9 25 17 3 28 29 20 21 20 29 25 23 17 28 32 29 33 29 32 25 35 23 32 38 33 39 33 38 23 35 41 25 43 35 46 47 38 39 38 47 35 43 41 51 52 53 43 55 41 57 52 51 55 59 41 43 61 55 63 52 57 55 61 59 63 65 52 67 63 57 61 69 59 67 65 63 59 69 67 61 65 69 69 65 67

- - - - - - - 216.8504 54.33071 32.08661 207.0472 60.90551 30.11811 207.0079 55.62992 31.77165 207.0079 55.62992 31.77165 207.0472 60.90551 30.11811 216.8504 54.33071 32.08661 211.9291 52.79528 32.24409 211.9291 52.79528 32.24409 216.8504 59.56693 30.86614 216.8504 59.56693 30.86614 207.0079 50.94488 32.40157 207.0079 50.94488 32.40157 216.8504 50.62992 32.71654 216.8504 50.62992 32.71654 220.2362 53.4252 30.45673 220.2362 53.4252 30.45673 216.8504 59.56693 30.86614 207.0079 55.62992 30.55118 207.0472 60.90551 30.11811 207.0472 60.90551 30.11811 207.0079 55.62992 30.55118 216.8504 59.56693 30.86614 199.0551 53.85827 31.92913 199.0551 53.85827 31.92913 220.2362 49.40945 30.86614 220.2362 49.40945 30.86614 220.8268 58.62205 29.64567 220.8268 58.62205 29.64567 216.8504 54.33071 31.1811 216.8504 54.33071 31.1811 191.0236 57.48031 31.22047 191.0236 57.48031 31.22047 191.0236 52.16535 32.08661 191.0236 52.16535 32.08661 216.8504 39.6063 33.30709 216.8504 39.6063 33.30709 219.9213 40.23622 32.08661 219.9213 40.23622 32.08661 221.1417 53.11024 29.96063 221.1417 53.11024 29.96063 220.8268 58.62205 29.64567 220.8268 58.62205 29.64567 211.9291 52.79528 31.02362 211.9291 52.79528 31.02362 207.0079 39.6063 33.0315 207.0079 39.6063 33.0315 221.1417 39.92126 30.55118 221.1417 39.92126 30.55118 221.1417 49.09449 29.96063 221.1417 49.09449 29.96063 221.1417 53.11024 29.96063 221.1417 53.11024 29.96063 216.8504 50.62992 31.49606 216.8504 50.62992 31.49606 207.0079 50.94488 30.86614 207.0079 50.94488 30.86614 186.6142 55 31.5748 186.6142 55 31.5748 191.0236 39.33071 32.59843 191.0236 39.33071 32.59843 207.0079 35.62992 33.0315 216.8504 35.94488 33.30709 216.8504 35.94488 33.30709 207.0079 35.62992 33.0315 219.6063 37.16535 32.08661 219.6063 37.16535 32.08661 220.8268 36.53543 31.1811 220.8268 36.53543 31.1811 221.1417 49.09449 29.96063 221.1417 49.09449 29.96063 199.0551 53.85827 30.3937 199.0551 53.85827 30.3937 182.1654 58.62205 31.06299 182.1654 58.62205 31.06299 182.1654 52.75591 31.65354 182.1654 52.75591 31.65354 211.9291 35.07874 32.71654 211.9291 35.07874 32.71654 221.1417 39.92126 30.55118 220.8268 36.53543 31.1811 216.8504 35.62992 32.08661 216.8504 35.62992 32.08661 220.8268 36.53543 31.1811 221.1417 39.92126 30.55118 216.8504 39.33071 31.77165 216.8504 39.33071 31.77165 207.0079 39.33071 31.1811 207.0079 39.33071 31.1811 191.0236 52.16535 30.23622 191.0236 52.16535 30.23622 191.0236 57.48031 29.96063 191.0236 57.48031 29.96063 182.126 39.33071 32.40157 182.126 39.33071 32.40157 191.0236 35 32.40157 191.0236 35 32.40157 207.0079 34.40945 32.08661 207.0079 34.40945 32.08661 216.8504 35 32.71654 216.8504 35 32.71654 218.3858 35.94488 32.71654 218.3858 35.94488 32.71654 220.2362 35.94488 31.49606 220.2362 35.94488 31.49606 218.7008 35.62992 32.08661 218.7008 35.62992 32.08661 191.0236 39.01575 30.55118 191.0236 39.01575 30.55118 177.874 55.90551 31.10236 177.874 55.90551 31.10236 173.5433 53.8189 31.1811 173.5433 53.8189 31.1811 199.0157 34.72441 32.40157 199.0157 34.72441 32.40157 220.2362 35.94488 31.49606 220.2362 35.94488 31.49606 207.0079 35.31496 31.49606 207.0079 35.31496 31.49606 211.9291 34.64567 32.08661 211.9291 34.64567 32.08661 191.0236 34.40945 30.86614 191.0236 34.40945 30.86614 182.126 39.01575 30.23622 182.126 39.01575 30.23622 186.6142 55 29.88189 186.6142 55 29.88189 173.5433 59.76378 30.43307 173.5433 59.76378 30.43307 173.5433 39.33071 32.08661 173.5433 39.33071 32.08661 182.126 34.40945 32.08661 182.126 34.40945 32.08661 191.0236 33.77953 31.49606 191.0236 33.77953 31.49606 182.126 34.09449 30.55118 182.126 34.09449 30.55118 182.1654 52.75591 29.96063 182.1654 52.75591 29.96063 182.1654 58.62205 29.44882 182.1654 58.62205 29.44882 167.9528 46.73228 31.45669 167.9528 46.73228 31.45669 186.4173 34.09449 32.08661 186.4173 34.09449 32.08661 199.0157 34.29134 31.49606 199.0157 34.29134 31.49606 186.4173 33.77953 31.06299 186.4173 33.77953 31.06299 173.5433 39.01575 30.23622 173.5433 39.01575 30.23622 173.5433 33.77953 30.55118 173.5433 33.77953 30.55118 167.9921 58.38583 30.51181 167.9921 58.38583 30.51181 162.1654 59.25197 30.51181 162.1654 59.25197 30.51181 162.1654 39.33071 31.77165 162.1654 39.33071 31.77165 173.5433 34.09449 32.08661 173.5433 34.09449 32.08661 182.126 33.46457 31.49606 182.126 33.46457 31.49606 173.5433 53.8189 29.33071 173.5433 53.8189 29.33071 177.8346 33.18898 30.7874 177.8346 33.18898 30.7874 177.874 55.90551 29.44882 177.874 55.90551 29.44882 162.1654 60.7874 29.93396 162.1654 60.7874 29.93396 177.8346 33.46457 31.85039 177.8346 33.46457 31.85039 167.9528 46.73228 29.48819 167.9528 46.73228 29.48819 162.1654 33.46457 29.96063 162.1654 33.46457 29.96063 173.5433 32.87402 31.49606 173.5433 32.87402 31.49606 173.5433 59.72441 29.01575 173.5433 59.72441 29.01575 157.2835 48.07087 31.45669 157.2835 48.07087 31.45669 162.1654 33.77953 31.9685 162.1654 33.77953 31.9685 162.1654 39.01575 29.33071 162.1654 39.01575 29.33071 162.2047 59.25197 28.66142 162.2047 59.25197 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288 290 290 336 337 336 290 292 340 341 342 341 340 343 343 340 344 344 340 345 345 340 346 276 310 354 306 276 354 300 313 356 313 300 278 318 358 302 321 320 360 358 318 306 328 362 329 290 337 333 333 364 332 332 366 328 340 368 346 368 340 369 369 340 370 370 340 300 374 375 376 375 374 377 377 374 378 376 375 379 376 379 380 354 310 358 354 358 306 300 388 370 388 300 389 389 300 356 392 320 376 320 392 393 320 393 360 360 393 394 329 362 398 328 366 362 333 337 400 364 366 332 333 400 364 380 392 376 392 380 402 392 402 403 362 406 398 329 398 408 366 410 362 364 412 366 414 406 415 406 414 398 362 410 406 408 398 418 366 412 410 420 421 422 406 426 415 427 428 429 428 427 426 426 427 414 426 414 415 418 398 414 426 410 428 410 426 406 408 418 434 421 436 437 436 421 438 438 421 420 436 438 439 439 438 440 439 440 441 441 440 442 428 450 429 452 427 429 427 452 414 418 414 454 410 450 428 408 434 456 434 418 458 460 461 462 461 460 463 461 463 464 461 464 465 465 464 466 465 466 467 465 467 468 421 478 479 478 421 437 429 450 482 429 484 452 414 452 454 454 486 418 434 458 456 418 486 458 461 488 462 478 490 479 490 478 491 491 478 492 421 479 496 450 498 482 429 482 484 452 484 500 502 500 503 500 502 452 452 502 454 454 506 486 458 508 456 458 486 506 510 511 512 511 510 513 511 513 488 511 488 461 479 518 519 518 479 490 479 520 521 520 479 519 479 526 496 421 496 528 482 498 484 484 530 500 500 532 503 502 503 534 502 536 454 454 536 506 538 456 508 508 458 540 458 506 542 544 545 546 545 544 511 511 544 512 520 550 521 479 521 552 479 552 526 496 526 528 498 554 484 484 554 530 500 530 532 503 532 556 558 502 534 534 503 560 502 558 536 506 536 558 538 508 540 540 458 542 506 562 542 545 564 565 564 545 511 550 562 521 562 550 568 521 570 552 526 552 572 526 574 528 530 554 532 532 576 556 503 556 578 558 534 560 560 503 578 558 580 506 542 562 540 506 580 562 564 568 565 568 540 562 540 568 564 562 570 521 570 582 552 526 572 584 552 582 572 526 584 574 586 574 587 574 586 528 554 590 532 556 576 592 532 590 576 578 556 594 560 596 558 560 578 594 580 558 570 562 580 570 570 596 582 572 598 584 582 600 572 574 584 587 554 602 590 576 604 592 556 592 606 590 602 576 594 556 606 570 558 596 560 582 596 594 608 560 572 610 598 584 598 612 572 600 610 582 608 600 587 584 612 554 614 602 592 604 616 576 618 604 606 592 620 602 618 576 606 620 594 560 608 582 608 594 600 598 610 612 600 622 610 554 624 614 614 626 602 616 604 628 618 630 604 602 632 618 620 634 594 594 634 600 612 610 636 638 610 622 610 638 639 600 634 622 624 626 614 602 626 632 616 628 642 604 630 628 618 644 630 632 646 618 634 620 622 610 639 636 612 636 648 650 651 652 651 650 653 653 650 622 622 650 648 622 648 638 638 648 639 626 646 632 628 658 642 616 642 660 628 630 662 618 646 644 644 664 630 636 639 648 612 648 666 652 653 668 653 652 651 648 652 670 652 648 650 642 658 672 628 662 658 674 616 660 660 642 676 630 678 662 646 664 644 664 678 630 666 648 680 612 666 682 652 668 684 653 686 668 652 684 670 648 670 688 690 658 691 658 690 672 642 672 694 658 662 696 674 660 676 676 642 694 678 698 662 664 698 678 648 688 680 682 666 680 668 700 684 676 668 686 674 686 653 670 684 702 688 670 704 690 691 706 672 690 708 658 696 691 694 672 710 662 712 696 676 686 674 676 694 710 662 698 712 680 688 704 684 700 714 668 716 700 716 668 676 684 714 702 718 670 702 670 718 719 670 719 704 690 706 722 691 724 706 672 708 710 708 690 726 691 696 724 712 728 696 710 716 676 698 728 712 714 700 730 716 710 700 702 714 732 734 718 702 718 734 704 718 704 719 706 736 722 690 722 738 724 740 706 710 708 726 690 738 726 696 742 724 728 742 696 698 744 728 714 730 746 700 748 730 700 710 748 714 746 732 702 732 750 734 702 750 722 736 752 740 736 706 738 722 754 756 740 724 726 748 710 738 754 726 742 756 724 728 758 742 728 744 758 698 760 744 730 762 746 726 730 748 732 746 764 750 732 766 734 750 766 746 762 768 722 752 754 764 768 770 772 770 773 742 758 756 776 773 777 780 772 776 730 782 762 782 730 726 746 768 764 732 764 784 732 784 766 782 786 762 772 764 770 772 773 776 766 772 780 784 764 772 766 784 772

- - - -

3 4 5 7 3 5 5 4 9 11 3 7 13 7 5 5 9 15 19 20 21 23 3 11 11 7 13 13 5 25 25 5 15 15 9 27 21 20 29 23 31 3 33 23 11 35 11 13 37 13 25 25 15 39 15 27 39 21 29 41 20 43 29 33 31 23 45 33 11 45 11 35 35 13 37 47 37 25 49 25 39 41 29 51 29 43 53 20 55 43 57 31 33 59 33 45 62 63 35 45 35 63 65 35 37 47 67 37 49 47 25 51 53 69 29 53 51 43 55 53 20 71 55 57 73 31 75 57 33 59 75 33 59 45 63 77 63 62 62 35 65 65 37 67 81 82 83 69 85 83 53 85 69 55 87 53 71 89 55 91 71 20 75 73 57 93 75 59 95 59 63 97 63 77 77 62 99 101 62 65 103 65 67 85 81 83 99 105 81 82 81 105 53 87 85 107 87 55 89 107 55 91 89 71 75 109 73 93 111 75 95 93 59 113 95 63 97 113 63 97 77 99 99 62 101 101 65 103 105 115 82 117 81 85 81 119 99 87 117 85 107 121 87 123 107 89 91 125 89 109 127 73 111 109 75 129 111 93 131 93 95 133 95 113 133 113 97 119 97 99 101 103 99 117 119 81 87 121 117 107 135 121 137 123 89 123 135 107 125 137 89 139 125 91 111 127 109 129 141 111 129 93 131 143 131 95 133 143 95 145 133 97 117 97 119 121 145 117 135 147 121 149 123 137 123 151 135 139 137 125 111 153 127 141 155 111 157 141 129 159 129 131 161 131 143 133 161 143 145 121 133 145 97 117 121 147 133 147 135 161 163 149 137 149 151 123 151 165 135 167 137 139 153 169 127 155 153 111 157 155 141 157 129 159 171 159 131 161 171 131 133 147 161 135 165 161 163 173 149 167 163 137 175 151 149 165 151 177 179 167 139 155 169 153 181 155 157 183 157 159 177 159 171 161 177 171 161 165 177 173 185 149 187 173 163 179 163 167 185 175 149 175 189 151 151 189 177 181 191 155 193 181 157 183 193 157 195 183 159 177 195 159 187 185 173 197 187 163 179 197 163 185 199 175 175 201 189 189 201 177 191 203 155 193 191 181 205 193 183 201 183 195 177 201 195 207 185 187 209 187 197 209 197 179 211 199 185 199 213 175 175 213 201 191 215 203 193 217 191 205 219 193 221 205 183 221 183 201 207 211 185 223 207 187 211 225 199 213 199 227 213 227 201 215 229 203 217 215 191 219 217 193 231 219 205 227 205 221 227 221 201 223 211 207 233 223 187 235 225 211 225 237 199 199 237 227 217 229 215 219 239 217 231 241 219 243 231 205 227 243 205 223 235 211 233 245 223 247 225 235 225 249 237 237 249 227 217 251 229 241 239 219 239 251 217 253 241 231 243 249 231 249 243 227 255 235 223 245 255 223 257 245 233 259 247 235 225 247 261 225 261 249 251 263 229 241 265 239 239 263 251 267 241 253 231 269 253 249 269 231 255 259 235 257 255 245 259 271 247 261 247 273 261 273 249 267 265 241 265 275 239 275 263 239 277 267 253 273 253 269 273 269 249 279 259 255 257 281 255 259 284 271 285 271 284 247 271 287 247 287 273 267 289 265 291 275 265 275 293 263 277 295 267 297 277 253 273 297 253 279 299 259 284 259 299 281 279 255 301 281 257 285 303 271 285 284 305 271 307 287 287 307 273 295 289 267 289 291 265 291 293 275 263 293 309 311 295 277 307 277 297 307 297 273 315 299 279 315 279 316 317 316 279 301 279 281 303 319 271 324 325 305 325 326 305 326 327 305 285 305 327 319 307 271 289 295 330 331 330 295 291 289 334 334 289 335 330 335 289 293 291 338 339 338 291 347 348 349 349 348 350 350 348 351 351 348 352 353 352 348 355 311 277 355 277 307 279 301 317 357 317 301 303 359 319 361 327 326 307 319 359 331 363 330 334 339 291 335 365 334 330 367 335 301 348 371 371 348 372 372 348 373 347 373 348 381 382 383 382 384 383 385 386 387 387 386 384 383 384 386 359 311 355 307 359 355 357 301 390 390 301 391 371 391 301 395 396 361 361 396 327 396 397 327 383 327 397 399 363 331 363 367 330 401 339 334 335 367 365 365 401 334 404 405 397 405 381 397 383 397 381 399 407 363 409 399 331 363 411 367 367 413 365 399 416 407 417 407 416 407 411 363 419 399 409 411 413 367 423 424 425 417 416 430 416 431 430 430 431 432 433 432 431 417 430 407 416 399 419 407 430 411 432 411 430 435 419 409 443 444 445 445 444 446 444 447 446 446 447 448 425 424 447 447 424 448 449 448 424 433 451 432 416 453 431 433 431 453 455 416 419 432 451 411 457 435 409 459 419 435 469 470 471 470 472 471 472 473 471 471 473 474 473 475 474 475 476 474 477 474 476 449 424 480 481 480 424 483 451 433 453 485 433 455 453 416 419 487 455 457 459 435 459 487 419 477 489 474 493 480 494 494 480 495 481 495 480 497 481 424 483 499 451 485 483 433 501 485 453 455 504 453 453 504 501 505 501 504 487 507 455 457 509 459 507 487 459 474 489 514 489 515 514 515 516 514 517 514 516 522 481 523 524 523 481 495 481 525 522 525 481 497 527 481 529 497 424 485 499 483 501 531 485 505 533 501 535 505 504 455 537 504 507 537 455 509 457 539 541 459 509 543 507 459 517 547 514 514 547 548 549 548 547 524 551 523 553 524 481 527 553 481 529 527 497 485 555 499 531 555 485 533 531 501 557 533 505 535 504 559 561 505 535 537 559 504 559 537 507 541 509 539 543 459 541 543 563 507 514 548 566 567 566 548 569 551 563 524 563 551 553 571 524 573 553 527 529 575 527 533 555 531 557 577 533 579 557 505 561 535 559 579 505 561 507 581 559 541 563 543 563 581 507 567 569 566 566 569 541 563 541 569 524 571 563 553 583 571 585 573 527 573 583 553 575 585 527 529 588 575 589 575 588 533 591 555 593 577 557 577 591 533 595 557 579 559 597 561 595 579 561 571 559 581 571 581 563 583 597 571 585 599 573 573 601 583 589 585 575 591 603 555 593 605 577 607 593 557 577 603 591 607 557 595 597 559 571 597 583 561 561 609 595 599 611 573 613 599 585 611 601 573 601 609 583 613 585 589 603 615 555 617 605 593 605 619 577 621 593 607 577 619 603 595 621 607 583 609 561 601 595 609 613 611 599 611 623 601 615 625 555 603 627 615 629 605 617 605 631 619 619 633 603 595 635 621 601 635 595 637 611 613 640 641 611 623 611 641 623 635 601 615 627 625 633 627 603 643 629 617 629 631 605 631 645 619 619 647 633 623 621 635 637 640 611 649 637 613 640 649 641 641 649 623 649 654 623 623 654 655 655 654 656 657 656 654 633 647 627 643 659 629 661 643 617 663 631 629 645 647 619 631 665 645 649 640 637 667 649 613 656 657 655 669 655 657 654 649 657 671 657 649 673 659 643 659 663 629 661 617 675 677 643 661 663 679 631 645 665 647 631 679 665 681 649 667 683 667 613 685 669 657 669 687 655 671 685 657 689 671 649 673 692 659 693 659 692 695 673 643 697 663 659 677 661 675 695 643 677 663 699 679 679 699 665 681 689 649 681 667 683 685 701 669 687 669 677 655 687 675 703 685 671 705 671 689 707 693 692 709 692 673 693 697 659 711 673 695 697 713 663 675 687 677 711 695 677 713 699 663 705 689 681 715 701 685 701 717 669 677 669 717 703 715 685 720 721 671 703 671 721 705 720 671 723 707 692 707 725 693 711 709 673 727 692 709 725 697 693 697 729 713 677 717 711 713 729 699 731 701 715 701 711 717 733 715 703 720 705 721 705 735 721 703 721 735 723 737 707 739 723 692 707 741 725 727 709 711 727 739 692 725 743 697 697 743 729 729 745 699 747 731 715 731 749 701 749 711 701 733 747 715 751 733 703 751 703 735 753 737 723 707 737 741 755 723 739 725 741 757 711 749 727 727 755 739 725 757 743 743 759 729 759 745 729 745 761 699 747 763 731 749 731 727 765 747 733 767 733 751 767 751 735 769 763 747 755 753 723 771 769 765 774 771 775 757 759 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0 1 2 1 6 2 8 1 0 10 11 12 8 6 1 16 8 0 18 11 10 11 18 19 22 8 16 24 16 0 18 26 19 26 18 27 22 16 24 27 30 26 30 27 31 22 24 34 30 36 37 36 30 31 22 34 40 34 24 42 37 44 45 44 37 36 40 34 42 48 49 50 40 42 54 48 50 56 40 54 58 54 42 60 62 48 56 58 54 60 64 48 62 66 62 56 58 60 68 64 62 66 68 66 58 68 60 64 68 64 66

- - - -

3 4 5 3 7 4 5 4 9 13 14 15 4 7 9 5 9 17 20 21 14 15 14 21 17 9 23 5 17 25 28 21 29 20 29 21 25 17 23 32 28 33 29 33 28 35 25 23 32 33 38 39 38 33 41 35 23 43 25 35 38 39 46 47 46 39 43 35 41 51 52 53 55 43 41 57 51 53 59 55 41 61 43 55 57 53 63 61 55 59 63 53 65 57 63 67 69 61 59 67 63 65 59 67 69 65 61 69 67 65 69

- - - - - - - 102.0079 32.24409 29.33071 100.4724 32.24409 29.33071 102.0079 35 31.49606 102.0079 35 31.49606 100.4724 32.24409 29.33071 102.0079 32.24409 29.33071 102.0079 32.24409 29.33071 102.0079 32.55906 31.49606 102.0079 31.02362 30.55118 102.0079 35 31.49606 102.0079 35 32.08661 102.0079 35 32.08661 102.0079 35 31.49606 102.0079 32.55906 31.49606 102.0079 32.24409 29.33071 102.0079 31.02362 30.55118 119.1339 35 32.08661 102.0079 35 31.49606 119.1339 35 31.49606 102.0079 35 32.08661 102.0079 35 32.08661 119.1339 35 32.08661 102.0079 35 31.49606 119.1339 35 31.49606 119.1339 32.55906 31.49606 119.1339 32.24409 29.33071 119.1339 31.02362 30.55118 119.1339 35 31.49606 119.1339 35 32.08661 119.1339 35 32.08661 119.1339 32.55906 31.49606 119.1339 35 31.49606 119.1339 32.24409 29.33071 119.1339 31.02362 30.55118 - - - - - - - - - - 5.675136e-017 0.6178216 -0.7863183 5.675136e-017 0.6178216 -0.7863183 5.675136e-017 0.6178216 -0.7863183 -5.675136e-017 -0.6178216 0.7863183 -5.675136e-017 -0.6178216 0.7863183 -5.675136e-017 -0.6178216 0.7863183 1 -2.208224e-019 0 1 -2.208224e-019 0 1 -2.208224e-019 0 1 -2.208224e-019 0 1 -2.208224e-019 0 -1 2.208224e-019 0 -1 2.208224e-019 0 -1 2.208224e-019 0 -1 2.208224e-019 0 -1 2.208224e-019 0 -2.208224e-019 -1 0 -2.208224e-019 -1 0 -2.208224e-019 -1 0 -2.208224e-019 -1 0 2.208224e-019 1 0 2.208224e-019 1 0 2.208224e-019 1 0 2.208224e-019 1 0 -1 2.208224e-019 0 -1 2.208224e-019 0 -1 2.208224e-019 0 -1 2.208224e-019 0 -1 2.208224e-019 0 1 -2.208224e-019 0 1 -2.208224e-019 0 1 -2.208224e-019 0 1 -2.208224e-019 0 1 -2.208224e-019 -0 - - - - - - - - - - - - - - -

0 1 2 6 7 8 7 6 9 7 9 10 16 17 18 17 16 19 24 25 26 25 24 27 27 24 28

- - - -

3 4 5 11 12 13 12 14 13 15 13 14 20 21 22 23 22 21 29 30 31 31 30 32 33 32 30

- - - - - - - 220.2362 35.94488 31.49606 218.7008 35.62992 32.08661 216.8504 35 32.71654 216.8504 35 32.71654 218.7008 35.62992 32.08661 220.2362 35.94488 31.49606 - - - - - - - - - - 0.3944812 -0.2852944 0.873494 0.3944812 -0.2852944 0.873494 0.3944812 -0.2852944 0.873494 -0.3944812 0.2852944 -0.873494 -0.3944812 0.2852944 -0.873494 -0.3944812 0.2852944 -0.873494 - - - - - - - - - - - - - - -

0 1 2

- - - -

3 4 5

- - - - - - - 4.291339 35 32.71654 0.9055118 36.25984 31.49606 2.440945 35.62992 32.08661 2.440945 35.62992 32.08661 0.9055118 36.25984 31.49606 4.291339 35 32.71654 - - - - - - - - - - -0.1050429 0.5317796 0.8403431 -0.1050429 0.5317796 0.8403431 -0.1050429 0.5317796 0.8403431 0.1050429 -0.5317796 -0.8403431 0.1050429 -0.5317796 -0.8403431 0.1050429 -0.5317796 -0.8403431 - - - - - - - - - - - - - - -

0 1 2

- - - -

3 4 5

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3 4 5 7 3 5 4 9 5 7 11 3

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112.6449 0.6299213 19.38549 107.6911 0.6299213 18.0581 113.4113 0.6299213 18.0581 107.6911 0.6299213 16.52536 113.4113 0.6299213 16.52536 108.4574 0.6299213 15.19797 112.6449 0.6299213 15.19797 109.1081 0.6299213 14.71191 111.9813 0.6299213 14.70654 109.3701 0.6299213 14.33071 110.5512 0.6299213 14.33071 111.7323 0.6299213 14.33071 114.7614 0.9460924 12.38611 114.4836 0.9823743 12.38353 114.7614 0.9460924 12.38611 114.4836 0.9823743 12.38353 114.9838 0.9562097 12.38539 114.9838 0.9562097 12.38539 117.3228 1.850394 13.14961 117.3228 1.850394 13.14961 117.9134 1.850394 15.31496 117.9134 1.850394 15.31496 117.0079 1.850394 18.38583 117.0079 1.850394 18.38583 115.1575 1.850394 20.19685 115.1575 1.850394 20.19685 112.0866 1.850394 21.14173 112.0866 1.850394 21.14173 109.0551 1.850394 21.14173 109.0551 1.850394 21.14173 105.9843 1.850394 20.19685 105.9843 1.850394 20.19685 104.1339 1.850394 18.38583 104.1339 1.850394 18.38583 103.2283 1.850394 15.31496 103.2283 1.850394 15.31496 103.8189 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102.5984 2.992126 16.85039 102.5984 2.992126 12.83465 102.5984 2.992126 12.83465 104.4351 1.862544 12.32092 103.944 2.303887 12.28953 104.4351 1.862544 12.32092 103.944 2.303887 12.28953 105.361 1.4349 12.35134 105.361 1.4349 12.35134 107.2334 0.9450447 12.38618 108.2677 0.7480315 13.14961 108.2677 0.7480315 13.14961 107.2334 0.9450447 12.38618 111.4431 0.8847003 12.39047 111.9601 1.00962 12.38159 111.4431 0.8847003 12.39047 111.9601 1.00962 12.38159 110.9985 0.8963659 12.38964 110.5512 1.035313 12.37976 110.9985 0.8963659 12.38964 110.5512 1.035313 12.37976 109.6987 0.8847003 12.39047 109.1676 1.00962 12.38159 109.6987 0.8847003 12.39047 109.1676 1.00962 12.38159 110.1318 0.8963659 12.38964 110.1318 0.8963659 12.38964 112.6186 0.9429101 12.38633 112.6186 0.9429101 12.38633 118.0504 2.992126 12.24058 118.0504 2.992126 12.24058 103.0914 2.992126 12.24058 103.0914 2.992126 12.24058 108.5925 0.9429101 12.38633 108.5925 0.9429101 12.38633 118.3843 3.581334 12.19868 118.3843 3.581334 12.19868 119.0945 5.472441 12.83465 119.0945 5.472441 12.83465 118.9938 5.075852 16.88976 118.5231 4.882348 17.61099 118.5231 4.882348 17.61099 118.9938 5.075852 16.88976 115.6958 4.037444 20.76011 117.3949 4.220651 20.07726 117.3949 4.220651 20.07726 115.6958 4.037444 20.76011 111.7182 3.791283 21.6776 114.0207 3.871397 21.379 114.0207 3.871397 21.379 111.7182 3.791283 21.6776 108.3414 3.834596 21.51616 110.5512 3.756234 21.80823 110.5512 3.756234 21.80823 108.3414 3.834596 21.51616 105.4701 4.046893 20.72489 107.0791 3.871397 21.379 107.0791 3.871397 21.379 105.4701 4.046893 20.72489 103.6298 4.220651 20.07726 102.7201 4.525001 18.94289 102.7201 4.525001 18.94289 103.6298 4.220651 20.07726 102.0357 5.077534 16.8835 101.9291 5.472441 12.83465 101.9291 5.472441 15.4116 101.9291 5.472441 15.4116 102.0357 5.077534 16.8835 101.9291 5.472441 12.83465 102.7672 4.529568 12.13123 102.7672 4.529568 12.13123 118.7432 5.472441 12.06417 118.7432 5.472441 12.06417 119.0945 5.472441 15.4116 119.0945 5.472441 15.4116 119.0945 5.472441 16.88976 118.5231 4.882348 17.61099 118.9938 5.075852 16.88976 118.9938 5.075852 16.88976 118.5231 4.882348 17.61099 119.0945 5.472441 16.88976 117.3949 4.220651 20.07726 116.6636 4.612676 20.5501 115.6958 4.037444 20.76011 117.6817 4.722442 20.14098 117.6817 4.722442 20.14098 117.3949 4.220651 20.07726 116.6636 4.612676 20.5501 115.6958 4.037444 20.76011 114.0207 3.871397 21.379 112.4601 4.299352 21.71792 111.7182 3.791283 21.6776 114.0668 4.355255 21.50956 114.0668 4.355255 21.50956 114.0207 3.871397 21.379 112.4601 4.299352 21.71792 111.7182 3.791283 21.6776 110.5512 3.756234 21.80823 108.9669 4.298201 21.72221 108.3414 3.834596 21.51616 110.5512 4.242021 21.93161 110.5512 4.242021 21.93161 110.5512 3.756234 21.80823 108.9669 4.298201 21.72221 108.3414 3.834596 21.51616 107.0791 3.871397 21.379 105.8872 4.477713 21.05314 105.4701 4.046893 20.72489 107.01 4.355255 21.50956 107.01 4.355255 21.50956 107.0791 3.871397 21.379 105.8872 4.477713 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101.4079 7.536569 16.88976 101.8983 5.594739 16.88976 100.0787 14.29134 12.94422 100.0787 14.29134 12.59843 100.0787 14.29134 12.59843 100.0787 14.29134 12.94422 100.9768 9.31357 12.79583 100.9768 9.31357 12.79583 101.2567 9.370079 11.78695 100.9576 9.370079 12.79181 100.9576 9.370079 12.79181 101.2567 9.370079 11.78695 120.0558 10.69146 11.69297 119.9645 9.424101 12.78797 119.9645 9.424101 12.78797 120.0558 10.69146 11.69297 119.9494 9.370079 12.79181 119.9494 9.370079 12.79181 120.9449 14.29134 12.59843 120.9449 14.29134 12.94422 120.9449 14.29134 12.94422 120.9449 14.29134 12.59843 119.3239 6.504734 13.49804 119.5532 7.536569 16.88976 119.1217 5.594739 16.88976 119.733 8.345712 14.77278 119.9606 9.370079 13.29424 119.9606 9.370079 14.71733 119.9606 9.370079 14.71733 119.9606 9.370079 13.29424 119.733 8.345712 14.77278 119.3239 6.504734 13.49804 119.5532 7.536569 16.88976 119.1217 5.594739 16.88976 118.665 6.640972 19.23294 118.665 6.640972 19.23294 114.4087 5.675152 21.75983 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51.14173 10.32326 99.72441 51.14173 9.820827 99.72441 51.14173 9.820827 99.72441 51.14173 10.32326 99.72441 19.70443 12.05679 99.7319 18.34646 12.15337 99.7319 18.34646 12.15337 99.81487 18.34646 11.14851 99.7319 18.34646 12.15337 99.7319 18.34646 12.15337 99.81487 18.34646 11.14851 121.1766 18.43289 12.14723 121.1271 19.3903 11.07427 121.1271 19.3903 11.07427 121.1766 18.43289 12.14723 121.1811 22.91339 12.33098 121.1811 22.91339 11.82855 121.1811 22.91339 11.82855 121.1811 22.91339 12.33098 121.1469 22.25215 12.37801 121.0698 20.76088 14.10068 121.0698 20.76088 14.10068 121.1469 22.25215 12.37801 121.1811 22.91339 11.61417 121.1709 22.71563 11.84262 121.1811 19.70443 12.05679 121.1811 19.70443 12.05679 121.1709 22.71563 11.84262 121.1811 22.91339 11.61417 99.72441 51.14173 10.32326 99.72441 51.14173 12.45601 99.72441 51.14173 12.45601 99.72441 51.14173 10.32326 99.81733 52.35997 10.23661 99.77673 51.82774 9.772035 99.77673 51.82774 9.772035 99.81733 52.35997 10.23661 99.72441 51.14173 9.820827 99.72441 22.91339 11.61417 99.72441 19.70443 12.05679 99.72441 26.5748 10.98425 99.72441 30.62992 10.51181 99.72441 33.34646 10.3937 99.72441 36.1811 10.15748 99.72441 44.76378 9.527559 99.72441 51.14173 9.173228 99.72441 51.14173 9.173228 99.72441 51.14173 9.820827 99.72441 44.76378 9.527559 99.72441 36.1811 10.15748 99.72441 33.34646 10.3937 99.72441 30.62992 10.51181 99.72441 26.5748 10.98425 99.72441 22.91339 11.61417 99.72441 19.70443 12.05679 99.79467 22.00775 10.88811 99.79467 22.00775 10.88811 121.1395 22.91339 10.82369 121.1395 22.91339 10.82369 121.1811 51.14173 9.820827 121.1811 51.14173 10.32326 121.1811 51.14173 10.32326 121.1811 51.14173 9.820827 121.1811 22.91339 13.98416 121.1811 22.91339 12.33098 121.1811 22.91339 12.33098 121.1811 22.91339 13.98416 121.1811 22.91339 11.82855 121.1811 22.91339 11.82855 99.9945 54.68296 12.2643 99.81733 52.35997 10.23661 99.81733 52.35997 10.23661 99.9945 54.68296 12.2643 99.7701 55.7874 9.490407 99.81159 55.7874 9.992836 99.81159 55.7874 9.992836 99.7701 55.7874 9.490407 99.77673 51.82774 9.772035 99.77673 51.82774 9.772035 99.76676 50.68429 8.848504 99.75561 44.76378 9.269597 99.76676 50.68429 8.848504 99.75561 44.76378 9.269597 99.75797 36.1811 9.880035 99.75797 36.1811 9.880035 99.76216 33.34646 10.08165 99.76216 33.34646 10.08165 99.76345 33.16689 10.09442 99.75453 30.62992 10.27486 99.76345 33.16689 10.09442 99.75453 30.62992 10.27486 99.75764 26.5748 10.56328 99.74392 30.40668 10.29074 99.74392 30.40668 10.29074 99.75764 26.5748 10.56328 99.78682 22.91339 10.82369 99.78682 22.91339 10.82369 121.1589 26.5748 10.56328 121.1811 26.5748 10.98425 121.1811 26.5748 10.98425 121.1589 26.5748 10.56328 121.1811 55.15713 9.535234 121.1811 54.5849 10.07836 121.1811 54.5849 10.07836 121.1811 55.15713 9.535234 121.1811 51.14173 12.45601 121.1811 51.14173 12.45601 121.1811 51.14173 9.820827 121.1811 33.34646 10.51181 121.1811 30.62992 10.3937 121.1811 36.1811 10.15748 121.1811 44.76378 9.527559 121.1811 51.14173 9.173228 121.1811 51.14173 9.173228 121.1811 44.76378 9.527559 121.1811 51.14173 9.820827 121.1811 36.1811 10.15748 121.1811 33.34646 10.51181 121.1811 30.62992 10.3937 99.81159 55.7874 9.992836 99.9942 55.7874 12.20451 99.9942 55.7874 12.20451 99.81159 55.7874 9.992836 99.76813 56.12263 9.466564 99.80783 56.42697 9.947347 99.80783 56.42697 9.947347 99.76813 56.12263 9.466564 99.72441 55.7874 8.937008 99.7701 55.7874 9.490407 99.7701 55.7874 9.490407 99.72441 55.7874 8.937008 99.77101 51.14173 8.815969 99.77101 51.14173 8.815969 121.1262 26.92826 10.53814 121.1262 26.92826 10.53814 121.123 55.7874 9.992836 121.1506 55.7874 9.490407 121.1506 55.7874 9.490407 121.123 55.7874 9.992836 121.1811 52.13663 12.40215 121.1811 54.5849 10.07836 121.1811 54.5849 10.07836 121.1811 52.13663 12.40215 121.1811 55.15713 9.535234 121.1811 51.14173 9.820827 121.1811 55.7874 8.937008 121.1811 55.7874 8.937008 121.1811 55.15713 9.535234 121.1811 51.14173 9.820827 121.1646 30.62992 10.27486 121.1646 30.62992 10.27486 121.1651 30.69878 10.26996 121.1269 33.34646 10.08165 121.1269 33.34646 10.08165 121.1651 30.69878 10.26996 121.1273 33.58865 10.06442 121.1453 36.1811 9.880035 121.1453 36.1811 9.880035 121.1273 33.58865 10.06442 121.1478 44.76378 9.269597 121.1478 44.76378 9.269597 121.1444 45.13532 9.243172 121.1314 51.14173 8.815969 121.1314 51.14173 8.815969 121.1444 45.13532 9.243172 99.80783 56.42697 9.947347 99.98526 57.78729 12.09625 99.98526 57.78729 12.09625 99.80783 56.42697 9.947347 100.0787 58.50394 9.297195 100.0787 58.50394 9.799624 100.0787 58.50394 9.799624 100.0787 58.50394 9.297195 99.76813 56.12263 9.466564 99.76813 56.12263 9.466564 99.7821 55.33361 8.517824 99.7821 55.33361 8.517824 120.9449 57.93213 9.840293 120.9449 58.26518 9.314176 120.9449 58.26518 9.314176 120.9449 57.93213 9.840293 121.0012 55.7874 12.20451 121.123 55.7874 9.992836 121.123 55.7874 9.992836 121.0012 55.7874 12.20451 121.1506 55.7874 9.490407 121.1506 55.7874 9.490407 121.1074 51.53717 8.787843 121.09 55.7874 8.485548 121.09 55.7874 8.485548 121.1074 51.53717 8.787843 100.0787 58.50394 9.799624 100.0787 58.50394 12.05745 100.0787 58.50394 12.05745 100.0787 58.50394 9.799624 100.0787 63.14961 9.469203 100.0787 63.14961 8.966774 100.0787 63.14961 8.966774 100.0787 63.14961 9.469203 100.0787 58.50394 8.937008 100.0787 58.50394 9.297195 100.0787 58.50394 9.297195 100.0787 58.50394 8.937008 99.82796 55.7874 8.485548 99.82796 55.7874 8.485548 120.9449 66.95026 9.198884 120.9449 63.56811 8.937008 120.9449 67.20472 8.937008 120.9449 67.20472 8.937008 120.9449 63.56811 8.937008 120.9449 66.95026 9.198884 120.9449 57.93213 9.840293 120.9449 56.45852 12.16818 120.9449 56.45852 12.16818 120.9449 57.93213 9.840293 120.9449 58.50394 8.937008 120.9449 58.26518 9.314176 120.9449 58.26518 9.314176 120.9449 58.50394 8.937008 121.0857 56.08666 8.464263 121.0857 56.08666 8.464263 100.0787 63.14961 11.80596 100.0787 63.14961 9.469203 100.0787 63.14961 9.469203 100.0787 63.14961 11.80596 100.1108 63.63647 9.434575 100.0805 63.17684 8.964837 100.0805 63.17684 8.964837 100.1108 63.63647 9.434575 100.0787 63.14961 8.966774 100.0787 63.14961 8.937008 100.0787 63.14961 8.937008 100.0787 63.14961 8.966774 100.1693 58.11342 8.320111 100.1693 58.11342 8.320111 120.9132 67.20472 9.180785 120.9132 67.20472 9.180785 120.9449 64.48734 11.73354 120.9449 66.95026 9.198884 120.9449 66.95026 9.198884 120.9449 64.48734 11.73354 120.9449 63.14961 8.937008 120.9449 63.56811 8.937008 120.9449 63.14961 8.937008 120.9449 63.56811 8.937008 120.9092 67.1713 8.680733 120.9092 67.1713 8.680733 120.8503 58.50394 8.292336 120.8503 58.50394 8.292336 100.1108 63.63647 9.434575 100.2545 65.81563 11.66163 100.2545 65.81563 11.66163 100.1108 63.63647 9.434575 100.0789 66.85031 8.703563 100.1094 66.83505 9.207078 100.1094 66.83505 9.207078 100.0789 66.85031 8.703563 100.0805 63.17684 8.964837 100.0805 63.17684 8.964837 100.2116 62.16947 8.031627 100.2116 62.16947 8.031627 120.9138 68.80039 9.067294 120.9449 68.93701 8.818898 120.9449 68.93701 8.818898 120.9138 68.80039 9.067294 120.6008 67.20472 11.58643 120.9132 67.20472 9.180785 120.9132 67.20472 9.180785 120.6008 67.20472 11.58643 120.8014 63.93871 7.905791 120.9092 67.1713 8.680733 120.7707 67.04143 7.685111 120.7707 67.04143 7.685111 120.8014 63.93871 7.905791 120.9092 67.1713 8.680733 120.8808 59.26006 8.238557 120.8554 63.14961 7.961915 120.8554 63.14961 7.961915 120.8808 59.26006 8.238557 120.8984 67.37048 8.666567 120.8984 67.37048 8.666567 100.1094 66.83505 9.207078 100.2551 66.76222 11.61039 100.2551 66.76222 11.61039 100.1094 66.83505 9.207078 100.1042 67.08817 9.189075 100.0789 66.8517 8.703465 100.0789 66.8517 8.703465 100.1042 67.08817 9.189075 100.0787 66.85039 8.700787 100.0789 66.85031 8.703563 100.0789 66.85031 8.703563 100.0787 66.85039 8.700787 100.1324 63.14961 7.961915 100.1324 63.14961 7.961915 120.9193 68.94469 9.057031 120.9193 68.94469 9.057031 120.6004 67.42131 11.57471 120.9138 68.80039 9.067294 120.9138 68.80039 9.067294 120.6004 67.42131 11.57471 120.8975 68.9755 8.55241 120.8975 68.9755 8.55241 120.7176 68.01443 7.615907 120.8984 67.37048 8.666567 120.8984 67.37048 8.666567 120.7176 68.01443 7.615907 100.2264 68.22859 11.531 100.1042 67.08817 9.189075 100.1042 67.08817 9.189075 100.2264 68.22859 11.531 100.0787 66.85777 8.703033 100.0787 68.1959 9.110288 100.0787 68.1959 9.110288 100.0787 66.85777 8.703033 100.1336 65.99161 7.75978 100.1336 65.99161 7.75978 120.7906 70.3408 8.957734 120.7906 70.3408 8.957734 120.6579 69.02311 11.48799 120.9193 68.94469 9.057031 120.9193 68.94469 9.057031 120.6579 69.02311 11.48799 120.8975 68.9755 8.55241 120.717 69.12215 7.537121 120.717 69.12215 7.537121 120.8975 68.9755 8.55241 120.8357 69.25768 8.532341 120.8357 69.25768 8.532341 100.0787 68.1959 9.110288 100.0787 69.56693 9.527559 100.2029 69.29786 11.47312 100.2029 69.29786 11.47312 100.0787 69.56693 9.527559 100.0787 68.1959 9.110288 100.2107 68.94836 8.554341 100.1455 69.25389 9.03504 100.1455 69.25389 9.03504 100.2107 68.94836 8.554341 100.2433 66.78868 7.703088 100.2433 66.78868 7.703088 120.3442 72.54791 8.298325 120.4633 72.53166 8.80191 120.4633 72.53166 8.80191 120.3442 72.54791 8.298325 120.7906 70.3408 8.957734 120.5512 70.15912 11.42649 120.5512 72.51969 9.173228 120.5512 72.51969 9.173228 120.7906 70.3408 8.957734 120.5512 70.15912 11.42649 120.8357 69.25768 8.532341 120.4198 70.4794 7.440588 120.4198 70.4794 7.440588 120.8357 69.25768 8.532341 100.3923 71.21287 11.36945 100.3923 71.21287 11.36945 100.1455 69.25389 9.03504 100.1455 69.25389 9.03504 100.2324 69.44209 8.519225 100.1565 69.50375 9.017268 100.1565 69.50375 9.017268 100.2324 69.44209 8.519225 100.3411 68.3373 7.592944 100.0787 66.85777 8.703033 100.2107 68.94836 8.554341 100.2107 68.94836 8.554341 100.0787 66.85777 8.703033 100.3411 68.3373 7.592944 120.4491 72.79358 8.783281 120.3105 73.16503 8.254432 120.3105 73.16503 8.254432 120.4491 72.79358 8.783281 120.4633 72.53166 8.80191 120.4633 72.53166 8.80191 120.3442 72.54791 8.298325 120.106 72.5804 7.291156 120.106 72.5804 7.291156 120.3442 72.54791 8.298325 120.4278 72.64311 11.29202 120.4278 72.64311 11.29202 100.315 72.51969 8.937008 100.5307 72.71382 11.28819 100.5307 72.71382 11.28819 100.315 72.51969 8.937008 100.1565 69.50375 9.017268 100.1565 69.50375 9.017268 100.3811 71.93764 8.34173 100.3289 72.39696 8.81149 100.3289 72.39696 8.81149 100.3811 71.93764 8.34173 100.3842 69.31876 7.523138 100.2324 69.44209 8.519225 100.2324 69.44209 8.519225 100.3842 69.31876 7.523138 120.2076 74.65738 8.650719 120.1598 74.32852 8.17168 119.9252 74.79749 7.171877 120.1594 74.75357 8.445648 120.1594 74.75357 8.445648 119.9252 74.79749 7.171877 120.2076 74.65738 8.650719 120.1598 74.32852 8.17168 120.4491 72.79358 8.783281 120.4491 72.79358 8.783281 120.3105 73.16503 8.254432 120.0465 73.67081 7.213601 119.685 74.84252 5.866142 119.685 74.34068 5.78549 119.685 74.34068 5.78549 120.0465 73.67081 7.213601 119.685 74.84252 5.866142 120.3105 73.16503 8.254432 120.315 74.72441 9.291339 120.315 73.75414 11.23188 120.315 73.75414 11.23188 120.315 74.72441 9.291339 100.6132 73.45164 11.24825 100.6132 73.45164 11.24825 100.3289 72.39696 8.81149 100.3289 72.39696 8.81149 100.4984 72.54169 8.298767 100.3536 72.52433 8.802431 100.3536 72.52433 8.802431 100.4984 72.54169 8.298767 100.4855 71.01899 7.40221 100.3811 71.93764 8.34173 100.3811 71.93764 8.34173 100.4855 71.01899 7.40221 119.6347 75.90051 6.00049 119.6595 75.37807 5.934148 119.6595 75.37807 5.934148 119.6347 75.90051 6.00049 120.2076 74.65738 8.650719 120.1594 74.75357 8.445648 120.1594 74.75357 8.445648 120.2076 74.65738 8.650719 120.1598 74.32852 8.17168 119.9252 74.79749 7.171877 119.9252 74.79749 7.171877 120.1598 74.32852 8.17168 119.2799 74.84252 4.715626 119.2799 74.84252 4.715626 120.1668 74.62563 11.1847 120.1668 74.62563 11.1847 100.7087 74.72441 9.291339 100.8074 74.62563 11.1847 100.8074 74.62563 11.1847 100.7087 74.72441 9.291339 100.3536 72.52433 8.802431 100.3536 72.52433 8.802431 100.8057 74.38156 8.670336 100.8812 74.11466 8.18689 100.8812 74.11466 8.18689 100.8057 74.38156 8.670336 100.7878 72.57643 7.291438 100.4984 72.54169 8.298767 100.4984 72.54169 8.298767 100.7878 72.57643 7.291438 119.1507 75.91129 4.797369 118.6293 76.9539 3.75476 118.6293 76.9539 3.75476 119.1507 75.91129 4.797369 119.5669 77.32283 6.181102 119.6347 75.90051 6.00049 119.6347 75.90051 6.00049 119.5669 77.32283 6.181102 119.6595 75.37807 5.934148 119.6595 75.37807 5.934148 119.1507 75.91129 4.797369 118.6309 75.56484 3.175719 118.5306 76.60137 3.326184 118.5306 76.60137 3.326184 118.6309 75.56484 3.175719 119.1507 75.91129 4.797369 119.9606 76.51192 11.08258 119.9606 77.28346 10.03937 119.9606 77.28346 10.03937 119.9606 76.51192 11.08258 100.7929 75.6367 11.12996 100.7929 75.6367 11.12996 100.8057 74.38156 8.670336 100.8057 74.38156 8.670336 100.8954 74.32852 8.17168 101.1088 74.80444 7.157059 100.824 74.65738 8.650719 100.8683 74.75634 8.439735 100.8683 74.75634 8.439735 100.824 74.65738 8.650719 101.1088 74.80444 7.157059 100.8954 74.32852 8.17168 100.8812 74.11466 8.18689 101.0323 73.58086 7.219999 101.0323 73.58086 7.219999 100.8812 74.11466 8.18689 118.5306 76.60137 3.326184 118.4804 77.11964 3.401416 118.4804 77.11964 3.401416 118.5306 76.60137 3.326184 118.6293 76.9539 3.75476 118.4646 77.28346 3.425197 118.4646 77.28346 3.425197 118.6293 76.9539 3.75476 117.3125 75.76807 2.742445 115.3202 77.09625 2.271155 117.3125 75.76807 2.742445 115.3202 77.09625 2.271155 119.9606 77.28346 11.04082 119.9606 77.28346 11.04082 100.9449 77.28346 10.03937 100.9449 77.28346 11.04082 100.9449 77.28346 11.04082 100.9449 77.28346 10.03937 100.824 74.65738 8.650719 100.8683 74.75634 8.439735 100.8683 74.75634 8.439735 100.824 74.65738 8.650719 101.2169 75.40955 7.047158 101.2628 75.09305 6.541777 101.2628 75.09305 6.541777 101.2169 75.40955 7.047158 101.0383 73.67081 7.213601 101.2992 74.25264 5.973195 100.8954 74.32852 8.17168 101.2992 74.84252 6.141732 101.1088 74.80444 7.157059 101.1088 74.80444 7.157059 100.8954 74.32852 8.17168 101.2992 74.84252 6.141732 101.2992 74.25264 5.973195 101.0383 73.67081 7.213601 117.4177 77.28346 3.052164 115.3202 77.09625 2.271155 115.0394 77.28346 2.204724 117.4177 77.28346 3.052164 115.3202 77.09625 2.271155 115.0394 77.28346 2.204724 118.4804 77.11964 3.401416 118.4804 77.11964 3.401416 118.1402 84.37643 4.095569 118.7942 83.19938 5.480231 118.7942 83.19938 5.480231 118.1402 84.37643 4.095569 119.5989 79.80795 9.46982 119.0045 82.29347 6.545919 119.0045 82.29347 6.545919 119.5989 79.80795 9.46982 115.0394 76.10914 2.015317 115.0394 77.13839 2.181325 115.0394 76.10914 2.015317 115.0394 77.13839 2.181325 119.782 78.52986 10.97334 119.782 78.52986 10.97334 101.2242 79.23286 10.14635 101.1235 78.52986 10.97334 101.1235 78.52986 10.97334 101.2242 79.23286 10.14635 101.2169 75.40955 7.047158 101.2169 75.40955 7.047158 101.3062 75.2807 6.141732 101.315 75.83426 6.141732 101.315 75.83426 6.141732 101.3062 75.2807 6.141732 101.2628 75.09305 6.541777 101.2628 75.09305 6.541777 101.4527 74.45178 5.548645 101.4527 74.45178 5.548645 115.0394 77.66409 2.240699 115.0394 77.66409 2.240699 117.4177 77.28346 3.052164 117.4177 77.28346 3.052164 115.0394 77.13839 2.181325 115.0394 77.13839 2.181325 116.432 84.94629 3.425197 116.432 84.94629 3.425197 112.1475 77.28346 1.872033 112.4985 76.23661 1.743568 110.5906 77.28346 1.692913 112.4985 76.23661 1.743568 112.1475 77.28346 1.872033 110.5906 77.28346 1.692913 101.3386 77.32283 6.141732 101.7997 81.39768 7.599704 101.7997 81.39768 7.599704 101.3386 77.32283 6.141732 101.315 75.83426 6.141732 101.315 75.83426 6.141732 101.7692 76.03095 4.542262 101.6525 76.38114 4.975827 101.6525 76.38114 4.975827 101.7692 76.03095 4.542262 101.3062 75.2807 6.141732 101.3062 75.2807 6.141732 101.7014 74.84252 4.715626 101.7014 74.84252 4.715626 114.9029 77.67262 2.222521 114.9029 77.67262 2.222521 115.0394 77.66409 2.240699 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324 323 324 325 209 332 276 332 209 273 332 273 333 278 281 182 281 278 336 281 336 337 284 340 220 340 284 341 340 341 342 342 341 343 342 343 344 344 343 345 340 286 220 352 288 290 289 294 296 294 289 288 295 300 302 300 295 294 306 300 307 300 306 301 314 307 312 307 314 308 312 354 313 356 266 318 321 266 356 358 359 360 359 358 361 359 361 362 362 361 363 370 325 324 325 370 371 325 374 323 333 376 332 376 333 377 380 337 336 337 380 381 384 345 343 386 344 345 344 386 387 390 391 392 391 390 393 393 390 394 393 394 395 352 402 288 402 352 392 402 392 391 288 404 294 404 288 405 294 408 300 408 294 409 300 412 307 412 300 413 307 416 312 416 307 417 312 420 354 420 312 421 420 421 422 422 360 420 360 422 358 426 362 363 362 426 427 430 371 370 325 432 433 432 325 371 325 433 374 377 436 376 436 377 437 380 440 381 440 380 441 444 345 384 446 387 386 387 446 447 394 450 395 450 394 451 444 386 345 386 444 454 402 405 288 404 409 294 412 417 307 416 421 312 456 427 426 427 456 457 430 460 371 460 430 461 464 432 371 437 466 436 466 437 467 470 440 441 440 470 471 474 447 446 451 476 450 476 451 477 480 446 386 446 480 481 480 386 454 456 484 457 484 456 485 488 460 461 460 464 371 464 460 490 467 492 466 492 467 493 470 496 471 496 470 497 500 474 446 474 500 501 501 500 502 477 506 476 506 477 507 510 446 481 485 512 484 512 485 513 488 516 460 516 488 517 516 517 518 460 522 490 493 524 492 524 493 525 497 528 496 528 497 529 502 532 501 532 502 533 536 506 507 506 536 537 500 446 510 540 541 542 513 546 512 546 513 547 550 518 517 518 550 551 554 555 556 555 554 557 557 554 558 558 554 559 559 554 560 560 554 561 561 554 562 516 522 460 556 524 525 524 556 572 572 556 555 529 542 528 542 529 574 542 574 540 576 532 533 532 576 577 536 580 537 580 536 581 584 541 540 586 546 547 546 586 587 550 590 551 590 550 591 594 562 554 561 596 597 596 561 562 560 597 600 597 560 561 559 600 602 600 559 560 558 604 605 604 558 559 558 608 557 608 558 609 557 612 555 612 557 608 612 572 555 614 540 574 540 614 615 618 577 576 577 618 619 581 622 580 622 581 577 615 584 540 584 615 624 624 615 625 625 615 626 624 625 627 624 627 628 624 628 629 586 636 587 636 586 637 591 640 590 640 591 641 594 644 562 644 594 645 562 648 596 559 602 604 558 605 609 650 615 614 618 652 619 652 618 653 577 656 622 656 577 657 629 660 661 660 629 662 650 626 615 626 650 666 668 625 626 625 668 669 672 627 625 627 672 673 676 627 673 627 676 628 678 629 628 629 678 679 637 682 636 682 637 683 641 686 640 686 641 687 690 644 645 562 692 648 692 562 644 653 694 652 694 653 695 657 698 656 698 657 699 702 660 662 704 662 629 662 704 705 668 626 666 672 625 669 678 628 676 704 629 679 683 708 682 708 683 709 712 686 687 686 712 713 690 716 644 716 690 717 644 720 692 695 722 694 722 695 723 722 723 724 728 698 699 698 728 729 732 702 662 702 732 733 736 662 705 738 708 709 708 738 739 742 713 712 713 742 743 746 716 717 716 746 747 644 750 720 750 644 716 724 752 722 728 754 729 754 728 755 733 758 759 758 733 732 724 723 762 736 732 662 732 736 764 738 766 739 766 738 767 742 770 743 770 742 771 774 747 746 716 776 750 776 716 747 724 778 752 778 724 779 755 782 754 782 755 783 786 759 758 759 786 787 787 786 788 792 758 732 758 792 793 796 724 762 792 732 764 767 798 766 798 767 799 802 770 771 770 802 803 774 806 747 806 774 807 747 810 776 812 778 779 783 814 782 814 783 815 796 779 724 779 796 818 786 758 793 820 787 788 787 820 821 824 798 799 798 824 825 802 828 803 828 802 829 747 832 810 832 747 806 834 812 779 815 836 814 836 815 837 820 840 821 840 820 841 844 779 818 824 846 825 846 824 847 847 824 848 829 852 828 852 829 853 806 856 832 844 834 779 834 844 858 834 858 859 862 836 837 836 862 863 863 862 864 841 868 840 868 841 869 872 847 848 847 874 846 853 876 852 876 853 877 806 880 856 880 806 881 880 881 882 858 886 859 886 858 887 890 864 862 869 892 868 892 869 893 896 863 864 872 898 847 898 872 899 847 902 874 877 904 876 904 877 905 882 908 880 908 882 909 887 912 886 912 887 913 912 913 914 912 914 915 920 864 890 893 922 892 922 893 923 922 923 924 924 923 925 930 896 864 896 930 931 934 898 899 847 936 902 936 847 898 905 938 904 938 905 939 909 942 908 942 909 943 914 946 915 946 914 947 920 930 864 930 920 950 930 950 951 924 954 922 954 924 955 958 924 925 930 960 931 934 962 898 962 934 963 966 936 898 968 938 939 938 968 969 943 972 942 972 943 973 976 946 947 946 976 977 951 980 930 980 951 981 984 955 924 958 986 924 986 958 987 986 987 988 930 992 960 992 930 993 996 962 963 962 966 898 966 962 998 968 1000 969 1000 968 1001 1001 968 1002 1001 1002 1003 1008 972 973 972 1008 1009 1012 977 976 977 1012 1013 1016 980 981 980 1016 1017 986 984 924 980 993 930 988 1020 1021 1020 988 987 993 1024 992 996 1026 962 1026 996 1027 962 1030 998 1030 962 1031 1034 1001 1003 1001 1034 1035 1008 1038 1009 1038 1008 1039 1039 1008 1040 1039 1040 1041 1041 1040 1042 1048 1049 1050 1049 1048 1012 1012 1048 1013 1017 1016 1054 1056 980 1017 980 1056 1057 980 1060 993 1060 980 1061 1021 1064 1065 1064 1021 1020 993 1068 1024 1068 993 1060 1027 1070 1026 1070 1027 1071 1026 1031 962 1031 1026 1074 1034 1076 1035 1076 1034 1077 1080 1041 1042 1041 1082 1039 1048 1050 1084 1054 1086 1017 1049 1088 1050 1017 1090 1056 1057 1061 980 1092 1093 1094 1093 1092 1065 1093 1065 1064 1070 1098 1026 1098 1070 1099 1026 1102 1074 1102 1026 1098 1077 1104 1076 1104 1077 1105 1108 1041 1080 1110 1082 1041 1050 1112 1084 1090 1114 1115 1114 1090 1086 1086 1090 1017 1050 1088 1118 1093 1120 1094 1092 1094 1122 1124 1098 1099 1098 1126 1102 1105 1128 1104 1128 1105 1129 1108 1110 1041 1110 1108 1132 1132 1108 1133 1112 1136 1137 1136 1112 1118 1118 1112 1050 1115 1140 1141 1140 1115 1114 1144 1145 1146 1145 1144 1120 1120 1144 1094 1094 1150 1122 1098 1152 1153 1152 1098 1124 1098 1156 1126 1156 1098 1153 1129 1158 1128 1158 1129 1159 1133 1162 1132 1162 1133 1163 1137 1166 1167 1166 1137 1136 1141 1170 1171 1170 1141 1140 1146 1174 1175 1174 1146 1145 1178 1179 1180 1094 1144 1150 1184 1153 1152 1186 1156 1153 1188 1158 1159 1158 1188 1189 1189 1188 1180 1163 1192 1162 1192 1163 1193 1167 1180 1196 1180 1167 1178 1178 1167 1166 1171 1198 1199 1198 1171 1170 1175 1192 1193 1192 1175 1174 1179 1189 1180 1184 1202 1153 1202 1184 1203 1202 1203 1204 1202 1186 1153 1180 1188 1208 1180 1208 1196 1210 1198 1211 1198 1210 1199 1210 1204 1203 1204 1210 1211

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27 28 29 28 30 29 29 30 31 30 32 31 32 33 31 31 33 34 33 35 34 34 35 36 35 37 36 37 38 36 36 38 39 40 39 38 30 28 41 41 28 42 42 28 43 28 44 43 43 44 45 45 44 46 44 47 46 46 47 48 47 49 48 48 49 50 50 49 51 49 52 51 53 51 52 69 70 71 70 72 71 71 72 73 72 74 73 73 74 75 74 76 75 75 76 77 76 78 77 77 78 79 78 80 79 79 80 81 81 80 82 83 82 80 53 86 51 87 51 86 53 52 86 89 86 52 91 52 49 49 47 93 47 44 95 28 97 44 27 99 28 29 101 27 31 103 29 31 34 105 34 36 107 39 109 36 39 40 112 113 112 40 40 38 113 115 113 38 83 117 82 82 119 81 122 51 123 87 123 51 125 89 52 127 91 49 52 91 130 131 130 91 93 47 133 49 93 127 95 44 135 47 95 133 28 137 97 44 97 135 27 139 99 28 99 137 27 101 139 29 141 101 103 141 29 31 143 103 31 105 143 105 34 145 34 107 145 107 36 147 109 147 36 39 150 109 151 109 150 112 153 39 156 157 38 115 38 157 117 83 160 161 160 83 117 164 82 165 82 164 119 168 81 169 81 168 119 82 171 165 171 82 123 173 122 122 83 51 130 125 52 91 127 131 175 131 127 127 93 133 133 95 135 97 137 135 99 139 137 101 141 139 103 143 141 143 105 145 145 107 147 109 151 147 177 147 151 153 150 39 179 157 156 81 156 38 160 164 117 122 173 83 161 83 173 156 81 179 169 179 81 171 168 119 175 127 181 127 133 183 186 187 135 133 135 187 190 135 191 137 191 135 194 137 195 139 195 137 198 139 199 141 199 139 202 141 203 143 203 141 206 207 145 143 145 207 211 212 213 213 212 147 145 147 212 213 147 215 177 215 147 217 181 183 127 183 181 219 183 187 133 187 183 223 224 225 135 190 186 230 231 232 233 232 231 137 194 191 238 239 240 241 240 239 139 198 195 246 247 248 249 248 247 141 202 199 254 255 256 257 256 255 143 207 203 262 263 264 265 264 263 206 145 212 269 270 271 274 275 213 211 213 275 215 277 213 217 183 279 282 183 283 219 283 183 223 225 285 225 224 287 287 224 230 231 230 224 291 292 293 232 233 238 239 238 233 297 298 299 240 241 246 247 246 241 303 304 305 249 255 248 254 248 255 309 310 311 257 265 256 263 256 265 315 316 317 271 319 269 319 262 269 264 269 262 326 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407 310 418 415 317 424 419 458 459 428 429 428 459 462 431 463 372 463 431 372 434 465 468 438 469 439 469 438 472 473 443 442 443 473 449 448 475 478 452 479 453 479 452 482 483 449 389 449 483 455 389 483 486 459 487 458 487 459 462 463 489 491 463 465 372 465 463 494 468 495 469 495 468 498 473 499 472 499 473 503 504 505 505 504 475 449 475 504 508 478 509 479 509 478 482 449 511 514 486 515 487 515 486 519 520 521 520 489 521 463 521 489 491 523 463 526 494 527 495 527 494 530 498 531 499 531 498 534 503 535 505 535 503 538 539 509 508 509 539 511 449 504 543 544 545 548 514 549 515 549 514 552 553 519 520 519 553 563 564 565 565 564 566 566 564 567 567 564 568 568 564 569 569 564 570 571 570 564 463 523 521 570 571 573 573 571 527 526 527 571 545 575 543 575 530 543 531 543 530 578 579 535 534 535 579 582 539 583 538 583 539 545 544 585 588 589 549 548 549 589 592 553 593 552 593 553 564 563 595 563 565 598 599 598 565 565 566 599 601 599 566 566 567 601 603 601 567 567 568 606 607 606 568 610 568 611 569 611 568 611 569 613 570 613 569 570 573 613 616 617 545 575 545 617 620 621 578 579 578 621 578 582 623 583 623 582 630 631 632 631 633 632 633 634 632 635 616 634 634 616 632 632 616 585 545 585 616 638 589 639 588 639 589 642 592 643 593 643 592 646 595 647 563 647 595 598 649 563 606 603 567 610 607 568 617 616 651 654 621 655 620 655 621 658 578 659 623 659 578 663 630 664 665 664 630 667 651 635 616 635 651 670 671 634 635 634 671 674 675 633 634 633 675 631 677 633 674 633 677 680 681 630 631 630 681 684 638 685 639 685 638 688 642 689 643 689 642 646 647 691 647 563 693 649 693 563 696 654 697 655 697 654 700 658 701 659 701 658 663 664 703 706 707 663 630 663 707 667 635 671 670 634 675 677 631 681 680 630 707 710 684 711 685 711 684 714 715 689 688 689 715 718 691 719 647 719 691 693 721 647 725 726 727 726 696 727 697 727 696 730 731 701 700 701 731 734 735 703 663 703 735 706 663 737 740 741 711 710 711 741 744 745 714 715 714 745 748 749 719 718 719 749 719 647 751 721 751 647 727 753 725 756 731 757 730 757 731 735 734 760 761 760 734 763 726 725 765 737 735 663 735 737 768 741 769 740 769 741 772 745 773 744 773 745 749 748 775 748 719 777 751 777 719 780 725 781 753 781 725 784 756 785 757 785 756 789 790 791 791 790 761 760 761 790 794 795 760 735 760 795 763 725 797 765 735 795 800 768 801 769 801 768 804 805 773 772 773 805 808 775 809 748 809 775 777 811 748 780 781 813 816 784 817 785 817 784 819 797 780 725 780 797 794 760 790 822 823 791 789 791 823 826 827 801 800 801 827 830 805 831 804 831 805 809 748 833 811 833 748 780 813 835 838 816 839 817 839 816 842 823 843 822 843 823 819 780 845 849 827 850 850 827 851 826 851 827 854 830 855 831 855 830 833 857 809 860 861 835 861 845 835 780 835 845 865 866 867 867 866 839 838 839 866 870 842 871 843 871 842 849 850 873 851 875 850 878 854 879 855 879 854 883 884 885 884 809 885 857 885 809 888 861 889 860 889 861 866 865 891 894 870 895 871 895 870 865 867 897 900 873 901 850 901 873 875 903 850 906 878 907 879 907 878 910 883 911 885 911 883 916 917 918 917 919 918 919 888 918 889 918 888 891 865 921 926 927 928 928 927 929 927 894 929 895 929 894 932 933 897 865 897 933 900 901 935 901 850 937 903 937 850 940 906 941 907 941 906 944 910 945 911 945 910 948 917 949 916 949 917 952 953 933 953 921 933 865 933 921 956 928 957 929 957 928 926 928 959 932 961 933 964 935 965 901 965 935 901 937 967 970 971 941 940 941 971 974 944 975 945 975 944 978 979 949 948 949 979 982 952 983 933 983 952 928 956 985 989 990 991 990 959 991 928 991 959 994 933 995 961 995 933 964 965 997 999 965 967 901 967 965 1004 1005 1006 1005 971 1006 1006 971 1007 970 1007 971 1010 1011 975 974 975 1011 1014 1015 978 979 978 1015 1018 1019 983 982 983 1019 928 985 991 933 994 983 990 989 1022 1023 1022 989 995 1025 994 1028 997 1029 965 1029 997 1032 965 1033 999 1033 965 1036 1037 1006 1004 1006 1037 1043 1044 1045 1045 1044 1046 1044 1011 1046 1046 1011 1047 1010 1047 1011 1014 1051 1015 1015 1051 1052 1053 1052 1051 1055 1019 1018 1058 1059 983 1018 983 1059 1062 983 1063 994 1063 983 1022 1023 1066 1067 1066 1023 1063 994 1069 1025 1069 994 1072 1028 1073 1029 1073 1028 1075 1029 1032 965 1032 1029 1078 1037 1079 1036 1079 1037 1043 1045 1081 1046 1083 1045 1085 1053 1051 1018 1087 1055 1053 1089 1052 1059 1091 1018 983 1062 1058 1066 1067 1095 1067 1096 1095 1097 1095 1096 1100 1073 1101 1029 1101 1073 1101 1029 1103 1075 1103 1029 1106 1078 1107 1079 1107 1078 1081 1045 1109 1045 1083 1111 1085 1113 1053 1018 1091 1087 1087 1091 1116 1117 1116 1091 1119 1089 1053 1097 1121 1095 1123 1097 1096 1100 1101 1125 1103 1127 1101 1130 1106 1131 1107 1131 1106 1134 1109 1135 1135 1109 1111 1045 1111 1109 1053 1113 1119 1119 1113 1138 1139 1138 1113 1116 1117 1142 1143 1142 1117 1097 1147 1121 1121 1147 1148 1149 1148 1147 1123 1151 1097 1125 1101 1154 1155 1154 1101 1155 1101 1157 1127 1157 1101 1160 1130 1161 1131 1161 1130 1164 1134 1165 1135 1165 1134 1138 1139 1168 1169 1168 1139 1142 1143 1172 1173 1172 1143 1148 1149 1176 1177 1176 1149 1181 1182 1183 1151 1147 1097 1154 1155 1185 1155 1157 1187 1181 1190 1191 1191 1190 1161 1160 1161 1190 1194 1164 1195 1165 1195 1164 1168 1169 1183 1183 1169 1181 1197 1181 1169 1172 1173 1200 1201 1200 1173 1176 1177 1195 1194 1195 1177 1181 1191 1182 1205 1206 1207 1206 1185 1207 1155 1207 1185 1155 1187 1207 1209 1190 1181 1197 1209 1181 1201 1212 1200 1213 1200 1212 1213 1212 1205 1206 1205 1212

- - - - - - - 120.9926 19.26941 16.77042 120.8105 18.34646 17.81383 120.9449 18.34646 16.88976 120.9397 21.64078 17.67055 121.1237 22.61098 16.62508 121.1237 22.61098 16.62508 120.9926 19.26941 16.77042 120.9397 21.64078 17.67055 120.8105 18.34646 17.81383 120.9449 18.34646 16.88976 120.9486 18.4177 16.80746 120.9486 18.4177 16.80746 121.0127 22.91339 17.6152 121.1411 22.91339 16.61193 121.1411 22.91339 16.61193 121.0127 22.91339 17.6152 120.9397 21.64078 17.67055 120.7375 18.34646 18.31547 120.8105 18.34646 17.81383 120.8477 21.15569 18.19329 120.8477 21.15569 18.19329 120.9397 21.64078 17.67055 120.7375 18.34646 18.31547 120.8105 18.34646 17.81383 120.6646 17.44446 17.85306 120.6646 17.44446 17.85306 120.9489 18.34646 16.81056 120.9489 18.34646 16.81056 120.9917 25.47373 17.50384 121.1143 26.18622 16.46958 121.1143 26.18622 16.46958 120.9917 25.47373 17.50384 120.9484 22.91339 18.11684 121.0127 22.91339 17.6152 121.0127 22.91339 17.6152 120.9484 22.91339 18.11684 120.6646 17.44446 17.85306 120.5125 16.9548 18.376 120.6646 17.44446 17.85306 120.5125 16.9548 18.376 120.9449 16.52539 16.88976 120.6248 14.29134 17.99021 120.9166 14.29134 16.98693 120.9449 16.52539 16.88976 120.6248 14.29134 17.99021 120.9166 14.29134 16.98693 121.1029 26.5748 17.45595 121.1535 26.5748 16.45268 121.1535 26.5748 16.45268 121.1029 26.5748 17.45595 120.9917 25.47373 17.50384 120.9304 25.11749 18.02097 120.9304 25.11749 18.02097 120.9917 25.47373 17.50384 120.6248 14.29134 17.99021 120.4788 14.29134 18.49184 120.6248 14.29134 17.99021 120.4788 14.29134 18.49184 120.8863 14.1629 16.99252 120.2816 12.8367 18.05347 120.8863 14.1629 16.99252 120.2816 12.8367 18.05347 121.0901 29.06757 17.34753 121.1366 29.86542 16.30956 121.1366 29.86542 16.30956 121.0901 29.06757 17.34753 121.0776 26.5748 17.95759 121.1029 26.5748 17.45595 121.1029 26.5748 17.45595 121.0776 26.5748 17.95759 120.2816 12.8367 18.05347 119.9792 12.17361 18.58395 120.2816 12.8367 18.05347 119.9792 12.17361 18.58395 120.0713 10.35315 17.15822 118.7008 9.370079 20.82677 118.5531 8.39561 20.67912 118.7749 9.532659 20.69671 119.8794 10.95678 18.13524 119.8794 10.95678 18.13524 120.0713 10.35315 17.15822 118.7749 9.532659 20.69671 118.7008 9.370079 20.82677 118.5531 8.39561 20.67912 121.1811 30.62992 17.27958 121.1811 30.62992 16.27631 121.1811 30.62992 16.27631 121.1811 30.62992 17.27958 121.0901 29.06757 17.34753 121.0669 28.66865 17.86652 121.0669 28.66865 17.86652 121.0901 29.06757 17.34753 119.8794 10.95678 18.13524 119.2459 10.56543 19.87049 118.7749 9.532659 20.69671 119.7835 11.25859 18.62375 119.7835 11.25859 18.62375 119.8794 10.95678 18.13524 119.2459 10.56543 19.87049 118.7749 9.532659 20.69671 117.273 8.140955 21.13716 117.273 8.140955 21.13716 118.7181 9.456502 20.83369 118.7181 9.456502 20.83369 121.1811 51.14173 15.38417 121.1811 51.14173 16.38744 121.1811 51.14173 16.38744 121.1811 51.14173 15.38417 121.1811 30.62992 17.78122 121.1811 30.62992 17.27958 121.1811 30.62992 17.27958 121.1811 30.62992 17.78122 118.8279 10.0055 20.87761 118.7181 9.456502 20.83369 118.8279 10.0055 20.87761 118.7181 9.456502 20.83369 114.6835 8.629453 22.32125 114.5134 7.57718 22.15118 118.3088 9.370079 20.98913 118.3088 9.370079 20.98913 114.6835 8.629453 22.32125 114.5134 7.57718 22.15118 120.9449 55.7874 15.18211 120.9449 55.7874 16.18539 120.9449 55.7874 16.18539 120.9449 55.7874 15.18211 121.1811 51.14173 16.38744 121.1811 51.14173 16.88908 121.1811 51.14173 16.88908 121.1811 51.14173 16.38744 118.3088 9.370079 20.98913 115.8184 9.370079 22.02049 118.3088 9.370079 20.98913 115.8184 9.370079 22.02049 113.9466 8.584951 22.40129 112.7297 7.469448 22.34495 113.9466 8.584951 22.40129 112.7297 7.469448 22.34495 114.7685 9.15559 22.40628 114.6835 8.629453 22.32125 114.7685 9.15559 22.40628 114.6835 8.629453 22.32125 120.9449 61.03761 14.95376 120.9449 59.82795 16.00965 120.9449 59.82795 16.00965 120.9449 61.03761 14.95376 120.9449 55.7874 16.18539 120.9449 55.7874 16.68702 120.9449 55.7874 16.68702 120.9449 55.7874 16.18539 110.5816 8.486175 22.57895 110.5707 7.406073 22.45894 110.5816 8.486175 22.57895 110.5707 7.406073 22.45894 114.5551 9.142702 22.42946 113.9466 8.584951 22.40129 114.5551 9.142702 22.42946 113.9466 8.584951 22.40129 120.5169 63.14961 15.86518 120.6728 63.14961 14.8619 120.6728 63.14961 14.8619 120.5169 63.14961 15.86518 120.9449 59.82795 16.00965 120.9449 59.22312 16.53759 120.9449 59.22312 16.53759 120.9449 59.82795 16.00965 109.789 8.534774 22.49154 108.8095 7.514058 22.26472 109.789 8.534774 22.49154 108.8095 7.514058 22.26472 110.5871 9.026226 22.63896 110.5816 8.486175 22.57895 110.5871 9.026226 22.63896 110.5816 8.486175 22.57895 120.4233 65.01014 14.78098 120.3761 64.19978 15.8195 120.3761 64.19978 15.8195 120.4233 65.01014 14.78098 120.439 63.14961 16.36681 120.5169 63.14961 15.86518 120.5169 63.14961 15.86518 120.439 63.14961 16.36681 106.5102 7.57718 22.15118 106.3402 8.629453 22.32125 106.5102 7.57718 22.15118 106.3402 8.629453 22.32125 110.2787 9.045131 22.60495 109.789 8.534774 22.49154 110.2787 9.045131 22.60495 109.789 8.534774 22.49154 119.9914 66.74674 15.70872 120.1424 66.87025 14.70008 120.1424 66.87025 14.70008 119.9914 66.74674 15.70872 120.3525 63.7946 16.33876 120.3761 64.19978 15.8195 120.3761 64.19978 15.8195 120.3525 63.7946 16.33876 105.6808 8.756021 22.0936 104.9141 7.883573 21.60009 105.6808 8.756021 22.0936 104.9141 7.883573 21.60009 106.3402 8.629453 22.32125 106.2551 9.15559 22.40628 106.3402 8.629453 22.32125 106.2551 9.15559 22.40628 120.0266 67.5051 15.67574 120.1948 68.00225 14.65084 120.1948 68.00225 14.65084 120.0266 67.5051 15.67574 119.9159 66.68498 16.21305 119.9914 66.74674 15.70872 119.9914 66.74674 15.70872 119.9159 66.68498 16.21305 106.0642 9.192244 22.34035 105.6808 8.756021 22.0936 106.0642 9.192244 22.34035 105.6808 8.756021 22.0936 102.3228 8.39561 20.67912 102.5732 9.370079 20.98913 102.1654 9.370079 20.82677 102.5732 9.370079 20.98913 102.3228 8.39561 20.67912 102.1654 9.370079 20.82677 119.8227 68.99605 15.61089 120.0563 69.015 14.60679 120.0563 69.015 14.60679 119.8227 68.99605 15.61089 119.9424 67.25652 16.18819 120.0266 67.5051 15.67574 120.0266 67.5051 15.67574 119.9424 67.25652 16.18819 105.1642 9.370079 22.02049 102.5732 9.370079 20.98913 105.1642 9.370079 22.02049 102.5732 9.370079 20.98913 102.2173 9.444739 20.85484 102.2173 9.444739 20.85484 102.1243 8.693489 20.14335 102.1243 8.693489 20.14335 119.8083 71.17067 15.51631 120.0374 71.8874 14.48186 120.0374 71.8874 14.48186 119.8083 71.17067 15.51631 119.7059 68.98658 16.11294 119.8227 68.99605 15.61089 119.8227 68.99605 15.61089 119.7059 68.98658 16.11294 102.5474 9.919007 21.03317 102.2173 9.444739 20.85484 102.5474 9.919007 21.03317 102.2173 9.444739 20.85484 102.1501 9.456502 20.83369 102.1501 9.456502 20.83369 101.5762 9.370079 18.92641 101.5762 9.370079 18.92641 119.6 72.71027 15.44935 119.9232 72.7309 14.44518 119.9232 72.7309 14.44518 119.6 72.71027 15.44935 119.6938 70.81231 16.03353 119.8083 71.17067 15.51631 119.8083 71.17067 15.51631 119.6938 70.81231 16.03353 102.1501 9.456502 20.83369 102.0535 10.0055 20.87761 102.1501 9.456502 20.83369 102.0535 10.0055 20.87761 100.9996 10.13041 17.55885 101.0551 10.90047 18.23651 101.0551 10.90047 18.23651 100.9996 10.13041 17.55885 119.503 73.92213 15.39664 119.7986 74.28779 14.37746 119.7986 74.28779 14.37746 119.503 73.92213 15.39664 119.4384 72.69995 15.95143 119.6 72.71027 15.44935 119.6 72.71027 15.44935 119.4384 72.69995 15.95143 101.0551 10.90047 18.23651 101.1032 11.25859 18.62375 101.0865 11.33666 18.62035 101.0865 11.33666 18.62035 101.1032 11.25859 18.62375 101.0551 10.90047 18.23651 100.8475 10.35315 17.15822 101.0166 10.95678 18.13524 100.1061 14.29134 16.98693 100.3889 14.29134 17.99021 100.3889 14.29134 17.99021 101.0166 10.95678 18.13524 100.1061 14.29134 16.98693 100.8475 10.35315 17.15822 119.4654 74.58303 15.36789 119.7853 74.52176 14.36728 119.7853 74.52176 14.36728 119.4654 74.58303 15.36789 119.3551 73.7393 15.90623 119.503 73.92213 15.39664 119.503 73.92213 15.39664 119.3551 73.7393 15.90623 101.0166 10.95678 18.13524 100.3889 14.29134 17.99021 100.5302 14.29134 18.49184 100.5302 14.29134 18.49184 100.3889 14.29134 17.99021 101.0166 10.95678 18.13524 100.0923 14.37876 16.98313 100.2325 15.28143 17.94714 100.2325 15.28143 17.94714 100.0923 14.37876 16.98313 119.9606 76.5334 14.27979 119.667 76.8961 15.26729 119.9606 77.28346 14.44882 119.9606 77.28346 14.44882 119.9606 76.5334 14.27979 119.667 76.8961 15.26729 119.3054 74.61366 15.8682 119.4654 74.58303 15.36789 119.4654 74.58303 15.36789 119.3054 74.61366 15.8682 100.2325 15.28143 17.94714 100.3027 15.73276 18.42915 100.3027 15.73276 18.42915 100.2325 15.28143 17.94714 100.0787 16.52539 16.88976 100.2132 18.34646 17.81383 100.0787 18.34646 16.88976 100.0787 18.34646 16.88976 100.2132 18.34646 17.81383 100.0787 16.52539 16.88976 119.6312 77.28346 15.25044 119.6312 77.28346 15.25044 119.667 76.8961 15.26729 119.4832 76.65369 15.77947 119.4832 76.65369 15.77947 119.667 76.8961 15.26729 119.9606 77.28346 14.24717 119.9606 77.28346 14.24717 100.2132 18.34646 17.81383 100.2861 18.34646 18.31547 100.2861 18.34646 18.31547 100.2132 18.34646 17.81383 100.1269 19.27819 17.77331 100.1269 19.27819 17.77331 100.0787 18.27457 16.81369 100.0787 18.27457 16.81369 118.0553 88.81175 14.74903 118.1102 90.19685 14.09449 118.1102 90.19685 14.09449 118.0553 88.81175 14.74903 119.425 77.28346 15.75208 119.6312 77.28346 15.25044 119.6312 77.28346 15.25044 119.425 77.28346 15.75208 118.1102 90.19685 13.68552 118.1102 90.19685 13.68552 100.1531 19.78399 18.25295 100.1269 19.27819 17.77331 100.1269 19.27819 17.77331 100.1531 19.78399 18.25295 100.0071 19.26941 16.77042 99.76194 22.91339 16.61193 99.88233 22.91339 17.6152 99.88233 22.91339 17.6152 99.76194 22.91339 16.61193 100.0071 19.26941 16.77042 100.0727 18.34646 16.81056 100.0727 18.34646 16.81056 118.008 90.19685 14.68879 118.008 90.19685 14.68879 118.0553 88.81175 14.74903 118.009 87.64261 15.30152 118.009 87.64261 15.30152 118.0553 88.81175 14.74903 117.9275 92.31286 13.59348 117.9275 92.31286 13.59348 99.88233 22.91339 17.6152 99.94252 22.91339 18.11684 99.94252 22.91339 18.11684 99.88233 22.91339 17.6152 99.82918 23.99602 17.56811 99.74931 23.17065 16.60074 99.74931 23.17065 16.60074 99.82918 23.99602 17.56811 116.7578 101.9877 14.17596 116.6142 104.3307 13.46457 116.6142 104.3307 13.46457 116.7578 101.9877 14.17596 117.9217 90.19685 15.19043 118.008 90.19685 14.68879 118.008 90.19685 14.68879 117.9217 90.19685 15.19043 116.6541 104.3307 13.07078 116.6541 104.3307 13.07078 99.82918 23.99602 17.56811 99.86912 24.40871 18.0518 99.86912 24.40871 18.0518 99.82918 23.99602 17.56811 99.76579 26.5748 16.45268 99.84167 26.5748 17.45595 99.84167 26.5748 17.45595 99.76579 26.5748 16.45268 116.4872 104.3307 14.07406 116.4872 104.3307 14.07406 116.7578 101.9877 14.17596 116.8759 100.0592 14.76148 116.8759 100.0592 14.76148 116.7578 101.9877 14.17596 116.3368 106.2796 12.98602 116.3368 106.2796 12.98602 99.84167 26.5748 17.45595 99.87961 26.5748 17.95759 99.87961 26.5748 17.95759 99.84167 26.5748 17.45595 99.72441 27.14708 16.42779 99.72441 28.19641 17.38542 99.72441 28.19641 17.38542 99.72441 27.14708 16.42779 115.0394 115.3937 12.83465 115.2895 112.582 13.71518 115.2895 112.582 13.71518 115.0394 115.3937 12.83465 116.3827 104.3307 14.57569 116.4872 104.3307 14.07406 116.4872 104.3307 14.07406 116.3827 104.3307 14.57569 115.0394 115.3937 12.58961 115.0394 115.3937 12.58961 99.72441 28.72107 17.86424 99.72441 28.19641 17.38542 99.72441 28.19641 17.38542 99.72441 28.72107 17.86424 99.72441 51.14173 15.38417 99.72441 51.14173 16.38744 99.72441 51.14173 16.38744 99.72441 51.14173 15.38417 114.9581 115.3937 13.59289 114.9581 115.3937 13.59289 115.2895 112.582 13.71518 115.455 110.7218 14.29772 115.455 110.7218 14.29772 115.2895 112.582 13.71518 113.5433 124.8425 12.17865 113.5433 124.8425 12.59843 113.5433 124.8425 12.59843 113.5433 124.8425 12.17865 99.72441 51.14173 16.38744 99.72441 51.14173 16.88908 99.72441 51.14173 16.88908 99.72441 51.14173 16.38744 99.81373 54.65518 16.23463 99.78426 53.49603 15.28177 99.78426 53.49603 15.28177 99.81373 54.65518 16.23463 113.9054 122.1266 13.30005 113.9054 122.1266 13.30005 114.9044 115.3937 14.09452 114.9581 115.3937 13.59289 114.9581 115.3937 13.59289 114.9044 115.3937 14.09452 112.489 130.9475 11.91312 112.4357 131.256 12.43764 112.4357 131.256 12.43764 112.489 130.9475 11.91312 99.82847 55.23475 16.71106 99.81373 54.65518 16.23463 99.81373 54.65518 16.23463 99.82847 55.23475 16.71106 99.96151 55.7874 15.18211 99.90132 55.7874 16.18539 99.90132 55.7874 16.18539 99.96151 55.7874 15.18211 113.4051 124.8425 13.18192 113.4051 124.8425 13.18192 114.2168 119.7916 13.90324 113.9054 122.1266 13.30005 113.9054 122.1266 13.30005 114.2168 119.7916 13.90324 112.4714 130.3891 12.94068 112.2806 131.5229 12.89137 112.2806 131.5229 12.89137 112.4714 130.3891 12.94068 99.90132 55.7874 16.18539 99.87122 55.7874 16.68702 99.87122 55.7874 16.68702 99.90132 55.7874 16.18539 100.0787 57.76831 16.09923 100.0787 57.09622 15.12519 100.0787 57.09622 15.12519 100.0787 57.76831 16.09923 113.2863 124.8425 13.68356 113.4051 124.8425 13.18192 113.4051 124.8425 13.18192 113.2863 124.8425 13.68356 112.2806 131.5229 12.89137 112.3357 130.6226 13.33777 112.4714 130.3891 12.94068 112.1763 131.7023 13.19641 112.1763 131.7023 13.19641 112.2806 131.5229 12.89137 112.3357 130.6226 13.33777 112.4714 130.3891 12.94068 112.4714 130.3891 12.94068 112.4951 129.5429 13.47912 112.3357 130.6226 13.33777 112.3357 130.6226 13.33777 112.4714 130.3891 12.94068 112.4951 129.5429 13.47912 100.0787 57.76831 16.09923 100.0787 58.10436 16.58625 100.0787 58.10436 16.58625 100.0787 57.76831 16.09923 100.0787 58.50394 15.06396 100.0787 58.50394 16.06723 100.0787 58.50394 16.06723 100.0787 58.50394 15.06396 112.3157 130.7575 13.56724 112.1526 131.8624 13.46876 112.1526 131.8624 13.46876 112.3157 130.7575 13.56724 112.4114 130.1098 13.45446 112.3973 130.2051 13.61649 112.3157 130.7575 13.56724 112.3157 130.7575 13.56724 112.3973 130.2051 13.61649 112.4114 130.1098 13.45446 100.0787 58.50394 16.06723 100.0787 58.50394 16.56887 100.0787 58.50394 16.56887 100.0787 58.50394 16.06723 100.5108 61.69029 15.92865 100.3581 60.56422 14.97435 100.3581 60.56422 14.97435 100.5108 61.69029 15.92865 111.43 131.1359 14.21055 111.3859 132.1899 14.02558 111.43 131.1359 14.21055 111.3859 132.1899 14.02558 111.452 130.6089 14.30304 111.43 131.1359 14.21055 111.452 130.6089 14.30304 111.43 131.1359 14.21055 100.5871 62.25333 16.4058 100.5108 61.69029 15.92865 100.5108 61.69029 15.92865 100.5871 62.25333 16.4058 100.3508 63.14961 14.8619 100.5067 63.14961 15.86518 100.5067 63.14961 15.86518 100.3508 63.14961 14.8619 111.4198 131.3785 14.62313 111.3741 132.4732 14.50726 111.3741 132.4732 14.50726 111.4198 131.3785 14.62313 111.4427 130.8312 14.68106 111.4198 131.3785 14.62313 111.4198 131.3785 14.62313 111.4427 130.8312 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0 1 2 1 0 3 3 0 4 0 2 10 4 12 3 12 4 13 16 17 18 17 16 19 1 24 2 10 2 26 13 28 12 28 13 29 16 32 19 32 16 33 36 17 37 17 36 18 40 41 42 41 40 24 24 40 2 2 40 26 29 46 28 46 29 47 50 32 33 32 50 51 54 37 55 37 54 36 58 41 59 41 58 42 47 62 46 62 47 63 50 66 51 66 50 67 70 55 71 55 70 54 74 75 76 75 74 77 77 74 78 78 74 58 78 58 59 63 84 62 84 63 85 88 66 67 66 88 89 92 93 94 93 92 95 95 92 70 95 70 71 75 100 76 77 102 75 104 84 85 84 104 105 88 108 89 108 88 109 94 112 113 112 94 93 100 116 117 116 100 118 118 100 75 102 118 75 122 105 104 105 122 123 126 108 109 108 126 127 130 112 131 112 130 113 117 134 135 134 117 116 130 138 139 138 130 131 142 123 122 123 142 143 146 127 126 127 146 147 135 150 151 150 135 134 139 154 155 154 139 138 142 158 143 158 142 159 162 147 146 147 162 163 151 166 167 166 151 150 155 170 171 170 155 154 174 158 159 158 174 175 162 178 163 178 162 179 182 166 183 166 182 167 171 186 187 186 171 170 174 190 175 190 174 191 179 194 178 194 179 195 182 198 199 198 182 183 202 186 203 186 202 187 191 206 190 206 191 207 195 210 194 210 195 211 202 214 215 214 202 203 218 219 220 219 218 199 219 199 198 207 224 206 224 207 225 211 228 210 228 211 229 215 232 233 232 215 214 219 236 220 220 238 218 225 240 224 240 225 241 229 244 228 244 229 245 233 248 249 248 233 232 236 252 220 220 254 238 241 256 240 256 241 257 245 260 244 260 245 261 264 248 265 248 264 249 220 268 254 268 220 252 268 252 269 257 272 256 272 257 273 261 276 260 276 261 277 265 280 264 280 265 281 280 281 282 269 286 268 286 269 287 286 287 288 288 287 289 273 294 272 294 273 295 277 298 276 298 277 299 282 302 280 302 282 303 303 282 304 289 308 288 308 289 309 312 294 295 294 312 313 313 312 314 299 318 298 318 299 319 304 322 303 322 304 323 309 326 308 326 309 327 326 327 328 314 332 313 334 318 319 318 334 335 314 312 338 323 340 322 340 323 341 344 328 327 328 346 326 314 348 332 348 314 349 334 352 335 352 334 353 356 314 338 314 356 349 358 340 341 340 358 359 344 362 328 362 344 363 363 344 364 328 368 346 349 370 348 372 352 353 352 372 373 376 349 356 358 378 359 378 358 379 382 363 364 363 382 383 362 368 328 349 386 370 386 349 387 372 390 373 390 372 391 376 387 349 387 376 394 379 396 378 396 379 397 382 400 383 400 382 401 404 386 387 406 390 391 390 406 407 410 387 394 397 412 396 412 397 413 401 416 400 416 401 417 420 404 387 404 420 421 406 424 407 424 406 425 410 420 387 420 410 428 430 412 413 412 430 431 417 434 416 434 417 435 420 438 421 440 424 425 424 440 441 444 420 428 420 444 445 430 448 431 448 430 449 452 434 435 434 452 453 420 456 438 456 420 445 440 458 441 458 440 459 462 445 444 445 462 463 466 448 449 448 466 467 452 470 453 470 452 471 445 474 456 459 476 458 476 459 477 445 480 474 480 445 463 480 463 481 466 484 467 484 466 485 488 470 471 470 488 489 477 492 476 492 477 493 496 497 498 497 496 499 504 492 493 492 504 505 505 504 506 485 510 484 510 485 511 488 514 489 514 488 515 499 518 497 518 499 519 506 522 505 522 506 523 523 506 524 511 528 510 528 511 529 532 514 515 514 532 533 536 519 537 519 536 518 540 524 541 524 540 523 544 528 529 528 544 545 532 548 533 548 532 549 537 552 536 552 537 553 541 556 540 556 541 557 544 560 545 560 544 561 549 564 548 564 549 565 552 568 569 568 552 553 556 572 573 572 556 557 576 560 561 560 576 577 565 580 564 580 565 581 569 584 585 584 569 568 573 588 589 588 573 572 576 592 577 592 576 593 596 580 581 580 596 597 585 600 601 600 585 584 589 604 605 604 589 588 608 592 593 592 608 609 596 612 597 612 596 613 616 617 618 617 616 619 617 619 601 617 601 600 624 625 626 625 624 627 627 624 605 627 605 604 608 632 609 632 608 633 636 612 613 612 636 637 617 640 618 640 617 641 644 618 645 618 644 616 648 625 649 625 648 626 652 632 633 632 652 653 636 656 637 656 636 657 618 660 645 660 618 640 644 645 662 648 664 665 664 648 649 652 668 653 668 652 669 672 656 657 656 672 673 660 676 645 678 645 679 645 678 662 682 664 683 664 682 665 686 668 669 668 686 687 672 690 673 690 672 691 679 676 694 676 679 645 678 679 696 698 683 699 683 698 682 686 702 687 702 686 703 691 706 690 706 691 707 679 694 710 712 679 713 679 712 696 716 699 717 699 716 698 703 720 702 720 703 721 707 724 706 724 707 725 724 725 726 713 710 730 710 713 679 712 713 732 716 734 735 734 716 717 721 738 720 738 721 739 742 726 725 726 744 724 713 746 726 746 713 730 742 713 726 713 742 732 748 734 749 734 748 735 748 738 739 738 748 749 746 744 726

- - - -

5 6 7 7 6 8 9 8 6 11 9 6 14 5 15 7 15 5 20 21 22 23 22 21 9 25 8 27 9 11 30 14 31 15 31 14 34 21 35 20 35 21 23 38 22 39 22 38 9 43 25 25 43 44 45 44 43 27 43 9 48 30 49 31 49 30 52 53 35 34 35 53 38 56 39 57 39 56 45 60 44 61 44 60 64 48 65 49 65 48 68 53 69 52 69 53 56 72 57 73 57 72 61 60 79 60 80 79 79 80 81 81 80 82 83 82 80 86 64 87 65 87 64 90 91 69 68 69 91 73 72 96 72 97 96 96 97 98 99 98 97 83 101 82 82 103 81 106 107 87 86 87 107 110 91 111 90 111 91 98 99 114 115 114 99 82 101 119 119 101 120 121 120 101 82 119 103 124 125 106 107 106 125 128 129 111 110 111 129 115 132 114 133 114 132 120 121 136 137 136 121 133 132 140 141 140 132 144 145 124 125 124 145 148 149 128 129 128 149 136 137 152 153 152 137 140 141 156 157 156 141 160 145 161 144 161 145 164 165 148 149 148 165 152 153 168 169 168 153 156 157 172 173 172 157 176 177 161 160 161 177 180 165 181 164 181 165 169 184 168 185 168 184 172 173 188 189 188 173 192 177 193 176 193 177 196 180 197 181 197 180 185 184 200 201 200 184 189 204 188 205 188 204 208 192 209 193 209 192 212 196 213 197 213 196 205 204 216 217 216 204 200 201 221 201 222 221 223 221 222 226 208 227 209 227 208 230 212 231 213 231 212 216 217 234 235 234 217 223 237 221 222 239 223 242 226 243 227 243 226 246 230 247 231 247 230 234 235 250 251 250 235 223 253 237 239 255 223 258 242 259 243 259 242 262 246 263 247 263 246 251 266 250 267 250 266 270 253 271 253 223 271 255 271 223 274 258 275 259 275 258 278 262 279 263 279 262 283 284 285 284 267 285 266 285 267 290 291 292 292 291 293 291 270 293 271 293 270 296 274 297 275 297 274 300 278 301 279 301 278 305 283 306 306 283 307 285 307 283 310 290 311 292 311 290 315 316 317 317 316 297 296 297 316 320 300 321 301 321 300 324 305 325 306 325 305 329 330 331 330 310 331 311 331 310 317 333 315 336 337 321 320 321 337 339 316 315 342 324 343 325 343 324 330 329 345 331 347 329 350 315 351 333 351 315 354 337 355 336 355 337 350 357 315 339 315 357 360 361 343 342 343 361 365 345 366 366 345 367 329 367 345 347 369 329 351 371 350 374 375 355 354 355 375 357 350 377 380 361 381 360 381 361 384 385 366 365 366 385 329 369 367 388 350 389 371 389 350 392 375 393 374 393 375 395 377 388 350 388 377 398 380 399 381 399 380 402 385 403 384 403 385 388 389 405 408 409 393 392 393 409 395 388 411 414 398 415 399 415 398 418 402 419 403 419 402 422 423 405 388 405 423 426 409 427 408 427 409 429 411 423 388 423 411 432 433 415 414 415 433 436 418 437 419 437 418 422 439 423 442 443 427 426 427 443 446 447 423 429 423 447 450 433 451 432 451 433 454 455 437 436 437 455 446 423 457 439 457 423 460 443 461 442 461 443 464 465 446 447 446 465 468 469 451 450 451 469 472 455 473 454 473 455 457 475 446 478 460 479 461 479 460 482 464 483 464 446 483 475 483 446 486 469 487 468 487 469 490 491 473 472 473 491 494 478 495 479 495 478 500 501 502 503 502 501 507 508 509 509 508 495 494 495 508 512 486 513 487 513 486 516 491 517 490 517 491 520 500 521 502 521 500 525 507 526 526 507 527 509 527 507 530 512 531 513 531 512 534 535 517 516 517 535 521 538 520 539 520 538 526 542 525 543 525 542 546 547 531 530 531 547 550 535 551 534 551 535 554 539 555 538 555 539 558 543 559 542 559 543 562 547 563 546 563 547 566 550 567 551 567 550 554 555 570 571 570 555 558 559 574 575 574 559 578 579 563 562 563 579 582 566 583 567 583 566 570 571 586 587 586 571 574 575 590 591 590 575 594 579 595 578 595 579 598 599 583 582 583 599 586 587 602 603 602 587 590 591 606 607 606 591 610 611 595 594 595 611 614 599 615 598 615 599 602 603 620 603 621 620 621 622 620 623 620 622 606 607 628 607 629 628 628 629 630 631 630 629 634 611 635 610 635 611 638 639 615 614 615 639 642 620 643 623 643 620 622 646 623 647 623 646 631 650 630 651 630 650 654 655 635 634 635 655 658 639 659 638 659 639 643 623 661 647 661 623 663 647 646 651 650 666 667 666 650 670 655 671 654 671 655 674 675 659 658 659 675 647 677 661 663 680 647 681 647 680 667 684 666 685 666 684 688 689 671 670 671 689 692 675 693 674 693 675 647 681 677 695 677 681 697 681 680 684 700 685 701 685 700 704 689 705 688 705 689 708 692 709 693 709 692 711 695 681 697 714 681 715 681 714 700 718 701 719 701 718 722 704 723 705 723 704 727 728 729 728 708 729 709 729 708 681 715 711 731 711 715 733 715 714 719 718 736 737 736 718 740 722 741 723 741 722 728 727 743 729 745 727 731 715 747 727 747 715 733 743 715 727 715 743 737 750 736 751 736 750 751 750 741 740 741 750 727 745 747

- - - - - - - 100.0787 22.91339 7.125984 101.5354 18.34646 4.055118 100.0787 18.34646 7.952756 100.0787 18.34646 7.952756 101.5354 18.34646 4.055118 100.0787 22.91339 7.125984 101.2992 22.91339 3.070866 101.2992 22.91339 3.070866 102.5197 14.29134 4.88189 102.5197 14.29134 4.88189 99.79467 22.00775 10.88811 99.78682 22.91339 10.82369 99.78682 22.91339 10.82369 99.79467 22.00775 10.88811 100.6629 24.82237 4.856688 100.0787 26.5748 6.496063 100.0787 26.5748 6.496063 100.6629 24.82237 4.856688 105.8661 18.34646 1.574803 105.8661 18.34646 1.574803 100.7087 14.29134 8.582677 100.7087 14.29134 8.582677 106.8504 14.33071 2.795276 106.8504 14.33071 2.795276 99.81487 18.34646 11.14851 99.81487 18.34646 11.14851 99.75764 26.5748 10.56328 99.75764 26.5748 10.56328 101.4182 24.758 2.753512 101.5354 26.5748 2.440945 100.315 30.62992 5.866142 100.8987 28.69044 4.227937 100.8987 28.69044 4.227937 100.315 30.62992 5.866142 101.5354 26.5748 2.440945 101.4182 24.758 2.753512 105.5906 22.91339 0.5905512 105.5906 22.91339 0.5905512 106.3 16.57648 2.112737 106.3 16.57648 2.112737 104.3701 9.370079 6.141732 104.3701 9.370079 6.141732 99.99741 17.22167 11.22851 99.99741 17.22167 11.22851 107.4409 9.370079 4.291339 107.4409 9.370079 4.291339 99.74392 30.40668 10.29074 99.74392 30.40668 10.29074 99.75453 30.62992 10.27486 99.75453 30.62992 10.27486 101.5354 30.62992 2.204724 101.5354 30.62992 2.204724 110.5906 18.34646 1.102362 110.5906 18.34646 1.102362 108.8814 15.74002 1.855889 110.5118 9.370079 3.779528 110.5118 12.3442 2.717342 110.5118 14.33071 2.007874 110.5118 14.33071 2.007874 108.8814 15.74002 1.855889 110.5118 12.3442 2.717342 110.5118 9.370079 3.779528 101.9291 9.370079 9.527559 101.9291 9.370079 9.527559 100.2609 14.29134 11.43693 100.2609 14.29134 11.43693 99.76345 33.16689 10.09442 99.76345 33.16689 10.09442 100.315 33.34646 5.511811 100.315 33.34646 5.511811 105.2362 26.5748 0.3543307 105.2362 26.5748 0.3543307 110.5118 22.91339 0.3543307 110.5118 22.91339 0.3543307 113.5433 9.370079 4.291339 113.5433 9.370079 4.291339 105.8661 5.472441 7.716535 105.8661 5.472441 7.716535 100.707 12.62043 11.55578 100.707 12.62043 11.55578 108.3071 5.472441 6.496063 108.3071 5.472441 6.496063 110.5118 5.472441 6.023622 110.5118 5.472441 6.023622 99.76216 33.34646 10.08165 99.76216 33.34646 10.08165 101.5354 33.34646 1.811024 101.5354 33.34646 1.811024 105.5906 30.62992 0 105.5906 30.62992 0 115.0394 18.34646 1.574803 115.0394 18.34646 1.574803 114.1732 14.33071 2.795276 114.1732 14.33071 2.795276 112.5591 5.472441 6.496063 112.5591 5.472441 6.496063 103.1496 5.472441 10.15748 103.1496 5.472441 10.15748 101.2567 9.370079 11.78695 101.2567 9.370079 11.78695 99.75797 36.1811 9.880035 100.315 36.1811 5.275591 100.315 36.1811 5.275591 99.75797 36.1811 9.880035 110.5118 26.5748 0.1181102 110.5118 26.5748 0.1181102 115.3937 22.91339 0.5905512 115.3937 22.91339 0.5905512 116.6142 9.370079 6.141732 116.6142 9.370079 6.141732 115.0394 5.472441 7.716535 115.0394 5.472441 7.716535 106.6142 2.992126 9.448819 106.6142 2.992126 9.448819 101.7267 7.987888 11.88526 101.7267 7.987888 11.88526 109.3701 2.992126 8.897638 109.3701 2.992126 8.897638 110.5512 2.992126 8.897638 110.5512 2.992126 8.897638 99.75561 44.76378 9.269597 100.315 44.76378 4.645669 100.315 44.76378 4.645669 99.75561 44.76378 9.269597 101.5354 36.1811 1.811024 101.5354 36.1811 1.811024 105.5906 36.1811 0 105.5906 36.1811 0 110.5906 30.51181 0 110.5906 30.51181 0 119.3307 18.34646 4.055118 119.685 22.91339 3.070866 119.685 22.91339 3.070866 119.3307 18.34646 4.055118 118.4646 14.29134 4.88189 118.4646 14.29134 4.88189 114.5892 7.823245 5.923122 114.4892 7.484624 6.082118 114.7574 8.134839 5.822703 114.5736 7.769763 5.948336 115.0652 8.304395 5.8984 115.1357 8.31408 5.934643 115.264 8.324634 6.005084 115.3474 8.332254 6.050435 115.6377 8.23651 6.287306 115.8733 8.041464 6.555591 115.972 7.780744 6.783888 114.5077 7.415667 6.137906 114.584 7.168443 6.34396 114.7172 6.894863 6.601398 114.9495 6.691908 6.872791 115.1979 6.600472 7.081634 115.5054 6.625877 7.250501 115.5054 6.625877 7.250501 115.1979 6.600472 7.081634 114.9495 6.691908 6.872791 114.7172 6.894863 6.601398 114.584 7.168443 6.34396 114.5077 7.415667 6.137906 114.4892 7.484624 6.082118 115.972 7.780744 6.783888 115.8733 8.041464 6.555591 115.6377 8.23651 6.287306 115.3474 8.332254 6.050435 115.264 8.324634 6.005084 115.1357 8.31408 5.934643 115.0652 8.304395 5.8984 114.7574 8.134839 5.822703 114.5736 7.769763 5.948336 114.5892 7.823245 5.923122 114.5276 2.992126 9.448819 114.5276 2.992126 9.448819 104.1339 2.992126 10.98425 104.1339 2.992126 10.98425 102.2804 5.472441 12.06417 102.2804 5.472441 12.06417 111.7717 2.992126 8.897638 111.7717 2.992126 8.897638 99.76676 50.68429 8.848504 99.76676 50.68429 8.848504 101.5354 44.76378 1.574803 101.5354 44.76378 1.574803 115.6299 44.76378 0 105.2362 44.76378 0 115.3937 36.1811 0 115.3937 33.34646 0 115.3937 30.62992 0 115.3937 36.1811 0 115.3937 33.34646 0 115.3937 30.62992 0 115.6299 44.76378 0 105.2362 44.76378 0 115.6299 26.5748 0.3543307 115.6299 26.5748 0.3543307 120.9449 18.34646 7.952756 120.9449 18.34646 7.952756 119.0945 9.370079 9.527559 119.0945 9.370079 9.527559 116.0345 7.582301 6.986918 116.0545 7.458652 7.097115 117.874 5.472441 10.15748 115.6221 6.68237 7.308496 115.8132 6.78757 7.393923 116.0046 7.12428 7.305566 116.0302 7.312137 7.186373 116.0545 7.458652 7.097115 117.874 5.472441 10.15748 116.0302 7.312137 7.186373 116.0046 7.12428 7.305566 115.8132 6.78757 7.393923 115.6221 6.68237 7.308496 116.0345 7.582301 6.986918 117.0079 2.992126 10.98425 117.0079 2.992126 10.98425 105.6693 1.850394 11.61417 105.6693 1.850394 11.61417 102.7672 4.529568 12.13123 102.7672 4.529568 12.13123 108.1496 2.165354 10.3937 108.1496 2.165354 10.3937 109.9606 2.165354 10.07874 109.9606 2.165354 10.07874 111.1811 2.165354 10.07874 111.1811 2.165354 10.07874 100.315 51.14173 4.645669 99.77101 51.14173 8.815969 99.77101 51.14173 8.815969 100.315 51.14173 4.645669 105.5906 51.14173 0.1181102 115.3937 51.14173 0.1181102 115.3937 51.14173 0.1181102 105.5906 51.14173 0.1181102 119.3307 36.1811 1.811024 119.3307 36.1811 1.811024 119.3307 33.34646 1.811024 119.3307 33.34646 1.811024 119.3307 30.62992 2.204724 119.3307 30.62992 2.204724 120.315 14.29134 8.582677 120.315 14.29134 8.582677 119.3307 26.5748 2.440945 119.3307 26.5748 2.440945 120.9449 22.91339 7.125984 120.9449 22.91339 7.125984 115.4724 1.850394 11.61417 115.4724 1.850394 11.61417 112.9921 2.165354 10.3937 112.9921 2.165354 10.3937 106.6142 1.062992 11.92913 106.6142 1.062992 11.92913 104.4351 1.862544 12.32092 105.361 1.4349 12.35134 105.361 1.4349 12.35134 104.4351 1.862544 12.32092 103.0914 2.992126 12.24058 103.0914 2.992126 12.24058 109.0551 1.220472 11.29921 109.0551 1.220472 11.29921 110.5512 1.259843 11.29921 110.5512 1.259843 11.29921 112.0866 1.220472 11.29921 112.0866 1.220472 11.29921 99.7821 55.33361 8.517824 99.7821 55.33361 8.517824 101.9291 51.14173 1.574803 101.9291 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- - - - - - - 107.4409 124.8425 8.582677 106.8504 115.3937 6.496063 105.8661 115.3937 8.346457 105.8661 115.3937 8.346457 106.8504 115.3937 6.496063 107.4409 124.8425 8.582677 108.0709 124.8425 7.362205 108.0709 124.8425 7.362205 105.2362 104.3307 5.511811 105.2362 104.3307 5.511811 105.8661 115.3937 12.58961 107.4409 124.8425 12.17865 107.4409 124.8425 12.17865 105.8661 115.3937 12.58961 109.9213 138.9764 9.527559 109.9213 138.9764 9.527559 108.6614 115.3937 5.511811 108.6614 115.3937 5.511811 108.0709 104.3307 4.645669 108.0709 104.3307 4.645669 104.0157 104.3307 7.716535 104.0157 104.3307 7.716535 105.6896 114.338 12.63553 104.0157 104.3307 10.74803 105.6896 114.338 12.63553 104.0157 104.3307 10.74803 108.5123 130.9475 11.91312 108.5944 131.4152 12.70827 109.9213 138.9764 12.83465 109.9213 138.9764 12.83465 108.5944 131.4152 12.70827 108.5123 130.9475 11.91312 109.9213 138.9764 8.582677 109.9213 138.9764 8.582677 109.2913 124.8425 6.496063 109.2913 124.8425 6.496063 105.8661 90.19685 3.425197 105.8661 90.19685 3.425197 103.1496 90.19685 4.645669 103.1496 90.19685 4.645669 104.3187 104.3307 13.07078 104.3187 104.3307 13.07078 102.7953 90.19685 7.125984 102.7953 90.19685 10.74803 102.7953 90.19685 7.125984 102.7953 90.19685 10.74803 108.7917 131.8624 13.46876 108.7917 131.8624 13.46876 110.5118 115.3937 4.88189 110.5118 115.3937 4.88189 110.5118 104.3307 4.055118 110.5118 104.3307 4.055118 110.5118 90.19685 2.795276 110.5118 90.19685 2.795276 104.1839 102.66 13.14345 104.1839 102.66 13.14345 101.9032 82.31276 6.523225 101.7997 81.39768 7.599704 101.9032 82.31276 6.523225 101.7997 81.39768 7.599704 108.8369 132.1467 13.95207 109.9213 138.9764 13.8189 109.9213 138.9764 13.8189 108.8369 132.1467 13.95207 110.1575 138.9764 7.716535 110.1575 138.9764 7.716535 110.5118 124.8425 5.866142 110.5118 124.8425 5.866142 107.5904 85.48374 2.792951 110.5386 85.80078 2.420001 110.5386 85.80078 2.420001 107.5904 85.48374 2.792951 104.2893 84.77932 3.621623 105.8661 85.33676 2.965859 105.8661 85.33676 2.965859 104.2893 84.77932 3.621623 102.8657 84.37643 4.095569 102.6512 83.44519 5.191058 102.8657 84.37643 4.095569 102.6512 83.44519 5.191058 102.7953 90.19685 13.68552 102.7953 90.19685 13.68552 101.2242 79.23286 10.14635 101.2242 79.23286 10.14635 109.6314 132.4732 14.50726 109.6314 132.4732 14.50726 112.3228 115.3937 5.511811 112.3228 115.3937 5.511811 112.9528 104.3307 4.645669 112.9528 104.3307 4.645669 115.0394 90.19685 3.425197 115.0394 90.19685 3.425197 112.1031 85.65821 2.587716 112.1031 85.65821 2.587716 100.9449 77.28346 14.24717 101.1235 78.52986 10.97334 100.9449 77.28346 11.04082 101.1235 78.52986 10.97334 100.9449 77.28346 14.24717 100.9449 77.28346 11.04082 111.3741 132.4732 14.50726 111.1024 138.9764 13.8189 111.1024 138.9764 13.8189 111.3741 132.4732 14.50726 110.5118 138.9764 7.125984 110.5118 138.9764 7.125984 111.1024 124.8425 6.181102 111.6929 124.8425 6.496063 113.2069 119.0751 6.496063 113.248 115.3937 6.003937 114.1732 115.3937 6.496063 114.1732 115.3937 6.496063 113.2069 119.0751 6.496063 113.248 115.3937 6.003937 111.6929 124.8425 6.496063 111.1024 124.8425 6.181102 115.0394 85.33676 2.965859 115.0394 85.33676 2.965859 100.9358 77.18552 14.25143 100.7929 75.6367 11.12996 100.9358 77.18552 14.25143 100.7929 75.6367 11.12996 111.1765 137.2022 13.14599 111.3859 132.1899 14.02558 111.1024 138.9764 13.06882 111.1024 138.9764 13.06882 111.1765 137.2022 13.14599 111.3859 132.1899 14.02558 115.6299 104.3307 5.511811 115.6299 104.3307 5.511811 112.9528 124.8425 7.362205 112.9528 124.8425 7.362205 117.874 90.19685 4.645669 117.874 90.19685 4.645669 116.432 84.94629 3.425197 116.432 84.94629 3.425197 100.9449 76.5334 14.27979 100.8074 74.62563 11.1847 100.9449 74.48819 13.8189 100.9449 76.5334 14.27979 100.8074 74.62563 11.1847 100.9449 74.48819 13.8189 112.1526 131.8624 13.46876 111.1024 138.9764 12.83465 112.1526 131.8624 13.46876 111.1024 138.9764 12.83465 111.1024 138.9764 13.06882 111.1024 138.9764 13.06882 110.748 138.9764 7.716535 110.748 138.9764 7.716535 116.8898 104.3307 7.716535 116.8898 104.3307 7.716535 115.0394 115.3937 8.346457 115.0394 115.3937 8.346457 118.1402 84.37643 4.095569 118.1402 84.37643 4.095569 101.1647 74.72466 14.35846 101.1647 74.72466 14.35846 100.6132 73.45164 11.24825 100.6132 73.45164 11.24825 111.1024 138.9764 12.24409 112.1763 131.7023 13.19641 111.1024 138.9764 12.24409 112.1763 131.7023 13.19641 118.1102 90.19685 7.125984 118.1102 90.19685 7.125984 111.1024 138.9764 8.582677 111.1024 138.9764 8.582677 113.5433 124.8425 8.582677 113.5433 124.8425 8.582677 118.7942 83.19938 5.480231 118.7942 83.19938 5.480231 101.1202 74.52176 14.36728 101.1202 74.52176 14.36728 100.7087 72.87402 13.22835 100.5307 72.71382 11.28819 100.7087 72.87402 13.22835 100.5307 72.71382 11.28819 112.2806 131.5229 12.89137 112.4357 131.256 12.43764 112.2806 131.5229 12.89137 112.4357 131.256 12.43764 119.0045 82.29347 6.545919 119.0045 82.29347 6.545919 117.9275 92.31286 13.59348 118.1102 90.19685 13.68552 116.8898 104.3307 10.74803 116.8898 104.3307 10.74803 117.9275 92.31286 13.59348 118.1102 90.19685 13.68552 115.0394 115.3937 10.74803 115.0394 115.3937 10.74803 113.5433 124.8425 12.17865 115.0394 115.3937 12.58961 115.0394 115.3937 12.58961 113.5433 124.8425 12.17865 101.0995 73.24271 14.42292 101.0995 73.24271 14.42292 100.3923 71.21287 11.36945 100.3923 71.21287 11.36945 112.489 130.9475 11.91312 112.489 130.9475 11.91312 119.5989 79.80795 9.46982 119.5989 79.80795 9.46982 116.6541 104.3307 13.07078 116.6541 104.3307 13.07078 119.9606 77.28346 11.04082 119.9606 77.28346 14.24717 119.782 78.52986 10.97334 119.782 78.52986 10.97334 119.9606 77.28346 11.04082 119.9606 77.28346 14.24717 116.3368 106.2796 12.98602 116.3368 106.2796 12.98602 101.0908 72.82418 14.44112 101.0908 72.82418 14.44112 100.2029 69.29786 11.47312 100.315 69.05512 13.22835 100.2029 69.29786 11.47312 100.315 69.05512 13.22835 119.9606 76.51192 11.08258 119.9606 76.5334 14.27979 119.9606 74.48819 13.8189 119.9606 76.5334 14.27979 119.9606 76.51192 11.08258 119.9606 74.48819 13.8189 100.8291 69.89055 14.56871 100.8291 69.89055 14.56871 100.2264 68.22859 11.531 100.2264 68.22859 11.531 119.7853 74.52176 14.36728 119.7853 74.52176 14.36728 120.1668 74.62563 11.1847 120.1668 74.62563 11.1847 100.7185 69.02559 14.60633 100.7185 69.02559 14.60633 100.2551 66.76222 11.61039 100.315 66.73228 12.59843 100.2551 66.76222 11.61039 100.315 66.73228 12.59843 119.7986 74.28779 14.37746 119.7986 74.28779 14.37746 120.315 73.75414 11.23188 120.315 72.75591 13.22835 120.315 73.75414 11.23188 120.315 72.75591 13.22835 100.8604 67.47725 14.67368 100.8604 67.47725 14.67368 100.2545 65.81563 11.66163 100.2545 65.81563 11.66163 119.9232 72.7309 14.44518 119.9232 72.7309 14.44518 120.4278 72.64311 11.29202 120.4278 72.64311 11.29202 100.718 66.63556 14.71029 100.718 66.63556 14.71029 100.0787 63.14961 11.80596 100.0787 63.14961 13.11024 100.0787 63.14961 11.80596 100.0787 63.14961 13.11024 120.0374 71.8874 14.48186 120.0374 71.8874 14.48186 120.5512 70.15912 11.42649 120.5512 69.05512 12.48031 120.5512 70.15912 11.42649 120.5512 69.05512 12.48031 100.5249 64.37307 14.80869 100.5249 64.37307 14.80869 100.0787 58.50394 12.05745 100.0787 58.50394 13.22835 100.0787 58.50394 12.05745 100.0787 58.50394 13.22835 120.0563 69.015 14.60679 120.0563 69.015 14.60679 120.6579 69.02311 11.48799 120.6579 69.02311 11.48799 100.3508 63.14961 14.8619 100.3508 63.14961 14.8619 99.98526 57.78729 12.09625 99.98526 57.78729 12.09625 100.3581 60.56422 14.97435 100.3581 60.56422 14.97435 120.1948 68.00225 14.65084 120.1948 68.00225 14.65084 120.6004 67.42131 11.57471 120.5512 67.20472 11.9685 120.6004 67.42131 11.57471 120.5512 67.20472 11.9685 99.9942 55.7874 12.20451 100.0787 55.7874 13.22835 99.9942 55.7874 12.20451 100.0787 55.7874 13.22835 100.0787 58.50394 15.06396 100.0787 58.50394 15.06396 120.1424 66.87025 14.70008 120.1424 66.87025 14.70008 120.6008 67.20472 11.58643 120.6008 67.20472 11.58643 99.9945 54.68296 12.2643 99.9945 54.68296 12.2643 100.0787 57.09622 15.12519 100.0787 57.09622 15.12519 120.4233 65.01014 14.78098 120.4233 65.01014 14.78098 120.9449 64.48734 11.73354 120.9449 63.14961 13.11024 120.9449 64.48734 11.73354 120.9449 63.14961 13.11024 99.72441 51.14173 13.34646 99.72441 51.14173 12.45601 99.72441 51.14173 13.34646 99.72441 51.14173 12.45601 99.96151 55.7874 15.18211 99.96151 55.7874 15.18211 120.6728 63.14961 14.8619 120.6728 63.14961 14.8619 120.9449 56.45852 12.16818 120.9449 55.7874 15.18211 120.9449 55.7874 13.22835 120.9449 61.03761 14.95376 120.9449 61.03761 14.95376 120.9449 56.45852 12.16818 120.9449 55.7874 15.18211 120.9449 55.7874 13.22835 99.72441 22.91339 16.29921 99.72441 20.45596 14.11719 99.72441 26.5748 15.90551 99.72441 27.14708 16.42779 99.72441 51.14173 15.38417 99.72441 51.14173 15.38417 99.72441 27.14708 16.42779 99.72441 26.5748 15.90551 99.72441 22.91339 16.29921 99.72441 20.45596 14.11719 99.78426 53.49603 15.28177 99.78426 53.49603 15.28177 121.1811 51.14173 13.34646 121.1811 51.14173 15.38417 121.1811 51.14173 13.34646 121.1811 51.14173 15.38417 121.0012 55.7874 12.20451 121.0012 55.7874 12.20451 99.76579 26.5748 16.45268 99.76579 26.5748 16.45268 100.0071 19.26941 16.77042 99.87598 18.34646 14.23139 100.0727 18.34646 16.81056 100.0071 19.26941 16.77042 99.87598 18.34646 14.23139 100.0727 18.34646 16.81056 99.74931 23.17065 16.60074 99.74931 23.17065 16.60074 121.1811 51.14173 12.45601 121.1811 22.91339 16.29921 121.1811 22.91339 13.98416 121.1811 30.62992 15.31496 121.1811 26.5748 15.90551 121.1811 30.62992 16.27631 121.1811 51.14173 12.45601 121.1811 30.62992 15.31496 121.1811 30.62992 16.27631 121.1811 26.5748 15.90551 121.1811 22.91339 16.29921 121.1811 22.91339 13.98416 121.1811 52.13663 12.40215 121.1811 52.13663 12.40215 100.0787 18.27457 16.81369 100.0787 15.95667 14.36076 100.0787 18.27457 16.81369 100.0787 15.95667 14.36076 99.76194 22.91339 16.61193 99.76194 22.91339 16.61193 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- - - -

3 4 5 5 4 7 3 9 4 12 13 5 3 5 13 5 7 15 7 4 17 4 9 19 21 9 3 13 24 3 3 24 21 25 21 24 29 30 15 30 31 15 31 12 15 5 15 12 15 7 33 7 17 35 4 19 17 9 37 19 39 9 21 41 25 24 21 25 44 45 44 25 47 30 29 7 35 33 35 17 49 17 19 51 19 37 53 9 39 37 44 39 21 41 55 25 45 25 55 44 45 58 59 58 45 62 63 29 47 29 63 33 35 65 35 49 67 49 17 51 51 19 53 70 53 71 37 71 53 74 37 75 39 75 37 39 44 78 79 78 44 81 45 55 58 79 44 83 59 45 85 63 62 65 35 67 67 49 87 49 51 89 51 53 91 53 70 93 37 74 71 39 78 75 45 81 83 83 81 97 81 98 97 99 97 98 102 103 62 85 62 103 65 67 105 87 49 89 111 112 113 113 112 87 112 114 87 114 115 87 67 87 115 89 51 91 117 91 93 53 93 91 98 120 99 121 99 120 125 126 102 102 126 103 127 103 126 114 105 115 67 115 105 87 89 129 111 113 129 87 129 113 111 131 112 114 112 131 89 91 133 91 117 135 120 139 121 121 139 140 141 140 139 127 126 144 145 144 126 126 147 145 114 149 105 129 89 133 129 151 111 149 114 131 111 153 131 155 133 135 91 135 133 157 141 139 141 159 140 145 162 144 163 144 162 133 165 129 129 165 151 151 153 111 149 131 167 131 153 169 155 171 133 173 141 157 141 176 159 177 159 176 163 162 180 181 180 162 133 171 165 183 165 171 187 151 188 151 165 188 189 188 165 191 153 187 151 187 153 131 169 167 191 194 195 195 169 191 153 191 169 173 197 141 176 141 197 199 177 176 162 167 181 181 167 201 167 169 201 195 201 169 183 203 165 188 205 187 165 203 189 203 209 189 209 210 189 211 189 210 191 187 213 205 213 187 213 194 191 215 176 197 199 176 218 219 218 176 211 210 223 210 224 223 225 223 224 215 227 176 219 176 227 219 229 218 225 231 223 233 225 224 235 219 227 229 219 238 239 238 219 225 241 231 233 244 225 245 225 244 235 247 219 239 219 247 239 249 238 225 245 241 251 241 245 253 245 244 255 239 247 249 239 258 259 258 239 261 251 245 253 264 245 265 245 264 255 267 239 259 239 267 258 259 270 271 270 259 245 265 261 273 261 265 275 265 264 277 259 267 271 279 270 277 281 259 271 259 281 283 273 265 275 286 265 287 265 286 279 271 290 291 290 271 293 271 281 265 287 283 295 283 287 297 287 286 291 299 290 293 301 271 291 271 301 303 295 287 297 306 287 307 287 306 291 310 299 311 299 310 313 291 301 287 307 303 315 303 307 307 306 320 306 321 320 320 321 322 323 322 321 310 329 311 329 330 311 330 331 311 331 332 311 333 311 332 313 335 291 310 291 335 320 315 307 323 338 322 339 322 338 341 323 321 343 331 330 329 310 335 332 347 333 333 347 348 349 348 347 343 351 331 332 331 351 338 358 339 358 359 339 360 339 359 361 359 362 359 358 362 363 362 358 341 365 323 338 323 365 349 368 348 369 348 368 371 347 332 371 332 351 373 360 359 359 361 373 375 373 361 361 362 378 379 378 362 363 383 362 362 383 384 385 384 383 387 338 365 368 391 369 391 392 369 393 369 392 378 375 361 395 379 362 384 395 362 383 398 385 399 385 398 401 392 391 392 404 393 405 393 404 398 409 399 399 409 410 411 410 409 413 392 401 405 404 416 417 416 404 413 420 392 421 404 420 392 420 404 411 423 410 425 411 409 429 430 404 404 430 417 431 417 430 429 404 421 433 423 411 411 425 436 437 436 425 430 440 431 441 431 440 433 411 446 411 436 446 446 436 447 436 448 447 449 447 448 437 452 436 453 436 452 456 441 457 440 457 441 447 449 460 461 460 449 453 448 436 464 465 457 456 457 465 460 461 468 469 468 461 472 465 473 464 473 465 468 469 476 477 476 469 480 481 473 472 473 481 476 477 480 481 480 477

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0 1 2 1 0 3 1 3 4 4 3 5 4 5 6 6 5 7 6 7 8 8 7 9 8 9 10 10 9 11

- - - -

12 13 14 14 13 15 13 16 15 15 16 17 16 18 17 17 18 19 18 20 19 19 20 21 20 22 21 23 21 22

- - - - - - - 120.4959 59.35341 26.57642 120.5512 59.09449 26.73228 120.5512 59.09449 26.67446 120.5512 59.09449 26.67446 120.5512 59.09449 26.73228 120.4959 59.35341 26.57642 120.9221 55.97908 27.20991 120.9449 55.7874 27.38948 120.5657 58.97218 26.7111 120.5657 58.97218 26.7111 120.9221 55.97908 27.20991 120.9449 55.7874 27.38948 119.7251 62.79528 26.73228 120.4844 59.40612 26.55632 119.7107 62.92318 25.85119 119.7107 62.92318 25.85119 120.4844 59.40612 26.55632 119.7251 62.79528 26.73228 120.9221 55.97908 27.20991 120.9449 55.7874 27.24185 120.9449 55.7874 27.24185 120.9221 55.97908 27.20991 119.5636 63.45631 25.73268 119.5636 63.45631 25.73268 121.1451 53.18453 27.28703 121.1811 52.71654 27.78318 121.1054 53.70079 27.23376 120.995 55.13592 27.32821 120.995 55.13592 27.32821 121.1054 53.70079 27.23376 121.1451 53.18453 27.28703 121.1811 52.71654 27.78318 119.4309 64.40945 26.37795 119.3915 64.40945 25.55627 119.3915 64.40945 25.55627 119.4309 64.40945 26.37795 121.1811 52.6577 27.34069 121.1811 52.6577 27.34069 119.1642 65.71372 25.31811 119.0945 66.25984 25.74803 119.0945 66.25984 25.74803 119.1642 65.71372 25.31811 121.1811 34.36577 29.11845 121.1811 36.1811 29.21983 121.1811 34.33071 29.17323 121.1811 37.12637 28.74093 121.1811 39.48819 28.94351 121.1811 38.99799 28.58538 121.1811 41.10236 28.77295 121.1811 51.73228 27.94618 121.1811 51.73228 27.94618 121.1811 41.10236 28.77295 121.1811 39.48819 28.94351 121.1811 38.99799 28.58538 121.1811 37.12637 28.74093 121.1811 36.1811 29.21983 121.1811 34.36577 29.11845 121.1811 34.33071 29.17323 118.5433 68.77953 24.72441 118.5433 68.77953 24.72441 - - - - - - - - - - 0.9759898 0.2173188 0.01471073 0.9867033 0.1625127 0.002489268 0.9849532 0.1728215 -2.189653e-012 -0.9849532 -0.1728215 2.189653e-012 -0.9867033 -0.1625127 -0.002489268 -0.9759898 -0.2173188 -0.01471073 0.9929883 0.1182129 -1.222006e-012 0.9954485 0.09530095 -5.583859e-013 0.9929883 0.1182129 -1.222006e-012 -0.9929883 -0.1182129 1.222006e-012 -0.9929883 -0.1182129 1.222006e-012 -0.9954485 -0.09530095 5.583859e-013 0.9769357 0.2135332 0.000469732 0.9758641 0.2178215 0.01559047 0.9679982 0.2501259 0.02040901 -0.9679982 -0.2501259 -0.02040901 -0.9758641 -0.2178215 -0.01559047 -0.9769357 -0.2135332 -0.000469732 0.9929883 0.1182129 -4.866914e-013 0.9950468 0.09940793 -4.366607e-013 -0.9950468 -0.09940793 4.366607e-013 -0.9929883 -0.1182129 4.866914e-013 0.9804949 0.1942441 -0.02998303 -0.9804949 -0.1942441 0.02998303 0.9972144 0.07456118 -0.002025741 0.99937 0.03540283 -0.002504582 0.9970545 0.0766965 -3.761549e-013 0.9970545 0.0766965 -3.761549e-013 -0.9970545 -0.0766965 3.761549e-013 -0.9970545 -0.0766965 3.761549e-013 -0.9972144 -0.07456118 0.002025741 -0.99937 -0.03540283 0.002504582 0.9848884 0.1666032 -0.04731012 0.9850399 0.1657027 -0.0473174 -0.9850399 -0.1657027 0.0473174 -0.9848884 -0.1666032 0.04731012 0.9994496 0.03288389 -0.004372029 -0.9994496 -0.03288389 0.004372029 0.9841343 0.1687572 -0.05477788 0.981935 0.177327 -0.06602047 -0.981935 -0.177327 0.06602047 -0.9841343 -0.1687572 0.05477788 1 -9.553882e-015 -1.557333e-013 1 -9.553882e-015 -1.557333e-013 1 -9.553882e-015 -1.557333e-013 1 -9.553882e-015 -1.557333e-013 1 -9.553882e-015 -1.557333e-013 1 -9.553882e-015 -1.557333e-013 1 -9.553882e-015 -1.557333e-013 1 -9.553882e-015 -1.557333e-013 -1 9.553882e-015 1.557333e-013 -1 9.553882e-015 1.557333e-013 -1 9.553882e-015 1.557333e-013 -1 9.553882e-015 1.557333e-013 -1 9.553882e-015 1.557333e-013 -1 9.553882e-015 1.557333e-013 -1 9.553882e-015 1.557333e-013 -1 9.553882e-015 1.557333e-013 0.9800753 0.184003 -0.0748024 -0.9800753 -0.184003 0.0748024 - - - - - - - - - - - - - - -

0 1 2 6 1 7 1 6 8 1 8 2 0 12 1 12 0 13 12 13 14 18 7 19 22 12 14 24 7 25 7 24 26 7 26 27 7 27 19 22 32 12 32 22 33 24 25 36 38 32 33 32 38 39 42 43 44 43 42 45 43 45 46 46 45 47 46 47 36 46 36 48 48 36 49 49 36 25 58 39 38

- - - -

3 4 5 3 9 4 9 10 4 11 4 10 15 16 17 16 5 17 4 17 5 20 11 21 15 17 23 20 28 11 28 29 11 29 30 11 31 11 30 34 23 35 17 35 23 37 31 30 40 41 35 34 35 41 31 37 50 50 37 51 51 37 52 37 53 52 53 54 52 52 54 55 54 56 55 57 55 56 41 40 59

- - - - - - - 102.5984 68.8189 24.76378 101.841 65.84574 25.42203 101.9291 66.25984 25.74803 101.9291 66.25984 25.74803 101.841 65.84574 25.42203 102.5984 68.8189 24.76378 101.5354 64.40945 25.68198 101.5354 64.40945 26.37795 101.5354 64.40945 25.68198 101.5354 64.40945 26.37795 101.3896 63.41269 25.79863 101.2992 62.79528 26.73228 101.3896 63.41269 25.79863 101.2992 62.79528 26.73228 101.2992 62.91989 25.87386 101.2992 62.91989 25.87386 100.6485 60.46861 26.44186 100.315 59.09449 27.5441 100.6485 60.46861 26.44186 100.315 59.09449 27.5441 100.315 59.09449 26.73018 100.315 59.09449 26.73018 100.1191 56.35254 26.92171 100.0787 55.7874 27.38948 100.2864 58.6944 26.63135 100.3067 58.97845 26.73539 100.3067 58.97845 26.73539 100.2864 58.6944 26.63135 100.1191 56.35254 26.92171 100.0787 55.7874 27.38948 100.1191 56.35254 26.92171 100.0787 55.7874 26.99178 100.0787 55.7874 26.99178 100.1191 56.35254 26.92171 99.78882 53.27475 27.308 99.72441 52.71654 27.82327 99.83798 53.70079 27.26488 99.83798 53.70079 27.26488 99.78882 53.27475 27.308 99.72441 52.71654 27.82327 99.72441 52.65709 27.36943 99.72441 52.65709 27.36943 99.72441 36.1811 29.34791 99.72441 34.6081 29.0315 99.72441 34.33071 29.69444 99.72441 36.16836 28.81813 99.72441 37.25374 28.75946 99.72441 39.54178 29.08707 99.72441 41.10236 28.83047 99.72441 50.96534 27.51004 99.72441 51.73228 28.00369 99.72441 51.73228 28.00369 99.72441 50.96534 27.51004 99.72441 41.10236 28.83047 99.72441 37.25374 28.75946 99.72441 39.54178 29.08707 99.72441 36.1811 29.34791 99.72441 36.16836 28.81813 99.72441 34.6081 29.0315 99.72441 34.33071 29.69444 - - - - - - - - - - -0.9703628 0.2382539 -0.04038661 -0.9762426 0.216399 -0.01103582 -0.9730729 0.2288292 -0.02768225 0.9730729 -0.2288292 0.02768225 0.9762426 -0.216399 0.01103582 0.9703628 -0.2382539 0.04038661 -0.983773 0.1794176 7.20289e-014 -0.985279 0.1709543 7.560244e-014 0.983773 -0.1794176 -7.20289e-014 0.985279 -0.1709543 -7.560244e-014 -0.9878255 0.1554007 0.007168945 -0.974159 0.2241969 0.02738651 0.9878255 -0.1554007 -0.007168945 0.974159 -0.2241969 -0.02738651 -0.9758615 0.2161253 0.03137303 0.9758615 -0.2161253 -0.03137303 -0.9649076 0.2605302 0.03282398 -0.9880375 0.1540945 0.006063036 0.9649076 -0.2605302 -0.03282398 0.9880375 -0.1540945 -0.006063036 -0.9870765 0.1602498 2.320852e-014 0.9870765 -0.1602498 -2.320852e-014 -0.9974587 0.07124705 1.540797e-014 -0.9956134 0.09356273 1.215037e-013 -0.9974587 0.07124705 1.540797e-014 -0.9974587 0.07124705 1.540797e-014 0.9974587 -0.07124705 -1.540797e-014 0.9974587 -0.07124705 -1.540797e-014 0.9974587 -0.07124705 -1.540797e-014 0.9956134 -0.09356273 -1.215037e-013 -0.9974587 0.07124705 3.368005e-014 -0.9958315 0.09121154 1.158646e-013 0.9958315 -0.09121154 -1.158646e-013 0.9974587 -0.07124705 -3.368005e-014 -0.9936907 0.1121218 -0.002746024 -0.9986071 0.05260719 -0.004043317 -0.9934089 0.1146241 2.123765e-013 0.9934089 -0.1146241 -2.123765e-013 0.9936907 -0.1121218 0.002746024 0.9986071 -0.05260719 0.004043317 -0.9987281 0.04999234 -0.006548149 0.9987281 -0.04999234 0.006548149 -1 1.017991e-015 9.833618e-015 -1 1.017991e-015 9.833618e-015 -1 1.017991e-015 9.833618e-015 -1 1.017991e-015 9.833618e-015 -1 1.017991e-015 9.833618e-015 -1 1.017991e-015 9.833618e-015 -1 1.017991e-015 9.833618e-015 -1 1.017991e-015 9.833618e-015 -1 1.017991e-015 9.833618e-015 1 -1.017991e-015 -9.833618e-015 1 -1.017991e-015 -9.833618e-015 1 -1.017991e-015 -9.833618e-015 1 -1.017991e-015 -9.833618e-015 1 -1.017991e-015 -9.833618e-015 1 -1.017991e-015 -9.833618e-015 1 -1.017991e-015 -9.833618e-015 1 -1.017991e-015 -9.833618e-015 1 -1.017991e-015 -9.833618e-015 - - - - - - - - - - - - - - -

0 1 2 2 6 7 6 2 1 7 10 11 10 7 6 10 14 11 11 16 17 16 11 14 16 20 17 17 22 23 22 17 24 24 17 25 25 17 20 30 31 23 23 34 35 34 23 36 36 23 31 34 40 35 42 43 44 43 42 45 45 42 46 46 42 47 46 47 48 46 48 49 49 48 50 49 50 40 40 50 35

- - - -

3 4 5 4 3 8 9 8 3 8 9 12 13 12 9 13 15 12 15 13 18 19 18 13 19 21 18 21 19 26 26 19 27 27 19 28 29 28 19 29 32 33 32 29 37 37 29 38 39 38 29 39 41 38 39 51 41 41 51 52 51 53 52 52 53 54 53 55 54 55 56 54 54 56 57 57 56 58 59 58 56

- - - - - - - - - - 116.0379 7.556128 6.969029 116.0376 7.557774 6.967798 - - - - - - - - - - - - - -

1 0

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0 1 2 3 4 5 1 6 2 3 7 4 0 2 8 9 3 5 10 1 0 5 4 11 10 6 1 4 7 11 6 12 2 3 13 7 8 2 14 15 3 9 0 8 16 17 9 5 6 18 12 13 19 7 2 12 20 21 13 3 2 22 14 15 23 3 16 8 14 15 9 17 12 18 20 21 19 13 2 20 22 23 21 3 14 22 24 25 23 15 16 14 26 27 15 17 22 20 24 25 21 23 14 24 28 29 25 15 26 14 30 31 15 27 16 26 32 33 27 17 14 28 30 31 29 15 28 24 34 35 25 29 32 26 30 31 27 33 36 16 32 33 17 37 30 28 34 35 29 31 34 24 38 39 25 35 32 30 40 41 31 33 36 32 42 43 33 37 36 44 16 44 36 45 46 37 47 17 47 37 30 34 48 49 35 31 34 38 50 51 39 35 24 52 38 39 53 25 30 54 40 41 55 31 32 40 54 55 41 33 42 32 56 57 33 43 45 36 42 43 37 46 30 48 54 55 49 31 34 54 48 49 55 35 50 38 52 53 39 51 34 50 58 59 51 35 32 54 56 57 55 33 42 56 60 61 57 43 45 42 62 63 43 46 34 58 54 55 59 35 52 64 50 51 65 53 50 66 58 59 67 51 56 54 60 61 55 57 42 60 62 63 61 43 45 62 68 69 63 46 58 66 54 55 67 59 52 70 64 65 71 53 50 64 66 67 65 51 68 62 60 61 63 69 45 68 72 73 69 46 55 74 67 66 75 54 52 76 70 71 77 53 70 66 64 65 67 71 68 60 78 79 61 69 80 72 68 69 73 81 82 45 72 73 46 83 84 70 76 77 71 85 86 76 52 53 77 87 70 88 66 67 89 71 78 60 90 91 61 79 92 68 78 79 69 93 80 68 92 93 69 81 82 72 80 81 73 83 86 84 76 77 85 87 84 94 70 71 95 85 88 96 66 67 97 89 94 88 70 71 89 95 92 78 98 99 79 93 80 92 100 101 93 81 102 82 80 81 83 103 104 84 86 87 85 105 84 106 94 95 107 85 94 108 88 89 109 95 110 80 100 101 81 111 112 102 80 81 103 113 114 82 102 103 83 115 116 84 104 105 85 117 118 104 86 87 105 119 120 106 84 85 107 121 122 110 100 101 111 123 112 80 110 111 81 113 114 102 112 113 103 115 114 124 82 83 125 115 118 116 104 105 117 119 116 120 84 85 121 117 118 86 126 127 87 119 128 106 120 121 107 129 122 112 110 111 113 123 130 114 112 113 115 131 132 124 114 115 125 133 134 82 124 125 83 135 136 116 118 119 117 137 128 120 116 117 121 129 138 118 126 127 119 139 140 126 86 87 127 141 142 112 122 123 113 143 130 112 142 143 113 131 132 114 130 131 115 133 132 134 124 125 135 133 134 144 82 83 145 135 136 146 116 117 147 137 148 136 118 119 137 149 146 128 116 117 129 147 148 118 138 139 119 149 138 126 140 141 127 139 140 86 150 151 87 141 132 130 142 143 131 133 132 152 134 135 153 133 148 146 136 137 147 149

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- - - - - - - - - - - - - - - diff --git a/Tools/simulation/gz/models/standard_vtol/meshes/x8_wing.dae b/Tools/simulation/gz/models/standard_vtol/meshes/x8_wing.dae deleted file mode 100644 index 1d9f8de47797..000000000000 --- a/Tools/simulation/gz/models/standard_vtol/meshes/x8_wing.dae +++ /dev/null @@ -1,56 +0,0 @@ - - - - - VCGLab - VCGLib | MeshLab - - Wed Jun 8 23:33:00 2016 - Wed Jun 8 23:33:00 2016 - Y_UP - - - - - - 828.043 307.694 2144.62 828.005 307.637 2144.02 826.473 307.473 2144.05 825.896 306.298 2140.97 824.424 303.556 2139.4 823.552 303.153 2139.54 827.761 307.274 2142.24 827.218 306.471 2140.77 823.274 300.651 2148.37 822.307 300.384 2147.97 822.913 300.119 2148.29 821.245 297.663 2147.69 821.405 299.655 2147.51 823.322 303.174 2147.95 825.067 305.031 2147.95 823.843 304.514 2147.46 825.745 306.282 2147.06 824.333 305.652 2146.61 827.784 307.312 2145.8 826.25 307.152 2145.68 827.609 307.055 2146.6 827.193 306.439 2147.31 824.738 306.443 2145.37 824.955 306.739 2143.92 821.475 301.707 2146.99 821.568 302.674 2146.36 821.733 303.474 2145.5 821.953 304.016 2144.43 822.131 304.207 2143.29 822.194 304.011 2142.12 825.293 303.626 2148.78 825.325 303.674 2148.77 826.322 305.15 2148.22 826.816 305.881 2147.95 827.92 307.509 2142.67 826.339 307.154 2142.39 824.909 306.468 2142.43 824.626 305.71 2141.11 822.157 303.477 2141.05 821.841 301.629 2139.58 819.937 297.664 2146.74 820.335 297.663 2147.02 818.728 297.664 2145.86 821.267 297.684 2137.55 820.384 297.678 2138.13 818.484 297.666 2139.38 818.961 297.669 2139.06 819.119 297.67 2138.96 826.253 305.047 2139.87 825.794 304.371 2139.43 825.284 303.617 2139.22 818.068 297.666 2140.09 818.03 297.666 2140.16 817.482 297.667 2141.1 817.379 297.666 2141.6 817.368 297.666 2141.66 817.344 297.666 2141.77 817.417 297.665 2142.62 817.492 297.665 2143.48 817.513 297.665 2143.72 817.538 297.665 2144 818.437 297.665 2145.41 928.616 297.665 2141.25 928.302 297.664 2141.13 928.696 297.947 2141.26 930.055 303.078 2142.49 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143.13 2095.06 742.428 127.202 2090.67 773.071 143.239 2095.4 764.503 126.26 2090.81 754.457 126.689 2090.76 793.476 143.25 2096.15 774.585 125.83 2090.9 770.667 125.997 2090.85 814.39 143.362 2097.29 800.305 124.733 2091.99 785.205 125.377 2091.35 835.403 143.455 2098.89 818.643 123.951 2093.03 806.547 124.467 2092.34 849.144 122.65 2095.09 847.553 122.718 2094.97 854.674 143.53 2100.72 835.687 123.224 2094.07 828.145 123.546 2093.61 863.763 143.532 2101.75 856.634 122.331 2095.49 860.801 122.153 2095.71 871.155 165.548 2107.19 877.168 209.663 2117.12 907.024 297.665 2139.03 908.54 297.665 2139.19 911.679 297.665 2139.5 920.079 297.666 2140.32 885.934 209.671 2117.95 859.579 209.667 2115.64 891.719 297.665 2137.67 895.706 297.664 2137.89 862.957 297.665 2136.08 824.201 209.664 2113.48 855.958 297.665 2135.94 806.491 209.649 2112.84 850.764 297.665 2135.83 825.257 297.662 2136.62 771.018 209.655 2113.45 766.577 209.651 2114.07 787.246 253.645 2129.64 757.978 209.687 2117.49 760.054 209.662 2116.07 762.201 209.647 2115.16 821.646 297.681 2137.46 824.4 297.667 2136.82 825.526 297.661 2136.56 827.125 297.661 2136.45 779.898 209.655 2112.76 829.224 297.662 2136.3 832.577 297.663 2136.06 837.226 297.664 2135.74 788.76 209.66 2112.52 838.147 297.665 2135.68 839.376 297.665 2135.59 864.911 297.665 2136.19 876.163 297.665 2136.81 841.896 209.635 2114.37 878.448 297.665 2136.94 886.58 297.665 2137.38 756.609 209.651 2119.59 786.839 253.632 2130.61 756.358 209.639 2120.78 786.684 253.619 2131.64 756.386 209.629 2121.94 786.833 253.635 2132.68 756.769 209.629 2122.97 787.237 253.65 2133.7 757.307 209.633 2123.85 758.662 209.666 2125.29 762.309 209.659 2127.2 790.287 253.649 2136.71 824.304 209.666 2129.18 875.707 253.636 2137.41 859.658 209.674 2127 892.15 253.65 2136.02 877.222 209.669 2125.46 844.643 253.638 2139.22 806.597 209.657 2129.84 828.727 253.644 2139.83 788.822 209.661 2130.06 813.523 253.641 2139.99 779.86 209.659 2129.74 806.32 253.641 2139.66 770.962 209.656 2128.98 799.178 253.644 2139.01 766.553 209.654 2128.35 795.576 253.638 2138.53 824.557 297.664 2148.64 822.581 297.662 2148.25 792.012 253.639 2137.57 821.715 297.663 2147.88 825.364 297.664 2148.79 846.026 297.665 2150 838.718 297.665 2150.09 838.253 297.665 2150.06 837.269 297.665 2150 832.352 297.665 2149.68 829.352 297.666 2149.36 827.324 297.666 2149.15 827.026 297.666 2149.12 878.523 297.664 2149.01 876.17 297.664 2149.1 864.977 297.665 2149.56 920.094 297.661 2145.46 911.694 297.665 2146.29 907.083 297.667 2146.75 906.918 297.667 2146.77 903.436 297.666 2147.05 895.705 297.663 2147.67 885.138 297.664 2148.74 891.791 297.663 2148.07 857.334 297.666 2149.87 855.957 297.665 2149.89 850.847 297.665 2149.95 726.402 165.331 2113.05 725.603 165.327 2110.85 710.497 143.099 2106.34 701.643 128.941 2103.12 727.995 165.298 2114.69 732.36 165.256 2116.83 737.433 165.286 2118.18 742.679 165.296 2119 753.325 165.309 2120.09 763.953 165.325 2120.49 784.352 165.405 2120.09 803.838 165.411 2119.4 823.673 165.486 2118.36 851.629 187.675 2121.76 869.746 187.671 2120.16 862.177 165.566 2106.24 843.461 165.523 2104.49 823.605 165.561 2103.08 803.764 165.493 2102.01 784.242 165.427 2101.27 763.86 165.321 2100.93 753.287 165.3 2101.15 742.655 165.301 2102.04 737.382 165.249 2102.83 732.227 165.221 2104.07 729.783 165.28 2105.04 727.642 165.307 2106.5 726.024 165.36 2108.45 725.626 165.352 2109.62 921.668 276.622 2139.35 925.217 297.667 2144.88 914.345 254.303 2133.87 914.054 253.417 2133.65 907.536 233.549 2128.78 907.027 231.985 2128.38 895.374 196.184 2119.21 899.61 209.199 2122.54 899.781 209.723 2122.67 906.8 231.29 2128.2 884.963 164.807 2112.27 885.071 165.128 2112.33 886.11 168.21 2112.97 888.795 176.316 2114.77 892.349 187.05 2117.17 892.484 187.457 2117.26 874.591 132.061 2102.54 877.035 140.459 2106.18 881.261 153.825 2110.02 881.206 153.66 2109.99 881.122 153.41 2109.94 877.738 142.688 2106.82 877.705 142.583 2106.79 871.584 121.693 2097.68 873.173 127.189 2100.43 874.474 131.659 2102.36 857.507 300.821 2150.54 835.216 307.269 2142.02 834.707 306.474 2140.33 847.718 300.895 2150.91 887.271 301.686 2149.07 878.002 301.923 2149.37 877.402 300.518 2149.54 857.477 300.773 2136.55 896.557 300.103 2138.63 877.364 300.447 2137.29 858.987 303.865 2137.61 878.554 303.234 2138.33 859.619 305.167 2138.61 879.069 304.434 2139.17 879.447 305.315 2140.36 897.628 303.122 2140.1 897.38 302.437 2139.59 898.088 304.392 2141.24 898.223 304.766 2142 879.67 305.833 2141.85 898.303 304.987 2142.45 898.032 304.24 2140.93 898.013 304.187 2140.89 897.757 303.48 2140.36 860.077 306.114 2140.04 860.325 306.629 2141.72 860.365 306.719 2143.5 896.73 300.597 2138.78 897.179 301.883 2139.18 860.013 305.987 2147 859.621 305.164 2148.52 879.071 304.435 2147.8 858.295 302.429 2150.35 859.034 303.944 2149.67 898.38 305.2 2144.81 898.378 305.193 2144.02 879.745 306.009 2143.48 898.216 304.738 2145.93 879.674 305.84 2145.08 898.136 304.514 2146.26 879.448 305.314 2146.54 897.998 304.129 2146.83 898.291 304.948 2145.61 898.352 305.12 2145.06 898.358 305.138 2145.01 897.048 301.462 2148.13 897.276 302.108 2148.16 887.771 302.97 2148.65 897.398 302.452 2148.17 897.476 302.67 2148.04 896.771 300.68 2148.09 878.573 303.264 2148.77 897.862 303.751 2147.38 897.847 303.707 2147.45 897.701 303.299 2147.68 831.019 306.483 2147.63 835.203 307.205 2145.86 834.743 306.466 2147.63 830.239 305.283 2148.84 834.06 305.372 2148.98 829.301 303.829 2149.49 833.195 303.971 2149.79 831.253 300.781 2150 827.305 300.715 2149.49 839.072 300.876 2150.69 842.182 306.396 2147.56 841.657 305.477 2149.11 840.916 304.167 2150.16 840.015 302.56 2150.65 848.597 302.579 2150.77 849.424 304.168 2150.15 829.192 303.74 2138.56 831.148 300.78 2137.02 833.95 305.276 2139.05 833.055 303.85 2138.16 835.387 307.516 2143.93 839.027 300.863 2136.52 842.526 306.997 2145.71 842.693 307.297 2143.79 842.606 307.159 2141.91 842.222 306.495 2140.15 841.594 305.397 2138.7 840.807 304.013 2137.67 896.381 299.575 2148.04 896.588 300.162 2148.07 898.377 305.19 2143.74 898.374 305.183 2142.99 898.373 305.182 2142.84 871.784 121.684 2097.56 871.232 121.708 2095.9 871.43 121.7 2095.96 871.953 121.675 2096.33 872.118 121.674 2096.79 871.937 121.676 2096.31 872.085 121.673 2097.05 871.623 121.692 2096.02 871.849 121.681 2097.53 871.968 121.676 2097.35 872.063 121.673 2097.22 892.934 187.396 2116.88 881.763 154.429 2106.85 889.247 176.251 2114.39 885.463 165.02 2112.24 885.888 164.947 2111.92 874.764 131.549 2102.38 907.424 231.884 2128.26 922.601 276.438 2138.68 915.284 254.158 2133.2 915.597 254.172 2132.73 874.652 132.434 2100.17 875.3 132.025 2100.68 875.005 132.252 2100.34 875.434 131.797 2101.16 875.351 131.628 2101.67 875.094 131.549 2102.1 922.214 276.513 2138.98 915.717 254.28 2132.13 915.585 254.465 2131.56 915.263 254.674 2131.14 914.873 254.858 2130.92 900.08 210.37 2119.71 914.9 254.213 2133.5 900.903 209.918 2120.43 908.378 231.959 2126.73 908.233 231.834 2127.41 907.867 231.819 2127.94 886.377 165.032 2110.75 893.745 187.454 2115.48 893.63 187.35 2116.09 881.688 153.72 2109.88 878.878 142.874 2104.6 882.675 153.773 2108.32 879.01 142.636 2105.23 882.516 153.659 2109.01 878.868 142.482 2105.89 882.142 153.651 2109.55 878.517 142.436 2106.41 878.086 142.476 2106.74 889.638 176.187 2114.09 886.235 164.941 2111.4 900.116 209.62 2122.64 893.32 187.339 2116.57 900.558 209.557 2122.31 900.92 209.574 2121.77 901.059 209.701 2121.09 878.108 143.35 2103.87 885.494 165.613 2109.35 892.88 188.027 2114.25 882.201 154.215 2107.14 885.913 165.419 2109.63 886.249 165.208 2110.1 893.277 187.844 2114.47 893.606 187.636 2114.9 900.529 210.16 2119.96 882.55 153.978 2107.65 878.535 143.13 2104.13 905.28 302.94 2147 905.592 303.888 2146.35 901.824 304.326 2146.16 901.563 303.556 2146.95 922.016 303.483 2145.74 922.149 303.902 2145.18 913.876 304.207 2145.36 912.247 299.411 2139.96 912.833 301.211 2140.54 921.146 300.924 2141.14 913.794 304.105 2142.34 922.091 303.781 2142.49 913.644 303.671 2141.8 921.948 303.356 2142.01 913.477 303.174 2141.41 921.783 302.862 2141.69 913.965 304.557 2143.8 922.244 304.22 2143.79 913.907 304.418 2143.02 922.195 304.084 2143.09 913.955 304.488 2144.61 922.229 304.159 2144.51 921.467 301.795 2146.41 921.656 302.372 2146.35 913.374 302.6 2146.74 921.844 302.953 2146.13 913.565 303.199 2146.45 913.182 302.012 2146.87 921.129 300.776 2146.22 905.904 304.925 2143.91 905.83 304.648 2145.28 909.516 303.502 2146.42 913.739 303.757 2145.99 905.726 304.31 2145.87 902.01 304.896 2145.14 904.94 301.957 2147.39 901.234 302.621 2147.57 900.834 301.49 2147.91 909.161 302.409 2146.94 912.831 300.969 2146.88 912.237 299.23 2146.69 904.911 302.073 2140.19 905.244 303.037 2140.82 901.811 304.379 2141.73 901.996 304.91 2142.77 905.542 303.916 2141.58 909.728 304.343 2142.41 905.784 304.616 2142.59 909.441 303.505 2141.43 904.576 300.917 2147.59 904.198 299.833 2147.51 585.119 79.0287 1700.16 584.781 78.2793 1700.94 584.548 78.163 1700.81 584.003 78.1735 1700.61 584.162 78.9962 1699.45 584.585 78.9711 1699.49 583.39 77.4993 1703.38 583.393 77.4993 1703.38 583.387 77.4993 1703.39 583.589 77.5575 1702.54 583.672 77.5537 1702.57 583.755 77.5576 1702.6 584.394 77.9882 1701.63 583.837 77.5691 1702.63 584.279 78.1184 1700.71 583.999 78.1493 1700.65 585.239 79.2955 1699.89 584.967 79.0773 1699.64 585.313 80.4993 1699.23 585.065 80.2493 1698.85 584.625 80.0663 1698.65 584.113 79.9993 1698.68 584.63 77.4993 1707.71 576.247 77.4993 1705.44 577.49 77.4993 1709.77 587.811 79.0287 1709.53 588.06 79.2955 1709.7 587.958 79.0773 1710.05 584.642 77.4993 1707.72 584.641 77.4993 1707.72 585.363 77.5576 1708.19 585.308 77.5537 1708.26 585.417 77.5691 1708.12 586.418 77.9882 1708.67 586.982 78.163 1709.28 586.807 78.1184 1709.51 586.626 78.1735 1709.74 586.604 78.1493 1709.71 585.252 77.5575 1708.33 587.114 78.2793 1709.05 587.376 78.9962 1710.64 587.716 78.9711 1710.38 587.748 79.9993 1711.32 588.197 80.0663 1711.07 588.461 80.2493 1710.67 588.47 80.4993 1710.21 595.024 103.666 1722.16 589.332 103.666 1684.25 627.701 103.666 1712.76 617.203 103.666 1676.24 594.246 103.666 1722.22 593.503 103.666 1721.98 617.981 103.666 1676.18 618.724 103.666 1676.41 584.472 103.666 1689.29 586.227 103.666 1686.12 584.538 103.666 1692.91 592.549 103.666 1720.79 592.907 103.666 1721.48 629.089 103.666 1711.32 628.588 103.666 1712.23 629.07 103.666 1710.29 619.678 103.666 1677.61 619.32 103.666 1676.92 583.52 102.666 1690.08 583.502 102.666 1689.05 583.576 103.048 1689.07 584.17 103.59 1693.02 585.951 103.59 1685.85 589.226 103.59 1683.89 589.196 103.517 1683.78 585.718 103.373 1685.63 589.136 103.373 1683.57 583.786 103.373 1689.12 584.101 103.59 1689.2 585.562 103.048 1685.48 589.076 103.048 1683.36 589.096 103.156 1683.43 589.055 102.666 1683.29 586.386 102.666 1684.9 585.507 102.666 1685.43 584.505 102.666 1687.24 583.858 103.373 1693.11 583.65 103.048 1693.17 583.577 102.666 1693.19 617.097 103.59 1675.87 617.068 103.517 1675.77 617.008 103.373 1675.56 616.968 103.156 1675.42 616.948 103.048 1675.35 616.927 102.666 1675.28 618.085 103.048 1675.26 618.06 103.373 1675.47 618.024 103.59 1675.8 618.909 103.59 1676.08 619.619 103.59 1676.68 620.045 103.59 1677.51 619.067 103.373 1675.8 619.873 103.373 1676.48 620.357 103.373 1677.42 619.172 103.048 1675.61 620.043 103.048 1676.34 620.566 103.048 1677.36 618.093 102.666 1675.18 619.208 102.666 1675.54 620.102 102.666 1676.3 620.639 102.666 1677.33 629.432 103.565 1710.18 629.551 103.532 1710.15 629.727 103.349 1710.1 630.031 102.666 1710.01 629.935 103.042 1710.04 629.903 103.166 1710.05 628.948 103.532 1712.58 629.574 103.532 1711.44 629.93 103.166 1711.53 627.889 103.349 1713.42 627.839 103.532 1713.24 627.805 103.565 1713.12 627.949 103.042 1713.63 627.94 103.166 1713.59 629.211 103.166 1712.83 627.977 102.666 1713.72 629.307 102.666 1712.92 630.06 102.666 1711.56 595.13 103.59 1722.52 595.219 103.373 1722.83 595.279 103.048 1723.04 595.3 102.666 1723.12 594.203 103.59 1722.6 593.317 103.59 1722.32 592.607 103.59 1721.72 592.181 103.59 1720.89 594.167 103.373 1722.92 593.16 103.373 1722.6 592.354 103.373 1721.92 591.87 103.373 1720.98 594.142 103.048 1723.14 593.055 103.048 1722.79 592.184 103.048 1722.06 591.661 103.048 1721.04 594.133 102.666 1723.21 593.018 102.666 1722.86 592.125 102.666 1722.1 591.588 102.666 1721.06 578.686 79.9993 1713.93 578.181 78.1692 1712.17 587.933 82.4993 1711.97 578.871 82.4993 1714.57 574.092 78.9638 1710.74 575.651 77.8799 1710.3 574.954 79.3201 1712.45 576.588 78.4988 1712.63 575.238 79.4374 1713.02 577.767 80.1896 1714.19 577.454 81.1697 1714.45 576.987 80.7316 1714.42 576.113 80.0845 1713.72 574.408 77.8799 1705.97 572.849 78.9638 1706.42 574.131 80.1896 1701.55 573.352 80.7316 1701.77 573.727 81.1697 1701.49 572.983 80.0845 1702.83 573.964 78.4988 1703.5 572.614 79.4374 1703.89 572.672 79.3201 1704.51 575.556 78.1692 1703.04 575.051 79.9993 1701.28 574.866 82.4993 1700.64 583.928 82.4993 1698.03 583.928 84.847 1698.03 584.317 84.847 1698 584.317 82.4993 1698.03 584.445 82.4993 1698.02 584.688 84.847 1698.12 584.672 82.4993 1698.15 584.898 82.4993 1698.27 584.986 84.847 1698.37 584.964 82.4993 1698.38 585.165 84.847 1698.72 585.165 82.4993 1698.72 588.618 82.4993 1710.73 588.628 82.4993 1711.25 588.377 82.4993 1711.7 587.933 85.1547 1711.97 588.28 85.1547 1711.79 588.364 85.1547 1711.69 588.532 85.1547 1711.49 588.611 85.1547 1711.24 588.651 85.1547 1711.12 588.618 85.1547 1710.73 583.535 89.192 1693.12 583.577 89.3151 1693.19 583.652 89.1327 1693.45 583.413 88.9564 1693 583.493 89.0689 1693.05 583.573 88.9151 1693.31 583.43 88.7135 1693.2 583.333 88.8438 1692.95 583.887 88.1833 1694.27 583.916 87.8224 1694.37 583.908 87.8195 1694.35 583.824 88.108 1694.11 583.855 87.7997 1694.21 583.73 88.0353 1693.97 583.767 87.7776 1694.06 583.354 90.8685 1690.08 583.271 90.713 1690.68 583.232 90.4401 1690.58 585.095 87.6779 1685.77 585.348 87.6791 1685.6 585.345 87.8534 1685.6 584.661 87.6763 1685.92 584.771 87.6767 1685.91 584.983 87.8298 1685.85 584.985 87.6774 1685.85 584.633 87.6763 1685.92 584.547 87.8107 1685.93 584.605 87.6762 1685.92 584.607 87.6762 1685.92 584.611 87.6762 1685.92 584.616 87.6762 1685.92 584.619 87.6762 1685.92 584.125 87.6753 1685.8 584.549 87.676 1685.92 584.583 87.6761 1685.92 583.792 87.7998 1685.51 583.795 87.6753 1685.51 584.112 87.6753 1685.79 584.021 88.5897 1685.94 584.123 87.8 1685.8 583.44 89.2831 1686.03 583.575 88.8988 1685.82 583.684 88.5895 1685.65 583.796 89.2808 1686.3 583.491 89.8349 1686.91 583.111 89.8281 1686.69 583.109 89.8299 1686.7 585.198 88.9591 1685.77 584.862 88.7947 1686.01 584.861 89.9302 1686.19 584.586 89.6403 1686.39 584.38 90.6931 1686.91 584.194 90.3138 1687.03 584.276 90.7806 1687.11 583.802 90.6898 1687.87 584.442 88.6629 1686.07 584.206 89.4084 1686.43 583.877 90.0079 1687.03 583.553 90.3585 1687.82 583.437 90.7729 1689.03 583.256 90.4617 1688.95 583.207 90.1541 1687.72 582.975 90.2415 1688.86 582.823 90.1121 1687.56 582.709 90.1303 1688.29 582.633 90.1423 1688.77 583.494 91.133 1689.08 583.91 91.0907 1687.83 583.112 90.1906 1690.49 582.919 89.9855 1690.41 583.295 88.9015 1692.8 582.683 89.8259 1690.39 582.672 89.8423 1690.35 640.923 91.1656 1743.14 639.359 91.1656 1744.48 637.434 91.1656 1745.24 642.335 91.1656 1739.33 641.953 91.1656 1741.35 637.636 91.1656 1733.25 636.141 91.1656 1733.08 636.105 91.1656 1745.36 635.57 91.1656 1733.11 634.109 91.1656 1745.01 633.577 91.1656 1733.66 631.88 91.1656 1734.83 639.537 91.1656 1734.07 641.058 91.1656 1735.47 642.026 91.1656 1737.29 630.942 91.1656 1742.44 630.17 91.1656 1740.53 632.307 91.1656 1743.99 630.076 91.1656 1738.47 630.669 91.1656 1736.5 866.015 102.953 2075.36 865.744 103.038 2074.78 865.884 103.228 2075.29 865.743 103.04 2074.78 865.847 103.306 2075.27 865.705 103.119 2074.76 865.825 103.324 2075.27 865.495 103.287 2074.76 865.636 103.475 2075.27 865.518 103.57 2075.27 865.377 103.382 2074.75 865.378 103.604 2075.29 865.238 103.416 2074.78 865.549 102.097 2075.79 865.327 102.05 2075.87 865.408 101.906 2075.27 865.257 101.953 2075.61 865.401 101.904 2075.27 865.183 101.857 2075.34 865.009 103.472 2074.83 865.08 103.565 2075.08 865.35 103.611 2075.3 865.15 103.659 2075.34 865.571 102.102 2075.79 865.43 101.91 2075.26 865.591 102.116 2075.78 865.633 102.051 2075.15 865.778 102.247 2075.68 865.639 102.055 2075.15 865.831 102.285 2075.65 865.709 102.103 2075.11 865.86 102.305 2075.64 865.819 102.315 2075.01 865.961 102.51 2075.53 865.822 102.32 2075.01 866.016 102.62 2075.48 865.872 102.416 2074.96 866.016 102.783 2075.42 865.873 102.678 2074.87 866.015 102.869 2075.39 865.873 102.682 2074.87 865.874 102.765 2074.84 865.998 103.098 2075.39 865.586 102.148 2075.93 865.363 102.101 2076.01 865.345 102.075 2075.94 865.608 102.153 2075.92 865.613 102.137 2075.85 865.555 103.62 2075.4 865.614 103.553 2075.33 865.413 103.654 2075.43 865.371 103.656 2075.36 865.386 103.661 2075.43 865.168 103.684 2075.4 865.185 103.709 2075.47 865.847 103.353 2075.34 866.001 102.533 2075.6 866.052 102.806 2075.48 865.854 102.304 2075.72 865.671 103.527 2075.41 865.883 103.356 2075.41 865.92 103.279 2075.43 866.004 103.104 2075.47 866.052 103.003 2075.49 866.053 102.729 2075.59 866.053 102.67 2075.61 865.896 102.356 2075.77 865.815 102.299 2075.81 865.628 102.167 2075.91 868.473 110.463 2087.48 868.561 110.895 2087.8 868.838 110.766 2087.88 867.506 106.513 2081.95 871.133 120.812 2097.28 870.187 116.172 2095.06 870.241 115.157 2094.31 871.376 121.665 2097.67 871.307 121.669 2097.7 871.491 121.66 2097.58 871.135 118.424 2096.18 871.635 121.653 2097.47 871.678 121.651 2097.39 871.806 121.647 2097.15 871.384 118.589 2095.82 871.808 121.646 2097.09 871.816 121.646 2096.9 871.822 121.646 2096.72 870.91 115.475 2093.64 870.918 115.62 2093.42 871.188 121.675 2095.93 871.591 121.658 2096.23 869.357 110.393 2088.05 871.628 121.656 2096.31 871.81 121.646 2096.7 869.133 110.624 2087.92 871.029 121.681 2095.91 868.581 110.994 2087.88 870.55 120.753 2095.18 870.71 121.545 2095.77 870.753 121.692 2095.86 869.057 109.696 2088.74 868.56 110.052 2088.56 867.278 105.43 2083.16 869.264 109.502 2088.85 870.843 115.346 2093.85 870.586 115.163 2094.2 867.517 106.541 2081.93 869.989 115.203 2094.59 869.962 115.104 2094.48 868.765 110.791 2089.43 869.426 110.149 2088.09 869.537 110.042 2088.31 869.531 109.874 2088.46 869.477 109.722 2088.6 862.296 101.449 2075.43 859.405 101.046 2075.52 863.738 108.878 2089.52 863.809 109.18 2089.75 869.687 121.738 2098.27 865.465 116.257 2095.07 866.581 121.028 2098.66 866.776 121.862 2099.28 865.356 115.792 2094.72 863.88 109.483 2089.98 463.367 85.099 1525.5 463.367 87.6656 1525.5 538.019 86.7933 1630.02 577.51 87.6656 1685.31 583.275 87.6656 1684.78 469.511 87.6656 1525.5 527.036 86.3884 1606.04 469.511 85.0556 1525.5 462.588 84.1631 1525.5 462.11 84.0843 1525.5 470.726 84.0694 1525.5 462.61 84.1668 1525.5 470.661 84.0707 1525.5 463.042 84.4179 1525.5 469.679 84.5628 1525.5 469.562 84.772 1525.5 463.254 84.6794 1525.5 463.361 85.0007 1525.5 463.265 84.7111 1525.5 470.125 84.2095 1525.5 469.924 84.3122 1525.5 469.703 84.5216 1525.5 470.243 84.1493 1525.5 463.471 88.3127 1525.5 469.099 88.9156 1525.5 467.975 89.8307 1525.5 466.439 90.1656 1525.5 469.406 88.3127 1525.5 463.778 88.9156 1525.5 464.903 89.8307 1525.5 585.248 87.1832 1685.51 585.28 87.3432 1685.54 585.057 87.462 1685.79 585.154 87.0547 1685.43 584.917 87.2882 1685.79 584.795 86.8354 1685.43 584.98 86.8178 1685.27 585.109 87.0298 1685.43 585.123 87.0127 1685.4 583.917 87.1677 1685.43 584.06 86.994 1685.33 584.063 87.0089 1685.43 584.208 86.8139 1685.23 584.409 86.8381 1685.43 584.614 86.6792 1684.94 584.81 86.7534 1685.12 584.157 87.4683 1685.79 583.874 87.3284 1685.45 584.294 87.2926 1685.79 583.909 87.1781 1685.43 584.494 87.1941 1685.79 584.716 87.1925 1685.79 586.305 87.6715 1684.75 589.055 87.6694 1683.29 586.635 87.6688 1684.46 616.927 88.2392 1675.28 602.994 87.8192 1679.29 620.639 88.4314 1677.33 620.388 88.4179 1676.72 620.069 88.401 1676.32 619.763 88.3849 1675.93 619.188 88.355 1675.57 618.911 88.3406 1675.4 618.088 88.2982 1675.2 617.929 88.29 1675.17 630.031 88.8588 1710.01 625.335 88.6355 1693.67 630.018 88.8679 1711.56 629.918 88.8663 1711.99 629.38 88.8489 1712.84 629.297 88.8458 1712.91 628.591 88.82 1713.47 627.977 88.7964 1713.72 630.143 88.8699 1711.01 611.64 88.4589 1718.42 595.3 88.352 1723.12 593.039 88.33 1722.83 592.466 88.319 1722.46 592.158 88.309 1722.08 591.84 88.2988 1721.68 591.588 88.2843 1721.06 594.299 88.3467 1723.23 594.139 88.3449 1723.19 593.317 88.3354 1723 588.007 86.1423 1712.23 587.945 85.5611 1712.01 588.292 85.5766 1711.83 588.636 85.7643 1710.79 588.666 85.6865 1711.17 588.545 85.6206 1711.54 588.012 86.1864 1712.24 588.362 86.2256 1712.07 588.623 86.3374 1711.81 588.754 86.5048 1711.48 588.737 86.7023 1711.14 588.919 87.4657 1711.78 588.913 87.1708 1712.03 588.761 86.9208 1712.29 588.487 86.7538 1712.51 588.293 87.0307 1713.22 588.207 86.8511 1712.92 588.133 86.6954 1712.66 588.843 87.2302 1713.75 588.654 87.1018 1713.09 589.154 87.4469 1713.66 588.945 87.305 1712.93 589.362 87.7714 1713.59 589.123 87.6094 1712.76 589.433 88.1543 1713.56 589.16 87.9687 1712.61 588.476 87.1545 1713.86 582.134 85.1728 1713.64 576.263 85.2128 1715.32 566.729 86.6251 1712.86 567.153 86.617 1713.78 567.889 86.5427 1714.51 568.127 86.5187 1714.74 569.783 86.2936 1715.51 570.079 86.2471 1715.55 572.36 85.8899 1715.87 573.026 85.7744 1715.78 565.559 86.5489 1708.51 572.555 84.9032 1701.3 569.977 85.3926 1702.32 569.553 85.4826 1702.61 567.353 85.9495 1704.14 567.14 86.0035 1704.4 566.003 86.2909 1705.84 565.767 86.3744 1706.48 565.517 86.4632 1707.16 578.276 84.8649 1699.66 584.323 87.8466 1695.79 584.518 87.7738 1696.47 584.251 87.4636 1695.81 584.422 87.4001 1696.41 584.044 87.1391 1695.88 584.193 87.0835 1696.4 583.733 86.9224 1695.97 583.868 86.8721 1696.44 583.365 86.8467 1696.08 583.667 86.5429 1697.13 583.576 86.6779 1696.81 583.495 86.7982 1696.53 584.776 87.3908 1697.36 584.984 86.7211 1698.08 584.646 87.0661 1697.19 584.828 86.4819 1697.82 584.39 86.7909 1697.08 584.549 86.2791 1697.64 584.046 86.6071 1697.06 584.19 86.1438 1697.56 583.806 86.0964 1697.61 583.88 85.612 1697.87 583.896 85.509 1697.92 584.284 85.5341 1697.89 584.652 85.6059 1697.99 584.945 85.7133 1698.23 585.118 85.84 1698.55 590.511 88.2194 1717.31 583.836 87.4556 1694.35 583.716 87.5019 1694.11 583.698 87.4074 1694.12 583.628 87.1451 1694.35 583.391 86.9945 1694.35 583.521 87.0974 1694.25 583.575 87.1917 1694.21 583.645 87.1271 1694.46 583.637 87.1149 1694.46 583.331 86.9017 1694.55 583.314 86.9341 1694.41 583.262 86.8925 1694.44 583.326 86.8982 1694.56 582.958 86.8225 1694.66 583.844 87.4395 1694.4 583.846 87.4509 1694.4 581.579 87.7378 1691 627.011 89.0015 1736.05 627.595 89.0022 1734.98 628.268 90.135 1735.31 638.091 89.3034 1748.44 637.208 89.2891 1748.7 636.074 90.2634 1747.9 637.945 90.28 1747.69 640.639 90.3021 1746.61 640.3 89.339 1747.79 642.914 89.3769 1745.9 642.819 90.3179 1744.71 643.399 89.3829 1745.2 644.253 90.3259 1742.2 644.752 89.3993 1743.25 645.607 89.4025 1740.14 644.789 90.3247 1739.37 645.555 89.3982 1739.4 644.369 90.3134 1736.52 645.383 89.3839 1736.93 644.104 89.3432 1733.96 643.033 90.2921 1733.95 643.654 89.3308 1733.48 640.915 90.2623 1731.95 641.914 89.283 1731.59 639.064 89.2094 1730.08 638.241 90.2271 1730.75 638.437 89.1939 1729.95 635.309 90.1913 1730.51 632.455 90.1611 1731.26 632.136 89.0555 1730.58 633.878 89.0881 1729.85 635.23 89.1187 1729.77 637.085 89.1607 1729.66 630.013 90.1415 1732.92 628.544 89.0034 1733.24 629.488 89.015 1732.39 630.919 89.0327 1731.1 626.678 89.015 1738.05 627.423 90.1409 1738.14 626.487 89.0228 1739.21 627.575 90.1566 1741.09 626.842 89.048 1741.26 627.035 89.0617 1742.37 628.703 90.1795 1743.82 628.066 89.0953 1744.22 628.599 89.1128 1745.18 630.671 90.2067 1746.01 630.202 89.1516 1746.6 631.008 89.1711 1747.32 633.247 90.2357 1747.42 632.999 89.2115 1748.13 636.092 89.2699 1748.77 636.064 89.2694 1748.76 633.99 89.2316 1748.54 635.431 90.9141 1731.72 632.977 90.9061 1732.37 630.881 90.9008 1733.81 629.383 90.8991 1735.86 628.656 90.9007 1738.29 628.782 90.9049 1740.83 629.747 90.911 1743.18 631.435 90.9183 1745.07 633.651 90.926 1746.29 636.089 90.9333 1746.71 637.705 90.9377 1746.54 640.037 90.9436 1745.61 641.926 90.9477 1743.97 643.169 90.9499 1741.8 643.632 90.9495 1739.35 643.265 90.9465 1736.88 642.104 90.9409 1734.66 640.269 90.933 1732.94 637.958 90.9237 1731.92 862.196 101.065 2065.29 859.687 100.27 2055.5 859.345 100.309 2055.5 860.082 100.108 2055.5 859.774 100.26 2055.5 860.153 100.073 2055.5 860.438 99.7752 2055.5 860.448 99.7511 2055.5 860.596 99.4131 2055.5 860.622 99.2098 2055.5 860.627 99.1717 2055.5 860.627 99.1497 2055.5 860.627 99.1277 2055.5 860.535 98.7033 2055.5 860.505 98.6557 2055.5 860.33 98.3822 2055.5 862.347 99.0377 2065.56 860.178 98.2602 2055.5 860.023 98.1361 2055.5 859.804 98.0557 2055.5 859.641 97.9959 2055.5 859.472 97.9766 2055.5 862.305 103.517 2075.49 865.56 121.034 2095.33 864.522 116.44 2092 863.254 110.832 2087.93 863.201 110.601 2087.76 863.154 110.392 2087.61 859.406 103.343 2075.5 865.757 121.906 2095.96 868.559 121.786 2095.98 717.875 128.224 2092.32 702.365 128.887 2104.18 702.854 128.866 2104.9 701.818 128.91 2103.37 701.476 128.925 2102.07 701.478 128.925 2101.98 715.109 128.343 2092.89 710.634 128.534 2093.81 707.003 128.689 2095.31 701.493 128.924 2101.41 701.67 128.917 2100.8 704.054 128.815 2105.84 705.552 128.751 2107.03 708.26 128.635 2108.09 701.897 128.907 2100.02 702.101 128.898 2099.7 703.172 128.853 2098.05 705.704 128.744 2095.85 711.034 128.517 2109.18 717.802 128.227 2109.96 726.284 127.865 2091.53 731.451 127.644 2111.53 732.862 127.584 2091.19 736.427 127.432 2111.68 738.686 127.335 2090.89 738.078 127.361 2111.63 757.175 126.545 2090.78 776.435 125.722 2091.24 779.589 125.588 2110.31 781.207 125.518 2110.16 784.684 125.37 2091.44 824.609 123.664 2106.14 825.86 123.61 2093.58 837.761 123.102 2104.92 862.662 122.038 2100.34 692.57 108.894 2075.5 686.536 106.433 2075.5 696.333 114.857 2089.07 683.2 106.794 2084.4 677.478 102.245 2075.5 676.349 101.074 2075.5 818.854 112.869 2086.27 774.487 116.27 2084.96 775.62 120.781 2088.42 688.533 111.932 2093.12 688.405 111.621 2093.48 691.789 115.689 2096.94 731.64 122.802 2088.34 711.396 122.239 2090.99 701.823 121.429 2093.76 696.065 120.652 2097.71 698.826 125.177 2101.15 695.503 120.467 2098.61 699.091 125.077 2102.23 699.723 124.978 2103.2 701.549 124.842 2104.77 713.802 118.343 2106.1 706.035 124.604 2106.92 735.816 116.7 2106.88 779.299 115.748 2105.17 822.907 115.081 2101.81 820.234 106.817 2094.47 691.705 109.817 2095.84 693.764 114.599 2099.14 690.457 110.024 2095.37 692.738 114.847 2098.5 689.358 110.386 2094.82 691.832 115.466 2097.36 688.425 111.289 2093.84 692.013 115.238 2097.76 688.597 110.954 2094.19 688.917 110.645 2094.52 776.137 106.238 2096.9 731.96 106.326 2098.24 708.747 108.197 2098.15 703.064 119.137 2104.6 696.194 119.731 2101.36 697.136 119.574 2102.1 698.212 119.476 2102.74 700.099 114.012 2101.3 695.267 120.238 2099.57 695.328 120.107 2100.05 695.513 119.97 2100.52 688.778 112.219 2092.77 730.113 118.45 2084.84 707.447 116.86 2086.88 676.255 100.976 2075.5 681.768 104.881 2085.17 676.141 100.858 2075.5 697.682 120.934 2096.13 691.484 113.511 2090.9 689.504 112.72 2092.09 682.296 105.919 2084.78 681.968 105.42 2084.98 684.005 105.401 2075.5 680.243 103.866 2075.5 679.778 103.676 2075.5 678.261 103.058 2075.5 726.475 112.911 2075.5 724.981 112.891 2075.5 711.493 111.551 2075.5 699.778 110.388 2075.5 695.092 109.923 2075.5 771.245 110.422 2075.5 758.672 111.121 2075.5 685.311 101.814 2086.48 680.673 95.2234 2075.51 682.33 94.8634 2075.51 679.393 95.5015 2075.51 683.922 102.167 2086.22 678.432 95.7103 2075.5 682.695 102.783 2085.92 678.413 95.7146 2075.5 676.522 96.7549 2075.5 682.213 103.221 2085.75 676.466 96.831 2075.5 681.881 103.743 2085.57 675.769 97.7816 2075.5 675.793 97.7493 2075.5 675.816 99.9439 2075.5 675.705 99.6322 2075.5 681.734 104.311 2085.37 675.553 99.2049 2075.5 675.723 98.0866 2075.5 691.184 100.93 2087.22 685.614 94.5874 2075.51 689.844 94.232 2075.5 695.369 93.7679 2075.5 697.138 109.234 2097.2 694.931 114.456 2099.7 697.987 93.6825 2075.5 705.773 93.4287 2075.5 708.94 93.468 2075.5 722.06 93.6307 2075.5 755.376 94.044 2075.5 767.932 94.1997 2075.5 768.886 94.2115 2075.5 813.671 107.015 2075.5 815.133 106.898 2075.5 856.356 98.5129 2065.64 853.232 97.6562 2055.5 537.959 86.4068 1630.07 537.781 86.0803 1630.2 537.514 85.8647 1630.39 537.199 85.7935 1630.62 567.682 86.4667 1673.29 577.451 87.2811 1685.36 577.276 86.9557 1685.49 577.011 86.7395 1685.68 576.698 86.6657 1685.91 516.263 92.7758 1773.89 569.525 93.5622 1874.58 568.335 94.7635 1874.56 617.39 89.5673 1874.52 676.209 89.6596 1874.52 715.958 90.3492 1975.18 677.333 91.0132 2050.58 777.469 102.32 1975.18 741.292 103.39 1874.52 679.925 112.281 1874.52 804.602 101.882 2050.65 680.044 106.844 2050.55 670.786 103.577 2050.55 673.115 101.578 2063.13 677.043 90.129 1570.5 704.863 91.0337 1672.9 665.483 88.8394 1673.21 602.739 86.8194 1678.33 598.906 86.7783 1679.43 596.438 86.6555 1673.21 745.595 90.6848 2050.6 807.49 93.2246 2050.63 808.814 93.2344 2055.5 735.73 90.7136 2025.47 800.652 93.1742 2025.46 788.083 93.0815 1979.2 786.99 93.0807 1975.18 645.559 88.4328 1733.05 642.992 88.3426 1730.25 637.306 88.1592 1727.94 633.516 88.0502 1728.16 639.639 88.2322 1728.45 621.304 87.4186 1676.25 620.471 87.3856 1675.19 628.284 87.7969 1714.69 629.104 87.8205 1714.35 614.469 87.5115 1718.67 630.011 87.967 1729.63 627.194 87.9229 1732.17 625.375 87.92 1735.49 630.157 87.8494 1713.52 630.874 87.8669 1712.38 631.175 87.8705 1711.07 631.026 87.8594 1709.74 626.333 87.6362 1693.4 621.638 87.4322 1677.06 624.756 87.9519 1739.23 625.409 88.0102 1742.97 627.267 88.0869 1746.28 630.118 88.1744 1748.8 633.641 88.2652 1750.22 636.12 88.3227 1750.49 637.436 88.3515 1750.41 641.075 88.4263 1749.32 767.351 93.0658 1902.89 759.612 92.8141 1874.41 644.146 88.4833 1747.09 646.305 88.5169 1743.97 647.312 88.5218 1740.32 647.054 88.4939 1736.53 619.334 87.3413 1674.47 618.025 87.2907 1674.17 616.688 87.2399 1674.32 525.531 82.0301 1275.5 538.888 82.3956 1275.5 592.641 85.4148 1471.92 557.445 82.9956 1275.5 575.999 83.6972 1275.5 594.551 84.511 1275.5 703.927 92.6336 1570.5 677.892 90.2009 1570.5 673.577 90.4391 1471.93 658.512 89.3498 1422.99 613.101 85.4067 1275.5 438.61 81.0883 1275.5 453.708 81.1577 1275.5 516.476 83.4943 1471.92 471.101 81.2653 1275.5 488.494 81.4017 1275.5 500.334 81.5363 1275.5 512.173 81.7314 1275.5 521.552 81.9411 1275.5 434.463 82.7443 1471.92 345.702 80.6541 1275.5 358.238 80.3901 1275.5 365.034 80.4579 1275.5 377.3 80.6219 1275.5 389.565 80.7849 1275.5 399.989 80.8875 1275.5 409.944 80.9581 1275.5 438.219 81.0865 1275.5 293.782 82.1926 1275.5 296.232 82.0808 1275.5 390.089 85.2685 1471.92 312.147 81.3606 1275.5 367.618 87.3717 1471.92 267.276 83.7269 1275.5 273.686 83.1633 1275.5 275.787 83.0402 1275.5 277.888 82.9288 1275.5 280.318 82.8074 1275.5 261.612 84.5019 1275.5 356.561 89.6987 1471.93 257.648 85.4404 1275.5 255.049 86.4165 1275.5 262.61 84.3226 1275.5 263.609 84.1579 1275.5 265.614 83.8729 1275.5 251.533 88.5403 1275.5 251.574 88.5005 1275.5 354.164 91.1863 1471.91 252.555 87.7828 1275.5 252.612 87.7459 1275.5 253.206 87.3806 1275.5 253.811 87.0384 1275.5 254.354 86.7656 1275.5 250.71 89.3576 1275.5 353.241 92.2558 1471.89 250.585 89.5127 1275.5 352.75 93.5728 1471.89 249.792 90.8902 1275.5 250.429 89.7836 1275.5 249.525 92.5317 1275.5 249.544 92.7548 1275.5 352.861 94.9779 1471.91 249.519 92.3072 1275.5 249.718 91.2725 1275.5 353.352 96.3047 1471.93 249.621 93.2246 1275.5 249.57 92.9171 1275.5 251.995 97.2186 1275.5 251.412 96.5918 1275.5 250.305 94.9883 1275.5 249.899 94.1312 1275.5 258.194 102.598 1275.5 257.943 102.425 1275.5 354.916 98.6603 1471.92 258.701 102.938 1275.5 363.697 105.728 1471.92 261.287 104.536 1275.5 259.213 103.268 1275.5 257.692 102.249 1275.5 257.195 101.89 1275.5 256.223 101.148 1275.5 255.279 100.373 1275.5 253.468 98.7317 1275.5 252.734 98.0145 1275.5 274.793 110.534 1275.5 272.953 109.961 1275.5 266.958 107.566 1275.5 262.596 105.235 1275.5 494.562 114.271 1673.21 296.236 116.109 1275.5 477.195 109.28 1673.21 291.319 115.04 1275.5 286.424 113.864 1275.5 284.725 113.428 1275.5 283.03 112.979 1275.5 279.65 112.044 1275.5 334.736 120.914 1275.5 347.75 121.374 1275.5 530.334 118.189 1673.21 330.677 120.668 1275.5 326.623 120.369 1275.5 318.533 119.6 1275.5 306.137 117.926 1275.5 300.488 116.89 1275.5 565.942 117.521 1673.21 400.726 119.66 1275.5 396.399 120.009 1275.5 386.418 120.607 1275.5 376.426 121.053 1275.5 369.257 121.274 1275.5 362.087 121.405 1275.5 351.92 121.383 1275.5 427.268 117.331 1275.5 422.129 117.853 1275.5 416.988 118.347 1275.5 600.538 114.366 1673.21 443.018 115.572 1275.5 437.54 116.21 1275.5 434.972 116.499 1275.5 432.405 116.783 1275.5 499.546 107.805 1275.5 485.592 109.894 1275.5 478.61 110.903 1275.5 471.624 111.885 1275.5 450.641 114.647 1275.5 447.139 115.078 1275.5 443.636 115.499 1275.5 461.138 113.302 1275.5 457.64 113.759 1275.5 454.141 114.207 1275.5 468.13 112.365 1275.5 464.634 112.838 1275.5 525.987 103.619 1275.5 668.911 103.834 1673.21 677.043 98.8834 1570.5 703.943 97.5284 1570.5 658.532 95.8102 1422.99 527.88 103.32 1275.5 532.06 102.626 1275.5 544.594 100.511 1275.5 536.238 101.922 1275.5 534.149 102.275 1275.5 613.123 93.5399 1275.5 612.667 93.551 1275.5 612.21 93.5698 1275.5 600.925 94.0685 1275.5 589.66 94.7368 1275.5 578.341 95.7297 1275.5 572.698 96.3585 1275.5 567.063 97.0652 1275.5 555.817 98.6858 1275.5 759.534 101.072 1874.12 723.615 100.621 1741.92 704.926 99.9238 1673.13 856.365 100.78 2065.65 853.239 99.9918 2055.5 809.037 101.673 2055.5 808.814 101.691 2055.5 576.304 86.4889 1673.31 527.846 85.3885 1605.47 525.928 86.9819 1673.21 584.094 86.6657 1684.21 586.063 86.669 1683.66 588.787 86.6695 1682.34 569.028 86.9384 1700.58 566.047 87.0018 1702.93 572.01 86.9029 1699.34 580.768 86.7668 1691.6 577.723 86.8646 1697.7 564.564 87.0579 1705.19 564.079 87.098 1706.99 564.219 87.1342 1708.86 569.174 87.2533 1717.06 572.244 87.2442 1717.72 565.389 87.2104 1713.21 565.952 87.2311 1714.51 567.167 87.2475 1715.9 590.631 87.2844 1721.35 590.967 87.2989 1722.17 576.823 87.2125 1717.21 589.553 87.2195 1717.61 582.686 87.1725 1715.52 591.802 87.3191 1723.22 592.937 87.3356 1723.94 594.247 87.3468 1724.24 595.582 87.3521 1724.09 611.932 87.4591 1719.39 463.107 92.0161 1673.24 461.371 93.4566 1673.27 460.723 94.3827 1673.26 460.39 95.4577 1673.24 460.915 97.631 1673.21 469.045 105.352 1673.21 462.201 99.4914 1673.21 671.187 100.225 2063.13 669.585 98.5096 2063.14 666.503 101.258 2050.55 657.835 104.118 2025.44 662.861 98.092 2050.56 700.13 109.909 2050.54 688.801 110.67 2025.44 667.627 107.553 2025.44 642.815 108.867 1975.18 631.946 105.1 1975.18 649.443 98.3214 2025.45 622.634 98.6217 1975.18 574.27 103.9 1874.52 569.149 99.4569 1874.53 666.14 112.193 1975.18 691.191 112.584 1975.18 748.959 108.717 2050.58 719.487 110.393 1975.18 739.153 109.312 2025.46 795.561 102.091 2025.5 649.462 114.923 1874.53 620.843 114.925 1874.53 593.346 111.243 1874.52 580.289 107.13 1874.52 697.546 90.3569 2050.58 669.798 94.2497 2063.13 671.862 93.1506 2063.14 662.32 94.6754 2050.56 662.047 95.8474 2050.56 663.067 93.7303 2050.56 665.216 92.6339 2050.57 667.59 92.0913 2050.57 662.284 97.0291 2050.56 686.085 90.4449 2025.46 648.509 95.9748 2025.44 621.5 96.0439 1975.18 648.81 94.7415 2025.44 621.868 94.6834 1975.18 649.636 93.7727 2025.44 622.834 93.6466 1975.18 651.95 92.6879 2025.45 625.458 92.5401 1975.18 654.466 92.1342 2025.45 628.258 91.958 1975.18 664.78 91.098 2025.45 568.264 97.9992 1874.54 621.884 97.409 1975.18 648.803 97.2141 2025.44 596.152 93.6211 1924.9 576.07 91.7812 1874.52 602.136 91.8776 1924.86 589.709 90.5384 1874.52 639.702 90.8988 1975.18 663.168 90.1309 1975.18 523.971 90.987 1773.87 471.873 89.9095 1673.22 489.907 88.3981 1673.2 567.966 95.5289 1874.51 567.83 96.3678 1874.52 807.489 101.675 2050.62 800.625 101.589 2025.36 786.906 101.416 1974.87 583.687 86.8011 1684.5 527.443 85.5266 1605.76 527.146 85.892 1605.97 583.388 87.1669 1684.7 586.349 86.808 1684.06 586.558 87.1732 1684.35 589.021 87.1738 1683.17 588.923 86.8085 1682.82 602.873 86.9578 1678.81 616.919 87.8594 1675.2 602.966 87.3231 1679.16 616.903 87.7521 1675.14 616.871 87.5366 1675 616.817 87.3915 1674.79 616.79 87.3192 1674.69 620.717 88.0403 1677.32 621.26 87.4974 1677.17 620.935 87.7115 1677.26 620.662 87.6992 1676.59 620.959 87.4848 1676.43 620.461 88.0275 1676.69 619.824 87.9965 1675.88 618.953 87.9548 1675.33 619.98 87.6692 1675.72 619.049 87.6289 1675.13 617.948 87.9072 1675.09 617.972 87.5829 1674.88 620.208 87.4543 1675.48 619.183 87.4133 1674.83 618 87.3664 1674.55 625.955 87.702 1693.51 630.649 87.9262 1709.85 625.631 87.9162 1693.6 630.326 88.1407 1709.94 625.413 88.2448 1693.66 630.109 88.4689 1709.99 630.222 88.4794 1711.02 628.009 88.4104 1713.8 628.078 88.0843 1714.01 628.638 88.4327 1713.53 628.175 87.8687 1714.32 628.751 88.1059 1713.72 628.916 87.8906 1714.01 629.443 88.4598 1712.89 629.992 88.4761 1712.02 629.614 88.1321 1713.04 630.201 88.1478 1712.1 630.448 88.151 1711.03 629.865 87.9173 1713.26 630.511 87.9334 1712.23 630.783 87.9366 1711.05 611.824 87.5301 1719.02 595.475 87.4233 1723.72 611.731 87.7457 1718.7 595.384 87.6389 1723.4 611.666 88.0722 1718.49 595.322 87.9654 1723.19 594.297 87.9604 1723.31 591.516 87.9014 1721.09 590.998 87.3602 1721.25 591.309 87.5769 1721.15 591.588 87.5901 1721.83 591.303 87.3737 1721.99 591.776 87.9151 1721.72 592.418 87.9342 1722.53 593.291 87.9498 1723.07 592.275 87.6087 1722.69 593.21 87.6238 1723.28 594.286 87.6342 1723.53 592.058 87.3926 1722.94 593.085 87.4079 1723.58 594.269 87.4185 1723.85 589.921 87.2953 1717.5 590.232 87.512 1717.41 590.439 87.8365 1717.34 582.412 86.8938 1714.57 582.211 86.1633 1713.89 576.344 86.2033 1715.57 576.548 86.9337 1716.26 572.295 87.0651 1716.93 566.318 86.9107 1712.97 565.873 87.1052 1713.08 566.393 87.1531 1714.24 566.114 87.0529 1713.02 566.803 86.9436 1713.99 567.856 86.904 1715.07 569.624 86.7966 1715.91 572.336 86.5876 1716.28 567.527 87.1538 1715.46 569.413 87.1288 1716.45 564.588 87.0918 1708.77 564.943 86.9768 1708.67 565.271 86.7936 1708.59 564.48 87.0541 1707.04 572.519 85.6763 1701.15 572.402 86.3291 1700.72 569.857 86.0144 1702.08 567.123 86.3867 1703.92 565.714 86.6133 1705.7 565.214 86.73 1707.12 564.863 86.9298 1707.08 565.366 86.856 1705.55 566.812 86.7226 1703.63 569.64 86.5138 1701.69 572.222 86.7604 1700.09 564.976 87.0068 1705.37 566.445 86.9328 1703.29 569.353 86.8339 1701.17 578.237 85.6379 1699.51 578.117 86.2908 1699.08 577.937 86.722 1698.44 581.076 86.8381 1691.38 581.337 87.0469 1691.19 581.513 87.3624 1691.06 637.274 88.7834 1749.15 637.353 88.4584 1749.74 633.784 88.3788 1749.56 633.793 88.5429 1729.42 630.784 88.6413 1747.7 628.263 88.5712 1745.47 633.905 88.7141 1748.98 626.625 88.51 1742.53 626.052 88.4638 1739.21 626.602 88.4389 1735.91 628.208 88.4418 1732.97 630.695 88.477 1730.72 637.15 88.6292 1729.21 639.221 88.6871 1729.66 642.203 88.7751 1731.24 644.493 88.8474 1733.72 645.831 88.8967 1736.82 646.065 88.9194 1740.19 645.169 88.9159 1743.44 640.51 88.8434 1748.19 640.778 88.5273 1748.72 643.245 88.8892 1746.21 643.672 88.5797 1746.63 645.707 88.6105 1743.69 646.655 88.6145 1740.25 646.41 88.5885 1736.69 644.997 88.532 1733.41 642.577 88.449 1730.78 639.421 88.3479 1729.1 637.227 88.2814 1728.62 633.667 88.1822 1728.83 630.379 88.1064 1730.21 627.738 88.0659 1732.6 626.033 88.0626 1735.71 625.45 88.0912 1739.22 626.06 88.1444 1742.73 627.8 88.2147 1745.85 630.475 88.2952 1748.22 704.039 95.351 1452.23 704.319 94.4362 1452.18 684.52 93.6038 1331.05 691.892 91.2477 1394.07 682.151 90.2928 1331.37 682.881 90.4804 1331.27 728.7 94.063 1570.5 728.24 93.9472 1570.5 702.523 92.3219 1452.54 703.044 92.4452 1452.44 728.855 94.1021 1570.5 703.644 92.8067 1452.32 729.656 94.8862 1570.5 704.149 93.4945 1452.22 729.654 94.8755 1570.5 729.321 94.4201 1570.5 729.571 96.4355 1570.5 729.59 96.391 1570.5 729.777 95.9426 1570.5 729.809 95.4048 1570.5 729.213 96.8386 1570.5 703.458 95.974 1452.33 728.855 97.06 1570.5 702.853 96.3597 1452.45 728.571 97.1356 1570.5 704.809 96.4362 1463.03 728.296 97.209 1570.5 709.353 96.614 1487.62 728.106 97.2163 1570.5 702.326 92.3095 1451.63 684.107 94.4177 1331.11 683.951 94.7268 1331.13 682.875 95.4889 1331.28 682.432 95.5502 1331.34 687.203 95.7473 1367.76 681.688 95.6533 1331.44 683.001 90.5111 1331.26 683.966 91.2402 1331.12 684.322 91.944 1331.08 684.515 92.3255 1331.05 250.693 89.3886 1275.5 250.805 89.2665 1275.5 251.439 88.7288 1275.5 289.507 82.4381 1275.5 385.108 80.7317 1275.5 446.821 81.1376 1275.5 431.354 81.0623 1275.5 493.105 81.4589 1275.5 679.964 90.1283 1303.1 680.127 90.1756 1290.08 652.091 87.8381 1275.5 681.201 90.3314 1275.5 679.958 90.1268 1303.53 682.08 94.5858 1303.17 681.171 95.4484 1303.19 683.602 94.8091 1275.5 683.412 95.2096 1275.5 682.101 96.2815 1275.5 681.372 96.4019 1275.5 680.206 95.8101 1303.2 682.156 96.2726 1275.5 683.341 95.3578 1275.5 682.787 95.7856 1275.5 683.411 95.212 1275.5 683.801 94.3907 1275.5 682.554 93.2648 1303.14 683.981 94.0123 1275.5 684.05 93.4299 1275.5 684.049 93.4431 1275.5 684.007 93.7977 1275.5 683.639 92.0759 1275.5 683.769 92.2996 1275.5 682.345 91.877 1303.11 683.921 92.5614 1275.5 683.977 92.9356 1275.5 683.412 91.6842 1275.5 681.62 90.8547 1303.1 683.186 91.2954 1275.5 682.693 90.8743 1275.5 680.743 90.3129 1303.1 682.056 90.5663 1275.5 681.828 90.4562 1275.5 680.503 96.5452 1275.5 679.414 95.8427 1303.21 679.401 95.8344 1303.54 682.854 91.0311 1275.5 682.755 90.9517 1275.5 631.852 86.6288 1275.5 682.072 90.6554 1275.5 681.882 90.5727 1275.5 677.946 90.2624 1275.5 648.313 87.9264 1275.5 554.8 82.9346 1275.5 573.536 83.7035 1275.5 601.047 84.8325 1275.5 616.453 85.6685 1275.5 629.316 93.1992 1275.5 647.076 93.6372 1275.5 645.506 93.5337 1275.5 680.385 96.5338 1275.5 680.372 96.5322 1275.5 672.606 95.5928 1275.5 664.822 94.8081 1275.5 856.686 100.159 2055.5 483.158 110.242 1275.5 449.419 114.796 1275.5 452.309 114.436 1275.5 455.198 114.07 1275.5 474.957 111.416 1275.5 470.854 111.988 1275.5 466.749 112.55 1275.5 460.975 113.321 1275.5 458.087 113.698 1275.5 456.643 113.885 1275.5 371.571 121.188 1275.5 379.51 120.913 1275.5 367.601 121.289 1275.5 363.631 121.366 1275.5 362.104 121.366 1275.5 269.434 108.479 1275.5 316.089 119.193 1275.5 272.188 109.552 1275.5 292.017 115.187 1275.5 274.967 110.536 1275.5 286.278 113.826 1275.5 284.851 113.459 1275.5 283.427 113.08 1275.5 280.591 112.288 1275.5 280.039 112.116 1275.5 251.151 96.1879 1275.5 251.488 96.5767 1275.5 250.387 95.0283 1275.5 250.26 94.7503 1275.5 249.809 93.7661 1275.5 249.654 93.2652 1275.5 437.741 116.191 1275.5 433.324 116.687 1275.5 431.844 116.853 1275.5 425.945 117.482 1275.5 420.042 118.074 1275.5 414.137 118.624 1275.5 408.228 119.132 1275.5 680.413 96.5352 1275.5 525.531 82.0083 1275.5 471.102 81.2328 1275.5 611.831 93.5852 1275.5 600.931 94.0279 1275.5 584.642 77.4993 443.281 585.363 77.5576 442.813 585.417 77.5691 442.882 586.147 77.9493 441.759 586.807 78.1184 441.495 585.252 77.5575 442.676 585.308 77.5537 442.745 584.641 77.4993 443.278 586.418 77.9882 442.332 586.982 78.163 441.721 587.114 78.2793 441.951 584.63 77.4993 443.289 587.716 78.9711 440.621 587.958 79.0773 440.954 587.748 79.9993 439.68 588.086 80.0497 439.867 587.376 78.9962 440.366 587.351 78.9686 440.396 586.604 78.1493 441.291 588.197 80.0663 439.929 588.329 80.1578 440.132 588.461 80.2493 440.335 588.463 80.3113 440.447 587.811 79.0287 441.474 588.06 79.2955 441.305 588.47 80.4993 440.788 583.387 77.4993 447.614 577.49 77.4993 441.237 576.247 77.4993 445.561 585.119 79.0287 450.84 585.239 79.2955 451.116 584.967 79.0773 451.359 583.393 77.4993 447.627 583.39 77.4993 447.628 583.755 77.5576 448.406 583.672 77.5537 448.435 583.837 77.5691 448.376 584.394 77.9882 449.374 584.548 78.163 450.191 584.279 78.1184 450.29 584.003 78.1735 450.389 583.999 78.1493 450.355 583.589 77.5575 448.463 584.781 78.2793 450.066 584.162 78.9962 451.548 584.585 78.9711 451.513 584.113 79.9993 452.328 584.625 80.0663 452.354 585.065 80.2493 452.151 585.313 80.4993 451.772 618.724 103.666 474.59 617.981 103.666 474.827 617.203 103.666 474.762 589.332 103.666 466.751 586.904 103.666 465.499 585.141 103.666 463.413 627.701 103.666 438.241 628.588 103.666 438.774 629.089 103.666 439.68 619.32 103.666 474.086 619.678 103.666 473.392 584.538 103.666 458.089 584.31 103.666 460.811 593.503 103.666 429.02 594.246 103.666 428.783 592.907 103.666 429.524 595.024 103.666 428.848 592.549 103.666 430.218 629.07 103.666 440.715 167.096 9.02936 1076.17 167.096 9.02936 1074.84 167.608 10.7892 1076.17 167.608 10.7892 1074.84 167.623 10.8052 1076.17 167.623 10.8052 1074.84 168.88 12.1544 1076.17 168.88 12.1544 1074.84 168.89 12.1581 1076.17 168.89 12.1581 1074.84 170.633 12.7943 1076.17 170.633 12.7943 1074.84 866.015 102.869 75.6153 866.015 102.953 75.6454 865.874 102.766 76.1635 865.637 103.475 75.7321 865.496 103.288 76.2446 865.847 103.306 75.7279 865.706 103.12 76.2423 865.884 103.228 75.7095 865.743 103.041 76.2247 865.744 103.039 76.2243 865.962 102.51 75.4705 865.819 102.316 75.9907 865.86 102.305 75.3684 865.719 102.115 75.8933 865.778 102.248 75.3256 865.183 101.857 75.6584 865.327 102.05 75.1315 865.401 101.905 75.7333 865.549 102.097 75.2089 865.409 101.906 75.7358 865.432 101.911 75.7436 865.638 102.058 75.8509 865.632 102.054 75.8481 865.591 102.116 75.2271 865.572 102.102 75.2169 865.15 103.659 75.667 865.009 103.472 76.1772 865.35 103.611 75.7036 865.238 103.417 76.2199 865.378 103.604 75.7089 865.518 103.57 75.7344 865.378 103.383 76.2459 865.875 102.682 76.1343 865.875 102.678 76.1329 866.016 102.62 75.5249 865.875 102.432 76.0467 865.821 102.321 75.9931 865.167 103.684 75.6002 865.371 103.656 75.645 865.185 103.709 75.5336 865.386 103.661 75.5708 865.614 103.553 75.6733 865.552 103.621 75.6013 865.413 103.655 75.5756 865.345 102.075 75.0626 865.363 102.101 74.9946 865.613 102.137 75.1578 865.585 102.148 75.0721 865.847 103.353 75.6639 865.998 103.098 75.6116 866.052 102.806 75.5203 866.001 102.533 75.407 865.854 102.304 75.284 865.92 103.279 75.5759 865.881 103.358 75.5946 865.862 103.374 75.595 865.671 103.526 75.5989 866.004 103.104 75.5348 866.051 103.005 75.5116 866.052 102.833 75.4486 866.052 102.667 75.3883 865.894 102.353 75.231 865.868 102.335 75.217 865.606 102.152 75.0793 865.627 102.167 75.0904 865.815 102.298 75.1891 870.918 115.62 57.585 871.805 121.647 54.359 871.625 121.655 54.6892 868.838 110.766 63.1261 868.553 110.729 63.2083 867.506 106.513 69.0587 870.564 120.75 55.8369 868.595 110.94 63.0531 868.575 110.839 63.1275 869.133 110.624 63.085 871.179 121.674 55.0775 871.029 121.681 55.1009 871.806 121.647 54.3097 870.91 115.475 57.3643 871.812 121.647 54.1066 871.384 118.589 55.1814 871.818 121.647 53.9144 871.818 121.647 53.9017 871.135 118.424 54.8273 871.68 121.653 53.6126 871.492 121.661 53.423 871.647 121.654 53.5434 871.141 120.839 53.7254 871.388 121.665 53.3419 871.307 121.669 53.3085 868.113 107.454 64.5536 868.664 109.666 62.1544 869.001 109.609 62.1809 869.264 109.502 62.1547 869.357 110.393 62.9504 869.426 110.149 62.9133 869.537 110.042 62.6934 867.517 106.541 69.0773 871.562 121.658 54.8053 870.753 121.692 55.1438 870.843 115.346 57.1523 870.586 115.163 56.8076 870.265 115.083 56.5988 870.211 116.205 56.0527 868.841 110.375 61.3853 869.87 114.505 56.9061 869.992 115.116 56.5994 869.531 109.874 62.5472 869.477 109.722 62.4021 583.928 82.4993 452.972 574.866 82.4993 450.367 575.051 79.9993 449.723 575.556 78.1692 447.964 573.727 81.1697 449.515 574.131 80.1896 449.459 573.352 80.7316 449.235 573.964 78.4988 447.506 572.983 80.0845 448.177 574.408 77.8799 445.033 572.849 78.9638 444.585 572.672 79.3201 446.49 572.614 79.4374 447.118 574.092 78.9638 440.26 575.651 77.8799 440.708 577.454 81.1697 436.548 578.871 82.4993 436.431 577.767 80.1896 436.811 578.01 78.0032 439.429 574.954 79.3201 438.551 576.588 78.4988 438.376 578.181 78.1692 438.834 578.732 80.6189 436.915 578.686 79.9993 437.075 578.434 79.0842 437.954 575.238 79.4374 437.988 576.113 80.0845 437.287 576.987 80.7316 436.587 587.817 80.6023 439.44 587.886 81.2052 439.2 587.933 82.4993 439.036 583.577 102.666 457.813 591.588 102.666 429.941 583.674 103.042 457.841 591.661 103.048 429.963 583.706 103.166 457.85 591.87 103.373 430.022 583.881 103.349 457.901 592.181 103.59 430.112 584.176 103.565 457.985 584.057 103.532 457.951 587.933 85.1547 439.036 588.28 82.4993 439.215 588.28 85.1547 439.215 588.364 82.4993 439.314 588.364 85.1547 439.314 588.532 82.4993 439.513 588.532 85.1547 439.513 588.611 82.4993 439.761 588.611 85.1547 439.761 588.651 82.4993 439.884 588.651 85.1547 439.884 588.618 82.4993 440.273 588.618 85.1547 440.273 588.61 81.365 440.028 588.581 81.464 440.404 588.488 81.281 439.667 588.234 81.2249 439.376 585.165 82.4993 452.287 584.964 82.4993 452.62 584.898 82.4993 452.73 584.672 82.4993 452.856 584.317 82.4993 452.979 584.445 82.4993 452.981 585.165 84.847 452.287 584.986 84.847 452.634 584.688 84.847 452.885 584.317 84.847 453.004 583.928 84.847 452.972 592.607 103.59 429.286 593.317 103.59 428.686 594.203 103.59 428.403 595.13 103.59 428.48 592.354 103.373 429.084 593.16 103.373 428.402 594.167 103.373 428.08 595.219 103.373 428.169 592.184 103.048 428.949 593.055 103.048 428.212 594.142 103.048 427.865 595.279 103.048 427.96 592.125 102.666 428.901 593.018 102.666 428.146 594.133 102.666 427.789 595.3 102.666 427.887 627.977 102.666 437.28 627.949 103.042 437.376 627.94 103.166 437.408 627.889 103.349 437.584 627.839 103.532 437.76 627.805 103.565 437.879 629.574 103.532 439.56 628.948 103.532 438.427 629.211 103.166 438.173 629.727 103.349 440.904 629.551 103.532 440.853 629.432 103.565 440.819 629.935 103.042 440.964 629.903 103.166 440.955 629.93 103.166 439.471 630.031 102.666 440.992 630.06 102.666 439.439 629.307 102.666 438.08 620.639 102.666 473.668 620.566 103.048 473.647 620.357 103.373 473.588 620.045 103.59 473.498 616.968 103.156 475.581 617.008 103.373 475.441 618.06 103.373 475.53 617.068 103.517 475.233 617.097 103.59 475.13 618.024 103.59 475.207 619.619 103.59 474.324 618.909 103.59 474.924 619.873 103.373 474.526 619.067 103.373 475.208 620.043 103.048 474.661 619.172 103.048 475.398 618.085 103.048 475.745 616.948 103.048 475.65 620.102 102.666 474.709 619.208 102.666 475.465 618.093 102.666 475.821 616.927 102.666 475.723 589.055 102.666 467.712 589.092 103.166 467.583 589.193 103.532 467.231 583.813 103.532 460.867 583.449 103.166 460.909 583.316 102.666 460.924 584.266 102.666 463.897 584.383 103.166 463.832 586.281 102.666 466.281 586.365 103.166 466.176 584.703 103.532 463.655 586.593 103.532 465.89 583.295 88.9015 458.2 583.333 88.8438 458.049 583.422 88.9524 458.004 583.354 90.8685 460.918 583.494 91.133 461.921 583.437 90.7729 461.973 582.709 90.1303 462.716 582.633 90.1423 462.237 582.975 90.2415 462.143 583.111 89.8281 464.313 583.491 89.8349 464.092 583.796 89.2808 464.703 584.112 87.6753 465.216 583.795 87.6753 465.499 583.792 87.7998 465.496 584.123 87.8 465.202 584.125 87.6753 465.204 584.549 87.676 465.082 585.095 87.6779 465.23 584.985 87.6774 465.154 584.983 87.8298 465.15 584.771 87.6767 465.093 584.661 87.6763 465.081 584.547 87.8107 465.078 584.633 87.6763 465.08 584.619 87.6762 465.08 584.616 87.6762 465.08 584.611 87.6762 465.08 584.607 87.6762 465.08 584.605 87.6762 465.08 584.583 87.6761 465.08 583.684 88.5895 465.349 584.021 88.5897 465.06 583.575 88.8988 465.181 583.44 89.2831 464.973 584.442 88.6629 464.934 584.206 89.4084 464.576 583.877 90.0079 463.971 584.862 88.7947 464.998 584.586 89.6403 464.616 584.194 90.3138 463.972 584.276 90.7806 463.892 584.38 90.6931 464.096 584.861 89.9302 464.817 585.198 88.9591 465.237 585.345 87.8534 465.403 585.348 87.6791 465.407 583.91 91.0907 463.169 583.802 90.6898 463.137 583.553 90.3585 463.179 583.207 90.1541 463.287 583.109 89.8299 464.307 582.823 90.1121 463.443 583.256 90.4617 462.051 583.271 90.713 460.329 583.232 90.4401 460.425 583.112 90.1906 460.516 582.919 89.9855 460.594 582.672 89.8423 460.653 582.683 89.8259 460.61 583.577 89.3151 457.813 583.545 89.1907 457.885 583.493 89.0689 457.949 583.573 88.9151 457.693 583.43 88.7135 457.803 583.652 89.1327 457.552 583.73 88.0353 457.033 583.824 88.108 456.891 583.767 87.7776 456.938 583.855 87.7997 456.792 583.908 87.8195 456.654 583.887 88.1833 456.734 583.916 87.8224 456.634 639.359 91.1656 406.521 640.923 91.1656 407.867 637.636 91.1656 417.751 641.953 91.1656 409.651 637.434 91.1656 405.767 636.141 91.1656 417.924 636.105 91.1656 405.638 635.57 91.1656 417.893 634.109 91.1656 405.997 633.577 91.1656 417.345 631.88 91.1656 416.171 641.058 91.1656 415.533 639.537 91.1656 416.933 642.026 91.1656 413.711 642.335 91.1656 411.675 630.076 91.1656 412.534 630.17 91.1656 410.475 630.942 91.1656 408.561 630.669 91.1656 414.506 632.307 91.1656 407.009 168.846 12.4435 1065.51 170.599 13.0825 1065.53 170.633 12.7944 1074.81 167.574 11.08 1065.44 167.054 9.38087 1065.35 167.043 9.47727 1062.77 168.88 12.1546 1074.81 167.608 10.7894 1074.8 167.096 9.02971 1074.78 167.487 11.8228 1055.74 166.973 10.0724 1055.57 168.76 13.182 1055.86 170.513 13.8194 1055.9 167.096 9.02937 1074.82 206.399 16.7997 1076.23 206.4 16.7999 1074.78 242.264 20.5856 1076.28 242.264 20.5856 1074.74 167.089 9.09005 1079.76 167.096 9.02971 1076.23 167.608 10.7894 1076.22 167.061 9.32448 1085.66 167.574 11.0798 1085.57 167.06 9.32897 1085.77 167.487 11.8217 1095.27 166.973 10.0714 1095.43 168.846 12.4432 1085.5 168.88 12.1546 1076.21 170.513 13.8183 1095.1 170.599 13.0823 1085.48 170.633 12.7944 1076.2 168.76 13.1809 1095.15 167.096 9.02937 1076.19 165.329 7.14714 1076.2 165.329 7.14715 1076.17 165.974 7.33559 1076.2 166.2 7.46453 1076.17 166.184 7.48639 1076.2 166.834 8.1403 1076.17 166.52 7.72676 1076.2 167.088 8.93164 1076.19 166.905 8.27655 1076.19 166.818 8.15177 1076.19 165.329 7.14715 1074.84 166.2 7.46453 1074.84 166.834 8.1403 1074.84 167.088 8.93159 1074.82 166.905 8.27655 1074.82 166.818 8.15177 1074.82 166.52 7.72676 1074.82 166.184 7.48639 1074.82 165.329 7.14714 1074.82 165.974 7.33559 1074.82 868.559 121.786 55.0251 865.757 121.906 55.0435 865.59 120.956 55.578 865.588 120.947 55.5835 864.441 116.786 59.2701 863.014 111.61 63.8566 862.955 111.394 64.0483 859.406 103.343 75.5013 862.297 103.516 75.5142 861.774 107.111 67.8434 859.641 97.9959 95.5017 859.472 97.9766 95.5017 860.501 98.1898 91.8892 864.448 102.832 78.069 859.345 100.309 95.5017 859.687 100.27 95.5017 860.622 99.2098 95.5017 860.627 99.1717 95.5017 860.627 99.1497 95.5021 860.627 99.1277 95.5017 860.448 99.7511 95.5017 860.596 99.4131 95.5017 860.153 100.073 95.5017 860.082 100.108 95.5017 860.438 99.7752 95.5017 859.774 100.26 95.5017 859.804 98.0557 95.5017 860.023 98.1361 95.5017 860.178 98.2602 95.5017 860.505 98.6557 95.5017 860.33 98.3822 95.5017 860.535 98.7033 95.5017 859.405 101.046 75.4862 862.294 101.449 75.5715 866.602 120.969 52.2773 865.542 116.025 55.6817 865.439 115.545 56.0126 864.451 110.94 59.1839 863.855 109.771 61.1099 863.755 109.575 61.4332 866.776 121.862 51.7189 869.687 121.738 52.7335 866.692 121.389 51.9881 715.109 128.343 58.1126 717.875 128.224 58.6815 701.478 128.925 49.0274 702.854 128.866 46.1081 702.365 128.887 46.8271 711.034 128.517 41.8224 708.26 128.635 42.9118 701.818 128.91 47.6309 701.476 128.925 48.9292 701.493 128.924 49.5942 701.67 128.917 50.2053 707.003 128.689 55.688 705.552 128.751 43.975 704.054 128.815 45.1598 710.634 128.534 57.1921 862.662 122.038 50.6667 825.86 123.61 57.4231 701.897 128.907 50.9877 702.101 128.898 51.3023 703.172 128.853 52.9569 705.704 128.744 55.1503 837.761 123.102 46.0867 824.609 123.664 44.8675 784.684 125.37 59.5647 781.207 125.518 40.8441 776.435 125.722 59.7612 779.589 125.588 40.6941 757.175 126.545 60.2198 738.078 127.361 39.3723 738.686 127.335 60.1145 732.862 127.584 59.8118 736.427 127.432 39.3198 726.284 127.865 59.4699 731.451 127.644 39.4728 717.802 128.227 41.0436 584.284 85.5341 453.117 583.733 86.9224 455.032 583.365 86.8467 454.925 583.495 86.7982 454.471 584.044 87.1391 455.125 583.868 86.8721 454.561 584.251 87.4636 455.19 584.193 87.0835 454.605 584.323 87.8466 455.217 584.422 87.4001 454.597 583.576 86.6779 454.19 584.046 86.6071 453.942 583.667 86.5429 453.875 583.806 86.0964 453.393 584.19 86.1438 453.441 583.88 85.612 453.135 583.896 85.509 453.08 584.39 86.7909 453.921 584.549 86.2791 453.368 584.652 85.6059 453.01 584.646 87.0661 453.816 584.828 86.4819 453.185 584.945 85.7133 452.775 584.518 87.7738 454.537 584.776 87.3908 453.642 584.984 86.7211 452.919 585.118 85.84 452.449 578.276 84.8649 451.347 572.555 84.9032 449.703 569.553 85.4826 448.393 567.353 85.9495 446.868 567.14 86.0035 446.599 566.003 86.2909 445.168 565.767 86.3744 444.525 565.517 86.4632 443.842 565.559 86.5489 442.489 569.977 85.3926 448.687 566.729 86.6251 438.143 576.263 85.2128 435.681 573.026 85.7744 435.226 572.36 85.8899 435.133 570.079 86.2471 435.453 569.783 86.2936 435.495 568.127 86.5187 436.262 567.889 86.5427 436.496 567.153 86.617 437.22 582.134 85.1728 437.369 588.476 87.1545 437.145 588.843 87.2302 437.253 588.654 87.1018 437.911 588.292 85.5766 439.173 587.945 85.5611 438.996 588.545 85.6206 439.467 588.666 85.6865 439.832 588.007 86.1423 438.777 588.362 86.2256 438.928 588.012 86.1864 438.76 588.133 86.6954 438.339 588.487 86.7538 438.491 588.207 86.8511 438.079 588.293 87.0307 437.78 588.623 86.3374 439.197 588.761 86.9208 438.714 588.945 87.305 438.073 589.154 87.4469 437.346 588.754 86.5048 439.524 588.913 87.1708 438.973 589.123 87.6094 438.241 589.362 87.7714 437.411 588.636 85.7643 440.213 588.737 86.7023 439.86 588.919 87.4657 439.228 589.16 87.9687 438.39 589.433 88.1543 437.438 590.511 88.2194 433.69 591.588 88.2843 429.941 595.3 88.352 427.887 594.299 88.3467 427.775 594.139 88.3449 427.812 593.317 88.3354 428.001 593.039 88.33 428.177 592.466 88.319 428.539 592.158 88.309 428.928 591.84 88.2988 429.329 627.977 88.7964 437.28 611.64 88.4589 432.584 630.031 88.8588 440.992 630.143 88.8699 439.991 630.018 88.8679 439.448 629.918 88.8663 439.01 629.38 88.8489 438.159 629.297 88.8458 438.093 628.591 88.82 437.533 625.335 88.6355 457.33 620.639 88.4314 473.668 616.927 88.2392 475.723 617.929 88.29 475.835 618.088 88.2982 475.798 619.188 88.355 475.433 618.911 88.3406 475.608 620.388 88.4179 474.279 620.069 88.401 474.682 619.763 88.3849 475.069 602.994 87.8192 471.718 589.055 87.6694 467.712 586.305 87.6715 466.254 586.635 87.6688 466.547 583.909 87.1781 465.571 583.875 87.3262 465.549 584.157 87.4671 465.213 583.917 87.1677 465.577 584.296 87.2909 465.213 584.416 86.8366 465.577 584.208 86.8139 465.778 584.066 87.006 465.577 584.063 86.9901 465.677 585.154 87.0547 465.577 585.13 87.0226 465.598 585.117 87.0361 465.575 584.98 86.8178 465.733 584.805 86.8375 465.577 584.614 86.6792 466.065 584.399 86.7504 465.913 585.06 87.4692 465.213 585.283 87.3557 465.463 584.923 87.2924 465.213 585.248 87.1832 465.493 584.721 87.1937 465.213 584.497 87.1932 465.213 469.511 85.0556 625.502 469.511 87.6656 625.502 527.036 86.3884 544.964 583.275 87.6656 466.226 577.51 87.6656 465.694 463.367 87.6656 625.502 538.019 86.7933 520.984 463.367 85.099 625.502 462.11 84.0843 625.502 462.588 84.1631 625.502 470.726 84.0694 625.502 462.61 84.1668 625.502 470.661 84.0707 625.502 463.042 84.4179 625.502 463.254 84.6794 625.502 469.562 84.772 625.502 469.679 84.5628 625.502 469.703 84.5216 625.502 469.924 84.3122 625.502 470.125 84.2095 625.502 470.243 84.1493 625.502 463.265 84.7111 625.502 463.361 85.0007 625.502 463.471 88.3127 625.502 463.778 88.9156 625.502 469.099 88.9156 625.502 469.406 88.3127 625.502 464.903 89.8307 625.502 466.439 90.1656 625.502 467.975 89.8307 625.502 581.579 87.7378 459.999 583.847 87.4575 456.608 583.839 87.4619 456.655 583.844 87.4395 456.607 583.631 87.1483 456.655 583.647 87.1309 456.545 583.637 87.1149 456.542 583.391 86.9945 456.654 583.316 86.9355 456.6 583.332 86.903 456.451 583.262 86.8925 456.56 583.326 86.8982 456.448 582.958 86.8225 456.341 583.521 87.0974 456.749 583.577 87.1954 456.791 583.698 87.4074 456.882 583.717 87.5077 456.897 640.3 89.339 403.217 640.639 90.3021 404.394 637.945 90.28 403.309 645.383 89.3839 414.078 644.369 90.3134 414.486 644.789 90.3247 411.63 636.064 89.2694 402.24 636.074 90.2634 403.108 633.99 89.2316 402.466 633.247 90.2357 403.582 630.671 90.2067 404.99 631.008 89.1711 403.687 632.999 89.2115 402.872 628.703 90.1795 407.181 628.599 89.1128 405.824 630.202 89.1516 404.402 627.575 90.1566 409.91 627.035 89.0617 408.634 628.066 89.0953 406.782 627.423 90.1409 412.863 626.487 89.0228 411.797 626.842 89.048 409.745 628.268 90.135 415.697 627.011 89.0015 414.956 626.678 89.015 412.95 630.013 90.1415 418.084 628.544 89.0034 417.762 627.595 89.0022 416.025 632.455 90.1611 419.747 630.919 89.0327 419.908 629.488 89.015 418.615 635.309 90.1913 420.496 633.878 89.0881 421.152 632.136 89.0555 420.419 638.241 90.2271 420.253 637.085 89.1607 421.349 635.23 89.1187 421.235 641.914 89.283 419.41 639.064 89.2094 420.921 638.437 89.1939 421.057 640.915 90.2623 419.057 643.033 90.2921 417.057 643.654 89.3308 417.526 644.104 89.3432 417.04 644.752 89.3993 407.753 645.607 89.4025 410.861 645.555 89.3982 411.608 644.253 90.3259 408.799 642.819 90.3179 406.296 643.399 89.3829 405.804 642.914 89.3769 405.105 636.092 89.2699 402.236 637.208 89.2891 402.303 638.091 89.3034 402.564 637.958 90.9237 419.083 640.269 90.933 418.061 642.104 90.9409 416.34 643.265 90.9465 414.121 643.632 90.9495 411.651 643.169 90.9499 409.201 641.926 90.9477 407.036 640.037 90.9436 405.395 637.705 90.9377 404.464 636.089 90.9333 404.295 633.651 90.926 404.712 631.435 90.9183 405.933 629.747 90.911 407.824 628.782 90.9049 410.173 628.656 90.9007 412.71 629.383 90.8991 415.144 630.881 90.9008 417.195 632.977 90.9061 418.629 635.431 90.9141 419.282 440.656 42.9559 1037.74 440.891 40.6656 1038 361.843 40.6656 1038 364.08 47.2517 1035.53 366.579 49.2534 1032.95 436.154 49.2534 1032.95 362.077 42.9559 1037.74 362.688 44.9244 1037.05 440.045 44.9244 1037.05 363.105 45.6212 1036.59 439.629 45.6212 1036.59 438.653 47.2517 1035.53 371.907 50.6656 1028 430.826 50.6656 1028 371.892 50.6656 1028.02 430.841 50.6656 1028.02 366.999 49.5895 1032.51 435.735 49.5895 1032.51 165.329 7.14759 1074.77 166.2 7.46494 1074.77 166.834 8.14068 1074.77 165.276 7.59916 1062.66 165.205 8.19926 1055.4 166.146 7.91583 1062.67 166.076 8.5152 1055.43 166.781 8.59013 1062.71 166.71 9.18773 1055.48 170.025 9.62344 1049.74 169.742 9.48542 1048.86 171.191 9.6959 1048.53 165.361 8.3802 1053.85 166.212 8.67197 1054.07 166.831 9.32559 1054.3 166.22 8.7234 1051.7 166.96 8.96788 1052.21 167.71 9.10447 1050 168.257 9.29559 1050.73 167.492 9.58566 1052.66 168.637 9.87363 1051.35 168.776 10.715 1051.73 168.765 10.713 1051.74 167.699 10.4433 1052.95 167.085 10.2006 1054.47 170.196 10.1619 1050.49 170.219 10.9831 1050.93 170.203 10.9802 1050.94 171.255 11.1329 1050.7 171.307 10.322 1050.23 171.284 9.80529 1049.45 171.82 11.2019 1050.66 171.667 12.5332 1051.42 168.98 12.1895 1052.35 170.232 12.3778 1051.63 167.557 11.8845 1054.78 168.056 12.0183 1053.45 168.802 13.239 1055.23 170.572 13.622 1053.12 169.739 13.4841 1053.61 169.127 13.351 1054.34 171.64 12.7687 1051.56 171.531 13.7225 1052.97 171.523 13.798 1053.09 170.536 13.8444 1055.68 170.661 13.8899 1055.38 170.88 13.9404 1055.13 171.169 13.9902 1054.97 171.495 14.0334 1054.92 242.232 20.859 1065.53 242.264 20.5857 1074.71 206.4 16.8 1074.75 241.644 21.5795 1055.4 242.147 21.5816 1055.9 241.92 21.6205 1055.28 242.087 21.6081 1055.57 241.665 21.617 1055.06 241.353 21.598 1054.94 241.14 21.5786 1054.91 206.306 17.9131 1054.92 171.004 13.9258 1055.41 244.102 20.3389 1076.28 244.102 20.3389 1074.74 244.113 20.3374 1076.28 244.113 20.3374 1074.74 245.63 19.29 1076.28 245.63 19.29 1074.74 245.648 19.2775 1076.28 245.648 19.2775 1074.74 246.527 17.6691 1076.28 246.527 17.6691 1074.74 206.399 16.7999 1076.27 242.264 20.5857 1076.31 171.004 13.9247 1095.59 170.726 13.9057 1095.72 170.566 13.8575 1095.43 170.974 13.9571 1095.94 171.282 14.0055 1096.06 171.496 14.0323 1096.08 206.306 17.912 1096.09 241.644 21.5785 1095.6 241.14 21.5775 1096.09 241.763 21.619 1095.88 241.47 21.6054 1096.04 241.988 21.6169 1095.63 242.12 21.5995 1095.33 242.148 21.5805 1095.11 242.232 20.8588 1085.49 171.523 13.7969 1097.92 171.531 13.7214 1098.03 170.904 13.6678 1097.98 171.641 12.7676 1099.45 171.667 12.5321 1099.58 170.729 12.4433 1099.52 167.22 10.2693 1097.03 167.671 11.9226 1096.68 167.236 10.2746 1097.06 168.005 10.5296 1098.49 168.326 12.0721 1097.96 168.018 10.5324 1098.51 169.387 12.2535 1098.96 169.198 10.801 1099.58 170.709 11.0567 1100.21 170.765 11.0644 1100.22 171.257 11.1321 1100.31 171.82 11.2008 1100.34 168.876 13.2718 1096.08 169.306 13.3934 1096.94 170.009 13.5315 1097.6 167.821 9.67793 1098.82 169.101 9.96768 1099.98 171.309 10.3212 1100.77 171.194 9.69526 1102.48 170.427 9.58947 1102.34 171.286 9.80457 1101.55 170.62 9.71306 1101.44 170.721 10.2406 1100.67 168.784 9.40274 1100.66 168.314 9.22926 1101.44 167.333 9.07304 1099.33 166.647 8.84583 1099.92 166.976 9.39942 1097.24 166.376 8.75611 1097.54 165.55 8.4778 1097.85 166.711 9.18663 1095.52 166.076 8.51411 1095.58 165.205 8.19816 1095.6 166.799 8.4412 1085.82 166.164 7.76646 1085.85 165.294 7.44959 1085.86 166.827 8.20128 1079.78 166.193 7.52577 1079.8 165.322 7.20855 1079.8 166.834 8.14068 1076.24 166.2 7.46494 1076.25 165.329 7.14759 1076.25 109.263 0.3452 1076.08 109.263 0.3452 1074.93 856.364 100.779 85.3604 853.239 99.9918 95.5017 856.686 100.159 95.5017 680.692 95.356 75.4971 679.4 95.5616 75.4979 685.311 101.814 64.5248 706.035 124.604 44.086 703.064 119.137 46.4073 698.212 119.476 48.2664 694.931 114.456 51.3079 697.136 119.574 48.905 820.234 106.817 56.5348 701.549 124.842 46.2333 822.907 115.081 49.1973 779.299 115.748 45.8355 735.816 116.7 44.1201 713.802 118.343 44.9049 699.723 124.978 47.8041 699.091 125.077 48.7692 695.503 120.467 52.3917 698.826 125.177 49.8511 697.682 120.934 54.8737 696.065 120.652 53.2974 701.823 121.429 57.2463 711.396 122.239 60.0102 731.64 122.802 62.6588 775.62 120.781 62.583 691.705 109.817 55.1634 690.457 110.024 55.637 693.764 114.599 51.8635 692.738 114.847 52.5026 696.194 119.731 49.6381 692.013 115.238 53.239 700.099 114.012 49.7038 691.789 115.689 54.068 695.267 120.238 51.4313 691.832 115.466 53.6456 695.328 120.107 50.9481 695.513 119.97 50.4826 689.358 110.386 56.1825 688.917 110.645 56.4849 688.597 110.954 56.8105 688.425 111.289 57.1581 688.405 111.621 57.5193 688.533 111.932 57.8802 688.778 112.219 58.2346 696.333 114.857 61.9311 691.484 113.511 60.1036 689.504 112.72 58.9137 707.447 116.86 64.127 730.113 118.45 66.1676 774.487 116.27 66.0478 818.854 112.869 64.7354 676.389 101.229 75.4997 682.296 105.919 66.2222 676.331 101.103 75.5001 681.968 105.42 66.0278 676.275 100.979 75.5006 681.768 104.881 65.8296 675.802 99.9406 75.5048 679.52 103.909 75.503 683.2 106.794 66.5996 677.904 102.525 75.5013 677.51 102.188 75.5008 679.662 103.952 75.503 680.133 104.096 75.503 683.966 105.27 75.5028 686.565 106.065 75.5026 692.814 107.978 75.5023 699.944 110.16 75.502 704.581 111.58 75.5017 711.423 111.603 75.5017 726.107 111.652 75.5019 756.688 111.755 75.5021 758.698 111.59 75.5021 688.16 94.1673 75.4931 685.625 94.5707 75.4944 691.184 100.93 63.7835 678.433 95.7155 75.4984 682.695 102.783 65.088 683.922 102.167 64.7858 678.389 95.7226 75.4984 676.526 96.7611 75.5011 682.213 103.221 65.2544 676.498 96.7763 75.5011 676.464 96.8285 75.5011 675.836 97.7772 75.5008 675.683 98.0087 75.5007 681.881 103.743 65.4348 675.678 98.0783 75.5011 681.734 104.311 65.6289 675.588 99.4715 75.5067 675.666 99.6421 75.506 697.138 109.234 53.8064 708.747 108.197 52.8544 731.96 106.326 52.761 708.938 94.2303 75.4948 697.984 94.1971 75.4938 689.829 94.1723 75.4932 776.137 106.238 54.1015 755.377 94.3711 75.4985 722.061 94.2701 75.4957 775.872 94.4332 75.5 767.931 94.4091 75.4994 815.142 106.968 75.5017 813.679 107.088 75.5017 771.256 110.562 75.502 658.532 95.8102 728.009 704.459 96.3877 689.113 703.943 97.5284 580.502 724.057 97.1208 597.359 728.106 97.2163 580.502 680.385 96.5331 875.502 680.503 96.5452 875.502 679.81 95.9102 847.779 679.635 95.7505 840.807 664.822 94.8081 875.502 672.606 95.5928 875.502 680.372 96.5322 875.502 682.094 95.6563 816.776 700.384 96.2353 708.193 647.076 93.6372 875.502 681.688 95.6533 819.562 613.125 93.5381 875.502 629.316 93.1992 875.502 645.506 93.5337 875.502 702.456 96.3128 698.489 682.432 95.5502 819.664 702.818 96.2615 698.552 728.296 97.209 580.502 703.458 95.974 698.671 728.855 97.06 580.502 728.571 97.1356 580.502 704.039 95.351 698.777 729.571 96.4355 580.502 729.213 96.8386 580.502 729.654 94.8755 580.502 729.656 94.8862 580.502 704.149 93.4945 698.784 729.809 95.4048 580.502 704.319 94.4362 698.823 729.777 95.9426 580.502 729.59 96.391 580.502 687.915 90.8336 781.198 702.676 92.3239 698.494 703.044 92.4452 698.567 704.533 92.5114 688.088 729.321 94.4201 580.502 703.644 92.8067 698.683 728.855 94.1021 580.502 728.7 94.063 580.502 728.24 93.9472 580.502 682.881 90.4804 819.731 682.151 90.2928 819.631 682.56 90.3283 816.778 684.322 91.944 819.927 683.001 90.5111 819.748 683.966 91.2402 819.879 682.875 95.4889 819.725 683.951 94.7268 819.872 684.107 94.4177 819.894 684.52 93.6038 819.952 684.515 92.3255 819.953 104.567 0.547126 1074.95 104.567 0.547126 1076.07 102.489 1.37786 1074.96 102.489 1.37786 1076.06 100.202 2.29222 1074.97 100.202 2.29222 1076.04 96.948 5.04295 1075 96.9479 5.04302 1076.02 96.8046 5.21035 1075 96.8046 5.21035 1076.02 104.569 2.29571 1050.14 107.997 1.93561 1049.76 108.896 0.804678 1062.22 102.049 1.63445 1062.64 96.445 5.63681 1063.2 101.389 2.62981 1050.49 98.139 4.42473 1051.03 101.169 2.75112 1050.53 97.5976 4.72376 1051.12 95.5599 6.6866 1051.55 96.0182 6.16996 1099.56 95.5607 6.68562 1099.45 96.4453 5.63643 1087.81 102.05 1.63405 1088.37 108.896 0.804253 1088.79 101.233 2.84416 1100.47 98.3243 4.69933 1099.96 107.997 1.93467 1101.25 104.559 2.24374 1100.87 101.784 2.4931 1100.56 358.54 40.6656 1036.26 357.868 40.6656 1034.45 358.339 43.4187 1034.2 371.889 50.6656 1028.01 371.888 50.6656 1028.01 365.751 49.8163 1030.53 365.413 49.5895 1029.85 364.836 49.258 1030.05 371.891 50.6656 1028.01 366.56 49.8163 1031.89 363.141 47.821 1034.72 361.295 45.5754 1036.35 360.367 43.4187 1037.19 359.975 40.6656 1037.54 359.025 43.5849 1035.92 360.151 45.8061 1035.13 362.31 48.0185 1033.66 366.139 49.8929 1031.22 371.89 50.6656 1028.01 359.459 45.5754 1033.6 361.686 47.821 1032.46 361.339 47.2517 1031.27 359.943 45.6229 1031.81 359.344 44.9244 1032.05 358.458 42.9559 1032.41 358.117 40.6656 1032.55 673.577 90.4391 679.078 703.927 92.6336 580.502 658.512 89.3498 728.009 613.101 85.4067 875.502 680.33 90.1664 847.926 679.941 90.1395 853.966 652.091 87.8381 875.502 681.201 90.3314 875.502 677.043 90.129 580.502 677.043 98.8834 580.502 677.892 90.2009 580.502 704.926 99.9238 477.875 704.863 91.0337 478.107 723.615 100.621 409.087 759.612 92.8141 276.594 759.534 101.072 276.882 767.351 93.0658 248.111 786.906 101.416 176.136 808.814 93.2344 95.5017 808.814 101.691 95.5017 807.49 93.2246 100.376 807.489 101.675 100.381 800.652 93.1742 125.544 800.625 101.589 125.644 788.083 93.0815 171.806 786.99 93.0807 175.827 853.232 97.6562 95.5017 809.037 101.673 95.5017 856.356 98.5128 85.3632 577.723 86.8646 453.304 577.937 86.722 452.558 578.117 86.2908 451.923 578.237 85.6379 451.497 572.519 85.6763 449.854 572.402 86.3291 450.28 572.222 86.7604 450.916 572.01 86.9029 451.661 567.123 86.3867 447.087 569.857 86.0144 448.919 569.028 86.9384 450.419 569.353 86.8339 449.838 569.64 86.5138 449.318 566.812 86.7226 447.376 565.714 86.6133 445.3 564.581 87.0555 442.235 564.48 87.0541 443.965 564.219 87.1342 442.139 564.079 87.098 444.009 564.564 87.0579 445.809 564.976 87.0068 445.629 564.863 86.9298 443.922 564.943 86.9768 442.331 566.047 87.0018 448.073 566.445 86.9328 447.712 565.366 86.856 445.457 565.214 86.73 443.88 565.251 86.7629 442.41 565.389 87.2104 437.793 565.879 87.1374 437.923 566.107 87.0377 437.983 566.336 86.938 438.043 566.393 87.1531 436.76 565.952 87.2311 436.49 566.803 86.9436 437.009 567.856 86.904 435.937 569.624 86.7966 435.089 567.167 87.2475 435.107 567.527 87.1538 435.541 569.174 87.2533 433.944 569.413 87.1288 434.552 572.244 87.2442 433.282 572.295 87.0651 434.07 572.336 86.5876 434.722 576.823 87.2125 433.796 576.548 86.9337 434.743 576.344 86.2033 435.431 582.211 86.1633 437.118 582.412 86.8938 436.428 582.686 87.1725 435.481 590.439 87.8365 433.663 590.232 87.512 433.598 589.921 87.2953 433.504 589.553 87.2195 433.397 591.516 87.9014 429.914 591.309 87.5769 429.849 590.998 87.3602 429.756 590.631 87.2844 429.649 593.291 87.9498 427.928 592.418 87.9342 428.478 591.776 87.9151 429.286 591.588 87.5901 429.177 591.303 87.3737 429.017 590.967 87.2989 428.832 592.275 87.6087 428.312 592.058 87.3926 428.067 591.802 87.3191 427.779 593.21 87.6238 427.724 593.085 87.4079 427.419 592.937 87.3356 427.062 594.297 87.9604 427.698 594.286 87.6342 427.477 594.269 87.4185 427.148 594.247 87.3468 426.761 595.322 87.9654 427.812 595.384 87.6389 427.6 595.475 87.4233 427.283 595.582 87.3521 426.91 614.469 87.5115 432.339 628.284 87.7969 436.312 628.175 87.8687 436.684 611.666 88.0722 432.51 611.731 87.7457 432.299 611.824 87.5301 431.982 611.932 87.4591 431.609 628.009 88.4104 437.208 628.078 88.0843 436.999 628.638 88.4327 437.469 628.751 88.1059 437.278 628.916 87.8906 436.99 629.104 87.8205 436.65 629.443 88.4598 438.111 629.614 88.1321 437.966 629.865 87.9173 437.745 630.157 87.8494 437.485 630.874 87.8669 438.62 630.511 87.9334 438.771 630.201 88.1478 438.898 629.992 88.4761 438.982 630.109 88.4689 441.008 630.222 88.4794 439.985 630.326 88.1407 441.066 630.448 88.151 439.972 630.649 87.9262 441.156 630.783 87.9366 439.952 631.026 87.8594 441.263 631.175 87.8705 439.929 625.413 88.2448 457.347 625.631 87.9162 457.406 625.955 87.702 457.496 626.333 87.6362 457.604 620.717 88.0403 473.686 620.935 87.7115 473.745 621.26 87.4974 473.836 621.638 87.4322 473.944 621.304 87.4186 474.758 620.662 87.6992 474.413 620.461 88.0275 474.31 619.824 87.9965 475.12 618.953 87.9548 475.674 620.959 87.4848 474.57 620.471 87.3856 475.812 620.208 87.4543 475.523 619.334 87.3413 476.53 619.183 87.4133 476.174 618.025 87.2907 476.832 618 87.3664 476.45 619.98 87.6692 475.28 619.049 87.6289 475.874 617.972 87.5829 476.126 617.948 87.9072 475.91 616.688 87.2399 476.683 616.788 87.3434 476.324 616.82 87.3776 476.206 616.912 87.8659 475.822 616.908 87.7428 475.855 616.864 87.5602 476.03 598.906 86.7783 471.569 588.787 86.6695 468.659 588.923 86.8085 468.185 602.739 86.8194 472.671 602.873 86.9578 472.196 602.966 87.3231 471.847 589.021 87.1738 467.839 586.558 87.1732 466.653 586.349 86.808 466.946 586.063 86.669 467.348 584.094 86.6657 466.793 583.687 86.8011 466.505 583.388 87.1669 466.298 527.146 85.892 545.036 576.304 86.4889 477.698 527.846 85.3885 545.529 527.443 85.5266 545.242 523.971 90.987 377.132 576.07 91.7812 276.481 589.709 90.5384 276.488 602.136 91.8776 226.141 628.258 91.958 175.823 639.702 90.8988 175.823 625.458 92.5401 175.823 363.697 105.728 679.083 469.045 105.352 477.788 462.201 99.4914 477.788 460.723 94.3827 477.745 461.371 93.4566 477.734 354.164 91.1863 679.094 596.438 86.6555 477.789 668.911 103.834 477.789 741.292 103.39 276.483 777.469 102.32 175.823 525.987 103.619 875.502 527.88 103.32 875.502 532.06 102.626 875.502 534.149 102.275 875.502 536.238 101.922 875.502 544.594 100.511 875.502 555.817 98.6858 875.502 567.063 97.0652 875.502 572.698 96.3585 875.502 578.341 95.7297 875.502 589.66 94.7368 875.502 600.925 94.0685 875.502 612.21 93.5698 875.502 612.668 93.5509 875.502 443.636 115.499 875.502 450.641 114.647 875.502 600.538 114.366 477.789 454.141 114.207 875.502 457.64 113.759 875.502 461.138 113.302 875.502 464.634 112.838 875.502 471.624 111.885 875.502 478.61 110.903 875.502 485.592 109.894 875.502 492.571 108.86 875.502 499.546 107.805 875.502 416.988 118.347 875.502 422.129 117.853 875.502 565.942 117.521 477.788 427.268 117.331 875.502 432.405 116.783 875.502 434.972 116.499 875.502 437.54 116.21 875.502 443.018 115.572 875.502 381.424 120.85 875.502 386.418 120.607 875.502 530.334 118.189 477.789 376.426 121.053 875.502 354.918 121.443 875.502 362.087 121.405 875.502 369.257 121.274 875.502 391.41 120.326 875.502 396.399 120.009 875.502 400.726 119.66 875.502 494.562 114.271 477.79 301.175 117.071 875.502 306.137 117.926 875.502 318.533 119.6 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875.502 353.241 92.2558 679.112 250.585 89.5127 875.502 250.429 89.7836 875.502 253.206 87.3806 875.502 252.612 87.7459 875.502 356.561 89.6987 679.076 254.354 86.7656 875.502 253.811 87.0384 875.502 252.555 87.7828 875.502 251.574 88.5005 875.502 251.532 88.5386 875.502 263.609 84.1579 875.502 262.61 84.3226 875.502 261.612 84.5019 875.502 257.648 85.4404 875.502 255.049 86.4165 875.502 390.089 85.2685 679.083 293.782 82.1926 875.502 280.318 82.8074 875.502 367.618 87.3717 679.08 277.888 82.9288 875.502 275.787 83.0402 875.502 273.686 83.1633 875.502 267.276 83.7269 875.502 265.614 83.8729 875.502 434.463 82.7443 679.083 312.147 81.3606 875.502 296.232 82.0808 875.502 365.034 80.4579 875.502 358.238 80.3901 875.502 345.702 80.6541 875.502 409.944 80.9581 875.502 403.949 80.9173 875.502 516.476 83.4943 679.083 438.219 81.0865 875.502 389.565 80.7849 875.502 377.3 80.6219 875.502 471.101 81.2653 875.502 453.708 81.1577 875.502 438.61 81.0883 875.502 506.254 81.6252 875.502 512.173 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95.4577 477.764 489.907 88.3981 477.802 471.873 89.9095 477.778 460.915 97.631 477.789 671.187 100.225 87.8698 673.115 101.578 87.8703 670.786 103.577 100.455 680.044 106.844 100.458 700.13 109.909 100.466 593.346 111.243 276.48 642.815 108.867 175.823 580.289 107.13 276.481 631.946 105.1 175.823 574.27 103.9 276.484 622.634 98.6217 175.823 748.959 108.717 100.42 666.14 112.193 175.822 620.843 114.925 276.479 691.191 112.584 175.822 649.462 114.923 276.479 719.487 110.393 175.822 679.925 112.281 276.48 804.602 101.882 100.357 739.153 109.312 125.54 795.561 102.091 125.504 667.627 107.553 125.564 688.801 110.67 125.568 697.546 90.3569 100.422 686.085 90.4449 125.547 664.78 91.098 125.548 677.333 91.0132 100.426 671.862 93.1506 87.8633 667.59 92.0913 100.437 669.798 94.2497 87.8695 662.047 95.8474 100.445 662.284 97.0291 100.447 662.32 94.6754 100.445 663.067 93.7303 100.446 665.216 92.6339 100.437 669.585 98.5096 87.8668 666.503 101.258 100.449 662.861 98.092 100.443 657.835 104.118 125.563 649.443 98.3214 125.557 648.803 97.2141 125.56 648.509 95.9748 125.558 648.81 94.7415 125.562 649.636 93.7727 125.565 651.95 92.6879 125.553 654.466 92.1342 125.554 622.834 93.6466 175.822 596.152 93.6211 226.107 621.868 94.6834 175.823 621.5 96.0439 175.823 621.884 97.409 175.823 516.263 92.7758 377.118 463.107 92.0161 477.762 569.525 93.5622 276.424 568.335 94.7635 276.446 567.966 95.5289 276.498 567.83 96.3678 276.486 568.264 97.9992 276.468 569.149 99.4569 276.479 577.011 86.7395 465.322 537.514 85.8647 520.609 537.781 86.0803 520.804 537.959 86.4068 520.935 577.451 87.2811 465.645 577.276 86.9557 465.514 581.513 87.3624 459.945 581.337 87.0469 459.813 581.076 86.8381 459.623 633.905 88.7141 402.025 630.784 88.6413 403.301 628.263 88.5712 405.537 626.625 88.51 408.478 626.052 88.4638 411.788 626.602 88.4389 415.095 628.208 88.4418 418.032 630.695 88.477 420.279 633.793 88.5429 421.583 637.15 88.6292 421.789 639.221 88.6871 421.342 644.493 88.8474 417.28 642.203 88.7751 419.76 645.831 88.8967 414.18 646.065 88.9194 410.814 643.245 88.8892 404.789 645.169 88.9159 407.561 640.51 88.8434 402.812 637.274 88.7834 401.855 630.475 88.2952 402.786 627.8 88.2147 405.154 626.06 88.1444 408.27 625.45 88.0912 411.781 626.033 88.0626 415.289 627.738 88.0659 418.406 630.379 88.1064 420.789 633.667 88.1822 422.169 637.227 88.2814 422.384 639.421 88.3479 421.907 642.577 88.449 420.228 644.997 88.532 417.598 646.41 88.5885 414.316 646.655 88.6145 410.754 645.707 88.6105 407.311 643.672 88.5797 404.377 640.778 88.5273 402.282 637.353 88.4584 401.264 633.784 88.3788 401.439 379.171 42.7674 1008.91 385.521 43.6867 1006.29 385.884 45.5632 1007.28 370.299 45.6656 1016.75 369.288 40.6656 1015.87 376.266 50.6656 1023.03 372.821 49.3259 1019.41 369.386 40.6865 1015.8 386.209 47.2381 1008.16 388.807 50.6656 1015.23 387.38 49.7685 1011.35 387.116 49.1984 1010.63 429.016 43.7442 1013.04 430.544 43.6015 1013.88 429.853 45.5599 1014.72 427.887 47.3352 1014.47 415.866 47.8724 1008.43 417.743 44.7962 1006.82 415.172 44.9155 1005.95 412.604 47.9338 1007.45 413.135 44.92 1005.62 397.76 47.8059 1006.05 401.701 44.9454 1003.82 399.68 47.8596 1005.96 399.035 44.8357 1003.85 397.596 44.7133 1004.11 398.064 49.9231 1009.25 425.841 49.7951 1017.15 414.772 49.9411 1011.43 411.764 49.9576 1010.51 399.837 49.9376 1009.16 429.261 47.2381 1015.45 427.591 49.1984 1017.48 427.105 49.7685 1018.07 398.421 50.6656 1013.02 400.022 50.6656 1012.9 410.786 50.6656 1014.08 413.492 50.6656 1014.94 423.364 50.6656 1020.39 424.479 50.6656 1021.27 444.194 40.6656 1036.26 442.758 40.6656 1037.54 442.366 43.4187 1037.19 430.842 50.6656 1028.01 436.173 49.8163 1031.89 430.846 50.6656 1028.01 430.845 50.6656 1028.01 437.32 49.5895 1029.85 436.982 49.8163 1030.53 437.898 49.258 1030.05 441.048 47.821 1032.46 441.395 47.2517 1031.27 443.274 45.5754 1033.6 442.536 45.9197 1031.72 442.791 45.6229 1031.81 443.389 44.9244 1032.05 444.276 42.9559 1032.41 444.394 43.4187 1034.2 444.617 40.6656 1032.55 444.865 40.6656 1034.45 443.709 43.5849 1035.92 442.583 45.8061 1035.13 440.423 48.0185 1033.66 436.595 49.8929 1031.22 430.844 50.6656 1028.01 441.438 45.5754 1036.35 439.593 47.821 1034.72 444.617 40.4193 1032.55 444.014 40.6656 1031.08 440.891 38.2647 1038 442.211 38.4834 1037.78 444.271 39.222 1036.14 444.178 39.1791 1036.24 443.376 38.8099 1037.14 442.732 38.6292 1037.49 444.862 40.1326 1033.52 444.813 39.8276 1034.45 444.79 39.6837 1034.89 361.843 32.4582 1038 401.356 35.4987 1038 358.883 29.9558 1038.26 358.167 29.3998 1039.29 357.976 29.6951 1038.36 359.19 31.2694 1037.3 359.398 31.0115 1037.56 357.785 30.346 1037.46 358.433 30.9191 1037.14 357.957 29.7624 1038.27 358.646 30.333 1037.68 359.009 31.6355 1037.06 359.458 32.4269 1037.21 359.53 32.3668 1037.27 359.607 32.3462 1037.32 101.242 10.9792 1039.37 102.29 11.8472 1039 102.975 8.17473 1040.22 100.81 3.39743 1047.74 97.7668 8.21123 1043.33 98.938 9.14412 1042 99.52 6.76493 1043.18 103.652 5.11725 1042.78 100.23 4.81249 1045.23 102.688 12.1773 1038.85 104.292 13.506 1038.28 104.905 9.19284 1039.23 106.274 15.1483 1037.56 106.851 10.6055 1038.73 106.87 10.4571 1038.77 106.988 9.53227 1039.01 107.371 6.58365 1041.53 96.7697 7.4977 1046.44 107.65 4.43729 1043.36 104.191 2.94463 1046.18 107.751 3.70812 1045.22 107.759 3.65125 1045.37 97.4855 5.32906 1048.26 95.6718 6.71203 1049.87 96.6083 7.38225 1046.95 171.912 10.3949 1050.2 171.981 9.79308 1048.48 171.97 9.8882 1049.41 206.443 16.6463 1051.55 206.613 15.0765 1050.66 206.619 15.0771 1050.66 172.575 11.2882 1050.66 206.332 17.6765 1053.08 241.168 21.3037 1053.09 241.171 21.28 1052.93 241.275 20.2555 1051.6 241.295 20.0613 1051.34 218.549 16.3558 1050.66 241.43 18.7372 1050.66 172.667 10.4822 1050.2 172.725 9.97537 1049.41 172.737 9.87896 1048.48 245.531 20.2807 1055.73 243.996 21.3351 1055.85 243.863 21.3969 1054.91 241.796 21.3395 1053.01 242.23 20.1572 1051.45 245.328 20.3347 1054.31 246.105 18.8194 1053.94 246.122 18.8177 1053.96 245.298 18.9009 1052.5 244.659 20.3327 1053.03 245.284 18.901 1052.49 243.585 20.2719 1052.03 244.073 18.9088 1051.42 242.541 18.834 1050.79 242.483 18.8289 1050.78 242.702 21.4017 1053.39 243.419 21.4208 1054.06 246.408 18.6802 1055.56 246.494 17.9552 1065.18 246.495 17.9487 1065.35 245.617 19.5525 1065.44 246.521 17.7245 1071.19 246.527 17.6693 1074.68 245.648 19.2775 1074.69 244.113 20.3375 1074.7 244.081 20.6111 1065.5 246.527 17.6691 1074.7 248.657 16.2106 1074.7 248.657 16.2106 1074.74 247.998 16.2535 1074.7 247.738 16.3334 1074.74 246.974 16.857 1074.74 247.379 16.5147 1074.7 247.749 16.3585 1074.7 246.558 17.5683 1074.7 246.882 16.966 1074.7 246.987 16.871 1074.7 248.657 16.2106 1076.28 247.738 16.3334 1076.28 246.974 16.857 1076.28 246.527 17.6691 1076.31 246.527 17.6693 1076.33 245.648 19.2775 1076.32 244.113 20.3375 1076.31 246.558 17.5683 1076.31 246.882 16.9665 1076.31 246.987 16.8711 1076.31 247.379 16.5151 1076.32 247.749 16.3585 1076.32 247.997 16.2537 1076.32 248.657 16.2106 1076.32 246.524 17.6965 1078.49 245.617 19.5523 1085.57 246.501 17.889 1084.5 246.492 17.973 1085.66 244.081 20.6109 1085.51 243.996 21.334 1095.15 245.531 20.2797 1095.28 246.408 18.6791 1095.44 243.042 18.8654 1100.07 241.43 18.7361 1100.34 241.295 20.0602 1099.66 242.739 20.2028 1099.4 243.059 18.8659 1100.06 244 20.2987 1098.67 244.508 18.9134 1099.27 244.52 18.9138 1099.27 244.937 20.3389 1097.56 245.619 18.8804 1098.06 246.272 18.7775 1096.53 245.45 20.3214 1096.22 242.137 21.3654 1097.9 242.98 21.4123 1097.41 243.604 21.4162 1096.67 243.944 21.3788 1095.78 241.275 20.2544 1099.41 241.171 21.2789 1098.07 241.168 21.3026 1097.92 206.332 17.6754 1097.92 206.619 15.076 1100.34 206.614 15.0754 1100.34 206.444 16.6452 1099.45 172.566 11.2862 1100.34 218.55 16.3548 1100.34 107.779 3.49434 1105.7 107.772 3.54565 1105.85 104.191 2.94366 1104.83 107.726 3.87692 1106.8 107.369 6.60675 1109.49 103.653 5.11619 1108.22 97.4864 5.32807 1102.74 100.811 3.39645 1103.26 100.23 4.81147 1105.78 98.9928 9.19149 1108.94 97.4761 7.98617 1107.14 99.5208 6.76389 1107.82 102.976 8.17365 1110.78 106.846 10.6584 1112.11 102.61 9.93586 1111.67 106.568 12.8435 1112.76 106.275 15.1474 1113.44 107.101 8.6588 1111.52 106.865 10.5106 1112.07 102.685 12.1722 1112.17 102.286 11.8419 1112.03 101.31 11.0332 1111.68 96.7288 7.46007 1104.59 96.5793 7.35485 1104.08 95.6497 6.70049 1100.92 172.728 9.87692 1102.52 171.981 9.79204 1102.53 172.716 9.97331 1101.59 171.97 9.88716 1101.59 172.658 10.4801 1100.81 171.912 10.3938 1100.81 505.311 50.6656 1066.79 505.311 50.6656 1084.21 497.227 50.6656 1051.37 497.227 50.6656 1099.63 491.367 50.6656 1046.04 491.367 50.6656 1104.96 444.617 40.4191 1118.46 444.617 40.6656 1118.46 444.889 40.0206 1117.12 444.865 40.6656 1116.55 444.194 40.6656 1114.74 444.701 39.567 1115.78 444.809 39.8284 1116.56 442.741 38.627 1113.51 443.061 38.7046 1113.64 442.758 40.6656 1113.46 444.069 39.1067 1114.57 444.166 39.1775 1114.76 441.807 38.4013 1113.11 440.891 40.6656 1113 440.891 38.2639 1113 438.653 47.2517 1115.48 436.154 49.2534 1118.06 366.579 49.2534 1118.06 364.08 47.2517 1115.48 363.105 45.6212 1114.41 439.629 45.6212 1114.41 362.688 44.9244 1113.95 440.045 44.9244 1113.95 362.077 42.9559 1113.27 440.656 42.9559 1113.27 361.843 40.6656 1113 430.826 50.6656 1123 371.907 50.6656 1123 430.841 50.6656 1122.99 371.892 50.6656 1122.99 435.735 49.5895 1118.49 366.999 49.5895 1118.49 383.409 34.1512 1113 361.843 32.4575 1113 358.434 30.9187 1113.86 357.785 30.3456 1113.54 358.688 30.2495 1113.22 357.961 29.7818 1112.71 358.012 29.6168 1112.47 359.227 31.2145 1113.66 359.544 32.3597 1113.73 359.458 32.4262 1113.79 359.009 31.635 1113.95 359.606 32.3457 1113.69 359.397 31.0109 1113.45 358.882 29.9552 1112.74 358.168 29.3991 1111.71 36.8667 86.5919 1090.5 34.3667 85.922 1090.5 34.3667 86.5919 1093 38.6968 88.422 1090.5 36.5317 87.172 1093 39.3667 90.922 1090.5 38.8628 90.922 1092.38 38.1166 88.757 1093 36.5317 89.672 1094.83 37.7817 90.922 1093.92 38.6968 90.922 1093 34.3667 90.922 1095.5 36.247 90.922 1095 36.8667 90.922 1094.83 35.6166 88.757 1094.83 34.3667 88.422 1094.83 34.3667 85.922 1060.5 36.8667 86.5919 1060.5 38.6968 88.422 1060.5 39.3667 90.922 1060.5 37.7817 90.922 1057.09 36.8667 90.922 1056.17 36.5317 89.672 1056.17 35.6166 88.757 1056.17 34.3667 90.922 1055.5 34.3667 89.0416 1056.01 36.5317 87.172 1058 36.247 90.922 1056.01 38.8628 90.922 1058.62 38.6968 90.922 1058 38.1166 88.757 1058 34.3667 88.422 1056.17 34.3667 87.507 1057.09 34.3667 86.5919 1058 34.3667 86.4259 1058.62 250.176 90.0433 875.502 250.076 90.2483 875.502 249.61 91.2016 875.502 249.591 91.3081 875.502 249.496 91.8461 875.502 249.51 92.5005 875.502 249.517 92.5552 875.502 250.188 94.6529 875.502 251.478 96.5844 875.502 250.247 94.7565 875.502 250.699 95.543 875.502 251.296 96.3782 875.502 253.444 98.7283 875.502 259.771 103.614 875.502 254.174 99.4221 875.502 254.67 99.8565 875.502 255.343 100.447 875.502 256.557 101.415 875.502 259.095 103.204 875.502 258.447 102.775 875.502 257.808 102.332 875.502 257.492 102.107 875.502 257.178 101.879 875.502 503.822 107.141 875.502 536.123 101.946 875.502 517.848 104.962 875.502 526.988 103.473 875.502 531.556 102.712 875.502 574.18 96.2273 875.502 572.742 96.3657 875.502 563.559 97.5741 875.502 554.401 98.9473 875.502 545.258 100.422 875.502 600.928 94.0281 875.502 611.831 93.5852 875.502 612.668 93.5567 875.502 674.545 95.8972 875.502 676.372 96.0749 875.502 628.213 93.3828 875.502 637.457 93.5176 875.502 646.698 93.8285 875.502 649.031 93.9469 875.502 678.139 96.2679 875.502 678.196 96.2742 875.502 652.865 94.1413 875.502 659.026 94.547 875.502 667.241 95.2171 875.502 672.718 95.7218 875.502 682.345 91.877 847.891 681.62 90.8547 847.904 680.743 90.3129 847.905 682.038 90.6267 875.502 682.641 90.8395 875.502 683.184 91.2935 875.502 683.424 91.6796 875.502 683.663 92.0645 875.502 682.554 93.2648 847.868 684.047 93.4425 875.502 684.05 93.429 875.502 683.978 92.9351 875.502 683.909 92.4606 875.502 683.799 92.283 875.502 683.697 94.8111 875.503 683.801 94.4046 875.502 683.96 93.7823 875.502 682.809 95.8279 875.502 682.08 94.5858 847.839 682.677 95.9788 875.502 681.171 95.4484 847.814 682.07 96.2064 875.502 683.38 95.1733 875.503 683.39 95.1621 875.503 683.672 94.8395 875.503 681.221 96.5249 875.501 681.368 96.4699 875.501 680.206 95.8101 847.799 118.515 24.8939 1113.82 97.1384 25.9838 1113.86 122.771 24.8754 1113.82 148.836 24.7623 1113.82 184.167 22.9093 1113.74 200.511 24.538 1113.81 88.0482 29.6955 1113.24 87.6837 29.8331 1113.17 87.0535 30.0709 1113.06 80.0802 32.4419 1110.87 78.7667 32.8053 1110.13 77.8408 33.0615 1109.61 75.8073 31.5144 1105.35 75.7786 31.4973 1105.17 75.0215 31.0461 1100.41 61.7647 38.5173 1102.85 61.7189 38.5211 1102.84 62.5254 38.382 1102.72 62.0853 38.4885 1102.97 62.5349 38.4179 1103.14 63.3301 38.211 1102.6 63.3563 38.2888 1103.44 65.4224 37.9642 1104.2 69.0523 35.9551 1101.65 68.3476 37.1831 1105.35 70.157 36.3975 1106.16 70.9338 36.1079 1106.13 70.9916 36.0352 1106.54 70.2642 35.2484 1101.42 69.7412 36.5781 1105.98 69.2138 35.8914 1101.62 75.0215 31.0461 1050.6 76.1169 29.7469 1069.78 75.7434 30.1898 1091.23 75.7778 31.4966 1045.83 70.2642 35.2483 1049.58 63.3572 38.2887 1047.57 63.331 38.2107 1048.4 62.5262 38.3817 1048.28 70.1506 36.3935 1044.85 70.9889 36.0294 1044.47 70.9324 36.1059 1044.88 77.8343 33.0564 1041.4 75.8055 31.5131 1045.66 64.9846 37.5587 1048.68 65.4027 37.9678 1046.81 69.053 35.9547 1049.36 68.3055 37.1948 1045.67 69.2143 35.8911 1049.38 61.7207 38.5206 1048.17 61.7664 38.5168 1048.15 62.0856 38.4882 1048.04 62.5357 38.4175 1047.87 69.7397 36.5719 1045.03 78.8653 32.7471 1040.92 83.0818 31.4818 1038.95 84.1918 31.1021 1038.62 87.8708 29.7047 1037.99 97.1386 25.9835 1037.14 94.0132 27.3102 1037.17 92.0696 28.1099 1037.28 122.776 25.2529 1037.17 147.718 24.5421 1037.2 148.8 24.542 1037.2 184.159 22.9098 1037.26 200.496 24.5379 1037.2 358.117 35.3089 1032.55 357.843 34.6943 1033.93 357.927 34.4924 1034.45 358.072 34.1411 1035.33 358.591 33.5123 1036.23 359.99 32.3431 1037.51 358.821 33.2341 1036.62 360.539 32.3387 1037.78 357.592 31.3462 1036.5 356.694 30.754 1036.91 356.385 31.5356 1035.38 356.414 30.8543 1036.64 355.391 31.2199 1035.67 358.337 32.2154 1036.4 357.819 33.0977 1035.2 357.623 32.7957 1035.21 357.231 32.1898 1035.22 356.667 31.7531 1035.33 359.173 36.0321 1030.06 360.342 36.7457 1027.69 364.304 38.7195 1021.47 682.846 91.0429 875.502 682.586 90.8504 875.502 682.07 90.6691 875.502 681.655 90.5237 875.502 679.753 90.3221 875.502 677.406 90.1383 875.502 615.031 85.5861 875.502 626.712 86.2943 875.502 646.815 87.6705 875.502 648.325 87.7834 875.502 673.814 89.8086 875.502 668.307 89.3286 875.502 659.842 88.6451 875.502 609.189 85.2589 875.502 603.346 84.9494 875.502 579.967 83.8755 875.502 573.54 83.6244 875.502 568.274 83.4187 875.502 556.58 82.9968 875.502 525.531 82.0083 875.502 499.143 81.538 875.502 509.792 81.6921 875.502 471.102 81.2328 875.502 439.584 81.1119 875.502 431.354 81.0692 875.502 377.3 80.6289 875.502 354.444 80.3392 875.502 299.112 81.9992 875.502 257.328 85.5225 875.502 261.071 84.6042 875.502 259.188 85.0161 875.502 259.155 85.0251 875.502 253.026 87.4746 875.502 253.508 87.1833 875.502 254.503 86.6456 875.502 254.611 86.5972 875.502 255.892 86.0248 875.502 275.728 83.0031 875.502 271.145 83.2873 875.502 266.572 83.7354 875.502 264.292 84.0445 875.502 263.154 84.2246 875.502 262.017 84.4235 875.502 279.348 82.8487 875.502 250.764 89.311 875.502 250.949 89.1149 875.502 251.339 88.7387 875.502 251.404 88.687 875.502 357.821 33.8469 1025.53 357.833 33.8535 1025.5 358.698 33.9328 1026.02 362.022 35.8346 1018.84 358.865 34.0211 1026.13 363.017 35.9317 1019.62 358.867 34.0226 1026.13 363.814 36.5277 1020.41 359.461 34.3358 1026.53 360.324 35.881 1027.44 360.225 35.5943 1027.3 364.271 37.5159 1021.07 360.024 35.0106 1027.03 360.358 36.5587 1027.65 369.303 39.4216 1015.46 368.92 38.4147 1014.71 368.212 37.837 1013.77 367.314 37.7985 1012.82 370.946 38.7497 1010.25 377.859 40.5602 1005.36 378.414 40.4719 1006.44 384.641 41.769 1002.59 385.011 41.6326 1003.7 378.862 40.8648 1007.51 385.309 41.9494 1004.79 379.129 41.6744 1008.37 385.488 42.6709 1005.7 418.538 43.0431 1004.31 418.184 43.284 1005.33 415.559 43.4252 1004.43 417.907 43.8959 1006.2 415.319 44.0256 1005.32 431.357 41.7617 1010.12 432.553 41.6228 1010.78 431.851 41.5265 1011.69 418.919 43.2055 1003.29 401.75 44.0522 1003.17 399.066 43.9307 1003.21 401.793 43.4542 1002.25 399.07 43.3218 1002.28 415.859 43.1947 1003.41 401.823 43.2324 1001.16 399.047 43.0926 1001.19 430.766 42.5949 1013.36 431.224 41.8673 1012.6 416.181 43.3649 1002.37 401.836 43.4168 1000.08 398.998 43.2745 1000.09 442.78 45.6656 1031.6 439.114 42.0295 1022.56 442.327 41.1487 1027.6 443.096 40.9172 1029.08 444.01 40.6667 1031.07 444.799 39.198 1032.28 444.19 39.4401 1030.81 445.444 38.1931 1031.87 444.826 38.4331 1030.38 446.437 37.5828 1031.39 445.809 37.8239 1029.86 447.603 37.475 1030.91 446.962 37.7213 1029.35 444.565 38.122 1036.08 445.089 38.9439 1033.29 445.78 37.956 1033.03 446.82 37.3358 1032.79 448.032 37.1883 1032.62 445.069 38.5416 1034.73 445.761 37.5782 1034.69 446.759 36.9444 1034.79 447.908 36.7393 1035.02 445.183 37.181 1036.26 446.035 36.5347 1036.66 446.999 36.2766 1037.21 445.435 35.8602 1038.97 444.739 36.1591 1038.17 444.111 36.8154 1037.55 443.636 37.7405 1037.19 443.023 35.8604 1039.16 443.396 35.5312 1040.11 441.087 35.3117 1040.51 441.06 35.7177 1039.55 441.051 35.8517 1039.23 442.673 36.5238 1038.4 440.958 37.2481 1038.24 442.39 37.4369 1037.92 440.98 36.9123 1038.32 441.016 36.382 1038.78 401.573 32.5474 1040.51 401.533 33.0875 1039.22 401.456 34.1474 1038.32 361.951 31.1082 1038.32 362.036 30.049 1039.22 362.08 29.5088 1040.51 360.198 29.9449 1038.93 359.8 29.3903 1040.12 360.463 31.0015 1038.09 350.634 29.8671 1037.55 287.224 26.7645 1037.66 310.953 27.9255 1037.62 311.14 26.671 1038.6 263.494 25.6033 1037.7 263.683 23.7361 1039.07 263.746 23.1216 1039.52 311.24 25.8498 1039.65 263.849 22.1014 1040.27 264.035 20.3395 1043.62 263.944 21.2037 1041.97 263.867 21.931 1040.59 264.064 20.0953 1044.76 311.022 27.9289 1037.62 185.031 15.33 1040.49 184.595 19.1094 1038.12 261.176 25.5641 1037.68 231.968 25.0701 1037.45 206.761 13.7624 1049.41 241.565 17.4208 1049.41 241.513 17.9294 1050.2 218.635 15.5486 1050.2 206.772 13.6651 1048.48 218.699 14.9431 1048.48 218.689 15.0406 1049.41 241.574 17.3229 1048.48 206.706 14.2701 1050.2 245.66 18.1081 1052.18 244.346 18.1149 1051.02 242.703 18.0334 1050.33 242.915 17.5386 1049.57 243.128 17.4577 1048.66 244.776 17.6299 1050.34 245.271 17.5596 1049.56 246.266 17.6208 1051.67 246.983 17.5447 1051.08 246.546 18.0199 1053.75 247.269 17.5196 1053.46 248.135 17.4244 1053.14 246.854 17.8721 1055.48 247.618 17.3512 1055.42 248.536 17.2293 1055.39 246.94 17.1443 1065.13 247.704 16.6214 1065.1 248.623 16.4988 1065.09 246.967 16.9126 1071.17 247.732 16.3892 1071.15 248.65 16.2664 1071.15 246.974 16.8572 1074.67 247.738 16.3336 1074.67 248.657 16.2108 1074.67 445.964 38.0548 1027.18 445.063 38.0854 1027.63 444.892 38.1599 1027.73 443.925 38.7629 1028.31 443.941 38.7467 1028.3 444.244 38.4436 1028.1 444.861 38.1736 1027.75 443.202 39.9493 1028.87 443.304 39.7284 1028.78 443.309 39.7179 1028.77 443.599 39.0891 1028.53 443.094 40.8576 1029.07 441.06 35.7169 1111.46 441.051 35.851 1111.78 383.594 31.7409 1111.78 383.513 32.8005 1112.68 362.036 30.0483 1111.78 362.08 29.5081 1110.5 383.636 31.2008 1110.49 441.087 35.311 1110.49 361.951 31.1075 1112.68 441.016 36.3813 1112.23 440.958 37.2473 1112.76 440.98 36.9116 1112.68 444.987 38.4362 1115.92 444.359 38.0156 1114.6 441.954 37.3606 1112.95 442.425 35.7854 1111.66 442.689 35.4487 1110.68 442.169 36.4505 1112.44 443.302 37.6427 1113.56 443.726 36.7215 1113.16 444.277 36.0629 1112.48 444.884 35.7541 1111.63 444.945 37.0791 1114.37 445.746 36.4299 1113.91 446.646 36.16 1113.28 445.668 37.4789 1115.9 446.639 36.8418 1115.72 447.75 36.6227 1115.41 445.131 38.8439 1117.35 445.83 37.8624 1117.55 446.87 37.2387 1117.69 448.079 37.0763 1117.76 444.799 39.1978 1118.72 445.444 38.1929 1119.13 446.437 37.5826 1119.62 447.603 37.4749 1120.09 446.962 37.7214 1121.66 445.808 37.8239 1121.14 444.826 38.433 1120.62 444.19 39.4401 1120.19 444.014 40.6656 1119.93 335.427 24.3252 1074.72 335.26 24.311 1076.3 465.956 34.0017 1075.32 471.371 34.3377 1075.51 248.657 16.2108 1076.35 247.738 16.3336 1076.35 246.974 16.8572 1076.34 246.948 17.0779 1084.54 248.631 16.4321 1084.58 248.536 17.2282 1095.61 247.712 16.5548 1084.57 247.618 17.3501 1095.59 246.854 17.871 1095.53 248.654 16.2382 1078.52 247.735 16.361 1078.51 246.971 16.8845 1078.5 248.346 17.3675 1097.15 247.433 17.5152 1099.3 247.452 17.4707 1096.93 246.657 17.5963 1098.79 246.707 17.9769 1096.71 246.005 18.0867 1098.35 245.896 17.5659 1101 245.32 17.6365 1100.27 244.826 18.1209 1099.65 243.24 18.0675 1100.52 243.523 17.5771 1101.26 243.829 17.5014 1102.14 241.513 17.9283 1100.81 241.565 17.4198 1101.59 241.575 17.3218 1102.52 206.772 13.6642 1102.52 218.689 15.0395 1101.59 218.635 15.5475 1100.81 206.762 13.7614 1101.59 206.707 14.2691 1100.81 218.7 14.942 1102.52 264.078 20.096 1106.25 263.955 21.2463 1109.03 263.897 21.7802 1110.32 184.602 19.1091 1112.88 185.039 15.3299 1110.51 261.186 25.5641 1113.32 231.993 25.0704 1113.56 263.889 21.854 1110.42 263.867 22.0762 1110.7 263.76 23.1265 1111.48 263.699 23.7282 1111.92 263.509 25.6033 1113.3 311.249 25.8413 1111.34 311.148 26.6654 1112.39 311.026 27.9935 1113.42 310.956 27.99 1113.42 360.273 29.403 1110.74 360.58 29.9556 1111.96 360.772 31.0127 1112.82 359.995 32.3475 1113.51 360.81 32.3517 1113.14 482.591 42.208 1033.32 482.909 42.3111 1033.06 483.453 43.5849 1033.16 484.103 42.616 1032.45 485.077 42.7949 1032.33 485.169 43.4187 1032.47 486.819 43.0524 1032.56 485.766 45.5754 1033.59 486.689 43.0343 1032.54 485.45 42.8635 1032.28 481.398 41.4612 1036.01 481.429 41.5556 1035.58 481.633 42.9559 1036.21 481.811 41.874 1034.36 491.36 50.6656 1046.02 491.362 50.6656 1046.02 488.839 49.8163 1039.89 489.522 49.5895 1039.55 489.362 49.3267 1039.09 491.354 50.6656 1046.03 491.356 50.6656 1046.03 486.854 49.5895 1041.13 487.478 49.8163 1040.69 486.421 49.2534 1040.71 484.649 47.821 1037.28 483.842 47.2517 1038.21 482.775 45.6212 1037.24 483.02 45.5754 1035.43 488.095 47.2517 1035.47 486.906 47.821 1035.82 487.617 45.8144 1034.24 487.321 44.9244 1033.48 486.977 43.0718 1032.63 482.319 44.9244 1036.82 482.183 43.4187 1034.5 481.924 41.9226 1034.21 484.242 45.8061 1034.29 485.711 48.0185 1036.45 488.148 49.8929 1040.27 491.358 50.6656 1046.03 498.332 42.8605 1039.08 504.27 42.4464 1045.17 503.627 45.8624 1045.71 491.362 50.6656 1104.98 488.095 47.2517 1115.53 489.362 49.3267 1111.91 500.898 49.3825 1102.88 489.522 49.5895 1111.45 504.289 42.4618 1105.91 502.025 42.6616 1108.78 503.627 45.8624 1105.29 500.658 42.7434 1110.02 487.617 45.8144 1116.76 489.271 43.0713 1117.39 487.321 44.9244 1117.53 487.505 43.0733 1118.16 486.977 43.0716 1118.38 510.293 41.9322 1098.3 513.607 45.8624 1086.25 511.223 41.8241 1096.59 515.875 41.2065 1082.14 515.555 41.2528 1084.06 514.712 41.364 1086.49 515.873 41.2069 1068.85 513.607 45.8624 1064.75 515.147 41.3115 1065.02 507.688 42.208 1048.68 509.088 42.0655 1050.73 514.571 41.3923 1062.81 500.898 49.3825 1048.12 510.069 49.3825 1085.38 510.069 49.3825 1065.62 483.839 42.557 1118.46 483.167 42.3863 1118.12 483.453 43.5849 1117.84 482.193 42.057 1117.24 481.951 41.9242 1116.79 482.183 43.4187 1116.5 481.58 41.721 1116.09 485.072 42.798 1118.7 485.169 43.4187 1118.53 485.2 42.823 1118.72 486.666 43.033 1118.49 486.709 43.0383 1118.48 485.766 45.5754 1117.41 491.356 50.6656 1104.98 491.354 50.6656 1104.98 487.478 49.8163 1110.31 486.854 49.5895 1109.87 486.421 49.2534 1110.29 491.36 50.6656 1104.98 488.839 49.8163 1111.12 486.906 47.821 1115.18 484.242 45.8061 1116.72 485.711 48.0185 1114.56 488.148 49.8929 1110.73 491.358 50.6656 1104.98 483.02 45.5754 1115.57 484.649 47.821 1113.73 483.842 47.2517 1112.79 482.775 45.6212 1113.76 482.319 44.9244 1114.18 481.633 42.9559 1114.79 481.398 41.4608 1115 481.367 37.9759 1074.83 481.367 40.6656 1041.91 481.367 39.5341 1101.08 481.367 40.6656 1109.09 481.374 41.0469 1112.05 481.374 41.0471 1038.96 442.535 45.921 1119.29 441.395 47.2517 1119.73 441.048 47.821 1118.54 441.438 45.5754 1114.66 439.593 47.821 1116.28 430.842 50.6656 1122.99 437.32 49.5895 1121.16 430.846 50.6656 1123 436.982 49.8163 1120.47 430.845 50.6656 1122.99 430.844 50.6656 1122.99 436.595 49.8929 1119.78 437.898 49.258 1120.95 443.274 45.5754 1117.4 443.389 44.9244 1118.96 442.791 45.6229 1119.19 440.423 48.0185 1117.35 436.173 49.8163 1119.11 442.366 43.4187 1113.82 443.709 43.5849 1115.09 442.583 45.8061 1115.88 444.394 43.4187 1116.8 444.276 42.9559 1118.6 443.2 39.9496 1122.14 443.092 40.858 1121.93 444.01 40.6667 1119.94 443.095 40.9175 1121.92 443.923 38.7633 1122.7 443.598 39.0895 1122.48 443.307 39.7182 1122.23 443.302 39.7287 1122.23 444.891 38.1603 1123.28 444.859 38.174 1123.26 444.242 38.444 1122.91 443.94 38.7471 1122.71 445.061 38.0858 1123.37 445.962 38.0553 1123.82 376.266 50.6656 1127.97 412.599 50.6656 1136.37 409.995 50.6656 1137.13 399.212 50.6656 1138.05 388.807 50.6656 1135.77 397.734 50.6656 1137.92 424.479 50.6656 1129.73 422.563 50.6656 1131.21 358.54 40.6656 1114.74 359.975 40.6656 1113.46 360.367 43.4187 1113.82 371.891 50.6656 1122.99 366.56 49.8163 1119.11 371.888 50.6656 1123 371.889 50.6656 1122.99 365.413 49.5895 1121.16 365.751 49.8163 1120.47 364.836 49.258 1120.95 361.686 47.821 1118.54 361.339 47.2517 1119.73 359.943 45.6229 1119.19 359.459 45.5754 1117.4 359.344 44.9244 1118.96 358.458 42.9559 1118.6 358.339 43.4187 1116.8 358.117 40.6656 1118.46 357.868 40.6656 1116.55 359.025 43.5849 1115.09 360.151 45.8061 1115.88 362.31 48.0185 1117.35 366.139 49.8929 1119.78 371.89 50.6656 1122.99 361.295 45.5754 1114.66 363.141 47.821 1116.28 358.547 33.5791 1114.75 358.508 33.6277 1114.79 358.072 34.1411 1115.67 357.926 34.4922 1116.56 357.843 34.6917 1117.06 358.117 35.3089 1118.46 358.036 32.4755 1115.02 357.202 31.5285 1114.92 357.173 32.2465 1115.75 356.69 31.7193 1115.69 356.367 31.5954 1115.6 356.378 30.8724 1114.36 356.155 30.9556 1114.49 355.391 31.22 1115.33 357.657 32.7735 1115.81 357.76 33.113 1115.77 5.64045 85.922 1060.5 5.73707 85.9389 1060.09 8.86202 89.0177 1055.9 7.55387 87.5215 1056.84 7.44319 87.412 1056.98 6.423 86.4032 1058.36 6.329 86.3396 1058.6 10.3592 90.922 1055.5 8.93527 89.1016 1055.84 5.6411 85.922 1090.5 4.98074 85.922 1068.28 10.3595 90.922 1095.5 9.38588 89.6538 1095.34 6.66732 86.6432 1092.97 6.97118 86.9159 1093.49 8.06022 88.0785 1094.61 8.36879 88.4452 1094.78 6.15716 86.1854 1092.1 34.3667 122.571 1095.5 20.7934 107.976 1095.5 38.174 128.759 1093.74 38.9803 130.351 1092.41 39.3373 131.288 1091.04 39.3667 131.495 1090.5 39.0021 130.394 1092.38 37.861 128.219 1093.99 36.5944 126.035 1094.98 36.2621 125.518 1095.06 39.3667 131.494 1060.5 39.3667 132.764 1078.93 34.3667 122.571 1055.5 35.2745 123.938 1055.58 36.2313 125.486 1056 37.3142 127.239 1056.46 37.8406 128.19 1057.03 38.5884 129.541 1057.82 38.948 130.306 1058.6 39.1495 130.735 1059.04 26.6723 114.907 1055.5 20.2986 107.334 1055.5 433.207 129.725 939.116 433.199 138.24 959.275 503.815 128.576 959.284 362.298 143.736 959.3 574.186 116.939 959.353 574.182 101.609 918.227 747.293 86.0864 1011.45 736.871 79.5792 1011.37 724.226 83.5872 995.196 253.187 169.234 1010.23 297.803 168.934 1010.28 297.042 162.224 994.258 362.414 121.384 875.502 362.104 121.386 875.502 362.166 122.979 896.647 245.392 86.0828 885.242 431.35 75.0921 918.25 687.806 88.4938 918.235 687.265 95.3375 896.633 684.867 95.4535 885.58 574.183 97.7047 896.554 61.9862 43.9287 1025.5 49.6964 45.9671 1025.5 66.0477 51.3955 1006.8 33.0839 54.1645 1025.5 29.0012 56.604 1025.5 47.3005 60.8951 1006.66 735.058 91.0474 995.266 736.71 94.6286 995.281 752.107 95.3607 1011.49 736.744 98.4518 995.362 765.494 86.0325 1025.5 763.876 84.5811 1025.5 729.644 69.4768 1025.5 721.017 67.5164 1025.5 713.347 72.9392 1011.14 641.217 56.1494 1025.5 639.678 55.9704 1025.5 642.133 66.5987 994.659 295.27 36.7788 1010.19 357.828 33.8532 1025.5 294.525 43.1288 994.113 431.352 47.2184 994.303 441.729 39.5482 1020.05 290.434 60.142 959.483 431.339 61.4985 959.312 573.55 58.0644 994.495 473.469 40.881 1025.5 445.183 38.3809 1025.5 625.434 54.313 1025.5 576.085 49.9511 1025.5 573.478 49.7207 1025.5 680.546 73.1081 994.718 681.61 61.4114 1025.5 678.588 61.0177 1025.5 757.483 78.8447 1025.5 756.599 78.0517 1025.5 751.457 75.6137 1025.5 746.674 73.3461 1025.5 750.786 90.4739 1011.47 767.52 90.11 1025.5 766.187 86.6546 1025.5 768.298 92.1263 1025.5 768.08 93.6877 1025.5 767.74 96.1143 1025.5 734.998 102.077 995.334 763.242 106.86 1025.5 766.69 102.172 1025.5 710.306 97.8687 958.953 732.016 105.048 995.26 750.975 116.641 1025.5 753.393 115.356 1025.5 756.327 113.796 1025.5 759.225 112.255 1025.5 759.306 112.212 1025.5 762.668 107.642 1025.5 726.224 125.984 1025.5 737.546 123.78 1025.5 719.641 110.486 995.148 741.261 121.805 1025.5 728.209 107.27 995.248 675.438 135.408 1025.5 682.68 134.346 1025.5 681.612 118.026 994.665 685.09 133.992 1025.5 710.88 112.62 995.051 722.08 126.791 1025.5 663.737 137.125 1025.51 642.464 123.896 994.557 650.494 138.743 1025.5 574.185 134.157 994.263 574.177 147.574 1025.5 624.264 141.806 1025.5 635.82 140.476 1025.5 640.317 139.945 1025.5 503.813 144.234 994.354 521.88 153.738 1025.51 555.643 149.708 1025.5 327.443 172.649 1025.5 362.244 169.279 1025.5 362.344 159.583 994.311 419.36 163.748 1025.5 433.215 153.348 994.358 433.036 162.423 1025.5 518.247 154.172 1025.51 316.833 172.929 1025.5 265.373 174.284 1025.5 298.21 173.419 1025.5 214.022 172.626 1025.5 242.539 174.886 1025.5 252.601 174.621 1025.5 181.496 170.048 1025.5 187.61 165.079 1009.43 162.691 168.558 1025.5 149.621 158.851 1008.72 154.145 167.881 1025.5 95.3631 151.735 1025.5 99.1452 153.728 1025.5 109.84 146.34 1007.99 112.505 157.166 1025.5 139.701 164.164 1025.5 88.2392 147.983 1025.5 90.3719 137.011 1007.64 74.2632 140.621 1025.5 65.1379 135.814 1025.5 72.3062 125.041 1007.31 59.3167 132.748 1025.5 56.3736 110.718 1007.04 47.007 120.275 1025.5 54.512 127.88 1025.5 23.4526 94.144 1025.49 27.195 100.201 1025.5 43.0108 94.6337 1006.81 30.9425 103.998 1025.5 38.0669 111.217 1025.5 17.9509 85.2397 1025.48 37.2177 86.2099 1006.73 17.6843 84.8082 1025.48 16.3127 82.5883 1025.48 35.3227 81.5943 1006.69 15.9347 79.8823 1025.48 16.8475 74.8265 1025.48 15.6522 77.86 1025.47 35.6741 76.7783 1006.65 15.9317 79.8611 1025.48 24.0964 62.3054 1025.5 22.0119 65.2706 1025.5 40.3339 68.1374 1006.64 18.8282 69.7995 1025.51 17.1592 74.0353 1025.49 27.4548 57.528 1025.5 41.743 48.9905 1025.5 38.9798 50.6416 1025.5 56.0279 55.198 1006.71 45.6911 46.6314 1025.5 113.524 38.0564 1025.5 87.8195 47.4728 1007.07 143.347 35.8295 1025.49 175.963 39.8125 1008.77 164.863 34.6105 1025.48 170.807 34.2737 1025.48 106.534 38.5783 1025.5 74.0814 41.9565 1025.5 73.5317 42.0137 1025.5 295.61 32.6311 1025.5 267.792 32.0847 1025.5 258.212 31.8965 1025.5 254.669 31.9102 1025.5 219.123 32.4107 1025.51 181.606 33.6619 1025.47 648.398 94.4175 896.574 611.387 94.5785 896.567 678.869 96.2754 896.573 684.703 96.7179 896.611 684.112 96.065 885.572 687.636 92.4408 896.63 687.596 93.2554 896.632 687.569 94.757 896.627 687.422 91.6939 896.625 685.443 89.9623 896.62 686.008 90.2299 896.621 678.924 88.0125 918.258 573.54 79.6837 918.279 646.768 84.9601 918.265 284.207 74.7042 918.15 281.591 78.653 896.35 257.727 80.2001 896.309 250.904 84.0344 885.28 243.082 87.6919 885.272 242.664 88.3819 885.294 242.367 89.2077 885.33 235.776 95.6304 896.737 233.764 90.7117 896.565 238.849 99.5304 896.844 246.888 105.527 897.031 251.066 102.212 885.767 254.6 104.305 885.816 286.516 113.886 875.502 280.044 112.098 875.502 283.382 117.13 897.016 278.594 111.697 875.502 258.858 110.437 897.104 259.342 106.651 885.837 297.237 116.279 875.502 294.526 115.728 875.502 290.511 114.847 875.502 316.077 119.255 875.502 305.402 117.758 875.502 319.889 121.988 896.792 302.675 117.293 875.502 299.954 116.8 875.502 333.095 120.844 875.502 325.801 120.325 875.502 356.299 121.433 875.502 340.413 121.185 875.502 425.945 117.482 875.502 420.042 118.074 875.502 433.269 118.467 896.63 431.844 116.853 875.502 414.137 118.624 875.502 408.228 119.132 875.502 388.578 120.48 875.502 384.665 120.682 875.502 380.752 120.861 875.502 374.641 121.093 875.502 371.585 121.188 875.502 368.528 121.268 875.502 453.806 114.247 875.502 456.67 113.881 875.502 488.126 109.514 875.502 503.827 109.013 896.608 482.413 110.35 875.502 476.698 111.17 875.502 470.98 111.971 875.502 465.258 112.751 875.502 462.396 113.133 875.502 459.534 113.51 875.502 437.741 116.191 875.502 433.324 116.687 875.502 697.924 102.486 959.003 706.55 100.271 958.943 708.615 99.354 958.918 680.43 104.678 959.137 149.214 107.836 960.817 94.7282 119.913 992.183 110.404 130.432 992.427 168.463 120.817 960.437 127.208 138.765 992.688 190.084 130.089 960.052 161.565 150.573 993.207 212.385 136.364 959.719 194.836 157.064 993.695 255.602 142.515 959.312 253.855 161.837 994.222 293.328 144.51 959.303 644.945 107.684 959.194 609.502 111.748 959.301 80.5112 107.65 991.963 134.562 90.9381 961.157 68.3476 93.7505 991.765 63.1521 86.2943 991.685 132.297 85.9934 961.236 61.3885 77.9579 991.603 132.009 80.6688 961.313 65.7029 70.5288 991.569 135.504 76.1591 961.341 72.4294 64.8754 991.567 140.614 73.1673 961.354 88.8906 56.7913 991.641 151.591 68.6609 961.315 107.604 52.933 991.812 732.111 87.9712 995.264 705.537 87.974 958.96 697.342 85.6269 959.018 698.062 88.9329 939.051 711.227 95.8209 958.966 711.244 93.6139 958.907 710.454 91.643 958.914 709.119 90.047 958.94 233.959 87.949 896.477 235.091 85.8891 896.375 236.814 84.7859 896.322 238.666 84.0407 896.287 246.834 81.6248 896.256 237.811 77.0287 917.979 183.662 77.7794 939.98 180.402 79.777 939.962 197.422 84.0278 929.272 201.454 80.0558 929.24 197.839 73.6628 939.975 163.237 66.1642 961.199 209.674 62.1958 960.301 184.196 46.2513 993.046 211.85 76.9643 929.195 225.82 70.7107 939.653 687.037 91.0715 896.623 693.067 91.0678 918.222 693.458 92.0866 918.224 689.727 88.8614 918.229 691.558 89.6505 918.224 699.313 89.6449 939.049 766.941 101.831 1025.5 707.101 78.6862 995.019 679.76 82.5722 959.108 710.996 65.2395 1025.5 644.565 77.3141 959.123 573.534 69.1176 959.166 431.342 69.0977 939.156 287.267 68.7588 939.307 232.515 74.2607 928.968 222.347 79.6301 917.827 218.545 80.5245 917.814 686.836 95.7784 896.628 687.442 95.068 896.633 693.017 95.8051 918.227 692.667 96.1624 918.228 699.665 97.4327 939.031 690.067 97.4417 918.23 685.828 96.3899 896.622 691.852 96.7089 918.227 688.185 97.8479 918.229 679.363 97.7777 918.228 647.406 96.8397 918.229 610.806 97.8588 918.23 503.831 113.251 918.26 433.227 122.781 918.271 700.285 96.9669 939.032 693.278 95.3686 918.223 693.42 94.3244 918.22 693.43 93.2162 918.225 686.546 90.5954 896.622 692.392 90.2519 918.223 700.385 90.6004 939.045 701.112 91.8582 939.036 701.34 93.3366 939.032 701.272 94.9012 939.05 700.777 96.3663 939.045 211.109 107.763 929.016 211.049 118.962 939.299 231.82 119.229 928.799 225.463 124.622 939.182 257.296 125.787 928.677 256.729 131.296 939.054 288.647 129.571 928.683 290.315 134.377 939.064 326.215 135.476 939.105 214.862 82.0864 917.822 212.127 85.3103 917.891 211.887 89.8744 917.912 197.376 89.7046 929.212 215.855 98.0144 918.018 202.934 99.6935 929.125 221.831 104.577 918.12 237.321 114.194 918.321 257.836 120.327 918.425 286.923 124.979 918.397 323.505 127.542 918.323 362.228 127.484 918.274 178.043 82.7286 939.949 177.644 86.2869 939.872 178.501 89.7682 939.819 186.446 101.865 939.623 197.749 111.532 939.449 362.268 134.791 939.127 200.686 29.6551 1116.34 200.647 28.4998 1115.43 263.58 28.1982 1115.14 200.582 26.6049 1114.33 263.544 26.8833 1114.21 232.045 26.6278 1114.28 200.607 27.3444 1114.52 263.669 29.7111 1117.94 200.734 30.9982 1118.91 263.625 28.9648 1116.56 200.699 30.009 1117.02 113.525 37.5096 1123.45 98.2979 38.9146 1124.26 98.1152 36.9636 1120.42 149.046 27.6814 1114.42 149.246 30.618 1116.05 97.5037 30.1444 1114.94 123.077 28.6994 1114.59 123.369 32.347 1116.65 149.404 32.8885 1118.53 123.597 35.1418 1119.77 150.024 34.1707 1121.4 149.501 34.2167 1121.44 143.428 34.7504 1121.86 123.69 36.5716 1122.91 98.0482 36.2489 1119.01 97.8429 33.9586 1117.17 97.6375 31.6683 1115.33 164.858 33.0579 1120.47 160.761 33.2931 1120.65 76.1764 35.9885 1111.16 78.7395 35.6979 1112.65 75.1262 37.1038 1112.2 71.6869 39.5968 1115.72 74.0761 38.2191 1113.25 76.9604 38.2028 1115.13 87.7025 34.1 1115.2 86.9805 37.5655 1118.5 86.5964 34.3327 1115.04 85.7474 37.678 1118.26 74.8845 39.7574 1118.11 84.6032 39.7262 1122.36 85.9683 39.6787 1122.73 61.9676 38.514 1103.02 61.8498 38.5383 1103.08 61.7351 38.5232 1102.87 61.7499 38.5202 1102.86 64.3053 38.3989 1104.78 66.4985 38.2233 1106.4 62.6748 38.648 1104.53 63.1611 38.7127 1105.38 64.541 38.8914 1107.56 61.9418 38.2906 1100.78 70.0745 34.82 1090.59 70.4566 34.3825 1069.99 61.8732 38.3611 1049.18 61.9543 38.2772 1050.22 63.0473 37.1459 1064.27 63.5065 36.6706 1070.18 63.0112 37.185 1090.93 63.1071 37.0857 1090.05 63.3996 36.7818 1075.5 76.1684 35.9817 1039.85 74.0664 38.2108 1037.77 75.1174 37.0962 1038.81 66.4666 38.2245 1044.63 61.7517 38.5198 1048.14 61.9684 38.5136 1047.98 61.8511 38.5378 1047.93 62.675 38.647 1046.48 64.2917 38.3989 1046.24 61.7369 38.5228 1048.14 63.1541 38.7105 1045.64 64.521 38.8867 1043.48 71.6756 39.5873 1035.3 80.7672 38.0366 1034.15 82.1391 35.1706 1037.01 83.3899 34.9506 1036.65 97.5036 30.1436 1036.07 98.0478 36.2476 1031.99 97.8426 33.9575 1033.84 94.2568 32.5602 1035.47 97.6374 31.6673 1035.68 94.0775 39.2372 1026.94 98.2973 38.9137 1026.75 98.1147 36.9623 1030.59 92.1353 33.0858 1035.47 82.166 37.95 1033.68 91.9166 37.0403 1031.95 94.2794 36.7536 1031.87 91.4448 39.4069 1027.23 80.6409 39.8045 1029.99 79.0938 39.8126 1030.64 149.211 30.6203 1034.95 200.631 28.4994 1035.57 200.592 27.3442 1036.49 149.011 27.6838 1036.58 200.567 26.6046 1036.67 123.683 36.5712 1028.09 143.058 34.7833 1029.12 149.37 32.8909 1032.47 123.59 35.1424 1031.23 113.525 37.5086 1027.55 123.362 32.3476 1034.35 123.071 28.6999 1036.42 149.467 34.2355 1029.57 157.387 33.5586 1030.12 164.86 33.117 1030.46 200.717 30.9979 1032.1 200.683 30.0087 1033.99 200.67 29.6546 1034.66 232.02 26.6276 1036.72 263.529 26.8834 1036.79 263.566 28.1983 1035.86 263.61 28.9649 1034.44 263.654 29.7113 1033.06 287.276 28.4579 1036.13 270.518 29.6669 1033.24 310.986 30.4074 1034.4 267.796 29.6845 1033.17 310.974 29.002 1036.36 354.987 31.7797 1033.19 356.093 32.0371 1033.27 357.019 32.6771 1033.44 357.632 33.6074 1033.67 357.995 34.165 1032.19 357.444 33.2051 1031.72 356.551 32.5836 1031.21 355.461 32.4004 1030.73 359.071 34.8767 1029.69 358.537 33.9115 1029.17 357.659 33.2953 1028.6 356.581 33.1296 1028.06 344.045 30.7386 1115.61 267.795 29.7639 1117.82 310.982 29.0021 1114.65 310.978 28.3194 1113.81 776.367 92.0245 1120.43 776.367 84.2387 1118.13 776.367 101.752 1030.09 776.367 82.5899 1116.94 776.367 110.752 1030.94 776.367 114.762 1032.08 776.367 115.123 1032.39 776.367 113.038 1119.71 776.367 109.88 1120.25 776.367 104.083 1121.24 776.367 101.192 1121.34 776.367 99.0406 1121.42 776.367 94.0064 1121.02 776.367 92.1733 1031.29 776.367 94.0626 1030.62 776.367 100.912 1030.02 776.367 114.244 1118.94 776.367 110.358 1030.83 776.367 129.316 1102.63 776.367 127.263 1106.25 776.367 118.721 1115.33 776.367 74.7635 1111.29 776.367 59.7023 1060.14 776.367 63.3772 1051.69 776.367 118.644 1035.39 776.367 118.919 1035.63 776.367 135.081 1061.71 776.367 117.923 1116.18 776.367 134.768 1060.56 776.367 129.108 1048.37 776.367 136.906 1080.83 776.367 134.593 1089.24 776.367 68.3523 1045.97 776.367 72.2097 1041.54 776.367 74.9915 1039.56 776.367 116.973 1117.19 776.367 127.821 1045.6 776.367 122.691 1038.85 776.367 71.9188 1109.23 776.367 68.3722 1105.02 776.367 57.7567 1064.61 776.367 57.3071 1066.48 776.367 81.0787 1035.21 776.367 84.3452 1034.06 776.367 136.031 1065.2 776.367 136.816 1075.52 776.367 137.088 1079.09 776.367 62.8271 1098.43 776.367 61.2985 1095.69 776.367 59.7179 1090.9 776.367 56.8735 1082.28 776.367 132.768 1095.87 776.367 131.29 1099.15 776.367 56.546 1079.9 776.367 56.794 1075.53 442.536 39.9696 1027.25 442.438 40.1791 1027.34 439.324 40.8963 1022.15 442.325 41.0575 1027.58 443.47 38.7138 1026.49 443.152 39.0252 1026.72 439.902 40.0191 1021.53 442.833 39.3361 1026.96 442.538 39.9656 1027.24 440.75 39.5434 1020.79 445.161 38.3793 1025.5 444.276 38.3824 1025.98 444.087 38.4601 1026.1 444.076 38.465 1026.11 446.017 38.06 1027.18 445.999 38.0587 1027.18 471.371 34.338 1075.5 471.37 35.2412 1056.01 468.256 38.5799 1032.03 469.999 38.4198 1033.48 471.37 36.0241 1050.35 471.371 37.9161 1036.67 471.357 37.9769 1036.34 470.996 38.2071 1034.97 450.819 38.2984 1027.58 457.84 38.5737 1028.53 464.311 38.6802 1030.16 467.309 38.6256 1119.54 459.583 38.6217 1122.14 446.016 38.0604 1123.83 471.371 37.9155 1114.33 471.323 38.0262 1114.95 470.85 38.2528 1116.34 469.794 38.4465 1117.74 471.371 36.4445 1100.61 471.371 34.4341 1081.87 487.188 42.0578 1032.11 487.502 41.3216 1031.33 487.257 41.7236 1031.94 487.086 41.7127 1031.87 488.316 40.8713 1029.3 487.887 40.9076 1030.37 487.534 40.9155 1030.64 487.746 40.9196 1030.73 485.574 41.5749 1031.53 484.065 41.3508 1031.71 482.713 41.0503 1032.39 482.35 40.9454 1032.69 481.454 40.5993 1033.86 481.008 40.2619 1035.27 480.97 40.1605 1035.75 485.663 40.8075 1030.25 483.796 40.5731 1030.5 482.128 40.2336 1031.35 481.68 40.1126 1031.73 480.579 39.7086 1033.2 480.035 39.3113 1034.95 479.99 39.1915 1035.55 488.048 40.8691 1029.2 485.695 40.7521 1028.76 483.362 40.4688 1029.1 481.289 40.0497 1030.2 480.736 39.8999 1030.67 479.38 39.3997 1032.52 478.72 38.9101 1034.7 478.669 38.763 1035.45 499.684 40.5769 1037.15 499.051 41.0085 1038.01 498.578 41.8089 1038.68 487.752 40.9664 1120.29 487.482 41.2358 1119.62 488.022 41.2386 1119.4 487.269 41.7602 1119.09 487.163 42.0214 1118.83 487.695 42.0238 1118.61 488.436 40.8347 1120.4 487.887 40.8323 1120.63 488.316 40.8711 1121.71 488.878 40.8725 1121.47 490.273 40.8336 1119.59 490.756 40.8674 1120.64 502.096 40.4325 1111.86 502.851 40.4206 1112.72 503.514 40.3315 1110.55 504.302 40.311 1111.39 489.471 42.0239 1117.84 500.913 41.6862 1110.4 502.284 41.6002 1109.14 510.574 40.8325 1098.55 515.84 40.1166 1084.15 511.505 40.7186 1096.83 512.625 39.3901 1100.7 512.082 39.431 1099.53 513.083 39.3394 1100.11 513.044 39.2974 1097.73 514.07 39.1956 1098.28 517.528 38.5917 1084.52 518.671 38.4369 1084.74 517.859 38.5344 1082.5 519.011 38.3754 1082.67 519.011 38.3757 1075.5 517.858 38.5349 1068.49 519.01 38.376 1068.32 517.106 38.6642 1064.45 518.238 38.5148 1064.18 516.51 38.7641 1062.12 517.627 38.6221 1061.8 516.16 40.0677 1082.21 516.159 40.0682 1068.78 515.432 40.1785 1064.91 514.857 40.2637 1062.68 509.367 40.9729 1050.46 507.964 41.1229 1048.39 489.822 41.2392 1118.61 501.417 40.8762 1111.04 502.806 40.7835 1109.76 511.202 39.9549 1098.98 512.144 39.8319 1097.23 516.533 39.1817 1084.31 516.857 39.1289 1082.34 516.856 39.1294 1068.66 516.12 39.2486 1064.71 515.537 39.3407 1062.43 509.979 40.1063 1049.99 508.559 40.2683 1047.88 510.834 39.5955 1049.39 509.384 39.7715 1047.24 512.495 39.4103 1050.31 511.802 39.5166 1048.76 510.316 39.7063 1046.55 500.382 40.5776 1036.23 486.918 41.7008 1119.2 480.97 40.16 1115.25 478.669 38.7625 1115.55 479.99 39.1909 1115.45 480.251 39.519 1117.01 481.186 40.4379 1116.51 481.894 40.79 1117.82 483.006 41.1258 1118.81 483.767 41.294 1119.19 485.295 41.5403 1119.48 487.326 40.9095 1120.44 485.318 40.7737 1120.75 483.428 40.5102 1120.38 482.489 40.3202 1119.9 481.119 39.9319 1118.66 478.98 39.1658 1117.5 480.043 39.6761 1119.55 481.737 40.1571 1121.13 482.904 40.3917 1121.73 485.263 40.7123 1122.24 487.786 40.8644 1121.9 478.64 38.2174 1112.56 478.634 37.7153 1109.57 479.995 38.6714 1112.47 480.019 38.193 1109.49 480.981 39.692 1112.29 481.008 39.2616 1109.32 478.64 36.9867 1050.36 478.634 37.7152 1041.44 480.019 38.193 1041.52 478.656 35.0299 1075.5 478.656 34.9899 1074.82 480.031 35.4798 1074.83 481.009 38.1249 1101.25 480.023 37.0513 1101.39 478.643 36.5234 1100.68 478.642 36.5688 1101.44 481.012 36.5603 1074.83 481.008 39.2616 1041.69 478.641 38.2177 1038.44 479.995 38.6717 1038.53 480.981 39.6922 1038.72 445.161 38.3793 1125.5 444.276 38.3824 1125.02 444.087 38.4601 1124.9 444.076 38.465 1124.9 443.47 38.7138 1124.52 442.833 39.336 1124.05 443.152 39.0251 1124.28 442.538 39.9656 1123.76 442.536 39.9696 1123.76 442.438 40.179 1123.66 442.328 41.1487 1123.41 442.325 41.0573 1123.43 442.779 45.6656 1119.41 429.261 47.2381 1135.56 427.591 49.1984 1133.52 427.105 49.7685 1132.93 439.114 42.0295 1128.44 429.853 45.5599 1136.28 430.544 43.6015 1137.12 426.901 47.3998 1137.2 387.116 49.1984 1140.37 387.38 49.7685 1139.65 397.302 49.916 1141.69 396.748 44.6413 1146.74 396.936 47.7794 1144.9 398.709 47.8338 1145.01 386.209 47.2381 1142.84 385.884 45.5632 1143.73 385.521 43.6867 1144.72 412.119 44.9222 1145.54 401.701 44.9454 1147.18 399.035 44.8357 1147.15 411.652 47.9455 1143.79 414.789 47.8964 1142.93 415.172 44.9155 1145.06 427.937 43.8449 1138.56 417.743 44.7962 1144.19 398.94 49.9307 1141.81 410.886 49.9607 1140.71 413.779 49.9475 1139.9 424.934 49.8128 1134.48 369.288 40.6656 1135.14 370.299 45.6656 1134.25 372.821 49.3259 1131.6 374.588 41.9125 1139.41 369.382 40.6878 1135.21 364.304 38.7195 1129.54 360.342 36.7457 1123.31 359.173 36.0321 1120.95 357.631 33.6051 1117.33 357.018 32.6748 1117.56 356.092 32.0348 1117.73 354.987 31.7771 1117.81 357.995 34.165 1118.81 357.444 33.2051 1119.28 356.551 32.5835 1119.8 355.461 32.4003 1120.27 7.82609 89.5036 1055.4 4.6435 86.2061 1054.29 3.61168 84.5933 1056.54 3.96466 85.4112 1057.05 6.53064 87.6957 1056.38 5.45752 86.3724 1058.02 3.30388 84.6848 1059.59 2.89565 83.8262 1059.45 2.79468 83.7972 1060.13 4.80133 85.7982 1059.93 4.71884 85.7215 1060.38 3.2537 84.6276 1060.19 3.40557 84.9023 1060.21 3.96156 85.3654 1059.75 3.90977 85.2787 1060.28 4.41396 85.6552 1060.34 4.60488 86.0283 1057.56 4.79776 86.4472 1053.95 5.04678 87.1174 1054.83 5.65326 87.5543 1055.68 6.25312 89.0822 1052.24 6.35534 89.493 1053.43 6.91241 89.6423 1054.55 7.74741 92.1165 1051.64 7.6716 92.1511 1053.02 8.16899 91.9237 1054.29 9.1334 91.4826 1055.18 2.72232 84.8936 1068.17 2.61795 83.7929 1062.2 3.74019 85.6528 1068.22 2.10971 83.7805 1068.14 2.33132 83.7859 1075.49 2.7954 83.7972 1090.87 3.2106 84.6522 1090.82 2.73281 83.7956 1088.8 3.43019 84.8787 1090.79 3.87061 85.333 1090.73 4.70895 85.771 1090.62 4.43 85.6252 1090.66 9.13346 91.4826 1095.82 7.67171 92.151 1097.99 8.16894 91.9236 1096.71 7.31605 90.3512 1096.63 7.74777 92.1162 1099.37 6.77699 90.3112 1097.81 8.24374 90.1175 1095.75 7.00742 88.3411 1095.08 6.72776 90.0048 1099.08 5.52815 87.9591 1096.82 5.3305 87.3736 1097.82 6.11752 88.2991 1095.85 5.97882 86.9842 1093.91 5.1145 86.7335 1094.5 5.20384 86.1083 1092.4 4.3565 85.7238 1092.76 4.4899 86.1959 1095.2 3.7092 85.0749 1093.16 4.63772 86.2042 1096.66 4.18562 85.4411 1095.9 3.33399 84.2336 1093.55 20.747 112.132 1099.36 32.4062 124.703 1099.29 32.3741 124.738 1097.92 12.1738 99.3522 1099.37 18.5264 109.738 1099.37 18.4599 109.79 1097.99 19.7288 108.803 1095.82 18.8915 109.454 1096.71 33.4674 123.549 1095.81 32.754 124.325 1096.68 39.445 132.164 1090.63 39.676 132.799 1090.75 39.3986 131.96 1091.24 40.0475 133.365 1090.86 39.6209 132.596 1091.45 40.5402 133.833 1090.95 39.992 133.159 1091.65 38.9628 131.084 1092.75 37.9299 129.486 1094.25 36.0209 126.846 1095.5 39.1158 131.726 1093.17 37.9223 130.145 1094.88 35.7141 127.544 1096.32 39.4507 132.277 1093.61 38.1518 130.675 1095.6 35.7169 128.031 1097.33 40.4914 133.619 1091.84 39.9446 132.701 1094.05 38.5971 131.025 1096.32 36.0289 128.24 1098.39 39.6801 134.098 1078.97 40.5523 134.91 1075.52 40.555 135.154 1079.01 39.5213 132.146 1060.38 39.676 132.798 1060.25 40.1081 133.315 1060.16 40.5402 133.832 1060.06 39.151 131.418 1058.72 33.4674 123.549 1055.19 32.7541 124.325 1054.32 34.4852 124.839 1055.17 32.3741 124.738 1053.08 33.9347 125.579 1054.29 32.4061 124.703 1051.72 33.7213 126.025 1053.13 36.882 128.01 1055.93 38.4432 130.249 1057.37 36.7107 128.689 1055.17 38.5154 130.9 1056.82 39.3335 132.057 1058.37 36.8207 129.196 1054.27 38.7991 131.44 1056.22 39.6855 132.613 1058 33.8834 126.098 1051.87 37.199 129.471 1053.35 39.2714 131.826 1055.62 40.1847 133.051 1057.65 12.142 99.3739 1051.63 20.6583 112.221 1051.65 18.018 109.078 1051.63 17.9504 109.129 1053.02 25.686 115.815 1055.19 24.9076 116.532 1054.3 24.5013 116.906 1053.04 24.5527 116.858 1051.67 19.2271 108.153 1055.18 18.3843 108.798 1054.29 9.583 73.4388 1036.86 4.1585 72.7196 1049.18 4.10581 79.3508 1049.23 521.89 160.019 1050.15 765.627 85.8961 1125.5 765.621 85.8911 1125.5 765.272 78.9357 1121.98 681.56 61.8368 1125.5 678.535 61.4646 1125.5 678.627 55.8916 1113.47 8.88682 76.5651 1114.12 9.00322 79.7943 1114.12 4.10712 79.3511 1101.77 0.971258 72.4557 1088.84 0.2352 72.5934 1075.5 4.21965 61.999 1075.5 726.367 145.03 1082.26 726.367 145.466 1075.5 521.89 162.366 1075.5 774.791 93.8293 1121.75 769.737 136.896 1089.22 771.75 137.905 1082.4 31.2805 42.8337 1049.03 473.512 34.5151 1075.5 6.12336 86.1534 1101.76 1.31082 79.2487 1088.81 678.627 49.4176 1088.46 678.627 51.8854 1101.17 576.147 43.9921 1050.26 473.504 36.0192 1050.32 576.147 43.992 1100.75 473.48 40.7693 1125.5 473.504 36.0181 1100.68 573.523 49.2136 1125.5 590.961 50.6855 1125.5 576.131 49.4338 1125.5 6.12211 86.153 1049.24 0.971556 72.4557 1062.16 1.31112 79.2487 1062.19 21.2156 111.851 1101.8 12.4567 99.4075 1101.78 42.9375 132.815 1101.86 41.8915 136.22 1075.5 21.2148 111.851 1049.2 42.9372 132.814 1049.15 12.4556 99.4071 1049.23 445.183 38.3809 1125.5 357.828 33.8532 1125.5 295.62 33.7575 1125.51 356.581 33.1296 1122.95 267.793 33.7147 1125.52 183.402 33.5848 1125.53 164.906 35.0908 1125.53 113.622 39.2662 1125.51 170.837 34.6079 1125.53 61.9819 43.8652 1125.49 65.2561 43.2042 1125.49 74.1239 42.4822 1125.49 31.2803 42.8335 1101.97 42.1584 47.867 1125.5 49.7824 46.3279 1125.5 27.7142 41.4597 1075.5 63.1672 36.6643 1075.5 773.798 80.6208 1033.91 765.061 72.5632 1033.84 770.948 86.8698 1029.07 773.877 94.7541 1029.25 775.157 102.312 1029.54 752.465 128.467 1036.55 762.513 133.478 1048.7 772.461 138.274 1075.5 771.75 137.905 1068.6 769.736 136.896 1061.79 762.513 133.478 1102.3 753.599 115.947 1125.5 752.735 128.434 1114.46 751.478 117.654 1125.5 750.687 118.291 1125.5 756.203 113.85 1125.5 758.813 111.749 1125.5 776.202 101.332 1121.47 774.257 80.0703 1117.09 771.496 86.2844 1121.94 764.978 72.6651 1117.16 764.394 62.3965 1105.28 750.612 52.1155 1075.5 751.294 53.6565 1090.46 763.888 56.0609 1091.05 751.295 53.6566 1060.54 764.394 62.3965 1045.72 763.888 56.0609 1059.95 726.367 143.838 1088.94 682.541 133.314 1125.49 717.811 128.529 1125.49 726.367 139.768 1101.84 595.432 145.133 1125.5 624.178 141.233 1125.5 624.258 149.92 1101.14 640.197 139.059 1125.5 419.521 170.897 1100.77 419.5 165.218 1125.5 433.149 163.659 1125.5 521.89 160.019 1100.85 521.857 153.532 1125.5 574.175 147.56 1125.5 316.858 181.117 1075.5 316.85 179.048 1100.8 419.523 172.914 1075.5 675.438 145.472 1101.37 675.275 134.3 1125.49 265.393 183.357 1075.5 265.396 181.216 1100.84 213.914 180.214 1100.85 66.1264 151.853 1075.5 65.6918 148.403 1101.81 88.6182 162.343 1075.5 88.3244 159.284 1101.45 11.4509 51.0615 1075.5 16.8715 50.9369 1102.71 112.185 170.025 1075.5 112.188 167.374 1101.28 162.641 178.113 1075.5 162.645 176.1 1100.98 213.914 182.329 1075.5 268.651 174.986 1125.51 298.17 173.166 1125.51 162.8 168.258 1125.5 173.726 170.353 1125.5 181.426 170.729 1125.5 213.997 172.319 1125.5 252.651 174.205 1125.5 265.402 174.827 1125.51 95.6888 150.922 1125.5 55.0168 127.164 1125.5 65.2465 135.943 1125.5 68.9114 139.088 1125.5 73.8662 141.278 1125.5 88.2981 147.656 1125.5 16.219 77.0399 1125.53 15.6074 78.8226 1125.53 15.9194 79.8208 1125.53 17.526 84.9608 1125.51 30.7801 104.266 1125.5 23.563 94.0492 1125.5 17.8298 85.933 1125.51 17.6756 85.4394 1125.51 9.08464 61.3673 1102.4 27.8368 57.138 1125.5 24.1727 62.3588 1125.5 41.3803 48.3708 1125.5 38.6905 50.1119 1125.5 32.9269 53.843 1125.5 22.0907 65.3254 1125.5 18.4665 70.4895 1125.5 17.2456 74.0478 1125.51 4.15963 72.7199 1101.82 9.56124 73.4407 1114.15 16.9702 74.8503 1125.52 34.547 109.599 1125.5 37.2744 111.939 1125.5 46.8842 120.186 1125.5 112.254 158.243 1125.5 113.547 158.814 1125.5 139.693 163.827 1125.5 316.766 172.02 1125.51 362.28 169.214 1125.5 410.569 166.237 1125.5 753.162 58.389 1104.36 755.284 67.3304 1116.32 763.925 84.5767 1125.5 757.137 79.3143 1125.5 753.041 76.1392 1125.5 751.468 75.7061 1125.5 716.875 66.1836 1125.5 729.719 61.6821 1113.96 721.04 67.3301 1125.5 729.547 69.6719 1125.5 767.678 99.6077 1125.5 767.903 96.1667 1125.5 762.864 108.488 1125.5 763.129 107.998 1125.5 763.586 107.155 1125.5 766.372 102.017 1125.5 766.929 100.989 1125.5 726.366 133.92 1114.05 768.063 93.7098 1125.5 768.211 91.4477 1125.5 767.587 90.1075 1125.5 639.592 56.6712 1125.5 722.108 127.191 1125.49 756.737 72.4404 1029.59 765.37 78.8272 1029.02 729.731 61.6641 1037.04 729.796 65.0133 1031.21 678.627 55.8917 1037.54 755.612 66.9219 1034.68 678.627 48.6008 1075.5 678.627 49.4176 1062.55 678.627 51.8855 1049.84 753.162 58.3892 1046.64 729.599 56.0765 1049.24 729.501 52.6296 1062.19 729.465 51.2296 1075.5 729.501 52.6295 1088.81 729.599 56.0766 1101.76 726.367 143.838 1062.07 726.367 139.769 1049.16 726.366 133.92 1036.96 675.445 145.508 1049.59 624.261 149.937 1049.85 265.396 181.215 1050.16 316.857 179.047 1050.21 162.645 176.1 1050.02 213.914 180.214 1050.16 112.188 167.375 1049.72 88.3245 159.284 1049.55 65.6917 148.402 1049.19 9.00179 79.7943 1036.89 16.8717 50.9372 1048.29 9.08446 61.3673 1048.6 419.526 170.897 1050.23 726.367 145.029 1068.74 726.126 125.94 1125.49 736.331 122.762 1125.5 741.224 121.238 1125.5 649.031 93.9469 1275.5 646.698 93.8285 1275.5 637.457 93.5176 1275.5 628.213 93.3828 1275.5 678.196 96.2742 1275.5 678.139 96.2679 1275.5 676.372 96.0749 1275.5 674.545 95.8972 1275.5 672.718 95.7218 1275.5 667.241 95.2171 1275.5 659.026 94.547 1275.5 652.865 94.1413 1275.5 612.666 93.5568 1275.5 574.18 96.2273 1275.5 503.822 107.141 1275.5 517.848 104.962 1275.5 572.742 96.3657 1275.5 563.559 97.5741 1275.5 554.401 98.9473 1275.5 545.258 100.422 1275.5 536.123 101.946 1275.5 531.556 102.712 1275.5 526.988 103.473 1275.5 253.444 98.7283 1275.5 256.557 101.415 1275.5 255.343 100.447 1275.5 254.67 99.8565 1275.5 254.174 99.4221 1275.5 259.771 103.614 1275.5 259.095 103.204 1275.5 258.447 102.775 1275.5 257.808 102.332 1275.5 257.492 102.107 1275.5 257.178 101.879 1275.5 249.61 91.2016 1275.5 250.076 90.2483 1275.5 250.176 90.0433 1275.5 249.517 92.5552 1275.5 249.51 92.5005 1275.5 249.496 91.8461 1275.5 249.591 91.3081 1275.5 255.892 86.0248 1275.5 257.328 85.5225 1275.5 259.155 85.0251 1275.5 259.188 85.0161 1275.5 261.071 84.6042 1275.5 262.017 84.4235 1275.5 263.154 84.2246 1275.5 264.292 84.0445 1275.5 266.572 83.7354 1275.5 271.145 83.2873 1275.5 275.728 83.0031 1275.5 254.611 86.5972 1275.5 254.503 86.6456 1275.5 253.508 87.1833 1275.5 253.026 87.4746 1275.5 279.348 82.8487 1275.5 354.444 80.3392 1275.5 440.75 39.5434 1130.22 441.729 39.5482 1130.95 439.902 40.0191 1129.48 439.324 40.8963 1128.85 430.766 42.5949 1137.64 431.224 41.8673 1138.41 431.851 41.5265 1139.31 432.553 41.6228 1140.22 399.066 43.9307 1147.8 431.357 41.7617 1140.88 418.538 43.0431 1146.69 418.184 43.284 1145.68 417.907 43.8959 1144.8 415.319 44.0256 1145.68 401.75 44.0522 1147.83 418.919 43.2055 1147.71 416.181 43.3649 1148.63 415.859 43.1947 1147.6 401.836 43.4168 1150.93 401.823 43.2324 1149.84 398.998 43.2745 1150.91 399.047 43.0926 1149.81 384.641 41.769 1148.41 385.011 41.6326 1147.3 415.559 43.4252 1146.57 401.793 43.4542 1148.76 399.07 43.3218 1148.72 385.309 41.9494 1146.21 385.488 42.6709 1145.3 370.483 38.7173 1140.75 367.314 37.7985 1138.18 368.212 37.837 1137.23 374.558 40.7539 1139.89 372.964 39.4361 1142.77 373.668 39.397 1141.73 374.232 39.8634 1140.71 368.92 38.4147 1136.29 369.303 39.4216 1135.55 364.271 37.5159 1129.94 360.225 35.5943 1123.7 360.324 35.881 1123.57 360.358 36.5589 1123.36 360.024 35.0106 1123.98 363.814 36.5277 1130.59 359.461 34.3358 1124.47 363.017 35.9317 1131.38 358.868 34.0226 1124.87 358.865 34.0211 1124.88 362.022 35.8346 1132.16 358.698 33.9328 1124.99 357.833 33.8535 1125.5 357.821 33.8469 1125.48 357.659 33.2953 1122.41 358.537 33.9115 1121.83 359.071 34.8767 1121.32 686.007 90.2302 1254.39 685.442 89.9626 1254.39 689.725 88.8617 1232.78 687.036 91.0718 1254.39 686.544 90.5957 1254.39 691.556 89.6507 1232.79 63.1545 86.2943 1159.32 68.35 93.7504 1159.24 43.0119 94.6337 1144.19 294.525 43.1294 1156.89 431.352 47.2189 1156.7 431.339 61.4999 1191.69 705.536 87.9742 1192.05 697.341 85.6273 1191.99 707.1 78.6866 1155.99 648.398 94.4171 1254.44 687.805 88.4941 1232.77 573.54 79.6848 1232.73 752.107 95.3607 1139.52 734.997 102.077 1155.67 149.621 158.851 1142.28 109.841 146.34 1143.02 87.8202 47.4731 1143.94 573.55 58.0648 1156.51 295.27 36.779 1140.81 175.964 39.8128 1142.24 66.0486 51.3958 1144.2 56.0288 55.1983 1144.29 47.3015 60.8952 1144.34 40.3349 68.1375 1144.37 35.6752 76.7783 1144.35 35.3238 81.5944 1144.32 37.2188 86.21 1144.28 56.3746 110.718 1143.97 72.3071 125.041 1143.69 187.611 165.079 1141.58 253.187 169.233 1140.77 297.803 168.934 1140.73 362.344 159.582 1156.69 433.215 153.347 1156.65 574.185 134.156 1156.74 642.464 123.895 1156.45 503.813 144.234 1156.65 681.612 118.025 1156.34 710.879 112.619 1155.95 728.208 107.27 1155.76 719.641 110.485 1155.86 750.785 90.4739 1139.54 747.293 86.0865 1139.55 736.871 79.5794 1139.64 713.346 72.9395 1139.87 680.546 73.1086 1156.29 642.133 66.5992 1156.35 433.269 118.467 1254.38 503.827 109.012 1254.4 362.166 122.979 1254.36 319.888 121.987 1254.22 325.801 120.325 1275.5 333.095 120.844 1275.5 340.413 121.185 1275.5 283.381 117.128 1253.99 258.858 110.434 1253.91 254.602 104.303 1265.19 259.342 106.649 1265.17 246.891 105.525 1253.98 238.854 99.5289 1254.17 251.069 102.211 1265.24 235.781 95.6296 1254.27 233.769 90.7117 1254.45 243.087 87.6936 1265.74 242.669 88.3834 1265.72 242.372 89.209 1265.68 245.397 86.0845 1265.77 250.907 84.0362 1265.73 257.727 80.2015 1254.7 431.35 75.0934 1232.76 284.207 74.7053 1232.86 281.59 78.6542 1254.66 646.769 84.9608 1232.74 678.924 88.013 1232.75 687.42 91.6941 1254.39 687.634 92.4409 1254.38 687.595 93.2554 1254.38 687.567 94.7569 1254.38 687.44 95.0678 1254.38 687.264 95.3373 1254.38 684.866 95.4533 1265.43 684.111 96.0648 1265.44 678.869 96.2753 1254.44 684.702 96.7177 1254.4 611.387 94.5779 1254.44 574.183 97.704 1254.46 710.304 97.8684 1192.05 711.225 95.8207 1192.04 736.743 98.4517 1155.64 732.014 105.048 1155.74 706.549 100.271 1192.06 644.945 107.682 1191.81 680.43 104.677 1191.87 697.923 102.486 1192 362.298 143.734 1191.71 433.199 138.238 1191.73 503.815 128.574 1191.72 574.186 116.937 1191.65 609.502 111.747 1191.71 149.221 107.835 1190.19 168.468 120.815 1190.57 127.21 138.764 1158.32 161.566 150.572 1157.8 190.087 130.088 1190.95 194.837 157.063 1157.31 212.387 136.362 1191.29 253.855 161.837 1156.78 255.602 142.513 1191.69 297.042 162.223 1156.75 293.328 144.509 1191.7 90.3727 137.011 1143.37 110.406 130.432 1158.58 94.7302 119.913 1158.82 80.5134 107.65 1159.04 134.57 90.9378 1189.85 72.4317 64.8758 1159.44 140.621 73.1681 1189.65 65.7053 70.529 1159.44 135.512 76.1597 1189.67 61.391 77.9581 1159.4 132.017 80.6691 1189.69 132.305 85.9934 1189.77 209.677 62.1973 1190.71 163.243 66.1655 1189.81 107.606 52.9335 1159.19 573.534 69.1186 1191.84 88.8928 56.7918 1159.36 151.598 68.662 1189.69 184.197 46.2519 1157.96 290.433 60.1436 1191.52 736.709 94.6286 1155.72 735.057 91.0474 1155.74 732.11 87.9713 1155.74 724.225 83.5875 1155.81 711.242 93.6138 1192.1 710.452 91.643 1192.09 709.117 90.0471 1192.07 233.965 87.9495 1254.53 235.096 85.89 1254.64 236.819 84.7869 1254.69 246.836 81.6261 1254.75 238.671 84.0418 1254.72 237.813 77.0301 1233.03 177.653 86.2871 1211.14 197.43 84.0279 1221.74 197.384 89.7041 1221.8 225.823 70.7123 1211.35 197.846 73.6643 1211.03 183.671 77.7804 1211.03 211.855 76.9653 1221.81 232.518 74.262 1222.04 287.266 68.7604 1211.7 431.342 69.0992 1211.85 178.052 82.729 1211.06 180.411 79.7778 1211.05 201.461 80.0563 1221.77 692.391 90.2521 1232.79 698.061 88.9331 1211.96 679.76 82.5728 1191.9 644.565 77.3149 1191.88 699.311 89.645 1211.96 693.065 91.0679 1232.79 693.457 92.0867 1232.79 693.428 93.2162 1232.78 693.418 94.3243 1232.79 693.276 95.3684 1232.79 503.831 113.25 1232.75 574.182 101.608 1232.78 610.806 97.8576 1232.78 647.406 96.8388 1232.78 679.363 97.7771 1232.78 688.185 97.8475 1232.78 693.015 95.8049 1232.78 700.775 96.366 1211.96 701.27 94.901 1211.96 701.338 93.3365 1211.98 701.111 91.8583 1211.97 700.383 90.6005 1211.96 708.613 99.3536 1192.09 699.663 97.4323 1211.98 691.851 96.7086 1232.78 700.283 96.9666 1211.98 692.666 96.1622 1232.78 686.835 95.7781 1254.38 690.066 97.4414 1232.78 685.827 96.3897 1254.39 222.352 79.6315 1233.18 218.551 80.5258 1233.2 214.868 82.0876 1233.19 212.134 85.3111 1233.12 211.894 89.8747 1233.1 202.941 99.6921 1221.88 215.861 98.0138 1232.99 211.114 107.761 1221.99 221.836 104.576 1232.89 231.823 119.226 1222.21 237.324 114.191 1232.69 257.296 125.785 1222.33 257.836 120.324 1232.58 288.646 129.569 1222.33 286.922 124.977 1232.61 323.504 127.541 1232.69 290.314 134.375 1211.94 256.729 131.294 1211.95 225.466 124.62 1211.83 211.054 118.959 1211.71 197.755 111.531 1211.56 186.454 101.864 1211.39 178.51 89.7681 1211.19 326.214 135.474 1211.9 362.268 134.79 1211.88 433.207 129.723 1211.89 362.228 127.483 1232.73 433.227 122.779 1232.74 817.366 297.666 9.34935 817.377 297.666 9.40335 822.131 304.207 7.71725 821.841 301.629 11.4247 821.267 297.684 13.4529 823.552 303.153 11.4607 826.339 307.154 8.61025 826.473 307.473 6.95276 824.955 306.739 7.08544 822.157 303.477 9.95517 825.293 303.626 2.21884 823.274 300.651 2.63464 822.307 300.384 3.03865 826.816 305.881 3.05855 826.322 305.15 2.78628 825.067 305.031 3.04997 825.325 303.674 2.2366 821.568 302.674 4.64296 821.733 303.474 5.50353 824.333 305.652 4.39334 823.843 304.514 3.53944 823.322 303.174 3.0582 821.475 301.707 4.01425 821.953 304.016 6.57153 824.738 306.443 5.63681 826.25 307.152 5.31912 827.784 307.312 5.19824 827.609 307.055 4.40049 825.745 306.282 3.94583 827.193 306.439 3.69692 824.909 306.468 8.57151 825.896 306.298 10.0318 827.218 306.471 10.2289 825.284 303.617 11.7817 825.794 304.371 11.5693 826.253 305.047 11.1376 824.424 303.556 11.6014 824.626 305.71 9.89342 822.194 304.011 8.87811 818.032 297.666 10.847 817.465 297.667 9.84299 819.936 297.664 4.26662 821.405 299.655 3.48902 820.334 297.663 3.97825 821.245 297.663 3.31891 822.913 300.119 2.70891 818.734 297.664 5.13625 818.44 297.665 5.59807 827.761 307.274 8.76367 827.92 307.509 8.33488 828.005 307.637 6.98042 828.043 307.694 6.38223 818.069 297.666 10.9132 818.452 297.666 11.5921 818.966 297.669 11.9318 819.123 297.67 12.0357 820.386 297.678 12.8708 817.528 297.665 7.02596 817.507 297.665 7.28607 817.487 297.665 7.52497 817.417 297.666 8.38494 817.346 297.666 9.25291 930.842 302.188 8.23545 930.712 301.924 8.51452 930.622 301.102 8.58343 930.351 303.79 7.5326 930.269 303.636 7.97105 930.487 303.58 7.97689 930.392 303.867 7.31278 930.362 303.81 7.47573 930.578 303.77 7.52688 930.539 303.762 6.53982 930.433 303.794 6.52754 930.408 303.839 7.00712 928.68 298.613 9.63855 928.302 297.664 9.87303 928.717 298.533 9.64773 930.248 299.297 8.68893 929.999 299.053 8.9469 929.804 297.667 8.82816 929.833 297.667 8.70919 929.911 297.669 8.38137 930.839 301.454 8.02302 928.762 297.666 9.71949 928.931 297.666 9.64594 929.068 298.231 9.58776 929.219 297.667 9.52089 929.451 297.667 9.24611 929.057 299.556 9.40454 928.618 298.644 9.63962 928.933 299.62 9.40693 929.31 300.787 9.12881 929.558 301.547 8.92472 929.465 301.263 9.00102 929.936 301.062 8.96549 928.734 298.414 9.66501 929.128 299.393 9.41992 930.532 303.864 7.01785 930.64 303.732 6.5515 930.63 303.823 7.0374 930.654 303.728 6.55305 930.788 303.679 7.09117 930.403 303.848 7.10344 930.953 303.077 6.78241 930.878 303.364 6.68299 930.899 303.456 7.16221 930.828 303.549 6.61862 930.792 303.586 6.60503 931.006 302.88 6.85096 930.913 303.105 7.71117 930.846 303.396 7.64167 930.735 303.62 7.57957 930.155 303.338 8.26442 930.151 303.328 8.2736 930.363 303.27 8.33833 930.058 303.086 8.51154 930.042 302.425 8.71658 930.623 302.889 8.40604 930.516 303.111 8.37123 930.459 302.51 8.62074 930.176 302.288 8.72064 930.271 302.099 8.73053 930.644 303.424 8.02326 930.753 303.199 8.07345 930.82 302.912 8.12626 930.936 302.359 7.86424 930.783 301.446 7.24816 930.427 299.144 7.88593 929.988 297.67 8.05604 930.717 302.288 8.47828 930.55 301.948 8.66556 930.548 301.609 8.69048 930.468 300.849 8.74186 930.292 300.583 8.83961 929.927 300.03 9.05585 930.359 301.279 8.78751 930.33 301.863 8.74555 929.807 301.396 8.94427 929.865 302.491 8.67128 930.522 302.251 8.64208 930.689 302.613 8.44193 928.623 297.666 9.77981 928.696 297.947 9.74512 928.463 297.665 9.84955 929.156 299.156 9.44924 929.15 298.868 9.48942 928.734 298.268 9.68838 929.669 297.667 8.9879 929.738 297.667 8.90625 929.344 298.966 6.22809 929.312 299.172 6.14691 930.044 300.618 5.85508 929.264 298.16 6.51097 929.342 298.715 6.32119 930.082 299.718 6.28018 929.242 299.314 6.08599 929.126 299.368 6.05321 929.666 301.033 5.62382 929.015 297.672 6.64902 928.921 297.918 6.48045 928.958 298.197 6.39248 929.807 297.672 7.31182 929.745 297.672 7.24387 930.424 300.196 6.31297 929.852 297.671 7.49672 929.846 297.672 7.47335 930.707 300.67 6.43563 930.579 300.428 6.34777 929.758 301.325 5.5877 929.925 301.859 5.52177 930.097 301.784 5.45502 930.038 302.217 5.47743 930.241 302.179 5.40149 930.053 302.266 5.47135 930.371 302.577 5.45096 930.176 302.656 5.42319 930.48 302.954 5.60081 930.268 303.012 5.62286 930.273 303.032 5.63407 930.399 301.308 5.73194 930.229 301.671 5.52416 930.567 301.646 5.69785 930.385 302.049 5.4723 930.711 301.997 5.74791 930.523 302.436 5.51808 930.826 302.341 5.88644 930.637 302.808 5.66208 930.402 303.624 6.26409 930.617 303.554 6.17063 930.393 303.573 6.18494 930.96 302.909 6.42002 930.721 303.141 5.9036 930.775 303.408 6.2238 930.563 303.288 5.84757 930.348 303.324 5.79822 930.87 301.133 6.7786 930.949 301.964 6.42276 930.764 301.391 6.06847 930.623 301.09 6.00254 930.457 300.802 6.00576 929.551 297.671 7.03013 928.851 298.523 6.27148 928.908 298.497 6.28638 928.576 297.673 6.49071 928.943 298.427 6.3138 928.958 298.323 6.35028 929.474 297.671 6.94466 929.299 297.671 6.75154 929.115 297.672 6.68538 930.909 302.655 6.11579 928.845 297.672 6.58774 922.144 297.666 10.479 917.621 264.415 17.8529 913.228 270.728 17.085 914.471 255.019 20.2031 907.575 253.649 21.3351 893.014 209.653 32.2837 899.696 210.503 31.3175 893.015 209.658 32.2823 903.217 221.445 28.6006 913.962 253.5 20.5832 885.727 187.636 37.6708 892.219 187.34 36.9841 892.49 188.166 36.799 888.456 195.883 35.7103 893.38 190.876 36.1905 899.347 209.42 31.5864 887.036 171.557 40.5267 879.662 169.314 42.0266 885.096 165.777 41.8013 884.9 165.192 41.9302 878.429 165.585 42.9044 881.342 154.595 44.2671 878.427 165.579 42.9058 881.3 154.471 44.2944 874.778 154.556 45.5012 881.186 154.123 44.3869 877.841 143.958 47.0914 873.255 149.956 46.5843 871.148 143.589 48.363 874.715 133.893 50.3954 877.591 143.153 47.3558 877.703 143.516 47.2367 871.146 143.583 48.3645 868.975 137.024 50.1965 874.333 132.568 50.908 867.552 132.725 51.6335 874.271 132.351 50.9918 864.008 122.016 55.2127 871.204 121.709 55.1072 726.402 165.331 37.9502 727.995 165.298 36.3189 712.617 143.053 41.7224 858.606 297.665 1.15144 864.978 297.665 1.41728 844.643 253.638 11.7853 903.435 297.665 3.97074 907.081 297.666 4.2727 892.15 253.65 14.9877 827.157 297.666 1.86813 827.324 297.666 1.85061 799.178 253.644 11.9971 828.727 253.644 11.1727 824.304 209.666 21.8256 841.988 209.656 22.7727 795.576 253.638 12.4701 770.962 209.656 22.0242 779.86 209.659 21.2666 766.553 209.654 22.6516 762.309 209.659 23.7989 792.012 253.639 13.4345 898.205 225.339 23.4399 893.025 209.687 27.341 885.97 209.665 26.4562 892.964 209.504 27.3866 885.708 187.581 32.851 878.606 187.689 31.8288 867.479 132.505 46.5937 864.008 122.016 50.9263 861.208 122.136 50.2261 859.217 122.221 49.728 856.693 122.328 49.2777 860.19 132.802 45.2951 747.886 126.969 39.2791 742.582 127.195 39.3274 751.525 143.141 35.2361 732.486 127.626 39.4884 730.775 127.699 39.5979 740.057 143.105 35.7591 705.59 128.773 43.7614 705.292 128.786 43.9669 714.829 143.009 40.4658 703.763 128.851 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527 184 1699 557 184 1700 557 184 1701 527 184 1702 528 184 1703 557 184 1704 528 184 1705 556 184 1706 556 224 1707 528 224 1708 529 224 1709 556 223 1710 529 223 1711 555 223 1712 555 222 1713 529 222 1714 530 222 1715 555 184 1716 530 184 1717 554 184 1718 554 221 1719 530 221 1720 531 221 1721 554 184 1722 531 184 1723 553 184 1724 553 220 1725 531 220 1726 532 220 1727 553 184 1728 532 184 1729 552 184 1730 552 184 1731 532 184 1732 533 184 1733 552 184 1734 533 184 1735 551 184 1736 551 184 1737 533 184 1738 534 184 1739 551 219 1740 534 219 1741 550 219 1742 550 218 1743 534 218 1744 535 218 1745 550 225 1746 535 225 1747 549 225 1748 549 184 1749 535 184 1750 536 184 1751 549 226 1752 536 226 1753 548 226 1754 548 184 1755 536 184 1756 537 184 1757 548 184 1758 537 184 1759 547 184 1760 547 214 1761 537 214 1762 538 214 1763 547 184 1764 538 184 1765 546 184 1766 546 184 1767 538 184 1768 539 184 1769 546 184 1770 539 184 1771 545 184 1772 545 211 1773 539 211 1774 540 211 1775 545 184 1776 540 184 1777 544 184 1778 544 209 1779 540 209 1780 541 209 1781 544 184 1782 541 184 1783 543 184 1784 543 207 1785 541 207 1786 484 207 1787 603 227 1788 717 227 1789 602 228 1790 602 228 1791 717 227 1792 719 228 1793 718 229 1794 660 229 1795 659 230 1796 659 230 1797 660 229 1798 661 230 1799 659 230 1800 661 230 1801 658 231 1802 658 231 1803 661 230 1804 662 231 1805 658 231 1806 662 231 1807 657 232 1808 657 232 1809 662 231 1810 663 232 1811 657 232 1812 663 232 1813 656 233 1814 656 233 1815 663 232 1816 664 233 1817 656 233 1818 664 233 1819 655 234 1820 655 234 1821 664 233 1822 665 234 1823 655 234 1824 665 234 1825 654 235 1826 654 235 1827 665 234 1828 666 235 1829 654 235 1830 666 235 1831 653 236 1832 653 236 1833 666 235 1834 667 236 1835 653 236 1836 667 236 1837 652 237 1838 652 237 1839 667 236 1840 668 237 1841 652 237 1842 668 237 1843 651 238 1844 651 238 1845 668 237 1846 669 238 1847 651 238 1848 669 238 1849 650 239 1850 650 239 1851 669 238 1852 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682 253 1930 683 254 1931 637 254 1932 683 254 1933 636 255 1934 636 255 1935 683 254 1936 684 255 1937 636 255 1938 684 255 1939 635 256 1940 635 256 1941 684 255 1942 685 256 1943 635 256 1944 685 256 1945 634 257 1946 634 257 1947 685 256 1948 686 257 1949 634 257 1950 686 257 1951 633 258 1952 633 258 1953 686 257 1954 687 258 1955 633 258 1956 687 258 1957 632 259 1958 632 259 1959 687 258 1960 688 259 1961 632 259 1962 688 259 1963 631 260 1964 631 260 1965 688 259 1966 689 260 1967 631 260 1968 689 260 1969 630 261 1970 630 261 1971 689 260 1972 690 261 1973 630 261 1974 690 261 1975 629 262 1976 629 262 1977 690 261 1978 691 262 1979 629 262 1980 691 262 1981 628 263 1982 628 263 1983 691 262 1984 692 263 1985 628 263 1986 692 263 1987 627 264 1988 627 264 1989 692 263 1990 693 264 1991 627 264 1992 693 264 1993 626 265 1994 626 265 1995 693 264 1996 694 265 1997 626 265 1998 694 265 1999 625 266 2000 625 266 2001 694 265 2002 695 266 2003 625 266 2004 695 266 2005 624 267 2006 624 267 2007 695 266 2008 696 267 2009 624 267 2010 696 267 2011 623 268 2012 623 268 2013 696 267 2014 697 268 2015 623 268 2016 697 268 2017 622 269 2018 622 269 2019 697 268 2020 698 269 2021 622 269 2022 698 269 2023 621 270 2024 621 270 2025 698 269 2026 699 270 2027 621 270 2028 699 270 2029 620 271 2030 620 271 2031 699 270 2032 700 271 2033 620 271 2034 700 271 2035 619 272 2036 619 272 2037 700 271 2038 701 272 2039 619 272 2040 701 272 2041 618 273 2042 618 273 2043 701 272 2044 702 273 2045 618 273 2046 702 273 2047 617 274 2048 617 274 2049 702 273 2050 703 275 2051 617 274 2052 703 275 2053 616 276 2054 616 276 2055 703 275 2056 704 277 2057 616 276 2058 704 277 2059 615 278 2060 615 278 2061 704 277 2062 705 278 2063 615 278 2064 705 278 2065 614 279 2066 614 279 2067 705 278 2068 706 279 2069 614 279 2070 706 279 2071 613 280 2072 613 280 2073 706 279 2074 707 280 2075 613 280 2076 707 280 2077 612 281 2078 612 281 2079 707 280 2080 708 281 2081 612 281 2082 708 281 2083 611 282 2084 611 282 2085 708 281 2086 709 282 2087 611 282 2088 709 282 2089 610 283 2090 610 283 2091 709 282 2092 710 283 2093 610 283 2094 710 283 2095 609 284 2096 609 284 2097 710 283 2098 711 284 2099 609 284 2100 711 284 2101 608 285 2102 608 285 2103 711 284 2104 712 285 2105 608 285 2106 712 285 2107 607 286 2108 607 286 2109 712 285 2110 713 286 2111 607 286 2112 713 286 2113 606 287 2114 606 287 2115 713 286 2116 714 287 2117 606 287 2118 714 287 2119 605 288 2120 605 288 2121 714 287 2122 715 288 2123 605 288 2124 715 288 2125 604 289 2126 604 289 2127 715 288 2128 716 289 2129 604 289 2130 716 289 2131 603 227 2132 603 227 2133 716 289 2134 717 227 2135

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2026 1093 12066 2032 1093 12067 1988 1093 12068 2032 48 12069 1989 48 12070 1988 48 12071 1978 48 12072 2013 48 12073 1979 48 12074 2046 48 12075 1996 48 12076 1995 48 12077 2048 48 12078 1996 48 12079 2046 48 12080 1979 48 12081 2013 48 12082 2008 48 12083 2002 156 12084 2000 156 12085 2005 156 12086 2001 669 12087 2000 669 12088 2002 669 12089 2048 523 12090 1997 523 12091 1996 523 12092 2050 48 12093 1997 48 12094 2048 48 12095 2032 48 12096 2034 48 12097 1989 48 12098 1986 48 12099 2030 48 12100 1978 48 12101 2005 1094 12102 1999 1094 12103 2052 1094 12104 2000 301 12105 1999 301 12106 2005 301 12107 1978 48 12108 2030 48 12109 2013 48 12110 2052 1095 12111 1998 1095 12112 2050 1095 12113 2050 235 12114 1998 235 12115 1997 235 12116 1999 301 12117 1998 301 12118 2052 301 12119 2034 715 12120 1990 715 12121 1989 715 12122 2034 48 12123 2036 48 12124 1990 48 12125 1984 48 12126 2028 48 12127 1986 48 12128 1986 48 12129 2028 48 12130 2030 48 12131 2036 48 12132 1991 48 12133 1990 48 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12271 2070 899 12272 2073 66 12273 2072 66 12274 2003 66 12275 2037 379 12276 2069 379 12277 2074 379 12278 2037 66 12279 2035 66 12280 2069 66 12281 2075 1102 12282 2071 1102 12283 2031 1102 12284 2029 66 12285 2075 66 12286 2031 66 12287 2039 66 12288 2074 66 12289 2076 66 12290 2039 66 12291 2037 66 12292 2074 66 12293 2077 308 12294 2075 308 12295 2029 308 12296 2025 66 12297 2077 66 12298 2029 66 12299 2041 169 12300 2039 169 12301 2076 169 12302 2078 66 12303 2041 66 12304 2076 66 12305 2079 66 12306 2025 66 12307 2021 66 12308 2079 66 12309 2077 66 12310 2025 66 12311 2043 66 12312 2041 66 12313 2078 66 12314 2055 66 12315 2043 66 12316 2078 66 12317 2057 66 12318 2079 66 12319 2021 66 12320 2057 250 12321 2021 250 12322 2017 250 12323 2064 5 12324 2080 5 12325 2081 5 12326 2056 5 12327 2064 5 12328 2081 5 12329 2056 176 12330 2081 176 12331 2082 176 12332 2066 94 12333 2083 94 12334 2084 94 12335 2057 690 12336 2056 690 12337 2082 690 12338 2057 177 12339 2082 177 12340 2085 177 12341 2063 178 12342 2084 178 12343 2086 178 12344 2063 252 12345 2066 252 12346 2084 252 12347 2079 323 12348 2057 323 12349 2085 323 12350 2079 181 12351 2085 181 12352 2087 181 12353 2060 254 12354 2086 254 12355 2088 254 12356 2077 98 12357 2079 98 12358 2087 98 12359 2060 1103 12360 2063 1103 12361 2086 1103 12362 2077 256 12363 2087 256 12364 2089 256 12365 2058 182 12366 2088 182 12367 2090 182 12368 2075 183 12369 2089 183 12370 2091 183 12371 2058 254 12372 2060 254 12373 2088 254 12374 2075 256 12375 2077 256 12376 2089 256 12377 2071 1104 12378 2075 1104 12379 2091 1104 12380 2059 188 12381 2090 188 12382 2092 188 12383 2059 107 12384 2058 107 12385 2090 107 12386 2066 185 12387 2091 185 12388 2083 185 12389 2066 1105 12390 2071 1105 12391 2091 1105 12392 2062 187 12393 2092 187 12394 2093 187 12395 2062 111 12396 2059 111 12397 2092 111 12398 2065 27 12399 2093 27 12400 2094 27 12401 2065 681 12402 2062 681 12403 2093 681 12404 2069 189 12405 2094 189 12406 2095 189 12407 2069 27 12408 2065 27 12409 2094 27 12410 2074 331 12411 2095 331 12412 2096 331 12413 2074 680 12414 2069 680 12415 2095 680 12416 2076 265 12417 2096 265 12418 2097 265 12419 2076 333 12420 2074 333 12421 2096 333 12422 2078 264 12423 2097 264 12424 2098 264 12425 2078 119 12426 2076 119 12427 2097 119 12428 2055 1080 12429 2078 1080 12430 2098 1080 12431 2055 335 12432 2098 335 12433 2099 335 12434 2054 1106 12435 2055 1106 12436 2099 1106 12437 2054 124 12438 2099 124 12439 2100 124 12440 2061 1107 12441 2054 1107 12442 2100 1107 12443 2061 1108 12444 2100 1108 12445 2101 1108 12446 2067 125 12447 2061 125 12448 2101 125 12449 2067 339 12450 2101 339 12451 2102 339 12452 2070 1109 12453 2067 1109 12454 2102 1109 12455 2070 1110 12456 2102 1110 12457 2103 1110 12458 2073 1085 12459 2070 1085 12460 2103 1085 12461 2073 198 12462 2103 198 12463 2104 198 12464 2072 269 12465 2073 269 12466 2104 269 12467 2072 609 12468 2104 609 12469 2105 609 12470 2068 345 12471 2072 345 12472 2105 345 12473 2068 136 12474 2105 136 12475 2080 136 12476 2064 672 12477 2068 672 12478 2080 672 12479 2106 1111 12480 2107 1111 12481 2108 1111 12482 2106 1112 12483 2109 1112 12484 2107 1112 12485 2110 2 12486 2108 2 12487 2111 2 12488 2110 137 12489 2106 137 12490 2108 137 12491 2112 4 12492 2113 4 12493 2114 4 12494 2115 5 12495 2111 5 12496 2116 5 12497 2112 138 12498 2117 138 12499 2113 138 12500 2115 5 12501 2110 5 12502 2111 5 12503 2118 652 12504 2114 652 12505 2119 652 12506 2120 8 12507 2116 8 12508 2121 8 12509 2118 653 12510 2112 653 12511 2114 653 12512 2120 139 12513 2115 139 12514 2116 139 12515 2122 207 12516 2119 207 12517 2123 207 12518 2124 208 12519 2121 208 12520 2125 208 12521 2122 1113 12522 2118 1113 12523 2119 1113 12524 2124 1114 12525 2120 1114 12526 2121 1114 12527 2126 278 12528 2123 278 12529 2127 278 12530 2128 213 12531 2125 213 12532 2129 213 12533 2126 141 12534 2122 141 12535 2123 141 12536 2128 17 12537 2124 17 12538 2125 17 12539 2130 18 12540 2127 18 12541 2131 18 12542 2132 19 12543 2129 19 12544 2133 19 12545 2130 20 12546 2126 20 12547 2127 20 12548 2132 21 12549 2128 21 12550 2129 21 12551 2134 282 12552 2133 282 12553 2135 282 12554 2134 656 12555 2132 656 12556 2133 656 12557 2136 219 12558 2131 219 12559 2137 219 12560 2117 142 12561 2135 142 12562 2113 142 12563 2136 1115 12564 2130 1115 12565 2131 1115 12566 2117 142 12567 2134 142 12568 2135 142 12569 2138 27 12570 2137 27 12571 2139 27 12572 2138 27 12573 2136 27 12574 2137 27 12575 2140 221 12576 2139 221 12577 2141 221 12578 2140 1116 12579 2138 1116 12580 2139 1116 12581 2142 30 12582 2141 30 12583 2143 30 12584 2142 31 12585 2140 31 12586 2141 31 12587 2144 286 12588 2143 286 12589 2145 286 12590 2144 144 12591 2142 144 12592 2143 144 12593 2146 1117 12594 2144 1117 12595 2145 1117 12596 2146 227 12597 2145 227 12598 2147 227 12599 2148 1060 12600 2146 1060 12601 2147 1060 12602 2148 635 12603 2147 635 12604 2149 635 12605 2150 145 12606 2148 145 12607 2149 145 12608 2150 39 12609 2149 39 12610 2151 39 12611 2152 146 12612 2151 146 12613 2153 146 12614 2152 147 12615 2150 147 12616 2151 147 12617 2154 293 12618 2153 293 12619 2155 293 12620 2154 643 12621 2152 643 12622 2153 643 12623 2156 44 12624 2155 44 12625 2157 44 12626 2156 45 12627 2154 45 12628 2155 45 12629 2109 295 12630 2157 295 12631 2107 295 12632 2109 47 12633 2156 47 12634 2157 47 12635 2082 1118 12636 2115 1118 12637 2120 1118 12638 2146 48 12639 2099 48 12640 2098 48 12641 2148 48 12642 2099 48 12643 2146 48 12644 2082 48 12645 2081 48 12646 2115 48 12647 2088 48 12648 2122 48 12649 2090 48 12650 2081 48 12651 2110 48 12652 2115 48 12653 2090 48 12654 2126 48 12655 2092 48 12656 2122 149 12657 2126 149 12658 2090 149 12659 2086 1119 12660 2118 1119 12661 2088 1119 12662 2150 48 12663 2100 48 12664 2148 48 12665 2088 163 12666 2118 163 12667 2122 163 12668 2148 48 12669 2100 48 12670 2099 48 12671 2092 161 12672 2130 161 12673 2093 161 12674 2126 1120 12675 2130 1120 12676 2092 1120 12677 2084 48 12678 2112 48 12679 2086 48 12680 2086 148 12681 2112 148 12682 2118 148 12683 2081 48 12684 2080 48 12685 2110 48 12686 2110 1092 12687 2080 1092 12688 2106 1092 12689 2130 48 12690 2136 48 12691 2093 48 12692 2136 48 12693 2094 48 12694 2093 48 12695 2083 48 12696 2117 48 12697 2084 48 12698 2150 48 12699 2101 48 12700 2100 48 12701 2152 48 12702 2101 48 12703 2150 48 12704 2084 48 12705 2117 48 12706 2112 48 12707 2106 51 12708 2105 51 12709 2109 51 12710 2080 48 12711 2105 48 12712 2106 48 12713 2152 48 12714 2102 48 12715 2101 48 12716 2154 51 12717 2102 51 12718 2152 51 12719 2136 48 12720 2138 48 12721 2094 48 12722 2091 48 12723 2134 48 12724 2083 48 12725 2109 48 12726 2104 48 12727 2156 48 12728 2105 235 12729 2104 235 12730 2109 235 12731 2083 48 12732 2134 48 12733 2117 48 12734 2156 48 12735 2103 48 12736 2154 48 12737 2154 48 12738 2103 48 12739 2102 48 12740 2104 301 12741 2103 301 12742 2156 301 12743 2138 665 12744 2095 665 12745 2094 665 12746 2138 59 12747 2140 59 12748 2095 59 12749 2089 300 12750 2132 300 12751 2091 300 12752 2091 48 12753 2132 48 12754 2134 48 12755 2140 60 12756 2096 60 12757 2095 60 12758 2140 48 12759 2142 48 12760 2096 48 12761 2087 303 12762 2128 303 12763 2089 303 12764 2089 48 12765 2128 48 12766 2132 48 12767 2142 48 12768 2097 48 12769 2096 48 12770 2144 162 12771 2097 162 12772 2142 162 12773 2087 48 12774 2124 48 12775 2128 48 12776 2087 48 12777 2085 48 12778 2124 48 12779 2144 48 12780 2098 48 12781 2097 48 12782 2146 774 12783 2098 774 12784 2144 774 12785 2085 48 12786 2120 48 12787 2124 48 12788 2085 1121 12789 2082 1121 12790 2120 1121 12791 2158 78 12792 2147 78 12793 2159 78 12794 2158 66 12795 2149 66 12796 2147 66 12797 2160 66 12798 2161 66 12799 2121 66 12800 2123 66 12801 2162 66 12802 2163 66 12803 2160 240 12804 2121 240 12805 2116 240 12806 2111 66 12807 2160 66 12808 2116 66 12809 2127 513 12810 2123 513 12811 2163 513 12812 2119 66 12813 2164 66 12814 2162 66 12815 2119 169 12816 2162 169 12817 2123 169 12818 2165 66 12819 2151 66 12820 2149 66 12821 2165 1122 12822 2149 1122 12823 2158 1122 12824 2131 66 12825 2163 66 12826 2166 66 12827 2131 240 12828 2127 240 12829 2163 240 12830 2114 72 12831 2167 72 12832 2164 72 12833 2114 240 12834 2164 240 12835 2119 240 12836 2168 66 12837 2160 66 12838 2111 66 12839 2137 596 12840 2166 596 12841 2169 596 12842 2168 175 12843 2111 175 12844 2108 175 12845 2137 66 12846 2131 66 12847 2166 66 12848 2113 66 12849 2170 66 12850 2167 66 12851 2171 66 12852 2151 66 12853 2165 66 12854 2171 66 12855 2153 66 12856 2151 66 12857 2113 1123 12858 2167 1123 12859 2114 1123 12860 2172 66 12861 2108 66 12862 2107 66 12863 2172 66 12864 2168 66 12865 2108 66 12866 2139 66 12867 2169 66 12868 2173 66 12869 2174 947 12870 2153 947 12871 2171 947 12872 2139 66 12873 2137 66 12874 2169 66 12875 2174 66 12876 2155 66 12877 2153 66 12878 2135 66 12879 2175 66 12880 2170 66 12881 2176 66 12882 2172 66 12883 2107 66 12884 2135 66 12885 2170 66 12886 2113 66 12887 2177 66 12888 2107 66 12889 2157 66 12890 2177 66 12891 2157 66 12892 2155 66 12893 2177 66 12894 2155 66 12895 2174 66 12896 2177 247 12897 2176 247 12898 2107 247 12899 2141 66 12900 2173 66 12901 2178 66 12902 2141 66 12903 2139 66 12904 2173 66 12905 2179 1124 12906 2175 1124 12907 2135 1124 12908 2133 66 12909 2179 66 12910 2135 66 12911 2143 171 12912 2178 171 12913 2180 171 12914 2143 66 12915 2141 66 12916 2178 66 12917 2181 66 12918 2179 66 12919 2133 66 12920 2129 66 12921 2181 66 12922 2133 66 12923 2145 169 12924 2143 169 12925 2180 169 12926 2182 66 12927 2145 66 12928 2180 66 12929 2183 170 12930 2129 170 12931 2125 170 12932 2183 66 12933 2181 66 12934 2129 66 12935 2147 321 12936 2145 321 12937 2182 321 12938 2159 1125 12939 2147 1125 12940 2182 1125 12941 2161 66 12942 2183 66 12943 2125 66 12944 2161 66 12945 2125 66 12946 2121 66 12947 2160 5 12948 2168 5 12949 2184 5 12950 2160 176 12951 2184 176 12952 2185 176 12953 2170 94 12954 2186 94 12955 2187 94 12956 2161 89 12957 2160 89 12958 2185 89 12959 2161 180 12960 2185 180 12961 2188 180 12962 2167 178 12963 2187 178 12964 2189 178 12965 2167 252 12966 2170 252 12967 2187 252 12968 2183 177 12969 2161 177 12970 2188 177 12971 2183 181 12972 2188 181 12973 2190 181 12974 2164 103 12975 2189 103 12976 2191 103 12977 2181 255 12978 2183 255 12979 2190 255 12980 2164 99 12981 2167 99 12982 2189 99 12983 2181 104 12984 2190 104 12985 2192 104 12986 2162 182 12987 2191 182 12988 2193 182 12989 2179 183 12990 2192 183 12991 2194 183 12992 2162 103 12993 2164 103 12994 2191 103 12995 2179 104 12996 2181 104 12997 2192 104 12998 2175 186 12999 2194 186 13000 2186 186 13001 2175 184 13002 2179 184 13003 2194 184 13004 2163 188 13005 2193 188 13006 2195 188 13007 2163 261 13008 2162 261 13009 2193 261 13010 2170 185 13011 2175 185 13012 2186 185 13013 2166 112 13014 2195 112 13015 2196 112 13016 2166 111 13017 2163 111 13018 2195 111 13019 2169 27 13020 2196 27 13021 2197 27 13022 2169 187 13023 2166 187 13024 2196 187 13025 2173 115 13026 2197 115 13027 2198 115 13028 2173 27 13029 2169 27 13030 2197 27 13031 2178 191 13032 2198 191 13033 2199 191 13034 2178 189 13035 2173 189 13036 2198 189 13037 2180 190 13038 2199 190 13039 2200 190 13040 2180 117 13041 2178 117 13042 2199 117 13043 2182 192 13044 2200 192 13045 2201 192 13046 2182 265 13047 2180 265 13048 2200 265 13049 2159 120 13050 2182 120 13051 2201 120 13052 2159 122 13053 2201 122 13054 2202 122 13055 2158 193 13056 2159 193 13057 2202 193 13058 2158 124 13059 2202 124 13060 2203 124 13061 2165 124 13062 2158 124 13063 2203 124 13064 2165 126 13065 2203 126 13066 2204 126 13067 2171 195 13068 2165 195 13069 2204 195 13070 2171 196 13071 2204 196 13072 2205 196 13073 2174 128 13074 2171 128 13075 2205 128 13076 2174 197 13077 2205 197 13078 2206 197 13079 2177 130 13080 2174 130 13081 2206 130 13082 2177 198 13083 2206 198 13084 2207 198 13085 2176 270 13086 2177 270 13087 2207 270 13088 2176 200 13089 2207 200 13090 2208 200 13091 2172 199 13092 2176 199 13093 2208 199 13094 2172 136 13095 2208 136 13096 2209 136 13097 2168 135 13098 2172 135 13099 2209 135 13100 2168 5 13101 2209 5 13102 2184 5 13103 2210 1126 13104 2211 1126 13105 2212 1126 13106 2210 1044 13107 2213 1044 13108 2211 1044 13109 2214 2 13110 2212 2 13111 2215 2 13112 2214 3 13113 2210 3 13114 2212 3 13115 2216 6 13116 2217 6 13117 2218 6 13118 2219 5 13119 2215 5 13120 2220 5 13121 2216 4 13122 2221 4 13123 2217 4 13124 2219 5 13125 2214 5 13126 2215 5 13127 2222 7 13128 2218 7 13129 2223 7 13130 2224 8 13131 2220 8 13132 2225 8 13133 2222 7 13134 2216 7 13135 2218 7 13136 2224 8 13137 2219 8 13138 2220 8 13139 2226 10 13140 2223 10 13141 2227 10 13142 2228 275 13143 2225 275 13144 2229 275 13145 2226 1127 13146 2222 1127 13147 2223 1127 13148 2228 1049 13149 2224 1049 13150 2225 1049 13151 2230 650 13152 2227 650 13153 2231 650 13154 2232 1128 13155 2229 1128 13156 2233 1128 13157 2230 211 13158 2226 211 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48 13295 2230 152 13296 2234 152 13297 2195 152 13298 2214 48 13299 2209 48 13300 2210 48 13301 2187 48 13302 2216 48 13303 2189 48 13304 2184 48 13305 2209 48 13306 2214 48 13307 2189 668 13308 2216 668 13309 2222 668 13310 2234 48 13311 2240 48 13312 2196 48 13313 2240 48 13314 2197 48 13315 2196 48 13316 2186 48 13317 2221 48 13318 2187 48 13319 2256 48 13320 2204 48 13321 2254 48 13322 2254 48 13323 2204 48 13324 2203 48 13325 2210 48 13326 2208 48 13327 2213 48 13328 2187 48 13329 2221 48 13330 2216 48 13331 2209 601 13332 2208 601 13333 2210 601 13334 2258 51 13335 2205 51 13336 2256 51 13337 2256 48 13338 2205 48 13339 2204 48 13340 2240 48 13341 2242 48 13342 2197 48 13343 2213 1094 13344 2207 1094 13345 2260 1094 13346 2208 48 13347 2207 48 13348 2213 48 13349 2194 48 13350 2238 48 13351 2186 48 13352 2260 48 13353 2206 48 13354 2258 48 13355 2258 48 13356 2206 48 13357 2205 48 13358 2186 48 13359 2238 48 13360 2221 48 13361 2207 48 13362 2206 48 13363 2260 48 13364 2242 602 13365 2198 602 13366 2197 602 13367 2242 48 13368 2244 48 13369 2198 48 13370 2192 300 13371 2236 300 13372 2194 300 13373 2194 48 13374 2236 48 13375 2238 48 13376 2244 159 13377 2199 159 13378 2198 159 13379 2244 1141 13380 2246 1141 13381 2199 1141 13382 2190 48 13383 2232 48 13384 2192 48 13385 2192 61 13386 2232 61 13387 2236 61 13388 2246 57 13389 2200 57 13390 2199 57 13391 2248 162 13392 2200 162 13393 2246 162 13394 2190 48 13395 2228 48 13396 2232 48 13397 2190 601 13398 2188 601 13399 2228 601 13400 2248 48 13401 2201 48 13402 2200 48 13403 2250 774 13404 2201 774 13405 2248 774 13406 2188 664 13407 2224 664 13408 2228 664 13409 2188 530 13410 2185 530 13411 2224 530 13412 2185 1142 13413 2219 1142 13414 2224 1142 13415 2262 248 13416 2251 248 13417 2263 248 13418 2262 66 13419 2253 66 13420 2251 66 13421 2264 593 13422 2265 593 13423 2225 593 13424 2264 237 13425 2225 237 13426 2220 237 13427 2231 66 13428 2266 66 13429 2267 66 13430 2231 66 13431 2227 66 13432 2266 66 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13572 2288 5 13573 2289 5 13574 2264 5 13575 2273 5 13576 2289 5 13577 2264 176 13578 2289 176 13579 2290 176 13580 2272 94 13581 2291 94 13582 2292 94 13583 2265 1146 13584 2264 1146 13585 2290 1146 13586 2265 180 13587 2290 180 13588 2293 180 13589 2271 1147 13590 2292 1147 13591 2294 1147 13592 2271 795 13593 2272 795 13594 2292 795 13595 2287 1148 13596 2265 1148 13597 2293 1148 13598 2287 253 13599 2293 253 13600 2295 253 13601 2268 103 13602 2294 103 13603 2296 103 13604 2285 98 13605 2287 98 13606 2295 98 13607 2268 1149 13608 2271 1149 13609 2294 1149 13610 2285 104 13611 2295 104 13612 2297 104 13613 2266 257 13614 2296 257 13615 2298 257 13616 2283 183 13617 2297 183 13618 2299 183 13619 2266 97 13620 2268 97 13621 2296 97 13622 2283 100 13623 2285 100 13624 2297 100 13625 2278 1150 13626 2283 1150 13627 2299 1150 13628 2267 1151 13629 2298 1151 13630 2300 1151 13631 2267 107 13632 2266 107 13633 2298 107 13634 2272 109 13635 2299 109 13636 2291 109 13637 2272 108 13638 2278 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1160 13773 2328 1160 13774 2329 1160 13775 2334 501 13776 2331 501 13777 2335 501 13778 2336 15 13779 2333 15 13780 2337 15 13781 2334 211 13782 2330 211 13783 2331 211 13784 2336 510 13785 2332 510 13786 2333 510 13787 2338 1161 13788 2335 1161 13789 2339 1161 13790 2340 215 13791 2337 215 13792 2341 215 13793 2338 20 13794 2334 20 13795 2335 20 13796 2340 217 13797 2336 217 13798 2337 217 13799 2342 218 13800 2341 218 13801 2343 218 13802 2342 22 13803 2340 22 13804 2341 22 13805 2344 24 13806 2339 24 13807 2345 24 13808 2325 25 13809 2343 25 13810 2321 25 13811 2344 24 13812 2338 24 13813 2339 24 13814 2325 220 13815 2342 220 13816 2343 220 13817 2346 27 13818 2345 27 13819 2347 27 13820 2346 27 13821 2344 27 13822 2345 27 13823 2348 28 13824 2347 28 13825 2349 28 13826 2348 28 13827 2346 28 13828 2347 28 13829 2350 30 13830 2349 30 13831 2351 30 13832 2350 1162 13833 2348 1162 13834 2349 1162 13835 2352 983 13836 2351 983 13837 2353 983 13838 2352 287 13839 2350 287 13840 2351 287 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2329 314 14050 2324 314 14051 2331 72 14052 2370 72 14053 2371 72 14054 2319 66 14055 2368 66 14056 2324 66 14057 2335 83 14058 2371 83 14059 2372 83 14060 2335 1166 14061 2331 1166 14062 2371 1166 14063 2327 66 14064 2373 66 14065 2370 66 14066 2327 76 14067 2370 76 14068 2331 76 14069 2374 71 14070 2357 71 14071 2367 71 14072 2374 66 14073 2359 66 14074 2357 66 14075 2339 1167 14076 2335 1167 14077 2372 1167 14078 2322 67 14079 2375 67 14080 2373 67 14081 2322 592 14082 2373 592 14083 2327 592 14084 2345 518 14085 2372 518 14086 2376 518 14087 2377 66 14088 2368 66 14089 2319 66 14090 2377 250 14091 2319 250 14092 2316 250 14093 2345 1143 14094 2339 1143 14095 2372 1143 14096 2321 66 14097 2378 66 14098 2375 66 14099 2321 74 14100 2375 74 14101 2322 74 14102 2379 944 14103 2361 944 14104 2359 944 14105 2379 66 14106 2359 66 14107 2374 66 14108 2380 66 14109 2377 66 14110 2316 66 14111 2380 66 14112 2316 66 14113 2315 66 14114 2347 66 14115 2376 66 14116 2381 66 14117 2347 66 14118 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2227 3113 13251 2229 3113 13252 2228 3113 13253 2228 3114 13254 2229 3114 13255 2230 3114 13256 2229 1703 13257 2231 1703 13258 2230 1703 13259 2230 2352 13260 2231 2352 13261 2232 2352 13262 2231 2352 13263 2233 2352 13264 2232 2352 13265 2232 1753 13266 2233 1753 13267 2182 1753 13268 2233 2356 13269 2183 2356 13270 2182 2356 13271 2234 3115 13272 2235 3115 13273 2236 3115 13274 2237 3116 13275 2235 3116 13276 2234 3116 13277 2138 107 13278 2142 107 13279 2238 107 13280 2235 3117 13281 2208 3117 13282 2210 3117 13283 2235 3118 13284 2210 3118 13285 2212 3118 13286 2191 3119 13287 2175 3119 13288 2177 3119 13289 2146 107 13290 2238 107 13291 2142 107 13292 2235 3120 13293 2212 3120 13294 2214 3120 13295 2191 3121 13296 2177 3121 13297 2179 3121 13298 2235 3122 13299 2214 3122 13300 2216 3122 13301 2235 3123 13302 2216 3123 13303 2218 3123 13304 2235 3124 13305 2218 3124 13306 2220 3124 13307 2235 3125 13308 2220 3125 13309 2222 3125 13310 2191 107 13311 2195 107 13312 2175 107 13313 2235 107 13314 2222 107 13315 2236 107 13316 2133 107 13317 2138 107 13318 2238 107 13319 2235 3126 13320 2239 3126 13321 2157 3126 13322 2235 3127 13323 2157 3127 13324 2159 3127 13325 2235 3128 13326 2159 3128 13327 2161 3128 13328 2235 107 13329 2161 107 13330 2208 107 13331 2208 952 13332 2161 952 13333 2206 952 13334 2199 3129 13335 2173 3129 13336 2175 3129 13337 2150 107 13338 2238 107 13339 2146 107 13340 2206 107 13341 2161 107 13342 2201 107 13343 2199 107 13344 2175 107 13345 2195 107 13346 2132 107 13347 2133 107 13348 2238 107 13349 2186 107 13350 2191 107 13351 2179 107 13352 2134 3130 13353 2238 3130 13354 2150 3130 13355 2204 3131 13356 2171 3131 13357 2173 3131 13358 2204 107 13359 2173 107 13360 2199 107 13361 2181 107 13362 2132 107 13363 2238 107 13364 2187 107 13365 2171 107 13366 2204 107 13367 2187 3132 13368 2169 3132 13369 2171 3132 13370 2179 3133 13371 2181 3133 13372 2238 3133 13373 2239 3134 13374 2134 3134 13375 2136 3134 13376 2239 107 13377 2136 107 13378 2140 107 13379 2189 3135 13380 2167 3135 13381 2169 3135 13382 2189 3136 13383 2169 3136 13384 2187 3136 13385 2239 3137 13386 2238 3137 13387 2134 3137 13388 2144 107 13389 2239 107 13390 2140 107 13391 2193 3138 13392 2163 3138 13393 2165 3138 13394 2193 3139 13395 2165 3139 13396 2167 3139 13397 2193 3140 13398 2167 3140 13399 2189 3140 13400 2148 3141 13401 2239 3141 13402 2144 3141 13403 2197 107 13404 2163 107 13405 2193 107 13406 2153 107 13407 2239 107 13408 2148 107 13409 2236 3142 13410 2186 3142 13411 2179 3142 13412 2236 3143 13413 2228 3143 13414 2230 3143 13415 2236 107 13416 2230 107 13417 2232 107 13418 2236 107 13419 2232 107 13420 2182 107 13421 2236 3144 13422 2182 3144 13423 2184 3144 13424 2236 3145 13425 2184 3145 13426 2186 3145 13427 2236 3146 13428 2179 3146 13429 2238 3146 13430 2155 107 13431 2239 107 13432 2153 107 13433 2201 107 13434 2163 107 13435 2197 107 13436 2201 3147 13437 2161 3147 13438 2163 3147 13439 2226 107 13440 2228 107 13441 2236 107 13442 2157 107 13443 2239 107 13444 2155 107 13445 2224 107 13446 2226 107 13447 2236 107 13448 2222 746 13449 2224 746 13450 2236 746 13451 2238 3148 13452 2240 3148 13453 2241 3148 13454 2239 3149 13455 2240 3149 13456 2238 3149 13457 2178 138 13458 2176 138 13459 2242 138 13460 2174 138 13461 2242 138 13462 2176 138 13463 2240 3150 13464 2156 3150 13465 2154 3150 13466 2240 138 13467 2154 138 13468 2152 138 13469 2240 138 13470 2152 138 13471 2147 138 13472 2180 3151 13473 2178 3151 13474 2242 3151 13475 2240 3152 13476 2147 3152 13477 2143 3152 13478 2240 138 13479 2143 138 13480 2139 138 13481 2240 3153 13482 2139 3153 13483 2135 3153 13484 2240 138 13485 2135 138 13486 2241 138 13487 2172 138 13488 2242 138 13489 2174 138 13490 2240 138 13491 2243 138 13492 2156 138 13493 2156 138 13494 2243 138 13495 2158 138 13496 2130 138 13497 2180 138 13498 2242 138 13499 2170 138 13500 2242 138 13501 2172 138 13502 2131 3154 13503 2130 3154 13504 2242 3154 13505 2243 3155 13506 2170 3155 13507 2168 3155 13508 2243 3156 13509 2168 3156 13510 2166 3156 13511 2243 3157 13512 2166 3157 13513 2164 3157 13514 2243 138 13515 2242 138 13516 2170 138 13517 2241 3158 13518 2145 3158 13519 2141 3158 13520 2241 138 13521 2141 138 13522 2137 138 13523 2241 3159 13524 2137 3159 13525 2131 3159 13526 2241 3160 13527 2131 3160 13528 2242 3160 13529 2162 138 13530 2243 138 13531 2164 138 13532 2149 3161 13533 2145 3161 13534 2241 3161 13535 2160 138 13536 2243 138 13537 2162 138 13538 2151 1020 13539 2149 1020 13540 2241 1020 13541 2158 138 13542 2243 138 13543 2160 138 13544 2135 138 13545 2151 138 13546 2241 138 13547 2243 3162 13548 2244 3162 13549 2242 3162 13550 2242 3163 13551 2244 3163 13552 2245 3163 13553 2246 3164 13554 2247 3164 13555 2248 3164 13556 2245 3165 13557 2247 3165 13558 2246 3165 13559 2244 3166 13560 2247 3166 13561 2245 3166 13562 2247 3167 13563 2249 3167 13564 2248 3167 13565 2248 3168 13566 2250 3168 13567 2251 3168 13568 2249 3169 13569 2250 3169 13570 2248 3169 13571 2251 3170 13572 2252 3170 13573 2253 3170 13574 2250 3171 13575 2252 3171 13576 2251 3171 13577 2253 3172 13578 2254 3172 13579 2255 3172 13580 2252 3173 13581 2254 3173 13582 2253 3173 13583 2255 3174 13584 2256 3174 13585 2257 3174 13586 2254 3175 13587 2256 3175 13588 2255 3175 13589 2258 3176 13590 2259 3176 13591 2260 3176 13592 2257 3177 13593 2259 3177 13594 2258 3177 13595 2256 3178 13596 2259 3178 13597 2257 3178 13598 2259 3179 13599 2261 3179 13600 2260 3179 13601 2260 3180 13602 2262 3180 13603 2263 3180 13604 2261 3181 13605 2262 3181 13606 2260 3181 13607 2264 3182 13608 2265 3182 13609 2266 3182 13610 2263 3183 13611 2265 3183 13612 2264 3183 13613 2262 3184 13614 2265 3184 13615 2263 3184 13616 2265 3185 13617 2267 3185 13618 2266 3185 13619 2268 3186 13620 2269 3186 13621 2270 3186 13622 2266 3187 13623 2269 3187 13624 2268 3187 13625 2267 3188 13626 2269 3188 13627 2266 3188 13628 2269 3189 13629 2271 3189 13630 2270 3189 13631 2231 2680 13632 2229 2680 13633 2234 2680 13634 2227 3190 13635 2234 3190 13636 2229 3190 13637 2271 3191 13638 2209 3191 13639 2207 3191 13640 2271 2682 13641 2207 2682 13642 2205 2682 13643 2271 138 13644 2205 138 13645 2200 138 13646 2271 138 13647 2200 138 13648 2196 138 13649 2233 138 13650 2231 138 13651 2234 138 13652 2271 138 13653 2196 138 13654 2192 138 13655 2271 3192 13656 2192 3192 13657 2188 3192 13658 2271 138 13659 2188 138 13660 2270 138 13661 2225 138 13662 2234 138 13663 2227 138 13664 2271 3193 13665 2237 3193 13666 2209 3193 13667 2209 138 13668 2237 138 13669 2211 138 13670 2183 3194 13671 2233 3194 13672 2234 3194 13673 2223 138 13674 2234 138 13675 2225 138 13676 2237 3195 13677 2223 3195 13678 2221 3195 13679 2237 769 13680 2221 769 13681 2219 769 13682 2237 3196 13683 2234 3196 13684 2223 3196 13685 2217 3197 13686 2237 3197 13687 2219 3197 13688 2270 3198 13689 2194 3198 13690 2190 3198 13691 2270 3199 13692 2190 3199 13693 2185 3199 13694 2270 3200 13695 2185 3200 13696 2183 3200 13697 2270 3201 13698 2183 3201 13699 2234 3201 13700 2198 2466 13701 2194 2466 13702 2270 2466 13703 2215 138 13704 2237 138 13705 2217 138 13706 2202 3202 13707 2198 3202 13708 2270 3202 13709 2213 138 13710 2237 138 13711 2215 138 13712 2203 138 13713 2202 138 13714 2270 138 13715 2211 138 13716 2237 138 13717 2213 138 13718 2188 3203 13719 2203 3203 13720 2270 3203 13721 2269 3204 13722 2237 3204 13723 2271 3204 13724 2267 3205 13725 2237 3205 13726 2269 3205 13727 2235 3206 13728 2237 3206 13729 2267 3206 13730 2265 3207 13731 2235 3207 13732 2267 3207 13733 2262 3208 13734 2235 3208 13735 2265 3208 13736 2261 3209 13737 2235 3209 13738 2262 3209 13739 2259 3210 13740 2235 3210 13741 2261 3210 13742 2240 3211 13743 2247 3211 13744 2244 3211 13745 2240 3212 13746 2244 3212 13747 2243 3212 13748 2239 3213 13749 2256 3213 13750 2254 3213 13751 2239 3214 13752 2254 3214 13753 2252 3214 13754 2239 3215 13755 2252 3215 13756 2250 3215 13757 2239 3216 13758 2250 3216 13759 2249 3216 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2335 3291 14010 2339 3291 14011 2336 3291 14012 2333 3292 14013 2337 3292 14014 2334 3292 14015 2336 3293 14016 2339 3293 14017 2340 3293 14018 2338 3294 14019 2341 3294 14020 2342 3294 14021 2339 3293 14022 2343 3293 14023 2340 3293 14024 2337 3252 14025 2341 3252 14026 2338 3252 14027 2340 3253 14028 2343 3253 14029 2344 3253 14030 2344 3295 14031 2345 3295 14032 2328 3295 14033 2343 3296 14034 2345 3296 14035 2344 3296 14036 2342 3297 14037 2346 3297 14038 2347 3297 14039 2341 3298 14040 2346 3298 14041 2342 3298 14042 2345 3295 14043 2329 3295 14044 2328 3295 14045 2347 3299 14046 2348 3299 14047 2349 3299 14048 2346 3300 14049 2348 3300 14050 2347 3300 14051 2349 3301 14052 2350 3301 14053 2351 3301 14054 2348 3302 14055 2350 3302 14056 2349 3302 14057 2351 3303 14058 2352 3303 14059 2353 3303 14060 2350 3301 14061 2352 3301 14062 2351 3301 14063 2353 3304 14064 2354 3304 14065 2355 3304 14066 2352 3305 14067 2354 3305 14068 2353 3305 14069 2355 3306 14070 2356 3306 14071 2357 3306 14072 2354 3304 14073 2356 3304 14074 2355 3304 14075 2357 3307 14076 2358 3307 14077 2359 3307 14078 2356 3308 14079 2358 3308 14080 2357 3308 14081 2358 3309 14082 2360 3309 14083 2359 3309 14084 2359 3310 14085 2360 3310 14086 2361 3310 14087 2360 3311 14088 2362 3311 14089 2361 3311 14090 2361 3312 14091 2362 3312 14092 2363 3312 14093 2362 3312 14094 2364 3312 14095 2363 3312 14096 2363 3313 14097 2364 3313 14098 2365 3313 14099 2364 3314 14100 2366 3314 14101 2365 3314 14102 2365 3315 14103 2366 3315 14104 2367 3315 14105 2366 3316 14106 2368 3316 14107 2367 3316 14108 2367 3317 14109 2368 3317 14110 2369 3317 14111 2368 3318 14112 2370 3318 14113 2369 3318 14114 2369 3319 14115 2370 3319 14116 2371 3319 14117 2370 3320 14118 2372 3320 14119 2371 3320 14120 2371 3321 14121 2372 3321 14122 2373 3321 14123 2372 3322 14124 2374 3322 14125 2373 3322 14126 2373 3323 14127 2374 3323 14128 2375 3323 14129 2374 3324 14130 2324 3324 14131 2375 3324 14132 2375 3282 14133 2324 3282 14134 2326 3282 14135 2376 3325 14136 2377 3325 14137 2378 3325 14138 2376 3326 14139 2379 3326 14140 2377 3326 14141 2336 3327 14142 2317 3327 14143 2319 3327 14144 2280 3328 14145 2284 3328 14146 2380 3328 14147 2288 3329 14148 2380 3329 14149 2284 3329 14150 2379 107 14151 2349 107 14152 2351 107 14153 2379 107 14154 2351 107 14155 2353 107 14156 2379 3330 14157 2353 3330 14158 2355 3330 14159 2332 107 14160 2336 107 14161 2319 107 14162 2379 3331 14163 2355 3331 14164 2357 3331 14165 2379 3332 14166 2357 3332 14167 2359 3332 14168 2379 107 14169 2359 107 14170 2361 107 14171 2275 107 14172 2280 107 14173 2380 107 14174 2379 107 14175 2361 107 14176 2363 107 14177 2379 107 14178 2363 107 14179 2377 107 14180 2379 3333 14181 2381 3333 14182 2299 3333 14183 2379 3334 14184 2299 3334 14185 2301 3334 14186 2292 3335 14187 2380 3335 14188 2288 3335 14189 2379 3336 14190 2301 3336 14191 2303 3336 14192 2340 3337 14193 2315 3337 14194 2317 3337 14195 2379 107 14196 2303 107 14197 2349 107 14198 2349 107 14199 2303 107 14200 2347 107 14201 2347 107 14202 2303 107 14203 2342 107 14204 2340 107 14205 2317 107 14206 2336 107 14207 2327 107 14208 2332 107 14209 2319 107 14210 2327 3338 14211 2319 3338 14212 2321 3338 14213 2274 3339 14214 2275 3339 14215 2380 3339 14216 2276 3340 14217 2380 3340 14218 2292 3340 14219 2344 3341 14220 2313 3341 14221 2315 3341 14222 2344 107 14223 2315 107 14224 2340 107 14225 2323 107 14226 2274 107 14227 2380 107 14228 2328 3342 14229 2309 3342 14230 2311 3342 14231 2328 3343 14232 2311 3343 14233 2313 3343 14234 2321 3344 14235 2323 3344 14236 2380 3344 14237 2328 3345 14238 2313 3345 14239 2344 3345 14240 2330 3346 14241 2309 3346 14242 2328 3346 14243 2381 3347 14244 2276 3347 14245 2278 3347 14246 2381 3348 14247 2278 3348 14248 2282 3348 14249 2381 3349 14250 2380 3349 14251 2276 3349 14252 2334 107 14253 2309 107 14254 2330 107 14255 2334 3350 14256 2307 3350 14257 2309 3350 14258 2286 107 14259 2381 107 14260 2282 107 14261 2338 3351 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26459 115245 12309 26459 115246 16775 26459 115247 16167 23929 115248 13565 23929 115249 16169 23929 115250 16169 26460 115251 13565 26460 115252 13563 26460 115253 16773 26461 115254 12311 26461 115255 12309 26461 115256 16167 26462 115257 13567 26462 115258 13565 26462 115259 16773 26463 115260 12313 26463 115261 12311 26463 115262 16165 26464 115263 13569 26464 115264 16167 26464 115265 16771 26465 115266 12313 26465 115267 16773 26465 115268 16167 26466 115269 13569 26466 115270 13567 26466 115271 16771 26467 115272 12315 26467 115273 12313 26467 115274 16165 26468 115275 13571 26468 115276 13569 26468 115277 16771 26469 115278 12317 26469 115279 12315 26469 115280 16163 26470 115281 13573 26470 115282 16165 26470 115283 16165 26471 115284 13573 26471 115285 13571 26471 115286 16771 26472 115287 12319 26472 115288 12317 26472 115289 16769 26473 115290 12319 26473 115291 16771 26473 115292 16163 26474 115293 13575 26474 115294 13573 26474 115295 16769 26475 115296 12321 26475 115297 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136680 17166 31996 136681 9898 31996 136682 9900 31997 136683 17167 31997 136684 17166 31997 136685 9679 29424 136686 17167 29424 136687 9680 29424 136688 9680 31788 136689 17167 31788 136690 9900 31788 136691 9679 28170 136692 17227 28170 136693 17167 28170 136694 9682 26060 136695 17227 26060 136696 9679 26060 136697 9682 28173 136698 17223 28173 136699 17227 28173 136700 9684 31998 136701 17223 31998 136702 9682 31998 136703 9686 25902 136704 17223 25902 136705 9684 25902 136706 9688 31999 136707 17223 31999 136708 9686 31999 136709 9688 28176 136710 17217 28176 136711 17223 28176 136712 9690 30150 136713 17217 30150 136714 9688 30150 136715 9692 32000 136716 17217 32000 136717 9690 32000 136718 9692 32001 136719 17215 32001 136720 17217 32001 136721 9694 32002 136722 17215 32002 136723 9692 32002 136724 9696 25906 136725 17215 25906 136726 9694 25906 136727 9696 32003 136728 17268 32003 136729 17215 32003 136730 9698 32004 136731 17268 32004 136732 9696 32004 136733 9700 32005 136734 17268 32005 136735 9698 32005 136736 9704 30157 136737 17266 30157 136738 9702 30157 136739 9700 32006 136740 17266 32006 136741 17268 32006 136742 9702 32007 136743 17266 32007 136744 9700 32007 136745 9706 32008 136746 17264 32008 136747 9704 32008 136748 9708 32009 136749 17264 32009 136750 9706 32009 136751 9704 32010 136752 17264 32010 136753 17266 32010 136754 9710 28187 136755 17262 28187 136756 9708 28187 136757 9712 28188 136758 17262 28188 136759 9710 28188 136760 9714 32011 136761 17262 32011 136762 9712 32011 136763 9708 32012 136764 17262 32012 136765 17264 32012 136766 9716 32013 136767 17260 32013 136768 9714 32013 136769 9718 32014 136770 17260 32014 136771 9716 32014 136772 9714 32015 136773 17260 32015 136774 17262 32015 136775 9720 28194 136776 17258 28194 136777 9718 28194 136778 9722 28195 136779 17258 28195 136780 9720 28195 136781 9718 32016 136782 17258 32016 136783 17260 32016 136784 9724 30171 136785 17256 30171 136786 9722 30171 136787 9726 32017 136788 17256 32017 136789 9724 32017 136790 9722 28197 136791 17256 28197 136792 17258 28197 136793 9728 32018 136794 17254 32018 136795 9726 32018 136796 9726 32019 136797 17254 32019 136798 17256 32019 136799 9730 32020 136800 17252 32020 136801 9728 32020 136802 9732 32021 136803 17252 32021 136804 9730 32021 136805 9734 32022 136806 17252 32022 136807 9732 32022 136808 9728 32023 136809 17252 32023 136810 17254 32023 136811 9736 32024 136812 17250 32024 136813 9734 32024 136814 9738 32025 136815 17250 32025 136816 9736 32025 136817 9734 32026 136818 17250 32026 136819 17252 32026 136820 9740 28209 136821 17248 28209 136822 9738 28209 136823 9742 28210 136824 17248 28210 136825 9740 28210 136826 9738 28211 136827 17248 28211 136828 17250 28211 136829 9744 32027 136830 17246 32027 136831 9742 32027 136832 9746 25942 136833 17246 25942 136834 9744 25942 136835 9742 28213 136836 17246 28213 136837 17248 28213 136838 9748 32028 136839 17244 32028 136840 9746 32028 136841 9750 32029 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20331 32492 139421 23321 4475 139422 23292 4475 139423 20290 4475 139424 23209 4475 139425 7293 4475 139426 23211 4475 139427 7293 32493 139428 20325 32493 139429 20323 32493 139430 7487 4475 139431 23219 4475 139432 23372 4475 139433 7282 4475 139434 23197 4475 139435 23304 4475 139436 7282 4475 139437 20331 4475 139438 20329 4475 139439 23092 32494 139440 8211 32494 139441 23117 32494 139442 23117 4475 139443 20119 4475 139444 20123 4475 139445 7315 4475 139446 23093 4475 139447 23344 4475 139448 7303 4475 139449 23187 4475 139450 23459 4475 139451 23072 32495 139452 7517 32495 139453 7515 32495 139454 23107 4475 139455 20194 4475 139456 20197 4475 139457 7306 4475 139458 23215 4475 139459 23416 4475 139460 23138 32496 139461 20126 32496 139462 8209 32496 139463 23119 4475 139464 7283 4475 139465 23120 4475 139466 20198 32497 139467 7528 32497 139468 23414 32497 139469 7528 32498 139470 20198 32498 139471 23264 32498 139472 23283 4475 139473 23290 4475 139474 20102 4475 139475 23093 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- - - - - - - - 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 - - - - 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 - - - - - - - - - - - - 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 - - - - - - - - - - - - 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 - - - - - - - - - - - - 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 - - - - - - - - - - - - 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 - - - - - - - - - - - - 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 - - - - - - - - - - - - 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 - - - - - - - - - - - - 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 - - - - - - - - - - - - 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 - - - - - - - - - - - - - - - - \ No newline at end of file diff --git a/Tools/simulation/gz/models/x500/model.config b/Tools/simulation/gz/models/x500/model.config deleted file mode 100644 index d927576e3688..000000000000 --- a/Tools/simulation/gz/models/x500/model.config +++ /dev/null @@ -1,11 +0,0 @@ - - - x500 - 1.0 - model.sdf - - Benjamin Perseghetti - bperseghetti@rudislabs.com - - Model of the NXP HoverGames Drone development kit (KIT-HGDRONEK66). The PX4 software compatible kit provides mechanical, RC remote and other components needed to evaluate the RDDRONE-FMUK66 reference design. The FMU includes 100Base-T1 Automotive Ethernet, dual CAN transceivers, as well as SE050 secure element, and works with add on boards NavQPlus, MR-T1ETH8, MR-T1ADAPT, and CAN-nodes such as UCANS32K1SIC. Kit may be used with, and contains the components needed for the HoverGames.com coding challenges. - diff --git a/Tools/simulation/gz/models/x500/model.sdf b/Tools/simulation/gz/models/x500/model.sdf deleted file mode 100644 index b544e01d49ef..000000000000 --- a/Tools/simulation/gz/models/x500/model.sdf +++ /dev/null @@ -1,588 +0,0 @@ - - - - 0 0 .24 0 0 0 - false - false - - - 2.0 - - 0.02166666666666667 - 0 - 0 - 0.02166666666666667 - 0 - 0.04000000000000001 - - - true - - - 0 0 .025 0 0 3.141592654 - - - 1 1 1 - model://x500/meshes/NXP-HGD-CF.dae - - - - - 0.174 0.174 .032 0 0 -.45 - - - 1 1 1 - model://x500/meshes/5010Base.dae - - - - - -0.174 0.174 .032 0 0 -.45 - - - 1 1 1 - model://x500/meshes/5010Base.dae - - - - - 0.174 -0.174 .032 0 0 -.45 - - - 1 1 1 - model://x500/meshes/5010Base.dae - - - - - -0.174 -0.174 .032 0 0 -.45 - - - 1 1 1 - model://x500/meshes/5010Base.dae - - - - - 0.047 .001 .043 1 0 1.57 - false - - - 0 0 1 - .013 .007 - - - - 1.0 1.0 1.0 - 1.0 1.0 1.0 - - - 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- - - 0.001 - 0 - - - - - - - - - - base_link - rotor_3 - - 0 0 1 - - -1e+16 - 1e+16 - - - 0 - 0 - - - - - rotor_0_joint - rotor_0 - ccw - 0.0125 - 0.025 - 1000.0 - 8.54858e-06 - 0.016 - command/motor_speed - 0 - 8.06428e-05 - 1e-06 - 10 - velocity - - - rotor_1_joint - rotor_1 - ccw - 0.0125 - 0.025 - 1000.0 - 8.54858e-06 - 0.016 - command/motor_speed - 1 - 8.06428e-05 - 1e-06 - 10 - velocity - - - rotor_2_joint - rotor_2 - cw - 0.0125 - 0.025 - 1000.0 - 8.54858e-06 - 0.016 - command/motor_speed - 2 - 8.06428e-05 - 1e-06 - 10 - velocity - - - rotor_3_joint - rotor_3 - cw - 0.0125 - 0.025 - 1000.0 - 8.54858e-06 - 0.016 - command/motor_speed - 3 - 8.06428e-05 - 1e-06 - 10 - velocity - - - diff --git a/Tools/simulation/gz/models/x500/thumbnails/1.png b/Tools/simulation/gz/models/x500/thumbnails/1.png deleted file mode 100644 index 0ab16c68cef6..000000000000 Binary files a/Tools/simulation/gz/models/x500/thumbnails/1.png and /dev/null differ diff --git a/Tools/simulation/gz/models/x500/thumbnails/2.png b/Tools/simulation/gz/models/x500/thumbnails/2.png deleted file mode 100644 index 07edeb2033a5..000000000000 Binary files a/Tools/simulation/gz/models/x500/thumbnails/2.png and /dev/null differ diff --git a/Tools/simulation/gz/models/x500/thumbnails/3.png b/Tools/simulation/gz/models/x500/thumbnails/3.png deleted file mode 100644 index 539da0691993..000000000000 Binary files a/Tools/simulation/gz/models/x500/thumbnails/3.png and /dev/null differ diff --git a/Tools/simulation/gz/models/x500/thumbnails/4.png b/Tools/simulation/gz/models/x500/thumbnails/4.png deleted file mode 100644 index dc38aa2fc8df..000000000000 Binary files a/Tools/simulation/gz/models/x500/thumbnails/4.png and /dev/null differ diff --git a/Tools/simulation/gz/models/x500/thumbnails/5.png b/Tools/simulation/gz/models/x500/thumbnails/5.png deleted file mode 100644 index 9e3401e305cc..000000000000 Binary files a/Tools/simulation/gz/models/x500/thumbnails/5.png and /dev/null differ diff --git a/Tools/simulation/gz/models/x500_depth/model.config b/Tools/simulation/gz/models/x500_depth/model.config deleted file mode 100644 index 813dbc58aca7..000000000000 --- a/Tools/simulation/gz/models/x500_depth/model.config +++ /dev/null @@ -1,11 +0,0 @@ - - - x500-Depth - 1.0 - model.sdf - - Benjamin Perseghetti - bperseghetti@rudislabs.com - - Model of the NXP HoverGames Drone development kit (KIT-HGDRONEK66). The PX4 software compatible kit provides mechanical, RC remote and other components needed to evaluate the RDDRONE-FMUK66 reference design. The FMU includes 100Base-T1 Automotive Ethernet, dual CAN transceivers, as well as SE050 secure element, and works with add on boards NavQPlus, MR-T1ETH8, MR-T1ADAPT, and CAN-nodes such as UCANS32K1SIC. Kit may be used with, and contains the components needed for the HoverGames.com coding challenges. - diff --git a/Tools/simulation/gz/models/x500_depth/model.sdf b/Tools/simulation/gz/models/x500_depth/model.sdf deleted file mode 100644 index 47fa322f64f6..000000000000 --- a/Tools/simulation/gz/models/x500_depth/model.sdf +++ /dev/null @@ -1,17 +0,0 @@ - - - - - x500 - - - https://fuel.gazebosim.org/1.0/RudisLaboratories/models/OakD-Lite - .12 .03 .242 0 0 0 - - - base_link - OakD-Lite/base_link - .12 .03 .242 0 0 0 - - - diff --git a/Tools/simulation/gz/models/x500_depth/thumbnails/1.png b/Tools/simulation/gz/models/x500_depth/thumbnails/1.png deleted file mode 100644 index 0a7a688b43dd..000000000000 Binary files a/Tools/simulation/gz/models/x500_depth/thumbnails/1.png and /dev/null differ diff --git a/Tools/simulation/gz/models/x500_depth/thumbnails/2.png b/Tools/simulation/gz/models/x500_depth/thumbnails/2.png deleted file mode 100644 index 8876cee7534e..000000000000 Binary files a/Tools/simulation/gz/models/x500_depth/thumbnails/2.png and /dev/null differ diff --git a/Tools/simulation/gz/models/x500_depth/thumbnails/3.png b/Tools/simulation/gz/models/x500_depth/thumbnails/3.png deleted file mode 100644 index 10710ee19799..000000000000 Binary files a/Tools/simulation/gz/models/x500_depth/thumbnails/3.png and /dev/null differ diff --git a/Tools/simulation/gz/models/x500_depth/thumbnails/4.png b/Tools/simulation/gz/models/x500_depth/thumbnails/4.png deleted file mode 100644 index ee39ae279c55..000000000000 Binary files a/Tools/simulation/gz/models/x500_depth/thumbnails/4.png and /dev/null differ diff --git a/Tools/simulation/gz/models/x500_depth/thumbnails/5.png b/Tools/simulation/gz/models/x500_depth/thumbnails/5.png deleted file mode 100644 index e4f62327d36c..000000000000 Binary files a/Tools/simulation/gz/models/x500_depth/thumbnails/5.png and /dev/null differ diff --git a/Tools/simulation/gz/models/x500_vision/model.config b/Tools/simulation/gz/models/x500_vision/model.config deleted file mode 100644 index 1740459a7f4f..000000000000 --- a/Tools/simulation/gz/models/x500_vision/model.config +++ /dev/null @@ -1,11 +0,0 @@ - - - x500-vision - 1.0 - model.sdf - - Jaeyoung Lim - jalim@ethz.ch - - Model of the X500 with a odometry/external vision input. - diff --git a/Tools/simulation/gz/models/x500_vision/model.sdf b/Tools/simulation/gz/models/x500_vision/model.sdf deleted file mode 100644 index 75f30e440ded..000000000000 --- a/Tools/simulation/gz/models/x500_vision/model.sdf +++ /dev/null @@ -1,13 +0,0 @@ - - - - - x500 - - - 3 - - - diff --git a/Tools/simulation/gz/worlds/default.sdf b/Tools/simulation/gz/worlds/default.sdf deleted file mode 100644 index 4b6f38400283..000000000000 --- a/Tools/simulation/gz/worlds/default.sdf +++ /dev/null @@ -1,147 +0,0 @@ - - - - 0.004 - 1.0 - 250 - - - - - - - - - ogre2 - - - - - 3D View - 0 - docked - - ogre2 - scene - 0.5984631152222222 0.5984631152222222 0.5984631152222222 - 0.8984631152222222 0.8984631152222222 0.8984631152222222 - -6 0 6 0 0.5 0 - - - - World control - 0 - 0 - 72 - 121 - 1 - floating - - - - - - 1 - 1 - 1 - - - - World stats - 0 - 0 - 110 - 290 - 1 - floating - - - - - - 1 - 1 - 1 - 1 - - - - 0 0 -9.8 - 6e-06 2.3e-05 -4.2e-05 - - - false - 0.4 0.4 0.4 1 - 0.7 0.7 0.7 1 - true - - - true - - - - - 0 0 1 - 1 1 - - - - - - - - - - - - - - 0 0 1 - 100 100 - - - - 0.8 0.8 0.8 1 - 0.8 0.8 0.8 1 - 0.8 0.8 0.8 1 - - - 0 0 0 0 -0 0 - - 0 0 0 0 -0 0 - 1 - - 1 - 0 - 0 - 1 - 0 - 1 - - - false - - 0 0 0 0 -0 0 - false - - - 0 0 500 0 -0 0 - true - 1 - 0.001 0.625 -0.78 - 0.904 0.904 0.904 1 - 0.271 0.271 0.271 1 - - 2000 - 0 - 1 - 0 - - - 0 - 0 - 0 - - - - diff --git a/Tools/simulation/sitl_multiple_run.sh b/Tools/simulation/sitl_multiple_run.sh index 207ee5766442..6b95de44cfb4 100755 --- a/Tools/simulation/sitl_multiple_run.sh +++ b/Tools/simulation/sitl_multiple_run.sh @@ -10,7 +10,7 @@ sitl_num=2 [ -n "$1" ] && sitl_num="$1" SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )" -src_path="$SCRIPT_DIR/.." +src_path="$SCRIPT_DIR/../../" build_path=${src_path}/build/px4_sitl_default diff --git a/Tools/test_keys/rsa2048.pem b/Tools/test_keys/rsa2048.pem index e2ee0e61bfde..21445d8d6466 100644 --- a/Tools/test_keys/rsa2048.pem +++ b/Tools/test_keys/rsa2048.pem @@ -24,4 +24,4 @@ q8jVArPNQT4R2erSmKmIGTRkLMG7CzUmwk1taHdSvzcmUyL4uYc5QBSubxat6gWh +a85AoGBAKgfnjjVoAWWvqEDLpfGPmE8lW+RaS7i5ff6QsSBx7uTEnHq6RNHuVnN et4pR87yIENeG8jMBiDCj8AGDtUNt9Ps9vWCPrf9HSOYoBUk+gZagU/9N+RBpuCM egoxtxIHM7HI+XIer+ZnZpVpgr+EoCaL7avx6k/susLQb7tqSBt1 ------END RSA PRIVATE KEY----- \ No newline at end of file +-----END RSA PRIVATE KEY----- diff --git a/Tools/test_keys/test_keys.json b/Tools/test_keys/test_keys.json index 127a5be598d5..0421279c87b9 100644 --- a/Tools/test_keys/test_keys.json +++ b/Tools/test_keys/test_keys.json @@ -1 +1 @@ -{"date": "Tue Nov 3 13:02:09 2020", "public": "4db0c20105552a3cd7fbaf5cba7ab0811b3663db28525edb1436f2578d02b7fd", "private": "734d597e7d8ab0a1d0d64b95083aa6bee34b46b9e6e76dac1e363af114f12d15"} \ No newline at end of file +{"date": "Tue Nov 3 13:02:09 2020", "public": "4db0c20105552a3cd7fbaf5cba7ab0811b3663db28525edb1436f2578d02b7fd", "private": "734d597e7d8ab0a1d0d64b95083aa6bee34b46b9e6e76dac1e363af114f12d15"} diff --git a/Tools/upload.sh b/Tools/upload.sh index 25d41e389f76..2a6416ed374d 100755 --- a/Tools/upload.sh +++ b/Tools/upload.sh @@ -15,7 +15,7 @@ SERIAL_PORTS="/dev/tty.usbmodemPX*,/dev/tty.usbmodem*" fi if [ $SYSTYPE = "Linux" ]; then -SERIAL_PORTS="/dev/serial/by-id/*_PX4_*,/dev/serial/by-id/usb-3D_Robotics*,/dev/serial/by-id/usb-The_Autopilot*,/dev/serial/by-id/usb-Bitcraze*,/dev/serial/by-id/pci-Bitcraze*,/dev/serial/by-id/usb-Gumstix*,/dev/serial/by-id/usb-UVify*,/dev/serial/by-id/usb-ArduPilot*,/dev/serial/by-id/ARK*," +SERIAL_PORTS="/dev/serial/by-id/*_PX4_*,/dev/serial/by-id/usb-3D_Robotics*,/dev/serial/by-id/usb-The_Autopilot*,/dev/serial/by-id/usb-Bitcraze*,/dev/serial/by-id/pci-Bitcraze*,/dev/serial/by-id/usb-Gumstix*,/dev/serial/by-id/usb-UVify*,/dev/serial/by-id/usb-ArduPilot*,/dev/serial/by-id/usb-ARK*," fi if [[ $SYSTYPE = *"CYGWIN"* ]]; then diff --git a/Tools/upload_log.py b/Tools/upload_log.py index d39a792cea87..a13f1b14b07c 100755 --- a/Tools/upload_log.py +++ b/Tools/upload_log.py @@ -125,4 +125,3 @@ def main(): if __name__ == '__main__': main() - diff --git a/Tools/validate_json.py b/Tools/validate_json.py index b80dad3198be..2c53ef815baa 100755 --- a/Tools/validate_json.py +++ b/Tools/validate_json.py @@ -50,4 +50,3 @@ except: print("JSON validation for {:} failed (schema: {:})".format(json_file, schema_file)) raise - diff --git a/Tools/validate_yaml.py b/Tools/validate_yaml.py index 3a2d022bfc88..e7b9a25fd838 100755 --- a/Tools/validate_yaml.py +++ b/Tools/validate_yaml.py @@ -65,4 +65,3 @@ def load_yaml_file(file_name): print(validator.errors) print("") raise Exception("Validation of {:} failed".format(yaml_file)) - diff --git a/Tools/zenoh/px_generate_zenoh_topic_files.py b/Tools/zenoh/px_generate_zenoh_topic_files.py new file mode 100755 index 000000000000..b9110dbea8d0 --- /dev/null +++ b/Tools/zenoh/px_generate_zenoh_topic_files.py @@ -0,0 +1,175 @@ +#!/usr/bin/env python3 +############################################################################# +# +# Copyright (C) 2013-2022 PX4 Pro Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################# + +""" +px_generate_zenoh_topic_files.py +Generates c/cpp header/source files for use with zenoh +message files +""" + +import os +import argparse +import re +import sys + +try: + import em +except ImportError as e: + print("Failed to import em: " + str(e)) + print("") + print("You may need to install it using:") + print(" pip3 install --user empy") + print("") + sys.exit(1) + +try: + import genmsg.template_tools +except ImportError as e: + print("Failed to import genmsg: " + str(e)) + print("") + print("You may need to install it using:") + print(" pip3 install --user pyros-genmsg") + print("") + sys.exit(1) + + +__author__ = "Sergey Belash, Thomas Gubler, Beat Kueng" +__copyright__ = "Copyright (C) 2013-2022 PX4 Development Team." +__license__ = "BSD" +__email__ = "thomasgubler@gmail.com" + +ZENOH_TEMPLATE_FILE = ['Kconfig.topics.em', 'uorb_pubsub_factory.hpp.em'] +TOPICS_TOKEN = '# TOPICS ' + + +def get_topics(filename): + """ + Get TOPICS names from a "# TOPICS" line + """ + ofile = open(filename, 'r') + text = ofile.read() + result = [] + for each_line in text.split('\n'): + if each_line.startswith(TOPICS_TOKEN): + topic_names_str = each_line.strip() + topic_names_str = topic_names_str.replace(TOPICS_TOKEN, "") + topic_names_list = topic_names_str.split(" ") + for topic in topic_names_list: + # topic name PascalCase (file name) to snake_case (topic name) + topic_name = re.sub(r'(? +#include +@[for idx, topic_name in enumerate(full_base_names)]@ +#include +@[end for] + +@[for idx, topic_name in enumerate(datatypes)]@ +@{ +type_topic_count = len([e for e in topic_names_all if e.startswith(topic_name)]) +}@ +#ifdef CONFIG_ZENOH_PUBSUB_@(topic_name.upper()) +# define CONFIG_ZENOH_PUBSUB_@(topic_name.upper())_COUNT @(type_topic_count) +#else +# define CONFIG_ZENOH_PUBSUB_@(topic_name.upper())_COUNT 0 +#endif +@[end for] + +#define ZENOH_PUBSUB_COUNT \ +@[for idx, topic_name in enumerate(datatypes)]@ + CONFIG_ZENOH_PUBSUB_@(topic_name.upper())_COUNT + \ +@[end for] 0 + +typedef struct { + const uint32_t *ops; + const orb_metadata* orb_meta; +} UorbPubSubTopicBinder; + +const UorbPubSubTopicBinder _topics[ZENOH_PUBSUB_COUNT] { +@{ +uorb_id_idx = 0 +}@ +@[for idx, topic_name in enumerate(datatypes)]@ +#ifdef CONFIG_ZENOH_PUBSUB_@(topic_name.upper()) +@{ +topic_names = [e for e in topic_names_all if e.startswith(topic_name)] +}@ +@[for topic_name_inst in topic_names]@ + { + px4_msg_@(topic_dict[topic_name])_cdrstream_desc.ops.ops, + ORB_ID(@(topic_name_inst)) + }, +@{ +uorb_id_idx += 1 +}@ +@[end for]#endif +@[end for] +}; + +uORB_Zenoh_Publisher* genPublisher(const orb_metadata *meta) { + for (auto &pub : _topics) { + if(pub.orb_meta->o_id == meta->o_id) { + return new uORB_Zenoh_Publisher(meta, pub.ops); + } + } + return NULL; +} + + +uORB_Zenoh_Publisher* genPublisher(const char *name) { + for (auto &pub : _topics) { + if(strcmp(pub.orb_meta->o_name, name) == 0) { + return new uORB_Zenoh_Publisher(pub.orb_meta, pub.ops); + } + } + return NULL; +} + + +Zenoh_Subscriber* genSubscriber(const orb_metadata *meta) { + for (auto &sub : _topics) { + if(sub.orb_meta->o_id == meta->o_id) { + return new uORB_Zenoh_Subscriber(meta, sub.ops); + } + } + return NULL; +} + + +Zenoh_Subscriber* genSubscriber(const char *name) { + for (auto &sub : _topics) { + if(strcmp(sub.orb_meta->o_name, name) == 0) { + return new uORB_Zenoh_Subscriber(sub.orb_meta, sub.ops); + } + } + return NULL; +} diff --git a/appveyor.yml b/appveyor.yml deleted file mode 100644 index e7f57cbb2f94..000000000000 --- a/appveyor.yml +++ /dev/null @@ -1,47 +0,0 @@ -# Build version -version: "{build}" -# do not shallow clone because we want to infer the version from the last tag - -branches: - only: - - master - - beta - - stable - -# Build worker image (build VM template) -image: Visual Studio 2017 - -environment: - matrix: - - PX4_CONFIG: tests # this builds posix in px4_sitl_test folder and runs tests - - PX4_CONFIG: px4_fmu-v5_default - -install: -# if the toolchain wasn't restored from build cache download and install it -- ps: >- - if (-not (Test-Path C:\PX4)) { - Invoke-WebRequest https://s3-us-west-2.amazonaws.com/px4-tools/PX4+Windows+Cygwin+Toolchain/PX4+Windows+Cygwin+Toolchain+0.9.msi -OutFile C:\Toolchain.msi - Start-Process -Wait msiexec -ArgumentList '/I C:\Toolchain.msi /quiet /qn /norestart /log C:\install.log' - } - -# Note: using Start-Process -Wait is important -# because otherwise the install begins but non-blocking and the result cannot be used just after - -build_script: -# FIXME Temporary we need to create the home folder because it's not contained in installer 0.5 and CI fails if it doesn't exist -- if not exist "C:\PX4\home" mkdir C:\PX4\home -# setup the environmental variables to work within the installed cygwin toolchain -- call C:\PX4\toolchain\scripts\setup-environment.bat x -# safe the repopath for switching to it in cygwin bash -- for /f %%i in ('cygpath -u %%CD%%') do set repopath=%%i -# build the make target -- call bash --login -c "cd $repopath && make $PX4_CONFIG" - -# Note: using bash --login is important -# because otherwise certain things (like python; import numpy) do not work - -cache: -# cache the entire toolchain installation folder to avoid -# downloading it from AWS S3 and installing the MSI each time -# it's ~1.8GB > 1GB free limit for build caches -- C:\PX4 -> appveyor.yml diff --git a/boards/3dr/ctrl-zero-h7-oem-revg/bootloader.px4board b/boards/3dr/ctrl-zero-h7-oem-revg/bootloader.px4board new file mode 100755 index 000000000000..19b6e662be69 --- /dev/null +++ b/boards/3dr/ctrl-zero-h7-oem-revg/bootloader.px4board @@ -0,0 +1,3 @@ +CONFIG_BOARD_TOOLCHAIN="arm-none-eabi" +CONFIG_BOARD_ARCHITECTURE="cortex-m7" +CONFIG_BOARD_ROMFSROOT="" diff --git a/boards/3dr/ctrl-zero-h7-oem-revg/default.px4board b/boards/3dr/ctrl-zero-h7-oem-revg/default.px4board new file mode 100644 index 000000000000..549ba99b7331 --- /dev/null +++ b/boards/3dr/ctrl-zero-h7-oem-revg/default.px4board @@ -0,0 +1,96 @@ +CONFIG_BOARD_TOOLCHAIN="arm-none-eabi" +CONFIG_BOARD_ARCHITECTURE="cortex-m7" +CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS2" +CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS0" +CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS1" +CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS4" +CONFIG_DRIVERS_ADC_ADS1115=y +CONFIG_DRIVERS_ADC_BOARD_ADC=y +CONFIG_DRIVERS_BAROMETER_DPS310=y +CONFIG_DRIVERS_BATT_SMBUS=y +CONFIG_DRIVERS_CAMERA_CAPTURE=y +CONFIG_DRIVERS_CAMERA_TRIGGER=y +CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y +CONFIG_COMMON_DISTANCE_SENSOR=y +CONFIG_DRIVERS_DSHOT=y +CONFIG_DRIVERS_GPS=y +CONFIG_DRIVERS_IMU_BOSCH_BMI088=y +CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y +CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y +CONFIG_DRIVERS_IRLOCK=y +CONFIG_COMMON_LIGHT=y +CONFIG_COMMON_MAGNETOMETER=y +CONFIG_COMMON_OPTICAL_FLOW=y +CONFIG_DRIVERS_PCA9685_PWM_OUT=y +CONFIG_DRIVERS_POWER_MONITOR_INA226=y +CONFIG_DRIVERS_PWM_OUT=y +CONFIG_DRIVERS_RC_INPUT=y +CONFIG_DRIVERS_SMART_BATTERY_BATMON=y +CONFIG_COMMON_TELEMETRY=y +CONFIG_DRIVERS_TONE_ALARM=y +CONFIG_DRIVERS_UAVCAN=y +CONFIG_MODULES_AIRSPEED_SELECTOR=y +CONFIG_MODULES_BATTERY_STATUS=y +CONFIG_MODULES_CAMERA_FEEDBACK=y +CONFIG_MODULES_COMMANDER=y +CONFIG_MODULES_CONTROL_ALLOCATOR=y +CONFIG_MODULES_DATAMAN=y +CONFIG_MODULES_EKF2=y +CONFIG_MODULES_ESC_BATTERY=y +CONFIG_MODULES_EVENTS=y +CONFIG_MODULES_FLIGHT_MODE_MANAGER=y +CONFIG_MODULES_FW_ATT_CONTROL=y +CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y +CONFIG_MODULES_FW_POS_CONTROL=y +CONFIG_MODULES_FW_RATE_CONTROL=y +CONFIG_MODULES_GIMBAL=y +CONFIG_MODULES_GYRO_CALIBRATION=y +CONFIG_MODULES_GYRO_FFT=y +CONFIG_MODULES_LAND_DETECTOR=y +CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y +CONFIG_MODULES_LOAD_MON=y +CONFIG_MODULES_LOGGER=y +CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y +CONFIG_MODULES_MANUAL_CONTROL=y +CONFIG_MODULES_MAVLINK=y +CONFIG_MODULES_MC_ATT_CONTROL=y +CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y +CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y +CONFIG_MODULES_MC_POS_CONTROL=y +CONFIG_MODULES_MC_RATE_CONTROL=y +CONFIG_MODULES_NAVIGATOR=y +CONFIG_MODULES_RC_UPDATE=y +CONFIG_MODULES_ROVER_POS_CONTROL=y +CONFIG_MODULES_SENSORS=y +CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y +CONFIG_MODULES_TEMPERATURE_COMPENSATION=y +CONFIG_MODULES_UUV_ATT_CONTROL=y +CONFIG_MODULES_UUV_POS_CONTROL=y +CONFIG_MODULES_UXRCE_DDS_CLIENT=y +CONFIG_MODULES_VTOL_ATT_CONTROL=y +CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y +CONFIG_SYSTEMCMDS_BSONDUMP=y +CONFIG_SYSTEMCMDS_DMESG=y +CONFIG_SYSTEMCMDS_DUMPFILE=y +CONFIG_SYSTEMCMDS_GPIO=y +CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y +CONFIG_SYSTEMCMDS_I2CDETECT=y +CONFIG_SYSTEMCMDS_LED_CONTROL=y +CONFIG_SYSTEMCMDS_MFT=y +CONFIG_SYSTEMCMDS_MTD=y +CONFIG_SYSTEMCMDS_NSHTERM=y +CONFIG_SYSTEMCMDS_PARAM=y +CONFIG_SYSTEMCMDS_PERF=y +CONFIG_SYSTEMCMDS_REBOOT=y +CONFIG_SYSTEMCMDS_REFLECT=y +CONFIG_SYSTEMCMDS_SD_BENCH=y +CONFIG_SYSTEMCMDS_SD_STRESS=y +CONFIG_SYSTEMCMDS_SERIAL_TEST=y +CONFIG_SYSTEMCMDS_SYSTEM_TIME=y +CONFIG_SYSTEMCMDS_TOP=y +CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y +CONFIG_SYSTEMCMDS_TUNE_CONTROL=y +CONFIG_SYSTEMCMDS_UORB=y +CONFIG_SYSTEMCMDS_USB_CONNECTED=y +CONFIG_SYSTEMCMDS_VER=y +CONFIG_SYSTEMCMDS_WORK_QUEUE=y diff --git a/boards/3dr/ctrl-zero-h7-oem-revg/extras/3dr_ctrl-zero-h7-oem-revg_bootloader.bin b/boards/3dr/ctrl-zero-h7-oem-revg/extras/3dr_ctrl-zero-h7-oem-revg_bootloader.bin new file mode 100755 index 000000000000..86dc50de7b9c Binary files /dev/null and b/boards/3dr/ctrl-zero-h7-oem-revg/extras/3dr_ctrl-zero-h7-oem-revg_bootloader.bin differ diff --git a/boards/3dr/ctrl-zero-h7-oem-revg/firmware.prototype b/boards/3dr/ctrl-zero-h7-oem-revg/firmware.prototype new file mode 100755 index 000000000000..d11458c1a3fe --- /dev/null +++ b/boards/3dr/ctrl-zero-h7-oem-revg/firmware.prototype @@ -0,0 +1,13 @@ +{ + "board_id": 1124, + "magic": "3dr-ctrl-zero-h7-oem-revg", + "description": "Firmware for the 3dr-ctrl-zero-h7-oem-revg board", + "image": "", + "build_time": 0, + "summary": "3dr-ctrl-zero-h7-oem-revg", + "version": "0.1", + "image_size": 0, + "image_maxsize": 1966080, + "git_identity": "", + "board_revision": 0 +} diff --git a/boards/3dr/ctrl-zero-h7-oem-revg/init/rc.board_defaults b/boards/3dr/ctrl-zero-h7-oem-revg/init/rc.board_defaults new file mode 100755 index 000000000000..32117f4a5886 --- /dev/null +++ b/boards/3dr/ctrl-zero-h7-oem-revg/init/rc.board_defaults @@ -0,0 +1,9 @@ +#!/bin/sh +# +# board specific defaults +#------------------------------------------------------------------------------ + +param set-default BAT1_V_DIV 10.1 +param set-default BAT1_A_PER_V 17 + +safety_button start diff --git a/boards/3dr/ctrl-zero-h7-oem-revg/init/rc.board_sensors b/boards/3dr/ctrl-zero-h7-oem-revg/init/rc.board_sensors new file mode 100755 index 000000000000..563c24bdf4fe --- /dev/null +++ b/boards/3dr/ctrl-zero-h7-oem-revg/init/rc.board_sensors @@ -0,0 +1,19 @@ +#!/bin/sh +# +# board specific sensors init +#------------------------------------------------------------------------------ + +board_adc start + +# Internal ICM-20602 +icm20602 -s -b 1 -R 8 start + +# Internal SPI bus BMI088 accel & gyro +bmi088 -A -s -b 5 -R 8 start +bmi088 -G -s -b 5 -R 8 start + +# Internal ICM-20948 (with magnetometer) +icm20948 -s -b 1 -R 8 -M start + +# Interal DPS310 (barometer) +dps310 -s -b 2 start diff --git a/boards/3dr/ctrl-zero-h7-oem-revg/nuttx-config/bootloader/defconfig b/boards/3dr/ctrl-zero-h7-oem-revg/nuttx-config/bootloader/defconfig new file mode 100755 index 000000000000..796a2853edef --- /dev/null +++ b/boards/3dr/ctrl-zero-h7-oem-revg/nuttx-config/bootloader/defconfig @@ -0,0 +1,91 @@ +# +# This file is autogenerated: PLEASE DO NOT EDIT IT. +# +# You can use "make menuconfig" to make any modifications to the installed .config file. +# You can then do "make savedefconfig" to generate a new defconfig file that includes your +# modifications. +# +# CONFIG_DEV_CONSOLE is not set +# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set +# CONFIG_SPI_EXCHANGE is not set +# CONFIG_STM32H7_SYSCFG is not set +CONFIG_ARCH="arm" +CONFIG_ARCH_BOARD_CUSTOM=y +CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/3dr/ctrl-zero-h7-oem-revg/nuttx-config" +CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y +CONFIG_ARCH_BOARD_CUSTOM_NAME="px4" +CONFIG_ARCH_CHIP="stm32h7" +CONFIG_ARCH_CHIP_STM32H743II=y +CONFIG_ARCH_CHIP_STM32H7=y +CONFIG_ARCH_INTERRUPTSTACK=768 +CONFIG_ARMV7M_BASEPRI_WAR=y +CONFIG_ARMV7M_ICACHE=y +CONFIG_ARMV7M_MEMCPY=y +CONFIG_ARMV7M_USEBASEPRI=y +CONFIG_BOARDCTL=y +CONFIG_BOARDCTL_RESET=y +CONFIG_BOARD_ASSERT_RESET_VALUE=0 +CONFIG_BOARD_INITTHREAD_PRIORITY=254 +CONFIG_BOARD_LATE_INITIALIZE=y +CONFIG_BOARD_LOOPSPERMSEC=95150 +CONFIG_BOARD_RESET_ON_ASSERT=2 +CONFIG_CDCACM=y +CONFIG_CDCACM_IFLOWCONTROL=y +CONFIG_CDCACM_PRODUCTID=0x1124 +CONFIG_CDCACM_PRODUCTSTR="PX4 BL 3DR ControlZeroH7 OEM" +CONFIG_CDCACM_RXBUFSIZE=600 +CONFIG_CDCACM_TXBUFSIZE=12000 +CONFIG_CDCACM_VENDORID=0x26ac +CONFIG_CDCACM_VENDORSTR="3DR" +CONFIG_DEBUG_FULLOPT=y +CONFIG_DEBUG_SYMBOLS=y +CONFIG_DEBUG_TCBINFO=y +CONFIG_DEFAULT_SMALL=y +CONFIG_EXPERIMENTAL=y +CONFIG_FDCLONE_DISABLE=y +CONFIG_FDCLONE_STDIO=y +CONFIG_HAVE_CXX=y +CONFIG_HAVE_CXXINITIALIZE=y +CONFIG_IDLETHREAD_STACKSIZE=750 +CONFIG_INIT_ENTRYPOINT="bootloader_main" +CONFIG_INIT_STACKSIZE=3194 +CONFIG_LIBC_FLOATINGPOINT=y +CONFIG_LIBC_LONG_LONG=y +CONFIG_LIBC_STRERROR=y +CONFIG_MEMSET_64BIT=y +CONFIG_MEMSET_OPTSPEED=y +CONFIG_PREALLOC_TIMERS=50 +CONFIG_PTHREAD_STACK_MIN=512 +CONFIG_RAM_SIZE=245760 +CONFIG_RAM_START=0x20010000 +CONFIG_RAW_BINARY=y +CONFIG_SERIAL_TERMIOS=y +CONFIG_SIG_DEFAULT=y +CONFIG_SIG_SIGALRM_ACTION=y +CONFIG_SIG_SIGUSR1_ACTION=y +CONFIG_SIG_SIGUSR2_ACTION=y +CONFIG_SPI=y +CONFIG_STACK_COLORATION=y +CONFIG_START_DAY=30 +CONFIG_START_MONTH=11 +CONFIG_STDIO_BUFFER_SIZE=32 +CONFIG_STM32H7_BKPSRAM=y +CONFIG_STM32H7_DMA1=y +CONFIG_STM32H7_OTGFS=y +CONFIG_STM32H7_PROGMEM=y +CONFIG_STM32H7_PWR_EXTERNAL_SOURCE_SUPPLY=y +CONFIG_STM32H7_SERIAL_DISABLE_REORDERING=y +CONFIG_STM32H7_TIM1=y +CONFIG_STM32H7_USART3=y +CONFIG_SYSTEMTICK_HOOK=y +CONFIG_SYSTEM_CDCACM=y +CONFIG_TASK_NAME_SIZE=24 +CONFIG_TTY_SIGINT=y +CONFIG_TTY_SIGINT_CHAR=0x03 +CONFIG_TTY_SIGTSTP=y +CONFIG_USART3_RXBUFSIZE=600 +CONFIG_USART3_TXBUFSIZE=300 +CONFIG_USBDEV=y +CONFIG_USBDEV_BUSPOWERED=y +CONFIG_USBDEV_MAXPOWER=500 +CONFIG_USEC_PER_TICK=1000 diff --git a/boards/3dr/ctrl-zero-h7-oem-revg/nuttx-config/include/board.h b/boards/3dr/ctrl-zero-h7-oem-revg/nuttx-config/include/board.h new file mode 100755 index 000000000000..698e8835fc12 --- /dev/null +++ b/boards/3dr/ctrl-zero-h7-oem-revg/nuttx-config/include/board.h @@ -0,0 +1,288 @@ +/************************************************************************************ + * nuttx-config/include/board.h + * + * Copyright (C) 2020 Gregory Nutt. All rights reserved. + * Authors: David Sidrane + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name NuttX nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ************************************************************************************/ +#pragma once + +#include "board_dma_map.h" + +#include + +#ifndef __ASSEMBLY__ +# include +#endif + +#include "stm32_rcc.h" +#include "stm32_sdmmc.h" + +/* Clocking *************************************************************************/ +/* The board provides the following clock sources: + * + * X1: 24 MHz crystal for HSE + * + * So we have these clock source available within the STM32 + * + * HSI: 16 MHz RC factory-trimmed internal oscillator + * HSE: 24 MHz crystal for HSE + */ +#define STM32_BOARD_XTAL 24000000ul + +#define STM32_HSI_FREQUENCY 16000000ul +#define STM32_LSI_FREQUENCY 32000 +#define STM32_HSE_FREQUENCY STM32_BOARD_XTAL +#define STM32_LSE_FREQUENCY 0 + +#define STM32_HSEBYP_ENABLE 1 + +/* Main PLL Configuration. + * + * PLL source is HSE = 24,000,000 + * + * PLL_VCOx = (STM32_HSE_FREQUENCY / PLLM) * PLLN + * Subject to: + * + * 1 <= PLLM <= 63 + * 4 <= PLLN <= 512 + * 150 MHz <= PLL_VCOL <= 420MHz + * 192 MHz <= PLL_VCOH <= 836MHz + * + * SYSCLK = PLL_VCO / PLLP + * CPUCLK = SYSCLK / D1CPRE + * Subject to + * + * PLLP1 = {2, 4, 6, 8, ..., 128} + * PLLP2,3 = {2, 3, 4, ..., 128} + * CPUCLK <= 480 MHz + */ +#define STM32_PLLCFG_PLLSRC RCC_PLLCKSELR_PLLSRC_HSE + +/* PLL1, wide 4 - 8 MHz input, enable DIVP, DIVQ, DIVR + * + * PLL1_VCO = (24,000,000 / 2) * 80 = 960 MHz + * + * PLL1P = PLL1_VCO/2 = 960 MHz / 2 = 480 MHz + * PLL1Q = PLL1_VCO/4 = 960 MHz / 4 = 240 MHz + * PLL1R = PLL1_VCO/8 = 960 MHz / 8 = 120 MHz + */ +#define STM32_PLLCFG_PLL1CFG (RCC_PLLCFGR_PLL1VCOSEL_WIDE|RCC_PLLCFGR_PLL1RGE_4_8_MHZ|RCC_PLLCFGR_DIVP1EN|RCC_PLLCFGR_DIVQ1EN|RCC_PLLCFGR_DIVR1EN) +#define STM32_PLLCFG_PLL1M RCC_PLLCKSELR_DIVM1(2) +#define STM32_PLLCFG_PLL1N RCC_PLL1DIVR_N1(80) +#define STM32_PLLCFG_PLL1P RCC_PLL1DIVR_P1(2) +#define STM32_PLLCFG_PLL1Q RCC_PLL1DIVR_Q1(4) +#define STM32_PLLCFG_PLL1R RCC_PLL1DIVR_R1(8) + +#define STM32_VCO1_FREQUENCY ((STM32_HSE_FREQUENCY / 2) * 80) +#define STM32_PLL1P_FREQUENCY (STM32_VCO1_FREQUENCY / 2) +#define STM32_PLL1Q_FREQUENCY (STM32_VCO1_FREQUENCY / 4) +#define STM32_PLL1R_FREQUENCY (STM32_VCO1_FREQUENCY / 8) + +/* PLL2 */ +#define STM32_PLLCFG_PLL2CFG (RCC_PLLCFGR_PLL2VCOSEL_WIDE|RCC_PLLCFGR_PLL2RGE_4_8_MHZ|RCC_PLLCFGR_DIVP2EN|RCC_PLLCFGR_DIVQ2EN|RCC_PLLCFGR_DIVR2EN) +#define STM32_PLLCFG_PLL2M RCC_PLLCKSELR_DIVM2(4) +#define STM32_PLLCFG_PLL2N RCC_PLL2DIVR_N2(32) +#define STM32_PLLCFG_PLL2P RCC_PLL2DIVR_P2(2) +#define STM32_PLLCFG_PLL2Q RCC_PLL2DIVR_Q2(2) +#define STM32_PLLCFG_PLL2R RCC_PLL2DIVR_R2(2) + +#define STM32_VCO2_FREQUENCY ((STM32_HSE_FREQUENCY / 4) * 32) +#define STM32_PLL2P_FREQUENCY (STM32_VCO2_FREQUENCY / 2) +#define STM32_PLL2Q_FREQUENCY (STM32_VCO2_FREQUENCY / 2) +#define STM32_PLL2R_FREQUENCY (STM32_VCO2_FREQUENCY / 2) + +/* PLL3 */ +#define STM32_PLLCFG_PLL3CFG (RCC_PLLCFGR_PLL3VCOSEL_WIDE|RCC_PLLCFGR_PLL3RGE_4_8_MHZ|RCC_PLLCFGR_DIVQ3EN) +#define STM32_PLLCFG_PLL3M RCC_PLLCKSELR_DIVM3(4) +#define STM32_PLLCFG_PLL3N RCC_PLL3DIVR_N3(32) +#define STM32_PLLCFG_PLL3P RCC_PLL3DIVR_P3(2) +#define STM32_PLLCFG_PLL3Q RCC_PLL3DIVR_Q3(4) +#define STM32_PLLCFG_PLL3R RCC_PLL3DIVR_R3(2) + +#define STM32_VCO3_FREQUENCY ((STM32_HSE_FREQUENCY / 4) * 32) +#define STM32_PLL3P_FREQUENCY (STM32_VCO3_FREQUENCY / 2) +#define STM32_PLL3Q_FREQUENCY (STM32_VCO3_FREQUENCY / 4) +#define STM32_PLL3R_FREQUENCY (STM32_VCO3_FREQUENCY / 2) + +/* SYSCLK = PLL1P = 480MHz + * CPUCLK = SYSCLK / 1 = 480 MHz + */ +#define STM32_RCC_D1CFGR_D1CPRE (RCC_D1CFGR_D1CPRE_SYSCLK) +#define STM32_SYSCLK_FREQUENCY (STM32_PLL1P_FREQUENCY) +#define STM32_CPUCLK_FREQUENCY (STM32_SYSCLK_FREQUENCY / 1) + +/* Configure Clock Assignments */ + +/* AHB clock (HCLK) is SYSCLK/2 (240 MHz max) + * HCLK1 = HCLK2 = HCLK3 = HCLK4 = 240 + */ +#define STM32_RCC_D1CFGR_HPRE RCC_D1CFGR_HPRE_SYSCLKd2 /* HCLK = SYSCLK / 2 */ +#define STM32_ACLK_FREQUENCY (STM32_CPUCLK_FREQUENCY / 2) /* ACLK in D1, HCLK3 in D1 */ +#define STM32_HCLK_FREQUENCY (STM32_CPUCLK_FREQUENCY / 2) /* HCLK in D2, HCLK4 in D3 */ +#define STM32_BOARD_HCLK STM32_HCLK_FREQUENCY /* same as above, to satisfy compiler */ + +/* APB1 clock (PCLK1) is HCLK/2 (120 MHz) */ +#define STM32_RCC_D2CFGR_D2PPRE1 RCC_D2CFGR_D2PPRE1_HCLKd2 /* PCLK1 = HCLK / 2 */ +#define STM32_PCLK1_FREQUENCY (STM32_HCLK_FREQUENCY/2) + +/* APB2 clock (PCLK2) is HCLK/2 (120 MHz) */ +#define STM32_RCC_D2CFGR_D2PPRE2 RCC_D2CFGR_D2PPRE2_HCLKd2 /* PCLK2 = HCLK / 2 */ +#define STM32_PCLK2_FREQUENCY (STM32_HCLK_FREQUENCY/2) + +/* APB3 clock (PCLK3) is HCLK/2 (120 MHz) */ +#define STM32_RCC_D1CFGR_D1PPRE RCC_D1CFGR_D1PPRE_HCLKd2 /* PCLK3 = HCLK / 2 */ +#define STM32_PCLK3_FREQUENCY (STM32_HCLK_FREQUENCY/2) + +/* APB4 clock (PCLK4) is HCLK/4 (120 MHz) */ +#define STM32_RCC_D3CFGR_D3PPRE RCC_D3CFGR_D3PPRE_HCLKd2 /* PCLK4 = HCLK / 2 */ +#define STM32_PCLK4_FREQUENCY (STM32_HCLK_FREQUENCY/2) + +/* Timer clock frequencies */ + +/* Timers driven from APB1 will be twice PCLK1 */ +#define STM32_APB1_TIM2_CLKIN (2*STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM3_CLKIN (2*STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM4_CLKIN (2*STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM5_CLKIN (2*STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM6_CLKIN (2*STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM7_CLKIN (2*STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM12_CLKIN (2*STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM13_CLKIN (2*STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM14_CLKIN (2*STM32_PCLK1_FREQUENCY) + +/* Timers driven from APB2 will be twice PCLK2 */ +#define STM32_APB2_TIM1_CLKIN (2*STM32_PCLK2_FREQUENCY) +#define STM32_APB2_TIM8_CLKIN (2*STM32_PCLK2_FREQUENCY) +#define STM32_APB2_TIM15_CLKIN (2*STM32_PCLK2_FREQUENCY) +#define STM32_APB2_TIM16_CLKIN (2*STM32_PCLK2_FREQUENCY) +#define STM32_APB2_TIM17_CLKIN (2*STM32_PCLK2_FREQUENCY) + +/* Kernel Clock Configuration + * Note: look at Table 54 in ST Manual + */ +#define STM32_RCC_D2CCIP2R_I2C123SRC RCC_D2CCIP2R_I2C123SEL_HSI /* I2C123 clock source */ +#define STM32_RCC_D3CCIPR_I2C4SRC RCC_D3CCIPR_I2C4SEL_HSI /* I2C4 clock source */ +#define STM32_RCC_D2CCIP1R_SPI123SRC RCC_D2CCIP1R_SPI123SEL_PLL2 /* SPI123 clock source */ +#define STM32_RCC_D2CCIP1R_SPI45SRC RCC_D2CCIP1R_SPI45SEL_PLL2 /* SPI45 clock source */ +#define STM32_RCC_D3CCIPR_SPI6SRC RCC_D3CCIPR_SPI6SEL_PLL2 /* SPI6 clock source */ +#define STM32_RCC_D2CCIP2R_USBSRC RCC_D2CCIP2R_USBSEL_PLL3 /* USB 1 and 2 clock source */ +#define STM32_RCC_D3CCIPR_ADCSRC RCC_D3CCIPR_ADCSEL_PLL2 /* ADC 1 2 3 clock source */ +#define STM32_RCC_D2CCIP1R_FDCANSEL RCC_D2CCIP1R_FDCANSEL_HSE /* FDCAN 1 2 clock source */ + +#define STM32_FDCANCLK STM32_HSE_FREQUENCY + +/* UART clock selection */ +/* reset to default to overwrite any changes done by any bootloader */ + +#define STM32_RCC_D2CCIP2R_USART234578_SEL RCC_D2CCIP2R_USART234578SEL_RCC +#define STM32_RCC_D2CCIP2R_USART16_SEL RCC_D2CCIP2R_USART16SEL_RCC + +/* FLASH wait states */ +#define BOARD_FLASH_WAITSTATES 2 + +/* SDMMC definitions ********************************************************/ +/* Init 400kHz, freq = PLL1Q/(2*div) div = PLL1Q/(2*freq) */ +#define STM32_SDMMC_INIT_CLKDIV (300 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT) + +/* 25 MHz Max for now, 25 mHZ = PLL1Q/(2*div), div = PLL1Q/(2*freq) + * div = 4.8 = 240 / 50, So round up to 5 for default speed 24 MB/s + */ +#if defined(CONFIG_STM32H7_SDMMC_XDMA) || defined(CONFIG_STM32H7_SDMMC_IDMA) +# define STM32_SDMMC_MMCXFR_CLKDIV (5 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT) +#else +# define STM32_SDMMC_MMCXFR_CLKDIV (100 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT) +#endif +#if defined(CONFIG_STM32H7_SDMMC_XDMA) || defined(CONFIG_STM32H7_SDMMC_IDMA) +# define STM32_SDMMC_SDXFR_CLKDIV (5 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT) +#else +# define STM32_SDMMC_SDXFR_CLKDIV (100 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT) +#endif + +#define STM32_SDMMC_CLKCR_EDGE STM32_SDMMC_CLKCR_NEGEDGE + + +/* UART/USART */ +#define GPIO_USART2_TX GPIO_USART2_TX_2 /* PD5 */ +#define GPIO_USART2_RX GPIO_USART2_RX_2 /* PD6 */ +#define GPIO_USART2_CTS GPIO_USART2_CTS_NSS_2 /* PD3 */ +#define GPIO_USART2_RTS GPIO_USART2_RTS_2 /* PD4 */ + +#define GPIO_USART3_TX GPIO_USART3_TX_3 /* PD8 */ +#define GPIO_USART3_RX GPIO_USART3_RX_3 /* PD9 */ +#define GPIO_USART3_CTS GPIO_USART3_CTS_NSS_2 /* PD11 */ +#define GPIO_USART3_RTS GPIO_USART3_RTS_2 /* PD12 */ + +#define GPIO_UART4_TX GPIO_UART4_TX_2 /* PA0 */ +#define GPIO_UART4_RX GPIO_UART4_RX_2 /* PA1 */ + +#define GPIO_USART6_TX 0 /* USART6 is RX-only */ +#define GPIO_USART6_RX GPIO_USART6_RX_1 /* PC7 */ + +#define GPIO_UART7_TX GPIO_UART7_TX_3 /* PE8 */ +#define GPIO_UART7_RX GPIO_UART7_RX_3 /* PE7 */ + +#define GPIO_UART8_TX GPIO_UART8_TX_1 /* PE1 */ +#define GPIO_UART8_RX GPIO_UART8_RX_1 /* PE0 */ + + +/* CAN */ +#define GPIO_CAN1_RX GPIO_CAN1_RX_3 /* PD0 */ +#define GPIO_CAN1_TX GPIO_CAN1_TX_3 /* PD1 */ + +#define GPIO_CAN2_RX GPIO_CAN2_RX_1 /* PB12 */ +#define GPIO_CAN2_TX GPIO_CAN2_TX_1 /* PB13 */ + + +/* SPI */ +#define ADJ_SLEW_RATE(p) (((p) & ~GPIO_SPEED_MASK) | (GPIO_SPEED_2MHz)) + +#define GPIO_SPI1_SCK ADJ_SLEW_RATE(GPIO_SPI1_SCK_1) /* PA5 */ +#define GPIO_SPI1_MISO GPIO_SPI1_MISO_1 /* PA6 */ +#define GPIO_SPI1_MOSI GPIO_SPI1_MOSI_1 /* PA7 */ + +#define GPIO_SPI2_SCK ADJ_SLEW_RATE(GPIO_SPI2_SCK_3) /* PB10 */ +#define GPIO_SPI2_MISO GPIO_SPI2_MISO_1 /* PB14 */ +#define GPIO_SPI2_MOSI GPIO_SPI2_MOSI_1 /* PB15 */ + +#define GPIO_SPI5_SCK ADJ_SLEW_RATE(GPIO_SPI5_SCK_1) /* PF7 */ +#define GPIO_SPI5_MISO GPIO_SPI5_MISO_1 /* PF8 */ +#define GPIO_SPI5_MOSI GPIO_SPI5_MOSI_2 /* PF9 */ + + +/* I2C */ +#define GPIO_I2C1_SCL GPIO_I2C1_SCL_2 /* PB8 */ +#define GPIO_I2C1_SDA GPIO_I2C1_SDA_2 /* PB9 */ + +#define GPIO_I2C3_SCL GPIO_I2C3_SCL_2 /* PH7 */ +#define GPIO_I2C3_SDA GPIO_I2C3_SDA_2 /* PH8 */ + +#define GPIO_I2C4_SCL GPIO_I2C4_SCL_4 /* PB6 */ +#define GPIO_I2C4_SDA GPIO_I2C4_SDA_4 /* PB7 */ diff --git a/boards/3dr/ctrl-zero-h7-oem-revg/nuttx-config/include/board_dma_map.h b/boards/3dr/ctrl-zero-h7-oem-revg/nuttx-config/include/board_dma_map.h new file mode 100755 index 000000000000..99a2fe3ba9b9 --- /dev/null +++ b/boards/3dr/ctrl-zero-h7-oem-revg/nuttx-config/include/board_dma_map.h @@ -0,0 +1,44 @@ +/**************************************************************************** + * + * Copyright (c) 2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#pragma once + +// DMAMUX1 +#define DMAMAP_SPI1_RX DMAMAP_DMA12_SPI1RX_0 /* DMA1:37 */ +#define DMAMAP_SPI1_TX DMAMAP_DMA12_SPI1TX_0 /* DMA1:38 */ + +#define DMAMAP_USART6_RX DMAMAP_DMA12_USART6RX_1 /* DMA1:71 */ +#define DMAMAP_USART6_TX DMAMAP_DMA12_USART6TX_1 /* DMA1:72 */ + +#define DMAMAP_SPI5_RX DMAMAP_DMA12_SPI5RX_0 /* DMA1:83 */ +#define DMAMAP_SPI5_TX DMAMAP_DMA12_SPI5TX_0 /* DMA1:84 */ diff --git a/boards/3dr/ctrl-zero-h7-oem-revg/nuttx-config/nsh/defconfig b/boards/3dr/ctrl-zero-h7-oem-revg/nuttx-config/nsh/defconfig new file mode 100644 index 000000000000..c9ec46ed878e --- /dev/null +++ b/boards/3dr/ctrl-zero-h7-oem-revg/nuttx-config/nsh/defconfig @@ -0,0 +1,260 @@ +# +# This file is autogenerated: PLEASE DO NOT EDIT IT. +# +# You can use "make menuconfig" to make any modifications to the installed .config file. +# You can then do "make savedefconfig" to generate a new defconfig file that includes your +# modifications. +# +# CONFIG_DISABLE_ENVIRON is not set +# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set +# CONFIG_DISABLE_PTHREAD is not set +# CONFIG_MMCSD_HAVE_CARDDETECT is not set +# CONFIG_MMCSD_HAVE_WRITEPROTECT is not set +# CONFIG_MMCSD_MMCSUPPORT is not set +# CONFIG_MMCSD_SPI is not set +# CONFIG_NSH_DISABLEBG is not set +# CONFIG_NSH_DISABLESCRIPT is not set +# CONFIG_NSH_DISABLE_CAT is not set +# CONFIG_NSH_DISABLE_CD is not set +# CONFIG_NSH_DISABLE_CP is not set +# CONFIG_NSH_DISABLE_DATE is not set +# CONFIG_NSH_DISABLE_DF is not set +# CONFIG_NSH_DISABLE_ECHO is not set +# CONFIG_NSH_DISABLE_ENV is not set +# CONFIG_NSH_DISABLE_EXEC is not set +# CONFIG_NSH_DISABLE_EXPORT is not set +# CONFIG_NSH_DISABLE_FREE is not set +# CONFIG_NSH_DISABLE_GET is not set +# CONFIG_NSH_DISABLE_HELP is not set +# CONFIG_NSH_DISABLE_ITEF is not set +# CONFIG_NSH_DISABLE_KILL is not set +# CONFIG_NSH_DISABLE_LOOPS is not set +# CONFIG_NSH_DISABLE_LS is not set +# CONFIG_NSH_DISABLE_MKDIR is not set +# CONFIG_NSH_DISABLE_MKFATFS is not set +# CONFIG_NSH_DISABLE_MOUNT is not set +# CONFIG_NSH_DISABLE_MV is not set +# CONFIG_NSH_DISABLE_PS is not set +# CONFIG_NSH_DISABLE_PSSTACKUSAGE is not set +# CONFIG_NSH_DISABLE_PWD is not set +# CONFIG_NSH_DISABLE_RM is not set +# CONFIG_NSH_DISABLE_RMDIR is not set +# CONFIG_NSH_DISABLE_SEMICOLON is not set +# CONFIG_NSH_DISABLE_SET is not set +# CONFIG_NSH_DISABLE_SLEEP is not set +# CONFIG_NSH_DISABLE_SOURCE is not set +# CONFIG_NSH_DISABLE_TEST is not set +# CONFIG_NSH_DISABLE_TIME is not set +# CONFIG_NSH_DISABLE_UMOUNT is not set +# CONFIG_NSH_DISABLE_UNSET is not set +# CONFIG_NSH_DISABLE_USLEEP is not set +CONFIG_ARCH="arm" +CONFIG_ARCH_BOARD_CUSTOM=y +CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/3dr/ctrl-zero-h7-oem-revg/nuttx-config" +CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y +CONFIG_ARCH_BOARD_CUSTOM_NAME="px4" +CONFIG_ARCH_CHIP="stm32h7" +CONFIG_ARCH_CHIP_STM32H743II=y +CONFIG_ARCH_CHIP_STM32H7=y +CONFIG_ARCH_INTERRUPTSTACK=768 +CONFIG_ARCH_STACKDUMP=y +CONFIG_ARMV7M_BASEPRI_WAR=y +CONFIG_ARMV7M_DCACHE=y +CONFIG_ARMV7M_DTCM=y +CONFIG_ARMV7M_ICACHE=y +CONFIG_ARMV7M_MEMCPY=y +CONFIG_ARMV7M_USEBASEPRI=y +CONFIG_ARM_MPU_EARLY_RESET=y +CONFIG_BOARDCTL_RESET=y +CONFIG_BOARD_ASSERT_RESET_VALUE=0 +CONFIG_BOARD_CRASHDUMP=y +CONFIG_BOARD_LOOPSPERMSEC=95150 +CONFIG_BOARD_RESET_ON_ASSERT=2 +CONFIG_BUILTIN=y +CONFIG_CDCACM=y +CONFIG_CDCACM_IFLOWCONTROL=y +CONFIG_CDCACM_PRODUCTID=0x1124 +CONFIG_CDCACM_PRODUCTSTR="3DRControlZeroH7OEM_revG" +CONFIG_CDCACM_RXBUFSIZE=600 +CONFIG_CDCACM_TXBUFSIZE=12000 +CONFIG_CDCACM_VENDORID=0x26ac +CONFIG_CDCACM_VENDORSTR="3DR" +CONFIG_DEBUG_FULLOPT=y +CONFIG_DEBUG_HARDFAULT_ALERT=y +CONFIG_DEBUG_MEMFAULT=y +CONFIG_DEBUG_SYMBOLS=y +CONFIG_DEBUG_TCBINFO=y +CONFIG_DEFAULT_SMALL=y +CONFIG_DEV_FIFO_SIZE=0 +CONFIG_DEV_PIPE_MAXSIZE=1024 +CONFIG_DEV_PIPE_SIZE=70 +CONFIG_EXPERIMENTAL=y +CONFIG_STM32H7_PWR_EXTERNAL_SOURCE_SUPPLY=y +CONFIG_FAT_DMAMEMORY=y +CONFIG_FAT_LCNAMES=y +CONFIG_FAT_LFN=y +CONFIG_FAT_LFN_ALIAS_HASH=y +CONFIG_FDCLONE_STDIO=y +CONFIG_FS_BINFS=y +CONFIG_FS_CROMFS=y +CONFIG_FS_FAT=y +CONFIG_FS_FATTIME=y +CONFIG_FS_PROCFS=y +CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y +CONFIG_FS_PROCFS_MAX_TASKS=64 +CONFIG_FS_PROCFS_REGISTER=y +CONFIG_FS_ROMFS=y +CONFIG_GRAN=y +CONFIG_GRAN_INTR=y +CONFIG_HAVE_CXX=y +CONFIG_HAVE_CXXINITIALIZE=y +CONFIG_I2C=y +CONFIG_I2C_RESET=y +CONFIG_IDLETHREAD_STACKSIZE=750 +CONFIG_INIT_ENTRYPOINT="nsh_main" +CONFIG_INIT_STACKSIZE=3194 +CONFIG_LIBC_FLOATINGPOINT=y +CONFIG_LIBC_LONG_LONG=y +CONFIG_LIBC_MAX_EXITFUNS=1 +CONFIG_LIBC_STRERROR=y +CONFIG_MEMSET_64BIT=y +CONFIG_MEMSET_OPTSPEED=y +CONFIG_MMCSD=y +CONFIG_MMCSD_SDIO=y +CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y +CONFIG_MM_REGIONS=4 +CONFIG_MTD=y +CONFIG_MTD_BYTE_WRITE=y +CONFIG_MTD_PARTITION=y +CONFIG_MTD_PROGMEM=y +CONFIG_MTD_RAMTRON=y +CONFIG_NAME_MAX=40 +CONFIG_NSH_ARCHINIT=y +CONFIG_NSH_ARGCAT=y +CONFIG_NSH_BUILTIN_APPS=y +CONFIG_NSH_CMDPARMS=y +CONFIG_NSH_CROMFSETC=y +CONFIG_NSH_LINELEN=128 +CONFIG_NSH_MAXARGUMENTS=15 +CONFIG_NSH_NESTDEPTH=8 +CONFIG_NSH_QUOTE=y +CONFIG_NSH_ROMFSETC=y +CONFIG_NSH_ROMFSSECTSIZE=128 +CONFIG_NSH_STRERROR=y +CONFIG_NSH_VARS=y +CONFIG_OTG_ID_GPIO_DISABLE=y +CONFIG_PIPES=y +CONFIG_PREALLOC_TIMERS=50 +CONFIG_PRIORITY_INHERITANCE=y +CONFIG_PTHREAD_MUTEX_ROBUST=y +CONFIG_PTHREAD_STACK_MIN=512 +CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5 +CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5 +CONFIG_RAMTRON_SETSPEED=y +CONFIG_RAM_SIZE=245760 +CONFIG_RAM_START=0x20010000 +CONFIG_RAW_BINARY=y +CONFIG_READLINE_CMD_HISTORY=y +CONFIG_READLINE_TABCOMPLETION=y +CONFIG_RTC_DATETIME=y +CONFIG_SCHED_HPWORK=y +CONFIG_SCHED_HPWORKPRIORITY=249 +CONFIG_SCHED_HPWORKSTACKSIZE=1280 +CONFIG_SCHED_INSTRUMENTATION=y +CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y +CONFIG_SCHED_INSTRUMENTATION_SWITCH=y +CONFIG_SCHED_LPWORK=y +CONFIG_SCHED_LPWORKPRIORITY=50 +CONFIG_SCHED_LPWORKSTACKSIZE=1632 +CONFIG_SCHED_WAITPID=y +CONFIG_SDMMC1_SDIO_PULLUP=y +CONFIG_SEM_PREALLOCHOLDERS=32 +CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y +CONFIG_SERIAL_TERMIOS=y +CONFIG_SIG_DEFAULT=y +CONFIG_SIG_SIGALRM_ACTION=y +CONFIG_SIG_SIGUSR1_ACTION=y +CONFIG_SIG_SIGUSR2_ACTION=y +CONFIG_SIG_SIGWORK=4 +CONFIG_STACK_COLORATION=y +CONFIG_START_DAY=30 +CONFIG_START_MONTH=11 +CONFIG_STDIO_BUFFER_SIZE=256 +CONFIG_STM32H7_ADC1=y +CONFIG_STM32H7_ADC3=y +CONFIG_STM32H7_BBSRAM=y +CONFIG_STM32H7_BBSRAM_FILES=5 +CONFIG_STM32H7_BDMA=y +CONFIG_STM32H7_BKPSRAM=y +CONFIG_STM32H7_DMA1=y +CONFIG_STM32H7_DMA2=y +CONFIG_STM32H7_DMACAPABLE=y +CONFIG_STM32H7_FLOWCONTROL_BROKEN=y +CONFIG_STM32H7_I2C1=y +CONFIG_STM32H7_I2C3=y +CONFIG_STM32H7_I2C4=y +CONFIG_STM32H7_I2C_DYNTIMEO=y +CONFIG_STM32H7_I2C_DYNTIMEO_STARTSTOP=10 +CONFIG_STM32H7_OTGFS=y +CONFIG_STM32H7_PROGMEM=y +CONFIG_STM32H7_RTC=y +CONFIG_STM32H7_RTC_HSECLOCK=y +CONFIG_STM32H7_RTC_MAGIC_REG=1 +CONFIG_STM32H7_SAVE_CRASHDUMP=y +CONFIG_STM32H7_SDMMC1=y +CONFIG_STM32H7_SERIALBRK_BSDCOMPAT=y +CONFIG_STM32H7_SERIAL_DISABLE_REORDERING=y +CONFIG_STM32H7_SPI1=y +CONFIG_STM32H7_SPI1_DMA=y +CONFIG_STM32H7_SPI1_DMA_BUFFER=1024 +CONFIG_STM32H7_SPI2=y +CONFIG_STM32H7_SPI5=y +CONFIG_STM32H7_SPI5_DMA=y +CONFIG_STM32H7_SPI5_DMA_BUFFER=1024 +CONFIG_STM32H7_TIM1=y +CONFIG_STM32H7_TIM2=y +CONFIG_STM32H7_TIM3=y +CONFIG_STM32H7_TIM4=y +CONFIG_STM32H7_TIM8=y +CONFIG_STM32H7_UART4=y +CONFIG_STM32H7_UART7=y +CONFIG_STM32H7_UART8=y +CONFIG_STM32H7_USART2=y +CONFIG_STM32H7_USART3=y +CONFIG_STM32H7_USART6=y +CONFIG_STM32H7_USART_BREAKS=y +CONFIG_STM32H7_USART_INVERT=y +CONFIG_STM32H7_USART_SINGLEWIRE=y +CONFIG_STM32H7_USART_SWAP=y +CONFIG_SYSTEM_CDCACM=y +CONFIG_SYSTEM_NSH=y +CONFIG_TASK_NAME_SIZE=24 +CONFIG_TTY_SIGINT=y +CONFIG_TTY_SIGTSTP=y +CONFIG_UART4_BAUD=57600 +CONFIG_UART4_RXBUFSIZE=600 +CONFIG_UART4_TXBUFSIZE=1500 +CONFIG_UART7_BAUD=57600 +CONFIG_UART7_RXBUFSIZE=600 +CONFIG_UART7_TXBUFSIZE=1500 +CONFIG_UART8_BAUD=57600 +CONFIG_UART8_RXBUFSIZE=600 +CONFIG_UART8_SERIAL_CONSOLE=y +CONFIG_UART8_TXBUFSIZE=1500 +CONFIG_USART2_BAUD=57600 +CONFIG_USART2_IFLOWCONTROL=y +CONFIG_USART2_OFLOWCONTROL=y +CONFIG_USART2_RXBUFSIZE=600 +CONFIG_USART2_TXBUFSIZE=1500 +CONFIG_USART3_BAUD=57600 +CONFIG_USART3_IFLOWCONTROL=y +CONFIG_USART3_OFLOWCONTROL=y +CONFIG_USART3_RXBUFSIZE=600 +CONFIG_USART3_TXBUFSIZE=3000 +CONFIG_USART6_BAUD=57600 +CONFIG_USART6_RXBUFSIZE=600 +CONFIG_USART6_TXBUFSIZE=1500 +CONFIG_USBDEV=y +CONFIG_USBDEV_BUSPOWERED=y +CONFIG_USBDEV_MAXPOWER=500 +CONFIG_USEC_PER_TICK=1000 diff --git a/boards/3dr/ctrl-zero-h7-oem-revg/nuttx-config/scripts/bootloader_script.ld b/boards/3dr/ctrl-zero-h7-oem-revg/nuttx-config/scripts/bootloader_script.ld new file mode 100755 index 000000000000..3fb4cc1f33ce --- /dev/null +++ b/boards/3dr/ctrl-zero-h7-oem-revg/nuttx-config/scripts/bootloader_script.ld @@ -0,0 +1,221 @@ +/**************************************************************************** + * scripts/script.ld + * + * Copyright (C) 2020 Gregory Nutt. All rights reserved. + * Author: Gregory Nutt + * + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name NuttX nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/* The board uses an STM32H743II has 2048Kb of main FLASH memory. + * The flash memory is partitioned into a User Flash memory and a System + * Flash memory. Each of these memories has two banks: + * + * 1) User Flash memory: + * + * Bank 1: Start address 0x0800:0000 to 0x080F:FFFF with 8 sectors, 128Kb each + * Bank 2: Start address 0x0810:0000 to 0x081F:FFFF with 8 sectors, 128Kb each + * + * 2) System Flash memory: + * + * Bank 1: Start address 0x1FF0:0000 to 0x1FF1:FFFF with 1 x 128Kb sector + * Bank 1: Start address 0x1FF4:0000 to 0x1FF5:FFFF with 1 x 128Kb sector + * + * 3) User option bytes for user configuration, only in Bank 1. + * + * In the STM32H743II, two different boot spaces can be selected through + * the BOOT pin and the boot base address programmed in the BOOT_ADD0 and + * BOOT_ADD1 option bytes: + * + * 1) BOOT=0: Boot address defined by user option byte BOOT_ADD0[15:0]. + * ST programmed value: Flash memory at 0x0800:0000 + * 2) BOOT=1: Boot address defined by user option byte BOOT_ADD1[15:0]. + * ST programmed value: System bootloader at 0x1FF0:0000 + * + * There's a switch on board, the BOOT0 pin is at ground so by default, + * the STM32 will boot to address 0x0800:0000 in FLASH unless the switch is + * drepresed, then the boot will be from 0x1FF0:0000 + * + * The STM32H743ZI also has 1024Kb of data SRAM. + * SRAM is split up into several blocks and into three power domains: + * + * 1) TCM SRAMs are dedicated to the Cortex-M7 and are accessible with + * 0 wait states by the Cortex-M7 and by MDMA through AHBS slave bus + * + * 1.1) 128Kb of DTCM-RAM beginning at address 0x2000:0000 + * + * The DTCM-RAM is organized as 2 x 64Kb DTCM-RAMs on 2 x 32 bit + * DTCM ports. The DTCM-RAM could be used for critical real-time + * data, such as interrupt service routines or stack / heap memory. + * Both DTCM-RAMs can be used in parallel (for load/store operations) + * thanks to the Cortex-M7 dual issue capability. + * + * 1.2) 64Kb of ITCM-RAM beginning at address 0x0000:0000 + * + * This RAM is connected to ITCM 64-bit interface designed for + * execution of critical real-times routines by the CPU. + * + * 2) AXI SRAM (D1 domain) accessible by all system masters except BDMA + * through D1 domain AXI bus matrix + * + * 2.1) 512Kb of SRAM beginning at address 0x2400:0000 + * + * 3) AHB SRAM (D2 domain) accessible by all system masters except BDMA + * through D2 domain AHB bus matrix + * + * 3.1) 128Kb of SRAM1 beginning at address 0x3000:0000 + * 3.2) 128Kb of SRAM2 beginning at address 0x3002:0000 + * 3.3) 32Kb of SRAM3 beginning at address 0x3004:0000 + * + * SRAM1 - SRAM3 are one contiguous block: 288Kb at address 0x3000:0000 + * + * 4) AHB SRAM (D3 domain) accessible by most of system masters + * through D3 domain AHB bus matrix + * + * 4.1) 64Kb of SRAM4 beginning at address 0x3800:0000 + * 4.1) 4Kb of backup RAM beginning at address 0x3880:0000 + * + * When booting from FLASH, FLASH memory is aliased to address 0x0000:0000 + * where the code expects to begin execution by jumping to the entry point in + * the 0x0800:0000 address range. + */ + +MEMORY +{ + ITCM_RAM (rwx) : ORIGIN = 0x00000000, LENGTH = 64K + FLASH (rx) : ORIGIN = 0x08000000, LENGTH = 128K + DTCM1_RAM (rwx) : ORIGIN = 0x20000000, LENGTH = 64K + DTCM2_RAM (rwx) : ORIGIN = 0x20010000, LENGTH = 64K + AXI_SRAM (rwx) : ORIGIN = 0x24000000, LENGTH = 512K /* D1 domain AXI bus */ + SRAM1 (rwx) : ORIGIN = 0x30000000, LENGTH = 128K /* D2 domain AHB bus */ + SRAM2 (rwx) : ORIGIN = 0x30020000, LENGTH = 128K /* D2 domain AHB bus */ + SRAM3 (rwx) : ORIGIN = 0x30040000, LENGTH = 32K /* D2 domain AHB bus */ + SRAM4 (rwx) : ORIGIN = 0x38000000, LENGTH = 64K /* D3 domain */ + BKPRAM (rwx) : ORIGIN = 0x38800000, LENGTH = 4K +} + +OUTPUT_ARCH(arm) +EXTERN(_vectors) +ENTRY(_stext) + +/* + * Ensure that abort() is present in the final object. The exception handling + * code pulled in by libgcc.a requires it (and that code cannot be easily avoided). + */ +EXTERN(abort) +EXTERN(_bootdelay_signature) + +SECTIONS +{ + .text : { + _stext = ABSOLUTE(.); + *(.vectors) + . = ALIGN(32); + /* + This signature provides the bootloader with a way to delay booting + */ + _bootdelay_signature = ABSOLUTE(.); + FILL(0xffecc2925d7d05c5) + . += 8; + *(.text .text.*) + *(.fixup) + *(.gnu.warning) + *(.rodata .rodata.*) + *(.gnu.linkonce.t.*) + *(.glue_7) + *(.glue_7t) + *(.got) + *(.gcc_except_table) + *(.gnu.linkonce.r.*) + _etext = ABSOLUTE(.); + + } > FLASH + + /* + * Init functions (static constructors and the like) + */ + .init_section : { + _sinit = ABSOLUTE(.); + KEEP(*(.init_array .init_array.*)) + _einit = ABSOLUTE(.); + } > FLASH + + .ARM.extab : { + *(.ARM.extab*) + } > FLASH + + __exidx_start = ABSOLUTE(.); + .ARM.exidx : { + *(.ARM.exidx*) + } > FLASH + __exidx_end = ABSOLUTE(.); + + _eronly = ABSOLUTE(.); + + .data : { + _sdata = ABSOLUTE(.); + *(.data .data.*) + *(.gnu.linkonce.d.*) + CONSTRUCTORS + _edata = ABSOLUTE(.); + } > AXI_SRAM AT > FLASH + + .bss : { + _sbss = ABSOLUTE(.); + *(.bss .bss.*) + *(.gnu.linkonce.b.*) + *(COMMON) + . = ALIGN(4); + _ebss = ABSOLUTE(.); + } > AXI_SRAM + + /* Stabs debugging sections. */ + .stab 0 : { *(.stab) } + .stabstr 0 : { *(.stabstr) } + .stab.excl 0 : { *(.stab.excl) } + .stab.exclstr 0 : { *(.stab.exclstr) } + .stab.index 0 : { *(.stab.index) } + .stab.indexstr 0 : { *(.stab.indexstr) } + .comment 0 : { *(.comment) } + .debug_abbrev 0 : { *(.debug_abbrev) } + .debug_info 0 : { *(.debug_info) } + .debug_line 0 : { *(.debug_line) } + .debug_pubnames 0 : { *(.debug_pubnames) } + .debug_aranges 0 : { *(.debug_aranges) } + + .ramfunc : { + _sramfuncs = .; + *(.ramfunc .ramfunc.*) + . = ALIGN(4); + _eramfuncs = .; + } > ITCM_RAM AT > FLASH + + _framfuncs = LOADADDR(.ramfunc); +} diff --git a/boards/3dr/ctrl-zero-h7-oem-revg/nuttx-config/scripts/script.ld b/boards/3dr/ctrl-zero-h7-oem-revg/nuttx-config/scripts/script.ld new file mode 100755 index 000000000000..02e763a790fb --- /dev/null +++ b/boards/3dr/ctrl-zero-h7-oem-revg/nuttx-config/scripts/script.ld @@ -0,0 +1,228 @@ +/**************************************************************************** + * scripts/script.ld + * + * Copyright (C) 2021 Gregory Nutt. All rights reserved. + * Author: Gregory Nutt + * + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name NuttX nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/* The board uses an STM32H743XIH6 and has 2048Kb of main FLASH memory. + * The flash memory is partitioned into a User Flash memory and a System + * Flash memory. Each of these memories has two banks: + * + * 1) User Flash memory: + * + * Bank 1: Start address 0x0800:0000 to 0x080F:FFFF with 8 sectors, 128Kb each + * Bank 2: Start address 0x0810:0000 to 0x081F:FFFF with 8 sectors, 128Kb each + * + * 2) System Flash memory: + * + * Bank 1: Start address 0x1FF0:0000 to 0x1FF1:FFFF with 1 x 128Kb sector + * Bank 1: Start address 0x1FF4:0000 to 0x1FF5:FFFF with 1 x 128Kb sector + * + * 3) User option bytes for user configuration, only in Bank 1. + * + * In the STM32H743II, two different boot spaces can be selected through + * the BOOT pin and the boot base address programmed in the BOOT_ADD0 and + * BOOT_ADD1 option bytes: + * + * 1) BOOT=0: Boot address defined by user option byte BOOT_ADD0[15:0]. + * ST programmed value: Flash memory at 0x0800:0000 + * 2) BOOT=1: Boot address defined by user option byte BOOT_ADD1[15:0]. + * ST programmed value: System bootloader at 0x1FF0:0000 + * + * There's a switch on board, the BOOT0 pin is at ground so by default, + * the STM32 will boot to address 0x0800:0000 in FLASH unless the switch is + * drepresed, then the boot will be from 0x1FF0:0000 + * + * The STM32H743ZI also has 1024Kb of data SRAM. + * SRAM is split up into several blocks and into three power domains: + * + * 1) TCM SRAMs are dedicated to the Cortex-M7 and are accessible with + * 0 wait states by the Cortex-M7 and by MDMA through AHBS slave bus + * + * 1.1) 128Kb of DTCM-RAM beginning at address 0x2000:0000 + * + * The DTCM-RAM is organized as 2 x 64Kb DTCM-RAMs on 2 x 32 bit + * DTCM ports. The DTCM-RAM could be used for critical real-time + * data, such as interrupt service routines or stack / heap memory. + * Both DTCM-RAMs can be used in parallel (for load/store operations) + * thanks to the Cortex-M7 dual issue capability. + * + * 1.2) 64Kb of ITCM-RAM beginning at address 0x0000:0000 + * + * This RAM is connected to ITCM 64-bit interface designed for + * execution of critical real-times routines by the CPU. + * + * 2) AXI SRAM (D1 domain) accessible by all system masters except BDMA + * through D1 domain AXI bus matrix + * + * 2.1) 512Kb of SRAM beginning at address 0x2400:0000 + * + * 3) AHB SRAM (D2 domain) accessible by all system masters except BDMA + * through D2 domain AHB bus matrix + * + * 3.1) 128Kb of SRAM1 beginning at address 0x3000:0000 + * 3.2) 128Kb of SRAM2 beginning at address 0x3002:0000 + * 3.3) 32Kb of SRAM3 beginning at address 0x3004:0000 + * + * SRAM1 - SRAM3 are one contiguous block: 288Kb at address 0x3000:0000 + * + * 4) AHB SRAM (D3 domain) accessible by most of system masters + * through D3 domain AHB bus matrix + * + * 4.1) 64Kb of SRAM4 beginning at address 0x3800:0000 + * 4.1) 4Kb of backup RAM beginning at address 0x3880:0000 + * + * When booting from FLASH, FLASH memory is aliased to address 0x0000:0000 + * where the code expects to begin execution by jumping to the entry point in + * the 0x0800:0000 address range. + */ + +MEMORY +{ + ITCM_RAM (rwx) : ORIGIN = 0x00000000, LENGTH = 64K + FLASH (rx) : ORIGIN = 0x08020000, LENGTH = 1920K + + DTCM1_RAM (rwx) : ORIGIN = 0x20000000, LENGTH = 64K + DTCM2_RAM (rwx) : ORIGIN = 0x20010000, LENGTH = 64K + AXI_SRAM (rwx) : ORIGIN = 0x24000000, LENGTH = 512K /* D1 domain AXI bus */ + SRAM1 (rwx) : ORIGIN = 0x30000000, LENGTH = 128K /* D2 domain AHB bus */ + SRAM2 (rwx) : ORIGIN = 0x30020000, LENGTH = 128K /* D2 domain AHB bus */ + SRAM3 (rwx) : ORIGIN = 0x30040000, LENGTH = 32K /* D2 domain AHB bus */ + SRAM4 (rwx) : ORIGIN = 0x38000000, LENGTH = 64K /* D3 domain */ + BKPRAM (rwx) : ORIGIN = 0x38800000, LENGTH = 4K +} + +OUTPUT_ARCH(arm) +EXTERN(_vectors) +ENTRY(_stext) + +/* + * Ensure that abort() is present in the final object. The exception handling + * code pulled in by libgcc.a requires it (and that code cannot be easily avoided). + */ +EXTERN(abort) +EXTERN(_bootdelay_signature) + +SECTIONS +{ + .text : { + _stext = ABSOLUTE(.); + *(.vectors) + . = ALIGN(32); + /* + This signature provides the bootloader with a way to delay booting + */ + _bootdelay_signature = ABSOLUTE(.); + FILL(0xffecc2925d7d05c5) + . += 8; + *(.text .text.*) + *(.fixup) + *(.gnu.warning) + *(.rodata .rodata.*) + *(.gnu.linkonce.t.*) + *(.glue_7) + *(.glue_7t) + *(.got) + *(.gcc_except_table) + *(.gnu.linkonce.r.*) + _etext = ABSOLUTE(.); + + } > FLASH + + /* + * Init functions (static constructors and the like) + */ + .init_section : { + _sinit = ABSOLUTE(.); + KEEP(*(.init_array .init_array.*)) + _einit = ABSOLUTE(.); + } > FLASH + + + .ARM.extab : { + *(.ARM.extab*) + } > FLASH + + __exidx_start = ABSOLUTE(.); + .ARM.exidx : { + *(.ARM.exidx*) + } > FLASH + __exidx_end = ABSOLUTE(.); + + _eronly = ABSOLUTE(.); + + .data : { + _sdata = ABSOLUTE(.); + *(.data .data.*) + *(.gnu.linkonce.d.*) + CONSTRUCTORS + _edata = ABSOLUTE(.); + + /* Pad out last section as the STM32H7 Flash write size is 256 bits. 32 bytes */ + . = ALIGN(16); + FILL(0xffff) + . += 16; + } > AXI_SRAM AT > FLASH = 0xffff + + .bss : { + _sbss = ABSOLUTE(.); + *(.bss .bss.*) + *(.gnu.linkonce.b.*) + *(COMMON) + . = ALIGN(4); + _ebss = ABSOLUTE(.); + } > AXI_SRAM + + /* Emit the the D3 power domain section for locating BDMA data */ + + .sram4_reserve (NOLOAD) : + { + *(.sram4) + . = ALIGN(4); + _sram4_heap_start = ABSOLUTE(.); + } > SRAM4 + + /* Stabs debugging sections. */ + .stab 0 : { *(.stab) } + .stabstr 0 : { *(.stabstr) } + .stab.excl 0 : { *(.stab.excl) } + .stab.exclstr 0 : { *(.stab.exclstr) } + .stab.index 0 : { *(.stab.index) } + .stab.indexstr 0 : { *(.stab.indexstr) } + .comment 0 : { *(.comment) } + .debug_abbrev 0 : { *(.debug_abbrev) } + .debug_info 0 : { *(.debug_info) } + .debug_line 0 : { *(.debug_line) } + .debug_pubnames 0 : { *(.debug_pubnames) } + .debug_aranges 0 : { *(.debug_aranges) } +} diff --git a/boards/3dr/ctrl-zero-h7-oem-revg/src/CMakeLists.txt b/boards/3dr/ctrl-zero-h7-oem-revg/src/CMakeLists.txt new file mode 100755 index 000000000000..6a7d2ce306f7 --- /dev/null +++ b/boards/3dr/ctrl-zero-h7-oem-revg/src/CMakeLists.txt @@ -0,0 +1,65 @@ +############################################################################ +# +# Copyright (c) 2021 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ +if("${PX4_BOARD_LABEL}" STREQUAL "bootloader") + add_library(drivers_board + bootloader_main.c + usb.c + ) + target_link_libraries(drivers_board + PRIVATE + nuttx_arch + nuttx_drivers + bootloader + ) + target_include_directories(drivers_board PRIVATE ${PX4_SOURCE_DIR}/platforms/nuttx/src/bootloader/common) + +else() + add_library(drivers_board + i2c.cpp + init.c + led.c + spi.cpp + timer_config.cpp + usb.c + ) + + target_link_libraries(drivers_board + PRIVATE + arch_io_pins + arch_spi + drivers__led + nuttx_arch + nuttx_drivers + px4_layer + ) +endif() diff --git a/boards/3dr/ctrl-zero-h7-oem-revg/src/board_config.h b/boards/3dr/ctrl-zero-h7-oem-revg/src/board_config.h new file mode 100755 index 000000000000..bcc8bba1a619 --- /dev/null +++ b/boards/3dr/ctrl-zero-h7-oem-revg/src/board_config.h @@ -0,0 +1,187 @@ +/**************************************************************************** + * + * Copyright (c) 2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file board_config.h + * + * Board internal definitions + */ + +#pragma once + +#include +#include +#include +#include + +/* LEDs are driven with push open drain to support Anode to 5V or 3.3V */ +#define GPIO_nLED_RED /* PB11 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN11) +#define GPIO_nLED_GREEN /* PB1 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN1) +#define GPIO_nLED_BLUE /* PB3 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN3) + +#define BOARD_HAS_CONTROL_STATUS_LEDS 1 +#define BOARD_OVERLOAD_LED LED_RED +#define BOARD_ARMED_STATE_LED LED_BLUE + +/* ADC channels */ +#define PX4_ADC_GPIO \ + /* PA2 */ GPIO_ADC12_INP14, \ + /* PA3 */ GPIO_ADC12_INP15, \ + /* PA4 */ GPIO_ADC12_INP18, \ + /* PC1 */ GPIO_ADC123_INP11 + +/* Define Channel numbers must match above GPIO pins */ +#define ADC_BATTERY_VOLTAGE_CHANNEL 14 /* PA2 BATT_VOLT_SENS */ +#define ADC_BATTERY_CURRENT_CHANNEL 15 /* PA3 BATT_CURRENT_SENS */ +#define ADC_SCALED_V5_CHANNEL 18 /* PA4 VDD_5V_SENS */ +#define ADC_RC_RSSI_CHANNEL 11 /* PC1 */ + +#define ADC_CHANNELS \ + ((1 << ADC_BATTERY_VOLTAGE_CHANNEL) | \ + (1 << ADC_BATTERY_CURRENT_CHANNEL) | \ + (1 << ADC_SCALED_V5_CHANNEL) | \ + (1 << ADC_RC_RSSI_CHANNEL)) + +/* HW has to large of R termination on ADC todo:change when HW value is chosen */ +#define BOARD_ADC_OPEN_CIRCUIT_V (5.6f) + +/* CAN Silence: Silent mode control */ +#define GPIO_CAN1_SILENT_S0 /* PF5 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTF|GPIO_PIN5) + +/* PWM */ +#define DIRECT_PWM_OUTPUT_CHANNELS 8 + +/* Power supply control and monitoring GPIOs */ +#define GPIO_nPOWER_IN_A /* PB5 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN5) + +#define GPIO_VDD_BRICK1_VALID GPIO_nPOWER_IN_A /* Brick 1 Is Chosen */ +#define BOARD_NUMBER_BRICKS 1 + +#define GPIO_VDD_3V3_SPEKTRUM_POWER_EN /* PE4 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN4) +#define GPIO_VDD_1V2_CORE_POWER_EN /* PH5 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTH|GPIO_PIN5) + +/* Define True logic Power Control in arch agnostic form */ +#define VDD_3V3_SPEKTRUM_POWER_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SPEKTRUM_POWER_EN, (!on_true)) +#define READ_VDD_3V3_SPEKTRUM_POWER_EN() (px4_arch_gpioread(GPIO_VDD_3V3_SPEKTRUM_POWER_EN) == 0) + +/* Tone alarm output */ +#define TONE_ALARM_TIMER 2 /* timer 2 */ +#define TONE_ALARM_CHANNEL 1 /* PA15 TIM2_CH1 */ + +#define GPIO_BUZZER_1 /* PA15 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN15) + +#define GPIO_TONE_ALARM_IDLE GPIO_BUZZER_1 +#define GPIO_TONE_ALARM GPIO_TIM2_CH1OUT_2 + +/* USB OTG FS */ +#define GPIO_OTGFS_VBUS /* PA9 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_100MHz|GPIO_PORTA|GPIO_PIN9) + +/* High-resolution timer */ +#define HRT_TIMER 3 /* use timer3 for the HRT */ +#define HRT_TIMER_CHANNEL 1 /* use capture/compare channel 1 */ + +#define HRT_PPM_CHANNEL /* T3C3 */ 3 /* use capture/compare channel 3 */ +#define GPIO_PPM_IN /* PB0 T3C3 */ GPIO_TIM3_CH3IN_1 + +/* RC Serial port */ +#define RC_SERIAL_PORT "/dev/ttyS3" + +#define GPIO_RSSI_IN /* PC1 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN1) + +/* Safety Switch: Enable the FMU to control it if there is no px4io fixme:This should be BOARD_SAFETY_LED(__ontrue) */ +#define GPIO_SAFETY_SWITCH_IN /* PC4 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN4) +/* Enable the FMU to use the switch it if there is no px4io fixme:This should be BOARD_SAFTY_BUTTON() */ +#define GPIO_BTN_SAFETY GPIO_SAFETY_SWITCH_IN /* Enable the FMU to control it if there is no px4io */ + +/* Power switch controls ******************************************************/ +#define SPEKTRUM_POWER(_on_true) VDD_3V3_SPEKTRUM_POWER_EN(_on_true) + +/* + * Board has a separate RC_IN + * + * GPIO PPM_IN on PB0 T3CH3 + * SPEKTRUM_RX (it's TX or RX in Bind) on UART6 PC7 + * Inversion is possible in the UART and can drive GPIO_PPM_IN as an output + */ +#define GPIO_PPM_IN_AS_OUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN0) +#define SPEKTRUM_RX_AS_GPIO_OUTPUT() px4_arch_configgpio(GPIO_PPM_IN_AS_OUT) +#define SPEKTRUM_RX_AS_UART() /* Can be left as uart */ +#define SPEKTRUM_OUT(_one_true) px4_arch_gpiowrite(GPIO_PPM_IN_AS_OUT, (_one_true)) + +/* By Providing BOARD_ADC_USB_CONNECTED (using the px4_arch abstraction) + * this board support the ADC system_power interface, and therefore + * provides the true logic GPIO BOARD_ADC_xxxx macros. + */ +#define BOARD_ADC_USB_CONNECTED (px4_arch_gpioread(GPIO_OTGFS_VBUS)) +#define BOARD_ADC_USB_VALID BOARD_ADC_USB_CONNECTED +#define BOARD_ADC_SERVO_VALID (1) /* never powers off the Servo rail */ +#define BOARD_ADC_BRICK_VALID (px4_arch_gpioread(GPIO_VDD_BRICK1_VALID)) + +/* This board provides a DMA pool and APIs */ +#define BOARD_DMA_ALLOC_POOL_SIZE 5120 + +/* This board provides the board_on_reset interface */ +#define BOARD_HAS_ON_RESET 1 + +#define BOARD_HAS_STATIC_MANIFEST 1 + + +#define BOARD_NUM_IO_TIMERS 3 + + +#define BOARD_ENABLE_CONSOLE_BUFFER + +#define PX4_GPIO_INIT_LIST { \ + PX4_ADC_GPIO, \ + GPIO_CAN1_TX, \ + GPIO_CAN1_RX, \ + GPIO_CAN2_TX, \ + GPIO_CAN2_RX, \ + GPIO_CAN1_SILENT_S0, \ + GPIO_nPOWER_IN_A, \ + GPIO_VDD_3V3_SPEKTRUM_POWER_EN, \ + GPIO_VDD_1V2_CORE_POWER_EN, \ + GPIO_TONE_ALARM_IDLE, \ + GPIO_SAFETY_SWITCH_IN, \ + GPIO_OTGFS_VBUS, \ + } + +__BEGIN_DECLS +#ifndef __ASSEMBLY__ + +extern void stm32_spiinitialize(void); +extern void board_peripheral_reset(int ms); + +#include +#endif /* __ASSEMBLY__ */ +__END_DECLS diff --git a/boards/3dr/ctrl-zero-h7-oem-revg/src/bootloader_main.c b/boards/3dr/ctrl-zero-h7-oem-revg/src/bootloader_main.c new file mode 100755 index 000000000000..bb6b4dc23aad --- /dev/null +++ b/boards/3dr/ctrl-zero-h7-oem-revg/src/bootloader_main.c @@ -0,0 +1,75 @@ +/**************************************************************************** + * + * Copyright (c) 2020, 2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file bootloader_main.c + * + * FMU-specific early startup code for bootloader +*/ + +#include "board_config.h" +#include "bl.h" + +#include +#include +#include +#include +#include +#include "arm_internal.h" +#include + +extern int sercon_main(int c, char **argv); + +__EXPORT void board_on_reset(int status) {} + +__EXPORT void stm32_boardinitialize(void) +{ + /* configure USB interfaces */ + stm32_configgpio(GPIO_OTGFS_VBUS); +} + +__EXPORT int board_app_initialize(uintptr_t arg) +{ + return 0; +} + +void board_late_initialize(void) +{ + sercon_main(0, NULL); +} + +extern void sys_tick_handler(void); +void board_timerhook(void) +{ + sys_tick_handler(); +} diff --git a/boards/3dr/ctrl-zero-h7-oem-revg/src/hw_config.h b/boards/3dr/ctrl-zero-h7-oem-revg/src/hw_config.h new file mode 100755 index 000000000000..b212ccd60273 --- /dev/null +++ b/boards/3dr/ctrl-zero-h7-oem-revg/src/hw_config.h @@ -0,0 +1,135 @@ +/**************************************************************************** + * + * Copyright (C) 2020 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#pragma once + +/**************************************************************************** + * 10-8--2016: + * To simplify the ripple effect on the tools, we will be using + * /dev/serial/by-id/PX4 to locate PX4 devices. Therefore + * moving forward all Bootloaders must contain the prefix "PX4 BL " + * in the USBDEVICESTRING + * This Change will be made in an upcoming BL release + ****************************************************************************/ +/* + * Define usage to configure a bootloader + * + * + * Constant example Usage + * APP_LOAD_ADDRESS 0x08004000 - The address in Linker Script, where the app fw is org-ed + * BOOTLOADER_DELAY 5000 - Ms to wait while under USB pwr or bootloader request + * BOARD_FMUV2 + * INTERFACE_USB 1 - (Optional) Scan and use the USB interface for bootloading + * INTERFACE_USART 1 - (Optional) Scan and use the Serial interface for bootloading + * USBDEVICESTRING "PX4 BL FMU v2.x" - USB id string + * USBPRODUCTID 0x0011 - PID Should match defconfig + * BOOT_DELAY_ADDRESS 0x000001a0 - (Optional) From the linker script from Linker Script to get a custom + * delay provided by an APP FW + * BOARD_TYPE 9 - Must match .prototype boad_id + * _FLASH_KBYTES (*(uint16_t *)0x1fff7a22) - Run time flash size detection + * BOARD_FLASH_SECTORS ((_FLASH_KBYTES == 0x400) ? 11 : 23) - Run time determine the physical last sector + * BOARD_FLASH_SECTORS 11 - Hard coded zero based last sector + * BOARD_FLASH_SIZE (_FLASH_KBYTES*1024)- Total Flash size of device, determined at run time. + * (1024 * 1024) - Hard coded Total Flash of device - The bootloader and app reserved will be deducted + * programmatically + * + * BOARD_FIRST_FLASH_SECTOR_TO_ERASE 2 - Optional sectors index in the flash_sectors table (F4 only), to begin erasing. + * This is to allow sectors to be reserved for app fw usage. That will NOT be erased + * during a FW upgrade. + * The default is 0, and selects the first sector to be erased, as the 0th entry in the + * flash_sectors table. Which is the second physical sector of FLASH in the device. + * The first physical sector of FLASH is used by the bootloader, and is not defined + * in the table. + * + * APP_RESERVATION_SIZE (BOARD_FIRST_FLASH_SECTOR_TO_ERASE * 16 * 1024) - Number of bytes reserved by the APP FW. This number plus + * BOOTLOADER_RESERVATION_SIZE will be deducted from + * BOARD_FLASH_SIZE to determine the size of the App FW + * and hence the address space of FLASH to erase and program. + * USBMFGSTRING "PX4 AP" - Optional USB MFG string (default is '3D Robotics' if not defined.) + * SERIAL_BREAK_DETECT_DISABLED - Optional prevent break selection on Serial port from entering or staying in BL + * + * * Other defines are somewhat self explanatory. + */ + +/* Boot device selection list*/ +#define USB0_DEV 0x01 +#define SERIAL0_DEV 0x02 +#define SERIAL1_DEV 0x04 + +#define APP_LOAD_ADDRESS 0x08020000 +#define BOOTLOADER_DELAY 5000 +#define INTERFACE_USB 1 +#define INTERFACE_USB_CONFIG "/dev/ttyACM0" +#define BOARD_VBUS MK_GPIO_INPUT(GPIO_OTGFS_VBUS) + +//#define USE_VBUS_PULL_DOWN +#define INTERFACE_USART 1 +#define INTERFACE_USART_CONFIG "/dev/ttyS0,115200" +#define BOOT_DELAY_ADDRESS 0x000001a0 +#define BOARD_TYPE 1124 +#define _FLASH_KBYTES (*(uint32_t *)0x1FF1E880) +#define BOARD_FLASH_SECTORS (15) +#define BOARD_FLASH_SIZE (_FLASH_KBYTES * 1024) + +#define OSC_FREQ 24 + +#define BOARD_PIN_LED_ACTIVITY GPIO_nLED_RED +#define BOARD_PIN_LED_BOOTLOADER GPIO_nLED_RED +#define BOARD_LED_ON 0 +#define BOARD_LED_OFF 1 + +#define SERIAL_BREAK_DETECT_DISABLED 1 + +#if !defined(ARCH_SN_MAX_LENGTH) +# define ARCH_SN_MAX_LENGTH 12 +#endif + +#if !defined(APP_RESERVATION_SIZE) +# define APP_RESERVATION_SIZE 0 +#endif + +#if !defined(BOARD_FIRST_FLASH_SECTOR_TO_ERASE) +# define BOARD_FIRST_FLASH_SECTOR_TO_ERASE 1 +#endif + +#if !defined(USB_DATA_ALIGN) +# define USB_DATA_ALIGN +#endif + +#ifndef BOOT_DEVICES_SELECTION +# define BOOT_DEVICES_SELECTION USB0_DEV|SERIAL0_DEV|SERIAL1_DEV +#endif + +#ifndef BOOT_DEVICES_FILTER_ONUSB +# define BOOT_DEVICES_FILTER_ONUSB USB0_DEV|SERIAL0_DEV|SERIAL1_DEV +#endif diff --git a/boards/3dr/ctrl-zero-h7-oem-revg/src/i2c.cpp b/boards/3dr/ctrl-zero-h7-oem-revg/src/i2c.cpp new file mode 100755 index 000000000000..1b8927c69939 --- /dev/null +++ b/boards/3dr/ctrl-zero-h7-oem-revg/src/i2c.cpp @@ -0,0 +1,40 @@ +/**************************************************************************** + * + * Copyright (C) 2020 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include + +constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = { + initI2CBusExternal(1), + initI2CBusExternal(3), + initI2CBusExternal(4), +}; diff --git a/boards/3dr/ctrl-zero-h7-oem-revg/src/init.c b/boards/3dr/ctrl-zero-h7-oem-revg/src/init.c new file mode 100755 index 000000000000..daaace48fb2f --- /dev/null +++ b/boards/3dr/ctrl-zero-h7-oem-revg/src/init.c @@ -0,0 +1,204 @@ +/**************************************************************************** + * + * Copyright (c) 2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file init.c + * + * board-specific early startup code. This file implements the + * board_app_initialize() function that is called early by nsh during startup. + * + * Code here is run before the rcS script is invoked; it should start required + * subsystems and perform board-specific initialisation. + */ + +#include "board_config.h" + +#include + +#include +#include +#include +#include +#include +#include "arm_internal.h" + +#include +#include +#include +#include +#include +#include +#include + +#include + +__BEGIN_DECLS +extern void led_init(void); +extern void led_on(int led); +extern void led_off(int led); +__END_DECLS + +/************************************************************************************ + * Name: board_peripheral_reset + * + * Description: + * + ************************************************************************************/ +__EXPORT void board_peripheral_reset(int ms) +{ + bool last = READ_VDD_3V3_SPEKTRUM_POWER_EN(); + /* Keep Spektum on to discharge rail*/ + VDD_3V3_SPEKTRUM_POWER_EN(false); + + /* wait for the peripheral rail to reach GND */ + usleep(ms * 1000); + syslog(LOG_DEBUG, "reset done, %d ms\n", ms); + + /* re-enable power */ + + /* switch the peripheral rail back on */ + VDD_3V3_SPEKTRUM_POWER_EN(last); +} + +/************************************************************************************ + * Name: board_on_reset + * + * Description: + * Optionally provided function called on entry to board_system_reset + * It should perform any house keeping prior to the rest. + * + * status - 1 if resetting to boot loader + * 0 if just resetting + * + ************************************************************************************/ +__EXPORT void board_on_reset(int status) +{ + for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) { + px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i))); + } + + if (status >= 0) { + up_mdelay(6); + } +} + +/************************************************************************************ + * Name: stm32_boardinitialize + * + * Description: + * All STM32 architectures must provide the following entry point. This entry point + * is called early in the initialization -- after all memory has been configured + * and mapped but before any devices have been initialized. + * + ************************************************************************************/ +__EXPORT void stm32_boardinitialize(void) +{ + /* Reset PWM first thing */ + board_on_reset(-1); + + /* configure pins */ + const uint32_t gpio[] = PX4_GPIO_INIT_LIST; + px4_gpio_init(gpio, arraySize(gpio)); + board_control_spi_sensors_power_configgpio(); + + /* configure LEDs */ + board_autoled_initialize(); +} + +/**************************************************************************** + * Name: board_app_initialize + * + * Description: + * Perform application specific initialization. This function is never + * called directly from application code, but only indirectly via the + * (non-standard) boardctl() interface using the command BOARDIOC_INIT. + * + * Input Parameters: + * arg - The boardctl() argument is passed to the board_app_initialize() + * implementation without modification. The argument has no + * meaning to NuttX; + * + * Returned Value: + * Zero (OK) is returned on success; a negated errno value is returned on + * any failure to indicate the nature of the failure. + * + ****************************************************************************/ +__EXPORT int board_app_initialize(uintptr_t arg) +{ + /* Power on Interfaces */ + board_control_spi_sensors_power(true, 0xffff); + VDD_3V3_SPEKTRUM_POWER_EN(true); + + px4_platform_init(); + + stm32_spiinitialize(); + + /* configure the DMA allocator */ + if (board_dma_alloc_init() < 0) { + syslog(LOG_ERR, "[boot] DMA alloc FAILED\n"); + } + + + /* initial LED state */ + drv_led_start(); + led_off(LED_RED); + led_on(LED_GREEN); // Indicate Power. + led_off(LED_BLUE); + + if (board_hardfault_init(2, true) != 0) { + led_on(LED_RED); + } + +#ifdef CONFIG_MMCSD + /* Mount the SDIO-based MMC/SD block driver */ + /* First, get an instance of the SDIO interface */ + struct sdio_dev_s *sdio_dev = sdio_initialize(0); // SDIO_SLOTNO 0 Only one slot + + if (!sdio_dev) { + syslog(LOG_ERR, "[boot] Failed to initialize SDIO slot %d\n", 0); + } + + if (mmcsd_slotinitialize(0, sdio_dev) != OK) { + syslog(LOG_ERR, "[boot] Failed to bind SDIO to the MMC/SD driver\n"); + } + + /* Assume that the SD card is inserted. What choice do we have? */ + sdio_mediachange(sdio_dev, true); +#endif /* CONFIG_MMCSD */ + + /* Configure the HW based on the manifest */ + + px4_platform_configure(); + + return OK; +} diff --git a/boards/3dr/ctrl-zero-h7-oem-revg/src/led.c b/boards/3dr/ctrl-zero-h7-oem-revg/src/led.c new file mode 100755 index 000000000000..0e7beb3a9e3b --- /dev/null +++ b/boards/3dr/ctrl-zero-h7-oem-revg/src/led.c @@ -0,0 +1,111 @@ +/**************************************************************************** + * + * Copyright (c) 2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file led.c + * + * LED backend. + */ + +#include + +#include + +#include "chip.h" +#include "stm32_gpio.h" +#include "board_config.h" + +#include +#include + +/* + * Ideally we'd be able to get these from arm_internal.h, + * but since we want to be able to disable the NuttX use + * of leds for system indication at will and there is no + * separate switch, we need to build independent of the + * CONFIG_ARCH_LEDS configuration switch. + */ +__BEGIN_DECLS +extern void led_init(void); +extern void led_on(int led); +extern void led_off(int led); +extern void led_toggle(int led); +__END_DECLS + +static uint32_t g_ledmap[] = { + GPIO_nLED_BLUE, // Indexed by LED_BLUE + GPIO_nLED_RED, // Indexed by LED_RED + GPIO_nLED_GREEN, // Indexed by LED_GREEN +}; + +__EXPORT void led_init(void) +{ + for (size_t l = 0; l < (sizeof(g_ledmap) / sizeof(g_ledmap[0])); l++) { + if (g_ledmap[l] != 0) { + stm32_configgpio(g_ledmap[l]); + } + } +} + +static void phy_set_led(int led, bool state) +{ + /* Drive Low to switch on */ + if (g_ledmap[led] != 0) { + stm32_gpiowrite(g_ledmap[led], !state); + } +} + +static bool phy_get_led(int led) +{ + /* If Low it is on */ + if (g_ledmap[led] != 0) { + return !stm32_gpioread(g_ledmap[led]); + } + + return false; +} + +__EXPORT void led_on(int led) +{ + phy_set_led(led, true); +} + +__EXPORT void led_off(int led) +{ + phy_set_led(led, false); +} + +__EXPORT void led_toggle(int led) +{ + phy_set_led(led, !phy_get_led(led)); +} diff --git a/boards/3dr/ctrl-zero-h7-oem-revg/src/spi.cpp b/boards/3dr/ctrl-zero-h7-oem-revg/src/spi.cpp new file mode 100755 index 000000000000..4a4c3502bbd9 --- /dev/null +++ b/boards/3dr/ctrl-zero-h7-oem-revg/src/spi.cpp @@ -0,0 +1,53 @@ +/**************************************************************************** + * + * Copyright (C) 2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include +#include +#include + +constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = { + initSPIBus(SPI::Bus::SPI1, { + initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, SPI::CS{GPIO::PortC, GPIO::Pin2}, SPI::DRDY{GPIO::PortD, GPIO::Pin15}), + initSPIDevice(DRV_IMU_DEVTYPE_ICM20948, SPI::CS{GPIO::PortE, GPIO::Pin15}, SPI::DRDY{GPIO::PortE, GPIO::Pin12}), + }, {GPIO::PortE, GPIO::Pin3}), + initSPIBus(SPI::Bus::SPI2, { + initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortD, GPIO::Pin10}), + initSPIDevice(DRV_BARO_DEVTYPE_DPS310, SPI::CS{GPIO::PortD, GPIO::Pin7}), + }), + initSPIBus(SPI::Bus::SPI5, { + initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortF, GPIO::Pin10}, SPI::DRDY{GPIO::PortF, GPIO::Pin3}), + initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortF, GPIO::Pin6}, SPI::DRDY{GPIO::PortF, GPIO::Pin1}), + }), +}; + +static constexpr bool unused = validateSPIConfig(px4_spi_buses); diff --git a/boards/3dr/ctrl-zero-h7-oem-revg/src/timer_config.cpp b/boards/3dr/ctrl-zero-h7-oem-revg/src/timer_config.cpp new file mode 100755 index 000000000000..e23880491444 --- /dev/null +++ b/boards/3dr/ctrl-zero-h7-oem-revg/src/timer_config.cpp @@ -0,0 +1,54 @@ +/**************************************************************************** + * + * Copyright (C) 2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include + +constexpr io_timers_t io_timers[MAX_IO_TIMERS] = { + initIOTimer(Timer::Timer1, DMA{DMA::Index1}), + initIOTimer(Timer::Timer4, DMA{DMA::Index1}), + initIOTimer(Timer::Timer8, DMA{DMA::Index1}), +}; + +constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = { + initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel4}, {GPIO::PortE, GPIO::Pin14}), + initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel3}, {GPIO::PortE, GPIO::Pin13}), + initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel2}, {GPIO::PortE, GPIO::Pin11}), + initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel1}, {GPIO::PortE, GPIO::Pin9}), + initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel2}, {GPIO::PortD, GPIO::Pin13}), + initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel3}, {GPIO::PortD, GPIO::Pin14}), + initIOTimerChannel(io_timers, {Timer::Timer8, Timer::Channel1}, {GPIO::PortI, GPIO::Pin5}), + initIOTimerChannel(io_timers, {Timer::Timer8, Timer::Channel2}, {GPIO::PortI, GPIO::Pin6}), +}; + +constexpr io_timers_channel_mapping_t io_timers_channel_mapping = + initIOTimerChannelMapping(io_timers, timer_io_channels); diff --git a/boards/3dr/ctrl-zero-h7-oem-revg/src/usb.c b/boards/3dr/ctrl-zero-h7-oem-revg/src/usb.c new file mode 100755 index 000000000000..fe32ce71ac63 --- /dev/null +++ b/boards/3dr/ctrl-zero-h7-oem-revg/src/usb.c @@ -0,0 +1,82 @@ +/**************************************************************************** + * + * Copyright (C) 2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file usb.c + * + * Board-specific USB functions. + */ + +#include + +#include +#include +#include +#include + +#include +#include + +#include +#include +#include +#include +#include "board_config.h" + +/************************************************************************************ + * Name: stm32_usbsuspend + * + * Description: + * Board logic must provide the stm32_usbsuspend logic if the USBDEV driver is + * used. This function is called whenever the USB enters or leaves suspend mode. + * This is an opportunity for the board logic to shutdown clocks, power, etc. + * while the USB is suspended. + * + ************************************************************************************/ +__EXPORT void stm32_usbinitialize(void) +{ + /* The OTG FS has an internal soft pull-up */ + + /* Configure the OTG FS VBUS sensing GPIO, Power On, and Overcurrent GPIOs */ + +#ifdef CONFIG_STM32H7_OTGFS + stm32_configgpio(GPIO_OTGFS_VBUS); +#endif +} + + + +__EXPORT void stm32_usbsuspend(FAR struct usbdev_s *dev, bool resume) +{ + uinfo("resume: %d\n", resume); +} diff --git a/boards/airmind/mindpx-v2/default.px4board b/boards/airmind/mindpx-v2/default.px4board index a95ace078958..33ad75b6957b 100644 --- a/boards/airmind/mindpx-v2/default.px4board +++ b/boards/airmind/mindpx-v2/default.px4board @@ -10,14 +10,15 @@ CONFIG_COMMON_BAROMETERS=y CONFIG_DRIVERS_BATT_SMBUS=y CONFIG_DRIVERS_CAMERA_CAPTURE=y CONFIG_DRIVERS_CAMERA_TRIGGER=y +CONFIG_DRIVERS_CDCACM_AUTOSTART=y CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y CONFIG_COMMON_DISTANCE_SENSOR=y CONFIG_DRIVERS_GPS=y CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y CONFIG_DRIVERS_IMU_INVENSENSE_MPU6500=y -CONFIG_DRIVERS_IMU_L3GD20=y -CONFIG_DRIVERS_IMU_LSM303D=y +CONFIG_DRIVERS_IMU_ST_L3GD20=y +CONFIG_DRIVERS_IMU_ST_LSM303D=y CONFIG_DRIVERS_IRLOCK=y CONFIG_COMMON_LIGHT=y CONFIG_COMMON_MAGNETOMETER=y diff --git a/boards/airmind/mindpx-v2/nuttx-config/nsh/defconfig b/boards/airmind/mindpx-v2/nuttx-config/nsh/defconfig index 9a19661dd193..5b1c5bea7fc5 100644 --- a/boards/airmind/mindpx-v2/nuttx-config/nsh/defconfig +++ b/boards/airmind/mindpx-v2/nuttx-config/nsh/defconfig @@ -106,7 +106,7 @@ CONFIG_I2C=y CONFIG_I2C_RESET=y CONFIG_IDLETHREAD_STACKSIZE=750 CONFIG_INIT_ENTRYPOINT="nsh_main" -CONFIG_INIT_STACKSIZE=2944 +CONFIG_INIT_STACKSIZE=3194 CONFIG_LIBC_FLOATINGPOINT=y CONFIG_LIBC_LONG_LONG=y CONFIG_LIBC_MAX_EXITFUNS=1 @@ -140,6 +140,8 @@ CONFIG_PREALLOC_TIMERS=50 CONFIG_PRIORITY_INHERITANCE=y CONFIG_PTHREAD_MUTEX_ROBUST=y CONFIG_PTHREAD_STACK_MIN=512 +CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5 +CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5 CONFIG_RAMTRON_SETSPEED=y CONFIG_RAM_SIZE=262144 CONFIG_RAM_START=0x20000000 diff --git a/boards/airmind/mindpx-v2/src/i2c.cpp b/boards/airmind/mindpx-v2/src/i2c.cpp index 5802883bfa13..2b708954d559 100644 --- a/boards/airmind/mindpx-v2/src/i2c.cpp +++ b/boards/airmind/mindpx-v2/src/i2c.cpp @@ -37,4 +37,3 @@ constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = { initI2CBusInternal(1), initI2CBusExternal(2), }; - diff --git a/boards/airmind/mindpx-v2/src/usb.c b/boards/airmind/mindpx-v2/src/usb.c index 93a008cf0f48..a714f2f6f1c1 100644 --- a/boards/airmind/mindpx-v2/src/usb.c +++ b/boards/airmind/mindpx-v2/src/usb.c @@ -105,4 +105,3 @@ __EXPORT void stm32_usbsuspend(FAR struct usbdev_s *dev, bool resume) { uinfo("resume: %d\n", resume); } - diff --git a/boards/ark/can-flow/firmware.prototype b/boards/ark/can-flow/firmware.prototype index a59e1adca629..fc0df258228e 100644 --- a/boards/ark/can-flow/firmware.prototype +++ b/boards/ark/can-flow/firmware.prototype @@ -4,7 +4,7 @@ "description": "Firmware for the ARK flow board", "image": "", "build_time": 0, - "summary": "ARFFLOW", + "summary": "ARKFLOW", "version": "0.1", "image_size": 0, "image_maxsize": 2080768, diff --git a/boards/ark/can-flow/init/rc.board_sensors b/boards/ark/can-flow/init/rc.board_sensors index 9099c97c410f..841049dc86bd 100644 --- a/boards/ark/can-flow/init/rc.board_sensors +++ b/boards/ark/can-flow/init/rc.board_sensors @@ -4,6 +4,7 @@ #------------------------------------------------------------------------------ param set-default IMU_GYRO_RATEMAX 1000 +param set-default SENS_IMU_CLPNOTI 0 # Internal SPI if ! paw3902 -s start -Y 180 diff --git a/boards/ark/can-flow/nuttx-config/nsh/defconfig b/boards/ark/can-flow/nuttx-config/nsh/defconfig index 15d145881e00..51b0692d55ba 100644 --- a/boards/ark/can-flow/nuttx-config/nsh/defconfig +++ b/boards/ark/can-flow/nuttx-config/nsh/defconfig @@ -27,7 +27,6 @@ # CONFIG_NSH_DISABLE_LOOPS is not set # CONFIG_NSH_DISABLE_LS is not set # CONFIG_NSH_DISABLE_MKDIR is not set -# CONFIG_NSH_DISABLE_MKFATFS is not set # CONFIG_NSH_DISABLE_MOUNT is not set # CONFIG_NSH_DISABLE_MV is not set # CONFIG_NSH_DISABLE_PS is not set @@ -66,17 +65,8 @@ CONFIG_DEBUG_HARDFAULT_ALERT=y CONFIG_DEBUG_SYMBOLS=y CONFIG_DEBUG_TCBINFO=y CONFIG_DEFAULT_SMALL=y -CONFIG_DEV_FIFO_SIZE=0 -CONFIG_DEV_PIPE_MAXSIZE=1024 -CONFIG_DEV_PIPE_SIZE=70 CONFIG_FDCLONE_STDIO=y -CONFIG_FS_BINFS=y CONFIG_FS_CROMFS=y -CONFIG_FS_FAT=y -CONFIG_FS_FATTIME=y -CONFIG_FS_PROCFS=y -CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y -CONFIG_FS_PROCFS_REGISTER=y CONFIG_FS_ROMFS=y CONFIG_GRAN=y CONFIG_GRAN_INTR=y @@ -88,14 +78,9 @@ CONFIG_INIT_STACKSIZE=2624 CONFIG_LIBC_FLOATINGPOINT=y CONFIG_LIBC_LONG_LONG=y CONFIG_LIBC_MAX_EXITFUNS=1 -CONFIG_LIBC_STRERROR=y CONFIG_MEMSET_64BIT=y CONFIG_MEMSET_OPTSPEED=y CONFIG_MM_REGIONS=2 -CONFIG_MTD=y -CONFIG_MTD_BYTE_WRITE=y -CONFIG_MTD_PARTITION=y -CONFIG_MTD_RAMTRON=y CONFIG_NAME_MAX=40 CONFIG_NSH_ARCHINIT=y CONFIG_NSH_ARGCAT=y @@ -108,29 +93,20 @@ CONFIG_NSH_NESTDEPTH=8 CONFIG_NSH_QUOTE=y CONFIG_NSH_ROMFSETC=y CONFIG_NSH_ROMFSSECTSIZE=128 -CONFIG_NSH_STRERROR=y CONFIG_NSH_VARS=y -CONFIG_PIPES=y CONFIG_PREALLOC_TIMERS=50 -CONFIG_PRIORITY_INHERITANCE=y CONFIG_PTHREAD_MUTEX_ROBUST=y CONFIG_PTHREAD_STACK_MIN=512 -CONFIG_RAMTRON_SETSPEED=y CONFIG_RAM_SIZE=262144 CONFIG_RAM_START=0x20000000 CONFIG_RAW_BINARY=y -CONFIG_RTC_DATETIME=y CONFIG_SCHED_HPWORK=y CONFIG_SCHED_HPWORKPRIORITY=254 CONFIG_SCHED_HPWORKSTACKSIZE=3000 CONFIG_SCHED_INSTRUMENTATION=y CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y CONFIG_SCHED_INSTRUMENTATION_SWITCH=y -CONFIG_SCHED_LPWORK=y -CONFIG_SCHED_LPWORKPRIORITY=50 -CONFIG_SCHED_LPWORKSTACKSIZE=1632 CONFIG_SCHED_WAITPID=y -CONFIG_SEM_PREALLOCHOLDERS=32 CONFIG_SERIAL_TERMIOS=y CONFIG_SIG_DEFAULT=y CONFIG_SIG_SIGALRM_ACTION=y @@ -149,11 +125,6 @@ CONFIG_STM32_FLASH_PREFETCH=y CONFIG_STM32_FLOWCONTROL_BROKEN=y CONFIG_STM32_JTAG_SW_ENABLE=y CONFIG_STM32_PWR=y -CONFIG_STM32_RTC=y -CONFIG_STM32_RTC_HSECLOCK=y -CONFIG_STM32_RTC_MAGIC=0xfacefeee -CONFIG_STM32_RTC_MAGIC_REG=1 -CONFIG_STM32_RTC_MAGIC_TIME_SET=0xfacefeef CONFIG_STM32_SERIALBRK_BSDCOMPAT=y CONFIG_STM32_SERIAL_DISABLE_REORDERING=y CONFIG_STM32_SPI1=y diff --git a/boards/ark/can-flow/src/boot_config.h b/boards/ark/can-flow/src/boot_config.h index eab3c76c6c13..76782f9a93cb 100644 --- a/boards/ark/can-flow/src/boot_config.h +++ b/boards/ark/can-flow/src/boot_config.h @@ -65,7 +65,7 @@ #define OPT_PREFERRED_NODE_ID ANY_NODE_ID //todo:wrap OPT_x in in ifdefs for command line definitions -#define OPT_TBOOT_MS 5000 +#define OPT_TBOOT_MS 3000 #define OPT_NODE_STATUS_RATE_MS 800 #define OPT_NODE_INFO_RATE_MS 50 #define OPT_BL_NUMBER_TIMERS 7 @@ -93,7 +93,7 @@ */ #define OPT_WAIT_FOR_GETNODEINFO 0 #define OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO 1 -#define OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO_INVERT 0 +#define OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO_INVERT 1 #define OPT_ENABLE_WD 1 diff --git a/boards/ark/can-flow/src/init.c b/boards/ark/can-flow/src/init.c index 8b1662d2d28c..eb5c6ec4cf76 100644 --- a/boards/ark/can-flow/src/init.c +++ b/boards/ark/can-flow/src/init.c @@ -156,8 +156,7 @@ __EXPORT int board_app_initialize(uintptr_t arg) led_on(LED_BLUE); /* Configure the HW based on the manifest */ - - px4_platform_configure(); + //px4_platform_configure(); return OK; } diff --git a/boards/ark/can-flow/uavcan_board_identity b/boards/ark/can-flow/uavcan_board_identity index 8f389d0657de..e49fbcac8af1 100644 --- a/boards/ark/can-flow/uavcan_board_identity +++ b/boards/ark/can-flow/uavcan_board_identity @@ -1,6 +1,6 @@ # UAVCAN boot loadable Module ID -set(uavcanblid_sw_version_major 0) -set(uavcanblid_sw_version_minor 1) +set(uavcanblid_sw_version_major ${PX4_VERSION_MAJOR}) +set(uavcanblid_sw_version_minor ${PX4_VERSION_MINOR}) add_definitions( -DAPP_VERSION_MAJOR=${uavcanblid_sw_version_major} -DAPP_VERSION_MINOR=${uavcanblid_sw_version_minor} @@ -14,4 +14,4 @@ add_definitions( -DHW_UAVCAN_NAME=${uavcanblid_name} -DHW_VERSION_MAJOR=${uavcanblid_hw_version_major} -DHW_VERSION_MINOR=${uavcanblid_hw_version_minor} -) \ No newline at end of file +) diff --git a/boards/ark/can-gps/init/rc.board_defaults b/boards/ark/can-gps/init/rc.board_defaults index 480d2c92c58d..13e16a24f11a 100644 --- a/boards/ark/can-gps/init/rc.board_defaults +++ b/boards/ark/can-gps/init/rc.board_defaults @@ -5,6 +5,7 @@ param set-default CBRK_IO_SAFETY 0 param set-default MBE_ENABLE 1 +param set-default SENS_IMU_CLPNOTI 0 safety_button start tone_alarm start diff --git a/boards/ark/can-gps/nuttx-config/nsh/defconfig b/boards/ark/can-gps/nuttx-config/nsh/defconfig index f734bc8168a7..4ec3cd52a291 100644 --- a/boards/ark/can-gps/nuttx-config/nsh/defconfig +++ b/boards/ark/can-gps/nuttx-config/nsh/defconfig @@ -27,7 +27,6 @@ # CONFIG_NSH_DISABLE_LOOPS is not set # CONFIG_NSH_DISABLE_LS is not set # CONFIG_NSH_DISABLE_MKDIR is not set -# CONFIG_NSH_DISABLE_MKFATFS is not set # CONFIG_NSH_DISABLE_MOUNT is not set # CONFIG_NSH_DISABLE_MV is not set # CONFIG_NSH_DISABLE_PS is not set @@ -66,17 +65,8 @@ CONFIG_DEBUG_HARDFAULT_ALERT=y CONFIG_DEBUG_SYMBOLS=y CONFIG_DEBUG_TCBINFO=y CONFIG_DEFAULT_SMALL=y -CONFIG_DEV_FIFO_SIZE=0 -CONFIG_DEV_PIPE_MAXSIZE=1024 -CONFIG_DEV_PIPE_SIZE=70 CONFIG_FDCLONE_STDIO=y -CONFIG_FS_BINFS=y CONFIG_FS_CROMFS=y -CONFIG_FS_FAT=y -CONFIG_FS_FATTIME=y -CONFIG_FS_PROCFS=y -CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y -CONFIG_FS_PROCFS_REGISTER=y CONFIG_FS_ROMFS=y CONFIG_GRAN=y CONFIG_GRAN_INTR=y @@ -90,14 +80,9 @@ CONFIG_INIT_STACKSIZE=2624 CONFIG_LIBC_FLOATINGPOINT=y CONFIG_LIBC_LONG_LONG=y CONFIG_LIBC_MAX_EXITFUNS=1 -CONFIG_LIBC_STRERROR=y CONFIG_MEMSET_64BIT=y CONFIG_MEMSET_OPTSPEED=y CONFIG_MM_REGIONS=2 -CONFIG_MTD=y -CONFIG_MTD_BYTE_WRITE=y -CONFIG_MTD_PARTITION=y -CONFIG_MTD_RAMTRON=y CONFIG_NAME_MAX=40 CONFIG_NSH_ARCHINIT=y CONFIG_NSH_ARGCAT=y @@ -110,35 +95,25 @@ CONFIG_NSH_NESTDEPTH=8 CONFIG_NSH_QUOTE=y CONFIG_NSH_ROMFSETC=y CONFIG_NSH_ROMFSSECTSIZE=128 -CONFIG_NSH_STRERROR=y CONFIG_NSH_VARS=y -CONFIG_PIPES=y CONFIG_PREALLOC_TIMERS=50 -CONFIG_PRIORITY_INHERITANCE=y CONFIG_PTHREAD_MUTEX_ROBUST=y CONFIG_PTHREAD_STACK_MIN=512 -CONFIG_RAMTRON_SETSPEED=y CONFIG_RAM_SIZE=262144 CONFIG_RAM_START=0x20000000 CONFIG_RAW_BINARY=y -CONFIG_RTC_DATETIME=y CONFIG_SCHED_HPWORK=y CONFIG_SCHED_HPWORKPRIORITY=249 CONFIG_SCHED_HPWORKSTACKSIZE=1280 CONFIG_SCHED_INSTRUMENTATION=y CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y CONFIG_SCHED_INSTRUMENTATION_SWITCH=y -CONFIG_SCHED_LPWORK=y -CONFIG_SCHED_LPWORKPRIORITY=50 -CONFIG_SCHED_LPWORKSTACKSIZE=1632 CONFIG_SCHED_WAITPID=y -CONFIG_SEM_PREALLOCHOLDERS=32 CONFIG_SERIAL_TERMIOS=y CONFIG_SIG_DEFAULT=y CONFIG_SIG_SIGALRM_ACTION=y CONFIG_SIG_SIGUSR1_ACTION=y CONFIG_SIG_SIGUSR2_ACTION=y -CONFIG_SIG_SIGWORK=4 CONFIG_STACK_COLORATION=y CONFIG_START_DAY=30 CONFIG_START_MONTH=11 @@ -153,11 +128,6 @@ CONFIG_STM32_I2C1=y CONFIG_STM32_I2C2=y CONFIG_STM32_JTAG_SW_ENABLE=y CONFIG_STM32_PWR=y -CONFIG_STM32_RTC=y -CONFIG_STM32_RTC_HSECLOCK=y -CONFIG_STM32_RTC_MAGIC=0xfacefeee -CONFIG_STM32_RTC_MAGIC_REG=1 -CONFIG_STM32_RTC_MAGIC_TIME_SET=0xfacefeef CONFIG_STM32_SERIALBRK_BSDCOMPAT=y CONFIG_STM32_SERIAL_DISABLE_REORDERING=y CONFIG_STM32_SPI1=y diff --git a/boards/ark/can-gps/src/boot_config.h b/boards/ark/can-gps/src/boot_config.h index eab3c76c6c13..76782f9a93cb 100644 --- a/boards/ark/can-gps/src/boot_config.h +++ b/boards/ark/can-gps/src/boot_config.h @@ -65,7 +65,7 @@ #define OPT_PREFERRED_NODE_ID ANY_NODE_ID //todo:wrap OPT_x in in ifdefs for command line definitions -#define OPT_TBOOT_MS 5000 +#define OPT_TBOOT_MS 3000 #define OPT_NODE_STATUS_RATE_MS 800 #define OPT_NODE_INFO_RATE_MS 50 #define OPT_BL_NUMBER_TIMERS 7 @@ -93,7 +93,7 @@ */ #define OPT_WAIT_FOR_GETNODEINFO 0 #define OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO 1 -#define OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO_INVERT 0 +#define OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO_INVERT 1 #define OPT_ENABLE_WD 1 diff --git a/boards/ark/can-gps/src/init.c b/boards/ark/can-gps/src/init.c index f6b32dd8d107..aee537738269 100644 --- a/boards/ark/can-gps/src/init.c +++ b/boards/ark/can-gps/src/init.c @@ -156,8 +156,7 @@ __EXPORT int board_app_initialize(uintptr_t arg) #endif // FLASH_BASED_PARAMS /* Configure the HW based on the manifest */ - - px4_platform_configure(); + //px4_platform_configure(); return OK; } diff --git a/boards/ark/can-gps/uavcan_board_identity b/boards/ark/can-gps/uavcan_board_identity index ca6d098e5942..00b23ea0287e 100644 --- a/boards/ark/can-gps/uavcan_board_identity +++ b/boards/ark/can-gps/uavcan_board_identity @@ -1,6 +1,6 @@ # UAVCAN boot loadable Module ID -set(uavcanblid_sw_version_major 0) -set(uavcanblid_sw_version_minor 1) +set(uavcanblid_sw_version_major ${PX4_VERSION_MAJOR}) +set(uavcanblid_sw_version_minor ${PX4_VERSION_MINOR}) add_definitions( -DAPP_VERSION_MAJOR=${uavcanblid_sw_version_major} -DAPP_VERSION_MINOR=${uavcanblid_sw_version_minor} diff --git a/boards/ark/can-rtk-gps/init/rc.board_defaults b/boards/ark/can-rtk-gps/init/rc.board_defaults index 10419cee6b0b..99b30c747f8a 100644 --- a/boards/ark/can-rtk-gps/init/rc.board_defaults +++ b/boards/ark/can-rtk-gps/init/rc.board_defaults @@ -6,7 +6,9 @@ param set-default CBRK_IO_SAFETY 0 param set-default CANNODE_SUB_MBD 1 param set-default CANNODE_SUB_RTCM 1 +param set-default GPS_1_GNSS 63 param set-default MBE_ENABLE 1 +param set-default SENS_IMU_CLPNOTI 0 safety_button start tone_alarm start diff --git a/boards/ark/can-rtk-gps/init/rc.board_sensors b/boards/ark/can-rtk-gps/init/rc.board_sensors index d74d5f74b24d..545850dc8b63 100644 --- a/boards/ark/can-rtk-gps/init/rc.board_sensors +++ b/boards/ark/can-rtk-gps/init/rc.board_sensors @@ -6,6 +6,9 @@ gps start -d /dev/ttyS0 -p ubx icm42688p -R 0 -s start -bmp388 -I -b 2 start +if ! bmp388 -I -b 2 start +then + bmp388 -I -b 1 start +fi bmm150 -I -b 1 start diff --git a/boards/ark/can-rtk-gps/nuttx-config/nsh/defconfig b/boards/ark/can-rtk-gps/nuttx-config/nsh/defconfig index ba2d6f2143ab..2ef6e15d9a7e 100644 --- a/boards/ark/can-rtk-gps/nuttx-config/nsh/defconfig +++ b/boards/ark/can-rtk-gps/nuttx-config/nsh/defconfig @@ -27,7 +27,6 @@ # CONFIG_NSH_DISABLE_LOOPS is not set # CONFIG_NSH_DISABLE_LS is not set # CONFIG_NSH_DISABLE_MKDIR is not set -# CONFIG_NSH_DISABLE_MKFATFS is not set # CONFIG_NSH_DISABLE_MOUNT is not set # CONFIG_NSH_DISABLE_MV is not set # CONFIG_NSH_DISABLE_PS is not set @@ -66,17 +65,8 @@ CONFIG_DEBUG_HARDFAULT_ALERT=y CONFIG_DEBUG_SYMBOLS=y CONFIG_DEBUG_TCBINFO=y CONFIG_DEFAULT_SMALL=y -CONFIG_DEV_FIFO_SIZE=0 -CONFIG_DEV_PIPE_MAXSIZE=1024 -CONFIG_DEV_PIPE_SIZE=70 CONFIG_FDCLONE_STDIO=y -CONFIG_FS_BINFS=y CONFIG_FS_CROMFS=y -CONFIG_FS_FAT=y -CONFIG_FS_FATTIME=y -CONFIG_FS_PROCFS=y -CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y -CONFIG_FS_PROCFS_REGISTER=y CONFIG_FS_ROMFS=y CONFIG_GRAN=y CONFIG_GRAN_INTR=y @@ -90,14 +80,9 @@ CONFIG_INIT_STACKSIZE=2624 CONFIG_LIBC_FLOATINGPOINT=y CONFIG_LIBC_LONG_LONG=y CONFIG_LIBC_MAX_EXITFUNS=1 -CONFIG_LIBC_STRERROR=y CONFIG_MEMSET_64BIT=y CONFIG_MEMSET_OPTSPEED=y CONFIG_MM_REGIONS=2 -CONFIG_MTD=y -CONFIG_MTD_BYTE_WRITE=y -CONFIG_MTD_PARTITION=y -CONFIG_MTD_RAMTRON=y CONFIG_NAME_MAX=40 CONFIG_NSH_ARCHINIT=y CONFIG_NSH_ARGCAT=y @@ -110,29 +95,20 @@ CONFIG_NSH_NESTDEPTH=8 CONFIG_NSH_QUOTE=y CONFIG_NSH_ROMFSETC=y CONFIG_NSH_ROMFSSECTSIZE=128 -CONFIG_NSH_STRERROR=y CONFIG_NSH_VARS=y -CONFIG_PIPES=y CONFIG_PREALLOC_TIMERS=50 -CONFIG_PRIORITY_INHERITANCE=y CONFIG_PTHREAD_MUTEX_ROBUST=y CONFIG_PTHREAD_STACK_MIN=512 -CONFIG_RAMTRON_SETSPEED=y CONFIG_RAM_SIZE=262144 CONFIG_RAM_START=0x20000000 CONFIG_RAW_BINARY=y -CONFIG_RTC_DATETIME=y CONFIG_SCHED_HPWORK=y CONFIG_SCHED_HPWORKPRIORITY=249 CONFIG_SCHED_HPWORKSTACKSIZE=1280 CONFIG_SCHED_INSTRUMENTATION=y CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y CONFIG_SCHED_INSTRUMENTATION_SWITCH=y -CONFIG_SCHED_LPWORK=y -CONFIG_SCHED_LPWORKPRIORITY=50 -CONFIG_SCHED_LPWORKSTACKSIZE=1632 CONFIG_SCHED_WAITPID=y -CONFIG_SEM_PREALLOCHOLDERS=32 CONFIG_SERIAL_TERMIOS=y CONFIG_SIG_DEFAULT=y CONFIG_SIG_SIGALRM_ACTION=y @@ -153,11 +129,6 @@ CONFIG_STM32_I2C1=y CONFIG_STM32_I2C2=y CONFIG_STM32_JTAG_SW_ENABLE=y CONFIG_STM32_PWR=y -CONFIG_STM32_RTC=y -CONFIG_STM32_RTC_HSECLOCK=y -CONFIG_STM32_RTC_MAGIC=0xfacefeee -CONFIG_STM32_RTC_MAGIC_REG=1 -CONFIG_STM32_RTC_MAGIC_TIME_SET=0xfacefeef CONFIG_STM32_SERIALBRK_BSDCOMPAT=y CONFIG_STM32_SERIAL_DISABLE_REORDERING=y CONFIG_STM32_SPI1=y diff --git a/boards/ark/can-rtk-gps/src/board_config.h b/boards/ark/can-rtk-gps/src/board_config.h index 2263956bae0f..2d5f582075f1 100644 --- a/boards/ark/can-rtk-gps/src/board_config.h +++ b/boards/ark/can-rtk-gps/src/board_config.h @@ -47,7 +47,7 @@ #define GPIO_BTN_SAFETY /* PB15 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTB|GPIO_PIN15) /* Safety LED */ -#define GPIO_LED_SAFETY /* PA1 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN1) +#define GPIO_LED_SAFETY /* PA1 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN1) /* Tone alarm output. */ #define TONE_ALARM_TIMER 2 /* timer 2 */ diff --git a/boards/ark/can-rtk-gps/src/boot_config.h b/boards/ark/can-rtk-gps/src/boot_config.h index eab3c76c6c13..76782f9a93cb 100644 --- a/boards/ark/can-rtk-gps/src/boot_config.h +++ b/boards/ark/can-rtk-gps/src/boot_config.h @@ -65,7 +65,7 @@ #define OPT_PREFERRED_NODE_ID ANY_NODE_ID //todo:wrap OPT_x in in ifdefs for command line definitions -#define OPT_TBOOT_MS 5000 +#define OPT_TBOOT_MS 3000 #define OPT_NODE_STATUS_RATE_MS 800 #define OPT_NODE_INFO_RATE_MS 50 #define OPT_BL_NUMBER_TIMERS 7 @@ -93,7 +93,7 @@ */ #define OPT_WAIT_FOR_GETNODEINFO 0 #define OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO 1 -#define OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO_INVERT 0 +#define OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO_INVERT 1 #define OPT_ENABLE_WD 1 diff --git a/boards/ark/can-rtk-gps/src/init.c b/boards/ark/can-rtk-gps/src/init.c index 7405575781e5..61226d675491 100644 --- a/boards/ark/can-rtk-gps/src/init.c +++ b/boards/ark/can-rtk-gps/src/init.c @@ -162,8 +162,7 @@ __EXPORT int board_app_initialize(uintptr_t arg) #endif // FLASH_BASED_PARAMS /* Configure the HW based on the manifest */ - - px4_platform_configure(); + //px4_platform_configure(); return OK; } diff --git a/boards/ark/can-rtk-gps/uavcan_board_identity b/boards/ark/can-rtk-gps/uavcan_board_identity index 5db21a4ffb03..655384bc07cb 100644 --- a/boards/ark/can-rtk-gps/uavcan_board_identity +++ b/boards/ark/can-rtk-gps/uavcan_board_identity @@ -1,6 +1,6 @@ # UAVCAN boot loadable Module ID -set(uavcanblid_sw_version_major 0) -set(uavcanblid_sw_version_minor 1) +set(uavcanblid_sw_version_major ${PX4_VERSION_MAJOR}) +set(uavcanblid_sw_version_minor ${PX4_VERSION_MINOR}) add_definitions( -DAPP_VERSION_MAJOR=${uavcanblid_sw_version_major} -DAPP_VERSION_MINOR=${uavcanblid_sw_version_minor} diff --git a/boards/ark/cannode/default.px4board b/boards/ark/cannode/default.px4board index c72afa6316b3..d875f6b8211f 100644 --- a/boards/ark/cannode/default.px4board +++ b/boards/ark/cannode/default.px4board @@ -14,12 +14,14 @@ CONFIG_DRIVERS_DSHOT=y CONFIG_DRIVERS_GPS=y CONFIG_COMMON_HYGROMETERS=y CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=y +CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16507=y CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y CONFIG_DRIVERS_IRLOCK=y CONFIG_COMMON_LIGHT=y CONFIG_COMMON_MAGNETOMETER=y CONFIG_COMMON_OPTICAL_FLOW=y +CONFIG_COMMON_OSD=y CONFIG_DRIVERS_PWM_OUT=y CONFIG_BOARD_UAVCAN_INTERFACES=1 CONFIG_DRIVERS_UAVCANNODE=y diff --git a/boards/ark/cannode/init/rc.board_defaults b/boards/ark/cannode/init/rc.board_defaults index 7de93ad4e854..7d149ce5ad49 100644 --- a/boards/ark/cannode/init/rc.board_defaults +++ b/boards/ark/cannode/init/rc.board_defaults @@ -3,6 +3,8 @@ # board specific defaults #------------------------------------------------------------------------------ +param set-default SENS_IMU_CLPNOTI 0 + pwm_out start dshot start diff --git a/boards/ark/cannode/nuttx-config/nsh/defconfig b/boards/ark/cannode/nuttx-config/nsh/defconfig index a0882b71bea4..f3a6224b2d50 100644 --- a/boards/ark/cannode/nuttx-config/nsh/defconfig +++ b/boards/ark/cannode/nuttx-config/nsh/defconfig @@ -27,7 +27,6 @@ # CONFIG_NSH_DISABLE_LOOPS is not set # CONFIG_NSH_DISABLE_LS is not set # CONFIG_NSH_DISABLE_MKDIR is not set -# CONFIG_NSH_DISABLE_MKFATFS is not set # CONFIG_NSH_DISABLE_MOUNT is not set # CONFIG_NSH_DISABLE_MV is not set # CONFIG_NSH_DISABLE_PS is not set @@ -66,17 +65,8 @@ CONFIG_DEBUG_HARDFAULT_ALERT=y CONFIG_DEBUG_SYMBOLS=y CONFIG_DEBUG_TCBINFO=y CONFIG_DEFAULT_SMALL=y -CONFIG_DEV_FIFO_SIZE=0 -CONFIG_DEV_PIPE_MAXSIZE=1024 -CONFIG_DEV_PIPE_SIZE=70 CONFIG_FDCLONE_STDIO=y -CONFIG_FS_BINFS=y CONFIG_FS_CROMFS=y -CONFIG_FS_FAT=y -CONFIG_FS_FATTIME=y -CONFIG_FS_PROCFS=y -CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y -CONFIG_FS_PROCFS_REGISTER=y CONFIG_FS_ROMFS=y CONFIG_GRAN=y CONFIG_GRAN_INTR=y @@ -90,14 +80,9 @@ CONFIG_INIT_STACKSIZE=2624 CONFIG_LIBC_FLOATINGPOINT=y CONFIG_LIBC_LONG_LONG=y CONFIG_LIBC_MAX_EXITFUNS=1 -CONFIG_LIBC_STRERROR=y CONFIG_MEMSET_64BIT=y CONFIG_MEMSET_OPTSPEED=y CONFIG_MM_REGIONS=2 -CONFIG_MTD=y -CONFIG_MTD_BYTE_WRITE=y -CONFIG_MTD_PARTITION=y -CONFIG_MTD_RAMTRON=y CONFIG_NAME_MAX=40 CONFIG_NSH_ARCHINIT=y CONFIG_NSH_ARGCAT=y @@ -110,29 +95,20 @@ CONFIG_NSH_NESTDEPTH=8 CONFIG_NSH_QUOTE=y CONFIG_NSH_ROMFSETC=y CONFIG_NSH_ROMFSSECTSIZE=128 -CONFIG_NSH_STRERROR=y CONFIG_NSH_VARS=y -CONFIG_PIPES=y CONFIG_PREALLOC_TIMERS=50 -CONFIG_PRIORITY_INHERITANCE=y CONFIG_PTHREAD_MUTEX_ROBUST=y CONFIG_PTHREAD_STACK_MIN=512 -CONFIG_RAMTRON_SETSPEED=y CONFIG_RAM_SIZE=262144 CONFIG_RAM_START=0x20000000 CONFIG_RAW_BINARY=y -CONFIG_RTC_DATETIME=y CONFIG_SCHED_HPWORK=y CONFIG_SCHED_HPWORKPRIORITY=254 CONFIG_SCHED_HPWORKSTACKSIZE=3000 CONFIG_SCHED_INSTRUMENTATION=y CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y CONFIG_SCHED_INSTRUMENTATION_SWITCH=y -CONFIG_SCHED_LPWORK=y -CONFIG_SCHED_LPWORKPRIORITY=50 -CONFIG_SCHED_LPWORKSTACKSIZE=1632 CONFIG_SCHED_WAITPID=y -CONFIG_SEM_PREALLOCHOLDERS=32 CONFIG_SERIAL_TERMIOS=y CONFIG_SIG_DEFAULT=y CONFIG_SIG_SIGALRM_ACTION=y @@ -153,11 +129,6 @@ CONFIG_STM32_FLOWCONTROL_BROKEN=y CONFIG_STM32_I2C1=y CONFIG_STM32_JTAG_SW_ENABLE=y CONFIG_STM32_PWR=y -CONFIG_STM32_RTC=y -CONFIG_STM32_RTC_HSECLOCK=y -CONFIG_STM32_RTC_MAGIC=0xfacefeee -CONFIG_STM32_RTC_MAGIC_REG=1 -CONFIG_STM32_RTC_MAGIC_TIME_SET=0xfacefeef CONFIG_STM32_SERIALBRK_BSDCOMPAT=y CONFIG_STM32_SERIAL_DISABLE_REORDERING=y CONFIG_STM32_SPI1=y diff --git a/boards/ark/cannode/src/boot_config.h b/boards/ark/cannode/src/boot_config.h index eab3c76c6c13..b43795ac4cb9 100644 --- a/boards/ark/cannode/src/boot_config.h +++ b/boards/ark/cannode/src/boot_config.h @@ -65,7 +65,7 @@ #define OPT_PREFERRED_NODE_ID ANY_NODE_ID //todo:wrap OPT_x in in ifdefs for command line definitions -#define OPT_TBOOT_MS 5000 +#define OPT_TBOOT_MS 3000 #define OPT_NODE_STATUS_RATE_MS 800 #define OPT_NODE_INFO_RATE_MS 50 #define OPT_BL_NUMBER_TIMERS 7 @@ -92,8 +92,12 @@ * */ #define OPT_WAIT_FOR_GETNODEINFO 0 -#define OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO 1 -#define OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO_INVERT 0 +/* The ARK CANnode uses PH1 for GPIO_BOOT_CONFIG but it is not + * compatible with px4_arch_gpioread as Port H = 7 which is greater + * than STM32_NPORTS + * #define OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO 0 + */ +#define OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO_INVERT 1 #define OPT_ENABLE_WD 1 diff --git a/boards/ark/cannode/src/init.c b/boards/ark/cannode/src/init.c index 7eb98e4a1564..e6e373b08b98 100644 --- a/boards/ark/cannode/src/init.c +++ b/boards/ark/cannode/src/init.c @@ -180,8 +180,7 @@ __EXPORT int board_app_initialize(uintptr_t arg) #endif // FLASH_BASED_PARAMS /* Configure the HW based on the manifest */ - - px4_platform_configure(); + //px4_platform_configure(); return OK; } diff --git a/boards/ark/cannode/uavcan_board_identity b/boards/ark/cannode/uavcan_board_identity index 44ea18cc7d39..490b7678bde1 100644 --- a/boards/ark/cannode/uavcan_board_identity +++ b/boards/ark/cannode/uavcan_board_identity @@ -1,6 +1,6 @@ # UAVCAN boot loadable Module ID -set(uavcanblid_sw_version_major 0) -set(uavcanblid_sw_version_minor 1) +set(uavcanblid_sw_version_major ${PX4_VERSION_MAJOR}) +set(uavcanblid_sw_version_minor ${PX4_VERSION_MINOR}) add_definitions( -DAPP_VERSION_MAJOR=${uavcanblid_sw_version_major} -DAPP_VERSION_MINOR=${uavcanblid_sw_version_minor} diff --git a/boards/ark/fmu-v6x/default.px4board b/boards/ark/fmu-v6x/default.px4board index 4a6af4f6d8be..92bf7cb23895 100644 --- a/boards/ark/fmu-v6x/default.px4board +++ b/boards/ark/fmu-v6x/default.px4board @@ -7,11 +7,13 @@ CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS6" CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS4" CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS1" CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS3" +CONFIG_BOARD_SERIAL_RC="/dev/ttyS5" CONFIG_DRIVERS_ADC_BOARD_ADC=y CONFIG_DRIVERS_BAROMETER_BMP388=y CONFIG_DRIVERS_BATT_SMBUS=y CONFIG_DRIVERS_CAMERA_CAPTURE=y CONFIG_DRIVERS_CAMERA_TRIGGER=y +CONFIG_DRIVERS_CDCACM_AUTOSTART=y CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y CONFIG_COMMON_DISTANCE_SENSOR=y CONFIG_DRIVERS_DSHOT=y @@ -20,6 +22,8 @@ CONFIG_DRIVERS_HEATER=y CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16507=y CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y CONFIG_DRIVERS_IMU_INVENSENSE_IIM42652=y +CONFIG_DRIVERS_IMU_INVENSENSE_IIM42653=y +CONFIG_DRIVERS_IMU_MURATA_SCH16T=y CONFIG_COMMON_LIGHT=y CONFIG_COMMON_MAGNETOMETER=y CONFIG_COMMON_OPTICAL_FLOW=y @@ -28,7 +32,7 @@ CONFIG_DRIVERS_POWER_MONITOR_INA228=y CONFIG_DRIVERS_POWER_MONITOR_INA238=y CONFIG_DRIVERS_PWM_OUT=y CONFIG_DRIVERS_PX4IO=y -CONFIG_DRIVERS_RC_INPUT=y +CONFIG_COMMON_RC=y CONFIG_DRIVERS_SAFETY_BUTTON=y CONFIG_DRIVERS_TONE_ALARM=y CONFIG_DRIVERS_UAVCAN=y @@ -56,6 +60,7 @@ CONFIG_MODULES_LOGGER=y CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y CONFIG_MODULES_MANUAL_CONTROL=y CONFIG_MODULES_MAVLINK=y +CONFIG_MAVLINK_DIALECT="development" CONFIG_MODULES_MC_ATT_CONTROL=y CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y diff --git a/boards/ark/fmu-v6x/extras/ark_fmu-v6x_bootloader.bin b/boards/ark/fmu-v6x/extras/ark_fmu-v6x_bootloader.bin index bbe99d9659f8..ea510ab36e38 100755 Binary files a/boards/ark/fmu-v6x/extras/ark_fmu-v6x_bootloader.bin and b/boards/ark/fmu-v6x/extras/ark_fmu-v6x_bootloader.bin differ diff --git a/boards/ark/fmu-v6x/extras/px4_io-v2_default.bin b/boards/ark/fmu-v6x/extras/px4_io-v2_default.bin index 957f0f13a12e..145089ae0d7c 100755 Binary files a/boards/ark/fmu-v6x/extras/px4_io-v2_default.bin and b/boards/ark/fmu-v6x/extras/px4_io-v2_default.bin differ diff --git a/boards/ark/fmu-v6x/init/rc.board_defaults b/boards/ark/fmu-v6x/init/rc.board_defaults index 2f2c8cfeaec7..52d098101df1 100644 --- a/boards/ark/fmu-v6x/init/rc.board_defaults +++ b/boards/ark/fmu-v6x/init/rc.board_defaults @@ -17,17 +17,19 @@ param set-default SENS_EN_INA228 0 param set-default SENS_EN_INA226 1 param set-default SENS_EN_THERMAL 1 -param set-default SENS_TEMP_ID 2818058 param set-default SENS_IMU_TEMP 10.0 #param set-default SENS_IMU_TEMP_FF 0.0 #param set-default SENS_IMU_TEMP_I 0.025 #param set-default SENS_IMU_TEMP_P 1.0 -if ver hwtypecmp ARKV6X001000 ARKV6X001001 ARKV6X001002 ARKV6X001003 ARKV6X001004 ARKV6X001005 ARKV6X001006 ARKV6X001007 +if ver hwtypecmp ARKV6X000 then - param set-default SYS_USE_IO 0 -else - param set-default SYS_USE_IO 1 + param set-default SENS_TEMP_ID 2818058 +fi + +if ver hwtypecmp ARKV6X001 +then + param set-default SENS_TEMP_ID 3014666 fi safety_button start diff --git a/boards/ark/fmu-v6x/init/rc.board_sensors b/boards/ark/fmu-v6x/init/rc.board_sensors index 84f985cecbc8..a3e32486df80 100644 --- a/boards/ark/fmu-v6x/init/rc.board_sensors +++ b/boards/ark/fmu-v6x/init/rc.board_sensors @@ -3,10 +3,12 @@ # ARK FMUARKV6X specific board sensors init #------------------------------------------------------------------------------ set HAVE_PM2 yes +set HAVE_PM3 yes -if ver hwtypecmp ARKV6X005000 ARKV6X005001 ARKV6X005002 ARKV6X005003 ARKV6X005004 +if mft query -q -k MFT -s MFT_PM2 -v 0 then set HAVE_PM2 no + set HAVE_PM3 no fi if param compare -s ADC_ADS1115_EN 1 @@ -25,36 +27,71 @@ then then ina226 -X -b 2 -t 2 -k start fi + + if [ $HAVE_PM3 = yes ] + then + ina226 -X -b 3 -t 3 -k start + fi fi if param compare SENS_EN_INA228 1 then # Start Digital power monitors ina228 -X -b 1 -t 1 -k start + if [ $HAVE_PM2 = yes ] then ina228 -X -b 2 -t 2 -k start fi + + if [ $HAVE_PM3 = yes ] + then + ina228 -X -b 3 -t 3 -k start + fi fi if param compare SENS_EN_INA238 1 then # Start Digital power monitors ina238 -X -b 1 -t 1 -k start + if [ $HAVE_PM2 = yes ] then ina238 -X -b 2 -t 2 -k start fi + + if [ $HAVE_PM3 = yes ] + then + ina238 -X -b 3 -t 3 -k start + fi fi -# Internal SPI bus IIM42652 with SPIX measured frequency of 32.051kHz -iim42652 -R 3 -s -b 1 -C 32051 start +if ver hwtypecmp ARKV6X000 +then + # Internal SPI bus IIM42652 with SPIX measured frequency of 32.051kHz + iim42652 -R 3 -s -b 1 -C 32051 start -# Internal SPI bus ICM42688p with SPIX measured frequency of 32.051kHz -icm42688p -R 9 -s -b 2 -C 32051 start + # Internal SPI bus ICM42688p with SPIX measured frequency of 32.051kHz + icm42688p -R 9 -s -b 2 -C 32051 start + + # Internal SPI bus ICM42688p with SPIX measured frequency of 32.051kHz + icm42688p -R 6 -s -b 3 -C 32051 start +fi -# Internal SPI bus ICM42688p with SPIX measured frequency of 32.051kHz -icm42688p -R 6 -s -b 3 -C 32051 start +if ver hwtypecmp ARKV6X001 +then + # Internal SPI bus IIM42653 with SPIX measured frequency of 32.051kHz + #iim42653 -R 3 -s -b 1 -C 32051 start + iim42653 -R 3 -s -b 1 start + + # Internal SPI bus IIM42653 with SPIX measured frequency of 32.051kHz + #iim42653 -R 9 -s -b 2 -C 32051 start + iim42653 -R 9 -s -b 2 start + + # Internal SPI bus IIM42653 with SPIX measured frequency of 32.051kHz + #iim42653 -R 6 -s -b 3 -C 32051 start + iim42653 -R 6 -s -b 3 start +fi # Internal magnetometer on I2C bmm150 -I start @@ -63,3 +100,4 @@ bmm150 -I start bmp388 -I start unset HAVE_PM2 +unset HAVE_PM3 diff --git a/boards/ark/fmu-v6x/nuttx-config/bootloader/defconfig b/boards/ark/fmu-v6x/nuttx-config/bootloader/defconfig index 97fe8b793718..c830932873df 100644 --- a/boards/ark/fmu-v6x/nuttx-config/bootloader/defconfig +++ b/boards/ark/fmu-v6x/nuttx-config/bootloader/defconfig @@ -7,6 +7,7 @@ # # CONFIG_DEV_CONSOLE is not set # CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set +# CONFIG_DISABLE_PTHREAD is not set # CONFIG_SPI_EXCHANGE is not set # CONFIG_STM32H7_SYSCFG is not set CONFIG_ARCH="arm" @@ -48,13 +49,14 @@ CONFIG_HAVE_CXX=y CONFIG_HAVE_CXXINITIALIZE=y CONFIG_IDLETHREAD_STACKSIZE=750 CONFIG_INIT_ENTRYPOINT="bootloader_main" -CONFIG_INIT_STACKSIZE=2944 +CONFIG_INIT_STACKSIZE=3194 CONFIG_LIBC_FLOATINGPOINT=y CONFIG_LIBC_LONG_LONG=y CONFIG_LIBC_STRERROR=y CONFIG_MEMSET_64BIT=y CONFIG_MEMSET_OPTSPEED=y CONFIG_PREALLOC_TIMERS=50 +CONFIG_PTHREAD_MUTEX_ROBUST=y CONFIG_PTHREAD_STACK_MIN=512 CONFIG_RAM_SIZE=245760 CONFIG_RAM_START=0x20010000 diff --git a/boards/ark/fmu-v6x/nuttx-config/include/board.h b/boards/ark/fmu-v6x/nuttx-config/include/board.h index b29b8fc6865f..fa82671a826f 100644 --- a/boards/ark/fmu-v6x/nuttx-config/include/board.h +++ b/boards/ark/fmu-v6x/nuttx-config/include/board.h @@ -248,7 +248,7 @@ /* ADC 1 2 3 clock source */ -#define STM32_RCC_D3CCIPR_ADCSEL RCC_D3CCIPR_ADCSEL_PLL2 +#define STM32_RCC_D3CCIPR_ADCSRC RCC_D3CCIPR_ADCSEL_PLL2 /* FDCAN 1 2 clock source */ @@ -380,14 +380,14 @@ #define GPIO_UART5_RX GPIO_UART5_RX_3 /* PD2 */ #define GPIO_UART5_TX GPIO_UART5_TX_3 /* PC12 */ // GPIO_UART5_RTS No remap /* PC8 */ -// GPIO_UART5_CTS No remap /* PC9 */ +#define GPIO_UART5_CTS (GPIO_ALT|GPIO_AF8|GPIO_PORTC|GPIO_PIN9|GPIO_PULLDOWN) /* PC9 */ #define GPIO_USART6_RX GPIO_USART6_RX_1 /* PC7 */ #define GPIO_USART6_TX GPIO_USART6_TX_1 /* PC6 */ #define GPIO_UART7_RX GPIO_UART7_RX_4 /* PF6 */ #define GPIO_UART7_TX GPIO_UART7_TX_3 /* PE8 */ -#define GPIO_UART7_RTS (GPIO_UART7_RTS_2 | GPIO_PULLDOWN) /* PF8 */ +#define GPIO_UART7_RTS GPIO_UART7_RTS_2 /* PF8 */ #define GPIO_UART7_CTS (GPIO_UART7_CTS_1 | GPIO_PULLDOWN) /* PE10 */ #define GPIO_UART8_RX GPIO_UART8_RX_1 /* PE0 */ diff --git a/boards/ark/fmu-v6x/nuttx-config/nsh/defconfig b/boards/ark/fmu-v6x/nuttx-config/nsh/defconfig index 212213f99435..f5e59d2c3781 100644 --- a/boards/ark/fmu-v6x/nuttx-config/nsh/defconfig +++ b/boards/ark/fmu-v6x/nuttx-config/nsh/defconfig @@ -118,7 +118,7 @@ CONFIG_I2C=y CONFIG_I2C_RESET=y CONFIG_IDLETHREAD_STACKSIZE=750 CONFIG_INIT_ENTRYPOINT="nsh_main" -CONFIG_INIT_STACKSIZE=2944 +CONFIG_INIT_STACKSIZE=3194 CONFIG_IOB_NBUFFERS=24 CONFIG_IOB_THROTTLE=0 CONFIG_IPCFG_BINARY=y @@ -147,8 +147,8 @@ CONFIG_NETDB_DNSSERVER_NOADDR=y CONFIG_NETDEV_PHY_IOCTL=y CONFIG_NETINIT_DHCPC=y CONFIG_NETINIT_DNS=y -CONFIG_NETINIT_DNSIPADDR=0XC0A800FE -CONFIG_NETINIT_DRIPADDR=0XC0A800FE +CONFIG_NETINIT_DNSIPADDR=0xA290AFE +CONFIG_NETINIT_DRIPADDR=0xA290AFE CONFIG_NETINIT_MONITOR=y CONFIG_NETINIT_THREAD=y CONFIG_NETINIT_THREAD_PRIORITY=49 @@ -189,6 +189,8 @@ CONFIG_PREALLOC_TIMERS=50 CONFIG_PRIORITY_INHERITANCE=y CONFIG_PTHREAD_MUTEX_ROBUST=y CONFIG_PTHREAD_STACK_MIN=512 +CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5 +CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5 CONFIG_RAMTRON_SETSPEED=y CONFIG_RAM_SIZE=245760 CONFIG_RAM_START=0x20010000 @@ -292,7 +294,7 @@ CONFIG_UART4_TXBUFSIZE=1500 CONFIG_UART5_IFLOWCONTROL=y CONFIG_UART5_OFLOWCONTROL=y CONFIG_UART5_RXDMA=y -CONFIG_UART5_TXBUFSIZE=3000 +CONFIG_UART5_TXBUFSIZE=10000 CONFIG_UART5_TXDMA=y CONFIG_UART7_BAUD=57600 CONFIG_UART7_IFLOWCONTROL=y diff --git a/boards/ark/fmu-v6x/src/CMakeLists.txt b/boards/ark/fmu-v6x/src/CMakeLists.txt index 3135751c666e..78b8222f19d8 100644 --- a/boards/ark/fmu-v6x/src/CMakeLists.txt +++ b/boards/ark/fmu-v6x/src/CMakeLists.txt @@ -55,7 +55,6 @@ else() init.c led.c mtd.cpp - manifest.c sdio.c spi.cpp spix_sync.c diff --git a/boards/ark/fmu-v6x/src/board_config.h b/boards/ark/fmu-v6x/src/board_config.h index 1317d426680e..04b84631c760 100644 --- a/boards/ark/fmu-v6x/src/board_config.h +++ b/boards/ark/fmu-v6x/src/board_config.h @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2016-2022 PX4 Development Team. All rights reserved. + * Copyright (c) 2016-2024 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -204,30 +204,17 @@ #define BOARD_ADC_OPEN_CIRCUIT_V (5.6f) /* HW Version and Revision drive signals Default to 1 to detect */ -#define BOARD_HAS_HW_VERSIONING +#define BOARD_HAS_HW_SPLIT_VERSIONING #define GPIO_HW_VER_REV_DRIVE /* PG0 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN0) #define GPIO_HW_REV_SENSE /* PH4 */ GPIO_ADC3_INP15 #define GPIO_HW_VER_SENSE /* PH3 */ GPIO_ADC3_INP14 #define HW_INFO_INIT_PREFIX "ARKV6X" -#define BOARD_NUM_SPI_CFG_HW_VERSIONS 2 // Rev 0 and Rev 3,4 Sensor sets +#define BOARD_NUM_SPI_CFG_HW_VERSIONS 2 // Base/FMUM -#define ARKV6X00 HW_VER_REV(0x0,0x0) // ARKV6X, Rev 0 -#define ARKV6X01 HW_VER_REV(0x0,0x1) // ARKV6X, BMI388 I2C2 Rev 1 -#define ARKV6X03 HW_VER_REV(0x0,0x3) // ARKV6X, Sensor Set Rev 3 -#define ARKV6X04 HW_VER_REV(0x0,0x4) // ARKV6X, Sensor Set Rev 4 -#define ARKV6X10 HW_VER_REV(0x1,0x0) // NO PX4IO, Rev 0 -#define ARKV6X13 HW_VER_REV(0x1,0x3) // NO PX4IO, Sensor Set Rev 3 -#define ARKV6X14 HW_VER_REV(0x1,0x4) // NO PX4IO, Sensor Set Rev 4 -//#define ARKV6X40 HW_VER_REV(0x4,0x0) // ARKV6X, HB CM4 base Rev 0 // never shipped -//#define ARKV6X41 HW_VER_REV(0x4,0x1) // ARKV6X, BMI388 I2C2 HB CM4 base Rev 1 // never shipped -#define ARKV6X43 HW_VER_REV(0x4,0x3) // ARKV6X, Sensor Set HB CM4 base Rev 3 -#define ARKV6X44 HW_VER_REV(0x4,0x4) // ARKV6X, Sensor Set HB CM4 base Rev 4 -#define ARKV6X50 HW_VER_REV(0x5,0x0) // ARKV6X, ARKV6X Rev 0 with HB Mini Rev 5 -//#define ARKV6X51 HW_VER_REV(0x5,0x1) // ARKV6X, BMI388 I2C2 HB Mini Rev 1 // never shipped -#define ARKV6X53 HW_VER_REV(0x5,0x3) // ARKV6X, Sensor Set HB Mini Rev 3 -#define ARKV6X54 HW_VER_REV(0x5,0x4) // ARKV6X, Sensor Set HB Mini Rev 4 +#define ARKV6X_0 HW_FMUM_ID(0x0) // ARKV6X, Sensor Set Rev 0 +#define ARKV6X_1 HW_FMUM_ID(0x1) // ARKV6X, Sensor Set Rev 1 #define UAVCAN_NUM_IFACES_RUNTIME 1 @@ -252,7 +239,6 @@ /* PWM */ #define DIRECT_PWM_OUTPUT_CHANNELS 8 -#define BOARD_PWM_FREQ 1024000 #define GPIO_FMU_CH1 /* PI0 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTI|GPIO_PIN0) #define GPIO_FMU_CH2 /* PH12 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTH|GPIO_PIN12) diff --git a/boards/ark/fmu-v6x/src/manifest.c b/boards/ark/fmu-v6x/src/manifest.c deleted file mode 100644 index 6b8405bcf5d3..000000000000 --- a/boards/ark/fmu-v6x/src/manifest.c +++ /dev/null @@ -1,223 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2022 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file manifest.c - * - * This module supplies the interface to the manifest of hardware that is - * optional and dependent on the HW REV and HW VER IDs - * - * The manifest allows the system to know whether a hardware option - * say for example the PX4IO is an no-pop option vs it is broken. - * - */ - -/**************************************************************************** - * Included Files - ****************************************************************************/ - -#include -#include - -#include -#include -#include - -#include "systemlib/px4_macros.h" - -/**************************************************************************** - * Pre-Processor Definitions - ****************************************************************************/ - -typedef struct { - uint32_t hw_ver_rev; /* the version and revision */ - const px4_hw_mft_item_t *mft; /* The first entry */ - uint32_t entries; /* the lenght of the list */ -} px4_hw_mft_list_entry_t; - -typedef px4_hw_mft_list_entry_t *px4_hw_mft_list_entry; -#define px4_hw_mft_list_uninitialized (px4_hw_mft_list_entry) -1 - -static const px4_hw_mft_item_t device_unsupported = {0, 0, 0}; - -// List of components on a specific board configuration -// The index of those components is given by the enum (px4_hw_mft_item_id_t) -// declared in board_common.h -static const px4_hw_mft_item_t hw_mft_list_v0600[] = { - { - // PX4_MFT_PX4IO - .present = 1, - .mandatory = 1, - .connection = px4_hw_con_onboard, - }, - { - // PX4_MFT_USB - .present = 1, - .mandatory = 1, - .connection = px4_hw_con_onboard, - }, - { - // PX4_MFT_CAN2 - .present = 1, - .mandatory = 1, - .connection = px4_hw_con_onboard, - }, -}; - -static const px4_hw_mft_item_t hw_mft_list_v0610[] = { - { - // PX4_MFT_PX4IO - .present = 0, - .mandatory = 0, - .connection = px4_hw_con_unknown, - }, - { - // PX4_MFT_USB - .present = 1, - .mandatory = 1, - .connection = px4_hw_con_onboard, - }, - { - // PX4_MFT_CAN2 - .present = 1, - .mandatory = 1, - .connection = px4_hw_con_onboard, - }, -}; - -static const px4_hw_mft_item_t hw_mft_list_v0640[] = { - { - // PX4_MFT_PX4IO - .present = 1, - .mandatory = 1, - .connection = px4_hw_con_onboard, - }, - { - // PX4_MFT_USB - .present = 1, - .mandatory = 1, - .connection = px4_hw_con_onboard, - }, - { - // PX4_MFT_CAN2 - .present = 1, - .mandatory = 1, - .connection = px4_hw_con_onboard, - }, -}; - -static const px4_hw_mft_item_t hw_mft_list_v0650[] = { - { - // PX4_MFT_PX4IO - .present = 1, - .mandatory = 1, - .connection = px4_hw_con_unknown, - }, - { - // PX4_MFT_USB - .present = 1, - .mandatory = 1, - .connection = px4_hw_con_onboard, - }, - { - // PX4_MFT_CAN2 - .present = 0, - .mandatory = 0, - .connection = px4_hw_con_unknown, - }, -}; - - -static px4_hw_mft_list_entry_t mft_lists[] = { -// ver_rev - {ARKV6X00, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, - {ARKV6X01, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // BMP388 moved to I2C2 - {ARKV6X03, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // BMP388 moved to I2C2, Sensor Set 3 - //{ARKV6X40, hw_mft_list_v0640, arraySize(hw_mft_list_v0640)}, // HB CM4 base // never shipped - //{ARKV6X41, hw_mft_list_v0640, arraySize(hw_mft_list_v0640)}, // BMP388 moved to I2C2 HB CM4 base // never shipped - {ARKV6X43, hw_mft_list_v0640, arraySize(hw_mft_list_v0640)}, // BMP388 moved to I2C2, HB CM4 base Sensor Set 3 - {ARKV6X44, hw_mft_list_v0640, arraySize(hw_mft_list_v0640)}, // BMP388 moved to I2C2, HB CM4 base Sensor Set 4 - {ARKV6X50, hw_mft_list_v0650, arraySize(hw_mft_list_v0650)}, // ARKV6X Rev 0 with HB Mini Rev 5 - //{ARKV6X51, hw_mft_list_v0650, arraySize(hw_mft_list_v0650)}, // BMP388 moved to I2C2 HB Mini // never shipped - {ARKV6X53, hw_mft_list_v0650, arraySize(hw_mft_list_v0650)}, // BMP388 moved to I2C2, HB Mini Sensor Set 3 - {ARKV6X54, hw_mft_list_v0650, arraySize(hw_mft_list_v0650)}, // BMP388 moved to I2C2, HB Mini Sensor Set 4 - {ARKV6X10, hw_mft_list_v0610, arraySize(hw_mft_list_v0610)}, // No PX4IO - {ARKV6X13, hw_mft_list_v0610, arraySize(hw_mft_list_v0610)}, // No PX4IO BMP388 moved to I2C2, Sensor Set 3 - {ARKV6X04, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // BMP388 moved to I2C2, Sensor Set 4 - {ARKV6X14, hw_mft_list_v0610, arraySize(hw_mft_list_v0610)}, // No PX4IO BMP388 moved to I2C2, Sensor Set 4 -}; - -/************************************************************************************ - * Name: board_query_manifest - * - * Description: - * Optional returns manifest item. - * - * Input Parameters: - * manifest_id - the ID for the manifest item to retrieve - * - * Returned Value: - * 0 - item is not in manifest => assume legacy operations - * pointer to a manifest item - * - ************************************************************************************/ - -__EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id) -{ - static px4_hw_mft_list_entry boards_manifest = px4_hw_mft_list_uninitialized; - - if (boards_manifest == px4_hw_mft_list_uninitialized) { - uint32_t ver_rev = board_get_hw_version() << 16; - ver_rev |= board_get_hw_revision(); - - for (unsigned i = 0; i < arraySize(mft_lists); i++) { - if (mft_lists[i].hw_ver_rev == ver_rev) { - boards_manifest = &mft_lists[i]; - break; - } - } - - if (boards_manifest == px4_hw_mft_list_uninitialized) { - syslog(LOG_ERR, "[boot] Board %08" PRIx32 " is not supported!\n", ver_rev); - } - } - - px4_hw_mft_item rv = &device_unsupported; - - if (boards_manifest != px4_hw_mft_list_uninitialized && - id < boards_manifest->entries) { - rv = &boards_manifest->mft[id]; - } - - return rv; -} diff --git a/boards/ark/fmu-v6x/src/mtd.cpp b/boards/ark/fmu-v6x/src/mtd.cpp index 3ece10aeca4f..6e6004ad30bc 100644 --- a/boards/ark/fmu-v6x/src/mtd.cpp +++ b/boards/ark/fmu-v6x/src/mtd.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2022 PX4 Development Team. All rights reserved. + * Copyright (C) 2024 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -31,10 +31,13 @@ * ****************************************************************************/ +#include +#include + #include #include // KiB BS nB -static const px4_mft_device_t spi5 = { // FM25V02A on FMUM 32K 512 X 64 +static const px4_mft_device_t spi5 = { // FM25V02A on FMUM native: 32K X 8, emulated as (1024 Blocks of 32) .bus_type = px4_mft_device_t::SPI, .devid = SPIDEV_FLASH(0) }; @@ -45,18 +48,12 @@ static const px4_mft_device_t i2c3 = { // 24LC64T on Base 8K 32 X 2 static const px4_mtd_entry_t fmum_fram = { .device = &spi5, - .npart = 2, + .npart = 1, .partd = { { .type = MTD_PARAMETERS, .path = "/fs/mtd_params", - .nblocks = 32 - }, - { - .type = MTD_WAYPOINTS, - .path = "/fs/mtd_waypoints", - .nblocks = 32 - + .nblocks = (32768 / (1 << CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT)) } }, }; @@ -92,10 +89,16 @@ static const px4_mft_entry_s mtd_mft = { .pmft = (void *) &board_mtd_config, }; +static const px4_mft_entry_s mft_mft = { + .type = MFT, + .pmft = (void *) system_query_manifest, +}; + static const px4_mft_s mft = { - .nmft = 1, + .nmft = 2, .mfts = { - &mtd_mft + &mtd_mft, + &mft_mft, } }; diff --git a/boards/ark/fmu-v6x/src/spi.cpp b/boards/ark/fmu-v6x/src/spi.cpp index 2d047cff1d57..fc60153efedf 100644 --- a/boards/ark/fmu-v6x/src/spi.cpp +++ b/boards/ark/fmu-v6x/src/spi.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2022 PX4 Development Team. All rights reserved. + * Copyright (C) 2024 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -36,7 +36,7 @@ #include constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSIONS] = { - initSPIHWVersion(ARKV6X00, { + initSPIFmumID(ARKV6X_0, { initSPIBus(SPI::Bus::SPI1, { initSPIDevice(DRV_IMU_DEVTYPE_IIM42652, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}), }, {GPIO::PortI, GPIO::Pin11}), @@ -59,15 +59,15 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION }), }), - initSPIHWVersion(ARKV6X01, { // Placeholder + initSPIFmumID(ARKV6X_1, { initSPIBus(SPI::Bus::SPI1, { - initSPIDevice(DRV_IMU_DEVTYPE_IIM42652, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}), + initSPIDevice(DRV_IMU_DEVTYPE_IIM42653, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}), }, {GPIO::PortI, GPIO::Pin11}), initSPIBus(SPI::Bus::SPI2, { - initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}), + initSPIDevice(DRV_IMU_DEVTYPE_IIM42653, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}), }, {GPIO::PortF, GPIO::Pin4}), initSPIBus(SPI::Bus::SPI3, { - initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortI, GPIO::Pin6}), + initSPIDevice(DRV_IMU_DEVTYPE_IIM42653, SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortI, GPIO::Pin6}), }, {GPIO::PortE, GPIO::Pin7}), // initSPIBus(SPI::Bus::SPI4, { // // no devices diff --git a/boards/ark/fmu-v6x/src/spix_sync.c b/boards/ark/fmu-v6x/src/spix_sync.c index 2bda38696267..056e38e75f74 100644 --- a/boards/ark/fmu-v6x/src/spix_sync.c +++ b/boards/ark/fmu-v6x/src/spix_sync.c @@ -82,9 +82,7 @@ #define rDMAR(_tmr) REG(_tmr, STM32_GTIM_DMAR_OFFSET) #define rBDTR(_tmr) REG(_tmr, STM32_ATIM_BDTR_OFFSET) -#if !defined(BOARD_PWM_FREQ) -#define BOARD_PWM_FREQ 1000000 -#endif +#define BOARD_SPIX_SYNC_PWM_FREQ 1024000 unsigned spix_sync_timer_get_period(unsigned timer) @@ -129,11 +127,11 @@ static void spix_sync_timer_init_timer(unsigned timer, unsigned rate) * Otherwise, other frequencies are attainable by adjusting .clock_freq accordingly. */ - rPSC(timer) = (spix_sync_timers[timer].clock_freq / BOARD_PWM_FREQ) - 1; + rPSC(timer) = (spix_sync_timers[timer].clock_freq / BOARD_SPIX_SYNC_PWM_FREQ) - 1; /* configure the timer to update at the desired rate */ - rARR(timer) = (BOARD_PWM_FREQ / rate) - 1; + rARR(timer) = (BOARD_SPIX_SYNC_PWM_FREQ / rate) - 1; /* generate an update event; reloads the counter and all registers */ rEGR(timer) = GTIM_EGR_UG; diff --git a/boards/ark/pi6x/bootloader.px4board b/boards/ark/pi6x/bootloader.px4board new file mode 100644 index 000000000000..19b6e662be69 --- /dev/null +++ b/boards/ark/pi6x/bootloader.px4board @@ -0,0 +1,3 @@ +CONFIG_BOARD_TOOLCHAIN="arm-none-eabi" +CONFIG_BOARD_ARCHITECTURE="cortex-m7" +CONFIG_BOARD_ROMFSROOT="" diff --git a/boards/ark/pi6x/default.px4board b/boards/ark/pi6x/default.px4board new file mode 100644 index 000000000000..84c6fd79f2b2 --- /dev/null +++ b/boards/ark/pi6x/default.px4board @@ -0,0 +1,74 @@ +CONFIG_BOARD_TOOLCHAIN="arm-none-eabi" +CONFIG_BOARD_ARCHITECTURE="cortex-m7" +CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS0" +CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS5" +CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS3" +CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS2" +CONFIG_BOARD_SERIAL_RC="/dev/ttyS4" +CONFIG_DRIVERS_ADC_BOARD_ADC=y +CONFIG_DRIVERS_BAROMETER_BMP388=y +CONFIG_DRIVERS_CDCACM_AUTOSTART=y +CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y +CONFIG_DRIVERS_DISTANCE_SENSOR_BROADCOM_AFBRS50=y +CONFIG_DRIVERS_DISTANCE_SENSOR_VL53L0X=y +CONFIG_DRIVERS_DSHOT=y +CONFIG_DRIVERS_GPS=y +CONFIG_DRIVERS_HEATER=y +CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y +CONFIG_COMMON_LIGHT=y +CONFIG_DRIVERS_MAGNETOMETER_MEMSIC_MMC5983MA=y +CONFIG_DRIVERS_MAGNETOMETER_ST_IIS2MDC=y +CONFIG_DRIVERS_OPTICAL_FLOW_PAW3902=y +CONFIG_DRIVERS_POWER_MONITOR_INA226=y +CONFIG_DRIVERS_PWM_OUT=y +CONFIG_COMMON_RC=y +CONFIG_DRIVERS_TONE_ALARM=y +CONFIG_DRIVERS_UAVCAN=y +CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=2 +CONFIG_MODULES_AIRSPEED_SELECTOR=y +CONFIG_MODULES_COMMANDER=y +CONFIG_MODULES_CONTROL_ALLOCATOR=y +CONFIG_MODULES_DATAMAN=y +CONFIG_MODULES_EKF2=y +CONFIG_MODULES_EVENTS=y +CONFIG_MODULES_FLIGHT_MODE_MANAGER=y +CONFIG_MODULES_GYRO_CALIBRATION=y +CONFIG_MODULES_GYRO_FFT=y +CONFIG_MODULES_LAND_DETECTOR=y +CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y +CONFIG_MODULES_LOAD_MON=y +CONFIG_MODULES_LOGGER=y +CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y +CONFIG_MODULES_MANUAL_CONTROL=y +CONFIG_MODULES_MAVLINK=y +CONFIG_MAVLINK_DIALECT="development" +CONFIG_MODULES_MC_ATT_CONTROL=y +CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y +CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y +CONFIG_MODULES_MC_POS_CONTROL=y +CONFIG_MODULES_MC_RATE_CONTROL=y +CONFIG_MODULES_NAVIGATOR=y +CONFIG_MODULES_RC_UPDATE=y +CONFIG_MODULES_SENSORS=y +CONFIG_MODULES_UXRCE_DDS_CLIENT=y +CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y +CONFIG_SYSTEMCMDS_BSONDUMP=y +CONFIG_SYSTEMCMDS_DMESG=y +CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y +CONFIG_SYSTEMCMDS_I2CDETECT=y +CONFIG_SYSTEMCMDS_LED_CONTROL=y +CONFIG_SYSTEMCMDS_MFT=y +CONFIG_SYSTEMCMDS_MTD=y +CONFIG_SYSTEMCMDS_NSHTERM=y +CONFIG_SYSTEMCMDS_PARAM=y +CONFIG_SYSTEMCMDS_PERF=y +CONFIG_SYSTEMCMDS_REBOOT=y +CONFIG_SYSTEMCMDS_SD_BENCH=y +CONFIG_SYSTEMCMDS_SD_STRESS=y +CONFIG_SYSTEMCMDS_SYSTEM_TIME=y +CONFIG_SYSTEMCMDS_TOP=y +CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y +CONFIG_SYSTEMCMDS_TUNE_CONTROL=y +CONFIG_SYSTEMCMDS_UORB=y +CONFIG_SYSTEMCMDS_VER=y +CONFIG_SYSTEMCMDS_WORK_QUEUE=y diff --git a/boards/ark/pi6x/extras/ark_pi6x_bootloader.bin b/boards/ark/pi6x/extras/ark_pi6x_bootloader.bin new file mode 100755 index 000000000000..fce9348a7408 Binary files /dev/null and b/boards/ark/pi6x/extras/ark_pi6x_bootloader.bin differ diff --git a/boards/ark/pi6x/firmware.prototype b/boards/ark/pi6x/firmware.prototype new file mode 100644 index 000000000000..6c21025a6bc2 --- /dev/null +++ b/boards/ark/pi6x/firmware.prototype @@ -0,0 +1,13 @@ +{ + "board_id": 58, + "magic": "ARKPi6XFWv1", + "description": "Firmware for the ARKPi6X board", + "image": "", + "build_time": 0, + "summary": "ARKPi6X", + "version": "0.1", + "image_size": 0, + "image_maxsize": 1835008, + "git_identity": "", + "board_revision": 0 +} diff --git a/boards/ark/pi6x/init/rc.board_defaults b/boards/ark/pi6x/init/rc.board_defaults new file mode 100644 index 000000000000..717632839be8 --- /dev/null +++ b/boards/ark/pi6x/init/rc.board_defaults @@ -0,0 +1,41 @@ +#!/bin/sh +# +# board specific defaults +#------------------------------------------------------------------------------ + +# transision from params file to flash-based params (2022-08) +if [ -f $PARAM_FILE ] +then + param load $PARAM_FILE + param save + # create a backup + mv $PARAM_FILE ${PARAM_FILE}.bak + reboot +fi + +param set-default SENS_EN_INA226 1 + +# TODO: Set params to start UXRCE DDS on Telem2 + +# TODO: Start Mavlink on USB by default + +# TODO: Tune the following parameters +param set-default SENS_EN_THERMAL 1 +param set-default SENS_IMU_TEMP 10.0 +#param set-default SENS_IMU_TEMP_FF 0.0 +#param set-default SENS_IMU_TEMP_I 0.025 +#param set-default SENS_IMU_TEMP_P 1.0 + +if ver hwtypecmp ARKPI6X000 +then + # TODO: Add the correct sensor ID + param set-default SENS_TEMP_ID 2490378 +fi + +param set-default EKF2_MULTI_IMU 2 +param set-default EKF2_OF_CTRL 1 +param set-default EKF2_OF_N_MIN 0.05 +param set-default EKF2_RNG_A_HMAX 25 +param set-default EKF2_RNG_QLTY_T 0.1 + +param set-default SENS_FLOW_RATE 150 diff --git a/boards/ark/pi6x/init/rc.board_sensors b/boards/ark/pi6x/init/rc.board_sensors new file mode 100644 index 000000000000..cc97b1d601fd --- /dev/null +++ b/boards/ark/pi6x/init/rc.board_sensors @@ -0,0 +1,36 @@ +#!/bin/sh +# +# ARKPI6X specific board sensors init +#------------------------------------------------------------------------------ + +board_adc start + +if param compare SENS_EN_INA226 1 +then + # Start Digital power monitors + ina226 -I -b 3 -t 1 -k start +fi + +if ver hwtypecmp ARKPI6X000 +then + # Internal SPI bus ICM42688p with SPIX measured frequency of 32.051kHz + icm42688p -R 3 -s -b 1 -C 32051 start + + # Internal SPI bus ICM42688p with SPIX measured frequency of 32.051kHz + icm42688p -R 1 -s -b 2 -C 32051 start +fi + +# Internal magnetometer on I2C +if ! iis2mdc -R 4 -I -b 4 start +then + mmc5983ma -I -b 4 start +fi + +# Internal Baro on I2C +bmp388 -I -b 4 start + +# Internal optical flow +paw3902 -s -b 3 start -Y 90 + +# Internal distance sensor +afbrs50 start diff --git a/boards/ark/pi6x/nuttx-config/Kconfig b/boards/ark/pi6x/nuttx-config/Kconfig new file mode 100644 index 000000000000..bb33d3cfda4d --- /dev/null +++ b/boards/ark/pi6x/nuttx-config/Kconfig @@ -0,0 +1,17 @@ +# +# For a description of the syntax of this configuration file, +# see misc/tools/kconfig-language.txt. +# +config BOARD_HAS_PROBES + bool "Board provides GPIO or other Hardware for signaling to timing analyze." + default y + ---help--- + This board provides GPIO FMU-CH1-5, CAP1-6 as PROBE_1-11 to provide timing signals from selected drivers. + +config BOARD_USE_PROBES + bool "Enable the use the board provided FMU-CH1-5, CAP1-6 as PROBE_1-11" + default n + depends on BOARD_HAS_PROBES + + ---help--- + Select to use GPIO FMU-CH1-5, CAP1-6 to provide timing signals from selected drivers. diff --git a/boards/ark/pi6x/nuttx-config/bootloader/defconfig b/boards/ark/pi6x/nuttx-config/bootloader/defconfig new file mode 100644 index 000000000000..745251793bd0 --- /dev/null +++ b/boards/ark/pi6x/nuttx-config/bootloader/defconfig @@ -0,0 +1,95 @@ +# +# This file is autogenerated: PLEASE DO NOT EDIT IT. +# +# You can use "make menuconfig" to make any modifications to the installed .config file. +# You can then do "make savedefconfig" to generate a new defconfig file that includes your +# modifications. +# +# CONFIG_DEV_CONSOLE is not set +# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set +# CONFIG_DISABLE_PTHREAD is not set +# CONFIG_SPI_EXCHANGE is not set +# CONFIG_STM32H7_SYSCFG is not set +CONFIG_ARCH="arm" +CONFIG_ARCH_BOARD_CUSTOM=y +CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/ark/pi6x/nuttx-config" +CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y +CONFIG_ARCH_BOARD_CUSTOM_NAME="ark" +CONFIG_ARCH_CHIP="stm32h7" +CONFIG_ARCH_CHIP_STM32H743II=y +CONFIG_ARCH_CHIP_STM32H7=y +CONFIG_ARCH_INTERRUPTSTACK=768 +CONFIG_ARMV7M_BASEPRI_WAR=y +CONFIG_ARMV7M_ICACHE=y +CONFIG_ARMV7M_MEMCPY=y +CONFIG_ARMV7M_USEBASEPRI=y +CONFIG_BOARDCTL=y +CONFIG_BOARDCTL_RESET=y +CONFIG_BOARD_ASSERT_RESET_VALUE=0 +CONFIG_BOARD_INITTHREAD_PRIORITY=254 +CONFIG_BOARD_LATE_INITIALIZE=y +CONFIG_BOARD_LOOPSPERMSEC=95150 +CONFIG_BOARD_RESET_ON_ASSERT=2 +CONFIG_CDCACM=y +CONFIG_CDCACM_IFLOWCONTROL=y +CONFIG_CDCACM_PRODUCTID=0x0039 +CONFIG_CDCACM_PRODUCTSTR="ARK BL Pi6X.x" +CONFIG_CDCACM_RXBUFSIZE=600 +CONFIG_CDCACM_TXBUFSIZE=12000 +CONFIG_CDCACM_VENDORID=0x3185 +CONFIG_CDCACM_VENDORSTR="ARK" +CONFIG_DEBUG_FULLOPT=y +CONFIG_DEBUG_SYMBOLS=y +CONFIG_DEBUG_TCBINFO=y +CONFIG_DEFAULT_SMALL=y +CONFIG_EXPERIMENTAL=y +CONFIG_FDCLONE_DISABLE=y +CONFIG_FDCLONE_STDIO=y +CONFIG_HAVE_CXX=y +CONFIG_HAVE_CXXINITIALIZE=y +CONFIG_IDLETHREAD_STACKSIZE=750 +CONFIG_INIT_ENTRYPOINT="bootloader_main" +CONFIG_INIT_STACKSIZE=3194 +CONFIG_LIBC_FLOATINGPOINT=y +CONFIG_LIBC_LONG_LONG=y +CONFIG_LIBC_STRERROR=y +CONFIG_MEMSET_64BIT=y +CONFIG_MEMSET_OPTSPEED=y +CONFIG_PREALLOC_TIMERS=50 +CONFIG_PTHREAD_MUTEX_ROBUST=y +CONFIG_PTHREAD_STACK_MIN=512 +CONFIG_RAM_SIZE=245760 +CONFIG_RAM_START=0x20010000 +CONFIG_RAW_BINARY=y +CONFIG_SERIAL_TERMIOS=y +CONFIG_SIG_DEFAULT=y +CONFIG_SIG_SIGALRM_ACTION=y +CONFIG_SIG_SIGUSR1_ACTION=y +CONFIG_SIG_SIGUSR2_ACTION=y +CONFIG_SPI=y +CONFIG_STACK_COLORATION=y +CONFIG_START_DAY=30 +CONFIG_START_MONTH=11 +CONFIG_STDIO_BUFFER_SIZE=32 +CONFIG_STM32H7_BKPSRAM=y +CONFIG_STM32H7_DMA1=y +CONFIG_STM32H7_DMA2=y +CONFIG_STM32H7_OTGFS=y +CONFIG_STM32H7_PROGMEM=y +CONFIG_STM32H7_SERIAL_DISABLE_REORDERING=y +CONFIG_STM32H7_TIM1=y +CONFIG_STM32H7_UART7=y +CONFIG_SYSTEMTICK_HOOK=y +CONFIG_SYSTEM_CDCACM=y +CONFIG_TASK_NAME_SIZE=24 +CONFIG_TTY_SIGINT=y +CONFIG_TTY_SIGINT_CHAR=0x03 +CONFIG_TTY_SIGTSTP=y +CONFIG_UART7_RXBUFSIZE=512 +CONFIG_UART7_RXDMA=y +CONFIG_UART7_TXBUFSIZE=512 +CONFIG_UART7_TXDMA=y +CONFIG_USBDEV=y +CONFIG_USBDEV_BUSPOWERED=y +CONFIG_USBDEV_MAXPOWER=500 +CONFIG_USEC_PER_TICK=1000 diff --git a/boards/ark/pi6x/nuttx-config/include/board.h b/boards/ark/pi6x/nuttx-config/include/board.h new file mode 100644 index 000000000000..2b716936cebd --- /dev/null +++ b/boards/ark/pi6x/nuttx-config/include/board.h @@ -0,0 +1,512 @@ +/************************************************************************************ + * nuttx-configs/px4_fmu-v6x/include/board.h + * + * Copyright (C) 2016-2024 Gregory Nutt. All rights reserved. + * Authors: David Sidrane + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name NuttX nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ************************************************************************************/ +#ifndef __NUTTX_CONFIG_PX4_FMU_V6X_INCLUDE_BOARD_H +#define __NUTTX_CONFIG_PX4_FMU_V6X_INCLUDE_BOARD_H + +/************************************************************************************ + * Included Files + ************************************************************************************/ + +#include "board_dma_map.h" + +#include + +#ifndef __ASSEMBLY__ +# include +#endif + +#include "stm32_rcc.h" +#include "stm32_sdmmc.h" + +/************************************************************************************ + * Pre-processor Definitions + ************************************************************************************/ + +/* Clocking *************************************************************************/ +/* The px4_fmu-v6X board provides the following clock sources: + * + * X1: 16 MHz crystal for HSE + * + * So we have these clock source available within the STM32 + * + * HSI: 16 MHz RC factory-trimmed + * HSE: 16 MHz crystal for HSE + */ + +#define STM32_BOARD_XTAL 16000000ul + +#define STM32_HSI_FREQUENCY 16000000ul +#define STM32_LSI_FREQUENCY 32000 +#define STM32_HSE_FREQUENCY STM32_BOARD_XTAL +#define STM32_LSE_FREQUENCY 32768 + +/* Main PLL Configuration. + * + * PLL source is HSE = 16,000,000 + * + * PLL_VCOx = (STM32_HSE_FREQUENCY / PLLM) * PLLN + * Subject to: + * + * 1 <= PLLM <= 63 + * 4 <= PLLN <= 512 + * 150 MHz <= PLL_VCOL <= 420MHz + * 192 MHz <= PLL_VCOH <= 836MHz + * + * SYSCLK = PLL_VCO / PLLP + * CPUCLK = SYSCLK / D1CPRE + * Subject to + * + * PLLP1 = {2, 4, 6, 8, ..., 128} + * PLLP2,3 = {2, 3, 4, ..., 128} + * CPUCLK <= 480 MHz + */ + +#define STM32_BOARD_USEHSE + +#define STM32_PLLCFG_PLLSRC RCC_PLLCKSELR_PLLSRC_HSE + +/* PLL1, wide 4 - 8 MHz input, enable DIVP, DIVQ, DIVR + * + * PLL1_VCO = (16,000,000 / 1) * 60 = 960 MHz + * + * PLL1P = PLL1_VCO/2 = 960 MHz / 2 = 480 MHz + * PLL1Q = PLL1_VCO/4 = 960 MHz / 4 = 240 MHz + * PLL1R = PLL1_VCO/8 = 960 MHz / 8 = 120 MHz + */ + +#define STM32_PLLCFG_PLL1CFG (RCC_PLLCFGR_PLL1VCOSEL_WIDE | \ + RCC_PLLCFGR_PLL1RGE_4_8_MHZ | \ + RCC_PLLCFGR_DIVP1EN | \ + RCC_PLLCFGR_DIVQ1EN | \ + RCC_PLLCFGR_DIVR1EN) +#define STM32_PLLCFG_PLL1M RCC_PLLCKSELR_DIVM1(1) +#define STM32_PLLCFG_PLL1N RCC_PLL1DIVR_N1(60) +#define STM32_PLLCFG_PLL1P RCC_PLL1DIVR_P1(2) +#define STM32_PLLCFG_PLL1Q RCC_PLL1DIVR_Q1(4) +#define STM32_PLLCFG_PLL1R RCC_PLL1DIVR_R1(8) + +#define STM32_VCO1_FREQUENCY ((STM32_HSE_FREQUENCY / 1) * 60) +#define STM32_PLL1P_FREQUENCY (STM32_VCO1_FREQUENCY / 2) +#define STM32_PLL1Q_FREQUENCY (STM32_VCO1_FREQUENCY / 4) +#define STM32_PLL1R_FREQUENCY (STM32_VCO1_FREQUENCY / 8) + +/* PLL2 */ + +#define STM32_PLLCFG_PLL2CFG (RCC_PLLCFGR_PLL2VCOSEL_WIDE | \ + RCC_PLLCFGR_PLL2RGE_4_8_MHZ | \ + RCC_PLLCFGR_DIVP2EN | \ + RCC_PLLCFGR_DIVQ2EN | \ + RCC_PLLCFGR_DIVR2EN) +#define STM32_PLLCFG_PLL2M RCC_PLLCKSELR_DIVM2(4) +#define STM32_PLLCFG_PLL2N RCC_PLL2DIVR_N2(48) +#define STM32_PLLCFG_PLL2P RCC_PLL2DIVR_P2(2) +#define STM32_PLLCFG_PLL2Q RCC_PLL2DIVR_Q2(2) +#define STM32_PLLCFG_PLL2R RCC_PLL2DIVR_R2(2) + +#define STM32_VCO2_FREQUENCY ((STM32_HSE_FREQUENCY / 4) * 48) +#define STM32_PLL2P_FREQUENCY (STM32_VCO2_FREQUENCY / 2) +#define STM32_PLL2Q_FREQUENCY (STM32_VCO2_FREQUENCY / 2) +#define STM32_PLL2R_FREQUENCY (STM32_VCO2_FREQUENCY / 2) + +/* PLL3 */ + +#define STM32_PLLCFG_PLL3CFG (RCC_PLLCFGR_PLL3VCOSEL_WIDE | \ + RCC_PLLCFGR_PLL3RGE_4_8_MHZ | \ + RCC_PLLCFGR_DIVQ3EN) +#define STM32_PLLCFG_PLL3M RCC_PLLCKSELR_DIVM3(4) +#define STM32_PLLCFG_PLL3N RCC_PLL3DIVR_N3(48) +#define STM32_PLLCFG_PLL3P RCC_PLL3DIVR_P3(2) +#define STM32_PLLCFG_PLL3Q RCC_PLL3DIVR_Q3(4) +#define STM32_PLLCFG_PLL3R RCC_PLL3DIVR_R3(2) + +#define STM32_VCO3_FREQUENCY ((STM32_HSE_FREQUENCY / 4) * 48) +#define STM32_PLL3P_FREQUENCY (STM32_VCO3_FREQUENCY / 2) +#define STM32_PLL3Q_FREQUENCY (STM32_VCO3_FREQUENCY / 4) +#define STM32_PLL3R_FREQUENCY (STM32_VCO3_FREQUENCY / 2) + +/* SYSCLK = PLL1P = 480MHz + * CPUCLK = SYSCLK / 1 = 480 MHz + */ + +#define STM32_RCC_D1CFGR_D1CPRE (RCC_D1CFGR_D1CPRE_SYSCLK) +#define STM32_SYSCLK_FREQUENCY (STM32_PLL1P_FREQUENCY) +#define STM32_CPUCLK_FREQUENCY (STM32_SYSCLK_FREQUENCY / 1) + +/* Configure Clock Assignments */ + +/* AHB clock (HCLK) is SYSCLK/2 (240 MHz max) + * HCLK1 = HCLK2 = HCLK3 = HCLK4 = 240 + */ + +#define STM32_RCC_D1CFGR_HPRE RCC_D1CFGR_HPRE_SYSCLKd2 /* HCLK = SYSCLK / 2 */ +#define STM32_ACLK_FREQUENCY (STM32_CPUCLK_FREQUENCY / 2) /* ACLK in D1, HCLK3 in D1 */ +#define STM32_HCLK_FREQUENCY (STM32_CPUCLK_FREQUENCY / 2) /* HCLK in D2, HCLK4 in D3 */ +#define STM32_BOARD_HCLK STM32_HCLK_FREQUENCY /* same as above, to satisfy compiler */ + +/* APB1 clock (PCLK1) is HCLK/2 (120 MHz) */ + +#define STM32_RCC_D2CFGR_D2PPRE1 RCC_D2CFGR_D2PPRE1_HCLKd2 /* PCLK1 = HCLK / 2 */ +#define STM32_PCLK1_FREQUENCY (STM32_HCLK_FREQUENCY/2) + +/* APB2 clock (PCLK2) is HCLK/2 (120 MHz) */ + +#define STM32_RCC_D2CFGR_D2PPRE2 RCC_D2CFGR_D2PPRE2_HCLKd2 /* PCLK2 = HCLK / 2 */ +#define STM32_PCLK2_FREQUENCY (STM32_HCLK_FREQUENCY/2) + +/* APB3 clock (PCLK3) is HCLK/2 (120 MHz) */ + +#define STM32_RCC_D1CFGR_D1PPRE RCC_D1CFGR_D1PPRE_HCLKd2 /* PCLK3 = HCLK / 2 */ +#define STM32_PCLK3_FREQUENCY (STM32_HCLK_FREQUENCY/2) + +/* APB4 clock (PCLK4) is HCLK/4 (120 MHz) */ + +#define STM32_RCC_D3CFGR_D3PPRE RCC_D3CFGR_D3PPRE_HCLKd2 /* PCLK4 = HCLK / 2 */ +#define STM32_PCLK4_FREQUENCY (STM32_HCLK_FREQUENCY/2) + +/* Timer clock frequencies */ + +/* Timers driven from APB1 will be twice PCLK1 */ + +#define STM32_APB1_TIM2_CLKIN (2*STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM3_CLKIN (2*STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM4_CLKIN (2*STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM5_CLKIN (2*STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM6_CLKIN (2*STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM7_CLKIN (2*STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM12_CLKIN (2*STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM13_CLKIN (2*STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM14_CLKIN (2*STM32_PCLK1_FREQUENCY) + +/* Timers driven from APB2 will be twice PCLK2 */ + +#define STM32_APB2_TIM1_CLKIN (2*STM32_PCLK2_FREQUENCY) +#define STM32_APB2_TIM8_CLKIN (2*STM32_PCLK2_FREQUENCY) +#define STM32_APB2_TIM15_CLKIN (2*STM32_PCLK2_FREQUENCY) +#define STM32_APB2_TIM16_CLKIN (2*STM32_PCLK2_FREQUENCY) +#define STM32_APB2_TIM17_CLKIN (2*STM32_PCLK2_FREQUENCY) + +/* Kernel Clock Configuration + * + * Note: look at Table 54 in ST Manual + */ + +/* I2C123 clock source */ + +#define STM32_RCC_D2CCIP2R_I2C123SRC RCC_D2CCIP2R_I2C123SEL_HSI + +/* I2C4 clock source */ + +#define STM32_RCC_D3CCIPR_I2C4SRC RCC_D3CCIPR_I2C4SEL_HSI + +/* SPI123 clock source */ + +#define STM32_RCC_D2CCIP1R_SPI123SRC RCC_D2CCIP1R_SPI123SEL_PLL2 + +/* SPI45 clock source */ + +#define STM32_RCC_D2CCIP1R_SPI45SRC RCC_D2CCIP1R_SPI45SEL_PLL2 + +/* SPI6 clock source */ + +#define STM32_RCC_D3CCIPR_SPI6SRC RCC_D3CCIPR_SPI6SEL_PLL2 + +/* USB 1 and 2 clock source */ + +#define STM32_RCC_D2CCIP2R_USBSRC RCC_D2CCIP2R_USBSEL_PLL3 + +/* ADC 1 2 3 clock source */ + +#define STM32_RCC_D3CCIPR_ADCSRC RCC_D3CCIPR_ADCSEL_PLL2 + +/* FDCAN 1 2 clock source */ + +#define STM32_RCC_D2CCIP1R_FDCANSEL RCC_D2CCIP1R_FDCANSEL_HSE /* FDCAN 1 2 clock source */ + +#define STM32_FDCANCLK STM32_HSE_FREQUENCY + +/* FLASH wait states + * + * ------------ ---------- ----------- + * Vcore MAX ACLK WAIT STATES + * ------------ ---------- ----------- + * 1.15-1.26 V 70 MHz 0 + * (VOS1 level) 140 MHz 1 + * 210 MHz 2 + * 1.05-1.15 V 55 MHz 0 + * (VOS2 level) 110 MHz 1 + * 165 MHz 2 + * 220 MHz 3 + * 0.95-1.05 V 45 MHz 0 + * (VOS3 level) 90 MHz 1 + * 135 MHz 2 + * 180 MHz 3 + * 225 MHz 4 + * ------------ ---------- ----------- + */ + +#define BOARD_FLASH_WAITSTATES 2 + +/* SDMMC definitions ********************************************************/ + +/* Init 400kHz, freq = PLL1Q/(2*div) div = PLL1Q/(2*freq) */ + +#define STM32_SDMMC_INIT_CLKDIV (300 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT) + +/* 25 MHz Max for now, 25 mHZ = PLL1Q/(2*div), div = PLL1Q/(2*freq) + * div = 4.8 = 240 / 50, So round up to 5 for default speed 24 MB/s + */ + +#if defined(CONFIG_STM32H7_SDMMC_XDMA) || defined(CONFIG_STM32H7_SDMMC_IDMA) +# define STM32_SDMMC_MMCXFR_CLKDIV (5 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT) +#else +# define STM32_SDMMC_MMCXFR_CLKDIV (100 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT) +#endif +#if defined(CONFIG_STM32H7_SDMMC_XDMA) || defined(CONFIG_STM32H7_SDMMC_IDMA) +# define STM32_SDMMC_SDXFR_CLKDIV (5 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT) +#else +# define STM32_SDMMC_SDXFR_CLKDIV (100 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT) +#endif + +#define STM32_SDMMC_CLKCR_EDGE STM32_SDMMC_CLKCR_NEGEDGE + +/* LED definitions ******************************************************************/ +/* The ARKV6X board has three, LED_GREEN a Green LED, LED_BLUE a Blue LED and + * LED_RED a Red LED, that can be controlled by software. + * + * If CONFIG_ARCH_LEDS is not defined, then the user can control the LEDs in any way. + * The following definitions are used to access individual LEDs. + */ + +/* LED index values for use with board_userled() */ + +/* LED definitions ******************************************************************/ +/* The px4_fmu-v6x board has three, LED_GREEN a Green LED, LED_BLUE a Blue LED and + * LED_RED a Red LED, that can be controlled by software. + * + * If CONFIG_ARCH_LEDS is not defined, then the user can control the LEDs in any way. + * The following definitions are used to access individual LEDs. + */ + +/* LED index values for use with board_userled() */ + +#define BOARD_LED1 0 +#define BOARD_LED2 1 +#define BOARD_LED3 2 +#define BOARD_NLEDS 3 + +#define BOARD_LED_RED BOARD_LED1 +#define BOARD_LED_GREEN BOARD_LED2 +#define BOARD_LED_BLUE BOARD_LED3 + +/* LED bits for use with board_userled_all() */ + +#define BOARD_LED1_BIT (1 << BOARD_LED1) +#define BOARD_LED2_BIT (1 << BOARD_LED2) +#define BOARD_LED3_BIT (1 << BOARD_LED3) + +/* If CONFIG_ARCH_LEDS is defined, the usage by the board port is defined in + * include/board.h and src/stm32_leds.c. The LEDs are used to encode OS-related + * events as follows: + * + * + * SYMBOL Meaning LED state + * Red Green Blue + * ---------------------- -------------------------- ------ ------ ----*/ + +#define LED_STARTED 0 /* NuttX has been started OFF OFF OFF */ +#define LED_HEAPALLOCATE 1 /* Heap has been allocated OFF OFF ON */ +#define LED_IRQSENABLED 2 /* Interrupts enabled OFF ON OFF */ +#define LED_STACKCREATED 3 /* Idle stack created OFF ON ON */ +#define LED_INIRQ 4 /* In an interrupt N/C N/C GLOW */ +#define LED_SIGNAL 5 /* In a signal handler N/C GLOW N/C */ +#define LED_ASSERTION 6 /* An assertion failed GLOW N/C GLOW */ +#define LED_PANIC 7 /* The system has crashed Blink OFF N/C */ +#define LED_IDLE 8 /* MCU is is sleep mode ON OFF OFF */ + +/* Thus if the Green LED is statically on, NuttX has successfully booted and + * is, apparently, running normally. If the Red LED is flashing at + * approximately 2Hz, then a fatal error has been detected and the system + * has halted. + */ + +/* Alternate function pin selections ************************************************/ + +#define GPIO_USART1_RX GPIO_USART1_RX_3 /* PB7 */ +#define GPIO_USART1_TX GPIO_USART1_TX_3 /* PB6 */ + +#define GPIO_USART3_RX GPIO_USART3_RX_3 /* PD9 */ +#define GPIO_USART3_TX GPIO_USART3_TX_3 /* PD8 */ + +#define GPIO_UART4_RX GPIO_UART4_RX_6 /* PH14 */ +#define GPIO_UART4_TX GPIO_UART4_TX_6 /* PH13 */ + +#define GPIO_UART5_RX GPIO_UART5_RX_3 /* PD2 */ +#define GPIO_UART5_TX GPIO_UART5_TX_3 /* PC12 */ +// GPIO_UART5_RTS No remap /* PC8 */ +#define GPIO_UART5_CTS (GPIO_ALT|GPIO_AF8|GPIO_PORTC|GPIO_PIN9|GPIO_PULLDOWN) /* PC9 */ + +#define GPIO_USART6_RX GPIO_USART6_RX_1 /* PC7 */ +#define GPIO_USART6_TX GPIO_USART6_TX_1 /* PC6 */ + +#define GPIO_UART7_RX GPIO_UART7_RX_4 /* PF6 */ +#define GPIO_UART7_TX GPIO_UART7_TX_3 /* PE8 */ +#define GPIO_UART7_RTS GPIO_UART7_RTS_2 /* PF8 */ +#define GPIO_UART7_CTS (GPIO_UART7_CTS_1 | GPIO_PULLDOWN) /* PE10 */ + + +/* CAN + * + * CAN1 is routed to transceiver. + */ +#define GPIO_CAN1_RX GPIO_CAN1_RX_3 /* PD0 */ +#define GPIO_CAN1_TX GPIO_CAN1_TX_3 /* PD1 */ + +/* SPI + * SPI1 is sensors1 + * SPI2 is sensors2 + * SPI3 is sensors3 + * SPI4 is Not Used + * SPI5 is Not Used + * SPI6 is EXTERNAL1 + * + */ + +#define ADJ_SLEW_RATE(p) (((p) & ~GPIO_SPEED_MASK) | (GPIO_SPEED_2MHz)) + +#define GPIO_SPI1_MISO GPIO_SPI1_MISO_3 /* PG9 */ +#define GPIO_SPI1_MOSI GPIO_SPI1_MOSI_2 /* PB5 */ +#define GPIO_SPI1_SCK ADJ_SLEW_RATE(GPIO_SPI1_SCK_1) /* PA5 */ + +#define GPIO_SPI2_MISO GPIO_SPI2_MISO_3 /* PI2 */ +#define GPIO_SPI2_MOSI GPIO_SPI2_MOSI_4 /* PI3 */ +#define GPIO_SPI2_SCK ADJ_SLEW_RATE(GPIO_SPI2_SCK_6) /* PI1 */ + +#define GPIO_SPI3_MISO GPIO_SPI3_MISO_2 /* PC11 */ +#define GPIO_SPI3_MOSI GPIO_SPI3_MOSI_3 /* PB2 */ +#define GPIO_SPI3_SCK ADJ_SLEW_RATE(GPIO_SPI3_SCK_2) /* PC10 */ + +#define GPIO_SPI6_MISO GPIO_SPI6_MISO_2 /* PA6 */ +#define GPIO_SPI6_MOSI GPIO_SPI6_MOSI_1 /* PG14 */ +#define GPIO_SPI6_SCK ADJ_SLEW_RATE(GPIO_SPI6_SCK_3) /* PB3 */ + +/* I2C + * + * The optional _GPIO configurations allow the I2C driver to manually + * reset the bus to clear stuck slaves. They match the pin configuration, + * but are normally-high GPIOs. + * + */ + +#define GPIO_I2C1_SCL GPIO_I2C1_SCL_2 /* PB8 */ +#define GPIO_I2C1_SDA GPIO_I2C1_SDA_2 /* PB9 */ + +#define GPIO_I2C1_SCL_GPIO (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN8) +#define GPIO_I2C1_SDA_GPIO (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN9) + +#define GPIO_I2C3_SCL GPIO_I2C3_SCL_1 /* PA8 */ +#define GPIO_I2C3_SDA GPIO_I2C3_SDA_2 /* PH8 */ + +#define GPIO_I2C3_SCL_GPIO (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTA | GPIO_PIN8) +#define GPIO_I2C3_SDA_GPIO (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTH | GPIO_PIN8) + +#define GPIO_I2C4_SCL GPIO_I2C4_SCL_2 /* PF14 */ +#define GPIO_I2C4_SDA GPIO_I2C4_SDA_2 /* PF15 */ + +#define GPIO_I2C4_SCL_GPIO (GPIO_OUTPUT | GPIO_OPENDRAIN | GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTF | GPIO_PIN14) +#define GPIO_I2C4_SDA_GPIO (GPIO_OUTPUT | GPIO_OPENDRAIN | GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTF | GPIO_PIN15) + +/* SDMMC2 + * + * VDD 3.3 + * GND + * SDMMC2_CK PD6 + * SDMMC2_CMD PD7 + * SDMMC2_D0 PB14 + * SDMMC2_D1 PB15 + * SDMMC2_D2 PG11 + * SDMMC2_D3 PB4 + */ + +#define GPIO_SDMMC2_CK GPIO_SDMMC2_CK_1 /* PD6 */ +#define GPIO_SDMMC2_CMD GPIO_SDMMC2_CMD_1 /* PD7 */ +// GPIO_SDMMC2_D0 No Remap /* PB14 */ +// GPIO_SDMMC2_D1 No Remap /* PB15 */ +#define GPIO_SDMMC2_D2 GPIO_SDMMC2_D2_1 /* PG11 */ +// GPIO_SDMMC2_D3 No Remap /* PB4 */ + +/* USB + * + * OTG_FS_DM PA11 + * OTG_FS_DP PA12 + * VBUS PA9 + */ + + +/* Board provides GPIO or other Hardware for signaling to timing analyzer */ + +#if defined(CONFIG_BOARD_USE_PROBES) +# include "stm32_gpio.h" +# define PROBE_N(n) (1<<((n)-1)) +# define PROBE_1 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTI|GPIO_PIN0) /* PI0 AUX1 */ +# define PROBE_2 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN12) /* PH12 AUX2 */ +# define PROBE_3 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN11) /* PH11 AUX3 */ +# define PROBE_4 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN10) /* PH10 AUX4 */ +# define PROBE_5 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN13) /* PD13 AUX5 */ +# define PROBE_6 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN14) /* PD14 AUX6 */ +# define PROBE_7 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN6) /* PH6 AUX7 */ +# define PROBE_8 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN9) /* PH9 AUX8 */ + +# define PROBE_INIT(mask) \ + do { \ + if ((mask)& PROBE_N(1)) { stm32_configgpio(PROBE_1); } \ + if ((mask)& PROBE_N(2)) { stm32_configgpio(PROBE_2); } \ + if ((mask)& PROBE_N(3)) { stm32_configgpio(PROBE_3); } \ + if ((mask)& PROBE_N(4)) { stm32_configgpio(PROBE_4); } \ + if ((mask)& PROBE_N(5)) { stm32_configgpio(PROBE_5); } \ + if ((mask)& PROBE_N(6)) { stm32_configgpio(PROBE_6); } \ + if ((mask)& PROBE_N(7)) { stm32_configgpio(PROBE_7); } \ + if ((mask)& PROBE_N(8)) { stm32_configgpio(PROBE_8); } \ + if ((mask)& PROBE_N(9)) { stm32_configgpio(PROBE_9); } \ + } while(0) + +# define PROBE(n,s) do {stm32_gpiowrite(PROBE_##n,(s));}while(0) +# define PROBE_MARK(n) PROBE(n,false);PROBE(n,true) +#else +# define PROBE_INIT(mask) +# define PROBE(n,s) +# define PROBE_MARK(n) +#endif + +#endif /*__NUTTX_CONFIG_PX4_FMU_V6X_INCLUDE_BOARD_H */ diff --git a/boards/ark/pi6x/nuttx-config/include/board_dma_map.h b/boards/ark/pi6x/nuttx-config/include/board_dma_map.h new file mode 100644 index 000000000000..62e278597243 --- /dev/null +++ b/boards/ark/pi6x/nuttx-config/include/board_dma_map.h @@ -0,0 +1,81 @@ +/**************************************************************************** + * + * Copyright (c) 2024 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#pragma once + +// DMAMUX1 Using at most 8 Channels on DMA1 -------- Assigned +// V + +#define DMAMAP_SPI1_RX DMAMAP_DMA12_SPI1RX_0 /* 1 DMA1:37 ICM-20649 */ +#define DMAMAP_SPI1_TX DMAMAP_DMA12_SPI1TX_0 /* 2 DMA1:38 ICM-20649 */ + +#define DMAMAP_SPI2_RX DMAMAP_DMA12_SPI2RX_0 /* 3 DMA1:39 ICM-42688-P */ +#define DMAMAP_SPI2_TX DMAMAP_DMA12_SPI2TX_0 /* 4 DMA1:40 ICM-42688-P */ + +//#define DMAMAP_USART1_RX DMAMAP_DMA12_USART1RX_0 /* DMA1:41 GPS1 */ +//#define DMAMAP_USART1_TX DMAMAP_DMA12_USART1TX_0 /* DMA1:42 GPS1 */ + +//#define DMAMAP_USART3_RX DMAMAP_DMA12_USART3RX_0 /* DMA1:45 DEBUG */ +//#define DMAMAP_USART3_TX DMAMAP_DMA12_USART3TX_0 /* DMA1:46 DEBUG */ + +//#define DMAMAP_UART4_RX DMAMAP_DMA12_UART4RX_0 /* DMA1:63 EXT2 */ +//#define DMAMAP_UART4_TX DMAMAP_DMA12_UART4TX_0 /* DMA1:64 EXT2 */ + +#define DMAMAP_USART6_RX DMAMAP_DMA12_USART6RX_0 /* 5 DMA1:71 PX4IO */ +#define DMAMAP_USART6_TX DMAMAP_DMA12_USART6TX_0 /* 6 DMA1:72 PX4IO */ + +// Assigned in timer_config.cpp + +// Timer 4 /* 7 DMA1:32 TIM4UP */ +// Timer 5 /* 8 DMA1:50 TIM5UP */ + +// DMAMUX2 Using at most 8 Channels on DMA2 -------- Assigned +// V + +#define DMAMAP_SPI3_RX DMAMAP_DMA12_SPI3RX_1 /* 1 DMA2:61 BMI088 */ +#define DMAMAP_SPI3_TX DMAMAP_DMA12_SPI3TX_1 /* 2 DMA2:62 BMI088 */ + +#define DMAMAP_USART3_RX DMAMAP_DMA12_USART3RX_1 /* 3 DMA2:45 DEBUG */ +#define DMAMAP_USART3_TX DMAMAP_DMA12_USART3TX_1 /* 4 DMA2:46 DEBUG */ + +#define DMAMAP_UART5_RX DMAMAP_DMA12_UART5RX_1 /* 5 DMA2:65 TELEM2 */ +#define DMAMAP_UART5_TX DMAMAP_DMA12_UART5TX_1 /* 6 DMA2:66 TELEM2 */ + +#define DMAMAP_UART7_RX DMAMAP_DMA12_UART7RX_1 /* 7 DMA1:79 TELEM1 */ +#define DMAMAP_UART7_TX DMAMAP_DMA12_UART7TX_1 /* 8 DMA1:80 TELEM1 */ + +// DMAMUX2 Using at most 8 Channels on BDMA -------- Assigned +// V + +#define DMAMAP_SPI6_RX DMAMAP_BDMA_SPI6_RX /* 1 BDMA:11 SPI J11 */ +#define DMAMAP_SPI6_TX DMAMAP_BDMA_SPI6_TX /* 2 BDMA:12 SPI J11 */ diff --git a/boards/ark/pi6x/nuttx-config/nsh/defconfig b/boards/ark/pi6x/nuttx-config/nsh/defconfig new file mode 100644 index 000000000000..0e944e53c999 --- /dev/null +++ b/boards/ark/pi6x/nuttx-config/nsh/defconfig @@ -0,0 +1,270 @@ +# +# This file is autogenerated: PLEASE DO NOT EDIT IT. +# +# You can use "make menuconfig" to make any modifications to the installed .config file. +# You can then do "make savedefconfig" to generate a new defconfig file that includes your +# modifications. +# +# CONFIG_DISABLE_ENVIRON is not set +# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set +# CONFIG_DISABLE_PTHREAD is not set +# CONFIG_MMCSD_HAVE_CARDDETECT is not set +# CONFIG_MMCSD_HAVE_WRITEPROTECT is not set +# CONFIG_MMCSD_MMCSUPPORT is not set +# CONFIG_MMCSD_SPI is not set +# CONFIG_NSH_DISABLEBG is not set +# CONFIG_NSH_DISABLESCRIPT is not set +# CONFIG_NSH_DISABLE_CAT is not set +# CONFIG_NSH_DISABLE_CD is not set +# CONFIG_NSH_DISABLE_CP is not set +# CONFIG_NSH_DISABLE_DATE is not set +# CONFIG_NSH_DISABLE_DF is not set +# CONFIG_NSH_DISABLE_ECHO is not set +# CONFIG_NSH_DISABLE_ENV is not set +# CONFIG_NSH_DISABLE_EXEC is not set +# CONFIG_NSH_DISABLE_EXPORT is not set +# CONFIG_NSH_DISABLE_FREE is not set +# CONFIG_NSH_DISABLE_GET is not set +# CONFIG_NSH_DISABLE_HELP is not set +# CONFIG_NSH_DISABLE_IFCONFIG is not set +# CONFIG_NSH_DISABLE_IFUPDOWN is not set +# CONFIG_NSH_DISABLE_ITEF is not set +# CONFIG_NSH_DISABLE_KILL is not set +# CONFIG_NSH_DISABLE_LOOPS is not set +# CONFIG_NSH_DISABLE_LS is not set +# CONFIG_NSH_DISABLE_MKDIR is not set +# CONFIG_NSH_DISABLE_MKFATFS is not set +# CONFIG_NSH_DISABLE_MOUNT is not set +# CONFIG_NSH_DISABLE_MV is not set +# CONFIG_NSH_DISABLE_PS is not set +# CONFIG_NSH_DISABLE_PSSTACKUSAGE is not set +# CONFIG_NSH_DISABLE_PWD is not set +# CONFIG_NSH_DISABLE_RM is not set +# CONFIG_NSH_DISABLE_RMDIR is not set +# CONFIG_NSH_DISABLE_SEMICOLON is not set +# CONFIG_NSH_DISABLE_SET is not set +# CONFIG_NSH_DISABLE_SLEEP is not set +# CONFIG_NSH_DISABLE_SOURCE is not set +# CONFIG_NSH_DISABLE_TELNETD is not set +# CONFIG_NSH_DISABLE_TEST is not set +# CONFIG_NSH_DISABLE_TIME is not set +# CONFIG_NSH_DISABLE_UMOUNT is not set +# CONFIG_NSH_DISABLE_UNSET is not set +# CONFIG_NSH_DISABLE_USLEEP is not set +CONFIG_ARCH="arm" +CONFIG_ARCH_BOARD_CUSTOM=y +CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/ark/pi6x/nuttx-config" +CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y +CONFIG_ARCH_BOARD_CUSTOM_NAME="ark" +CONFIG_ARCH_CHIP="stm32h7" +CONFIG_ARCH_CHIP_STM32H743II=y +CONFIG_ARCH_CHIP_STM32H7=y +CONFIG_ARCH_INTERRUPTSTACK=768 +CONFIG_ARCH_STACKDUMP=y +CONFIG_ARMV7M_BASEPRI_WAR=y +CONFIG_ARMV7M_DCACHE=y +CONFIG_ARMV7M_DTCM=y +CONFIG_ARMV7M_ICACHE=y +CONFIG_ARMV7M_MEMCPY=y +CONFIG_ARMV7M_USEBASEPRI=y +CONFIG_ARM_MPU_EARLY_RESET=y +CONFIG_BOARDCTL_RESET=y +CONFIG_BOARD_ASSERT_RESET_VALUE=0 +CONFIG_BOARD_CRASHDUMP=y +CONFIG_BOARD_LOOPSPERMSEC=95751 +CONFIG_BOARD_RESET_ON_ASSERT=2 +CONFIG_BUILTIN=y +CONFIG_CDCACM=y +CONFIG_CDCACM_IFLOWCONTROL=y +CONFIG_CDCACM_PRODUCTID=0x0039 +CONFIG_CDCACM_PRODUCTSTR="ARK Pi6X.x" +CONFIG_CDCACM_RXBUFSIZE=600 +CONFIG_CDCACM_TXBUFSIZE=12000 +CONFIG_CDCACM_VENDORID=0x3185 +CONFIG_CDCACM_VENDORSTR="ARK" +CONFIG_DEBUG_FULLOPT=y +CONFIG_DEBUG_HARDFAULT_ALERT=y +CONFIG_DEBUG_MEMFAULT=y +CONFIG_DEBUG_SYMBOLS=y +CONFIG_DEBUG_TCBINFO=y +CONFIG_DEFAULT_SMALL=y +CONFIG_DEV_FIFO_SIZE=0 +CONFIG_DEV_PIPE_MAXSIZE=1024 +CONFIG_DEV_PIPE_SIZE=70 +CONFIG_EXPERIMENTAL=y +CONFIG_FAT_DMAMEMORY=y +CONFIG_FAT_LCNAMES=y +CONFIG_FAT_LFN=y +CONFIG_FAT_LFN_ALIAS_HASH=y +CONFIG_FDCLONE_STDIO=y +CONFIG_FS_BINFS=y +CONFIG_FS_CROMFS=y +CONFIG_FS_FAT=y +CONFIG_FS_FATTIME=y +CONFIG_FS_PROCFS=y +CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y +CONFIG_FS_PROCFS_MAX_TASKS=64 +CONFIG_FS_PROCFS_REGISTER=y +CONFIG_FS_ROMFS=y +CONFIG_GRAN=y +CONFIG_GRAN_INTR=y +CONFIG_HAVE_CXX=y +CONFIG_HAVE_CXXINITIALIZE=y +CONFIG_I2C=y +CONFIG_I2C_RESET=y +CONFIG_IDLETHREAD_STACKSIZE=750 +CONFIG_INIT_ENTRYPOINT="nsh_main" +CONFIG_INIT_STACKSIZE=3194 +CONFIG_LIBC_FLOATINGPOINT=y +CONFIG_LIBC_LONG_LONG=y +CONFIG_LIBC_MAX_EXITFUNS=1 +CONFIG_LIBC_STRERROR=y +CONFIG_MEMSET_64BIT=y +CONFIG_MEMSET_OPTSPEED=y +CONFIG_MMCSD=y +CONFIG_MMCSD_SDIO=y +CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y +CONFIG_MM_REGIONS=4 +CONFIG_MTD=y +CONFIG_MTD_BYTE_WRITE=y +CONFIG_MTD_PARTITION=y +CONFIG_MTD_PROGMEM=y +CONFIG_MTD_RAMTRON=y +CONFIG_NAME_MAX=40 +CONFIG_NSH_ARCHINIT=y +CONFIG_NSH_ARGCAT=y +CONFIG_NSH_BUILTIN_APPS=y +CONFIG_NSH_CMDPARMS=y +CONFIG_NSH_CROMFSETC=y +CONFIG_NSH_LINELEN=128 +CONFIG_NSH_MAXARGUMENTS=15 +CONFIG_NSH_NESTDEPTH=8 +CONFIG_NSH_QUOTE=y +CONFIG_NSH_ROMFSETC=y +CONFIG_NSH_ROMFSSECTSIZE=128 +CONFIG_NSH_STRERROR=y +CONFIG_NSH_VARS=y +CONFIG_OTG_ID_GPIO_DISABLE=y +CONFIG_PIPES=y +CONFIG_PREALLOC_TIMERS=50 +CONFIG_PRIORITY_INHERITANCE=y +CONFIG_PTHREAD_MUTEX_ROBUST=y +CONFIG_PTHREAD_STACK_MIN=512 +CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5 +CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5 +CONFIG_RAMTRON_SETSPEED=y +CONFIG_RAM_SIZE=245760 +CONFIG_RAM_START=0x20010000 +CONFIG_RAW_BINARY=y +CONFIG_READLINE_CMD_HISTORY=y +CONFIG_READLINE_TABCOMPLETION=y +CONFIG_RTC_DATETIME=y +CONFIG_SCHED_HPWORK=y +CONFIG_SCHED_HPWORKPRIORITY=249 +CONFIG_SCHED_HPWORKSTACKSIZE=3000 +CONFIG_SCHED_INSTRUMENTATION=y +CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y +CONFIG_SCHED_INSTRUMENTATION_SWITCH=y +CONFIG_SCHED_LPWORK=y +CONFIG_SCHED_LPWORKPRIORITY=50 +CONFIG_SCHED_LPWORKSTACKSIZE=1632 +CONFIG_SCHED_WAITPID=y +CONFIG_SDMMC2_SDIO_PULLUP=y +CONFIG_SEM_PREALLOCHOLDERS=32 +CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y +CONFIG_SERIAL_TERMIOS=y +CONFIG_SIG_DEFAULT=y +CONFIG_SIG_SIGALRM_ACTION=y +CONFIG_SIG_SIGUSR1_ACTION=y +CONFIG_SIG_SIGUSR2_ACTION=y +CONFIG_SIG_SIGWORK=4 +CONFIG_STACK_COLORATION=y +CONFIG_START_DAY=30 +CONFIG_START_MONTH=11 +CONFIG_STDIO_BUFFER_SIZE=256 +CONFIG_STM32H7_ADC1=y +CONFIG_STM32H7_ADC3=y +CONFIG_STM32H7_BBSRAM=y +CONFIG_STM32H7_BBSRAM_FILES=5 +CONFIG_STM32H7_BDMA=y +CONFIG_STM32H7_BKPSRAM=y +CONFIG_STM32H7_DMA1=y +CONFIG_STM32H7_DMA2=y +CONFIG_STM32H7_DMACAPABLE=y +CONFIG_STM32H7_FLASH_OVERRIDE_I=y +CONFIG_STM32H7_FLOWCONTROL_BROKEN=y +CONFIG_STM32H7_I2C1=y +CONFIG_STM32H7_I2C3=y +CONFIG_STM32H7_I2C4=y +CONFIG_STM32H7_I2C_DYNTIMEO=y +CONFIG_STM32H7_I2C_DYNTIMEO_STARTSTOP=10 +CONFIG_STM32H7_OTGFS=y +CONFIG_STM32H7_PROGMEM=y +CONFIG_STM32H7_RTC=y +CONFIG_STM32H7_RTC_AUTO_LSECLOCK_START_DRV_CAPABILITY=y +CONFIG_STM32H7_RTC_MAGIC_REG=1 +CONFIG_STM32H7_SAVE_CRASHDUMP=y +CONFIG_STM32H7_SDMMC2=y +CONFIG_STM32H7_SERIALBRK_BSDCOMPAT=y +CONFIG_STM32H7_SERIAL_DISABLE_REORDERING=y +CONFIG_STM32H7_SPI1=y +CONFIG_STM32H7_SPI1_DMA=y +CONFIG_STM32H7_SPI1_DMA_BUFFER=1024 +CONFIG_STM32H7_SPI2=y +CONFIG_STM32H7_SPI2_DMA=y +CONFIG_STM32H7_SPI2_DMA_BUFFER=4096 +CONFIG_STM32H7_SPI3=y +CONFIG_STM32H7_SPI3_DMA=y +CONFIG_STM32H7_SPI3_DMA_BUFFER=1024 +CONFIG_STM32H7_SPI6=y +CONFIG_STM32H7_SPI6_DMA=y +CONFIG_STM32H7_SPI6_DMA_BUFFER=1024 +CONFIG_STM32H7_TIM12=y +CONFIG_STM32H7_TIM1=y +CONFIG_STM32H7_TIM4=y +CONFIG_STM32H7_TIM5=y +CONFIG_STM32H7_UART4=y +CONFIG_STM32H7_UART5=y +CONFIG_STM32H7_UART7=y +CONFIG_STM32H7_USART1=y +CONFIG_STM32H7_USART3=y +CONFIG_STM32H7_USART6=y +CONFIG_STM32H7_USART_BREAKS=y +CONFIG_STM32H7_USART_INVERT=y +CONFIG_STM32H7_USART_SINGLEWIRE=y +CONFIG_STM32H7_USART_SWAP=y +CONFIG_SYSTEM_CDCACM=y +CONFIG_SYSTEM_NSH=y +CONFIG_TASK_NAME_SIZE=24 +CONFIG_UART4_BAUD=57600 +CONFIG_UART4_RXBUFSIZE=600 +CONFIG_UART4_TXBUFSIZE=1500 +CONFIG_UART5_IFLOWCONTROL=y +CONFIG_UART5_OFLOWCONTROL=y +CONFIG_UART5_RXDMA=y +CONFIG_UART5_TXBUFSIZE=10000 +CONFIG_UART5_TXDMA=y +CONFIG_UART7_BAUD=57600 +CONFIG_UART7_IFLOWCONTROL=y +CONFIG_UART7_OFLOWCONTROL=y +CONFIG_UART7_RXBUFSIZE=600 +CONFIG_UART7_RXDMA=y +CONFIG_UART7_TXBUFSIZE=3000 +CONFIG_UART7_TXDMA=y +CONFIG_USART1_BAUD=57600 +CONFIG_USART1_RXBUFSIZE=600 +CONFIG_USART1_TXBUFSIZE=1500 +CONFIG_USART3_BAUD=57600 +CONFIG_USART3_RXBUFSIZE=180 +CONFIG_USART3_RXDMA=y +CONFIG_USART3_SERIAL_CONSOLE=y +CONFIG_USART3_TXBUFSIZE=1500 +CONFIG_USART3_TXDMA=y +CONFIG_USART6_BAUD=57600 +CONFIG_USART6_RXBUFSIZE=600 +CONFIG_USART6_TXBUFSIZE=1500 +CONFIG_USBDEV=y +CONFIG_USBDEV_BUSPOWERED=y +CONFIG_USBDEV_MAXPOWER=500 +CONFIG_USEC_PER_TICK=1000 +CONFIG_WATCHDOG=y diff --git a/boards/ark/pi6x/nuttx-config/scripts/bootloader_script.ld b/boards/ark/pi6x/nuttx-config/scripts/bootloader_script.ld new file mode 100644 index 000000000000..b0515c91c7f8 --- /dev/null +++ b/boards/ark/pi6x/nuttx-config/scripts/bootloader_script.ld @@ -0,0 +1,215 @@ +/**************************************************************************** + * scripts/script.ld + * + * Copyright (C) 2016, 2024 Gregory Nutt. All rights reserved. + * Author: Gregory Nutt + * + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name NuttX nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/* The ARKV6X uses an STM32H743II has 2048Kb of main FLASH memory. + * The flash memory is partitioned into a User Flash memory and a System + * Flash memory. Each of these memories has two banks: + * + * 1) User Flash memory: + * + * Bank 1: Start address 0x0800:0000 to 0x080F:FFFF with 8 sectors, 128Kb each + * Bank 2: Start address 0x0810:0000 to 0x081F:FFFF with 8 sectors, 128Kb each + * + * 2) System Flash memory: + * + * Bank 1: Start address 0x1FF0:0000 to 0x1FF1:FFFF with 1 x 128Kb sector + * Bank 1: Start address 0x1FF4:0000 to 0x1FF5:FFFF with 1 x 128Kb sector + * + * 3) User option bytes for user configuration, only in Bank 1. + * + * In the STM32H743II, two different boot spaces can be selected through + * the BOOT pin and the boot base address programmed in the BOOT_ADD0 and + * BOOT_ADD1 option bytes: + * + * 1) BOOT=0: Boot address defined by user option byte BOOT_ADD0[15:0]. + * ST programmed value: Flash memory at 0x0800:0000 + * 2) BOOT=1: Boot address defined by user option byte BOOT_ADD1[15:0]. + * ST programmed value: System bootloader at 0x1FF0:0000 + * + * The ARKV6X has a test point on board, the BOOT0 pin is at ground so by + * default, the STM32 will boot to address 0x0800:0000 in FLASH unless the test + * point is pulled to 3.3V.then the boot will be from 0x1FF0:0000 + * + * The STM32H743II also has 1024Kb of data SRAM. + * SRAM is split up into several blocks and into three power domains: + * + * 1) TCM SRAMs are dedicated to the Cortex-M7 and are accessible with + * 0 wait states by the Cortex-M7 and by MDMA through AHBS slave bus + * + * 1.1) 128Kb of DTCM-RAM beginning at address 0x2000:0000 + * + * The DTCM-RAM is organized as 2 x 64Kb DTCM-RAMs on 2 x 32 bit + * DTCM ports. The DTCM-RAM could be used for critical real-time + * data, such as interrupt service routines or stack / heap memory. + * Both DTCM-RAMs can be used in parallel (for load/store operations) + * thanks to the Cortex-M7 dual issue capability. + * + * 1.2) 64Kb of ITCM-RAM beginning at address 0x0000:0000 + * + * This RAM is connected to ITCM 64-bit interface designed for + * execution of critical real-times routines by the CPU. + * + * 2) AXI SRAM (D1 domain) accessible by all system masters except BDMA + * through D1 domain AXI bus matrix + * + * 2.1) 512Kb of SRAM beginning at address 0x2400:0000 + * + * 3) AHB SRAM (D2 domain) accessible by all system masters except BDMA + * through D2 domain AHB bus matrix + * + * 3.1) 128Kb of SRAM1 beginning at address 0x3000:0000 + * 3.2) 128Kb of SRAM2 beginning at address 0x3002:0000 + * 3.3) 32Kb of SRAM3 beginning at address 0x3004:0000 + * + * SRAM1 - SRAM3 are one contiguous block: 288Kb at address 0x3000:0000 + * + * 4) AHB SRAM (D3 domain) accessible by most of system masters + * through D3 domain AHB bus matrix + * + * 4.1) 64Kb of SRAM4 beginning at address 0x3800:0000 + * 4.1) 4Kb of backup RAM beginning at address 0x3880:0000 + * + * When booting from FLASH, FLASH memory is aliased to address 0x0000:0000 + * where the code expects to begin execution by jumping to the entry point in + * the 0x0800:0000 address range. + * + * The bootloader uses the first sector of the flash, which is 128K in length. + */ + +MEMORY +{ + itcm (rwx) : ORIGIN = 0x00000000, LENGTH = 64K + flash (rx) : ORIGIN = 0x08000000, LENGTH = 128K + dtcm1 (rwx) : ORIGIN = 0x20000000, LENGTH = 64K + dtcm2 (rwx) : ORIGIN = 0x20010000, LENGTH = 64K + sram (rwx) : ORIGIN = 0x24000000, LENGTH = 512K + sram1 (rwx) : ORIGIN = 0x30000000, LENGTH = 128K + sram2 (rwx) : ORIGIN = 0x30020000, LENGTH = 128K + sram3 (rwx) : ORIGIN = 0x30040000, LENGTH = 32K + sram4 (rwx) : ORIGIN = 0x38000000, LENGTH = 64K + bbram (rwx) : ORIGIN = 0x38800000, LENGTH = 4K +} + +OUTPUT_ARCH(arm) +EXTERN(_vectors) +ENTRY(_stext) + +/* + * Ensure that abort() is present in the final object. The exception handling + * code pulled in by libgcc.a requires it (and that code cannot be easily avoided). + */ +EXTERN(abort) +EXTERN(_bootdelay_signature) + +SECTIONS +{ + .text : { + _stext = ABSOLUTE(.); + *(.vectors) + . = ALIGN(32); + /* + This signature provides the bootloader with a way to delay booting + */ + _bootdelay_signature = ABSOLUTE(.); + FILL(0xffecc2925d7d05c5) + . += 8; + *(.text .text.*) + *(.fixup) + *(.gnu.warning) + *(.rodata .rodata.*) + *(.gnu.linkonce.t.*) + *(.glue_7) + *(.glue_7t) + *(.got) + *(.gcc_except_table) + *(.gnu.linkonce.r.*) + _etext = ABSOLUTE(.); + + } > flash + + /* + * Init functions (static constructors and the like) + */ + .init_section : { + _sinit = ABSOLUTE(.); + KEEP(*(.init_array .init_array.*)) + _einit = ABSOLUTE(.); + } > flash + + + .ARM.extab : { + *(.ARM.extab*) + } > flash + + __exidx_start = ABSOLUTE(.); + .ARM.exidx : { + *(.ARM.exidx*) + } > flash + __exidx_end = ABSOLUTE(.); + + _eronly = ABSOLUTE(.); + + .data : { + _sdata = ABSOLUTE(.); + *(.data .data.*) + *(.gnu.linkonce.d.*) + CONSTRUCTORS + _edata = ABSOLUTE(.); + } > sram AT > flash + + .bss : { + _sbss = ABSOLUTE(.); + *(.bss .bss.*) + *(.gnu.linkonce.b.*) + *(COMMON) + . = ALIGN(4); + _ebss = ABSOLUTE(.); + } > sram + + /* Stabs debugging sections. */ + .stab 0 : { *(.stab) } + .stabstr 0 : { *(.stabstr) } + .stab.excl 0 : { *(.stab.excl) } + .stab.exclstr 0 : { *(.stab.exclstr) } + .stab.index 0 : { *(.stab.index) } + .stab.indexstr 0 : { *(.stab.indexstr) } + .comment 0 : { *(.comment) } + .debug_abbrev 0 : { *(.debug_abbrev) } + .debug_info 0 : { *(.debug_info) } + .debug_line 0 : { *(.debug_line) } + .debug_pubnames 0 : { *(.debug_pubnames) } + .debug_aranges 0 : { *(.debug_aranges) } +} diff --git a/boards/ark/pi6x/nuttx-config/scripts/script.ld b/boards/ark/pi6x/nuttx-config/scripts/script.ld new file mode 100644 index 000000000000..8e6dca3e4941 --- /dev/null +++ b/boards/ark/pi6x/nuttx-config/scripts/script.ld @@ -0,0 +1,229 @@ +/**************************************************************************** + * scripts/script.ld + * + * Copyright (C) 2016, 2024 Gregory Nutt. All rights reserved. + * Author: Gregory Nutt + * + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name NuttX nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/* The ARKV6X uses an STM32H743II has 2048Kb of main FLASH memory. + * The flash memory is partitioned into a User Flash memory and a System + * Flash memory. Each of these memories has two banks: + * + * 1) User Flash memory: + * + * Bank 1: Start address 0x0800:0000 to 0x080F:FFFF with 8 sectors, 128Kb each + * Bank 2: Start address 0x0810:0000 to 0x081F:FFFF with 8 sectors, 128Kb each + * + * 2) System Flash memory: + * + * Bank 1: Start address 0x1FF0:0000 to 0x1FF1:FFFF with 1 x 128Kb sector + * Bank 1: Start address 0x1FF4:0000 to 0x1FF5:FFFF with 1 x 128Kb sector + * + * 3) User option bytes for user configuration, only in Bank 1. + * + * In the STM32H743II, two different boot spaces can be selected through + * the BOOT pin and the boot base address programmed in the BOOT_ADD0 and + * BOOT_ADD1 option bytes: + * + * 1) BOOT=0: Boot address defined by user option byte BOOT_ADD0[15:0]. + * ST programmed value: Flash memory at 0x0800:0000 + * 2) BOOT=1: Boot address defined by user option byte BOOT_ADD1[15:0]. + * ST programmed value: System bootloader at 0x1FF0:0000 + * + * The ARKV6X has a test point on board, the BOOT0 pin is at ground so by + * default, the STM32 will boot to address 0x0800:0000 in FLASH unless the test + * point is pulled to 3.3V.then the boot will be from 0x1FF0:0000 + * + * The STM32H743II also has 1024Kb of data SRAM. + * SRAM is split up into several blocks and into three power domains: + * + * 1) TCM SRAMs are dedicated to the Cortex-M7 and are accessible with + * 0 wait states by the Cortex-M7 and by MDMA through AHBS slave bus + * + * 1.1) 128Kb of DTCM-RAM beginning at address 0x2000:0000 + * + * The DTCM-RAM is organized as 2 x 64Kb DTCM-RAMs on 2 x 32 bit + * DTCM ports. The DTCM-RAM could be used for critical real-time + * data, such as interrupt service routines or stack / heap memory. + * Both DTCM-RAMs can be used in parallel (for load/store operations) + * thanks to the Cortex-M7 dual issue capability. + * + * 1.2) 64Kb of ITCM-RAM beginning at address 0x0000:0000 + * + * This RAM is connected to ITCM 64-bit interface designed for + * execution of critical real-times routines by the CPU. + * + * 2) AXI SRAM (D1 domain) accessible by all system masters except BDMA + * through D1 domain AXI bus matrix + * + * 2.1) 512Kb of SRAM beginning at address 0x2400:0000 + * + * 3) AHB SRAM (D2 domain) accessible by all system masters except BDMA + * through D2 domain AHB bus matrix + * + * 3.1) 128Kb of SRAM1 beginning at address 0x3000:0000 + * 3.2) 128Kb of SRAM2 beginning at address 0x3002:0000 + * 3.3) 32Kb of SRAM3 beginning at address 0x3004:0000 + * + * SRAM1 - SRAM3 are one contiguous block: 288Kb at address 0x3000:0000 + * + * 4) AHB SRAM (D3 domain) accessible by most of system masters + * through D3 domain AHB bus matrix + * + * 4.1) 64Kb of SRAM4 beginning at address 0x3800:0000 + * 4.1) 4Kb of backup RAM beginning at address 0x3880:0000 + * + * When booting from FLASH, FLASH memory is aliased to address 0x0000:0000 + * where the code expects to begin execution by jumping to the entry point in + * the 0x0800:0000 address range. + */ + +MEMORY +{ + ITCM_RAM (rwx) : ORIGIN = 0x00000000, LENGTH = 64K + FLASH (rx) : ORIGIN = 0x08020000, LENGTH = 1792K /* params in last sector */ + + DTCM1_RAM (rwx) : ORIGIN = 0x20000000, LENGTH = 64K + DTCM2_RAM (rwx) : ORIGIN = 0x20010000, LENGTH = 64K + AXI_SRAM (rwx) : ORIGIN = 0x24000000, LENGTH = 512K /* D1 domain AXI bus */ + SRAM1 (rwx) : ORIGIN = 0x30000000, LENGTH = 128K /* D2 domain AHB bus */ + SRAM2 (rwx) : ORIGIN = 0x30020000, LENGTH = 128K /* D2 domain AHB bus */ + SRAM3 (rwx) : ORIGIN = 0x30040000, LENGTH = 32K /* D2 domain AHB bus */ + SRAM4 (rwx) : ORIGIN = 0x38000000, LENGTH = 64K /* D3 domain */ + BKPRAM (rwx) : ORIGIN = 0x38800000, LENGTH = 4K +} + +OUTPUT_ARCH(arm) +EXTERN(_vectors) +ENTRY(_stext) + +/* + * Ensure that abort() is present in the final object. The exception handling + * code pulled in by libgcc.a requires it (and that code cannot be easily avoided). + */ +EXTERN(abort) +EXTERN(_bootdelay_signature) +EXTERN(board_get_manifest) + +SECTIONS +{ + .text : { + _stext = ABSOLUTE(.); + *(.vectors) + . = ALIGN(32); + /* + This signature provides the bootloader with a way to delay booting + */ + _bootdelay_signature = ABSOLUTE(.); + FILL(0xffecc2925d7d05c5) + . += 8; + *(.text .text.*) + *(.fixup) + *(.gnu.warning) + *(.rodata .rodata.*) + *(.gnu.linkonce.t.*) + *(.glue_7) + *(.glue_7t) + *(.got) + *(.gcc_except_table) + *(.gnu.linkonce.r.*) + _etext = ABSOLUTE(.); + + } > FLASH + + /* + * Init functions (static constructors and the like) + */ + .init_section : { + _sinit = ABSOLUTE(.); + KEEP(*(.init_array .init_array.*)) + _einit = ABSOLUTE(.); + } > FLASH + + + .ARM.extab : { + *(.ARM.extab*) + } > FLASH + + __exidx_start = ABSOLUTE(.); + .ARM.exidx : { + *(.ARM.exidx*) + } > FLASH + __exidx_end = ABSOLUTE(.); + + _eronly = ABSOLUTE(.); + + .data : { + _sdata = ABSOLUTE(.); + *(.data .data.*) + *(.gnu.linkonce.d.*) + CONSTRUCTORS + _edata = ABSOLUTE(.); + + /* Pad out last section as the STM32H7 Flash write size is 256 bits. 32 bytes */ + . = ALIGN(16); + FILL(0xffff) + . += 16; + } > AXI_SRAM AT > FLASH = 0xffff + + .bss : { + _sbss = ABSOLUTE(.); + *(.bss .bss.*) + *(.gnu.linkonce.b.*) + *(COMMON) + . = ALIGN(4); + _ebss = ABSOLUTE(.); + } > AXI_SRAM + + /* Emit the the D3 power domain section for locating BDMA data */ + + .sram4_reserve (NOLOAD) : + { + *(.sram4) + . = ALIGN(4); + _sram4_heap_start = ABSOLUTE(.); + } > SRAM4 + + /* Stabs debugging sections. */ + .stab 0 : { *(.stab) } + .stabstr 0 : { *(.stabstr) } + .stab.excl 0 : { *(.stab.excl) } + .stab.exclstr 0 : { *(.stab.exclstr) } + .stab.index 0 : { *(.stab.index) } + .stab.indexstr 0 : { *(.stab.indexstr) } + .comment 0 : { *(.comment) } + .debug_abbrev 0 : { *(.debug_abbrev) } + .debug_info 0 : { *(.debug_info) } + .debug_line 0 : { *(.debug_line) } + .debug_pubnames 0 : { *(.debug_pubnames) } + .debug_aranges 0 : { *(.debug_aranges) } +} diff --git a/boards/ark/pi6x/src/CMakeLists.txt b/boards/ark/pi6x/src/CMakeLists.txt new file mode 100644 index 000000000000..78b8222f19d8 --- /dev/null +++ b/boards/ark/pi6x/src/CMakeLists.txt @@ -0,0 +1,77 @@ +############################################################################ +# +# Copyright (c) 2016 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ +if("${PX4_BOARD_LABEL}" STREQUAL "bootloader") + add_compile_definitions(BOOTLOADER) + add_library(drivers_board + bootloader_main.c + init.c + usb.c + timer_config.cpp + ) + target_link_libraries(drivers_board + PRIVATE + nuttx_arch # sdio + nuttx_drivers # sdio + px4_layer #gpio + arch_io_pins # iotimer + bootloader + ) + target_include_directories(drivers_board PRIVATE ${PX4_SOURCE_DIR}/platforms/nuttx/src/bootloader/common) + +else() + add_library(drivers_board + can.c + i2c.cpp + init.c + led.c + mtd.cpp + sdio.c + spi.cpp + spix_sync.c + spix_sync.h + timer_config.cpp + usb.c + ) + add_dependencies(drivers_board arch_board_hw_info) + + target_link_libraries(drivers_board + PRIVATE + arch_io_pins + arch_spi + arch_board_hw_info + drivers__led # drv_led_start + nuttx_arch # sdio + nuttx_drivers # sdio + px4_layer + ) +endif() diff --git a/boards/ark/pi6x/src/board_config.h b/boards/ark/pi6x/src/board_config.h new file mode 100644 index 000000000000..5e123db35124 --- /dev/null +++ b/boards/ark/pi6x/src/board_config.h @@ -0,0 +1,402 @@ +/**************************************************************************** + * + * Copyright (c) 2016-2024 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file board_config.h + * + * ARK Pi6X internal definitions + */ + +#pragma once + +/**************************************************************************************************** + * Included Files + ****************************************************************************************************/ + +#include +#include +#include + + +#include + +/**************************************************************************************************** + * Definitions + ****************************************************************************************************/ + +#undef TRACE_PINS + +/* Configuration ************************************************************************************/ + +#define BOARD_HAS_NBAT_V 1d // 2 Digital Voltage +#define BOARD_HAS_NBAT_I 1d // 2 Digital Current + +/* PX4FMU GPIOs ***********************************************************************************/ + +/* Trace Clock and D0-D3 are available on the trace connector + * + * TRACECLK PE2 - Dedicated - Trace Connector Pin 1 + * TRACED0 PE3 - nLED_RED - Trace Connector Pin 3 + * TRACED1 PE4 - nLED_GREEN - Trace Connector Pin 5 + * TRACED2 PE5 - nLED_BLUE - Trace Connector Pin 7 + * TRACED3 PE6 - nARMED - Trace Connector Pin 8 + + */ + +/* LEDs are driven with push open drain to support Anode to 5V or 3.3V or used as TRACE0-2 */ + +#if !defined(TRACE_PINS) +# define GPIO_nLED_RED /* PE3 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN3) +# define GPIO_nLED_GREEN /* PE4 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN4) +# define GPIO_nLED_BLUE /* PE5 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN5) + +# define BOARD_HAS_CONTROL_STATUS_LEDS 1 +# define BOARD_OVERLOAD_LED LED_RED +# define BOARD_ARMED_STATE_LED LED_BLUE + +#else + +# define GPIO_TRACECLK1 (GPIO_TRACECLK |GPIO_PULLUP|GPIO_SPEED_100MHz|GPIO_PUSHPULL) //(GPIO_ALT|GPIO_AF0|GPIO_PORTE|GPIO_PIN2) +# define GPIO_TRACED0 (GPIO_TRACED0_2|GPIO_PULLUP|GPIO_SPEED_100MHz|GPIO_PUSHPULL) //(GPIO_ALT|GPIO_AF0|GPIO_PORTE|GPIO_PIN3) +# define GPIO_TRACED1 (GPIO_TRACED1_2|GPIO_PULLUP|GPIO_SPEED_100MHz|GPIO_PUSHPULL) //(GPIO_ALT|GPIO_AF0|GPIO_PORTE|GPIO_PIN4) +# define GPIO_TRACED2 (GPIO_TRACED2_2|GPIO_PULLUP|GPIO_SPEED_100MHz|GPIO_PUSHPULL) //(GPIO_ALT|GPIO_AF0|GPIO_PORTE|GPIO_PIN5) +# define GPIO_TRACED3 (GPIO_TRACED3_2|GPIO_PULLUP|GPIO_SPEED_100MHz|GPIO_PUSHPULL) //(GPIO_ALT|GPIO_AF0|GPIO_PORTE|GPIO_PIN6) +//#define GPIO_TRACESWO //(GPIO_ALT|GPIO_AF0|GPIO_PORTB|GPIO_PIN3) + +# undef BOARD_HAS_CONTROL_STATUS_LEDS +# undef BOARD_OVERLOAD_LED +# undef BOARD_ARMED_STATE_LED + +# define GPIO_nLED_RED GPIO_TRACED0 +# define GPIO_nLED_GREEN GPIO_TRACED1 +# define GPIO_nLED_BLUE GPIO_TRACED2 +# define GPIO_nARMED GPIO_TRACED3 +# define GPIO_nARMED_INIT GPIO_TRACED3 +#endif + +/* I2C busses */ + +/* Devices on the onboard buses. + * + * Note that these are unshifted addresses. + */ +#define PX4_I2C_OBDEV_SE050 0x48 + +/* + * ADC channels + * + * These are the channel numbers of the ADCs of the microcontroller that + * can be used by the Px4 Firmware in the adc driver + */ + +/* ADC defines to be used in sensors.cpp to read from a particular channel */ + +#define ADC1_CH(n) (n) + +/* N.B. there is no offset mapping needed for ADC3 because */ +#define ADC3_CH(n) (n) + +/* We are only use ADC3 for REV/VER. + * ADC3_6V6 and ADC3_3V3 are mapped back to ADC1 + * To do this We are relying on PC2_C, PC3_C being connected to PC2, PC3 + * respectively by the SYSCFG_PMCR default of setting for PC3SO PC2SO PA1SO + * PA0SO of 0. + * + * 0 Analog switch closed (pads are connected through the analog switch) + * + * So ADC3_INP0 is GPIO_ADC123_INP12 + * ADC3_INP1 is GPIO_ADC12_INP13 + */ + +/* Define GPIO pins used as ADC N.B. Channel numbers must match below */ + +#define PX4_ADC_GPIO \ + /* PA0 */ GPIO_ADC1_INP16, \ + /* PA4 */ GPIO_ADC12_INP18, \ + /* PB0 */ GPIO_ADC12_INP9, \ + /* PB1 */ GPIO_ADC12_INP5, \ + /* PC2 */ GPIO_ADC123_INP12, \ + /* PC3 */ GPIO_ADC12_INP13, \ + /* PF12 */ GPIO_ADC1_INP6, \ + /* PH3 */ GPIO_ADC3_INP14, \ + /* PH4 */ GPIO_ADC3_INP15 + +/* Define Channel numbers must match above GPIO pin IN(n)*/ +#define ADC_SCALED_VDD_3V3_SENSORS1_CHANNEL /* PA0 */ ADC1_CH(16) +#define ADC_SCALED_V5_CHANNEL /* PB1 */ ADC1_CH(5) +#define ADC_HW_VER_SENSE_CHANNEL /* PH3 */ ADC3_CH(14) +#define ADC_HW_REV_SENSE_CHANNEL /* PH4 */ ADC3_CH(15) + +#define ADC_CHANNELS \ + ((1 << ADC_SCALED_VDD_3V3_SENSORS1_CHANNEL) | \ + (1 << ADC_SCALED_V5_CHANNEL)) + +/* HW has to large of R termination on ADC todo:change when HW value is chosen */ + +#define HW_REV_VER_ADC_BASE STM32_ADC3_BASE + +#define SYSTEM_ADC_BASE STM32_ADC1_BASE + +/* HW has to large of R termination on ADC todo:change when HW value is chosen */ +#define BOARD_ADC_OPEN_CIRCUIT_V (5.6f) + +/* HW Version and Revision drive signals Default to 1 to detect */ +#define BOARD_HAS_HW_SPLIT_VERSIONING + +#define GPIO_HW_VER_REV_DRIVE /* PG0 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN0) +#define GPIO_HW_REV_SENSE /* PH4 */ GPIO_ADC3_INP15 +#define GPIO_HW_VER_SENSE /* PH3 */ GPIO_ADC3_INP14 +#define HW_INFO_INIT_PREFIX "ARKPI6X" + +#define BOARD_NUM_SPI_CFG_HW_VERSIONS 2 +// Base/FMUM +#define ARKPI6X_0 HW_FMUM_ID(0x0) // ARKPI6X, Sensor Set Rev 0 +#define ARKPI6X_1 HW_FMUM_ID(0x1) // ARKPI6X, Sensor Set Rev 1 + +#define UAVCAN_NUM_IFACES_RUNTIME 1 + +/* HEATER + * PWM in future + */ +#define GPIO_HEATER_OUTPUT /* PB10 T2CH3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10) +#define HEATER_OUTPUT_EN(on_true) px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true)) + +/* PE6 is nARMED + * The GPIO will be set as input while not armed HW will have external HW Pull UP. + * While armed it shall be configured at a GPIO OUT set LOW + */ +#if !defined(TRACE_PINS) +#define GPIO_nARMED_INIT /* PE6 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN6) +#define GPIO_nARMED /* PE6 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN6) +#define BOARD_INDICATE_EXTERNAL_LOCKOUT_STATE(enabled) px4_arch_configgpio((enabled) ? GPIO_nARMED : GPIO_nARMED_INIT) +#define BOARD_GET_EXTERNAL_LOCKOUT_STATE() px4_arch_gpioread(GPIO_nARMED) +#endif + +/* PWM + */ +#define DIRECT_PWM_OUTPUT_CHANNELS 8 + +#define GPIO_FMU_CH1 /* PI0 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTI|GPIO_PIN0) +#define GPIO_FMU_CH2 /* PH12 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTH|GPIO_PIN12) +#define GPIO_FMU_CH3 /* PH11 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTH|GPIO_PIN11) +#define GPIO_FMU_CH4 /* PH10 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTH|GPIO_PIN10) +#define GPIO_FMU_CH5 /* PD13 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTD|GPIO_PIN13) +#define GPIO_FMU_CH6 /* PD14 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTD|GPIO_PIN14) +#define GPIO_FMU_CH7 /* PH6 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTH|GPIO_PIN6) +#define GPIO_FMU_CH8 /* PH9 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTH|GPIO_PIN9) + +#define GPIO_FMU_CAP /* PE11 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTE|GPIO_PIN11) +#define GPIO_SPIX_SYNC /* PE9 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTE|GPIO_PIN9) + +#define BROADCOM_AFBR_S50_S2PI_SPI_BUS 6 +#define BROADCOM_AFBR_S50_S2PI_CS /* PI10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTI|GPIO_PIN10) +#define BROADCOM_AFBR_S50_S2PI_IRQ /* PD11 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTD|GPIO_PIN11|GPIO_EXTI) +#define BROADCOM_AFBR_S50_S2PI_CLK /* PB3 */ GPIO_SPI6_SCK_3 +#define BROADCOM_AFBR_S50_S2PI_MOSI /* PG14 */ GPIO_SPI6_MOSI_1 +#define BROADCOM_AFBR_S50_S2PI_MISO /* PA6 */ GPIO_SPI6_MISO_2 + +/* Power supply control and monitoring GPIOs */ + +#define BOARD_NUMBER_BRICKS 0 +#define BOARD_NUMBER_DIGITAL_BRICKS 1 + +#define GPIO_VDD_5V_HIPOWER_nEN /* PG10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN10) +#define GPIO_VDD_5V_HIPOWER_nOC /* PF13 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTF|GPIO_PIN13) +#define GPIO_VDD_3V3_SD_CARD_EN /* PC13 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13) + +/* Spare GPIO */ + +#define GPIO_PD15 /* PD15 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_PORTD|GPIO_PIN15) + +/* NFC GPIO */ + +#define GPIO_NFC_GPIO /* PC0 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTC|GPIO_PIN0) + + +/* Define True logic Power Control in arch agnostic form */ + +#define VDD_5V_HIPOWER_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_5V_HIPOWER_nEN, !(on_true)) +#define VDD_3V3_SD_CARD_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SD_CARD_EN, (on_true)) + +/* Tone alarm output */ + +#define TONE_ALARM_TIMER 14 /* Timer 14 */ +#define TONE_ALARM_CHANNEL 1 /* PF9 GPIO_TIM14_CH1OUT_2 */ + +#define GPIO_BUZZER_1 /* PF9 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTF|GPIO_PIN9) + +#define GPIO_TONE_ALARM_IDLE GPIO_BUZZER_1 +#define GPIO_TONE_ALARM GPIO_TIM14_CH1OUT_2 + +/* USB OTG FS + * + * PA9 OTG_FS_VBUS VBUS sensing + */ +#define GPIO_OTGFS_VBUS /* PA9 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_100MHz|GPIO_PORTA|GPIO_PIN9) + +#define FLASH_BASED_PARAMS + +/* High-resolution timer */ +#define HRT_TIMER 8 /* use timer8 for the HRT */ +#define HRT_TIMER_CHANNEL 3 /* use capture/compare channel 3 */ + +/* RC Serial port */ + +#define RC_SERIAL_PORT "/dev/ttyS4" + +/* PWM input driver. Use FMU AUX5 pins attached to timer4 channel 2 */ +#define PWMIN_TIMER 4 +#define PWMIN_TIMER_CHANNEL /* T4C2 */ 2 +#define GPIO_PWM_IN /* PD13 */ GPIO_TIM4_CH2IN_2 + +#define SDIO_SLOTNO 0 /* Only one slot */ +#define SDIO_MINOR 0 + +/* SD card bringup does not work if performed on the IDLE thread because it + * will cause waiting. Use either: + * + * CONFIG_BOARDCTL=y, OR + * CONFIG_BOARD_INITIALIZE=y && CONFIG_BOARD_INITTHREAD=y + */ + +#if defined(CONFIG_BOARD_INITIALIZE) && !defined(CONFIG_BOARDCTL) && \ + !defined(CONFIG_BOARD_INITTHREAD) +# warning SDIO initialization cannot be perfomed on the IDLE thread +#endif + +/* By Providing BOARD_ADC_USB_CONNECTED (using the px4_arch abstraction) + * this board support the ADC system_power interface, and therefore + * provides the true logic GPIO BOARD_ADC_xxxx macros. + */ +#define BOARD_ADC_USB_CONNECTED (px4_arch_gpioread(GPIO_OTGFS_VBUS)) + +/* ARKPI6X never powers off the Servo rail */ + +#define BOARD_ADC_SERVO_VALID (1) + +#define BOARD_ADC_HIPOWER_5V_OC (!px4_arch_gpioread(GPIO_VDD_5V_HIPOWER_nOC)) + +/* This board provides a DMA pool and APIs */ +#define BOARD_DMA_ALLOC_POOL_SIZE 5120 + +/* This board provides the board_on_reset interface */ + +#define BOARD_HAS_ON_RESET 1 + +#if defined(TRACE_PINS) +#define GPIO_TRACE \ + GPIO_TRACECLK1, \ + GPIO_TRACED0, \ + GPIO_TRACED1, \ + GPIO_TRACED2, \ + GPIO_TRACED3 +#else +#define GPIO_TRACE (GPIO_OUTPUT|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN2) +#endif + +#define PX4_GPIO_INIT_LIST { \ + GPIO_TRACE, \ + PX4_ADC_GPIO, \ + GPIO_HW_VER_REV_DRIVE, \ + GPIO_CAN1_TX, \ + GPIO_CAN1_RX, \ + GPIO_HEATER_OUTPUT, \ + GPIO_VDD_5V_HIPOWER_nEN, \ + GPIO_VDD_5V_HIPOWER_nOC, \ + GPIO_VDD_3V3_SD_CARD_EN, \ + GPIO_PD15, \ + GPIO_NFC_GPIO, \ + GPIO_TONE_ALARM_IDLE, \ + GPIO_nARMED_INIT, \ + GPIO_FMU_CH1, \ + GPIO_FMU_CH2, \ + GPIO_FMU_CH3, \ + GPIO_FMU_CH4, \ + GPIO_FMU_CH5, \ + GPIO_FMU_CH6, \ + GPIO_FMU_CH7, \ + GPIO_FMU_CH8, \ + GPIO_FMU_CAP, \ + GPIO_SPIX_SYNC \ + } + +#define BOARD_ENABLE_CONSOLE_BUFFER + +#define BOARD_NUM_IO_TIMERS 3 +#define BOARD_SPIX_SYNC_FREQ 32000 + +__BEGIN_DECLS + +/**************************************************************************************************** + * Public Types + ****************************************************************************************************/ + +/**************************************************************************************************** + * Public data + ****************************************************************************************************/ + +#ifndef __ASSEMBLY__ + +/**************************************************************************************************** + * Public Functions + ****************************************************************************************************/ + +/**************************************************************************** + * Name: stm32_sdio_initialize + * + * Description: + * Initialize SDIO-based MMC/SD card support + * + ****************************************************************************/ + +int stm32_sdio_initialize(void); + +/**************************************************************************************************** + * Name: stm32_spiinitialize + * + * Description: + * Called to configure SPI chip select GPIO pins for the PX4FMU board. + * + ****************************************************************************************************/ + +extern void stm32_spiinitialize(void); + +extern void stm32_usbinitialize(void); + +extern void board_peripheral_reset(int ms); + +#include + +#endif /* __ASSEMBLY__ */ + +__END_DECLS diff --git a/boards/ark/pi6x/src/bootloader_main.c b/boards/ark/pi6x/src/bootloader_main.c new file mode 100644 index 000000000000..7a3ef5e01932 --- /dev/null +++ b/boards/ark/pi6x/src/bootloader_main.c @@ -0,0 +1,85 @@ +/**************************************************************************** + * + * Copyright (c) 2022 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file bootloader_main.c + * + * FMU-specific early startup code for bootloader +*/ + +#include "board_config.h" +#include "bl.h" + +#include +#include +#include +#include +#include +#include "arm_internal.h" +#include +#include + +extern int sercon_main(int c, char **argv); + +__EXPORT void board_on_reset(int status) {} + +__EXPORT void stm32_boardinitialize(void) +{ + /* configure pins */ + const uint32_t list[] = PX4_GPIO_INIT_LIST; + + for (size_t gpio = 0; gpio < arraySize(list); gpio++) { + if (list[gpio] != 0) { + px4_arch_configgpio(list[gpio]); + } + } + + /* configure USB interfaces */ + stm32_usbinitialize(); +} + +__EXPORT int board_app_initialize(uintptr_t arg) +{ + return 0; +} + +void board_late_initialize(void) +{ + sercon_main(0, NULL); +} + +extern void sys_tick_handler(void); +void board_timerhook(void) +{ + sys_tick_handler(); +} diff --git a/boards/ark/pi6x/src/can.c b/boards/ark/pi6x/src/can.c new file mode 100644 index 000000000000..cdebe7a3ad61 --- /dev/null +++ b/boards/ark/pi6x/src/can.c @@ -0,0 +1,142 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file can.c + * + * Board-specific CAN functions. + */ + +#if !defined(CONFIG_CAN) + +#include + +#include "board_config.h" + + +__EXPORT +uint16_t board_get_can_interfaces(void) +{ + uint16_t enabled_interfaces = 0x3; + + if (!PX4_MFT_HW_SUPPORTED(PX4_MFT_CAN2)) { + enabled_interfaces &= ~(1 << 1); + } + + return enabled_interfaces; +} + +#else + +#include +#include + +#include +#include + +#include "chip.h" +#include "arm_internal.h" + +#include "chip.h" +#include "stm32_can.h" +#include "board_config.h" + +/************************************************************************************ + * Pre-processor Definitions + ************************************************************************************/ +/* Configuration ********************************************************************/ + +#if defined(CONFIG_STM32_CAN1) && defined(CONFIG_STM32_CAN2) +# warning "Both CAN1 and CAN2 are enabled. Assuming only CAN1." +# undef CONFIG_STM32_CAN2 +#endif + +#ifdef CONFIG_STM32_CAN1 +# define CAN_PORT 1 +#else +# define CAN_PORT 2 +#endif + +/************************************************************************************ + * Private Functions + ************************************************************************************/ + +/************************************************************************************ + * Public Functions + ************************************************************************************/ +int can_devinit(void); + +/************************************************************************************ + * Name: can_devinit + * + * Description: + * All STM32 architectures must provide the following interface to work with + * examples/can. + * + ************************************************************************************/ + +int can_devinit(void) +{ + static bool initialized = false; + struct can_dev_s *can; + int ret; + + /* Check if we have already initialized */ + + if (!initialized) { + /* Call stm32_caninitialize() to get an instance of the CAN interface */ + + can = stm32_caninitialize(CAN_PORT); + + if (can == NULL) { + canerr("ERROR: Failed to get CAN interface\n"); + return -ENODEV; + } + + /* Register the CAN driver at "/dev/can0" */ + + ret = can_register("/dev/can0", can); + + if (ret < 0) { + canerr("ERROR: can_register failed: %d\n", ret); + return ret; + } + + /* Now we are initialized */ + + initialized = true; + } + + return OK; +} +#endif /* CONFIG_CAN */ diff --git a/boards/ark/pi6x/src/hw_config.h b/boards/ark/pi6x/src/hw_config.h new file mode 100644 index 000000000000..52c70ec748da --- /dev/null +++ b/boards/ark/pi6x/src/hw_config.h @@ -0,0 +1,129 @@ +/* + * hw_config.h + * + * Created on: May 17, 2015 + * Author: david_s5 + */ + +#ifndef HW_CONFIG_H_ +#define HW_CONFIG_H_ + +/**************************************************************************** + * 10-8--2016: + * To simplify the ripple effect on the tools, we will be using + * /dev/serial/by-id/PX4 to locate PX4 devices. Therefore + * moving forward all Bootloaders must contain the prefix "PX4 BL " + * in the USBDEVICESTRING + * This Change will be made in an upcoming BL release + ****************************************************************************/ +/* + * Define usage to configure a bootloader + * + * + * Constant example Usage + * APP_LOAD_ADDRESS 0x08004000 - The address in Linker Script, where the app fw is org-ed + * BOOTLOADER_DELAY 5000 - Ms to wait while under USB pwr or bootloader request + * BOARD_FMUV2 + * INTERFACE_USB 1 - (Optional) Scan and use the USB interface for bootloading + * INTERFACE_USART 1 - (Optional) Scan and use the Serial interface for bootloading + * USBDEVICESTRING "PX4 BL FMU v2.x" - USB id string + * USBPRODUCTID 0x0011 - PID Should match defconfig + * BOOT_DELAY_ADDRESS 0x000001a0 - (Optional) From the linker script from Linker Script to get a custom + * delay provided by an APP FW + * BOARD_TYPE 9 - Must match .prototype boad_id + * _FLASH_KBYTES (*(uint16_t *)0x1fff7a22) - Run time flash size detection + * BOARD_FLASH_SECTORS ((_FLASH_KBYTES == 0x400) ? 11 : 23) - Run time determine the physical last sector + * BOARD_FLASH_SECTORS 11 - Hard coded zero based last sector + * BOARD_FLASH_SIZE (_FLASH_KBYTES*1024)- Total Flash size of device, determined at run time. + * (1024 * 1024) - Hard coded Total Flash of device - The bootloader and app reserved will be deducted + * programmatically + * + * BOARD_FIRST_FLASH_SECTOR_TO_ERASE 2 - Optional sectors index in the flash_sectors table (F4 only), to begin erasing. + * This is to allow sectors to be reserved for app fw usage. That will NOT be erased + * during a FW upgrade. + * The default is 0, and selects the first sector to be erased, as the 0th entry in the + * flash_sectors table. Which is the second physical sector of FLASH in the device. + * The first physical sector of FLASH is used by the bootloader, and is not defined + * in the table. + * + * APP_RESERVATION_SIZE (BOARD_FIRST_FLASH_SECTOR_TO_ERASE * 16 * 1024) - Number of bytes reserved by the APP FW. This number plus + * BOOTLOADER_RESERVATION_SIZE will be deducted from + * BOARD_FLASH_SIZE to determine the size of the App FW + * and hence the address space of FLASH to erase and program. + * USBMFGSTRING "PX4 AP" - Optional USB MFG string (default is '3D Robotics' if not defined.) + * SERIAL_BREAK_DETECT_DISABLED - Optional prevent break selection on Serial port from entering or staying in BL + * + * * Other defines are somewhat self explanatory. + */ + +/* Boot device selection list*/ +#define USB0_DEV 0x01 +#define SERIAL0_DEV 0x02 +#define SERIAL1_DEV 0x04 + +#define APP_LOAD_ADDRESS 0x08020000 +#define BOOTLOADER_DELAY 5000 +#define INTERFACE_USB 1 +#define INTERFACE_USB_CONFIG "/dev/ttyACM0" +#define BOARD_VBUS MK_GPIO_INPUT(GPIO_OTGFS_VBUS) + +//#define USE_VBUS_PULL_DOWN +#define INTERFACE_USART 1 +#define INTERFACE_USART_CONFIG "/dev/ttyS5,921600" +#define BOOT_DELAY_ADDRESS 0x000001a0 +#define BOARD_TYPE 58 +#define _FLASH_KBYTES (*(uint32_t *)0x1FF1E880) +#define BOARD_FLASH_SECTORS (14) +#define BOARD_FLASH_SIZE (_FLASH_KBYTES * 1024) +#define APP_RESERVATION_SIZE (1 * 128 * 1024) + +#define OSC_FREQ 16 + +#define BOARD_PIN_LED_ACTIVITY GPIO_nLED_BLUE // BLUE +#define BOARD_PIN_LED_BOOTLOADER GPIO_nLED_GREEN // GREEN +#define BOARD_LED_ON 0 +#define BOARD_LED_OFF 1 + +#define SERIAL_BREAK_DETECT_DISABLED 1 + +/* + * Uncommenting this allows to force the bootloader through + * a PWM output pin. As this can accidentally initialize + * an ESC prematurely, it is not recommended. This feature + * has not been used and hence defaults now to off. + * + * # define BOARD_FORCE_BL_PIN_OUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN14) + * # define BOARD_FORCE_BL_PIN_IN (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN11) + * + * # define BOARD_POWER_PIN_OUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN4) + * # define BOARD_POWER_ON 1 + * # define BOARD_POWER_OFF 0 + * # undef BOARD_POWER_PIN_RELEASE // Leave pin enabling Power - un comment to release (disable power) + * +*/ + +#if !defined(ARCH_SN_MAX_LENGTH) +# define ARCH_SN_MAX_LENGTH 12 +#endif + +#if !defined(APP_RESERVATION_SIZE) +# define APP_RESERVATION_SIZE 0 +#endif + +#if !defined(BOARD_FIRST_FLASH_SECTOR_TO_ERASE) +# define BOARD_FIRST_FLASH_SECTOR_TO_ERASE 1 +#endif + +#if !defined(USB_DATA_ALIGN) +# define USB_DATA_ALIGN +#endif + +#ifndef BOOT_DEVICES_SELECTION +# define BOOT_DEVICES_SELECTION USB0_DEV|SERIAL0_DEV|SERIAL1_DEV +#endif + +#ifndef BOOT_DEVICES_FILTER_ONUSB +# define BOOT_DEVICES_FILTER_ONUSB USB0_DEV|SERIAL0_DEV|SERIAL1_DEV +#endif + +#endif /* HW_CONFIG_H_ */ diff --git a/boards/ark/pi6x/src/i2c.cpp b/boards/ark/pi6x/src/i2c.cpp new file mode 100644 index 000000000000..86c060404934 --- /dev/null +++ b/boards/ark/pi6x/src/i2c.cpp @@ -0,0 +1,40 @@ +/**************************************************************************** + * + * Copyright (C) 2022 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include + +constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = { + initI2CBusExternal(1), + initI2CBusInternal(3), + initI2CBusInternal(4), +}; diff --git a/boards/ark/pi6x/src/init.c b/boards/ark/pi6x/src/init.c new file mode 100644 index 000000000000..90bb4fc128be --- /dev/null +++ b/boards/ark/pi6x/src/init.c @@ -0,0 +1,293 @@ +/**************************************************************************** + * + * Copyright (c) 2012-2022 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file init.c + * + * ARKFMU-specific early startup code. This file implements the + * board_app_initialize() function that is called early by nsh during startup. + * + * Code here is run before the rcS script is invoked; it should start required + * subsystems and perform board-specific initialization. + */ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include "board_config.h" +#include "spix_sync.h" + +#include +#include +#include +#include +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include "arm_internal.h" + +#include +#include +#include +#include +#include +#include +#include +#include +#include + +# if defined(FLASH_BASED_PARAMS) +# include +#endif + +/**************************************************************************** + * Pre-Processor Definitions + ****************************************************************************/ + +/* Configuration ************************************************************/ + +/* + * Ideally we'd be able to get these from arm_internal.h, + * but since we want to be able to disable the NuttX use + * of leds for system indication at will and there is no + * separate switch, we need to build independent of the + * CONFIG_ARCH_LEDS configuration switch. + */ +__BEGIN_DECLS +extern void led_init(void); +extern void led_on(int led); +extern void led_off(int led); +__END_DECLS + + +/************************************************************************************ + * Name: board_peripheral_reset + * + * Description: + * + ************************************************************************************/ +__EXPORT void board_peripheral_reset(int ms) +{ + /* set the peripheral rails off */ + + VDD_5V_HIPOWER_EN(false); + board_control_spi_sensors_power(false, 0xffff); + + /* wait for the peripheral rail to reach GND */ + usleep(ms * 1000); + syslog(LOG_DEBUG, "reset done, %d ms\n", ms); + + /* re-enable power */ + + /* switch the peripheral rail back on */ + board_control_spi_sensors_power(true, 0xffff); + VDD_5V_HIPOWER_EN(true); +} + +/************************************************************************************ + * Name: board_on_reset + * + * Description: + * Optionally provided function called on entry to board_system_reset + * It should perform any house keeping prior to the rest. + * + * status - 1 if resetting to boot loader + * 0 if just resetting + * + ************************************************************************************/ +__EXPORT void board_on_reset(int status) +{ + for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) { + px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i))); + } + + if (status >= 0) { + up_mdelay(6); + } +} + +/************************************************************************************ + * Name: stm32_boardinitialize + * + * Description: + * All STM32 architectures must provide the following entry point. This entry point + * is called early in the initialization -- after all memory has been configured + * and mapped but before any devices have been initialized. + * + ************************************************************************************/ + +__EXPORT void +stm32_boardinitialize(void) +{ + board_on_reset(-1); /* Reset PWM first thing */ + + /* configure LEDs */ + + board_autoled_initialize(); + + /* configure pins */ + + const uint32_t gpio[] = PX4_GPIO_INIT_LIST; + px4_gpio_init(gpio, arraySize(gpio)); + + /* configure USB interfaces */ + + stm32_usbinitialize(); + +} + +/**************************************************************************** + * Name: board_app_initialize + * + * Description: + * Perform application specific initialization. This function is never + * called directly from application code, but only indirectly via the + * (non-standard) boardctl() interface using the command BOARDIOC_INIT. + * + * Input Parameters: + * arg - The boardctl() argument is passed to the board_app_initialize() + * implementation without modification. The argument has no + * meaning to NuttX; the meaning of the argument is a contract + * between the board-specific initalization logic and the the + * matching application logic. The value cold be such things as a + * mode enumeration value, a set of DIP switch switch settings, a + * pointer to configuration data read from a file or serial FLASH, + * or whatever you would like to do with it. Every implementation + * should accept zero/NULL as a default configuration. + * + * Returned Value: + * Zero (OK) is returned on success; a negated errno value is returned on + * any failure to indicate the nature of the failure. + * + ****************************************************************************/ + +__EXPORT int board_app_initialize(uintptr_t arg) +{ + /* Power on Interfaces */ + VDD_5V_HIPOWER_EN(true); + + /* Need hrt running before using the ADC */ + + px4_platform_init(); + + // Use the default HW_VER_REV(0x0,0x0) for Ramtron + + stm32_spiinitialize(); + +#if defined(FLASH_BASED_PARAMS) + static sector_descriptor_t params_sector_map[] = { + {15, 128 * 1024, 0x081E0000}, + {0, 0, 0}, + }; + + /* Initialize the flashfs layer to use heap allocated memory */ + int result = parameter_flashfs_init(params_sector_map, NULL, 0); + + if (result != OK) { + syslog(LOG_ERR, "[boot] FAILED to init params in FLASH %d\n", result); + led_on(LED_AMBER); + } + +#endif // FLASH_BASED_PARAMS + + /* Configure the HW based on the manifest */ + + px4_platform_configure(); + + if (OK == board_determine_hw_info()) { + syslog(LOG_INFO, "[boot] Rev 0x%1x : Ver 0x%1x %s\n", board_get_hw_revision(), board_get_hw_version(), + board_get_hw_type_name()); + + } else { + syslog(LOG_ERR, "[boot] Failed to read HW revision and version\n"); + } + + /* Configure the Actual SPI interfaces (after we determined the HW version) */ + + stm32_spiinitialize(); + + board_spi_reset(10, 0xffff); + + /* Configure the DMA allocator */ + + if (board_dma_alloc_init() < 0) { + syslog(LOG_ERR, "[boot] DMA alloc FAILED\n"); + } + +#if defined(SERIAL_HAVE_RXDMA) + // set up the serial DMA polling at 1ms intervals for received bytes that have not triggered a DMA event. + static struct hrt_call serial_dma_call; + hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)stm32_serial_dma_poll, NULL); +#endif + + /* initial LED state */ + drv_led_start(); + led_off(LED_RED); + led_on(LED_GREEN); // Indicate Power. + led_off(LED_BLUE); + + if (board_hardfault_init(2, true) != 0) { + led_on(LED_RED); + } + + // Ensure Power is off for > 10 mS + usleep(15 * 1000); + VDD_3V3_SD_CARD_EN(true); + usleep(500 * 1000); + +#ifdef CONFIG_MMCSD + int ret = stm32_sdio_initialize(); + + if (ret != OK) { + led_on(LED_RED); + return ret; + } + +#endif /* CONFIG_MMCSD */ + + /* Configure the SPIX_SYNC output */ + spix_sync_servo_init(BOARD_SPIX_SYNC_FREQ); + spix_sync_servo_set(0, 150); + + return OK; +} diff --git a/boards/ark/pi6x/src/led.c b/boards/ark/pi6x/src/led.c new file mode 100644 index 000000000000..b629ade32c36 --- /dev/null +++ b/boards/ark/pi6x/src/led.c @@ -0,0 +1,234 @@ +/**************************************************************************** + * + * Copyright (c) 2013 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file led.c + * + * ARKFMU LED backend. + */ + +#include + +#include + +#include "chip.h" +#include "stm32_gpio.h" +#include "board_config.h" + +#include +#include + +/* + * Ideally we'd be able to get these from arm_internal.h, + * but since we want to be able to disable the NuttX use + * of leds for system indication at will and there is no + * separate switch, we need to build independent of the + * CONFIG_ARCH_LEDS configuration switch. + */ +__BEGIN_DECLS +extern void led_init(void); +extern void led_on(int led); +extern void led_off(int led); +extern void led_toggle(int led); +__END_DECLS + +#ifdef CONFIG_ARCH_LEDS +static bool nuttx_owns_leds = true; +// B R S G +// 0 1 2 3 +static const uint8_t xlatpx4[] = {1, 2, 4, 0}; +# define xlat(p) xlatpx4[(p)] +static uint32_t g_ledmap[] = { + GPIO_nLED_GREEN, // Indexed by BOARD_LED_GREEN + GPIO_nLED_BLUE, // Indexed by BOARD_LED_BLUE + GPIO_nLED_RED, // Indexed by BOARD_LED_RED +}; + +#else + +# define xlat(p) (p) +static uint32_t g_ledmap[] = { + GPIO_nLED_BLUE, // Indexed by LED_BLUE + GPIO_nLED_RED, // Indexed by LED_RED, LED_AMBER + 0, // Indexed by LED_SAFETY (defaulted to an input) + GPIO_nLED_GREEN, // Indexed by LED_GREEN +}; + +#endif + +__EXPORT void led_init(void) +{ + for (size_t l = 0; l < (sizeof(g_ledmap) / sizeof(g_ledmap[0])); l++) { + if (g_ledmap[l] != 0) { + stm32_configgpio(g_ledmap[l]); + } + } +} + +static void phy_set_led(int led, bool state) +{ + /* Drive Low to switch on */ + + if (g_ledmap[led] != 0) { + stm32_gpiowrite(g_ledmap[led], !state); + } +} + +static bool phy_get_led(int led) +{ + /* If Low it is on */ + if (g_ledmap[led] != 0) { + return !stm32_gpioread(g_ledmap[led]); + } + + return false; +} + +__EXPORT void led_on(int led) +{ + phy_set_led(xlat(led), true); +} + +__EXPORT void led_off(int led) +{ + phy_set_led(xlat(led), false); +} + +__EXPORT void led_toggle(int led) +{ + phy_set_led(xlat(led), !phy_get_led(xlat(led))); +} + +#ifdef CONFIG_ARCH_LEDS +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +/**************************************************************************** + * Name: board_autoled_initialize + ****************************************************************************/ + +void board_autoled_initialize(void) +{ + led_init(); +} + +/**************************************************************************** + * Name: board_autoled_on + ****************************************************************************/ + +void board_autoled_on(int led) +{ + if (!nuttx_owns_leds) { + return; + } + + switch (led) { + default: + break; + + case LED_HEAPALLOCATE: + phy_set_led(BOARD_LED_BLUE, true); + break; + + case LED_IRQSENABLED: + phy_set_led(BOARD_LED_BLUE, false); + phy_set_led(BOARD_LED_GREEN, true); + break; + + case LED_STACKCREATED: + phy_set_led(BOARD_LED_GREEN, true); + phy_set_led(BOARD_LED_BLUE, true); + break; + + case LED_INIRQ: + phy_set_led(BOARD_LED_BLUE, true); + break; + + case LED_SIGNAL: + phy_set_led(BOARD_LED_GREEN, true); + break; + + case LED_ASSERTION: + phy_set_led(BOARD_LED_RED, true); + phy_set_led(BOARD_LED_BLUE, true); + break; + + case LED_PANIC: + phy_set_led(BOARD_LED_RED, true); + break; + + case LED_IDLE : /* IDLE */ + phy_set_led(BOARD_LED_RED, true); + break; + } +} + +/**************************************************************************** + * Name: board_autoled_off + ****************************************************************************/ + +void board_autoled_off(int led) +{ + if (!nuttx_owns_leds) { + return; + } + + switch (led) { + default: + break; + + case LED_SIGNAL: + phy_set_led(BOARD_LED_GREEN, false); + break; + + case LED_INIRQ: + phy_set_led(BOARD_LED_BLUE, false); + break; + + case LED_ASSERTION: + phy_set_led(BOARD_LED_RED, false); + phy_set_led(BOARD_LED_BLUE, false); + break; + + case LED_PANIC: + phy_set_led(BOARD_LED_RED, false); + break; + + case LED_IDLE : /* IDLE */ + phy_set_led(BOARD_LED_RED, false); + break; + } +} + +#endif /* CONFIG_ARCH_LEDS */ diff --git a/boards/ark/pi6x/src/mtd.cpp b/boards/ark/pi6x/src/mtd.cpp new file mode 100644 index 000000000000..bd74d551ee4c --- /dev/null +++ b/boards/ark/pi6x/src/mtd.cpp @@ -0,0 +1,55 @@ +/**************************************************************************** + * + * Copyright (C) 2024 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include +#include + +#include +#include + +static const px4_mft_entry_s mft_mft = { + .type = MFT, + .pmft = (void *) system_query_manifest, +}; + +static const px4_mft_s mft = { + .nmft = 1, + .mfts = { + &mft_mft, + } +}; + +const px4_mft_s *board_get_manifest(void) +{ + return &mft; +} diff --git a/boards/ark/pi6x/src/sdio.c b/boards/ark/pi6x/src/sdio.c new file mode 100644 index 000000000000..869d757756a0 --- /dev/null +++ b/boards/ark/pi6x/src/sdio.c @@ -0,0 +1,177 @@ +/**************************************************************************** + * + * Copyright (C) 2014, 2016 Gregory Nutt. All rights reserved. + * Author: Gregory Nutt + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name NuttX nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include +#include + +#include +#include +#include +#include + +#include +#include + +#include "chip.h" +#include "board_config.h" +#include "stm32_gpio.h" +#include "stm32_sdmmc.h" + +#ifdef CONFIG_MMCSD + + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +/* Card detections requires card support and a card detection GPIO */ + +#define HAVE_NCD 1 +#if !defined(GPIO_SDMMC1_NCD) +# undef HAVE_NCD +#endif + +/**************************************************************************** + * Private Data + ****************************************************************************/ + +static FAR struct sdio_dev_s *sdio_dev; +#ifdef HAVE_NCD +static bool g_sd_inserted = 0xff; /* Impossible value */ +#endif + +/**************************************************************************** + * Private Functions + ****************************************************************************/ + +/**************************************************************************** + * Name: stm32_ncd_interrupt + * + * Description: + * Card detect interrupt handler. + * + ****************************************************************************/ + +#ifdef HAVE_NCD +static int stm32_ncd_interrupt(int irq, FAR void *context) +{ + bool present; + + present = !stm32_gpioread(GPIO_SDMMC1_NCD); + + if (sdio_dev && present != g_sd_inserted) { + sdio_mediachange(sdio_dev, present); + g_sd_inserted = present; + } + + return OK; +} +#endif + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +/**************************************************************************** + * Name: stm32_sdio_initialize + * + * Description: + * Initialize SDIO-based MMC/SD card support + * + ****************************************************************************/ + +int stm32_sdio_initialize(void) +{ + int ret; + +#ifdef HAVE_NCD + /* Card detect */ + + bool cd_status; + + /* Configure the card detect GPIO */ + + stm32_configgpio(GPIO_SDMMC1_NCD); + + /* Register an interrupt handler for the card detect pin */ + + stm32_gpiosetevent(GPIO_SDMMC1_NCD, true, true, true, stm32_ncd_interrupt); +#endif + + /* Mount the SDIO-based MMC/SD block driver */ + /* First, get an instance of the SDIO interface */ + + finfo("Initializing SDIO slot %d\n", SDIO_SLOTNO); + + sdio_dev = sdio_initialize(SDIO_SLOTNO); + + if (!sdio_dev) { + syslog(LOG_ERR, "[boot] Failed to initialize SDIO slot %d\n", SDIO_SLOTNO); + return -ENODEV; + } + + /* Now bind the SDIO interface to the MMC/SD driver */ + + finfo("Bind SDIO to the MMC/SD driver, minor=%d\n", SDIO_MINOR); + + ret = mmcsd_slotinitialize(SDIO_MINOR, sdio_dev); + + if (ret != OK) { + syslog(LOG_ERR, "[boot] Failed to bind SDIO to the MMC/SD driver: %d\n", ret); + return ret; + } + + finfo("Successfully bound SDIO to the MMC/SD driver\n"); + +#ifdef HAVE_NCD + /* Use SD card detect pin to check if a card is g_sd_inserted */ + + cd_status = !stm32_gpioread(GPIO_SDMMC1_NCD); + finfo("Card detect : %d\n", cd_status); + + sdio_mediachange(sdio_dev, cd_status); +#else + /* Assume that the SD card is inserted. What choice do we have? */ + + sdio_mediachange(sdio_dev, true); +#endif + + return OK; +} + +#endif /* CONFIG_MMCSD */ diff --git a/boards/ark/pi6x/src/spi.cpp b/boards/ark/pi6x/src/spi.cpp new file mode 100644 index 000000000000..bae9af7622a3 --- /dev/null +++ b/boards/ark/pi6x/src/spi.cpp @@ -0,0 +1,83 @@ +/**************************************************************************** + * + * Copyright (C) 2024 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include +#include +#include + +constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSIONS] = { + initSPIFmumID(ARKPI6X_0, { + initSPIBus(SPI::Bus::SPI1, { + initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}), + }, {GPIO::PortI, GPIO::Pin11}), + initSPIBus(SPI::Bus::SPI2, { + initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}), + }), + initSPIBus(SPI::Bus::SPI3, { + initSPIDevice(DRV_FLOW_DEVTYPE_PAW3902, SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortI, GPIO::Pin6}), + }), + // initSPIBus(SPI::Bus::SPI4, { + // // no devices + // TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h + // }, {GPIO::PortG, GPIO::Pin8}), + // initSPIBus(SPI::Bus::SPI5, { + // initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7}) + // }), + initSPIBus(SPI::Bus::SPI6, { + initSPIDevice(DRV_DEVTYPE_UNUSED, SPI::CS{GPIO::PortI, GPIO::Pin10}, SPI::DRDY{GPIO::PortD, GPIO::Pin11}) + }), + }), + initSPIFmumID(ARKPI6X_1, { // Placeholder + initSPIBus(SPI::Bus::SPI1, { + initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}), + }, {GPIO::PortI, GPIO::Pin11}), + initSPIBus(SPI::Bus::SPI2, { + initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}), + }), + initSPIBus(SPI::Bus::SPI3, { + initSPIDevice(DRV_FLOW_DEVTYPE_PAW3902, SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortI, GPIO::Pin6}), + }), + // initSPIBus(SPI::Bus::SPI4, { + // // no devices + // TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h + // }, {GPIO::PortG, GPIO::Pin8}), + // initSPIBus(SPI::Bus::SPI5, { + // initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7}) + // }), + initSPIBus(SPI::Bus::SPI6, { + initSPIDevice(DRV_DEVTYPE_UNUSED, SPI::CS{GPIO::PortI, GPIO::Pin10}, SPI::DRDY{GPIO::PortD, GPIO::Pin11}) + }), + }), +}; + +static constexpr bool unused = validateSPIConfig(px4_spi_buses_all_hw); diff --git a/boards/ark/pi6x/src/spix_sync.c b/boards/ark/pi6x/src/spix_sync.c new file mode 100644 index 000000000000..056e38e75f74 --- /dev/null +++ b/boards/ark/pi6x/src/spix_sync.c @@ -0,0 +1,309 @@ +/**************************************************************************** + * + * Copyright (C) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name Airmind nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** +* @file spix_sync.c +* +* +*/ + +#include + +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include + + +#include +#include +#include + +#include + +#include "spix_sync.h" + +#define REG(_tmr, _reg) (*(volatile uint32_t *)(spix_sync_timers[_tmr].base + _reg)) + +#define rCR1(_tmr) REG(_tmr, STM32_GTIM_CR1_OFFSET) +#define rCR2(_tmr) REG(_tmr, STM32_GTIM_CR2_OFFSET) +#define rSMCR(_tmr) REG(_tmr, STM32_GTIM_SMCR_OFFSET) +#define rDIER(_tmr) REG(_tmr, STM32_GTIM_DIER_OFFSET) +#define rSR(_tmr) REG(_tmr, STM32_GTIM_SR_OFFSET) +#define rEGR(_tmr) REG(_tmr, STM32_GTIM_EGR_OFFSET) +#define rCCMR1(_tmr) REG(_tmr, STM32_GTIM_CCMR1_OFFSET) +#define rCCMR2(_tmr) REG(_tmr, STM32_GTIM_CCMR2_OFFSET) +#define rCCER(_tmr) REG(_tmr, STM32_GTIM_CCER_OFFSET) +#define rCNT(_tmr) REG(_tmr, STM32_GTIM_CNT_OFFSET) +#define rPSC(_tmr) REG(_tmr, STM32_GTIM_PSC_OFFSET) +#define rARR(_tmr) REG(_tmr, STM32_GTIM_ARR_OFFSET) +#define rCCR1(_tmr) REG(_tmr, STM32_GTIM_CCR1_OFFSET) +#define rCCR2(_tmr) REG(_tmr, STM32_GTIM_CCR2_OFFSET) +#define rCCR3(_tmr) REG(_tmr, STM32_GTIM_CCR3_OFFSET) +#define rCCR4(_tmr) REG(_tmr, STM32_GTIM_CCR4_OFFSET) +#define rDCR(_tmr) REG(_tmr, STM32_GTIM_DCR_OFFSET) +#define rDMAR(_tmr) REG(_tmr, STM32_GTIM_DMAR_OFFSET) +#define rBDTR(_tmr) REG(_tmr, STM32_ATIM_BDTR_OFFSET) + +#define BOARD_SPIX_SYNC_PWM_FREQ 1024000 + +unsigned +spix_sync_timer_get_period(unsigned timer) +{ + return (rARR(timer)); +} + +static void spix_sync_timer_init_timer(unsigned timer, unsigned rate) +{ + if (spix_sync_timers[timer].base) { + + irqstate_t flags = px4_enter_critical_section(); + + /* enable the timer clock before we try to talk to it */ + + modifyreg32(spix_sync_timers[timer].clock_register, 0, spix_sync_timers[timer].clock_bit); + + /* disable and configure the timer */ + rCR1(timer) = 0; + rCR2(timer) = 0; + rSMCR(timer) = 0; + rDIER(timer) = 0; + rCCER(timer) = 0; + rCCMR1(timer) = 0; + rCCMR2(timer) = 0; + rCCR1(timer) = 0; + rCCR2(timer) = 0; + rCCR3(timer) = 0; + rCCR4(timer) = 0; + rCCER(timer) = 0; + rDCR(timer) = 0; + + if ((spix_sync_timers[timer].base == STM32_TIM1_BASE) || (spix_sync_timers[timer].base == STM32_TIM8_BASE)) { + + /* master output enable = on */ + + rBDTR(timer) = ATIM_BDTR_MOE; + } + + /* If the timer clock source provided as clock_freq is the STM32_APBx_TIMx_CLKIN + * then configure the timer to free-run at 1MHz. + * Otherwise, other frequencies are attainable by adjusting .clock_freq accordingly. + */ + + rPSC(timer) = (spix_sync_timers[timer].clock_freq / BOARD_SPIX_SYNC_PWM_FREQ) - 1; + + /* configure the timer to update at the desired rate */ + + rARR(timer) = (BOARD_SPIX_SYNC_PWM_FREQ / rate) - 1; + + /* generate an update event; reloads the counter and all registers */ + rEGR(timer) = GTIM_EGR_UG; + + px4_leave_critical_section(flags); + } + +} + +void spix_sync_channel_init(unsigned channel) +{ + /* Only initialize used channels */ + + if (spix_sync_channels[channel].timer_channel) { + + unsigned timer = spix_sync_channels[channel].timer_index; + + /* configure the GPIO first */ + px4_arch_configgpio(spix_sync_channels[channel].gpio_out); + + uint16_t polarity = spix_sync_channels[channel].masks; + + /* configure the channel */ + switch (spix_sync_channels[channel].timer_channel) { + case 1: + rCCMR1(timer) |= (GTIM_CCMR_MODE_PWM1 << GTIM_CCMR1_OC1M_SHIFT) | GTIM_CCMR1_OC1PE; + rCCER(timer) |= polarity | GTIM_CCER_CC1E; + break; + + case 2: + rCCMR1(timer) |= (GTIM_CCMR_MODE_PWM1 << GTIM_CCMR1_OC2M_SHIFT) | GTIM_CCMR1_OC2PE; + rCCER(timer) |= polarity | GTIM_CCER_CC2E; + break; + + case 3: + rCCMR2(timer) |= (GTIM_CCMR_MODE_PWM1 << GTIM_CCMR2_OC3M_SHIFT) | GTIM_CCMR2_OC3PE; + rCCER(timer) |= polarity | GTIM_CCER_CC3E; + break; + + case 4: + rCCMR2(timer) |= (GTIM_CCMR_MODE_PWM1 << GTIM_CCMR2_OC4M_SHIFT) | GTIM_CCMR2_OC4PE; + rCCER(timer) |= polarity | GTIM_CCER_CC4E; + break; + } + } +} + +int +spix_sync_servo_set(unsigned channel, uint8_t cvalue) +{ + if (channel >= arraySize(spix_sync_channels)) { + return -1; + } + + unsigned timer = spix_sync_channels[channel].timer_index; + + /* test timer for validity */ + if ((spix_sync_timers[timer].base == 0) || + (spix_sync_channels[channel].gpio_out == 0)) { + return -1; + } + + unsigned period = spix_sync_timer_get_period(timer); + + unsigned value = (unsigned)cvalue * period / 255; + + /* configure the channel */ + if (value > 0) { + value--; + } + + + switch (spix_sync_channels[channel].timer_channel) { + case 1: + rCCR1(timer) = value; + break; + + case 2: + rCCR2(timer) = value; + break; + + case 3: + rCCR3(timer) = value; + break; + + case 4: + rCCR4(timer) = value; + break; + + default: + return -1; + } + + return 0; +} + +unsigned spix_sync_servo_get(unsigned channel) +{ + if (channel >= 3) { + return 0; + } + + unsigned timer = spix_sync_channels[channel].timer_index; + uint16_t value = 0; + + /* test timer for validity */ + if ((spix_sync_timers[timer].base == 0) || + (spix_sync_channels[channel].timer_channel == 0)) { + return 0; + } + + /* configure the channel */ + switch (spix_sync_channels[channel].timer_channel) { + case 1: + value = rCCR1(timer); + break; + + case 2: + value = rCCR2(timer); + break; + + case 3: + value = rCCR3(timer); + break; + + case 4: + value = rCCR4(timer); + break; + } + + unsigned period = spix_sync_timer_get_period(timer); + return ((value + 1) * 255 / period); +} + +int spix_sync_servo_init(unsigned rate) +{ + /* do basic timer initialisation first */ + for (unsigned i = 0; i < arraySize(spix_sync_timers); i++) { + spix_sync_timer_init_timer(i, rate); + } + + /* now init channels */ + for (unsigned i = 0; i < arraySize(spix_sync_channels); i++) { + spix_sync_channel_init(i); + } + + spix_sync_servo_arm(true); + return OK; +} + +void +spix_sync_servo_deinit(void) +{ + /* disable the timers */ + spix_sync_servo_arm(false); +} +void +spix_sync_servo_arm(bool armed) +{ + /* iterate timers and arm/disarm appropriately */ + for (unsigned i = 0; i < arraySize(spix_sync_timers); i++) { + if (spix_sync_timers[i].base != 0) { + if (armed) { + /* force an update to preload all registers */ + rEGR(i) = GTIM_EGR_UG; + + /* arm requires the timer be enabled */ + rCR1(i) |= GTIM_CR1_CEN | GTIM_CR1_ARPE; + + } else { + rCR1(i) = 0; + } + } + } +} diff --git a/boards/ark/pi6x/src/spix_sync.h b/boards/ark/pi6x/src/spix_sync.h new file mode 100644 index 000000000000..2e37c8908613 --- /dev/null +++ b/boards/ark/pi6x/src/spix_sync.h @@ -0,0 +1,42 @@ +/**************************************************************************** + * + * Copyright (C) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +__BEGIN_DECLS +void spix_sync_channel_init(unsigned channel); +int spix_sync_servo_set(unsigned channel, uint8_t value); +unsigned spix_sync_servo_get(unsigned channel); +int spix_sync_servo_init(unsigned rate); +void spix_sync_servo_deinit(void); +void spix_sync_servo_arm(bool armed); +unsigned spix_sync_timer_get_period(unsigned timer); +__END_DECLS diff --git a/boards/ark/pi6x/src/timer_config.cpp b/boards/ark/pi6x/src/timer_config.cpp new file mode 100644 index 000000000000..bee77b999337 --- /dev/null +++ b/boards/ark/pi6x/src/timer_config.cpp @@ -0,0 +1,88 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include + +/* Timer allocation + * + * TIM5_CH4 T FMU_CH1 + * TIM5_CH3 T FMU_CH2 + * TIM5_CH2 T FMU_CH3 + * TIM5_CH1 T FMU_CH4 + * + * TIM4_CH2 T FMU_CH5 + * TIM4_CH3 T FMU_CH6 + * + * TIM12_CH1 T FMU_CH7 + * TIM12_CH2 T FMU_CH8 + * + * TIM1_CH3 T SPI2_DRDY2_ISM330_INT2 < Capture or GPIO INT + * TIM1_CH1 T SPIX_SYNC > Pulse or GPIO strobe + * + * TIM2_CH3 T HEATER > PWM OUT or GPIO + * + * TIM14_CH1 T BUZZER_1 - Driven by other driver + */ + +constexpr io_timers_t io_timers[MAX_IO_TIMERS] = { + initIOTimer(Timer::Timer5, DMA{DMA::Index1}), + initIOTimer(Timer::Timer4, DMA{DMA::Index1}), + initIOTimer(Timer::Timer12), + //initIOTimer(Timer::Timer1), + //initIOTimer(Timer::Timer2), +}; + +constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = { + initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel4}, {GPIO::PortI, GPIO::Pin0}), + initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel3}, {GPIO::PortH, GPIO::Pin12}), + initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel2}, {GPIO::PortH, GPIO::Pin11}), + initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel1}, {GPIO::PortH, GPIO::Pin10}), + initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel2}, {GPIO::PortD, GPIO::Pin13}), + initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel3}, {GPIO::PortD, GPIO::Pin14}), + initIOTimerChannel(io_timers, {Timer::Timer12, Timer::Channel1}, {GPIO::PortH, GPIO::Pin6}), + initIOTimerChannel(io_timers, {Timer::Timer12, Timer::Channel2}, {GPIO::PortH, GPIO::Pin9}), + //initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel2}, {GPIO::PortE, GPIO::Pin11}), + //initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel1}, {GPIO::PortE, GPIO::Pin9}), +}; + +constexpr io_timers_channel_mapping_t io_timers_channel_mapping = + initIOTimerChannelMapping(io_timers, timer_io_channels); + + +constexpr io_timers_t spix_sync_timers[MAX_SPIX_SYNC_TIMERS] = { + initIOTimer(Timer::Timer1), +}; + +constexpr timer_io_channels_t spix_sync_channels[MAX_SPIX_SYNC_TIMERS] = { + initIOTimerChannel(spix_sync_timers, {Timer::Timer1, Timer::Channel1}, {GPIO::PortE, GPIO::Pin9}), +}; diff --git a/boards/ark/pi6x/src/usb.c b/boards/ark/pi6x/src/usb.c new file mode 100644 index 000000000000..1c64e94ba104 --- /dev/null +++ b/boards/ark/pi6x/src/usb.c @@ -0,0 +1,105 @@ +/**************************************************************************** + * + * Copyright (C) 2016 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file usb.c + * + * Board-specific USB functions. + */ + +/************************************************************************************ + * Included Files + ************************************************************************************/ + +#include + +#include +#include +#include +#include + +#include +#include + +#include "arm_internal.h" +#include +#include +#include +#include "board_config.h" + +/************************************************************************************ + * Definitions + ************************************************************************************/ + +/************************************************************************************ + * Private Functions + ************************************************************************************/ + +/************************************************************************************ + * Public Functions + ************************************************************************************/ + +/************************************************************************************ + * Name: stm32_usbinitialize + * + * Description: + * Called to setup USB-related GPIO pins for the ARKFMU board. + * + ************************************************************************************/ + +__EXPORT void stm32_usbinitialize(void) +{ + /* The OTG FS has an internal soft pull-up */ + + /* Configure the OTG FS VBUS sensing GPIO, Power On, and Overcurrent GPIOs */ + +#ifdef CONFIG_STM32H7_OTGFS + stm32_configgpio(GPIO_OTGFS_VBUS); +#endif +} + +/************************************************************************************ + * Name: stm32_usbsuspend + * + * Description: + * Board logic must provide the stm32_usbsuspend logic if the USBDEV driver is + * used. This function is called whenever the USB enters or leaves suspend mode. + * This is an opportunity for the board logic to shutdown clocks, power, etc. + * while the USB is suspended. + * + ************************************************************************************/ + +__EXPORT void stm32_usbsuspend(FAR struct usbdev_s *dev, bool resume) +{ + uinfo("resume: %d\n", resume); +} diff --git a/boards/ark/septentrio-gps/canbootloader.px4board b/boards/ark/septentrio-gps/canbootloader.px4board new file mode 100644 index 000000000000..46917280f6a4 --- /dev/null +++ b/boards/ark/septentrio-gps/canbootloader.px4board @@ -0,0 +1,5 @@ +CONFIG_BOARD_TOOLCHAIN="arm-none-eabi" +CONFIG_BOARD_ARCHITECTURE="cortex-m4" +CONFIG_BOARD_ROMFSROOT="" +CONFIG_BOARD_CONSTRAINED_MEMORY=y +CONFIG_DRIVERS_BOOTLOADERS=y diff --git a/boards/ark/septentrio-gps/default.px4board b/boards/ark/septentrio-gps/default.px4board new file mode 100644 index 000000000000..7600200577e1 --- /dev/null +++ b/boards/ark/septentrio-gps/default.px4board @@ -0,0 +1,38 @@ +CONFIG_BOARD_TOOLCHAIN="arm-none-eabi" +CONFIG_BOARD_ARCHITECTURE="cortex-m4" +CONFIG_BOARD_ROMFSROOT="cannode" +CONFIG_BOARD_CONSTRAINED_MEMORY=y +CONFIG_DRIVERS_BAROMETER_BMP388=y +CONFIG_DRIVERS_BOOTLOADERS=y +CONFIG_DRIVERS_GPS=y +CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y +CONFIG_DRIVERS_MAGNETOMETER_BOSCH_BMM150=y +CONFIG_DRIVERS_MAGNETOMETER_ST_IIS2MDC=y +CONFIG_DRIVERS_SAFETY_BUTTON=y +CONFIG_DRIVERS_TONE_ALARM=y +CONFIG_BOARD_UAVCAN_INTERFACES=1 +CONFIG_DRIVERS_UAVCANNODE=y +CONFIG_UAVCANNODE_BEEP_COMMAND=y +CONFIG_UAVCANNODE_GNSS_FIX=y +CONFIG_UAVCANNODE_LIGHTS_COMMAND=y +CONFIG_UAVCANNODE_MAGNETIC_FIELD_STRENGTH=y +CONFIG_UAVCANNODE_RTK_DATA=y +CONFIG_UAVCANNODE_SAFETY_BUTTON=y +CONFIG_UAVCANNODE_STATIC_PRESSURE=y +CONFIG_UAVCANNODE_STATIC_TEMPERATURE=y +CONFIG_MODULES_EKF2=y +CONFIG_MODULES_GYRO_CALIBRATION=y +CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y +CONFIG_MODULES_SENSORS=y +# CONFIG_SENSORS_VEHICLE_AIRSPEED is not set +# CONFIG_SENSORS_VEHICLE_AIR_DATA is not set +# CONFIG_SENSORS_VEHICLE_GPS_POSITION is not set +CONFIG_SYSTEMCMDS_PARAM=y +CONFIG_SYSTEMCMDS_PERF=y +CONFIG_SYSTEMCMDS_REBOOT=y +CONFIG_SYSTEMCMDS_SYSTEM_TIME=y +CONFIG_SYSTEMCMDS_TOP=y +CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y +CONFIG_SYSTEMCMDS_UORB=y +CONFIG_SYSTEMCMDS_VER=y +CONFIG_SYSTEMCMDS_WORK_QUEUE=y diff --git a/boards/ark/septentrio-gps/firmware.prototype b/boards/ark/septentrio-gps/firmware.prototype new file mode 100644 index 000000000000..a21fe346ffc8 --- /dev/null +++ b/boards/ark/septentrio-gps/firmware.prototype @@ -0,0 +1,13 @@ +{ + "board_id": 84, + "magic": "PX4FWv1", + "description": "Firmware for the ARK Septentrio GPS board", + "image": "", + "build_time": 0, + "summary": "ARKSEPTENTRIOGPS", + "version": "0.1", + "image_size": 0, + "image_maxsize": 2080768, + "git_identity": "", + "board_revision": 0 +} diff --git a/boards/ark/septentrio-gps/init/rc.board_defaults b/boards/ark/septentrio-gps/init/rc.board_defaults new file mode 100644 index 000000000000..0db1234ce96d --- /dev/null +++ b/boards/ark/septentrio-gps/init/rc.board_defaults @@ -0,0 +1,15 @@ +#!/bin/sh +# +# board specific defaults +#------------------------------------------------------------------------------ + +param set-default CBRK_IO_SAFETY 0 +param set-default CANNODE_SUB_MBD 1 +param set-default CANNODE_SUB_RTCM 1 +param set-default MBE_ENABLE 1 +param set-default SENS_IMU_CLPNOTI 0 + +safety_button start +tone_alarm start + +ekf2 start diff --git a/boards/ark/septentrio-gps/init/rc.board_sensors b/boards/ark/septentrio-gps/init/rc.board_sensors new file mode 100644 index 000000000000..a41dd7b070ec --- /dev/null +++ b/boards/ark/septentrio-gps/init/rc.board_sensors @@ -0,0 +1,14 @@ +#!/bin/sh +# +# board sensors init +#------------------------------------------------------------------------------ +gps start -d /dev/ttyS0 -p sbf + +icm42688p -R 0 -s start + +bmp388 -I -b 1 start + +if ! iis2mdc -R 4 -I -b 1 start +then + bmm150 -I -b 1 start +fi diff --git a/boards/ark/septentrio-gps/nuttx-config/canbootloader/defconfig b/boards/ark/septentrio-gps/nuttx-config/canbootloader/defconfig new file mode 100644 index 000000000000..0208af2cac25 --- /dev/null +++ b/boards/ark/septentrio-gps/nuttx-config/canbootloader/defconfig @@ -0,0 +1,57 @@ +# +# This file is autogenerated: PLEASE DO NOT EDIT IT. +# +# You can use "make menuconfig" to make any modifications to the installed .config file. +# You can then do "make savedefconfig" to generate a new defconfig file that includes your +# modifications. +# +CONFIG_ARCH="arm" +CONFIG_ARCH_BOARD_CUSTOM=y +CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/ark/septentrio-gps/nuttx-config" +CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y +CONFIG_ARCH_BOARD_CUSTOM_NAME="px4" +CONFIG_ARCH_CHIP="stm32" +CONFIG_ARCH_CHIP_STM32=y +CONFIG_ARCH_CHIP_STM32F412CE=y +CONFIG_ARCH_INTERRUPTSTACK=4096 +CONFIG_ARMV7M_MEMCPY=y +CONFIG_ARMV7M_USEBASEPRI=y +CONFIG_BINFMT_DISABLE=y +CONFIG_BOARDCTL=y +CONFIG_BOARD_LOOPSPERMSEC=16717 +CONFIG_DEBUG_FULLOPT=y +CONFIG_DEBUG_SYMBOLS=y +CONFIG_DEBUG_TCBINFO=y +CONFIG_DEFAULT_SMALL=y +CONFIG_DISABLE_MOUNTPOINT=y +CONFIG_EXPERIMENTAL=y +CONFIG_FDCLONE_DISABLE=y +CONFIG_FDCLONE_STDIO=y +CONFIG_HAVE_CXX=y +CONFIG_HAVE_CXXINITIALIZE=y +CONFIG_IDLETHREAD_STACKSIZE=4096 +CONFIG_INIT_STACKSIZE=4096 +CONFIG_LIBC_FLOATINGPOINT=y +CONFIG_LIBC_LONG_LONG=y +CONFIG_LIBC_STRERROR=y +CONFIG_MM_REGIONS=2 +CONFIG_NAME_MAX=0 +CONFIG_NUNGET_CHARS=0 +CONFIG_PREALLOC_TIMERS=0 +CONFIG_PTHREAD_STACK_MIN=512 +CONFIG_RAM_SIZE=262144 +CONFIG_RAM_START=0x20010000 +CONFIG_RAW_BINARY=y +CONFIG_SIG_DEFAULT=y +CONFIG_SIG_SIGALRM_ACTION=y +CONFIG_SIG_SIGUSR1_ACTION=y +CONFIG_SIG_SIGUSR2_ACTION=y +CONFIG_STACK_COLORATION=y +CONFIG_START_DAY=30 +CONFIG_START_MONTH=11 +CONFIG_STDIO_DISABLE_BUFFERING=y +CONFIG_STM32_FLASH_CONFIG_G=y +CONFIG_STM32_NOEXT_VECTORS=y +CONFIG_STM32_TIM8=y +CONFIG_TASK_NAME_SIZE=0 +CONFIG_USEC_PER_TICK=1000 diff --git a/boards/ark/septentrio-gps/nuttx-config/include/board.h b/boards/ark/septentrio-gps/nuttx-config/include/board.h new file mode 100644 index 000000000000..526392b92bbd --- /dev/null +++ b/boards/ark/septentrio-gps/nuttx-config/include/board.h @@ -0,0 +1,152 @@ +/************************************************************************************ + * configs/px4fmu/include/board.h + * include/arch/board/board.h + * + * Copyright (C) 2009 Gregory Nutt. All rights reserved. + * Author: Gregory Nutt + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name NuttX nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ************************************************************************************/ +#include "board_dma_map.h" + +#ifndef __ARCH_BOARD_BOARD_H +#define __ARCH_BOARD_BOARD_H + +#include +#ifndef __ASSEMBLY__ +# include +#endif + +#include + +/* HSI - 8 MHz RC factory-trimmed + * LSI - 32 KHz RC + * HSE - 8 MHz Crystal + * LSE - not installed + */ +#define STM32_BOARD_USEHSE 1 +#define STM32_BOARD_XTAL 8000000 +#define STM32_HSE_FREQUENCY STM32_BOARD_XTAL + +#define STM32_HSI_FREQUENCY 16000000ul +#define STM32_LSI_FREQUENCY 32000 + +/* Main PLL Configuration */ +#define STM32_PLLCFG_PLLM RCC_PLLCFG_PLLM(8) +#define STM32_PLLCFG_PLLN RCC_PLLCFG_PLLN(384) +#define STM32_PLLCFG_PLLP RCC_PLLCFG_PLLP_4 +#define STM32_PLLCFG_PLLQ RCC_PLLCFG_PLLQ(8) +#define STM32_PLLCFG_PLLR RCC_PLLCFG_PLLR(2) + +#define STM32_RCC_PLLI2SCFGR_PLLI2SM RCC_PLLI2SCFGR_PLLI2SM(16) +#define STM32_RCC_PLLI2SCFGR_PLLI2SN RCC_PLLI2SCFGR_PLLI2SN(192) +#define STM32_RCC_PLLI2SCFGR_PLLI2SQ RCC_PLLI2SCFGR_PLLI2SQ(2) +#define STM32_RCC_PLLI2SCFGR_PLLI2SR RCC_PLLI2SCFGR_PLLI2SR(2) +#define STM32_RCC_PLLI2SCFGR_PLLI2SSRC RCC_PLLI2SCFGR_PLLI2SSRC(0) /* HSE or HSI depending on PLLSRC of PLLCFGR*/ + +#define STM32_RCC_DCKCFGR2_CK48MSEL RCC_DCKCFGR2_CK48MSEL_PLL +#define STM32_RCC_DCKCFGR2_FMPI2C1SEL RCC_DCKCFGR2_FMPI2C1SEL_APB +#define STM32_RCC_DCKCFGR2_SDIOSEL RCC_DCKCFGR2_SDIOSEL_48MHZ + +#define STM32_SYSCLK_FREQUENCY 96000000ul + +/* AHB clock (HCLK) is SYSCLK (96MHz) */ +#define STM32_RCC_CFGR_HPRE RCC_CFGR_HPRE_SYSCLK /* HCLK = SYSCLK / 1 */ +#define STM32_HCLK_FREQUENCY STM32_SYSCLK_FREQUENCY +#define STM32_BOARD_HCLK STM32_HCLK_FREQUENCY /* Same as above, to satisfy compiler */ + +/* APB1 clock (PCLK1) is HCLK/2 (48MHz) */ +#define STM32_RCC_CFGR_PPRE1 RCC_CFGR_PPRE1_HCLKd2 /* PCLK1 = HCLK / 2 */ +#define STM32_PCLK1_FREQUENCY (STM32_HCLK_FREQUENCY/2) + +/* Timers driven from APB1 will be twice PCLK1 (see page 112 of reference manual) */ +#define STM32_APB1_TIM2_CLKIN (2*STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM3_CLKIN (2*STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM4_CLKIN (2*STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM5_CLKIN (2*STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM12_CLKIN (2*STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM13_CLKIN (2*STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM14_CLKIN (2*STM32_PCLK1_FREQUENCY) + +/* APB2 clock (PCLK2) is HCLK (96MHz) */ +#define STM32_RCC_CFGR_PPRE2 RCC_CFGR_PPRE2_HCLK /* PCLK2 = HCLK */ +#define STM32_PCLK2_FREQUENCY (STM32_HCLK_FREQUENCY) + +/* Timers driven from APB2 will be PCLK2 since no prescale division */ +#define STM32_APB2_TIM1_CLKIN (STM32_PCLK2_FREQUENCY) +#define STM32_APB2_TIM8_CLKIN (STM32_PCLK2_FREQUENCY) +#define STM32_APB2_TIM9_CLKIN (STM32_PCLK2_FREQUENCY) +#define STM32_APB2_TIM10_CLKIN (STM32_PCLK2_FREQUENCY) +#define STM32_APB2_TIM11_CLKIN (STM32_PCLK2_FREQUENCY) + +/* Timer Frequencies, if APBx is set to 1, frequency is same to APBx otherwise frequency is 2xAPBx. */ +#define BOARD_TIM2_FREQUENCY (2 * STM32_PCLK1_FREQUENCY) +#define BOARD_TIM3_FREQUENCY (2 * STM32_PCLK1_FREQUENCY) +#define BOARD_TIM4_FREQUENCY (2 * STM32_PCLK1_FREQUENCY) +#define BOARD_TIM5_FREQUENCY (2 * STM32_PCLK1_FREQUENCY) +#define BOARD_TIM6_FREQUENCY (2 * STM32_PCLK1_FREQUENCY) +#define BOARD_TIM7_FREQUENCY (2 * STM32_PCLK1_FREQUENCY) +#define BOARD_TIM8_FREQUENCY (2 * STM32_PCLK2_FREQUENCY) + +/* Alternate function pin selections ************************************************/ + +/* UARTs */ +#define GPIO_USART1_RX GPIO_USART1_RX_2 +#define GPIO_USART1_TX GPIO_USART1_TX_3 + +#define GPIO_USART2_RX GPIO_USART2_RX_1 +#define GPIO_USART2_TX GPIO_USART2_TX_1 + +/* CAN */ +#define GPIO_CAN1_RX GPIO_CAN1_RX_1 +#define GPIO_CAN1_TX GPIO_CAN1_TX_1 + +/* I2C */ + +#define GPIO_MCU_I2C1_SCL +#define GPIO_MCU_I2C1_SDA + +#define GPIO_I2C1_SCL GPIO_I2C1_SCL_1 +#define GPIO_I2C1_SDA GPIO_I2C1_SDA_1 + +#define GPIO_I2C1_SCL_GPIO (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN6) +#define GPIO_I2C1_SDA_GPIO (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN7) + +#define GPIO_I2C2_SCL GPIO_I2C2_SCL_1 +#define GPIO_I2C2_SDA GPIO_I2C2_SDA_4 + +#define GPIO_I2C2_SCL_GPIO (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN9) +#define GPIO_I2C2_SDA_GPIO (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN10) + +/* SPI */ +#define GPIO_SPI1_MISO GPIO_SPI1_MISO_1 +#define GPIO_SPI1_MOSI GPIO_SPI1_MOSI_1 +#define GPIO_SPI1_SCK GPIO_SPI1_SCK_1 + +#endif /* __ARCH_BOARD_BOARD_H */ diff --git a/boards/ark/septentrio-gps/nuttx-config/include/board_dma_map.h b/boards/ark/septentrio-gps/nuttx-config/include/board_dma_map.h new file mode 100644 index 000000000000..efa3d824b2f6 --- /dev/null +++ b/boards/ark/septentrio-gps/nuttx-config/include/board_dma_map.h @@ -0,0 +1,46 @@ +/**************************************************************************** + * + * Copyright (c) 2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#pragma once + +// DMA1 Channel/Stream Selections +//--------------------------------------------//---------------------------//---------------- + + +// DMA2 Channel/Stream Selections +//--------------------------------------------//---------------------------//---------------- +#define DMACHAN_SPI1_RX DMAMAP_SPI1_RX_1 // DMA2, Stream 0, Channel 3 +#define DMACHAN_SPI1_TX DMAMAP_SPI1_TX_1 // DMA2, Stream 3, Channel 3 +#define DMACHAN_USART1_RX DMAMAP_USART1_RX_1 // DMA2, Stream 2, Channel 4 +#define DMAMAP_USART1_RX DMAMAP_USART1_RX_1 +//#define DMACHAN_USART1_TX DMAMAP_USART1_TX // DMA2, Stream 7, Channel 4 diff --git a/boards/ark/septentrio-gps/nuttx-config/nsh/defconfig b/boards/ark/septentrio-gps/nuttx-config/nsh/defconfig new file mode 100644 index 000000000000..176ae3eccc5b --- /dev/null +++ b/boards/ark/septentrio-gps/nuttx-config/nsh/defconfig @@ -0,0 +1,153 @@ +# +# This file is autogenerated: PLEASE DO NOT EDIT IT. +# +# You can use "make menuconfig" to make any modifications to the installed .config file. +# You can then do "make savedefconfig" to generate a new defconfig file that includes your +# modifications. +# +# CONFIG_DISABLE_ENVIRON is not set +# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set +# CONFIG_DISABLE_PTHREAD is not set +# CONFIG_NSH_DISABLEBG is not set +# CONFIG_NSH_DISABLESCRIPT is not set +# CONFIG_NSH_DISABLE_CAT is not set +# CONFIG_NSH_DISABLE_CD is not set +# CONFIG_NSH_DISABLE_CP is not set +# CONFIG_NSH_DISABLE_DATE is not set +# CONFIG_NSH_DISABLE_DF is not set +# CONFIG_NSH_DISABLE_ECHO is not set +# CONFIG_NSH_DISABLE_ENV is not set +# CONFIG_NSH_DISABLE_EXEC is not set +# CONFIG_NSH_DISABLE_EXPORT is not set +# CONFIG_NSH_DISABLE_FREE is not set +# CONFIG_NSH_DISABLE_GET is not set +# CONFIG_NSH_DISABLE_HELP is not set +# CONFIG_NSH_DISABLE_ITEF is not set +# CONFIG_NSH_DISABLE_KILL is not set +# CONFIG_NSH_DISABLE_LOOPS is not set +# CONFIG_NSH_DISABLE_LS is not set +# CONFIG_NSH_DISABLE_MKDIR is not set +# CONFIG_NSH_DISABLE_MOUNT is not set +# CONFIG_NSH_DISABLE_MV is not set +# CONFIG_NSH_DISABLE_PS is not set +# CONFIG_NSH_DISABLE_PSSTACKUSAGE is not set +# CONFIG_NSH_DISABLE_PWD is not set +# CONFIG_NSH_DISABLE_RM is not set +# CONFIG_NSH_DISABLE_RMDIR is not set +# CONFIG_NSH_DISABLE_SEMICOLON is not set +# CONFIG_NSH_DISABLE_SET is not set +# CONFIG_NSH_DISABLE_SLEEP is not set +# CONFIG_NSH_DISABLE_SOURCE is not set +# CONFIG_NSH_DISABLE_TEST is not set +# CONFIG_NSH_DISABLE_TIME is not set +# CONFIG_NSH_DISABLE_UMOUNT is not set +# CONFIG_NSH_DISABLE_UNSET is not set +# CONFIG_NSH_DISABLE_USLEEP is not set +CONFIG_ARCH="arm" +CONFIG_ARCH_BOARD_CUSTOM=y +CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/ark/septentrio-gps/nuttx-config" +CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y +CONFIG_ARCH_BOARD_CUSTOM_NAME="px4" +CONFIG_ARCH_CHIP="stm32" +CONFIG_ARCH_CHIP_STM32=y +CONFIG_ARCH_CHIP_STM32F412CE=y +CONFIG_ARCH_INTERRUPTSTACK=768 +CONFIG_ARCH_STACKDUMP=y +CONFIG_ARMV7M_MEMCPY=y +CONFIG_ARMV7M_USEBASEPRI=y +CONFIG_BOARDCTL_RESET=y +CONFIG_BOARD_ASSERT_RESET_VALUE=0 +CONFIG_BOARD_LOOPSPERMSEC=16717 +CONFIG_BOARD_RESET_ON_ASSERT=2 +CONFIG_BUILTIN=y +CONFIG_DEBUG_FULLOPT=y +CONFIG_DEBUG_HARDFAULT_ALERT=y +CONFIG_DEBUG_SYMBOLS=y +CONFIG_DEBUG_TCBINFO=y +CONFIG_DEFAULT_SMALL=y +CONFIG_FDCLONE_STDIO=y +CONFIG_FS_CROMFS=y +CONFIG_FS_ROMFS=y +CONFIG_GRAN=y +CONFIG_GRAN_INTR=y +CONFIG_HAVE_CXX=y +CONFIG_HAVE_CXXINITIALIZE=y +CONFIG_I2C=y +CONFIG_I2C_RESET=y +CONFIG_IDLETHREAD_STACKSIZE=750 +CONFIG_INIT_ENTRYPOINT="nsh_main" +CONFIG_INIT_STACKSIZE=2624 +CONFIG_LIBC_FLOATINGPOINT=y +CONFIG_LIBC_LONG_LONG=y +CONFIG_LIBC_MAX_EXITFUNS=1 +CONFIG_MEMSET_64BIT=y +CONFIG_MEMSET_OPTSPEED=y +CONFIG_MM_REGIONS=2 +CONFIG_NAME_MAX=40 +CONFIG_NSH_ARCHINIT=y +CONFIG_NSH_ARGCAT=y +CONFIG_NSH_BUILTIN_APPS=y +CONFIG_NSH_CMDPARMS=y +CONFIG_NSH_CROMFSETC=y +CONFIG_NSH_LINELEN=128 +CONFIG_NSH_MAXARGUMENTS=15 +CONFIG_NSH_NESTDEPTH=8 +CONFIG_NSH_QUOTE=y +CONFIG_NSH_ROMFSETC=y +CONFIG_NSH_ROMFSSECTSIZE=128 +CONFIG_NSH_VARS=y +CONFIG_PREALLOC_TIMERS=50 +CONFIG_PTHREAD_MUTEX_ROBUST=y +CONFIG_PTHREAD_STACK_MIN=512 +CONFIG_RAM_SIZE=262144 +CONFIG_RAM_START=0x20000000 +CONFIG_RAW_BINARY=y +CONFIG_SCHED_HPWORK=y +CONFIG_SCHED_HPWORKPRIORITY=249 +CONFIG_SCHED_HPWORKSTACKSIZE=1280 +CONFIG_SCHED_INSTRUMENTATION=y +CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y +CONFIG_SCHED_INSTRUMENTATION_SWITCH=y +CONFIG_SCHED_WAITPID=y +CONFIG_SERIAL_TERMIOS=y +CONFIG_SIG_DEFAULT=y +CONFIG_SIG_SIGALRM_ACTION=y +CONFIG_SIG_SIGUSR1_ACTION=y +CONFIG_SIG_SIGUSR2_ACTION=y +CONFIG_SIG_SIGWORK=4 +CONFIG_STACK_COLORATION=y +CONFIG_START_DAY=30 +CONFIG_START_MONTH=11 +CONFIG_STDIO_BUFFER_SIZE=32 +CONFIG_STM32_ADC1=y +CONFIG_STM32_DISABLE_IDLE_SLEEP_DURING_DEBUG=y +CONFIG_STM32_DMA1=y +CONFIG_STM32_DMA2=y +CONFIG_STM32_FLASH_CONFIG_G=y +CONFIG_STM32_FLASH_PREFETCH=y +CONFIG_STM32_FLOWCONTROL_BROKEN=y +CONFIG_STM32_I2C1=y +CONFIG_STM32_I2C2=y +CONFIG_STM32_JTAG_SW_ENABLE=y +CONFIG_STM32_PWR=y +CONFIG_STM32_SERIALBRK_BSDCOMPAT=y +CONFIG_STM32_SERIAL_DISABLE_REORDERING=y +CONFIG_STM32_SPI1=y +CONFIG_STM32_SPI1_DMA=y +CONFIG_STM32_SPI1_DMA_BUFFER=1024 +CONFIG_STM32_TIM8=y +CONFIG_STM32_USART1=y +CONFIG_STM32_USART2=y +CONFIG_STM32_USART_BREAKS=y +CONFIG_STM32_WWDG=y +CONFIG_SYSTEM_NSH=y +CONFIG_TASK_NAME_SIZE=24 +CONFIG_USART1_BAUD=57600 +CONFIG_USART1_RXBUFSIZE=2000 +CONFIG_USART1_RXDMA=y +CONFIG_USART1_TXBUFSIZE=2000 +CONFIG_USART2_BAUD=57600 +CONFIG_USART2_RXBUFSIZE=600 +CONFIG_USART2_SERIAL_CONSOLE=y +CONFIG_USART2_TXBUFSIZE=1100 +CONFIG_USEC_PER_TICK=1000 diff --git a/boards/ark/septentrio-gps/nuttx-config/scripts/canbootloader_script.ld b/boards/ark/septentrio-gps/nuttx-config/scripts/canbootloader_script.ld new file mode 100644 index 000000000000..48a59fe92d0e --- /dev/null +++ b/boards/ark/septentrio-gps/nuttx-config/scripts/canbootloader_script.ld @@ -0,0 +1,134 @@ +/**************************************************************************** + * nuttx-config/scripts/canbootloader_script.ld + * + * Copyright (C) 2015 Gregory Nutt. All rights reserved. + * Author: Gregory Nutt + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name NuttX nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/* The STM32F412 has 1M of FLASH beginning at address 0x0800:0000 and + * 256Kb of SRAM. SRAM is split up into three blocks: + * + * 1) 112Kb of SRAM beginning at address 0x2000:0000 + * 2) 16Kb of SRAM beginning at address 0x2001:c000 + * 3) 64Kb of SRAM beginning at address 0x2002:0000 + * 4) 64Kb of TCM SRAM beginning at address 0x1000:0000 + * + * When booting from FLASH, FLASH memory is aliased to address 0x0000:0000 + * where the code expects to begin execution by jumping to the entry point in + * the 0x0800:0000 address range. + * + * The first 0x10000 of flash is reserved for the bootloader. + */ + +MEMORY +{ + flash (rx) : ORIGIN = 0x08000000, LENGTH = 32K + sram (rwx) : ORIGIN = 0x20000000, LENGTH = 192K +} + +OUTPUT_ARCH(arm) + +ENTRY(__start) /* treat __start as the anchor for dead code stripping */ +EXTERN(_vectors) /* force the vectors to be included in the output */ + +/* + * Ensure that abort() is present in the final object. The exception handling + * code pulled in by libgcc.a requires it (and that code cannot be easily avoided). + */ +EXTERN(abort) +SECTIONS +{ + .text : { + _stext = ABSOLUTE(.); + *(.vectors) + *(.text .text.*) + *(.fixup) + *(.gnu.warning) + *(.rodata .rodata.*) + *(.gnu.linkonce.t.*) + *(.got) + *(.gcc_except_table) + *(.gnu.linkonce.r.*) + _etext = ABSOLUTE(.); + } > flash + + /* + * Init functions (static constructors and the like) + */ + .init_section : { + _sinit = ABSOLUTE(.); + KEEP(*(.init_array .init_array.*)) + _einit = ABSOLUTE(.); + } > flash + + .ARM.extab : { + *(.ARM.extab*) + } > flash + + __exidx_start = ABSOLUTE(.); + .ARM.exidx : { + *(.ARM.exidx*) + } > flash + __exidx_end = ABSOLUTE(.); + + _eronly = ABSOLUTE(.); + + .data : { + _sdata = ABSOLUTE(.); + *(.data .data.*) + *(.gnu.linkonce.d.*) + CONSTRUCTORS + _edata = ABSOLUTE(.); + } > sram AT > flash + + .bss : { + _sbss = ABSOLUTE(.); + *(.bss .bss.*) + *(.gnu.linkonce.b.*) + *(COMMON) + . = ALIGN(4); + _ebss = ABSOLUTE(.); + } > sram + + /* Stabs debugging sections. */ + .stab 0 : { *(.stab) } + .stabstr 0 : { *(.stabstr) } + .stab.excl 0 : { *(.stab.excl) } + .stab.exclstr 0 : { *(.stab.exclstr) } + .stab.index 0 : { *(.stab.index) } + .stab.indexstr 0 : { *(.stab.indexstr) } + .comment 0 : { *(.comment) } + .debug_abbrev 0 : { *(.debug_abbrev) } + .debug_info 0 : { *(.debug_info) } + .debug_line 0 : { *(.debug_line) } + .debug_pubnames 0 : { *(.debug_pubnames) } + .debug_aranges 0 : { *(.debug_aranges) } +} diff --git a/boards/ark/septentrio-gps/nuttx-config/scripts/script.ld b/boards/ark/septentrio-gps/nuttx-config/scripts/script.ld new file mode 100644 index 000000000000..2f4769b8f5b4 --- /dev/null +++ b/boards/ark/septentrio-gps/nuttx-config/scripts/script.ld @@ -0,0 +1,146 @@ +/**************************************************************************** + * scripts/ld.script + * + * Copyright (C) 2011 Gregory Nutt. All rights reserved. + * Author: Gregory Nutt + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name NuttX nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/* The STM32F412 has 1M of FLASH beginning at address 0x0800:0000 and + * 256Kb of SRAM. SRAM is split up into three blocks: + * + * 1) 112Kb of SRAM beginning at address 0x2000:0000 + * 2) 16Kb of SRAM beginning at address 0x2001:c000 + * 3) 64Kb of SRAM beginning at address 0x2002:0000 + * 4) 64Kb of TCM SRAM beginning at address 0x1000:0000 + * + * When booting from FLASH, FLASH memory is aliased to address 0x0000:0000 + * where the code expects to begin execution by jumping to the entry point in + * the 0x0800:0000 address range. + * + * The first 0x10000 of flash is reserved for the bootloader. + */ + +MEMORY +{ + flash (rx) : ORIGIN = 0x08010000, LENGTH = 928K + sram (rwx) : ORIGIN = 0x20000000, LENGTH = 192K +} + +OUTPUT_ARCH(arm) + +ENTRY(__start) /* treat __start as the anchor for dead code stripping */ +EXTERN(_vectors) /* force the vectors to be included in the output */ + +/* + * Ensure that abort() is present in the final object. The exception handling + * code pulled in by libgcc.a requires it (and that code cannot be easily avoided). + */ +EXTERN(abort) +EXTERN(_bootdelay_signature) + +SECTIONS +{ + .text : { + _stext = ABSOLUTE(.); + *(.vectors) + . = ALIGN(8); + /* + * This section positions the app_descriptor_t used + * by the make_can_boot_descriptor.py tool to set + * the application image's descriptor so that the + * uavcan bootloader has the ability to validate the + * image crc, size etc + */ + KEEP(*(.app_descriptor)) + *(.text .text.*) + *(.fixup) + *(.gnu.warning) + *(.rodata .rodata.*) + *(.gnu.linkonce.t.*) + *(.got) + *(.gcc_except_table) + *(.gnu.linkonce.r.*) + _etext = ABSOLUTE(.); + } > flash + + /* + * Init functions (static constructors and the like) + */ + .init_section : { + _sinit = ABSOLUTE(.); + KEEP(*(.init_array .init_array.*)) + _einit = ABSOLUTE(.); + } > flash + + + .ARM.extab : { + *(.ARM.extab*) + } > flash + + __exidx_start = ABSOLUTE(.); + .ARM.exidx : { + *(.ARM.exidx*) + } > flash + __exidx_end = ABSOLUTE(.); + + _eronly = ABSOLUTE(.); + + .data : { + _sdata = ABSOLUTE(.); + *(.data .data.*) + *(.gnu.linkonce.d.*) + CONSTRUCTORS + _edata = ABSOLUTE(.); + } > sram AT > flash + + .bss : { + _sbss = ABSOLUTE(.); + *(.bss .bss.*) + *(.gnu.linkonce.b.*) + *(COMMON) + . = ALIGN(4); + _ebss = ABSOLUTE(.); + } > sram + + /* Stabs debugging sections. */ + .stab 0 : { *(.stab) } + .stabstr 0 : { *(.stabstr) } + .stab.excl 0 : { *(.stab.excl) } + .stab.exclstr 0 : { *(.stab.exclstr) } + .stab.index 0 : { *(.stab.index) } + .stab.indexstr 0 : { *(.stab.indexstr) } + .comment 0 : { *(.comment) } + .debug_abbrev 0 : { *(.debug_abbrev) } + .debug_info 0 : { *(.debug_info) } + .debug_line 0 : { *(.debug_line) } + .debug_pubnames 0 : { *(.debug_pubnames) } + .debug_aranges 0 : { *(.debug_aranges) } +} diff --git a/boards/ark/septentrio-gps/src/CMakeLists.txt b/boards/ark/septentrio-gps/src/CMakeLists.txt new file mode 100644 index 000000000000..06bd98156f22 --- /dev/null +++ b/boards/ark/septentrio-gps/src/CMakeLists.txt @@ -0,0 +1,67 @@ +############################################################################ +# +# Copyright (c) 2020 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +if("${PX4_BOARD_LABEL}" STREQUAL "canbootloader") + + add_library(drivers_board + boot_config.h + boot.c + led.c + led.h + ) + target_link_libraries(drivers_board + PRIVATE + nuttx_arch + nuttx_drivers + canbootloader + ) + target_include_directories(drivers_board PRIVATE ${PX4_SOURCE_DIR}/platforms/nuttx/src/canbootloader) + +else() + add_library(drivers_board + can.c + i2c.cpp + init.c + led.c + spi.cpp + ) + + target_link_libraries(drivers_board + PRIVATE + arch_spi + drivers__led # drv_led_start + nuttx_arch + nuttx_drivers + px4_layer + ) +endif() diff --git a/boards/ark/septentrio-gps/src/board_config.h b/boards/ark/septentrio-gps/src/board_config.h new file mode 100644 index 000000000000..2d5f582075f1 --- /dev/null +++ b/boards/ark/septentrio-gps/src/board_config.h @@ -0,0 +1,125 @@ +/**************************************************************************** + * + * Copyright (c) 2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file board_config.h + * + * board internal definitions + */ + +#pragma once + +#include +#include +#include + +/* BUTTON */ +#define GPIO_BTN_SAFETY /* PB15 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTB|GPIO_PIN15) + +/* Safety LED */ +#define GPIO_LED_SAFETY /* PA1 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN1) + +/* Tone alarm output. */ +#define TONE_ALARM_TIMER 2 /* timer 2 */ +#define TONE_ALARM_CHANNEL 1 /* channel 1 */ +#define GPIO_TONE_ALARM_IDLE /* PA0 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN0) +#define GPIO_TONE_ALARM /* PA0 */ (GPIO_ALT|GPIO_AF1|GPIO_SPEED_2MHz|GPIO_PUSHPULL|GPIO_PORTA|GPIO_PIN0) + +/* CAN Silent mode control */ +#define GPIO_CAN1_SILENT_S0 /* PB12 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN12) + +/* CAN termination software control */ +#define GPIO_CAN1_TERMINATION /* PB13 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN13) +#define GPIO_CAN_TERM GPIO_CAN1_TERMINATION + +/* ICM42688p FSYNC */ +#define GPIO_42688P_FSYNC /* PB8 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN8) + +/* Boot config */ +#define GPIO_BOOT_CONFIG /* PC15 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN15|GPIO_EXTI) + +/* LEDs are driven with open drain to support Anode to 5V or 3.3V */ +#define GPIO_TIM1_CH1 /* PA8 */ (GPIO_TIM1_CH1_1|GPIO_OPENDRAIN|GPIO_SPEED_2MHz) +#define GPIO_TIM1_CH2 /* PA9 */ (GPIO_TIM1_CH2_1|GPIO_OPENDRAIN|GPIO_SPEED_2MHz) +#define GPIO_TIM1_CH3 /* PA10 */ (GPIO_TIM1_CH3_1|GPIO_OPENDRAIN|GPIO_SPEED_2MHz) + +#define GPIO_I2C1_SCL_RESET /* PB6 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN6) +#define GPIO_I2C1_SDA_RESET /* PB7 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN7) + +#define GPIO_I2C2_SCL_RESET /* PB10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10) +#define GPIO_I2C2_SDA_RESET /* PB9 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN9) + +#define GPIO_I2C2_SCL_RESET /* PB10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10) +#define GPIO_I2C2_SDA_RESET /* PB9 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN9) + +#define GPIO_USART1_RX_GPIO (GPIO_INPUT|GPIO_PULLUP|GPIO_SPEED_50MHz|GPIO_PORTB|GPIO_PIN3) +#define GPIO_USART1_TX_GPIO (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_PULLUP|GPIO_SPEED_50MHz|GPIO_PORTA|GPIO_PIN15) + +#define GPIO_USART2_RX_GPIO (GPIO_INPUT|GPIO_PULLUP|GPIO_SPEED_50MHz|GPIO_PORTA|GPIO_PIN3) +#define GPIO_USART2_TX_GPIO (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_PULLUP|GPIO_SPEED_50MHz|GPIO_PORTA|GPIO_PIN2) + +#define FLASH_BASED_PARAMS + +/* High-resolution timer */ +#define HRT_TIMER 3 /* use timer 3 for the HRT */ +#define HRT_TIMER_CHANNEL 4 /* use capture/compare channel 4 */ + +#define PX4_GPIO_INIT_LIST { \ + GPIO_BTN_SAFETY, \ + GPIO_LED_SAFETY, \ + GPIO_I2C1_SCL_RESET, \ + GPIO_I2C1_SDA_RESET, \ + GPIO_I2C2_SCL_RESET, \ + GPIO_I2C2_SDA_RESET, \ + GPIO_42688P_FSYNC, \ + GPIO_BOOT_CONFIG, \ + GPIO_CAN1_TX, \ + GPIO_CAN1_RX, \ + GPIO_CAN1_SILENT_S0, \ + GPIO_CAN1_TERMINATION, \ + } + +__BEGIN_DECLS + +#define BOARD_HAS_N_S_RGB_LED 1 +#define BOARD_MAX_LEDS BOARD_HAS_N_S_RGB_LED + +#ifndef __ASSEMBLY__ + +extern void stm32_spiinitialize(void); + +#include + +#endif /* __ASSEMBLY__ */ + +__END_DECLS diff --git a/boards/ark/septentrio-gps/src/boot.c b/boards/ark/septentrio-gps/src/boot.c new file mode 100644 index 000000000000..a26034e254f6 --- /dev/null +++ b/boards/ark/septentrio-gps/src/boot.c @@ -0,0 +1,188 @@ +/**************************************************************************** + * + * Copyright (c) 2021 PX4 Development Team. All rights reserved. + * Author: Ben Dyer + * Pavel Kirienko + * David Sidrane + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include +#include +#include "boot_config.h" +#include "board.h" + +#include +#include +#include + +#include +#include "led.h" + +/************************************************************************************ + * Name: stm32_boardinitialize + * + * Description: + * All STM32 architectures must provide the following entry point. This entry point + * is called early in the initialization -- after all memory has been configured + * and mapped but before any devices have been initialized. + * + ************************************************************************************/ + +__EXPORT void stm32_boardinitialize(void) +{ + putreg32(getreg32(STM32_RCC_APB1ENR) | RCC_APB1ENR_CAN1EN, STM32_RCC_APB1ENR); + stm32_configgpio(GPIO_CAN1_RX); + stm32_configgpio(GPIO_CAN1_TX); + stm32_configgpio(GPIO_CAN1_SILENT_S0); + stm32_configgpio(GPIO_CAN1_TERMINATION); + putreg32(getreg32(STM32_RCC_APB1RSTR) | RCC_APB1RSTR_CAN1RST, STM32_RCC_APB1RSTR); + putreg32(getreg32(STM32_RCC_APB1RSTR) & ~RCC_APB1RSTR_CAN1RST, STM32_RCC_APB1RSTR); + +#if defined(OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO) + stm32_configgpio(GPIO_GETNODEINFO_JUMPER); +#endif + +} + +/************************************************************************************ + * Name: board_deinitialize + * + * Description: + * This function is called by the bootloader code prior to booting + * the application. Is should place the HW into an benign initialized state. + * + ************************************************************************************/ + +void board_deinitialize(void) +{ + putreg32(getreg32(STM32_RCC_APB1RSTR) | RCC_APB1RSTR_CAN1RST, STM32_RCC_APB1RSTR); +} + +/**************************************************************************** + * Name: board_get_product_name + * + * Description: + * Called to retrieve the product name. The returned value is a assumed + * to be written to a pascal style string that will be length prefixed + * and not null terminated + * + * Input Parameters: + * product_name - A pointer to a buffer to write the name. + * maxlen - The maximum number of charter that can be written + * + * Returned Value: + * The length of characters written to the buffer. + * + ****************************************************************************/ + +uint8_t board_get_product_name(uint8_t *product_name, size_t maxlen) +{ + DEBUGASSERT(maxlen > UAVCAN_STRLEN(HW_UAVCAN_NAME)); + memcpy(product_name, HW_UAVCAN_NAME, UAVCAN_STRLEN(HW_UAVCAN_NAME)); + return UAVCAN_STRLEN(HW_UAVCAN_NAME); +} + +/**************************************************************************** + * Name: board_get_hardware_version + * + * Description: + * Called to retrieve the hardware version information. The function + * will first initialize the the callers struct to all zeros. + * + * Input Parameters: + * hw_version - A pointer to a uavcan_hardwareversion_t. + * + * Returned Value: + * Length of the unique_id + * + ****************************************************************************/ + +size_t board_get_hardware_version(uavcan_HardwareVersion_t *hw_version) +{ + memset(hw_version, 0, sizeof(uavcan_HardwareVersion_t)); + + hw_version->major = HW_VERSION_MAJOR; + hw_version->minor = HW_VERSION_MINOR; + + return board_get_mfguid(*(mfguid_t *) hw_version->unique_id); +} + +/**************************************************************************** + * Name: board_indicate + * + * Description: + * Provides User feedback to indicate the state of the bootloader + * on board specific hardware. + * + * Input Parameters: + * indication - A member of the uiindication_t + * + * Returned Value: + * None + * + ****************************************************************************/ +#define led(n, code, r , g , b, h) {.red = (r),.green = (g), .blue = (b),.hz = (h)} + +typedef begin_packed_struct struct led_t { + uint8_t red; + uint8_t green; + uint8_t blue; + uint8_t hz; +} end_packed_struct led_t; + +static const led_t i2l[] = { + + led(0, off, 0, 0, 0, 0), + led(1, reset, 128, 128, 128, 30), + led(2, autobaud_start, 0, 128, 0, 1), + led(3, autobaud_end, 0, 128, 0, 2), + led(4, allocation_start, 0, 0, 64, 2), + led(5, allocation_end, 0, 128, 64, 3), + led(6, fw_update_start, 32, 128, 64, 3), + led(7, fw_update_erase_fail, 32, 128, 32, 3), + led(8, fw_update_invalid_response, 64, 0, 0, 1), + led(9, fw_update_timeout, 64, 0, 0, 2), + led(a, fw_update_invalid_crc, 64, 0, 0, 4), + led(b, jump_to_app, 0, 128, 0, 10), + +}; + +void board_indicate(uiindication_t indication) +{ + rgb_led(i2l[indication].red, + i2l[indication].green, + i2l[indication].blue, + i2l[indication].hz); +} diff --git a/boards/ark/septentrio-gps/src/boot_config.h b/boards/ark/septentrio-gps/src/boot_config.h new file mode 100644 index 000000000000..76782f9a93cb --- /dev/null +++ b/boards/ark/septentrio-gps/src/boot_config.h @@ -0,0 +1,130 @@ +/**************************************************************************** + * + * Copyright (c) 2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/* + * @file boot_config.h + * + * bootloader definitions that configures the behavior and options + * of the Boot loader + * This file is relies on the parent folder's boot_config.h file and defines + * different usages of the hardware for bootloading + */ + +#pragma once + +/************************************************************************************ + * Included Files + ************************************************************************************/ + +/* Bring in the board_config.h definitions + * todo:make this be pulled in from a targed's build + * files in nuttx*/ + +#include "board_config.h" +#include "uavcan.h" +#include + +#include + +#include + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +#define OPT_PREFERRED_NODE_ID ANY_NODE_ID + +//todo:wrap OPT_x in in ifdefs for command line definitions +#define OPT_TBOOT_MS 3000 +#define OPT_NODE_STATUS_RATE_MS 800 +#define OPT_NODE_INFO_RATE_MS 50 +#define OPT_BL_NUMBER_TIMERS 7 + +/* + * This Option set is set to 1 ensure a provider of firmware has an + * opportunity update the node's firmware. + * This Option is the default policy and can be overridden by + * a jumper + * When this Policy is set, the node will ignore tboot and + * wait indefinitely for a GetNodeInfo request before booting. + * + * OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO_INVERT is used to allow + * the polarity of the jumper to be True Active + * + * wait OPT_WAIT_FOR_GETNODEINFO OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO + * Jumper + * yes 1 0 x + * yes 1 1 Active + * no 1 1 Not Active + * no 0 0 X + * yes 0 1 Active + * no 0 1 Not Active + * + */ +#define OPT_WAIT_FOR_GETNODEINFO 0 +#define OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO 1 +#define OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO_INVERT 1 + +#define OPT_ENABLE_WD 1 + +#define OPT_RESTART_TIMEOUT_MS 20000 + +/* Reserved for the Booloader */ +#define OPT_BOOTLOADER_SIZE_IN_K (1024*64) + +/* Reserved for the application out of the total + * system flash minus the BOOTLOADER_SIZE_IN_K + */ +#define OPT_APPLICATION_RESERVER_IN_K 0 + +#define OPT_APPLICATION_IMAGE_OFFSET OPT_BOOTLOADER_SIZE_IN_K +#define OPT_APPLICATION_IMAGE_LENGTH (FLASH_SIZE-(OPT_BOOTLOADER_SIZE_IN_K+OPT_APPLICATION_RESERVER_IN_K)) + + +#define FLASH_BASE STM32_FLASH_BASE +#define FLASH_SIZE STM32_FLASH_SIZE + +#define APPLICATION_LOAD_ADDRESS (FLASH_BASE + OPT_APPLICATION_IMAGE_OFFSET) +#define APPLICATION_SIZE (FLASH_SIZE-OPT_APPLICATION_IMAGE_OFFSET) +#define APPLICATION_LAST_8BIT_ADDRRESS ((uint8_t *)((APPLICATION_LOAD_ADDRESS+APPLICATION_SIZE)-sizeof(uint8_t))) +#define APPLICATION_LAST_32BIT_ADDRRESS ((uint32_t *)((APPLICATION_LOAD_ADDRESS+APPLICATION_SIZE)-sizeof(uint32_t))) +#define APPLICATION_LAST_64BIT_ADDRRESS ((uint64_t *)((APPLICATION_LOAD_ADDRESS+APPLICATION_SIZE)-sizeof(uint64_t))) + +/* If this board uses big flash that have large sectors */ + +#define OPT_USE_YIELD + +/* Bootloader Option***************************************************************** + * + */ +#define GPIO_GETNODEINFO_JUMPER (GPIO_BOOT_CONFIG & ~GPIO_EXTI) diff --git a/boards/ark/septentrio-gps/src/can.c b/boards/ark/septentrio-gps/src/can.c new file mode 100644 index 000000000000..7737965dc6ea --- /dev/null +++ b/boards/ark/septentrio-gps/src/can.c @@ -0,0 +1,130 @@ +/**************************************************************************** + * + * Copyright (C) 2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file can.c + * + * Board-specific CAN functions. + */ + +/************************************************************************************ + * Included Files + ************************************************************************************/ + +#include + +#include +#include + +#include +#include + +#include "chip.h" +#include "arm_internal.h" + +#include "stm32.h" +#include "stm32_can.h" +#include "board_config.h" + +#ifdef CONFIG_CAN + +/************************************************************************************ + * Pre-processor Definitions + ************************************************************************************/ +/* Configuration ********************************************************************/ + +#if defined(CONFIG_STM32_CAN1) && defined(CONFIG_STM32_CAN2) +# warning "Both CAN1 and CAN2 are enabled. Assuming only CAN1." +# undef CONFIG_STM32_CAN2 +#endif + +#ifdef CONFIG_STM32_CAN1 +# define CAN_PORT 1 +#else +# define CAN_PORT 2 +#endif + +/************************************************************************************ + * Private Functions + ************************************************************************************/ + +/************************************************************************************ + * Public Functions + ************************************************************************************/ +int can_devinit(void); + +/************************************************************************************ + * Name: can_devinit + * + * Description: + * All STM32 architectures must provide the following interface to work with + * examples/can. + * + ************************************************************************************/ + +int can_devinit(void) +{ + static bool initialized = false; + struct can_dev_s *can; + int ret; + + /* Check if we have already initialized */ + + if (!initialized) { + /* Call stm32_caninitialize() to get an instance of the CAN interface */ + + can = stm32_caninitialize(CAN_PORT); + + if (can == NULL) { + canerr("ERROR: Failed to get CAN interface\n"); + return -ENODEV; + } + + /* Register the CAN driver at "/dev/can0" */ + + ret = can_register("/dev/can0", can); + + if (ret < 0) { + canerr("ERROR: can_register failed: %d\n", ret); + return ret; + } + + /* Now we are initialized */ + + initialized = true; + } + + return OK; +} + +#endif diff --git a/boards/ark/septentrio-gps/src/i2c.cpp b/boards/ark/septentrio-gps/src/i2c.cpp new file mode 100644 index 000000000000..76486af73317 --- /dev/null +++ b/boards/ark/septentrio-gps/src/i2c.cpp @@ -0,0 +1,39 @@ +/**************************************************************************** + * + * Copyright (C) 2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include + +constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = { + initI2CBusInternal(1), + initI2CBusInternal(2), +}; diff --git a/boards/ark/septentrio-gps/src/init.c b/boards/ark/septentrio-gps/src/init.c new file mode 100644 index 000000000000..61226d675491 --- /dev/null +++ b/boards/ark/septentrio-gps/src/init.c @@ -0,0 +1,168 @@ +/**************************************************************************** + * + * Copyright (c) 2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file init.c + * + * board specific early startup code. This file implements the + * board_app_initialize() function that is called early by nsh during startup. + * + * Code here is run before the rcS script is invoked; it should start required + * subsystems and perform board-specific initialization. + */ + +#include +#include + +#include +#include +#include +#include +#include +#include + +#include + +#include +#include "board_config.h" +#include "led.h" +#include + +#include + +#include +#include +#include + +#include + +#include +#include + +# if defined(FLASH_BASED_PARAMS) +# include +#endif + +/************************************************************************************ + * Name: stm32_boardinitialize + * + * Description: + * All STM32 architectures must provide the following entry point. This entry point + * is called early in the initialization -- after all memory has been configured + * and mapped but before any devices have been initialized. + * + ************************************************************************************/ + +__EXPORT void stm32_boardinitialize(void) +{ + watchdog_init(); + + /* configure pins */ + const uint32_t gpio[] = PX4_GPIO_INIT_LIST; + px4_gpio_init(gpio, arraySize(gpio)); + + // Configure SPI all interfaces GPIO & enable power. + stm32_spiinitialize(); + + // Check if button is held. If so go into gps passthrough mode + if (stm32_gpioread(GPIO_BTN_SAFETY)) { + rgb_led(128, 128, 128, 10); + stm32_configgpio(GPIO_USART1_TX_GPIO); + stm32_configgpio(GPIO_USART1_RX_GPIO); + stm32_configgpio(GPIO_USART2_TX_GPIO); + stm32_configgpio(GPIO_USART2_RX_GPIO); + + while (1) { + watchdog_pet(); + stm32_gpiowrite(GPIO_USART2_TX_GPIO, stm32_gpioread(GPIO_USART1_RX_GPIO)); + stm32_gpiowrite(GPIO_USART1_TX_GPIO, stm32_gpioread(GPIO_USART2_RX_GPIO)); + } + } +} + +/**************************************************************************** + * Name: board_app_initialize + * + * Description: + * Perform application specific initialization. This function is never + * called directly from application code, but only indirectly via the + * (non-standard) boardctl() interface using the command BOARDIOC_INIT. + * + * Input Parameters: + * arg - The boardctl() argument is passed to the board_app_initialize() + * implementation without modification. The argument has no + * meaning to NuttX; the meaning of the argument is a contract + * between the board-specific initalization logic and the the + * matching application logic. The value cold be such things as a + * mode enumeration value, a set of DIP switch switch settings, a + * pointer to configuration data read from a file or serial FLASH, + * or whatever you would like to do with it. Every implementation + * should accept zero/NULL as a default configuration. + * + * Returned Value: + * Zero (OK) is returned on success; a negated errno value is returned on + * any failure to indicate the nature of the failure. + * + ****************************************************************************/ + +__EXPORT int board_app_initialize(uintptr_t arg) +{ + px4_platform_init(); + +#if defined(SERIAL_HAVE_RXDMA) + // set up the serial DMA polling at 1ms intervals for received bytes that have not triggered a DMA event. + static struct hrt_call serial_dma_call; + hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)stm32_serial_dma_poll, NULL); +#endif + +#if defined(FLASH_BASED_PARAMS) + static sector_descriptor_t params_sector_map[] = { + {2, 16 * 1024, 0x08008000}, + {3, 16 * 1024, 0x0800C000}, + {0, 0, 0}, + }; + + /* Initialize the flashfs layer to use heap allocated memory */ + int result = parameter_flashfs_init(params_sector_map, NULL, 0); + + if (result != OK) { + syslog(LOG_ERR, "[boot] FAILED to init params in FLASH %d\n", result); + } + +#endif // FLASH_BASED_PARAMS + + /* Configure the HW based on the manifest */ + //px4_platform_configure(); + + return OK; +} diff --git a/boards/ark/septentrio-gps/src/led.c b/boards/ark/septentrio-gps/src/led.c new file mode 100644 index 000000000000..9a80cae08923 --- /dev/null +++ b/boards/ark/septentrio-gps/src/led.c @@ -0,0 +1,124 @@ +/**************************************************************************** + * + * Copyright (c) 2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file led.c + * + * LED backend. + */ + +#include + +#include + +#include "chip.h" +#include "stm32_gpio.h" +#include "board_config.h" + +#include +#include + +#include "led.h" + +#define TMR_BASE STM32_TIM1_BASE +#define TMR_FREQUENCY STM32_APB2_TIM1_CLKIN +#define TMR_REG(o) (TMR_BASE+(o)) + +void rgb_led(int r, int g, int b, int freqs) +{ + + long fosc = TMR_FREQUENCY; + long prescale = 2048; + long p1s = fosc / prescale; + long p0p5s = p1s / 2; + uint16_t val; + static bool once = 0; + + if (!once) { + once = 1; + + /* Enabel Clock to Block */ + modifyreg32(STM32_RCC_APB2ENR, 0, RCC_APB2ENR_TIM1EN); + + /* Reload */ + + val = getreg16(TMR_REG(STM32_BTIM_EGR_OFFSET)); + val |= ATIM_EGR_UG; + putreg16(val, TMR_REG(STM32_BTIM_EGR_OFFSET)); + + /* Set Prescaler STM32_TIM_SETCLOCK */ + + putreg16(prescale, TMR_REG(STM32_BTIM_PSC_OFFSET)); + + /* Enable STM32_TIM_SETMODE*/ + + putreg16(ATIM_CR1_CEN | ATIM_CR1_ARPE, TMR_REG(STM32_BTIM_CR1_OFFSET)); + + + putreg16((ATIM_CCMR_MODE_PWM1 << ATIM_CCMR1_OC1M_SHIFT) | ATIM_CCMR1_OC1PE | + (ATIM_CCMR_MODE_PWM1 << ATIM_CCMR1_OC2M_SHIFT) | ATIM_CCMR1_OC2PE, TMR_REG(STM32_GTIM_CCMR1_OFFSET)); + putreg16((ATIM_CCMR_MODE_PWM1 << ATIM_CCMR2_OC3M_SHIFT) | ATIM_CCMR2_OC3PE, TMR_REG(STM32_GTIM_CCMR2_OFFSET)); + putreg16(ATIM_CCER_CC3E | ATIM_CCER_CC3P | + ATIM_CCER_CC2E | ATIM_CCER_CC2P | + ATIM_CCER_CC1E | ATIM_CCER_CC1P, TMR_REG(STM32_GTIM_CCER_OFFSET)); + + + stm32_configgpio(GPIO_TIM1_CH1); + stm32_configgpio(GPIO_TIM1_CH2); + stm32_configgpio(GPIO_TIM1_CH3); + + /* master output enable = on */ + putreg16(ATIM_BDTR_MOE, (TMR_REG(STM32_ATIM_BDTR_OFFSET))); + } + + long p = freqs == 0 ? p1s : p1s / freqs; + putreg32(p, TMR_REG(STM32_BTIM_ARR_OFFSET)); + + p = freqs == 0 ? p1s + 1 : p0p5s / freqs; + + putreg32((r * p) / 255, TMR_REG(STM32_GTIM_CCR1_OFFSET)); + putreg32((g * p) / 255, TMR_REG(STM32_GTIM_CCR2_OFFSET)); + putreg32((b * p) / 255, TMR_REG(STM32_GTIM_CCR3_OFFSET)); + + val = getreg16(TMR_REG(STM32_BTIM_CR1_OFFSET)); + + if (freqs == 0) { + val &= ~ATIM_CR1_CEN; + + } else { + val |= ATIM_CR1_CEN; + } + + putreg16(val, TMR_REG(STM32_BTIM_CR1_OFFSET)); + +} diff --git a/boards/ark/septentrio-gps/src/led.h b/boards/ark/septentrio-gps/src/led.h new file mode 100644 index 000000000000..b68e4aa70d0c --- /dev/null +++ b/boards/ark/septentrio-gps/src/led.h @@ -0,0 +1,37 @@ +/**************************************************************************** + * + * Copyright (C) 2015 PX4 Development Team. All rights reserved. + * Author: David Sidrane + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +__BEGIN_DECLS +void rgb_led(int r, int g, int b, int freqs); +__END_DECLS diff --git a/boards/ark/septentrio-gps/src/spi.cpp b/boards/ark/septentrio-gps/src/spi.cpp new file mode 100644 index 000000000000..baafb0354c6c --- /dev/null +++ b/boards/ark/septentrio-gps/src/spi.cpp @@ -0,0 +1,44 @@ +/**************************************************************************** + * + * Copyright (C) 2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include +#include +#include + +constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = { + initSPIBus(SPI::Bus::SPI1, { + initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortB, GPIO::Pin0}, SPI::DRDY{GPIO::PortB, GPIO::Pin1}), + }), +}; + +static constexpr bool unused = validateSPIConfig(px4_spi_buses); diff --git a/boards/ark/septentrio-gps/uavcan_board_identity b/boards/ark/septentrio-gps/uavcan_board_identity new file mode 100644 index 000000000000..8a80380cf050 --- /dev/null +++ b/boards/ark/septentrio-gps/uavcan_board_identity @@ -0,0 +1,17 @@ +# UAVCAN boot loadable Module ID +set(uavcanblid_sw_version_major ${PX4_VERSION_MAJOR}) +set(uavcanblid_sw_version_minor ${PX4_VERSION_MINOR}) +add_definitions( + -DAPP_VERSION_MAJOR=${uavcanblid_sw_version_major} + -DAPP_VERSION_MINOR=${uavcanblid_sw_version_minor} +) + +set(uavcanblid_hw_version_major 0) +set(uavcanblid_hw_version_minor 84) +set(uavcanblid_name "\"org.ark.septentrio-gps\"") + +add_definitions( + -DHW_UAVCAN_NAME=${uavcanblid_name} + -DHW_VERSION_MAJOR=${uavcanblid_hw_version_major} + -DHW_VERSION_MINOR=${uavcanblid_hw_version_minor} +) diff --git a/boards/atl/mantis-edu/default.px4board b/boards/atl/mantis-edu/default.px4board index 58fcec76d7e8..fd76e4d6ca56 100644 --- a/boards/atl/mantis-edu/default.px4board +++ b/boards/atl/mantis-edu/default.px4board @@ -2,6 +2,7 @@ CONFIG_BOARD_TOOLCHAIN="arm-none-eabi" CONFIG_BOARD_ARCHITECTURE="cortex-m7" CONFIG_DRIVERS_ADC_BOARD_ADC=y CONFIG_DRIVERS_BAROMETER_MAIERTEK_MPC2520=y +CONFIG_DRIVERS_CDCACM_AUTOSTART=y CONFIG_DRIVERS_GPS=y CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y diff --git a/boards/atl/mantis-edu/nuttx-config/nsh/defconfig b/boards/atl/mantis-edu/nuttx-config/nsh/defconfig index 3368ce48e10b..b6e976d4279e 100644 --- a/boards/atl/mantis-edu/nuttx-config/nsh/defconfig +++ b/boards/atl/mantis-edu/nuttx-config/nsh/defconfig @@ -112,7 +112,7 @@ CONFIG_I2C=y CONFIG_I2C_RESET=y CONFIG_IDLETHREAD_STACKSIZE=750 CONFIG_INIT_ENTRYPOINT="nsh_main" -CONFIG_INIT_STACKSIZE=2944 +CONFIG_INIT_STACKSIZE=3194 CONFIG_LIBC_FLOATINGPOINT=y CONFIG_LIBC_LONG_LONG=y CONFIG_LIBC_MAX_EXITFUNS=1 @@ -147,6 +147,8 @@ CONFIG_PREALLOC_TIMERS=50 CONFIG_PRIORITY_INHERITANCE=y CONFIG_PTHREAD_MUTEX_ROBUST=y CONFIG_PTHREAD_STACK_MIN=512 +CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5 +CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5 CONFIG_RAMTRON_SETSPEED=y CONFIG_RAM_SIZE=245760 CONFIG_RAM_START=0x20010000 diff --git a/boards/atl/mantis-edu/src/board_config.h b/boards/atl/mantis-edu/src/board_config.h index 8b8a99b12e86..f589a6b728f8 100644 --- a/boards/atl/mantis-edu/src/board_config.h +++ b/boards/atl/mantis-edu/src/board_config.h @@ -64,9 +64,6 @@ // Hacks for MAVLink RC button input #define ATL_MANTIS_RC_INPUT_HACKS -// Hacks for MAVLink RC button input -#define ATL_MANTIS_RC_INPUT_HACKS - /* * ADC channels * diff --git a/boards/atl/mantis-edu/upload.sh b/boards/atl/mantis-edu/upload.sh index 98e2a0686ae5..d1df5cc5fd22 100755 --- a/boards/atl/mantis-edu/upload.sh +++ b/boards/atl/mantis-edu/upload.sh @@ -8,4 +8,3 @@ echo "uploading: $PX4_BINARY_FILE" PX4_BINARY_FILE_SIZE=$(stat -c%s "$PX4_BINARY_FILE") curl -v -F "image=@$PX4_BINARY_FILE" -H "Expect:" -H "File-Size:$PX4_BINARY_FILE_SIZE" http://192.168.42.1/cgi-bin/upload - diff --git a/boards/av/x-v1/default.px4board b/boards/av/x-v1/default.px4board index 9336bc795059..86db7c85a3d5 100644 --- a/boards/av/x-v1/default.px4board +++ b/boards/av/x-v1/default.px4board @@ -15,8 +15,8 @@ CONFIG_DRIVERS_CAMERA_TRIGGER=y CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y CONFIG_COMMON_DISTANCE_SENSOR=y CONFIG_DRIVERS_GPS=y -CONFIG_DRIVERS_IMU_ADIS16477=y -CONFIG_DRIVERS_IMU_ADIS16497=y +CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16477=y +CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16497=y CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y CONFIG_DRIVERS_IRLOCK=y CONFIG_COMMON_LIGHT=y diff --git a/boards/av/x-v1/nuttx-config/include/board.h b/boards/av/x-v1/nuttx-config/include/board.h index a1cdc1635def..b9a18e9a3b88 100644 --- a/boards/av/x-v1/nuttx-config/include/board.h +++ b/boards/av/x-v1/nuttx-config/include/board.h @@ -374,4 +374,3 @@ * SDMMC1_D2 PC10 * SDMMC1_D3 PC11 */ - diff --git a/boards/av/x-v1/nuttx-config/nsh/defconfig b/boards/av/x-v1/nuttx-config/nsh/defconfig index 73efed90a128..1a2237008684 100644 --- a/boards/av/x-v1/nuttx-config/nsh/defconfig +++ b/boards/av/x-v1/nuttx-config/nsh/defconfig @@ -120,7 +120,7 @@ CONFIG_I2C=y CONFIG_I2C_RESET=y CONFIG_IDLETHREAD_STACKSIZE=750 CONFIG_INIT_ENTRYPOINT="nsh_main" -CONFIG_INIT_STACKSIZE=2944 +CONFIG_INIT_STACKSIZE=3194 CONFIG_IOB_NBUFFERS=24 CONFIG_IOB_THROTTLE=0 CONFIG_LIBC_LONG_LONG=y @@ -139,8 +139,8 @@ CONFIG_NETDB_DNSSERVER_NOADDR=y CONFIG_NETDEV_PHY_IOCTL=y CONFIG_NETINIT_DHCPC=y CONFIG_NETINIT_DNS=y -CONFIG_NETINIT_DNSIPADDR=0XC0A800FE -CONFIG_NETINIT_DRIPADDR=0XC0A800FE +CONFIG_NETINIT_DNSIPADDR=0xA290AFE +CONFIG_NETINIT_DRIPADDR=0xA290AFE CONFIG_NETINIT_THREAD=y CONFIG_NETINIT_THREAD_PRIORITY=49 CONFIG_NETUTILS_TELNETD=y diff --git a/boards/beaglebone/blue/default.px4board b/boards/beaglebone/blue/default.px4board index 34459e580634..79e0d80b9276 100644 --- a/boards/beaglebone/blue/default.px4board +++ b/boards/beaglebone/blue/default.px4board @@ -14,7 +14,6 @@ CONFIG_DRIVERS_GPS=y CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=y CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y CONFIG_DRIVERS_IMU_INVENSENSE_MPU9250=y -CONFIG_DRIVERS_LINUX_PWM_OUT=y CONFIG_DRIVERS_MAGNETOMETER_HMC5883=y CONFIG_DRIVERS_RC_INPUT=y CONFIG_DRIVERS_SMART_BATTERY_BATMON=y diff --git a/boards/beaglebone/blue/src/board_pwm_out.cpp b/boards/beaglebone/blue/src/board_pwm_out.cpp index 5b728ddfbcdc..d65bea2a76f7 100644 --- a/boards/beaglebone/blue/src/board_pwm_out.cpp +++ b/boards/beaglebone/blue/src/board_pwm_out.cpp @@ -81,4 +81,3 @@ int BBBlueRcPWMOut::send_output_pwm(const uint16_t *pwm, int num_outputs) return ret; } - diff --git a/boards/bitcraze/crazyflie/default.px4board b/boards/bitcraze/crazyflie/default.px4board index 326273dda257..9c90e55655c5 100644 --- a/boards/bitcraze/crazyflie/default.px4board +++ b/boards/bitcraze/crazyflie/default.px4board @@ -4,6 +4,7 @@ CONFIG_BOARD_CONSTRAINED_FLASH=y CONFIG_BOARD_CONSTRAINED_MEMORY=y CONFIG_BOARD_COMPILE_DEFINITIONS="-Wno-narrowing" CONFIG_DRIVERS_BAROMETER_LPS25H=y +CONFIG_DRIVERS_CDCACM_AUTOSTART=y CONFIG_DRIVERS_DISTANCE_SENSOR_VL53L0X=y CONFIG_DRIVERS_GPS=y CONFIG_DRIVERS_IMU_INVENSENSE_MPU9250=y @@ -15,7 +16,7 @@ CONFIG_MODULES_COMMANDER=y CONFIG_MODULES_CONTROL_ALLOCATOR=y CONFIG_MODULES_DATAMAN=y CONFIG_MODULES_EKF2=y -# CONFIG_EKF2_GNSS_YAW is not set +# CONFIG_EKF2_GNSS is not set # CONFIG_EKF2_SIDESLIP is not set CONFIG_MODULES_EVENTS=y CONFIG_MODULES_FLIGHT_MODE_MANAGER=y diff --git a/boards/bitcraze/crazyflie/nuttx-config/nsh/defconfig b/boards/bitcraze/crazyflie/nuttx-config/nsh/defconfig index 85951b83ddb4..15c99f925eb4 100644 --- a/boards/bitcraze/crazyflie/nuttx-config/nsh/defconfig +++ b/boards/bitcraze/crazyflie/nuttx-config/nsh/defconfig @@ -105,7 +105,7 @@ CONFIG_HAVE_CXXINITIALIZE=y CONFIG_I2C_RESET=y CONFIG_IDLETHREAD_STACKSIZE=750 CONFIG_INIT_ENTRYPOINT="nsh_main" -CONFIG_INIT_STACKSIZE=2944 +CONFIG_INIT_STACKSIZE=3194 CONFIG_LIBC_FLOATINGPOINT=y CONFIG_LIBC_LONG_LONG=y CONFIG_LIBC_MAX_EXITFUNS=1 diff --git a/boards/bitcraze/crazyflie/src/board_config.h b/boards/bitcraze/crazyflie/src/board_config.h index 5b9529a6823a..b69a021a15ea 100644 --- a/boards/bitcraze/crazyflie/src/board_config.h +++ b/boards/bitcraze/crazyflie/src/board_config.h @@ -140,15 +140,7 @@ #define PX4_PWM_ALTERNATE_RANGES #define PWM_LOWEST_MIN 0 -#define PWM_MOTOR_OFF 0 -#define PWM_SERVO_STOP 0 -#define PWM_DEFAULT_MIN 20 -#define PWM_HIGHEST_MIN 0 #define PWM_HIGHEST_MAX 255 -#define PWM_DEFAULT_MAX 255 -#define PWM_LOWEST_MAX 255 -#define PWM_DEFAULT_TRIM 1500 - /* High-resolution timer */ #define HRT_TIMER 8 /* use timer8 for the HRT */ diff --git a/boards/bitcraze/crazyflie/src/mtd.cpp b/boards/bitcraze/crazyflie/src/mtd.cpp index 2b00e231b2fb..d81e3e459669 100644 --- a/boards/bitcraze/crazyflie/src/mtd.cpp +++ b/boards/bitcraze/crazyflie/src/mtd.cpp @@ -42,18 +42,12 @@ static const px4_mft_device_t i2c1 = { // 24AA64FT on Base 8K 32 X static const px4_mtd_entry_t fmu_eeprom = { .device = &i2c1, - .npart = 2, + .npart = 1, .partd = { { .type = MTD_PARAMETERS, .path = "/fs/mtd_params", .nblocks = 128 - }, - { - .type = MTD_WAYPOINTS, - .path = "/fs/mtd_waypoints", - .nblocks = 128 - } }, }; diff --git a/boards/bitcraze/crazyflie/src/usb.c b/boards/bitcraze/crazyflie/src/usb.c index 29bae3dcf9c5..fcd52fd07530 100644 --- a/boards/bitcraze/crazyflie/src/usb.c +++ b/boards/bitcraze/crazyflie/src/usb.c @@ -105,4 +105,3 @@ __EXPORT void stm32_usbsuspend(FAR struct usbdev_s *dev, bool resume) { uinfo("resume: %d\n", resume); } - diff --git a/boards/bitcraze/crazyflie21/default.px4board b/boards/bitcraze/crazyflie21/default.px4board index a5e5244cc8db..0c268b6983a6 100644 --- a/boards/bitcraze/crazyflie21/default.px4board +++ b/boards/bitcraze/crazyflie21/default.px4board @@ -4,6 +4,7 @@ CONFIG_BOARD_CONSTRAINED_FLASH=y CONFIG_BOARD_CONSTRAINED_MEMORY=y CONFIG_BOARD_COMPILE_DEFINITIONS="-Wno-narrowing" CONFIG_DRIVERS_BAROMETER_BMP388=y +CONFIG_DRIVERS_CDCACM_AUTOSTART=y CONFIG_DRIVERS_DISTANCE_SENSOR_VL53L1X=y CONFIG_DRIVERS_GPS=y CONFIG_DRIVERS_IMU_BOSCH_BMI088_I2C=y @@ -14,7 +15,8 @@ CONFIG_MODULES_COMMANDER=y CONFIG_MODULES_CONTROL_ALLOCATOR=y CONFIG_MODULES_DATAMAN=y CONFIG_MODULES_EKF2=y -# CONFIG_EKF2_GNSS_YAW is not set +# CONFIG_EKF2_GNSS is not set +# CONFIG_EKF2_MAGNETOMETER is not set # CONFIG_EKF2_SIDESLIP is not set CONFIG_MODULES_EVENTS=y CONFIG_MODULES_FLIGHT_MODE_MANAGER=y @@ -33,6 +35,7 @@ CONFIG_MODULES_NAVIGATOR=y CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_SENSORS=y # CONFIG_SENSORS_VEHICLE_AIRSPEED is not set +# CONFIG_SENSORS_VEHICLE_MAGNETOMETER is not set CONFIG_SYSTEMCMDS_DMESG=y CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y CONFIG_SYSTEMCMDS_MTD=y diff --git a/boards/bitcraze/crazyflie21/nuttx-config/nsh/defconfig b/boards/bitcraze/crazyflie21/nuttx-config/nsh/defconfig index 4840814672fd..a8e182bc1dcd 100644 --- a/boards/bitcraze/crazyflie21/nuttx-config/nsh/defconfig +++ b/boards/bitcraze/crazyflie21/nuttx-config/nsh/defconfig @@ -106,7 +106,7 @@ CONFIG_HAVE_CXXINITIALIZE=y CONFIG_I2C_RESET=y CONFIG_IDLETHREAD_STACKSIZE=750 CONFIG_INIT_ENTRYPOINT="nsh_main" -CONFIG_INIT_STACKSIZE=2944 +CONFIG_INIT_STACKSIZE=3194 CONFIG_LIBC_FLOATINGPOINT=y CONFIG_LIBC_LONG_LONG=y CONFIG_LIBC_MAX_EXITFUNS=1 diff --git a/boards/bitcraze/crazyflie21/src/board_config.h b/boards/bitcraze/crazyflie21/src/board_config.h index a8ee6029c2c0..b636bfd08cb6 100644 --- a/boards/bitcraze/crazyflie21/src/board_config.h +++ b/boards/bitcraze/crazyflie21/src/board_config.h @@ -141,15 +141,7 @@ #define PX4_PWM_ALTERNATE_RANGES #define PWM_LOWEST_MIN 0 -#define PWM_MOTOR_OFF 0 -#define PWM_SERVO_STOP 0 -#define PWM_DEFAULT_MIN 20 -#define PWM_HIGHEST_MIN 0 #define PWM_HIGHEST_MAX 255 -#define PWM_DEFAULT_MAX 255 -#define PWM_LOWEST_MAX 255 -#define PWM_DEFAULT_TRIM 1500 - /* High-resolution timer */ #define HRT_TIMER 8 /* use timer8 for the HRT */ diff --git a/boards/bitcraze/crazyflie21/src/usb.c b/boards/bitcraze/crazyflie21/src/usb.c index 29bae3dcf9c5..fcd52fd07530 100644 --- a/boards/bitcraze/crazyflie21/src/usb.c +++ b/boards/bitcraze/crazyflie21/src/usb.c @@ -105,4 +105,3 @@ __EXPORT void stm32_usbsuspend(FAR struct usbdev_s *dev, bool resume) { uinfo("resume: %d\n", resume); } - diff --git a/boards/cuav/can-gps-v1/nuttx-config/nsh/defconfig b/boards/cuav/can-gps-v1/nuttx-config/nsh/defconfig index 64f884c2db52..aa13dbdb1e62 100644 --- a/boards/cuav/can-gps-v1/nuttx-config/nsh/defconfig +++ b/boards/cuav/can-gps-v1/nuttx-config/nsh/defconfig @@ -119,6 +119,8 @@ CONFIG_PREALLOC_TIMERS=50 CONFIG_PRIORITY_INHERITANCE=y CONFIG_PTHREAD_MUTEX_ROBUST=y CONFIG_PTHREAD_STACK_MIN=512 +CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5 +CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5 CONFIG_RAMTRON_SETSPEED=y CONFIG_RAM_SIZE=262144 CONFIG_RAM_START=0x20000000 diff --git a/boards/cuav/can-gps-v1/uavcan_board_identity b/boards/cuav/can-gps-v1/uavcan_board_identity index a54758907995..0cf273dde794 100644 --- a/boards/cuav/can-gps-v1/uavcan_board_identity +++ b/boards/cuav/can-gps-v1/uavcan_board_identity @@ -1,6 +1,6 @@ # UAVCAN boot loadable Module ID -set(uavcanblid_sw_version_major 0) -set(uavcanblid_sw_version_minor 1) +set(uavcanblid_sw_version_major ${PX4_VERSION_MAJOR}) +set(uavcanblid_sw_version_minor ${PX4_VERSION_MINOR}) add_definitions( -DAPP_VERSION_MAJOR=${uavcanblid_sw_version_major} -DAPP_VERSION_MINOR=${uavcanblid_sw_version_minor} diff --git a/boards/cuav/nora/default.px4board b/boards/cuav/nora/default.px4board index f312504ee5e4..675ffa54cb3e 100644 --- a/boards/cuav/nora/default.px4board +++ b/boards/cuav/nora/default.px4board @@ -10,9 +10,11 @@ CONFIG_COMMON_BAROMETERS=y CONFIG_DRIVERS_BATT_SMBUS=y CONFIG_DRIVERS_CAMERA_CAPTURE=y CONFIG_DRIVERS_CAMERA_TRIGGER=y +CONFIG_DRIVERS_CDCACM_AUTOSTART=y CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y CONFIG_COMMON_DISTANCE_SENSOR=y CONFIG_DRIVERS_DSHOT=y +CONFIG_DRIVERS_GNSS_SEPTENTRIO=y CONFIG_DRIVERS_GPS=y CONFIG_DRIVERS_HEATER=y CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=y @@ -37,7 +39,6 @@ CONFIG_DRIVERS_TONE_ALARM=y CONFIG_DRIVERS_UAVCAN=y CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=2 CONFIG_MODULES_AIRSPEED_SELECTOR=y -CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y CONFIG_MODULES_BATTERY_STATUS=y CONFIG_MODULES_CAMERA_FEEDBACK=y CONFIG_MODULES_COMMANDER=y @@ -56,7 +57,6 @@ CONFIG_MODULES_GYRO_CALIBRATION=y CONFIG_MODULES_LAND_DETECTOR=y CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y CONFIG_MODULES_LOAD_MON=y -CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y CONFIG_MODULES_LOGGER=y CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y CONFIG_MODULES_MANUAL_CONTROL=y @@ -68,7 +68,6 @@ CONFIG_MODULES_MC_POS_CONTROL=y CONFIG_MODULES_MC_RATE_CONTROL=y CONFIG_MODULES_NAVIGATOR=y CONFIG_MODULES_RC_UPDATE=y -CONFIG_MODULES_ROVER_POS_CONTROL=y CONFIG_MODULES_SENSORS=y CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y @@ -96,4 +95,3 @@ CONFIG_SYSTEMCMDS_UORB=y CONFIG_SYSTEMCMDS_USB_CONNECTED=y CONFIG_SYSTEMCMDS_VER=y CONFIG_SYSTEMCMDS_WORK_QUEUE=y -CONFIG_EXAMPLES_FAKE_GPS=y diff --git a/boards/cuav/nora/extras/cuav_nora_bootloader.bin b/boards/cuav/nora/extras/cuav_nora_bootloader.bin index 015f8e3c8523..789124a74935 100755 Binary files a/boards/cuav/nora/extras/cuav_nora_bootloader.bin and b/boards/cuav/nora/extras/cuav_nora_bootloader.bin differ diff --git a/boards/cuav/nora/nuttx-config/bootloader/defconfig b/boards/cuav/nora/nuttx-config/bootloader/defconfig index a05449844b6d..cc5ca67d2d2d 100644 --- a/boards/cuav/nora/nuttx-config/bootloader/defconfig +++ b/boards/cuav/nora/nuttx-config/bootloader/defconfig @@ -48,7 +48,7 @@ CONFIG_HAVE_CXX=y CONFIG_HAVE_CXXINITIALIZE=y CONFIG_IDLETHREAD_STACKSIZE=750 CONFIG_INIT_ENTRYPOINT="bootloader_main" -CONFIG_INIT_STACKSIZE=2944 +CONFIG_INIT_STACKSIZE=3194 CONFIG_LIBC_FLOATINGPOINT=y CONFIG_LIBC_LONG_LONG=y CONFIG_LIBC_STRERROR=y diff --git a/boards/cuav/nora/nuttx-config/include/board.h b/boards/cuav/nora/nuttx-config/include/board.h index ad4b16fbd518..9aaf12fcdaf4 100644 --- a/boards/cuav/nora/nuttx-config/include/board.h +++ b/boards/cuav/nora/nuttx-config/include/board.h @@ -192,7 +192,7 @@ #define STM32_RCC_D2CCIP1R_SPI45SRC RCC_D2CCIP1R_SPI45SEL_PLL2 /* SPI45 clock source */ #define STM32_RCC_D3CCIPR_SPI6SRC RCC_D3CCIPR_SPI6SEL_PLL2 /* SPI6 clock source */ #define STM32_RCC_D2CCIP2R_USBSRC RCC_D2CCIP2R_USBSEL_PLL3 /* USB 1 and 2 clock source */ -#define STM32_RCC_D3CCIPR_ADCSEL RCC_D3CCIPR_ADCSEL_PLL2 /* ADC 1 2 3 clock source */ +#define STM32_RCC_D3CCIPR_ADCSRC RCC_D3CCIPR_ADCSEL_PLL2 /* ADC 1 2 3 clock source */ #define STM32_RCC_D2CCIP1R_FDCANSEL RCC_D2CCIP1R_FDCANSEL_HSE /* FDCAN 1 2 clock source */ #define STM32_FDCANCLK STM32_HSE_FREQUENCY diff --git a/boards/cuav/nora/nuttx-config/nsh/defconfig b/boards/cuav/nora/nuttx-config/nsh/defconfig index fb84cac44027..b84688f9b1eb 100644 --- a/boards/cuav/nora/nuttx-config/nsh/defconfig +++ b/boards/cuav/nora/nuttx-config/nsh/defconfig @@ -111,7 +111,7 @@ CONFIG_I2C=y CONFIG_I2C_RESET=y CONFIG_IDLETHREAD_STACKSIZE=750 CONFIG_INIT_ENTRYPOINT="nsh_main" -CONFIG_INIT_STACKSIZE=2944 +CONFIG_INIT_STACKSIZE=3194 CONFIG_LIBC_FLOATINGPOINT=y CONFIG_LIBC_LONG_LONG=y CONFIG_LIBC_MAX_EXITFUNS=1 @@ -147,6 +147,8 @@ CONFIG_PREALLOC_TIMERS=50 CONFIG_PRIORITY_INHERITANCE=y CONFIG_PTHREAD_MUTEX_ROBUST=y CONFIG_PTHREAD_STACK_MIN=512 +CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5 +CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5 CONFIG_RAMTRON_SETSPEED=y CONFIG_RAM_SIZE=245760 CONFIG_RAM_START=0x20010000 diff --git a/boards/cuav/x7pro/default.px4board b/boards/cuav/x7pro/default.px4board index 99e831c12938..f72610fc65cf 100644 --- a/boards/cuav/x7pro/default.px4board +++ b/boards/cuav/x7pro/default.px4board @@ -10,6 +10,7 @@ CONFIG_COMMON_BAROMETERS=y CONFIG_DRIVERS_BATT_SMBUS=y CONFIG_DRIVERS_CAMERA_CAPTURE=y CONFIG_DRIVERS_CAMERA_TRIGGER=y +CONFIG_DRIVERS_CDCACM_AUTOSTART=y CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y CONFIG_COMMON_DISTANCE_SENSOR=y CONFIG_DRIVERS_DSHOT=y diff --git a/boards/cuav/x7pro/extras/cuav_x7pro_bootloader.bin b/boards/cuav/x7pro/extras/cuav_x7pro_bootloader.bin index 29926616d41a..1093b162f810 100755 Binary files a/boards/cuav/x7pro/extras/cuav_x7pro_bootloader.bin and b/boards/cuav/x7pro/extras/cuav_x7pro_bootloader.bin differ diff --git a/boards/cuav/x7pro/nuttx-config/bootloader/defconfig b/boards/cuav/x7pro/nuttx-config/bootloader/defconfig index b3a4aa12cd38..d0e6e6194aa1 100644 --- a/boards/cuav/x7pro/nuttx-config/bootloader/defconfig +++ b/boards/cuav/x7pro/nuttx-config/bootloader/defconfig @@ -48,7 +48,7 @@ CONFIG_HAVE_CXX=y CONFIG_HAVE_CXXINITIALIZE=y CONFIG_IDLETHREAD_STACKSIZE=750 CONFIG_INIT_ENTRYPOINT="bootloader_main" -CONFIG_INIT_STACKSIZE=2944 +CONFIG_INIT_STACKSIZE=3194 CONFIG_LIBC_FLOATINGPOINT=y CONFIG_LIBC_LONG_LONG=y CONFIG_LIBC_STRERROR=y diff --git a/boards/cuav/x7pro/nuttx-config/include/board.h b/boards/cuav/x7pro/nuttx-config/include/board.h index ad4b16fbd518..9aaf12fcdaf4 100644 --- a/boards/cuav/x7pro/nuttx-config/include/board.h +++ b/boards/cuav/x7pro/nuttx-config/include/board.h @@ -192,7 +192,7 @@ #define STM32_RCC_D2CCIP1R_SPI45SRC RCC_D2CCIP1R_SPI45SEL_PLL2 /* SPI45 clock source */ #define STM32_RCC_D3CCIPR_SPI6SRC RCC_D3CCIPR_SPI6SEL_PLL2 /* SPI6 clock source */ #define STM32_RCC_D2CCIP2R_USBSRC RCC_D2CCIP2R_USBSEL_PLL3 /* USB 1 and 2 clock source */ -#define STM32_RCC_D3CCIPR_ADCSEL RCC_D3CCIPR_ADCSEL_PLL2 /* ADC 1 2 3 clock source */ +#define STM32_RCC_D3CCIPR_ADCSRC RCC_D3CCIPR_ADCSEL_PLL2 /* ADC 1 2 3 clock source */ #define STM32_RCC_D2CCIP1R_FDCANSEL RCC_D2CCIP1R_FDCANSEL_HSE /* FDCAN 1 2 clock source */ #define STM32_FDCANCLK STM32_HSE_FREQUENCY diff --git a/boards/cuav/x7pro/nuttx-config/nsh/defconfig b/boards/cuav/x7pro/nuttx-config/nsh/defconfig index 1088a24c021b..039d5ee9b997 100644 --- a/boards/cuav/x7pro/nuttx-config/nsh/defconfig +++ b/boards/cuav/x7pro/nuttx-config/nsh/defconfig @@ -112,7 +112,7 @@ CONFIG_I2C=y CONFIG_I2C_RESET=y CONFIG_IDLETHREAD_STACKSIZE=750 CONFIG_INIT_ENTRYPOINT="nsh_main" -CONFIG_INIT_STACKSIZE=2944 +CONFIG_INIT_STACKSIZE=3194 CONFIG_LIBC_LONG_LONG=y CONFIG_LIBC_MAX_EXITFUNS=1 CONFIG_LIBC_STRERROR=y @@ -147,6 +147,8 @@ CONFIG_PREALLOC_TIMERS=50 CONFIG_PRIORITY_INHERITANCE=y CONFIG_PTHREAD_MUTEX_ROBUST=y CONFIG_PTHREAD_STACK_MIN=512 +CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5 +CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5 CONFIG_RAMTRON_SETSPEED=y CONFIG_RAM_SIZE=245760 CONFIG_RAM_START=0x20010000 diff --git a/boards/cuav/x7pro/nuttx-config/test/defconfig b/boards/cuav/x7pro/nuttx-config/test/defconfig index 7506c0638735..392e47c9b43e 100644 --- a/boards/cuav/x7pro/nuttx-config/test/defconfig +++ b/boards/cuav/x7pro/nuttx-config/test/defconfig @@ -112,7 +112,7 @@ CONFIG_I2C=y CONFIG_I2C_RESET=y CONFIG_IDLETHREAD_STACKSIZE=750 CONFIG_INIT_ENTRYPOINT="nsh_main" -CONFIG_INIT_STACKSIZE=2944 +CONFIG_INIT_STACKSIZE=3194 CONFIG_LIBC_LONG_LONG=y CONFIG_LIBC_MAX_EXITFUNS=1 CONFIG_LIBC_STRERROR=y @@ -147,6 +147,8 @@ CONFIG_PREALLOC_TIMERS=50 CONFIG_PRIORITY_INHERITANCE=y CONFIG_PTHREAD_MUTEX_ROBUST=y CONFIG_PTHREAD_STACK_MIN=512 +CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5 +CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5 CONFIG_RAMTRON_SETSPEED=y CONFIG_RAM_SIZE=245760 CONFIG_RAM_START=0x20010000 diff --git a/boards/cubepilot/cubeorange/console.px4board b/boards/cubepilot/cubeorange/console.px4board new file mode 100644 index 000000000000..89afc484a172 --- /dev/null +++ b/boards/cubepilot/cubeorange/console.px4board @@ -0,0 +1 @@ +# Same as default, only defconfig is different diff --git a/boards/cubepilot/cubeorange/default.px4board b/boards/cubepilot/cubeorange/default.px4board index 521dd3bde890..480f896d67cf 100644 --- a/boards/cubepilot/cubeorange/default.px4board +++ b/boards/cubepilot/cubeorange/default.px4board @@ -11,14 +11,17 @@ CONFIG_DRIVERS_BAROMETER_MS5611=y CONFIG_DRIVERS_BATT_SMBUS=y CONFIG_DRIVERS_CAMERA_CAPTURE=y CONFIG_DRIVERS_CAMERA_TRIGGER=y +CONFIG_DRIVERS_CDCACM_AUTOSTART=y CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y CONFIG_COMMON_DISTANCE_SENSOR=y CONFIG_DRIVERS_DSHOT=y +CONFIG_DRIVERS_GNSS_SEPTENTRIO=y CONFIG_DRIVERS_GPS=y CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=y CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y CONFIG_DRIVERS_IMU_INVENSENSE_ICM20649=y CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y +CONFIG_COMMON_INS=y CONFIG_DRIVERS_IRLOCK=y CONFIG_COMMON_LIGHT=y CONFIG_COMMON_MAGNETOMETER=y @@ -49,7 +52,6 @@ CONFIG_MODULES_FW_POS_CONTROL=y CONFIG_MODULES_FW_RATE_CONTROL=y CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_GYRO_CALIBRATION=y -CONFIG_MODULES_GYRO_FFT=y CONFIG_MODULES_LAND_DETECTOR=y CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y CONFIG_MODULES_LOAD_MON=y diff --git a/boards/cubepilot/cubeorange/extras/cubepilot_cubeorange_bootloader.bin b/boards/cubepilot/cubeorange/extras/cubepilot_cubeorange_bootloader.bin index e8553b4e508e..a2b7b74c1cc1 100755 Binary files a/boards/cubepilot/cubeorange/extras/cubepilot_cubeorange_bootloader.bin and b/boards/cubepilot/cubeorange/extras/cubepilot_cubeorange_bootloader.bin differ diff --git a/boards/cubepilot/cubeorange/extras/cubepilot_io-v2_default.bin b/boards/cubepilot/cubeorange/extras/cubepilot_io-v2_default.bin index 4d29f3a04155..fee2b669933d 100755 Binary files a/boards/cubepilot/cubeorange/extras/cubepilot_io-v2_default.bin and b/boards/cubepilot/cubeorange/extras/cubepilot_io-v2_default.bin differ diff --git a/boards/cubepilot/cubeorange/init/rc.board_defaults b/boards/cubepilot/cubeorange/init/rc.board_defaults index 8ae2ed458b0e..7f961cd33e71 100644 --- a/boards/cubepilot/cubeorange/init/rc.board_defaults +++ b/boards/cubepilot/cubeorange/init/rc.board_defaults @@ -14,6 +14,4 @@ param set-default SENS_EN_THERMAL 0 param set-default -s SENS_TEMP_ID 2621474 -param set-default SYS_USE_IO 1 - set IOFW "/etc/extras/cubepilot_io-v2_default.bin" diff --git a/boards/cubepilot/cubeorange/init/rc.board_sensors b/boards/cubepilot/cubeorange/init/rc.board_sensors index e84edf7e2ff6..42ba25df2153 100644 --- a/boards/cubepilot/cubeorange/init/rc.board_sensors +++ b/boards/cubepilot/cubeorange/init/rc.board_sensors @@ -12,4 +12,3 @@ icm20948 -s -b 4 -R 10 -M start # SPI1 ms5611 -s -b 1 start icm20649 -s -b 1 start - diff --git a/boards/cubepilot/cubeorange/nuttx-config/bootloader/defconfig b/boards/cubepilot/cubeorange/nuttx-config/bootloader/defconfig index 220342494338..59041c61c422 100644 --- a/boards/cubepilot/cubeorange/nuttx-config/bootloader/defconfig +++ b/boards/cubepilot/cubeorange/nuttx-config/bootloader/defconfig @@ -48,7 +48,7 @@ CONFIG_HAVE_CXX=y CONFIG_HAVE_CXXINITIALIZE=y CONFIG_IDLETHREAD_STACKSIZE=750 CONFIG_INIT_ENTRYPOINT="bootloader_main" -CONFIG_INIT_STACKSIZE=2944 +CONFIG_INIT_STACKSIZE=3194 CONFIG_LIBC_FLOATINGPOINT=y CONFIG_LIBC_LONG_LONG=y CONFIG_LIBC_STRERROR=y diff --git a/boards/cubepilot/cubeorange/nuttx-config/console/defconfig b/boards/cubepilot/cubeorange/nuttx-config/console/defconfig new file mode 100644 index 000000000000..e8e0422f4386 --- /dev/null +++ b/boards/cubepilot/cubeorange/nuttx-config/console/defconfig @@ -0,0 +1,257 @@ +# +# This file is autogenerated: PLEASE DO NOT EDIT IT. +# +# You can use "make menuconfig" to make any modifications to the installed .config file. +# You can then do "make savedefconfig" to generate a new defconfig file that includes your +# modifications. +# +# CONFIG_DISABLE_ENVIRON is not set +# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set +# CONFIG_DISABLE_PTHREAD is not set +# CONFIG_MMCSD_HAVE_CARDDETECT is not set +# CONFIG_MMCSD_HAVE_WRITEPROTECT is not set +# CONFIG_MMCSD_MMCSUPPORT is not set +# CONFIG_MMCSD_SPI is not set +# CONFIG_NSH_DISABLEBG is not set +# CONFIG_NSH_DISABLESCRIPT is not set +# CONFIG_NSH_DISABLE_CAT is not set +# CONFIG_NSH_DISABLE_CD is not set +# CONFIG_NSH_DISABLE_CP is not set +# CONFIG_NSH_DISABLE_DATE is not set +# CONFIG_NSH_DISABLE_DF is not set +# CONFIG_NSH_DISABLE_ECHO is not set +# CONFIG_NSH_DISABLE_ENV is not set +# CONFIG_NSH_DISABLE_EXEC is not set +# CONFIG_NSH_DISABLE_EXIT is not set +# CONFIG_NSH_DISABLE_EXPORT is not set +# CONFIG_NSH_DISABLE_FREE is not set +# CONFIG_NSH_DISABLE_GET is not set +# CONFIG_NSH_DISABLE_HELP is not set +# CONFIG_NSH_DISABLE_ITEF is not set +# CONFIG_NSH_DISABLE_KILL is not set +# CONFIG_NSH_DISABLE_LOOPS is not set +# CONFIG_NSH_DISABLE_LS is not set +# CONFIG_NSH_DISABLE_MKDIR is not set +# CONFIG_NSH_DISABLE_MKFATFS is not set +# CONFIG_NSH_DISABLE_MOUNT is not set +# CONFIG_NSH_DISABLE_MV is not set +# CONFIG_NSH_DISABLE_PS is not set +# CONFIG_NSH_DISABLE_PSSTACKUSAGE is not set +# CONFIG_NSH_DISABLE_PWD is not set +# CONFIG_NSH_DISABLE_RM is not set +# CONFIG_NSH_DISABLE_RMDIR is not set +# CONFIG_NSH_DISABLE_SEMICOLON is not set +# CONFIG_NSH_DISABLE_SET is not set +# CONFIG_NSH_DISABLE_SLEEP is not set +# CONFIG_NSH_DISABLE_SOURCE is not set +# CONFIG_NSH_DISABLE_TEST is not set +# CONFIG_NSH_DISABLE_TIME is not set +# CONFIG_NSH_DISABLE_UMOUNT is not set +# CONFIG_NSH_DISABLE_UNSET is not set +# CONFIG_NSH_DISABLE_USLEEP is not set +CONFIG_ARCH="arm" +CONFIG_ARCH_BOARD_CUSTOM=y +CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/cubepilot/cubeorange/nuttx-config" +CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y +CONFIG_ARCH_BOARD_CUSTOM_NAME="px4" +CONFIG_ARCH_CHIP="stm32h7" +CONFIG_ARCH_CHIP_STM32H743ZI=y +CONFIG_ARCH_CHIP_STM32H7=y +CONFIG_ARCH_INTERRUPTSTACK=768 +CONFIG_ARCH_STACKDUMP=y +CONFIG_ARMV7M_BASEPRI_WAR=y +CONFIG_ARMV7M_DCACHE=y +CONFIG_ARMV7M_DTCM=y +CONFIG_ARMV7M_ICACHE=y +CONFIG_ARMV7M_MEMCPY=y +CONFIG_ARMV7M_USEBASEPRI=y +CONFIG_ARM_MPU_EARLY_RESET=y +CONFIG_BOARDCTL_RESET=y +CONFIG_BOARD_ASSERT_RESET_VALUE=0 +CONFIG_BOARD_CRASHDUMP=y +CONFIG_BOARD_LOOPSPERMSEC=79954 +CONFIG_BOARD_RESET_ON_ASSERT=2 +CONFIG_BUILTIN=y +CONFIG_CDCACM=y +CONFIG_CDCACM_IFLOWCONTROL=y +CONFIG_CDCACM_PRODUCTID=0x1016 +CONFIG_CDCACM_PRODUCTSTR="CubeOrange" +CONFIG_CDCACM_RXBUFSIZE=600 +CONFIG_CDCACM_TXBUFSIZE=12000 +CONFIG_CDCACM_VENDORID=0x2DAE +CONFIG_CDCACM_VENDORSTR="CubePilot" +CONFIG_DEBUG_FULLOPT=y +CONFIG_DEBUG_HARDFAULT_ALERT=y +CONFIG_DEBUG_SYMBOLS=y +CONFIG_DEBUG_TCBINFO=y +CONFIG_DEFAULT_SMALL=y +CONFIG_DEV_FIFO_SIZE=0 +CONFIG_DEV_PIPE_MAXSIZE=1024 +CONFIG_DEV_PIPE_SIZE=70 +CONFIG_EXPERIMENTAL=y +CONFIG_FAT_DMAMEMORY=y +CONFIG_FAT_LCNAMES=y +CONFIG_FAT_LFN=y +CONFIG_FAT_LFN_ALIAS_HASH=y +CONFIG_FDCLONE_STDIO=y +CONFIG_FS_BINFS=y +CONFIG_FS_CROMFS=y +CONFIG_FS_FAT=y +CONFIG_FS_FATTIME=y +CONFIG_FS_PROCFS=y +CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y +CONFIG_FS_PROCFS_MAX_TASKS=64 +CONFIG_FS_PROCFS_REGISTER=y +CONFIG_FS_ROMFS=y +CONFIG_GRAN=y +CONFIG_GRAN_INTR=y +CONFIG_HAVE_CXX=y +CONFIG_HAVE_CXXINITIALIZE=y +CONFIG_I2C=y +CONFIG_I2C_RESET=y +CONFIG_IDLETHREAD_STACKSIZE=750 +CONFIG_INIT_ENTRYPOINT="nsh_main" +CONFIG_INIT_STACKSIZE=3194 +CONFIG_LIBC_FLOATINGPOINT=y +CONFIG_LIBC_LONG_LONG=y +CONFIG_LIBC_MAX_EXITFUNS=1 +CONFIG_LIBC_STRERROR=y +CONFIG_MEMSET_64BIT=y +CONFIG_MEMSET_OPTSPEED=y +CONFIG_MMCSD=y +CONFIG_MMCSD_SDIO=y +CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y +CONFIG_MM_REGIONS=4 +CONFIG_MTD=y +CONFIG_MTD_BYTE_WRITE=y +CONFIG_MTD_PARTITION=y +CONFIG_MTD_PROGMEM=y +CONFIG_MTD_RAMTRON=y +CONFIG_NAME_MAX=40 +CONFIG_NSH_ARCHINIT=y +CONFIG_NSH_ARGCAT=y +CONFIG_NSH_BUILTIN_APPS=y +CONFIG_NSH_CMDPARMS=y +CONFIG_NSH_CROMFSETC=y +CONFIG_NSH_LINELEN=128 +CONFIG_NSH_MAXARGUMENTS=15 +CONFIG_NSH_NESTDEPTH=8 +CONFIG_NSH_QUOTE=y +CONFIG_NSH_ROMFSETC=y +CONFIG_NSH_ROMFSSECTSIZE=128 +CONFIG_NSH_STRERROR=y +CONFIG_NSH_VARS=y +CONFIG_OTG_ID_GPIO_DISABLE=y +CONFIG_PIPES=y +CONFIG_PREALLOC_TIMERS=50 +CONFIG_PRIORITY_INHERITANCE=y +CONFIG_PTHREAD_MUTEX_ROBUST=y +CONFIG_PTHREAD_STACK_MIN=512 +CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5 +CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5 +CONFIG_RAMTRON_SETSPEED=y +CONFIG_RAM_SIZE=245760 +CONFIG_RAM_START=0x20010000 +CONFIG_RAW_BINARY=y +CONFIG_READLINE_CMD_HISTORY=y +CONFIG_READLINE_TABCOMPLETION=y +CONFIG_RTC_DATETIME=y +CONFIG_SCHED_HPWORK=y +CONFIG_SCHED_HPWORKPRIORITY=249 +CONFIG_SCHED_HPWORKSTACKSIZE=1280 +CONFIG_SCHED_INSTRUMENTATION=y +CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y +CONFIG_SCHED_INSTRUMENTATION_SWITCH=y +CONFIG_SCHED_LPWORK=y +CONFIG_SCHED_LPWORKPRIORITY=50 +CONFIG_SCHED_LPWORKSTACKSIZE=1632 +CONFIG_SCHED_WAITPID=y +CONFIG_SDMMC1_SDIO_PULLUP=y +CONFIG_SEM_PREALLOCHOLDERS=32 +CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y +CONFIG_SERIAL_TERMIOS=y +CONFIG_SIG_DEFAULT=y +CONFIG_SIG_SIGALRM_ACTION=y +CONFIG_SIG_SIGUSR1_ACTION=y +CONFIG_SIG_SIGUSR2_ACTION=y +CONFIG_SIG_SIGWORK=4 +CONFIG_STACK_COLORATION=y +CONFIG_START_DAY=30 +CONFIG_START_MONTH=11 +CONFIG_STDIO_BUFFER_SIZE=256 +CONFIG_STM32H7_ADC1=y +CONFIG_STM32H7_ADC3=y +CONFIG_STM32H7_BBSRAM=y +CONFIG_STM32H7_BBSRAM_FILES=5 +CONFIG_STM32H7_BKPSRAM=y +CONFIG_STM32H7_DMA1=y +CONFIG_STM32H7_DMA2=y +CONFIG_STM32H7_DMACAPABLE=y +CONFIG_STM32H7_FLOWCONTROL_BROKEN=y +CONFIG_STM32H7_I2C1=y +CONFIG_STM32H7_I2C2=y +CONFIG_STM32H7_I2C_DYNTIMEO=y +CONFIG_STM32H7_I2C_DYNTIMEO_STARTSTOP=10 +CONFIG_STM32H7_OTGFS=y +CONFIG_STM32H7_PROGMEM=y +CONFIG_STM32H7_RTC=y +CONFIG_STM32H7_RTC_HSECLOCK=y +CONFIG_STM32H7_RTC_MAGIC_REG=1 +CONFIG_STM32H7_SAVE_CRASHDUMP=y +CONFIG_STM32H7_SDMMC1=y +CONFIG_STM32H7_SERIALBRK_BSDCOMPAT=y +CONFIG_STM32H7_SERIAL_DISABLE_REORDERING=y +CONFIG_STM32H7_SPI1=y +CONFIG_STM32H7_SPI1_DMA=y +CONFIG_STM32H7_SPI1_DMA_BUFFER=1024 +CONFIG_STM32H7_SPI2=y +CONFIG_STM32H7_SPI4=y +CONFIG_STM32H7_SPI4_DMA=y +CONFIG_STM32H7_SPI4_DMA_BUFFER=1024 +CONFIG_STM32H7_TIM1=y +CONFIG_STM32H7_TIM3=y +CONFIG_STM32H7_TIM4=y +CONFIG_STM32H7_UART4=y +CONFIG_STM32H7_UART7=y +CONFIG_STM32H7_UART8=y +CONFIG_STM32H7_USART2=y +CONFIG_STM32H7_USART3=y +CONFIG_STM32H7_USART6=y +CONFIG_STM32H7_USART_BREAKS=y +CONFIG_STM32H7_USART_INVERT=y +CONFIG_STM32H7_USART_SINGLEWIRE=y +CONFIG_STM32H7_USART_SWAP=y +CONFIG_SYSTEM_CDCACM=y +CONFIG_SYSTEM_NSH=y +CONFIG_TASK_NAME_SIZE=24 +CONFIG_TTY_SIGINT=y +CONFIG_TTY_SIGINT_CHAR=0x03 +CONFIG_TTY_SIGTSTP=y +CONFIG_UART4_BAUD=57600 +CONFIG_UART4_RXBUFSIZE=600 +CONFIG_UART4_TXBUFSIZE=1500 +CONFIG_UART7_BAUD=57600 +CONFIG_UART7_RXBUFSIZE=600 +CONFIG_UART7_SERIAL_CONSOLE=y +CONFIG_UART7_TXBUFSIZE=1500 +CONFIG_UART8_BAUD=57600 +CONFIG_UART8_RXBUFSIZE=600 +CONFIG_UART8_TXBUFSIZE=1500 +CONFIG_USART2_BAUD=57600 +CONFIG_USART2_IFLOWCONTROL=y +CONFIG_USART2_OFLOWCONTROL=y +CONFIG_USART2_RXBUFSIZE=600 +CONFIG_USART2_TXBUFSIZE=1500 +CONFIG_USART3_BAUD=57600 +CONFIG_USART3_IFLOWCONTROL=y +CONFIG_USART3_OFLOWCONTROL=y +CONFIG_USART3_RXBUFSIZE=600 +CONFIG_USART3_TXBUFSIZE=3000 +CONFIG_USART6_BAUD=57600 +CONFIG_USART6_RXBUFSIZE=600 +CONFIG_USART6_TXBUFSIZE=1500 +CONFIG_USBDEV=y +CONFIG_USBDEV_BUSPOWERED=y +CONFIG_USBDEV_MAXPOWER=500 +CONFIG_USEC_PER_TICK=1000 +CONFIG_WATCHDOG=y diff --git a/boards/cubepilot/cubeorange/nuttx-config/include/board.h b/boards/cubepilot/cubeorange/nuttx-config/include/board.h index 3a4abd0235e8..62605f98d13a 100644 --- a/boards/cubepilot/cubeorange/nuttx-config/include/board.h +++ b/boards/cubepilot/cubeorange/nuttx-config/include/board.h @@ -192,7 +192,13 @@ #define STM32_RCC_D2CCIP2R_USBSRC RCC_D2CCIP2R_USBSEL_PLL3 /* USB 1 and 2 clock source */ #define STM32_RCC_D2CCIP1R_FDCANSEL RCC_D2CCIP1R_FDCANSEL_HSE /* FDCAN 1 2 clock source */ -#define STM32_RCC_D3CCIPR_ADCSEL RCC_D3CCIPR_ADCSEL_PLL2 /* ADC 1 2 3 clock source */ +#define STM32_RCC_D3CCIPR_ADCSRC RCC_D3CCIPR_ADCSEL_PLL2 /* ADC 1 2 3 clock source */ + +/* UART clock selection */ +/* reset to default to overwrite any changes done by any bootloader */ + +#define STM32_RCC_D2CCIP2R_USART234578_SEL RCC_D2CCIP2R_USART234578SEL_RCC +#define STM32_RCC_D2CCIP2R_USART16_SEL RCC_D2CCIP2R_USART16SEL_RCC /* FLASH wait states */ #define BOARD_FLASH_WAITSTATES 2 diff --git a/boards/cubepilot/cubeorange/nuttx-config/nsh/defconfig b/boards/cubepilot/cubeorange/nuttx-config/nsh/defconfig index fe6a962c2763..192e7c713a16 100644 --- a/boards/cubepilot/cubeorange/nuttx-config/nsh/defconfig +++ b/boards/cubepilot/cubeorange/nuttx-config/nsh/defconfig @@ -112,7 +112,7 @@ CONFIG_I2C=y CONFIG_I2C_RESET=y CONFIG_IDLETHREAD_STACKSIZE=750 CONFIG_INIT_ENTRYPOINT="nsh_main" -CONFIG_INIT_STACKSIZE=2944 +CONFIG_INIT_STACKSIZE=3194 CONFIG_LIBC_FLOATINGPOINT=y CONFIG_LIBC_LONG_LONG=y CONFIG_LIBC_MAX_EXITFUNS=1 @@ -148,6 +148,8 @@ CONFIG_PREALLOC_TIMERS=50 CONFIG_PRIORITY_INHERITANCE=y CONFIG_PTHREAD_MUTEX_ROBUST=y CONFIG_PTHREAD_STACK_MIN=512 +CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5 +CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5 CONFIG_RAMTRON_SETSPEED=y CONFIG_RAM_SIZE=245760 CONFIG_RAM_START=0x20010000 diff --git a/boards/cubepilot/cubeorange/nuttx-config/test/defconfig b/boards/cubepilot/cubeorange/nuttx-config/test/defconfig index 54613e1e61d3..9bb0b354200c 100644 --- a/boards/cubepilot/cubeorange/nuttx-config/test/defconfig +++ b/boards/cubepilot/cubeorange/nuttx-config/test/defconfig @@ -113,7 +113,7 @@ CONFIG_I2C=y CONFIG_I2C_RESET=y CONFIG_IDLETHREAD_STACKSIZE=750 CONFIG_INIT_ENTRYPOINT="nsh_main" -CONFIG_INIT_STACKSIZE=2944 +CONFIG_INIT_STACKSIZE=3194 CONFIG_LIBC_LONG_LONG=y CONFIG_LIBC_MAX_EXITFUNS=1 CONFIG_LIBC_STRERROR=y @@ -148,6 +148,8 @@ CONFIG_PREALLOC_TIMERS=50 CONFIG_PRIORITY_INHERITANCE=y CONFIG_PTHREAD_MUTEX_ROBUST=y CONFIG_PTHREAD_STACK_MIN=512 +CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5 +CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5 CONFIG_RAMTRON_SETSPEED=y CONFIG_RAM_SIZE=245760 CONFIG_RAM_START=0x20010000 diff --git a/boards/cubepilot/cubeorangeplus/console.px4board b/boards/cubepilot/cubeorangeplus/console.px4board new file mode 100644 index 000000000000..89afc484a172 --- /dev/null +++ b/boards/cubepilot/cubeorangeplus/console.px4board @@ -0,0 +1 @@ +# Same as default, only defconfig is different diff --git a/boards/cubepilot/cubeorangeplus/default.px4board b/boards/cubepilot/cubeorangeplus/default.px4board index e9f6c2d005bc..e3fc787417c6 100644 --- a/boards/cubepilot/cubeorangeplus/default.px4board +++ b/boards/cubepilot/cubeorangeplus/default.px4board @@ -11,15 +11,18 @@ CONFIG_DRIVERS_BAROMETER_MS5611=y CONFIG_DRIVERS_BATT_SMBUS=y CONFIG_DRIVERS_CAMERA_CAPTURE=y CONFIG_DRIVERS_CAMERA_TRIGGER=y +CONFIG_DRIVERS_CDCACM_AUTOSTART=y CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y CONFIG_COMMON_DISTANCE_SENSOR=y CONFIG_DRIVERS_DSHOT=y +CONFIG_DRIVERS_GNSS_SEPTENTRIO=y CONFIG_DRIVERS_GPS=y CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=y CONFIG_DRIVERS_IMU_INVENSENSE_ICM20649=y CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y CONFIG_DRIVERS_IMU_INVENSENSE_ICM45686=y +CONFIG_COMMON_INS=y CONFIG_DRIVERS_IRLOCK=y CONFIG_COMMON_LIGHT=y CONFIG_COMMON_MAGNETOMETER=y diff --git a/boards/cubepilot/cubeorangeplus/extras/cubepilot_cubeorangeplus_bootloader.bin b/boards/cubepilot/cubeorangeplus/extras/cubepilot_cubeorangeplus_bootloader.bin index fef54cd6d8a7..7715cf2d8433 100755 Binary files a/boards/cubepilot/cubeorangeplus/extras/cubepilot_cubeorangeplus_bootloader.bin and b/boards/cubepilot/cubeorangeplus/extras/cubepilot_cubeorangeplus_bootloader.bin differ diff --git a/boards/cubepilot/cubeorangeplus/init/rc.board_defaults b/boards/cubepilot/cubeorangeplus/init/rc.board_defaults index 8ae2ed458b0e..7f961cd33e71 100644 --- a/boards/cubepilot/cubeorangeplus/init/rc.board_defaults +++ b/boards/cubepilot/cubeorangeplus/init/rc.board_defaults @@ -14,6 +14,4 @@ param set-default SENS_EN_THERMAL 0 param set-default -s SENS_TEMP_ID 2621474 -param set-default SYS_USE_IO 1 - set IOFW "/etc/extras/cubepilot_io-v2_default.bin" diff --git a/boards/cubepilot/cubeorangeplus/init/rc.board_sensors b/boards/cubepilot/cubeorangeplus/init/rc.board_sensors index 61a3fbf138fe..7782e73d6aea 100644 --- a/boards/cubepilot/cubeorangeplus/init/rc.board_sensors +++ b/boards/cubepilot/cubeorangeplus/init/rc.board_sensors @@ -8,16 +8,22 @@ board_adc start # 1. Isolated {ICM42688p, ICM20948(with mag)}, body-fixed {ICM20649} # 2. Isolated {ICM42688p, ICM42688p}, body-fixed {ICM20649, ICM45686, AK09918} # 3. Isolated {ICM42688p, ICM42688p}, body-fixed {ICM45686, AK09918} +# 4. Isolated {ICM45686, ICM45686}, body-fixed {ICM45686, AK09918} # SPI4 is isolated, SPI1 is body-fixed # SPI4, isolated ms5611 -s -b 4 start -icm42688p -s -b 4 -R 10 start -c 15 -if ! icm20948 -s -b 4 -R 10 -M -q start +if icm42688p -s -b 4 -R 10 -q start -c 15 then - icm42688p -s -b 4 -R 6 start -c 13 + if ! icm20948 -s -b 4 -R 10 -M -q start + then + icm42688p -s -b 4 -R 6 start -c 13 + fi +else + icm45686 -s -b 4 -R 10 start -c 15 + icm45686 -s -b 4 -R 6 start -c 13 fi # SPI1, body-fixed @@ -31,4 +37,3 @@ else fi ms5611 -s -b 1 start - diff --git a/boards/cubepilot/cubeorangeplus/nuttx-config/bootloader/defconfig b/boards/cubepilot/cubeorangeplus/nuttx-config/bootloader/defconfig index 15ca3bfe7915..3861e2c8dcb1 100644 --- a/boards/cubepilot/cubeorangeplus/nuttx-config/bootloader/defconfig +++ b/boards/cubepilot/cubeorangeplus/nuttx-config/bootloader/defconfig @@ -49,7 +49,7 @@ CONFIG_HAVE_CXX=y CONFIG_HAVE_CXXINITIALIZE=y CONFIG_IDLETHREAD_STACKSIZE=750 CONFIG_INIT_ENTRYPOINT="bootloader_main" -CONFIG_INIT_STACKSIZE=2944 +CONFIG_INIT_STACKSIZE=3194 CONFIG_LIBC_FLOATINGPOINT=y CONFIG_LIBC_LONG_LONG=y CONFIG_LIBC_STRERROR=y diff --git a/boards/cubepilot/cubeorangeplus/nuttx-config/console/defconfig b/boards/cubepilot/cubeorangeplus/nuttx-config/console/defconfig new file mode 100644 index 000000000000..bb6a7cee41b7 --- /dev/null +++ b/boards/cubepilot/cubeorangeplus/nuttx-config/console/defconfig @@ -0,0 +1,259 @@ +# +# This file is autogenerated: PLEASE DO NOT EDIT IT. +# +# You can use "make menuconfig" to make any modifications to the installed .config file. +# You can then do "make savedefconfig" to generate a new defconfig file that includes your +# modifications. +# +# CONFIG_DISABLE_ENVIRON is not set +# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set +# CONFIG_DISABLE_PTHREAD is not set +# CONFIG_MMCSD_HAVE_CARDDETECT is not set +# CONFIG_MMCSD_HAVE_WRITEPROTECT is not set +# CONFIG_MMCSD_MMCSUPPORT is not set +# CONFIG_MMCSD_SPI is not set +# CONFIG_NSH_DISABLEBG is not set +# CONFIG_NSH_DISABLESCRIPT is not set +# CONFIG_NSH_DISABLE_CAT is not set +# CONFIG_NSH_DISABLE_CD is not set +# CONFIG_NSH_DISABLE_CP is not set +# CONFIG_NSH_DISABLE_DATE is not set +# CONFIG_NSH_DISABLE_DF is not set +# CONFIG_NSH_DISABLE_ECHO is not set +# CONFIG_NSH_DISABLE_ENV is not set +# CONFIG_NSH_DISABLE_EXEC is not set +# CONFIG_NSH_DISABLE_EXIT is not set +# CONFIG_NSH_DISABLE_EXPORT is not set +# CONFIG_NSH_DISABLE_FREE is not set +# CONFIG_NSH_DISABLE_GET is not set +# CONFIG_NSH_DISABLE_HELP is not set +# CONFIG_NSH_DISABLE_ITEF is not set +# CONFIG_NSH_DISABLE_KILL is not set +# CONFIG_NSH_DISABLE_LOOPS is not set +# CONFIG_NSH_DISABLE_LS is not set +# CONFIG_NSH_DISABLE_MKDIR is not set +# CONFIG_NSH_DISABLE_MKFATFS is not set +# CONFIG_NSH_DISABLE_MOUNT is not set +# CONFIG_NSH_DISABLE_MV is not set +# CONFIG_NSH_DISABLE_PS is not set +# CONFIG_NSH_DISABLE_PSSTACKUSAGE is not set +# CONFIG_NSH_DISABLE_PWD is not set +# CONFIG_NSH_DISABLE_RM is not set +# CONFIG_NSH_DISABLE_RMDIR is not set +# CONFIG_NSH_DISABLE_SEMICOLON is not set +# CONFIG_NSH_DISABLE_SET is not set +# CONFIG_NSH_DISABLE_SLEEP is not set +# CONFIG_NSH_DISABLE_SOURCE is not set +# CONFIG_NSH_DISABLE_TEST is not set +# CONFIG_NSH_DISABLE_TIME is not set +# CONFIG_NSH_DISABLE_UMOUNT is not set +# CONFIG_NSH_DISABLE_UNSET is not set +# CONFIG_NSH_DISABLE_USLEEP is not set +CONFIG_ARCH="arm" +CONFIG_ARCH_BOARD_CUSTOM=y +CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/cubepilot/cubeorangeplus/nuttx-config" +CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y +CONFIG_ARCH_BOARD_CUSTOM_NAME="px4" +CONFIG_ARCH_CHIP="stm32h7" +CONFIG_ARCH_CHIP_STM32H747XI=y +CONFIG_ARCH_CHIP_STM32H7=y +CONFIG_ARCH_INTERRUPTSTACK=768 +CONFIG_ARCH_STACKDUMP=y +CONFIG_ARMV7M_BASEPRI_WAR=y +CONFIG_ARMV7M_DCACHE=y +CONFIG_ARMV7M_DTCM=y +CONFIG_ARMV7M_ICACHE=y +CONFIG_ARMV7M_MEMCPY=y +CONFIG_ARMV7M_USEBASEPRI=y +CONFIG_ARM_MPU_EARLY_RESET=y +CONFIG_BOARDCTL_RESET=y +CONFIG_BOARD_ASSERT_RESET_VALUE=0 +CONFIG_BOARD_CRASHDUMP=y +CONFIG_BOARD_LOOPSPERMSEC=79954 +CONFIG_BOARD_RESET_ON_ASSERT=2 +CONFIG_BUILTIN=y +CONFIG_CDCACM=y +CONFIG_CDCACM_IFLOWCONTROL=y +CONFIG_CDCACM_PRODUCTID=0x1058 +CONFIG_CDCACM_PRODUCTSTR="CubeOrange+" +CONFIG_CDCACM_RXBUFSIZE=600 +CONFIG_CDCACM_TXBUFSIZE=12000 +CONFIG_CDCACM_VENDORID=0x2DAE +CONFIG_CDCACM_VENDORSTR="CubePilot" +CONFIG_DEBUG_FULLOPT=y +CONFIG_DEBUG_HARDFAULT_ALERT=y +CONFIG_DEBUG_SYMBOLS=y +CONFIG_DEBUG_TCBINFO=y +CONFIG_DEFAULT_SMALL=y +CONFIG_DEV_FIFO_SIZE=0 +CONFIG_DEV_PIPE_MAXSIZE=1024 +CONFIG_DEV_PIPE_SIZE=70 +CONFIG_EXPERIMENTAL=y +CONFIG_FAT_DMAMEMORY=y +CONFIG_FAT_LCNAMES=y +CONFIG_FAT_LFN=y +CONFIG_FAT_LFN_ALIAS_HASH=y +CONFIG_FDCLONE_STDIO=y +CONFIG_FS_BINFS=y +CONFIG_FS_CROMFS=y +CONFIG_FS_FAT=y +CONFIG_FS_FATTIME=y +CONFIG_FS_PROCFS=y +CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y +CONFIG_FS_PROCFS_MAX_TASKS=64 +CONFIG_FS_PROCFS_REGISTER=y +CONFIG_FS_ROMFS=y +CONFIG_GRAN=y +CONFIG_GRAN_INTR=y +CONFIG_HAVE_CXX=y +CONFIG_HAVE_CXXINITIALIZE=y +CONFIG_I2C=y +CONFIG_I2C_RESET=y +CONFIG_IDLETHREAD_STACKSIZE=750 +CONFIG_INIT_ENTRYPOINT="nsh_main" +CONFIG_INIT_STACKSIZE=3194 +CONFIG_LIBC_FLOATINGPOINT=y +CONFIG_LIBC_LONG_LONG=y +CONFIG_LIBC_MAX_EXITFUNS=1 +CONFIG_LIBC_STRERROR=y +CONFIG_MEMSET_64BIT=y +CONFIG_MEMSET_OPTSPEED=y +CONFIG_MMCSD=y +CONFIG_MMCSD_SDIO=y +CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y +CONFIG_MM_REGIONS=4 +CONFIG_MTD=y +CONFIG_MTD_BYTE_WRITE=y +CONFIG_MTD_PARTITION=y +CONFIG_MTD_PROGMEM=y +CONFIG_MTD_RAMTRON=y +CONFIG_NAME_MAX=40 +CONFIG_NSH_ARCHINIT=y +CONFIG_NSH_ARGCAT=y +CONFIG_NSH_BUILTIN_APPS=y +CONFIG_NSH_CMDPARMS=y +CONFIG_NSH_CROMFSETC=y +CONFIG_NSH_LINELEN=128 +CONFIG_NSH_MAXARGUMENTS=15 +CONFIG_NSH_NESTDEPTH=8 +CONFIG_NSH_QUOTE=y +CONFIG_NSH_ROMFSETC=y +CONFIG_NSH_ROMFSSECTSIZE=128 +CONFIG_NSH_STRERROR=y +CONFIG_NSH_VARS=y +CONFIG_OTG_ID_GPIO_DISABLE=y +CONFIG_PIPES=y +CONFIG_PREALLOC_TIMERS=50 +CONFIG_PRIORITY_INHERITANCE=y +CONFIG_PTHREAD_MUTEX_ROBUST=y +CONFIG_PTHREAD_STACK_MIN=512 +CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5 +CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5 +CONFIG_RAMTRON_SETSPEED=y +CONFIG_RAM_SIZE=245760 +CONFIG_RAM_START=0x20010000 +CONFIG_RAW_BINARY=y +CONFIG_READLINE_CMD_HISTORY=y +CONFIG_READLINE_TABCOMPLETION=y +CONFIG_RTC_DATETIME=y +CONFIG_SCHED_HPWORK=y +CONFIG_SCHED_HPWORKPRIORITY=249 +CONFIG_SCHED_HPWORKSTACKSIZE=1280 +CONFIG_SCHED_INSTRUMENTATION=y +CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y +CONFIG_SCHED_INSTRUMENTATION_SWITCH=y +CONFIG_SCHED_LPWORK=y +CONFIG_SCHED_LPWORKPRIORITY=50 +CONFIG_SCHED_LPWORKSTACKSIZE=1632 +CONFIG_SCHED_WAITPID=y +CONFIG_SDMMC1_SDIO_PULLUP=y +CONFIG_SEM_PREALLOCHOLDERS=32 +CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y +CONFIG_SERIAL_TERMIOS=y +CONFIG_SIG_DEFAULT=y +CONFIG_SIG_SIGALRM_ACTION=y +CONFIG_SIG_SIGUSR1_ACTION=y +CONFIG_SIG_SIGUSR2_ACTION=y +CONFIG_SIG_SIGWORK=4 +CONFIG_STACK_COLORATION=y +CONFIG_START_DAY=30 +CONFIG_START_MONTH=11 +CONFIG_STDIO_BUFFER_SIZE=256 +CONFIG_STM32H7_ADC1=y +CONFIG_STM32H7_ADC3=y +CONFIG_STM32H7_BBSRAM=y +CONFIG_STM32H7_BBSRAM_FILES=5 +CONFIG_STM32H7_BKPSRAM=y +CONFIG_STM32H7_DMA1=y +CONFIG_STM32H7_DMA2=y +CONFIG_STM32H7_DMACAPABLE=y +CONFIG_STM32H7_FLOWCONTROL_BROKEN=y +CONFIG_STM32H7_I2C1=y +CONFIG_STM32H7_I2C2=y +CONFIG_STM32H7_I2C4=y +CONFIG_STM32H7_I2C_DYNTIMEO=y +CONFIG_STM32H7_I2C_DYNTIMEO_STARTSTOP=10 +CONFIG_STM32H7_OTGFS=y +CONFIG_STM32H7_PROGMEM=y +CONFIG_STM32H7_PWR_DIRECT_SMPS_SUPPLY=y +CONFIG_STM32H7_RTC=y +CONFIG_STM32H7_RTC_HSECLOCK=y +CONFIG_STM32H7_RTC_MAGIC_REG=1 +CONFIG_STM32H7_SAVE_CRASHDUMP=y +CONFIG_STM32H7_SDMMC1=y +CONFIG_STM32H7_SERIALBRK_BSDCOMPAT=y +CONFIG_STM32H7_SERIAL_DISABLE_REORDERING=y +CONFIG_STM32H7_SPI1=y +CONFIG_STM32H7_SPI1_DMA=y +CONFIG_STM32H7_SPI1_DMA_BUFFER=1024 +CONFIG_STM32H7_SPI2=y +CONFIG_STM32H7_SPI4=y +CONFIG_STM32H7_SPI4_DMA=y +CONFIG_STM32H7_SPI4_DMA_BUFFER=1024 +CONFIG_STM32H7_TIM1=y +CONFIG_STM32H7_TIM3=y +CONFIG_STM32H7_TIM4=y +CONFIG_STM32H7_UART4=y +CONFIG_STM32H7_UART7=y +CONFIG_STM32H7_UART8=y +CONFIG_STM32H7_USART2=y +CONFIG_STM32H7_USART3=y +CONFIG_STM32H7_USART6=y +CONFIG_STM32H7_USART_BREAKS=y +CONFIG_STM32H7_USART_INVERT=y +CONFIG_STM32H7_USART_SINGLEWIRE=y +CONFIG_STM32H7_USART_SWAP=y +CONFIG_SYSTEM_CDCACM=y +CONFIG_SYSTEM_NSH=y +CONFIG_TASK_NAME_SIZE=24 +CONFIG_TTY_SIGINT=y +CONFIG_TTY_SIGINT_CHAR=0x03 +CONFIG_TTY_SIGTSTP=y +CONFIG_UART4_BAUD=57600 +CONFIG_UART4_RXBUFSIZE=600 +CONFIG_UART4_TXBUFSIZE=1500 +CONFIG_UART7_BAUD=57600 +CONFIG_UART7_RXBUFSIZE=600 +CONFIG_UART7_SERIAL_CONSOLE=y +CONFIG_UART7_TXBUFSIZE=1500 +CONFIG_UART8_BAUD=57600 +CONFIG_UART8_RXBUFSIZE=600 +CONFIG_UART8_TXBUFSIZE=1500 +CONFIG_USART2_BAUD=57600 +CONFIG_USART2_IFLOWCONTROL=y +CONFIG_USART2_OFLOWCONTROL=y +CONFIG_USART2_RXBUFSIZE=600 +CONFIG_USART2_TXBUFSIZE=1500 +CONFIG_USART3_BAUD=57600 +CONFIG_USART3_IFLOWCONTROL=y +CONFIG_USART3_OFLOWCONTROL=y +CONFIG_USART3_RXBUFSIZE=600 +CONFIG_USART3_TXBUFSIZE=3000 +CONFIG_USART6_BAUD=57600 +CONFIG_USART6_RXBUFSIZE=600 +CONFIG_USART6_TXBUFSIZE=1500 +CONFIG_USBDEV=y +CONFIG_USBDEV_BUSPOWERED=y +CONFIG_USBDEV_MAXPOWER=500 +CONFIG_USEC_PER_TICK=1000 +CONFIG_WATCHDOG=y diff --git a/boards/cubepilot/cubeorangeplus/nuttx-config/include/board.h b/boards/cubepilot/cubeorangeplus/nuttx-config/include/board.h index 00a886d08601..babaf587e450 100644 --- a/boards/cubepilot/cubeorangeplus/nuttx-config/include/board.h +++ b/boards/cubepilot/cubeorangeplus/nuttx-config/include/board.h @@ -193,7 +193,13 @@ #define STM32_RCC_D2CCIP2R_USBSRC RCC_D2CCIP2R_USBSEL_PLL3 /* USB 1 and 2 clock source */ #define STM32_RCC_D2CCIP1R_FDCANSEL RCC_D2CCIP1R_FDCANSEL_HSE /* FDCAN 1 2 clock source */ -#define STM32_RCC_D3CCIPR_ADCSEL RCC_D3CCIPR_ADCSEL_PLL2 /* ADC 1 2 3 clock source */ +#define STM32_RCC_D3CCIPR_ADCSRC RCC_D3CCIPR_ADCSEL_PLL2 /* ADC 1 2 3 clock source */ + +/* UART clock selection */ +/* reset to default to overwrite any changes done by any bootloader */ + +#define STM32_RCC_D2CCIP2R_USART234578_SEL RCC_D2CCIP2R_USART234578SEL_RCC +#define STM32_RCC_D2CCIP2R_USART16_SEL RCC_D2CCIP2R_USART16SEL_RCC /* FLASH wait states */ #define BOARD_FLASH_WAITSTATES 2 diff --git a/boards/cubepilot/cubeorangeplus/nuttx-config/nsh/defconfig b/boards/cubepilot/cubeorangeplus/nuttx-config/nsh/defconfig index 7bab0a36af95..3a3d95478319 100644 --- a/boards/cubepilot/cubeorangeplus/nuttx-config/nsh/defconfig +++ b/boards/cubepilot/cubeorangeplus/nuttx-config/nsh/defconfig @@ -112,7 +112,7 @@ CONFIG_I2C=y CONFIG_I2C_RESET=y CONFIG_IDLETHREAD_STACKSIZE=750 CONFIG_INIT_ENTRYPOINT="nsh_main" -CONFIG_INIT_STACKSIZE=2944 +CONFIG_INIT_STACKSIZE=3194 CONFIG_LIBC_FLOATINGPOINT=y CONFIG_LIBC_LONG_LONG=y CONFIG_LIBC_MAX_EXITFUNS=1 @@ -148,6 +148,8 @@ CONFIG_PREALLOC_TIMERS=50 CONFIG_PRIORITY_INHERITANCE=y CONFIG_PTHREAD_MUTEX_ROBUST=y CONFIG_PTHREAD_STACK_MIN=512 +CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5 +CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5 CONFIG_RAMTRON_SETSPEED=y CONFIG_RAM_SIZE=245760 CONFIG_RAM_START=0x20010000 diff --git a/boards/cubepilot/cubeorangeplus/nuttx-config/test/defconfig b/boards/cubepilot/cubeorangeplus/nuttx-config/test/defconfig index ba34d8a40fd3..9b0814ae0871 100644 --- a/boards/cubepilot/cubeorangeplus/nuttx-config/test/defconfig +++ b/boards/cubepilot/cubeorangeplus/nuttx-config/test/defconfig @@ -113,7 +113,7 @@ CONFIG_I2C=y CONFIG_I2C_RESET=y CONFIG_IDLETHREAD_STACKSIZE=750 CONFIG_INIT_ENTRYPOINT="nsh_main" -CONFIG_INIT_STACKSIZE=2944 +CONFIG_INIT_STACKSIZE=3194 CONFIG_LIBC_LONG_LONG=y CONFIG_LIBC_MAX_EXITFUNS=1 CONFIG_LIBC_STRERROR=y @@ -148,6 +148,8 @@ CONFIG_PREALLOC_TIMERS=50 CONFIG_PRIORITY_INHERITANCE=y CONFIG_PTHREAD_MUTEX_ROBUST=y CONFIG_PTHREAD_STACK_MIN=512 +CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5 +CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5 CONFIG_RAMTRON_SETSPEED=y CONFIG_RAM_SIZE=245760 CONFIG_RAM_START=0x20010000 diff --git a/boards/cubepilot/cubeorangeplus/src/spi.cpp b/boards/cubepilot/cubeorangeplus/src/spi.cpp index fe5ca161727c..b14c9c6bcb09 100644 --- a/boards/cubepilot/cubeorangeplus/src/spi.cpp +++ b/boards/cubepilot/cubeorangeplus/src/spi.cpp @@ -49,7 +49,9 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = { initSPIBus(SPI::Bus::SPI4, { initSPIDevice(DRV_IMU_DEVTYPE_ICM20948, SPI::CS{GPIO::PortE, GPIO::Pin4}), // MPU_EXT_CS initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortC, GPIO::Pin15}), // ACCEL_EXT_CS + initSPIDevice(DRV_IMU_DEVTYPE_ICM45686, SPI::CS{GPIO::PortC, GPIO::Pin15}), // ACCEL_EXT_CS initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortC, GPIO::Pin13}), // GYRO_EXT_CS + initSPIDevice(DRV_IMU_DEVTYPE_ICM45686, SPI::CS{GPIO::PortC, GPIO::Pin13}), // GYRO_EXT_CS initSPIDevice(DRV_BARO_DEVTYPE_MS5611, SPI::CS{GPIO::PortC, GPIO::Pin14}), // BARO_EXT_CS }), }; diff --git a/boards/cubepilot/cubeyellow/default.px4board b/boards/cubepilot/cubeyellow/default.px4board index 45cf93a38d95..62cf898af96c 100644 --- a/boards/cubepilot/cubeyellow/default.px4board +++ b/boards/cubepilot/cubeyellow/default.px4board @@ -12,6 +12,7 @@ CONFIG_COMMON_BAROMETERS=y CONFIG_DRIVERS_BATT_SMBUS=y CONFIG_DRIVERS_CAMERA_CAPTURE=y CONFIG_DRIVERS_CAMERA_TRIGGER=y +CONFIG_DRIVERS_CDCACM_AUTOSTART=y CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y CONFIG_COMMON_DISTANCE_SENSOR=y CONFIG_DRIVERS_DSHOT=y diff --git a/boards/cubepilot/cubeyellow/extras/cubepilot_io-v2_default.bin b/boards/cubepilot/cubeyellow/extras/cubepilot_io-v2_default.bin index 4d29f3a04155..fee2b669933d 100755 Binary files a/boards/cubepilot/cubeyellow/extras/cubepilot_io-v2_default.bin and b/boards/cubepilot/cubeyellow/extras/cubepilot_io-v2_default.bin differ diff --git a/boards/cubepilot/cubeyellow/init/rc.board_defaults b/boards/cubepilot/cubeyellow/init/rc.board_defaults index 54705e650d4f..6f39beb0c8ec 100644 --- a/boards/cubepilot/cubeyellow/init/rc.board_defaults +++ b/boards/cubepilot/cubeyellow/init/rc.board_defaults @@ -13,6 +13,4 @@ param set-default BAT2_A_PER_V 17 # Disable IMU thermal control param set-default SENS_EN_THERMAL 0 -param set-default SYS_USE_IO 1 - set IOFW "/etc/extras/cubepilot_io-v2_default.bin" diff --git a/boards/cubepilot/cubeyellow/init/rc.board_sensors b/boards/cubepilot/cubeyellow/init/rc.board_sensors index e84edf7e2ff6..42ba25df2153 100644 --- a/boards/cubepilot/cubeyellow/init/rc.board_sensors +++ b/boards/cubepilot/cubeyellow/init/rc.board_sensors @@ -12,4 +12,3 @@ icm20948 -s -b 4 -R 10 -M start # SPI1 ms5611 -s -b 1 start icm20649 -s -b 1 start - diff --git a/boards/cubepilot/cubeyellow/nuttx-config/nsh/defconfig b/boards/cubepilot/cubeyellow/nuttx-config/nsh/defconfig index f00b3e93a339..c696b87e083b 100644 --- a/boards/cubepilot/cubeyellow/nuttx-config/nsh/defconfig +++ b/boards/cubepilot/cubeyellow/nuttx-config/nsh/defconfig @@ -112,7 +112,7 @@ CONFIG_I2C=y CONFIG_I2C_RESET=y CONFIG_IDLETHREAD_STACKSIZE=750 CONFIG_INIT_ENTRYPOINT="nsh_main" -CONFIG_INIT_STACKSIZE=2944 +CONFIG_INIT_STACKSIZE=3194 CONFIG_LIBC_FLOATINGPOINT=y CONFIG_LIBC_LONG_LONG=y CONFIG_LIBC_MAX_EXITFUNS=1 @@ -147,6 +147,8 @@ CONFIG_PREALLOC_TIMERS=50 CONFIG_PRIORITY_INHERITANCE=y CONFIG_PTHREAD_MUTEX_ROBUST=y CONFIG_PTHREAD_STACK_MIN=512 +CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5 +CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5 CONFIG_RAMTRON_SETSPEED=y CONFIG_RAM_SIZE=245760 CONFIG_RAM_START=0x20010000 diff --git a/boards/diatone/mamba-f405-mk2/default.px4board b/boards/diatone/mamba-f405-mk2/default.px4board index 6655e8e3887e..e8ee5ec656c8 100644 --- a/boards/diatone/mamba-f405-mk2/default.px4board +++ b/boards/diatone/mamba-f405-mk2/default.px4board @@ -8,6 +8,7 @@ CONFIG_BOARD_SERIAL_URT6="/dev/ttyS2" CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS1" CONFIG_DRIVERS_ADC_BOARD_ADC=y CONFIG_DRIVERS_BAROMETER_BMP280=y +CONFIG_DRIVERS_CDCACM_AUTOSTART=y CONFIG_DRIVERS_DSHOT=y CONFIG_DRIVERS_GPS=y CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y @@ -23,6 +24,8 @@ CONFIG_MODULES_COMMANDER=y CONFIG_MODULES_CONTROL_ALLOCATOR=y CONFIG_MODULES_DATAMAN=y CONFIG_MODULES_EKF2=y +# CONFIG_EKF2_GNSS_YAW is not set +# CONFIG_EKF2_SIDESLIP is not set CONFIG_MODULES_FLIGHT_MODE_MANAGER=y CONFIG_MODULES_LAND_DETECTOR=y CONFIG_MODULES_LOAD_MON=y @@ -36,7 +39,6 @@ CONFIG_MODULES_NAVIGATOR=y CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_SENSORS=y CONFIG_SYSTEMCMDS_DMESG=y -CONFIG_SYSTEMCMDS_MFT=y CONFIG_SYSTEMCMDS_MTD=y CONFIG_SYSTEMCMDS_NSHTERM=y CONFIG_SYSTEMCMDS_PARAM=y diff --git a/boards/diatone/mamba-f405-mk2/init/rc.board_defaults b/boards/diatone/mamba-f405-mk2/init/rc.board_defaults index 97bbcd6ee691..f5e37010631a 100644 --- a/boards/diatone/mamba-f405-mk2/init/rc.board_defaults +++ b/boards/diatone/mamba-f405-mk2/init/rc.board_defaults @@ -9,10 +9,4 @@ param set-default CBRK_SUPPLY_CHK 894281 # Disable safety switch by default param set-default CBRK_IO_SAFETY 22027 -# use the Q attitude estimator, it works w/o mag or GPS. -param set-default SYS_MC_EST_GROUP 3 -param set-default ATT_ACC_COMP 0 -param set-default ATT_W_ACC 0.4000 -param set-default ATT_W_GYRO_BIAS 0.0000 - param set-default SYS_HAS_MAG 0 diff --git a/boards/diatone/mamba-f405-mk2/nuttx-config/nsh/defconfig b/boards/diatone/mamba-f405-mk2/nuttx-config/nsh/defconfig index 8fed52b508ff..07573c0f9ec4 100644 --- a/boards/diatone/mamba-f405-mk2/nuttx-config/nsh/defconfig +++ b/boards/diatone/mamba-f405-mk2/nuttx-config/nsh/defconfig @@ -62,7 +62,7 @@ CONFIG_I2C=y CONFIG_I2C_RESET=y CONFIG_IDLETHREAD_STACKSIZE=750 CONFIG_INIT_ENTRYPOINT="nsh_main" -CONFIG_INIT_STACKSIZE=2944 +CONFIG_INIT_STACKSIZE=3194 CONFIG_LIBC_MAX_EXITFUNS=1 CONFIG_LIBC_STRERROR=y CONFIG_MEMSET_64BIT=y diff --git a/boards/diatone/mamba-f405-mk2/src/board_config.h b/boards/diatone/mamba-f405-mk2/src/board_config.h index 7c2b17d84db4..3c5f0e9830b9 100644 --- a/boards/diatone/mamba-f405-mk2/src/board_config.h +++ b/boards/diatone/mamba-f405-mk2/src/board_config.h @@ -74,8 +74,7 @@ #define ADC_BATTERY_CURRENT_CHANNEL 13 #define ADC_RC_RSSI_CHANNEL 12 -/* Define Battery 1 Voltage Divider and A per V - */ +/* Define Battery Voltage Divider and A per V */ #define BOARD_BATTERY1_V_DIV (11.12f) #define BOARD_BATTERY1_A_PER_V (31.f) diff --git a/boards/emlid/navio2/default.px4board b/boards/emlid/navio2/default.px4board index bc912f507ab9..722f42b410d0 100644 --- a/boards/emlid/navio2/default.px4board +++ b/boards/emlid/navio2/default.px4board @@ -15,7 +15,6 @@ CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=y CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y CONFIG_DRIVERS_IMU_INVENSENSE_MPU9250=y CONFIG_DRIVERS_IMU_ST_LSM9DS1=y -CONFIG_DRIVERS_LINUX_PWM_OUT=y CONFIG_DRIVERS_MAGNETOMETER_HMC5883=y CONFIG_DRIVERS_MAGNETOMETER_LSM9DS1_MAG=y CONFIG_DRIVERS_RC_INPUT=y diff --git a/boards/emlid/navio2/init/rc.board_defaults b/boards/emlid/navio2/init/rc.board_defaults index 65348c4f846e..5d576dd74711 100644 --- a/boards/emlid/navio2/init/rc.board_defaults +++ b/boards/emlid/navio2/init/rc.board_defaults @@ -5,4 +5,3 @@ param set-default BAT1_V_DIV 10.177939394 param set-default BAT1_A_PER_V 15.391030303 - diff --git a/boards/emlid/navio2/src/board_pwm_out.cpp b/boards/emlid/navio2/src/board_pwm_out.cpp index bd6d7a6dc758..c93c6186655e 100644 --- a/boards/emlid/navio2/src/board_pwm_out.cpp +++ b/boards/emlid/navio2/src/board_pwm_out.cpp @@ -153,4 +153,3 @@ int NavioSysfsPWMOut::pwm_write_sysfs(char *path, int value) return 0; } - diff --git a/boards/flywoo/gn-f405/default.px4board b/boards/flywoo/gn-f405/default.px4board index b016b0db9a6a..54d17325bc92 100644 --- a/boards/flywoo/gn-f405/default.px4board +++ b/boards/flywoo/gn-f405/default.px4board @@ -7,6 +7,7 @@ CONFIG_BOARD_SERIAL_URT6="/dev/ttyS2" CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS1" CONFIG_DRIVERS_ADC_BOARD_ADC=y CONFIG_DRIVERS_BAROMETER_BMP280=y +CONFIG_DRIVERS_CDCACM_AUTOSTART=y CONFIG_DRIVERS_DSHOT=y CONFIG_DRIVERS_GPS=y CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y diff --git a/boards/flywoo/gn-f405/init/rc.board_defaults b/boards/flywoo/gn-f405/init/rc.board_defaults index d5ae67dc8d3d..51fd2a6fbcfd 100644 --- a/boards/flywoo/gn-f405/init/rc.board_defaults +++ b/boards/flywoo/gn-f405/init/rc.board_defaults @@ -12,15 +12,9 @@ param set-default CBRK_SUPPLY_CHK 894281 # Disable safety switch by default param set-default CBRK_IO_SAFETY 22027 -# EKF2 can be enabled when baro is avaialble and EKF2_MAG_TYPE is set to 5 -param set-default SYS_MC_EST_GROUP 2 param set-default EKF2_MAG_TYPE 5 param set-default SENS_BOARD_ROT 6 -param set-default ATT_ACC_COMP 0 -param set-default ATT_W_ACC 0.4000 -param set-default ATT_W_GYRO_BIAS 0.0000 - param set-default SYS_HAS_MAG 0 # GPS is on Uart6 diff --git a/boards/flywoo/gn-f405/init/rc.board_extras b/boards/flywoo/gn-f405/init/rc.board_extras index 159a0008e9d3..911b4b4c61b0 100644 --- a/boards/flywoo/gn-f405/init/rc.board_extras +++ b/boards/flywoo/gn-f405/init/rc.board_extras @@ -7,5 +7,3 @@ if ! param compare OSD_ATXXXX_CFG 0 then atxxxx start -s fi - - diff --git a/boards/flywoo/gn-f405/nuttx-config/nsh/defconfig b/boards/flywoo/gn-f405/nuttx-config/nsh/defconfig index 52ed2f86dae8..ea831c0b9197 100644 --- a/boards/flywoo/gn-f405/nuttx-config/nsh/defconfig +++ b/boards/flywoo/gn-f405/nuttx-config/nsh/defconfig @@ -109,7 +109,7 @@ CONFIG_I2C=y CONFIG_I2C_RESET=y CONFIG_IDLETHREAD_STACKSIZE=750 CONFIG_INIT_ENTRYPOINT="nsh_main" -CONFIG_INIT_STACKSIZE=2944 +CONFIG_INIT_STACKSIZE=3194 CONFIG_LIBC_LONG_LONG=y CONFIG_LIBC_MAX_EXITFUNS=1 CONFIG_LIBC_STRERROR=y diff --git a/boards/freefly/can-rtk-gps/nuttx-config/include/board.h b/boards/freefly/can-rtk-gps/nuttx-config/include/board.h index 0dbed5a97966..73f22444d1b3 100644 --- a/boards/freefly/can-rtk-gps/nuttx-config/include/board.h +++ b/boards/freefly/can-rtk-gps/nuttx-config/include/board.h @@ -264,4 +264,3 @@ #define GPIO_SPI3_MISO GPIO_SPI3_MISO_2 /* PC11 */ #define GPIO_SPI3_MOSI GPIO_SPI3_MOSI_3 /* PC12 */ #define GPIO_SPI3_SCK GPIO_SPI3_SCK_1 /* PB3 */ - diff --git a/boards/freefly/can-rtk-gps/nuttx-config/include/board_dma_map.h b/boards/freefly/can-rtk-gps/nuttx-config/include/board_dma_map.h index ca0d10189fe8..7e9aa79709b4 100644 --- a/boards/freefly/can-rtk-gps/nuttx-config/include/board_dma_map.h +++ b/boards/freefly/can-rtk-gps/nuttx-config/include/board_dma_map.h @@ -99,4 +99,3 @@ // AVAILABLE // DMA1, Stream 5 // AVAILABLE // DMA1, Stream 6 // DMAMAP_USART1_TX USART1_TX // DMA1, Stream 7, Channel 5 - diff --git a/boards/freefly/can-rtk-gps/nuttx-config/nsh/defconfig b/boards/freefly/can-rtk-gps/nuttx-config/nsh/defconfig index 3ea9c492e6d4..d295254d69ad 100644 --- a/boards/freefly/can-rtk-gps/nuttx-config/nsh/defconfig +++ b/boards/freefly/can-rtk-gps/nuttx-config/nsh/defconfig @@ -132,6 +132,8 @@ CONFIG_PREALLOC_TIMERS=50 CONFIG_PRIORITY_INHERITANCE=y CONFIG_PTHREAD_MUTEX_ROBUST=y CONFIG_PTHREAD_STACK_MIN=512 +CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5 +CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5 CONFIG_RAMTRON_SETSPEED=y CONFIG_RAM_SIZE=245760 CONFIG_RAM_START=0x20010000 diff --git a/boards/freefly/can-rtk-gps/uavcan_board_identity b/boards/freefly/can-rtk-gps/uavcan_board_identity index 997b26e2ae4c..2531725501e8 100644 --- a/boards/freefly/can-rtk-gps/uavcan_board_identity +++ b/boards/freefly/can-rtk-gps/uavcan_board_identity @@ -1,6 +1,6 @@ # UAVCAN boot loadable Module ID -set(uavcanblid_sw_version_major 0) -set(uavcanblid_sw_version_minor 1) +set(uavcanblid_sw_version_major ${PX4_VERSION_MAJOR}) +set(uavcanblid_sw_version_minor ${PX4_VERSION_MINOR}) add_definitions( -DAPP_VERSION_MAJOR=${uavcanblid_sw_version_major} -DAPP_VERSION_MINOR=${uavcanblid_sw_version_minor} diff --git a/boards/hkust/nxt-dual/bootloader.px4board b/boards/hkust/nxt-dual/bootloader.px4board new file mode 100644 index 000000000000..19b6e662be69 --- /dev/null +++ b/boards/hkust/nxt-dual/bootloader.px4board @@ -0,0 +1,3 @@ +CONFIG_BOARD_TOOLCHAIN="arm-none-eabi" +CONFIG_BOARD_ARCHITECTURE="cortex-m7" +CONFIG_BOARD_ROMFSROOT="" diff --git a/boards/hkust/nxt-dual/default.px4board b/boards/hkust/nxt-dual/default.px4board new file mode 100644 index 000000000000..cab44e781293 --- /dev/null +++ b/boards/hkust/nxt-dual/default.px4board @@ -0,0 +1,90 @@ +CONFIG_BOARD_TOOLCHAIN="arm-none-eabi" +CONFIG_BOARD_ARCHITECTURE="cortex-m7" +CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS0" +CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS2" +CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS1" +CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS3" +CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS6" +CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS7" +CONFIG_BOARD_SERIAL_RC="/dev/ttyS4" +CONFIG_DRIVERS_ADC_BOARD_ADC=y +CONFIG_COMMON_BAROMETERS=y +CONFIG_DRIVERS_BATT_SMBUS=y +CONFIG_DRIVERS_CAMERA_CAPTURE=y +CONFIG_DRIVERS_CAMERA_TRIGGER=y +CONFIG_DRIVERS_CDCACM_AUTOSTART=y +CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y +CONFIG_COMMON_DISTANCE_SENSOR=y +CONFIG_DRIVERS_DSHOT=y +CONFIG_DRIVERS_GPS=y +CONFIG_DRIVERS_IMU_BOSCH_BMI088=y +CONFIG_DRIVERS_IRLOCK=y +CONFIG_COMMON_LIGHT=y +CONFIG_COMMON_MAGNETOMETER=y +CONFIG_COMMON_OPTICAL_FLOW=y +CONFIG_DRIVERS_PWM_OUT=y +CONFIG_DRIVERS_RC_INPUT=y +CONFIG_COMMON_TELEMETRY=y +CONFIG_DRIVERS_TONE_ALARM=y +CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y +CONFIG_MODULES_BATTERY_STATUS=y +CONFIG_MODULES_CAMERA_FEEDBACK=y +CONFIG_MODULES_COMMANDER=y +CONFIG_MODULES_CONTROL_ALLOCATOR=y +CONFIG_MODULES_DATAMAN=y +CONFIG_MODULES_EKF2=y +CONFIG_MODULES_ESC_BATTERY=y +CONFIG_MODULES_EVENTS=y +CONFIG_MODULES_FLIGHT_MODE_MANAGER=y +CONFIG_MODULES_FW_ATT_CONTROL=y +CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y +CONFIG_MODULES_FW_POS_CONTROL=y +CONFIG_MODULES_FW_RATE_CONTROL=y +CONFIG_MODULES_GIMBAL=y +CONFIG_MODULES_GYRO_CALIBRATION=y +CONFIG_MODULES_GYRO_FFT=y +CONFIG_MODULES_LAND_DETECTOR=y +CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y +CONFIG_MODULES_LOAD_MON=y +CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y +CONFIG_MODULES_LOGGER=y +CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y +CONFIG_MODULES_MANUAL_CONTROL=y +CONFIG_MODULES_MAVLINK=y +CONFIG_MODULES_MC_ATT_CONTROL=y +CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y +CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y +CONFIG_MODULES_MC_POS_CONTROL=y +CONFIG_MODULES_MC_RATE_CONTROL=y +CONFIG_MODULES_NAVIGATOR=y +CONFIG_MODULES_RC_UPDATE=y +CONFIG_MODULES_ROVER_POS_CONTROL=y +CONFIG_MODULES_SENSORS=y +CONFIG_MODULES_TEMPERATURE_COMPENSATION=y +CONFIG_MODULES_UXRCE_DDS_CLIENT=y +CONFIG_MODULES_VTOL_ATT_CONTROL=y +CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y +CONFIG_SYSTEMCMDS_BL_UPDATE=y +CONFIG_SYSTEMCMDS_DMESG=y +CONFIG_SYSTEMCMDS_DUMPFILE=y +CONFIG_SYSTEMCMDS_GPIO=y +CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y +CONFIG_SYSTEMCMDS_I2CDETECT=y +CONFIG_SYSTEMCMDS_LED_CONTROL=y +CONFIG_SYSTEMCMDS_MFT=y +CONFIG_SYSTEMCMDS_MTD=y +CONFIG_SYSTEMCMDS_NSHTERM=y +CONFIG_SYSTEMCMDS_PARAM=y +CONFIG_SYSTEMCMDS_PERF=y +CONFIG_SYSTEMCMDS_REBOOT=y +CONFIG_SYSTEMCMDS_SD_BENCH=y +CONFIG_SYSTEMCMDS_SD_STRESS=y +CONFIG_SYSTEMCMDS_SYSTEM_TIME=y +CONFIG_SYSTEMCMDS_TOP=y +CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y +CONFIG_SYSTEMCMDS_TUNE_CONTROL=y +CONFIG_SYSTEMCMDS_UORB=y +CONFIG_SYSTEMCMDS_USB_CONNECTED=y +CONFIG_SYSTEMCMDS_VER=y +CONFIG_SYSTEMCMDS_WORK_QUEUE=y +CONFIG_EXAMPLES_FAKE_GPS=y diff --git a/boards/hkust/nxt-dual/extras/hkust_nxt-dual_bootloader.bin b/boards/hkust/nxt-dual/extras/hkust_nxt-dual_bootloader.bin new file mode 100755 index 000000000000..fc7f6a73fc44 Binary files /dev/null and b/boards/hkust/nxt-dual/extras/hkust_nxt-dual_bootloader.bin differ diff --git a/boards/hkust/nxt-dual/firmware.prototype b/boards/hkust/nxt-dual/firmware.prototype new file mode 100644 index 000000000000..e236ff1bcf5b --- /dev/null +++ b/boards/hkust/nxt-dual/firmware.prototype @@ -0,0 +1,13 @@ +{ + "board_id": 1013, + "magic": "PX4FWv1", + "description": "Firmware for the MatekH743-slim board", + "image": "", + "build_time": 0, + "summary": "MatekH743-mini", + "version": "0.1", + "image_size": 0, + "image_maxsize": 1835008, + "git_identity": "", + "board_revision": 0 +} diff --git a/boards/hkust/nxt-dual/init/rc.board_defaults b/boards/hkust/nxt-dual/init/rc.board_defaults new file mode 100644 index 000000000000..a4afdd873eeb --- /dev/null +++ b/boards/hkust/nxt-dual/init/rc.board_defaults @@ -0,0 +1,24 @@ +#!/bin/sh +# +# board specific defaults +#------------------------------------------------------------------------------ +param set-default BAT1_A_PER_V 17 +param set-default BAT1_N_CELLS 4 +param set-default BAT1_V_CHARGED 4.2 +param set-default BAT1_V_DIV 10.1 +param set-default BAT1_V_EMPTY 3.2 + +param set-default SYS_HAS_MAG 0 +param set-default PWM_MAIN_TIM0 -4 +param set-default RC_INPUT_PROTO -1 + +param set-default IMU_GYRO_RATEMAX 2000 +param set-default SYS_AUTOSTART 4001 +param set-default MC_PITCHRATE_K 0.4 +param set-default MC_ROLLRATE_K 0.35 +param set-default MC_YAWRATE_K 1.2 +param set-default MC_YAWRATE_MAX 360 +param set-default MAV_TYPE 2 +param set-default CA_AIRFRAME 0 +param set-default CA_ROTOR_COUNT 4 +param set-default CBRK_SUPPLY_CHK 894281 diff --git a/boards/hkust/nxt-dual/init/rc.board_extras b/boards/hkust/nxt-dual/init/rc.board_extras new file mode 100644 index 000000000000..780b13dc96b3 --- /dev/null +++ b/boards/hkust/nxt-dual/init/rc.board_extras @@ -0,0 +1,13 @@ +#!/bin/sh +# +# board specific extras init +#------------------------------------------------------------------------------ + +# NxtV1 does not have OSD +# if ! param compare OSD_ATXXXX_CFG 0 +# then +# atxxxx start -s +# fi + +# DShot telemetry is always on UART7 +# dshot telemetry /dev/ttyS5 diff --git a/boards/hkust/nxt-dual/init/rc.board_sensors b/boards/hkust/nxt-dual/init/rc.board_sensors new file mode 100644 index 000000000000..3091824e8b20 --- /dev/null +++ b/boards/hkust/nxt-dual/init/rc.board_sensors @@ -0,0 +1,16 @@ +#!/bin/sh +# +# board specific sensors init +#------------------------------------------------------------------------------ + +board_adc start + +# # Internal SPI bus BMI088 accel/gyro +bmi088 -s -b 1 -A -R 2 start +bmi088 -s -b 1 -G -R 2 start + +bmi088 -s -b 4 -A -R 2 start +bmi088 -s -b 4 -G -R 2 start + +# internal baro +spl06 -X -a 0x77 start diff --git a/boards/hkust/nxt-dual/nuttx-config/Kconfig b/boards/hkust/nxt-dual/nuttx-config/Kconfig new file mode 100644 index 000000000000..bb33d3cfda4d --- /dev/null +++ b/boards/hkust/nxt-dual/nuttx-config/Kconfig @@ -0,0 +1,17 @@ +# +# For a description of the syntax of this configuration file, +# see misc/tools/kconfig-language.txt. +# +config BOARD_HAS_PROBES + bool "Board provides GPIO or other Hardware for signaling to timing analyze." + default y + ---help--- + This board provides GPIO FMU-CH1-5, CAP1-6 as PROBE_1-11 to provide timing signals from selected drivers. + +config BOARD_USE_PROBES + bool "Enable the use the board provided FMU-CH1-5, CAP1-6 as PROBE_1-11" + default n + depends on BOARD_HAS_PROBES + + ---help--- + Select to use GPIO FMU-CH1-5, CAP1-6 to provide timing signals from selected drivers. diff --git a/boards/hkust/nxt-dual/nuttx-config/bootloader/defconfig b/boards/hkust/nxt-dual/nuttx-config/bootloader/defconfig new file mode 100644 index 000000000000..ea894db106e4 --- /dev/null +++ b/boards/hkust/nxt-dual/nuttx-config/bootloader/defconfig @@ -0,0 +1,90 @@ +# +# This file is autogenerated: PLEASE DO NOT EDIT IT. +# +# You can use "make menuconfig" to make any modifications to the installed .config file. +# You can then do "make savedefconfig" to generate a new defconfig file that includes your +# modifications. +# +# CONFIG_DEV_CONSOLE is not set +# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set +# CONFIG_SPI_EXCHANGE is not set +# CONFIG_STM32H7_SYSCFG is not set +CONFIG_ARCH="arm" +CONFIG_ARCH_BOARD_CUSTOM=y +CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/hkust/nxt-dual/nuttx-config" +CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y +CONFIG_ARCH_BOARD_CUSTOM_NAME="px4" +CONFIG_ARCH_CHIP="stm32h7" +CONFIG_ARCH_CHIP_STM32H743VI=y +CONFIG_ARCH_CHIP_STM32H7=y +CONFIG_ARCH_INTERRUPTSTACK=768 +CONFIG_ARMV7M_BASEPRI_WAR=y +CONFIG_ARMV7M_ICACHE=y +CONFIG_ARMV7M_MEMCPY=y +CONFIG_ARMV7M_USEBASEPRI=y +CONFIG_BOARDCTL=y +CONFIG_BOARDCTL_RESET=y +CONFIG_BOARD_ASSERT_RESET_VALUE=0 +CONFIG_BOARD_INITTHREAD_PRIORITY=254 +CONFIG_BOARD_LATE_INITIALIZE=y +CONFIG_BOARD_LOOPSPERMSEC=95150 +CONFIG_BOARD_RESET_ON_ASSERT=2 +CONFIG_CDCACM=y +CONFIG_CDCACM_IFLOWCONTROL=y +CONFIG_CDCACM_PRODUCTID=0x004b +CONFIG_CDCACM_PRODUCTSTR="HKUST UAV NxtPX4" +CONFIG_CDCACM_RXBUFSIZE=600 +CONFIG_CDCACM_TXBUFSIZE=12000 +CONFIG_CDCACM_VENDORID=0x3162 +CONFIG_CDCACM_VENDORSTR="Matek" +CONFIG_DEBUG_FULLOPT=y +CONFIG_DEBUG_SYMBOLS=y +CONFIG_DEBUG_TCBINFO=y +CONFIG_DEFAULT_SMALL=y +CONFIG_EXPERIMENTAL=y +CONFIG_FDCLONE_DISABLE=y +CONFIG_FDCLONE_STDIO=y +CONFIG_HAVE_CXX=y +CONFIG_HAVE_CXXINITIALIZE=y +CONFIG_IDLETHREAD_STACKSIZE=750 +CONFIG_INIT_ENTRYPOINT="bootloader_main" +CONFIG_INIT_STACKSIZE=3194 +CONFIG_LIBC_FLOATINGPOINT=y +CONFIG_LIBC_LONG_LONG=y +CONFIG_LIBC_STRERROR=y +CONFIG_MEMSET_64BIT=y +CONFIG_MEMSET_OPTSPEED=y +CONFIG_PREALLOC_TIMERS=50 +CONFIG_PTHREAD_STACK_MIN=512 +CONFIG_RAM_SIZE=245760 +CONFIG_RAM_START=0x20010000 +CONFIG_RAW_BINARY=y +CONFIG_SERIAL_TERMIOS=y +CONFIG_SIG_DEFAULT=y +CONFIG_SIG_SIGALRM_ACTION=y +CONFIG_SIG_SIGUSR1_ACTION=y +CONFIG_SIG_SIGUSR2_ACTION=y +CONFIG_SPI=y +CONFIG_STACK_COLORATION=y +CONFIG_START_DAY=30 +CONFIG_START_MONTH=11 +CONFIG_STDIO_BUFFER_SIZE=32 +CONFIG_STM32H7_BKPSRAM=y +CONFIG_STM32H7_DMA1=y +CONFIG_STM32H7_OTGFS=y +CONFIG_STM32H7_PROGMEM=y +CONFIG_STM32H7_SERIAL_DISABLE_REORDERING=y +CONFIG_STM32H7_TIM1=y +CONFIG_STM32H7_USART6=y +CONFIG_SYSTEMTICK_HOOK=y +CONFIG_SYSTEM_CDCACM=y +CONFIG_TASK_NAME_SIZE=24 +CONFIG_TTY_SIGINT=y +CONFIG_TTY_SIGINT_CHAR=0x03 +CONFIG_TTY_SIGTSTP=y +CONFIG_USART6_RXBUFSIZE=600 +CONFIG_USART6_TXBUFSIZE=300 +CONFIG_USBDEV=y +CONFIG_USBDEV_BUSPOWERED=y +CONFIG_USBDEV_MAXPOWER=500 +CONFIG_USEC_PER_TICK=1000 diff --git a/boards/hkust/nxt-dual/nuttx-config/include/board.h b/boards/hkust/nxt-dual/nuttx-config/include/board.h new file mode 100644 index 000000000000..436b172b1ff9 --- /dev/null +++ b/boards/hkust/nxt-dual/nuttx-config/include/board.h @@ -0,0 +1,487 @@ +/************************************************************************************ + * nuttx-configs/px4_fmu-v6u/include/board.h + * + * Copyright (C) 2016-2019 Gregory Nutt. All rights reserved. + * Authors: David Sidrane + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name NuttX nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ************************************************************************************/ +#ifndef __NUTTX_CONFIG_MATEKH743SLIM_INCLUDE_BOARD_H +#define __NUTTX_CONFIG_MATEKH743SLIM_INCLUDE_BOARD_H + +/************************************************************************************ + * Included Files + ************************************************************************************/ + +#include "board_dma_map.h" + +#include + +#ifndef __ASSEMBLY__ +# include +#endif + +#include "stm32_rcc.h" +#include "stm32_sdmmc.h" + +/************************************************************************************ + * Pre-processor Definitions + ************************************************************************************/ + +/* Clocking *************************************************************************/ +/* The MatekH743-Slim board provides the following clock sources: + * + * X1: 16 MHz crystal for HSE + * + * So we have these clock source available within the STM32 + * + * HSI: 16 MHz RC factory-trimmed + * HSE: 16 MHz crystal for HSE + */ + +#define STM32_BOARD_XTAL 16000000ul + +#define STM32_HSI_FREQUENCY 16000000ul +#define STM32_LSI_FREQUENCY 32000 +#define STM32_HSE_FREQUENCY STM32_BOARD_XTAL +#define STM32_LSE_FREQUENCY 32768 + +/* Main PLL Configuration. + * + * PLL source is HSE = 16,000,000 + * + * PLL_VCOx = (STM32_HSE_FREQUENCY / PLLM) * PLLN + * Subject to: + * + * 1 <= PLLM <= 63 + * 4 <= PLLN <= 512 + * 150 MHz <= PLL_VCOL <= 420MHz + * 192 MHz <= PLL_VCOH <= 836MHz + * + * SYSCLK = PLL_VCO / PLLP + * CPUCLK = SYSCLK / D1CPRE + * Subject to + * + * PLLP1 = {2, 4, 6, 8, ..., 128} + * PLLP2,3 = {2, 3, 4, ..., 128} + * CPUCLK <= 480 MHz + */ + +#define STM32_BOARD_USEHSE + +#define STM32_PLLCFG_PLLSRC RCC_PLLCKSELR_PLLSRC_HSE + +/* PLL1, wide 4 - 8 MHz input, enable DIVP, DIVQ, DIVR + * + * PLL1_VCO = (16,000,000 / 1) * 60 = 960 MHz + * + * PLL1P = PLL1_VCO/2 = 960 MHz / 2 = 480 MHz + * PLL1Q = PLL1_VCO/4 = 960 MHz / 4 = 240 MHz + * PLL1R = PLL1_VCO/8 = 960 MHz / 8 = 120 MHz + */ + +#define STM32_PLLCFG_PLL1CFG (RCC_PLLCFGR_PLL1VCOSEL_WIDE | \ + RCC_PLLCFGR_PLL1RGE_4_8_MHZ | \ + RCC_PLLCFGR_DIVP1EN | \ + RCC_PLLCFGR_DIVQ1EN | \ + RCC_PLLCFGR_DIVR1EN) +#define STM32_PLLCFG_PLL1M RCC_PLLCKSELR_DIVM1(1) +#define STM32_PLLCFG_PLL1N RCC_PLL1DIVR_N1(60) +#define STM32_PLLCFG_PLL1P RCC_PLL1DIVR_P1(2) +#define STM32_PLLCFG_PLL1Q RCC_PLL1DIVR_Q1(4) +#define STM32_PLLCFG_PLL1R RCC_PLL1DIVR_R1(8) + +#define STM32_VCO1_FREQUENCY ((STM32_HSE_FREQUENCY / 1) * 60) +#define STM32_PLL1P_FREQUENCY (STM32_VCO1_FREQUENCY / 2) +#define STM32_PLL1Q_FREQUENCY (STM32_VCO1_FREQUENCY / 4) +#define STM32_PLL1R_FREQUENCY (STM32_VCO1_FREQUENCY / 8) + +/* PLL2 */ + +#define STM32_PLLCFG_PLL2CFG (RCC_PLLCFGR_PLL2VCOSEL_WIDE | \ + RCC_PLLCFGR_PLL2RGE_4_8_MHZ | \ + RCC_PLLCFGR_DIVP2EN | \ + RCC_PLLCFGR_DIVQ2EN | \ + RCC_PLLCFGR_DIVR2EN) +#define STM32_PLLCFG_PLL2M RCC_PLLCKSELR_DIVM2(4) +#define STM32_PLLCFG_PLL2N RCC_PLL2DIVR_N2(48) +#define STM32_PLLCFG_PLL2P RCC_PLL2DIVR_P2(2) +#define STM32_PLLCFG_PLL2Q RCC_PLL2DIVR_Q2(2) +#define STM32_PLLCFG_PLL2R RCC_PLL2DIVR_R2(2) + +#define STM32_VCO2_FREQUENCY ((STM32_HSE_FREQUENCY / 4) * 48) +#define STM32_PLL2P_FREQUENCY (STM32_VCO2_FREQUENCY / 2) +#define STM32_PLL2Q_FREQUENCY (STM32_VCO2_FREQUENCY / 2) +#define STM32_PLL2R_FREQUENCY (STM32_VCO2_FREQUENCY / 2) + +/* PLL3 */ + +#define STM32_PLLCFG_PLL3CFG (RCC_PLLCFGR_PLL3VCOSEL_WIDE | \ + RCC_PLLCFGR_PLL3RGE_4_8_MHZ | \ + RCC_PLLCFGR_DIVQ3EN) +#define STM32_PLLCFG_PLL3M RCC_PLLCKSELR_DIVM3(4) +#define STM32_PLLCFG_PLL3N RCC_PLL3DIVR_N3(48) +#define STM32_PLLCFG_PLL3P RCC_PLL3DIVR_P3(2) +#define STM32_PLLCFG_PLL3Q RCC_PLL3DIVR_Q3(4) +#define STM32_PLLCFG_PLL3R RCC_PLL3DIVR_R3(2) + +#define STM32_VCO3_FREQUENCY ((STM32_HSE_FREQUENCY / 4) * 48) +#define STM32_PLL3P_FREQUENCY (STM32_VCO3_FREQUENCY / 2) +#define STM32_PLL3Q_FREQUENCY (STM32_VCO3_FREQUENCY / 4) +#define STM32_PLL3R_FREQUENCY (STM32_VCO3_FREQUENCY / 2) + +/* SYSCLK = PLL1P = 480MHz + * CPUCLK = SYSCLK / 1 = 480 MHz + */ + +#define STM32_RCC_D1CFGR_D1CPRE (RCC_D1CFGR_D1CPRE_SYSCLK) +#define STM32_SYSCLK_FREQUENCY (STM32_PLL1P_FREQUENCY) +#define STM32_CPUCLK_FREQUENCY (STM32_SYSCLK_FREQUENCY / 1) + +/* Configure Clock Assignments */ + +/* AHB clock (HCLK) is SYSCLK/2 (240 MHz max) + * HCLK1 = HCLK2 = HCLK3 = HCLK4 = 240 + */ + +#define STM32_RCC_D1CFGR_HPRE RCC_D1CFGR_HPRE_SYSCLKd2 /* HCLK = SYSCLK / 2 */ +#define STM32_ACLK_FREQUENCY (STM32_CPUCLK_FREQUENCY / 2) /* ACLK in D1, HCLK3 in D1 */ +#define STM32_HCLK_FREQUENCY (STM32_CPUCLK_FREQUENCY / 2) /* HCLK in D2, HCLK4 in D3 */ +#define STM32_BOARD_HCLK STM32_HCLK_FREQUENCY /* same as above, to satisfy compiler */ + +/* APB1 clock (PCLK1) is HCLK/2 (120 MHz) */ + +#define STM32_RCC_D2CFGR_D2PPRE1 RCC_D2CFGR_D2PPRE1_HCLKd2 /* PCLK1 = HCLK / 2 */ +#define STM32_PCLK1_FREQUENCY (STM32_HCLK_FREQUENCY/2) + +/* APB2 clock (PCLK2) is HCLK/2 (120 MHz) */ + +#define STM32_RCC_D2CFGR_D2PPRE2 RCC_D2CFGR_D2PPRE2_HCLKd2 /* PCLK2 = HCLK / 2 */ +#define STM32_PCLK2_FREQUENCY (STM32_HCLK_FREQUENCY/2) + +/* APB3 clock (PCLK3) is HCLK/2 (120 MHz) */ + +#define STM32_RCC_D1CFGR_D1PPRE RCC_D1CFGR_D1PPRE_HCLKd2 /* PCLK3 = HCLK / 2 */ +#define STM32_PCLK3_FREQUENCY (STM32_HCLK_FREQUENCY/2) + +/* APB4 clock (PCLK4) is HCLK/4 (120 MHz) */ + +#define STM32_RCC_D3CFGR_D3PPRE RCC_D3CFGR_D3PPRE_HCLKd2 /* PCLK4 = HCLK / 2 */ +#define STM32_PCLK4_FREQUENCY (STM32_HCLK_FREQUENCY/2) + +/* Timer clock frequencies */ + +/* Timers driven from APB1 will be twice PCLK1 */ + +#define STM32_APB1_TIM2_CLKIN (2*STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM3_CLKIN (2*STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM4_CLKIN (2*STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM5_CLKIN (2*STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM6_CLKIN (2*STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM7_CLKIN (2*STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM12_CLKIN (2*STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM13_CLKIN (2*STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM14_CLKIN (2*STM32_PCLK1_FREQUENCY) + +/* Timers driven from APB2 will be twice PCLK2 */ + +#define STM32_APB2_TIM1_CLKIN (2*STM32_PCLK2_FREQUENCY) +#define STM32_APB2_TIM8_CLKIN (2*STM32_PCLK2_FREQUENCY) +#define STM32_APB2_TIM15_CLKIN (2*STM32_PCLK2_FREQUENCY) +#define STM32_APB2_TIM16_CLKIN (2*STM32_PCLK2_FREQUENCY) +#define STM32_APB2_TIM17_CLKIN (2*STM32_PCLK2_FREQUENCY) + +/* Kernel Clock Configuration + * + * Note: look at Table 54 in ST Manual + */ + +/* I2C123 clock source */ + +#define STM32_RCC_D2CCIP2R_I2C123SRC RCC_D2CCIP2R_I2C123SEL_HSI + +/* I2C4 clock source */ + +#define STM32_RCC_D3CCIPR_I2C4SRC RCC_D3CCIPR_I2C4SEL_HSI + +/* SPI123 clock source */ + +#define STM32_RCC_D2CCIP1R_SPI123SRC RCC_D2CCIP1R_SPI123SEL_PLL2 + +/* SPI45 clock source */ + +#define STM32_RCC_D2CCIP1R_SPI45SRC RCC_D2CCIP1R_SPI45SEL_PLL2 + +/* SPI6 clock source */ + +#define STM32_RCC_D3CCIPR_SPI6SRC RCC_D3CCIPR_SPI6SEL_PLL2 + +/* USB 1 and 2 clock source */ + +#define STM32_RCC_D2CCIP2R_USBSRC RCC_D2CCIP2R_USBSEL_PLL3 + +/* ADC 1 2 3 clock source */ + +#define STM32_RCC_D3CCIPR_ADCSEL RCC_D3CCIPR_ADCSEL_PLL2 + +/* FDCAN 1 clock source */ + +// #define STM32_RCC_D2CCIP1R_FDCANSEL RCC_D2CCIP1R_FDCANSEL_HSE /* FDCAN 1 2 clock source */ + +#define STM32_FDCANCLK STM32_HSE_FREQUENCY + +/* FLASH wait states + * + * ------------ ---------- ----------- + * Vcore MAX ACLK WAIT STATES + * ------------ ---------- ----------- + * 1.15-1.26 V 70 MHz 0 + * (VOS1 level) 140 MHz 1 + * 210 MHz 2 + * 1.05-1.15 V 55 MHz 0 + * (VOS2 level) 110 MHz 1 + * 165 MHz 2 + * 220 MHz 3 + * 0.95-1.05 V 45 MHz 0 + * (VOS3 level) 90 MHz 1 + * 135 MHz 2 + * 180 MHz 3 + * 225 MHz 4 + * ------------ ---------- ----------- + */ + +#define BOARD_FLASH_WAITSTATES 2 + +/* SDMMC definitions ********************************************************/ + +/* Init 400kHz, freq = PLL1Q/(2*div) div = PLL1Q/(2*freq) */ + +#define STM32_SDMMC_INIT_CLKDIV (300 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT) + +/* 25 MHz Max for now, 25 mHZ = PLL1Q/(2*div), div = PLL1Q/(2*freq) + * div = 4.8 = 240 / 50, So round up to 5 for default speed 24 MB/s + */ + +#if defined(CONFIG_STM32H7_SDMMC_XDMA) || defined(CONFIG_STM32H7_SDMMC_IDMA) +# define STM32_SDMMC_MMCXFR_CLKDIV (5 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT) +#else +# define STM32_SDMMC_MMCXFR_CLKDIV (100 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT) +#endif +#if defined(CONFIG_STM32H7_SDMMC_XDMA) || defined(CONFIG_STM32H7_SDMMC_IDMA) +# define STM32_SDMMC_SDXFR_CLKDIV (5 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT) +#else +# define STM32_SDMMC_SDXFR_CLKDIV (100 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT) +#endif + +#define STM32_SDMMC_CLKCR_EDGE STM32_SDMMC_CLKCR_NEGEDGE + +/* LED definitions ******************************************************************/ +/* The board has two, LED_GREEN a Green LED and LED_BLUE a Blue LED, + * that can be controlled by software. + * + * If CONFIG_ARCH_LEDS is not defined, then the user can control the LEDs in any way. + * The following definitions are used to access individual LEDs. + */ + +/* LED index values for use with board_userled() */ + +#define BOARD_LED1 0 +#define BOARD_LED2 1 +#define BOARD_LED3 2 +#define BOARD_NLEDS 3 + +#define BOARD_LED_RED BOARD_LED1 +#define BOARD_LED_GREEN BOARD_LED2 +#define BOARD_LED_BLUE BOARD_LED3 + +/* LED bits for use with board_userled_all() */ + +#define BOARD_LED1_BIT (1 << BOARD_LED1) +#define BOARD_LED2_BIT (1 << BOARD_LED2) +#define BOARD_LED3_BIT (1 << BOARD_LED3) + +/* If CONFIG_ARCH_LEDS is defined, the usage by the board port is defined in + * include/board.h and src/stm32_leds.c. The LEDs are used to encode OS-related + * events as follows: + * + * + * SYMBOL Meaning LED state + * Red Green Blue + * ---------------------- -------------------------- ------ ------ ----*/ + +#define LED_STARTED 0 /* NuttX has been started OFF OFF OFF */ +#define LED_HEAPALLOCATE 1 /* Heap has been allocated OFF OFF ON */ +#define LED_IRQSENABLED 2 /* Interrupts enabled OFF ON OFF */ +#define LED_STACKCREATED 3 /* Idle stack created OFF ON ON */ +#define LED_INIRQ 4 /* In an interrupt N/C N/C GLOW */ +#define LED_SIGNAL 5 /* In a signal handler N/C GLOW N/C */ +#define LED_ASSERTION 6 /* An assertion failed GLOW N/C GLOW */ +#define LED_PANIC 7 /* The system has crashed Blink OFF N/C */ +#define LED_IDLE 8 /* MCU is is sleep mode ON OFF OFF */ + +/* Thus if the Green LED is statically on, NuttX has successfully booted and + * is, apparently, running normally. If the Red LED is flashing at + * approximately 2Hz, then a fatal error has been detected and the system + * has halted. + */ + +/* Alternate function pin selections ************************************************/ + +#define GPIO_USART1_RX GPIO_USART1_RX_2 /* PBA10 */ +#define GPIO_USART1_TX GPIO_USART1_TX_2 /* PA9 */ +#define GPIO_USART1_CK GPIO_USART1_CK /* PB8 NC */ + +#define GPIO_USART2_RX GPIO_USART2_RX_2 /* PD6 */ +#define GPIO_USART2_TX GPIO_USART2_TX_2 /* PD5 */ +#define GPIO_USART2_CK GPIO_USART2_CK_2 /* PD7 NC */ + +#define GPIO_USART3_RX GPIO_USART3_RX_3 /* PD9 */ +#define GPIO_USART3_TX GPIO_USART3_TX_3 /* PD8 */ +#define GPIO_USART3_CK GPIO_USART3_CK_3 /* PD10 NC */ + +#define GPIO_UART4_RX GPIO_UART4_RX_3 /* PB8 */ +#define GPIO_UART4_TX GPIO_UART4_TX_3 /* PB9 */ + +#define GPIO_UART5_RX GPIO_UART5_RX_1 /* PB12 */ +#define GPIO_UART5_TX GPIO_UART5_TX_1 /* PB13 */ + +#define GPIO_USART6_RX GPIO_USART6_RX_1 /* PC7 */ +#define GPIO_USART6_TX GPIO_USART6_TX_1 /* PC6 */ + +#define GPIO_UART7_RX GPIO_UART7_RX_3 /* PE7 */ +#define GPIO_UART7_TX GPIO_UART7_TX_3 /* PE8 NC */ + +#define GPIO_UART8_RX GPIO_UART8_RX_1 /* PE0 */ +#define GPIO_UART8_TX GPIO_UART8_TX_1 /* PE1 */ + +/* SPI + * + + */ + +#define ADJ_SLEW_RATE(p) (((p) & ~GPIO_SPEED_MASK) | (GPIO_SPEED_2MHz)) + +#define GPIO_SPI1_MISO GPIO_SPI1_MISO_1 /* PA6 */ +#define GPIO_SPI1_MOSI GPIO_SPI1_MOSI_1 /* PA7 */ +#define GPIO_SPI1_SCK ADJ_SLEW_RATE(GPIO_SPI1_SCK_1) /* PA5 */ + +#define GPIO_SPI2_MISO GPIO_SPI2_MISO_1 /* PB14 */ +#define GPIO_SPI2_MOSI GPIO_SPI2_MOSI_3 /* PC3 */ +#define GPIO_SPI2_SCK ADJ_SLEW_RATE(GPIO_SPI2_SCK_5) /* PD3 */ + +#define GPIO_SPI3_MISO GPIO_SPI3_MISO_1 /* PB4 */ +#define GPIO_SPI3_MOSI GPIO_SPI3_MOSI_3 /* PB2 */ +#define GPIO_SPI3_SCK ADJ_SLEW_RATE(GPIO_SPI3_SCK_1) /* PB3 */ + +#define GPIO_SPI4_MISO GPIO_SPI4_MISO_2 /* PE5 */ +#define GPIO_SPI4_MOSI GPIO_SPI4_MOSI_2 /* PE6 */ +#define GPIO_SPI4_SCK ADJ_SLEW_RATE(GPIO_SPI4_SCK_2) /* PE2 */ + +/* I2C + * + + * + */ + +#define GPIO_I2C1_SCL GPIO_I2C1_SCL_1 /* PB6 */ +#define GPIO_I2C1_SDA GPIO_I2C1_SDA_1 /* PB7 */ + +#define GPIO_I2C1_SCL_GPIO (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN6) +#define GPIO_I2C1_SDA_GPIO (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN7) + +#define GPIO_I2C4_SCL GPIO_I2C4_SCL_1 /* PD12 */ +#define GPIO_I2C4_SDA GPIO_I2C4_SDA_1 /* PD13 */ + +#define GPIO_I2C4_SCL_GPIO (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTD | GPIO_PIN12) +#define GPIO_I2C4_SDA_GPIO (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTD | GPIO_PIN13) + + +/* SDMMC1 + * + * SDMMC1_D0 PC8 + * SDMMC1_D1 PC9 + * SDMMC1_D2 PC10 + * SDMMC1_D3 PC11 + * SDMMC1_CK PC12 + * SDMMC1_CMD PD2 + */ + +// #define GPIO_SDMMC1_D0 GPIO_SDMMC1_D0 /* PC8 */ +// #define GPIO_SDMMC1_D1 GPIO_SDMMC1_D1 /* PC9 */ +// #define GPIO_SDMMC1_D2 GPIO_SDMMC1_D2 /* PC10 */ +// #define GPIO_SDMMC1_D3 GPIO_SDMMC1_D3 /* PC11 */ +// #define GPIO_SDMMC1_CK GPIO_SDMMC1_CK /* PC12 */ +// #define GPIO_SDMMC1_CMD GPIO_SDMMC1_CMD /* PD2 */ + + +/* USB + * + * OTG_FS_DM PA11 + * OTG_FS_DP PA12 + * VBUS PA9 + */ + + +/* Board provides GPIO or other Hardware for signaling to timing analyzer */ + +// #if defined(CONFIG_BOARD_USE_PROBES) +// # include "stm32_gpio.h" +// # define PROBE_N(n) (1<<((n)-1)) +// # define PROBE_1 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTI|GPIO_PIN0) /* PI0 AUX1 */ +// # define PROBE_2 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN12) /* PH12 AUX2 */ +// # define PROBE_3 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN11) /* PH11 AUX3 */ +// # define PROBE_4 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN10) /* PH10 AUX4 */ +// # define PROBE_5 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN13) /* PD13 AUX5 */ +// # define PROBE_6 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN14) /* PD14 AUX6 */ +// # define PROBE_7 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN6) /* PH6 AUX7 */ +// # define PROBE_8 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN9) /* PH9 AUX8 */ +// # define PROBE_9 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN11) /* PE11 CAP1 */ + +// # define PROBE_INIT(mask) \ +// do { \ +// if ((mask)& PROBE_N(1)) { stm32_configgpio(PROBE_1); } \ +// if ((mask)& PROBE_N(2)) { stm32_configgpio(PROBE_2); } \ +// if ((mask)& PROBE_N(3)) { stm32_configgpio(PROBE_3); } \ +// if ((mask)& PROBE_N(4)) { stm32_configgpio(PROBE_4); } \ +// if ((mask)& PROBE_N(5)) { stm32_configgpio(PROBE_5); } \ +// if ((mask)& PROBE_N(6)) { stm32_configgpio(PROBE_6); } \ +// if ((mask)& PROBE_N(7)) { stm32_configgpio(PROBE_7); } \ +// if ((mask)& PROBE_N(8)) { stm32_configgpio(PROBE_8); } \ +// if ((mask)& PROBE_N(9)) { stm32_configgpio(PROBE_9); } \ +// } while(0) + +// # define PROBE(n,s) do {stm32_gpiowrite(PROBE_##n,(s));}while(0) +// # define PROBE_MARK(n) PROBE(n,false);PROBE(n,true) +// #else +// # define PROBE_INIT(mask) +// # define PROBE(n,s) +// # define PROBE_MARK(n) +// #endif + +#endif /*__NUTTX_CONFIG_MATEKH743SLIM_INCLUDE_BOARD_H */ diff --git a/boards/hkust/nxt-dual/nuttx-config/include/board_dma_map.h b/boards/hkust/nxt-dual/nuttx-config/include/board_dma_map.h new file mode 100644 index 000000000000..a27735b3541e --- /dev/null +++ b/boards/hkust/nxt-dual/nuttx-config/include/board_dma_map.h @@ -0,0 +1,62 @@ +/**************************************************************************** + * + * Copyright (c) 2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#pragma once +// #define DMAMAP_SPI1_RX DMAMAP_DMA12_SPI1RX_0 /* DMA1:37 */ +// #define DMAMAP_SPI1_TX DMAMAP_DMA12_SPI1TX_0 /* DMA1:38 */ + +#define DMAMAP_SPI2_RX DMAMAP_DMA12_SPI2RX_0 /* DMA1:39 */ +#define DMAMAP_SPI2_TX DMAMAP_DMA12_SPI2TX_0 /* DMA1:40 */ + +// DMAMUX2 +// #define DMAMAP_SPI3_RX DMAMAP_DMA12_SPI3RX_0 /* DMA1:61 */ +// #define DMAMAP_SPI3_TX DMAMAP_DMA12_SPI3TX_0 /* DMA1:62 */ + +// #define DMAMAP_SPI6_RX DMAMAP_BDMA_SPI6_RX /* BDMA:11 */ +// #define DMAMAP_SPI6_TX DMAMAP_BDMA_SPI6_TX /* BDMA:12 */ + +//TODO: UART DMA test +// #define DMAMAP_USART1_RX DMAMAP_DMA12_USART1RX_1 /*DMA2:41*/ +// #define DMAMAP_USART1_TX DMAMAP_DMA12_USART1TX_1 /*DMA2:42*/ + +// #define DMAMAP_USART2_RX DMAMAP_DMA12_USART2RX_1 /* DMA2:43 */ +// #define DMAMAP_USART2_TX DMAMAP_DMA12_USART2TX_1 /* DMA2:44 */ + +// #define DMAMAP_USART3_RX DMAMAP_DMA12_USART3RX_1 /* DMA2:45 */ +// #define DMAMAP_USART3_TX DMAMAP_DMA12_USART3TX_1 /* DMA2:46 */ + +#define DMAMAP_UART4_RX DMAMAP_DMA12_UART4RX_1 /* DMA1:63 */ +#define DMAMAP_UART4_TX DMAMAP_DMA12_UART4TX_1 /* DMA1:64 */ + +// #define DMAMAP_UART5_RX DMAMAP_DMA12_UART5RX_0 /* DMA1:65 */ +// #define DMAMAP_UART5_TX DMAMAP_DMA12_UART5RX_0 /* DMA1:66 */ diff --git a/boards/hkust/nxt-dual/nuttx-config/nsh/defconfig b/boards/hkust/nxt-dual/nuttx-config/nsh/defconfig new file mode 100644 index 000000000000..e1e35f96def1 --- /dev/null +++ b/boards/hkust/nxt-dual/nuttx-config/nsh/defconfig @@ -0,0 +1,269 @@ +# +# This file is autogenerated: PLEASE DO NOT EDIT IT. +# +# You can use "make menuconfig" to make any modifications to the installed .config file. +# You can then do "make savedefconfig" to generate a new defconfig file that includes your +# modifications. +# +# CONFIG_DISABLE_ENVIRON is not set +# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set +# CONFIG_DISABLE_PTHREAD is not set +# CONFIG_MMCSD_HAVE_CARDDETECT is not set +# CONFIG_MMCSD_HAVE_WRITEPROTECT is not set +# CONFIG_MMCSD_MMCSUPPORT is not set +# CONFIG_MMCSD_SPI is not set +# CONFIG_NSH_DISABLEBG is not set +# CONFIG_NSH_DISABLESCRIPT is not set +# CONFIG_NSH_DISABLE_CAT is not set +# CONFIG_NSH_DISABLE_CD is not set +# CONFIG_NSH_DISABLE_CP is not set +# CONFIG_NSH_DISABLE_DATE is not set +# CONFIG_NSH_DISABLE_DF is not set +# CONFIG_NSH_DISABLE_ECHO is not set +# CONFIG_NSH_DISABLE_ENV is not set +# CONFIG_NSH_DISABLE_EXEC is not set +# CONFIG_NSH_DISABLE_EXIT is not set +# CONFIG_NSH_DISABLE_EXPORT is not set +# CONFIG_NSH_DISABLE_FREE is not set +# CONFIG_NSH_DISABLE_GET is not set +# CONFIG_NSH_DISABLE_HELP is not set +# CONFIG_NSH_DISABLE_ITEF is not set +# CONFIG_NSH_DISABLE_KILL is not set +# CONFIG_NSH_DISABLE_LOOPS is not set +# CONFIG_NSH_DISABLE_LS is not set +# CONFIG_NSH_DISABLE_MKDIR is not set +# CONFIG_NSH_DISABLE_MKFATFS is not set +# CONFIG_NSH_DISABLE_MOUNT is not set +# CONFIG_NSH_DISABLE_MV is not set +# CONFIG_NSH_DISABLE_PRINTF is not set +# CONFIG_NSH_DISABLE_PS is not set +# CONFIG_NSH_DISABLE_PSSTACKUSAGE is not set +# CONFIG_NSH_DISABLE_PWD is not set +# CONFIG_NSH_DISABLE_RM is not set +# CONFIG_NSH_DISABLE_RMDIR is not set +# CONFIG_NSH_DISABLE_SEMICOLON is not set +# CONFIG_NSH_DISABLE_SET is not set +# CONFIG_NSH_DISABLE_SLEEP is not set +# CONFIG_NSH_DISABLE_SOURCE is not set +# CONFIG_NSH_DISABLE_TEST is not set +# CONFIG_NSH_DISABLE_TIME is not set +# CONFIG_NSH_DISABLE_UMOUNT is not set +# CONFIG_NSH_DISABLE_UNSET is not set +# CONFIG_NSH_DISABLE_USLEEP is not set +CONFIG_ARCH="arm" +CONFIG_ARCH_BOARD_CUSTOM=y +CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/hkust/nxt-dual/nuttx-config" +CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y +CONFIG_ARCH_BOARD_CUSTOM_NAME="px4" +CONFIG_ARCH_CHIP="stm32h7" +CONFIG_ARCH_CHIP_STM32H743VI=y +CONFIG_ARCH_CHIP_STM32H7=y +CONFIG_ARCH_INTERRUPTSTACK=768 +CONFIG_ARCH_STACKDUMP=y +CONFIG_ARMV7M_BASEPRI_WAR=y +CONFIG_ARMV7M_DCACHE=y +CONFIG_ARMV7M_DTCM=y +CONFIG_ARMV7M_ICACHE=y +CONFIG_ARMV7M_MEMCPY=y +CONFIG_ARMV7M_USEBASEPRI=y +CONFIG_ARM_MPU_EARLY_RESET=y +CONFIG_BOARDCTL_RESET=y +CONFIG_BOARD_ASSERT_RESET_VALUE=0 +CONFIG_BOARD_CRASHDUMP=y +CONFIG_BOARD_LOOPSPERMSEC=95150 +CONFIG_BOARD_RESET_ON_ASSERT=2 +CONFIG_BUILTIN=y +CONFIG_CDCACM=y +CONFIG_CDCACM_IFLOWCONTROL=y +CONFIG_CDCACM_PRODUCTID=0x0036 +CONFIG_CDCACM_PRODUCTSTR="HKUST UAV NxtPX4" +CONFIG_CDCACM_RXBUFSIZE=600 +CONFIG_CDCACM_TXBUFSIZE=12000 +CONFIG_CDCACM_VENDORID=0x1B8C +CONFIG_CDCACM_VENDORSTR="Matek" +CONFIG_DEBUG_FULLOPT=y +CONFIG_DEBUG_HARDFAULT_ALERT=y +CONFIG_DEBUG_MEMFAULT=y +CONFIG_DEBUG_SYMBOLS=y +CONFIG_DEFAULT_SMALL=y +CONFIG_DEV_FIFO_SIZE=0 +CONFIG_DEV_PIPE_MAXSIZE=1024 +CONFIG_DEV_PIPE_SIZE=70 +CONFIG_EXPERIMENTAL=y +CONFIG_FAT_DMAMEMORY=y +CONFIG_FAT_LCNAMES=y +CONFIG_FAT_LFN=y +CONFIG_FAT_LFN_ALIAS_HASH=y +CONFIG_FDCLONE_STDIO=y +CONFIG_FS_BINFS=y +CONFIG_FS_CROMFS=y +CONFIG_FS_FAT=y +CONFIG_FS_FATTIME=y +CONFIG_FS_PROCFS=y +CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y +CONFIG_FS_PROCFS_MAX_TASKS=64 +CONFIG_FS_PROCFS_REGISTER=y +CONFIG_FS_ROMFS=y +CONFIG_GRAN=y +CONFIG_GRAN_INTR=y +CONFIG_HAVE_CXX=y +CONFIG_HAVE_CXXINITIALIZE=y +CONFIG_I2C=y +CONFIG_I2C_RESET=y +CONFIG_IDLETHREAD_STACKSIZE=750 +CONFIG_INIT_ENTRYPOINT="nsh_main" +CONFIG_INIT_STACKSIZE=3194 +CONFIG_IOB_NBUFFERS=24 +CONFIG_IOB_NCHAINS=24 +CONFIG_LIBC_FLOATINGPOINT=y +CONFIG_LIBC_LONG_LONG=y +CONFIG_LIBC_MAX_EXITFUNS=1 +CONFIG_LIBC_STRERROR=y +CONFIG_MEMSET_64BIT=y +CONFIG_MEMSET_OPTSPEED=y +CONFIG_MMCSD=y +CONFIG_MMCSD_SDIO=y +CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y +CONFIG_MM_IOB=y +CONFIG_MM_REGIONS=4 +CONFIG_MTD=y +CONFIG_MTD_BYTE_WRITE=y +CONFIG_MTD_PARTITION=y +CONFIG_MTD_PROGMEM=y +CONFIG_MTD_RAMTRON=y +CONFIG_MTD_W25=y +CONFIG_MTD_W25QXXXJV=y +CONFIG_NAME_MAX=40 +CONFIG_NSH_ARCHINIT=y +CONFIG_NSH_ARGCAT=y +CONFIG_NSH_BUILTIN_APPS=y +CONFIG_NSH_CMDPARMS=y +CONFIG_NSH_CROMFSETC=y +CONFIG_NSH_LINELEN=128 +CONFIG_NSH_MAXARGUMENTS=15 +CONFIG_NSH_NESTDEPTH=8 +CONFIG_NSH_QUOTE=y +CONFIG_NSH_ROMFSETC=y +CONFIG_NSH_ROMFSSECTSIZE=128 +CONFIG_NSH_STRERROR=y +CONFIG_NSH_VARS=y +CONFIG_OTG_ID_GPIO_DISABLE=y +CONFIG_PIPES=y +CONFIG_PREALLOC_TIMERS=50 +CONFIG_PRIORITY_INHERITANCE=y +CONFIG_PTHREAD_MUTEX_ROBUST=y +CONFIG_PTHREAD_STACK_MIN=512 +CONFIG_RAMTRON_SETSPEED=y +CONFIG_RAM_SIZE=245760 +CONFIG_RAM_START=0x20010000 +CONFIG_RAW_BINARY=y +CONFIG_READLINE_CMD_HISTORY=y +CONFIG_READLINE_TABCOMPLETION=y +CONFIG_RTC_DATETIME=y +CONFIG_SCHED_HPWORK=y +CONFIG_SCHED_HPWORKPRIORITY=249 +CONFIG_SCHED_HPWORKSTACKSIZE=1280 +CONFIG_SCHED_INSTRUMENTATION=y +CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y +CONFIG_SCHED_INSTRUMENTATION_SWITCH=y +CONFIG_SCHED_LPWORK=y +CONFIG_SCHED_LPWORKPRIORITY=50 +CONFIG_SCHED_LPWORKSTACKSIZE=1632 +CONFIG_SCHED_WAITPID=y +CONFIG_SDMMC1_SDIO_PULLUP=y +CONFIG_SEM_PREALLOCHOLDERS=32 +CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y +CONFIG_SERIAL_TERMIOS=y +CONFIG_SIG_DEFAULT=y +CONFIG_SIG_SIGALRM_ACTION=y +CONFIG_SIG_SIGUSR1_ACTION=y +CONFIG_SIG_SIGUSR2_ACTION=y +CONFIG_SIG_SIGWORK=4 +CONFIG_STACK_COLORATION=y +CONFIG_START_DAY=30 +CONFIG_START_MONTH=11 +CONFIG_STDIO_BUFFER_SIZE=256 +CONFIG_STM32H7_ADC1=y +CONFIG_STM32H7_ADC2=y +CONFIG_STM32H7_ADC3=y +CONFIG_STM32H7_BBSRAM=y +CONFIG_STM32H7_BBSRAM_FILES=5 +CONFIG_STM32H7_BDMA=y +CONFIG_STM32H7_BKPSRAM=y +CONFIG_STM32H7_DMA1=y +CONFIG_STM32H7_DMA2=y +CONFIG_STM32H7_DMACAPABLE=y +CONFIG_STM32H7_FLASH_OVERRIDE_I=y +CONFIG_STM32H7_FLOWCONTROL_BROKEN=y +CONFIG_STM32H7_I2C1=y +CONFIG_STM32H7_I2C4=y +CONFIG_STM32H7_I2C_DYNTIMEO=y +CONFIG_STM32H7_I2C_DYNTIMEO_STARTSTOP=10 +CONFIG_STM32H7_OTGFS=y +CONFIG_STM32H7_PROGMEM=y +CONFIG_STM32H7_RTC=y +CONFIG_STM32H7_RTC_HSECLOCK=y +CONFIG_STM32H7_RTC_MAGIC_REG=1 +CONFIG_STM32H7_SAVE_CRASHDUMP=y +CONFIG_STM32H7_SDMMC1=y +CONFIG_STM32H7_SERIALBRK_BSDCOMPAT=y +CONFIG_STM32H7_SERIAL_DISABLE_REORDERING=y +CONFIG_STM32H7_SPI1=y +CONFIG_STM32H7_SPI2=y +CONFIG_STM32H7_SPI2_DMA=y +CONFIG_STM32H7_SPI2_DMA_BUFFER=4096 +CONFIG_STM32H7_SPI3=y +CONFIG_STM32H7_SPI4=y +CONFIG_STM32H7_SPI_DMATHRESHOLD=8 +CONFIG_STM32H7_TIM1=y +CONFIG_STM32H7_TIM2=y +CONFIG_STM32H7_TIM3=y +CONFIG_STM32H7_TIM4=y +CONFIG_STM32H7_TIM8=y +CONFIG_STM32H7_UART4=y +CONFIG_STM32H7_UART5=y +CONFIG_STM32H7_UART7=y +CONFIG_STM32H7_UART8=y +CONFIG_STM32H7_USART1=y +CONFIG_STM32H7_USART2=y +CONFIG_STM32H7_USART3=y +CONFIG_STM32H7_USART6=y +CONFIG_STM32H7_USART_BREAKS=y +CONFIG_STM32H7_USART_INVERT=y +CONFIG_STM32H7_USART_SINGLEWIRE=y +CONFIG_STM32H7_USART_SWAP=y +CONFIG_SYSTEM_CDCACM=y +CONFIG_SYSTEM_NSH=y +CONFIG_TASK_NAME_SIZE=24 +CONFIG_UART4_BAUD=921600 +CONFIG_UART4_RXBUFSIZE=3000 +CONFIG_UART4_RXDMA=y +CONFIG_UART4_TXBUFSIZE=3000 +CONFIG_UART4_TXDMA=y +CONFIG_UART5_BAUD=57600 +CONFIG_UART5_RXBUFSIZE=600 +CONFIG_UART5_TXBUFSIZE=1500 +CONFIG_UART7_BAUD=57600 +CONFIG_UART7_RXBUFSIZE=600 +CONFIG_UART7_TXBUFSIZE=3000 +CONFIG_UART8_BAUD=57600 +CONFIG_UART8_RXBUFSIZE=600 +CONFIG_UART8_TXBUFSIZE=3000 +CONFIG_USART1_BAUD=57600 +CONFIG_USART1_RXBUFSIZE=600 +CONFIG_USART1_TXBUFSIZE=1500 +CONFIG_USART2_BAUD=57600 +CONFIG_USART2_RXBUFSIZE=600 +CONFIG_USART2_TXBUFSIZE=3000 +CONFIG_USART3_BAUD=57600 +CONFIG_USART3_RXBUFSIZE=180 +CONFIG_USART3_TXBUFSIZE=1500 +CONFIG_USART6_BAUD=57600 +CONFIG_USART6_RXBUFSIZE=180 +CONFIG_USART6_SERIAL_CONSOLE=y +CONFIG_USBDEV=y +CONFIG_USBDEV_BUSPOWERED=y +CONFIG_USBDEV_MAXPOWER=500 +CONFIG_USEC_PER_TICK=1000 +CONFIG_WATCHDOG=y +CONFIG_WQUEUE_NOTIFIER=y diff --git a/boards/hkust/nxt-dual/nuttx-config/nsh/old_defconfig.txt b/boards/hkust/nxt-dual/nuttx-config/nsh/old_defconfig.txt new file mode 100644 index 000000000000..cbe89638ad1b --- /dev/null +++ b/boards/hkust/nxt-dual/nuttx-config/nsh/old_defconfig.txt @@ -0,0 +1,271 @@ +# +# This file is autogenerated: PLEASE DO NOT EDIT IT. +# +# You can use "make menuconfig" to make any modifications to the installed .config file. +# You can then do "make savedefconfig" to generate a new defconfig file that includes your +# modifications. +# +# CONFIG_DISABLE_ENVIRON is not set +# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set +# CONFIG_MMCSD_HAVE_CARDDETECT is not set +# CONFIG_MMCSD_HAVE_WRITEPROTECT is not set +# CONFIG_MMCSD_MMCSUPPORT is not set +# CONFIG_MMCSD_SPI is not set +# CONFIG_NSH_DISABLEBG is not set +# CONFIG_NSH_DISABLESCRIPT is not set +# CONFIG_NSH_DISABLE_DF is not set +# CONFIG_NSH_DISABLE_EXEC is not set +# CONFIG_NSH_DISABLE_EXIT is not set +# CONFIG_NSH_DISABLE_GET is not set +# CONFIG_NSH_DISABLE_ITEF is not set +# CONFIG_NSH_DISABLE_LOOPS is not set +# CONFIG_NSH_DISABLE_MKFATFS is not set +# CONFIG_NSH_DISABLE_SEMICOLON is not set +# CONFIG_NSH_DISABLE_TIME is not set +CONFIG_ARCH="arm" +CONFIG_ARCH_BOARD_CUSTOM=y +CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/hkust/nxt/nuttx-config" +CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y +CONFIG_ARCH_BOARD_CUSTOM_NAME="px4" +CONFIG_ARCH_CHIP="stm32h7" +CONFIG_ARCH_CHIP_STM32H743VI=y +CONFIG_ARCH_CHIP_STM32H7=y +CONFIG_ARCH_INTERRUPTSTACK=512 +CONFIG_ARCH_STACKDUMP=y +CONFIG_ARMV7M_BASEPRI_WAR=y +CONFIG_ARMV7M_DCACHE=y +CONFIG_ARMV7M_DTCM=y +CONFIG_ARMV7M_ICACHE=y +CONFIG_ARMV7M_MEMCPY=y +CONFIG_ARMV7M_USEBASEPRI=y +CONFIG_ARM_MPU_EARLY_RESET=y +CONFIG_BOARDCTL_RESET=y +CONFIG_BOARD_CRASHDUMP=y +CONFIG_BOARD_LOOPSPERMSEC=95751 +CONFIG_BOARD_RESET_ON_ASSERT=2 +CONFIG_BUILTIN=y +CONFIG_C99_BOOL8=y +CONFIG_CDCACM=y +CONFIG_CDCACM_IFLOWCONTROL=y +CONFIG_CDCACM_PRODUCTID=0x0036 +CONFIG_CDCACM_PRODUCTSTR="NxtPX4" +CONFIG_CDCACM_RXBUFSIZE=600 +CONFIG_CDCACM_TXBUFSIZE=12000 +CONFIG_CDCACM_VENDORID=0x1B8C +CONFIG_CDCACM_VENDORSTR="Gumstix" +CONFIG_CLOCK_MONOTONIC=y +CONFIG_DEBUG_FULLOPT=y +CONFIG_DEBUG_HARDFAULT_ALERT=y +CONFIG_DEBUG_MEMFAULT=y +CONFIG_DEBUG_SYMBOLS=y +CONFIG_DEFAULT_SMALL=y +CONFIG_DEV_FIFO_SIZE=0 +CONFIG_DEV_PIPE_MAXSIZE=1024 +CONFIG_DEV_PIPE_SIZE=70 +CONFIG_EXPERIMENTAL=y +CONFIG_FAT_DMAMEMORY=y +CONFIG_FAT_LCNAMES=y +CONFIG_FAT_LFN=y +CONFIG_FAT_LFN_ALIAS_HASH=y +CONFIG_FDCLONE_STDIO=y +CONFIG_FS_BINFS=y +CONFIG_FS_CROMFS=y +CONFIG_FS_FAT=y +CONFIG_FS_FATTIME=y +CONFIG_FS_PROCFS=y +CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y +CONFIG_FS_PROCFS_MAX_TASKS=64 +CONFIG_FS_PROCFS_REGISTER=y +CONFIG_FS_ROMFS=y +CONFIG_GRAN=y +CONFIG_GRAN_INTR=y +CONFIG_HAVE_CXX=y +CONFIG_HAVE_CXXINITIALIZE=y +CONFIG_I2C=y +CONFIG_I2C_RESET=y +CONFIG_IDLETHREAD_STACKSIZE=750 +CONFIG_IOB_NBUFFERS=24 +CONFIG_IOB_NCHAINS=24 +CONFIG_LIBC_FLOATINGPOINT=y +CONFIG_LIBC_LONG_LONG=y +CONFIG_LIBC_STRERROR=y +CONFIG_MEMSET_64BIT=y +CONFIG_MEMSET_OPTSPEED=y +CONFIG_MMCSD=y +CONFIG_MMCSD_SDIO=y +CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y +CONFIG_MM_IOB=y +CONFIG_MM_REGIONS=4 +# CONFIG_MTD=y +# CONFIG_MTD_BYTE_WRITE=y +# CONFIG_MTD_PARTITION=y +# CONFIG_MTD_PROGMEM=y +# CONFIG_MTD_RAMTRON=y +CONFIG_NAME_MAX=40 +CONFIG_NSH_ARCHINIT=y +CONFIG_NSH_ARGCAT=y +CONFIG_NSH_BUILTIN_APPS=y +CONFIG_NSH_CMDPARMS=y +CONFIG_NSH_CROMFSETC=y +CONFIG_NSH_LINELEN=128 +CONFIG_NSH_MAXARGUMENTS=15 +CONFIG_NSH_NESTDEPTH=8 +CONFIG_NSH_QUOTE=y +CONFIG_NSH_ROMFSETC=y +CONFIG_NSH_ROMFSSECTSIZE=128 +CONFIG_NSH_STRERROR=y +CONFIG_NSH_VARS=y +CONFIG_OTG_ID_GPIO_DISABLE=y +CONFIG_PIPES=y +CONFIG_PREALLOC_TIMERS=50 +CONFIG_PRIORITY_INHERITANCE=y +CONFIG_PTHREAD_MUTEX_ROBUST=y +CONFIG_PTHREAD_STACK_MIN=512 +CONFIG_RAMTRON_SETSPEED=y +CONFIG_RAM_SIZE=245760 +CONFIG_RAM_START=0x20010000 +CONFIG_RAW_BINARY=y +CONFIG_READLINE_CMD_HISTORY=y +CONFIG_READLINE_TABCOMPLETION=y +CONFIG_RTC_DATETIME=y +CONFIG_SCHED_ATEXIT=y +CONFIG_SCHED_HPWORK=y +CONFIG_SCHED_HPWORKPRIORITY=249 +CONFIG_SCHED_HPWORKSTACKSIZE=1280 +CONFIG_SCHED_INSTRUMENTATION=y +CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y +CONFIG_SCHED_LPWORK=y +CONFIG_SCHED_LPWORKPRIORITY=50 +CONFIG_SCHED_LPWORKSTACKSIZE=1632 +CONFIG_SCHED_WAITPID=y +CONFIG_SDCLONE_DISABLE=y +# CONFIG_SDMMC2_SDIO_PULLUP=y +CONFIG_SEM_PREALLOCHOLDERS=32 +CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y +CONFIG_SERIAL_TERMIOS=y +CONFIG_SIG_DEFAULT=y +CONFIG_SIG_SIGALRM_ACTION=y +CONFIG_SIG_SIGUSR1_ACTION=y +CONFIG_SIG_SIGUSR2_ACTION=y +CONFIG_SIG_SIGWORK=4 +CONFIG_STACK_COLORATION=y +CONFIG_START_DAY=30 +CONFIG_START_MONTH=11 +CONFIG_STDIO_BUFFER_SIZE=256 +CONFIG_STM32H7_ADC1=y +CONFIG_STM32H7_ADC3=y +CONFIG_STM32H7_BBSRAM=y +CONFIG_STM32H7_BBSRAM_FILES=5 +CONFIG_STM32H7_BDMA=y +CONFIG_STM32H7_BKPSRAM=y +CONFIG_STM32H7_DMA1=y +CONFIG_STM32H7_DMA2=y +CONFIG_STM32H7_DMACAPABLE=y +CONFIG_STM32H7_FLASH_OVERRIDE_I=y +CONFIG_STM32H7_FLOWCONTROL_BROKEN=y +CONFIG_STM32H7_I2C1=y +CONFIG_STM32H7_I2C2=y +# CONFIG_STM32H7_I2C3=y +# CONFIG_STM32H7_I2C4=y +CONFIG_STM32H7_I2C_DYNTIMEO=y +CONFIG_STM32H7_I2C_DYNTIMEO_STARTSTOP=10 +CONFIG_STM32H7_OTGFS=y +CONFIG_STM32H7_PROGMEM=y +CONFIG_STM32H7_RTC=y +CONFIG_STM32H7_RTC_AUTO_LSECLOCK_START_DRV_CAPABILITY=y +CONFIG_STM32H7_RTC_MAGIC_REG=1 +CONFIG_STM32H7_SAVE_CRASHDUMP=y +CONFIG_STM32H7_SDMMC1=y +CONFIG_STM32H7_SDMMC1_DMA=y +CONFIG_STM32H7_SDMMC1_DMA_BUFFER=1024 +# CONFIG_STM32H7_SDMMC2=y +CONFIG_STM32H7_SERIALBRK_BSDCOMPAT=y +CONFIG_STM32H7_SERIAL_DISABLE_REORDERING=y +CONFIG_STM32H7_SPI1=y +CONFIG_STM32H7_SPI1_DMA=y +CONFIG_STM32H7_SPI1_DMA_BUFFER=1024 +CONFIG_STM32H7_SPI2=y +CONFIG_STM32H7_SPI2_DMA=y +CONFIG_STM32H7_SPI2_DMA_BUFFER=4096 +CONFIG_STM32H7_SPI3=y +CONFIG_STM32H7_SPI3_DMA=y +CONFIG_STM32H7_SPI3_DMA_BUFFER=1024 +# CONFIG_STM32H7_SPI5=y +# CONFIG_STM32H7_SPI6=y +# CONFIG_STM32H7_SPI6_DMA=y +# CONFIG_STM32H7_SPI6_DMA_BUFFER=1024 +CONFIG_STM32H7_SPI_DMA=y +# CONFIG_STM32H7_TIM12=y +CONFIG_STM32H7_TIM1=y +CONFIG_STM32H7_TIM3=y +CONFIG_STM32H7_TIM4=y +CONFIG_STM32H7_TIM5=y + + +CONFIG_STM32H7_USART1=y #ttyS0 +CONFIG_STM32H7_USART2=y #ttyS1 +CONFIG_STM32H7_USART3=y #ttyS2 +CONFIG_STM32H7_UART4=y #ttyS3 +CONFIG_STM32H7_UART5=y #ttyS4 +CONFIG_STM32H7_UART7=y #ttyS5 + +# CONFIG_STM32H7_USART_BREAKS=y +# CONFIG_STM32H7_USART_INVERT=y +# CONFIG_STM32H7_USART_SINGLEWIRE=y +# CONFIG_STM32H7_USART_SWAP=y +CONFIG_SYSTEM_CDCACM=y +CONFIG_SYSTEM_NSH=y +CONFIG_TASK_NAME_SIZE=24 + + +# CONFIG_UART5_IFLOWCONTROL=y +# CONFIG_UART5_OFLOWCONTROL=y + +# CONFIG_UART8_BAUD=57600 +# CONFIG_UART8_RXBUFSIZE=600 +# CONFIG_UART8_TXBUFSIZE=1500 +CONFIG_USART1_BAUD=57600 +CONFIG_USART1_RXBUFSIZE=600 +CONFIG_USART1_TXBUFSIZE=1500 + +CONFIG_USART2_BAUD=57600 +# CONFIG_USART2_IFLOWCONTROL=y +# CONFIG_USART2_OFLOWCONTROL=y +CONFIG_USART2_RXBUFSIZE=600 +CONFIG_USART2_TXBUFSIZE=3000 + +CONFIG_USART3_BAUD=57600 +CONFIG_USART3_RXBUFSIZE=180 +CONFIG_USART3_SERIAL_CONSOLE=y +CONFIG_USART3_TXBUFSIZE=1500 + +CONFIG_UART4_BAUD=921600 +CONFIG_UART4_RXBUFSIZE=3000 +CONFIG_UART4_TXBUFSIZE=1200 +# CONFIG_UART4_RXDMA=y +# CONFIG_UART4_TXDMA=y + +CONFIG_UART5_BAUD=57600 +CONFIG_UART5_RXBUFSIZE=600 +CONFIG_UART5_TXBUFSIZE=1500 + + +# CONFIG_USART6_BAUD=57600 +# CONFIG_USART6_RXBUFSIZE=600 +# CONFIG_USART6_TXBUFSIZE=1500 + +CONFIG_UART7_BAUD=57600 +# CONFIG_UART7_IFLOWCONTROL=y +# CONFIG_UART7_OFLOWCONTROL=y +CONFIG_UART7_RXBUFSIZE=600 +CONFIG_UART7_TXBUFSIZE=3000 + + +CONFIG_USBDEV=y +CONFIG_USBDEV_BUSPOWERED=y +CONFIG_USBDEV_MAXPOWER=500 +CONFIG_USEC_PER_TICK=1000 +CONFIG_USERMAIN_STACKSIZE=2944 +CONFIG_USER_ENTRYPOINT="nsh_main" +CONFIG_WATCHDOG=y +CONFIG_WQUEUE_NOTIFIER=y diff --git a/boards/hkust/nxt-dual/nuttx-config/scripts/bootloader_script.ld b/boards/hkust/nxt-dual/nuttx-config/scripts/bootloader_script.ld new file mode 100644 index 000000000000..511ef2624248 --- /dev/null +++ b/boards/hkust/nxt-dual/nuttx-config/scripts/bootloader_script.ld @@ -0,0 +1,213 @@ +/**************************************************************************** + * scripts/script.ld + * + * Copyright (C) 2016, 2019 Gregory Nutt. All rights reserved. + * Author: Gregory Nutt + * + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name NuttX nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/* The Durandal-v1 uses an STM32H743II has 2048Kb of main FLASH memory. + * The flash memory is partitioned into a User Flash memory and a System + * Flash memory. Each of these memories has two banks: + * + * 1) User Flash memory: + * + * Bank 1: Start address 0x0800:0000 to 0x080F:FFFF with 8 sectors, 128Kb each + * Bank 2: Start address 0x0810:0000 to 0x081F:FFFF with 8 sectors, 128Kb each + * + * 2) System Flash memory: + * + * Bank 1: Start address 0x1FF0:0000 to 0x1FF1:FFFF with 1 x 128Kb sector + * Bank 1: Start address 0x1FF4:0000 to 0x1FF5:FFFF with 1 x 128Kb sector + * + * 3) User option bytes for user configuration, only in Bank 1. + * + * In the STM32H743II, two different boot spaces can be selected through + * the BOOT pin and the boot base address programmed in the BOOT_ADD0 and + * BOOT_ADD1 option bytes: + * + * 1) BOOT=0: Boot address defined by user option byte BOOT_ADD0[15:0]. + * ST programmed value: Flash memory at 0x0800:0000 + * 2) BOOT=1: Boot address defined by user option byte BOOT_ADD1[15:0]. + * ST programmed value: System bootloader at 0x1FF0:0000 + * + * The Durandal has a Swtich on board, the BOOT0 pin is at ground so by default, + * the STM32 will boot to address 0x0800:0000 in FLASH unless the swiutch is + * drepresed, then the boot will be from 0x1FF0:0000 + * + * The STM32H743ZI also has 1024Kb of data SRAM. + * SRAM is split up into several blocks and into three power domains: + * + * 1) TCM SRAMs are dedicated to the Cortex-M7 and are accessible with + * 0 wait states by the Cortex-M7 and by MDMA through AHBS slave bus + * + * 1.1) 128Kb of DTCM-RAM beginning at address 0x2000:0000 + * + * The DTCM-RAM is organized as 2 x 64Kb DTCM-RAMs on 2 x 32 bit + * DTCM ports. The DTCM-RAM could be used for critical real-time + * data, such as interrupt service routines or stack / heap memory. + * Both DTCM-RAMs can be used in parallel (for load/store operations) + * thanks to the Cortex-M7 dual issue capability. + * + * 1.2) 64Kb of ITCM-RAM beginning at address 0x0000:0000 + * + * This RAM is connected to ITCM 64-bit interface designed for + * execution of critical real-times routines by the CPU. + * + * 2) AXI SRAM (D1 domain) accessible by all system masters except BDMA + * through D1 domain AXI bus matrix + * + * 2.1) 512Kb of SRAM beginning at address 0x2400:0000 + * + * 3) AHB SRAM (D2 domain) accessible by all system masters except BDMA + * through D2 domain AHB bus matrix + * + * 3.1) 128Kb of SRAM1 beginning at address 0x3000:0000 + * 3.2) 128Kb of SRAM2 beginning at address 0x3002:0000 + * 3.3) 32Kb of SRAM3 beginning at address 0x3004:0000 + * + * SRAM1 - SRAM3 are one contiguous block: 288Kb at address 0x3000:0000 + * + * 4) AHB SRAM (D3 domain) accessible by most of system masters + * through D3 domain AHB bus matrix + * + * 4.1) 64Kb of SRAM4 beginning at address 0x3800:0000 + * 4.1) 4Kb of backup RAM beginning at address 0x3880:0000 + * + * When booting from FLASH, FLASH memory is aliased to address 0x0000:0000 + * where the code expects to begin execution by jumping to the entry point in + * the 0x0800:0000 address range. + */ + +MEMORY +{ + itcm (rwx) : ORIGIN = 0x00000000, LENGTH = 64K + flash (rx) : ORIGIN = 0x08000000, LENGTH = 2048K + dtcm1 (rwx) : ORIGIN = 0x20000000, LENGTH = 64K + dtcm2 (rwx) : ORIGIN = 0x20010000, LENGTH = 64K + sram (rwx) : ORIGIN = 0x24000000, LENGTH = 512K + sram1 (rwx) : ORIGIN = 0x30000000, LENGTH = 128K + sram2 (rwx) : ORIGIN = 0x30020000, LENGTH = 128K + sram3 (rwx) : ORIGIN = 0x30040000, LENGTH = 32K + sram4 (rwx) : ORIGIN = 0x38000000, LENGTH = 64K + bbram (rwx) : ORIGIN = 0x38800000, LENGTH = 4K +} + +OUTPUT_ARCH(arm) +EXTERN(_vectors) +ENTRY(_stext) + +/* + * Ensure that abort() is present in the final object. The exception handling + * code pulled in by libgcc.a requires it (and that code cannot be easily avoided). + */ +EXTERN(abort) +EXTERN(_bootdelay_signature) + +SECTIONS +{ + .text : { + _stext = ABSOLUTE(.); + *(.vectors) + . = ALIGN(32); + /* + This signature provides the bootloader with a way to delay booting + */ + _bootdelay_signature = ABSOLUTE(.); + FILL(0xffecc2925d7d05c5) + . += 8; + *(.text .text.*) + *(.fixup) + *(.gnu.warning) + *(.rodata .rodata.*) + *(.gnu.linkonce.t.*) + *(.glue_7) + *(.glue_7t) + *(.got) + *(.gcc_except_table) + *(.gnu.linkonce.r.*) + _etext = ABSOLUTE(.); + + } > flash + + /* + * Init functions (static constructors and the like) + */ + .init_section : { + _sinit = ABSOLUTE(.); + KEEP(*(.init_array .init_array.*)) + _einit = ABSOLUTE(.); + } > flash + + + .ARM.extab : { + *(.ARM.extab*) + } > flash + + __exidx_start = ABSOLUTE(.); + .ARM.exidx : { + *(.ARM.exidx*) + } > flash + __exidx_end = ABSOLUTE(.); + + _eronly = ABSOLUTE(.); + + .data : { + _sdata = ABSOLUTE(.); + *(.data .data.*) + *(.gnu.linkonce.d.*) + CONSTRUCTORS + _edata = ABSOLUTE(.); + } > sram AT > flash + + .bss : { + _sbss = ABSOLUTE(.); + *(.bss .bss.*) + *(.gnu.linkonce.b.*) + *(COMMON) + . = ALIGN(4); + _ebss = ABSOLUTE(.); + } > sram + + /* Stabs debugging sections. */ + .stab 0 : { *(.stab) } + .stabstr 0 : { *(.stabstr) } + .stab.excl 0 : { *(.stab.excl) } + .stab.exclstr 0 : { *(.stab.exclstr) } + .stab.index 0 : { *(.stab.index) } + .stab.indexstr 0 : { *(.stab.indexstr) } + .comment 0 : { *(.comment) } + .debug_abbrev 0 : { *(.debug_abbrev) } + .debug_info 0 : { *(.debug_info) } + .debug_line 0 : { *(.debug_line) } + .debug_pubnames 0 : { *(.debug_pubnames) } + .debug_aranges 0 : { *(.debug_aranges) } +} diff --git a/boards/hkust/nxt-dual/nuttx-config/scripts/script.ld b/boards/hkust/nxt-dual/nuttx-config/scripts/script.ld new file mode 100644 index 000000000000..1dc1a0ef97eb --- /dev/null +++ b/boards/hkust/nxt-dual/nuttx-config/scripts/script.ld @@ -0,0 +1,228 @@ +/**************************************************************************** + * scripts/script.ld + * + * Copyright (C) 2020 Gregory Nutt. All rights reserved. + * Author: Gregory Nutt + * + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name NuttX nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/* The board uses an STM32H743II and has 2048Kb of main FLASH memory. + * The flash memory is partitioned into a User Flash memory and a System + * Flash memory. Each of these memories has two banks: + * + * 1) User Flash memory: + * + * Bank 1: Start address 0x0800:0000 to 0x080F:FFFF with 8 sectors, 128Kb each + * Bank 2: Start address 0x0810:0000 to 0x081F:FFFF with 8 sectors, 128Kb each + * + * 2) System Flash memory: + * + * Bank 1: Start address 0x1FF0:0000 to 0x1FF1:FFFF with 1 x 128Kb sector + * Bank 1: Start address 0x1FF4:0000 to 0x1FF5:FFFF with 1 x 128Kb sector + * + * 3) User option bytes for user configuration, only in Bank 1. + * + * In the STM32H743II, two different boot spaces can be selected through + * the BOOT pin and the boot base address programmed in the BOOT_ADD0 and + * BOOT_ADD1 option bytes: + * + * 1) BOOT=0: Boot address defined by user option byte BOOT_ADD0[15:0]. + * ST programmed value: Flash memory at 0x0800:0000 + * 2) BOOT=1: Boot address defined by user option byte BOOT_ADD1[15:0]. + * ST programmed value: System bootloader at 0x1FF0:0000 + * + * There's a switch on board, the BOOT0 pin is at ground so by default, + * the STM32 will boot to address 0x0800:0000 in FLASH unless the switch is + * drepresed, then the boot will be from 0x1FF0:0000 + * + * The STM32H743ZI also has 1024Kb of data SRAM. + * SRAM is split up into several blocks and into three power domains: + * + * 1) TCM SRAMs are dedicated to the Cortex-M7 and are accessible with + * 0 wait states by the Cortex-M7 and by MDMA through AHBS slave bus + * + * 1.1) 128Kb of DTCM-RAM beginning at address 0x2000:0000 + * + * The DTCM-RAM is organized as 2 x 64Kb DTCM-RAMs on 2 x 32 bit + * DTCM ports. The DTCM-RAM could be used for critical real-time + * data, such as interrupt service routines or stack / heap memory. + * Both DTCM-RAMs can be used in parallel (for load/store operations) + * thanks to the Cortex-M7 dual issue capability. + * + * 1.2) 64Kb of ITCM-RAM beginning at address 0x0000:0000 + * + * This RAM is connected to ITCM 64-bit interface designed for + * execution of critical real-times routines by the CPU. + * + * 2) AXI SRAM (D1 domain) accessible by all system masters except BDMA + * through D1 domain AXI bus matrix + * + * 2.1) 512Kb of SRAM beginning at address 0x2400:0000 + * + * 3) AHB SRAM (D2 domain) accessible by all system masters except BDMA + * through D2 domain AHB bus matrix + * + * 3.1) 128Kb of SRAM1 beginning at address 0x3000:0000 + * 3.2) 128Kb of SRAM2 beginning at address 0x3002:0000 + * 3.3) 32Kb of SRAM3 beginning at address 0x3004:0000 + * + * SRAM1 - SRAM3 are one contiguous block: 288Kb at address 0x3000:0000 + * + * 4) AHB SRAM (D3 domain) accessible by most of system masters + * through D3 domain AHB bus matrix + * + * 4.1) 64Kb of SRAM4 beginning at address 0x3800:0000 + * 4.1) 4Kb of backup RAM beginning at address 0x3880:0000 + * + * When booting from FLASH, FLASH memory is aliased to address 0x0000:0000 + * where the code expects to begin execution by jumping to the entry point in + * the 0x0800:0000 address range. + */ + +MEMORY +{ + ITCM_RAM (rwx) : ORIGIN = 0x00000000, LENGTH = 64K + FLASH (rx) : ORIGIN = 0x08020000, LENGTH = 1792K + + DTCM1_RAM (rwx) : ORIGIN = 0x20000000, LENGTH = 64K + DTCM2_RAM (rwx) : ORIGIN = 0x20010000, LENGTH = 64K + AXI_SRAM (rwx) : ORIGIN = 0x24000000, LENGTH = 512K /* D1 domain AXI bus */ + SRAM1 (rwx) : ORIGIN = 0x30000000, LENGTH = 128K /* D2 domain AHB bus */ + SRAM2 (rwx) : ORIGIN = 0x30020000, LENGTH = 128K /* D2 domain AHB bus */ + SRAM3 (rwx) : ORIGIN = 0x30040000, LENGTH = 32K /* D2 domain AHB bus */ + SRAM4 (rwx) : ORIGIN = 0x38000000, LENGTH = 64K /* D3 domain */ + BKPRAM (rwx) : ORIGIN = 0x38800000, LENGTH = 4K +} + +OUTPUT_ARCH(arm) +EXTERN(_vectors) +ENTRY(_stext) + +/* + * Ensure that abort() is present in the final object. The exception handling + * code pulled in by libgcc.a requires it (and that code cannot be easily avoided). + */ +EXTERN(abort) +EXTERN(_bootdelay_signature) + +SECTIONS +{ + .text : { + _stext = ABSOLUTE(.); + *(.vectors) + . = ALIGN(32); + /* + This signature provides the bootloader with a way to delay booting + */ + _bootdelay_signature = ABSOLUTE(.); + FILL(0xffecc2925d7d05c5) + . += 8; + *(.text .text.*) + *(.fixup) + *(.gnu.warning) + *(.rodata .rodata.*) + *(.gnu.linkonce.t.*) + *(.glue_7) + *(.glue_7t) + *(.got) + *(.gcc_except_table) + *(.gnu.linkonce.r.*) + _etext = ABSOLUTE(.); + + } > FLASH + + /* + * Init functions (static constructors and the like) + */ + .init_section : { + _sinit = ABSOLUTE(.); + KEEP(*(.init_array .init_array.*)) + _einit = ABSOLUTE(.); + } > FLASH + + + .ARM.extab : { + *(.ARM.extab*) + } > FLASH + + __exidx_start = ABSOLUTE(.); + .ARM.exidx : { + *(.ARM.exidx*) + } > FLASH + __exidx_end = ABSOLUTE(.); + + _eronly = ABSOLUTE(.); + + .data : { + _sdata = ABSOLUTE(.); + *(.data .data.*) + *(.gnu.linkonce.d.*) + CONSTRUCTORS + _edata = ABSOLUTE(.); + + /* Pad out last section as the STM32H7 Flash write size is 256 bits. 32 bytes */ + . = ALIGN(16); + FILL(0xffff) + . += 16; + } > AXI_SRAM AT > FLASH = 0xffff + + .bss : { + _sbss = ABSOLUTE(.); + *(.bss .bss.*) + *(.gnu.linkonce.b.*) + *(COMMON) + . = ALIGN(4); + _ebss = ABSOLUTE(.); + } > AXI_SRAM + + /* Emit the the D3 power domain section for locating BDMA data */ + + .sram4_reserve (NOLOAD) : + { + *(.sram4) + . = ALIGN(4); + _sram4_heap_start = ABSOLUTE(.); + } > SRAM4 + + /* Stabs debugging sections. */ + .stab 0 : { *(.stab) } + .stabstr 0 : { *(.stabstr) } + .stab.excl 0 : { *(.stab.excl) } + .stab.exclstr 0 : { *(.stab.exclstr) } + .stab.index 0 : { *(.stab.index) } + .stab.indexstr 0 : { *(.stab.indexstr) } + .comment 0 : { *(.comment) } + .debug_abbrev 0 : { *(.debug_abbrev) } + .debug_info 0 : { *(.debug_info) } + .debug_line 0 : { *(.debug_line) } + .debug_pubnames 0 : { *(.debug_pubnames) } + .debug_aranges 0 : { *(.debug_aranges) } +} diff --git a/boards/hkust/nxt-dual/src/CMakeLists.txt b/boards/hkust/nxt-dual/src/CMakeLists.txt new file mode 100644 index 000000000000..798c5243474e --- /dev/null +++ b/boards/hkust/nxt-dual/src/CMakeLists.txt @@ -0,0 +1,69 @@ +############################################################################ +# +# Copyright (c) 2021 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ +if("${PX4_BOARD_LABEL}" STREQUAL "bootloader") + add_library(drivers_board + bootloader_main.c + usb.c + ) + target_link_libraries(drivers_board + PRIVATE + nuttx_arch + nuttx_drivers + bootloader + ) + target_include_directories(drivers_board PRIVATE ${PX4_SOURCE_DIR}/platforms/nuttx/src/bootloader/common) + +else() + add_library(drivers_board + i2c.cpp + init.c + led.c + sdio.c + spi.cpp + timer_config.cpp + usb.c + mtd.cpp + ) + # add_dependencies(drivers_board arch_board_hw_info) + + target_link_libraries(drivers_board + PRIVATE + arch_io_pins + arch_spi + arch_board_hw_info + drivers__led + nuttx_arch + nuttx_drivers + px4_layer + ) +endif() diff --git a/boards/hkust/nxt-dual/src/board_config.h b/boards/hkust/nxt-dual/src/board_config.h new file mode 100644 index 000000000000..2b8aba1296db --- /dev/null +++ b/boards/hkust/nxt-dual/src/board_config.h @@ -0,0 +1,230 @@ +/**************************************************************************** + * + * Copyright (c) 2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file board_config.h + * + * Board internal definitions + */ + +#pragma once + +/**************************************************************************************************** + * Included Files + ****************************************************************************************************/ + +#include +#include +#include + +#include + +/**************************************************************************************************** + * Definitions + ****************************************************************************************************/ + +#define FLASH_BASED_PARAMS + + +/* LEDs are driven with push open drain to support Anode to 5V or 3.3V */ + +# define GPIO_nLED_RED /* PD15 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN15) +# define GPIO_nLED_GREEN /* PD11 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN11) +# define GPIO_nLED_BLUE /* PB15 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN15) + +# define BOARD_HAS_CONTROL_STATUS_LEDS 1 +# define BOARD_OVERLOAD_LED LED_RED +# define BOARD_ARMED_STATE_LED LED_BLUE + +/* I2C busses */ +/* Devices on the onboard buses. + * + * Note that these are unshifted addresses. + */ +// #define PX4_I2C_OBDEV_SE050 0x48 + +#define GPIO_SPL_ADDR_SET /* PB5 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN5) + +/* + * ADC channels + * + * These are the channel numbers of the ADCs of the microcontroller that + * can be used by the Px4 Firmware in the adc driver + */ + +/* ADC defines to be used in sensors.cpp to read from a particular channel */ + +#define SYSTEM_ADC_BASE STM32_ADC1_BASE + +#define ADC12_CH(n) (n) + +#define PX4_ADC_GPIO \ + /* PC4 */ GPIO_ADC12_INP4, \ + /* PC5 */ GPIO_ADC12_INP8 + +/* Define GPIO pins used as ADC N.B. Channel numbers must match below */ +/* Define Channel numbers must match above GPIO pin IN(n)*/ +#define ADC_BATTERY_VOLTAGE_CHANNEL ADC12_CH(4) +#define ADC_BATTERY_CURRENT_CHANNEL ADC12_CH(5) + +#define ADC_CHANNELS \ + ((1 << ADC_BATTERY_VOLTAGE_CHANNEL) | \ + (1 << ADC_BATTERY_CURRENT_CHANNEL)) + +#define BOARD_ADC_OPEN_CIRCUIT_V (1.6f) + + + +/* Define Battery 1 Voltage Divider and A per V + */ + +// #define BOARD_BATTERY1_V_DIV (11.0f) /* measured with the provided PM board */ +// #define BOARD_BATTERY1_A_PER_V (40.0f) +// #define BOARD_BATTERY2_V_DIV (11.0f) /* measured with the provided PM board */ + +/* PWM + */ +#define DIRECT_PWM_OUTPUT_CHANNELS 8 + +#define BOARD_HAS_PWM DIRECT_PWM_OUTPUT_CHANNELS + + +/* Spare GPIO */ +#define GPIO_PA4 /* PA4 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN4) +#define GPIO_PC0 /* PC0 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN0) +#define GPIO_PC1 /* PC1 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN1) +/* Tone alarm output */ + +#define TONE_ALARM_TIMER 4 /* Timer 4 */ +#define TONE_ALARM_CHANNEL 3 /* PD14 GPIO_TIM4_CH3 NC */ +/*NC can be modified with Spare GPIO then connected with hardware */ +#define GPIO_BUZZER_1 /* PA4 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN4) + +#define GPIO_TONE_ALARM_IDLE GPIO_BUZZER_1 +#define GPIO_TONE_ALARM GPIO_BUZZER_1 + +/* USB OTG FS + * + * PD0 OTG_FS_VBUS VBUS sensing + */ +#define GPIO_OTGFS_VBUS /* PD0 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_100MHz|GPIO_PORTD|GPIO_PIN0) +#define BOARD_ADC_USB_CONNECTED (px4_arch_gpioread(GPIO_OTGFS_VBUS)) + +/* High-resolution timer */ +#define HRT_TIMER 8 /* use timer1 for the HRT */ +#define HRT_TIMER_CHANNEL 1 /* use capture/compare channel 1 */ + +/* RC Serial port */ +#define RC_SERIAL_PORT "/dev/ttyS4" +#define BOARD_SUPPORTS_RC_SERIAL_PORT_OUTPUT + +// #define GPIO_SBUS_INV (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN14) +// #define RC_INVERT_INPUT(_invert_true) px4_arch_gpiowrite(GPIO_SBUS_INV, _invert_true); + +/* SD card bringup does not work if performed on the IDLE thread because it + * will cause waiting. Use either: + * + * CONFIG_LIB_BOARDCTL=y, OR + * CONFIG_BOARD_INITIALIZE=y && CONFIG_BOARD_INITTHREAD=y + */ +#define SDIO_SLOTNO 0 /* Only one slot */ +#define SDIO_MINOR 0 +#if defined(CONFIG_BOARD_INITIALIZE) && !defined(CONFIG_LIB_BOARDCTL) && \ + !defined(CONFIG_BOARD_INITTHREAD) +# warning SDIO initialization cannot be perfomed on the IDLE thread +#endif + +/* This board provides a DMA pool and APIs */ +#define BOARD_DMA_ALLOC_POOL_SIZE 5120 + +/* This board provides the board_on_reset interface */ +#define BOARD_HAS_ON_RESET 1 + +#define PX4_GPIO_INIT_LIST { \ + PX4_ADC_GPIO, \ + GPIO_TONE_ALARM_IDLE, \ + GPIO_SPL_ADDR_SET, \ + GPIO_PC0, \ + GPIO_PC1, \ + } + +#define BOARD_ENABLE_CONSOLE_BUFFER + +#define BOARD_NUM_IO_TIMERS 5 + + +__BEGIN_DECLS + +/**************************************************************************************************** + * Public Types + ****************************************************************************************************/ + +/**************************************************************************************************** + * Public data + ****************************************************************************************************/ + +#ifndef __ASSEMBLY__ + +/**************************************************************************************************** + * Public Functions + ****************************************************************************************************/ + +/**************************************************************************** + * Name: stm32_sdio_initialize + * + * Description: + * Initialize SDIO-based MMC/SD card support + * + ****************************************************************************/ + +int stm32_sdio_initialize(void); + +/**************************************************************************************************** + * Name: stm32_spiinitialize + * + * Description: + * Called to configure SPI chip select GPIO pins for the board. + * + ****************************************************************************************************/ + +extern void stm32_spiinitialize(void); + +extern void stm32_usbinitialize(void); + +extern void board_peripheral_reset(int ms); + +#include + +#endif /* __ASSEMBLY__ */ + +__END_DECLS diff --git a/boards/hkust/nxt-dual/src/bootloader_main.c b/boards/hkust/nxt-dual/src/bootloader_main.c new file mode 100644 index 000000000000..5670308a29d8 --- /dev/null +++ b/boards/hkust/nxt-dual/src/bootloader_main.c @@ -0,0 +1,75 @@ +/**************************************************************************** + * + * Copyright (c) 2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file bootloader_main.c + * + * FMU-specific early startup code for bootloader +*/ + +#include "board_config.h" +#include "bl.h" + +#include +#include +#include +#include +#include +#include "arm_internal.h" +#include + +extern int sercon_main(int c, char **argv); + +__EXPORT void board_on_reset(int status) {} + +__EXPORT void stm32_boardinitialize(void) +{ + /* configure USB interfaces */ + stm32_usbinitialize(); +} + +__EXPORT int board_app_initialize(uintptr_t arg) +{ + return 0; +} + +void board_late_initialize(void) +{ + sercon_main(0, NULL); +} + +extern void sys_tick_handler(void); +void board_timerhook(void) +{ + sys_tick_handler(); +} diff --git a/boards/hkust/nxt-dual/src/flash_w25q128.c b/boards/hkust/nxt-dual/src/flash_w25q128.c new file mode 100644 index 000000000000..3a3e2cee1fcc --- /dev/null +++ b/boards/hkust/nxt-dual/src/flash_w25q128.c @@ -0,0 +1,505 @@ +/**************************************************************************** + * + * Copyright (C) 2020 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file flash_w25q128.c + * + * Board-specific external flash W25Q128 functions. + */ + + +#include "board_config.h" +#include "qspi.h" +#include "arm_internal.h" +#include +#include + + +/************************************************************************************ + * Pre-processor Definitions + ************************************************************************************/ +/* Configuration ********************************************************************/ + +#define N25Q128_SECTOR_SIZE (4*1024) +#define N25Q128_SECTOR_SHIFT (12) +#define N25Q128_SECTOR_COUNT (4096) +#define N25Q128_PAGE_SIZE (256) +#define N25Q128_PAGE_SHIFT (8) + +#define W25Q_DUMMY_CYCLES_FAST_READ_QUAD 6 +#define W25Q_INSTR_FAST_READ_QUAD 0xEB +#define W25Q_ADDRESS_SIZE 3 // 3 bytes -> 24 bits + +#define N25QXXX_READ_STATUS 0x05 /* Read status register: * + * 0x05 | SR */ +#define N25QXXX_PAGE_PROGRAM 0x02 /* Page Program: * + * 0x02 | ADDR(MS) | ADDR(MID) | * + * ADDR(LS) | data */ +#define N25QXXX_WRITE_ENABLE 0x06 /* Write enable: * + * 0x06 */ +#define N25QXXX_WRITE_DISABLE 0x04 /* Write disable command code: * + * 0x04 */ +#define N25QXXX_SUBSECTOR_ERASE 0x20 /* Sub-sector Erase (4 kB) * + * 0x20 | ADDR(MS) | ADDR(MID) | * + * ADDR(LS) */ + + +/* N25QXXX Registers ****************************************************************/ +/* Status register bit definitions */ + +#define STATUS_BUSY_MASK (1 << 0) /* Bit 0: Device ready/busy status */ +# define STATUS_READY (0 << 0) /* 0 = Not Busy */ +# define STATUS_BUSY (1 << 0) /* 1 = Busy */ +#define STATUS_WEL_MASK (1 << 1) /* Bit 1: Write enable latch status */ +# define STATUS_WEL_DISABLED (0 << 1) /* 0 = Not Write Enabled */ +# define STATUS_WEL_ENABLED (1 << 1) /* 1 = Write Enabled */ +#define STATUS_BP_SHIFT (2) /* Bits 2-4: Block protect bits */ +#define STATUS_BP_MASK (7 << STATUS_BP_SHIFT) +# define STATUS_BP_NONE (0 << STATUS_BP_SHIFT) +# define STATUS_BP_ALL (7 << STATUS_BP_SHIFT) +#define STATUS_TB_MASK (1 << 5) /* Bit 5: Top / Bottom Protect */ +# define STATUS_TB_TOP (0 << 5) /* 0 = BP2-BP0 protect Top down */ +# define STATUS_TB_BOTTOM (1 << 5) /* 1 = BP2-BP0 protect Bottom up */ +#define STATUS_BP3_MASK (1 << 5) /* Bit 6: BP3 */ +#define STATUS_SRP0_MASK (1 << 7) /* Bit 7: Status register protect 0 */ +# define STATUS_SRP0_UNLOCKED (0 << 7) /* 0 = WP# no effect / PS Lock Down */ +# define STATUS_SRP0_LOCKED (1 << 7) /* 1 = WP# protect / OTP Lock Down */ + +/************************************************************************************ + * Private Types + ************************************************************************************/ + +/* This type represents the state of the MTD device. The struct mtd_dev_s must + * appear at the beginning of the definition so that you can freely cast between + * pointers to struct mtd_dev_s and struct n25qxxx_dev_s. + */ + +struct n25qxxx_dev_s { + //struct mtd_dev_s mtd; /* MTD interface */ + FAR struct qspi_dev_s *qspi; /* Saved QuadSPI interface instance */ + uint16_t nsectors; /* Number of erase sectors */ + uint8_t sectorshift; /* Log2 of sector size */ + uint8_t pageshift; /* Log2 of page size */ + FAR uint8_t *cmdbuf; /* Allocated command buffer */ + FAR uint8_t *readbuf; /* Allocated status read buffer */ +}; + +/**************************************************************************** + * Private Data + ****************************************************************************/ + +struct qspi_dev_s *ptr_qspi_dev; +struct qspi_meminfo_s qspi_meminfo = { + .flags = QSPIMEM_QUADIO, + .addrlen = W25Q_ADDRESS_SIZE, + .dummies = W25Q_DUMMY_CYCLES_FAST_READ_QUAD, + .cmd = W25Q_INSTR_FAST_READ_QUAD +}; + +struct n25qxxx_dev_s n25qxxx_dev; +uint8_t cmdbuf[4] = {0u}; +uint8_t readbuf[1] = {0u}; + +/************************************************************************************ + * Private Functions + ************************************************************************************/ +__ramfunc__ int n25qxxx_command(FAR struct qspi_dev_s *qspi, uint8_t cmd); +__ramfunc__ uint8_t n25qxxx_read_status(FAR struct n25qxxx_dev_s *priv); +__ramfunc__ int n25qxxx_command_read(FAR struct qspi_dev_s *qspi, uint8_t cmd, + FAR void *buffer, size_t buflen); +__ramfunc__ void n25qxxx_write_enable(FAR struct n25qxxx_dev_s *priv); +__ramfunc__ void n25qxxx_write_disable(FAR struct n25qxxx_dev_s *priv); + +__ramfunc__ int n25qxxx_write_page(struct n25qxxx_dev_s *priv, FAR const uint8_t *buffer, + off_t address, size_t buflen); + +__ramfunc__ int n25qxxx_write_one_page(struct n25qxxx_dev_s *priv, struct qspi_meminfo_s *meminfo); + +__ramfunc__ int n25qxxx_erase_sector(struct n25qxxx_dev_s *priv, off_t sector); + +__ramfunc__ bool n25qxxx_isprotected(FAR struct n25qxxx_dev_s *priv, uint8_t status, + off_t address); + +__ramfunc__ int n25qxxx_command_address(FAR struct qspi_dev_s *qspi, uint8_t cmd, + off_t addr, uint8_t addrlen); + +/************************************************************************************ + * Public Functions + ************************************************************************************/ + +void flash_w25q128_init(void) +{ + int qspi_interface_number = 0; + ptr_qspi_dev = stm32h7_qspi_initialize(qspi_interface_number); + n25qxxx_dev.qspi = ptr_qspi_dev; + n25qxxx_dev.cmdbuf = cmdbuf; + n25qxxx_dev.readbuf = readbuf; + n25qxxx_dev.sectorshift = N25Q128_SECTOR_SHIFT; + n25qxxx_dev.pageshift = N25Q128_PAGE_SHIFT; + n25qxxx_dev.nsectors = N25Q128_SECTOR_COUNT; +} + +__ramfunc__ ssize_t up_progmem_ext_getpage(size_t addr) +{ + ssize_t page_address = (addr - STM32_FMC_BANK4) / N25Q128_SECTOR_COUNT; + + return page_address; +} + +__ramfunc__ ssize_t up_progmem_ext_eraseblock(size_t block) +{ + ssize_t size = N25Q128_SECTOR_COUNT; + + irqstate_t irqstate = px4_enter_critical_section(); + stm32h7_qspi_exit_memorymapped(ptr_qspi_dev); + + n25qxxx_erase_sector(&n25qxxx_dev, block); + + stm32h7_qspi_enter_memorymapped(ptr_qspi_dev, &qspi_meminfo, 0); + px4_leave_critical_section(irqstate); + return size; +} + +__ramfunc__ ssize_t up_progmem_ext_write(size_t addr, FAR const void *buf, size_t count) +{ + ssize_t ret_val = 0; + + irqstate_t irqstate = px4_enter_critical_section(); + stm32h7_qspi_exit_memorymapped(ptr_qspi_dev); + + addr &= 0xFFFFFF; + n25qxxx_write_page(&n25qxxx_dev, buf, (off_t)addr, count); + + stm32h7_qspi_enter_memorymapped(ptr_qspi_dev, &qspi_meminfo, 0); + px4_leave_critical_section(irqstate); + + return ret_val; +} + +/************************************************************************************ + * Name: n25qxxx_command + ************************************************************************************/ + +__ramfunc__ int n25qxxx_command(FAR struct qspi_dev_s *qspi, uint8_t cmd) +{ + struct qspi_cmdinfo_s cmdinfo; + + finfo("CMD: %02" PRIx8 "\n", cmd); + + cmdinfo.flags = 0; + cmdinfo.addrlen = 0; + cmdinfo.cmd = cmd; + cmdinfo.buflen = 0; + cmdinfo.addr = 0; + cmdinfo.buffer = NULL; + + int rv; + rv = qspi_command(qspi, &cmdinfo); + return rv; +} + +/************************************************************************************ + * Name: n25qxxx_read_status + ************************************************************************************/ + +__ramfunc__ uint8_t n25qxxx_read_status(FAR struct n25qxxx_dev_s *priv) +{ + DEBUGVERIFY(n25qxxx_command_read(priv->qspi, N25QXXX_READ_STATUS, + (FAR void *)&priv->readbuf[0], 1)); + return priv->readbuf[0]; +} + +/************************************************************************************ + * Name: n25qxxx_command_read + ************************************************************************************/ + +__ramfunc__ int n25qxxx_command_read(FAR struct qspi_dev_s *qspi, uint8_t cmd, + FAR void *buffer, size_t buflen) +{ + struct qspi_cmdinfo_s cmdinfo; + + finfo("CMD: %02" PRIx8 " buflen: %zu\n", cmd, buflen); + + cmdinfo.flags = QSPICMD_READDATA; + cmdinfo.addrlen = 0; + cmdinfo.cmd = cmd; + cmdinfo.buflen = buflen; + cmdinfo.addr = 0; + cmdinfo.buffer = buffer; + + int rv; + rv = qspi_command(qspi, &cmdinfo); + return rv; +} + + +/************************************************************************************ + * Name: n25qxxx_write_enable + ************************************************************************************/ + +__ramfunc__ void n25qxxx_write_enable(FAR struct n25qxxx_dev_s *priv) +{ + uint8_t status; + + do { + n25qxxx_command(priv->qspi, N25QXXX_WRITE_ENABLE); + status = n25qxxx_read_status(priv); + } while ((status & STATUS_WEL_MASK) != STATUS_WEL_ENABLED); +} + +/************************************************************************************ + * Name: n25qxxx_write_disable + ************************************************************************************/ + +__ramfunc__ void n25qxxx_write_disable(FAR struct n25qxxx_dev_s *priv) +{ + uint8_t status; + + do { + n25qxxx_command(priv->qspi, N25QXXX_WRITE_DISABLE); + status = n25qxxx_read_status(priv); + } while ((status & STATUS_WEL_MASK) != STATUS_WEL_DISABLED); +} + +/************************************************************************************ + * Name: n25qxxx_write_page + ************************************************************************************/ + +__ramfunc__ int n25qxxx_write_page(struct n25qxxx_dev_s *priv, FAR const uint8_t *buffer, + off_t address, size_t buflen) +{ + struct qspi_meminfo_s meminfo; + unsigned int pagesize; + unsigned int npages; + unsigned int firstpagesize = 0; + int ret = OK; + unsigned int i; + + finfo("address: %08jx buflen: %zu\n", (intmax_t)address, buflen); + + pagesize = (1 << priv->pageshift); + + /* Set up non-varying parts of transfer description */ + + meminfo.flags = QSPIMEM_WRITE; + meminfo.cmd = N25QXXX_PAGE_PROGRAM; + meminfo.addrlen = 3; + meminfo.dummies = 0; + meminfo.buffer = (void *)buffer; + + if (0 != (address % pagesize)) { + firstpagesize = pagesize - (address % pagesize); + } + + if (buflen <= firstpagesize) { + meminfo.addr = address; + meminfo.buflen = buflen; + ret = n25qxxx_write_one_page(priv, &meminfo); + + } else { + + if (firstpagesize > 0) { + meminfo.addr = address; + meminfo.buflen = firstpagesize; + ret = n25qxxx_write_one_page(priv, &meminfo); + + buffer += firstpagesize; + address += firstpagesize; + buflen -= firstpagesize; + } + + npages = (buflen >> priv->pageshift); + + meminfo.buflen = pagesize; + + /* Then write each page */ + + for (i = 0; (i < npages) && (ret == OK); i++) { + /* Set up varying parts of the transfer description */ + + meminfo.addr = address; + meminfo.buffer = (void *)buffer; + + ret = n25qxxx_write_one_page(priv, &meminfo); + + /* Update for the next time through the loop */ + + buffer += pagesize; + address += pagesize; + buflen -= pagesize; + } + + if ((ret == OK) && (buflen > 0)) { + meminfo.addr = address; + meminfo.buffer = (void *)buffer; + meminfo.buflen = buflen; + + ret = n25qxxx_write_one_page(priv, &meminfo); + } + } + + return ret; +} + +__ramfunc__ int n25qxxx_write_one_page(struct n25qxxx_dev_s *priv, struct qspi_meminfo_s *meminfo) +{ + int ret; + + n25qxxx_write_enable(priv); + ret = qspi_memory(priv->qspi, meminfo); + n25qxxx_write_disable(priv); + + if (ret < 0) { + ferr("ERROR: QSPI_MEMORY failed writing address=%06" PRIx32 "\n", + meminfo->addr); + } + + return ret; +} + +/************************************************************************************ + * Name: n25qxxx_erase_sector + ************************************************************************************/ + +__ramfunc__ int n25qxxx_erase_sector(struct n25qxxx_dev_s *priv, off_t sector) +{ + off_t address; + uint8_t status; + + finfo("sector: %08jx\n", (intmax_t) sector); + + /* Check that the flash is ready and unprotected */ + + status = n25qxxx_read_status(priv); + + if ((status & STATUS_BUSY_MASK) != STATUS_READY) { + ferr("ERROR: Flash busy: %02" PRIx8, status); + return -EBUSY; + } + + /* Get the address associated with the sector */ + + address = (off_t)sector << priv->sectorshift; + + if ((status & (STATUS_BP3_MASK | STATUS_BP_MASK)) != 0 && + n25qxxx_isprotected(priv, status, address)) { + ferr("ERROR: Flash protected: %02" PRIx8, status); + return -EACCES; + } + + /* Send the sector erase command */ + + n25qxxx_write_enable(priv); + n25qxxx_command_address(priv->qspi, N25QXXX_SUBSECTOR_ERASE, address, 3); + + /* Wait for erasure to finish */ + + while ((n25qxxx_read_status(priv) & STATUS_BUSY_MASK) != 0); + + return OK; +} + +/************************************************************************************ + * Name: n25qxxx_isprotected + ************************************************************************************/ + +__ramfunc__ bool n25qxxx_isprotected(FAR struct n25qxxx_dev_s *priv, uint8_t status, + off_t address) +{ + off_t protstart; + off_t protend; + off_t protsize; + unsigned int bp; + + /* The BP field is spread across non-contiguous bits */ + + bp = (status & STATUS_BP_MASK) >> STATUS_BP_SHIFT; + + if (status & STATUS_BP3_MASK) { + bp |= 8; + } + + /* the BP field is essentially the power-of-two of the number of 64k sectors, + * saturated to the device size. + */ + + if (0 == bp) { + return false; + } + + protsize = 0x00010000; + protsize <<= (protsize << (bp - 1)); + protend = (1 << priv->sectorshift) * priv->nsectors; + + if (protsize > protend) { + protsize = protend; + } + + /* The final protection range then depends on if the protection region is + * configured top-down or bottom up (assuming CMP=0). + */ + + if ((status & STATUS_TB_MASK) != 0) { + protstart = 0x00000000; + protend = protstart + protsize; + + } else { + protstart = protend - protsize; + /* protend already computed above */ + } + + return (address >= protstart && address < protend); +} + +/************************************************************************************ + * Name: n25qxxx_command_address + ************************************************************************************/ + +__ramfunc__ int n25qxxx_command_address(FAR struct qspi_dev_s *qspi, uint8_t cmd, + off_t addr, uint8_t addrlen) +{ + struct qspi_cmdinfo_s cmdinfo; + + finfo("CMD: %02" PRIx8 " Address: %04jx addrlen=%" PRIx8 "\n", cmd, (intmax_t) addr, addrlen); + + cmdinfo.flags = QSPICMD_ADDRESS; + cmdinfo.addrlen = addrlen; + cmdinfo.cmd = cmd; + cmdinfo.buflen = 0; + cmdinfo.addr = addr; + cmdinfo.buffer = NULL; + + int rv; + rv = qspi_command(qspi, &cmdinfo); + return rv; +} diff --git a/boards/hkust/nxt-dual/src/hw_config.h b/boards/hkust/nxt-dual/src/hw_config.h new file mode 100644 index 000000000000..352f29436a06 --- /dev/null +++ b/boards/hkust/nxt-dual/src/hw_config.h @@ -0,0 +1,135 @@ +/**************************************************************************** + * + * Copyright (C) 2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#pragma once + +/**************************************************************************** + * 10-8--2016: + * To simplify the ripple effect on the tools, we will be using + * /dev/serial/by-id/PX4 to locate PX4 devices. Therefore + * moving forward all Bootloaders must contain the prefix "PX4 BL " + * in the USBDEVICESTRING + * This Change will be made in an upcoming BL release + ****************************************************************************/ +/* + * Define usage to configure a bootloader + * + * + * Constant example Usage + * APP_LOAD_ADDRESS 0x08004000 - The address in Linker Script, where the app fw is org-ed + * BOOTLOADER_DELAY 5000 - Ms to wait while under USB pwr or bootloader request + * BOARD_FMUV2 + * INTERFACE_USB 1 - (Optional) Scan and use the USB interface for bootloading + * INTERFACE_USART 1 - (Optional) Scan and use the Serial interface for bootloading + * USBDEVICESTRING "PX4 BL FMU v2.x" - USB id string + * USBPRODUCTID 0x0011 - PID Should match defconfig + * BOOT_DELAY_ADDRESS 0x000001a0 - (Optional) From the linker script from Linker Script to get a custom + * delay provided by an APP FW + * BOARD_TYPE 9 - Must match .prototype boad_id + * _FLASH_KBYTES (*(uint16_t *)0x1fff7a22) - Run time flash size detection + * BOARD_FLASH_SECTORS ((_FLASH_KBYTES == 0x400) ? 11 : 23) - Run time determine the physical last sector + * BOARD_FLASH_SECTORS 11 - Hard coded zero based last sector + * BOARD_FLASH_SIZE (_FLASH_KBYTES*1024)- Total Flash size of device, determined at run time. + * (1024 * 1024) - Hard coded Total Flash of device - The bootloader and app reserved will be deducted + * programmatically + * + * BOARD_FIRST_FLASH_SECTOR_TO_ERASE 2 - Optional sectors index in the flash_sectors table (F4 only), to begin erasing. + * This is to allow sectors to be reserved for app fw usage. That will NOT be erased + * during a FW upgrade. + * The default is 0, and selects the first sector to be erased, as the 0th entry in the + * flash_sectors table. Which is the second physical sector of FLASH in the device. + * The first physical sector of FLASH is used by the bootloader, and is not defined + * in the table. + * + * APP_RESERVATION_SIZE (BOARD_FIRST_FLASH_SECTOR_TO_ERASE * 16 * 1024) - Number of bytes reserved by the APP FW. This number plus + * BOOTLOADER_RESERVATION_SIZE will be deducted from + * BOARD_FLASH_SIZE to determine the size of the App FW + * and hence the address space of FLASH to erase and program. + * USBMFGSTRING "PX4 AP" - Optional USB MFG string (default is '3D Robotics' if not defined.) + * SERIAL_BREAK_DETECT_DISABLED - Optional prevent break selection on Serial port from entering or staying in BL + * + * * Other defines are somewhat self explanatory. + */ + +/* Boot device selection list*/ +#define USB0_DEV 0x01 +#define SERIAL0_DEV 0x02 +#define SERIAL1_DEV 0x04 + +#define APP_LOAD_ADDRESS 0x08020000 +#define BOOTLOADER_DELAY 5000 +#define INTERFACE_USB 1 +#define INTERFACE_USB_CONFIG "/dev/ttyACM0" +#define BOARD_VBUS MK_GPIO_INPUT(GPIO_OTGFS_VBUS) + +//#define USE_VBUS_PULL_DOWN +#define INTERFACE_USART 6 +#define INTERFACE_USART_CONFIG "/dev/ttyS5,57600" +#define BOOT_DELAY_ADDRESS 0x000001a0 +#define BOARD_TYPE 1013 +#define BOARD_FLASH_SECTORS (14) +#define BOARD_FLASH_SIZE (16 * 128 * 1024) +#define APP_RESERVATION_SIZE (1 * 128 * 1024) + +#define OSC_FREQ 16 + +#define BOARD_PIN_LED_ACTIVITY GPIO_nLED_BLUE // BLUE +#define BOARD_PIN_LED_BOOTLOADER GPIO_nLED_RED // RED +#define BOARD_LED_ON 1 +#define BOARD_LED_OFF 0 + +#define SERIAL_BREAK_DETECT_DISABLED 1 + +#if !defined(ARCH_SN_MAX_LENGTH) +# define ARCH_SN_MAX_LENGTH 12 +#endif + +#if !defined(APP_RESERVATION_SIZE) +# define APP_RESERVATION_SIZE 0 +#endif + +#if !defined(BOARD_FIRST_FLASH_SECTOR_TO_ERASE) +# define BOARD_FIRST_FLASH_SECTOR_TO_ERASE 1 +#endif + +#if !defined(USB_DATA_ALIGN) +# define USB_DATA_ALIGN +#endif + +#ifndef BOOT_DEVICES_SELECTION +# define BOOT_DEVICES_SELECTION USB0_DEV|SERIAL0_DEV|SERIAL1_DEV +#endif + +#ifndef BOOT_DEVICES_FILTER_ONUSB +# define BOOT_DEVICES_FILTER_ONUSB USB0_DEV|SERIAL0_DEV|SERIAL1_DEV +#endif diff --git a/boards/hkust/nxt-dual/src/i2c.cpp b/boards/hkust/nxt-dual/src/i2c.cpp new file mode 100644 index 000000000000..72ba2d6c0b57 --- /dev/null +++ b/boards/hkust/nxt-dual/src/i2c.cpp @@ -0,0 +1,39 @@ +/**************************************************************************** + * + * Copyright (C) 2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include + +constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = { + initI2CBusExternal(1), + initI2CBusExternal(4), +}; diff --git a/boards/hkust/nxt-dual/src/init.c b/boards/hkust/nxt-dual/src/init.c new file mode 100644 index 000000000000..657c0080c019 --- /dev/null +++ b/boards/hkust/nxt-dual/src/init.c @@ -0,0 +1,205 @@ +/**************************************************************************** + * + * Copyright (c) 2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file init.c + * + * FMU-specific early startup code. This file implements the + * board_app_initialize() function that is called early by nsh during startup. + * + * Code here is run before the rcS script is invoked; it should start required + * subsystems and perform board-specific initialisation. + */ + +#include "board_config.h" + +#include + +#include +#include +#include +#include +#include +#include "arm_internal.h" + +#include +#include +#include +#include +#include +#include +#include + +#include + +# if defined(FLASH_BASED_PARAMS) +# include +#endif + +__BEGIN_DECLS +extern void led_init(void); +extern void led_on(int led); +extern void led_off(int led); +__END_DECLS + +/************************************************************************************ + * Name: board_peripheral_reset + * + * Description: + * + ************************************************************************************/ +__EXPORT void board_peripheral_reset(int ms) +{ + UNUSED(ms); +} + +/************************************************************************************ + * Name: board_on_reset + * + * Description: + * Optionally provided function called on entry to board_system_reset + * It should perform any house keeping prior to the rest. + * + * status - 1 if resetting to boot loader + * 0 if just resetting + * + ************************************************************************************/ +__EXPORT void board_on_reset(int status) +{ + for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) { + px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i))); + } + + if (status >= 0) { + up_mdelay(6); + } +} + +/************************************************************************************ + * Name: stm32_boardinitialize + * + * Description: + * All STM32 architectures must provide the following entry point. This entry point + * is called early in the initialization -- after all memory has been configured + * and mapped but before any devices have been initialized. + * + ************************************************************************************/ +__EXPORT void stm32_boardinitialize(void) +{ + /* Reset PWM first thing */ + board_on_reset(-1); + + /* configure LEDs */ + board_autoled_initialize(); + + /* configure pins */ + const uint32_t gpio[] = PX4_GPIO_INIT_LIST; + px4_gpio_init(gpio, arraySize(gpio)); + + /* configure SPI interfaces */ + stm32_spiinitialize(); + + /* configure USB interfaces */ + stm32_usbinitialize(); + +} + +/**************************************************************************** + * Name: board_app_initialize + * + * Description: + * Perform application specific initialization. This function is never + * called directly from application code, but only indirectly via the + * (non-standard) boardctl() interface using the command BOARDIOC_INIT. + * + * Input Parameters: + * arg - The boardctl() argument is passed to the board_app_initialize() + * implementation without modification. The argument has no + * meaning to NuttX; + * + * Returned Value: + * Zero (OK) is returned on success; a negated errno value is returned on + * any failure to indicate the nature of the failure. + * + ****************************************************************************/ +__EXPORT int board_app_initialize(uintptr_t arg) +{ + /* Need hrt running before using the ADC */ + px4_platform_init(); + + /* configure the DMA allocator */ + if (board_dma_alloc_init() < 0) { + syslog(LOG_ERR, "[boot] DMA alloc FAILED\n"); + } + + /* initial LED state */ + drv_led_start(); + led_off(LED_RED); + led_off(LED_BLUE); + + if (board_hardfault_init(2, true) != 0) { + led_on(LED_BLUE); + } + +#ifdef CONFIG_MMCSD + int ret = stm32_sdio_initialize(); + + if (ret != OK) { + led_on(LED_BLUE); + return ret; + } + +#endif + +// TODO：internal flash store parameters +#if defined(FLASH_BASED_PARAMS) + static sector_descriptor_t params_sector_map[] = { + {15, 128 * 1024, 0x081E0000}, + {0, 0, 0}, + }; + + /* Initialize the flashfs layer to use heap allocated memory */ + int result = parameter_flashfs_init(params_sector_map, NULL, 0); + + if (result != OK) { + syslog(LOG_ERR, "[boot] FAILED to init params in FLASH %d\n", result); + led_on(LED_RED); + } + +#endif + + /* Configure the HW based on the manifest */ + px4_platform_configure(); + + return OK; +} diff --git a/boards/hkust/nxt-dual/src/led.c b/boards/hkust/nxt-dual/src/led.c new file mode 100644 index 000000000000..0420c1da2e79 --- /dev/null +++ b/boards/hkust/nxt-dual/src/led.c @@ -0,0 +1,113 @@ +/**************************************************************************** + * + * Copyright (c) 2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file led.c + * + * LED backend. + */ + +#include + +#include + +#include "chip.h" +#include "stm32_gpio.h" +#include "board_config.h" + +#include +#include + +/* + * Ideally we'd be able to get these from arm_internal.h, + * but since we want to be able to disable the NuttX use + * of leds for system indication at will and there is no + * separate switch, we need to build independent of the + * CONFIG_ARCH_LEDS configuration switch. + */ +__BEGIN_DECLS +extern void led_init(void); +extern void led_on(int led); +extern void led_off(int led); +extern void led_toggle(int led); +__END_DECLS + +# define xlat(p) (p) +static uint32_t g_ledmap[] = { + GPIO_nLED_GREEN, // Indexed by BOARD_LED_GREEN + GPIO_nLED_BLUE, // Indexed by BOARD_LED_BLUE + GPIO_nLED_RED, // Indexed by BOARD_LED_RED +}; + +__EXPORT void led_init(void) +{ + /* Configure LED GPIOs for output */ + for (size_t l = 0; l < (sizeof(g_ledmap) / sizeof(g_ledmap[0])); l++) { + if (g_ledmap[l] != 0) { + stm32_configgpio(g_ledmap[l]); + } + } +} + +static void phy_set_led(int led, bool state) +{ + /* Drive Low to switch on */ + if (g_ledmap[led] != 0) { + stm32_gpiowrite(g_ledmap[led], !state); + } +} + +static bool phy_get_led(int led) +{ + /* If Low it is on */ + if (g_ledmap[led] != 0) { + return !stm32_gpioread(g_ledmap[led]); + } + + return false; +} + +__EXPORT void led_on(int led) +{ + phy_set_led(xlat(led), true); +} + +__EXPORT void led_off(int led) +{ + phy_set_led(xlat(led), false); +} + +__EXPORT void led_toggle(int led) +{ + phy_set_led(xlat(led), !phy_get_led(xlat(led))); +} diff --git a/boards/hkust/nxt-dual/src/manifest.c b/boards/hkust/nxt-dual/src/manifest.c new file mode 100644 index 000000000000..e13f3d08607f --- /dev/null +++ b/boards/hkust/nxt-dual/src/manifest.c @@ -0,0 +1,131 @@ +/**************************************************************************** + * + * Copyright (c) 2018-2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file manifest.c + * + * This module supplies the interface to the manifest of hardware that is + * optional and dependent on the HW REV and HW VER IDs + * + * The manifest allows the system to know whether a hardware option + * say for example the PX4IO is an no-pop option vs it is broken. + * + */ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include +#include + +#include +#include +#include + +#include "systemlib/px4_macros.h" + +/**************************************************************************** + * Pre-Processor Definitions + ****************************************************************************/ + +typedef struct { + uint32_t hw_ver_rev; /* the version and revision */ + const px4_hw_mft_item_t *mft; /* The first entry */ + uint32_t entries; /* the lenght of the list */ +} px4_hw_mft_list_entry_t; + +typedef px4_hw_mft_list_entry_t *px4_hw_mft_list_entry; +#define px4_hw_mft_list_uninitialized (px4_hw_mft_list_entry) -1 + +static const px4_hw_mft_item_t device_unsupported = {0, 0, 0}; + +// List of components on a specific board configuration +// The index of those components is given by the enum (px4_hw_mft_item_id_t) +// declared in board_common.h +static const px4_hw_mft_item_t hw_mft_list_v0600[] = { + { + .present = 0, + .mandatory = 0, + .connection = px4_hw_con_unknown, + }, +}; + +static px4_hw_mft_list_entry_t mft_lists[] = { + {V6U00, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, +}; + +/************************************************************************************ + * Name: board_query_manifest + * + * Description: + * Optional returns manifest item. + * + * Input Parameters: + * manifest_id - the ID for the manifest item to retrieve + * + * Returned Value: + * 0 - item is not in manifest => assume legacy operations + * pointer to a manifest item + * + ************************************************************************************/ + +__EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id) +{ + static px4_hw_mft_list_entry boards_manifest = px4_hw_mft_list_uninitialized; + + if (boards_manifest == px4_hw_mft_list_uninitialized) { + uint32_t ver_rev = board_get_hw_version() << 16; + ver_rev |= board_get_hw_revision(); + + for (unsigned i = 0; i < arraySize(mft_lists); i++) { + if (mft_lists[i].hw_ver_rev == ver_rev) { + boards_manifest = &mft_lists[i]; + break; + } + } + + if (boards_manifest == px4_hw_mft_list_uninitialized) { + syslog(LOG_ERR, "[boot] Board %08" PRIx32 " is not supported!\n", ver_rev); + } + } + + px4_hw_mft_item rv = &device_unsupported; + + if (boards_manifest != px4_hw_mft_list_uninitialized && + id < boards_manifest->entries) { + rv = &boards_manifest->mft[id]; + } + + return rv; +} diff --git a/boards/hkust/nxt-dual/src/mtd.cpp b/boards/hkust/nxt-dual/src/mtd.cpp new file mode 100644 index 000000000000..e374a9be7e68 --- /dev/null +++ b/boards/hkust/nxt-dual/src/mtd.cpp @@ -0,0 +1,77 @@ +/**************************************************************************** + * + * Copyright (C) 2020 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ +//TODO:Prepare for NxtDual + +#include +#include +// KiB BS nB +static const px4_mft_device_t spi5 = { // FM25V02A on FMUM native: 32K X 8, emulated as (1024 Blocks of 32) + .bus_type = px4_mft_device_t::SPI, + .devid = SPIDEV_FLASH(0) +}; + +static const px4_mtd_entry_t fmum_fram = { + .device = &spi5, + .npart = 1, + .partd = { + { + .type = MTD_PARAMETERS, + .path = "/fs/mtd_params", + .nblocks = 32 + } + }, +}; + +static const px4_mtd_manifest_t board_mtd_config = { + .nconfigs = 1, + .entries = { + &fmum_fram + } +}; + +static const px4_mft_entry_s mtd_mft = { + .type = MTD, + .pmft = (void *) &board_mtd_config, +}; + +static const px4_mft_s mft = { + .nmft = 1, + .mfts = { + &mtd_mft + } +}; + +const px4_mft_s *board_get_manifest(void) +{ + return &mft; +} diff --git a/boards/hkust/nxt-dual/src/sdio.c b/boards/hkust/nxt-dual/src/sdio.c new file mode 100644 index 000000000000..869d757756a0 --- /dev/null +++ b/boards/hkust/nxt-dual/src/sdio.c @@ -0,0 +1,177 @@ +/**************************************************************************** + * + * Copyright (C) 2014, 2016 Gregory Nutt. All rights reserved. + * Author: Gregory Nutt + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name NuttX nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include +#include + +#include +#include +#include +#include + +#include +#include + +#include "chip.h" +#include "board_config.h" +#include "stm32_gpio.h" +#include "stm32_sdmmc.h" + +#ifdef CONFIG_MMCSD + + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +/* Card detections requires card support and a card detection GPIO */ + +#define HAVE_NCD 1 +#if !defined(GPIO_SDMMC1_NCD) +# undef HAVE_NCD +#endif + +/**************************************************************************** + * Private Data + ****************************************************************************/ + +static FAR struct sdio_dev_s *sdio_dev; +#ifdef HAVE_NCD +static bool g_sd_inserted = 0xff; /* Impossible value */ +#endif + +/**************************************************************************** + * Private Functions + ****************************************************************************/ + +/**************************************************************************** + * Name: stm32_ncd_interrupt + * + * Description: + * Card detect interrupt handler. + * + ****************************************************************************/ + +#ifdef HAVE_NCD +static int stm32_ncd_interrupt(int irq, FAR void *context) +{ + bool present; + + present = !stm32_gpioread(GPIO_SDMMC1_NCD); + + if (sdio_dev && present != g_sd_inserted) { + sdio_mediachange(sdio_dev, present); + g_sd_inserted = present; + } + + return OK; +} +#endif + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +/**************************************************************************** + * Name: stm32_sdio_initialize + * + * Description: + * Initialize SDIO-based MMC/SD card support + * + ****************************************************************************/ + +int stm32_sdio_initialize(void) +{ + int ret; + +#ifdef HAVE_NCD + /* Card detect */ + + bool cd_status; + + /* Configure the card detect GPIO */ + + stm32_configgpio(GPIO_SDMMC1_NCD); + + /* Register an interrupt handler for the card detect pin */ + + stm32_gpiosetevent(GPIO_SDMMC1_NCD, true, true, true, stm32_ncd_interrupt); +#endif + + /* Mount the SDIO-based MMC/SD block driver */ + /* First, get an instance of the SDIO interface */ + + finfo("Initializing SDIO slot %d\n", SDIO_SLOTNO); + + sdio_dev = sdio_initialize(SDIO_SLOTNO); + + if (!sdio_dev) { + syslog(LOG_ERR, "[boot] Failed to initialize SDIO slot %d\n", SDIO_SLOTNO); + return -ENODEV; + } + + /* Now bind the SDIO interface to the MMC/SD driver */ + + finfo("Bind SDIO to the MMC/SD driver, minor=%d\n", SDIO_MINOR); + + ret = mmcsd_slotinitialize(SDIO_MINOR, sdio_dev); + + if (ret != OK) { + syslog(LOG_ERR, "[boot] Failed to bind SDIO to the MMC/SD driver: %d\n", ret); + return ret; + } + + finfo("Successfully bound SDIO to the MMC/SD driver\n"); + +#ifdef HAVE_NCD + /* Use SD card detect pin to check if a card is g_sd_inserted */ + + cd_status = !stm32_gpioread(GPIO_SDMMC1_NCD); + finfo("Card detect : %d\n", cd_status); + + sdio_mediachange(sdio_dev, cd_status); +#else + /* Assume that the SD card is inserted. What choice do we have? */ + + sdio_mediachange(sdio_dev, true); +#endif + + return OK; +} + +#endif /* CONFIG_MMCSD */ diff --git a/boards/hkust/nxt-dual/src/spi.cpp b/boards/hkust/nxt-dual/src/spi.cpp new file mode 100644 index 000000000000..058c48982636 --- /dev/null +++ b/boards/hkust/nxt-dual/src/spi.cpp @@ -0,0 +1,56 @@ +/**************************************************************************** + * + * Copyright (C) 2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include +#include +#include + + +constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = { + initSPIBus(SPI::Bus::SPI1, { + initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortA, GPIO::Pin3}, SPI::DRDY{GPIO::PortA, GPIO::Pin1}), + initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortA, GPIO::Pin2}, SPI::DRDY{GPIO::PortA, GPIO::Pin0}), + }), + initSPIBus(SPI::Bus::SPI2, { + initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortD, GPIO::Pin4}) + }), + initSPIBus(SPI::Bus::SPI3, { + // not in use, future development + }), + initSPIBus(SPI::Bus::SPI4, { + initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortC, GPIO::Pin2}, SPI::DRDY{GPIO::PortE, GPIO::Pin3}), + initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortC, GPIO::Pin13}, SPI::DRDY{GPIO::PortE, GPIO::Pin4}), + }), +}; + +static constexpr bool unused = validateSPIConfig(px4_spi_buses); diff --git a/boards/hkust/nxt-dual/src/timer_config.cpp b/boards/hkust/nxt-dual/src/timer_config.cpp new file mode 100644 index 000000000000..27ad0f247617 --- /dev/null +++ b/boards/hkust/nxt-dual/src/timer_config.cpp @@ -0,0 +1,56 @@ +/**************************************************************************** + * + * Copyright (C) 2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include + +constexpr io_timers_t io_timers[MAX_IO_TIMERS] = { + initIOTimer(Timer::Timer1, DMA{DMA::Index1}), + initIOTimer(Timer::Timer2, DMA{DMA::Index1}), + initIOTimer(Timer::Timer3, DMA{DMA::Index1}), + // initIOTimer(Timer::Timer2), + // initIOTimer(Timer::Timer3), +}; + +constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = { + initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel1}, {GPIO::PortE, GPIO::Pin9}), + initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel2}, {GPIO::PortE, GPIO::Pin11}), + initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel3}, {GPIO::PortE, GPIO::Pin13}), + initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel4}, {GPIO::PortE, GPIO::Pin14}), + initIOTimerChannel(io_timers, {Timer::Timer2, Timer::Channel3}, {GPIO::PortB, GPIO::Pin10}), + initIOTimerChannel(io_timers, {Timer::Timer2, Timer::Channel4}, {GPIO::PortB, GPIO::Pin11}), + initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel3}, {GPIO::PortB, GPIO::Pin0}), + initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel4}, {GPIO::PortB, GPIO::Pin1}), +}; + +constexpr io_timers_channel_mapping_t io_timers_channel_mapping = + initIOTimerChannelMapping(io_timers, timer_io_channels); diff --git a/boards/hkust/nxt-dual/src/usb.c b/boards/hkust/nxt-dual/src/usb.c new file mode 100644 index 000000000000..9591784866a6 --- /dev/null +++ b/boards/hkust/nxt-dual/src/usb.c @@ -0,0 +1,78 @@ +/**************************************************************************** + * + * Copyright (C) 2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file usb.c + * + * Board-specific USB functions. + */ + +#include "board_config.h" +#include +#include +#include +#include + +/************************************************************************************ + * Name: stm32_usbinitialize + * + * Description: + * Called to setup USB-related GPIO pins for the board. + * + ************************************************************************************/ + +__EXPORT void stm32_usbinitialize(void) +{ + /* The OTG FS has an internal soft pull-up */ + + /* Configure the OTG FS VBUS sensing GPIO, Power On, and Overcurrent GPIOs */ + +#ifdef CONFIG_STM32H7_OTGFS + stm32_configgpio(GPIO_OTGFS_VBUS); +#endif +} + +/************************************************************************************ + * Name: stm32_usbsuspend + * + * Description: + * Board logic must provide the stm32_usbsuspend logic if the USBDEV driver is + * used. This function is called whenever the USB enters or leaves suspend mode. + * This is an opportunity for the board logic to shutdown clocks, power, etc. + * while the USB is suspended. + * + ************************************************************************************/ +__EXPORT void stm32_usbsuspend(FAR struct usbdev_s *dev, bool resume) +{ + uinfo("resume: %d\n", resume); +} diff --git a/boards/hkust/nxt-v1/bootloader.px4board b/boards/hkust/nxt-v1/bootloader.px4board new file mode 100644 index 000000000000..19b6e662be69 --- /dev/null +++ b/boards/hkust/nxt-v1/bootloader.px4board @@ -0,0 +1,3 @@ +CONFIG_BOARD_TOOLCHAIN="arm-none-eabi" +CONFIG_BOARD_ARCHITECTURE="cortex-m7" +CONFIG_BOARD_ROMFSROOT="" diff --git a/boards/hkust/nxt-v1/default.px4board b/boards/hkust/nxt-v1/default.px4board new file mode 100644 index 000000000000..b72160775850 --- /dev/null +++ b/boards/hkust/nxt-v1/default.px4board @@ -0,0 +1,92 @@ +CONFIG_BOARD_TOOLCHAIN="arm-none-eabi" +CONFIG_BOARD_ARCHITECTURE="cortex-m7" +CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS0" +CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS1" +CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS2" +CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS3" +CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS5" +CONFIG_BOARD_SERIAL_RC="/dev/ttyS4" +CONFIG_DRIVERS_ADC_BOARD_ADC=y +CONFIG_COMMON_BAROMETERS=y +CONFIG_DRIVERS_BATT_SMBUS=y +CONFIG_DRIVERS_CAMERA_CAPTURE=y +CONFIG_DRIVERS_CAMERA_TRIGGER=y +CONFIG_DRIVERS_CDCACM_AUTOSTART=y +CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y +CONFIG_COMMON_DISTANCE_SENSOR=y +CONFIG_DRIVERS_DSHOT=y +CONFIG_DRIVERS_GPS=y +CONFIG_DRIVERS_IMU_BOSCH_BMI088=y +CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y +CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y +CONFIG_DRIVERS_IMU_INVENSENSE_MPU6500=y +CONFIG_DRIVERS_IRLOCK=y +CONFIG_COMMON_LIGHT=y +CONFIG_COMMON_MAGNETOMETER=y +CONFIG_COMMON_OPTICAL_FLOW=y +CONFIG_DRIVERS_PWM_OUT=y +CONFIG_DRIVERS_RC_INPUT=y +CONFIG_DRIVERS_ROBOCLAW=y +CONFIG_COMMON_TELEMETRY=y +CONFIG_DRIVERS_TONE_ALARM=y +CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y +CONFIG_MODULES_BATTERY_STATUS=y +CONFIG_MODULES_CAMERA_FEEDBACK=y +CONFIG_MODULES_COMMANDER=y +CONFIG_MODULES_CONTROL_ALLOCATOR=y +CONFIG_MODULES_DATAMAN=y +CONFIG_MODULES_EKF2=y +CONFIG_MODULES_ESC_BATTERY=y +CONFIG_MODULES_EVENTS=y +CONFIG_MODULES_FLIGHT_MODE_MANAGER=y +CONFIG_MODULES_FW_ATT_CONTROL=y +CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y +CONFIG_MODULES_FW_POS_CONTROL=y +CONFIG_MODULES_FW_RATE_CONTROL=y +CONFIG_MODULES_GIMBAL=y +CONFIG_MODULES_GYRO_CALIBRATION=y +CONFIG_MODULES_GYRO_FFT=y +CONFIG_MODULES_LAND_DETECTOR=y +CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y +CONFIG_MODULES_LOAD_MON=y +CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y +CONFIG_MODULES_LOGGER=y +CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y +CONFIG_MODULES_MANUAL_CONTROL=y +CONFIG_MODULES_MAVLINK=y +CONFIG_MODULES_MC_ATT_CONTROL=y +CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y +CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y +CONFIG_MODULES_MC_POS_CONTROL=y +CONFIG_MODULES_MC_RATE_CONTROL=y +CONFIG_MODULES_NAVIGATOR=y +CONFIG_MODULES_RC_UPDATE=y +CONFIG_MODULES_ROVER_POS_CONTROL=y +CONFIG_MODULES_SENSORS=y +CONFIG_MODULES_TEMPERATURE_COMPENSATION=y +CONFIG_MODULES_UXRCE_DDS_CLIENT=y +CONFIG_MODULES_VTOL_ATT_CONTROL=y +CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y +CONFIG_SYSTEMCMDS_BL_UPDATE=y +CONFIG_SYSTEMCMDS_DMESG=y +CONFIG_SYSTEMCMDS_DUMPFILE=y +CONFIG_SYSTEMCMDS_GPIO=y +CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y +CONFIG_SYSTEMCMDS_I2CDETECT=y +CONFIG_SYSTEMCMDS_LED_CONTROL=y +CONFIG_SYSTEMCMDS_MFT=y +CONFIG_SYSTEMCMDS_NSHTERM=y +CONFIG_SYSTEMCMDS_PARAM=y +CONFIG_SYSTEMCMDS_PERF=y +CONFIG_SYSTEMCMDS_REBOOT=y +CONFIG_SYSTEMCMDS_SD_BENCH=y +CONFIG_SYSTEMCMDS_SD_STRESS=y +CONFIG_SYSTEMCMDS_SYSTEM_TIME=y +CONFIG_SYSTEMCMDS_TOP=y +CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y +CONFIG_SYSTEMCMDS_TUNE_CONTROL=y +CONFIG_SYSTEMCMDS_UORB=y +CONFIG_SYSTEMCMDS_USB_CONNECTED=y +CONFIG_SYSTEMCMDS_VER=y +CONFIG_SYSTEMCMDS_WORK_QUEUE=y +CONFIG_EXAMPLES_FAKE_GPS=y diff --git a/boards/hkust/nxt-v1/extras/hkust_nxt-v1_bootloader.bin b/boards/hkust/nxt-v1/extras/hkust_nxt-v1_bootloader.bin new file mode 100755 index 000000000000..a940993d6c77 Binary files /dev/null and b/boards/hkust/nxt-v1/extras/hkust_nxt-v1_bootloader.bin differ diff --git a/boards/hkust/nxt-v1/firmware.prototype b/boards/hkust/nxt-v1/firmware.prototype new file mode 100644 index 000000000000..d715678889a3 --- /dev/null +++ b/boards/hkust/nxt-v1/firmware.prototype @@ -0,0 +1,13 @@ +{ + "board_id": 1013, + "magic": "PX4FWv1", + "description": "Firmware for the MatekH743-slim board", + "image": "", + "build_time": 0, + "summary": "MatekH743-mini", + "version": "0.1", + "image_size": 0, + "image_maxsize": 1966080, + "git_identity": "", + "board_revision": 0 +} diff --git a/boards/hkust/nxt-v1/init/rc.board_defaults b/boards/hkust/nxt-v1/init/rc.board_defaults new file mode 100644 index 000000000000..d3504a657e8f --- /dev/null +++ b/boards/hkust/nxt-v1/init/rc.board_defaults @@ -0,0 +1,6 @@ +#!/bin/sh +# +# board specific defaults +#------------------------------------------------------------------------------ +param set-default SYS_HAS_MAG 0 +param set-default IMU_GYRO_RATEMAX 2000 diff --git a/boards/hkust/nxt-v1/init/rc.board_extras b/boards/hkust/nxt-v1/init/rc.board_extras new file mode 100644 index 000000000000..780b13dc96b3 --- /dev/null +++ b/boards/hkust/nxt-v1/init/rc.board_extras @@ -0,0 +1,13 @@ +#!/bin/sh +# +# board specific extras init +#------------------------------------------------------------------------------ + +# NxtV1 does not have OSD +# if ! param compare OSD_ATXXXX_CFG 0 +# then +# atxxxx start -s +# fi + +# DShot telemetry is always on UART7 +# dshot telemetry /dev/ttyS5 diff --git a/boards/hkust/nxt-v1/init/rc.board_sensors b/boards/hkust/nxt-v1/init/rc.board_sensors new file mode 100644 index 000000000000..5c51e7642170 --- /dev/null +++ b/boards/hkust/nxt-v1/init/rc.board_sensors @@ -0,0 +1,16 @@ +#!/bin/sh +# +# board specific sensors init +#------------------------------------------------------------------------------ + +board_adc start + +# # Internal SPI bus ICM24688P +icm42688p -R 0 -s start + +# # Internal SPI bus BMI088 accel/gyro +bmi088 -A -R 0 -s start +bmi088 -G -R 0 -s start + +# internal baro +bmp388 -I -a 0x76 start diff --git a/boards/hkust/nxt-v1/nuttx-config/Kconfig b/boards/hkust/nxt-v1/nuttx-config/Kconfig new file mode 100644 index 000000000000..bb33d3cfda4d --- /dev/null +++ b/boards/hkust/nxt-v1/nuttx-config/Kconfig @@ -0,0 +1,17 @@ +# +# For a description of the syntax of this configuration file, +# see misc/tools/kconfig-language.txt. +# +config BOARD_HAS_PROBES + bool "Board provides GPIO or other Hardware for signaling to timing analyze." + default y + ---help--- + This board provides GPIO FMU-CH1-5, CAP1-6 as PROBE_1-11 to provide timing signals from selected drivers. + +config BOARD_USE_PROBES + bool "Enable the use the board provided FMU-CH1-5, CAP1-6 as PROBE_1-11" + default n + depends on BOARD_HAS_PROBES + + ---help--- + Select to use GPIO FMU-CH1-5, CAP1-6 to provide timing signals from selected drivers. diff --git a/boards/hkust/nxt-v1/nuttx-config/bootloader/defconfig b/boards/hkust/nxt-v1/nuttx-config/bootloader/defconfig new file mode 100644 index 000000000000..6cf4a40708fa --- /dev/null +++ b/boards/hkust/nxt-v1/nuttx-config/bootloader/defconfig @@ -0,0 +1,90 @@ +# +# This file is autogenerated: PLEASE DO NOT EDIT IT. +# +# You can use "make menuconfig" to make any modifications to the installed .config file. +# You can then do "make savedefconfig" to generate a new defconfig file that includes your +# modifications. +# +# CONFIG_DEV_CONSOLE is not set +# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set +# CONFIG_SPI_EXCHANGE is not set +# CONFIG_STM32H7_SYSCFG is not set +CONFIG_ARCH="arm" +CONFIG_ARCH_BOARD_CUSTOM=y +CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/hkust/nxt-v1/nuttx-config" +CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y +CONFIG_ARCH_BOARD_CUSTOM_NAME="px4" +CONFIG_ARCH_CHIP="stm32h7" +CONFIG_ARCH_CHIP_STM32H743VI=y +CONFIG_ARCH_CHIP_STM32H7=y +CONFIG_ARCH_INTERRUPTSTACK=768 +CONFIG_ARMV7M_BASEPRI_WAR=y +CONFIG_ARMV7M_ICACHE=y +CONFIG_ARMV7M_MEMCPY=y +CONFIG_ARMV7M_USEBASEPRI=y +CONFIG_BOARDCTL=y +CONFIG_BOARDCTL_RESET=y +CONFIG_BOARD_ASSERT_RESET_VALUE=0 +CONFIG_BOARD_INITTHREAD_PRIORITY=254 +CONFIG_BOARD_LATE_INITIALIZE=y +CONFIG_BOARD_LOOPSPERMSEC=95150 +CONFIG_BOARD_RESET_ON_ASSERT=2 +CONFIG_CDCACM=y +CONFIG_CDCACM_IFLOWCONTROL=y +CONFIG_CDCACM_PRODUCTID=0x004b +CONFIG_CDCACM_PRODUCTSTR="HKUST UAV NxtPX4" +CONFIG_CDCACM_RXBUFSIZE=600 +CONFIG_CDCACM_TXBUFSIZE=12000 +CONFIG_CDCACM_VENDORID=0x3162 +CONFIG_CDCACM_VENDORSTR="Matek" +CONFIG_DEBUG_FULLOPT=y +CONFIG_DEBUG_SYMBOLS=y +CONFIG_DEBUG_TCBINFO=y +CONFIG_DEFAULT_SMALL=y +CONFIG_EXPERIMENTAL=y +CONFIG_FDCLONE_DISABLE=y +CONFIG_FDCLONE_STDIO=y +CONFIG_HAVE_CXX=y +CONFIG_HAVE_CXXINITIALIZE=y +CONFIG_IDLETHREAD_STACKSIZE=750 +CONFIG_INIT_ENTRYPOINT="bootloader_main" +CONFIG_INIT_STACKSIZE=3194 +CONFIG_LIBC_FLOATINGPOINT=y +CONFIG_LIBC_LONG_LONG=y +CONFIG_LIBC_STRERROR=y +CONFIG_MEMSET_64BIT=y +CONFIG_MEMSET_OPTSPEED=y +CONFIG_PREALLOC_TIMERS=50 +CONFIG_PTHREAD_STACK_MIN=512 +CONFIG_RAM_SIZE=245760 +CONFIG_RAM_START=0x20010000 +CONFIG_RAW_BINARY=y +CONFIG_SERIAL_TERMIOS=y +CONFIG_SIG_DEFAULT=y +CONFIG_SIG_SIGALRM_ACTION=y +CONFIG_SIG_SIGUSR1_ACTION=y +CONFIG_SIG_SIGUSR2_ACTION=y +CONFIG_SPI=y +CONFIG_STACK_COLORATION=y +CONFIG_START_DAY=30 +CONFIG_START_MONTH=11 +CONFIG_STDIO_BUFFER_SIZE=32 +CONFIG_STM32H7_BKPSRAM=y +CONFIG_STM32H7_DMA1=y +CONFIG_STM32H7_OTGFS=y +CONFIG_STM32H7_PROGMEM=y +CONFIG_STM32H7_SERIAL_DISABLE_REORDERING=y +CONFIG_STM32H7_TIM1=y +CONFIG_STM32H7_USART3=y +CONFIG_SYSTEMTICK_HOOK=y +CONFIG_SYSTEM_CDCACM=y +CONFIG_TASK_NAME_SIZE=24 +CONFIG_TTY_SIGINT=y +CONFIG_TTY_SIGINT_CHAR=0x03 +CONFIG_TTY_SIGTSTP=y +CONFIG_USART3_RXBUFSIZE=600 +CONFIG_USART3_TXBUFSIZE=300 +CONFIG_USBDEV=y +CONFIG_USBDEV_BUSPOWERED=y +CONFIG_USBDEV_MAXPOWER=500 +CONFIG_USEC_PER_TICK=1000 diff --git a/boards/hkust/nxt-v1/nuttx-config/include/board.h b/boards/hkust/nxt-v1/nuttx-config/include/board.h new file mode 100644 index 000000000000..003922a0ef44 --- /dev/null +++ b/boards/hkust/nxt-v1/nuttx-config/include/board.h @@ -0,0 +1,484 @@ +/************************************************************************************ + * nuttx-configs/px4_fmu-v6u/include/board.h + * + * Copyright (C) 2016-2019 Gregory Nutt. All rights reserved. + * Authors: David Sidrane + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name NuttX nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ************************************************************************************/ +#ifndef __NUTTX_CONFIG_MATEKH743SLIM_INCLUDE_BOARD_H +#define __NUTTX_CONFIG_MATEKH743SLIM_INCLUDE_BOARD_H + +/************************************************************************************ + * Included Files + ************************************************************************************/ + +#include "board_dma_map.h" + +#include + +#ifndef __ASSEMBLY__ +# include +#endif + +#include "stm32_rcc.h" +#include "stm32_sdmmc.h" + +/************************************************************************************ + * Pre-processor Definitions + ************************************************************************************/ + +/* Clocking *************************************************************************/ +/* The MatekH743-Slim board provides the following clock sources: + * + * X1: 16 MHz crystal for HSE + * + * So we have these clock source available within the STM32 + * + * HSI: 16 MHz RC factory-trimmed + * HSE: 16 MHz crystal for HSE + */ + +#define STM32_BOARD_XTAL 16000000ul + +#define STM32_HSI_FREQUENCY 16000000ul +#define STM32_LSI_FREQUENCY 32000 +#define STM32_HSE_FREQUENCY STM32_BOARD_XTAL +#define STM32_LSE_FREQUENCY 32768 + +/* Main PLL Configuration. + * + * PLL source is HSE = 16,000,000 + * + * PLL_VCOx = (STM32_HSE_FREQUENCY / PLLM) * PLLN + * Subject to: + * + * 1 <= PLLM <= 63 + * 4 <= PLLN <= 512 + * 150 MHz <= PLL_VCOL <= 420MHz + * 192 MHz <= PLL_VCOH <= 836MHz + * + * SYSCLK = PLL_VCO / PLLP + * CPUCLK = SYSCLK / D1CPRE + * Subject to + * + * PLLP1 = {2, 4, 6, 8, ..., 128} + * PLLP2,3 = {2, 3, 4, ..., 128} + * CPUCLK <= 480 MHz + */ + +#define STM32_BOARD_USEHSE + +#define STM32_PLLCFG_PLLSRC RCC_PLLCKSELR_PLLSRC_HSE + +/* PLL1, wide 4 - 8 MHz input, enable DIVP, DIVQ, DIVR + * + * PLL1_VCO = (16,000,000 / 1) * 60 = 960 MHz + * + * PLL1P = PLL1_VCO/2 = 960 MHz / 2 = 480 MHz + * PLL1Q = PLL1_VCO/4 = 960 MHz / 4 = 240 MHz + * PLL1R = PLL1_VCO/8 = 960 MHz / 8 = 120 MHz + */ + +#define STM32_PLLCFG_PLL1CFG (RCC_PLLCFGR_PLL1VCOSEL_WIDE | \ + RCC_PLLCFGR_PLL1RGE_4_8_MHZ | \ + RCC_PLLCFGR_DIVP1EN | \ + RCC_PLLCFGR_DIVQ1EN | \ + RCC_PLLCFGR_DIVR1EN) +#define STM32_PLLCFG_PLL1M RCC_PLLCKSELR_DIVM1(1) +#define STM32_PLLCFG_PLL1N RCC_PLL1DIVR_N1(60) +#define STM32_PLLCFG_PLL1P RCC_PLL1DIVR_P1(2) +#define STM32_PLLCFG_PLL1Q RCC_PLL1DIVR_Q1(4) +#define STM32_PLLCFG_PLL1R RCC_PLL1DIVR_R1(8) + +#define STM32_VCO1_FREQUENCY ((STM32_HSE_FREQUENCY / 1) * 60) +#define STM32_PLL1P_FREQUENCY (STM32_VCO1_FREQUENCY / 2) +#define STM32_PLL1Q_FREQUENCY (STM32_VCO1_FREQUENCY / 4) +#define STM32_PLL1R_FREQUENCY (STM32_VCO1_FREQUENCY / 8) + +/* PLL2 */ + +#define STM32_PLLCFG_PLL2CFG (RCC_PLLCFGR_PLL2VCOSEL_WIDE | \ + RCC_PLLCFGR_PLL2RGE_4_8_MHZ | \ + RCC_PLLCFGR_DIVP2EN | \ + RCC_PLLCFGR_DIVQ2EN | \ + RCC_PLLCFGR_DIVR2EN) +#define STM32_PLLCFG_PLL2M RCC_PLLCKSELR_DIVM2(4) +#define STM32_PLLCFG_PLL2N RCC_PLL2DIVR_N2(48) +#define STM32_PLLCFG_PLL2P RCC_PLL2DIVR_P2(2) +#define STM32_PLLCFG_PLL2Q RCC_PLL2DIVR_Q2(2) +#define STM32_PLLCFG_PLL2R RCC_PLL2DIVR_R2(2) + +#define STM32_VCO2_FREQUENCY ((STM32_HSE_FREQUENCY / 4) * 48) +#define STM32_PLL2P_FREQUENCY (STM32_VCO2_FREQUENCY / 2) +#define STM32_PLL2Q_FREQUENCY (STM32_VCO2_FREQUENCY / 2) +#define STM32_PLL2R_FREQUENCY (STM32_VCO2_FREQUENCY / 2) + +/* PLL3 */ + +#define STM32_PLLCFG_PLL3CFG (RCC_PLLCFGR_PLL3VCOSEL_WIDE | \ + RCC_PLLCFGR_PLL3RGE_4_8_MHZ | \ + RCC_PLLCFGR_DIVQ3EN) +#define STM32_PLLCFG_PLL3M RCC_PLLCKSELR_DIVM3(4) +#define STM32_PLLCFG_PLL3N RCC_PLL3DIVR_N3(48) +#define STM32_PLLCFG_PLL3P RCC_PLL3DIVR_P3(2) +#define STM32_PLLCFG_PLL3Q RCC_PLL3DIVR_Q3(4) +#define STM32_PLLCFG_PLL3R RCC_PLL3DIVR_R3(2) + +#define STM32_VCO3_FREQUENCY ((STM32_HSE_FREQUENCY / 4) * 48) +#define STM32_PLL3P_FREQUENCY (STM32_VCO3_FREQUENCY / 2) +#define STM32_PLL3Q_FREQUENCY (STM32_VCO3_FREQUENCY / 4) +#define STM32_PLL3R_FREQUENCY (STM32_VCO3_FREQUENCY / 2) + +/* SYSCLK = PLL1P = 480MHz + * CPUCLK = SYSCLK / 1 = 480 MHz + */ + +#define STM32_RCC_D1CFGR_D1CPRE (RCC_D1CFGR_D1CPRE_SYSCLK) +#define STM32_SYSCLK_FREQUENCY (STM32_PLL1P_FREQUENCY) +#define STM32_CPUCLK_FREQUENCY (STM32_SYSCLK_FREQUENCY / 1) + +/* Configure Clock Assignments */ + +/* AHB clock (HCLK) is SYSCLK/2 (240 MHz max) + * HCLK1 = HCLK2 = HCLK3 = HCLK4 = 240 + */ + +#define STM32_RCC_D1CFGR_HPRE RCC_D1CFGR_HPRE_SYSCLKd2 /* HCLK = SYSCLK / 2 */ +#define STM32_ACLK_FREQUENCY (STM32_CPUCLK_FREQUENCY / 2) /* ACLK in D1, HCLK3 in D1 */ +#define STM32_HCLK_FREQUENCY (STM32_CPUCLK_FREQUENCY / 2) /* HCLK in D2, HCLK4 in D3 */ +#define STM32_BOARD_HCLK STM32_HCLK_FREQUENCY /* same as above, to satisfy compiler */ + +/* APB1 clock (PCLK1) is HCLK/2 (120 MHz) */ + +#define STM32_RCC_D2CFGR_D2PPRE1 RCC_D2CFGR_D2PPRE1_HCLKd2 /* PCLK1 = HCLK / 2 */ +#define STM32_PCLK1_FREQUENCY (STM32_HCLK_FREQUENCY/2) + +/* APB2 clock (PCLK2) is HCLK/2 (120 MHz) */ + +#define STM32_RCC_D2CFGR_D2PPRE2 RCC_D2CFGR_D2PPRE2_HCLKd2 /* PCLK2 = HCLK / 2 */ +#define STM32_PCLK2_FREQUENCY (STM32_HCLK_FREQUENCY/2) + +/* APB3 clock (PCLK3) is HCLK/2 (120 MHz) */ + +#define STM32_RCC_D1CFGR_D1PPRE RCC_D1CFGR_D1PPRE_HCLKd2 /* PCLK3 = HCLK / 2 */ +#define STM32_PCLK3_FREQUENCY (STM32_HCLK_FREQUENCY/2) + +/* APB4 clock (PCLK4) is HCLK/4 (120 MHz) */ + +#define STM32_RCC_D3CFGR_D3PPRE RCC_D3CFGR_D3PPRE_HCLKd2 /* PCLK4 = HCLK / 2 */ +#define STM32_PCLK4_FREQUENCY (STM32_HCLK_FREQUENCY/2) + +/* Timer clock frequencies */ + +/* Timers driven from APB1 will be twice PCLK1 */ + +#define STM32_APB1_TIM2_CLKIN (2*STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM3_CLKIN (2*STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM4_CLKIN (2*STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM5_CLKIN (2*STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM6_CLKIN (2*STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM7_CLKIN (2*STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM12_CLKIN (2*STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM13_CLKIN (2*STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM14_CLKIN (2*STM32_PCLK1_FREQUENCY) + +/* Timers driven from APB2 will be twice PCLK2 */ + +#define STM32_APB2_TIM1_CLKIN (2*STM32_PCLK2_FREQUENCY) +#define STM32_APB2_TIM8_CLKIN (2*STM32_PCLK2_FREQUENCY) +#define STM32_APB2_TIM15_CLKIN (2*STM32_PCLK2_FREQUENCY) +#define STM32_APB2_TIM16_CLKIN (2*STM32_PCLK2_FREQUENCY) +#define STM32_APB2_TIM17_CLKIN (2*STM32_PCLK2_FREQUENCY) + +/* Kernel Clock Configuration + * + * Note: look at Table 54 in ST Manual + */ + +/* I2C123 clock source */ + +#define STM32_RCC_D2CCIP2R_I2C123SRC RCC_D2CCIP2R_I2C123SEL_HSI + +/* I2C4 clock source */ + +#define STM32_RCC_D3CCIPR_I2C4SRC RCC_D3CCIPR_I2C4SEL_HSI + +/* SPI123 clock source */ + +#define STM32_RCC_D2CCIP1R_SPI123SRC RCC_D2CCIP1R_SPI123SEL_PLL2 + +/* SPI45 clock source */ + +#define STM32_RCC_D2CCIP1R_SPI45SRC RCC_D2CCIP1R_SPI45SEL_PLL2 + +/* SPI6 clock source */ + +#define STM32_RCC_D3CCIPR_SPI6SRC RCC_D3CCIPR_SPI6SEL_PLL2 + +/* USB 1 and 2 clock source */ + +#define STM32_RCC_D2CCIP2R_USBSRC RCC_D2CCIP2R_USBSEL_PLL3 + +/* ADC 1 2 3 clock source */ + +#define STM32_RCC_D3CCIPR_ADCSEL RCC_D3CCIPR_ADCSEL_PLL2 + +/* FDCAN 1 clock source */ + +// #define STM32_RCC_D2CCIP1R_FDCANSEL RCC_D2CCIP1R_FDCANSEL_HSE /* FDCAN 1 2 clock source */ + +#define STM32_FDCANCLK STM32_HSE_FREQUENCY + +/* FLASH wait states + * + * ------------ ---------- ----------- + * Vcore MAX ACLK WAIT STATES + * ------------ ---------- ----------- + * 1.15-1.26 V 70 MHz 0 + * (VOS1 level) 140 MHz 1 + * 210 MHz 2 + * 1.05-1.15 V 55 MHz 0 + * (VOS2 level) 110 MHz 1 + * 165 MHz 2 + * 220 MHz 3 + * 0.95-1.05 V 45 MHz 0 + * (VOS3 level) 90 MHz 1 + * 135 MHz 2 + * 180 MHz 3 + * 225 MHz 4 + * ------------ ---------- ----------- + */ + +#define BOARD_FLASH_WAITSTATES 2 + +/* SDMMC definitions ********************************************************/ + +/* Init 400kHz, freq = PLL1Q/(2*div) div = PLL1Q/(2*freq) */ + +#define STM32_SDMMC_INIT_CLKDIV (300 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT) + +/* 25 MHz Max for now, 25 mHZ = PLL1Q/(2*div), div = PLL1Q/(2*freq) + * div = 4.8 = 240 / 50, So round up to 5 for default speed 24 MB/s + */ + +#if defined(CONFIG_STM32H7_SDMMC_XDMA) || defined(CONFIG_STM32H7_SDMMC_IDMA) +# define STM32_SDMMC_MMCXFR_CLKDIV (5 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT) +#else +# define STM32_SDMMC_MMCXFR_CLKDIV (100 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT) +#endif +#if defined(CONFIG_STM32H7_SDMMC_XDMA) || defined(CONFIG_STM32H7_SDMMC_IDMA) +# define STM32_SDMMC_SDXFR_CLKDIV (5 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT) +#else +# define STM32_SDMMC_SDXFR_CLKDIV (100 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT) +#endif + +#define STM32_SDMMC_CLKCR_EDGE STM32_SDMMC_CLKCR_NEGEDGE + +/* LED definitions ******************************************************************/ +/* The board has two, LED_GREEN a Green LED and LED_BLUE a Blue LED, + * that can be controlled by software. + * + * If CONFIG_ARCH_LEDS is not defined, then the user can control the LEDs in any way. + * The following definitions are used to access individual LEDs. + */ + +/* LED index values for use with board_userled() */ + +#define BOARD_LED1 0 +#define BOARD_LED2 1 +#define BOARD_LED3 2 +#define BOARD_NLEDS 3 + +#define BOARD_LED_RED BOARD_LED1 +#define BOARD_LED_GREEN BOARD_LED2 +#define BOARD_LED_BLUE BOARD_LED3 + +/* LED bits for use with board_userled_all() */ + +#define BOARD_LED1_BIT (1 << BOARD_LED1) +#define BOARD_LED2_BIT (1 << BOARD_LED2) +#define BOARD_LED3_BIT (1 << BOARD_LED3) + +/* If CONFIG_ARCH_LEDS is defined, the usage by the board port is defined in + * include/board.h and src/stm32_leds.c. The LEDs are used to encode OS-related + * events as follows: + * + * + * SYMBOL Meaning LED state + * Red Green Blue + * ---------------------- -------------------------- ------ ------ ----*/ + +#define LED_STARTED 0 /* NuttX has been started OFF OFF OFF */ +#define LED_HEAPALLOCATE 1 /* Heap has been allocated OFF OFF ON */ +#define LED_IRQSENABLED 2 /* Interrupts enabled OFF ON OFF */ +#define LED_STACKCREATED 3 /* Idle stack created OFF ON ON */ +#define LED_INIRQ 4 /* In an interrupt N/C N/C GLOW */ +#define LED_SIGNAL 5 /* In a signal handler N/C GLOW N/C */ +#define LED_ASSERTION 6 /* An assertion failed GLOW N/C GLOW */ +#define LED_PANIC 7 /* The system has crashed Blink OFF N/C */ +#define LED_IDLE 8 /* MCU is is sleep mode ON OFF OFF */ + +/* Thus if the Green LED is statically on, NuttX has successfully booted and + * is, apparently, running normally. If the Red LED is flashing at + * approximately 2Hz, then a fatal error has been detected and the system + * has halted. + */ + +/* Alternate function pin selections ************************************************/ + +#define GPIO_USART1_RX GPIO_USART1_RX_2 /* PBA10 */ +#define GPIO_USART1_TX GPIO_USART1_TX_2 /* PA9 */ +#define GPIO_USART1_CK GPIO_USART1_CK /* PB6 */ + +#define GPIO_USART2_RX GPIO_USART2_RX_2 /* PD6 */ +#define GPIO_USART2_TX GPIO_USART2_TX_2 /* PD5 */ +#define GPIO_USART2_CK GPIO_USART2_CK_2 /* PD7 */ + + +#define GPIO_USART3_RX GPIO_USART3_RX_3 /* PD9 */ +#define GPIO_USART3_TX GPIO_USART3_TX_3 /* PD8 */ +#define GPIO_USART3_CK GPIO_USART3_CK_3 /* PD10 */ + + +#define GPIO_UART4_RX GPIO_UART4_RX_5 /* PD0 */ +#define GPIO_UART4_TX GPIO_UART4_TX_5 /* PD1 */ + +#define GPIO_UART5_RX GPIO_UART5_RX_1 /* PB12 */ +#define GPIO_UART5_TX GPIO_UART5_TX_1 /* PB13 */ + +#define GPIO_UART7_RX GPIO_UART7_RX_3 /* PE7 */ +#define GPIO_UART7_TX GPIO_UART7_TX_3 /* PE8 */ + + +/* SPI + * + + */ + +#define ADJ_SLEW_RATE(p) (((p) & ~GPIO_SPEED_MASK) | (GPIO_SPEED_2MHz)) + +#define GPIO_SPI1_MISO GPIO_SPI1_MISO_1 /* PA6 */ +#define GPIO_SPI1_MOSI GPIO_SPI1_MOSI_1 /* PA7 */ +#define GPIO_SPI1_SCK ADJ_SLEW_RATE(GPIO_SPI1_SCK_1) /* PA5 */ + +#define GPIO_SPI2_MISO GPIO_SPI2_MISO_2 /* PC2 */ +#define GPIO_SPI2_MOSI GPIO_SPI2_MOSI_2 /* PC1 */ +#define GPIO_SPI2_SCK ADJ_SLEW_RATE(GPIO_SPI2_SCK_5) /* PD3 */ + +#define GPIO_SPI3_MISO GPIO_SPI3_MISO_1 /* PB4 */ +#define GPIO_SPI3_MOSI GPIO_SPI3_MOSI_4 /* PB5 */ +#define GPIO_SPI3_SCK ADJ_SLEW_RATE(GPIO_SPI3_SCK_1) /* PC10 */ + +#define GPIO_SPI4_MISO GPIO_SPI4_MISO_2 /* PE5 */ +#define GPIO_SPI4_MOSI GPIO_SPI4_MOSI_2 /* PB6 */ +#define GPIO_SPI4_SCK ADJ_SLEW_RATE(GPIO_SPI4_SCK_1) /* PE12 */ + +/* I2C + * + + * + */ + +#define GPIO_I2C1_SCL GPIO_I2C1_SCL_2 /* PB8 */ +#define GPIO_I2C1_SDA GPIO_I2C1_SDA_1 /* PB7 */ + +#define GPIO_I2C1_SCL_GPIO (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN8) +#define GPIO_I2C1_SDA_GPIO (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN7) + +#define GPIO_I2C2_SCL GPIO_I2C2_SCL_1 /* PB10 */ +#define GPIO_I2C2_SDA GPIO_I2C2_SDA_1 /* PB11 */ + +#define GPIO_I2C2_SCL_GPIO (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN10) +#define GPIO_I2C2_SDA_GPIO (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN11) + + +/* SDMMC1 + * + * SDMMC1_D0 PC8 + * SDMMC1_D1 PC9 + * SDMMC1_D2 PC10 + * SDMMC1_D3 PC11 + * SDMMC1_CK PC12 + * SDMMC1_CMD PD2 + */ + +// #define GPIO_SDMMC1_D0 GPIO_SDMMC1_D0 /* PC8 */ +// #define GPIO_SDMMC1_D1 GPIO_SDMMC1_D1 /* PC9 */ +// #define GPIO_SDMMC1_D2 GPIO_SDMMC1_D2 /* PC10 */ +// #define GPIO_SDMMC1_D3 GPIO_SDMMC1_D3 /* PC11 */ +// #define GPIO_SDMMC1_CK GPIO_SDMMC1_CK /* PC12 */ +// #define GPIO_SDMMC1_CMD GPIO_SDMMC1_CMD /* PD2 */ + + +/* USB + * + * OTG_FS_DM PA11 + * OTG_FS_DP PA12 + * VBUS PA9 + */ + + +/* Board provides GPIO or other Hardware for signaling to timing analyzer */ + +#if defined(CONFIG_BOARD_USE_PROBES) +# include "stm32_gpio.h" +# define PROBE_N(n) (1<<((n)-1)) +# define PROBE_1 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTI|GPIO_PIN0) /* PI0 AUX1 */ +# define PROBE_2 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN12) /* PH12 AUX2 */ +# define PROBE_3 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN11) /* PH11 AUX3 */ +# define PROBE_4 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN10) /* PH10 AUX4 */ +# define PROBE_5 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN13) /* PD13 AUX5 */ +# define PROBE_6 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN14) /* PD14 AUX6 */ +# define PROBE_7 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN6) /* PH6 AUX7 */ +# define PROBE_8 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN9) /* PH9 AUX8 */ +# define PROBE_9 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN11) /* PE11 CAP1 */ + +# define PROBE_INIT(mask) \ + do { \ + if ((mask)& PROBE_N(1)) { stm32_configgpio(PROBE_1); } \ + if ((mask)& PROBE_N(2)) { stm32_configgpio(PROBE_2); } \ + if ((mask)& PROBE_N(3)) { stm32_configgpio(PROBE_3); } \ + if ((mask)& PROBE_N(4)) { stm32_configgpio(PROBE_4); } \ + if ((mask)& PROBE_N(5)) { stm32_configgpio(PROBE_5); } \ + if ((mask)& PROBE_N(6)) { stm32_configgpio(PROBE_6); } \ + if ((mask)& PROBE_N(7)) { stm32_configgpio(PROBE_7); } \ + if ((mask)& PROBE_N(8)) { stm32_configgpio(PROBE_8); } \ + if ((mask)& PROBE_N(9)) { stm32_configgpio(PROBE_9); } \ + } while(0) + +# define PROBE(n,s) do {stm32_gpiowrite(PROBE_##n,(s));}while(0) +# define PROBE_MARK(n) PROBE(n,false);PROBE(n,true) +#else +# define PROBE_INIT(mask) +# define PROBE(n,s) +# define PROBE_MARK(n) +#endif + +#endif /*__NUTTX_CONFIG_MATEKH743SLIM_INCLUDE_BOARD_H */ diff --git a/boards/hkust/nxt-v1/nuttx-config/include/board_dma_map.h b/boards/hkust/nxt-v1/nuttx-config/include/board_dma_map.h new file mode 100644 index 000000000000..ff89fb6ae9db --- /dev/null +++ b/boards/hkust/nxt-v1/nuttx-config/include/board_dma_map.h @@ -0,0 +1,62 @@ +/**************************************************************************** + * + * Copyright (c) 2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#pragma once +#define DMAMAP_SPI1_RX DMAMAP_DMA12_SPI1RX_0 /* DMA1:37 */ +#define DMAMAP_SPI1_TX DMAMAP_DMA12_SPI1TX_0 /* DMA1:38 */ + +#define DMAMAP_SPI2_RX DMAMAP_DMA12_SPI2RX_0 /* DMA1:39 */ +#define DMAMAP_SPI2_TX DMAMAP_DMA12_SPI2TX_0 /* DMA1:40 */ + +// DMAMUX2 +#define DMAMAP_SPI3_RX DMAMAP_DMA12_SPI3RX_0 /* DMA1:61 */ +#define DMAMAP_SPI3_TX DMAMAP_DMA12_SPI3TX_0 /* DMA1:62 */ + +#define DMAMAP_SPI6_RX DMAMAP_BDMA_SPI6_RX /* BDMA:11 */ +#define DMAMAP_SPI6_TX DMAMAP_BDMA_SPI6_TX /* BDMA:12 */ + +//TODO: UART DMA test +#define DMAMAP_USART1_RX DMAMAP_DMA12_USART1RX_1 /*DMA2:41*/ +#define DMAMAP_USART1_TX DMAMAP_DMA12_USART1TX_1 /*DMA2:42*/ + +#define DMAMAP_USART2_RX DMAMAP_DMA12_USART2RX_1 /* DMA2:43 */ +#define DMAMAP_USART2_TX DMAMAP_DMA12_USART2TX_1 /* DMA2:44 */ + +#define DMAMAP_USART3_RX DMAMAP_DMA12_USART3RX_1 /* DMA2:45 */ +#define DMAMAP_USART3_TX DMAMAP_DMA12_USART3TX_1 /* DMA2:46 */ + +#define DMAMAP_UART4_RX DMAMAP_DMA12_UART4RX_0 /* DMA1:63 */ +#define DMAMAP_UART4_TX DMAMAP_DMA12_UART4TX_0 /* DMA1:64 */ + +#define DMAMAP_UART5_RX DMAMAP_DMA12_UART5RX_0 /* DMA1:65 */ +#define DMAMAP_UART5_TX DMAMAP_DMA12_UART5RX_0 /* DMA1:66 */ diff --git a/boards/hkust/nxt-v1/nuttx-config/nsh/defconfig b/boards/hkust/nxt-v1/nuttx-config/nsh/defconfig new file mode 100644 index 000000000000..21c65a81ee65 --- /dev/null +++ b/boards/hkust/nxt-v1/nuttx-config/nsh/defconfig @@ -0,0 +1,255 @@ +# +# This file is autogenerated: PLEASE DO NOT EDIT IT. +# +# You can use "make menuconfig" to make any modifications to the installed .config file. +# You can then do "make savedefconfig" to generate a new defconfig file that includes your +# modifications. +# +# CONFIG_DISABLE_ENVIRON is not set +# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set +# CONFIG_DISABLE_PTHREAD is not set +# CONFIG_MMCSD_HAVE_CARDDETECT is not set +# CONFIG_MMCSD_HAVE_WRITEPROTECT is not set +# CONFIG_MMCSD_MMCSUPPORT is not set +# CONFIG_MMCSD_SPI is not set +# CONFIG_NSH_DISABLEBG is not set +# CONFIG_NSH_DISABLESCRIPT is not set +# CONFIG_NSH_DISABLE_CAT is not set +# CONFIG_NSH_DISABLE_CD is not set +# CONFIG_NSH_DISABLE_CP is not set +# CONFIG_NSH_DISABLE_DATE is not set +# CONFIG_NSH_DISABLE_DF is not set +# CONFIG_NSH_DISABLE_ECHO is not set +# CONFIG_NSH_DISABLE_ENV is not set +# CONFIG_NSH_DISABLE_EXEC is not set +# CONFIG_NSH_DISABLE_EXIT is not set +# CONFIG_NSH_DISABLE_EXPORT is not set +# CONFIG_NSH_DISABLE_FREE is not set +# CONFIG_NSH_DISABLE_GET is not set +# CONFIG_NSH_DISABLE_HELP is not set +# CONFIG_NSH_DISABLE_ITEF is not set +# CONFIG_NSH_DISABLE_KILL is not set +# CONFIG_NSH_DISABLE_LOOPS is not set +# CONFIG_NSH_DISABLE_LS is not set +# CONFIG_NSH_DISABLE_MKDIR is not set +# CONFIG_NSH_DISABLE_MKFATFS is not set +# CONFIG_NSH_DISABLE_MOUNT is not set +# CONFIG_NSH_DISABLE_MV is not set +# CONFIG_NSH_DISABLE_PRINTF is not set +# CONFIG_NSH_DISABLE_PS is not set +# CONFIG_NSH_DISABLE_PSSTACKUSAGE is not set +# CONFIG_NSH_DISABLE_PWD is not set +# CONFIG_NSH_DISABLE_RM is not set +# CONFIG_NSH_DISABLE_RMDIR is not set +# CONFIG_NSH_DISABLE_SEMICOLON is not set +# CONFIG_NSH_DISABLE_SET is not set +# CONFIG_NSH_DISABLE_SLEEP is not set +# CONFIG_NSH_DISABLE_SOURCE is not set +# CONFIG_NSH_DISABLE_TEST is not set +# CONFIG_NSH_DISABLE_TIME is not set +# CONFIG_NSH_DISABLE_UMOUNT is not set +# CONFIG_NSH_DISABLE_UNSET is not set +# CONFIG_NSH_DISABLE_USLEEP is not set +CONFIG_ARCH="arm" +CONFIG_ARCH_BOARD_CUSTOM=y +CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/hkust/nxt-v1/nuttx-config" +CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y +CONFIG_ARCH_BOARD_CUSTOM_NAME="px4" +CONFIG_ARCH_CHIP="stm32h7" +CONFIG_ARCH_CHIP_STM32H743VI=y +CONFIG_ARCH_CHIP_STM32H7=y +CONFIG_ARCH_INTERRUPTSTACK=768 +CONFIG_ARCH_STACKDUMP=y +CONFIG_ARMV7M_BASEPRI_WAR=y +CONFIG_ARMV7M_DCACHE=y +CONFIG_ARMV7M_DTCM=y +CONFIG_ARMV7M_ICACHE=y +CONFIG_ARMV7M_MEMCPY=y +CONFIG_ARMV7M_USEBASEPRI=y +CONFIG_ARM_MPU_EARLY_RESET=y +CONFIG_BOARDCTL_RESET=y +CONFIG_BOARD_ASSERT_RESET_VALUE=0 +CONFIG_BOARD_CRASHDUMP=y +CONFIG_BOARD_LOOPSPERMSEC=95150 +CONFIG_BOARD_RESET_ON_ASSERT=2 +CONFIG_BUILTIN=y +CONFIG_CDCACM=y +CONFIG_CDCACM_IFLOWCONTROL=y +CONFIG_CDCACM_PRODUCTID=0x0036 +CONFIG_CDCACM_PRODUCTSTR="HKUST UAV NxtPX4" +CONFIG_CDCACM_RXBUFSIZE=600 +CONFIG_CDCACM_TXBUFSIZE=12000 +CONFIG_CDCACM_VENDORID=0x1B8C +CONFIG_CDCACM_VENDORSTR="Matek" +CONFIG_DEBUG_FULLOPT=y +CONFIG_DEBUG_HARDFAULT_ALERT=y +CONFIG_DEBUG_MEMFAULT=y +CONFIG_DEBUG_SYMBOLS=y +CONFIG_DEFAULT_SMALL=y +CONFIG_DEV_FIFO_SIZE=0 +CONFIG_DEV_PIPE_MAXSIZE=1024 +CONFIG_DEV_PIPE_SIZE=70 +CONFIG_EXPERIMENTAL=y +CONFIG_FAT_DMAMEMORY=y +CONFIG_FAT_LCNAMES=y +CONFIG_FAT_LFN=y +CONFIG_FAT_LFN_ALIAS_HASH=y +CONFIG_FDCLONE_STDIO=y +CONFIG_FS_BINFS=y +CONFIG_FS_CROMFS=y +CONFIG_FS_FAT=y +CONFIG_FS_FATTIME=y +CONFIG_FS_PROCFS=y +CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y +CONFIG_FS_PROCFS_MAX_TASKS=64 +CONFIG_FS_PROCFS_REGISTER=y +CONFIG_FS_ROMFS=y +CONFIG_GRAN=y +CONFIG_GRAN_INTR=y +CONFIG_HAVE_CXX=y +CONFIG_HAVE_CXXINITIALIZE=y +CONFIG_I2C=y +CONFIG_I2C_RESET=y +CONFIG_IDLETHREAD_STACKSIZE=750 +CONFIG_INIT_ENTRYPOINT="nsh_main" +CONFIG_INIT_STACKSIZE=3194 +CONFIG_IOB_NBUFFERS=24 +CONFIG_IOB_NCHAINS=24 +CONFIG_LIBC_FLOATINGPOINT=y +CONFIG_LIBC_LONG_LONG=y +CONFIG_LIBC_MAX_EXITFUNS=1 +CONFIG_LIBC_STRERROR=y +CONFIG_MEMSET_64BIT=y +CONFIG_MEMSET_OPTSPEED=y +CONFIG_MMCSD=y +CONFIG_MMCSD_SDIO=y +CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y +CONFIG_MM_IOB=y +CONFIG_MM_REGIONS=4 +CONFIG_NAME_MAX=40 +CONFIG_NSH_ARCHINIT=y +CONFIG_NSH_ARGCAT=y +CONFIG_NSH_BUILTIN_APPS=y +CONFIG_NSH_CMDPARMS=y +CONFIG_NSH_CROMFSETC=y +CONFIG_NSH_LINELEN=128 +CONFIG_NSH_MAXARGUMENTS=15 +CONFIG_NSH_NESTDEPTH=8 +CONFIG_NSH_QUOTE=y +CONFIG_NSH_ROMFSETC=y +CONFIG_NSH_ROMFSSECTSIZE=128 +CONFIG_NSH_STRERROR=y +CONFIG_NSH_VARS=y +CONFIG_OTG_ID_GPIO_DISABLE=y +CONFIG_PIPES=y +CONFIG_PREALLOC_TIMERS=50 +CONFIG_PRIORITY_INHERITANCE=y +CONFIG_PTHREAD_MUTEX_ROBUST=y +CONFIG_PTHREAD_STACK_MIN=512 +CONFIG_RAM_SIZE=245760 +CONFIG_RAM_START=0x20010000 +CONFIG_RAW_BINARY=y +CONFIG_READLINE_CMD_HISTORY=y +CONFIG_READLINE_TABCOMPLETION=y +CONFIG_RTC_DATETIME=y +CONFIG_SCHED_HPWORK=y +CONFIG_SCHED_HPWORKPRIORITY=249 +CONFIG_SCHED_HPWORKSTACKSIZE=1280 +CONFIG_SCHED_INSTRUMENTATION=y +CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y +CONFIG_SCHED_INSTRUMENTATION_SWITCH=y +CONFIG_SCHED_LPWORK=y +CONFIG_SCHED_LPWORKPRIORITY=50 +CONFIG_SCHED_LPWORKSTACKSIZE=1632 +CONFIG_SCHED_WAITPID=y +CONFIG_SDMMC1_SDIO_PULLUP=y +CONFIG_SEM_PREALLOCHOLDERS=32 +CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y +CONFIG_SERIAL_TERMIOS=y +CONFIG_SIG_DEFAULT=y +CONFIG_SIG_SIGALRM_ACTION=y +CONFIG_SIG_SIGUSR1_ACTION=y +CONFIG_SIG_SIGUSR2_ACTION=y +CONFIG_SIG_SIGWORK=4 +CONFIG_STACK_COLORATION=y +CONFIG_START_DAY=30 +CONFIG_START_MONTH=11 +CONFIG_STDIO_BUFFER_SIZE=256 +CONFIG_STM32H7_ADC1=y +CONFIG_STM32H7_ADC2=y +CONFIG_STM32H7_ADC3=y +CONFIG_STM32H7_BBSRAM=y +CONFIG_STM32H7_BBSRAM_FILES=5 +CONFIG_STM32H7_BDMA=y +CONFIG_STM32H7_BKPSRAM=y +CONFIG_STM32H7_DMA1=y +CONFIG_STM32H7_DMA2=y +CONFIG_STM32H7_DMACAPABLE=y +CONFIG_STM32H7_FLASH_OVERRIDE_I=y +CONFIG_STM32H7_FLOWCONTROL_BROKEN=y +CONFIG_STM32H7_I2C1=y +CONFIG_STM32H7_I2C2=y +CONFIG_STM32H7_I2C_DYNTIMEO=y +CONFIG_STM32H7_I2C_DYNTIMEO_STARTSTOP=10 +CONFIG_STM32H7_OTGFS=y +CONFIG_STM32H7_PROGMEM=y +CONFIG_STM32H7_RTC=y +CONFIG_STM32H7_RTC_HSECLOCK=y +CONFIG_STM32H7_RTC_MAGIC_REG=1 +CONFIG_STM32H7_SAVE_CRASHDUMP=y +CONFIG_STM32H7_SDMMC1=y +CONFIG_STM32H7_SERIALBRK_BSDCOMPAT=y +CONFIG_STM32H7_SERIAL_DISABLE_REORDERING=y +CONFIG_STM32H7_SPI1=y +CONFIG_STM32H7_SPI1_DMA=y +CONFIG_STM32H7_SPI1_DMA_BUFFER=1024 +CONFIG_STM32H7_SPI2=y +CONFIG_STM32H7_SPI2_DMA=y +CONFIG_STM32H7_SPI2_DMA_BUFFER=4096 +CONFIG_STM32H7_SPI3=y +CONFIG_STM32H7_SPI3_DMA=y +CONFIG_STM32H7_SPI3_DMA_BUFFER=1024 +CONFIG_STM32H7_SPI_DMATHRESHOLD=8 +CONFIG_STM32H7_TIM1=y +CONFIG_STM32H7_TIM3=y +CONFIG_STM32H7_TIM4=y +CONFIG_STM32H7_TIM5=y +CONFIG_STM32H7_TIM8=y +CONFIG_STM32H7_UART4=y +CONFIG_STM32H7_UART5=y +CONFIG_STM32H7_UART7=y +CONFIG_STM32H7_USART1=y +CONFIG_STM32H7_USART2=y +CONFIG_STM32H7_USART3=y +CONFIG_STM32H7_USART_BREAKS=y +CONFIG_STM32H7_USART_INVERT=y +CONFIG_STM32H7_USART_SINGLEWIRE=y +CONFIG_STM32H7_USART_SWAP=y +CONFIG_SYSTEM_CDCACM=y +CONFIG_SYSTEM_NSH=y +CONFIG_TASK_NAME_SIZE=24 +CONFIG_UART4_BAUD=921600 +CONFIG_UART4_RXBUFSIZE=3000 +CONFIG_UART4_TXBUFSIZE=1200 +CONFIG_UART5_BAUD=57600 +CONFIG_UART5_RXBUFSIZE=600 +CONFIG_UART5_TXBUFSIZE=1500 +CONFIG_UART7_BAUD=57600 +CONFIG_UART7_RXBUFSIZE=600 +CONFIG_UART7_TXBUFSIZE=3000 +CONFIG_USART1_BAUD=57600 +CONFIG_USART1_RXBUFSIZE=600 +CONFIG_USART1_TXBUFSIZE=1500 +CONFIG_USART2_BAUD=57600 +CONFIG_USART2_RXBUFSIZE=600 +CONFIG_USART2_TXBUFSIZE=3000 +CONFIG_USART3_BAUD=57600 +CONFIG_USART3_RXBUFSIZE=180 +CONFIG_USART3_SERIAL_CONSOLE=y +CONFIG_USART3_TXBUFSIZE=1500 +CONFIG_USBDEV=y +CONFIG_USBDEV_BUSPOWERED=y +CONFIG_USBDEV_MAXPOWER=500 +CONFIG_USEC_PER_TICK=1000 +CONFIG_WATCHDOG=y +CONFIG_WQUEUE_NOTIFIER=y diff --git a/boards/hkust/nxt-v1/nuttx-config/scripts/bootloader_script.ld b/boards/hkust/nxt-v1/nuttx-config/scripts/bootloader_script.ld new file mode 100644 index 000000000000..511ef2624248 --- /dev/null +++ b/boards/hkust/nxt-v1/nuttx-config/scripts/bootloader_script.ld @@ -0,0 +1,213 @@ +/**************************************************************************** + * scripts/script.ld + * + * Copyright (C) 2016, 2019 Gregory Nutt. All rights reserved. + * Author: Gregory Nutt + * + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name NuttX nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/* The Durandal-v1 uses an STM32H743II has 2048Kb of main FLASH memory. + * The flash memory is partitioned into a User Flash memory and a System + * Flash memory. Each of these memories has two banks: + * + * 1) User Flash memory: + * + * Bank 1: Start address 0x0800:0000 to 0x080F:FFFF with 8 sectors, 128Kb each + * Bank 2: Start address 0x0810:0000 to 0x081F:FFFF with 8 sectors, 128Kb each + * + * 2) System Flash memory: + * + * Bank 1: Start address 0x1FF0:0000 to 0x1FF1:FFFF with 1 x 128Kb sector + * Bank 1: Start address 0x1FF4:0000 to 0x1FF5:FFFF with 1 x 128Kb sector + * + * 3) User option bytes for user configuration, only in Bank 1. + * + * In the STM32H743II, two different boot spaces can be selected through + * the BOOT pin and the boot base address programmed in the BOOT_ADD0 and + * BOOT_ADD1 option bytes: + * + * 1) BOOT=0: Boot address defined by user option byte BOOT_ADD0[15:0]. + * ST programmed value: Flash memory at 0x0800:0000 + * 2) BOOT=1: Boot address defined by user option byte BOOT_ADD1[15:0]. + * ST programmed value: System bootloader at 0x1FF0:0000 + * + * The Durandal has a Swtich on board, the BOOT0 pin is at ground so by default, + * the STM32 will boot to address 0x0800:0000 in FLASH unless the swiutch is + * drepresed, then the boot will be from 0x1FF0:0000 + * + * The STM32H743ZI also has 1024Kb of data SRAM. + * SRAM is split up into several blocks and into three power domains: + * + * 1) TCM SRAMs are dedicated to the Cortex-M7 and are accessible with + * 0 wait states by the Cortex-M7 and by MDMA through AHBS slave bus + * + * 1.1) 128Kb of DTCM-RAM beginning at address 0x2000:0000 + * + * The DTCM-RAM is organized as 2 x 64Kb DTCM-RAMs on 2 x 32 bit + * DTCM ports. The DTCM-RAM could be used for critical real-time + * data, such as interrupt service routines or stack / heap memory. + * Both DTCM-RAMs can be used in parallel (for load/store operations) + * thanks to the Cortex-M7 dual issue capability. + * + * 1.2) 64Kb of ITCM-RAM beginning at address 0x0000:0000 + * + * This RAM is connected to ITCM 64-bit interface designed for + * execution of critical real-times routines by the CPU. + * + * 2) AXI SRAM (D1 domain) accessible by all system masters except BDMA + * through D1 domain AXI bus matrix + * + * 2.1) 512Kb of SRAM beginning at address 0x2400:0000 + * + * 3) AHB SRAM (D2 domain) accessible by all system masters except BDMA + * through D2 domain AHB bus matrix + * + * 3.1) 128Kb of SRAM1 beginning at address 0x3000:0000 + * 3.2) 128Kb of SRAM2 beginning at address 0x3002:0000 + * 3.3) 32Kb of SRAM3 beginning at address 0x3004:0000 + * + * SRAM1 - SRAM3 are one contiguous block: 288Kb at address 0x3000:0000 + * + * 4) AHB SRAM (D3 domain) accessible by most of system masters + * through D3 domain AHB bus matrix + * + * 4.1) 64Kb of SRAM4 beginning at address 0x3800:0000 + * 4.1) 4Kb of backup RAM beginning at address 0x3880:0000 + * + * When booting from FLASH, FLASH memory is aliased to address 0x0000:0000 + * where the code expects to begin execution by jumping to the entry point in + * the 0x0800:0000 address range. + */ + +MEMORY +{ + itcm (rwx) : ORIGIN = 0x00000000, LENGTH = 64K + flash (rx) : ORIGIN = 0x08000000, LENGTH = 2048K + dtcm1 (rwx) : ORIGIN = 0x20000000, LENGTH = 64K + dtcm2 (rwx) : ORIGIN = 0x20010000, LENGTH = 64K + sram (rwx) : ORIGIN = 0x24000000, LENGTH = 512K + sram1 (rwx) : ORIGIN = 0x30000000, LENGTH = 128K + sram2 (rwx) : ORIGIN = 0x30020000, LENGTH = 128K + sram3 (rwx) : ORIGIN = 0x30040000, LENGTH = 32K + sram4 (rwx) : ORIGIN = 0x38000000, LENGTH = 64K + bbram (rwx) : ORIGIN = 0x38800000, LENGTH = 4K +} + +OUTPUT_ARCH(arm) +EXTERN(_vectors) +ENTRY(_stext) + +/* + * Ensure that abort() is present in the final object. The exception handling + * code pulled in by libgcc.a requires it (and that code cannot be easily avoided). + */ +EXTERN(abort) +EXTERN(_bootdelay_signature) + +SECTIONS +{ + .text : { + _stext = ABSOLUTE(.); + *(.vectors) + . = ALIGN(32); + /* + This signature provides the bootloader with a way to delay booting + */ + _bootdelay_signature = ABSOLUTE(.); + FILL(0xffecc2925d7d05c5) + . += 8; + *(.text .text.*) + *(.fixup) + *(.gnu.warning) + *(.rodata .rodata.*) + *(.gnu.linkonce.t.*) + *(.glue_7) + *(.glue_7t) + *(.got) + *(.gcc_except_table) + *(.gnu.linkonce.r.*) + _etext = ABSOLUTE(.); + + } > flash + + /* + * Init functions (static constructors and the like) + */ + .init_section : { + _sinit = ABSOLUTE(.); + KEEP(*(.init_array .init_array.*)) + _einit = ABSOLUTE(.); + } > flash + + + .ARM.extab : { + *(.ARM.extab*) + } > flash + + __exidx_start = ABSOLUTE(.); + .ARM.exidx : { + *(.ARM.exidx*) + } > flash + __exidx_end = ABSOLUTE(.); + + _eronly = ABSOLUTE(.); + + .data : { + _sdata = ABSOLUTE(.); + *(.data .data.*) + *(.gnu.linkonce.d.*) + CONSTRUCTORS + _edata = ABSOLUTE(.); + } > sram AT > flash + + .bss : { + _sbss = ABSOLUTE(.); + *(.bss .bss.*) + *(.gnu.linkonce.b.*) + *(COMMON) + . = ALIGN(4); + _ebss = ABSOLUTE(.); + } > sram + + /* Stabs debugging sections. */ + .stab 0 : { *(.stab) } + .stabstr 0 : { *(.stabstr) } + .stab.excl 0 : { *(.stab.excl) } + .stab.exclstr 0 : { *(.stab.exclstr) } + .stab.index 0 : { *(.stab.index) } + .stab.indexstr 0 : { *(.stab.indexstr) } + .comment 0 : { *(.comment) } + .debug_abbrev 0 : { *(.debug_abbrev) } + .debug_info 0 : { *(.debug_info) } + .debug_line 0 : { *(.debug_line) } + .debug_pubnames 0 : { *(.debug_pubnames) } + .debug_aranges 0 : { *(.debug_aranges) } +} diff --git a/boards/hkust/nxt-v1/nuttx-config/scripts/script.ld b/boards/hkust/nxt-v1/nuttx-config/scripts/script.ld new file mode 100644 index 000000000000..85f4990724d5 --- /dev/null +++ b/boards/hkust/nxt-v1/nuttx-config/scripts/script.ld @@ -0,0 +1,228 @@ +/**************************************************************************** + * scripts/script.ld + * + * Copyright (C) 2020 Gregory Nutt. All rights reserved. + * Author: Gregory Nutt + * + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name NuttX nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/* The board uses an STM32H743II and has 2048Kb of main FLASH memory. + * The flash memory is partitioned into a User Flash memory and a System + * Flash memory. Each of these memories has two banks: + * + * 1) User Flash memory: + * + * Bank 1: Start address 0x0800:0000 to 0x080F:FFFF with 8 sectors, 128Kb each + * Bank 2: Start address 0x0810:0000 to 0x081F:FFFF with 8 sectors, 128Kb each + * + * 2) System Flash memory: + * + * Bank 1: Start address 0x1FF0:0000 to 0x1FF1:FFFF with 1 x 128Kb sector + * Bank 1: Start address 0x1FF4:0000 to 0x1FF5:FFFF with 1 x 128Kb sector + * + * 3) User option bytes for user configuration, only in Bank 1. + * + * In the STM32H743II, two different boot spaces can be selected through + * the BOOT pin and the boot base address programmed in the BOOT_ADD0 and + * BOOT_ADD1 option bytes: + * + * 1) BOOT=0: Boot address defined by user option byte BOOT_ADD0[15:0]. + * ST programmed value: Flash memory at 0x0800:0000 + * 2) BOOT=1: Boot address defined by user option byte BOOT_ADD1[15:0]. + * ST programmed value: System bootloader at 0x1FF0:0000 + * + * There's a switch on board, the BOOT0 pin is at ground so by default, + * the STM32 will boot to address 0x0800:0000 in FLASH unless the switch is + * drepresed, then the boot will be from 0x1FF0:0000 + * + * The STM32H743ZI also has 1024Kb of data SRAM. + * SRAM is split up into several blocks and into three power domains: + * + * 1) TCM SRAMs are dedicated to the Cortex-M7 and are accessible with + * 0 wait states by the Cortex-M7 and by MDMA through AHBS slave bus + * + * 1.1) 128Kb of DTCM-RAM beginning at address 0x2000:0000 + * + * The DTCM-RAM is organized as 2 x 64Kb DTCM-RAMs on 2 x 32 bit + * DTCM ports. The DTCM-RAM could be used for critical real-time + * data, such as interrupt service routines or stack / heap memory. + * Both DTCM-RAMs can be used in parallel (for load/store operations) + * thanks to the Cortex-M7 dual issue capability. + * + * 1.2) 64Kb of ITCM-RAM beginning at address 0x0000:0000 + * + * This RAM is connected to ITCM 64-bit interface designed for + * execution of critical real-times routines by the CPU. + * + * 2) AXI SRAM (D1 domain) accessible by all system masters except BDMA + * through D1 domain AXI bus matrix + * + * 2.1) 512Kb of SRAM beginning at address 0x2400:0000 + * + * 3) AHB SRAM (D2 domain) accessible by all system masters except BDMA + * through D2 domain AHB bus matrix + * + * 3.1) 128Kb of SRAM1 beginning at address 0x3000:0000 + * 3.2) 128Kb of SRAM2 beginning at address 0x3002:0000 + * 3.3) 32Kb of SRAM3 beginning at address 0x3004:0000 + * + * SRAM1 - SRAM3 are one contiguous block: 288Kb at address 0x3000:0000 + * + * 4) AHB SRAM (D3 domain) accessible by most of system masters + * through D3 domain AHB bus matrix + * + * 4.1) 64Kb of SRAM4 beginning at address 0x3800:0000 + * 4.1) 4Kb of backup RAM beginning at address 0x3880:0000 + * + * When booting from FLASH, FLASH memory is aliased to address 0x0000:0000 + * where the code expects to begin execution by jumping to the entry point in + * the 0x0800:0000 address range. + */ + +MEMORY +{ + ITCM_RAM (rwx) : ORIGIN = 0x00000000, LENGTH = 64K + FLASH (rx) : ORIGIN = 0x08020000, LENGTH = 1920K + + DTCM1_RAM (rwx) : ORIGIN = 0x20000000, LENGTH = 64K + DTCM2_RAM (rwx) : ORIGIN = 0x20010000, LENGTH = 64K + AXI_SRAM (rwx) : ORIGIN = 0x24000000, LENGTH = 512K /* D1 domain AXI bus */ + SRAM1 (rwx) : ORIGIN = 0x30000000, LENGTH = 128K /* D2 domain AHB bus */ + SRAM2 (rwx) : ORIGIN = 0x30020000, LENGTH = 128K /* D2 domain AHB bus */ + SRAM3 (rwx) : ORIGIN = 0x30040000, LENGTH = 32K /* D2 domain AHB bus */ + SRAM4 (rwx) : ORIGIN = 0x38000000, LENGTH = 64K /* D3 domain */ + BKPRAM (rwx) : ORIGIN = 0x38800000, LENGTH = 4K +} + +OUTPUT_ARCH(arm) +EXTERN(_vectors) +ENTRY(_stext) + +/* + * Ensure that abort() is present in the final object. The exception handling + * code pulled in by libgcc.a requires it (and that code cannot be easily avoided). + */ +EXTERN(abort) +EXTERN(_bootdelay_signature) + +SECTIONS +{ + .text : { + _stext = ABSOLUTE(.); + *(.vectors) + . = ALIGN(32); + /* + This signature provides the bootloader with a way to delay booting + */ + _bootdelay_signature = ABSOLUTE(.); + FILL(0xffecc2925d7d05c5) + . += 8; + *(.text .text.*) + *(.fixup) + *(.gnu.warning) + *(.rodata .rodata.*) + *(.gnu.linkonce.t.*) + *(.glue_7) + *(.glue_7t) + *(.got) + *(.gcc_except_table) + *(.gnu.linkonce.r.*) + _etext = ABSOLUTE(.); + + } > FLASH + + /* + * Init functions (static constructors and the like) + */ + .init_section : { + _sinit = ABSOLUTE(.); + KEEP(*(.init_array .init_array.*)) + _einit = ABSOLUTE(.); + } > FLASH + + + .ARM.extab : { + *(.ARM.extab*) + } > FLASH + + __exidx_start = ABSOLUTE(.); + .ARM.exidx : { + *(.ARM.exidx*) + } > FLASH + __exidx_end = ABSOLUTE(.); + + _eronly = ABSOLUTE(.); + + .data : { + _sdata = ABSOLUTE(.); + *(.data .data.*) + *(.gnu.linkonce.d.*) + CONSTRUCTORS + _edata = ABSOLUTE(.); + + /* Pad out last section as the STM32H7 Flash write size is 256 bits. 32 bytes */ + . = ALIGN(16); + FILL(0xffff) + . += 16; + } > AXI_SRAM AT > FLASH = 0xffff + + .bss : { + _sbss = ABSOLUTE(.); + *(.bss .bss.*) + *(.gnu.linkonce.b.*) + *(COMMON) + . = ALIGN(4); + _ebss = ABSOLUTE(.); + } > AXI_SRAM + + /* Emit the the D3 power domain section for locating BDMA data */ + + .sram4_reserve (NOLOAD) : + { + *(.sram4) + . = ALIGN(4); + _sram4_heap_start = ABSOLUTE(.); + } > SRAM4 + + /* Stabs debugging sections. */ + .stab 0 : { *(.stab) } + .stabstr 0 : { *(.stabstr) } + .stab.excl 0 : { *(.stab.excl) } + .stab.exclstr 0 : { *(.stab.exclstr) } + .stab.index 0 : { *(.stab.index) } + .stab.indexstr 0 : { *(.stab.indexstr) } + .comment 0 : { *(.comment) } + .debug_abbrev 0 : { *(.debug_abbrev) } + .debug_info 0 : { *(.debug_info) } + .debug_line 0 : { *(.debug_line) } + .debug_pubnames 0 : { *(.debug_pubnames) } + .debug_aranges 0 : { *(.debug_aranges) } +} diff --git a/boards/hkust/nxt-v1/src/CMakeLists.txt b/boards/hkust/nxt-v1/src/CMakeLists.txt new file mode 100644 index 000000000000..45d0650aaea8 --- /dev/null +++ b/boards/hkust/nxt-v1/src/CMakeLists.txt @@ -0,0 +1,68 @@ +############################################################################ +# +# Copyright (c) 2021 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ +if("${PX4_BOARD_LABEL}" STREQUAL "bootloader") + add_library(drivers_board + bootloader_main.c + usb.c + ) + target_link_libraries(drivers_board + PRIVATE + nuttx_arch + nuttx_drivers + bootloader + ) + target_include_directories(drivers_board PRIVATE ${PX4_SOURCE_DIR}/platforms/nuttx/src/bootloader/common) + +else() + add_library(drivers_board + i2c.cpp + init.c + led.c + sdio.c + spi.cpp + timer_config.cpp + usb.c + ) + # add_dependencies(drivers_board arch_board_hw_info) + + target_link_libraries(drivers_board + PRIVATE + arch_io_pins + arch_spi + arch_board_hw_info + drivers__led + nuttx_arch + nuttx_drivers + px4_layer + ) +endif() diff --git a/boards/hkust/nxt-v1/src/board_config.h b/boards/hkust/nxt-v1/src/board_config.h new file mode 100644 index 000000000000..34dff55da531 --- /dev/null +++ b/boards/hkust/nxt-v1/src/board_config.h @@ -0,0 +1,227 @@ +/**************************************************************************** + * + * Copyright (c) 2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file board_config.h + * + * Board internal definitions + */ + +#pragma once + +/**************************************************************************************************** + * Included Files + ****************************************************************************************************/ + +#include +#include +#include + +#include + +/**************************************************************************************************** + * Definitions + ****************************************************************************************************/ + +// #define FLASH_BASED_PARAMS + + +/* LEDs are driven with push open drain to support Anode to 5V or 3.3V */ + +# define GPIO_nLED_RED /* PC6 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN6) +# define GPIO_nLED_GREEN /* PB14 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN14) +# define GPIO_nLED_BLUE /* PB15 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN15) + +# define BOARD_HAS_CONTROL_STATUS_LEDS 1 +# define BOARD_OVERLOAD_LED LED_RED +# define BOARD_ARMED_STATE_LED LED_BLUE + +/* I2C busses */ +/* Devices on the onboard buses. + * + * Note that these are unshifted addresses. + */ +// #define PX4_I2C_OBDEV_SE050 0x48 + +#define GPIO_I2C1_DRDY1_BMP388 /* PB9 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTB|GPIO_PIN9) + +/* + * ADC channels + * + * These are the channel numbers of the ADCs of the microcontroller that + * can be used by the Px4 Firmware in the adc driver + */ + +/* ADC defines to be used in sensors.cpp to read from a particular channel */ + +#define SYSTEM_ADC_BASE STM32_ADC1_BASE + +#define ADC12_CH(n) (n) + +#define PX4_ADC_GPIO \ + /* PB0 */ GPIO_ADC12_INP5, \ + /* PB1 */ GPIO_ADC12_INP9 + +/* Define GPIO pins used as ADC N.B. Channel numbers must match below */ +/* Define Channel numbers must match above GPIO pin IN(n)*/ +#define ADC_BATTERY_VOLTAGE_CHANNEL ADC12_CH(9) +#define ADC_BATTERY_CURRENT_CHANNEL ADC12_CH(5) + +#define ADC_CHANNELS \ + ((1 << ADC_BATTERY_VOLTAGE_CHANNEL) | \ + (1 << ADC_BATTERY_CURRENT_CHANNEL)) + +#define BOARD_ADC_OPEN_CIRCUIT_V (5.6f) + + + +/* Define Battery 1 Voltage Divider and A per V + */ + +// #define BOARD_BATTERY1_V_DIV (11.0f) /* measured with the provided PM board */ +// #define BOARD_BATTERY1_A_PER_V (40.0f) +// #define BOARD_BATTERY2_V_DIV (11.0f) /* measured with the provided PM board */ + +/* PWM + */ +#define DIRECT_PWM_OUTPUT_CHANNELS 8 + +#define BOARD_HAS_PWM DIRECT_PWM_OUTPUT_CHANNELS + + +/* Spare GPIO */ +#define GPIO_PD4 /* PD4 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTD|GPIO_PIN4) +#define GPIO_PC13 /* PC13 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_PORTC|GPIO_PIN13) +#define GPIO_PH1 /* PH1 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTH|GPIO_PIN1) + +/* Tone alarm output */ + +#define TONE_ALARM_TIMER 1 /* Timer 3 */ +#define TONE_ALARM_CHANNEL 1 /* PC7 GPIO_TIM3_CH2 */ +/*NC can be modified with Spare GPIO then connected with hardware */ +#define GPIO_BUZZER_1 /* PC13 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13) + +#define GPIO_TONE_ALARM_IDLE GPIO_BUZZER_1 +#define GPIO_TONE_ALARM GPIO_BUZZER_1 + +/* USB OTG FS + * + * PE2 OTG_FS_VBUS VBUS sensing + */ + + +#define GPIO_OTGFS_VBUS /* PA15 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_100MHz|GPIO_PORTA|GPIO_PIN15) +#define BOARD_ADC_USB_CONNECTED (px4_arch_gpioread(GPIO_OTGFS_VBUS)) + +/* High-resolution timer */ +#define HRT_TIMER 8 /* use timer1 for the HRT */ +#define HRT_TIMER_CHANNEL 1 /* use capture/compare channel 1 */ + +/* RC Serial port */ +#define RC_SERIAL_PORT "/dev/ttyS5" +#define BOARD_SUPPORTS_RC_SERIAL_PORT_OUTPUT + +/* SD card bringup does not work if performed on the IDLE thread because it + * will cause waiting. Use either: + * + * CONFIG_LIB_BOARDCTL=y, OR + * CONFIG_BOARD_INITIALIZE=y && CONFIG_BOARD_INITTHREAD=y + */ +#define SDIO_SLOTNO 0 /* Only one slot */ +#define SDIO_MINOR 0 +#if defined(CONFIG_BOARD_INITIALIZE) && !defined(CONFIG_LIB_BOARDCTL) && \ + !defined(CONFIG_BOARD_INITTHREAD) +# warning SDIO initialization cannot be perfomed on the IDLE thread +#endif + +/* This board provides a DMA pool and APIs */ +#define BOARD_DMA_ALLOC_POOL_SIZE 5120 + +/* This board provides the board_on_reset interface */ +#define BOARD_HAS_ON_RESET 1 + +#define PX4_GPIO_INIT_LIST { \ + PX4_ADC_GPIO, \ + GPIO_TONE_ALARM_IDLE, \ + } + +#define BOARD_ENABLE_CONSOLE_BUFFER + +#define BOARD_NUM_IO_TIMERS 5 + + +__BEGIN_DECLS + +/**************************************************************************************************** + * Public Types + ****************************************************************************************************/ + +/**************************************************************************************************** + * Public data + ****************************************************************************************************/ + +#ifndef __ASSEMBLY__ + +/**************************************************************************************************** + * Public Functions + ****************************************************************************************************/ + +/**************************************************************************** + * Name: stm32_sdio_initialize + * + * Description: + * Initialize SDIO-based MMC/SD card support + * + ****************************************************************************/ + +int stm32_sdio_initialize(void); + +/**************************************************************************************************** + * Name: stm32_spiinitialize + * + * Description: + * Called to configure SPI chip select GPIO pins for the board. + * + ****************************************************************************************************/ + +extern void stm32_spiinitialize(void); + +extern void stm32_usbinitialize(void); + +extern void board_peripheral_reset(int ms); + +#include + +#endif /* __ASSEMBLY__ */ + +__END_DECLS diff --git a/boards/hkust/nxt-v1/src/bootloader_main.c b/boards/hkust/nxt-v1/src/bootloader_main.c new file mode 100644 index 000000000000..5670308a29d8 --- /dev/null +++ b/boards/hkust/nxt-v1/src/bootloader_main.c @@ -0,0 +1,75 @@ +/**************************************************************************** + * + * Copyright (c) 2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file bootloader_main.c + * + * FMU-specific early startup code for bootloader +*/ + +#include "board_config.h" +#include "bl.h" + +#include +#include +#include +#include +#include +#include "arm_internal.h" +#include + +extern int sercon_main(int c, char **argv); + +__EXPORT void board_on_reset(int status) {} + +__EXPORT void stm32_boardinitialize(void) +{ + /* configure USB interfaces */ + stm32_usbinitialize(); +} + +__EXPORT int board_app_initialize(uintptr_t arg) +{ + return 0; +} + +void board_late_initialize(void) +{ + sercon_main(0, NULL); +} + +extern void sys_tick_handler(void); +void board_timerhook(void) +{ + sys_tick_handler(); +} diff --git a/boards/hkust/nxt-v1/src/hw_config.h b/boards/hkust/nxt-v1/src/hw_config.h new file mode 100644 index 000000000000..1e91b651457e --- /dev/null +++ b/boards/hkust/nxt-v1/src/hw_config.h @@ -0,0 +1,135 @@ +/**************************************************************************** + * + * Copyright (C) 2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#pragma once + +/**************************************************************************** + * 10-8--2016: + * To simplify the ripple effect on the tools, we will be using + * /dev/serial/by-id/PX4 to locate PX4 devices. Therefore + * moving forward all Bootloaders must contain the prefix "PX4 BL " + * in the USBDEVICESTRING + * This Change will be made in an upcoming BL release + ****************************************************************************/ +/* + * Define usage to configure a bootloader + * + * + * Constant example Usage + * APP_LOAD_ADDRESS 0x08004000 - The address in Linker Script, where the app fw is org-ed + * BOOTLOADER_DELAY 5000 - Ms to wait while under USB pwr or bootloader request + * BOARD_FMUV2 + * INTERFACE_USB 1 - (Optional) Scan and use the USB interface for bootloading + * INTERFACE_USART 1 - (Optional) Scan and use the Serial interface for bootloading + * USBDEVICESTRING "PX4 BL FMU v2.x" - USB id string + * USBPRODUCTID 0x0011 - PID Should match defconfig + * BOOT_DELAY_ADDRESS 0x000001a0 - (Optional) From the linker script from Linker Script to get a custom + * delay provided by an APP FW + * BOARD_TYPE 9 - Must match .prototype boad_id + * _FLASH_KBYTES (*(uint16_t *)0x1fff7a22) - Run time flash size detection + * BOARD_FLASH_SECTORS ((_FLASH_KBYTES == 0x400) ? 11 : 23) - Run time determine the physical last sector + * BOARD_FLASH_SECTORS 11 - Hard coded zero based last sector + * BOARD_FLASH_SIZE (_FLASH_KBYTES*1024)- Total Flash size of device, determined at run time. + * (1024 * 1024) - Hard coded Total Flash of device - The bootloader and app reserved will be deducted + * programmatically + * + * BOARD_FIRST_FLASH_SECTOR_TO_ERASE 2 - Optional sectors index in the flash_sectors table (F4 only), to begin erasing. + * This is to allow sectors to be reserved for app fw usage. That will NOT be erased + * during a FW upgrade. + * The default is 0, and selects the first sector to be erased, as the 0th entry in the + * flash_sectors table. Which is the second physical sector of FLASH in the device. + * The first physical sector of FLASH is used by the bootloader, and is not defined + * in the table. + * + * APP_RESERVATION_SIZE (BOARD_FIRST_FLASH_SECTOR_TO_ERASE * 16 * 1024) - Number of bytes reserved by the APP FW. This number plus + * BOOTLOADER_RESERVATION_SIZE will be deducted from + * BOARD_FLASH_SIZE to determine the size of the App FW + * and hence the address space of FLASH to erase and program. + * USBMFGSTRING "PX4 AP" - Optional USB MFG string (default is '3D Robotics' if not defined.) + * SERIAL_BREAK_DETECT_DISABLED - Optional prevent break selection on Serial port from entering or staying in BL + * + * * Other defines are somewhat self explanatory. + */ + +/* Boot device selection list*/ +#define USB0_DEV 0x01 +#define SERIAL0_DEV 0x02 +#define SERIAL1_DEV 0x04 + +#define APP_LOAD_ADDRESS 0x08020000 +#define BOOTLOADER_DELAY 5000 +#define INTERFACE_USB 1 +#define INTERFACE_USB_CONFIG "/dev/ttyACM0" +#define BOARD_VBUS MK_GPIO_INPUT(GPIO_OTGFS_VBUS) + +//#define USE_VBUS_PULL_DOWN +#define INTERFACE_USART 1 +#define INTERFACE_USART_CONFIG "/dev/ttyS0,57600" +#define BOOT_DELAY_ADDRESS 0x000001a0 +#define BOARD_TYPE 1013 +#define _FLASH_KBYTES (*(uint32_t *)0x1FF1E880) +#define BOARD_FLASH_SECTORS (15) +#define BOARD_FLASH_SIZE (_FLASH_KBYTES * 1024) + +#define OSC_FREQ 16 + +#define BOARD_PIN_LED_ACTIVITY GPIO_nLED_BLUE // BLUE +#define BOARD_PIN_LED_BOOTLOADER GPIO_nLED_RED // RED +#define BOARD_LED_ON 1 +#define BOARD_LED_OFF 0 + +#define SERIAL_BREAK_DETECT_DISABLED 1 + +#if !defined(ARCH_SN_MAX_LENGTH) +# define ARCH_SN_MAX_LENGTH 12 +#endif + +#if !defined(APP_RESERVATION_SIZE) +# define APP_RESERVATION_SIZE 0 +#endif + +#if !defined(BOARD_FIRST_FLASH_SECTOR_TO_ERASE) +# define BOARD_FIRST_FLASH_SECTOR_TO_ERASE 1 +#endif + +#if !defined(USB_DATA_ALIGN) +# define USB_DATA_ALIGN +#endif + +#ifndef BOOT_DEVICES_SELECTION +# define BOOT_DEVICES_SELECTION USB0_DEV|SERIAL0_DEV|SERIAL1_DEV +#endif + +#ifndef BOOT_DEVICES_FILTER_ONUSB +# define BOOT_DEVICES_FILTER_ONUSB USB0_DEV|SERIAL0_DEV|SERIAL1_DEV +#endif diff --git a/boards/hkust/nxt-v1/src/i2c.cpp b/boards/hkust/nxt-v1/src/i2c.cpp new file mode 100644 index 000000000000..6700d8c8f244 --- /dev/null +++ b/boards/hkust/nxt-v1/src/i2c.cpp @@ -0,0 +1,39 @@ +/**************************************************************************** + * + * Copyright (C) 2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include + +constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = { + initI2CBusInternal(1), + initI2CBusExternal(2), +}; diff --git a/boards/hkust/nxt-v1/src/init.c b/boards/hkust/nxt-v1/src/init.c new file mode 100644 index 000000000000..657c0080c019 --- /dev/null +++ b/boards/hkust/nxt-v1/src/init.c @@ -0,0 +1,205 @@ +/**************************************************************************** + * + * Copyright (c) 2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file init.c + * + * FMU-specific early startup code. This file implements the + * board_app_initialize() function that is called early by nsh during startup. + * + * Code here is run before the rcS script is invoked; it should start required + * subsystems and perform board-specific initialisation. + */ + +#include "board_config.h" + +#include + +#include +#include +#include +#include +#include +#include "arm_internal.h" + +#include +#include +#include +#include +#include +#include +#include + +#include + +# if defined(FLASH_BASED_PARAMS) +# include +#endif + +__BEGIN_DECLS +extern void led_init(void); +extern void led_on(int led); +extern void led_off(int led); +__END_DECLS + +/************************************************************************************ + * Name: board_peripheral_reset + * + * Description: + * + ************************************************************************************/ +__EXPORT void board_peripheral_reset(int ms) +{ + UNUSED(ms); +} + +/************************************************************************************ + * Name: board_on_reset + * + * Description: + * Optionally provided function called on entry to board_system_reset + * It should perform any house keeping prior to the rest. + * + * status - 1 if resetting to boot loader + * 0 if just resetting + * + ************************************************************************************/ +__EXPORT void board_on_reset(int status) +{ + for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) { + px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i))); + } + + if (status >= 0) { + up_mdelay(6); + } +} + +/************************************************************************************ + * Name: stm32_boardinitialize + * + * Description: + * All STM32 architectures must provide the following entry point. This entry point + * is called early in the initialization -- after all memory has been configured + * and mapped but before any devices have been initialized. + * + ************************************************************************************/ +__EXPORT void stm32_boardinitialize(void) +{ + /* Reset PWM first thing */ + board_on_reset(-1); + + /* configure LEDs */ + board_autoled_initialize(); + + /* configure pins */ + const uint32_t gpio[] = PX4_GPIO_INIT_LIST; + px4_gpio_init(gpio, arraySize(gpio)); + + /* configure SPI interfaces */ + stm32_spiinitialize(); + + /* configure USB interfaces */ + stm32_usbinitialize(); + +} + +/**************************************************************************** + * Name: board_app_initialize + * + * Description: + * Perform application specific initialization. This function is never + * called directly from application code, but only indirectly via the + * (non-standard) boardctl() interface using the command BOARDIOC_INIT. + * + * Input Parameters: + * arg - The boardctl() argument is passed to the board_app_initialize() + * implementation without modification. The argument has no + * meaning to NuttX; + * + * Returned Value: + * Zero (OK) is returned on success; a negated errno value is returned on + * any failure to indicate the nature of the failure. + * + ****************************************************************************/ +__EXPORT int board_app_initialize(uintptr_t arg) +{ + /* Need hrt running before using the ADC */ + px4_platform_init(); + + /* configure the DMA allocator */ + if (board_dma_alloc_init() < 0) { + syslog(LOG_ERR, "[boot] DMA alloc FAILED\n"); + } + + /* initial LED state */ + drv_led_start(); + led_off(LED_RED); + led_off(LED_BLUE); + + if (board_hardfault_init(2, true) != 0) { + led_on(LED_BLUE); + } + +#ifdef CONFIG_MMCSD + int ret = stm32_sdio_initialize(); + + if (ret != OK) { + led_on(LED_BLUE); + return ret; + } + +#endif + +// TODO：internal flash store parameters +#if defined(FLASH_BASED_PARAMS) + static sector_descriptor_t params_sector_map[] = { + {15, 128 * 1024, 0x081E0000}, + {0, 0, 0}, + }; + + /* Initialize the flashfs layer to use heap allocated memory */ + int result = parameter_flashfs_init(params_sector_map, NULL, 0); + + if (result != OK) { + syslog(LOG_ERR, "[boot] FAILED to init params in FLASH %d\n", result); + led_on(LED_RED); + } + +#endif + + /* Configure the HW based on the manifest */ + px4_platform_configure(); + + return OK; +} diff --git a/boards/hkust/nxt-v1/src/led.c b/boards/hkust/nxt-v1/src/led.c new file mode 100644 index 000000000000..0420c1da2e79 --- /dev/null +++ b/boards/hkust/nxt-v1/src/led.c @@ -0,0 +1,113 @@ +/**************************************************************************** + * + * Copyright (c) 2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file led.c + * + * LED backend. + */ + +#include + +#include + +#include "chip.h" +#include "stm32_gpio.h" +#include "board_config.h" + +#include +#include + +/* + * Ideally we'd be able to get these from arm_internal.h, + * but since we want to be able to disable the NuttX use + * of leds for system indication at will and there is no + * separate switch, we need to build independent of the + * CONFIG_ARCH_LEDS configuration switch. + */ +__BEGIN_DECLS +extern void led_init(void); +extern void led_on(int led); +extern void led_off(int led); +extern void led_toggle(int led); +__END_DECLS + +# define xlat(p) (p) +static uint32_t g_ledmap[] = { + GPIO_nLED_GREEN, // Indexed by BOARD_LED_GREEN + GPIO_nLED_BLUE, // Indexed by BOARD_LED_BLUE + GPIO_nLED_RED, // Indexed by BOARD_LED_RED +}; + +__EXPORT void led_init(void) +{ + /* Configure LED GPIOs for output */ + for (size_t l = 0; l < (sizeof(g_ledmap) / sizeof(g_ledmap[0])); l++) { + if (g_ledmap[l] != 0) { + stm32_configgpio(g_ledmap[l]); + } + } +} + +static void phy_set_led(int led, bool state) +{ + /* Drive Low to switch on */ + if (g_ledmap[led] != 0) { + stm32_gpiowrite(g_ledmap[led], !state); + } +} + +static bool phy_get_led(int led) +{ + /* If Low it is on */ + if (g_ledmap[led] != 0) { + return !stm32_gpioread(g_ledmap[led]); + } + + return false; +} + +__EXPORT void led_on(int led) +{ + phy_set_led(xlat(led), true); +} + +__EXPORT void led_off(int led) +{ + phy_set_led(xlat(led), false); +} + +__EXPORT void led_toggle(int led) +{ + phy_set_led(xlat(led), !phy_get_led(xlat(led))); +} diff --git a/boards/hkust/nxt-v1/src/mtd.cpp b/boards/hkust/nxt-v1/src/mtd.cpp new file mode 100644 index 000000000000..51c6dec3cc93 --- /dev/null +++ b/boards/hkust/nxt-v1/src/mtd.cpp @@ -0,0 +1,81 @@ +/**************************************************************************** + * + * Copyright (C) 2020 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ +//TODO:Prepare for NxtDual + +#include +#include +// KiB BS nB +static const px4_mft_device_t spi5 = { // FM25V02A on FMUM 32K 512 X 64 + .bus_type = px4_mft_device_t::SPI, + .devid = SPIDEV_FLASH(0) +}; + +static const px4_mtd_entry_t fmum_fram = { + .device = &spi5, + .npart = 2, + .partd = { + { + .type = MTD_PARAMETERS, + .path = "/fs/mtd_params", + .nblocks = 32 + }, + { + .type = MTD_WAYPOINTS, + .path = "/fs/mtd_waypoints", + .nblocks = 32 + + } + }, +}; + +static const px4_mtd_manifest_t board_mtd_config = { + .nconfigs = 1, + .entries = { + &fmum_fram + } +}; + +static const px4_mft_entry_s mtd_mft = { + .type = MTD, + .pmft = (void *) &board_mtd_config, +}; + +static const px4_mft_s mft = { + .nmft = 1, + .mfts = &mtd_mft +}; + +const px4_mft_s *board_get_manifest(void) +{ + return &mft; +} diff --git a/boards/hkust/nxt-v1/src/sdio.c b/boards/hkust/nxt-v1/src/sdio.c new file mode 100644 index 000000000000..869d757756a0 --- /dev/null +++ b/boards/hkust/nxt-v1/src/sdio.c @@ -0,0 +1,177 @@ +/**************************************************************************** + * + * Copyright (C) 2014, 2016 Gregory Nutt. All rights reserved. + * Author: Gregory Nutt + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name NuttX nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include +#include + +#include +#include +#include +#include + +#include +#include + +#include "chip.h" +#include "board_config.h" +#include "stm32_gpio.h" +#include "stm32_sdmmc.h" + +#ifdef CONFIG_MMCSD + + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +/* Card detections requires card support and a card detection GPIO */ + +#define HAVE_NCD 1 +#if !defined(GPIO_SDMMC1_NCD) +# undef HAVE_NCD +#endif + +/**************************************************************************** + * Private Data + ****************************************************************************/ + +static FAR struct sdio_dev_s *sdio_dev; +#ifdef HAVE_NCD +static bool g_sd_inserted = 0xff; /* Impossible value */ +#endif + +/**************************************************************************** + * Private Functions + ****************************************************************************/ + +/**************************************************************************** + * Name: stm32_ncd_interrupt + * + * Description: + * Card detect interrupt handler. + * + ****************************************************************************/ + +#ifdef HAVE_NCD +static int stm32_ncd_interrupt(int irq, FAR void *context) +{ + bool present; + + present = !stm32_gpioread(GPIO_SDMMC1_NCD); + + if (sdio_dev && present != g_sd_inserted) { + sdio_mediachange(sdio_dev, present); + g_sd_inserted = present; + } + + return OK; +} +#endif + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +/**************************************************************************** + * Name: stm32_sdio_initialize + * + * Description: + * Initialize SDIO-based MMC/SD card support + * + ****************************************************************************/ + +int stm32_sdio_initialize(void) +{ + int ret; + +#ifdef HAVE_NCD + /* Card detect */ + + bool cd_status; + + /* Configure the card detect GPIO */ + + stm32_configgpio(GPIO_SDMMC1_NCD); + + /* Register an interrupt handler for the card detect pin */ + + stm32_gpiosetevent(GPIO_SDMMC1_NCD, true, true, true, stm32_ncd_interrupt); +#endif + + /* Mount the SDIO-based MMC/SD block driver */ + /* First, get an instance of the SDIO interface */ + + finfo("Initializing SDIO slot %d\n", SDIO_SLOTNO); + + sdio_dev = sdio_initialize(SDIO_SLOTNO); + + if (!sdio_dev) { + syslog(LOG_ERR, "[boot] Failed to initialize SDIO slot %d\n", SDIO_SLOTNO); + return -ENODEV; + } + + /* Now bind the SDIO interface to the MMC/SD driver */ + + finfo("Bind SDIO to the MMC/SD driver, minor=%d\n", SDIO_MINOR); + + ret = mmcsd_slotinitialize(SDIO_MINOR, sdio_dev); + + if (ret != OK) { + syslog(LOG_ERR, "[boot] Failed to bind SDIO to the MMC/SD driver: %d\n", ret); + return ret; + } + + finfo("Successfully bound SDIO to the MMC/SD driver\n"); + +#ifdef HAVE_NCD + /* Use SD card detect pin to check if a card is g_sd_inserted */ + + cd_status = !stm32_gpioread(GPIO_SDMMC1_NCD); + finfo("Card detect : %d\n", cd_status); + + sdio_mediachange(sdio_dev, cd_status); +#else + /* Assume that the SD card is inserted. What choice do we have? */ + + sdio_mediachange(sdio_dev, true); +#endif + + return OK; +} + +#endif /* CONFIG_MMCSD */ diff --git a/boards/hkust/nxt-v1/src/spi.cpp b/boards/hkust/nxt-v1/src/spi.cpp new file mode 100644 index 000000000000..54a338d94ce6 --- /dev/null +++ b/boards/hkust/nxt-v1/src/spi.cpp @@ -0,0 +1,52 @@ +/**************************************************************************** + * + * Copyright (C) 2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include +#include +#include + + +constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = { + initSPIBus(SPI::Bus::SPI1, { + initSPIDevice(DRV_IMU_DEVTYPE_MPU6500, SPI::CS{GPIO::PortC, GPIO::Pin4}, SPI::DRDY{GPIO::PortC, GPIO::Pin5}), + }), + initSPIBus(SPI::Bus::SPI2, { + initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortC, GPIO::Pin3}, SPI::DRDY{GPIO::PortA, GPIO::Pin4}), + }), + initSPIBus(SPI::Bus::SPI3, { + initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortE, GPIO::Pin3}, SPI::DRDY{GPIO::PortE, GPIO::Pin0}), + initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortE, GPIO::Pin4}, SPI::DRDY{GPIO::PortE, GPIO::Pin1}), + }), +}; + +static constexpr bool unused = validateSPIConfig(px4_spi_buses); diff --git a/boards/hkust/nxt-v1/src/timer_config.cpp b/boards/hkust/nxt-v1/src/timer_config.cpp new file mode 100644 index 000000000000..e3373ffeed96 --- /dev/null +++ b/boards/hkust/nxt-v1/src/timer_config.cpp @@ -0,0 +1,55 @@ +/**************************************************************************** + * + * Copyright (C) 2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include + +constexpr io_timers_t io_timers[MAX_IO_TIMERS] = { + initIOTimer(Timer::Timer5, DMA{DMA::Index1}), + initIOTimer(Timer::Timer4, DMA{DMA::Index1}), + initIOTimer(Timer::Timer1), + initIOTimer(Timer::Timer3), +}; + +constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = { + initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel1}, {GPIO::PortA, GPIO::Pin0}), + initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel2}, {GPIO::PortA, GPIO::Pin1}), + initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel3}, {GPIO::PortA, GPIO::Pin2}), + initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel4}, {GPIO::PortA, GPIO::Pin3}), + initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel3}, {GPIO::PortD, GPIO::Pin14}), + initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel4}, {GPIO::PortD, GPIO::Pin15}), + initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel2}, {GPIO::PortC, GPIO::Pin7}), + initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel1}, {GPIO::PortE, GPIO::Pin9}) +}; + +constexpr io_timers_channel_mapping_t io_timers_channel_mapping = + initIOTimerChannelMapping(io_timers, timer_io_channels); diff --git a/boards/hkust/nxt-v1/src/usb.c b/boards/hkust/nxt-v1/src/usb.c new file mode 100644 index 000000000000..9591784866a6 --- /dev/null +++ b/boards/hkust/nxt-v1/src/usb.c @@ -0,0 +1,78 @@ +/**************************************************************************** + * + * Copyright (C) 2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file usb.c + * + * Board-specific USB functions. + */ + +#include "board_config.h" +#include +#include +#include +#include + +/************************************************************************************ + * Name: stm32_usbinitialize + * + * Description: + * Called to setup USB-related GPIO pins for the board. + * + ************************************************************************************/ + +__EXPORT void stm32_usbinitialize(void) +{ + /* The OTG FS has an internal soft pull-up */ + + /* Configure the OTG FS VBUS sensing GPIO, Power On, and Overcurrent GPIOs */ + +#ifdef CONFIG_STM32H7_OTGFS + stm32_configgpio(GPIO_OTGFS_VBUS); +#endif +} + +/************************************************************************************ + * Name: stm32_usbsuspend + * + * Description: + * Board logic must provide the stm32_usbsuspend logic if the USBDEV driver is + * used. This function is called whenever the USB enters or leaves suspend mode. + * This is an opportunity for the board logic to shutdown clocks, power, etc. + * while the USB is suspended. + * + ************************************************************************************/ +__EXPORT void stm32_usbsuspend(FAR struct usbdev_s *dev, bool resume) +{ + uinfo("resume: %d\n", resume); +} diff --git a/boards/holybro/can-gps-v1/nuttx-config/nsh/defconfig b/boards/holybro/can-gps-v1/nuttx-config/nsh/defconfig index 4dcee619f111..f95e8f5c0c47 100644 --- a/boards/holybro/can-gps-v1/nuttx-config/nsh/defconfig +++ b/boards/holybro/can-gps-v1/nuttx-config/nsh/defconfig @@ -120,6 +120,8 @@ CONFIG_PREALLOC_TIMERS=50 CONFIG_PRIORITY_INHERITANCE=y CONFIG_PTHREAD_MUTEX_ROBUST=y CONFIG_PTHREAD_STACK_MIN=512 +CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5 +CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5 CONFIG_RAMTRON_SETSPEED=y CONFIG_RAM_SIZE=262144 CONFIG_RAM_START=0x20000000 diff --git a/boards/holybro/can-gps-v1/uavcan_board_identity b/boards/holybro/can-gps-v1/uavcan_board_identity index c34b51cd778e..bb7a514fd6f8 100644 --- a/boards/holybro/can-gps-v1/uavcan_board_identity +++ b/boards/holybro/can-gps-v1/uavcan_board_identity @@ -1,6 +1,6 @@ # UAVCAN boot loadable Module ID -set(uavcanblid_sw_version_major 0) -set(uavcanblid_sw_version_minor 1) +set(uavcanblid_sw_version_major ${PX4_VERSION_MAJOR}) +set(uavcanblid_sw_version_minor ${PX4_VERSION_MINOR}) add_definitions( -DAPP_VERSION_MAJOR=${uavcanblid_sw_version_major} -DAPP_VERSION_MINOR=${uavcanblid_sw_version_minor} diff --git a/boards/holybro/durandal-v1/default.px4board b/boards/holybro/durandal-v1/default.px4board index 362eaff74250..ecc1bc81013b 100644 --- a/boards/holybro/durandal-v1/default.px4board +++ b/boards/holybro/durandal-v1/default.px4board @@ -11,6 +11,7 @@ CONFIG_COMMON_BAROMETERS=y CONFIG_DRIVERS_BATT_SMBUS=y CONFIG_DRIVERS_CAMERA_CAPTURE=y CONFIG_DRIVERS_CAMERA_TRIGGER=y +CONFIG_DRIVERS_CDCACM_AUTOSTART=y CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y CONFIG_COMMON_DISTANCE_SENSOR=y CONFIG_DRIVERS_DSHOT=y diff --git a/boards/holybro/durandal-v1/extras/holybro_durandal-v1_bootloader.bin b/boards/holybro/durandal-v1/extras/holybro_durandal-v1_bootloader.bin index 388ee7ac7afb..c24d00a61bf4 100755 Binary files a/boards/holybro/durandal-v1/extras/holybro_durandal-v1_bootloader.bin and b/boards/holybro/durandal-v1/extras/holybro_durandal-v1_bootloader.bin differ diff --git a/boards/holybro/durandal-v1/extras/px4_io-v2_default.bin b/boards/holybro/durandal-v1/extras/px4_io-v2_default.bin index 957f0f13a12e..145089ae0d7c 100755 Binary files a/boards/holybro/durandal-v1/extras/px4_io-v2_default.bin and b/boards/holybro/durandal-v1/extras/px4_io-v2_default.bin differ diff --git a/boards/holybro/durandal-v1/init/rc.board_defaults b/boards/holybro/durandal-v1/init/rc.board_defaults index 2a3b2c0a7b38..49254efb15a4 100644 --- a/boards/holybro/durandal-v1/init/rc.board_defaults +++ b/boards/holybro/durandal-v1/init/rc.board_defaults @@ -11,5 +11,3 @@ param set-default BAT2_A_PER_V 36.367515152 # Enable IMU thermal control param set-default SENS_EN_THERMAL 1 - -param set-default SYS_USE_IO 1 diff --git a/boards/holybro/durandal-v1/nuttx-config/bootloader/defconfig b/boards/holybro/durandal-v1/nuttx-config/bootloader/defconfig index 14f38276efa7..be49e9a5609a 100644 --- a/boards/holybro/durandal-v1/nuttx-config/bootloader/defconfig +++ b/boards/holybro/durandal-v1/nuttx-config/bootloader/defconfig @@ -48,7 +48,7 @@ CONFIG_HAVE_CXX=y CONFIG_HAVE_CXXINITIALIZE=y CONFIG_IDLETHREAD_STACKSIZE=750 CONFIG_INIT_ENTRYPOINT="bootloader_main" -CONFIG_INIT_STACKSIZE=2944 +CONFIG_INIT_STACKSIZE=3194 CONFIG_LIBC_FLOATINGPOINT=y CONFIG_LIBC_LONG_LONG=y CONFIG_LIBC_STRERROR=y diff --git a/boards/holybro/durandal-v1/nuttx-config/include/board.h b/boards/holybro/durandal-v1/nuttx-config/include/board.h index 2a475b7b49aa..e1f43bf7b9cd 100644 --- a/boards/holybro/durandal-v1/nuttx-config/include/board.h +++ b/boards/holybro/durandal-v1/nuttx-config/include/board.h @@ -248,7 +248,7 @@ /* ADC 1 2 3 clock source */ -#define STM32_RCC_D3CCIPR_ADCSEL RCC_D3CCIPR_ADCSEL_PLL2 +#define STM32_RCC_D3CCIPR_ADCSRC RCC_D3CCIPR_ADCSEL_PLL2 /* FDCAN 1 2 clock source */ diff --git a/boards/holybro/durandal-v1/nuttx-config/nsh/defconfig b/boards/holybro/durandal-v1/nuttx-config/nsh/defconfig index 85363a602eb2..19647f3b1f28 100644 --- a/boards/holybro/durandal-v1/nuttx-config/nsh/defconfig +++ b/boards/holybro/durandal-v1/nuttx-config/nsh/defconfig @@ -113,7 +113,7 @@ CONFIG_I2C=y CONFIG_I2C_RESET=y CONFIG_IDLETHREAD_STACKSIZE=750 CONFIG_INIT_ENTRYPOINT="nsh_main" -CONFIG_INIT_STACKSIZE=2944 +CONFIG_INIT_STACKSIZE=3194 CONFIG_LIBC_FLOATINGPOINT=y CONFIG_LIBC_LONG_LONG=y CONFIG_LIBC_MAX_EXITFUNS=1 @@ -149,6 +149,8 @@ CONFIG_PREALLOC_TIMERS=50 CONFIG_PRIORITY_INHERITANCE=y CONFIG_PTHREAD_MUTEX_ROBUST=y CONFIG_PTHREAD_STACK_MIN=512 +CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5 +CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5 CONFIG_RAMTRON_SETSPEED=y CONFIG_RAM_SIZE=245760 CONFIG_RAM_START=0x20010000 diff --git a/boards/holybro/kakutef7/default.px4board b/boards/holybro/kakutef7/default.px4board index 6919df33f22b..8aaa037cc55a 100644 --- a/boards/holybro/kakutef7/default.px4board +++ b/boards/holybro/kakutef7/default.px4board @@ -9,17 +9,28 @@ CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS1" CONFIG_BOARD_SERIAL_RC="/dev/ttyS4" CONFIG_DRIVERS_ADC_BOARD_ADC=y CONFIG_DRIVERS_BAROMETER_BMP280=y +CONFIG_DRIVERS_CDCACM_AUTOSTART=y CONFIG_DRIVERS_DSHOT=y +CONFIG_DRIVERS_GPS=y CONFIG_DRIVERS_IMU_INVENSENSE_ICM20689=y CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y +CONFIG_DRIVERS_OSD_ATXXXX=y CONFIG_DRIVERS_PWM_OUT=y CONFIG_DRIVERS_RC_INPUT=y CONFIG_DRIVERS_TELEMETRY_FRSKY_TELEMETRY=y -CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y CONFIG_MODULES_BATTERY_STATUS=y CONFIG_MODULES_COMMANDER=y CONFIG_MODULES_CONTROL_ALLOCATOR=y CONFIG_MODULES_DATAMAN=y +CONFIG_MODULES_EKF2=y +# CONFIG_EKF2_AUXVEL is not set +# CONFIG_EKF2_BARO_COMPENSATION is not set +# CONFIG_EKF2_DRAG_FUSION is not set +# CONFIG_EKF2_EXTERNAL_VISION is not set +# CONFIG_EKF2_GNSS_YAW is not set +# CONFIG_EKF2_MAGNETOMETER is not set +# CONFIG_EKF2_RANGE_FINDER is not set +# CONFIG_EKF2_SIDESLIP is not set CONFIG_MODULES_FLIGHT_MODE_MANAGER=y CONFIG_MODULES_LAND_DETECTOR=y CONFIG_MODULES_LOGGER=y @@ -31,5 +42,9 @@ CONFIG_MODULES_MC_RATE_CONTROL=y CONFIG_MODULES_NAVIGATOR=y CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_SENSORS=y -CONFIG_MODULES_UXRCE_DDS_CLIENT=y +# CONFIG_SENSORS_VEHICLE_AIRSPEED is not set +# CONFIG_SENSORS_VEHICLE_MAGNETOMETER is not set +# CONFIG_SENSORS_VEHICLE_OPTICAL_FLOW is not set +CONFIG_SYSTEMCMDS_DMESG=y CONFIG_SYSTEMCMDS_PARAM=y +CONFIG_SYSTEMCMDS_TOP=y diff --git a/boards/holybro/kakutef7/init/rc.board_defaults b/boards/holybro/kakutef7/init/rc.board_defaults index 2968cb67caca..2ad7443124e6 100644 --- a/boards/holybro/kakutef7/init/rc.board_defaults +++ b/boards/holybro/kakutef7/init/rc.board_defaults @@ -12,14 +12,11 @@ param set-default CBRK_SUPPLY_CHK 894281 # Select the Generic 250 Racer by default param set-default SYS_AUTOSTART 4050 -# use the Q attitude estimator, it works w/o mag or GPS. -param set-default SYS_MC_EST_GROUP 3 -param set-default ATT_ACC_COMP 0 -param set-default ATT_W_ACC 0.4000 -param set-default ATT_W_GYRO_BIAS 0.0000 - param set-default SYS_HAS_MAG 0 +# enable gravity fusion +param set-default EKF2_IMU_CTRL 7 + # the startup tune is not great on a binary output buzzer, so disable it param set-default CBRK_BUZZER 782090 diff --git a/boards/holybro/kakutef7/init/rc.board_extras b/boards/holybro/kakutef7/init/rc.board_extras index 309ed17768f9..5822cd29458d 100644 --- a/boards/holybro/kakutef7/init/rc.board_extras +++ b/boards/holybro/kakutef7/init/rc.board_extras @@ -10,4 +10,3 @@ fi # DShot telemetry is always on UART7 dshot telemetry /dev/ttyS5 - diff --git a/boards/holybro/kakutef7/nuttx-config/include/board.h b/boards/holybro/kakutef7/nuttx-config/include/board.h index aae28ec8ebc7..e622f1590516 100644 --- a/boards/holybro/kakutef7/nuttx-config/include/board.h +++ b/boards/holybro/kakutef7/nuttx-config/include/board.h @@ -304,4 +304,3 @@ * OTG_FS_DP PA12 * VBUS PA8 */ - diff --git a/boards/holybro/kakutef7/nuttx-config/include/board_dma_map.h b/boards/holybro/kakutef7/nuttx-config/include/board_dma_map.h index c095f53105c9..5ef86fa68548 100644 --- a/boards/holybro/kakutef7/nuttx-config/include/board_dma_map.h +++ b/boards/holybro/kakutef7/nuttx-config/include/board_dma_map.h @@ -99,4 +99,3 @@ // DMAMAP_TIM1_UP // DMA2, Stream 5, Channel 6 (DSHOT) // AVAILABLE // DMA1, Stream 6 // AVAILABLE // DMA1, Stream 7 - diff --git a/boards/holybro/kakutef7/nuttx-config/nsh/defconfig b/boards/holybro/kakutef7/nuttx-config/nsh/defconfig index faf865541262..88d57ea784d2 100644 --- a/boards/holybro/kakutef7/nuttx-config/nsh/defconfig +++ b/boards/holybro/kakutef7/nuttx-config/nsh/defconfig @@ -115,7 +115,7 @@ CONFIG_I2C=y CONFIG_I2C_RESET=y CONFIG_IDLETHREAD_STACKSIZE=750 CONFIG_INIT_ENTRYPOINT="nsh_main" -CONFIG_INIT_STACKSIZE=2944 +CONFIG_INIT_STACKSIZE=3194 CONFIG_LIBC_FLOATINGPOINT=y CONFIG_LIBC_LONG_LONG=y CONFIG_LIBC_MAX_EXITFUNS=1 @@ -150,6 +150,8 @@ CONFIG_PREALLOC_TIMERS=50 CONFIG_PRIORITY_INHERITANCE=y CONFIG_PTHREAD_MUTEX_ROBUST=y CONFIG_PTHREAD_STACK_MIN=512 +CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5 +CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5 CONFIG_RAMTRON_SETSPEED=y CONFIG_RAM_SIZE=245760 CONFIG_RAM_START=0x20010000 diff --git a/boards/holybro/kakutef7/src/board_config.h b/boards/holybro/kakutef7/src/board_config.h index 9254c57c52a6..3164a978366b 100644 --- a/boards/holybro/kakutef7/src/board_config.h +++ b/boards/holybro/kakutef7/src/board_config.h @@ -113,6 +113,7 @@ /* RC Serial port */ #define RC_SERIAL_PORT "/dev/ttyS4" +#define RC_SERIAL_SINGLEWIRE #define GPIO_RSSI_IN /* PC5 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN5) @@ -129,6 +130,8 @@ GPIO_RSSI_IN, \ } +#define BOARD_ENABLE_CONSOLE_BUFFER + #define BOARD_NUM_IO_TIMERS 4 __BEGIN_DECLS diff --git a/boards/holybro/kakutef7/src/init.c b/boards/holybro/kakutef7/src/init.c index da2a545c2add..9b8a0140f44b 100644 --- a/boards/holybro/kakutef7/src/init.c +++ b/boards/holybro/kakutef7/src/init.c @@ -252,9 +252,5 @@ __EXPORT int board_app_initialize(uintptr_t arg) #endif - /* Configure the HW based on the manifest */ - - px4_platform_configure(); - return OK; } diff --git a/boards/holybro/kakutef7/src/led.c b/boards/holybro/kakutef7/src/led.c index 5169b86d2288..05f02573f116 100644 --- a/boards/holybro/kakutef7/src/led.c +++ b/boards/holybro/kakutef7/src/led.c @@ -105,4 +105,3 @@ __EXPORT void led_toggle(int led) { phy_set_led(led, !phy_get_led(led)); } - diff --git a/boards/holybro/kakuteh7/default.px4board b/boards/holybro/kakuteh7/default.px4board index 713c736d5066..dbf8aeb7f217 100644 --- a/boards/holybro/kakuteh7/default.px4board +++ b/boards/holybro/kakuteh7/default.px4board @@ -9,12 +9,13 @@ CONFIG_COMMON_BAROMETERS=y CONFIG_DRIVERS_BATT_SMBUS=y CONFIG_DRIVERS_CAMERA_CAPTURE=y CONFIG_DRIVERS_CAMERA_TRIGGER=y +CONFIG_DRIVERS_CDCACM_AUTOSTART=y CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y CONFIG_COMMON_DISTANCE_SENSOR=y CONFIG_DRIVERS_DSHOT=y CONFIG_DRIVERS_GPS=y CONFIG_DRIVERS_IMU_BOSCH_BMI270=y -CONFIG_DRIVERS_IMU_INVENSENSE_ICM20689=y +CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y CONFIG_COMMON_LIGHT=y CONFIG_COMMON_MAGNETOMETER=y @@ -33,6 +34,12 @@ CONFIG_MODULES_COMMANDER=y CONFIG_MODULES_CONTROL_ALLOCATOR=y CONFIG_MODULES_DATAMAN=y CONFIG_MODULES_EKF2=y +# CONFIG_EKF2_AUXVEL is not set +# CONFIG_EKF2_BARO_COMPENSATION is not set +# CONFIG_EKF2_DRAG_FUSION is not set +# CONFIG_EKF2_EXTERNAL_VISION is not set +# CONFIG_EKF2_GNSS_YAW is not set +# CONFIG_EKF2_SIDESLIP is not set CONFIG_MODULES_ESC_BATTERY=y CONFIG_MODULES_EVENTS=y CONFIG_MODULES_FLIGHT_MODE_MANAGER=y diff --git a/boards/holybro/kakuteh7/extras/holybro_kakuteh7_bootloader.bin b/boards/holybro/kakuteh7/extras/holybro_kakuteh7_bootloader.bin index 093514667d82..7f5d2b31afa5 100755 Binary files a/boards/holybro/kakuteh7/extras/holybro_kakuteh7_bootloader.bin and b/boards/holybro/kakuteh7/extras/holybro_kakuteh7_bootloader.bin differ diff --git a/boards/holybro/kakuteh7/init/rc.board_defaults b/boards/holybro/kakuteh7/init/rc.board_defaults index fa014c6b485b..f9f3ca7d5004 100644 --- a/boards/holybro/kakuteh7/init/rc.board_defaults +++ b/boards/holybro/kakuteh7/init/rc.board_defaults @@ -22,16 +22,12 @@ param set-default CBRK_SUPPLY_CHK 894281 # Select the Generic 250 Racer by default param set-default SYS_AUTOSTART 4050 -# use the Q attitude estimator, it works w/o mag or GPS. -param set-default SYS_MC_EST_GROUP 3 -param set-default ATT_ACC_COMP 0 -param set-default ATT_W_ACC 0.4000 -param set-default ATT_W_GYRO_BIAS 0.0000 - +# use EKF2 without mag param set-default SYS_HAS_MAG 0 +# and enable gravity fusion +param set-default EKF2_IMU_CTRL 7 # the startup tune is not great on a binary output buzzer, so disable it param set-default CBRK_BUZZER 782090 param set-default IMU_GYRO_RATEMAX 2000 - diff --git a/boards/holybro/kakuteh7/init/rc.board_extras b/boards/holybro/kakuteh7/init/rc.board_extras index 256633f33c9d..3423728dab9f 100644 --- a/boards/holybro/kakuteh7/init/rc.board_extras +++ b/boards/holybro/kakuteh7/init/rc.board_extras @@ -10,4 +10,3 @@ fi # DShot telemetry is always on UART7 dshot telemetry /dev/ttyS5 - diff --git a/boards/holybro/kakuteh7/init/rc.board_sensors b/boards/holybro/kakuteh7/init/rc.board_sensors index c6c9960c398f..eb0413343b01 100644 --- a/boards/holybro/kakuteh7/init/rc.board_sensors +++ b/boards/holybro/kakuteh7/init/rc.board_sensors @@ -8,7 +8,7 @@ board_adc start # but there might also be an MPU6000 if ! mpu6000 -R 6 -s start then - icm20689 -R 6 -s start + icm42688p -R 6 -s start fi bmp280 -X start diff --git a/boards/holybro/kakuteh7/nuttx-config/bootloader/defconfig b/boards/holybro/kakuteh7/nuttx-config/bootloader/defconfig index 9e7ac9fa4a85..4557ffca775e 100644 --- a/boards/holybro/kakuteh7/nuttx-config/bootloader/defconfig +++ b/boards/holybro/kakuteh7/nuttx-config/bootloader/defconfig @@ -48,7 +48,7 @@ CONFIG_HAVE_CXX=y CONFIG_HAVE_CXXINITIALIZE=y CONFIG_IDLETHREAD_STACKSIZE=750 CONFIG_INIT_ENTRYPOINT="bootloader_main" -CONFIG_INIT_STACKSIZE=2944 +CONFIG_INIT_STACKSIZE=3194 CONFIG_LIBC_FLOATINGPOINT=y CONFIG_LIBC_LONG_LONG=y CONFIG_LIBC_STRERROR=y diff --git a/boards/holybro/kakuteh7/nuttx-config/include/board.h b/boards/holybro/kakuteh7/nuttx-config/include/board.h index 83245ff925a3..0c96869f01d1 100644 --- a/boards/holybro/kakuteh7/nuttx-config/include/board.h +++ b/boards/holybro/kakuteh7/nuttx-config/include/board.h @@ -245,7 +245,7 @@ /* ADC 1 2 3 clock source */ -#define STM32_RCC_D3CCIPR_ADCSEL RCC_D3CCIPR_ADCSEL_PLL2 +#define STM32_RCC_D3CCIPR_ADCSRC RCC_D3CCIPR_ADCSEL_PLL2 /* FDCAN 1 2 clock source */ @@ -416,4 +416,3 @@ # define PROBE_INIT(mask) # define PROBE(n,s) # define PROBE_MARK(n) - diff --git a/boards/holybro/kakuteh7/nuttx-config/include/board_dma_map.h b/boards/holybro/kakuteh7/nuttx-config/include/board_dma_map.h index 1954ce3e6806..d23e0d412072 100644 --- a/boards/holybro/kakuteh7/nuttx-config/include/board_dma_map.h +++ b/boards/holybro/kakuteh7/nuttx-config/include/board_dma_map.h @@ -37,4 +37,3 @@ #define DMAMAP_SPI4_TX DMAMAP_DMA12_SPI4TX_1 /* DMA2 */ #define DMAMAP_USART2_RX DMAMAP_DMA12_USART2RX_1 /* DMA2 */ - diff --git a/boards/holybro/kakuteh7/nuttx-config/nsh/defconfig b/boards/holybro/kakuteh7/nuttx-config/nsh/defconfig index c7d29ddb9237..4dc58311a1fc 100644 --- a/boards/holybro/kakuteh7/nuttx-config/nsh/defconfig +++ b/boards/holybro/kakuteh7/nuttx-config/nsh/defconfig @@ -113,7 +113,7 @@ CONFIG_I2C=y CONFIG_I2C_RESET=y CONFIG_IDLETHREAD_STACKSIZE=750 CONFIG_INIT_ENTRYPOINT="nsh_main" -CONFIG_INIT_STACKSIZE=2944 +CONFIG_INIT_STACKSIZE=3194 CONFIG_LIBC_FLOATINGPOINT=y CONFIG_LIBC_LONG_LONG=y CONFIG_LIBC_MAX_EXITFUNS=1 @@ -149,6 +149,8 @@ CONFIG_PREALLOC_TIMERS=50 CONFIG_PRIORITY_INHERITANCE=y CONFIG_PTHREAD_MUTEX_ROBUST=y CONFIG_PTHREAD_STACK_MIN=512 +CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5 +CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5 CONFIG_RAMTRON_SETSPEED=y CONFIG_RAM_SIZE=245760 CONFIG_RAM_START=0x20010000 diff --git a/boards/holybro/kakuteh7/src/spi.cpp b/boards/holybro/kakuteh7/src/spi.cpp index 1ff5b7f35c1c..e0f4db0edd6e 100644 --- a/boards/holybro/kakuteh7/src/spi.cpp +++ b/boards/holybro/kakuteh7/src/spi.cpp @@ -43,7 +43,7 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = { initSPIDevice(DRV_OSD_DEVTYPE_ATXXXX, SPI::CS{GPIO::PortB, GPIO::Pin12}), }), initSPIBus(SPI::Bus::SPI4, { - initSPIDevice(DRV_IMU_DEVTYPE_ICM20689, SPI::CS{GPIO::PortE, GPIO::Pin4}, SPI::DRDY{GPIO::PortE, GPIO::Pin1}), + initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortE, GPIO::Pin4}, SPI::DRDY{GPIO::PortE, GPIO::Pin1}), initSPIDevice(DRV_IMU_DEVTYPE_MPU6000, SPI::CS{GPIO::PortE, GPIO::Pin4}, SPI::DRDY{GPIO::PortE, GPIO::Pin1}), initSPIDevice(DRV_IMU_DEVTYPE_BMI270, SPI::CS{GPIO::PortE, GPIO::Pin4}, SPI::DRDY{GPIO::PortE, GPIO::Pin1}), }), diff --git a/boards/holybro/kakuteh7mini/default.px4board b/boards/holybro/kakuteh7mini/default.px4board index b019b753f90f..eb465e00275c 100644 --- a/boards/holybro/kakuteh7mini/default.px4board +++ b/boards/holybro/kakuteh7mini/default.px4board @@ -9,12 +9,13 @@ CONFIG_COMMON_BAROMETERS=y CONFIG_DRIVERS_BATT_SMBUS=y CONFIG_DRIVERS_CAMERA_CAPTURE=y CONFIG_DRIVERS_CAMERA_TRIGGER=y +CONFIG_DRIVERS_CDCACM_AUTOSTART=y CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y CONFIG_COMMON_DISTANCE_SENSOR=y CONFIG_DRIVERS_DSHOT=y CONFIG_DRIVERS_GPS=y CONFIG_DRIVERS_IMU_BOSCH_BMI270=y -CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y +CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y CONFIG_COMMON_LIGHT=y CONFIG_COMMON_MAGNETOMETER=y CONFIG_COMMON_OPTICAL_FLOW=y @@ -32,6 +33,12 @@ CONFIG_MODULES_COMMANDER=y CONFIG_MODULES_CONTROL_ALLOCATOR=y CONFIG_MODULES_DATAMAN=y CONFIG_MODULES_EKF2=y +# CONFIG_EKF2_AUXVEL is not set +# CONFIG_EKF2_BARO_COMPENSATION is not set +# CONFIG_EKF2_DRAG_FUSION is not set +# CONFIG_EKF2_EXTERNAL_VISION is not set +# CONFIG_EKF2_GNSS_YAW is not set +# CONFIG_EKF2_SIDESLIP is not set CONFIG_MODULES_ESC_BATTERY=y CONFIG_MODULES_EVENTS=y CONFIG_MODULES_FLIGHT_MODE_MANAGER=y diff --git a/boards/holybro/kakuteh7mini/extras/holybro_kakuteh7mini_bootloader.bin b/boards/holybro/kakuteh7mini/extras/holybro_kakuteh7mini_bootloader.bin index fca97ea49d7c..81108119f3eb 100755 Binary files a/boards/holybro/kakuteh7mini/extras/holybro_kakuteh7mini_bootloader.bin and b/boards/holybro/kakuteh7mini/extras/holybro_kakuteh7mini_bootloader.bin differ diff --git a/boards/holybro/kakuteh7mini/init/rc.board_defaults b/boards/holybro/kakuteh7mini/init/rc.board_defaults index 4503905262e8..a0ccc7e101e5 100644 --- a/boards/holybro/kakuteh7mini/init/rc.board_defaults +++ b/boards/holybro/kakuteh7mini/init/rc.board_defaults @@ -25,7 +25,7 @@ param set-default SYS_AUTOSTART 4050 # use EKF2 without mag param set-default SYS_HAS_MAG 0 # and enable gravity fusion -param set-default EKF2_IMU_CONTROL 7 +param set-default EKF2_IMU_CTRL 7 # the startup tune is not great on a binary output buzzer, so disable it param set-default CBRK_BUZZER 782090 diff --git a/boards/holybro/kakuteh7mini/init/rc.board_extras b/boards/holybro/kakuteh7mini/init/rc.board_extras index 256633f33c9d..3423728dab9f 100644 --- a/boards/holybro/kakuteh7mini/init/rc.board_extras +++ b/boards/holybro/kakuteh7mini/init/rc.board_extras @@ -10,4 +10,3 @@ fi # DShot telemetry is always on UART7 dshot telemetry /dev/ttyS5 - diff --git a/boards/holybro/kakuteh7mini/init/rc.board_sensors b/boards/holybro/kakuteh7mini/init/rc.board_sensors index 89a18f52b5cc..0b58d912bbdf 100644 --- a/boards/holybro/kakuteh7mini/init/rc.board_sensors +++ b/boards/holybro/kakuteh7mini/init/rc.board_sensors @@ -4,6 +4,9 @@ #------------------------------------------------------------------------------ board_adc start -bmi270 -R 6 -s start +if ! bmi270 -s -q start +then + icm42688p -R 0 -s start +fi bmp280 -X start diff --git a/boards/holybro/kakuteh7mini/nuttx-config/bootloader/defconfig b/boards/holybro/kakuteh7mini/nuttx-config/bootloader/defconfig index cefb4421b776..bc47e6b75b88 100644 --- a/boards/holybro/kakuteh7mini/nuttx-config/bootloader/defconfig +++ b/boards/holybro/kakuteh7mini/nuttx-config/bootloader/defconfig @@ -47,7 +47,7 @@ CONFIG_HAVE_CXX=y CONFIG_HAVE_CXXINITIALIZE=y CONFIG_IDLETHREAD_STACKSIZE=750 CONFIG_INIT_ENTRYPOINT="bootloader_main" -CONFIG_INIT_STACKSIZE=2944 +CONFIG_INIT_STACKSIZE=3194 CONFIG_LIBC_FLOATINGPOINT=y CONFIG_LIBC_LONG_LONG=y CONFIG_LIBC_STRERROR=y diff --git a/boards/holybro/kakuteh7mini/nuttx-config/include/board.h b/boards/holybro/kakuteh7mini/nuttx-config/include/board.h index 83245ff925a3..0c96869f01d1 100644 --- a/boards/holybro/kakuteh7mini/nuttx-config/include/board.h +++ b/boards/holybro/kakuteh7mini/nuttx-config/include/board.h @@ -245,7 +245,7 @@ /* ADC 1 2 3 clock source */ -#define STM32_RCC_D3CCIPR_ADCSEL RCC_D3CCIPR_ADCSEL_PLL2 +#define STM32_RCC_D3CCIPR_ADCSRC RCC_D3CCIPR_ADCSEL_PLL2 /* FDCAN 1 2 clock source */ @@ -416,4 +416,3 @@ # define PROBE_INIT(mask) # define PROBE(n,s) # define PROBE_MARK(n) - diff --git a/boards/holybro/kakuteh7mini/nuttx-config/include/board_dma_map.h b/boards/holybro/kakuteh7mini/nuttx-config/include/board_dma_map.h index 1954ce3e6806..d23e0d412072 100644 --- a/boards/holybro/kakuteh7mini/nuttx-config/include/board_dma_map.h +++ b/boards/holybro/kakuteh7mini/nuttx-config/include/board_dma_map.h @@ -37,4 +37,3 @@ #define DMAMAP_SPI4_TX DMAMAP_DMA12_SPI4TX_1 /* DMA2 */ #define DMAMAP_USART2_RX DMAMAP_DMA12_USART2RX_1 /* DMA2 */ - diff --git a/boards/holybro/kakuteh7mini/nuttx-config/nsh/defconfig b/boards/holybro/kakuteh7mini/nuttx-config/nsh/defconfig index f40b0ccbfdaa..685ea6c24796 100644 --- a/boards/holybro/kakuteh7mini/nuttx-config/nsh/defconfig +++ b/boards/holybro/kakuteh7mini/nuttx-config/nsh/defconfig @@ -112,7 +112,7 @@ CONFIG_I2C=y CONFIG_I2C_RESET=y CONFIG_IDLETHREAD_STACKSIZE=750 CONFIG_INIT_ENTRYPOINT="nsh_main" -CONFIG_INIT_STACKSIZE=2944 +CONFIG_INIT_STACKSIZE=3194 CONFIG_LIBC_FLOATINGPOINT=y CONFIG_LIBC_LONG_LONG=y CONFIG_LIBC_MAX_EXITFUNS=1 @@ -148,6 +148,8 @@ CONFIG_PREALLOC_TIMERS=50 CONFIG_PRIORITY_INHERITANCE=y CONFIG_PTHREAD_MUTEX_ROBUST=y CONFIG_PTHREAD_STACK_MIN=512 +CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5 +CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5 CONFIG_RAMTRON_SETSPEED=y CONFIG_RAM_SIZE=245760 CONFIG_RAM_START=0x20010000 diff --git a/boards/holybro/kakuteh7v2/default.px4board b/boards/holybro/kakuteh7v2/default.px4board index d326a787978c..45fd6e11eb79 100644 --- a/boards/holybro/kakuteh7v2/default.px4board +++ b/boards/holybro/kakuteh7v2/default.px4board @@ -9,12 +9,13 @@ CONFIG_COMMON_BAROMETERS=y CONFIG_DRIVERS_BATT_SMBUS=y CONFIG_DRIVERS_CAMERA_CAPTURE=y CONFIG_DRIVERS_CAMERA_TRIGGER=y +CONFIG_DRIVERS_CDCACM_AUTOSTART=y CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y CONFIG_COMMON_DISTANCE_SENSOR=y CONFIG_DRIVERS_DSHOT=y CONFIG_DRIVERS_GPS=y CONFIG_DRIVERS_IMU_BOSCH_BMI270=y -CONFIG_DRIVERS_IMU_INVENSENSE_ICM20689=y +CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y CONFIG_COMMON_LIGHT=y CONFIG_COMMON_MAGNETOMETER=y @@ -33,6 +34,12 @@ CONFIG_MODULES_COMMANDER=y CONFIG_MODULES_CONTROL_ALLOCATOR=y CONFIG_MODULES_DATAMAN=y CONFIG_MODULES_EKF2=y +# CONFIG_EKF2_AUXVEL is not set +# CONFIG_EKF2_BARO_COMPENSATION is not set +# CONFIG_EKF2_DRAG_FUSION is not set +# CONFIG_EKF2_EXTERNAL_VISION is not set +# CONFIG_EKF2_GNSS_YAW is not set +# CONFIG_EKF2_SIDESLIP is not set CONFIG_MODULES_ESC_BATTERY=y CONFIG_MODULES_EVENTS=y CONFIG_MODULES_FLIGHT_MODE_MANAGER=y diff --git a/boards/holybro/kakuteh7v2/extras/holybro_kakuteh7v2_bootloader.bin b/boards/holybro/kakuteh7v2/extras/holybro_kakuteh7v2_bootloader.bin index 7ed8c65c2f53..c441ef2a2317 100755 Binary files a/boards/holybro/kakuteh7v2/extras/holybro_kakuteh7v2_bootloader.bin and b/boards/holybro/kakuteh7v2/extras/holybro_kakuteh7v2_bootloader.bin differ diff --git a/boards/holybro/kakuteh7v2/init/rc.board_defaults b/boards/holybro/kakuteh7v2/init/rc.board_defaults index 4503905262e8..a0ccc7e101e5 100644 --- a/boards/holybro/kakuteh7v2/init/rc.board_defaults +++ b/boards/holybro/kakuteh7v2/init/rc.board_defaults @@ -25,7 +25,7 @@ param set-default SYS_AUTOSTART 4050 # use EKF2 without mag param set-default SYS_HAS_MAG 0 # and enable gravity fusion -param set-default EKF2_IMU_CONTROL 7 +param set-default EKF2_IMU_CTRL 7 # the startup tune is not great on a binary output buzzer, so disable it param set-default CBRK_BUZZER 782090 diff --git a/boards/holybro/kakuteh7v2/init/rc.board_extras b/boards/holybro/kakuteh7v2/init/rc.board_extras index 256633f33c9d..3423728dab9f 100644 --- a/boards/holybro/kakuteh7v2/init/rc.board_extras +++ b/boards/holybro/kakuteh7v2/init/rc.board_extras @@ -10,4 +10,3 @@ fi # DShot telemetry is always on UART7 dshot telemetry /dev/ttyS5 - diff --git a/boards/holybro/kakuteh7v2/init/rc.board_sensors b/boards/holybro/kakuteh7v2/init/rc.board_sensors index 221983e789b6..ad7025102a30 100644 --- a/boards/holybro/kakuteh7v2/init/rc.board_sensors +++ b/boards/holybro/kakuteh7v2/init/rc.board_sensors @@ -4,6 +4,9 @@ #------------------------------------------------------------------------------ board_adc start -bmi270 -s start +if ! bmi270 -s -q start +then + icm42688p -R 0 -s start +fi bmp280 -X start diff --git a/boards/holybro/kakuteh7v2/nuttx-config/bootloader/defconfig b/boards/holybro/kakuteh7v2/nuttx-config/bootloader/defconfig index 0f46c66f7178..10011bc456c2 100644 --- a/boards/holybro/kakuteh7v2/nuttx-config/bootloader/defconfig +++ b/boards/holybro/kakuteh7v2/nuttx-config/bootloader/defconfig @@ -47,7 +47,7 @@ CONFIG_HAVE_CXX=y CONFIG_HAVE_CXXINITIALIZE=y CONFIG_IDLETHREAD_STACKSIZE=750 CONFIG_INIT_ENTRYPOINT="bootloader_main" -CONFIG_INIT_STACKSIZE=2944 +CONFIG_INIT_STACKSIZE=3194 CONFIG_LIBC_FLOATINGPOINT=y CONFIG_LIBC_LONG_LONG=y CONFIG_LIBC_STRERROR=y diff --git a/boards/holybro/kakuteh7v2/nuttx-config/include/board.h b/boards/holybro/kakuteh7v2/nuttx-config/include/board.h index 83245ff925a3..0c96869f01d1 100644 --- a/boards/holybro/kakuteh7v2/nuttx-config/include/board.h +++ b/boards/holybro/kakuteh7v2/nuttx-config/include/board.h @@ -245,7 +245,7 @@ /* ADC 1 2 3 clock source */ -#define STM32_RCC_D3CCIPR_ADCSEL RCC_D3CCIPR_ADCSEL_PLL2 +#define STM32_RCC_D3CCIPR_ADCSRC RCC_D3CCIPR_ADCSEL_PLL2 /* FDCAN 1 2 clock source */ @@ -416,4 +416,3 @@ # define PROBE_INIT(mask) # define PROBE(n,s) # define PROBE_MARK(n) - diff --git a/boards/holybro/kakuteh7v2/nuttx-config/include/board_dma_map.h b/boards/holybro/kakuteh7v2/nuttx-config/include/board_dma_map.h index 1954ce3e6806..d23e0d412072 100644 --- a/boards/holybro/kakuteh7v2/nuttx-config/include/board_dma_map.h +++ b/boards/holybro/kakuteh7v2/nuttx-config/include/board_dma_map.h @@ -37,4 +37,3 @@ #define DMAMAP_SPI4_TX DMAMAP_DMA12_SPI4TX_1 /* DMA2 */ #define DMAMAP_USART2_RX DMAMAP_DMA12_USART2RX_1 /* DMA2 */ - diff --git a/boards/holybro/kakuteh7v2/nuttx-config/nsh/defconfig b/boards/holybro/kakuteh7v2/nuttx-config/nsh/defconfig index 8ac32ef34966..1b85f5b0fdd8 100644 --- a/boards/holybro/kakuteh7v2/nuttx-config/nsh/defconfig +++ b/boards/holybro/kakuteh7v2/nuttx-config/nsh/defconfig @@ -112,7 +112,7 @@ CONFIG_I2C=y CONFIG_I2C_RESET=y CONFIG_IDLETHREAD_STACKSIZE=750 CONFIG_INIT_ENTRYPOINT="nsh_main" -CONFIG_INIT_STACKSIZE=2944 +CONFIG_INIT_STACKSIZE=3194 CONFIG_LIBC_FLOATINGPOINT=y CONFIG_LIBC_LONG_LONG=y CONFIG_LIBC_MAX_EXITFUNS=1 @@ -148,6 +148,8 @@ CONFIG_PREALLOC_TIMERS=50 CONFIG_PRIORITY_INHERITANCE=y CONFIG_PTHREAD_MUTEX_ROBUST=y CONFIG_PTHREAD_STACK_MIN=512 +CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5 +CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5 CONFIG_RAMTRON_SETSPEED=y CONFIG_RAM_SIZE=245760 CONFIG_RAM_START=0x20010000 diff --git a/boards/holybro/pix32v5/default.px4board b/boards/holybro/pix32v5/default.px4board index 45bd43ee4f4d..0093ee2dcfd0 100644 --- a/boards/holybro/pix32v5/default.px4board +++ b/boards/holybro/pix32v5/default.px4board @@ -11,6 +11,7 @@ CONFIG_COMMON_BAROMETERS=y CONFIG_DRIVERS_BATT_SMBUS=y CONFIG_DRIVERS_CAMERA_CAPTURE=y CONFIG_DRIVERS_CAMERA_TRIGGER=y +CONFIG_DRIVERS_CDCACM_AUTOSTART=y CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y CONFIG_COMMON_DISTANCE_SENSOR=y CONFIG_DRIVERS_DSHOT=y diff --git a/boards/holybro/pix32v5/extras/px4_io-v2_default.bin b/boards/holybro/pix32v5/extras/px4_io-v2_default.bin index 957f0f13a12e..145089ae0d7c 100755 Binary files a/boards/holybro/pix32v5/extras/px4_io-v2_default.bin and b/boards/holybro/pix32v5/extras/px4_io-v2_default.bin differ diff --git a/boards/holybro/pix32v5/init/rc.board_defaults b/boards/holybro/pix32v5/init/rc.board_defaults index 94c582821480..c2300a50a770 100644 --- a/boards/holybro/pix32v5/init/rc.board_defaults +++ b/boards/holybro/pix32v5/init/rc.board_defaults @@ -9,7 +9,5 @@ param set-default BAT2_V_DIV 18.1 param set-default BAT1_A_PER_V 36.367515152 param set-default BAT2_A_PER_V 36.367515152 -param set-default SYS_USE_IO 1 - rgbled_pwm start safety_button start diff --git a/boards/holybro/pix32v5/nuttx-config/nsh/defconfig b/boards/holybro/pix32v5/nuttx-config/nsh/defconfig index 76efc7a11e5d..370b24dfe6e7 100644 --- a/boards/holybro/pix32v5/nuttx-config/nsh/defconfig +++ b/boards/holybro/pix32v5/nuttx-config/nsh/defconfig @@ -112,7 +112,7 @@ CONFIG_I2C=y CONFIG_I2C_RESET=y CONFIG_IDLETHREAD_STACKSIZE=750 CONFIG_INIT_ENTRYPOINT="nsh_main" -CONFIG_INIT_STACKSIZE=2944 +CONFIG_INIT_STACKSIZE=3194 CONFIG_LIBC_FLOATINGPOINT=y CONFIG_LIBC_LONG_LONG=y CONFIG_LIBC_MAX_EXITFUNS=1 @@ -147,6 +147,8 @@ CONFIG_PREALLOC_TIMERS=50 CONFIG_PRIORITY_INHERITANCE=y CONFIG_PTHREAD_MUTEX_ROBUST=y CONFIG_PTHREAD_STACK_MIN=512 +CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5 +CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5 CONFIG_RAMTRON_SETSPEED=y CONFIG_RAM_SIZE=245760 CONFIG_RAM_START=0x20010000 diff --git a/boards/matek/gnss-m9n-f4/nuttx-config/canbootloader/defconfig b/boards/matek/gnss-m9n-f4/nuttx-config/canbootloader/defconfig index 8c973887bf4b..0e5f3cf6846b 100644 --- a/boards/matek/gnss-m9n-f4/nuttx-config/canbootloader/defconfig +++ b/boards/matek/gnss-m9n-f4/nuttx-config/canbootloader/defconfig @@ -30,7 +30,7 @@ CONFIG_FDCLONE_STDIO=y CONFIG_HAVE_CXX=y CONFIG_HAVE_CXXINITIALIZE=y CONFIG_IDLETHREAD_STACKSIZE=4096 -CONFIG_INIT_STACKSIZE=2944 +CONFIG_INIT_STACKSIZE=3194 CONFIG_LIBC_FLOATINGPOINT=y CONFIG_LIBC_LONG_LONG=y CONFIG_LIBC_STRERROR=y diff --git a/boards/matek/gnss-m9n-f4/nuttx-config/nsh/defconfig b/boards/matek/gnss-m9n-f4/nuttx-config/nsh/defconfig index fb6ecf3ba4c5..f74d825a3792 100644 --- a/boards/matek/gnss-m9n-f4/nuttx-config/nsh/defconfig +++ b/boards/matek/gnss-m9n-f4/nuttx-config/nsh/defconfig @@ -104,7 +104,7 @@ CONFIG_I2C=y CONFIG_I2C_RESET=y CONFIG_IDLETHREAD_STACKSIZE=750 CONFIG_INIT_ENTRYPOINT="nsh_main" -CONFIG_INIT_STACKSIZE=2944 +CONFIG_INIT_STACKSIZE=3194 CONFIG_LIBC_FLOATINGPOINT=y CONFIG_LIBC_LONG_LONG=y CONFIG_LIBC_MAX_EXITFUNS=1 @@ -138,6 +138,8 @@ CONFIG_PREALLOC_TIMERS=50 CONFIG_PRIORITY_INHERITANCE=y CONFIG_PTHREAD_MUTEX_ROBUST=y CONFIG_PTHREAD_STACK_MIN=512 +CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5 +CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5 CONFIG_RAMTRON_SETSPEED=y CONFIG_RAM_SIZE=131072 CONFIG_RAM_START=0x20000000 diff --git a/boards/matek/gnss-m9n-f4/uavcan_board_identity b/boards/matek/gnss-m9n-f4/uavcan_board_identity index 70123f7d91a9..fb24ed9f114c 100755 --- a/boards/matek/gnss-m9n-f4/uavcan_board_identity +++ b/boards/matek/gnss-m9n-f4/uavcan_board_identity @@ -1,6 +1,6 @@ # UAVCAN boot loadable Module ID -set(uavcanblid_sw_version_major 0) -set(uavcanblid_sw_version_minor 1) +set(uavcanblid_sw_version_major ${PX4_VERSION_MAJOR}) +set(uavcanblid_sw_version_minor ${PX4_VERSION_MINOR}) add_definitions( -DAPP_VERSION_MAJOR=${uavcanblid_sw_version_major} -DAPP_VERSION_MINOR=${uavcanblid_sw_version_minor} diff --git a/boards/matek/h743-mini/default.px4board b/boards/matek/h743-mini/default.px4board index 64e472d77048..22efafcfdb38 100644 --- a/boards/matek/h743-mini/default.px4board +++ b/boards/matek/h743-mini/default.px4board @@ -7,6 +7,7 @@ CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS5" CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS6" CONFIG_DRIVERS_ADC_BOARD_ADC=y CONFIG_DRIVERS_BAROMETER_DPS310=y +CONFIG_DRIVERS_CDCACM_AUTOSTART=y CONFIG_DRIVERS_DSHOT=y CONFIG_DRIVERS_GPS=y CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y diff --git a/boards/matek/h743-mini/extras/matek_h743-mini_bootloader.bin b/boards/matek/h743-mini/extras/matek_h743-mini_bootloader.bin index 121b7eae3591..aa47d3e32116 100755 Binary files a/boards/matek/h743-mini/extras/matek_h743-mini_bootloader.bin and b/boards/matek/h743-mini/extras/matek_h743-mini_bootloader.bin differ diff --git a/boards/matek/h743-mini/init/rc.board_extras b/boards/matek/h743-mini/init/rc.board_extras index a39b81bdc223..66e293646417 100644 --- a/boards/matek/h743-mini/init/rc.board_extras +++ b/boards/matek/h743-mini/init/rc.board_extras @@ -10,7 +10,5 @@ atxxxx start -s - # DShot telemetry is always on UART7 # dshot telemetry /dev/ttyS5 - diff --git a/boards/matek/h743-mini/nuttx-config/bootloader/defconfig b/boards/matek/h743-mini/nuttx-config/bootloader/defconfig index 94223808e7ad..a5e157f541e3 100644 --- a/boards/matek/h743-mini/nuttx-config/bootloader/defconfig +++ b/boards/matek/h743-mini/nuttx-config/bootloader/defconfig @@ -47,7 +47,7 @@ CONFIG_HAVE_CXX=y CONFIG_HAVE_CXXINITIALIZE=y CONFIG_IDLETHREAD_STACKSIZE=750 CONFIG_INIT_ENTRYPOINT="bootloader_main" -CONFIG_INIT_STACKSIZE=2944 +CONFIG_INIT_STACKSIZE=3194 CONFIG_LIBC_FLOATINGPOINT=y CONFIG_LIBC_LONG_LONG=y CONFIG_LIBC_STRERROR=y diff --git a/boards/matek/h743-mini/nuttx-config/include/board.h b/boards/matek/h743-mini/nuttx-config/include/board.h index 4bf2b6e45e0f..f8afe3e6b871 100644 --- a/boards/matek/h743-mini/nuttx-config/include/board.h +++ b/boards/matek/h743-mini/nuttx-config/include/board.h @@ -248,7 +248,7 @@ /* ADC 1 2 3 clock source */ -#define STM32_RCC_D3CCIPR_ADCSEL RCC_D3CCIPR_ADCSEL_PLL2 +#define STM32_RCC_D3CCIPR_ADCSRC RCC_D3CCIPR_ADCSEL_PLL2 /* FDCAN 1 clock source */ diff --git a/boards/matek/h743-mini/nuttx-config/nsh/defconfig b/boards/matek/h743-mini/nuttx-config/nsh/defconfig index a4c347fe03ed..600180fa6d5f 100644 --- a/boards/matek/h743-mini/nuttx-config/nsh/defconfig +++ b/boards/matek/h743-mini/nuttx-config/nsh/defconfig @@ -111,7 +111,7 @@ CONFIG_I2C=y CONFIG_I2C_RESET=y CONFIG_IDLETHREAD_STACKSIZE=750 CONFIG_INIT_ENTRYPOINT="nsh_main" -CONFIG_INIT_STACKSIZE=2944 +CONFIG_INIT_STACKSIZE=3194 CONFIG_LIBC_FLOATINGPOINT=y CONFIG_LIBC_LONG_LONG=y CONFIG_LIBC_MAX_EXITFUNS=1 diff --git a/boards/matek/h743-mini/src/board_config.h b/boards/matek/h743-mini/src/board_config.h index 151d6b59c5e5..e47444085a4e 100644 --- a/boards/matek/h743-mini/src/board_config.h +++ b/boards/matek/h743-mini/src/board_config.h @@ -102,9 +102,7 @@ (1 << ADC_RSSI_IN_CHANNEL)) -/* Define Battery 1 Voltage Divider and A per V - */ - +/* Define Battery Voltage Divider and A per V */ #define BOARD_BATTERY1_V_DIV (11.0f) /* measured with the provided PM board */ #define BOARD_BATTERY1_A_PER_V (40.0f) #define BOARD_BATTERY2_V_DIV (11.0f) /* measured with the provided PM board */ diff --git a/boards/matek/h743-slim/default.px4board b/boards/matek/h743-slim/default.px4board index fed4e6c1a7f3..71024fea5ceb 100644 --- a/boards/matek/h743-slim/default.px4board +++ b/boards/matek/h743-slim/default.px4board @@ -7,11 +7,13 @@ CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS5" CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS6" CONFIG_DRIVERS_ADC_BOARD_ADC=y CONFIG_DRIVERS_BAROMETER_DPS310=y +CONFIG_DRIVERS_CDCACM_AUTOSTART=y CONFIG_COMMON_DISTANCE_SENSOR=y CONFIG_DRIVERS_DSHOT=y CONFIG_DRIVERS_GPS=y CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y CONFIG_DRIVERS_IMU_INVENSENSE_ICM42605=y +CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y CONFIG_COMMON_MAGNETOMETER=y CONFIG_COMMON_OPTICAL_FLOW=y diff --git a/boards/matek/h743-slim/extras/matek_h743-slim_bootloader.bin b/boards/matek/h743-slim/extras/matek_h743-slim_bootloader.bin index 2a5c57d308b2..954f7f612547 100755 Binary files a/boards/matek/h743-slim/extras/matek_h743-slim_bootloader.bin and b/boards/matek/h743-slim/extras/matek_h743-slim_bootloader.bin differ diff --git a/boards/matek/h743-slim/init/rc.board_extras b/boards/matek/h743-slim/init/rc.board_extras index a39b81bdc223..bba363769ce9 100644 --- a/boards/matek/h743-slim/init/rc.board_extras +++ b/boards/matek/h743-slim/init/rc.board_extras @@ -13,4 +13,3 @@ atxxxx start -s # DShot telemetry is always on UART7 # dshot telemetry /dev/ttyS5 - diff --git a/boards/matek/h743-slim/init/rc.board_sensors b/boards/matek/h743-slim/init/rc.board_sensors index c37c3b3b5868..e6761906eed7 100644 --- a/boards/matek/h743-slim/init/rc.board_sensors +++ b/boards/matek/h743-slim/init/rc.board_sensors @@ -5,15 +5,25 @@ board_adc start -# Internal SPI bus ICM-42605 -if ! icm42605 -R 14 -s start +# Different board versions have different IMUs, so we try all known options + +# Internal SPI bus ICM-42688P (SPI1) on V3 board, PITCH180 orientation +if ! icm42688p -s -b 1 -R 12 start then - # internal SPI bus ICM-20602 - icm20602 -R 12 -s start + # Internal SPI bus MPU-6000 on V1.0 and V1.5 boards + mpu6000 -s -b 1 -R 12 start fi -# Internal SPI bus MPU-6000 -mpu6000 -R 12 -s start +# Internal SPI bus ICM-42688P (SPI4) on V3 board, PITCH180_YAW90 orientation +if ! icm42688p -s -b 4 -R 26 start +then + # Internal SPI bus ICM-42605 on V1.5 board, ROTATION_ROLL_180_YAW_270 orientation + if ! icm42605 -s -b 4 -R 14 start + then + # Internal SPI bus ICM-20602 on V1.0 board, PITCH180 orientation + icm20602 -s -b 4 -R 12 start + fi +fi # Internal baro dps310 -I start -a 118 diff --git a/boards/matek/h743-slim/nuttx-config/bootloader/defconfig b/boards/matek/h743-slim/nuttx-config/bootloader/defconfig index 7130c17c7824..636630ffd7d2 100644 --- a/boards/matek/h743-slim/nuttx-config/bootloader/defconfig +++ b/boards/matek/h743-slim/nuttx-config/bootloader/defconfig @@ -48,7 +48,7 @@ CONFIG_HAVE_CXX=y CONFIG_HAVE_CXXINITIALIZE=y CONFIG_IDLETHREAD_STACKSIZE=750 CONFIG_INIT_ENTRYPOINT="bootloader_main" -CONFIG_INIT_STACKSIZE=2944 +CONFIG_INIT_STACKSIZE=3194 CONFIG_LIBC_FLOATINGPOINT=y CONFIG_LIBC_LONG_LONG=y CONFIG_LIBC_STRERROR=y diff --git a/boards/matek/h743-slim/nuttx-config/include/board.h b/boards/matek/h743-slim/nuttx-config/include/board.h index 4bf2b6e45e0f..f8afe3e6b871 100644 --- a/boards/matek/h743-slim/nuttx-config/include/board.h +++ b/boards/matek/h743-slim/nuttx-config/include/board.h @@ -248,7 +248,7 @@ /* ADC 1 2 3 clock source */ -#define STM32_RCC_D3CCIPR_ADCSEL RCC_D3CCIPR_ADCSEL_PLL2 +#define STM32_RCC_D3CCIPR_ADCSRC RCC_D3CCIPR_ADCSEL_PLL2 /* FDCAN 1 clock source */ diff --git a/boards/matek/h743-slim/nuttx-config/nsh/defconfig b/boards/matek/h743-slim/nuttx-config/nsh/defconfig index 94267a1a2bff..cc3124fca0f8 100644 --- a/boards/matek/h743-slim/nuttx-config/nsh/defconfig +++ b/boards/matek/h743-slim/nuttx-config/nsh/defconfig @@ -113,7 +113,7 @@ CONFIG_I2C=y CONFIG_I2C_RESET=y CONFIG_IDLETHREAD_STACKSIZE=750 CONFIG_INIT_ENTRYPOINT="nsh_main" -CONFIG_INIT_STACKSIZE=2944 +CONFIG_INIT_STACKSIZE=3194 CONFIG_LIBC_FLOATINGPOINT=y CONFIG_LIBC_LONG_LONG=y CONFIG_LIBC_MAX_EXITFUNS=1 diff --git a/boards/matek/h743-slim/src/spi.cpp b/boards/matek/h743-slim/src/spi.cpp index db673bedf0d3..84f887aa69fc 100644 --- a/boards/matek/h743-slim/src/spi.cpp +++ b/boards/matek/h743-slim/src/spi.cpp @@ -38,7 +38,11 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = { initSPIBus(SPI::Bus::SPI1, { + // Matek H743 Slim V1.0 and V1.5 initSPIDevice(DRV_IMU_DEVTYPE_MPU6000, SPI::CS{GPIO::PortC, GPIO::Pin15}, SPI::DRDY{GPIO::PortB, GPIO::Pin2}), + + // Matek H743 Slim V3 + initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortC, GPIO::Pin15}, SPI::DRDY{GPIO::PortB, GPIO::Pin2}), }), initSPIBus(SPI::Bus::SPI2, { initSPIDevice(DRV_OSD_DEVTYPE_ATXXXX, SPI::CS{GPIO::PortB, GPIO::Pin12}), @@ -48,8 +52,14 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = { initSPIConfigExternal(SPI::CS{GPIO::PortE, GPIO::Pin2}), }), initSPIBus(SPI::Bus::SPI4, { - initSPIDevice(DRV_IMU_DEVTYPE_ICM42605, SPI::CS{GPIO::PortC, GPIO::Pin13}), + // Matek H743 Slim V1.0 initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, SPI::CS{GPIO::PortE, GPIO::Pin11}), + + // Matek H743 Slim V1.5 + initSPIDevice(DRV_IMU_DEVTYPE_ICM42605, SPI::CS{GPIO::PortC, GPIO::Pin13}), + + // Matek H743 Slim V3 + initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortC, GPIO::Pin13}), }), }; diff --git a/boards/matek/h743/default.px4board b/boards/matek/h743/default.px4board index ce5f2222296e..71024fea5ceb 100644 --- a/boards/matek/h743/default.px4board +++ b/boards/matek/h743/default.px4board @@ -7,6 +7,7 @@ CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS5" CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS6" CONFIG_DRIVERS_ADC_BOARD_ADC=y CONFIG_DRIVERS_BAROMETER_DPS310=y +CONFIG_DRIVERS_CDCACM_AUTOSTART=y CONFIG_COMMON_DISTANCE_SENSOR=y CONFIG_DRIVERS_DSHOT=y CONFIG_DRIVERS_GPS=y diff --git a/boards/matek/h743/extras/matek_h743_bootloader.bin b/boards/matek/h743/extras/matek_h743_bootloader.bin index 605024f3e277..93591c17c925 100755 Binary files a/boards/matek/h743/extras/matek_h743_bootloader.bin and b/boards/matek/h743/extras/matek_h743_bootloader.bin differ diff --git a/boards/matek/h743/init/rc.board_extras b/boards/matek/h743/init/rc.board_extras index a39b81bdc223..bba363769ce9 100644 --- a/boards/matek/h743/init/rc.board_extras +++ b/boards/matek/h743/init/rc.board_extras @@ -13,4 +13,3 @@ atxxxx start -s # DShot telemetry is always on UART7 # dshot telemetry /dev/ttyS5 - diff --git a/boards/matek/h743/nuttx-config/bootloader/defconfig b/boards/matek/h743/nuttx-config/bootloader/defconfig index 2bdea5edd9ca..a39e59702e0d 100644 --- a/boards/matek/h743/nuttx-config/bootloader/defconfig +++ b/boards/matek/h743/nuttx-config/bootloader/defconfig @@ -47,7 +47,7 @@ CONFIG_HAVE_CXX=y CONFIG_HAVE_CXXINITIALIZE=y CONFIG_IDLETHREAD_STACKSIZE=750 CONFIG_INIT_ENTRYPOINT="bootloader_main" -CONFIG_INIT_STACKSIZE=2944 +CONFIG_INIT_STACKSIZE=3194 CONFIG_LIBC_FLOATINGPOINT=y CONFIG_LIBC_LONG_LONG=y CONFIG_LIBC_STRERROR=y diff --git a/boards/matek/h743/nuttx-config/include/board.h b/boards/matek/h743/nuttx-config/include/board.h index 4bf2b6e45e0f..f8afe3e6b871 100644 --- a/boards/matek/h743/nuttx-config/include/board.h +++ b/boards/matek/h743/nuttx-config/include/board.h @@ -248,7 +248,7 @@ /* ADC 1 2 3 clock source */ -#define STM32_RCC_D3CCIPR_ADCSEL RCC_D3CCIPR_ADCSEL_PLL2 +#define STM32_RCC_D3CCIPR_ADCSRC RCC_D3CCIPR_ADCSEL_PLL2 /* FDCAN 1 clock source */ diff --git a/boards/matek/h743/nuttx-config/nsh/defconfig b/boards/matek/h743/nuttx-config/nsh/defconfig index 39e976d11c7d..eba77a1a903e 100644 --- a/boards/matek/h743/nuttx-config/nsh/defconfig +++ b/boards/matek/h743/nuttx-config/nsh/defconfig @@ -112,7 +112,7 @@ CONFIG_I2C=y CONFIG_I2C_RESET=y CONFIG_IDLETHREAD_STACKSIZE=750 CONFIG_INIT_ENTRYPOINT="nsh_main" -CONFIG_INIT_STACKSIZE=2944 +CONFIG_INIT_STACKSIZE=3194 CONFIG_LIBC_FLOATINGPOINT=y CONFIG_LIBC_LONG_LONG=y CONFIG_LIBC_MAX_EXITFUNS=1 diff --git a/boards/matek/h743/src/board_config.h b/boards/matek/h743/src/board_config.h index 151d6b59c5e5..e47444085a4e 100644 --- a/boards/matek/h743/src/board_config.h +++ b/boards/matek/h743/src/board_config.h @@ -102,9 +102,7 @@ (1 << ADC_RSSI_IN_CHANNEL)) -/* Define Battery 1 Voltage Divider and A per V - */ - +/* Define Battery Voltage Divider and A per V */ #define BOARD_BATTERY1_V_DIV (11.0f) /* measured with the provided PM board */ #define BOARD_BATTERY1_A_PER_V (40.0f) #define BOARD_BATTERY2_V_DIV (11.0f) /* measured with the provided PM board */ diff --git a/boards/micoair/h743/bootloader.px4board b/boards/micoair/h743/bootloader.px4board new file mode 100644 index 000000000000..19b6e662be69 --- /dev/null +++ b/boards/micoair/h743/bootloader.px4board @@ -0,0 +1,3 @@ +CONFIG_BOARD_TOOLCHAIN="arm-none-eabi" +CONFIG_BOARD_ARCHITECTURE="cortex-m7" +CONFIG_BOARD_ROMFSROOT="" diff --git a/boards/micoair/h743/default.px4board b/boards/micoair/h743/default.px4board new file mode 100644 index 000000000000..98d8f08aaf05 --- /dev/null +++ b/boards/micoair/h743/default.px4board @@ -0,0 +1,85 @@ +CONFIG_BOARD_TOOLCHAIN="arm-none-eabi" +CONFIG_BOARD_ARCHITECTURE="cortex-m7" +CONFIG_BOARD_SERIAL_URT6="/dev/ttyS5" +CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS2" +CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS0" +CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS1" +CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS3" +CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS6" +CONFIG_BOARD_SERIAL_RC="/dev/ttyS4" +CONFIG_DRIVERS_ADC_BOARD_ADC=y +CONFIG_DRIVERS_BAROMETER_DPS310=y +CONFIG_DRIVERS_DSHOT=y +CONFIG_DRIVERS_GPS=y +CONFIG_DRIVERS_IMU_BOSCH_BMI088=y +CONFIG_DRIVERS_IMU_BOSCH_BMI270=y +CONFIG_COMMON_INS=y +CONFIG_COMMON_MAGNETOMETER=y +CONFIG_DRIVERS_OSD_ATXXXX=y +CONFIG_DRIVERS_PPS_CAPTURE=y +CONFIG_DRIVERS_PWM_OUT=y +CONFIG_COMMON_RC=y +CONFIG_DRIVERS_RC_INPUT=y +CONFIG_DRIVERS_TAP_ESC=y +CONFIG_COMMON_TELEMETRY=y +CONFIG_DRIVERS_UAVCAN=y +CONFIG_BOARD_UAVCAN_INTERFACES=1 +CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y +CONFIG_MODULES_BATTERY_STATUS=y +CONFIG_MODULES_COMMANDER=y +CONFIG_MODULES_CONTROL_ALLOCATOR=y +CONFIG_MODULES_DATAMAN=y +CONFIG_MODULES_EKF2=y +CONFIG_MODULES_ESC_BATTERY=y +CONFIG_MODULES_EVENTS=y +CONFIG_MODULES_FLIGHT_MODE_MANAGER=y +CONFIG_MODULES_FW_ATT_CONTROL=y +CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y +CONFIG_MODULES_FW_POS_CONTROL=y +CONFIG_MODULES_FW_RATE_CONTROL=y +CONFIG_MODULES_GYRO_CALIBRATION=y +CONFIG_MODULES_GYRO_FFT=y +CONFIG_MODULES_LAND_DETECTOR=y +CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y +CONFIG_MODULES_LOAD_MON=y +CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y +CONFIG_MODULES_LOGGER=y +CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y +CONFIG_MODULES_MANUAL_CONTROL=y +CONFIG_MODULES_MAVLINK=y +CONFIG_MODULES_MC_ATT_CONTROL=y +CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y +CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y +CONFIG_MODULES_MC_POS_CONTROL=y +CONFIG_MODULES_MC_RATE_CONTROL=y +CONFIG_MODULES_NAVIGATOR=y +CONFIG_MODULES_PAYLOAD_DELIVERER=y +CONFIG_MODULES_RC_UPDATE=y +CONFIG_MODULES_ROVER_POS_CONTROL=y +CONFIG_MODULES_SENSORS=y +CONFIG_MODULES_TEMPERATURE_COMPENSATION=y +CONFIG_MODULES_UXRCE_DDS_CLIENT=y +CONFIG_MODULES_VTOL_ATT_CONTROL=y +CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y +CONFIG_SYSTEMCMDS_DMESG=y +CONFIG_SYSTEMCMDS_DUMPFILE=y +CONFIG_SYSTEMCMDS_FAILURE=y +CONFIG_SYSTEMCMDS_GPIO=y +CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y +CONFIG_SYSTEMCMDS_I2CDETECT=y +CONFIG_SYSTEMCMDS_NSHTERM=y +CONFIG_SYSTEMCMDS_PARAM=y +CONFIG_SYSTEMCMDS_PERF=y +CONFIG_SYSTEMCMDS_REBOOT=y +CONFIG_SYSTEMCMDS_SD_BENCH=y +CONFIG_SYSTEMCMDS_SD_STRESS=y +CONFIG_SYSTEMCMDS_SERIAL_PASSTHRU=y +CONFIG_SYSTEMCMDS_SERIAL_TEST=y +CONFIG_SYSTEMCMDS_SYSTEM_TIME=y +CONFIG_SYSTEMCMDS_TOP=y +CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y +CONFIG_SYSTEMCMDS_TUNE_CONTROL=y +CONFIG_SYSTEMCMDS_UORB=y +CONFIG_SYSTEMCMDS_USB_CONNECTED=y +CONFIG_SYSTEMCMDS_VER=y +CONFIG_SYSTEMCMDS_WORK_QUEUE=y diff --git a/boards/micoair/h743/extras/micoair_h743_bootloader.bin b/boards/micoair/h743/extras/micoair_h743_bootloader.bin new file mode 100644 index 000000000000..ca8c51127966 Binary files /dev/null and b/boards/micoair/h743/extras/micoair_h743_bootloader.bin differ diff --git a/boards/micoair/h743/firmware.prototype b/boards/micoair/h743/firmware.prototype new file mode 100644 index 000000000000..92f78470517d --- /dev/null +++ b/boards/micoair/h743/firmware.prototype @@ -0,0 +1,13 @@ +{ + "board_id": 1166, + "magic": "PX4FWv1", + "description": "Firmware for the MicoAir743 board", + "image": "", + "build_time": 0, + "summary": "MicoAir743", + "version": "0.1", + "image_size": 0, + "image_maxsize": 1835008, + "git_identity": "", + "board_revision": 0 +} diff --git a/boards/micoair/h743/init/rc.board_defaults b/boards/micoair/h743/init/rc.board_defaults new file mode 100644 index 000000000000..c915812e0065 --- /dev/null +++ b/boards/micoair/h743/init/rc.board_defaults @@ -0,0 +1,24 @@ +#!/bin/sh +# +# board specific defaults +#------------------------------------------------------------------------------ +param set-default BAT1_A_PER_V 40 +param set-default BAT1_N_CELLS 4 +param set-default BAT1_V_CHARGED 4.2 +param set-default BAT1_V_DIV 21.2 +param set-default BAT1_V_EMPTY 3.2 + +param set-default SYS_HAS_MAG 1 +param set-default PWM_MAIN_TIM0 -4 +param set-default RC_INPUT_PROTO -1 + +param set-default IMU_GYRO_RATEMAX 2000 +param set-default SYS_AUTOSTART 4001 +param set-default MC_PITCHRATE_K 0.4 +param set-default MC_ROLLRATE_K 0.35 +param set-default MC_YAWRATE_K 1.2 +param set-default MC_YAWRATE_MAX 360 +param set-default MAV_TYPE 2 +param set-default CA_AIRFRAME 0 +param set-default CA_ROTOR_COUNT 4 +param set-default CBRK_SUPPLY_CHK 894281 diff --git a/boards/micoair/h743/init/rc.board_extras b/boards/micoair/h743/init/rc.board_extras new file mode 100644 index 000000000000..549676dd7df5 --- /dev/null +++ b/boards/micoair/h743/init/rc.board_extras @@ -0,0 +1,7 @@ +#!/bin/sh +# +# board specific extras init +#------------------------------------------------------------------------------ + +# enable onboard OSD chip +atxxxx start -s diff --git a/boards/micoair/h743/init/rc.board_sensors b/boards/micoair/h743/init/rc.board_sensors new file mode 100644 index 000000000000..96273de2da8b --- /dev/null +++ b/boards/micoair/h743/init/rc.board_sensors @@ -0,0 +1,18 @@ +#!/bin/sh +# +# board specific sensors init +#------------------------------------------------------------------------------ + +board_adc start + +# # Internal SPI bus BMI088 accel/gyro +bmi088 -s -b 2 -A -R 6 start +bmi088 -s -b 2 -G -R 6 start + +# # Internal SPI bus BMI270 accel/gyro +bmi270 -s -b 2 -R 0 start + +# Internal baro +dps310 -I start -a 118 + +ist8310 -I -R 2 start diff --git a/boards/micoair/h743/nuttx-config/bootloader/defconfig b/boards/micoair/h743/nuttx-config/bootloader/defconfig new file mode 100644 index 000000000000..81e907784ecf --- /dev/null +++ b/boards/micoair/h743/nuttx-config/bootloader/defconfig @@ -0,0 +1,85 @@ +# +# This file is autogenerated: PLEASE DO NOT EDIT IT. +# +# You can use "make menuconfig" to make any modifications to the installed .config file. +# You can then do "make savedefconfig" to generate a new defconfig file that includes your +# modifications. +# +# CONFIG_DEV_CONSOLE is not set +# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set +# CONFIG_SPI_EXCHANGE is not set +# CONFIG_STM32H7_SYSCFG is not set +CONFIG_ARCH="arm" +CONFIG_ARCH_BOARD_CUSTOM=y +CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/micoair/h743/nuttx-config" +CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y +CONFIG_ARCH_BOARD_CUSTOM_NAME="px4" +CONFIG_ARCH_CHIP="stm32h7" +CONFIG_ARCH_CHIP_STM32H743VI=y +CONFIG_ARCH_CHIP_STM32H7=y +CONFIG_ARCH_INTERRUPTSTACK=768 +CONFIG_ARMV7M_BASEPRI_WAR=y +CONFIG_ARMV7M_ICACHE=y +CONFIG_ARMV7M_MEMCPY=y +CONFIG_ARMV7M_USEBASEPRI=y +CONFIG_BOARDCTL=y +CONFIG_BOARDCTL_RESET=y +CONFIG_BOARD_ASSERT_RESET_VALUE=0 +CONFIG_BOARD_INITTHREAD_PRIORITY=254 +CONFIG_BOARD_LATE_INITIALIZE=y +CONFIG_BOARD_LOOPSPERMSEC=95150 +CONFIG_BOARD_RESET_ON_ASSERT=2 +CONFIG_CDCACM=y +CONFIG_CDCACM_IFLOWCONTROL=y +CONFIG_CDCACM_PRODUCTID=0x004b +CONFIG_CDCACM_PRODUCTSTR="MicoAir743" +CONFIG_CDCACM_RXBUFSIZE=600 +CONFIG_CDCACM_TXBUFSIZE=12000 +CONFIG_CDCACM_VENDORID=0x3162 +CONFIG_CDCACM_VENDORSTR="MicoAir" +CONFIG_DEBUG_FULLOPT=y +CONFIG_DEBUG_SYMBOLS=y +CONFIG_DEBUG_TCBINFO=y +CONFIG_DEFAULT_SMALL=y +CONFIG_EXPERIMENTAL=y +CONFIG_FDCLONE_DISABLE=y +CONFIG_FDCLONE_STDIO=y +CONFIG_HAVE_CXX=y +CONFIG_HAVE_CXXINITIALIZE=y +CONFIG_IDLETHREAD_STACKSIZE=750 +CONFIG_INIT_ENTRYPOINT="bootloader_main" +CONFIG_INIT_STACKSIZE=3194 +CONFIG_LIBC_FLOATINGPOINT=y +CONFIG_LIBC_LONG_LONG=y +CONFIG_LIBC_STRERROR=y +CONFIG_MEMSET_64BIT=y +CONFIG_MEMSET_OPTSPEED=y +CONFIG_PREALLOC_TIMERS=50 +CONFIG_PTHREAD_STACK_MIN=512 +CONFIG_RAM_SIZE=245760 +CONFIG_RAM_START=0x20010000 +CONFIG_RAW_BINARY=y +CONFIG_SIG_DEFAULT=y +CONFIG_SIG_SIGALRM_ACTION=y +CONFIG_SIG_SIGUSR1_ACTION=y +CONFIG_SIG_SIGUSR2_ACTION=y +CONFIG_SPI=y +CONFIG_STACK_COLORATION=y +CONFIG_START_DAY=30 +CONFIG_START_MONTH=11 +CONFIG_STDIO_BUFFER_SIZE=32 +CONFIG_STM32H7_BKPSRAM=y +CONFIG_STM32H7_DMA1=y +CONFIG_STM32H7_OTGFS=y +CONFIG_STM32H7_PROGMEM=y +CONFIG_STM32H7_TIM1=y +CONFIG_SYSTEMTICK_HOOK=y +CONFIG_SYSTEM_CDCACM=y +CONFIG_TASK_NAME_SIZE=24 +CONFIG_TTY_SIGINT=y +CONFIG_TTY_SIGINT_CHAR=0x03 +CONFIG_TTY_SIGTSTP=y +CONFIG_USBDEV=y +CONFIG_USBDEV_BUSPOWERED=y +CONFIG_USBDEV_MAXPOWER=500 +CONFIG_USEC_PER_TICK=1000 diff --git a/boards/micoair/h743/nuttx-config/include/board.h b/boards/micoair/h743/nuttx-config/include/board.h new file mode 100644 index 000000000000..9c30129d3889 --- /dev/null +++ b/boards/micoair/h743/nuttx-config/include/board.h @@ -0,0 +1,426 @@ +/************************************************************************************ + * nuttx-configs/px4_fmu-v6u/include/board.h + * + * Copyright (C) 2016-2019 Gregory Nutt. All rights reserved. + * Authors: David Sidrane + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name NuttX nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ************************************************************************************/ +#ifndef __NUTTX_CONFIG_MICOAIR743_INCLUDE_BOARD_H +#define __NUTTX_CONFIG_MICOAIR743_INCLUDE_BOARD_H + +/************************************************************************************ + * Included Files + ************************************************************************************/ + +#include "board_dma_map.h" + +#include + +#ifndef __ASSEMBLY__ +# include +#endif + +#include "stm32_rcc.h" +#include "stm32_sdmmc.h" + +/************************************************************************************ + * Pre-processor Definitions + ************************************************************************************/ + +/* Clocking *************************************************************************/ +/* The MicoAir743 board provides the following clock sources: + * + * X1: 8 MHz crystal for HSE + * + * So we have these clock source available within the STM32 + * + * HSI: 64 MHz RC factory-trimmed + * HSE: 8 MHz crystal for HSE + */ + +#define STM32_BOARD_XTAL 8000000ul + +#define STM32_HSI_FREQUENCY 16000000ul +#define STM32_LSI_FREQUENCY 32000 +#define STM32_HSE_FREQUENCY STM32_BOARD_XTAL +#define STM32_LSE_FREQUENCY 32768 + +/* Main PLL Configuration. + * + * PLL source is HSE = 8,000,000 + * + * PLL_VCOx = (STM32_HSE_FREQUENCY / PLLM) * PLLN + * Subject to: + * + * 1 <= PLLM <= 63 + * 4 <= PLLN <= 512 + * 150 MHz <= PLL_VCOL <= 420MHz + * 192 MHz <= PLL_VCOH <= 836MHz + * + * SYSCLK = PLL_VCO / PLLP + * CPUCLK = SYSCLK / D1CPRE + * Subject to + * + * PLLP1 = {2, 4, 6, 8, ..., 128} + * PLLP2,3 = {2, 3, 4, ..., 128} + * CPUCLK <= 480 MHz + */ + +#define STM32_BOARD_USEHSE + +#define STM32_PLLCFG_PLLSRC RCC_PLLCKSELR_PLLSRC_HSE + +/* PLL1, wide 4 - 8 MHz input, enable DIVP, DIVQ, DIVR + * + * PLL1_VCO = (8,000,000 / 1) * 120 = 960 MHz + * + * PLL1P = PLL1_VCO/2 = 960 MHz / 2 = 480 MHz + * PLL1Q = PLL1_VCO/4 = 960 MHz / 4 = 240 MHz + * PLL1R = PLL1_VCO/8 = 960 MHz / 8 = 120 MHz + */ + +#define STM32_PLLCFG_PLL1CFG (RCC_PLLCFGR_PLL1VCOSEL_WIDE | \ + RCC_PLLCFGR_PLL1RGE_4_8_MHZ | \ + RCC_PLLCFGR_DIVP1EN | \ + RCC_PLLCFGR_DIVQ1EN | \ + RCC_PLLCFGR_DIVR1EN) +#define STM32_PLLCFG_PLL1M RCC_PLLCKSELR_DIVM1(1) +#define STM32_PLLCFG_PLL1N RCC_PLL1DIVR_N1(120) +#define STM32_PLLCFG_PLL1P RCC_PLL1DIVR_P1(2) +#define STM32_PLLCFG_PLL1Q RCC_PLL1DIVR_Q1(4) +#define STM32_PLLCFG_PLL1R RCC_PLL1DIVR_R1(8) + +#define STM32_VCO1_FREQUENCY ((STM32_HSE_FREQUENCY / 1) * 120) +#define STM32_PLL1P_FREQUENCY (STM32_VCO1_FREQUENCY / 2) +#define STM32_PLL1Q_FREQUENCY (STM32_VCO1_FREQUENCY / 4) +#define STM32_PLL1R_FREQUENCY (STM32_VCO1_FREQUENCY / 8) + +/* PLL2 */ + +#define STM32_PLLCFG_PLL2CFG (RCC_PLLCFGR_PLL2VCOSEL_WIDE | \ + RCC_PLLCFGR_PLL2RGE_4_8_MHZ | \ + RCC_PLLCFGR_DIVP2EN | \ + RCC_PLLCFGR_DIVQ2EN | \ + RCC_PLLCFGR_DIVR2EN) +#define STM32_PLLCFG_PLL2M RCC_PLLCKSELR_DIVM2(2) +#define STM32_PLLCFG_PLL2N RCC_PLL2DIVR_N2(48) +#define STM32_PLLCFG_PLL2P RCC_PLL2DIVR_P2(2) +#define STM32_PLLCFG_PLL2Q RCC_PLL2DIVR_Q2(2) +#define STM32_PLLCFG_PLL2R RCC_PLL2DIVR_R2(2) + +#define STM32_VCO2_FREQUENCY ((STM32_HSE_FREQUENCY / 2) * 48) +#define STM32_PLL2P_FREQUENCY (STM32_VCO2_FREQUENCY / 2) +#define STM32_PLL2Q_FREQUENCY (STM32_VCO2_FREQUENCY / 2) +#define STM32_PLL2R_FREQUENCY (STM32_VCO2_FREQUENCY / 2) + +/* PLL3 */ + +#define STM32_PLLCFG_PLL3CFG (RCC_PLLCFGR_PLL3VCOSEL_WIDE | \ + RCC_PLLCFGR_PLL3RGE_4_8_MHZ | \ + RCC_PLLCFGR_DIVQ3EN) +#define STM32_PLLCFG_PLL3M RCC_PLLCKSELR_DIVM3(2) +#define STM32_PLLCFG_PLL3N RCC_PLL3DIVR_N3(48) +#define STM32_PLLCFG_PLL3P RCC_PLL3DIVR_P3(2) +#define STM32_PLLCFG_PLL3Q RCC_PLL3DIVR_Q3(4) +#define STM32_PLLCFG_PLL3R RCC_PLL3DIVR_R3(2) + +#define STM32_VCO3_FREQUENCY ((STM32_HSE_FREQUENCY / 2) * 48) +#define STM32_PLL3P_FREQUENCY (STM32_VCO3_FREQUENCY / 2) +#define STM32_PLL3Q_FREQUENCY (STM32_VCO3_FREQUENCY / 4) +#define STM32_PLL3R_FREQUENCY (STM32_VCO3_FREQUENCY / 2) + +/* SYSCLK = PLL1P = 480MHz + * CPUCLK = SYSCLK / 1 = 480 MHz + */ + +#define STM32_RCC_D1CFGR_D1CPRE (RCC_D1CFGR_D1CPRE_SYSCLK) +#define STM32_SYSCLK_FREQUENCY (STM32_PLL1P_FREQUENCY) +#define STM32_CPUCLK_FREQUENCY (STM32_SYSCLK_FREQUENCY / 1) + +/* Configure Clock Assignments */ + +/* AHB clock (HCLK) is SYSCLK/2 (240 MHz max) + * HCLK1 = HCLK2 = HCLK3 = HCLK4 = 240 + */ + +#define STM32_RCC_D1CFGR_HPRE RCC_D1CFGR_HPRE_SYSCLKd2 /* HCLK = SYSCLK / 2 */ +#define STM32_ACLK_FREQUENCY (STM32_CPUCLK_FREQUENCY / 2) /* ACLK in D1, HCLK3 in D1 */ +#define STM32_HCLK_FREQUENCY (STM32_CPUCLK_FREQUENCY / 2) /* HCLK in D2, HCLK4 in D3 */ +#define STM32_BOARD_HCLK STM32_HCLK_FREQUENCY /* same as above, to satisfy compiler */ + +/* APB1 clock (PCLK1) is HCLK/2 (120 MHz) */ + +#define STM32_RCC_D2CFGR_D2PPRE1 RCC_D2CFGR_D2PPRE1_HCLKd2 /* PCLK1 = HCLK / 2 */ +#define STM32_PCLK1_FREQUENCY (STM32_HCLK_FREQUENCY/2) + +/* APB2 clock (PCLK2) is HCLK/2 (120 MHz) */ + +#define STM32_RCC_D2CFGR_D2PPRE2 RCC_D2CFGR_D2PPRE2_HCLKd2 /* PCLK2 = HCLK / 2 */ +#define STM32_PCLK2_FREQUENCY (STM32_HCLK_FREQUENCY/2) + +/* APB3 clock (PCLK3) is HCLK/2 (120 MHz) */ + +#define STM32_RCC_D1CFGR_D1PPRE RCC_D1CFGR_D1PPRE_HCLKd2 /* PCLK3 = HCLK / 2 */ +#define STM32_PCLK3_FREQUENCY (STM32_HCLK_FREQUENCY/2) + +/* APB4 clock (PCLK4) is HCLK/4 (120 MHz) */ + +#define STM32_RCC_D3CFGR_D3PPRE RCC_D3CFGR_D3PPRE_HCLKd2 /* PCLK4 = HCLK / 2 */ +#define STM32_PCLK4_FREQUENCY (STM32_HCLK_FREQUENCY/2) + +/* Timer clock frequencies */ + +/* Timers driven from APB1 will be twice PCLK1 */ + +#define STM32_APB1_TIM2_CLKIN (2*STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM3_CLKIN (2*STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM4_CLKIN (2*STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM5_CLKIN (2*STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM6_CLKIN (2*STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM7_CLKIN (2*STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM12_CLKIN (2*STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM13_CLKIN (2*STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM14_CLKIN (2*STM32_PCLK1_FREQUENCY) + +/* Timers driven from APB2 will be twice PCLK2 */ + +#define STM32_APB2_TIM1_CLKIN (2*STM32_PCLK2_FREQUENCY) +#define STM32_APB2_TIM8_CLKIN (2*STM32_PCLK2_FREQUENCY) +#define STM32_APB2_TIM15_CLKIN (2*STM32_PCLK2_FREQUENCY) +#define STM32_APB2_TIM16_CLKIN (2*STM32_PCLK2_FREQUENCY) +#define STM32_APB2_TIM17_CLKIN (2*STM32_PCLK2_FREQUENCY) + +/* Kernel Clock Configuration + * + * Note: look at Table 54 in ST Manual + */ + +/* I2C123 clock source */ + +#define STM32_RCC_D2CCIP2R_I2C123SRC RCC_D2CCIP2R_I2C123SEL_HSI + +/* I2C4 clock source */ + +#define STM32_RCC_D3CCIPR_I2C4SRC RCC_D3CCIPR_I2C4SEL_HSI + +/* SPI123 clock source */ + +#define STM32_RCC_D2CCIP1R_SPI123SRC RCC_D2CCIP1R_SPI123SEL_PLL2 + +/* SPI45 clock source */ + +#define STM32_RCC_D2CCIP1R_SPI45SRC RCC_D2CCIP1R_SPI45SEL_PLL2 + +/* SPI6 clock source */ + +#define STM32_RCC_D3CCIPR_SPI6SRC RCC_D3CCIPR_SPI6SEL_PLL2 + +/* USB 1 and 2 clock source */ + +#define STM32_RCC_D2CCIP2R_USBSRC RCC_D2CCIP2R_USBSEL_PLL3 + +/* ADC 1 2 3 clock source */ + +#define STM32_RCC_D3CCIPR_ADCSEL RCC_D3CCIPR_ADCSEL_PLL2 + +/* FDCAN 1 clock source */ + +#define STM32_RCC_D2CCIP1R_FDCANSEL RCC_D2CCIP1R_FDCANSEL_HSE /* FDCAN 1 2 clock source */ + +#define STM32_FDCANCLK STM32_HSE_FREQUENCY + +/* FLASH wait states + * + * ------------ ---------- ----------- + * Vcore MAX ACLK WAIT STATES + * ------------ ---------- ----------- + * 1.15-1.26 V 70 MHz 0 + * (VOS1 level) 140 MHz 1 + * 210 MHz 2 + * 1.05-1.15 V 55 MHz 0 + * (VOS2 level) 110 MHz 1 + * 165 MHz 2 + * 220 MHz 3 + * 0.95-1.05 V 45 MHz 0 + * (VOS3 level) 90 MHz 1 + * 135 MHz 2 + * 180 MHz 3 + * 225 MHz 4 + * ------------ ---------- ----------- + */ + +#define BOARD_FLASH_WAITSTATES 2 + +/* SDMMC definitions ********************************************************/ + +/* Init 480kHz, freq = PLL1Q/(2*div) div = PLL1Q/(2*freq) */ + +#define STM32_SDMMC_INIT_CLKDIV (300 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT) + +/* 20 MHz Max for now - more reliable on some boards than 25 MHz + * 20 MHz = PLL1Q/(2*div), div = PLL1Q/(2*freq), div = 6 = 240 / 40 + */ + +#if defined(CONFIG_STM32H7_SDMMC_XDMA) || defined(CONFIG_STM32H7_SDMMC_IDMA) +# define STM32_SDMMC_MMCXFR_CLKDIV (6 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT) +#else +# define STM32_SDMMC_MMCXFR_CLKDIV (100 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT) +#endif +#if defined(CONFIG_STM32H7_SDMMC_XDMA) || defined(CONFIG_STM32H7_SDMMC_IDMA) +# define STM32_SDMMC_SDXFR_CLKDIV (6 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT) +#else +# define STM32_SDMMC_SDXFR_CLKDIV (100 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT) +#endif + +#define STM32_SDMMC_CLKCR_EDGE STM32_SDMMC_CLKCR_NEGEDGE + +/* LED definitions ******************************************************************/ +/* The board has two, LED_GREEN a Green LED and LED_BLUE a Blue LED, + * that can be controlled by software. + * + * If CONFIG_ARCH_LEDS is not defined, then the user can control the LEDs in any way. + * The following definitions are used to access individual LEDs. + */ + +/* LED index values for use with board_userled() */ + +#define BOARD_LED1 0 +#define BOARD_LED2 1 +#define BOARD_LED3 2 +#define BOARD_NLEDS 3 + +#define BOARD_LED_RED BOARD_LED1 +#define BOARD_LED_GREEN BOARD_LED2 +#define BOARD_LED_BLUE BOARD_LED3 + +/* LED bits for use with board_userled_all() */ + +#define BOARD_LED1_BIT (1 << BOARD_LED1) +#define BOARD_LED2_BIT (1 << BOARD_LED2) +#define BOARD_LED3_BIT (1 << BOARD_LED3) + +/* If CONFIG_ARCH_LEDS is defined, the usage by the board port is defined in + * include/board.h and src/stm32_leds.c. The LEDs are used to encode OS-related + * events as follows: + * + * + * SYMBOL Meaning LED state + * Red Green Blue + * ---------------------- -------------------------- ------ ------ ----*/ + +#define LED_STARTED 0 /* NuttX has been started OFF OFF OFF */ +#define LED_HEAPALLOCATE 1 /* Heap has been allocated OFF OFF ON */ +#define LED_IRQSENABLED 2 /* Interrupts enabled OFF ON OFF */ +#define LED_STACKCREATED 3 /* Idle stack created OFF ON ON */ +#define LED_INIRQ 4 /* In an interrupt N/C N/C GLOW */ +#define LED_SIGNAL 5 /* In a signal handler N/C GLOW N/C */ +#define LED_ASSERTION 6 /* An assertion failed GLOW N/C GLOW */ +#define LED_PANIC 7 /* The system has crashed Blink OFF N/C */ +#define LED_IDLE 8 /* MCU is is sleep mode ON OFF OFF */ + +/* Thus if the Green LED is statically on, NuttX has successfully booted and + * is, apparently, running normally. If the Red LED is flashing at + * approximately 2Hz, then a fatal error has been detected and the system + * has halted. + */ + +/* Alternate function pin selections ************************************************/ + +#define GPIO_USART1_RX GPIO_USART1_RX_2 /* PA10 */ +#define GPIO_USART1_TX GPIO_USART1_TX_2 /* PA9 */ + +#define GPIO_USART2_RX GPIO_USART2_RX_1 /* PA3 */ +#define GPIO_USART2_TX GPIO_USART2_TX_1 /* PA2 */ + +#define GPIO_USART3_RX GPIO_USART3_RX_3 /* PD9 */ +#define GPIO_USART3_TX GPIO_USART3_TX_3 /* PD8 */ + +#define GPIO_UART4_RX GPIO_UART4_RX_2 /* PA1 */ +#define GPIO_UART4_TX GPIO_UART4_TX_2 /* PA0 */ + +#define GPIO_USART6_RX GPIO_USART6_RX_1 /* PC7 */ +#define GPIO_USART6_TX GPIO_USART6_TX_1 /* PC6 */ + +#define GPIO_UART7_RX GPIO_UART7_RX_3 /* PE7 */ +#define GPIO_UART7_TX GPIO_UART7_TX_3 /* PE8 */ + + +#define GPIO_UART8_RX GPIO_UART8_RX_1 /* PE0 */ +#define GPIO_UART8_TX GPIO_UART8_TX_1 /* PE1 */ + + +/* CAN + * + * CAN1 is routed to transceiver. + */ + +#define GPIO_CAN1_RX GPIO_CAN1_RX_2 /* PB8 */ +#define GPIO_CAN1_TX GPIO_CAN1_TX_2 /* PB9 */ + +/* SPI + * + + */ + +#define ADJ_SLEW_RATE(p) (((p) & ~GPIO_SPEED_MASK) | (GPIO_SPEED_2MHz)) + +#define GPIO_SPI1_MISO GPIO_SPI1_MISO_1 /* PA6 */ +#define GPIO_SPI1_MOSI GPIO_SPI1_MOSI_1 /* PA7 */ +#define GPIO_SPI1_SCK ADJ_SLEW_RATE(GPIO_SPI1_SCK_1) /* PA5 */ + +#define GPIO_SPI2_MISO GPIO_SPI2_MISO_2 /* PC2 */ +#define GPIO_SPI2_MOSI GPIO_SPI2_MOSI_3 /* PC3 */ +#define GPIO_SPI2_SCK ADJ_SLEW_RATE(GPIO_SPI2_SCK_5) /* PD3 */ + + + +/* I2C + * + + * + */ + +#define GPIO_I2C1_SCL GPIO_I2C1_SCL_1 /* PB6 */ +#define GPIO_I2C1_SDA GPIO_I2C1_SDA_1 /* PB7 */ + +#define GPIO_I2C1_SCL_GPIO (GPIO_OUTPUT | GPIO_OPENDRAIN | GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN6) +#define GPIO_I2C1_SDA_GPIO (GPIO_OUTPUT | GPIO_OPENDRAIN | GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN7) + +#define GPIO_I2C2_SCL GPIO_I2C2_SCL_1 /* PB10 */ +#define GPIO_I2C2_SDA GPIO_I2C2_SDA_1 /* PB11 */ + +#define GPIO_I2C2_SCL_GPIO (GPIO_OUTPUT | GPIO_OPENDRAIN | GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN10) +#define GPIO_I2C2_SDA_GPIO (GPIO_OUTPUT | GPIO_OPENDRAIN | GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN11) + +# define PROBE_INIT(mask) +# define PROBE(n,s) +# define PROBE_MARK(n) + +#endif /*__NUTTX_CONFIG_MICOAIR743_INCLUDE_BOARD_H */ diff --git a/boards/micoair/h743/nuttx-config/include/board_dma_map.h b/boards/micoair/h743/nuttx-config/include/board_dma_map.h new file mode 100644 index 000000000000..ba3f15eb9701 --- /dev/null +++ b/boards/micoair/h743/nuttx-config/include/board_dma_map.h @@ -0,0 +1,36 @@ +/**************************************************************************** + * + * Copyright (c) 2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#pragma once +#define DMAMAP_SPI2_RX DMAMAP_DMA12_SPI2RX_0 /* DMA1:39 */ +#define DMAMAP_SPI2_TX DMAMAP_DMA12_SPI2TX_0 /* DMA1:40 */ diff --git a/boards/micoair/h743/nuttx-config/nsh/defconfig b/boards/micoair/h743/nuttx-config/nsh/defconfig new file mode 100644 index 000000000000..9e4db72b9044 --- /dev/null +++ b/boards/micoair/h743/nuttx-config/nsh/defconfig @@ -0,0 +1,245 @@ +# +# This file is autogenerated: PLEASE DO NOT EDIT IT. +# +# You can use "make menuconfig" to make any modifications to the installed .config file. +# You can then do "make savedefconfig" to generate a new defconfig file that includes your +# modifications. +# +# CONFIG_DEV_CONSOLE is not set +# CONFIG_DISABLE_ENVIRON is not set +# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set +# CONFIG_DISABLE_PTHREAD is not set +# CONFIG_MMCSD_HAVE_CARDDETECT is not set +# CONFIG_MMCSD_HAVE_WRITEPROTECT is not set +# CONFIG_MMCSD_MMCSUPPORT is not set +# CONFIG_MMCSD_SPI is not set +# CONFIG_NSH_DISABLEBG is not set +# CONFIG_NSH_DISABLESCRIPT is not set +# CONFIG_NSH_DISABLE_CAT is not set +# CONFIG_NSH_DISABLE_CD is not set +# CONFIG_NSH_DISABLE_CP is not set +# CONFIG_NSH_DISABLE_DATE is not set +# CONFIG_NSH_DISABLE_DF is not set +# CONFIG_NSH_DISABLE_ECHO is not set +# CONFIG_NSH_DISABLE_ENV is not set +# CONFIG_NSH_DISABLE_EXEC is not set +# CONFIG_NSH_DISABLE_EXIT is not set +# CONFIG_NSH_DISABLE_EXPORT is not set +# CONFIG_NSH_DISABLE_FREE is not set +# CONFIG_NSH_DISABLE_GET is not set +# CONFIG_NSH_DISABLE_HELP is not set +# CONFIG_NSH_DISABLE_ITEF is not set +# CONFIG_NSH_DISABLE_KILL is not set +# CONFIG_NSH_DISABLE_LOOPS is not set +# CONFIG_NSH_DISABLE_LS is not set +# CONFIG_NSH_DISABLE_MKDIR is not set +# CONFIG_NSH_DISABLE_MKFATFS is not set +# CONFIG_NSH_DISABLE_MOUNT is not set +# CONFIG_NSH_DISABLE_MV is not set +# CONFIG_NSH_DISABLE_PRINTF is not set +# CONFIG_NSH_DISABLE_PS is not set +# CONFIG_NSH_DISABLE_PSSTACKUSAGE is not set +# CONFIG_NSH_DISABLE_PWD is not set +# CONFIG_NSH_DISABLE_RM is not set +# CONFIG_NSH_DISABLE_RMDIR is not set +# CONFIG_NSH_DISABLE_SEMICOLON is not set +# CONFIG_NSH_DISABLE_SET is not set +# CONFIG_NSH_DISABLE_SLEEP is not set +# CONFIG_NSH_DISABLE_SOURCE is not set +# CONFIG_NSH_DISABLE_TEST is not set +# CONFIG_NSH_DISABLE_TIME is not set +# CONFIG_NSH_DISABLE_UMOUNT is not set +# CONFIG_NSH_DISABLE_UNSET is not set +# CONFIG_NSH_DISABLE_USLEEP is not set +CONFIG_ARCH="arm" +CONFIG_ARCH_BOARD_CUSTOM=y +CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/micoair/h743/nuttx-config" +CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y +CONFIG_ARCH_BOARD_CUSTOM_NAME="px4" +CONFIG_ARCH_CHIP="stm32h7" +CONFIG_ARCH_CHIP_STM32H743VI=y +CONFIG_ARCH_CHIP_STM32H7=y +CONFIG_ARCH_INTERRUPTSTACK=768 +CONFIG_ARCH_STACKDUMP=y +CONFIG_ARMV7M_BASEPRI_WAR=y +CONFIG_ARMV7M_DCACHE=y +CONFIG_ARMV7M_DTCM=y +CONFIG_ARMV7M_ICACHE=y +CONFIG_ARMV7M_MEMCPY=y +CONFIG_ARMV7M_USEBASEPRI=y +CONFIG_BOARDCTL_RESET=y +CONFIG_BOARD_ASSERT_RESET_VALUE=0 +CONFIG_BOARD_CRASHDUMP=y +CONFIG_BOARD_LOOPSPERMSEC=95150 +CONFIG_BOARD_RESET_ON_ASSERT=2 +CONFIG_BUILTIN=y +CONFIG_CDCACM=y +CONFIG_CDCACM_PRODUCTID=0x0036 +CONFIG_CDCACM_PRODUCTSTR="MicoAir743" +CONFIG_CDCACM_RXBUFSIZE=600 +CONFIG_CDCACM_TXBUFSIZE=12000 +CONFIG_CDCACM_VENDORID=0x1B8C +CONFIG_CDCACM_VENDORSTR="MicoAir" +CONFIG_DEBUG_FULLOPT=y +CONFIG_DEBUG_HARDFAULT_ALERT=y +CONFIG_DEBUG_MEMFAULT=y +CONFIG_DEBUG_SYMBOLS=y +CONFIG_DEFAULT_SMALL=y +CONFIG_DEV_FIFO_SIZE=0 +CONFIG_DEV_PIPE_MAXSIZE=1024 +CONFIG_DEV_PIPE_SIZE=70 +CONFIG_EXPERIMENTAL=y +CONFIG_FAT_DMAMEMORY=y +CONFIG_FAT_LCNAMES=y +CONFIG_FAT_LFN=y +CONFIG_FAT_LFN_ALIAS_HASH=y +CONFIG_FDCLONE_STDIO=y +CONFIG_FS_BINFS=y +CONFIG_FS_CROMFS=y +CONFIG_FS_FAT=y +CONFIG_FS_FATTIME=y +CONFIG_FS_PROCFS=y +CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y +CONFIG_FS_PROCFS_MAX_TASKS=64 +CONFIG_FS_PROCFS_REGISTER=y +CONFIG_FS_ROMFS=y +CONFIG_GRAN=y +CONFIG_GRAN_INTR=y +CONFIG_HAVE_CXX=y +CONFIG_HAVE_CXXINITIALIZE=y +CONFIG_I2C=y +CONFIG_I2C_RESET=y +CONFIG_IDLETHREAD_STACKSIZE=750 +CONFIG_INIT_ENTRYPOINT="nsh_main" +CONFIG_INIT_STACKSIZE=3194 +CONFIG_IOB_NBUFFERS=24 +CONFIG_IOB_NCHAINS=24 +CONFIG_LIBC_FLOATINGPOINT=y +CONFIG_LIBC_LONG_LONG=y +CONFIG_LIBC_MAX_EXITFUNS=1 +CONFIG_LIBC_STRERROR=y +CONFIG_MEMSET_64BIT=y +CONFIG_MEMSET_OPTSPEED=y +CONFIG_MMCSD=y +CONFIG_MMCSD_SDIO=y +CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y +CONFIG_MM_IOB=y +CONFIG_MM_REGIONS=4 +CONFIG_NAME_MAX=40 +CONFIG_NSH_ARCHINIT=y +CONFIG_NSH_ARGCAT=y +CONFIG_NSH_BUILTIN_APPS=y +CONFIG_NSH_CMDPARMS=y +CONFIG_NSH_CROMFSETC=y +CONFIG_NSH_LINELEN=128 +CONFIG_NSH_MAXARGUMENTS=15 +CONFIG_NSH_NESTDEPTH=8 +CONFIG_NSH_QUOTE=y +CONFIG_NSH_ROMFSETC=y +CONFIG_NSH_ROMFSSECTSIZE=128 +CONFIG_NSH_STRERROR=y +CONFIG_NSH_VARS=y +CONFIG_OTG_ID_GPIO_DISABLE=y +CONFIG_PIPES=y +CONFIG_PREALLOC_TIMERS=50 +CONFIG_PRIORITY_INHERITANCE=y +CONFIG_PTHREAD_MUTEX_ROBUST=y +CONFIG_PTHREAD_STACK_MIN=512 +CONFIG_RAM_SIZE=245760 +CONFIG_RAM_START=0x20010000 +CONFIG_RAW_BINARY=y +CONFIG_RTC_DATETIME=y +CONFIG_SCHED_HPWORK=y +CONFIG_SCHED_HPWORKPRIORITY=249 +CONFIG_SCHED_HPWORKSTACKSIZE=1280 +CONFIG_SCHED_INSTRUMENTATION=y +CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y +CONFIG_SCHED_INSTRUMENTATION_SWITCH=y +CONFIG_SCHED_LPWORK=y +CONFIG_SCHED_LPWORKPRIORITY=50 +CONFIG_SCHED_LPWORKSTACKSIZE=1632 +CONFIG_SCHED_WAITPID=y +CONFIG_SDMMC1_SDIO_PULLUP=y +CONFIG_SEM_PREALLOCHOLDERS=32 +CONFIG_SERIAL_TERMIOS=y +CONFIG_SIG_DEFAULT=y +CONFIG_SIG_SIGALRM_ACTION=y +CONFIG_SIG_SIGUSR1_ACTION=y +CONFIG_SIG_SIGUSR2_ACTION=y +CONFIG_SIG_SIGWORK=4 +CONFIG_STACK_COLORATION=y +CONFIG_START_DAY=30 +CONFIG_START_MONTH=11 +CONFIG_STDIO_BUFFER_SIZE=256 +CONFIG_STM32H7_ADC1=y +CONFIG_STM32H7_ADC3=y +CONFIG_STM32H7_BBSRAM=y +CONFIG_STM32H7_BBSRAM_FILES=5 +CONFIG_STM32H7_BDMA=y +CONFIG_STM32H7_BKPSRAM=y +CONFIG_STM32H7_DMA1=y +CONFIG_STM32H7_DMA2=y +CONFIG_STM32H7_DMACAPABLE=y +CONFIG_STM32H7_FLASH_OVERRIDE_I=y +CONFIG_STM32H7_I2C1=y +CONFIG_STM32H7_I2C2=y +CONFIG_STM32H7_I2C_DYNTIMEO=y +CONFIG_STM32H7_I2C_DYNTIMEO_STARTSTOP=10 +CONFIG_STM32H7_OTGFS=y +CONFIG_STM32H7_PROGMEM=y +CONFIG_STM32H7_RTC=y +CONFIG_STM32H7_RTC_HSECLOCK=y +CONFIG_STM32H7_RTC_MAGIC_REG=1 +CONFIG_STM32H7_SAVE_CRASHDUMP=y +CONFIG_STM32H7_SDMMC1=y +CONFIG_STM32H7_SERIALBRK_BSDCOMPAT=y +CONFIG_STM32H7_SERIAL_DISABLE_REORDERING=y +CONFIG_STM32H7_SPI1=y +CONFIG_STM32H7_SPI2=y +CONFIG_STM32H7_SPI2_DMA=y +CONFIG_STM32H7_SPI2_DMA_BUFFER=4096 +CONFIG_STM32H7_SPI_DMATHRESHOLD=8 +CONFIG_STM32H7_TIM1=y +CONFIG_STM32H7_TIM3=y +CONFIG_STM32H7_TIM4=y +CONFIG_STM32H7_TIM8=y +CONFIG_STM32H7_UART4=y +CONFIG_STM32H7_UART7=y +CONFIG_STM32H7_UART8=y +CONFIG_STM32H7_USART1=y +CONFIG_STM32H7_USART2=y +CONFIG_STM32H7_USART3=y +CONFIG_STM32H7_USART6=y +CONFIG_STM32H7_USART_BREAKS=y +CONFIG_STM32H7_USART_INVERT=y +CONFIG_STM32H7_USART_SINGLEWIRE=y +CONFIG_STM32H7_USART_SWAP=y +CONFIG_SYSTEM_CDCACM=y +CONFIG_SYSTEM_NSH=y +CONFIG_TASK_NAME_SIZE=24 +CONFIG_UART4_BAUD=57600 +CONFIG_UART4_RXBUFSIZE=600 +CONFIG_UART4_TXBUFSIZE=1500 +CONFIG_UART7_BAUD=57600 +CONFIG_UART7_RXBUFSIZE=600 +CONFIG_UART7_TXBUFSIZE=1500 +CONFIG_UART8_BAUD=57600 +CONFIG_UART8_RXBUFSIZE=600 +CONFIG_UART8_TXBUFSIZE=1500 +CONFIG_USART1_BAUD=57600 +CONFIG_USART1_RXBUFSIZE=600 +CONFIG_USART1_TXBUFSIZE=1500 +CONFIG_USART2_BAUD=57600 +CONFIG_USART2_RXBUFSIZE=600 +CONFIG_USART2_TXBUFSIZE=1500 +CONFIG_USART3_BAUD=57600 +CONFIG_USART3_RXBUFSIZE=600 +CONFIG_USART3_TXBUFSIZE=1500 +CONFIG_USART6_BAUD=57600 +CONFIG_USART6_RXBUFSIZE=600 +CONFIG_USART6_TXBUFSIZE=1500 +CONFIG_USBDEV=y +CONFIG_USBDEV_BUSPOWERED=y +CONFIG_USBDEV_MAXPOWER=500 +CONFIG_USEC_PER_TICK=1000 +CONFIG_WATCHDOG=y diff --git a/boards/micoair/h743/nuttx-config/scripts/bootloader_script.ld b/boards/micoair/h743/nuttx-config/scripts/bootloader_script.ld new file mode 100644 index 000000000000..511ef2624248 --- /dev/null +++ b/boards/micoair/h743/nuttx-config/scripts/bootloader_script.ld @@ -0,0 +1,213 @@ +/**************************************************************************** + * scripts/script.ld + * + * Copyright (C) 2016, 2019 Gregory Nutt. All rights reserved. + * Author: Gregory Nutt + * + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name NuttX nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/* The Durandal-v1 uses an STM32H743II has 2048Kb of main FLASH memory. + * The flash memory is partitioned into a User Flash memory and a System + * Flash memory. Each of these memories has two banks: + * + * 1) User Flash memory: + * + * Bank 1: Start address 0x0800:0000 to 0x080F:FFFF with 8 sectors, 128Kb each + * Bank 2: Start address 0x0810:0000 to 0x081F:FFFF with 8 sectors, 128Kb each + * + * 2) System Flash memory: + * + * Bank 1: Start address 0x1FF0:0000 to 0x1FF1:FFFF with 1 x 128Kb sector + * Bank 1: Start address 0x1FF4:0000 to 0x1FF5:FFFF with 1 x 128Kb sector + * + * 3) User option bytes for user configuration, only in Bank 1. + * + * In the STM32H743II, two different boot spaces can be selected through + * the BOOT pin and the boot base address programmed in the BOOT_ADD0 and + * BOOT_ADD1 option bytes: + * + * 1) BOOT=0: Boot address defined by user option byte BOOT_ADD0[15:0]. + * ST programmed value: Flash memory at 0x0800:0000 + * 2) BOOT=1: Boot address defined by user option byte BOOT_ADD1[15:0]. + * ST programmed value: System bootloader at 0x1FF0:0000 + * + * The Durandal has a Swtich on board, the BOOT0 pin is at ground so by default, + * the STM32 will boot to address 0x0800:0000 in FLASH unless the swiutch is + * drepresed, then the boot will be from 0x1FF0:0000 + * + * The STM32H743ZI also has 1024Kb of data SRAM. + * SRAM is split up into several blocks and into three power domains: + * + * 1) TCM SRAMs are dedicated to the Cortex-M7 and are accessible with + * 0 wait states by the Cortex-M7 and by MDMA through AHBS slave bus + * + * 1.1) 128Kb of DTCM-RAM beginning at address 0x2000:0000 + * + * The DTCM-RAM is organized as 2 x 64Kb DTCM-RAMs on 2 x 32 bit + * DTCM ports. The DTCM-RAM could be used for critical real-time + * data, such as interrupt service routines or stack / heap memory. + * Both DTCM-RAMs can be used in parallel (for load/store operations) + * thanks to the Cortex-M7 dual issue capability. + * + * 1.2) 64Kb of ITCM-RAM beginning at address 0x0000:0000 + * + * This RAM is connected to ITCM 64-bit interface designed for + * execution of critical real-times routines by the CPU. + * + * 2) AXI SRAM (D1 domain) accessible by all system masters except BDMA + * through D1 domain AXI bus matrix + * + * 2.1) 512Kb of SRAM beginning at address 0x2400:0000 + * + * 3) AHB SRAM (D2 domain) accessible by all system masters except BDMA + * through D2 domain AHB bus matrix + * + * 3.1) 128Kb of SRAM1 beginning at address 0x3000:0000 + * 3.2) 128Kb of SRAM2 beginning at address 0x3002:0000 + * 3.3) 32Kb of SRAM3 beginning at address 0x3004:0000 + * + * SRAM1 - SRAM3 are one contiguous block: 288Kb at address 0x3000:0000 + * + * 4) AHB SRAM (D3 domain) accessible by most of system masters + * through D3 domain AHB bus matrix + * + * 4.1) 64Kb of SRAM4 beginning at address 0x3800:0000 + * 4.1) 4Kb of backup RAM beginning at address 0x3880:0000 + * + * When booting from FLASH, FLASH memory is aliased to address 0x0000:0000 + * where the code expects to begin execution by jumping to the entry point in + * the 0x0800:0000 address range. + */ + +MEMORY +{ + itcm (rwx) : ORIGIN = 0x00000000, LENGTH = 64K + flash (rx) : ORIGIN = 0x08000000, LENGTH = 2048K + dtcm1 (rwx) : ORIGIN = 0x20000000, LENGTH = 64K + dtcm2 (rwx) : ORIGIN = 0x20010000, LENGTH = 64K + sram (rwx) : ORIGIN = 0x24000000, LENGTH = 512K + sram1 (rwx) : ORIGIN = 0x30000000, LENGTH = 128K + sram2 (rwx) : ORIGIN = 0x30020000, LENGTH = 128K + sram3 (rwx) : ORIGIN = 0x30040000, LENGTH = 32K + sram4 (rwx) : ORIGIN = 0x38000000, LENGTH = 64K + bbram (rwx) : ORIGIN = 0x38800000, LENGTH = 4K +} + +OUTPUT_ARCH(arm) +EXTERN(_vectors) +ENTRY(_stext) + +/* + * Ensure that abort() is present in the final object. The exception handling + * code pulled in by libgcc.a requires it (and that code cannot be easily avoided). + */ +EXTERN(abort) +EXTERN(_bootdelay_signature) + +SECTIONS +{ + .text : { + _stext = ABSOLUTE(.); + *(.vectors) + . = ALIGN(32); + /* + This signature provides the bootloader with a way to delay booting + */ + _bootdelay_signature = ABSOLUTE(.); + FILL(0xffecc2925d7d05c5) + . += 8; + *(.text .text.*) + *(.fixup) + *(.gnu.warning) + *(.rodata .rodata.*) + *(.gnu.linkonce.t.*) + *(.glue_7) + *(.glue_7t) + *(.got) + *(.gcc_except_table) + *(.gnu.linkonce.r.*) + _etext = ABSOLUTE(.); + + } > flash + + /* + * Init functions (static constructors and the like) + */ + .init_section : { + _sinit = ABSOLUTE(.); + KEEP(*(.init_array .init_array.*)) + _einit = ABSOLUTE(.); + } > flash + + + .ARM.extab : { + *(.ARM.extab*) + } > flash + + __exidx_start = ABSOLUTE(.); + .ARM.exidx : { + *(.ARM.exidx*) + } > flash + __exidx_end = ABSOLUTE(.); + + _eronly = ABSOLUTE(.); + + .data : { + _sdata = ABSOLUTE(.); + *(.data .data.*) + *(.gnu.linkonce.d.*) + CONSTRUCTORS + _edata = ABSOLUTE(.); + } > sram AT > flash + + .bss : { + _sbss = ABSOLUTE(.); + *(.bss .bss.*) + *(.gnu.linkonce.b.*) + *(COMMON) + . = ALIGN(4); + _ebss = ABSOLUTE(.); + } > sram + + /* Stabs debugging sections. */ + .stab 0 : { *(.stab) } + .stabstr 0 : { *(.stabstr) } + .stab.excl 0 : { *(.stab.excl) } + .stab.exclstr 0 : { *(.stab.exclstr) } + .stab.index 0 : { *(.stab.index) } + .stab.indexstr 0 : { *(.stab.indexstr) } + .comment 0 : { *(.comment) } + .debug_abbrev 0 : { *(.debug_abbrev) } + .debug_info 0 : { *(.debug_info) } + .debug_line 0 : { *(.debug_line) } + .debug_pubnames 0 : { *(.debug_pubnames) } + .debug_aranges 0 : { *(.debug_aranges) } +} diff --git a/boards/micoair/h743/nuttx-config/scripts/script.ld b/boards/micoair/h743/nuttx-config/scripts/script.ld new file mode 100644 index 000000000000..1dc1a0ef97eb --- /dev/null +++ b/boards/micoair/h743/nuttx-config/scripts/script.ld @@ -0,0 +1,228 @@ +/**************************************************************************** + * scripts/script.ld + * + * Copyright (C) 2020 Gregory Nutt. All rights reserved. + * Author: Gregory Nutt + * + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name NuttX nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/* The board uses an STM32H743II and has 2048Kb of main FLASH memory. + * The flash memory is partitioned into a User Flash memory and a System + * Flash memory. Each of these memories has two banks: + * + * 1) User Flash memory: + * + * Bank 1: Start address 0x0800:0000 to 0x080F:FFFF with 8 sectors, 128Kb each + * Bank 2: Start address 0x0810:0000 to 0x081F:FFFF with 8 sectors, 128Kb each + * + * 2) System Flash memory: + * + * Bank 1: Start address 0x1FF0:0000 to 0x1FF1:FFFF with 1 x 128Kb sector + * Bank 1: Start address 0x1FF4:0000 to 0x1FF5:FFFF with 1 x 128Kb sector + * + * 3) User option bytes for user configuration, only in Bank 1. + * + * In the STM32H743II, two different boot spaces can be selected through + * the BOOT pin and the boot base address programmed in the BOOT_ADD0 and + * BOOT_ADD1 option bytes: + * + * 1) BOOT=0: Boot address defined by user option byte BOOT_ADD0[15:0]. + * ST programmed value: Flash memory at 0x0800:0000 + * 2) BOOT=1: Boot address defined by user option byte BOOT_ADD1[15:0]. + * ST programmed value: System bootloader at 0x1FF0:0000 + * + * There's a switch on board, the BOOT0 pin is at ground so by default, + * the STM32 will boot to address 0x0800:0000 in FLASH unless the switch is + * drepresed, then the boot will be from 0x1FF0:0000 + * + * The STM32H743ZI also has 1024Kb of data SRAM. + * SRAM is split up into several blocks and into three power domains: + * + * 1) TCM SRAMs are dedicated to the Cortex-M7 and are accessible with + * 0 wait states by the Cortex-M7 and by MDMA through AHBS slave bus + * + * 1.1) 128Kb of DTCM-RAM beginning at address 0x2000:0000 + * + * The DTCM-RAM is organized as 2 x 64Kb DTCM-RAMs on 2 x 32 bit + * DTCM ports. The DTCM-RAM could be used for critical real-time + * data, such as interrupt service routines or stack / heap memory. + * Both DTCM-RAMs can be used in parallel (for load/store operations) + * thanks to the Cortex-M7 dual issue capability. + * + * 1.2) 64Kb of ITCM-RAM beginning at address 0x0000:0000 + * + * This RAM is connected to ITCM 64-bit interface designed for + * execution of critical real-times routines by the CPU. + * + * 2) AXI SRAM (D1 domain) accessible by all system masters except BDMA + * through D1 domain AXI bus matrix + * + * 2.1) 512Kb of SRAM beginning at address 0x2400:0000 + * + * 3) AHB SRAM (D2 domain) accessible by all system masters except BDMA + * through D2 domain AHB bus matrix + * + * 3.1) 128Kb of SRAM1 beginning at address 0x3000:0000 + * 3.2) 128Kb of SRAM2 beginning at address 0x3002:0000 + * 3.3) 32Kb of SRAM3 beginning at address 0x3004:0000 + * + * SRAM1 - SRAM3 are one contiguous block: 288Kb at address 0x3000:0000 + * + * 4) AHB SRAM (D3 domain) accessible by most of system masters + * through D3 domain AHB bus matrix + * + * 4.1) 64Kb of SRAM4 beginning at address 0x3800:0000 + * 4.1) 4Kb of backup RAM beginning at address 0x3880:0000 + * + * When booting from FLASH, FLASH memory is aliased to address 0x0000:0000 + * where the code expects to begin execution by jumping to the entry point in + * the 0x0800:0000 address range. + */ + +MEMORY +{ + ITCM_RAM (rwx) : ORIGIN = 0x00000000, LENGTH = 64K + FLASH (rx) : ORIGIN = 0x08020000, LENGTH = 1792K + + DTCM1_RAM (rwx) : ORIGIN = 0x20000000, LENGTH = 64K + DTCM2_RAM (rwx) : ORIGIN = 0x20010000, LENGTH = 64K + AXI_SRAM (rwx) : ORIGIN = 0x24000000, LENGTH = 512K /* D1 domain AXI bus */ + SRAM1 (rwx) : ORIGIN = 0x30000000, LENGTH = 128K /* D2 domain AHB bus */ + SRAM2 (rwx) : ORIGIN = 0x30020000, LENGTH = 128K /* D2 domain AHB bus */ + SRAM3 (rwx) : ORIGIN = 0x30040000, LENGTH = 32K /* D2 domain AHB bus */ + SRAM4 (rwx) : ORIGIN = 0x38000000, LENGTH = 64K /* D3 domain */ + BKPRAM (rwx) : ORIGIN = 0x38800000, LENGTH = 4K +} + +OUTPUT_ARCH(arm) +EXTERN(_vectors) +ENTRY(_stext) + +/* + * Ensure that abort() is present in the final object. The exception handling + * code pulled in by libgcc.a requires it (and that code cannot be easily avoided). + */ +EXTERN(abort) +EXTERN(_bootdelay_signature) + +SECTIONS +{ + .text : { + _stext = ABSOLUTE(.); + *(.vectors) + . = ALIGN(32); + /* + This signature provides the bootloader with a way to delay booting + */ + _bootdelay_signature = ABSOLUTE(.); + FILL(0xffecc2925d7d05c5) + . += 8; + *(.text .text.*) + *(.fixup) + *(.gnu.warning) + *(.rodata .rodata.*) + *(.gnu.linkonce.t.*) + *(.glue_7) + *(.glue_7t) + *(.got) + *(.gcc_except_table) + *(.gnu.linkonce.r.*) + _etext = ABSOLUTE(.); + + } > FLASH + + /* + * Init functions (static constructors and the like) + */ + .init_section : { + _sinit = ABSOLUTE(.); + KEEP(*(.init_array .init_array.*)) + _einit = ABSOLUTE(.); + } > FLASH + + + .ARM.extab : { + *(.ARM.extab*) + } > FLASH + + __exidx_start = ABSOLUTE(.); + .ARM.exidx : { + *(.ARM.exidx*) + } > FLASH + __exidx_end = ABSOLUTE(.); + + _eronly = ABSOLUTE(.); + + .data : { + _sdata = ABSOLUTE(.); + *(.data .data.*) + *(.gnu.linkonce.d.*) + CONSTRUCTORS + _edata = ABSOLUTE(.); + + /* Pad out last section as the STM32H7 Flash write size is 256 bits. 32 bytes */ + . = ALIGN(16); + FILL(0xffff) + . += 16; + } > AXI_SRAM AT > FLASH = 0xffff + + .bss : { + _sbss = ABSOLUTE(.); + *(.bss .bss.*) + *(.gnu.linkonce.b.*) + *(COMMON) + . = ALIGN(4); + _ebss = ABSOLUTE(.); + } > AXI_SRAM + + /* Emit the the D3 power domain section for locating BDMA data */ + + .sram4_reserve (NOLOAD) : + { + *(.sram4) + . = ALIGN(4); + _sram4_heap_start = ABSOLUTE(.); + } > SRAM4 + + /* Stabs debugging sections. */ + .stab 0 : { *(.stab) } + .stabstr 0 : { *(.stabstr) } + .stab.excl 0 : { *(.stab.excl) } + .stab.exclstr 0 : { *(.stab.exclstr) } + .stab.index 0 : { *(.stab.index) } + .stab.indexstr 0 : { *(.stab.indexstr) } + .comment 0 : { *(.comment) } + .debug_abbrev 0 : { *(.debug_abbrev) } + .debug_info 0 : { *(.debug_info) } + .debug_line 0 : { *(.debug_line) } + .debug_pubnames 0 : { *(.debug_pubnames) } + .debug_aranges 0 : { *(.debug_aranges) } +} diff --git a/boards/micoair/h743/src/CMakeLists.txt b/boards/micoair/h743/src/CMakeLists.txt new file mode 100644 index 000000000000..c47215375d08 --- /dev/null +++ b/boards/micoair/h743/src/CMakeLists.txt @@ -0,0 +1,68 @@ +############################################################################ +# +# Copyright (c) 2021 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ +if("${PX4_BOARD_LABEL}" STREQUAL "bootloader") + add_library(drivers_board + bootloader_main.c + usb.c + ) + target_link_libraries(drivers_board + PRIVATE + nuttx_arch + nuttx_drivers + bootloader + ) + target_include_directories(drivers_board PRIVATE ${PX4_SOURCE_DIR}/platforms/nuttx/src/bootloader/common) + +else() + add_library(drivers_board + i2c.cpp + init.c + led.c + sdio.c + spi.cpp + timer_config.cpp + usb.c + ) + add_dependencies(drivers_board arch_board_hw_info) + + target_link_libraries(drivers_board + PRIVATE + arch_io_pins + arch_spi + arch_board_hw_info + drivers__led + nuttx_arch + nuttx_drivers + px4_layer + ) +endif() diff --git a/boards/micoair/h743/src/board_config.h b/boards/micoair/h743/src/board_config.h new file mode 100644 index 000000000000..48ff3ff203ee --- /dev/null +++ b/boards/micoair/h743/src/board_config.h @@ -0,0 +1,197 @@ +/**************************************************************************** + * + * Copyright (c) 2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file board_config.h + * + * Board internal definitions + */ + +#pragma once + +/**************************************************************************************************** + * Included Files + ****************************************************************************************************/ + +#include +#include +#include + +#include + +/**************************************************************************************************** + * Definitions + ****************************************************************************************************/ + +// #define FLASH_BASED_PARAMS + + +/* LEDs are driven with push open drain to support Anode to 5V or 3.3V */ + +# define GPIO_nLED_RED /* PE5 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN5) +# define GPIO_nLED_GREEN /* PE6 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN6) +# define GPIO_nLED_BLUE /* PE4 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN4) + +# define BOARD_HAS_CONTROL_STATUS_LEDS 1 +# define BOARD_OVERLOAD_LED LED_RED +# define BOARD_ARMED_STATE_LED LED_BLUE + + +/* + * ADC channels + * + * These are the channel numbers of the ADCs of the microcontroller that + * can be used by the Px4 Firmware in the adc driver + */ + +/* ADC defines to be used in sensors.cpp to read from a particular channel */ +#define SYSTEM_ADC_BASE STM32_ADC1_BASE +#define ADC1_CH(n) (n) + +/* Define GPIO pins used as ADC N.B. Channel numbers must match below */ +#define PX4_ADC_GPIO \ + /* PC0 */ GPIO_ADC123_INP10, \ + /* PC1 */ GPIO_ADC123_INP11 + + +/* Define Channel numbers must match above GPIO pin IN(n)*/ +#define ADC_BATTERY_VOLTAGE_CHANNEL /* PC0 */ ADC1_CH(10) +#define ADC_BATTERY_CURRENT_CHANNEL /* PC1 */ ADC1_CH(11) + + +#define ADC_CHANNELS \ + ((1 << ADC_BATTERY_VOLTAGE_CHANNEL) | \ + (1 << ADC_BATTERY_CURRENT_CHANNEL)) + + +/* Define Battery 1 Voltage Divider and A per V + */ + +// #define BOARD_BATTERY1_V_DIV (11.0f) /* measured with the provided PM board */ +// #define BOARD_BATTERY1_A_PER_V (40.0f) +// #define BOARD_BATTERY2_V_DIV (11.0f) /* measured with the provided PM board */ + + +/* PWM + */ +#define DIRECT_PWM_OUTPUT_CHANNELS 10 +#define DIRECT_INPUT_TIMER_CHANNELS 10 + +#define BOARD_HAS_PWM DIRECT_PWM_OUTPUT_CHANNELS + + +/* USB OTG FS + * + * PA8 OTG_FS_VBUS VBUS sensing + */ + +#define GPIO_OTGFS_VBUS /* PA8 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_100MHz|GPIO_PORTA|GPIO_PIN8) + + +/* High-resolution timer */ +#define HRT_TIMER 2 /* use timer8 for the HRT */ +#define HRT_TIMER_CHANNEL 1 /* use capture/compare channel 3 */ + + +/* RC Serial port */ +#define RC_SERIAL_PORT "/dev/ttyS4" +#define BOARD_SUPPORTS_RC_SERIAL_PORT_OUTPUT + +/* SD Card */ +#define SDIO_SLOTNO 0 /* Only one slot */ +#define SDIO_MINOR 0 + +/* This board provides a DMA pool and APIs */ +#define BOARD_DMA_ALLOC_POOL_SIZE 5120 + +/* This board provides the board_on_reset interface */ +#define BOARD_HAS_ON_RESET 1 + +#define PX4_GPIO_INIT_LIST { \ + PX4_ADC_GPIO, \ + GPIO_CAN1_TX, \ + GPIO_CAN1_RX, \ + } + +#define BOARD_ENABLE_CONSOLE_BUFFER + +#define FLASH_BASED_PARAMS + +#define BOARD_NUM_IO_TIMERS 4 + + +__BEGIN_DECLS + +/**************************************************************************************************** + * Public Types + ****************************************************************************************************/ + +/**************************************************************************************************** + * Public data + ****************************************************************************************************/ + +#ifndef __ASSEMBLY__ + +/**************************************************************************************************** + * Public Functions + ****************************************************************************************************/ + +/**************************************************************************** + * Name: stm32_sdio_initialize + * + * Description: + * Initialize SDIO-based MMC/SD card support + * + ****************************************************************************/ + +int stm32_sdio_initialize(void); + +/**************************************************************************************************** + * Name: stm32_spiinitialize + * + * Description: + * Called to configure SPI chip select GPIO pins for the board. + * + ****************************************************************************************************/ + +extern void stm32_spiinitialize(void); + +extern void stm32_usbinitialize(void); + +extern void board_peripheral_reset(int ms); + +#include + +#endif /* __ASSEMBLY__ */ + +__END_DECLS diff --git a/boards/micoair/h743/src/bootloader_main.c b/boards/micoair/h743/src/bootloader_main.c new file mode 100644 index 000000000000..5670308a29d8 --- /dev/null +++ b/boards/micoair/h743/src/bootloader_main.c @@ -0,0 +1,75 @@ +/**************************************************************************** + * + * Copyright (c) 2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file bootloader_main.c + * + * FMU-specific early startup code for bootloader +*/ + +#include "board_config.h" +#include "bl.h" + +#include +#include +#include +#include +#include +#include "arm_internal.h" +#include + +extern int sercon_main(int c, char **argv); + +__EXPORT void board_on_reset(int status) {} + +__EXPORT void stm32_boardinitialize(void) +{ + /* configure USB interfaces */ + stm32_usbinitialize(); +} + +__EXPORT int board_app_initialize(uintptr_t arg) +{ + return 0; +} + +void board_late_initialize(void) +{ + sercon_main(0, NULL); +} + +extern void sys_tick_handler(void); +void board_timerhook(void) +{ + sys_tick_handler(); +} diff --git a/boards/micoair/h743/src/hw_config.h b/boards/micoair/h743/src/hw_config.h new file mode 100644 index 000000000000..a428dd53592d --- /dev/null +++ b/boards/micoair/h743/src/hw_config.h @@ -0,0 +1,135 @@ +/**************************************************************************** + * + * Copyright (C) 2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#pragma once + +/**************************************************************************** + * 10-8--2016: + * To simplify the ripple effect on the tools, we will be using + * /dev/serial/by-id/PX4 to locate PX4 devices. Therefore + * moving forward all Bootloaders must contain the prefix "PX4 BL " + * in the USBDEVICESTRING + * This Change will be made in an upcoming BL release + ****************************************************************************/ +/* + * Define usage to configure a bootloader + * + * + * Constant example Usage + * APP_LOAD_ADDRESS 0x08004000 - The address in Linker Script, where the app fw is org-ed + * BOOTLOADER_DELAY 5000 - Ms to wait while under USB pwr or bootloader request + * BOARD_FMUV2 + * INTERFACE_USB 1 - (Optional) Scan and use the USB interface for bootloading + * INTERFACE_USART 1 - (Optional) Scan and use the Serial interface for bootloading + * USBDEVICESTRING "PX4 BL FMU v2.x" - USB id string + * USBPRODUCTID 0x0011 - PID Should match defconfig + * BOOT_DELAY_ADDRESS 0x000001a0 - (Optional) From the linker script from Linker Script to get a custom + * delay provided by an APP FW + * BOARD_TYPE 9 - Must match .prototype boad_id + * _FLASH_KBYTES (*(uint16_t *)0x1fff7a22) - Run time flash size detection + * BOARD_FLASH_SECTORS ((_FLASH_KBYTES == 0x400) ? 11 : 23) - Run time determine the physical last sector + * BOARD_FLASH_SECTORS 11 - Hard coded zero based last sector + * BOARD_FLASH_SIZE (_FLASH_KBYTES*1024)- Total Flash size of device, determined at run time. + * (1024 * 1024) - Hard coded Total Flash of device - The bootloader and app reserved will be deducted + * programmatically + * + * BOARD_FIRST_FLASH_SECTOR_TO_ERASE 2 - Optional sectors index in the flash_sectors table (F4 only), to begin erasing. + * This is to allow sectors to be reserved for app fw usage. That will NOT be erased + * during a FW upgrade. + * The default is 0, and selects the first sector to be erased, as the 0th entry in the + * flash_sectors table. Which is the second physical sector of FLASH in the device. + * The first physical sector of FLASH is used by the bootloader, and is not defined + * in the table. + * + * APP_RESERVATION_SIZE (BOARD_FIRST_FLASH_SECTOR_TO_ERASE * 16 * 1024) - Number of bytes reserved by the APP FW. This number plus + * BOOTLOADER_RESERVATION_SIZE will be deducted from + * BOARD_FLASH_SIZE to determine the size of the App FW + * and hence the address space of FLASH to erase and program. + * USBMFGSTRING "PX4 AP" - Optional USB MFG string (default is '3D Robotics' if not defined.) + * SERIAL_BREAK_DETECT_DISABLED - Optional prevent break selection on Serial port from entering or staying in BL + * + * * Other defines are somewhat self explanatory. + */ + +/* Boot device selection list*/ +#define USB0_DEV 0x01 +#define SERIAL0_DEV 0x02 +#define SERIAL1_DEV 0x04 + +#define APP_LOAD_ADDRESS 0x08020000 +#define BOOTLOADER_DELAY 5000 +#define INTERFACE_USB 1 +#define INTERFACE_USB_CONFIG "/dev/ttyACM0" +#define BOARD_VBUS MK_GPIO_INPUT(GPIO_OTGFS_VBUS) + +//#define USE_VBUS_PULL_DOWN +#define INTERFACE_USART 1 +#define INTERFACE_USART_CONFIG "/dev/ttyS0,115200" +#define BOOT_DELAY_ADDRESS 0x000001a0 +#define BOARD_TYPE 1166 +#define BOARD_FLASH_SECTORS (14) +#define BOARD_FLASH_SIZE (16 * 128 * 1024) +#define APP_RESERVATION_SIZE (1 * 128 * 1024) + +#define OSC_FREQ 8 + +#define BOARD_PIN_LED_ACTIVITY GPIO_nLED_BLUE // BLUE +#define BOARD_PIN_LED_BOOTLOADER GPIO_nLED_GREEN // GREEN +#define BOARD_LED_ON 0 +#define BOARD_LED_OFF 1 + +#define SERIAL_BREAK_DETECT_DISABLED 1 + +#if !defined(ARCH_SN_MAX_LENGTH) +# define ARCH_SN_MAX_LENGTH 12 +#endif + +#if !defined(APP_RESERVATION_SIZE) +# define APP_RESERVATION_SIZE 0 +#endif + +#if !defined(BOARD_FIRST_FLASH_SECTOR_TO_ERASE) +# define BOARD_FIRST_FLASH_SECTOR_TO_ERASE 1 +#endif + +#if !defined(USB_DATA_ALIGN) +# define USB_DATA_ALIGN +#endif + +#ifndef BOOT_DEVICES_SELECTION +# define BOOT_DEVICES_SELECTION USB0_DEV|SERIAL0_DEV|SERIAL1_DEV +#endif + +#ifndef BOOT_DEVICES_FILTER_ONUSB +# define BOOT_DEVICES_FILTER_ONUSB USB0_DEV|SERIAL0_DEV|SERIAL1_DEV +#endif diff --git a/boards/micoair/h743/src/i2c.cpp b/boards/micoair/h743/src/i2c.cpp new file mode 100644 index 000000000000..1444ea117204 --- /dev/null +++ b/boards/micoair/h743/src/i2c.cpp @@ -0,0 +1,39 @@ +/**************************************************************************** + * + * Copyright (C) 2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include + +constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = { + initI2CBusExternal(1), + initI2CBusInternal(2), +}; diff --git a/boards/micoair/h743/src/init.c b/boards/micoair/h743/src/init.c new file mode 100644 index 000000000000..43f86f902d24 --- /dev/null +++ b/boards/micoair/h743/src/init.c @@ -0,0 +1,203 @@ +/**************************************************************************** + * + * Copyright (c) 2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file init.c + * + * FMU-specific early startup code. This file implements the + * board_app_initialize() function that is called early by nsh during startup. + * + * Code here is run before the rcS script is invoked; it should start required + * subsystems and perform board-specific initialisation. + */ + +#include "board_config.h" + +#include + +#include +#include +#include +#include +#include +#include "arm_internal.h" + +#include +#include +#include +#include +#include +#include +#include + +# if defined(FLASH_BASED_PARAMS) +# include +#endif + +__BEGIN_DECLS +extern void led_init(void); +extern void led_on(int led); +extern void led_off(int led); +__END_DECLS + +/************************************************************************************ + * Name: board_peripheral_reset + * + * Description: + * + ************************************************************************************/ +__EXPORT void board_peripheral_reset(int ms) +{ + UNUSED(ms); +} + +/************************************************************************************ + * Name: board_on_reset + * + * Description: + * Optionally provided function called on entry to board_system_reset + * It should perform any house keeping prior to the rest. + * + * status - 1 if resetting to boot loader + * 0 if just resetting + * + ************************************************************************************/ +__EXPORT void board_on_reset(int status) +{ + for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) { + px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i))); + } + + if (status >= 0) { + up_mdelay(6); + } +} + +/************************************************************************************ + * Name: stm32_boardinitialize + * + * Description: + * All STM32 architectures must provide the following entry point. This entry point + * is called early in the initialization -- after all memory has been configured + * and mapped but before any devices have been initialized. + * + ************************************************************************************/ +__EXPORT void stm32_boardinitialize(void) +{ + /* Reset PWM first thing */ + board_on_reset(-1); + + /* configure LEDs */ + board_autoled_initialize(); + + /* configure pins */ + const uint32_t gpio[] = PX4_GPIO_INIT_LIST; + px4_gpio_init(gpio, arraySize(gpio)); + + /* configure SPI interfaces */ + stm32_spiinitialize(); + + /* configure USB interfaces */ + stm32_usbinitialize(); + +} + +/**************************************************************************** + * Name: board_app_initialize + * + * Description: + * Perform application specific initialization. This function is never + * called directly from application code, but only indirectly via the + * (non-standard) boardctl() interface using the command BOARDIOC_INIT. + * + * Input Parameters: + * arg - The boardctl() argument is passed to the board_app_initialize() + * implementation without modification. The argument has no + * meaning to NuttX; + * + * Returned Value: + * Zero (OK) is returned on success; a negated errno value is returned on + * any failure to indicate the nature of the failure. + * + ****************************************************************************/ +__EXPORT int board_app_initialize(uintptr_t arg) +{ + /* Need hrt running before using the ADC */ + px4_platform_init(); + + /* configure the DMA allocator */ + if (board_dma_alloc_init() < 0) { + syslog(LOG_ERR, "[boot] DMA alloc FAILED\n"); + } + + /* initial LED state */ + drv_led_start(); + led_off(LED_RED); + led_off(LED_BLUE); + + if (board_hardfault_init(2, true) != 0) { + led_on(LED_BLUE); + } + +#ifdef CONFIG_MMCSD + int ret = stm32_sdio_initialize(); + + if (ret != OK) { + led_on(LED_BLUE); + return ret; + } + +#endif + +// TODO：internal flash store parameters +#if defined(FLASH_BASED_PARAMS) + static sector_descriptor_t params_sector_map[] = { + {15, 128 * 1024, 0x081E0000}, + {0, 0, 0}, + }; + + /* Initialize the flashfs layer to use heap allocated memory */ + int result = parameter_flashfs_init(params_sector_map, NULL, 0); + + if (result != OK) { + syslog(LOG_ERR, "[boot] FAILED to init params in FLASH %d\n", result); + led_on(LED_RED); + } + +#endif + + /* Configure the HW based on the manifest */ + px4_platform_configure(); + + return OK; +} diff --git a/boards/micoair/h743/src/led.c b/boards/micoair/h743/src/led.c new file mode 100644 index 000000000000..d7794392dbb3 --- /dev/null +++ b/boards/micoair/h743/src/led.c @@ -0,0 +1,114 @@ +/**************************************************************************** + * + * Copyright (c) 2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file led.c + * + * LED backend. + */ + +#include + +#include + +#include "chip.h" +#include "stm32_gpio.h" +#include "board_config.h" + +#include +#include + +/* + * Ideally we'd be able to get these from arm_internal.h, + * but since we want to be able to disable the NuttX use + * of leds for system indication at will and there is no + * separate switch, we need to build independent of the + * CONFIG_ARCH_LEDS configuration switch. + */ +__BEGIN_DECLS +extern void led_init(void); +extern void led_on(int led); +extern void led_off(int led); +extern void led_toggle(int led); +__END_DECLS + +# define xlat(p) (p) +static uint32_t g_ledmap[] = { + GPIO_nLED_GREEN, // Indexed by BOARD_LED_GREEN + GPIO_nLED_BLUE, // Indexed by BOARD_LED_BLUE + GPIO_nLED_RED, // Indexed by BOARD_LED_RED +}; + +__EXPORT void led_init(void) +{ + /* Configure LED GPIOs for output */ + for (size_t l = 0; l < (sizeof(g_ledmap) / sizeof(g_ledmap[0])); l++) { + if (g_ledmap[l] != 0) { + stm32_configgpio(g_ledmap[l]); + } + } +} + +static void phy_set_led(int led, bool state) +{ + /* Drive Low to switch on */ + if (g_ledmap[led] != 0) { + stm32_gpiowrite(g_ledmap[led], !state); + } +} + +static bool phy_get_led(int led) +{ + /* If Low it is on */ + if (g_ledmap[led] != 0) { + return !stm32_gpioread(g_ledmap[led]); + } + + return false; +} + + +__EXPORT void led_on(int led) +{ + phy_set_led(xlat(led), true); +} + +__EXPORT void led_off(int led) +{ + phy_set_led(xlat(led), false); +} + +__EXPORT void led_toggle(int led) +{ + phy_set_led(xlat(led), !phy_get_led(xlat(led))); +} diff --git a/boards/micoair/h743/src/sdio.c b/boards/micoair/h743/src/sdio.c new file mode 100644 index 000000000000..869d757756a0 --- /dev/null +++ b/boards/micoair/h743/src/sdio.c @@ -0,0 +1,177 @@ +/**************************************************************************** + * + * Copyright (C) 2014, 2016 Gregory Nutt. All rights reserved. + * Author: Gregory Nutt + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name NuttX nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include +#include + +#include +#include +#include +#include + +#include +#include + +#include "chip.h" +#include "board_config.h" +#include "stm32_gpio.h" +#include "stm32_sdmmc.h" + +#ifdef CONFIG_MMCSD + + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +/* Card detections requires card support and a card detection GPIO */ + +#define HAVE_NCD 1 +#if !defined(GPIO_SDMMC1_NCD) +# undef HAVE_NCD +#endif + +/**************************************************************************** + * Private Data + ****************************************************************************/ + +static FAR struct sdio_dev_s *sdio_dev; +#ifdef HAVE_NCD +static bool g_sd_inserted = 0xff; /* Impossible value */ +#endif + +/**************************************************************************** + * Private Functions + ****************************************************************************/ + +/**************************************************************************** + * Name: stm32_ncd_interrupt + * + * Description: + * Card detect interrupt handler. + * + ****************************************************************************/ + +#ifdef HAVE_NCD +static int stm32_ncd_interrupt(int irq, FAR void *context) +{ + bool present; + + present = !stm32_gpioread(GPIO_SDMMC1_NCD); + + if (sdio_dev && present != g_sd_inserted) { + sdio_mediachange(sdio_dev, present); + g_sd_inserted = present; + } + + return OK; +} +#endif + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +/**************************************************************************** + * Name: stm32_sdio_initialize + * + * Description: + * Initialize SDIO-based MMC/SD card support + * + ****************************************************************************/ + +int stm32_sdio_initialize(void) +{ + int ret; + +#ifdef HAVE_NCD + /* Card detect */ + + bool cd_status; + + /* Configure the card detect GPIO */ + + stm32_configgpio(GPIO_SDMMC1_NCD); + + /* Register an interrupt handler for the card detect pin */ + + stm32_gpiosetevent(GPIO_SDMMC1_NCD, true, true, true, stm32_ncd_interrupt); +#endif + + /* Mount the SDIO-based MMC/SD block driver */ + /* First, get an instance of the SDIO interface */ + + finfo("Initializing SDIO slot %d\n", SDIO_SLOTNO); + + sdio_dev = sdio_initialize(SDIO_SLOTNO); + + if (!sdio_dev) { + syslog(LOG_ERR, "[boot] Failed to initialize SDIO slot %d\n", SDIO_SLOTNO); + return -ENODEV; + } + + /* Now bind the SDIO interface to the MMC/SD driver */ + + finfo("Bind SDIO to the MMC/SD driver, minor=%d\n", SDIO_MINOR); + + ret = mmcsd_slotinitialize(SDIO_MINOR, sdio_dev); + + if (ret != OK) { + syslog(LOG_ERR, "[boot] Failed to bind SDIO to the MMC/SD driver: %d\n", ret); + return ret; + } + + finfo("Successfully bound SDIO to the MMC/SD driver\n"); + +#ifdef HAVE_NCD + /* Use SD card detect pin to check if a card is g_sd_inserted */ + + cd_status = !stm32_gpioread(GPIO_SDMMC1_NCD); + finfo("Card detect : %d\n", cd_status); + + sdio_mediachange(sdio_dev, cd_status); +#else + /* Assume that the SD card is inserted. What choice do we have? */ + + sdio_mediachange(sdio_dev, true); +#endif + + return OK; +} + +#endif /* CONFIG_MMCSD */ diff --git a/boards/micoair/h743/src/spi.cpp b/boards/micoair/h743/src/spi.cpp new file mode 100644 index 000000000000..81fdd03f282d --- /dev/null +++ b/boards/micoair/h743/src/spi.cpp @@ -0,0 +1,50 @@ +/**************************************************************************** + * + * Copyright (C) 2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include +#include +#include + + +constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = { + initSPIBus(SPI::Bus::SPI1, { + initSPIDevice(DRV_OSD_DEVTYPE_ATXXXX, SPI::CS{GPIO::PortB, GPIO::Pin12}), + }), + initSPIBus(SPI::Bus::SPI2, { + initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortD, GPIO::Pin5}), + initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortD, GPIO::Pin4}), + initSPIDevice(DRV_IMU_DEVTYPE_BMI270, SPI::CS{GPIO::PortA, GPIO::Pin15}), + }), +}; + +static constexpr bool unused = validateSPIConfig(px4_spi_buses); diff --git a/boards/micoair/h743/src/timer_config.cpp b/boards/micoair/h743/src/timer_config.cpp new file mode 100644 index 000000000000..515a56928cad --- /dev/null +++ b/boards/micoair/h743/src/timer_config.cpp @@ -0,0 +1,56 @@ +/**************************************************************************** + * + * Copyright (C) 2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include + +constexpr io_timers_t io_timers[MAX_IO_TIMERS] = { + initIOTimer(Timer::Timer1, DMA{DMA::Index1}), + initIOTimer(Timer::Timer3, DMA{DMA::Index1}), + initIOTimer(Timer::Timer4, DMA{DMA::Index1}), +}; + +constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = { + initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel4}, {GPIO::PortE, GPIO::Pin14}), + initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel3}, {GPIO::PortE, GPIO::Pin13}), + initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel2}, {GPIO::PortE, GPIO::Pin11}), + initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel1}, {GPIO::PortE, GPIO::Pin9}), + initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel4}, {GPIO::PortB, GPIO::Pin1}), + initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel3}, {GPIO::PortB, GPIO::Pin0}), + initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel1}, {GPIO::PortD, GPIO::Pin12}), + initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel2}, {GPIO::PortD, GPIO::Pin13}), + initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel3}, {GPIO::PortD, GPIO::Pin14}), + initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel4}, {GPIO::PortD, GPIO::Pin15}), +}; + +constexpr io_timers_channel_mapping_t io_timers_channel_mapping = + initIOTimerChannelMapping(io_timers, timer_io_channels); diff --git a/boards/micoair/h743/src/usb.c b/boards/micoair/h743/src/usb.c new file mode 100644 index 000000000000..9591784866a6 --- /dev/null +++ b/boards/micoair/h743/src/usb.c @@ -0,0 +1,78 @@ +/**************************************************************************** + * + * Copyright (C) 2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file usb.c + * + * Board-specific USB functions. + */ + +#include "board_config.h" +#include +#include +#include +#include + +/************************************************************************************ + * Name: stm32_usbinitialize + * + * Description: + * Called to setup USB-related GPIO pins for the board. + * + ************************************************************************************/ + +__EXPORT void stm32_usbinitialize(void) +{ + /* The OTG FS has an internal soft pull-up */ + + /* Configure the OTG FS VBUS sensing GPIO, Power On, and Overcurrent GPIOs */ + +#ifdef CONFIG_STM32H7_OTGFS + stm32_configgpio(GPIO_OTGFS_VBUS); +#endif +} + +/************************************************************************************ + * Name: stm32_usbsuspend + * + * Description: + * Board logic must provide the stm32_usbsuspend logic if the USBDEV driver is + * used. This function is called whenever the USB enters or leaves suspend mode. + * This is an opportunity for the board logic to shutdown clocks, power, etc. + * while the USB is suspended. + * + ************************************************************************************/ +__EXPORT void stm32_usbsuspend(FAR struct usbdev_s *dev, bool resume) +{ + uinfo("resume: %d\n", resume); +} diff --git a/boards/modalai/fc-v1/default.px4board b/boards/modalai/fc-v1/default.px4board index 5999659075b9..e9104cfaeec1 100644 --- a/boards/modalai/fc-v1/default.px4board +++ b/boards/modalai/fc-v1/default.px4board @@ -5,13 +5,14 @@ CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS6" CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS4" CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS1" CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS3" -CONFIG_DRIVERS_ACTUATORS_MODAL_IO=y +CONFIG_DRIVERS_ACTUATORS_VOXL_ESC=y CONFIG_DRIVERS_ADC_ADS1115=y CONFIG_DRIVERS_ADC_BOARD_ADC=y CONFIG_COMMON_BAROMETERS=y CONFIG_DRIVERS_BATT_SMBUS=y CONFIG_DRIVERS_CAMERA_CAPTURE=y CONFIG_DRIVERS_CAMERA_TRIGGER=y +CONFIG_DRIVERS_CDCACM_AUTOSTART=y CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y CONFIG_COMMON_DISTANCE_SENSOR=y CONFIG_DRIVERS_DSHOT=y diff --git a/boards/modalai/fc-v1/init/rc.board_sensors b/boards/modalai/fc-v1/init/rc.board_sensors index 7268fce687af..03824da992ab 100644 --- a/boards/modalai/fc-v1/init/rc.board_sensors +++ b/boards/modalai/fc-v1/init/rc.board_sensors @@ -3,9 +3,9 @@ # ModalAI FC-v1 specific board sensors init #------------------------------------------------------------------------------ -if param greater MODAL_IO_CONFIG 0 +if param greater VOXL_ESC_CONFIG 0 then - modal_io start + voxl_esc start fi board_adc start diff --git a/boards/modalai/fc-v1/nuttx-config/nsh/defconfig b/boards/modalai/fc-v1/nuttx-config/nsh/defconfig index b2d2e7eb77f8..d1f84d56eef2 100644 --- a/boards/modalai/fc-v1/nuttx-config/nsh/defconfig +++ b/boards/modalai/fc-v1/nuttx-config/nsh/defconfig @@ -111,7 +111,7 @@ CONFIG_I2C=y CONFIG_I2C_RESET=y CONFIG_IDLETHREAD_STACKSIZE=750 CONFIG_INIT_ENTRYPOINT="nsh_main" -CONFIG_INIT_STACKSIZE=2944 +CONFIG_INIT_STACKSIZE=3194 CONFIG_LIBC_FLOATINGPOINT=y CONFIG_LIBC_LONG_LONG=y CONFIG_LIBC_MAX_EXITFUNS=1 @@ -146,6 +146,8 @@ CONFIG_PREALLOC_TIMERS=50 CONFIG_PRIORITY_INHERITANCE=y CONFIG_PTHREAD_MUTEX_ROBUST=y CONFIG_PTHREAD_STACK_MIN=512 +CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5 +CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5 CONFIG_RAMTRON_SETSPEED=y CONFIG_RAM_SIZE=245760 CONFIG_RAM_START=0x20010000 diff --git a/boards/modalai/fc-v1/src/board_config.h b/boards/modalai/fc-v1/src/board_config.h index dcc182420ab7..93032bb31fd9 100644 --- a/boards/modalai/fc-v1/src/board_config.h +++ b/boards/modalai/fc-v1/src/board_config.h @@ -264,7 +264,7 @@ #define BOARD_NUM_IO_TIMERS 5 // J4 / TELEM3 / UART2 -#define MODAL_IO_DEFAULT_PORT "/dev/ttyS1" +#define VOXL_ESC_DEFAULT_PORT "/dev/ttyS1" __BEGIN_DECLS diff --git a/boards/modalai/fc-v2/default.px4board b/boards/modalai/fc-v2/default.px4board index a3eb5618fa5e..f95c859e8c52 100644 --- a/boards/modalai/fc-v2/default.px4board +++ b/boards/modalai/fc-v2/default.px4board @@ -3,21 +3,18 @@ CONFIG_BOARD_ARCHITECTURE="cortex-m7" CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS0" CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS6" CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS4" -CONFIG_DRIVERS_ACTUATORS_MODAL_IO=y +CONFIG_DRIVERS_ACTUATORS_VOXL_ESC=y CONFIG_DRIVERS_ADC_ADS1115=y CONFIG_DRIVERS_ADC_BOARD_ADC=y CONFIG_DRIVERS_BAROMETER_INVENSENSE_ICP201XX=y CONFIG_DRIVERS_BATT_SMBUS=y CONFIG_DRIVERS_CAMERA_CAPTURE=y CONFIG_DRIVERS_CAMERA_TRIGGER=y +CONFIG_DRIVERS_CDCACM_AUTOSTART=y CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y CONFIG_COMMON_DISTANCE_SENSOR=y CONFIG_DRIVERS_DSHOT=y CONFIG_DRIVERS_GPS=y -CONFIG_DRIVERS_IMU_BOSCH_BMI088=y -CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y -CONFIG_DRIVERS_IMU_INVENSENSE_ICM20649=y -CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y CONFIG_DRIVERS_IRLOCK=y CONFIG_COMMON_LIGHT=y @@ -28,12 +25,11 @@ CONFIG_DRIVERS_PCA9685_PWM_OUT=y CONFIG_DRIVERS_POWER_MONITOR_INA226=y CONFIG_DRIVERS_POWER_MONITOR_VOXLPM=y CONFIG_DRIVERS_PWM_OUT=y +CONFIG_DRIVERS_RC_CRSF_RC=y CONFIG_DRIVERS_RC_INPUT=y CONFIG_COMMON_TELEMETRY=y -CONFIG_DRIVERS_UAVCAN=y -CONFIG_BOARD_UAVCAN_INTERFACES=1 -CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=2 CONFIG_MODULES_AIRSPEED_SELECTOR=y +CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y CONFIG_MODULES_CAMERA_FEEDBACK=y CONFIG_MODULES_COMMANDER=y CONFIG_MODULES_CONTROL_ALLOCATOR=y @@ -52,6 +48,7 @@ CONFIG_MODULES_GYRO_FFT=y CONFIG_MODULES_LAND_DETECTOR=y CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y CONFIG_MODULES_LOAD_MON=y +CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y CONFIG_MODULES_LOGGER=y CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y CONFIG_MODULES_MANUAL_CONTROL=y @@ -65,11 +62,11 @@ CONFIG_MODULES_NAVIGATOR=y CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_ROVER_POS_CONTROL=y CONFIG_MODULES_SENSORS=y -CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y CONFIG_MODULES_UXRCE_DDS_CLIENT=y CONFIG_MODULES_VTOL_ATT_CONTROL=y CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y +CONFIG_SYSTEMCMDS_BL_UPDATE=y CONFIG_SYSTEMCMDS_BSONDUMP=y CONFIG_SYSTEMCMDS_DMESG=y CONFIG_SYSTEMCMDS_GPIO=y diff --git a/boards/modalai/fc-v2/extras/modalai_fc-v2_bootloader.bin b/boards/modalai/fc-v2/extras/modalai_fc-v2_bootloader.bin index c80dba5421af..95b62a8d68f9 100755 Binary files a/boards/modalai/fc-v2/extras/modalai_fc-v2_bootloader.bin and b/boards/modalai/fc-v2/extras/modalai_fc-v2_bootloader.bin differ diff --git a/boards/modalai/fc-v2/init/rc.board_sensors b/boards/modalai/fc-v2/init/rc.board_sensors index b312425832a9..4fd143d50310 100644 --- a/boards/modalai/fc-v2/init/rc.board_sensors +++ b/boards/modalai/fc-v2/init/rc.board_sensors @@ -3,9 +3,9 @@ # ModalAI FC-v2 specific board sensors init #------------------------------------------------------------------------------ -if param greater MODAL_IO_CONFIG 0 +if param greater VOXL_ESC_CONFIG 0 then - modal_io start + voxl_esc start fi board_adc start @@ -20,8 +20,8 @@ icm42688p -s -b 1 -R 12 start # Internal SPI2 ICM-42688 icm42688p -s -b 2 -R 12 start -# Internal I2C mag -bmm150 -I start +# Don't start Internal I2C mag +# bmm150 -I start # Internal I2C baro icp201xx -I start diff --git a/boards/modalai/fc-v2/nuttx-config/bootloader/defconfig b/boards/modalai/fc-v2/nuttx-config/bootloader/defconfig index 58ac8586aeb7..1a138a659bdc 100644 --- a/boards/modalai/fc-v2/nuttx-config/bootloader/defconfig +++ b/boards/modalai/fc-v2/nuttx-config/bootloader/defconfig @@ -48,7 +48,7 @@ CONFIG_HAVE_CXX=y CONFIG_HAVE_CXXINITIALIZE=y CONFIG_IDLETHREAD_STACKSIZE=750 CONFIG_INIT_ENTRYPOINT="bootloader_main" -CONFIG_INIT_STACKSIZE=2944 +CONFIG_INIT_STACKSIZE=3194 CONFIG_LIBC_FLOATINGPOINT=y CONFIG_LIBC_LONG_LONG=y CONFIG_LIBC_STRERROR=y diff --git a/boards/modalai/fc-v2/nuttx-config/include/board.h b/boards/modalai/fc-v2/nuttx-config/include/board.h index 34a8d2c2af74..b196e7a68c72 100644 --- a/boards/modalai/fc-v2/nuttx-config/include/board.h +++ b/boards/modalai/fc-v2/nuttx-config/include/board.h @@ -248,7 +248,7 @@ /* ADC 1 2 3 clock source */ -#define STM32_RCC_D3CCIPR_ADCSEL RCC_D3CCIPR_ADCSEL_PLL2 +#define STM32_RCC_D3CCIPR_ADCSRC RCC_D3CCIPR_ADCSEL_PLL2 /* FDCAN 1 2 clock source */ diff --git a/boards/modalai/fc-v2/nuttx-config/nsh/defconfig b/boards/modalai/fc-v2/nuttx-config/nsh/defconfig index 11bb3c3da9d1..7fb9744c18f2 100644 --- a/boards/modalai/fc-v2/nuttx-config/nsh/defconfig +++ b/boards/modalai/fc-v2/nuttx-config/nsh/defconfig @@ -113,7 +113,7 @@ CONFIG_I2C=y CONFIG_I2C_RESET=y CONFIG_IDLETHREAD_STACKSIZE=750 CONFIG_INIT_ENTRYPOINT="nsh_main" -CONFIG_INIT_STACKSIZE=2944 +CONFIG_INIT_STACKSIZE=3194 CONFIG_IOB_NBUFFERS=24 CONFIG_IOB_NCHAINS=24 CONFIG_LIBC_FLOATINGPOINT=y @@ -152,6 +152,8 @@ CONFIG_PREALLOC_TIMERS=50 CONFIG_PRIORITY_INHERITANCE=y CONFIG_PTHREAD_MUTEX_ROBUST=y CONFIG_PTHREAD_STACK_MIN=512 +CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5 +CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5 CONFIG_RAMTRON_SETSPEED=y CONFIG_RAM_SIZE=245760 CONFIG_RAM_START=0x20010000 diff --git a/boards/modalai/fc-v2/scripts/run_docker.sh b/boards/modalai/fc-v2/scripts/run_docker.sh new file mode 100755 index 000000000000..4e42146ca6cb --- /dev/null +++ b/boards/modalai/fc-v2/scripts/run_docker.sh @@ -0,0 +1,4 @@ +#!/bin/bash + +# Run this from the px4 project top level directory +docker run -it --rm --privileged -v `pwd`:/usr/local/workspace px4io/px4-dev-nuttx-focal:2022-08-12 diff --git a/boards/modalai/fc-v2/src/CMakeLists.txt b/boards/modalai/fc-v2/src/CMakeLists.txt index c84d6f291cf6..e77b83f9c90d 100644 --- a/boards/modalai/fc-v2/src/CMakeLists.txt +++ b/boards/modalai/fc-v2/src/CMakeLists.txt @@ -68,4 +68,18 @@ else() nuttx_drivers # sdio px4_layer ) + + set(COMMON_MODALAI_SRC_DIR ${PX4_SOURCE_DIR}/boards/modalai/src) + set(MODALAI_SYSTEMCMD_SRC_DIR ${COMMON_MODALAI_SRC_DIR}/systemcmds/modalai) + + px4_add_module( + MODULE systemcmds__modalai + MAIN modalai + COMPILE_FLAGS + SRCS + ${MODALAI_SYSTEMCMD_SRC_DIR}/modalai_fc-v2.c + ${MODALAI_SYSTEMCMD_SRC_DIR}/modalai_fc-v1.c + ${MODALAI_SYSTEMCMD_SRC_DIR}/modalai.c + DEPENDS + ) endif() diff --git a/boards/modalai/fc-v2/src/board_config.h b/boards/modalai/fc-v2/src/board_config.h index 1d9b338bf4f2..987f692b221a 100644 --- a/boards/modalai/fc-v2/src/board_config.h +++ b/boards/modalai/fc-v2/src/board_config.h @@ -91,6 +91,12 @@ # define GPIO_nLED_GREEN /* PE4 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN4) # define GPIO_nLED_BLUE /* PE5 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN5) +// GPIO_nLED_2_RED/ GPIO_nLED_2_GREEN /GPIO_nLED_2_BLUE are for v1 LED tests + +# define GPIO_nLED_2_RED /* PI0 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTI|GPIO_PIN0) +# define GPIO_nLED_2_GREEN /* PH11 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTH|GPIO_PIN11) +# define GPIO_nLED_2_BLUE /* PA2 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN2) + # define BOARD_HAS_CONTROL_STATUS_LEDS 1 # define BOARD_OVERLOAD_LED LED_RED # define BOARD_ARMED_STATE_LED LED_BLUE @@ -208,6 +214,12 @@ #define CAN1_SILENT /* PD15 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN15) +/* For primary/backup signaling with VOXL, 2 pins on J4 are exposed */ +// GPIO_VOXL_STATUS_OUT/ GPIO_VOXL_STATUS_IN are for v1 Spare MSS Communications Interface and J4 tests + +#define GPIO_VOXL_STATUS_OUT /* PE4 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN4) +#define GPIO_VOXL_STATUS_IN /* PE3 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_PORTE|GPIO_PIN3) + /* Define True logic Power Control in arch agnostic form */ #define VDD_3V3_SPEKTRUM_POWER_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SPEKTRUM_POWER_EN, (on_true)) @@ -338,8 +350,8 @@ #define BOARD_NUM_IO_TIMERS 5 -// J1 / TELEM1 / USART7 -#define MODAL_IO_DEFAULT_PORT "/dev/ttyS6" +// J5 USART5 TELEM2 Port next to PWM connector +#define VOXL_ESC_DEFAULT_PORT "/dev/ttyS4" __BEGIN_DECLS diff --git a/boards/modalai/fc-v2/src/mtd.cpp b/boards/modalai/fc-v2/src/mtd.cpp index 644b96581dff..48a5bd334c6a 100644 --- a/boards/modalai/fc-v2/src/mtd.cpp +++ b/boards/modalai/fc-v2/src/mtd.cpp @@ -34,25 +34,19 @@ #include #include // KiB BS nB -static const px4_mft_device_t spi5 = { // FM25V02A on FMUM 32K 512 X 64 +static const px4_mft_device_t spi5 = { // FM25V02A on FMUM native: 32K X 8, emulated as (1024 Blocks of 32) .bus_type = px4_mft_device_t::SPI, .devid = SPIDEV_FLASH(0) }; static const px4_mtd_entry_t fmum_fram = { .device = &spi5, - .npart = 2, + .npart = 1, .partd = { { .type = MTD_PARAMETERS, .path = "/fs/mtd_params", - .nblocks = 32 - }, - { - .type = MTD_WAYPOINTS, - .path = "/fs/mtd_waypoints", - .nblocks = 32 - + .nblocks = (32768 / (1 << CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT)) } }, }; diff --git a/boards/modalai/src/systemcmds/modalai/modalai.c b/boards/modalai/src/systemcmds/modalai/modalai.c new file mode 100644 index 000000000000..6b4a45e447b8 --- /dev/null +++ b/boards/modalai/src/systemcmds/modalai/modalai.c @@ -0,0 +1,131 @@ +#include + +#include "chip.h" +#include "stm32_gpio.h" +#include "board_config.h" + +#include +#include + +// v2 +#ifdef CONFIG_ARCH_CHIP_STM32H753II // chip on M0087 +#include "modalai_fc-v2.h" +#define MODALAI_FC_V2 1 +#else +#include "modalai_fc-v1.h" +#endif + +__EXPORT int modalai_main(int argc, char *argv[]); + +int modalai_main(int argc, char *argv[]) +{ + int hw_rev = board_get_hw_revision(); + int hw_ver = board_get_hw_version(); + + eHW_TYPE hw_type = eHwNone; + +#ifdef MODALAI_FC_V2 + + if (hw_rev == 0 && hw_ver == 3) { // (should be hw_rev == 1 && hw_ver == 3) eventually... + hw_type = eM0087; + + } else if (hw_rev == 0 && hw_ver == 3) { + hw_type = eM0079; + + } else { + return -1; + + } + +#else + + if (hw_rev == 6 && hw_ver == 0) { + hw_type = eM0018; + + } else if (hw_rev == 0 && hw_ver == 1) { + hw_type = eM0019; + + } else if (hw_rev == 0 && hw_ver == 2) { + hw_type = eM0051; + + } else { + return -1; + + } + +#endif + + if (argc <= 1) { +#ifdef MODALAI_FC_V2 + modalai_print_usage_v2(); +#else + modalai_print_usage_v1(); +#endif + return 1; + } + + if (!strcmp(argv[1], "led")) { +#ifdef MODALAI_FC_V2 + return modalai_led_test_v2(); +#else + return modalai_led_test_v1(); +#endif + + } else if (!strcmp(argv[1], "con")) { + if (argc <= 2) { + PRINT_MODULE_USAGE_COMMAND("con"); + PRINT_MODULE_USAGE_ARG("<1,4,5,6,7,9,10,12,13>", "Connector ID", false); + PRINT_MODULE_USAGE_ARG("", "Pin Number", false); + PRINT_MODULE_USAGE_ARG("0 | 1", " (defaults to 0)", false); + return 1; + } + + uint8_t con = 0; + uint8_t pin = 0; + bool state = false; + + if (argc > 2) { + con = atoi(argv[2]); + } + + if (argc > 3) { + pin = atoi(argv[3]); + } + + if (argc > 4) { + state = atoi(argv[4]); + } + +#ifdef MODALAI_FC_V2 + return modalai_con_gpio_test_v2(con, pin, state); +#else + return modalai_con_gpio_test_v1(con, pin, state); +#endif + + } else if (!strcmp(argv[1], "buzz")) { + +#ifdef MODALAI_FC_V2 + return modalai_buzz_test_v2(hw_type); +#else + return modalai_buzz_test_v1(hw_type); +#endif + + + + } else if (!strcmp(argv[1], "detect")) { +#ifdef MODALAI_FC_V2 + modalai_hw_detect_v2(hw_type); +#else + modalai_hw_detect_v1(hw_type); +#endif + + return 0; + } + +#ifdef MODALAI_FC_V2 + modalai_print_usage_v2(); +#else + modalai_print_usage_v1(); +#endif + return -EINVAL; +} diff --git a/boards/modalai/src/systemcmds/modalai/modalai_fc-v1.c b/boards/modalai/src/systemcmds/modalai/modalai_fc-v1.c new file mode 100644 index 000000000000..9515e56d561b --- /dev/null +++ b/boards/modalai/src/systemcmds/modalai/modalai_fc-v1.c @@ -0,0 +1,913 @@ +#include + + +#include "chip.h" +#include "stm32_gpio.h" +#include "board_config.h" + +#include +#include + +// v1 +#ifndef CONFIG_ARCH_CHIP_STM32H743ZI + +#include "modalai_fc-v1.h" + + + + +void modalai_print_usage_v1(void) +{ + PRINT_MODULE_DESCRIPTION("ModalAI Test utility\n"); + + PRINT_MODULE_USAGE_NAME_SIMPLE("modalai", "command"); + + PRINT_MODULE_USAGE_COMMAND_DESCR("led", "LED Test"); + PRINT_MODULE_USAGE_COMMAND_DESCR("con", "Connector Output Test (as GPIO)"); + PRINT_MODULE_USAGE_COMMAND_DESCR("buzz", "Automated buzz out test"); + PRINT_MODULE_USAGE_COMMAND_DESCR("detect", "Detect board type"); +} + +void modalai_print_usage_con_gpio_test_v1(void) +{ + PRINT_MODULE_USAGE_NAME_SIMPLE("modalai con", "command"); + PRINT_MODULE_USAGE_COMMAND_DESCR("1", "W<3,6> R<2,6>, <0-1>"); + PRINT_MODULE_USAGE_COMMAND_DESCR("4", "W<2-4,6-7> R<8>, <0-1>"); + PRINT_MODULE_USAGE_COMMAND_DESCR("5", "W<2-5>, <0-1>"); + PRINT_MODULE_USAGE_COMMAND_DESCR("6", "W<2-5>, <0-1>"); + PRINT_MODULE_USAGE_COMMAND_DESCR("7", "W<2-9>, <0-1>"); + PRINT_MODULE_USAGE_COMMAND_DESCR("9", "R<2>"); + PRINT_MODULE_USAGE_COMMAND_DESCR("10", "W<2-5>, <0-1>"); + PRINT_MODULE_USAGE_COMMAND_DESCR("12", "W<1-3>, <0-1>"); + PRINT_MODULE_USAGE_COMMAND_DESCR("13", "W<3-5>, <0-1>"); +} + +int modalai_led_test_v1(void) +{ + PX4_INFO("Running led test"); + + stm32_configgpio(GPIO_nLED_RED); + stm32_configgpio(GPIO_nLED_GREEN); + stm32_configgpio(GPIO_nLED_BLUE); + + int i = 0; + + stm32_configgpio(GPIO_nLED_2_RED); + stm32_configgpio(GPIO_nLED_2_GREEN); + stm32_configgpio(GPIO_nLED_2_BLUE); + + for (i = 0; i < 3; i++) { + usleep(1000 * 100); + stm32_gpiowrite(GPIO_nLED_RED, false); + + stm32_gpiowrite(GPIO_nLED_2_RED, false); + usleep(1000 * 100); + stm32_gpiowrite(GPIO_nLED_RED, true); + stm32_gpiowrite(GPIO_nLED_2_RED, true); + + usleep(1000 * 100); + stm32_gpiowrite(GPIO_nLED_GREEN, false); + stm32_gpiowrite(GPIO_nLED_2_GREEN, false); + usleep(1000 * 100); + stm32_gpiowrite(GPIO_nLED_GREEN, true); + stm32_gpiowrite(GPIO_nLED_2_GREEN, true); + + usleep(1000 * 100); + stm32_gpiowrite(GPIO_nLED_BLUE, false); + stm32_gpiowrite(GPIO_nLED_2_BLUE, false); + usleep(1000 * 100); + stm32_gpiowrite(GPIO_nLED_BLUE, true); + stm32_gpiowrite(GPIO_nLED_2_BLUE, true); + } + + return OK; +} + +int modalai_con_gpio_test_v1(uint8_t con, uint8_t pin, bool state) +{ + // validate + switch (con) { + // Primary MSS Communications Interface + case 1: + switch (pin) { + case 2: + stm32_configgpio(J1_PIN2_IN); + state = stm32_gpioread(J1_PIN2_IN); + break; + + case 3: + stm32_configgpio(J1_PIN3); + stm32_gpiowrite(J1_PIN3, state); + break; + + case 4: + stm32_configgpio(J1_PIN4); + stm32_gpiowrite(J1_PIN4, state); + break; + + case 6: + stm32_configgpio(J1_PIN6_IN); + state = stm32_gpioread(J1_PIN6_IN); + break; + + default: + modalai_print_usage_con_gpio_test_v1(); + return -1; + } + + break; + + // STM JTAG Programming Header + case 2: + modalai_print_usage_con_gpio_test_v1(); + return -1; + + // USB 2.0 Full-Speed Downstream Device Port + case 3: + modalai_print_usage_con_gpio_test_v1(); + return -1; + + // Spare MSS Communications Interface + case 4: + switch (pin) { + case 2: + stm32_configgpio(J4_PIN2); + stm32_gpiowrite(J4_PIN2, state); + break; + + case 3: + stm32_configgpio(J4_PIN3); + stm32_gpiowrite(J4_PIN3, state); + break; + + case 4: + stm32_configgpio(J4_PIN4); + stm32_gpiowrite(J4_PIN4, state); + break; + + case 6: + stm32_configgpio(J4_PIN6); + stm32_gpiowrite(J4_PIN6, state); + break; + + case 7: + stm32_configgpio(J4_PIN7); + stm32_gpiowrite(J4_PIN7, state); + break; + + case 8: + stm32_configgpio(J4_PIN8); + state = stm32_gpioread(J4_PIN8); + break; + + default: + modalai_print_usage_con_gpio_test_v1(); + return -1; + } + + break; + + // TELEMETRY CONNECTOR + case 5: + switch (pin) { + case 2: + stm32_configgpio(J5_PIN2); + stm32_gpiowrite(J5_PIN2, state); + break; + + case 3: + stm32_configgpio(J5_PIN3); + stm32_gpiowrite(J5_PIN3, state); + break; + + case 4: + stm32_configgpio(J5_PIN4); + stm32_gpiowrite(J5_PIN4, state); + break; + + case 5: + stm32_configgpio(J5_PIN5); + stm32_gpiowrite(J5_PIN5, state); + break; + + default: + modalai_print_usage_con_gpio_test_v1(); + return -1; + } + + break; + + // EXPANSION CONNECTOR + case 6: + switch (pin) { + case 2: + stm32_configgpio(J6_PIN2); + stm32_gpiowrite(J6_PIN2, state); + break; + + case 3: + stm32_configgpio(J6_PIN3); + stm32_gpiowrite(J6_PIN3, state); + break; + + case 4: + stm32_configgpio(J6_PIN4); + stm32_gpiowrite(J6_PIN4, state); + break; + + case 5: + stm32_configgpio(J6_PIN5); + stm32_gpiowrite(J6_PIN5, state); + break; + + default: + modalai_print_usage_con_gpio_test_v1(); + return -1; + } + + break; + + // PWM Output Connector + case 7: + switch (pin) { + case 2: + stm32_configgpio(J7_PIN2); + stm32_gpiowrite(J7_PIN2, state); + break; + + case 3: + stm32_configgpio(J7_PIN3); + stm32_gpiowrite(J7_PIN3, state); + break; + + case 4: + stm32_configgpio(J7_PIN4); + stm32_gpiowrite(J7_PIN4, state); + break; + + case 5: + stm32_configgpio(J7_PIN5); + stm32_gpiowrite(J7_PIN5, state); + break; + + case 6: + stm32_configgpio(J7_PIN6); + stm32_gpiowrite(J7_PIN6, state); + break; + + case 7: + stm32_configgpio(J7_PIN7); + stm32_gpiowrite(J7_PIN7, state); + break; + + case 8: + stm32_configgpio(J7_PIN8); + stm32_gpiowrite(J7_PIN8, state); + break; + + case 9: + stm32_configgpio(J7_PIN9); + stm32_gpiowrite(J7_PIN9, state); + break; + + default: + modalai_print_usage_con_gpio_test_v1(); + return -1; + } + + break; + + // CAN 1 Peripheral Connector + case 8: + modalai_print_usage_con_gpio_test_v1(); + return -1; + + // PPM (RC) IN + case 9: + switch (pin) { + case 2: + stm32_configgpio(J9_PIN2_IN); + state = stm32_gpioread(J9_PIN2_IN); + break; + + default: + modalai_print_usage_con_gpio_test_v1(); + return -1; + } + + break; + + // GPS CONNECTOR + case 10: + switch (pin) { + case 2: + stm32_configgpio(J10_PIN2); + stm32_gpiowrite(J10_PIN2, state); + break; + + case 3: + stm32_configgpio(J10_PIN3); + stm32_gpiowrite(J10_PIN3, state); + break; + + case 4: + stm32_configgpio(J10_PIN4); + stm32_gpiowrite(J10_PIN4, state); + break; + + case 5: + stm32_configgpio(J10_PIN5); + stm32_gpiowrite(J10_PIN5, state); + break; + + default: + modalai_print_usage_con_gpio_test_v1(); + return -1; + } + + break; + + // Micro SD Card Slot + case 11: + modalai_print_usage_con_gpio_test_v1(); + return -1; + + // Spektrum RC Input Connector + case 12: + switch (pin) { + case 1: + VDD_3V3_SPEKTRUM_POWER_EN(state); + break; + + case 2: + __asm("nop"); + stm32_configgpio(J12_PIN2); + stm32_gpiowrite(J12_PIN2, state); + //state = stm32_gpioread(J12_PIN2); + __asm("nop"); + break; + + case 3: + stm32_configgpio(J12_PIN3); + stm32_gpiowrite(J12_PIN3, state); + break; + + default: + modalai_print_usage_con_gpio_test_v1(); + return -1; + } + + break; + + // I2C DISPLAY / SPARE SENSOR CONNECTOR + case 13: + switch (pin) { + case 3: + stm32_configgpio(J13_PIN3); + stm32_gpiowrite(J13_PIN3, state); + break; + + case 4: + stm32_configgpio(J13_PIN4); + stm32_gpiowrite(J13_PIN4, state); + break; + + case 5: + stm32_configgpio(J13_PIN5); + stm32_gpiowrite(J13_PIN5, state); + break; + + default: + modalai_print_usage_con_gpio_test_v1(); + return -1; + } + + break; + } + + printf("GPIO - Con: %d, Pin: %d, State: %d\n", con, pin, state); + return OK; +} + +bool test_pair(uint32_t output_pin, uint32_t input_pin) +{ + + bool state = false; + + stm32_gpiowrite(output_pin, true); + usleep(1000 * 10); + state = stm32_gpioread(input_pin); + + if (state != true) { + return false; + } + + usleep(1000 * 10); + + stm32_gpiowrite(output_pin, false); + usleep(1000 * 10); + state = stm32_gpioread(input_pin); + + if (state != false) { + return false; + } + + return true; +} + +bool modalai_test_pair(uint32_t output_pin, uint32_t input_pin) +{ + + bool state = false; + + stm32_gpiowrite(output_pin, true); + usleep(1000 * 10); + state = stm32_gpioread(input_pin); + + if (state != true) { + return false; + } + + usleep(1000 * 10); + + stm32_gpiowrite(output_pin, false); + usleep(1000 * 10); + state = stm32_gpioread(input_pin); + + if (state != false) { + return false; + } + + return true; +} + +int modalai_buzz_test_v1(eHW_TYPE hw_type) +{ + PX4_INFO("test: buzz"); + usleep(1000 * 100 * 10); + + if (hw_type == eM0018) { + PX4_INFO("Using Flight Core Config"); + + } else if (hw_type == eM0019) { + PX4_INFO("Using VOXL-Flight Config"); + + } else if (hw_type == eM0051) { + PX4_INFO("Using M0051 Config"); + + } else { + return -1; + } + + if (hw_type == eM0018) { + PX4_INFO(">> Testing J1"); + stm32_configgpio(J1_PIN2_IN); // 2 [in] to 4 [out] + stm32_configgpio(J1_PIN3); // 3 [out] to 6 [in] + stm32_configgpio(J1_PIN4); // 4 [out] to 2 [in] + stm32_configgpio(J1_PIN6_IN); // 6 [in] to 3 [out] + + if (test_pair(J1_PIN4, J1_PIN2_IN)) { + PX4_INFO("PASS: J1P4-J1P2"); + + } else { + PX4_ERR("FAIL: J1P4-J1P2 ----------------------------------------"); + } + + if (test_pair(J1_PIN3, J1_PIN6_IN)) { + PX4_INFO("PASS: J1P3-J1P6"); + + } else { + PX4_ERR("FAIL: J1P3-J1P6 ----------------------------------------"); + } + + } else if (hw_type == eM0019) { + // NA on VOXL-Flight (internally routed) + } + + if (hw_type == eM0018) { + PX4_INFO(">> Testing J4"); + stm32_configgpio(J4_PIN2); // 2 [out] 6 [in] + stm32_configgpio(J4_PIN3); // 3 [out] 7 [in] + stm32_configgpio(J4_PIN4); // 4 [out] 8 [in] + stm32_configgpio(J4_PIN6_IN); // 2 [out] 6 [in] + stm32_configgpio(J4_PIN7_IN); // 3 [out] 7 [in] + stm32_configgpio(J4_PIN8_IN); // 4 [out] 8 [in] + + if (test_pair(J4_PIN2, J4_PIN6_IN)) { + PX4_INFO("PASS: J4P2-J4P6"); + + } else { + PX4_ERR("FAIL: J4P2-J4P6 ----------------------------------------"); + } + + if (test_pair(J4_PIN3, J4_PIN7_IN)) { + PX4_INFO("PASS: J4P3-J4P7"); + + } else { + PX4_ERR("FAIL: J4P3-J4P7 ----------------------------------------"); + } + + if (test_pair(J4_PIN4, J4_PIN8_IN)) { + PX4_INFO("PASS: J4P4-J4P8"); + + } else { + PX4_ERR("FAIL: J4P4-J4P8 ----------------------------------------"); + } + + } else if (hw_type == eM0019) { + PX4_INFO(">> Testing J1002"); + stm32_configgpio(J1002_PIN2); // 2 [out] 4 [in] + stm32_configgpio(J1002_PIN3); // 3 [out] 6 [in] + stm32_configgpio(J1002_PIN4_IN); // 2 [out] 4 [in] + stm32_configgpio(J1002_PIN6_IN); // 3 [out] 6 [in] + + if (test_pair(J1002_PIN2, J1002_PIN4_IN)) { + PX4_INFO("PASS: J1002P2-J1002P4"); + + } else { + PX4_ERR("FAIL: J1002P2-J1002P4 ----------------------------------------"); + } + + if (test_pair(J1002_PIN3, J1002_PIN6_IN)) { + PX4_INFO("PASS: J1002P3-J1002P6"); + + } else { + PX4_ERR("FAIL: J1002P3-J1002P6 ----------------------------------------"); + } + + } + + if (hw_type == eM0018) { + PX4_INFO(">> Testing J5"); + stm32_configgpio(J5_PIN2); // 2 [out] 4 [in] + stm32_configgpio(J5_PIN3); // 3 [out] 5 [in] + stm32_configgpio(J5_PIN4_IN); // 4 [in] 2 [out] + stm32_configgpio(J5_PIN5_IN); // 5 [in] 3 [out] + + if (test_pair(J5_PIN2, J5_PIN4_IN)) { + PX4_INFO("PASS: J5P2-J5P4"); + + } else { + PX4_ERR("FAIL: J5P2-J5P4 ----------------------------------------"); + } + + if (test_pair(J5_PIN3, J5_PIN5_IN)) { + PX4_INFO("PASS: J5P3-J5P5"); + + } else { + PX4_ERR("FAIL: J5P3-J5P5 ----------------------------------------"); + } + + } else if (hw_type == eM0019) { + PX4_INFO(">> Testing J1010"); + stm32_configgpio(J1010_PIN2); // 2 [out] 4 [in] + stm32_configgpio(J1010_PIN3); // 3 [out] 5 [in] + stm32_configgpio(J1010_PIN4_IN); // 4 [in] 2 [out] + stm32_configgpio(J1010_PIN5_IN); // 5 [in] 3 [out] + + if (test_pair(J1010_PIN2, J1010_PIN4_IN)) { + PX4_INFO("PASS: J1010P2-J1010P4"); + + } else { + PX4_ERR("FAIL: J1010P2-J1010P4 ----------------------------------------"); + } + + if (test_pair(J1010_PIN3, J1010_PIN5_IN)) { + PX4_INFO("PASS: J1010P3-J1010P5"); + + } else { + PX4_ERR("FAIL: J1010P3-J1010P5 ----------------------------------------"); + } + + } + + if (hw_type == eM0018) { + PX4_INFO(">> Testing J6"); + stm32_configgpio(J6_PIN2); // 2 [out] 4 [in] + stm32_configgpio(J6_PIN3); // 3 [out] 5 [in] + stm32_configgpio(J6_PIN4_IN); // 4 [in] 2 [out] + stm32_configgpio(J6_PIN5_IN); // 5 [in] 3 [out] + + if (test_pair(J6_PIN2, J6_PIN4_IN)) { + PX4_INFO("PASS: J6P2-J6P4"); + + } else { + PX4_ERR("FAIL: J6P2-J6P4 ----------------------------------------"); + } + + if (test_pair(J6_PIN3, J6_PIN5_IN)) { + PX4_INFO("PASS: J6P3-J6P5"); + + } else { + PX4_ERR("FAIL: J6P3-J6P5 ----------------------------------------"); + } + + } else if (hw_type == eM0019) { + PX4_INFO(">> Testing J1009"); + stm32_configgpio(J1009_PIN2); // 2 [out] 4 [in] + stm32_configgpio(J1009_PIN3); // 3 [out] 5 [in] + stm32_configgpio(J1009_PIN4_IN); // 4 [in] 2 [out] + stm32_configgpio(J1009_PIN5_IN); // 5 [in] 3 [out] + + if (test_pair(J1009_PIN2, J1009_PIN4_IN)) { + PX4_INFO("PASS: J1009P2-J1009P4"); + + } else { + PX4_ERR("FAIL: J1009P2-J1009P4 ----------------------------------------"); + } + + if (test_pair(J1009_PIN3, J1009_PIN5_IN)) { + PX4_INFO("PASS: J1009P3-J1009P5"); + + } else { + PX4_ERR("FAIL: J1009P3-J1009P5 ----------------------------------------"); + } + } + + + if (hw_type == eM0018) { + PX4_INFO(">> Testing J7"); + stm32_configgpio(J7_PIN2); // 2 [out] 6 [in] + stm32_configgpio(J7_PIN3); // 3 [out] 7 [in] + stm32_configgpio(J7_PIN4); // 4 [out] 8 [in] + stm32_configgpio(J7_PIN5); // 5 [out] 9 [in] + stm32_configgpio(J7_PIN6_IN); // 6 [in] 2 [out] + stm32_configgpio(J7_PIN7_IN); // 7 [in] 3 [out] + stm32_configgpio(J7_PIN8_IN); // 8 [in] 4 [out] + stm32_configgpio(J7_PIN9_IN); // 9 [in] 5 [out] + + if (test_pair(J7_PIN2, J7_PIN6_IN)) { + PX4_INFO("PASS: J7P2-J7P6"); + + } else { + PX4_ERR("FAIL: J7P2-J7P6 ----------------------------------------"); + } + + if (test_pair(J7_PIN3, J7_PIN7_IN)) { + PX4_INFO("PASS: J7P3-J7P7"); + + } else { + PX4_ERR("FAIL: J7P3-J7P7 ----------------------------------------"); + } + + if (test_pair(J7_PIN4, J7_PIN8_IN)) { + PX4_INFO("PASS: J7P4-J7P8"); + + } else { + PX4_ERR("FAIL: J7P4-J7P8 ----------------------------------------"); + } + + if (test_pair(J7_PIN5, J7_PIN9_IN)) { + PX4_INFO("PASS: J7P5-J7P9"); + + } else { + PX4_ERR("FAIL: J7P5-J7P9 ----------------------------------------"); + } + + } else if (hw_type == eM0019) { + PX4_INFO(">> Testing J1007"); + stm32_configgpio(J1007_PIN2); // 2 [out] 6 [in] + stm32_configgpio(J1007_PIN3); // 3 [out] 7 [in] + stm32_configgpio(J1007_PIN4); // 4 [out] 8 [in] + stm32_configgpio(J1007_PIN5); // 5 [out] 9 [in] + stm32_configgpio(J1007_PIN6_IN); // 6 [in] 2 [out] + stm32_configgpio(J1007_PIN7_IN); // 7 [in] 3 [out] + stm32_configgpio(J1007_PIN8_IN); // 8 [in] 4 [out] + stm32_configgpio(J1007_PIN9_IN); // 9 [in] 5 [out] + + if (test_pair(J1007_PIN2, J1007_PIN6_IN)) { + PX4_INFO("PASS: J1007P2-J1007P6"); + + } else { + PX4_ERR("FAIL: J1007P2-J1007P6 ----------------------------------------"); + } + + if (test_pair(J1007_PIN3, J1007_PIN7_IN)) { + PX4_INFO("PASS: J1007P3-J1007P7"); + + } else { + PX4_ERR("FAIL: J1007P3-J1007P7 ----------------------------------------"); + } + + if (test_pair(J1007_PIN4, J1007_PIN8_IN)) { + PX4_INFO("PASS: J1007P4-J1007P8"); + + } else { + PX4_ERR("FAIL: J1007P4-J1007P8 ----------------------------------------"); + } + + if (test_pair(J1007_PIN5, J1007_PIN9_IN)) { + PX4_INFO("PASS: J1007P5-J1007P9"); + + } else { + PX4_ERR("FAIL: J1007P5-J1007P9 ----------------------------------------"); + } + + } else if (hw_type == eM0051) { + PX4_INFO(">> Testing M0051 J13"); + stm32_configgpio(M0051J13_PIN2); // 2 [out] 6 [in] + stm32_configgpio(M0051J13_PIN3); // 3 [out] 7 [in] + stm32_configgpio(M0051J13_PIN4); // 4 [out] 8 [in] + stm32_configgpio(M0051J13_PIN5); // 5 [out] 9 [in] + stm32_configgpio(M0051J13_PIN6_IN); // 6 [in] 2 [out] + stm32_configgpio(M0051J13_PIN7_IN); // 7 [in] 3 [out] + stm32_configgpio(M0051J13_PIN8_IN); // 8 [in] 4 [out] + stm32_configgpio(M0051J13_PIN9_IN); // 9 [in] 5 [out] + + if (test_pair(M0051J13_PIN2, M0051J13_PIN6_IN)) { + PX4_INFO("PASS: J13_P2-J13_P6"); + + } else { + PX4_ERR("FAIL: J13_P2-J13_P6 ----------------------------------------"); + } + + if (test_pair(M0051J13_PIN3, M0051J13_PIN7_IN)) { + PX4_INFO("PASS: JJ13_P3-J13_P7"); + + } else { + PX4_ERR("FAIL: J13_P3-J13_7P7 ----------------------------------------"); + } + + if (test_pair(M0051J13_PIN4, M0051J13_PIN8_IN)) { + PX4_INFO("PASS: J13_P4-J13_P8"); + + } else { + PX4_ERR("FAIL: J13_P4-J13_P8 ----------------------------------------"); + } + + if (test_pair(M0051J13_PIN5, M0051J13_PIN9_IN)) { + PX4_INFO("PASS: J13_P5-J13_P9"); + + } else { + PX4_ERR("FAIL: J13_P5-J13_P9 ----------------------------------------"); + } + } + + if (hw_type == eM0018) { + PX4_INFO(">> Testing J10"); + stm32_configgpio(J10_PIN2); // 2 [out] 4 [in] + stm32_configgpio(J10_PIN3); // 3 [out] 5 [in] + stm32_configgpio(J10_PIN4_IN); // 4 [in] 2 [out] + stm32_configgpio(J10_PIN5_IN); // 5 [in] 3 [out] + + if (test_pair(J10_PIN2, J10_PIN4_IN)) { + PX4_INFO("PASS: J10P2-J10P4"); + + } else { + PX4_ERR("FAIL: J10P2-J10P4 --------------------------------------"); + } + + if (test_pair(J10_PIN3, J10_PIN5_IN)) { + PX4_INFO("PASS: J10P3-J10P5"); + + } else { + PX4_ERR("FAIL: J10P3-J10P5 --------------------------------------"); + } + + } else if (hw_type == eM0019) { + PX4_INFO(">> Testing J1012"); + stm32_configgpio(J1012_PIN2); // 2 [out] 4 [in] + stm32_configgpio(J1012_PIN3); // 3 [out] 5 [in] + stm32_configgpio(J1012_PIN4_IN); // 4 [in] 2 [out] + stm32_configgpio(J1012_PIN5_IN); // 5 [in] 3 [out] + + if (test_pair(J1012_PIN2, J1012_PIN4_IN)) { + PX4_INFO("PASS: J1012P2-J1120P4"); + + } else { + PX4_ERR("FAIL: J1012P2-J1012P4 --------------------------------------"); + } + + if (test_pair(J1012_PIN3, J1012_PIN5_IN)) { + PX4_INFO("PASS: J1012P3-J1012P5"); + + } else { + PX4_ERR("FAIL: J1012P3-J1012P5 --------------------------------------"); + } + + } else if (hw_type == eM0051) { + PX4_INFO(">> Testing M0051 J15"); + stm32_configgpio(M0051J15_PIN2); // 2 [out] 4 [in] + stm32_configgpio(M0051J15_PIN3); // 3 [out] 5 [in] + stm32_configgpio(M0051J15_PIN4_IN); // 4 [in] 2 [out] + stm32_configgpio(M0051J15_PIN5_IN); // 5 [in] 3 [out] + + if (test_pair(M0051J15_PIN2, M0051J15_PIN4_IN)) { + PX4_INFO("PASS: J15_P2-J15_P4"); + + } else { + PX4_ERR("FAIL: J15_P2-JJ15_P4 --------------------------------------"); + } + + if (test_pair(M0051J15_PIN3, M0051J15_PIN5_IN)) { + PX4_INFO("PASS: J15_P3-J15_P5"); + + } else { + PX4_ERR("FAIL: J15_P3-J15_P5 --------------------------------------"); + } + + } + + if (hw_type == eM0018) { + PX4_INFO(">> Testing J9/J12/J13"); + stm32_configgpio(J9_PIN2_IN); // J9-2 [in] J13-5 [out] + + stm32_configgpio(J12_PIN2_IN); // J12-2 [in] J13-3 [out] + stm32_configgpio(J12_PIN3_IN); // J12-3 [in] J13-4 [out] + + stm32_configgpio(J13_PIN3); // J13-3 [out] J12-2 [in] + stm32_configgpio(J13_PIN4); // J13-4 [out] J12-3 [in] + stm32_configgpio(J13_PIN5); // J13-5 [out] J9-2 [in] + + if (test_pair(J13_PIN3, J12_PIN2_IN)) { + PX4_INFO("PASS: J13P3-J12P2"); + + } else { + PX4_ERR("FAIL: J13P3-J12P2 --------------------------------------"); + } + + if (test_pair(J13_PIN4, J12_PIN3_IN)) { + PX4_INFO("PASS: J13P4-J12P3"); + + } else { + PX4_ERR("FAIL: J13P4-J12P3 --------------------------------------"); + } + + if (test_pair(J13_PIN5, J9_PIN2_IN)) { + PX4_INFO("PASS: J13P5-J9P2"); + + } else { + PX4_ERR("FAIL: J13P5-J9P2 --------------------------------------"); + } + + } else if (hw_type == eM0019) { + PX4_INFO(">> Testing J1003/J1004/J1011"); + stm32_configgpio(J1003_PIN2_IN); // J1003-2 [in] J13-5 [out] + + stm32_configgpio(J1004_PIN2_IN); // J1004-2 [in] J13-3 [out] + stm32_configgpio(J1004_PIN3_IN); // J1004-3 [in] J13-4 [out] + + stm32_configgpio(J1011_PIN3); // J1011-3 [out] J12-2 [in] + stm32_configgpio(J1011_PIN4); // J1011-4 [out] J12-3 [in] + stm32_configgpio(J1011_PIN5); // J1011-5 [out] J9-2 [in] + + if (test_pair(J1011_PIN3, J1004_PIN2_IN)) { + PX4_INFO("PASS: J1011P3-J1004P2"); + + } else { + PX4_ERR("FAIL: J1011P3-J1004P2 --------------------------------------"); + } + + if (test_pair(J1011_PIN4, J1004_PIN3_IN)) { + PX4_INFO("PASS: J1011P4-J1004P3"); + + } else { + PX4_ERR("FAIL: J1011P4-J1004P3 --------------------------------------"); + } + + if (test_pair(J1011_PIN5, J1003_PIN2_IN)) { + PX4_INFO("PASS: J1011P5-J1011P5"); + + } else { + PX4_ERR("FAIL: J1011P5-J1011P5 --------------------------------------"); + } + + } else if (hw_type == eM0051) { + PX4_INFO(">> Testing M0051 J14"); + stm32_configgpio(M0051J14_PIN2); // J14-2 [out] J14-3 [in] + stm32_configgpio(M0051J14_PIN3_IN); // J14-3 [in] J14-2 [out] + + if (test_pair(M0051J14_PIN2, M0051J14_PIN3_IN)) { + PX4_INFO("PASS: J14_P2-J14_P3"); + + } else { + PX4_ERR("FAIL: J14_P2-J14_P3 --------------------------------------"); + } + + } + + return 0; +} + +int modalai_hw_detect_v1(eHW_TYPE hw_type) +{ + int result = 0; + + if (hw_type == eM0018) { + PX4_INFO("V106 - Flight Core"); + + } else if (hw_type == eM0019) { + PX4_INFO("V110 - VOXL-Flight"); + + } else if (hw_type == eM0051) { + PX4_INFO("V120 - M0051"); + + } else { + PX4_ERR("Unknown hardware"); + result = -1; + } + + return result; +} + +#endif //CONFIG_ARCH_CHIP_STM32H743ZI diff --git a/boards/modalai/src/systemcmds/modalai/modalai_fc-v1.h b/boards/modalai/src/systemcmds/modalai/modalai_fc-v1.h new file mode 100644 index 000000000000..b77315d42611 --- /dev/null +++ b/boards/modalai/src/systemcmds/modalai/modalai_fc-v1.h @@ -0,0 +1,218 @@ +#ifndef MODALAI_FC_V1_H_ +#define MODALAI_FC_V1_H_ + +typedef enum { + eHwUnknown = -1, + eHwNone = 0, + eM0018, // Flight Core + eM0019, // VOXL Flight + eM0051 +} eHW_TYPE; + +#define _MK_GPIO_INPUT(def) (((def) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_INPUT|GPIO_PULLUP)) +#define _MK_GPIO_OUTPUT(def) (((def) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR)) + + +// +// Flight Core - J1 - Primary MSS Communications Interface +// VOXL Flight - NA +// +#define J1_PIN2_IN _MK_GPIO_INPUT(GPIO_UART5_RX) +#define J1_PIN3 _MK_GPIO_OUTPUT(GPIO_UART5_TX) +#define J1_PIN4 _MK_GPIO_OUTPUT(GPIO_UART5_RTS) +#define J1_PIN6_IN _MK_GPIO_INPUT(GPIO_UART5_CTS) + +// +// STM JTAG Programming Header +// Flight Core - J2 +// VOXL Flight - J1001 +// + +// +// USB 2.0 Full-Speed Downstream Device Port +// Flight Core - J +// VOXL Flight - J1006 +// + +// +// Spare MSS Comms +// Flight Core - J4 +// VOXL Flight - J1002 +// +#define J4_PIN2 _MK_GPIO_OUTPUT(GPIO_USART2_RX) +#define J1002_PIN2 J4_PIN2 +#define J4_PIN3 _MK_GPIO_OUTPUT(GPIO_USART2_TX) +#define J1002_PIN3 J4_PIN3 +#define J4_PIN4 _MK_GPIO_OUTPUT(GPIO_USART2_RTS) +#define J1002_PIN4 J4_PIN4 +#define J4_PIN4_IN _MK_GPIO_INPUT(GPIO_USART2_RTS) +#define J1002_PIN4_IN J4_PIN4_IN +#define J4_PIN6 _MK_GPIO_OUTPUT(GPIO_USART2_CTS) +#define J4_PIN6_IN _MK_GPIO_INPUT(GPIO_USART2_CTS) +#define J1002_PIN6_IN J4_PIN6_IN +#define J4_PIN7 _MK_GPIO_OUTPUT(GPIO_VOXL_STATUS_OUT) +#define J4_PIN7_IN _MK_GPIO_INPUT(GPIO_VOXL_STATUS_OUT) +#define J4_PIN8 _MK_GPIO_OUTPUT(GPIO_VOXL_STATUS_IN) +#define J4_PIN8_IN _MK_GPIO_INPUT(GPIO_VOXL_STATUS_IN) + +// +// TELEMETRY CONNECTOR +// Flight Core - J5 +// VOXL Flight - J1010 +// +#define J5_PIN2 _MK_GPIO_OUTPUT(GPIO_UART7_TX) +#define J1010_PIN2 J5_PIN2 +#define J5_PIN3 _MK_GPIO_OUTPUT(GPIO_UART7_RX) +#define J1010_PIN3 J5_PIN3 +#define J5_PIN4 _MK_GPIO_OUTPUT(GPIO_UART7_CTS) +#define J1010_PIN4 J5_PIN4 +#define J5_PIN4_IN _MK_GPIO_INPUT(GPIO_UART7_CTS) +#define J1010_PIN4_IN J5_PIN4_IN +#define J5_PIN5 _MK_GPIO_OUTPUT(GPIO_UART7_RTS) +#define J1010_PIN5 J5_PIN5 +#define J5_PIN5_IN _MK_GPIO_INPUT(GPIO_UART7_RTS) +#define J1010_PIN5_IN J5_PIN5_IN + +// +// EXPANSION CONNECTOR +// Flight Core - J6 +// VOXL Flight - J1009 +// +#define J6_PIN2 _MK_GPIO_OUTPUT(GPIO_UART4_TX_5) +#define J1009_PIN2 J6_PIN2 +#define J6_PIN3 _MK_GPIO_OUTPUT(GPIO_UART4_RX_5) +#define J1009_PIN3 J6_PIN3 +#define J6_PIN4 _MK_GPIO_OUTPUT(GPIO_I2C3_SCL_2) +#define J1009_PIN4 J6_PIN4 +#define J6_PIN4_IN _MK_GPIO_INPUT(GPIO_I2C3_SCL_2) +#define J1009_PIN4_IN J6_PIN4_IN +#define J6_PIN5 _MK_GPIO_OUTPUT(GPIO_I2C3_SDA_2) +#define J1009_PIN5 J6_PIN5 +#define J6_PIN5_IN _MK_GPIO_INPUT(GPIO_I2C3_SDA_2) +#define J1009_PIN5_IN J6_PIN5_IN + +// +// Flight Core - J7 - PWM Output Connector +// VOXL Flight - J1007 +// M0051 - J13 +// +#define J7_PIN2 _MK_GPIO_OUTPUT(GPIO_TIM1_CH4OUT_2) +#define J1007_PIN2 J7_PIN2 +#define M0051J13_PIN2 J7_PIN2 +#define J7_PIN3 _MK_GPIO_OUTPUT(GPIO_TIM1_CH3OUT_1) +#define J1007_PIN3 J7_PIN3 +#define M0051J13_PIN3 J7_PIN3 +#define J7_PIN4 _MK_GPIO_OUTPUT(GPIO_TIM1_CH2OUT_2) +#define J1007_PIN4 J7_PIN4 +#define M0051J13_PIN4 J7_PIN4 +#define J7_PIN5 _MK_GPIO_OUTPUT(GPIO_TIM1_CH1OUT_1) +#define J1007_PIN5 J7_PIN5 +#define M0051J13_PIN5 J7_PIN5 +#define J7_PIN6 _MK_GPIO_OUTPUT(GPIO_TIM4_CH2OUT_2) +#define J1007_PIN6 J7_PIN6 +#define M0051J13_PIN6 J7_PIN6 +#define J7_PIN6_IN _MK_GPIO_INPUT(GPIO_TIM4_CH2OUT_2) +#define J1007_PIN6_IN J7_PIN6_IN +#define M0051J13_PIN6_IN J7_PIN6_IN +#define J7_PIN7 _MK_GPIO_OUTPUT(GPIO_TIM4_CH3OUT_2) +#define J1007_PIN7 J7_PIN7 +#define M0051J13_PIN7 J7_PIN7 +#define J7_PIN7_IN _MK_GPIO_INPUT(GPIO_TIM4_CH3OUT_2) +#define J1007_PIN7_IN J7_PIN7_IN +#define M0051J13_PIN7_IN J7_PIN7_IN +#define J7_PIN8 _MK_GPIO_OUTPUT(GPIO_TIM4_CH1OUT_2) +#define J1007_PIN8 J7_PIN8 +#define M0051J13_PIN8 J7_PIN8 +#define J7_PIN8_IN _MK_GPIO_INPUT(GPIO_TIM4_CH1OUT_2) +#define J1007_PIN8_IN J7_PIN8_IN +#define M0051J13_PIN8_IN J7_PIN8_IN +#define J7_PIN9 _MK_GPIO_OUTPUT(GPIO_TIM4_CH4OUT_2) +#define J1007_PIN9 J7_PIN9 +#define M0051J13_PIN9 J7_PIN9 +#define J7_PIN9_IN _MK_GPIO_INPUT(GPIO_TIM4_CH4OUT_2) +#define J1007_PIN9_IN J7_PIN9_IN +#define M0051J13_PIN9_IN J7_PIN9_IN + +// +// CAN 1 Peripheral Connector +// Flight Core - J8 +// VOXL Flight - J1008 +// +//#define J8_PIN2 _MK_GPIO_OUTPUT() +//#define J8_PIN3 _MK_GPIO_OUTPUT() + +// PPM (RC) IN +// Flight Core - J9 +// VOXL Flight - J1003 +// +#define J9_PIN2_IN _MK_GPIO_INPUT(GPIO_TIM8_CH1IN_2) +#define J1003_PIN2_IN J9_PIN2_IN + +// +// GPS CONNECTOR +// Flight Core - J10 +// VOXL Flight - J1012 +// M0051 - J15 +// +#define J10_PIN2 _MK_GPIO_OUTPUT(GPIO_USART1_TX_3) +#define J1012_PIN2 J10_PIN2 +#define M0051J15_PIN2 J10_PIN2 +#define J10_PIN3 _MK_GPIO_OUTPUT(GPIO_USART1_RX_3) +#define J1012_PIN3 J10_PIN3 +#define M0051J15_PIN3 J10_PIN3 +#define J10_PIN4 _MK_GPIO_OUTPUT(GPIO_I2C1_SCL_2) +#define J1012_PIN4 J10_PIN4 +#define M0051J15_PIN4 J10_PIN4 +#define J10_PIN4_IN _MK_GPIO_INPUT(GPIO_I2C1_SCL_2) +#define J1012_PIN4_IN J10_PIN4_IN +#define M0051J15_PIN4_IN J10_PIN4_IN +#define J10_PIN5 _MK_GPIO_OUTPUT(GPIO_I2C1_SDA_1) +#define J1012_PIN5 J10_PIN5 +#define M0051J15_PIN5 J10_PIN5 +#define J10_PIN5_IN _MK_GPIO_INPUT(GPIO_I2C1_SDA_1) +#define J1012_PIN5_IN J10_PIN5_IN +#define M0051J15_PIN5_IN J10_PIN5_IN + +// +// Spektrum RC Input Connector +// Flight Core - J12 +// VOXL Flight - J1004 +// M0051 - J14 +// +#define J12_PIN1 GPIO_VDD_3V3_SPEKTRUM_POWER_EN +#define J1004_PIN1 J12_PIN1 +#define M0051J14_PIN1 J12_PIN1 +#define J12_PIN2 _MK_GPIO_OUTPUT(GPIO_USART6_TX_1) +#define J1004_PIN2 J12_PIN2 +#define M0051J14_PIN2 J12_PIN2 +#define J12_PIN2_IN _MK_GPIO_INPUT(GPIO_USART6_TX_1) +#define J1004_PIN2_IN J12_PIN2_IN +#define M0051J14_PIN2_IN J12_PIN2_IN +#define J12_PIN3 _MK_GPIO_OUTPUT(GPIO_USART6_RX_1) +#define J1004_PIN3 J12_PIN3 +#define M0051J14_PIN3 J12_PIN3 +#define J12_PIN3_IN _MK_GPIO_INPUT(GPIO_USART6_RX_1) +#define J1004_PIN3_IN J12_PIN3_IN +#define M0051J14_PIN3_IN J12_PIN3_IN + +// +// I2C Display / Spare Sensor Connector +// Flight Core - J13 +// VOXL Flight - J1011 +// +#define J13_PIN3 _MK_GPIO_OUTPUT(GPIO_I2C2_SDA_2) +#define J1011_PIN3 J13_PIN3 +#define J13_PIN4 _MK_GPIO_OUTPUT(GPIO_I2C2_SCL_2) +#define J1011_PIN4 J13_PIN4 +#define J13_PIN5 _MK_GPIO_OUTPUT(GPIO_PF3_EVENTOUT) +#define J1011_PIN5 J13_PIN5 + + +void modalai_print_usage_v1(void); +void modalai_print_usage_con_gpio_test_v1(void); +int modalai_con_gpio_test_v1(uint8_t con, uint8_t pin, bool state); +int modalai_led_test_v1(void); +int modalai_buzz_test_v1(eHW_TYPE type); +int modalai_hw_detect_v1(eHW_TYPE type); + +#endif //MODALAI_FC_V1_H_ diff --git a/boards/modalai/src/systemcmds/modalai/modalai_fc-v2.c b/boards/modalai/src/systemcmds/modalai/modalai_fc-v2.c new file mode 100644 index 000000000000..5f314492f016 --- /dev/null +++ b/boards/modalai/src/systemcmds/modalai/modalai_fc-v2.c @@ -0,0 +1,437 @@ +#include + + +#include "chip.h" +#include "stm32_gpio.h" +#include "board_config.h" + +#include +#include + +// v2 +#ifdef CONFIG_ARCH_CHIP_STM32H753II // chip on M0087 + + +#include "modalai_fc-v2.h" + +void modalai_print_usage_v2(void) +{ + PRINT_MODULE_DESCRIPTION("ModalAI Test utility\n"); + + PRINT_MODULE_USAGE_NAME_SIMPLE("modalai", "command"); + + PRINT_MODULE_USAGE_COMMAND_DESCR("led", "LED Test"); + PRINT_MODULE_USAGE_COMMAND_DESCR("con", "Connector Output Test (as GPIO)"); + PRINT_MODULE_USAGE_COMMAND_DESCR("buzz", "Automated buzz out test"); + PRINT_MODULE_USAGE_COMMAND_DESCR("detect", "Detect board type"); + return; +} +void modalai_print_usage_con_gpio_test_v2(void) +{ + return; +} +int modalai_con_gpio_test_v2(uint8_t con, uint8_t pin, bool state) +{ + return 0; +} +int modalai_led_test_v2(void) +{ + PX4_INFO("Running led test"); + + stm32_configgpio(GPIO_nLED_RED); + stm32_configgpio(GPIO_nLED_GREEN); + stm32_configgpio(GPIO_nLED_BLUE); + + int i = 0; + + for (i = 0; i < 3; i++) { + usleep(1000 * 100); + stm32_gpiowrite(GPIO_nLED_RED, false); + + usleep(1000 * 100); + stm32_gpiowrite(GPIO_nLED_RED, true); + + usleep(1000 * 100); + stm32_gpiowrite(GPIO_nLED_GREEN, false); + usleep(1000 * 100); + stm32_gpiowrite(GPIO_nLED_GREEN, true); + + usleep(1000 * 100); + stm32_gpiowrite(GPIO_nLED_BLUE, false); + usleep(1000 * 100); + stm32_gpiowrite(GPIO_nLED_BLUE, true); + } + + return 0; +} + +bool test_pair(uint32_t output_pin, uint32_t input_pin) +{ + + bool state = false; + + stm32_gpiowrite(output_pin, true); + usleep(1000 * 10); + state = stm32_gpioread(input_pin); + + if (state != true) { + return false; + } + + usleep(1000 * 10); + + stm32_gpiowrite(output_pin, false); + usleep(1000 * 10); + state = stm32_gpioread(input_pin); + + if (state != false) { + return false; + } + + return true; +} + +int modalai_buzz_test_v2(eHW_TYPE hw_type) +{ + PX4_INFO("test: buzz"); + usleep(1000 * 100 * 10); + + if (hw_type == eM0079) { + PX4_INFO("Using M0079 config"); + + } else if (hw_type == eM0087) { + PX4_INFO("Using M0087 config"); + + } else { + return -1; + + } + + if (hw_type == eM0079) { + // + // + // + PX4_INFO(">> Testing J1"); + stm32_configgpio(M0079_J1_PIN_2_OUT); // 2-3 + stm32_configgpio(M0079_J1_PIN_3_IN); // 3-2 + stm32_configgpio(M0079_J1_PIN_4_OUT); // 4-5 + stm32_configgpio(M0079_J1_PIN_5_IN); // 5-4 + + if (test_pair(M0079_J1_PIN_2_OUT, M0079_J1_PIN_3_IN)) { + PX4_INFO("PASS: M0079_J1_PIN_2_OUT M0079_J1_PIN_3_IN"); + + } else { + PX4_ERR("FAIL: M0079_J1_PIN_2_OUT M0079_J1_PIN_3_IN"); + } + + if (test_pair(M0079_J1_PIN_4_OUT, M0079_J1_PIN_5_IN)) { + PX4_INFO("PASS: M0079_J1_PIN_4_OUT M0079_J1_PIN_5_IN"); + + } else { + PX4_ERR("FAIL: M0079_J1_PIN_4_OUT M0079_J1_PIN_5_IN"); + } + + // + // + // + PX4_INFO(">> Testing J5"); + stm32_configgpio(M0079_J5_PIN_2_OUT); // 2-4 + stm32_configgpio(M0079_J5_PIN_3_OUT); // 3-5 + stm32_configgpio(M0079_J5_PIN_4_IN); // 4-2 + stm32_configgpio(M0079_J5_PIN_5_IN); // 5-3 + + if (test_pair(M0079_J5_PIN_2_OUT, M0079_J5_PIN_4_IN)) { + PX4_INFO("PASS: M0079_J5_PIN_2_OUT M0079_J5_PIN_4_IN"); + + } else { + PX4_ERR("FAIL: M0079_J5_PIN_2_OUT M0079_J5_PIN_4_IN"); + } + + if (test_pair(M0079_J5_PIN_3_OUT, M0079_J5_PIN_5_IN)) { + PX4_INFO("PASS: M0079_J5_PIN_3_OUT M0079_J5_PIN_5_IN"); + + } else { + PX4_ERR("FAIL: M0079_J5_PIN_3_OUT M0079_J5_PIN_5_IN"); + } + + // + // + // + PX4_INFO(">> Testing J7"); + stm32_configgpio(M0079_J7_PIN_2_OUT); // 2-6 + stm32_configgpio(M0079_J7_PIN_3_OUT); // 3-7 + stm32_configgpio(M0079_J7_PIN_4_OUT); // 4-8 + stm32_configgpio(M0079_J7_PIN_5_OUT); // 5-9 + stm32_configgpio(M0079_J7_PIN_6_IN); // 6-2 + stm32_configgpio(M0079_J7_PIN_7_IN); // 7-3 + stm32_configgpio(M0079_J7_PIN_8_IN); // 8-4 + stm32_configgpio(M0079_J7_PIN_9_IN); // 9-5 + + if (test_pair(M0079_J7_PIN_2_OUT, M0079_J7_PIN_6_IN)) { + PX4_INFO("PASS: M0079_J7_PIN_2_OUT M0079_J7_PIN_6_IN"); + + } else { + PX4_ERR("FAIL: M0079_J7_PIN_2_OUT M0079_J7_PIN_6_IN"); + } + + if (test_pair(M0079_J7_PIN_3_OUT, M0079_J7_PIN_7_IN)) { + PX4_INFO("PASS: M0079_J7_PIN_3_OUT M0079_J7_PIN_7_IN"); + + } else { + PX4_ERR("FAIL: M0079_J7_PIN_3_OUT M0079_J7_PIN_7_IN"); + } + + if (test_pair(M0079_J7_PIN_4_OUT, M0079_J7_PIN_8_IN)) { + PX4_INFO("PASS: M0079_J7_PIN_4_OUT M0079_J7_PIN_8_IN"); + + } else { + PX4_ERR("FAIL: M0079_J7_PIN_4_OUT M0079_J7_PIN_8_IN"); + } + + if (test_pair(M0079_J7_PIN_5_OUT, M0079_J7_PIN_9_IN)) { + PX4_INFO("PASS: M0079_J7_PIN_5_OUT M0079_J7_PIN_9_IN"); + + } else { + PX4_ERR("FAIL: M0079_J7_PIN_5_OUT M0079_J7_PIN_9_IN"); + } + + // + // + // + PX4_INFO(">> Testing J10"); + stm32_configgpio(M0079_J10_PIN_2_OUT); // 2-4 + stm32_configgpio(M0079_J10_PIN_3_OUT); // 3-5 + stm32_configgpio(M0079_J10_PIN_4_IN); // 4-2 + stm32_configgpio(M0079_J10_PIN_5_IN); // 5-3 + + if (test_pair(M0079_J10_PIN_2_OUT, M0079_J10_PIN_4_IN)) { + PX4_INFO("PASS: M0079_J10_PIN_2_OUT M0079_J10_PIN_4_IN"); + + } else { + PX4_ERR("FAIL: M0079_J10_PIN_2_OUT M0079_J10_PIN_4_IN"); + } + + if (test_pair(M0079_J10_PIN_3_OUT, M0079_J10_PIN_5_IN)) { + PX4_INFO("PASS: M0079_J10_PIN_3_OUT M0079_J10_PIN_5_IN"); + + } else { + PX4_ERR("FAIL: M0079_J10_PIN_3_OUT M0079_J10_PIN_5_IN"); + } + + + // + // + // + PX4_INFO(">> Testing J13"); + stm32_configgpio(M0079_J12_PIN_2_OUT); // 2-3 + stm32_configgpio(M0079_J12_PIN_3_IN); // 3-2 + + if (test_pair(M0079_J12_PIN_2_OUT, M0079_J12_PIN_3_IN)) { + PX4_INFO("PASS: M0079_J12_PIN_2 M0079_J12_PIN_3"); + + } else { + PX4_ERR("FAIL: M0079_J12_PIN_2 M0079_J12_PIN_3"); + } + + + } else if (hw_type == eM0087) { + // + // + // + PX4_INFO(">> Testing J1"); + stm32_configgpio(M0087_J1_PIN_2_IN); // 2-4 + stm32_configgpio(M0087_J1_PIN_3_OUT); // 3-5 + stm32_configgpio(M0087_J1_PIN_4_OUT); // 4-2 + stm32_configgpio(M0087_J1_PIN_5_IN); // 5-3 + + if (test_pair(M0087_J1_PIN_4_OUT, M0087_J1_PIN_2_IN)) { + PX4_INFO("PASS: M0087_J1_PIN_4_OUT M0087_J1_PIN_2_IN"); + + } else { + PX4_ERR("FAIL: M0087_J1_PIN_4_OUT M0087_J1_PIN_2_IN"); + } + + if (test_pair(M0087_J1_PIN_3_OUT, M0087_J1_PIN_5_IN)) { + PX4_INFO("PASS: M0087_J1_PIN_3_OUT M0087_J1_PIN_5_IN"); + + } else { + PX4_ERR("FAIL: M0087_J1_PIN_3_OUT M0087_J1_PIN_5_IN"); + } + + // + // + // + PX4_INFO(">> Testing J5"); + stm32_configgpio(M0087_J5_PIN_2_OUT); // 2-4 + stm32_configgpio(M0087_J5_PIN_3_OUT); // 3-5 + stm32_configgpio(M0087_J5_PIN_4_IN); // 4-2 + stm32_configgpio(M0087_J5_PIN_5_IN); // 5-3 + + if (test_pair(M0087_J5_PIN_2_OUT, M0087_J5_PIN_4_IN)) { + PX4_INFO("PASS: M0087_J5_PIN_2_OUT M0087_J5_PIN_4_IN"); + + } else { + PX4_ERR("FAIL: M0087_J5_PIN_2_OUT M0087_J5_PIN_4_IN"); + } + + if (test_pair(M0087_J5_PIN_3_OUT, M0087_J5_PIN_5_IN)) { + PX4_INFO("PASS: M0087_J5_PIN_3_OUT M0087_J5_PIN_5_IN"); + + } else { + PX4_ERR("FAIL: M0087_J5_PIN_3_OUT M0087_J5_PIN_5_IN"); + } + + // + // + // + PX4_INFO(">> Testing J7"); + stm32_configgpio(M0087_J7_PIN_2_OUT); // 2-6 + stm32_configgpio(M0087_J7_PIN_3_OUT); // 3-7 + stm32_configgpio(M0087_J7_PIN_4_OUT); // 4-8 + stm32_configgpio(M0087_J7_PIN_5_OUT); // 5-9 + stm32_configgpio(M0087_J7_PIN_6_IN); // 6-2 + stm32_configgpio(M0087_J7_PIN_7_IN); // 7-3 + stm32_configgpio(M0087_J7_PIN_8_IN); // 8-4 + stm32_configgpio(M0087_J7_PIN_9_IN); // 9-5 + + if (test_pair(M0087_J7_PIN_2_OUT, M0087_J7_PIN_6_IN)) { + PX4_INFO("PASS: M0087_J7_PIN_2_OUT M0087_J7_PIN_6_IN"); + + } else { + PX4_ERR("FAIL: M0087_J7_PIN_2_OUT M0087_J7_PIN_6_IN"); + } + + if (test_pair(M0087_J7_PIN_3_OUT, M0087_J7_PIN_7_IN)) { + PX4_INFO("PASS: M0087_J7_PIN_3_OUT M0087_J7_PIN_7_IN"); + + } else { + PX4_ERR("FAIL: M0087_J7_PIN_3_OUT M0087_J7_PIN_7_IN"); + } + + if (test_pair(M0087_J7_PIN_4_OUT, M0087_J7_PIN_8_IN)) { + PX4_INFO("PASS: M0087_J7_PIN_4_OUT M0087_J7_PIN_8_IN"); + + } else { + PX4_ERR("FAIL: M0087_J7_PIN_4_OUT M0087_J7_PIN_8_IN"); + } + + if (test_pair(M0087_J7_PIN_5_OUT, M0087_J7_PIN_9_IN)) { + PX4_INFO("PASS: M0087_J7_PIN_5_OUT M0087_J7_PIN_9_IN"); + + } else { + PX4_ERR("FAIL: M0087_J7_PIN_5_OUT M0087_J7_PIN_9_IN"); + } + + // + // + // + PX4_INFO(">> Testing J10"); + stm32_configgpio(M0087_J10_PIN_2_OUT); // 2-4 + stm32_configgpio(M0087_J10_PIN_3_OUT); // 3-5 + stm32_configgpio(M0087_J10_PIN_4_IN); // 4-2 + stm32_configgpio(M0087_J10_PIN_5_IN); // 5-3 + + if (test_pair(M0087_J10_PIN_2_OUT, M0087_J10_PIN_4_IN)) { + PX4_INFO("PASS: M0087_J10_PIN_2_OUT M0087_J10_PIN_4_IN"); + + } else { + PX4_ERR("FAIL: M0087_J10_PIN_2_OUT M0087_J10_PIN_4_IN"); + } + + if (test_pair(M0087_J10_PIN_3_OUT, M0087_J10_PIN_5_IN)) { + PX4_INFO("PASS: M0087_J10_PIN_3_OUT M0087_J10_PIN_5_IN"); + + } else { + PX4_ERR("FAIL: M0087_J10_PIN_3_OUT M0087_J10_PIN_5_IN"); + } + + + // + // + // + PX4_INFO(">> Testing J12"); + stm32_configgpio(M0087_J12_PIN_2_OUT); // 2-3 + stm32_configgpio(M0087_J12_PIN_3_IN); // 3-2 + + if (test_pair(M0087_J12_PIN_2_OUT, M0087_J12_PIN_3_IN)) { + PX4_INFO("PASS: M0087_J12_PIN_2_OUT M0087_J12_PIN_3_IN"); + + } else { + PX4_ERR("FAIL: M0087_J12_PIN_2_OUT M0087_J12_PIN_3_IN"); + } + + // + // + // + PX4_INFO(">> Testing J14"); + stm32_configgpio(M0087_J14_PIN_2_OUT); + stm32_configgpio(M0087_J14_PIN_3_OUT); + stm32_configgpio(M0087_J14_PIN_4_OUT); + stm32_configgpio(M0087_J14_PIN_5_OUT); + stm32_configgpio(M0087_J14_PIN_6_OUT); + stm32_configgpio(M0087_J14_PIN_7_IN); + stm32_configgpio(M0087_J14_PIN_8_IN); + stm32_configgpio(M0087_J14_PIN_9_IN); + stm32_configgpio(M0087_J14_PIN_10_IN); + stm32_configgpio(M0087_J14_PIN_11_IN); + + if (test_pair(M0087_J14_PIN_2_OUT, M0087_J14_PIN_7_IN)) { + PX4_INFO("PASS: M0087_J14_PIN_2_OUT M0087_J14_PIN_7_IN"); + + } else { + PX4_ERR("FAIL: M0087_J14_PIN_2_OUT M0087_J14_PIN_7_IN"); + } + + if (test_pair(M0087_J14_PIN_3_OUT, M0087_J14_PIN_8_IN)) { + PX4_INFO("PASS: M0087_J14_PIN_3_OUT M0087_J14_PIN_8_IN"); + + } else { + PX4_ERR("FAIL: M0087_J14_PIN_3_OUT M0087_J14_PIN_8_IN"); + } + + if (test_pair(M0087_J14_PIN_4_OUT, M0087_J14_PIN_9_IN)) { + PX4_INFO("PASS: M0087_J14_PIN_4_OUT M0087_J14_PIN_9_IN"); + + } else { + PX4_ERR("FAIL: M0087_J14_PIN_4_OUT M0087_J14_PIN_9_IN"); + } + + if (test_pair(M0087_J14_PIN_5_OUT, M0087_J14_PIN_10_IN)) { + PX4_INFO("PASS: M0087_J14_PIN_5_OUT M0087_J14_PIN_10_IN"); + + } else { + PX4_ERR("FAIL: M0087_J14_PIN_5_OUT M0087_J14_PIN_10_IN"); + } + + if (test_pair(M0087_J14_PIN_6_OUT, M0087_J14_PIN_11_IN)) { + PX4_INFO("PASS: M0087_J14_PIN_6_OUT M0087_J14_PIN_11_IN"); + + } else { + PX4_ERR("FAIL: M0087_J14_PIN_6_OUT M0087_J14_PIN_11_IN"); + } + + } + + return 0; +} + +int modalai_hw_detect_v2(eHW_TYPE hw_type) +{ + int result = -1; + + if (hw_type == eM0079) { + PX4_INFO("V230 - M0079"); + result = 0; + + } else if (hw_type == eM0087) { + PX4_INFO("V230 - M0087"); + result = 0; + + } else { + PX4_ERR("Unknown hardware"); + } + + return result; +} + +#endif //CONFIG_ARCH_CHIP_STM32H753II diff --git a/boards/modalai/src/systemcmds/modalai/modalai_fc-v2.h b/boards/modalai/src/systemcmds/modalai/modalai_fc-v2.h new file mode 100644 index 000000000000..7bc0072588d4 --- /dev/null +++ b/boards/modalai/src/systemcmds/modalai/modalai_fc-v2.h @@ -0,0 +1,183 @@ +#ifndef MODALAI_FC_V2_H_ +#define MODALAI_FC_V2_H_ + +typedef enum { + eHwUnknown = -1, + eHwNone = 0, + eM0079, //FCv2 + eM0087 //FCv2 Pro +} eHW_TYPE; + +#define _MK_GPIO_INPUT(def) (((def) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_INPUT|GPIO_PULLUP)) +#define _MK_GPIO_OUTPUT(def) (((def) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR)) + +/* M0079 Pins */ + +// +// TELEM1 +// M0079- J1 +// PF6 PIN2 - out +// PE8 PIN3 - in +// PF8 PIN4 - out +// PE10 PIN4 - in +// +#define M0079_J1_PIN_2_OUT _MK_GPIO_OUTPUT(GPIO_PORTF|GPIO_PIN6) +#define M0079_J1_PIN_3_IN _MK_GPIO_INPUT(GPIO_PORTE|GPIO_PIN8) +#define M0079_J1_PIN_4_OUT _MK_GPIO_OUTPUT(GPIO_PORTF|GPIO_PIN8) +#define M0079_J1_PIN_5_IN _MK_GPIO_INPUT(GPIO_PORTE|GPIO_PIN10) + +// +// TELEM2 +// M0079- J5 +// PC12 PIN2 - out +// PD2 PIN3 - out +// PC9 PIN4 - in +// PC8 PIN4 - in +// +#define M0079_J5_PIN_2_OUT _MK_GPIO_OUTPUT(GPIO_PORTC|GPIO_PIN12) +#define M0079_J5_PIN_3_OUT _MK_GPIO_OUTPUT(GPIO_PORTD|GPIO_PIN2) +#define M0079_J5_PIN_4_IN _MK_GPIO_INPUT(GPIO_PORTC|GPIO_PIN9) +#define M0079_J5_PIN_5_IN _MK_GPIO_INPUT(GPIO_PORTC|GPIO_PIN8) + +// +// PWM Output +// M0079- J7 +// PI0 PIN2 - out +// PH12 PIN3 - out +// PH11 PIN4 - out +// PH10 PIN5 - out +// +// PD13 PIN6 - in +// PD14 PIN7 - in +// PH6 PIN8 - in +// PH9 PIN9 - in +// +#define M0079_J7_PIN_2_OUT _MK_GPIO_OUTPUT(GPIO_PORTI|GPIO_PIN0) +#define M0079_J7_PIN_3_OUT _MK_GPIO_OUTPUT(GPIO_PORTH|GPIO_PIN12) +#define M0079_J7_PIN_4_OUT _MK_GPIO_OUTPUT(GPIO_PORTH|GPIO_PIN11) +#define M0079_J7_PIN_5_OUT _MK_GPIO_OUTPUT(GPIO_PORTH|GPIO_PIN10) +#define M0079_J7_PIN_6_IN _MK_GPIO_INPUT(GPIO_PORTD|GPIO_PIN13) +#define M0079_J7_PIN_7_IN _MK_GPIO_INPUT(GPIO_PORTD|GPIO_PIN14) +#define M0079_J7_PIN_8_IN _MK_GPIO_INPUT(GPIO_PORTH|GPIO_PIN6) +#define M0079_J7_PIN_9_IN _MK_GPIO_INPUT(GPIO_PORTH|GPIO_PIN9) + +// +// GPS/Mag +// M0079- J10 +// PB6 PIN2 - out +// PB7 PIN3 - out +// PB8 PIN4 - in +// PB9 PIN4 - in +// +#define M0079_J10_PIN_2_OUT _MK_GPIO_OUTPUT(GPIO_PORTB|GPIO_PIN6) +#define M0079_J10_PIN_3_OUT _MK_GPIO_OUTPUT(GPIO_PORTB|GPIO_PIN7) +#define M0079_J10_PIN_4_IN _MK_GPIO_INPUT(GPIO_PORTB|GPIO_PIN8) +#define M0079_J10_PIN_5_IN _MK_GPIO_INPUT(GPIO_PORTB|GPIO_PIN9) + +// +// Spektrum RC Input Connector +// M0079- J12 +// PC6 PIN2 - out +// PC7 PIN3 - in +// +#define M0079_J12_PIN_2_OUT _MK_GPIO_OUTPUT(GPIO_PORTC|GPIO_PIN6) +#define M0079_J12_PIN_3_IN _MK_GPIO_INPUT(GPIO_PORTC|GPIO_PIN7) + + +/* M0087 Pins */ + +// +// TELEM1 +// M0087- J1 +// PF6 PIN2 - in +// PE8 PIN3 - out +// PF8 PIN4 - out +// PE10 PIN5 - in +// +#define M0087_J1_PIN_2_IN _MK_GPIO_INPUT(GPIO_PORTF|GPIO_PIN6) +#define M0087_J1_PIN_3_OUT _MK_GPIO_OUTPUT(GPIO_PORTE|GPIO_PIN8) +#define M0087_J1_PIN_4_OUT _MK_GPIO_OUTPUT(GPIO_PORTF|GPIO_PIN8) +#define M0087_J1_PIN_5_IN _MK_GPIO_INPUT(GPIO_PORTE|GPIO_PIN10) + +// +// TELEM2 +// M0087- J5 +// PC12 PIN2 - out +// PD2 PIN3 - out +// PC9 PIN4 - in +// PC8 PIN5 - in +// +#define M0087_J5_PIN_2_OUT _MK_GPIO_OUTPUT(GPIO_PORTC|GPIO_PIN12) +#define M0087_J5_PIN_3_OUT _MK_GPIO_OUTPUT(GPIO_PORTD|GPIO_PIN2) +#define M0087_J5_PIN_4_IN _MK_GPIO_INPUT(GPIO_PORTC|GPIO_PIN9) +#define M0087_J5_PIN_5_IN _MK_GPIO_INPUT(GPIO_PORTC|GPIO_PIN8) + +// +// PWM Output +// M0087- J7 +// PI0 PIN2 - out +// PH12 PIN3 - out +// PH11 PIN4 - out +// PH10 PIN5 - out +// +// PD13 PIN6 - in +// PD14 PIN7 - in +// PH6 PIN8 - in +// PH9 PIN9 - in +// +#define M0087_J7_PIN_2_OUT _MK_GPIO_OUTPUT(GPIO_PORTI|GPIO_PIN0) +#define M0087_J7_PIN_3_OUT _MK_GPIO_OUTPUT(GPIO_PORTH|GPIO_PIN12) +#define M0087_J7_PIN_4_OUT _MK_GPIO_OUTPUT(GPIO_PORTH|GPIO_PIN11) +#define M0087_J7_PIN_5_OUT _MK_GPIO_OUTPUT(GPIO_PORTH|GPIO_PIN10) +#define M0087_J7_PIN_6_IN _MK_GPIO_INPUT(GPIO_PORTD|GPIO_PIN13) +#define M0087_J7_PIN_7_IN _MK_GPIO_INPUT(GPIO_PORTD|GPIO_PIN14) +#define M0087_J7_PIN_8_IN _MK_GPIO_INPUT(GPIO_PORTH|GPIO_PIN6) +#define M0087_J7_PIN_9_IN _MK_GPIO_INPUT(GPIO_PORTH|GPIO_PIN9) + +// +// GPS/Mag +// M0087- J10 +// PB6 PIN2 - out +// PB7 PIN3 - out +// PB8 PIN4 - in +// PB9 PIN5 - in +// +#define M0087_J10_PIN_2_OUT _MK_GPIO_OUTPUT(GPIO_PORTB|GPIO_PIN6) +#define M0087_J10_PIN_3_OUT _MK_GPIO_OUTPUT(GPIO_PORTB|GPIO_PIN7) +#define M0087_J10_PIN_4_IN _MK_GPIO_INPUT(GPIO_PORTB|GPIO_PIN8) +#define M0087_J10_PIN_5_IN _MK_GPIO_INPUT(GPIO_PORTB|GPIO_PIN9) + +// +// Spektrum RC Input Connector +// M0087- J12 +// PC6 PIN2 - out +// PC7 PIN3 - in +// +#define M0087_J12_PIN_2_OUT _MK_GPIO_OUTPUT(GPIO_PORTC|GPIO_PIN6) +#define M0087_J12_PIN_3_IN _MK_GPIO_INPUT(GPIO_PORTC|GPIO_PIN7) + +// +// AVIATOR SPI/I2C/ADC EXPANSION CONNECTOR +// M0087- J14 +// PC6 PIN2 - out +// PC7 PIN3 - in +// +#define M0087_J14_PIN_2_OUT _MK_GPIO_OUTPUT(GPIO_PORTA|GPIO_PIN6) +#define M0087_J14_PIN_3_OUT _MK_GPIO_OUTPUT(GPIO_PORTG|GPIO_PIN14) +#define M0087_J14_PIN_4_OUT _MK_GPIO_OUTPUT(GPIO_PORTB|GPIO_PIN3) +#define M0087_J14_PIN_5_OUT _MK_GPIO_OUTPUT(GPIO_PORTI|GPIO_PIN10) +#define M0087_J14_PIN_6_OUT _MK_GPIO_OUTPUT(GPIO_PORTF|GPIO_PIN0) +#define M0087_J14_PIN_7_IN _MK_GPIO_INPUT(GPIO_PORTF|GPIO_PIN1) +#define M0087_J14_PIN_8_IN _MK_GPIO_INPUT(GPIO_PORTF|GPIO_PIN12) +#define M0087_J14_PIN_9_IN _MK_GPIO_INPUT(GPIO_PORTB|GPIO_PIN0) +#define M0087_J14_PIN_10_IN _MK_GPIO_INPUT(GPIO_PORTA|GPIO_PIN0) +#define M0087_J14_PIN_11_IN _MK_GPIO_INPUT(GPIO_PORTA|GPIO_PIN4) + +void modalai_print_usage_v2(void); +void modalai_print_usage_con_gpio_test_v2(void); +int modalai_con_gpio_test_v2(uint8_t con, uint8_t pin, bool state); +int modalai_led_test_v2(void); +int modalai_buzz_test_v2(eHW_TYPE type); +int modalai_hw_detect_v2(eHW_TYPE type); + +#endif //MODALAI_FC_V2_H_ diff --git a/boards/modalai/voxl2-slpi/default.px4board b/boards/modalai/voxl2-slpi/default.px4board index 8dcfe4c0d3b3..db58d4e28a55 100644 --- a/boards/modalai/voxl2-slpi/default.px4board +++ b/boards/modalai/voxl2-slpi/default.px4board @@ -1,9 +1,13 @@ CONFIG_PLATFORM_QURT=y CONFIG_BOARD_TOOLCHAIN="qurt" -CONFIG_DRIVERS_ACTUATORS_MODAL_IO=y +CONFIG_DRIVERS_ACTUATORS_VOXL_ESC=y CONFIG_DRIVERS_BAROMETER_INVENSENSE_ICP101XX=y +CONFIG_DRIVERS_DISTANCE_SENSOR_VL53L0X=y +CONFIG_DRIVERS_DISTANCE_SENSOR_VL53L1X=y CONFIG_DRIVERS_GPS=y +CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y CONFIG_DRIVERS_LIGHTS_RGBLED_NCP5623C=y +CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8308=y CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y CONFIG_DRIVERS_MAGNETOMETER_QMC5883L=y CONFIG_DRIVERS_POWER_MONITOR_VOXLPM=y @@ -12,7 +16,9 @@ CONFIG_DRIVERS_RC_CRSF_RC=y CONFIG_MODULES_COMMANDER=y CONFIG_MODULES_CONTROL_ALLOCATOR=y CONFIG_MODULES_EKF2=y +CONFIG_MODULES_FLIGHT_MODE_MANAGER=y CONFIG_MODULES_LAND_DETECTOR=y +CONFIG_MODULES_LOAD_MON=y CONFIG_MODULES_MANUAL_CONTROL=y CONFIG_MODULES_MC_ATT_CONTROL=y CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y @@ -22,5 +28,8 @@ CONFIG_MODULES_MC_RATE_CONTROL=y CONFIG_MODULES_MUORB_SLPI=y CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_SENSORS=y +CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y +CONFIG_SYSTEMCMDS_PARAM=y CONFIG_SYSTEMCMDS_UORB=y CONFIG_ORB_COMMUNICATOR=y +CONFIG_PARAM_REMOTE=y diff --git a/boards/modalai/voxl2-slpi/src/CMakeLists.txt b/boards/modalai/voxl2-slpi/src/CMakeLists.txt index 7d1867d1eca2..21a1e6090e3e 100644 --- a/boards/modalai/voxl2-slpi/src/CMakeLists.txt +++ b/boards/modalai/voxl2-slpi/src/CMakeLists.txt @@ -44,7 +44,10 @@ add_library(drivers_board ) # Add custom drivers for SLPI -add_subdirectory(${PX4_BOARD_DIR}/src/drivers/icm42688p) add_subdirectory(${PX4_BOARD_DIR}/src/drivers/rc_controller) add_subdirectory(${PX4_BOARD_DIR}/src/drivers/mavlink_rc_in) add_subdirectory(${PX4_BOARD_DIR}/src/drivers/spektrum_rc) +add_subdirectory(${PX4_BOARD_DIR}/src/drivers/ghst_rc) +add_subdirectory(${PX4_BOARD_DIR}/src/drivers/dsp_hitl) +add_subdirectory(${PX4_BOARD_DIR}/src/drivers/dsp_sbus) +add_subdirectory(${PX4_BOARD_DIR}/src/drivers/elrs_led) diff --git a/boards/modalai/voxl2-slpi/src/board_config.h b/boards/modalai/voxl2-slpi/src/board_config.h index 2aa91b4b36fe..2729397967ed 100644 --- a/boards/modalai/voxl2-slpi/src/board_config.h +++ b/boards/modalai/voxl2-slpi/src/board_config.h @@ -62,4 +62,21 @@ /* * Default port for the ESC */ -#define MODAL_IO_DEFAULT_PORT "2" +#define VOXL_ESC_DEFAULT_PORT "2" + +/* + * Default port for the GHST RC + */ +#define GHST_RC_DEFAULT_PORT "7" + +/* + * Default port for M0065 +*/ +#define VOXL2_IO_DEFAULT_PORT "2" + + +/* + * M0065 PWM + */ +#define DIRECT_PWM_OUTPUT_CHANNELS 4 +#define MAX_IO_TIMERS 3 diff --git a/boards/modalai/voxl2-slpi/src/drivers/dsp_hitl/CMakeLists.txt b/boards/modalai/voxl2-slpi/src/drivers/dsp_hitl/CMakeLists.txt new file mode 100644 index 000000000000..65026b83cf78 --- /dev/null +++ b/boards/modalai/voxl2-slpi/src/drivers/dsp_hitl/CMakeLists.txt @@ -0,0 +1,49 @@ +############################################################################ +# +# Copyright (c) 2023 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +message(STATUS "Mavlink include directory: ${PX4_SOURCE_DIR}/../build/modalai_voxl2_default/mavlink/common") + +px4_add_module( + MODULE drivers__modalai__dsp_hitl + MAIN dsp_hitl + INCLUDES + ${PX4_SOURCE_DIR}/src/drivers/dsp_hitl + ${PX4_SOURCE_DIR}/build/modalai_voxl2_default/mavlink/common + SRCS + dsp_hitl.cpp + DEPENDS + px4_work_queue + drivers_accelerometer + drivers_gyroscope + drivers_magnetometer + ) diff --git a/boards/modalai/voxl2-slpi/src/drivers/dsp_hitl/dsp_hitl.cpp b/boards/modalai/voxl2-slpi/src/drivers/dsp_hitl/dsp_hitl.cpp new file mode 100644 index 000000000000..380ebc04d004 --- /dev/null +++ b/boards/modalai/voxl2-slpi/src/drivers/dsp_hitl/dsp_hitl.cpp @@ -0,0 +1,1342 @@ +/**************************************************************************** + * + * Copyright (c) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include +#include +#include + +#include +#include +#include + +#include + +#include + +#include +#include + +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include +#include // For DeviceId union + +#include +#include + +#include + +#include + +#define ASYNC_UART_READ_WAIT_US 2000 + +extern "C" { __EXPORT int dsp_hitl_main(int argc, char *argv[]); } + +namespace dsp_hitl +{ + +using matrix::wrap_2pi; + +static bool _is_running = false; +volatile bool _task_should_exit = false; +static px4_task_t _task_handle = -1; +int _uart_fd = -1; +bool _debug = false; +std::string port = "2"; +int baudrate = 921600; +const unsigned mode_flag_custom = 1; +const unsigned mode_flag_armed = 128; +bool _send_mag = false; +bool _send_distance = false; + +uORB::Publication _battery_pub{ORB_ID(battery_status)}; +uORB::PublicationMulti _sensor_gps_pub{ORB_ID(sensor_gps)}; +uORB::Publication _visual_odometry_pub{ORB_ID(vehicle_visual_odometry)}; +uORB::Publication _mocap_odometry_pub{ORB_ID(vehicle_mocap_odometry)}; +uORB::PublicationMulti _sensor_baro_pub{ORB_ID(sensor_baro)}; +uORB::Publication _esc_status_pub{ORB_ID(esc_status)}; +uORB::Publication _distance_sensor_pub{ORB_ID(distance_sensor)}; +uORB::Publication _sensor_optical_flow_pub{ORB_ID(sensor_optical_flow)}; +uORB::Subscription _battery_status_sub{ORB_ID(battery_status)}; + +int32_t _output_functions[actuator_outputs_s::NUM_ACTUATOR_OUTPUTS] {}; + +// hil_sensor and hil_state_quaternion +enum SensorSource { + ACCEL = 0b111, + GYRO = 0b111000, + MAG = 0b111000000, + BARO = 0b1101000000000, + DIFF_PRESS = 0b10000000000 +}; + +PX4Accelerometer *_px4_accel{nullptr}; +PX4Gyroscope *_px4_gyro{nullptr}; +PX4Magnetometer *_px4_mag{nullptr}; + +bool got_first_sensor_msg = false; +float x_accel = 0; +float y_accel = 0; +float z_accel = 0; +float x_gyro = 0; +float y_gyro = 0; +float z_gyro = 0; +uint64_t gyro_accel_time = 0; + +// Status counters +uint32_t heartbeat_received_counter = 0; +uint32_t heartbeat_sent_counter = 0; +uint32_t imu_counter = 0; +uint32_t hil_sensor_counter = 0; +uint32_t mag_counter = 0; +uint32_t baro_counter = 0; +uint32_t actuator_sent_counter = 0; +uint32_t odometry_received_counter = 0; +uint32_t odometry_sent_counter = 0; +uint32_t gps_received_counter = 0; +uint32_t gps_sent_counter = 0; +uint32_t distance_received_counter = 0; +uint32_t distance_sent_counter = 0; +uint32_t flow_received_counter = 0; +uint32_t flow_sent_counter = 0; +uint32_t unknown_msg_received_counter = 0; + +enum class position_source {GPS, VIO, FLOW, NUM_POSITION_SOURCES}; + +struct position_source_data_s { + char label[8]; + bool send; + bool fail; + uint32_t failure_duration; + uint64_t failure_duration_start; +} position_source_data[(int) position_source::NUM_POSITION_SOURCES] = { + {"GPS", false, false, 0, 0}, + {"VIO", false, false, 0, 0}, + {"FLOW", false, false, 0, 0} +}; + +uint64_t first_sensor_msg_timestamp = 0; +uint64_t first_sensor_report_timestamp = 0; +uint64_t last_sensor_report_timestamp = 0; + +vehicle_status_s _vehicle_status{}; +vehicle_control_mode_s _control_mode{}; +actuator_outputs_s _actuator_outputs{}; +battery_status_s _battery_status{}; + +sensor_accel_fifo_s accel_fifo{}; +sensor_gyro_fifo_s gyro_fifo{}; + +int openPort(const char *dev, speed_t speed); +int closePort(); + +int readResponse(void *buf, size_t len); +int writeResponse(void *buf, size_t len); + +int start(int argc, char *argv[]); +int stop(); +void print_status(); +void clear_status_counters(); +bool isOpen() { return _uart_fd >= 0; }; + +void usage(); +void task_main(int argc, char *argv[]); + +void *send_actuator(void *); +void send_actuator_data(); + +void handle_message_hil_sensor_dsp(mavlink_message_t *msg); +void handle_message_hil_optical_flow(mavlink_message_t *msg); +void handle_message_distance_sensor(mavlink_message_t *msg); +void handle_message_hil_gps_dsp(mavlink_message_t *msg); +void handle_message_odometry_dsp(mavlink_message_t *msg); +void handle_message_command_long_dsp(mavlink_message_t *msg); + +void handle_message_dsp(mavlink_message_t *msg); +void actuator_controls_from_outputs_dsp(mavlink_hil_actuator_controls_t *msg); +void send_esc_status(mavlink_hil_actuator_controls_t hil_act_control); + +void +handle_message_dsp(mavlink_message_t *msg) +{ + switch (msg->msgid) { + case MAVLINK_MSG_ID_HIL_SENSOR: + hil_sensor_counter++; + handle_message_hil_sensor_dsp(msg); + break; + + case MAVLINK_MSG_ID_HIL_GPS: + gps_received_counter++; + + if (position_source_data[(int) position_source::GPS].send) { handle_message_hil_gps_dsp(msg); } + + break; + + case MAVLINK_MSG_ID_ODOMETRY: + odometry_received_counter++; + + if (position_source_data[(int) position_source::VIO].send) { handle_message_odometry_dsp(msg); } + + break; + + case MAVLINK_MSG_ID_HEARTBEAT: + heartbeat_received_counter++; + + if (_debug) { PX4_INFO("Heartbeat msg received"); } + + break; + + case MAVLINK_MSG_ID_HIL_OPTICAL_FLOW: + flow_received_counter++; + + if (position_source_data[(int) position_source::FLOW].send) { handle_message_hil_optical_flow(msg); } + + break; + + case MAVLINK_MSG_ID_DISTANCE_SENSOR: + distance_received_counter++; + + if (_send_distance) { handle_message_distance_sensor(msg); } + + break; + + default: + unknown_msg_received_counter++; + + if (_debug) { PX4_INFO("Unknown msg ID: %d", msg->msgid); } + + break; + } +} + +void *send_actuator(void *) +{ + send_actuator_data(); + return nullptr; +} + +void send_actuator_data() +{ + + int _actuator_outputs_sub = orb_subscribe_multi(ORB_ID(actuator_outputs_sim), 0); + int _vehicle_control_mode_sub_ = orb_subscribe(ORB_ID(vehicle_control_mode)); + int previous_timestamp = 0; + int previous_uorb_timestamp = 0; + int differential = 0; + bool first_sent = false; + + while (true) { + bool controls_updated = false; + (void) orb_check(_vehicle_control_mode_sub_, &controls_updated); + + if (controls_updated) { + orb_copy(ORB_ID(vehicle_control_mode), _vehicle_control_mode_sub_, &_control_mode); + } + + bool actuator_updated = false; + (void) orb_check(_actuator_outputs_sub, &actuator_updated); + + uint8_t newBuf[512]; + uint16_t newBufLen = 0; + + mavlink_hil_actuator_controls_t hil_act_control; + actuator_controls_from_outputs_dsp(&hil_act_control); + + mavlink_message_t message{}; + mavlink_msg_hil_actuator_controls_encode(1, 1, &message, &hil_act_control); + + if (actuator_updated) { + orb_copy(ORB_ID(actuator_outputs), _actuator_outputs_sub, &_actuator_outputs); + + if (_actuator_outputs.timestamp > 0) { + previous_timestamp = _actuator_outputs.timestamp; + previous_uorb_timestamp = _actuator_outputs.timestamp; + + newBufLen = mavlink_msg_to_send_buffer(newBuf, &message); + int writeRetval = writeResponse(&newBuf, newBufLen); + + actuator_sent_counter++; + + if (_debug) { PX4_INFO("Succesful write of actuator back to jMAVSim: %d at %llu", writeRetval, hrt_absolute_time()); } + + first_sent = true; + + send_esc_status(hil_act_control); + } + + } else if (! actuator_updated && first_sent && differential > 4000) { + previous_timestamp = hrt_absolute_time(); + + newBufLen = mavlink_msg_to_send_buffer(newBuf, &message); + int writeRetval = writeResponse(&newBuf, newBufLen); + + actuator_sent_counter++; + + if (_debug) { PX4_INFO("Succesful write of actuator back to jMAVSim: %d at %llu", writeRetval, hrt_absolute_time()); } + + send_esc_status(hil_act_control); + } + + differential = hrt_absolute_time() - previous_timestamp; + + px4_usleep(1000); + } +} + +void task_main(int argc, char *argv[]) +{ + int ch; + int myoptind = 1; + const char *myoptarg = nullptr; + + while ((ch = px4_getopt(argc, argv, "odmghfp:b:", &myoptind, &myoptarg)) != EOF) { + switch (ch) { + case 'd': + _debug = true; + break; + + case 'p': + port = myoptarg; + break; + + case 'b': + baudrate = atoi(myoptarg); + break; + + case 'm': + _send_mag = true; + break; + + case 'g': + position_source_data[(int) position_source::GPS].send = true; + break; + + case 'o': + position_source_data[(int) position_source::VIO].send = true; + break; + + case 'h': + _send_distance = true; + break; + + case 'f': + position_source_data[(int) position_source::FLOW].send = true; + break; + + default: + break; + } + } + + const char *charport = port.c_str(); + (void) openPort(charport, (speed_t) baudrate); + + if ((_debug) && (isOpen())) { PX4_INFO("DSP HITL serial port initialized. Baudrate: %d", baudrate); } + + if (! isOpen()) { + PX4_ERR("DSP HITL failed to open serial port"); + return; + } + + uint64_t last_heartbeat_timestamp = hrt_absolute_time(); + uint64_t last_imu_update_timestamp = last_heartbeat_timestamp; + + _px4_accel = new PX4Accelerometer(1310988); + _px4_gyro = new PX4Gyroscope(1310988); + _px4_mag = new PX4Magnetometer(197388); + + // Create a thread for sending data to the simulator. + pthread_t sender_thread; + pthread_attr_t sender_thread_attr; + pthread_attr_init(&sender_thread_attr); + pthread_attr_setstacksize(&sender_thread_attr, PX4_STACK_ADJUSTED(8000)); + pthread_create(&sender_thread, &sender_thread_attr, send_actuator, nullptr); + pthread_attr_destroy(&sender_thread_attr); + + int _vehicle_status_sub = orb_subscribe(ORB_ID(vehicle_status)); + + _is_running = true; + + while (!_task_should_exit) { + uint8_t rx_buf[1024]; + + uint64_t timestamp = hrt_absolute_time(); + + // Send out sensor messages every 10ms + if (got_first_sensor_msg) { + uint64_t delta_time = timestamp - last_imu_update_timestamp; + + if ((imu_counter) && (delta_time > 15000)) { + PX4_WARN("Sending updates at %llu, delta %llu", timestamp, delta_time); + } + + uint64_t _px4_gyro_accel_timestamp = hrt_absolute_time(); + _px4_gyro->update(_px4_gyro_accel_timestamp, x_gyro, y_gyro, z_gyro); + _px4_accel->update(_px4_gyro_accel_timestamp, x_accel, y_accel, z_accel); + last_imu_update_timestamp = timestamp; + imu_counter++; + } + + // Check for incoming messages from the simulator + int readRetval = readResponse(&rx_buf[0], sizeof(rx_buf)); + + if (readRetval) { + //Take readRetval and convert it into mavlink msg + mavlink_message_t msg; + mavlink_status_t _status{}; + + for (int i = 0; i <= readRetval; i++) { + if (mavlink_parse_char(MAVLINK_COMM_0, rx_buf[i], &msg, &_status)) { + //PX4_INFO("Value of msg id: %i", msg.msgid); + handle_message_dsp(&msg); + } + } + } + + if ((timestamp - last_heartbeat_timestamp) > 1000000) { + mavlink_heartbeat_t hb = {}; + mavlink_message_t hb_message = {}; + hb.autopilot = 12; + hb.base_mode |= (_vehicle_status.arming_state == vehicle_status_s::ARMING_STATE_ARMED) ? 128 : 0; + mavlink_msg_heartbeat_encode(1, 1, &hb_message, &hb); + + uint8_t hb_newBuf[MAVLINK_MAX_PACKET_LEN]; + uint16_t hb_newBufLen = 0; + hb_newBufLen = mavlink_msg_to_send_buffer(hb_newBuf, &hb_message); + (void) writeResponse(&hb_newBuf, hb_newBufLen); + last_heartbeat_timestamp = timestamp; + heartbeat_sent_counter++; + } + + bool vehicle_updated = false; + (void) orb_check(_vehicle_status_sub, &vehicle_updated); + + if (vehicle_updated) { + // PX4_INFO("Value of updated vehicle status: %d", vehicle_updated); + orb_copy(ORB_ID(vehicle_status), _vehicle_status_sub, &_vehicle_status); + } + + uint64_t elapsed_time = hrt_absolute_time() - timestamp; + // if (elapsed_time < 10000) usleep(10000 - elapsed_time); + + if (elapsed_time < 5000) { usleep(5000 - elapsed_time); } + } + + _is_running = false; +} + +void send_esc_status(mavlink_hil_actuator_controls_t hil_act_control) +{ + esc_status_s esc_status{}; + esc_status.timestamp = hrt_absolute_time(); + const int max_esc_count = math::min(actuator_outputs_s::NUM_ACTUATOR_OUTPUTS, esc_status_s::CONNECTED_ESC_MAX); + + const bool armed = (_vehicle_status.arming_state == vehicle_status_s::ARMING_STATE_ARMED); + int max_esc_index = 0; + _battery_status_sub.update(&_battery_status); + + for (int i = 0; i < max_esc_count; i++) { + if (_output_functions[i] != 0) { + max_esc_index = i; + } + + esc_status.esc[i].actuator_function = _output_functions[i]; // TODO: this should be in pwm_sim... + esc_status.esc[i].timestamp = esc_status.timestamp; + esc_status.esc[i].esc_errorcount = 0; // TODO + esc_status.esc[i].esc_voltage = _battery_status.voltage_v; + esc_status.esc[i].esc_current = armed ? 1.0f + math::abs_t(hil_act_control.controls[i]) * 15.0f : + 0.0f; // TODO: magic number + esc_status.esc[i].esc_rpm = hil_act_control.controls[i] * 6000; // TODO: magic number + esc_status.esc[i].esc_temperature = 20.0 + math::abs_t((double)hil_act_control.controls[i]) * 40.0; + } + + esc_status.esc_count = max_esc_index + 1; + esc_status.esc_armed_flags = (1u << esc_status.esc_count) - 1; + esc_status.esc_online_flags = (1u << esc_status.esc_count) - 1; + + _esc_status_pub.publish(esc_status); +} + +void +handle_message_command_long_dsp(mavlink_message_t *msg) +{ + mavlink_command_long_t cmd_mavlink; + mavlink_msg_command_long_decode(msg, &cmd_mavlink); + + if (_debug) { PX4_INFO("Value of command_long.command: %d", cmd_mavlink.command); } + + mavlink_command_ack_t ack = {}; + ack.result = MAV_RESULT_UNSUPPORTED; + + mavlink_message_t ack_message = {}; + mavlink_msg_command_ack_encode(1, 1, &ack_message, &ack); + + uint8_t acknewBuf[512]; + uint16_t acknewBufLen = 0; + acknewBufLen = mavlink_msg_to_send_buffer(acknewBuf, &ack_message); + int writeRetval = writeResponse(&acknewBuf, acknewBufLen); + + if (_debug) { PX4_INFO("Succesful write of ACK back over UART: %d at %llu", writeRetval, hrt_absolute_time()); } +} + +int flow_debug_counter = 0; + +void +handle_message_hil_optical_flow(mavlink_message_t *msg) +{ + mavlink_hil_optical_flow_t flow; + mavlink_msg_hil_optical_flow_decode(msg, &flow); + + if ((_debug) && (!(flow_debug_counter % 10))) { + PX4_INFO("optflow: time: %llu, quality %d", flow.time_usec, (int) flow.quality); + PX4_INFO("optflow: x: %.2f y: %.2f", (double) flow.integrated_x, (double) flow.integrated_y); + } + + flow_debug_counter++; + + device::Device::DeviceId device_id; + device_id.devid_s.bus_type = device::Device::DeviceBusType::DeviceBusType_MAVLINK; + device_id.devid_s.bus = 1; + device_id.devid_s.address = msg->sysid; + device_id.devid_s.devtype = DRV_FLOW_DEVTYPE_SIM; + + sensor_optical_flow_s sensor_optical_flow{}; + + sensor_optical_flow.timestamp_sample = hrt_absolute_time(); + sensor_optical_flow.device_id = device_id.devid; + + sensor_optical_flow.pixel_flow[0] = flow.integrated_x; + sensor_optical_flow.pixel_flow[1] = flow.integrated_y; + + sensor_optical_flow.integration_timespan_us = flow.integration_time_us; + sensor_optical_flow.quality = flow.quality; + + int index = (int) position_source::FLOW; + + if (position_source_data[index].fail) { + uint32_t duration = position_source_data[index].failure_duration; + hrt_abstime start = position_source_data[index].failure_duration_start; + + if (duration) { + if (hrt_elapsed_time(&start) > (duration * 1000000)) { + PX4_INFO("Optical flow failure ending"); + position_source_data[index].fail = false; + position_source_data[index].failure_duration = 0; + position_source_data[index].failure_duration_start = 0; + + } else { + sensor_optical_flow.quality = 0; + } + + } else { + sensor_optical_flow.quality = 0; + } + } + + const matrix::Vector3f integrated_gyro(flow.integrated_xgyro, flow.integrated_ygyro, flow.integrated_zgyro); + + if (integrated_gyro.isAllFinite()) { + integrated_gyro.copyTo(sensor_optical_flow.delta_angle); + sensor_optical_flow.delta_angle_available = true; + } + + sensor_optical_flow.max_flow_rate = NAN; + sensor_optical_flow.min_ground_distance = NAN; + sensor_optical_flow.max_ground_distance = NAN; + + // Use distance value for distance sensor topic + // if (PX4_ISFINITE(flow.distance) && (flow.distance >= 0.f)) { + // // Positive value (including zero): distance known. Negative value: Unknown distance. + // sensor_optical_flow.distance_m = flow.distance; + // sensor_optical_flow.distance_available = true; + // } + + // Emulate voxl-flow-server where distance comes in a separate + // distance sensor topic message + sensor_optical_flow.distance_m = 0.0f; + sensor_optical_flow.distance_available = false; + + sensor_optical_flow.timestamp = hrt_absolute_time(); + + _sensor_optical_flow_pub.publish(sensor_optical_flow); + + flow_sent_counter++; +} + +int distance_debug_counter = 0; + +void handle_message_distance_sensor(mavlink_message_t *msg) +{ + mavlink_distance_sensor_t dist_sensor; + mavlink_msg_distance_sensor_decode(msg, &dist_sensor); + + if ((_debug) && (!(distance_debug_counter % 10))) { + PX4_INFO("distance: time: %u, quality: %u, height: %u", + dist_sensor.time_boot_ms, dist_sensor.signal_quality, + dist_sensor.current_distance); + } + + distance_debug_counter++; + + distance_sensor_s ds{}; + + device::Device::DeviceId device_id; + device_id.devid_s.bus_type = device::Device::DeviceBusType::DeviceBusType_MAVLINK; + device_id.devid_s.bus = 1; + device_id.devid_s.address = msg->sysid; + device_id.devid_s.devtype = DRV_DIST_DEVTYPE_MAVLINK; + + ds.timestamp = hrt_absolute_time(); /* Use system time for now, don't trust sender to attach correct timestamp */ + ds.min_distance = static_cast(dist_sensor.min_distance) * 1e-2f; /* cm to m */ + ds.max_distance = static_cast(dist_sensor.max_distance) * 1e-2f; /* cm to m */ + ds.current_distance = static_cast(dist_sensor.current_distance) * 1e-2f; /* cm to m */ + ds.variance = dist_sensor.covariance * 1e-4f; /* cm^2 to m^2 */ + ds.h_fov = dist_sensor.horizontal_fov; + ds.v_fov = dist_sensor.vertical_fov; + ds.q[0] = dist_sensor.quaternion[0]; + ds.q[1] = dist_sensor.quaternion[1]; + ds.q[2] = dist_sensor.quaternion[2]; + ds.q[3] = dist_sensor.quaternion[3]; + ds.type = dist_sensor.type; + ds.device_id = device_id.devid; + ds.orientation = dist_sensor.orientation; + + // MAVLink DISTANCE_SENSOR signal_quality value of 0 means unset/unknown + // quality value. Also it comes normalised between 1 and 100 while the uORB + // signal quality is normalised between 0 and 100. + ds.signal_quality = dist_sensor.signal_quality == 0 ? -1 : 100 * (dist_sensor.signal_quality - 1) / 99; + + _distance_sensor_pub.publish(ds); + + distance_sent_counter++; +} + +void +handle_message_odometry_dsp(mavlink_message_t *msg) +{ + mavlink_odometry_t odom_in; + mavlink_msg_odometry_decode(msg, &odom_in); + + odometry_sent_counter++; + + // fill vehicle_odometry from Mavlink ODOMETRY + vehicle_odometry_s odom{}; + uint64_t timestamp = hrt_absolute_time(); + odom.timestamp_sample = timestamp; + + const matrix::Vector3f odom_in_p(odom_in.x, odom_in.y, odom_in.z); + + // position x/y/z (m) + if (odom_in_p.isAllFinite()) { + // frame_id: Coordinate frame of reference for the pose data. + switch (odom_in.frame_id) { + case MAV_FRAME_LOCAL_NED: + // NED local tangent frame (x: North, y: East, z: Down) with origin fixed relative to earth. + odom.pose_frame = vehicle_odometry_s::POSE_FRAME_NED; + odom_in_p.copyTo(odom.position); + break; + + case MAV_FRAME_LOCAL_ENU: + // ENU local tangent frame (x: East, y: North, z: Up) with origin fixed relative to earth. + odom.pose_frame = vehicle_odometry_s::POSE_FRAME_NED; + odom.position[0] = odom_in.y; // y: North + odom.position[1] = odom_in.x; // x: East + odom.position[2] = -odom_in.z; // z: Up + break; + + case MAV_FRAME_LOCAL_FRD: + // FRD local tangent frame (x: Forward, y: Right, z: Down) with origin fixed relative to earth. + odom.pose_frame = vehicle_odometry_s::POSE_FRAME_FRD; + odom_in_p.copyTo(odom.position); + break; + + case MAV_FRAME_LOCAL_FLU: + // FLU local tangent frame (x: Forward, y: Left, z: Up) with origin fixed relative to earth. + odom.pose_frame = vehicle_odometry_s::POSE_FRAME_FRD; + odom.position[0] = odom_in.x; // x: Forward + odom.position[1] = -odom_in.y; // y: Left + odom.position[2] = -odom_in.z; // z: Up + break; + + default: + break; + } + + // pose_covariance + // Row-major representation of a 6x6 pose cross-covariance matrix upper right triangle (states: x, y, z, roll, pitch, yaw) + // first six entries are the first ROW, next five entries are the second ROW, etc. + if (odom_in.estimator_type != MAV_ESTIMATOR_TYPE_NAIVE) { + switch (odom_in.frame_id) { + case MAV_FRAME_LOCAL_NED: + case MAV_FRAME_LOCAL_FRD: + case MAV_FRAME_LOCAL_FLU: + // position variances copied directly + odom.position_variance[0] = odom_in.pose_covariance[0]; // X row 0, col 0 + odom.position_variance[1] = odom_in.pose_covariance[6]; // Y row 1, col 1 + odom.position_variance[2] = odom_in.pose_covariance[11]; // Z row 2, col 2 + break; + + case MAV_FRAME_LOCAL_ENU: + // ENU local tangent frame (x: East, y: North, z: Up) with origin fixed relative to earth. + odom.position_variance[0] = odom_in.pose_covariance[6]; // Y row 1, col 1 + odom.position_variance[1] = odom_in.pose_covariance[0]; // X row 0, col 0 + odom.position_variance[2] = odom_in.pose_covariance[11]; // Z row 2, col 2 + break; + + default: + break; + } + } + } + + // q: the quaternion of the ODOMETRY msg represents a rotation from body frame to a local frame + if (matrix::Quatf(odom_in.q).isAllFinite()) { + + odom.q[0] = odom_in.q[0]; + odom.q[1] = odom_in.q[1]; + odom.q[2] = odom_in.q[2]; + odom.q[3] = odom_in.q[3]; + + // pose_covariance (roll, pitch, yaw) + // states: x, y, z, roll, pitch, yaw; first six entries are the first ROW, next five entries are the second ROW, etc. + // TODO: fix pose_covariance for MAV_FRAME_LOCAL_ENU, MAV_FRAME_LOCAL_FLU + if (odom_in.estimator_type != MAV_ESTIMATOR_TYPE_NAIVE) { + odom.orientation_variance[0] = odom_in.pose_covariance[15]; // R row 3, col 3 + odom.orientation_variance[1] = odom_in.pose_covariance[18]; // P row 4, col 4 + odom.orientation_variance[2] = odom_in.pose_covariance[20]; // Y row 5, col 5 + } + } + + const matrix::Vector3f odom_in_v(odom_in.vx, odom_in.vy, odom_in.vz); + + // velocity vx/vy/vz (m/s) + if (odom_in_v.isAllFinite()) { + // child_frame_id: Coordinate frame of reference for the velocity in free space (twist) data. + switch (odom_in.child_frame_id) { + case MAV_FRAME_LOCAL_NED: + // NED local tangent frame (x: North, y: East, z: Down) with origin fixed relative to earth. + odom.velocity_frame = vehicle_odometry_s::VELOCITY_FRAME_NED; + odom_in_v.copyTo(odom.velocity); + break; + + case MAV_FRAME_LOCAL_ENU: + // ENU local tangent frame (x: East, y: North, z: Up) with origin fixed relative to earth. + odom.velocity_frame = vehicle_odometry_s::VELOCITY_FRAME_NED; + odom.velocity[0] = odom_in.vy; // y: East + odom.velocity[1] = odom_in.vx; // x: North + odom.velocity[2] = -odom_in.vz; // z: Up + break; + + case MAV_FRAME_LOCAL_FRD: + // FRD local tangent frame (x: Forward, y: Right, z: Down) with origin fixed relative to earth. + odom.velocity_frame = vehicle_odometry_s::VELOCITY_FRAME_FRD; + odom_in_v.copyTo(odom.velocity); + break; + + case MAV_FRAME_LOCAL_FLU: + // FLU local tangent frame (x: Forward, y: Left, z: Up) with origin fixed relative to earth. + odom.velocity_frame = vehicle_odometry_s::VELOCITY_FRAME_FRD; + odom.velocity[0] = odom_in.vx; // x: Forward + odom.velocity[1] = -odom_in.vy; // y: Left + odom.velocity[2] = -odom_in.vz; // z: Up + break; + + case MAV_FRAME_BODY_NED: // DEPRECATED: Replaced by MAV_FRAME_BODY_FRD (2019-08). + case MAV_FRAME_BODY_OFFSET_NED: // DEPRECATED: Replaced by MAV_FRAME_BODY_FRD (2019-08). + case MAV_FRAME_BODY_FRD: + // FRD local tangent frame (x: Forward, y: Right, z: Down) with origin that travels with vehicle. + odom.velocity_frame = vehicle_odometry_s::VELOCITY_FRAME_BODY_FRD; + odom.velocity[0] = odom_in.vx; + odom.velocity[1] = odom_in.vy; + odom.velocity[2] = odom_in.vz; + break; + + default: + // unsupported child_frame_id + break; + } + + // velocity_covariance (vx, vy, vz) + // states: vx, vy, vz, rollspeed, pitchspeed, yawspeed; first six entries are the first ROW, next five entries are the second ROW, etc. + // TODO: fix velocity_covariance for MAV_FRAME_LOCAL_ENU, MAV_FRAME_LOCAL_FLU, MAV_FRAME_LOCAL_FLU + if (odom_in.estimator_type != MAV_ESTIMATOR_TYPE_NAIVE) { + switch (odom_in.child_frame_id) { + case MAV_FRAME_LOCAL_NED: + case MAV_FRAME_LOCAL_FRD: + case MAV_FRAME_LOCAL_FLU: + case MAV_FRAME_BODY_NED: // DEPRECATED: Replaced by MAV_FRAME_BODY_FRD (2019-08). + case MAV_FRAME_BODY_OFFSET_NED: // DEPRECATED: Replaced by MAV_FRAME_BODY_FRD (2019-08). + case MAV_FRAME_BODY_FRD: + // velocity covariances copied directly + odom.velocity_variance[0] = odom_in.velocity_covariance[0]; // X row 0, col 0 + odom.velocity_variance[1] = odom_in.velocity_covariance[6]; // Y row 1, col 1 + odom.velocity_variance[2] = odom_in.velocity_covariance[11]; // Z row 2, col 2 + break; + + case MAV_FRAME_LOCAL_ENU: + // ENU local tangent frame (x: East, y: North, z: Up) with origin fixed relative to earth. + odom.velocity_variance[0] = odom_in.velocity_covariance[6]; // Y row 1, col 1 + odom.velocity_variance[1] = odom_in.velocity_covariance[0]; // X row 0, col 0 + odom.velocity_variance[2] = odom_in.velocity_covariance[11]; // Z row 2, col 2 + break; + + default: + // unsupported child_frame_id + break; + } + } + } + + // Roll/Pitch/Yaw angular speed (rad/s) + if (PX4_ISFINITE(odom_in.rollspeed) + && PX4_ISFINITE(odom_in.pitchspeed) + && PX4_ISFINITE(odom_in.yawspeed)) { + + odom.angular_velocity[0] = odom_in.rollspeed; + odom.angular_velocity[1] = odom_in.pitchspeed; + odom.angular_velocity[2] = odom_in.yawspeed; + } + + odom.reset_counter = odom_in.reset_counter; + odom.quality = odom_in.quality; + + int index = (int) position_source::VIO; + + if (position_source_data[index].fail) { + uint32_t duration = position_source_data[index].failure_duration; + hrt_abstime start = position_source_data[index].failure_duration_start; + + if (duration) { + if (hrt_elapsed_time(&start) > (duration * 1000000)) { + PX4_INFO("VIO failure ending"); + position_source_data[index].fail = false; + position_source_data[index].failure_duration = 0; + position_source_data[index].failure_duration_start = 0; + + } else { + odom.quality = 0; + } + + } else { + odom.quality = 0; + } + } + + switch (odom_in.estimator_type) { + case MAV_ESTIMATOR_TYPE_UNKNOWN: // accept MAV_ESTIMATOR_TYPE_UNKNOWN for legacy support + case MAV_ESTIMATOR_TYPE_NAIVE: + case MAV_ESTIMATOR_TYPE_VISION: + case MAV_ESTIMATOR_TYPE_VIO: + odom.timestamp = hrt_absolute_time(); + _visual_odometry_pub.publish(odom); + break; + + case MAV_ESTIMATOR_TYPE_MOCAP: + odom.timestamp = hrt_absolute_time(); + _mocap_odometry_pub.publish(odom); + break; + + case MAV_ESTIMATOR_TYPE_GPS: + case MAV_ESTIMATOR_TYPE_GPS_INS: + case MAV_ESTIMATOR_TYPE_LIDAR: + case MAV_ESTIMATOR_TYPE_AUTOPILOT: + default: + //mavlink_log_critical(&_mavlink_log_pub, "ODOMETRY: estimator_type %" PRIu8 " unsupported\t", + // odom_in.estimator_type); + //events::send(events::ID("mavlink_rcv_odom_unsup_estimator_type"), events::Log::Error, + // "ODOMETRY: unsupported estimator_type {1}", odom_in.estimator_type); + return; + } +} + +void actuator_controls_from_outputs_dsp(mavlink_hil_actuator_controls_t *msg) +{ + memset(msg, 0, sizeof(mavlink_hil_actuator_controls_t)); + + msg->time_usec = hrt_absolute_time(); + + bool armed = (_vehicle_status.arming_state == vehicle_status_s::ARMING_STATE_ARMED); + + if (armed) { + for (unsigned i = 0; i < actuator_outputs_s::NUM_ACTUATOR_OUTPUTS; i++) { + msg->controls[i] = _actuator_outputs.output[i]; + } + + //PX4_INFO("Value of actuator data: %f, %f, %f, %f", (double)msg->controls[0], (double)msg->controls[1], (double)msg->controls[2], (double)msg->controls[3]); + } + + msg->mode = mode_flag_custom; + msg->mode |= (armed) ? mode_flag_armed : 0; + msg->flags = 0; +} + +int openPort(const char *dev, speed_t speed) +{ + if (_uart_fd >= 0) { + PX4_ERR("Port in use: %s (%i)", dev, errno); + return -1; + } + + _uart_fd = qurt_uart_open(dev, speed); + + if (_debug) { PX4_INFO("qurt_uart_opened"); } + + if (_uart_fd < 0) { + PX4_ERR("Error opening port: %s (%i)", dev, errno); + return -1; + } + + return 0; +} + +int closePort() +{ + _uart_fd = -1; + + return 0; +} + +int readResponse(void *buf, size_t len) +{ + if (_uart_fd < 0 || buf == NULL) { + PX4_ERR("invalid state for reading or buffer"); + return -1; + } + + return qurt_uart_read(_uart_fd, (char *) buf, len, ASYNC_UART_READ_WAIT_US); +} + +int writeResponse(void *buf, size_t len) +{ + if (_uart_fd < 0 || buf == NULL) { + PX4_ERR("invalid state for writing or buffer"); + return -1; + } + + return qurt_uart_write(_uart_fd, (const char *) buf, len); +} + +int start(int argc, char *argv[]) +{ + if (_is_running) { + PX4_WARN("already running"); + return -1; + } + + _task_should_exit = false; + + _task_handle = px4_task_spawn_cmd("dsp_hitl__main", + SCHED_DEFAULT, + SCHED_PRIORITY_DEFAULT, + 2000, + (px4_main_t)&task_main, + (char *const *)argv); + + if (_task_handle < 0) { + PX4_ERR("task start failed"); + return -1; + } + + return 0; +} + +int stop() +{ + if (!_is_running) { + PX4_WARN("not running"); + return -1; + } + + _task_should_exit = true; + + while (_is_running) { + usleep(200000); + PX4_INFO("."); + } + + _task_handle = -1; + return 0; +} + +void usage() +{ + PX4_INFO("Usage: dsp_hitl {start|status|clear|failure|stop}"); + PX4_INFO(" failure "); + PX4_INFO(" source: gps, vio, flow"); + PX4_INFO(" duration: 0 (toggle state), else seconds"); +} + +void print_status() +{ + PX4_INFO("Running: %s", _is_running ? "yes" : "no"); + PX4_INFO("HIL Sensor received: %i", hil_sensor_counter); + PX4_INFO("IMU updates: %i", imu_counter); + PX4_INFO("\tCurrent accel x, y, z: %f, %f, %f", double(x_accel), double(y_accel), double(z_accel)); + PX4_INFO("\tCurrent gyro x, y, z: %f, %f, %f", double(x_gyro), double(y_gyro), double(z_gyro)); + PX4_INFO("Magnetometer sent: %i", mag_counter); + PX4_INFO("Barometer sent: %i", baro_counter); + PX4_INFO("Heartbeat received: %i, sent: %i", heartbeat_received_counter, heartbeat_sent_counter); + PX4_INFO("Odometry received: %i, sent: %i", odometry_received_counter, odometry_sent_counter); + PX4_INFO("GPS received: %i, sent: %i", gps_received_counter, gps_sent_counter); + PX4_INFO("Distance sensor received: %i, sent: %i", distance_received_counter, distance_sent_counter); + PX4_INFO("Optical flow received: %i, sent: %i", flow_received_counter, flow_sent_counter); + PX4_INFO("Actuator updates sent: %i", actuator_sent_counter); + PX4_INFO("Unknown messages received: %i", unknown_msg_received_counter); +} + +void +clear_status_counters() +{ + heartbeat_received_counter = 0; + heartbeat_sent_counter = 0; + imu_counter = 0; + hil_sensor_counter = 0; + mag_counter = 0; + baro_counter = 0; + actuator_sent_counter = 0; + odometry_received_counter = 0; + odometry_sent_counter = 0; + gps_received_counter = 0; + gps_sent_counter = 0; + distance_received_counter = 0; + distance_sent_counter = 0; + flow_received_counter = 0; + flow_sent_counter = 0; + unknown_msg_received_counter = 0; +} + +void +handle_message_hil_sensor_dsp(mavlink_message_t *msg) +{ + mavlink_hil_sensor_t hil_sensor; + mavlink_msg_hil_sensor_decode(msg, &hil_sensor); + + // temperature only updated with baro + gyro_accel_time = hrt_absolute_time(); + + // temperature only updated with baro + float temperature = NAN; + + got_first_sensor_msg = true; + + if ((hil_sensor.fields_updated & SensorSource::BARO) == SensorSource::BARO) { + temperature = hil_sensor.temperature; + } + + // gyro + if ((hil_sensor.fields_updated & SensorSource::GYRO) == SensorSource::GYRO) { + if (_px4_gyro == nullptr) { + // 1310988: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION + _px4_gyro = new PX4Gyroscope(1310988); + } + + if (_px4_gyro != nullptr) { + if (PX4_ISFINITE(temperature)) { + _px4_gyro->set_temperature(temperature); + } + + x_gyro = hil_sensor.xgyro; + y_gyro = hil_sensor.ygyro; + z_gyro = hil_sensor.zgyro; + } + } + + // accelerometer + if ((hil_sensor.fields_updated & SensorSource::ACCEL) == SensorSource::ACCEL) { + if (_px4_accel == nullptr) { + // 1310988: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION + _px4_accel = new PX4Accelerometer(1310988); + } + + if (_px4_accel != nullptr) { + if (PX4_ISFINITE(temperature)) { + _px4_accel->set_temperature(temperature); + } + + x_accel = hil_sensor.xacc; + y_accel = hil_sensor.yacc; + z_accel = hil_sensor.zacc; + } + } + + + // magnetometer + if ((_send_mag) && ((hil_sensor.fields_updated & SensorSource::MAG) == SensorSource::MAG)) { + if (_px4_mag == nullptr) { + // 197388: DRV_MAG_DEVTYPE_MAGSIM, BUS: 3, ADDR: 1, TYPE: SIMULATION + _px4_mag = new PX4Magnetometer(197388); + } + + if (_px4_mag != nullptr) { + if (PX4_ISFINITE(temperature)) { + _px4_mag->set_temperature(temperature); + } + + _px4_mag->update(gyro_accel_time, hil_sensor.xmag, hil_sensor.ymag, hil_sensor.zmag); + + mag_counter++; + } + } + + // baro + if ((hil_sensor.fields_updated & SensorSource::BARO) == SensorSource::BARO) { + // publish + sensor_baro_s sensor_baro{}; + sensor_baro.timestamp_sample = gyro_accel_time; + sensor_baro.device_id = 6620172; // 6620172: DRV_BARO_DEVTYPE_BAROSIM, BUS: 1, ADDR: 4, TYPE: SIMULATION + sensor_baro.pressure = hil_sensor.abs_pressure * 100.0f; // hPa to Pa + sensor_baro.temperature = hil_sensor.temperature; + sensor_baro.error_count = 0; + sensor_baro.timestamp = hrt_absolute_time(); + _sensor_baro_pub.publish(sensor_baro); + + baro_counter++; + } + + // battery status + { + battery_status_s hil_battery_status{}; + + hil_battery_status.timestamp = gyro_accel_time; + hil_battery_status.voltage_v = 16.0f; + hil_battery_status.current_a = 10.0f; + hil_battery_status.discharged_mah = -1.0f; + hil_battery_status.connected = true; + hil_battery_status.remaining = 0.70; + hil_battery_status.time_remaining_s = NAN; + + _battery_pub.publish(hil_battery_status); + } +} + +void +handle_message_hil_gps_dsp(mavlink_message_t *msg) +{ + mavlink_hil_gps_t hil_gps; + mavlink_msg_hil_gps_decode(msg, &hil_gps); + + sensor_gps_s gps{}; + + device::Device::DeviceId device_id; + device_id.devid_s.bus_type = device::Device::DeviceBusType::DeviceBusType_MAVLINK; + device_id.devid_s.bus = 1; + device_id.devid_s.address = msg->sysid; + device_id.devid_s.devtype = DRV_GPS_DEVTYPE_SIM; + + gps.device_id = device_id.devid; + + gps.latitude_deg = hil_gps.lat * 1e-7; + gps.longitude_deg = hil_gps.lon * 1e-7; + gps.altitude_msl_m = hil_gps.alt * 1e-3; + gps.altitude_ellipsoid_m = hil_gps.alt * 1e-3; + + gps.s_variance_m_s = 0.25f; + gps.c_variance_rad = 0.5f; + + gps.satellites_used = hil_gps.satellites_visible; + gps.fix_type = hil_gps.fix_type; + + int index = (int) position_source::GPS; + + if (position_source_data[index].fail) { + uint32_t duration = position_source_data[index].failure_duration; + hrt_abstime start = position_source_data[index].failure_duration_start; + + if (duration) { + if (hrt_elapsed_time(&start) > (duration * 1000000)) { + PX4_INFO("GPS failure ending"); + position_source_data[index].fail = false; + position_source_data[index].failure_duration = 0; + position_source_data[index].failure_duration_start = 0; + + } else { + gps.satellites_used = 1; + gps.fix_type = 0; + } + + } else { + gps.satellites_used = 1; + gps.fix_type = 0; + } + } + + gps.eph = (float)hil_gps.eph * 1e-2f; // cm -> m + gps.epv = (float)hil_gps.epv * 1e-2f; // cm -> m + + gps.hdop = 0; // TODO + gps.vdop = 0; // TODO + + gps.noise_per_ms = 0; + gps.automatic_gain_control = 0; + gps.jamming_indicator = 0; + gps.jamming_state = 0; + gps.spoofing_state = 0; + + gps.vel_m_s = (float)(hil_gps.vel) / 100.0f; // cm/s -> m/s + gps.vel_n_m_s = (float)(hil_gps.vn) / 100.0f; // cm/s -> m/s + gps.vel_e_m_s = (float)(hil_gps.ve) / 100.0f; // cm/s -> m/s + gps.vel_d_m_s = (float)(hil_gps.vd) / 100.0f; // cm/s -> m/s + gps.cog_rad = ((hil_gps.cog == 65535) ? (float)NAN : matrix::wrap_2pi(math::radians( + hil_gps.cog * 1e-2f))); // cdeg -> rad + gps.vel_ned_valid = true; + + gps.timestamp_time_relative = 0; + gps.time_utc_usec = hil_gps.time_usec; + + + gps.heading = NAN; + gps.heading_offset = NAN; + + gps.timestamp = hrt_absolute_time(); + + _sensor_gps_pub.publish(gps); + + gps_sent_counter++; +} + +int +process_failure(dsp_hitl::position_source src, int duration) +{ + if (src >= position_source::NUM_POSITION_SOURCES) { + return 1; + } + + int index = (int) src; + + if (position_source_data[index].send) { + if (duration <= 0) { + // Toggle state + if (position_source_data[index].fail) { + PX4_INFO("Ending indefinite %s failure", position_source_data[index].label); + position_source_data[index].fail = false; + + } else { + PX4_INFO("Starting indefinite %s failure", position_source_data[index].label); + position_source_data[index].fail = true; + } + + position_source_data[index].failure_duration = 0; + position_source_data[index].failure_duration_start = 0; + + } else { + PX4_INFO("%s failure for %d seconds", position_source_data[index].label, duration); + position_source_data[index].fail = true; + position_source_data[index].failure_duration = duration; + position_source_data[index].failure_duration_start = hrt_absolute_time(); + } + + } else { + PX4_ERR("%s not active, cannot create failure", position_source_data[index].label); + return 1; + } + + return 0; +} + +} // End dsp_hitl namespace + +int dsp_hitl_main(int argc, char *argv[]) +{ + int myoptind = 1; + + if (argc <= 1) { + dsp_hitl::usage(); + return 1; + } + + const char *verb = argv[myoptind]; + + if (!strcmp(verb, "start")) { + return dsp_hitl::start(argc - 1, argv + 1); + + } else if (!strcmp(verb, "stop")) { + return dsp_hitl::stop(); + + } else if (!strcmp(verb, "status")) { + dsp_hitl::print_status(); + return 0; + + } else if (!strcmp(verb, "clear")) { + dsp_hitl::clear_status_counters(); + return 0; + + } else if (!strcmp(verb, "failure")) { + if (argc != 4) { + dsp_hitl::usage(); + return 1; + } + + const char *source = argv[myoptind + 1]; + int duration = atoi(argv[myoptind + 2]); + + if (!strcmp(source, "gps")) { + return dsp_hitl::process_failure(dsp_hitl::position_source::GPS, duration); + + } else if (!strcmp(source, "vio")) { + return dsp_hitl::process_failure(dsp_hitl::position_source::VIO, duration); + + } else if (!strcmp(source, "flow")) { + return dsp_hitl::process_failure(dsp_hitl::position_source::FLOW, duration); + + } else { + PX4_ERR("Unknown failure source %s, duration %d", source, duration); + dsp_hitl::usage(); + return 1; + } + + return 0; + + } else { + dsp_hitl::usage(); + return 1; + } +} diff --git a/boards/modalai/voxl2-slpi/src/drivers/dsp_sbus/CMakeLists.txt b/boards/modalai/voxl2-slpi/src/drivers/dsp_sbus/CMakeLists.txt new file mode 100644 index 000000000000..ccb76edadcac --- /dev/null +++ b/boards/modalai/voxl2-slpi/src/drivers/dsp_sbus/CMakeLists.txt @@ -0,0 +1,41 @@ +############################################################################ +# +# Copyright (c) 2015 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +px4_add_module( + MODULE drivers__dsp_sbus + MAIN dsp_sbus + COMPILE_FLAGS + -Wno-cast-align # TODO: fix and enable + SRCS + dsp_sbus.cpp + ) diff --git a/boards/modalai/voxl2-slpi/src/drivers/dsp_sbus/dsp_sbus.cpp b/boards/modalai/voxl2-slpi/src/drivers/dsp_sbus/dsp_sbus.cpp new file mode 100644 index 000000000000..e6b622b40365 --- /dev/null +++ b/boards/modalai/voxl2-slpi/src/drivers/dsp_sbus/dsp_sbus.cpp @@ -0,0 +1,383 @@ +/**************************************************************************** + * + * Copyright (c) 2012-2020 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + + +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include "protocol.h" + +#define ASYNC_UART_READ_WAIT_US 2000 + + +extern "C" { __EXPORT int dsp_sbus_main(int argc, char *argv[]); } + +namespace dsp_sbus +{ + +std::string _port = "7"; +int _uart_fd = -1; +IOPacket _packet; +bool _initialized = false; +bool _is_running = false; +uint64_t _rc_last_valid; ///< last valid timestamp +uint16_t _rc_valid_update_count = 0; + +static px4_task_t _task_handle = -1; + +uORB::PublicationMulti _rc_pub{ORB_ID(input_rc)}; + +int bus_exchange(IOPacket *packet) +{ + int ret = 0; + int read_retries = 3; + int read_succeeded = 0; + int packet_size = sizeof(IOPacket); + + (void) qurt_uart_write(_uart_fd, (const char *) packet, packet_size); + + usleep(100); + + // The UART read on SLPI is via an asynchronous service so specify a timeout + // for the return. The driver will poll periodically until the read comes in + // so this may block for a while. However, it will timeout if no read comes in. + while (read_retries) { + ret = qurt_uart_read(_uart_fd, (char *) packet, packet_size, ASYNC_UART_READ_WAIT_US); + + if (ret) { + // PX4_INFO("Read %d bytes", ret); + + /* Check CRC */ + uint8_t crc = packet->crc; + packet->crc = 0; + + if (crc != crc_packet(packet)) { + PX4_ERR("PX4IO packet CRC error"); + return -EIO; + + } else if (PKT_CODE(*packet) == PKT_CODE_CORRUPT) { + PX4_ERR("PX4IO packet corruption"); + return -EIO; + + } else { + read_succeeded = 1; + break; + } + } + + PX4_ERR("Read attempt %d failed", read_retries); + read_retries--; + } + + + if (! read_succeeded) { + return -EIO; + } + + return 0; +} + +int io_reg_get(uint8_t page, uint8_t offset, uint16_t *values, unsigned num_values) +{ + /* range check the transfer */ + // if (num_values > ((_max_transfer) / sizeof(*values))) { + // PX4_ERR("io_reg_get: too many registers (%u, max %u)", num_values, _max_transfer / 2); + // return -1; + // } + + // int ret = _interface->read((page << 8) | offset, reinterpret_cast(values), num_values); + int ret = 0; + + _packet.count_code = num_values | PKT_CODE_READ; + _packet.page = page; + _packet.offset = offset; + + _packet.crc = 0; + _packet.crc = crc_packet(&_packet); + + ret = bus_exchange(&_packet); + + if (ret != 0) { + // PX4_ERR("px4io io_reg_get(%hhu,%hhu,%u): data error %d", page, offset, num_values, ret); + return -1; + } + + memcpy(values, &_packet.regs[0], num_values * 2); + + return OK; +} + +uint32_t io_reg_get(uint8_t page, uint8_t offset) +{ + uint16_t value; + + if (io_reg_get(page, offset, &value, 1) != OK) { + // Registers are only 16 bit so any value over 0xFFFF can signal a fault + return 0xFFFFFFFF; + } + + return value; +} + +int initialize() +{ + if (_initialized) { + // Already successfully initialized + return 0; + } + + if (_uart_fd < 0) { + _uart_fd = qurt_uart_open(_port.c_str(), 921600); + } + + if (_uart_fd < 0) { + PX4_ERR("Open failed in %s", __FUNCTION__); + return -1; + } + + // Verify connectivity and version number + unsigned protocol = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_PROTOCOL_VERSION); + + if (protocol != PX4IO_PROTOCOL_VERSION) { + PX4_ERR("dsp_sbus version error: %u", protocol); + _uart_fd = -1; + return -1; + } + + _initialized = true; + + return 0; +} + +void dsp_sbus_task() +{ + + uint16_t status_regs[2] {}; + input_rc_s rc_val; + const unsigned prolog = (PX4IO_P_RAW_RC_BASE - PX4IO_P_RAW_RC_COUNT); + uint16_t rc_regs[input_rc_s::RC_INPUT_MAX_CHANNELS + prolog]; + uint32_t channel_count = 0; + + _is_running = true; + + while (true) { + + usleep(20000); // Update every 20ms + + memset(&rc_val, 0, sizeof(input_rc_s)); + + if (io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS, &status_regs[0], + sizeof(status_regs) / sizeof(status_regs[0])) == OK) { + // PX4_INFO("dsp_sbus status 0x%.4x", status_regs[0]); + // PX4_INFO("dsp_sbus alarms 0x%.4x", status_regs[1]); + } else { + // PX4_ERR("Failed to read status / alarm registers"); + continue; + } + + /* fetch values from IO */ + + // When starting the RC flag will not be okay if the receiver isn't + // getting a signal from the transmitter. Once it does, then this flag + // will say okay even if later the signal is lost. + if (!(status_regs[0] & PX4IO_P_STATUS_FLAGS_RC_OK)) { + // PX4_INFO("RC lost status flag set"); + rc_val.rc_lost = true; + + } else { + // PX4_INFO("RC lost status flag is not set"); + rc_val.rc_lost = false; + } + + if (status_regs[0] & PX4IO_P_STATUS_FLAGS_RC_SBUS) { + rc_val.input_source = input_rc_s::RC_INPUT_SOURCE_PX4IO_SBUS; + // PX4_INFO("Got valid SBUS"); + + } else { + rc_val.input_source = input_rc_s::RC_INPUT_SOURCE_UNKNOWN; + // PX4_INFO("SBUS not valid"); + } + + rc_val.timestamp = hrt_absolute_time(); + + // No point in reading the registers if we haven't acquired a transmitter signal yet + if (! rc_val.rc_lost) { + if (io_reg_get(PX4IO_PAGE_RAW_RC_INPUT, PX4IO_P_RAW_RC_COUNT, &rc_regs[0], + sizeof(rc_regs) / sizeof(rc_regs[0])) != OK) { + // PX4_ERR("Failed to read RC registers"); + continue; + // } else { + // PX4_INFO("Successfully read RC registers"); + // PX4_INFO("Prolog: %u 0x%.4x 0x%.4x 0x%.4x 0x%.4x 0x%.4x", + // rc_regs[0], rc_regs[1], rc_regs[2], rc_regs[3], rc_regs[4], rc_regs[5]); + } + + channel_count = rc_regs[PX4IO_P_RAW_RC_COUNT]; + + // const uint16_t rc_valid_update_count = rc_regs[PX4IO_P_RAW_FRAME_COUNT]; + // const bool rc_updated = (rc_valid_update_count != _rc_valid_update_count); + // + // if (!rc_updated) { + // PX4_INFO("Didn't get an RC update indication. %u %u", rc_valid_update_count, _rc_valid_update_count); + // continue; + // } + // + // _rc_valid_update_count = rc_valid_update_count; + // + // PX4_INFO("Got an RC update indication"); + + /* limit the channel count */ + if (channel_count > input_rc_s::RC_INPUT_MAX_CHANNELS) { + // PX4_INFO("Got %u for channel count. Limiting to 18", channel_count); + channel_count = input_rc_s::RC_INPUT_MAX_CHANNELS; + } + + rc_val.channel_count = channel_count; + // PX4_INFO("RC channel count: %u", rc_val.channel_count); + + // rc_val.rc_ppm_frame_length = rc_regs[PX4IO_P_RAW_RC_DATA]; + rc_val.rc_ppm_frame_length = 0; + + rc_val.rc_failsafe = (rc_regs[PX4IO_P_RAW_RC_FLAGS] & PX4IO_P_RAW_RC_FLAGS_FAILSAFE); + // rc_val.rc_lost = !(rc_regs[PX4IO_P_RAW_RC_FLAGS] & PX4IO_P_RAW_RC_FLAGS_RC_OK); + rc_val.rc_lost = rc_val.rc_failsafe; + rc_val.rc_lost_frame_count = rc_regs[PX4IO_P_RAW_LOST_FRAME_COUNT]; + rc_val.rc_total_frame_count = rc_regs[PX4IO_P_RAW_FRAME_COUNT]; + + if (!rc_val.rc_lost && !rc_val.rc_failsafe) { + _rc_last_valid = rc_val.timestamp; + rc_val.rssi = rc_regs[PX4IO_P_RAW_RC_NRSSI]; + rc_val.link_quality = rc_regs[PX4IO_P_RAW_RC_NRSSI]; + + /* last thing set are the actual channel values as 16 bit values */ + for (unsigned i = 0; i < channel_count; i++) { + rc_val.values[i] = rc_regs[prolog + i]; + // PX4_INFO("RC channel %u: %.4u", i, rc_val.values[i]); + } + + /* zero the remaining fields */ + for (unsigned i = channel_count; i < (sizeof(rc_val.values) / sizeof(rc_val.values[0])); i++) { + rc_val.values[i] = 0; + } + } + + rc_val.timestamp_last_signal = _rc_last_valid; + } + + _rc_pub.publish(rc_val); + + } +} + +int start(int argc, char *argv[]) +{ + + int ch; + int myoptind = 1; + const char *myoptarg = nullptr; + + while ((ch = px4_getopt(argc, argv, "p:", &myoptind, &myoptarg)) != EOF) { + switch (ch) { + case 'p': + _port = myoptarg; + PX4_INFO("Setting port to %s", _port.c_str()); + break; + + default: + break; + } + } + + if (! _initialized) { + if (initialize()) { + return -1; + } + } + + if (_is_running) { + PX4_WARN("Already started"); + return 0; + } + + _task_handle = px4_task_spawn_cmd("dsp_sbus_main", + SCHED_DEFAULT, + SCHED_PRIORITY_DEFAULT, + 2000, + (px4_main_t) &dsp_sbus_task, + (char *const *)argv); + + if (_task_handle < 0) { + PX4_ERR("task start failed"); + return -1; + } + + return 0; +} + +void +usage() +{ + PX4_INFO("Usage: dsp_sbus start [options]"); + PX4_INFO("Options: -p uart port number"); +} + +} // End namespance dsp_sbus + +int dsp_sbus_main(int argc, char *argv[]) +{ + int myoptind = 1; + + if (argc <= 1) { + dsp_sbus::usage(); + return -1; + } + + const char *verb = argv[myoptind]; + + if (!strcmp(verb, "start")) { + return dsp_sbus::start(argc - 1, argv + 1); + + } else { + dsp_sbus::usage(); + return -1; + } + + return 0; +} diff --git a/boards/modalai/voxl2-slpi/src/drivers/dsp_sbus/protocol.h b/boards/modalai/voxl2-slpi/src/drivers/dsp_sbus/protocol.h new file mode 100644 index 000000000000..3cfcee2d1211 --- /dev/null +++ b/boards/modalai/voxl2-slpi/src/drivers/dsp_sbus/protocol.h @@ -0,0 +1,405 @@ +/**************************************************************************** + * + * Copyright (c) 2012-2017 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#pragma once + +#include + +/** + * @file protocol.h + * + * PX4IO interface protocol. + * + * @author Lorenz Meier + * + * Communication is performed via writes to and reads from 16-bit virtual + * registers organised into pages of 255 registers each. + * + * The first two bytes of each write select a page and offset address + * respectively. Subsequent reads and writes increment the offset within + * the page. + * + * Some pages are read- or write-only. + * + * Note that some pages may permit offset values greater than 255, which + * can only be achieved by long writes. The offset does not wrap. + * + * Writes to unimplemented registers are ignored. Reads from unimplemented + * registers return undefined values. + * + * As convention, values that would be floating point in other parts of + * the PX4 system are expressed as signed integer values scaled by 10000, + * e.g. control values range from -10000..10000. Use the REG_TO_SIGNED and + * SIGNED_TO_REG macros to convert between register representation and + * the signed version, and REG_TO_FLOAT/FLOAT_TO_REG to convert to float. + * + * Note that the implementation of readable pages prefers registers within + * readable pages to be densely packed. Page numbers do not need to be + * packed. + * + * Definitions marked [1] are only valid on PX4IOv1 boards. Likewise, + * [2] denotes definitions specific to the PX4IOv2 board. + */ + +/* Per C, this is safe for all 2's complement systems */ +#define REG_TO_SIGNED(_reg) ((int16_t)(_reg)) +#define SIGNED_TO_REG(_signed) ((uint16_t)(_signed)) + +#define REG_TO_FLOAT(_reg) ((float)REG_TO_SIGNED(_reg) / 10000.0f) +#define FLOAT_TO_REG(_float) SIGNED_TO_REG((int16_t)floorf((_float + 0.00005f) * 10000.0f)) + +#define REG_TO_BOOL(_reg) ((bool)(_reg)) + +#define PX4IO_PROTOCOL_VERSION 4 + +/* maximum allowable sizes on this protocol version */ +#define PX4IO_PROTOCOL_MAX_CONTROL_COUNT 8 /**< The protocol does not support more than set here, individual units might support less - see PX4IO_P_CONFIG_CONTROL_COUNT */ + +/* static configuration page */ +#define PX4IO_PAGE_CONFIG 0 +#define PX4IO_P_CONFIG_PROTOCOL_VERSION 0 /* PX4IO_PROTOCOL_VERSION */ +#define PX4IO_P_CONFIG_HARDWARE_VERSION 1 /* magic numbers TBD */ +#define PX4IO_P_CONFIG_BOOTLOADER_VERSION 2 /* get this how? */ +#define PX4IO_P_CONFIG_MAX_TRANSFER 3 /* maximum I2C transfer size */ +#define PX4IO_P_CONFIG_CONTROL_COUNT 4 /* hardcoded max control count supported */ +#define PX4IO_P_CONFIG_ACTUATOR_COUNT 5 /* hardcoded max actuator output count */ +#define PX4IO_P_CONFIG_RC_INPUT_COUNT 6 /* hardcoded max R/C input count supported */ +#define PX4IO_P_CONFIG_ADC_INPUT_COUNT 7 /* hardcoded max ADC inputs */ +#define PX4IO_P_CONFIG_RELAY_COUNT 8 /* hardcoded # of relay outputs */ +#define PX4IO_MAX_TRANSFER_LEN 64 + +/* dynamic status page */ +#define PX4IO_PAGE_STATUS 1 +#define PX4IO_P_STATUS_FREEMEM 0 +#define PX4IO_P_STATUS_CPULOAD 1 + +#define PX4IO_P_STATUS_FLAGS 2 /* monitoring flags */ +#define PX4IO_P_STATUS_FLAGS_OUTPUTS_ARMED (1 << 0) /* arm-ok and locally armed */ +#define PX4IO_P_STATUS_FLAGS_OVERRIDE (1 << 1) /* in manual override */ +#define PX4IO_P_STATUS_FLAGS_RC_OK (1 << 2) /* RC input is valid */ +#define PX4IO_P_STATUS_FLAGS_RC_PPM (1 << 3) /* PPM input is valid */ +#define PX4IO_P_STATUS_FLAGS_RC_DSM (1 << 4) /* DSM input is valid */ +#define PX4IO_P_STATUS_FLAGS_RC_SBUS (1 << 5) /* SBUS input is valid */ +#define PX4IO_P_STATUS_FLAGS_FMU_OK (1 << 6) /* controls from FMU are valid */ +#define PX4IO_P_STATUS_FLAGS_RAW_PWM (1 << 7) /* raw PWM from FMU is bypassing the mixer */ +#define PX4IO_P_STATUS_FLAGS_MIXER_OK (1 << 8) /* mixer is OK */ +#define PX4IO_P_STATUS_FLAGS_ARM_SYNC (1 << 9) /* the arming state between IO and FMU is in sync */ +#define PX4IO_P_STATUS_FLAGS_INIT_OK (1 << 10) /* initialisation of the IO completed without error */ +#define PX4IO_P_STATUS_FLAGS_FAILSAFE (1 << 11) /* failsafe is active */ +#define PX4IO_P_STATUS_FLAGS_SAFETY_OFF (1 << 12) /* safety is off */ +#define PX4IO_P_STATUS_FLAGS_FMU_INITIALIZED (1 << 13) /* FMU was initialized and OK once */ +#define PX4IO_P_STATUS_FLAGS_RC_ST24 (1 << 14) /* ST24 input is valid */ +#define PX4IO_P_STATUS_FLAGS_RC_SUMD (1 << 15) /* SUMD input is valid */ + +#define PX4IO_P_STATUS_ALARMS 3 /* alarm flags - alarms latch, write 1 to a bit to clear it */ +#define PX4IO_P_STATUS_ALARMS_VBATT_LOW (1 << 0) /* [1] VBatt is very close to regulator dropout */ +#define PX4IO_P_STATUS_ALARMS_TEMPERATURE (1 << 1) /* board temperature is high */ +#define PX4IO_P_STATUS_ALARMS_SERVO_CURRENT (1 << 2) /* [1] servo current limit was exceeded */ +#define PX4IO_P_STATUS_ALARMS_ACC_CURRENT (1 << 3) /* [1] accessory current limit was exceeded */ +#define PX4IO_P_STATUS_ALARMS_FMU_LOST (1 << 4) /* timed out waiting for controls from FMU */ +#define PX4IO_P_STATUS_ALARMS_RC_LOST (1 << 5) /* timed out waiting for RC input */ +#define PX4IO_P_STATUS_ALARMS_PWM_ERROR (1 << 6) /* PWM configuration or output was bad */ +#define PX4IO_P_STATUS_ALARMS_VSERVO_FAULT (1 << 7) /* [2] VServo was out of the valid range (2.5 - 5.5 V) */ + +#define PX4IO_P_STATUS_VSERVO 6 /* [2] servo rail voltage in mV */ +#define PX4IO_P_STATUS_VRSSI 7 /* [2] RSSI voltage */ +#define PX4IO_P_STATUS_PRSSI 8 /* [2] RSSI PWM value */ + +#define PX4IO_P_STATUS_MIXER 9 /* mixer actuator limit flags */ + +/* array of post-mix actuator outputs, -10000..10000 */ +#define PX4IO_PAGE_ACTUATORS 2 /* 0..CONFIG_ACTUATOR_COUNT-1 */ + +/* array of PWM servo output values, microseconds */ +#define PX4IO_PAGE_SERVOS 3 /* 0..CONFIG_ACTUATOR_COUNT-1 */ + +/* array of raw RC input values, microseconds */ +#define PX4IO_PAGE_RAW_RC_INPUT 4 +#define PX4IO_P_RAW_RC_COUNT 0 /* number of valid channels */ +#define PX4IO_P_RAW_RC_FLAGS 1 /* RC detail status flags */ +#define PX4IO_P_RAW_RC_FLAGS_FRAME_DROP (1 << 0) /* single frame drop */ +#define PX4IO_P_RAW_RC_FLAGS_FAILSAFE (1 << 1) /* receiver is in failsafe mode */ +#define PX4IO_P_RAW_RC_FLAGS_RC_DSM11 (1 << 2) /* DSM decoding is 11 bit mode */ +#define PX4IO_P_RAW_RC_FLAGS_MAPPING_OK (1 << 3) /* Channel mapping is ok */ +#define PX4IO_P_RAW_RC_FLAGS_RC_OK (1 << 4) /* RC reception ok */ + +#define PX4IO_P_RAW_RC_NRSSI 2 /* [2] Normalized RSSI value, 0: no reception, 255: perfect reception */ +#define PX4IO_P_RAW_RC_DATA 3 /* [1] + [2] Details about the RC source (PPM frame length, Spektrum protocol type) */ +#define PX4IO_P_RAW_FRAME_COUNT 4 /* Number of total received frames (wrapping counter) */ +#define PX4IO_P_RAW_LOST_FRAME_COUNT 5 /* Number of total dropped frames (wrapping counter) */ +#define PX4IO_P_RAW_RC_BASE 6 /* CONFIG_RC_INPUT_COUNT channels from here */ + +/* array of scaled RC input values, -10000..10000 */ +#define PX4IO_PAGE_RC_INPUT 5 +#define PX4IO_P_RC_VALID 0 /* bitmask of valid controls */ +#define PX4IO_P_RC_BASE 1 /* CONFIG_RC_INPUT_COUNT controls from here */ + +/* array of raw ADC values */ +#define PX4IO_PAGE_RAW_ADC_INPUT 6 /* 0..CONFIG_ADC_INPUT_COUNT-1 */ + +/* PWM servo information */ +#define PX4IO_PAGE_PWM_INFO 7 +#define PX4IO_RATE_MAP_BASE 0 /* 0..CONFIG_ACTUATOR_COUNT bitmaps of PWM rate groups */ + +/* setup page */ +#define PX4IO_PAGE_SETUP 50 +#define PX4IO_P_SETUP_FEATURES 0 +#define PX4IO_P_SETUP_FEATURES_SBUS1_OUT (1 << 0) /**< enable S.Bus v1 output */ +#define PX4IO_P_SETUP_FEATURES_SBUS2_OUT (1 << 1) /**< enable S.Bus v2 output */ +#define PX4IO_P_SETUP_FEATURES_PWM_RSSI (1 << 2) /**< enable PWM RSSI parsing */ +#define PX4IO_P_SETUP_FEATURES_ADC_RSSI (1 << 3) /**< enable ADC RSSI parsing */ + +#define PX4IO_P_SETUP_ARMING 1 /* arming controls */ +#define PX4IO_P_SETUP_ARMING_IO_ARM_OK (1 << 0) /* OK to arm the IO side */ +#define PX4IO_P_SETUP_ARMING_FMU_ARMED (1 << 1) /* FMU is already armed */ +#define PX4IO_P_SETUP_ARMING_FMU_PREARMED (1 << 2) /* FMU is already prearmed */ +#define PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK (1 << 3) /* OK to switch to manual override via override RC channel */ +#define PX4IO_P_SETUP_ARMING_FAILSAFE_CUSTOM (1 << 4) /* use custom failsafe values, not 0 values of mixer */ +#define PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK (1 << 5) /* OK to try in-air restart */ +#define PX4IO_P_SETUP_ARMING_ALWAYS_PWM_ENABLE (1 << 6) /* Output of PWM right after startup enabled to help ESCs initialize and prevent them from beeping */ +#define PX4IO_P_SETUP_ARMING_RC_HANDLING_DISABLED (1 << 7) /* Disable the IO-internal evaluation of the RC */ +#define PX4IO_P_SETUP_ARMING_LOCKDOWN (1 << 8) /* If set, the system operates normally, but won't actuate any servos */ +#define PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE (1 << 9) /* If set, the system will always output the failsafe values */ +#define PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE (1 << 10) /* If set, the system will never return from a failsafe, but remain in failsafe once triggered. */ +#define PX4IO_P_SETUP_ARMING_OVERRIDE_IMMEDIATE (1 << 11) /* If set then on FMU failure override is immediate. Othewise it waits for the mode switch to go past the override thrshold */ + +#define PX4IO_P_SETUP_PWM_RATES 2 /* bitmask, 0 = low rate, 1 = high rate */ +#define PX4IO_P_SETUP_PWM_DEFAULTRATE 3 /* 'low' PWM frame output rate in Hz */ +#define PX4IO_P_SETUP_PWM_ALTRATE 4 /* 'high' PWM frame output rate in Hz */ +#define PX4IO_P_SETUP_RELAYS_PAD 5 + +#define PX4IO_P_SETUP_VSERVO_SCALE 6 /* hardware rev [2] servo voltage correction factor (float) */ +#define PX4IO_P_SETUP_DSM 7 /* DSM bind state */ +enum { /* DSM bind states */ + dsm_bind_power_down = 0, + dsm_bind_power_up, + dsm_bind_set_rx_out, + dsm_bind_send_pulses, + dsm_bind_reinit_uart +}; +/* 8 */ +#define PX4IO_P_SETUP_SET_DEBUG 9 /* debug level for IO board */ + +#define PX4IO_P_SETUP_REBOOT_BL 10 /* reboot IO into bootloader */ +#define PX4IO_REBOOT_BL_MAGIC 14662 /* required argument for reboot (random) */ + +#define PX4IO_P_SETUP_CRC 11 /* get CRC of IO firmware */ +/* storage space of 12 occupied by CRC */ +#define PX4IO_P_SETUP_FORCE_SAFETY_OFF 12 /* force safety switch into + 'armed' (PWM enabled) state - this is a non-data write and + hence index 12 can safely be used. */ +#define PX4IO_P_SETUP_RC_THR_FAILSAFE_US 13 /**< the throttle failsafe pulse length in microseconds */ + +#define PX4IO_P_SETUP_FORCE_SAFETY_ON 14 /* force safety switch into 'disarmed' (PWM disabled state) */ +#define PX4IO_FORCE_SAFETY_MAGIC 22027 /* required argument for force safety (random) */ + +#define PX4IO_P_SETUP_PWM_REVERSE 15 /**< Bitmask to reverse PWM channels 1-8 */ +#define PX4IO_P_SETUP_TRIM_ROLL 16 /**< Roll trim, in actuator units */ +#define PX4IO_P_SETUP_TRIM_PITCH 17 /**< Pitch trim, in actuator units */ +#define PX4IO_P_SETUP_TRIM_YAW 18 /**< Yaw trim, in actuator units */ +#define PX4IO_P_SETUP_SCALE_ROLL 19 /**< Roll scale, in actuator units */ +#define PX4IO_P_SETUP_SCALE_PITCH 20 /**< Pitch scale, in actuator units */ +#define PX4IO_P_SETUP_SCALE_YAW 21 /**< Yaw scale, in actuator units */ + +#define PX4IO_P_SETUP_SBUS_RATE 22 /**< frame rate of SBUS1 output in Hz */ + +#define PX4IO_P_SETUP_MOTOR_SLEW_MAX 24 /**< max motor slew rate */ + +#define PX4IO_P_SETUP_THR_MDL_FAC 25 /**< factor for modelling motor control signal output to static thrust relationship */ + +#define PX4IO_P_SETUP_THERMAL 26 /**< thermal management */ + +#define PX4IO_P_SETUP_AIRMODE 27 /**< air-mode */ + +#define PX4IO_P_SETUP_ENABLE_FLIGHTTERMINATION 28 /**< flight termination; false if the circuit breaker (CBRK_FLIGHTTERM) is set */ + +#define PX4IO_THERMAL_IGNORE UINT16_MAX +#define PX4IO_THERMAL_OFF 0 +#define PX4IO_THERMAL_FULL 10000 + +/* autopilot control values, -10000..10000 */ +#define PX4IO_PAGE_CONTROLS 51 /**< actuator control groups, one after the other, 8 wide */ +#define PX4IO_P_CONTROLS_GROUP_0 (PX4IO_PROTOCOL_MAX_CONTROL_COUNT * 0) /**< 0..PX4IO_PROTOCOL_MAX_CONTROL_COUNT - 1 */ +#define PX4IO_P_CONTROLS_GROUP_1 (PX4IO_PROTOCOL_MAX_CONTROL_COUNT * 1) /**< 0..PX4IO_PROTOCOL_MAX_CONTROL_COUNT - 1 */ +#define PX4IO_P_CONTROLS_GROUP_2 (PX4IO_PROTOCOL_MAX_CONTROL_COUNT * 2) /**< 0..PX4IO_PROTOCOL_MAX_CONTROL_COUNT - 1 */ +#define PX4IO_P_CONTROLS_GROUP_3 (PX4IO_PROTOCOL_MAX_CONTROL_COUNT * 3) /**< 0..PX4IO_PROTOCOL_MAX_CONTROL_COUNT - 1 */ + +#define PX4IO_P_CONTROLS_GROUP_VALID 64 +#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP0 (1 << 0) /**< group 0 is valid / received */ +#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP1 (1 << 1) /**< group 1 is valid / received */ +#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP2 (1 << 2) /**< group 2 is valid / received */ +#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP3 (1 << 3) /**< group 3 is valid / received */ + +/* raw text load to the mixer parser - ignores offset */ +#define PX4IO_PAGE_MIXERLOAD 52 + +/* R/C channel config */ +#define PX4IO_PAGE_RC_CONFIG 53 /**< R/C input configuration */ +#define PX4IO_P_RC_CONFIG_MIN 0 /**< lowest input value */ +#define PX4IO_P_RC_CONFIG_CENTER 1 /**< center input value */ +#define PX4IO_P_RC_CONFIG_MAX 2 /**< highest input value */ +#define PX4IO_P_RC_CONFIG_DEADZONE 3 /**< band around center that is ignored */ +#define PX4IO_P_RC_CONFIG_ASSIGNMENT 4 /**< mapped input value */ +#define PX4IO_P_RC_CONFIG_ASSIGNMENT_MODESWITCH 100 /**< magic value for mode switch */ +#define PX4IO_P_RC_CONFIG_OPTIONS 5 /**< channel options bitmask */ +#define PX4IO_P_RC_CONFIG_OPTIONS_ENABLED (1 << 0) +#define PX4IO_P_RC_CONFIG_OPTIONS_REVERSE (1 << 1) +#define PX4IO_P_RC_CONFIG_STRIDE 6 /**< spacing between channel config data */ + +/* PWM output - overrides mixer */ +#define PX4IO_PAGE_DIRECT_PWM 54 /**< 0..CONFIG_ACTUATOR_COUNT-1 */ + +/* PWM failsafe values - zero disables the output */ +#define PX4IO_PAGE_FAILSAFE_PWM 55 /**< 0..CONFIG_ACTUATOR_COUNT-1 */ + +/* PWM failsafe values - zero disables the output */ +#define PX4IO_PAGE_SENSORS 56 /**< Sensors connected to PX4IO */ +#define PX4IO_P_SENSORS_ALTITUDE 0 /**< Altitude of an external sensor (HoTT or S.BUS2) */ + +/* Debug and test page - not used in normal operation */ +#define PX4IO_PAGE_TEST 127 +#define PX4IO_P_TEST_LED 0 /**< set the amber LED on/off */ + +/* PWM minimum values for certain ESCs */ +#define PX4IO_PAGE_CONTROL_MIN_PWM 106 /**< 0..CONFIG_ACTUATOR_COUNT-1 */ + +/* PWM maximum values for certain ESCs */ +#define PX4IO_PAGE_CONTROL_MAX_PWM 107 /**< 0..CONFIG_ACTUATOR_COUNT-1 */ + +/* PWM mtrim values for central position */ +#define PX4IO_PAGE_CONTROL_TRIM_PWM 108 /**< 0..CONFIG_ACTUATOR_COUNT-1 */ + +/* PWM disarmed values that are active, even when SAFETY_SAFE */ +#define PX4IO_PAGE_DISARMED_PWM 109 /* 0..CONFIG_ACTUATOR_COUNT-1 */ + +/** + * As-needed mixer data upload. + * + * This message adds text to the mixer text buffer; the text + * buffer is drained as the definitions are consumed. + */ +#pragma pack(push, 1) +struct px4io_mixdata { + uint16_t f2i_mixer_magic; +#define F2I_MIXER_MAGIC 0x6d74 + + uint8_t action; +#define F2I_MIXER_ACTION_RESET 0 +#define F2I_MIXER_ACTION_APPEND 1 + + char text[0]; /* actual text size may vary */ +}; +#pragma pack(pop) + +/** + * Serial protocol encapsulation. + */ + +#define PKT_MAX_REGS 32 // by agreement w/FMU + +#pragma pack(push, 1) +struct IOPacket { + uint8_t count_code; + uint8_t crc; + uint8_t page; + uint8_t offset; + uint16_t regs[PKT_MAX_REGS]; +}; +#pragma pack(pop) + +#if (PX4IO_MAX_TRANSFER_LEN > PKT_MAX_REGS * 2) +#error The max transfer length of the IO protocol must not be larger than the IO packet size +#endif + +#define PKT_CODE_READ 0x00 /* FMU->IO read transaction */ +#define PKT_CODE_WRITE 0x40 /* FMU->IO write transaction */ +#define PKT_CODE_SUCCESS 0x00 /* IO->FMU success reply */ +#define PKT_CODE_CORRUPT 0x40 /* IO->FMU bad packet reply */ +#define PKT_CODE_ERROR 0x80 /* IO->FMU register op error reply */ + +#define PKT_CODE_MASK 0xc0 +#define PKT_COUNT_MASK 0x3f + +#define PKT_COUNT(_p) ((_p).count_code & PKT_COUNT_MASK) +#define PKT_CODE(_p) ((_p).count_code & PKT_CODE_MASK) +#define PKT_SIZE(_p) ((size_t)((uint8_t *)&((_p).regs[PKT_COUNT(_p)]) - ((uint8_t *)&(_p)))) + +static const uint8_t crc8_tab[256] __attribute__((unused)) = { + 0x00, 0x07, 0x0E, 0x09, 0x1C, 0x1B, 0x12, 0x15, + 0x38, 0x3F, 0x36, 0x31, 0x24, 0x23, 0x2A, 0x2D, + 0x70, 0x77, 0x7E, 0x79, 0x6C, 0x6B, 0x62, 0x65, + 0x48, 0x4F, 0x46, 0x41, 0x54, 0x53, 0x5A, 0x5D, + 0xE0, 0xE7, 0xEE, 0xE9, 0xFC, 0xFB, 0xF2, 0xF5, + 0xD8, 0xDF, 0xD6, 0xD1, 0xC4, 0xC3, 0xCA, 0xCD, + 0x90, 0x97, 0x9E, 0x99, 0x8C, 0x8B, 0x82, 0x85, + 0xA8, 0xAF, 0xA6, 0xA1, 0xB4, 0xB3, 0xBA, 0xBD, + 0xC7, 0xC0, 0xC9, 0xCE, 0xDB, 0xDC, 0xD5, 0xD2, + 0xFF, 0xF8, 0xF1, 0xF6, 0xE3, 0xE4, 0xED, 0xEA, + 0xB7, 0xB0, 0xB9, 0xBE, 0xAB, 0xAC, 0xA5, 0xA2, + 0x8F, 0x88, 0x81, 0x86, 0x93, 0x94, 0x9D, 0x9A, + 0x27, 0x20, 0x29, 0x2E, 0x3B, 0x3C, 0x35, 0x32, + 0x1F, 0x18, 0x11, 0x16, 0x03, 0x04, 0x0D, 0x0A, + 0x57, 0x50, 0x59, 0x5E, 0x4B, 0x4C, 0x45, 0x42, + 0x6F, 0x68, 0x61, 0x66, 0x73, 0x74, 0x7D, 0x7A, + 0x89, 0x8E, 0x87, 0x80, 0x95, 0x92, 0x9B, 0x9C, + 0xB1, 0xB6, 0xBF, 0xB8, 0xAD, 0xAA, 0xA3, 0xA4, + 0xF9, 0xFE, 0xF7, 0xF0, 0xE5, 0xE2, 0xEB, 0xEC, + 0xC1, 0xC6, 0xCF, 0xC8, 0xDD, 0xDA, 0xD3, 0xD4, + 0x69, 0x6E, 0x67, 0x60, 0x75, 0x72, 0x7B, 0x7C, + 0x51, 0x56, 0x5F, 0x58, 0x4D, 0x4A, 0x43, 0x44, + 0x19, 0x1E, 0x17, 0x10, 0x05, 0x02, 0x0B, 0x0C, + 0x21, 0x26, 0x2F, 0x28, 0x3D, 0x3A, 0x33, 0x34, + 0x4E, 0x49, 0x40, 0x47, 0x52, 0x55, 0x5C, 0x5B, + 0x76, 0x71, 0x78, 0x7F, 0x6A, 0x6D, 0x64, 0x63, + 0x3E, 0x39, 0x30, 0x37, 0x22, 0x25, 0x2C, 0x2B, + 0x06, 0x01, 0x08, 0x0F, 0x1A, 0x1D, 0x14, 0x13, + 0xAE, 0xA9, 0xA0, 0xA7, 0xB2, 0xB5, 0xBC, 0xBB, + 0x96, 0x91, 0x98, 0x9F, 0x8A, 0x8D, 0x84, 0x83, + 0xDE, 0xD9, 0xD0, 0xD7, 0xC2, 0xC5, 0xCC, 0xCB, + 0xE6, 0xE1, 0xE8, 0xEF, 0xFA, 0xFD, 0xF4, 0xF3 +}; + +static uint8_t crc_packet(struct IOPacket *pkt) __attribute__((unused)); +static uint8_t +crc_packet(struct IOPacket *pkt) +{ + uint8_t *end = (uint8_t *)(&pkt->regs[PKT_COUNT(*pkt)]); + uint8_t *p = (uint8_t *)pkt; + uint8_t c = 0; + + while (p < end) { + c = crc8_tab[c ^ * (p++)]; + } + + return c; +} diff --git a/boards/modalai/voxl2-slpi/src/drivers/elrs_led/CMakeLists.txt b/boards/modalai/voxl2-slpi/src/drivers/elrs_led/CMakeLists.txt new file mode 100644 index 000000000000..a16e655a67f6 --- /dev/null +++ b/boards/modalai/voxl2-slpi/src/drivers/elrs_led/CMakeLists.txt @@ -0,0 +1,41 @@ +############################################################################ +# +# Copyright (c) 2023 ModalAI, Inc. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +px4_add_module( + MODULE drivers__elrs_led + MAIN elrs_led + COMPILE_FLAGS + -Wno-cast-align # TODO: fix and enable + SRCS + elrs_led.cpp + ) diff --git a/boards/modalai/voxl2-slpi/src/drivers/elrs_led/elrs_led.cpp b/boards/modalai/voxl2-slpi/src/drivers/elrs_led/elrs_led.cpp new file mode 100644 index 000000000000..93ad304a9719 --- /dev/null +++ b/boards/modalai/voxl2-slpi/src/drivers/elrs_led/elrs_led.cpp @@ -0,0 +1,317 @@ +/**************************************************************************** + * + * Copyright (c) 2023 ModalAI, Inc. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + + +#include +#include +#include +#include +#include +#include +#include +#include +#include "elrs_led.h" + + +extern "C" { __EXPORT int elrs_led_main(int argc, char *argv[]); } + +namespace elrs_led +{ + +std::string _port = "7"; +int _uart_fd = -1; +bool _initialized = false; +bool _is_running = false; +static bool _debug = false; + +static GENERIC_CRC8 crsf_crc{}; +static LEDState _state = LEDState::DEFAULT; +static ControllerInput _off = ControllerInput::DEFAULT; +static ControllerInput _on = ControllerInput::DEFAULT; +static ControllerInput _ir = ControllerInput::DEFAULT; +static ControllerInput _cmd = ControllerInput::DEFAULT; +static ControllerInput _prev_cmd = ControllerInput::DEFAULT; +static std::map ControllerInputMap{ + {ControllerInput::DLEFT, "DLEFT"}, + {ControllerInput::DRIGHT, "DRIGHT"}, + {ControllerInput::DDOWN, "DDOWN"}, + {ControllerInput::DUP, "DUP"}, + {ControllerInput::BACK, "BACK"}, + {ControllerInput::START, "START"}, + {ControllerInput::Y, "Y"}, + {ControllerInput::B, "B"}, + {ControllerInput::A, "A"}, + {ControllerInput::X, "X"}, + {ControllerInput::STICK_RIGHT, "STICK_RIGHT"}, + {ControllerInput::STICK_LEFT, "STICK_LEFT"}, + {ControllerInput::BUMPER_RIGHT, "BUMPER_RIGHT"}, + {ControllerInput::BUMPER_LEFT, "BUMPER_LEFT"}, + {ControllerInput::DEFAULT, "Unkown"} +}; +static px4_task_t _task_handle = -1; +void debug_info(LEDState, uint8_t *); +void make_packet(LEDState, uint8_t *); + +int initialize() +{ + if (_initialized) { + // Already successfully initialized + return 0; + } + + if (_uart_fd < 0) { + _uart_fd = qurt_uart_open(_port.c_str(), 420000); + } + + if (_uart_fd < 0) { + PX4_ERR("Open failed in %s", __FUNCTION__); + return -1; + } + + _initialized = true; + + return 0; +} + +void elrs_led_task() +{ + + PX4_INFO("Starting task for elrs_led"); + + int ret = 0; + int manual_control_input_fd = orb_subscribe(ORB_ID(manual_control_input)); + uint8_t pwmPacket[11] = {0xEC, 0x09, 0x32, 0x70, 0x77, 0x6D, 0x07, 0x75, 0x00, 0x00, 0x00}; + + px4_pollfd_struct_t fds[1] = { { .fd = manual_control_input_fd, .events = POLLIN } }; + + struct manual_control_setpoint_s setpoint_req; + + _is_running = true; + + while (true) { + px4_poll(fds, 1, 10000); + + if (fds[0].revents & POLLIN) { + + orb_copy(ORB_ID(manual_control_input), manual_control_input_fd, &setpoint_req); + + _cmd = (ControllerInput)setpoint_req.buttons; + + // skip duplicate cmds + if (_cmd == _prev_cmd) { + continue; + } + + if (_cmd == _off) { + _prev_cmd = _cmd; + _state = LEDState::OFF; + make_packet(_state, pwmPacket); + ret = qurt_uart_write(_uart_fd, (char *) &pwmPacket[0], sizeof(pwmPacket)); + + if (_debug) { + debug_info(_state, pwmPacket); + } + + } else if (_cmd == _on) { + _prev_cmd = _cmd; + _state = LEDState::ON; + make_packet(_state, pwmPacket); + ret = qurt_uart_write(_uart_fd, (char *) &pwmPacket[0], sizeof(pwmPacket)); + + if (_debug) { + debug_info(_state, pwmPacket); + } + + } else if (_cmd == _ir) { + _prev_cmd = _cmd; + _state = LEDState::IR; + make_packet(_state, pwmPacket); + ret = qurt_uart_write(_uart_fd, (char *) &pwmPacket[0], sizeof(pwmPacket)); + + if (_debug) { + debug_info(_state, pwmPacket); + } + + } + + } + } +} + +int start(int argc, char *argv[]) +{ + + int ch; + int myoptind = 1; + const char *myoptarg = nullptr; + + while ((ch = px4_getopt(argc, argv, "p:o:l:i:d", &myoptind, &myoptarg)) != EOF) { + switch (ch) { + case 'p': + _port = myoptarg; + break; + + case 'o': + _off = getKey(ControllerInputMap, myoptarg); + break; + + case 'l': + _on = getKey(ControllerInputMap, myoptarg); + break; + + case 'i': + _ir = getKey(ControllerInputMap, myoptarg); + break; + + case 'd': + _debug = true; + break; + + default: + break; + } + } + + if (_debug) { + PX4_INFO("ELRS LED Debug Mode Enabled"); + PX4_INFO("Port: %s", _port.c_str()); + PX4_INFO("Button Configuration:"); + PX4_INFO("\tOn: %s", ControllerInputMap.at(_on).c_str()); + PX4_INFO("\tIR: %s", ControllerInputMap.at(_ir).c_str()); + PX4_INFO("\tOff: %s", ControllerInputMap.at(_off).c_str()); + } + + if (! _initialized) { + if (initialize()) { + return -1; + } + } + + if (_is_running) { + PX4_WARN("Already started"); + return 0; + } + + _task_handle = px4_task_spawn_cmd("elrs_led_main", + SCHED_DEFAULT, + SCHED_PRIORITY_DEFAULT, + 2000, + (px4_main_t) &elrs_led_task, + (char *const *)argv); + + if (_task_handle < 0) { + PX4_ERR("task start failed"); + return -1; + } + + return 0; +} + +void +usage() +{ + PX4_INFO("Usage: elrs_led start [options]"); + PX4_INFO("Options: -p uart port number"); + PX4_INFO("Options: -o LEDs off button"); + PX4_INFO("Options: -l Overt LEDs on button"); + PX4_INFO("Options: -i IR LEDs on button"); + PX4_INFO("Options: -d enable debug messages"); +} + +void debug_info(LEDState led_state, uint8_t *pwmPacket) +{ + PX4_INFO(""); + + if (led_state == LEDState::ON) { + PX4_INFO("Turning LEDs on"); + + } else if (led_state == LEDState::OFF) { + PX4_INFO("Turning LEDs off"); + + } else if (led_state == LEDState::IR) { + PX4_INFO("Turning IR LEDs on"); + + } else { + PX4_WARN("ELRS LED: LED state unknown: 0x%x", led_state); + } + + PX4_INFO("Wrote packet: [0x%x, 0x%x, 0x%x, 0x%x, 0x%x, 0x%x, 0x%x, 0x%x, 0x%x, 0x%x, 0x%x]", + pwmPacket[0], pwmPacket[1], pwmPacket[2], pwmPacket[3], pwmPacket[4], pwmPacket[5], + pwmPacket[6], pwmPacket[7], pwmPacket[8], pwmPacket[9], pwmPacket[10]); +} + +void make_packet(LEDState led_state, uint8_t *pwmPacket) +{ + if (led_state == LEDState::OFF) { + pwmPacket[8] = 0x03; + pwmPacket[9] = 0x84; + pwmPacket[10] = crsf_crc.calc(&pwmPacket[CRSF_FRAME_NOT_COUNTED_BYTES], PWM_FRAME_SIZE - 1, 0); + + } else if (led_state == LEDState::ON) { + pwmPacket[8] = 0x05; + pwmPacket[9] = 0xAA; + pwmPacket[10] = crsf_crc.calc(&pwmPacket[CRSF_FRAME_NOT_COUNTED_BYTES], PWM_FRAME_SIZE - 1, 0); + + } else if (led_state == LEDState::IR) { + pwmPacket[8] = 0x07; + pwmPacket[9] = 0xFF; + pwmPacket[10] = crsf_crc.calc(&pwmPacket[CRSF_FRAME_NOT_COUNTED_BYTES], PWM_FRAME_SIZE - 1, 0); + + } else { + PX4_WARN("ELRS LED: Unknown LED state."); + } +} + +} // End namespance elrs_led + +int elrs_led_main(int argc, char *argv[]) +{ + int myoptind = 1; + + if (argc <= 1) { + elrs_led::usage(); + return -1; + } + + const char *verb = argv[myoptind]; + + if (!strcmp(verb, "start")) { + return elrs_led::start(argc - 1, argv + 1); + + } else { + elrs_led::usage(); + return -1; + } + + return 0; +} diff --git a/boards/modalai/voxl2-slpi/src/drivers/elrs_led/elrs_led.h b/boards/modalai/voxl2-slpi/src/drivers/elrs_led/elrs_led.h new file mode 100644 index 000000000000..1c71e5e81b0e --- /dev/null +++ b/boards/modalai/voxl2-slpi/src/drivers/elrs_led/elrs_led.h @@ -0,0 +1,110 @@ +/**************************************************************************** + * + * Copyright (c) 2023 ModalAI, Inc. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include +#include + +#define crclen 256 +#define CRSF_CRC_POLY 0xd5 +#define CRSF_FRAME_NOT_COUNTED_BYTES 2 +#define PWM_FRAME_SIZE 9 + + +enum class ControllerInput : uint32_t { + DLEFT = 0x2000, + DRIGHT = 0x4000, + DDOWN = 0x1000, + DUP = 0x800, + BACK = 0x10, + START = 0x40, + Y = 0x08, + B = 0x02, + A = 0x01, + X = 0x04, + STICK_RIGHT = 0x100, + STICK_LEFT = 0x80, + BUMPER_RIGHT = 0x400, + BUMPER_LEFT = 0x200, + DEFAULT = 0xFFFFFFFF +}; + +enum class LEDState : uint8_t { + OFF = 0x00, + ON = 0x01, + IR = 0x02, + DEFAULT = 0xFF +}; + + +class GENERIC_CRC8 +{ +public: + GENERIC_CRC8() {}; + uint8_t calc(const uint8_t *data, uint16_t len, uint8_t crc) + { + while (len--) { + crc = crc8tab[crc ^ *data++]; + } + + return crc; + } + +private: + uint8_t crc8tab[crclen] = {0, 213, 127, 170, 254, 43, 129, 84, 41, 252, 86, 131, 215, 2, 168, 125, 82, 135, + 45, 248, 172, 121, 211, 6, 123, 174, 4, 209, 133, 80, 250, 47, 164, 113, 219, 14, + 90, 143, 37, 240, 141, 88, 242, 39, 115, 166, 12, 217, 246, 35, 137, 92, 8, 221, + 119, 162, 223, 10, 160, 117, 33, 244, 94, 139, 157, 72, 226, 55, 99, 182, 28, 201, + 180, 97, 203, 30, 74, 159, 53, 224, 207, 26, 176, 101, 49, 228, 78, 155, 230, 51, + 153, 76, 24, 205, 103, 178, 57, 236, 70, 147, 199, 18, 184, 109, 16, 197, 111, 186, + 238, 59, 145, 68, 107, 190, 20, 193, 149, 64, 234, 63, 66, 151, 61, 232, 188, 105, + 195, 22, 239, 58, 144, 69, 17, 196, 110, 187, 198, 19, 185, 108, 56, 237, 71, 146, + 189, 104, 194, 23, 67, 150, 60, 233, 148, 65, 235, 62, 106, 191, 21, 192, 75, 158, + 52, 225, 181, 96, 202, 31, 98, 183, 29, 200, 156, 73, 227, 54, 25, 204, 102, 179, 231, + 50, 152, 77, 48, 229, 79, 154, 206, 27, 177, 100, 114, 167, 13, 216, 140, 89, 243, + 38, 91, 142, 36, 241, 165, 112, 218, 15, 32, 245, 95, 138, 222, 11, 161, 116, 9, 220, + 118, 163, 247, 34, 136, 93, 214, 3, 169, 124, 40, 253, 87, 130, 255, 42, 128, 85, 1, + 212, 126, 171, 132, 81, 251, 46, 122, 175, 5, 208, 173, 120, 210, 7, 83, 134, 44, 249 + }; +}; + + +ControllerInput getKey(const std::map &map, const std::string &value) +{ + for (const auto &pair : map) { + if (pair.second == value) { + return pair.first; + } + } + + return ControllerInput::DEFAULT; +} diff --git a/boards/modalai/voxl2-slpi/src/drivers/ghst_rc/CMakeLists.txt b/boards/modalai/voxl2-slpi/src/drivers/ghst_rc/CMakeLists.txt new file mode 100644 index 000000000000..ad2576f3e6fd --- /dev/null +++ b/boards/modalai/voxl2-slpi/src/drivers/ghst_rc/CMakeLists.txt @@ -0,0 +1,47 @@ +############################################################################ +# +# Copyright (c) 2022 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ +px4_add_module( + MODULE drivers__ghst_rc + MAIN ghst_rc + COMPILE_FLAGS + INCLUDES + ${PX4_SOURCE_DIR}/src/drivers/rc_input + ${PX4_SOURCE_DIR}/src/lib/rc/spektrum_rssi.h + SRCS + ghst_rc.cpp + ghst_rc.hpp + MODULE_CONFIG + module.yaml + DEPENDS + rc + ) diff --git a/boards/modalai/voxl2-slpi/src/drivers/ghst_rc/Kconfig b/boards/modalai/voxl2-slpi/src/drivers/ghst_rc/Kconfig new file mode 100644 index 000000000000..0d2b31437fe1 --- /dev/null +++ b/boards/modalai/voxl2-slpi/src/drivers/ghst_rc/Kconfig @@ -0,0 +1,5 @@ +menuconfig DRIVERS_GHST_RC + bool "ghst_rc" + default n + ---help--- + Enable support for ghst rc diff --git a/boards/modalai/voxl2-slpi/src/drivers/ghst_rc/ghst_rc.cpp b/boards/modalai/voxl2-slpi/src/drivers/ghst_rc/ghst_rc.cpp new file mode 100644 index 000000000000..e213179922ad --- /dev/null +++ b/boards/modalai/voxl2-slpi/src/drivers/ghst_rc/ghst_rc.cpp @@ -0,0 +1,312 @@ +/**************************************************************************** + * + * Copyright (c) 2022 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include +#include "ghst_rc.hpp" +#include + +#include + +#include + +#include +#include + +#include +#include +#include +#include + +using namespace time_literals; + +uint32_t GhstRc::baudrate = GHST_BAUDRATE; + +GhstRc::GhstRc(const char *device) : + ModuleParams(nullptr), + ScheduledWorkItem(MODULE_NAME, px4::serial_port_to_wq(GHST_RC_DEFAULT_PORT)) +{ + if (device) { + strncpy(_device, device, sizeof(_device) - 1); + _device[sizeof(_device) - 1] = '\0'; + } +} + +GhstRc::~GhstRc() +{ + perf_free(_cycle_interval_perf); + perf_free(_publish_interval_perf); +} + +int GhstRc::task_spawn(int argc, char *argv[]) +{ + bool error_flag = false; + + int myoptind = 1; + int ch; + const char *myoptarg = nullptr; + const char *device_name = nullptr; + + while ((ch = px4_getopt(argc, argv, "d:b:", &myoptind, &myoptarg)) != EOF) { + switch (ch) { + case 'd': + device_name = myoptarg; + break; + + case 'b': + baudrate = atoi(myoptarg); + PX4_INFO("Setting GHST baudrate to %u", baudrate); + break; + + case '?': + error_flag = true; + break; + + default: + PX4_WARN("unrecognized flag"); + error_flag = true; + break; + } + } + + if (error_flag) { + return PX4_ERROR; + } + + if (!device_name) { + PX4_ERR("Valid device required"); + return PX4_ERROR; + } + + GhstRc *instance = new GhstRc(device_name); + + if (instance == nullptr) { + PX4_ERR("alloc failed"); + return PX4_ERROR; + } + + _object.store(instance); + _task_id = task_id_is_work_queue; + + instance->ScheduleNow(); + + return PX4_OK; +} + +void GhstRc::fill_rc_in(uint16_t raw_rc_count_local, + uint16_t raw_rc_values_local[GHST_MAX_NUM_CHANNELS], + hrt_abstime now, bool frame_drop, bool failsafe, + unsigned frame_drops, int rssi = -1) +{ + // fill rc_in struct for publishing + _rc_in.channel_count = raw_rc_count_local; + + if (_rc_in.channel_count > GHST_MAX_NUM_CHANNELS) { + _rc_in.channel_count = GHST_MAX_NUM_CHANNELS; + } + + unsigned valid_chans = 0; + + for (unsigned i = 0; i < _rc_in.channel_count; i++) { + _rc_in.values[i] = raw_rc_values_local[i]; + + if (raw_rc_values_local[i] != UINT16_MAX) { + valid_chans++; + } + + // once filled, reset values back to default + _raw_rc_values[i] = UINT16_MAX; + } + + _rc_in.timestamp = now; + _rc_in.timestamp_last_signal = _rc_in.timestamp; + _rc_in.rc_ppm_frame_length = 0; + + /* fake rssi if no value was provided */ + if (rssi == -1) { + _rc_in.rssi = 255; + + } else { + _rc_in.rssi = rssi; + } + + if (valid_chans == 0) { + _rc_in.rssi = 0; + } + + _rc_in.rc_failsafe = failsafe; + _rc_in.rc_lost = (valid_chans == 0); + _rc_in.rc_lost_frame_count = frame_drops; + _rc_in.rc_total_frame_count = 0; +} + +void GhstRc::Run() +{ + if (should_exit()) { + ScheduleClear(); + _rc_fd = -1; + exit_and_cleanup(); + return; + } + + if (_rc_fd < 0) { + _rc_fd = qurt_uart_open(_device, baudrate); + + if (_rc_fd < 0) { + PX4_ERR("Error opening port: %s", _device); + return; + } + + if (_rc_fd >= 0) { + _is_singlewire = true; + + // Configure serial port for GHST + ghst_config(_rc_fd); + } + + _rc_in.rssi_dbm = NAN; + _rc_in.link_quality = -1; + + } + + const hrt_abstime time_now_us = hrt_absolute_time(); + const hrt_abstime cycle_timestamp = time_now_us; + perf_count_interval(_cycle_interval_perf, time_now_us); + + // Read all available data from the serial RC input UART + int new_bytes = qurt_uart_read(_rc_fd, (char *) &_rcs_buf[0], RC_MAX_BUFFER_SIZE, 500); + + if (new_bytes > 0) { + _bytes_rx += new_bytes; + int8_t ghst_rssi = -1; + bool rc_updated = ghst_parse(cycle_timestamp, &_rcs_buf[0], new_bytes, &_raw_rc_values[0], &ghst_rssi, + &_raw_rc_count, GHST_MAX_NUM_CHANNELS); + + if (rc_updated) { + _last_packet_seen = time_now_us; + // we have a new GHST frame. Publish it. + _rc_in.input_source = input_rc_s::RC_INPUT_SOURCE_PX4FMU_GHST; + fill_rc_in(_raw_rc_count, _raw_rc_values, cycle_timestamp, false, false, 0, ghst_rssi); + + // ghst telemetry works on fmu-v5 + // on other Pixhawk (-related) boards we cannot write to the RC UART + // another option is to use a different UART port +#ifdef BOARD_SUPPORTS_RC_SERIAL_PORT_OUTPUT + + if (!_ghst_telemetry) { + _ghst_telemetry = new GHSTTelemetry(_rcs_fd); + } + + if (_ghst_telemetry) { + _ghst_telemetry->update(cycle_timestamp); + } + +#endif /* BOARD_SUPPORTS_RC_SERIAL_PORT_OUTPUT */ + } + } + + // If no communication + if (time_now_us - _last_packet_seen > 100_ms) { + // Invalidate link statistics + _rc_in.rssi_dbm = NAN; + _rc_in.link_quality = -1; + } + + // If we have not gotten RC updates specifically + if (time_now_us - _rc_in.timestamp_last_signal > 50_ms) { + _rc_in.rc_lost = 1; + _rc_in.rc_failsafe = 1; + _rc_in.rssi_dbm = NAN; + _rc_in.link_quality = -1; + + } else { + _rc_in.rc_lost = 0; + _rc_in.rc_failsafe = 0; + } + + _rc_in.input_source = input_rc_s::RC_INPUT_SOURCE_PX4FMU_GHST; + _rc_in.timestamp = hrt_absolute_time(); + _input_rc_pub.publish(_rc_in); + + perf_count(_publish_interval_perf); + + ScheduleDelayed(4_ms); +} + +int GhstRc::print_status() +{ + if (_device[0] != '\0') { + PX4_INFO("UART device: %s", _device); + PX4_INFO("UART RX bytes: %" PRIu32, _bytes_rx); + } + + if (_is_singlewire) { + PX4_INFO("Telemetry disabled: Singlewire RC port"); + } + + perf_print_counter(_cycle_interval_perf); + perf_print_counter(_publish_interval_perf); + + return 0; +} + +int GhstRc::custom_command(int argc, char *argv[]) +{ + return print_usage("unknown command"); +} + +int GhstRc::print_usage(const char *reason) +{ + if (reason) { + PX4_WARN("%s\n", reason); + } + + PRINT_MODULE_DESCRIPTION( + R"DESCR_STR( +### Description +This module parses the GHST RC uplink protocol and can generate GHST downlink telemetry data + +)DESCR_STR"); + + PRINT_MODULE_USAGE_NAME("ghst_rc", "driver"); + PRINT_MODULE_USAGE_COMMAND("start"); + PRINT_MODULE_USAGE_PARAM_STRING('d', "/dev/ttyS3", "", "RC device", true); + + PRINT_MODULE_USAGE_DEFAULT_COMMANDS(); + + return 0; +} + +extern "C" __EXPORT int ghst_rc_main(int argc, char *argv[]) +{ + return GhstRc::main(argc, argv); +} diff --git a/boards/modalai/voxl2-slpi/src/drivers/ghst_rc/ghst_rc.hpp b/boards/modalai/voxl2-slpi/src/drivers/ghst_rc/ghst_rc.hpp new file mode 100644 index 000000000000..c9fe697e62cf --- /dev/null +++ b/boards/modalai/voxl2-slpi/src/drivers/ghst_rc/ghst_rc.hpp @@ -0,0 +1,125 @@ +/**************************************************************************** + * + * Copyright (c) 2022 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#pragma once + + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +// telemetry +#include +#include +#include +#include +#include + +#define GHST_MAX_NUM_CHANNELS (16) + +class GhstRc : public ModuleBase, public ModuleParams, public px4::ScheduledWorkItem +{ +public: + GhstRc(const char *device); + ~GhstRc() override; + + /** @see ModuleBase */ + static int task_spawn(int argc, char *argv[]); + + /** @see ModuleBase */ + static int custom_command(int argc, char *argv[]); + + /** @see ModuleBase */ + static int print_usage(const char *reason = nullptr); + + /** @see ModuleBase::print_status() */ + int print_status() override; + + void fill_rc_in(uint16_t raw_rc_count_local, + uint16_t raw_rc_values_local[GHST_MAX_NUM_CHANNELS], + hrt_abstime now, bool frame_drop, bool failsafe, + unsigned frame_drops, int rssi); + +private: + void Run() override; + + bool SendTelemetryBattery(const uint16_t voltage, const uint16_t current, const int fuel, const uint8_t remaining); + + bool SendTelemetryGps(const int32_t latitude, const int32_t longitude, const uint16_t groundspeed, + const uint16_t gps_heading, const uint16_t altitude, const uint8_t num_satellites); + + bool SendTelemetryAttitude(const int16_t pitch, const int16_t roll, const int16_t yaw); + + bool SendTelemetryFlightMode(const char *flight_mode); + + + uORB::PublicationMulti _input_rc_pub{ORB_ID(input_rc)}; + input_rc_s _rc_in{}; + int _rc_fd{-1}; + char _device[20] {}; // device / serial port path + bool _is_singlewire{true}; + + static constexpr size_t RC_MAX_BUFFER_SIZE{64}; + uint8_t _rcs_buf[RC_MAX_BUFFER_SIZE] {}; + uint32_t _bytes_rx{0}; + + uint16_t _raw_rc_values[GHST_MAX_NUM_CHANNELS] {}; + uint16_t _raw_rc_count{}; + + hrt_abstime _last_packet_seen{0}; + + // telemetry + hrt_abstime _telemetry_update_last{0}; + static constexpr int num_data_types{4}; ///< number of different telemetry data types + int _next_type{0}; + static uint32_t baudrate; + uORB::Subscription _battery_status_sub{ORB_ID(battery_status)}; + uORB::Subscription _vehicle_attitude_sub{ORB_ID(vehicle_attitude)}; + uORB::Subscription _vehicle_gps_position_sub{ORB_ID(vehicle_gps_position)}; + uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)}; + + + perf_counter_t _cycle_interval_perf{perf_alloc(PC_INTERVAL, MODULE_NAME": cycle interval")}; + perf_counter_t _publish_interval_perf{perf_alloc(PC_INTERVAL, MODULE_NAME": publish interval")}; + + // DEFINE_PARAMETERS( + // (ParamBool) _param_rc_ghst_tel_en + // ) +}; diff --git a/boards/modalai/voxl2-slpi/src/drivers/ghst_rc/module.yaml b/boards/modalai/voxl2-slpi/src/drivers/ghst_rc/module.yaml new file mode 100644 index 000000000000..8f3998c2b133 --- /dev/null +++ b/boards/modalai/voxl2-slpi/src/drivers/ghst_rc/module.yaml @@ -0,0 +1,10 @@ +module_name: GHST RC Input Driver +serial_config: + - command: "ghst_rc start -d ${SERIAL_DEV}" + port_config_param: + name: RC_GHST_PRT_CFG + group: Serial + #default: RC + #depends_on_port: RC + description_extended: | + Ghost RC (GHST) driver. diff --git a/boards/modalai/voxl2-slpi/src/drivers/icm42688p/CMakeLists.txt b/boards/modalai/voxl2-slpi/src/drivers/icm42688p/CMakeLists.txt deleted file mode 100644 index 1f8e2102a5d9..000000000000 --- a/boards/modalai/voxl2-slpi/src/drivers/icm42688p/CMakeLists.txt +++ /dev/null @@ -1,48 +0,0 @@ -############################################################################ -# -# Copyright (c) 2020 PX4 Development Team. All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# 1. Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# 2. Redistributions in binary form must reproduce the above copyright -# notice, this list of conditions and the following disclaimer in -# the documentation and/or other materials provided with the -# distribution. -# 3. Neither the name PX4 nor the names of its contributors may be -# used to endorse or promote products derived from this software -# without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS -# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED -# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. -# -############################################################################ -px4_add_module( - MODULE drivers__imu__invensense__icm42688p - MAIN icm42688p - COMPILE_FLAGS - ${MAX_CUSTOM_OPT_LEVEL} - SRCS - icm42688p_main.cpp - ICM42688P.cpp - ICM42688P.hpp - InvenSense_ICM42688P_registers.hpp - DEPENDS - px4_work_queue - drivers_accelerometer - drivers_gyroscope - drivers__device - ) diff --git a/boards/modalai/voxl2-slpi/src/drivers/icm42688p/ICM42688P.cpp b/boards/modalai/voxl2-slpi/src/drivers/icm42688p/ICM42688P.cpp deleted file mode 100644 index daf593d80c6f..000000000000 --- a/boards/modalai/voxl2-slpi/src/drivers/icm42688p/ICM42688P.cpp +++ /dev/null @@ -1,985 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2020 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -#include "ICM42688P.hpp" - -bool hitl_mode = false; - -using namespace time_literals; - -static constexpr int16_t combine(uint8_t msb, uint8_t lsb) -{ - return (msb << 8u) | lsb; -} - -ICM42688P::ICM42688P(const I2CSPIDriverConfig &config) : - // SPI(DRV_IMU_DEVTYPE_ICM42688P, MODULE_NAME, bus, device, spi_mode, bus_frequency), - // I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus), - // _drdy_gpio(drdy_gpio) - SPI(config), - I2CSPIDriver(config), - _drdy_gpio(config.drdy_gpio), - _px4_accel(get_device_id(), config.rotation), - _px4_gyro(get_device_id(), config.rotation) -{ - if (config.drdy_gpio != 0) { - _drdy_missed_perf = perf_alloc(PC_COUNT, MODULE_NAME": DRDY missed"); - } - - if (!hitl_mode) { - // _px4_accel = std::make_shared(get_device_id(), rotation); - // _px4_gyro = std::make_shared(get_device_id(), rotation); - ConfigureSampleRate(_px4_gyro.get_max_rate_hz()); - // _imu_server_pub.advertise(); - - } else { - ConfigureSampleRate(0); - } -} - -ICM42688P::~ICM42688P() -{ - perf_free(_bad_register_perf); - perf_free(_bad_transfer_perf); - perf_free(_fifo_empty_perf); - perf_free(_fifo_overflow_perf); - perf_free(_fifo_reset_perf); - perf_free(_drdy_missed_perf); - - // if (!hitl_mode){ - // _imu_server_pub.unadvertise(); - // } -} - -int ICM42688P::init() -{ - int ret = SPI::init(); - - if (ret != PX4_OK) { - DEVICE_DEBUG("SPI::init failed (%i)", ret); - return ret; - } - - return Reset() ? 0 : -1; -} - -bool ICM42688P::Reset() -{ - _state = STATE::RESET; - DataReadyInterruptDisable(); - ScheduleClear(); - ScheduleNow(); - return true; -} - -void ICM42688P::exit_and_cleanup() -{ - DataReadyInterruptDisable(); - I2CSPIDriverBase::exit_and_cleanup(); -} - -void ICM42688P::print_status() -{ - I2CSPIDriverBase::print_status(); - - PX4_INFO("FIFO empty interval: %d us (%.1f Hz)", _fifo_empty_interval_us, 1e6 / _fifo_empty_interval_us); - - perf_print_counter(_bad_register_perf); - perf_print_counter(_bad_transfer_perf); - perf_print_counter(_fifo_empty_perf); - perf_print_counter(_fifo_overflow_perf); - perf_print_counter(_fifo_reset_perf); - perf_print_counter(_drdy_missed_perf); -} - -int ICM42688P::probe() -{ - for (int i = 0; i < 3; i++) { - uint8_t whoami = RegisterRead(Register::BANK_0::WHO_AM_I); - - if (whoami == WHOAMI) { - PX4_INFO("ICM42688P::probe successful!"); - return PX4_OK; - - } else { - DEVICE_DEBUG("unexpected WHO_AM_I 0x%02x", whoami); - - uint8_t reg_bank_sel = RegisterRead(Register::BANK_0::REG_BANK_SEL); - int bank = reg_bank_sel >> 4; - - if (bank >= 1 && bank <= 3) { - DEVICE_DEBUG("incorrect register bank for WHO_AM_I REG_BANK_SEL:0x%02x, bank:%d", reg_bank_sel, bank); - // force bank selection and retry - SelectRegisterBank(REG_BANK_SEL_BIT::USER_BANK_0, true); - } - } - } - - return PX4_ERROR; -} - -void ICM42688P::RunImpl() -{ - PX4_INFO(">>> ICM42688P this: %p", this); - - const hrt_abstime now = hrt_absolute_time(); - - switch (_state) { - case STATE::RESET: - // DEVICE_CONFIG: Software reset configuration - RegisterWrite(Register::BANK_0::DEVICE_CONFIG, DEVICE_CONFIG_BIT::SOFT_RESET_CONFIG); - _reset_timestamp = now; - _failure_count = 0; - _state = STATE::WAIT_FOR_RESET; - ScheduleDelayed(2_ms); // to be safe wait 2 ms for soft reset to be effective - break; - - case STATE::WAIT_FOR_RESET: - if ((RegisterRead(Register::BANK_0::WHO_AM_I) == WHOAMI) - && (RegisterRead(Register::BANK_0::DEVICE_CONFIG) == 0x00) - && (RegisterRead(Register::BANK_0::INT_STATUS) & INT_STATUS_BIT::RESET_DONE_INT)) { - - _state = STATE::CONFIGURE; - ScheduleDelayed(10_ms); // 30 ms gyro startup time, 10 ms accel from sleep to valid data - - } else { - // RESET not complete - if (hrt_elapsed_time(&_reset_timestamp) > 1000_ms) { - PX4_DEBUG("Reset failed, retrying"); - _state = STATE::RESET; - ScheduleDelayed(100_ms); - - } else { - PX4_DEBUG("Reset not complete, check again in 10 ms"); - ScheduleDelayed(10_ms); - } - } - - break; - - case STATE::CONFIGURE: - - if (Configure()) { - - // Wakeup accel and gyro after configuring registers - ScheduleDelayed(1_ms); // add a delay here to be safe - RegisterWrite(Register::BANK_0::PWR_MGMT0, PWR_MGMT0_BIT::GYRO_MODE_LOW_NOISE | PWR_MGMT0_BIT::ACCEL_MODE_LOW_NOISE); - ScheduleDelayed(30_ms); // 30 ms gyro startup time, 10 ms accel from sleep to valid data - - // if configure succeeded then start reading from FIFO - _state = STATE::FIFO_READ; - - if (DataReadyInterruptConfigure()) { - _data_ready_interrupt_enabled = true; - - // backup schedule as a watchdog timeout - ScheduleDelayed(100_ms); - - } else { - PX4_ERR("ICM42688P::RunImpl interrupt configuration failed"); - - _data_ready_interrupt_enabled = false; - ScheduleOnInterval(_fifo_empty_interval_us, _fifo_empty_interval_us); - } - - FIFOReset(); - - } else { - - PX4_ERR("ICM42688P::RunImpl configuration failed"); - - // CONFIGURE not complete - if (hrt_elapsed_time(&_reset_timestamp) > 1000_ms) { - PX4_DEBUG("Configure failed, resetting"); - _state = STATE::RESET; - - } else { - PX4_DEBUG("Configure failed, retrying"); - } - - ScheduleDelayed(100_ms); - } - - break; - - case STATE::FIFO_READ: { -#ifndef __PX4_QURT - uint32_t samples = 0; - - if (_data_ready_interrupt_enabled) { - // scheduled from interrupt if _drdy_fifo_read_samples was set as expected - if (_drdy_fifo_read_samples.fetch_and(0) != _fifo_gyro_samples) { - perf_count(_drdy_missed_perf); - - } else { - samples = _fifo_gyro_samples; - } - - // push backup schedule back - ScheduleDelayed(_fifo_empty_interval_us * 2); - } - - if (samples == 0) { - // check current FIFO count - const uint16_t fifo_count = FIFOReadCount(); - - if (fifo_count >= FIFO::SIZE) { - FIFOReset(); - perf_count(_fifo_overflow_perf); - - } else if (fifo_count == 0) { - perf_count(_fifo_empty_perf); - - } else { - // FIFO count (size in bytes) - samples = (fifo_count / sizeof(FIFO::DATA)); - - if (samples > FIFO_MAX_SAMPLES) { - // not technically an overflow, but more samples than we expected or can publish - FIFOReset(); - perf_count(_fifo_overflow_perf); - samples = 0; - } - } - } - - bool success = false; - - if (samples >= 1) { - if (FIFORead(now, samples)) { - success = true; - - if (_failure_count > 0) { - _failure_count--; - } - } - } - - if (!success) { - _failure_count++; - - // full reset if things are failing consistently - if (_failure_count > 10) { - Reset(); - return; - } - } - - // check configuration registers periodically or immediately following any failure - if (RegisterCheck(_register_bank0_cfg[_checked_register_bank0]) - && RegisterCheck(_register_bank1_cfg[_checked_register_bank1]) - && RegisterCheck(_register_bank2_cfg[_checked_register_bank2]) - ) { - _last_config_check_timestamp = now; - _checked_register_bank0 = (_checked_register_bank0 + 1) % size_register_bank0_cfg; - _checked_register_bank1 = (_checked_register_bank1 + 1) % size_register_bank1_cfg; - _checked_register_bank2 = (_checked_register_bank2 + 1) % size_register_bank2_cfg; - - } else { - // register check failed, force reset - perf_count(_bad_register_perf); - Reset(); - } - -#endif - } - - break; - } -} - -void ICM42688P::ConfigureSampleRate(int sample_rate) -{ - if (sample_rate == 0) { - sample_rate = 800; // default to 800 Hz - } - - // round down to nearest FIFO sample dt - const float min_interval = FIFO_SAMPLE_DT; - _fifo_empty_interval_us = math::max(roundf((1e6f / (float)sample_rate) / min_interval) * min_interval, min_interval); - - _fifo_gyro_samples = roundf(math::min((float)_fifo_empty_interval_us / (1e6f / GYRO_RATE), (float)FIFO_MAX_SAMPLES)); - - // recompute FIFO empty interval (us) with actual gyro sample limit - _fifo_empty_interval_us = _fifo_gyro_samples * (1e6f / GYRO_RATE); - - ConfigureFIFOWatermark(_fifo_gyro_samples); -} - -void ICM42688P::ConfigureFIFOWatermark(uint8_t samples) -{ - // FIFO watermark threshold in number of bytes - const uint16_t fifo_watermark_threshold = samples * sizeof(FIFO::DATA); - - for (auto &r : _register_bank0_cfg) { - if (r.reg == Register::BANK_0::FIFO_CONFIG2) { - // FIFO_WM[7:0] FIFO_CONFIG2 - r.set_bits = fifo_watermark_threshold & 0xFF; - - } else if (r.reg == Register::BANK_0::FIFO_CONFIG3) { - // FIFO_WM[11:8] FIFO_CONFIG3 - r.set_bits = (fifo_watermark_threshold >> 8) & 0x0F; - } - } -} - -void ICM42688P::SelectRegisterBank(enum REG_BANK_SEL_BIT bank, bool force) -{ - if (bank != _last_register_bank || force) { - // select BANK_0 - uint8_t cmd_bank_sel[2] {}; - cmd_bank_sel[0] = static_cast(Register::BANK_0::REG_BANK_SEL); - cmd_bank_sel[1] = bank; - transfer(cmd_bank_sel, cmd_bank_sel, sizeof(cmd_bank_sel)); - - _last_register_bank = bank; - } -} - -bool ICM42688P::Configure() -{ - // first set and clear all configured register bits - for (const auto ®_cfg : _register_bank0_cfg) { - RegisterSetAndClearBits(reg_cfg.reg, reg_cfg.set_bits, reg_cfg.clear_bits); - } - - for (const auto ®_cfg : _register_bank1_cfg) { - RegisterSetAndClearBits(reg_cfg.reg, reg_cfg.set_bits, reg_cfg.clear_bits); - } - - for (const auto ®_cfg : _register_bank2_cfg) { - RegisterSetAndClearBits(reg_cfg.reg, reg_cfg.set_bits, reg_cfg.clear_bits); - } - - // now check that all are configured - bool success = true; - - for (const auto ®_cfg : _register_bank0_cfg) { - if (!RegisterCheck(reg_cfg)) { - success = false; - } - } - - for (const auto ®_cfg : _register_bank1_cfg) { - if (!RegisterCheck(reg_cfg)) { - success = false; - } - } - - for (const auto ®_cfg : _register_bank2_cfg) { - if (!RegisterCheck(reg_cfg)) { - success = false; - } - } - - // // 20-bits data format used - // // the only FSR settings that are operational are ±2000dps for gyroscope and ±16g for accelerometer - if (!hitl_mode) { - _px4_accel.set_range(16.f * CONSTANTS_ONE_G); - _px4_accel.set_scale(CONSTANTS_ONE_G / 8192.f); - _px4_gyro.set_range(math::radians(2000.f)); - _px4_gyro.set_scale(math::radians(1.f / 131.f)); - } - - return success; -} - -static bool interrupt_debug = false; -static uint32_t interrupt_debug_count = 0; -static const uint32_t interrupt_debug_trigger = 800; -static hrt_abstime last_interrupt_time = 0; -static hrt_abstime avg_interrupt_delta = 0; -static hrt_abstime max_interrupt_delta = 0; -static hrt_abstime min_interrupt_delta = 60 * 1000 * 1000; -static hrt_abstime cumulative_interrupt_delta = 0; - -int ICM42688P::DataReadyInterruptCallback(int irq, void *context, void *arg) -{ - hrt_abstime current_interrupt_time = hrt_absolute_time(); - - if (interrupt_debug) { - if (last_interrupt_time) { - hrt_abstime interrupt_delta_time = current_interrupt_time - last_interrupt_time; - - if (interrupt_delta_time > max_interrupt_delta) { max_interrupt_delta = interrupt_delta_time; } - - if (interrupt_delta_time < min_interrupt_delta) { min_interrupt_delta = interrupt_delta_time; } - - cumulative_interrupt_delta += interrupt_delta_time; - } - - last_interrupt_time = current_interrupt_time; - - interrupt_debug_count++; - - if (interrupt_debug_count == interrupt_debug_trigger) { - avg_interrupt_delta = cumulative_interrupt_delta / interrupt_debug_trigger; - PX4_INFO(">>> Max: %llu, Min: %llu, Avg: %llu", max_interrupt_delta, - min_interrupt_delta, avg_interrupt_delta); - interrupt_debug_count = 0; - cumulative_interrupt_delta = 0; - } - } - - static_cast(arg)->DataReady(); - - return 0; -} - -void ICM42688P::DataReady() -{ -#ifndef __PX4_QURT - uint32_t expected = 0; - - if (_drdy_fifo_read_samples.compare_exchange(&expected, _fifo_gyro_samples)) { - ScheduleNow(); - } - -#else - uint16_t fifo_byte_count = FIFOReadCount(); - - FIFORead(hrt_absolute_time(), fifo_byte_count / sizeof(FIFO::DATA)); -#endif -} - -bool ICM42688P::DataReadyInterruptConfigure() -{ - if (_drdy_gpio == 0) { - return false; - } - - // Setup data ready on falling edge - return px4_arch_gpiosetevent(_drdy_gpio, false, true, true, &DataReadyInterruptCallback, this) == 0; -} - -bool ICM42688P::DataReadyInterruptDisable() -{ - if (_drdy_gpio == 0) { - return false; - } - - return px4_arch_gpiosetevent(_drdy_gpio, false, false, false, nullptr, nullptr) == 0; -} - -template -bool ICM42688P::RegisterCheck(const T ®_cfg) -{ - bool success = true; - - const uint8_t reg_value = RegisterRead(reg_cfg.reg); - - if (reg_cfg.set_bits && ((reg_value & reg_cfg.set_bits) != reg_cfg.set_bits)) { - PX4_DEBUG("0x%02hhX: 0x%02hhX (0x%02hhX not set)", (uint8_t)reg_cfg.reg, reg_value, reg_cfg.set_bits); - success = false; - } - - if (reg_cfg.clear_bits && ((reg_value & reg_cfg.clear_bits) != 0)) { - PX4_DEBUG("0x%02hhX: 0x%02hhX (0x%02hhX not cleared)", (uint8_t)reg_cfg.reg, reg_value, reg_cfg.clear_bits); - success = false; - } - - return success; -} - -template -uint8_t ICM42688P::RegisterRead(T reg) -{ - uint8_t cmd[2] {}; - cmd[0] = static_cast(reg) | DIR_READ; - SelectRegisterBank(reg); - transfer(cmd, cmd, sizeof(cmd)); - return cmd[1]; -} - -template -void ICM42688P::RegisterWrite(T reg, uint8_t value) -{ - uint8_t cmd[2] { (uint8_t)reg, value }; - SelectRegisterBank(reg); - transfer(cmd, cmd, sizeof(cmd)); -} - -template -void ICM42688P::RegisterSetAndClearBits(T reg, uint8_t setbits, uint8_t clearbits) -{ - const uint8_t orig_val = RegisterRead(reg); - - uint8_t val = (orig_val & ~clearbits) | setbits; - - if (orig_val != val) { - RegisterWrite(reg, val); - } -} - -uint16_t ICM42688P::FIFOReadCount() -{ - // read FIFO count - uint8_t fifo_count_buf[3] {}; - fifo_count_buf[0] = static_cast(Register::BANK_0::FIFO_COUNTH) | DIR_READ; - SelectRegisterBank(REG_BANK_SEL_BIT::USER_BANK_0); - - if (transfer(fifo_count_buf, fifo_count_buf, sizeof(fifo_count_buf)) != PX4_OK) { - perf_count(_bad_transfer_perf); - return 0; - } - - return combine(fifo_count_buf[1], fifo_count_buf[2]); -} - -// static uint32_t debug_decimator = 0; -// static hrt_abstime last_sample_time = 0; -// static bool imu_debug = true; - -bool ICM42688P::FIFORead(const hrt_abstime ×tamp_sample, uint16_t samples) -{ - FIFOTransferBuffer buffer{}; - const size_t max_transfer_size = 10 * sizeof(FIFO::DATA) + 4; - const size_t transfer_size = math::min(samples * sizeof(FIFO::DATA) + 4, max_transfer_size); - SelectRegisterBank(REG_BANK_SEL_BIT::USER_BANK_0); - - if (transfer((uint8_t *)&buffer, (uint8_t *)&buffer, transfer_size) != PX4_OK) { - perf_count(_bad_transfer_perf); - return false; - } - - if (buffer.INT_STATUS & INT_STATUS_BIT::FIFO_FULL_INT) { - perf_count(_fifo_overflow_perf); - FIFOReset(); - return false; - } - - const uint16_t fifo_count_bytes = combine(buffer.FIFO_COUNTH, buffer.FIFO_COUNTL); - - if (fifo_count_bytes >= FIFO::SIZE) { - perf_count(_fifo_overflow_perf); - FIFOReset(); - return false; - } - - const uint16_t fifo_count_samples = fifo_count_bytes / sizeof(FIFO::DATA); - - if (fifo_count_samples == 0) { - perf_count(_fifo_empty_perf); - return false; - } - - // check FIFO header in every sample - uint16_t valid_samples = 0; - - // for (int i = 0; i < math::min(samples, fifo_count_samples); i++) { - for (int i = 0; i < math::min(samples, (uint16_t) 10); i++) { - bool valid = true; - - // With FIFO_ACCEL_EN and FIFO_GYRO_EN header should be 8’b_0110_10xx - const uint8_t FIFO_HEADER = buffer.f[i].FIFO_Header; - - if (FIFO_HEADER & FIFO::FIFO_HEADER_BIT::HEADER_MSG) { - // FIFO sample empty if HEADER_MSG set - valid = false; - - } else if (!(FIFO_HEADER & FIFO::FIFO_HEADER_BIT::HEADER_ACCEL)) { - // accel bit not set - valid = false; - - } else if (!(FIFO_HEADER & FIFO::FIFO_HEADER_BIT::HEADER_GYRO)) { - // gyro bit not set - valid = false; - - } else if (!(FIFO_HEADER & FIFO::FIFO_HEADER_BIT::HEADER_20)) { - // Packet does not contain a new and valid extended 20-bit data - valid = false; - - } else if (FIFO_HEADER & FIFO::FIFO_HEADER_BIT::HEADER_ODR_ACCEL) { - // accel ODR changed - valid = false; - - } else if (FIFO_HEADER & FIFO::FIFO_HEADER_BIT::HEADER_ODR_GYRO) { - // gyro ODR changed - valid = false; - } - - if (valid) { - valid_samples++; - - } else { - perf_count(_bad_transfer_perf); - break; - } - } - - // if (imu_debug) { - // debug_decimator++; - // if (debug_decimator == 801) { - // debug_decimator = 0; - // PX4_INFO("Initial: %u Next: %u Valid: %u Delta: %llu", samples, fifo_count_samples, valid_samples, timestamp_sample - last_sample_time); - // } - // last_sample_time = timestamp_sample; - // } - - if (valid_samples > 0) { - if (ProcessTemperature(buffer.f, valid_samples)) { - ProcessGyro(timestamp_sample, buffer.f, valid_samples); - ProcessAccel(timestamp_sample, buffer.f, valid_samples); - // Pass only most recent valid sample to IMU server - // ProcessIMU(timestamp_sample, buffer.f[valid_samples - 1]); - return true; - } - } - - return false; -} - -void ICM42688P::FIFOReset() -{ - perf_count(_fifo_reset_perf); - - // SIGNAL_PATH_RESET: FIFO flush - RegisterSetBits(Register::BANK_0::SIGNAL_PATH_RESET, SIGNAL_PATH_RESET_BIT::FIFO_FLUSH); - - // reset while FIFO is disabled - _drdy_fifo_read_samples.store(0); -} - -static constexpr int32_t reassemble_20bit(const uint32_t a, const uint32_t b, const uint32_t c) -{ - // 0xXXXAABBC - uint32_t high = ((a << 12) & 0x000FF000); - uint32_t low = ((b << 4) & 0x00000FF0); - uint32_t lowest = (c & 0x0000000F); - - uint32_t x = high | low | lowest; - - if (a & Bit7) { - // sign extend - x |= 0xFFF00000u; - } - - return static_cast(x); -} - -void ICM42688P::ProcessIMU(const hrt_abstime ×tamp_sample, const FIFO::DATA &fifo) -{ - // float accel_x = 0.0, accel_y = 0.0, accel_z = 0.0; - // float gyro_x = 0.0, gyro_y = 0.0, gyro_z = 0.0; - // - // // 20 bit hires mode - // - // // Sign extension + Accel [19:12] + Accel [11:4] + Accel [3:2] (20 bit extension byte) - // // Accel data is 18 bit - // int32_t temp_accel_x = reassemble_20bit(fifo.ACCEL_DATA_X1, fifo.ACCEL_DATA_X0, - // fifo.Ext_Accel_X_Gyro_X & 0xF0 >> 4); - // int32_t temp_accel_y = reassemble_20bit(fifo.ACCEL_DATA_Y1, fifo.ACCEL_DATA_Y0, - // fifo.Ext_Accel_Y_Gyro_Y & 0xF0 >> 4); - // int32_t temp_accel_z = reassemble_20bit(fifo.ACCEL_DATA_Z1, fifo.ACCEL_DATA_Z0, - // fifo.Ext_Accel_Z_Gyro_Z & 0xF0 >> 4); - // - // // Gyro [19:12] + Gyro [11:4] + Gyro [3:0] (bottom 4 bits of 20 bit extension byte) - // int32_t temp_gyro_x = reassemble_20bit(fifo.GYRO_DATA_X1, fifo.GYRO_DATA_X0, - // fifo.Ext_Accel_X_Gyro_X & 0x0F); - // int32_t temp_gyro_y = reassemble_20bit(fifo.GYRO_DATA_Y1, fifo.GYRO_DATA_Y0, - // fifo.Ext_Accel_Y_Gyro_Y & 0x0F); - // int32_t temp_gyro_z = reassemble_20bit(fifo.GYRO_DATA_Z1, fifo.GYRO_DATA_Z0, - // fifo.Ext_Accel_Z_Gyro_Z & 0x0F); - - // // accel samples invalid if -524288 - // if (temp_accel_x != -524288 && temp_accel_y != -524288 && temp_accel_z != -524288) { - // // shift accel by 2 (2 least significant bits are always 0) - // accel_x = (float) temp_accel_x / 4.f; - // accel_y = (float) temp_accel_y / 4.f; - // accel_z = (float) temp_accel_z / 4.f; - // - // // shift gyro by 1 (least significant bit is always 0) - // gyro_x = (float) temp_gyro_x / 2.f; - // gyro_y = (float) temp_gyro_y / 2.f; - // gyro_z = (float) temp_gyro_z / 2.f; - // - // // correct frame for publication - // // sensor's frame is +x forward, +y left, +z up - // // flip y & z to publish right handed with z down (x forward, y right, z down) - // accel_y = -accel_y; - // accel_z = -accel_z; - // gyro_y = -gyro_y; - // gyro_z = -gyro_z; - // - // // Scale everything appropriately - // float accel_scale_factor = (CONSTANTS_ONE_G / 8192.f); - // accel_x *= accel_scale_factor; - // accel_y *= accel_scale_factor; - // accel_z *= accel_scale_factor; - // - // float gyro_scale_factor = math::radians(1.f / 131.f); - // gyro_x *= gyro_scale_factor; - // gyro_y *= gyro_scale_factor; - // gyro_z *= gyro_scale_factor; - // - // // Store the data in our array - // _imu_server_data.accel_x[_imu_server_index] = accel_x; - // _imu_server_data.accel_y[_imu_server_index] = accel_y; - // _imu_server_data.accel_z[_imu_server_index] = accel_z; - // _imu_server_data.gyro_x[_imu_server_index] = gyro_x; - // _imu_server_data.gyro_y[_imu_server_index] = gyro_y; - // _imu_server_data.gyro_z[_imu_server_index] = gyro_z; - // _imu_server_data.ts[_imu_server_index] = timestamp_sample; - // _imu_server_index++; - // - // // If array is full, publish the data - // if (_imu_server_index == 10) { - // _imu_server_index = 0; - // _imu_server_data.timestamp = hrt_absolute_time(); - // _imu_server_data.temperature = 0; // Not used right now - // _imu_server_pub.publish(_imu_server_data); - // } - // } -} - -void ICM42688P::ProcessAccel(const hrt_abstime ×tamp_sample, const FIFO::DATA fifo[], const uint8_t samples) -{ - sensor_accel_fifo_s accel{}; - accel.timestamp_sample = timestamp_sample; - accel.samples = 0; - accel.dt = FIFO_SAMPLE_DT; - - // 18-bits of accelerometer data - bool scale_20bit = false; - - // first pass - for (int i = 0; i < samples; i++) { - // 20 bit hires mode - // Sign extension + Accel [19:12] + Accel [11:4] + Accel [3:2] (20 bit extension byte) - // Accel data is 18 bit () - int32_t accel_x = reassemble_20bit(fifo[i].ACCEL_DATA_X1, fifo[i].ACCEL_DATA_X0, - fifo[i].Ext_Accel_X_Gyro_X & 0xF0 >> 4); - int32_t accel_y = reassemble_20bit(fifo[i].ACCEL_DATA_Y1, fifo[i].ACCEL_DATA_Y0, - fifo[i].Ext_Accel_Y_Gyro_Y & 0xF0 >> 4); - int32_t accel_z = reassemble_20bit(fifo[i].ACCEL_DATA_Z1, fifo[i].ACCEL_DATA_Z0, - fifo[i].Ext_Accel_Z_Gyro_Z & 0xF0 >> 4); - - // sample invalid if -524288 - if (accel_x != -524288 && accel_y != -524288 && accel_z != -524288) { - // check if any values are going to exceed int16 limits - static constexpr int16_t max_accel = INT16_MAX; - static constexpr int16_t min_accel = INT16_MIN; - - if (accel_x >= max_accel || accel_x <= min_accel) { - scale_20bit = true; - } - - if (accel_y >= max_accel || accel_y <= min_accel) { - scale_20bit = true; - } - - if (accel_z >= max_accel || accel_z <= min_accel) { - scale_20bit = true; - } - - // shift by 2 (2 least significant bits are always 0) - accel.x[accel.samples] = accel_x / 4; - accel.y[accel.samples] = accel_y / 4; - accel.z[accel.samples] = accel_z / 4; - accel.samples++; - } - } - - if (!scale_20bit) { - // if highres enabled accel data is always 8192 LSB/g - if (!hitl_mode) { - _px4_accel.set_scale(CONSTANTS_ONE_G / 8192.f); - } - - } else { - // 20 bit data scaled to 16 bit (2^4) - for (int i = 0; i < samples; i++) { - // 20 bit hires mode - // Sign extension + Accel [19:12] + Accel [11:4] + Accel [3:2] (20 bit extension byte) - // Accel data is 18 bit () - int16_t accel_x = combine(fifo[i].ACCEL_DATA_X1, fifo[i].ACCEL_DATA_X0); - int16_t accel_y = combine(fifo[i].ACCEL_DATA_Y1, fifo[i].ACCEL_DATA_Y0); - int16_t accel_z = combine(fifo[i].ACCEL_DATA_Z1, fifo[i].ACCEL_DATA_Z0); - - accel.x[i] = accel_x; - accel.y[i] = accel_y; - accel.z[i] = accel_z; - } - - if (!hitl_mode) { - _px4_accel.set_scale(CONSTANTS_ONE_G / 2048.f); - } - } - - // correct frame for publication - for (int i = 0; i < accel.samples; i++) { - // sensor's frame is +x forward, +y left, +z up - // flip y & z to publish right handed with z down (x forward, y right, z down) - accel.x[i] = accel.x[i]; - accel.y[i] = (accel.y[i] == INT16_MIN) ? INT16_MAX : -accel.y[i]; - accel.z[i] = (accel.z[i] == INT16_MIN) ? INT16_MAX : -accel.z[i]; - } - - if (!hitl_mode) { - _px4_accel.set_error_count(perf_event_count(_bad_register_perf) + perf_event_count(_bad_transfer_perf) + - perf_event_count(_fifo_empty_perf) + perf_event_count(_fifo_overflow_perf)); - } - - if (accel.samples > 0) { - if (!hitl_mode) { - _px4_accel.updateFIFO(accel); - } - } -} - -void ICM42688P::ProcessGyro(const hrt_abstime ×tamp_sample, const FIFO::DATA fifo[], const uint8_t samples) -{ - sensor_gyro_fifo_s gyro{}; - gyro.timestamp_sample = timestamp_sample; - gyro.samples = 0; - gyro.dt = FIFO_SAMPLE_DT; - - // 20-bits of gyroscope data - bool scale_20bit = false; - - // first pass - for (int i = 0; i < samples; i++) { - // 20 bit hires mode - // Gyro [19:12] + Gyro [11:4] + Gyro [3:0] (bottom 4 bits of 20 bit extension byte) - int32_t gyro_x = reassemble_20bit(fifo[i].GYRO_DATA_X1, fifo[i].GYRO_DATA_X0, fifo[i].Ext_Accel_X_Gyro_X & 0x0F); - int32_t gyro_y = reassemble_20bit(fifo[i].GYRO_DATA_Y1, fifo[i].GYRO_DATA_Y0, fifo[i].Ext_Accel_Y_Gyro_Y & 0x0F); - int32_t gyro_z = reassemble_20bit(fifo[i].GYRO_DATA_Z1, fifo[i].GYRO_DATA_Z0, fifo[i].Ext_Accel_Z_Gyro_Z & 0x0F); - - // check if any values are going to exceed int16 limits - static constexpr int16_t max_gyro = INT16_MAX; - static constexpr int16_t min_gyro = INT16_MIN; - - if (gyro_x >= max_gyro || gyro_x <= min_gyro) { - scale_20bit = true; - } - - if (gyro_y >= max_gyro || gyro_y <= min_gyro) { - scale_20bit = true; - } - - if (gyro_z >= max_gyro || gyro_z <= min_gyro) { - scale_20bit = true; - } - - gyro.x[gyro.samples] = gyro_x / 2; - gyro.y[gyro.samples] = gyro_y / 2; - gyro.z[gyro.samples] = gyro_z / 2; - gyro.samples++; - } - - if (!scale_20bit) { - // if highres enabled gyro data is always 131 LSB/dps - if (!hitl_mode) { - _px4_gyro.set_scale(math::radians(1.f / 131.f)); - } - - } else { - // 20 bit data scaled to 16 bit (2^4) - for (int i = 0; i < samples; i++) { - gyro.x[i] = combine(fifo[i].GYRO_DATA_X1, fifo[i].GYRO_DATA_X0); - gyro.y[i] = combine(fifo[i].GYRO_DATA_Y1, fifo[i].GYRO_DATA_Y0); - gyro.z[i] = combine(fifo[i].GYRO_DATA_Z1, fifo[i].GYRO_DATA_Z0); - } - - if (!hitl_mode) { - _px4_gyro.set_scale(math::radians(2000.f / 32768.f)); - } - } - - // correct frame for publication - for (int i = 0; i < gyro.samples; i++) { - // sensor's frame is +x forward, +y left, +z up - // flip y & z to publish right handed with z down (x forward, y right, z down) - gyro.x[i] = gyro.x[i]; - gyro.y[i] = (gyro.y[i] == INT16_MIN) ? INT16_MAX : -gyro.y[i]; - gyro.z[i] = (gyro.z[i] == INT16_MIN) ? INT16_MAX : -gyro.z[i]; - } - - if (!hitl_mode) { - _px4_gyro.set_error_count(perf_event_count(_bad_register_perf) + perf_event_count(_bad_transfer_perf) + - perf_event_count(_fifo_empty_perf) + perf_event_count(_fifo_overflow_perf)); - } - - if (gyro.samples > 0) { - if (!hitl_mode) { - _px4_gyro.updateFIFO(gyro); - } - } -} - -bool ICM42688P::ProcessTemperature(const FIFO::DATA fifo[], const uint8_t samples) -{ - int16_t temperature[FIFO_MAX_SAMPLES]; - float temperature_sum{0}; - - int valid_samples = 0; - - for (int i = 0; i < samples; i++) { - const int16_t t = combine(fifo[i].TEMP_DATA1, fifo[i].TEMP_DATA0); - - // sample invalid if -32768 - if (t != -32768) { - temperature_sum += t; - temperature[valid_samples] = t; - valid_samples++; - } - } - - if (valid_samples > 0) { - const float temperature_avg = temperature_sum / valid_samples; - - for (int i = 0; i < valid_samples; i++) { - // temperature changing wildly is an indication of a transfer error - if (fabsf(temperature[i] - temperature_avg) > 1000) { - perf_count(_bad_transfer_perf); - return false; - } - } - - // use average temperature reading - const float TEMP_degC = (temperature_avg / TEMPERATURE_SENSITIVITY) + TEMPERATURE_OFFSET; - - if (PX4_ISFINITE(TEMP_degC)) { - if (!hitl_mode) { - _px4_accel.set_temperature(TEMP_degC); - _px4_gyro.set_temperature(TEMP_degC); - return true; - } - - } else { - perf_count(_bad_transfer_perf); - } - } - - return false; -} diff --git a/boards/modalai/voxl2-slpi/src/drivers/icm42688p/ICM42688P.hpp b/boards/modalai/voxl2-slpi/src/drivers/icm42688p/ICM42688P.hpp deleted file mode 100644 index c1aa595d70eb..000000000000 --- a/boards/modalai/voxl2-slpi/src/drivers/icm42688p/ICM42688P.hpp +++ /dev/null @@ -1,233 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2020 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file ICM42688P.hpp - * - * Driver for the Invensense ICM42688P connected via SPI. - * - */ - -#pragma once - -#include "InvenSense_ICM42688P_registers.hpp" - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -using namespace InvenSense_ICM42688P; - -extern bool hitl_mode; - -class ICM42688P : public device::SPI, public I2CSPIDriver -{ -public: - // ICM42688P(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation, int bus_frequency, - // spi_mode_e spi_mode, spi_drdy_gpio_t drdy_gpio); - ICM42688P(const I2CSPIDriverConfig &config); - ~ICM42688P() override; - - // static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator, - // int runtime_instance); - static void print_usage(); - - void RunImpl(); - - int init() override; - void print_status() override; - -private: - void exit_and_cleanup() override; - - // Sensor Configuration - static constexpr float IMU_ODR{8000.f}; // 8kHz accel & gyro ODR configured - static constexpr float FIFO_SAMPLE_DT{1e6f / IMU_ODR}; - static constexpr float GYRO_RATE{1e6f / FIFO_SAMPLE_DT}; - static constexpr float ACCEL_RATE{1e6f / FIFO_SAMPLE_DT}; - - // maximum FIFO samples per transfer is limited to the size of sensor_accel_fifo/sensor_gyro_fifo - // static constexpr uint32_t FIFO_MAX_SAMPLES{math::min(math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0])), sizeof(sensor_accel_fifo_s::x) / sizeof(sensor_accel_fifo_s::x[0]) * (int)(GYRO_RATE / ACCEL_RATE))}; - static constexpr uint32_t FIFO_MAX_SAMPLES{10}; - - // Transfer data - struct FIFOTransferBuffer { - uint8_t cmd{static_cast(Register::BANK_0::INT_STATUS) | DIR_READ}; - uint8_t INT_STATUS{0}; - uint8_t FIFO_COUNTH{0}; - uint8_t FIFO_COUNTL{0}; - FIFO::DATA f[FIFO_MAX_SAMPLES] {}; - }; - // ensure no struct padding - static_assert(sizeof(FIFOTransferBuffer) == (4 + FIFO_MAX_SAMPLES *sizeof(FIFO::DATA)), - "Invalid FIFOTransferBuffer size"); - - struct register_bank0_config_t { - Register::BANK_0 reg; - uint8_t set_bits{0}; - uint8_t clear_bits{0}; - }; - - struct register_bank1_config_t { - Register::BANK_1 reg; - uint8_t set_bits{0}; - uint8_t clear_bits{0}; - }; - - struct register_bank2_config_t { - Register::BANK_2 reg; - uint8_t set_bits{0}; - uint8_t clear_bits{0}; - }; - - int probe() override; - - bool Reset(); - - bool Configure(); - void ConfigureSampleRate(int sample_rate); - void ConfigureFIFOWatermark(uint8_t samples); - - void SelectRegisterBank(enum REG_BANK_SEL_BIT bank, bool force = false); - void SelectRegisterBank(Register::BANK_0 reg) { SelectRegisterBank(REG_BANK_SEL_BIT::USER_BANK_0); } - void SelectRegisterBank(Register::BANK_1 reg) { SelectRegisterBank(REG_BANK_SEL_BIT::USER_BANK_1); } - void SelectRegisterBank(Register::BANK_2 reg) { SelectRegisterBank(REG_BANK_SEL_BIT::USER_BANK_2); } - - static int DataReadyInterruptCallback(int irq, void *context, void *arg); - void DataReady(); - bool DataReadyInterruptConfigure(); - bool DataReadyInterruptDisable(); - - template bool RegisterCheck(const T ®_cfg); - template uint8_t RegisterRead(T reg); - template void RegisterWrite(T reg, uint8_t value); - template void RegisterSetAndClearBits(T reg, uint8_t setbits, uint8_t clearbits); - template void RegisterSetBits(T reg, uint8_t setbits) { RegisterSetAndClearBits(reg, setbits, 0); } - template void RegisterClearBits(T reg, uint8_t clearbits) { RegisterSetAndClearBits(reg, 0, clearbits); } - - uint16_t FIFOReadCount(); - bool FIFORead(const hrt_abstime ×tamp_sample, uint16_t samples); - void FIFOReset(); - - void ProcessIMU(const hrt_abstime ×tamp_sample, const FIFO::DATA &fifo); - void ProcessAccel(const hrt_abstime ×tamp_sample, const FIFO::DATA fifo[], const uint8_t samples); - void ProcessGyro(const hrt_abstime ×tamp_sample, const FIFO::DATA fifo[], const uint8_t samples); - bool ProcessTemperature(const FIFO::DATA fifo[], const uint8_t samples); - - const spi_drdy_gpio_t _drdy_gpio; - - // std::shared_ptr _px4_accel; - // std::shared_ptr _px4_gyro; - PX4Accelerometer _px4_accel; - PX4Gyroscope _px4_gyro; - - perf_counter_t _bad_register_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad register")}; - perf_counter_t _bad_transfer_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad transfer")}; - perf_counter_t _fifo_empty_perf{perf_alloc(PC_COUNT, MODULE_NAME": FIFO empty")}; - perf_counter_t _fifo_overflow_perf{perf_alloc(PC_COUNT, MODULE_NAME": FIFO overflow")}; - perf_counter_t _fifo_reset_perf{perf_alloc(PC_COUNT, MODULE_NAME": FIFO reset")}; - perf_counter_t _drdy_missed_perf{nullptr}; - - hrt_abstime _reset_timestamp{0}; - hrt_abstime _last_config_check_timestamp{0}; - hrt_abstime _temperature_update_timestamp{0}; - int _failure_count{0}; - - enum REG_BANK_SEL_BIT _last_register_bank {REG_BANK_SEL_BIT::USER_BANK_0}; - - px4::atomic _drdy_fifo_read_samples{0}; - bool _data_ready_interrupt_enabled{false}; - - enum class STATE : uint8_t { - RESET, - WAIT_FOR_RESET, - CONFIGURE, - FIFO_READ, - } _state{STATE::RESET}; - - uint16_t _fifo_empty_interval_us{1250}; // default 1250 us / 800 Hz transfer interval - uint32_t _fifo_gyro_samples{static_cast(_fifo_empty_interval_us / (1000000 / GYRO_RATE))}; - - uint8_t _checked_register_bank0{0}; - static constexpr uint8_t size_register_bank0_cfg{12}; - register_bank0_config_t _register_bank0_cfg[size_register_bank0_cfg] { - // Register | Set bits, Clear bits - { Register::BANK_0::INT_CONFIG, INT_CONFIG_BIT::INT1_MODE | INT_CONFIG_BIT::INT1_DRIVE_CIRCUIT, INT_CONFIG_BIT::INT1_POLARITY }, - { Register::BANK_0::FIFO_CONFIG, FIFO_CONFIG_BIT::FIFO_MODE_STOP_ON_FULL, 0 }, - { Register::BANK_0::GYRO_CONFIG0, GYRO_CONFIG0_BIT::GYRO_FS_SEL_2000_DPS | GYRO_CONFIG0_BIT::GYRO_ODR_8KHZ_SET, GYRO_CONFIG0_BIT::GYRO_ODR_8KHZ_CLEAR }, - { Register::BANK_0::ACCEL_CONFIG0, ACCEL_CONFIG0_BIT::ACCEL_FS_SEL_16G | ACCEL_CONFIG0_BIT::ACCEL_ODR_8KHZ_SET, ACCEL_CONFIG0_BIT::ACCEL_ODR_8KHZ_CLEAR }, - { Register::BANK_0::GYRO_CONFIG1, 0, GYRO_CONFIG1_BIT::GYRO_UI_FILT_ORD }, - { Register::BANK_0::GYRO_ACCEL_CONFIG0, 0, GYRO_ACCEL_CONFIG0_BIT::ACCEL_UI_FILT_BW | GYRO_ACCEL_CONFIG0_BIT::GYRO_UI_FILT_BW }, - { Register::BANK_0::ACCEL_CONFIG1, 0, ACCEL_CONFIG1_BIT::ACCEL_UI_FILT_ORD }, - { Register::BANK_0::FIFO_CONFIG1, FIFO_CONFIG1_BIT::FIFO_WM_GT_TH | FIFO_CONFIG1_BIT::FIFO_HIRES_EN | FIFO_CONFIG1_BIT::FIFO_TEMP_EN | FIFO_CONFIG1_BIT::FIFO_GYRO_EN | FIFO_CONFIG1_BIT::FIFO_ACCEL_EN, 0 }, - { Register::BANK_0::FIFO_CONFIG2, 0, 0 }, // FIFO_WM[7:0] set at runtime - { Register::BANK_0::FIFO_CONFIG3, 0, 0 }, // FIFO_WM[11:8] set at runtime - { Register::BANK_0::INT_CONFIG0, INT_CONFIG0_BIT::CLEAR_ON_FIFO_READ, 0 }, - { Register::BANK_0::INT_SOURCE0, INT_SOURCE0_BIT::FIFO_THS_INT1_EN, 0 }, - }; - - uint8_t _checked_register_bank1{0}; - static constexpr uint8_t size_register_bank1_cfg{4}; - register_bank1_config_t _register_bank1_cfg[size_register_bank1_cfg] { - // Register | Set bits, Clear bits - { Register::BANK_1::GYRO_CONFIG_STATIC2, 0, GYRO_CONFIG_STATIC2_BIT::GYRO_NF_DIS | GYRO_CONFIG_STATIC2_BIT::GYRO_AAF_DIS }, - { Register::BANK_1::GYRO_CONFIG_STATIC3, GYRO_CONFIG_STATIC3_BIT::GYRO_AAF_DELT_SET, GYRO_CONFIG_STATIC3_BIT::GYRO_AAF_DELT_CLEAR}, - { Register::BANK_1::GYRO_CONFIG_STATIC4, GYRO_CONFIG_STATIC4_BIT::GYRO_AAF_DELTSQR_LOW_SET, GYRO_CONFIG_STATIC4_BIT::GYRO_AAF_DELTSQR_LOW_CLEAR}, - { Register::BANK_1::GYRO_CONFIG_STATIC5, GYRO_CONFIG_STATIC5_BIT::GYRO_AAF_BITSHIFT_SET | GYRO_CONFIG_STATIC5_BIT::GYRO_AAF_DELTSQR_HIGH_SET, GYRO_CONFIG_STATIC5_BIT::GYRO_AAF_BITSHIFT_CLEAR | GYRO_CONFIG_STATIC5_BIT::GYRO_AAF_DELTSQR_HIGH_CLEAR}, - }; - - uint8_t _checked_register_bank2{0}; - static constexpr uint8_t size_register_bank2_cfg{3}; - register_bank2_config_t _register_bank2_cfg[size_register_bank2_cfg] { - // Register | Set bits, Clear bits - { Register::BANK_2::ACCEL_CONFIG_STATIC2, ACCEL_CONFIG_STATIC2_BIT::ACCEL_AAF_DELT_SET, ACCEL_CONFIG_STATIC2_BIT::ACCEL_AAF_DELT_CLEAR | ACCEL_CONFIG_STATIC2_BIT::ACCEL_AAF_DIS }, - { Register::BANK_2::ACCEL_CONFIG_STATIC3, ACCEL_CONFIG_STATIC3_BIT::ACCEL_AAF_DELTSQR_LOW_SET, ACCEL_CONFIG_STATIC3_BIT::ACCEL_AAF_DELTSQR_LOW_CLEAR }, - { Register::BANK_2::ACCEL_CONFIG_STATIC4, ACCEL_CONFIG_STATIC4_BIT::ACCEL_AAF_BITSHIFT_SET | ACCEL_CONFIG_STATIC4_BIT::ACCEL_AAF_DELTSQR_HIGH_SET, ACCEL_CONFIG_STATIC4_BIT::ACCEL_AAF_BITSHIFT_CLEAR | ACCEL_CONFIG_STATIC4_BIT::ACCEL_AAF_DELTSQR_HIGH_CLEAR }, - }; - - uint32_t _temperature_samples{0}; - - // Support for the IMU server - // uint32_t _imu_server_index{0}; - // imu_server_s _imu_server_data; - // uORB::Publication _imu_server_pub{ORB_ID(imu_server)}; - -}; diff --git a/boards/modalai/voxl2-slpi/src/drivers/icm42688p/InvenSense_ICM42688P_registers.hpp b/boards/modalai/voxl2-slpi/src/drivers/icm42688p/InvenSense_ICM42688P_registers.hpp deleted file mode 100644 index b3c020bd7619..000000000000 --- a/boards/modalai/voxl2-slpi/src/drivers/icm42688p/InvenSense_ICM42688P_registers.hpp +++ /dev/null @@ -1,430 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2020 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file InvenSense_ICM42688P_registers.hpp - * - * Invensense ICM-42688-P registers. - * - */ - -#pragma once - -#include - -namespace InvenSense_ICM42688P -{ -// TODO: move to a central header -static constexpr uint8_t Bit0 = (1 << 0); -static constexpr uint8_t Bit1 = (1 << 1); -static constexpr uint8_t Bit2 = (1 << 2); -static constexpr uint8_t Bit3 = (1 << 3); -static constexpr uint8_t Bit4 = (1 << 4); -static constexpr uint8_t Bit5 = (1 << 5); -static constexpr uint8_t Bit6 = (1 << 6); -static constexpr uint8_t Bit7 = (1 << 7); - -static constexpr uint32_t SPI_SPEED = 24 * 1000 * 1000; // 24 MHz SPI -static constexpr uint8_t DIR_READ = 0x80; - -static constexpr uint8_t WHOAMI = 0x47; - -static constexpr float TEMPERATURE_SENSITIVITY = 132.48f; // LSB/C -static constexpr float TEMPERATURE_OFFSET = 25.f; // C - -namespace Register -{ - -enum class BANK_0 : uint8_t { - DEVICE_CONFIG = 0x11, - - INT_CONFIG = 0x14, - - FIFO_CONFIG = 0x16, - - TEMP_DATA1 = 0x1D, - TEMP_DATA0 = 0x1E, - - INT_STATUS = 0x2D, - FIFO_COUNTH = 0x2E, - FIFO_COUNTL = 0x2F, - FIFO_DATA = 0x30, - - SIGNAL_PATH_RESET = 0x4B, - INTF_CONFIG0 = 0x4C, - INTF_CONFIG1 = 0x4D, - PWR_MGMT0 = 0x4E, - GYRO_CONFIG0 = 0x4F, - ACCEL_CONFIG0 = 0x50, - GYRO_CONFIG1 = 0x51, - GYRO_ACCEL_CONFIG0 = 0x52, - ACCEL_CONFIG1 = 0x53, - - FIFO_CONFIG1 = 0x5F, - FIFO_CONFIG2 = 0x60, - FIFO_CONFIG3 = 0x61, - - INT_CONFIG0 = 0x63, - - INT_SOURCE0 = 0x65, - - SELF_TEST_CONFIG = 0x70, - - WHO_AM_I = 0x75, - REG_BANK_SEL = 0x76, -}; - -enum class BANK_1 : uint8_t { - GYRO_CONFIG_STATIC2 = 0x0B, - GYRO_CONFIG_STATIC3 = 0x0C, - GYRO_CONFIG_STATIC4 = 0x0D, - GYRO_CONFIG_STATIC5 = 0x0E, - INTF_CONFIG5 = 0x7B, -}; -enum class BANK_2 : uint8_t { - ACCEL_CONFIG_STATIC2 = 0x03, - ACCEL_CONFIG_STATIC3 = 0x04, - ACCEL_CONFIG_STATIC4 = 0x05, -}; - -}; - -//---------------- BANK0 Register bits - -// DEVICE_CONFIG -enum DEVICE_CONFIG_BIT : uint8_t { - SOFT_RESET_CONFIG = Bit0, // -}; - -// INT_CONFIG -enum INT_CONFIG_BIT : uint8_t { - INT1_MODE = Bit2, - INT1_DRIVE_CIRCUIT = Bit1, - INT1_POLARITY = Bit0, -}; - -// FIFO_CONFIG -enum FIFO_CONFIG_BIT : uint8_t { - // 7:6 FIFO_MODE - FIFO_MODE_STOP_ON_FULL = Bit7 | Bit6, // 11: STOP-on-FULL Mode -}; - -// INT_STATUS -enum INT_STATUS_BIT : uint8_t { - RESET_DONE_INT = Bit4, - DATA_RDY_INT = Bit3, - FIFO_THS_INT = Bit2, - FIFO_FULL_INT = Bit1, -}; - -// SIGNAL_PATH_RESET -enum SIGNAL_PATH_RESET_BIT : uint8_t { - ABORT_AND_RESET = Bit3, - FIFO_FLUSH = Bit1, -}; - -// PWR_MGMT0 -enum PWR_MGMT0_BIT : uint8_t { - GYRO_MODE_LOW_NOISE = Bit3 | Bit2, // 11: Places gyroscope in Low Noise (LN) Mode - ACCEL_MODE_LOW_NOISE = Bit1 | Bit0, // 11: Places accelerometer in Low Noise (LN) Mode -}; - -// GYRO_CONFIG0 -enum GYRO_CONFIG0_BIT : uint8_t { - // 7:5 GYRO_FS_SEL - GYRO_FS_SEL_2000_DPS = 0, // 0b000 = ±2000dps (default) - GYRO_FS_SEL_1000_DPS = Bit5, - GYRO_FS_SEL_500_DPS = Bit6, - GYRO_FS_SEL_250_DPS = Bit6 | Bit5, - GYRO_FS_SEL_125_DPS = Bit7, - - - // 3:0 GYRO_ODR - // 0001: 32kHz - GYRO_ODR_32KHZ_SET = Bit0, - GYRO_ODR_32KHZ_CLEAR = Bit3 | Bit2 | Bit0, - // 0010: 16kHz - GYRO_ODR_16KHZ_SET = Bit1, - GYRO_ODR_16KHZ_CLEAR = Bit3 | Bit2 | Bit0, - // 0011: 8kHz - GYRO_ODR_8KHZ_SET = Bit1 | Bit0, - GYRO_ODR_8KHZ_CLEAR = Bit3 | Bit2, - // 0110: 1kHz (default) - GYRO_ODR_1KHZ_SET = Bit2 | Bit1, - GYRO_ODR_1KHZ_CLEAR = Bit3 | Bit0, -}; - -// ACCEL_CONFIG0 -enum ACCEL_CONFIG0_BIT : uint8_t { - // 7:5 ACCEL_FS_SEL - ACCEL_FS_SEL_16G = 0, // 000: ±16g (default) - ACCEL_FS_SEL_8G = Bit5, - ACCEL_FS_SEL_4G = Bit6, - ACCEL_FS_SEL_2G = Bit6 | Bit5, - - - // 3:0 ACCEL_ODR - // 0001: 32kHz - ACCEL_ODR_32KHZ_SET = Bit0, - ACCEL_ODR_32KHZ_CLEAR = Bit3 | Bit2 | Bit0, - // 0010: 16kHz - ACCEL_ODR_16KHZ_SET = Bit1, - ACCEL_ODR_16KHZ_CLEAR = Bit3 | Bit2 | Bit0, - // 0011: 8kHz - ACCEL_ODR_8KHZ_SET = Bit1 | Bit0, - ACCEL_ODR_8KHZ_CLEAR = Bit3 | Bit2, - // 0110: 1kHz (default) - ACCEL_ODR_1KHZ_SET = Bit2 | Bit1, - ACCEL_ODR_1KHZ_CLEAR = Bit3 | Bit0, -}; - -// GYRO_CONFIG1 -enum GYRO_CONFIG1_BIT : uint8_t { - GYRO_UI_FILT_ORD = Bit3 | Bit2, // 00: 1st Order -}; - -// GYRO_ACCEL_CONFIG0 -enum GYRO_ACCEL_CONFIG0_BIT : uint8_t { - // 7:4 ACCEL_UI_FILT_BW - ACCEL_UI_FILT_BW = Bit7 | Bit6 | Bit5 | Bit4, // 0: BW=ODR/2 - - // 3:0 GYRO_UI_FILT_BW - GYRO_UI_FILT_BW = Bit3 | Bit2 | Bit1 | Bit0, // 0: BW=ODR/2 -}; - -// ACCEL_CONFIG1 -enum ACCEL_CONFIG1_BIT : uint8_t { - ACCEL_UI_FILT_ORD = Bit4 | Bit3, // 00: 1st Order -}; - -// FIFO_CONFIG1 -enum FIFO_CONFIG1_BIT : uint8_t { - FIFO_RESUME_PARTIAL_RD = Bit6, - FIFO_WM_GT_TH = Bit5, - FIFO_HIRES_EN = Bit4, - FIFO_TEMP_EN = Bit2, - FIFO_GYRO_EN = Bit1, - FIFO_ACCEL_EN = Bit0, -}; - -// INT_CONFIG0 -enum INT_CONFIG0_BIT : uint8_t { - // 3:2 FIFO_THS_INT_CLEAR - CLEAR_ON_FIFO_READ = Bit3, -}; - -// INT_SOURCE0 -enum INT_SOURCE0_BIT : uint8_t { - UI_FSYNC_INT1_EN = Bit6, - PLL_RDY_INT1_EN = Bit5, - RESET_DONE_INT1_EN = Bit4, - UI_DRDY_INT1_EN = Bit3, - FIFO_THS_INT1_EN = Bit2, // FIFO threshold interrupt routed to INT1 - FIFO_FULL_INT1_EN = Bit1, - UI_AGC_RDY_INT1_EN = Bit0, -}; - -// REG_BANK_SEL -enum REG_BANK_SEL_BIT : uint8_t { - USER_BANK_0 = 0, // 0: Select USER BANK 0. - USER_BANK_1 = Bit0, // 1: Select USER BANK 1. - USER_BANK_2 = Bit1, // 2: Select USER BANK 2. - USER_BANK_3 = Bit1 | Bit0, // 3: Select USER BANK 3. -}; - - -//---------------- BANK1 Register bits - -// GYRO_CONFIG_STATIC2 -enum GYRO_CONFIG_STATIC2_BIT : uint8_t { - GYRO_AAF_DIS = Bit1, - GYRO_NF_DIS = Bit0, -}; - -// GYRO_CONFIG_STATIC3 -enum GYRO_CONFIG_STATIC3_BIT : uint8_t { - - // 585 Hz - GYRO_AAF_DELT_SET = Bit3 | Bit2 | Bit0, //13 - GYRO_AAF_DELT_CLEAR = Bit5 | Bit4 | Bit1, - - // 213 Hz - // GYRO_AAF_DELT_SET = Bit2 | Bit0, //5 - // GYRO_AAF_DELT_CLEAR = Bit5 | Bit4 | Bit3 | Bit1, - - // 126 Hz - //GYRO_AAF_DELT_SET = Bit1 | Bit0, //3 - //GYRO_AAF_DELT_CLEAR = Bit5 | Bit4 | Bit3 | Bit2, - - // 42 Hz - // GYRO_AAF_DELT_SET = Bit0, //1 - // GYRO_AAF_DELT_CLEAR = Bit5 | Bit4 | Bit3 | Bit2 | Bit1, - -}; - -// GYRO_CONFIG_STATIC4 -enum GYRO_CONFIG_STATIC4_BIT : uint8_t { - - // 585 Hz - GYRO_AAF_DELTSQR_LOW_SET = Bit7 | Bit5 | Bit3 | Bit1, //170 - GYRO_AAF_DELTSQR_LOW_CLEAR = Bit6 | Bit4 | Bit2 | Bit0, - - // 213 Hz - // GYRO_AAF_DELTSQR_LOW_SET = Bit4 | Bit3 | Bit0, //25 - // GYRO_AAF_DELTSQR_LOW_CLEAR = Bit7 | Bit6 | Bit5 | Bit2 | Bit1, - - // 126 Hz - //GYRO_AAF_DELTSQR_LOW_SET = Bit3 | Bit0, //9 - //GYRO_AAF_DELTSQR_LOW_CLEAR = Bit7 | Bit6 | Bit5 | Bit4 | Bit2 | Bit1, - - // 42 Hz - // GYRO_AAF_DELTSQR_LOW_SET = Bit0, //1 - // GYRO_AAF_DELTSQR_LOW_CLEAR = Bit7 | Bit6 | Bit5 | Bit4 | Bit3 | Bit2 | Bit1, -}; - -// GYRO_CONFIG_STATIC5 -enum GYRO_CONFIG_STATIC5_BIT : uint8_t { - - // 585 Hz - GYRO_AAF_DELTSQR_HIGH_SET = 0, - GYRO_AAF_DELTSQR_HIGH_CLEAR = Bit3 | Bit2 | Bit1 | Bit0, - GYRO_AAF_BITSHIFT_SET = Bit7, // 8 << 4 - GYRO_AAF_BITSHIFT_CLEAR = Bit6 | Bit5 | Bit4, - - // 213 Hz - // GYRO_AAF_DELTSQR_HIGH_SET = 0, - // GYRO_AAF_DELTSQR_HIGH_CLEAR = Bit3 | Bit2 | Bit1 | Bit0, - // GYRO_AAF_BITSHIFT_SET = Bit7 | Bit5, //10 - // GYRO_AAF_BITSHIFT_CLEAR = Bit6 | Bit4, - - // 126 Hz - // GYRO_AAF_BITSHIFT_SET = Bit7 | Bit6, //12 - // GYRO_AAF_BITSHIFT_CLEAR = Bit5 | Bit4, - - // 42 Hz - // GYRO_AAF_BITSHIFT_SET = Bit7 | Bit6 | Bit5 | Bit4, //15 - // GYRO_AAF_BITSHIFT_CLEAR = 0, - - -}; - - -//---------------- BANK2 Register bits - -// ACCEL_CONFIG_STATIC2 -enum ACCEL_CONFIG_STATIC2_BIT : uint8_t { - ACCEL_AAF_DIS = Bit0, - ACCEL_AAF_DELT = Bit3 | Bit1, - - // 213 Hz - ACCEL_AAF_DELT_SET = Bit3 | Bit1, //5 - ACCEL_AAF_DELT_CLEAR = Bit6 | Bit5 | Bit4 | Bit2, - - // 42 Hz - // ACCEL_AAF_DELT_SET = Bit1, //1 - // ACCEL_AAF_DELT_CLEAR = Bit6 | Bit5 | Bit4 | Bit3 | Bit2, -}; - -// ACCEL_CONFIG_STATIC3 -enum ACCEL_CONFIG_STATIC3_BIT : uint8_t { - ACCEL_AAF_DELTSQR_LOW = Bit4 | Bit3 | Bit0, - // 213 Hz - ACCEL_AAF_DELTSQR_LOW_SET = Bit4 | Bit3 | Bit0, //25 - ACCEL_AAF_DELTSQR_LOW_CLEAR = Bit7 | Bit6 | Bit5 | Bit2 | Bit1, - - // 42 Hz - // ACCEL_AAF_DELTSQR_LOW_SET = Bit0, //1 - // ACCEL_AAF_DELTSQR_LOW_CLEAR = Bit7 | Bit6 | Bit5 | Bit4 | Bit3 | Bit2 | Bit1, - -}; - -// ACCEL_CONFIG_STATIC4 -enum ACCEL_CONFIG_STATIC4_BIT : uint8_t { - ACCEL_AAF_BITSHIFT = Bit7 | Bit5, - ACCEL_AAF_DELTSQR_HIGH = 0, - // 213 Hz - ACCEL_AAF_BITSHIFT_SET = Bit7 | Bit5, //10 - ACCEL_AAF_BITSHIFT_CLEAR = Bit6 | Bit4, - - // 42 Hz - // ACCEL_AAF_BITSHIFT_SET = Bit7 | Bit6 | Bit5 | Bit4, //15 - // ACCEL_AAF_BITSHIFT_CLEAR = 0, - - ACCEL_AAF_DELTSQR_HIGH_SET = 0, - ACCEL_AAF_DELTSQR_HIGH_CLEAR = Bit3 | Bit2 | Bit1 | Bit0, -}; - - -namespace FIFO -{ -static constexpr size_t SIZE = 2048; - -// FIFO_DATA layout when FIFO_CONFIG1 has FIFO_GYRO_EN and FIFO_ACCEL_EN set - -// Packet 4 -struct DATA { - uint8_t FIFO_Header; - uint8_t ACCEL_DATA_X1; // Accel X [19:12] - uint8_t ACCEL_DATA_X0; // Accel X [11:4] - uint8_t ACCEL_DATA_Y1; // Accel Y [19:12] - uint8_t ACCEL_DATA_Y0; // Accel Y [11:4] - uint8_t ACCEL_DATA_Z1; // Accel Z [19:12] - uint8_t ACCEL_DATA_Z0; // Accel Z [11:4] - uint8_t GYRO_DATA_X1; // Gyro X [19:12] - uint8_t GYRO_DATA_X0; // Gyro X [11:4] - uint8_t GYRO_DATA_Y1; // Gyro Y [19:12] - uint8_t GYRO_DATA_Y0; // Gyro Y [11:4] - uint8_t GYRO_DATA_Z1; // Gyro Z [19:12] - uint8_t GYRO_DATA_Z0; // Gyro Z [11:4] - uint8_t TEMP_DATA1; // Temperature[15:8] - uint8_t TEMP_DATA0; // Temperature[7:0] - uint8_t TimeStamp_h; // TimeStamp[15:8] - uint8_t TimeStamp_l; // TimeStamp[7:0] - uint8_t Ext_Accel_X_Gyro_X; // Accel X [3:0] Gyro X [3:0] - uint8_t Ext_Accel_Y_Gyro_Y; // Accel Y [3:0] Gyro Y [3:0] - uint8_t Ext_Accel_Z_Gyro_Z; // Accel Z [3:0] Gyro Z [3:0] -}; - -// With FIFO_ACCEL_EN and FIFO_GYRO_EN header should be 8’b_0110_10xx -enum FIFO_HEADER_BIT : uint8_t { - HEADER_MSG = Bit7, // 1: FIFO is empty - HEADER_ACCEL = Bit6, // 1: Packet is sized so that accel data have location in the packet, FIFO_ACCEL_EN must be 1 - HEADER_GYRO = Bit5, // 1: Packet is sized so that gyro data have location in the packet, FIFO_GYRO_EN must be1 - HEADER_20 = Bit4, // 1: Packet has a new and valid sample of extended 20-bit data for gyro and/or accel - HEADER_TIMESTAMP_FSYNC = Bit3 | Bit2, - HEADER_ODR_ACCEL = Bit1, // 1: The ODR for accel is different for this accel data packet compared to the previous accel packet - HEADER_ODR_GYRO = Bit0, // 1: The ODR for gyro is different for this gyro data packet compared to the previous gyro packet -}; - -} -} // namespace InvenSense_ICM42688P diff --git a/boards/modalai/voxl2-slpi/src/drivers/icm42688p/icm42688p_main.cpp b/boards/modalai/voxl2-slpi/src/drivers/icm42688p/icm42688p_main.cpp deleted file mode 100644 index 38deecdf57cb..000000000000 --- a/boards/modalai/voxl2-slpi/src/drivers/icm42688p/icm42688p_main.cpp +++ /dev/null @@ -1,116 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2020 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -#include "ICM42688P.hpp" - -#include -#include -#include - -void ICM42688P::print_usage() -{ - PRINT_MODULE_USAGE_NAME("icm42688p", "driver"); - PRINT_MODULE_USAGE_SUBCATEGORY("imu"); - PRINT_MODULE_USAGE_COMMAND("start"); - PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(false, true); - PRINT_MODULE_USAGE_PARAM_INT('R', 0, 0, 35, "Rotation", true); - PRINT_MODULE_USAGE_DEFAULT_COMMANDS(); -} - -// I2CSPIDriverBase *ICM42688P::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator, -// int runtime_instance) -// { -// ICM42688P *instance = new ICM42688P(iterator.configuredBusOption(), iterator.bus(), iterator.devid(), cli.rotation, -// cli.bus_frequency, cli.spi_mode, iterator.DRDYGPIO()); -// -// if (!instance) { -// PX4_ERR("alloc failed"); -// return nullptr; -// } -// -// if (OK != instance->init()) { -// delete instance; -// return nullptr; -// } -// -// return instance; -// } - -extern "C" int icm42688p_main(int argc, char *argv[]) -{ - - for (int i = 0; i <= argc - 1; i++) { - if (std::string(argv[i]) == "-h") { - argv[i] = 0; - hitl_mode = true; - break; - } - } - - int ch; - using ThisDriver = ICM42688P; - BusCLIArguments cli{false, true}; - cli.default_spi_frequency = SPI_SPEED; - - while ((ch = cli.getOpt(argc, argv, "R:")) != EOF) { - switch (ch) { - case 'R': - cli.rotation = (enum Rotation)atoi(cli.optArg()); - break; - } - } - - const char *verb = cli.optArg(); - - if (!verb) { - ThisDriver::print_usage(); - return -1; - } - - BusInstanceIterator iterator(MODULE_NAME, cli, DRV_IMU_DEVTYPE_ICM42688P); - - if (!strcmp(verb, "start")) { - return ThisDriver::module_start(cli, iterator); - } - - if (!strcmp(verb, "stop")) { - return ThisDriver::module_stop(iterator); - } - - if (!strcmp(verb, "status")) { - return ThisDriver::module_status(iterator); - } - - ThisDriver::print_usage(); - return -1; -} diff --git a/boards/modalai/voxl2-slpi/src/drivers/spektrum_rc/CMakeLists.txt b/boards/modalai/voxl2-slpi/src/drivers/spektrum_rc/CMakeLists.txt index 6d8087695f0a..05097e59f28c 100644 --- a/boards/modalai/voxl2-slpi/src/drivers/spektrum_rc/CMakeLists.txt +++ b/boards/modalai/voxl2-slpi/src/drivers/spektrum_rc/CMakeLists.txt @@ -41,4 +41,3 @@ px4_add_module( DEPENDS rc ) - diff --git a/boards/modalai/voxl2-slpi/src/drivers/spektrum_rc/spektrum_rc.cpp b/boards/modalai/voxl2-slpi/src/drivers/spektrum_rc/spektrum_rc.cpp index c2405de1fede..18067b1756eb 100644 --- a/boards/modalai/voxl2-slpi/src/drivers/spektrum_rc/spektrum_rc.cpp +++ b/boards/modalai/voxl2-slpi/src/drivers/spektrum_rc/spektrum_rc.cpp @@ -110,16 +110,18 @@ void task_main(int argc, char *argv[]) } } - int uart_fd = dsm_init(device_path); + int uart_fd = qurt_uart_open(device_path, 115200); if (uart_fd < 0) { - PX4_ERR("dsm init failed"); + PX4_ERR("uart open failed"); return; } else if (verbose) { - PX4_INFO("Spektrum RC: dsm_init succeeded"); + PX4_INFO("Spektrum RC: uart open succeeded"); } + dsm_proto_init(); + orb_advert_t rc_pub = nullptr; // Use a buffer size of the double of the minimum, just to be safe. @@ -150,11 +152,15 @@ void task_main(int argc, char *argv[]) newbytes = read(uart_fd, &rx_buf[0], sizeof(rx_buf)); #endif + uint8_t protocol_version = rx_buf[1] & 0x0F; + if (newbytes <= 0) { if (print_msg) { PX4_INFO("Spektrum RC: Read no bytes from UART"); } - } else if (((newbytes != DSM_FRAME_SIZE) || ((rx_buf[1] & 0x0F) != 0x02)) && (! first_correct_frame_received)) { - PX4_ERR("Spektrum RC: Read something other than correct DSM frame on read. Got %d bytes. Protocol byte is 0x%.2x", + } else if (((newbytes != DSM_FRAME_SIZE) || + ((protocol_version != 0x02) && (protocol_version != 0x01))) && + (! first_correct_frame_received)) { + PX4_ERR("Spektrum RC: Invalid DSM frame. %d bytes. Protocol byte 0x%.2x", newbytes, rx_buf[1]); } else { diff --git a/boards/modalai/voxl2/README.md b/boards/modalai/voxl2/README.md index 02d7f6fc5ab4..ac6bd1f5f15c 100644 --- a/boards/modalai/voxl2/README.md +++ b/boards/modalai/voxl2/README.md @@ -9,7 +9,7 @@ When running PX4 directly on the QRB5165 SoC it runs partially on the Sensor Low The portion running on the DSP hosts the flight critical portions of PX4 such as the IMU, barometer, magnetometer, GPS, ESC, and power management drivers, and the state estimation. The DSP acts as the real time portion of the system. Non flight -critical applications such as Mavlink, logging, and commander are running on the +critical applications such as Mavlink, and logging are running on the ARM CPU cluster (aka apps proc). The DSP and ARM CPU cluster communicate via a Qualcomm proprietary shared memory interface. @@ -27,6 +27,7 @@ The full instructions are available here: ``` px4$ boards/modalai/voxl2/scripts/run-docker.sh root@9373fa1401b8:/usr/local/workspace# boards/modalai/voxl2/scripts/clean.sh +root@9373fa1401b8:/usr/local/workspace# boards/modalai/voxl2/scripts/build-deps.sh root@9373fa1401b8:/usr/local/workspace# boards/modalai/voxl2/scripts/build-apps.sh root@9373fa1401b8:/usr/local/workspace# boards/modalai/voxl2/scripts/build-slpi.sh root@9373fa1401b8:/usr/local/workspace# exit @@ -69,16 +70,15 @@ pxh> ## Notes You cannot cleanly shutdown PX4 with the shutdown command on VOXL 2. You have -to power cycle the board and restart everything. +to power cycle the board and restart everything. Starting with SDK 1.3.0 it is possible +to cleanly shutdown PX4 on VOXL 2. ## Tips -Start with a VOXL 2 that only has the system image installed, not the SDK - -Run the command ```voxl-px4 -s``` on target to run the self-test +Always use the latest SDK release In order to see DSP specific debug messages the mini-dm tool in the Hexagon SDK -can be used: +can be used (Most messages are passed to the apps proc but certain low level messages are not): ``` modalai@modalai-XPS-15-9570:/local/mnt/workspace/Qualcomm/Hexagon_SDK/4.1.0.4/tools/debug/mini-dm/Ubuntu18$ sudo ./mini-dm [sudo] password for modalai: diff --git a/boards/modalai/voxl2/cmake/init.cmake b/boards/modalai/voxl2/cmake/init.cmake new file mode 100644 index 000000000000..357d1d45ec1d --- /dev/null +++ b/boards/modalai/voxl2/cmake/init.cmake @@ -0,0 +1,34 @@ +############################################################################ +# +# Copyright (c) 2024 ModalAI, Inc. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +include_directories(${PX4_BOARD_DIR}/libfc-sensor-api/inc) diff --git a/boards/modalai/voxl2/cmake/link_libraries.cmake b/boards/modalai/voxl2/cmake/link_libraries.cmake index 42c9feae350f..e0b09beb7038 100644 --- a/boards/modalai/voxl2/cmake/link_libraries.cmake +++ b/boards/modalai/voxl2/cmake/link_libraries.cmake @@ -1,7 +1,7 @@ -# libfc_sensor.so is provided in the Docker build environment +# Link against the public stub version of the proprietary fc sensor library target_link_libraries(px4 PRIVATE - /home/libfc_sensor.so + ${PX4_BOARD_DIR}/libfc-sensor-api/build/libfc_sensor.so px4_layer ${module_libraries} ) diff --git a/boards/modalai/voxl2/default.px4board b/boards/modalai/voxl2/default.px4board index ed1e0ed682e5..20860e3fce47 100644 --- a/boards/modalai/voxl2/default.px4board +++ b/boards/modalai/voxl2/default.px4board @@ -2,18 +2,22 @@ CONFIG_PLATFORM_POSIX=y CONFIG_BOARD_LINUX_TARGET=y CONFIG_BOARD_TOOLCHAIN="aarch64-linux-gnu" CONFIG_BOARD_ROOTFSDIR="/data/px4" -CONFIG_DRIVERS_ACTUATORS_MODAL_IO=y +CONFIG_DRIVERS_ACTUATORS_VOXL_ESC=y +CONFIG_DRIVERS_GPS=y CONFIG_DRIVERS_OSD_MSP_OSD=y CONFIG_DRIVERS_QSHELL_POSIX=y +CONFIG_DRIVERS_RC_CRSF_RC=y +CONFIG_DRIVERS_RC_INPUT=y +CONFIG_DRIVERS_VOXL2_IO=y CONFIG_MODULES_COMMANDER=y CONFIG_MODULES_CONTROL_ALLOCATOR=y CONFIG_MODULES_DATAMAN=y -CONFIG_MODULES_FLIGHT_MODE_MANAGER=y CONFIG_MODULES_LOGGER=y CONFIG_MODULES_MAVLINK=y CONFIG_MODULES_MUORB_APPS=y CONFIG_MODULES_NAVIGATOR=y -CONFIG_MODULES_RC_UPDATE=y +CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y +CONFIG_MODULES_UXRCE_DDS_CLIENT=y CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y CONFIG_SYSTEMCMDS_BSONDUMP=y CONFIG_SYSTEMCMDS_PARAM=y @@ -22,3 +26,4 @@ CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y CONFIG_SYSTEMCMDS_UORB=y CONFIG_SYSTEMCMDS_VER=y CONFIG_ORB_COMMUNICATOR=y +CONFIG_PARAM_PRIMARY=y diff --git a/boards/modalai/voxl2/libfc-sensor-api b/boards/modalai/voxl2/libfc-sensor-api new file mode 160000 index 000000000000..ca16e9907464 --- /dev/null +++ b/boards/modalai/voxl2/libfc-sensor-api @@ -0,0 +1 @@ +Subproject commit ca16e99074641a10d153961291243ede7720c2e2 diff --git a/boards/modalai/voxl2/scripts/build-deps.sh b/boards/modalai/voxl2/scripts/build-deps.sh new file mode 100755 index 000000000000..fe7f85486888 --- /dev/null +++ b/boards/modalai/voxl2/scripts/build-deps.sh @@ -0,0 +1,9 @@ +#!/bin/bash + +cd boards/modalai/voxl2/libfc-sensor-api +rm -fR build +mkdir build +cd build +CC=/home/4.1.0.4/tools/linaro64/bin/aarch64-linux-gnu-gcc cmake .. +make +cd ../../../../.. diff --git a/boards/modalai/voxl2/scripts/build-slpi.sh b/boards/modalai/voxl2/scripts/build-slpi.sh index 4c05f8f4f150..cbe9ef6ba925 100755 --- a/boards/modalai/voxl2/scripts/build-slpi.sh +++ b/boards/modalai/voxl2/scripts/build-slpi.sh @@ -6,6 +6,4 @@ source /home/build-env.sh make modalai_voxl2-slpi -cat build/modalai_voxl2-slpi_default/src/lib/version/build_git_version.h - echo "*** End of qurt slpi build ***" diff --git a/boards/modalai/voxl2/scripts/clean.sh b/boards/modalai/voxl2/scripts/clean.sh index 51cef9c3f242..80832b0b70f5 100755 --- a/boards/modalai/voxl2/scripts/clean.sh +++ b/boards/modalai/voxl2/scripts/clean.sh @@ -1,5 +1,8 @@ #!/bin/bash # Clean out the build artifacts -source /home/build-env.sh -make clean +# source /home/build-env.sh +# make clean + +# This gets rid of everything and starts fresh +sudo rm -fR build diff --git a/boards/modalai/voxl2/scripts/install-voxl-bins.sh b/boards/modalai/voxl2/scripts/install-voxl-bins.sh new file mode 100755 index 000000000000..d58627bcf449 --- /dev/null +++ b/boards/modalai/voxl2/scripts/install-voxl-bins.sh @@ -0,0 +1,9 @@ +#!/bin/bash + +# Push slpi image to voxl2 +adb push build/modalai_voxl2-slpi_default/platforms/qurt/libpx4.so /usr/lib/rfsa/adsp + +# Push apps processor image to voxl2 +adb push build/modalai_voxl2_default/bin/px4 /usr/bin + +adb shell sync diff --git a/boards/modalai/voxl2/scripts/install-voxl.sh b/boards/modalai/voxl2/scripts/install-voxl.sh index 37f2ede0203f..a908b0a83576 100755 --- a/boards/modalai/voxl2/scripts/install-voxl.sh +++ b/boards/modalai/voxl2/scripts/install-voxl.sh @@ -10,14 +10,18 @@ adb push build/modalai_voxl2_default/bin/px4 /usr/bin adb push build/modalai_voxl2_default/bin/px4-alias.sh /usr/bin adb push boards/modalai/voxl2/target/voxl-px4 /usr/bin adb push boards/modalai/voxl2/target/voxl-px4-start /usr/bin +adb push boards/modalai/voxl2/target/voxl-px4-hitl /usr/bin +adb push boards/modalai/voxl2/target/voxl-px4-hitl-start /usr/bin adb shell chmod a+x /usr/bin/px4-alias.sh adb shell chmod a+x /usr/bin/voxl-px4 adb shell chmod a+x /usr/bin/voxl-px4-start +adb shell chmod a+x /usr/bin/voxl-px4-hitl +adb shell chmod a+x /usr/bin/voxl-px4-hitl-start # Push configuration file adb shell mkdir -p /etc/modalai -adb push boards/modalai/voxl2/target/voxl-px4-set-default-parameters.config /etc/modalai adb push boards/modalai/voxl2/target/voxl-px4-fake-imu-calibration.config /etc/modalai +adb push boards/modalai/voxl2/target/voxl-px4-hitl-set-default-parameters.config /etc/modalai # Make sure to setup all of the needed px4 aliases. adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-accelsim" @@ -34,6 +38,7 @@ adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-commander_tests" adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-control_allocator" adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-controllib_test" adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-dataman" +adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-dsp_hitl" adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-ekf2" adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-esc_calib" adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-ets_airspeed" @@ -65,7 +70,9 @@ adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-mb12xx" adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-mc_att_control" adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-mc_pos_control" adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-measairspeedsim" +adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-microdds_client" adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-mixer" +adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-voxl2_io_bridge" adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-motor_ramp" adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-modalai_gps_timer" adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-ms4525_airspeed" @@ -119,6 +126,8 @@ adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-rc_controller" adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-uart_esc_driver" adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-flight_mode_manager" adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-imu_server" +adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-apps_sbus" +adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-voxl_save_cal_params" # Make sure any required directories exist adb shell "/bin/mkdir -p /data/px4/param" diff --git a/boards/modalai/voxl2/scripts/patch-gazebo.sh b/boards/modalai/voxl2/scripts/patch-gazebo.sh new file mode 100755 index 000000000000..bb31b99b1241 --- /dev/null +++ b/boards/modalai/voxl2/scripts/patch-gazebo.sh @@ -0,0 +1,13 @@ +#!/bin/bash + +cd Tools/simulation/gazebo-classic/sitl_gazebo-classic/src +patch < ../../../../../boards/modalai/voxl2/gazebo-docker/patch/mavlink_interface.patch +cd - + +cd Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/iris_hitl +patch < ../../../../../../boards/modalai/voxl2/gazebo-docker/patch/iris_hitl.patch +cd - + +cd Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/iris_vision +patch < ../../../../../../boards/modalai/voxl2/gazebo-docker/patch/iris_vision.patch +cd - diff --git a/boards/modalai/voxl2/src/CMakeLists.txt b/boards/modalai/voxl2/src/CMakeLists.txt index f23ed05ec104..f783825128f1 100644 --- a/boards/modalai/voxl2/src/CMakeLists.txt +++ b/boards/modalai/voxl2/src/CMakeLists.txt @@ -41,3 +41,9 @@ add_library(drivers_board board_config.h init.c ) + +# Add custom drivers +add_subdirectory(${PX4_BOARD_DIR}/src/drivers/apps_sbus) + +# Add custom modules +add_subdirectory(${PX4_BOARD_DIR}/src/modules/voxl_save_cal_params) diff --git a/boards/modalai/voxl2/src/board_config.h b/boards/modalai/voxl2/src/board_config.h index 9fe0f35807a3..9bc7247e9d61 100644 --- a/boards/modalai/voxl2/src/board_config.h +++ b/boards/modalai/voxl2/src/board_config.h @@ -51,4 +51,5 @@ #define BOARD_OVERRIDE_UUID "MODALAIVOXL20000" // must be of length 16 #define PX4_SOC_ARCH_ID PX4_SOC_ARCH_ID_VOXL2 -#define MODAL_IO_DEFAULT_PORT "2" +#define VOXL_ESC_DEFAULT_PORT "2" +#define VOXL2_IO_DEFAULT_PORT "2" diff --git a/boards/modalai/voxl2/src/drivers/apps_sbus/CMakeLists.txt b/boards/modalai/voxl2/src/drivers/apps_sbus/CMakeLists.txt new file mode 100644 index 000000000000..1fd4c37c2120 --- /dev/null +++ b/boards/modalai/voxl2/src/drivers/apps_sbus/CMakeLists.txt @@ -0,0 +1,41 @@ +############################################################################ +# +# Copyright (c) 2015 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +px4_add_module( + MODULE drivers__apps_sbus + MAIN apps_sbus + COMPILE_FLAGS + -Wno-cast-align # TODO: fix and enable + SRCS + apps_sbus.cpp + ) diff --git a/boards/modalai/voxl2/src/drivers/apps_sbus/apps_sbus.cpp b/boards/modalai/voxl2/src/drivers/apps_sbus/apps_sbus.cpp new file mode 100644 index 000000000000..d708fea0292c --- /dev/null +++ b/boards/modalai/voxl2/src/drivers/apps_sbus/apps_sbus.cpp @@ -0,0 +1,453 @@ +/**************************************************************************** + * + * Copyright (c) 2012-2020 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include "protocol.h" + +extern "C" { __EXPORT int apps_sbus_main(int argc, char *argv[]); } + +namespace apps_sbus +{ + +std::string _port = ""; +int _uart_fd = -1; +IOPacket _packet; +bool _initialized = false; +bool _is_running = false; +uint64_t _rc_last_valid; ///< last valid timestamp +uint16_t _rc_valid_update_count = 0; + +static px4_task_t _task_handle = -1; + +uORB::PublicationMulti _rc_pub{ORB_ID(input_rc)}; + +int bus_exchange(IOPacket *packet) +{ + int ret = 0; + int read_retries = 3; + int read_succeeded = 0; + int packet_size = sizeof(IOPacket); + + tcflush(_uart_fd, TCIOFLUSH); + + ret = ::write(_uart_fd, packet, packet_size); + + usleep(100); + + struct pollfd fd_monitor; + fd_monitor.fd = _uart_fd; + fd_monitor.events = POLLIN; + + while (read_retries) { + (void) ::poll(&fd_monitor, 1, 1000); + ret = ::read(_uart_fd, packet, sizeof(IOPacket)); + + if (ret) { + // PX4_INFO("Read %d bytes", ret); + + /* Check CRC */ + uint8_t crc = packet->crc; + packet->crc = 0; + + if (crc != crc_packet(packet)) { + PX4_ERR("PX4IO packet CRC error"); + return -EIO; + + } else if (PKT_CODE(*packet) == PKT_CODE_CORRUPT) { + PX4_ERR("PX4IO packet corruption"); + return -EIO; + + } else { + read_succeeded = 1; + break; + } + } + + PX4_ERR("Read attempt %d failed", read_retries); + read_retries--; + } + + + if (! read_succeeded) { + return -EIO; + } + + return 0; +} + +int io_reg_get(uint8_t page, uint8_t offset, uint16_t *values, unsigned num_values) +{ + /* range check the transfer */ + // if (num_values > ((_max_transfer) / sizeof(*values))) { + // PX4_ERR("io_reg_get: too many registers (%u, max %u)", num_values, _max_transfer / 2); + // return -1; + // } + + // int ret = _interface->read((page << 8) | offset, reinterpret_cast(values), num_values); + int ret = 0; + + _packet.count_code = num_values | PKT_CODE_READ; + _packet.page = page; + _packet.offset = offset; + + _packet.crc = 0; + _packet.crc = crc_packet(&_packet); + + ret = bus_exchange(&_packet); + + if (ret != 0) { + // PX4_ERR("px4io io_reg_get(%hhu,%hhu,%u): data error %d", page, offset, num_values, ret); + return -1; + } + + memcpy(values, &_packet.regs[0], num_values * 2); + + return OK; +} + +uint32_t io_reg_get(uint8_t page, uint8_t offset) +{ + uint16_t value; + + if (io_reg_get(page, offset, &value, 1) != OK) { + // Registers are only 16 bit so any value over 0xFFFF can signal a fault + return 0xFFFFFFFF; + } + + return value; +} + +int initialize() +{ + if (_initialized) { + // Already successfully initialized + return 0; + } + + if (_uart_fd < 0) { + _uart_fd = open("/dev/ttyHS1", O_RDWR | O_NONBLOCK); + + if (_uart_fd < 0) { + PX4_ERR("Open failed in %s", __FUNCTION__); + return -1; + + } else { + PX4_INFO("serial port fd %d", _uart_fd); + } + + // Configuration copied from dsm_config + struct termios uart_config; + + int termios_state; + + /* fill the struct for the new configuration */ + tcgetattr(_uart_fd, &uart_config); + + /* properly configure the terminal (see also https://en.wikibooks.org/wiki/Serial_Programming/termios ) */ + + // + // Input flags - Turn off input processing + // + // convert break to null byte, no CR to NL translation, + // no NL to CR translation, don't mark parity errors or breaks + // no input parity check, don't strip high bit off, + // no XON/XOFF software flow control + // + uart_config.c_iflag &= ~(IGNBRK | BRKINT | ICRNL | + INLCR | PARMRK | INPCK | ISTRIP | IXON); + // + // Output flags - Turn off output processing + // + // no CR to NL translation, no NL to CR-NL translation, + // no NL to CR translation, no column 0 CR suppression, + // no Ctrl-D suppression, no fill characters, no case mapping, + // no local output processing + // + // config.c_oflag &= ~(OCRNL | ONLCR | ONLRET | + // ONOCR | ONOEOT| OFILL | OLCUC | OPOST); + uart_config.c_oflag = 0; + + // + // No line processing + // + // echo off, echo newline off, canonical mode off, + // extended input processing off, signal chars off + // + uart_config.c_lflag &= ~(ECHO | ECHONL | ICANON | IEXTEN | ISIG); + + /* no parity, one stop bit, disable flow control */ + uart_config.c_cflag &= ~(CSTOPB | PARENB | CRTSCTS); + + /* set baud rate */ + if ((termios_state = cfsetispeed(&uart_config, B921600)) < 0) { + PX4_ERR("ERR: %d (cfsetispeed)", termios_state); + return -1; + } + + if ((termios_state = cfsetospeed(&uart_config, B921600)) < 0) { + PX4_ERR("ERR: %d (cfsetospeed)", termios_state); + return -1; + } + + if ((termios_state = tcsetattr(_uart_fd, TCSANOW, &uart_config)) < 0) { + PX4_ERR("ERR: %d (tcsetattr)", termios_state); + return -1; + } + + } + + if (_uart_fd < 0) { + PX4_ERR("Open failed in %s", __FUNCTION__); + return -1; + } + + // Verify connectivity and version number + unsigned protocol = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_PROTOCOL_VERSION); + + if (protocol != PX4IO_PROTOCOL_VERSION) { + PX4_ERR("apps_sbus version error: %u", protocol); + _uart_fd = -1; + return -1; + } + + _initialized = true; + + return 0; +} + +void apps_sbus_task() +{ + + uint16_t status_regs[2] {}; + input_rc_s rc_val; + const unsigned prolog = (PX4IO_P_RAW_RC_BASE - PX4IO_P_RAW_RC_COUNT); + uint16_t rc_regs[input_rc_s::RC_INPUT_MAX_CHANNELS + prolog]; + uint32_t channel_count = 0; + + _is_running = true; + + while (true) { + + usleep(20000); // Update every 20ms + + memset(&rc_val, 0, sizeof(input_rc_s)); + + if (io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS, &status_regs[0], + sizeof(status_regs) / sizeof(status_regs[0])) == OK) { + // PX4_INFO("apps_sbus status 0x%.4x", status_regs[0]); + // PX4_INFO("apps_sbus alarms 0x%.4x", status_regs[1]); + } else { + // PX4_ERR("Failed to read status / alarm registers"); + continue; + } + + /* fetch values from IO */ + + // When starting the RC flag will not be okay if the receiver isn't + // getting a signal from the transmitter. Once it does, then this flag + // will say okay even if later the signal is lost. + if (!(status_regs[0] & PX4IO_P_STATUS_FLAGS_RC_OK)) { + // PX4_INFO("RC lost status flag set"); + rc_val.rc_lost = true; + + } else { + // PX4_INFO("RC lost status flag is not set"); + rc_val.rc_lost = false; + } + + if (status_regs[0] & PX4IO_P_STATUS_FLAGS_RC_SBUS) { + rc_val.input_source = input_rc_s::RC_INPUT_SOURCE_PX4IO_SBUS; + // PX4_INFO("Got valid SBUS"); + + } else { + rc_val.input_source = input_rc_s::RC_INPUT_SOURCE_UNKNOWN; + // PX4_INFO("SBUS not valid"); + } + + rc_val.timestamp = hrt_absolute_time(); + + // No point in reading the registers if we haven't acquired a transmitter signal yet + if (! rc_val.rc_lost) { + if (io_reg_get(PX4IO_PAGE_RAW_RC_INPUT, PX4IO_P_RAW_RC_COUNT, &rc_regs[0], + sizeof(rc_regs) / sizeof(rc_regs[0])) != OK) { + // PX4_ERR("Failed to read RC registers"); + continue; + // } else { + // PX4_INFO("Successfully read RC registers"); + // PX4_INFO("Prolog: %u 0x%.4x 0x%.4x 0x%.4x 0x%.4x 0x%.4x", + // rc_regs[0], rc_regs[1], rc_regs[2], rc_regs[3], rc_regs[4], rc_regs[5]); + } + + channel_count = rc_regs[PX4IO_P_RAW_RC_COUNT]; + + // const uint16_t rc_valid_update_count = rc_regs[PX4IO_P_RAW_FRAME_COUNT]; + // const bool rc_updated = (rc_valid_update_count != _rc_valid_update_count); + // + // if (!rc_updated) { + // PX4_INFO("Didn't get an RC update indication. %u %u", rc_valid_update_count, _rc_valid_update_count); + // continue; + // } + // + // _rc_valid_update_count = rc_valid_update_count; + // + // PX4_INFO("Got an RC update indication"); + + /* limit the channel count */ + if (channel_count > input_rc_s::RC_INPUT_MAX_CHANNELS) { + // PX4_INFO("Got %u for channel count. Limiting to 18", channel_count); + channel_count = input_rc_s::RC_INPUT_MAX_CHANNELS; + } + + rc_val.channel_count = channel_count; + // PX4_INFO("RC channel count: %u", rc_val.channel_count); + + // rc_val.rc_ppm_frame_length = rc_regs[PX4IO_P_RAW_RC_DATA]; + rc_val.rc_ppm_frame_length = 0; + + rc_val.rc_failsafe = (rc_regs[PX4IO_P_RAW_RC_FLAGS] & PX4IO_P_RAW_RC_FLAGS_FAILSAFE); + // rc_val.rc_lost = !(rc_regs[PX4IO_P_RAW_RC_FLAGS] & PX4IO_P_RAW_RC_FLAGS_RC_OK); + rc_val.rc_lost = rc_val.rc_failsafe; + rc_val.rc_lost_frame_count = rc_regs[PX4IO_P_RAW_LOST_FRAME_COUNT]; + rc_val.rc_total_frame_count = rc_regs[PX4IO_P_RAW_FRAME_COUNT]; + + if (!rc_val.rc_lost && !rc_val.rc_failsafe) { + _rc_last_valid = rc_val.timestamp; + rc_val.rssi = rc_regs[PX4IO_P_RAW_RC_NRSSI]; + rc_val.link_quality = rc_regs[PX4IO_P_RAW_RC_NRSSI]; + + /* last thing set are the actual channel values as 16 bit values */ + for (unsigned i = 0; i < channel_count; i++) { + rc_val.values[i] = rc_regs[prolog + i]; + // PX4_INFO("RC channel %u: %.4u", i, rc_val.values[i]); + } + + /* zero the remaining fields */ + for (unsigned i = channel_count; i < (sizeof(rc_val.values) / sizeof(rc_val.values[0])); i++) { + rc_val.values[i] = 0; + } + } + + rc_val.timestamp_last_signal = _rc_last_valid; + } + + _rc_pub.publish(rc_val); + + } +} + +int start(int argc, char *argv[]) +{ + + int ch; + int myoptind = 1; + const char *myoptarg = nullptr; + + while ((ch = px4_getopt(argc, argv, "p:", &myoptind, &myoptarg)) != EOF) { + switch (ch) { + case 'p': + _port = myoptarg; + PX4_INFO("Setting port to %s", _port.c_str()); + break; + + default: + break; + } + } + + if (! _initialized) { + if (initialize()) { + return -1; + } + } + + if (_is_running) { + PX4_WARN("Already started"); + return 0; + } + + _task_handle = px4_task_spawn_cmd("apps_sbus_main", + SCHED_DEFAULT, + SCHED_PRIORITY_DEFAULT, + 2000, + (px4_main_t) &apps_sbus_task, + (char *const *)argv); + + if (_task_handle < 0) { + PX4_ERR("task start failed"); + return -1; + } + + return 0; +} + +void +usage() +{ + PX4_INFO("Usage: apps_sbus start [options]"); + PX4_INFO("Options: -p uart port number"); +} + +} // End namespance apps_sbus + +int apps_sbus_main(int argc, char *argv[]) +{ + int myoptind = 1; + + if (argc <= 1) { + apps_sbus::usage(); + return -1; + } + + const char *verb = argv[myoptind]; + + if (!strcmp(verb, "start")) { + return apps_sbus::start(argc - 1, argv + 1); + + } else { + apps_sbus::usage(); + return -1; + } + + return 0; +} diff --git a/boards/modalai/voxl2/src/drivers/apps_sbus/protocol.h b/boards/modalai/voxl2/src/drivers/apps_sbus/protocol.h new file mode 100644 index 000000000000..3cfcee2d1211 --- /dev/null +++ b/boards/modalai/voxl2/src/drivers/apps_sbus/protocol.h @@ -0,0 +1,405 @@ +/**************************************************************************** + * + * Copyright (c) 2012-2017 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#pragma once + +#include + +/** + * @file protocol.h + * + * PX4IO interface protocol. + * + * @author Lorenz Meier + * + * Communication is performed via writes to and reads from 16-bit virtual + * registers organised into pages of 255 registers each. + * + * The first two bytes of each write select a page and offset address + * respectively. Subsequent reads and writes increment the offset within + * the page. + * + * Some pages are read- or write-only. + * + * Note that some pages may permit offset values greater than 255, which + * can only be achieved by long writes. The offset does not wrap. + * + * Writes to unimplemented registers are ignored. Reads from unimplemented + * registers return undefined values. + * + * As convention, values that would be floating point in other parts of + * the PX4 system are expressed as signed integer values scaled by 10000, + * e.g. control values range from -10000..10000. Use the REG_TO_SIGNED and + * SIGNED_TO_REG macros to convert between register representation and + * the signed version, and REG_TO_FLOAT/FLOAT_TO_REG to convert to float. + * + * Note that the implementation of readable pages prefers registers within + * readable pages to be densely packed. Page numbers do not need to be + * packed. + * + * Definitions marked [1] are only valid on PX4IOv1 boards. Likewise, + * [2] denotes definitions specific to the PX4IOv2 board. + */ + +/* Per C, this is safe for all 2's complement systems */ +#define REG_TO_SIGNED(_reg) ((int16_t)(_reg)) +#define SIGNED_TO_REG(_signed) ((uint16_t)(_signed)) + +#define REG_TO_FLOAT(_reg) ((float)REG_TO_SIGNED(_reg) / 10000.0f) +#define FLOAT_TO_REG(_float) SIGNED_TO_REG((int16_t)floorf((_float + 0.00005f) * 10000.0f)) + +#define REG_TO_BOOL(_reg) ((bool)(_reg)) + +#define PX4IO_PROTOCOL_VERSION 4 + +/* maximum allowable sizes on this protocol version */ +#define PX4IO_PROTOCOL_MAX_CONTROL_COUNT 8 /**< The protocol does not support more than set here, individual units might support less - see PX4IO_P_CONFIG_CONTROL_COUNT */ + +/* static configuration page */ +#define PX4IO_PAGE_CONFIG 0 +#define PX4IO_P_CONFIG_PROTOCOL_VERSION 0 /* PX4IO_PROTOCOL_VERSION */ +#define PX4IO_P_CONFIG_HARDWARE_VERSION 1 /* magic numbers TBD */ +#define PX4IO_P_CONFIG_BOOTLOADER_VERSION 2 /* get this how? */ +#define PX4IO_P_CONFIG_MAX_TRANSFER 3 /* maximum I2C transfer size */ +#define PX4IO_P_CONFIG_CONTROL_COUNT 4 /* hardcoded max control count supported */ +#define PX4IO_P_CONFIG_ACTUATOR_COUNT 5 /* hardcoded max actuator output count */ +#define PX4IO_P_CONFIG_RC_INPUT_COUNT 6 /* hardcoded max R/C input count supported */ +#define PX4IO_P_CONFIG_ADC_INPUT_COUNT 7 /* hardcoded max ADC inputs */ +#define PX4IO_P_CONFIG_RELAY_COUNT 8 /* hardcoded # of relay outputs */ +#define PX4IO_MAX_TRANSFER_LEN 64 + +/* dynamic status page */ +#define PX4IO_PAGE_STATUS 1 +#define PX4IO_P_STATUS_FREEMEM 0 +#define PX4IO_P_STATUS_CPULOAD 1 + +#define PX4IO_P_STATUS_FLAGS 2 /* monitoring flags */ +#define PX4IO_P_STATUS_FLAGS_OUTPUTS_ARMED (1 << 0) /* arm-ok and locally armed */ +#define PX4IO_P_STATUS_FLAGS_OVERRIDE (1 << 1) /* in manual override */ +#define PX4IO_P_STATUS_FLAGS_RC_OK (1 << 2) /* RC input is valid */ +#define PX4IO_P_STATUS_FLAGS_RC_PPM (1 << 3) /* PPM input is valid */ +#define PX4IO_P_STATUS_FLAGS_RC_DSM (1 << 4) /* DSM input is valid */ +#define PX4IO_P_STATUS_FLAGS_RC_SBUS (1 << 5) /* SBUS input is valid */ +#define PX4IO_P_STATUS_FLAGS_FMU_OK (1 << 6) /* controls from FMU are valid */ +#define PX4IO_P_STATUS_FLAGS_RAW_PWM (1 << 7) /* raw PWM from FMU is bypassing the mixer */ +#define PX4IO_P_STATUS_FLAGS_MIXER_OK (1 << 8) /* mixer is OK */ +#define PX4IO_P_STATUS_FLAGS_ARM_SYNC (1 << 9) /* the arming state between IO and FMU is in sync */ +#define PX4IO_P_STATUS_FLAGS_INIT_OK (1 << 10) /* initialisation of the IO completed without error */ +#define PX4IO_P_STATUS_FLAGS_FAILSAFE (1 << 11) /* failsafe is active */ +#define PX4IO_P_STATUS_FLAGS_SAFETY_OFF (1 << 12) /* safety is off */ +#define PX4IO_P_STATUS_FLAGS_FMU_INITIALIZED (1 << 13) /* FMU was initialized and OK once */ +#define PX4IO_P_STATUS_FLAGS_RC_ST24 (1 << 14) /* ST24 input is valid */ +#define PX4IO_P_STATUS_FLAGS_RC_SUMD (1 << 15) /* SUMD input is valid */ + +#define PX4IO_P_STATUS_ALARMS 3 /* alarm flags - alarms latch, write 1 to a bit to clear it */ +#define PX4IO_P_STATUS_ALARMS_VBATT_LOW (1 << 0) /* [1] VBatt is very close to regulator dropout */ +#define PX4IO_P_STATUS_ALARMS_TEMPERATURE (1 << 1) /* board temperature is high */ +#define PX4IO_P_STATUS_ALARMS_SERVO_CURRENT (1 << 2) /* [1] servo current limit was exceeded */ +#define PX4IO_P_STATUS_ALARMS_ACC_CURRENT (1 << 3) /* [1] accessory current limit was exceeded */ +#define PX4IO_P_STATUS_ALARMS_FMU_LOST (1 << 4) /* timed out waiting for controls from FMU */ +#define PX4IO_P_STATUS_ALARMS_RC_LOST (1 << 5) /* timed out waiting for RC input */ +#define PX4IO_P_STATUS_ALARMS_PWM_ERROR (1 << 6) /* PWM configuration or output was bad */ +#define PX4IO_P_STATUS_ALARMS_VSERVO_FAULT (1 << 7) /* [2] VServo was out of the valid range (2.5 - 5.5 V) */ + +#define PX4IO_P_STATUS_VSERVO 6 /* [2] servo rail voltage in mV */ +#define PX4IO_P_STATUS_VRSSI 7 /* [2] RSSI voltage */ +#define PX4IO_P_STATUS_PRSSI 8 /* [2] RSSI PWM value */ + +#define PX4IO_P_STATUS_MIXER 9 /* mixer actuator limit flags */ + +/* array of post-mix actuator outputs, -10000..10000 */ +#define PX4IO_PAGE_ACTUATORS 2 /* 0..CONFIG_ACTUATOR_COUNT-1 */ + +/* array of PWM servo output values, microseconds */ +#define PX4IO_PAGE_SERVOS 3 /* 0..CONFIG_ACTUATOR_COUNT-1 */ + +/* array of raw RC input values, microseconds */ +#define PX4IO_PAGE_RAW_RC_INPUT 4 +#define PX4IO_P_RAW_RC_COUNT 0 /* number of valid channels */ +#define PX4IO_P_RAW_RC_FLAGS 1 /* RC detail status flags */ +#define PX4IO_P_RAW_RC_FLAGS_FRAME_DROP (1 << 0) /* single frame drop */ +#define PX4IO_P_RAW_RC_FLAGS_FAILSAFE (1 << 1) /* receiver is in failsafe mode */ +#define PX4IO_P_RAW_RC_FLAGS_RC_DSM11 (1 << 2) /* DSM decoding is 11 bit mode */ +#define PX4IO_P_RAW_RC_FLAGS_MAPPING_OK (1 << 3) /* Channel mapping is ok */ +#define PX4IO_P_RAW_RC_FLAGS_RC_OK (1 << 4) /* RC reception ok */ + +#define PX4IO_P_RAW_RC_NRSSI 2 /* [2] Normalized RSSI value, 0: no reception, 255: perfect reception */ +#define PX4IO_P_RAW_RC_DATA 3 /* [1] + [2] Details about the RC source (PPM frame length, Spektrum protocol type) */ +#define PX4IO_P_RAW_FRAME_COUNT 4 /* Number of total received frames (wrapping counter) */ +#define PX4IO_P_RAW_LOST_FRAME_COUNT 5 /* Number of total dropped frames (wrapping counter) */ +#define PX4IO_P_RAW_RC_BASE 6 /* CONFIG_RC_INPUT_COUNT channels from here */ + +/* array of scaled RC input values, -10000..10000 */ +#define PX4IO_PAGE_RC_INPUT 5 +#define PX4IO_P_RC_VALID 0 /* bitmask of valid controls */ +#define PX4IO_P_RC_BASE 1 /* CONFIG_RC_INPUT_COUNT controls from here */ + +/* array of raw ADC values */ +#define PX4IO_PAGE_RAW_ADC_INPUT 6 /* 0..CONFIG_ADC_INPUT_COUNT-1 */ + +/* PWM servo information */ +#define PX4IO_PAGE_PWM_INFO 7 +#define PX4IO_RATE_MAP_BASE 0 /* 0..CONFIG_ACTUATOR_COUNT bitmaps of PWM rate groups */ + +/* setup page */ +#define PX4IO_PAGE_SETUP 50 +#define PX4IO_P_SETUP_FEATURES 0 +#define PX4IO_P_SETUP_FEATURES_SBUS1_OUT (1 << 0) /**< enable S.Bus v1 output */ +#define PX4IO_P_SETUP_FEATURES_SBUS2_OUT (1 << 1) /**< enable S.Bus v2 output */ +#define PX4IO_P_SETUP_FEATURES_PWM_RSSI (1 << 2) /**< enable PWM RSSI parsing */ +#define PX4IO_P_SETUP_FEATURES_ADC_RSSI (1 << 3) /**< enable ADC RSSI parsing */ + +#define PX4IO_P_SETUP_ARMING 1 /* arming controls */ +#define PX4IO_P_SETUP_ARMING_IO_ARM_OK (1 << 0) /* OK to arm the IO side */ +#define PX4IO_P_SETUP_ARMING_FMU_ARMED (1 << 1) /* FMU is already armed */ +#define PX4IO_P_SETUP_ARMING_FMU_PREARMED (1 << 2) /* FMU is already prearmed */ +#define PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK (1 << 3) /* OK to switch to manual override via override RC channel */ +#define PX4IO_P_SETUP_ARMING_FAILSAFE_CUSTOM (1 << 4) /* use custom failsafe values, not 0 values of mixer */ +#define PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK (1 << 5) /* OK to try in-air restart */ +#define PX4IO_P_SETUP_ARMING_ALWAYS_PWM_ENABLE (1 << 6) /* Output of PWM right after startup enabled to help ESCs initialize and prevent them from beeping */ +#define PX4IO_P_SETUP_ARMING_RC_HANDLING_DISABLED (1 << 7) /* Disable the IO-internal evaluation of the RC */ +#define PX4IO_P_SETUP_ARMING_LOCKDOWN (1 << 8) /* If set, the system operates normally, but won't actuate any servos */ +#define PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE (1 << 9) /* If set, the system will always output the failsafe values */ +#define PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE (1 << 10) /* If set, the system will never return from a failsafe, but remain in failsafe once triggered. */ +#define PX4IO_P_SETUP_ARMING_OVERRIDE_IMMEDIATE (1 << 11) /* If set then on FMU failure override is immediate. Othewise it waits for the mode switch to go past the override thrshold */ + +#define PX4IO_P_SETUP_PWM_RATES 2 /* bitmask, 0 = low rate, 1 = high rate */ +#define PX4IO_P_SETUP_PWM_DEFAULTRATE 3 /* 'low' PWM frame output rate in Hz */ +#define PX4IO_P_SETUP_PWM_ALTRATE 4 /* 'high' PWM frame output rate in Hz */ +#define PX4IO_P_SETUP_RELAYS_PAD 5 + +#define PX4IO_P_SETUP_VSERVO_SCALE 6 /* hardware rev [2] servo voltage correction factor (float) */ +#define PX4IO_P_SETUP_DSM 7 /* DSM bind state */ +enum { /* DSM bind states */ + dsm_bind_power_down = 0, + dsm_bind_power_up, + dsm_bind_set_rx_out, + dsm_bind_send_pulses, + dsm_bind_reinit_uart +}; +/* 8 */ +#define PX4IO_P_SETUP_SET_DEBUG 9 /* debug level for IO board */ + +#define PX4IO_P_SETUP_REBOOT_BL 10 /* reboot IO into bootloader */ +#define PX4IO_REBOOT_BL_MAGIC 14662 /* required argument for reboot (random) */ + +#define PX4IO_P_SETUP_CRC 11 /* get CRC of IO firmware */ +/* storage space of 12 occupied by CRC */ +#define PX4IO_P_SETUP_FORCE_SAFETY_OFF 12 /* force safety switch into + 'armed' (PWM enabled) state - this is a non-data write and + hence index 12 can safely be used. */ +#define PX4IO_P_SETUP_RC_THR_FAILSAFE_US 13 /**< the throttle failsafe pulse length in microseconds */ + +#define PX4IO_P_SETUP_FORCE_SAFETY_ON 14 /* force safety switch into 'disarmed' (PWM disabled state) */ +#define PX4IO_FORCE_SAFETY_MAGIC 22027 /* required argument for force safety (random) */ + +#define PX4IO_P_SETUP_PWM_REVERSE 15 /**< Bitmask to reverse PWM channels 1-8 */ +#define PX4IO_P_SETUP_TRIM_ROLL 16 /**< Roll trim, in actuator units */ +#define PX4IO_P_SETUP_TRIM_PITCH 17 /**< Pitch trim, in actuator units */ +#define PX4IO_P_SETUP_TRIM_YAW 18 /**< Yaw trim, in actuator units */ +#define PX4IO_P_SETUP_SCALE_ROLL 19 /**< Roll scale, in actuator units */ +#define PX4IO_P_SETUP_SCALE_PITCH 20 /**< Pitch scale, in actuator units */ +#define PX4IO_P_SETUP_SCALE_YAW 21 /**< Yaw scale, in actuator units */ + +#define PX4IO_P_SETUP_SBUS_RATE 22 /**< frame rate of SBUS1 output in Hz */ + +#define PX4IO_P_SETUP_MOTOR_SLEW_MAX 24 /**< max motor slew rate */ + +#define PX4IO_P_SETUP_THR_MDL_FAC 25 /**< factor for modelling motor control signal output to static thrust relationship */ + +#define PX4IO_P_SETUP_THERMAL 26 /**< thermal management */ + +#define PX4IO_P_SETUP_AIRMODE 27 /**< air-mode */ + +#define PX4IO_P_SETUP_ENABLE_FLIGHTTERMINATION 28 /**< flight termination; false if the circuit breaker (CBRK_FLIGHTTERM) is set */ + +#define PX4IO_THERMAL_IGNORE UINT16_MAX +#define PX4IO_THERMAL_OFF 0 +#define PX4IO_THERMAL_FULL 10000 + +/* autopilot control values, -10000..10000 */ +#define PX4IO_PAGE_CONTROLS 51 /**< actuator control groups, one after the other, 8 wide */ +#define PX4IO_P_CONTROLS_GROUP_0 (PX4IO_PROTOCOL_MAX_CONTROL_COUNT * 0) /**< 0..PX4IO_PROTOCOL_MAX_CONTROL_COUNT - 1 */ +#define PX4IO_P_CONTROLS_GROUP_1 (PX4IO_PROTOCOL_MAX_CONTROL_COUNT * 1) /**< 0..PX4IO_PROTOCOL_MAX_CONTROL_COUNT - 1 */ +#define PX4IO_P_CONTROLS_GROUP_2 (PX4IO_PROTOCOL_MAX_CONTROL_COUNT * 2) /**< 0..PX4IO_PROTOCOL_MAX_CONTROL_COUNT - 1 */ +#define PX4IO_P_CONTROLS_GROUP_3 (PX4IO_PROTOCOL_MAX_CONTROL_COUNT * 3) /**< 0..PX4IO_PROTOCOL_MAX_CONTROL_COUNT - 1 */ + +#define PX4IO_P_CONTROLS_GROUP_VALID 64 +#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP0 (1 << 0) /**< group 0 is valid / received */ +#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP1 (1 << 1) /**< group 1 is valid / received */ +#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP2 (1 << 2) /**< group 2 is valid / received */ +#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP3 (1 << 3) /**< group 3 is valid / received */ + +/* raw text load to the mixer parser - ignores offset */ +#define PX4IO_PAGE_MIXERLOAD 52 + +/* R/C channel config */ +#define PX4IO_PAGE_RC_CONFIG 53 /**< R/C input configuration */ +#define PX4IO_P_RC_CONFIG_MIN 0 /**< lowest input value */ +#define PX4IO_P_RC_CONFIG_CENTER 1 /**< center input value */ +#define PX4IO_P_RC_CONFIG_MAX 2 /**< highest input value */ +#define PX4IO_P_RC_CONFIG_DEADZONE 3 /**< band around center that is ignored */ +#define PX4IO_P_RC_CONFIG_ASSIGNMENT 4 /**< mapped input value */ +#define PX4IO_P_RC_CONFIG_ASSIGNMENT_MODESWITCH 100 /**< magic value for mode switch */ +#define PX4IO_P_RC_CONFIG_OPTIONS 5 /**< channel options bitmask */ +#define PX4IO_P_RC_CONFIG_OPTIONS_ENABLED (1 << 0) +#define PX4IO_P_RC_CONFIG_OPTIONS_REVERSE (1 << 1) +#define PX4IO_P_RC_CONFIG_STRIDE 6 /**< spacing between channel config data */ + +/* PWM output - overrides mixer */ +#define PX4IO_PAGE_DIRECT_PWM 54 /**< 0..CONFIG_ACTUATOR_COUNT-1 */ + +/* PWM failsafe values - zero disables the output */ +#define PX4IO_PAGE_FAILSAFE_PWM 55 /**< 0..CONFIG_ACTUATOR_COUNT-1 */ + +/* PWM failsafe values - zero disables the output */ +#define PX4IO_PAGE_SENSORS 56 /**< Sensors connected to PX4IO */ +#define PX4IO_P_SENSORS_ALTITUDE 0 /**< Altitude of an external sensor (HoTT or S.BUS2) */ + +/* Debug and test page - not used in normal operation */ +#define PX4IO_PAGE_TEST 127 +#define PX4IO_P_TEST_LED 0 /**< set the amber LED on/off */ + +/* PWM minimum values for certain ESCs */ +#define PX4IO_PAGE_CONTROL_MIN_PWM 106 /**< 0..CONFIG_ACTUATOR_COUNT-1 */ + +/* PWM maximum values for certain ESCs */ +#define PX4IO_PAGE_CONTROL_MAX_PWM 107 /**< 0..CONFIG_ACTUATOR_COUNT-1 */ + +/* PWM mtrim values for central position */ +#define PX4IO_PAGE_CONTROL_TRIM_PWM 108 /**< 0..CONFIG_ACTUATOR_COUNT-1 */ + +/* PWM disarmed values that are active, even when SAFETY_SAFE */ +#define PX4IO_PAGE_DISARMED_PWM 109 /* 0..CONFIG_ACTUATOR_COUNT-1 */ + +/** + * As-needed mixer data upload. + * + * This message adds text to the mixer text buffer; the text + * buffer is drained as the definitions are consumed. + */ +#pragma pack(push, 1) +struct px4io_mixdata { + uint16_t f2i_mixer_magic; +#define F2I_MIXER_MAGIC 0x6d74 + + uint8_t action; +#define F2I_MIXER_ACTION_RESET 0 +#define F2I_MIXER_ACTION_APPEND 1 + + char text[0]; /* actual text size may vary */ +}; +#pragma pack(pop) + +/** + * Serial protocol encapsulation. + */ + +#define PKT_MAX_REGS 32 // by agreement w/FMU + +#pragma pack(push, 1) +struct IOPacket { + uint8_t count_code; + uint8_t crc; + uint8_t page; + uint8_t offset; + uint16_t regs[PKT_MAX_REGS]; +}; +#pragma pack(pop) + +#if (PX4IO_MAX_TRANSFER_LEN > PKT_MAX_REGS * 2) +#error The max transfer length of the IO protocol must not be larger than the IO packet size +#endif + +#define PKT_CODE_READ 0x00 /* FMU->IO read transaction */ +#define PKT_CODE_WRITE 0x40 /* FMU->IO write transaction */ +#define PKT_CODE_SUCCESS 0x00 /* IO->FMU success reply */ +#define PKT_CODE_CORRUPT 0x40 /* IO->FMU bad packet reply */ +#define PKT_CODE_ERROR 0x80 /* IO->FMU register op error reply */ + +#define PKT_CODE_MASK 0xc0 +#define PKT_COUNT_MASK 0x3f + +#define PKT_COUNT(_p) ((_p).count_code & PKT_COUNT_MASK) +#define PKT_CODE(_p) ((_p).count_code & PKT_CODE_MASK) +#define PKT_SIZE(_p) ((size_t)((uint8_t *)&((_p).regs[PKT_COUNT(_p)]) - ((uint8_t *)&(_p)))) + +static const uint8_t crc8_tab[256] __attribute__((unused)) = { + 0x00, 0x07, 0x0E, 0x09, 0x1C, 0x1B, 0x12, 0x15, + 0x38, 0x3F, 0x36, 0x31, 0x24, 0x23, 0x2A, 0x2D, + 0x70, 0x77, 0x7E, 0x79, 0x6C, 0x6B, 0x62, 0x65, + 0x48, 0x4F, 0x46, 0x41, 0x54, 0x53, 0x5A, 0x5D, + 0xE0, 0xE7, 0xEE, 0xE9, 0xFC, 0xFB, 0xF2, 0xF5, + 0xD8, 0xDF, 0xD6, 0xD1, 0xC4, 0xC3, 0xCA, 0xCD, + 0x90, 0x97, 0x9E, 0x99, 0x8C, 0x8B, 0x82, 0x85, + 0xA8, 0xAF, 0xA6, 0xA1, 0xB4, 0xB3, 0xBA, 0xBD, + 0xC7, 0xC0, 0xC9, 0xCE, 0xDB, 0xDC, 0xD5, 0xD2, + 0xFF, 0xF8, 0xF1, 0xF6, 0xE3, 0xE4, 0xED, 0xEA, + 0xB7, 0xB0, 0xB9, 0xBE, 0xAB, 0xAC, 0xA5, 0xA2, + 0x8F, 0x88, 0x81, 0x86, 0x93, 0x94, 0x9D, 0x9A, + 0x27, 0x20, 0x29, 0x2E, 0x3B, 0x3C, 0x35, 0x32, + 0x1F, 0x18, 0x11, 0x16, 0x03, 0x04, 0x0D, 0x0A, + 0x57, 0x50, 0x59, 0x5E, 0x4B, 0x4C, 0x45, 0x42, + 0x6F, 0x68, 0x61, 0x66, 0x73, 0x74, 0x7D, 0x7A, + 0x89, 0x8E, 0x87, 0x80, 0x95, 0x92, 0x9B, 0x9C, + 0xB1, 0xB6, 0xBF, 0xB8, 0xAD, 0xAA, 0xA3, 0xA4, + 0xF9, 0xFE, 0xF7, 0xF0, 0xE5, 0xE2, 0xEB, 0xEC, + 0xC1, 0xC6, 0xCF, 0xC8, 0xDD, 0xDA, 0xD3, 0xD4, + 0x69, 0x6E, 0x67, 0x60, 0x75, 0x72, 0x7B, 0x7C, + 0x51, 0x56, 0x5F, 0x58, 0x4D, 0x4A, 0x43, 0x44, + 0x19, 0x1E, 0x17, 0x10, 0x05, 0x02, 0x0B, 0x0C, + 0x21, 0x26, 0x2F, 0x28, 0x3D, 0x3A, 0x33, 0x34, + 0x4E, 0x49, 0x40, 0x47, 0x52, 0x55, 0x5C, 0x5B, + 0x76, 0x71, 0x78, 0x7F, 0x6A, 0x6D, 0x64, 0x63, + 0x3E, 0x39, 0x30, 0x37, 0x22, 0x25, 0x2C, 0x2B, + 0x06, 0x01, 0x08, 0x0F, 0x1A, 0x1D, 0x14, 0x13, + 0xAE, 0xA9, 0xA0, 0xA7, 0xB2, 0xB5, 0xBC, 0xBB, + 0x96, 0x91, 0x98, 0x9F, 0x8A, 0x8D, 0x84, 0x83, + 0xDE, 0xD9, 0xD0, 0xD7, 0xC2, 0xC5, 0xCC, 0xCB, + 0xE6, 0xE1, 0xE8, 0xEF, 0xFA, 0xFD, 0xF4, 0xF3 +}; + +static uint8_t crc_packet(struct IOPacket *pkt) __attribute__((unused)); +static uint8_t +crc_packet(struct IOPacket *pkt) +{ + uint8_t *end = (uint8_t *)(&pkt->regs[PKT_COUNT(*pkt)]); + uint8_t *p = (uint8_t *)pkt; + uint8_t c = 0; + + while (p < end) { + c = crc8_tab[c ^ * (p++)]; + } + + return c; +} diff --git a/boards/modalai/voxl2/src/modules/voxl_save_cal_params/CMakeLists.txt b/boards/modalai/voxl2/src/modules/voxl_save_cal_params/CMakeLists.txt new file mode 100644 index 000000000000..f645fd3c53b2 --- /dev/null +++ b/boards/modalai/voxl2/src/modules/voxl_save_cal_params/CMakeLists.txt @@ -0,0 +1,43 @@ +############################################################################ +# +# Copyright (c) 2024 ModalAI, Inc. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +px4_add_module( + MODULE modules__voxl_save_cal_params + MAIN voxl_save_cal_params + COMPILE_FLAGS + SRCS + VoxlSaveCalParams.cpp + VoxlSaveCalParams.hpp + DEPENDS + px4_work_queue + ) diff --git a/boards/modalai/voxl2/src/modules/voxl_save_cal_params/VoxlSaveCalParams.cpp b/boards/modalai/voxl2/src/modules/voxl_save_cal_params/VoxlSaveCalParams.cpp new file mode 100644 index 000000000000..5c8717db267e --- /dev/null +++ b/boards/modalai/voxl2/src/modules/voxl_save_cal_params/VoxlSaveCalParams.cpp @@ -0,0 +1,234 @@ +/**************************************************************************** + * + * Copyright (c) 2024 ModalAI, Inc. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include "VoxlSaveCalParams.hpp" + +#include +#include +#include +#include +#include + +using namespace std; + +static bool debug = false; + +VoxlSaveCalParams::VoxlSaveCalParams() : + ModuleParams(nullptr), + WorkItem(MODULE_NAME, px4::wq_configurations::lp_default) +{ +} + +bool +VoxlSaveCalParams::init() +{ + if (!_parameter_primary_set_value_request_sub.registerCallback()) { + PX4_ERR("callback registration failed"); + return false; + } + + return true; +} + +void +VoxlSaveCalParams::save_calibration_parameter_to_file(const char *name, param_type_t type, + param_value_u value) +{ + // If the parameter being set is a calibration parameter then save it out to + // a separate calibration file so that they can be preserved and reloaded + // after system updates + string cal_file_name = param_get_default_file(); + string cal_file_append; + string param_name(name); + string cal_strings[] = {"CAL_GYRO", "CAL_MAG", "CAL_BARO", "CAL_ACC"}; + + for (auto i : cal_strings) { + // Check to see if the parameter is one of the desired calibration parameters + if (param_name.substr(0, i.size()) == i) { + // We want the filename to be the standard parameters file name with + // the calibration type appended to it. + cal_file_append = i.substr(3, i.size()); + // Make sure it is lowercase + transform(cal_file_append.begin(), cal_file_append.end(), cal_file_append.begin(), ::tolower); + // And add a cal file extension + cal_file_append += ".cal"; + break; + } + } + + // Check for level horizon calibration parameters + if (cal_file_append.empty() && + (param_name == "SENS_BOARD_X_OFF" || param_name == "SENS_BOARD_Y_OFF")) { + cal_file_append = "_level.cal"; + } + + // Check for RC calibration parameters + if (cal_file_append.empty() && name[0] == 'R' && name[1] == 'C' && isdigit(name[2])) { + cal_file_append = "_rc.cal"; + } + + if (! cal_file_append.empty()) { + cal_file_name += cal_file_append; + + stringstream param_data_stream; + + switch (type) { + case PARAM_TYPE_INT32: + param_data_stream << value.i; + param_data_stream << "\t" << 6; + break; + + case PARAM_TYPE_FLOAT: + param_data_stream << value.f; + param_data_stream << "\t" << 9; + break; + + default: + PX4_ERR("Calibration parameter must be either int or float"); + break; + } + + string param_data; + param_data += "1\t1\t"; + param_data += param_name; + param_data += "\t"; + param_data += param_data_stream.str(); + + if (debug) { PX4_INFO("Writing %s to file %s", param_data.c_str(), cal_file_name.c_str()); } + + // open a file in write (append) mode. + ofstream cal_file; + cal_file.open(cal_file_name, ios_base::app); + + if (cal_file) { + cal_file << param_data << endl; + cal_file.close(); + + } else { + PX4_ERR("Couldn't open %s for writing calibration value", cal_file_name.c_str()); + } + } +} + +void +VoxlSaveCalParams::Run() +{ + if (should_exit()) { + _parameter_primary_set_value_request_sub.unregisterCallback(); + exit_and_cleanup(); + return; + } + + parameter_set_value_request_s req; + + if (_parameter_primary_set_value_request_sub.copy(&req)) { + // PX4_INFO("Got set value request in autosave module"); + + // debug_counters.set_value_received++; + + param_t param = req.parameter_index; + param_value_u value; + value.i = 0; + value.f = 0.0f; + + switch (param_type(param)) { + case PARAM_TYPE_INT32: + param_set_no_remote_update(param, (const void *) &req.int_value, true); + value.i = req.int_value; + break; + + case PARAM_TYPE_FLOAT: + param_set_no_remote_update(param, (const void *) &req.float_value, true); + value.f = req.float_value; + break; + + default: + PX4_ERR("Parameter must be either int or float"); + break; + } + + save_calibration_parameter_to_file(param_name(param), param_type(param), value); + } +} + +int VoxlSaveCalParams::task_spawn(int argc, char *argv[]) +{ + VoxlSaveCalParams *instance = new VoxlSaveCalParams(); + + if (instance) { + _object.store(instance); + _task_id = task_id_is_work_queue; + + if (instance->init()) { + return PX4_OK; + } + + } else { + PX4_ERR("alloc failed"); + } + + delete instance; + _object.store(nullptr); + _task_id = -1; + + return PX4_ERROR; +} + +int VoxlSaveCalParams::custom_command(int argc, char *argv[]) +{ + return print_usage("unknown command"); +} + +int VoxlSaveCalParams::print_usage(const char *reason) +{ + if (reason) { + PX4_WARN("%s\n", reason); + } + + PRINT_MODULE_DESCRIPTION( + R"DESCR_STR( +### Description +This implements autosaving of calibration parameters on VOXL2 platform. + +)DESCR_STR"); + + PRINT_MODULE_USAGE_COMMAND("start"); + PRINT_MODULE_USAGE_DEFAULT_COMMANDS(); + + return 0; +} + +extern "C" __EXPORT int voxl_save_cal_params_main(int argc, char *argv[]) +{ + return VoxlSaveCalParams::main(argc, argv); +} diff --git a/boards/modalai/voxl2/src/modules/voxl_save_cal_params/VoxlSaveCalParams.hpp b/boards/modalai/voxl2/src/modules/voxl_save_cal_params/VoxlSaveCalParams.hpp new file mode 100644 index 000000000000..791bbf5073f8 --- /dev/null +++ b/boards/modalai/voxl2/src/modules/voxl_save_cal_params/VoxlSaveCalParams.hpp @@ -0,0 +1,73 @@ +/**************************************************************************** + * + * Copyright (c) 2024 ModalAI, Inc. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#pragma once + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +using namespace time_literals; + +class VoxlSaveCalParams : public ModuleBase, public ModuleParams, + public px4::WorkItem +{ +public: + VoxlSaveCalParams(); + ~VoxlSaveCalParams() = default; + + /** @see ModuleBase */ + static int task_spawn(int argc, char *argv[]); + + /** @see ModuleBase */ + static int custom_command(int argc, char *argv[]); + + /** @see ModuleBase */ + static int print_usage(const char *reason = nullptr); + + bool init(); + +private: + void Run() override; + + void save_calibration_parameter_to_file(const char *name, param_type_t type, param_value_u value); + + uORB::SubscriptionCallbackWorkItem _parameter_primary_set_value_request_sub{this, ORB_ID(parameter_primary_set_value_request)}; +}; diff --git a/boards/modalai/voxl2/target/voxl-px4 b/boards/modalai/voxl2/target/voxl-px4 index 38560b47a091..bf1b62e981aa 100755 --- a/boards/modalai/voxl2/target/voxl-px4 +++ b/boards/modalai/voxl2/target/voxl-px4 @@ -4,7 +4,9 @@ CONFIG_FILE="/etc/modalai/voxl-px4.conf" GPS=NONE RC=SPEKTRUM -IMU_ROTATION=NONE +ESC=VOXL_ESC +POWER_MANAGER=VOXLPM +DISTANCE_SENSOR=NONE OSD=DISABLE DAEMON_MODE=DISABLE SENSOR_CAL=ACTUAL @@ -39,9 +41,8 @@ fi print_usage() { echo -e "\nUsage: voxl-px4 [-b (Specify Holybro GPS unit)]" echo " [-c delete configuration file and exit]" - echo " [-d start px4 in daemon mode]" + echo " [-d start px4 without daemon mode]" echo " [-f (Use fake rc input instead of from a real transmitter)]" - echo " [-i (Set IMU_ROTATION to ROTATION_YAW_180)]" echo " [-m (Specify Matek GPS unit)]" echo " [-o (Start OSD module on the apps processor)]" echo " [-r (Specify TBS Crossfire RC receiver, MAVLINK)]" @@ -56,7 +57,9 @@ print_config_settings(){ echo -e "\n*************************" echo "GPS=$GPS" echo "RC=$RC" - echo "IMU_ROTATION=$IMU_ROTATION" + echo "ESC=$ESC" + echo "POWER MANAGER=$POWER_MANAGER" + echo "DISTANCE SENSOR=$DISTANCE_SENSOR" echo "OSD=$OSD" echo "DAEMON_MODE=$DAEMON_MODE" echo "SENSOR_CAL=$SENSOR_CAL" @@ -68,7 +71,7 @@ print_config_settings(){ echo -e "*************************\n" } -while getopts "bcdhifmorwz" flag +while getopts "bcdhfmorwz" flag do case "${flag}" in b) @@ -83,16 +86,12 @@ do exit 0 ;; d) - echo "[INFO] Enabling daemon mode" - DAEMON_MODE=ENABLE + echo "[INFO] Disabling daemon mode" + DAEMON_MODE=DISABLE ;; h) print_usage ;; - i) - echo "[INFO] Setting IMU_ROTATION to 4: ROTATION_YAW_180" - IMU_ROTATION=4 - ;; f) echo "[INFO] Setting RC to FAKE_RC_INPUT" RC=FAKE_RC_INPUT @@ -130,12 +129,6 @@ else DAEMON="-d" fi -if [ ! -f /data/px4/param/parameters ]; then - echo "[INFO] Setting default parameters for PX4 on voxl" - px4 $DAEMON -s /etc/modalai/voxl-px4-set-default-parameters.config - /bin/sync -fi - if [ $SENSOR_CAL == "FAKE" ]; then /bin/echo "[INFO] Setting up fake sensor calibration values" px4 $DAEMON -s /etc/modalai/voxl-px4-fake-imu-calibration.config @@ -144,4 +137,5 @@ fi print_config_settings -GPS=$GPS RC=$RC OSD=$OSD IMU_ROTATION=$IMU_ROTATION EXTRA_STEPS=$EXTRA_STEPS px4 $DAEMON -s /usr/bin/voxl-px4-start +GPS=$GPS RC=$RC ESC=$ESC POWER_MANAGER=$POWER_MANAGER DISTANCE_SENSOR=$DISTANCE_SENSOR \ +OSD=$OSD EXTRA_STEPS=$EXTRA_STEPS px4 $DAEMON -s /usr/bin/voxl-px4-start diff --git a/boards/modalai/voxl2/target/voxl-px4-hitl b/boards/modalai/voxl2/target/voxl-px4-hitl new file mode 100755 index 000000000000..c2b2f4158317 --- /dev/null +++ b/boards/modalai/voxl2/target/voxl-px4-hitl @@ -0,0 +1,39 @@ +#!/bin/bash + +# Make sure that the SLPI DSP test signature is there otherwise px4 cannot run +# on the DSP +if /bin/ls /usr/lib/rfsa/adsp/testsig-*.so &> /dev/null; then + /bin/echo "Found DSP signature file" +else + /bin/echo "[WARNING] Could not find DSP signature file" + # Look for the DSP signature generation script + if [ -f /share/modalai/qrb5165-slpi-test-sig/generate-test-sig.sh ]; then + /bin/echo "[INFO] Attempting to generate the DSP signature file" + # Automatically generate the test signature so that px4 can run on SLPI DSP + /share/modalai/qrb5165-slpi-test-sig/generate-test-sig.sh + else + /bin/echo "[ERROR] Could not find the DSP signature file generation script" + exit 0 + fi +fi + +print_usage() { + echo -e "\nUsage: voxl-px4-hitl" + echo " [-h (show help)]" + + exit 1 +} + +while getopts "h" flag +do + case "${flag}" in + h) + print_usage + ;; + *) + print_usage + ;; + esac +done + +px4 -s /usr/bin/voxl-px4-hitl-start diff --git a/boards/modalai/voxl2/target/voxl-px4-hitl-set-default-parameters.config b/boards/modalai/voxl2/target/voxl-px4-hitl-set-default-parameters.config new file mode 100755 index 000000000000..f4455955f78b --- /dev/null +++ b/boards/modalai/voxl2/target/voxl-px4-hitl-set-default-parameters.config @@ -0,0 +1,111 @@ +# Param setting and declaring file + +param select /data/px4/param/hitl_parameters + +# Sys config parameters +param set SYS_AUTOSTART 1001 +param set SYS_HITL 1 + +# Make sure we are running at 800Hz on IMU +param set IMU_GYRO_RATEMAX 800 + +# Some parameters for control allocation +param set CA_ROTOR_COUNT 4 +param set CA_AIRFRAME 0 +param set CA_ROTOR_COUNT 4 +param set CA_ROTOR0_PX 0.15 +param set CA_ROTOR0_PY 0.25 +param set CA_ROTOR1_PX -0.15 +param set CA_ROTOR1_PY -0.19 +param set CA_ROTOR2_PX 0.15 +param set CA_ROTOR2_PY -0.25 +param set CA_ROTOR2_KM -0.05 +param set CA_ROTOR3_PX -0.15 +param set CA_ROTOR3_PY 0.19 +param set CA_ROTOR3_KM -0.05 + +# Sensor calibration parameters +param set CAL_ACC0_ID 2490378 +param set CAL_ACC0_PRIO 50 +param set CAL_ACC0_XOFF -0.018255233764648438 +param set CAL_ACC0_XSCALE 1.000119328498840332 +param set CAL_ACC0_YOFF 0.097194194793701172 +param set CAL_ACC0_YSCALE 1.003928661346435547 +param set CAL_ACC0_ZOFF 0.081269264221191406 +param set CAL_ACC0_ZSCALE 0.992971897125244141 +param set CAL_ACC1_PRIO 50 +param set CAL_ACC2_PRIO 50 +param set CAL_ACC3_PRIO 50 +param set CAL_AIR_CMODEL 0 +param set CAL_AIR_TUBED_MM 1.500000000000000000 +param set CAL_AIR_TUBELEN 0.200000002980232239 +param set CAL_GYRO0_ID 2490378 +param set CAL_GYRO0_PRIO 50 +param set CAL_GYRO0_XOFF 0.013671654276549816 +param set CAL_GYRO0_YOFF -0.000422076700488105 +param set CAL_GYRO0_ZOFF -0.003227389883249998 +param set CAL_GYRO1_PRIO 50 +param set CAL_GYRO2_PRIO 50 +param set CAL_GYRO3_PRIO 50 +param set CAL_MAG0_ID 396809 +param set CAL_MAG0_PRIO 75 +param set CAL_MAG0_ROT 0 +param set CAL_MAG0_XODIAG -0.011825157329440117 +param set CAL_MAG0_XOFF -0.011212680488824844 +param set CAL_MAG0_XSCALE 1.001187443733215332 +param set CAL_MAG0_YODIAG 0.022539729252457619 +param set CAL_MAG0_YOFF -0.030884368345141411 +param set CAL_MAG0_YSCALE 0.940797865390777588 +param set CAL_MAG0_ZODIAG -0.006671304814517498 +param set CAL_MAG0_ZOFF -0.097350947558879852 +param set CAL_MAG0_ZSCALE 1.050295352935791016 +param set CAL_MAG1_PRIO 50 +param set CAL_MAG2_PRIO 50 +param set CAL_MAG3_PRIO 50 + +# Commander parameters +param set COM_CPU_MAX 0 +param set COM_DISARM_PRFLT -1 +param set COM_RC_IN_MODE 1 +param set NAV_RCL_ACT 1 +param set COM_FLIGHT_UUID 15 + +# EKF2 parameters +param set EKF2_ABL_LIM 0.8 +param set EKF2_EV_DELAY 5.0 +param set EKF2_IMU_POS_X 0.027 +param set EKF2_IMU_POS_Y 0.009 +param set EKF2_IMU_POS_Z -0.019 +param set EKF2_MAG_DECL 3.2 + +# Control allocator parameters for HIL +param set HIL_ACT_FUNC1 101 +param set HIL_ACT_FUNC2 102 +param set HIL_ACT_FUNC3 103 +param set HIL_ACT_FUNC4 104 +param set PWM_MAIN_FUNC1 101 +param set PWM_MAIN_FUNC2 102 +param set PWM_MAIN_FUNC3 103 +param set PWM_MAIN_FUNC4 104 + +# Mavlink parameters +param set MAV_TYPE 2 + +# Autotune parameters +param set MC_AT_EN 1 + +# RC Mapping parameters +param set RC_MAP_PITCH 2 +param set RC_MAP_ROLL 1 +param set RC_MAP_THROTTLE 3 +param set RC_MAP_YAW 4 +param set RC_MAP_FLTMODE 6 +param set RC_MAP_KILL_SW 7 + +# CBRK parameters +param set CBRK_SUPPLY_CHK 894281 + +# Landing parameters +param set LND_FLIGHT_T_LO 483791313 + +param save diff --git a/boards/modalai/voxl2/target/voxl-px4-hitl-start b/boards/modalai/voxl2/target/voxl-px4-hitl-start new file mode 100755 index 000000000000..9dcc4bb4f03f --- /dev/null +++ b/boards/modalai/voxl2/target/voxl-px4-hitl-start @@ -0,0 +1,98 @@ +#!/bin/sh +# PX4 commands need the 'px4-' prefix in bash. +# (px4-alias.sh is expected to be in the PATH) +. px4-alias.sh + +# Figure out what platform we are running on. +PLATFORM=`/usr/bin/voxl-platform 2> /dev/null` +RETURNCODE=$? +if [ $RETURNCODE -ne 0 ]; then + # If we couldn't get the platform from the voxl-platform utility then check + # /etc/version to see if there is an M0052 substring in the version string. If so, + # then we assume that we are on M0052. + VERSIONSTRING=$( /dev/null` +RETURNCODE=$? +if [ $RETURNCODE -ne 0 ]; then + # If we couldn't get the platform from the voxl-platform utility then check + # /etc/version to see if there is an M0052 substring in the version string. If so, + # then we assume that we are on M0052. + VERSIONSTRING=$( /* LEDs are driven with push open drain to support Anode to 5V or 3.3V */ -#define GPIO_nLED_RED /* PB11 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN11) -#define GPIO_nLED_GREEN /* PB1 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN1) +#define GPIO_nLED_RED /* PB4 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN4) +#define GPIO_nLED_GREEN /* PB5 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN5) #define GPIO_nLED_BLUE /* PB3 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN3) +#define GPIO_LED_SAFETY /* PE6 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN6) + #define BOARD_HAS_CONTROL_STATUS_LEDS 1 #define BOARD_OVERLOAD_LED LED_RED #define BOARD_ARMED_STATE_LED LED_BLUE /* ADC channels */ #define PX4_ADC_GPIO \ - /* PA2 */ GPIO_ADC12_INP14, \ + /* PC4 */ GPIO_ADC12_INP4, \ /* PA3 */ GPIO_ADC12_INP15, \ /* PA4 */ GPIO_ADC12_INP18, \ - /* PC1 */ GPIO_ADC123_INP11 + /* PC0 */ GPIO_ADC123_INP10, \ + /* PC5 */ GPIO_ADC12_INP8, \ + /* PB0 */ GPIO_ADC12_INP9, \ + /* PB1 */ GPIO_ADC12_INP5 /* Define Channel numbers must match above GPIO pins */ -#define ADC_BATTERY_VOLTAGE_CHANNEL 14 /* PA2 BATT_VOLT_SENS */ +#define ADC_BATTERY_VOLTAGE_CHANNEL 4 /* PC4 BATT_VOLT_SENS */ #define ADC_BATTERY_CURRENT_CHANNEL 15 /* PA3 BATT_CURRENT_SENS */ #define ADC_SCALED_V5_CHANNEL 18 /* PA4 VDD_5V_SENS */ -#define ADC_RC_RSSI_CHANNEL 11 /* PC1 */ +#define ADC_RC_RSSI_CHANNEL 10 /* PC0 */ +#define ADC_AIRSPEED_VOLTAGE_CHANNEL 8 /* PC5 */ +#define ADC_AUX1_VOLTAGE_CHANNEL 9 /* PB0 */ +#define ADC_AUX2_VOLTAGE_CHANNEL 5 /* PB1 */ #define ADC_CHANNELS \ ((1 << ADC_BATTERY_VOLTAGE_CHANNEL) | \ (1 << ADC_BATTERY_CURRENT_CHANNEL) | \ (1 << ADC_SCALED_V5_CHANNEL) | \ - (1 << ADC_RC_RSSI_CHANNEL)) + (1 << ADC_RC_RSSI_CHANNEL) | \ + (1 << ADC_AIRSPEED_VOLTAGE_CHANNEL) | \ + (1 << ADC_AUX1_VOLTAGE_CHANNEL) | \ + (1 << ADC_AUX2_VOLTAGE_CHANNEL)) /* HW has to large of R termination on ADC todo:change when HW value is chosen */ #define BOARD_ADC_OPEN_CIRCUIT_V (5.6f) /* CAN Silence: Silent mode control */ -#define GPIO_CAN1_SILENT_S0 /* PF5 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTF|GPIO_PIN5) -#define GPIO_CAN2_SILENT_S0 /* PF5 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTF|GPIO_PIN5) +#define GPIO_CAN1_SILENT_S0 /* PF11 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTF|GPIO_PIN11) +#define GPIO_CAN2_SILENT_S0 /* PF12 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTF|GPIO_PIN12) /* PWM */ #define DIRECT_PWM_OUTPUT_CHANNELS 12 /* Power supply control and monitoring GPIOs */ -#define GPIO_nPOWER_IN_A /* PB5 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN5) +#define GPIO_nPOWER_IN_A /* PC1 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN1) #define GPIO_VDD_BRICK1_VALID GPIO_nPOWER_IN_A /* Brick 1 Is Chosen */ #define BOARD_NUMBER_BRICKS 1 #define GPIO_VDD_3V3_SPEKTRUM_POWER_EN /* PE4 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN4) +#define GPIO_LEVEL_SHIFTER_OE /* PC13 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN13) + /* Define True logic Power Control in arch agnostic form */ #define VDD_3V3_SPEKTRUM_POWER_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SPEKTRUM_POWER_EN, (!on_true)) #define READ_VDD_3V3_SPEKTRUM_POWER_EN() (px4_arch_gpioread(GPIO_VDD_3V3_SPEKTRUM_POWER_EN) == 0) /* Tone alarm output */ -#define TONE_ALARM_TIMER 2 /* timer 2 */ -#define TONE_ALARM_CHANNEL 1 /* PA15 TIM2_CH1 */ +#define TONE_ALARM_TIMER 16 /* timer 16 */ +#define TONE_ALARM_CHANNEL 1 /* PF6 TIM16_CH1 */ -#define GPIO_BUZZER_1 /* PA15 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN15) +#define GPIO_BUZZER_1 /* PF6 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTF|GPIO_PIN6) #define GPIO_TONE_ALARM_IDLE GPIO_BUZZER_1 -#define GPIO_TONE_ALARM GPIO_TIM2_CH1OUT_2 +#define GPIO_TONE_ALARM GPIO_TIM16_CH1OUT_2 /* USB OTG FS */ #define GPIO_OTGFS_VBUS /* PA9 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_100MHz|GPIO_PORTA|GPIO_PIN9) /* High-resolution timer */ #define HRT_TIMER 3 /* use timer3 for the HRT */ -#define HRT_TIMER_CHANNEL 1 /* use capture/compare channel 1 */ +#define HRT_TIMER_CHANNEL 2 /* use capture/compare channel 1 */ -#define HRT_PPM_CHANNEL /* T3C3 */ 3 /* use capture/compare channel 3 */ -#define GPIO_PPM_IN /* PB0 T3C3 */ GPIO_TIM3_CH3IN_1 +#define HRT_PPM_CHANNEL /* T3C2 */ 2 /* use capture/compare channel 2 */ +#define GPIO_PPM_IN /* PC7 T3C2 */ GPIO_TIM3_CH2IN_3 /* RC Serial port */ -#define RC_SERIAL_PORT "/dev/ttyS3" +#define RC_SERIAL_PORT "/dev/ttyS5" -#define GPIO_RSSI_IN /* PC1 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN1) +#define GPIO_RSSI_IN /* PC0 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN0) /* Safety Switch: Enable the FMU to control it if there is no px4io fixme:This should be BOARD_SAFETY_LED(__ontrue) */ -#define GPIO_SAFETY_SWITCH_IN /* PC4 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN4) -/* Enable the FMU to use the switch it if there is no px4io fixme:This should be BOARD_SAFTY_BUTTON() */ +#define GPIO_SAFETY_SWITCH_IN /* PA10 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN10) +/* Enable the FMU to use the switch it if there is no px4io fixme:This should be BOARD_SAFETY_BUTTON() */ #define GPIO_BTN_SAFETY GPIO_SAFETY_SWITCH_IN /* Enable the FMU to control it if there is no px4io */ +/* No PX4IO processor present */ +#define PX4_MFT_HW_SUPPORTED_PX4_MFT_PX4IO 0 + /* Power switch controls ******************************************************/ #define SPEKTRUM_POWER(_on_true) VDD_3V3_SPEKTRUM_POWER_EN(_on_true) /* * Board has a separate RC_IN * - * GPIO PPM_IN on PB0 T3CH3 + * GPIO PPM_IN on PC7 T3CH2 * SPEKTRUM_RX (it's TX or RX in Bind) on UART6 PC7 * Inversion is possible in the UART and can drive GPIO_PPM_IN as an output */ -#define GPIO_PPM_IN_AS_OUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN0) +#define GPIO_PPM_IN_AS_OUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN7) #define SPEKTRUM_RX_AS_GPIO_OUTPUT() px4_arch_configgpio(GPIO_PPM_IN_AS_OUT) #define SPEKTRUM_RX_AS_UART() /* Can be left as uart */ #define SPEKTRUM_OUT(_one_true) px4_arch_gpiowrite(GPIO_PPM_IN_AS_OUT, (_one_true)) @@ -156,7 +172,7 @@ #define BOARD_HAS_STATIC_MANIFEST 1 -#define BOARD_NUM_IO_TIMERS 5 +#define BOARD_NUM_IO_TIMERS 6 #define BOARD_ENABLE_CONSOLE_BUFFER @@ -171,9 +187,12 @@ GPIO_CAN2_SILENT_S0, \ GPIO_nPOWER_IN_A, \ GPIO_VDD_3V3_SPEKTRUM_POWER_EN, \ + GPIO_LEVEL_SHIFTER_OE, \ GPIO_TONE_ALARM_IDLE, \ GPIO_SAFETY_SWITCH_IN, \ GPIO_OTGFS_VBUS, \ + GPIO_BTN_SAFETY, \ + GPIO_LED_SAFETY, \ } __BEGIN_DECLS diff --git a/boards/mro/ctrl-zero-classic/src/i2c.cpp b/boards/mro/ctrl-zero-classic/src/i2c.cpp index 1b8927c69939..49c9ea1c7efd 100644 --- a/boards/mro/ctrl-zero-classic/src/i2c.cpp +++ b/boards/mro/ctrl-zero-classic/src/i2c.cpp @@ -35,6 +35,5 @@ constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = { initI2CBusExternal(1), - initI2CBusExternal(3), initI2CBusExternal(4), }; diff --git a/boards/mro/ctrl-zero-classic/src/spi.cpp b/boards/mro/ctrl-zero-classic/src/spi.cpp index 4a4c3502bbd9..674ae3f09b2f 100644 --- a/boards/mro/ctrl-zero-classic/src/spi.cpp +++ b/boards/mro/ctrl-zero-classic/src/spi.cpp @@ -37,7 +37,7 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = { initSPIBus(SPI::Bus::SPI1, { - initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, SPI::CS{GPIO::PortC, GPIO::Pin2}, SPI::DRDY{GPIO::PortD, GPIO::Pin15}), + initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, SPI::CS{GPIO::PortG, GPIO::Pin3}, SPI::DRDY{GPIO::PortG, GPIO::Pin2}), initSPIDevice(DRV_IMU_DEVTYPE_ICM20948, SPI::CS{GPIO::PortE, GPIO::Pin15}, SPI::DRDY{GPIO::PortE, GPIO::Pin12}), }, {GPIO::PortE, GPIO::Pin3}), initSPIBus(SPI::Bus::SPI2, { @@ -46,7 +46,10 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = { }), initSPIBus(SPI::Bus::SPI5, { initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortF, GPIO::Pin10}, SPI::DRDY{GPIO::PortF, GPIO::Pin3}), - initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortF, GPIO::Pin6}, SPI::DRDY{GPIO::PortF, GPIO::Pin1}), + initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortF, GPIO::Pin0}, SPI::DRDY{GPIO::PortF, GPIO::Pin1}), + }), + initSPIBusExternal(SPI::Bus::SPI6, { + initSPIConfigExternal(SPI::CS{GPIO::PortG, GPIO::Pin9}), }), }; diff --git a/boards/mro/ctrl-zero-classic/src/timer_config.cpp b/boards/mro/ctrl-zero-classic/src/timer_config.cpp index 23bb7a1decc7..50760e387bba 100644 --- a/boards/mro/ctrl-zero-classic/src/timer_config.cpp +++ b/boards/mro/ctrl-zero-classic/src/timer_config.cpp @@ -33,6 +33,28 @@ #include +/* Timer allocation + * + * TIM1_CH4 T FMU_CH1 + * TIM1_CH3 T FMU_CH2 + * TIM1_CH2 T FMU_CH3 + * TIM1_CH1 T FMU_CH4 + * + * TIM4_CH2 T FMU_CH5 + * TIM4_CH3 T FMU_CH6 + * TIM2_CH3 T FMU_CH7 + * TIM2_CH1 T FMU_CH8 + * + * TIM2_CH4 T FMU_CH9 + * TIM15_CH1 T FMU_CH10 + * + * TIM8_CH1 T FMU_CH11 + * + * TIM4_CH4 T FMU_CH12 + * + * TIM16_CH1 T BUZZER - Driven by other driver + */ + constexpr io_timers_t io_timers[MAX_IO_TIMERS] = { initIOTimer(Timer::Timer1, DMA{DMA::Index1}), initIOTimer(Timer::Timer4, DMA{DMA::Index1}), diff --git a/boards/mro/ctrl-zero-f7-oem/default.px4board b/boards/mro/ctrl-zero-f7-oem/default.px4board index b0701855bf22..9fe340b87f1b 100644 --- a/boards/mro/ctrl-zero-f7-oem/default.px4board +++ b/boards/mro/ctrl-zero-f7-oem/default.px4board @@ -10,6 +10,7 @@ CONFIG_DRIVERS_BAROMETER_DPS310=y CONFIG_DRIVERS_BATT_SMBUS=y CONFIG_DRIVERS_CAMERA_CAPTURE=y CONFIG_DRIVERS_CAMERA_TRIGGER=y +CONFIG_DRIVERS_CDCACM_AUTOSTART=y CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y CONFIG_COMMON_DISTANCE_SENSOR=y CONFIG_DRIVERS_DSHOT=y diff --git a/boards/mro/ctrl-zero-f7-oem/nuttx-config/nsh/defconfig b/boards/mro/ctrl-zero-f7-oem/nuttx-config/nsh/defconfig index da43bb2b3f84..93af46bab68b 100644 --- a/boards/mro/ctrl-zero-f7-oem/nuttx-config/nsh/defconfig +++ b/boards/mro/ctrl-zero-f7-oem/nuttx-config/nsh/defconfig @@ -111,7 +111,7 @@ CONFIG_I2C=y CONFIG_I2C_RESET=y CONFIG_IDLETHREAD_STACKSIZE=750 CONFIG_INIT_ENTRYPOINT="nsh_main" -CONFIG_INIT_STACKSIZE=2944 +CONFIG_INIT_STACKSIZE=3194 CONFIG_LIBC_FLOATINGPOINT=y CONFIG_LIBC_LONG_LONG=y CONFIG_LIBC_MAX_EXITFUNS=1 @@ -146,6 +146,8 @@ CONFIG_PREALLOC_TIMERS=50 CONFIG_PRIORITY_INHERITANCE=y CONFIG_PTHREAD_MUTEX_ROBUST=y CONFIG_PTHREAD_STACK_MIN=512 +CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5 +CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5 CONFIG_RAMTRON_SETSPEED=y CONFIG_RAM_SIZE=245760 CONFIG_RAM_START=0x20010000 diff --git a/boards/mro/ctrl-zero-f7/default.px4board b/boards/mro/ctrl-zero-f7/default.px4board index 074a4f2ca052..d09ca8a5b50f 100644 --- a/boards/mro/ctrl-zero-f7/default.px4board +++ b/boards/mro/ctrl-zero-f7/default.px4board @@ -9,6 +9,7 @@ CONFIG_DRIVERS_BAROMETER_DPS310=y CONFIG_DRIVERS_BATT_SMBUS=y CONFIG_DRIVERS_CAMERA_CAPTURE=y CONFIG_DRIVERS_CAMERA_TRIGGER=y +CONFIG_DRIVERS_CDCACM_AUTOSTART=y CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y CONFIG_COMMON_DISTANCE_SENSOR=y CONFIG_DRIVERS_DSHOT=y diff --git a/boards/mro/ctrl-zero-f7/nuttx-config/nsh/defconfig b/boards/mro/ctrl-zero-f7/nuttx-config/nsh/defconfig index 8ec771c53c5d..64878f212a83 100644 --- a/boards/mro/ctrl-zero-f7/nuttx-config/nsh/defconfig +++ b/boards/mro/ctrl-zero-f7/nuttx-config/nsh/defconfig @@ -111,7 +111,7 @@ CONFIG_I2C=y CONFIG_I2C_RESET=y CONFIG_IDLETHREAD_STACKSIZE=750 CONFIG_INIT_ENTRYPOINT="nsh_main" -CONFIG_INIT_STACKSIZE=2944 +CONFIG_INIT_STACKSIZE=3194 CONFIG_LIBC_FLOATINGPOINT=y CONFIG_LIBC_LONG_LONG=y CONFIG_LIBC_MAX_EXITFUNS=1 @@ -146,6 +146,8 @@ CONFIG_PREALLOC_TIMERS=50 CONFIG_PRIORITY_INHERITANCE=y CONFIG_PTHREAD_MUTEX_ROBUST=y CONFIG_PTHREAD_STACK_MIN=512 +CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5 +CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5 CONFIG_RAMTRON_SETSPEED=y CONFIG_RAM_SIZE=245760 CONFIG_RAM_START=0x20010000 diff --git a/boards/mro/ctrl-zero-h7-oem/default.px4board b/boards/mro/ctrl-zero-h7-oem/default.px4board index 549ba99b7331..ec6c59888db5 100644 --- a/boards/mro/ctrl-zero-h7-oem/default.px4board +++ b/boards/mro/ctrl-zero-h7-oem/default.px4board @@ -10,6 +10,7 @@ CONFIG_DRIVERS_BAROMETER_DPS310=y CONFIG_DRIVERS_BATT_SMBUS=y CONFIG_DRIVERS_CAMERA_CAPTURE=y CONFIG_DRIVERS_CAMERA_TRIGGER=y +CONFIG_DRIVERS_CDCACM_AUTOSTART=y CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y CONFIG_COMMON_DISTANCE_SENSOR=y CONFIG_DRIVERS_DSHOT=y diff --git a/boards/mro/ctrl-zero-h7-oem/extras/mro_ctrl-zero-h7-oem_bootloader.bin b/boards/mro/ctrl-zero-h7-oem/extras/mro_ctrl-zero-h7-oem_bootloader.bin index 1a056aee87f0..f3e9467a4102 100755 Binary files a/boards/mro/ctrl-zero-h7-oem/extras/mro_ctrl-zero-h7-oem_bootloader.bin and b/boards/mro/ctrl-zero-h7-oem/extras/mro_ctrl-zero-h7-oem_bootloader.bin differ diff --git a/boards/mro/ctrl-zero-h7-oem/nuttx-config/bootloader/defconfig b/boards/mro/ctrl-zero-h7-oem/nuttx-config/bootloader/defconfig index 6d945355d753..8a44a577f16e 100644 --- a/boards/mro/ctrl-zero-h7-oem/nuttx-config/bootloader/defconfig +++ b/boards/mro/ctrl-zero-h7-oem/nuttx-config/bootloader/defconfig @@ -48,7 +48,7 @@ CONFIG_HAVE_CXX=y CONFIG_HAVE_CXXINITIALIZE=y CONFIG_IDLETHREAD_STACKSIZE=750 CONFIG_INIT_ENTRYPOINT="bootloader_main" -CONFIG_INIT_STACKSIZE=2944 +CONFIG_INIT_STACKSIZE=3194 CONFIG_LIBC_FLOATINGPOINT=y CONFIG_LIBC_LONG_LONG=y CONFIG_LIBC_STRERROR=y diff --git a/boards/mro/ctrl-zero-h7-oem/nuttx-config/include/board.h b/boards/mro/ctrl-zero-h7-oem/nuttx-config/include/board.h index 9b1ae6342d33..14a6a28d2b88 100644 --- a/boards/mro/ctrl-zero-h7-oem/nuttx-config/include/board.h +++ b/boards/mro/ctrl-zero-h7-oem/nuttx-config/include/board.h @@ -192,11 +192,17 @@ #define STM32_RCC_D2CCIP1R_SPI45SRC RCC_D2CCIP1R_SPI45SEL_PLL2 /* SPI45 clock source */ #define STM32_RCC_D3CCIPR_SPI6SRC RCC_D3CCIPR_SPI6SEL_PLL2 /* SPI6 clock source */ #define STM32_RCC_D2CCIP2R_USBSRC RCC_D2CCIP2R_USBSEL_PLL3 /* USB 1 and 2 clock source */ -#define STM32_RCC_D3CCIPR_ADCSEL RCC_D3CCIPR_ADCSEL_PLL2 /* ADC 1 2 3 clock source */ +#define STM32_RCC_D3CCIPR_ADCSRC RCC_D3CCIPR_ADCSEL_PLL2 /* ADC 1 2 3 clock source */ #define STM32_RCC_D2CCIP1R_FDCANSEL RCC_D2CCIP1R_FDCANSEL_HSE /* FDCAN 1 2 clock source */ #define STM32_FDCANCLK STM32_HSE_FREQUENCY +/* UART clock selection */ +/* reset to default to overwrite any changes done by any bootloader */ + +#define STM32_RCC_D2CCIP2R_USART234578_SEL RCC_D2CCIP2R_USART234578SEL_RCC +#define STM32_RCC_D2CCIP2R_USART16_SEL RCC_D2CCIP2R_USART16SEL_RCC + /* FLASH wait states */ #define BOARD_FLASH_WAITSTATES 2 diff --git a/boards/mro/ctrl-zero-h7-oem/nuttx-config/nsh/defconfig b/boards/mro/ctrl-zero-h7-oem/nuttx-config/nsh/defconfig index a79a19a5e014..cbfdca2b5c62 100644 --- a/boards/mro/ctrl-zero-h7-oem/nuttx-config/nsh/defconfig +++ b/boards/mro/ctrl-zero-h7-oem/nuttx-config/nsh/defconfig @@ -111,7 +111,7 @@ CONFIG_I2C=y CONFIG_I2C_RESET=y CONFIG_IDLETHREAD_STACKSIZE=750 CONFIG_INIT_ENTRYPOINT="nsh_main" -CONFIG_INIT_STACKSIZE=2944 +CONFIG_INIT_STACKSIZE=3194 CONFIG_LIBC_FLOATINGPOINT=y CONFIG_LIBC_LONG_LONG=y CONFIG_LIBC_MAX_EXITFUNS=1 @@ -147,6 +147,8 @@ CONFIG_PREALLOC_TIMERS=50 CONFIG_PRIORITY_INHERITANCE=y CONFIG_PTHREAD_MUTEX_ROBUST=y CONFIG_PTHREAD_STACK_MIN=512 +CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5 +CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5 CONFIG_RAMTRON_SETSPEED=y CONFIG_RAM_SIZE=245760 CONFIG_RAM_START=0x20010000 diff --git a/boards/mro/ctrl-zero-h7/default.px4board b/boards/mro/ctrl-zero-h7/default.px4board index c32ae10fc056..7bb96d3aca08 100644 --- a/boards/mro/ctrl-zero-h7/default.px4board +++ b/boards/mro/ctrl-zero-h7/default.px4board @@ -10,6 +10,7 @@ CONFIG_DRIVERS_BAROMETER_DPS310=y CONFIG_DRIVERS_BATT_SMBUS=y CONFIG_DRIVERS_CAMERA_CAPTURE=y CONFIG_DRIVERS_CAMERA_TRIGGER=y +CONFIG_DRIVERS_CDCACM_AUTOSTART=y CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y CONFIG_COMMON_DISTANCE_SENSOR=y CONFIG_DRIVERS_DSHOT=y diff --git a/boards/mro/ctrl-zero-h7/extras/mro_ctrl-zero-h7_bootloader.bin b/boards/mro/ctrl-zero-h7/extras/mro_ctrl-zero-h7_bootloader.bin index ac3050bee760..6815051bb37f 100755 Binary files a/boards/mro/ctrl-zero-h7/extras/mro_ctrl-zero-h7_bootloader.bin and b/boards/mro/ctrl-zero-h7/extras/mro_ctrl-zero-h7_bootloader.bin differ diff --git a/boards/mro/ctrl-zero-h7/nuttx-config/bootloader/defconfig b/boards/mro/ctrl-zero-h7/nuttx-config/bootloader/defconfig index 8ce4dddb0b20..5a696370f9e7 100644 --- a/boards/mro/ctrl-zero-h7/nuttx-config/bootloader/defconfig +++ b/boards/mro/ctrl-zero-h7/nuttx-config/bootloader/defconfig @@ -48,7 +48,7 @@ CONFIG_HAVE_CXX=y CONFIG_HAVE_CXXINITIALIZE=y CONFIG_IDLETHREAD_STACKSIZE=750 CONFIG_INIT_ENTRYPOINT="bootloader_main" -CONFIG_INIT_STACKSIZE=2944 +CONFIG_INIT_STACKSIZE=3194 CONFIG_LIBC_FLOATINGPOINT=y CONFIG_LIBC_LONG_LONG=y CONFIG_LIBC_STRERROR=y diff --git a/boards/mro/ctrl-zero-h7/nuttx-config/include/board.h b/boards/mro/ctrl-zero-h7/nuttx-config/include/board.h index 78a0048760b6..4a20575d70ae 100644 --- a/boards/mro/ctrl-zero-h7/nuttx-config/include/board.h +++ b/boards/mro/ctrl-zero-h7/nuttx-config/include/board.h @@ -191,11 +191,17 @@ #define STM32_RCC_D2CCIP1R_SPI45SRC RCC_D2CCIP1R_SPI45SEL_PLL2 /* SPI45 clock source */ #define STM32_RCC_D3CCIPR_SPI6SRC RCC_D3CCIPR_SPI6SEL_PLL2 /* SPI6 clock source */ #define STM32_RCC_D2CCIP2R_USBSRC RCC_D2CCIP2R_USBSEL_PLL3 /* USB 1 and 2 clock source */ -#define STM32_RCC_D3CCIPR_ADCSEL RCC_D3CCIPR_ADCSEL_PLL2 /* ADC 1 2 3 clock source */ +#define STM32_RCC_D3CCIPR_ADCSRC RCC_D3CCIPR_ADCSEL_PLL2 /* ADC 1 2 3 clock source */ #define STM32_RCC_D2CCIP1R_FDCANSEL RCC_D2CCIP1R_FDCANSEL_HSE /* FDCAN 1 2 clock source */ #define STM32_FDCANCLK STM32_HSE_FREQUENCY +/* UART clock selection */ +/* reset to default to overwrite any changes done by any bootloader */ + +#define STM32_RCC_D2CCIP2R_USART234578_SEL RCC_D2CCIP2R_USART234578SEL_RCC +#define STM32_RCC_D2CCIP2R_USART16_SEL RCC_D2CCIP2R_USART16SEL_RCC + /* FLASH wait states */ #define BOARD_FLASH_WAITSTATES 2 diff --git a/boards/mro/ctrl-zero-h7/nuttx-config/nsh/defconfig b/boards/mro/ctrl-zero-h7/nuttx-config/nsh/defconfig index a0f041492ef6..c5f40e5b5542 100644 --- a/boards/mro/ctrl-zero-h7/nuttx-config/nsh/defconfig +++ b/boards/mro/ctrl-zero-h7/nuttx-config/nsh/defconfig @@ -111,7 +111,7 @@ CONFIG_I2C=y CONFIG_I2C_RESET=y CONFIG_IDLETHREAD_STACKSIZE=750 CONFIG_INIT_ENTRYPOINT="nsh_main" -CONFIG_INIT_STACKSIZE=2944 +CONFIG_INIT_STACKSIZE=3194 CONFIG_LIBC_FLOATINGPOINT=y CONFIG_LIBC_LONG_LONG=y CONFIG_LIBC_MAX_EXITFUNS=1 @@ -147,6 +147,8 @@ CONFIG_PREALLOC_TIMERS=50 CONFIG_PRIORITY_INHERITANCE=y CONFIG_PTHREAD_MUTEX_ROBUST=y CONFIG_PTHREAD_STACK_MIN=512 +CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5 +CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5 CONFIG_RAMTRON_SETSPEED=y CONFIG_RAM_SIZE=245760 CONFIG_RAM_START=0x20010000 diff --git a/boards/mro/pixracerpro/default.px4board b/boards/mro/pixracerpro/default.px4board index d4b1d29370aa..fb49c90866cb 100644 --- a/boards/mro/pixracerpro/default.px4board +++ b/boards/mro/pixracerpro/default.px4board @@ -9,9 +9,11 @@ CONFIG_DRIVERS_BAROMETER_DPS310=y CONFIG_DRIVERS_BATT_SMBUS=y CONFIG_DRIVERS_CAMERA_CAPTURE=y CONFIG_DRIVERS_CAMERA_TRIGGER=y +CONFIG_DRIVERS_CDCACM_AUTOSTART=y CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y CONFIG_COMMON_DISTANCE_SENSOR=y CONFIG_DRIVERS_DSHOT=y +CONFIG_DRIVERS_GNSS_SEPTENTRIO=y CONFIG_DRIVERS_GPS=y CONFIG_DRIVERS_IMU_BOSCH_BMI085=y CONFIG_DRIVERS_IMU_BOSCH_BMI088=y diff --git a/boards/mro/pixracerpro/extras/mro_pixracerpro_bootloader.bin b/boards/mro/pixracerpro/extras/mro_pixracerpro_bootloader.bin index 5882beeea1de..657a25a58793 100755 Binary files a/boards/mro/pixracerpro/extras/mro_pixracerpro_bootloader.bin and b/boards/mro/pixracerpro/extras/mro_pixracerpro_bootloader.bin differ diff --git a/boards/mro/pixracerpro/nuttx-config/bootloader/defconfig b/boards/mro/pixracerpro/nuttx-config/bootloader/defconfig index d34cea0b6a6e..584011e926d7 100644 --- a/boards/mro/pixracerpro/nuttx-config/bootloader/defconfig +++ b/boards/mro/pixracerpro/nuttx-config/bootloader/defconfig @@ -48,7 +48,7 @@ CONFIG_HAVE_CXX=y CONFIG_HAVE_CXXINITIALIZE=y CONFIG_IDLETHREAD_STACKSIZE=750 CONFIG_INIT_ENTRYPOINT="bootloader_main" -CONFIG_INIT_STACKSIZE=2944 +CONFIG_INIT_STACKSIZE=3194 CONFIG_LIBC_FLOATINGPOINT=y CONFIG_LIBC_LONG_LONG=y CONFIG_LIBC_STRERROR=y diff --git a/boards/mro/pixracerpro/nuttx-config/include/board.h b/boards/mro/pixracerpro/nuttx-config/include/board.h index 2377d529f46b..96b2ed2022fb 100644 --- a/boards/mro/pixracerpro/nuttx-config/include/board.h +++ b/boards/mro/pixracerpro/nuttx-config/include/board.h @@ -191,11 +191,17 @@ #define STM32_RCC_D2CCIP1R_SPI45SRC RCC_D2CCIP1R_SPI45SEL_PLL2 /* SPI45 clock source */ #define STM32_RCC_D3CCIPR_SPI6SRC RCC_D3CCIPR_SPI6SEL_PLL2 /* SPI6 clock source */ #define STM32_RCC_D2CCIP2R_USBSRC RCC_D2CCIP2R_USBSEL_PLL3 /* USB 1 and 2 clock source */ -#define STM32_RCC_D3CCIPR_ADCSEL RCC_D3CCIPR_ADCSEL_PLL2 /* ADC 1 2 3 clock source */ +#define STM32_RCC_D3CCIPR_ADCSRC RCC_D3CCIPR_ADCSEL_PLL2 /* ADC 1 2 3 clock source */ #define STM32_RCC_D2CCIP1R_FDCANSEL RCC_D2CCIP1R_FDCANSEL_HSE /* FDCAN 1 2 clock source */ #define STM32_FDCANCLK STM32_HSE_FREQUENCY +/* UART clock selection */ +/* reset to default to overwrite any changes done by any bootloader */ + +#define STM32_RCC_D2CCIP2R_USART234578_SEL RCC_D2CCIP2R_USART234578SEL_RCC +#define STM32_RCC_D2CCIP2R_USART16_SEL RCC_D2CCIP2R_USART16SEL_RCC + /* FLASH wait states */ #define BOARD_FLASH_WAITSTATES 2 diff --git a/boards/mro/pixracerpro/nuttx-config/nsh/defconfig b/boards/mro/pixracerpro/nuttx-config/nsh/defconfig index 10446138d756..e8005ce5bba0 100644 --- a/boards/mro/pixracerpro/nuttx-config/nsh/defconfig +++ b/boards/mro/pixracerpro/nuttx-config/nsh/defconfig @@ -112,7 +112,7 @@ CONFIG_I2C=y CONFIG_I2C_RESET=y CONFIG_IDLETHREAD_STACKSIZE=750 CONFIG_INIT_ENTRYPOINT="nsh_main" -CONFIG_INIT_STACKSIZE=2944 +CONFIG_INIT_STACKSIZE=3194 CONFIG_LIBC_FLOATINGPOINT=y CONFIG_LIBC_LONG_LONG=y CONFIG_LIBC_MAX_EXITFUNS=1 @@ -148,6 +148,8 @@ CONFIG_PREALLOC_TIMERS=50 CONFIG_PRIORITY_INHERITANCE=y CONFIG_PTHREAD_MUTEX_ROBUST=y CONFIG_PTHREAD_STACK_MIN=512 +CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5 +CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5 CONFIG_RAMTRON_SETSPEED=y CONFIG_RAM_SIZE=245760 CONFIG_RAM_START=0x20010000 diff --git a/boards/mro/x21-777/default.px4board b/boards/mro/x21-777/default.px4board index 5a51a776dde0..361aca448471 100644 --- a/boards/mro/x21-777/default.px4board +++ b/boards/mro/x21-777/default.px4board @@ -9,6 +9,7 @@ CONFIG_COMMON_BAROMETERS=y CONFIG_DRIVERS_BATT_SMBUS=y CONFIG_DRIVERS_CAMERA_CAPTURE=y CONFIG_DRIVERS_CAMERA_TRIGGER=y +CONFIG_DRIVERS_CDCACM_AUTOSTART=y CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y CONFIG_COMMON_DISTANCE_SENSOR=y CONFIG_DRIVERS_DSHOT=y diff --git a/boards/mro/x21-777/extras/px4_io-v2_default.bin b/boards/mro/x21-777/extras/px4_io-v2_default.bin index 957f0f13a12e..145089ae0d7c 100755 Binary files a/boards/mro/x21-777/extras/px4_io-v2_default.bin and b/boards/mro/x21-777/extras/px4_io-v2_default.bin differ diff --git a/boards/mro/x21-777/init/rc.board_defaults b/boards/mro/x21-777/init/rc.board_defaults index e9fecd78a833..5d576dd74711 100644 --- a/boards/mro/x21-777/init/rc.board_defaults +++ b/boards/mro/x21-777/init/rc.board_defaults @@ -5,5 +5,3 @@ param set-default BAT1_V_DIV 10.177939394 param set-default BAT1_A_PER_V 15.391030303 - -param set-default SYS_USE_IO 1 diff --git a/boards/mro/x21-777/nuttx-config/include/board.h b/boards/mro/x21-777/nuttx-config/include/board.h index 04cc6c1acd62..7b2863661fbd 100644 --- a/boards/mro/x21-777/nuttx-config/include/board.h +++ b/boards/mro/x21-777/nuttx-config/include/board.h @@ -282,4 +282,3 @@ #define GPIO_SPI2_MISO GPIO_SPI2_MISO_1 #define GPIO_SPI2_MOSI GPIO_SPI2_MOSI_1 #define GPIO_SPI2_SCK GPIO_SPI2_SCK_3 - diff --git a/boards/mro/x21-777/nuttx-config/nsh/defconfig b/boards/mro/x21-777/nuttx-config/nsh/defconfig index 6d15b6c475ee..5a768e24ed92 100644 --- a/boards/mro/x21-777/nuttx-config/nsh/defconfig +++ b/boards/mro/x21-777/nuttx-config/nsh/defconfig @@ -111,7 +111,7 @@ CONFIG_I2C=y CONFIG_I2C_RESET=y CONFIG_IDLETHREAD_STACKSIZE=750 CONFIG_INIT_ENTRYPOINT="nsh_main" -CONFIG_INIT_STACKSIZE=2944 +CONFIG_INIT_STACKSIZE=3194 CONFIG_LIBC_FLOATINGPOINT=y CONFIG_LIBC_LONG_LONG=y CONFIG_LIBC_MAX_EXITFUNS=1 @@ -146,6 +146,8 @@ CONFIG_PREALLOC_TIMERS=50 CONFIG_PRIORITY_INHERITANCE=y CONFIG_PTHREAD_MUTEX_ROBUST=y CONFIG_PTHREAD_STACK_MIN=512 +CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5 +CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5 CONFIG_RAMTRON_SETSPEED=y CONFIG_RAM_SIZE=245760 CONFIG_RAM_START=0x20010000 diff --git a/boards/mro/x21/default.px4board b/boards/mro/x21/default.px4board index 7c206260016f..8640bff623b0 100644 --- a/boards/mro/x21/default.px4board +++ b/boards/mro/x21/default.px4board @@ -10,6 +10,7 @@ CONFIG_COMMON_BAROMETERS=y CONFIG_DRIVERS_BATT_SMBUS=y CONFIG_DRIVERS_CAMERA_CAPTURE=y CONFIG_DRIVERS_CAMERA_TRIGGER=y +CONFIG_DRIVERS_CDCACM_AUTOSTART=y CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y CONFIG_COMMON_DISTANCE_SENSOR=y CONFIG_DRIVERS_DSHOT=y diff --git a/boards/mro/x21/extras/px4_io-v2_default.bin b/boards/mro/x21/extras/px4_io-v2_default.bin index 957f0f13a12e..145089ae0d7c 100755 Binary files a/boards/mro/x21/extras/px4_io-v2_default.bin and b/boards/mro/x21/extras/px4_io-v2_default.bin differ diff --git a/boards/mro/x21/init/rc.board_defaults b/boards/mro/x21/init/rc.board_defaults index e9fecd78a833..5d576dd74711 100644 --- a/boards/mro/x21/init/rc.board_defaults +++ b/boards/mro/x21/init/rc.board_defaults @@ -5,5 +5,3 @@ param set-default BAT1_V_DIV 10.177939394 param set-default BAT1_A_PER_V 15.391030303 - -param set-default SYS_USE_IO 1 diff --git a/boards/mro/x21/nuttx-config/nsh/defconfig b/boards/mro/x21/nuttx-config/nsh/defconfig index 9d891cd2f7c3..681db5c36bf3 100644 --- a/boards/mro/x21/nuttx-config/nsh/defconfig +++ b/boards/mro/x21/nuttx-config/nsh/defconfig @@ -107,7 +107,7 @@ CONFIG_I2C=y CONFIG_I2C_RESET=y CONFIG_IDLETHREAD_STACKSIZE=750 CONFIG_INIT_ENTRYPOINT="nsh_main" -CONFIG_INIT_STACKSIZE=2944 +CONFIG_INIT_STACKSIZE=3194 CONFIG_LIBC_FLOATINGPOINT=y CONFIG_LIBC_LONG_LONG=y CONFIG_LIBC_MAX_EXITFUNS=1 @@ -141,6 +141,8 @@ CONFIG_PREALLOC_TIMERS=50 CONFIG_PRIORITY_INHERITANCE=y CONFIG_PTHREAD_MUTEX_ROBUST=y CONFIG_PTHREAD_STACK_MIN=512 +CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5 +CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5 CONFIG_RAMTRON_SETSPEED=y CONFIG_RAM_SIZE=262144 CONFIG_RAM_START=0x20000000 diff --git a/boards/nxp/fmuk66-e/default.px4board b/boards/nxp/fmuk66-e/default.px4board index f53c438f8802..749e62e5d54f 100644 --- a/boards/nxp/fmuk66-e/default.px4board +++ b/boards/nxp/fmuk66-e/default.px4board @@ -11,6 +11,7 @@ CONFIG_DRIVERS_BAROMETER_MPL3115A2=y CONFIG_DRIVERS_BATT_SMBUS=y CONFIG_DRIVERS_CAMERA_CAPTURE=y CONFIG_DRIVERS_CAMERA_TRIGGER=y +CONFIG_DRIVERS_CDCACM_AUTOSTART=y CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y CONFIG_COMMON_DISTANCE_SENSOR=y CONFIG_DRIVERS_DISTANCE_SENSOR_SRF05=y @@ -32,6 +33,7 @@ CONFIG_DRIVERS_SMART_BATTERY_BATMON=y CONFIG_COMMON_TELEMETRY=y CONFIG_DRIVERS_TONE_ALARM=y CONFIG_DRIVERS_UAVCAN=y +CONFIG_DRIVERS_UWB_UWB_SR150=y CONFIG_MODULES_AIRSPEED_SELECTOR=y CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y CONFIG_MODULES_BATTERY_STATUS=y diff --git a/boards/nxp/fmuk66-e/nuttx-config/nsh/defconfig b/boards/nxp/fmuk66-e/nuttx-config/nsh/defconfig index 6b9fa1a43841..57d0c64bb674 100644 --- a/boards/nxp/fmuk66-e/nuttx-config/nsh/defconfig +++ b/boards/nxp/fmuk66-e/nuttx-config/nsh/defconfig @@ -61,7 +61,7 @@ CONFIG_HAVE_CXXINITIALIZE=y CONFIG_I2C_RESET=y CONFIG_IDLETHREAD_STACKSIZE=750 CONFIG_INIT_ENTRYPOINT="nsh_main" -CONFIG_INIT_STACKSIZE=2944 +CONFIG_INIT_STACKSIZE=3194 CONFIG_IOB_NBUFFERS=24 CONFIG_IOB_THROTTLE=0 CONFIG_KINETIS_ADC0=y @@ -168,6 +168,8 @@ CONFIG_PIPES=y CONFIG_PREALLOC_TIMERS=50 CONFIG_PRIORITY_INHERITANCE=y CONFIG_PTHREAD_STACK_MIN=512 +CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5 +CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5 CONFIG_RAMTRON_SETSPEED=y CONFIG_RAM_SIZE=262144 CONFIG_RAM_START=0x1fff0000 diff --git a/boards/nxp/fmuk66-e/nuttx-config/socketcan/defconfig b/boards/nxp/fmuk66-e/nuttx-config/socketcan/defconfig index 2d059533757b..377f2cd48e12 100644 --- a/boards/nxp/fmuk66-e/nuttx-config/socketcan/defconfig +++ b/boards/nxp/fmuk66-e/nuttx-config/socketcan/defconfig @@ -62,7 +62,7 @@ CONFIG_HAVE_CXXINITIALIZE=y CONFIG_I2C_RESET=y CONFIG_IDLETHREAD_STACKSIZE=750 CONFIG_INIT_ENTRYPOINT="nsh_main" -CONFIG_INIT_STACKSIZE=2944 +CONFIG_INIT_STACKSIZE=3194 CONFIG_IOB_NBUFFERS=48 CONFIG_IOB_NCHAINS=18 CONFIG_KINETIS_ADC0=y @@ -171,6 +171,8 @@ CONFIG_PIPES=y CONFIG_PREALLOC_TIMERS=50 CONFIG_PRIORITY_INHERITANCE=y CONFIG_PTHREAD_STACK_MIN=512 +CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5 +CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5 CONFIG_RAMTRON_SETSPEED=y CONFIG_RAM_SIZE=262144 CONFIG_RAM_START=0x1fff0000 diff --git a/boards/nxp/fmuk66-v3/default.px4board b/boards/nxp/fmuk66-v3/default.px4board index 6de1cda0d4c5..268e89c70fd8 100644 --- a/boards/nxp/fmuk66-v3/default.px4board +++ b/boards/nxp/fmuk66-v3/default.px4board @@ -11,13 +11,14 @@ CONFIG_DRIVERS_BAROMETER_MPL3115A2=y CONFIG_DRIVERS_BATT_SMBUS=y CONFIG_DRIVERS_CAMERA_CAPTURE=y CONFIG_DRIVERS_CAMERA_TRIGGER=y +CONFIG_DRIVERS_CDCACM_AUTOSTART=y CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y CONFIG_COMMON_DISTANCE_SENSOR=y CONFIG_DRIVERS_DISTANCE_SENSOR_SRF05=y CONFIG_DRIVERS_GPS=y -CONFIG_DRIVERS_IMU_FXAS21002C=y -CONFIG_DRIVERS_IMU_FXOS8701CQ=y CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y +CONFIG_DRIVERS_IMU_NXP_FXAS21002C=y +CONFIG_DRIVERS_IMU_NXP_FXOS8701CQ=y CONFIG_DRIVERS_IRLOCK=y CONFIG_DRIVERS_LIGHTS_RGBLED=y CONFIG_DRIVERS_LIGHTS_RGBLED_NCP5623C=y diff --git a/boards/nxp/fmuk66-v3/init/rc.board_defaults b/boards/nxp/fmuk66-v3/init/rc.board_defaults index df700b4dc350..eed00b78ecbe 100644 --- a/boards/nxp/fmuk66-v3/init/rc.board_defaults +++ b/boards/nxp/fmuk66-v3/init/rc.board_defaults @@ -8,4 +8,3 @@ param set-default BAT1_A_PER_V 15.391030303 rgbled_pwm start safety_button start - diff --git a/boards/nxp/fmuk66-v3/nuttx-config/nsh/defconfig b/boards/nxp/fmuk66-v3/nuttx-config/nsh/defconfig index 23a497e7b086..9ef98c951fd5 100644 --- a/boards/nxp/fmuk66-v3/nuttx-config/nsh/defconfig +++ b/boards/nxp/fmuk66-v3/nuttx-config/nsh/defconfig @@ -65,7 +65,7 @@ CONFIG_HAVE_CXXINITIALIZE=y CONFIG_I2C_RESET=y CONFIG_IDLETHREAD_STACKSIZE=750 CONFIG_INIT_ENTRYPOINT="nsh_main" -CONFIG_INIT_STACKSIZE=2944 +CONFIG_INIT_STACKSIZE=3194 CONFIG_IOB_NBUFFERS=24 CONFIG_KINETIS_ADC0=y CONFIG_KINETIS_ADC1=y @@ -171,6 +171,8 @@ CONFIG_PIPES=y CONFIG_PREALLOC_TIMERS=50 CONFIG_PRIORITY_INHERITANCE=y CONFIG_PTHREAD_STACK_MIN=512 +CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5 +CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5 CONFIG_RAMTRON_SETSPEED=y CONFIG_RAM_SIZE=262144 CONFIG_RAM_START=0x1fff0000 diff --git a/boards/nxp/fmuk66-v3/nuttx-config/socketcan/defconfig b/boards/nxp/fmuk66-v3/nuttx-config/socketcan/defconfig index 4638f1ee7653..e99d7c6e9073 100644 --- a/boards/nxp/fmuk66-v3/nuttx-config/socketcan/defconfig +++ b/boards/nxp/fmuk66-v3/nuttx-config/socketcan/defconfig @@ -63,7 +63,7 @@ CONFIG_HAVE_CXXINITIALIZE=y CONFIG_I2C_RESET=y CONFIG_IDLETHREAD_STACKSIZE=750 CONFIG_INIT_ENTRYPOINT="nsh_main" -CONFIG_INIT_STACKSIZE=2944 +CONFIG_INIT_STACKSIZE=3194 CONFIG_IOB_NBUFFERS=48 CONFIG_IOB_NCHAINS=18 CONFIG_KINETIS_ADC0=y @@ -170,6 +170,8 @@ CONFIG_PIPES=y CONFIG_PREALLOC_TIMERS=50 CONFIG_PRIORITY_INHERITANCE=y CONFIG_PTHREAD_STACK_MIN=512 +CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5 +CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5 CONFIG_RAMTRON_SETSPEED=y CONFIG_RAM_SIZE=262144 CONFIG_RAM_START=0x1fff0000 diff --git a/boards/nxp/fmuk66-v3/nuttx-config/test/defconfig b/boards/nxp/fmuk66-v3/nuttx-config/test/defconfig index c428852e9bf6..9818be1f549d 100644 --- a/boards/nxp/fmuk66-v3/nuttx-config/test/defconfig +++ b/boards/nxp/fmuk66-v3/nuttx-config/test/defconfig @@ -63,7 +63,7 @@ CONFIG_HAVE_CXXINITIALIZE=y CONFIG_I2C_RESET=y CONFIG_IDLETHREAD_STACKSIZE=750 CONFIG_INIT_ENTRYPOINT="nsh_main" -CONFIG_INIT_STACKSIZE=2944 +CONFIG_INIT_STACKSIZE=3194 CONFIG_IOB_NBUFFERS=24 CONFIG_IOB_THROTTLE=0 CONFIG_KINETIS_ADC0=y @@ -171,6 +171,8 @@ CONFIG_PIPES=y CONFIG_PREALLOC_TIMERS=50 CONFIG_PRIORITY_INHERITANCE=y CONFIG_PTHREAD_STACK_MIN=512 +CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5 +CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5 CONFIG_RAMTRON_SETSPEED=y CONFIG_RAM_SIZE=262144 CONFIG_RAM_START=0x1fff0000 diff --git a/boards/nxp/fmurt1062-v1/default.px4board b/boards/nxp/fmurt1062-v1/default.px4board deleted file mode 100644 index 2a7791db8f1e..000000000000 --- a/boards/nxp/fmurt1062-v1/default.px4board +++ /dev/null @@ -1,72 +0,0 @@ -CONFIG_BOARD_TOOLCHAIN="arm-none-eabi" -CONFIG_BOARD_ARCHITECTURE="cortex-m7" -CONFIG_BOARD_LINKER_PREFIX="ocram" -CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS1" -CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS4" -CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS2" -CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS3" -CONFIG_DRIVERS_ADC_BOARD_ADC=y -CONFIG_DRIVERS_BAROMETER_MS5611=y -CONFIG_DRIVERS_CAMERA_CAPTURE=y -CONFIG_DRIVERS_CAMERA_TRIGGER=y -CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_LASER_I2C=y -CONFIG_DRIVERS_GPS=y -CONFIG_DRIVERS_IMU_BOSCH_BMI055=y -CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y -CONFIG_DRIVERS_IMU_INVENSENSE_ICM20689=y -CONFIG_COMMON_LIGHT=y -CONFIG_DRIVERS_LIGHTS_RGBLED_PWM=y -CONFIG_DRIVERS_MAGNETOMETER_HMC5883=y -CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y -CONFIG_DRIVERS_PWM_OUT=y -CONFIG_DRIVERS_RC_INPUT=y -CONFIG_DRIVERS_SAFETY_BUTTON=y -CONFIG_DRIVERS_TONE_ALARM=y -CONFIG_COMMON_UWB=y -CONFIG_MODULES_BATTERY_STATUS=y -CONFIG_MODULES_CAMERA_FEEDBACK=y -CONFIG_MODULES_COMMANDER=y -CONFIG_MODULES_CONTROL_ALLOCATOR=y -CONFIG_MODULES_DATAMAN=y -CONFIG_MODULES_EKF2=y -CONFIG_MODULES_EVENTS=y -CONFIG_MODULES_FLIGHT_MODE_MANAGER=y -CONFIG_MODULES_GIMBAL=y -CONFIG_MODULES_GYRO_CALIBRATION=y -CONFIG_MODULES_GYRO_FFT=y -CONFIG_MODULES_LAND_DETECTOR=y -CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y -CONFIG_MODULES_LOAD_MON=y -CONFIG_MODULES_LOGGER=y -CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y -CONFIG_MODULES_MANUAL_CONTROL=y -CONFIG_MODULES_MAVLINK=y -CONFIG_MODULES_MC_ATT_CONTROL=y -CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y -CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y -CONFIG_MODULES_MC_POS_CONTROL=y -CONFIG_MODULES_MC_RATE_CONTROL=y -CONFIG_MODULES_NAVIGATOR=y -CONFIG_MODULES_RC_UPDATE=y -CONFIG_MODULES_SENSORS=y -CONFIG_MODULES_UXRCE_DDS_CLIENT=y -CONFIG_SYSTEMCMDS_BSONDUMP=y -CONFIG_SYSTEMCMDS_DMESG=y -CONFIG_SYSTEMCMDS_DUMPFILE=y -CONFIG_SYSTEMCMDS_I2CDETECT=y -CONFIG_SYSTEMCMDS_LED_CONTROL=y -CONFIG_SYSTEMCMDS_MFT=y -CONFIG_SYSTEMCMDS_MTD=y -CONFIG_SYSTEMCMDS_NSHTERM=y -CONFIG_SYSTEMCMDS_PARAM=y -CONFIG_SYSTEMCMDS_PERF=y -CONFIG_SYSTEMCMDS_REBOOT=y -CONFIG_SYSTEMCMDS_SD_BENCH=y -CONFIG_SYSTEMCMDS_SD_STRESS=y -CONFIG_SYSTEMCMDS_TOP=y -CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y -CONFIG_SYSTEMCMDS_TUNE_CONTROL=y -CONFIG_SYSTEMCMDS_UORB=y -CONFIG_SYSTEMCMDS_USB_CONNECTED=y -CONFIG_SYSTEMCMDS_VER=y -CONFIG_SYSTEMCMDS_WORK_QUEUE=y diff --git a/boards/nxp/fmurt1062-v1/firmware.prototype b/boards/nxp/fmurt1062-v1/firmware.prototype deleted file mode 100644 index 666444d7f54e..000000000000 --- a/boards/nxp/fmurt1062-v1/firmware.prototype +++ /dev/null @@ -1,13 +0,0 @@ -{ - "board_id": 31, - "magic": "PX4FWv1", - "description": "Firmware for the NXPFMURT1062v1 board", - "image": "", - "build_time": 0, - "summary": "NXPFMURT1062v1", - "version": "0.1", - "image_size": 0, - "image_maxsize": 7340032, - "git_identity": "", - "board_revision": 0 -} diff --git a/boards/nxp/fmurt1062-v1/init/rc.board_defaults b/boards/nxp/fmurt1062-v1/init/rc.board_defaults deleted file mode 100644 index 9e9681767930..000000000000 --- a/boards/nxp/fmurt1062-v1/init/rc.board_defaults +++ /dev/null @@ -1,10 +0,0 @@ -#!/bin/sh -# -# board specific defaults -#------------------------------------------------------------------------------ - -param set-default BAT1_V_DIV 10.1097 -param set-default BAT1_A_PER_V 15.391030303 - -rgbled_pwm start -safety_button start diff --git a/boards/nxp/fmurt1062-v1/init/rc.board_sensors b/boards/nxp/fmurt1062-v1/init/rc.board_sensors deleted file mode 100644 index 8d2b0d7808da..000000000000 --- a/boards/nxp/fmurt1062-v1/init/rc.board_sensors +++ /dev/null @@ -1,34 +0,0 @@ -#!/bin/sh -# -# PX4 FMUv5 specific board sensors init -#------------------------------------------------------------------------------ -# -# UART mapping on NXP FMURT1062: -# -# LPUART7 /dev/ttyS0 CONSOLE -# LPUART2 /dev/ttyS1 GPS -# LPUART3 /dev/ttyS2 TELEM2 (GPIO flow control) -# LPUART4 /dev/ttyS3 TELEM1 (UART flow control) -# LPUART5 /dev/ttyS4 TELEM4 GPS2 -# LPUART6 /dev/ttyS5 TELEM3 (RC_INPUT) -# LPUART8 /dev/ttyS6 PX4IO -# -#------------------------------------------------------------------------------ - -board_adc start - -# Internal SPI bus ICM-20602 -icm20602 -R 2 -s start - -# Internal SPI bus ICM-20689 -icm20689 -R 2 -s start - -# Internal SPI bus BMI055 accel/gyro -bmi055 -A -R 2 -s start -bmi055 -G -R 2 -s start - -# internal compass -ist8310 -I -R 10 start - -# Baro on internal SPI -ms5611 -s start diff --git a/boards/nxp/fmurt1062-v1/nuttx-config/Kconfig b/boards/nxp/fmurt1062-v1/nuttx-config/Kconfig deleted file mode 100644 index 40f0d9dd0a64..000000000000 --- a/boards/nxp/fmurt1062-v1/nuttx-config/Kconfig +++ /dev/null @@ -1,41 +0,0 @@ -# -# For a description of the syntax of this configuration file, -# see the file kconfig-language.txt in the NuttX tools repository. -# - -choice - prompt "Boot Flash" - default NXP_FMURT1062_V3_QSPI_FLASH - -config NXP_FMURT1062_V3_HYPER_FLASH - bool "HYPER Flash" - -config NXP_FMURT1062_V3_QSPI_FLASH - bool "QSPI Flash" - -endchoice # Boot Flash - -config BOARD_HAS_PROBES - bool "Board provides GPIO or other Hardware for signaling to timing analyze." - default y - ---help--- - This board provides GPIO FMU-CH1-8, as PROBE_1-8 to provide timing signals - from selected drivers. - -config BOARD_USE_PROBES - bool "Enable the use the board provided FMU-CH1-8 as PROBE_1-8" - default n - depends on BOARD_HAS_PROBES - - ---help--- - Select to use GPIO FMU-CH1-8, as PROBE_1-8 to provide timing signals - from selected drivers. - -config BOARD_FORCE_ALIGNMENT - bool "Forces all acesses to be Aligned" - default n - - ---help--- - Adds -mno-unaligned-access to build flags. to force alignment. - This can be needed if data is stored in a region of memory, that - is Strongly ordered and dcache is off. diff --git a/boards/nxp/fmurt1062-v1/nuttx-config/include/board.h b/boards/nxp/fmurt1062-v1/nuttx-config/include/board.h deleted file mode 100644 index 16ec5680874f..000000000000 --- a/boards/nxp/fmurt1062-v1/nuttx-config/include/board.h +++ /dev/null @@ -1,400 +0,0 @@ -/************************************************************************************ - * nuttx-configs/nxp_fmurt1062-v1/include/board.h - * - * Copyright (C) 2018 Gregory Nutt. All rights reserved. - * Authors: Gregory Nutt - * David Sidrane - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name NuttX nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ************************************************************************************/ - -#ifndef __NUTTX_CONFIG_NXP_FMURT1062_V1_INCLUDE_BOARD_H -#define __NUTTX_CONFIG_NXP_FMURT1062_V1_INCLUDE_BOARD_H - -/************************************************************************************ - * Included Files - ************************************************************************************/ - -#include - -/************************************************************************************ - * Pre-processor Definitions - ************************************************************************************/ - -/* Clocking *************************************************************************/ - -/* Set VDD_SOC to 1.3V */ - -#define IMXRT_VDD_SOC (0x14) - -/* Set Arm PLL (PLL1) to fOut = (24Mhz * ARM_PLL_DIV_SELECT/2) / ARM_PODF_DIVISOR - * 576Mhz = (24Mhz * ARM_PLL_DIV_SELECT/2) / ARM_PODF_DIVISOR - * ARM_PLL_DIV_SELECT = 96 - * ARM_PODF_DIVISOR = 2 - * 576Mhz = (24Mhz * 96/2) / 2 - * - * AHB_CLOCK_ROOT = PLL1fOut / IMXRT_AHB_PODF_DIVIDER - * 1Hz to 600 Mhz = 576Mhz / IMXRT_ARM_CLOCK_DIVIDER - * IMXRT_ARM_CLOCK_DIVIDER = 1 - * 576Mhz = 576Mhz / 1 - * - * PRE_PERIPH_CLK_SEL = PRE_PERIPH_CLK_SEL_PLL1 - * PERIPH_CLK_SEL = 1 (0 select PERIPH_CLK2_PODF, 1 select PRE_PERIPH_CLK_SEL_PLL1) - * PERIPH_CLK = 576Mhz - * - * IPG_CLOCK_ROOT = AHB_CLOCK_ROOT / IMXRT_IPG_PODF_DIVIDER - * IMXRT_IPG_PODF_DIVIDER = 4 - * 144Mhz = 576Mhz / 4 - * - * PRECLK_CLOCK_ROOT = IPG_CLOCK_ROOT / IMXRT_PERCLK_PODF_DIVIDER - * IMXRT_PERCLK_PODF_DIVIDER = 1 - * 16Mhz = 144Mhz / 9 - * - * SEMC_CLK_ROOT = 576Mhz / IMXRT_SEMC_PODF_DIVIDER (labeled AIX_PODF in 18.2) - * IMXRT_SEMC_PODF_DIVIDER = 8 - * 72Mhz = 576Mhz / 8 - * - * Set Sys PLL (PLL2) to fOut = (24Mhz * (20+(2*(DIV_SELECT))) - * 528Mhz = (24Mhz * (20+(2*(1))) - * - * Set USB1 PLL (PLL3) to fOut = (24Mhz * 20) - * 480Mhz = (24Mhz * 20) - * - * Set LPSPI PLL3 PFD0 to fOut = (480Mhz / 12 * 18) - * 720Mhz = (480Mhz / 12 * 18) - * 90Mhz = (720Mhz / LSPI_PODF_DIVIDER) - * - * Set LPI2C PLL3 / 8 to fOut = (480Mhz / 8) - * 60Mhz = (480Mhz / 8) - * 12Mhz = (60Mhz / LSPI_PODF_DIVIDER) - * - * Set USDHC1 PLL2 PFD2 to fOut = (528Mhz / 24 * 18) - * 396Mhz = (528Mhz / 24 * 18) - * 198Mhz = (396Mhz / IMXRT_USDHC1_PODF_DIVIDER) - */ - -#define BOARD_XTAL_FREQUENCY 24000000 -#define IMXRT_PRE_PERIPH_CLK_SEL CCM_CBCMR_PRE_PERIPH_CLK_SEL_PLL1 -#define IMXRT_PERIPH_CLK_SEL CCM_CBCDR_PERIPH_CLK_SEL_PRE_PERIPH -#define IMXRT_ARM_PLL_DIV_SELECT 96 -#define IMXRT_ARM_PODF_DIVIDER 2 -#define IMXRT_AHB_PODF_DIVIDER 1 -#define IMXRT_IPG_PODF_DIVIDER 4 -#define IMXRT_PERCLK_CLK_SEL CCM_CSCMR1_PERCLK_CLK_SEL_IPG_CLK_ROOT -#define IMXRT_PERCLK_PODF_DIVIDER 9 -#define IMXRT_SEMC_PODF_DIVIDER 8 - -#define IMXRT_LPSPI_CLK_SELECT CCM_CBCMR_LPSPI_CLK_SEL_PLL3_PFD0 -#define IMXRT_LSPI_PODF_DIVIDER 8 - -#define IMXRT_LPI2C_CLK_SELECT CCM_CSCDR2_LPI2C_CLK_SEL_PLL3_60M -#define IMXRT_LSI2C_PODF_DIVIDER 5 - -#define IMXRT_USDHC1_CLK_SELECT CCM_CSCMR1_USDHC1_CLK_SEL_PLL2_PFD0 -#define IMXRT_USDHC1_PODF_DIVIDER 2 - -#define IMXRT_USB1_PLL_DIV_SELECT CCM_ANALOG_PLL_USB1_DIV_SELECT_20 - -#define IMXRT_SYS_PLL_SELECT CCM_ANALOG_PLL_SYS_DIV_SELECT_22 - -#define IMXRT_USB1_PLL_DIV_SELECT CCM_ANALOG_PLL_USB1_DIV_SELECT_20 - -#define BOARD_CPU_FREQUENCY \ - (BOARD_XTAL_FREQUENCY * (IMXRT_ARM_PLL_DIV_SELECT / 2)) / IMXRT_ARM_PODF_DIVIDER - -#define BOARD_GPT_FREQUENCY \ - (BOARD_CPU_FREQUENCY / IMXRT_IPG_PODF_DIVIDER) / IMXRT_PERCLK_PODF_DIVIDER - -/* Define this to enable tracing */ -#if CONFIG_USE_TRACE -# define IMXRT_TRACE_PODF_DIVIDER 1 -# define IMXRT_TRACE_CLK_SELECT CCM_CBCMR_TRACE_CLK_SEL_PLL2_PFD0 -#endif - -/* SDIO *****************************************************************************/ - -/* Pin drive characteristics */ - -#define USDHC1_DATAX_IOMUX (IOMUX_SLEW_FAST | IOMUX_DRIVE_130OHM | IOMUX_PULL_UP_47K | IOMUX_SCHMITT_TRIGGER) -#define USDHC1_CMD_IOMUX (IOMUX_SLEW_FAST | IOMUX_DRIVE_130OHM | IOMUX_PULL_UP_47K | IOMUX_SCHMITT_TRIGGER) -#define USDHC1_CLK_IOMUX (IOMUX_SLEW_FAST | IOMUX_DRIVE_130OHM | IOMUX_SPEED_MAX) -#define USDHC1_CD_IOMUX (IOMUX_PULL_UP_47K | IOMUX_SCHMITT_TRIGGER) - -#define PIN_USDHC1_D0 (GPIO_USDHC1_DATA0_1 | USDHC1_DATAX_IOMUX) /* GPIO_SD_B0_02 */ -#define PIN_USDHC1_D1 (GPIO_USDHC1_DATA1_1 | USDHC1_DATAX_IOMUX) /* GPIO_SD_B0_03 */ -#define PIN_USDHC1_D2 (GPIO_USDHC1_DATA2_1 | USDHC1_DATAX_IOMUX) /* GPIO_SD_B0_04 */ -#define PIN_USDHC1_D3 (GPIO_USDHC1_DATA3_1 | USDHC1_DATAX_IOMUX) /* GPIO_SD_B0_05 */ -#define PIN_USDHC1_DCLK (GPIO_USDHC1_CLK_1 | USDHC1_CLK_IOMUX) /* GPIO_SD_B0_01 */ -#define PIN_USDHC1_CMD (GPIO_USDHC1_CMD_1 | USDHC1_CMD_IOMUX) /* GPIO_SD_B0_00 */ -#define PIN_USDHC1_CD (GPIO_USDHC1_CD_2 | USDHC1_CD_IOMUX) /* GPIO_B1_12 */ - -/* Ideal 400Khz for initial inquiry. - * Given input clock 198 Mhz. - * 386.71875 KHz = 198 Mhz / (256 * 2) - */ - -#define BOARD_USDHC_IDMODE_PRESCALER USDHC_SYSCTL_SDCLKFS_DIV256 -#define BOARD_USDHC_IDMODE_DIVISOR USDHC_SYSCTL_DVS_DIV(2) - -/* Ideal 25 Mhz for other modes - * Given input clock 198 Mhz. - * 24.75 MHz = 198 Mhz / (8 * 1) - */ - -#define BOARD_USDHC_MMCMODE_PRESCALER USDHC_SYSCTL_SDCLKFS_DIV8 -#define BOARD_USDHC_MMCMODE_DIVISOR USDHC_SYSCTL_DVS_DIV(1) - -#define BOARD_USDHC_SD1MODE_PRESCALER USDHC_SYSCTL_SDCLKFS_DIV8 -#define BOARD_USDHC_SD1MODE_DIVISOR USDHC_SYSCTL_DVS_DIV(1) - -#define BOARD_USDHC_SD4MODE_PRESCALER USDHC_SYSCTL_SDCLKFS_DIV8 -#define BOARD_USDHC_SD4MODE_DIVISOR USDHC_SYSCTL_DVS_DIV(1) - -/* LED definitions ******************************************************************/ -/* The nxp fmutr1062 board has numerous LEDs but only three, LED_GREEN a Green LED, - * LED_BLUE a Blue LED and LED_RED a Red LED, that can be controlled by software. - * - * If CONFIG_ARCH_LEDS is not defined, then the user can control the LEDs in any way. - * The following definitions are used to access individual LEDs. - */ - -/* LED index values for use with board_userled() */ - -#define BOARD_LED1 0 -#define BOARD_LED2 1 -#define BOARD_LED3 2 -#define BOARD_NLEDS 3 - -#define BOARD_LED_RED BOARD_LED1 -#define BOARD_LED_GREEN BOARD_LED2 -#define BOARD_LED_BLUE BOARD_LED3 - -/* LED bits for use with board_userled_all() */ - -#define BOARD_LED1_BIT (1 << BOARD_LED1) -#define BOARD_LED2_BIT (1 << BOARD_LED2) -#define BOARD_LED3_BIT (1 << BOARD_LED3) - -/* If CONFIG_ARCH_LEDS is defined, the usage by the board port is defined in - * include/board.h and src/stm32_leds.c. The LEDs are used to encode OS-related - * events as follows: - * - * - * SYMBOL Meaning LED state - * Red Green Blue - * ---------------------- -------------------------- ------ ------ ----*/ - -#define LED_STARTED 0 /* NuttX has been started OFF OFF OFF */ -#define LED_HEAPALLOCATE 1 /* Heap has been allocated OFF OFF ON */ -#define LED_IRQSENABLED 2 /* Interrupts enabled OFF ON OFF */ -#define LED_STACKCREATED 3 /* Idle stack created OFF ON ON */ -#define LED_INIRQ 4 /* In an interrupt N/C N/C GLOW */ -#define LED_SIGNAL 5 /* In a signal handler N/C GLOW N/C */ -#define LED_ASSERTION 6 /* An assertion failed GLOW N/C GLOW */ -#define LED_PANIC 7 /* The system has crashed Blink OFF N/C */ -#define LED_IDLE 8 /* MCU is is sleep mode ON OFF OFF */ - -/* Thus if the Green LED is statically on, NuttX has successfully booted and - * is, apparently, running normally. If the Red LED is flashing at - * approximately 2Hz, then a fatal error has been detected and the system - * has halted. - */ - -/* PIO Disambiguation ***************************************************************/ -/* LPUARTs - */ -#define LPUART_IOMUX (IOMUX_PULL_UP_22K | IOMUX_DRIVE_40OHM | IOMUX_SLEW_SLOW | IOMUX_SPEED_LOW | IOMUX_SCHMITT_TRIGGER) - -/* GPS 1 */ - -#define GPIO_LPUART2_RX (GPIO_LPUART2_RX_1 | LPUART_IOMUX) /* EVK J22-8 */ /* GPIO_AD_B1_03 */ -#define GPIO_LPUART2_TX (GPIO_LPUART2_TX_1 | LPUART_IOMUX) /* EVK J22-7 */ /* GPIO_AD_B1_02 */ - -/* N.B. Rev B schematic did not change the names of the nets. Just the silk screen renamed the ports - * Such that Telem 2 had the real HW HS signals. The imx driver to dated does not support GOIO controlled - * HS lines - */ - -/* Telem 1 */ - -#define HS_INPUT_IOMUX (IOMUX_CMOS_INPUT | IOMUX_SLEW_SLOW | IOMUX_DRIVE_HIZ | IOMUX_SPEED_MEDIUM | IOMUX_PULL_UP_47K) -#define HS_OUTPUT_IOMUX (IOMUX_CMOS_OUTPUT | IOMUX_SLEW_FAST | IOMUX_DRIVE_33OHM | IOMUX_SPEED_MEDIUM | IOMUX_PULL_KEEP) - -#define GPIO_LPUART3_RX (GPIO_LPUART3_RX_3 | LPUART_IOMUX) /* GPIO_B0_09 */ -#define GPIO_LPUART3_TX (GPIO_LPUART3_TX_3 | LPUART_IOMUX) /* GPIO_B0_08 */ -#define GPIO_LPUART3_CTS (GPIO_PORT3 | GPIO_PIN4 | GPIO_INPUT | HS_INPUT_IOMUX) /* GPIO_SD_B1_04 GPIO3_IO04 (GPIO only, no HW Flow control) */ -#define GPIO_LPUART3_RTS (GPIO_PORT4 | GPIO_PIN24 | GPIO_OUTPUT | GPIO_OUTPUT_ZERO | HS_OUTPUT_IOMUX) /* GPIO_EMC_24 GPIO4_IO24 (GPIO only, no HW Flow control) */ - -/* Telem 2 */ - -#define GPIO_LPUART4_RX (GPIO_LPUART4_RX_2 | LPUART_IOMUX) /* GPIO_EMC_20 */ -#define GPIO_LPUART4_TX (GPIO_LPUART4_TX_2 | LPUART_IOMUX) /* GPIO_EMC_19 */ -#define GPIO_LPUART4_CTS (GPIO_LPUART4_CTS_1 | LPUART_IOMUX) /* GPIO_EMC_17 */ -#define GPIO_LPUART4_RTS (GPIO_LPUART4_RTS_1 | LPUART_IOMUX) /* GPIO_EMC_18 */ - -/* GPS2 */ - -#define GPIO_LPUART5_RX (GPIO_LPUART5_RX_1 | LPUART_IOMUX) /* GPIO_B1_13 */ -#define GPIO_LPUART5_TX (GPIO_LPUART5_TX_2 | LPUART_IOMUX) /* GPIO_EMC_23 */ - -/* RC INPUT single wire mode on TX, RX is not used */ - -#define GPIO_LPUART6_RX (GPIO_LPUART6_RX_2 | LPUART_IOMUX) /* GPIO_EMC_26 */ -#define GPIO_LPUART6_TX (GPIO_LPUART6_TX_2 | LPUART_IOMUX) /* GPIO_EMC_25 */ - -#define GPIO_LPUART7_RX (GPIO_LPUART7_RX_1 | LPUART_IOMUX) /* GPIO_EMC_32 */ -#define GPIO_LPUART7_TX (GPIO_LPUART7_TX_1 | LPUART_IOMUX) /* GPIO_EMC_31 */ - -#define GPIO_LPUART8_RX (GPIO_LPUART8_RX_2 | LPUART_IOMUX) /* GPIO_EMC_39 */ -#define GPIO_LPUART8_TX (GPIO_LPUART8_TX_2 | LPUART_IOMUX) /* GPIO_EMC_38 */ - -/* CAN - * - * CAN1 is routed to transceiver. - * CAN2 is routed to transceiver. - * CAN3 is routed to transceiver. - */ -#define FLEXCAN_IOMUX (IOMUX_PULL_UP_100K | IOMUX_DRIVE_40OHM | IOMUX_SLEW_FAST | IOMUX_SPEED_MEDIUM) - -#define GPIO_FLEXCAN1_RX (GPIO_FLEXCAN1_RX_2 | FLEXCAN_IOMUX) /* GPIO_B0_03 */ -#define GPIO_FLEXCAN1_TX (GPIO_FLEXCAN1_TX_4 | FLEXCAN_IOMUX) /* GPIO_SD_B1_02 */ -#define GPIO_FLEXCAN2_RX (GPIO_FLEXCAN2_RX_1 | FLEXCAN_IOMUX) /* GPIO_AD_B0_03 */ -#define GPIO_FLEXCAN2_TX (GPIO_FLEXCAN2_TX_1 | FLEXCAN_IOMUX) /* GPIO_AD_B0_02 */ -#define GPIO_FLEXCAN3_RX (GPIO_FLEXCAN3_RX_1 | FLEXCAN_IOMUX) /* GPIO_AD_B0_11 */ -#define GPIO_FLEXCAN3_TX (GPIO_FLEXCAN3_TX_3 | FLEXCAN_IOMUX) /* GPIO_EMC_36 */ - -/* LPSPI */ -#define LPSPI_IOMUX (IOMUX_PULL_UP_100K | IOMUX_DRIVE_33OHM | IOMUX_SLEW_FAST | IOMUX_SPEED_MAX) - -#define GPIO_LPSPI1_SCK (GPIO_LPSPI1_SCK_1 | LPSPI_IOMUX) /* GPIO_EMC_27 */ -#define GPIO_LPSPI1_MISO (GPIO_LPSPI1_SDI_1 | LPSPI_IOMUX) /* GPIO_EMC_29 */ -#define GPIO_LPSPI1_MOSI (GPIO_LPSPI1_SDO_1 | LPSPI_IOMUX) /* GPIO_EMC_28 */ - -#define GPIO_LPSPI2_SCK (GPIO_LPSPI2_SCK_1 | LPSPI_IOMUX) /* GPIO_EMC_00 */ -#define GPIO_LPSPI2_MISO (GPIO_LPSPI2_SDI_1 | LPSPI_IOMUX) /* GPIO_EMC_03 */ -#define GPIO_LPSPI2_MOSI (GPIO_LPSPI2_SDO_1 | LPSPI_IOMUX) /* GPIO_EMC_02 */ - -#define GPIO_LPSPI3_SCK (GPIO_LPSPI3_SCK_1 | LPSPI_IOMUX) /* GPIO_AD_B1_15 */ -#define GPIO_LPSPI3_MISO (GPIO_LPSPI3_SDI_1 | LPSPI_IOMUX) /* GPIO_AD_B1_13 */ -#define GPIO_LPSPI3_MOSI (GPIO_LPSPI3_SDO_1 | LPSPI_IOMUX) /* GPIO_AD_B1_14 */ - -#define GPIO_LPSPI4_SCK (GPIO_LPSPI4_SCK_1 | LPSPI_IOMUX) /* GPIO_B1_07 */ -#define GPIO_LPSPI4_MISO (GPIO_LPSPI4_SDI_1 | LPSPI_IOMUX) /* GPIO_B1_05 */ -#define GPIO_LPSPI4_MOSI (GPIO_LPSPI4_SDO_2 | LPSPI_IOMUX) /* GPIO_B0_02 */ - -/* LPI2Cs */ - -#define LPI2C_IOMUX (IOMUX_SPEED_MEDIUM | IOMUX_DRIVE_33OHM | IOMUX_OPENDRAIN | GPIO_SION_ENABLE) -#define LPI2C_IO_IOMUX (IOMUX_SPEED_MAX | IOMUX_SLEW_FAST | IOMUX_DRIVE_33OHM | IOMUX_OPENDRAIN | IOMUX_PULL_NONE) - -#define GPIO_LPI2C1_SDA (GPIO_LPI2C1_SDA_2 | LPI2C_IOMUX) /* EVK J24-9 R276 */ /* GPIO_AD_B1_01 */ -#define GPIO_LPI2C1_SCL (GPIO_LPI2C1_SCL_2 | LPI2C_IOMUX) /* EVK J24-10 R277 */ /* GPIO_AD_B1_00 */ - -#define GPIO_LPI2C1_SDA_RESET (GPIO_PORT1 | GPIO_PIN17 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | LPI2C_IO_IOMUX) /* GPIO_AD_B1_01 GPIO1_IO17 */ -#define GPIO_LPI2C1_SCL_RESET (GPIO_PORT1 | GPIO_PIN16 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | LPI2C_IO_IOMUX) /* GPIO_AD_B1_00 GPIO1_IO16 */ - -#define GPIO_LPI2C2_SDA (GPIO_LPI2C2_SDA_1 | LPI2C_IOMUX) /* EVK J8-A25 */ /* GPIO_B0_05 */ -#define GPIO_LPI2C2_SCL (GPIO_LPI2C2_SCL_1 | LPI2C_IOMUX) /* EVK J8-A24 */ /* GPIO_B0_04 */ - -#define GPIO_LPI2C2_SDA_RESET (GPIO_PORT2 | GPIO_PIN5 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | LPI2C_IO_IOMUX) /* GPIO_B0_05 GPIO2_IO5 */ -#define GPIO_LPI2C2_SCL_RESET (GPIO_PORT2 | GPIO_PIN4 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | LPI2C_IO_IOMUX) /* GPIO_B0_04 GPIO2_IO4 */ - -#define GPIO_LPI2C3_SDA (GPIO_LPI2C3_SDA_2 | LPI2C_IOMUX) /* GPIO_EMC_21 */ -#define GPIO_LPI2C3_SCL (GPIO_LPI2C3_SCL_2 | LPI2C_IOMUX) /* GPIO_EMC_22 */ - -#define GPIO_LPI2C3_SDA_RESET (GPIO_PORT4 | GPIO_PIN21 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | LPI2C_IO_IOMUX) /* GPIO_EMC_21 GPIO4_IO21 */ -#define GPIO_LPI2C3_SCL_RESET (GPIO_PORT4 | GPIO_PIN22 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | LPI2C_IO_IOMUX) /* GPIO_EMC_22 GPIO4_IO22 */ - -/* Board provides GPIO or other Hardware for signaling to timing analyzer */ - -#if defined(CONFIG_BOARD_USE_PROBES) -#include -#include -// add -I build/nxp_fmurt1062-v1_default/NuttX/nuttx/arch/arm/src/chip \ to NuttX Makedefs.in -#define PROBE_IOMUX (IOMUX_SPEED_MAX | IOMUX_SLEW_FAST | IOMUX_DRIVE_33OHM | IOMUX_CMOS_OUTPUT | IOMUX_PULL_NONE) -# define PROBE_N(n) (1<<((n)-1)) -# define PROBE_1 /* GPIO_B0_06 */ (GPIO_PORT2 | GPIO_PIN6 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | PROBE_IOMUX) -# define PROBE_2 /* GPIO_EMC_08 */ (GPIO_PORT4 | GPIO_PIN8 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | PROBE_IOMUX) -# define PROBE_3 /* GPIO_EMC_10 */ (GPIO_PORT4 | GPIO_PIN10 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | PROBE_IOMUX) -# define PROBE_4 /* GPIO_AD_B0_09 */ (GPIO_PORT1 | GPIO_PIN9 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | PROBE_IOMUX) -# define PROBE_5 /* GPIO_EMC_33 */ (GPIO_PORT3 | GPIO_PIN19 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | PROBE_IOMUX) -# define PROBE_6 /* GPIO_EMC_30 */ (GPIO_PORT4 | GPIO_PIN30 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | PROBE_IOMUX) -# define PROBE_7 /* GPIO_EMC_04 */ (GPIO_PORT4 | GPIO_PIN4 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | PROBE_IOMUX) -# define PROBE_8 /* GPIO_EMC_01 */ (GPIO_PORT4 | GPIO_PIN1 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | PROBE_IOMUX) - -# define PROBE_INIT(mask) \ - do { \ - if ((mask)& PROBE_N(1)) { imxrt_config_gpio(PROBE_1); } \ - if ((mask)& PROBE_N(2)) { imxrt_config_gpio(PROBE_2); } \ - if ((mask)& PROBE_N(3)) { imxrt_config_gpio(PROBE_3); } \ - if ((mask)& PROBE_N(4)) { imxrt_config_gpio(PROBE_4); } \ - if ((mask)& PROBE_N(5)) { imxrt_config_gpio(PROBE_5); } \ - if ((mask)& PROBE_N(6)) { imxrt_config_gpio(PROBE_6); } \ - if ((mask)& PROBE_N(7)) { imxrt_config_gpio(PROBE_7); } \ - if ((mask)& PROBE_N(8)) { imxrt_config_gpio(PROBE_8); } \ - } while(0) - -# define PROBE(n,s) do {imxrt_gpio_write(PROBE_##n,(s));}while(0) -# define PROBE_MARK(n) PROBE(n,false);PROBE(n,true) -#else -# define PROBE_INIT(mask) -# define PROBE(n,s) -# define PROBE_MARK(n) -#endif - -/************************************************************************************ - * Public Types - ************************************************************************************/ - -/************************************************************************************ - * Public Data - ************************************************************************************/ - -#ifndef __ASSEMBLY__ - -#undef EXTERN -#if defined(__cplusplus) -#define EXTERN extern "C" -extern "C" -{ -#else -#define EXTERN extern -#endif - -/************************************************************************************ - * Public Functions - ************************************************************************************/ - -#undef EXTERN -#if defined(__cplusplus) -} -#endif - -#endif /* __ASSEMBLY__ */ -#endif /* __NUTTX_CONFIG_NXP_FMURT1062_V1_INCLUDE_BOARD_H */ diff --git a/boards/nxp/fmurt1062-v1/nuttx-config/nsh/defconfig b/boards/nxp/fmurt1062-v1/nuttx-config/nsh/defconfig deleted file mode 100644 index 106dc072372e..000000000000 --- a/boards/nxp/fmurt1062-v1/nuttx-config/nsh/defconfig +++ /dev/null @@ -1,226 +0,0 @@ -# -# This file is autogenerated: PLEASE DO NOT EDIT IT. -# -# You can use "make menuconfig" to make any modifications to the installed .config file. -# You can then do "make savedefconfig" to generate a new defconfig file that includes your -# modifications. -# -# CONFIG_MMCSD_HAVE_WRITEPROTECT is not set -# CONFIG_MMCSD_MMCSUPPORT is not set -# CONFIG_MMCSD_SPI is not set -CONFIG_ARCH="arm" -CONFIG_ARCH_BOARD_CUSTOM=y -CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/nxp/fmurt1062-v1/nuttx-config" -CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y -CONFIG_ARCH_BOARD_CUSTOM_NAME="px4" -CONFIG_ARCH_CHIP="imxrt" -CONFIG_ARCH_CHIP_IMXRT=y -CONFIG_ARCH_CHIP_MIMXRT1062DVL6A=y -CONFIG_ARCH_INTERRUPTSTACK=750 -CONFIG_ARCH_STACKDUMP=y -CONFIG_ARMV7M_BASEPRI_WAR=y -CONFIG_ARMV7M_DCACHE=y -CONFIG_ARMV7M_DTCM=y -CONFIG_ARMV7M_ICACHE=y -CONFIG_ARMV7M_ITCM=y -CONFIG_ARMV7M_MEMCPY=y -CONFIG_ARMV7M_USEBASEPRI=y -CONFIG_ARM_MPU=y -CONFIG_BOARDCTL_RESET=y -CONFIG_BOARD_ASSERT_RESET_VALUE=0 -CONFIG_BOARD_CUSTOM_LEDS=y -CONFIG_BOARD_FORCE_ALIGNMENT=y -CONFIG_BOARD_LOOPSPERMSEC=104926 -CONFIG_BOARD_RESET_ON_ASSERT=2 -CONFIG_BOOT_RUNFROMISRAM=y -CONFIG_BUILTIN=y -CONFIG_CDCACM=y -CONFIG_CDCACM_BULKIN_REQLEN=96 -CONFIG_CDCACM_PRODUCTID=0x001d -CONFIG_CDCACM_PRODUCTSTR="PX4 FMURT1062 v1.x" -CONFIG_CDCACM_RXBUFSIZE=600 -CONFIG_CDCACM_TXBUFSIZE=12000 -CONFIG_CDCACM_VENDORID=0x1FC9 -CONFIG_CDCACM_VENDORSTR="NXP SEMICONDUCTORS" -CONFIG_DEBUG_FULLOPT=y -CONFIG_DEBUG_HARDFAULT_ALERT=y -CONFIG_DEBUG_SYMBOLS=y -CONFIG_DEV_FIFO_SIZE=0 -CONFIG_DEV_PIPE_SIZE=70 -CONFIG_DISABLE_MQUEUE=y -CONFIG_DISABLE_POSIX_TIMERS=y -CONFIG_FAT_DMAMEMORY=y -CONFIG_FAT_LCNAMES=y -CONFIG_FAT_LFN=y -CONFIG_FAT_LFN_ALIAS_HASH=y -CONFIG_FDCLONE_STDIO=y -CONFIG_FS_BINFS=y -CONFIG_FS_CROMFS=y -CONFIG_FS_FAT=y -CONFIG_FS_FATTIME=y -CONFIG_FS_PROCFS=y -CONFIG_FS_PROCFS_REGISTER=y -CONFIG_FS_ROMFS=y -CONFIG_GRAN=y -CONFIG_GRAN_INTR=y -CONFIG_HAVE_CXX=y -CONFIG_HAVE_CXXINITIALIZE=y -CONFIG_I2C=y -CONFIG_I2C_RESET=y -CONFIG_IDLETHREAD_STACKSIZE=750 -CONFIG_IMXRT_BOOTLOADER_HEAP=y -CONFIG_IMXRT_DTCM_HEAP=y -CONFIG_IMXRT_GPIO1_0_15_IRQ=y -CONFIG_IMXRT_GPIO1_16_31_IRQ=y -CONFIG_IMXRT_GPIO2_0_15_IRQ=y -CONFIG_IMXRT_GPIO2_16_31_IRQ=y -CONFIG_IMXRT_GPIO3_0_15_IRQ=y -CONFIG_IMXRT_GPIO3_16_31_IRQ=y -CONFIG_IMXRT_GPIO4_0_15_IRQ=y -CONFIG_IMXRT_GPIO4_16_31_IRQ=y -CONFIG_IMXRT_GPIO5_0_15_IRQ=y -CONFIG_IMXRT_GPIO5_16_31_IRQ=y -CONFIG_IMXRT_GPIO6_0_15_IRQ=y -CONFIG_IMXRT_GPIO6_16_31_IRQ=y -CONFIG_IMXRT_GPIO7_0_15_IRQ=y -CONFIG_IMXRT_GPIO7_16_31_IRQ=y -CONFIG_IMXRT_GPIO8_0_15_IRQ=y -CONFIG_IMXRT_GPIO8_16_31_IRQ=y -CONFIG_IMXRT_GPIO9_0_15_IRQ=y -CONFIG_IMXRT_GPIO9_16_31_IRQ=y -CONFIG_IMXRT_GPIO_IRQ=y -CONFIG_IMXRT_ITCM=0 -CONFIG_IMXRT_LPI2C1=y -CONFIG_IMXRT_LPI2C2=y -CONFIG_IMXRT_LPI2C3=y -CONFIG_IMXRT_LPI2C_DYNTIMEO=y -CONFIG_IMXRT_LPI2C_DYNTIMEO_STARTSTOP=10 -CONFIG_IMXRT_LPSPI1=y -CONFIG_IMXRT_LPSPI2=y -CONFIG_IMXRT_LPSPI3=y -CONFIG_IMXRT_LPSPI4=y -CONFIG_IMXRT_LPUART2=y -CONFIG_IMXRT_LPUART3=y -CONFIG_IMXRT_LPUART4=y -CONFIG_IMXRT_LPUART5=y -CONFIG_IMXRT_LPUART6=y -CONFIG_IMXRT_LPUART7=y -CONFIG_IMXRT_LPUART8=y -CONFIG_IMXRT_LPUART_INVERT=y -CONFIG_IMXRT_LPUART_SINGLEWIRE=y -CONFIG_IMXRT_RTC_MAGIC_REG=1 -CONFIG_IMXRT_SNVS_LPSRTC=y -CONFIG_IMXRT_USBDEV=y -CONFIG_IMXRT_USDHC1=y -CONFIG_IMXRT_USDHC1_INVERT_CD=y -CONFIG_IMXRT_USDHC1_WIDTH_D1_D4=y -CONFIG_INIT_ENTRYPOINT="nsh_main" -CONFIG_INIT_STACKSIZE=2944 -CONFIG_LIBC_MAX_EXITFUNS=1 -CONFIG_LIBC_STRERROR=y -CONFIG_LPUART2_BAUD=57600 -CONFIG_LPUART2_RXBUFSIZE=600 -CONFIG_LPUART2_TXBUFSIZE=1500 -CONFIG_LPUART3_BAUD=57600 -CONFIG_LPUART3_IFLOWCONTROL=y -CONFIG_LPUART3_OFLOWCONTROL=y -CONFIG_LPUART3_RXBUFSIZE=600 -CONFIG_LPUART3_TXBUFSIZE=3000 -CONFIG_LPUART4_BAUD=57600 -CONFIG_LPUART4_IFLOWCONTROL=y -CONFIG_LPUART4_OFLOWCONTROL=y -CONFIG_LPUART4_RXBUFSIZE=600 -CONFIG_LPUART4_TXBUFSIZE=1500 -CONFIG_LPUART5_BAUD=57600 -CONFIG_LPUART5_RXBUFSIZE=600 -CONFIG_LPUART5_TXBUFSIZE=1500 -CONFIG_LPUART6_BAUD=57600 -CONFIG_LPUART6_RXBUFSIZE=600 -CONFIG_LPUART6_TXBUFSIZE=1500 -CONFIG_LPUART7_BAUD=57600 -CONFIG_LPUART7_RXBUFSIZE=120 -CONFIG_LPUART7_SERIAL_CONSOLE=y -CONFIG_LPUART7_TXBUFSIZE=1500 -CONFIG_LPUART8_BAUD=57600 -CONFIG_LPUART8_RXBUFSIZE=600 -CONFIG_LPUART8_TXBUFSIZE=1500 -CONFIG_MEMSET_64BIT=y -CONFIG_MEMSET_OPTSPEED=y -CONFIG_MMCSD=y -CONFIG_MMCSD_SDIO=y -CONFIG_MM_REGIONS=3 -CONFIG_MTD=y -CONFIG_MTD_BYTE_WRITE=y -CONFIG_MTD_PARTITION=y -CONFIG_MTD_RAMTRON=y -CONFIG_NAME_MAX=40 -CONFIG_NSH_ARCHINIT=y -CONFIG_NSH_BUILTIN_APPS=y -CONFIG_NSH_CROMFSETC=y -CONFIG_NSH_DISABLE_BASENAME=y -CONFIG_NSH_DISABLE_CMP=y -CONFIG_NSH_DISABLE_DD=y -CONFIG_NSH_DISABLE_DIRNAME=y -CONFIG_NSH_DISABLE_HEXDUMP=y -CONFIG_NSH_DISABLE_LOSETUP=y -CONFIG_NSH_DISABLE_MKFIFO=y -CONFIG_NSH_DISABLE_MKRD=y -CONFIG_NSH_DISABLE_PRINTF=y -CONFIG_NSH_DISABLE_PUT=y -CONFIG_NSH_DISABLE_REBOOT=y -CONFIG_NSH_DISABLE_UNAME=y -CONFIG_NSH_DISABLE_WGET=y -CONFIG_NSH_DISABLE_XD=y -CONFIG_NSH_FILEIOSIZE=512 -CONFIG_NSH_LINELEN=128 -CONFIG_NSH_MAXARGUMENTS=15 -CONFIG_NSH_NESTDEPTH=8 -CONFIG_NSH_READLINE=y -CONFIG_NSH_ROMFSETC=y -CONFIG_NSH_ROMFSSECTSIZE=128 -CONFIG_NSH_STRERROR=y -CONFIG_NSH_VARS=y -CONFIG_PIPES=y -CONFIG_PREALLOC_TIMERS=50 -CONFIG_PRIORITY_INHERITANCE=y -CONFIG_PTHREAD_STACK_MIN=512 -CONFIG_RAMTRON_SETSPEED=y -CONFIG_RAM_SIZE=1048576 -CONFIG_RAM_START=0x20200000 -CONFIG_RAW_BINARY=y -CONFIG_READLINE_CMD_HISTORY=y -CONFIG_READLINE_TABCOMPLETION=y -CONFIG_RTC=y -CONFIG_SCHED_HPWORK=y -CONFIG_SCHED_HPWORKPRIORITY=249 -CONFIG_SCHED_HPWORKSTACKSIZE=1800 -CONFIG_SCHED_INSTRUMENTATION=y -CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y -CONFIG_SCHED_INSTRUMENTATION_SWITCH=y -CONFIG_SCHED_LPWORK=y -CONFIG_SCHED_LPWORKPRIORITY=50 -CONFIG_SCHED_LPWORKSTACKSIZE=1632 -CONFIG_SCHED_WAITPID=y -CONFIG_SDIO_BLOCKSETUP=y -CONFIG_SEM_PREALLOCHOLDERS=32 -CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y -CONFIG_SERIAL_TERMIOS=y -CONFIG_SIG_DEFAULT=y -CONFIG_SIG_SIGALRM_ACTION=y -CONFIG_SIG_SIGUSR1_ACTION=y -CONFIG_SIG_SIGUSR2_ACTION=y -CONFIG_SIG_SIGWORK=4 -CONFIG_STACK_COLORATION=y -CONFIG_START_DAY=30 -CONFIG_START_MONTH=11 -CONFIG_STDIO_BUFFER_SIZE=256 -CONFIG_SYSTEM_CDCACM=y -CONFIG_SYSTEM_NSH=y -CONFIG_TASK_NAME_SIZE=24 -CONFIG_USBDEV=y -CONFIG_USBDEV_BUSPOWERED=y -CONFIG_USBDEV_DMA=y -CONFIG_USBDEV_DUALSPEED=y -CONFIG_USBDEV_MAXPOWER=500 -CONFIG_USEC_PER_TICK=1000 -CONFIG_WATCHDOG=y diff --git a/boards/nxp/fmurt1062-v1/nuttx-config/scripts/ocram-script.ld b/boards/nxp/fmurt1062-v1/nuttx-config/scripts/ocram-script.ld deleted file mode 100644 index 274071f4aa06..000000000000 --- a/boards/nxp/fmurt1062-v1/nuttx-config/scripts/ocram-script.ld +++ /dev/null @@ -1,299 +0,0 @@ -/**************************************************************************** - * boards/arm/imxrt/imxrt1060-evk/scripts/flash-ocram.ld - * - * Copyright (C) 2018, 2020 Gregory Nutt. All rights reserved. - * Authors: Ivan Ucherdzhiev - * David Sidrane - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name NuttX nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/* The FMURT1062 has 8MiB of QSPI FLASH beginning at address, - * 0x0060:0000, Up to 512Kb of DTCM RAM beginning at 0x2000:0000, and 1MiB OCRAM - * beginning at 0x2020:0000. Neither DTCM or SDRAM are used in this - * configuration. - * - * The default flexram setting on the iMXRT 1062 is - * 256Kib to OCRRAM, 128Kib ITCM and 128Kib DTCM. - * This can be changed by using a dcd by minipulating - * IOMUX GPR16 and GPR17. - * The configuration we will use is 384Kib to OCRRAM, 0Kib ITCM and - * 128Kib DTCM. - * - * This is the OCRAM inker script. - * The NXP ROM bootloader will move the FLASH image to OCRAM. - * We must reserve 32K for the bootloader' OCRAM usage from the OCRAM Size - * and an additinal 8K for the ivt_s which is IVT_SIZE(8K) This 40K can be - * reused once the application is running. - * - * 0x2020:A000 to 0x202d:ffff - The application Image's vector table - * 0x2020:8000 to 0x2020:A000 - IVT - * 0x2020:0000 to 0x2020:7fff - NXP ROM bootloader. - * - * We artificially split the FLASH to allow locating sections that we do not - * want loaded inoto OCRAM. This is to save on OCRAM where the speen of the - * code does not matter. - * - */ - -MEMORY -{ - flash (rx) : ORIGIN = 0x60000000, LENGTH = 7M - flashxip (rx) : ORIGIN = 0x60700000, LENGTH = 1M - /* Vectors @ boot+ivt OCRAM2 Flex RAM Boot IVT */ - sram (rwx) : ORIGIN = 0x2020A000, LENGTH = 512K + 256K + 128K - (32K + 8K) - itcm (rwx) : ORIGIN = 0x00000000, LENGTH = 0K - dtcm (rwx) : ORIGIN = 0x20000000, LENGTH = 128K -} - -OUTPUT_ARCH(arm) -EXTERN(_vectors) -EXTERN(g_flash_config) -EXTERN(g_image_vector_table) -EXTERN(g_boot_data) -EXTERN(g_dcd_data) - -ENTRY(_stext) - -SECTIONS -{ - /* Image Vector Table and Boot Data for booting from external flash */ - - .boot_hdr : ALIGN(4) - { - FILL(0xff) - __boot_hdr_start__ = ABSOLUTE(.) ; - KEEP(*(.boot_hdr.conf)) - . = 0x1000 ; - KEEP(*(.boot_hdr.ivt)) - . = 0x1020 ; - KEEP(*(.boot_hdr.boot_data)) - . = 0x1030 ; - KEEP(*(.boot_hdr.dcd_data)) - __boot_hdr_end__ = ABSOLUTE(.) ; - . = 0x2000 ; - } > flash - - /* Catch all the section we want not in OCRAM so that the *(.text .text.*) in flash does not */ - /* Sift and sort with arm-none-eabi-nm -C -S -n build/nxp_fmurt1062-v1_default/nxp_fmurt1062-v1_default.elf > list.txt */ - - .flashxip : ALIGN(4) - { - FILL(0xff) - /* Order matters */ - *(.text.__start) - *(.text.imxrt_ocram_initialize) - *(.slow_memory) - *(.text.romfs*) - *(.text.cromfs*) - *(.text.mpu*) - *(.text.arm_memfault*) - *(.text.arm_hardfault*) - *(.text.up_assert*) - *(.text.up_stackdump*) - *(.text.up_taskdump*) - *(.text.up_mdelay*) - *(.text.up_udelay*) - *(.text.board_on_reset*) - *(.text.board_spi_reset*) - *(.text.board_query_manifest*) - *(.text.board_reset*) - *(.text.board_get*) - *(.text.board_mcu*) - *(.text.imxrt_xbar_connect*) - *(.text.bson*) - *(.text.*print_load*) - *(.text.*px4_mft*) - *(.text.*px4_mtd*) - *(.text.syslog*) - *(.text.register_driver*) - *(.text.nx_start*) - *(.text.nx_bringup*) - *(.text.irq_unexpected_isr*) - *(.text.group*) - *(.text.*setenv*) - *(.text.*env*) - *(.text.cmd*) - *(.text.readline*) - *(.text.mkfatfs*) - *(.text.builtin*) - *(.text.basename*) - *(.text.dirname*) - *(.text.gmtime_r*) - *(.text.chdir*) - *(.text.devnull*) - *(.text.ramdisk*) - *(.text.files*) - *(.text.unregister_driver*) - *(.text.register_blockdriver*) - *(.text.bchdev_register*) - *(.text.part*) - *(.text.ftl*) - *(.text.*I2CBusIterator*) - *(.text.*SPIBusIterator*) - *(.text.*BusCLIArguments*) - *(.text.*WorkQueueManager*) - *(.text.*param_export*) - *(.text.*param_import*) - *(.text.*param_load*) - *(.text.*BusInstanceIterator*) - *(.text.*PRINT_MODULE_USAGE*) - *(.text.*px4_getopt*) - *(.text.*main*) - *(.text.*instantiate*) - *(.text.*ADC*) - *(.text.*MS5611*) - *(.text.*I2CSPIDriver*) - *(.text.*CameraCapture*) - *(.text.*i2cdetect*) - *(.text.*usage*) -/* *(.text.*Bosch*) 2% CPU .5% RAM */ - *(.text.*Tunes*) - *(.text.*printStatistics*) - *(.text.*init*) - *(.text.*test*) - *(.text.*task_spawn*) - *(.text.*custom_command*) - *(.text.*print_usage*) - *(.text.*print_status*) - *(.text.*status*) - *(.text.*CameraInterface*) - *(.text.*CameraTrigger*) - *(.text.*ModuleBase*) - *(.text.*print_message*) - *(.text._ZN4Ekf2C2Eb) - *(.text._ZN9CommanderC2Ev) - *(.text.*PreFlightCheck*) - *(.text.*calibrat*) - *(.text.*initEv) - *(.text.*probe*) - *(.text.*thread_main*); - *(.text.*listener*) - *(.text.*BlockLocalPositionEstimator*) - *(.text.nsh_*) - *(.text.lib_vscanf) - *(.text.lib_vsprintf) - *(.text.*configure_streams_to_default*) - *(.text.*_main) - *(.text.*GPSDriverAshtech*) - *(.text.*GPSDriver*) - *(.text.*Mavlink*) - *(.rodata .rodata.*) - *(.fixup) - *(.gnu.warning) - *(.gnu.linkonce.t.*) - *(.glue_7) - *(.glue_7t) - *(.got) - *(.gcc_except_table) - *(.gnu.linkonce.r.*) - - } > flashxip - - /* Sections that will go to OCRAM */ - - .text : - { - _stext = ABSOLUTE(.); - *(.vectors) - *(.text .text.*) - _etext = ABSOLUTE(.); - - } > sram AT> flash - - /* - * Init functions (static constructors and the like) - */ - - .init_section : - { - _sinit = ABSOLUTE(.); - KEEP(*(.init_array .init_array.*)) - _einit = ABSOLUTE(.); - } > flash - - .ARM.extab : - { - *(.ARM.extab*) - } > flash - - __exidx_start = ABSOLUTE(.); - - .ARM.exidx : - { - *(.ARM.exidx*) - __exidx_end = ABSOLUTE(.); - } > flash - - _eronly = ABSOLUTE(.); - - .data : - { - _sdata = ABSOLUTE(.); - *(.data .data.*) - *(.gnu.linkonce.d.*) - CONSTRUCTORS - . = ALIGN(4); - _edata = ABSOLUTE(.); - } > sram AT > flash - - .ramfunc ALIGN(4): - { - _sramfuncs = ABSOLUTE(.); - *(.ramfunc .ramfunc.*) - _eramfuncs = ABSOLUTE(.); - } > sram AT > flash - - _framfuncs = LOADADDR(.ramfunc); - - .bss : - { - _sbss = ABSOLUTE(.); - *(.bss .bss.*) - *(.gnu.linkonce.b.*) - *(COMMON) - . = ALIGN(4); - _ebss = ABSOLUTE(.); - } > sram - - /* Stabs debugging sections. */ - - .stab 0 : { *(.stab) } - .stabstr 0 : { *(.stabstr) } - .stab.excl 0 : { *(.stab.excl) } - .stab.exclstr 0 : { *(.stab.exclstr) } - .stab.index 0 : { *(.stab.index) } - .stab.indexstr 0 : { *(.stab.indexstr) } - .comment 0 : { *(.comment) } - .debug_abbrev 0 : { *(.debug_abbrev) } - .debug_info 0 : { *(.debug_info) } - .debug_line 0 : { *(.debug_line) } - .debug_pubnames 0 : { *(.debug_pubnames) } - .debug_aranges 0 : { *(.debug_aranges) } -} diff --git a/boards/nxp/fmurt1062-v1/nuttx-config/scripts/script.ld b/boards/nxp/fmurt1062-v1/nuttx-config/scripts/script.ld deleted file mode 100644 index eac08ed30599..000000000000 --- a/boards/nxp/fmurt1062-v1/nuttx-config/scripts/script.ld +++ /dev/null @@ -1,163 +0,0 @@ -/**************************************************************************** - * configs/nxp_fmurt1062-v1/scripts/flash.ld - * - * Copyright (C) 2018 Gregory Nutt. All rights reserved. - * Authors: Gregory Nutt - * David Sidrane - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name NuttX nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/* The FMURT1062 has 8MiB of QSPI FLASH beginning at address, - * 0x0060:0000, Up to 512Kb of DTCM RAM beginning at 0x2000:0000, and 1MiB OCRAM - * beginning at 0x2020:0000. Neither DTCM or SDRAM are used in this - * configuratin. - */ - -MEMORY -{ - flash (rx) : ORIGIN = 0x60000000, LENGTH = 8M - sram (rwx) : ORIGIN = 0x20200000, LENGTH = 768K - itcm (rwx) : ORIGIN = 0x00000000, LENGTH = 128K - dtcm (rwx) : ORIGIN = 0x20000000, LENGTH = 128K -} - -OUTPUT_ARCH(arm) -EXTERN(_vectors) -EXTERN(g_flash_config) -EXTERN(g_image_vector_table) -EXTERN(g_boot_data) - -ENTRY(_stext) - -SECTIONS -{ - /* Image Vector Table and Boot Data for booting from external flash */ - - .boot_hdr : ALIGN(4) - { - FILL(0xff) - __boot_hdr_start__ = ABSOLUTE(.) ; - KEEP(*(.boot_hdr.conf)) - . = 0x1000 ; - KEEP(*(.boot_hdr.ivt)) - . = 0x1020 ; - KEEP(*(.boot_hdr.boot_data)) - . = 0x1030 ; - KEEP(*(.boot_hdr.dcd_data)) - __boot_hdr_end__ = ABSOLUTE(.) ; - . = 0x2000 ; - } >flash - - .text : - { - _stext = ABSOLUTE(.); - *(.vectors) - *(.text .text.*) - *(.fixup) - *(.gnu.warning) - *(.rodata .rodata.*) - *(.gnu.linkonce.t.*) - *(.glue_7) - *(.glue_7t) - *(.got) - *(.gcc_except_table) - *(.gnu.linkonce.r.*) - _etext = ABSOLUTE(.); - - } > flash - - /* - * Init functions (static constructors and the like) - */ - - .init_section : - { - _sinit = ABSOLUTE(.); - KEEP(*(.init_array .init_array.*)) - _einit = ABSOLUTE(.); - } > flash - - .ARM.extab : - { - *(.ARM.extab*) - } > flash - - __exidx_start = ABSOLUTE(.); - - .ARM.exidx : - { - *(.ARM.exidx*) - } > flash - __exidx_end = ABSOLUTE(.); - - _eronly = ABSOLUTE(.); - - .data : - { - _sdata = ABSOLUTE(.); - *(.data .data.*) - *(.gnu.linkonce.d.*) - CONSTRUCTORS - _edata = ABSOLUTE(.); - } > sram AT > flash - - .ramfunc ALIGN(4): - { - _sramfuncs = ABSOLUTE(.); - *(.ramfunc .ramfunc.*) - _eramfuncs = ABSOLUTE(.); - } > sram AT > flash - - _framfuncs = LOADADDR(.ramfunc); - - .bss : - { - _sbss = ABSOLUTE(.); - *(.bss .bss.*) - *(.gnu.linkonce.b.*) - *(COMMON) - _ebss = ABSOLUTE(.); - } > sram - - /* Stabs debugging sections. */ - - .stab 0 : { *(.stab) } - .stabstr 0 : { *(.stabstr) } - .stab.excl 0 : { *(.stab.excl) } - .stab.exclstr 0 : { *(.stab.exclstr) } - .stab.index 0 : { *(.stab.index) } - .stab.indexstr 0 : { *(.stab.indexstr) } - .comment 0 : { *(.comment) } - .debug_abbrev 0 : { *(.debug_abbrev) } - .debug_info 0 : { *(.debug_info) } - .debug_line 0 : { *(.debug_line) } - .debug_pubnames 0 : { *(.debug_pubnames) } - .debug_aranges 0 : { *(.debug_aranges) } -} diff --git a/boards/nxp/fmurt1062-v1/src/CMakeLists.txt b/boards/nxp/fmurt1062-v1/src/CMakeLists.txt deleted file mode 100644 index c9976a96ed91..000000000000 --- a/boards/nxp/fmurt1062-v1/src/CMakeLists.txt +++ /dev/null @@ -1,57 +0,0 @@ -############################################################################ -# -# Copyright (c) 2016, 2019 PX4 Development Team. All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# 1. Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# 2. Redistributions in binary form must reproduce the above copyright -# notice, this list of conditions and the following disclaimer in -# the documentation and/or other materials provided with the -# distribution. -# 3. Neither the name PX4 nor the names of its contributors may be -# used to endorse or promote products derived from this software -# without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS -# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED -# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. -# -############################################################################ - -px4_add_library(drivers_board - autoleds.c - automount.c - can.c - i2c.cpp - init.c - led.c - sdhc.c - spi.cpp - timer_config.cpp - usb.c - manifest.c - imxrt_flexspi_nor_boot.c - imxrt_flexspi_nor_flash.c -) - -target_link_libraries(drivers_board - PRIVATE - arch_board_hw_info - drivers__led # drv_led_start - nuttx_arch # sdio - nuttx_drivers # sdio - px4_layer -) diff --git a/boards/nxp/fmurt1062-v1/src/board_config.h b/boards/nxp/fmurt1062-v1/src/board_config.h deleted file mode 100644 index 091b40041895..000000000000 --- a/boards/nxp/fmurt1062-v1/src/board_config.h +++ /dev/null @@ -1,502 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2018-2019 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file board_config.h - * - * NXP fmukrt1062-v1 internal definitions - */ - -#pragma once - -/**************************************************************************************************** - * Included Files - ****************************************************************************************************/ - -#include -#include -#include - -#include "imxrt_gpio.h" -#include "imxrt_iomuxc.h" -#include "hardware/imxrt_pinmux.h" - -#include - -/**************************************************************************************************** - * Definitions - ****************************************************************************************************/ - -/* PX4IO connection configuration */ - -#if 0 // There is no PX4IO Support on first out -// This requires serial DMA driver -#define BOARD_USES_PX4IO_VERSION 2 -#define PX4IO_SERIAL_DEVICE "/dev/ttyS6" -#define PX4IO_SERIAL_TX_GPIO GPIO_LPUART8_TX_2 -#define PX4IO_SERIAL_RX_GPIO GPIO_LPUART8_RX_2 -#define PX4IO_SERIAL_BASE IMXRT_LPUART8_BASE -#define PX4IO_SERIAL_VECTOR IMXRT_IRQ_LPUART8 -#define PX4IO_SERIAL_TX_DMAMAP -#define PX4IO_SERIAL_RX_DMAMAP -#define PX4IO_SERIAL_RCC_REG -#define PX4IO_SERIAL_RCC_EN -#define PX4IO_SERIAL_CLOCK -#define PX4IO_SERIAL_BITRATE 1500000 /* 1.5Mbps -> max rate for IO */ -#endif - -/* Configuration ************************************************************************************/ - -/* FMURT1062 GPIOs ***********************************************************************************/ -/* LEDs */ -/* An RGB LED is connected through GPIO as shown below: - */ -#define LED_IOMUX (IOMUX_OPENDRAIN | IOMUX_PULL_NONE | IOMUX_DRIVE_33OHM | IOMUX_SPEED_MEDIUM | IOMUX_SLEW_SLOW) -#define GPIO_nLED_RED /* GPIO_B0_00 QTIMER1_TIMER0 GPIO2_IO0 */ (GPIO_PORT2 | GPIO_PIN0 | GPIO_OUTPUT | GPIO_OUTPUT_ZERO | LED_IOMUX) -#define GPIO_nLED_GREEN /* GPIO_B0_01 QTIMER1_TIMER1 GPIO2_IO1 */ (GPIO_PORT2 | GPIO_PIN1 | GPIO_OUTPUT | GPIO_OUTPUT_ZERO | LED_IOMUX) -#define GPIO_nLED_BLUE /* GPIO_B1_08 QTIMER1_TIMER3 GPIO2_IO24 */ (GPIO_PORT2 | GPIO_PIN24 | GPIO_OUTPUT | GPIO_OUTPUT_ZERO | LED_IOMUX) - -#define BOARD_HAS_CONTROL_STATUS_LEDS 1 -#define BOARD_OVERLOAD_LED LED_RED -#define BOARD_ARMED_STATE_LED LED_BLUE - -/* - * Define the ability to shut off off the sensor signals - * by changing the signals to inputs - */ - -#define _PIN_OFF(def) (((def) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_INPUT | IOMUX_PULL_DOWN_100K | IOMUX_CMOS_INPUT)) - -/* Define the Chip Selects, Data Ready and Control signals per SPI bus */ - -#define CS_IOMUX (IOMUX_CMOS_OUTPUT | IOMUX_PULL_UP_100K | IOMUX_DRIVE_33OHM | IOMUX_SPEED_LOW | IOMUX_SLEW_FAST) -#define OUT_IOMUX (IOMUX_CMOS_OUTPUT | IOMUX_PULL_UP_100K | IOMUX_DRIVE_50OHM | IOMUX_SPEED_MEDIUM | IOMUX_SLEW_FAST) - - -/* SPI1 off */ - -#define _GPIO_LPSPI1_SCK /* GPIO_EMC_27 GPIO4_IO27 */ (GPIO_PORT4 | GPIO_PIN27 | CS_IOMUX) -#define _GPIO_LPSPI1_MISO /* GPIO_EMC_29 GPIO4_IO29 */ (GPIO_PORT4 | GPIO_PIN29 | CS_IOMUX) -#define _GPIO_LPSPI1_MOSI /* GPIO_EMC_28 GPIO4_IO28 */ (GPIO_PORT4 | GPIO_PIN28 | CS_IOMUX) - -#define GPIO_SPI1_SCK_OFF _PIN_OFF(_GPIO_LPSPI1_SCK) -#define GPIO_SPI1_MISO_OFF _PIN_OFF(_GPIO_LPSPI1_MISO) -#define GPIO_SPI1_MOSI_OFF _PIN_OFF(_GPIO_LPSPI1_MOSI) - -#define _GPIO_LPSPI3_SCK /* GPIO_AD_B1_15 GPIO1_IO27 */ (GPIO_PORT1 | GPIO_PIN31 | CS_IOMUX) -#define _GPIO_LPSPI3_MISO /* GPIO_AD_B1_13 GPIO1_IO27 */ (GPIO_PORT1 | GPIO_PIN29 | CS_IOMUX) -#define _GPIO_LPSPI3_MOSI /* GPIO_AD_B1_14 GPIO1_IO27 */ (GPIO_PORT1 | GPIO_PIN30 | CS_IOMUX) - -#define GPIO_SPI3_SCK_OFF _PIN_OFF(_GPIO_LPSPI3_SCK) -#define GPIO_SPI3_MISO_OFF _PIN_OFF(_GPIO_LPSPI3_MISO) -#define GPIO_SPI3_MOSI_OFF _PIN_OFF(_GPIO_LPSPI3_MOSI) - -/* Define the SPI4 Data Ready and Control signals */ - -#define GPIO_SPI4_DRDY7_EXTERNAL1 /* GPIO_EMC_35 GPIO3_IO21*/ (GPIO_PORT3 | GPIO_PIN21 | GPIO_INPUT | DRDY_IOMUX) -#define GPIO_nSPI4_RESET_EXTERNAL1 /* GPIO_B1_00 GPIO2_IO16 */ (GPIO_PORT2 | GPIO_PIN16 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | OUT_IOMUX) -#define GPIO_SPI4_SYNC_EXTERNAL1 /* GPIO_EMC_05 GPIO4_IO5 */(GPIO_PORT4 | GPIO_PIN5 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | OUT_IOMUX) - -#define GPIO_DRDY_OFF_SPI4_DRDY7_EXTERNAL1 _PIN_OFF(GPIO_SPI4_DRDY7_EXTERNAL1) -#define GPIO_nSPI4_RESET_EXTERNAL1_OFF _PIN_OFF(GPIO_nSPI4_RESET_EXTERNAL1) -#define GPIO_SPI4_SYNC_EXTERNAL1_OFF _PIN_OFF(GPIO_SPI4_SYNC_EXTERNAL1) - - -#define ADC_IOMUX (IOMUX_CMOS_INPUT | IOMUX_PULL_NONE | IOMUX_DRIVE_HIZ) - -#define ADC1_CH(n) (n) -#define ADC1_GPIO(n, p) (GPIO_PORT1 | GPIO_PIN##p | ADC_IOMUX) // - -/* Define GPIO pins used as ADC N.B. Channel numbers are for reference, */ - -#define PX4_ADC_GPIO \ - /* BATTERY1_VOLTAGE GPIO_AD_B1_11 GPIO1 Pin 27 */ ADC1_GPIO(0, 27), \ - /* BATTERY1_CURRENT GPIO_AD_B0_12 GPIO1 Pin 12 */ ADC1_GPIO(1, 12), \ - /* BATTERY2_VOLTAGE GPIO_AD_B0_13 GPIO1 Pin 13 */ ADC1_GPIO(2, 13), \ - /* BATTERY2_CURRENT GPIO_AD_B0_14 GPIO1 Pin 14 */ ADC1_GPIO(3, 14), \ - /* SPARE_2_CHANNEL GPIO_AD_B0_15 GPIO1 Pin 15 */ ADC1_GPIO(4, 15), \ - /* HW_VER_SENSE GPIO_AD_B1_04 GPIO1 Pin 20 */ ADC1_GPIO(9, 20), \ - /* SCALED_V5 GPIO_AD_B1_05 GPIO1 Pin 21 */ ADC1_GPIO(10, 21), \ - /* SCALED_VDD_3V3_SENSORS GPIO_AD_B1_06 GPIO1 Pin 22 */ ADC1_GPIO(11, 22), \ - /* HW_REV_SENSE GPIO_AD_B1_08 GPIO1 Pin 24 */ ADC1_GPIO(13, 24), \ - /* SPARE_1 GPIO_AD_B1_09 GPIO1 Pin 25 */ ADC1_GPIO(14, 25), \ - /* RSSI_IN GPIO_AD_B1_10 GPIO1 Pin 26 */ ADC1_GPIO(15, 26) - -/* Define Channel numbers must match above GPIO pin IN(n)*/ - -#define ADC_BATTERY1_VOLTAGE_CHANNEL /* GPIO_AD_B1_11 GPIO1 Pin 27 */ ADC1_CH(0) -#define ADC_BATTERY1_CURRENT_CHANNEL /* GPIO_AD_B0_12 GPIO1 Pin 12 */ ADC1_CH(1) -#define ADC_BATTERY2_VOLTAGE_CHANNEL /* GPIO_AD_B0_13 GPIO1 Pin 13 */ ADC1_CH(2) -#define ADC_BATTERY2_CURRENT_CHANNEL /* GPIO_AD_B0_14 GPIO1 Pin 14 */ ADC1_CH(3) -#define ADC1_SPARE_2_CHANNEL /* GPIO_AD_B0_15 GPIO1 Pin 15 */ ADC1_CH(4) -#define ADC_HW_VER_SENSE_CHANNEL /* GPIO_AD_B1_04 GPIO1 Pin 20 */ ADC1_CH(9) -#define ADC_SCALED_V5_CHANNEL /* GPIO_AD_B1_05 GPIO1 Pin 21 */ ADC1_CH(10) -#define ADC_SCALED_VDD_3V3_SENSORS_CHANNEL /* GPIO_AD_B1_06 GPIO1 Pin 22 */ ADC1_CH(11) -#define ADC_HW_REV_SENSE_CHANNEL /* GPIO_AD_B1_08 GPIO1 Pin 24 */ ADC1_CH(13) -#define ADC1_SPARE_1_CHANNEL /* GPIO_AD_B1_09 GPIO1 Pin 25 */ ADC1_CH(14) -#define ADC_RSSI_IN_CHANNEL /* GPIO_AD_B1_10 GPIO1 Pin 26 */ ADC1_CH(15) - -#define ADC_CHANNELS \ - ((1 << ADC_BATTERY1_VOLTAGE_CHANNEL) | \ - (1 << ADC_BATTERY1_CURRENT_CHANNEL) | \ - (1 << ADC_BATTERY2_VOLTAGE_CHANNEL) | \ - (1 << ADC_BATTERY2_CURRENT_CHANNEL) | \ - (1 << ADC1_SPARE_2_CHANNEL) | \ - (1 << ADC_RSSI_IN_CHANNEL) | \ - (1 << ADC_SCALED_V5_CHANNEL) | \ - (1 << ADC_SCALED_VDD_3V3_SENSORS_CHANNEL) | \ - (1 << ADC_HW_VER_SENSE_CHANNEL) | \ - (1 << ADC_HW_REV_SENSE_CHANNEL) | \ - (1 << ADC1_SPARE_1_CHANNEL)) - -/* HW has to large of R termination on ADC todo:change when HW value is chosen */ - -#define BOARD_ADC_OPEN_CIRCUIT_V (5.6f) - -/* HW Version and Revision drive signals Default to 1 to detect */ - -#define BOARD_HAS_HW_VERSIONING - -#define HW_IOMUX (IOMUX_CMOS_OUTPUT | IOMUX_PULL_NONE | IOMUX_DRIVE_33OHM | IOMUX_SPEED_MAX | IOMUX_SLEW_FAST) - -#define GPIO_HW_VER_REV_DRIVE /* GPIO_AD_B0_01 GPIO1_IO01 */ (GPIO_PORT1 | GPIO_PIN1 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | HW_IOMUX) -#define GPIO_HW_REV_SENSE /* GPIO_AD_B1_08 GPIO1 Pin 24 */ ADC1_GPIO(13, 24) -#define GPIO_HW_VER_SENSE /* GPIO_AD_B1_04 GPIO1 Pin 20 */ ADC1_GPIO(9, 20) -#define HW_INFO_INIT_PREFIX "V5" -#define V500 HW_VER_REV(0x0,0x0) // FMUV5, Rev 0 -#define V540 HW_VER_REV(0x4,0x0) // mini no can 2,3, Rev 0 - -/* CAN Silence - * - * Silent mode control \ ESC Mux select - */ - -#define SILENT_IOMUX (IOMUX_CMOS_OUTPUT | IOMUX_PULL_NONE | IOMUX_DRIVE_33OHM | IOMUX_SPEED_MAX | IOMUX_SLEW_FAST) -#define GPIO_CAN1_SILENT_S0 /* GPIO_AD_B0_10 GPIO1_IO10 */ (GPIO_PORT1 | GPIO_PIN10 | GPIO_OUTPUT | GPIO_OUTPUT_ZERO | SILENT_IOMUX) -#define GPIO_CAN2_SILENT_S1 /* GPIO_EMC_06 GPIO4_IO06 */ (GPIO_PORT4 | GPIO_PIN6 | GPIO_OUTPUT | GPIO_OUTPUT_ZERO | SILENT_IOMUX) -#define GPIO_CAN3_SILENT_S2 /* GPIO_EMC_09 GPIO4_IO09 */ (GPIO_PORT4 | GPIO_PIN9 | GPIO_OUTPUT | GPIO_OUTPUT_ZERO | SILENT_IOMUX) - -/* HEATER - * PWM in future - */ -#define HEATER_IOMUX (IOMUX_CMOS_OUTPUT | IOMUX_PULL_NONE | IOMUX_DRIVE_50OHM | IOMUX_SPEED_MEDIUM | IOMUX_SLEW_FAST) -#define GPIO_HEATER_OUTPUT /* GPIO_B1_09 QTIMER2_TIMER3 GPIO2_IO25 */ (GPIO_QTIMER2_TIMER3_1 | HEATER_IOMUX) -#define HEATER_OUTPUT_EN(on_true) px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true)) - -/* PWM Capture - * - * 2 PWM Capture inputs are supported - */ -#define DIRECT_PWM_CAPTURE_CHANNELS 2 -#define CAP_IOMUX (IOMUX_CMOS_OUTPUT | IOMUX_PULL_NONE | IOMUX_DRIVE_50OHM | IOMUX_SPEED_MEDIUM | IOMUX_SLEW_FAST) -#define PIN_FLEXPWM2_PWMB0 /* P2:7 PWM2 B0 FMU_CAP1 */ (CAP_IOMUX | GPIO_FLEXPWM2_PWMB00_2) -#define PIN_FLEXPWM2_PWMB3 /* P3:3 PWM2 A1 FMU_CAP2 */ (CAP_IOMUX | GPIO_FLEXPWM2_PWMB03_3) - -#define nARMED_INPUT_IOMUX (IOMUX_CMOS_INPUT | IOMUX_PULL_UP_22K | IOMUX_DRIVE_HIZ) -#define nARMED_OUTPUT_IOMUX (IOMUX_CMOS_OUTPUT | IOMUX_PULL_KEEP | IOMUX_DRIVE_33OHM | IOMUX_SPEED_MEDIUM | IOMUX_SLEW_FAST) - -#define GPIO_nARMED_INIT /* GPIO_SD_B1_01 GPIO3_IO1 */ (GPIO_PORT3 | GPIO_PIN1 | GPIO_INPUT | nARMED_INPUT_IOMUX) -#define GPIO_nARMED /* GPIO_SD_B1_01 GPIO3_IO1 */ (GPIO_PORT3 | GPIO_PIN1 | GPIO_OUTPUT | GPIO_OUTPUT_ZERO | nARMED_OUTPUT_IOMUX) - -#define BOARD_INDICATE_EXTERNAL_LOCKOUT_STATE(enabled) px4_arch_configgpio((enabled) ? GPIO_nARMED : GPIO_nARMED_INIT) -#define BOARD_GET_EXTERNAL_LOCKOUT_STATE() px4_arch_gpioread(GPIO_nARMED) - - -/* PWM - */ - -#define DIRECT_PWM_OUTPUT_CHANNELS 8 -#define BOARD_NUM_IO_TIMERS 8 - -// Input Capture not supported on MVP - -#define BOARD_HAS_NO_CAPTURE - -//#define BOARD_HAS_UI_LED_PWM 1 Not ported yet (Still Kinetis driver) -#define BOARD_HAS_LED_PWM 1 -#define BOARD_LED_PWM_DRIVE_ACTIVE_LOW 1 - -/* UI LEDs are driven by timer 4 the pins have no alternates - * - * nUI_LED_RED GPIO_B0_10 GPIO2_IO10 QTIMER4_TIMER1 - * nUI_LED_GREEN GPIO_B0_11 GPIO2_IO11 QTIMER4_TIMER2 - * nUI_LED_BLUE GPIO_B1_11 GPIO2_IO27 QTIMER4_TIMER3 - */ - - -/* Power supply control and monitoring GPIOs */ - -#define GENERAL_INPUT_IOMUX (IOMUX_CMOS_INPUT | IOMUX_PULL_UP_47K | IOMUX_DRIVE_HIZ) -#define GENERAL_OUTPUT_IOMUX (IOMUX_CMOS_OUTPUT | IOMUX_PULL_KEEP | IOMUX_DRIVE_33OHM | IOMUX_SPEED_MEDIUM | IOMUX_SLEW_FAST) - -#define GPIO_nPOWER_IN_A /* GPIO_B0_12 GPIO2_IO12 */ (GPIO_PORT2 | GPIO_PIN12 | GPIO_INPUT | GENERAL_INPUT_IOMUX) -#define GPIO_nPOWER_IN_B /* GPIO_B0_13 GPIO2_IO13 */ (GPIO_PORT2 | GPIO_PIN13 | GPIO_INPUT | GENERAL_INPUT_IOMUX) -#define GPIO_nPOWER_IN_C /* GPIO_B0_14 GPIO2_IO14 */ (GPIO_PORT2 | GPIO_PIN14 | GPIO_INPUT | GENERAL_INPUT_IOMUX) - -#define GPIO_nVDD_BRICK1_VALID GPIO_nPOWER_IN_A /* Brick 1 Is Chosen */ -#define GPIO_nVDD_BRICK2_VALID GPIO_nPOWER_IN_B /* Brick 2 Is Chosen */ -#define BOARD_NUMBER_BRICKS 2 -#define GPIO_nVDD_USB_VALID GPIO_nPOWER_IN_C /* USB Is Chosen */ - -#define OC_INPUT_IOMUX (IOMUX_CMOS_INPUT | IOMUX_PULL_NONE | IOMUX_DRIVE_HIZ) - -#define GPIO_nVDD_5V_PERIPH_EN /* GPIO_B1_03 GPIO2_IO19 */ (GPIO_PORT2 | GPIO_PIN19 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | GENERAL_OUTPUT_IOMUX) -#define GPIO_nVDD_5V_PERIPH_OC /* GPIO_B1_04 GPIO2_IO20 */ (GPIO_PORT2 | GPIO_PIN20 | GPIO_INPUT | OC_INPUT_IOMUX) -#define GPIO_nVDD_5V_HIPOWER_EN /* GPIO_B1_01 GPIO2_IO17 */ (GPIO_PORT2 | GPIO_PIN17 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | GENERAL_OUTPUT_IOMUX) -#define GPIO_nVDD_5V_HIPOWER_OC /* GPIO_B1_02 GPIO2_IO18 */ (GPIO_PORT2 | GPIO_PIN18 | GPIO_INPUT | OC_INPUT_IOMUX) -#define GPIO_VDD_3V3_SENSORS_EN /* GPIO_EMC_41 GPIO3_IO27 */ (GPIO_PORT3 | GPIO_PIN27 | GPIO_OUTPUT | GPIO_OUTPUT_ZERO | GENERAL_OUTPUT_IOMUX) -#define GPIO_VDD_3V3_SPEKTRUM_POWER_EN /* GPIO_AD_B0_00 GPIO1_IO00 */ (GPIO_PORT1 | GPIO_PIN0 | GPIO_OUTPUT | GPIO_OUTPUT_ZERO | GENERAL_OUTPUT_IOMUX) -#define GPIO_VDD_5V_RC_EN /* GPIO_AD_B0_08 GPIO1_IO08 */ (GPIO_PORT1 | GPIO_PIN8 | GPIO_OUTPUT | GPIO_OUTPUT_ZERO | GENERAL_OUTPUT_IOMUX) -#define GPIO_VDD_5V_WIFI_EN /* PMIC_STBY_REQ GPIO5_IO02 */ (GPIO_PORT5 | GPIO_PIN2 | GPIO_OUTPUT | GPIO_OUTPUT_ZERO | GENERAL_OUTPUT_IOMUX) -#define GPIO_VDD_3V3_SD_CARD_EN /* GPIO_EMC_13 GPIO4_IO13 */ (GPIO_PORT4 | GPIO_PIN13 | GPIO_OUTPUT | GPIO_OUTPUT_ZERO |GENERAL_OUTPUT_IOMUX) - -/* Define True logic Power Control in arch agnostic form */ - -#define VDD_5V_PERIPH_EN(on_true) px4_arch_gpiowrite(GPIO_nVDD_5V_PERIPH_EN, !(on_true)) -#define VDD_5V_HIPOWER_EN(on_true) px4_arch_gpiowrite(GPIO_nVDD_5V_HIPOWER_EN, !(on_true)) -#define VDD_3V3_SENSORS_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, (on_true)) -#define VDD_3V3_SPEKTRUM_POWER_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SPEKTRUM_POWER_EN, (on_true)) -#define READ_VDD_3V3_SPEKTRUM_POWER_EN() px4_arch_gpioread(GPIO_VDD_3V3_SPEKTRUM_POWER_EN) -#define VDD_5V_RC_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_5V_RC_EN, (on_true)) -#define VDD_5V_WIFI_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_5V_WIFI_EN, (on_true)) -#define VDD_3V3_SD_CARD_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SD_CARD_EN, (on_true)) - -/* Tone alarm output */ - -#define TONE_ALARM_TIMER 2 /* GPT 2 */ -#define TONE_ALARM_CHANNEL 3 /* GPIO_AD_B1_07 GPT2_COMPARE3 */ - -#define GPIO_BUZZER_1 /* GPIO_AD_B1_07 GPIO1_IO23 */ (GPIO_PORT1 | GPIO_PIN23 | GPIO_OUTPUT | GPIO_OUTPUT_ZERO | GENERAL_OUTPUT_IOMUX) - -#define GPIO_TONE_ALARM_IDLE GPIO_BUZZER_1 -#define GPIO_TONE_ALARM (GPIO_GPT2_COMPARE3_2 | GENERAL_OUTPUT_IOMUX) - -/* USB OTG FS - * - * VBUS_VALID is detected in USB_ANALOG_USB1_VBUS_DETECT_STAT - */ - -/* High-resolution timer */ -#define HRT_TIMER 1 /* use GPT1 for the HRT */ -#define HRT_TIMER_CHANNEL 1 /* use capture/compare channel 1 */ - -#define HRT_PPM_CHANNEL /* GPIO_B1_06 GPT1_CAPTURE2 */ 2 /* use capture/compare channel 2 */ -#define GPIO_PPM_IN /* GPIO_B1_06 GPT1_CAPTURE2 */ (GPIO_GPT1_CAPTURE2_2 | GENERAL_INPUT_IOMUX) - -#define RC_SERIAL_PORT "/dev/ttyS5" -#define RC_SERIAL_SINGLEWIRE - -/* PWM input driver. Use FMU AUX5 pins attached to GPIO_EMC_33 GPIO3_IO19 FLEXPWM3_PWMA2 */ - -#define PWMIN_TIMER /* FLEXPWM3_PWMA2 */ 3 -#define PWMIN_TIMER_CHANNEL /* FLEXPWM3_PWMA2 */ 2 -#define GPIO_PWM_IN /* GPIO_EMC_33 GPIO3_IO19 */ (GPIO_FLEXPWM3_PWMA02_1 | GENERAL_INPUT_IOMUX) - -/* Shared pins Both FMU and PX4IO control/monitor - * FMU Initializes these pins to passive input until it is known - * if we have and PX4IO on board - */ - -#define GPIO_RSSI_IN /* GPIO_AD_B1_10 GPIO1_IO26 */ (GPIO_PORT1 | GPIO_PIN26 | GPIO_INPUT | ADC_IOMUX) -#define GPIO_RSSI_IN_INIT /* GPIO_AD_B1_10 GPIO1_IO26 */ 0 /* Using 0 will Leave as ADC RSSI_IN */ - -/* Safety Switch is HW version dependent on having an PX4IO - * So we init to a benign state with the _INIT definition - * and provide the the non _INIT one for the driver to make a run time - * decision to use it. - */ -#define SAFETY_INIT_IOMUX (IOMUX_CMOS_INPUT | IOMUX_PULL_NONE | IOMUX_DRIVE_HIZ) -#define SAFETY_IOMUX (IOMUX_CMOS_OUTPUT | IOMUX_PULL_NONE | IOMUX_DRIVE_33OHM | IOMUX_SPEED_MEDIUM | IOMUX_SLEW_SLOW) -#define SAFETY_SW_IOMUX (IOMUX_CMOS_INPUT | IOMUX_PULL_UP_22K | IOMUX_DRIVE_HIZ) - -#define GPIO_nSAFETY_SWITCH_LED_OUT_INIT /* GPIO_B0_15 GPIO2_IO15 */ (GPIO_PORT2 | GPIO_PIN15 | GPIO_INPUT | SAFETY_INIT_IOMUX) -#define GPIO_nSAFETY_SWITCH_LED_OUT /* GPIO_B0_15 GPIO2_IO15 */ (GPIO_PORT2 | GPIO_PIN15 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | SAFETY_IOMUX) - -/* Enable the FMU to control it if there is no px4io fixme:This should be BOARD_SAFETY_LED(__ontrue) */ -#define GPIO_LED_SAFETY GPIO_nSAFETY_SWITCH_LED_OUT -#define GPIO_SAFETY_SWITCH_IN /* GPIO_AD_B1_12 GPIO1_IO28 */ (GPIO_PORT1 | GPIO_PIN28 | GPIO_INPUT | SAFETY_SW_IOMUX) -/* Enable the FMU to use the switch it if there is no px4io fixme:This should be BOARD_SAFTY_BUTTON() */ -#define GPIO_BTN_SAFETY GPIO_SAFETY_SWITCH_IN /* Enable the FMU to control it if there is no px4io */ - -/* - * FMUv5 has a separate RC_IN - * - * GPIO PPM_IN on GPIO_EMC_23 GPIO4 Pin 23 GPT1_CAPTURE2 - * Inversion is possible in the UART and can drive GPIO PPM_IN as an output - */ - -#define GPIO_PPM_IN_AS_OUT /* GPIO_B1_06 GPIO2_IO23 GPT1_CAPTURE2 GPT1_CAPTURE2 */ (GPIO_PORT2 | GPIO_PIN23 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | GENERAL_OUTPUT_IOMUX) - -#define SDIO_SLOTNO 0 /* Only one slot */ -#define SDIO_MINOR 0 - -/* SD card bringup does not work if performed on the IDLE thread because it - * will cause waiting. Use either: - * - * CONFIG_BOARDCTL=y, OR - * CONFIG_BOARD_INITIALIZE=y && CONFIG_BOARD_INITTHREAD=y - */ - -#if defined(CONFIG_BOARD_INITIALIZE) && !defined(CONFIG_BOARDCTL) && \ - !defined(CONFIG_BOARD_INITTHREAD) -# warning SDIO initialization cannot be perfomed on the IDLE thread -#endif - -/* By Providing BOARD_ADC_USB_CONNECTED (using the px4_arch abstraction) - * this board support the ADC system_power interface, and therefore - * provides the true logic GPIO BOARD_ADC_xxxx macros. - */ - -#define BOARD_ADC_USB_VALID (!px4_arch_gpioread(GPIO_nVDD_USB_VALID)) -#define BOARD_ADC_USB_CONNECTED (board_read_VBUS_state() == 0) - -/* FMUv5 never powers odd the Servo rail */ - -#define BOARD_ADC_SERVO_VALID (1) - -#define BOARD_ADC_BRICK1_VALID (!px4_arch_gpioread(GPIO_nVDD_BRICK1_VALID)) -#define BOARD_ADC_BRICK2_VALID (!px4_arch_gpioread(GPIO_nVDD_BRICK2_VALID)) - -#define BOARD_ADC_PERIPH_5V_OC (!px4_arch_gpioread(GPIO_nVDD_5V_PERIPH_OC)) -#define BOARD_ADC_HIPOWER_5V_OC (!px4_arch_gpioread(GPIO_nVDD_5V_HIPOWER_OC)) - - -/* This board provides a DMA pool and APIs */ -#define BOARD_DMA_ALLOC_POOL_SIZE 5120 - -/* This board provides the board_on_reset interface */ - -#define BOARD_HAS_ON_RESET 1 - -#define PX4_GPIO_INIT_LIST { \ - GPIO_nARMED_INIT, \ - PX4_ADC_GPIO, \ - GPIO_HW_VER_REV_DRIVE, \ - GPIO_FLEXCAN1_TX, \ - GPIO_FLEXCAN1_RX, \ - GPIO_FLEXCAN2_TX, \ - GPIO_FLEXCAN2_RX, \ - GPIO_FLEXCAN3_TX, \ - GPIO_FLEXCAN3_RX, \ - GPIO_CAN1_SILENT_S0, \ - GPIO_CAN2_SILENT_S1, \ - GPIO_CAN3_SILENT_S2, \ - GPIO_HEATER_OUTPUT, \ - GPIO_nPOWER_IN_A, \ - GPIO_nPOWER_IN_B, \ - GPIO_nPOWER_IN_C, \ - GPIO_nVDD_5V_PERIPH_EN, \ - GPIO_nVDD_5V_PERIPH_OC, \ - GPIO_nVDD_5V_HIPOWER_EN, \ - GPIO_nVDD_5V_HIPOWER_OC, \ - GPIO_VDD_3V3_SENSORS_EN, \ - GPIO_VDD_3V3_SD_CARD_EN, \ - GPIO_VDD_3V3_SPEKTRUM_POWER_EN, \ - GPIO_VDD_5V_RC_EN, \ - GPIO_VDD_5V_WIFI_EN, \ - GPIO_TONE_ALARM_IDLE, \ - GPIO_RSSI_IN_INIT, \ - GPIO_nSAFETY_SWITCH_LED_OUT_INIT, \ - GPIO_nSPI4_RESET_EXTERNAL1, \ - GPIO_SPI4_SYNC_EXTERNAL1, \ - GPIO_SAFETY_SWITCH_IN \ - } - -#define BOARD_ENABLE_CONSOLE_BUFFER -__BEGIN_DECLS - -/**************************************************************************************************** - * Public Types - ****************************************************************************************************/ - -/**************************************************************************************************** - * Public data - ****************************************************************************************************/ - -#ifndef __ASSEMBLY__ - -/**************************************************************************************************** - * Public Functions - ****************************************************************************************************/ - -/**************************************************************************** - * Name: fmurt1062_usdhc_initialize - * - * Description: - * Initialize SDIO-based MMC/SD card support - * - ****************************************************************************/ - -int fmurt1062_usdhc_initialize(void); - -/**************************************************************************************************** - * Name: imxrt_spidev_initialize - * - * Description: - * Called to configure SPI chip select GPIO pins for the PX4FMU board. - * - ****************************************************************************************************/ - -extern void imxrt_spidev_initialize(void); - -/************************************************************************************ - * Name: imxrt_spi_bus_initialize - * - * Description: - * Called to configure SPI Buses. - * - ************************************************************************************/ - -extern int imxrt1062_spi_bus_initialize(void); - -/************************************************************************************ - * Name: imxrt_usb_initialize - * - * Description: - * Called to configure USB. - * - ************************************************************************************/ - -extern int imxrt_usb_initialize(void); - -extern void imxrt_usbinitialize(void); - -extern void board_peripheral_reset(int ms); - -extern void fmurt1062_timer_initialize(void); - -#include - -#endif /* __ASSEMBLY__ */ - -__END_DECLS diff --git a/boards/nxp/fmurt1062-v1/src/i2c.cpp b/boards/nxp/fmurt1062-v1/src/i2c.cpp deleted file mode 100644 index a79588da4671..000000000000 --- a/boards/nxp/fmurt1062-v1/src/i2c.cpp +++ /dev/null @@ -1,40 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2020 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -#include - -constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = { - initI2CBusExternal(1), - initI2CBusExternal(2), - initI2CBusInternal(3), -}; diff --git a/boards/nxp/fmurt1062-v1/src/imxrt_flexspi_nor_boot.c b/boards/nxp/fmurt1062-v1/src/imxrt_flexspi_nor_boot.c deleted file mode 100644 index f69b385f2e81..000000000000 --- a/boards/nxp/fmurt1062-v1/src/imxrt_flexspi_nor_boot.c +++ /dev/null @@ -1,64 +0,0 @@ -/**************************************************************************** - * config/imxrt1060-evk/src/imxrt_flexspi_nor_boot.c - * - * Copyright (C) 2018 Gregory Nutt. All rights reserved. - * Author: Ivan Ucherdzhiev - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name NuttX nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/**************************************************************************** - * Included Files - ****************************************************************************/ - -#include "imxrt_flexspi_nor_boot.h" - -/**************************************************************************** - * Public Data - ****************************************************************************/ - -__attribute__((section(".boot_hdr.ivt"))) -const struct ivt_s g_image_vector_table = { - IVT_HEADER, /* IVT Header */ - IMAGE_ENTRY_ADDRESS, /* Image Entry Function */ - IVT_RSVD, /* Reserved = 0 */ - (uint32_t)DCD_ADDRESS, /* Address where DCD information is stored */ - (uint32_t)BOOT_DATA_ADDRESS, /* Address where BOOT Data Structure is stored */ - (uint32_t)IMAG_VECTOR_TABLE, /* Pointer to IVT Self (absolute address */ - (uint32_t)CSF_ADDRESS, /* Address where CSF file is stored */ - IVT_RSVD /* Reserved = 0 */ -}; - -__attribute__((section(".boot_hdr.boot_data"))) -const struct boot_data_s g_boot_data = { - IMAGE_DEST, /* boot start location */ - (IMAGE_DEST_END - IMAGE_DEST), /* size */ - PLUGIN_FLAG, /* Plugin flag */ - 0xffffffff /* empty - extra data word */ -}; diff --git a/boards/nxp/fmurt1062-v1/src/imxrt_flexspi_nor_boot.h b/boards/nxp/fmurt1062-v1/src/imxrt_flexspi_nor_boot.h deleted file mode 100644 index db6df9bfa694..000000000000 --- a/boards/nxp/fmurt1062-v1/src/imxrt_flexspi_nor_boot.h +++ /dev/null @@ -1,175 +0,0 @@ -/**************************************************************************** - * boards/arm/imxrt/imxrt1060-evk/src/imxrt_flexspi_nor_boot.h - * - * Copyright (C) 2018 Gregory Nutt. All rights reserved. - * Authors: Ivan Ucherdzhiev - * David Sidrane - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name NuttX nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -#ifndef __BOARDS_ARM_IMXRT_IMXRT1060_EVK_SRC_IMXRT_FLEXSPI_NOR_BOOT_H -#define __BOARDS_ARM_IMXRT_IMXRT1060_EVK_SRC_IMXRT_FLEXSPI_NOR_BOOT_H - -/**************************************************************************** - * Included Files - ****************************************************************************/ - -#include - -/**************************************************************************** - * Pre-processor Definitions - ****************************************************************************/ - -/* IVT Data */ - -#define IVT_MAJOR_VERSION 0x4 -#define IVT_MAJOR_VERSION_SHIFT 0x4 -#define IVT_MAJOR_VERSION_MASK 0xf -#define IVT_MINOR_VERSION 0x1 -#define IVT_MINOR_VERSION_SHIFT 0x0 -#define IVT_MINOR_VERSION_MASK 0xf - -#define IVT_VERSION(major, minor) \ - ((((major) & IVT_MAJOR_VERSION_MASK) << IVT_MAJOR_VERSION_SHIFT) | \ - (((minor) & IVT_MINOR_VERSION_MASK) << IVT_MINOR_VERSION_SHIFT)) - -#define IVT_TAG_HEADER (0xd1) /* Image Vector Table */ -#define IVT_SIZE 0x2000 -#define IVT_PAR IVT_VERSION(IVT_MAJOR_VERSION, IVT_MINOR_VERSION) - -#define IVT_HEADER (IVT_TAG_HEADER | (IVT_SIZE << 8) | (IVT_PAR << 24)) -#define IVT_RSVD (uint32_t)(0x00000000) - -/* DCD Data */ - -#define DCD_TAG_HEADER (0xd2) -#define DCD_TAG_HEADER_SHIFT (24) -#define DCD_VERSION (0x40) -#define DCD_ARRAY_SIZE 1 - -#define FLASH_BASE 0x60000000 -#define FLASH_END 0x7f7fffff - -/* This needs to take into account the memory configuration at boot bootloader */ - -#define ROM_BOOTLOADER_OCRAM_RES 0x8000 -#define OCRAM_BASE (0x20200000 + ROM_BOOTLOADER_OCRAM_RES) -#define OCRAM_END (OCRAM_BASE + (512 * 1024) + (256 * 1024) - ROM_BOOTLOADER_OCRAM_RES) - - -#define SCLK 1 -#if defined(CONFIG_BOOT_RUNFROMFLASH) -# define IMAGE_DEST FLASH_BASE -# define IMAGE_DEST_END FLASH_END -# define IMAGE_DEST_OFFSET 0 -#else -# define IMAGE_DEST OCRAM_BASE -# define IMAGE_DEST_END OCRAM_END -# define IMAGE_DEST_OFFSET IVT_SIZE -#endif - -#define LOCATE_IN_DEST(x) (((uint32_t)(x)) - FLASH_BASE + IMAGE_DEST) -#define LOCATE_IN_SRC(x) (((uint32_t)(x)) - IMAGE_DEST + FLASH_BASE) - -#define DCD_ADDRESS 0 -#define BOOT_DATA_ADDRESS LOCATE_IN_DEST(&g_boot_data) -#define CSF_ADDRESS 0 -#define PLUGIN_FLAG (uint32_t)0 - -/* Located in Destination Memory */ - -#define IMAGE_ENTRY_ADDRESS ((uint32_t)&_vectors) -#define IMAG_VECTOR_TABLE LOCATE_IN_DEST(&g_image_vector_table) - -/**************************************************************************** - * Public Types - ****************************************************************************/ - -/* IVT Data */ - -struct ivt_s { - /* Header with tag #HAB_TAG_IVT, length and HAB version fields - * (see data) - */ - - uint32_t hdr; - - /* Absolute address of the first instruction to execute from the - * image - */ - - uint32_t entry; - - /* Reserved in this version of HAB: should be NULL. */ - - uint32_t reserved1; - - /* Absolute address of the image DCD: may be NULL. */ - - uint32_t dcd; - - /* Absolute address of the Boot Data: may be NULL, but not interpreted - * any further by HAB - */ - - uint32_t boot_data; - - /* Absolute address of the IVT. */ - - uint32_t self; - - /* Absolute address of the image CSF. */ - - uint32_t csf; - - /* Reserved in this version of HAB: should be zero. */ - - uint32_t reserved2; -}; - -/* Boot Data */ - -struct boot_data_s { - uint32_t start; /* boot start location */ - uint32_t size; /* size */ - uint32_t plugin; /* plugin flag - 1 if downloaded application is plugin */ - uint32_t placeholder; /* placehoder to make even 0x10 size */ -}; - -/**************************************************************************** - * Public Data - ****************************************************************************/ - -extern const struct boot_data_s g_boot_data; -extern const uint8_t g_dcd_data[]; -extern const uint32_t _vectors[]; - - -#endif /* __BOARDS_ARM_IMXRT_IMXRT1060_EVK_SRC_IMXRT_FLEXSPI_NOR_BOOT_H */ diff --git a/boards/nxp/fmurt1062-v1/src/imxrt_flexspi_nor_flash.c b/boards/nxp/fmurt1062-v1/src/imxrt_flexspi_nor_flash.c deleted file mode 100644 index b783145fb3ac..000000000000 --- a/boards/nxp/fmurt1062-v1/src/imxrt_flexspi_nor_flash.c +++ /dev/null @@ -1,198 +0,0 @@ -/**************************************************************************** - * config/imxrt1060-evk/src/imxrt_flexspi_nor_flash.c - * - * Copyright (C) 2018 Gregory Nutt. All rights reserved. - * Authors: Ivan Ucherdzhiev - * David Sidrane - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name NuttX nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/******************************************************************************* - * Included Files - ******************************************************************************/ - - -#include "imxrt_flexspi_nor_flash.h" - -/******************************************************************************* - * Public Data - ******************************************************************************/ - -#if defined (CONFIG_NXP_FMURT1062_V3_HYPER_FLASH) -__attribute__((section(".boot_hdr.conf"))) -const struct flexspi_nor_config_s g_flash_config = { - .mem_config = - { - .tag = FLEXSPI_CFG_BLK_TAG, - .version = FLEXSPI_CFG_BLK_VERSION, - .read_sample_clksrc = FLASH_READ_SAMPLE_CLK_EXTERNALINPUT_FROM_DQSPAD, - .cs_hold_time = 3u, - .cs_setup_time = 3u, - .column_address_width = 3u, - - /* Enable DDR mode, Word addassable, Safe configuration, Differential clock */ - - .controller_misc_option = (1u << FLEXSPIMISC_OFFSET_DDR_MODE_EN) | - (1u << FLEXSPIMISC_OFFSET_WORD_ADDRESSABLE_EN) | - (1u << FLEXSPIMISC_OFFSET_SAFECONFIG_FREQ_EN) | - (1u << FLEXSPIMISC_OFFSET_DIFFCLKEN), - .sflash_pad_type = SERIAL_FLASH_8PADS, - .serial_clk_freq = FLEXSPI_SERIAL_CLKFREQ_133MHz, - .sflash_a1size = 64u * 1024u * 1024u, - .data_valid_time = {16u, 16u}, - .lookup_table = - { - /* Read LUTs */ - - FLEXSPI_LUT_SEQ(CMD_DDR, FLEXSPI_8PAD, 0xA0, RADDR_DDR, FLEXSPI_8PAD, 0x18), - FLEXSPI_LUT_SEQ(CADDR_DDR, FLEXSPI_8PAD, 0x10, DUMMY_DDR, FLEXSPI_8PAD, 0x06), - FLEXSPI_LUT_SEQ(READ_DDR, FLEXSPI_8PAD, 0x04, STOP, FLEXSPI_1PAD, 0x0), - }, - }, - .page_size = 512u, - .sector_size = 256u * 1024u, - .blocksize = 256u * 1024u, - .is_uniform_blocksize = 1, -}; - -#elif defined (CONFIG_NXP_FMURT1062_V3_QSPI_FLASH) -__attribute__((section(".boot_hdr.conf"))) -const struct flexspi_nor_config_s g_flash_config = { - .mem_config = - { - .tag = FLEXSPI_CFG_BLK_TAG, - .version = FLEXSPI_CFG_BLK_VERSION, - .read_sample_clksrc = FLASH_READ_SAMPLE_CLK_LOOPBACK_FROM_SCKPAD, - .cs_hold_time = 3u, - .cs_setup_time = 3u, - .column_address_width = 0u, - .device_type = FLEXSPI_DEVICE_TYPE_SERIAL_NOR, - .sflash_pad_type = SERIAL_FLASH_4PADS, - .serial_clk_freq = FLEXSPI_SERIAL_CLKFREQ_60MHz, - .sflash_a1size = 8u * 1024u * 1024u, - .data_valid_time = {16u, 16u}, - .lookup_table = - { - /* LUTs */ - /* 0 Fast read Quad IO DTR Mode Operation in SPI Mode (normal read)*/ - - FLEXSPI_LUT_SEQ(CMD_SDR, FLEXSPI_1PAD, 0xED, RADDR_DDR, FLEXSPI_4PAD, 0x18), - FLEXSPI_LUT_SEQ(DUMMY_DDR, FLEXSPI_4PAD, 0x0C, READ_DDR, FLEXSPI_4PAD, 0x08), - FLEXSPI_LUT_SEQ(STOP, FLEXSPI_1PAD, 0x0, STOP, FLEXSPI_1PAD, 0x0), - FLEXSPI_LUT_SEQ(STOP, FLEXSPI_1PAD, 0x0, STOP, FLEXSPI_1PAD, 0x0), - - /* 1 Read Status */ - - FLEXSPI_LUT_SEQ(CMD_SDR, FLEXSPI_1PAD, 0x05, READ_SDR, FLEXSPI_1PAD, 0x1), - FLEXSPI_LUT_SEQ(STOP, FLEXSPI_1PAD, 0x0, STOP, FLEXSPI_1PAD, 0x0), - FLEXSPI_LUT_SEQ(STOP, FLEXSPI_1PAD, 0x0, STOP, FLEXSPI_1PAD, 0x0), - FLEXSPI_LUT_SEQ(STOP, FLEXSPI_1PAD, 0x0, STOP, FLEXSPI_1PAD, 0x0), - - /* 2 */ - - 0x00000000, - 0x00000000, - 0x00000000, - 0x00000000, - - /* 3 */ - - FLEXSPI_LUT_SEQ(CMD_SDR, FLEXSPI_1PAD, 0x06, STOP, FLEXSPI_1PAD, 0x0), - FLEXSPI_LUT_SEQ(STOP, FLEXSPI_1PAD, 0x0, STOP, FLEXSPI_1PAD, 0x0), - FLEXSPI_LUT_SEQ(STOP, FLEXSPI_1PAD, 0x0, STOP, FLEXSPI_1PAD, 0x0), - FLEXSPI_LUT_SEQ(STOP, FLEXSPI_1PAD, 0x0, STOP, FLEXSPI_1PAD, 0x0), - - /* 4 */ - - 0x00000000, - 0x00000000, - 0x00000000, - 0x00000000, - - /* 5 Erase Sector */ - - FLEXSPI_LUT_SEQ(CMD_SDR, FLEXSPI_1PAD, 0xD7, RADDR_SDR, FLEXSPI_1PAD, 0x18), - FLEXSPI_LUT_SEQ(STOP, FLEXSPI_1PAD, 0x0, STOP, FLEXSPI_1PAD, 0x0), - FLEXSPI_LUT_SEQ(STOP, FLEXSPI_1PAD, 0x0, STOP, FLEXSPI_1PAD, 0x0), - FLEXSPI_LUT_SEQ(STOP, FLEXSPI_1PAD, 0x0, STOP, FLEXSPI_1PAD, 0x0), - - /* 6 */ - - 0x00000000, - 0x00000000, - 0x00000000, - 0x00000000, - - /* 7 */ - - 0x00000000, - 0x00000000, - 0x00000000, - 0x00000000, - - /* 8 */ - - 0x00000000, - 0x00000000, - 0x00000000, - 0x00000000, - - /* 9 Page Program */ - - FLEXSPI_LUT_SEQ(CMD_SDR, FLEXSPI_1PAD, 0x02, RADDR_SDR, FLEXSPI_1PAD, 0x18), - FLEXSPI_LUT_SEQ(WRITE_SDR, FLEXSPI_1PAD, 0x8, STOP, FLEXSPI_1PAD, 0x0), - FLEXSPI_LUT_SEQ(STOP, FLEXSPI_1PAD, 0x0, STOP, FLEXSPI_1PAD, 0x0), - FLEXSPI_LUT_SEQ(STOP, FLEXSPI_1PAD, 0x0, STOP, FLEXSPI_1PAD, 0x0), - - /* 10 */ - - 0x00000000, - 0x00000000, - 0x00000000, - 0x00000000, - - /* 11 Chip Erase */ - - FLEXSPI_LUT_SEQ(CMD_SDR, FLEXSPI_1PAD, 0xC7, STOP, FLEXSPI_1PAD, 0x0), - FLEXSPI_LUT_SEQ(STOP, FLEXSPI_1PAD, 0x0, STOP, FLEXSPI_1PAD, 0x0), - FLEXSPI_LUT_SEQ(STOP, FLEXSPI_1PAD, 0x0, STOP, FLEXSPI_1PAD, 0x0), - FLEXSPI_LUT_SEQ(STOP, FLEXSPI_1PAD, 0x0, STOP, FLEXSPI_1PAD, 0x0), - - }, - }, - - .page_size = 256u, - .sector_size = 4u * 1024u, - .blocksize = 32u * 1024u, - .is_uniform_blocksize = false, -}; -#else -# error Boot Flash type not chosen! -#endif diff --git a/boards/nxp/fmurt1062-v1/src/imxrt_flexspi_nor_flash.h b/boards/nxp/fmurt1062-v1/src/imxrt_flexspi_nor_flash.h deleted file mode 100644 index b99c135ea37a..000000000000 --- a/boards/nxp/fmurt1062-v1/src/imxrt_flexspi_nor_flash.h +++ /dev/null @@ -1,349 +0,0 @@ -/**************************************************************************** - * config/imxrt1060-evk/src/imxrt_flexspi_nor_flash.h - * - * Copyright (C) 2018 Gregory Nutt. All rights reserved. - * Authors: Ivan Ucherdzhiev - * David Sidrane - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name NuttX nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -#ifndef __CONFIGS_IMXRT1060_EVK_SRC_IMXRT_FLEXSPI_NOR_FLASH_H -#define __CONFIGS_IMXRT1060_EVK_SRC_IMXRT_FLEXSPI_NOR_FLASH_H - -/**************************************************************************** - * Included Files - ****************************************************************************/ - -#include -#include - -/**************************************************************************** - * Pre-processor Definitions - ****************************************************************************/ - -/* FLEXSPI memory config block related defintions */ - -#define FLEXSPI_CFG_BLK_TAG (0x42464346ul) -#define FLEXSPI_CFG_BLK_VERSION (0x56010400ul) -#define FLEXSPI_CFG_BLK_SIZE (512) - -/* FLEXSPI Feature related definitions */ - -#define FLEXSPI_FEATURE_HAS_PARALLEL_MODE 1 - -/* Lookup table related defintions */ - -#define CMD_INDEX_READ 0 -#define CMD_INDEX_READSTATUS 1 -#define CMD_INDEX_WRITEENABLE 2 -#define CMD_INDEX_WRITE 4 - -#define CMD_LUT_SEQ_IDX_READ 0 -#define CMD_LUT_SEQ_IDX_READSTATUS 1 -#define CMD_LUT_SEQ_IDX_WRITEENABLE 3 -#define CMD_LUT_SEQ_IDX_WRITE 9 - -#define CMD_SDR 0x01 -#define CMD_DDR 0x21 -#define RADDR_SDR 0x02 -#define RADDR_DDR 0x22 -#define CADDR_SDR 0x03 -#define CADDR_DDR 0x23 -#define MODE1_SDR 0x04 -#define MODE1_DDR 0x24 -#define MODE2_SDR 0x05 -#define MODE2_DDR 0x25 -#define MODE4_SDR 0x06 -#define MODE4_DDR 0x26 -#define MODE8_SDR 0x07 -#define MODE8_DDR 0x27 -#define WRITE_SDR 0x08 -#define WRITE_DDR 0x28 -#define READ_SDR 0x09 -#define READ_DDR 0x29 -#define LEARN_SDR 0x0a -#define LEARN_DDR 0x2a -#define DATSZ_SDR 0x0b -#define DATSZ_DDR 0x2b -#define DUMMY_SDR 0x0c -#define DUMMY_DDR 0x2c -#define DUMMY_RWDS_SDR 0x0d -#define DUMMY_RWDS_DDR 0x2d -#define JMP_ON_CS 0x1f -#define STOP 0 - -#define FLEXSPI_1PAD 0 -#define FLEXSPI_2PAD 1 -#define FLEXSPI_4PAD 2 -#define FLEXSPI_8PAD 3 - -#define FLEXSPI_LUT_OPERAND0_MASK (0xffu) -#define FLEXSPI_LUT_OPERAND0_SHIFT (0U) -#define FLEXSPI_LUT_OPERAND0(x) (((uint32_t) \ - (((uint32_t)(x)) << FLEXSPI_LUT_OPERAND0_SHIFT)) & \ - FLEXSPI_LUT_OPERAND0_MASK) -#define FLEXSPI_LUT_NUM_PADS0_MASK (0x300u) -#define FLEXSPI_LUT_NUM_PADS0_SHIFT (8u) -#define FLEXSPI_LUT_NUM_PADS0(x) (((uint32_t) \ - (((uint32_t)(x)) << FLEXSPI_LUT_NUM_PADS0_SHIFT)) & \ - FLEXSPI_LUT_NUM_PADS0_MASK) -#define FLEXSPI_LUT_OPCODE0_MASK (0xfc00u) -#define FLEXSPI_LUT_OPCODE0_SHIFT (10u) -#define FLEXSPI_LUT_OPCODE0(x) (((uint32_t) \ - (((uint32_t)(x)) << FLEXSPI_LUT_OPCODE0_SHIFT)) & \ - FLEXSPI_LUT_OPCODE0_MASK) -#define FLEXSPI_LUT_OPERAND1_MASK (0xff0000u) -#define FLEXSPI_LUT_OPERAND1_SHIFT (16U) -#define FLEXSPI_LUT_OPERAND1(x) (((uint32_t) \ - (((uint32_t)(x)) << FLEXSPI_LUT_OPERAND1_SHIFT)) & \ - FLEXSPI_LUT_OPERAND1_MASK) -#define FLEXSPI_LUT_NUM_PADS1_MASK (0x3000000u) -#define FLEXSPI_LUT_NUM_PADS1_SHIFT (24u) -#define FLEXSPI_LUT_NUM_PADS1(x) (((uint32_t) \ - (((uint32_t)(x)) << FLEXSPI_LUT_NUM_PADS1_SHIFT)) & \ - FLEXSPI_LUT_NUM_PADS1_MASK) -#define FLEXSPI_LUT_OPCODE1_MASK (0xfc000000u) -#define FLEXSPI_LUT_OPCODE1_SHIFT (26u) -#define FLEXSPI_LUT_OPCODE1(x) (((uint32_t)(((uint32_t)(x)) << FLEXSPI_LUT_OPCODE1_SHIFT)) & \ - FLEXSPI_LUT_OPCODE1_MASK) - -#define FLEXSPI_LUT_SEQ(cmd0, pad0, op0, cmd1, pad1, op1) \ - (FLEXSPI_LUT_OPERAND0(op0) | FLEXSPI_LUT_NUM_PADS0(pad0) | \ - FLEXSPI_LUT_OPCODE0(cmd0) | FLEXSPI_LUT_OPERAND1(op1) | \ - FLEXSPI_LUT_NUM_PADS1(pad1) | FLEXSPI_LUT_OPCODE1(cmd1)) - -/* */ - -#define NOR_CMD_INDEX_READ CMD_INDEX_READ -#define NOR_CMD_INDEX_READSTATUS CMD_INDEX_READSTATUS -#define NOR_CMD_INDEX_WRITEENABLE CMD_INDEX_WRITEENABLE -#define NOR_CMD_INDEX_ERASESECTOR 3 -#define NOR_CMD_INDEX_PAGEPROGRAM CMD_INDEX_WRITE -#define NOR_CMD_INDEX_CHIPERASE 5 -#define NOR_CMD_INDEX_DUMMY 6 -#define NOR_CMD_INDEX_ERASEBLOCK 7 - -/* READ LUT sequence id in lookupTable stored in config block */ - -#define NOR_CMD_LUT_SEQ_IDX_READ CMD_LUT_SEQ_IDX_READ - -/* Read Status LUT sequence id in lookupTable stored in config block */ - -#define NOR_CMD_LUT_SEQ_IDX_READSTATUS CMD_LUT_SEQ_IDX_READSTATUS - -/* 2 Read status DPI/QPI/OPI sequence id in lookupTable stored in config block */ - -#define NOR_CMD_LUT_SEQ_IDX_READSTATUS_XPI 2 - -/* 3 Write Enable sequence id in lookupTable stored in config block */ - -#define NOR_CMD_LUT_SEQ_IDX_WRITEENABLE CMD_LUT_SEQ_IDX_WRITEENABLE - -/* 4 Write Enable DPI/QPI/OPI sequence id in lookupTable stored in config block */ - -#define NOR_CMD_LUT_SEQ_IDX_WRITEENABLE_XPI 4 - -/* 5 Erase Sector sequence id in lookupTable stored in config block */ - -#define NOR_CMD_LUT_SEQ_IDX_ERASESECTOR 5 - -/* 8 Erase Block sequence id in lookupTable stored in config block */ - -#define NOR_CMD_LUT_SEQ_IDX_ERASEBLOCK 8 - -/* 9 Program sequence id in lookupTable stored in config block */ - -#define NOR_CMD_LUT_SEQ_IDX_PAGEPROGRAM CMD_LUT_SEQ_IDX_WRITE - -/* 11 Chip Erase sequence in lookupTable id stored in config block */ - -#define NOR_CMD_LUT_SEQ_IDX_CHIPERASE 11 - -/* 13 Read SFDP sequence in lookupTable id stored in config block */ - -#define NOR_CMD_LUT_SEQ_IDX_READ_SFDP 13 - -/* 14 Restore 0-4-4/0-8-8 mode sequence id in lookupTable stored in config block */ - -#define NOR_CMD_LUT_SEQ_IDX_RESTORE_NOCMD 14 - -/* 15 Exit 0-4-4/0-8-8 mode sequence id in lookupTable stored in config blobk */ - -#define NOR_CMD_LUT_SEQ_IDX_EXIT_NOCMD 15 - -/**************************************************************************** - * Public Types - ****************************************************************************/ - -/* Definitions for FlexSPI Serial Clock Frequency */ - -enum flexspi_serial_clkfreq_e { - FLEXSPI_SERIAL_CLKFREQ_30MHz = 1, - FLEXSPI_SERIAL_CLKFREQ_50MHz = 2, - FLEXSPI_SERIAL_CLKFREQ_60MHz = 3, - FLEXSPI_SERIAL_CLKFREQ_75MHz = 4, - FLEXSPI_SERIAL_CLKFREQ_80MHz = 5, - FLEXSPI_SERIAL_CLKFREQ_100MHz = 6, - FLEXSPI_SERIAL_CLKFREQ_133MHz = 7, - FLEXSPI_SERIAL_CLKFREQ_166MHz = 8, - FLEXSPI_SERIAL_CLKFREQ_200MHz = 9, -}; - -/* FlexSPI clock configuration type*/ - -enum flexspi_serial_clockmode_e { - FLEXSPI_CLKMODE_SDR, - FLEXSPI_CLKMODE_DDR, -}; - -/* FlexSPI Read Sample Clock Source definition */ - -enum flash_read_sample_clk_e { - FLASH_READ_SAMPLE_CLK_LOOPBACK_INTERNELLY = 0, - FLASH_READ_SAMPLE_CLK_LOOPBACK_FROM_DQSPAD = 1, - FLASH_READ_SAMPLE_CLK_LOOPBACK_FROM_SCKPAD = 2, - FLASH_READ_SAMPLE_CLK_EXTERNALINPUT_FROM_DQSPAD = 3, -}; - -/* Misc feature bit definitions */ - -enum flash_misc_feature_e { - FLEXSPIMISC_OFFSET_DIFFCLKEN = 0, /* Bit for Differential clock enable */ - FLEXSPIMISC_OFFSET_CK2EN = 1, /* Bit for CK2 enable */ - FLEXSPIMISC_OFFSET_PARALLELEN = 2, /* Bit for Parallel mode enable */ - FLEXSPIMISC_OFFSET_WORD_ADDRESSABLE_EN = 3, /* Bit for Word Addressable enable */ - FLEXSPIMISC_OFFSET_SAFECONFIG_FREQ_EN = 4, /* Bit for Safe Configuration Frequency enable */ - FLEXSPIMISC_OFFSET_PAD_SETTING_OVERRIDE_EN = 5, /* Bit for Pad setting override enable */ - FLEXSPIMISC_OFFSET_DDR_MODE_EN = 6, /* Bit for DDR clock confiuration indication. */ -}; - -/* Flash Type Definition */ - -enum flash_flash_type_e { - FLEXSPI_DEVICE_TYPE_SERIAL_NOR = 1, /* Flash devices are Serial NOR */ - FLEXSPI_DEVICE_TYPE_SERIAL_NAND = 2, /* Flash devices are Serial NAND */ - FLEXSPI_DEVICE_TYPE_SERIAL_RAM = 3, /* Flash devices are Serial RAM/HyperFLASH */ - FLEXSPI_DEVICE_TYPE_MCP_NOR_NAND = 0x12, /* Flash device is MCP device, A1 is Serial NOR, A2 is Serial NAND */ - FLEXSPI_DEVICE_TYPE_MCP_NOR_RAM = 0x13, /* Flash deivce is MCP device, A1 is Serial NOR, A2 is Serial RAMs */ -}; - -/* Flash Pad Definitions */ - -enum flash_flash_pad_e { - SERIAL_FLASH_1PAD = 1, - SERIAL_FLASH_2PADS = 2, - SERIAL_FLASH_4PADS = 4, - SERIAL_FLASH_8PADS = 8, -}; - -/* Flash Configuration Command Type */ - -enum flash_config_cmd_e { - DEVICE_CONFIG_CMD_TYPE_GENERIC, /* Generic command, for example: configure dummy cycles, drive strength, etc */ - DEVICE_CONFIG_CMD_TYPE_QUADENABLE, /* Quad Enable command */ - DEVICE_CONFIG_CMD_TYPE_SPI2XPI, /* Switch from SPI to DPI/QPI/OPI mode */ - DEVICE_CONFIG_CMD_TYPE_XPI2SPI, /* Switch from DPI/QPI/OPI to SPI mode */ - DEVICE_CONFIG_CMD_TYPE_SPI2NO_CMD, /* Switch to 0-4-4/0-8-8 mode */ - DEVICE_CONFIG_CMD_TYPE_RESET, /* Reset device command */ -}; - -/* FlexSPI LUT Sequence structure */ - -struct flexspi_lut_seq_s { - uint8_t seq_num; /* Sequence Number, valid number: 1-16 */ - uint8_t seq_id; /* Sequence Index, valid number: 0-15 */ - uint16_t reserved; -}; - -/* FlexSPI Memory Configuration Block */ - -struct flexspi_mem_config_s { - uint32_t tag; - uint32_t version; - uint32_t reserved0; - uint8_t read_sample_clksrc; - uint8_t cs_hold_time; - uint8_t cs_setup_time; - uint8_t column_address_width; /* [0x00f-0x00f] Column Address with, for - * HyperBus protocol, it is fixed to 3, For - * Serial NAND, need to refer to datasheet */ - uint8_t device_mode_cfg_enable; - uint8_t device_mode_type; - uint16_t wait_time_cfg_commands; - struct flexspi_lut_seq_s device_mode_seq; - uint32_t device_mode_arg; - uint8_t config_cmd_enable; - uint8_t config_mode_type[3]; - struct flexspi_lut_seq_s config_cmd_seqs[3]; - uint32_t reserved1; - uint32_t config_cmd_args[3]; - uint32_t reserved2; - uint32_t controller_misc_option; - uint8_t device_type; - uint8_t sflash_pad_type; - uint8_t serial_clk_freq; - uint8_t lut_custom_seq_enable; - uint32_t reserved3[2]; - uint32_t sflash_a1size; - uint32_t sflash_a2size; - uint32_t sflash_b1size; - uint32_t sflash_b2size; - uint32_t cspad_setting_override; - uint32_t sclkpad_setting_override; - uint32_t datapad_setting_override; - uint32_t dqspad_setting_override; - uint32_t timeout_in_ms; - uint32_t command_interval; - uint16_t data_valid_time[2]; - uint16_t busy_offset; - uint16_t busybit_polarity; - uint32_t lookup_table[64]; - struct flexspi_lut_seq_s lut_customseq[12]; - uint32_t reserved4[4]; -}; - -/* Serial NOR configuration block */ - -struct flexspi_nor_config_s { - struct flexspi_mem_config_s mem_config; /* Common memory configuration info via FlexSPI */ - uint32_t page_size; /* Page size of Serial NOR */ - uint32_t sector_size; /* Sector size of Serial NOR */ - uint8_t ipcmd_serial_clkfreq; /* Clock frequency for IP command */ - uint8_t is_uniform_blocksize; /* Sector/Block size is the same */ - uint8_t reserved0[2]; /* Reserved for future use */ - uint8_t serial_nor_type; /* Serial NOR Flash type: 0/1/2/3 */ - uint8_t need_exit_nocmdmode; /* Need to exit NoCmd mode before other IP command */ - uint8_t halfclk_for_nonreadcmd; /* Half the Serial Clock for non-read command: true/false */ - uint8_t need_restore_nocmdmode; /* Need to Restore NoCmd mode after IP commmand execution */ - uint32_t blocksize; /* Block size */ - uint32_t reserve2[11]; /* Reserved for future use */ -}; - -#endif /* __CONFIGS_IMXRT1060_EVK_SRC_IMXRT_FLEXSPI_NOR_FLASH_H */ diff --git a/boards/nxp/fmurt1062-v1/src/init.c b/boards/nxp/fmurt1062-v1/src/init.c deleted file mode 100644 index 1b6feae5378b..000000000000 --- a/boards/nxp/fmurt1062-v1/src/init.c +++ /dev/null @@ -1,315 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2018-2019 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file init.c - * - * NXP imxrt1062-v1 specific early startup code. This file implements the - * board_app_initialize() function that is called early by nsh during startup. - * - * Code here is run before the rcS script is invoked; it should start required - * subsystems and perform board-specific initialization. - */ - -/**************************************************************************** - * Included Files - ****************************************************************************/ - -#include "board_config.h" - -#include -#include -#include -#include -#include -#include - -#include -#include -#include -#include -#include -#include -#include -#include - -#include "arm_internal.h" -#include "arm_internal.h" -#include "imxrt_flexspi_nor_boot.h" -#include "imxrt_iomuxc.h" -#include -#include "board_config.h" - -#include - -#include - -#include -#include -#include -#include -#include -#include -#include -#include - -/**************************************************************************** - * Pre-Processor Definitions - ****************************************************************************/ - -/* Configuration ************************************************************/ - -/* - * Ideally we'd be able to get these from arm_internal.h, - * but since we want to be able to disable the NuttX use - * of leds for system indication at will and there is no - * separate switch, we need to build independent of the - * CONFIG_ARCH_LEDS configuration switch. - */ -__BEGIN_DECLS -extern void led_init(void); -extern void led_on(int led); -extern void led_off(int led); -__END_DECLS - -/************************************************************************************ - * Name: board_peripheral_reset - * - * Description: - * - ************************************************************************************/ -__EXPORT void board_peripheral_reset(int ms) -{ - /* set the peripheral rails off */ - - VDD_5V_PERIPH_EN(false); - VDD_5V_HIPOWER_EN(false); - - /* wait for the peripheral rail to reach GND */ - usleep(ms * 1000); - syslog(LOG_DEBUG, "reset done, %d ms", ms); - - /* re-enable power */ - - /* switch the peripheral rail back on */ - VDD_5V_HIPOWER_EN(true); - VDD_5V_PERIPH_EN(true); - -} -/************************************************************************************ - * Name: board_on_reset - * - * Description: - * Optionally provided function called on entry to board_system_reset - * It should perform any house keeping prior to the rest. - * - * status - 1 if resetting to boot loader - * 0 if just resetting - * - ************************************************************************************/ - -__EXPORT void board_on_reset(int status) -{ - for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) { - px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_gpio_output(i))); - } - - if (status >= 0) { - up_mdelay(6); - } -} - - -/**************************************************************************** - * Name: imxrt_ocram_initialize - * - * Description: - * Called off reset vector to reconfigure the flexRAM - * and finish the FLASH to RAM Copy. - * - ****************************************************************************/ - -__EXPORT void imxrt_ocram_initialize(void) -{ - const uint32_t *src; - uint32_t *dest; - uint32_t regval; - - /* Reallocate 128K of Flex RAM from ITCM to OCRAM - * Final Configuration is - * 128 DTCM - * - * 128 FlexRAM OCRAM (202C:0000-202D:ffff) - * 256 FlexRAM OCRAM (2028:0000-202B:ffff) - * 512 System OCRAM2 (2020:0000-2027:ffff) - * */ - - putreg32(0xaa555555, IMXRT_IOMUXC_GPR_GPR17); - regval = getreg32(IMXRT_IOMUXC_GPR_GPR16); - putreg32(regval | GPR_GPR16_FLEXRAM_BANK_CFG_SELF, IMXRT_IOMUXC_GPR_GPR16); - - for (src = (uint32_t *)(LOCATE_IN_SRC(g_boot_data.start) + g_boot_data.size), - dest = (uint32_t *)(g_boot_data.start + g_boot_data.size); - dest < (uint32_t *) &_etext;) { - *dest++ = *src++; - } -} - -/**************************************************************************** - * Name: imxrt_boardinitialize - * - * Description: - * All i.MX RT architectures must provide the following entry point. This - * entry point is called early in the initialization -- after clocking and - * memory have been configured but before caches have been enabled and - * before any devices have been initialized. - * - ****************************************************************************/ - -__EXPORT void imxrt_boardinitialize(void) -{ - - board_on_reset(-1); /* Reset PWM first thing */ - - /* configure LEDs */ - - board_autoled_initialize(); - - /* configure pins */ - - const uint32_t gpio[] = PX4_GPIO_INIT_LIST; - px4_gpio_init(gpio, arraySize(gpio)); - - /* configure SPI interfaces */ - - imxrt_spidev_initialize(); - - imxrt_usb_initialize(); - - fmurt1062_timer_initialize(); -} - - -/**************************************************************************** - * Name: board_app_initialize - * - * Description: - * Perform application specific initialization. This function is never - * called directly from application code, but only indirectly via the - * (non-standard) boardctl() interface using the command BOARDIOC_INIT. - * - * Input Parameters: - * arg - The boardctl() argument is passed to the board_app_initialize() - * implementation without modification. The argument has no - * meaning to NuttX; the meaning of the argument is a contract - * between the board-specific initalization logic and the the - * matching application logic. The value cold be such things as a - * mode enumeration value, a set of DIP switch switch settings, a - * pointer to configuration data read from a file or serial FLASH, - * or whatever you would like to do with it. Every implementation - * should accept zero/NULL as a default configuration. - * - * Returned Value: - * Zero (OK) is returned on success; a negated errno value is returned on - * any failure to indicate the nature of the failure. - * - ****************************************************************************/ - -__EXPORT int board_app_initialize(uintptr_t arg) -{ - - /* Power on Interfaces */ - - - VDD_3V3_SD_CARD_EN(true); - VDD_5V_PERIPH_EN(true); - VDD_5V_HIPOWER_EN(true); - VDD_3V3_SENSORS_EN(true); - VDD_3V3_SPEKTRUM_POWER_EN(true); - - board_spi_reset(10, 0xffff); - - if (OK == board_determine_hw_info()) { - syslog(LOG_INFO, "[boot] Rev 0x%1x : Ver 0x%1x %s\n", board_get_hw_revision(), board_get_hw_version(), - board_get_hw_type_name()); - - } else { - syslog(LOG_ERR, "[boot] Failed to read HW revision and version\n"); - } - - - px4_platform_init(); - - /* configure the DMA allocator */ - - if (board_dma_alloc_init() < 0) { - syslog(LOG_ERR, "[boot] DMA alloc FAILED\n"); - } - -#if defined(SERIAL_HAVE_RXDMA) - // set up the serial DMA polling at 1ms intervals for received bytes that have not triggered a DMA event. - static struct hrt_call serial_dma_call; - hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)imxrt_serial_dma_poll, NULL); -#endif - - /* initial LED state */ - drv_led_start(); - - led_off(LED_RED); - led_off(LED_GREEN); - led_off(LED_BLUE); - - int ret = OK; -#if defined(CONFIG_IMXRT_USDHC) - ret = fmurt1062_usdhc_initialize(); - - if (ret != OK) { - led_on(LED_RED); - } - -#endif - - /* Configure SPI-based devices */ - - ret = imxrt1062_spi_bus_initialize(); - - if (ret != OK) { - led_on(LED_RED); - } - - /* Configure the HW based on the manifest */ - - px4_platform_configure(); - - return ret; -} diff --git a/boards/nxp/fmurt1062-v1/src/led.c b/boards/nxp/fmurt1062-v1/src/led.c deleted file mode 100644 index 0d9236a4c366..000000000000 --- a/boards/nxp/fmurt1062-v1/src/led.c +++ /dev/null @@ -1,115 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2016, 2018 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file led.c - * - * NXP fmurt1062-v1 LED backend. - */ - -#include - -#include - -#include "chip.h" -#include -#include "board_config.h" - -#include - -/* - * Ideally we'd be able to get these from arm_internal.h, - * but since we want to be able to disable the NuttX use - * of leds for system indication at will and there is no - * separate switch, we need to build independent of the - * CONFIG_ARCH_LEDS configuration switch. - */ -__BEGIN_DECLS -extern void led_init(void); -extern void led_on(int led); -extern void led_off(int led); -extern void led_toggle(int led); -__END_DECLS - - -static uint32_t g_ledmap[] = { - GPIO_nLED_BLUE, // Indexed by LED_BLUE - GPIO_nLED_RED, // Indexed by LED_RED, LED_AMBER - GPIO_LED_SAFETY, // Indexed by LED_SAFETY - GPIO_nLED_GREEN, // Indexed by LED_GREEN -}; - -__EXPORT void led_init(void) -{ - /* Configure LED GPIOs for output */ - for (size_t l = 0; l < (sizeof(g_ledmap) / sizeof(g_ledmap[0])); l++) { - if (g_ledmap[l] != 0) { - imxrt_config_gpio(g_ledmap[l]); - } - } -} - -static void phy_set_led(int led, bool state) -{ - /* Drive Low to switch on */ - - if (g_ledmap[led] != 0) { - imxrt_gpio_write(g_ledmap[led], !state); - } -} - -static bool phy_get_led(int led) -{ - - if (g_ledmap[led] != 0) { - return imxrt_gpio_read(!g_ledmap[led]); - } - - return false; -} - -__EXPORT void led_on(int led) -{ - phy_set_led(led, true); -} - -__EXPORT void led_off(int led) -{ - phy_set_led(led, false); -} - -__EXPORT void led_toggle(int led) -{ - - phy_set_led(led, !phy_get_led(led)); -} diff --git a/boards/nxp/fmurt1062-v1/src/manifest.c b/boards/nxp/fmurt1062-v1/src/manifest.c deleted file mode 100644 index f37359a3a244..000000000000 --- a/boards/nxp/fmurt1062-v1/src/manifest.c +++ /dev/null @@ -1,138 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2018-2021 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file manifest.c - * - * This module supplies the interface to the manifest of hardware that is - * optional and dependent on the HW REV and HW VER IDs - * - * The manifest allows the system to know whether a hardware option - * say for example the PX4IO is an no-pop option vs it is broken. - * - */ - -/**************************************************************************** - * Included Files - ****************************************************************************/ - -#include -#include -#include - -#include "systemlib/px4_macros.h" -#include "px4_log.h" - -/**************************************************************************** - * Pre-Processor Definitions - ****************************************************************************/ - -typedef struct { - uint32_t hw_ver_rev; /* the version and revision */ - const px4_hw_mft_item_t *mft; /* The first entry */ - uint32_t entries; /* the lenght of the list */ -} px4_hw_mft_list_entry_t; - -typedef px4_hw_mft_list_entry_t *px4_hw_mft_list_entry; -#define px4_hw_mft_list_uninitialized (px4_hw_mft_list_entry) -1 - -static const px4_hw_mft_item_t device_unsupported = {0, 0, 0}; - -// List of components on a specific board configuration -// The index of those components is given by the enum (px4_hw_mft_item_id_t) -// declared in board_common.h -static const px4_hw_mft_item_t hw_mft_list_v0500[] = { - { - .present = 0, - .mandatory = 0, - .connection = px4_hw_con_onboard, - }, -}; - -static const px4_hw_mft_item_t hw_mft_list_v0540[] = { - { - .present = 0, - .mandatory = 0, - .connection = px4_hw_con_unknown, - }, -}; - -static px4_hw_mft_list_entry_t mft_lists[] = { - {V500, hw_mft_list_v0500, arraySize(hw_mft_list_v0500)}, - {V540, hw_mft_list_v0540, arraySize(hw_mft_list_v0540)}, -}; - -/************************************************************************************ - * Name: board_query_manifest - * - * Description: - * Optional returns manifest item. - * - * Input Parameters: - * manifest_id - the ID for the manifest item to retrieve - * - * Returned Value: - * 0 - item is not in manifest => assume legacy operations - * pointer to a manifest item - * - ************************************************************************************/ - -__EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id) -{ - static px4_hw_mft_list_entry boards_manifest = px4_hw_mft_list_uninitialized; - - if (boards_manifest == px4_hw_mft_list_uninitialized) { - uint32_t ver_rev = board_get_hw_version() << 8; - ver_rev |= board_get_hw_revision(); - - for (unsigned i = 0; i < arraySize(mft_lists); i++) { - if (mft_lists[i].hw_ver_rev == ver_rev) { - boards_manifest = &mft_lists[i]; - break; - } - } - - if (boards_manifest == px4_hw_mft_list_uninitialized) { - PX4_ERR("Board %4" PRIx32 " is not supported!", ver_rev); - } - } - - px4_hw_mft_item rv = &device_unsupported; - - if (boards_manifest != px4_hw_mft_list_uninitialized && - id < boards_manifest->entries) { - rv = &boards_manifest->mft[id]; - } - - return rv; -} diff --git a/boards/nxp/fmurt1062-v1/src/spi.cpp b/boards/nxp/fmurt1062-v1/src/spi.cpp deleted file mode 100644 index 04274128f0fc..000000000000 --- a/boards/nxp/fmurt1062-v1/src/spi.cpp +++ /dev/null @@ -1,388 +0,0 @@ -/************************************************************************************ - * - * Copyright (C) 2016, 2018 Gregory Nutt. All rights reserved. - * Authors: Gregory Nutt - * David Sidrane - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ************************************************************************************/ - -/************************************************************************************ - * Included Files - ************************************************************************************/ - -#include -#include -#include - -#include -#include - -#include -#include -#include - -#include -#include -#include -#include - -#include -#include -#include "imxrt_lpspi.h" -#include "imxrt_gpio.h" -#include "board_config.h" -#include - -#if defined(CONFIG_IMXRT_LPSPI1) || defined(CONFIG_IMXRT_LPSPI2) || \ - defined(CONFIG_IMXRT_LPSPI3) || defined(CONFIG_IMXRT_LPSPI4) - - -constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = { - initSPIBus(SPI::Bus::LPSPI1, { - initSPIDevice(DRV_IMU_DEVTYPE_ICM20689, SPI::CS{GPIO::Port3, GPIO::Pin26}, SPI::DRDY{GPIO::Port4, GPIO::Pin15}), /* GPIO_EMC_40 GPIO3_IO26 */ - initSPIDevice(DRV_GYR_DEVTYPE_BMI055, SPI::CS{GPIO::Port2, GPIO::Pin26}, SPI::DRDY{GPIO::Port4, GPIO::Pin16}), /* GPIO_B1_10 GPIO2_IO26 */ - initSPIDevice(DRV_ACC_DEVTYPE_BMI055, SPI::CS{GPIO::Port2, GPIO::Pin31}, SPI::DRDY{GPIO::Port3, GPIO::Pin23}), /* GPIO_B1_15 GPIO2_IO31 */ - initSPIDevice(DRV_DEVTYPE_UNUSED, SPI::CS{GPIO::Port3, GPIO::Pin0}), /* GPIO_SD_B1_00 GPIO3_IO00, AUX_MEM */ - }, {GPIO::Port3, GPIO::Pin27}), - initSPIBus(SPI::Bus::LPSPI2, { - initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::Port3, GPIO::Pin20}) /* GPIO_EMC_34 G GPIO3_IO20 */ - }), - initSPIBus(SPI::Bus::LPSPI3, { - initSPIDevice(DRV_BARO_DEVTYPE_MS5611, SPI::CS{GPIO::Port4, GPIO::Pin14}), /* GPIO_EMC_14 GPIO4_IO14 */ - }), - initSPIBusExternal(SPI::Bus::LPSPI4, { - initSPIConfigExternal(SPI::CS{GPIO::Port4, GPIO::Pin7}), /* GPIO_EMC_07 GPIO4_IO07 */ - initSPIConfigExternal(SPI::CS{GPIO::Port2, GPIO::Pin30}), /* GPIO_B1_14 GPIO2_IO30 */ - initSPIConfigExternal(SPI::CS{GPIO::Port4, GPIO::Pin11}), /* GPIO_EMC_11 GPIO4_IO011 */ - }), -}; - -static constexpr bool unused = validateSPIConfig(px4_spi_buses); - -#define _PIN_OFF(def) (((def) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_INPUT | IOMUX_PULL_DOWN_100K | IOMUX_CMOS_INPUT)) - -/************************************************************************************ - * Public Functions - ************************************************************************************/ -/************************************************************************************ - * Name: fmurt1062_spidev_initialize - * - * Description: - * Called to configure SPI chip select GPIO pins for the NXP FMUKRT1062-V1 board. - * - ************************************************************************************/ - -void imxrt_spidev_initialize(void) -{ - for (int bus = 0; bus < SPI_BUS_MAX_BUS_ITEMS; ++bus) { - for (int i = 0; i < SPI_BUS_MAX_DEVICES; ++i) { - if (px4_spi_buses[bus].devices[i].cs_gpio != 0) { - px4_arch_configgpio(px4_spi_buses[bus].devices[i].cs_gpio); - } - } - } -} - -/************************************************************************************ - * Name: imxrt_spi_bus_initialize - * - * Description: - * Called to configure SPI chip select GPIO pins for the NXP FMUKRT1062-V1 board. - * - ************************************************************************************/ - -static const px4_spi_bus_t *_spi_bus1; -static const px4_spi_bus_t *_spi_bus2; -static const px4_spi_bus_t *_spi_bus3; -static const px4_spi_bus_t *_spi_bus4; - -__EXPORT int imxrt1062_spi_bus_initialize(void) -{ - for (int i = 0; i < SPI_BUS_MAX_BUS_ITEMS; ++i) { - switch (px4_spi_buses[i].bus) { - case 1: _spi_bus1 = &px4_spi_buses[i]; break; - - case 2: _spi_bus2 = &px4_spi_buses[i]; break; - - case 3: _spi_bus3 = &px4_spi_buses[i]; break; - - case 4: _spi_bus4 = &px4_spi_buses[i]; break; - } - } - - /* Configure SPI-based devices */ - - struct spi_dev_s *spi_sensors = px4_spibus_initialize(1); - - if (!spi_sensors) { - PX4_ERR("[boot] FAILED to initialize SPI port %d\n", 1); - return -ENODEV; - } - - /* Default bus 1 to 1MHz and de-assert the known chip selects. - */ - - SPI_SETFREQUENCY(spi_sensors, 1 * 1000 * 1000); - SPI_SETBITS(spi_sensors, 8); - SPI_SETMODE(spi_sensors, SPIDEV_MODE3); - - /* Get the SPI port for the Memory */ - - struct spi_dev_s *spi_memory = px4_spibus_initialize(2); - - if (!spi_memory) { - PX4_ERR("[boot] FAILED to initialize SPI port %d\n", 2); - return -ENODEV; - } - - /* Default PX4_SPI_BUS_MEMORY to 12MHz and de-assert the known chip selects. - */ - - SPI_SETFREQUENCY(spi_memory, 12 * 1000 * 1000); - SPI_SETBITS(spi_memory, 8); - SPI_SETMODE(spi_memory, SPIDEV_MODE3); - - /* Get the SPI port for the BARO */ - - struct spi_dev_s *spi_baro = px4_spibus_initialize(3); - - if (!spi_baro) { - PX4_ERR("[boot] FAILED to initialize SPI port %d\n", 3); - return -ENODEV; - } - - /* MS5611 has max SPI clock speed of 20MHz - */ - - SPI_SETFREQUENCY(spi_baro, 20 * 1000 * 1000); - SPI_SETBITS(spi_baro, 8); - SPI_SETMODE(spi_baro, SPIDEV_MODE3); - - /* Get the SPI port for the PX4_SPI_EXTERNAL1 */ - - struct spi_dev_s *spi_ext = px4_spibus_initialize(4); - - if (!spi_ext) { - PX4_ERR("[boot] FAILED to initialize SPI port %d\n", 4); - return -ENODEV; - } - - /* Default ext bus to 1MHz and de-assert the known chip selects. - */ - - SPI_SETFREQUENCY(spi_ext, 8 * 1000 * 1000); - SPI_SETBITS(spi_ext, 8); - SPI_SETMODE(spi_ext, SPIDEV_MODE3); - - /* deselect all */ - for (int bus = 0; bus < SPI_BUS_MAX_BUS_ITEMS; ++bus) { - for (int i = 0; i < SPI_BUS_MAX_DEVICES; ++i) { - if (px4_spi_buses[bus].devices[i].cs_gpio != 0) { - SPI_SELECT(spi_ext, px4_spi_buses[bus].devices[i].devid, false); - } - } - } - - return OK; - -} - -/**************************************************************************** - * Name: imxrt_lpspi1/2/3select and imxrt_lpspi1/2/3status - * - * Description: - * The external functions, imxrt_lpspi1/2/3select and imxrt_lpspi1/2/3status must be - * provided by board-specific logic. They are implementations of the select - * and status methods of the SPI interface defined by struct spi_ops_s (see - * include/nuttx/spi/spi.h). All other methods (including imxrt_lpspibus_initialize()) - * are provided by common STM32 logic. To use this common SPI logic on your - * board: - * - * 1. Provide logic in imxrt_boardinitialize() to configure SPI chip select - * pins. - * 2. Provide imxrt_lpspi1/2/3select() and imxrt_lpspi1/2/3status() functions in your - * board-specific logic. These functions will perform chip selection and - * status operations using GPIOs in the way your board is configured. - * 3. Add a calls to imxrt_lpspibus_initialize() in your low level application - * initialization logic - * 4. The handle returned by imxrt_lpspibus_initialize() may then be used to bind the - * SPI driver to higher level logic (e.g., calling - * mmcsd_spislotinitialize(), for example, will bind the SPI driver to - * the SPI MMC/SD driver). - * - ****************************************************************************/ - -static inline void imxrt_spixselect(const px4_spi_bus_t *bus, struct spi_dev_s *dev, uint32_t devid, bool selected) -{ - for (int i = 0; i < SPI_BUS_MAX_DEVICES; ++i) { - if (bus->devices[i].cs_gpio == 0) { - break; - } - - if (devid == bus->devices[i].devid) { - // SPI select is active low, so write !selected to select the device - imxrt_gpio_write(bus->devices[i].cs_gpio, !selected); - } - } -} - -#if defined(CONFIG_IMXRT_LPSPI1) -__EXPORT void imxrt_lpspi1select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected) -{ - imxrt_spixselect(_spi_bus1, dev, devid, selected); -} - -__EXPORT uint8_t imxrt_lpspi1status(FAR struct spi_dev_s *dev, uint32_t devid) -{ - return SPI_STATUS_PRESENT; -} -#endif - -#if defined(CONFIG_IMXRT_LPSPI2) -__EXPORT void imxrt_lpspi2select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected) -{ - imxrt_spixselect(_spi_bus2, dev, devid, selected); -} - -__EXPORT uint8_t imxrt_lpspi2status(FAR struct spi_dev_s *dev, uint32_t devid) -{ - return SPI_STATUS_PRESENT; -} -#endif - -#if defined(CONFIG_IMXRT_LPSPI3) -__EXPORT void imxrt_lpspi3select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected) -{ - imxrt_spixselect(_spi_bus3, dev, devid, selected); -} - -__EXPORT uint8_t imxrt_lpspi3status(FAR struct spi_dev_s *dev, uint32_t devid) -{ - return SPI_STATUS_PRESENT; -} -#endif - -#if defined(CONFIG_IMXRT_LPSPI4) -__EXPORT void imxrt_lpspi4select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected) -{ - imxrt_spixselect(_spi_bus4, dev, devid, selected); -} - -__EXPORT uint8_t imxrt_lpspi4status(FAR struct spi_dev_s *dev, uint32_t devid) -{ - return SPI_STATUS_PRESENT; -} -#endif - -/************************************************************************************ - * Name: board_spi_reset - * - * Description: - * - * - ************************************************************************************/ - -__EXPORT void board_spi_reset(int ms, int bus_mask) -{ -#ifdef CONFIG_IMXRT_LPSPI1 - - /* Goal not to back feed the chips on the bus via IO lines */ - for (int bus = 0; bus < SPI_BUS_MAX_BUS_ITEMS; ++bus) { - if (px4_spi_buses[bus].bus == 1 || px4_spi_buses[bus].bus == 3) { - for (int i = 0; i < SPI_BUS_MAX_DEVICES; ++i) { - if (px4_spi_buses[bus].devices[i].cs_gpio != 0) { - imxrt_config_gpio(_PIN_OFF(px4_spi_buses[bus].devices[i].cs_gpio)); - } - - if (px4_spi_buses[bus].devices[i].drdy_gpio != 0) { - imxrt_config_gpio(_PIN_OFF(px4_spi_buses[bus].devices[i].drdy_gpio)); - } - } - } - } - - imxrt_config_gpio(GPIO_SPI1_SCK_OFF); - imxrt_config_gpio(GPIO_SPI1_MISO_OFF); - imxrt_config_gpio(GPIO_SPI1_MOSI_OFF); - - imxrt_config_gpio(GPIO_SPI3_SCK_OFF); - imxrt_config_gpio(GPIO_SPI3_MISO_OFF); - imxrt_config_gpio(GPIO_SPI3_MOSI_OFF); - - - imxrt_config_gpio(_PIN_OFF(GPIO_LPI2C3_SDA_RESET)); - imxrt_config_gpio(_PIN_OFF(GPIO_LPI2C3_SCL_RESET)); - - /* set the sensor rail off */ - imxrt_gpio_write(GPIO_VDD_3V3_SENSORS_EN, 0); - - /* wait for the sensor rail to reach GND */ - usleep(ms * 1000); - warnx("reset done, %d ms", ms); - - /* re-enable power */ - - /* switch the sensor rail back on */ - imxrt_gpio_write(GPIO_VDD_3V3_SENSORS_EN, 1); - - /* wait a bit before starting SPI, different times didn't influence results */ - usleep(100); - - /* reconfigure the SPI pins */ - for (int bus = 0; bus < SPI_BUS_MAX_BUS_ITEMS; ++bus) { - if (px4_spi_buses[bus].bus == 1 || px4_spi_buses[bus].bus == 3) { - for (int i = 0; i < SPI_BUS_MAX_DEVICES; ++i) { - if (px4_spi_buses[bus].devices[i].cs_gpio != 0) { - imxrt_config_gpio(px4_spi_buses[bus].devices[i].cs_gpio); - } - - if (px4_spi_buses[bus].devices[i].drdy_gpio != 0) { - imxrt_config_gpio(px4_spi_buses[bus].devices[i].drdy_gpio); - } - } - } - } - - imxrt_config_gpio(GPIO_LPSPI1_SCK); - imxrt_config_gpio(GPIO_LPSPI1_MISO); - imxrt_config_gpio(GPIO_LPSPI1_MOSI); - - imxrt_config_gpio(GPIO_LPSPI3_SCK); - imxrt_config_gpio(GPIO_LPSPI3_MISO); - imxrt_config_gpio(GPIO_LPSPI3_MOSI); - - imxrt_config_gpio(GPIO_LPI2C3_SDA); - imxrt_config_gpio(GPIO_LPI2C3_SCL); - -#endif /* CONFIG_IMXRT_LPSPI1 */ - -} - -#endif /* CONFIG_IMXRT_LPSPI1 || CONFIG_IMXRT_LPSPI2 || CONFIG_IMXRT_LPSPI3 || CONFIG_IMXRT_LPSPI4 */ diff --git a/boards/nxp/fmurt1062-v1/src/timer_config.cpp b/boards/nxp/fmurt1062-v1/src/timer_config.cpp deleted file mode 100644 index 328fc3164f87..000000000000 --- a/boards/nxp/fmurt1062-v1/src/timer_config.cpp +++ /dev/null @@ -1,154 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2016, 2018-2019 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -// TODO:Stubbed out for now -#include - -#include -#include "hardware/imxrt_tmr.h" -#include "hardware/imxrt_flexpwm.h" -#include "imxrt_gpio.h" -#include "imxrt_iomuxc.h" -#include "hardware/imxrt_pinmux.h" -#include "imxrt_xbar.h" -#include "imxrt_periphclks.h" - -#include -#include - -#include "board_config.h" - -/**************************************************************************************************** - * Definitions - ****************************************************************************************************/ - -/* Register accessors */ - -#define _REG(_addr) (*(volatile uint16_t *)(_addr)) - -/* QTimer3 register accessors */ - -#define REG(_reg) _REG(IMXRT_QTIMER3_BASE + IMXRT_TMR_OFFSET(IMXRT_TMR_CH0,(_reg))) - -#define rCOMP1 REG(IMXRT_TMR_COMP1_OFFSET) -#define rCOMP2 REG(IMXRT_TMR_COMP2_OFFSET) -#define rCAPT REG(IMXRT_TMR_CAPT_OFFSET) -#define rLOAD REG(IMXRT_TMR_LOAD_OFFSET) -#define rHOLD REG(IMXRT_TMR_HOLD_OFFSET) -#define rCNTR REG(IMXRT_TMR_CNTR_OFFSET) -#define rCTRL REG(IMXRT_TMR_CTRL_OFFSET) -#define rSCTRL REG(IMXRT_TMR_SCTRL_OFFSET) -#define rCMPLD1 REG(IMXRT_TMR_CMPLD1_OFFSET) -#define rCMPLD2 REG(IMXRT_TMR_CMPLD2_OFFSET) -#define rCSCTRL REG(IMXRT_TMR_CSCTRL_OFFSET) -#define rFILT REG(IMXRT_TMR_FILT_OFFSET) -#define rDMA REG(IMXRT_TMR_DMA_OFFSET) -#define rENBL REG(IMXRT_TMR_ENBL_OFFSET) - -constexpr io_timers_t io_timers[MAX_IO_TIMERS] = { - initIOPWM(PWM::FlexPWM2, PWM::Submodule0), - initIOPWM(PWM::FlexPWM2, PWM::Submodule1), - initIOPWM(PWM::FlexPWM2, PWM::Submodule2), - initIOPWM(PWM::FlexPWM2, PWM::Submodule3), - initIOPWM(PWM::FlexPWM3, PWM::Submodule2), - initIOPWM(PWM::FlexPWM3, PWM::Submodule0), - initIOPWM(PWM::FlexPWM4, PWM::Submodule2), - initIOPWM(PWM::FlexPWM4, PWM::Submodule0), -}; - -constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = { - initIOTimerChannel(io_timers, {PWM::PWM2_PWM_A, PWM::Submodule0}, IOMUX::Pad::GPIO_B0_06), - initIOTimerChannel(io_timers, {PWM::PWM2_PWM_A, PWM::Submodule1}, IOMUX::Pad::GPIO_EMC_08), - initIOTimerChannel(io_timers, {PWM::PWM2_PWM_A, PWM::Submodule2}, IOMUX::Pad::GPIO_EMC_10), - initIOTimerChannel(io_timers, {PWM::PWM2_PWM_A, PWM::Submodule3}, IOMUX::Pad::GPIO_AD_B0_09), - initIOTimerChannel(io_timers, {PWM::PWM3_PWM_A, PWM::Submodule2}, IOMUX::Pad::GPIO_EMC_33), - initIOTimerChannel(io_timers, {PWM::PWM3_PWM_B, PWM::Submodule0}, IOMUX::Pad::GPIO_EMC_30), - initIOTimerChannel(io_timers, {PWM::PWM4_PWM_A, PWM::Submodule2}, IOMUX::Pad::GPIO_EMC_04), - initIOTimerChannel(io_timers, {PWM::PWM4_PWM_B, PWM::Submodule0}, IOMUX::Pad::GPIO_EMC_01), -}; - -constexpr io_timers_channel_mapping_t io_timers_channel_mapping = - initIOTimerChannelMapping(io_timers, timer_io_channels); - -constexpr io_timers_t led_pwm_timers[MAX_LED_TIMERS] = { -}; - -constexpr timer_io_channels_t led_pwm_channels[MAX_TIMER_LED_CHANNELS] = { -}; - - -void fmurt1062_timer_initialize(void) -{ - /* We must configure Qtimer 3 as the IPG divide by to yield 16 Mhz - * and deliver that clock to the eFlexPWM234 via XBAR - * - * IPG = 144 Mhz - * 16Mhz = 144 / 9 - * COMP 1 = 5, COMP2 = 4 - * - * */ - - /* Enable Block Clocks for Qtimer and XBAR1 */ - - imxrt_clockall_timer3(); - imxrt_clockall_xbar1(); - - /* Disable Timer */ - - rCTRL = 0; - rCOMP1 = 5 - 1; // N - 1 - rCOMP2 = 4 - 1; - - rCAPT = 0; - rLOAD = 0; - rCNTR = 0; - - rSCTRL = TMR_SCTRL_OEN; - - rCMPLD1 = 0; - rCMPLD2 = 0; - rCSCTRL = 0; - rFILT = 0; - rDMA = 0; - - /* Count rising edges of primary source, - * Prescaler is /1 - * Count UP until compare, then re-initialize. a successful compare occurs when the counter reaches a COMP1 value. - * Toggle OFLAG output using alternating compare registers - */ - rCTRL = (TMR_CTRL_CM_MODE1 | TMR_CTRL_PCS_DIV1 | TMR_CTRL_LENGTH | TMR_CTRL_OUTMODE_TOG_ALT); - - /* QTIMER3_TIMER0 -> Flexpwm234ExtClk */ - - imxrt_xbar_connect(IMXRT_XBARA1_OUT_FLEXPWM234_EXT_CLK_SEL_OFFSET, IMXRT_XBARA1_IN_QTIMER3_TMR0_OUT); -} diff --git a/boards/nxp/fmurt1062-v1/src/usb.c b/boards/nxp/fmurt1062-v1/src/usb.c deleted file mode 100644 index 0d3c71348d6a..000000000000 --- a/boards/nxp/fmurt1062-v1/src/usb.c +++ /dev/null @@ -1,129 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2016, 2018 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file usb.c - * - * Board-specific USB functions. - */ - -/************************************************************************************ - * Included Files - ************************************************************************************/ - -#include - -#include -#include -#include -#include - -#include -#include - -#include -#include -#include -#include "board_config.h" -#include "imxrt_periphclks.h" - -/************************************************************************************ - * Definitions - ************************************************************************************/ - -/************************************************************************************ - * Private Functions - ************************************************************************************/ - -/************************************************************************************ - * Public Functions - ************************************************************************************/ -int imxrt_usb_initialize(void) -{ - imxrt_clockall_usboh3(); - return 0; -} -/************************************************************************************ - * Name: imxrt_usbpullup - * - * Description: - * If USB is supported and the board supports a pullup via GPIO (for USB software - * connect and disconnect), then the board software must provide imxrt_usbpullup. - * See include/nuttx/usb/usbdev.h for additional description of this method. - * Alternatively, if no pull-up GPIO the following EXTERN can be redefined to be - * NULL. - * - ************************************************************************************/ - -__EXPORT -int imxrt_usbpullup(FAR struct usbdev_s *dev, bool enable) -{ - usbtrace(TRACE_DEVPULLUP, (uint16_t)enable); - - return OK; -} - -/************************************************************************************ - * Name: imxrt_usbsuspend - * - * Description: - * Board logic must provide the imxrt_usbsuspend logic if the USBDEV driver is - * used. This function is called whenever the USB enters or leaves suspend mode. - * This is an opportunity for the board logic to shutdown clocks, power, etc. - * while the USB is suspended. - * - ************************************************************************************/ - -__EXPORT -void imxrt_usbsuspend(FAR struct usbdev_s *dev, bool resume) -{ - uinfo("resume: %d\n", resume); -} - -/************************************************************************************ - * Name: board_read_VBUS_state - * - * Description: - * All boards must provide a way to read the state of VBUS, this my be simple - * digital input on a GPIO. Or something more complicated like a Analong input - * or reading a bit from a USB controller register. - * - * Returns - 0 if connected. - * - ************************************************************************************/ - -int board_read_VBUS_state(void) -{ - - return (getreg32(IMXRT_USB_ANALOG_USB1_VBUS_DETECT_STAT) & USB_ANALOG_USB_VBUS_DETECT_STAT_VBUS_VALID) ? 0 : 1; -} diff --git a/boards/nxp/mr-canhubk3/default.px4board b/boards/nxp/mr-canhubk3/default.px4board index 277c62de7889..63294e276f8a 100644 --- a/boards/nxp/mr-canhubk3/default.px4board +++ b/boards/nxp/mr-canhubk3/default.px4board @@ -2,6 +2,7 @@ CONFIG_BOARD_TOOLCHAIN="arm-none-eabi" CONFIG_BOARD_ARCHITECTURE="cortex-m7" CONFIG_BOARD_ROMFSROOT="cannode" CONFIG_BOARD_ETHERNET=y +CONFIG_BOARD_PARAM_FILE="/mnt/qspi/params" CONFIG_DRIVERS_BAROMETER_BMP388=y CONFIG_DRIVERS_IMU_INVENSENSE_ICM20649=y CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y @@ -16,6 +17,7 @@ CONFIG_SYSTEMCMDS_I2CDETECT=y CONFIG_SYSTEMCMDS_LED_CONTROL=y CONFIG_SYSTEMCMDS_MFT=y CONFIG_SYSTEMCMDS_MTD=y +CONFIG_SYSTEMCMDS_NETMAN=y CONFIG_SYSTEMCMDS_PARAM=y CONFIG_SYSTEMCMDS_REBOOT=y CONFIG_SYSTEMCMDS_SD_BENCH=y diff --git a/boards/nxp/mr-canhubk3/fmu.px4board b/boards/nxp/mr-canhubk3/fmu.px4board index c85a77330d01..48a7883fe259 100644 --- a/boards/nxp/mr-canhubk3/fmu.px4board +++ b/boards/nxp/mr-canhubk3/fmu.px4board @@ -1,20 +1,31 @@ # CONFIG_BOARD_ROMFSROOT is not set +CONFIG_DRIVERS_BAROMETER_BMP388=n +CONFIG_DRIVERS_MAGNETOMETER_BOSCH_BMM150=n CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS1" +CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS4" CONFIG_BOARD_SERIAL_RC="/dev/ttyS5" CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS2" +CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS3" CONFIG_BOARD_UAVCAN_INTERFACES=1 +CONFIG_COMMON_BAROMETERS=y +CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y +CONFIG_COMMON_DISTANCE_SENSOR=y CONFIG_COMMON_LIGHT=y +CONFIG_COMMON_MAGNETOMETER=y +CONFIG_COMMON_OPTICAL_FLOW=y CONFIG_CYPHAL_BMS_SUBSCRIBER=y +CONFIG_DRIVERS_ADC_BOARD_ADC=y CONFIG_DRIVERS_CYPHAL=y +CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_SF45_SERIAL=y CONFIG_DRIVERS_GPS=y CONFIG_DRIVERS_IRLOCK=y -CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y -CONFIG_DRIVERS_MAGNETOMETER_LIS3MDL=y CONFIG_DRIVERS_RC_INPUT=y +CONFIG_DRIVERS_SAFETY_BUTTON=y CONFIG_DRIVERS_UAVCAN=y CONFIG_EXAMPLES_FAKE_GPS=y CONFIG_MODULES_AIRSPEED_SELECTOR=y CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y +CONFIG_MODULES_BATTERY_STATUS=y CONFIG_MODULES_CAMERA_FEEDBACK=y CONFIG_MODULES_COMMANDER=y CONFIG_MODULES_ESC_BATTERY=y @@ -42,12 +53,12 @@ CONFIG_MODULES_NAVIGATOR=y CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_ROVER_POS_CONTROL=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y +CONFIG_MODULES_UXRCE_DDS_CLIENT=y CONFIG_MODULES_VTOL_ATT_CONTROL=y CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y CONFIG_SYSTEMCMDS_DMESG=y CONFIG_SYSTEMCMDS_DUMPFILE=y CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y -CONFIG_SYSTEMCMDS_NETMAN=y CONFIG_SYSTEMCMDS_NSHTERM=y CONFIG_SYSTEMCMDS_PERF=y CONFIG_SYSTEMCMDS_REFLECT=y diff --git a/boards/nxp/mr-canhubk3/init/rc.board_defaults b/boards/nxp/mr-canhubk3/init/rc.board_defaults index 64dedb9fe8d2..27aef9019a59 100644 --- a/boards/nxp/mr-canhubk3/init/rc.board_defaults +++ b/boards/nxp/mr-canhubk3/init/rc.board_defaults @@ -17,6 +17,23 @@ param set-default MAV_1_UDP_PRT 14550 param set-default SENS_EXT_I2C_PRB 0 param set-default CYPHAL_ENABLE 0 +if ver hwtypecmp MR-CANHUBK3-ADAP +then + param set-default GPS_1_CONFIG 202 + param set-default RC_PORT_CONFIG 104 + param set-default SENS_INT_BARO_EN 0 + param set-default SYS_HAS_BARO 0 + # MR-CANHUBK3-ADAP voltage divider + param set-default BAT1_V_DIV 13.158 + safety_button start +fi + +if [ -f "/mnt/qspi/mtd_net" ] +then +else + netman update -i eth0 +fi + if param greater -s UAVCAN_ENABLE 0 then ifup can0 diff --git a/boards/nxp/mr-canhubk3/init/rc.board_sensors b/boards/nxp/mr-canhubk3/init/rc.board_sensors index fd2dc79a17fc..642a254efca7 100644 --- a/boards/nxp/mr-canhubk3/init/rc.board_sensors +++ b/boards/nxp/mr-canhubk3/init/rc.board_sensors @@ -2,22 +2,31 @@ # # NXP MR-CANHUBK3 specific board sensors init #------------------------------------------------------------------------------ - -#board_adc start FIXME no ADC drivers - -#FMUv5Xbase board orientation - -# Internal SPI bus ICM20649 -icm20649 -s -R 6 start - -# Internal SPI bus ICM42688p -icm42688p -R 6 -s start - -# Internal magnetometer on I2c -bmm150 -I start - -# External compass on GPS1/I2C1 (the 3rd external bus): standard Holybro Pixhawk 4 or CUAV V5 GPS/compass puck (with lights, safety button, and buzzer) -ist8310 -X -b 2 -R 10 start +if ver hwtypecmp MR-CANHUBK3-ADAP +then + icm42688p -c 2 -b 3 -R 0 -S -f 15000 start + # Internal magnetometer on I2c on ADAP + bmm150 -X -a 18 start + ist8310 -X -b 1 -R 10 start + # ADC for voltage input sensing + board_adc start + + # External SPI bus ICM20649 + icm20649 -b 4 -S -R 10 start + + # External SPI bus ICM42688p + icm42688p -c 1 -b 3 -R 10 -S -f 15000 start +else + bmm150 -X start + # External compass on GPS1/I2C1 (the 3rd external bus): standard Holybro Pixhawk 4 or CUAV V5 GPS/compass puck (with lights, safety button, and buzzer) + ist8310 -X -b 2 -R 10 start + + # External SPI bus ICM20649 + icm20649 -b 4 -S -R 6 start + + # External SPI bus ICM42688p + icm42688p -c 1 -b 3 -R 6 -S -f 15000 start +fi # External compass on GPS1/I2C1 (the 3rd external bus): Drotek RTK GPS with LIS3MDL Compass lis3mdl -X -b 2 -R 2 start @@ -25,5 +34,5 @@ lis3mdl -X -b 2 -R 2 start # Disable startup of internal baros if param is set to false if param compare SENS_INT_BARO_EN 1 then - bmp388 -I -a 0x77 start + bmp388 -X -a 0x77 start fi diff --git a/boards/nxp/mr-canhubk3/nuttx-config/include/board.h b/boards/nxp/mr-canhubk3/nuttx-config/include/board.h index 04d0478528c3..457f63c5cf23 100644 --- a/boards/nxp/mr-canhubk3/nuttx-config/include/board.h +++ b/boards/nxp/mr-canhubk3/nuttx-config/include/board.h @@ -152,6 +152,18 @@ #define PIN_LPUART1_RX (PIN_LPUART1_RX_3 | PIN_INPUT_PULLUP) /* PTC6 */ #define PIN_LPUART1_TX PIN_LPUART1_TX_3 /* PTC7 */ + +/* LPUART4 /dev/ttyS3 P8B 3X7 Pin 3 Single wire RC UART */ + +#define PIN_LPUART4_RX PIN_LPUART4_TX_3 /* Dummy since it's Single Wire TX-only */ +#define PIN_LPUART4_TX PIN_LPUART4_TX_3 /* PTE11 */ + + +/* LPUART7 /dev/ttyS4 P8B 3X7 Pin 3 and Pin 8 */ + +#define PIN_LPUART7_RX (PIN_LPUART7_RX_3 | PIN_INPUT_PULLUP) /* PTE0 */ +#define PIN_LPUART7_TX PIN_LPUART7_TX_3 /* PTE1 */ + /* LPUART9 P24 UART connector */ #define PIN_LPUART9_RX (PIN_LPUART9_RX_1 | PIN_INPUT_PULLUP) /* PTB2 */ @@ -209,7 +221,8 @@ #define PIN_LPSPI4_PCS0 PIN_LPSPI4_PCS0_1 /* PTB8 */ #define PIN_LPSPI4_PCS3 PIN_LPSPI4_PCS3_1 /* PTA16 */ -#define PIN_LPSPI4_PCS (PIN_PTA16 | GPIO_LOWDRIVE | GPIO_OUTPUT_ONE) /* PTA16 */ +#define PIN_LPSPI4_CS_P26 (PIN_PTA16 | GPIO_LOWDRIVE | GPIO_OUTPUT_ONE) /* PTA16 */ +#define PIN_LPSPI4_CS_P8B (PIN_PTB8 | GPIO_LOWDRIVE | GPIO_OUTPUT_ONE) /* PTB8 */ /* LPSPI5 P26 external IMU connector */ diff --git a/boards/nxp/mr-canhubk3/nuttx-config/nsh/defconfig b/boards/nxp/mr-canhubk3/nuttx-config/nsh/defconfig index f5facd0fdd94..3d9767bc9220 100644 --- a/boards/nxp/mr-canhubk3/nuttx-config/nsh/defconfig +++ b/boards/nxp/mr-canhubk3/nuttx-config/nsh/defconfig @@ -85,6 +85,7 @@ CONFIG_DEFAULT_SMALL=y CONFIG_DEV_FIFO_SIZE=0 CONFIG_DEV_PIPE_MAXSIZE=1024 CONFIG_DEV_PIPE_SIZE=70 +CONFIG_DEV_URANDOM=y CONFIG_ETH0_PHY_TJA1103=y CONFIG_FAT_DMAMEMORY=y CONFIG_FAT_LCNAMES=y @@ -109,7 +110,7 @@ CONFIG_I2C=y CONFIG_I2C_RESET=y CONFIG_IDLETHREAD_STACKSIZE=900 CONFIG_INIT_ENTRYPOINT="nsh_main" -CONFIG_INIT_STACKSIZE=2944 +CONFIG_INIT_STACKSIZE=3194 CONFIG_IOB_NBUFFERS=24 CONFIG_IOB_THROTTLE=0 CONFIG_IPCFG_BINARY=y @@ -157,8 +158,8 @@ CONFIG_NETDEV_LATEINIT=y CONFIG_NETDEV_PHY_IOCTL=y CONFIG_NETINIT_DHCPC=y CONFIG_NETINIT_DNS=y -CONFIG_NETINIT_DNSIPADDR=0XC0A800FE -CONFIG_NETINIT_DRIPADDR=0XC0A800FE +CONFIG_NETINIT_DNSIPADDR=0xA290AFE +CONFIG_NETINIT_DRIPADDR=0xA290AFE CONFIG_NETINIT_MONITOR=y CONFIG_NETINIT_THREAD=y CONFIG_NETINIT_THREAD_PRIORITY=49 @@ -175,6 +176,7 @@ CONFIG_NET_CAN_SOCK_OPTS=y CONFIG_NET_ETH_PKTSIZE=1518 CONFIG_NET_ICMP=y CONFIG_NET_ICMP_SOCKET=y +CONFIG_NET_IGMP=y CONFIG_NET_NACTIVESOCKETS=16 CONFIG_NET_SOLINGER=y CONFIG_NET_TCP=y @@ -245,6 +247,8 @@ CONFIG_S32K3XX_LPUART13=y CONFIG_S32K3XX_LPUART14=y CONFIG_S32K3XX_LPUART1=y CONFIG_S32K3XX_LPUART2=y +CONFIG_S32K3XX_LPUART4=y +CONFIG_S32K3XX_LPUART7=y CONFIG_S32K3XX_LPUART9=y CONFIG_S32K3XX_LPUART_INVERT=y CONFIG_S32K3XX_LPUART_SINGLEWIRE=y diff --git a/boards/nxp/mr-canhubk3/nuttx-config/sysview/defconfig b/boards/nxp/mr-canhubk3/nuttx-config/sysview/defconfig index 32169a8ae5a1..88758c3d5852 100644 --- a/boards/nxp/mr-canhubk3/nuttx-config/sysview/defconfig +++ b/boards/nxp/mr-canhubk3/nuttx-config/sysview/defconfig @@ -110,7 +110,7 @@ CONFIG_I2C=y CONFIG_I2C_RESET=y CONFIG_IDLETHREAD_STACKSIZE=900 CONFIG_INIT_ENTRYPOINT="nsh_main" -CONFIG_INIT_STACKSIZE=2944 +CONFIG_INIT_STACKSIZE=3194 CONFIG_IOB_NBUFFERS=24 CONFIG_IOB_THROTTLE=0 CONFIG_IPCFG_BINARY=y @@ -158,8 +158,8 @@ CONFIG_NETDEV_LATEINIT=y CONFIG_NETDEV_PHY_IOCTL=y CONFIG_NETINIT_DHCPC=y CONFIG_NETINIT_DNS=y -CONFIG_NETINIT_DNSIPADDR=0XC0A800FE -CONFIG_NETINIT_DRIPADDR=0XC0A800FE +CONFIG_NETINIT_DNSIPADDR=0xA290AFE +CONFIG_NETINIT_DRIPADDR=0xA290AFE CONFIG_NETINIT_MONITOR=y CONFIG_NETINIT_THREAD=y CONFIG_NETINIT_THREAD_PRIORITY=49 diff --git a/boards/nxp/mr-canhubk3/src/CMakeLists.txt b/boards/nxp/mr-canhubk3/src/CMakeLists.txt index 3a5ac9c0e66f..26a13272e253 100644 --- a/boards/nxp/mr-canhubk3/src/CMakeLists.txt +++ b/boards/nxp/mr-canhubk3/src/CMakeLists.txt @@ -38,6 +38,7 @@ if("${PX4_BOARD_LABEL}" STREQUAL "canbootloader") clockconfig.c periphclocks.c timer_config.cpp + hw_rev_ver_canhubk3.c ) target_link_libraries(drivers_board @@ -65,6 +66,8 @@ else() spi.cpp timer_config.cpp s32k3xx_userleds.c + hw_rev_ver_canhubk3.c + manifest.c ) target_link_libraries(drivers_board diff --git a/boards/nxp/mr-canhubk3/src/board_config.h b/boards/nxp/mr-canhubk3/src/board_config.h index 49a3162af630..7ea2a91e8bb7 100644 --- a/boards/nxp/mr-canhubk3/src/board_config.h +++ b/boards/nxp/mr-canhubk3/src/board_config.h @@ -88,7 +88,7 @@ __BEGIN_DECLS #define DIRECT_PWM_OUTPUT_CHANNELS 8 #define RC_SERIAL_PORT "/dev/ttyS5" -#define RC_SERIAL_SINGLEWIRE +#define RC_SERIAL_SINGLEWIRE_FORCE #define RC_SERIAL_INVERT_RX_ONLY #define BOARD_ENABLE_CONSOLE_BUFFER @@ -110,6 +110,40 @@ __BEGIN_DECLS /* Reboot and ulog we store on a wear-level filesystem */ #define HARDFAULT_REBOOT_PATH "/mnt/progmem/reboot" +/* To detect MR-CANHUBK3-ADAP board */ +#define BOARD_HAS_HW_VERSIONING 1 +#define CANHUBK3_ADAP_DETECT (PIN_PTA12 | GPIO_INPUT | GPIO_PULLUP) + + +/* + * ADC channels + * + * These are the channel numbers of the ADCs of the microcontroller that can be used by the Px4 + * Firmware in the adc driver. ADC1 has 32 channels, with some a/b selection overlap + * in the AD4-AD7 range on the same ADC. + * + * Only ADC1 is used + * Bits 31:0 are ADC1 channels 31:0 + */ + +#define ADC1_CH(c) (((c) & 0x1f)) /* Define ADC number Channel number */ + +/* ADC defines to be used in sensors.cpp to read from a particular channel */ + +#define ADC_BATTERY_VOLTAGE_CHANNEL ADC1_CH(0) /* BAT_VSENS 85 PTB4 ADC1_SE10 */ +#define ADC_BATTERY_CURRENT_CHANNEL ADC1_CH(1) /* Non-existant but needed for compilation */ + + +/* Mask use to initialize the ADC driver */ + +#define ADC_CHANNELS ((1 << ADC_BATTERY_VOLTAGE_CHANNEL)) + +/* Safety Switch + * TBD + */ +#define GPIO_LED_SAFETY (PIN_PTE26 | GPIO_OUTPUT | GPIO_OUTPUT_ZERO) +#define GPIO_BTN_SAFETY (PIN_PTA11 | GPIO_INPUT | GPIO_PULLDOWN) + /**************************************************************************** * Public Data ****************************************************************************/ diff --git a/boards/nxp/mr-canhubk3/src/hw_rev_ver_canhubk3.c b/boards/nxp/mr-canhubk3/src/hw_rev_ver_canhubk3.c new file mode 100644 index 000000000000..990c17492a18 --- /dev/null +++ b/boards/nxp/mr-canhubk3/src/hw_rev_ver_canhubk3.c @@ -0,0 +1,142 @@ +/**************************************************************************** + * + * Copyright (C) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file hw_rev_ver_canhubk3.c + * CANHUBK3 Hardware Revision and Version ID API + */ +#include +#include +#include +#include +#include +#include +#include + +#include + +#if defined(BOARD_HAS_HW_VERSIONING) + + +#define HW_INFO_SIZE HW_INFO_VER_DIGITS + HW_INFO_REV_DIGITS + + +/**************************************************************************** + * Private Data + ****************************************************************************/ +static int is_adap_connected = 0; + +/**************************************************************************** + * Public Functions + ****************************************************************************/ +/************************************************************************************ + * Name: board_get_hw_type + * + * Description: + * Optional returns a 0 terminated string defining the HW type. + * + * Input Parameters: + * None + * + * Returned Value: + * a 0 terminated string defining the HW type. This my be a 0 length string "" + * + ************************************************************************************/ + +__EXPORT const char *board_get_hw_type_name() +{ + if (is_adap_connected) { + return (const char *)"MR-CANHUBK3-ADAP"; + + } else { + return (const char *)"MR-CANHUBK344"; + } +} + +/************************************************************************************ + * Name: board_get_hw_version + * + * Description: + * Optional returns a integer HW version + * + * Input Parameters: + * None + * + * Returned Value: + * An integer value of this boards hardware version. + * A value of -1 is the default for boards not supporting the BOARD_HAS_VERSIONING API. + * A value of 0 is the default for boards supporting the API but not having version. + * + ************************************************************************************/ + +__EXPORT int board_get_hw_version() +{ + return 0; +} + +/************************************************************************************ + * Name: board_get_hw_revision + * + * Description: + * Optional returns a integer HW revision + * + * Input Parameters: + * None + * + * Returned Value: + * An integer value of this boards hardware revision. + * A value of -1 is the default for boards not supporting the BOARD_HAS_VERSIONING API. + * A value of 0 is the default for boards supporting the API but not having revision. + * + ************************************************************************************/ + +__EXPORT int board_get_hw_revision() +{ + return 0; +} + +/************************************************************************************ + * Name: board_determine_hw_info + * + * Description: + * Uses GPIO to detect MR-CANHUBK3-ADAP + * + ************************************************************************************/ + +int board_determine_hw_info() +{ + s32k3xx_pinconfig(CANHUBK3_ADAP_DETECT); + is_adap_connected = !s32k3xx_gpioread(CANHUBK3_ADAP_DETECT); + return 0; +} +#endif diff --git a/boards/nxp/mr-canhubk3/src/i2c.cpp b/boards/nxp/mr-canhubk3/src/i2c.cpp index f8639282aedb..c99547def4ce 100644 --- a/boards/nxp/mr-canhubk3/src/i2c.cpp +++ b/boards/nxp/mr-canhubk3/src/i2c.cpp @@ -34,6 +34,6 @@ #include constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = { - initI2CBusInternal(PX4_BUS_NUMBER_TO_PX4(0)), - initI2CBusExternal(PX4_BUS_NUMBER_TO_PX4(1)), + initI2CBusExternal(PX4_BUS_NUMBER_TO_PX4(0)), + initI2CBusInternal(PX4_BUS_NUMBER_TO_PX4(1)), }; diff --git a/boards/nxp/mr-canhubk3/src/init.c b/boards/nxp/mr-canhubk3/src/init.c index 1075daece620..97a41f84305b 100644 --- a/boards/nxp/mr-canhubk3/src/init.c +++ b/boards/nxp/mr-canhubk3/src/init.c @@ -44,6 +44,7 @@ #include "board_config.h" #include +#include #if defined(CONFIG_S32K3XX_LPSPI1) && defined(CONFIG_MMCSD) #include @@ -96,6 +97,8 @@ __EXPORT int board_app_initialize(uintptr_t arg) int rv; + board_determine_hw_info(); + #if defined(CONFIG_S32K3XX_LPSPI1) && defined(CONFIG_MMCSD) /* LPSPI1 *****************************************************************/ diff --git a/boards/nxp/mr-canhubk3/src/manifest.c b/boards/nxp/mr-canhubk3/src/manifest.c new file mode 100644 index 000000000000..afd3de58e53e --- /dev/null +++ b/boards/nxp/mr-canhubk3/src/manifest.c @@ -0,0 +1,79 @@ +/**************************************************************************** + * + * Copyright (c) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file manifest.c + * + * This module supplies the interface to the manifest of hardware that is + * optional and dependent on the HW REV and HW VER IDs + * + * The manifest allows the system to know whether a hardware option + * say for example the PX4IO is an no-pop option vs it is broken. + * + */ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include +#include +#include + +#include "systemlib/px4_macros.h" +#include "px4_log.h" + +/**************************************************************************** + * Pre-Processor Definitions + ****************************************************************************/ + + +/************************************************************************************ + * Name: board_query_manifest + * + * Description: + * Optional returns manifest item. + * + * Input Parameters: + * manifest_id - the ID for the manifest item to retrieve + * + * Returned Value: + * 0 - item is not in manifest => assume legacy operations + * pointer to a manifest item + * + ************************************************************************************/ + +__EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id) +{ + return px4_hw_mft_unsupported; +} diff --git a/boards/nxp/mr-canhubk3/src/s32k3xx_bringup.c b/boards/nxp/mr-canhubk3/src/s32k3xx_bringup.c index 529ed7ed9b2b..53eda463bea6 100644 --- a/boards/nxp/mr-canhubk3/src/s32k3xx_bringup.c +++ b/boards/nxp/mr-canhubk3/src/s32k3xx_bringup.c @@ -107,6 +107,9 @@ int s32k3xx_bringup(void) s32k3xx_spidev_initialize(); #endif + s32k3xx_pinconfig(GPIO_LED_SAFETY); + s32k3xx_pinconfig(GPIO_BTN_SAFETY); + #ifdef CONFIG_INPUT_BUTTONS /* Register the BUTTON driver */ diff --git a/boards/nxp/mr-canhubk3/src/s32k3xx_periphclocks.c b/boards/nxp/mr-canhubk3/src/s32k3xx_periphclocks.c index 0314fce44ff8..42cf924059a2 100644 --- a/boards/nxp/mr-canhubk3/src/s32k3xx_periphclocks.c +++ b/boards/nxp/mr-canhubk3/src/s32k3xx_periphclocks.c @@ -168,6 +168,22 @@ const struct peripheral_clock_config_s g_peripheral_clockconfig0[] = { .clkgate = true, #else .clkgate = false, +#endif + }, + { + .clkname = LPUART4_CLK, +#ifdef CONFIG_S32K3XX_LPUART4 + .clkgate = true, +#else + .clkgate = false, +#endif + }, + { + .clkname = LPUART7_CLK, +#ifdef CONFIG_S32K3XX_LPUART7 + .clkgate = true, +#else + .clkgate = false, #endif }, { @@ -258,6 +274,10 @@ const struct peripheral_clock_config_s g_peripheral_clockconfig0[] = { .clkname = EMIOS0_CLK, .clkgate = true, }, + { + .clkname = ADC2_CLK, + .clkgate = true, + } }; unsigned int const num_of_peripheral_clocks_0 = diff --git a/boards/nxp/mr-canhubk3/src/spi.cpp b/boards/nxp/mr-canhubk3/src/spi.cpp index 325ad7b7d7e3..40d9e9a7c17d 100644 --- a/boards/nxp/mr-canhubk3/src/spi.cpp +++ b/boards/nxp/mr-canhubk3/src/spi.cpp @@ -70,11 +70,12 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = { initSPIBus(SPI::Bus::SPI3, { // SPI3 is ignored only used for FS26 by a NuttX driver initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortD, GPIO::Pin17}) }), - initSPIBus(SPI::Bus::SPI4, { - initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortA, GPIO::Pin16}, SPI::DRDY{PIN_WKPU20}) + initSPIBusExternal(SPI::Bus::SPI4, { + initSPIConfigExternal(SPI::CS{GPIO::PortA, GPIO::Pin16}, SPI::DRDY{PIN_WKPU20}), + initSPIConfigExternal(SPI::CS{GPIO::PortB, GPIO::Pin8}, SPI::DRDY{PIN_WKPU56}) }), - initSPIBus(SPI::Bus::SPI5, { - initSPIDevice(DRV_IMU_DEVTYPE_ICM20649, SPI::CS{GPIO::PortA, GPIO::Pin14}, SPI::DRDY{PIN_WKPU4}) + initSPIBusExternal(SPI::Bus::SPI5, { + initSPIConfigExternal(SPI::CS{GPIO::PortA, GPIO::Pin14}, SPI::DRDY{PIN_WKPU4}) }), }; @@ -337,7 +338,14 @@ void s32k3xx_lpspi4select(FAR struct spi_dev_s *dev, uint32_t devid, spiinfo("devid: %" PRId32 ", CS: %s\n", devid, selected ? "assert" : "de-assert"); - s32k3xx_gpiowrite(PIN_LPSPI4_PCS, !selected); + devid = ((devid) & 0xF); + + if (devid == 0) { + s32k3xx_gpiowrite(PIN_LPSPI4_CS_P26, !selected); + + } else if (devid == 1) { + s32k3xx_gpiowrite(PIN_LPSPI4_CS_P8B, !selected); + } } uint8_t s32k3xx_lpspi4status(FAR struct spi_dev_s *dev, uint32_t devid) diff --git a/boards/nxp/mr-canhubk3/sysview.px4board b/boards/nxp/mr-canhubk3/sysview.px4board index d190234fcbdb..2089b09931c5 100644 --- a/boards/nxp/mr-canhubk3/sysview.px4board +++ b/boards/nxp/mr-canhubk3/sysview.px4board @@ -45,7 +45,6 @@ CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y CONFIG_SYSTEMCMDS_DMESG=y CONFIG_SYSTEMCMDS_DUMPFILE=y CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y -CONFIG_SYSTEMCMDS_NETMAN=y CONFIG_SYSTEMCMDS_NSHTERM=y CONFIG_SYSTEMCMDS_PERF=y CONFIG_SYSTEMCMDS_REFLECT=y diff --git a/boards/nxp/mr-canhubk3/zenoh.px4board b/boards/nxp/mr-canhubk3/zenoh.px4board new file mode 100644 index 000000000000..fe2297a5547f --- /dev/null +++ b/boards/nxp/mr-canhubk3/zenoh.px4board @@ -0,0 +1,57 @@ +# CONFIG_BOARD_ROMFSROOT is not set +CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS1" +CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS4" +CONFIG_BOARD_SERIAL_RC="/dev/ttyS5" +CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS2" +CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS3" +CONFIG_BOARD_UAVCAN_INTERFACES=1 +CONFIG_COMMON_LIGHT=y +CONFIG_DRIVERS_ADC_BOARD_ADC=y +CONFIG_DRIVERS_GPS=y +CONFIG_DRIVERS_IRLOCK=y +CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y +CONFIG_DRIVERS_MAGNETOMETER_LIS3MDL=y +CONFIG_DRIVERS_RC_INPUT=y +CONFIG_DRIVERS_SAFETY_BUTTON=y +CONFIG_DRIVERS_UAVCAN=y +CONFIG_EXAMPLES_FAKE_GPS=y +CONFIG_MODULES_AIRSPEED_SELECTOR=y +CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y +CONFIG_MODULES_BATTERY_STATUS=y +CONFIG_MODULES_CAMERA_FEEDBACK=y +CONFIG_MODULES_COMMANDER=y +CONFIG_MODULES_ESC_BATTERY=y +CONFIG_MODULES_EVENTS=y +CONFIG_MODULES_FW_ATT_CONTROL=y +CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y +CONFIG_MODULES_FW_POS_CONTROL=y +CONFIG_MODULES_FW_RATE_CONTROL=y +CONFIG_MODULES_GYRO_CALIBRATION=y +CONFIG_MODULES_GYRO_FFT=y +CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y +CONFIG_MODULES_LAND_DETECTOR=y +CONFIG_MODULES_LOAD_MON=y +CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y +CONFIG_MODULES_LOGGER=y +CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y +CONFIG_MODULES_MANUAL_CONTROL=y +CONFIG_MODULES_MC_ATT_CONTROL=y +CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y +CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y +CONFIG_MODULES_MC_POS_CONTROL=y +CONFIG_MODULES_MC_RATE_CONTROL=y +CONFIG_MODULES_NAVIGATOR=y +CONFIG_MODULES_RC_UPDATE=y +CONFIG_MODULES_ROVER_POS_CONTROL=y +CONFIG_MODULES_TEMPERATURE_COMPENSATION=y +CONFIG_MODULES_VTOL_ATT_CONTROL=y +CONFIG_MODULES_ZENOH=y +CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y +CONFIG_SYSTEMCMDS_DMESG=y +CONFIG_SYSTEMCMDS_DUMPFILE=y +CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y +CONFIG_SYSTEMCMDS_NSHTERM=y +CONFIG_SYSTEMCMDS_PERF=y +CONFIG_SYSTEMCMDS_REFLECT=y +CONFIG_SYSTEMCMDS_SERIAL_TEST=y +CONFIG_SYSTEMCMDS_TUNE_CONTROL=y diff --git a/boards/nxp/ucans32k146/default.px4board b/boards/nxp/ucans32k146/default.px4board index eb28094dd9b4..45430b9c51b9 100644 --- a/boards/nxp/ucans32k146/default.px4board +++ b/boards/nxp/ucans32k146/default.px4board @@ -3,6 +3,7 @@ CONFIG_BOARD_ARCHITECTURE="cortex-m4" CONFIG_BOARD_ROMFSROOT="cannode" CONFIG_BOARD_CONSTRAINED_MEMORY=y CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS1" +CONFIG_BOARD_PARAM_FILE="/dev/eeeprom0" CONFIG_DRIVERS_BOOTLOADERS=y CONFIG_COMMON_DISTANCE_SENSOR=y CONFIG_DRIVERS_GPS=y @@ -28,6 +29,7 @@ CONFIG_UAVCANNODE_RTK_DATA=y CONFIG_UAVCANNODE_SERVO_ARRAY_COMMAND=y CONFIG_UAVCANNODE_STATIC_PRESSURE=y CONFIG_UAVCANNODE_STATIC_TEMPERATURE=y +CONFIG_DRIVERS_UWB_UWB_SR150=y CONFIG_MODULES_CONTROL_ALLOCATOR=y CONFIG_MODULES_SENSORS=y CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y diff --git a/boards/nxp/ucans32k146/init/rc.board_defaults b/boards/nxp/ucans32k146/init/rc.board_defaults index 2e52bc7b7252..34d48657d52e 100644 --- a/boards/nxp/ucans32k146/init/rc.board_defaults +++ b/boards/nxp/ucans32k146/init/rc.board_defaults @@ -3,7 +3,7 @@ # board specific defaults #------------------------------------------------------------------------------ -pwm_out mode_pwm1 start +pwm_out start ifup can0 @@ -12,3 +12,5 @@ if param compare -s CYPHAL_ENABLE 1 then cyphal start fi + +rgbled_ncp5623c start -X -a 56 diff --git a/boards/nxp/ucans32k146/src/boot.c b/boards/nxp/ucans32k146/src/boot.c index e0928cf0a871..6548d43b9bf3 100644 --- a/boards/nxp/ucans32k146/src/boot.c +++ b/boards/nxp/ucans32k146/src/boot.c @@ -45,6 +45,7 @@ #include #include "board_config.h" +#include /**************************************************************************** * Public Functions @@ -61,15 +62,30 @@ * ****************************************************************************/ +static bootloader_app_shared_t can0_config; + +int weak_function board_app_shared_read(bootloader_app_shared_t *shared, eRole_t role) +{ + int rv = -EBADR; + + if (can0_config.signature != 0) { + *shared = can0_config; + rv = OK; + } + + return rv; +} + void s32k1xx_board_initialize(void) { + can0_config.signature = 0; + bootloader_app_shared_read(&can0_config, BootLoader); #ifdef CONFIG_ARCH_LEDS /* Configure on-board LEDs if LED support has been selected. */ board_autoled_initialize(); #endif ucans32k_timer_initialize(); - } /**************************************************************************** diff --git a/boards/nxp/ucans32k146/src/clockconfig.c b/boards/nxp/ucans32k146/src/clockconfig.c index b892215aad08..2c1abb1263b5 100644 --- a/boards/nxp/ucans32k146/src/clockconfig.c +++ b/boards/nxp/ucans32k146/src/clockconfig.c @@ -109,10 +109,10 @@ const struct clock_configuration_s g_initial_clkconfig = { .spll = { .mode = SCG_SPLL_MONITOR_DISABLE, /* SPLLCM */ - .div1 = SCG_ASYNC_CLOCK_DIV_BY_1, /* SPLLDIV1 */ - .div2 = SCG_ASYNC_CLOCK_DIV_BY_2, /* SPLLDIV2 */ + .div1 = SCG_ASYNC_CLOCK_DIV_BY_2, /* SPLLDIV1 160 / 2 = 80Mhz */ + .div2 = SCG_ASYNC_CLOCK_DIV_BY_4, /* SPLLDIV2 160 / 4 = 40Mhz */ .prediv = 1, /* PREDIV */ - .mult = 40, /* MULT */ + .mult = 40, /* MULT 8 / 1 * 40 / 2 = 160Mhz */ .src = 0, /* SOURCE */ .initialize = true, /* Initialize */ .locked = false, /* LK */ diff --git a/boards/nxp/ucans32k146/uavcan_board_identity b/boards/nxp/ucans32k146/uavcan_board_identity index dd7e3fcb776f..7ff76347f8fd 100644 --- a/boards/nxp/ucans32k146/uavcan_board_identity +++ b/boards/nxp/ucans32k146/uavcan_board_identity @@ -1,6 +1,6 @@ # UAVCAN boot loadable Module ID -set(uavcanblid_sw_version_major 0) -set(uavcanblid_sw_version_minor 1) +set(uavcanblid_sw_version_major ${PX4_VERSION_MAJOR}) +set(uavcanblid_sw_version_minor ${PX4_VERSION_MINOR}) add_definitions( -DAPP_VERSION_MAJOR=${uavcanblid_sw_version_major} -DAPP_VERSION_MINOR=${uavcanblid_sw_version_minor} diff --git a/boards/omnibus/f4sd/default.px4board b/boards/omnibus/f4sd/default.px4board index ceabc36840b1..8d3c58a7f0f5 100644 --- a/boards/omnibus/f4sd/default.px4board +++ b/boards/omnibus/f4sd/default.px4board @@ -7,6 +7,7 @@ CONFIG_BOARD_SERIAL_URT6="/dev/ttyS2" CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS1" CONFIG_DRIVERS_ADC_BOARD_ADC=y CONFIG_DRIVERS_BAROMETER_BMP280=y +CONFIG_DRIVERS_CDCACM_AUTOSTART=y CONFIG_DRIVERS_DSHOT=y CONFIG_DRIVERS_GPS=y CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y @@ -22,6 +23,7 @@ CONFIG_MODULES_CONTROL_ALLOCATOR=y CONFIG_MODULES_DATAMAN=y CONFIG_MODULES_FLIGHT_MODE_MANAGER=y CONFIG_MODULES_LAND_DETECTOR=y +CONFIG_MODULES_LOAD_MON=y CONFIG_MODULES_LOGGER=y CONFIG_MODULES_MANUAL_CONTROL=y CONFIG_MODULES_MAVLINK=y @@ -32,6 +34,9 @@ CONFIG_MODULES_NAVIGATOR=y CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_SENSORS=y # CONFIG_SENSORS_VEHICLE_AIRSPEED is not set -CONFIG_MODULES_UXRCE_DDS_CLIENT=y +CONFIG_SYSTEMCMDS_DMESG=y CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y CONFIG_SYSTEMCMDS_PARAM=y +CONFIG_SYSTEMCMDS_TOP=y +CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y +CONFIG_SYSTEMCMDS_UORB=y diff --git a/boards/omnibus/f4sd/init/rc.board_defaults b/boards/omnibus/f4sd/init/rc.board_defaults index 5b492c435994..2678eae827cb 100644 --- a/boards/omnibus/f4sd/init/rc.board_defaults +++ b/boards/omnibus/f4sd/init/rc.board_defaults @@ -12,10 +12,4 @@ param set-default CBRK_SUPPLY_CHK 894281 # Disable safety switch by default param set-default CBRK_IO_SAFETY 22027 -# use the Q attitude estimator, it works w/o mag or GPS. -param set-default SYS_MC_EST_GROUP 3 -param set-default ATT_ACC_COMP 0 -param set-default ATT_W_ACC 0.4000 -param set-default ATT_W_GYRO_BIAS 0.0000 - param set-default SYS_HAS_MAG 0 diff --git a/boards/omnibus/f4sd/init/rc.board_extras b/boards/omnibus/f4sd/init/rc.board_extras index 25e6c269a85f..e3aa0d196175 100644 --- a/boards/omnibus/f4sd/init/rc.board_extras +++ b/boards/omnibus/f4sd/init/rc.board_extras @@ -7,5 +7,3 @@ if ! param compare OSD_ATXXXX_CFG 0 then atxxxx start -s fi - - diff --git a/boards/omnibus/f4sd/nuttx-config/nsh/defconfig b/boards/omnibus/f4sd/nuttx-config/nsh/defconfig index 8cdd6c1e6f17..b154c6107008 100644 --- a/boards/omnibus/f4sd/nuttx-config/nsh/defconfig +++ b/boards/omnibus/f4sd/nuttx-config/nsh/defconfig @@ -62,7 +62,7 @@ CONFIG_I2C=y CONFIG_I2C_RESET=y CONFIG_IDLETHREAD_STACKSIZE=750 CONFIG_INIT_ENTRYPOINT="nsh_main" -CONFIG_INIT_STACKSIZE=2944 +CONFIG_INIT_STACKSIZE=3194 CONFIG_LIBC_MAX_EXITFUNS=1 CONFIG_LIBC_STRERROR=y CONFIG_MEMSET_64BIT=y diff --git a/boards/px4/fmu-v2/default.px4board b/boards/px4/fmu-v2/default.px4board index 1e55f5c5a9a0..b796d1bfbf49 100644 --- a/boards/px4/fmu-v2/default.px4board +++ b/boards/px4/fmu-v2/default.px4board @@ -9,10 +9,12 @@ CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS2" CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS6" CONFIG_DRIVERS_ADC_BOARD_ADC=y CONFIG_DRIVERS_BAROMETER_MS5611=y +CONFIG_DRIVERS_CDCACM_AUTOSTART=y +CONFIG_DRIVERS_GNSS_SEPTENTRIO=y CONFIG_DRIVERS_GPS=y CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y -CONFIG_DRIVERS_IMU_L3GD20=y -CONFIG_DRIVERS_IMU_LSM303D=y +CONFIG_DRIVERS_IMU_ST_L3GD20=y +CONFIG_DRIVERS_IMU_ST_LSM303D=y CONFIG_DRIVERS_LIGHTS_RGBLED=y CONFIG_DRIVERS_MAGNETOMETER_HMC5883=y CONFIG_DRIVERS_PWM_OUT=y diff --git a/boards/px4/fmu-v2/extras/px4_io-v2_default.bin b/boards/px4/fmu-v2/extras/px4_io-v2_default.bin index 957f0f13a12e..145089ae0d7c 100755 Binary files a/boards/px4/fmu-v2/extras/px4_io-v2_default.bin and b/boards/px4/fmu-v2/extras/px4_io-v2_default.bin differ diff --git a/boards/px4/fmu-v2/init/rc.board_defaults b/boards/px4/fmu-v2/init/rc.board_defaults index e9fecd78a833..5d576dd74711 100644 --- a/boards/px4/fmu-v2/init/rc.board_defaults +++ b/boards/px4/fmu-v2/init/rc.board_defaults @@ -5,5 +5,3 @@ param set-default BAT1_V_DIV 10.177939394 param set-default BAT1_A_PER_V 15.391030303 - -param set-default SYS_USE_IO 1 diff --git a/boards/px4/fmu-v2/nuttx-config/nsh/defconfig b/boards/px4/fmu-v2/nuttx-config/nsh/defconfig index e03b0218f409..f3d181112bce 100644 --- a/boards/px4/fmu-v2/nuttx-config/nsh/defconfig +++ b/boards/px4/fmu-v2/nuttx-config/nsh/defconfig @@ -103,7 +103,7 @@ CONFIG_I2C=y CONFIG_I2C_RESET=y CONFIG_IDLETHREAD_STACKSIZE=750 CONFIG_INIT_ENTRYPOINT="nsh_main" -CONFIG_INIT_STACKSIZE=2944 +CONFIG_INIT_STACKSIZE=3194 CONFIG_LIBC_FLOATINGPOINT=y CONFIG_LIBC_LONG_LONG=y CONFIG_LIBC_MAX_EXITFUNS=1 @@ -136,6 +136,8 @@ CONFIG_PRIORITY_INHERITANCE=y CONFIG_PTHREAD_MUTEX_DEFAULT_PRIO_INHERIT=y CONFIG_PTHREAD_MUTEX_ROBUST=y CONFIG_PTHREAD_STACK_MIN=512 +CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5 +CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5 CONFIG_RAMTRON_SETSPEED=y CONFIG_RAM_SIZE=262144 CONFIG_RAM_START=0x20000000 diff --git a/boards/px4/fmu-v3/default.px4board b/boards/px4/fmu-v3/default.px4board index 74c7b0385d3b..dd4b5f9621be 100644 --- a/boards/px4/fmu-v3/default.px4board +++ b/boards/px4/fmu-v3/default.px4board @@ -11,9 +11,11 @@ CONFIG_COMMON_BAROMETERS=y CONFIG_DRIVERS_BATT_SMBUS=y CONFIG_DRIVERS_CAMERA_CAPTURE=y CONFIG_DRIVERS_CAMERA_TRIGGER=y +CONFIG_DRIVERS_CDCACM_AUTOSTART=y CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y CONFIG_COMMON_DISTANCE_SENSOR=y CONFIG_DRIVERS_DSHOT=y +CONFIG_DRIVERS_GNSS_SEPTENTRIO=y CONFIG_DRIVERS_GPS=y CONFIG_DRIVERS_HEATER=y CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=y @@ -21,8 +23,8 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM20608G=y CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y CONFIG_DRIVERS_IMU_INVENSENSE_MPU9250=y -CONFIG_DRIVERS_IMU_L3GD20=y -CONFIG_DRIVERS_IMU_LSM303D=y +CONFIG_DRIVERS_IMU_ST_L3GD20=y +CONFIG_DRIVERS_IMU_ST_LSM303D=y CONFIG_COMMON_INS=y CONFIG_DRIVERS_IRLOCK=y CONFIG_COMMON_LIGHT=y @@ -53,7 +55,7 @@ CONFIG_MODULES_FW_POS_CONTROL=y CONFIG_MODULES_FW_RATE_CONTROL=y CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_GYRO_CALIBRATION=y -CONFIG_MODULES_GYRO_FFT=y +CONFIG_MODULES_GYRO_FFT=n CONFIG_MODULES_LAND_DETECTOR=y CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y CONFIG_MODULES_LOAD_MON=y diff --git a/boards/px4/fmu-v3/extras/px4_io-v2_default.bin b/boards/px4/fmu-v3/extras/px4_io-v2_default.bin index 957f0f13a12e..145089ae0d7c 100755 Binary files a/boards/px4/fmu-v3/extras/px4_io-v2_default.bin and b/boards/px4/fmu-v3/extras/px4_io-v2_default.bin differ diff --git a/boards/px4/fmu-v3/init/rc.board_defaults b/boards/px4/fmu-v3/init/rc.board_defaults index e9fecd78a833..5d576dd74711 100644 --- a/boards/px4/fmu-v3/init/rc.board_defaults +++ b/boards/px4/fmu-v3/init/rc.board_defaults @@ -5,5 +5,3 @@ param set-default BAT1_V_DIV 10.177939394 param set-default BAT1_A_PER_V 15.391030303 - -param set-default SYS_USE_IO 1 diff --git a/boards/px4/fmu-v3/nuttx-config/nsh/defconfig b/boards/px4/fmu-v3/nuttx-config/nsh/defconfig index c836579fe466..2c9487ddaf92 100644 --- a/boards/px4/fmu-v3/nuttx-config/nsh/defconfig +++ b/boards/px4/fmu-v3/nuttx-config/nsh/defconfig @@ -108,7 +108,7 @@ CONFIG_I2C=y CONFIG_I2C_RESET=y CONFIG_IDLETHREAD_STACKSIZE=750 CONFIG_INIT_ENTRYPOINT="nsh_main" -CONFIG_INIT_STACKSIZE=2944 +CONFIG_INIT_STACKSIZE=3194 CONFIG_LIBC_LONG_LONG=y CONFIG_LIBC_MAX_EXITFUNS=1 CONFIG_LIBC_STRERROR=y @@ -141,6 +141,8 @@ CONFIG_PREALLOC_TIMERS=50 CONFIG_PRIORITY_INHERITANCE=y CONFIG_PTHREAD_MUTEX_ROBUST=y CONFIG_PTHREAD_STACK_MIN=512 +CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5 +CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5 CONFIG_RAMTRON_SETSPEED=y CONFIG_RAM_SIZE=262144 CONFIG_RAM_START=0x20000000 diff --git a/boards/px4/fmu-v4/default.px4board b/boards/px4/fmu-v4/default.px4board index f63e0618f4ac..e7906db52c85 100644 --- a/boards/px4/fmu-v4/default.px4board +++ b/boards/px4/fmu-v4/default.px4board @@ -11,9 +11,11 @@ CONFIG_COMMON_BAROMETERS=y CONFIG_DRIVERS_BATT_SMBUS=y CONFIG_DRIVERS_CAMERA_CAPTURE=y CONFIG_DRIVERS_CAMERA_TRIGGER=y +CONFIG_DRIVERS_CDCACM_AUTOSTART=y CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y CONFIG_COMMON_DISTANCE_SENSOR=y CONFIG_DRIVERS_DSHOT=y +CONFIG_DRIVERS_GNSS_SEPTENTRIO=y CONFIG_DRIVERS_GPS=y CONFIG_DRIVERS_HEATER=y CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=y @@ -54,7 +56,6 @@ CONFIG_MODULES_FW_POS_CONTROL=y CONFIG_MODULES_FW_RATE_CONTROL=y CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_GYRO_CALIBRATION=y -CONFIG_MODULES_GYRO_FFT=y CONFIG_MODULES_LAND_DETECTOR=y CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y CONFIG_MODULES_LOAD_MON=y diff --git a/boards/px4/fmu-v4/nuttx-config/nsh/defconfig b/boards/px4/fmu-v4/nuttx-config/nsh/defconfig index a8ac1b9a34f3..3566ccc30c40 100644 --- a/boards/px4/fmu-v4/nuttx-config/nsh/defconfig +++ b/boards/px4/fmu-v4/nuttx-config/nsh/defconfig @@ -107,7 +107,7 @@ CONFIG_I2C=y CONFIG_I2C_RESET=y CONFIG_IDLETHREAD_STACKSIZE=750 CONFIG_INIT_ENTRYPOINT="nsh_main" -CONFIG_INIT_STACKSIZE=2944 +CONFIG_INIT_STACKSIZE=3194 CONFIG_LIBC_LONG_LONG=y CONFIG_LIBC_MAX_EXITFUNS=1 CONFIG_LIBC_STRERROR=y @@ -140,6 +140,8 @@ CONFIG_PREALLOC_TIMERS=50 CONFIG_PRIORITY_INHERITANCE=y CONFIG_PTHREAD_MUTEX_ROBUST=y CONFIG_PTHREAD_STACK_MIN=512 +CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5 +CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5 CONFIG_RAMTRON_SETSPEED=y CONFIG_RAM_SIZE=262144 CONFIG_RAM_START=0x20000000 diff --git a/boards/px4/fmu-v4/nuttx-config/test/defconfig b/boards/px4/fmu-v4/nuttx-config/test/defconfig index aa3d5890a8a1..3c90516de3ee 100644 --- a/boards/px4/fmu-v4/nuttx-config/test/defconfig +++ b/boards/px4/fmu-v4/nuttx-config/test/defconfig @@ -108,7 +108,7 @@ CONFIG_I2C=y CONFIG_I2C_RESET=y CONFIG_IDLETHREAD_STACKSIZE=750 CONFIG_INIT_ENTRYPOINT="nsh_main" -CONFIG_INIT_STACKSIZE=2944 +CONFIG_INIT_STACKSIZE=3194 CONFIG_LIBC_LONG_LONG=y CONFIG_LIBC_MAX_EXITFUNS=1 CONFIG_LIBC_STRERROR=y @@ -141,6 +141,8 @@ CONFIG_PREALLOC_TIMERS=50 CONFIG_PRIORITY_INHERITANCE=y CONFIG_PTHREAD_MUTEX_ROBUST=y CONFIG_PTHREAD_STACK_MIN=512 +CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5 +CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5 CONFIG_RAMTRON_SETSPEED=y CONFIG_RAM_SIZE=262144 CONFIG_RAM_START=0x20000000 diff --git a/boards/px4/fmu-v4/src/usb.c b/boards/px4/fmu-v4/src/usb.c index 5791d52cb0f8..b96898bc8635 100644 --- a/boards/px4/fmu-v4/src/usb.c +++ b/boards/px4/fmu-v4/src/usb.c @@ -105,4 +105,3 @@ __EXPORT void stm32_usbsuspend(FAR struct usbdev_s *dev, bool resume) { uinfo("resume: %d\n", resume); } - diff --git a/boards/px4/fmu-v4/test.px4board b/boards/px4/fmu-v4/test.px4board index 6f18488d5ca0..c1c005f90524 100644 --- a/boards/px4/fmu-v4/test.px4board +++ b/boards/px4/fmu-v4/test.px4board @@ -1,4 +1,6 @@ CONFIG_DRIVERS_ADC_ADS1115=n +CONFIG_DRIVERS_CAMERA_CAPTURE=n +CONFIG_DRIVERS_CAMERA_TRIGGER=n CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=n CONFIG_DRIVERS_IRLOCK=n CONFIG_DRIVERS_PCA9685_PWM_OUT=n diff --git a/boards/px4/fmu-v4/uavcan_board_identity b/boards/px4/fmu-v4/uavcan_board_identity index 0905752e4958..507d3ec578d7 100644 --- a/boards/px4/fmu-v4/uavcan_board_identity +++ b/boards/px4/fmu-v4/uavcan_board_identity @@ -1,6 +1,6 @@ # UAVCAN boot loadable Module ID -set(uavcanblid_sw_version_major 0) -set(uavcanblid_sw_version_minor 1) +set(uavcanblid_sw_version_major ${PX4_VERSION_MAJOR}) +set(uavcanblid_sw_version_minor ${PX4_VERSION_MINOR}) add_definitions( -DAPP_VERSION_MAJOR=${uavcanblid_sw_version_major} -DAPP_VERSION_MINOR=${uavcanblid_sw_version_minor} diff --git a/boards/px4/fmu-v4pro/default.px4board b/boards/px4/fmu-v4pro/default.px4board index f722e649efae..ff8455c28588 100644 --- a/boards/px4/fmu-v4pro/default.px4board +++ b/boards/px4/fmu-v4pro/default.px4board @@ -12,6 +12,7 @@ CONFIG_COMMON_BAROMETERS=y CONFIG_DRIVERS_BATT_SMBUS=y CONFIG_DRIVERS_CAMERA_CAPTURE=y CONFIG_DRIVERS_CAMERA_TRIGGER=y +CONFIG_DRIVERS_CDCACM_AUTOSTART=y CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y CONFIG_COMMON_DISTANCE_SENSOR=y CONFIG_DRIVERS_DSHOT=y diff --git a/boards/px4/fmu-v4pro/extras/px4_io-v2_default.bin b/boards/px4/fmu-v4pro/extras/px4_io-v2_default.bin index 957f0f13a12e..145089ae0d7c 100755 Binary files a/boards/px4/fmu-v4pro/extras/px4_io-v2_default.bin and b/boards/px4/fmu-v4pro/extras/px4_io-v2_default.bin differ diff --git a/boards/px4/fmu-v4pro/init/rc.board_defaults b/boards/px4/fmu-v4pro/init/rc.board_defaults index 42378a19d727..8dd9df28d5a2 100644 --- a/boards/px4/fmu-v4pro/init/rc.board_defaults +++ b/boards/px4/fmu-v4pro/init/rc.board_defaults @@ -13,6 +13,4 @@ param set-default BAT2_A_PER_V 26.4 param set-default EKF2_MULTI_IMU 2 param set-default SENS_IMU_MODE 0 -param set-default SYS_USE_IO 1 - set LOGGER_BUF 64 diff --git a/boards/px4/fmu-v4pro/nuttx-config/nsh/defconfig b/boards/px4/fmu-v4pro/nuttx-config/nsh/defconfig index e8ecbaee38cf..e479b136467b 100644 --- a/boards/px4/fmu-v4pro/nuttx-config/nsh/defconfig +++ b/boards/px4/fmu-v4pro/nuttx-config/nsh/defconfig @@ -107,7 +107,7 @@ CONFIG_I2C=y CONFIG_I2C_RESET=y CONFIG_IDLETHREAD_STACKSIZE=750 CONFIG_INIT_ENTRYPOINT="nsh_main" -CONFIG_INIT_STACKSIZE=2944 +CONFIG_INIT_STACKSIZE=3194 CONFIG_LIBC_LONG_LONG=y CONFIG_LIBC_MAX_EXITFUNS=1 CONFIG_LIBC_STRERROR=y @@ -140,6 +140,8 @@ CONFIG_PREALLOC_TIMERS=50 CONFIG_PRIORITY_INHERITANCE=y CONFIG_PTHREAD_MUTEX_ROBUST=y CONFIG_PTHREAD_STACK_MIN=512 +CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5 +CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5 CONFIG_RAMTRON_SETSPEED=y CONFIG_RAM_SIZE=393216 CONFIG_RAM_START=0x20000000 diff --git a/boards/px4/fmu-v4pro/nuttx-config/test/defconfig b/boards/px4/fmu-v4pro/nuttx-config/test/defconfig index 7825cb6c630b..a1145fe284c6 100644 --- a/boards/px4/fmu-v4pro/nuttx-config/test/defconfig +++ b/boards/px4/fmu-v4pro/nuttx-config/test/defconfig @@ -108,7 +108,7 @@ CONFIG_I2C=y CONFIG_I2C_RESET=y CONFIG_IDLETHREAD_STACKSIZE=750 CONFIG_INIT_ENTRYPOINT="nsh_main" -CONFIG_INIT_STACKSIZE=2944 +CONFIG_INIT_STACKSIZE=3194 CONFIG_LIBC_LONG_LONG=y CONFIG_LIBC_MAX_EXITFUNS=1 CONFIG_LIBC_STRERROR=y @@ -141,6 +141,8 @@ CONFIG_PREALLOC_TIMERS=50 CONFIG_PRIORITY_INHERITANCE=y CONFIG_PTHREAD_MUTEX_ROBUST=y CONFIG_PTHREAD_STACK_MIN=512 +CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5 +CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5 CONFIG_RAMTRON_SETSPEED=y CONFIG_RAM_SIZE=393216 CONFIG_RAM_START=0x20000000 diff --git a/boards/px4/fmu-v4pro/src/mtd.cpp b/boards/px4/fmu-v4pro/src/mtd.cpp index 4bd93619db60..f32f1dee1d42 100644 --- a/boards/px4/fmu-v4pro/src/mtd.cpp +++ b/boards/px4/fmu-v4pro/src/mtd.cpp @@ -34,7 +34,7 @@ #include #include // KiB BS nB -static const px4_mft_device_t spi2 = { // FM25V01A on FMUM 16K +static const px4_mft_device_t spi2 = { // FM25V01A on FMUM native: 16K X 8, emulated as (512 Blocks of 32) .bus_type = px4_mft_device_t::SPI, .devid = SPIDEV_FLASH(0) }; @@ -46,7 +46,7 @@ static const px4_mtd_entry_t fmum_fram = { { .type = MTD_PARAMETERS, .path = "/fs/mtd_params", - .nblocks = 32 + .nblocks = (16384 / (1 << CONFIG_RAMTRON_EMULATE_PAGE_SHIFT)) }, }, }; diff --git a/boards/px4/fmu-v4pro/src/timer_config.cpp b/boards/px4/fmu-v4pro/src/timer_config.cpp index 5d16012f6b27..7bf538a032e8 100644 --- a/boards/px4/fmu-v4pro/src/timer_config.cpp +++ b/boards/px4/fmu-v4pro/src/timer_config.cpp @@ -49,4 +49,3 @@ constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = { constexpr io_timers_channel_mapping_t io_timers_channel_mapping = initIOTimerChannelMapping(io_timers, timer_io_channels); - diff --git a/boards/px4/fmu-v5/cryptotest.px4board b/boards/px4/fmu-v5/cryptotest.px4board index c023a5cb754c..831abbb824ab 100644 --- a/boards/px4/fmu-v5/cryptotest.px4board +++ b/boards/px4/fmu-v5/cryptotest.px4board @@ -1,5 +1,4 @@ CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n -CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n CONFIG_BOARD_CRYPTO=y CONFIG_DRIVERS_STUB_KEYSTORE=y CONFIG_DRIVERS_SW_CRYPTO=y diff --git a/boards/px4/fmu-v5/debug.px4board b/boards/px4/fmu-v5/debug.px4board index 7e590cf43a41..557590ea180f 100644 --- a/boards/px4/fmu-v5/debug.px4board +++ b/boards/px4/fmu-v5/debug.px4board @@ -22,13 +22,11 @@ CONFIG_MODULES_ESC_BATTERY=n CONFIG_MODULES_GIMBAL=n CONFIG_MODULES_GYRO_CALIBRATION=n CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=n -CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n CONFIG_MODULES_ROVER_POS_CONTROL=n CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=n CONFIG_MODULES_TEMPERATURE_COMPENSATION=n CONFIG_MODULES_UUV_ATT_CONTROL=n CONFIG_MODULES_UUV_POS_CONTROL=n -CONFIG_SYSTEMCMDS_SERIAL_TEST=n CONFIG_BOARD_CONSTRAINED_FLASH=y CONFIG_BOARD_TESTING=y CONFIG_DRIVERS_BAROMETER_MS5611=y @@ -38,10 +36,10 @@ CONFIG_DRIVERS_MAGNETOMETER_BOSCH_BMM150=y CONFIG_DRIVERS_MAGNETOMETER_HMC5883=y CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8308=y CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y -CONFIG_DRIVERS_MAGNETOMETER_LIS2MDL=y CONFIG_DRIVERS_MAGNETOMETER_LIS3MDL=y CONFIG_DRIVERS_MAGNETOMETER_LSM303AGR=y CONFIG_DRIVERS_MAGNETOMETER_QMC5883L=y CONFIG_DRIVERS_MAGNETOMETER_RM3100=y CONFIG_DRIVERS_MAGNETOMETER_VTRANTECH_VCM1193L=y CONFIG_DRIVERS_TEST_PPM=y +CONFIG_SYSTEMCMDS_SD_STRESS=y diff --git a/boards/px4/fmu-v5/default.px4board b/boards/px4/fmu-v5/default.px4board index fe8b0759c6da..1132a48bbfb4 100644 --- a/boards/px4/fmu-v5/default.px4board +++ b/boards/px4/fmu-v5/default.px4board @@ -10,6 +10,7 @@ CONFIG_COMMON_BAROMETERS=y CONFIG_DRIVERS_BATT_SMBUS=y CONFIG_DRIVERS_CAMERA_CAPTURE=y CONFIG_DRIVERS_CAMERA_TRIGGER=y +CONFIG_DRIVERS_CDCACM_AUTOSTART=y CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y CONFIG_COMMON_DISTANCE_SENSOR=y CONFIG_DRIVERS_DSHOT=y @@ -61,7 +62,6 @@ CONFIG_MODULES_GYRO_CALIBRATION=y CONFIG_MODULES_LAND_DETECTOR=y CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y CONFIG_MODULES_LOAD_MON=y -CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y CONFIG_MODULES_LOGGER=y CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y CONFIG_MODULES_MANUAL_CONTROL=y @@ -97,9 +97,6 @@ CONFIG_SYSTEMCMDS_PARAM=y CONFIG_SYSTEMCMDS_PERF=y CONFIG_SYSTEMCMDS_REBOOT=y CONFIG_SYSTEMCMDS_REFLECT=y -CONFIG_SYSTEMCMDS_SD_BENCH=y -CONFIG_SYSTEMCMDS_SD_STRESS=y -CONFIG_SYSTEMCMDS_SERIAL_TEST=y CONFIG_SYSTEMCMDS_SYSTEM_TIME=y CONFIG_SYSTEMCMDS_TOP=y CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y @@ -108,4 +105,3 @@ CONFIG_SYSTEMCMDS_UORB=y CONFIG_SYSTEMCMDS_USB_CONNECTED=y CONFIG_SYSTEMCMDS_VER=y CONFIG_SYSTEMCMDS_WORK_QUEUE=y -CONFIG_EXAMPLES_FAKE_GPS=y diff --git a/boards/px4/fmu-v5/extras/px4_io-v2_default.bin b/boards/px4/fmu-v5/extras/px4_io-v2_default.bin index 957f0f13a12e..145089ae0d7c 100755 Binary files a/boards/px4/fmu-v5/extras/px4_io-v2_default.bin and b/boards/px4/fmu-v5/extras/px4_io-v2_default.bin differ diff --git a/boards/px4/fmu-v5/init/rc.board_defaults b/boards/px4/fmu-v5/init/rc.board_defaults index 83c1976b74be..d7f8b05bd811 100644 --- a/boards/px4/fmu-v5/init/rc.board_defaults +++ b/boards/px4/fmu-v5/init/rc.board_defaults @@ -9,13 +9,6 @@ param set-default BAT2_V_DIV 18.1 param set-default BAT1_A_PER_V 36.367515152 param set-default BAT2_A_PER_V 36.367515152 -if ver hwtypecmp V5004000 V5006000 -then - param set-default SYS_USE_IO 0 -else - param set-default SYS_USE_IO 1 -fi - if ver hwtypecmp V5005000 V5005002 V5006000 V5006002 then # CUAV V5+ (V550/V552) and V5nano (V560/V562) have 3 IMUs diff --git a/boards/px4/fmu-v5/nuttx-config/cryptotest/defconfig b/boards/px4/fmu-v5/nuttx-config/cryptotest/defconfig index ff995b6cf5bb..171589b49443 100644 --- a/boards/px4/fmu-v5/nuttx-config/cryptotest/defconfig +++ b/boards/px4/fmu-v5/nuttx-config/cryptotest/defconfig @@ -113,7 +113,7 @@ CONFIG_I2C=y CONFIG_I2C_RESET=y CONFIG_IDLETHREAD_STACKSIZE=750 CONFIG_INIT_ENTRYPOINT="nsh_main" -CONFIG_INIT_STACKSIZE=2944 +CONFIG_INIT_STACKSIZE=3194 CONFIG_LIBC_FLOATINGPOINT=y CONFIG_LIBC_LONG_LONG=y CONFIG_LIBC_MAX_EXITFUNS=1 @@ -148,6 +148,8 @@ CONFIG_PREALLOC_TIMERS=50 CONFIG_PRIORITY_INHERITANCE=y CONFIG_PTHREAD_MUTEX_ROBUST=y CONFIG_PTHREAD_STACK_MIN=512 +CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5 +CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5 CONFIG_RAMTRON_SETSPEED=y CONFIG_RAM_SIZE=245760 CONFIG_RAM_START=0x20010000 diff --git a/boards/px4/fmu-v5/nuttx-config/cyphal/defconfig b/boards/px4/fmu-v5/nuttx-config/cyphal/defconfig index 9e3596c1f0d7..2c7bafc1e8b8 100644 --- a/boards/px4/fmu-v5/nuttx-config/cyphal/defconfig +++ b/boards/px4/fmu-v5/nuttx-config/cyphal/defconfig @@ -113,7 +113,7 @@ CONFIG_I2C=y CONFIG_I2C_RESET=y CONFIG_IDLETHREAD_STACKSIZE=750 CONFIG_INIT_ENTRYPOINT="nsh_main" -CONFIG_INIT_STACKSIZE=2944 +CONFIG_INIT_STACKSIZE=3194 CONFIG_LIBC_FLOATINGPOINT=y CONFIG_LIBC_LONG_LONG=y CONFIG_LIBC_MAX_EXITFUNS=1 @@ -148,6 +148,8 @@ CONFIG_PREALLOC_TIMERS=50 CONFIG_PRIORITY_INHERITANCE=y CONFIG_PTHREAD_MUTEX_ROBUST=y CONFIG_PTHREAD_STACK_MIN=512 +CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5 +CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5 CONFIG_RAMTRON_SETSPEED=y CONFIG_RAM_SIZE=245760 CONFIG_RAM_START=0x20010000 diff --git a/boards/px4/fmu-v5/nuttx-config/debug/defconfig b/boards/px4/fmu-v5/nuttx-config/debug/defconfig index 74f4ecac3c7c..08e2bb9e8a32 100644 --- a/boards/px4/fmu-v5/nuttx-config/debug/defconfig +++ b/boards/px4/fmu-v5/nuttx-config/debug/defconfig @@ -157,7 +157,7 @@ CONFIG_I2C=y CONFIG_I2C_RESET=y CONFIG_IDLETHREAD_STACKSIZE=1064 CONFIG_INIT_ENTRYPOINT="nsh_main" -CONFIG_INIT_STACKSIZE=2944 +CONFIG_INIT_STACKSIZE=3194 CONFIG_LIBC_FLOATINGPOINT=y CONFIG_LIBC_LONG_LONG=y CONFIG_LIBC_MAX_EXITFUNS=1 @@ -192,6 +192,8 @@ CONFIG_PREALLOC_TIMERS=50 CONFIG_PRIORITY_INHERITANCE=y CONFIG_PTHREAD_MUTEX_ROBUST=y CONFIG_PTHREAD_STACK_MIN=512 +CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5 +CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5 CONFIG_RAMTRON_SETSPEED=y CONFIG_RAM_SIZE=245760 CONFIG_RAM_START=0x20010000 diff --git a/boards/px4/fmu-v5/nuttx-config/nsh/defconfig b/boards/px4/fmu-v5/nuttx-config/nsh/defconfig index b0453967b2a9..ae31f2b0af6d 100644 --- a/boards/px4/fmu-v5/nuttx-config/nsh/defconfig +++ b/boards/px4/fmu-v5/nuttx-config/nsh/defconfig @@ -112,7 +112,7 @@ CONFIG_I2C=y CONFIG_I2C_RESET=y CONFIG_IDLETHREAD_STACKSIZE=750 CONFIG_INIT_ENTRYPOINT="nsh_main" -CONFIG_INIT_STACKSIZE=2944 +CONFIG_INIT_STACKSIZE=3194 CONFIG_LIBC_LONG_LONG=y CONFIG_LIBC_MAX_EXITFUNS=1 CONFIG_LIBC_STRERROR=y @@ -146,6 +146,8 @@ CONFIG_PREALLOC_TIMERS=50 CONFIG_PRIORITY_INHERITANCE=y CONFIG_PTHREAD_MUTEX_ROBUST=y CONFIG_PTHREAD_STACK_MIN=512 +CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5 +CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5 CONFIG_RAMTRON_SETSPEED=y CONFIG_RAM_SIZE=245760 CONFIG_RAM_START=0x20010000 diff --git a/boards/px4/fmu-v5/nuttx-config/protected/defconfig b/boards/px4/fmu-v5/nuttx-config/protected/defconfig index 1902014e3b08..7733599a7f79 100644 --- a/boards/px4/fmu-v5/nuttx-config/protected/defconfig +++ b/boards/px4/fmu-v5/nuttx-config/protected/defconfig @@ -115,7 +115,7 @@ CONFIG_I2C=y CONFIG_I2C_RESET=y CONFIG_IDLETHREAD_STACKSIZE=750 CONFIG_INIT_ENTRYPOINT="px4_entry" -CONFIG_INIT_STACKSIZE=2944 +CONFIG_INIT_STACKSIZE=3194 CONFIG_LIBC_FLOATINGPOINT=y CONFIG_LIBC_LONG_LONG=y CONFIG_LIBC_MAX_EXITFUNS=1 @@ -152,6 +152,8 @@ CONFIG_PREALLOC_TIMERS=50 CONFIG_PRIORITY_INHERITANCE=y CONFIG_PTHREAD_MUTEX_ROBUST=y CONFIG_PTHREAD_STACK_MIN=512 +CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5 +CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5 CONFIG_RAMTRON_SETSPEED=y CONFIG_RAM_SIZE=245760 CONFIG_RAM_START=0x20010000 diff --git a/boards/px4/fmu-v5/nuttx-config/stackcheck/defconfig b/boards/px4/fmu-v5/nuttx-config/stackcheck/defconfig index c5450ab1f4f9..8435ec217bce 100644 --- a/boards/px4/fmu-v5/nuttx-config/stackcheck/defconfig +++ b/boards/px4/fmu-v5/nuttx-config/stackcheck/defconfig @@ -112,11 +112,10 @@ CONFIG_I2C=y CONFIG_I2C_RESET=y CONFIG_IDLETHREAD_STACKSIZE=878 CONFIG_INIT_ENTRYPOINT="nsh_main" -CONFIG_INIT_STACKSIZE=2944 +CONFIG_INIT_STACKSIZE=3194 CONFIG_LIBC_FLOATINGPOINT=y CONFIG_LIBC_LONG_LONG=y CONFIG_LIBC_MAX_EXITFUNS=1 -CONFIG_LIBC_STRERROR=y CONFIG_MEMSET_64BIT=y CONFIG_MEMSET_OPTSPEED=y CONFIG_MMCSD=y @@ -139,7 +138,6 @@ CONFIG_NSH_NESTDEPTH=8 CONFIG_NSH_QUOTE=y CONFIG_NSH_ROMFSETC=y CONFIG_NSH_ROMFSSECTSIZE=128 -CONFIG_NSH_STRERROR=y CONFIG_NSH_VARS=y CONFIG_OTG_ID_GPIO_DISABLE=y CONFIG_PIPES=y @@ -147,6 +145,8 @@ CONFIG_PREALLOC_TIMERS=50 CONFIG_PRIORITY_INHERITANCE=y CONFIG_PTHREAD_MUTEX_ROBUST=y CONFIG_PTHREAD_STACK_MIN=512 +CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5 +CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5 CONFIG_RAMTRON_SETSPEED=y CONFIG_RAM_SIZE=245760 CONFIG_RAM_START=0x20010000 diff --git a/boards/px4/fmu-v5/nuttx-config/test/defconfig b/boards/px4/fmu-v5/nuttx-config/test/defconfig index 357c5b29b635..21babe66f6b7 100644 --- a/boards/px4/fmu-v5/nuttx-config/test/defconfig +++ b/boards/px4/fmu-v5/nuttx-config/test/defconfig @@ -112,7 +112,7 @@ CONFIG_I2C=y CONFIG_I2C_RESET=y CONFIG_IDLETHREAD_STACKSIZE=750 CONFIG_INIT_ENTRYPOINT="nsh_main" -CONFIG_INIT_STACKSIZE=2944 +CONFIG_INIT_STACKSIZE=3194 CONFIG_LIBC_LONG_LONG=y CONFIG_LIBC_MAX_EXITFUNS=1 CONFIG_LIBC_STRERROR=y @@ -146,6 +146,8 @@ CONFIG_PREALLOC_TIMERS=50 CONFIG_PRIORITY_INHERITANCE=y CONFIG_PTHREAD_MUTEX_ROBUST=y CONFIG_PTHREAD_STACK_MIN=512 +CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5 +CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5 CONFIG_RAMTRON_SETSPEED=y CONFIG_RAM_SIZE=245760 CONFIG_RAM_START=0x20010000 diff --git a/boards/px4/fmu-v5/protected.px4board b/boards/px4/fmu-v5/protected.px4board index de913d6ac8f2..7ea307124c37 100644 --- a/boards/px4/fmu-v5/protected.px4board +++ b/boards/px4/fmu-v5/protected.px4board @@ -6,11 +6,11 @@ CONFIG_COMMON_OPTICAL_FLOW=n CONFIG_COMMON_TELEMETRY=n CONFIG_DRIVERS_CAMERA_CAPTURE=n CONFIG_DRIVERS_CAMERA_TRIGGER=n +CONFIG_DRIVERS_CDCACM_AUTOSTART=n CONFIG_DRIVERS_IRLOCK=n CONFIG_DRIVERS_PCA9685_PWM_OUT=n CONFIG_DRIVERS_PWM_INPUT=n CONFIG_DRIVERS_UAVCAN=n -CONFIG_EXAMPLES_FAKE_GPS=n CONFIG_MODULES_AIRSPEED_SELECTOR=n CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n CONFIG_MODULES_CAMERA_FEEDBACK=n @@ -18,7 +18,6 @@ CONFIG_MODULES_ESC_BATTERY=n CONFIG_MODULES_FW_ATT_CONTROL=n CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n CONFIG_MODULES_FW_POS_CONTROL=n -CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n CONFIG_MODULES_ROVER_POS_CONTROL=n CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=n CONFIG_MODULES_TEMPERATURE_COMPENSATION=n @@ -35,9 +34,6 @@ CONFIG_SYSTEMCMDS_LED_CONTROL=n CONFIG_SYSTEMCMDS_MTD=n CONFIG_SYSTEMCMDS_NSHTERM=n CONFIG_SYSTEMCMDS_REFLECT=n -CONFIG_SYSTEMCMDS_SD_BENCH=n -CONFIG_SYSTEMCMDS_SD_STRESS=n -CONFIG_SYSTEMCMDS_SERIAL_TEST=n CONFIG_SYSTEMCMDS_SYSTEM_TIME=n CONFIG_SYSTEMCMDS_USB_CONNECTED=n CONFIG_BOARD_PROTECTED=y diff --git a/boards/px4/fmu-v5/rover.px4board b/boards/px4/fmu-v5/rover.px4board new file mode 100644 index 000000000000..07bfbe094121 --- /dev/null +++ b/boards/px4/fmu-v5/rover.px4board @@ -0,0 +1,22 @@ +CONFIG_DRIVERS_IRLOCK=n +CONFIG_MODULES_AIRSPEED_SELECTOR=n +CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n +CONFIG_MODULES_FLIGHT_MODE_MANAGER=n +CONFIG_MODULES_FW_ATT_CONTROL=n +CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n +CONFIG_MODULES_FW_POS_CONTROL=n +CONFIG_MODULES_FW_RATE_CONTROL=n +CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=n +CONFIG_MODULES_MC_ATT_CONTROL=n +CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n +CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n +CONFIG_MODULES_MC_POS_CONTROL=n +CONFIG_MODULES_MC_RATE_CONTROL=n +CONFIG_MODULES_UUV_ATT_CONTROL=n +CONFIG_MODULES_UUV_POS_CONTROL=n +CONFIG_MODULES_VTOL_ATT_CONTROL=n +CONFIG_EKF2_AUX_GLOBAL_POSITION=y +# CONFIG_EKF2_WIND is not set +CONFIG_MODULES_ROVER_DIFFERENTIAL=y +CONFIG_MODULES_ROVER_ACKERMANN=y +CONFIG_DRIVERS_ROBOCLAW=y diff --git a/boards/px4/fmu-v5/stackcheck.px4board b/boards/px4/fmu-v5/stackcheck.px4board index fb10b4c77ab3..03acb1eef06f 100644 --- a/boards/px4/fmu-v5/stackcheck.px4board +++ b/boards/px4/fmu-v5/stackcheck.px4board @@ -3,6 +3,8 @@ CONFIG_COMMON_BAROMETERS=n CONFIG_COMMON_DIFFERENTIAL_PRESSURE=n CONFIG_COMMON_DISTANCE_SENSOR=n CONFIG_COMMON_HYGROMETERS=n +CONFIG_COMMON_OSD=n +CONFIG_COMMON_RC=n CONFIG_COMMON_TELEMETRY=n CONFIG_DRIVERS_ADC_ADS1115=n CONFIG_DRIVERS_BATT_SMBUS=n @@ -18,8 +20,8 @@ CONFIG_DRIVERS_PCA9685_PWM_OUT=n CONFIG_DRIVERS_POWER_MONITOR_INA226=n CONFIG_DRIVERS_PWM_INPUT=n CONFIG_DRIVERS_SMART_BATTERY_BATMON=n +CONFIG_DRIVERS_TONE_ALARM=n CONFIG_DRIVERS_UAVCAN=n -CONFIG_EXAMPLES_FAKE_GPS=n CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n CONFIG_MODULES_CAMERA_FEEDBACK=n CONFIG_MODULES_ESC_BATTERY=n @@ -27,7 +29,6 @@ CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n CONFIG_MODULES_GIMBAL=n CONFIG_MODULES_GYRO_CALIBRATION=n CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=n -CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n CONFIG_MODULES_ROVER_POS_CONTROL=n CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=n @@ -35,7 +36,6 @@ CONFIG_MODULES_TEMPERATURE_COMPENSATION=n CONFIG_MODULES_UUV_ATT_CONTROL=n CONFIG_MODULES_UUV_POS_CONTROL=n CONFIG_SYSTEMCMDS_REFLECT=n -CONFIG_SYSTEMCMDS_SERIAL_TEST=n CONFIG_BOARD_CONSTRAINED_FLASH=y CONFIG_BOARD_TESTING=y CONFIG_DRIVERS_BAROMETER_MS5611=y diff --git a/boards/px4/fmu-v5/test.px4board b/boards/px4/fmu-v5/test.px4board index c716e8ea4437..ea3fa6bf0b06 100644 --- a/boards/px4/fmu-v5/test.px4board +++ b/boards/px4/fmu-v5/test.px4board @@ -1,12 +1,20 @@ +# CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE is not set +CONFIG_COMMON_HYGROMETERS=n +CONFIG_COMMON_OSD=n CONFIG_DRIVERS_ADC_ADS1115=n +CONFIG_DRIVERS_BATT_SMBUS=n +CONFIG_DRIVERS_CAMERA_CAPTURE=n +CONFIG_DRIVERS_CAMERA_TRIGGER=n CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=n CONFIG_DRIVERS_IRLOCK=n CONFIG_DRIVERS_PCA9685_PWM_OUT=n -CONFIG_EXAMPLES_FAKE_GPS=n +CONFIG_DRIVERS_UAVCAN=n CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n -CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n +CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n CONFIG_MODULES_ROVER_POS_CONTROL=n CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=n CONFIG_BOARD_TESTING=y CONFIG_DRIVERS_TEST_PPM=y CONFIG_SYSTEMCMDS_MICROBENCH=y +CONFIG_SYSTEMCMDS_SD_STRESS=y +CONFIG_SYSTEMCMDS_SERIAL_TEST=y diff --git a/boards/px4/fmu-v5/uavcanv0periph.px4board b/boards/px4/fmu-v5/uavcanv0periph.px4board index 70e35abd44f4..7b89c5f0c9bf 100644 --- a/boards/px4/fmu-v5/uavcanv0periph.px4board +++ b/boards/px4/fmu-v5/uavcanv0periph.px4board @@ -12,12 +12,10 @@ CONFIG_DRIVERS_IRLOCK=n CONFIG_DRIVERS_PCA9685_PWM_OUT=n CONFIG_DRIVERS_PWM_INPUT=n CONFIG_DRIVERS_SMART_BATTERY_BATMON=n -CONFIG_EXAMPLES_FAKE_GPS=n CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n CONFIG_MODULES_CAMERA_FEEDBACK=n CONFIG_MODULES_ESC_BATTERY=n CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n -CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n CONFIG_MODULES_ROVER_POS_CONTROL=n CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=n @@ -31,9 +29,6 @@ CONFIG_SYSTEMCMDS_GPIO=n CONFIG_SYSTEMCMDS_I2CDETECT=n CONFIG_SYSTEMCMDS_LED_CONTROL=n CONFIG_SYSTEMCMDS_REFLECT=n -CONFIG_SYSTEMCMDS_SD_BENCH=n -CONFIG_SYSTEMCMDS_SD_STRESS=n -CONFIG_SYSTEMCMDS_SERIAL_TEST=n CONFIG_SYSTEMCMDS_SYSTEM_TIME=n CONFIG_SYSTEMCMDS_TOPIC_LISTENER=n CONFIG_BOARD_UAVCAN_PERIPHERALS="cuav_can-gps-v1_default" diff --git a/boards/px4/fmu-v5x/cmake/upload.cmake b/boards/px4/fmu-v5x/cmake/upload.cmake new file mode 100644 index 000000000000..e5c23c3e1c4a --- /dev/null +++ b/boards/px4/fmu-v5x/cmake/upload.cmake @@ -0,0 +1,49 @@ +############################################################################ +# +# Copyright (c) 2020 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + + +set(PX4_FW_NAME ${PX4_BINARY_DIR}/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_${PX4_BOARD_LABEL}.px4) + +add_custom_target(upload_skynode_usb + COMMAND ${PX4_SOURCE_DIR}/Tools/auterion/upload_skynode.sh --file=${PX4_FW_NAME} + DEPENDS ${PX4_FW_NAME} + COMMENT "Uploading PX4" + USES_TERMINAL +) + +add_custom_target(upload_skynode_wifi + COMMAND ${PX4_SOURCE_DIR}/Tools/auterion/upload_skynode.sh --file=${PX4_FW_NAME} --wifi + DEPENDS ${PX4_FW_NAME} + COMMENT "Uploading PX4" + USES_TERMINAL +) diff --git a/boards/px4/fmu-v5x/default.px4board b/boards/px4/fmu-v5x/default.px4board index 5c662fbca8b0..a48b0956876b 100644 --- a/boards/px4/fmu-v5x/default.px4board +++ b/boards/px4/fmu-v5x/default.px4board @@ -14,9 +14,11 @@ CONFIG_DRIVERS_BAROMETER_MS5611=y CONFIG_DRIVERS_BATT_SMBUS=y CONFIG_DRIVERS_CAMERA_CAPTURE=y CONFIG_DRIVERS_CAMERA_TRIGGER=y +CONFIG_DRIVERS_CDCACM_AUTOSTART=y CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y CONFIG_COMMON_DISTANCE_SENSOR=y CONFIG_DRIVERS_DSHOT=y +CONFIG_DRIVERS_GPIO_MCP23009=y CONFIG_DRIVERS_GPS=y CONFIG_DRIVERS_HEATER=y CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=y @@ -32,10 +34,11 @@ CONFIG_DRIVERS_IRLOCK=y CONFIG_COMMON_LIGHT=y CONFIG_COMMON_MAGNETOMETER=y CONFIG_COMMON_OPTICAL_FLOW=y -CONFIG_COMMON_OSD=y +CONFIG_DRIVERS_OSD_MSP_OSD=y CONFIG_DRIVERS_POWER_MONITOR_INA226=y CONFIG_DRIVERS_POWER_MONITOR_INA228=y CONFIG_DRIVERS_POWER_MONITOR_INA238=y +CONFIG_DRIVERS_POWER_MONITOR_PM_SELECTOR_AUTERION=y CONFIG_DRIVERS_PWM_OUT=y CONFIG_DRIVERS_PX4IO=y CONFIG_COMMON_RC=y @@ -68,15 +71,16 @@ CONFIG_MODULES_LOGGER=y CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y CONFIG_MODULES_MANUAL_CONTROL=y CONFIG_MODULES_MAVLINK=y +CONFIG_MAVLINK_DIALECT="development" CONFIG_MODULES_MC_ATT_CONTROL=y CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y CONFIG_MODULES_MC_POS_CONTROL=y CONFIG_MODULES_MC_RATE_CONTROL=y CONFIG_MODULES_NAVIGATOR=y +CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF=y CONFIG_MODULES_PAYLOAD_DELIVERER=y CONFIG_MODULES_RC_UPDATE=y -CONFIG_MODULES_ROVER_POS_CONTROL=y CONFIG_MODULES_SENSORS=y CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y @@ -97,9 +101,7 @@ CONFIG_SYSTEMCMDS_NSHTERM=y CONFIG_SYSTEMCMDS_PARAM=y CONFIG_SYSTEMCMDS_PERF=y CONFIG_SYSTEMCMDS_REBOOT=y -CONFIG_SYSTEMCMDS_REFLECT=y CONFIG_SYSTEMCMDS_SD_BENCH=y -CONFIG_SYSTEMCMDS_SD_STRESS=y CONFIG_SYSTEMCMDS_SYSTEM_TIME=y CONFIG_SYSTEMCMDS_TOP=y CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y diff --git a/boards/px4/fmu-v5x/extras/px4_io-v2_default.bin b/boards/px4/fmu-v5x/extras/px4_io-v2_default.bin index 957f0f13a12e..145089ae0d7c 100755 Binary files a/boards/px4/fmu-v5x/extras/px4_io-v2_default.bin and b/boards/px4/fmu-v5x/extras/px4_io-v2_default.bin differ diff --git a/boards/px4/fmu-v5x/init/rc.board_defaults b/boards/px4/fmu-v5x/init/rc.board_defaults index ba812e4b7bfd..e0381e98867a 100644 --- a/boards/px4/fmu-v5x/init/rc.board_defaults +++ b/boards/px4/fmu-v5x/init/rc.board_defaults @@ -3,19 +3,36 @@ # board specific defaults #------------------------------------------------------------------------------ -# Mavlink ethernet (CFG 1000) -param set-default MAV_2_CONFIG 1000 -param set-default MAV_2_BROADCAST 1 -param set-default MAV_2_MODE 0 -param set-default MAV_2_RADIO_CTL 0 -param set-default MAV_2_RATE 100000 -param set-default MAV_2_REMOTE_PRT 14550 -param set-default MAV_2_UDP_PRT 14550 - param set-default SENS_EN_INA238 0 param set-default SENS_EN_INA228 0 param set-default SENS_EN_INA226 1 -param set-default SYS_USE_IO 1 +if ver hwbasecmp 008 009 00a 010 011 +then + # Skynode: use the "custom participant", IP=10.41.10.1 config for uxrce_dds_client + param set-default UXRCE_DDS_PTCFG 2 + param set-default UXRCE_DDS_AG_IP 170461697 + param set-default UXRCE_DDS_CFG 1000 +else + # Mavlink ethernet (CFG 1000) + param set-default MAV_2_CONFIG 1000 + param set-default MAV_2_BROADCAST 1 + param set-default MAV_2_MODE 0 + param set-default MAV_2_RADIO_CTL 0 + param set-default MAV_2_RATE 100000 + param set-default MAV_2_REMOTE_PRT 14550 + param set-default MAV_2_UDP_PRT 14550 +fi safety_button start + +# GPIO Expander driver on external I2C3 +if ver hwbasecmp 009 +then + # No USB + mcp23009 start -b 3 -X -D 0xf0 -O 0xf0 -P 0x0f -U 10 +fi +if ver hwbasecmp 00a 008 +then + mcp23009 start -b 3 -X -D 0xf1 -O 0xf0 -P 0x0f -U 10 +fi diff --git a/boards/px4/fmu-v5x/init/rc.board_mavlink b/boards/px4/fmu-v5x/init/rc.board_mavlink index dad84376ce73..1c85ceff4fe1 100644 --- a/boards/px4/fmu-v5x/init/rc.board_mavlink +++ b/boards/px4/fmu-v5x/init/rc.board_mavlink @@ -3,8 +3,11 @@ # board specific MAVLink startup script. #------------------------------------------------------------------------------ -if ver hwtypecmp V5X009000 V5X009001 V5X00a000 V5X00a001 V5X008000 V5X008001 V5X010001 +if ver hwbasecmp 008 009 00a 010 011 then # Start MAVLink on the UART connected to the mission computer mavlink start -d /dev/ttyS4 -b 3000000 -r 290000 -m onboard_low_bandwidth -x -z + + # Ensure nothing else starts on TEL2 (ttyS4) + set PRT_TEL2_ 1 fi diff --git a/boards/px4/fmu-v5x/init/rc.board_sensors b/boards/px4/fmu-v5x/init/rc.board_sensors index 4f7c1d078de5..1a0f426db6f4 100644 --- a/boards/px4/fmu-v5x/init/rc.board_sensors +++ b/boards/px4/fmu-v5x/init/rc.board_sensors @@ -5,7 +5,7 @@ set HAVE_PM2 yes -if ver hwtypecmp V5X005000 V5X005001 V5X005002 +if mft query -q -k MFT -s MFT_PM2 -v 0 then set HAVE_PM2 no fi @@ -49,51 +49,53 @@ then fi fi -if ver hwtypecmp V5X000000 V5X000001 V5X000002 V5X001000 V5X004000 V5X004001 V5X004002 V5X005001 V5X005002 +if ver hwbasecmp 008 009 00a 010 011 then - #FMUv5Xbase board orientation + #SKYNODE base fmu board orientation - if ver hwtypecmp V5X000000 V5X000001 V5X004000 V5X004001 V5X005001 + if ver hwtypecmp V5X000 V5X001 then # Internal SPI BMI088 - bmi088 -A -R 4 -s start - bmi088 -G -R 4 -s start + bmi088 -A -R 2 -s start + bmi088 -G -R 2 -s start else # Internal SPI bus ICM20649 - icm20649 -s -R 6 start + icm20649 -s -R 4 start fi # Internal SPI bus ICM42688p - icm42688p -R 6 -s start + icm42688p -R 4 -s start # Internal SPI bus ICM-20602 (hard-mounted) - icm20602 -R 10 -s start + icm20602 -R 8 -s start # Internal magnetometer on I2c - bmm150 -I start + bmm150 -I -R 6 start + + # Auto start power monitors + pm_selector_auterion start else - #SKYNODE base fmu board orientation + #FMUv5Xbase board orientation - if ver hwtypecmp V5X009000 V5X009001 V5X00a000 V5X00a001 V5X008000 V5X008001 V5X010001 + if ver hwtypecmp V5X000 V5X001 then # Internal SPI BMI088 - bmi088 -A -R 2 -s start - bmi088 -G -R 2 -s start + bmi088 -A -R 4 -s start + bmi088 -G -R 4 -s start else # Internal SPI bus ICM20649 - icm20649 -s -R 4 start + icm20649 -s -R 6 start fi # Internal SPI bus ICM42688p - icm42688p -R 4 -s start + icm42688p -R 6 -s start # Internal SPI bus ICM-20602 (hard-mounted) - icm20602 -R 8 -s start + icm20602 -R 10 -s start # Internal magnetometer on I2c - bmm150 -I -R 6 start - + bmm150 -I start fi # External compass on GPS1/I2C1 (the 3rd external bus): standard Holybro Pixhawk 4 or CUAV V5 GPS/compass puck (with lights, safety button, and buzzer) @@ -105,7 +107,7 @@ ist8310 -X -b 1 -R 10 start if param compare SENS_INT_BARO_EN 1 then bmp388 -I -a 0x77 start - if ver hwtypecmp V5X000000 V5X001000 V5X008000 V5X009000 V5X00a000 + if ver hwtypecmp V5X000 then bmp388 -I start else diff --git a/boards/px4/fmu-v5x/nuttx-config/nsh/defconfig b/boards/px4/fmu-v5x/nuttx-config/nsh/defconfig index 5de6af261f5f..cfb7af2bd252 100644 --- a/boards/px4/fmu-v5x/nuttx-config/nsh/defconfig +++ b/boards/px4/fmu-v5x/nuttx-config/nsh/defconfig @@ -117,7 +117,7 @@ CONFIG_I2C=y CONFIG_I2C_RESET=y CONFIG_IDLETHREAD_STACKSIZE=750 CONFIG_INIT_ENTRYPOINT="nsh_main" -CONFIG_INIT_STACKSIZE=2944 +CONFIG_INIT_STACKSIZE=3194 CONFIG_IOB_NBUFFERS=24 CONFIG_IOB_THROTTLE=0 CONFIG_IPCFG_BINARY=y @@ -143,8 +143,8 @@ CONFIG_NETDB_DNSSERVER_NOADDR=y CONFIG_NETDEV_PHY_IOCTL=y CONFIG_NETINIT_DHCPC=y CONFIG_NETINIT_DNS=y -CONFIG_NETINIT_DNSIPADDR=0XC0A800FE -CONFIG_NETINIT_DRIPADDR=0XC0A800FE +CONFIG_NETINIT_DNSIPADDR=0xA290AFE +CONFIG_NETINIT_DRIPADDR=0xA290AFE CONFIG_NETINIT_MONITOR=y CONFIG_NETINIT_THREAD=y CONFIG_NETINIT_THREAD_PRIORITY=49 @@ -185,6 +185,8 @@ CONFIG_PREALLOC_TIMERS=50 CONFIG_PRIORITY_INHERITANCE=y CONFIG_PTHREAD_MUTEX_ROBUST=y CONFIG_PTHREAD_STACK_MIN=512 +CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5 +CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5 CONFIG_RAMTRON_SETSPEED=y CONFIG_RAM_SIZE=245760 CONFIG_RAM_START=0x20010000 diff --git a/boards/px4/fmu-v5x/nuttx-config/test/defconfig b/boards/px4/fmu-v5x/nuttx-config/test/defconfig index 2b8361d3276e..3261d4700c33 100644 --- a/boards/px4/fmu-v5x/nuttx-config/test/defconfig +++ b/boards/px4/fmu-v5x/nuttx-config/test/defconfig @@ -116,7 +116,7 @@ CONFIG_I2C=y CONFIG_I2C_RESET=y CONFIG_IDLETHREAD_STACKSIZE=750 CONFIG_INIT_ENTRYPOINT="nsh_main" -CONFIG_INIT_STACKSIZE=2944 +CONFIG_INIT_STACKSIZE=3194 CONFIG_IOB_NBUFFERS=24 CONFIG_IOB_THROTTLE=0 CONFIG_IPCFG_BINARY=y @@ -143,8 +143,8 @@ CONFIG_NETDB_DNSSERVER_NOADDR=y CONFIG_NETDEV_PHY_IOCTL=y CONFIG_NETINIT_DHCPC=y CONFIG_NETINIT_DNS=y -CONFIG_NETINIT_DNSIPADDR=0XC0A800FE -CONFIG_NETINIT_DRIPADDR=0XC0A800FE +CONFIG_NETINIT_DNSIPADDR=0xA290AFE +CONFIG_NETINIT_DRIPADDR=0xA290AFE CONFIG_NETINIT_THREAD=y CONFIG_NETINIT_THREAD_PRIORITY=49 CONFIG_NETUTILS_TELNETD=y @@ -183,6 +183,8 @@ CONFIG_PREALLOC_TIMERS=50 CONFIG_PRIORITY_INHERITANCE=y CONFIG_PTHREAD_MUTEX_ROBUST=y CONFIG_PTHREAD_STACK_MIN=512 +CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5 +CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5 CONFIG_RAMTRON_SETSPEED=y CONFIG_RAM_SIZE=245760 CONFIG_RAM_START=0x20010000 diff --git a/boards/px4/fmu-v5x/rover.px4board b/boards/px4/fmu-v5x/rover.px4board new file mode 100644 index 000000000000..4a4458c2e6bc --- /dev/null +++ b/boards/px4/fmu-v5x/rover.px4board @@ -0,0 +1,19 @@ +CONFIG_DRIVERS_IRLOCK=n +CONFIG_MODULES_AIRSPEED_SELECTOR=n +CONFIG_MODULES_FLIGHT_MODE_MANAGER=n +CONFIG_MODULES_FW_ATT_CONTROL=n +CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n +CONFIG_MODULES_FW_POS_CONTROL=n +CONFIG_MODULES_FW_RATE_CONTROL=n +CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=n +CONFIG_MODULES_MC_ATT_CONTROL=n +CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n +CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n +CONFIG_MODULES_MC_POS_CONTROL=n +CONFIG_MODULES_MC_RATE_CONTROL=n +CONFIG_MODULES_VTOL_ATT_CONTROL=n +CONFIG_EKF2_AUX_GLOBAL_POSITION=y +# CONFIG_EKF2_WIND is not set +CONFIG_MODULES_ROVER_DIFFERENTIAL=y +CONFIG_MODULES_ROVER_ACKERMANN=y +CONFIG_DRIVERS_ROBOCLAW=y diff --git a/boards/px4/fmu-v5x/src/CMakeLists.txt b/boards/px4/fmu-v5x/src/CMakeLists.txt index 684b11736eda..311b7c9be8c9 100644 --- a/boards/px4/fmu-v5x/src/CMakeLists.txt +++ b/boards/px4/fmu-v5x/src/CMakeLists.txt @@ -36,7 +36,6 @@ add_library(drivers_board i2c.cpp init.cpp led.c - manifest.c mtd.cpp sdio.c spi.cpp diff --git a/boards/px4/fmu-v5x/src/board_config.h b/boards/px4/fmu-v5x/src/board_config.h index 281c769f2646..2fe1654b65f5 100644 --- a/boards/px4/fmu-v5x/src/board_config.h +++ b/boards/px4/fmu-v5x/src/board_config.h @@ -179,31 +179,17 @@ /* HW Version and Revision drive signals Default to 1 to detect */ -#define BOARD_HAS_HW_VERSIONING +#define BOARD_HAS_HW_SPLIT_VERSIONING #define GPIO_HW_VER_REV_DRIVE /* PG0 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN0) #define GPIO_HW_REV_SENSE /* PF5 */ ADC3_GPIO(15) #define GPIO_HW_VER_SENSE /* PF4 */ ADC3_GPIO(14) #define HW_INFO_INIT_PREFIX "V5X" -#define BOARD_NUM_SPI_CFG_HW_VERSIONS 7 -// Base FMUM -#define V5X00 HW_VER_REV(0x0,0x0) // FMUV5X, Rev 0 -#define V5X10 HW_VER_REV(0x1,0x0) // NO PX4IO, Rev 0 -#define V5X01 HW_VER_REV(0x0,0x1) // FMUV5X I2C2 BMP388, Rev 1 -#define V5X02 HW_VER_REV(0x0,0x2) // FMUV5X, Rev 2 -#define V5X40 HW_VER_REV(0x4,0x0) // FMUV5X, HB CM4 base Rev 0 -#define V5X41 HW_VER_REV(0x4,0x1) // FMUV5X I2C2 BMP388, HB CM4 base Rev 1 -#define V5X42 HW_VER_REV(0x4,0x2) // FMUV5X, HB CM4 base Rev 2 -#define V5X50 HW_VER_REV(0x5,0x0) // FMUV5X, HB Mini Rev 0 -#define V5X51 HW_VER_REV(0x5,0x1) // FMUV5X I2C2 BMP388, HB Mini Rev 1 -#define V5X52 HW_VER_REV(0x5,0x2) // FMUV5X, HB Mini Rev 2 -#define V5X90 HW_VER_REV(0x9,0x0) // NO USB, Rev 0 -#define V5X91 HW_VER_REV(0x9,0x1) // NO USB I2C2 BMP388, Rev 1 -#define V5X92 HW_VER_REV(0x9,0x2) // NO USB I2C2 BMP388, Rev 2 -#define V5Xa0 HW_VER_REV(0xa,0x0) // NO USB (Q), Rev 0 -#define V5Xa1 HW_VER_REV(0xa,0x1) // NO USB (Q) I2C2 BMP388, Rev 1 -#define V5Xa2 HW_VER_REV(0xa,0x2) // NO USB (Q) I2C2 BMP388, Rev 2 -#define V5X101 HW_VER_REV(0x10,0x1) // NO USB (Q) I2C2 BMP388, Rev 1 +#define BOARD_NUM_SPI_CFG_HW_VERSIONS 3 + +#define V5X_0 HW_FMUM_ID(0x0) // FMUV5X, Auterion FMUv5x RC13 (baro2 BMP388 on I2C4) Sensor Set Rev 0 +#define V5X_1 HW_FMUM_ID(0x1) // FMUV5X, Auterion, HB FMUv5x RC15 (baro2 BMP388 on I2C2) Sensor Set Rev 1 +#define V5X_2 HW_FMUM_ID(0x2) // FMUV5X, HB FMUv5x Sensor Set Rev 2 #define UAVCAN_NUM_IFACES_RUNTIME 1 @@ -250,8 +236,8 @@ #define GPIO_VDD_3V3_SD_CARD_EN /* PC13 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13) /* MCP23009 GPIO expander */ -#define BOARD_GPIO_VDD_5V_COMP_VALID "/dev/gpin4" -#define BOARD_GPIO_VDD_5V_CAN1_GPS1_VALID "/dev/gpin5" +#define BOARD_GPIO_VDD_5V_COMP_VALID "/dev/gpio4" +#define BOARD_GPIO_VDD_5V_CAN1_GPS1_VALID "/dev/gpio5" /* Spare GPIO */ diff --git a/boards/px4/fmu-v5x/src/init.cpp b/boards/px4/fmu-v5x/src/init.cpp index a6606761db52..5987f66ffa91 100644 --- a/boards/px4/fmu-v5x/src/init.cpp +++ b/boards/px4/fmu-v5x/src/init.cpp @@ -264,8 +264,9 @@ __EXPORT int board_app_initialize(uintptr_t arg) led_on(LED_RED); } + int ret; #ifdef CONFIG_MMCSD - int ret = stm32_sdio_initialize(); + ret = stm32_sdio_initialize(); if (ret != OK) { led_on(LED_RED); @@ -274,30 +275,11 @@ __EXPORT int board_app_initialize(uintptr_t arg) #endif /* CONFIG_MMCSD */ - int hw_version = board_get_hw_version(); - - if (hw_version == 0x9 || hw_version == 0xa) { - static MCP23009 mcp23009{3, 0x25}; - - // No USB - if (hw_version == 0x9) { - // < P8 - ret = mcp23009.init(0xf0, 0xf0, 0x0f); - // >= P8 - //ret = mcp23009.init(0xf1, 0xf0, 0x0f); - } - - if (hw_version == 0xa) { - // < P6 - //ret = mcp23009.init(0xf0, 0xf0, 0x0f); - // >= P6 - ret = mcp23009.init(0xf1, 0xf0, 0x0f); - } - - if (ret != OK) { - led_on(LED_RED); - return ret; - } + ret = mcp23009_register_gpios(3, 0x25); + + if (ret != OK) { + led_on(LED_RED); + return ret; } return OK; diff --git a/boards/px4/fmu-v5x/src/manifest.c b/boards/px4/fmu-v5x/src/manifest.c deleted file mode 100644 index 56f0009f5000..000000000000 --- a/boards/px4/fmu-v5x/src/manifest.c +++ /dev/null @@ -1,222 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2018-2021 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file manifest.c - * - * This module supplies the interface to the manifest of hardware that is - * optional and dependent on the HW REV and HW VER IDs - * - * The manifest allows the system to know whether a hardware option - * say for example the PX4IO is an no-pop option vs it is broken. - * - */ - -/**************************************************************************** - * Included Files - ****************************************************************************/ - -#include -#include - -#include -#include -#include - -#include "systemlib/px4_macros.h" - -/**************************************************************************** - * Pre-Processor Definitions - ****************************************************************************/ - -typedef struct { - uint32_t hw_ver_rev; /* the version and revision */ - const px4_hw_mft_item_t *mft; /* The first entry */ - uint32_t entries; /* the lenght of the list */ -} px4_hw_mft_list_entry_t; - -typedef px4_hw_mft_list_entry_t *px4_hw_mft_list_entry; -#define px4_hw_mft_list_uninitialized (px4_hw_mft_list_entry) -1 - -static const px4_hw_mft_item_t device_unsupported = {0, 0, 0}; - -// List of components on a specific board configuration -// The index of those components is given by the enum (px4_hw_mft_item_id_t) -// declared in board_common.h -static const px4_hw_mft_item_t hw_mft_list_v0500[] = { - { - // PX4_MFT_PX4IO - .present = 1, - .mandatory = 1, - .connection = px4_hw_con_onboard, - }, - { - // PX4_MFT_USB - .present = 1, - .mandatory = 1, - .connection = px4_hw_con_onboard, - }, - { - // PX4_MFT_CAN2 - .present = 1, - .mandatory = 1, - .connection = px4_hw_con_onboard, - }, -}; - -static const px4_hw_mft_item_t hw_mft_list_v0550[] = { - { - // PX4_MFT_PX4IO - .present = 1, - .mandatory = 1, - .connection = px4_hw_con_onboard, - }, - { - // PX4_MFT_USB - .present = 1, - .mandatory = 1, - .connection = px4_hw_con_onboard, - }, - { - // PX4_MFT_CAN2 - .present = 0, - .mandatory = 0, - .connection = px4_hw_con_unknown, - }, -}; - -static const px4_hw_mft_item_t hw_mft_list_v0510[] = { - { - // PX4_MFT_PX4IO - .present = 0, - .mandatory = 0, - .connection = px4_hw_con_unknown, - }, - { - // PX4_MFT_USB - .present = 1, - .mandatory = 1, - .connection = px4_hw_con_onboard, - }, - { - // PX4_MFT_CAN2 - .present = 1, - .mandatory = 1, - .connection = px4_hw_con_onboard, - }, -}; - -static const px4_hw_mft_item_t hw_mft_list_v0509[] = { - { - // PX4_MFT_PX4IO - .present = 1, - .mandatory = 1, - .connection = px4_hw_con_onboard, - }, - { - // PX4_MFT_USB - .present = 0, - .mandatory = 0, - .connection = px4_hw_con_unknown, - }, - { - // PX4_MFT_CAN2 - .present = 1, - .mandatory = 1, - .connection = px4_hw_con_onboard, - }, -}; - -static px4_hw_mft_list_entry_t mft_lists[] = { -// ver_rev - {V5X00, hw_mft_list_v0500, arraySize(hw_mft_list_v0500)}, // FMUV5X, Rev 0 - {V5X01, hw_mft_list_v0500, arraySize(hw_mft_list_v0500)}, // FMUV5X, Rev 1 - {V5X02, hw_mft_list_v0500, arraySize(hw_mft_list_v0500)}, // FMUV5X, Rev 2 - {V5X10, hw_mft_list_v0510, arraySize(hw_mft_list_v0510)}, // NO PX4IO, Rev 0 - {V5X41, hw_mft_list_v0500, arraySize(hw_mft_list_v0500)}, // FMUV5X, HB CM4 base Rev 1 - {V5X42, hw_mft_list_v0500, arraySize(hw_mft_list_v0500)}, // FMUV5X, HB CM4 base Rev 2 - {V5X51, hw_mft_list_v0550, arraySize(hw_mft_list_v0550)}, // FMUV5X, HB Mini Rev 1 - {V5X52, hw_mft_list_v0550, arraySize(hw_mft_list_v0550)}, // FMUV5X, HB Mini Rev 2 - {V5X90, hw_mft_list_v0509, arraySize(hw_mft_list_v0509)}, // NO USB, Rev 0 - {V5X91, hw_mft_list_v0509, arraySize(hw_mft_list_v0509)}, // NO USB I2C2 BMP388, Rev 1 - {V5X92, hw_mft_list_v0509, arraySize(hw_mft_list_v0509)}, // NO USB I2C2 BMP388, Rev 2 - {V5Xa0, hw_mft_list_v0509, arraySize(hw_mft_list_v0509)}, // NO USB (Q), Rev 0 - {V5Xa1, hw_mft_list_v0509, arraySize(hw_mft_list_v0509)}, // NO USB (Q) I2C2 BMP388, Rev 1 - {V5Xa2, hw_mft_list_v0509, arraySize(hw_mft_list_v0509)}, // NO USB (Q) I2C2 BMP388, Rev 2 - {V5X101, hw_mft_list_v0509, arraySize(hw_mft_list_v0509)}, // NO USB I2C2 BMP388, Rev 1 -}; - -/************************************************************************************ - * Name: board_query_manifest - * - * Description: - * Optional returns manifest item. - * - * Input Parameters: - * manifest_id - the ID for the manifest item to retrieve - * - * Returned Value: - * 0 - item is not in manifest => assume legacy operations - * pointer to a manifest item - * - ************************************************************************************/ - -__EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id) -{ - static px4_hw_mft_list_entry boards_manifest = px4_hw_mft_list_uninitialized; - - if (boards_manifest == px4_hw_mft_list_uninitialized) { - uint32_t ver_rev = board_get_hw_version() << 16; - ver_rev |= board_get_hw_revision(); - - for (unsigned i = 0; i < arraySize(mft_lists); i++) { - if (mft_lists[i].hw_ver_rev == ver_rev) { - boards_manifest = &mft_lists[i]; - break; - } - } - - if (boards_manifest == px4_hw_mft_list_uninitialized) { - syslog(LOG_ERR, "[boot] Board %08" PRIx32 " is not supported!\n", ver_rev); - } - } - - px4_hw_mft_item rv = &device_unsupported; - - if (boards_manifest != px4_hw_mft_list_uninitialized && - id < boards_manifest->entries) { - rv = &boards_manifest->mft[id]; - } - - return rv; -} diff --git a/boards/px4/fmu-v5x/src/mtd.cpp b/boards/px4/fmu-v5x/src/mtd.cpp index fc1e97d2c8b1..8e57555eacad 100644 --- a/boards/px4/fmu-v5x/src/mtd.cpp +++ b/boards/px4/fmu-v5x/src/mtd.cpp @@ -31,10 +31,13 @@ * ****************************************************************************/ +#include +#include + #include #include // KiB BS nB -static const px4_mft_device_t spi5 = { // FM25V02A on FMUM 32K 512 X 64 +static const px4_mft_device_t spi5 = { // FM25V02A on FMUM native: 32K X 8, emulated as (1024 Blocks of 32) .bus_type = px4_mft_device_t::SPI, .devid = SPIDEV_FLASH(0) }; @@ -50,18 +53,12 @@ static const px4_mft_device_t i2c4 = { // 24LC64T on IMU 8K 32 X 2 static const px4_mtd_entry_t fmum_fram = { .device = &spi5, - .npart = 2, + .npart = 1, .partd = { { .type = MTD_PARAMETERS, .path = "/fs/mtd_params", - .nblocks = 32 - }, - { - .type = MTD_WAYPOINTS, - .path = "/fs/mtd_waypoints", - .nblocks = 32 - + .nblocks = (32768 / (1 << CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT)) } }, }; @@ -120,10 +117,16 @@ static const px4_mft_entry_s mtd_mft = { .pmft = (void *) &board_mtd_config, }; +static const px4_mft_entry_s mft_mft = { + .type = MFT, + .pmft = (void *) system_query_manifest, +}; + static const px4_mft_s mft = { - .nmft = 1, + .nmft = 2, .mfts = { - &mtd_mft + &mtd_mft, + &mft_mft, } }; diff --git a/boards/px4/fmu-v5x/src/spi.cpp b/boards/px4/fmu-v5x/src/spi.cpp index 8fa378ee5d4d..dd6bfbb25e1e 100644 --- a/boards/px4/fmu-v5x/src/spi.cpp +++ b/boards/px4/fmu-v5x/src/spi.cpp @@ -36,7 +36,7 @@ #include constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSIONS] = { - initSPIHWVersion(V5X00, { + initSPIFmumID(V5X_0, { initSPIBus(SPI::Bus::SPI1, { initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}), }, {GPIO::PortI, GPIO::Pin11}), @@ -60,7 +60,7 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION }), }), - initSPIHWVersion(V5X01, { + initSPIFmumID(V5X_1, { initSPIBus(SPI::Bus::SPI1, { initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}), }, {GPIO::PortI, GPIO::Pin11}), @@ -84,7 +84,7 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION }), }), - initSPIHWVersion(V5X02, { + initSPIFmumID(V5X_2, { initSPIBus(SPI::Bus::SPI1, { initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}), }, {GPIO::PortI, GPIO::Pin11}), @@ -107,99 +107,6 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION }), }), - initSPIHWVersion(V5X41, { - initSPIBus(SPI::Bus::SPI1, { - initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}), - }, {GPIO::PortI, GPIO::Pin11}), - initSPIBus(SPI::Bus::SPI2, { - initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortH, GPIO::Pin12}), - }, {GPIO::PortD, GPIO::Pin15}), - initSPIBus(SPI::Bus::SPI3, { - initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortI, GPIO::Pin8}, SPI::DRDY{GPIO::PortI, GPIO::Pin7}), - initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortI, GPIO::Pin4}), - }, {GPIO::PortE, GPIO::Pin7}), - // initSPIBus(SPI::Bus::SPI4, { - // // no devices - // TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h - // }, {GPIO::PortG, GPIO::Pin8}), - initSPIBus(SPI::Bus::SPI5, { - initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7}) - }), - initSPIBusExternal(SPI::Bus::SPI6, { - initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin10}, SPI::DRDY{GPIO::PortD, GPIO::Pin11}), - initSPIConfigExternal(SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortD, GPIO::Pin12}), - }), - }), - - initSPIHWVersion(V5X42, { - initSPIBus(SPI::Bus::SPI1, { - initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}), - }, {GPIO::PortI, GPIO::Pin11}), - initSPIBus(SPI::Bus::SPI2, { - initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortH, GPIO::Pin12}), - }, {GPIO::PortD, GPIO::Pin15}), - initSPIBus(SPI::Bus::SPI3, { - initSPIDevice(DRV_IMU_DEVTYPE_ICM20649, SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortI, GPIO::Pin7}), - }, {GPIO::PortE, GPIO::Pin7}), - // initSPIBus(SPI::Bus::SPI4, { - // // no devices - // TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h - // }, {GPIO::PortG, GPIO::Pin8}), - initSPIBus(SPI::Bus::SPI5, { - initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7}) - }), - initSPIBusExternal(SPI::Bus::SPI6, { - initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin10}, SPI::DRDY{GPIO::PortD, GPIO::Pin11}), - initSPIConfigExternal(SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortD, GPIO::Pin12}), - }), - }), - - initSPIHWVersion(V5X51, { - initSPIBus(SPI::Bus::SPI1, { - initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}), - }, {GPIO::PortI, GPIO::Pin11}), - initSPIBus(SPI::Bus::SPI2, { - initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortH, GPIO::Pin12}), - }, {GPIO::PortD, GPIO::Pin15}), - initSPIBus(SPI::Bus::SPI3, { - initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortI, GPIO::Pin8}, SPI::DRDY{GPIO::PortI, GPIO::Pin7}), - initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortI, GPIO::Pin4}), - }, {GPIO::PortE, GPIO::Pin7}), - // initSPIBus(SPI::Bus::SPI4, { - // // no devices - // TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h - // }, {GPIO::PortG, GPIO::Pin8}), - initSPIBus(SPI::Bus::SPI5, { - initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7}) - }), - initSPIBusExternal(SPI::Bus::SPI6, { - initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin10}, SPI::DRDY{GPIO::PortD, GPIO::Pin11}), - initSPIConfigExternal(SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortD, GPIO::Pin12}), - }), - }), - - initSPIHWVersion(V5X52, { - initSPIBus(SPI::Bus::SPI1, { - initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}), - }, {GPIO::PortI, GPIO::Pin11}), - initSPIBus(SPI::Bus::SPI2, { - initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortH, GPIO::Pin12}), - }, {GPIO::PortD, GPIO::Pin15}), - initSPIBus(SPI::Bus::SPI3, { - initSPIDevice(DRV_IMU_DEVTYPE_ICM20649, SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortI, GPIO::Pin7}), - }, {GPIO::PortE, GPIO::Pin7}), - // initSPIBus(SPI::Bus::SPI4, { - // // no devices - // TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h - // }, {GPIO::PortG, GPIO::Pin8}), - initSPIBus(SPI::Bus::SPI5, { - initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7}) - }), - initSPIBusExternal(SPI::Bus::SPI6, { - initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin10}, SPI::DRDY{GPIO::PortD, GPIO::Pin11}), - initSPIConfigExternal(SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortD, GPIO::Pin12}), - }), - }), }; static constexpr bool unused = validateSPIConfig(px4_spi_buses_all_hw); diff --git a/boards/px4/fmu-v5x/test.px4board b/boards/px4/fmu-v5x/test.px4board index 0b1517d173f1..9440ac8b271e 100644 --- a/boards/px4/fmu-v5x/test.px4board +++ b/boards/px4/fmu-v5x/test.px4board @@ -2,11 +2,15 @@ CONFIG_COMMON_DISTANCE_SENSOR=n CONFIG_COMMON_INS=n CONFIG_COMMON_TELEMETRY=n CONFIG_DRIVERS_ADC_ADS1115=n +CONFIG_DRIVERS_CAMERA_CAPTURE=n +CONFIG_DRIVERS_CAMERA_TRIGGER=n CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=n CONFIG_DRIVERS_IRLOCK=n +CONFIG_MODULES_DIFFERENTIAL_DRIVE=n CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n -CONFIG_MODULES_ROVER_POS_CONTROL=n +CONFIG_MODULES_PAYLOAD_DELIVERER=n +CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=n CONFIG_BOARD_TESTING=y CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_LASER_SERIAL=y CONFIG_DRIVERS_TEST_PPM=y diff --git a/boards/px4/fmu-v6c/default.px4board b/boards/px4/fmu-v6c/default.px4board index 94957c269281..adae635537e7 100644 --- a/boards/px4/fmu-v6c/default.px4board +++ b/boards/px4/fmu-v6c/default.px4board @@ -10,12 +10,14 @@ CONFIG_DRIVERS_BAROMETER_MS5611=y CONFIG_DRIVERS_BATT_SMBUS=y CONFIG_DRIVERS_CAMERA_CAPTURE=y CONFIG_DRIVERS_CAMERA_TRIGGER=y +CONFIG_DRIVERS_CDCACM_AUTOSTART=y CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y CONFIG_COMMON_DISTANCE_SENSOR=y CONFIG_DRIVERS_DSHOT=y CONFIG_DRIVERS_GPS=y CONFIG_DRIVERS_HEATER=y CONFIG_DRIVERS_IMU_BOSCH_BMI055=y +CONFIG_DRIVERS_IMU_BOSCH_BMI088=y CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y CONFIG_COMMON_INS=y CONFIG_COMMON_LIGHT=y @@ -46,7 +48,6 @@ CONFIG_MODULES_FW_POS_CONTROL=y CONFIG_MODULES_FW_RATE_CONTROL=y CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_GYRO_CALIBRATION=y -CONFIG_MODULES_GYRO_FFT=y CONFIG_MODULES_LAND_DETECTOR=y CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y CONFIG_MODULES_LOAD_MON=y diff --git a/boards/px4/fmu-v6c/extras/px4_fmu-v6c_bootloader.bin b/boards/px4/fmu-v6c/extras/px4_fmu-v6c_bootloader.bin index 21cc353f8ac8..b6b75bb868c9 100755 Binary files a/boards/px4/fmu-v6c/extras/px4_fmu-v6c_bootloader.bin and b/boards/px4/fmu-v6c/extras/px4_fmu-v6c_bootloader.bin differ diff --git a/boards/px4/fmu-v6c/extras/px4_io-v2_default.bin b/boards/px4/fmu-v6c/extras/px4_io-v2_default.bin index 957f0f13a12e..145089ae0d7c 100755 Binary files a/boards/px4/fmu-v6c/extras/px4_io-v2_default.bin and b/boards/px4/fmu-v6c/extras/px4_io-v2_default.bin differ diff --git a/boards/px4/fmu-v6c/init/rc.board_defaults b/boards/px4/fmu-v6c/init/rc.board_defaults index 6418e5836d8b..f7dd26972135 100644 --- a/boards/px4/fmu-v6c/init/rc.board_defaults +++ b/boards/px4/fmu-v6c/init/rc.board_defaults @@ -9,5 +9,3 @@ param set-default BAT2_V_DIV 18.1 param set-default BAT1_A_PER_V 36.367515152 param set-default BAT2_A_PER_V 36.367515152 - -param set-default SYS_USE_IO 1 diff --git a/boards/px4/fmu-v6c/init/rc.board_sensors b/boards/px4/fmu-v6c/init/rc.board_sensors index f7ee065c06ec..634afade5f32 100644 --- a/boards/px4/fmu-v6c/init/rc.board_sensors +++ b/boards/px4/fmu-v6c/init/rc.board_sensors @@ -4,9 +4,16 @@ #------------------------------------------------------------------------------ board_adc start -# Internal SPI bus BMI055 accel/gyro -bmi055 -A -R 4 -s start -bmi055 -G -R 4 -s start +if ver hwtypecmp V6C000002 V6C002002 +then + # Internal SPI BMI088 accel/gyro + bmi088 -A -R 4 -s start + bmi088 -G -R 4 -s start +else + # Internal SPI bus BMI055 accel/gyro + bmi055 -A -R 4 -s start + bmi055 -G -R 4 -s start +fi # Internal SPI bus ICM42688p icm42688p -R 6 -s start diff --git a/boards/px4/fmu-v6c/nuttx-config/bootloader/defconfig b/boards/px4/fmu-v6c/nuttx-config/bootloader/defconfig index d3a1497dd567..a5269376c671 100644 --- a/boards/px4/fmu-v6c/nuttx-config/bootloader/defconfig +++ b/boards/px4/fmu-v6c/nuttx-config/bootloader/defconfig @@ -48,7 +48,7 @@ CONFIG_HAVE_CXX=y CONFIG_HAVE_CXXINITIALIZE=y CONFIG_IDLETHREAD_STACKSIZE=750 CONFIG_INIT_ENTRYPOINT="bootloader_main" -CONFIG_INIT_STACKSIZE=2944 +CONFIG_INIT_STACKSIZE=3194 CONFIG_LIBC_FLOATINGPOINT=y CONFIG_LIBC_LONG_LONG=y CONFIG_LIBC_STRERROR=y diff --git a/boards/px4/fmu-v6c/nuttx-config/include/board.h b/boards/px4/fmu-v6c/nuttx-config/include/board.h index 8042d466a7bb..4b4b128cf2ba 100644 --- a/boards/px4/fmu-v6c/nuttx-config/include/board.h +++ b/boards/px4/fmu-v6c/nuttx-config/include/board.h @@ -246,9 +246,15 @@ #define STM32_RCC_D2CCIP2R_USBSRC RCC_D2CCIP2R_USBSEL_PLL3 +/* UART clock selection */ +/* reset to default to overwrite any changes done by any bootloader */ + +#define STM32_RCC_D2CCIP2R_USART234578_SEL RCC_D2CCIP2R_USART234578SEL_RCC +#define STM32_RCC_D2CCIP2R_USART16_SEL RCC_D2CCIP2R_USART16SEL_RCC + /* ADC 1 2 3 clock source */ -#define STM32_RCC_D3CCIPR_ADCSEL RCC_D3CCIPR_ADCSEL_PLL2 +#define STM32_RCC_D3CCIPR_ADCSRC RCC_D3CCIPR_ADCSEL_PLL2 /* FDCAN 1 2 clock source */ diff --git a/boards/px4/fmu-v6c/nuttx-config/nsh/defconfig b/boards/px4/fmu-v6c/nuttx-config/nsh/defconfig index 78963cf69989..9e051bd1f90c 100644 --- a/boards/px4/fmu-v6c/nuttx-config/nsh/defconfig +++ b/boards/px4/fmu-v6c/nuttx-config/nsh/defconfig @@ -112,7 +112,7 @@ CONFIG_I2C=y CONFIG_I2C_RESET=y CONFIG_IDLETHREAD_STACKSIZE=750 CONFIG_INIT_ENTRYPOINT="nsh_main" -CONFIG_INIT_STACKSIZE=2944 +CONFIG_INIT_STACKSIZE=3194 CONFIG_IOB_NBUFFERS=24 CONFIG_IOB_NCHAINS=24 CONFIG_LIBC_FLOATINGPOINT=y @@ -151,6 +151,8 @@ CONFIG_PREALLOC_TIMERS=50 CONFIG_PRIORITY_INHERITANCE=y CONFIG_PTHREAD_MUTEX_ROBUST=y CONFIG_PTHREAD_STACK_MIN=512 +CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5 +CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5 CONFIG_RAMTRON_SETSPEED=y CONFIG_RAM_SIZE=245760 CONFIG_RAM_START=0x20010000 diff --git a/boards/px4/fmu-v6c/rover.px4board b/boards/px4/fmu-v6c/rover.px4board new file mode 100644 index 000000000000..7ded4008d8af --- /dev/null +++ b/boards/px4/fmu-v6c/rover.px4board @@ -0,0 +1,18 @@ +CONFIG_MODULES_AIRSPEED_SELECTOR=n +CONFIG_MODULES_FLIGHT_MODE_MANAGER=n +CONFIG_MODULES_FW_ATT_CONTROL=n +CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n +CONFIG_MODULES_FW_POS_CONTROL=n +CONFIG_MODULES_FW_RATE_CONTROL=n +CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=n +CONFIG_MODULES_MC_ATT_CONTROL=n +CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n +CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n +CONFIG_MODULES_MC_POS_CONTROL=n +CONFIG_MODULES_MC_RATE_CONTROL=n +CONFIG_MODULES_VTOL_ATT_CONTROL=n +CONFIG_EKF2_AUX_GLOBAL_POSITION=y +# CONFIG_EKF2_WIND is not set +CONFIG_MODULES_ROVER_DIFFERENTIAL=y +CONFIG_MODULES_ROVER_ACKERMANN=y +CONFIG_DRIVERS_ROBOCLAW=y diff --git a/boards/px4/fmu-v6c/src/board_config.h b/boards/px4/fmu-v6c/src/board_config.h index 8d06af6dd106..87806d3ed7ba 100644 --- a/boards/px4/fmu-v6c/src/board_config.h +++ b/boards/px4/fmu-v6c/src/board_config.h @@ -141,14 +141,15 @@ #define GPIO_HW_VER_SENSE /* PC1 */ GPIO_ADC123_INP11 #define HW_INFO_INIT_PREFIX "V6C" -#define BOARD_NUM_SPI_CFG_HW_VERSIONS 3 // Rev 0, 10 and Mini Sensor sets +#define BOARD_NUM_SPI_CFG_HW_VERSIONS 5 // Rev 0, 10 and Mini Sensor sets // Base/FMUM #define V6C00 HW_VER_REV(0x0,0x0) // FMUV6C, Rev 0 I2C4 External but with Internal devices #define V6C01 HW_VER_REV(0x0,0x1) // FMUV6C, Rev 1 I2C4 Internal I2C2 External +#define V6C02 HW_VER_REV(0x0,0x2) // FMUV6C, Rev 2 I2C4 Internal I2C2 External,BMI088+ICM-42688P #define V6C10 HW_VER_REV(0x1,0x0) // NO PX4IO, Rev 0 I2C4 External but with Internal devices #define V6C11 HW_VER_REV(0x1,0x1) // NO PX4IO, Rev 1 I2C4 Internal I2C2 External #define V6C21 HW_VER_REV(0x2,0x1) // FMUV6CMini, Rev 1 I2C4 Internal I2C2 External - +#define V6C22 HW_VER_REV(0x2,0x2) // FMUV6CMini, Rev 2 I2C4 Internal I2C2 External,BMI088+ICM-42688P /* HEATER * PWM in future diff --git a/boards/px4/fmu-v6c/src/manifest.c b/boards/px4/fmu-v6c/src/manifest.c index 4a0401bca34f..8cc048f49f37 100644 --- a/boards/px4/fmu-v6c/src/manifest.c +++ b/boards/px4/fmu-v6c/src/manifest.c @@ -104,9 +104,11 @@ static px4_hw_mft_list_entry_t mft_lists[] = { // ver_rev {V6C00, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // Rev 0 {V6C01, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // Rev 1 + {V6C02, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // Rev 2 {V6C10, hw_mft_list_v0610, arraySize(hw_mft_list_v0610)}, // Rev 0 No PX4IO {V6C11, hw_mft_list_v0610, arraySize(hw_mft_list_v0610)}, // Rev 1 No PX4IO {V6C21, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // Rev 1 MINI + {V6C22, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // Rev 2 MINI }; /************************************************************************************ diff --git a/boards/px4/fmu-v6c/src/mtd.cpp b/boards/px4/fmu-v6c/src/mtd.cpp index b315ff399d09..5efe7bac64fe 100644 --- a/boards/px4/fmu-v6c/src/mtd.cpp +++ b/boards/px4/fmu-v6c/src/mtd.cpp @@ -34,7 +34,7 @@ #include #include // KiB BS nB -static const px4_mft_device_t spi2 = { // FM25V02A on FMUM 32K 512 X 64 +static const px4_mft_device_t spi2 = { // FM25V02A on FMUM native: 32K X 8, emulated as (1024 Blocks of 32) .bus_type = px4_mft_device_t::SPI, .devid = SPIDEV_FLASH(0) }; @@ -47,18 +47,12 @@ static const px4_mft_device_t i2c4 = { // 24LC64T on IMU 8K 32 X 2 static const px4_mtd_entry_t fmum_fram = { .device = &spi2, - .npart = 2, + .npart = 1, .partd = { { .type = MTD_PARAMETERS, .path = "/fs/mtd_params", - .nblocks = 32 - }, - { - .type = MTD_WAYPOINTS, - .path = "/fs/mtd_waypoints", - .nblocks = 32 - + .nblocks = (32768 / (1 << CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT)) } }, }; diff --git a/boards/px4/fmu-v6c/src/spi.cpp b/boards/px4/fmu-v6c/src/spi.cpp index 1cf3ecee8273..4f5180705772 100644 --- a/boards/px4/fmu-v6c/src/spi.cpp +++ b/boards/px4/fmu-v6c/src/spi.cpp @@ -56,6 +56,16 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortD, GPIO::Pin4}) }), }), + initSPIHWVersion(V6C02, { + initSPIBus(SPI::Bus::SPI1, { + initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortC, GPIO::Pin14}, SPI::DRDY{GPIO::PortE, GPIO::Pin5}), + initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortC, GPIO::Pin15}, SPI::DRDY{GPIO::PortE, GPIO::Pin4}), + initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortC, GPIO::Pin13}, SPI::DRDY{GPIO::PortE, GPIO::Pin6}), + }, {GPIO::PortB, GPIO::Pin2}), + initSPIBus(SPI::Bus::SPI2, { + initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortD, GPIO::Pin4}) + }), + }), initSPIHWVersion(V6C21, { initSPIBus(SPI::Bus::SPI1, { initSPIDevice(DRV_GYR_DEVTYPE_BMI055, SPI::CS{GPIO::PortC, GPIO::Pin14}, SPI::DRDY{GPIO::PortE, GPIO::Pin5}), @@ -66,6 +76,16 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortD, GPIO::Pin4}) }), }), + initSPIHWVersion(V6C22, { + initSPIBus(SPI::Bus::SPI1, { + initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortC, GPIO::Pin14}, SPI::DRDY{GPIO::PortE, GPIO::Pin5}), + initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortC, GPIO::Pin15}, SPI::DRDY{GPIO::PortE, GPIO::Pin4}), + initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortC, GPIO::Pin13}, SPI::DRDY{GPIO::PortE, GPIO::Pin6}), + }, {GPIO::PortB, GPIO::Pin2}), + initSPIBus(SPI::Bus::SPI2, { + initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortD, GPIO::Pin4}) + }), + }), }; static constexpr bool unused = validateSPIConfig(px4_spi_buses_all_hw); diff --git a/boards/px4/fmu-v6u/default.px4board b/boards/px4/fmu-v6u/default.px4board index 50b4f6ba3d1d..e733dccc35fc 100644 --- a/boards/px4/fmu-v6u/default.px4board +++ b/boards/px4/fmu-v6u/default.px4board @@ -11,6 +11,7 @@ CONFIG_COMMON_BAROMETERS=y CONFIG_DRIVERS_BATT_SMBUS=y CONFIG_DRIVERS_CAMERA_CAPTURE=y CONFIG_DRIVERS_CAMERA_TRIGGER=y +CONFIG_DRIVERS_CDCACM_AUTOSTART=y CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y CONFIG_COMMON_DISTANCE_SENSOR=y CONFIG_DRIVERS_DSHOT=y diff --git a/boards/px4/fmu-v6u/extras/px4_fmu-v6u_bootloader.bin b/boards/px4/fmu-v6u/extras/px4_fmu-v6u_bootloader.bin index f5b0a7e5008e..60bbe67ae126 100755 Binary files a/boards/px4/fmu-v6u/extras/px4_fmu-v6u_bootloader.bin and b/boards/px4/fmu-v6u/extras/px4_fmu-v6u_bootloader.bin differ diff --git a/boards/px4/fmu-v6u/nuttx-config/bootloader/defconfig b/boards/px4/fmu-v6u/nuttx-config/bootloader/defconfig index 745b5874135b..0ca6729cfa71 100644 --- a/boards/px4/fmu-v6u/nuttx-config/bootloader/defconfig +++ b/boards/px4/fmu-v6u/nuttx-config/bootloader/defconfig @@ -48,7 +48,7 @@ CONFIG_HAVE_CXX=y CONFIG_HAVE_CXXINITIALIZE=y CONFIG_IDLETHREAD_STACKSIZE=750 CONFIG_INIT_ENTRYPOINT="bootloader_main" -CONFIG_INIT_STACKSIZE=2944 +CONFIG_INIT_STACKSIZE=3194 CONFIG_LIBC_FLOATINGPOINT=y CONFIG_LIBC_LONG_LONG=y CONFIG_LIBC_STRERROR=y diff --git a/boards/px4/fmu-v6u/nuttx-config/include/board.h b/boards/px4/fmu-v6u/nuttx-config/include/board.h index a82a7bf098a8..826c5df337b4 100644 --- a/boards/px4/fmu-v6u/nuttx-config/include/board.h +++ b/boards/px4/fmu-v6u/nuttx-config/include/board.h @@ -248,7 +248,7 @@ /* ADC 1 2 3 clock source */ -#define STM32_RCC_D3CCIPR_ADCSEL RCC_D3CCIPR_ADCSEL_PLL2 +#define STM32_RCC_D3CCIPR_ADCSRC RCC_D3CCIPR_ADCSEL_PLL2 /* CAN FD clock source */ #define STM32_FDCANCLK STM32_HSE_FREQUENCY diff --git a/boards/px4/fmu-v6u/nuttx-config/nsh/defconfig b/boards/px4/fmu-v6u/nuttx-config/nsh/defconfig index f716ae6932c2..40513352ae58 100644 --- a/boards/px4/fmu-v6u/nuttx-config/nsh/defconfig +++ b/boards/px4/fmu-v6u/nuttx-config/nsh/defconfig @@ -112,7 +112,7 @@ CONFIG_I2C=y CONFIG_I2C_RESET=y CONFIG_IDLETHREAD_STACKSIZE=750 CONFIG_INIT_ENTRYPOINT="nsh_main" -CONFIG_INIT_STACKSIZE=2944 +CONFIG_INIT_STACKSIZE=3194 CONFIG_IOB_NBUFFERS=24 CONFIG_IOB_NCHAINS=24 CONFIG_LIBC_FLOATINGPOINT=y @@ -151,6 +151,8 @@ CONFIG_PREALLOC_TIMERS=50 CONFIG_PRIORITY_INHERITANCE=y CONFIG_PTHREAD_MUTEX_ROBUST=y CONFIG_PTHREAD_STACK_MIN=512 +CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5 +CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5 CONFIG_RAMTRON_SETSPEED=y CONFIG_RAM_SIZE=245760 CONFIG_RAM_START=0x20010000 diff --git a/boards/px4/fmu-v6u/rover.px4board b/boards/px4/fmu-v6u/rover.px4board new file mode 100644 index 000000000000..7ded4008d8af --- /dev/null +++ b/boards/px4/fmu-v6u/rover.px4board @@ -0,0 +1,18 @@ +CONFIG_MODULES_AIRSPEED_SELECTOR=n +CONFIG_MODULES_FLIGHT_MODE_MANAGER=n +CONFIG_MODULES_FW_ATT_CONTROL=n +CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n +CONFIG_MODULES_FW_POS_CONTROL=n +CONFIG_MODULES_FW_RATE_CONTROL=n +CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=n +CONFIG_MODULES_MC_ATT_CONTROL=n +CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n +CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n +CONFIG_MODULES_MC_POS_CONTROL=n +CONFIG_MODULES_MC_RATE_CONTROL=n +CONFIG_MODULES_VTOL_ATT_CONTROL=n +CONFIG_EKF2_AUX_GLOBAL_POSITION=y +# CONFIG_EKF2_WIND is not set +CONFIG_MODULES_ROVER_DIFFERENTIAL=y +CONFIG_MODULES_ROVER_ACKERMANN=y +CONFIG_DRIVERS_ROBOCLAW=y diff --git a/boards/px4/fmu-v6u/src/mtd.cpp b/boards/px4/fmu-v6u/src/mtd.cpp index 644b96581dff..48a5bd334c6a 100644 --- a/boards/px4/fmu-v6u/src/mtd.cpp +++ b/boards/px4/fmu-v6u/src/mtd.cpp @@ -34,25 +34,19 @@ #include #include // KiB BS nB -static const px4_mft_device_t spi5 = { // FM25V02A on FMUM 32K 512 X 64 +static const px4_mft_device_t spi5 = { // FM25V02A on FMUM native: 32K X 8, emulated as (1024 Blocks of 32) .bus_type = px4_mft_device_t::SPI, .devid = SPIDEV_FLASH(0) }; static const px4_mtd_entry_t fmum_fram = { .device = &spi5, - .npart = 2, + .npart = 1, .partd = { { .type = MTD_PARAMETERS, .path = "/fs/mtd_params", - .nblocks = 32 - }, - { - .type = MTD_WAYPOINTS, - .path = "/fs/mtd_waypoints", - .nblocks = 32 - + .nblocks = (32768 / (1 << CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT)) } }, }; diff --git a/boards/px4/fmu-v6x/cmake/upload.cmake b/boards/px4/fmu-v6x/cmake/upload.cmake new file mode 100644 index 000000000000..7319b46df3b5 --- /dev/null +++ b/boards/px4/fmu-v6x/cmake/upload.cmake @@ -0,0 +1,49 @@ +############################################################################ +# +# Copyright (c) 2023 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + + +set(PX4_FW_NAME ${PX4_BINARY_DIR}/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_${PX4_BOARD_LABEL}.px4) + +add_custom_target(upload_skynode_usb + COMMAND ${PX4_SOURCE_DIR}/Tools/auterion/upload_skynode.sh --file=${PX4_FW_NAME} + DEPENDS ${PX4_FW_NAME} + COMMENT "Uploading PX4" + USES_TERMINAL +) + +add_custom_target(upload_skynode_wifi + COMMAND ${PX4_SOURCE_DIR}/Tools/auterion/upload_skynode.sh --file=${PX4_FW_NAME} --wifi + DEPENDS ${PX4_FW_NAME} + COMMENT "Uploading PX4" + USES_TERMINAL +) diff --git a/boards/px4/fmu-v6x/default.px4board b/boards/px4/fmu-v6x/default.px4board index ba22d9296c6a..7c4bf0b6f6cb 100644 --- a/boards/px4/fmu-v6x/default.px4board +++ b/boards/px4/fmu-v6x/default.px4board @@ -7,32 +7,37 @@ CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS6" CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS4" CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS1" CONFIG_BOARD_SERIAL_EXT2="/dev/ttyS3" +CONFIG_DRIVERS_ADC_ADS1115=y CONFIG_DRIVERS_ADC_BOARD_ADC=y CONFIG_DRIVERS_BAROMETER_BMP388=y CONFIG_DRIVERS_BAROMETER_INVENSENSE_ICP201XX=y CONFIG_DRIVERS_BAROMETER_MS5611=y -CONFIG_DRIVERS_BATT_SMBUS=y CONFIG_DRIVERS_CAMERA_CAPTURE=y CONFIG_DRIVERS_CAMERA_TRIGGER=y +CONFIG_DRIVERS_CDCACM_AUTOSTART=y CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y CONFIG_COMMON_DISTANCE_SENSOR=y CONFIG_DRIVERS_DSHOT=y +CONFIG_DRIVERS_GPIO_MCP23009=y CONFIG_DRIVERS_GPS=y CONFIG_DRIVERS_HEATER=y +CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16470=y CONFIG_DRIVERS_IMU_BOSCH_BMI088=y CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y CONFIG_DRIVERS_IMU_INVENSENSE_ICM20649=y CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y CONFIG_DRIVERS_IMU_INVENSENSE_ICM42670P=y CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y +CONFIG_DRIVERS_IMU_INVENSENSE_ICM45686=y +CONFIG_DRIVERS_IMU_INVENSENSE_IIM42652=y CONFIG_COMMON_INS=y CONFIG_COMMON_LIGHT=y CONFIG_COMMON_MAGNETOMETER=y -CONFIG_COMMON_OPTICAL_FLOW=y -CONFIG_COMMON_OSD=y +CONFIG_DRIVERS_OSD_MSP_OSD=y CONFIG_DRIVERS_POWER_MONITOR_INA226=y CONFIG_DRIVERS_POWER_MONITOR_INA228=y CONFIG_DRIVERS_POWER_MONITOR_INA238=y +CONFIG_DRIVERS_POWER_MONITOR_PM_SELECTOR_AUTERION=y CONFIG_DRIVERS_PWM_OUT=y CONFIG_DRIVERS_PX4IO=y CONFIG_DRIVERS_RC_INPUT=y @@ -41,6 +46,7 @@ CONFIG_DRIVERS_TONE_ALARM=y CONFIG_DRIVERS_UAVCAN=y CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=2 CONFIG_MODULES_AIRSPEED_SELECTOR=y +CONFIG_MODULES_BATTERY_STATUS=y CONFIG_MODULES_CAMERA_FEEDBACK=y CONFIG_MODULES_COMMANDER=y CONFIG_MODULES_CONTROL_ALLOCATOR=y @@ -62,12 +68,14 @@ CONFIG_MODULES_LOGGER=y CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y CONFIG_MODULES_MANUAL_CONTROL=y CONFIG_MODULES_MAVLINK=y +CONFIG_MAVLINK_DIALECT="development" CONFIG_MODULES_MC_ATT_CONTROL=y CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y CONFIG_MODULES_MC_POS_CONTROL=y CONFIG_MODULES_MC_RATE_CONTROL=y CONFIG_MODULES_NAVIGATOR=y +CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF=y CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_SENSORS=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y @@ -78,6 +86,7 @@ CONFIG_SYSTEMCMDS_BSONDUMP=y CONFIG_SYSTEMCMDS_DMESG=y CONFIG_SYSTEMCMDS_GPIO=y CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y +CONFIG_SYSTEMCMDS_I2C_LAUNCHER=y CONFIG_SYSTEMCMDS_I2CDETECT=y CONFIG_SYSTEMCMDS_LED_CONTROL=y CONFIG_SYSTEMCMDS_MFT=y diff --git a/boards/px4/fmu-v6x/extras/px4_fmu-v6x_bootloader.bin b/boards/px4/fmu-v6x/extras/px4_fmu-v6x_bootloader.bin index 9668fdb20b10..ecad9c2da1b4 100755 Binary files a/boards/px4/fmu-v6x/extras/px4_fmu-v6x_bootloader.bin and b/boards/px4/fmu-v6x/extras/px4_fmu-v6x_bootloader.bin differ diff --git a/boards/px4/fmu-v6x/extras/px4_io-v2_default.bin b/boards/px4/fmu-v6x/extras/px4_io-v2_default.bin index 957f0f13a12e..145089ae0d7c 100755 Binary files a/boards/px4/fmu-v6x/extras/px4_io-v2_default.bin and b/boards/px4/fmu-v6x/extras/px4_io-v2_default.bin differ diff --git a/boards/px4/fmu-v6x/init/rc.board_defaults b/boards/px4/fmu-v6x/init/rc.board_defaults index ba812e4b7bfd..bdc99a68e7bd 100644 --- a/boards/px4/fmu-v6x/init/rc.board_defaults +++ b/boards/px4/fmu-v6x/init/rc.board_defaults @@ -3,19 +3,38 @@ # board specific defaults #------------------------------------------------------------------------------ -# Mavlink ethernet (CFG 1000) -param set-default MAV_2_CONFIG 1000 -param set-default MAV_2_BROADCAST 1 -param set-default MAV_2_MODE 0 -param set-default MAV_2_RADIO_CTL 0 -param set-default MAV_2_RATE 100000 -param set-default MAV_2_REMOTE_PRT 14550 -param set-default MAV_2_UDP_PRT 14550 - +# By disabling all 3 INA modules, we use the +# i2c_launcher instead. param set-default SENS_EN_INA238 0 param set-default SENS_EN_INA228 0 -param set-default SENS_EN_INA226 1 +param set-default SENS_EN_INA226 0 -param set-default SYS_USE_IO 1 +if ver hwbasecmp 009 010 011 +then + # Skynode: use the "custom participant", IP=10.41.10.1 config for uxrce_dds_client + param set-default UXRCE_DDS_PTCFG 2 + param set-default UXRCE_DDS_AG_IP 170461697 + param set-default UXRCE_DDS_CFG 1000 +else + # Mavlink ethernet (CFG 1000) + param set-default MAV_2_CONFIG 1000 + param set-default MAV_2_BROADCAST 1 + param set-default MAV_2_MODE 0 + param set-default MAV_2_RADIO_CTL 0 + param set-default MAV_2_RATE 100000 + param set-default MAV_2_REMOTE_PRT 14550 + param set-default MAV_2_UDP_PRT 14550 +fi safety_button start + +# GPIO Expander driver on external I2C3 +if ver hwbasecmp 009 +then + # No USB + mcp23009 start -b 3 -X -D 0xf0 -O 0xf0 -P 0x0f -U 10 +fi +if ver hwbasecmp 00a 008 +then + mcp23009 start -b 3 -X -D 0xf1 -O 0xf0 -P 0x0f -U 10 +fi diff --git a/boards/px4/fmu-v6x/init/rc.board_mavlink b/boards/px4/fmu-v6x/init/rc.board_mavlink new file mode 100644 index 000000000000..713d7a41b72b --- /dev/null +++ b/boards/px4/fmu-v6x/init/rc.board_mavlink @@ -0,0 +1,13 @@ +#!/bin/sh +# +# PX4 FMUv6X specific board MAVLink startup script. +#------------------------------------------------------------------------------ + +# if skynode base board is detected start Mavlink on Telem2 +if ver hwbasecmp 009 010 011 +then + mavlink start -d /dev/ttyS4 -b 3000000 -r 290000 -m onboard_low_bandwidth -x -z + + # Ensure nothing else starts on TEL2 (ttyS4) + set PRT_TEL2_ 1 +fi diff --git a/boards/px4/fmu-v6x/init/rc.board_sensors b/boards/px4/fmu-v6x/init/rc.board_sensors index 52aa8f9c7890..f7b132af1117 100644 --- a/boards/px4/fmu-v6x/init/rc.board_sensors +++ b/boards/px4/fmu-v6x/init/rc.board_sensors @@ -3,14 +3,16 @@ # PX4 FMUv6X specific board sensors init #------------------------------------------------------------------------------ set HAVE_PM2 yes +set INA_CONFIGURED no -if ver hwtypecmp V6X005000 V6X005001 V6X005003 V6X005004 +if mft query -q -k MFT -s MFT_PM2 -v 0 then set HAVE_PM2 no fi if param compare -s ADC_ADS1115_EN 1 then ads1115 start -X + board_adc start -n else board_adc start fi @@ -25,6 +27,8 @@ then then ina226 -X -b 2 -t 2 -k start fi + + set INA_CONFIGURED yes fi if param compare SENS_EN_INA228 1 @@ -35,6 +39,8 @@ then then ina228 -X -b 2 -t 2 -k start fi + + set INA_CONFIGURED yes fi if param compare SENS_EN_INA238 1 @@ -45,70 +51,99 @@ then then ina238 -X -b 2 -t 2 -k start fi -fi + set INA_CONFIGURED yes +fi -if ver hwtypecmp V6X000004 V6X001004 V6X004004 V6X005004 +#Start Auterion Power Module selector for Skynode boards +if ver hwbasecmp 009 010 011 then - # Internal SPI bus ICM20649 - icm20649 -s -R 6 start + pm_selector_auterion start else - # Internal SPI BMI088 - if ver hwtypecmp V6X009010 V6X010010 + if [ $INA_CONFIGURED = no ] then - bmi088 -A -R 6 -s start - bmi088 -G -R 6 -s start - else - if ver hwtypecmp V6X000010 + # INA226, INA228, INA238 auto-start + i2c_launcher start -b 1 + if [ $HAVE_PM2 = yes ] then - bmi088 -A -R 0 -s start - bmi088 -G -R 0 -s start - else - bmi088 -A -R 4 -s start - bmi088 -G -R 4 -s start + i2c_launcher start -b 2 fi fi fi -# Internal SPI bus ICM42688p -if ver hwtypecmp V6X009010 V6X010010 +# Keep nesting shallow +if ver hwtypecmp V6X006 V6X008 then - icm42688p -R 12 -s start + if ver hwtypecmp V6X006 + then + # Internal SPI bus ICM45686 + adis16470 -s -R 0 start + iim42652 -s -R 6 start + icm45686 -s -R 10 start + else + # Internal SPI bus 3x ICM45686 + icm45686 -b 3 -s -R 0 start + icm45686 -b 2 -s -R 0 start + icm45686 -b 1 -s -R 10 start + fi else - if ver hwtypecmp V6X000010 + if ver hwtypecmp V6X004 then - icm42688p -R 14 -s start + # Internal SPI bus ICM20649 + icm20649 -s -R 6 start else - icm42688p -R 6 -s start + # Internal SPI BMI088 + if ver hwbasecmp 009 010 011 + then + bmi088 -A -R 6 -s start + bmi088 -G -R 6 -s start + else + if ver hwtypecmp V6X010 + then + bmi088 -A -R 0 -s start + bmi088 -G -R 0 -s start + else + bmi088 -A -R 4 -s start + bmi088 -G -R 4 -s start + fi + fi fi -fi -if ver hwtypecmp V6X000003 V6X001003 V6X003003 V6X000004 V6X001004 V6X004003 V6X004004 V6X005003 V6X005004 -then - # Internal SPI bus ICM-42670-P (hard-mounted) - icm42670p -R 10 -s start -else - if ver hwtypecmp V6X009010 V6X010010 + # Internal SPI bus ICM42688p + if ver hwbasecmp 009 010 011 + then + icm42688p -R 12 -s start + else + if ver hwtypecmp V6X010 + then + icm42688p -R 14 -s start + else + icm42688p -R 6 -s start + fi + fi + + if ver hwtypecmp V6X003 V6X004 then - icm20602 -R 6 -s start + # Internal SPI bus ICM-42670-P (hard-mounted) + icm42670p -R 10 -s start else - # Internal SPI bus ICM-20649 (hard-mounted) - icm20649 -R 14 -s start + if ver hwbasecmp 009 010 011 + then + icm20602 -R 6 -s start + else + # Internal SPI bus ICM-20649 (hard-mounted) + icm20649 -R 14 -s start + fi fi fi # Internal magnetometer on I2c -if ver hwtypecmp V6X002001 +if ver hwtypecmp V6X001 then rm3100 -I -b 4 start else - if ver hwtypecmp V6X009010 V6X010010 - then - # Internal magnetometer on I2C - bmm150 -I -R 0 start - else - bmm150 -I -R 6 start - fi + # Internal magnetometer on I2C + bmm150 -I -R 0 start fi # External compass on GPS1/I2C1 (the 3rd external bus): standard Holybro Pixhawk 4 or CUAV V5 GPS/compass puck (with lights, safety button, and buzzer) @@ -117,7 +152,7 @@ ist8310 -X -b 1 -R 10 start # Possible internal Baro if param compare SENS_INT_BARO_EN 1 then - if ver hwtypecmp V6X002001 + if ver hwtypecmp V6X001 V6X006 V6X008 then icp201xx -I -a 0x64 start else @@ -126,7 +161,7 @@ then fi #external baro -if ver hwtypecmp V6X002001 +if ver hwtypecmp V6X001 then icp201xx -X start else @@ -136,4 +171,5 @@ fi # Baro on I2C3 ms5611 -X start +unset INA_CONFIGURED unset HAVE_PM2 diff --git a/boards/px4/fmu-v6x/multicopter.px4board b/boards/px4/fmu-v6x/multicopter.px4board new file mode 100644 index 000000000000..683220e0d7a7 --- /dev/null +++ b/boards/px4/fmu-v6x/multicopter.px4board @@ -0,0 +1,13 @@ +CONFIG_COMMON_DIFFERENTIAL_PRESSURE=n +CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF=n +CONFIG_MODULES_AIRSPEED_SELECTOR=n +CONFIG_MODULES_FW_ATT_CONTROL=n +CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n +CONFIG_MODULES_FW_POS_CONTROL=n +CONFIG_MODULES_FW_RATE_CONTROL=n +CONFIG_MODULES_VTOL_ATT_CONTROL=n +CONFIG_COMMON_RC=y +CONFIG_EKF2_AUX_GLOBAL_POSITION=y +# CONFIG_EKF2_SIDESLIP is not set +CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y +# CONFIG_SENSORS_VEHICLE_AIRSPEED is not set diff --git a/boards/px4/fmu-v6x/nuttx-config/bootloader/defconfig b/boards/px4/fmu-v6x/nuttx-config/bootloader/defconfig index c2069035c5f8..41dc164e0ade 100644 --- a/boards/px4/fmu-v6x/nuttx-config/bootloader/defconfig +++ b/boards/px4/fmu-v6x/nuttx-config/bootloader/defconfig @@ -49,7 +49,7 @@ CONFIG_HAVE_CXX=y CONFIG_HAVE_CXXINITIALIZE=y CONFIG_IDLETHREAD_STACKSIZE=750 CONFIG_INIT_ENTRYPOINT="bootloader_main" -CONFIG_INIT_STACKSIZE=2944 +CONFIG_INIT_STACKSIZE=3194 CONFIG_LIBC_FLOATINGPOINT=y CONFIG_LIBC_LONG_LONG=y CONFIG_LIBC_STRERROR=y diff --git a/boards/px4/fmu-v6x/nuttx-config/include/board.h b/boards/px4/fmu-v6x/nuttx-config/include/board.h index eb3004183b02..7907eafad194 100644 --- a/boards/px4/fmu-v6x/nuttx-config/include/board.h +++ b/boards/px4/fmu-v6x/nuttx-config/include/board.h @@ -248,7 +248,13 @@ /* ADC 1 2 3 clock source */ -#define STM32_RCC_D3CCIPR_ADCSEL RCC_D3CCIPR_ADCSEL_PLL2 +#define STM32_RCC_D3CCIPR_ADCSRC RCC_D3CCIPR_ADCSEL_PLL2 + +/* UART clock selection */ +/* reset to default to overwrite any changes done by any bootloader */ + +#define STM32_RCC_D2CCIP2R_USART234578_SEL RCC_D2CCIP2R_USART234578SEL_RCC +#define STM32_RCC_D2CCIP2R_USART16_SEL RCC_D2CCIP2R_USART16SEL_RCC /* FDCAN 1 2 clock source */ @@ -380,7 +386,9 @@ #define GPIO_UART5_RX GPIO_UART5_RX_3 /* PD2 */ #define GPIO_UART5_TX GPIO_UART5_TX_3 /* PC12 */ // GPIO_UART5_RTS no remap /* PC8 */ -// GPIO_UART5_CTS No remap /* PC9 */ +#undef GPIO_UART5_CTS +#define GPIO_UART5_CTS ((GPIO_ALT|GPIO_AF8|GPIO_PORTC|GPIO_PIN9) | GPIO_PULLDOWN) /* PC9 */ + #define GPIO_USART6_RX GPIO_USART6_RX_1 /* PC7 */ #define GPIO_USART6_TX GPIO_USART6_TX_1 /* PC6 */ diff --git a/boards/px4/fmu-v6x/nuttx-config/nsh/defconfig b/boards/px4/fmu-v6x/nuttx-config/nsh/defconfig index edb5e8a0d885..f0a8d6ae8653 100644 --- a/boards/px4/fmu-v6x/nuttx-config/nsh/defconfig +++ b/boards/px4/fmu-v6x/nuttx-config/nsh/defconfig @@ -91,8 +91,10 @@ CONFIG_DEBUG_SYMBOLS=y CONFIG_DEBUG_TCBINFO=y CONFIG_DEFAULT_SMALL=y CONFIG_DEV_FIFO_SIZE=0 +CONFIG_DEV_GPIO=y CONFIG_DEV_PIPE_MAXSIZE=1024 CONFIG_DEV_PIPE_SIZE=70 +CONFIG_DEV_URANDOM=y CONFIG_ETH0_PHY_LAN8742A=y CONFIG_EXPERIMENTAL=y CONFIG_FAT_DMAMEMORY=y @@ -118,7 +120,7 @@ CONFIG_I2C=y CONFIG_I2C_RESET=y CONFIG_IDLETHREAD_STACKSIZE=750 CONFIG_INIT_ENTRYPOINT="nsh_main" -CONFIG_INIT_STACKSIZE=2944 +CONFIG_INIT_STACKSIZE=3194 CONFIG_IOB_NBUFFERS=24 CONFIG_IOB_THROTTLE=0 CONFIG_IPCFG_BINARY=y @@ -147,8 +149,8 @@ CONFIG_NETDB_DNSSERVER_NOADDR=y CONFIG_NETDEV_PHY_IOCTL=y CONFIG_NETINIT_DHCPC=y CONFIG_NETINIT_DNS=y -CONFIG_NETINIT_DNSIPADDR=0XC0A800FE -CONFIG_NETINIT_DRIPADDR=0XC0A800FE +CONFIG_NETINIT_DNSIPADDR=0xA290AFE +CONFIG_NETINIT_DRIPADDR=0xA290AFE CONFIG_NETINIT_MONITOR=y CONFIG_NETINIT_THREAD=y CONFIG_NETINIT_THREAD_PRIORITY=49 @@ -189,6 +191,8 @@ CONFIG_PREALLOC_TIMERS=50 CONFIG_PRIORITY_INHERITANCE=y CONFIG_PTHREAD_MUTEX_ROBUST=y CONFIG_PTHREAD_STACK_MIN=512 +CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5 +CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5 CONFIG_RAMTRON_SETSPEED=y CONFIG_RAM_SIZE=245760 CONFIG_RAM_START=0x20010000 @@ -205,7 +209,6 @@ CONFIG_SCHED_INSTRUMENTATION_SWITCH=y CONFIG_SCHED_LPWORK=y CONFIG_SCHED_LPWORKPRIORITY=50 CONFIG_SCHED_LPWORKSTACKSIZE=1632 -CONFIG_SCHED_WAITPID=y CONFIG_SDMMC2_SDIO_PULLUP=y CONFIG_SEM_PREALLOCHOLDERS=32 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y @@ -285,6 +288,7 @@ CONFIG_SYSTEM_CDCACM=y CONFIG_SYSTEM_DHCPC_RENEW=y CONFIG_SYSTEM_NSH=y CONFIG_SYSTEM_PING=y +CONFIG_SYSTEM_SYSTEM=y CONFIG_TASK_NAME_SIZE=24 CONFIG_UART4_BAUD=57600 CONFIG_UART4_RXBUFSIZE=600 @@ -292,7 +296,7 @@ CONFIG_UART4_TXBUFSIZE=1500 CONFIG_UART5_IFLOWCONTROL=y CONFIG_UART5_OFLOWCONTROL=y CONFIG_UART5_RXDMA=y -CONFIG_UART5_TXBUFSIZE=3000 +CONFIG_UART5_TXBUFSIZE=10000 CONFIG_UART5_TXDMA=y CONFIG_UART7_BAUD=57600 CONFIG_UART7_IFLOWCONTROL=y diff --git a/boards/px4/fmu-v6x/rover.px4board b/boards/px4/fmu-v6x/rover.px4board new file mode 100644 index 000000000000..7ded4008d8af --- /dev/null +++ b/boards/px4/fmu-v6x/rover.px4board @@ -0,0 +1,18 @@ +CONFIG_MODULES_AIRSPEED_SELECTOR=n +CONFIG_MODULES_FLIGHT_MODE_MANAGER=n +CONFIG_MODULES_FW_ATT_CONTROL=n +CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n +CONFIG_MODULES_FW_POS_CONTROL=n +CONFIG_MODULES_FW_RATE_CONTROL=n +CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=n +CONFIG_MODULES_MC_ATT_CONTROL=n +CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n +CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n +CONFIG_MODULES_MC_POS_CONTROL=n +CONFIG_MODULES_MC_RATE_CONTROL=n +CONFIG_MODULES_VTOL_ATT_CONTROL=n +CONFIG_EKF2_AUX_GLOBAL_POSITION=y +# CONFIG_EKF2_WIND is not set +CONFIG_MODULES_ROVER_DIFFERENTIAL=y +CONFIG_MODULES_ROVER_ACKERMANN=y +CONFIG_DRIVERS_ROBOCLAW=y diff --git a/boards/px4/fmu-v6x/src/CMakeLists.txt b/boards/px4/fmu-v6x/src/CMakeLists.txt index d4a16ff4f303..39ec808e1e9a 100644 --- a/boards/px4/fmu-v6x/src/CMakeLists.txt +++ b/boards/px4/fmu-v6x/src/CMakeLists.txt @@ -34,7 +34,7 @@ if("${PX4_BOARD_LABEL}" STREQUAL "bootloader") add_compile_definitions(BOOTLOADER) add_library(drivers_board bootloader_main.c - init.c + init.cpp usb.c timer_config.cpp ) @@ -52,10 +52,9 @@ else() add_library(drivers_board can.c i2c.cpp - init.c + init.cpp led.c mtd.cpp - manifest.c sdio.c spi.cpp timer_config.cpp @@ -72,5 +71,6 @@ else() nuttx_arch # sdio nuttx_drivers # sdio px4_layer + platform_gpio_mcp23009 ) endif() diff --git a/boards/px4/fmu-v6x/src/board_config.h b/boards/px4/fmu-v6x/src/board_config.h index fecd7efc9c96..7c98f9490207 100644 --- a/boards/px4/fmu-v6x/src/board_config.h +++ b/boards/px4/fmu-v6x/src/board_config.h @@ -208,36 +208,22 @@ #define BOARD_ADC_OPEN_CIRCUIT_V (5.6f) /* HW Version and Revision drive signals Default to 1 to detect */ -#define BOARD_HAS_HW_VERSIONING +#define BOARD_HAS_HW_SPLIT_VERSIONING #define GPIO_HW_VER_REV_DRIVE /* PG0 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN0) #define GPIO_HW_REV_SENSE /* PH4 */ GPIO_ADC3_INP15 #define GPIO_HW_VER_SENSE /* PH3 */ GPIO_ADC3_INP14 #define HW_INFO_INIT_PREFIX "V6X" -#define BOARD_NUM_SPI_CFG_HW_VERSIONS 11 // Rev 0 and Rev 3,4 Sensor sets +#define BOARD_NUM_SPI_CFG_HW_VERSIONS 7 // Base/FMUM -#define V6X00 HW_VER_REV(0x0,0x0) // FMUV6X, Rev 0 -#define V6X01 HW_VER_REV(0x0,0x1) // FMUV6X, BMI388 I2C2 Rev 1 -#define V6X03 HW_VER_REV(0x0,0x3) // FMUV6X, Sensor Set Rev 3 -#define V6X04 HW_VER_REV(0x0,0x4) // FMUV6X, Sensor Set Rev 4 -#define V6X10 HW_VER_REV(0x1,0x0) // NO PX4IO, Rev 0 -#define V6X13 HW_VER_REV(0x1,0x3) // NO PX4IO, Sensor Set Rev 3 -#define V6X14 HW_VER_REV(0x1,0x4) // NO PX4IO, Sensor Set Rev 4 -#define V6X21 HW_VER_REV(0x2,0x1) // FMUV6X, CUAV Sensor Set -#define V6X40 HW_VER_REV(0x4,0x0) // FMUV6X, HB CM4 base Rev 0 -#define V6X41 HW_VER_REV(0x4,0x1) // FMUV6X, BMI388 I2C2 HB CM4 base Rev 1 -#define V6X43 HW_VER_REV(0x4,0x3) // FMUV6X, Sensor Set HB CM4 base Rev 3 -#define V6X44 HW_VER_REV(0x4,0x4) // FMUV6X, Sensor Set HB CM4 base Rev 4 -#define V6X50 HW_VER_REV(0x5,0x0) // FMUV6X, HB Mini Rev 0 -#define V6X51 HW_VER_REV(0x5,0x1) // FMUV6X, BMI388 I2C2 HB Mini Rev 1 -#define V6X53 HW_VER_REV(0x5,0x3) // FMUV6X, Sensor Set HB Mini Rev 3 -#define V6X54 HW_VER_REV(0x5,0x4) // FMUV6X, Sensor Set HB Mini Rev 4 -#define V6X90 HW_VER_REV(0x9,0x0) // Rev 0 -#define V6X0910 HW_VER_REV(0x9,0x10) // FMUV6X, rev from EEPROM Auterion Skynode ver9 -#define V6X1010 HW_VER_REV(0x10,0x10) // FMUV6X, rev from EEPROM Auterion Skynode ver10 - - +#define V6X_0 HW_FMUM_ID(0x0) // FMUV6X, Auterion,HB Sensor Set Rev 0 +#define V6X_1 HW_FMUM_ID(0x1) // FMUV6X, CUAV Sensor Set Rev 1 +#define V6X_3 HW_FMUM_ID(0x3) // FMUV6X, HB Sensor Set Rev 3 +#define V6X_4 HW_FMUM_ID(0x4) // FMUV6X, HB Sensor Set Rev 4 +#define V6X_6 HW_FMUM_ID(0x6) // FMUV6X, HB Sensor Set Rev 6 +#define V6X_8 HW_FMUM_ID(0x8) // FMUV6X, HB Sensor Set Rev 8 +#define V6X_16 HW_FMUM_ID(0x10) // FMUV6X, Auterion Sensor Set Rev 16 from EEPROM #define UAVCAN_NUM_IFACES_RUNTIME 1 @@ -284,6 +270,11 @@ #define GPIO_VDD_3V3_SPEKTRUM_POWER_EN /* PH2 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN2) #define GPIO_VDD_3V3_SD_CARD_EN /* PC13 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13) +/* MCP23009 GPIO expander */ +#define BOARD_GPIO_VDD_5V_COMP_VALID "/dev/gpio4" +#define BOARD_GPIO_VDD_5V_CAN1_GPS1_VALID "/dev/gpio5" + + /* Spare GPIO */ #define GPIO_PG6 /* PG6 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN6) diff --git a/boards/px4/fmu-v6x/src/init.c b/boards/px4/fmu-v6x/src/init.c deleted file mode 100644 index cd6714af1664..000000000000 --- a/boards/px4/fmu-v6x/src/init.c +++ /dev/null @@ -1,286 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2012-2022 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file init.c - * - * PX4FMU-specific early startup code. This file implements the - * board_app_initialize() function that is called early by nsh during startup. - * - * Code here is run before the rcS script is invoked; it should start required - * subsystems and perform board-specific initialization. - */ - -/**************************************************************************** - * Included Files - ****************************************************************************/ - -#include "board_config.h" - -#include -#include -#include -#include -#include - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include "arm_internal.h" - -#include -#include -#include -#include -#include -#include -#include -#include -#include - -/**************************************************************************** - * Pre-Processor Definitions - ****************************************************************************/ - -/* Configuration ************************************************************/ - -/* - * Ideally we'd be able to get these from arm_internal.h, - * but since we want to be able to disable the NuttX use - * of leds for system indication at will and there is no - * separate switch, we need to build independent of the - * CONFIG_ARCH_LEDS configuration switch. - */ -__BEGIN_DECLS -extern void led_init(void); -extern void led_on(int led); -extern void led_off(int led); -__END_DECLS - - -/************************************************************************************ - * Name: board_peripheral_reset - * - * Description: - * - ************************************************************************************/ -__EXPORT void board_peripheral_reset(int ms) -{ - /* set the peripheral rails off */ - - VDD_5V_PERIPH_EN(false); - board_control_spi_sensors_power(false, 0xffff); - VDD_3V3_SENSORS4_EN(false); - - bool last = READ_VDD_3V3_SPEKTRUM_POWER_EN(); - /* Keep Spektum on to discharge rail*/ - VDD_3V3_SPEKTRUM_POWER_EN(false); - - /* wait for the peripheral rail to reach GND */ - usleep(ms * 1000); - syslog(LOG_DEBUG, "reset done, %d ms\n", ms); - - /* re-enable power */ - - /* switch the peripheral rail back on */ - VDD_3V3_SPEKTRUM_POWER_EN(last); - board_control_spi_sensors_power(true, 0xffff); - VDD_3V3_SENSORS4_EN(true); - VDD_5V_PERIPH_EN(true); - -} - -/************************************************************************************ - * Name: board_on_reset - * - * Description: - * Optionally provided function called on entry to board_system_reset - * It should perform any house keeping prior to the rest. - * - * status - 1 if resetting to boot loader - * 0 if just resetting - * - ************************************************************************************/ -__EXPORT void board_on_reset(int status) -{ - for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) { - px4_arch_configgpio(io_timer_channel_get_gpio_output(i)); - } - - if (status >= 0) { - up_mdelay(6); - } -} - -/************************************************************************************ - * Name: stm32_boardinitialize - * - * Description: - * All STM32 architectures must provide the following entry point. This entry point - * is called early in the initialization -- after all memory has been configured - * and mapped but before any devices have been initialized. - * - ************************************************************************************/ - -__EXPORT void -stm32_boardinitialize(void) -{ - board_on_reset(-1); /* Reset PWM first thing */ - - /* configure LEDs */ - - board_autoled_initialize(); - - /* configure pins */ - - const uint32_t gpio[] = PX4_GPIO_INIT_LIST; - px4_gpio_init(gpio, arraySize(gpio)); - - /* configure USB interfaces */ - - stm32_usbinitialize(); - - VDD_3V3_ETH_POWER_EN(true); - -} - -/**************************************************************************** - * Name: board_app_initialize - * - * Description: - * Perform application specific initialization. This function is never - * called directly from application code, but only indirectly via the - * (non-standard) boardctl() interface using the command BOARDIOC_INIT. - * - * Input Parameters: - * arg - The boardctl() argument is passed to the board_app_initialize() - * implementation without modification. The argument has no - * meaning to NuttX; the meaning of the argument is a contract - * between the board-specific initalization logic and the the - * matching application logic. The value cold be such things as a - * mode enumeration value, a set of DIP switch switch settings, a - * pointer to configuration data read from a file or serial FLASH, - * or whatever you would like to do with it. Every implementation - * should accept zero/NULL as a default configuration. - * - * Returned Value: - * Zero (OK) is returned on success; a negated errno value is returned on - * any failure to indicate the nature of the failure. - * - ****************************************************************************/ - -__EXPORT int board_app_initialize(uintptr_t arg) -{ -#if !defined(BOOTLOADER) - - /* Power on Interfaces */ - VDD_3V3_SD_CARD_EN(true); - VDD_5V_PERIPH_EN(true); - VDD_5V_HIPOWER_EN(true); - VDD_3V3_SENSORS4_EN(true); - VDD_3V3_SPEKTRUM_POWER_EN(true); - - /* Need hrt running before using the ADC */ - - px4_platform_init(); - - // Use the default HW_VER_REV(0x0,0x0) for Ramtron - - stm32_spiinitialize(); - - /* Configure the HW based on the manifest */ - - px4_platform_configure(); - - if (OK == board_determine_hw_info()) { - syslog(LOG_INFO, "[boot] Rev 0x%1x : Ver 0x%1x %s\n", board_get_hw_revision(), board_get_hw_version(), - board_get_hw_type_name()); - - } else { - syslog(LOG_ERR, "[boot] Failed to read HW revision and version\n"); - } - - /* Configure the Actual SPI interfaces (after we determined the HW version) */ - - stm32_spiinitialize(); - - board_spi_reset(10, 0xffff); - - /* Configure the DMA allocator */ - - if (board_dma_alloc_init() < 0) { - syslog(LOG_ERR, "[boot] DMA alloc FAILED\n"); - } - -# if defined(SERIAL_HAVE_RXDMA) - // set up the serial DMA polling at 1ms intervals for received bytes that have not triggered a DMA event. - static struct hrt_call serial_dma_call; - hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)stm32_serial_dma_poll, NULL); -# endif - - /* initial LED state */ - drv_led_start(); - led_off(LED_RED); - led_on(LED_GREEN); // Indicate Power. - led_off(LED_BLUE); - - if (board_hardfault_init(2, true) != 0) { - led_on(LED_RED); - } - - // Ensure Power is off for > 10 mS - usleep(15 * 1000); - VDD_3V3_SD_CARD_EN(true); - usleep(500 * 1000); - -# ifdef CONFIG_MMCSD - int ret = stm32_sdio_initialize(); - - if (ret != OK) { - led_on(LED_RED); - return ret; - } - -# endif /* CONFIG_MMCSD */ - -#endif /* !defined(BOOTLOADER) */ - - return OK; -} diff --git a/boards/px4/fmu-v6x/src/init.cpp b/boards/px4/fmu-v6x/src/init.cpp new file mode 100644 index 000000000000..8901bd1766f3 --- /dev/null +++ b/boards/px4/fmu-v6x/src/init.cpp @@ -0,0 +1,294 @@ +/**************************************************************************** + * + * Copyright (c) 2012-2022 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file init.c + * + * PX4FMU-specific early startup code. This file implements the + * board_app_initialize() function that is called early by nsh during startup. + * + * Code here is run before the rcS script is invoked; it should start required + * subsystems and perform board-specific initialization. + */ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include "board_config.h" + +#include +#include +#include +#include +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include "arm_internal.h" + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +/**************************************************************************** + * Pre-Processor Definitions + ****************************************************************************/ + +/* Configuration ************************************************************/ + +/* + * Ideally we'd be able to get these from arm_internal.h, + * but since we want to be able to disable the NuttX use + * of leds for system indication at will and there is no + * separate switch, we need to build independent of the + * CONFIG_ARCH_LEDS configuration switch. + */ +__BEGIN_DECLS +extern void led_init(void); +extern void led_on(int led); +extern void led_off(int led); +__END_DECLS + + +/************************************************************************************ + * Name: board_peripheral_reset + * + * Description: + * + ************************************************************************************/ +__EXPORT void board_peripheral_reset(int ms) +{ + /* set the peripheral rails off */ + + VDD_5V_PERIPH_EN(false); + board_control_spi_sensors_power(false, 0xffff); + VDD_3V3_SENSORS4_EN(false); + + bool last = READ_VDD_3V3_SPEKTRUM_POWER_EN(); + /* Keep Spektum on to discharge rail*/ + VDD_3V3_SPEKTRUM_POWER_EN(false); + + /* wait for the peripheral rail to reach GND */ + usleep(ms * 1000); + syslog(LOG_DEBUG, "reset done, %d ms\n", ms); + + /* re-enable power */ + + /* switch the peripheral rail back on */ + VDD_3V3_SPEKTRUM_POWER_EN(last); + board_control_spi_sensors_power(true, 0xffff); + VDD_3V3_SENSORS4_EN(true); + VDD_5V_PERIPH_EN(true); + +} + +/************************************************************************************ + * Name: board_on_reset + * + * Description: + * Optionally provided function called on entry to board_system_reset + * It should perform any house keeping prior to the rest. + * + * status - 1 if resetting to boot loader + * 0 if just resetting + * + ************************************************************************************/ +__EXPORT void board_on_reset(int status) +{ + for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) { + px4_arch_configgpio(io_timer_channel_get_gpio_output(i)); + } + + if (status >= 0) { + up_mdelay(6); + } +} + +/************************************************************************************ + * Name: stm32_boardinitialize + * + * Description: + * All STM32 architectures must provide the following entry point. This entry point + * is called early in the initialization -- after all memory has been configured + * and mapped but before any devices have been initialized. + * + ************************************************************************************/ + +extern "C" __EXPORT void +stm32_boardinitialize(void) +{ + board_on_reset(-1); /* Reset PWM first thing */ + + /* configure LEDs */ + + board_autoled_initialize(); + + /* configure pins */ + + const uint32_t gpio[] = PX4_GPIO_INIT_LIST; + px4_gpio_init(gpio, arraySize(gpio)); + + /* configure USB interfaces */ + + stm32_usbinitialize(); + + VDD_3V3_ETH_POWER_EN(true); + +} + +/**************************************************************************** + * Name: board_app_initialize + * + * Description: + * Perform application specific initialization. This function is never + * called directly from application code, but only indirectly via the + * (non-standard) boardctl() interface using the command BOARDIOC_INIT. + * + * Input Parameters: + * arg - The boardctl() argument is passed to the board_app_initialize() + * implementation without modification. The argument has no + * meaning to NuttX; the meaning of the argument is a contract + * between the board-specific initalization logic and the the + * matching application logic. The value cold be such things as a + * mode enumeration value, a set of DIP switch switch settings, a + * pointer to configuration data read from a file or serial FLASH, + * or whatever you would like to do with it. Every implementation + * should accept zero/NULL as a default configuration. + * + * Returned Value: + * Zero (OK) is returned on success; a negated errno value is returned on + * any failure to indicate the nature of the failure. + * + ****************************************************************************/ + +__EXPORT int board_app_initialize(uintptr_t arg) +{ +#if !defined(BOOTLOADER) + + /* Power on Interfaces */ + VDD_3V3_SD_CARD_EN(true); + VDD_5V_PERIPH_EN(true); + VDD_5V_HIPOWER_EN(true); + VDD_3V3_SENSORS4_EN(true); + VDD_3V3_SPEKTRUM_POWER_EN(true); + + /* Need hrt running before using the ADC */ + + px4_platform_init(); + + // Use the default HW_VER_REV(0x0,0x0) for Ramtron + + stm32_spiinitialize(); + + /* Configure the HW based on the manifest */ + + px4_platform_configure(); + + if (OK == board_determine_hw_info()) { + syslog(LOG_INFO, "[boot] Rev 0x%1x : Ver 0x%1x %s\n", board_get_hw_revision(), board_get_hw_version(), + board_get_hw_type_name()); + + } else { + syslog(LOG_ERR, "[boot] Failed to read HW revision and version\n"); + } + + /* Configure the Actual SPI interfaces (after we determined the HW version) */ + + stm32_spiinitialize(); + + board_spi_reset(10, 0xffff); + + /* Configure the DMA allocator */ + + if (board_dma_alloc_init() < 0) { + syslog(LOG_ERR, "[boot] DMA alloc FAILED\n"); + } + +# if defined(SERIAL_HAVE_RXDMA) + // set up the serial DMA polling at 1ms intervals for received bytes that have not triggered a DMA event. + static struct hrt_call serial_dma_call; + hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)stm32_serial_dma_poll, NULL); +# endif + + /* initial LED state */ + drv_led_start(); + led_off(LED_RED); + led_on(LED_GREEN); // Indicate Power. + led_off(LED_BLUE); + + if (board_hardfault_init(2, true) != 0) { + led_on(LED_RED); + } + + // Ensure Power is off for > 10 mS + usleep(15 * 1000); + VDD_3V3_SD_CARD_EN(true); + usleep(500 * 1000); + +# ifdef CONFIG_MMCSD + int ret = stm32_sdio_initialize(); + + if (ret != OK) { + led_on(LED_RED); + return ret; + } + +# endif /* CONFIG_MMCSD */ + + ret = mcp23009_register_gpios(3, 0x25); + + if (ret != OK) { + led_on(LED_RED); + return ret; + } + +#endif /* !defined(BOOTLOADER) */ + + return OK; +} diff --git a/boards/px4/fmu-v6x/src/manifest.c b/boards/px4/fmu-v6x/src/manifest.c deleted file mode 100644 index 313d49f9bf24..000000000000 --- a/boards/px4/fmu-v6x/src/manifest.c +++ /dev/null @@ -1,205 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2018-2021 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file manifest.c - * - * This module supplies the interface to the manifest of hardware that is - * optional and dependent on the HW REV and HW VER IDs - * - * The manifest allows the system to know whether a hardware option - * say for example the PX4IO is an no-pop option vs it is broken. - * - */ - -/**************************************************************************** - * Included Files - ****************************************************************************/ - -#include -#include - -#include -#include -#include - -#include "systemlib/px4_macros.h" - -/**************************************************************************** - * Pre-Processor Definitions - ****************************************************************************/ - -typedef struct { - uint32_t hw_ver_rev; /* the version and revision */ - const px4_hw_mft_item_t *mft; /* The first entry */ - uint32_t entries; /* the lenght of the list */ -} px4_hw_mft_list_entry_t; - -typedef px4_hw_mft_list_entry_t *px4_hw_mft_list_entry; -#define px4_hw_mft_list_uninitialized (px4_hw_mft_list_entry) -1 - -static const px4_hw_mft_item_t device_unsupported = {0, 0, 0}; - -// List of components on a specific board configuration -// The index of those components is given by the enum (px4_hw_mft_item_id_t) -// declared in board_common.h -static const px4_hw_mft_item_t hw_mft_list_v0600[] = { - { - // PX4_MFT_PX4IO - .present = 1, - .mandatory = 1, - .connection = px4_hw_con_onboard, - }, - { - // PX4_MFT_USB - .present = 1, - .mandatory = 1, - .connection = px4_hw_con_onboard, - }, - { - // PX4_MFT_CAN2 - .present = 1, - .mandatory = 1, - .connection = px4_hw_con_onboard, - }, -}; - -static const px4_hw_mft_item_t hw_mft_list_v0610[] = { - { - // PX4_MFT_PX4IO - .present = 0, - .mandatory = 0, - .connection = px4_hw_con_unknown, - }, - { - // PX4_MFT_USB - .present = 1, - .mandatory = 1, - .connection = px4_hw_con_onboard, - }, - { - // PX4_MFT_CAN2 - .present = 1, - .mandatory = 1, - .connection = px4_hw_con_onboard, - }, -}; - -static const px4_hw_mft_item_t hw_mft_list_v0650[] = { - { - // PX4_MFT_PX4IO - .present = 1, - .mandatory = 1, - .connection = px4_hw_con_unknown, - }, - { - // PX4_MFT_USB - .present = 1, - .mandatory = 1, - .connection = px4_hw_con_onboard, - }, - { - // PX4_MFT_CAN2 - .present = 0, - .mandatory = 0, - .connection = px4_hw_con_unknown, - }, -}; - - -static px4_hw_mft_list_entry_t mft_lists[] = { -// ver_rev - {V6X00, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, - {V6X01, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // BMP388 moved to I2C2 - {V6X03, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // BMP388 moved to I2C2, Sensor Set 3 - {V6X40, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // HB CM4 base - {V6X41, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // BMP388 moved to I2C2 HB CM4 base - {V6X43, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // BMP388 moved to I2C2, HB CM4 base Sensor Set 3 - {V6X44, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // BMP388 moved to I2C2, HB CM4 base Sensor Set 4 - {V6X50, hw_mft_list_v0650, arraySize(hw_mft_list_v0650)}, // HB Mini - {V6X51, hw_mft_list_v0650, arraySize(hw_mft_list_v0650)}, // BMP388 moved to I2C2 HB Mini - {V6X53, hw_mft_list_v0650, arraySize(hw_mft_list_v0650)}, // BMP388 moved to I2C2, HB Mini Sensor Set 3 - {V6X54, hw_mft_list_v0650, arraySize(hw_mft_list_v0650)}, // BMP388 moved to I2C2, HB Mini Sensor Set 4 - {V6X10, hw_mft_list_v0610, arraySize(hw_mft_list_v0610)}, // No PX4IO - {V6X13, hw_mft_list_v0610, arraySize(hw_mft_list_v0610)}, // No PX4IO BMP388 moved to I2C2, Sensor Set 3 - {V6X04, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // BMP388 moved to I2C2, Sensor Set 4 - {V6X14, hw_mft_list_v0610, arraySize(hw_mft_list_v0610)}, // No PX4IO BMP388 moved to I2C2, Sensor Set 4 - {V6X21, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, - {V6X0910, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // FMUV6X, rev from EEPROM Auterion Skynode ver9 - {V6X1010, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // FMUV6X, rev from EEPROM Auterion Skynode ver10 -}; - -/************************************************************************************ - * Name: board_query_manifest - * - * Description: - * Optional returns manifest item. - * - * Input Parameters: - * manifest_id - the ID for the manifest item to retrieve - * - * Returned Value: - * 0 - item is not in manifest => assume legacy operations - * pointer to a manifest item - * - ************************************************************************************/ - -__EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id) -{ - static px4_hw_mft_list_entry boards_manifest = px4_hw_mft_list_uninitialized; - - if (boards_manifest == px4_hw_mft_list_uninitialized) { - uint32_t ver_rev = board_get_hw_version() << 16; - ver_rev |= board_get_hw_revision(); - - for (unsigned i = 0; i < arraySize(mft_lists); i++) { - if (mft_lists[i].hw_ver_rev == ver_rev) { - boards_manifest = &mft_lists[i]; - break; - } - } - - if (boards_manifest == px4_hw_mft_list_uninitialized) { - syslog(LOG_ERR, "[boot] Board %08" PRIx32 " is not supported!\n", ver_rev); - } - } - - px4_hw_mft_item rv = &device_unsupported; - - if (boards_manifest != px4_hw_mft_list_uninitialized && - id < boards_manifest->entries) { - rv = &boards_manifest->mft[id]; - } - - return rv; -} diff --git a/boards/px4/fmu-v6x/src/mtd.cpp b/boards/px4/fmu-v6x/src/mtd.cpp index fc1e97d2c8b1..8e57555eacad 100644 --- a/boards/px4/fmu-v6x/src/mtd.cpp +++ b/boards/px4/fmu-v6x/src/mtd.cpp @@ -31,10 +31,13 @@ * ****************************************************************************/ +#include +#include + #include #include // KiB BS nB -static const px4_mft_device_t spi5 = { // FM25V02A on FMUM 32K 512 X 64 +static const px4_mft_device_t spi5 = { // FM25V02A on FMUM native: 32K X 8, emulated as (1024 Blocks of 32) .bus_type = px4_mft_device_t::SPI, .devid = SPIDEV_FLASH(0) }; @@ -50,18 +53,12 @@ static const px4_mft_device_t i2c4 = { // 24LC64T on IMU 8K 32 X 2 static const px4_mtd_entry_t fmum_fram = { .device = &spi5, - .npart = 2, + .npart = 1, .partd = { { .type = MTD_PARAMETERS, .path = "/fs/mtd_params", - .nblocks = 32 - }, - { - .type = MTD_WAYPOINTS, - .path = "/fs/mtd_waypoints", - .nblocks = 32 - + .nblocks = (32768 / (1 << CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT)) } }, }; @@ -120,10 +117,16 @@ static const px4_mft_entry_s mtd_mft = { .pmft = (void *) &board_mtd_config, }; +static const px4_mft_entry_s mft_mft = { + .type = MFT, + .pmft = (void *) system_query_manifest, +}; + static const px4_mft_s mft = { - .nmft = 1, + .nmft = 2, .mfts = { - &mtd_mft + &mtd_mft, + &mft_mft, } }; diff --git a/boards/px4/fmu-v6x/src/spi.cpp b/boards/px4/fmu-v6x/src/spi.cpp index d3bbdb9315f8..8c633dd78f14 100644 --- a/boards/px4/fmu-v6x/src/spi.cpp +++ b/boards/px4/fmu-v6x/src/spi.cpp @@ -36,7 +36,7 @@ #include constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSIONS] = { - initSPIHWVersion(V6X00, { + initSPIFmumID(V6X_0, { initSPIBus(SPI::Bus::SPI1, { initSPIDevice(DRV_IMU_DEVTYPE_ICM20649, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}), }, {GPIO::PortI, GPIO::Pin11}), @@ -60,31 +60,7 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION }), }), - initSPIHWVersion(V6X03, { - initSPIBus(SPI::Bus::SPI1, { - initSPIDevice(DRV_IMU_DEVTYPE_ICM42670P, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}), - }, {GPIO::PortI, GPIO::Pin11}), - initSPIBus(SPI::Bus::SPI2, { - initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}), - }, {GPIO::PortF, GPIO::Pin4}), - initSPIBus(SPI::Bus::SPI3, { - initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortI, GPIO::Pin8}, SPI::DRDY{GPIO::PortI, GPIO::Pin7}), - initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortI, GPIO::Pin6}), - }, {GPIO::PortE, GPIO::Pin7}), - // initSPIBus(SPI::Bus::SPI4, { - // // no devices - // TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h - // }, {GPIO::PortG, GPIO::Pin8}), - initSPIBus(SPI::Bus::SPI5, { - initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7}) - }), - initSPIBusExternal(SPI::Bus::SPI6, { - initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin10}, SPI::DRDY{GPIO::PortD, GPIO::Pin11}), - initSPIConfigExternal(SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortD, GPIO::Pin12}), - }), - }), - - initSPIHWVersion(V6X21, { + initSPIFmumID(V6X_1, { initSPIBus(SPI::Bus::SPI1, { initSPIDevice(DRV_IMU_DEVTYPE_ICM20649, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}), }, {GPIO::PortI, GPIO::Pin11}), @@ -108,7 +84,7 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION }), }), - initSPIHWVersion(V6X43, { + initSPIFmumID(V6X_3, { initSPIBus(SPI::Bus::SPI1, { initSPIDevice(DRV_IMU_DEVTYPE_ICM42670P, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}), }, {GPIO::PortI, GPIO::Pin11}), @@ -132,31 +108,7 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION }), }), - initSPIHWVersion(V6X50, { - initSPIBus(SPI::Bus::SPI1, { - initSPIDevice(DRV_IMU_DEVTYPE_ICM20649, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}), - }, {GPIO::PortI, GPIO::Pin11}), - initSPIBus(SPI::Bus::SPI2, { - initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}), - }, {GPIO::PortF, GPIO::Pin4}), - initSPIBus(SPI::Bus::SPI3, { - initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortI, GPIO::Pin8}, SPI::DRDY{GPIO::PortI, GPIO::Pin7}), - initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortI, GPIO::Pin6}), - }, {GPIO::PortE, GPIO::Pin7}), - // initSPIBus(SPI::Bus::SPI4, { - // // no devices - // TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h - // }, {GPIO::PortG, GPIO::Pin8}), - initSPIBus(SPI::Bus::SPI5, { - initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7}) - }), - initSPIBusExternal(SPI::Bus::SPI6, { - initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin10}, SPI::DRDY{GPIO::PortD, GPIO::Pin11}), - initSPIConfigExternal(SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortD, GPIO::Pin12}), - }), - }), - - initSPIHWVersion(V6X44, { + initSPIFmumID(V6X_4, { initSPIBus(SPI::Bus::SPI1, { initSPIDevice(DRV_IMU_DEVTYPE_ICM42670P, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}), }, {GPIO::PortI, GPIO::Pin11}), @@ -179,84 +131,15 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION }), }), - // never shipped - //initSPIHWVersion(V6X50, { - // initSPIBus(SPI::Bus::SPI1, { - // initSPIDevice(DRV_IMU_DEVTYPE_ICM20649, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}), - // }, {GPIO::PortI, GPIO::Pin11}), - // initSPIBus(SPI::Bus::SPI2, { - // initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}), - // }, {GPIO::PortF, GPIO::Pin4}), - // initSPIBus(SPI::Bus::SPI3, { - // initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortI, GPIO::Pin8}, SPI::DRDY{GPIO::PortI, GPIO::Pin7}), - // initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortI, GPIO::Pin6}), - // }, {GPIO::PortE, GPIO::Pin7}), - // // initSPIBus(SPI::Bus::SPI4, { - // // // no devices - // // TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h - // // }, {GPIO::PortG, GPIO::Pin8}), - // initSPIBus(SPI::Bus::SPI5, { - // initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7}) - // }), - // initSPIBusExternal(SPI::Bus::SPI6, { - // initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin10}, SPI::DRDY{GPIO::PortD, GPIO::Pin11}), - // initSPIConfigExternal(SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortD, GPIO::Pin12}), - // }), - //}), - initSPIHWVersion(V6X04, { - initSPIBus(SPI::Bus::SPI1, { - initSPIDevice(DRV_IMU_DEVTYPE_ICM42670P, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}), - }, {GPIO::PortI, GPIO::Pin11}), - initSPIBus(SPI::Bus::SPI2, { - initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}), - }, {GPIO::PortF, GPIO::Pin4}), - initSPIBus(SPI::Bus::SPI3, { - initSPIDevice(DRV_IMU_DEVTYPE_ICM20649, SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortI, GPIO::Pin7}), - }, {GPIO::PortE, GPIO::Pin7}), - // initSPIBus(SPI::Bus::SPI4, { - // // no devices - // TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h - // }, {GPIO::PortG, GPIO::Pin8}), - initSPIBus(SPI::Bus::SPI5, { - initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7}) - }), - initSPIBusExternal(SPI::Bus::SPI6, { - initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin10}, SPI::DRDY{GPIO::PortD, GPIO::Pin11}), - initSPIConfigExternal(SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortD, GPIO::Pin12}), - }), - }), - initSPIHWVersion(V6X53, { - initSPIBus(SPI::Bus::SPI1, { - initSPIDevice(DRV_IMU_DEVTYPE_ICM42670P, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}), - }, {GPIO::PortI, GPIO::Pin11}), - initSPIBus(SPI::Bus::SPI2, { - initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}), - }, {GPIO::PortF, GPIO::Pin4}), - initSPIBus(SPI::Bus::SPI3, { - initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortI, GPIO::Pin8}, SPI::DRDY{GPIO::PortI, GPIO::Pin7}), - initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortI, GPIO::Pin6}), - }, {GPIO::PortE, GPIO::Pin7}), - // initSPIBus(SPI::Bus::SPI4, { - // // no devices - // TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h - // }, {GPIO::PortG, GPIO::Pin8}), - initSPIBus(SPI::Bus::SPI5, { - initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7}) - }), - initSPIBusExternal(SPI::Bus::SPI6, { - initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin10}, SPI::DRDY{GPIO::PortD, GPIO::Pin11}), - initSPIConfigExternal(SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortD, GPIO::Pin12}), - }), - }), - initSPIHWVersion(V6X54, { + initSPIFmumID(V6X_6, { initSPIBus(SPI::Bus::SPI1, { - initSPIDevice(DRV_IMU_DEVTYPE_ICM42670P, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}), + initSPIDevice(DRV_IMU_DEVTYPE_ICM45686, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}), }, {GPIO::PortI, GPIO::Pin11}), initSPIBus(SPI::Bus::SPI2, { - initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}), + initSPIDevice(DRV_IMU_DEVTYPE_IIM42652, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}), }, {GPIO::PortF, GPIO::Pin4}), initSPIBus(SPI::Bus::SPI3, { - initSPIDevice(DRV_IMU_DEVTYPE_ICM20649, SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortI, GPIO::Pin7}), + initSPIDevice(DRV_IMU_DEVTYPE_ADIS16470, SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortI, GPIO::Pin7}), }, {GPIO::PortE, GPIO::Pin7}), // initSPIBus(SPI::Bus::SPI4, { // // no devices @@ -270,16 +153,16 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION initSPIConfigExternal(SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortD, GPIO::Pin12}), }), }), - initSPIHWVersion(V6X0910, { + + initSPIFmumID(V6X_8, { initSPIBus(SPI::Bus::SPI1, { - initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}), + initSPIDevice(DRV_IMU_DEVTYPE_ICM45686, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}), }, {GPIO::PortI, GPIO::Pin11}), initSPIBus(SPI::Bus::SPI2, { - initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}), + initSPIDevice(DRV_IMU_DEVTYPE_ICM45686, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}), }, {GPIO::PortF, GPIO::Pin4}), initSPIBus(SPI::Bus::SPI3, { - initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortI, GPIO::Pin8}, SPI::DRDY{GPIO::PortI, GPIO::Pin7}), - initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortI, GPIO::Pin4}), + initSPIDevice(DRV_IMU_DEVTYPE_ICM45686, SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortI, GPIO::Pin7}), }, {GPIO::PortE, GPIO::Pin7}), // initSPIBus(SPI::Bus::SPI4, { // // no devices @@ -293,7 +176,9 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION initSPIConfigExternal(SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortD, GPIO::Pin12}), }), }), - initSPIHWVersion(V6X1010, { + + + initSPIFmumID(V6X_16, { initSPIBus(SPI::Bus::SPI1, { initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}), }, {GPIO::PortI, GPIO::Pin11}), @@ -316,6 +201,7 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION initSPIConfigExternal(SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortD, GPIO::Pin12}), }), }), + }; static constexpr bool unused = validateSPIConfig(px4_spi_buses_all_hw); diff --git a/boards/px4/fmu-v6x/zenoh.px4board b/boards/px4/fmu-v6x/zenoh.px4board new file mode 100644 index 000000000000..cb14fde93580 --- /dev/null +++ b/boards/px4/fmu-v6x/zenoh.px4board @@ -0,0 +1,4 @@ +# CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE is not set +CONFIG_DRIVERS_UAVCAN=n +CONFIG_MODULES_UXRCE_DDS_CLIENT=n +CONFIG_MODULES_ZENOH=y diff --git a/boards/px4/fmu-v6xrt/allyes.px4board b/boards/px4/fmu-v6xrt/allyes.px4board new file mode 100644 index 000000000000..5f1bc9ab3d59 --- /dev/null +++ b/boards/px4/fmu-v6xrt/allyes.px4board @@ -0,0 +1 @@ +CONFIG_BOARD_LINKER_PREFIX="allyes" diff --git a/boards/px4/fmu-v6xrt/bootloader.px4board b/boards/px4/fmu-v6xrt/bootloader.px4board new file mode 100644 index 000000000000..19b6e662be69 --- /dev/null +++ b/boards/px4/fmu-v6xrt/bootloader.px4board @@ -0,0 +1,3 @@ +CONFIG_BOARD_TOOLCHAIN="arm-none-eabi" +CONFIG_BOARD_ARCHITECTURE="cortex-m7" +CONFIG_BOARD_ROMFSROOT="" diff --git a/boards/px4/fmu-v6xrt/default.px4board b/boards/px4/fmu-v6xrt/default.px4board new file mode 100644 index 000000000000..17434ed18d3c --- /dev/null +++ b/boards/px4/fmu-v6xrt/default.px4board @@ -0,0 +1,110 @@ +CONFIG_BOARD_TOOLCHAIN="arm-none-eabi" +CONFIG_BOARD_ARCHITECTURE="cortex-m7" +CONFIG_BOARD_ETHERNET=y +CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS1" +CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS3" +CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS2" +CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS5" +CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS6" +CONFIG_DRIVERS_ADC_ADS1115=y +CONFIG_DRIVERS_ADC_BOARD_ADC=y +CONFIG_DRIVERS_BAROMETER_BMP388=y +CONFIG_DRIVERS_BAROMETER_INVENSENSE_ICP201XX=y +CONFIG_DRIVERS_BAROMETER_MS5611=y +CONFIG_DRIVERS_CAMERA_CAPTURE=y +CONFIG_DRIVERS_CAMERA_TRIGGER=y +CONFIG_DRIVERS_CDCACM_AUTOSTART=y +CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y +CONFIG_COMMON_DISTANCE_SENSOR=y +CONFIG_DRIVERS_DSHOT=y +CONFIG_DRIVERS_GPS=y +CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16470=y +CONFIG_DRIVERS_IMU_BOSCH_BMI088=y +CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y +CONFIG_DRIVERS_IMU_INVENSENSE_ICM20649=y +CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y +CONFIG_DRIVERS_IMU_INVENSENSE_ICM42670P=y +CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y +CONFIG_DRIVERS_IMU_INVENSENSE_ICM45686=y +CONFIG_DRIVERS_IMU_INVENSENSE_IIM42652=y +CONFIG_COMMON_INS=y +CONFIG_COMMON_LIGHT=y +CONFIG_COMMON_MAGNETOMETER=y +CONFIG_DRIVERS_OSD_MSP_OSD=y +CONFIG_DRIVERS_POWER_MONITOR_INA226=y +CONFIG_DRIVERS_POWER_MONITOR_INA228=y +CONFIG_DRIVERS_POWER_MONITOR_INA238=y +CONFIG_DRIVERS_POWER_MONITOR_PM_SELECTOR_AUTERION=y +CONFIG_DRIVERS_PWM_OUT=y +CONFIG_DRIVERS_PX4IO=y +CONFIG_DRIVERS_RC_INPUT=y +CONFIG_DRIVERS_SAFETY_BUTTON=y +CONFIG_COMMON_TELEMETRY=y +CONFIG_DRIVERS_TONE_ALARM=y +CONFIG_DRIVERS_UAVCAN=y +CONFIG_COMMON_UWB=y +CONFIG_MODULES_AIRSPEED_SELECTOR=y +CONFIG_MODULES_BATTERY_STATUS=y +CONFIG_MODULES_CAMERA_FEEDBACK=y +CONFIG_MODULES_COMMANDER=y +CONFIG_MODULES_CONTROL_ALLOCATOR=y +CONFIG_MODULES_DATAMAN=y +CONFIG_MODULES_EKF2=y +CONFIG_MODULES_ESC_BATTERY=y +CONFIG_MODULES_EVENTS=y +CONFIG_MODULES_FLIGHT_MODE_MANAGER=y +CONFIG_MODULES_FW_ATT_CONTROL=y +CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y +CONFIG_MODULES_FW_POS_CONTROL=y +CONFIG_MODULES_FW_RATE_CONTROL=y +CONFIG_MODULES_GIMBAL=y +CONFIG_MODULES_GYRO_CALIBRATION=y +CONFIG_MODULES_GYRO_FFT=y +CONFIG_MODULES_LAND_DETECTOR=y +CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y +CONFIG_MODULES_LOAD_MON=y +CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y +CONFIG_MODULES_LOGGER=y +CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y +CONFIG_MODULES_MANUAL_CONTROL=y +CONFIG_MODULES_MAVLINK=y +CONFIG_MODULES_MC_ATT_CONTROL=y +CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y +CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y +CONFIG_MODULES_MC_POS_CONTROL=y +CONFIG_MODULES_MC_RATE_CONTROL=y +CONFIG_MODULES_NAVIGATOR=y +CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF=y +CONFIG_MODULES_RC_UPDATE=y +CONFIG_MODULES_ROVER_POS_CONTROL=y +CONFIG_MODULES_SENSORS=y +CONFIG_MODULES_TEMPERATURE_COMPENSATION=y +CONFIG_MODULES_UXRCE_DDS_CLIENT=y +CONFIG_MODULES_VTOL_ATT_CONTROL=y +CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y +CONFIG_SYSTEMCMDS_BSONDUMP=y +CONFIG_SYSTEMCMDS_DMESG=y +CONFIG_SYSTEMCMDS_DUMPFILE=y +CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y +CONFIG_SYSTEMCMDS_I2C_LAUNCHER=y +CONFIG_SYSTEMCMDS_I2CDETECT=y +CONFIG_SYSTEMCMDS_IO_BYPASS_CONTROL=y +CONFIG_SYSTEMCMDS_LED_CONTROL=y +CONFIG_SYSTEMCMDS_MFT=y +CONFIG_SYSTEMCMDS_MTD=y +CONFIG_SYSTEMCMDS_NETMAN=y +CONFIG_SYSTEMCMDS_NSHTERM=y +CONFIG_SYSTEMCMDS_PARAM=y +CONFIG_SYSTEMCMDS_PERF=y +CONFIG_SYSTEMCMDS_REBOOT=y +CONFIG_SYSTEMCMDS_SD_BENCH=y +CONFIG_SYSTEMCMDS_SD_STRESS=y +CONFIG_SYSTEMCMDS_SERIAL_TEST=y +CONFIG_SYSTEMCMDS_SYSTEM_TIME=y +CONFIG_SYSTEMCMDS_TOP=y +CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y +CONFIG_SYSTEMCMDS_TUNE_CONTROL=y +CONFIG_SYSTEMCMDS_UORB=y +CONFIG_SYSTEMCMDS_USB_CONNECTED=y +CONFIG_SYSTEMCMDS_VER=y +CONFIG_SYSTEMCMDS_WORK_QUEUE=y diff --git a/boards/px4/fmu-v6xrt/extras/px4_fmu-v6xrt_bootloader.bin b/boards/px4/fmu-v6xrt/extras/px4_fmu-v6xrt_bootloader.bin new file mode 100755 index 000000000000..42e7c4b9d036 Binary files /dev/null and b/boards/px4/fmu-v6xrt/extras/px4_fmu-v6xrt_bootloader.bin differ diff --git a/boards/px4/fmu-v6xrt/extras/px4_io-v2_default.bin b/boards/px4/fmu-v6xrt/extras/px4_io-v2_default.bin new file mode 100755 index 000000000000..51403914013d Binary files /dev/null and b/boards/px4/fmu-v6xrt/extras/px4_io-v2_default.bin differ diff --git a/boards/px4/fmu-v6xrt/firmware.prototype b/boards/px4/fmu-v6xrt/firmware.prototype new file mode 100644 index 000000000000..a94d419a3d7a --- /dev/null +++ b/boards/px4/fmu-v6xrt/firmware.prototype @@ -0,0 +1,13 @@ +{ + "board_id": 35, + "magic": "PX4FWv1", + "description": "Firmware for the PX4FMUv6XRT board", + "image": "", + "build_time": 0, + "summary": "PX4FMUv6XRT", + "version": "0.1", + "image_size": 0, + "image_maxsize": 4063232, + "git_identity": "", + "board_revision": 0 +} diff --git a/boards/px4/fmu-v6xrt/init/rc.board_defaults b/boards/px4/fmu-v6xrt/init/rc.board_defaults new file mode 100644 index 000000000000..a5a3dc10162c --- /dev/null +++ b/boards/px4/fmu-v6xrt/init/rc.board_defaults @@ -0,0 +1,28 @@ +#!/bin/sh +# +# board specific defaults +#------------------------------------------------------------------------------ + +# Mavlink ethernet (CFG 1000) +param set-default MAV_2_CONFIG 1000 +param set-default MAV_2_BROADCAST 1 +param set-default MAV_2_MODE 0 +param set-default MAV_2_RADIO_CTL 0 +param set-default MAV_2_RATE 100000 +param set-default MAV_2_REMOTE_PRT 14550 +param set-default MAV_2_UDP_PRT 14550 + +# By disabling all 3 INA modules, we use the +# i2c_launcher instead. +param set-default SENS_EN_INA238 0 +param set-default SENS_EN_INA228 0 +param set-default SENS_EN_INA226 0 + +safety_button start + +if param greater -s UAVCAN_ENABLE 0 +then + ifup can0 + ifup can1 + ifup can2 +fi diff --git a/boards/px4/fmu-v6xrt/init/rc.board_mavlink b/boards/px4/fmu-v6xrt/init/rc.board_mavlink new file mode 100644 index 000000000000..5c1a00ff959d --- /dev/null +++ b/boards/px4/fmu-v6xrt/init/rc.board_mavlink @@ -0,0 +1,13 @@ +#!/bin/sh +# +# PX4 FMUv6X-RT specific board MAVLink startup script. +#------------------------------------------------------------------------------ + +# if skynode base board is detected start Mavlink on Telem2 +if ver hwbasecmp 009 010 011 +then + mavlink start -d /dev/ttyS5 -b 3000000 -r 290000 -m onboard_low_bandwidth -x -z + + # Ensure nothing else starts on TEL2 (ttyS5) + set PRT_TEL2_ 1 +fi diff --git a/boards/px4/fmu-v6xrt/init/rc.board_sensors b/boards/px4/fmu-v6xrt/init/rc.board_sensors new file mode 100644 index 000000000000..9271eab6549f --- /dev/null +++ b/boards/px4/fmu-v6xrt/init/rc.board_sensors @@ -0,0 +1,115 @@ +#!/bin/sh +# +# PX4 FMUv6xrt specific board sensors init +#------------------------------------------------------------------------------ +# +# UART mapping on PX4 FMU-V6XRT: +# +# LPUART1 /dev/ttyS0 CONSOLE +# LPUART3 /dev/ttyS1 GPS +# LPUART4 /dev/ttyS2 TELEM1 +# LPUART5 /dev/ttyS3 GPS2 +# LPUART6 /dev/ttyS4 PX4IO +# LPUART8 /dev/ttyS5 TELEM2 +# LPUART10 /dev/ttyS6 TELEM3 +# LPUART11 /dev/ttyS7 EXT2 +# +#------------------------------------------------------------------------------ + +set HAVE_PM2 yes +set INA_CONFIGURED no + +if mft query -q -k MFT -s MFT_PM2 -v 0 +then + set HAVE_PM2 no +fi +if param compare -s ADC_ADS1115_EN 1 +then + ads1115 start -X +else + board_adc start +fi + + +if param compare SENS_EN_INA226 1 +then + # Start Digital power monitors + ina226 -X -b 1 -t 1 -k start + + if [ $HAVE_PM2 = yes ] + then + ina226 -X -b 2 -t 2 -k start + fi + + set INA_CONFIGURED yes +fi + +if param compare SENS_EN_INA228 1 +then + # Start Digital power monitors + ina228 -X -b 1 -t 1 -k start + if [ $HAVE_PM2 = yes ] + then + ina228 -X -b 2 -t 2 -k start + fi + + set INA_CONFIGURED yes +fi + +if param compare SENS_EN_INA238 1 +then + # Start Digital power monitors + ina238 -X -b 1 -t 1 -k start + if [ $HAVE_PM2 = yes ] + then + ina238 -X -b 2 -t 2 -k start + fi + + set INA_CONFIGURED yes +fi + +#Start Auterion Power Module selector for Skynode boards +if ver hwbasecmp 009 010 +then + pm_selector_auterion start +else + if [ $INA_CONFIGURED = no ] + then + # INA226, INA228, INA238 auto-start + i2c_launcher start -b 1 + if [ $HAVE_PM2 = yes ] + then + i2c_launcher start -b 2 + fi + fi +fi + +# Internal SPI bus ICM42686p (hard-mounted) +icm42688p -6 -R 12 -b 1 -s start + +# Internal on IMU SPI BMI088 +bmi088 -A -R 4 -s start +bmi088 -G -R 4 -s start + +# Internal on IMU SPI bus ICM42688p +icm42688p -R 6 -b 2 -s start + +# Internal magnetometer on I2c +bmm150 -I start + + +# External compass on GPS1/I2C1 (the 3rd external bus): standard Holybro Pixhawk 4 or CUAV V5 GPS/compass puck (with lights, safety button, and buzzer) +ist8310 -X -b 1 -R 10 start + +# Possible internal Baro + +# Disable startup of internal baros if param is set to false +if param compare SENS_INT_BARO_EN 1 +then + bmp388 -I -b 3 -a 0x77 start +fi + +bmp388 -X -b 2 start + +unset INA_CONFIGURED +unset HAVE_PM2 diff --git a/boards/px4/fmu-v6xrt/nuttx-config/Kconfig b/boards/px4/fmu-v6xrt/nuttx-config/Kconfig new file mode 100644 index 000000000000..a11eaa25dc12 --- /dev/null +++ b/boards/px4/fmu-v6xrt/nuttx-config/Kconfig @@ -0,0 +1,59 @@ +# +# For a description of the syntax of this configuration file, +# see the file kconfig-language.txt in the NuttX tools repository. +# + +choice + prompt "Boot Flash" + default PX4_FMU_V6XRT_V3_QSPI_FLASH + +config PX4_FMU_V6XRT_V3_HYPER_FLASH + bool "HYPER Flash" + +config PX4_FMU_V6XRT_V3_QSPI_FLASH + bool "QSPI Flash" + +endchoice # Boot Flash + +config BOARD_HAS_PROBES + bool "Board provides GPIO or other Hardware for signaling to timing analyze." + default y + ---help--- + This board provides GPIO FMU-CH1-8, as PROBE_1-8 to provide timing signals + from selected drivers. + +config BOARD_USE_PROBES + bool "Enable the use the board provided FMU-CH1-8 as PROBE_1-8" + default n + depends on BOARD_HAS_PROBES + + ---help--- + Select to use GPIO FMU-CH1-8, as PROBE_1-8 to provide timing signals + from selected drivers. + +config BOARD_FORCE_ALIGNMENT + bool "Forces all acesses to be Aligned" + default n + + ---help--- + Adds -mno-unaligned-access to build flags. to force alignment. + This can be needed if data is stored in a region of memory, that + is Strongly ordered and dcache is off. + +config BOARD_BOOTLOADER_INVALID_FCB + bool "Disables the FCB header" + default n + + ---help--- + This can be used to keep the ROM bootloader in the serial Download mode. + Thus preventing bootlooping on `is_debug_pending` in the lame Rev B + silicon ROM bootloader. You can not cold boot (Power cycle) but can + Jtag from Load and be abel to reset it. + +config BOARD_BOOTLOADER_FIXUP + bool "Restores OCTAL Flash when No FCB" + default n + select ARCH_RAMFUNCS + + ---help--- + Restores OCTAL Flash when FCB is invalid. diff --git a/boards/px4/fmu-v6xrt/nuttx-config/bootloader/defconfig b/boards/px4/fmu-v6xrt/nuttx-config/bootloader/defconfig new file mode 100644 index 000000000000..6495d6ba6226 --- /dev/null +++ b/boards/px4/fmu-v6xrt/nuttx-config/bootloader/defconfig @@ -0,0 +1,111 @@ +# +# This file is autogenerated: PLEASE DO NOT EDIT IT. +# +# You can use "make menuconfig" to make any modifications to the installed .config file. +# You can then do "make savedefconfig" to generate a new defconfig file that includes your +# modifications. +# +# CONFIG_DEV_CONSOLE is not set +# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set +# CONFIG_DISABLE_PTHREAD is not set +# CONFIG_SPI_EXCHANGE is not set +CONFIG_ARCH="arm" +CONFIG_ARCH_BOARD_CUSTOM=y +CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/px4/fmu-v6xrt/nuttx-config" +CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y +CONFIG_ARCH_BOARD_CUSTOM_NAME="px4" +CONFIG_ARCH_CHIP="imxrt" +CONFIG_ARCH_CHIP_IMXRT=y +CONFIG_ARCH_CHIP_MIMXRT1176DVMAA=y +CONFIG_ARCH_INTERRUPTSTACK=2048 +CONFIG_ARCH_RAMVECTORS=y +CONFIG_ARCH_STACKDUMP=y +CONFIG_ARMV7M_DCACHE=y +CONFIG_ARMV7M_DCACHE_WRITETHROUGH=y +CONFIG_ARMV7M_DTCM=y +CONFIG_ARMV7M_ICACHE=y +CONFIG_ARMV7M_ITCM=y +CONFIG_ARMV7M_MEMCPY=y +CONFIG_ARMV7M_USEBASEPRI=y +CONFIG_ARM_MPU=y +CONFIG_ARM_MPU_RESET=y +CONFIG_BOARDCTL=y +CONFIG_BOARDCTL_RESET=y +CONFIG_BOARD_ASSERT_RESET_VALUE=0 +CONFIG_BOARD_BOOTLOADER_FIXUP=y +CONFIG_BOARD_CRASHDUMP=y +CONFIG_BOARD_FORCE_ALIGNMENT=y +CONFIG_BOARD_INITTHREAD_PRIORITY=254 +CONFIG_BOARD_LATE_INITIALIZE=y +CONFIG_BOARD_LOOPSPERMSEC=104926 +CONFIG_BOARD_RESET_ON_ASSERT=2 +CONFIG_CDCACM=y +CONFIG_CDCACM_BULKIN_REQLEN=96 +CONFIG_CDCACM_IFLOWCONTROL=y +CONFIG_CDCACM_PRODUCTID=0x001d +CONFIG_CDCACM_PRODUCTSTR="PX4 BL FMU v6XRT.x" +CONFIG_CDCACM_RXBUFSIZE=600 +CONFIG_CDCACM_TXBUFSIZE=12000 +CONFIG_CDCACM_VENDORID=0x3643 +CONFIG_CDCACM_VENDORSTR="Dronecode Project, Inc." +CONFIG_DEBUG_ASSERTIONS=y +CONFIG_DEBUG_ERROR=y +CONFIG_DEBUG_FEATURES=y +CONFIG_DEBUG_HARDFAULT_ALERT=y +CONFIG_DEBUG_SYMBOLS=y +CONFIG_DEBUG_TCBINFO=y +CONFIG_DEBUG_USAGEFAULT=y +CONFIG_DEFAULT_SMALL=y +CONFIG_EXPERIMENTAL=y +CONFIG_FDCLONE_DISABLE=y +CONFIG_FDCLONE_STDIO=y +CONFIG_HAVE_CXX=y +CONFIG_HAVE_CXXINITIALIZE=y +CONFIG_IDLETHREAD_STACKSIZE=2048 +CONFIG_IMXRT_EDMA=y +CONFIG_IMXRT_EDMA_EDBG=y +CONFIG_IMXRT_EDMA_ELINK=y +CONFIG_IMXRT_EDMA_NTCD=64 +CONFIG_IMXRT_FLEXSPI2=y +CONFIG_IMXRT_LPUART8=y +CONFIG_IMXRT_SNVS_LPSRTC=y +CONFIG_IMXRT_USBDEV=y +CONFIG_INIT_ENTRYPOINT="bootloader_main" +CONFIG_INIT_STACKSIZE=3194 +CONFIG_LIBC_FLOATINGPOINT=y +CONFIG_LIBC_LONG_LONG=y +CONFIG_LIBC_STRERROR=y +CONFIG_LPUART8_BAUD=57600 +CONFIG_LPUART8_IFLOWCONTROL=y +CONFIG_LPUART8_OFLOWCONTROL=y +CONFIG_LPUART8_RXBUFSIZE=600 +CONFIG_LPUART8_RXDMA=y +CONFIG_LPUART8_TXBUFSIZE=1500 +CONFIG_LPUART8_TXDMA=y +CONFIG_MEMSET_64BIT=y +CONFIG_MEMSET_OPTSPEED=y +CONFIG_PREALLOC_TIMERS=50 +CONFIG_PTHREAD_MUTEX_ROBUST=y +CONFIG_PTHREAD_STACK_MIN=512 +CONFIG_RAM_SIZE=1835008 +CONFIG_RAM_START=0x20240000 +CONFIG_RAW_BINARY=y +CONFIG_SERIAL_TERMIOS=y +CONFIG_SIG_DEFAULT=y +CONFIG_SIG_SIGALRM_ACTION=y +CONFIG_SIG_SIGUSR1_ACTION=y +CONFIG_SIG_SIGUSR2_ACTION=y +CONFIG_SPI=y +CONFIG_STACK_COLORATION=y +CONFIG_START_DAY=30 +CONFIG_START_MONTH=11 +CONFIG_STDIO_BUFFER_SIZE=32 +CONFIG_SYSTEMTICK_HOOK=y +CONFIG_SYSTEM_CDCACM=y +CONFIG_TASK_NAME_SIZE=24 +CONFIG_USBDEV=y +CONFIG_USBDEV_BUSPOWERED=y +CONFIG_USBDEV_DMA=y +CONFIG_USBDEV_DUALSPEED=y +CONFIG_USBDEV_MAXPOWER=500 +CONFIG_USEC_PER_TICK=1000 diff --git a/boards/px4/fmu-v6xrt/nuttx-config/include/board.h b/boards/px4/fmu-v6xrt/nuttx-config/include/board.h new file mode 100644 index 000000000000..3c0753df7dd4 --- /dev/null +++ b/boards/px4/fmu-v6xrt/nuttx-config/include/board.h @@ -0,0 +1,398 @@ +/************************************************************************************ + * nuttx-configs/px4/fmu-v6xrt/include/board.h + * + * Copyright (C) 2018 Gregory Nutt. All rights reserved. + * Authors: Gregory Nutt + * David Sidrane + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name NuttX nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ************************************************************************************/ + +#ifndef __NUTTX_CONFIG_PX4_FMU_V6XRT_INCLUDE_BOARD_H +#define __NUTTX_CONFIG_PX4_FMU_V6XRT_INCLUDE_BOARD_H + +/************************************************************************************ + * Included Files + ************************************************************************************/ + +#include + +/************************************************************************************ + * Pre-processor Definitions + ************************************************************************************/ + +/* Clocking *************************************************************************/ +#define BOARD_CPU_FREQUENCY 996000000 //FIXME +#define IMXRT_IPG_PODF_DIVIDER 5 +#define BOARD_GPT_FREQUENCY 24000000 +#define BOARD_XTAL_FREQUENCY 24000000 +#define BOARD_FLEXIO_PREQ 108000000 + +/* SDIO *********************************************************************/ + +/* Pin drive characteristics - drive strength in particular may need tuning + * for specific boards. + */ + +#define PIN_USDHC1_D0 (GPIO_USDHC1_DATA0_1 | IOMUX_USDHC1_DATAX_DEFAULT) /* GPIO_SD_B1_02 */ +#define PIN_USDHC1_D1 (GPIO_USDHC1_DATA1_1 | IOMUX_USDHC1_DATAX_DEFAULT) /* GPIO_SD_B1_03 */ +#define PIN_USDHC1_D2 (GPIO_USDHC1_DATA2_1 | IOMUX_USDHC1_DATAX_DEFAULT) /* GPIO_SD_B1_04 */ +#define PIN_USDHC1_D3 (GPIO_USDHC1_DATA3_1 | IOMUX_USDHC1_DATAX_DEFAULT) /* GPIO_SD_B1_05 */ +#define PIN_USDHC1_DCLK (GPIO_USDHC1_CLK_1 | IOMUX_USDHC1_CLK_DEFAULT) /* GPIO_SD_B1_01 */ +#define PIN_USDHC1_CMD (GPIO_USDHC1_CMD_1 | IOMUX_USDHC1_CMD_DEFAULT) /* GPIO_SD_B1_00 */ +#define PIN_USDHC1_CD (GPIO_USDHC1_CD_2 | IOMUX_USDHC1_CLK_DEFAULT) /* GPIO_AD_32 */ + +/* 386 KHz for initial inquiry stuff */ + +#define BOARD_USDHC_IDMODE_PRESCALER USDHC_SYSCTL_SDCLKFS_DIV256 +#define BOARD_USDHC_IDMODE_DIVISOR USDHC_SYSCTL_DVS_DIV(2) + +/* 24.8MHz for other modes */ + +#define BOARD_USDHC_MMCMODE_PRESCALER USDHC_SYSCTL_SDCLKFS_DIV8 +#define BOARD_USDHC_MMCMODE_DIVISOR USDHC_SYSCTL_DVS_DIV(1) + +#define BOARD_USDHC_SD1MODE_PRESCALER USDHC_SYSCTL_SDCLKFS_DIV8 +#define BOARD_USDHC_SD1MODE_DIVISOR USDHC_SYSCTL_DVS_DIV(1) + +#define BOARD_USDHC_SD4MODE_PRESCALER USDHC_SYSCTL_SDCLKFS_DIV8 +#define BOARD_USDHC_SD4MODE_DIVISOR USDHC_SYSCTL_DVS_DIV(1) + +/* LED definitions ******************************************************************/ +/* The px4 fmu-v6x board has numerous LEDs but only three, LED_GREEN a Green LED, + * LED_BLUE a Blue LED and LED_RED a Red LED, that can be controlled by software. + * + * If CONFIG_ARCH_LEDS is not defined, then the user can control the LEDs in any way. + * The following definitions are used to access individual LEDs. + */ + +/* LED index values for use with board_userled() */ + +#define BOARD_LED1 0 +#define BOARD_LED2 1 +#define BOARD_LED3 2 +#define BOARD_NLEDS 3 + +#define BOARD_LED_RED BOARD_LED1 +#define BOARD_LED_GREEN BOARD_LED2 +#define BOARD_LED_BLUE BOARD_LED3 + +/* LED bits for use with board_userled_all() */ + +#define BOARD_LED1_BIT (1 << BOARD_LED1) +#define BOARD_LED2_BIT (1 << BOARD_LED2) +#define BOARD_LED3_BIT (1 << BOARD_LED3) + +/* If CONFIG_ARCH_LEDS is defined, the usage by the board port is defined in + * include/board.h and src/stm32_leds.c. The LEDs are used to encode OS-related + * events as follows: + * + * + * SYMBOL Meaning LED state + * Red Green Blue + * ---------------------- -------------------------- ------ ------ ----*/ + +#define LED_STARTED 0 /* NuttX has been started OFF OFF OFF */ +#define LED_HEAPALLOCATE 1 /* Heap has been allocated OFF OFF ON */ +#define LED_IRQSENABLED 2 /* Interrupts enabled OFF ON OFF */ +#define LED_STACKCREATED 3 /* Idle stack created OFF ON ON */ +#define LED_INIRQ 4 /* In an interrupt N/C N/C GLOW */ +#define LED_SIGNAL 5 /* In a signal handler N/C GLOW N/C */ +#define LED_ASSERTION 6 /* An assertion failed GLOW N/C GLOW */ +#define LED_PANIC 7 /* The system has crashed Blink OFF N/C */ +#define LED_IDLE 8 /* MCU is is sleep mode ON OFF OFF */ + +/* Thus if the Green LED is statically on, NuttX has successfully booted and + * is, apparently, running normally. If the Red LED is flashing at + * approximately 2Hz, then a fatal error has been detected and the system + * has halted. + */ + +/* PIO Disambiguation ***************************************************************/ +/* LPUARTs + * + * We pull down CTS so that if nothing is connected, conde will not block. + */ +#define IOMUX_UART_CTS_DEFAULT (IOMUX_PULL_DOWN | IOMUX_DRIVE_HIGHSTRENGTH | IOMUX_SLEW_SLOW) +#define IOMUX_UART_BOARD_DEFAULT (IOMUX_PULL_NONE | IOMUX_DRIVE_HIGHSTRENGTH | IOMUX_SLEW_FAST) + +/* Debug */ + +#define GPIO_LPUART1_RX (GPIO_LPUART1_RX_2|IOMUX_UART_DEFAULT|PADMUX_SION) /* UART1_RX_DEBUG GPIO_DISP_B1_03 */ +#define GPIO_LPUART1_TX (GPIO_LPUART1_TX_2|IOMUX_UART_BOARD_DEFAULT) /* UART1_TX_DEBUG GPIO_DISP_B1_02 */ + +/* GPS 1 */ + +#define GPIO_LPUART3_RX (GPIO_LPUART3_RX_1|IOMUX_UART_DEFAULT|PADMUX_SION) /* UART3_RX_GPS1 GPIO_AD_31 */ +#define GPIO_LPUART3_TX (GPIO_LPUART3_TX_1|IOMUX_UART_DEFAULT) /* UART3_TX_GPS1 GPIO_AD_30 */ + +/* Telem 1 */ + +#define GPIO_LPUART4_CTS (GPIO_LPUART4_CTS_1|IOMUX_UART_CTS_DEFAULT|PADMUX_SION) /* UART4_CTS_TELEM1 GPIO_DISP_B1_05 */ +#define GPIO_LPUART4_RTS (GPIO_PORT4 | GPIO_PIN28 | GPIO_OUTPUT | GPIO_OUTPUT_ZERO | IOMUX_UART_DEFAULT) /* UART4_RTS_TELEM1 GPIO_DISP_B1_07 GPIO4 Pin 28 */ +#define GPIO_LPUART4_RX (GPIO_LPUART4_RX_1|IOMUX_UART_DEFAULT|PADMUX_SION) /* UART4_RX_TELEM1 GPIO_DISP_B1_04 */ +#define GPIO_LPUART4_TX (GPIO_LPUART4_TX_1|IOMUX_UART_BOARD_DEFAULT) /* UART4_TX_TELEM1 GPIO_DISP_B1_06 */ + +/* GPS 2 */ + +#define GPIO_LPUART5_RX (GPIO_LPUART5_RX_1|IOMUX_UART_DEFAULT|PADMUX_SION) /* UART5_RX_GPS2 GPIO_AD_29 */ +#define GPIO_LPUART5_TX (GPIO_LPUART5_TX_1|IOMUX_UART_DEFAULT) /* UART5_TX_GPS2 GPIO_AD_28 */ + +/* PX4IO */ + +#define GPIO_LPUART6_RX (GPIO_LPUART6_RX_1|IOMUX_UART_DEFAULT|PADMUX_SION) /* UART6_RX_FROM_IO__NC GPIO_EMC_B1_41 */ +#define GPIO_LPUART6_TX (GPIO_LPUART6_TX_1|IOMUX_UART_DEFAULT) /* UART6_TX_TO_IO__RC_INPUT GPIO_EMC_B1_40 */ + +/* Telem 2 */ + +#define GPIO_LPUART8_CTS (GPIO_LPUART8_CTS_1|IOMUX_UART_CTS_DEFAULT|PADMUX_SION) /* UART8_CTS_TELEM2 GPIO_AD_04 */ +#define GPIO_LPUART8_RTS (GPIO_PORT3 | GPIO_PIN4 | GPIO_OUTPUT | GPIO_OUTPUT_ZERO | IOMUX_UART_DEFAULT) /* UART8_RTS_TELEM2 GPIO_AD_05 GPIO3 Pin 4 */ +#define GPIO_LPUART8_RX (GPIO_LPUART8_RX_2|IOMUX_UART_DEFAULT|PADMUX_SION) /* UART8_RX_TELEM2 GPIO_AD_03 */ +#define GPIO_LPUART8_TX (GPIO_LPUART8_TX_2|IOMUX_UART_BOARD_DEFAULT) /* UART8_TX_TELEM2 GPIO_AD_02 */ + +/* Telem 3 */ + +#define GPIO_LPUART10_CTS (GPIO_LPUART10_CTS_1|IOMUX_UART_CTS_DEFAULT|PADMUX_SION) /* UART10_CTS_TELEM3 GPIO_AD_34 */ +#define GPIO_LPUART10_RTS (GPIO_PORT4 | GPIO_PIN2 | GPIO_OUTPUT | GPIO_OUTPUT_ZERO | IOMUX_UART_DEFAULT) /* UART10_RTS_TELEM3 GPIO_AD_35 GPIO4 Pin 2 */ +#define GPIO_LPUART10_RX (GPIO_LPUART10_RX_2|IOMUX_UART_DEFAULT|PADMUX_SION) /* UART10_RX_TELEM3 GPIO_AD_33 */ +#define GPIO_LPUART10_TX (GPIO_LPUART10_TX_1|IOMUX_UART_BOARD_DEFAULT) /* UART10_TX_TELEM3 GPIO_AD_15 */ + +/* Ext 2 */ + +/* No DMA Support at this time for lack of DMA1, DMAMUX1 support */ + +#define GPIO_LPUART11_RX (GPIO_LPUART11_RX_2|IOMUX_UART_DEFAULT|PADMUX_SION) /* UART11_RX_EXTERNAL2 GPIO_LPSR_05 */ +#define GPIO_LPUART11_TX (GPIO_LPUART11_TX_2|IOMUX_UART_DEFAULT) /* UART11_TX_EXTERNAL2 GPIO_LPSR_04 */ + + +/* CAN + * + * CAN1 is routed to transceiver. + * CAN2 is routed to transceiver. + * CAN3 is routed to transceiver. + */ + +#define FLEXCAN_IOMUX (IOMUX_PULL_UP | IOMUX_SLEW_FAST) + +#define GPIO_FLEXCAN1_TX (GPIO_FLEXCAN1_TX_1 | FLEXCAN_IOMUX) /* GPIO_AD_06 */ +#define GPIO_FLEXCAN1_RX (GPIO_FLEXCAN1_RX_1 | FLEXCAN_IOMUX) /* GPIO_AD_07 */ + +#define GPIO_FLEXCAN2_TX (GPIO_FLEXCAN2_TX_1 | FLEXCAN_IOMUX) /* GPIO_AD_00 */ +#define GPIO_FLEXCAN2_RX (GPIO_FLEXCAN2_RX_1 | FLEXCAN_IOMUX) /* GPIO_AD_01 */ + +#define GPIO_FLEXCAN3_TX (GPIO_FLEXCAN3_TX_1 | FLEXCAN_IOMUX) /* GPIO_LPSR_00 */ +#define GPIO_FLEXCAN3_RX (GPIO_FLEXCAN3_RX_1 | FLEXCAN_IOMUX) /* GPIO_LPSR_01 */ + +/* LPSPI */ + +#define GPIO_LPSPI1_MISO (GPIO_LPSPI1_SDI_2|IOMUX_LPSPI_DEFAULT) /* SPI1_MISO_SENSOR1 GPIO_EMC_B2_03 */ +#define GPIO_LPSPI1_MOSI (GPIO_LPSPI1_SDO_2|IOMUX_LPSPI_DEFAULT) /* SPI1_MOSI_SENSOR1 GPIO_EMC_B2_02 */ +#define GPIO_LPSPI1_SCK (GPIO_LPSPI1_SCK_2|IOMUX_LPSPI_DEFAULT) /* SPI1_SCK_SENSOR1 GPIO_EMC_B2_00 */ + +#define GPIO_LPSPI2_MISO (GPIO_LPSPI2_SDI_1|IOMUX_LPSPI_DEFAULT) /* SPI2_MISO_SENSOR2 GPIO_AD_27 */ +#define GPIO_LPSPI2_MOSI (GPIO_LPSPI2_SDO_1|IOMUX_LPSPI_DEFAULT) /* SPI2_MOSI_SENSOR2 GPIO_AD_26 */ +#define GPIO_LPSPI2_SCK (GPIO_LPSPI2_SCK_1|IOMUX_LPSPI_DEFAULT) /* SPI2_SCK_SENSOR2 GPIO_AD_24 */ + +#define GPIO_LPSPI3_MISO (GPIO_LPSPI3_SDI_1|IOMUX_LPSPI_DEFAULT) /* SPI3_MISO_SENSOR3 GPIO_EMC_B2_07 */ +#define GPIO_LPSPI3_MOSI (GPIO_LPSPI3_SDO_1|IOMUX_LPSPI_DEFAULT) /* SPI3_MOSI_SENSOR3 GPIO_EMC_B2_06 */ +#define GPIO_LPSPI3_SCK (GPIO_LPSPI3_SCK_1|IOMUX_LPSPI_DEFAULT) /* SPI3_SCK_SENSOR3 GPIO_EMC_B2_04 */ + +/* SPI4 Not connected to anything */ + +//#define GPIO_LPSPI4_MISO (GPIO_LPSPI4_SDI_2|IOMUX_LPSPI_DEFAULT) /* SPI4_MISO_SENSOR4 GPIO_DISP_B2_13 */ +//#define GPIO_LPSPI4_MOSI (GPIO_LPSPI4_SDO_2|IOMUX_LPSPI_DEFAULT) /* SPI4_MOSI_SENSOR4 GPIO_DISP_B2_14 */ +//#define GPIO_LPSPI4_SCK (GPIO_LPSPI4_SCK_2|IOMUX_LPSPI_DEFAULT) /* SPI4_SCK_SENSOR4 GPIO_DISP_B2_12 */ + +/* LPSPI6 No DMA Support at this time for lack of DMA1, DMAMUX1 support */ + + +#define GPIO_LPSPI6_MISO (GPIO_LPSPI6_SDI_1|IOMUX_LPSPI_DEFAULT) /* SPI6_MISO_EXTERNAL1 GPIO_LPSR_12 */ +#define GPIO_LPSPI6_MOSI (GPIO_LPSPI6_SDO_1|IOMUX_LPSPI_DEFAULT) /* SPI6_MOSI_EXTERNAL1 GPIO_LPSR_11 */ +#define GPIO_LPSPI6_SCK (GPIO_LPSPI6_SCK_1|IOMUX_LPSPI_DEFAULT) /* SPI6_SCK_EXTERNAL1 GPIO_LPSR_10 */ + +/* LPI2Cs */ + +#define GPIO_LPI2C1_SCL_RESET (GPIO_PORT3 | GPIO_PIN7 | GPIO_OUTPUT | GPIO_OUTPUT_ONE) /* I2C1_SCL_GPS1 GPIO_AD_08 GPIO_GPIO3_IO07 */ +#define GPIO_LPI2C1_SDA_RESET (GPIO_PORT3 | GPIO_PIN8 | GPIO_OUTPUT | GPIO_OUTPUT_ONE) /* I2C1_SDA_GPS1 GPIO_AD_09 GPIO_GPIO3_IO08 */ + +#define GPIO_LPI2C1_SCL (GPIO_LPI2C1_SCL_2|IOMUX_LPI2C_DEFAULT) /* I2C1_SCL_GPS1 GPIO_AD_08 */ +#define GPIO_LPI2C1_SDA (GPIO_LPI2C1_SDA_2|IOMUX_LPI2C_DEFAULT) /* I2C1_SDA_GPS1 GPIO_AD_09 */ + +#define GPIO_LPI2C2_SCL_RESET (GPIO_PORT3 | GPIO_PIN17 | GPIO_OUTPUT | GPIO_OUTPUT_ONE) /* I2C2_SCL_GPS2 GPIO_AD_18 GPIO_GPIO3_IO17 */ +#define GPIO_LPI2C2_SDA_RESET (GPIO_PORT3 | GPIO_PIN18 | GPIO_OUTPUT | GPIO_OUTPUT_ONE) /* I2C2_SDA_GPS2 GPIO_AD_19 GPIO_GPIO3_IO18 */ + +#define GPIO_LPI2C2_SCL (GPIO_LPI2C2_SCL_2|IOMUX_LPI2C_DEFAULT) /* I2C2_SCL_GPS2 GPIO_AD_18 */ +#define GPIO_LPI2C2_SDA (GPIO_LPI2C2_SDA_2|IOMUX_LPI2C_DEFAULT) /* I2C2_SDA_GPS2 GPIO_AD_19 */ + +#define GPIO_LPI2C3_SCL_RESET (GPIO_PORT5 | GPIO_PIN11 | GPIO_OUTPUT | GPIO_OUTPUT_ONE) /* I2C3_SCL_FMU GPIO_DISP_B2_10 GPIO_GPIO5_IO11_1 */ +#define GPIO_LPI2C3_SDA_RESET (GPIO_PORT5 | GPIO_PIN12 | GPIO_OUTPUT | GPIO_OUTPUT_ONE) /* I2C3_SDA_FMU GPIO_DISP_B2_11 GPIO_GPIO5_IO12_1 */ + +#define GPIO_LPI2C3_SCL (GPIO_LPI2C3_SCL_2|IOMUX_LPI2C_DEFAULT) /* I2C3_SCL_FMU GPIO_DISP_B2_10 */ +#define GPIO_LPI2C3_SDA (GPIO_LPI2C3_SDA_2|IOMUX_LPI2C_DEFAULT) /* I2C3_SDA_FMU GPIO_DISP_B2_11 */ + +#define GPIO_LPI2C6_SCL_RESET (GPIO_PORT6 | GPIO_PIN7 | GPIO_OUTPUT | GPIO_OUTPUT_ONE) /* I2C6_SCL_EXTERNAL2 GPIO_LPSR_07 GPIO_GPIO6_IO07_1 */ +#define GPIO_LPI2C6_SDA_RESET (GPIO_PORT6 | GPIO_PIN6 | GPIO_OUTPUT | GPIO_OUTPUT_ONE) /* I2C6_SDA_EXTERNAL2 GPIO_LPSR_06 GPIO_GPIO6_IO06_1 */ + +/* LPI2C6 No DMA Support at this time for lack of DMA1, DMAMUX1 support */ + +#define GPIO_LPI2C6_SCL (GPIO_LPI2C6_SCL_1|IOMUX_LPI2C_DEFAULT) /* I2C6_SCL_EXTERNAL2 GPIO_LPSR_07 */ +#define GPIO_LPI2C6_SDA (GPIO_LPI2C6_SDA_1|IOMUX_LPI2C_DEFAULT) /* I2C6_SDA_EXTERNAL2 GPIO_LPSR_06 */ + +/* ETH Disambiguation *******************************************************/ + +// This is the ENET_1G interface. + +/* Dshot Disambiguation *******************************************************/ + +#define IOMUX_DSHOT_DEFAULT (IOMUX_DRIVE_HIGHSTRENGTH | IOMUX_SLEW_FAST) + +// Compile time selection +#if defined(CONFIG_ETH0_PHY_TJA1103) +# define BOARD_PHY_ADDR (18) +#endif +#if defined(CONFIG_ETH0_PHY_LAN8742A) +# define BOARD_PHY_ADDR (0) +#endif + +/* Run time selection see mii.h */ + +#define BOARD_ETH0_PHY_LIST \ + { \ + "LAN8742A", \ + MII_PHYID1_LAN8742A, \ + MII_PHYID2_LAN8742A, \ + MII_LAN8740_SCSR, \ + 0, \ + 0xffff, \ + MII_LAN8720_SPSCR_10MBPS, \ + MII_LAN8720_SPSCR_100MBPS, \ + MII_LAN8720_SPSCR_DUPLEX, \ + 22, \ + }, \ + { \ + "TJA1103", \ + MII_PHYID1_TJA1103, \ + MII_PHYID2_TJA1103, \ + 0xffff, \ + 18, \ + 0xffff, \ + 0, \ + MII_LAN8720_SPSCR_100MBPS, \ + MII_LAN8720_SPSCR_DUPLEX, \ + 45, \ + }, \ + + +#define GPIO_ENET2_TX_DATA00 (GPIO_ENET_1G_TX_DATA0_1|IOMUX_ENET_DATA_DEFAULT) /* GPIO_DISP_B1_09 */ +#define GPIO_ENET2_TX_DATA01 (GPIO_ENET_1G_TX_DATA1_1|IOMUX_ENET_DATA_DEFAULT) /* GPIO_DISP_B1_08 */ +#define GPIO_ENET2_RX_DATA00 (GPIO_ENET_1G_RX_DATA0_2|IOMUX_ENET_DATA_DEFAULT) /* GPIO_EMC_B2_15 */ +#define GPIO_ENET2_RX_DATA01 (GPIO_ENET_1G_RX_DATA1_2|IOMUX_ENET_DATA_DEFAULT) /* GPIO_EMC_B2_16 */ +#define GPIO_ENET2_MDIO (GPIO_ENET_1G_MDIO_1|IOMUX_ENET_MDIO_DEFAULT) /* GPIO_EMC_B2_20 */ +#define GPIO_ENET2_MDC (GPIO_ENET_1G_MDC_1|IOMUX_ENET_MDC_DEFAULT) /* GPIO_EMC_B2_19 */ +#define GPIO_ENET2_RX_EN (GPIO_ENET_1G_RX_EN_1|IOMUX_ENET_EN_DEFAULT) /* GPIO_DISP_B1_00 */ +#define GPIO_ENET2_RX_ER (GPIO_ENET_RX_ER_1|IOMUX_ENET_RXERR_DEFAULT) /* GPIO_DISP_B1_01 */ +#define GPIO_ENET2_TX_CLK (GPIO_ENET_1G_REF_CLK_1|IOMUX_ENET_TX_CLK_DEFAULT) /* GPIO_DISP_B1_11 */ +#define GPIO_ENET2_TX_EN (GPIO_ENET_1G_TX_EN_1|IOMUX_ENET_EN_DEFAULT) /* GPIO_DISP_B1_10 */ + + +/* Board provides GPIO or other Hardware for signaling to timing analyzer */ + +#if defined(CONFIG_BOARD_USE_PROBES) +#include +#include +// add -I build/px4_fmu-v6xrt_default/NuttX/nuttx/arch/arm/src/chip \ to NuttX Makedefs.in +#define PROBE_IOMUX (IOMUX_CMOS_OUTPUT | IOMUX_SLEW_FAST) +# define PROBE_N(n) (1<<((n)-1)) +# define PROBE_1 /* GPIO_EMC_B1_23 */ (GPIO_PORT1 | GPIO_PIN23 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | PROBE_IOMUX) +# define PROBE_2 /* GPIO_EMC_B1_25 */ (GPIO_PORT1 | GPIO_PIN25 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | PROBE_IOMUX) +# define PROBE_3 /* GPIO_EMC_B1_27 */ (GPIO_PORT1 | GPIO_PIN27 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | PROBE_IOMUX) +# define PROBE_4 /* GPIO_EMC_B1_06 */ (GPIO_PORT1 | GPIO_PIN6 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | PROBE_IOMUX) +# define PROBE_5 /* GPIO_EMC_B1_08 */ (GPIO_PORT1 | GPIO_PIN8 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | PROBE_IOMUX) +# define PROBE_6 /* GPIO_EMC_B1_10 */ (GPIO_PORT1 | GPIO_PIN10 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | PROBE_IOMUX) +# define PROBE_7 /* GPIO_EMC_B1_19 */ (GPIO_PORT1 | GPIO_PIN19 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | PROBE_IOMUX) +# define PROBE_8 /* GPIO_EMC_B1_29 */ (GPIO_PORT1 | GPIO_PIN29 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | PROBE_IOMUX) +# define PROBE_9 /* GPIO_EMC_B1_31 */ (GPIO_PORT1 | GPIO_PIN31 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | PROBE_IOMUX) +# define PROBE_10 /* GPIO_EMC_B1_21 */ (GPIO_PORT1 | GPIO_PIN21 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | PROBE_IOMUX) +# define PROBE_11 /* GPIO_EMC_B1_00 */ (GPIO_PORT1 | GPIO_PIN0 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | PROBE_IOMUX) +# define PROBE_12 /* GPIO_EMC_B1_02 */ (GPIO_PORT1 | GPIO_PIN2 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | PROBE_IOMUX) + +# define PROBE_INIT(mask) \ + do { \ + if ((mask)& PROBE_N(1)) { imxrt_config_gpio(PROBE_1); } \ + if ((mask)& PROBE_N(2)) { imxrt_config_gpio(PROBE_2); } \ + if ((mask)& PROBE_N(3)) { imxrt_config_gpio(PROBE_3); } \ + if ((mask)& PROBE_N(4)) { imxrt_config_gpio(PROBE_4); } \ + if ((mask)& PROBE_N(5)) { imxrt_config_gpio(PROBE_5); } \ + if ((mask)& PROBE_N(6)) { imxrt_config_gpio(PROBE_6); } \ + if ((mask)& PROBE_N(7)) { imxrt_config_gpio(PROBE_7); } \ + if ((mask)& PROBE_N(8)) { imxrt_config_gpio(PROBE_8); } \ + if ((mask)& PROBE_N(9)) { imxrt_config_gpio(PROBE_9); } \ + if ((mask)& PROBE_N(10)) { imxrt_config_gpio(PROBE_10); } \ + if ((mask)& PROBE_N(11)) { imxrt_config_gpio(PROBE_11); } \ + if ((mask)& PROBE_N(12)) { imxrt_config_gpio(PROBE_12); } \ + } while(0) + +# define PROBE(n,s) do {imxrt_gpio_write(PROBE_##n,(s));}while(0) +# define PROBE_MARK(n) PROBE(n,false);PROBE(n,true) +#else +# define PROBE_INIT(mask) +# define PROBE(n,s) +# define PROBE_MARK(n) +#endif + +/************************************************************************************ + * Public Types + ************************************************************************************/ + +/************************************************************************************ + * Public Data + ************************************************************************************/ + +#ifndef __ASSEMBLY__ + +#undef EXTERN +#if defined(__cplusplus) +#define EXTERN extern "C" +extern "C" +{ +#else +#define EXTERN extern +#endif + +/************************************************************************************ + * Public Functions + ************************************************************************************/ + +#undef EXTERN +#if defined(__cplusplus) +} +#endif + +#endif /* __ASSEMBLY__ */ +#endif /* __NUTTX_CONFIG_PX4_FMU_V6XRT_INCLUDE_BOARD_H */ diff --git a/boards/px4/fmu-v6xrt/nuttx-config/nsh/defconfig b/boards/px4/fmu-v6xrt/nuttx-config/nsh/defconfig new file mode 100644 index 000000000000..e58939226d33 --- /dev/null +++ b/boards/px4/fmu-v6xrt/nuttx-config/nsh/defconfig @@ -0,0 +1,289 @@ +# +# This file is autogenerated: PLEASE DO NOT EDIT IT. +# +# You can use "make menuconfig" to make any modifications to the installed .config file. +# You can then do "make savedefconfig" to generate a new defconfig file that includes your +# modifications. +# +# CONFIG_NDEBUG is not set +# CONFIG_NSH_DISABLE_MB is not set +# CONFIG_NSH_DISABLE_MH is not set +# CONFIG_NSH_DISABLE_MW is not set +# CONFIG_SPI_CALLBACK is not set +CONFIG_ARCH="arm" +CONFIG_ARCH_BOARD_CUSTOM=y +CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/px4/fmu-v6xrt/nuttx-config" +CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y +CONFIG_ARCH_BOARD_CUSTOM_NAME="px4" +CONFIG_ARCH_CHIP="imxrt" +CONFIG_ARCH_CHIP_IMXRT=y +CONFIG_ARCH_CHIP_MIMXRT1176DVMAA=y +CONFIG_ARCH_INTERRUPTSTACK=2048 +CONFIG_ARCH_RAMVECTORS=y +CONFIG_ARCH_STACKDUMP=y +CONFIG_ARMV7M_DCACHE=y +CONFIG_ARMV7M_DCACHE_WRITETHROUGH=y +CONFIG_ARMV7M_DTCM=y +CONFIG_ARMV7M_ICACHE=y +CONFIG_ARMV7M_ITCM=y +CONFIG_ARMV7M_MEMCPY=y +CONFIG_ARMV7M_USEBASEPRI=y +CONFIG_ARM_MPU=y +CONFIG_ARM_MPU_RESET=y +CONFIG_BOARDCTL_RESET=y +CONFIG_BOARD_ASSERT_RESET_VALUE=0 +CONFIG_BOARD_BOOTLOADER_FIXUP=y +CONFIG_BOARD_CRASHDUMP=y +CONFIG_BOARD_CUSTOM_LEDS=y +CONFIG_BOARD_FORCE_ALIGNMENT=y +CONFIG_BOARD_LOOPSPERMSEC=104926 +CONFIG_BOARD_RESET_ON_ASSERT=2 +CONFIG_BUILTIN=y +CONFIG_CDCACM=y +CONFIG_CDCACM_BULKIN_REQLEN=96 +CONFIG_CDCACM_PRODUCTID=0x001d +CONFIG_CDCACM_PRODUCTSTR="PX4 FMU v6XRT.x" +CONFIG_CDCACM_RXBUFSIZE=600 +CONFIG_CDCACM_TXBUFSIZE=12000 +CONFIG_CDCACM_VENDORID=0x3643 +CONFIG_CDCACM_VENDORSTR="Dronecode Project, Inc." +CONFIG_DEBUG_ERROR=y +CONFIG_DEBUG_FEATURES=y +CONFIG_DEBUG_HARDFAULT_ALERT=y +CONFIG_DEBUG_MEMFAULT=y +CONFIG_DEBUG_SYMBOLS=y +CONFIG_DEBUG_TCBINFO=y +CONFIG_DEV_FIFO_SIZE=0 +CONFIG_DEV_PIPE_SIZE=70 +CONFIG_ETH0_PHY_MULTI=y +CONFIG_FAT_DMAMEMORY=y +CONFIG_FAT_LCNAMES=y +CONFIG_FAT_LFN=y +CONFIG_FAT_LFN_ALIAS_HASH=y +CONFIG_FDCLONE_STDIO=y +CONFIG_FSUTILS_IPCFG=y +CONFIG_FS_BINFS=y +CONFIG_FS_CROMFS=y +CONFIG_FS_FAT=y +CONFIG_FS_FATTIME=y +CONFIG_FS_PROCFS=y +CONFIG_FS_PROCFS_MAX_TASKS=64 +CONFIG_FS_PROCFS_REGISTER=y +CONFIG_FS_ROMFS=y +CONFIG_GRAN=y +CONFIG_GRAN_INTR=y +CONFIG_HAVE_CXX=y +CONFIG_HAVE_CXXINITIALIZE=y +CONFIG_I2C=y +CONFIG_I2C_RESET=y +CONFIG_IDLETHREAD_STACKSIZE=2048 +CONFIG_IMXRT_DTCM=0 +CONFIG_IMXRT_EDMA=y +CONFIG_IMXRT_EDMA_EDBG=y +CONFIG_IMXRT_EDMA_ELINK=y +CONFIG_IMXRT_EDMA_NTCD=64 +CONFIG_IMXRT_ENET2=y +CONFIG_IMXRT_ENET=y +CONFIG_IMXRT_FLEXCAN1=y +CONFIG_IMXRT_FLEXCAN2=y +CONFIG_IMXRT_FLEXCAN3=y +CONFIG_IMXRT_FLEXSPI2=y +CONFIG_IMXRT_GPIO13_IRQ=y +CONFIG_IMXRT_GPIO1_0_15_IRQ=y +CONFIG_IMXRT_GPIO1_16_31_IRQ=y +CONFIG_IMXRT_GPIO2_0_15_IRQ=y +CONFIG_IMXRT_GPIO2_16_31_IRQ=y +CONFIG_IMXRT_GPIO3_0_15_IRQ=y +CONFIG_IMXRT_GPIO3_16_31_IRQ=y +CONFIG_IMXRT_GPIO4_0_15_IRQ=y +CONFIG_IMXRT_GPIO4_16_31_IRQ=y +CONFIG_IMXRT_GPIO5_0_15_IRQ=y +CONFIG_IMXRT_GPIO5_16_31_IRQ=y +CONFIG_IMXRT_GPIO6_0_15_IRQ=y +CONFIG_IMXRT_GPIO6_16_31_IRQ=y +CONFIG_IMXRT_GPIO_IRQ=y +CONFIG_IMXRT_INIT_FLEXRAM=y +CONFIG_IMXRT_ITCM=0 +CONFIG_IMXRT_LPI2C1=y +CONFIG_IMXRT_LPI2C2=y +CONFIG_IMXRT_LPI2C3=y +CONFIG_IMXRT_LPI2C6=y +CONFIG_IMXRT_LPI2C_DMA=y +CONFIG_IMXRT_LPI2C_DMA_MAXMSG=16 +CONFIG_IMXRT_LPI2C_DYNTIMEO=y +CONFIG_IMXRT_LPI2C_DYNTIMEO_STARTSTOP=10 +CONFIG_IMXRT_LPSPI1=y +CONFIG_IMXRT_LPSPI1_DMA=y +CONFIG_IMXRT_LPSPI2=y +CONFIG_IMXRT_LPSPI2_DMA=y +CONFIG_IMXRT_LPSPI3=y +CONFIG_IMXRT_LPSPI3_DMA=y +CONFIG_IMXRT_LPSPI6=y +CONFIG_IMXRT_LPSPI_DMA=y +CONFIG_IMXRT_LPUART10=y +CONFIG_IMXRT_LPUART11=y +CONFIG_IMXRT_LPUART1=y +CONFIG_IMXRT_LPUART3=y +CONFIG_IMXRT_LPUART4=y +CONFIG_IMXRT_LPUART5=y +CONFIG_IMXRT_LPUART6=y +CONFIG_IMXRT_LPUART8=y +CONFIG_IMXRT_LPUART_INVERT=y +CONFIG_IMXRT_LPUART_SINGLEWIRE=y +CONFIG_IMXRT_PHY_POLLING=y +CONFIG_IMXRT_PHY_PROVIDES_TXC=y +CONFIG_IMXRT_SNVS_LPSRTC=y +CONFIG_IMXRT_USBDEV=y +CONFIG_IMXRT_USDHC1=y +CONFIG_IMXRT_USDHC1_INVERT_CD=y +CONFIG_IMXRT_USDHC1_WIDTH_D1_D4=y +CONFIG_INIT_ENTRYPOINT="nsh_main" +CONFIG_INIT_STACKSIZE=2944 +CONFIG_IOB_NBUFFERS=24 +CONFIG_IOB_THROTTLE=0 +CONFIG_IPCFG_BINARY=y +CONFIG_IPCFG_CHARDEV=y +CONFIG_IPCFG_PATH="/fs/mtd_net" +CONFIG_LIBC_MAX_EXITFUNS=1 +CONFIG_LIBC_STRERROR=y +CONFIG_LPI2C1_DMA=y +CONFIG_LPI2C2_DMA=y +CONFIG_LPI2C3_DMA=y +CONFIG_LPUART10_IFLOWCONTROL=y +CONFIG_LPUART10_OFLOWCONTROL=y +CONFIG_LPUART10_RXBUFSIZE=600 +CONFIG_LPUART10_RXDMA=y +CONFIG_LPUART10_TXBUFSIZE=3000 +CONFIG_LPUART10_TXDMA=y +CONFIG_LPUART1_BAUD=57600 +CONFIG_LPUART1_SERIAL_CONSOLE=y +CONFIG_LPUART3_BAUD=57600 +CONFIG_LPUART3_RXBUFSIZE=600 +CONFIG_LPUART3_RXDMA=y +CONFIG_LPUART3_TXBUFSIZE=3000 +CONFIG_LPUART3_TXDMA=y +CONFIG_LPUART4_BAUD=57600 +CONFIG_LPUART4_IFLOWCONTROL=y +CONFIG_LPUART4_OFLOWCONTROL=y +CONFIG_LPUART4_RXBUFSIZE=600 +CONFIG_LPUART4_RXDMA=y +CONFIG_LPUART4_TXBUFSIZE=3000 +CONFIG_LPUART4_TXDMA=y +CONFIG_LPUART5_BAUD=57600 +CONFIG_LPUART5_RXBUFSIZE=600 +CONFIG_LPUART5_RXDMA=y +CONFIG_LPUART5_TXBUFSIZE=1500 +CONFIG_LPUART5_TXDMA=y +CONFIG_LPUART6_BAUD=57600 +CONFIG_LPUART6_RXBUFSIZE=600 +CONFIG_LPUART6_RXDMA=y +CONFIG_LPUART6_TXBUFSIZE=1500 +CONFIG_LPUART6_TXDMA=y +CONFIG_LPUART8_BAUD=57600 +CONFIG_LPUART8_IFLOWCONTROL=y +CONFIG_LPUART8_OFLOWCONTROL=y +CONFIG_LPUART8_RXDMA=y +CONFIG_LPUART8_TXBUFSIZE=10000 +CONFIG_LPUART8_TXDMA=y +CONFIG_MEMSET_64BIT=y +CONFIG_MEMSET_OPTSPEED=y +CONFIG_MMCSD=y +CONFIG_MMCSD_SDIO=y +CONFIG_MTD=y +CONFIG_MTD_BYTE_WRITE=y +CONFIG_MTD_PARTITION=y +CONFIG_MTD_RAMTRON=y +CONFIG_NAME_MAX=40 +CONFIG_NET=y +CONFIG_NETDB_DNSCLIENT=y +CONFIG_NETDB_DNSSERVER_NOADDR=y +CONFIG_NETDEV_CAN_BITRATE_IOCTL=y +CONFIG_NETDEV_LATEINIT=y +CONFIG_NETDEV_PHY_IOCTL=y +CONFIG_NETINIT_DHCPC=y +CONFIG_NETINIT_DNS=y +CONFIG_NETINIT_DNSIPADDR=0xA290AFE +CONFIG_NETINIT_DRIPADDR=0xA290AFE +CONFIG_NETINIT_MONITOR=y +CONFIG_NETINIT_THREAD=y +CONFIG_NETINIT_THREAD_PRIORITY=49 +CONFIG_NETUTILS_TELNETD=y +CONFIG_NET_ARP_IPIN=y +CONFIG_NET_ARP_SEND=y +CONFIG_NET_BROADCAST=y +CONFIG_NET_CAN=y +CONFIG_NET_CAN_EXTID=y +CONFIG_NET_CAN_NOTIFIER=y +CONFIG_NET_CAN_RAW_TX_DEADLINE=y +CONFIG_NET_CAN_SOCK_OPTS=y +CONFIG_NET_ETH_PKTSIZE=1518 +CONFIG_NET_ICMP=y +CONFIG_NET_ICMP_SOCKET=y +CONFIG_NET_SOLINGER=y +CONFIG_NET_TCP=y +CONFIG_NET_TCPBACKLOG=y +CONFIG_NET_TCP_DELAYED_ACK=y +CONFIG_NET_TCP_WRITE_BUFFERS=y +CONFIG_NET_TIMESTAMP=y +CONFIG_NET_UDP=y +CONFIG_NET_UDP_CHECKSUMS=y +CONFIG_NET_UDP_WRITE_BUFFERS=y +CONFIG_NSH_ARCHINIT=y +CONFIG_NSH_BUILTIN_APPS=y +CONFIG_NSH_CROMFSETC=y +CONFIG_NSH_LINELEN=128 +CONFIG_NSH_MAXARGUMENTS=15 +CONFIG_NSH_NESTDEPTH=8 +CONFIG_NSH_READLINE=y +CONFIG_NSH_ROMFSETC=y +CONFIG_NSH_ROMFSSECTSIZE=128 +CONFIG_NSH_STRERROR=y +CONFIG_NSH_TELNET_LOGIN=y +CONFIG_NSH_VARS=y +CONFIG_PIPES=y +CONFIG_PREALLOC_TIMERS=50 +CONFIG_PRIORITY_INHERITANCE=y +CONFIG_PTHREAD_STACK_MIN=512 +CONFIG_RAMTRON_SETSPEED=y +CONFIG_RAM_SIZE=1835008 +CONFIG_RAM_START=0x20240000 +CONFIG_RAW_BINARY=y +CONFIG_READLINE_CMD_HISTORY=y +CONFIG_READLINE_TABCOMPLETION=y +CONFIG_RTC=y +CONFIG_SCHED_HPWORK=y +CONFIG_SCHED_HPWORKPRIORITY=249 +CONFIG_SCHED_HPWORKSTACKSIZE=1800 +CONFIG_SCHED_INSTRUMENTATION=y +CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y +CONFIG_SCHED_INSTRUMENTATION_SWITCH=y +CONFIG_SCHED_LPWORK=y +CONFIG_SCHED_LPWORKPRIORITY=50 +CONFIG_SCHED_LPWORKSTACKSIZE=2032 +CONFIG_SDIO_BLOCKSETUP=y +CONFIG_SEM_PREALLOCHOLDERS=32 +CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y +CONFIG_SERIAL_TERMIOS=y +CONFIG_SIG_DEFAULT=y +CONFIG_SIG_SIGALRM_ACTION=y +CONFIG_SIG_SIGUSR1_ACTION=y +CONFIG_SIG_SIGUSR2_ACTION=y +CONFIG_SIG_SIGWORK=4 +CONFIG_STACK_COLORATION=y +CONFIG_START_DAY=30 +CONFIG_START_MONTH=11 +CONFIG_STDIO_BUFFER_SIZE=256 +CONFIG_SYSTEM_CDCACM=y +CONFIG_SYSTEM_CLE=y +CONFIG_SYSTEM_DHCPC_RENEW=y +CONFIG_SYSTEM_NSH=y +CONFIG_SYSTEM_PING=y +CONFIG_SYSTEM_SYSTEM=y +CONFIG_TASK_NAME_SIZE=24 +CONFIG_USBDEV=y +CONFIG_USBDEV_BUSPOWERED=y +CONFIG_USBDEV_DMA=y +CONFIG_USBDEV_DUALSPEED=y +CONFIG_USBDEV_MAXPOWER=500 +CONFIG_USEC_PER_TICK=1000 +CONFIG_WATCHDOG=y diff --git a/boards/px4/fmu-v6xrt/nuttx-config/scripts/allyes-script.ld b/boards/px4/fmu-v6xrt/nuttx-config/scripts/allyes-script.ld new file mode 100644 index 000000000000..2d4167f13819 --- /dev/null +++ b/boards/px4/fmu-v6xrt/nuttx-config/scripts/allyes-script.ld @@ -0,0 +1,197 @@ +/**************************************************************************** + * boards/px4/fmu-v6xrt/nuttx-config/scripts/script.ld + * + * Licensed to the Apache Software Foundation (ASF) under one or more + * contributor license agreements. See the NOTICE file distributed with + * this work for additional information regarding copyright ownership. The + * ASF licenses this file to you under the Apache License, Version 2.0 (the + * "License"); you may not use this file except in compliance with the + * License. You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT + * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the + * License for the specific language governing permissions and limitations + * under the License. + * + ****************************************************************************/ + +/* Specify the memory areas */ + + /* Reallocate + * Final Configuration is + * No DTCM + * 512k OCRAM M7 (FlexRAM) (2038:0000-203f:ffff) + * 128k OCRAMM7 FlexRAM ECC (2036:0000-2037:ffff) + * 64k OCRAM2 ECC parity (2035:0000-2035:ffff) + * 64k OCRAM1 ECC parity (2034:0000-2034:ffff) + * 512k FlexRAM OCRAM2 (202C:0000-2033:ffff) + * 512k FlexRAM OCRAM1 (2024:0000-202B:ffff) + * 256k System OCRAM M4 (2020:0000-2023:ffff) + */ + +MEMORY +{ + flash (rx) : ORIGIN = 0x30020000, LENGTH = 4M-128K /* We have 64M but we do not want to wait to program it all */ + sram (rwx) : ORIGIN = 0x20240000, LENGTH = 2M-256k-512k + itcm (rwx) : ORIGIN = 0x00000000, LENGTH = 256K /* TODO FlexRAM partition */ + dtcm (rwx) : ORIGIN = 0x20000000, LENGTH = 256K +} + +OUTPUT_ARCH(arm) +EXTERN(_vectors) +EXTERN(g_flash_config) +EXTERN(g_image_vector_table) +EXTERN(g_boot_data) +EXTERN(board_get_manifest) +EXTERN(_bootdelay_signature) +EXTERN(imxrt_flexspi_initialize) + +ENTRY(__start) + +SECTIONS +{ + /* Image Vector Table and Boot Data for booting from external flash */ + + .boot_hdr : ALIGN(4) + { + FILL(0xff) + . = 0x400 ; + __boot_hdr_start__ = ABSOLUTE(.) ; + KEEP(*(.boot_hdr.conf)) + . = 0x1000 ; + KEEP(*(.boot_hdr.ivt)) + . = 0x1020 ; + KEEP(*(.boot_hdr.boot_data)) + . = 0x1030 ; + KEEP(*(.boot_hdr.dcd_data)) + __boot_hdr_end__ = ABSOLUTE(.) ; + . = 0x2000 ; + } >flash + + .vectors : + { + KEEP(*(.vectors)) + *(.text .text.__start) + } >flash + + .itcmfunc : + { + . = ALIGN(8); + _sitcmfuncs = ABSOLUTE(.); + FILL(0xFF) + . = 0x40 ; + INCLUDE "itcm_static_functions.ld" + . = ALIGN(8); + _eitcmfuncs = ABSOLUTE(.); + } > itcm AT > flash + + _fitcmfuncs = LOADADDR(.itcmfunc); + + /* The RAM vector table (if present) should lie at the beginning of SRAM */ + + .ram_vectors (COPY) : { + *(.ram_vectors) + } > dtcm + + .text : ALIGN(4) + { + _stext = ABSOLUTE(.); + *(.vectors) + . = ALIGN(32); + /* + This signature provides the bootloader with a way to delay booting + */ + _bootdelay_signature = ABSOLUTE(.); + FILL(0xffecc2925d7d05c5) + . += 8; + *(.text .text.*) + *(.fixup) + *(.gnu.warning) + *(.gnu.linkonce.t.*) + *(.glue_7) + *(.glue_7t) + *(.got) + *(.gcc_except_table) + *(.gnu.linkonce.r.*) + . = ALIGN(4096); + _etext = ABSOLUTE(.); + _srodata = ABSOLUTE(.); + *(.rodata .rodata.*) + . = ALIGN(4096); + _erodata = ABSOLUTE(.); + } > flash + + .init_section : + { + _sinit = ABSOLUTE(.); + KEEP(*(.init_array .init_array.*)) + _einit = ABSOLUTE(.); + } > flash + + .ARM.extab : + { + *(.ARM.extab*) + } > flash + + .ARM.exidx : + { + __exidx_start = ABSOLUTE(.); + *(.ARM.exidx*) + __exidx_end = ABSOLUTE(.); + } > flash + + _eronly = ABSOLUTE(.); + + .data : + { + _sdata = ABSOLUTE(.); + *(.data .data.*) + *(.gnu.linkonce.d.*) + CONSTRUCTORS + . = ALIGN(4); + _edata = ABSOLUTE(.); + } > sram AT > flash + + .ramfunc ALIGN(4): + { + _sramfuncs = ABSOLUTE(.); + *(.ramfunc .ramfunc.*) + _eramfuncs = ABSOLUTE(.); + } > sram AT > flash + + _framfuncs = LOADADDR(.ramfunc); + + .bss : + { + _sbss = ABSOLUTE(.); + *(.bss .bss.*) + *(.gnu.linkonce.b.*) + *(COMMON) + . = ALIGN(4); + _ebss = ABSOLUTE(.); + } > sram + + /* Stabs debugging sections. */ + + .stab 0 : { *(.stab) } + .stabstr 0 : { *(.stabstr) } + .stab.excl 0 : { *(.stab.excl) } + .stab.exclstr 0 : { *(.stab.exclstr) } + .stab.index 0 : { *(.stab.index) } + .stab.indexstr 0 : { *(.stab.indexstr) } + .comment 0 : { *(.comment) } + .debug_abbrev 0 : { *(.debug_abbrev) } + .debug_info 0 : { *(.debug_info) } + .debug_line 0 : { *(.debug_line) } + .debug_pubnames 0 : { *(.debug_pubnames) } + .debug_aranges 0 : { *(.debug_aranges) } + + _boot_loadaddr = ORIGIN(flash); + _boot_size = LENGTH(flash); + _ram_size = LENGTH(sram); + _sdtcm = ORIGIN(dtcm); + _edtcm = ORIGIN(dtcm) + LENGTH(dtcm); +} diff --git a/boards/px4/fmu-v6xrt/nuttx-config/scripts/bootloader_script.ld b/boards/px4/fmu-v6xrt/nuttx-config/scripts/bootloader_script.ld new file mode 100644 index 000000000000..af8cf7310768 --- /dev/null +++ b/boards/px4/fmu-v6xrt/nuttx-config/scripts/bootloader_script.ld @@ -0,0 +1,195 @@ +/**************************************************************************** + * boards/px4/fmu-v6xrt/nuttx-config/scripts/bootloader_script.ld + * + * Licensed to the Apache Software Foundation (ASF) under one or more + * contributor license agreements. See the NOTICE file distributed with + * this work for additional information regarding copyright ownership. The + * ASF licenses this file to you under the Apache License, Version 2.0 (the + * "License"); you may not use this file except in compliance with the + * License. You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT + * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the + * License for the specific language governing permissions and limitations + * under the License. + * + ****************************************************************************/ + +/* Specify the memory areas */ + + /* Reallocate + * Final Configuration is + * No DTCM + * 512k OCRAM M7 (FlexRAM) (2038:0000-203f:ffff) + * 128k OCRAMM7 FlexRAM ECC (2036:0000-2037:ffff) + * 64k OCRAM2 ECC parity (2035:0000-2035:ffff) + * 64k OCRAM1 ECC parity (2034:0000-2034:ffff) + * 512k FlexRAM OCRAM2 (202C:0000-2033:ffff) + * 512k FlexRAM OCRAM1 (2024:0000-202B:ffff) + * 256k System OCRAM M4 (2020:0000-2023:ffff) + */ + +MEMORY +{ + flash (rx) : ORIGIN = 0x30000000, LENGTH = 128K + sram (rwx) : ORIGIN = 0x20240000, LENGTH = 2M-256k-512k + itcm (rwx) : ORIGIN = 0x00000000, LENGTH = 256K /* TODO FlexRAM partition */ + dtcm (rwx) : ORIGIN = 0x20000000, LENGTH = 256K +} + +OUTPUT_ARCH(arm) +EXTERN(_vectors) +EXTERN(g_flash_config) +EXTERN(g_image_vector_table) +EXTERN(g_boot_data) +EXTERN(board_get_manifest) +EXTERN(_bootdelay_signature) + +ENTRY(__start) + +SECTIONS +{ + /* Image Vector Table and Boot Data for booting from external flash */ + + .boot_hdr : ALIGN(4) + { + FILL(0xff) + . = 0x400 ; + __boot_hdr_start__ = ABSOLUTE(.) ; + KEEP(*(.boot_hdr.conf)) + . = 0x1000 ; + KEEP(*(.boot_hdr.ivt)) + . = 0x1020 ; + KEEP(*(.boot_hdr.boot_data)) + . = 0x1030 ; + KEEP(*(.boot_hdr.dcd_data)) + __boot_hdr_end__ = ABSOLUTE(.) ; + . = 0x2000 ; + } >flash + + .vectors : + { + KEEP(*(.vectors)) + *(.text .text.__start) + } >flash + + .itcmfunc : + { + . = ALIGN(8); + _sitcmfuncs = ABSOLUTE(.); + FILL(0xFF) + . = 0x40 ; + . = ALIGN(8); + _eitcmfuncs = ABSOLUTE(.); + } > itcm AT > flash + + _fitcmfuncs = LOADADDR(.itcmfunc); + + /* The RAM vector table (if present) should lie at the beginning of SRAM */ + + .ram_vectors (COPY) : { + *(.ram_vectors) + } > dtcm + + .text : ALIGN(4) + { + _stext = ABSOLUTE(.); + *(.vectors) + . = ALIGN(32); + /* + This signature provides the bootloader with a way to delay booting + */ + _bootdelay_signature = ABSOLUTE(.); + FILL(0xffecc2925d7d05c5) + . += 8; + *(.text .text.*) + *(.fixup) + *(.gnu.warning) + *(.gnu.linkonce.t.*) + *(.glue_7) + *(.glue_7t) + *(.got) + *(.gcc_except_table) + *(.gnu.linkonce.r.*) + . = ALIGN(4096); + _etext = ABSOLUTE(.); + _srodata = ABSOLUTE(.); + *(.rodata .rodata.*) + . = ALIGN(4096); + _erodata = ABSOLUTE(.); + } > flash + + .init_section : + { + _sinit = ABSOLUTE(.); + KEEP(*(.init_array .init_array.*)) + _einit = ABSOLUTE(.); + } > flash + + .ARM.extab : + { + *(.ARM.extab*) + } > flash + + .ARM.exidx : + { + __exidx_start = ABSOLUTE(.); + *(.ARM.exidx*) + __exidx_end = ABSOLUTE(.); + } > flash + + _eronly = ABSOLUTE(.); + + .data : + { + _sdata = ABSOLUTE(.); + *(.data .data.*) + *(.gnu.linkonce.d.*) + CONSTRUCTORS + . = ALIGN(4); + _edata = ABSOLUTE(.); + } > sram AT > flash + + .ramfunc ALIGN(4): + { + _sramfuncs = ABSOLUTE(.); + *(.ramfunc .ramfunc.*) + _eramfuncs = ABSOLUTE(.); + } > sram AT > flash + + _framfuncs = LOADADDR(.ramfunc); + + .bss : + { + _sbss = ABSOLUTE(.); + *(.bss .bss.*) + *(.gnu.linkonce.b.*) + *(COMMON) + . = ALIGN(4); + _ebss = ABSOLUTE(.); + } > sram + + /* Stabs debugging sections. */ + + .stab 0 : { *(.stab) } + .stabstr 0 : { *(.stabstr) } + .stab.excl 0 : { *(.stab.excl) } + .stab.exclstr 0 : { *(.stab.exclstr) } + .stab.index 0 : { *(.stab.index) } + .stab.indexstr 0 : { *(.stab.indexstr) } + .comment 0 : { *(.comment) } + .debug_abbrev 0 : { *(.debug_abbrev) } + .debug_info 0 : { *(.debug_info) } + .debug_line 0 : { *(.debug_line) } + .debug_pubnames 0 : { *(.debug_pubnames) } + .debug_aranges 0 : { *(.debug_aranges) } + + _boot_loadaddr = ORIGIN(flash); + _boot_size = LENGTH(flash); + _ram_size = LENGTH(sram); + _sdtcm = ORIGIN(dtcm); + _edtcm = ORIGIN(dtcm) + LENGTH(dtcm); +} diff --git a/boards/px4/fmu-v6xrt/nuttx-config/scripts/itcm_functions_includes.ld b/boards/px4/fmu-v6xrt/nuttx-config/scripts/itcm_functions_includes.ld new 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b/boards/px4/fmu-v6xrt/nuttx-config/scripts/itcm_static_functions.ld new file mode 100644 index 000000000000..4968488245e5 --- /dev/null +++ b/boards/px4/fmu-v6xrt/nuttx-config/scripts/itcm_static_functions.ld @@ -0,0 +1,73 @@ +/* Static */ +*(.text.arm_ack_irq) +*(.text.arm_doirq) +*(.text.arm_svcall) +*(.text.arm_switchcontext) +*(.text.board_autoled_on) +*(.text.clock_timer) +*(.text.exception_common) +*(.text.flexio_irq_handler) +*(.text.hrt_absolute_time) +*(.text.hrt_call_enter) +*(.text.hrt_tim_isr) +*(.text.imxrt_configwaitints) +*(.text.imxrt_dma_callback) +*(.text.imxrt_dmach_interrupt) +*(.text.imxrt_dmach_xfrsetup) +*(.text.imxrt_dmaterminate) +*(.text.imxrt_edma_interrupt) +*(.text.imxrt_endwait) +*(.text.imxrt_gpio3_16_31_interrupt) +*(.text.imxrt_interrupt) +*(.text.imxrt_lpi2c_isr) +*(.text.imxrt_lpspi_exchange) +*(.text.imxrt_recvdma) +*(.text.imxrt_tcd_free) +*(.text.imxrt_timerisr) +*(.text.imxrt_usbinterrupt) +*(.text.irq_dispatch) +*(.text.ioctl) +*(.text.memcpy) +*(.text.memset) +*(.text.nxsched_add_blocked) +*(.text.nxsched_add_prioritized) +*(.text.nxsched_add_readytorun) +*(.text.nxsched_get_files) +*(.text.nxsched_get_tcb) +*(.text.nxsched_merge_pending) +*(.text.nxsched_process_timer) +*(.text.nxsched_remove_blocked) +*(.text.nxsched_remove_readytorun) +*(.text.nxsched_resume_scheduler) +*(.text.nxsched_suspend_scheduler) +*(.text.nxsem_add_holder) +*(.text.nxsem_add_holder_tcb) +*(.text.nxsem_clockwait) +*(.text.nxsem_foreachholder) +*(.text.nxsem_freecount0holder) +*(.text.nxsem_freeholder) +*(.text.nxsem_post) +*(.text.nxsem_release_holder) +*(.text.nxsem_restore_baseprio) +*(.text.nxsem_tickwait) +*(.text.nxsem_timeout) +*(.text.nxsem_trywait) +*(.text.nxsem_wait) +*(.text.nxsem_wait_uninterruptible) +*(.text.nxsig_timedwait) +*(.text.sched_lock) +*(.text.sched_note_resume) +*(.text.sched_note_suspend) +*(.text.sched_unlock) +*(.text.strcmp) +*(.text.sq_addafter) +*(.text.sq_addlast) +*(.text.sq_rem) +*(.text.sq_remafter) +*(.text.sq_remfirst) +*(.text.uart_connected) +*(.text.up_block_task) +*(.text.up_unblock_task) +*(.text.wd_timer) +*(.text.wd_start) +*(.text._do_memcpy) diff --git a/boards/px4/fmu-v6xrt/nuttx-config/scripts/script.ld b/boards/px4/fmu-v6xrt/nuttx-config/scripts/script.ld new file mode 100644 index 000000000000..70d861f30ab2 --- /dev/null +++ b/boards/px4/fmu-v6xrt/nuttx-config/scripts/script.ld @@ -0,0 +1,198 @@ +/**************************************************************************** + * boards/px4/fmu-v6xrt/nuttx-config/scripts/script.ld + * + * Licensed to the Apache Software Foundation (ASF) under one or more + * contributor license agreements. See the NOTICE file distributed with + * this work for additional information regarding copyright ownership. The + * ASF licenses this file to you under the Apache License, Version 2.0 (the + * "License"); you may not use this file except in compliance with the + * License. You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT + * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the + * License for the specific language governing permissions and limitations + * under the License. + * + ****************************************************************************/ + +/* Specify the memory areas */ + + /* Reallocate + * Final Configuration is + * No DTCM + * 512k OCRAM M7 (FlexRAM) (2038:0000-203f:ffff) + * 128k OCRAMM7 FlexRAM ECC (2036:0000-2037:ffff) + * 64k OCRAM2 ECC parity (2035:0000-2035:ffff) + * 64k OCRAM1 ECC parity (2034:0000-2034:ffff) + * 512k FlexRAM OCRAM2 (202C:0000-2033:ffff) + * 512k FlexRAM OCRAM1 (2024:0000-202B:ffff) + * 256k System OCRAM M4 (2020:0000-2023:ffff) + */ + +MEMORY +{ + flash (rx) : ORIGIN = 0x30020000, LENGTH = 4M-128K /* We have 64M but we do not want to wait to program it all */ + sram (rwx) : ORIGIN = 0x20240000, LENGTH = 2M-256k-512k + itcm (rwx) : ORIGIN = 0x00000000, LENGTH = 256K /* TODO FlexRAM partition */ + dtcm (rwx) : ORIGIN = 0x20000000, LENGTH = 256K +} + +OUTPUT_ARCH(arm) +EXTERN(_vectors) +EXTERN(g_flash_config) +EXTERN(g_image_vector_table) +EXTERN(g_boot_data) +EXTERN(board_get_manifest) +EXTERN(_bootdelay_signature) +EXTERN(imxrt_flexspi_initialize) + +ENTRY(__start) + +SECTIONS +{ + /* Image Vector Table and Boot Data for booting from external flash */ + + .boot_hdr : ALIGN(4) + { + FILL(0xff) + . = 0x400 ; + __boot_hdr_start__ = ABSOLUTE(.) ; + KEEP(*(.boot_hdr.conf)) + . = 0x1000 ; + KEEP(*(.boot_hdr.ivt)) + . = 0x1020 ; + KEEP(*(.boot_hdr.boot_data)) + . = 0x1030 ; + KEEP(*(.boot_hdr.dcd_data)) + __boot_hdr_end__ = ABSOLUTE(.) ; + . = 0x2000 ; + } >flash + + .vectors : + { + KEEP(*(.vectors)) + *(.text .text.__start) + } >flash + + .itcmfunc : + { + . = ALIGN(8); + _sitcmfuncs = ABSOLUTE(.); + FILL(0xFF) + . = 0x40 ; + INCLUDE "itcm_static_functions.ld" + INCLUDE "itcm_functions_includes.ld" + . = ALIGN(8); + _eitcmfuncs = ABSOLUTE(.); + } > itcm AT > flash + + _fitcmfuncs = LOADADDR(.itcmfunc); + + /* The RAM vector table (if present) should lie at the beginning of SRAM */ + + .ram_vectors (COPY) : { + *(.ram_vectors) + } > dtcm + + .text : ALIGN(4) + { + _stext = ABSOLUTE(.); + *(.vectors) + . = ALIGN(32); + /* + This signature provides the bootloader with a way to delay booting + */ + _bootdelay_signature = ABSOLUTE(.); + FILL(0xffecc2925d7d05c5) + . += 8; + *(.text .text.*) + *(.fixup) + *(.gnu.warning) + *(.gnu.linkonce.t.*) + *(.glue_7) + *(.glue_7t) + *(.got) + *(.gcc_except_table) + *(.gnu.linkonce.r.*) + . = ALIGN(4096); + _etext = ABSOLUTE(.); + _srodata = ABSOLUTE(.); + *(.rodata .rodata.*) + . = ALIGN(4096); + _erodata = ABSOLUTE(.); + } > flash + + .init_section : + { + _sinit = ABSOLUTE(.); + KEEP(*(.init_array .init_array.*)) + _einit = ABSOLUTE(.); + } > flash + + .ARM.extab : + { + *(.ARM.extab*) + } > flash + + .ARM.exidx : + { + __exidx_start = ABSOLUTE(.); + *(.ARM.exidx*) + __exidx_end = ABSOLUTE(.); + } > flash + + _eronly = ABSOLUTE(.); + + .data : + { + _sdata = ABSOLUTE(.); + *(.data .data.*) + *(.gnu.linkonce.d.*) + CONSTRUCTORS + . = ALIGN(4); + _edata = ABSOLUTE(.); + } > sram AT > flash + + .ramfunc ALIGN(4): + { + _sramfuncs = ABSOLUTE(.); + *(.ramfunc .ramfunc.*) + _eramfuncs = ABSOLUTE(.); + } > sram AT > flash + + _framfuncs = LOADADDR(.ramfunc); + + .bss : + { + _sbss = ABSOLUTE(.); + *(.bss .bss.*) + *(.gnu.linkonce.b.*) + *(COMMON) + . = ALIGN(4); + _ebss = ABSOLUTE(.); + } > sram + + /* Stabs debugging sections. */ + + .stab 0 : { *(.stab) } + .stabstr 0 : { *(.stabstr) } + .stab.excl 0 : { *(.stab.excl) } + .stab.exclstr 0 : { *(.stab.exclstr) } + .stab.index 0 : { *(.stab.index) } + .stab.indexstr 0 : { *(.stab.indexstr) } + .comment 0 : { *(.comment) } + .debug_abbrev 0 : { *(.debug_abbrev) } + .debug_info 0 : { *(.debug_info) } + .debug_line 0 : { *(.debug_line) } + .debug_pubnames 0 : { *(.debug_pubnames) } + .debug_aranges 0 : { *(.debug_aranges) } + + _boot_loadaddr = ORIGIN(flash); + _boot_size = LENGTH(flash); + _ram_size = LENGTH(sram); + _sdtcm = ORIGIN(dtcm); + _edtcm = ORIGIN(dtcm) + LENGTH(dtcm); +} diff --git a/boards/px4/fmu-v6xrt/rover.px4board b/boards/px4/fmu-v6xrt/rover.px4board new file mode 100644 index 000000000000..95a01552267c --- /dev/null +++ b/boards/px4/fmu-v6xrt/rover.px4board @@ -0,0 +1,19 @@ +CONFIG_MODULES_AIRSPEED_SELECTOR=n +CONFIG_MODULES_FLIGHT_MODE_MANAGER=n +CONFIG_MODULES_FW_ATT_CONTROL=n +CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n +CONFIG_MODULES_FW_POS_CONTROL=n +CONFIG_MODULES_FW_RATE_CONTROL=n +CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=n +CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n +CONFIG_MODULES_MC_ATT_CONTROL=n +CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n +CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n +CONFIG_MODULES_MC_POS_CONTROL=n +CONFIG_MODULES_MC_RATE_CONTROL=n +CONFIG_MODULES_VTOL_ATT_CONTROL=n +CONFIG_EKF2_AUX_GLOBAL_POSITION=y +# CONFIG_EKF2_WIND is not set +CONFIG_MODULES_ROVER_DIFFERENTIAL=y +CONFIG_MODULES_ROVER_ACKERMANN=y +CONFIG_DRIVERS_ROBOCLAW=y diff --git a/boards/px4/fmu-v6xrt/src/CMakeLists.txt b/boards/px4/fmu-v6xrt/src/CMakeLists.txt new file mode 100644 index 000000000000..e34b9a134c72 --- /dev/null +++ b/boards/px4/fmu-v6xrt/src/CMakeLists.txt @@ -0,0 +1,91 @@ +############################################################################ +# +# Copyright (c) 2016, 2019, 2023 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ +if("${PX4_BOARD_LABEL}" STREQUAL "bootloader") + add_compile_definitions(BOOTLOADER) + add_library(drivers_board + bootloader_main.c + init.c + usb.c + imxrt_flexspi_nor_boot.c + imxrt_flexspi_nor_flash.c + imxrt_clockconfig.c + timer_config.cpp + ) + target_link_libraries(drivers_board + PRIVATE + nuttx_arch # sdio + nuttx_drivers # sdio + px4_layer #gpio + arch_io_pins # iotimer + arch_board_romapi + bootloader + ) + target_include_directories(drivers_board PRIVATE ${PX4_SOURCE_DIR}/platforms/nuttx/src/bootloader/common) + +else() + if(CONFIG_IMXRT1170_FLEXSPI_FRAM) + list(APPEND SRCS + imxrt_flexspi_fram.c + ) + endif() + + px4_add_library(drivers_board + autoleds.c + automount.c + #can.c + i2c.cpp + init.c + led.c + mtd.cpp + sdhc.c + spi.cpp + timer_config.cpp + usb.c + imxrt_flexspi_fram.c + imxrt_flexspi_nor_boot.c + imxrt_flexspi_nor_flash.c + imxrt_clockconfig.c + ${SRCS} + ) + + target_link_libraries(drivers_board + PRIVATE + arch_board_hw_info + arch_board_romapi + arch_spi + drivers__led # drv_led_start + nuttx_arch # sdio + nuttx_drivers # sdio + px4_layer + ) +endif() diff --git a/boards/nxp/fmurt1062-v1/src/autoleds.c b/boards/px4/fmu-v6xrt/src/autoleds.c similarity index 85% rename from boards/nxp/fmurt1062-v1/src/autoleds.c rename to boards/px4/fmu-v6xrt/src/autoleds.c index 8106e9f7a86b..f9bfa21d73f2 100644 --- a/boards/nxp/fmurt1062-v1/src/autoleds.c +++ b/boards/px4/fmu-v6xrt/src/autoleds.c @@ -46,21 +46,21 @@ * BLUE CMP0_IN2/ FB_AD7 / I2S0_MCLK/ FTM3_CH4/ ADC1_SE4b/ PTC8 * * If CONFIG_ARCH_LEDs is defined, then NuttX will control the LED on board - * the NXP fmurt1062-v1. The following definitions describe how NuttX controls + * the PX4 fmu-v6xrt. The following definitions describe how NuttX controls * the LEDs: * - * SYMBOL Meaning LED state - * RED GREEN BLUE - * ------------------- ----------------------- ----------------- - * LED_STARTED NuttX has been started OFF OFF OFF - * LED_HEAPALLOCATE Heap has been allocated OFF OFF ON - * LED_IRQSENABLED Interrupts enabled OFF OFF ON - * LED_STACKCREATED Idle stack created OFF ON OFF - * LED_INIRQ In an interrupt (no change) - * LED_SIGNAL In a signal handler (no change) - * LED_ASSERTION An assertion failed (no change) - * LED_PANIC The system has crashed FLASH OFF OFF - * LED_IDLE K66 is in sleep mode (Optional, not used) + * SYMBOL Meaning LED state + * RED GREEN BLUE + * ------------------- ----------------------- ----------------- + * LED_STARTED NuttX has been started OFF OFF OFF + * LED_HEAPALLOCATE Heap has been allocated OFF OFF ON + * LED_IRQSENABLED Interrupts enabled OFF OFF ON + * LED_STACKCREATED Idle stack created OFF ON OFF + * LED_INIRQ In an interrupt (no change) + * LED_SIGNAL In a signal handler (no change) + * LED_ASSERTION An assertion failed (no change) + * LED_PANIC The system has crashed FLASH OFF OFF + * LED_IDLE fmu-v6xrt is in sleep mode (Optional, not used) */ /**************************************************************************** diff --git a/boards/nxp/fmurt1062-v1/src/automount.c b/boards/px4/fmu-v6xrt/src/automount.c similarity index 100% rename from boards/nxp/fmurt1062-v1/src/automount.c rename to boards/px4/fmu-v6xrt/src/automount.c diff --git a/boards/px4/fmu-v6xrt/src/board_config.h b/boards/px4/fmu-v6xrt/src/board_config.h new file mode 100644 index 000000000000..059d0ac696d8 --- /dev/null +++ b/boards/px4/fmu-v6xrt/src/board_config.h @@ -0,0 +1,671 @@ +/**************************************************************************** + * + * Copyright (c) 2018-2019 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file board_config.h + * + * PX4 fmu-v6xrt internal definitions + */ + +#pragma once + +/**************************************************************************************************** + * Included Files + ****************************************************************************************************/ + +#include + +#include +#include +#include + +#include "imxrt_gpio.h" +#include "imxrt_iomuxc.h" +#include "hardware/imxrt_pinmux.h" + +#include + +/**************************************************************************************************** + * Definitions + ****************************************************************************************************/ + + +/* PX4IO connection configuration */ +// This requires serial DMA driver +#define BOARD_USES_PX4IO_VERSION 2 +#define PX4IO_SERIAL_DEVICE "/dev/ttyS4" +#define PX4IO_SERIAL_TX_GPIO GPIO_LPUART6_TX +#define PX4IO_SERIAL_RX_GPIO GPIO_LPUART6_RX +#define PX4IO_SERIAL_BASE IMXRT_LPUART6_BASE +#define PX4IO_SERIAL_VECTOR IMXRT_IRQ_LPUART6 +#define PX4IO_SERIAL_TX_DMAMAP IMXRT_DMACHAN_LPUART6_TX +#define PX4IO_SERIAL_RX_DMAMAP IMXRT_DMACHAN_LPUART6_RX +#define PX4IO_SERIAL_CLOCK_OFF imxrt_clockoff_lpuart6 +#define PX4IO_SERIAL_BITRATE 1500000 /* 1.5Mbps -> max rate for IO */ + +/* Configuration ************************************************************************************/ + +/* Configuration ************************************************************************************/ + +#define BOARD_HAS_LTC44XX_VALIDS 2 // N Bricks +#define BOARD_HAS_USB_VALID 1 // LTC Has USB valid +#define BOARD_HAS_NBAT_V 2d // 2 Digital Voltage +#define BOARD_HAS_NBAT_I 2d // 2 Digital Current + + +/* FMU-V6XRT GPIOs ***********************************************************************************/ +/* LEDs */ +/* An RGB LED is connected through GPIO as shown below: + */ + +#define LED_IOMUX (IOMUX_OPENDRAIN | IOMUX_PULL_NONE) +#define GPIO_nLED_RED /* GPIO_DISP_B2_00 GPIO5_IO01 */ (GPIO_PORT5 | GPIO_PIN1 | GPIO_OUTPUT | GPIO_OUTPUT_ZERO | LED_IOMUX) +#define GPIO_nLED_GREEN /* GPIO_DISP_B2_01 GPIO5_IO02 */ (GPIO_PORT5 | GPIO_PIN2 | GPIO_OUTPUT | GPIO_OUTPUT_ZERO | LED_IOMUX) +#define GPIO_nLED_BLUE /* GPIO_EMC_B1_13 GPIO1_IO13 */ (GPIO_PORT1 | GPIO_PIN13 | GPIO_OUTPUT | GPIO_OUTPUT_ZERO | LED_IOMUX) + +#define BOARD_HAS_CONTROL_STATUS_LEDS 1 +#define BOARD_OVERLOAD_LED LED_RED +#define BOARD_ARMED_STATE_LED LED_BLUE + +/* I2C busses */ + +/* Devices on the onboard buses. + * + * Note that these are unshifted addresses. + */ +#define BOARD_MTD_NUM_EEPROM 2 /* MTD: base_eeprom, imu_eeprom*/ +#define PX4_I2C_OBDEV_SE050 0x48 + + +/* + * From the radion souce code + * // Serial flow control + * #define SERIAL_RTS PIN_ENABLE // always an input + * #define SERIAL_CTS PIN_CONFIG // input in bootloader, output in app + * + * RTS is an out from FMU + * CTS is in input to the FMU but the booloader on the radion will treat it as an input, and the + * radion APP as output. + * + * To ensure radios do not go into bootloader mode because our CTS is configured with Pull downs + * We init with pull ups, then enable power, then initalize the CTS will pull downs + */ + +#define GPIO_LPUART4_CTS_INIT PX4_MAKE_GPIO_PULLED_INPUT(GPIO_LPUART4_CTS, IOMUX_PULL_UP) +#define GPIO_LPUART8_CTS_INIT PX4_MAKE_GPIO_PULLED_INPUT(GPIO_LPUART8_CTS, IOMUX_PULL_UP) +#define GPIO_LPUART10_CTS_INIT PX4_MAKE_GPIO_PULLED_INPUT(GPIO_LPUART10_CTS,IOMUX_PULL_UP) + +/* + * Define the ability to shut off off the sensor signals + * by changing the signals to inputs + */ + +#define _PIN_OFF(def) (((def) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_INPUT | IOMUX_PULL_DOWN)) + +/* Define the Chip Selects, Data Ready and Control signals per SPI bus */ + +#define CS_IOMUX (IOMUX_CMOS_OUTPUT | IOMUX_SLEW_FAST) +#define OUT_IOMUX (IOMUX_CMOS_OUTPUT | IOMUX_SLEW_FAST) + + +/* SPI1 off */ + +#define _GPIO_LPSPI1_SCK /* GPIO_EMC_B2_00 GPIO2_IO10 */ (GPIO_PORT2 | GPIO_PIN10 | CS_IOMUX) +#define _GPIO_LPSPI1_MISO /* GPIO_EMC_B2_03 GPIO2_IO13 */ (GPIO_PORT2 | GPIO_PIN13 | CS_IOMUX) +#define _GPIO_LPSPI1_MOSI /* GPIO_EMC_B2_02 GPIO2_IO12 */ (GPIO_PORT2 | GPIO_PIN12 | CS_IOMUX) + +#define GPIO_SPI1_SCK_OFF _PIN_OFF(_GPIO_LPSPI1_SCK) +#define GPIO_SPI1_MISO_OFF _PIN_OFF(_GPIO_LPSPI1_MISO) +#define GPIO_SPI1_MOSI_OFF _PIN_OFF(_GPIO_LPSPI1_MOSI) + +/* SPI2 off */ + +#define _GPIO_LPSPI2_SCK /* GPIO_AD_24 GPIO3_IO23 */ (GPIO_PORT3 | GPIO_PIN23 | CS_IOMUX) +#define _GPIO_LPSPI2_MISO /* GPIO_AD_27 GPIO3_IO26 */ (GPIO_PORT3 | GPIO_PIN26 | CS_IOMUX) +#define _GPIO_LPSPI2_MOSI /* GPIO_AD_26 GPIO3_IO25 */ (GPIO_PORT3 | GPIO_PIN25 | CS_IOMUX) + +#define GPIO_SPI2_SCK_OFF _PIN_OFF(_GPIO_LPSPI2_SCK) +#define GPIO_SPI2_MISO_OFF _PIN_OFF(_GPIO_LPSPI2_MISO) +#define GPIO_SPI2_MOSI_OFF _PIN_OFF(_GPIO_LPSPI2_MOSI) + +/* SPI3 off */ + +#define _GPIO_LPSPI3_SCK /* GPIO_EMC_B2_04 GPIO2_IO14 */ (GPIO_PORT2 | GPIO_PIN14 | CS_IOMUX) +#define _GPIO_LPSPI3_MISO /* GPIO_EMC_B2_07 GPIO2_IO17 */ (GPIO_PORT2 | GPIO_PIN17 | CS_IOMUX) +#define _GPIO_LPSPI3_MOSI /* GPIO_EMC_B2_06 GPIO2_IO16 */ (GPIO_PORT2 | GPIO_PIN16 | CS_IOMUX) + +#define GPIO_SPI3_SCK_OFF _PIN_OFF(_GPIO_LPSPI3_SCK) +#define GPIO_SPI3_MISO_OFF _PIN_OFF(_GPIO_LPSPI3_MISO) +#define GPIO_SPI3_MOSI_OFF _PIN_OFF(_GPIO_LPSPI3_MOSI) + +/* SPI4 off */ + +#define _GPIO_LPSPI4_SCK /* GPIO_DISP_B2_12 GPIO5_IO13 */ (GPIO_PORT5 | GPIO_PIN13 | CS_IOMUX) +#define _GPIO_LPSPI4_MISO /* GPIO_DISP_B2_13 GPIO5_IO14 */ (GPIO_PORT5 | GPIO_PIN14 | CS_IOMUX) +#define _GPIO_LPSPI4_MOSI /* GPIO_DISP_B2_14 GPIO5_IO15 */ (GPIO_PORT5 | GPIO_PIN15 | CS_IOMUX) + +#define GPIO_SPI4_SCK_OFF _PIN_OFF(_GPIO_LPSPI4_SCK) +#define GPIO_SPI4_MISO_OFF _PIN_OFF(_GPIO_LPSPI4_MISO) +#define GPIO_SPI4_MOSI_OFF _PIN_OFF(_GPIO_LPSPI4_MOSI) + +/* SPI6 off */ + +#define _GPIO_LPSPI6_SCK /* GPIO_LPSR_10 GPIO6_IO10 */ (GPIO_PORT6 | GPIO_PIN10 | CS_IOMUX) +#define _GPIO_LPSPI6_MISO /* GPIO_LPSR_12 GPIO6_IO12 */ (GPIO_PORT6 | GPIO_PIN12 | CS_IOMUX) +#define _GPIO_LPSPI6_MOSI /* GPIO_LPSR_11 GPIO6_IO11 */ (GPIO_PORT6 | GPIO_PIN11 | CS_IOMUX) + +#define GPIO_SPI6_SCK_OFF _PIN_OFF(_GPIO_LPSPI6_SCK) +#define GPIO_SPI6_MISO_OFF _PIN_OFF(_GPIO_LPSPI6_MISO) +#define GPIO_SPI6_MOSI_OFF _PIN_OFF(_GPIO_LPSPI6_MOSI) + + +/* Define the SPI Data Ready and Control signals */ +#define DRDY_IOMUX (IOMUX_PULL_UP) + + +/* SPI1 */ + +#define GPIO_SPI1_DRDY1_SENSOR1 /* GPIO_AD_20 GPIO3_IO19 */ (GPIO_PORT3 | GPIO_PIN19 | GPIO_INPUT | DRDY_IOMUX) +#define GPIO_SPI2_DRDY1_SENSOR2 /* GPIO_EMC_B1_39 GPIO2_IO07 */ (GPIO_PORT2 | GPIO_PIN07 | GPIO_INPUT | DRDY_IOMUX) +#define GPIO_SPI3_DRDY1_SENSOR3 /* GPIO_AD_21 GPIO3_IO20 */ (GPIO_PORT3 | GPIO_PIN20 | GPIO_INPUT | DRDY_IOMUX) +#define GPIO_SPI3_DRDY2_SENSOR3 /* GPIO_EMC_B2_09 GPIO2_IO19 */ (GPIO_PORT2 | GPIO_PIN19 | GPIO_INPUT | DRDY_IOMUX) +#define GPIO_SPI4_DRDY1_SENSOR4 /* GPIO_EMC_B1_16 GPIO1_IO16 */ (GPIO_PORT1 | GPIO_PIN16 | GPIO_INPUT | DRDY_IOMUX) +#define GPIO_SPI6_DRDY1_EXTERNAL1 /* GPIO_EMC_B1_05 GPIO1_IO05 */ (GPIO_PORT1 | GPIO_PIN05 | GPIO_INPUT | DRDY_IOMUX) +#define GPIO_SPI6_DRDY2_EXTERNAL1 /* GPIO_EMC_B1_07 GPIO1_IO07 */ (GPIO_PORT1 | GPIO_PIN07 | GPIO_INPUT | DRDY_IOMUX) + + +#define GPIO_SPI6_nRESET_EXTERNAL1 /* GPIO_EMC_B1_11 GPIO1_IO11 */ (GPIO_PORT1 | GPIO_PIN11 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | OUT_IOMUX) +#define GPIO_SPIX_SYNC /* GPIO_EMC_B1_18 GPIO1_IO18 */ (GPIO_PORT1 | GPIO_PIN18 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | OUT_IOMUX) + +#define GPIO_DRDY_OFF_SPI6_DRDY2_EXTERNAL1 _PIN_OFF(GPIO_SPI6_DRDY2_EXTERNAL1) +#define GPIO_SPI6_nRESET_EXTERNAL1_OFF _PIN_OFF(GPIO_SPI6_nRESET_EXTERNAL1) +#define GPIO_SPIX_SYNC_OFF _PIN_OFF(GPIO_SPIX_SYNC) + +#define ADC_IOMUX (IOMUX_PULL_NONE) + +#define ADC1_CH(n) (n) + +/* N.B. there is no offset mapping needed for ADC3 because we are only use ADC2 for REV/VER. */ +#define ADC2_CH(n) (n) + +#define ADC_GPIO(n, p) (GPIO_PORT3 | GPIO_PIN##p | GPIO_INPUT | ADC_IOMUX) // + +/* Define GPIO pins used as ADC + * ADC1 has 12 inputs 0-5A and 0-5B + * We represent this as: + * 0 ADC1 CH0A + * 1 ADC1 CH0B + * ... + * 10 ADC1 CH5A + * 11 ADC1 CH5B + * + * ADC2 has 14 inputs 0-6A and 0-6B + * + * 0 ADC2 CH0A + * 1 ADC2 CH0B + * ... + * 12 ADC2 CH6A + * 13 ADC2 CH6B + * + * + * + * */ + +#define PX4_ADC_GPIO \ + /* SCALED_VDD_3V3_SENSORS1 GPIO_AD_10 GPIO3 Pin 9 ADC1_CH2A */ ADC_GPIO(4, 9), \ + /* SCALED_VDD_3V3_SENSORS2 GPIO_AD_11 GPIO3 Pin 10 ADC1_CH2B */ ADC_GPIO(5, 10), \ + /* SCALED_VDD_3V3_SENSORS3 GPIO_AD_12 GPIO3 Pin 11 ADC1_CH3A */ ADC_GPIO(6, 11), \ + /* SCALED_V5 GPIO_AD_13 GPIO3 Pin 12 ADC1_CH3B */ ADC_GPIO(7, 12), \ + /* ADC_6V6 GPIO_AD_14 GPIO3 Pin 13 ADC1_CH4A */ ADC_GPIO(8, 13), \ + /* ADC_3V3 GPIO_AD_16 GPIO3 Pin 15 ADC1_CH5A */ ADC_GPIO(10, 15), \ + /* SCALED_VDD_3V3_SENSORS4 GPIO_AD_17 GPIO3 Pin 16 ADC1_CH5B */ ADC_GPIO(11, 16), \ + /* HW_VER_SENSE GPIO_AD_22 GPIO3 Pin 21 ADC2_CH2A */ ADC_GPIO(4, 21), \ + /* HW_REV_SENSE GPIO_AD_23 GPIO3 Pin 22 ADC2_CH2B */ ADC_GPIO(5, 22) + +/* Define Channel numbers must match above GPIO pin IN(n)*/ + +#define ADC_SCALED_VDD_3V3_SENSORS1_CHANNEL /* GPIO_AD_10 GPIO3 Pin 9 ADC1_CH2A */ ADC1_CH(4) +#define ADC_SCALED_VDD_3V3_SENSORS2_CHANNEL /* GPIO_AD_11 GPIO3 Pin 10 ADC1_CH2B */ ADC1_CH(5) +#define ADC_SCALED_VDD_3V3_SENSORS3_CHANNEL /* GPIO_AD_12 GPIO3 Pin 11 ADC1_CH3A */ ADC1_CH(6) +#define ADC_SCALED_V5_CHANNEL /* GPIO_AD_13 GPIO3 Pin 12 ADC1_CH3B */ ADC1_CH(7) +#define ADC_ADC_6V6_CHANNEL /* GPIO_AD_14 GPIO3 Pin 13 ADC1_CH4A */ ADC1_CH(8) +#define ADC_ADC_3V3_CHANNEL /* GPIO_AD_16 GPIO3 Pin 15 ADC1_CH5A */ ADC1_CH(10) +#define ADC_SCALED_VDD_3V3_SENSORS4_CHANNEL /* GPIO_AD_17 GPIO3 Pin 16 ADC1_CH5B */ ADC1_CH(11) +#define ADC_HW_VER_SENSE_CHANNEL /* GPIO_AD_22 GPIO3 Pin 21 ADC2_CH2A */ ADC2_CH(4) +#define ADC_HW_REV_SENSE_CHANNEL /* GPIO_AD_23 GPIO3 Pin 22 ADC2_CH2B */ ADC2_CH(5) + +#define ADC_CHANNELS \ + ((1 << ADC_SCALED_VDD_3V3_SENSORS1_CHANNEL) | \ + (1 << ADC_SCALED_VDD_3V3_SENSORS2_CHANNEL) | \ + (1 << ADC_SCALED_VDD_3V3_SENSORS3_CHANNEL) | \ + (1 << ADC_SCALED_V5_CHANNEL) | \ + (1 << ADC_ADC_6V6_CHANNEL) | \ + (1 << ADC_ADC_3V3_CHANNEL) | \ + (1 << ADC_SCALED_VDD_3V3_SENSORS4_CHANNEL)) + +// The ADC is used in SCALED mode. +// The V that is converted to a DN is 30/64 of Vin of the pin. +// The DN is therfore 30/64 of the real voltage + +#define BOARD_ADC_POS_REF_V (1.825f * 64.0f / 30.0f) + +#define HW_REV_VER_ADC_BASE IMXRT_LPADC2_BASE +#define SYSTEM_ADC_BASE IMXRT_LPADC1_BASE + +/* HW has to large of R termination on ADC todo:change when HW value is chosen */ + +#define BOARD_ADC_OPEN_CIRCUIT_V (5.6f) + +/* HW Version and Revision drive signals Default to 1 to detect */ + +#define BOARD_HAS_HW_SPLIT_VERSIONING + +#define HW_IOMUX (IOMUX_CMOS_OUTPUT | IOMUX_PULL_NONE | IOMUX_SLEW_FAST) + +#define GPIO_HW_VER_REV_DRIVE /* GPIO_GPIO_EMC_B1_26 GPIO1_IO26 */ (GPIO_PORT1 | GPIO_PIN26 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | HW_IOMUX) +#define GPIO_HW_REV_SENSE /* GPIO_AD_22 GPIO9 Pin 21 */ ADC_GPIO(4, 21) +#define GPIO_HW_VER_SENSE /* GPIO_AD_23 GPIO9 Pin 22 */ ADC_GPIO(5, 22) +#define HW_INFO_INIT_PREFIX "V6XRT" + +#define BOARD_NUM_SPI_CFG_HW_VERSIONS 2 // Rev 0 & 1 +#define V6XRT_0 HW_FMUM_ID(0x0) // First Release +#define V6XRT_1 HW_FMUM_ID(0x1) // Next Release + +#define BOARD_I2C_LATEINIT 1 /* See Note about SE550 Eanable */ + +/* HEATER + * PWM in future + */ +#define HEATER_IOMUX (IOMUX_CMOS_OUTPUT | IOMUX_PULL_NONE | IOMUX_SLEW_FAST) +//#define GPIO_HEATER_OUTPUT /* GPIO_EMC_B2_17 QTIMER3 TIMER0 GPIO2_IO27 */ (GPIO_QTIMER3_TIMER0_3 | HEATER_IOMUX) +#define GPIO_HEATER_OUTPUT /* GPIO_EMC_B2_17 GPIO2_IO27 */ (GPIO_PORT2 | GPIO_PIN27 | GPIO_OUTPUT | HEATER_IOMUX) +#define HEATER_OUTPUT_EN(on_true) px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true)) + +/* nARMED GPIO1_IO17 + * The GPIO will be set as input while not armed HW will have external HW Pull UP. + * While armed it shall be configured at a GPIO OUT set LOW + */ +#define nARMED_INPUT_IOMUX (IOMUX_PULL_UP) +#define nARMED_OUTPUT_IOMUX (IOMUX_PULL_KEEP | IOMUX_SLEW_FAST) + +#define GPIO_nARMED_INIT /* GPIO1_IO17 */ (GPIO_PORT1 | GPIO_PIN17 | GPIO_INPUT | nARMED_INPUT_IOMUX) +#define GPIO_nARMED /* GPIO1_IO17 */ (GPIO_PORT1 | GPIO_PIN17 | GPIO_OUTPUT | GPIO_OUTPUT_ZERO | nARMED_OUTPUT_IOMUX) + +#define BOARD_INDICATE_EXTERNAL_LOCKOUT_STATE(enabled) px4_arch_configgpio((enabled) ? GPIO_nARMED : GPIO_nARMED_INIT) +#define BOARD_GET_EXTERNAL_LOCKOUT_STATE() px4_arch_gpioread(GPIO_nARMED) + +/* PWM Capture + * + * 2 PWM Capture inputs are supported + */ +#define DIRECT_PWM_CAPTURE_CHANNELS 1 +#define CAP_IOMUX (IOMUX_PULL_NONE | IOMUX_SLEW_FAST) +#define GPIO_FMU_CAP1 /* GPIO_EMC_B1_20 TMR4_TIMER0 */ (GPIO_QTIMER4_TIMER0_1 | CAP_IOMUX) + +/* PWM + */ + +#define DIRECT_PWM_OUTPUT_CHANNELS 12 +#define BOARD_NUM_IO_TIMERS 12 + +// Input Capture not supported on MVP + +#define BOARD_HAS_NO_CAPTURE + +/* Power supply control and monitoring GPIOs */ + +#define GENERAL_INPUT_IOMUX (IOMUX_PULL_UP) +#define GENERAL_OUTPUT_IOMUX (IOMUX_PULL_KEEP | IOMUX_SLEW_FAST) + +#define GPIO_nPOWER_IN_A /* GPIO_EMC_B1_28 GPIO1_IO28 */ (GPIO_PORT1 | GPIO_PIN28 | GPIO_INPUT | GENERAL_INPUT_IOMUX) +#define GPIO_nPOWER_IN_B /* GPIO_EMC_B1_30 GPIO1_IO30 */ (GPIO_PORT1 | GPIO_PIN30 | GPIO_INPUT | GENERAL_INPUT_IOMUX) +#define GPIO_nPOWER_IN_C /* GPIO_EMC_B1_32 GPIO2_IO00 */ (GPIO_PORT2 | GPIO_PIN0 | GPIO_INPUT | GENERAL_INPUT_IOMUX) + + +#define GPIO_nVDD_BRICK1_VALID GPIO_nPOWER_IN_A /* Brick 1 Is Chosen */ +#define GPIO_nVDD_BRICK2_VALID GPIO_nPOWER_IN_B /* Brick 2 Is Chosen */ +#define BOARD_NUMBER_BRICKS 2 +#define BOARD_NUMBER_DIGITAL_BRICKS 2 +#define GPIO_nVDD_USB_VALID GPIO_nPOWER_IN_C /* USB Is Chosen */ + +#define OC_INPUT_IOMUX (IOMUX_PULL_NONE) + +#define GPIO_VDD_5V_PERIPH_nEN /* GPIO_EMC_B1_34 GPIO2_IO02 */ (GPIO_PORT2 | GPIO_PIN2 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | GENERAL_OUTPUT_IOMUX) +#define GPIO_VDD_5V_PERIPH_nOC /* GPIO_EMC_B1_15 GPIO1_IO15 */ (GPIO_PORT1 | GPIO_PIN15 | GPIO_INPUT | OC_INPUT_IOMUX) +#define GPIO_VDD_5V_HIPOWER_nEN /* GPIO_EMC_B1_37 GPIO2_IO05 */ (GPIO_PORT2 | GPIO_PIN5 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | GENERAL_OUTPUT_IOMUX) +#define GPIO_VDD_5V_HIPOWER_nOC /* GPIO_EMC_B1_12 GPIO1_IO12 */ (GPIO_PORT1 | GPIO_PIN12 | GPIO_INPUT | OC_INPUT_IOMUX) +#define GPIO_VDD_3V3_SENSORS1_EN /* GPIO_EMC_B1_33 GPIO2_IO01 */ (GPIO_PORT2 | GPIO_PIN1 | GPIO_OUTPUT | GPIO_OUTPUT_ZERO | GENERAL_OUTPUT_IOMUX) +#define GPIO_VDD_3V3_SENSORS2_EN /* GPIO_EMC_B1_22 GPIO1_IO22 */ (GPIO_PORT1 | GPIO_PIN22 | GPIO_OUTPUT | GPIO_OUTPUT_ZERO | GENERAL_OUTPUT_IOMUX) +#define GPIO_VDD_3V3_SENSORS3_EN /* GPIO_EMC_B1_14 GPIO1_IO14 */ (GPIO_PORT1 | GPIO_PIN14 | GPIO_OUTPUT | GPIO_OUTPUT_ZERO | GENERAL_OUTPUT_IOMUX) +#define GPIO_VDD_3V3_SENSORS4_EN /* GPIO_EMC_B1_36 GPIO2_IO04 */ (GPIO_PORT2 | GPIO_PIN4 | GPIO_OUTPUT | GPIO_OUTPUT_ZERO | GENERAL_OUTPUT_IOMUX) + +#define GPIO_VDD_3V3_SPEKTRUM_POWER_EN /* GPIO_EMC_B1_38 GPIO2_IO06 */ (GPIO_PORT2 | GPIO_PIN6 | GPIO_OUTPUT | GPIO_OUTPUT_ZERO | GENERAL_OUTPUT_IOMUX) +#define GPIO_VDD_3V3_SD_CARD_EN /* GPIO_EMC_B1_01 GPIO1_IO1 */ (GPIO_PORT1 | GPIO_PIN1 | GPIO_OUTPUT | GPIO_OUTPUT_ZERO |GENERAL_OUTPUT_IOMUX) + +/* ETHERNET GPIO */ + +#define GPIO_ETH_POWER_EN /* GPIO_DISP_B2_08 GPIO5_IO09 */ (GPIO_PORT5 | GPIO_PIN9 | GPIO_OUTPUT | GPIO_OUTPUT_ZERO | GENERAL_OUTPUT_IOMUX) + +#define GPIO_ETH_PHY_nINT /* GPIO_DISP_B2_09 GPIO5_IO10 */ (GPIO_PORT5 | GPIO_PIN10 | GPIO_INPUT | GENERAL_INPUT_IOMUX) + +#define GPIO_ENET2_RX_ER_CONFIG1 /* GPIO_DISP_B1_01 GPIO4_IO22 PHYAD18 Open */ (GPIO_PORT4 | GPIO_PIN22 | GPIO_INPUT | OC_INPUT_IOMUX | IOMUX_PULL_NONE) +#define GPIO_ENET2_RX_DATA01_CONFIG4 /* GPIO_EMC_B2_16 GPIO2_IO26 (RMII-Rev) Low */ (GPIO_PORT2 | GPIO_PIN26 | GPIO_OUTPUT | GPIO_OUTPUT_ZERO | GENERAL_OUTPUT_IOMUX) +#define GPIO_ENET2_RX_DATA00_CONFIG5 /* GPIO_EMC_B2_15 GPIO2_IO25 SLAVE:Auto Open */ (GPIO_PORT2 | GPIO_PIN25 | GPIO_INPUT | OC_INPUT_IOMUX | IOMUX_PULL_NONE) +#define GPIO_ENET2_CRS_DV_CONFIG6 /* GPIO_DISP_B1_00 GPIO4_IO21 SLAVE:POl Corr Low */ (GPIO_PORT4 | GPIO_PIN21 | GPIO_OUTPUT | GPIO_OUTPUT_ZERO | GENERAL_OUTPUT_IOMUX) + + +/* NFC GPIO */ + +#define GPIO_NFC_GPIO /* GPIO_EMC_B1_04 GPIO1_IO04 */ (GPIO_PORT1 | GPIO_PIN4 | GPIO_INPUT | GENERAL_INPUT_IOMUX) + +#define GPIO_GPIO_EMC_B2_12 /* GPIO_EMC_B2_12 AKA PD15, PH11 */ (GPIO_PORT2 | GPIO_PIN22 | GPIO_OUTPUT | GPIO_OUTPUT_ZERO | OUT_IOMUX) + + +/* 10/100 Mbps Ethernet & Gigabit Ethernet */ + +/* 10/100 Mbps Ethernet Interrupt: GPIO_AD_12 + * Gigabit Ethernet Interrupt: GPIO_DISP_B2_12 + * + * This pin has a week pull-up within the PHY, is open-drain, and requires + * an external 1k ohm pull-up resistor (present on the EVK). A falling + * edge then indicates a change in state of the PHY. + */ + +#define GPIO_ENET_INT (IOMUX_ENET_INT_DEFAULT | GPIO_OUTPUT | GPIO_PORT3 | GPIO_PIN11) /* GPIO_AD_12 */ +#define GPIO_ENET_IRQ IMXRT_IRQ_GPIO3_0_15 + +#define GPIO_ENET1G_INT (IOMUX_ENET_INT_DEFAULT | GPIO_PORT5 | GPIO_PIN13) /* GPIO_DISP_B2_12 */ +#define GPIO_ENET1G_IRQ IMXRT_IRQ_GPIO5_13 + +/* 10/100 Mbps Ethernet Reset: GPIO_LPSR_12 + * Gigabit Ethernet Reset: GPIO_DISP_B2_13 + * + * The #RST uses inverted logic. The initial value of zero will put the + * PHY into the reset state. + */ + +#define GPIO_ENET_RST (GPIO_OUTPUT | GPIO_OUTPUT_ZERO | GPIO_PORT6 | GPIO_PIN12 | IOMUX_ENET_RST_DEFAULT) /* GPIO_LPSR_12 */ + +#define GPIO_ENET1G_RST (GPIO_OUTPUT | GPIO_OUTPUT_ZERO | GPIO_PORT5 | GPIO_PIN14 | IOMUX_ENET_RST_DEFAULT) /* GPIO_DISP_B2_13 */ + + +/* Define True logic Power Control in arch agnostic form */ + +#define VDD_5V_PERIPH_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_5V_PERIPH_nEN, !(on_true)) +#define VDD_5V_HIPOWER_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_5V_HIPOWER_nEN, !(on_true)) +#define VDD_3V3_SENSORS4_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS4_EN, (on_true)) +#define VDD_3V3_SPEKTRUM_POWER_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SPEKTRUM_POWER_EN, (on_true)) +#define READ_VDD_3V3_SPEKTRUM_POWER_EN() px4_arch_gpioread(GPIO_VDD_3V3_SPEKTRUM_POWER_EN) +#define VDD_3V3_SD_CARD_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SD_CARD_EN, (on_true)) +#define VDD_3V3_ETH_POWER_EN(on_true) px4_arch_gpiowrite(GPIO_ETH_POWER_EN, (on_true)) + +/* Tone alarm output */ + +#define TONE_ALARM_TIMER 3 /* GPT 3 */ +#define TONE_ALARM_CHANNEL 2 /* GPIO_EMC_B2_09 GPT3_COMPARE2 */ + +#define GPIO_BUZZER_1 /* GPIO_EMC_B2_09 GPIO2_IO19 */ (GPIO_PORT2 | GPIO_PIN19 | GPIO_OUTPUT | GPIO_OUTPUT_ZERO | GENERAL_OUTPUT_IOMUX) + +#define GPIO_TONE_ALARM_IDLE GPIO_BUZZER_1 +#define GPIO_TONE_ALARM (GPIO_GPT3_COMPARE2_1 | GENERAL_OUTPUT_IOMUX) + +/* USB OTG FS + * + * VBUS_VALID is detected in USB_ANALOG_USB1_VBUS_DETECT_STAT + */ + +/* High-resolution timer */ +#define HRT_TIMER 5 /* use GPT5 for the HRT */ +#define HRT_TIMER_CHANNEL 2 /* use capture/compare channel 1 */ + +#define HRT_PPM_CHANNEL /* GPIO_EMC_B1_09 GPIO_GPT5_CAPTURE1_1 */ 1 /* use capture/compare channel 1 */ +#define GPIO_PPM_IN /* GPIO_EMC_B1_09 GPT1_CAPTURE2 */ (GPIO_GPT5_CAPTURE1_1 | GENERAL_INPUT_IOMUX) + +#define RC_SERIAL_PORT "/dev/ttyS4" +#define RC_SERIAL_SINGLEWIRE 1 // Suport Single wire wiring +#define RC_SERIAL_SWAP_RXTX 1 // Set Swap (but not supported in HW) to use Single wire +#define RC_SERIAL_SWAP_USING_SINGLEWIRE 1 // Set to use Single wire swap as HW does not support swap +#define BOARD_SUPPORTS_RC_SERIAL_PORT_OUTPUT + +/* FLEXSPI4 */ + +#define GPIO_FLEXSPI2_CS (GPIO_FLEXSPI2_A_SS0_B_1|IOMUX_FLEXSPI_DEFAULT) +#define GPIO_FLEXSPI2_IO0 (GPIO_FLEXSPI2_A_DATA0_1|IOMUX_FLEXSPI_DEFAULT) /* SOUT */ +#define GPIO_FLEXSPI2_IO1 (GPIO_FLEXSPI2_A_DATA1_1|IOMUX_FLEXSPI_DEFAULT) /* SIN */ +#define GPIO_FLEXSPI2_SCK (GPIO_FLEXSPI2_A_SCLK_1|IOMUX_FLEXSPI_CLK_DEFAULT) + +/* PWM input driver. Use FMU AUX5 pins attached to GPIO_EMC_B1_08 GPIO1_IO8 FLEXPWM2_PWM1_A */ + +#define PWMIN_TIMER /* FLEXPWM2_PWM1_A */ 2 +#define PWMIN_TIMER_CHANNEL /* FLEXPWM2_PWM1_A */ 1 +#define GPIO_PWM_IN /* GPIO_EMC_B1_08 GPIO1_IO8 */ (GPIO_FLEXPWM3_PWMA02_1 | GENERAL_INPUT_IOMUX) + +/* Safety Switch is HW version dependent on having an PX4IO + * So we init to a benign state with the _INIT definition + * and provide the the non _INIT one for the driver to make a run time + * decision to use it. + */ +#define SAFETY_INIT_IOMUX (IOMUX_PULL_NONE ) +#define SAFETY_IOMUX ( IOMUX_PULL_NONE | IOMUX_SLEW_SLOW) +#define SAFETY_SW_IOMUX ( IOMUX_PULL_UP ) + +#define GPIO_nSAFETY_SWITCH_LED_OUT_INIT /* GPIO_EMC_B1_03 GPIO1_IO03 */ (GPIO_PORT1 | GPIO_PIN3 | GPIO_INPUT | SAFETY_INIT_IOMUX) +#define GPIO_nSAFETY_SWITCH_LED_OUT /* GPIO_EMC_B1_03 GPIO1_IO03 */ (GPIO_PORT1 | GPIO_PIN3 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | SAFETY_IOMUX) + +/* Enable the FMU to control it if there is no px4io fixme:This should be BOARD_SAFETY_LED(__ontrue) */ +#define GPIO_LED_SAFETY GPIO_nSAFETY_SWITCH_LED_OUT +#define GPIO_SAFETY_SWITCH_IN /* GPIO_EMC_B1_24 GPIO1_IO24 */ (GPIO_PORT1 | GPIO_PIN24 | GPIO_INPUT | SAFETY_SW_IOMUX) +/* Enable the FMU to use the switch it if there is no px4io fixme:This should be BOARD_SAFTY_BUTTON() */ +#define GPIO_BTN_SAFETY GPIO_SAFETY_SWITCH_IN /* Enable the FMU to control it if there is no px4io */ + + +/* Power switch controls ******************************************************/ + +#define SPEKTRUM_POWER(_on_true) VDD_3V3_SPEKTRUM_POWER_EN(_on_true) +/* + * FMU-V6RT has a separate RC_IN and PPM + * + * GPIO PPM_IN on GPIO_EMC_B1_09 GPIO1 Pin 9 GPT5_CAPTURE1 + * SPEKTRUM_RX (it's TX or RX in Bind) on TX UART6_TX_TO_IO__RC_INPUT GPIO_EMC_B1_40 GPIO2 Pin 8 + * Inversion is possible in the UART and can drive GPIO PPM_IN as an output + */ + +#define GPIO_UART_AS_OUT /* GPIO_EMC_B1_40 GPIO2_IO8 */ (GPIO_PORT2 | GPIO_PIN8 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | GENERAL_OUTPUT_IOMUX) +#define SPEKTRUM_RX_AS_GPIO_OUTPUT() px4_arch_configgpio(GPIO_UART_AS_OUT) +#define SPEKTRUM_RX_AS_UART() px4_arch_configgpio(GPIO_LPUART6_TX_1) +#define SPEKTRUM_OUT(_one_true) px4_arch_gpiowrite(GPIO_UART_AS_OUT, (_one_true)) + + +#define SDIO_SLOTNO 0 /* Only one slot */ +#define SDIO_MINOR 0 + +/* SD card bringup does not work if performed on the IDLE thread because it + * will cause waiting. Use either: + * + * CONFIG_BOARDCTL=y, OR + * CONFIG_BOARD_INITIALIZE=y && CONFIG_BOARD_INITTHREAD=y + */ + +#if defined(CONFIG_BOARD_INITIALIZE) && !defined(CONFIG_LIB_BOARDCTL) && \ + !defined(CONFIG_BOARD_INITTHREAD) +# warning SDIO initialization cannot be perfomed on the IDLE thread +#endif + +/* By Providing BOARD_ADC_USB_CONNECTED (using the px4_arch abstraction) + * this board support the ADC system_power interface, and therefore + * provides the true logic GPIO BOARD_ADC_xxxx macros. + */ + +#define BOARD_ADC_USB_VALID (!px4_arch_gpioread(GPIO_nVDD_USB_VALID)) +#define BOARD_ADC_USB_CONNECTED (board_read_VBUS_state() == 0) + +/* FMUv5 never powers odd the Servo rail */ + +#define BOARD_ADC_SERVO_VALID (1) + +#define BOARD_ADC_BRICK1_VALID (!px4_arch_gpioread(GPIO_nVDD_BRICK1_VALID)) +#define BOARD_ADC_BRICK2_VALID (!px4_arch_gpioread(GPIO_nVDD_BRICK2_VALID)) + +#define BOARD_ADC_PERIPH_5V_OC (!px4_arch_gpioread(GPIO_VDD_5V_PERIPH_nOC)) +#define BOARD_ADC_HIPOWER_5V_OC (!px4_arch_gpioread(GPIO_VDD_5V_HIPOWER_nOC)) + + +/* This board provides a DMA pool and APIs */ +#define BOARD_DMA_ALLOC_POOL_SIZE 5120 + +/* This board provides the board_on_reset interface */ + +#define BOARD_HAS_ISP_BOOTLOADER 1 + +#define BOARD_HAS_ON_RESET 1 + +#define PX4_GPIO_INIT_LIST { \ + PX4_ADC_GPIO, \ + PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_LPI2C1_SCL_RESET), \ + PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_LPI2C1_SDA_RESET), \ + PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_LPI2C2_SCL_RESET), \ + PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_LPI2C2_SDA_RESET), \ + PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_LPI2C3_SCL_RESET), \ + PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_LPI2C3_SDA_RESET), \ + PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_LPI2C6_SCL_RESET), \ + PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_LPI2C6_SDA_RESET), \ + GPIO_LPUART4_CTS_INIT , \ + GPIO_LPUART8_CTS_INIT , \ + GPIO_LPUART10_CTS_INIT, \ + GPIO_nLED_RED, \ + GPIO_nLED_GREEN, \ + GPIO_nLED_BLUE, \ + GPIO_BUZZER_1, \ + GPIO_HW_VER_REV_DRIVE, \ + GPIO_FLEXCAN1_TX, \ + GPIO_FLEXCAN1_RX, \ + GPIO_FLEXCAN2_TX, \ + GPIO_FLEXCAN2_RX, \ + GPIO_FLEXCAN3_TX, \ + GPIO_FLEXCAN3_RX, \ + GPIO_HEATER_OUTPUT, \ + GPIO_FMU_CAP1, \ + GPIO_nPOWER_IN_A, \ + GPIO_nPOWER_IN_B, \ + GPIO_nPOWER_IN_C, \ + GPIO_VDD_5V_PERIPH_nEN, \ + GPIO_VDD_5V_PERIPH_nOC, \ + GPIO_VDD_5V_HIPOWER_nEN, \ + GPIO_VDD_5V_HIPOWER_nOC, \ + GPIO_VDD_3V3_SENSORS1_EN, \ + GPIO_VDD_3V3_SENSORS2_EN, \ + GPIO_VDD_3V3_SENSORS3_EN, \ + GPIO_VDD_3V3_SENSORS4_EN, \ + GPIO_VDD_3V3_SENSORS4_EN, \ + GPIO_VDD_3V3_SPEKTRUM_POWER_EN, \ + GPIO_VDD_3V3_SD_CARD_EN, \ + GPIO_SPIX_SYNC, \ + GPIO_SPI6_nRESET_EXTERNAL1, \ + GPIO_ETH_POWER_EN, \ + GPIO_ETH_PHY_nINT, \ + GPIO_GPIO_EMC_B2_12, \ + GPIO_NFC_GPIO, \ + GPIO_TONE_ALARM_IDLE, \ + GPIO_nSAFETY_SWITCH_LED_OUT_INIT, \ + GPIO_SAFETY_SWITCH_IN, \ + GPIO_PPM_IN, \ + GPIO_nARMED_INIT, \ + GPIO_ENET2_RX_ER_CONFIG1, \ + GPIO_ENET2_RX_DATA01_CONFIG4, \ + GPIO_ENET2_RX_DATA00_CONFIG5, \ + GPIO_ENET2_CRS_DV_CONFIG6, \ + } + +#define BOARD_ENABLE_CONSOLE_BUFFER +#define PX4_I2C_BUS_MTD 1 + +__BEGIN_DECLS + +/**************************************************************************************************** + * Public Types + ****************************************************************************************************/ + +/**************************************************************************************************** + * Public data + ****************************************************************************************************/ + +#ifndef __ASSEMBLY__ + +/**************************************************************************************************** + * Public Functions + ****************************************************************************************************/ + +/**************************************************************************** + * Name: fmuv6xrt_usdhc_initialize + * + * Description: + * Initialize SDIO-based MMC/SD card support + * + ****************************************************************************/ + +int fmuv6xrt_usdhc_initialize(void); + +/************************************************************************************ + * Name: imxrt_usb_initialize + * + * Description: + * Called to configure USB. + * + ************************************************************************************/ + +extern int imxrt_usb_initialize(void); + +/**************************************************************************************************** + * Name: nxp_spiinitialize + * + * Description: + * Called to configure SPI chip select GPIO pins for the PX4FMU board. + * + ****************************************************************************************************/ + +extern void imxrt_spiinitialize(void); + + +extern void imxrt_usbinitialize(void); + +extern void board_peripheral_reset(int ms); + +extern void fmuv6xrt_timer_initialize(void); + +#include + +int imxrt_flexspi_fram_initialize(void); + +#endif /* __ASSEMBLY__ */ + +__END_DECLS diff --git a/boards/px4/fmu-v6xrt/src/bootloader_main.c b/boards/px4/fmu-v6xrt/src/bootloader_main.c new file mode 100644 index 000000000000..04008aa2ffaf --- /dev/null +++ b/boards/px4/fmu-v6xrt/src/bootloader_main.c @@ -0,0 +1,61 @@ +/**************************************************************************** + * + * Copyright (c) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file bootloader_main.c + * + * FMU-specific early startup code for bootloader +*/ + +#include "board_config.h" +#include "bl.h" + +#include +#include +#include +#include +#include "arm_internal.h" +#include + +extern int sercon_main(int c, char **argv); + +void board_late_initialize(void) +{ + sercon_main(0, NULL); +} + +extern void sys_tick_handler(void); +void board_timerhook(void) +{ + sys_tick_handler(); +} diff --git a/boards/nxp/fmurt1062-v1/src/can.c b/boards/px4/fmu-v6xrt/src/can.c similarity index 100% rename from boards/nxp/fmurt1062-v1/src/can.c rename to boards/px4/fmu-v6xrt/src/can.c diff --git a/boards/px4/fmu-v6xrt/src/hw_config.h b/boards/px4/fmu-v6xrt/src/hw_config.h new file mode 100644 index 000000000000..19611e379cb6 --- /dev/null +++ b/boards/px4/fmu-v6xrt/src/hw_config.h @@ -0,0 +1,130 @@ +/* + * hw_config.h + * + * Created on: May 17, 2015 + * Author: david_s5 + */ + +#ifndef HW_CONFIG_H_ +#define HW_CONFIG_H_ + +/**************************************************************************** + * 10-8--2016: + * To simplify the ripple effect on the tools, we will be using + * /dev/serial/by-id/PX4 to locate PX4 devices. Therefore + * moving forward all Bootloaders must contain the prefix "PX4 BL " + * in the USBDEVICESTRING + * This Change will be made in an upcoming BL release + ****************************************************************************/ +/* + * Define usage to configure a bootloader + * + * + * Constant example Usage + * APP_LOAD_ADDRESS 0x08004000 - The address in Linker Script, where the app fw is org-ed + * BOOTLOADER_DELAY 5000 - Ms to wait while under USB pwr or bootloader request + * BOARD_FMUV2 + * INTERFACE_USB 1 - (Optional) Scan and use the USB interface for bootloading + * INTERFACE_USART 1 - (Optional) Scan and use the Serial interface for bootloading + * USBDEVICESTRING "PX4 BL FMU v2.x" - USB id string + * USBPRODUCTID 0x0011 - PID Should match defconfig + * BOOT_DELAY_ADDRESS 0x000001a0 - (Optional) From the linker script from Linker Script to get a custom + * delay provided by an APP FW + * BOARD_TYPE 9 - Must match .prototype boad_id + * _FLASH_KBYTES (*(uint16_t *)0x1fff7a22) - Run time flash size detection + * BOARD_FLASH_SECTORS ((_FLASH_KBYTES == 0x400) ? 11 : 23) - Run time determine the physical last sector + * BOARD_FLASH_SECTORS 11 - Hard coded zero based last sector + * BOARD_FLASH_SIZE (_FLASH_KBYTES*1024)- Total Flash size of device, determined at run time. + * (1024 * 1024) - Hard coded Total Flash of device - The bootloader and app reserved will be deducted + * programmatically + * + * BOARD_FIRST_FLASH_SECTOR_TO_ERASE 2 - Optional sectors index in the flash_sectors table (F4 only), to begin erasing. + * This is to allow sectors to be reserved for app fw usage. That will NOT be erased + * during a FW upgrade. + * The default is 0, and selects the first sector to be erased, as the 0th entry in the + * flash_sectors table. Which is the second physical sector of FLASH in the device. + * The first physical sector of FLASH is used by the bootloader, and is not defined + * in the table. + * + * APP_RESERVATION_SIZE (BOARD_FIRST_FLASH_SECTOR_TO_ERASE * 16 * 1024) - Number of bytes reserved by the APP FW. This number plus + * BOOTLOADER_RESERVATION_SIZE will be deducted from + * BOARD_FLASH_SIZE to determine the size of the App FW + * and hence the address space of FLASH to erase and program. + * USBMFGSTRING "PX4 AP" - Optional USB MFG string (default is '3D Robotics' if not defined.) + * SERIAL_BREAK_DETECT_DISABLED - Optional prevent break selection on Serial port from entering or staying in BL + * + * * Other defines are somewhat self explanatory. + */ + +/* Boot device selection list*/ +#define USB0_DEV 0x01 +#define SERIAL0_DEV 0x02 +#define SERIAL1_DEV 0x04 + +#define APP_LOAD_ADDRESS 0x30020000 +#define APP_VECTOR_OFFSET 0x2000 +#define BOOTLOADER_DELAY 5000 +#define INTERFACE_USB 1 +#define INTERFACE_USB_CONFIG "/dev/ttyACM0" + +//#define USE_VBUS_PULL_DOWN +#define INTERFACE_USART 1 +#define INTERFACE_USART_CONFIG "/dev/ttyS0,1500000" +#define BOOT_DELAY_ADDRESS 0x3003b540 +#define BOARD_TYPE 35 +// The board has a 64 Mb part with 16384, 4K secors, but we artificialy limit it to 4 Mb +// as 1024, 4K sectors +#define BOARD_FLASH_SECTORS 1024 // Really (16384) +#define BOARD_FIRST_FLASH_SECTOR_TO_ERASE 32 // We resreve 128K for the bootloader +#define BOARD_FLASH_SIZE (4 * 1024 * 1024) + +#define OSC_FREQ 24 + +#define BOARD_PIN_LED_ACTIVITY GPIO_nLED_BLUE // BLUE +#define BOARD_PIN_LED_BOOTLOADER GPIO_nLED_GREEN // GREEN +#define BOARD_LED_ON 0 +#define BOARD_LED_OFF 1 + +#define SERIAL_BREAK_DETECT_DISABLED 1 + +/* + * Uncommenting this allows to force the bootloader through + * a PWM output pin. As this can accidentally initialize + * an ESC prematurely, it is not recommended. This feature + * has not been used and hence defaults now to off. + * + * # define BOARD_FORCE_BL_PIN_OUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN14) + * # define BOARD_FORCE_BL_PIN_IN (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN11) + * + * # define BOARD_POWER_PIN_OUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN4) + * # define BOARD_POWER_ON 1 + * # define BOARD_POWER_OFF 0 + * # undef BOARD_POWER_PIN_RELEASE // Leave pin enabling Power - un comment to release (disable power) + * +*/ + +#if !defined(ARCH_SN_MAX_LENGTH) +# define ARCH_SN_MAX_LENGTH 12 +#endif + +#if !defined(APP_RESERVATION_SIZE) +# define APP_RESERVATION_SIZE 0 +#endif + +#if !defined(BOARD_FIRST_FLASH_SECTOR_TO_ERASE) +# define BOARD_FIRST_FLASH_SECTOR_TO_ERASE 1 +#endif + +#if !defined(USB_DATA_ALIGN) +# define USB_DATA_ALIGN +#endif + +#ifndef BOOT_DEVICES_SELECTION +# define BOOT_DEVICES_SELECTION USB0_DEV|SERIAL0_DEV|SERIAL1_DEV +#endif + +#ifndef BOOT_DEVICES_FILTER_ONUSB +# define BOOT_DEVICES_FILTER_ONUSB USB0_DEV|SERIAL0_DEV|SERIAL1_DEV +#endif + +#endif /* HW_CONFIG_H_ */ diff --git a/boards/px4/fmu-v6xrt/src/i2c.cpp b/boards/px4/fmu-v6xrt/src/i2c.cpp new file mode 100644 index 000000000000..795e1232cb88 --- /dev/null +++ b/boards/px4/fmu-v6xrt/src/i2c.cpp @@ -0,0 +1,43 @@ +/**************************************************************************** + * + * Copyright (C) 2020 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include + +#if defined(CONFIG_I2C) +constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = { + initI2CBusExternal(1), + initI2CBusExternal(2), + initI2CBusInternal(3), + initI2CBusExternal(6), +}; +#endif diff --git a/boards/px4/fmu-v6xrt/src/imxrt_clockconfig.c b/boards/px4/fmu-v6xrt/src/imxrt_clockconfig.c new file mode 100644 index 000000000000..3223d585aa76 --- /dev/null +++ b/boards/px4/fmu-v6xrt/src/imxrt_clockconfig.c @@ -0,0 +1,510 @@ +/**************************************************************************** + * boards/arm/s32k3xx/mr-canhubk3/src/s32k3xx_clockconfig.c + * + * Licensed to the Apache Software Foundation (ASF) under one or more + * contributor license agreements. See the NOTICE file distributed with + * this work for additional information regarding copyright ownership. The + * ASF licenses this file to you under the Apache License, Version 2.0 (the + * "License"); you may not use this file except in compliance with the + * License. You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT + * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the + * License for the specific language governing permissions and limitations + * under the License. + * + ****************************************************************************/ + +/* Copyright 2022 NXP */ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include + +#include + +#include "imxrt_clockconfig.h" + + +/**************************************************************************** + * Public Data + ****************************************************************************/ + +/* Each FMU-V6XRT board must provide the following initialized structure. + * This is needed to establish the initial board clocking. + */ + +const struct clock_configuration_s g_initial_clkconfig = { + .ccm = + { + .m7_clk_root = + { + .enable = 1, + .div = 1, + .mux = M7_CLK_ROOT_PLL_ARM_CLK, + }, + .m4_clk_root = + { + .enable = 1, + .div = 1, + .mux = M4_CLK_ROOT_SYS_PLL3_PFD3, + }, + .bus_clk_root = + { + .enable = 1, + .div = 2, + .mux = BUS_CLK_ROOT_SYS_PLL3_CLK, + }, + .bus_lpsr_clk_root = + { + .enable = 1, + .div = 3, + .mux = BUS_LPSR_CLK_ROOT_SYS_PLL3_CLK, + }, + .semc_clk_root = + { + .enable = 0, + .div = 3, + .mux = SEMC_CLK_ROOT_SYS_PLL2_PFD1, + }, + .cssys_clk_root = + { + .enable = 1, + .div = 1, + .mux = CSSYS_CLK_ROOT_OSC_RC_48M_DIV2, + }, + .cstrace_clk_root = + { + .enable = 1, + .div = 4, + .mux = CSTRACE_CLK_ROOT_SYS_PLL2_CLK, + }, + .m4_systick_clk_root = + { + .enable = 1, + .div = 1, + .mux = M4_SYSTICK_CLK_ROOT_OSC_RC_48M_DIV2, + }, + .m7_systick_clk_root = + { + .enable = 1, + .div = 240, + .mux = M7_SYSTICK_CLK_ROOT_OSC_RC_48M_DIV2, + }, + .adc1_clk_root = + { + .enable = 1, + .div = 6, + .mux = ADC1_CLK_ROOT_SYS_PLL2_CLK, + }, + .adc2_clk_root = + { + .enable = 1, + .div = 6, + .mux = ADC2_CLK_ROOT_SYS_PLL2_CLK, + }, + .acmp_clk_root = + { + .enable = 1, + .div = 1, + .mux = ACMP_CLK_ROOT_OSC_RC_48M_DIV2, + }, + .flexio1_clk_root = /* 432 / 4 = 108Mhz */ + { + .enable = 1, + .div = 4, + .mux = FLEXIO1_CLK_ROOT_SYS_PLL2_PFD3, + }, + .flexio2_clk_root = + { + .enable = 1, + .div = 1, + .mux = FLEXIO2_CLK_ROOT_OSC_RC_48M_DIV2, + }, + .gpt1_clk_root = + { + .enable = 1, + .div = 1, + .mux = GPT1_CLK_ROOT_OSC_RC_48M_DIV2, + }, + .gpt2_clk_root = + { + .enable = 1, + .div = 1, + .mux = GPT2_CLK_ROOT_OSC_RC_48M_DIV2, + }, + .gpt3_clk_root = + { + .enable = 1, + .div = 1, + .mux = GPT3_CLK_ROOT_OSC_24M, + }, + .gpt4_clk_root = + { + .enable = 1, + .div = 1, + .mux = GPT4_CLK_ROOT_OSC_RC_48M_DIV2, + }, + .gpt5_clk_root = + { + .enable = 1, + .div = 1, + .mux = GPT5_CLK_ROOT_OSC_24M, + }, + .gpt6_clk_root = + { + .enable = 1, + .div = 1, + .mux = GPT6_CLK_ROOT_OSC_RC_48M_DIV2, + }, + .flexspi1_clk_root = + { + .enable = 1, + .div = 4, + .mux = FLEXSPI1_CLK_ROOT_SYS_PLL2_CLK, + }, + .flexspi2_clk_root = + { + .enable = 1, + .div = 1, + .mux = FLEXSPI2_CLK_ROOT_OSC_RC_48M_DIV2, + }, + .can1_clk_root = /* 240 / 3 = 80Mhz */ + { + .enable = 1, + .div = 3, + .mux = CAN1_CLK_ROOT_SYS_PLL3_DIV2, + }, + .can2_clk_root = /* 240 / 3 = 80Mhz */ + { + .enable = 1, + .div = 3, + .mux = CAN2_CLK_ROOT_SYS_PLL3_DIV2, + }, + .can3_clk_root = /* 480 / 6 = 80Mhz */ + { + .enable = 1, + .div = 6, + .mux = CAN3_CLK_ROOT_SYS_PLL3_CLK, + }, + .lpuart1_clk_root = /* 528 / 22 = 24Mhz */ + { + .enable = 1, + .div = 22, + .mux = LPUART1_CLK_ROOT_SYS_PLL2_CLK, + }, + .lpuart3_clk_root = /* 528 / 11 = 48Mhz */ + { + .enable = 1, + .div = 11, + .mux = LPUART3_CLK_ROOT_SYS_PLL2_CLK, + }, + .lpuart4_clk_root = /* 528 / 11 = 48Mhz */ + { + .enable = 1, + .div = 11, + .mux = LPUART4_CLK_ROOT_SYS_PLL2_CLK, + }, + .lpuart5_clk_root = /* 528 / 11 = 48Mhz */ + { + .enable = 1, + .div = 11, + .mux = LPUART5_CLK_ROOT_SYS_PLL2_CLK, + }, + .lpuart6_clk_root = /* 528 / 11 = 48Mhz */ + { + .enable = 1, + .div = 11, + .mux = LPUART6_CLK_ROOT_SYS_PLL2_CLK, + }, + .lpuart8_clk_root = /* 528 / 11 = 48Mhz */ + { + .enable = 1, + .div = 11, + .mux = LPUART8_CLK_ROOT_SYS_PLL2_CLK, + }, + .lpuart10_clk_root = /* 528 / 11 = 48Mhz */ + { + .enable = 1, + .div = 11, + .mux = LPUART10_CLK_ROOT_SYS_PLL2_CLK, + }, + .lpuart11_clk_root = /* 480 / 10 = 48Mhz */ + { + .enable = 1, + .div = 10, + .mux = LPUART11_CLK_ROOT_SYS_PLL3_CLK, + }, + .lpi2c1_clk_root = /* 528 / 22 = 24Mhz */ + { + .enable = 1, + .div = 22, + .mux = LPI2C1_CLK_ROOT_SYS_PLL2_CLK, + }, + .lpi2c2_clk_root = /* 528 / 22 = 24Mhz */ + { + .enable = 1, + .div = 22, + .mux = LPI2C2_CLK_ROOT_SYS_PLL2_CLK, + }, + .lpi2c3_clk_root = /* 528 / 22 = 24Mhz */ + { + .enable = 1, + .div = 22, + .mux = LPI2C3_CLK_ROOT_SYS_PLL2_CLK, + }, + .lpi2c6_clk_root = /* 480 / 20 = 24Mhz */ + { + .enable = 1, + .div = 20, + .mux = LPI2C6_CLK_ROOT_SYS_PLL3_CLK, + }, + .lpspi1_clk_root = /* 200 / 2 = 100Mhz */ + { + .enable = 1, + .div = 2, + .mux = LPSPI1_CLK_ROOT_SYS_PLL1_DIV5, + }, + .lpspi2_clk_root = /* 200 / 2 = 100Mhz */ + { + .enable = 1, + .div = 2, + .mux = LPSPI2_CLK_ROOT_SYS_PLL1_DIV5, + }, + .lpspi3_clk_root = /* 200 / 2 = 100Mhz */ + { + .enable = 1, + .div = 2, + .mux = LPSPI3_CLK_ROOT_SYS_PLL1_DIV5, + }, + .lpspi6_clk_root = /* 200 / 2 = 100Mhz */ + { + .enable = 1, + .div = 2, + .mux = LPSPI6_CLK_ROOT_SYS_PLL1_DIV5, + }, + .emv1_clk_root = + { + .enable = 0, + .div = 1, + .mux = EMV1_CLK_ROOT_OSC_RC_48M_DIV2, + }, + .emv2_clk_root = + { + .enable = 0, + .div = 1, + .mux = EMV2_CLK_ROOT_OSC_RC_48M_DIV2, + }, + .enet1_clk_root = + { + .enable = 0, + .div = 10, + .mux = ENET1_CLK_ROOT_SYS_PLL1_DIV2, + }, + .enet2_clk_root = + { + .enable = 0, + .div = 10, + .mux = ENET2_CLK_ROOT_SYS_PLL1_DIV2, + }, + .enet_qos_clk_root = + { + .enable = 0, + .div = 1, + .mux = ENET_QOS_CLK_ROOT_OSC_RC_48M_DIV2, + }, + .enet_25m_clk_root = + { + .enable = 1, + .div = 1, + .mux = ENET_25M_CLK_ROOT_OSC_RC_48M_DIV2, + }, + .enet_timer1_clk_root = + { + .enable = 0, + .div = 1, + .mux = ENET_TIMER1_CLK_ROOT_OSC_RC_48M_DIV2, + }, + .enet_timer2_clk_root = + { + .enable = 0, + .div = 1, + .mux = ENET_TIMER2_CLK_ROOT_OSC_RC_48M_DIV2, + }, + .enet_timer3_clk_root = + { + .enable = 0, + .div = 1, + .mux = ENET_TIMER3_CLK_ROOT_OSC_RC_48M_DIV2, + }, + .usdhc1_clk_root = + { + .enable = 1, + .div = 2, + .mux = USDHC1_CLK_ROOT_SYS_PLL2_PFD2, + }, + .usdhc2_clk_root = + { + .enable = 0, + .div = 1, + .mux = USDHC2_CLK_ROOT_OSC_RC_48M_DIV2, + }, + .asrc_clk_root = + { + .enable = 0, + .div = 1, + .mux = ASRC_CLK_ROOT_OSC_RC_48M_DIV2, + }, + .mqs_clk_root = + { + .enable = 0, + .div = 1, + .mux = MQS_CLK_ROOT_OSC_RC_48M_DIV2, + }, + .mic_clk_root = + { + .enable = 0, + .div = 1, + .mux = MIC_CLK_ROOT_OSC_RC_48M_DIV2, + }, + .spdif_clk_root = + { + .enable = 0, + .div = 1, + .mux = SPDIF_CLK_ROOT_OSC_RC_48M_DIV2, + }, + .sai1_clk_root = + { + .enable = 0, + .div = 1, + .mux = SAI1_CLK_ROOT_OSC_RC_48M_DIV2, + }, + .sai2_clk_root = + { + .enable = 0, + .div = 1, + .mux = SAI2_CLK_ROOT_OSC_RC_48M_DIV2, + }, + .sai3_clk_root = + { + .enable = 0, + .div = 1, + .mux = SAI3_CLK_ROOT_OSC_RC_48M_DIV2, + }, + .sai4_clk_root = + { + .enable = 0, + .div = 1, + .mux = SAI4_CLK_ROOT_OSC_RC_48M_DIV2, + }, + .gc355_clk_root = + { + .enable = 0, + .div = 2, + .mux = GC355_CLK_ROOT_VIDEO_PLL_CLK, + }, + .lcdif_clk_root = + { + .enable = 0, + .div = 1, + .mux = LCDIF_CLK_ROOT_OSC_RC_48M_DIV2, + }, + .lcdifv2_clk_root = + { + .enable = 0, + .div = 1, + .mux = LCDIFV2_CLK_ROOT_OSC_RC_48M_DIV2, + }, + .mipi_ref_clk_root = + { + .enable = 0, + .div = 1, + .mux = MIPI_REF_CLK_ROOT_OSC_RC_48M_DIV2, + }, + .mipi_esc_clk_root = + { + .enable = 0, + .div = 1, + .mux = MIPI_ESC_CLK_ROOT_OSC_RC_48M_DIV2, + }, + .csi2_clk_root = + { + .enable = 0, + .div = 1, + .mux = CSI2_CLK_ROOT_OSC_RC_48M_DIV2, + }, + .csi2_esc_clk_root = + { + .enable = 0, + .div = 1, + .mux = CSI2_ESC_CLK_ROOT_OSC_RC_48M_DIV2, + }, + .csi2_ui_clk_root = + { + .enable = 0, + .div = 1, + .mux = CSI2_UI_CLK_ROOT_OSC_RC_48M_DIV2, + }, + .csi_clk_root = + { + .enable = 0, + .div = 1, + .mux = CSI_CLK_ROOT_OSC_RC_48M_DIV2, + }, + .cko1_clk_root = + { + .enable = 0, + .div = 1, + .mux = CKO1_CLK_ROOT_OSC_RC_48M_DIV2, + }, + .cko2_clk_root = + { + .enable = 0, + .div = 1, + .mux = CKO2_CLK_ROOT_OSC_RC_48M_DIV2, + }, + }, + .arm_pll = + { + /* ARM_PLL = Fin * ( loop_div / ( 2 * post_div ) ) */ + /* ARM_PLL = Fin * ( 166 / ( 2 * 2 ) ) */ + + .post_div = 0, /* 0 = DIV by 2 + * 1 = DIV by 4 + * 2 = DIV by 8 + * 3 = DIV by 1 */ + .loop_div = 166, /* ARM_PLL = 996 Mhz */ + }, + .sys_pll1 = + { + .enable = 1, + .div = 41, + .num = 178956970, + .denom = 268435455, + }, + .sys_pll2 = + { + .mfd = 268435455, + .ss_enable = 0, + .pfd0 = 27, /* (528 * 18) / 27 = 352 MHz */ + .pfd1 = 16, /* (528 * 18) / 16 = 594 MHz */ + .pfd2 = 24, /* (528 * 18) / 24 = 396 MHz */ + .pfd3 = 22, /* (528 * 18) / 22 = 216 MHz */ + }, + .sys_pll3 = + { + .pfd0 = 13, /* (480 * 18) / 13 = 8640/13 = 664.62 MHz */ + .pfd1 = 17, /* (480 * 18) / 17 = 8640/17 = 508.24 MHz */ + .pfd2 = 32, /* (480 * 18) / 32 = 270 MHz */ + .pfd3 = 22, /* (480 * 18) / 22 = 8640/20 = 392.73 MHz */ + } +}; + +/**************************************************************************** + * Public Functions + ****************************************************************************/ diff --git a/boards/px4/fmu-v6xrt/src/imxrt_flexspi_fram.c b/boards/px4/fmu-v6xrt/src/imxrt_flexspi_fram.c new file mode 100644 index 000000000000..d0f71c7e4337 --- /dev/null +++ b/boards/px4/fmu-v6xrt/src/imxrt_flexspi_fram.c @@ -0,0 +1,695 @@ +/**************************************************************************** + * boards/px4/fmu-v6xrt/src/imxrt_flexspi_fram.c + * + * Licensed to the Apache Software Foundation (ASF) under one or more + * contributor license agreements. See the NOTICE file distributed with + * this work for additional information regarding copyright ownership. The + * ASF licenses this file to you under the Apache License, Version 2.0 (the + * "License"); you may not use this file except in compliance with the + * License. You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT + * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the + * License for the specific language governing permissions and limitations + * under the License. + * + ****************************************************************************/ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include + +#include +#include +#include + +#include +#include +#include +#include + +#include +#include "px4_log.h" + +#include "imxrt_flexspi.h" +#include "board_config.h" +#include "hardware/imxrt_pinmux.h" + +#ifdef CONFIG_IMXRT_FLEXSPI + +#define FRAM_SIZE 0x8000U +#define FRAM_PAGE_SIZE 0x0080U +#define FRAM_SECTOR_SIZE 0x0080U + +#define MIN(a, b) (((a) < (b)) ? (a) : (b)) + +enum { + /* SPI instructions */ + + READ_ID, + READ_STATUS_REG, + WRITE_STATUS_REG, + WRITE_ENABLE, + READ_FAST, + PAGE_PROGRAM, +}; + +static const uint32_t g_flexspi_fram_lut[][4] = { + [READ_ID] = + { + FLEXSPI_LUT_SEQ(FLEXSPI_COMMAND_SDR, FLEXSPI_1PAD, 0x9f, + FLEXSPI_COMMAND_READ_SDR, FLEXSPI_1PAD, 0x04), + }, + + [READ_STATUS_REG] = + { + FLEXSPI_LUT_SEQ(FLEXSPI_COMMAND_SDR, FLEXSPI_1PAD, 0x05, + FLEXSPI_COMMAND_READ_SDR, FLEXSPI_1PAD, 0x04), + }, + + [WRITE_STATUS_REG] = + { + FLEXSPI_LUT_SEQ(FLEXSPI_COMMAND_SDR, FLEXSPI_1PAD, 0x01, + FLEXSPI_COMMAND_WRITE_SDR, FLEXSPI_1PAD, 0x04), + }, + + [WRITE_ENABLE] = + { + FLEXSPI_LUT_SEQ(FLEXSPI_COMMAND_SDR, FLEXSPI_1PAD, 0x06, + FLEXSPI_COMMAND_STOP, FLEXSPI_1PAD, 0), + }, + [READ_FAST] = + { + FLEXSPI_LUT_SEQ(FLEXSPI_COMMAND_SDR, FLEXSPI_1PAD, 0x0b, + FLEXSPI_COMMAND_RADDR_SDR, FLEXSPI_1PAD, 0x10), + FLEXSPI_LUT_SEQ(FLEXSPI_COMMAND_DUMMY_SDR, FLEXSPI_1PAD, 0x08, + FLEXSPI_COMMAND_READ_SDR, FLEXSPI_1PAD, 0x04), + }, + [PAGE_PROGRAM] = + { + FLEXSPI_LUT_SEQ(FLEXSPI_COMMAND_SDR, FLEXSPI_1PAD, 0x02, + FLEXSPI_COMMAND_RADDR_SDR, FLEXSPI_1PAD, 0x10), + FLEXSPI_LUT_SEQ(FLEXSPI_COMMAND_WRITE_SDR, FLEXSPI_1PAD, 0x04, + FLEXSPI_COMMAND_STOP, FLEXSPI_1PAD, 0), + }, +}; + +/**************************************************************************** + * Private Types + ****************************************************************************/ + +/* FlexSPI NOR device private data */ + +struct imxrt_flexspi_fram_dev_s { + struct mtd_dev_s mtd; + struct flexspi_dev_s *flexspi; /* Saved FlexSPI interface instance */ + uint8_t *ahb_base; + enum flexspi_port_e port; + struct flexspi_device_config_s *config; +}; + +/**************************************************************************** + * Private Functions Prototypes + ****************************************************************************/ + +/* MTD driver methods */ + +static int imxrt_flexspi_fram_erase(struct mtd_dev_s *dev, + off_t startblock, + size_t nblocks); +static ssize_t imxrt_flexspi_fram_read(struct mtd_dev_s *dev, + off_t offset, + size_t nbytes, + uint8_t *buffer); +static ssize_t imxrt_flexspi_fram_bread(struct mtd_dev_s *dev, + off_t startblock, + size_t nblocks, + uint8_t *buffer); +static ssize_t imxrt_flexspi_fram_bwrite(struct mtd_dev_s *dev, + off_t startblock, + size_t nblocks, + const uint8_t *buffer); +static int imxrt_flexspi_fram_ioctl(struct mtd_dev_s *dev, + int cmd, + unsigned long arg); + +/**************************************************************************** + * Private Data + ****************************************************************************/ + +static struct flexspi_device_config_s g_flexspi_device_config = { + .flexspi_root_clk = 4000000, + .is_sck2_enabled = 0, + .flash_size = 32, + .cs_interval_unit = FLEXSPI_CS_INTERVAL_UNIT1_SCK_CYCLE, + .cs_interval = 0, + .cs_hold_time = 12, + .cs_setup_time = 12, + .data_valid_time = 0, + .columnspace = 0, + .enable_word_address = 0, + .awr_seq_index = 0, + .awr_seq_number = 0, + .ard_seq_index = READ_FAST, + .ard_seq_number = 1, + .ahb_write_wait_unit = FLEXSPI_AHB_WRITE_WAIT_UNIT2_AHB_CYCLE, + .ahb_write_wait_interval = 0, + .rx_sample_clock = FLEXSPI_READ_SAMPLE_CLK_LOOPBACK_INTERNALLY, +}; + +static struct imxrt_flexspi_fram_dev_s g_flexspi_nor = { + .mtd = + { + .erase = imxrt_flexspi_fram_erase, + .bread = imxrt_flexspi_fram_bread, + .bwrite = imxrt_flexspi_fram_bwrite, + .read = imxrt_flexspi_fram_read, + .ioctl = imxrt_flexspi_fram_ioctl, +#ifdef CONFIG_MTD_BYTE_WRITE + .write = NULL, +#endif + .name = "imxrt_flexspi_fram" + }, + .flexspi = (void *)0, + .ahb_base = (uint8_t *) IMXRT_FLEXSPI2_CIPHER_BASE, + .port = FLEXSPI_PORT_A1, + .config = &g_flexspi_device_config +}; + +/**************************************************************************** + * Private Functions + ****************************************************************************/ + +static int imxrt_flexspi_fram_get_vendor_id( + const struct imxrt_flexspi_fram_dev_s *dev, + uint8_t *vendor_id) +{ + uint8_t buffer[1] = {0}; + int stat; + + struct flexspi_transfer_s transfer = { + .device_address = 0, + .port = dev->port, + .cmd_type = FLEXSPI_READ, + .seq_number = 1, + .seq_index = READ_ID, + .data = (void *) &buffer, + .data_size = 1, + }; + + stat = FLEXSPI_TRANSFER(dev->flexspi, &transfer); + + if (stat != 0) { + return -EIO; + } + + *vendor_id = buffer[0]; + + return 0; +} + +static int imxrt_flexspi_fram_read_status( + const struct imxrt_flexspi_fram_dev_s *dev, + uint32_t *status) +{ + int stat; + + struct flexspi_transfer_s transfer = { + .device_address = 0, + .port = dev->port, + .cmd_type = FLEXSPI_READ, + .seq_number = 1, + .seq_index = READ_STATUS_REG, + .data = status, + .data_size = 1, + }; + + stat = FLEXSPI_TRANSFER(dev->flexspi, &transfer); + + if (stat != 0) { + return -EIO; + } + + return 0; +} + +#if 0 +static int imxrt_flexspi_fram_write_status( + const struct imxrt_flexspi_fram_dev_s *dev, + uint32_t *status) +{ + int stat; + + struct flexspi_transfer_s transfer = { + .device_address = 0, + .port = dev->port, + .cmd_type = FLEXSPI_WRITE, + .seq_number = 1, + .seq_index = WRITE_STATUS_REG, + .data = status, + .data_size = 1, + }; + + stat = FLEXSPI_TRANSFER(dev->flexspi, &transfer); + + if (stat != 0) { + return -EIO; + } + + return 0; +} +#endif + +static int imxrt_flexspi_fram_write_enable( + const struct imxrt_flexspi_fram_dev_s *dev) +{ + int stat; + + struct flexspi_transfer_s transfer = { + .device_address = 0, + .port = dev->port, + .cmd_type = FLEXSPI_COMMAND, + .seq_number = 1, + .seq_index = WRITE_ENABLE, + .data = NULL, + .data_size = 0, + }; + + stat = FLEXSPI_TRANSFER(dev->flexspi, &transfer); + + if (stat != 0) { + return -EIO; + } + + return 0; +} + +static int imxrt_flexspi_fram_erase_sector( + const struct imxrt_flexspi_fram_dev_s *dev, + off_t offset) +{ + int stat; + size_t remaining = FRAM_SECTOR_SIZE; + uint8_t buffer[FRAM_SECTOR_SIZE] = {0xff}; + + struct flexspi_transfer_s transfer = { + .data = (void *) &buffer, + .port = dev->port, + .cmd_type = FLEXSPI_WRITE, + .seq_number = 1, + .seq_index = PAGE_PROGRAM, + }; + + while (remaining > 0) { + transfer.device_address = offset; + transfer.data_size = MIN(128, remaining); + + stat = FLEXSPI_TRANSFER(dev->flexspi, &transfer); + + if (stat != 0) { + return -EIO; + } + + remaining -= transfer.data_size; + offset += transfer.data_size; + } + + return 0; +} + +static int imxrt_flexspi_fram_erase_chip( + const struct imxrt_flexspi_fram_dev_s *dev) +{ + int stat; + size_t remaining = FRAM_SIZE; + size_t offset = 0; + uint8_t buffer[FRAM_SECTOR_SIZE] = {0xff}; + + struct flexspi_transfer_s transfer = { + .data = (void *) &buffer, + .port = dev->port, + .cmd_type = FLEXSPI_WRITE, + .seq_number = 1, + .seq_index = PAGE_PROGRAM, + }; + + while (remaining > 0) { + transfer.device_address = offset; + transfer.data_size = MIN(128, remaining); + + stat = FLEXSPI_TRANSFER(dev->flexspi, &transfer); + + if (stat != 0) { + return -EIO; + } + + remaining -= transfer.data_size; + offset += transfer.data_size; + } + + return 0; +} + +static int imxrt_flexspi_fram_page_program( + const struct imxrt_flexspi_fram_dev_s *dev, + off_t offset, + const void *buffer, + size_t len) +{ + int stat; + + struct flexspi_transfer_s transfer = { + .device_address = offset, + .port = dev->port, + .cmd_type = FLEXSPI_WRITE, + .seq_number = 1, + .seq_index = PAGE_PROGRAM, + .data = (uint32_t *) buffer, + .data_size = len, + }; + + stat = FLEXSPI_TRANSFER(dev->flexspi, &transfer); + + if (stat != 0) { + return -EIO; + } + + return 0; +} + +static int imxrt_flexspi_fram_wait_bus_busy( + const struct imxrt_flexspi_fram_dev_s *dev) +{ + uint32_t status = 0; + int ret; + + do { + ret = imxrt_flexspi_fram_read_status(dev, &status); + + if (ret) { + return ret; + } + } while (status & 1); + + return 0; +} + +static ssize_t imxrt_flexspi_fram_read(struct mtd_dev_s *dev, + off_t offset, + size_t nbytes, + uint8_t *buffer) +{ + +#ifdef IP_READ + struct imxrt_flexspi_fram_dev_s *priv = + (struct imxrt_flexspi_fram_dev_s *)dev; + int stat; + size_t remaining = nbytes; + + struct flexspi_transfer_s transfer = { + .port = priv->port, + .cmd_type = FLEXSPI_READ, + .seq_number = 1, + .seq_index = READ_FAST, + }; + + while (remaining > 0) { + transfer.device_address = offset; + transfer.data = buffer; + transfer.data_size = MIN(128, remaining); + + stat = FLEXSPI_TRANSFER(priv->flexspi, &transfer); + + if (stat != 0) { + return -EIO; + } + + remaining -= transfer.data_size; + buffer += transfer.data_size; + offset += transfer.data_size; + } + + return 0; + +#else + struct imxrt_flexspi_fram_dev_s *priv = + (struct imxrt_flexspi_fram_dev_s *)dev; + uint8_t *src; + + finfo("offset: %08lx nbytes: %d\n", (long)offset, (int)nbytes); + + if (priv->port >= FLEXSPI_PORT_COUNT) { + return -EIO; + } + + src = priv->ahb_base + offset; + + memcpy(buffer, src, nbytes); + + finfo("return nbytes: %d\n", (int)nbytes); + return (ssize_t)nbytes; +#endif +} + +static ssize_t imxrt_flexspi_fram_bread(struct mtd_dev_s *dev, + off_t startblock, + size_t nblocks, + uint8_t *buffer) +{ + ssize_t nbytes; + + finfo("startblock: %08lx nblocks: %d\n", (long)startblock, (int)nblocks); + + /* On this device, we can handle the block read just like the byte-oriented + * read + */ + + nbytes = imxrt_flexspi_fram_read(dev, startblock * FRAM_PAGE_SIZE, + nblocks * FRAM_PAGE_SIZE, buffer); + + if (nbytes > 0) { + nbytes /= FRAM_PAGE_SIZE; + } + + return nbytes; +} + +static ssize_t imxrt_flexspi_fram_bwrite(struct mtd_dev_s *dev, + off_t startblock, + size_t nblocks, + const uint8_t *buffer) +{ + struct imxrt_flexspi_fram_dev_s *priv = + (struct imxrt_flexspi_fram_dev_s *)dev; + size_t len = nblocks * FRAM_PAGE_SIZE; + off_t offset = startblock * FRAM_PAGE_SIZE; + uint8_t *src = (uint8_t *) buffer; +#ifdef CONFIG_ARMV7M_DCACHE + uint8_t *dst = priv->ahb_base + startblock * FRAM_PAGE_SIZE; +#endif + int i; + + finfo("startblock: %08lx nblocks: %d\n", (long)startblock, (int)nblocks); + + while (len) { + i = MIN(FRAM_PAGE_SIZE, len); + imxrt_flexspi_fram_write_enable(priv); + imxrt_flexspi_fram_page_program(priv, offset, src, i); + imxrt_flexspi_fram_wait_bus_busy(priv); + FLEXSPI_SOFTWARE_RESET(priv->flexspi); + offset += i; + len -= i; + } + +#ifdef CONFIG_ARMV7M_DCACHE + up_invalidate_dcache((uintptr_t)dst, + (uintptr_t)dst + nblocks * FRAM_PAGE_SIZE); +#endif + + return nblocks; +} + +static int imxrt_flexspi_fram_erase(struct mtd_dev_s *dev, + off_t startblock, + size_t nblocks) +{ + struct imxrt_flexspi_fram_dev_s *priv = + (struct imxrt_flexspi_fram_dev_s *)dev; + size_t blocksleft = nblocks; +#ifdef CONFIG_ARMV7M_DCACHE + uint8_t *dst = priv->ahb_base + startblock * FRAM_SECTOR_SIZE; +#endif + + finfo("startblock: %08lx nblocks: %d\n", (long)startblock, (int)nblocks); + + while (blocksleft-- > 0) { + /* Erase each sector */ + + imxrt_flexspi_fram_write_enable(priv); + imxrt_flexspi_fram_erase_sector(priv, startblock * FRAM_SECTOR_SIZE); + imxrt_flexspi_fram_wait_bus_busy(priv); + FLEXSPI_SOFTWARE_RESET(priv->flexspi); + startblock++; + } + +#ifdef CONFIG_ARMV7M_DCACHE + up_invalidate_dcache((uintptr_t)dst, + (uintptr_t)dst + nblocks * FRAM_SECTOR_SIZE); +#endif + + return (int)nblocks; +} + +static int imxrt_flexspi_fram_ioctl(struct mtd_dev_s *dev, + int cmd, + unsigned long arg) +{ + struct imxrt_flexspi_fram_dev_s *priv = + (struct imxrt_flexspi_fram_dev_s *)dev; + int ret = -EINVAL; /* Assume good command with bad parameters */ + + finfo("cmd: %d\n", cmd); + + switch (cmd) { + case MTDIOC_GEOMETRY: { + struct mtd_geometry_s *geo = + (struct mtd_geometry_s *)((uintptr_t)arg); + + if (geo) { + /* Populate the geometry structure with information need to + * know the capacity and how to access the device. + * + * NOTE: + * that the device is treated as though it where just an array + * of fixed size blocks. That is most likely not true, but the + * client will expect the device logic to do whatever is + * necessary to make it appear so. + */ + + geo->blocksize = (FRAM_PAGE_SIZE); + geo->erasesize = (FRAM_SECTOR_SIZE); + geo->neraseblocks = (FRAM_SIZE / FRAM_SECTOR_SIZE); + + ret = OK; + + finfo("blocksize: %lu erasesize: %lu neraseblocks: %lu\n", + geo->blocksize, geo->erasesize, geo->neraseblocks); + } + } + break; + + case BIOC_PARTINFO: { + struct partition_info_s *info = + (struct partition_info_s *)arg; + + if (info != NULL) { + info->numsectors = (FRAM_SIZE / FRAM_SECTOR_SIZE); + info->sectorsize = FRAM_PAGE_SIZE; + info->startsector = 0; + info->parent[0] = '\0'; + ret = OK; + } + } + break; + + case MTDIOC_BULKERASE: { + /* Erase the entire device */ + + imxrt_flexspi_fram_write_enable(priv); + imxrt_flexspi_fram_erase_chip(priv); + imxrt_flexspi_fram_wait_bus_busy(priv); + FLEXSPI_SOFTWARE_RESET(priv->flexspi); + ret = OK; + } + break; + + case MTDIOC_PROTECT: + + /* TODO */ + + break; + + case MTDIOC_UNPROTECT: + + /* TODO */ + + break; + + default: + ret = -ENOTTY; /* Bad/unsupported command */ + break; + } + + finfo("return %d\n", ret); + return ret; +} + +/**************************************************************************** + * Public Functions + ****************************************************************************/ +int flexspi_attach(mtd_instance_s *instance) +{ + int rv = imxrt_flexspi_fram_initialize(); + + if (rv != OK) { + PX4_ERR("failed to initalize flexspi bus"); + return -ENXIO; + } + + instance->mtd_dev = &g_flexspi_nor.mtd; + return OK; +} + +/**************************************************************************** + * Name: imxrt_flexspi_fram_initialize + * + * Description: + * This function is called by board-bringup logic to configure the + * flash device. + * + * Returned Value: + * Zero is returned on success. Otherwise, a negated errno value is + * returned to indicate the nature of the failure. + * + ****************************************************************************/ + +int imxrt_flexspi_fram_initialize(void) +{ + uint8_t vendor_id; + int ret = -ENODEV; + + /* Configure multiplexed pins as connected on the board */ + + imxrt_config_gpio(GPIO_FLEXSPI2_CS); + imxrt_config_gpio(GPIO_FLEXSPI2_IO0); + imxrt_config_gpio(GPIO_FLEXSPI2_IO1); + imxrt_config_gpio(GPIO_FLEXSPI2_SCK); + + /* Select FlexSPI2 */ + + g_flexspi_nor.flexspi = imxrt_flexspi_initialize(1); + + if (g_flexspi_nor.flexspi) { + FLEXSPI_SET_DEVICE_CONFIG(g_flexspi_nor.flexspi, + g_flexspi_nor.config, + g_flexspi_nor.port); + FLEXSPI_UPDATE_LUT(g_flexspi_nor.flexspi, + 0, + (const uint32_t *)g_flexspi_fram_lut, + sizeof(g_flexspi_fram_lut) / 4); + FLEXSPI_SOFTWARE_RESET(g_flexspi_nor.flexspi); + ret = OK; + + if (imxrt_flexspi_fram_get_vendor_id(&g_flexspi_nor, &vendor_id)) { + ret = -EIO; + } + } + + return ret; +} +#endif /* CONFIG_IMXRT_FLEXSPI */ diff --git a/boards/px4/fmu-v6xrt/src/imxrt_flexspi_nor_boot.c b/boards/px4/fmu-v6xrt/src/imxrt_flexspi_nor_boot.c new file mode 100644 index 000000000000..6781bc502f30 --- /dev/null +++ b/boards/px4/fmu-v6xrt/src/imxrt_flexspi_nor_boot.c @@ -0,0 +1,49 @@ +/**************************************************************************** + * boards/px4/fmu-v6xrt/src/imxrt_flexspi_nor_boot.c + * + * Licensed to the Apache Software Foundation (ASF) under one or more + * contributor license agreements. See the NOTICE file distributed with + * this work for additional information regarding copyright ownership. The + * ASF licenses this file to you under the Apache License, Version 2.0 (the + * "License"); you may not use this file except in compliance with the + * License. You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT + * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the + * License for the specific language governing permissions and limitations + * under the License. + * + ****************************************************************************/ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include "imxrt_flexspi_nor_boot.h" + +/**************************************************************************** + * Public Data + ****************************************************************************/ + +locate_data(".boot_hdr.ivt") +const struct ivt_s g_image_vector_table = { + IVT_HEADER, /* IVT Header */ + IMAGE_ENTRY_ADDRESS, /* Image Entry Function */ + IVT_RSVD, /* Reserved = 0 */ + (uint32_t)DCD_ADDRESS, /* Address where DCD information is stored */ + (uint32_t)BOOT_DATA_ADDRESS, /* Address where BOOT Data Structure is stored */ + (uint32_t)IMAG_VECTOR_TABLE, /* Pointer to IVT Self (absolute address */ + (uint32_t)CSF_ADDRESS, /* Address where CSF file is stored */ + IVT_RSVD /* Reserved = 0 */ +}; + +locate_data(".boot_hdr.boot_data") +const struct boot_data_s g_boot_data = { + IMAGE_DEST, /* boot start location */ + (IMAGE_DEST_END - IMAGE_DEST), /* size */ + PLUGIN_FLAG, /* Plugin flag */ + 0xffffffff /* empty - extra data word */ +}; diff --git a/boards/px4/fmu-v6xrt/src/imxrt_flexspi_nor_boot.h b/boards/px4/fmu-v6xrt/src/imxrt_flexspi_nor_boot.h new file mode 100644 index 000000000000..8f5d38908606 --- /dev/null +++ b/boards/px4/fmu-v6xrt/src/imxrt_flexspi_nor_boot.h @@ -0,0 +1,158 @@ +/**************************************************************************** + * boards/px4/fmu-v6xrt/src/imxrt_flexspi_nor_boot.h + * + * Licensed to the Apache Software Foundation (ASF) under one or more + * contributor license agreements. See the NOTICE file distributed with + * this work for additional information regarding copyright ownership. The + * ASF licenses this file to you under the Apache License, Version 2.0 (the + * "License"); you may not use this file except in compliance with the + * License. You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT + * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the + * License for the specific language governing permissions and limitations + * under the License. + * + ****************************************************************************/ + +#ifndef __BOARDS_PX4_FMU_V6XRT_SRC_IMXRT_FLEXSPI_NOR_BOOT_H +#define __BOARDS_PX4_FMU_V6XRT_SRC_IMXRT_FLEXSPI_NOR_BOOT_H + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +/* IVT Data */ + +#define IVT_MAJOR_VERSION 0x4 +#define IVT_MAJOR_VERSION_SHIFT 0x4 +#define IVT_MAJOR_VERSION_MASK 0xf +#define IVT_MINOR_VERSION 0x1 +#define IVT_MINOR_VERSION_SHIFT 0x0 +#define IVT_MINOR_VERSION_MASK 0xf + +#define IVT_VERSION(major, minor) \ + ((((major) & IVT_MAJOR_VERSION_MASK) << IVT_MAJOR_VERSION_SHIFT) | \ + (((minor) & IVT_MINOR_VERSION_MASK) << IVT_MINOR_VERSION_SHIFT)) + +#define IVT_TAG_HEADER (0xd1) /* Image Vector Table */ +#define IVT_SIZE 0x2000 +#define IVT_PAR IVT_VERSION(IVT_MAJOR_VERSION, IVT_MINOR_VERSION) + +#define IVT_HEADER (IVT_TAG_HEADER | (IVT_SIZE << 8) | (IVT_PAR << 24)) +#define IVT_RSVD (uint32_t)(0x00000000) + +/* DCD Data */ + +#define DCD_TAG_HEADER (0xd2) +#define DCD_TAG_HEADER_SHIFT (24) +#define DCD_VERSION (0x40) +#define DCD_ARRAY_SIZE 1 + +#define FLASH_BASE 0x30000000 +#define FLASH_END FLASH_BASE + (3 * (1024*1024)) // We have 64M but we do not want to wait to program it all + +/* This needs to take into account the memory configuration at boot bootloader */ + +#define ROM_BOOTLOADER_OCRAM_RES 0x8000 +#define OCRAM_BASE (0x20200000 + ROM_BOOTLOADER_OCRAM_RES) +#define OCRAM_END (OCRAM_BASE + (512 * 1024) + (256 * 1024) - ROM_BOOTLOADER_OCRAM_RES) + + +#define SCLK 1 +#if defined(CONFIG_BOOT_RUNFROMFLASH) +# define IMAGE_DEST FLASH_BASE +# define IMAGE_DEST_END FLASH_END +# define IMAGE_DEST_OFFSET 0 +#else +# define IMAGE_DEST OCRAM_BASE +# define IMAGE_DEST_END OCRAM_END +# define IMAGE_DEST_OFFSET IVT_SIZE +#endif + +#define LOCATE_IN_DEST(x) (((uint32_t)(x)) - FLASH_BASE + IMAGE_DEST) +#define LOCATE_IN_SRC(x) (((uint32_t)(x)) - IMAGE_DEST + FLASH_BASE) + +#define DCD_ADDRESS 0 +#define BOOT_DATA_ADDRESS LOCATE_IN_DEST(&g_boot_data) +#define CSF_ADDRESS 0 +#define PLUGIN_FLAG (uint32_t)0 + +/* Located in Destination Memory */ + +#define IMAGE_ENTRY_ADDRESS ((uint32_t)&_vectors) +#define IMAG_VECTOR_TABLE LOCATE_IN_DEST(&g_image_vector_table) + +/**************************************************************************** + * Public Types + ****************************************************************************/ + +/* IVT Data */ + +struct ivt_s { + /* Header with tag #HAB_TAG_IVT, length and HAB version fields + * (see data) + */ + + uint32_t hdr; + + /* Absolute address of the first instruction to execute from the + * image + */ + + uint32_t entry; + + /* Reserved in this version of HAB: should be NULL. */ + + uint32_t reserved1; + + /* Absolute address of the image DCD: may be NULL. */ + + uint32_t dcd; + + /* Absolute address of the Boot Data: may be NULL, but not interpreted + * any further by HAB + */ + + uint32_t boot_data; + + /* Absolute address of the IVT. */ + + uint32_t self; + + /* Absolute address of the image CSF. */ + + uint32_t csf; + + /* Reserved in this version of HAB: should be zero. */ + + uint32_t reserved2; +}; + +/* Boot Data */ + +struct boot_data_s { + uint32_t start; /* boot start location */ + uint32_t size; /* size */ + uint32_t plugin; /* plugin flag - 1 if downloaded application is plugin */ + uint32_t placeholder; /* placeholder to make even 0x10 size */ +}; + +/**************************************************************************** + * Public Data + ****************************************************************************/ + +extern const struct boot_data_s g_boot_data; +extern const uint8_t g_dcd_data[]; +extern const uint32_t _vectors[]; + +#endif /* __BOARDS_PX4_FMU_V6XRT_SRC_IMXRT_FLEXSPI_NOR_BOOT_H */ diff --git a/boards/px4/fmu-v6xrt/src/imxrt_flexspi_nor_flash.c b/boards/px4/fmu-v6xrt/src/imxrt_flexspi_nor_flash.c new file mode 100644 index 000000000000..dfdf13da6dbe --- /dev/null +++ b/boards/px4/fmu-v6xrt/src/imxrt_flexspi_nor_flash.c @@ -0,0 +1,145 @@ +/**************************************************************************** + * boards/px4/fmu-v6xrt/src/imxrt_flexspi_nor_flash.c + * + * Licensed to the Apache Software Foundation (ASF) under one or more + * contributor license agreements. See the NOTICE file distributed with + * this work for additional information regarding copyright ownership. The + * ASF licenses this file to you under the Apache License, Version 2.0 (the + * "License"); you may not use this file except in compliance with the + * License. You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT + * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the + * License for the specific language governing permissions and limitations + * under the License. + * + ****************************************************************************/ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include + +/**************************************************************************** + * Public Data + ****************************************************************************/ + +locate_data(".boot_hdr.conf") +const struct flexspi_nor_config_s g_flash_config = { + .memConfig = + { +#if !defined(CONFIG_BOARD_BOOTLOADER_INVALID_FCB) + .tag = FLEXSPI_CFG_BLK_TAG, +#else + .tag = 0xffffffffL, +#endif + .version = FLEXSPI_CFG_BLK_VERSION, + .readSampleClkSrc = kFlexSPIReadSampleClk_LoopbackInternally, + .csHoldTime = 1, + .csSetupTime = 1, + .deviceModeCfgEnable = 1, + .deviceModeType = kDeviceConfigCmdType_Generic, + .waitTimeCfgCommands = 1, + .controllerMiscOption = + (1u << kFlexSpiMiscOffset_SafeConfigFreqEnable), + .deviceType = kFlexSpiDeviceType_SerialNOR, + .sflashPadType = kSerialFlash_1Pad, + .serialClkFreq = kFlexSpiSerialClk_30MHz, + .sflashA1Size = 64ul * 1024u * 1024u, + .dataValidTime = + { + [0] = {.time_100ps = 0}, + }, + .busyOffset = 0u, + .busyBitPolarity = 0u, + .lookupTable = + { + /* Read Dedicated 3Byte Address Read(0x03), 24bit address */ + [0 + 0] = FLEXSPI_LUT_SEQ(CMD_SDR, FLEXSPI_1PAD, 0x03, RADDR_SDR, FLEXSPI_1PAD, 0x18), //0x871187ee, + [0 + 1] = FLEXSPI_LUT_SEQ(READ_SDR, FLEXSPI_1PAD, 0x04, STOP_EXE, FLEXSPI_1PAD, 0),//0xb3048b20 + }, + }, + .pageSize = 256u, + .sectorSize = 4u * 1024u, + .blockSize = 64u * 1024u, + .isUniformBlockSize = false, + .ipcmdSerialClkFreq = 1, + .serialNorType = 2, + .reserve2[0] = 0x7008200, +}; + +const struct flexspi_nor_config_s g_flash_fast_config = { + .memConfig = + { + .tag = FLEXSPI_CFG_BLK_TAG, + .version = FLEXSPI_CFG_BLK_VERSION, + .readSampleClkSrc = kFlexSPIReadSampleClk_ExternalInputFromDqsPad, + .csHoldTime = 1, + .csSetupTime = 1, + .deviceModeCfgEnable = 1, + .deviceModeType = kDeviceConfigCmdType_Spi2Xpi, + .waitTimeCfgCommands = 1, + .deviceModeSeq = + { + .seqNum = 1, + .seqId = 6, /* See Lookup table for more details */ + .reserved = 0, + }, + .deviceModeArg = 2, /* Enable OPI DDR mode */ + .controllerMiscOption = + (1u << kFlexSpiMiscOffset_SafeConfigFreqEnable) | (1u << kFlexSpiMiscOffset_DdrModeEnable), + .deviceType = kFlexSpiDeviceType_SerialNOR, + .sflashPadType = kSerialFlash_8Pads, + .serialClkFreq = kFlexSpiSerialClk_200MHz, + .sflashA1Size = 64ul * 1024u * 1024u, + .dataValidTime = + { + [0] = {.time_100ps = 0}, + }, + .busyOffset = 0u, + .busyBitPolarity = 0u, + .lookupTable = + { + /* Read */// EEH+11H+32bit addr+20dummy cycles+ 4Bytes read data + /* Macronix manual says 20 dummy cycles @ 200Mhz, FlexSPI peripheral Operand value needs to be 2N in DDR mode hence 0x28 */ + [0 + 0] = FLEXSPI_LUT_SEQ(CMD_DDR, FLEXSPI_8PAD, 0xEE, CMD_DDR, FLEXSPI_8PAD, 0x11), //0x871187ee, + [0 + 1] = FLEXSPI_LUT_SEQ(RADDR_DDR, FLEXSPI_8PAD, 0x20, DUMMY_DDR, FLEXSPI_8PAD, 0x28),//0xb3288b20, + [0 + 2] = FLEXSPI_LUT_SEQ(READ_DDR, FLEXSPI_8PAD, 0x04, STOP_EXE, FLEXSPI_1PAD, 0x00), //0xa704, + + /* Read status */ + [4 * 2 + 0] = FLEXSPI_LUT_SEQ(CMD_DDR, FLEXSPI_8PAD, 0x05, CMD_DDR, FLEXSPI_8PAD, 0xfa), + [4 * 2 + 1] = FLEXSPI_LUT_SEQ(RADDR_DDR, FLEXSPI_8PAD, 0x20, DUMMY_DDR, FLEXSPI_8PAD, 0x04), + [4 * 2 + 2] = FLEXSPI_LUT_SEQ(READ_DDR, FLEXSPI_8PAD, 0x04, STOP_EXE, FLEXSPI_1PAD, 0x00), + + /* Write enable SPI *///06h + [4 * 3 + 0] = FLEXSPI_LUT_SEQ(CMD_SDR, FLEXSPI_1PAD, 0x06, STOP_EXE, FLEXSPI_1PAD, 0x00),//0x00000406, + + /* Write enable OPI SPI *///06h + [4 * 4 + 0] = FLEXSPI_LUT_SEQ(CMD_DDR, FLEXSPI_8PAD, 0x06, CMD_DDR, FLEXSPI_8PAD, 0xF9), + + /* Erase sector */ + [4 * 5 + 0] = FLEXSPI_LUT_SEQ(CMD_DDR, FLEXSPI_8PAD, 0x21, CMD_DDR, FLEXSPI_8PAD, 0xDE), + [4 * 5 + 1] = FLEXSPI_LUT_SEQ(RADDR_DDR, FLEXSPI_8PAD, 0x20, STOP_EXE, FLEXSPI_1PAD, 0x00), + + /*Write Configuration Register 2 =01, Enable OPI DDR mode*/ //72H +32bit address + CR20x00000000 = 0x01 + [4 * 6 + 0] = FLEXSPI_LUT_SEQ(CMD_SDR, FLEXSPI_1PAD, 0x72, CMD_SDR, FLEXSPI_1PAD, 0x00),//0x04000472, + [4 * 6 + 1] = FLEXSPI_LUT_SEQ(CMD_SDR, FLEXSPI_1PAD, 0x00, CMD_SDR, FLEXSPI_1PAD, 0x00),//0x04000400, + [4 * 6 + 2] = FLEXSPI_LUT_SEQ(CMD_SDR, FLEXSPI_1PAD, 0x00, WRITE_SDR, FLEXSPI_1PAD, 0x01),//0x20010400, + + /*Page program*/ + [4 * 9 + 0] = FLEXSPI_LUT_SEQ(CMD_DDR, FLEXSPI_8PAD, 0x12, CMD_DDR, FLEXSPI_8PAD, 0xED),//0x87ed8712, + [4 * 9 + 1] = FLEXSPI_LUT_SEQ(RADDR_DDR, FLEXSPI_8PAD, 0x20, WRITE_DDR, FLEXSPI_8PAD, 0x04),//0xa3048b20, + }, + }, + .pageSize = 256u, + .sectorSize = 4u * 1024u, + .blockSize = 64u * 1024u, + .isUniformBlockSize = false, + .ipcmdSerialClkFreq = 1, + .serialNorType = 2, + .reserve2[0] = 0x7008200, +}; diff --git a/boards/px4/fmu-v6xrt/src/init.c b/boards/px4/fmu-v6xrt/src/init.c new file mode 100644 index 000000000000..4b2edbc658ff --- /dev/null +++ b/boards/px4/fmu-v6xrt/src/init.c @@ -0,0 +1,505 @@ +/**************************************************************************** + * + * Copyright (c) 2018-2019, 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file init.c + * + * PX4 fmu-v6xrt specific early startup code. This file implements the + * board_app_initialize() function that is called early by nsh during startup. + * + * Code here is run before the rcS script is invoked; it should start required + * subsystems and perform board-specific initialization. + */ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include "board_config.h" + +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include +#include +#include +#include +#include +#include + +#include "arm_internal.h" +#include "imxrt_flexspi_nor_boot.h" +#include +#include "imxrt_iomuxc.h" +#include "imxrt_flexcan.h" +#include "imxrt_enet.h" +#include + +#include +#undef FLEXSPI_LUT_COUNT +#include + +#include + + +#include +#include +#include +#include +#include +#include +#include +#include +#include + +/**************************************************************************** + * Pre-Processor Definitions + ****************************************************************************/ + +/* Configuration ************************************************************/ + +/* + * Ideally we'd be able to get these from arm_internal.h, + * but since we want to be able to disable the NuttX use + * of leds for system indication at will and there is no + * separate switch, we need to build independent of the + * CONFIG_ARCH_LEDS configuration switch. + */ +__BEGIN_DECLS +extern void led_init(void); +extern void led_on(int led); +extern void led_off(int led); + +extern uint32_t _srodata; /* Start of .rodata */ +extern uint32_t _erodata; /* End of .rodata */ +extern const uint64_t _fitcmfuncs; /* Copy source address in FLASH */ +extern uint64_t _sitcmfuncs; /* Copy destination start address in ITCM */ +extern uint64_t _eitcmfuncs; /* Copy destination end address in ITCM */ +extern uint64_t _sdtcm; /* Copy destination start address in DTCM */ +extern uint64_t _edtcm; /* Copy destination end address in DTCM */ +__END_DECLS + +/************************************************************************************ + * Name: board_peripheral_reset + * + * Description: + * + ************************************************************************************/ +__EXPORT void board_peripheral_reset(int ms) +{ + /* set the peripheral rails off */ + + VDD_5V_PERIPH_EN(false); + VDD_5V_HIPOWER_EN(false); + + /* wait for the peripheral rail to reach GND */ + usleep(ms * 1000); + syslog(LOG_DEBUG, "reset done, %d ms", ms); + + /* re-enable power */ + + /* switch the peripheral rail back on */ + VDD_5V_HIPOWER_EN(true); + VDD_5V_PERIPH_EN(true); + +} +/************************************************************************************ + * Name: board_on_reset + * + * Description: + * Optionally provided function called on entry to board_system_reset + * It should perform any house keeping prior to the rest. + * + * status - 1 if resetting to boot loader + * 0 if just resetting + * + ************************************************************************************/ + +__EXPORT void board_on_reset(int status) +{ + for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) { + px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_gpio_output(i))); + } + + if (status >= 0) { + up_mdelay(6); + } +} + +#if defined(CONFIG_BOARD_BOOTLOADER_FIXUP) +/**************************************************************************** + * Name: imxrt_octl_flash_initialize + * + * Description: + * + ****************************************************************************/ +struct flexspi_nor_config_s g_bootConfig; + + +locate_code(".ramfunc") +void imxrt_octl_flash_initialize(void) +{ + const uint32_t instance = 1; + + + memcpy((struct flexspi_nor_config_s *)&g_bootConfig, &g_flash_fast_config, + sizeof(struct flexspi_nor_config_s)); + g_bootConfig.memConfig.tag = FLEXSPI_CFG_BLK_TAG; + + ROM_API_Init(); + + ROM_FLEXSPI_NorFlash_Init(instance, (struct flexspi_nor_config_s *)&g_bootConfig); + ROM_FLEXSPI_NorFlash_ClearCache(1); + + ARM_DSB(); + ARM_ISB(); + ARM_DMB(); +} +#endif + +locate_code(".ramfunc") +void imxrt_flash_setup_prefetch_partition(void) +{ + putreg32((uint32_t)&_srodata, IMXRT_FLEXSPI1_AHBBUFREGIONSTART0); + putreg32((uint32_t)&_erodata, IMXRT_FLEXSPI1_AHBBUFREGIONEND0); + putreg32((uint32_t)&_stext, IMXRT_FLEXSPI1_AHBBUFREGIONSTART1); + putreg32((uint32_t)&_etext, IMXRT_FLEXSPI1_AHBBUFREGIONEND1); + + struct flexspi_type_s *g_flexspi = (struct flexspi_type_s *)IMXRT_FLEXSPIC_BASE; + /* RODATA */ + g_flexspi->AHBRXBUFCR0[0] = FLEXSPI_AHBRXBUFCR0_BUFSZ(128) | + FLEXSPI_AHBRXBUFCR0_MSTRID(7) | + FLEXSPI_AHBRXBUFCR0_PREFETCHEN(1) | + FLEXSPI_AHBRXBUFCR0_REGIONEN(1); + + + /* All Text */ + g_flexspi->AHBRXBUFCR0[1] = FLEXSPI_AHBRXBUFCR0_BUFSZ(380) | + FLEXSPI_AHBRXBUFCR0_MSTRID(7) | + FLEXSPI_AHBRXBUFCR0_PREFETCHEN(1) | + FLEXSPI_AHBRXBUFCR0_REGIONEN(1); + /* Reset CR7 from rom init */ + g_flexspi->AHBRXBUFCR0[7] = FLEXSPI_AHBRXBUFCR0_BUFSZ(0) | + FLEXSPI_AHBRXBUFCR0_MSTRID(0) | + FLEXSPI_AHBRXBUFCR0_PREFETCHEN(1) | + FLEXSPI_AHBRXBUFCR0_REGIONEN(0); + + ARM_DSB(); + ARM_ISB(); + ARM_DMB(); +} +/**************************************************************************** + * Name: imxrt_ocram_initialize + * + * Description: + * Called off reset vector to reconfigure the flexRAM + * and finish the FLASH to RAM Copy. + * + ****************************************************************************/ + +__EXPORT void imxrt_ocram_initialize(void) +{ + uint32_t regval; + register uint64_t *src; + register uint64_t *dest; + + /* Reallocate + * Final Configuration is + * No DTCM + * 512k OCRAM M7 (FlexRAM) (2038:0000-203f:ffff) + * 128k OCRAMM7 FlexRAM ECC (2036:0000-2037:ffff) + * 64k OCRAM2 ECC parity (2035:0000-2035:ffff) + * 64k OCRAM1 ECC parity (2034:0000-2034:ffff) + * 512k FlexRAM OCRAM2 (202C:0000-2033:ffff) + * 512k FlexRAM OCRAM1 (2024:0000-202B:ffff) + * 256k System OCRAM M4 (2020:0000-2023:ffff) + */ + + putreg32(0x0000FFAA, IMXRT_IOMUXC_GPR_GPR17); + putreg32(0x0000FFAA, IMXRT_IOMUXC_GPR_GPR18); + regval = getreg32(IMXRT_IOMUXC_GPR_GPR16); + putreg32(regval | GPR_GPR16_FLEXRAM_BANK_CFG_SEL_REG, IMXRT_IOMUXC_GPR_GPR16); + + /* Copy any necessary code sections from FLASH to ITCM. The process is the + * same as the code copying from FLASH to RAM above. */ + for (src = (uint64_t *)&_fitcmfuncs, dest = (uint64_t *)&_sitcmfuncs; + dest < (uint64_t *)&_eitcmfuncs;) { + *dest++ = *src++; + } + + /* Clear .dtcm. We'll do this inline (vs. calling memset) just to be + * certain that there are no issues with the state of global variables. + */ + + for (dest = &_sdtcm; dest < &_edtcm;) { + *dest++ = 0; + } + +#if defined(CONFIG_BOOT_RUNFROMISRAM) + const uint32_t *src; + uint32_t *dest; + + for (src = (uint32_t *)(LOCATE_IN_SRC(g_boot_data.start) + g_boot_data.size), + dest = (uint32_t *)(g_boot_data.start + g_boot_data.size); + dest < (uint32_t *) &_etext;) { + *dest++ = *src++; + } + +#endif +} + +/**************************************************************************** + * Name: imxrt_boardinitialize + * + * Description: + * All i.MX RT architectures must provide the following entry point. This + * entry point is called early in the initialization -- after clocking and + * memory have been configured but before caches have been enabled and + * before any devices have been initialized. + * + ****************************************************************************/ + +__EXPORT void imxrt_boardinitialize(void) +{ + +#if defined(CONFIG_BOARD_BOOTLOADER_FIXUP) + imxrt_octl_flash_initialize(); +#endif + + imxrt_flash_setup_prefetch_partition(); + + board_on_reset(-1); /* Reset PWM first thing */ + + /* configure LEDs */ + + board_autoled_initialize(); + + /* configure pins */ + + const uint32_t gpio[] = PX4_GPIO_INIT_LIST; + px4_gpio_init(gpio, arraySize(gpio)); + + imxrt_usb_initialize(); + + fmuv6xrt_timer_initialize(); + VDD_3V3_ETH_POWER_EN(true); +} + + +/**************************************************************************** + * Name: board_app_initialize + * + * Description: + * Perform application specific initialization. This function is never + * called directly from application code, but only indirectly via the + * (non-standard) boardctl() interface using the command BOARDIOC_INIT. + * + * Input Parameters: + * arg - The boardctl() argument is passed to the board_app_initialize() + * implementation without modification. The argument has no + * meaning to NuttX; the meaning of the argument is a contract + * between the board-specific initalization logic and the the + * matching application logic. The value cold be such things as a + * mode enumeration value, a set of DIP switch switch settings, a + * pointer to configuration data read from a file or serial FLASH, + * or whatever you would like to do with it. Every implementation + * should accept zero/NULL as a default configuration. + * + * Returned Value: + * Zero (OK) is returned on success; a negated errno value is returned on + * any failure to indicate the nature of the failure. + * + ****************************************************************************/ +__EXPORT int board_app_initialize(uintptr_t arg) +{ + int ret = OK; + +#if !defined(BOOTLOADER) + + VDD_3V3_SD_CARD_EN(true); + VDD_3V3_SPEKTRUM_POWER_EN(true); + + /* + * We have BOARD_I2C_LATEINIT Defined to hold off the I2C init + * To enable SE050 driveHW_VER_REV_DRIVE low. But we have to ensure the + * EEROM version can be read first. + * Power on sequence: + * 1) Drive I2C4 lines to output low (avoid backfeeding SE050) + * 2) DoHWversioning withVDD_3V3_SENSORS4 off. LeaveHW_VER_REV_DRIVE high (SE050 disabled) on exit. + * 3) Then set HW_VER_REV_DRIVE low (SE050 enabled). + * 4) Then power onVDD_3V3_SENSORS4. + * 5) HW_VER_REV_DRIVE can be used to toggle SE050_ENAlater if needed. + */ + + + /* Step 1 */ + + px4_arch_gpiowrite(GPIO_LPI2C3_SCL, 0); + px4_arch_gpiowrite(GPIO_LPI2C3_SDA, 0); + px4_arch_gpiowrite(GPIO_HW_VER_REV_DRIVE, 1); + VDD_3V3_SENSORS4_EN(true); + + /* Need hrt running before using the ADC */ + + px4_platform_init(); + + // Use the default HW_VER_REV(0x0,0x0) for Ramtron + + imxrt_spiinitialize(); + + /* Configure the HW based on the manifest + * This will use I2C busses so VDD_3V3_SENSORS4_EN + * needs to be up. + */ + + px4_platform_configure(); + + /* Step 2 */ + + if (OK == board_determine_hw_info()) { + syslog(LOG_INFO, "[boot] Rev 0x%1x : Ver 0x%1x %s\n", board_get_hw_revision(), board_get_hw_version(), + board_get_hw_type_name()); + + } else { + syslog(LOG_ERR, "[boot] Failed to read HW revision and version\n"); + } + + /* Step 3 reset the SE550 + * Power it down, prevetn back feeding + * and let it settle + */ + + VDD_3V3_SENSORS4_EN(false); + px4_arch_gpiowrite(GPIO_LPI2C3_SCL, 0); + px4_arch_gpiowrite(GPIO_LPI2C3_SDA, 0); + px4_arch_gpiowrite(GPIO_HW_VER_REV_DRIVE, 1); + + usleep(50000); + + VDD_5V_PERIPH_EN(true); + VDD_5V_HIPOWER_EN(true); + + usleep(75000); + + /* Step 4 */ + + VDD_3V3_SENSORS4_EN(true); + px4_arch_configgpio(GPIO_LPI2C3_SCL); + px4_arch_configgpio(GPIO_LPI2C3_SDA); + + /* Enable the SE550 */ + + px4_arch_gpiowrite(GPIO_HW_VER_REV_DRIVE, 0); + + /* CTS had been treated as inputs pulled high + * to avoid radios from enteriong bootloader + * Set them up as CTS inputs + */ + + px4_arch_configgpio(GPIO_LPUART4_CTS); + px4_arch_configgpio(GPIO_LPUART8_CTS); + px4_arch_configgpio(GPIO_LPUART10_CTS); + + /* Do the I2C init late BOARD_I2C_LATEINIT */ + + px4_platform_i2c_init(); + + /* Configure the Actual SPI interfaces (after we determined the HW version) */ + + imxrt_spiinitialize(); + + board_spi_reset(10, 0xffff); + + /* configure the DMA allocator */ + + if (board_dma_alloc_init() < 0) { + syslog(LOG_ERR, "[boot] DMA alloc FAILED\n"); + } + +#if 0 // defined(SERIAL_HAVE_RXDMA) + // set up the serial DMA polling at 1ms intervals for received bytes that have not triggered a DMA event. + static struct hrt_call serial_dma_call; + hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)imxrt_serial_dma_poll, NULL); +#endif + + /* initial LED state */ + drv_led_start(); + + led_off(LED_RED); + led_off(LED_GREEN); + led_off(LED_BLUE); + +#ifdef CONFIG_BOARD_CRASHDUMP + + if (board_hardfault_init(2, true) != 0) { + led_on(LED_RED); + } + +#endif + +#if defined(CONFIG_IMXRT_USDHC) + ret = fmuv6xrt_usdhc_initialize(); + + if (ret != OK) { + led_on(LED_RED); + } + +#endif + +#ifdef CONFIG_IMXRT_ENET + imxrt_netinitialize(0); +#endif + +#ifdef CONFIG_IMXRT_FLEXCAN1 + imxrt_caninitialize(1); +#endif + +#ifdef CONFIG_IMXRT_FLEXCAN2 + imxrt_caninitialize(2); +#endif + +#ifdef CONFIG_IMXRT_FLEXCAN3 + imxrt_caninitialize(3); +#endif + +#endif /* !defined(BOOTLOADER) */ + + return ret; +} diff --git a/boards/px4/fmu-v6xrt/src/led.c b/boards/px4/fmu-v6xrt/src/led.c new file mode 100644 index 000000000000..45aae15827dd --- /dev/null +++ b/boards/px4/fmu-v6xrt/src/led.c @@ -0,0 +1,115 @@ +/**************************************************************************** + * + * Copyright (c) 2016, 2018 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file led.c + * + * PX4 fmu-v6rt LED backend. + */ + +#include + +#include + +#include "chip.h" +#include +#include "board_config.h" + +#include + +/* + * Ideally we'd be able to get these from arm_internal.h, + * but since we want to be able to disable the NuttX use + * of leds for system indication at will and there is no + * separate switch, we need to build independent of the + * CONFIG_ARCH_LEDS configuration switch. + */ +__BEGIN_DECLS +extern void led_init(void); +extern void led_on(int led); +extern void led_off(int led); +extern void led_toggle(int led); +__END_DECLS + + +static uint32_t g_ledmap[] = { + GPIO_nLED_BLUE, // Indexed by LED_BLUE + GPIO_nLED_RED, // Indexed by LED_RED, LED_AMBER + GPIO_LED_SAFETY, // Indexed by LED_SAFETY + GPIO_nLED_GREEN, // Indexed by LED_GREEN +}; + +__EXPORT void led_init(void) +{ + /* Configure LED GPIOs for output */ + for (size_t l = 0; l < (sizeof(g_ledmap) / sizeof(g_ledmap[0])); l++) { + if (g_ledmap[l] != 0) { + imxrt_config_gpio(g_ledmap[l]); + } + } +} + +static void phy_set_led(int led, bool state) +{ + /* Drive Low to switch on */ + + if (g_ledmap[led] != 0) { + imxrt_gpio_write(g_ledmap[led], !state); + } +} + +static bool phy_get_led(int led) +{ + + if (g_ledmap[led] != 0) { + return imxrt_gpio_read(!g_ledmap[led]); + } + + return false; +} + +__EXPORT void led_on(int led) +{ + phy_set_led(led, true); +} + +__EXPORT void led_off(int led) +{ + phy_set_led(led, false); +} + +__EXPORT void led_toggle(int led) +{ + + phy_set_led(led, !phy_get_led(led)); +} diff --git a/boards/px4/fmu-v6xrt/src/mtd.cpp b/boards/px4/fmu-v6xrt/src/mtd.cpp new file mode 100644 index 000000000000..68f79e4897e8 --- /dev/null +++ b/boards/px4/fmu-v6xrt/src/mtd.cpp @@ -0,0 +1,135 @@ +/**************************************************************************** + * + * Copyright (C) 2022 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include +#include + +#include +#include + +static const px4_mft_device_t qspi_flash = { // FM25V02A on FMUM 32K 512 X 64 + .bus_type = px4_mft_device_t::FLEXSPI, // Using Flex SPI +}; +// KiB BS nB +static const px4_mft_device_t i2c3 = { // 24LC64T on IMU 8K 32 X 256 + .bus_type = px4_mft_device_t::I2C, + .devid = PX4_MK_I2C_DEVID(3, 0x50) +}; +static const px4_mft_device_t i2c6 = { // 24LC64T on BASE 8K 32 X 256 + .bus_type = px4_mft_device_t::I2C, + .devid = PX4_MK_I2C_DEVID(6, 0x51) +}; + + +static const px4_mtd_entry_t fmum_fram = { + .device = &qspi_flash, + .npart = 1, + .partd = { + { + .type = MTD_PARAMETERS, + .path = "/fs/mtd_params", + .nblocks = 256 + } + }, +}; + +static const px4_mtd_entry_t base_eeprom = { + .device = &i2c6, + .npart = 2, + .partd = { + { + .type = MTD_MFT_VER, + .path = "/fs/mtd_mft_ver", + .nblocks = 248 + }, + { + .type = MTD_NET, + .path = "/fs/mtd_net", + .nblocks = 8 // 256 = 32 * 8 + + } + }, +}; + +static const px4_mtd_entry_t imu_eeprom = { + .device = &i2c3, + .npart = 3, + .partd = { + { + .type = MTD_CALDATA, + .path = "/fs/mtd_caldata", + .nblocks = 240 + }, + { + .type = MTD_MFT_REV, + .path = "/fs/mtd_mft_rev", + .nblocks = 8 + }, + { + .type = MTD_ID, + .path = "/fs/mtd_id", + .nblocks = 8 // 256 = 32 * 8 + } + }, +}; + +static const px4_mtd_manifest_t board_mtd_config = { + .nconfigs = 3, + .entries = { + &fmum_fram, + &base_eeprom, + &imu_eeprom + } +}; + +static const px4_mft_entry_s mtd_mft = { + .type = MTD, + .pmft = (void *) &board_mtd_config, +}; + +static const px4_mft_entry_s mft_mft = { + .type = MFT, + .pmft = (void *) system_query_manifest, +}; +static const px4_mft_s mft = { + .nmft = 2, + .mfts = { + &mtd_mft, + &mft_mft, + } +}; + +const px4_mft_s *board_get_manifest(void) +{ + return &mft; +} diff --git a/boards/nxp/fmurt1062-v1/src/sdhc.c b/boards/px4/fmu-v6xrt/src/sdhc.c similarity index 98% rename from boards/nxp/fmurt1062-v1/src/sdhc.c rename to boards/px4/fmu-v6xrt/src/sdhc.c index df2f92cc1c31..c8b7cb1779d4 100644 --- a/boards/nxp/fmurt1062-v1/src/sdhc.c +++ b/boards/px4/fmu-v6xrt/src/sdhc.c @@ -91,14 +91,14 @@ ****************************************************************************/ /**************************************************************************** - * Name: fmurt1062_usdhc_initialize + * Name: fmuv6xrt_usdhc_initialize * * Description: * Inititialize the SDHC SD card slot * ****************************************************************************/ -int fmurt1062_usdhc_initialize(void) +int fmuv6xrt_usdhc_initialize(void) { int ret; diff --git a/boards/px4/fmu-v6xrt/src/spi.cpp b/boards/px4/fmu-v6xrt/src/spi.cpp new file mode 100644 index 000000000000..d7e05735cd5a --- /dev/null +++ b/boards/px4/fmu-v6xrt/src/spi.cpp @@ -0,0 +1,86 @@ +/************************************************************************************ + * + * Copyright (C) 2016, 2018 Gregory Nutt. All rights reserved. + * Authors: Gregory Nutt + * David Sidrane + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ************************************************************************************/ + +/************************************************************************************ + * Included Files + ************************************************************************************/ + +#include +#include +#include + +constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSIONS] = { + initSPIFmumID(V6XRT_0, { + initSPIBus(SPI::Bus::LPSPI1, { + initSPIDevice(DRV_IMU_DEVTYPE_ICM42686P, SPI::CS{GPIO::Port2, GPIO::Pin11}, SPI::DRDY{GPIO::Port3, GPIO::Pin19}), /* GPIO_EMC_B2_01 GPIO2_IO11, GPIO_AD_20, GPIO3_IO19 */ + }, {GPIO::Port2, GPIO::Pin1}), // Power GPIO_EMC_B1_33 GPIO2_IO01 + + initSPIBus(SPI::Bus::LPSPI2, { + initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::Port3, GPIO::Pin24}, SPI::DRDY{GPIO::Port2, GPIO::Pin7}), /* GPIO_AD_25 GPIO3_IO24, GPIO_EMC_B1_39 GPIO2_IO07 */ + }, {GPIO::Port1, GPIO::Pin22}), // Power GPIO_EMC_B1_22 GPIO1_IO22 + + initSPIBus(SPI::Bus::LPSPI3, { + initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::Port2, GPIO::Pin18}, SPI::DRDY{GPIO::Port2, GPIO::Pin28}), /* GPIO_EMC_B2_08 GPIO2_IO18, GPIO_EMC_B2_18 GPIO2_IO28 */ + initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::Port2, GPIO::Pin15}), /* GPIO_EMC_B2_05 GPIO2_IO15 */ + }, {GPIO::Port1, GPIO::Pin14}), // Power GPIO_EMC_B1_14 GPIO1_IO14 + + initSPIBusExternal(SPI::Bus::LPSPI6, { + initSPIConfigExternal(SPI::CS{GPIO::Port6, GPIO::Pin9}, SPI::DRDY{GPIO::Port1, GPIO::Pin5}), /* GPIO_LPSR_09 GPIO6_IO09 GPIO_EMC_B1_05 GPIO1_IO05*/ + initSPIConfigExternal(SPI::CS{GPIO::Port6, GPIO::Pin8}, SPI::DRDY{GPIO::Port1, GPIO::Pin7}), /* GPIO_LPSR_08 GPIO6_IO08 GPIO_EMC_B1_07 GPIO1_IO07*/ + }), + }), + + initSPIFmumID(V6XRT_1, { + initSPIBus(SPI::Bus::LPSPI1, { + initSPIDevice(DRV_IMU_DEVTYPE_ICM42686P, SPI::CS{GPIO::Port2, GPIO::Pin11}, SPI::DRDY{GPIO::Port3, GPIO::Pin19}), /* GPIO_EMC_B2_01 GPIO2_IO11, GPIO_AD_20, GPIO3_IO19 */ + }, {GPIO::Port2, GPIO::Pin1}), // Power GPIO_EMC_B1_33 GPIO2_IO01 + + initSPIBus(SPI::Bus::LPSPI2, { + initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::Port3, GPIO::Pin24}, SPI::DRDY{GPIO::Port2, GPIO::Pin7}), /* GPIO_AD_25 GPIO3_IO24, GPIO_EMC_B1_39 GPIO2_IO07 */ + }, {GPIO::Port1, GPIO::Pin22}), // Power GPIO_EMC_B1_22 GPIO1_IO22 + + initSPIBus(SPI::Bus::LPSPI3, { + initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::Port2, GPIO::Pin18}, SPI::DRDY{GPIO::Port2, GPIO::Pin28}), /* GPIO_EMC_B2_08 GPIO2_IO18, GPIO_EMC_B2_18 GPIO2_IO28 */ + initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::Port2, GPIO::Pin15}), /* GPIO_EMC_B2_05 GPIO2_IO15 */ + }, {GPIO::Port1, GPIO::Pin14}), // Power GPIO_EMC_B1_14 GPIO1_IO14 + + initSPIBusExternal(SPI::Bus::LPSPI6, { + initSPIConfigExternal(SPI::CS{GPIO::Port6, GPIO::Pin9}, SPI::DRDY{GPIO::Port1, GPIO::Pin5}), /* GPIO_LPSR_09 GPIO6_IO09 GPIO_EMC_B1_05 GPIO1_IO05*/ + initSPIConfigExternal(SPI::CS{GPIO::Port6, GPIO::Pin8}, SPI::DRDY{GPIO::Port1, GPIO::Pin7}), /* GPIO_LPSR_08 GPIO6_IO08 GPIO_EMC_B1_07 GPIO1_IO07*/ + }), + }), +}; + +static constexpr bool unused = validateSPIConfig(px4_spi_buses_all_hw); diff --git a/boards/px4/fmu-v6xrt/src/timer_config.cpp b/boards/px4/fmu-v6xrt/src/timer_config.cpp new file mode 100644 index 000000000000..04be42b4d8ed --- /dev/null +++ b/boards/px4/fmu-v6xrt/src/timer_config.cpp @@ -0,0 +1,181 @@ +/**************************************************************************** + * + * Copyright (C) 2016, 2018-2019 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +// TODO:Stubbed out for now +#include + +#include +#include "hardware/imxrt_tmr.h" +#include "hardware/imxrt_flexpwm.h" +#include "imxrt_gpio.h" +#include "imxrt_iomuxc.h" +#include "hardware/imxrt_pinmux.h" +#include "imxrt_xbar.h" +#include "imxrt_periphclks.h" + +#include +#include + +#include "board_config.h" + +/**************************************************************************************************** + * Definitions + ****************************************************************************************************/ + +/* Register accessors */ + +#define _REG(_addr) (*(volatile uint16_t *)(_addr)) + +/* QTimer3 register accessors */ + +#define REG(_reg) _REG(IMXRT_TMR3_BASE + IMXRT_TMR_OFFSET(IMXRT_TMR_CH0,(_reg))) + +#define rCOMP1 REG(IMXRT_TMR_COMP1_OFFSET) +#define rCOMP2 REG(IMXRT_TMR_COMP2_OFFSET) +#define rCAPT REG(IMXRT_TMR_CAPT_OFFSET) +#define rLOAD REG(IMXRT_TMR_LOAD_OFFSET) +#define rHOLD REG(IMXRT_TMR_HOLD_OFFSET) +#define rCNTR REG(IMXRT_TMR_CNTR_OFFSET) +#define rCTRL REG(IMXRT_TMR_CTRL_OFFSET) +#define rSCTRL REG(IMXRT_TMR_SCTRL_OFFSET) +#define rCMPLD1 REG(IMXRT_TMR_CMPLD1_OFFSET) +#define rCMPLD2 REG(IMXRT_TMR_CMPLD2_OFFSET) +#define rCSCTRL REG(IMXRT_TMR_CSCTRL_OFFSET) +#define rFILT REG(IMXRT_TMR_FILT_OFFSET) +#define rDMA REG(IMXRT_TMR_DMA_OFFSET) +#define rENBL REG(IMXRT_TMR_ENBL_OFFSET) + + +// GPIO_EMC_B1_23 FMU_CH1 FLEXPWM1_PWM0_A +// GPIO_EMC_B1_25 FMU_CH2 FLEXPWM1_PWM1_A + FLEXIO1_IO25 +// GPIO_EMC_B1_27 FMU_CH3 FLEXPWM1_PWM2_A + FLEXIO1_IO27 +// GPIO_EMC_B1_06 FMU_CH4 FLEXPWM2_PWM0_A + FLEXIO1_IO06 +// GPIO_EMC_B1_08 FMU_CH5 FLEXPWM2_PWM1_A + FLEXIO1_IO08 +// GPIO_EMC_B1_10 FMU_CH6 FLEXPWM2_PWM2_A + FLEXIO1_IO10 +// GPIO_EMC_B1_19 FMU_CH7 FLEXPWM2_PWM3_A + FLEXIO1_IO19 +// GPIO_EMC_B1_29 FMU_CH8 FLEXPWM3_PWM0_A + FLEXIO1_IO29 +// GPIO_EMC_B1_31 FMU_CH9 FLEXPWM3_PWM1_A + FLEXIO1_IO31 +// GPIO_EMC_B1_21 FMU_CH10 FLEXPWM3_PWM3_A + FLEXIO1_IO21 +// GPIO_EMC_B1_00 FMU_CH11 FLEXPWM4_PWM0_A + FLEXIO1_IO00 +// GPIO_EMC_B1_02 FMU_CH12 FLEXPWM4_PWM1_A + FLEXIO1_IO02 + + +constexpr io_timers_t io_timers[MAX_IO_TIMERS] = { + initIOPWMDshot(PWM::FlexPWM1, PWM::Submodule0), + initIOPWMDshot(PWM::FlexPWM1, PWM::Submodule1), + initIOPWMDshot(PWM::FlexPWM1, PWM::Submodule2), + initIOPWMDshot(PWM::FlexPWM2, PWM::Submodule0), + initIOPWMDshot(PWM::FlexPWM2, PWM::Submodule1), + initIOPWMDshot(PWM::FlexPWM2, PWM::Submodule2), + initIOPWMDshot(PWM::FlexPWM2, PWM::Submodule3), + initIOPWMDshot(PWM::FlexPWM3, PWM::Submodule0), + initIOPWM(PWM::FlexPWM3, PWM::Submodule1), + initIOPWM(PWM::FlexPWM3, PWM::Submodule3), + initIOPWM(PWM::FlexPWM4, PWM::Submodule0), + initIOPWM(PWM::FlexPWM4, PWM::Submodule1), +}; + +constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = { + /* FMU_CH1 */ initIOTimerChannelDshot(io_timers, {PWM::PWM1_PWM_A, PWM::Submodule0}, IOMUX::Pad::GPIO_EMC_B1_23, GPIO_FLEXIO1_FLEXIO23_1 | IOMUX_DSHOT_DEFAULT, 23), + /* FMU_CH2 */ initIOTimerChannelDshot(io_timers, {PWM::PWM1_PWM_A, PWM::Submodule1}, IOMUX::Pad::GPIO_EMC_B1_25, GPIO_FLEXIO1_FLEXIO25_1 | IOMUX_DSHOT_DEFAULT, 25), + /* FMU_CH3 */ initIOTimerChannelDshot(io_timers, {PWM::PWM1_PWM_A, PWM::Submodule2}, IOMUX::Pad::GPIO_EMC_B1_27, GPIO_FLEXIO1_FLEXIO27_1 | IOMUX_DSHOT_DEFAULT, 27), + /* FMU_CH4 */ initIOTimerChannelDshot(io_timers, {PWM::PWM2_PWM_A, PWM::Submodule0}, IOMUX::Pad::GPIO_EMC_B1_06, GPIO_FLEXIO1_FLEXIO06_1 | IOMUX_DSHOT_DEFAULT, 6), + /* FMU_CH5 */ initIOTimerChannelDshot(io_timers, {PWM::PWM2_PWM_A, PWM::Submodule1}, IOMUX::Pad::GPIO_EMC_B1_08, GPIO_FLEXIO1_FLEXIO08_1 | IOMUX_DSHOT_DEFAULT, 8), + /* FMU_CH6 */ initIOTimerChannelDshot(io_timers, {PWM::PWM2_PWM_A, PWM::Submodule2}, IOMUX::Pad::GPIO_EMC_B1_10, GPIO_FLEXIO1_FLEXIO10_1 | IOMUX_DSHOT_DEFAULT, 10), + /* FMU_CH7 */ initIOTimerChannelDshot(io_timers, {PWM::PWM2_PWM_A, PWM::Submodule3}, IOMUX::Pad::GPIO_EMC_B1_19, GPIO_FLEXIO1_FLEXIO19_1 | IOMUX_DSHOT_DEFAULT, 19), + /* FMU_CH8 */ initIOTimerChannelDshot(io_timers, {PWM::PWM3_PWM_A, PWM::Submodule0}, IOMUX::Pad::GPIO_EMC_B1_29, GPIO_FLEXIO1_FLEXIO29_1 | IOMUX_DSHOT_DEFAULT, 29), + /* FMU_CH9 */ initIOTimerChannel(io_timers, {PWM::PWM3_PWM_A, PWM::Submodule1}, IOMUX::Pad::GPIO_EMC_B1_31), + /* FMU_CH10 */ initIOTimerChannel(io_timers, {PWM::PWM3_PWM_A, PWM::Submodule3}, IOMUX::Pad::GPIO_EMC_B1_21), + /* FMU_CH11 */ initIOTimerChannel(io_timers, {PWM::PWM4_PWM_A, PWM::Submodule0}, IOMUX::Pad::GPIO_EMC_B1_00), + /* FMU_CH12 */ initIOTimerChannel(io_timers, {PWM::PWM4_PWM_A, PWM::Submodule1}, IOMUX::Pad::GPIO_EMC_B1_02), +}; + + +constexpr io_timers_channel_mapping_t io_timers_channel_mapping = + initIOTimerChannelMapping(io_timers, timer_io_channels); + +constexpr io_timers_t led_pwm_timers[MAX_LED_TIMERS] = { +}; + +constexpr timer_io_channels_t led_pwm_channels[MAX_TIMER_LED_CHANNELS] = { +}; + + +void fmuv6xrt_timer_initialize(void) +{ + /* We must configure Qtimer 3 as the bus_clk_root which is + * BUS_CLK_ROOT_SYS_PLL3_CLK / 2 = 240 Mhz + * devided by 15 by to yield 16 Mhz + * and deliver that clock to the eFlexPWM1,2,34 via XBAR + * + * IPG = 240 Mhz + * 16Mhz = 240 / 15 + * COMP 1 = 8, COMP2 = 7 + * + * */ + /* Enable Block Clocks for Qtimer and XBAR1 */ + + imxrt_clockall_timer3(); + imxrt_clockall_xbar1(); + + /* Disable Timer */ + + rCTRL = 0; + rCOMP1 = 8 - 1; // N - 1 + rCOMP2 = 7 - 1; + + rCAPT = 0; + rLOAD = 0; + rCNTR = 0; + + rSCTRL = TMR_SCTRL_OEN; + + rCMPLD1 = 0; + rCMPLD2 = 0; + rCSCTRL = 0; + rFILT = 0; + rDMA = 0; + + /* Count rising edges of primary source, + * Prescaler is /1 + * Count UP until compare, then re-initialize. a successful compare occurs when the counter reaches a COMP1 value. + * Toggle OFLAG output using alternating compare registers + */ + rCTRL = (TMR_CTRL_CM_MODE1 | TMR_CTRL_PCS_DIV1 | TMR_CTRL_LENGTH | TMR_CTRL_OUTMODE_TOG_ALT); + + /* QTIMER3_TIMER0 -> Flexpwm1,2,34ExtClk */ + + imxrt_xbar_connect(IMXRT_XBARA1_OUT_FLEXPWM1_EXT_CLK_SEL_OFFSET, IMXRT_XBARA1_IN_QTIMER3_TMR0_OUT); + imxrt_xbar_connect(IMXRT_XBARA1_OUT_FLEXPWM2_EXT_CLK_SEL_OFFSET, IMXRT_XBARA1_IN_QTIMER3_TMR0_OUT); + imxrt_xbar_connect(IMXRT_XBARA1_OUT_FLEXPWM34_EXT_CLK_SEL_OFFSET, IMXRT_XBARA1_IN_QTIMER3_TMR0_OUT); +} diff --git a/boards/px4/fmu-v6xrt/src/usb.c b/boards/px4/fmu-v6xrt/src/usb.c new file mode 100644 index 000000000000..7273339052a8 --- /dev/null +++ b/boards/px4/fmu-v6xrt/src/usb.c @@ -0,0 +1,131 @@ +/**************************************************************************** + * + * Copyright (C) 2016, 2018 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file usb.c + * + * Board-specific USB functions. + */ + +/************************************************************************************ + * Included Files + ************************************************************************************/ + +#include + +#include +#include +#include +#include + +#include +#include + +#include +#include +#include +#include "board_config.h" +#include "imxrt_periphclks.h" + +/************************************************************************************ + * Definitions + ************************************************************************************/ + +/************************************************************************************ + * Private Functions + ************************************************************************************/ + +/************************************************************************************ + * Public Functions + ************************************************************************************/ +int imxrt_usb_initialize(void) +{ + imxrt_clockall_usboh3(); + return 0; +} +/************************************************************************************ + * Name: imxrt_usbpullup + * + * Description: + * If USB is supported and the board supports a pullup via GPIO (for USB software + * connect and disconnect), then the board software must provide imxrt_usbpullup. + * See include/nuttx/usb/usbdev.h for additional description of this method. + * Alternatively, if no pull-up GPIO the following EXTERN can be redefined to be + * NULL. + * + ************************************************************************************/ + +__EXPORT +int imxrt_usbpullup(FAR struct usbdev_s *dev, bool enable) +{ + usbtrace(TRACE_DEVPULLUP, (uint16_t)enable); + + return OK; +} + +/************************************************************************************ + * Name: imxrt_usbsuspend + * + * Description: + * Board logic must provide the imxrt_usbsuspend logic if the USBDEV driver is + * used. This function is called whenever the USB enters or leaves suspend mode. + * This is an opportunity for the board logic to shutdown clocks, power, etc. + * while the USB is suspended. + * + ************************************************************************************/ + +__EXPORT +void imxrt_usbsuspend(FAR struct usbdev_s *dev, bool resume) +{ + uinfo("resume: %d\n", resume); +} + +/************************************************************************************ + * Name: board_read_VBUS_state + * + * Description: + * All boards must provide a way to read the state of VBUS, this my be simple + * digital input on a GPIO. Or something more complicated like a Analong input + * or reading a bit from a USB controller register. + * + * Returns - 0 if connected. + * + ************************************************************************************/ +#undef IMXRT_USB_ANALOG_USB1_VBUS_DETECT_STAT +#define USB1_VBUS_DET_STAT_OFFSET 0xd0 +#define IMXRT_USB_ANALOG_USB1_VBUS_DETECT_STAT (IMXRT_USBPHY1_BASE + USB1_VBUS_DET_STAT_OFFSET) + +int board_read_VBUS_state(void) +{ + return (getreg32(IMXRT_USB_ANALOG_USB1_VBUS_DETECT_STAT) & USB_ANALOG_USB_VBUS_DETECT_STAT_VBUS_3V_VALID) ? 0 : 1; +} diff --git a/boards/px4/raspberrypi/cmake/upload.cmake b/boards/px4/raspberrypi/cmake/upload.cmake index c77e80cd2e73..5abefb01e642 100644 --- a/boards/px4/raspberrypi/cmake/upload.cmake +++ b/boards/px4/raspberrypi/cmake/upload.cmake @@ -38,7 +38,7 @@ else() endif() add_custom_target(upload - COMMAND rsync -arh --progress + COMMAND rsync -arh --progress -e "ssh -o StrictHostKeyChecking=no" ${CMAKE_RUNTIME_OUTPUT_DIRECTORY} ${PX4_SOURCE_DIR}/posix-configs/rpi/*.config ${PX4_BINARY_DIR}/etc # source pi@${AUTOPILOT_HOST}:/home/pi/px4 # destination DEPENDS px4 diff --git a/boards/px4/raspberrypi/default.px4board b/boards/px4/raspberrypi/default.px4board index 3e059cffe7d8..ade7dd42358d 100644 --- a/boards/px4/raspberrypi/default.px4board +++ b/boards/px4/raspberrypi/default.px4board @@ -4,15 +4,15 @@ CONFIG_BOARD_TOOLCHAIN="arm-linux-gnueabihf" CONFIG_BOARD_ARCHITECTURE="cortex-a53" CONFIG_BOARD_TESTING=y CONFIG_DRIVERS_ADC_ADS1115=y -CONFIG_DRIVERS_BAROMETER_MS5611=y +CONFIG_COMMON_BAROMETERS=y CONFIG_DRIVERS_BATT_SMBUS=y CONFIG_DRIVERS_CAMERA_TRIGGER=y CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y CONFIG_COMMON_DISTANCE_SENSOR=y CONFIG_DRIVERS_GPS=y +CONFIG_COMMON_IMU=y CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y -CONFIG_DRIVERS_IMU_INVENSENSE_MPU9250=y -CONFIG_DRIVERS_MAGNETOMETER_HMC5883=y +CONFIG_COMMON_MAGNETOMETER=y CONFIG_DRIVERS_PCA9685_PWM_OUT=y CONFIG_DRIVERS_RC_INPUT=y CONFIG_DRIVERS_RPI_RC_IN=y diff --git a/boards/px4/sitl/allyes.px4board b/boards/px4/sitl/allyes.px4board new file mode 100644 index 000000000000..e69de29bb2d1 diff --git a/boards/px4/sitl/default.px4board b/boards/px4/sitl/default.px4board index db358c3e4d0e..ac228113d5d8 100644 --- a/boards/px4/sitl/default.px4board +++ b/boards/px4/sitl/default.px4board @@ -1,6 +1,7 @@ CONFIG_PLATFORM_POSIX=y CONFIG_BOARD_TESTING=y CONFIG_BOARD_ETHERNET=y +CONFIG_BOARD_ROOT_PATH="." CONFIG_DRIVERS_CAMERA_TRIGGER=y CONFIG_DRIVERS_GPS=y CONFIG_DRIVERS_OSD_MSP_OSD=y @@ -13,11 +14,14 @@ CONFIG_MODULES_COMMANDER=y CONFIG_MODULES_CONTROL_ALLOCATOR=y CONFIG_MODULES_DATAMAN=y CONFIG_MODULES_EKF2=y +CONFIG_EKF2_VERBOSE_STATUS=y +CONFIG_EKF2_AUX_GLOBAL_POSITION=y CONFIG_MODULES_EVENTS=y CONFIG_MODULES_FLIGHT_MODE_MANAGER=y CONFIG_MODULES_FW_ATT_CONTROL=y CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y CONFIG_MODULES_FW_POS_CONTROL=y +CONFIG_FIGURE_OF_EIGHT=y CONFIG_MODULES_FW_RATE_CONTROL=y CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_GYRO_CALIBRATION=y @@ -37,9 +41,12 @@ CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y CONFIG_MODULES_MC_POS_CONTROL=y CONFIG_MODULES_MC_RATE_CONTROL=y CONFIG_MODULES_NAVIGATOR=y +CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF=y CONFIG_MODULES_PAYLOAD_DELIVERER=y CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_REPLAY=y +CONFIG_MODULES_ROVER_ACKERMANN=y +CONFIG_MODULES_ROVER_DIFFERENTIAL=y CONFIG_MODULES_ROVER_POS_CONTROL=y CONFIG_MODULES_SENSORS=y CONFIG_COMMON_SIMULATION=y diff --git a/boards/px4/sitl/src/sitl_led.c b/boards/px4/sitl/src/sitl_led.c index c9d3f4d05388..f86e8777646f 100644 --- a/boards/px4/sitl/src/sitl_led.c +++ b/boards/px4/sitl/src/sitl_led.c @@ -50,7 +50,7 @@ __END_DECLS static bool _led_state[2] = { false, false }; -__EXPORT void led_init() +__EXPORT void led_init(void) { PX4_DEBUG("LED_INIT"); } diff --git a/boards/px4/sitl/zenoh.px4board b/boards/px4/sitl/zenoh.px4board new file mode 100644 index 000000000000..20ff39d1b00e --- /dev/null +++ b/boards/px4/sitl/zenoh.px4board @@ -0,0 +1,2 @@ +CONFIG_MODULES_UXRCE_DDS_CLIENT=n +CONFIG_MODULES_ZENOH=y diff --git a/boards/raspberrypi/pico/default.px4board b/boards/raspberrypi/pico/default.px4board index a5727267a1fa..410f8d4788a9 100644 --- a/boards/raspberrypi/pico/default.px4board +++ b/boards/raspberrypi/pico/default.px4board @@ -6,6 +6,7 @@ CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS2" CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS1" CONFIG_DRIVERS_ADC_BOARD_ADC=y CONFIG_DRIVERS_BAROMETER_BMP280=y +CONFIG_DRIVERS_CDCACM_AUTOSTART=y CONFIG_DRIVERS_GPS=y CONFIG_DRIVERS_IMU_INVENSENSE_MPU9250=y CONFIG_DRIVERS_MAGNETOMETER_HMC5883=y diff --git a/boards/raspberrypi/pico/init/rc.board_defaults b/boards/raspberrypi/pico/init/rc.board_defaults index ec0c72060898..6dc2fb4121d4 100644 --- a/boards/raspberrypi/pico/init/rc.board_defaults +++ b/boards/raspberrypi/pico/init/rc.board_defaults @@ -11,11 +11,3 @@ param set-default CBRK_SUPPLY_CHK 894281 # Disable safety switch by default param set-default CBRK_IO_SAFETY 22027 - -# use the Q attitude estimator, it works w/o mag or GPS. -# param set-default SYS_MC_EST_GROUP 3 -# param set-default ATT_ACC_COMP 0 -# param set-default ATT_W_ACC 0.4000 -# param set-default ATT_W_GYRO_BIAS 0.0000 - -# param set-default SYS_HAS_MAG 0 diff --git a/boards/raspberrypi/pico/nuttx-config/nsh/defconfig b/boards/raspberrypi/pico/nuttx-config/nsh/defconfig index 2efb22fc3551..ebce0670207b 100644 --- a/boards/raspberrypi/pico/nuttx-config/nsh/defconfig +++ b/boards/raspberrypi/pico/nuttx-config/nsh/defconfig @@ -48,7 +48,7 @@ CONFIG_HAVE_CXX=y CONFIG_HAVE_CXXINITIALIZE=y CONFIG_IDLETHREAD_STACKSIZE=750 CONFIG_INIT_ENTRYPOINT="nsh_main" -CONFIG_INIT_STACKSIZE=2944 +CONFIG_INIT_STACKSIZE=3194 CONFIG_LIBC_FLOATINGPOINT=y CONFIG_LIBC_MAX_EXITFUNS=1 CONFIG_LIBC_STRERROR=y diff --git a/boards/raspberrypi/pico/src/usb.c b/boards/raspberrypi/pico/src/usb.c index bc6306ae6bc2..9278997cc8ba 100644 --- a/boards/raspberrypi/pico/src/usb.c +++ b/boards/raspberrypi/pico/src/usb.c @@ -82,4 +82,3 @@ __EXPORT void rp2040_usbsuspend(FAR struct usbdev_s *dev, bool resume) { uinfo("resume: %d\n", resume); } - diff --git a/boards/scumaker/pilotpi/default.px4board b/boards/scumaker/pilotpi/default.px4board index 0de2a4311abc..b72da494da23 100644 --- a/boards/scumaker/pilotpi/default.px4board +++ b/boards/scumaker/pilotpi/default.px4board @@ -16,6 +16,7 @@ CONFIG_DRIVERS_MAGNETOMETER_HMC5883=y CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y CONFIG_DRIVERS_MAGNETOMETER_QMC5883L=y CONFIG_DRIVERS_PCA9685_PWM_OUT=y +CONFIG_PCA9685_USE_EXTERNAL_CRYSTAL=y CONFIG_COMMON_RC=y CONFIG_DRIVERS_RC_INPUT=y CONFIG_DRIVERS_SMART_BATTERY_BATMON=y diff --git a/boards/siyi/n7/bootloader.px4board b/boards/siyi/n7/bootloader.px4board new file mode 100644 index 000000000000..19b6e662be69 --- /dev/null +++ b/boards/siyi/n7/bootloader.px4board @@ -0,0 +1,3 @@ +CONFIG_BOARD_TOOLCHAIN="arm-none-eabi" +CONFIG_BOARD_ARCHITECTURE="cortex-m7" +CONFIG_BOARD_ROMFSROOT="" diff --git a/boards/siyi/n7/default.px4board b/boards/siyi/n7/default.px4board new file mode 100644 index 000000000000..2a7a23258186 --- /dev/null +++ b/boards/siyi/n7/default.px4board @@ -0,0 +1,87 @@ +CONFIG_BOARD_TOOLCHAIN="arm-none-eabi" +CONFIG_BOARD_ARCHITECTURE="cortex-m7" +CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS0" +CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS1" +CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS2" +CONFIG_DRIVERS_ADC_BOARD_ADC=y +CONFIG_COMMON_BAROMETERS=y +CONFIG_DRIVERS_BATT_SMBUS=y +CONFIG_DRIVERS_CAMERA_CAPTURE=y +CONFIG_DRIVERS_CAMERA_TRIGGER=y +CONFIG_DRIVERS_CDCACM_AUTOSTART=y +CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y +CONFIG_COMMON_DISTANCE_SENSOR=y +CONFIG_DRIVERS_DSHOT=y +CONFIG_DRIVERS_GPS=y +CONFIG_DRIVERS_HEATER=y +CONFIG_DRIVERS_IMU_BOSCH_BMI088=y +CONFIG_DRIVERS_IMU_INVENSENSE_ICM20689=y +CONFIG_COMMON_LIGHT=y +CONFIG_COMMON_MAGNETOMETER=y +CONFIG_COMMON_OPTICAL_FLOW=y +CONFIG_DRIVERS_POWER_MONITOR_INA226=y +CONFIG_DRIVERS_PWM_OUT=y +CONFIG_DRIVERS_PX4IO=y +CONFIG_DRIVERS_SMART_BATTERY_BATMON=y +CONFIG_COMMON_TELEMETRY=y +CONFIG_DRIVERS_TONE_ALARM=y +CONFIG_DRIVERS_UAVCAN=y +CONFIG_MODULES_AIRSPEED_SELECTOR=y +CONFIG_MODULES_BATTERY_STATUS=y +CONFIG_MODULES_CAMERA_FEEDBACK=y +CONFIG_MODULES_COMMANDER=y +CONFIG_MODULES_CONTROL_ALLOCATOR=y +CONFIG_MODULES_DATAMAN=y +CONFIG_MODULES_EKF2=y +CONFIG_MODULES_ESC_BATTERY=y +CONFIG_MODULES_EVENTS=y +CONFIG_MODULES_FLIGHT_MODE_MANAGER=y +CONFIG_MODULES_FW_ATT_CONTROL=y +CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y +CONFIG_MODULES_FW_POS_CONTROL=y +CONFIG_MODULES_FW_RATE_CONTROL=y +CONFIG_MODULES_GIMBAL=y +CONFIG_MODULES_GYRO_CALIBRATION=y +CONFIG_MODULES_LAND_DETECTOR=y +CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y +CONFIG_MODULES_LOAD_MON=y +CONFIG_MODULES_LOGGER=y +CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y +CONFIG_MODULES_MANUAL_CONTROL=y +CONFIG_MODULES_MAVLINK=y +CONFIG_MODULES_MC_ATT_CONTROL=y +CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y +CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y +CONFIG_MODULES_MC_POS_CONTROL=y +CONFIG_MODULES_MC_RATE_CONTROL=y +CONFIG_MODULES_NAVIGATOR=y +CONFIG_MODULES_RC_UPDATE=y +CONFIG_MODULES_ROVER_POS_CONTROL=y +CONFIG_MODULES_SENSORS=y +CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y +CONFIG_MODULES_TEMPERATURE_COMPENSATION=y +CONFIG_MODULES_UXRCE_DDS_CLIENT=y +CONFIG_MODULES_VTOL_ATT_CONTROL=y +CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y +CONFIG_SYSTEMCMDS_BSONDUMP=y +CONFIG_SYSTEMCMDS_DMESG=y +CONFIG_SYSTEMCMDS_GPIO=y +CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y +CONFIG_SYSTEMCMDS_I2CDETECT=y +CONFIG_SYSTEMCMDS_LED_CONTROL=y +CONFIG_SYSTEMCMDS_MFT=y +CONFIG_SYSTEMCMDS_MTD=y +CONFIG_SYSTEMCMDS_NSHTERM=y +CONFIG_SYSTEMCMDS_PARAM=y +CONFIG_SYSTEMCMDS_PERF=y +CONFIG_SYSTEMCMDS_REBOOT=y +CONFIG_SYSTEMCMDS_SD_BENCH=y +CONFIG_SYSTEMCMDS_SD_STRESS=y +CONFIG_SYSTEMCMDS_SYSTEM_TIME=y +CONFIG_SYSTEMCMDS_TOP=y +CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y +CONFIG_SYSTEMCMDS_TUNE_CONTROL=y +CONFIG_SYSTEMCMDS_UORB=y +CONFIG_SYSTEMCMDS_USB_CONNECTED=y +CONFIG_SYSTEMCMDS_VER=y +CONFIG_SYSTEMCMDS_WORK_QUEUE=y diff --git a/boards/siyi/n7/extras/px4_io-v2_default.bin b/boards/siyi/n7/extras/px4_io-v2_default.bin new file mode 100755 index 000000000000..957f0f13a12e Binary files /dev/null and b/boards/siyi/n7/extras/px4_io-v2_default.bin differ diff --git a/boards/siyi/n7/extras/siyi_n7_bootloader.bin b/boards/siyi/n7/extras/siyi_n7_bootloader.bin new file mode 100755 index 000000000000..3f8c6fa8c2b6 Binary files /dev/null and b/boards/siyi/n7/extras/siyi_n7_bootloader.bin differ diff --git a/boards/siyi/n7/firmware.prototype b/boards/siyi/n7/firmware.prototype new file mode 100644 index 000000000000..b4c1d9362a5e --- /dev/null +++ b/boards/siyi/n7/firmware.prototype @@ -0,0 +1,13 @@ +{ + "board_id": 1123, + "magic": "PX4FWv1", + "description": "Firmware for the N7 board", + "image": "", + "build_time": 0, + "summary": "N7", + "version": "0.1", + "image_size": 0, + "image_maxsize": 1966080, + "git_identity": "", + "board_revision": 0 +} diff --git a/boards/siyi/n7/init/rc.board_defaults b/boards/siyi/n7/init/rc.board_defaults new file mode 100644 index 000000000000..24b5d9d8030b --- /dev/null +++ b/boards/siyi/n7/init/rc.board_defaults @@ -0,0 +1,12 @@ +#!/bin/sh +# +# board specific defaults +#------------------------------------------------------------------------------ +param set-default MAV_0_RATE 100000 + +param set-default BAT1_V_DIV 18.1 + +param set-default BAT1_A_PER_V 36.367515152 + +# Enable IMU thermal control +param set-default SENS_EN_THERMAL 1 diff --git a/boards/siyi/n7/init/rc.board_sensors b/boards/siyi/n7/init/rc.board_sensors new file mode 100644 index 000000000000..e7907858846d --- /dev/null +++ b/boards/siyi/n7/init/rc.board_sensors @@ -0,0 +1,21 @@ +#!/bin/sh +# +# board specific sensors init +#------------------------------------------------------------------------------ +board_adc start + +# SPI1 +bmi088 -s -b 1 -A -R 2 start +bmi088 -s -b 1 -G -R 2 start + +# SPI1 +icm20689 -s -b 1 -R 2 start + +# I2C1 +ist8310 -X -b 1 -R 10 -a 0xE start + +# I2C3 +ist8310 -I -b 3 -R 10 -a 0xE start + +# SPI4 +ms5611 -s -b 4 start diff --git a/boards/siyi/n7/nuttx-config/Kconfig b/boards/siyi/n7/nuttx-config/Kconfig new file mode 100644 index 000000000000..bb33d3cfda4d --- /dev/null +++ b/boards/siyi/n7/nuttx-config/Kconfig @@ -0,0 +1,17 @@ +# +# For a description of the syntax of this configuration file, +# see misc/tools/kconfig-language.txt. +# +config BOARD_HAS_PROBES + bool "Board provides GPIO or other Hardware for signaling to timing analyze." + default y + ---help--- + This board provides GPIO FMU-CH1-5, CAP1-6 as PROBE_1-11 to provide timing signals from selected drivers. + +config BOARD_USE_PROBES + bool "Enable the use the board provided FMU-CH1-5, CAP1-6 as PROBE_1-11" + default n + depends on BOARD_HAS_PROBES + + ---help--- + Select to use GPIO FMU-CH1-5, CAP1-6 to provide timing signals from selected drivers. diff --git a/boards/siyi/n7/nuttx-config/bootloader/defconfig b/boards/siyi/n7/nuttx-config/bootloader/defconfig new file mode 100644 index 000000000000..775acfb2a01a --- /dev/null +++ b/boards/siyi/n7/nuttx-config/bootloader/defconfig @@ -0,0 +1,93 @@ +# +# This file is autogenerated: PLEASE DO NOT EDIT IT. +# +# You can use "make menuconfig" to make any modifications to the installed .config file. +# You can then do "make savedefconfig" to generate a new defconfig file that includes your +# modifications. +# +# CONFIG_DEV_CONSOLE is not set +# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set +# CONFIG_SPI_EXCHANGE is not set +# CONFIG_STM32H7_SYSCFG is not set +CONFIG_ARCH="arm" +CONFIG_ARCH_BOARD_CUSTOM=y +CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/siyi/n7/nuttx-config" +CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y +CONFIG_ARCH_BOARD_CUSTOM_NAME="px4" +CONFIG_ARCH_CHIP="stm32h7" +CONFIG_ARCH_CHIP_STM32H743II=y +CONFIG_ARCH_CHIP_STM32H7=y +CONFIG_ARCH_INTERRUPTSTACK=768 +CONFIG_ARMV7M_BASEPRI_WAR=y +CONFIG_ARMV7M_ICACHE=y +CONFIG_ARMV7M_MEMCPY=y +CONFIG_ARMV7M_USEBASEPRI=y +CONFIG_BOARDCTL=y +CONFIG_BOARDCTL_RESET=y +CONFIG_BOARD_ASSERT_RESET_VALUE=0 +CONFIG_BOARD_INITTHREAD_PRIORITY=254 +CONFIG_BOARD_LATE_INITIALIZE=y +CONFIG_BOARD_LOOPSPERMSEC=22114 +CONFIG_BOARD_RESET_ON_ASSERT=2 +CONFIG_CDCACM=y +CONFIG_CDCACM_IFLOWCONTROL=y +CONFIG_CDCACM_PRODUCTID=0x0038 +CONFIG_CDCACM_PRODUCTSTR="PX4 BL Siyi N7" +CONFIG_CDCACM_RXBUFSIZE=600 +CONFIG_CDCACM_TXBUFSIZE=12000 +CONFIG_CDCACM_VENDORID=0x3185 +CONFIG_CDCACM_VENDORSTR="Siyi" +CONFIG_DEBUG_FULLOPT=y +CONFIG_DEBUG_SYMBOLS=y +CONFIG_DEBUG_TCBINFO=y +CONFIG_DEFAULT_SMALL=y +CONFIG_EXPERIMENTAL=y +CONFIG_FDCLONE_DISABLE=y +CONFIG_FDCLONE_STDIO=y +CONFIG_HAVE_CXX=y +CONFIG_HAVE_CXXINITIALIZE=y +CONFIG_IDLETHREAD_STACKSIZE=750 +CONFIG_INIT_ENTRYPOINT="bootloader_main" +CONFIG_INIT_STACKSIZE=3194 +CONFIG_LIBC_FLOATINGPOINT=y +CONFIG_LIBC_LONG_LONG=y +CONFIG_LIBC_STRERROR=y +CONFIG_MEMSET_64BIT=y +CONFIG_MEMSET_OPTSPEED=y +CONFIG_PREALLOC_TIMERS=50 +CONFIG_PTHREAD_STACK_MIN=512 +CONFIG_RAM_SIZE=245760 +CONFIG_RAM_START=0x20010000 +CONFIG_RAW_BINARY=y +CONFIG_SERIAL_TERMIOS=y +CONFIG_SIG_DEFAULT=y +CONFIG_SIG_SIGALRM_ACTION=y +CONFIG_SIG_SIGUSR1_ACTION=y +CONFIG_SIG_SIGUSR2_ACTION=y +CONFIG_SPI=y +CONFIG_STACK_COLORATION=y +CONFIG_START_DAY=30 +CONFIG_START_MONTH=11 +CONFIG_STDIO_BUFFER_SIZE=32 +CONFIG_STM32H7_BKPSRAM=y +CONFIG_STM32H7_DMA1=y +CONFIG_STM32H7_DMA2=y +CONFIG_STM32H7_OTGFS=y +CONFIG_STM32H7_PROGMEM=y +CONFIG_STM32H7_SERIAL_DISABLE_REORDERING=y +CONFIG_STM32H7_TIM1=y +CONFIG_STM32H7_UART8=y +CONFIG_SYSTEMTICK_HOOK=y +CONFIG_SYSTEM_CDCACM=y +CONFIG_TASK_NAME_SIZE=24 +CONFIG_TTY_SIGINT=y +CONFIG_TTY_SIGINT_CHAR=0x03 +CONFIG_TTY_SIGTSTP=y +CONFIG_UART8_RXBUFSIZE=512 +CONFIG_UART8_RXDMA=y +CONFIG_UART8_TXBUFSIZE=512 +CONFIG_UART8_TXDMA=y +CONFIG_USBDEV=y +CONFIG_USBDEV_BUSPOWERED=y +CONFIG_USBDEV_MAXPOWER=500 +CONFIG_USEC_PER_TICK=1000 diff --git a/boards/siyi/n7/nuttx-config/include/board.h b/boards/siyi/n7/nuttx-config/include/board.h new file mode 100644 index 000000000000..48edff42e4ef --- /dev/null +++ b/boards/siyi/n7/nuttx-config/include/board.h @@ -0,0 +1,378 @@ +/************************************************************************************ + * nuttx-config/include/board.h + * + * Copyright (C) 2016-2019 Gregory Nutt. All rights reserved. + * Authors: David Sidrane + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name NuttX nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ************************************************************************************/ +#pragma once + +/************************************************************************************ + * Included Files + ************************************************************************************/ + +#include "board_dma_map.h" + +#include + +#ifndef __ASSEMBLY__ +# include +#endif + +#include "stm32_rcc.h" +#include "stm32_sdmmc.h" + + +/* Clocking *************************************************************************/ +/* The board provides the following clock sources: + * + * X1: 16 MHz crystal for HSE + * + * So we have these clock source available within the STM32 + * + * HSI: 16 MHz RC factory-trimmed + * HSE: 16 MHz crystal for HSE + */ + +#define STM32_BOARD_XTAL 16000000ul + +#define STM32_HSI_FREQUENCY 16000000ul +#define STM32_LSI_FREQUENCY 32000 +#define STM32_HSE_FREQUENCY STM32_BOARD_XTAL +#define STM32_LSE_FREQUENCY 32768 + +/* Main PLL Configuration. + * + * PLL source is HSE = 16,000,000 + * + * PLL_VCOx = (STM32_HSE_FREQUENCY / PLLM) * PLLN + * Subject to: + * + * 1 <= PLLM <= 63 + * 4 <= PLLN <= 512 + * 150 MHz <= PLL_VCOL <= 420MHz + * 192 MHz <= PLL_VCOH <= 836MHz + * + * SYSCLK = PLL_VCO / PLLP + * CPUCLK = SYSCLK / D1CPRE + * Subject to + * + * PLLP1 = {2, 4, 6, 8, ..., 128} + * PLLP2,3 = {2, 3, 4, ..., 128} + * CPUCLK <= 480 MHz + */ + +#define STM32_BOARD_USEHSE + +#define STM32_PLLCFG_PLLSRC RCC_PLLCKSELR_PLLSRC_HSE + +/* PLL1, wide 4 - 8 MHz input, enable DIVP, DIVQ, DIVR + * + * PLL1_VCO = (16,000,000 / 1) * 60 = 960 MHz + * + * PLL1P = PLL1_VCO/2 = 960 MHz / 2 = 480 MHz + * PLL1Q = PLL1_VCO/4 = 960 MHz / 4 = 240 MHz + * PLL1R = PLL1_VCO/8 = 960 MHz / 8 = 120 MHz + */ + +#define STM32_PLLCFG_PLL1CFG (RCC_PLLCFGR_PLL1VCOSEL_WIDE|RCC_PLLCFGR_PLL1RGE_4_8_MHZ|RCC_PLLCFGR_DIVP1EN|RCC_PLLCFGR_DIVQ1EN|RCC_PLLCFGR_DIVR1EN) +#define STM32_PLLCFG_PLL1M RCC_PLLCKSELR_DIVM1(1) +#define STM32_PLLCFG_PLL1N RCC_PLL1DIVR_N1(60) +#define STM32_PLLCFG_PLL1P RCC_PLL1DIVR_P1(2) +#define STM32_PLLCFG_PLL1Q RCC_PLL1DIVR_Q1(4) +#define STM32_PLLCFG_PLL1R RCC_PLL1DIVR_R1(8) + +#define STM32_VCO1_FREQUENCY ((STM32_HSE_FREQUENCY / 1) * 60) +#define STM32_PLL1P_FREQUENCY (STM32_VCO1_FREQUENCY / 2) +#define STM32_PLL1Q_FREQUENCY (STM32_VCO1_FREQUENCY / 4) +#define STM32_PLL1R_FREQUENCY (STM32_VCO1_FREQUENCY / 8) + +/* PLL2 */ + +#define STM32_PLLCFG_PLL2CFG (RCC_PLLCFGR_PLL2VCOSEL_WIDE|RCC_PLLCFGR_PLL2RGE_4_8_MHZ|RCC_PLLCFGR_DIVP2EN|RCC_PLLCFGR_DIVQ2EN|RCC_PLLCFGR_DIVR2EN) +#define STM32_PLLCFG_PLL2M RCC_PLLCKSELR_DIVM2(4) +#define STM32_PLLCFG_PLL2N RCC_PLL2DIVR_N2(48) +#define STM32_PLLCFG_PLL2P RCC_PLL2DIVR_P2(2) +#define STM32_PLLCFG_PLL2Q RCC_PLL2DIVR_Q2(2) +#define STM32_PLLCFG_PLL2R RCC_PLL2DIVR_R2(2) + +#define STM32_VCO2_FREQUENCY ((STM32_HSE_FREQUENCY / 4) * 48) +#define STM32_PLL2P_FREQUENCY (STM32_VCO2_FREQUENCY / 2) +#define STM32_PLL2Q_FREQUENCY (STM32_VCO2_FREQUENCY / 2) +#define STM32_PLL2R_FREQUENCY (STM32_VCO2_FREQUENCY / 2) + +/* PLL3 */ + +#define STM32_PLLCFG_PLL3CFG (RCC_PLLCFGR_PLL3VCOSEL_WIDE|RCC_PLLCFGR_PLL3RGE_4_8_MHZ|RCC_PLLCFGR_DIVQ3EN) +#define STM32_PLLCFG_PLL3M RCC_PLLCKSELR_DIVM3(4) +#define STM32_PLLCFG_PLL3N RCC_PLL3DIVR_N3(48) +#define STM32_PLLCFG_PLL3P RCC_PLL3DIVR_P3(2) +#define STM32_PLLCFG_PLL3Q RCC_PLL3DIVR_Q3(4) +#define STM32_PLLCFG_PLL3R RCC_PLL3DIVR_R3(2) + +#define STM32_VCO3_FREQUENCY ((STM32_HSE_FREQUENCY / 4) * 48) +#define STM32_PLL3P_FREQUENCY (STM32_VCO3_FREQUENCY / 2) +#define STM32_PLL3Q_FREQUENCY (STM32_VCO3_FREQUENCY / 4) +#define STM32_PLL3R_FREQUENCY (STM32_VCO3_FREQUENCY / 2) + +/* SYSCLK = PLL1P = 480MHz + * CPUCLK = SYSCLK / 1 = 480 MHz + */ + +#define STM32_RCC_D1CFGR_D1CPRE (RCC_D1CFGR_D1CPRE_SYSCLK) +#define STM32_SYSCLK_FREQUENCY (STM32_PLL1P_FREQUENCY) +#define STM32_CPUCLK_FREQUENCY (STM32_SYSCLK_FREQUENCY / 1) + +/* Configure Clock Assignments */ + +/* AHB clock (HCLK) is SYSCLK/2 (240 MHz max) + * HCLK1 = HCLK2 = HCLK3 = HCLK4 = 240 + */ + +#define STM32_RCC_D1CFGR_HPRE RCC_D1CFGR_HPRE_SYSCLKd2 /* HCLK = SYSCLK / 2 */ +#define STM32_ACLK_FREQUENCY (STM32_CPUCLK_FREQUENCY / 2) /* ACLK in D1, HCLK3 in D1 */ +#define STM32_HCLK_FREQUENCY (STM32_CPUCLK_FREQUENCY / 2) /* HCLK in D2, HCLK4 in D3 */ +#define STM32_BOARD_HCLK STM32_HCLK_FREQUENCY /* same as above, to satisfy compiler */ + +/* APB1 clock (PCLK1) is HCLK/2 (120 MHz) */ + +#define STM32_RCC_D2CFGR_D2PPRE1 RCC_D2CFGR_D2PPRE1_HCLKd2 /* PCLK1 = HCLK / 2 */ +#define STM32_PCLK1_FREQUENCY (STM32_HCLK_FREQUENCY/2) + +/* APB2 clock (PCLK2) is HCLK/2 (120 MHz) */ + +#define STM32_RCC_D2CFGR_D2PPRE2 RCC_D2CFGR_D2PPRE2_HCLKd2 /* PCLK2 = HCLK / 2 */ +#define STM32_PCLK2_FREQUENCY (STM32_HCLK_FREQUENCY/2) + +/* APB3 clock (PCLK3) is HCLK/2 (120 MHz) */ + +#define STM32_RCC_D1CFGR_D1PPRE RCC_D1CFGR_D1PPRE_HCLKd2 /* PCLK3 = HCLK / 2 */ +#define STM32_PCLK3_FREQUENCY (STM32_HCLK_FREQUENCY/2) + +/* APB4 clock (PCLK4) is HCLK/4 (120 MHz) */ + +#define STM32_RCC_D3CFGR_D3PPRE RCC_D3CFGR_D3PPRE_HCLKd2 /* PCLK4 = HCLK / 2 */ +#define STM32_PCLK4_FREQUENCY (STM32_HCLK_FREQUENCY/2) + +/* Timer clock frequencies */ + +/* Timers driven from APB1 will be twice PCLK1 */ + +#define STM32_APB1_TIM2_CLKIN (2*STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM3_CLKIN (2*STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM4_CLKIN (2*STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM5_CLKIN (2*STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM6_CLKIN (2*STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM7_CLKIN (2*STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM12_CLKIN (2*STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM13_CLKIN (2*STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM14_CLKIN (2*STM32_PCLK1_FREQUENCY) + +/* Timers driven from APB2 will be twice PCLK2 */ + +#define STM32_APB2_TIM1_CLKIN (2*STM32_PCLK2_FREQUENCY) +#define STM32_APB2_TIM8_CLKIN (2*STM32_PCLK2_FREQUENCY) +#define STM32_APB2_TIM15_CLKIN (2*STM32_PCLK2_FREQUENCY) +#define STM32_APB2_TIM16_CLKIN (2*STM32_PCLK2_FREQUENCY) +#define STM32_APB2_TIM17_CLKIN (2*STM32_PCLK2_FREQUENCY) + +/* Kernel Clock Configuration + * + * Note: look at Table 54 in ST Manual + */ + + + +#define STM32_RCC_D2CCIP2R_I2C123SRC RCC_D2CCIP2R_I2C123SEL_HSI /* I2C123 clock source */ + +#define STM32_RCC_D3CCIPR_I2C4SRC RCC_D3CCIPR_I2C4SEL_HSI /* I2C4 clock source */ + +#define STM32_RCC_D2CCIP1R_SPI123SRC RCC_D2CCIP1R_SPI123SEL_PLL2 /* SPI123 clock source */ + +#define STM32_RCC_D2CCIP1R_SPI45SRC RCC_D2CCIP1R_SPI45SEL_PLL2 /* SPI45 clock source */ + +#define STM32_RCC_D3CCIPR_SPI6SRC RCC_D3CCIPR_SPI6SEL_PLL2 /* SPI6 clock source */ + +#define STM32_RCC_D2CCIP2R_USBSRC RCC_D2CCIP2R_USBSEL_PLL3 /* USB 1 and 2 clock source */ + +#define STM32_RCC_D3CCIPR_ADCSRC RCC_D3CCIPR_ADCSEL_PLL2 /* ADC 1 2 3 clock source */ + +#define STM32_RCC_D2CCIP1R_FDCANSEL RCC_D2CCIP1R_FDCANSEL_HSE /* FDCAN 1 2 clock source */ + +#define STM32_FDCANCLK STM32_HSE_FREQUENCY + +/* FLASH wait states */ + +#define BOARD_FLASH_WAITSTATES 2 + +/* SDMMC definitions ********************************************************/ + +/* Init 400kHz, freq = PLL1Q/(2*div) div = PLL1Q/(2*freq) */ + +#define STM32_SDMMC_INIT_CLKDIV (300 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT) + +/* 25 MHz Max for now, 25 mHZ = PLL1Q/(2*div), div = PLL1Q/(2*freq) + * div = 4.8 = 240 / 50, So round up to 5 for default speed 24 MB/s + */ + +#if defined(CONFIG_STM32H7_SDMMC_XDMA) || defined(CONFIG_STM32H7_SDMMC_IDMA) +# define STM32_SDMMC_MMCXFR_CLKDIV (5 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT) +#else +# define STM32_SDMMC_MMCXFR_CLKDIV (100 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT) +#endif +#if defined(CONFIG_STM32H7_SDMMC_XDMA) || defined(CONFIG_STM32H7_SDMMC_IDMA) +# define STM32_SDMMC_SDXFR_CLKDIV (5 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT) +#else +# define STM32_SDMMC_SDXFR_CLKDIV (100 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT) +#endif + +#define STM32_SDMMC_CLKCR_EDGE STM32_SDMMC_CLKCR_NEGEDGE + +/* LED definitions ******************************************************************/ +/* The board has three, LED_GREEN a Green LED, LED_BLUE + * a Blue LED and LED_RED a Red LED, that can be controlled by software. + * + * If CONFIG_ARCH_LEDS is not defined, then the user can control the LEDs in any way. + * The following definitions are used to access individual LEDs. + */ + +/* LED index values for use with board_userled() */ + +#define BOARD_LED1 0 +#define BOARD_LED2 1 +#define BOARD_LED3 2 +#define BOARD_NLEDS 3 + +#define BOARD_LED_RED BOARD_LED1 +#define BOARD_LED_GREEN BOARD_LED2 +#define BOARD_LED_BLUE BOARD_LED3 + +/* LED bits for use with board_userled_all() */ + +#define BOARD_LED1_BIT (1 << BOARD_LED1) +#define BOARD_LED2_BIT (1 << BOARD_LED2) +#define BOARD_LED3_BIT (1 << BOARD_LED3) + +/* If CONFIG_ARCH_LEDS is defined, the usage by the board port is defined in + * include/board.h and src/stm32_leds.c. The LEDs are used to encode OS-related + * events as follows: + * + * + * SYMBOL Meaning LED state + * Red Green Blue + * ---------------------- -------------------------- ------ ------ ----*/ + +#define LED_STARTED 0 /* NuttX has been started OFF OFF OFF */ +#define LED_HEAPALLOCATE 1 /* Heap has been allocated OFF OFF ON */ +#define LED_IRQSENABLED 2 /* Interrupts enabled OFF ON OFF */ +#define LED_STACKCREATED 3 /* Idle stack created OFF ON ON */ +#define LED_INIRQ 4 /* In an interrupt N/C N/C GLOW */ +#define LED_SIGNAL 5 /* In a signal handler N/C GLOW N/C */ +#define LED_ASSERTION 6 /* An assertion failed GLOW N/C GLOW */ +#define LED_PANIC 7 /* The system has crashed Blink OFF N/C */ +#define LED_IDLE 8 /* MCU is is sleep mode ON OFF OFF */ + +/* Thus if the Green LED is statically on, NuttX has successfully booted and + * is, apparently, running normally. If the Red LED is flashing at + * approximately 2Hz, then a fatal error has been detected and the system + * has halted. + */ + +/* Alternate function pin selections ************************************************/ + +#define GPIO_USART1_RX GPIO_USART1_RX_3 /* PB7 */ +#define GPIO_USART1_TX GPIO_USART1_TX_3 /* PB6 */ + +#define GPIO_USART2_RX GPIO_USART2_RX_2 /* PD6 */ +#define GPIO_USART2_TX GPIO_USART2_TX_2 /* PD5 */ +#define GPIO_USART2_RTS GPIO_USART2_RTS_2 /* PD4 */ +#define GPIO_USART2_CTS GPIO_USART2_CTS_NSS_2 /* PD3 */ + + +#define GPIO_UART4_RX GPIO_UART4_RX_5 /* PD0 */ +#define GPIO_UART4_TX GPIO_UART4_TX_5 /* PD1 */ + + + +#define GPIO_UART7_RX GPIO_UART7_RX_4 /* PF6 */ +#define GPIO_UART7_TX GPIO_UART7_TX_3 /* PE8 */ + +#define GPIO_UART8_RX GPIO_UART8_RX_1 /* PE0 */ +#define GPIO_UART8_TX GPIO_UART8_TX_1 /* PE1 */ + +/* CAN + * + * CAN1 is routed to transceiver. + */ +#define GPIO_CAN1_RX GPIO_CAN1_RX_5 /* PI9 */ +#define GPIO_CAN1_TX GPIO_CAN1_TX_4 /* PH13 */ + +/* SPI + * SPI1 sensors + * SPI2 is FRAM. + * SPI4 is BARO + */ + +#define GPIO_SPI1_MISO GPIO_SPI1_MISO_1 /* PA6 */ +#define GPIO_SPI1_MOSI GPIO_SPI1_MOSI_3 /* PD7 */ +#define GPIO_SPI1_SCK GPIO_SPI1_SCK_3 /* PG11 */ + +#define GPIO_SPI2_MISO GPIO_SPI2_MISO_3 /* PI2 */ +#define GPIO_SPI2_MOSI GPIO_SPI2_MOSI_4 /* PI3 */ +#define GPIO_SPI2_SCK GPIO_SPI2_SCK_6 /* PI1 */ + +#define GPIO_SPI4_MISO GPIO_SPI4_MISO_1 /* PE13 */ +#define GPIO_SPI4_MOSI GPIO_SPI4_MOSI_2 /* PE6 */ +#define GPIO_SPI4_SCK GPIO_SPI4_SCK_2 /* PE2 */ + + + +/* I2C + * + * Each I2C is associated with a U[S]ART + * hence the naming I2C2_SDA_UART4 in FMU USAGE spreadsheet + * + * The optional _GPIO configurations allow the I2C driver to manually + * reset the bus to clear stuck slaves. They match the pin configuration, + * but are normally-high GPIOs. + * + */ + +#define GPIO_I2C1_SCL GPIO_I2C1_SCL_2 /* PB8 */ +#define GPIO_I2C1_SDA GPIO_I2C1_SDA_2 /* PB9 */ + +#define GPIO_I2C2_SCL GPIO_I2C2_SCL_2 /* PF1 */ +#define GPIO_I2C2_SDA GPIO_I2C2_SDA_2 /* PF0 */ + +#define GPIO_I2C3_SCL GPIO_I2C3_SCL_2 /* PH7 */ +#define GPIO_I2C3_SDA GPIO_I2C3_SDA_2 /* PH8 */ + +#define GPIO_I2C4_SCL GPIO_I2C4_SCL_2 /* PF14 */ +#define GPIO_I2C4_SDA GPIO_I2C4_SDA_2 /* PF15 */ diff --git a/boards/siyi/n7/nuttx-config/include/board_dma_map.h b/boards/siyi/n7/nuttx-config/include/board_dma_map.h new file mode 100644 index 000000000000..fc7d7d27da79 --- /dev/null +++ b/boards/siyi/n7/nuttx-config/include/board_dma_map.h @@ -0,0 +1,44 @@ +/**************************************************************************** + * + * Copyright (c) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#pragma once + +// DMAMUX1 +#define DMAMAP_SPI1_RX DMAMAP_DMA12_SPI1RX_0 /* DMA1:37 */ +#define DMAMAP_SPI1_TX DMAMAP_DMA12_SPI1TX_0 /* DMA1:38 */ + +#define DMAMAP_SPI2_RX DMAMAP_DMA12_SPI2RX_0 /* 3 DMA1:39 FRAM */ +#define DMAMAP_SPI2_TX DMAMAP_DMA12_SPI2TX_0 /* 4 DMA1:40 FRAM */ + +#define DMAMAP_UART8_RX DMAMAP_DMA12_UART8RX_0 /* DMA1:81 */ +#define DMAMAP_UART8_TX DMAMAP_DMA12_UART8TX_0 /* DMA1:82 */ diff --git a/boards/siyi/n7/nuttx-config/nsh/defconfig b/boards/siyi/n7/nuttx-config/nsh/defconfig new file mode 100644 index 000000000000..f2f14e7cc99f --- /dev/null +++ b/boards/siyi/n7/nuttx-config/nsh/defconfig @@ -0,0 +1,252 @@ +# +# This file is autogenerated: PLEASE DO NOT EDIT IT. +# +# You can use "make menuconfig" to make any modifications to the installed .config file. +# You can then do "make savedefconfig" to generate a new defconfig file that includes your +# modifications. +# +# CONFIG_DISABLE_ENVIRON is not set +# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set +# CONFIG_DISABLE_PTHREAD is not set +# CONFIG_MMCSD_HAVE_CARDDETECT is not set +# CONFIG_MMCSD_HAVE_WRITEPROTECT is not set +# CONFIG_MMCSD_MMCSUPPORT is not set +# CONFIG_MMCSD_SPI is not set +# CONFIG_NSH_DISABLEBG is not set +# CONFIG_NSH_DISABLESCRIPT is not set +# CONFIG_NSH_DISABLE_CAT is not set +# CONFIG_NSH_DISABLE_CD is not set +# CONFIG_NSH_DISABLE_CP is not set +# CONFIG_NSH_DISABLE_DATE is not set +# CONFIG_NSH_DISABLE_DF is not set +# CONFIG_NSH_DISABLE_ECHO is not set +# CONFIG_NSH_DISABLE_ENV is not set +# CONFIG_NSH_DISABLE_EXEC is not set +# CONFIG_NSH_DISABLE_EXIT is not set +# CONFIG_NSH_DISABLE_EXPORT is not set +# CONFIG_NSH_DISABLE_FREE is not set +# CONFIG_NSH_DISABLE_GET is not set +# CONFIG_NSH_DISABLE_HELP is not set +# CONFIG_NSH_DISABLE_ITEF is not set +# CONFIG_NSH_DISABLE_KILL is not set +# CONFIG_NSH_DISABLE_LOOPS is not set +# CONFIG_NSH_DISABLE_LS is not set +# CONFIG_NSH_DISABLE_MKDIR is not set +# CONFIG_NSH_DISABLE_MKFATFS is not set +# CONFIG_NSH_DISABLE_MOUNT is not set +# CONFIG_NSH_DISABLE_MV is not set +# CONFIG_NSH_DISABLE_PS is not set +# CONFIG_NSH_DISABLE_PSSTACKUSAGE is not set +# CONFIG_NSH_DISABLE_PWD is not set +# CONFIG_NSH_DISABLE_RM is not set +# CONFIG_NSH_DISABLE_RMDIR is not set +# CONFIG_NSH_DISABLE_SEMICOLON is not set +# CONFIG_NSH_DISABLE_SET is not set +# CONFIG_NSH_DISABLE_SLEEP is not set +# CONFIG_NSH_DISABLE_SOURCE is not set +# CONFIG_NSH_DISABLE_TEST is not set +# CONFIG_NSH_DISABLE_TIME is not set +# CONFIG_NSH_DISABLE_UMOUNT is not set +# CONFIG_NSH_DISABLE_UNSET is not set +# CONFIG_NSH_DISABLE_USLEEP is not set +CONFIG_ARCH="arm" +CONFIG_ARCH_BOARD_CUSTOM=y +CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/siyi/n7/nuttx-config" +CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y +CONFIG_ARCH_BOARD_CUSTOM_NAME="px4" +CONFIG_ARCH_CHIP="stm32h7" +CONFIG_ARCH_CHIP_STM32H743II=y +CONFIG_ARCH_CHIP_STM32H7=y +CONFIG_ARCH_INTERRUPTSTACK=768 +CONFIG_ARCH_STACKDUMP=y +CONFIG_ARMV7M_BASEPRI_WAR=y +CONFIG_ARMV7M_DCACHE=y +CONFIG_ARMV7M_DTCM=y +CONFIG_ARMV7M_ICACHE=y +CONFIG_ARMV7M_MEMCPY=y +CONFIG_ARMV7M_USEBASEPRI=y +CONFIG_ARM_MPU_EARLY_RESET=y +CONFIG_BOARDCTL_RESET=y +CONFIG_BOARD_ASSERT_RESET_VALUE=0 +CONFIG_BOARD_CRASHDUMP=y +CONFIG_BOARD_LOOPSPERMSEC=95150 +CONFIG_BOARD_RESET_ON_ASSERT=2 +CONFIG_BUILTIN=y +CONFIG_CDCACM=y +CONFIG_CDCACM_IFLOWCONTROL=y +CONFIG_CDCACM_PRODUCTID=0x0038 +CONFIG_CDCACM_PRODUCTSTR="PX4 N7" +CONFIG_CDCACM_RXBUFSIZE=600 +CONFIG_CDCACM_TXBUFSIZE=12000 +CONFIG_CDCACM_VENDORID=0x3185 +CONFIG_CDCACM_VENDORSTR="Siyi" +CONFIG_DEBUG_FULLOPT=y +CONFIG_DEBUG_HARDFAULT_ALERT=y +CONFIG_DEBUG_MEMFAULT=y +CONFIG_DEBUG_SYMBOLS=y +CONFIG_DEBUG_TCBINFO=y +CONFIG_DEFAULT_SMALL=y +CONFIG_DEV_FIFO_SIZE=0 +CONFIG_DEV_PIPE_MAXSIZE=1024 +CONFIG_DEV_PIPE_SIZE=70 +CONFIG_EXPERIMENTAL=y +CONFIG_FAT_DMAMEMORY=y +CONFIG_FAT_LCNAMES=y +CONFIG_FAT_LFN=y +CONFIG_FAT_LFN_ALIAS_HASH=y +CONFIG_FDCLONE_STDIO=y +CONFIG_FS_BINFS=y +CONFIG_FS_CROMFS=y +CONFIG_FS_FAT=y +CONFIG_FS_FATTIME=y +CONFIG_FS_PROCFS=y +CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y +CONFIG_FS_PROCFS_MAX_TASKS=64 +CONFIG_FS_PROCFS_REGISTER=y +CONFIG_FS_ROMFS=y +CONFIG_GRAN=y +CONFIG_GRAN_INTR=y +CONFIG_HAVE_CXX=y +CONFIG_HAVE_CXXINITIALIZE=y +CONFIG_I2C=y +CONFIG_I2C_RESET=y +CONFIG_IDLETHREAD_STACKSIZE=750 +CONFIG_INIT_ENTRYPOINT="nsh_main" +CONFIG_INIT_STACKSIZE=3194 +CONFIG_LIBC_FLOATINGPOINT=y +CONFIG_LIBC_LONG_LONG=y +CONFIG_LIBC_MAX_EXITFUNS=1 +CONFIG_LIBC_STRERROR=y +CONFIG_MEMSET_64BIT=y +CONFIG_MEMSET_OPTSPEED=y +CONFIG_MMCSD=y +CONFIG_MMCSD_SDIO=y +CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y +CONFIG_MM_REGIONS=4 +CONFIG_MTD=y +CONFIG_MTD_BYTE_WRITE=y +CONFIG_MTD_PARTITION=y +CONFIG_MTD_PROGMEM=y +CONFIG_MTD_RAMTRON=y +CONFIG_NAME_MAX=40 +CONFIG_NSH_ARCHINIT=y +CONFIG_NSH_ARGCAT=y +CONFIG_NSH_BUILTIN_APPS=y +CONFIG_NSH_CMDPARMS=y +CONFIG_NSH_CROMFSETC=y +CONFIG_NSH_LINELEN=128 +CONFIG_NSH_MAXARGUMENTS=15 +CONFIG_NSH_NESTDEPTH=8 +CONFIG_NSH_QUOTE=y +CONFIG_NSH_ROMFSETC=y +CONFIG_NSH_ROMFSSECTSIZE=128 +CONFIG_NSH_STRERROR=y +CONFIG_NSH_VARS=y +CONFIG_OTG_ID_GPIO_DISABLE=y +CONFIG_PIPES=y +CONFIG_PREALLOC_TIMERS=50 +CONFIG_PRIORITY_INHERITANCE=y +CONFIG_PTHREAD_MUTEX_ROBUST=y +CONFIG_PTHREAD_STACK_MIN=512 +CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5 +CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5 +CONFIG_RAMTRON_SETSPEED=y +CONFIG_RAM_SIZE=245760 +CONFIG_RAM_START=0x20010000 +CONFIG_RAW_BINARY=y +CONFIG_READLINE_CMD_HISTORY=y +CONFIG_READLINE_TABCOMPLETION=y +CONFIG_RTC_DATETIME=y +CONFIG_SCHED_HPWORK=y +CONFIG_SCHED_HPWORKPRIORITY=249 +CONFIG_SCHED_HPWORKSTACKSIZE=1280 +CONFIG_SCHED_INSTRUMENTATION=y +CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y +CONFIG_SCHED_INSTRUMENTATION_SWITCH=y +CONFIG_SCHED_LPWORK=y +CONFIG_SCHED_LPWORKPRIORITY=50 +CONFIG_SCHED_LPWORKSTACKSIZE=1632 +CONFIG_SCHED_WAITPID=y +CONFIG_SDMMC1_SDIO_PULLUP=y +CONFIG_SEM_PREALLOCHOLDERS=32 +CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y +CONFIG_SERIAL_TERMIOS=y +CONFIG_SIG_DEFAULT=y +CONFIG_SIG_SIGALRM_ACTION=y +CONFIG_SIG_SIGUSR1_ACTION=y +CONFIG_SIG_SIGUSR2_ACTION=y +CONFIG_SIG_SIGWORK=4 +CONFIG_STACK_COLORATION=y +CONFIG_START_DAY=30 +CONFIG_START_MONTH=11 +CONFIG_STDIO_BUFFER_SIZE=256 +CONFIG_STM32H7_ADC1=y +CONFIG_STM32H7_ADC3=y +CONFIG_STM32H7_BBSRAM=y +CONFIG_STM32H7_BBSRAM_FILES=5 +CONFIG_STM32H7_BDMA=y +CONFIG_STM32H7_BKPSRAM=y +CONFIG_STM32H7_DMA1=y +CONFIG_STM32H7_DMA2=y +CONFIG_STM32H7_DMACAPABLE=y +CONFIG_STM32H7_FLOWCONTROL_BROKEN=y +CONFIG_STM32H7_I2C1=y +CONFIG_STM32H7_I2C2=y +CONFIG_STM32H7_I2C3=y +CONFIG_STM32H7_I2C4=y +CONFIG_STM32H7_I2C_DYNTIMEO=y +CONFIG_STM32H7_I2C_DYNTIMEO_STARTSTOP=10 +CONFIG_STM32H7_OTGFS=y +CONFIG_STM32H7_PROGMEM=y +CONFIG_STM32H7_RTC=y +CONFIG_STM32H7_RTC_AUTO_LSECLOCK_START_DRV_CAPABILITY=y +CONFIG_STM32H7_RTC_MAGIC_REG=1 +CONFIG_STM32H7_SAVE_CRASHDUMP=y +CONFIG_STM32H7_SDMMC1=y +CONFIG_STM32H7_SERIALBRK_BSDCOMPAT=y +CONFIG_STM32H7_SERIAL_DISABLE_REORDERING=y +CONFIG_STM32H7_SPI1=y +CONFIG_STM32H7_SPI1_DMA=y +CONFIG_STM32H7_SPI1_DMA_BUFFER=1024 +CONFIG_STM32H7_SPI2=y +CONFIG_STM32H7_SPI4=y +CONFIG_STM32H7_TIM1=y +CONFIG_STM32H7_TIM3=y +CONFIG_STM32H7_TIM4=y +CONFIG_STM32H7_UART4=y +CONFIG_STM32H7_UART7=y +CONFIG_STM32H7_UART8=y +CONFIG_STM32H7_USART1=y +CONFIG_STM32H7_USART2=y +CONFIG_STM32H7_USART_BREAKS=y +CONFIG_STM32H7_USART_INVERT=y +CONFIG_STM32H7_USART_SINGLEWIRE=y +CONFIG_STM32H7_USART_SWAP=y +CONFIG_SYSTEM_CDCACM=y +CONFIG_SYSTEM_NSH=y +CONFIG_TASK_NAME_SIZE=24 +CONFIG_TTY_SIGINT=y +CONFIG_TTY_SIGTSTP=y +CONFIG_UART4_BAUD=57600 +CONFIG_UART4_RXBUFSIZE=600 +CONFIG_UART4_TXBUFSIZE=1500 +CONFIG_UART7_BAUD=57600 +CONFIG_UART7_RXBUFSIZE=600 +CONFIG_UART7_SERIAL_CONSOLE=y +CONFIG_UART7_TXBUFSIZE=1500 +CONFIG_UART8_BAUD=57600 +CONFIG_UART8_RXBUFSIZE=600 +CONFIG_UART8_TXBUFSIZE=1500 +CONFIG_USART1_BAUD=57600 +CONFIG_USART1_RXBUFSIZE=600 +CONFIG_USART1_TXBUFSIZE=1500 +CONFIG_USART2_BAUD=57600 +CONFIG_USART2_IFLOWCONTROL=y +CONFIG_USART2_OFLOWCONTROL=y +CONFIG_USART2_RXBUFSIZE=600 +CONFIG_USART2_TXBUFSIZE=1500 +CONFIG_USBDEV=y +CONFIG_USBDEV_BUSPOWERED=y +CONFIG_USBDEV_MAXPOWER=500 +CONFIG_USEC_PER_TICK=1000 +CONFIG_WATCHDOG=y diff --git a/boards/siyi/n7/nuttx-config/scripts/bootloader_script.ld b/boards/siyi/n7/nuttx-config/scripts/bootloader_script.ld new file mode 100644 index 000000000000..43d36e7dc900 --- /dev/null +++ b/boards/siyi/n7/nuttx-config/scripts/bootloader_script.ld @@ -0,0 +1,215 @@ +/**************************************************************************** + * scripts/script.ld + * + * Copyright (C) 2016, 2019 Gregory Nutt. All rights reserved. + * Author: Gregory Nutt + * + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name NuttX nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/* The board uses an STM32H743II has 2048Kb of main FLASH memory. + * The flash memory is partitioned into a User Flash memory and a System + * Flash memory. Each of these memories has two banks: + * + * 1) User Flash memory: + * + * Bank 1: Start address 0x0800:0000 to 0x080F:FFFF with 8 sectors, 128Kb each + * Bank 2: Start address 0x0810:0000 to 0x081F:FFFF with 8 sectors, 128Kb each + * + * 2) System Flash memory: + * + * Bank 1: Start address 0x1FF0:0000 to 0x1FF1:FFFF with 1 x 128Kb sector + * Bank 1: Start address 0x1FF4:0000 to 0x1FF5:FFFF with 1 x 128Kb sector + * + * 3) User option bytes for user configuration, only in Bank 1. + * + * In the STM32H743II, two different boot spaces can be selected through + * the BOOT pin and the boot base address programmed in the BOOT_ADD0 and + * BOOT_ADD1 option bytes: + * + * 1) BOOT=0: Boot address defined by user option byte BOOT_ADD0[15:0]. + * ST programmed value: Flash memory at 0x0800:0000 + * 2) BOOT=1: Boot address defined by user option byte BOOT_ADD1[15:0]. + * ST programmed value: System bootloader at 0x1FF0:0000 + * + * The board has a test point on board, the BOOT0 pin is at ground so by + * default, the STM32 will boot to address 0x0800:0000 in FLASH unless the test + * point is pulled to 3.3V.then the boot will be from 0x1FF0:0000 + * + * The STM32H743ZI also has 1024Kb of data SRAM. + * SRAM is split up into several blocks and into three power domains: + * + * 1) TCM SRAMs are dedicated to the Cortex-M7 and are accessible with + * 0 wait states by the Cortex-M7 and by MDMA through AHBS slave bus + * + * 1.1) 128Kb of DTCM-RAM beginning at address 0x2000:0000 + * + * The DTCM-RAM is organized as 2 x 64Kb DTCM-RAMs on 2 x 32 bit + * DTCM ports. The DTCM-RAM could be used for critical real-time + * data, such as interrupt service routines or stack / heap memory. + * Both DTCM-RAMs can be used in parallel (for load/store operations) + * thanks to the Cortex-M7 dual issue capability. + * + * 1.2) 64Kb of ITCM-RAM beginning at address 0x0000:0000 + * + * This RAM is connected to ITCM 64-bit interface designed for + * execution of critical real-times routines by the CPU. + * + * 2) AXI SRAM (D1 domain) accessible by all system masters except BDMA + * through D1 domain AXI bus matrix + * + * 2.1) 512Kb of SRAM beginning at address 0x2400:0000 + * + * 3) AHB SRAM (D2 domain) accessible by all system masters except BDMA + * through D2 domain AHB bus matrix + * + * 3.1) 128Kb of SRAM1 beginning at address 0x3000:0000 + * 3.2) 128Kb of SRAM2 beginning at address 0x3002:0000 + * 3.3) 32Kb of SRAM3 beginning at address 0x3004:0000 + * + * SRAM1 - SRAM3 are one contiguous block: 288Kb at address 0x3000:0000 + * + * 4) AHB SRAM (D3 domain) accessible by most of system masters + * through D3 domain AHB bus matrix + * + * 4.1) 64Kb of SRAM4 beginning at address 0x3800:0000 + * 4.1) 4Kb of backup RAM beginning at address 0x3880:0000 + * + * When booting from FLASH, FLASH memory is aliased to address 0x0000:0000 + * where the code expects to begin execution by jumping to the entry point in + * the 0x0800:0000 address range. + * + * The bootloader uses the first sector of the flash, which is 128K in length. + */ + +MEMORY +{ + itcm (rwx) : ORIGIN = 0x00000000, LENGTH = 64K + flash (rx) : ORIGIN = 0x08000000, LENGTH = 128K + dtcm1 (rwx) : ORIGIN = 0x20000000, LENGTH = 64K + dtcm2 (rwx) : ORIGIN = 0x20010000, LENGTH = 64K + sram (rwx) : ORIGIN = 0x24000000, LENGTH = 512K + sram1 (rwx) : ORIGIN = 0x30000000, LENGTH = 128K + sram2 (rwx) : ORIGIN = 0x30020000, LENGTH = 128K + sram3 (rwx) : ORIGIN = 0x30040000, LENGTH = 32K + sram4 (rwx) : ORIGIN = 0x38000000, LENGTH = 64K + bbram (rwx) : ORIGIN = 0x38800000, LENGTH = 4K +} + +OUTPUT_ARCH(arm) +EXTERN(_vectors) +ENTRY(_stext) + +/* + * Ensure that abort() is present in the final object. The exception handling + * code pulled in by libgcc.a requires it (and that code cannot be easily avoided). + */ +EXTERN(abort) +EXTERN(_bootdelay_signature) + +SECTIONS +{ + .text : { + _stext = ABSOLUTE(.); + *(.vectors) + . = ALIGN(32); + /* + This signature provides the bootloader with a way to delay booting + */ + _bootdelay_signature = ABSOLUTE(.); + FILL(0xffecc2925d7d05c5) + . += 8; + *(.text .text.*) + *(.fixup) + *(.gnu.warning) + *(.rodata .rodata.*) + *(.gnu.linkonce.t.*) + *(.glue_7) + *(.glue_7t) + *(.got) + *(.gcc_except_table) + *(.gnu.linkonce.r.*) + _etext = ABSOLUTE(.); + + } > flash + + /* + * Init functions (static constructors and the like) + */ + .init_section : { + _sinit = ABSOLUTE(.); + KEEP(*(.init_array .init_array.*)) + _einit = ABSOLUTE(.); + } > flash + + + .ARM.extab : { + *(.ARM.extab*) + } > flash + + __exidx_start = ABSOLUTE(.); + .ARM.exidx : { + *(.ARM.exidx*) + } > flash + __exidx_end = ABSOLUTE(.); + + _eronly = ABSOLUTE(.); + + .data : { + _sdata = ABSOLUTE(.); + *(.data .data.*) + *(.gnu.linkonce.d.*) + CONSTRUCTORS + _edata = ABSOLUTE(.); + } > sram AT > flash + + .bss : { + _sbss = ABSOLUTE(.); + *(.bss .bss.*) + *(.gnu.linkonce.b.*) + *(COMMON) + . = ALIGN(4); + _ebss = ABSOLUTE(.); + } > sram + + /* Stabs debugging sections. */ + .stab 0 : { *(.stab) } + .stabstr 0 : { *(.stabstr) } + .stab.excl 0 : { *(.stab.excl) } + .stab.exclstr 0 : { *(.stab.exclstr) } + .stab.index 0 : { *(.stab.index) } + .stab.indexstr 0 : { *(.stab.indexstr) } + .comment 0 : { *(.comment) } + .debug_abbrev 0 : { *(.debug_abbrev) } + .debug_info 0 : { *(.debug_info) } + .debug_line 0 : { *(.debug_line) } + .debug_pubnames 0 : { *(.debug_pubnames) } + .debug_aranges 0 : { *(.debug_aranges) } +} diff --git a/boards/siyi/n7/nuttx-config/scripts/script.ld b/boards/siyi/n7/nuttx-config/scripts/script.ld new file mode 100644 index 000000000000..d6019c0d13f7 --- /dev/null +++ b/boards/siyi/n7/nuttx-config/scripts/script.ld @@ -0,0 +1,229 @@ +/**************************************************************************** + * scripts/script.ld + * + * Copyright (C) 2016, 2019 Gregory Nutt. All rights reserved. + * Author: Gregory Nutt + * + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name NuttX nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/* The board uses an STM32H743II has 2048Kb of main FLASH memory. + * The flash memory is partitioned into a User Flash memory and a System + * Flash memory. Each of these memories has two banks: + * + * 1) User Flash memory: + * + * Bank 1: Start address 0x0800:0000 to 0x080F:FFFF with 8 sectors, 128Kb each + * Bank 2: Start address 0x0810:0000 to 0x081F:FFFF with 8 sectors, 128Kb each + * + * 2) System Flash memory: + * + * Bank 1: Start address 0x1FF0:0000 to 0x1FF1:FFFF with 1 x 128Kb sector + * Bank 1: Start address 0x1FF4:0000 to 0x1FF5:FFFF with 1 x 128Kb sector + * + * 3) User option bytes for user configuration, only in Bank 1. + * + * In the STM32H743II, two different boot spaces can be selected through + * the BOOT pin and the boot base address programmed in the BOOT_ADD0 and + * BOOT_ADD1 option bytes: + * + * 1) BOOT=0: Boot address defined by user option byte BOOT_ADD0[15:0]. + * ST programmed value: Flash memory at 0x0800:0000 + * 2) BOOT=1: Boot address defined by user option byte BOOT_ADD1[15:0]. + * ST programmed value: System bootloader at 0x1FF0:0000 + * + * The board has a test point on board, the BOOT0 pin is at ground so by + * default, the STM32 will boot to address 0x0800:0000 in FLASH unless the test + * point is pulled to 3.3V.then the boot will be from 0x1FF0:0000 + * + * The STM32H743ZI also has 1024Kb of data SRAM. + * SRAM is split up into several blocks and into three power domains: + * + * 1) TCM SRAMs are dedicated to the Cortex-M7 and are accessible with + * 0 wait states by the Cortex-M7 and by MDMA through AHBS slave bus + * + * 1.1) 128Kb of DTCM-RAM beginning at address 0x2000:0000 + * + * The DTCM-RAM is organized as 2 x 64Kb DTCM-RAMs on 2 x 32 bit + * DTCM ports. The DTCM-RAM could be used for critical real-time + * data, such as interrupt service routines or stack / heap memory. + * Both DTCM-RAMs can be used in parallel (for load/store operations) + * thanks to the Cortex-M7 dual issue capability. + * + * 1.2) 64Kb of ITCM-RAM beginning at address 0x0000:0000 + * + * This RAM is connected to ITCM 64-bit interface designed for + * execution of critical real-times routines by the CPU. + * + * 2) AXI SRAM (D1 domain) accessible by all system masters except BDMA + * through D1 domain AXI bus matrix + * + * 2.1) 512Kb of SRAM beginning at address 0x2400:0000 + * + * 3) AHB SRAM (D2 domain) accessible by all system masters except BDMA + * through D2 domain AHB bus matrix + * + * 3.1) 128Kb of SRAM1 beginning at address 0x3000:0000 + * 3.2) 128Kb of SRAM2 beginning at address 0x3002:0000 + * 3.3) 32Kb of SRAM3 beginning at address 0x3004:0000 + * + * SRAM1 - SRAM3 are one contiguous block: 288Kb at address 0x3000:0000 + * + * 4) AHB SRAM (D3 domain) accessible by most of system masters + * through D3 domain AHB bus matrix + * + * 4.1) 64Kb of SRAM4 beginning at address 0x3800:0000 + * 4.1) 4Kb of backup RAM beginning at address 0x3880:0000 + * + * When booting from FLASH, FLASH memory is aliased to address 0x0000:0000 + * where the code expects to begin execution by jumping to the entry point in + * the 0x0800:0000 address range. + */ + +MEMORY +{ + ITCM_RAM (rwx) : ORIGIN = 0x00000000, LENGTH = 64K + FLASH (rx) : ORIGIN = 0x08020000, LENGTH = 1920K + + DTCM1_RAM (rwx) : ORIGIN = 0x20000000, LENGTH = 64K + DTCM2_RAM (rwx) : ORIGIN = 0x20010000, LENGTH = 64K + AXI_SRAM (rwx) : ORIGIN = 0x24000000, LENGTH = 512K /* D1 domain AXI bus */ + SRAM1 (rwx) : ORIGIN = 0x30000000, LENGTH = 128K /* D2 domain AHB bus */ + SRAM2 (rwx) : ORIGIN = 0x30020000, LENGTH = 128K /* D2 domain AHB bus */ + SRAM3 (rwx) : ORIGIN = 0x30040000, LENGTH = 32K /* D2 domain AHB bus */ + SRAM4 (rwx) : ORIGIN = 0x38000000, LENGTH = 64K /* D3 domain */ + BKPRAM (rwx) : ORIGIN = 0x38800000, LENGTH = 4K +} + +OUTPUT_ARCH(arm) +EXTERN(_vectors) +ENTRY(_stext) + +/* + * Ensure that abort() is present in the final object. The exception handling + * code pulled in by libgcc.a requires it (and that code cannot be easily avoided). + */ +EXTERN(abort) +EXTERN(_bootdelay_signature) +EXTERN(board_get_manifest) + +SECTIONS +{ + .text : { + _stext = ABSOLUTE(.); + *(.vectors) + . = ALIGN(32); + /* + This signature provides the bootloader with a way to delay booting + */ + _bootdelay_signature = ABSOLUTE(.); + FILL(0xffecc2925d7d05c5) + . += 8; + *(.text .text.*) + *(.fixup) + *(.gnu.warning) + *(.rodata .rodata.*) + *(.gnu.linkonce.t.*) + *(.glue_7) + *(.glue_7t) + *(.got) + *(.gcc_except_table) + *(.gnu.linkonce.r.*) + _etext = ABSOLUTE(.); + + } > FLASH + + /* + * Init functions (static constructors and the like) + */ + .init_section : { + _sinit = ABSOLUTE(.); + KEEP(*(.init_array .init_array.*)) + _einit = ABSOLUTE(.); + } > FLASH + + + .ARM.extab : { + *(.ARM.extab*) + } > FLASH + + __exidx_start = ABSOLUTE(.); + .ARM.exidx : { + *(.ARM.exidx*) + } > FLASH + __exidx_end = ABSOLUTE(.); + + _eronly = ABSOLUTE(.); + + .data : { + _sdata = ABSOLUTE(.); + *(.data .data.*) + *(.gnu.linkonce.d.*) + CONSTRUCTORS + _edata = ABSOLUTE(.); + + /* Pad out last section as the STM32H7 Flash write size is 256 bits. 32 bytes */ + . = ALIGN(16); + FILL(0xffff) + . += 16; + } > AXI_SRAM AT > FLASH = 0xffff + + .bss : { + _sbss = ABSOLUTE(.); + *(.bss .bss.*) + *(.gnu.linkonce.b.*) + *(COMMON) + . = ALIGN(4); + _ebss = ABSOLUTE(.); + } > AXI_SRAM + + /* Emit the the D3 power domain section for locating BDMA data */ + + .sram4_reserve (NOLOAD) : + { + *(.sram4) + . = ALIGN(4); + _sram4_heap_start = ABSOLUTE(.); + } > SRAM4 + + /* Stabs debugging sections. */ + .stab 0 : { *(.stab) } + .stabstr 0 : { *(.stabstr) } + .stab.excl 0 : { *(.stab.excl) } + .stab.exclstr 0 : { *(.stab.exclstr) } + .stab.index 0 : { *(.stab.index) } + .stab.indexstr 0 : { *(.stab.indexstr) } + .comment 0 : { *(.comment) } + .debug_abbrev 0 : { *(.debug_abbrev) } + .debug_info 0 : { *(.debug_info) } + .debug_line 0 : { *(.debug_line) } + .debug_pubnames 0 : { *(.debug_pubnames) } + .debug_aranges 0 : { *(.debug_aranges) } +} diff --git a/boards/siyi/n7/src/CMakeLists.txt b/boards/siyi/n7/src/CMakeLists.txt new file mode 100644 index 000000000000..c1386c4181a5 --- /dev/null +++ b/boards/siyi/n7/src/CMakeLists.txt @@ -0,0 +1,70 @@ +############################################################################ +# +# Copyright (c) 2016 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ +if("${PX4_BOARD_LABEL}" STREQUAL "bootloader") + add_library(drivers_board + bootloader_main.c + usb.c + ) + target_link_libraries(drivers_board + PRIVATE + nuttx_arch # sdio + nuttx_drivers # sdio + bootloader + ) + target_include_directories(drivers_board PRIVATE ${PX4_SOURCE_DIR}/platforms/nuttx/src/bootloader/common) + +else() + add_library(drivers_board + can.c + i2c.cpp + init.c + led.c + manifest.c + sdio.c + spi.cpp + timer_config.cpp + usb.c + ) + add_dependencies(drivers_board arch_board_hw_info) + + target_link_libraries(drivers_board + PRIVATE + arch_io_pins + arch_spi + arch_board_hw_info + drivers__led # drv_led_start + nuttx_arch # sdio + nuttx_drivers # sdio + px4_layer + ) +endif() diff --git a/boards/siyi/n7/src/board_config.h b/boards/siyi/n7/src/board_config.h new file mode 100644 index 000000000000..e705c87890b8 --- /dev/null +++ b/boards/siyi/n7/src/board_config.h @@ -0,0 +1,310 @@ +/**************************************************************************** + * + * Copyright (c) 2019 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file board_config.h + * + * Board internal definitions + */ + +#pragma once + +/**************************************************************************************************** + * Included Files + ****************************************************************************************************/ + +#include +#include +#include + +#include + +/**************************************************************************************************** + * Definitions + ****************************************************************************************************/ + +/* PX4IO connection configuration */ + +#define BOARD_USES_PX4IO_VERSION 2 +#define PX4IO_SERIAL_DEVICE "/dev/ttyS4" +#define PX4IO_SERIAL_TX_GPIO GPIO_UART8_TX +#define PX4IO_SERIAL_RX_GPIO GPIO_UART8_RX +#define PX4IO_SERIAL_BASE STM32_UART8_BASE +#define PX4IO_SERIAL_VECTOR STM32_IRQ_UART8 +#define PX4IO_SERIAL_TX_DMAMAP DMAMAP_UART8_TX +#define PX4IO_SERIAL_RX_DMAMAP DMAMAP_UART8_RX +#define PX4IO_SERIAL_RCC_REG STM32_RCC_APB1LENR +#define PX4IO_SERIAL_RCC_EN RCC_APB1LENR_UART8EN +#define PX4IO_SERIAL_CLOCK STM32_PCLK1_FREQUENCY +#define PX4IO_SERIAL_BITRATE 1500000 /* 1.5Mbps -> max rate for IO */ + +/* LEDs are driven with push open drain to support Anode to 5V or 3.3V */ + +#define GPIO_nLED_RED /* PB1 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN1) +#define GPIO_nLED_BLUE /* PC7 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN7) + +#define BOARD_HAS_CONTROL_STATUS_LEDS 1 +#define BOARD_OVERLOAD_LED LED_RED +#define BOARD_ARMED_STATE_LED LED_BLUE + +/* ADC channels */ + + + +/* Define GPIO pins used as ADC N.B. Channel numbers must match below */ + +#define PX4_ADC_GPIO \ + /* PA0 */ GPIO_ADC1_INP16, \ + /* PA1 */ GPIO_ADC1_INP17, \ + /* PB0 */ GPIO_ADC12_INP9, \ + /* PC0 */ GPIO_ADC123_INP10, \ + /* PC1 */ GPIO_ADC123_INP11, \ + /* PC2 */ GPIO_ADC123_INP12, \ + /* PC3 */ GPIO_ADC12_INP13 + + +/* Define Channel numbers must match above GPIO pin IN(n)*/ + +#define ADC_BATTERY_VOLTAGE_CHANNEL /* PA0 */ 16 +#define ADC_BATTERY_CURRENT_CHANNEL /* PA1 */ 17 +#define ADC_RSSI_IN_CHANNEL /* PB0 */ 9 +#define ADC_SCALED_V5_CHANNEL /* PC0 */ 10 +#define ADC_SCALED_VDD_3V3_SENSORS_CHANNEL /* PC1 */ 11 +#define ADC_HW_VER_SENSE_CHANNEL /* PC2 */ 12 +#define ADC_HW_REV_SENSE_CHANNEL /* PC3 */ 13 + +#define ADC_CHANNELS \ + ((1 << ADC_BATTERY_VOLTAGE_CHANNEL) | \ + (1 << ADC_BATTERY_CURRENT_CHANNEL) | \ + (1 << ADC_RSSI_IN_CHANNEL) | \ + (1 << ADC_SCALED_V5_CHANNEL) | \ + (1 << ADC_SCALED_VDD_3V3_SENSORS_CHANNEL) | \ + (1 << ADC_HW_VER_SENSE_CHANNEL) | \ + (1 << ADC_HW_REV_SENSE_CHANNEL)) + +/* HW has to large of R termination on ADC todo:change when HW value is chosen */ + +#define BOARD_ADC_OPEN_CIRCUIT_V (5.6f) + +/* HW Version and Revision drive signals Default to 1 to detect */ + +#define BOARD_HAS_HW_VERSIONING + +#define GPIO_HW_REV_DRIVE /* PH14 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTH|GPIO_PIN14) +#define GPIO_HW_REV_SENSE /* PC3 */ GPIO_ADC12_INP13 +#define GPIO_HW_VER_DRIVE /* PG0 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN0) +#define GPIO_HW_VER_SENSE /* PC2 */ GPIO_ADC123_INP12 +#define HW_INFO_INIT_PREFIX "VD" + + +#define VER00 HW_VER_REV(0x0,0x0) + +/* CAN Silence + * + * Silent mode control \ ESC Mux select + */ + +#define GPIO_CAN1_SILENT_S0 /* PH2 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN2) + +/* HEATER + * PWM in future + */ +#define GPIO_HEATER_OUTPUT /* PA7 T14CH1 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN7) +#define HEATER_OUTPUT_EN(on_true) px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true)) + +/* PWM + */ +#define DIRECT_PWM_OUTPUT_CHANNELS 5 + +#define BOARD_NUM_IO_TIMERS 2 + + +/* Power supply control and monitoring GPIOs */ + +#define GPIO_nPOWER_IN_A /* PG1 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN1) +#define GPIO_nPOWER_IN_B /* PG3 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN3) + +#define GPIO_nVDD_BRICK_VALID GPIO_nPOWER_IN_A /* Brick 1 Is Chosen */ +#define BOARD_NUMBER_BRICKS 1 +#define GPIO_nVDD_USB_VALID GPIO_nPOWER_IN_B /* USB Is Chosen */ + +#define GPIO_VDD_5V_PERIPH_nEN /* PG4 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN4) +#define GPIO_VDD_5V_PERIPH_nOC /* PE15 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTE|GPIO_PIN15) +#define GPIO_VDD_5V_HIPOWER_nEN /* PF12 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTF|GPIO_PIN12) +#define GPIO_VDD_5V_HIPOWER_nOC /* PG13 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTF|GPIO_PIN13) +#define GPIO_VDD_3V3_SD_CARD_EN /* PG7 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN7) + + +/* Define True logic Power Control in arch agnostic form */ + +#define VDD_5V_PERIPH_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_5V_PERIPH_nEN, !(on_true)) +#define VDD_5V_HIPOWER_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_5V_HIPOWER_nEN, !(on_true)) +#define VDD_3V3_SD_CARD_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SD_CARD_EN, (on_true)) + +/* Tone alarm output */ + +#define TONE_ALARM_TIMER 15 /* timer 15 */ +#define TONE_ALARM_CHANNEL 1 /* PE5 TIM15_CH1 */ + +#define GPIO_BUZZER_1 /* PE5 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN5) + +#define GPIO_TONE_ALARM_IDLE GPIO_BUZZER_1 +#define GPIO_TONE_ALARM GPIO_TIM15_CH1OUT_2 + +/* USB OTG FS + * + * PA9 OTG_FS_VBUS VBUS sensing + */ +#define GPIO_OTGFS_VBUS /* PA9 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_100MHz|GPIO_PORTA|GPIO_PIN9) + +/* High-resolution timer */ +#define HRT_TIMER 8 /* use timer8 for the HRT */ +#define HRT_TIMER_CHANNEL 3 /* use capture/compare channel 3 */ + +/* PWM input driver. Use FMU AUX5 pins attached to timer4 channel 2 */ + +#define PWMIN_TIMER 4 +#define PWMIN_TIMER_CHANNEL /* T4C2 */ 2 +#define GPIO_PWM_IN /* PD13 */ GPIO_TIM4_CH2IN + +#define SDIO_SLOTNO 0 /* Only one slot */ +#define SDIO_MINOR 0 + +/* SD card bringup does not work if performed on the IDLE thread because it + * will cause waiting. Use either: + * + * CONFIG_BOARDCTL=y, OR + * CONFIG_BOARD_INITIALIZE=y && CONFIG_BOARD_INITTHREAD=y + */ + +#if defined(CONFIG_BOARD_INITIALIZE) && !defined(CONFIG_BOARDCTL) && \ + !defined(CONFIG_BOARD_INITTHREAD) +# warning SDIO initialization cannot be perfomed on the IDLE thread +#endif + +/* By Providing BOARD_ADC_USB_CONNECTED (using the px4_arch abstraction) + * this board support the ADC system_power interface, and therefore + * provides the true logic GPIO BOARD_ADC_xxxx macros. + */ +#define BOARD_ADC_USB_CONNECTED (px4_arch_gpioread(GPIO_OTGFS_VBUS)) +#define BOARD_ADC_USB_VALID (!px4_arch_gpioread(GPIO_nVDD_USB_VALID)) + +/* Board never powers off the Servo rail */ + +#define BOARD_ADC_SERVO_VALID (1) + +#define BOARD_ADC_BRICK_VALID (!px4_arch_gpioread(GPIO_nVDD_BRICK_VALID)) + + +#define BOARD_ADC_PERIPH_5V_OC (!px4_arch_gpioread(GPIO_VDD_5V_PERIPH_nOC)) +#define BOARD_ADC_HIPOWER_5V_OC (!px4_arch_gpioread(GPIO_VDD_5V_HIPOWER_nOC)) + + +/* This board provides a DMA pool and APIs */ +#define BOARD_DMA_ALLOC_POOL_SIZE 5120 + +/* This board provides the board_on_reset interface */ + +#define BOARD_HAS_ON_RESET 1 +#define SDMMC_PIN_OFF(def) (((def) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_INPUT|GPIO_FLOAT|GPIO_SPEED_2MHz)) + +#define PX4_GPIO_INIT_LIST { \ + PX4_ADC_GPIO, \ + GPIO_HW_REV_DRIVE, \ + GPIO_HW_VER_DRIVE, \ + GPIO_CAN1_TX, \ + GPIO_CAN1_RX, \ + GPIO_CAN1_SILENT_S0, \ + GPIO_HEATER_OUTPUT, \ + GPIO_nPOWER_IN_A, \ + GPIO_nPOWER_IN_B, \ + GPIO_VDD_5V_PERIPH_nEN, \ + GPIO_VDD_5V_PERIPH_nOC, \ + GPIO_VDD_5V_HIPOWER_nEN, \ + GPIO_VDD_5V_HIPOWER_nOC, \ + SDMMC_PIN_OFF(GPIO_SDMMC1_D0), \ + SDMMC_PIN_OFF(GPIO_SDMMC1_D1), \ + SDMMC_PIN_OFF(GPIO_SDMMC1_D2), \ + SDMMC_PIN_OFF(GPIO_SDMMC1_D3), \ + SDMMC_PIN_OFF(GPIO_SDMMC1_CMD), \ + GPIO_VDD_3V3_SD_CARD_EN, \ + GPIO_TONE_ALARM_IDLE, \ + } + +#define BOARD_ENABLE_CONSOLE_BUFFER + +__BEGIN_DECLS + +/**************************************************************************************************** + * Public Types + ****************************************************************************************************/ + +/**************************************************************************************************** + * Public data + ****************************************************************************************************/ + +#ifndef __ASSEMBLY__ + +/**************************************************************************************************** + * Public Functions + ****************************************************************************************************/ + +/**************************************************************************** + * Name: stm32_sdio_initialize + * + * Description: + * Initialize SDIO-based MMC/SD card support + * + ****************************************************************************/ + +int stm32_sdio_initialize(void); + +/**************************************************************************************************** + * Name: stm32_spiinitialize + * + * Description: + * Called to configure SPI chip select GPIO pins for the board. + * + ****************************************************************************************************/ + +extern void stm32_spiinitialize(void); + +extern void stm32_usbinitialize(void); + +extern void board_peripheral_reset(int ms); + +#include + +#endif /* __ASSEMBLY__ */ + +__END_DECLS diff --git a/boards/siyi/n7/src/bootloader_main.c b/boards/siyi/n7/src/bootloader_main.c new file mode 100644 index 000000000000..cec6abd46774 --- /dev/null +++ b/boards/siyi/n7/src/bootloader_main.c @@ -0,0 +1,75 @@ +/**************************************************************************** + * + * Copyright (c) 2019-2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file bootloader_main.c + * + * FMU-specific early startup code for bootloader +*/ + +#include "board_config.h" +#include "bl.h" + +#include +#include +#include +#include +#include +#include "arm_internal.h" +#include + +extern int sercon_main(int c, char **argv); + +__EXPORT void board_on_reset(int status) {} + +__EXPORT void stm32_boardinitialize(void) +{ + /* configure USB interfaces */ + stm32_usbinitialize(); +} + +__EXPORT int board_app_initialize(uintptr_t arg) +{ + return 0; +} + +void board_late_initialize(void) +{ + sercon_main(0, NULL); +} + +extern void sys_tick_handler(void); +void board_timerhook(void) +{ + sys_tick_handler(); +} diff --git a/boards/siyi/n7/src/can.c b/boards/siyi/n7/src/can.c new file mode 100644 index 000000000000..c71b2e8793a2 --- /dev/null +++ b/boards/siyi/n7/src/can.c @@ -0,0 +1,128 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file px4fmu_can.c + * + * Board-specific CAN functions. + */ + +#ifdef CONFIG_CAN + +#include +#include + +#include +#include + +#include "chip.h" +#include "arm_internal.h" + +#include "chip.h" +#include "stm32_can.h" +#include "board_config.h" + +#ifdef CONFIG_CAN + +/************************************************************************************ + * Pre-processor Definitions + ************************************************************************************/ +/* Configuration ********************************************************************/ + +#if defined(CONFIG_STM32_CAN1) && defined(CONFIG_STM32_CAN2) +# warning "Both CAN1 and CAN2 are enabled. Assuming only CAN1." +# undef CONFIG_STM32_CAN2 +#endif + +#ifdef CONFIG_STM32_CAN1 +# define CAN_PORT 1 +#else +# define CAN_PORT 2 +#endif + +/************************************************************************************ + * Private Functions + ************************************************************************************/ + +/************************************************************************************ + * Public Functions + ************************************************************************************/ +int can_devinit(void); + +/************************************************************************************ + * Name: can_devinit + * + * Description: + * All STM32 architectures must provide the following interface to work with + * examples/can. + * + ************************************************************************************/ + +int can_devinit(void) +{ + static bool initialized = false; + struct can_dev_s *can; + int ret; + + /* Check if we have already initialized */ + + if (!initialized) { + /* Call stm32_caninitialize() to get an instance of the CAN interface */ + + can = stm32_caninitialize(CAN_PORT); + + if (can == NULL) { + canerr("ERROR: Failed to get CAN interface\n"); + return -ENODEV; + } + + /* Register the CAN driver at "/dev/can0" */ + + ret = can_register("/dev/can0", can); + + if (ret < 0) { + canerr("ERROR: can_register failed: %d\n", ret); + return ret; + } + + /* Now we are initialized */ + + initialized = true; + } + + return OK; +} + +#endif + +#endif /* CONFIG_CAN */ diff --git a/boards/siyi/n7/src/hw_config.h b/boards/siyi/n7/src/hw_config.h new file mode 100644 index 000000000000..a6b71126e03a --- /dev/null +++ b/boards/siyi/n7/src/hw_config.h @@ -0,0 +1,128 @@ +/* + * hw_config.h + * + * Created on: May 17, 2015 + * Author: david_s5 + */ + +#ifndef HW_CONFIG_H_ +#define HW_CONFIG_H_ + +/**************************************************************************** + * 10-8--2016: + * To simplify the ripple effect on the tools, we will be using + * /dev/serial/by-id/PX4 to locate PX4 devices. Therefore + * moving forward all Bootloaders must contain the prefix "PX4 BL " + * in the USBDEVICESTRING + * This Change will be made in an upcoming BL release + ****************************************************************************/ +/* + * Define usage to configure a bootloader + * + * + * Constant example Usage + * APP_LOAD_ADDRESS 0x08004000 - The address in Linker Script, where the app fw is org-ed + * BOOTLOADER_DELAY 5000 - Ms to wait while under USB pwr or bootloader request + * BOARD_FMUV2 + * INTERFACE_USB 1 - (Optional) Scan and use the USB interface for bootloading + * INTERFACE_USART 1 - (Optional) Scan and use the Serial interface for bootloading + * USBDEVICESTRING "PX4 BL FMU v2.x" - USB id string + * USBPRODUCTID 0x0011 - PID Should match defconfig + * BOOT_DELAY_ADDRESS 0x000001a0 - (Optional) From the linker script from Linker Script to get a custom + * delay provided by an APP FW + * BOARD_TYPE 9 - Must match .prototype boad_id + * _FLASH_KBYTES (*(uint16_t *)0x1fff7a22) - Run time flash size detection + * BOARD_FLASH_SECTORS ((_FLASH_KBYTES == 0x400) ? 11 : 23) - Run time determine the physical last sector + * BOARD_FLASH_SECTORS 11 - Hard coded zero based last sector + * BOARD_FLASH_SIZE (_FLASH_KBYTES*1024)- Total Flash size of device, determined at run time. + * (1024 * 1024) - Hard coded Total Flash of device - The bootloader and app reserved will be deducted + * programmatically + * + * BOARD_FIRST_FLASH_SECTOR_TO_ERASE 2 - Optional sectors index in the flash_sectors table (F4 only), to begin erasing. + * This is to allow sectors to be reserved for app fw usage. That will NOT be erased + * during a FW upgrade. + * The default is 0, and selects the first sector to be erased, as the 0th entry in the + * flash_sectors table. Which is the second physical sector of FLASH in the device. + * The first physical sector of FLASH is used by the bootloader, and is not defined + * in the table. + * + * APP_RESERVATION_SIZE (BOARD_FIRST_FLASH_SECTOR_TO_ERASE * 16 * 1024) - Number of bytes reserved by the APP FW. This number plus + * BOOTLOADER_RESERVATION_SIZE will be deducted from + * BOARD_FLASH_SIZE to determine the size of the App FW + * and hence the address space of FLASH to erase and program. + * USBMFGSTRING "PX4 AP" - Optional USB MFG string (default is '3D Robotics' if not defined.) + * SERIAL_BREAK_DETECT_DISABLED - Optional prevent break selection on Serial port from entering or staying in BL + * + * * Other defines are somewhat self explanatory. + */ + +/* Boot device selection list*/ +#define USB0_DEV 0x01 +#define SERIAL0_DEV 0x02 +#define SERIAL1_DEV 0x04 + +#define APP_LOAD_ADDRESS 0x08020000 +#define BOOTLOADER_DELAY 5000 +#define INTERFACE_USB 1 +#define INTERFACE_USB_CONFIG "/dev/ttyACM0" +#define BOARD_VBUS MK_GPIO_INPUT(GPIO_OTGFS_VBUS) + +//#define USE_VBUS_PULL_DOWN +#define INTERFACE_USART 1 +#define INTERFACE_USART_CONFIG "/dev/ttyS0,115200" +#define BOOT_DELAY_ADDRESS 0x000001a0 +#define BOARD_TYPE 1123 +#define _FLASH_KBYTES (*(uint32_t *)0x1FF1E880) +#define BOARD_FLASH_SECTORS (15) +#define BOARD_FLASH_SIZE (_FLASH_KBYTES * 1024) + +#define OSC_FREQ 16 + +#define BOARD_PIN_LED_ACTIVITY GPIO_nLED_BLUE // BLUE +#define BOARD_PIN_LED_BOOTLOADER GPIO_nLED_RED // RED +#define BOARD_LED_ON 0 +#define BOARD_LED_OFF 1 + +#define SERIAL_BREAK_DETECT_DISABLED 1 + +/* + * Uncommenting this allows to force the bootloader through + * a PWM output pin. As this can accidentally initialize + * an ESC prematurely, it is not recommended. This feature + * has not been used and hence defaults now to off. + * + * # define BOARD_FORCE_BL_PIN_OUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN14) + * # define BOARD_FORCE_BL_PIN_IN (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN11) + * + * # define BOARD_POWER_PIN_OUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN4) + * # define BOARD_POWER_ON 1 + * # define BOARD_POWER_OFF 0 + * # undef BOARD_POWER_PIN_RELEASE // Leave pin enabling Power - un comment to release (disable power) + * +*/ + +#if !defined(ARCH_SN_MAX_LENGTH) +# define ARCH_SN_MAX_LENGTH 12 +#endif + +#if !defined(APP_RESERVATION_SIZE) +# define APP_RESERVATION_SIZE 0 +#endif + +#if !defined(BOARD_FIRST_FLASH_SECTOR_TO_ERASE) +# define BOARD_FIRST_FLASH_SECTOR_TO_ERASE 1 +#endif + +#if !defined(USB_DATA_ALIGN) +# define USB_DATA_ALIGN +#endif + +#ifndef BOOT_DEVICES_SELECTION +# define BOOT_DEVICES_SELECTION USB0_DEV|SERIAL0_DEV|SERIAL1_DEV +#endif + +#ifndef BOOT_DEVICES_FILTER_ONUSB +# define BOOT_DEVICES_FILTER_ONUSB USB0_DEV|SERIAL0_DEV|SERIAL1_DEV +#endif + +#endif /* HW_CONFIG_H_ */ diff --git a/boards/siyi/n7/src/i2c.cpp b/boards/siyi/n7/src/i2c.cpp new file mode 100644 index 000000000000..124fc2375c92 --- /dev/null +++ b/boards/siyi/n7/src/i2c.cpp @@ -0,0 +1,41 @@ +/**************************************************************************** + * + * Copyright (C) 2020 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include + +constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = { + initI2CBusExternal(1), + initI2CBusExternal(2), + initI2CBusInternal(3), + initI2CBusExternal(4), +}; diff --git a/boards/siyi/n7/src/init.c b/boards/siyi/n7/src/init.c new file mode 100644 index 000000000000..46cf4ae4aa51 --- /dev/null +++ b/boards/siyi/n7/src/init.c @@ -0,0 +1,269 @@ +/**************************************************************************** + * + * Copyright (c) 2012-2019, 2022 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file init.c + * + * PX4FMU-specific early startup code. This file implements the + * board_app_initialize() function that is called early by nsh during startup. + * + * Code here is run before the rcS script is invoked; it should start required + * subsystems and perform board-specific initialisation. + */ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include "board_config.h" + +#include +#include +#include +#include +#include +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include "arm_internal.h" + +#include +#include +#include +#include +#include +#include +#include +#include + +#include + +/**************************************************************************** + * Pre-Processor Definitions + ****************************************************************************/ + +/* Configuration ************************************************************/ + +/* + * Ideally we'd be able to get these from arm_internal.h, + * but since we want to be able to disable the NuttX use + * of leds for system indication at will and there is no + * separate switch, we need to build independent of the + * CONFIG_ARCH_LEDS configuration switch. + */ +__BEGIN_DECLS +extern void led_init(void); +extern void led_on(int led); +extern void led_off(int led); +__END_DECLS + + +/************************************************************************************ + * Name: board_peripheral_reset + * + * Description: + * + ************************************************************************************/ +__EXPORT void board_peripheral_reset(int ms) +{ + /* set the peripheral rails off */ + + VDD_5V_PERIPH_EN(false); + board_control_spi_sensors_power(false, 0xffff); + + /* wait for the peripheral rail to reach GND */ + usleep(ms * 1000); + syslog(LOG_DEBUG, "reset done, %d ms\n", ms); + + /* re-enable power */ + board_control_spi_sensors_power(true, 0xffff); + VDD_5V_PERIPH_EN(true); +} + +/************************************************************************************ + * Name: board_on_reset + * + * Description: + * Optionally provided function called on entry to board_system_reset + * It should perform any house keeping prior to the rest. + * + * status - 1 if resetting to boot loader + * 0 if just resetting + * + ************************************************************************************/ +__EXPORT void board_on_reset(int status) +{ + for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) { + px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i))); + } + + if (status >= 0) { + up_mdelay(6); + } +} + +/************************************************************************************ + * Name: stm32_boardinitialize + * + * Description: + * All STM32 architectures must provide the following entry point. This entry point + * is called early in the initialization -- after all memory has been configured + * and mapped but before any devices have been initialized. + * + ************************************************************************************/ + +__EXPORT void +stm32_boardinitialize(void) +{ + board_on_reset(-1); /* Reset PWM first thing */ + + /* configure LEDs */ + + board_autoled_initialize(); + + /* configure pins */ + + const uint32_t gpio[] = PX4_GPIO_INIT_LIST; + px4_gpio_init(gpio, arraySize(gpio)); + + board_control_spi_sensors_power_configgpio(); + + /* configure USB interfaces */ + + stm32_usbinitialize(); + +} + +/**************************************************************************** + * Name: board_app_initialize + * + * Description: + * Perform application specific initialization. This function is never + * called directly from application code, but only indirectly via the + * (non-standard) boardctl() interface using the command BOARDIOC_INIT. + * + * Input Parameters: + * arg - The boardctl() argument is passed to the board_app_initialize() + * implementation without modification. The argument has no + * meaning to NuttX; the meaning of the argument is a contract + * between the board-specific initalization logic and the the + * matching application logic. The value cold be such things as a + * mode enumeration value, a set of DIP switch switch settings, a + * pointer to configuration data read from a file or serial FLASH, + * or whatever you would like to do with it. Every implementation + * should accept zero/NULL as a default configuration. + * + * Returned Value: + * Zero (OK) is returned on success; a negated errno value is returned on + * any failure to indicate the nature of the failure. + * + ****************************************************************************/ + +__EXPORT int board_app_initialize(uintptr_t arg) +{ + /* Power on Interfaces */ + VDD_5V_PERIPH_EN(true); + VDD_5V_HIPOWER_EN(true); + board_control_spi_sensors_power(true, 0xffff); + + /* Need hrt running before using the ADC */ + + px4_platform_init(); + + // Use the default HW_VER_REV(0x0,0x0) for Ramtron + + stm32_spiinitialize(); + + /* Configure the HW based on the manifest */ + + px4_platform_configure(); + + if (OK == board_determine_hw_info()) { + syslog(LOG_INFO, "[boot] Rev 0x%1x : Ver 0x%1x %s\n", board_get_hw_revision(), board_get_hw_version(), + board_get_hw_type_name()); + + } else { + syslog(LOG_ERR, "[boot] Failed to read HW revision and version\n"); + } + + /* Configure the actual SPI interfaces (after we determined the HW version) */ + + stm32_spiinitialize(); + + /* configure the DMA allocator */ + + if (board_dma_alloc_init() < 0) { + syslog(LOG_ERR, "[boot] DMA alloc FAILED\n"); + } + +#if defined(SERIAL_HAVE_RXDMA) + // set up the serial DMA polling at 1ms intervals for received bytes that have not triggered a DMA event. + static struct hrt_call serial_dma_call; + hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)stm32_serial_dma_poll, NULL); +#endif + + /* initial LED state */ + drv_led_start(); + led_off(LED_RED); + led_on(LED_GREEN); // Indicate Power. + led_off(LED_BLUE); + + if (board_hardfault_init(2, true) != 0) { + led_on(LED_RED); + } + + // Ensure Power is off for > 10 mS + usleep(15 * 1000); + VDD_3V3_SD_CARD_EN(true); + usleep(500 * 1000); + +#ifdef CONFIG_MMCSD + int ret = stm32_sdio_initialize(); + + if (ret != OK) { + led_on(LED_RED); + } + +#endif /* CONFIG_MMCSD */ + + return OK; +} diff --git a/boards/siyi/n7/src/led.c b/boards/siyi/n7/src/led.c new file mode 100644 index 000000000000..df40a23dca89 --- /dev/null +++ b/boards/siyi/n7/src/led.c @@ -0,0 +1,235 @@ +/**************************************************************************** + * + * Copyright (c) 2013 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file px4fmu2_led.c + * + * PX4FMU LED backend. + */ + +#include + +#include + +#include "chip.h" +#include "stm32_gpio.h" +#include "board_config.h" + +#include +#include + +/* + * Ideally we'd be able to get these from arm_internal.h, + * but since we want to be able to disable the NuttX use + * of leds for system indication at will and there is no + * separate switch, we need to build independent of the + * CONFIG_ARCH_LEDS configuration switch. + */ +__BEGIN_DECLS +extern void led_init(void); +extern void led_on(int led); +extern void led_off(int led); +extern void led_toggle(int led); +__END_DECLS + +#ifdef CONFIG_ARCH_LEDS +static bool nuttx_owns_leds = true; +// B R S G +// 0 1 2 3 +static const uint8_t xlatpx4[] = {1, 2, 4, 0}; +# define xlat(p) xlatpx4[(p)] +static uint32_t g_ledmap[] = { + GPIO_nLED_GREEN, // Indexed by BOARD_LED_GREEN + GPIO_nLED_BLUE, // Indexed by BOARD_LED_BLUE + GPIO_nLED_RED, // Indexed by BOARD_LED_RED + GPIO_nSAFETY_SWITCH_LED_OUT, // Indexed by LED_SAFETY by xlatpx4 +}; + +#else + +# define xlat(p) (p) +static uint32_t g_ledmap[] = { + GPIO_nLED_BLUE, // Indexed by LED_BLUE + GPIO_nLED_RED, // Indexed by LED_RED, LED_AMBER + 0, // Indexed by LED_SAFETY (defaulted to an input) + 0, // Indexed by LED_GREEN +}; + +#endif + +__EXPORT void led_init(void) +{ + for (size_t l = 0; l < (sizeof(g_ledmap) / sizeof(g_ledmap[0])); l++) { + if (g_ledmap[l] != 0) { + stm32_configgpio(g_ledmap[l]); + } + } +} + +static void phy_set_led(int led, bool state) +{ + /* Drive Low to switch on */ + + if (g_ledmap[led] != 0) { + stm32_gpiowrite(g_ledmap[led], !state); + } +} + +static bool phy_get_led(int led) +{ + /* If Low it is on */ + if (g_ledmap[led] != 0) { + return !stm32_gpioread(g_ledmap[led]); + } + + return false; +} + +__EXPORT void led_on(int led) +{ + phy_set_led(xlat(led), true); +} + +__EXPORT void led_off(int led) +{ + phy_set_led(xlat(led), false); +} + +__EXPORT void led_toggle(int led) +{ + phy_set_led(xlat(led), !phy_get_led(xlat(led))); +} + +#ifdef CONFIG_ARCH_LEDS +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +/**************************************************************************** + * Name: board_autoled_initialize + ****************************************************************************/ + +void board_autoled_initialize(void) +{ + led_init(); +} + +/**************************************************************************** + * Name: board_autoled_on + ****************************************************************************/ + +void board_autoled_on(int led) +{ + if (!nuttx_owns_leds) { + return; + } + + switch (led) { + default: + break; + + case LED_HEAPALLOCATE: + phy_set_led(BOARD_LED_BLUE, true); + break; + + case LED_IRQSENABLED: + phy_set_led(BOARD_LED_BLUE, false); + phy_set_led(BOARD_LED_GREEN, true); + break; + + case LED_STACKCREATED: + phy_set_led(BOARD_LED_GREEN, true); + phy_set_led(BOARD_LED_BLUE, true); + break; + + case LED_INIRQ: + phy_set_led(BOARD_LED_BLUE, true); + break; + + case LED_SIGNAL: + phy_set_led(BOARD_LED_GREEN, true); + break; + + case LED_ASSERTION: + phy_set_led(BOARD_LED_RED, true); + phy_set_led(BOARD_LED_BLUE, true); + break; + + case LED_PANIC: + phy_set_led(BOARD_LED_RED, true); + break; + + case LED_IDLE : /* IDLE */ + phy_set_led(BOARD_LED_RED, true); + break; + } +} + +/**************************************************************************** + * Name: board_autoled_off + ****************************************************************************/ + +void board_autoled_off(int led) +{ + if (!nuttx_owns_leds) { + return; + } + + switch (led) { + default: + break; + + case LED_SIGNAL: + phy_set_led(BOARD_LED_GREEN, false); + break; + + case LED_INIRQ: + phy_set_led(BOARD_LED_BLUE, false); + break; + + case LED_ASSERTION: + phy_set_led(BOARD_LED_RED, false); + phy_set_led(BOARD_LED_BLUE, false); + break; + + case LED_PANIC: + phy_set_led(BOARD_LED_RED, false); + break; + + case LED_IDLE : /* IDLE */ + phy_set_led(BOARD_LED_RED, false); + break; + } +} + +#endif /* CONFIG_ARCH_LEDS */ diff --git a/boards/siyi/n7/src/manifest.c b/boards/siyi/n7/src/manifest.c new file mode 100644 index 000000000000..4bf33cab90bb --- /dev/null +++ b/boards/siyi/n7/src/manifest.c @@ -0,0 +1,132 @@ +/**************************************************************************** + * + * Copyright (c) 2018-2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file manifest.c + * + * This module supplies the interface to the manifest of hardware that is + * optional and dependent on the HW REV and HW VER IDs + * + * The manifest allows the system to know whether a hardware option + * say for example the PX4IO is an no-pop option vs it is broken. + * + */ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include +#include + +#include +#include +#include + +#include "systemlib/px4_macros.h" + +/**************************************************************************** + * Pre-Processor Definitions + ****************************************************************************/ + +typedef struct { + uint32_t hw_ver_rev; /* the version and revision */ + const px4_hw_mft_item_t *mft; /* The first entry */ + uint32_t entries; /* the lenght of the list */ +} px4_hw_mft_list_entry_t; + +typedef px4_hw_mft_list_entry_t *px4_hw_mft_list_entry; +#define px4_hw_mft_list_uninitialized (px4_hw_mft_list_entry) -1 + +static const px4_hw_mft_item_t device_unsupported = {0, 0, 0}; + +// List of components on a specific board configuration +// The index of those components is given by the enum (px4_hw_mft_item_id_t) +// declared in board_common.h +static const px4_hw_mft_item_t hw_mft_list_board[] = { + { + .present = 1, + .mandatory = 1, + .connection = px4_hw_con_onboard, + }, +}; + +static px4_hw_mft_list_entry_t mft_lists[] = { +// ver_rev + {VER00, hw_mft_list_board, arraySize(hw_mft_list_board)}, +}; + +/************************************************************************************ + * Name: board_query_manifest + * + * Description: + * Optional returns manifest item. + * + * Input Parameters: + * manifest_id - the ID for the manifest item to retrieve + * + * Returned Value: + * 0 - item is not in manifest => assume legacy operations + * pointer to a manifest item + * + ************************************************************************************/ + +__EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id) +{ + static px4_hw_mft_list_entry boards_manifest = px4_hw_mft_list_uninitialized; + + if (boards_manifest == px4_hw_mft_list_uninitialized) { + uint32_t ver_rev = board_get_hw_version() << 16; + ver_rev |= board_get_hw_revision(); + + for (unsigned i = 0; i < arraySize(mft_lists); i++) { + if (mft_lists[i].hw_ver_rev == ver_rev) { + boards_manifest = &mft_lists[i]; + break; + } + } + + if (boards_manifest == px4_hw_mft_list_uninitialized) { + syslog(LOG_ERR, "[boot] Board %08" PRIx32 " is not supported!\n", ver_rev); + } + } + + px4_hw_mft_item rv = &device_unsupported; + + if (boards_manifest != px4_hw_mft_list_uninitialized && + id < boards_manifest->entries) { + rv = &boards_manifest->mft[id]; + } + + return rv; +} diff --git a/boards/siyi/n7/src/sdio.c b/boards/siyi/n7/src/sdio.c new file mode 100644 index 000000000000..869d757756a0 --- /dev/null +++ b/boards/siyi/n7/src/sdio.c @@ -0,0 +1,177 @@ +/**************************************************************************** + * + * Copyright (C) 2014, 2016 Gregory Nutt. All rights reserved. + * Author: Gregory Nutt + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name NuttX nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include +#include + +#include +#include +#include +#include + +#include +#include + +#include "chip.h" +#include "board_config.h" +#include "stm32_gpio.h" +#include "stm32_sdmmc.h" + +#ifdef CONFIG_MMCSD + + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +/* Card detections requires card support and a card detection GPIO */ + +#define HAVE_NCD 1 +#if !defined(GPIO_SDMMC1_NCD) +# undef HAVE_NCD +#endif + +/**************************************************************************** + * Private Data + ****************************************************************************/ + +static FAR struct sdio_dev_s *sdio_dev; +#ifdef HAVE_NCD +static bool g_sd_inserted = 0xff; /* Impossible value */ +#endif + +/**************************************************************************** + * Private Functions + ****************************************************************************/ + +/**************************************************************************** + * Name: stm32_ncd_interrupt + * + * Description: + * Card detect interrupt handler. + * + ****************************************************************************/ + +#ifdef HAVE_NCD +static int stm32_ncd_interrupt(int irq, FAR void *context) +{ + bool present; + + present = !stm32_gpioread(GPIO_SDMMC1_NCD); + + if (sdio_dev && present != g_sd_inserted) { + sdio_mediachange(sdio_dev, present); + g_sd_inserted = present; + } + + return OK; +} +#endif + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +/**************************************************************************** + * Name: stm32_sdio_initialize + * + * Description: + * Initialize SDIO-based MMC/SD card support + * + ****************************************************************************/ + +int stm32_sdio_initialize(void) +{ + int ret; + +#ifdef HAVE_NCD + /* Card detect */ + + bool cd_status; + + /* Configure the card detect GPIO */ + + stm32_configgpio(GPIO_SDMMC1_NCD); + + /* Register an interrupt handler for the card detect pin */ + + stm32_gpiosetevent(GPIO_SDMMC1_NCD, true, true, true, stm32_ncd_interrupt); +#endif + + /* Mount the SDIO-based MMC/SD block driver */ + /* First, get an instance of the SDIO interface */ + + finfo("Initializing SDIO slot %d\n", SDIO_SLOTNO); + + sdio_dev = sdio_initialize(SDIO_SLOTNO); + + if (!sdio_dev) { + syslog(LOG_ERR, "[boot] Failed to initialize SDIO slot %d\n", SDIO_SLOTNO); + return -ENODEV; + } + + /* Now bind the SDIO interface to the MMC/SD driver */ + + finfo("Bind SDIO to the MMC/SD driver, minor=%d\n", SDIO_MINOR); + + ret = mmcsd_slotinitialize(SDIO_MINOR, sdio_dev); + + if (ret != OK) { + syslog(LOG_ERR, "[boot] Failed to bind SDIO to the MMC/SD driver: %d\n", ret); + return ret; + } + + finfo("Successfully bound SDIO to the MMC/SD driver\n"); + +#ifdef HAVE_NCD + /* Use SD card detect pin to check if a card is g_sd_inserted */ + + cd_status = !stm32_gpioread(GPIO_SDMMC1_NCD); + finfo("Card detect : %d\n", cd_status); + + sdio_mediachange(sdio_dev, cd_status); +#else + /* Assume that the SD card is inserted. What choice do we have? */ + + sdio_mediachange(sdio_dev, true); +#endif + + return OK; +} + +#endif /* CONFIG_MMCSD */ diff --git a/boards/siyi/n7/src/spi.cpp b/boards/siyi/n7/src/spi.cpp new file mode 100644 index 000000000000..c78c7bb25026 --- /dev/null +++ b/boards/siyi/n7/src/spi.cpp @@ -0,0 +1,53 @@ +/**************************************************************************** + * + * Copyright (C) 2020-2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include +#include +#include + +constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = { + initSPIBus(SPI::Bus::SPI1, { + initSPIDevice(DRV_IMU_DEVTYPE_ICM20689, SPI::CS{GPIO::PortF, GPIO::Pin2}, SPI::DRDY{GPIO::PortB, GPIO::Pin4}), + initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortF, GPIO::Pin4}, SPI::DRDY{GPIO::PortB, GPIO::Pin14}), + initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortG, GPIO::Pin10}, SPI::DRDY{GPIO::PortB, GPIO::Pin15}), + initSPIDevice(DRV_DEVTYPE_UNUSED, SPI::CS{GPIO::PortH, GPIO::Pin5}), + }, {GPIO::PortE, GPIO::Pin3}), + initSPIBus(SPI::Bus::SPI2, { + initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortF, GPIO::Pin5}) + }), + initSPIBus(SPI::Bus::SPI4, { + initSPIDevice(DRV_BARO_DEVTYPE_MS5611, SPI::CS{GPIO::PortF, GPIO::Pin10}), + }), +}; + +static constexpr bool unused = validateSPIConfig(px4_spi_buses); diff --git a/boards/siyi/n7/src/timer_config.cpp b/boards/siyi/n7/src/timer_config.cpp new file mode 100644 index 000000000000..c9bc0acd4665 --- /dev/null +++ b/boards/siyi/n7/src/timer_config.cpp @@ -0,0 +1,50 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include + +constexpr io_timers_t io_timers[MAX_IO_TIMERS] = { + initIOTimer(Timer::Timer1, DMA{DMA::Index1}), + initIOTimer(Timer::Timer4, DMA{DMA::Index1}), +}; + +constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = { + initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel4}, {GPIO::PortE, GPIO::Pin14}), + initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel3}, {GPIO::PortA, GPIO::Pin10}), + initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel2}, {GPIO::PortE, GPIO::Pin11}), + initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel1}, {GPIO::PortE, GPIO::Pin9}), + initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel2}, {GPIO::PortD, GPIO::Pin13}), +}; + +constexpr io_timers_channel_mapping_t io_timers_channel_mapping = + initIOTimerChannelMapping(io_timers, timer_io_channels); diff --git a/boards/siyi/n7/src/usb.c b/boards/siyi/n7/src/usb.c new file mode 100644 index 000000000000..6d42476b714f --- /dev/null +++ b/boards/siyi/n7/src/usb.c @@ -0,0 +1,105 @@ +/**************************************************************************** + * + * Copyright (C) 2016 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file px4fmu_usb.c + * + * Board-specific USB functions. + */ + +/************************************************************************************ + * Included Files + ************************************************************************************/ + +#include + +#include +#include +#include +#include + +#include +#include + +#include +#include +#include +#include +#include "board_config.h" + +/************************************************************************************ + * Definitions + ************************************************************************************/ + +/************************************************************************************ + * Private Functions + ************************************************************************************/ + +/************************************************************************************ + * Public Functions + ************************************************************************************/ + +/************************************************************************************ + * Name: stm32_usbinitialize + * + * Description: + * Called to setup USB-related GPIO pins for the PX4FMU board. + * + ************************************************************************************/ + +__EXPORT void stm32_usbinitialize(void) +{ + /* The OTG FS has an internal soft pull-up */ + + /* Configure the OTG FS VBUS sensing GPIO, Power On, and Overcurrent GPIOs */ + +#ifdef CONFIG_STM32H7_OTGFS + stm32_configgpio(GPIO_OTGFS_VBUS); +#endif +} + +/************************************************************************************ + * Name: stm32_usbsuspend + * + * Description: + * Board logic must provide the stm32_usbsuspend logic if the USBDEV driver is + * used. This function is called whenever the USB enters or leaves suspend mode. + * This is an opportunity for the board logic to shutdown clocks, power, etc. + * while the USB is suspended. + * + ************************************************************************************/ + +__EXPORT void stm32_usbsuspend(FAR struct usbdev_s *dev, bool resume) +{ + uinfo("resume: %d\n", resume); +} diff --git a/boards/sky-drones/smartap-airlink/default.px4board b/boards/sky-drones/smartap-airlink/default.px4board index c57168389c58..fdfdcdea6a1b 100644 --- a/boards/sky-drones/smartap-airlink/default.px4board +++ b/boards/sky-drones/smartap-airlink/default.px4board @@ -11,6 +11,7 @@ CONFIG_COMMON_BAROMETERS=y CONFIG_DRIVERS_BATT_SMBUS=y CONFIG_DRIVERS_CAMERA_CAPTURE=y CONFIG_DRIVERS_CAMERA_TRIGGER=y +CONFIG_DRIVERS_CDCACM_AUTOSTART=y CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y CONFIG_COMMON_DISTANCE_SENSOR=y CONFIG_DRIVERS_DSHOT=y @@ -49,7 +50,6 @@ CONFIG_MODULES_FW_POS_CONTROL=y CONFIG_MODULES_FW_RATE_CONTROL=y CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_GYRO_CALIBRATION=y -CONFIG_MODULES_GYRO_FFT=y CONFIG_MODULES_LAND_DETECTOR=y CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y CONFIG_MODULES_LOAD_MON=y @@ -86,7 +86,6 @@ CONFIG_SYSTEMCMDS_NSHTERM=y CONFIG_SYSTEMCMDS_PARAM=y CONFIG_SYSTEMCMDS_PERF=y CONFIG_SYSTEMCMDS_REBOOT=y -CONFIG_SYSTEMCMDS_REFLECT=y CONFIG_SYSTEMCMDS_SD_BENCH=y CONFIG_SYSTEMCMDS_SD_STRESS=y CONFIG_SYSTEMCMDS_SERIAL_TEST=y diff --git a/boards/sky-drones/smartap-airlink/init/rc.board_defaults b/boards/sky-drones/smartap-airlink/init/rc.board_defaults index c581f8c741f9..4a38b479f3c3 100644 --- a/boards/sky-drones/smartap-airlink/init/rc.board_defaults +++ b/boards/sky-drones/smartap-airlink/init/rc.board_defaults @@ -13,7 +13,6 @@ param set-default SENS_EN_THERMAL 1 # Enable heater param set-default SENS_TEMP_ID 2359314 # Heated IMU ID # Battery scaling -param set-default BAT_N_CELLS 4 param set-default BAT1_N_CELLS 4 param set-default BAT1_V_DIV 15.51 @@ -25,8 +24,6 @@ param set-default BAT_V_OFFS_CURR 0.413 # Disable safety switch param set-default CBRK_IO_SAFETY 22027 -param set-default SYS_USE_IO 1 - safety_button start set LOGGER_BUF 32 diff --git a/boards/sky-drones/smartap-airlink/init/rc.board_sensors b/boards/sky-drones/smartap-airlink/init/rc.board_sensors index 5ce477bf181d..95adb36b827d 100644 --- a/boards/sky-drones/smartap-airlink/init/rc.board_sensors +++ b/boards/sky-drones/smartap-airlink/init/rc.board_sensors @@ -31,4 +31,3 @@ lis3mdl -R 2 -X start # NCP5623 Led driver rgbled_ncp5623c -X -a 0x38 start - diff --git a/boards/sky-drones/smartap-airlink/nuttx-config/nsh/defconfig b/boards/sky-drones/smartap-airlink/nuttx-config/nsh/defconfig index 3efa0c136fea..b28719b13e93 100644 --- a/boards/sky-drones/smartap-airlink/nuttx-config/nsh/defconfig +++ b/boards/sky-drones/smartap-airlink/nuttx-config/nsh/defconfig @@ -115,7 +115,7 @@ CONFIG_I2C=y CONFIG_I2C_RESET=y CONFIG_IDLETHREAD_STACKSIZE=750 CONFIG_INIT_ENTRYPOINT="nsh_main" -CONFIG_INIT_STACKSIZE=2944 +CONFIG_INIT_STACKSIZE=3194 CONFIG_IOB_NBUFFERS=24 CONFIG_IOB_THROTTLE=0 CONFIG_IPCFG_BINARY=y @@ -141,8 +141,8 @@ CONFIG_NETDB_DNSCLIENT_ENTRIES=8 CONFIG_NETDB_DNSSERVER_NOADDR=y CONFIG_NETDEV_PHY_IOCTL=y CONFIG_NETINIT_DNS=y -CONFIG_NETINIT_DNSIPADDR=0XC0A800FE -CONFIG_NETINIT_DRIPADDR=0XC0A800FE +CONFIG_NETINIT_DNSIPADDR=0xA290AFE +CONFIG_NETINIT_DRIPADDR=0xA290AFE CONFIG_NETINIT_THREAD=y CONFIG_NETINIT_THREAD_PRIORITY=49 CONFIG_NETUTILS_TELNETD=y @@ -181,6 +181,8 @@ CONFIG_PREALLOC_TIMERS=50 CONFIG_PRIORITY_INHERITANCE=y CONFIG_PTHREAD_MUTEX_ROBUST=y CONFIG_PTHREAD_STACK_MIN=512 +CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5 +CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5 CONFIG_RAMTRON_SETSPEED=y CONFIG_RAM_SIZE=245760 CONFIG_RAM_START=0x20010000 diff --git a/boards/sky-drones/smartap-airlink/src/board_config.h b/boards/sky-drones/smartap-airlink/src/board_config.h index ac21a1686cb2..158fece58c8a 100644 --- a/boards/sky-drones/smartap-airlink/src/board_config.h +++ b/boards/sky-drones/smartap-airlink/src/board_config.h @@ -168,7 +168,7 @@ /* HW Version and Revision drive signals Default to 1 to detect */ -#define BOARD_HAS_HW_VERSIONING +#define BOARD_HAS_HW_VERSIONING // migrate to Split #define GPIO_HW_VER_REV_DRIVE /* PG0 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN0) #define GPIO_HW_REV_SENSE /* PF5 */ ADC3_GPIO(15) @@ -196,7 +196,7 @@ */ #define DIRECT_PWM_OUTPUT_CHANNELS 8 -/* Define Battery 1 g Divider and A per V. */ +/* Define Battery Voltage Divider and A per V */ #define BOARD_BATTERY_V_DIV (13.653333333f) #define BOARD_BATTERY_A_PER_V (36.367515152f) diff --git a/boards/sky-drones/smartap-airlink/src/mtd.cpp b/boards/sky-drones/smartap-airlink/src/mtd.cpp index 8b74a4617c71..742b463041e0 100644 --- a/boards/sky-drones/smartap-airlink/src/mtd.cpp +++ b/boards/sky-drones/smartap-airlink/src/mtd.cpp @@ -34,7 +34,7 @@ #include #include // KiB BS nB -static const px4_mft_device_t spi5 = { // FM25V02A on FMUM 32K 512 X 64 +static const px4_mft_device_t spi5 = { // FM25V02A on FMUM native: 32K X 8, emulated as (1024 Blocks of 32) .bus_type = px4_mft_device_t::SPI, .devid = SPIDEV_FLASH(0) }; @@ -45,18 +45,12 @@ static const px4_mft_device_t i2c3 = { // 24LC64T on Base 8K 32 X 2 static const px4_mtd_entry_t fmum_fram = { .device = &spi5, - .npart = 2, + .npart = 1, .partd = { { .type = MTD_PARAMETERS, .path = "/fs/mtd_params", - .nblocks = 32 - }, - { - .type = MTD_WAYPOINTS, - .path = "/fs/mtd_waypoints", - .nblocks = 32 - + .nblocks = (32768 / (1 << CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT)) } }, }; diff --git a/boards/spracing/h7extreme/default.px4board b/boards/spracing/h7extreme/default.px4board index c6c28729a73c..aa9790560907 100644 --- a/boards/spracing/h7extreme/default.px4board +++ b/boards/spracing/h7extreme/default.px4board @@ -4,6 +4,7 @@ CONFIG_DRIVERS_ADC_BOARD_ADC=y CONFIG_COMMON_BAROMETERS=y CONFIG_DRIVERS_CAMERA_CAPTURE=y CONFIG_DRIVERS_CAMERA_TRIGGER=y +CONFIG_DRIVERS_CDCACM_AUTOSTART=y CONFIG_COMMON_DISTANCE_SENSOR=y CONFIG_DRIVERS_DSHOT=y CONFIG_DRIVERS_GPS=y diff --git a/boards/spracing/h7extreme/init/rc.board_defaults b/boards/spracing/h7extreme/init/rc.board_defaults index 34177ec43737..92a8d971ab7b 100644 --- a/boards/spracing/h7extreme/init/rc.board_defaults +++ b/boards/spracing/h7extreme/init/rc.board_defaults @@ -12,10 +12,4 @@ param set-default CBRK_SUPPLY_CHK 894281 # Select the Generic 250 Racer by default param set-default SYS_AUTOSTART 4050 -# use the Q attitude estimator, it works w/o mag or GPS. -param set-default SYS_MC_EST_GROUP 3 -param set-default ATT_ACC_COMP 0 -param set-default ATT_W_ACC 0.4000 -param set-default ATT_W_GYRO_BIAS 0.0000 - param set-default SYS_HAS_MAG 0 diff --git a/boards/spracing/h7extreme/init/rc.board_extras b/boards/spracing/h7extreme/init/rc.board_extras index 25e6c269a85f..e3aa0d196175 100644 --- a/boards/spracing/h7extreme/init/rc.board_extras +++ b/boards/spracing/h7extreme/init/rc.board_extras @@ -7,5 +7,3 @@ if ! param compare OSD_ATXXXX_CFG 0 then atxxxx start -s fi - - diff --git a/boards/spracing/h7extreme/nuttx-config/Kconfig b/boards/spracing/h7extreme/nuttx-config/Kconfig index ab39ed07497e..8b3754476f0e 100644 --- a/boards/spracing/h7extreme/nuttx-config/Kconfig +++ b/boards/spracing/h7extreme/nuttx-config/Kconfig @@ -15,10 +15,9 @@ config BOARD_USE_PROBES ---help--- Select to use GPIO FMU-CH1-5, CAP1-6 to provide timing signals from selected drivers. - - + + config STM32_RAMFUNCS bool "Use stm32_board_clockconfig as ram function." default y select ARCH_HAVE_RAMFUNCS - diff --git a/boards/spracing/h7extreme/nuttx-config/include/board.h b/boards/spracing/h7extreme/nuttx-config/include/board.h index 91edb4e650c3..117edb76a749 100644 --- a/boards/spracing/h7extreme/nuttx-config/include/board.h +++ b/boards/spracing/h7extreme/nuttx-config/include/board.h @@ -241,7 +241,7 @@ /* ADC 1 2 3 clock source */ -#define STM32_RCC_D3CCIPR_ADCSEL RCC_D3CCIPR_ADCSEL_PLL2 +#define STM32_RCC_D3CCIPR_ADCSRC RCC_D3CCIPR_ADCSEL_PLL2 /* QSPI clock source */ #define STM32_RCC_D1CCIPR_QSPISEL RCC_D1CCIPR_QSPISEL_PLL2 diff --git a/boards/spracing/h7extreme/src/rcc.c b/boards/spracing/h7extreme/src/rcc.c index 9fc05848163a..73e9506040d8 100644 --- a/boards/spracing/h7extreme/src/rcc.c +++ b/boards/spracing/h7extreme/src/rcc.c @@ -364,7 +364,7 @@ __ramfunc__ void stm32_board_clockconfig(void) */ regval = getreg32(STM32_PWR_CR3); - regval |= STM32_PWR_CR3_LDOEN | STM32_PWR_CR3_LDOESCUEN; + regval |= STM32_PWR_CR3_LDOEN | STM32_PWR_CR3_SCUEN; putreg32(regval, STM32_PWR_CR3); /* Set the voltage output scale */ @@ -503,10 +503,10 @@ __ramfunc__ void stm32_board_clockconfig(void) /* Configure ADC source clock */ -#if defined(STM32_RCC_D3CCIPR_ADCSEL) +#if defined(STM32_RCC_D3CCIPR_ADCSRC) regval = getreg32(STM32_RCC_D3CCIPR); regval &= ~RCC_D3CCIPR_ADCSEL_MASK; - regval |= STM32_RCC_D3CCIPR_ADCSEL; + regval |= STM32_RCC_D3CCIPR_ADCSRC; putreg32(regval, STM32_RCC_D3CCIPR); #endif diff --git a/boards/spracing/h7extreme/src/timer_config.cpp b/boards/spracing/h7extreme/src/timer_config.cpp index d7c83bbd9aac..88bde6223e1f 100644 --- a/boards/spracing/h7extreme/src/timer_config.cpp +++ b/boards/spracing/h7extreme/src/timer_config.cpp @@ -60,4 +60,3 @@ constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = { constexpr io_timers_channel_mapping_t io_timers_channel_mapping = initIOTimerChannelMapping(io_timers, timer_io_channels); - diff --git a/boards/thepeach/k1/default.px4board b/boards/thepeach/k1/default.px4board index b2c6588f98b2..d760279546c7 100644 --- a/boards/thepeach/k1/default.px4board +++ b/boards/thepeach/k1/default.px4board @@ -11,6 +11,7 @@ CONFIG_COMMON_BAROMETERS=y CONFIG_DRIVERS_BATT_SMBUS=y CONFIG_DRIVERS_CAMERA_CAPTURE=y CONFIG_DRIVERS_CAMERA_TRIGGER=y +CONFIG_DRIVERS_CDCACM_AUTOSTART=y CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y CONFIG_COMMON_DISTANCE_SENSOR=y CONFIG_DRIVERS_DSHOT=y @@ -69,6 +70,7 @@ CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y CONFIG_MODULES_UUV_ATT_CONTROL=y CONFIG_MODULES_UUV_POS_CONTROL=y +CONFIG_MODULES_UXRCE_DDS_CLIENT=y CONFIG_MODULES_VTOL_ATT_CONTROL=y CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y CONFIG_SYSTEMCMDS_BL_UPDATE=y diff --git a/boards/thepeach/k1/init/rc.board_defaults b/boards/thepeach/k1/init/rc.board_defaults index 5d8a3c182ba1..f22fa838f49e 100644 --- a/boards/thepeach/k1/init/rc.board_defaults +++ b/boards/thepeach/k1/init/rc.board_defaults @@ -5,5 +5,3 @@ param set-default BAT1_V_DIV 18.1 param set-default BAT1_A_PER_V 36.367515152 - -param set-default SYS_USE_IO 1 diff --git a/boards/thepeach/k1/nuttx-config/nsh/defconfig b/boards/thepeach/k1/nuttx-config/nsh/defconfig index 3a63ed05bba0..78c6bde8dfde 100644 --- a/boards/thepeach/k1/nuttx-config/nsh/defconfig +++ b/boards/thepeach/k1/nuttx-config/nsh/defconfig @@ -108,7 +108,7 @@ CONFIG_I2C=y CONFIG_I2C_RESET=y CONFIG_IDLETHREAD_STACKSIZE=750 CONFIG_INIT_ENTRYPOINT="nsh_main" -CONFIG_INIT_STACKSIZE=2944 +CONFIG_INIT_STACKSIZE=3194 CONFIG_LIBC_LONG_LONG=y CONFIG_LIBC_MAX_EXITFUNS=1 CONFIG_LIBC_STRERROR=y @@ -141,6 +141,8 @@ CONFIG_PREALLOC_TIMERS=50 CONFIG_PRIORITY_INHERITANCE=y CONFIG_PTHREAD_MUTEX_ROBUST=y CONFIG_PTHREAD_STACK_MIN=512 +CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5 +CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5 CONFIG_RAMTRON_SETSPEED=y CONFIG_RAM_SIZE=262144 CONFIG_RAM_START=0x20000000 diff --git a/boards/thepeach/r1/default.px4board b/boards/thepeach/r1/default.px4board index b2c6588f98b2..d760279546c7 100644 --- a/boards/thepeach/r1/default.px4board +++ b/boards/thepeach/r1/default.px4board @@ -11,6 +11,7 @@ CONFIG_COMMON_BAROMETERS=y CONFIG_DRIVERS_BATT_SMBUS=y CONFIG_DRIVERS_CAMERA_CAPTURE=y CONFIG_DRIVERS_CAMERA_TRIGGER=y +CONFIG_DRIVERS_CDCACM_AUTOSTART=y CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y CONFIG_COMMON_DISTANCE_SENSOR=y CONFIG_DRIVERS_DSHOT=y @@ -69,6 +70,7 @@ CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y CONFIG_MODULES_UUV_ATT_CONTROL=y CONFIG_MODULES_UUV_POS_CONTROL=y +CONFIG_MODULES_UXRCE_DDS_CLIENT=y CONFIG_MODULES_VTOL_ATT_CONTROL=y CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y CONFIG_SYSTEMCMDS_BL_UPDATE=y diff --git a/boards/thepeach/r1/init/rc.board_defaults b/boards/thepeach/r1/init/rc.board_defaults index 5d8a3c182ba1..f22fa838f49e 100644 --- a/boards/thepeach/r1/init/rc.board_defaults +++ b/boards/thepeach/r1/init/rc.board_defaults @@ -5,5 +5,3 @@ param set-default BAT1_V_DIV 18.1 param set-default BAT1_A_PER_V 36.367515152 - -param set-default SYS_USE_IO 1 diff --git a/boards/thepeach/r1/nuttx-config/nsh/defconfig b/boards/thepeach/r1/nuttx-config/nsh/defconfig index 51a9be25a1f1..75c975f76fa6 100644 --- a/boards/thepeach/r1/nuttx-config/nsh/defconfig +++ b/boards/thepeach/r1/nuttx-config/nsh/defconfig @@ -108,7 +108,7 @@ CONFIG_I2C=y CONFIG_I2C_RESET=y CONFIG_IDLETHREAD_STACKSIZE=750 CONFIG_INIT_ENTRYPOINT="nsh_main" -CONFIG_INIT_STACKSIZE=2944 +CONFIG_INIT_STACKSIZE=3194 CONFIG_LIBC_LONG_LONG=y CONFIG_LIBC_MAX_EXITFUNS=1 CONFIG_LIBC_STRERROR=y @@ -141,6 +141,8 @@ CONFIG_PREALLOC_TIMERS=50 CONFIG_PRIORITY_INHERITANCE=y CONFIG_PTHREAD_MUTEX_ROBUST=y CONFIG_PTHREAD_STACK_MIN=512 +CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5 +CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5 CONFIG_RAMTRON_SETSPEED=y CONFIG_RAM_SIZE=262144 CONFIG_RAM_START=0x20000000 diff --git a/boards/uvify/core/default.px4board b/boards/uvify/core/default.px4board index bdc591a2810d..8c144aa6062e 100644 --- a/boards/uvify/core/default.px4board +++ b/boards/uvify/core/default.px4board @@ -10,6 +10,7 @@ CONFIG_DRIVERS_BAROMETER_MS5611=y CONFIG_DRIVERS_BATT_SMBUS=y CONFIG_DRIVERS_CAMERA_CAPTURE=y CONFIG_DRIVERS_CAMERA_TRIGGER=y +CONFIG_DRIVERS_CDCACM_AUTOSTART=y CONFIG_COMMON_DISTANCE_SENSOR=y CONFIG_DRIVERS_DSHOT=y CONFIG_DRIVERS_GPS=y diff --git a/boards/uvify/core/nuttx-config/nsh/defconfig b/boards/uvify/core/nuttx-config/nsh/defconfig index 0dcb89b2b319..6d8e82e9f5af 100644 --- a/boards/uvify/core/nuttx-config/nsh/defconfig +++ b/boards/uvify/core/nuttx-config/nsh/defconfig @@ -106,7 +106,7 @@ CONFIG_I2C=y CONFIG_I2C_RESET=y CONFIG_IDLETHREAD_STACKSIZE=750 CONFIG_INIT_ENTRYPOINT="nsh_main" -CONFIG_INIT_STACKSIZE=2944 +CONFIG_INIT_STACKSIZE=3194 CONFIG_LIBC_FLOATINGPOINT=y CONFIG_LIBC_LONG_LONG=y CONFIG_LIBC_MAX_EXITFUNS=1 @@ -140,6 +140,8 @@ CONFIG_PREALLOC_TIMERS=50 CONFIG_PRIORITY_INHERITANCE=y CONFIG_PTHREAD_MUTEX_ROBUST=y CONFIG_PTHREAD_STACK_MIN=512 +CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5 +CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5 CONFIG_RAMTRON_SETSPEED=y CONFIG_RAM_SIZE=262144 CONFIG_RAM_START=0x20000000 diff --git a/boards/uvify/core/src/usb.c b/boards/uvify/core/src/usb.c index 32f853b7472a..084a49ed7895 100644 --- a/boards/uvify/core/src/usb.c +++ b/boards/uvify/core/src/usb.c @@ -105,4 +105,3 @@ __EXPORT void stm32_usbsuspend(FAR struct usbdev_s *dev, bool resume) { uinfo("resume: %d\n", resume); } - diff --git a/cmake/doxygen.cmake b/cmake/doxygen.cmake index a410fe39db63..d9d64232a181 100644 --- a/cmake/doxygen.cmake +++ b/cmake/doxygen.cmake @@ -59,4 +59,3 @@ if (BUILD_DOXYGEN) message("Doxygen needs to be installed to generate documentation") endif() endif() - diff --git a/cmake/gtest/px4_add_gtest.cmake b/cmake/gtest/px4_add_gtest.cmake index 1a54456194c1..c93b15734a52 100644 --- a/cmake/gtest/px4_add_gtest.cmake +++ b/cmake/gtest/px4_add_gtest.cmake @@ -107,6 +107,7 @@ function(px4_add_functional_gtest) px4_daemon work_queue parameters + events perf tinybson uorb_msgs diff --git a/cmake/kconfig.cmake b/cmake/kconfig.cmake index ea5e48800ecd..7eaaa00d676c 100644 --- a/cmake/kconfig.cmake +++ b/cmake/kconfig.cmake @@ -25,6 +25,7 @@ set(COMMON_KCONFIG_ENV_SETTINGS TOOLCHAIN=${CMAKE_TOOLCHAIN_FILE} ARCHITECTURE=${CMAKE_SYSTEM_PROCESSOR} ROMFSROOT=${config_romfs_root} + BASE_DEFCONFIG=${BOARD_CONFIG} ) set(config_user_list) @@ -52,6 +53,15 @@ if(EXISTS ${BOARD_DEFCONFIG}) ) endif() + if(${LABEL} MATCHES "allyes") + message(AUTHOR_WARNING "allyes build: allyes is for CI coverage and not for use in production") + execute_process( + COMMAND ${CMAKE_COMMAND} -E env ${COMMON_KCONFIG_ENV_SETTINGS} + ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/kconfig/allyesconfig.py + WORKING_DIRECTORY ${PX4_SOURCE_DIR} + ) + endif() + # Generate header file for C/C++ preprocessor execute_process( COMMAND ${CMAKE_COMMAND} -E env ${COMMON_KCONFIG_ENV_SETTINGS} @@ -73,12 +83,18 @@ if(EXISTS ${BOARD_DEFCONFIG}) # Find the value string(REPLACE "${Name}=" "" Value ${NameAndValue}) - if(Value) - # remove extra quotes - string(REPLACE "\"" "" Value ${Value}) + # remove extra quotes + string(REPLACE "\"" "" Value ${Value}) + + # Set the variable + set(${Name} ${Value} CACHE INTERNAL "BOARD DEFCONFIG: ${Name}" FORCE) + + else() + # Find boolean not set + string(REGEX MATCH " (CONFIG[^ ]+) is not set" Name ${NameAndValue}) - # Set the variable - set(${Name} ${Value} CACHE INTERNAL "BOARD DEFCONFIG: ${Name}" FORCE) + if(${CMAKE_MATCH_1}) + set(${CMAKE_MATCH_1} "" CACHE INTERNAL "BOARD DEFCONFIG: ${CMAKE_MATCH_1}" FORCE) endif() endif() @@ -216,15 +232,17 @@ if(EXISTS ${BOARD_DEFCONFIG}) endforeach() - # Put every module not in userspace also to kernel list - foreach(modpath ${config_module_list}) + if (CONFIG_BOARD_PROTECTED) + # Put every module not in userspace also to kernel list + foreach(modpath ${config_module_list}) get_filename_component(module ${modpath} NAME) list(FIND config_user_list ${module} _index) if (${_index} EQUAL -1) list(APPEND config_kernel_list ${modpath}) endif() - endforeach() + endforeach() + endif() if(PLATFORM) # set OS, and append specific platform module path @@ -430,7 +448,7 @@ if(${LABEL} MATCHES "default" OR ${LABEL} MATCHES "bootloader" OR ${LABEL} MATCH COMMAND_EXPAND_LISTS ) -else() +elseif(NOT ${LABEL} MATCHES "allyes") # All other configs except allyes which isn't configurable add_custom_target(boardconfig ${CMAKE_COMMAND} -E env ${COMMON_KCONFIG_ENV_SETTINGS} ${MENUCONFIG_PATH} Kconfig COMMAND ${CMAKE_COMMAND} -E env ${COMMON_KCONFIG_ENV_SETTINGS} ${SAVEDEFCONFIG_PATH} diff --git a/cmake/metadata.cmake b/cmake/metadata.cmake index 59ae6bd82990..ef946c703159 100644 --- a/cmake/metadata.cmake +++ b/cmake/metadata.cmake @@ -74,13 +74,13 @@ add_custom_target(metadata_parameters --markdown ${PX4_BINARY_DIR}/docs/parameters.md COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/src/lib/parameters/px_process_params.py - --src-path `find ${PX4_SOURCE_DIR}/src -maxdepth 4 -type d` + --src-path `find ${PX4_SOURCE_DIR}/src -maxdepth 4 -type d` ${generated_params_dir} --inject-xml ${PX4_SOURCE_DIR}/src/lib/parameters/parameters_injected.xml --json ${PX4_BINARY_DIR}/docs/parameters.json --compress COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/src/lib/parameters/px_process_params.py - --src-path `find ${PX4_SOURCE_DIR}/src -maxdepth 4 -type d` + --src-path `find ${PX4_SOURCE_DIR}/src -maxdepth 4 -type d` ${generated_params_dir} --inject-xml ${PX4_SOURCE_DIR}/src/lib/parameters/parameters_injected.xml --xml ${PX4_BINARY_DIR}/docs/parameters.xml diff --git a/cmake/px4_add_module.cmake b/cmake/px4_add_module.cmake index 5c0ee1153d68..19d2c41da1da 100644 --- a/cmake/px4_add_module.cmake +++ b/cmake/px4_add_module.cmake @@ -168,10 +168,11 @@ function(px4_add_module) if(NOT DYNAMIC) target_link_libraries(${MODULE} PRIVATE prebuild_targets px4_platform systemlib perf) if (${PX4_PLATFORM} STREQUAL "nuttx" AND NOT CONFIG_BUILD_FLAT AND KERNEL) - target_link_libraries(${MODULE} PRIVATE kernel_parameters_interface px4_kernel_layer uORB_kernel) + target_link_libraries(${MODULE} PRIVATE + kernel_events_interface kernel_parameters_interface px4_kernel_layer uORB_kernel) set_property(GLOBAL APPEND PROPERTY PX4_KERNEL_MODULE_LIBRARIES ${MODULE}) else() - target_link_libraries(${MODULE} PRIVATE parameters_interface px4_layer uORB) + target_link_libraries(${MODULE} PRIVATE events_interface parameters_interface px4_layer uORB) set_property(GLOBAL APPEND PROPERTY PX4_MODULE_LIBRARIES ${MODULE}) endif() set_property(GLOBAL APPEND PROPERTY PX4_MODULE_PATHS ${CMAKE_CURRENT_SOURCE_DIR}) diff --git a/eclipse.cproject b/eclipse.cproject deleted file mode 100644 index 711a641270c9..000000000000 --- a/eclipse.cproject +++ /dev/null @@ -1,205 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - make - px4_fmu-v2_default - true - true - true - - - make - - px4_fmu-v4_default - true - true - true - - - make - all - true - true - true - - - make - - px4_sitl_default - true - true - true - - - make - - check - true - true - true - - - make - clean - true - true - true - - - make - distclean - true - true - true - - - make - - tests - true - true - true - - - make - submodulesclean - false - true - true - - - make - - quick_check - true - true - true - - - - - - - - - - - - - - - - - - - diff --git a/eclipse.project b/eclipse.project deleted file mode 100644 index 0172fa8ceb13..000000000000 --- a/eclipse.project +++ /dev/null @@ -1,69 +0,0 @@ - - - PX4-Firmware - - - - - - org.eclipse.cdt.managedbuilder.core.genmakebuilder - clean,full,incremental, - - - - - org.eclipse.cdt.managedbuilder.core.ScannerConfigBuilder - full,incremental, - - - - - - org.eclipse.cdt.core.cnature - org.eclipse.cdt.core.ccnature - org.eclipse.cdt.managedbuilder.core.managedBuildNature - org.eclipse.cdt.managedbuilder.core.ScannerConfigNature - - - - topics_sources - 2 - uORB_SRC - - - uORB - 2 - uORB_LOC - - - - - 1457837186676 - - 26 - - org.eclipse.ui.ide.multiFilter - 1.0-name-matches-false-false-.git - - - - 1457837186687 - - 10 - - org.eclipse.ui.ide.multiFilter - 1.0-name-matches-true-false-build* - - - - - - uORB_LOC - $%7BPROJECT_LOC%7D/build/px4_sitl_default/uORB - - - uORB_SRC - $%7BPROJECT_LOC%7D/build/px4_sitl_default/msg/topics_sources - - - diff --git a/integrationtests/python_src/px4_it/mavros/mission_test.py b/integrationtests/python_src/px4_it/mavros/mission_test.py index fac011eb7d87..0692f11ec1ec 100755 --- a/integrationtests/python_src/px4_it/mavros/mission_test.py +++ b/integrationtests/python_src/px4_it/mavros/mission_test.py @@ -303,9 +303,12 @@ def test_mission(self): self.assertTrue(abs(res['roll_error_mean']) < 5.0, str(res)) self.assertTrue(abs(res['pitch_error_mean']) < 5.0, str(res)) self.assertTrue(abs(res['yaw_error_mean']) < 5.0, str(res)) + self.assertTrue(res['roll_error_std'] < 5.0, str(res)) self.assertTrue(res['pitch_error_std'] < 5.0, str(res)) - self.assertTrue(res['yaw_error_std'] < 5.0, str(res)) + + # TODO: fix by excluding initial heading init and reset preflight + self.assertTrue(res['yaw_error_std'] < 15.0, str(res)) if __name__ == '__main__': diff --git a/integrationtests/python_src/px4_it/util/manual_input.py b/integrationtests/python_src/px4_it/util/manual_input.py index d1381d99d648..66d484381c88 100755 --- a/integrationtests/python_src/px4_it/util/manual_input.py +++ b/integrationtests/python_src/px4_it/util/manual_input.py @@ -166,4 +166,3 @@ def offboard(self, ignore_thrust=False, ignore_attitude=False, ignore_bodyrate=T self.pub_mcsp.publish(pos) rate.sleep() count = count + 1 - diff --git a/integrationtests/python_src/px4_it/util/px4_test_helper.py b/integrationtests/python_src/px4_it/util/px4_test_helper.py index 4dc8866341e8..b069b70c40f5 100644 --- a/integrationtests/python_src/px4_it/util/px4_test_helper.py +++ b/integrationtests/python_src/px4_it/util/px4_test_helper.py @@ -108,4 +108,3 @@ def bag_write(self, topic, data): rospy.logwarn("Trying to write to bag but it's already closed") finally: self.condition.release() - diff --git a/msg/ActuatorTest.msg b/msg/ActuatorTest.msg index f880720da073..221258f90612 100644 --- a/msg/ActuatorTest.msg +++ b/msg/ActuatorTest.msg @@ -18,4 +18,4 @@ float32 value # range: [-1, 1], where 1 means maximum positive output, # and NaN maps to disarmed (stop the motors) uint32 timeout_ms # timeout in ms after which to exit test mode (if 0, do not time out) -uint8 ORB_QUEUE_LENGTH = 12 # same as MAX_NUM_MOTORS to support code in esc_calibration +uint8 ORB_QUEUE_LENGTH = 16 # >= MAX_NUM_MOTORS to support code in esc_calibration diff --git a/msg/AirspeedValidated.msg b/msg/AirspeedValidated.msg index 06731cc4106a..9ee0f518314e 100644 --- a/msg/AirspeedValidated.msg +++ b/msg/AirspeedValidated.msg @@ -10,3 +10,7 @@ float32 true_ground_minus_wind_m_s # TAS calculated from groundspeed - windspe bool airspeed_sensor_measurement_valid # True if data from at least one airspeed sensor is declared valid. int8 selected_airspeed_index # 1-3: airspeed sensor index, 0: groundspeed-windspeed, -1: airspeed invalid + +float32 airspeed_derivative_filtered # filtered indicated airspeed derivative [m/s/s] +float32 throttle_filtered # filtered fixed-wing throttle [-] +float32 pitch_filtered # filtered pitch [rad] diff --git a/msg/ArmingCheckReply.msg b/msg/ArmingCheckReply.msg new file mode 100644 index 000000000000..589ad1b1cd7d --- /dev/null +++ b/msg/ArmingCheckReply.msg @@ -0,0 +1,33 @@ +uint64 timestamp # time since system start (microseconds) + +uint8 request_id +uint8 registration_id + +uint8 HEALTH_COMPONENT_INDEX_NONE = 0 +uint8 HEALTH_COMPONENT_INDEX_AVOIDANCE = 19 + +uint8 health_component_index # HEALTH_COMPONENT_INDEX_* +bool health_component_is_present +bool health_component_warning +bool health_component_error + +bool can_arm_and_run # whether arming is possible, and if it's a navigation mode, if it can run + +uint8 num_events + +Event[5] events + +# Mode requirements +bool mode_req_angular_velocity +bool mode_req_attitude +bool mode_req_local_alt +bool mode_req_local_position +bool mode_req_local_position_relaxed +bool mode_req_global_position +bool mode_req_mission +bool mode_req_home_position +bool mode_req_prevent_arming +bool mode_req_manual_control + + +uint8 ORB_QUEUE_LENGTH = 4 diff --git a/msg/ArmingCheckRequest.msg b/msg/ArmingCheckRequest.msg new file mode 100644 index 000000000000..69e7e85f351b --- /dev/null +++ b/msg/ArmingCheckRequest.msg @@ -0,0 +1,5 @@ +uint64 timestamp # time since system start (microseconds) + +# broadcast message to request all registered arming checks to be reported + +uint8 request_id diff --git a/msg/BatteryStatus.msg b/msg/BatteryStatus.msg index 65845b57aec2..b5155308f229 100644 --- a/msg/BatteryStatus.msg +++ b/msg/BatteryStatus.msg @@ -1,10 +1,8 @@ uint64 timestamp # time since system start (microseconds) bool connected # Whether or not a battery is connected, based on a voltage threshold float32 voltage_v # Battery voltage in volts, 0 if unknown -float32 voltage_filtered_v # Battery voltage in volts, filtered, 0 if unknown float32 current_a # Battery current in amperes, -1 if unknown -float32 current_filtered_a # Battery current in amperes, filtered, 0 if unknown -float32 current_average_a # Battery current average in amperes, -1 if unknown +float32 current_average_a # Battery current average in amperes (for FW average in level flight), -1 if unknown float32 discharged_mah # Discharged amount in mAh, -1 if unknown float32 remaining # From 1 to 0, -1 if unknown float32 scale # Power scaling factor, >= 1, or -1 if unknown @@ -52,27 +50,23 @@ uint8 BATTERY_FAULT_INCOMPATIBLE_VOLTAGE = 6 # Vehicle voltage is not compatible uint8 BATTERY_FAULT_INCOMPATIBLE_FIRMWARE = 7 # Battery firmware is not compatible with current autopilot firmware uint8 BATTERY_FAULT_INCOMPATIBLE_MODEL = 8 # Battery model is not supported by the system uint8 BATTERY_FAULT_HARDWARE_FAILURE = 9 # hardware problem -uint8 BATTERY_WARNING_OVER_TEMPERATURE = 10 # Over-temperature +uint8 BATTERY_FAULT_FAILED_TO_ARM = 10 # Battery had a problem while arming uint8 BATTERY_FAULT_COUNT = 11 # Counter - keep it as last element! uint16 faults # Smart battery supply status/fault flags (bitmask) for health indication. -uint32 custom_faults # Bitmask indicating smart battery internal manufacturer faults, those are not user actionable. uint8 warning # Current battery warning -uint8 mode # Battery mode. Note, the normal operation mode - -uint8 BATTERY_MODE_UNKNOWN = 0 # Battery does not support a mode, or if it does, is operational -uint8 BATTERY_MODE_AUTO_DISCHARGING = 1 # Battery is auto discharging (towards storage level) -uint8 BATTERY_MODE_HOT_SWAP = 2 # Battery in hot-swap mode -uint8 BATTERY_MODE_COUNT = 3 # Counter - keep it as last element (once we're fully migrated to events interface we can just comment this)! - uint8 MAX_INSTANCES = 4 -float32 average_power # The average power of the current discharge -float32 available_energy # The predicted charge or energy remaining in the battery float32 full_charge_capacity_wh # The compensated battery capacity float32 remaining_capacity_wh # The compensated battery capacity remaining -float32 design_capacity # The design capacity of the battery -uint16 average_time_to_full # The predicted remaining time until the battery reaches full charge, in minutes uint16 over_discharge_count # Number of battery overdischarge float32 nominal_voltage # Nominal voltage of the battery pack + +float32 internal_resistance_estimate # [Ohm] Internal resistance per cell estimate +float32 ocv_estimate # [V] Open circuit voltage estimate +float32 ocv_estimate_filtered # [V] Filtered open circuit voltage estimate +float32 volt_based_soc_estimate # [0, 1] Normalized volt based state of charge estimate +float32 voltage_prediction # [V] Predicted voltage +float32 prediction_error # [V] Prediction error +float32 estimation_covariance_norm # Norm of the covariance matrix diff --git a/msg/Buffer128.msg b/msg/Buffer128.msg new file mode 100644 index 000000000000..4ff939a87d07 --- /dev/null +++ b/msg/Buffer128.msg @@ -0,0 +1,8 @@ +uint64 timestamp # time since system start (microseconds) + +uint8 len # length of data +uint32 MAX_BUFLEN = 128 + +uint8[128] data # data + +# TOPICS voxl2_io_data diff --git a/msg/CMakeLists.txt b/msg/CMakeLists.txt index 611fea9e85e3..3b31b7de554d 100644 --- a/msg/CMakeLists.txt +++ b/msg/CMakeLists.txt @@ -49,17 +49,24 @@ set(msg_files Airspeed.msg AirspeedValidated.msg AirspeedWind.msg + ArmingCheckReply.msg + ArmingCheckRequest.msg AutotuneAttitudeControlStatus.msg BatteryStatus.msg + Buffer128.msg ButtonEvent.msg CameraCapture.msg CameraStatus.msg CameraTrigger.msg + CanInterfaceStatus.msg CellularStatus.msg CollisionConstraints.msg CollisionReport.msg + ConfigOverrides.msg ControlAllocatorStatus.msg Cpuload.msg + DatamanRequest.msg + DatamanResponse.msg DebugArray.msg DebugKeyValue.msg DebugValue.msg @@ -83,13 +90,18 @@ set(msg_files EstimatorStatus.msg EstimatorStatusFlags.msg Event.msg + FigureEightStatus.msg FailsafeFlags.msg FailureDetectorStatus.msg + FlightPhaseEstimation.msg FollowTarget.msg FollowTargetEstimator.msg FollowTargetStatus.msg + FuelTankStatus.msg GeneratorStatus.msg GeofenceResult.msg + GeofenceStatus.msg + GimbalControls.msg GimbalDeviceAttitudeStatus.msg GimbalDeviceInformation.msg GimbalDeviceSetAttitude.msg @@ -97,9 +109,13 @@ set(msg_files GimbalManagerSetAttitude.msg GimbalManagerSetManualControl.msg GimbalManagerStatus.msg + GotoSetpoint.msg + GpioConfig.msg + GpioIn.msg + GpioOut.msg + GpioRequest.msg GpsDump.msg GpsInjectData.msg - GimbalControls.msg Gripper.msg HealthReport.msg HeaterStatus.msg @@ -123,11 +139,14 @@ set(msg_files ManualControlSwitches.msg MavlinkLog.msg MavlinkTunnel.msg + MessageFormatRequest.msg + MessageFormatResponse.msg Mission.msg MissionResult.msg MountOrientation.msg ModeCompleted.msg NavigatorMissionItem.msg + NavigatorStatus.msg NormalizedUnsignedSetpoint.msg NpfgStatus.msg ObstacleDistance.msg @@ -137,6 +156,10 @@ set(msg_files OrbTest.msg OrbTestLarge.msg OrbTestMedium.msg + ParameterResetRequest.msg + ParameterSetUsedRequest.msg + ParameterSetValueRequest.msg + ParameterSetValueResponse.msg ParameterUpdate.msg Ping.msg PositionControllerLandingStatus.msg @@ -154,7 +177,14 @@ set(msg_files RateCtrlStatus.msg RcChannels.msg RcParameterMap.msg + RegisterExtComponentReply.msg + RegisterExtComponentRequest.msg + RoverAckermannGuidanceStatus.msg + RoverAckermannStatus.msg + RoverDifferentialGuidanceStatus.msg + RoverDifferentialStatus.msg Rpm.msg + RtlStatus.msg RtlTimeEstimate.msg SatelliteInfo.msg SensorAccel.msg @@ -174,6 +204,8 @@ set(msg_files SensorSelection.msg SensorsStatus.msg SensorsStatusImu.msg + SensorUwb.msg + SensorAirflow.msg SystemPower.msg TakeoffStatus.msg TaskStackInfo.msg @@ -190,8 +222,7 @@ set(msg_files UavcanParameterValue.msg UlogStream.msg UlogStreamAck.msg - UwbDistance.msg - UwbGrid.msg + UnregisterExtComponent.msg VehicleAcceleration.msg VehicleAirData.msg VehicleAngularAccelerationSetpoint.msg @@ -219,7 +250,9 @@ set(msg_files VehicleTorqueSetpoint.msg VehicleTrajectoryBezier.msg VehicleTrajectoryWaypoint.msg + VelocityLimits.msg VtolVehicleStatus.msg + WheelEncoders.msg Wind.msg YawEstimatorStatus.msg ) @@ -247,6 +280,7 @@ set(msg_source_out_path ${CMAKE_CURRENT_BINARY_DIR}/topics_sources) set(uorb_headers) set(uorb_sources) set(uorb_ucdr_headers) +set(uorb_json_files) foreach(msg_file ${msg_files}) get_filename_component(msg ${msg_file} NAME_WE) @@ -258,9 +292,10 @@ foreach(msg_file ${msg_files}) list(APPEND uorb_headers ${msg_out_path}/${msg}.h) list(APPEND uorb_sources ${msg_source_out_path}/${msg}.cpp) list(APPEND uorb_ucdr_headers ${ucdr_out_path}/${msg}.h) + list(APPEND uorb_json_files ${msg_source_out_path}/${msg}.json) endforeach() -# set parent scope msg_files for other modules to consume (eg topic_listener) +# set parent scope msg_files for ROS set(msg_files ${msg_files} PARENT_SCOPE) # Generate uORB headers @@ -286,6 +321,44 @@ add_custom_command( ) add_custom_target(uorb_headers DEPENDS ${uorb_headers}) +add_custom_command( + OUTPUT + ${uorb_json_files} + COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py + --json + -f ${msg_files} + -i ${CMAKE_CURRENT_SOURCE_DIR} + -o ${msg_source_out_path} + -e ${PX4_SOURCE_DIR}/Tools/msg/templates/uorb + DEPENDS + ${msg_files} + ${PX4_SOURCE_DIR}/Tools/msg/templates/uorb/msg.json.em + ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py + ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_helper.py + COMMENT "Generating uORB json files" + WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR} + VERBATIM +) +add_custom_target(uorb_json_files DEPENDS ${uorb_json_files}) + +set(uorb_message_fields_cpp_file ${msg_source_out_path}/uORBMessageFieldsGenerated.cpp) +set(uorb_message_fields_header_file ${msg_out_path}/uORBMessageFieldsGenerated.hpp) +add_custom_command( + OUTPUT + ${uorb_message_fields_cpp_file} + ${uorb_message_fields_header_file} + COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_compressed_fields.py + -f ${uorb_json_files} + --source-output-file ${uorb_message_fields_cpp_file} + --header-output-file ${uorb_message_fields_header_file} + DEPENDS + ${uorb_json_files} + ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_compressed_fields.py + COMMENT "Generating uORB compressed fields" + WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR} + VERBATIM +) + # Generate microcdr headers add_custom_command( OUTPUT ${uorb_ucdr_headers} @@ -328,6 +401,131 @@ add_custom_command( VERBATIM ) -add_library(uorb_msgs ${uorb_headers} ${msg_out_path}/uORBTopics.hpp ${uorb_sources} ${msg_source_out_path}/uORBTopics.cpp) +add_library(uorb_msgs ${uorb_headers} ${msg_out_path}/uORBTopics.hpp ${uorb_sources} ${msg_source_out_path}/uORBTopics.cpp ${uorb_message_fields_cpp_file}) target_link_libraries(uorb_msgs PRIVATE m) add_dependencies(uorb_msgs prebuild_targets uorb_headers) + +if(CONFIG_LIB_CDRSTREAM) + set(uorb_cdr_idl) + set(uorb_cdr_msg) + set(uorb_cdr_idl_uorb) + set(idl_include_path ${PX4_BINARY_DIR}/uORB/idl) + set(idl_out_path ${idl_include_path}/px4/msg) + set(idl_uorb_path ${PX4_BINARY_DIR}/msg/px4/msg) + + # Make sure that CycloneDDS has been checkout out + execute_process(COMMAND git submodule sync src/lib/cdrstream/cyclonedds + WORKING_DIRECTORY ${PX4_SOURCE_DIR} ) + execute_process(COMMAND git submodule update --init --force src/lib/cdrstream/cyclonedds + WORKING_DIRECTORY ${PX4_SOURCE_DIR} ) + + # CycloneDDS-tools doesn't ship with the cdrstream-desc feature thus we've to compile idlc from source + MESSAGE(STATUS "Configuring idlc :" ${CMAKE_CURRENT_BINARY_DIR}/idlc) + file(MAKE_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/idlc) + execute_process(COMMAND ${CMAKE_COMMAND} ${PX4_SOURCE_DIR}/src/lib/cdrstream/cyclonedds + -DCMAKE_C_COMPILER=/usr/bin/gcc + -DBUILD_EXAMPLES=OFF + WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/idlc + RESULT_VARIABLE CMD_ERROR + OUTPUT_FILE CMD_OUTPUT ) + MESSAGE(STATUS "Building idlc :" ${CMAKE_CURRENT_BINARY_DIR}/idlc) + execute_process(COMMAND ${CMAKE_COMMAND} --build . --target idlc + WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/idlc + RESULT_VARIABLE CMD_ERROR + OUTPUT_FILE CMD_OUTPUT ) + list(APPEND CMAKE_PROGRAM_PATH "${CMAKE_CURRENT_BINARY_DIR}/idlc/bin") + + # Copy .msg files + foreach(msg_file ${msg_files}) + get_filename_component(msg ${msg_file} NAME_WE) + configure_file(${PX4_SOURCE_DIR}/msg/${msg}.msg ${idl_out_path}/${msg}.msg COPYONLY) + list(APPEND uorb_cdr_idl ${idl_out_path}/${msg}.idl) + list(APPEND uorb_cdr_msg ${idl_out_path}/${msg}.msg) + list(APPEND uorb_cdr_idl_uorb ${idl_uorb_path}/${msg}.h) + endforeach() + + # Generate IDL from .msg using rosidl_adapter + # Note this a submodule inside PX4 hence no ROS2 installation required + add_custom_command( + OUTPUT ${uorb_cdr_idl} + COMMAND ${CMAKE_COMMAND} + -E env "PYTHONPATH=${PX4_SOURCE_DIR}/src/lib/cdrstream/rosidl/rosidl_adapter:${PX4_SOURCE_DIR}/src/lib/cdrstream/rosidl/rosidl_cli" + ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/src/lib/cdrstream/msg2idl.py + ${uorb_cdr_msg} + DEPENDS + ${uorb_cdr_msg} + git_cyclonedds + COMMENT "Generating IDL from uORB topic headers" + WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR} + VERBATIM + ) + + # Generate C definitions from IDL + set(CYCLONEDDS_DIR ${PX4_SOURCE_DIR}/src/lib/cdrstream/cyclonedds) + include("${CYCLONEDDS_DIR}/cmake/Modules/Generate.cmake") + idlc_generate(TARGET uorb_cdrstream + FEATURES "cdrstream-desc" + FILES ${uorb_cdr_idl} + INCLUDES ${idl_include_path} + BASE_DIR ${idl_include_path} + WARNINGS no-implicit-extensibility) + target_link_libraries(uorb_cdrstream INTERFACE cdr) + + # Generate and overwrite IDL header with custom headers for uORB operatability + # We typedef the IDL struct the uORB struct so that the IDL offset calculate + # the offset of internal uORB struct for serialization/deserialization + + # In the future we might want to turn this around let the IDL struct be the leading ABI + # However we need to remove the padding for logging and remove the re-ordering of fields + + add_custom_target( + uorb_idl_header + COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py + --uorb-idl-header + -f ${msg_files} + -i ${CMAKE_CURRENT_SOURCE_DIR} + -o ${idl_uorb_path} + -e ${PX4_SOURCE_DIR}/Tools/msg/templates/cdrstream + DEPENDS + uorb_cdrstream + ${msg_files} + ${PX4_SOURCE_DIR}/Tools/msg/templates/cdrstream/uorb_idl_header.h.em + ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py + ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_helper.py + COMMENT "Generating uORB compatible IDL headers" + WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR} + VERBATIM + ) + add_dependencies(uorb_msgs uorb_idl_header) + + # Compile all CDR compatible message defnitions + target_link_libraries(uorb_msgs PRIVATE uorb_cdrstream ) +endif() + +if(CONFIG_MODULES_ZENOH) + # Update kconfig file for topics + execute_process(COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/zenoh/px_generate_zenoh_topic_files.py + --zenoh-config + -f ${msg_files} + -o ${PX4_SOURCE_DIR}/src/modules/zenoh/ + -e ${PX4_SOURCE_DIR}/Tools/zenoh/templates/zenoh + ) + add_custom_command( + OUTPUT + ${PX4_BINARY_DIR}/src/modules/zenoh/uorb_pubsub_factory.hpp + COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/zenoh/px_generate_zenoh_topic_files.py + --zenoh-pub-sub + -f ${msg_files} + -o ${PX4_BINARY_DIR}/src/modules/zenoh/ + -e ${PX4_SOURCE_DIR}/Tools/zenoh/templates/zenoh + DEPENDS + ${msg_files} + ${PX4_SOURCE_DIR}/Tools/zenoh/templates/zenoh/uorb_pubsub_factory.hpp.em + ${PX4_SOURCE_DIR}/Tools/zenoh/px_generate_zenoh_topic_files.py + COMMENT "Generating Zenoh Topic Code" + WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR} + VERBATIM + ) + add_library(zenoh_topics ${PX4_BINARY_DIR}/src/modules/zenoh/uorb_pubsub_factory.hpp) + set_target_properties(zenoh_topics PROPERTIES LINKER_LANGUAGE CXX) +endif() diff --git a/msg/CanInterfaceStatus.msg b/msg/CanInterfaceStatus.msg new file mode 100644 index 000000000000..4129c8d56386 --- /dev/null +++ b/msg/CanInterfaceStatus.msg @@ -0,0 +1,6 @@ +uint64 timestamp # time since system start (microseconds) +uint8 interface + +uint64 io_errors +uint64 frames_tx +uint64 frames_rx diff --git a/msg/ConfigOverrides.msg b/msg/ConfigOverrides.msg new file mode 100644 index 000000000000..09b87253a8f3 --- /dev/null +++ b/msg/ConfigOverrides.msg @@ -0,0 +1,18 @@ +# Configurable overrides by (external) modes or mode executors +uint64 timestamp # time since system start (microseconds) + +bool disable_auto_disarm # Prevent the drone from automatically disarming after landing (if configured) + +bool defer_failsafes # Defer all failsafes that can be deferred (until the flag is cleared) +int16 defer_failsafes_timeout_s # Maximum time a failsafe can be deferred. 0 = system default, -1 = no timeout + + +int8 SOURCE_TYPE_MODE = 0 +int8 SOURCE_TYPE_MODE_EXECUTOR = 1 +int8 source_type + +uint8 source_id # ID depending on source_type + +uint8 ORB_QUEUE_LENGTH = 4 + +# TOPICS config_overrides config_overrides_request diff --git a/msg/DatamanRequest.msg b/msg/DatamanRequest.msg new file mode 100644 index 000000000000..b65386cc1562 --- /dev/null +++ b/msg/DatamanRequest.msg @@ -0,0 +1,8 @@ +uint64 timestamp # time since system start (microseconds) + +uint8 client_id +uint8 request_type # id/read/write/clear +uint8 item # dm_item_t +uint32 index +uint8[56] data +uint32 data_length diff --git a/msg/DatamanResponse.msg b/msg/DatamanResponse.msg new file mode 100644 index 000000000000..ebf752db50d2 --- /dev/null +++ b/msg/DatamanResponse.msg @@ -0,0 +1,15 @@ +uint64 timestamp # time since system start (microseconds) + +uint8 client_id +uint8 request_type # id/read/write/clear +uint8 item # dm_item_t +uint32 index +uint8[56] data + +uint8 STATUS_SUCCESS = 0 +uint8 STATUS_FAILURE_ID_ERR = 1 +uint8 STATUS_FAILURE_NO_DATA = 2 +uint8 STATUS_FAILURE_READ_FAILED = 3 +uint8 STATUS_FAILURE_WRITE_FAILED = 4 +uint8 STATUS_FAILURE_CLEAR_FAILED = 5 +uint8 status diff --git a/msg/DebugArray.msg b/msg/DebugArray.msg index 4763a0f5a0ee..0c79d61dfed4 100644 --- a/msg/DebugArray.msg +++ b/msg/DebugArray.msg @@ -2,4 +2,4 @@ uint8 ARRAY_SIZE = 58 uint64 timestamp # time since system start (microseconds) uint16 id # unique ID of debug array, used to discriminate between arrays char[10] name # name of the debug array (max. 10 characters) -float32[58] data # data \ No newline at end of file +float32[58] data # data diff --git a/msg/EstimatorAidSource1d.msg b/msg/EstimatorAidSource1d.msg index 46faddafac81..7bd8ea765827 100644 --- a/msg/EstimatorAidSource1d.msg +++ b/msg/EstimatorAidSource1d.msg @@ -11,14 +11,17 @@ float32 observation float32 observation_variance float32 innovation +float32 innovation_filtered + float32 innovation_variance -float32 test_ratio -bool fusion_enabled # true when measurements are being fused +float32 test_ratio # normalized innovation squared +float32 test_ratio_filtered # signed filtered test ratio + bool innovation_rejected # true if the observation has been rejected bool fused # true if the sample was successfully fused # TOPICS estimator_aid_src_baro_hgt estimator_aid_src_ev_hgt estimator_aid_src_gnss_hgt estimator_aid_src_rng_hgt # TOPICS estimator_aid_src_airspeed estimator_aid_src_sideslip # TOPICS estimator_aid_src_fake_hgt -# TOPICS estimator_aid_src_mag_heading estimator_aid_src_gnss_yaw estimator_aid_src_ev_yaw +# TOPICS estimator_aid_src_gnss_yaw estimator_aid_src_ev_yaw diff --git a/msg/EstimatorAidSource2d.msg b/msg/EstimatorAidSource2d.msg index 9fdba8fefae6..14e3ac3f846d 100644 --- a/msg/EstimatorAidSource2d.msg +++ b/msg/EstimatorAidSource2d.msg @@ -1,5 +1,5 @@ -uint64 timestamp # time since system start (microseconds) -uint64 timestamp_sample # the timestamp of the raw data (microseconds) +uint64 timestamp # time since system start (microseconds) +uint64 timestamp_sample # the timestamp of the raw data (microseconds) uint8 estimator_instance @@ -11,12 +11,16 @@ float32[2] observation float32[2] observation_variance float32[2] innovation +float32[2] innovation_filtered + float32[2] innovation_variance -float32[2] test_ratio -bool fusion_enabled # true when measurements are being fused -bool innovation_rejected # true if the observation has been rejected -bool fused # true if the sample was successfully fused +float32[2] test_ratio # normalized innovation squared +float32[2] test_ratio_filtered # signed filtered test ratio + +bool innovation_rejected # true if the observation has been rejected +bool fused # true if the sample was successfully fused -# TOPICS estimator_aid_src_ev_pos estimator_aid_src_fake_pos estimator_aid_src_gnss_pos -# TOPICS estimator_aid_src_aux_vel estimator_aid_src_optical_flow estimator_aid_src_terrain_optical_flow +# TOPICS estimator_aid_src_ev_pos estimator_aid_src_fake_pos estimator_aid_src_gnss_pos estimator_aid_src_aux_global_position +# TOPICS estimator_aid_src_aux_vel estimator_aid_src_optical_flow +# TOPICS estimator_aid_src_drag diff --git a/msg/EstimatorAidSource3d.msg b/msg/EstimatorAidSource3d.msg index 5d143bc04d04..b89add28e57e 100644 --- a/msg/EstimatorAidSource3d.msg +++ b/msg/EstimatorAidSource3d.msg @@ -1,5 +1,5 @@ -uint64 timestamp # time since system start (microseconds) -uint64 timestamp_sample # the timestamp of the raw data (microseconds) +uint64 timestamp # time since system start (microseconds) +uint64 timestamp_sample # the timestamp of the raw data (microseconds) uint8 estimator_instance @@ -11,11 +11,14 @@ float32[3] observation float32[3] observation_variance float32[3] innovation +float32[3] innovation_filtered + float32[3] innovation_variance -float32[3] test_ratio -bool fusion_enabled # true when measurements are being fused -bool innovation_rejected # true if the observation has been rejected -bool fused # true if the sample was successfully fused +float32[3] test_ratio # normalized innovation squared +float32[3] test_ratio_filtered # signed filtered test ratio + +bool innovation_rejected # true if the observation has been rejected +bool fused # true if the sample was successfully fused # TOPICS estimator_aid_src_ev_vel estimator_aid_src_gnss_vel estimator_aid_src_gravity estimator_aid_src_mag diff --git a/msg/EstimatorBias.msg b/msg/EstimatorBias.msg index 10dbca87bda7..bb65e47bc7d1 100644 --- a/msg/EstimatorBias.msg +++ b/msg/EstimatorBias.msg @@ -9,4 +9,4 @@ float32 innov # innovation of the last measurement fusion (m) float32 innov_var # innovation variance of the last measurement fusion (m^2) float32 innov_test_ratio # normalized innovation squared test ratio -# TOPICS estimator_baro_bias estimator_gnss_hgt_bias estimator_rng_hgt_bias +# TOPICS estimator_baro_bias estimator_gnss_hgt_bias diff --git a/msg/EstimatorEventFlags.msg b/msg/EstimatorEventFlags.msg index 1a47e676a5a4..7d5cf7ca343c 100644 --- a/msg/EstimatorEventFlags.msg +++ b/msg/EstimatorEventFlags.msg @@ -20,18 +20,3 @@ bool reset_hgt_to_baro # 13 - true when the vertical position s bool reset_hgt_to_gps # 14 - true when the vertical position state is reset to the gps measurement bool reset_hgt_to_rng # 15 - true when the vertical position state is reset to the rng measurement bool reset_hgt_to_ev # 16 - true when the vertical position state is reset to the ev measurement - -# warning events -uint32 warning_event_changes # number of warning event changes -bool gps_quality_poor # 0 - true when the gps is failing quality checks -bool gps_fusion_timout # 1 - true when the gps data has not been used to correct the state estimates for a significant time period -bool gps_data_stopped # 2 - true when the gps data has stopped for a significant time period -bool gps_data_stopped_using_alternate # 3 - true when the gps data has stopped for a significant time period but the filter is able to use other sources of data to maintain navigation -bool height_sensor_timeout # 4 - true when the height sensor has not been used to correct the state estimates for a significant time period -bool stopping_navigation # 5 - true when the filter has insufficient data to estimate velocity and position and is falling back to an attitude, height and height rate mode of operation -bool invalid_accel_bias_cov_reset # 6 - true when the filter has detected bad acceerometer bias state esitmstes and has reset the corresponding covariance matrix elements -bool bad_yaw_using_gps_course # 7 - true when the filter has detected an invalid yaw estimate and has reset the yaw angle to the GPS ground course -bool stopping_mag_use # 8 - true when the filter has detected bad magnetometer data and is stopping further use of the magnetometer data -bool vision_data_stopped # 9 - true when the vision system data has stopped for a significant time period -bool emergency_yaw_reset_mag_stopped # 10 - true when the filter has detected bad magnetometer data, has reset the yaw to anothter source of data and has stopped further use of the magnetometer data -bool emergency_yaw_reset_gps_yaw_stopped # 11 - true when the filter has detected bad GNSS yaw data, has reset the yaw to anothter source of data and has stopped further use of the GNSS yaw data diff --git a/msg/EstimatorGpsStatus.msg b/msg/EstimatorGpsStatus.msg index 2d2462ee5c30..b2a9c883944e 100644 --- a/msg/EstimatorGpsStatus.msg +++ b/msg/EstimatorGpsStatus.msg @@ -13,6 +13,7 @@ bool check_fail_max_horz_drift # 6 : maximum allowed horizontal position drift bool check_fail_max_vert_drift # 7 : maximum allowed vertical position drift fail - requires stationary vehicle bool check_fail_max_horz_spd_err # 8 : maximum allowed horizontal speed fail - requires stationary vehicle bool check_fail_max_vert_spd_err # 9 : maximum allowed vertical velocity discrepancy fail +bool check_fail_spoofed_gps # 10 : GPS signal is spoofed float32 position_drift_rate_horizontal_m_s # Horizontal position rate magnitude (m/s) float32 position_drift_rate_vertical_m_s # Vertical position rate magnitude (m/s) diff --git a/msg/EstimatorInnovations.msg b/msg/EstimatorInnovations.msg index c8500d9e831a..11cc6a58adb9 100644 --- a/msg/EstimatorInnovations.msg +++ b/msg/EstimatorInnovations.msg @@ -19,11 +19,9 @@ float32 baro_vpos # barometer height innovation (m) and innovation variance (m** # Auxiliary velocity float32[2] aux_hvel # horizontal auxiliary velocity innovation from landing target measurement (m/sec) and innovation variance ((m/sec)**2) -float32 aux_vvel # vertical auxiliary velocity innovation from landing target measurement (m/sec) and innovation variance ((m/sec)**2) # Optical flow float32[2] flow # flow innvoation (rad/sec) and innovation variance ((rad/sec)**2) -float32[2] terr_flow # flow innvoation (rad/sec) and innovation variance computed by the terrain estimator ((rad/sec)**2) # Various float32 heading # heading innovation (rad) and innovation variance (rad**2) diff --git a/msg/EstimatorStates.msg b/msg/EstimatorStates.msg index f4e3f0f26101..885246d8a5b9 100644 --- a/msg/EstimatorStates.msg +++ b/msg/EstimatorStates.msg @@ -1,7 +1,7 @@ uint64 timestamp # time since system start (microseconds) uint64 timestamp_sample # the timestamp of the raw data (microseconds) -float32[24] states # Internal filter states +float32[25] states # Internal filter states uint8 n_states # Number of states effectively used float32[24] covariances # Diagonal Elements of Covariance Matrix diff --git a/msg/EstimatorStatus.msg b/msg/EstimatorStatus.msg index f3b76f18edba..dd62bc4aca3f 100644 --- a/msg/EstimatorStatus.msg +++ b/msg/EstimatorStatus.msg @@ -15,6 +15,7 @@ uint8 GPS_CHECK_FAIL_MAX_HORZ_DRIFT = 6 # 6 : maximum allowed horizontal positi uint8 GPS_CHECK_FAIL_MAX_VERT_DRIFT = 7 # 7 : maximum allowed vertical position drift fail - requires stationary vehicle uint8 GPS_CHECK_FAIL_MAX_HORZ_SPD_ERR = 8 # 8 : maximum allowed horizontal speed fail - requires stationary vehicle uint8 GPS_CHECK_FAIL_MAX_VERT_SPD_ERR = 9 # 9 : maximum allowed vertical velocity discrepancy fail +uint8 GPS_CHECK_FAIL_SPOOFED = 10 # 10 : GPS signal is spoofed uint64 control_mode_flags # Bitmask to indicate EKF logic state uint8 CS_TILT_ALIGN = 0 # 0 - true if the filter tilt alignment is complete @@ -69,27 +70,14 @@ uint32 filter_fault_flags # Bitmask to indicate EKF internal faults float32 pos_horiz_accuracy # 1-Sigma estimated horizontal position accuracy relative to the estimators origin (m) float32 pos_vert_accuracy # 1-Sigma estimated vertical position accuracy relative to the estimators origin (m) -uint16 innovation_check_flags # Bitmask to indicate pass/fail status of innovation consistency checks -# 0 - true if velocity observations have been rejected -# 1 - true if horizontal position observations have been rejected -# 2 - true if true if vertical position observations have been rejected -# 3 - true if the X magnetometer observation has been rejected -# 4 - true if the Y magnetometer observation has been rejected -# 5 - true if the Z magnetometer observation has been rejected -# 6 - true if the yaw observation has been rejected -# 7 - true if the airspeed observation has been rejected -# 8 - true if the synthetic sideslip observation has been rejected -# 9 - true if the height above ground observation has been rejected -# 10 - true if the X optical flow observation has been rejected -# 11 - true if the Y optical flow observation has been rejected -float32 mag_test_ratio # ratio of the largest magnetometer innovation component to the innovation test limit -float32 vel_test_ratio # ratio of the largest velocity innovation component to the innovation test limit -float32 pos_test_ratio # ratio of the largest horizontal position innovation component to the innovation test limit -float32 hgt_test_ratio # ratio of the vertical position innovation to the innovation test limit -float32 tas_test_ratio # ratio of the true airspeed innovation to the innovation test limit -float32 hagl_test_ratio # ratio of the height above ground innovation to the innovation test limit -float32 beta_test_ratio # ratio of the synthetic sideslip innovation to the innovation test limit +float32 hdg_test_ratio # low-pass filtered ratio of the largest heading innovation component to the innovation test limit +float32 vel_test_ratio # low-pass filtered ratio of the largest velocity innovation component to the innovation test limit +float32 pos_test_ratio # low-pass filtered ratio of the largest horizontal position innovation component to the innovation test limit +float32 hgt_test_ratio # low-pass filtered ratio of the vertical position innovation to the innovation test limit +float32 tas_test_ratio # low-pass filtered ratio of the true airspeed innovation to the innovation test limit +float32 hagl_test_ratio # low-pass filtered ratio of the height above ground innovation to the innovation test limit +float32 beta_test_ratio # low-pass filtered ratio of the synthetic sideslip innovation to the innovation test limit uint16 solution_status_flags # Bitmask indicating which filter kinematic state outputs are valid for flight control use. # 0 - True if the attitude estimate is good @@ -114,9 +102,10 @@ uint8 reset_count_quat # number of quaternion reset events (allow to wrap if c float32 time_slip # cumulative amount of time in seconds that the EKF inertial calculation has slipped relative to system time bool pre_flt_fail_innov_heading +bool pre_flt_fail_innov_height +bool pre_flt_fail_innov_pos_horiz bool pre_flt_fail_innov_vel_horiz bool pre_flt_fail_innov_vel_vert -bool pre_flt_fail_innov_height bool pre_flt_fail_mag_field_disturbed uint32 accel_device_id @@ -127,3 +116,8 @@ uint32 mag_device_id # legacy local position estimator (LPE) flags uint8 health_flags # Bitmask to indicate sensor health states (vel, pos, hgt) uint8 timeout_flags # Bitmask to indicate timeout flags (vel, pos, hgt) + +float32 mag_inclination_deg +float32 mag_inclination_ref_deg +float32 mag_strength_gs +float32 mag_strength_ref_gs diff --git a/msg/EstimatorStatusFlags.msg b/msg/EstimatorStatusFlags.msg index 9d1f77403a3e..79b900f6a8b0 100644 --- a/msg/EstimatorStatusFlags.msg +++ b/msg/EstimatorStatusFlags.msg @@ -26,12 +26,12 @@ bool cs_mag_fault # 18 - true when the magnetometer has been declare bool cs_fuse_aspd # 19 - true when airspeed measurements are being fused bool cs_gnd_effect # 20 - true when protection from ground effect induced static pressure rise is active bool cs_rng_stuck # 21 - true when rng data wasn't ready for more than 10s and new rng values haven't changed enough -bool cs_gps_yaw # 22 - true when yaw (not ground course) data fusion from a GPS receiver is intended +bool cs_gnss_yaw # 22 - true when yaw (not ground course) data fusion from a GPS receiver is intended bool cs_mag_aligned_in_flight # 23 - true when the in-flight mag field alignment has been completed bool cs_ev_vel # 24 - true when local frame velocity data fusion from external vision measurements is intended bool cs_synthetic_mag_z # 25 - true when we are using a synthesized measurement for the magnetometer Z component bool cs_vehicle_at_rest # 26 - true when the vehicle is at rest -bool cs_gps_yaw_fault # 27 - true when the GNSS heading has been declared faulty and is no longer being used +bool cs_gnss_yaw_fault # 27 - true when the GNSS heading has been declared faulty and is no longer being used bool cs_rng_fault # 28 - true when the range finder has been declared faulty and is no longer being used bool cs_inertial_dead_reckoning # 29 - true if we are no longer fusing measurements that constrain horizontal velocity drift bool cs_wind_dead_reckoning # 30 - true if we are navigationg reliant on wind relative measurements @@ -39,6 +39,14 @@ bool cs_rng_kin_consistent # 31 - true when the range finder kinematic cons bool cs_fake_pos # 32 - true when fake position measurements are being fused bool cs_fake_hgt # 33 - true when fake height measurements are being fused bool cs_gravity_vector # 34 - true when gravity vector measurements are being fused +bool cs_mag # 35 - true if 3-axis magnetometer measurement fusion (mag states only) is intended +bool cs_ev_yaw_fault # 36 - true when the EV heading has been declared faulty and is no longer being used +bool cs_mag_heading_consistent # 37 - true when the heading obtained from mag data is declared consistent with the filter +bool cs_aux_gpos # 38 - true if auxiliary global position measurement fusion is intended +bool cs_rng_terrain # 39 - true if we are fusing range finder data for terrain +bool cs_opt_flow_terrain # 40 - true if we are fusing flow data for terrain +bool cs_valid_fake_pos # 41 - true if a valid constant position is being fused +bool cs_constant_pos # 42 - true if the vehicle is at a constant position # fault status uint32 fault_status_changes # number of filter fault status (fs) changes @@ -51,15 +59,9 @@ bool fs_bad_airspeed # 5 - true if fusion of the airspeed has encounte bool fs_bad_sideslip # 6 - true if fusion of the synthetic sideslip constraint has encountered a numerical error bool fs_bad_optflow_x # 7 - true if fusion of the optical flow X axis has encountered a numerical error bool fs_bad_optflow_y # 8 - true if fusion of the optical flow Y axis has encountered a numerical error -bool fs_bad_vel_n # 9 - true if fusion of the North velocity has encountered a numerical error -bool fs_bad_vel_e # 10 - true if fusion of the East velocity has encountered a numerical error -bool fs_bad_vel_d # 11 - true if fusion of the Down velocity has encountered a numerical error -bool fs_bad_pos_n # 12 - true if fusion of the North position has encountered a numerical error -bool fs_bad_pos_e # 13 - true if fusion of the East position has encountered a numerical error -bool fs_bad_pos_d # 14 - true if fusion of the Down position has encountered a numerical error -bool fs_bad_acc_bias # 15 - true if bad delta velocity bias estimates have been detected -bool fs_bad_acc_vertical # 16 - true if bad vertical accelerometer data has been detected -bool fs_bad_acc_clipping # 17 - true if delta velocity data contains clipping (asymmetric railing) +bool fs_bad_acc_bias # 9 - true if bad delta velocity bias estimates have been detected +bool fs_bad_acc_vertical # 10 - true if bad vertical accelerometer data has been detected +bool fs_bad_acc_clipping # 11 - true if delta velocity data contains clipping (asymmetric railing) # innovation test failures diff --git a/msg/FailsafeFlags.msg b/msg/FailsafeFlags.msg index b697b7085b3d..de514fb2db4b 100644 --- a/msg/FailsafeFlags.msg +++ b/msg/FailsafeFlags.msg @@ -43,17 +43,16 @@ bool battery_low_remaining_time # Low battery based on remaining flight ti bool battery_unhealthy # Battery unhealthy # Other -bool primary_geofence_breached # Primary Geofence breached +bool geofence_breached # Geofence breached (one or multiple) bool mission_failure # Mission failure bool vtol_fixed_wing_system_failure # vehicle in fixed-wing system failure failsafe mode (after quad-chute) bool wind_limit_exceeded # Wind limit exceeded bool flight_time_limit_exceeded # Maximum flight time exceeded bool local_position_accuracy_low # Local position estimate has dropped below threshold, but is currently still declared valid +bool navigator_failure # Navigator failed to execute a mode # Failure detector bool fd_critical_failure # Critical failure (attitude/altitude limit exceeded, or external ATS) bool fd_esc_arming_failure # ESC failed to arm bool fd_imbalanced_prop # Imbalanced propeller detected bool fd_motor_failure # Motor failure - - diff --git a/msg/FigureEightStatus.msg b/msg/FigureEightStatus.msg new file mode 100644 index 000000000000..e14d8f0d8a5b --- /dev/null +++ b/msg/FigureEightStatus.msg @@ -0,0 +1,8 @@ +uint64 timestamp # time since system start (microseconds) +float32 major_radius # Major axis radius of the figure eight [m]. Positive values orbit clockwise, negative values orbit counter-clockwise. +float32 minor_radius # Minor axis radius of the figure eight [m]. +float32 orientation # Orientation of the major axis of the figure eight [rad]. +uint8 frame # The coordinate system of the fields: x, y, z. +int32 x # X coordinate of center point. Coordinate system depends on frame field: local = x position in meters * 1e4, global = latitude in degrees * 1e7. +int32 y # Y coordinate of center point. Coordinate system depends on frame field: local = y position in meters * 1e4, global = latitude in degrees * 1e7. +float32 z # Altitude of center point. Coordinate system depends on frame field. diff --git a/msg/FlightPhaseEstimation.msg b/msg/FlightPhaseEstimation.msg new file mode 100644 index 000000000000..e05b3291292c --- /dev/null +++ b/msg/FlightPhaseEstimation.msg @@ -0,0 +1,8 @@ +uint64 timestamp # time since system start (microseconds) + +uint8 flight_phase # Estimate of current flight phase + +uint8 FLIGHT_PHASE_UNKNOWN = 0 # vehicle flight phase is unknown +uint8 FLIGHT_PHASE_LEVEL = 1 # Vehicle is in level flight +uint8 FLIGHT_PHASE_DESCEND = 2 # vehicle is in descend +uint8 FLIGHT_PHASE_CLIMB = 3 # vehicle is climbing diff --git a/msg/FuelTankStatus.msg b/msg/FuelTankStatus.msg new file mode 100644 index 000000000000..22d21e4a4a31 --- /dev/null +++ b/msg/FuelTankStatus.msg @@ -0,0 +1,17 @@ +uint64 timestamp # time since system start (microseconds) + +float32 maximum_fuel_capacity # maximum fuel capacity. Must always be provided, either from the driver or a parameter +float32 consumed_fuel # consumed fuel, NaN if not measured. Should not be inferred from the max fuel capacity +float32 fuel_consumption_rate # fuel consumption rate, NaN if not measured + +uint8 percent_remaining # percentage of remaining fuel, UINT8_MAX if not provided +float32 remaining_fuel # remaining fuel, NaN if not measured. Should not be inferred from the max fuel capacity + +uint8 fuel_tank_id # identifier for the fuel tank. Must match ID of other messages for same fuel system. 0 by default when only a single tank exists + +uint32 fuel_type # type of fuel based on MAV_FUEL_TYPE enum. Set to MAV_FUEL_TYPE_UNKNOWN if unknown or it does not fit the provided types +uint8 MAV_FUEL_TYPE_UNKNOWN = 0 # fuel type not specified. Fuel levels are normalized (i.e., maximum is 1, and other levels are relative to 1). +uint8 MAV_FUEL_TYPE_LIQUID = 1 # represents generic liquid fuels, such as gasoline or diesel. Fuel levels are measured in millilitres (ml), and flow rates in millilitres per second (ml/s). +uint8 MAV_FUEL_TYPE_GAS = 2 # represents a gas fuel, such as hydrogen, methane, or propane. Fuel levels are in kilo-Pascal (kPa), and flow rates are in milliliters per second (ml/s). + +float32 temperature # fuel temperature in Kelvin, NaN if not measured diff --git a/msg/GeofenceResult.msg b/msg/GeofenceResult.msg index 4121f6f50259..7782d1d6e8eb 100644 --- a/msg/GeofenceResult.msg +++ b/msg/GeofenceResult.msg @@ -6,9 +6,8 @@ uint8 GF_ACTION_RTL = 3 # switch to AUTO|RTL uint8 GF_ACTION_TERMINATE = 4 # flight termination uint8 GF_ACTION_LAND = 5 # switch to AUTO|LAND -uint8 geofence_violation_reason # one of geofence_violation_reason_t::* +bool geofence_max_dist_triggered # true the check for max distance from Home is triggered +bool geofence_max_alt_triggered # true the check for max altitude above Home is triggered +bool geofence_custom_fence_triggered # true the check for custom inclusion/exclusion geofence(s) is triggered -bool primary_geofence_breached # true if the primary geofence is breached -uint8 primary_geofence_action # action to take when the primary geofence is breached - -bool home_required # true if the geofence requires a valid home position +uint8 geofence_action # action to take when the geofence is breached diff --git a/msg/GeofenceStatus.msg b/msg/GeofenceStatus.msg new file mode 100644 index 000000000000..d32b9010c312 --- /dev/null +++ b/msg/GeofenceStatus.msg @@ -0,0 +1,7 @@ +uint64 timestamp # time since system start (microseconds) + +uint32 geofence_id # loaded geofence id +uint8 status # Current geofence status + +uint8 GF_STATUS_LOADING = 0 +uint8 GF_STATUS_READY = 1 diff --git a/msg/GotoSetpoint.msg b/msg/GotoSetpoint.msg new file mode 100644 index 000000000000..5fe3ab8a7916 --- /dev/null +++ b/msg/GotoSetpoint.msg @@ -0,0 +1,24 @@ +# Position and (optional) heading setpoints with corresponding speed constraints +# Setpoints are intended as inputs to position and heading smoothers, respectively +# Setpoints do not need to be kinematically consistent +# Optional heading setpoints may be specified as controlled by the respective flag +# Unset optional setpoints are not controlled +# Unset optional constraints default to vehicle specifications + +uint64 timestamp # time since system start (microseconds) + +# setpoints +float32[3] position # [m] NED local world frame + +bool flag_control_heading # true if heading is to be controlled +float32 heading # (optional) [rad] [-pi,pi] from North + +# constraints +bool flag_set_max_horizontal_speed # true if setting a non-default horizontal speed limit +float32 max_horizontal_speed # (optional) [m/s] maximum speed (absolute) in the NE-plane + +bool flag_set_max_vertical_speed # true if setting a non-default vertical speed limit +float32 max_vertical_speed # (optional) [m/s] maximum speed (absolute) in the D-axis + +bool flag_set_max_heading_rate # true if setting a non-default heading rate limit +float32 max_heading_rate # (optional) [rad/s] maximum heading rate (absolute) diff --git a/msg/GpioConfig.msg b/msg/GpioConfig.msg new file mode 100644 index 000000000000..0ff393ec87a8 --- /dev/null +++ b/msg/GpioConfig.msg @@ -0,0 +1,28 @@ +# GPIO configuration + +uint64 timestamp # time since system start (microseconds) +uint32 device_id # Device id + +uint32 mask # Pin mask +uint32 state # Initial pin output state + +# Configuration Mask +# Bit 0-3: Direction: 0=Input, 1=Output +# Bit 4-7: Input Config: 0=Floating, 1=PullUp, 2=PullDown +# Bit 8-12: Output Config: 0=PushPull, 1=OpenDrain +# Bit 13-31: Reserved +uint32 INPUT = 0 # 0x0000 +uint32 OUTPUT = 1 # 0x0001 +uint32 PULLUP = 16 # 0x0010 +uint32 PULLDOWN = 32 # 0x0020 +uint32 OPENDRAIN = 256 # 0x0100 + +uint32 INPUT_FLOATING = 0 # 0x0000 +uint32 INPUT_PULLUP = 16 # 0x0010 +uint32 INPUT_PULLDOWN = 32 # 0x0020 + +uint32 OUTPUT_PUSHPULL = 0 # 0x0000 +uint32 OUTPUT_OPENDRAIN = 256 # 0x0100 +uint32 OUTPUT_OPENDRAIN_PULLUP = 272 # 0x0110 + +uint32 config diff --git a/msg/GpioIn.msg b/msg/GpioIn.msg new file mode 100644 index 000000000000..0482a2188e91 --- /dev/null +++ b/msg/GpioIn.msg @@ -0,0 +1,6 @@ +# GPIO mask and state + +uint64 timestamp # time since system start (microseconds) +uint32 device_id # Device id + +uint32 state # pin state mask diff --git a/msg/GpioOut.msg b/msg/GpioOut.msg new file mode 100644 index 000000000000..3865bbf2e968 --- /dev/null +++ b/msg/GpioOut.msg @@ -0,0 +1,7 @@ +# GPIO mask and state + +uint64 timestamp # time since system start (microseconds) +uint32 device_id # Device id + +uint32 mask # pin mask +uint32 state # pin state mask diff --git a/msg/GpioRequest.msg b/msg/GpioRequest.msg new file mode 100644 index 000000000000..3328b0014503 --- /dev/null +++ b/msg/GpioRequest.msg @@ -0,0 +1,4 @@ +# Request GPIO mask to be read + +uint64 timestamp # time since system start (microseconds) +uint32 device_id # Device id diff --git a/msg/GpsDump.msg b/msg/GpsDump.msg index 3aa1313aa680..2477bcfa3a1e 100644 --- a/msg/GpsDump.msg +++ b/msg/GpsDump.msg @@ -1,12 +1,10 @@ # This message is used to dump the raw gps communication to the log. -# Set the parameter GPS_DUMP_COMM to 1 to use this. -uint64 timestamp # time since system start (microseconds) +uint64 timestamp # time since system start (microseconds) -uint8 instance # Instance of GNSS receiver - -uint8 len # length of data, MSB bit set = message to the gps device, - # clear = message from the device -uint8[79] data # data to write to the log +uint8 instance # Instance of GNSS receiver +uint8 len # length of data, MSB bit set = message to the gps device, + # clear = message from the device +uint8[79] data # data to write to the log uint8 ORB_QUEUE_LENGTH = 8 diff --git a/msg/HomePosition.msg b/msg/HomePosition.msg index 15bb16af0998..e6a517285fe4 100644 --- a/msg/HomePosition.msg +++ b/msg/HomePosition.msg @@ -17,3 +17,5 @@ bool valid_hpos # true when the latitude and longitude have been set bool valid_lpos # true when the local position (xyz) has been set bool manual_home # true when home position was set manually + +uint32 update_count # update counter of the home position diff --git a/msg/InputRc.msg b/msg/InputRc.msg index db4b3de233f5..782477407e33 100644 --- a/msg/InputRc.msg +++ b/msg/InputRc.msg @@ -37,4 +37,4 @@ uint8 input_source # Input source uint16[18] values # measured pulse widths for each of the supported channels int8 link_quality # link quality. Percentage 0-100%. -1 = invalid -float32 rssi_dbm # Actual rssi in units of dBm. NaN = invalid \ No newline at end of file +float32 rssi_dbm # Actual rssi in units of dBm. NaN = invalid diff --git a/msg/IridiumsbdStatus.msg b/msg/IridiumsbdStatus.msg index 39e3de780a00..436654e4ffab 100644 --- a/msg/IridiumsbdStatus.msg +++ b/msg/IridiumsbdStatus.msg @@ -1,5 +1,5 @@ uint64 timestamp # time since system start (microseconds) -uint64 last_heartbeat # timestamp of the last successful sbd session +uint64 last_at_ok_timestamp # timestamp of the last "OK" received after the "AT" command uint16 tx_buf_write_index # current size of the tx buffer uint16 rx_buf_read_index # the rx buffer is parsed up to that index uint16 rx_buf_end_index # current size of the rx buffer diff --git a/msg/LogMessage.msg b/msg/LogMessage.msg index 3ea1de23dd47..afb690b145c0 100644 --- a/msg/LogMessage.msg +++ b/msg/LogMessage.msg @@ -1,4 +1,4 @@ -# A logging message, output with PX4_{WARN,ERR,INFO} +# A logging message, output with PX4_WARN, PX4_ERR, PX4_INFO uint64 timestamp # time since system start (microseconds) diff --git a/msg/LoggerStatus.msg b/msg/LoggerStatus.msg index 9a07871a0f65..c67c88959252 100644 --- a/msg/LoggerStatus.msg +++ b/msg/LoggerStatus.msg @@ -9,6 +9,8 @@ uint8 BACKEND_MAVLINK = 2 uint8 BACKEND_ALL = 3 uint8 backend +bool is_logging + float32 total_written_kb # total written to log in kiloBytes float32 write_rate_kb_s # write rate in kiloBytes/s diff --git a/msg/ManualControlSetpoint.msg b/msg/ManualControlSetpoint.msg index 4e4e305fd0a8..95fa62228344 100644 --- a/msg/ManualControlSetpoint.msg +++ b/msg/ManualControlSetpoint.msg @@ -37,6 +37,8 @@ float32 aux6 bool sticks_moving +uint16 buttons # From uint16 buttons field of Mavlink manual_control message + # TOPICS manual_control_setpoint manual_control_input # DEPRECATED: float32 x # DEPRECATED: float32 y diff --git a/msg/MessageFormatRequest.msg b/msg/MessageFormatRequest.msg new file mode 100644 index 000000000000..6ceb66d0388b --- /dev/null +++ b/msg/MessageFormatRequest.msg @@ -0,0 +1,9 @@ +uint64 timestamp # time since system start (microseconds) + +# Request to PX4 to get the hash of a message, to check for message compatibility + +uint16 LATEST_PROTOCOL_VERSION = 1 # Current version of this protocol. Increase this whenever the MessageFormatRequest or MessageFormatResponse changes. + +uint16 protocol_version # Must be set to LATEST_PROTOCOL_VERSION. Do not change this field, it must be the first field after the timestamp + +char[50] topic_name # E.g. /fmu/in/vehicle_command diff --git a/msg/MessageFormatResponse.msg b/msg/MessageFormatResponse.msg new file mode 100644 index 000000000000..75c1d4fe9f1e --- /dev/null +++ b/msg/MessageFormatResponse.msg @@ -0,0 +1,10 @@ +uint64 timestamp # time since system start (microseconds) + +# Response from PX4 with the format of a message + +uint16 protocol_version # Must be set to LATEST_PROTOCOL_VERSION. Do not change this field, it must be the first field after the timestamp + +char[50] topic_name # E.g. /fmu/in/vehicle_command + +bool success +uint32 message_hash # hash over all message fields diff --git a/msg/Mission.msg b/msg/Mission.msg index 70fc68ccf2c1..a923193da807 100644 --- a/msg/Mission.msg +++ b/msg/Mission.msg @@ -1,5 +1,14 @@ uint64 timestamp # time since system start (microseconds) -uint8 dataman_id # default 0, there are two offboard storage places in the dataman: 0 or 1 +uint8 mission_dataman_id # default 0, there are two offboard storage places in the dataman: 0 or 1 +uint8 fence_dataman_id # default 0, there are two offboard storage places in the dataman: 0 or 1 +uint8 safepoint_dataman_id # default 0, there are two offboard storage places in the dataman: 0 or 1 uint16 count # count of the missions stored in the dataman int32 current_seq # default -1, start at the one changed latest + +int32 land_start_index # Index of the land start marker, if unavailable index of the land item, -1 otherwise +int32 land_index # Index of the land item, -1 otherwise + +uint32 mission_id # indicates updates to the mission, reload from dataman if changed +uint32 geofence_id # indicates updates to the geofence, reload from dataman if changed +uint32 safe_points_id # indicates updates to the safe points, reload from dataman if changed diff --git a/msg/MissionResult.msg b/msg/MissionResult.msg index 26dfbcecb124..f70326be3b26 100644 --- a/msg/MissionResult.msg +++ b/msg/MissionResult.msg @@ -1,9 +1,8 @@ -uint64 timestamp # time since system start (microseconds) -uint8 MISSION_EXECUTION_MODE_NORMAL = 0 # Execute the mission according to the planned items -uint8 MISSION_EXECUTION_MODE_REVERSE = 1 # Execute the mission in reverse order, ignoring commands and converting all waypoints to normal ones -uint8 MISSION_EXECUTION_MODE_FAST_FORWARD = 2 # Execute the mission as fast as possible, for example converting loiter waypoints to normal ones +uint64 timestamp # time since system start (microseconds) -uint32 instance_count # Instance count of this mission. Increments monotonically whenever the mission is modified +uint32 mission_id # Id for the mission for which the result was generated +uint32 geofence_id # Id for the corresponding geofence for which the result was generated (used for mission feasibility) +uint32 home_position_counter # Counter of the home position for which the result was generated (used for mission feasibility) int32 seq_reached # Sequence of the mission item which has been reached, default -1 uint16 seq_current # Sequence of the current mission item diff --git a/msg/ModeCompleted.msg b/msg/ModeCompleted.msg index 98f331ed6455..0a20b0294e53 100644 --- a/msg/ModeCompleted.msg +++ b/msg/ModeCompleted.msg @@ -1,4 +1,5 @@ # Mode completion result, published by an active mode. +# The possible values of nav_state are defined in the VehicleStatus msg. # Note that this is not always published (e.g. when a user switches modes or on # failsafe activation) uint64 timestamp # time since system start (microseconds) @@ -10,5 +11,4 @@ uint8 RESULT_FAILURE_OTHER = 100 # Mode failed (generic error) uint8 result # One of RESULT_* -uint8 nav_state # Source mode - +uint8 nav_state # Source mode (values in VehicleStatus) diff --git a/msg/NavigatorMissionItem.msg b/msg/NavigatorMissionItem.msg index 64af762f75d8..a10aa4656d51 100644 --- a/msg/NavigatorMissionItem.msg +++ b/msg/NavigatorMissionItem.msg @@ -1,7 +1,5 @@ uint64 timestamp # time since system start (microseconds) -uint32 instance_count # Instance count of this mission. Increments monotonically whenever the mission is modified - uint16 sequence_current # Sequence of the current mission item uint16 nav_cmd diff --git a/msg/NavigatorStatus.msg b/msg/NavigatorStatus.msg new file mode 100644 index 000000000000..da666533574f --- /dev/null +++ b/msg/NavigatorStatus.msg @@ -0,0 +1,9 @@ +# Current status of a Navigator mode +# The possible values of nav_state are defined in the VehicleStatus msg. +uint64 timestamp # time since system start (microseconds) + +uint8 nav_state # Source mode (values in VehicleStatus) +uint8 failure # Navigator failure enum + +uint8 FAILURE_NONE = 0 +uint8 FAILURE_HAGL = 1 # Target altitude exceeds maximum height above ground diff --git a/msg/NpfgStatus.msg b/msg/NpfgStatus.msg index ef5538b55137..132c1f7f3f38 100644 --- a/msg/NpfgStatus.msg +++ b/msg/NpfgStatus.msg @@ -14,3 +14,4 @@ float32 min_ground_speed_ref # minimum forward ground speed reference [m/s] float32 adapted_period # adapted period (if auto-tuning enabled) [s] float32 p_gain # controller proportional gain [rad/s] float32 time_const # controller time constant [s] +float32 can_run_factor # estimate of certainty of the correct functionality of the npfg roll setpoint in [0, 1] diff --git a/msg/ObstacleDistance.msg b/msg/ObstacleDistance.msg index e3c4963ab24e..e4a07d1cacc9 100644 --- a/msg/ObstacleDistance.msg +++ b/msg/ObstacleDistance.msg @@ -19,6 +19,6 @@ float32 increment # Angular width in degrees of each array element. uint16 min_distance # Minimum distance the sensor can measure in centimeters. uint16 max_distance # Maximum distance the sensor can measure in centimeters. -float32 angle_offset # Relative angle offset of the 0-index element in the distances array. Value of 0 corresponds to forward. Positive values are offsets to the right. +float32 angle_offset # Relative angle offset of the 0-index element in the distances array. Value of 0 corresponds to forward. Positive is clockwise direction, negative is counter-clockwise. # TOPICS obstacle_distance obstacle_distance_fused diff --git a/msg/OffboardControlMode.msg b/msg/OffboardControlMode.msg index 319ba1ac5058..885164a652cb 100644 --- a/msg/OffboardControlMode.msg +++ b/msg/OffboardControlMode.msg @@ -7,4 +7,5 @@ bool velocity bool acceleration bool attitude bool body_rate -bool actuator +bool thrust_and_torque +bool direct_actuator diff --git a/msg/OrbTestMedium.msg b/msg/OrbTestMedium.msg index b25ae1c8514b..43109d49d54e 100644 --- a/msg/OrbTestMedium.msg +++ b/msg/OrbTestMedium.msg @@ -4,4 +4,6 @@ int32 val uint8[64] junk +uint8 ORB_QUEUE_LENGTH = 16 + # TOPICS orb_test_medium orb_test_medium_multi orb_test_medium_wrap_around orb_test_medium_queue orb_test_medium_queue_poll diff --git a/msg/OrbitStatus.msg b/msg/OrbitStatus.msg index a04265db46c8..531fa4145306 100644 --- a/msg/OrbitStatus.msg +++ b/msg/OrbitStatus.msg @@ -4,6 +4,7 @@ uint8 ORBIT_YAW_BEHAVIOUR_HOLD_INITIAL_HEADING = 1 uint8 ORBIT_YAW_BEHAVIOUR_UNCONTROLLED = 2 uint8 ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TANGENT_TO_CIRCLE = 3 uint8 ORBIT_YAW_BEHAVIOUR_RC_CONTROLLED = 4 +uint8 ORBIT_YAW_BEHAVIOUR_UNCHANGED = 5 uint64 timestamp # time since system start (microseconds) float32 radius # Radius of the orbit circle. Positive values orbit clockwise, negative values orbit counter-clockwise. [m] diff --git a/msg/ParameterResetRequest.msg b/msg/ParameterResetRequest.msg new file mode 100644 index 000000000000..db08edb37961 --- /dev/null +++ b/msg/ParameterResetRequest.msg @@ -0,0 +1,8 @@ +# ParameterResetRequest : Used by the primary to reset one or all parameter value(s) on the remote + +uint64 timestamp +uint16 parameter_index + +bool reset_all # If this is true then ignore parameter_index + +uint8 ORB_QUEUE_LENGTH = 4 diff --git a/msg/ParameterSetUsedRequest.msg b/msg/ParameterSetUsedRequest.msg new file mode 100644 index 000000000000..ca97f9e9e7ff --- /dev/null +++ b/msg/ParameterSetUsedRequest.msg @@ -0,0 +1,6 @@ +# ParameterSetUsedRequest : Used by a remote to update the used flag for a parameter on the primary + +uint64 timestamp +uint16 parameter_index + +uint8 ORB_QUEUE_LENGTH = 64 diff --git a/msg/ParameterSetValueRequest.msg b/msg/ParameterSetValueRequest.msg new file mode 100644 index 000000000000..eaf650f24324 --- /dev/null +++ b/msg/ParameterSetValueRequest.msg @@ -0,0 +1,11 @@ +# ParameterSetValueRequest : Used by a remote or primary to update the value for a parameter at the other end + +uint64 timestamp +uint16 parameter_index + +int32 int_value # Optional value for an integer parameter +float32 float_value # Optional value for a float parameter + +uint8 ORB_QUEUE_LENGTH = 32 + +# TOPICS parameter_set_value_request parameter_remote_set_value_request parameter_primary_set_value_request diff --git a/msg/ParameterSetValueResponse.msg b/msg/ParameterSetValueResponse.msg new file mode 100644 index 000000000000..0bf94a190bf2 --- /dev/null +++ b/msg/ParameterSetValueResponse.msg @@ -0,0 +1,9 @@ +# ParameterSetValueResponse : Response to a set value request by either primary or secondary + +uint64 timestamp +uint64 request_timestamp +uint16 parameter_index + +uint8 ORB_QUEUE_LENGTH = 4 + +# TOPICS parameter_set_value_response parameter_remote_set_value_response parameter_primary_set_value_response diff --git a/msg/PositionSetpoint.msg b/msg/PositionSetpoint.msg index 2323a67b6552..035d35205ee2 100644 --- a/msg/PositionSetpoint.msg +++ b/msg/PositionSetpoint.msg @@ -9,6 +9,9 @@ uint8 SETPOINT_TYPE_TAKEOFF=3 # takeoff setpoint uint8 SETPOINT_TYPE_LAND=4 # land setpoint, altitude must be ignored, descend until landing uint8 SETPOINT_TYPE_IDLE=5 # do nothing, switch off motors or keep at idle speed (MC) +uint8 LOITER_TYPE_ORBIT=0 # Circular pattern +uint8 LOITER_TYPE_FIGUREEIGHT=1 # Pattern resembling an 8 + bool valid # true if setpoint is valid uint8 type # setpoint type to adjust behavior of position controller @@ -19,19 +22,16 @@ float32 vz # local velocity setpoint in m/s in NED float64 lat # latitude, in deg float64 lon # longitude, in deg float32 alt # altitude AMSL, in m -float32 yaw # yaw (only for multirotors), in rad [-PI..PI), NaN = hold current yaw -bool yaw_valid # true if yaw setpoint valid - -float32 yawspeed # yawspeed (only for multirotors, in rad/s) -bool yawspeed_valid # true if yawspeed setpoint valid +float32 yaw # yaw (only in hover), in rad [-PI..PI), NaN = leave to flight task -float32 loiter_radius # loiter radius (only for fixed wing), in m +float32 loiter_radius # loiter major axis radius in m +float32 loiter_minor_radius # loiter minor axis radius (used for non-circular loiter shapes) in m bool loiter_direction_counter_clockwise # loiter direction is clockwise by default and can be changed using this field +float32 loiter_orientation # Orientation of the major axis with respect to true north in rad [-pi,pi) +uint8 loiter_pattern # loitern pattern to follow float32 acceptance_radius # navigation acceptance_radius if we're doing waypoint navigation float32 cruising_speed # the generally desired cruising speed (not a hard constraint) bool gliding_enabled # commands the vehicle to glide if the capability is available (fixed wing only) float32 cruising_throttle # the generally desired cruising throttle (not a hard constraint), only has an effect for rover - -bool disable_weather_vane # VTOL: disable (in auto mode) the weather vane feature that turns the nose into the wind diff --git a/msg/RegisterExtComponentReply.msg b/msg/RegisterExtComponentReply.msg new file mode 100644 index 000000000000..7cd7eef07b2b --- /dev/null +++ b/msg/RegisterExtComponentReply.msg @@ -0,0 +1,13 @@ +uint64 timestamp # time since system start (microseconds) + +uint64 request_id # ID from the request +char[25] name # name from the request + +uint16 px4_ros2_api_version + +bool success +int8 arming_check_id # arming check registration ID (-1 if invalid) +int8 mode_id # assigned mode ID (-1 if invalid) +int8 mode_executor_id # assigned mode executor ID (-1 if invalid) + +uint8 ORB_QUEUE_LENGTH = 2 diff --git a/msg/RegisterExtComponentRequest.msg b/msg/RegisterExtComponentRequest.msg new file mode 100644 index 000000000000..46ab0cb0a15d --- /dev/null +++ b/msg/RegisterExtComponentRequest.msg @@ -0,0 +1,21 @@ +# Request to register an external component +uint64 timestamp # time since system start (microseconds) + +uint64 request_id # ID, set this to a random value +char[25] name # either the requested mode name, or component name + +uint16 LATEST_PX4_ROS2_API_VERSION = 1 # API version compatibility. Increase this on a breaking semantic change. Changes to any message field are detected separately and do not require an API version change. + +uint16 px4_ros2_api_version # Set to LATEST_PX4_ROS2_API_VERSION + +# Components to be registered +bool register_arming_check +bool register_mode # registering a mode also requires arming_check to be set +bool register_mode_executor # registering an executor also requires a mode to be registered (which is the owned mode by the executor) + +bool enable_replace_internal_mode # set to true if an internal mode should be replaced +uint8 replace_internal_mode # vehicle_status::NAVIGATION_STATE_* +bool activate_mode_immediately # switch to the registered mode (can only be set in combination with an executor) + + +uint8 ORB_QUEUE_LENGTH = 2 diff --git a/msg/RoverAckermannGuidanceStatus.msg b/msg/RoverAckermannGuidanceStatus.msg new file mode 100644 index 000000000000..a06d1290bf50 --- /dev/null +++ b/msg/RoverAckermannGuidanceStatus.msg @@ -0,0 +1,8 @@ +uint64 timestamp # time since system start (microseconds) + +float32 desired_speed # [m/s] Rover desired ground speed +float32 lookahead_distance # [m] Lookahead distance of pure the pursuit controller +float32 heading_error # [deg] Heading error of the pure pursuit controller +float32 pid_throttle_integral # [-1, 1] Integral of the PID for the normalized throttle to control the rover speed during missions + +# TOPICS rover_ackermann_guidance_status diff --git a/msg/RoverAckermannStatus.msg b/msg/RoverAckermannStatus.msg new file mode 100644 index 000000000000..bf0556b9453d --- /dev/null +++ b/msg/RoverAckermannStatus.msg @@ -0,0 +1,7 @@ +uint64 timestamp # time since system start (microseconds) + +float32 throttle_setpoint # [-1, 1] Normalized throttle setpoint +float32 steering_setpoint # [-1, 1] Normalized steering setpoint +float32 actual_speed # [m/s] Rover ground speed + +# TOPICS rover_ackermann_status diff --git a/msg/RoverDifferentialGuidanceStatus.msg b/msg/RoverDifferentialGuidanceStatus.msg new file mode 100644 index 000000000000..836546e7ebb7 --- /dev/null +++ b/msg/RoverDifferentialGuidanceStatus.msg @@ -0,0 +1,10 @@ +uint64 timestamp # time since system start (microseconds) + +float32 desired_speed # [m/s] Desired forward speed for the rover +float32 lookahead_distance # [m] Lookahead distance of pure the pursuit controller +float32 heading_error_deg # [deg] Heading error of the pure pursuit controller +float32 pid_heading_integral # Integral of the PID for the desired yaw rate during missions +float32 pid_throttle_integral # Integral of the PID for the throttle during missions +uint8 state_machine # Driving state of the rover [0: SPOT_TURNING, 1: DRIVING, 2: GOAL_REACHED] + +# TOPICS rover_differential_guidance_status diff --git a/msg/RoverDifferentialStatus.msg b/msg/RoverDifferentialStatus.msg new file mode 100644 index 000000000000..31907ffa6477 --- /dev/null +++ b/msg/RoverDifferentialStatus.msg @@ -0,0 +1,8 @@ +uint64 timestamp # time since system start (microseconds) + +float32 actual_speed # [m/s] Actual forward speed of the rover +float32 desired_yaw_rate_deg_s # [deg/s] Desired yaw rate +float32 actual_yaw_rate_deg_s # [deg/s] Actual yaw rate of the rover +float32 pid_yaw_rate_integral # Integral of the PID for the desired yaw rate controller + +# TOPICS rover_differential_status diff --git a/msg/RtlStatus.msg b/msg/RtlStatus.msg new file mode 100644 index 000000000000..f25b22243a19 --- /dev/null +++ b/msg/RtlStatus.msg @@ -0,0 +1,15 @@ +uint64 timestamp # time since system start (microseconds) + +uint32 safe_points_id # unique ID of active set of safe_point_items +bool is_evaluation_pending # flag if the RTL point needs reevaluation (e.g. new safe points available, but need loading). + +bool has_vtol_approach # flag if approaches are defined for current RTL_TYPE parameter setting + +uint8 rtl_type # Type of RTL chosen +uint8 safe_point_index # index of the chosen safe point, if in RTL_STATUS_TYPE_DIRECT_SAFE_POINT mode + +uint8 RTL_STATUS_TYPE_NONE=0 # pending if evaluation can't pe performed currently e.g. when it is still loading the safe points +uint8 RTL_STATUS_TYPE_DIRECT_SAFE_POINT=1 # chosen to directly go to a safe point or home position +uint8 RTL_STATUS_TYPE_DIRECT_MISSION_LAND=2 # going straight to the beginning of the mission landing +uint8 RTL_STATUS_TYPE_FOLLOW_MISSION=3 # Following the mission from start index to mission landing. Start index is current WP if in Mission mode, and closest WP otherwise. +uint8 RTL_STATUS_TYPE_FOLLOW_MISSION_REVERSE=4 # Following the mission in reverse from start index to the beginning of the mission. Start index is previous WP if in Mission mode, and closest WP otherwise. diff --git a/msg/SensorAirflow.msg b/msg/SensorAirflow.msg new file mode 100644 index 000000000000..f085600489cf --- /dev/null +++ b/msg/SensorAirflow.msg @@ -0,0 +1,5 @@ +uint64 timestamp # time since system start (microseconds) +uint32 device_id # unique device ID for the sensor that does not change between power cycles +float32 speed # the speed being reported by the wind / airflow sensor +float32 direction # the direction being reported by the wind / airflow sensor +uint8 status # Status code from the sensor diff --git a/msg/SensorCorrection.msg b/msg/SensorCorrection.msg index 45ee23135d5e..bfbc8e2eb5fe 100644 --- a/msg/SensorCorrection.msg +++ b/msg/SensorCorrection.msg @@ -4,6 +4,15 @@ uint64 timestamp # time since system start (microseconds) +# Corrections for acceleromter acceleration outputs where corrected_accel = raw_accel * accel_scale + accel_offset +# Note the corrections are in the sensor frame and must be applied before the sensor data is rotated into body frame +uint32[4] accel_device_ids +float32[4] accel_temperature +float32[3] accel_offset_0 # accelerometer 0 offsets in the FRD board frame XYZ-axis in m/s^s +float32[3] accel_offset_1 # accelerometer 1 offsets in the FRD board frame XYZ-axis in m/s^s +float32[3] accel_offset_2 # accelerometer 2 offsets in the FRD board frame XYZ-axis in m/s^s +float32[3] accel_offset_3 # accelerometer 3 offsets in the FRD board frame XYZ-axis in m/s^s + # Corrections for gyro angular rate outputs where corrected_rate = raw_rate * gyro_scale + gyro_offset # Note the corrections are in the sensor frame and must be applied before the sensor data is rotated into body frame uint32[4] gyro_device_ids @@ -13,14 +22,14 @@ float32[3] gyro_offset_1 # gyro 1 XYZ offsets in the sensor frame in rad/s float32[3] gyro_offset_2 # gyro 2 XYZ offsets in the sensor frame in rad/s float32[3] gyro_offset_3 # gyro 3 XYZ offsets in the sensor frame in rad/s -# Corrections for acceleromter acceleration outputs where corrected_accel = raw_accel * accel_scale + accel_offset +# Corrections for magnetometer measurement outputs where corrected_mag = raw_mag * mag_scale + mag_offset # Note the corrections are in the sensor frame and must be applied before the sensor data is rotated into body frame -uint32[4] accel_device_ids -float32[4] accel_temperature -float32[3] accel_offset_0 # accelerometer 0 offsets in the FRD board frame XYZ-axis in m/s^s -float32[3] accel_offset_1 # accelerometer 1 offsets in the FRD board frame XYZ-axis in m/s^s -float32[3] accel_offset_2 # accelerometer 2 offsets in the FRD board frame XYZ-axis in m/s^s -float32[3] accel_offset_3 # accelerometer 3 offsets in the FRD board frame XYZ-axis in m/s^s +uint32[4] mag_device_ids +float32[4] mag_temperature +float32[3] mag_offset_0 # magnetometer 0 offsets in the FRD board frame XYZ-axis in m/s^s +float32[3] mag_offset_1 # magnetometer 1 offsets in the FRD board frame XYZ-axis in m/s^s +float32[3] mag_offset_2 # magnetometer 2 offsets in the FRD board frame XYZ-axis in m/s^s +float32[3] mag_offset_3 # magnetometer 3 offsets in the FRD board frame XYZ-axis in m/s^s # Corrections for barometric pressure outputs where corrected_pressure = raw_pressure * pressure_scale + pressure_offset # Note the corrections are in the sensor frame and must be applied before the sensor data is rotated into body frame diff --git a/msg/SensorGnssRelative.msg b/msg/SensorGnssRelative.msg index 0f1736f45fd8..6d87a344c127 100644 --- a/msg/SensorGnssRelative.msg +++ b/msg/SensorGnssRelative.msg @@ -15,8 +15,8 @@ float32[3] position_accuracy # Accuracy of relative position (m) float32 heading # Heading of the relative position vector (radians) float32 heading_accuracy # Accuracy of heading of the relative position vector (radians) -float32 position_length -float32 accuracy_length +float32 position_length # Length of the position vector (m) +float32 accuracy_length # Accuracy of the position length (m) bool gnss_fix_ok # GNSS valid fix (i.e within DOP & accuracy masks) bool differential_solution # differential corrections were applied diff --git a/msg/SensorGps.msg b/msg/SensorGps.msg index 4404dd524fba..ce2bfad4fd8e 100644 --- a/msg/SensorGps.msg +++ b/msg/SensorGps.msg @@ -5,14 +5,21 @@ uint64 timestamp_sample uint32 device_id # unique device ID for the sensor that does not change between power cycles -int32 lat # Latitude in 1E-7 degrees -int32 lon # Longitude in 1E-7 degrees -int32 alt # Altitude in 1E-3 meters above MSL, (millimetres) -int32 alt_ellipsoid # Altitude in 1E-3 meters bove Ellipsoid, (millimetres) +float64 latitude_deg # Latitude in degrees, allows centimeter level RTK precision +float64 longitude_deg # Longitude in degrees, allows centimeter level RTK precision +float64 altitude_msl_m # Altitude above MSL, meters +float64 altitude_ellipsoid_m # Altitude above Ellipsoid, meters float32 s_variance_m_s # GPS speed accuracy estimate, (metres/sec) float32 c_variance_rad # GPS course accuracy estimate, (radians) -uint8 fix_type # 0-1: no fix, 2: 2D fix, 3: 3D fix, 4: RTCM code differential, 5: Real-Time Kinematic, float, 6: Real-Time Kinematic, fixed, 8: Extrapolated. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix. +uint8 FIX_TYPE_NONE = 1 # Value 0 is also valid to represent no fix. +uint8 FIX_TYPE_2D = 2 +uint8 FIX_TYPE_3D = 3 +uint8 FIX_TYPE_RTCM_CODE_DIFFERENTIAL = 4 +uint8 FIX_TYPE_RTK_FLOAT = 5 +uint8 FIX_TYPE_RTK_FIXED = 6 +uint8 FIX_TYPE_EXTRAPOLATED = 8 +uint8 fix_type # Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix. float32 eph # GPS horizontal position accuracy (metres) float32 epv # GPS vertical position accuracy (metres) @@ -55,4 +62,11 @@ float32 heading_accuracy # heading accuracy (rad, [0, 2PI]) float32 rtcm_injection_rate # RTCM message injection rate Hz uint8 selected_rtcm_instance # uorb instance that is being used for RTCM corrections +bool rtcm_crc_failed # RTCM message CRC failure detected + +uint8 RTCM_MSG_USED_UNKNOWN = 0 +uint8 RTCM_MSG_USED_NOT_USED = 1 +uint8 RTCM_MSG_USED_USED = 2 +uint8 rtcm_msg_used # Indicates if the RTCM message was used successfully by the receiver + # TOPICS sensor_gps vehicle_gps_position diff --git a/msg/SensorUwb.msg b/msg/SensorUwb.msg new file mode 100644 index 000000000000..ae889a8bdc56 --- /dev/null +++ b/msg/SensorUwb.msg @@ -0,0 +1,34 @@ +# UWB distance contains the distance information measured by an ultra-wideband positioning system, +# such as Pozyx or NXP Rddrone. + +uint64 timestamp # time since system start (microseconds) + +uint32 sessionid # UWB SessionID +uint32 time_offset # Time between Ranging Rounds in ms +uint32 counter # Number of Ranges since last Start of Ranging +uint16 mac # MAC adress of Initiator (controller) + +uint16 mac_dest # MAC adress of Responder (Controlee) +uint16 status # status feedback # +uint8 nlos # None line of site condition y/n +float32 distance # distance in m to the UWB receiver + + +#Angle of arrival, Angle in Degree -60..+60; FOV in both axis is 120 degrees +float32 aoa_azimuth_dev # Angle of arrival of first incomming RX msg +float32 aoa_elevation_dev # Angle of arrival of first incomming RX msg +float32 aoa_azimuth_resp # Angle of arrival of first incomming RX msg at the responder +float32 aoa_elevation_resp # Angle of arrival of first incomming RX msg at the responder + +# Figure of merit for the angle measurements +uint8 aoa_azimuth_fom # AOA Azimuth FOM +uint8 aoa_elevation_fom # AOA Elevation FOM +uint8 aoa_dest_azimuth_fom # AOA Azimuth FOM +uint8 aoa_dest_elevation_fom # AOA Elevation FOM + +# Initiator physical configuration +uint8 orientation # Direction the sensor faces from MAV_SENSOR_ORIENTATION enum + # Standard configuration is Antennas facing down and azimuth aligened in forward direction +float32 offset_x # UWB initiator offset in X axis (NED drone frame) +float32 offset_y # UWB initiator offset in Y axis (NED drone frame) +float32 offset_z # UWB initiator offset in Z axis (NED drone frame) diff --git a/msg/TecsStatus.msg b/msg/TecsStatus.msg index e823af4c644a..ae6835dc5249 100644 --- a/msg/TecsStatus.msg +++ b/msg/TecsStatus.msg @@ -26,7 +26,4 @@ float32 throttle_sp # Current throttle setpoint [-] float32 pitch_sp_rad # Current pitch setpoint [rad] float32 throttle_trim # estimated throttle value [0,1] required to fly level at equivalent_airspeed_sp in the current atmospheric conditions -# TECS mode -uint8 mode -uint8 TECS_MODE_NORMAL = 0 -uint8 TECS_MODE_UNDERSPEED = 1 +float32 underspeed_ratio # 0: no underspeed, 1: maximal underspeed. Controller takes measures to avoid stall proportional to ratio if >0. diff --git a/msg/TransponderReport.msg b/msg/TransponderReport.msg index 6a1ca064186b..d5171cf3b303 100644 --- a/msg/TransponderReport.msg +++ b/msg/TransponderReport.msg @@ -47,4 +47,4 @@ uint16 ADSB_EMITTER_TYPE_SERVICE_SURFACE=18 uint16 ADSB_EMITTER_TYPE_POINT_OBSTACLE=19 uint16 ADSB_EMITTER_TYPE_ENUM_END=20 -uint8 ORB_QUEUE_LENGTH = 8 +uint8 ORB_QUEUE_LENGTH = 16 diff --git a/msg/UnregisterExtComponent.msg b/msg/UnregisterExtComponent.msg new file mode 100644 index 000000000000..2ad78d4b6836 --- /dev/null +++ b/msg/UnregisterExtComponent.msg @@ -0,0 +1,7 @@ +uint64 timestamp # time since system start (microseconds) + +char[25] name # either the mode name, or component name + +int8 arming_check_id # arming check registration ID (-1 if not registered) +int8 mode_id # assigned mode ID (-1 if not registered) +int8 mode_executor_id # assigned mode executor ID (-1 if not registered) diff --git a/msg/UwbDistance.msg b/msg/UwbDistance.msg deleted file mode 100644 index e496a7239668..000000000000 --- a/msg/UwbDistance.msg +++ /dev/null @@ -1,15 +0,0 @@ -# UWB distance contains the distance information measured by an ultra-wideband positioning system, -# such as Pozyx or NXP Rddrone. - -uint64 timestamp # time since system start (microseconds) -uint32 time_uwb_ms # Time of UWB device in ms -uint32 counter # Number of Ranges since last Start of Ranging -uint32 sessionid # UWB SessionID -uint32 time_offset # Time between Ranging Rounds in ms -uint16 status # status feedback # - -uint16[12] anchor_distance # distance in cm to each UWB Anchor (UWB Device which takes part in Ranging) -bool[12] nlos # Visual line of sight yes/no -float32[12] aoafirst # Angle of arrival of first incoming RX msg - -float32[3] position # Position of the Landing point in relation to the Drone (x,y,z in Meters NED) diff --git a/msg/UwbGrid.msg b/msg/UwbGrid.msg deleted file mode 100644 index 0862f84330c7..000000000000 --- a/msg/UwbGrid.msg +++ /dev/null @@ -1,25 +0,0 @@ -# UWB report message contains the grid information measured by an ultra-wideband positioning system, -# such as Pozyx or NXP Rddrone. - -uint64 timestamp # time since system start (microseconds) -uint16 initator_time # time to synchronize clocks (microseconds) -uint8 num_anchors # Number of anchors - -float64[4] target_gps # GPS position of target of the UWB system (Lat / Lon / Alt / Yaw Offset to true North) - -# Grid position information -# Position in x,y,z in (x,y,z in centimeters NED) -# staring with POI and Anchor 0 up to Anchor 11 -int16[3] target_pos # Point of Interest, mostly landing Target x,y,z -int16[3] anchor_pos_0 -int16[3] anchor_pos_1 -int16[3] anchor_pos_2 -int16[3] anchor_pos_3 -int16[3] anchor_pos_4 -int16[3] anchor_pos_5 -int16[3] anchor_pos_6 -int16[3] anchor_pos_7 -int16[3] anchor_pos_8 -int16[3] anchor_pos_9 -int16[3] anchor_pos_10 -int16[3] anchor_pos_11 diff --git a/msg/VehicleAirData.msg b/msg/VehicleAirData.msg index c1e55c163185..59ca5e5c8de2 100644 --- a/msg/VehicleAirData.msg +++ b/msg/VehicleAirData.msg @@ -10,5 +10,6 @@ float32 baro_temp_celcius # Temperature in degrees Celsius float32 baro_pressure_pa # Absolute pressure in Pascals float32 rho # air density +float32 eas2tas # equivalent airspeed to true airspeed conversion factor uint8 calibration_count # Calibration changed counter. Monotonically increases whenever calibration changes. diff --git a/msg/VehicleAttitude.msg b/msg/VehicleAttitude.msg index 46e1fc0bcb4e..99e6f25c2e42 100644 --- a/msg/VehicleAttitude.msg +++ b/msg/VehicleAttitude.msg @@ -1,4 +1,5 @@ # This is similar to the mavlink message ATTITUDE_QUATERNION, but for onboard use +# The quaternion uses the Hamilton convention, and the order is q(w, x, y, z) uint64 timestamp # time since system start (microseconds) diff --git a/msg/VehicleAttitudeSetpoint.msg b/msg/VehicleAttitudeSetpoint.msg index e4f66c446a05..74a753023df5 100644 --- a/msg/VehicleAttitudeSetpoint.msg +++ b/msg/VehicleAttitudeSetpoint.msg @@ -1,9 +1,5 @@ uint64 timestamp # time since system start (microseconds) -float32 roll_body # body angle in NED frame (can be NaN for FW) -float32 pitch_body # body angle in NED frame (can be NaN for FW) -float32 yaw_body # body angle in NED frame (can be NaN for FW) - float32 yaw_sp_move_rate # rad/s (commanded by user) # For quaternion-based attitude control @@ -11,7 +7,7 @@ float32[4] q_d # Desired quaternion for quaternion control # For clarification: For multicopters thrust_body[0] and thrust[1] are usually 0 and thrust[2] is the negative throttle demand. # For fixed wings thrust_x is the throttle demand and thrust_y, thrust_z will usually be zero. -float32[3] thrust_body # Normalized thrust command in body NED frame [-1,1] +float32[3] thrust_body # Normalized thrust command in body FRD frame [-1,1] bool reset_integral # Reset roll/pitch/yaw integrals (navigation logic change) diff --git a/msg/VehicleCommand.msg b/msg/VehicleCommand.msg index 19e2761cdb36..8df0ca56b0ac 100644 --- a/msg/VehicleCommand.msg +++ b/msg/VehicleCommand.msg @@ -15,6 +15,7 @@ uint16 VEHICLE_CMD_NAV_LAND = 21 # Land at location |Empty| Empty| Empty| Desi uint16 VEHICLE_CMD_NAV_TAKEOFF = 22 # Takeoff from ground / hand |Minimum pitch (if airspeed sensor present), desired pitch without sensor| Empty| Empty| Yaw angle (if magnetometer present), ignored without magnetometer| Latitude| Longitude| Altitude| uint16 VEHICLE_CMD_NAV_PRECLAND = 23 # Attempt a precision landing uint16 VEHICLE_CMD_DO_ORBIT = 34 # Start orbiting on the circumference of a circle defined by the parameters. |Radius [m] |Velocity [m/s] |Yaw behaviour |Empty |Latitude/X |Longitude/Y |Altitude/Z | +uint16 VEHICLE_CMD_DO_FIGUREEIGHT = 35 # Start flying on the outline of a figure eight defined by the parameters. |Major Radius [m] |Minor Radius [m] |Velocity [m/s] |Orientation |Latitude/X |Longitude/Y |Altitude/Z | uint16 VEHICLE_CMD_NAV_ROI = 80 # Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Region of interest mode. (see MAV_ROI enum)| MISSION index/ target ID. (see MAV_ROI enum)| ROI index (allows a vehicle to manage multiple ROI's)| Empty| x the location of the fixed ROI (see MAV_FRAME)| y| z| uint16 VEHICLE_CMD_NAV_PATHPLANNING = 81 # Control autonomous path planning on the MAV. |0: Disable local obstacle avoidance / local path planning (without resetting map), 1: Enable local path planning, 2: Enable and reset local path planning| 0: Disable full path planning (without resetting map), 1: Enable, 2: Enable and reset map/occupancy grid, 3: Enable and reset planned route, but not occupancy grid| Empty| Yaw angle at goal, in compass degrees, [0..360]| Latitude/X of goal| Longitude/Y of goal| Altitude/Z of goal| uint16 VEHICLE_CMD_NAV_VTOL_TAKEOFF = 84 # Takeoff from ground / hand and transition to fixed wing |Minimum pitch (if airspeed sensor present), desired pitch without sensor| Empty| Empty| Yaw angle (if magnetometer present), ignored without magnetometer| Latitude| Longitude| Altitude| @@ -42,7 +43,7 @@ uint16 VEHICLE_CMD_DO_CHANGE_ALTITUDE = 186 # Set the vehicle to Loiter mode an uint16 VEHICLE_CMD_DO_SET_ACTUATOR = 187 # Sets actuators (e.g. servos) to a desired value. |Actuator 1| Actuator 2| Actuator 3| Actuator 4| Actuator 5| Actuator 6| Index| uint16 VEHICLE_CMD_DO_LAND_START = 189 # Mission command to perform a landing. This is used as a marker in a mission to tell the autopilot where a sequence of mission items that represents a landing starts. It may also be sent via a COMMAND_LONG to trigger a landing, in which case the nearest (geographically) landing sequence in the mission will be used. The Latitude/Longitude is optional, and may be set to 0/0 if not needed. If specified then it will be used to help find the closest landing sequence. |Empty| Empty| Empty| Empty| Latitude| Longitude| Empty| uint16 VEHICLE_CMD_DO_GO_AROUND = 191 # Mission command to safely abort an autonomous landing. |Altitude (meters)| Empty| Empty| Empty| Empty| Empty| Empty| -uint16 VEHICLE_CMD_DO_REPOSITION = 192 +uint16 VEHICLE_CMD_DO_REPOSITION = 192 # Reposition to specific WGS84 GPS position. |Ground speed [m/s] |Bitmask |Loiter radius [m] for planes |Yaw [deg] |Latitude |Longitude |Altitude | uint16 VEHICLE_CMD_DO_PAUSE_CONTINUE = 193 uint16 VEHICLE_CMD_DO_SET_ROI_LOCATION = 195 # Sets the region of interest (ROI) to a location. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Empty| Empty| Empty| Empty| Latitude| Longitude| Altitude| uint16 VEHICLE_CMD_DO_SET_ROI_WPNEXT_OFFSET = 196 # Sets the region of interest (ROI) to be toward next waypoint, with optional pitch/roll/yaw offset. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Empty| Empty| Empty| Empty| pitch offset from next waypoint| roll offset from next waypoint| yaw offset from next waypoint| @@ -70,6 +71,7 @@ uint16 VEHICLE_CMD_PREFLIGHT_UAVCAN = 243 # UAVCAN configuration. If param 1 == uint16 VEHICLE_CMD_PREFLIGHT_STORAGE = 245 # Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode. |Parameter storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM| Mission storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM| Reserved| Reserved| Empty| Empty| Empty| uint16 VEHICLE_CMD_PREFLIGHT_REBOOT_SHUTDOWN = 246 # Request the reboot or shutdown of system components. |0: Do nothing for autopilot, 1: Reboot autopilot, 2: Shutdown autopilot.| 0: Do nothing for onboard computer, 1: Reboot onboard computer, 2: Shutdown onboard computer.| Reserved| Reserved| Empty| Empty| Empty| uint16 VEHICLE_CMD_OBLIQUE_SURVEY=260 # Mission command to set a Camera Auto Mount Pivoting Oblique Survey for this flight|Camera trigger distance (meters)| Shutter integration time (ms)| Camera minimum trigger interval| Number of positions| Roll| Pitch| Empty| +uint16 VEHICLE_CMD_DO_SET_STANDARD_MODE=262 # Enable the specified standard MAVLink mode |MAV_STANDARD_MODE| uint16 VEHICLE_CMD_GIMBAL_DEVICE_INFORMATION = 283 # Command to ask information about a low level gimbal uint16 VEHICLE_CMD_MISSION_START = 300 # start running a mission |first_item: the first mission item to run| last_item: the last mission item to run (after this item is run, the mission ends)| @@ -99,9 +101,13 @@ uint16 VEHICLE_CMD_PAYLOAD_CONTROL_DEPLOY = 30002 # Control a pre-programmed pay uint16 VEHICLE_CMD_FIXED_MAG_CAL_YAW = 42006 # Magnetometer calibration based on provided known yaw. This allows for fast calibration using WMM field tables in the vehicle, given only the known yaw of the vehicle. If Latitude and longitude are both zero then use the current vehicle location. uint16 VEHICLE_CMD_DO_WINCH = 42600 # Command to operate winch. +uint16 VEHICLE_CMD_EXTERNAL_POSITION_ESTIMATE = 43003 # external reset of estimator global position when deadreckoning +uint16 VEHICLE_CMD_EXTERNAL_WIND_ESTIMATE = 43004 + # PX4 vehicle commands (beyond 16 bit mavlink commands) uint32 VEHICLE_CMD_PX4_INTERNAL_START = 65537 # start of PX4 internal only vehicle commands (> UINT16_MAX) uint32 VEHICLE_CMD_SET_GPS_GLOBAL_ORIGIN = 100000 # Sets the GPS coordinates of the vehicle local origin (0,0,0) position. |Empty|Empty|Empty|Empty|Latitude|Longitude|Altitude| +uint32 VEHICLE_CMD_SET_NAV_STATE = 100001 # Change mode by specifying nav_state directly. |nav_state|Empty|Empty|Empty|Empty|Empty|Empty| uint8 VEHICLE_MOUNT_MODE_RETRACT = 0 # Load and keep safe position (Roll,Pitch,Yaw) from permanent memory and stop stabilization | uint8 VEHICLE_MOUNT_MODE_NEUTRAL = 1 # Load and keep neutral position (Roll,Pitch,Yaw) from permanent memory. | @@ -152,6 +158,14 @@ uint8 SPEED_TYPE_GROUNDSPEED = 1 uint8 SPEED_TYPE_CLIMB_SPEED = 2 uint8 SPEED_TYPE_DESCEND_SPEED = 3 +# used as param3 in CMD_DO_ORBIT +uint8 ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TO_CIRCLE_CENTER = 0 +uint8 ORBIT_YAW_BEHAVIOUR_HOLD_INITIAL_HEADING = 1 +uint8 ORBIT_YAW_BEHAVIOUR_UNCONTROLLED = 2 +uint8 ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TANGENT_TO_CIRCLE = 3 +uint8 ORBIT_YAW_BEHAVIOUR_RC_CONTROLLED = 4 +uint8 ORBIT_YAW_BEHAVIOUR_UNCHANGED = 5 + # used as param1 in ARM_DISARM command int8 ARMING_ACTION_DISARM = 0 int8 ARMING_ACTION_ARM = 1 @@ -173,8 +187,10 @@ uint32 command # Command ID uint8 target_system # System which should execute the command uint8 target_component # Component which should execute the command, 0 for all components uint8 source_system # System sending the command -uint8 source_component # Component sending the command +uint16 source_component # Component / mode executor sending the command uint8 confirmation # 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command) bool from_external -# TOPICS vehicle_command gimbal_v1_command +uint16 COMPONENT_MODE_EXECUTOR_START = 1000 + +# TOPICS vehicle_command gimbal_v1_command vehicle_command_mode_executor diff --git a/msg/VehicleCommandAck.msg b/msg/VehicleCommandAck.msg index ef43256af5cb..6f54fa46315b 100644 --- a/msg/VehicleCommandAck.msg +++ b/msg/VehicleCommandAck.msg @@ -28,6 +28,6 @@ uint8 result # Command result uint8 result_param1 # Also used as progress[%], it can be set with the reason why the command was denied, or the progress percentage when result is MAV_RESULT_IN_PROGRESS int32 result_param2 # Additional parameter of the result, example: which parameter of MAV_CMD_NAV_WAYPOINT caused it to be denied. uint8 target_system -uint8 target_component +uint16 target_component # Target component / mode executor bool from_external # Indicates if the command came from an external source diff --git a/msg/VehicleControlMode.msg b/msg/VehicleControlMode.msg index 1f4034369d91..9b33f9b8cad3 100644 --- a/msg/VehicleControlMode.msg +++ b/msg/VehicleControlMode.msg @@ -6,11 +6,17 @@ bool flag_multicopter_position_control_enabled bool flag_control_manual_enabled # true if manual input is mixed in bool flag_control_auto_enabled # true if onboard autopilot should act bool flag_control_offboard_enabled # true if offboard control should be used -bool flag_control_rates_enabled # true if rates are stabilized -bool flag_control_attitude_enabled # true if attitude stabilization is mixed in -bool flag_control_acceleration_enabled # true if acceleration is controlled -bool flag_control_velocity_enabled # true if horizontal velocity (implies direction) is controlled bool flag_control_position_enabled # true if position is controlled +bool flag_control_velocity_enabled # true if horizontal velocity (implies direction) is controlled bool flag_control_altitude_enabled # true if altitude is controlled bool flag_control_climb_rate_enabled # true if climb rate is controlled +bool flag_control_acceleration_enabled # true if acceleration is controlled +bool flag_control_attitude_enabled # true if attitude stabilization is mixed in +bool flag_control_rates_enabled # true if rates are stabilized +bool flag_control_allocation_enabled # true if control allocation is enabled bool flag_control_termination_enabled # true if flighttermination is enabled + +# TODO: use dedicated topic for external requests +uint8 source_id # Mode ID (nav_state) + +# TOPICS vehicle_control_mode config_control_setpoints diff --git a/msg/VehicleGlobalPosition.msg b/msg/VehicleGlobalPosition.msg index 77244473e2be..e37155fe25a9 100644 --- a/msg/VehicleGlobalPosition.msg +++ b/msg/VehicleGlobalPosition.msg @@ -14,8 +14,10 @@ float32 alt # Altitude AMSL, (meters) float32 alt_ellipsoid # Altitude above ellipsoid, (meters) float32 delta_alt # Reset delta for altitude +float32 delta_terrain # Reset delta for terrain uint8 lat_lon_reset_counter # Counter for reset events on horizontal position coordinates uint8 alt_reset_counter # Counter for reset events on altitude +uint8 terrain_reset_counter # Counter for reset events on terrain float32 eph # Standard deviation of horizontal position error, (metres) float32 epv # Standard deviation of vertical position error, (metres) @@ -27,3 +29,4 @@ bool dead_reckoning # True if this position is estimated through dead-reckoning # TOPICS vehicle_global_position vehicle_global_position_groundtruth external_ins_global_position # TOPICS estimator_global_position +# TOPICS aux_global_position diff --git a/msg/VehicleLocalPosition.msg b/msg/VehicleLocalPosition.msg index 4f9238123c32..0e74ac0f4bfc 100644 --- a/msg/VehicleLocalPosition.msg +++ b/msg/VehicleLocalPosition.msg @@ -15,11 +15,10 @@ float32 y # East position in NED earth-fixed frame, (metres) float32 z # Down position (negative altitude) in NED earth-fixed frame, (metres) # Position reset delta -float32[2] delta_xy -uint8 xy_reset_counter - -float32 delta_z -uint8 z_reset_counter +float32[2] delta_xy # Amount of lateral shift of position estimate in latest reset (in x and y) [m] +uint8 xy_reset_counter # Index of latest lateral position estimate reset +float32 delta_z # Amount of vertical shift of position estimate in latest reset [m] +uint8 z_reset_counter # Index of latest vertical position estimate reset # Velocity in NED frame float32 vx # North velocity in NED earth-fixed frame, (metres/sec) @@ -28,21 +27,25 @@ float32 vz # Down velocity in NED earth-fixed frame, (metres/sec) float32 z_deriv # Down position time derivative in NED earth-fixed frame, (metres/sec) # Velocity reset delta -float32[2] delta_vxy -uint8 vxy_reset_counter +float32[2] delta_vxy # Amount of lateral shift of velocity estimate in latest reset (in x and y) [m/s] +uint8 vxy_reset_counter # Index of latest vertical velocity estimate reset +float32 delta_vz # Amount of vertical shift of velocity estimate in latest reset [m/s] +uint8 vz_reset_counter # Index of latest vertical velocity estimate reset -float32 delta_vz -uint8 vz_reset_counter # Acceleration in NED frame float32 ax # North velocity derivative in NED earth-fixed frame, (metres/sec^2) float32 ay # East velocity derivative in NED earth-fixed frame, (metres/sec^2) float32 az # Down velocity derivative in NED earth-fixed frame, (metres/sec^2) float32 heading # Euler yaw angle transforming the tangent plane relative to NED earth-fixed frame, -PI..+PI, (radians) -float32 delta_heading -uint8 heading_reset_counter +float32 heading_var +float32 unaided_heading # Same as heading but generated by integrating corrected gyro data only +float32 delta_heading # Heading delta caused by latest heading reset [rad] +uint8 heading_reset_counter # Index of latest heading reset bool heading_good_for_control +float32 tilt_var + # Position of reference point (local NED frame origin) in global (GPS / WGS84) frame bool xy_global # true if position (x, y) has a valid global reference (ref_lat, ref_lon) bool z_global # true if z has a valid global reference (ref_alt) @@ -52,8 +55,13 @@ float64 ref_lon # Reference point longitude, (degrees) float32 ref_alt # Reference altitude AMSL, (metres) # Distance to surface -float32 dist_bottom # Distance from from bottom surface to ground, (metres) bool dist_bottom_valid # true if distance to bottom surface is valid +float32 dist_bottom # Distance from from bottom surface to ground, (metres) +float32 dist_bottom_var # terrain estimate variance (m^2) + +float32 delta_dist_bottom # Amount of vertical shift of dist bottom estimate in latest reset [m] +uint8 dist_bottom_reset_counter # Index of latest dist bottom estimate reset + uint8 dist_bottom_sensor_bitfield # bitfield indicating what type of sensor is used to estimate dist_bottom uint8 DIST_BOTTOM_SENSOR_NONE = 0 uint8 DIST_BOTTOM_SENSOR_RANGE = 1 # (1 << 0) a range sensor is used to estimate dist_bottom field diff --git a/msg/VehicleOpticalFlowVel.msg b/msg/VehicleOpticalFlowVel.msg index c89207f4abeb..947131da4dd1 100644 --- a/msg/VehicleOpticalFlowVel.msg +++ b/msg/VehicleOpticalFlowVel.msg @@ -4,10 +4,12 @@ uint64 timestamp_sample # the timestamp of the raw data (microsec float32[2] vel_body # velocity obtained from gyro-compensated and distance-scaled optical flow raw measurements in body frame(m/s) float32[2] vel_ne # same as vel_body but in local frame (m/s) -float32[2] flow_uncompensated_integral # integrated optical flow measurement (rad) -float32[2] flow_compensated_integral # integrated optical flow measurement compensated for angular motion (rad) +float32[2] flow_rate_uncompensated # integrated optical flow measurement (rad/s) +float32[2] flow_rate_compensated # integrated optical flow measurement compensated for angular motion (rad/s) float32[3] gyro_rate # gyro measurement synchronized with flow measurements (rad/s) -float32[3] gyro_rate_integral # gyro measurement integrated to flow rate and synchronized with flow measurements (rad) + +float32[3] gyro_bias +float32[3] ref_gyro # TOPICS estimator_optical_flow_vel vehicle_optical_flow_vel diff --git a/msg/VehicleRatesSetpoint.msg b/msg/VehicleRatesSetpoint.msg index 88adcf3bea98..35a06c35aa5f 100644 --- a/msg/VehicleRatesSetpoint.msg +++ b/msg/VehicleRatesSetpoint.msg @@ -1,6 +1,6 @@ uint64 timestamp # time since system start (microseconds) -# body angular rates in NED frame +# body angular rates in FRD frame float32 roll # [rad/s] roll rate setpoint float32 pitch # [rad/s] pitch rate setpoint float32 yaw # [rad/s] yaw rate setpoint diff --git a/msg/VehicleStatus.msg b/msg/VehicleStatus.msg index 878b4b04ed36..4c711b9763e1 100644 --- a/msg/VehicleStatus.msg +++ b/msg/VehicleStatus.msg @@ -6,13 +6,8 @@ uint64 armed_time # Arming timestamp (microseconds) uint64 takeoff_time # Takeoff timestamp (microseconds) uint8 arming_state -uint8 ARMING_STATE_INIT = 0 -uint8 ARMING_STATE_STANDBY = 1 -uint8 ARMING_STATE_ARMED = 2 -uint8 ARMING_STATE_STANDBY_ERROR = 3 -uint8 ARMING_STATE_SHUTDOWN = 4 -uint8 ARMING_STATE_IN_AIR_RESTORE = 5 -uint8 ARMING_STATE_MAX = 6 +uint8 ARMING_STATE_DISARMED = 1 +uint8 ARMING_STATE_ARMED = 2 uint8 latest_arming_reason uint8 latest_disarming_reason @@ -42,22 +37,37 @@ uint8 NAVIGATION_STATE_POSCTL = 2 # Position control mode uint8 NAVIGATION_STATE_AUTO_MISSION = 3 # Auto mission mode uint8 NAVIGATION_STATE_AUTO_LOITER = 4 # Auto loiter mode uint8 NAVIGATION_STATE_AUTO_RTL = 5 # Auto return to launch mode -uint8 NAVIGATION_STATE_UNUSED3 = 8 # Free slot -uint8 NAVIGATION_STATE_UNUSED = 9 # Free slot +uint8 NAVIGATION_STATE_POSITION_SLOW = 6 +uint8 NAVIGATION_STATE_FREE5 = 7 +uint8 NAVIGATION_STATE_FREE4 = 8 +uint8 NAVIGATION_STATE_FREE3 = 9 uint8 NAVIGATION_STATE_ACRO = 10 # Acro mode -uint8 NAVIGATION_STATE_UNUSED1 = 11 # Free slot +uint8 NAVIGATION_STATE_FREE2 = 11 uint8 NAVIGATION_STATE_DESCEND = 12 # Descend mode (no position control) uint8 NAVIGATION_STATE_TERMINATION = 13 # Termination mode uint8 NAVIGATION_STATE_OFFBOARD = 14 uint8 NAVIGATION_STATE_STAB = 15 # Stabilized mode -uint8 NAVIGATION_STATE_UNUSED2 = 16 # Free slot +uint8 NAVIGATION_STATE_FREE1 = 16 uint8 NAVIGATION_STATE_AUTO_TAKEOFF = 17 # Takeoff uint8 NAVIGATION_STATE_AUTO_LAND = 18 # Land uint8 NAVIGATION_STATE_AUTO_FOLLOW_TARGET = 19 # Auto Follow uint8 NAVIGATION_STATE_AUTO_PRECLAND = 20 # Precision land with landing target uint8 NAVIGATION_STATE_ORBIT = 21 # Orbit in a circle uint8 NAVIGATION_STATE_AUTO_VTOL_TAKEOFF = 22 # Takeoff, transition, establish loiter -uint8 NAVIGATION_STATE_MAX = 23 +uint8 NAVIGATION_STATE_EXTERNAL1 = 23 +uint8 NAVIGATION_STATE_EXTERNAL2 = 24 +uint8 NAVIGATION_STATE_EXTERNAL3 = 25 +uint8 NAVIGATION_STATE_EXTERNAL4 = 26 +uint8 NAVIGATION_STATE_EXTERNAL5 = 27 +uint8 NAVIGATION_STATE_EXTERNAL6 = 28 +uint8 NAVIGATION_STATE_EXTERNAL7 = 29 +uint8 NAVIGATION_STATE_EXTERNAL8 = 30 +uint8 NAVIGATION_STATE_MAX = 31 + +uint8 executor_in_charge # Current mode executor in charge (0=Autopilot) + +uint32 valid_nav_states_mask # Bitmask for all valid nav_state values +uint32 can_set_nav_states_mask # Bitmask for all modes that a user can select # Bitmask of detected failures uint16 failure_detector_status @@ -83,8 +93,13 @@ uint8 VEHICLE_TYPE_FIXED_WING = 2 uint8 VEHICLE_TYPE_ROVER = 3 uint8 VEHICLE_TYPE_AIRSHIP = 4 +uint8 FAILSAFE_DEFER_STATE_DISABLED = 0 +uint8 FAILSAFE_DEFER_STATE_ENABLED = 1 +uint8 FAILSAFE_DEFER_STATE_WOULD_FAILSAFE = 2 # Failsafes deferred, but would trigger a failsafe + bool failsafe # true if system is in failsafe state (e.g.:RTL, Hover, Terminate, ...) bool failsafe_and_user_took_over # true if system is in failsafe state but the user took over control +uint8 failsafe_defer_state # one of FAILSAFE_DEFER_STATE_* # Link loss bool gcs_connection_lost # datalink to GCS lost @@ -121,4 +136,3 @@ bool rc_calibration_in_progress bool calibration_enabled bool pre_flight_checks_pass # true if all checks necessary to arm pass - diff --git a/msg/VelocityLimits.msg b/msg/VelocityLimits.msg new file mode 100644 index 000000000000..9ab5115abc69 --- /dev/null +++ b/msg/VelocityLimits.msg @@ -0,0 +1,8 @@ +# Velocity and yaw rate limits for a multicopter position slow mode only + +uint64 timestamp # time since system start (microseconds) + +# absolute speeds, NAN means use default limit +float32 horizontal_velocity # [m/s] +float32 vertical_velocity # [m/s] +float32 yaw_rate # [rad/s] diff --git a/msg/WheelEncoders.msg b/msg/WheelEncoders.msg new file mode 100644 index 000000000000..a4f3955dcb39 --- /dev/null +++ b/msg/WheelEncoders.msg @@ -0,0 +1,5 @@ +uint64 timestamp # time since system start (microseconds) + +# Two wheels: 0 right, 1 left +float32[2] wheel_speed # [rad/s] +float32[2] wheel_angle # [rad] diff --git a/platforms/common/CMakeLists.txt b/platforms/common/CMakeLists.txt index a6e06b9d4735..cb0721fe6911 100644 --- a/platforms/common/CMakeLists.txt +++ b/platforms/common/CMakeLists.txt @@ -33,7 +33,7 @@ set(SRCS) -if(NOT "${PX4_PLATFORM}" MATCHES "qurt" AND NOT "${PX4_BOARD}" MATCHES "io-v2" AND NOT "${PX4_BOARD_LABEL}" MATCHES "bootloader") +if(NOT "${PX4_PLATFORM}" MATCHES "qurt" AND NOT "${PX4_PLATFORM}" MATCHES "ros2" AND NOT "${PX4_BOARD}" MATCHES "io-v2" AND NOT "${PX4_BOARD_LABEL}" MATCHES "bootloader") list(APPEND SRCS px4_log.cpp px4_log_history.cpp @@ -43,7 +43,6 @@ endif() add_library(px4_platform STATIC board_common.c board_identity.c - events.cpp external_reset_lockout.cpp i2c.cpp i2c_spi_buses.cpp @@ -52,6 +51,8 @@ add_library(px4_platform STATIC px4_cli.cpp shutdown.cpp spi.cpp + pab_manifest.c + Serial.cpp ${SRCS} ) target_link_libraries(px4_platform prebuild_targets px4_work_queue) diff --git a/platforms/common/Serial.cpp b/platforms/common/Serial.cpp new file mode 100644 index 000000000000..ca338eb190e6 --- /dev/null +++ b/platforms/common/Serial.cpp @@ -0,0 +1,185 @@ +/**************************************************************************** + * + * Copyright (C) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include + +namespace device +{ + +Serial::Serial() : + _impl(nullptr, 57600, ByteSize::EightBits, Parity::None, StopBits::One, FlowControl::Disabled) {} + + +Serial::Serial(const char *port, uint32_t baudrate, ByteSize bytesize, Parity parity, StopBits stopbits, + FlowControl flowcontrol) : + _impl(port, baudrate, bytesize, parity, stopbits, flowcontrol) +{ + // If no baudrate was specified then set it to a reasonable default value + if (baudrate == 0) { + (void) _impl.setBaudrate(9600); + } +} + +Serial::~Serial() +{ +} + +bool Serial::open() +{ + return _impl.open(); +} + +bool Serial::isOpen() const +{ + return _impl.isOpen(); +} + +bool Serial::close() +{ + return _impl.close(); +} + +ssize_t Serial::read(uint8_t *buffer, size_t buffer_size) +{ + return _impl.read(buffer, buffer_size); +} + +ssize_t Serial::readAtLeast(uint8_t *buffer, size_t buffer_size, size_t character_count, uint32_t timeout_ms) +{ + return _impl.readAtLeast(buffer, buffer_size, character_count, timeout_ms); +} + +ssize_t Serial::write(const void *buffer, size_t buffer_size) +{ + return _impl.write(buffer, buffer_size); +} + +void Serial::flush() +{ + return _impl.flush(); +} + +uint32_t Serial::getBaudrate() const +{ + return _impl.getBaudrate(); +} + +bool Serial::setBaudrate(uint32_t baudrate) +{ + return _impl.setBaudrate(baudrate); +} + +ByteSize Serial::getBytesize() const +{ + return _impl.getBytesize(); +} + +bool Serial::setBytesize(ByteSize bytesize) +{ + return _impl.setBytesize(bytesize); +} + +Parity Serial::getParity() const +{ + return _impl.getParity(); +} + +bool Serial::setParity(Parity parity) +{ + return _impl.setParity(parity); +} + +StopBits Serial::getStopbits() const +{ + return _impl.getStopbits(); +} + +bool Serial::setStopbits(StopBits stopbits) +{ + return _impl.setStopbits(stopbits); +} + +FlowControl Serial::getFlowcontrol() const +{ + return _impl.getFlowcontrol(); +} + +bool Serial::setFlowcontrol(FlowControl flowcontrol) +{ + return _impl.setFlowcontrol(flowcontrol); +} + +bool Serial::getSingleWireMode() const +{ + return _impl.getSingleWireMode(); +} +bool Serial::setSingleWireMode() +{ + return _impl.setSingleWireMode(); +} + +bool Serial::getSwapRxTxMode() const +{ + return _impl.getSwapRxTxMode(); +} +bool Serial::setSwapRxTxMode() +{ + return _impl.setSwapRxTxMode(); +} + +bool Serial::getInvertedMode() const +{ + return _impl.getInvertedMode(); +} + +bool Serial::setInvertedMode(bool enable) +{ + return _impl.setInvertedMode(enable); +} + +const char *Serial::getPort() const +{ + return _impl.getPort(); +} + +bool Serial::validatePort(const char *port) +{ + return SerialImpl::validatePort(port); +} + +bool Serial::setPort(const char *port) +{ + return _impl.setPort(port); +} + +} // namespace device diff --git a/platforms/common/external_reset_lockout.cpp b/platforms/common/external_reset_lockout.cpp index 63f88d2349b5..fdc0adf67bd3 100644 --- a/platforms/common/external_reset_lockout.cpp +++ b/platforms/common/external_reset_lockout.cpp @@ -59,4 +59,3 @@ void px4_indicate_external_reset_lockout(LockoutComponent component, bool enable void px4_indicate_external_reset_lockout(LockoutComponent component, bool enabled) {} #endif /* BOARD_INDICATE_EXTERNAL_LOCKOUT_STATE */ - diff --git a/platforms/common/i2c_spi_buses.cpp b/platforms/common/i2c_spi_buses.cpp index bc910c11dece..0f327884c603 100644 --- a/platforms/common/i2c_spi_buses.cpp +++ b/platforms/common/i2c_spi_buses.cpp @@ -392,6 +392,19 @@ int BusInstanceIterator::runningInstancesCount() const return num_instances; } +int BusInstanceIterator::runningInstancesOnBusCount() const +{ + int num_instances = 0; + + for (const auto &modules : i2c_spi_module_instances) { + if (modules->_bus == bus() && strcmp(modules->_module_name, _module_name) == 0) { + ++num_instances; + } + } + + return num_instances; +} + I2CSPIInstance *BusInstanceIterator::instance() const { if (_current_instance == i2c_spi_module_instances.end()) { diff --git a/platforms/common/include/libevents_definitions.h b/platforms/common/include/libevents_definitions.h deleted file mode 100644 index 4706a20693ba..000000000000 --- a/platforms/common/include/libevents_definitions.h +++ /dev/null @@ -1,48 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2020 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/* - * This header defines the events::EventType type. - */ - -#pragma once - -#include - -namespace events -{ -using EventType = event_s; -} // namespace events - - - diff --git a/platforms/common/include/px4_platform_common/Serial.hpp b/platforms/common/include/px4_platform_common/Serial.hpp new file mode 100644 index 000000000000..fb45b5238502 --- /dev/null +++ b/platforms/common/include/px4_platform_common/Serial.hpp @@ -0,0 +1,112 @@ +/**************************************************************************** + * + * Copyright (C) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#pragma once + +#include + +#include + +using device::SerialConfig::ByteSize; +using device::SerialConfig::Parity; +using device::SerialConfig::StopBits; +using device::SerialConfig::FlowControl; + +namespace device __EXPORT +{ + +class Serial +{ +public: + Serial(); + Serial(const char *port, uint32_t baudrate = 57600, + ByteSize bytesize = ByteSize::EightBits, Parity parity = Parity::None, + StopBits stopbits = StopBits::One, FlowControl flowcontrol = FlowControl::Disabled); + virtual ~Serial(); + + // Open sets up the port and gets it configured based on desired configuration + // The port is always opened in NON BLOCKING mode. + bool open(); + bool isOpen() const; + + bool close(); + + ssize_t read(uint8_t *buffer, size_t buffer_size); + ssize_t readAtLeast(uint8_t *buffer, size_t buffer_size, size_t character_count = 1, uint32_t timeout_ms = 0); + + ssize_t write(const void *buffer, size_t buffer_size); + + void flush(); + + // If port is already open then the following configuration functions + // will reconfigure the port. If the port is not yet open then they will + // simply store the configuration in preparation for the port to be opened. + + uint32_t getBaudrate() const; + bool setBaudrate(uint32_t baudrate); + + ByteSize getBytesize() const; + bool setBytesize(ByteSize bytesize); + + Parity getParity() const; + bool setParity(Parity parity); + + StopBits getStopbits() const; + bool setStopbits(StopBits stopbits); + + FlowControl getFlowcontrol() const; + bool setFlowcontrol(FlowControl flowcontrol); + + bool getSingleWireMode() const; + bool setSingleWireMode(); + + bool getSwapRxTxMode() const; + bool setSwapRxTxMode(); + + bool getInvertedMode() const; + bool setInvertedMode(bool enable); + + static bool validatePort(const char *port); + bool setPort(const char *port); + const char *getPort() const; + +private: + // Disable copy constructors + Serial(const Serial &); + Serial &operator=(const Serial &); + + // platform implementation + SerialImpl _impl; +}; + +} // namespace device diff --git a/platforms/common/include/px4_platform_common/SerialCommon.hpp b/platforms/common/include/px4_platform_common/SerialCommon.hpp new file mode 100644 index 000000000000..bbe9be0ad9fe --- /dev/null +++ b/platforms/common/include/px4_platform_common/SerialCommon.hpp @@ -0,0 +1,70 @@ +/**************************************************************************** + * + * Copyright (C) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#pragma once + +namespace device +{ +namespace SerialConfig +{ + + +// ByteSize: number of data bits +enum class ByteSize { + FiveBits = 5, + SixBits = 6, + SevenBits = 7, + EightBits = 8, +}; + +// Parity: enable parity checking +enum class Parity { + None = 0, + Odd = 1, + Even = 2, +}; + +// StopBits: number of stop bits +enum class StopBits { + One = 1, + Two = 2 +}; + +// FlowControl: enable flow control +enum class FlowControl { + Disabled = 0, + Enabled = 1, +}; + +} // namespace SerialConfig +} // namespace device diff --git a/platforms/common/include/px4_platform_common/board_common.h b/platforms/common/include/px4_platform_common/board_common.h index 832b0dbd6a00..4dff12c1b24f 100644 --- a/platforms/common/include/px4_platform_common/board_common.h +++ b/platforms/common/include/px4_platform_common/board_common.h @@ -67,6 +67,10 @@ # define PX4_I2C_BUS_CLOCK_INIT {100000, 100000, 100000} # elif (PX4_NUMBER_I2C_BUSES) == 4 # define PX4_I2C_BUS_CLOCK_INIT {100000, 100000, 100000, 100000} +# elif (PX4_NUMBER_I2C_BUSES) == 5 +# define PX4_I2C_BUS_CLOCK_INIT {100000, 100000, 100000, 100000, 100000} +# elif (PX4_NUMBER_I2C_BUSES) == 6 +# define PX4_I2C_BUS_CLOCK_INIT {100000, 100000, 100000, 100000, 100000, 100000} # else # error PX4_NUMBER_I2C_BUSES not supported # endif @@ -235,7 +239,7 @@ # else /* Use PX4IO FW search paths defaults based on version */ # if BOARD_USES_PX4IO_VERSION == 2 -# define PX4IO_FW_SEARCH_PATHS {"/etc/extras/px4_io-v2_default.bin","/fs/microsd/px4_io-v2_default.bin", "/fs/microsd/px4io2.bin", nullptr } +# define PX4IO_FW_SEARCH_PATHS {"/etc/extras/px4_io-v2_default.bin",CONFIG_BOARD_ROOT_PATH "/px4_io-v2_default.bin", CONFIG_BOARD_ROOT_PATH "/px4io2.bin", nullptr } # endif # endif #endif @@ -265,6 +269,18 @@ # define HW_VER_REV(v,r) ((uint32_t)((v) & 0xffff) << 16) | ((uint32_t)(r) & 0xffff) #endif +#if defined(BOARD_HAS_HW_SPLIT_VERSIONING) +typedef uint16_t hw_fmun_id_t; +typedef uint16_t hw_base_id_t; +// Original Signals GPIO_HW_REV_SENSE/GPIO_HW_VER_REV_DRIVE is used to ID the FMUM +// Original Signals GPIO_HW_VER_SENSE/GPIO_HW_VER_REV_DRIVE is used to ID the BASE +# define BOARD_HAS_VERSIONING 1 +# define HW_FMUM_ID(rev) ((hw_fmun_id_t)(rev) & 0xffff) +# define HW_BASE_ID(ver) ((hw_base_id_t)(ver) & 0xffff) +# define GET_HW_FMUM_ID() (HW_FMUM_ID(board_get_hw_revision())) +# define GET_HW_BASE_ID() (HW_BASE_ID(board_get_hw_version())) +#endif + #define HW_INFO_REV_DIGITS 3 #define HW_INFO_VER_DIGITS 3 @@ -341,6 +357,7 @@ typedef enum PX4_SOC_ARCH_ID_t { PX4_SOC_ARCH_ID_NXPS32K146 = 0x0007, PX4_SOC_ARCH_ID_NXPS32K344 = 0x0008, + PX4_SOC_ARCH_ID_NXPIMXRT1176 = 0x0009, PX4_SOC_ARCH_ID_EAGLE = 0x1001, PX4_SOC_ARCH_ID_QURT = 0x1002, @@ -440,6 +457,8 @@ __BEGIN_DECLS #if defined(RC_SERIAL_SINGLEWIRE) static inline bool board_rc_singlewire(const char *device) { return strcmp(device, RC_SERIAL_PORT) == 0; } +#elif defined(RC_SERIAL_SINGLEWIRE_FORCE) +static inline bool board_rc_singlewire(const char *device) { return true; } #else static inline bool board_rc_singlewire(const char *device) { return false; } #endif @@ -451,6 +470,15 @@ static inline bool board_rc_singlewire(const char *device) { return false; } * A board may define RC_SERIAL_SWAP_RXTX, so that RC_SERIAL_PORT is configured * as UART with RX/TX swapped. * + * It can optionaly define RC_SERIAL_SWAP_USING_SINGLEWIRE If the board is wired + * with TX to the input (Swapped) and the SoC does not support U[S]ART level + * HW swapping, then use onewire to do the swap if and only if: + * + * RC_SERIAL_SWAP_USING_SINGLEWIRE is defined + * RC_SERIAL_SWAP_RXTX is defined + * TIOCSSWAP is defined and retuns !OK + * TIOCSSINGLEWIRE is defined + * * Input Parameters: * device: serial device, e.g. "/dev/ttyS0" * @@ -652,20 +680,51 @@ bool board_booted_by_px4(void); ************************************************************************************/ typedef enum { - PX4_MFT_PX4IO = 0, - PX4_MFT_USB = 1, - PX4_MFT_CAN2 = 2, - PX4_MFT_CAN3 = 3, + PX4_MFT_PX4IO = 0, + PX4_MFT_USB = 1, + PX4_MFT_CAN2 = 2, + PX4_MFT_CAN3 = 3, + PX4_MFT_PM2 = 4, + PX4_MFT_ETHERNET = 5, + PX4_MFT_T1_ETH = 6, + PX4_MFT_T100_ETH = 7, + PX4_MFT_T1000_ETH = 8, } px4_hw_mft_item_id_t; +typedef int (*system_query_func_t)(const char *sub, const char *val, void *out); + +#define PX4_MFT_MFT_TYPES { \ + PX4_MFT_PX4IO, \ + PX4_MFT_USB, \ + PX4_MFT_CAN2, \ + PX4_MFT_CAN3, \ + PX4_MFT_PM2, \ + PX4_MFT_ETHERNET, \ + PX4_MFT_T1_ETH, \ + PX4_MFT_T100_ETH, \ + PX4_MFT_T1000_ETH } + +#define PX4_MFT_MFT_STR_TYPES { \ + "MFT_PX4IO", \ + "MFT_USB", \ + "MFT_CAN2", \ + "MFT_CAN3", \ + "MFT_PM2", \ + "MFT_ETHERNET", \ + "MFT_T1_ETH", \ + "MFT_T100_ETH", \ + "MFT_T1000_ETH", \ + "MFT_T1000_ETH"} + typedef enum { - px4_hw_con_unknown = 0, - px4_hw_con_onboard = 1, + px4_hw_con_unknown = 0, + px4_hw_con_onboard = 1, px4_hw_con_connector = 3, } px4_hw_connection_t; typedef struct { + unsigned int id: 16; /* The id px4_hw_mft_item_id_t */ unsigned int present: 1; /* 1 if this board have this item */ unsigned int mandatory: 1; /* 1 if this item has to be present and working */ unsigned int connection: 2; /* See px4_hw_connection_t */ @@ -677,7 +736,7 @@ typedef const px4_hw_mft_item_t *px4_hw_mft_item; #if defined(BOARD_HAS_VERSIONING) __EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id); - +__EXPORT int system_query_manifest(const char *sub, const char *val, void *out); # define PX4_MFT_HW_SUPPORTED(ID) (board_query_manifest((ID))->present) # define PX4_MFT_HW_REQUIRED(ID) (board_query_manifest((ID))->mandatory) # define PX4_MFT_HW_IS_ONBOARD(ID) (board_query_manifest((ID))->connection == px4_hw_con_onboard) @@ -750,6 +809,26 @@ __EXPORT const char *board_get_hw_type_name(void); #define board_get_hw_type_name() "" #endif +/************************************************************************************ + * Name: board_get_hw_base_type_name + * + * Description: + * Optional returns a 0 terminated string defining the HW type. + * + * Input Parameters: + * None + * + * Returned Value: + * a 0 terminated string defining the HW type. This may be a 0 length string "" + * + ************************************************************************************/ + +#if defined(BOARD_HAS_HW_SPLIT_VERSIONING) +__EXPORT const char *board_get_hw_base_type_name(void); +#else +#define board_get_hw_base_type_name() "" +#endif + /************************************************************************************ * Name: board_get_hw_version * diff --git a/platforms/common/include/px4_platform_common/cli.h b/platforms/common/include/px4_platform_common/cli.h index 1e08cfabd0c7..5667ae685eb0 100644 --- a/platforms/common/include/px4_platform_common/cli.h +++ b/platforms/common/include/px4_platform_common/cli.h @@ -50,3 +50,15 @@ * @return 0 on success, -errno otherwise */ int px4_get_parameter_value(const char *option, int &value); + +/** + * Parse a CLI argument to a float. There are 2 valid formats: + * - 'p:' + * in this case the parameter is loaded from an integer parameter + * - + * a floating-point value, so just a string to float conversion is done + * @param option CLI argument + * @param value returned value + * @return 0 on success, -errno otherwise + */ +int px4_get_parameter_value(const char *option, float &value); diff --git a/platforms/common/include/px4_platform_common/defines.h b/platforms/common/include/px4_platform_common/defines.h index 38d7b4201f4c..3b420f95f10f 100644 --- a/platforms/common/include/px4_platform_common/defines.h +++ b/platforms/common/include/px4_platform_common/defines.h @@ -64,7 +64,7 @@ static inline constexpr bool PX4_ISFINITE(double x) { return __builtin_isfinite( ****************************************************************************/ #define PX4_ROOTFSDIR "" -#define PX4_STORAGEDIR PX4_ROOTFSDIR "/fs/microsd" +#define PX4_STORAGEDIR PX4_ROOTFSDIR CONFIG_BOARD_ROOT_PATH #define _PX4_IOC(x,y) _IOC(x,y) // mode for open with O_CREAT diff --git a/platforms/common/include/px4_platform_common/events.h b/platforms/common/include/px4_platform_common/events.h index b7356bed3de2..b3dad933ba54 100644 --- a/platforms/common/include/px4_platform_common/events.h +++ b/platforms/common/include/px4_platform_common/events.h @@ -45,7 +45,7 @@ #endif #include -#include +#include #include @@ -93,7 +93,7 @@ constexpr unsigned sizeofArguments(const T &t, const Args &... args) /** * publish/send an event */ -void send(EventType &event); +void send(event_s &event); /** * Generate event ID from an event name @@ -109,7 +109,7 @@ constexpr uint32_t ID(const char (&name)[N]) template inline void send(uint32_t id, const LogLevels &log_levels, const char *message, Args... args) { - EventType e{}; + event_s e{}; e.log_levels = ((uint8_t)log_levels.internal << 4) | (uint8_t)log_levels.external; e.id = id; static_assert(util::sizeofArguments(args...) <= sizeof(e.arguments), "Too many arguments"); @@ -120,7 +120,7 @@ inline void send(uint32_t id, const LogLevels &log_levels, const char *message, inline void send(uint32_t id, const LogLevels &log_levels, const char *message) { - EventType e{}; + event_s e{}; e.log_levels = ((uint8_t)log_levels.internal << 4) | (uint8_t)log_levels.external; e.id = id; CONSOLE_PRINT_EVENT(e.log_level_external, e.id, message); diff --git a/platforms/common/include/px4_platform_common/external_reset_lockout.h b/platforms/common/include/px4_platform_common/external_reset_lockout.h index b4cdf8df6cbb..3be2901ab808 100644 --- a/platforms/common/include/px4_platform_common/external_reset_lockout.h +++ b/platforms/common/include/px4_platform_common/external_reset_lockout.h @@ -53,6 +53,3 @@ enum class LockoutComponent : uint8_t { * @param enabled true if compoment is in critical state */ void px4_indicate_external_reset_lockout(LockoutComponent component, bool enabled); - - - diff --git a/platforms/common/include/px4_platform_common/i2c_spi_buses.h b/platforms/common/include/px4_platform_common/i2c_spi_buses.h index aa6dc90703f3..0ca599a57ece 100644 --- a/platforms/common/include/px4_platform_common/i2c_spi_buses.h +++ b/platforms/common/include/px4_platform_common/i2c_spi_buses.h @@ -229,6 +229,7 @@ class BusInstanceIterator I2CSPIBusOption configuredBusOption() const { return _bus_option; } int runningInstancesCount() const; + int runningInstancesOnBusCount() const; bool next(); diff --git a/platforms/common/include/px4_platform_common/init.h b/platforms/common/include/px4_platform_common/init.h index e8a135fbf05c..5ce6851afdd5 100644 --- a/platforms/common/include/px4_platform_common/init.h +++ b/platforms/common/include/px4_platform_common/init.h @@ -34,6 +34,7 @@ __BEGIN_DECLS int px4_platform_init(void); +void px4_platform_i2c_init(void); int px4_platform_console_init(void); int px4_platform_configure(void); diff --git a/platforms/common/include/px4_platform_common/log.h b/platforms/common/include/px4_platform_common/log.h index 3450b7e90bf0..0b5d878ed7ae 100644 --- a/platforms/common/include/px4_platform_common/log.h +++ b/platforms/common/include/px4_platform_common/log.h @@ -446,4 +446,3 @@ __END_DECLS #define PX4_ANSI_COLOR_CYAN "\x1b[36m" #define PX4_ANSI_COLOR_GRAY "\x1B[37m" #define PX4_ANSI_COLOR_RESET "\x1b[0m" - diff --git a/platforms/common/include/px4_platform_common/module.h b/platforms/common/include/px4_platform_common/module.h index 63867df4e2c8..13e5a5ccae4e 100644 --- a/platforms/common/include/px4_platform_common/module.h +++ b/platforms/common/include/px4_platform_common/module.h @@ -91,7 +91,7 @@ extern pthread_mutex_t px4_modules_mutex; * static int custom_command(int argc, char *argv[]) * { * // support for custom commands - * // it none are supported, just do: + * // if none are supported, just do: * return print_usage("unrecognized command"); * } * diff --git a/platforms/common/include/px4_platform_common/px4_manifest.h b/platforms/common/include/px4_platform_common/px4_manifest.h index bdb6ad198497..fc8341801c20 100644 --- a/platforms/common/include/px4_platform_common/px4_manifest.h +++ b/platforms/common/include/px4_platform_common/px4_manifest.h @@ -49,6 +49,7 @@ typedef struct { I2C = 0, SPI = 1, ONCHIP = 2, + FLEXSPI = 3 } bus_type; uint32_t devid; diff --git a/platforms/common/include/px4_platform_common/px4_mtd.h b/platforms/common/include/px4_platform_common/px4_mtd.h index 7313bd78a93f..71d9e577fffd 100644 --- a/platforms/common/include/px4_platform_common/px4_mtd.h +++ b/platforms/common/include/px4_platform_common/px4_mtd.h @@ -82,4 +82,6 @@ int px4_at24c_initialize(FAR struct i2c_master_s *dev, void px4_at24c_deinitialize(void); +int flexspi_attach(mtd_instance_s *instance); + __END_DECLS diff --git a/platforms/common/include/px4_platform_common/px4_work_queue/WorkQueueManager.hpp b/platforms/common/include/px4_platform_common/px4_work_queue/WorkQueueManager.hpp index 9bee390323bc..68ac3f1ffea9 100644 --- a/platforms/common/include/px4_platform_common/px4_work_queue/WorkQueueManager.hpp +++ b/platforms/common/include/px4_platform_common/px4_work_queue/WorkQueueManager.hpp @@ -72,7 +72,7 @@ static constexpr wq_config_t INS1{"wq:INS1", 6000, -15}; static constexpr wq_config_t INS2{"wq:INS2", 6000, -16}; static constexpr wq_config_t INS3{"wq:INS3", 6000, -17}; -static constexpr wq_config_t hp_default{"wq:hp_default", 1900, -18}; +static constexpr wq_config_t hp_default{"wq:hp_default", 2800, -18}; static constexpr wq_config_t uavcan{"wq:uavcan", 3624, -19}; @@ -89,7 +89,7 @@ static constexpr wq_config_t ttyS9{"wq:ttyS9", 1728, -30}; static constexpr wq_config_t ttyACM0{"wq:ttyACM0", 1728, -31}; static constexpr wq_config_t ttyUnknown{"wq:ttyUnknown", 1728, -32}; -static constexpr wq_config_t lp_default{"wq:lp_default", 1920, -50}; +static constexpr wq_config_t lp_default{"wq:lp_default", 2350, -50}; static constexpr wq_config_t test1{"wq:test1", 2000, 0}; static constexpr wq_config_t test2{"wq:test2", 2000, 0}; diff --git a/platforms/common/include/px4_platform_common/shutdown.h b/platforms/common/include/px4_platform_common/shutdown.h index f4bd2e9cf6b3..3e306f3a1795 100644 --- a/platforms/common/include/px4_platform_common/shutdown.h +++ b/platforms/common/include/px4_platform_common/shutdown.h @@ -70,6 +70,12 @@ __EXPORT int px4_register_shutdown_hook(shutdown_hook_t hook); */ __EXPORT int px4_unregister_shutdown_hook(shutdown_hook_t hook); +/** Types of reboot requests for PX4 */ +typedef enum { + REBOOT_REQUEST = 0, ///< Normal reboot + REBOOT_TO_BOOTLOADER = 1, ///< Reboot to PX4 bootloader + REBOOT_TO_ISP = 2, ///< Reboot to ISP bootloader +} reboot_request_t; /** * Request the system to reboot. @@ -83,7 +89,7 @@ __EXPORT int px4_unregister_shutdown_hook(shutdown_hook_t hook); * @return 0 on success, <0 on error */ #if defined(CONFIG_BOARDCTL_RESET) -__EXPORT int px4_reboot_request(bool to_bootloader = false, uint32_t delay_us = 0); +__EXPORT int px4_reboot_request(reboot_request_t request = REBOOT_REQUEST, uint32_t delay_us = 0); #endif // CONFIG_BOARDCTL_RESET diff --git a/platforms/common/include/px4_platform_common/spi.h b/platforms/common/include/px4_platform_common/spi.h index 66644098228f..a2e4682b98cd 100644 --- a/platforms/common/include/px4_platform_common/spi.h +++ b/platforms/common/include/px4_platform_common/spi.h @@ -73,7 +73,11 @@ struct px4_spi_bus_t { struct px4_spi_bus_all_hw_t { px4_spi_bus_t buses[SPI_BUS_MAX_BUS_ITEMS]; - int board_hw_version_revision{-1}; ///< 0=default, >0 for a specific revision (see board_get_hw_version & board_get_hw_revision), -1=unused +#if defined(BOARD_HAS_HW_SPLIT_VERSIONING) + hw_fmun_id_t board_hw_fmun_id {USHRT_MAX}; +#else + int board_hw_version_revision {-1}; ///< 0=default, >0 for a specific revision (see board_get_hw_version & board_get_hw_revision), -1=unused +#endif }; #if BOARD_NUM_SPI_CFG_HW_VERSIONS > 1 diff --git a/platforms/common/include/px4_platform_common/time.h b/platforms/common/include/px4_platform_common/time.h index 1b4d8a27560c..d61e23c75cfb 100644 --- a/platforms/common/include/px4_platform_common/time.h +++ b/platforms/common/include/px4_platform_common/time.h @@ -13,11 +13,21 @@ __END_DECLS #define px4_clock_gettime system_clock_gettime #endif -#if defined(ENABLE_LOCKSTEP_SCHEDULER) +#if defined(ENABLE_LOCKSTEP_SCHEDULER) || defined(__PX4_QURT) __BEGIN_DECLS __EXPORT int px4_clock_settime(clockid_t clk_id, const struct timespec *tp); +__END_DECLS + +#else + +#define px4_clock_settime system_clock_settime +#endif + +#if defined(ENABLE_LOCKSTEP_SCHEDULER) + +__BEGIN_DECLS __EXPORT int px4_usleep(useconds_t usec); __EXPORT unsigned int px4_sleep(unsigned int seconds); __EXPORT int px4_pthread_cond_timedwait(pthread_cond_t *cond, @@ -27,7 +37,6 @@ __END_DECLS #else -#define px4_clock_settime system_clock_settime #define px4_usleep system_usleep #define px4_sleep system_sleep #define px4_pthread_cond_timedwait system_pthread_cond_timedwait diff --git a/platforms/common/module.cpp b/platforms/common/module.cpp index 8b474c794100..aeba6c4624fd 100644 --- a/platforms/common/module.cpp +++ b/platforms/common/module.cpp @@ -238,4 +238,3 @@ void PRINT_MODULE_USAGE_ARG(const char *values, const char *description, bool is #endif } - diff --git a/platforms/common/pab_manifest.c b/platforms/common/pab_manifest.c new file mode 100644 index 000000000000..5750846672d4 --- /dev/null +++ b/platforms/common/pab_manifest.c @@ -0,0 +1,450 @@ +/**************************************************************************** + * + * Copyright (c) 2024 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file pab_manifest.c + * + * This module supplies the interface to the manifest of hardware that is + * optional and dependent on the HW_BASE_ID + * + * The manifest allows the system to know whether a hardware option + * say for example the PX4IO is an no-pop option vs it is broken. + * + */ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include + +#if defined(BOARD_HAS_HW_SPLIT_VERSIONING) + +#include +#include +#include + +#include "systemlib/px4_macros.h" + +/**************************************************************************** + * Pre-Processor Definitions + ****************************************************************************/ + +typedef struct { + hw_base_id_t hw_base_id; /* The ID of the Base */ + const px4_hw_mft_item_t *mft; /* The first entry */ + uint32_t entries; /* the lenght of the list */ +} px4_hw_mft_list_entry_t; + +typedef px4_hw_mft_list_entry_t *px4_hw_mft_list_entry; +#define px4_hw_mft_list_uninitialized (px4_hw_mft_list_entry) -1 + +static const px4_hw_mft_item_t device_unsupported = {0, 0, 0}; + +// List of components on a specific base board configuration +// The ids of those components is given by the enum (px4_hw_mft_item_id_t) +// declared in board_common.h + +// BASE ID 0 Auterion vXx base board +static const px4_hw_mft_item_t base_configuration_0[] = { + { + .id = PX4_MFT_PX4IO, + .present = 1, + .mandatory = 1, + .connection = px4_hw_con_onboard, + }, + { + .id = PX4_MFT_USB, + .present = 1, + .mandatory = 1, + .connection = px4_hw_con_onboard, + }, + { + .id = PX4_MFT_CAN2, + .present = 1, + .mandatory = 1, + .connection = px4_hw_con_onboard, + }, + { + .id = PX4_MFT_CAN3, + .present = 0, + .mandatory = 0, + .connection = px4_hw_con_unknown, + }, + { + .id = PX4_MFT_PM2, + .present = 1, + .mandatory = 1, + .connection = px4_hw_con_onboard, + }, + { + .id = PX4_MFT_ETHERNET, + .present = 1, + .mandatory = 1, + .connection = px4_hw_con_connector, + }, + { + .id = PX4_MFT_T100_ETH, + .present = 1, + .mandatory = 1, + .connection = px4_hw_con_connector, + }, +}; + +// BASE ID 1 vXx base without px4io +static const px4_hw_mft_item_t base_configuration_1[] = { + { + .id = PX4_MFT_PX4IO, + .present = 0, + .mandatory = 0, + .connection = px4_hw_con_unknown, + }, + { + .id = PX4_MFT_USB, + .present = 1, + .mandatory = 1, + .connection = px4_hw_con_onboard, + }, + { + .id = PX4_MFT_CAN2, + .present = 1, + .mandatory = 1, + .connection = px4_hw_con_onboard, + }, + { + .id = PX4_MFT_CAN3, + .present = 0, + .mandatory = 0, + .connection = px4_hw_con_unknown, + }, + { + .id = PX4_MFT_PM2, + .present = 1, + .mandatory = 1, + .connection = px4_hw_con_onboard, + }, + { + .id = PX4_MFT_ETHERNET, + .present = 1, + .mandatory = 1, + .connection = px4_hw_con_connector, + }, + { + .id = PX4_MFT_T100_ETH, + .present = 1, + .mandatory = 1, + .connection = px4_hw_con_connector, + }, +}; + +// BASE ID 2 Modal AI Alaised to ID 0 + +// BASE ID 3 NXP T1 PHY +static const px4_hw_mft_item_t base_configuration_3[] = { + { + .id = PX4_MFT_PX4IO, + .present = 0, + .mandatory = 0, + .connection = px4_hw_con_unknown, + }, + { + .id = PX4_MFT_USB, + .present = 1, + .mandatory = 1, + .connection = px4_hw_con_onboard, + }, + { + .id = PX4_MFT_CAN2, + .present = 1, + .mandatory = 1, + .connection = px4_hw_con_onboard, + }, + { + .id = PX4_MFT_CAN3, + .present = 1, + .mandatory = 1, + .connection = px4_hw_con_onboard, + }, + { + .id = PX4_MFT_PM2, + .present = 1, + .mandatory = 1, + .connection = px4_hw_con_onboard, + }, + { + .id = PX4_MFT_ETHERNET, + .present = 1, + .mandatory = 1, + .connection = px4_hw_con_connector, + }, + { + .id = PX4_MFT_T1_ETH, + .present = 1, + .mandatory = 1, + .connection = px4_hw_con_connector, + }, +}; + +// BASE ID 4 HB CM4 Alaised to ID 0 + +// BASE ID 5 HB min +static const px4_hw_mft_item_t base_configuration_5[] = { + { + .id = PX4_MFT_PX4IO, + .present = 1, + .mandatory = 1, + .connection = px4_hw_con_onboard, + }, + { + .id = PX4_MFT_USB, + .present = 1, + .mandatory = 1, + .connection = px4_hw_con_onboard, + }, + { + .id = PX4_MFT_CAN2, + .present = 0, + .mandatory = 0, + .connection = px4_hw_con_unknown, + }, + { + .id = PX4_MFT_CAN3, + .present = 0, + .mandatory = 0, + .connection = px4_hw_con_unknown, + }, + { + .id = PX4_MFT_ETHERNET, + .present = 1, + .mandatory = 1, + .connection = px4_hw_con_connector, + }, + { + .id = PX4_MFT_T100_ETH, + .present = 1, + .mandatory = 1, + .connection = px4_hw_con_connector, + }, +}; + +// BASE ID 6 Not allocated +// BASE ID 7 Read from EEPROM +// BASE ID 8 Skynode QS with USB - Alaised to ID 0 + +// BASE ID 9 Auterion Skynode base RC9 & older (no usb +static const px4_hw_mft_item_t base_configuration_9[] = { + { + .id = PX4_MFT_PX4IO, + .present = 1, + .mandatory = 1, + .connection = px4_hw_con_onboard, + }, + { + .id = PX4_MFT_USB, + .present = 0, + .mandatory = 0, + .connection = px4_hw_con_unknown, + }, + { + .id = PX4_MFT_CAN2, + .present = 1, + .mandatory = 1, + .connection = px4_hw_con_onboard, + }, + { + .id = PX4_MFT_CAN3, + .present = 0, + .mandatory = 0, + .connection = px4_hw_con_unknown, + }, + { + .id = PX4_MFT_PM2, + .present = 1, + .mandatory = 1, + .connection = px4_hw_con_onboard, + }, + { + .id = PX4_MFT_ETHERNET, + .present = 1, + .mandatory = 1, + .connection = px4_hw_con_connector, + }, + { + .id = PX4_MFT_T100_ETH, + .present = 1, + .mandatory = 1, + .connection = px4_hw_con_onboard, + }, +}; + +// BASE ID 10 Skynode QS no USB Alaised to ID 9 +// BASE ID 16 Auterion Skynode RC10, RC11, RC12, RC13 Alaised to ID 0 + +// BASE ID 17 Auterion Skynode RC13 with many parts removed +static const px4_hw_mft_item_t base_configuration_17[] = { + { + .id = PX4_MFT_PX4IO, + .present = 0, + .mandatory = 0, + .connection = px4_hw_con_onboard, + }, + { + .id = PX4_MFT_USB, + .present = 1, + .mandatory = 1, + .connection = px4_hw_con_unknown, + }, + { + .id = PX4_MFT_CAN2, + .present = 0, + .mandatory = 0, + .connection = px4_hw_con_onboard, + }, + { + .id = PX4_MFT_CAN3, + .present = 0, + .mandatory = 0, + .connection = px4_hw_con_unknown, + }, + { + .id = PX4_MFT_PM2, + .present = 0, + .mandatory = 0, + .connection = px4_hw_con_onboard, + }, + { + .id = PX4_MFT_ETHERNET, + .present = 1, + .mandatory = 1, + .connection = px4_hw_con_connector, + }, + { + .id = PX4_MFT_T100_ETH, + .present = 1, + .mandatory = 1, + .connection = px4_hw_con_onboard, + }, +}; + +// BASE ID 0x100 Holybro Pixhawk Jetson Baseboard Alaised to ID 0 +// BASE ID 0x150 ZeroOne Pixhawk Baseboard Alaised to ID 0 + +static px4_hw_mft_list_entry_t mft_lists[] = { +// ver_rev + {HW_BASE_ID(0), base_configuration_0, arraySize(base_configuration_0)}, // std Base with PX4IO + {HW_BASE_ID(1), base_configuration_1, arraySize(base_configuration_1)}, // std Base No PX4IO + {HW_BASE_ID(2), base_configuration_0, arraySize(base_configuration_0)}, // CUAV Base + {HW_BASE_ID(3), base_configuration_3, arraySize(base_configuration_3)}, // NXP T1 PHY + {HW_BASE_ID(4), base_configuration_0, arraySize(base_configuration_0)}, // HB CM4 base + {HW_BASE_ID(5), base_configuration_5, arraySize(base_configuration_5)}, // HB Mini + {HW_BASE_ID(8), base_configuration_0, arraySize(base_configuration_0)}, // Auterion Skynode ver 8 Aliased to 0 + {HW_BASE_ID(9), base_configuration_9, arraySize(base_configuration_9)}, // Auterion Skynode ver 9 + {HW_BASE_ID(10), base_configuration_9, arraySize(base_configuration_9)}, // Auterion Skynode ver 10 + {HW_BASE_ID(16), base_configuration_0, arraySize(base_configuration_0)}, // Auterion Skynode ver 16 + {HW_BASE_ID(17), base_configuration_17, arraySize(base_configuration_17)}, // Auterion Skynode ver 17 + {HW_BASE_ID(0x100), base_configuration_0, arraySize(base_configuration_0)}, // Holybro Pixhawk Jetson Baseboard ver 0x100 Alaised to ID 0 + {HW_BASE_ID(0x150), base_configuration_0, arraySize(base_configuration_0)}, // ZeroOne Pixhawk Baseboard ver 0x150 +}; + +/************************************************************************************ + * Name: base_query_manifest + * + * Description: + * Optional returns manifest item. + * + * Input Parameters: + * manifest_id - the ID for the manifest item to retrieve + * + * Returned Value: + * 0 - item is not in manifest => assume legacy operations + * pointer to a manifest item + * + ************************************************************************************/ + +__EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id) +{ + static px4_hw_mft_list_entry boards_manifest = px4_hw_mft_list_uninitialized; + + if (boards_manifest == px4_hw_mft_list_uninitialized) { + hw_base_id_t hw_base_id = GET_HW_BASE_ID(); + + for (unsigned i = 0; i < arraySize(mft_lists); i++) { + if (mft_lists[i].hw_base_id == hw_base_id) { + boards_manifest = &mft_lists[i]; + break; + } + } + + if (boards_manifest == px4_hw_mft_list_uninitialized) { + syslog(LOG_ERR, "[boot] Board %04" PRIx16 " is not supported!\n", hw_base_id); + } + } + + px4_hw_mft_item rv = &device_unsupported; + + if (boards_manifest != px4_hw_mft_list_uninitialized) + for (unsigned int ndx = 0; ndx < boards_manifest->entries; ndx++) { + if (boards_manifest->mft[ndx].id == id) { + rv = &boards_manifest->mft[id]; + break; + } + } + + return rv; +} + +__EXPORT int system_query_manifest(const char *sub, const char *val, void *out) +{ + static const char *keys[] = PX4_MFT_MFT_STR_TYPES; + static const px4_hw_mft_item_id_t item_ids[] = PX4_MFT_MFT_TYPES; + px4_hw_mft_item rv = &device_unsupported; + int id = -1; + int intval = atoi(val); + + for (unsigned int k = 0; k < arraySize(keys); k++) { + if (!strcmp(keys[k], sub)) { + id = item_ids[k]; + break; + } + } + + if (id != -1) { + // In case we have to filter when a FMUM is mounted to a BASE + // For now just use the board + rv = board_query_manifest(id); + return rv->present == intval ? OK : -ENXIO; + } + + return -ENOENT; +} +#endif diff --git a/platforms/common/px4_cli.cpp b/platforms/common/px4_cli.cpp index bf0e5f394967..d2ffa7230da5 100644 --- a/platforms/common/px4_cli.cpp +++ b/platforms/common/px4_cli.cpp @@ -59,6 +59,7 @@ int px4_get_parameter_value(const char *option, int &value) if (param_handle != PARAM_INVALID) { if (param_type(param_handle) != PARAM_TYPE_INT32) { + PX4_ERR("Type of param '%s' is different from INT32", param_name); return -EINVAL; } @@ -87,3 +88,48 @@ int px4_get_parameter_value(const char *option, int &value) return 0; } + +int px4_get_parameter_value(const char *option, float &value) +{ + value = 0; + + /* check if this is a param name */ + if (strncmp("p:", option, 2) == 0) { + + const char *param_name = option + 2; + + /* user wants to use a param name */ + param_t param_handle = param_find(param_name); + + if (param_handle != PARAM_INVALID) { + + if (param_type(param_handle) != PARAM_TYPE_FLOAT) { + PX4_ERR("Type of param '%s' is different from FLOAT", param_name); + return -EINVAL; + } + + float pwm_parm; + int ret = param_get(param_handle, &pwm_parm); + + if (ret != 0) { + return ret; + } + + value = pwm_parm; + + } else { + PX4_ERR("param name '%s' not found", param_name); + return -ENXIO; + } + + } else { + char *ep; + value = strtof(option, &ep); + + if (*ep != '\0') { + return -EINVAL; + } + } + + return 0; +} diff --git a/platforms/common/px4_log.cpp b/platforms/common/px4_log.cpp index 8e733b5ee4c1..73a3671c8982 100644 --- a/platforms/common/px4_log.cpp +++ b/platforms/common/px4_log.cpp @@ -74,7 +74,7 @@ void px4_log_initialize(void) log_message.severity = 6; // info strcpy((char *)log_message.text, "initialized uORB logging"); log_message.timestamp = hrt_absolute_time(); - orb_log_message_pub = orb_advertise_queue(ORB_ID(log_message), &log_message, log_message_s::ORB_QUEUE_LENGTH); + orb_log_message_pub = orb_advertise(ORB_ID(log_message), &log_message); } __EXPORT void px4_log_modulename(int level, const char *module_name, const char *fmt, ...) @@ -103,7 +103,7 @@ __EXPORT void px4_log_modulename(int level, const char *module_name, const char #if defined(PX4_LOG_COLORIZED_OUTPUT) if (use_color) { - pos += sprintf(buf + pos, "%s", __px4_log_level_color[level]); + pos += snprintf(buf + pos, math::max(max_length - pos, (ssize_t)0), "%s", __px4_log_level_color[level]); } #endif // PX4_LOG_COLORIZED_OUTPUT @@ -136,14 +136,14 @@ __EXPORT void px4_log_modulename(int level, const char *module_name, const char #if defined(PX4_LOG_COLORIZED_OUTPUT) if (use_color) { - // alway reset color + // always reset color const ssize_t sz = math::min(pos, max_length - (ssize_t)strlen(PX4_ANSI_COLOR_RESET) - (ssize_t)1); - pos += sprintf(buf + sz, "%s\n", PX4_ANSI_COLOR_RESET); + pos += snprintf(buf + sz, math::max(max_length - sz, (ssize_t)0), "%s\n", PX4_ANSI_COLOR_RESET); } else #endif // PX4_LOG_COLORIZED_OUTPUT { - pos += sprintf(buf + math::min(pos, max_length - (ssize_t)1), "\n"); + pos += snprintf(buf + math::min(pos, max_length - (ssize_t)1), 2, "\n"); } // ensure NULL termination (buffer is max_length + 1) @@ -162,7 +162,7 @@ __EXPORT void px4_log_modulename(int level, const char *module_name, const char va_start(argptr, fmt); pos += vsnprintf(buf + pos, math::max(max_length - pos, (ssize_t)0), fmt, argptr); va_end(argptr); - pos += sprintf(buf + math::min(pos, max_length - (ssize_t)1), "\n"); + pos += snprintf(buf + math::min(pos, max_length - (ssize_t)1), 2, "\n"); buf[max_length] = 0; // ensure NULL termination } @@ -220,7 +220,7 @@ __EXPORT void px4_log_raw(int level, const char *fmt, ...) #if defined(PX4_LOG_COLORIZED_OUTPUT) if (use_color) { - pos += sprintf(buf + pos, "%s", __px4_log_level_color[level]); + pos += snprintf(buf + pos, math::max(max_length - pos, (ssize_t)0), "%s", __px4_log_level_color[level]); } #endif // PX4_LOG_COLORIZED_OUTPUT @@ -235,7 +235,7 @@ __EXPORT void px4_log_raw(int level, const char *fmt, ...) if (use_color) { // alway reset color const ssize_t sz = math::min(pos, max_length - (ssize_t)strlen(PX4_ANSI_COLOR_RESET)); - pos += sprintf(buf + sz, "%s", PX4_ANSI_COLOR_RESET); + pos += snprintf(buf + sz, math::max(max_length - sz, (ssize_t)0), "%s", PX4_ANSI_COLOR_RESET); } #endif // PX4_LOG_COLORIZED_OUTPUT diff --git a/platforms/common/px4_work_queue/WorkItemSingleShot.cpp b/platforms/common/px4_work_queue/WorkItemSingleShot.cpp index d31d51ab7b02..77d24e2c2a87 100644 --- a/platforms/common/px4_work_queue/WorkItemSingleShot.cpp +++ b/platforms/common/px4_work_queue/WorkItemSingleShot.cpp @@ -41,6 +41,7 @@ WorkItemSingleShot::WorkItemSingleShot(const px4::wq_config_t &config, worker_me : px4::WorkItem("", config), _argument(argument), _method(method) { px4_sem_init(&_sem, 0, 0); + px4_sem_setprotocol(&_sem, SEM_PRIO_NONE); } WorkItemSingleShot::WorkItemSingleShot(const px4::WorkItem &work_item, worker_method method, void *argument) diff --git a/platforms/common/px4_work_queue/WorkQueueManager.cpp b/platforms/common/px4_work_queue/WorkQueueManager.cpp index 8d961c14b3d7..8d22e32cb246 100644 --- a/platforms/common/px4_work_queue/WorkQueueManager.cpp +++ b/platforms/common/px4_work_queue/WorkQueueManager.cpp @@ -61,12 +61,13 @@ static BlockingList *_wq_manager_wqs_list{nullptr}; static BlockingQueue *_wq_manager_create_queue{nullptr}; static px4::atomic_bool _wq_manager_should_exit{true}; +static px4::atomic_bool _wq_manager_running{false}; static WorkQueue * FindWorkQueueByName(const char *name) { - if (_wq_manager_wqs_list == nullptr) { + if (!_wq_manager_running.load()) { PX4_ERR("not running"); return nullptr; } @@ -86,7 +87,7 @@ FindWorkQueueByName(const char *name) WorkQueue * WorkQueueFindOrCreate(const wq_config_t &new_wq) { - if (_wq_manager_create_queue == nullptr) { + if (!_wq_manager_running.load()) { PX4_ERR("not running"); return nullptr; } @@ -258,6 +259,7 @@ WorkQueueManagerRun(int, char **) { _wq_manager_wqs_list = new BlockingList(); _wq_manager_create_queue = new BlockingQueue(); + _wq_manager_running.store(true); while (!_wq_manager_should_exit.load()) { // create new work queues as needed @@ -361,13 +363,15 @@ WorkQueueManagerRun(int, char **) } } + _wq_manager_running.store(false); + return 0; } int WorkQueueManagerStart() { - if (_wq_manager_should_exit.load() && (_wq_manager_create_queue == nullptr)) { + if (_wq_manager_should_exit.load() && !_wq_manager_running.load()) { _wq_manager_should_exit.store(false); @@ -384,6 +388,18 @@ WorkQueueManagerStart() return -errno; } + // Wait until initialized + int max_tries = 1000; + + while (!_wq_manager_running.load() && --max_tries > 0) { + px4_usleep(1000); + } + + if (max_tries <= 0) { + PX4_ERR("failed to wait for task to start"); + return PX4_ERROR; + } + } else { PX4_WARN("already running"); return PX4_ERROR; @@ -398,7 +414,7 @@ WorkQueueManagerStop() if (!_wq_manager_should_exit.load()) { // error can't shutdown until all WorkItems are removed/stopped - if ((_wq_manager_wqs_list != nullptr) && (_wq_manager_wqs_list->size() > 0)) { + if (_wq_manager_running.load() && (_wq_manager_wqs_list->size() > 0)) { PX4_ERR("can't shutdown with active WQs"); WorkQueueManagerStatus(); return PX4_ERROR; @@ -422,6 +438,7 @@ WorkQueueManagerStop() } delete _wq_manager_wqs_list; + _wq_manager_wqs_list = nullptr; } _wq_manager_should_exit.store(true); @@ -433,6 +450,7 @@ WorkQueueManagerStop() px4_usleep(10000); delete _wq_manager_create_queue; + _wq_manager_create_queue = nullptr; } } else { @@ -446,7 +464,7 @@ WorkQueueManagerStop() int WorkQueueManagerStatus() { - if (!_wq_manager_should_exit.load() && (_wq_manager_wqs_list != nullptr)) { + if (!_wq_manager_should_exit.load() && _wq_manager_running.load()) { const size_t num_wqs = _wq_manager_wqs_list->size(); PX4_INFO_RAW("\nWork Queue: %-2zu threads RATE INTERVAL\n", num_wqs); diff --git a/platforms/common/shutdown.cpp b/platforms/common/shutdown.cpp index dcbd733ceb29..878d99c62efd 100644 --- a/platforms/common/shutdown.cpp +++ b/platforms/common/shutdown.cpp @@ -108,6 +108,7 @@ static uint16_t shutdown_counter = 0; ///< count how many times the shutdown wor #define SHUTDOWN_ARG_IN_PROGRESS (1<<0) #define SHUTDOWN_ARG_REBOOT (1<<1) #define SHUTDOWN_ARG_TO_BOOTLOADER (1<<2) +#define SHUTDOWN_ARG_TO_ISP (1<<3) static uint8_t shutdown_args = 0; static constexpr int max_shutdown_hooks = 1; @@ -175,7 +176,17 @@ static void shutdown_worker(void *arg) if (shutdown_args & SHUTDOWN_ARG_REBOOT) { #if defined(CONFIG_BOARDCTL_RESET) PX4_INFO_RAW("Reboot NOW."); - boardctl(BOARDIOC_RESET, (shutdown_args & SHUTDOWN_ARG_TO_BOOTLOADER) ? 1 : 0); + + if (shutdown_args & SHUTDOWN_ARG_TO_BOOTLOADER) { + boardctl(BOARDIOC_RESET, (uintptr_t)REBOOT_TO_BOOTLOADER); + + } else if (shutdown_args & SHUTDOWN_ARG_TO_ISP) { + boardctl(BOARDIOC_RESET, (uintptr_t)REBOOT_TO_ISP); + + } else { + boardctl(BOARDIOC_RESET, (uintptr_t)REBOOT_REQUEST); + } + #else PX4_PANIC("board reset not available"); #endif @@ -206,7 +217,7 @@ static void shutdown_worker(void *arg) } #if defined(CONFIG_BOARDCTL_RESET) -int px4_reboot_request(bool to_bootloader, uint32_t delay_us) +int px4_reboot_request(reboot_request_t request, uint32_t delay_us) { pthread_mutex_lock(&shutdown_mutex); @@ -217,8 +228,11 @@ int px4_reboot_request(bool to_bootloader, uint32_t delay_us) shutdown_args |= SHUTDOWN_ARG_REBOOT; - if (to_bootloader) { + if (request == REBOOT_TO_BOOTLOADER) { shutdown_args |= SHUTDOWN_ARG_TO_BOOTLOADER; + + } else if (request == REBOOT_TO_ISP) { + shutdown_args |= SHUTDOWN_ARG_TO_ISP; } shutdown_time_us = hrt_absolute_time(); diff --git a/platforms/common/spi.cpp b/platforms/common/spi.cpp index 62713b0798fb..963372bdbe0f 100644 --- a/platforms/common/spi.cpp +++ b/platforms/common/spi.cpp @@ -44,12 +44,26 @@ #if BOARD_NUM_SPI_CFG_HW_VERSIONS > 1 void px4_set_spi_buses_from_hw_version() { -#if defined(BOARD_HAS_SIMPLE_HW_VERSIONING) +# if defined(BOARD_HAS_HW_SPLIT_VERSIONING) + int hw_fmun_id = GET_HW_FMUM_ID(); + + for (int i = 0; i < BOARD_NUM_SPI_CFG_HW_VERSIONS; ++i) { + if (!px4_spi_buses && px4_spi_buses_all_hw[i].board_hw_fmun_id == 0) { + px4_spi_buses = px4_spi_buses_all_hw[i].buses; + } + + if (px4_spi_buses_all_hw[i].board_hw_fmun_id == hw_fmun_id) { + px4_spi_buses = px4_spi_buses_all_hw[i].buses; + } + } + +# else + +# if defined(BOARD_HAS_SIMPLE_HW_VERSIONING) int hw_version_revision = board_get_hw_version(); -#else +# else int hw_version_revision = HW_VER_REV(board_get_hw_version(), board_get_hw_revision()); -#endif - +# endif for (int i = 0; i < BOARD_NUM_SPI_CFG_HW_VERSIONS; ++i) { if (!px4_spi_buses && px4_spi_buses_all_hw[i].board_hw_version_revision == 0) { @@ -61,6 +75,8 @@ void px4_set_spi_buses_from_hw_version() } } +# endif + if (!px4_spi_buses) { // fallback px4_spi_buses = px4_spi_buses_all_hw[0].buses; } @@ -71,7 +87,7 @@ const px4_spi_bus_t *px4_spi_buses{nullptr}; int px4_find_spi_bus(uint32_t devid) { - for (int i = 0; (px4_spi_bus_t *) px4_spi_buses != nullptr && i < SPI_BUS_MAX_BUS_ITEMS; ++i) { + for (int i = 0; ((px4_spi_bus_t *) px4_spi_buses) != nullptr && i < SPI_BUS_MAX_BUS_ITEMS; ++i) { const px4_spi_bus_t &bus_data = px4_spi_buses[i]; if (bus_data.bus == -1) { diff --git a/platforms/common/uORB/CMakeLists.txt b/platforms/common/uORB/CMakeLists.txt index c151d051c747..2e3add770e1b 100644 --- a/platforms/common/uORB/CMakeLists.txt +++ b/platforms/common/uORB/CMakeLists.txt @@ -34,6 +34,10 @@ # this includes the generated topics directory include_directories(${CMAKE_CURRENT_BINARY_DIR}) +if(CONFIG_LIB_CDRSTREAM) + include_directories(${CMAKE_CURRENT_SOURCE_DIR}/src/lib/cdrstream/cyclonedds/src/core/ddsc/include) +endif() + set(SRCS) set(SRCS_COMMON @@ -43,6 +47,7 @@ set(SRCS_COMMON Subscription.cpp Subscription.hpp SubscriptionCallback.hpp + SubscriptionInterval.cpp SubscriptionInterval.hpp SubscriptionMultiArray.hpp uORB.cpp @@ -50,6 +55,8 @@ set(SRCS_COMMON uORBCommon.hpp uORBCommunicator.hpp uORBManager.hpp + uORBMessageFields.cpp + uORBMessageFields.hpp uORBUtils.cpp uORBUtils.hpp uORBDeviceMaster.hpp @@ -72,7 +79,7 @@ if (NOT DEFINED CONFIG_BUILD_FLAT AND "${PX4_PLATFORM}" MATCHES "nuttx") ${SRCS_COMMON} ${SRCS_KERNEL} ) - target_link_libraries(uORB_kernel PRIVATE cdev uorb_msgs nuttx_mm) + target_link_libraries(uORB_kernel PRIVATE cdev uorb_msgs nuttx_mm heatshrink) target_compile_options(uORB_kernel PRIVATE ${MAX_CUSTOM_OPT_LEVEL} -D__KERNEL__) # User side library in nuttx kernel/protected build @@ -98,9 +105,11 @@ else() target_link_libraries(uORB PRIVATE cdev) endif() -target_link_libraries(uORB PRIVATE uorb_msgs) +target_link_libraries(uORB PRIVATE uorb_msgs heatshrink) target_compile_options(uORB PRIVATE ${MAX_CUSTOM_OPT_LEVEL}) if(PX4_TESTING) add_subdirectory(uORB_tests) endif() + +px4_add_functional_gtest(SRC uORBMessageFieldsTest.cpp LINKLIBS uORB) diff --git a/platforms/common/uORB/ORBSet.hpp b/platforms/common/uORB/ORBSet.hpp index 28e283c7b9e7..967f6bd7e4b8 100644 --- a/platforms/common/uORB/ORBSet.hpp +++ b/platforms/common/uORB/ORBSet.hpp @@ -62,6 +62,11 @@ class ORBSet { Node **p; + // Don't allow duplicates to be inserted + if (find(node_name)) { + return; + } + if (_top == nullptr) { p = &_top; diff --git a/platforms/common/uORB/Publication.hpp b/platforms/common/uORB/Publication.hpp index 7547e3b7faf3..a0a7cc20cf71 100644 --- a/platforms/common/uORB/Publication.hpp +++ b/platforms/common/uORB/Publication.hpp @@ -48,24 +48,6 @@ namespace uORB { -template class DefaultQueueSize -{ -private: - template - static constexpr uint8_t get_queue_size(decltype(T::ORB_QUEUE_LENGTH) *) - { - return T::ORB_QUEUE_LENGTH; - } - - template static constexpr uint8_t get_queue_size(...) - { - return 1; - } - -public: - static constexpr unsigned value = get_queue_size(nullptr); -}; - class PublicationBase { public: @@ -97,7 +79,7 @@ class PublicationBase /** * uORB publication wrapper class */ -template::value> +template class Publication : public PublicationBase { public: @@ -113,7 +95,7 @@ class Publication : public PublicationBase bool advertise() { if (!advertised()) { - _handle = orb_advertise_queue(get_topic(), nullptr, ORB_QSIZE); + _handle = orb_advertise(get_topic(), nullptr); } return advertised(); diff --git a/platforms/common/uORB/PublicationMulti.hpp b/platforms/common/uORB/PublicationMulti.hpp index bc275940b604..6e8863b17d12 100644 --- a/platforms/common/uORB/PublicationMulti.hpp +++ b/platforms/common/uORB/PublicationMulti.hpp @@ -51,7 +51,7 @@ namespace uORB /** * Base publication multi wrapper class */ -template::value> +template class PublicationMulti : public PublicationBase { public: @@ -73,7 +73,7 @@ class PublicationMulti : public PublicationBase { if (!advertised()) { int instance = 0; - _handle = orb_advertise_multi_queue(get_topic(), nullptr, &instance, QSIZE); + _handle = orb_advertise_multi(get_topic(), nullptr, &instance); } return advertised(); diff --git a/platforms/common/uORB/Subscription.cpp b/platforms/common/uORB/Subscription.cpp index 9c17cab378d2..473c5548666b 100644 --- a/platforms/common/uORB/Subscription.cpp +++ b/platforms/common/uORB/Subscription.cpp @@ -76,7 +76,7 @@ void Subscription::unsubscribe() bool Subscription::ChangeInstance(uint8_t instance) { if (instance != _instance) { - if (uORB::Manager::orb_device_node_exists(_orb_id, _instance)) { + if (uORB::Manager::orb_device_node_exists(_orb_id, instance)) { // if desired new instance exists, unsubscribe from current unsubscribe(); _instance = instance; diff --git a/platforms/common/uORB/SubscriptionBlocking.hpp b/platforms/common/uORB/SubscriptionBlocking.hpp index 7ec29e329b6e..5c5580d855cb 100644 --- a/platforms/common/uORB/SubscriptionBlocking.hpp +++ b/platforms/common/uORB/SubscriptionBlocking.hpp @@ -56,31 +56,6 @@ class SubscriptionBlocking : public SubscriptionCallback SubscriptionBlocking(const orb_metadata *meta, uint32_t interval_us = 0, uint8_t instance = 0) : SubscriptionCallback(meta, interval_us, instance) { - // pthread_mutexattr_init - pthread_mutexattr_t attr; - int ret_attr_init = pthread_mutexattr_init(&attr); - - if (ret_attr_init != 0) { - PX4_ERR("pthread_mutexattr_init failed, status=%d", ret_attr_init); - } - -#if defined(PTHREAD_PRIO_NONE) - // pthread_mutexattr_settype - // PTHREAD_PRIO_NONE not available on cygwin - int ret_mutexattr_settype = pthread_mutexattr_settype(&attr, PTHREAD_PRIO_NONE); - - if (ret_mutexattr_settype != 0) { - PX4_ERR("pthread_mutexattr_settype failed, status=%d", ret_mutexattr_settype); - } - -#endif // PTHREAD_PRIO_NONE - - // pthread_mutex_init - int ret_mutex_init = pthread_mutex_init(&_mutex, &attr); - - if (ret_mutex_init != 0) { - PX4_ERR("pthread_mutex_init failed, status=%d", ret_mutex_init); - } } virtual ~SubscriptionBlocking() diff --git a/platforms/common/uORB/SubscriptionInterval.cpp b/platforms/common/uORB/SubscriptionInterval.cpp new file mode 100644 index 000000000000..8f8af333f2ea --- /dev/null +++ b/platforms/common/uORB/SubscriptionInterval.cpp @@ -0,0 +1,77 @@ +/**************************************************************************** + * + * Copyright (c) 2024 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include "SubscriptionInterval.hpp" + +namespace uORB +{ + +bool SubscriptionInterval::updated() +{ + if (advertised() && (hrt_elapsed_time(&_last_update) >= _interval_us)) { + return _subscription.updated(); + } + + return false; +} + +bool SubscriptionInterval::update(void *dst) +{ + if (updated()) { + return copy(dst); + } + + return false; +} + +bool SubscriptionInterval::copy(void *dst) +{ + if (_subscription.copy(dst)) { + const hrt_abstime now = hrt_absolute_time(); + + // make sure we don't set a timestamp before the timer started counting (now - _interval_us would wrap because it's unsigned) + if (now > _interval_us) { + // shift last update time forward, but don't let it get further behind than the interval + _last_update = math::constrain(_last_update + _interval_us, now - _interval_us, now); + + } else { + _last_update = now; + } + + return true; + } + + return false; +} + +} // namespace uORB diff --git a/platforms/common/uORB/SubscriptionInterval.hpp b/platforms/common/uORB/SubscriptionInterval.hpp index 31d1b0a7af12..fd6ccdfb61c5 100644 --- a/platforms/common/uORB/SubscriptionInterval.hpp +++ b/platforms/common/uORB/SubscriptionInterval.hpp @@ -93,45 +93,21 @@ class SubscriptionInterval /** * Check if there is a new update. * */ - bool updated() - { - if (advertised() && (hrt_elapsed_time(&_last_update) >= _interval_us)) { - return _subscription.updated(); - } - - return false; - } + bool updated(); /** * Copy the struct if updated. * @param dst The destination pointer where the struct will be copied. * @return true only if topic was updated and copied successfully. */ - bool update(void *dst) - { - if (updated()) { - return copy(dst); - } - - return false; - } + bool update(void *dst); /** * Copy the struct * @param dst The destination pointer where the struct will be copied. * @return true only if topic was copied successfully. */ - bool copy(void *dst) - { - if (_subscription.copy(dst)) { - const hrt_abstime now = hrt_absolute_time(); - // shift last update time forward, but don't let it get further behind than the interval - _last_update = math::constrain(_last_update + _interval_us, now - _interval_us, now); - return true; - } - - return false; - } + bool copy(void *dst); bool valid() const { return _subscription.valid(); } @@ -160,7 +136,7 @@ class SubscriptionInterval protected: Subscription _subscription; - uint64_t _last_update{0}; // last update in microseconds + uint64_t _last_update{0}; // last subscription update in microseconds uint32_t _interval_us{0}; // maximum update interval in microseconds }; diff --git a/platforms/common/uORB/uORB.cpp b/platforms/common/uORB/uORB.cpp index 734b8d83f1b4..a68f3c5dc83c 100644 --- a/platforms/common/uORB/uORB.cpp +++ b/platforms/common/uORB/uORB.cpp @@ -40,6 +40,7 @@ #include "uORBManager.hpp" #include "uORBCommon.hpp" +#include "uORBMessageFields.hpp" #include @@ -117,22 +118,11 @@ orb_advert_t orb_advertise(const struct orb_metadata *meta, const void *data) return uORB::Manager::get_instance()->orb_advertise(meta, data); } -orb_advert_t orb_advertise_queue(const struct orb_metadata *meta, const void *data, unsigned int queue_size) -{ - return uORB::Manager::get_instance()->orb_advertise(meta, data, queue_size); -} - orb_advert_t orb_advertise_multi(const struct orb_metadata *meta, const void *data, int *instance) { return uORB::Manager::get_instance()->orb_advertise_multi(meta, data, instance); } -orb_advert_t orb_advertise_multi_queue(const struct orb_metadata *meta, const void *data, int *instance, - unsigned int queue_size) -{ - return uORB::Manager::get_instance()->orb_advertise_multi(meta, data, instance, queue_size); -} - int orb_unadvertise(orb_advert_t handle) { return uORB::Manager::get_instance()->orb_unadvertise(handle); @@ -196,7 +186,7 @@ int orb_get_interval(int handle, unsigned *interval) const char *orb_get_c_type(unsigned char short_type) { - // this matches with the uorb o_fields generator + // this matches with the uorb type_map_short python data switch (short_type) { case 0x82: return "int8_t"; @@ -226,6 +216,14 @@ const char *orb_get_c_type(unsigned char short_type) return nullptr; } +uint8_t orb_get_queue_size(const struct orb_metadata *meta) +{ + if (meta) { + return meta->o_queue; + } + + return 0; +} void orb_print_message_internal(const orb_metadata *meta, const void *data, bool print_topic_name) { @@ -239,25 +237,29 @@ void orb_print_message_internal(const orb_metadata *meta, const void *data, bool const uint8_t *data_ptr = (const uint8_t *)data; int data_offset = 0; - for (int format_idx = 0; meta->o_fields[format_idx] != 0;) { - const char *end_field = strchr(meta->o_fields + format_idx, ';'); + // Find message format + char format_buffer[128]; + uORB::MessageFormatReader format_reader(format_buffer, sizeof(format_buffer)); - if (!end_field) { - PX4_ERR("Format error in %s", meta->o_fields); - return; - } + if (!format_reader.readUntilFormat(meta->o_id)) { + PX4_ERR("Failed to get uorb format"); + return; + } + + int field_length = 0; + + while (format_reader.readNextField(field_length)) { - const char *c_type = orb_get_c_type(meta->o_fields[format_idx]); - const int end_field_idx = end_field - meta->o_fields; + const char *c_type = orb_get_c_type(format_buffer[0]); int array_idx = -1; int field_name_idx = -1; - for (int field_idx = format_idx; field_idx != end_field_idx; ++field_idx) { - if (meta->o_fields[field_idx] == '[') { + for (int field_idx = 0; field_idx < field_length; ++field_idx) { + if (format_buffer[field_idx] == '[') { array_idx = field_idx + 1; - } else if (meta->o_fields[field_idx] == ' ') { + } else if (format_buffer[field_idx] == ' ') { field_name_idx = field_idx + 1; break; } @@ -266,19 +268,10 @@ void orb_print_message_internal(const orb_metadata *meta, const void *data, bool int array_size = 1; if (array_idx >= 0) { - array_size = strtol(meta->o_fields + array_idx, nullptr, 10); - } - - char field_name[80]; - size_t field_name_len = end_field_idx - field_name_idx; - - if (field_name_len >= sizeof(field_name)) { - PX4_ERR("field name too long %s (max: %u)", meta->o_fields, (unsigned)sizeof(field_name)); - return; + array_size = strtol(format_buffer + array_idx, nullptr, 10); } - memcpy(field_name, meta->o_fields + field_name_idx, field_name_len); - field_name[field_name_len] = '\0'; + const char *field_name = format_buffer + field_name_idx; if (c_type) { // built-in type bool dont_print = false; @@ -458,17 +451,10 @@ void orb_print_message_internal(const orb_metadata *meta, const void *data, bool } else { - // extract the topic name - char topic_name[80]; - const size_t topic_name_len = array_size > 1 ? array_idx - format_idx - 1 : field_name_idx - format_idx - 1; - - if (topic_name_len >= sizeof(topic_name)) { - PX4_ERR("topic name too long in %s (max: %u)", meta->o_name, (unsigned)sizeof(topic_name)); - return; - } - - memcpy(topic_name, meta->o_fields + format_idx, topic_name_len); - topic_name[topic_name_len] = '\0'; + // Get the topic name + const size_t topic_name_len = array_size > 1 ? array_idx - 1 : field_name_idx - 1; + format_buffer[topic_name_len] = '\0'; + const char *topic_name = format_buffer; // find the metadata const orb_metadata *const *topics = orb_get_topics(); @@ -499,7 +485,5 @@ void orb_print_message_internal(const orb_metadata *meta, const void *data, bool data_offset += found_topic->o_size; } } - - format_idx = end_field_idx + 1; } } diff --git a/platforms/common/uORB/uORB.h b/platforms/common/uORB/uORB.h index 7fdbb699d1f8..ee11923b59d2 100644 --- a/platforms/common/uORB/uORB.h +++ b/platforms/common/uORB/uORB.h @@ -42,16 +42,19 @@ #include #include +typedef uint16_t orb_id_size_t; /** * Object metadata. */ struct orb_metadata { - const char *o_name; /**< unique object name */ - const uint16_t o_size; /**< object size */ - const uint16_t o_size_no_padding; /**< object size w/o padding at the end (for logger) */ - const char *o_fields; /**< semicolon separated list of fields (with type) */ - uint8_t o_id; /**< ORB_ID enum */ + const char *o_name; /**< unique object name */ + const uint16_t o_size; /**< object size */ + const uint16_t o_size_no_padding; /**< object size w/o padding at the end (for logger) */ + uint32_t message_hash; /**< Hash over all fields for message compatibility checks */ + orb_id_size_t o_id; /**< ORB_ID enum */ + uint8_t o_queue; /**< queue size */ + }; typedef const struct orb_metadata *orb_id_t; @@ -99,16 +102,18 @@ typedef const struct orb_metadata *orb_id_t; * @param _name The name of the topic. * @param _struct The structure the topic provides. * @param _size_no_padding Struct size w/o padding at the end - * @param _fields All fields in a semicolon separated list e.g: "float[3] position;bool armed" + * @param _message_hash 32 bit message hash over all fields * @param _orb_id_enum ORB ID enum e.g.: ORB_ID::vehicle_status + * @param _queue_size Queue size from topic definition */ -#define ORB_DEFINE(_name, _struct, _size_no_padding, _fields, _orb_id_enum) \ - const struct orb_metadata __orb_##_name = { \ - #_name, \ - sizeof(_struct), \ - _size_no_padding, \ - _fields, \ - _orb_id_enum \ +#define ORB_DEFINE(_name, _struct, _size_no_padding, _message_hash, _orb_id_enum, _queue_size) \ + const struct orb_metadata __orb_##_name = { \ + #_name, \ + sizeof(_struct), \ + _size_no_padding, \ + _message_hash, \ + _orb_id_enum, \ + _queue_size \ }; struct hack __BEGIN_DECLS @@ -134,23 +139,11 @@ typedef void *orb_advert_t; */ extern orb_advert_t orb_advertise(const struct orb_metadata *meta, const void *data) __EXPORT; -/** - * @see uORB::Manager::orb_advertise() - */ -extern orb_advert_t orb_advertise_queue(const struct orb_metadata *meta, const void *data, - unsigned int queue_size) __EXPORT; - /** * @see uORB::Manager::orb_advertise_multi() */ extern orb_advert_t orb_advertise_multi(const struct orb_metadata *meta, const void *data, int *instance) __EXPORT; -/** - * @see uORB::Manager::orb_advertise_multi() - */ -extern orb_advert_t orb_advertise_multi_queue(const struct orb_metadata *meta, const void *data, int *instance, - unsigned int queue_size) __EXPORT; - /** * @see uORB::Manager::orb_unadvertise() */ @@ -159,7 +152,7 @@ extern int orb_unadvertise(orb_advert_t handle) __EXPORT; /** * @see uORB::Manager::orb_publish() */ -extern int orb_publish(const struct orb_metadata *meta, orb_advert_t handle, const void *data) __EXPORT; +extern int orb_publish(const struct orb_metadata *meta, orb_advert_t handle, const void *data) __EXPORT; /** * Advertise as the publisher of a topic. @@ -235,11 +228,17 @@ extern int orb_set_interval(int handle, unsigned interval) __EXPORT; extern int orb_get_interval(int handle, unsigned *interval) __EXPORT; /** - * Returns the C type string from a short type in o_fields metadata, or nullptr + * Returns the C type string from a short type in message fields metadata, or nullptr * if not a short type */ const char *orb_get_c_type(unsigned char short_type); +/** + * Returns the queue size of a topic + * @param meta orb topic metadata + */ +extern uint8_t orb_get_queue_size(const struct orb_metadata *meta); + /** * Print a topic to console. Do not call this directly, use print_message() instead. * @param meta orb topic metadata @@ -247,7 +246,6 @@ const char *orb_get_c_type(unsigned char short_type); */ void orb_print_message_internal(const struct orb_metadata *meta, const void *data, bool print_topic_name); - __END_DECLS /* Diverse uORB header defines */ //XXX: move to better location @@ -256,4 +254,3 @@ typedef uint8_t main_state_t; typedef uint8_t hil_state_t; typedef uint8_t navigation_state_t; typedef uint8_t switch_pos_t; - diff --git a/platforms/common/uORB/uORBDeviceMaster.cpp b/platforms/common/uORB/uORBDeviceMaster.cpp index c39e4572db5e..bd3877f13b50 100644 --- a/platforms/common/uORB/uORBDeviceMaster.cpp +++ b/platforms/common/uORB/uORBDeviceMaster.cpp @@ -150,7 +150,7 @@ int uORB::DeviceMaster::advertise(const struct orb_metadata *meta, bool is_adver // add to the node map. _node_list.add(node); - _node_exists[node->get_instance()].set((uint8_t)node->id(), true); + _node_exists[node->get_instance()].set((orb_id_size_t)node->id(), true); } group_tries++; diff --git a/platforms/common/uORB/uORBDeviceMaster.hpp b/platforms/common/uORB/uORBDeviceMaster.hpp index 94c97e61dfc9..ccda58f8d37a 100644 --- a/platforms/common/uORB/uORBDeviceMaster.hpp +++ b/platforms/common/uORB/uORBDeviceMaster.hpp @@ -98,7 +98,7 @@ class uORB::DeviceMaster return false; } - return _node_exists[instance][(uint8_t)id]; + return _node_exists[instance][(orb_id_size_t)id]; } /** diff --git a/platforms/common/uORB/uORBDeviceNode.cpp b/platforms/common/uORB/uORBDeviceNode.cpp index 7cc5c9bd3eb0..fd4ef60e63e0 100644 --- a/platforms/common/uORB/uORBDeviceNode.cpp +++ b/platforms/common/uORB/uORBDeviceNode.cpp @@ -48,37 +48,10 @@ static uORB::SubscriptionInterval *filp_to_subscription(cdev::file_t *filp) { return static_cast(filp->f_priv); } -// round up to nearest power of two -// Such as 0 => 1, 1 => 1, 2 => 2 ,3 => 4, 10 => 16, 60 => 64, 65...255 => 128 -// Note: When the input value > 128, the output is always 128 -static inline uint8_t round_pow_of_two_8(uint8_t n) -{ - if (n == 0) { - return 1; - } - - // Avoid is already a power of 2 - uint8_t value = n - 1; - - // Fill 1 - value |= value >> 1U; - value |= value >> 2U; - value |= value >> 4U; - - // Unable to round-up, take the value of round-down - if (value == UINT8_MAX) { - value >>= 1U; - } - - return value + 1; -} - -uORB::DeviceNode::DeviceNode(const struct orb_metadata *meta, const uint8_t instance, const char *path, - uint8_t queue_size) : +uORB::DeviceNode::DeviceNode(const struct orb_metadata *meta, const uint8_t instance, const char *path) : CDev(strdup(path)), // success is checked in CDev::init _meta(meta), - _instance(instance), - _queue_size(round_pow_of_two_8(queue_size)) + _instance(instance) { } @@ -186,9 +159,12 @@ uORB::DeviceNode::write(cdev::file_t *filp, const char *buffer, size_t buflen) /* re-check size */ if (nullptr == _data) { - const size_t data_size = _meta->o_size * _queue_size; + const size_t data_size = _meta->o_size * _meta->o_queue; _data = (uint8_t *) px4_cache_aligned_alloc(data_size); - memset(_data, 0, data_size); + + if (_data) { + memset(_data, 0, data_size); + } } unlock(); @@ -214,7 +190,7 @@ uORB::DeviceNode::write(cdev::file_t *filp, const char *buffer, size_t buflen) /* wrap-around happens after ~49 days, assuming a publisher rate of 1 kHz */ unsigned generation = _generation.fetch_add(1); - memcpy(_data + (_meta->o_size * (generation % _queue_size)), buffer, _meta->o_size); + memcpy(_data + (_meta->o_size * (generation % _meta->o_queue)), buffer, _meta->o_size); // callbacks for (auto item : _callbacks) { @@ -251,13 +227,6 @@ uORB::DeviceNode::ioctl(cdev::file_t *filp, int cmd, unsigned long arg) *(uintptr_t *)arg = (uintptr_t)this; return PX4_OK; - case ORBIOCSETQUEUESIZE: { - lock(); - int ret = update_queue_size(arg); - unlock(); - return ret; - } - case ORBIOCGETINTERVAL: *(unsigned *)arg = filp_to_subscription(filp)->get_interval_us(); return PX4_OK; @@ -386,12 +355,11 @@ uORB::DeviceNode::print_statistics(int max_topic_length) const uint8_t instance = get_instance(); const int8_t sub_count = subscriber_count(); - const uint8_t queue_size = get_queue_size(); unlock(); PX4_INFO_RAW("%-*s %2i %4i %2i %4i %s\n", max_topic_length, get_meta()->o_name, (int)instance, (int)sub_count, - queue_size, get_meta()->o_size, get_devname()); + get_meta()->o_queue, get_meta()->o_size, get_devname()); return true; } @@ -444,7 +412,10 @@ int16_t uORB::DeviceNode::process_add_subscription() uORBCommunicator::IChannel *ch = uORB::Manager::get_instance()->get_uorb_communicator(); if (_data != nullptr && ch != nullptr) { // _data will not be null if there is a publisher. - ch->send_message(_meta->o_name, _meta->o_size, _data); + // Only send the most recent data to initialize the remote end. + if (_data_valid) { + ch->send_message(_meta->o_name, _meta->o_size, _data + (_meta->o_size * ((_generation.load() - 1) % _meta->o_queue))); + } } return PX4_OK; @@ -480,21 +451,6 @@ int16_t uORB::DeviceNode::process_received_message(int32_t length, uint8_t *data } #endif /* CONFIG_ORB_COMMUNICATOR */ -int uORB::DeviceNode::update_queue_size(unsigned int queue_size) -{ - if (_queue_size == queue_size) { - return PX4_OK; - } - - //queue size is limited to 255 for the single reason that we use uint8 to store it - if (_data || _queue_size > queue_size || queue_size > 255) { - return PX4_ERROR; - } - - _queue_size = round_pow_of_two_8(queue_size); - return PX4_OK; -} - unsigned uORB::DeviceNode::get_initial_generation() { ATOMIC_ENTER; diff --git a/platforms/common/uORB/uORBDeviceNode.hpp b/platforms/common/uORB/uORBDeviceNode.hpp index c5c5bb22c0c8..527c5ddf2b4f 100644 --- a/platforms/common/uORB/uORBDeviceNode.hpp +++ b/platforms/common/uORB/uORBDeviceNode.hpp @@ -62,7 +62,7 @@ class UnitTest; class uORB::DeviceNode : public cdev::CDev, public IntrusiveSortedListNode { public: - DeviceNode(const struct orb_metadata *meta, const uint8_t instance, const char *path, uint8_t queue_size = 1); + DeviceNode(const struct orb_metadata *meta, const uint8_t instance, const char *path); virtual ~DeviceNode(); // no copy, assignment, move, move assignment @@ -179,15 +179,6 @@ class uORB::DeviceNode : public cdev::CDev, public IntrusiveSortedListNodeo_queue; } int8_t subscriber_count() const { return _subscriber_count; } @@ -234,7 +225,7 @@ class uORB::DeviceNode : public cdev::CDev, public IntrusiveSortedListNodeo_queue == 1) { ATOMIC_ENTER; memcpy(dst, _data, _meta->o_size); generation = _generation.load(); @@ -253,12 +244,12 @@ class uORB::DeviceNode : public cdev::CDev, public IntrusiveSortedListNodeo_queue, generation, current_generation - 1)) { // Reader is too far behind: some messages are lost - generation = current_generation - _queue_size; + generation = current_generation - _meta->o_queue; } - memcpy(dst, _data + (_meta->o_size * (generation % _queue_size)), _meta->o_size); + memcpy(dst, _data + (_meta->o_size * (generation % _meta->o_queue)), _meta->o_size); ATOMIC_LEAVE; ++generation; @@ -295,7 +286,7 @@ class uORB::DeviceNode : public cdev::CDev, public IntrusiveSortedListNode 1) { - PX4_WARN("orb_advertise_multi: failed to set queue size"); - } - /* get the advertiser handle and close the node */ orb_advert_t advertiser; - result = px4_ioctl(fd, ORBIOCGADVERTISER, (unsigned long)&advertiser); + int result = px4_ioctl(fd, ORBIOCGADVERTISER, (unsigned long)&advertiser); px4_close(fd); if (result == PX4_ERROR) { @@ -602,6 +592,22 @@ int16_t uORB::Manager::process_remote_topic(const char *topic_name) { PX4_DEBUG("entering process_remote_topic: name: %s", topic_name); + // First make sure this is a valid topic + const struct orb_metadata *const *topic_list = orb_get_topics(); + orb_id_t topic_ptr = nullptr; + + for (size_t i = 0; i < orb_topics_count(); i++) { + if (strcmp(topic_list[i]->o_name, topic_name) == 0) { + topic_ptr = topic_list[i]; + break; + } + } + + if (! topic_ptr) { + PX4_ERR("process_remote_topic meta not found for %s\n", topic_name); + return -1; + } + // Look to see if we already have a node for this topic char nodepath[orb_maxpath]; int ret = uORB::Utils::node_mkpath(nodepath, topic_name); @@ -613,7 +619,7 @@ int16_t uORB::Manager::process_remote_topic(const char *topic_name) uORB::DeviceNode *node = device_master->getDeviceNode(nodepath); if (node) { - PX4_INFO("Marking DeviceNode(%s) as advertised in process_remote_topic", topic_name); + PX4_DEBUG("Marking DeviceNode(%s) as advertised in process_remote_topic", topic_name); node->mark_as_advertised(); _remote_topics.insert(topic_name); return 0; @@ -622,27 +628,9 @@ int16_t uORB::Manager::process_remote_topic(const char *topic_name) } // We didn't find a node so we need to create it via an advertisement - const struct orb_metadata *const *topic_list = orb_get_topics(); - orb_id_t topic_ptr = nullptr; - - for (size_t i = 0; i < orb_topics_count(); i++) { - if (strcmp(topic_list[i]->o_name, topic_name) == 0) { - topic_ptr = topic_list[i]; - break; - } - } - - if (topic_ptr) { - PX4_INFO("Advertising remote topic %s", topic_name); - _remote_topics.insert(topic_name); - // Add some queue depth when advertising remote topics. These - // topics may get aggregated and thus delivered in a batch that - // requires some buffering in a queue. - orb_advertise(topic_ptr, nullptr, 5); - - } else { - PX4_INFO("process_remote_topic meta not found for %s\n", topic_name); - } + PX4_DEBUG("Advertising remote topic %s", topic_name); + _remote_topics.insert(topic_name); + orb_advertise(topic_ptr, nullptr); return 0; } @@ -663,8 +651,11 @@ int16_t uORB::Manager::process_add_subscription(const char *messageName) PX4_DEBUG("DeviceNode(%s) not created yet", messageName); } else { - // node is present. - node->process_add_subscription(); + // node is present. But don't send any data to it if it + // is a node advertised by the remote side + if (_remote_topics.find(messageName) == false) { + node->process_add_subscription(); + } } } else { diff --git a/platforms/common/uORB/uORBManager.hpp b/platforms/common/uORB/uORBManager.hpp index 1c2870b1eecd..d5202b9236af 100644 --- a/platforms/common/uORB/uORBManager.hpp +++ b/platforms/common/uORB/uORBManager.hpp @@ -215,17 +215,15 @@ class uORB::Manager * @param data A pointer to the initial data to be published. * For topics updated by interrupt handlers, the advertisement * must be performed from non-interrupt context. - * @param queue_size Maximum number of buffered elements. If this is 1, no queuing is - * used. * @return nullptr on error, otherwise returns an object pointer * that can be used to publish to the topic. * If the topic in question is not known (due to an * ORB_DEFINE with no corresponding ORB_DECLARE) * this function will return nullptr and set errno to ENOENT. */ - orb_advert_t orb_advertise(const struct orb_metadata *meta, const void *data, unsigned int queue_size = 1) + orb_advert_t orb_advertise(const struct orb_metadata *meta, const void *data = nullptr) { - return orb_advertise_multi(meta, data, nullptr, queue_size); + return orb_advertise_multi(meta, data, nullptr); } /** @@ -250,16 +248,13 @@ class uORB::Manager * @param instance Pointer to an integer which will yield the instance ID (0-based) * of the publication. This is an output parameter and will be set to the newly * created instance, ie. 0 for the first advertiser, 1 for the next and so on. - * @param queue_size Maximum number of buffered elements. If this is 1, no queuing is - * used. * @return nullptr on error, otherwise returns a handle * that can be used to publish to the topic. * If the topic in question is not known (due to an * ORB_DEFINE with no corresponding ORB_DECLARE) * this function will return nullptr and set errno to ENOENT. */ - orb_advert_t orb_advertise_multi(const struct orb_metadata *meta, const void *data, int *instance, - unsigned int queue_size = 1); + orb_advert_t orb_advertise_multi(const struct orb_metadata *meta, const void *data, int *instance); /** * Unadvertise a topic. diff --git a/platforms/common/uORB/uORBManagerUsr.cpp b/platforms/common/uORB/uORBManagerUsr.cpp index af00dbb9ba58..e1a413e4c685 100644 --- a/platforms/common/uORB/uORBManagerUsr.cpp +++ b/platforms/common/uORB/uORBManagerUsr.cpp @@ -89,8 +89,7 @@ int uORB::Manager::orb_exists(const struct orb_metadata *meta, int instance) return data.ret; } -orb_advert_t uORB::Manager::orb_advertise_multi(const struct orb_metadata *meta, const void *data, int *instance, - unsigned int queue_size) +orb_advert_t uORB::Manager::orb_advertise_multi(const struct orb_metadata *meta, const void *data, int *instance) { /* open the node as an advertiser */ int fd = node_open(meta, true, instance); @@ -100,19 +99,10 @@ orb_advert_t uORB::Manager::orb_advertise_multi(const struct orb_metadata *meta, return nullptr; } - /* Set the queue size. This must be done before the first publication; thus it fails if - * this is not the first advertiser. - */ - int result = px4_ioctl(fd, ORBIOCSETQUEUESIZE, (unsigned long)queue_size); - - if (result < 0 && queue_size > 1) { - PX4_WARN("orb_advertise_multi: failed to set queue size"); - } - /* get the advertiser handle and close the node */ orb_advert_t advertiser; - result = px4_ioctl(fd, ORBIOCGADVERTISER, (unsigned long)&advertiser); + int result = px4_ioctl(fd, ORBIOCGADVERTISER, (unsigned long)&advertiser); px4_close(fd); if (result == PX4_ERROR) { diff --git a/platforms/common/uORB/uORBMessageFields.cpp b/platforms/common/uORB/uORBMessageFields.cpp new file mode 100644 index 000000000000..24ec09f438a4 --- /dev/null +++ b/platforms/common/uORB/uORBMessageFields.cpp @@ -0,0 +1,342 @@ +/**************************************************************************** + * + * Copyright (c) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + + +#include "uORBMessageFields.hpp" + +#include + +namespace uORB +{ + +MessageFormatReader::State MessageFormatReader::readMore() +{ + if (_state == State::Complete || _state == State::Failure) { + return _state; + } + + if (_buffer_length == _buffer_capacity) { + _state = State::Failure; + PX4_ERR("buffer too small"); + return _state; + } + + const uint8_t *compressed_formats = orb_compressed_message_formats(); + const unsigned compressed_formats_size = orb_compressed_message_formats_size(); + + if (_buffer_length == 0 && _compressed_formats_idx == compressed_formats_size) { + _state = State::Complete; + return _state; + } + + const unsigned max_num_iterations = 5; // Safeguard, we're not expected to do more than a few iterations + + for (unsigned iteration = 0; iteration < max_num_iterations; ++iteration) { + switch (_state) { + case State::ReadOrbIDs: { + int num_orb_ids = _buffer[0]; + const unsigned orb_ids_size = 1 + num_orb_ids * sizeof(orb_id_size_t); + + if (_buffer_length > orb_ids_size) { + int num_dependent_orb_ids = _buffer[orb_ids_size]; + const unsigned orb_ids_dependent_size = 1 + num_dependent_orb_ids * sizeof(orb_id_size_t); + + if (_buffer_length >= orb_ids_size + orb_ids_dependent_size) { + + orb_id_size_t orb_id; + _state = State::ReadingFormat; + _format_length = 0; + + _orb_ids.clear(); + + for (int i = 0; i < num_orb_ids; ++i) { + memcpy(&orb_id, &_buffer[1 + sizeof(orb_id_size_t) * i], sizeof(orb_id_size_t)); + _orb_ids.push_back(orb_id); + } + + _orb_ids_dependencies.clear(); + + for (int i = 0; i < num_dependent_orb_ids; ++i) { + memcpy(&orb_id, &_buffer[orb_ids_size + 1 + sizeof(orb_id_size_t) * i], + sizeof(orb_id_size_t)); + _orb_ids_dependencies.push_back(orb_id); + } + + memmove(_buffer, _buffer + orb_ids_size + orb_ids_dependent_size, + _buffer_length - orb_ids_size - orb_ids_dependent_size); + _buffer_length -= orb_ids_size + orb_ids_dependent_size; + + return State::ReadOrbIDs; + } + } + + if (_buffer_length == _buffer_capacity) { + _state = State::Failure; + PX4_ERR("buffer too small"); + return _state; + } + + break; + } + + case State::ReadingFormat: { + const bool got_new_data = _format_length < _buffer_length; + + for (; _format_length < _buffer_length; ++_format_length) { + if (_buffer[_format_length] == '\0') { + _state = State::FormatComplete; + return _state; + } + } + + if (got_new_data) { + return _state; + } + } + break; + + case State::FormatComplete: + if (_format_length != 0) { + PX4_ERR("Invalid API calls"); // Missing call to clearFormatFromBuffer or clearFormatAndRestoreLeftover + _state = State::Failure; + return _state; + } + + _state = State::ReadOrbIDs; + break; + + case State::Failure: + case State::Complete: + return _state; + } + + // Decompress more data + size_t count = 0; + + if (heatshrink_decoder_sink(&_hsd, &compressed_formats[_compressed_formats_idx], + compressed_formats_size - _compressed_formats_idx, &count) < 0) { + _state = State::Failure; + return _state; + } + + _compressed_formats_idx += count; + + if (_compressed_formats_idx == compressed_formats_size) { + const HSD_finish_res fres = heatshrink_decoder_finish(&_hsd); + + if (fres != HSDR_FINISH_MORE && fres != HSDR_FINISH_DONE) { + _state = State::Failure; + return _state; + } + } + + const HSD_poll_res pres = heatshrink_decoder_poll(&_hsd, reinterpret_cast(&_buffer[_buffer_length]), + _buffer_capacity - _buffer_length, &count); + _buffer_length += count; + + if (HSDR_POLL_EMPTY != pres && HSDR_POLL_MORE != pres) { + _state = State::Failure; + return _state; + } + + if (_compressed_formats_idx == compressed_formats_size) { + const HSD_finish_res fres = heatshrink_decoder_finish(&_hsd); + + if (HSDR_FINISH_DONE != fres && HSDR_FINISH_MORE != fres) { + _state = State::Failure; + return _state; + } + } + + } + + // Not expected to get here + PX4_ERR("logic error"); + _state = State::Failure; + return _state; +} + +void MessageFormatReader::clearFormatFromBuffer() +{ + if (_state == State::FormatComplete) { + ++_format_length; // Include null char + memmove(_buffer, _buffer + _format_length, _buffer_length - _format_length); + _buffer_length -= _format_length; + + } else { + // Full buffer is occupied with format + _buffer_length = 0; + } + + _format_length = 0; +} + +int MessageFormatReader::expandMessageFormat(char *format, unsigned len, unsigned buf_len) +{ + ++len; // Include null char + + int format_idx = 0; + + while (format[format_idx] != 0) { + + const char *c_type = orb_get_c_type(format[format_idx]); + + if (c_type) { + // Replace 1 char type with expanded c_type + const int c_type_len = (int)strlen(c_type); + + if (len + c_type_len - 1 > buf_len) { + return -1; + } + + memmove(format + format_idx + c_type_len, format + format_idx + 1, len - format_idx - 1); + memcpy(format + format_idx, c_type, c_type_len); + format_idx += c_type_len - 1; + len += c_type_len - 1; + } + + // Go to next field + const char *end_field = strchr(format + format_idx, ';'); + + if (!end_field) { + PX4_ERR("Format error in %s", format); + return -1; + } + + format_idx = (int)(end_field - format + 1); + } + + if (format_idx + 1 != (int)len) { + PX4_ERR("logic error"); + return -1; + } + + return format_idx; +} + +bool MessageFormatReader::readUntilFormat(orb_id_size_t orb_id) +{ + bool done = false; + bool found_format = false; + + while (!done && !found_format) { + switch (readMore()) { + case State::ReadOrbIDs: + for (const orb_id_size_t current_orb_id : orbIDs()) { + if (current_orb_id == orb_id) { + found_format = true; + } + } + + break; + + case State::ReadingFormat: + case State::FormatComplete: + clearFormatFromBuffer(); + break; + + case State::Complete: + case State::Failure: + done = true; + break; + + default: + break; + } + } + + return found_format; +} + +bool MessageFormatReader::readNextField(int &field_length) +{ + if (field_length > 0) { + // Move left-over part to beginning + ++field_length; // include null + memmove(_buffer, _buffer + field_length, _buffer_length - field_length); + _buffer_length -= field_length; + _format_length -= field_length; + } + + auto findFieldEnd = [&]() { + // Find ';' + bool found = false; + + for (field_length = 0; field_length < (int)_format_length; ++field_length) { + if (_buffer[field_length] == ';') { + _buffer[field_length] = '\0'; + found = true; + break; + } + } + + return found; + }; + + // We might still have a field in the buffer + if (findFieldEnd()) { + return true; + } + + bool done = false; + bool ret = false; + + while (!done) { + switch (readMore()) { + case State::ReadingFormat: + if (findFieldEnd()) { + ret = true; + done = true; + } + + break; + + case State::FormatComplete: { + ret = findFieldEnd(); // Expected to return true here + done = true; + break; + } + + case State::ReadOrbIDs: // Arrived at the next format -> we're done + case State::Complete: + case State::Failure: + done = true; + break; + } + } + + return ret; +} + + +} // namespace uORB diff --git a/platforms/common/uORB/uORBMessageFields.hpp b/platforms/common/uORB/uORBMessageFields.hpp new file mode 100644 index 000000000000..4891ea504b3a --- /dev/null +++ b/platforms/common/uORB/uORBMessageFields.hpp @@ -0,0 +1,157 @@ +/**************************************************************************** + * + * Copyright (c) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#pragma once + +#include +#include +#include +#include + +#define HEATSHRINK_DYNAMIC_ALLOC 0 +#include + +namespace uORB +{ + +class MessageFormatReader +{ +public: + enum class State { + ReadOrbIDs, + ReadingFormat, + FormatComplete, + Failure, + Complete + }; + + MessageFormatReader(char *buffer, unsigned buffer_capacity) + : _buffer(buffer), _buffer_capacity(buffer_capacity) + { + heatshrink_decoder_reset(&_hsd); + static_assert(orb_compressed_heatshrink_window_length == HEATSHRINK_STATIC_WINDOW_BITS, "window length mismatch"); + static_assert(orb_compressed_heatshrink_lookahead_length == HEATSHRINK_STATIC_LOOKAHEAD_BITS, + "lookahead length mismatch"); + _buffer[0] = 0; + } + + /** + * Read and decompress more data into the given buffer (from the constructor). + * Call iteratively until completed or a failure happens. + * @return current state + */ + State readMore(); + + /** + * Read until the start of a format given an ORB ID + * @return true on success + */ + bool readUntilFormat(orb_id_size_t orb_id); + + /** + * Iteratively read fields for the current format + * @param field_length [in,out] field length, set to 0 initially + * @return true while there is a field + */ + bool readNextField(int &field_length); + + /** + * Current length of the buffer + */ + uint32_t bufferLength() const { return _buffer_length; } + /** + * Clear the buffer during ReadingFormat (if it does not need to be accumulated) or FormatComplete. + * After FormatComplete either this or clearFormatAndRestoreLeftover must be called. + */ + void clearFormatFromBuffer(); + + /** + * When FormatComplete, this can be called to move the remaining part after the format to the end of the buffer, + * allowing the buffer to be modified. + * @return length of the left-over part. + */ + unsigned moveLeftoverToBufferEnd() + { + _buffer_length -= _format_length + 1; + memmove(_buffer + _buffer_capacity - _buffer_length, _buffer + _format_length + 1, _buffer_length); + return _buffer_length; + } + /** + * After calling moveLeftoverToBufferEnd(), this must be called. + */ + void clearFormatAndRestoreLeftover() + { + memmove(_buffer, _buffer + _buffer_capacity - _buffer_length, _buffer_length); + _format_length = 0; + } + + /** + * Get the (partial if ReadingFormat or complete if FormatComplete) format length in the buffer + */ + unsigned formatLength() const { return _format_length; } + + /** + * In ReadOrbIDs, ReadingFormat or FormatComplete states, this returns the orb ID's accociated with the format. + */ + const px4::Array &orbIDs() const { return _orb_ids; } + /** + * In ReadOrbIDs, ReadingFormat or FormatComplete states, this returns the dependent orb ID's accociated with the + * format (for nested format definitions). + */ + const px4::Array &orbIDsDependencies() const { return _orb_ids_dependencies; } + + /** + * Expand a tokenized format (after decompressing it) + * @param format tokenized format, expanded in-place + * @param len Length of the format, format[len] == '\0' must hold + * @param buf_len total length of format. Must be long enough for expanded format. + * @return expanded format length, or <0 on error + */ + static int expandMessageFormat(char *format, unsigned len, unsigned buf_len); + +private: + State _state{State::ReadOrbIDs}; + px4::Array _orb_ids; + px4::Array _orb_ids_dependencies; + + unsigned _compressed_formats_idx{0}; + char *_buffer{nullptr}; + const unsigned _buffer_capacity; + uint32_t _buffer_length{0}; + unsigned _format_length{0}; + + heatshrink_decoder _hsd; +}; + + +} // namespace uORB diff --git a/platforms/common/uORB/uORBMessageFieldsTest.cpp b/platforms/common/uORB/uORBMessageFieldsTest.cpp new file mode 100644 index 000000000000..f677d9737e56 --- /dev/null +++ b/platforms/common/uORB/uORBMessageFieldsTest.cpp @@ -0,0 +1,237 @@ +/**************************************************************************** + * + * Copyright (C) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include "uORBMessageFields.hpp" + +#include +#include +#include +#include + +#include + +// To run: make tests TESTFILTER=uORBMessageFields + +class uORBMessageFieldsTest : public ::testing::Test +{ +public: + void SetUp() override + { + param_control_autosave(false); + } +}; + +TEST_F(uORBMessageFieldsTest, decompressed_formats_match) +{ + char buffer[1600]; + static_assert(uORB::orb_untokenized_fields_max_length < sizeof(buffer) - HEATSHRINK_DECODER_INPUT_BUFFER_SIZE(_), + "msg definition too long / buffer too short"); + + uORB::MessageFormatReader format_reader(buffer, sizeof(buffer)); + + px4::Bitset formats_found; + px4::Bitset dependencies; + + static const char *all_formats[] = ORB_DECOMPRESSED_MESSAGE_FIELDS; + int format_idx = 0; + + bool done = false; + + while (!done) { + switch (format_reader.readMore()) { + case uORB::MessageFormatReader::State::FormatComplete: { + const unsigned format_length = format_reader.formatLength(); + EXPECT_GT(format_length, 0); + + // Move the left-over (the part after the format if any) to the end of the buffer + const unsigned leftover_length = format_reader.moveLeftoverToBufferEnd(); + + for (const orb_id_size_t orb_id : format_reader.orbIDs()) { + // Ensure each orb_id is set only once + EXPECT_FALSE(formats_found[orb_id]); + formats_found.set(orb_id); + dependencies.set(orb_id, false); // Clear dependency + } + + for (const orb_id_size_t orb_id : format_reader.orbIDsDependencies()) { + dependencies.set(orb_id); + } + + // Compare format + ASSERT_LT(format_idx, sizeof(all_formats) / sizeof(all_formats[0])); + const std::string format(buffer, format_length); + const std::string format_expected(all_formats[format_idx]); + EXPECT_EQ(format, format_expected); + + const int ret = uORB::MessageFormatReader::expandMessageFormat(buffer, format_length, + sizeof(buffer) - leftover_length); + EXPECT_GE(ret, 0); + ++format_idx; + + // Move left-over back + format_reader.clearFormatAndRestoreLeftover(); + break; + } + break; + + case uORB::MessageFormatReader::State::Failure: + PX4_ERR("Failed to read formats"); + done = true; + ASSERT_FALSE(true); + break; + + case uORB::MessageFormatReader::State::Complete: + done = true; + break; + + default: + break; + } + } + + // Check that all formats are found + for (size_t i = 0; i < formats_found.size(); ++i) { + EXPECT_TRUE(formats_found[i]); + } + + // Expect dependencies to be cleared. If this is not the case, the format ordering is incorrect. + EXPECT_EQ(dependencies.count(), 0); +} + +TEST_F(uORBMessageFieldsTest, decompress_formats_iterative) +{ + char buffer[64]; + uORB::MessageFormatReader format_reader(buffer, sizeof(buffer)); + + px4::Bitset formats_found; + + static const char *all_formats[] = ORB_DECOMPRESSED_MESSAGE_FIELDS; + int format_idx = 0; + std::string current_format; + + bool done = false; + + while (!done) { + switch (format_reader.readMore()) { + case uORB::MessageFormatReader::State::ReadingFormat: + current_format += std::string(buffer, format_reader.formatLength()); + format_reader.clearFormatFromBuffer(); + break; + + case uORB::MessageFormatReader::State::FormatComplete: { + current_format += std::string(buffer, format_reader.formatLength()); + format_reader.clearFormatFromBuffer(); + + EXPECT_FALSE(current_format.empty()); + + for (const orb_id_size_t orb_id : format_reader.orbIDs()) { + // Ensure each orb_id is set only once + EXPECT_FALSE(formats_found[orb_id]); + formats_found.set(orb_id); + } + + // Compare format + ASSERT_LT(format_idx, sizeof(all_formats) / sizeof(all_formats[0])); + const std::string format_expected(all_formats[format_idx]); + EXPECT_EQ(current_format, format_expected); + + ++format_idx; + current_format.clear(); + break; + } + break; + + case uORB::MessageFormatReader::State::Failure: + PX4_ERR("Failed to read formats"); + done = true; + ASSERT_FALSE(true); + break; + + case uORB::MessageFormatReader::State::Complete: + done = true; + break; + + default: + break; + } + } + + // Check that all formats are found + for (size_t i = 0; i < formats_found.size(); ++i) { + EXPECT_TRUE(formats_found[i]); + } +} + +TEST_F(uORBMessageFieldsTest, decompress_formats_buffer_too_short) +{ + char buffer[64]; + static_assert(uORB::orb_tokenized_fields_max_length > sizeof(buffer), "Test expects smaller buffer"); + uORB::MessageFormatReader format_reader(buffer, sizeof(buffer)); + + bool done = false; + + while (!done) { + switch (format_reader.readMore()) { + case uORB::MessageFormatReader::State::Failure: + case uORB::MessageFormatReader::State::Complete: + done = true; + break; + + default: + break; + } + } + + EXPECT_EQ(format_reader.readMore(), uORB::MessageFormatReader::State::Failure); +} + +TEST_F(uORBMessageFieldsTest, decompress_specific_format) +{ + char format[512]; + char buffer[128]; + uORB::MessageFormatReader format_reader(buffer, sizeof(buffer)); + + ASSERT_TRUE(format_reader.readUntilFormat((orb_id_size_t)ORB_ID::orb_test)); + + int field_length = 0; + int format_length = 0; + + while (format_reader.readNextField(field_length)) { + format_length += snprintf(format + format_length, sizeof(buffer) - format_length - 1, "%s;", buffer); + } + + ASSERT_GT(uORB::MessageFormatReader::expandMessageFormat(format, format_length, sizeof(format)), 0); + + const std::string expected_format = "uint64_t timestamp;int32_t val;uint8_t[4] _padding0;"; + ASSERT_EQ(expected_format, format); +} diff --git a/platforms/common/uORB/uORB_tests/uORBTest_UnitTest.cpp b/platforms/common/uORB/uORB_tests/uORBTest_UnitTest.cpp index bc7cda513297..b40b60ad4760 100644 --- a/platforms/common/uORB/uORB_tests/uORBTest_UnitTest.cpp +++ b/platforms/common/uORB/uORB_tests/uORBTest_UnitTest.cpp @@ -111,7 +111,7 @@ int uORBTest::UnitTest::pubsublatency_main() if (pubsubtest_print && timings) { char fname[32] {}; - sprintf(fname, PX4_STORAGEDIR"/uorb_timings%u.txt", timingsgroup); + snprintf(fname, sizeof(fname), PX4_STORAGEDIR"/uorb_timings%u.txt", timingsgroup); FILE *f = fopen(fname, "w"); if (f == nullptr) { @@ -574,8 +574,8 @@ int uORBTest::UnitTest::test_wrap_around() bool updated{false}; // Advertise but not publish topics, only generate device_node, which is convenient for modifying DeviceNode::_generation - const int queue_size = 16; - ptopic = orb_advertise_queue(ORB_ID(orb_test_medium_wrap_around), nullptr, queue_size); + const int queue_size = orb_get_queue_size(ORB_ID(orb_test_medium_wrap_around)); + ptopic = orb_advertise(ORB_ID(orb_test_medium_wrap_around), nullptr); if (ptopic == nullptr) { return test_fail("advertise failed: %d", errno); @@ -828,9 +828,9 @@ int uORBTest::UnitTest::test_queue() return test_fail("subscribe failed: %d", errno); } - const int queue_size = 16; + const int queue_size = orb_get_queue_size(ORB_ID(orb_test_medium_queue)); orb_test_medium_s t{}; - ptopic = orb_advertise_queue(ORB_ID(orb_test_medium_queue), &t, queue_size); + ptopic = orb_advertise(ORB_ID(orb_test_medium_queue), &t); if (ptopic == nullptr) { return test_fail("advertise failed: %d", errno); @@ -935,9 +935,9 @@ int uORBTest::UnitTest::pub_test_queue_main() { orb_test_medium_s t{}; orb_advert_t ptopic{nullptr}; - const int queue_size = 50; + const int queue_size = orb_get_queue_size(ORB_ID(orb_test_medium_queue_poll)); - if ((ptopic = orb_advertise_queue(ORB_ID(orb_test_medium_queue_poll), &t, queue_size)) == nullptr) { + if ((ptopic = orb_advertise(ORB_ID(orb_test_medium_queue_poll), &t)) == nullptr) { _thread_should_exit = true; return test_fail("advertise failed: %d", errno); } diff --git a/platforms/common/work_queue/dq_addlast.c b/platforms/common/work_queue/dq_addlast.c index 35e42d46d3a7..99272da224e8 100644 --- a/platforms/common/work_queue/dq_addlast.c +++ b/platforms/common/work_queue/dq_addlast.c @@ -70,4 +70,3 @@ void dq_addlast(dq_entry_t *node, dq_queue_t *queue) queue->tail = node; } } - diff --git a/platforms/common/work_queue/dq_rem.c b/platforms/common/work_queue/dq_rem.c index 4249daec5050..7e91045f901d 100644 --- a/platforms/common/work_queue/dq_rem.c +++ b/platforms/common/work_queue/dq_rem.c @@ -78,4 +78,3 @@ void dq_rem(dq_entry_t *node, dq_queue_t *queue) node->flink = NULL; node->blink = NULL; } - diff --git a/platforms/common/work_queue/dq_remfirst.c b/platforms/common/work_queue/dq_remfirst.c index 10394d10634b..bb5538b7cc58 100644 --- a/platforms/common/work_queue/dq_remfirst.c +++ b/platforms/common/work_queue/dq_remfirst.c @@ -78,4 +78,3 @@ dq_entry_t *dq_remfirst(dq_queue_t *queue) return ret; } - diff --git a/platforms/common/work_queue/hrt_thread.c b/platforms/common/work_queue/hrt_thread.c index 8438b0ae2c1f..8da8b415d1ee 100644 --- a/platforms/common/work_queue/hrt_thread.c +++ b/platforms/common/work_queue/hrt_thread.c @@ -113,7 +113,7 @@ static void _sighandler(int sig_num) * ****************************************************************************/ -static void hrt_work_process() +static void hrt_work_process(void) { struct wqueue_s *wqueue = &g_hrt_work; volatile struct work_s *work; diff --git a/platforms/common/work_queue/queue.c b/platforms/common/work_queue/queue.c index b81315381e2a..dc3e3e496763 100644 --- a/platforms/common/work_queue/queue.c +++ b/platforms/common/work_queue/queue.c @@ -91,5 +91,3 @@ void sq_addfirst(sq_entry_t *node, sq_queue_t *queue) queue->head = node; } - - diff --git a/platforms/common/work_queue/sq_addlast.c b/platforms/common/work_queue/sq_addlast.c index 1a0ff88a447c..d8915204bef2 100644 --- a/platforms/common/work_queue/sq_addlast.c +++ b/platforms/common/work_queue/sq_addlast.c @@ -69,4 +69,3 @@ void sq_addlast(sq_entry_t *node, sq_queue_t *queue) queue->tail = node; } } - diff --git a/platforms/common/work_queue/sq_remfirst.c b/platforms/common/work_queue/sq_remfirst.c index 42b0b6599dba..76b16b4a43ea 100644 --- a/platforms/common/work_queue/sq_remfirst.c +++ b/platforms/common/work_queue/sq_remfirst.c @@ -73,4 +73,3 @@ sq_entry_t *sq_remfirst(sq_queue_t *queue) return ret; } - diff --git a/platforms/common/work_queue/work_thread.c b/platforms/common/work_queue/work_thread.c index b1e0e7235505..5109b6ad8a75 100644 --- a/platforms/common/work_queue/work_thread.c +++ b/platforms/common/work_queue/work_thread.c @@ -338,7 +338,7 @@ int work_usrthread(int argc, char *argv[]) #endif /* CONFIG_SCHED_USRWORK */ -uint32_t clock_systimer() +uint32_t clock_systimer(void) { //printf("clock_systimer: %0lx\n", hrt_absolute_time()); return (0x00000000ffffffff & hrt_absolute_time()); diff --git a/platforms/nuttx/CMakeLists.txt b/platforms/nuttx/CMakeLists.txt index 3926f237336b..cd8385827e85 100644 --- a/platforms/nuttx/CMakeLists.txt +++ b/platforms/nuttx/CMakeLists.txt @@ -266,6 +266,7 @@ else() -fno-exceptions -fno-rtti -Wl,--script=${NUTTX_CONFIG_DIR_CYG}/scripts/${SCRIPT_PREFIX}script.ld + -L${NUTTX_CONFIG_DIR_CYG}/scripts -Wl,-Map=${PX4_CONFIG}.map -Wl,--warn-common -Wl,--gc-sections @@ -383,6 +384,9 @@ if(NOT NUTTX_DIR MATCHES "external") if(CONFIG_ARCH_CHIP_MIMXRT1062DVL6A) set(DEBUG_DEVICE "MIMXRT1062XXX6A") set(DEBUG_SVD_FILE "MIMXRT1052.svd") + elseif(CONFIG_ARCH_CHIP_MIMXRT1176DVMAA) + set(DEBUG_DEVICE "MIMXRT1176DVMAA") + set(DEBUG_SVD_FILE "MIMXRT1176_cm7.xml") elseif(CONFIG_ARCH_CHIP_MK66FN2M0VMD18) set(DEBUG_DEVICE "MK66FN2M0xxx18") set(DEBUG_SVD_FILE "MK66F18.svd") diff --git a/platforms/nuttx/Debug/jtrace_debug_ozone.jdebug b/platforms/nuttx/Debug/jtrace_debug_ozone.jdebug index 6e4b4efce568..dd540e34c213 100644 --- a/platforms/nuttx/Debug/jtrace_debug_ozone.jdebug +++ b/platforms/nuttx/Debug/jtrace_debug_ozone.jdebug @@ -3,21 +3,21 @@ * The Embedded Experts * * www.segger.com * ********************************************************************** - + File : jtrace_debug_ozone.jdebug Created : 26 Oct 2020 14:30 Ozone Version : V3.20e */ /********************************************************************* -* -* OnProjectLoad -* -* Function description -* Project load routine. Required. -* +* +* OnProjectLoad +* +* Function description +* Project load routine. Required. +* ********************************************************************** -*/ +*/ void OnProjectLoad (void) { // // Dialog-generated settings @@ -38,291 +38,290 @@ void OnProjectLoad (void) { } /********************************************************************* -* -* OnStartupComplete -* -* Function description -* Called when program execution has reached/passed -* the startup completion point. Optional. -* +* +* OnStartupComplete +* +* Function description +* Called when program execution has reached/passed +* the startup completion point. Optional. +* ********************************************************************** -*/ -//void OnStartupComplete (void) { -//} +*/ +//void OnStartupComplete (void) { +//} /********************************************************************* -* -* TargetReset -* -* Function description -* Replaces the default target device reset routine. Optional. -* -* Notes -* This example demonstrates the usage when -* debugging a RAM program on a Cortex-M target device -* +* +* TargetReset +* +* Function description +* Replaces the default target device reset routine. Optional. +* +* Notes +* This example demonstrates the usage when +* debugging a RAM program on a Cortex-M target device +* ********************************************************************** -*/ -//void TargetReset (void) { -// -// unsigned int SP; -// unsigned int PC; -// unsigned int VectorTableAddr; -// -// VectorTableAddr = Program.GetBaseAddr(); -// -// if (VectorTableAddr != 0xFFFFFFFF) { -// SP = Target.ReadU32(VectorTableAddr); -// Target.SetReg("SP", SP); -// } else { -// Util.Log("Project file error: failed to get program base"); -// } -// -// PC = Elf.GetEntryPointPC(); -// -// if (PC != 0xFFFFFFFF) { -// Target.SetReg("PC", PC); -// } else if (VectorTableAddr != 0xFFFFFFFF) { -// PC = Target.ReadU32(VectorTableAddr + 4); -// Target.SetReg("PC", PC); -//} +*/ +//void TargetReset (void) { +// +// unsigned int SP; +// unsigned int PC; +// unsigned int VectorTableAddr; +// +// VectorTableAddr = Program.GetBaseAddr(); +// +// if (VectorTableAddr != 0xFFFFFFFF) { +// SP = Target.ReadU32(VectorTableAddr); +// Target.SetReg("SP", SP); +// } else { +// Util.Log("Project file error: failed to get program base"); +// } +// +// PC = Elf.GetEntryPointPC(); +// +// if (PC != 0xFFFFFFFF) { +// Target.SetReg("PC", PC); +// } else if (VectorTableAddr != 0xFFFFFFFF) { +// PC = Target.ReadU32(VectorTableAddr + 4); +// Target.SetReg("PC", PC); +//} /********************************************************************* -* -* BeforeTargetReset -* -* Function description -* Event handler routine. Optional. -* +* +* BeforeTargetReset +* +* Function description +* Event handler routine. Optional. +* ********************************************************************** -*/ -//void BeforeTargetReset (void) { -//} +*/ +//void BeforeTargetReset (void) { +//} /********************************************************************* -* -* AfterTargetReset -* -* Function description -* Event handler routine. Optional. -* - Sets the PC register to program reset value. -* - Sets the SP register to program reset value on Cortex-M. -* +* +* AfterTargetReset +* +* Function description +* Event handler routine. Optional. +* - Sets the PC register to program reset value. +* - Sets the SP register to program reset value on Cortex-M. +* ********************************************************************** -*/ +*/ void AfterTargetReset (void) { - unsigned int SP; - unsigned int PC; - unsigned int VectorTableAddr; - - VectorTableAddr = Elf.GetBaseAddr(); - - if (VectorTableAddr == 0xFFFFFFFF) { - Util.Log("Project file error: failed to get program base"); - } else { - SP = Target.ReadU32(VectorTableAddr); - Target.SetReg("SP", SP); - - PC = Target.ReadU32(VectorTableAddr + 4); - Target.SetReg("PC", PC); + unsigned int SP; + unsigned int PC; + unsigned int VectorTableAddr; + + VectorTableAddr = Elf.GetBaseAddr(); + + if (VectorTableAddr == 0xFFFFFFFF) { + Util.Log("Project file error: failed to get program base"); + } else { + SP = Target.ReadU32(VectorTableAddr); + Target.SetReg("SP", SP); + + PC = Target.ReadU32(VectorTableAddr + 4); + Target.SetReg("PC", PC); } } /********************************************************************* -* -* DebugStart -* -* Function description -* Replaces the default debug session startup routine. Optional. -* +* +* DebugStart +* +* Function description +* Replaces the default debug session startup routine. Optional. +* ********************************************************************** -*/ -//void DebugStart (void) { -//} +*/ +//void DebugStart (void) { +//} /********************************************************************* -* -* TargetConnect -* -* Function description -* Replaces the default target IF connection routine. Optional. -* +* +* TargetConnect +* +* Function description +* Replaces the default target IF connection routine. Optional. +* ********************************************************************** -*/ -//void TargetConnect (void) { -//} +*/ +//void TargetConnect (void) { +//} /********************************************************************* -* -* BeforeTargetConnect -* -* Function description -* Event handler routine. Optional. -* +* +* BeforeTargetConnect +* +* Function description +* Event handler routine. Optional. +* ********************************************************************** -*/ -void BeforeTargetConnect (void) { +*/ +void BeforeTargetConnect (void) { Project.SetJLinkScript("FMUv6_Trace.pex"); -} +} /********************************************************************* -* -* AfterTargetConnect -* -* Function description -* Event handler routine. Optional. -* +* +* AfterTargetConnect +* +* Function description +* Event handler routine. Optional. +* ********************************************************************** -*/ -//void AfterTargetConnect (void) { -//} +*/ +//void AfterTargetConnect (void) { +//} /********************************************************************* -* -* TargetDownload -* -* Function description -* Replaces the default program download routine. Optional. -* +* +* TargetDownload +* +* Function description +* Replaces the default program download routine. Optional. +* ********************************************************************** -*/ -//void TargetDownload (void) { -//} +*/ +//void TargetDownload (void) { +//} /********************************************************************* -* -* BeforeTargetDownload -* -* Function description -* Event handler routine. Optional. -* +* +* BeforeTargetDownload +* +* Function description +* Event handler routine. Optional. +* ********************************************************************** -*/ -//void BeforeTargetDownload (void) { -//} +*/ +//void BeforeTargetDownload (void) { +//} /********************************************************************* -* -* AfterTargetDownload -* -* Function description -* Event handler routine. Optional. -* - Sets the PC register to program reset value. -* - Sets the SP register to program reset value on Cortex-M. -* +* +* AfterTargetDownload +* +* Function description +* Event handler routine. Optional. +* - Sets the PC register to program reset value. +* - Sets the SP register to program reset value on Cortex-M. +* ********************************************************************** -*/ +*/ void AfterTargetDownload (void) { - unsigned int SP; - unsigned int PC; - unsigned int VectorTableAddr; - - VectorTableAddr = Elf.GetBaseAddr(); - Util.Log("___"); - if (VectorTableAddr == 0xFFFFFFFF) { - Util.Log("Project file error: failed to get program base"); - } else { - SP = Target.ReadU32(VectorTableAddr); - Target.SetReg("SP", SP); - - PC = Target.ReadU32(VectorTableAddr + 4); - Target.SetReg("PC", PC); + unsigned int SP; + unsigned int PC; + unsigned int VectorTableAddr; + + VectorTableAddr = Elf.GetBaseAddr(); + Util.Log("___"); + if (VectorTableAddr == 0xFFFFFFFF) { + Util.Log("Project file error: failed to get program base"); + } else { + SP = Target.ReadU32(VectorTableAddr); + Target.SetReg("SP", SP); + + PC = Target.ReadU32(VectorTableAddr + 4); + Target.SetReg("PC", PC); } } /********************************************************************* -* -* BeforeTargetDisconnect -* -* Function description -* Event handler routine. Optional. -* +* +* BeforeTargetDisconnect +* +* Function description +* Event handler routine. Optional. +* ********************************************************************** -*/ -//void BeforeTargetDisconnect (void) { -//} +*/ +//void BeforeTargetDisconnect (void) { +//} /********************************************************************* -* -* AfterTargetDisconnect -* -* Function description -* Event handler routine. Optional. -* +* +* AfterTargetDisconnect +* +* Function description +* Event handler routine. Optional. +* ********************************************************************** -*/ -//void AfterTargetDisconnect (void) { -//} +*/ +//void AfterTargetDisconnect (void) { +//} /********************************************************************* -* -* AfterTargetHalt -* -* Function description -* Event handler routine. Optional. -* +* +* AfterTargetHalt +* +* Function description +* Event handler routine. Optional. +* ********************************************************************** -*/ -//void AfterTargetHalt (void) { -//} +*/ +//void AfterTargetHalt (void) { +//} /********************************************************************* -* -* BeforeTargetResume -* -* Function description -* Event handler routine. Optional. -* +* +* BeforeTargetResume +* +* Function description +* Event handler routine. Optional. +* ********************************************************************** -*/ -//void BeforeTargetResume (void) { -//} +*/ +//void BeforeTargetResume (void) { +//} /********************************************************************* -* -* OnSnapshotLoad -* -* Function description -* Called upon loading a snapshot. Optional. -* -* Additional information -* This function is used to restore the target state in cases -* where values cannot simply be written to the target. -* Typical use: GPIO clock needs to be enabled, before -* GPIO is configured. -* +* +* OnSnapshotLoad +* +* Function description +* Called upon loading a snapshot. Optional. +* +* Additional information +* This function is used to restore the target state in cases +* where values cannot simply be written to the target. +* Typical use: GPIO clock needs to be enabled, before +* GPIO is configured. +* ********************************************************************** -*/ -//void OnSnapshotLoad (void) { -//} +*/ +//void OnSnapshotLoad (void) { +//} /********************************************************************* -* -* OnSnapshotSave -* -* Function description -* Called upon saving a snapshot. Optional. -* -* Additional information -* This function is usually used to save values of the target -* state which can either not be trivially read, -* or need to be restored in a specific way or order. -* Typically use: Memory Mapped Registers, -* such as PLL and GPIO configuration. -* +* +* OnSnapshotSave +* +* Function description +* Called upon saving a snapshot. Optional. +* +* Additional information +* This function is usually used to save values of the target +* state which can either not be trivially read, +* or need to be restored in a specific way or order. +* Typically use: Memory Mapped Registers, +* such as PLL and GPIO configuration. +* ********************************************************************** -*/ -//void OnSnapshotSave (void) { -//} +*/ +//void OnSnapshotSave (void) { +//} /********************************************************************* -* -* OnError -* -* Function description -* Called when an error ocurred. Optional. -* +* +* OnError +* +* Function description +* Called when an error ocurred. Optional. +* ********************************************************************** -*/ -//void OnError (const char* sErrorMsg) { -//} - +*/ +//void OnError (const char* sErrorMsg) { +//} diff --git a/platforms/nuttx/NuttX/CMakeLists.txt b/platforms/nuttx/NuttX/CMakeLists.txt index 355abf0b23f8..f28ea9fdb4f0 100644 --- a/platforms/nuttx/NuttX/CMakeLists.txt +++ b/platforms/nuttx/NuttX/CMakeLists.txt @@ -40,11 +40,22 @@ set(APPS_DIR ${NUTTX_SRC_DIR}/apps) configure_file(${PX4_SOURCE_DIR}/platforms/nuttx/NuttX/Make.defs.in ${CMAKE_CURRENT_BINARY_DIR}/nuttx/Make.defs) +set(EXTRA_NUTTX_CONFIG_FILE ${CMAKE_CURRENT_BINARY_DIR}/extra_config_options) +file(WRITE ${EXTRA_NUTTX_CONFIG_FILE} "") +if(DEFINED ENV{PX4_EXTRA_NUTTX_CONFIG}) + message(STATUS "Adding extra nuttx config: $ENV{PX4_EXTRA_NUTTX_CONFIG}") + # Allow to specify extra options via 'export PX4_EXTRA_NUTTX_CONFIG="CONFIG_xy=y;CONFIG_z=y"' + foreach(OPTION $ENV{PX4_EXTRA_NUTTX_CONFIG}) + file(APPEND ${EXTRA_NUTTX_CONFIG_FILE} "${OPTION}\n") + endforeach () +endif() + + # inflate .config add_custom_command( OUTPUT ${NUTTX_DIR}/.config COMMAND ${CMAKE_COMMAND} -E copy_if_different ${CMAKE_CURRENT_BINARY_DIR}/nuttx/Make.defs ${NUTTX_DIR}/Make.defs - COMMAND ${CMAKE_COMMAND} -E copy_if_different ${NUTTX_DEFCONFIG} ${NUTTX_DIR}/.config + COMMAND cat ${NUTTX_DEFCONFIG} ${EXTRA_NUTTX_CONFIG_FILE} > ${NUTTX_DIR}/.config COMMAND ${CMAKE_COMMAND} -E copy_if_different ${NUTTX_DEFCONFIG} ${NUTTX_DIR}/defconfig COMMAND ${NUTTX_SRC_DIR}/tools/px4_nuttx_make_olddefconfig.sh > ${CMAKE_CURRENT_BINARY_DIR}/nuttx_olddefconfig.log COMMAND ${CMAKE_COMMAND} -E copy_if_different ${NUTTX_DIR}/.config ${CMAKE_CURRENT_BINARY_DIR}/nuttx/.config @@ -52,6 +63,7 @@ add_custom_command( ${NUTTX_DEFCONFIG} ${NUTTX_DIR}/defconfig ${CMAKE_CURRENT_BINARY_DIR}/nuttx/Make.defs + ${CMAKE_CURRENT_BINARY_DIR}/../defconfig_inflate_stamp WORKING_DIRECTORY ${NUTTX_DIR} #USES_TERMINAL ) diff --git a/platforms/nuttx/NuttX/apps b/platforms/nuttx/NuttX/apps index a489381b4983..e37940d8535f 160000 --- a/platforms/nuttx/NuttX/apps +++ b/platforms/nuttx/NuttX/apps @@ -1 +1 @@ -Subproject commit a489381b49835ecba6f3b873b5071d882a18152f +Subproject commit e37940d8535f603a16b8f6f21c21edaf584218aa diff --git a/platforms/nuttx/NuttX/include/cxx/new b/platforms/nuttx/NuttX/include/cxx/new index 40774777f01d..633e0472fad4 100644 --- a/platforms/nuttx/NuttX/include/cxx/new +++ b/platforms/nuttx/NuttX/include/cxx/new @@ -31,6 +31,8 @@ * ****************************************************************************/ +#include + inline void* operator new (std::size_t, void* ptr) { return ptr; } inline void* operator new[](std::size_t, void* ptr) { return ptr; } inline void operator delete (void*, void*) {} diff --git a/platforms/nuttx/NuttX/nuttx b/platforms/nuttx/NuttX/nuttx index 3f77354c0dc8..d140f96627bd 160000 --- a/platforms/nuttx/NuttX/nuttx +++ b/platforms/nuttx/NuttX/nuttx @@ -1 +1 @@ -Subproject commit 3f77354c0dc88793a47ff3b57595195ab45f7ba9 +Subproject commit d140f96627bd55edd24060cb90fe4c55ed3b9efd diff --git a/platforms/nuttx/cmake/init.cmake b/platforms/nuttx/cmake/init.cmake index 37a81382a755..50dec4b082aa 100644 --- a/platforms/nuttx/cmake/init.cmake +++ b/platforms/nuttx/cmake/init.cmake @@ -77,6 +77,10 @@ execute_process( OUTPUT_FILE ${CMAKE_CURRENT_BINARY_DIR}/nuttx_olddefconfig.log RESULT_VARIABLE ret ) +execute_process( + COMMAND ${CMAKE_COMMAND} -E touch ${CMAKE_CURRENT_BINARY_DIR}/defconfig_inflate_stamp + WORKING_DIRECTORY ${NUTTX_DIR} +) execute_process(COMMAND ${CMAKE_COMMAND} -E copy_if_different ${NUTTX_DIR}/.config ${PX4_BINARY_DIR}/NuttX/nuttx/.config) ############################################################################### diff --git a/platforms/nuttx/cmake/px4_impl_os.cmake b/platforms/nuttx/cmake/px4_impl_os.cmake index 4c5cbab4ef6c..0bf6b3d28211 100644 --- a/platforms/nuttx/cmake/px4_impl_os.cmake +++ b/platforms/nuttx/cmake/px4_impl_os.cmake @@ -139,6 +139,9 @@ function(px4_os_determine_build_chip) elseif(CONFIG_ARCH_CHIP_MIMXRT1062DVL6A) set(CHIP_MANUFACTURER "nxp") set(CHIP "rt106x") + elseif(CONFIG_ARCH_CHIP_MIMXRT1176DVMAA) + set(CHIP_MANUFACTURER "nxp") + set(CHIP "rt117x") elseif(CONFIG_ARCH_CHIP_S32K146) set(CHIP_MANUFACTURER "nxp") set(CHIP "s32k14x") diff --git a/platforms/nuttx/init/kinetis/rc.board_arch_defaults b/platforms/nuttx/init/kinetis/rc.board_arch_defaults index 1cf9c919dbae..7a7bbb3db42c 100644 --- a/platforms/nuttx/init/kinetis/rc.board_arch_defaults +++ b/platforms/nuttx/init/kinetis/rc.board_arch_defaults @@ -4,7 +4,7 @@ #------------------------------------------------------------------------------ # Multi-EKF (off by default) -param set-default EKF2_MULTI_IMU 0 +param set-default -s EKF2_MULTI_IMU 0 param set-default SENS_IMU_MODE 1 set LOGGER_BUF 8 diff --git a/platforms/nuttx/init/stm32/rc.board_arch_defaults b/platforms/nuttx/init/stm32/rc.board_arch_defaults index cda40b9a40c1..edef4e1e637b 100644 --- a/platforms/nuttx/init/stm32/rc.board_arch_defaults +++ b/platforms/nuttx/init/stm32/rc.board_arch_defaults @@ -4,7 +4,7 @@ #------------------------------------------------------------------------------ # Multi-EKF (off by default) -param set-default EKF2_MULTI_IMU 0 +param set-default -s EKF2_MULTI_IMU 0 param set-default SENS_IMU_MODE 1 set LOGGER_BUF 8 diff --git a/platforms/nuttx/init/stm32f7/rc.board_arch_defaults b/platforms/nuttx/init/stm32f7/rc.board_arch_defaults index 17bae0442972..c22d9586e034 100644 --- a/platforms/nuttx/init/stm32f7/rc.board_arch_defaults +++ b/platforms/nuttx/init/stm32f7/rc.board_arch_defaults @@ -4,7 +4,7 @@ #------------------------------------------------------------------------------ # Multi-EKF (across IMUs only) -param set-default EKF2_MULTI_IMU 3 +param set-default -s EKF2_MULTI_IMU 3 param set-default SENS_IMU_MODE 0 param set-default -s IMU_GYRO_FFT_EN 1 @@ -13,4 +13,4 @@ param set-default -s MC_AT_EN 1 param set-default -s UAVCAN_ENABLE 2 -set LOGGER_BUF 64 +set LOGGER_BUF 40 diff --git a/platforms/nuttx/init/stm32h7/rc.board_arch_defaults b/platforms/nuttx/init/stm32h7/rc.board_arch_defaults index 31d23de1ec14..60979fa61bb8 100644 --- a/platforms/nuttx/init/stm32h7/rc.board_arch_defaults +++ b/platforms/nuttx/init/stm32h7/rc.board_arch_defaults @@ -4,7 +4,7 @@ #------------------------------------------------------------------------------ # Multi-EKF -param set-default EKF2_MULTI_IMU 3 +param set-default -s EKF2_MULTI_IMU 3 param set-default SENS_IMU_MODE 0 param set-default -s IMU_GYRO_FFT_EN 1 diff --git a/platforms/nuttx/src/bootloader/common/CMakeLists.txt b/platforms/nuttx/src/bootloader/common/CMakeLists.txt index 7ba4af38266d..e61fb88b8979 100644 --- a/platforms/nuttx/src/bootloader/common/CMakeLists.txt +++ b/platforms/nuttx/src/bootloader/common/CMakeLists.txt @@ -37,6 +37,10 @@ add_library(bootloader crypto.c ) +target_compile_definitions(bootloader + PRIVATE BOOTLOADER_VERSION="PX4BLv${PX4_VERSION_MAJOR}.${PX4_VERSION_MINOR}.${PX4_VERSION_PATCH}g${PX4_GIT_HASH}" +) + target_link_libraries(bootloader PRIVATE arch_bootloader diff --git a/platforms/nuttx/src/bootloader/common/bl.c b/platforms/nuttx/src/bootloader/common/bl.c index c0c68bff1c8f..f67356be701a 100644 --- a/platforms/nuttx/src/bootloader/common/bl.c +++ b/platforms/nuttx/src/bootloader/common/bl.c @@ -80,7 +80,7 @@ // RESET finalise flash programming, reset chip and starts application // -#define BL_PROTOCOL_VERSION 5 // The revision of the bootloader protocol +#define BL_PROTOCOL_REVISION 5 // The revision of the bootloader protocol //* Next revision needs to update // protocol bytes @@ -106,14 +106,20 @@ #define PROTO_GET_CHIP 0x2c // read chip version (MCU IDCODE) #define PROTO_SET_DELAY 0x2d // set minimum boot delay #define PROTO_GET_CHIP_DES 0x2e // read chip version In ASCII +#define PROTO_GET_VERSION 0x2f // read version #define PROTO_BOOT 0x30 // boot the application #define PROTO_DEBUG 0x31 // emit debug information - format not defined #define PROTO_SET_BAUD 0x33 // set baud rate on uart -#define PROTO_RESERVED_0X36 0x36 // Reserved -#define PROTO_RESERVED_0X37 0x37 // Reserved +// Reserved for external flash programming +// #define PROTO_EXTF_ERASE 0x34 // Erase sectors from external flash +// #define PROTO_EXTF_PROG_MULTI 0x35 // write bytes at external flash program address and increment +// #define PROTO_EXTF_READ_MULTI 0x36 // read bytes at address and increment +// #define PROTO_EXTF_GET_CRC 0x37 // compute & return a CRC of data in external flash + #define PROTO_RESERVED_0X38 0x38 // Reserved #define PROTO_RESERVED_0X39 0x39 // Reserved +#define PROTO_CHIP_FULL_ERASE 0x40 // Full erase, without any flash wear optimization #define PROTO_PROG_MULTI_MAX 64 // maximum PROG_MULTI size #define PROTO_READ_MULTI_MAX 255 // size of the size field @@ -125,13 +131,6 @@ #define PROTO_DEVICE_FW_SIZE 4 // size of flashable area #define PROTO_DEVICE_VEC_AREA 5 // contents of reserved vectors 7-10 -#define STATE_PROTO_OK 0x10 // INSYNC/OK - 'ok' response -#define STATE_PROTO_FAILED 0x11 // INSYNC/FAILED - 'fail' response -#define STATE_PROTO_INVALID 0x13 // INSYNC/INVALID - 'invalid' response for bad commands -#define STATE_PROTO_BAD_SILICON_REV 0x14 // On the F4 series there is an issue with < Rev 3 silicon -#define STATE_PROTO_RESERVED_0X15 0x15 // Reserved - - // State #define STATE_PROTO_GET_SYNC 0x1 // Have Seen NOP for re-establishing sync #define STATE_PROTO_GET_DEVICE 0x2 // Have Seen get device ID bytes @@ -142,7 +141,8 @@ #define STATE_PROTO_GET_SN 0x40 // Have Seen read a word from UDID area ( Serial) at the given address #define STATE_PROTO_GET_CHIP 0x80 // Have Seen read chip version (MCU IDCODE) #define STATE_PROTO_GET_CHIP_DES 0x100 // Have Seen read chip version In ASCII -#define STATE_PROTO_BOOT 0x200 // Have Seen boot the application +#define STATE_PROTO_GET_VERSION 0x200 // Have Seen get version +#define STATE_PROTO_BOOT 0x400 // Have Seen boot the application #if defined(TARGET_HW_PX4_PIO_V1) #define STATE_ALLOWS_ERASE (STATE_PROTO_GET_SYNC) @@ -157,6 +157,18 @@ static uint8_t bl_type; static uint8_t last_input; +int get_version(int n, uint8_t *version_str) +{ + int len = strlen(BOOTLOADER_VERSION); + + if (len > n) { + len = n; + } + + strncpy((char *)version_str, BOOTLOADER_VERSION, n); + return len; +} + inline void cinit(void *config, uint8_t interface) { #if INTERFACE_USB @@ -257,7 +269,7 @@ inline void cout(uint8_t *buf, unsigned len) #endif -static const uint32_t bl_proto_rev = BL_PROTOCOL_VERSION; // value returned by PROTO_DEVICE_BL_REV +static const uint32_t bl_proto_rev = BL_PROTOCOL_REVISION; // value returned by PROTO_DEVICE_BL_REV static unsigned head, tail; static uint8_t rx_buf[256] USB_DATA_ALIGN; @@ -294,13 +306,13 @@ void jump_to_app() { const uint32_t *app_base = (const uint32_t *)APP_LOAD_ADDRESS; - const uint32_t *vec_base = (const uint32_t *)app_base; + const uint32_t *vec_base = (const uint32_t *)((const uint32_t)app_base + APP_VECTOR_OFFSET); /* * We refuse to program the first word of the app until the upload is marked * complete by the host. So if it's not 0xffffffff, we should try booting it. */ - if (app_base[0] == 0xffffffff) { + if (app_base[APP_VECTOR_OFFSET_WORDS] == 0xffffffff) { return; } @@ -382,11 +394,11 @@ jump_to_app() * The second word of the app is the entrypoint; it must point within the * flash area (or we have a bad flash). */ - if (app_base[1] < APP_LOAD_ADDRESS) { + if (app_base[APP_VECTOR_OFFSET_WORDS + 1] < APP_LOAD_ADDRESS) { return; } - if (app_base[1] >= (APP_LOAD_ADDRESS + board_info.fw_size)) { + if (app_base[APP_VECTOR_OFFSET_WORDS + 1] >= (APP_LOAD_ADDRESS + board_info.fw_size)) { return; } @@ -649,6 +661,8 @@ bootloader(unsigned timeout) led_on(LED_ACTIVITY); + bool full_erase = false; + // handle the command byte switch (c) { @@ -728,6 +742,10 @@ bootloader(unsigned timeout) // success reply: INSYNC/OK // erase failure: INSYNC/FAILURE // + case PROTO_CHIP_FULL_ERASE: + full_erase = true; + + // Fallthrough case PROTO_CHIP_ERASE: /* expect EOC */ @@ -755,17 +773,18 @@ bootloader(unsigned timeout) arch_flash_unlock(); for (int i = 0; flash_func_sector_size(i) != 0; i++) { - flash_func_erase_sector(i); + flash_func_erase_sector(i, full_erase); } // disable the LED while verifying the erase led_set(LED_OFF); // verify the erase - for (address = 0; address < board_info.fw_size; address += 4) + for (address = 0; address < board_info.fw_size; address += 4) { if (flash_func_read_word(address) != 0xffffffff) { goto cmd_fail; } + } address = 0; SET_BL_STATE(STATE_PROTO_CHIP_ERASE); @@ -816,15 +835,17 @@ bootloader(unsigned timeout) goto cmd_bad; } - if (address == 0) { +#if APP_VECTOR_OFFSET == 0 -#if defined(TARGET_HW_PX4_FMU_V4) + if (address == APP_VECTOR_OFFSET) { + +# if defined(TARGET_HW_PX4_FMU_V4) if (check_silicon()) { goto bad_silicon; } -#endif +# endif // save the first word and don't program it until everything else is done first_word = flash_buffer.w[0]; @@ -832,10 +853,20 @@ bootloader(unsigned timeout) flash_buffer.w[0] = 0xffffffff; } +#endif arg /= 4; for (int i = 0; i < arg; i++) { +#if APP_VECTOR_OFFSET != 0 + if (address == APP_VECTOR_OFFSET) { + // save the first word from vector table and don't program it until everything else is done + first_word = flash_buffer.w[i]; + // replace first word with bits we can overwrite later + flash_buffer.w[i] = 0xffffffff; + } + +#endif // program the word flash_func_write_word(address, flash_buffer.w[i]); @@ -869,7 +900,7 @@ bootloader(unsigned timeout) for (unsigned p = 0; p < board_info.fw_size; p += 4) { uint32_t bytes; - if ((p == 0) && (first_word != 0xffffffff)) { + if ((p == APP_VECTOR_OFFSET) && (first_word != 0xffffffff)) { bytes = first_word; } else { @@ -953,7 +984,7 @@ bootloader(unsigned timeout) // read the chip description // // command: GET_CHIP_DES/EOC - // reply: /INSYNC/OK + // reply: /INSYNC/OK case PROTO_GET_CHIP_DES: { uint8_t buffer[MAX_DES_LENGTH]; unsigned len = MAX_DES_LENGTH; @@ -970,6 +1001,25 @@ bootloader(unsigned timeout) } break; + // read the bootloader version (not to be confused with protocol revision) + // + // command: GET_VERSION/EOC + // reply: /INSYNC/OK + case PROTO_GET_VERSION: { + uint8_t buffer[MAX_VERSION_LENGTH]; + + // expect EOC + if (!wait_for_eoc(2)) { + goto cmd_bad; + } + + int len = get_version(sizeof(buffer), buffer); + cout_word(len); + cout(buffer, len); + SET_BL_STATE(STATE_PROTO_GET_VERSION); + } + break; + #ifdef BOOT_DELAY_ADDRESS case PROTO_SET_DELAY: { @@ -1032,9 +1082,9 @@ bootloader(unsigned timeout) // program the deferred first word if (first_word != 0xffffffff) { - flash_func_write_word(0, first_word); + flash_func_write_word(APP_VECTOR_OFFSET, first_word); - if (flash_func_read_word(0) != first_word) { + if (flash_func_read_word(APP_VECTOR_OFFSET) != first_word) { goto cmd_fail; } diff --git a/platforms/nuttx/src/bootloader/common/bl.h b/platforms/nuttx/src/bootloader/common/bl.h index 48a11cf4d8eb..080bc47e0f33 100644 --- a/platforms/nuttx/src/bootloader/common/bl.h +++ b/platforms/nuttx/src/bootloader/common/bl.h @@ -39,6 +39,8 @@ #pragma once +#include + /***************************************************************************** * Generic bootloader functions. */ @@ -94,6 +96,7 @@ extern int buf_get(void); #endif #define MAX_DES_LENGTH 20 +#define MAX_VERSION_LENGTH 32 #define arraySize(a) (sizeof((a))/sizeof(((a)[0]))) extern void led_on(unsigned led); @@ -105,7 +108,7 @@ extern void board_deinit(void); extern uint32_t board_get_devices(void); extern void clock_deinit(void); extern uint32_t flash_func_sector_size(unsigned sector); -extern void flash_func_erase_sector(unsigned sector); +extern void flash_func_erase_sector(unsigned sector, bool force); extern void flash_func_write_word(uintptr_t address, uint32_t word); extern uint32_t flash_func_read_word(uintptr_t address); extern uint32_t flash_func_read_otp(uintptr_t address); @@ -121,6 +124,8 @@ extern uint32_t get_mcu_id(void); int get_mcu_desc(int max, uint8_t *revstr); extern int check_silicon(void); +int get_version(int max, uint8_t *version_str); + /***************************************************************************** * Interface in/output. */ @@ -129,3 +134,8 @@ extern void cinit(void *config, uint8_t interface); extern void cfini(void); extern int cin(uint32_t devices); extern void cout(uint8_t *buf, unsigned len); + +#if !defined(APP_VECTOR_OFFSET) +# define APP_VECTOR_OFFSET 0 +#endif +#define APP_VECTOR_OFFSET_WORDS (APP_VECTOR_OFFSET/sizeof(uint32_t)) diff --git a/platforms/nuttx/src/bootloader/common/lib/flash_cache.c b/platforms/nuttx/src/bootloader/common/lib/flash_cache.c index b6e06a79280b..6448f20c5162 100644 --- a/platforms/nuttx/src/bootloader/common/lib/flash_cache.c +++ b/platforms/nuttx/src/bootloader/common/lib/flash_cache.c @@ -32,10 +32,13 @@ ****************************************************************************/ #include + #include "flash_cache.h" #include "hw_config.h" +#include "bl.h" + #include extern ssize_t arch_flash_write(uintptr_t address, const void *buffer, size_t buflen); @@ -54,7 +57,7 @@ inline void fc_reset(void) fcl_reset(&flash_cache[w]); } - flash_cache[0].start_address = APP_LOAD_ADDRESS; + flash_cache[0].start_address = APP_LOAD_ADDRESS + APP_VECTOR_OFFSET; } static inline flash_cache_line_t *fc_line_select(uintptr_t address) @@ -104,7 +107,7 @@ int fc_write(uintptr_t address, uint32_t word) // Are we back writing the first word? - if (fc == &flash_cache[0] && index == 0 && fc->index == 7) { + if (fc == &flash_cache[0] && index == 0 && fc->index == FC_LAST_WORD) { if (fc_is_dirty(fc1)) { diff --git a/platforms/nuttx/src/bootloader/common/lib/flash_cache.h b/platforms/nuttx/src/bootloader/common/lib/flash_cache.h index db5a1bd5ad88..b37b5233db10 100644 --- a/platforms/nuttx/src/bootloader/common/lib/flash_cache.h +++ b/platforms/nuttx/src/bootloader/common/lib/flash_cache.h @@ -46,10 +46,15 @@ * *writes to the first 8 words of flash at APP_LOAD_ADDRESS * are buffered until the "first word" is written with the real value (not 0xffffffff) * + * On a imxrt the ROM API supports 256 byte writes. */ -#define FC_NUMBER_LINES 2 // Number of cache lines. +#if defined(CONFIG_ARCH_CHIP_IMXRT) +#define FC_NUMBER_WORDS 64 // Number of words per page +#else #define FC_NUMBER_WORDS 8 // Number of words per cache line. +#endif +#define FC_NUMBER_LINES 2 // Number of cache lines. #define FC_LAST_WORD FC_NUMBER_WORDS-1 // The index of the last word in cache line. #define FC_ADDRESS_MASK ~(sizeof(flash_cache[0].words)-1) // Cache tag from address #define FC_ADDR2INDX(a) (((a) / sizeof(flash_cache[0].words[0])) % FC_NUMBER_WORDS) // index from address diff --git a/platforms/nuttx/src/bootloader/nxp/CMakeLists.txt b/platforms/nuttx/src/bootloader/nxp/CMakeLists.txt new file mode 100644 index 000000000000..c15b64b930c2 --- /dev/null +++ b/platforms/nuttx/src/bootloader/nxp/CMakeLists.txt @@ -0,0 +1,34 @@ +############################################################################ +# +# Copyright (c) 2023 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +add_subdirectory(${PX4_CHIP}) diff --git a/platforms/nuttx/src/bootloader/nxp/imxrt_common/CMakeLists.txt b/platforms/nuttx/src/bootloader/nxp/imxrt_common/CMakeLists.txt new file mode 100644 index 000000000000..3367643985c5 --- /dev/null +++ b/platforms/nuttx/src/bootloader/nxp/imxrt_common/CMakeLists.txt @@ -0,0 +1,43 @@ +############################################################################ +# +# Copyright (c) 2023 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +px4_add_library(arch_bootloader + main.c + systick.c +) + +target_link_libraries(arch_bootloader + PRIVATE + bootloader_lib + nuttx_arch +) diff --git a/platforms/nuttx/src/bootloader/nxp/imxrt_common/main.c b/platforms/nuttx/src/bootloader/nxp/imxrt_common/main.c new file mode 100644 index 000000000000..dcdc50a91168 --- /dev/null +++ b/platforms/nuttx/src/bootloader/nxp/imxrt_common/main.c @@ -0,0 +1,815 @@ +/* + * imxrt board support for the bootloader. + * + */ + +#include +#include + +#include "hw_config.h" +#include +#include +#include +#include +#include +#include +#include "imxrt_clockconfig.h" + +#include +#include +#include +#include + +#include "bl.h" +#include "uart.h" +#include "arm_internal.h" + +#define MK_GPIO_INPUT(def) (((def) & (GPIO_PORT_MASK | GPIO_PIN_MASK | GPIO_MODE_MASK)) | (GPIO_INPUT)) + +#define BOOTLOADER_RESERVATION_SIZE (128 * 1024) + +#define APP_SIZE_MAX (BOARD_FLASH_SIZE - (BOOTLOADER_RESERVATION_SIZE + APP_RESERVATION_SIZE)) + +#define CHIP_TAG "i.MX RT11?0,r??" +#define CHIP_TAG_LEN sizeof(CHIP_TAG)-1 + +#define SI_REV(n) ((n & 0x7000000) >> 24) +#define DIFPROG_TYPE(n) ((n & 0xF000) >> 12) +#define DIFPROG_REV_MAJOR(n) ((n & 0xF0) >> 4) +#define DIFPROG_REV_MINOR(n) ((n & 0xF)) + + +/* context passed to cinit */ +#if INTERFACE_USART +# define BOARD_INTERFACE_CONFIG_USART INTERFACE_USART_CONFIG +#endif +#if INTERFACE_USB +# define BOARD_INTERFACE_CONFIG_USB INTERFACE_USB_CONFIG +#endif + +/* board definition */ +struct boardinfo board_info = { + .board_type = BOARD_TYPE, + .board_rev = 0, + .fw_size = 0, + .systick_mhz = 480, +}; + +static void board_init(void); + +#define BOOT_RTC_SIGNATURE 0xb007b007 +#define PX4_IMXRT_RTC_REBOOT_REG IMXRT_SNVS_LPGPR3 + +/* State of an inserted USB cable */ +static bool usb_connected = false; + +static uint32_t board_get_rtc_signature(void) +{ + uint32_t result = getreg32(PX4_IMXRT_RTC_REBOOT_REG); + + return result; +} + +static void +board_set_rtc_signature(uint32_t sig) +{ + modifyreg32(IMXRT_SNVS_LPCR, 0, SNVS_LPCR_GPR_Z_DIS); + + putreg32(sig, PX4_IMXRT_RTC_REBOOT_REG); + +} + +static bool board_test_force_pin(void) +{ +#if defined(BOARD_FORCE_BL_PIN_IN) && defined(BOARD_FORCE_BL_PIN_OUT) + /* two pins strapped together */ + volatile unsigned samples = 0; + volatile unsigned vote = 0; + + for (volatile unsigned cycles = 0; cycles < 10; cycles++) { + px4_arch_gpiowrite(BOARD_FORCE_BL_PIN_OUT, 1); + + for (unsigned count = 0; count < 20; count++) { + if (px4_arch_gpioread(BOARD_FORCE_BL_PIN_IN) != 0) { + vote++; + } + + samples++; + } + + px4_arch_gpiowrite(BOARD_FORCE_BL_PIN_OUT, 0); + + for (unsigned count = 0; count < 20; count++) { + if (px4_arch_gpioread(BOARD_FORCE_BL_PIN_IN) == 0) { + vote++; + } + + samples++; + } + } + + /* the idea here is to reject wire-to-wire coupling, so require > 90% agreement */ + if ((vote * 100) > (samples * 90)) { + return true; + } + +#endif +#if defined(BOARD_FORCE_BL_PIN) + /* single pin pulled up or down */ + volatile unsigned samples = 0; + volatile unsigned vote = 0; + + for (samples = 0; samples < 200; samples++) { + if ((px4_arch_gpioread(BOARD_FORCE_BL_PIN) ? 1 : 0) == BOARD_FORCE_BL_STATE) { + vote++; + } + } + + /* reject a little noise */ + if ((vote * 100) > (samples * 90)) { + return true; + } + +#endif + return false; +} + +#if INTERFACE_USART +static bool board_test_usart_receiving_break(void) +{ +#if !defined(SERIAL_BREAK_DETECT_DISABLED) + /* (re)start the SysTick timer system */ + systick_interrupt_disable(); // Kill the interrupt if it is still active + systick_counter_disable(); // Stop the timer + systick_set_clocksource(CLKSOURCE_PROCESOR); + + /* Set the timer period to be half the bit rate + * + * Baud rate = 115200, therefore bit period = 8.68us + * Half the bit rate = 4.34us + * Set period to 4.34 microseconds (timer_period = timer_tick / timer_reset_frequency = 168MHz / (1/4.34us) = 729.12 ~= 729) + */ + systick_set_reload(729); /* 4.3us tick, magic number */ + systick_counter_enable(); // Start the timer + + uint8_t cnt_consecutive_low = 0; + uint8_t cnt = 0; + + /* Loop for 3 transmission byte cycles and count the low and high bits. Sampled at a rate to be able to count each bit twice. + * + * One transmission byte is 10 bits (8 bytes of data + 1 start bit + 1 stop bit) + * We sample at every half bit time, therefore 20 samples per transmission byte, + * therefore 60 samples for 3 transmission bytes + */ + while (cnt < 60) { + // Only read pin when SysTick timer is true + if (systick_get_countflag() == 1) { + if (gpio_get(BOARD_PORT_USART_RX, BOARD_PIN_RX) == 0) { + cnt_consecutive_low++; // Increment the consecutive low counter + + } else { + cnt_consecutive_low = 0; // Reset the consecutive low counter + } + + cnt++; + } + + // If 9 consecutive low bits were received break out of the loop + if (cnt_consecutive_low >= 18) { + break; + } + + } + + systick_counter_disable(); // Stop the timer + + /* + * If a break is detected, return true, else false + * + * Break is detected if line was low for 9 consecutive bits. + */ + if (cnt_consecutive_low >= 18) { + return true; + } + +#endif // !defined(SERIAL_BREAK_DETECT_DISABLED) + + return false; +} +#endif + +uint32_t +board_get_devices(void) +{ + uint32_t devices = BOOT_DEVICES_SELECTION; + + if (usb_connected) { + devices &= BOOT_DEVICES_FILTER_ONUSB; + } + + return devices; +} + +static void +board_init(void) +{ + /* fix up the max firmware size, we have to read memory to get this */ + board_info.fw_size = APP_SIZE_MAX; + +#if defined(BOARD_POWER_PIN_OUT) + /* Configure the Power pins */ + px4_arch_configgpio(BOARD_POWER_PIN_OUT); + px4_arch_gpiowrite(BOARD_POWER_PIN_OUT, BOARD_POWER_ON); +#endif + +#if INTERFACE_USB +#endif + +#if INTERFACE_USART +#endif + +#if defined(BOARD_FORCE_BL_PIN_IN) && defined(BOARD_FORCE_BL_PIN_OUT) + /* configure the force BL pins */ + px4_arch_configgpio(BOARD_FORCE_BL_PIN_IN); + px4_arch_configgpio(BOARD_FORCE_BL_PIN_OUT); +#endif + +#if defined(BOARD_FORCE_BL_PIN) + /* configure the force BL pins */ + px4_arch_configgpio(BOARD_FORCE_BL_PIN); +#endif + +#if defined(BOARD_PIN_LED_ACTIVITY) + /* Initialize LEDs */ + px4_arch_configgpio(BOARD_PIN_LED_ACTIVITY); +#endif +#if defined(BOARD_PIN_LED_BOOTLOADER) + /* Initialize LEDs */ + px4_arch_configgpio(BOARD_PIN_LED_BOOTLOADER); +#endif +} + +void +board_deinit(void) +{ + +#if INTERFACE_USART +#endif + +#if INTERFACE_USB +#endif + +#if defined(BOARD_FORCE_BL_PIN_IN) && defined(BOARD_FORCE_BL_PIN_OUT) + /* deinitialise the force BL pins */ + px4_arch_configgpio(MK_GPIO_INPUT(BOARD_FORCE_BL_PIN_IN)); + px4_arch_configgpio(MK_GPIO_INPUT(BOARD_FORCE_BL_PIN_OUT)); +#endif + +#if defined(BOARD_FORCE_BL_PIN) + /* deinitialise the force BL pin */ + px4_arch_configgpio(MK_GPIO_INPUT(BOARD_FORCE_BL_PIN)); +#endif + +#if defined(BOARD_POWER_PIN_OUT) && defined(BOARD_POWER_PIN_RELEASE) + /* deinitialize the POWER pin - with the assumption the hold up time of + * the voltage being bleed off by an inupt pin impedance will allow + * enough time to boot the app + */ + px4_arch_configgpio(MK_GPIO_INPUT(BOARD_POWER_PIN_OUT)); +#endif + +#if defined(BOARD_PIN_LED_ACTIVITY) + /* Initialize LEDs */ + px4_arch_configgpio(MK_GPIO_INPUT(BOARD_PIN_LED_ACTIVITY)); +#endif +#if defined(BOARD_PIN_LED_BOOTLOADER) + /* Initialize LEDs */ + px4_arch_configgpio(MK_GPIO_INPUT(BOARD_PIN_LED_BOOTLOADER)); +#endif + + const uint32_t dnfw[] = { + CCM_CR_M7, + CCM_CR_BUS, + CCM_CR_BUS_LPSR, + CCM_CR_SEMC, + CCM_CR_CSSYS, + CCM_CR_CSTRACE, + CCM_CR_FLEXSPI1, + CCM_CR_FLEXSPI2 + }; + + for (unsigned int i = 0; i < IMXRT_CCM_CR_COUNT; i++) { + bool ok = true; + + for (unsigned int d = 0; ok && d < arraySize(dnfw); d++) { + ok = dnfw[d] != i; + } + + if (ok) { + putreg32(CCM_CR_CTRL_OFF, IMXRT_CCM_CR_CTRL(i)); + } + } +} + +inline void arch_systic_init(void) +{ + // Done in NuttX +} + +inline void arch_systic_deinit(void) +{ + /* kill the systick interrupt */ + irq_attach(IMXRT_IRQ_SYSTICK, NULL, NULL); + modifyreg32(NVIC_SYSTICK_CTRL, NVIC_SYSTICK_CTRL_CLKSOURCE, 0); +} + +/** + * @brief Initializes the RCC clock configuration. + * + * @param clock_setup : The clock configuration to set + */ +static inline void +clock_init(void) +{ + // Done by Nuttx +} + +/** + * @brief Resets the RCC clock configuration to the default reset state. + * @note The default reset state of the clock configuration is given below: + * @note This function doesn't modify the configuration of the + */ +void +clock_deinit(void) +{ +} + +void arch_flash_lock(void) +{ +} + +void arch_flash_unlock(void) +{ + fc_reset(); +} + +ssize_t arch_flash_write(uintptr_t address, const void *buffer, size_t buflen) +{ + struct flexspi_nor_config_s *pConfig = &g_bootConfig; + irqstate_t flags = enter_critical_section(); + + static volatile int j = 0; + j++; + + if (j == 6) { + j++; + } + + uintptr_t offset = ((uintptr_t) address) - IMXRT_FLEXSPI1_CIPHER_BASE; + + volatile uint32_t status = ROM_FLEXSPI_NorFlash_ProgramPage(1, pConfig, offset, (const uint32_t *)buffer); + up_invalidate_dcache((uintptr_t)address, + (uintptr_t)address + buflen); + + + leave_critical_section(flags); + + if (status == 100) { + return buflen; + } + + return 0; +} + +inline void arch_setvtor(const uint32_t *address) +{ + putreg32((uint32_t)address, NVIC_VECTAB); +} + +uint32_t +flash_func_sector_size(unsigned sector) +{ + if (sector <= BOARD_FLASH_SECTORS) { + return 4 * 1024; + } + + return 0; +} + +/* imxRT uses Flash lib, not up_progmem so let's stub it here */ +ssize_t up_progmem_ispageerased(unsigned sector) +{ + const uint32_t bytes_per_sector = flash_func_sector_size(sector); + uint32_t *address = (uint32_t *)(IMXRT_FLEXSPI1_CIPHER_BASE + (sector * bytes_per_sector)); + const uint32_t uint32_per_sector = bytes_per_sector / sizeof(*address); + + int blank = 0; /* Assume it is Bank */ + + for (uint32_t i = 0; i < uint32_per_sector; i++) { + if (address[i] != 0xffffffff) { + blank = -1; /* It is not blank */ + break; + } + } + + return blank; +} + +/*! + * @name Configuration Option + * @{ + */ +/*! @brief Serial NOR Configuration Option. */ + + +/*@} + * */ +locate_code(".ramfunc") +void +flash_func_erase_sector(unsigned sector, bool force) +{ + if (sector > BOARD_FLASH_SECTORS || (int)sector < BOARD_FIRST_FLASH_SECTOR_TO_ERASE) { + return; + } + + if (force || up_progmem_ispageerased(sector) != 0) { + + struct flexspi_nor_config_s *pConfig = &g_bootConfig; + + const uint32_t bytes_per_sector = flash_func_sector_size(sector); + uint32_t *address = (uint32_t *)(IMXRT_FLEXSPI1_CIPHER_BASE + (sector * bytes_per_sector)); + + uintptr_t offset = ((uintptr_t) address) - IMXRT_FLEXSPI1_CIPHER_BASE; + irqstate_t flags; + flags = enter_critical_section(); + volatile uint32_t status = ROM_FLEXSPI_NorFlash_Erase(1, pConfig, (uintptr_t) offset, bytes_per_sector); + leave_critical_section(flags); + UNUSED(status); + } +} + +void +flash_func_write_word(uintptr_t address, uint32_t word) +{ + address += APP_LOAD_ADDRESS; + fc_write(address, word); +} + +uint32_t flash_func_read_word(uintptr_t address) +{ + + if (address & 3) { + return 0; + } + + return fc_read(address + APP_LOAD_ADDRESS); + +} + + +uint32_t +flash_func_read_otp(uintptr_t address) +{ + return 0; +} + +uint32_t get_mcu_id(void) +{ + // ??? is DEBUGMCU get able + return *(uint32_t *) IMXRT_ANADIG_MISC_MISC_DIFPROG; +} + +int get_mcu_desc(int max, uint8_t *revstr) +{ + uint32_t info = getreg32(IMXRT_ANADIG_MISC_MISC_DIFPROG); + // CHIP_TAG "i.MX RT11?0,r??" + static uint8_t chip[sizeof(CHIP_TAG) + 1] = CHIP_TAG; + chip[CHIP_TAG_LEN - 6] = '0' + DIFPROG_TYPE(info); + chip[CHIP_TAG_LEN - 2] = 'A' + (DIFPROG_REV_MAJOR(info) - 10); + chip[CHIP_TAG_LEN - 1] = '0' + DIFPROG_REV_MINOR(info); + + uint8_t *endp = &revstr[max - 1]; + uint8_t *strp = revstr; + uint8_t *des = chip; + + while (strp < endp && *des) { + *strp++ = *des++; + } + + return strp - revstr; +} + + +int check_silicon(void) +{ + return 0; +} + +uint32_t +flash_func_read_sn(uintptr_t address) +{ + // Bootload has to uses 12 byte ID (3 Words) + // but this IC has only 2 words + // Address will be 0 4 8 - 3 words + // so dummy up the last word.... + if (address > 4) { + return 0x31313630; + } + + return *(uint32_t *)((address * 4) + IMXRT_OCOTP_UNIQUE_ID_MSB); +} + +void +led_on(unsigned led) +{ + switch (led) { + case LED_ACTIVITY: +#if defined(BOARD_PIN_LED_ACTIVITY) + px4_arch_gpiowrite(BOARD_PIN_LED_ACTIVITY, BOARD_LED_ON); +#endif + break; + + case LED_BOOTLOADER: +#if defined(BOARD_PIN_LED_BOOTLOADER) + px4_arch_gpiowrite(BOARD_PIN_LED_BOOTLOADER, BOARD_LED_ON); +#endif + break; + } +} + +void +led_off(unsigned led) +{ + switch (led) { + case LED_ACTIVITY: +#if defined(BOARD_PIN_LED_ACTIVITY) + px4_arch_gpiowrite(BOARD_PIN_LED_ACTIVITY, BOARD_LED_OFF); +#endif + break; + + case LED_BOOTLOADER: +#if defined(BOARD_PIN_LED_BOOTLOADER) + px4_arch_gpiowrite(BOARD_PIN_LED_BOOTLOADER, BOARD_LED_OFF); +#endif + break; + } +} + +void +led_toggle(unsigned led) +{ + switch (led) { + case LED_ACTIVITY: +#if defined(BOARD_PIN_LED_ACTIVITY) + px4_arch_gpiowrite(BOARD_PIN_LED_ACTIVITY, px4_arch_gpioread(BOARD_PIN_LED_ACTIVITY) ^ 1); +#endif + break; + + case LED_BOOTLOADER: +#if defined(BOARD_PIN_LED_BOOTLOADER) + px4_arch_gpiowrite(BOARD_PIN_LED_BOOTLOADER, px4_arch_gpioread(BOARD_PIN_LED_BOOTLOADER) ^ 1); +#endif + break; + } +} + +/* we should know this, but we don't */ +#ifndef SCB_CPACR +# define SCB_CPACR (*((volatile uint32_t *) (((0xE000E000UL) + 0x0D00UL) + 0x088))) +#endif + +/* Make the actual jump to app */ +void +arch_do_jump(const uint32_t *app_base) +{ + /* The MPU configuration after booting has ITCM set to MPU_RASR_AP_RORO + * We add this overlaping region to allow the Application to copy code into + * the ITCM when it is booted. With CONFIG_ARM_MPU_RESET defined. The mpu + * init will clear any added regions (after the copy) + */ + + mpu_configure_region(IMXRT_ITCM_BASE, 256 * 1024, + /* Instruction access Enabled */ + MPU_RASR_AP_RWRW | /* P:RW U:RW */ + MPU_RASR_TEX_NOR /* Normal */ + /* Not Cacheable */ + /* Not Bufferable */ + /* Not Shareable */ + /* No Subregion disable */ + ); + + /* extract the stack and entrypoint from the app vector table and go */ + uint32_t stacktop = app_base[APP_VECTOR_OFFSET_WORDS]; + uint32_t entrypoint = app_base[APP_VECTOR_OFFSET_WORDS + 1]; + + asm volatile( + "msr msp, %0 \n" + "bx %1 \n" + : : "r"(stacktop), "r"(entrypoint) :); + + // just to keep noreturn happy + for (;;) ; +} + +int +bootloader_main(void) +{ + bool try_boot = true; /* try booting before we drop to the bootloader */ + unsigned timeout = BOOTLOADER_DELAY; /* if nonzero, drop out of the bootloader after this time */ + + /* Enable the FPU before we hit any FP instructions */ + SCB_CPACR |= ((3UL << 10 * 2) | (3UL << 11 * 2)); /* set CP10 Full Access and set CP11 Full Access */ + +#if defined(BOARD_POWER_PIN_OUT) + + /* Here we check for the app setting the POWER_DOWN_RTC_SIGNATURE + * in this case, we reset the signature and wait to die + */ + if (board_get_rtc_signature() == POWER_DOWN_RTC_SIGNATURE) { + board_set_rtc_signature(0); + + while (1); + } + +#endif + + /* do board-specific initialisation */ + board_init(); + + /* configure the clock for bootloader activity */ + clock_init(); + + /* + * Check the force-bootloader register; if we find the signature there, don't + * try booting. + */ + if (board_get_rtc_signature() == BOOT_RTC_SIGNATURE) { + + /* + * Don't even try to boot before dropping to the bootloader. + */ + try_boot = false; + + /* + * Don't drop out of the bootloader until something has been uploaded. + */ + timeout = 0; + + /* + * Clear the signature so that if someone resets us while we're + * in the bootloader we'll try to boot next time. + */ + board_set_rtc_signature(0); + } + +#ifdef BOOT_DELAY_ADDRESS + { + /* + if a boot delay signature is present then delay the boot + by at least that amount of time in seconds. This allows + for an opportunity for a companion computer to load a + new firmware, while still booting fast by sending a BOOT + command + */ + uint32_t sig1 = flash_func_read_word(BOOT_DELAY_ADDRESS); + uint32_t sig2 = flash_func_read_word(BOOT_DELAY_ADDRESS + 4); + + if (sig2 == BOOT_DELAY_SIGNATURE2 && + (sig1 & 0xFFFFFF00) == (BOOT_DELAY_SIGNATURE1 & 0xFFFFFF00)) { + unsigned boot_delay = sig1 & 0xFF; + + if (boot_delay <= BOOT_DELAY_MAX) { + try_boot = false; + + if (timeout < boot_delay * 1000) { + timeout = boot_delay * 1000; + } + } + } + } +#endif + + /* + * Check if the force-bootloader pins are strapped; if strapped, + * don't try booting. + */ + if (board_test_force_pin()) { + try_boot = false; + } + +#if INTERFACE_USB + + /* + * Check for USB connection - if present, don't try to boot, but set a timeout after + * which we will fall out of the bootloader. + * + * If the force-bootloader pins are tied, we will stay here until they are removed and + * we then time out. + */ + /************************************************************************************ + * Name: board_read_VBUS_state + * + * Description: + * All boards must provide a way to read the state of VBUS, this my be simple + * digital input on a GPIO. Or something more complicated like a Analong input + * or reading a bit from a USB controller register. + * + * Returns - 0 if connected. + * + ************************************************************************************/ +#undef IMXRT_USB_ANALOG_USB1_VBUS_DETECT_STAT +#define USB1_VBUS_DET_STAT_OFFSET 0xd0 +#define IMXRT_USB_ANALOG_USB1_VBUS_DETECT_STAT (IMXRT_USBPHY1_BASE + USB1_VBUS_DET_STAT_OFFSET) + + if ((getreg32(IMXRT_USB_ANALOG_USB1_VBUS_DETECT_STAT) & USB_ANALOG_USB_VBUS_DETECT_STAT_VBUS_3V_VALID) != 0) { + usb_connected = true; + /* don't try booting before we set up the bootloader */ + try_boot = false; + } + +#endif + +#if INTERFACE_USART + + /* + * Check for if the USART port RX line is receiving a break command, or is being held low. If yes, + * don't try to boot, but set a timeout after + * which we will fall out of the bootloader. + * + * If the force-bootloader pins are tied, we will stay here until they are removed and + * we then time out. + */ + if (board_test_usart_receiving_break()) { + try_boot = false; + } + +#endif + + /* Try to boot the app if we think we should just go straight there */ + if (try_boot) { + + /* set the boot-to-bootloader flag so that if boot fails on reset we will stop here */ +#ifdef BOARD_BOOT_FAIL_DETECT + board_set_rtc_signature(BOOT_RTC_SIGNATURE); +#endif + + /* try to boot immediately */ + jump_to_app(); + + // If it failed to boot, reset the boot signature and stay in bootloader + board_set_rtc_signature(BOOT_RTC_SIGNATURE); + + /* booting failed, stay in the bootloader forever */ + timeout = 0; + } + + + /* start the interface */ +#if INTERFACE_USART + cinit(BOARD_INTERFACE_CONFIG_USART, USART); +#endif +#if INTERFACE_USB + cinit(BOARD_INTERFACE_CONFIG_USB, USB); +#endif + + +#if 0 + // MCO1/02 + gpio_mode_setup(GPIOA, GPIO_MODE_AF, GPIO_PUPD_NONE, GPIO8); + gpio_set_output_options(GPIOA, GPIO_OTYPE_PP, GPIO_OSPEED_100MHZ, GPIO8); + gpio_set_af(GPIOA, GPIO_AF0, GPIO8); + gpio_mode_setup(GPIOC, GPIO_MODE_AF, GPIO_PUPD_NONE, GPIO9); + gpio_set_af(GPIOC, GPIO_AF0, GPIO9); +#endif + + + while (1) { + /* run the bootloader, come back after an app is uploaded or we time out */ + bootloader(timeout); + + /* if the force-bootloader pins are strapped, just loop back */ + if (board_test_force_pin()) { + continue; + } + +#if INTERFACE_USART + + /* if the USART port RX line is still receiving a break, just loop back */ + if (board_test_usart_receiving_break()) { + continue; + } + +#endif + + /* set the boot-to-bootloader flag so that if boot fails on reset we will stop here */ +#ifdef BOARD_BOOT_FAIL_DETECT + board_set_rtc_signature(BOOT_RTC_SIGNATURE); +#endif + + /* look to see if we can boot the app */ + jump_to_app(); + + /* launching the app failed - stay in the bootloader forever */ + timeout = 0; + } +} diff --git a/platforms/nuttx/src/bootloader/nxp/imxrt_common/systick.c b/platforms/nuttx/src/bootloader/nxp/imxrt_common/systick.c new file mode 100644 index 000000000000..ebc83c400dcd --- /dev/null +++ b/platforms/nuttx/src/bootloader/nxp/imxrt_common/systick.c @@ -0,0 +1,76 @@ +/**************************************************************************** + * + * Copyright (c) 2019 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include "arm_internal.h" +#include "lib/systick.h" +#include + +uint8_t systick_get_countflag(void) +{ + return (getreg32(NVIC_SYSTICK_CTRL) & NVIC_SYSTICK_CTRL_COUNTFLAG) ? 1 : 0; +} + +// See 2.2.3 SysTick external clock is not HCLK/8 +uint32_t g_divisor = 1; +void systick_set_reload(uint32_t value) +{ + putreg32((((value * g_divisor) << NVIC_SYSTICK_RELOAD_SHIFT) & NVIC_SYSTICK_RELOAD_MASK), NVIC_SYSTICK_RELOAD); +} + + +void systick_set_clocksource(uint8_t clocksource) +{ + g_divisor = (clocksource == CLKSOURCE_EXTERNAL) ? 8 : 1; + modifyreg32(NVIC_SYSTICK_CTRL, NVIC_SYSTICK_CTRL_CLKSOURCE, clocksource & NVIC_SYSTICK_CTRL_CLKSOURCE); +} + +void systick_counter_enable(void) +{ + modifyreg32(NVIC_SYSTICK_CTRL, 0, NVIC_SYSTICK_CTRL_ENABLE); +} + +void systick_counter_disable(void) +{ + modifyreg32(NVIC_SYSTICK_CTRL, NVIC_SYSTICK_CTRL_ENABLE, 0); + putreg32(0, NVIC_SYSTICK_CURRENT); +} + +void systick_interrupt_enable(void) +{ + modifyreg32(NVIC_SYSTICK_CTRL, 0, NVIC_SYSTICK_CTRL_TICKINT); +} + +void systick_interrupt_disable(void) +{ + modifyreg32(NVIC_SYSTICK_CTRL, NVIC_SYSTICK_CTRL_TICKINT, 0); +} diff --git a/platforms/nuttx/src/bootloader/nxp/rt117x/CMakeLists.txt b/platforms/nuttx/src/bootloader/nxp/rt117x/CMakeLists.txt new file mode 100644 index 000000000000..a1c9b593c950 --- /dev/null +++ b/platforms/nuttx/src/bootloader/nxp/rt117x/CMakeLists.txt @@ -0,0 +1,34 @@ +############################################################################ +# +# Copyright (c) 2023 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +add_subdirectory(../imxrt_common arch_bootloader) diff --git a/platforms/nuttx/src/bootloader/stm/stm32_common/main.c b/platforms/nuttx/src/bootloader/stm/stm32_common/main.c index 894834f078fa..cccfd41bea4c 100644 --- a/platforms/nuttx/src/bootloader/stm/stm32_common/main.c +++ b/platforms/nuttx/src/bootloader/stm/stm32_common/main.c @@ -71,6 +71,14 @@ const mcu_rev_t silicon_revs[] = { {MCU_REV_Z, 'Z'}, /* Revision Z */ }; +/* + * If APP_RESERVATION_SIZE is greater than 0 and + * FLASH_BASED_PARAMS is defined, throw a compile error + */ +#if defined(FLASH_BASED_PARAMS) && (APP_RESERVATION_SIZE <= 0) +# error "APP_RESERVATION_SIZE must be greater than 0 if FLASH_BASED_PARAMS is defined" +#endif + #define APP_SIZE_MAX (BOARD_FLASH_SIZE - (BOOTLOADER_RESERVATION_SIZE + APP_RESERVATION_SIZE)) @@ -458,18 +466,13 @@ flash_func_sector_size(unsigned sector) } void -flash_func_erase_sector(unsigned sector) +flash_func_erase_sector(unsigned sector, bool force) { if (sector > BOARD_FLASH_SECTORS || (int)sector < BOARD_FIRST_FLASH_SECTOR_TO_ERASE) { return; } - /* blank-check the sector */ - - bool blank = up_progmem_ispageerased(sector) == 0; - - /* erase the sector if it failed the blank check */ - if (!blank) { + if (force || (up_progmem_ispageerased(sector) != 0)) { up_progmem_eraseblock(sector); } } diff --git a/platforms/nuttx/src/canbootloader/arch/nxp/s32k14x/board_identity.c b/platforms/nuttx/src/canbootloader/arch/nxp/s32k14x/board_identity.c index e0f6ec4a1ede..0361b7f18c99 100644 --- a/platforms/nuttx/src/canbootloader/arch/nxp/s32k14x/board_identity.c +++ b/platforms/nuttx/src/canbootloader/arch/nxp/s32k14x/board_identity.c @@ -54,7 +54,7 @@ int board_get_mfguid(mfguid_t mfgid) uint32_t *rv = (uint32_t *) &mfgid[0]; for (unsigned int i = 0; i < PX4_CPU_UUID_WORD32_LENGTH; i++) { - *rv++ = SWAP_UINT32(chip_uuid[(PX4_CPU_UUID_WORD32_LENGTH - 1) - i]); + *rv++ = SWAP_UINT32(chip_uuid[i]); } return PX4_CPU_MFGUID_BYTE_LENGTH; diff --git a/platforms/nuttx/src/canbootloader/arch/nxp/s32k14x/drivers/can/driver.c b/platforms/nuttx/src/canbootloader/arch/nxp/s32k14x/drivers/can/driver.c index cb60161b3b59..1f99f2d8f01b 100644 --- a/platforms/nuttx/src/canbootloader/arch/nxp/s32k14x/drivers/can/driver.c +++ b/platforms/nuttx/src/canbootloader/arch/nxp/s32k14x/drivers/can/driver.c @@ -289,9 +289,9 @@ int can_autobaud(can_speed_t *can_speed, bl_timer_id timeout) int rv = CAN_ERROR; while (rv == CAN_ERROR) { - for (can_speed_t speed = CAN_125KBAUD; rv == CAN_ERROR && speed <= CAN_1MBAUD; speed++) { + for (can_speed_t speed = CAN_1MBAUD; rv == CAN_ERROR && speed >= CAN_125KBAUD; speed--) { - can_init(speed, CAN_Mode_Silent); + can_init(speed, CAN_Mode_Normal); bl_timer_id baudtimer = timer_allocate(modeTimeout | modeStarted, 600, 0); diff --git a/platforms/nuttx/src/px4/CMakeLists.txt b/platforms/nuttx/src/px4/CMakeLists.txt index 929788b587e2..a693422af66a 100644 --- a/platforms/nuttx/src/px4/CMakeLists.txt +++ b/platforms/nuttx/src/px4/CMakeLists.txt @@ -32,6 +32,4 @@ ############################################################################ add_subdirectory(common) - add_subdirectory(${PX4_CHIP_MANUFACTURER}) - diff --git a/platforms/nuttx/src/px4/common/CMakeLists.txt b/platforms/nuttx/src/px4/common/CMakeLists.txt index ab16e77a0e30..c74810b03a88 100644 --- a/platforms/nuttx/src/px4/common/CMakeLists.txt +++ b/platforms/nuttx/src/px4/common/CMakeLists.txt @@ -38,7 +38,6 @@ if(NOT PX4_BOARD MATCHES "io-v2") board_crashdump.c board_dma_alloc.c board_fat_dma_alloc.c - cdc_acm_check.cpp console_buffer.cpp cpuload.cpp gpio.c diff --git a/platforms/nuttx/src/px4/common/SerialImpl.cpp b/platforms/nuttx/src/px4/common/SerialImpl.cpp new file mode 100644 index 000000000000..4264976f4471 --- /dev/null +++ b/platforms/nuttx/src/px4/common/SerialImpl.cpp @@ -0,0 +1,511 @@ +/**************************************************************************** + * + * Copyright (C) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include +#include // strncpy +#include +#include +#include +#include +#include +#include + +#define MODULE_NAME "SerialImpl" + +namespace device +{ + +SerialImpl::SerialImpl(const char *port, uint32_t baudrate, ByteSize bytesize, Parity parity, StopBits stopbits, + FlowControl flowcontrol) : + _baudrate(baudrate), + _bytesize(bytesize), + _parity(parity), + _stopbits(stopbits), + _flowcontrol(flowcontrol) +{ + if (validatePort(port)) { + setPort(port); + + } else { + _port[0] = 0; + } +} + +SerialImpl::~SerialImpl() +{ + if (isOpen()) { + close(); + } +} + +bool SerialImpl::configure() +{ + /* process baud rate */ + int speed; + + switch (_baudrate) { + case 0: + // special case, if baudrate is 0 it hangs entire system + PX4_ERR("baudrate not specified"); + return false; + + case 9600: speed = B9600; break; + + case 19200: speed = B19200; break; + + case 38400: speed = B38400; break; + + case 57600: speed = B57600; break; + + case 115200: speed = B115200; break; + + case 230400: speed = B230400; break; + +#ifndef B460800 +#define B460800 460800 +#endif + + case 460800: speed = B460800; break; + +#ifndef B500000 +#define B500000 500000 +#endif + + case 500000: speed = B500000; break; + +#ifndef B576000 +#define B576000 576000 +#endif + + case 576000: speed = B576000; break; + +#ifndef B921600 +#define B921600 921600 +#endif + + case 921600: speed = B921600; break; + +#ifndef B1000000 +#define B1000000 1000000 +#endif + + case 1000000: speed = B1000000; break; + +#ifndef B1500000 +#define B1500000 1500000 +#endif + + case 1500000: speed = B1500000; break; + + default: + speed = _baudrate; + PX4_WARN("Using non-standard baudrate: %lu", _baudrate); + break; + } + + struct termios uart_config; + + int termios_state; + + /* fill the struct for the new configuration */ + if ((termios_state = tcgetattr(_serial_fd, &uart_config)) < 0) { + PX4_ERR("ERR: %d (tcgetattr)", termios_state); + return false; + } + + /* properly configure the terminal (see also https://en.wikibooks.org/wiki/Serial_Programming/termios ) */ + + // + // Input flags - Turn off input processing + // + // convert break to null byte, no CR to NL translation, + // no NL to CR translation, don't mark parity errors or breaks + // no input parity check, don't strip high bit off, + // no XON/XOFF software flow control + // + uart_config.c_iflag &= ~(IGNBRK | BRKINT | ICRNL | + INLCR | PARMRK | INPCK | ISTRIP | IXON); + + // + // Output flags - Turn off output processing + // + // no CR to NL translation, no NL to CR-NL translation, + // no NL to CR translation, no column 0 CR suppression, + // no Ctrl-D suppression, no fill characters, no case mapping, + // no local output processing + // + // config.c_oflag &= ~(OCRNL | ONLCR | ONLRET | + // ONOCR | ONOEOT| OFILL | OLCUC | OPOST); + uart_config.c_oflag = 0; + + // + // No line processing + // + // echo off, echo newline off, canonical mode off, + // extended input processing off, signal chars off + // + uart_config.c_lflag &= ~(ECHO | ECHONL | ICANON | IEXTEN | ISIG); + + /* no parity, one stop bit, disable flow control */ + uart_config.c_cflag &= ~(CSTOPB | PARENB | CRTSCTS); + + /* set baud rate */ + if ((termios_state = cfsetispeed(&uart_config, speed)) < 0) { + PX4_ERR("ERR: %d (cfsetispeed)", termios_state); + return false; + } + + if ((termios_state = cfsetospeed(&uart_config, speed)) < 0) { + PX4_ERR("ERR: %d (cfsetospeed)", termios_state); + return false; + } + + if ((termios_state = tcsetattr(_serial_fd, TCSANOW, &uart_config)) < 0) { + PX4_ERR("ERR: %d (tcsetattr)", termios_state); + return false; + } + + return true; +} + +bool SerialImpl::open() +{ + if (isOpen()) { + return true; + } + + if (!validatePort(_port)) { + PX4_ERR("Invalid port %s", _port); + return false; + } + + // Open the serial port + int serial_fd = ::open(_port, O_RDWR | O_NOCTTY | O_NONBLOCK); + + if (serial_fd < 0) { + PX4_ERR("failed to open %s err: %d", _port, errno); + return false; + } + + _serial_fd = serial_fd; + + // Configure the serial port + if (! configure()) { + PX4_ERR("failed to configure %s err: %d", _port, errno); + return false; + } + + _open = true; + + // Do pin operations after port has been opened + if (_single_wire_mode) { + setSingleWireMode(); + } + + if (_swap_rx_tx_mode) { + setSwapRxTxMode(); + } + + setInvertedMode(_inverted_mode); + + return _open; +} + +bool SerialImpl::isOpen() const +{ + return _open; +} + +bool SerialImpl::close() +{ + + if (_serial_fd >= 0) { + ::close(_serial_fd); + } + + _serial_fd = -1; + _open = false; + + return true; +} + +ssize_t SerialImpl::read(uint8_t *buffer, size_t buffer_size) +{ + if (!_open) { + PX4_ERR("Cannot read from serial device until it has been opened"); + return -1; + } + + int ret = ::read(_serial_fd, buffer, buffer_size); + + if (ret < 0) { + PX4_DEBUG("%s read error %d", _port, ret); + } + + return ret; +} + +ssize_t SerialImpl::readAtLeast(uint8_t *buffer, size_t buffer_size, size_t character_count, uint32_t timeout_ms) +{ + if (!_open) { + PX4_ERR("Cannot readAtLeast from serial device until it has been opened"); + return -1; + } + + if (buffer_size < character_count) { + PX4_ERR("%s: Buffer not big enough to hold desired amount of read data", __FUNCTION__); + return -1; + } + + const hrt_abstime start_time_us = hrt_absolute_time(); + hrt_abstime timeout_us = timeout_ms * 1000; + int total_bytes_read = 0; + + while ((total_bytes_read < (int) character_count) && (hrt_elapsed_time(&start_time_us) < timeout_us)) { + // Poll for incoming UART data. + pollfd fds[1]; + fds[0].fd = _serial_fd; + fds[0].events = POLLIN; + + hrt_abstime elapsed_time_us = hrt_elapsed_time(&start_time_us); + + if (elapsed_time_us > timeout_us) { break; } + + int ret = poll(fds, sizeof(fds) / sizeof(fds[0]), (timeout_us - elapsed_time_us) / 1000); + + if (ret > 0) { + if (fds[0].revents & POLLIN) { + const unsigned sleeptime = character_count * 1000000 / (_baudrate / 10); + + int err = 0; + int bytes_available = 0; + err = ::ioctl(_serial_fd, FIONREAD, (unsigned long)&bytes_available); + + if (err != 0 || bytes_available < (int)character_count) { + px4_usleep(sleeptime); + } + + ret = read(&buffer[total_bytes_read], buffer_size - total_bytes_read); + + if (ret > 0) { + total_bytes_read += ret; + } + + } else { + PX4_ERR("Got a poll error"); + return -1; + } + } + } + + return total_bytes_read; +} + +ssize_t SerialImpl::write(const void *buffer, size_t buffer_size) +{ + if (!_open) { + PX4_ERR("Cannot write to serial device until it has been opened"); + return -1; + } + + int written = ::write(_serial_fd, buffer, buffer_size); + ::fsync(_serial_fd); + + if (written < 0) { + PX4_ERR("%s write error %d", _port, written); + } + + return written; +} + +void SerialImpl::flush() +{ + if (_open) { + tcflush(_serial_fd, TCIOFLUSH); + } +} + +const char *SerialImpl::getPort() const +{ + return _port; +} + +bool SerialImpl::validatePort(const char *port) +{ + return (port && (access(port, R_OK | W_OK) == 0)); +} + +bool SerialImpl::setPort(const char *port) +{ + if (_open) { + PX4_ERR("Cannot set port after port has already been opened"); + return false; + } + + if (validatePort(port)) { + strncpy(_port, port, sizeof(_port) - 1); + _port[sizeof(_port) - 1] = '\0'; + return true; + } + + return false; +} + +uint32_t SerialImpl::getBaudrate() const +{ + return _baudrate; +} + +bool SerialImpl::setBaudrate(uint32_t baudrate) +{ + // check if already configured + if ((baudrate == _baudrate) && _open) { + return true; + } + + _baudrate = baudrate; + + // process baud rate change now if port is already open + if (_open) { + return configure(); + } + + return true; +} + +ByteSize SerialImpl::getBytesize() const +{ + return _bytesize; +} + +bool SerialImpl::setBytesize(ByteSize bytesize) +{ + return bytesize == ByteSize::EightBits; +} + +Parity SerialImpl::getParity() const +{ + return _parity; +} + +bool SerialImpl::setParity(Parity parity) +{ + return parity == Parity::None; +} + +StopBits SerialImpl::getStopbits() const +{ + return _stopbits; +} + +bool SerialImpl::setStopbits(StopBits stopbits) +{ + return stopbits == StopBits::One; +} + +FlowControl SerialImpl::getFlowcontrol() const +{ + return _flowcontrol; +} + +bool SerialImpl::setFlowcontrol(FlowControl flowcontrol) +{ + return flowcontrol == FlowControl::Disabled; +} + +bool SerialImpl::getSingleWireMode() const +{ + return _single_wire_mode; +} + +bool SerialImpl::setSingleWireMode() +{ +#if defined(TIOCSSINGLEWIRE) + + if (_open) { + ioctl(_serial_fd, TIOCSSINGLEWIRE, SER_SINGLEWIRE_ENABLED); + } + + _single_wire_mode = true; + return true; +#else + return false; +#endif // TIOCSSINGLEWIRE +} + +bool SerialImpl::getSwapRxTxMode() const +{ + return _swap_rx_tx_mode; +} + +bool SerialImpl::setSwapRxTxMode() +{ +#if defined(TIOCSSWAP) + + if (_open) { + ioctl(_serial_fd, TIOCSSWAP, SER_SWAP_ENABLED); + } + + _swap_rx_tx_mode = true; + return true; +#else + return false; +#endif // TIOCSSWAP +} + +bool SerialImpl::getInvertedMode() const +{ + return _inverted_mode; +} + +bool SerialImpl::setInvertedMode(bool enable) +{ +#if defined(TIOCSINVERT) + + if (_open) { + if (enable) { + ioctl(_serial_fd, TIOCSINVERT, SER_INVERT_ENABLED_RX | SER_INVERT_ENABLED_TX); + + } else { + ioctl(_serial_fd, TIOCSINVERT, 0); + } + } + + _inverted_mode = enable; + return true; +#else + return _inverted_mode == enable; +#endif // TIOCSINVERT +} + +} // namespace device diff --git a/platforms/nuttx/src/px4/common/board_crashdump.c b/platforms/nuttx/src/px4/common/board_crashdump.c index 4a5f50f7cef7..aed584a7d65b 100644 --- a/platforms/nuttx/src/px4/common/board_crashdump.c +++ b/platforms/nuttx/src/px4/common/board_crashdump.c @@ -60,10 +60,15 @@ #include #endif -#ifdef HAS_BBSRAM -# define REBOOTS_COUNT 32000 -#elif defined(HAS_PROGMEM) +#ifdef HAS_SSARC +#include +#endif + + +#if defined(HAS_PROGMEM) # define REBOOTS_COUNT 32 +#else +# define REBOOTS_COUNT 32000 #endif int board_hardfault_init(int display_to_console, bool allow_prompt) @@ -94,9 +99,21 @@ int board_hardfault_init(int display_to_console, bool allow_prompt) progmem_dump_initialize(PROGMEM_PATH, filesizes); +#elif defined(HAS_SSARC) + + /* NB. the use of the console requires the hrt running + * to poll the DMA + */ + + /* Using progmem */ + + int filesizes[SSARC_DUMP_FILE_COUNT + 1] = SSARC_DUMP_FILE_SIZES; + + ssarc_dump_initialize(SSARC_DUMP_PATH, filesizes); + #endif // HAS_PROGMEM -#if defined(SAVE_CRASHDUMP) && (defined(HAS_BBSRAM) || defined(HAS_PROGMEM)) +#if defined(SAVE_CRASHDUMP) && (defined(HAS_BBSRAM) || defined(HAS_PROGMEM) || defined(HAS_SSARC)) /* Panic Logging in Battery Backed Up Files */ diff --git a/platforms/nuttx/src/px4/common/cdc_acm_check.cpp b/platforms/nuttx/src/px4/common/cdc_acm_check.cpp index d86556894d32..09c77710328a 100644 --- a/platforms/nuttx/src/px4/common/cdc_acm_check.cpp +++ b/platforms/nuttx/src/px4/common/cdc_acm_check.cpp @@ -187,7 +187,7 @@ static void mavlink_usb_check(void *arg) if (param1 == 1) { // 1: Reboot autopilot - px4_reboot_request(false, 0); + px4_reboot_request(REBOOT_REQUEST, 0); } else if (param1 == 2) { // 2: Shutdown autopilot @@ -197,7 +197,7 @@ static void mavlink_usb_check(void *arg) } else if (param1 == 3) { // 3: Reboot autopilot and keep it in the bootloader until upgraded. - px4_reboot_request(true, 0); + px4_reboot_request(REBOOT_TO_BOOTLOADER, 0); } } } diff --git a/platforms/nuttx/src/px4/common/gpio/mcp23009/CMakeLists.txt b/platforms/nuttx/src/px4/common/gpio/mcp23009/CMakeLists.txt index 8dc5414ad4aa..da6dac979f20 100644 --- a/platforms/nuttx/src/px4/common/gpio/mcp23009/CMakeLists.txt +++ b/platforms/nuttx/src/px4/common/gpio/mcp23009/CMakeLists.txt @@ -34,4 +34,3 @@ px4_add_library(platform_gpio_mcp23009 mcp23009.cpp ) target_link_libraries(platform_gpio_mcp23009 PRIVATE drivers__device) # device::I2C - diff --git a/platforms/nuttx/src/px4/common/gpio/mcp23009/mcp23009.cpp b/platforms/nuttx/src/px4/common/gpio/mcp23009/mcp23009.cpp index ede9c2c17219..63a60e54844d 100644 --- a/platforms/nuttx/src/px4/common/gpio/mcp23009/mcp23009.cpp +++ b/platforms/nuttx/src/px4/common/gpio/mcp23009/mcp23009.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2020 PX4 Development Team. All rights reserved. + * Copyright (c) 2023 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -31,182 +31,142 @@ * ****************************************************************************/ +#include #include -#include -#include "mcp23009_registers.hpp" - -using namespace Microchip_MCP23009; - -const struct gpio_operations_s MCP23009::gpio_ops = { -go_read : MCP23009::go_read, -go_write : MCP23009::go_write, -go_attach : nullptr, -go_enable : nullptr, -go_setpintype : MCP23009::go_setpintype, +#include +#include +#include +#include +#include +#include +#include + +static uint32_t DEVID{0}; +struct mcp23009_gpio_dev_s { + struct gpio_dev_s gpio; + uint8_t mask; }; -MCP23009::MCP23009(int bus, int address, int first_minor, int bus_frequency) : - I2C(DRV_GPIO_DEVTYPE_MCP23009, "MCP23009", bus, address, bus_frequency), - _first_minor(first_minor) +/* Copy the read input data */ +class ReadCallback : public uORB::SubscriptionCallback { -} +public: + using SubscriptionCallback::SubscriptionCallback; + + void call() override + { + px4::msg::GpioIn new_input; + + if (update(&new_input) && new_input.device_id == DEVID) { + input = new_input.state; + } -MCP23009::~MCP23009() -{ - /* set all as input & unregister */ - for (int i = 0; i < num_gpios; ++i) { - go_setpintype(i, GPIO_INPUT_PIN); - gpio_pin_unregister(&_gpio[i].gpio, _first_minor + i); } -} -int MCP23009::go_read(struct gpio_dev_s *dev, bool *value) -{ - mcp23009_gpio_dev_s *gpio = (struct mcp23009_gpio_dev_s *)dev; - return gpio->obj->go_read(gpio->id, value); -} + uint8_t input; +}; -int MCP23009::go_write(struct gpio_dev_s *dev, bool value) +static uORB::Publication toGpioRequest{ORB_ID(gpio_request)}; +static ReadCallback fromGpioIn{ORB_ID(gpio_in)}; +static int mcp23009_read(struct gpio_dev_s *dev, bool *value) { mcp23009_gpio_dev_s *gpio = (struct mcp23009_gpio_dev_s *)dev; - return gpio->obj->go_write(gpio->id, value); + *value = fromGpioIn.input & gpio->mask; + return OK; } -int MCP23009::go_setpintype(struct gpio_dev_s *dev, enum gpio_pintype_e pintype) +static uORB::Publication toGpioOut{ORB_ID(gpio_out)}; +static int mcp23009_write(struct gpio_dev_s *dev, bool value) { mcp23009_gpio_dev_s *gpio = (struct mcp23009_gpio_dev_s *)dev; - return gpio->obj->go_setpintype(gpio->id, pintype); -} - - -int MCP23009::read_reg(Register address, uint8_t &data) -{ - return transfer((uint8_t *)&address, 1, &data, 1); -} - -int MCP23009::write_reg(Register address, uint8_t value) -{ - uint8_t data[2] = {(uint8_t)address, value}; - return transfer(data, sizeof(data), nullptr, 0); + gpio_out_s msg{ + hrt_absolute_time(), + DEVID, + gpio->mask, // clear mask + value ? gpio->mask : 0u, // set mask + }; + return toGpioOut.publish(msg) ? OK : -ETIMEDOUT; } -int MCP23009::init(uint8_t direction, uint8_t intital, uint8_t pull_up) +static uORB::Publication toGpioConfig{ORB_ID(gpio_config)}; +static int mcp23009_setpintype(struct gpio_dev_s *dev, enum gpio_pintype_e pintype) { - /* do I2C init (and probe) first */ - int ret = I2C::init(); - - if (ret != PX4_OK) { - return ret; - } - - /* Use this state as the out puts */ + mcp23009_gpio_dev_s *gpio = (struct mcp23009_gpio_dev_s *)dev; + gpio_config_s msg{ + hrt_absolute_time(), + DEVID, + gpio->mask, + }; - ret = write_reg(Register::OLAT, intital); - ret |= write_reg(Register::IODIR, direction); - ret |= write_reg(Register::GPPU, pull_up); + switch (pintype) { + case GPIO_INPUT_PIN: + msg.config = gpio_config_s::INPUT; + break; - if (ret != PX4_OK) { - return ret; - } + case GPIO_INPUT_PIN_PULLUP: + msg.config = gpio_config_s::INPUT_PULLUP; + break; - /* register the pins */ - for (int i = 0; i < num_gpios; ++i) { - _gpio[i].gpio.gp_pintype = GPIO_INPUT_PIN; - _gpio[i].gpio.gp_ops = &gpio_ops; - _gpio[i].id = i; - _gpio[i].obj = this; - ret = gpio_pin_register(&_gpio[i].gpio, _first_minor + i); + case GPIO_OUTPUT_PIN: + msg.config = gpio_config_s::OUTPUT; + break; - if (ret != PX4_OK) { - return ret; - } + default: + return -ENOTSUP; } - return ret; + return toGpioConfig.publish(msg) ? OK : -ETIMEDOUT; } -int MCP23009::probe() -{ - // no whoami, try to read IOCON - uint8_t data; - return read_reg(Register::IOCON, data); -} -int MCP23009::go_read(int id, bool *value) -{ - uint8_t data; - int ret = read_reg(Register::GPIO, data); - - if (ret != 0) { - return ret; - } +// ---------------------------------------------------------------------------- +static const struct gpio_operations_s mcp23009_gpio_ops { + mcp23009_read, + mcp23009_write, + nullptr, + nullptr, + mcp23009_setpintype, +}; - *value = data & (1 << id); - return 0; -} +static constexpr uint8_t NUM_GPIOS = 8; +static mcp23009_gpio_dev_s _gpio[NUM_GPIOS] { + { {GPIO_INPUT_PIN, {}, &mcp23009_gpio_ops}, (1u << 0) }, + { {GPIO_INPUT_PIN, {}, &mcp23009_gpio_ops}, (1u << 1) }, + { {GPIO_INPUT_PIN, {}, &mcp23009_gpio_ops}, (1u << 2) }, + { {GPIO_INPUT_PIN, {}, &mcp23009_gpio_ops}, (1u << 3) }, + { {GPIO_INPUT_PIN, {}, &mcp23009_gpio_ops}, (1u << 4) }, + { {GPIO_INPUT_PIN, {}, &mcp23009_gpio_ops}, (1u << 5) }, + { {GPIO_INPUT_PIN, {}, &mcp23009_gpio_ops}, (1u << 6) }, + { {GPIO_INPUT_PIN, {}, &mcp23009_gpio_ops}, (1u << 7) } +}; -int MCP23009::go_write(int id, bool value) +// ---------------------------------------------------------------------------- +int mcp23009_register_gpios(uint8_t i2c_bus, uint8_t i2c_addr, int first_minor) { - uint8_t data; - int ret = read_reg(Register::GPIO, data); + const auto device_id = device::Device::DeviceId{ + device::Device::DeviceBusType_I2C, i2c_bus, i2c_addr, DRV_GPIO_DEVTYPE_MCP23009}; + DEVID = device_id.devid; - if (ret != 0) { - return ret; - } + for (int i = 0; i < NUM_GPIOS; ++i) { + int ret = gpio_pin_register(&_gpio[i].gpio, first_minor + i); - if (value) { - data |= (1 << id); - - } else { - data &= ~(1 << id); + if (ret != OK) { + return ret; + } } - return write_reg(Register::GPIO, data); + fromGpioIn.registerCallback(); + return OK; } -int MCP23009::go_setpintype(int id, enum gpio_pintype_e pintype) +int mcp23009_unregister_gpios(int first_minor) { - uint8_t direction; - int ret = read_reg(Register::IODIR, direction); - - if (ret != 0) { - return ret; - } - - uint8_t pullup; - ret = read_reg(Register::GPPU, pullup); - - if (ret != 0) { - return ret; - } - - switch (pintype) { - case GPIO_INPUT_PIN: - direction |= (1 << id); - pullup &= ~(1 << id); - break; - - case GPIO_INPUT_PIN_PULLUP: - direction |= (1 << id); - pullup |= (1 << id); - break; - - case GPIO_OUTPUT_PIN: - direction &= ~(1 << id); - break; - - default: - return -EINVAL; - } - - _gpio[id].gpio.gp_pintype = pintype; - - ret = write_reg(Register::GPPU, pullup); - - if (ret != 0) { - return ret; + for (int i = 0; i < NUM_GPIOS; ++i) { + mcp23009_setpintype(&_gpio[i].gpio, GPIO_INPUT_PIN); + gpio_pin_unregister(&_gpio[i].gpio, first_minor + i); } - return write_reg(Register::IODIR, direction); + fromGpioIn.unregisterCallback(); + return OK; } diff --git a/platforms/nuttx/src/px4/common/gpio/mcp23009/mcp23009_registers.hpp b/platforms/nuttx/src/px4/common/gpio/mcp23009/mcp23009_registers.hpp deleted file mode 100644 index 1e99a0ea036e..000000000000 --- a/platforms/nuttx/src/px4/common/gpio/mcp23009/mcp23009_registers.hpp +++ /dev/null @@ -1,68 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2020 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -#pragma once - -#include - -// TODO: move to a central header -static constexpr uint8_t Bit0 = (1 << 0); -static constexpr uint8_t Bit1 = (1 << 1); -static constexpr uint8_t Bit2 = (1 << 2); -static constexpr uint8_t Bit3 = (1 << 3); -static constexpr uint8_t Bit4 = (1 << 4); -static constexpr uint8_t Bit5 = (1 << 5); -static constexpr uint8_t Bit6 = (1 << 6); -static constexpr uint8_t Bit7 = (1 << 7); - -namespace Microchip_MCP23009 -{ - -enum class -Register : uint8_t { - - IODIR = 0x00, - IPOL = 0x01, - GPINTEN = 0x02, - DEFVAL = 0x03, - INTCON = 0x04, - IOCON = 0x05, - GPPU = 0x06, - INTF = 0x07, - INTCAP = 0x08, - GPIO = 0x09, - OLAT = 0x0a - -}; - -} // namespace Microchip_MCP23009 diff --git a/platforms/nuttx/src/px4/common/include/SerialImpl.hpp b/platforms/nuttx/src/px4/common/include/SerialImpl.hpp new file mode 100644 index 000000000000..543041bc978f --- /dev/null +++ b/platforms/nuttx/src/px4/common/include/SerialImpl.hpp @@ -0,0 +1,120 @@ +/**************************************************************************** + * + * Copyright (C) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#pragma once + +#include +#include + +#include + +using device::SerialConfig::ByteSize; +using device::SerialConfig::Parity; +using device::SerialConfig::StopBits; +using device::SerialConfig::FlowControl; + +namespace device +{ + +class SerialImpl +{ +public: + + SerialImpl(const char *port, uint32_t baudrate, ByteSize bytesize, Parity parity, StopBits stopbits, + FlowControl flowcontrol); + virtual ~SerialImpl(); + + bool open(); + bool isOpen() const; + + bool close(); + + ssize_t read(uint8_t *buffer, size_t buffer_size); + ssize_t readAtLeast(uint8_t *buffer, size_t buffer_size, size_t character_count = 1, uint32_t timeout_us = 0); + + ssize_t write(const void *buffer, size_t buffer_size); + + void flush(); + + const char *getPort() const; + static bool validatePort(const char *port); + bool setPort(const char *port); + + uint32_t getBaudrate() const; + bool setBaudrate(uint32_t baudrate); + + ByteSize getBytesize() const; + bool setBytesize(ByteSize bytesize); + + Parity getParity() const; + bool setParity(Parity parity); + + StopBits getStopbits() const; + bool setStopbits(StopBits stopbits); + + FlowControl getFlowcontrol() const; + bool setFlowcontrol(FlowControl flowcontrol); + + bool getSingleWireMode() const; + bool setSingleWireMode(); + + bool getSwapRxTxMode() const; + bool setSwapRxTxMode(); + + bool getInvertedMode() const; + bool setInvertedMode(bool enable); + +private: + + int _serial_fd{-1}; + + bool _open{false}; + + char _port[32] {}; + + uint32_t _baudrate{0}; + + ByteSize _bytesize{ByteSize::EightBits}; + Parity _parity{Parity::None}; + StopBits _stopbits{StopBits::One}; + FlowControl _flowcontrol{FlowControl::Disabled}; + + bool configure(); + + bool _single_wire_mode{false}; + bool _swap_rx_tx_mode{false}; + bool _inverted_mode{false}; + +}; + +} // namespace device diff --git a/platforms/nuttx/src/px4/common/include/px4_platform/adc.h b/platforms/nuttx/src/px4/common/include/px4_platform/adc.h index d7f6e85a5b94..228d609e8ee8 100644 --- a/platforms/nuttx/src/px4/common/include/px4_platform/adc.h +++ b/platforms/nuttx/src/px4/common/include/px4_platform/adc.h @@ -37,4 +37,3 @@ #else # define SYSTEM_ADC_COUNT 2 #endif - diff --git a/platforms/nuttx/src/px4/common/include/px4_platform/board_ctrl.h b/platforms/nuttx/src/px4/common/include/px4_platform/board_ctrl.h index 9e1654451c55..b85da67e0744 100644 --- a/platforms/nuttx/src/px4/common/include/px4_platform/board_ctrl.h +++ b/platforms/nuttx/src/px4/common/include/px4_platform/board_ctrl.h @@ -53,7 +53,8 @@ #define _CRYPTOIOCBASE IOCTL_IDX_TO_BASE(2) #define _PARAMIOCBASE IOCTL_IDX_TO_BASE(3) #define _PLATFORMIOCBASE IOCTL_IDX_TO_BASE(4) -#define MAX_IOCTL_PTRS 5 +#define _EVENTSIOCBASE IOCTL_IDX_TO_BASE(5) +#define MAX_IOCTL_PTRS 6 /* The PLATFORMIOCLAUNCH IOCTL is used to launch kernel side modules * from the user side code diff --git a/platforms/nuttx/src/px4/common/include/px4_platform/board_determine_hw_info.h b/platforms/nuttx/src/px4/common/include/px4_platform/board_determine_hw_info.h index 95e99ffd46d5..b0864d45c0ec 100644 --- a/platforms/nuttx/src/px4/common/include/px4_platform/board_determine_hw_info.h +++ b/platforms/nuttx/src/px4/common/include/px4_platform/board_determine_hw_info.h @@ -36,6 +36,10 @@ __BEGIN_DECLS #define HW_INFO_SUFFIX "%0" STRINGIFY(HW_INFO_VER_DIGITS) "x%0" STRINGIFY(HW_INFO_REV_DIGITS) "x" +#if defined(BOARD_HAS_HW_SPLIT_VERSIONING) +# define HW_INFO_FMUM_SUFFIX "%0" STRINGIFY(HW_INFO_REV_DIGITS) "x" +# define HW_INFO_BASE_SUFFIX "%0" STRINGIFY(HW_INFO_VER_DIGITS) "x" +#endif /************************************************************************************ * Name: board_determine_hw_info * diff --git a/platforms/nuttx/src/px4/common/include/px4_platform/gpio/mcp23009.hpp b/platforms/nuttx/src/px4/common/include/px4_platform/gpio/mcp23009.hpp index 3a12aaaca7ee..481f5b51d7da 100644 --- a/platforms/nuttx/src/px4/common/include/px4_platform/gpio/mcp23009.hpp +++ b/platforms/nuttx/src/px4/common/include/px4_platform/gpio/mcp23009.hpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2020 PX4 Development Team. All rights reserved. + * Copyright (c) 2023 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -33,49 +33,7 @@ #pragma once -#include +#include -#include - -using namespace time_literals; - -namespace Microchip_MCP23009 -{ -enum class Register : uint8_t; -} - -class MCP23009 : public device::I2C -{ -public: - MCP23009(int bus, int address, int first_minor = 0, int bus_frequency = 400000); - virtual ~MCP23009(); - - int init(uint8_t direction, uint8_t intital = 0, uint8_t pull_up = 0); - -protected: - int probe() override; - -private: - static constexpr int num_gpios = 8; - static const gpio_operations_s gpio_ops; - - struct mcp23009_gpio_dev_s { - struct gpio_dev_s gpio; - uint8_t id; - MCP23009 *obj; - }; - - static int go_read(struct gpio_dev_s *dev, bool *value); - static int go_write(struct gpio_dev_s *dev, bool value); - static int go_setpintype(struct gpio_dev_s *dev, enum gpio_pintype_e pintype); - - int go_read(int id, bool *value); - int go_write(int id, bool value); - int go_setpintype(int id, enum gpio_pintype_e pintype); - - int read_reg(Microchip_MCP23009::Register address, uint8_t &data); - int write_reg(Microchip_MCP23009::Register address, uint8_t data); - - const int _first_minor; - mcp23009_gpio_dev_s _gpio[num_gpios] {}; -}; +int mcp23009_register_gpios(uint8_t i2c_bus, uint8_t i2c_addr, int first_minor = 0); +int mcp23009_unregister_gpios(int first_minor = 0); diff --git a/platforms/nuttx/src/px4/common/include/px4_platform/micro_hal.h b/platforms/nuttx/src/px4/common/include/px4_platform/micro_hal.h index 6daca09771df..670b702f922d 100644 --- a/platforms/nuttx/src/px4/common/include/px4_platform/micro_hal.h +++ b/platforms/nuttx/src/px4/common/include/px4_platform/micro_hal.h @@ -54,4 +54,3 @@ __BEGIN_DECLS #include __END_DECLS - diff --git a/platforms/nuttx/src/px4/common/px4_init.cpp b/platforms/nuttx/src/px4/common/px4_init.cpp index fb371b9093a9..aa11b1cf703c 100644 --- a/platforms/nuttx/src/px4/common/px4_init.cpp +++ b/platforms/nuttx/src/px4/common/px4_init.cpp @@ -38,6 +38,7 @@ #include #include #include +#include #include #include #include @@ -61,8 +62,6 @@ #include #endif -extern void cdcacm_init(void); - #if !defined(CONFIG_BUILD_FLAT) typedef CODE void (*initializer_t)(void); extern initializer_t _sinit; @@ -92,6 +91,37 @@ static void cxx_initialize(void) } #endif +#if defined(CONFIG_I2C) +void px4_platform_i2c_init() +{ + + I2CBusIterator i2c_bus_iterator {I2CBusIterator::FilterType::All}; + + while (i2c_bus_iterator.next()) { + i2c_master_s *i2c_dev = px4_i2cbus_initialize(i2c_bus_iterator.bus().bus); + +#if defined(CONFIG_I2C_RESET) + I2C_RESET(i2c_dev); +#endif // CONFIG_I2C_RESET + + // send software reset to all + uint8_t buf[1] {}; + buf[0] = 0x06; // software reset + + i2c_msg_s msg{}; + msg.frequency = I2C_SPEED_STANDARD; + msg.addr = 0x00; // general call address + msg.buffer = &buf[0]; + msg.length = 1; + + I2C_TRANSFER(i2c_dev, &msg, 1); + + px4_i2cbus_uninitialize(i2c_dev); + } +} + +#endif // CONFIG_I2C + int px4_platform_init() { @@ -125,47 +155,23 @@ int px4_platform_init() #if !defined(CONFIG_BUILD_FLAT) hrt_ioctl_init(); + events_ioctl_init(); #endif - param_init(); - /* configure CPU load estimation */ #ifdef CONFIG_SCHED_INSTRUMENTATION cpuload_initialize_once(); #endif -#if defined(CONFIG_I2C) - I2CBusIterator i2c_bus_iterator {I2CBusIterator::FilterType::All}; - - while (i2c_bus_iterator.next()) { - i2c_master_s *i2c_dev = px4_i2cbus_initialize(i2c_bus_iterator.bus().bus); - -#if defined(CONFIG_I2C_RESET) - I2C_RESET(i2c_dev); -#endif // CONFIG_I2C_RESET - - // send software reset to all - uint8_t buf[1] {}; - buf[0] = 0x06; // software reset - - i2c_msg_s msg{}; - msg.frequency = I2C_SPEED_STANDARD; - msg.addr = 0x00; // general call address - msg.buffer = &buf[0]; - msg.length = 1; - - I2C_TRANSFER(i2c_dev, &msg, 1); - - px4_i2cbus_uninitialize(i2c_dev); - } - -#endif // CONFIG_I2C +#if defined(CONFIG_I2C) && !defined(BOARD_I2C_LATEINIT) + px4_platform_i2c_init(); +#endif #if defined(CONFIG_FS_PROCFS) int ret_mount_procfs = mount(nullptr, "/proc", "procfs", 0, nullptr); - if (ret < 0) { + if (ret_mount_procfs < 0) { syslog(LOG_ERR, "ERROR: Failed to mount procfs at /proc: %d\n", ret_mount_procfs); } @@ -180,17 +186,14 @@ int px4_platform_init() #endif // CONFIG_FS_BINFS - px4::WorkQueueManagerStart(); + param_init(); + uorb_start(); px4_log_initialize(); -#if defined(CONFIG_SYSTEM_CDCACM) && defined(CONFIG_BUILD_FLAT) - cdcacm_init(); -#endif - return PX4_OK; } diff --git a/platforms/nuttx/src/px4/common/px4_layer.cmake b/platforms/nuttx/src/px4/common/px4_layer.cmake index 69fd1a007da9..de8fe5a0c683 100644 --- a/platforms/nuttx/src/px4/common/px4_layer.cmake +++ b/platforms/nuttx/src/px4/common/px4_layer.cmake @@ -2,7 +2,8 @@ add_library(px4_layer ${KERNEL_SRCS} - cdc_acm_check.cpp + ${PX4_SOURCE_DIR}/platforms/common/Serial.cpp + SerialImpl.cpp ) target_link_libraries(px4_layer diff --git a/platforms/nuttx/src/px4/common/px4_manifest.cpp b/platforms/nuttx/src/px4/common/px4_manifest.cpp index d7402215abdd..f3dc9a5e60bc 100644 --- a/platforms/nuttx/src/px4/common/px4_manifest.cpp +++ b/platforms/nuttx/src/px4/common/px4_manifest.cpp @@ -104,6 +104,13 @@ __EXPORT int px4_mft_query(const px4_mft_s *mft, px4_manifest_types_e type, break; case MFT: + if (mft->mfts[m]->pmft != nullptr) { + system_query_func_t query = (system_query_func_t) mft->mfts[m]->pmft; + return query(sub, val, nullptr); + } + + break; + default: rv = -ENODATA; break; diff --git a/platforms/nuttx/src/px4/common/px4_mtd.cpp b/platforms/nuttx/src/px4/common/px4_mtd.cpp index 8f45bd58e34f..6723c35ecadb 100644 --- a/platforms/nuttx/src/px4/common/px4_mtd.cpp +++ b/platforms/nuttx/src/px4/common/px4_mtd.cpp @@ -75,11 +75,11 @@ static int ramtron_attach(mtd_instance_s &instance) return ENXIO; #else - /* start the RAMTRON driver, attempt 10 times */ + /* start the RAMTRON driver at 30MHz */ - int spi_speed_mhz = 10; + unsigned long spi_speed_hz = 30'000'000; - for (int i = 0; i < 10; i++) { + for (int i = 0; spi_speed_hz > 0; i++) { /* initialize the right spi */ struct spi_dev_s *spi = px4_spibus_initialize(px4_find_spi_bus(instance.devid)); @@ -90,7 +90,7 @@ static int ramtron_attach(mtd_instance_s &instance) /* this resets the spi bus, set correct bus speed again */ SPI_LOCK(spi, true); - SPI_SETFREQUENCY(spi, spi_speed_mhz * 1000 * 1000); + SPI_SETFREQUENCY(spi, spi_speed_hz); SPI_SETBITS(spi, 8); SPI_SETMODE(spi, SPIDEV_MODE3); SPI_SELECT(spi, instance.devid, false); @@ -108,7 +108,7 @@ static int ramtron_attach(mtd_instance_s &instance) } // try reducing speed for next attempt - spi_speed_mhz--; + spi_speed_hz -= 1'000'000; px4_usleep(10000); } @@ -118,7 +118,7 @@ static int ramtron_attach(mtd_instance_s &instance) return -EIO; } - int ret = instance.mtd_dev->ioctl(instance.mtd_dev, MTDIOC_SETSPEED, (unsigned long)spi_speed_mhz * 1000 * 1000); + int ret = instance.mtd_dev->ioctl(instance.mtd_dev, MTDIOC_SETSPEED, spi_speed_hz); if (ret != OK) { // FIXME: From the previous warning call, it looked like this should have been fatal error instead. Tried @@ -249,25 +249,19 @@ static const px4_mtd_manifest_t default_mtd_config = { #else -const px4_mft_device_t spifram = { // FM25V02A on FMUM 32K 512 X 64 +const px4_mft_device_t spifram = { // FM25V02A on FMUM native: 32K X 8, emulated as (1024 Blocks of 32) .bus_type = px4_mft_device_t::SPI, .devid = SPIDEV_FLASH(0) }; const px4_mtd_entry_t fram = { .device = &spifram, - .npart = 2, + .npart = 1, .partd = { { .type = MTD_PARAMETERS, .path = "/fs/mtd_params", - .nblocks = 32 - }, - { - .type = MTD_WAYPOINTS, - .path = "/fs/mtd_waypoints", - .nblocks = 32 - + .nblocks = (32768 / (1 << CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT)) } }, }; @@ -357,6 +351,11 @@ int px4_mtd_config(const px4_mtd_manifest_t *mft_mtd) } else if (mtd_list->entries[num_entry]->device->bus_type == px4_mft_device_t::SPI) { rv = ramtron_attach(*instances[i]); +#if defined(HAS_FLEXSPI) + + } else if (mtd_list->entries[num_entry]->device->bus_type == px4_mft_device_t::FLEXSPI) { + rv = flexspi_attach(instances[i]); +#endif } else if (mtd_list->entries[num_entry]->device->bus_type == px4_mft_device_t::ONCHIP) { instances[i]->n_partitions_current++; diff --git a/platforms/nuttx/src/px4/common/px4_protected_layers.cmake b/platforms/nuttx/src/px4/common/px4_protected_layers.cmake index 7f76502e6842..5fbbef164457 100644 --- a/platforms/nuttx/src/px4/common/px4_protected_layers.cmake +++ b/platforms/nuttx/src/px4/common/px4_protected_layers.cmake @@ -6,7 +6,6 @@ add_library(px4_layer board_fat_dma_alloc.c tasks.cpp console_buffer_usr.cpp - cdc_acm_check.cpp ${PX4_SOURCE_DIR}/platforms/posix/src/px4/common/print_load.cpp ${PX4_SOURCE_DIR}/platforms/posix/src/px4/common/cpuload.cpp px4_userspace_init.cpp @@ -15,6 +14,8 @@ add_library(px4_layer usr_board_ctrl.c usr_hrt.cpp usr_mcu_version.cpp + ${PX4_SOURCE_DIR}/platforms/common/Serial.cpp + SerialImpl.cpp ) target_link_libraries(px4_layer @@ -44,6 +45,7 @@ target_link_libraries(px4_layer add_library(px4_kernel_layer ${KERNEL_SRCS} + SerialImpl.cpp ) target_link_libraries(px4_kernel_layer @@ -52,6 +54,8 @@ target_link_libraries(px4_kernel_layer nuttx_kc nuttx_karch nuttx_kmm + PRIVATE + kernel_events_interface # events_ioctl_init ) target_link_libraries(px4_kernel_layer diff --git a/platforms/nuttx/src/px4/common/px4_userspace_init.cpp b/platforms/nuttx/src/px4/common/px4_userspace_init.cpp index f5d9882ca23a..82cace9e4d24 100644 --- a/platforms/nuttx/src/px4/common/px4_userspace_init.cpp +++ b/platforms/nuttx/src/px4/common/px4_userspace_init.cpp @@ -44,8 +44,6 @@ #include #include -extern void cdcacm_init(void); - extern "C" void px4_userspace_init(void) { hrt_init(); @@ -55,8 +53,4 @@ extern "C" void px4_userspace_init(void) px4::WorkQueueManagerStart(); uorb_start(); - -#if defined(CONFIG_SYSTEM_CDCACM) - cdcacm_init(); -#endif } diff --git a/platforms/nuttx/src/px4/common/usr_mcu_version.cpp b/platforms/nuttx/src/px4/common/usr_mcu_version.cpp index 1fc3f57b2dd7..64d86ee92a16 100644 --- a/platforms/nuttx/src/px4/common/usr_mcu_version.cpp +++ b/platforms/nuttx/src/px4/common/usr_mcu_version.cpp @@ -114,4 +114,3 @@ int board_get_px4_guid_formated(char *format_buffer, int size) return offset; } - diff --git a/platforms/nuttx/src/px4/nxp/CMakeLists.txt b/platforms/nuttx/src/px4/nxp/CMakeLists.txt index ec489bf559c3..72584f3178ec 100644 --- a/platforms/nuttx/src/px4/nxp/CMakeLists.txt +++ b/platforms/nuttx/src/px4/nxp/CMakeLists.txt @@ -31,6 +31,4 @@ # ############################################################################ - add_subdirectory(${PX4_CHIP}) - diff --git a/platforms/nuttx/src/px4/nxp/imxrt/board_hw_info/CMakeLists.txt b/platforms/nuttx/src/px4/nxp/imxrt/board_hw_info/CMakeLists.txt index 3a466715b1fb..1bc35a48eb70 100644 --- a/platforms/nuttx/src/px4/nxp/imxrt/board_hw_info/CMakeLists.txt +++ b/platforms/nuttx/src/px4/nxp/imxrt/board_hw_info/CMakeLists.txt @@ -34,3 +34,4 @@ px4_add_library(arch_board_hw_info board_hw_rev_ver.c ) +target_link_libraries(arch_board_hw_info PRIVATE arch_adc crc) diff --git a/platforms/nuttx/src/px4/nxp/imxrt/board_hw_info/board_hw_rev_ver.c b/platforms/nuttx/src/px4/nxp/imxrt/board_hw_info/board_hw_rev_ver.c index b04ac6b34e39..e8cfeff32881 100644 --- a/platforms/nuttx/src/px4/nxp/imxrt/board_hw_info/board_hw_rev_ver.c +++ b/platforms/nuttx/src/px4/nxp/imxrt/board_hw_info/board_hw_rev_ver.c @@ -40,13 +40,17 @@ #include #include #include +#include #include +#include #include +#include #include -#include +#include +#include -#if defined(BOARD_HAS_HW_VERSIONING) +#if defined(BOARD_HAS_HW_VERSIONING) || defined(BOARD_HAS_HW_SPLIT_VERSIONING) # if defined(GPIO_HW_VER_REV_DRIVE) # define GPIO_HW_REV_DRIVE GPIO_HW_VER_REV_DRIVE @@ -62,6 +66,9 @@ static int hw_version = 0; static int hw_revision = 0; static char hw_info[HW_INFO_SIZE] = {0}; +#if defined(BOARD_HAS_HW_SPLIT_VERSIONING) +static char hw_base_info[HW_INFO_SIZE] = {0}; +#endif /**************************************************************************** * Protected Functions @@ -69,23 +76,26 @@ static char hw_info[HW_INFO_SIZE] = {0}; static int dn_to_ordinal(uint16_t dn) { + // Refernece is 3.8933 = (1.825f * 64.0f / 30.0f) + // LSB is 0.000950521 = 3.8933 / 4096 + // DN's are V/LSB const struct { uint16_t low; // High(n-1) + 1 uint16_t high; // Average High(n)+Low(n+1) EX. 1356 = AVRG(1331,1382) } dn2o[] = { - // R1(up) R2(down) V min V Max DN Min DN Max - {0, 0 }, // 0 No Resistors - {1, 579 }, // 1 24.9K 442K 0.166255191 0.44102252 204 553 - {580, 967 }, // 2 32.4K 174K 0.492349322 0.770203609 605 966 - {968, 1356}, // 3 38.3K 115K 0.787901749 1.061597759 968 1331 - {1357, 1756}, // 4 46.4K 84.5K 1.124833577 1.386007306 1382 1738 - {1757, 2137}, // 5 51.1K 61.9K 1.443393279 1.685367869 1774 2113 - {2138, 2519}, // 6 61.9K 51.1K 1.758510242 1.974702534 2161 2476 - {2520, 2919}, // 7 84.5K 46.4K 2.084546498 2.267198261 2562 2842 - {2920, 3308}, // 8 115K 38.3K 2.437863827 2.57656294 2996 3230 - {3309, 3699}, // 9 174K 32.4K 2.755223792 2.847933804 3386 3571 - {3700, 4095}, // 10 442K 24.9K 3.113737849 3.147347506 3827 3946 + // R2(down) R1(up) V min V Max DN Min DN Max + {0, 0 }, // 0 No Resistors + {1, 490 }, // 1 24.9K 442K 0.166255191 0.44102252 174 463 + {491, 819 }, // 2 32.4K 174K 0.492349322 0.770203609 517 810 + {820, 1149}, // 3 38.3K 115K 0.787901749 1.061597759 828 1116 + {1150, 1488}, // 4 46.4K 84.5K 1.124833577 1.386007306 1183 1458 + {1489, 1811}, // 5 51.1K 61.9K 1.443393279 1.685367869 1518 1773 + {1812, 2135}, // 6 61.9K 51.1K 1.758510242 1.974702534 1850 2077 + {2136, 2474}, // 7 84.5K 46.4K 2.084546498 2.267198261 2193 2385 + {2475, 2804}, // 8 115K 38.3K 2.437863827 2.57656294 2564 2710 + {2805, 3135}, // 9 174K 32.4K 2.755223792 2.847933804 2898 2996 + {3136, 4095}, // 10 442K 24.9K 3.113737849 3.147347506 3275 3311 }; for (unsigned int i = 0; i < arraySize(dn2o); i++) { @@ -132,48 +142,62 @@ static int dn_to_ordinal(uint16_t dn) static int read_id_dn(int *id, uint32_t gpio_drive, uint32_t gpio_sense, int adc_channel) { int rv = -EIO; + const unsigned int samples = 16; /* * Step one is there resistors? * - * If we set the mid-point of the ladder which is the ADC input to an - * output, then whatever state is driven out should be seen by the GPIO - * that is on the bottom of the ladder that is switched to an input. - * The SENCE line is effectively an output with a high value pullup - * resistor on it driving an input through a series resistor with a pull up. - * If present the series resistor will form a low pass filter due to stray - * capacitance, but this is fine as long as we give it time to settle. + * With the common REV/VER Drive we have to look at the ADC values. + * to determine if the R's are hooked up. This is because the + * the REV and VER pairs will influence each other and not make + * digital thresholds. + * + * I.E + * + * VDD + * 442K + * REV is a Float + * 24.9K + * Drive as input + * 442K + * VER is 0. + * 24.9K + * VDD + * + * This is 466K up and 442K down. + * + * Driving VER Low and reading DRIVE will result in approximately mid point + * values not a digital Low. */ - /* Turn the drive lines to digital inputs with No pull up */ - - imxrt_config_gpio(PX4_MAKE_GPIO_INPUT(gpio_drive) & ~IOMUX_PULL_MASK); - - /* Turn the sense lines to digital outputs LOW */ - - imxrt_config_gpio(PX4_MAKE_GPIO_OUTPUT_CLEAR(gpio_sense)); - - - up_udelay(100); /* About 10 TC assuming 485 K */ - - /* Read Drive lines while sense are driven low */ - - int low = imxrt_gpio_read(PX4_MAKE_GPIO_INPUT(gpio_drive)); + uint32_t dn_sum = 0; + uint32_t dn = 0; + uint32_t high = 0; + uint32_t low = 0; + imxrt_config_gpio(gpio_sense); - /* Write the sense lines HIGH */ + /* Turn the drive lines to digital outputs High */ - imxrt_gpio_write(PX4_MAKE_GPIO_OUTPUT_CLEAR(gpio_sense), 1); + imxrt_config_gpio(gpio_drive); up_udelay(100); /* About 10 TC assuming 485 K */ - /* Read Drive lines while sense are driven high */ + for (unsigned av = 0; av < samples; av++) { + if (px4_arch_adc_init(HW_REV_VER_ADC_BASE) == OK) { + dn = px4_arch_adc_sample(HW_REV_VER_ADC_BASE, adc_channel); - int high = imxrt_gpio_read(PX4_MAKE_GPIO_INPUT(gpio_drive)); + if (dn == UINT32_MAX) { + break; + } - /* restore the pins to ANALOG */ + dn_sum += dn; + } + } - imxrt_config_gpio(gpio_sense); + if (dn != UINT32_MAX) { + high = dn_sum / samples; + } /* Turn the drive lines to digital outputs LOW */ @@ -181,32 +205,28 @@ static int read_id_dn(int *id, uint32_t gpio_drive, uint32_t gpio_sense, int adc up_udelay(100); /* About 10 TC assuming 485 K */ - /* Are Resistors in place ?*/ + dn_sum = 0; - uint32_t dn_sum = 0; - uint32_t dn = 0; + for (unsigned av = 0; av < samples; av++) { - if ((high ^ low) && low == 0) { - /* Yes - Fire up the ADC (it has once control) */ + dn = px4_arch_adc_sample(HW_REV_VER_ADC_BASE, adc_channel); - if (px4_arch_adc_init(HW_REV_VER_ADC_BASE) == OK) { + if (dn == UINT32_MAX) { + break; + } - /* Read the value */ - for (unsigned av = 0; av < samples; av++) { - dn = px4_arch_adc_sample(HW_REV_VER_ADC_BASE, adc_channel); + dn_sum += dn; + } - if (dn == UINT32_MAX) { - break; - } + if (dn != UINT32_MAX) { + low = dn_sum / samples; + } - dn_sum += dn; - } + if ((high > low) && high > ((px4_arch_adc_dn_fullcount() * 800) / 1000)) { + + *id = low; + rv = OK; - if (dn != UINT32_MAX) { - *id = dn_sum / samples; - rv = OK; - } - } } else { /* No - No Resistors is ID 0 */ @@ -217,12 +237,14 @@ static int read_id_dn(int *id, uint32_t gpio_drive, uint32_t gpio_sense, int adc /* Turn the drive lines to digital outputs High */ imxrt_config_gpio(gpio_drive); + return rv; } static int determine_hw_info(int *revision, int *version) { + int dn; int rv = read_id_dn(&dn, GPIO_HW_REV_DRIVE, GPIO_HW_REV_SENSE, ADC_HW_REV_SENSE_CHANNEL); @@ -260,6 +282,27 @@ __EXPORT const char *board_get_hw_type_name() return (const char *) hw_info; } +#if defined(BOARD_HAS_HW_SPLIT_VERSIONING) +/************************************************************************************ + * Name: board_get_hw_base_type_name + * + * Description: + * Optional returns a 0 terminated string defining the base type. + * + * Input Parameters: + * None + * + * Returned Value: + * a 0 terminated string defining the HW type. This my be a 0 length string "" + * + ************************************************************************************/ + +__EXPORT const char *board_get_hw_base_type_name() +{ + return (const char *) hw_base_info; +} +#endif + /************************************************************************************ * Name: board_get_hw_version * @@ -326,17 +369,189 @@ __EXPORT int board_get_hw_revision() int board_determine_hw_info() { + + // Read ADC jumpering hw_info int rv = determine_hw_info(&hw_revision, &hw_version); if (rv == OK) { - if (rv == OK) { + // MFT supported? + const char *path; + int rvmft = px4_mtd_query("MTD_MFT_VER", NULL, &path); + + if (rvmft == OK && path != NULL && hw_version == HW_ID_EEPROM) { + + mtd_mft_v0_t mtd_mft = {MTD_MFT_v0}; + rv = board_get_eeprom_hw_info(path, (mtd_mft_t *)&mtd_mft); - snprintf(hw_info, sizeof(hw_info), HW_INFO_INIT_PREFIX HW_INFO_SUFFIX, hw_version, hw_revision); + if (rv == OK) { + hw_version = mtd_mft.hw_extended_id; + } + } + + path = NULL; + rvmft = px4_mtd_query("MTD_MFT_REV", NULL, &path); + + if (rvmft == OK && path != NULL && hw_revision == HW_ID_EEPROM) { + mtd_mft_v0_t mtd_mft = {MTD_MFT_v0}; + rv = board_get_eeprom_hw_info(path, (mtd_mft_t *)&mtd_mft); + + if (rv == OK) { + hw_revision = mtd_mft.hw_extended_id; + } } } + if (rv == OK) { +#if defined(BOARD_HAS_HW_SPLIT_VERSIONING) + snprintf(hw_info, sizeof(hw_info), HW_INFO_INIT_PREFIX HW_INFO_FMUM_SUFFIX, GET_HW_FMUM_ID()); + snprintf(hw_base_info, sizeof(hw_info), HW_INFO_BASE_SUFFIX, GET_HW_BASE_ID()); +#else + snprintf(hw_info, sizeof(hw_info), HW_INFO_INIT_PREFIX HW_INFO_SUFFIX, hw_version, hw_revision); +#endif + } + return rv; } + +/************************************************************************************ + * Name: board_set_eeprom_hw_info + * + * Description: + * Function for writing hardware info to EEPROM + * + * Input Parameters: + * *mtd_mft_unk - pointer to mtd_mft to write hw_info + * + * Returned Value: + * 0 - Successful storing to EEPROM + * -1 - Error while storing to EEPROM + * + ************************************************************************************/ + +int board_set_eeprom_hw_info(const char *path, mtd_mft_t *mtd_mft_unk) +{ + if (mtd_mft_unk == NULL || path == NULL) { + return -EINVAL; + } + + // Later this will be a demux on type + if (mtd_mft_unk->id != MTD_MFT_v0) { + printf("Version is: %d, Only mft version %d is supported\n", mtd_mft_unk->id, MTD_MFT_v0); + return -EINVAL; + } + + mtd_mft_v0_t *mtd_mft = (mtd_mft_v0_t *)mtd_mft_unk; + + if (mtd_mft->hw_extended_id < HW_EEPROM_ID_MIN) { + printf("hardware version for EEPROM must be greater than %x\n", HW_EEPROM_ID_MIN); + return -EINVAL; + } + + int fd = open(path, O_WRONLY); + + if (fd < 0) { + return -errno; + } + + int ret_val = OK; + + mtd_mft->crc = crc16_signature(CRC16_INITIAL, sizeof(*mtd_mft) - sizeof(mtd_mft->crc), (uint8_t *) mtd_mft); + + if ( + (MTD_MFT_OFFSET != lseek(fd, MTD_MFT_OFFSET, SEEK_SET)) || + (sizeof(*mtd_mft) != write(fd, mtd_mft, sizeof(*mtd_mft))) + ) { + ret_val = -errno; + } + + close(fd); + + return ret_val; +} + +/************************************************************************************ + * Name: board_get_eeprom_hw_info + * + * Description: + * Function for reading hardware info from EEPROM + * + * Output Parameters: + * *mtd_mft - pointer to mtd_mft to read hw_info + * + * Returned Value: + * 0 - Successful reading from EEPROM + * -1 - Error while reading from EEPROM + * + ************************************************************************************/ +__EXPORT int board_get_eeprom_hw_info(const char *path, mtd_mft_t *mtd_mft) +{ + if (mtd_mft == NULL || path == NULL) { + return -EINVAL; + } + + int fd = open(path, O_RDONLY); + + if (fd < 0) { + return -errno; + } + + int ret_val = OK; + mtd_mft_t format_version = {-1}; + + if ( + (MTD_MFT_OFFSET != lseek(fd, MTD_MFT_OFFSET, SEEK_SET)) || + (sizeof(format_version) != read(fd, &format_version, sizeof(format_version))) + ) { + ret_val = -errno; + + } else if (format_version.id != mtd_mft->id) { + ret_val = -EPROTO; + + } else { + + uint16_t mft_size = 0; + + switch (format_version.id) { + case MTD_MFT_v0: mft_size = sizeof(mtd_mft_v0_t); break; + + case MTD_MFT_v1: mft_size = sizeof(mtd_mft_v1_t); break; + + default: + printf("[boot] Error, unknown version %d of mtd_mft in EEPROM\n", format_version.id); + ret_val = -1; + break; + } + + if (ret_val == OK) { + + if ( + (MTD_MFT_OFFSET != lseek(fd, MTD_MFT_OFFSET, SEEK_SET)) || + (mft_size != read(fd, mtd_mft, mft_size)) + ) { + ret_val = -errno; + + } else { + + union { + uint16_t w; + uint8_t b[2]; + } crc; + + uint8_t *bytes = (uint8_t *) mtd_mft; + crc.w = crc16_signature(CRC16_INITIAL, mft_size - sizeof(crc), bytes); + uint8_t *eeprom_crc = &bytes[mft_size - sizeof(crc)]; + + if (!(crc.b[0] == eeprom_crc[0] && crc.b[1] == eeprom_crc[1])) { + ret_val = -1; + } + } + } + } + + close(fd); + return ret_val; +} + #endif diff --git a/platforms/nuttx/src/px4/nxp/imxrt/board_reset/CMakeLists.txt b/platforms/nuttx/src/px4/nxp/imxrt/board_reset/CMakeLists.txt index 06ccd082037c..cba22cb32025 100644 --- a/platforms/nuttx/src/px4/nxp/imxrt/board_reset/CMakeLists.txt +++ b/platforms/nuttx/src/px4/nxp/imxrt/board_reset/CMakeLists.txt @@ -35,6 +35,8 @@ px4_add_library(arch_board_reset board_reset.cpp ) +target_link_libraries(arch_board_reset PRIVATE arch_board_romapi) + # up_systemreset if (NOT DEFINED CONFIG_BUILD_FLAT) target_link_libraries(arch_board_reset PRIVATE nuttx_karch) diff --git a/platforms/nuttx/src/px4/nxp/imxrt/board_reset/board_reset.cpp b/platforms/nuttx/src/px4/nxp/imxrt/board_reset/board_reset.cpp index b60d57a4d460..6f1e21700d0f 100644 --- a/platforms/nuttx/src/px4/nxp/imxrt/board_reset/board_reset.cpp +++ b/platforms/nuttx/src/px4/nxp/imxrt/board_reset/board_reset.cpp @@ -38,12 +38,19 @@ */ #include +#include #include #include #include -#include +#include -#define PX4_IMXRT_RTC_REBOOT_REG 3 // Must be common with bootloader and: + +#include +#include + +#define BOOT_RTC_SIGNATURE 0xb007b007 +#define PX4_IMXRT_RTC_REBOOT_REG 3 +#define PX4_IMXRT_RTC_REBOOT_REG_ADDRESS IMXRT_SNVS_LPGPR3 #if CONFIG_IMXRT_RTC_MAGIC_REG == PX4_IMXRT_RTC_REBOOT_REG # error CONFIG_IMXRT_RTC_MAGIC_REG can nt have the save value as PX4_IMXRT_RTC_REBOOT_REG @@ -51,15 +58,21 @@ static int board_reset_enter_bootloader() { - uint32_t regvalue = 0xb007b007; - putreg32(regvalue, IMXRT_SNVS_LPGPR(PX4_IMXRT_RTC_REBOOT_REG)); + uint32_t regvalue = BOOT_RTC_SIGNATURE; + modifyreg32(IMXRT_SNVS_LPCR, 0, SNVS_LPCR_GPR_Z_DIS); + putreg32(regvalue, PX4_IMXRT_RTC_REBOOT_REG_ADDRESS); return OK; } int board_reset(int status) { - if (status == 1) { + if (status == REBOOT_TO_BOOTLOADER) { board_reset_enter_bootloader(); + + } else if (status == REBOOT_TO_ISP) { + uint32_t arg = 0xeb100000; + ROM_API_Init(); + ROM_RunBootloader(&arg); } #if defined(BOARD_HAS_ON_RESET) diff --git a/platforms/nuttx/src/px4/nxp/imxrt/dshot/CMakeLists.txt b/platforms/nuttx/src/px4/nxp/imxrt/dshot/CMakeLists.txt new file mode 100644 index 000000000000..d8a7900d40ba --- /dev/null +++ b/platforms/nuttx/src/px4/nxp/imxrt/dshot/CMakeLists.txt @@ -0,0 +1,37 @@ +############################################################################ +# +# Copyright (c) 2023 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +px4_add_library(arch_dshot + dshot.c +) +target_compile_options(arch_dshot PRIVATE ${MAX_CUSTOM_OPT_LEVEL}) diff --git a/platforms/nuttx/src/px4/nxp/imxrt/dshot/dshot.c b/platforms/nuttx/src/px4/nxp/imxrt/dshot/dshot.c new file mode 100644 index 000000000000..22a27427f9dc --- /dev/null +++ b/platforms/nuttx/src/px4/nxp/imxrt/dshot/dshot.c @@ -0,0 +1,556 @@ +/**************************************************************************** + * + * Copyright (C) 2023 PX4 Development Team. All rights reserved. + * Author: Peter van der Perk + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include "barriers.h" + +#include "arm_internal.h" + +#define FLEXIO_BASE IMXRT_FLEXIO1_BASE +#define DSHOT_TIMERS FLEXIO_SHIFTBUFNIS_COUNT +#define DSHOT_THROTTLE_POSITION 5u +#define DSHOT_TELEMETRY_POSITION 4u +#define NIBBLES_SIZE 4u +#define DSHOT_NUMBER_OF_NIBBLES 3u + +#if defined(IOMUX_PULL_UP_47K) +#define IOMUX_PULL_UP IOMUX_PULL_UP_47K +#endif + +static const uint32_t gcr_decode[32] = { + 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, + 0x0, 0x9, 0xA, 0xB, 0x0, 0xD, 0xE, 0xF, + 0x0, 0x0, 0x2, 0x3, 0x0, 0x5, 0x6, 0x7, + 0x0, 0x0, 0x8, 0x1, 0x0, 0x4, 0xC, 0x0 +}; + +uint32_t erpms[DSHOT_TIMERS]; + +typedef enum { + DSHOT_START = 0, + DSHOT_12BIT_FIFO, + DSHOT_12BIT_TRANSFERRED, + DSHOT_TRANSMIT_COMPLETE, + BDSHOT_RECEIVE, + BDSHOT_RECEIVE_COMPLETE, +} dshot_state; + +typedef struct dshot_handler_t { + bool init; + uint32_t data_seg1; + uint32_t irq_data; + dshot_state state; + bool bdshot; + uint32_t raw_response; + uint16_t erpm; + uint32_t crc_error_cnt; + uint32_t frame_error_cnt; + uint32_t no_response_cnt; + uint32_t last_no_response_cnt; +} dshot_handler_t; + +#define BDSHOT_OFFLINE_COUNT 400 // If there are no responses for 400 setpoints ESC is offline + +static dshot_handler_t dshot_inst[DSHOT_TIMERS] = {}; + +static uint32_t dshot_tcmp; +static uint32_t bdshot_tcmp; +static uint32_t dshot_mask; +static uint32_t bdshot_recv_mask; +static uint32_t bdshot_parsed_recv_mask; + +static inline uint32_t flexio_getreg32(uint32_t offset) +{ + return getreg32(FLEXIO_BASE + offset); +} + +static inline void flexio_modifyreg32(unsigned int offset, + uint32_t clearbits, + uint32_t setbits) +{ + modifyreg32(FLEXIO_BASE + offset, clearbits, setbits); +} + +static inline void flexio_putreg32(uint32_t value, uint32_t offset) +{ + putreg32(value, FLEXIO_BASE + offset); +} + +static inline void enable_shifter_status_interrupts(uint32_t mask) +{ + flexio_modifyreg32(IMXRT_FLEXIO_SHIFTSIEN_OFFSET, 0, mask); +} + +static inline void disable_shifter_status_interrupts(uint32_t mask) +{ + flexio_modifyreg32(IMXRT_FLEXIO_SHIFTSIEN_OFFSET, mask, 0); +} + +static inline uint32_t get_shifter_status_flags(void) +{ + return flexio_getreg32(IMXRT_FLEXIO_SHIFTSTAT_OFFSET); +} + +static inline void clear_shifter_status_flags(uint32_t mask) +{ + flexio_putreg32(mask, IMXRT_FLEXIO_SHIFTSTAT_OFFSET); +} + +static inline void enable_timer_status_interrupts(uint32_t mask) +{ + flexio_modifyreg32(IMXRT_FLEXIO_TIMIEN_OFFSET, 0, mask); +} + +static inline void disable_timer_status_interrupts(uint32_t mask) +{ + flexio_modifyreg32(IMXRT_FLEXIO_TIMIEN_OFFSET, mask, 0); +} + +static inline uint32_t get_timer_status_flags(void) +{ + return flexio_getreg32(IMXRT_FLEXIO_TIMSTAT_OFFSET); +} + +static inline void clear_timer_status_flags(uint32_t mask) +{ + flexio_putreg32(mask, IMXRT_FLEXIO_TIMSTAT_OFFSET); +} + +static void flexio_dshot_output(uint32_t channel, uint32_t pin, uint32_t timcmp, bool inverted) +{ + /* Disable Shifter */ + flexio_putreg32(0, IMXRT_FLEXIO_SHIFTCTL0_OFFSET + channel * 0x4); + + /* No start bit, stop bit low */ + flexio_putreg32(FLEXIO_SHIFTCFG_INSRC(FLEXIO_SHIFTER_INPUT_FROM_PIN) | + FLEXIO_SHIFTCFG_PWIDTH(0) | + FLEXIO_SHIFTCFG_SSTOP(FLEXIO_SHIFTER_STOP_BIT_LOW) | + FLEXIO_SHIFTCFG_SSTART(FLEXIO_SHIFTER_START_BIT_DISABLED_LOAD_DATA_ON_ENABLE), + IMXRT_FLEXIO_SHIFTCFG0_OFFSET + channel * 0x4); + + /* Transmit mode, output to FXIO pin, inverted output for bdshot */ + flexio_putreg32(FLEXIO_SHIFTCTL_TIMSEL(channel) | + FLEXIO_SHIFTCTL_TIMPOL(FLEXIO_SHIFTER_TIMER_POLARITY_ON_POSITIVE) | + FLEXIO_SHIFTCTL_PINCFG(FLEXIO_PIN_CONFIG_OUTPUT) | + FLEXIO_SHIFTCTL_PINSEL(pin) | + FLEXIO_SHIFTCTL_PINPOL(inverted) | + FLEXIO_SHIFTCTL_SMOD(FLEXIO_SHIFTER_MODE_TRANSMIT), + IMXRT_FLEXIO_SHIFTCTL0_OFFSET + channel * 0x4); + + /* Start transmitting on trigger, disable on compare */ + flexio_putreg32(FLEXIO_TIMCFG_TIMOUT(FLEXIO_TIMER_OUTPUT_ONE_NOT_AFFECTED_BY_RESET) | + FLEXIO_TIMCFG_TIMDEC(FLEXIO_TIMER_DEC_SRC_ON_FLEX_IO_CLOCK_SHIFT_TIMER_OUTPUT) | + FLEXIO_TIMCFG_TIMRST(FLEXIO_TIMER_RESET_NEVER) | + FLEXIO_TIMCFG_TIMDIS(FLEXIO_TIMER_DISABLE_ON_TIMER_COMPARE) | + FLEXIO_TIMCFG_TIMENA(FLEXIO_TIMER_ENABLE_ON_TRIGGER_HIGH) | + FLEXIO_TIMCFG_TSTOP(FLEXIO_TIMER_STOP_BIT_DISABLED) | + FLEXIO_TIMCFG_TSTART(FLEXIO_TIMER_START_BIT_DISABLED), + IMXRT_FLEXIO_TIMCFG0_OFFSET + channel * 0x4); + + flexio_putreg32(timcmp, IMXRT_FLEXIO_TIMCMP0_OFFSET + channel * 0x4); + + /* Baud mode, Trigger on shifter write */ + flexio_putreg32(FLEXIO_TIMCTL_TRGSEL((4 * channel) + 1) | + FLEXIO_TIMCTL_TRGPOL(FLEXIO_TIMER_TRIGGER_POLARITY_ACTIVE_LOW) | + FLEXIO_TIMCTL_TRGSRC(FLEXIO_TIMER_TRIGGER_SOURCE_INTERNAL) | + FLEXIO_TIMCTL_PINCFG(FLEXIO_PIN_CONFIG_OUTPUT_DISABLED) | + FLEXIO_TIMCTL_PINSEL(0) | + FLEXIO_TIMCTL_PINPOL(FLEXIO_PIN_ACTIVE_LOW) | + FLEXIO_TIMCTL_TIMOD(FLEXIO_TIMER_MODE_DUAL8_BIT_BAUD_BIT), + IMXRT_FLEXIO_TIMCTL0_OFFSET + channel * 0x4); + +} + +static int flexio_irq_handler(int irq, void *context, void *arg) +{ + uint32_t flags = get_shifter_status_flags(); + uint32_t channel; + + for (channel = 0; flags && channel < DSHOT_TIMERS; channel++) { + if (flags & (1 << channel)) { + disable_shifter_status_interrupts(1 << channel); + + if (dshot_inst[channel].state == DSHOT_START) { + dshot_inst[channel].state = DSHOT_12BIT_FIFO; + flexio_putreg32(dshot_inst[channel].irq_data, IMXRT_FLEXIO_SHIFTBUF0_OFFSET + channel * 0x4); + + } else if (dshot_inst[channel].state == BDSHOT_RECEIVE) { + dshot_inst[channel].state = BDSHOT_RECEIVE_COMPLETE; + dshot_inst[channel].raw_response = flexio_getreg32(IMXRT_FLEXIO_SHIFTBUFBIS0_OFFSET + channel * 0x4); + + bdshot_recv_mask |= (1 << channel); + + if (bdshot_recv_mask == dshot_mask) { + // Received telemetry on all channels + // Schedule workqueue? + } + } + } + } + + flags = get_timer_status_flags(); + + for (channel = 0; flags; (channel = (channel + 1) % DSHOT_TIMERS)) { + flags = get_timer_status_flags(); + + if (flags & (1 << channel)) { + clear_timer_status_flags(1 << channel); + + if (dshot_inst[channel].state == DSHOT_12BIT_FIFO) { + dshot_inst[channel].state = DSHOT_12BIT_TRANSFERRED; + + } else if (!dshot_inst[channel].bdshot && dshot_inst[channel].state == DSHOT_12BIT_TRANSFERRED) { + dshot_inst[channel].state = DSHOT_TRANSMIT_COMPLETE; + + } else if (dshot_inst[channel].bdshot && dshot_inst[channel].state == DSHOT_12BIT_TRANSFERRED) { + disable_shifter_status_interrupts(1 << channel); + dshot_inst[channel].state = BDSHOT_RECEIVE; + + /* Transmit done, disable timer and reconfigure to receive*/ + flexio_putreg32(0x0, IMXRT_FLEXIO_TIMCTL0_OFFSET + channel * 0x4); + + /* Input data from pin, no start/stop bit*/ + flexio_putreg32(FLEXIO_SHIFTCFG_INSRC(FLEXIO_SHIFTER_INPUT_FROM_PIN) | + FLEXIO_SHIFTCFG_PWIDTH(0) | + FLEXIO_SHIFTCFG_SSTOP(FLEXIO_SHIFTER_STOP_BIT_DISABLE) | + FLEXIO_SHIFTCFG_SSTART(FLEXIO_SHIFTER_START_BIT_DISABLED_LOAD_DATA_ON_SHIFT), + IMXRT_FLEXIO_SHIFTCFG0_OFFSET + channel * 0x4); + + /* Shifter receive mdoe, on FXIO pin input */ + flexio_putreg32(FLEXIO_SHIFTCTL_TIMSEL(channel) | + FLEXIO_SHIFTCTL_TIMPOL(FLEXIO_SHIFTER_TIMER_POLARITY_ON_POSITIVE) | + FLEXIO_SHIFTCTL_PINCFG(FLEXIO_PIN_CONFIG_OUTPUT_DISABLED) | + FLEXIO_SHIFTCTL_PINSEL(timer_io_channels[channel].dshot.flexio_pin) | + FLEXIO_SHIFTCTL_PINPOL(FLEXIO_PIN_ACTIVE_LOW) | + FLEXIO_SHIFTCTL_SMOD(FLEXIO_SHIFTER_MODE_RECEIVE), + IMXRT_FLEXIO_SHIFTCTL0_OFFSET + channel * 0x4); + + /* Make sure there no shifter flags high from transmission */ + clear_shifter_status_flags(1 << channel); + + /* Enable on pin transition, resychronize through reset on rising edge */ + flexio_putreg32(FLEXIO_TIMCFG_TIMOUT(FLEXIO_TIMER_OUTPUT_ONE_AFFECTED_BY_RESET) | + FLEXIO_TIMCFG_TIMDEC(FLEXIO_TIMER_DEC_SRC_ON_FLEX_IO_CLOCK_SHIFT_TIMER_OUTPUT) | + FLEXIO_TIMCFG_TIMRST(FLEXIO_TIMER_RESET_ON_TIMER_PIN_RISING_EDGE) | + FLEXIO_TIMCFG_TIMDIS(FLEXIO_TIMER_DISABLE_ON_TIMER_COMPARE) | + FLEXIO_TIMCFG_TIMENA(FLEXIO_TIMER_ENABLE_ON_TRIGGER_BOTH_EDGE) | + FLEXIO_TIMCFG_TSTOP(FLEXIO_TIMER_STOP_BIT_ENABLE_ON_TIMER_DISABLE) | + FLEXIO_TIMCFG_TSTART(FLEXIO_TIMER_START_BIT_ENABLED), + IMXRT_FLEXIO_TIMCFG0_OFFSET + channel * 0x4); + + /* Enable on pin transition, resychronize through reset on rising edge */ + flexio_putreg32(bdshot_tcmp, IMXRT_FLEXIO_TIMCMP0_OFFSET + channel * 0x4); + + /* Trigger on FXIO pin transition, Baud mode */ + flexio_putreg32(FLEXIO_TIMCTL_TRGSEL(2 * timer_io_channels[channel].dshot.flexio_pin) | + FLEXIO_TIMCTL_TRGPOL(FLEXIO_TIMER_TRIGGER_POLARITY_ACTIVE_HIGH) | + FLEXIO_TIMCTL_TRGSRC(FLEXIO_TIMER_TRIGGER_SOURCE_INTERNAL) | + FLEXIO_TIMCTL_PINCFG(FLEXIO_PIN_CONFIG_OUTPUT_DISABLED) | + FLEXIO_TIMCTL_PINSEL(0) | + FLEXIO_TIMCTL_PINPOL(FLEXIO_PIN_ACTIVE_LOW) | + FLEXIO_TIMCTL_TIMOD(FLEXIO_TIMER_MODE_DUAL8_BIT_BAUD_BIT), + IMXRT_FLEXIO_TIMCTL0_OFFSET + channel * 0x4); + + /* Enable shifter interrupt for receiving data */ + enable_shifter_status_interrupts(1 << channel); + } + } + + } + + return OK; +} + + +int up_dshot_init(uint32_t channel_mask, unsigned dshot_pwm_freq, bool enable_bidirectional_dshot) +{ + /* Calculate dshot timings based on dshot_pwm_freq */ + dshot_tcmp = 0x2F00 | (((BOARD_FLEXIO_PREQ / (dshot_pwm_freq * 3) / 2) - 1) & 0xFF); + bdshot_tcmp = 0x2900 | (((BOARD_FLEXIO_PREQ / (dshot_pwm_freq * 5 / 4) / 2) - 3) & 0xFF); + + /* Clock FlexIO peripheral */ + imxrt_clockall_flexio1(); + + /* Reset FlexIO peripheral */ + flexio_modifyreg32(IMXRT_FLEXIO_CTRL_OFFSET, 0, + FLEXIO_CTRL_SWRST_MASK); + flexio_putreg32(0, IMXRT_FLEXIO_CTRL_OFFSET); + + /* Initialize FlexIO peripheral */ + flexio_modifyreg32(IMXRT_FLEXIO_CTRL_OFFSET, + (FLEXIO_CTRL_DOZEN_MASK | + FLEXIO_CTRL_DBGE_MASK | + FLEXIO_CTRL_FASTACC_MASK | + FLEXIO_CTRL_FLEXEN_MASK), + (FLEXIO_CTRL_DBGE(1) | + FLEXIO_CTRL_FASTACC(1) | + FLEXIO_CTRL_FLEXEN(0))); + + /* FlexIO IRQ handling */ + up_enable_irq(IMXRT_IRQ_FLEXIO1); + irq_attach(IMXRT_IRQ_FLEXIO1, flexio_irq_handler, 0); + + dshot_mask = 0x0; + + for (unsigned channel = 0; (channel_mask != 0) && (channel < DSHOT_TIMERS); channel++) { + if (channel_mask & (1 << channel)) { + + if (timer_io_channels[channel].dshot.pinmux == 0) { // board does not configure dshot on this pin + continue; + } + + imxrt_config_gpio(timer_io_channels[channel].dshot.pinmux | IOMUX_PULL_UP); + + dshot_inst[channel].bdshot = enable_bidirectional_dshot; + + flexio_dshot_output(channel, timer_io_channels[channel].dshot.flexio_pin, dshot_tcmp, dshot_inst[channel].bdshot); + + dshot_inst[channel].init = true; + + // Mask channel to be active on dshot + dshot_mask |= (1 << channel); + } + } + + flexio_modifyreg32(IMXRT_FLEXIO_CTRL_OFFSET, 0, + FLEXIO_CTRL_FLEXEN_MASK); + + return channel_mask; +} + +void up_bdshot_erpm(void) +{ + uint32_t value; + uint32_t data; + uint32_t csum_data; + uint8_t exponent; + uint16_t period; + uint16_t erpm; + + bdshot_parsed_recv_mask = 0; + + // Decode each individual channel + for (uint8_t channel = 0; (channel < DSHOT_TIMERS); channel++) { + if (bdshot_recv_mask & (1 << channel)) { + value = ~dshot_inst[channel].raw_response & 0xFFFFF; + + /* if lowest significant isn't 1 we've got a framing error */ + if (value & 0x1) { + /* Decode RLL */ + value = (value ^ (value >> 1)); + + /* Decode GCR */ + data = gcr_decode[value & 0x1fU]; + data |= gcr_decode[(value >> 5U) & 0x1fU] << 4U; + data |= gcr_decode[(value >> 10U) & 0x1fU] << 8U; + data |= gcr_decode[(value >> 15U) & 0x1fU] << 12U; + + /* Calculate checksum */ + csum_data = data; + csum_data = csum_data ^ (csum_data >> 8U); + csum_data = csum_data ^ (csum_data >> NIBBLES_SIZE); + + if ((csum_data & 0xFU) != 0xFU) { + dshot_inst[channel].crc_error_cnt++; + + } else { + data = (data >> 4) & 0xFFF; + + if (data == 0xFFF) { + erpm = 0; + + } else { + exponent = ((data >> 9U) & 0x7U); /* 3 bit: exponent */ + period = (data & 0x1ffU); /* 9 bit: period base */ + period = period << exponent; /* Period in usec */ + erpm = ((1000000U * 60U / 100U + period / 2U) / period); + } + + dshot_inst[channel].erpm = erpm; + bdshot_parsed_recv_mask |= (1 << channel); + dshot_inst[channel].last_no_response_cnt = dshot_inst[channel].no_response_cnt; + } + + } else { + dshot_inst[channel].frame_error_cnt++; + } + } + } +} + + + +int up_bdshot_get_erpm(uint8_t channel, int *erpm) +{ + if (bdshot_parsed_recv_mask & (1 << channel)) { + *erpm = (int)dshot_inst[channel].erpm; + return 0; + } + + return -1; +} + +int up_bdshot_channel_status(uint8_t channel) +{ + if (channel < DSHOT_TIMERS) { + return ((dshot_inst[channel].no_response_cnt - dshot_inst[channel].last_no_response_cnt) < BDSHOT_OFFLINE_COUNT); + } + + return -1; +} + +void up_bdshot_status(void) +{ + + for (uint8_t channel = 0; (channel < DSHOT_TIMERS); channel++) { + + if (dshot_inst[channel].init) { + PX4_INFO("Channel %i %s Last erpm %i value", channel, up_bdshot_channel_status(channel) ? "online" : "offline", + dshot_inst[channel].erpm); + PX4_INFO("CRC errors Frame error No response"); + PX4_INFO("%10lu %11lu %11lu", dshot_inst[channel].crc_error_cnt, dshot_inst[channel].frame_error_cnt, + dshot_inst[channel].no_response_cnt); + } + } +} + +void up_dshot_trigger(void) +{ + // Calc data now since we're not event driven + if (bdshot_recv_mask != 0x0) { + up_bdshot_erpm(); + } + + clear_timer_status_flags(0xFF); + + for (uint8_t channel = 0; (channel < DSHOT_TIMERS); channel++) { + if (dshot_inst[channel].bdshot && (bdshot_recv_mask & (1 << channel)) == 0) { + dshot_inst[channel].no_response_cnt++; + } + + if (dshot_inst[channel].init && dshot_inst[channel].data_seg1 != 0) { + flexio_putreg32(dshot_inst[channel].data_seg1, IMXRT_FLEXIO_SHIFTBUF0_OFFSET + channel * 0x4); + } + } + + bdshot_recv_mask = 0x0; + + clear_timer_status_flags(0xFF); + enable_shifter_status_interrupts(0xFF); + enable_timer_status_interrupts(0xFF); +} + +/* Expand packet from 16 bits 48 to get T0H and T1H timing */ +uint64_t dshot_expand_data(uint16_t packet) +{ + unsigned int mask; + unsigned int index = 0; + uint64_t expanded = 0x0; + + for (mask = 0x8000; mask != 0; mask >>= 1) { + if (packet & mask) { + expanded = expanded | ((uint64_t)0x3 << index); + + } else { + expanded = expanded | ((uint64_t)0x1 << index); + } + + index = index + 3; + } + + return expanded; +} + +/** +* bits 1-11 - throttle value (0-47 are reserved, 48-2047 give 2000 steps of throttle resolution) +* bit 12 - dshot telemetry enable/disable +* bits 13-16 - XOR checksum +**/ +void dshot_motor_data_set(unsigned channel, uint16_t throttle, bool telemetry) +{ + if (channel < DSHOT_TIMERS && dshot_inst[channel].init) { + uint16_t csum_data; + uint16_t packet = 0; + uint16_t checksum = 0; + + packet |= throttle << DSHOT_THROTTLE_POSITION; + packet |= ((uint16_t)telemetry & 0x01) << DSHOT_TELEMETRY_POSITION; + + if (dshot_inst[channel].bdshot) { + csum_data = ~packet; + + } else { + csum_data = packet; + } + + /* XOR checksum calculation */ + csum_data >>= NIBBLES_SIZE; + + for (unsigned i = 0; i < DSHOT_NUMBER_OF_NIBBLES; i++) { + checksum ^= (csum_data & 0x0F); // XOR data by nibbles + csum_data >>= NIBBLES_SIZE; + } + + packet |= (checksum & 0x0F); + + uint64_t dshot_expanded = dshot_expand_data(packet); + + dshot_inst[channel].data_seg1 = (uint32_t)(dshot_expanded & 0xFFFFFF); + dshot_inst[channel].irq_data = (uint32_t)(dshot_expanded >> 24); + dshot_inst[channel].state = DSHOT_START; + + if (dshot_inst[channel].bdshot) { + + flexio_putreg32(0x0, IMXRT_FLEXIO_TIMCTL0_OFFSET + channel * 0x4); + disable_shifter_status_interrupts(1 << channel); + + flexio_dshot_output(channel, timer_io_channels[channel].dshot.flexio_pin, dshot_tcmp, dshot_inst[channel].bdshot); + + clear_timer_status_flags(0xFF); + } + } +} + +int up_dshot_arm(bool armed) +{ + return io_timer_set_enable(armed, IOTimerChanMode_Dshot, IO_TIMER_ALL_MODES_CHANNELS); +} diff --git a/platforms/nuttx/src/px4/nxp/imxrt/hrt/hrt.c b/platforms/nuttx/src/px4/nxp/imxrt/hrt/hrt.c index 7106a1814cbf..d44a1ee1061e 100644 --- a/platforms/nuttx/src/px4/nxp/imxrt/hrt/hrt.c +++ b/platforms/nuttx/src/px4/nxp/imxrt/hrt/hrt.c @@ -94,12 +94,28 @@ # define HRT_CLOCK_ALL() imxrt_clockall_gpt_bus() /* The Clock Gating macro for this GPT */ #elif HRT_TIMER == 2 # define HRT_CLOCK_ALL() imxrt_clockall_gpt2_bus() /* The Clock Gating macro for this GPT */ +#elif HRT_TIMER == 3 +# define HRT_CLOCK_ALL() imxrt_clockall_gpt3_bus() /* The Clock Gating macro for this GPT */ +#elif HRT_TIMER == 4 +# define HRT_CLOCK_ALL() imxrt_clockall_gpt4_bus() /* The Clock Gating macro for this GPT */ +#elif HRT_TIMER == 5 +# define HRT_CLOCK_ALL() imxrt_clockall_gpt5_bus() /* The Clock Gating macro for this GPT */ +#elif HRT_TIMER == 6 +# define HRT_CLOCK_ALL() imxrt_clockall_gpt6_bus() /* The Clock Gating macro for this GPT */ #endif #if HRT_TIMER == 1 && defined(CONFIG_IMXRT_GPT1) # error must not set CONFIG_IMXRT_GPT1=y and HRT_TIMER=1 #elif HRT_TIMER == 2 && defined(CONFIG_IMXRT_GPT2) # error must not set CONFIG_IMXRT_GPT2=y and HRT_TIMER=2 +#elif HRT_TIMER == 3 && defined(CONFIG_IMXRT_GPT3) +# error must not set CONFIG_IMXRT_GPT3=y and HRT_TIMER=3 +#elif HRT_TIMER == 4 && defined(CONFIG_IMXRT_GPT4) +# error must not set CONFIG_IMXRT_GPT4=y and HRT_TIMER=4 +#elif HRT_TIMER == 5 && defined(CONFIG_IMXRT_GPT5) +# error must not set CONFIG_IMXRT_GPT5=y and HRT_TIMER=5 +#elif HRT_TIMER == 6 && defined(CONFIG_IMXRT_GPT6) +# error must not set CONFIG_IMXRT_GPT6=y and HRT_TIMER=6 #endif /* @@ -165,7 +181,7 @@ # define STATUS_HRT CAT(GPT_SR_OF, HRT_TIMER_CHANNEL) /* OF Output Compare Flag */ # define OFIE_HRT CAT3(GPT_IR_OF, HRT_TIMER_CHANNEL,IE) /* Output Compare Interrupt Enable */ -#if (HRT_TIMER_CHANNEL > 1) || (HRT_TIMER_CHANNEL > 3) +#if (HRT_TIMER_CHANNEL < 1) || (HRT_TIMER_CHANNEL > 3) # error HRT_TIMER_CHANNEL must be a value between 1 and 3 #endif diff --git a/platforms/nuttx/src/px4/nxp/imxrt/include/px4_arch/dshot.h b/platforms/nuttx/src/px4/nxp/imxrt/include/px4_arch/dshot.h new file mode 100644 index 000000000000..19d7c4d2f755 --- /dev/null +++ b/platforms/nuttx/src/px4/nxp/imxrt/include/px4_arch/dshot.h @@ -0,0 +1,45 @@ +/**************************************************************************** + * + * Copyright (C) 2023 PX4 Development Team. All rights reserved. + * Author: Peter van der Perk + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#pragma once + +#include + + +/* The structure which contains configuration for DShot + */ +typedef struct dshot_conf_t { + uint32_t pinmux; + uint32_t flexio_pin; +} dshot_conf_t; diff --git a/platforms/nuttx/src/px4/nxp/imxrt/include/px4_arch/hw_description.h b/platforms/nuttx/src/px4/nxp/imxrt/include/px4_arch/hw_description.h deleted file mode 100644 index 5d88271edc6a..000000000000 --- a/platforms/nuttx/src/px4/nxp/imxrt/include/px4_arch/hw_description.h +++ /dev/null @@ -1,397 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2019 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -#pragma once - - -#include - -#include "hardware/imxrt_flexpwm.h" - -#include - -#include -#ifndef CONFIG_ARCH_CHIP_MIMXRT1062DVL6A -# error "This code has only been validated with IMXRT1062. Make sure it is correct before using it on another board." -#endif - -/* - * PWM - */ - -namespace PWM -{ -enum FlexPWM { - FlexPWM1 = 0, - FlexPWM2, - FlexPWM3, - FlexPWM4, -}; - -enum FlexPWMModule { - PWM1_PWM_A = 0, - PWM1_PWM_B, - PWM1_PWM_X, - - PWM2_PWM_A, - PWM2_PWM_B, - - PWM3_PWM_A, - PWM3_PWM_B, - - PWM4_PWM_A, - PWM4_PWM_B, -}; - -enum FlexPWMSubmodule { - Submodule0 = 0, - Submodule1, - Submodule2, - Submodule3, -}; - -struct FlexPWMConfig { - FlexPWMModule module; - FlexPWMSubmodule submodule; -}; -} - -static inline constexpr uint32_t getFlexPWMBaseRegister(PWM::FlexPWM pwm) -{ - switch (pwm) { - case PWM::FlexPWM1: return IMXRT_FLEXPWM1_BASE; - - case PWM::FlexPWM2: return IMXRT_FLEXPWM2_BASE; - - case PWM::FlexPWM3: return IMXRT_FLEXPWM3_BASE; - - case PWM::FlexPWM4: return IMXRT_FLEXPWM4_BASE; - } - - return 0; -} - -namespace IOMUX -{ -enum class Pad { - GPIO_EMC_00 = 0, - GPIO_EMC_01 = 1, - GPIO_EMC_02 = 2, - GPIO_EMC_03 = 3, - GPIO_EMC_04 = 4, - GPIO_EMC_05 = 5, - GPIO_EMC_06 = 6, - GPIO_EMC_07 = 7, - GPIO_EMC_08 = 8, - GPIO_EMC_09 = 9, - GPIO_EMC_10 = 10, - GPIO_EMC_11 = 11, - GPIO_EMC_12 = 12, - GPIO_EMC_13 = 13, - GPIO_EMC_14 = 14, - GPIO_EMC_15 = 15, - GPIO_EMC_16 = 16, - GPIO_EMC_17 = 17, - GPIO_EMC_18 = 18, - GPIO_EMC_19 = 19, - GPIO_EMC_20 = 20, - GPIO_EMC_21 = 21, - GPIO_EMC_22 = 22, - GPIO_EMC_23 = 23, - GPIO_EMC_24 = 24, - GPIO_EMC_25 = 25, - GPIO_EMC_26 = 26, - GPIO_EMC_27 = 27, - GPIO_EMC_28 = 28, - GPIO_EMC_29 = 29, - GPIO_EMC_30 = 30, - GPIO_EMC_31 = 31, - GPIO_EMC_32 = 32, - GPIO_EMC_33 = 33, - GPIO_EMC_34 = 34, - GPIO_EMC_35 = 35, - GPIO_EMC_36 = 36, - GPIO_EMC_37 = 37, - GPIO_EMC_38 = 38, - GPIO_EMC_39 = 39, - GPIO_EMC_40 = 40, - GPIO_EMC_41 = 41, - GPIO_AD_B0_00 = 42, - GPIO_AD_B0_01 = 43, - GPIO_AD_B0_02 = 44, - GPIO_AD_B0_03 = 45, - GPIO_AD_B0_04 = 46, - GPIO_AD_B0_05 = 47, - GPIO_AD_B0_06 = 48, - GPIO_AD_B0_07 = 49, - GPIO_AD_B0_08 = 50, - GPIO_AD_B0_09 = 51, - GPIO_AD_B0_10 = 52, - GPIO_AD_B0_11 = 53, - GPIO_AD_B0_12 = 54, - GPIO_AD_B0_13 = 55, - GPIO_AD_B0_14 = 56, - GPIO_AD_B0_15 = 57, - GPIO_AD_B1_00 = 58, - GPIO_AD_B1_01 = 59, - GPIO_AD_B1_02 = 60, - GPIO_AD_B1_03 = 61, - GPIO_AD_B1_04 = 62, - GPIO_AD_B1_05 = 63, - GPIO_AD_B1_06 = 64, - GPIO_AD_B1_07 = 65, - GPIO_AD_B1_08 = 66, - GPIO_AD_B1_09 = 67, - GPIO_AD_B1_10 = 68, - GPIO_AD_B1_11 = 69, - GPIO_AD_B1_12 = 70, - GPIO_AD_B1_13 = 71, - GPIO_AD_B1_14 = 72, - GPIO_AD_B1_15 = 73, - GPIO_B0_00 = 74, - GPIO_B0_01 = 75, - GPIO_B0_02 = 76, - GPIO_B0_03 = 77, - GPIO_B0_04 = 78, - GPIO_B0_05 = 79, - GPIO_B0_06 = 80, - GPIO_B0_07 = 81, - GPIO_B0_08 = 82, - GPIO_B0_09 = 83, - GPIO_B0_10 = 84, - GPIO_B0_11 = 85, - GPIO_B0_12 = 86, - GPIO_B0_13 = 87, - GPIO_B0_14 = 88, - GPIO_B0_15 = 89, - GPIO_B1_00 = 90, - GPIO_B1_01 = 91, - GPIO_B1_02 = 92, - GPIO_B1_03 = 93, - GPIO_B1_04 = 94, - GPIO_B1_05 = 95, - GPIO_B1_06 = 96, - GPIO_B1_07 = 97, - GPIO_B1_08 = 98, - GPIO_B1_09 = 99, - GPIO_B1_10 = 100, - GPIO_B1_11 = 101, - GPIO_B1_12 = 102, - GPIO_B1_13 = 103, - GPIO_B1_14 = 104, - GPIO_B1_15 = 105, - GPIO_SD_B0_00 = 106, - GPIO_SD_B0_01 = 107, - GPIO_SD_B0_02 = 108, - GPIO_SD_B0_03 = 109, - GPIO_SD_B0_04 = 110, - GPIO_SD_B0_05 = 111, - GPIO_SD_B1_00 = 112, - GPIO_SD_B1_01 = 113, - GPIO_SD_B1_02 = 114, - GPIO_SD_B1_03 = 115, - GPIO_SD_B1_04 = 116, - GPIO_SD_B1_05 = 117, - GPIO_SD_B1_06 = 118, - GPIO_SD_B1_07 = 119, - GPIO_SD_B1_08 = 120, - GPIO_SD_B1_09 = 121, - GPIO_SD_B1_10 = 122, - GPIO_SD_B1_11 = 123, -}; - -} - -/* - * GPIO - */ - -namespace GPIO -{ -enum Port { - PortInvalid = 0, - Port1, - Port2, - Port3, - Port4, - Port5, -}; -enum Pin { - Pin0 = 0, - Pin1, - Pin2, - Pin3, - Pin4, - Pin5, - Pin6, - Pin7, - Pin8, - Pin9, - Pin10, - Pin11, - Pin12, - Pin13, - Pin14, - Pin15, - Pin16, - Pin17, - Pin18, - Pin19, - Pin20, - Pin21, - Pin22, - Pin23, - Pin24, - Pin25, - Pin26, - Pin27, - Pin28, - Pin29, - Pin30, - Pin31, -}; -struct GPIOPin { - Port port; - Pin pin; -}; -} - -static inline constexpr uint32_t getGPIOPort(GPIO::Port port) -{ - switch (port) { - case GPIO::Port1: return GPIO_PORT1; - - case GPIO::Port2: return GPIO_PORT2; - - case GPIO::Port3: return GPIO_PORT3; - - case GPIO::Port4: return GPIO_PORT4; - - case GPIO::Port5: return GPIO_PORT5; - - default: break; - } - - return 0; -} - -static inline constexpr uint32_t getGPIOPin(GPIO::Pin pin) -{ - switch (pin) { - case GPIO::Pin0: return GPIO_PIN0; - - case GPIO::Pin1: return GPIO_PIN1; - - case GPIO::Pin2: return GPIO_PIN2; - - case GPIO::Pin3: return GPIO_PIN3; - - case GPIO::Pin4: return GPIO_PIN4; - - case GPIO::Pin5: return GPIO_PIN5; - - case GPIO::Pin6: return GPIO_PIN6; - - case GPIO::Pin7: return GPIO_PIN7; - - case GPIO::Pin8: return GPIO_PIN8; - - case GPIO::Pin9: return GPIO_PIN9; - - case GPIO::Pin10: return GPIO_PIN10; - - case GPIO::Pin11: return GPIO_PIN11; - - case GPIO::Pin12: return GPIO_PIN12; - - case GPIO::Pin13: return GPIO_PIN13; - - case GPIO::Pin14: return GPIO_PIN14; - - case GPIO::Pin15: return GPIO_PIN15; - - case GPIO::Pin16: return GPIO_PIN16; - - case GPIO::Pin17: return GPIO_PIN17; - - case GPIO::Pin18: return GPIO_PIN18; - - case GPIO::Pin19: return GPIO_PIN19; - - case GPIO::Pin20: return GPIO_PIN20; - - case GPIO::Pin21: return GPIO_PIN21; - - case GPIO::Pin22: return GPIO_PIN22; - - case GPIO::Pin23: return GPIO_PIN23; - - case GPIO::Pin24: return GPIO_PIN24; - - case GPIO::Pin25: return GPIO_PIN25; - - case GPIO::Pin26: return GPIO_PIN26; - - case GPIO::Pin27: return GPIO_PIN27; - - case GPIO::Pin28: return GPIO_PIN28; - - case GPIO::Pin29: return GPIO_PIN29; - - case GPIO::Pin30: return GPIO_PIN30; - - case GPIO::Pin31: return GPIO_PIN31; - } - - return 0; -} - -namespace SPI -{ - -enum class Bus { - LPSPI1 = 1, - LPSPI2, - LPSPI3, - LPSPI4, -}; - -using CS = GPIO::GPIOPin; ///< chip-select pin -using DRDY = GPIO::GPIOPin; ///< data ready pin - -struct bus_device_external_cfg_t { - CS cs_gpio; - DRDY drdy_gpio; -}; - -} // namespace SPI diff --git a/platforms/nuttx/src/px4/nxp/imxrt/include/px4_arch/imxrt_flexspi_nor_flash.h b/platforms/nuttx/src/px4/nxp/imxrt/include/px4_arch/imxrt_flexspi_nor_flash.h new file mode 100644 index 000000000000..727744b974aa --- /dev/null +++ b/platforms/nuttx/src/px4/nxp/imxrt/include/px4_arch/imxrt_flexspi_nor_flash.h @@ -0,0 +1,352 @@ +/**************************************************************************** + * platforms/nuttx/src/px4/nxp/imrt/include/px4_arch/imxrt_flexspi_nor_flash.h + * + * Licensed to the Apache Software Foundation (ASF) under one or more + * contributor license agreements. See the NOTICE file distributed with + * this work for additional information regarding copyright ownership. The + * ASF licenses this file to you under the Apache License, Version 2.0 (the + * "License"); you may not use this file except in compliance with the + * License. You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT + * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the + * License for the specific language governing permissions and limitations + * under the License. + * + ****************************************************************************/ + +#ifndef __PX4_ARCH_IMXRT_FLEXSPI_NOR_FLASH_H +#define __PX4_ARCH_IMXRT_FLEXSPI_NOR_FLASH_H + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include +#include + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +/*! @name Driver version */ +/*@{*/ +/*! @brief XIP_BOARD driver version 2.0.0. */ +#define FSL_XIP_BOARD_DRIVER_VERSION (MAKE_VERSION(2, 0, 0)) +/*@}*/ + +/* FLEXSPI memory config block related defintions */ +#define FLEXSPI_CFG_BLK_TAG (0x42464346UL) // ascii "FCFB" Big Endian +#define FLEXSPI_CFG_BLK_VERSION (0x56010400UL) // V1.4.0 +#define FLEXSPI_CFG_BLK_SIZE (512) + +/* FLEXSPI Feature related definitions */ +#define FLEXSPI_FEATURE_HAS_PARALLEL_MODE 1 + +/* Lookup table related defintions */ +#define CMD_INDEX_READ 0 +#define CMD_INDEX_READSTATUS 1 +#define CMD_INDEX_WRITEENABLE 2 +#define CMD_INDEX_WRITE 4 + +#define CMD_LUT_SEQ_IDX_READ 0 +#define CMD_LUT_SEQ_IDX_READSTATUS 1 +#define CMD_LUT_SEQ_IDX_WRITEENABLE 3 +#define CMD_LUT_SEQ_IDX_WRITE 9 + +#define CMD_SDR 0x01 +#define CMD_DDR 0x21 +#define RADDR_SDR 0x02 +#define RADDR_DDR 0x22 +#define CADDR_SDR 0x03 +#define CADDR_DDR 0x23 +#define MODE1_SDR 0x04 +#define MODE1_DDR 0x24 +#define MODE2_SDR 0x05 +#define MODE2_DDR 0x25 +#define MODE4_SDR 0x06 +#define MODE4_DDR 0x26 +#define MODE8_SDR 0x07 +#define MODE8_DDR 0x27 +#define WRITE_SDR 0x08 +#define WRITE_DDR 0x28 +#define READ_SDR 0x09 +#define READ_DDR 0x29 +#define LEARN_SDR 0x0A +#define LEARN_DDR 0x2A +#define DATSZ_SDR 0x0B +#define DATSZ_DDR 0x2B +#define DUMMY_SDR 0x0C +#define DUMMY_DDR 0x2C +#define DUMMY_RWDS_SDR 0x0D +#define DUMMY_RWDS_DDR 0x2D +#define JMP_ON_CS 0x1F +#define STOP_EXE 0 + +#define FLEXSPI_1PAD 0 +#define FLEXSPI_2PAD 1 +#define FLEXSPI_4PAD 2 +#define FLEXSPI_8PAD 3 + +/*! @name LUT - LUT 0..LUT 63 */ +/*! @{ */ + +#define FLEXSPI_LUT_OPERAND0_MASK (0xFFU) +#define FLEXSPI_LUT_OPERAND0_SHIFT (0U) +/*! OPERAND0 - OPERAND0 + */ +#define FLEXSPI_LUT_OPERAND0(x) (((uint32_t)(((uint32_t)(x)) << FLEXSPI_LUT_OPERAND0_SHIFT)) & FLEXSPI_LUT_OPERAND0_MASK) + +#define FLEXSPI_LUT_NUM_PADS0_MASK (0x300U) +#define FLEXSPI_LUT_NUM_PADS0_SHIFT (8U) +/*! NUM_PADS0 - NUM_PADS0 + */ +#define FLEXSPI_LUT_NUM_PADS0(x) (((uint32_t)(((uint32_t)(x)) << FLEXSPI_LUT_NUM_PADS0_SHIFT)) & FLEXSPI_LUT_NUM_PADS0_MASK) + +#define FLEXSPI_LUT_OPCODE0_MASK (0xFC00U) +#define FLEXSPI_LUT_OPCODE0_SHIFT (10U) +/*! OPCODE0 - OPCODE + */ +#define FLEXSPI_LUT_OPCODE0(x) (((uint32_t)(((uint32_t)(x)) << FLEXSPI_LUT_OPCODE0_SHIFT)) & FLEXSPI_LUT_OPCODE0_MASK) + +#define FLEXSPI_LUT_OPERAND1_MASK (0xFF0000U) +#define FLEXSPI_LUT_OPERAND1_SHIFT (16U) +/*! OPERAND1 - OPERAND1 + */ +#define FLEXSPI_LUT_OPERAND1(x) (((uint32_t)(((uint32_t)(x)) << FLEXSPI_LUT_OPERAND1_SHIFT)) & FLEXSPI_LUT_OPERAND1_MASK) + +#define FLEXSPI_LUT_NUM_PADS1_MASK (0x3000000U) +#define FLEXSPI_LUT_NUM_PADS1_SHIFT (24U) +/*! NUM_PADS1 - NUM_PADS1 + */ +#define FLEXSPI_LUT_NUM_PADS1(x) (((uint32_t)(((uint32_t)(x)) << FLEXSPI_LUT_NUM_PADS1_SHIFT)) & FLEXSPI_LUT_NUM_PADS1_MASK) + +#define FLEXSPI_LUT_OPCODE1_MASK (0xFC000000U) +#define FLEXSPI_LUT_OPCODE1_SHIFT (26U) +/*! OPCODE1 - OPCODE1 + */ +#define FLEXSPI_LUT_OPCODE1(x) (((uint32_t)(((uint32_t)(x)) << FLEXSPI_LUT_OPCODE1_SHIFT)) & FLEXSPI_LUT_OPCODE1_MASK) +/*! @} */ + +/* The count of FLEXSPI_LUT */ +#define FLEXSPI_LUT_COUNT (64U) + +#define FLEXSPI_LUT_SEQ(cmd0, pad0, op0, cmd1, pad1, op1) \ + (FLEXSPI_LUT_OPERAND0(op0) | FLEXSPI_LUT_NUM_PADS0(pad0) | FLEXSPI_LUT_OPCODE0(cmd0) | FLEXSPI_LUT_OPERAND1(op1) | \ + FLEXSPI_LUT_NUM_PADS1(pad1) | FLEXSPI_LUT_OPCODE1(cmd1)) + +//!@brief Definitions for FlexSPI Serial Clock Frequency +typedef enum _FlexSpiSerialClockFreq { + kFlexSpiSerialClk_30MHz = 1, + kFlexSpiSerialClk_50MHz = 2, + kFlexSpiSerialClk_60MHz = 3, + kFlexSpiSerialClk_80MHz = 4, + kFlexSpiSerialClk_100MHz = 5, + kFlexSpiSerialClk_120MHz = 6, + kFlexSpiSerialClk_133MHz = 7, + kFlexSpiSerialClk_166MHz = 8, + kFlexSpiSerialClk_200MHz = 9, +} flexspi_serial_clk_freq_t; + +//!@brief FlexSPI clock configuration type +enum { + kFlexSpiClk_SDR, //!< Clock configure for SDR mode + kFlexSpiClk_DDR, //!< Clock configurat for DDR mode +}; + +//!@brief FlexSPI Read Sample Clock Source definition +typedef enum _FlashReadSampleClkSource { + kFlexSPIReadSampleClk_LoopbackInternally = 0, + kFlexSPIReadSampleClk_LoopbackFromDqsPad = 1, + kFlexSPIReadSampleClk_LoopbackFromSckPad = 2, + kFlexSPIReadSampleClk_ExternalInputFromDqsPad = 3, +} flexspi_read_sample_clk_t; + +//!@brief Misc feature bit definitions +enum { + kFlexSpiMiscOffset_DiffClkEnable = 0, //!< Bit for Differential clock enable + kFlexSpiMiscOffset_Ck2Enable = 1, //!< Bit for CK2 enable + kFlexSpiMiscOffset_ParallelEnable = 2, //!< Bit for Parallel mode enable + kFlexSpiMiscOffset_WordAddressableEnable = 3, //!< Bit for Word Addressable enable + kFlexSpiMiscOffset_SafeConfigFreqEnable = 4, //!< Bit for Safe Configuration Frequency enable + kFlexSpiMiscOffset_PadSettingOverrideEnable = 5, //!< Bit for Pad setting override enable + kFlexSpiMiscOffset_DdrModeEnable = 6, //!< Bit for DDR clock confiuration indication. +}; + +//!@brief Flash Type Definition +enum { + kFlexSpiDeviceType_SerialNOR = 1, //!< Flash devices are Serial NOR + kFlexSpiDeviceType_SerialNAND = 2, //!< Flash devices are Serial NAND + kFlexSpiDeviceType_SerialRAM = 3, //!< Flash devices are Serial RAM/HyperFLASH + kFlexSpiDeviceType_MCP_NOR_NAND = 0x12, //!< Flash device is MCP device, A1 is Serial NOR, A2 is Serial NAND + kFlexSpiDeviceType_MCP_NOR_RAM = 0x13, //!< Flash deivce is MCP device, A1 is Serial NOR, A2 is Serial RAMs +}; + +//!@brief Flash Pad Definitions +enum { + kSerialFlash_1Pad = 1, + kSerialFlash_2Pads = 2, + kSerialFlash_4Pads = 4, + kSerialFlash_8Pads = 8, +}; + +//!@brief FlexSPI LUT Sequence structure +typedef struct _lut_sequence { + uint8_t seqNum; //!< Sequence Number, valid number: 1-16 + uint8_t seqId; //!< Sequence Index, valid number: 0-15 + uint16_t reserved; +} flexspi_lut_seq_t; + +//!@brief Flash Configuration Command Type +enum { + kDeviceConfigCmdType_Generic, //!< Generic command, for example: configure dummy cycles, drive strength, etc + kDeviceConfigCmdType_QuadEnable, //!< Quad Enable command + kDeviceConfigCmdType_Spi2Xpi, //!< Switch from SPI to DPI/QPI/OPI mode + kDeviceConfigCmdType_Xpi2Spi, //!< Switch from DPI/QPI/OPI to SPI mode + kDeviceConfigCmdType_Spi2NoCmd, //!< Switch to 0-4-4/0-8-8 mode + kDeviceConfigCmdType_Reset, //!< Reset device command +}; + +typedef struct { + uint8_t time_100ps; /* Data valid time, in terms of 100ps */ + uint8_t delay_cells; /* Data valid time, in terms of delay cells */ +} flexspi_dll_time_t; + +/*! + * @name Configuration Option + * @{ + */ +/*! @brief Serial NOR Configuration Option. */ +typedef struct _serial_nor_config_option { + union { + struct { + uint32_t max_freq : 4; /*!< Maximum supported Frequency */ + uint32_t misc_mode : 4; /*!< miscellaneous mode */ + uint32_t quad_mode_setting : 4; /*!< Quad mode setting */ + uint32_t cmd_pads : 4; /*!< Command pads */ + uint32_t query_pads : 4; /*!< SFDP read pads */ + uint32_t device_type : 4; /*!< Device type */ + uint32_t option_size : 4; /*!< Option size, in terms of uint32_t, size = (option_size + 1) * 4 */ + uint32_t tag : 4; /*!< Tag, must be 0x0E */ + } B; + uint32_t U; + } option0; + + union { + struct { + uint32_t dummy_cycles : 8; /*!< Dummy cycles before read */ + uint32_t status_override : 8; /*!< Override status register value during device mode configuration */ + uint32_t pinmux_group : 4; /*!< The pinmux group selection */ + uint32_t dqs_pinmux_group : 4; /*!< The DQS Pinmux Group Selection */ + uint32_t drive_strength : 4; /*!< The Drive Strength of FlexSPI Pads */ + uint32_t flash_connection : 4; /*!< Flash connection option: 0 - Single Flash connected to port A, 1 - + Parallel mode, 2 - Single Flash connected to Port B */ + } B; + uint32_t U; + } option1; + +} serial_nor_config_option_t; + +//!@brief FlexSPI Memory Configuration Block +struct mem_config_s { + uint32_t tag; //!< [0x000-0x003] Tag, fixed value 0x42464346UL + uint32_t version; //!< [0x004-0x007] Version,[31:24] -'V', [23:16] - Major, [15:8] - Minor, [7:0] - bugfix + uint32_t reserved0; //!< [0x008-0x00b] Reserved for future use + uint8_t readSampleClkSrc; //!< [0x00c-0x00c] Read Sample Clock Source, valid value: 0/1/3 + uint8_t csHoldTime; //!< [0x00d-0x00d] CS hold time, default value: 3 + uint8_t csSetupTime; //!< [0x00e-0x00e] CS setup time, default value: 3 + uint8_t columnAddressWidth; //!< [0x00f-0x00f] Column Address with, for HyperBus protocol, it is fixed to 3, For Serial NAND, need to refer to datasheet + uint8_t deviceModeCfgEnable; //!< [0x010-0x010] Device Mode Configure enable flag, 1 - Enable, 0 - Disable + uint8_t deviceModeType; //!< [0x011-0x011] Specify the configuration command type:Quad Enable, DPI/QPI/OPI switch, Generic configuration, etc. + uint16_t waitTimeCfgCommands; //!< [0x012-0x013] Wait time for all configuration commands, unit: 100us, Used for DPI/QPI/OPI switch or reset command + flexspi_lut_seq_t + deviceModeSeq; //!< [0x014-0x017] Device mode sequence info, [7:0] - LUT sequence id, [15:8] - LUt sequence number, [31:16] Reserved + uint32_t deviceModeArg; //!< [0x018-0x01b] Argument/Parameter for device configuration + uint8_t configCmdEnable; //!< [0x01c-0x01c] Configure command Enable Flag, 1 - Enable, 0 - Disable + uint8_t configModeType[3]; //!< [0x01d-0x01f] Configure Mode Type, similar as deviceModeTpe + flexspi_lut_seq_t + configCmdSeqs[3]; //!< [0x020-0x02b] Sequence info for Device Configuration command, similar as deviceModeSeq + uint32_t reserved1; //!< [0x02c-0x02f] Reserved for future use + uint32_t configCmdArgs[3]; //!< [0x030-0x03b] Arguments/Parameters for device Configuration commands + uint32_t reserved2; //!< [0x03c-0x03f] Reserved for future use + uint32_t controllerMiscOption; //!< [0x040-0x043] Controller Misc Options, see Misc feature bit definitions for more details + uint8_t deviceType; //!< [0x044-0x044] Device Type: See Flash Type Definition for more details + uint8_t sflashPadType; //!< [0x045-0x045] Serial Flash Pad Type: 1 - Single, 2 - Dual, 4 - Quad, 8 - Octal + uint8_t serialClkFreq; //!< [0x046-0x046] Serial Flash Frequencey, device specific definitions, See System Boot Chapter for more details + uint8_t lutCustomSeqEnable; //!< [0x047-0x047] LUT customization Enable, it is required if the program/erase cannot be done using 1 LUT sequence, currently, only applicable to HyperFLASH + uint32_t reserved3[2]; //!< [0x048-0x04f] Reserved for future use + uint32_t sflashA1Size; //!< [0x050-0x053] Size of Flash connected to A1 + uint32_t sflashA2Size; //!< [0x054-0x057] Size of Flash connected to A2 + uint32_t sflashB1Size; //!< [0x058-0x05b] Size of Flash connected to B1 + uint32_t sflashB2Size; //!< [0x05c-0x05f] Size of Flash connected to B2 + uint32_t csPadSettingOverride; //!< [0x060-0x063] CS pad setting override value + uint32_t sclkPadSettingOverride; //!< [0x064-0x067] SCK pad setting override value + uint32_t dataPadSettingOverride; //!< [0x068-0x06b] data pad setting override value + uint32_t dqsPadSettingOverride; //!< [0x06c-0x06f] DQS pad setting override value + uint32_t timeoutInMs; //!< [0x070-0x073] Timeout threshold for read status command + uint32_t commandInterval; //!< [0x074-0x077] CS deselect interval between two commands + flexspi_dll_time_t + dataValidTime[2]; //!< [0x078-0x07b] CLK edge to data valid time for PORT A and PORT B, in terms of 0.1ns + uint16_t busyOffset; //!< [0x07c-0x07d] Busy offset, valid value: 0-31 + uint16_t busyBitPolarity; //!< [0x07e-0x07f] Busy flag polarity, 0 - busy flag is 1 when flash device is busy, 1 busy flag is 0 when flash device is busy + uint32_t lookupTable[64]; //!< [0x080-0x17f] Lookup table holds Flash command sequences + flexspi_lut_seq_t lutCustomSeq[12]; //!< [0x180-0x1af] Customizable LUT Sequences + uint32_t reserved4[4]; //!< [0x1b0-0x1bf] Reserved for future use +}; + +/* */ +#define NOR_CMD_INDEX_READ CMD_INDEX_READ //!< 0 +#define NOR_CMD_INDEX_READSTATUS CMD_INDEX_READSTATUS //!< 1 +#define NOR_CMD_INDEX_WRITEENABLE CMD_INDEX_WRITEENABLE //!< 2 +#define NOR_CMD_INDEX_ERASESECTOR 3 //!< 3 +#define NOR_CMD_INDEX_PAGEPROGRAM CMD_INDEX_WRITE //!< 4 +#define NOR_CMD_INDEX_CHIPERASE 5 //!< 5 +#define NOR_CMD_INDEX_DUMMY 6 //!< 6 +#define NOR_CMD_INDEX_ERASEBLOCK 7 //!< 7 + +#define NOR_CMD_LUT_SEQ_IDX_READ CMD_LUT_SEQ_IDX_READ //!< 0 READ LUT sequence id in lookupTable stored in config block +#define NOR_CMD_LUT_SEQ_IDX_READSTATUS \ + CMD_LUT_SEQ_IDX_READSTATUS //!< 1 Read Status LUT sequence id in lookupTable stored in config block +#define NOR_CMD_LUT_SEQ_IDX_READSTATUS_XPI \ + 2 //!< 2 Read status DPI/QPI/OPI sequence id in lookupTable stored in config block +#define NOR_CMD_LUT_SEQ_IDX_WRITEENABLE \ + CMD_LUT_SEQ_IDX_WRITEENABLE //!< 3 Write Enable sequence id in lookupTable stored in config block +#define NOR_CMD_LUT_SEQ_IDX_WRITEENABLE_XPI \ + 4 //!< 4 Write Enable DPI/QPI/OPI sequence id in lookupTable stored in config block +#define NOR_CMD_LUT_SEQ_IDX_ERASESECTOR 5 //!< 5 Erase Sector sequence id in lookupTable stored in config block +#define NOR_CMD_LUT_SEQ_IDX_ERASEBLOCK 8 //!< 8 Erase Block sequence id in lookupTable stored in config block +#define NOR_CMD_LUT_SEQ_IDX_PAGEPROGRAM \ + CMD_LUT_SEQ_IDX_WRITE //!< 9 Program sequence id in lookupTable stored in config block +#define NOR_CMD_LUT_SEQ_IDX_CHIPERASE 11 //!< 11 Chip Erase sequence in lookupTable id stored in config block +#define NOR_CMD_LUT_SEQ_IDX_READ_SFDP 13 //!< 13 Read SFDP sequence in lookupTable id stored in config block +#define NOR_CMD_LUT_SEQ_IDX_RESTORE_NOCMD \ + 14 //!< 14 Restore 0-4-4/0-8-8 mode sequence id in lookupTable stored in config block +#define NOR_CMD_LUT_SEQ_IDX_EXIT_NOCMD \ + 15 //!< 15 Exit 0-4-4/0-8-8 mode sequence id in lookupTable stored in config blobk + +/* + * Serial NOR configuration block + */ +struct flexspi_nor_config_s { + struct mem_config_s memConfig; //!< Common memory configuration info via FlexSPI + uint32_t pageSize; //!< Page size of Serial NOR + uint32_t sectorSize; //!< Sector size of Serial NOR + uint8_t ipcmdSerialClkFreq; //!< Clock frequency for IP command + uint8_t isUniformBlockSize; //!< Sector/Block size is the same + uint8_t reserved0[2]; //!< Reserved for future use + uint8_t serialNorType; //!< Serial NOR Flash type: 0/1/2/3 + uint8_t needExitNoCmdMode; //!< Need to exit NoCmd mode before other IP command + uint8_t halfClkForNonReadCmd; //!< Half the Serial Clock for non-read command: true/false + uint8_t needRestoreNoCmdMode; //!< Need to Restore NoCmd mode after IP commmand execution + uint32_t blockSize; //!< Block size + uint32_t reserve2[11]; //!< Reserved for future use +}; + +extern const struct flexspi_nor_config_s g_flash_config; +extern const struct flexspi_nor_config_s g_flash_fast_config; + + +#endif /* __PX4_ARCH_IMXRT_FLEXSPI_NOR_FLASH_H */ diff --git a/platforms/nuttx/src/px4/nxp/imxrt/include/px4_arch/imxrt_romapi.h b/platforms/nuttx/src/px4/nxp/imxrt/include/px4_arch/imxrt_romapi.h new file mode 100644 index 000000000000..f51775e2bdca --- /dev/null +++ b/platforms/nuttx/src/px4/nxp/imxrt/include/px4_arch/imxrt_romapi.h @@ -0,0 +1,377 @@ +/**************************************************************************** + * platforms/nuttx/src/px4/nxp/imrt/include/px4_arch/imxrt_romapi.h + * + * Copyright 2017-2024 NXP + * All rights reserved. + * + * SPDX-License-Identifier: BSD-3-Clause + * +****************************************************************************/ +#ifndef __PX4_ARCH_IMXRT_ROMAPI_H +#define __PX4_ARCH_IMXRT_ROMAPI_H + +/**************************************************************************** + * + * Included Files + ****************************************************************************/ + +#include "board_config.h" + +typedef int32_t status_t; +typedef struct flexspi_nor_config_s flexspi_nor_config_t; +typedef status_t (*clearCacheCommand_t)(uint32_t instance); + +/*! @brief FLEXSPI Operation Context */ +typedef enum _flexspi_operation { + kFLEXSPIOperation_Command, /*!< FLEXSPI operation: Only command, both TX and RX buffer are ignored. */ + kFLEXSPIOperation_Config, /*!< FLEXSPI operation: Configure device mode, the TX FIFO size is fixed in LUT. */ + kFLEXSPIOperation_Write, /*!< FLEXSPI operation: Write, only TX buffer is effective */ + kFLEXSPIOperation_Read, /*!< FLEXSPI operation: Read, only Rx Buffer is effective. */ +} flexspi_operation_t; + +#define kFLEXSPIOperation_End kFLEXSPIOperation_Read + +/*! @brief FLEXSPI Transfer Context */ +typedef struct _flexspi_xfer { + flexspi_operation_t operation; /*!< FLEXSPI operation */ + uint32_t baseAddress; /*!< FLEXSPI operation base address */ + uint32_t seqId; /*!< Sequence Id */ + uint32_t seqNum; /*!< Sequence Number */ + bool isParallelModeEnable; /*!< Is a parallel transfer */ + uint32_t *txBuffer; /*!< Tx buffer */ + uint32_t txSize; /*!< Tx size in bytes */ + uint32_t *rxBuffer; /*!< Rx buffer */ + uint32_t rxSize; /*!< Rx size in bytes */ +} flexspi_xfer_t; + +/*! @brief convert the type for MISRA */ +#define MISRA_CAST(to_type, to_var, from_type, from_var) \ + do \ + { \ + union \ + { \ + to_type to_var_tmp; \ + from_type from_var_tmp; \ + } type_converter_var = {.from_var_tmp = (from_var)}; \ + (to_var) = type_converter_var.to_var_tmp; \ + } while (false) + +#ifdef __cplusplus +extern "C" { +#endif + +extern struct flexspi_nor_config_s g_bootConfig; + +/*! + * @brief ROM API init + * + * Get the bootloader api entry address. + */ +void ROM_API_Init(void); + +/*! + * @name Enter Bootloader + * @{ + */ + +/*! + * @brief Enter Bootloader. + * + * @param arg A pointer to the storage for the bootloader param. + * refer to System Boot Chapter in device reference manual for details. + */ +void ROM_RunBootloader(void *arg); + +/*@}*/ + +/*! + * @name GetConfig + * @{ + */ +/*! + * @brief Get FLEXSPI NOR Configuration Block based on specified option. + * + * @param instance storage the instance of FLEXSPI. + * @param config A pointer to the storage for the driver runtime state. + * @param option A pointer to the storage Serial NOR Configuration Option Context. + * + * @retval kStatus_Success Api was executed successfully. + * @retval kStatus_InvalidArgument A invalid argument is provided. + * @retval kStatus_ROM_FLEXSPI_InvalidSequence A invalid Sequence is provided. + * @retval kStatus_ROM_FLEXSPI_SequenceExecutionTimeout Sequence Execution timeout. + * @retval kStatus_ROM_FLEXSPI_DeviceTimeout the device timeout + */ +status_t ROM_FLEXSPI_NorFlash_GetConfig(uint32_t instance, + flexspi_nor_config_t *config, + serial_nor_config_option_t *option); + +/*! + * @name Initialization + * @{ + */ + +/*! + * @brief Initialize Serial NOR devices via FLEXSPI + * + * This function checks and initializes the FLEXSPI module for the other FLEXSPI APIs. + * + * @param instance storage the instance of FLEXSPI. + * @param config A pointer to the storage for the driver runtime state. + * + * @retval kStatus_Success Api was executed successfully. + * @retval kStatus_InvalidArgument A invalid argument is provided. + * @retval kStatus_ROM_FLEXSPI_InvalidSequence A invalid Sequence is provided. + * @retval kStatus_ROM_FLEXSPI_SequenceExecutionTimeout Sequence Execution timeout. + * @retval kStatus_ROM_FLEXSPI_DeviceTimeout the device timeout + */ +status_t ROM_FLEXSPI_NorFlash_Init(uint32_t instance, flexspi_nor_config_t *config); + +/*@}*/ + +/*! + * @name Programming + * @{ + */ + +/*! + * @brief Program data to Serial NOR via FLEXSPI. + * + * This function programs the NOR flash memory with the dest address for a given + * flash area as determined by the dst address and the length. + * + * @param instance storage the instance of FLEXSPI. + * @param config A pointer to the storage for the driver runtime state. + * @param dst_addr A pointer to the desired flash memory to be programmed. + * @note It is recommended that use page aligned access; + * If the dst_addr is not aligned to page, the driver automatically + * aligns address down with the page address. + * @param src A pointer to the source buffer of data that is to be programmed + * into the NOR flash. + * + * @retval kStatus_Success Api was executed successfully. + * @retval kStatus_InvalidArgument A invalid argument is provided. + * @retval kStatus_ROM_FLEXSPI_InvalidSequence A invalid Sequence is provided. + * @retval kStatus_ROM_FLEXSPI_SequenceExecutionTimeout Sequence Execution timeout. + * @retval kStatus_ROM_FLEXSPI_DeviceTimeout the device timeout + */ +status_t ROM_FLEXSPI_NorFlash_ProgramPage(uint32_t instance, + flexspi_nor_config_t *config, + uint32_t dst_addr, + const uint32_t *src); + +/*@}*/ + +/*! + * @name Reading + * @{ + */ + +/*! + * @brief Read data from Serial NOR via FLEXSPI. + * + * This function read the NOR flash memory with the start address for a given + * flash area as determined by the dst address and the length. + * + * @param instance storage the instance of FLEXSPI. + * @param config A pointer to the storage for the driver runtime state. + * @param dst A pointer to the dest buffer of data that is to be read from the NOR flash. + * @note It is recommended that use page aligned access; + * If the dstAddr is not aligned to page, the driver automatically + * aligns address down with the page address. + * @param start The start address of the desired NOR flash memory to be read. + * @param lengthInBytes The length, given in bytes to be read. + * + * @retval kStatus_Success Api was executed successfully. + * @retval kStatus_InvalidArgument A invalid argument is provided. + * @retval kStatus_ROM_FLEXSPI_InvalidSequence A invalid Sequence is provided. + * @retval kStatus_ROM_FLEXSPI_SequenceExecutionTimeout Sequence Execution timeout. + * @retval kStatus_ROM_FLEXSPI_DeviceTimeout the device timeout + */ +status_t ROM_FLEXSPI_NorFlash_Read( + uint32_t instance, flexspi_nor_config_t *config, uint32_t *dst, uint32_t start, uint32_t lengthInBytes); + +/*@}*/ + +/*! + * @name Erasing + * @{ + */ + +/*! + * @brief Erase Flash Region specified by address and length + * + * This function erases the appropriate number of flash sectors based on the + * desired start address and length. + * + * @param instance storage the index of FLEXSPI. + * @param config A pointer to the storage for the driver runtime state. + * @param start The start address of the desired NOR flash memory to be erased. + * @note It is recommended that use sector-aligned access nor device; + * If dstAddr is not aligned with the sector,the driver automatically + * aligns address down with the sector address. + * @param length The length, given in bytes to be erased. + * @note It is recommended that use sector-aligned access nor device; + * If length is not aligned with the sector,the driver automatically + * aligns up with the sector. + * @retval kStatus_Success Api was executed successfully. + * @retval kStatus_InvalidArgument A invalid argument is provided. + * @retval kStatus_ROM_FLEXSPI_InvalidSequence A invalid Sequence is provided. + * @retval kStatus_ROM_FLEXSPI_SequenceExecutionTimeout Sequence Execution timeout. + * @retval kStatus_ROM_FLEXSPI_DeviceTimeout the device timeout + */ +status_t ROM_FLEXSPI_NorFlash_Erase(uint32_t instance, flexspi_nor_config_t *config, uint32_t start, uint32_t length); + +/*! + * @brief Erase one sector specified by address + * + * This function erases one of NOR flash sectors based on the desired address. + * + * @param instance storage the index of FLEXSPI. + * @param config A pointer to the storage for the driver runtime state. + * @param start The start address of the desired NOR flash memory to be erased. + * @note It is recommended that use sector-aligned access nor device; + * If dstAddr is not aligned with the sector, the driver automatically + * aligns address down with the sector address. + * + * @retval kStatus_Success Api was executed successfully. + * @retval kStatus_InvalidArgument A invalid argument is provided. + * @retval kStatus_ROM_FLEXSPI_InvalidSequence A invalid Sequence is provided. + * @retval kStatus_ROM_FLEXSPI_SequenceExecutionTimeout Sequence Execution timeout. + * @retval kStatus_ROM_FLEXSPI_DeviceTimeout the device timeout + */ +status_t ROM_FLEXSPI_NorFlash_EraseSector(uint32_t instance, flexspi_nor_config_t *config, uint32_t start); + +/*! + * @brief Erase one block specified by address + * + * This function erases one block of NOR flash based on the desired address. + * + * @param instance storage the index of FLEXSPI. + * @param config A pointer to the storage for the driver runtime state. + * @param start The start address of the desired NOR flash memory to be erased. + * @note It is recommended that use block-aligned access nor device; + * If dstAddr is not aligned with the block, the driver automatically + * aligns address down with the block address. + * + * @retval kStatus_Success Api was executed successfully. + * @retval kStatus_InvalidArgument A invalid argument is provided. + * @retval kStatus_ROM_FLEXSPI_InvalidSequence A invalid Sequence is provided. + * @retval kStatus_ROM_FLEXSPI_SequenceExecutionTimeout Sequence Execution timeout. + * @retval kStatus_ROM_FLEXSPI_DeviceTimeout the device timeout + */ +status_t ROM_FLEXSPI_NorFlash_EraseBlock(uint32_t instance, flexspi_nor_config_t *config, uint32_t start); + +/*! + * @brief Erase all the Serial NOR devices connected on FLEXSPI. + * + * @param instance storage the instance of FLEXSPI. + * @param config A pointer to the storage for the driver runtime state. + * + * @retval kStatus_Success Api was executed successfully. + * @retval kStatus_InvalidArgument A invalid argument is provided. + * @retval kStatus_ROM_FLEXSPI_InvalidSequence A invalid Sequence is provided. + * @retval kStatus_ROM_FLEXSPI_SequenceExecutionTimeout Sequence Execution timeout. + * @retval kStatus_ROM_FLEXSPI_DeviceTimeout the device timeout + */ +status_t ROM_FLEXSPI_NorFlash_EraseAll(uint32_t instance, flexspi_nor_config_t *config); + +/*@}*/ + +/*! + * @name Command + * @{ + */ +/*! + * @brief FLEXSPI command + * + * This function is used to perform the command write sequence to the NOR device. + * + * @param instance storage the index of FLEXSPI. + * @param xfer A pointer to the storage FLEXSPI Transfer Context. + * + * @retval kStatus_Success Api was executed successfully. + * @retval kStatus_InvalidArgument A invalid argument is provided. + * @retval kStatus_ROM_FLEXSPI_InvalidSequence A invalid Sequence is provided. + * @retval kStatus_ROM_FLEXSPI_SequenceExecutionTimeout Sequence Execution timeout. + */ +status_t ROM_FLEXSPI_NorFlash_CommandXfer(uint32_t instance, flexspi_xfer_t *xfer); + +/*@}*/ + +/*! + * @name UpdateLut + * @{ + */ + +/*! + * @brief Configure FLEXSPI Lookup table + * + * @param instance storage the index of FLEXSPI. + * @param seqIndex storage the sequence Id. + * @param lutBase A pointer to the look-up-table for command sequences. + * @param seqNumber storage sequence number. + * + * @retval kStatus_Success Api was executed successfully. + * @retval kStatus_InvalidArgument A invalid argument is provided. + * @retval kStatus_ROM_FLEXSPI_InvalidSequence A invalid Sequence is provided. + * @retval kStatus_ROM_FLEXSPI_SequenceExecutionTimeout Sequence Execution timeout. + */ +status_t ROM_FLEXSPI_NorFlash_UpdateLut(uint32_t instance, + uint32_t seqIndex, + const uint32_t *lutBase, + uint32_t seqNumber); + + +/*@}*/ + +/*! + * @name Device status + * @{ + */ +/*! + * @brief Wait until device is idle. + * + * @param instance Indicates the index of FLEXSPI. + * @param config A pointer to the storage for the driver runtime state + * @param isParallelMode Indicates whether NOR flash is in parallel mode. + * @param address Indicates the operation(erase/program/read) address for serial NOR flash. + * + * @retval kStatus_Success Api was executed successfully. + * @retval kStatus_InvalidArgument A invalid argument is provided. + * @retval kStatus_ROM_FLEXSPI_SequenceExecutionTimeout Sequence Execution timeout. + * @retval kStatus_ROM_FLEXSPI_InvalidSequence A invalid Sequence is provided. + * @retval kStatus_ROM_FLEXSPI_DeviceTimeout Device timeout. + */ +status_t ROM_FLEXSPI_NorFlash_WaitBusy(uint32_t instance, + flexspi_nor_config_t *config, + bool isParallelMode, + uint32_t address); +/*@}*/ + +/*! + * @name ClearCache + * @{ + */ + +/*! + * @name ClearCache + * @{ + */ + +/*! + * @brief Software reset for the FLEXSPI logic. + * + * This function sets the software reset flags for both AHB and buffer domain and + * resets both AHB buffer and also IP FIFOs. + * + * @param instance storage the index of FLEXSPI. + */ +void ROM_FLEXSPI_NorFlash_ClearCache(uint32_t instance); + +/*@}*/ + +#ifdef __cplusplus +} +#endif + +#endif /* __PX4_ARCH_IMXRT_ROMAPI_H */ diff --git a/platforms/nuttx/src/px4/nxp/imxrt/include/px4_arch/io_timer.h b/platforms/nuttx/src/px4/nxp/imxrt/include/px4_arch/io_timer.h index 8ee8937788ed..1fba2e04494f 100644 --- a/platforms/nuttx/src/px4/nxp/imxrt/include/px4_arch/io_timer.h +++ b/platforms/nuttx/src/px4/nxp/imxrt/include/px4_arch/io_timer.h @@ -41,6 +41,7 @@ #include #include +#include "dshot.h" #pragma once __BEGIN_DECLS @@ -110,6 +111,7 @@ typedef struct timer_io_channels_t { uint8_t sub_module; /* 0 based sub module offset */ uint8_t sub_module_bits; /* LDOK and CLDOK bits */ uint8_t timer_channel; /* Unused */ + dshot_conf_t dshot; } timer_io_channels_t; #define SM0 0 @@ -119,6 +121,7 @@ typedef struct timer_io_channels_t { #define PWMA_VAL IMXRT_FLEXPWM_SM0VAL3_OFFSET #define PWMB_VAL IMXRT_FLEXPWM_SM0VAL5_OFFSET +#define PWMX_VAL IMXRT_FLEXPWM_SM0VAL0_OFFSET //FIXME typedef void (*channel_handler_t)(void *context, const io_timers_t *timer, uint32_t chan_index, diff --git a/platforms/nuttx/src/px4/nxp/imxrt/include/px4_arch/io_timer_hw_description.h b/platforms/nuttx/src/px4/nxp/imxrt/include/px4_arch/io_timer_hw_description.h deleted file mode 100644 index fde431b12f96..000000000000 --- a/platforms/nuttx/src/px4/nxp/imxrt/include/px4_arch/io_timer_hw_description.h +++ /dev/null @@ -1,611 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2019 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -#pragma once - - -#include -#include -#include -#include -#include - -#include -#include -#include -#include -#include - -#include -#ifndef CONFIG_ARCH_CHIP_MIMXRT1062DVL6A -# error "This code has only been validated with IMXRT1062. Make sure it is correct before using it on another board." -#endif - - -static inline constexpr timer_io_channels_t initIOTimerChannel(const io_timers_t io_timers_conf[MAX_IO_TIMERS], - PWM::FlexPWMConfig pwm_config, IOMUX::Pad pad) -{ - timer_io_channels_t ret{}; - PWM::FlexPWM pwm{}; - - // FlexPWM Muxing Options - switch (pwm_config.module) { - case PWM::PWM1_PWM_A: - pwm = PWM::FlexPWM1; - - switch (pwm_config.submodule) { - case PWM::Submodule0: - if (pad == IOMUX::Pad::GPIO_EMC_23) { - ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_23_INDEX); - ret.gpio_portpin = GPIO_PORT4 | GPIO_PIN23; - - } else if (pad == IOMUX::Pad::GPIO_SD_B0_00) { - ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_SD_B0_00_INDEX); - ret.gpio_portpin = GPIO_PORT3 | GPIO_PIN12; - } - - break; - - case PWM::Submodule1: - if (pad == IOMUX::Pad::GPIO_EMC_25) { - ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_25_INDEX); - ret.gpio_portpin = GPIO_PORT4 | GPIO_PIN25; - - } else if (pad == IOMUX::Pad::GPIO_SD_B0_02) { - ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_SD_B0_02_INDEX); - ret.gpio_portpin = GPIO_PORT3 | GPIO_PIN14; - } - - break; - - case PWM::Submodule2: - if (pad == IOMUX::Pad::GPIO_EMC_27) { - ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_27_INDEX); - ret.gpio_portpin = GPIO_PORT4 | GPIO_PIN27; - - } else if (pad == IOMUX::Pad::GPIO_SD_B0_04) { - ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_SD_B0_04_INDEX); - ret.gpio_portpin = GPIO_PORT3 | GPIO_PIN16; - } - - break; - - case PWM::Submodule3: - if (pad == IOMUX::Pad::GPIO_EMC_38) { - ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_38_INDEX); - ret.gpio_portpin = GPIO_PORT3 | GPIO_PIN24; - - } else if (pad == IOMUX::Pad::GPIO_SD_B1_00) { - ret.gpio_out = GPIO_PERIPH | GPIO_ALT2 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_SD_B1_00_INDEX); - ret.gpio_portpin = GPIO_PORT3 | GPIO_PIN0; - - } else if (pad == IOMUX::Pad::GPIO_AD_B0_10) { - ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_AD_B0_10_INDEX); - ret.gpio_portpin = GPIO_PORT1 | GPIO_PIN10; - - } else if (pad == IOMUX::Pad::GPIO_EMC_12) { - ret.gpio_out = GPIO_PERIPH | GPIO_ALT4 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_12_INDEX); - ret.gpio_portpin = GPIO_PORT4 | GPIO_PIN12; - - } else if (pad == IOMUX::Pad::GPIO_B1_00) { - ret.gpio_out = GPIO_PERIPH | GPIO_ALT6 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_B1_00_INDEX); - ret.gpio_portpin = GPIO_PORT2 | GPIO_PIN16; - } - - break; - } - - break; - - case PWM::PWM1_PWM_B: - pwm = PWM::FlexPWM1; - - switch (pwm_config.submodule) { - case PWM::Submodule0: - if (pad == IOMUX::Pad::GPIO_EMC_24) { - ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_24_INDEX); - ret.gpio_portpin = GPIO_PORT4 | GPIO_PIN24; - - } else if (pad == IOMUX::Pad::GPIO_SD_B0_01) { - ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_SD_B0_01_INDEX); - ret.gpio_portpin = GPIO_PORT3 | GPIO_PIN13; - } - - break; - - case PWM::Submodule1: - if (pad == IOMUX::Pad::GPIO_EMC_26) { - ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_26_INDEX); - ret.gpio_portpin = GPIO_PORT4 | GPIO_PIN26; - - } else if (pad == IOMUX::Pad::GPIO_SD_B0_03) { - ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_SD_B0_03_INDEX); - ret.gpio_portpin = GPIO_PORT3 | GPIO_PIN15; - } - - break; - - case PWM::Submodule2: - if (pad == IOMUX::Pad::GPIO_EMC_28) { - ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_28_INDEX); - ret.gpio_portpin = GPIO_PORT4 | GPIO_PIN28; - - } else if (pad == IOMUX::Pad::GPIO_SD_B0_05) { - ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_SD_B0_05_INDEX); - ret.gpio_portpin = GPIO_PORT3 | GPIO_PIN17; - } - - break; - - case PWM::Submodule3: - if (pad == IOMUX::Pad::GPIO_EMC_39) { - ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_39_INDEX); - ret.gpio_portpin = GPIO_PORT3 | GPIO_PIN25; - - } else if (pad == IOMUX::Pad::GPIO_SD_B1_01) { - ret.gpio_out = GPIO_PERIPH | GPIO_ALT2 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_SD_B1_01_INDEX); - ret.gpio_portpin = GPIO_PORT3 | GPIO_PIN1; - - } else if (pad == IOMUX::Pad::GPIO_AD_B0_11) { - ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_AD_B0_11_INDEX); - ret.gpio_portpin = GPIO_PORT1 | GPIO_PIN11; - - } else if (pad == IOMUX::Pad::GPIO_EMC_13) { - ret.gpio_out = GPIO_PERIPH | GPIO_ALT4 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_13_INDEX); - ret.gpio_portpin = GPIO_PORT4 | GPIO_PIN13; - - } else if (pad == IOMUX::Pad::GPIO_B1_01) { - ret.gpio_out = GPIO_PERIPH | GPIO_ALT6 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_B1_01_INDEX); - ret.gpio_portpin = GPIO_PORT2 | GPIO_PIN17; - } - - break; - } - - break; - - case PWM::PWM1_PWM_X: - pwm = PWM::FlexPWM1; - - switch (pwm_config.submodule) { - case PWM::Submodule0: - if (pad == IOMUX::Pad::GPIO_AD_B0_02) { - ret.gpio_out = GPIO_PERIPH | GPIO_ALT4 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_AD_B0_02_INDEX); - ret.gpio_portpin = GPIO_PORT1 | GPIO_PIN2; - } - - break; - - case PWM::Submodule1: - if (pad == IOMUX::Pad::GPIO_AD_B0_03) { - ret.gpio_out = GPIO_PERIPH | GPIO_ALT4 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_AD_B0_03_INDEX); - ret.gpio_portpin = GPIO_PORT1 | GPIO_PIN3; - } - - break; - - case PWM::Submodule2: - if (pad == IOMUX::Pad::GPIO_AD_B0_12) { - ret.gpio_out = GPIO_PERIPH | GPIO_ALT4 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_AD_B0_12_INDEX); - ret.gpio_portpin = GPIO_PORT1 | GPIO_PIN12; - } - - break; - - case PWM::Submodule3: - if (pad == IOMUX::Pad::GPIO_AD_B0_13) { - ret.gpio_out = GPIO_PERIPH | GPIO_ALT4 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_AD_B0_13_INDEX); - ret.gpio_portpin = GPIO_PORT1 | GPIO_PIN13; - } - - break; - } - - break; - - - case PWM::PWM2_PWM_A: - pwm = PWM::FlexPWM2; - - switch (pwm_config.submodule) { - case PWM::Submodule0: - if (pad == IOMUX::Pad::GPIO_B0_06) { - ret.gpio_out = GPIO_PERIPH | GPIO_ALT2 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_B0_06_INDEX); - ret.gpio_portpin = GPIO_PORT2 | GPIO_PIN6; - - } else if (pad == IOMUX::Pad::GPIO_EMC_06) { - ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_06_INDEX); - ret.gpio_portpin = GPIO_PORT4 | GPIO_PIN6; - } - - break; - - case PWM::Submodule1: - if (pad == IOMUX::Pad::GPIO_EMC_08) { - ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_08_INDEX); - ret.gpio_portpin = GPIO_PORT4 | GPIO_PIN8; - - } else if (pad == IOMUX::Pad::GPIO_B0_08) { - ret.gpio_out = GPIO_PERIPH | GPIO_ALT2 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_B0_08_INDEX); - ret.gpio_portpin = GPIO_PORT2 | GPIO_PIN8; - } - - break; - - case PWM::Submodule2: - if (pad == IOMUX::Pad::GPIO_EMC_10) { - ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_10_INDEX); - ret.gpio_portpin = GPIO_PORT4 | GPIO_PIN10; - - } else if (pad == IOMUX::Pad::GPIO_B0_10) { - ret.gpio_out = GPIO_PERIPH | GPIO_ALT2 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_B0_10_INDEX); - ret.gpio_portpin = GPIO_PORT2 | GPIO_PIN10; - } - - break; - - case PWM::Submodule3: - if (pad == IOMUX::Pad::GPIO_AD_B0_09) { - ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_AD_B0_09_INDEX); - ret.gpio_portpin = GPIO_PORT1 | GPIO_PIN9; - - } else if (pad == IOMUX::Pad::GPIO_SD_B1_02) { - ret.gpio_out = GPIO_PERIPH | GPIO_ALT2 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_SD_B1_02_INDEX); - ret.gpio_portpin = GPIO_PORT3 | GPIO_PIN2; - - } else if (pad == IOMUX::Pad::GPIO_EMC_19) { - ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_19_INDEX); - ret.gpio_portpin = GPIO_PORT4 | GPIO_PIN19; - - } else if (pad == IOMUX::Pad::GPIO_B1_02) { - ret.gpio_out = GPIO_PERIPH | GPIO_ALT6 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_B1_02_INDEX); - ret.gpio_portpin = GPIO_PORT2 | GPIO_PIN18; - - } else if (pad == IOMUX::Pad::GPIO_AD_B0_00) { - ret.gpio_out = GPIO_PERIPH | GPIO_ALT0 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_AD_B0_00_INDEX); - ret.gpio_portpin = GPIO_PORT1 | GPIO_PIN0; - } - - break; - } - - break; - - case PWM::PWM2_PWM_B: - pwm = PWM::FlexPWM2; - - switch (pwm_config.submodule) { - case PWM::Submodule0: - if (pad == IOMUX::Pad::GPIO_B0_07) { - ret.gpio_out = GPIO_PERIPH | GPIO_ALT2 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_B0_07_INDEX); - ret.gpio_portpin = GPIO_PORT2 | GPIO_PIN6; - - } else if (pad == IOMUX::Pad::GPIO_EMC_07) { - ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_07_INDEX); - ret.gpio_portpin = GPIO_PORT4 | GPIO_PIN6; - } - - break; - - case PWM::Submodule1: - if (pad == IOMUX::Pad::GPIO_EMC_09) { - ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_09_INDEX); - ret.gpio_portpin = GPIO_PORT4 | GPIO_PIN8; - - } else if (pad == IOMUX::Pad::GPIO_B0_09) { - ret.gpio_out = GPIO_PERIPH | GPIO_ALT2 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_B0_09_INDEX); - ret.gpio_portpin = GPIO_PORT2 | GPIO_PIN8; - } - - break; - - case PWM::Submodule2: - if (pad == IOMUX::Pad::GPIO_EMC_11) { - ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_11_INDEX); - ret.gpio_portpin = GPIO_PORT4 | GPIO_PIN10; - - } else if (pad == IOMUX::Pad::GPIO_B0_11) { - ret.gpio_out = GPIO_PERIPH | GPIO_ALT2 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_B0_11_INDEX); - ret.gpio_portpin = GPIO_PORT2 | GPIO_PIN10; - } - - break; - - case PWM::Submodule3: - if (pad == IOMUX::Pad::GPIO_AD_B0_01) { - ret.gpio_out = GPIO_PERIPH | GPIO_ALT0 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_AD_B0_01_INDEX); - ret.gpio_portpin = GPIO_PORT1 | GPIO_PIN1; - - } else if (pad == IOMUX::Pad::GPIO_SD_B1_03) { - ret.gpio_out = GPIO_PERIPH | GPIO_ALT2 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_SD_B1_03_INDEX); - ret.gpio_portpin = GPIO_PORT3 | GPIO_PIN3; - - } else if (pad == IOMUX::Pad::GPIO_EMC_20) { - ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_20_INDEX); - ret.gpio_portpin = GPIO_PORT4 | GPIO_PIN20; - - } else if (pad == IOMUX::Pad::GPIO_B1_03) { - ret.gpio_out = GPIO_PERIPH | GPIO_ALT6 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_B1_03_INDEX); - ret.gpio_portpin = GPIO_PORT2 | GPIO_PIN19; - } - - break; - } - - break; - - - case PWM::PWM3_PWM_A: - pwm = PWM::FlexPWM3; - - switch (pwm_config.submodule) { - case PWM::Submodule0: - if (pad == IOMUX::Pad::GPIO_EMC_29) { - ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_29_INDEX); - ret.gpio_portpin = GPIO_PORT4 | GPIO_PIN29; - } - - break; - - case PWM::Submodule1: - if (pad == IOMUX::Pad::GPIO_EMC_31) { - ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_31_INDEX); - ret.gpio_portpin = GPIO_PORT4 | GPIO_PIN31; - } - - break; - - case PWM::Submodule2: - if (pad == IOMUX::Pad::GPIO_EMC_33) { - ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_33_INDEX); - ret.gpio_portpin = GPIO_PORT3 | GPIO_PIN19; - } - - break; - - case PWM::Submodule3: - if (pad == IOMUX::Pad::GPIO_EMC_21) { - ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_21_INDEX); - ret.gpio_portpin = GPIO_PORT4 | GPIO_PIN21; - } - - break; - } - - break; - - case PWM::PWM3_PWM_B: - pwm = PWM::FlexPWM3; - - switch (pwm_config.submodule) { - case PWM::Submodule0: - if (pad == IOMUX::Pad::GPIO_EMC_30) { - ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_30_INDEX); - ret.gpio_portpin = GPIO_PORT4 | GPIO_PIN30; - } - - break; - - case PWM::Submodule1: - if (pad == IOMUX::Pad::GPIO_EMC_32) { - ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_32_INDEX); - ret.gpio_portpin = GPIO_PORT3 | GPIO_PIN18; - } - - break; - - case PWM::Submodule2: - if (pad == IOMUX::Pad::GPIO_EMC_34) { - ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_34_INDEX); - ret.gpio_portpin = GPIO_PORT3 | GPIO_PIN20; - } - - break; - - case PWM::Submodule3: - if (pad == IOMUX::Pad::GPIO_EMC_22) { - ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_22_INDEX); - ret.gpio_portpin = GPIO_PORT4 | GPIO_PIN22; - } - - break; - } - - break; - - - case PWM::PWM4_PWM_A: - pwm = PWM::FlexPWM4; - - switch (pwm_config.submodule) { - case PWM::Submodule0: - if (pad == IOMUX::Pad::GPIO_AD_B1_08) { - ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_AD_B1_08_INDEX); - ret.gpio_portpin = GPIO_PORT1 | GPIO_PIN24; - - } else if (pad == IOMUX::Pad::GPIO_EMC_00) { - ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_00_INDEX); - ret.gpio_portpin = GPIO_PORT4 | GPIO_PIN0; - } - - break; - - case PWM::Submodule1: - if (pad == IOMUX::Pad::GPIO_EMC_02) { - ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_02_INDEX); - ret.gpio_portpin = GPIO_PORT4 | GPIO_PIN2; - - } else if (pad == IOMUX::Pad::GPIO_AD_B1_09) { - ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_AD_B1_09_INDEX); - ret.gpio_portpin = GPIO_PORT1 | GPIO_PIN25; - } - - break; - - case PWM::Submodule2: - if (pad == IOMUX::Pad::GPIO_EMC_04) { - ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_04_INDEX); - ret.gpio_portpin = GPIO_PORT4 | GPIO_PIN4; - - } else if (pad == IOMUX::Pad::GPIO_B1_14) { - ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_B1_14_INDEX); - ret.gpio_portpin = GPIO_PORT2 | GPIO_PIN30; - } - - break; - - case PWM::Submodule3: - if (pad == IOMUX::Pad::GPIO_EMC_17) { - ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_17_INDEX); - ret.gpio_portpin = GPIO_PORT4 | GPIO_PIN17; - - } else if (pad == IOMUX::Pad::GPIO_B1_15) { - ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_B1_15_INDEX); - ret.gpio_portpin = GPIO_PORT2 | GPIO_PIN31; - } - - break; - } - - break; - - case PWM::PWM4_PWM_B: - pwm = PWM::FlexPWM4; - - switch (pwm_config.submodule) { - case PWM::Submodule0: - if (pad == IOMUX::Pad::GPIO_EMC_01) { - ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_01_INDEX); - ret.gpio_portpin = GPIO_PORT4 | GPIO_PIN1; - } - - break; - - case PWM::Submodule1: - if (pad == IOMUX::Pad::GPIO_EMC_03) { - ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_03_INDEX); - ret.gpio_portpin = GPIO_PORT4 | GPIO_PIN3; - } - - break; - - case PWM::Submodule2: - if (pad == IOMUX::Pad::GPIO_EMC_05) { - ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_05_INDEX); - ret.gpio_portpin = GPIO_PORT4 | GPIO_PIN5; - } - - break; - - case PWM::Submodule3: - if (pad == IOMUX::Pad::GPIO_EMC_18) { - ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_18_INDEX); - ret.gpio_portpin = GPIO_PORT4 | GPIO_PIN18; - } - - break; - } - - break; - } - - constexpr_assert(ret.gpio_out != 0, "Invalid PWM/Pad config"); - ret.gpio_out |= IOMUX_CMOS_OUTPUT | IOMUX_PULL_NONE | IOMUX_DRIVE_50OHM | IOMUX_SPEED_MEDIUM | IOMUX_SLEW_FAST; - - switch (pwm_config.module) { - case PWM::PWM1_PWM_A: - case PWM::PWM2_PWM_A: - case PWM::PWM3_PWM_A: - case PWM::PWM4_PWM_A: - ret.val_offset = PWMA_VAL; - break; - - case PWM::PWM1_PWM_B: - case PWM::PWM2_PWM_B: - case PWM::PWM3_PWM_B: - case PWM::PWM4_PWM_B: - ret.val_offset = PWMB_VAL; - break; - - default: - constexpr_assert(false, "not implemented"); - } - - switch (pwm_config.submodule) { - case PWM::Submodule0: - ret.sub_module = SM0; - ret.sub_module_bits = MCTRL_LDOK(1 << SM0); - break; - - case PWM::Submodule1: - ret.sub_module = SM1; - ret.sub_module_bits = MCTRL_LDOK(1 << SM1); - break; - - case PWM::Submodule2: - ret.sub_module = SM2; - ret.sub_module_bits = MCTRL_LDOK(1 << SM2); - break; - - case PWM::Submodule3: - ret.sub_module = SM3; - ret.sub_module_bits = MCTRL_LDOK(1 << SM3); - break; - } - - ret.gpio_in = 0; // TODO (not used yet) - - // find timer index - ret.timer_index = 0xff; - const uint32_t timer_base = getFlexPWMBaseRegister(pwm); - - for (int i = 0; i < MAX_IO_TIMERS; ++i) { - if (io_timers_conf[i].base == timer_base && io_timers_conf[i].submodle == ret.sub_module) { - ret.timer_index = i; - break; - } - } - - constexpr_assert(ret.timer_index != 0xff, "Timer not found"); - - return ret; -} - -static inline constexpr io_timers_t initIOPWM(PWM::FlexPWM pwm, PWM::FlexPWMSubmodule sub) -{ - io_timers_t ret{}; - - ret.base = getFlexPWMBaseRegister(pwm); - ret.submodle = sub; - return ret; -} diff --git a/platforms/nuttx/src/px4/nxp/imxrt/include/px4_arch/px4io_serial.h b/platforms/nuttx/src/px4/nxp/imxrt/include/px4_arch/px4io_serial.h new file mode 100644 index 000000000000..27e5a30ec2db --- /dev/null +++ b/platforms/nuttx/src/px4/nxp/imxrt/include/px4_arch/px4io_serial.h @@ -0,0 +1,169 @@ +/**************************************************************************** + * + * Copyright (c) 2022 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file px4io_serial.h + * + * Serial Interface definition for PX4IO + */ + +#pragma once + +#include +#include +#include + +#include + +#include +#include + +class PX4IO_serial : public device::Device +{ +public: + PX4IO_serial(); + virtual ~PX4IO_serial(); + + virtual int init() = 0; + virtual int read(unsigned offset, void *data, unsigned count = 1); + virtual int write(unsigned address, void *data, unsigned count = 1); + +protected: + /** + * Does the PX4IO_serial instance initialization. + * @param io_buffer The IO buffer that should be used for transfers. + * @return 0 on success. + */ + int init(IOPacket *io_buffer); + + /** + * Start the transaction with IO and wait for it to complete. + */ + virtual int _bus_exchange(IOPacket *_packet) = 0; + + /** + * Performance counters. + */ + perf_counter_t _pc_txns; + perf_counter_t _pc_retries; + perf_counter_t _pc_timeouts; + perf_counter_t _pc_crcerrs; + perf_counter_t _pc_protoerrs; + perf_counter_t _pc_uerrs; + perf_counter_t _pc_idle; + perf_counter_t _pc_badidle; +private: + /* + * XXX tune this value + * + * At 1.5Mbps each register takes 13.3µs, and we always transfer a full packet. + * Packet overhead is 26µs for the four-byte header. + * + * 32 registers = 451µs + * + * Maybe we can just send smaller packets (e.g. 8 regs) and loop for larger (less common) + * transfers? Could cause issues with any regs expecting to be written atomically... + */ + IOPacket *_io_buffer_ptr; + + /** bus-ownership lock */ + px4_sem_t _bus_semaphore; + + /* do not allow top copying this class */ + PX4IO_serial(PX4IO_serial &); + PX4IO_serial &operator = (const PX4IO_serial &); +}; + + +#include + + +class ArchPX4IOSerial : public PX4IO_serial +{ +public: + ArchPX4IOSerial(); + ArchPX4IOSerial(ArchPX4IOSerial &) = delete; + ArchPX4IOSerial &operator = (const ArchPX4IOSerial &) = delete; + virtual ~ArchPX4IOSerial(); + + virtual int init(); + virtual int ioctl(unsigned operation, unsigned &arg); + +protected: + /** + * Start the transaction with IO and wait for it to complete. + */ + int _bus_exchange(IOPacket *_packet); + +private: + DMACH_HANDLE _tx_dma; + DMACH_HANDLE _rx_dma; + + IOPacket *_current_packet; + + /** saved DMA status */ + static const unsigned _dma_status_done = 0x00000000; + static const unsigned _dma_status_inactive = 0x00000001; + static const unsigned _dma_status_waiting = 0x00000002; + volatile int _rx_dma_result; + + /** client-waiting lock/signal */ + px4_sem_t _completion_semaphore; + + /** + * DMA completion handler. + */ + static void _dma_callback(DMACH_HANDLE handle, void *arg, bool done, int result); + void _do_rx_dma_callback(bool done, int result); + + /** + * Serial interrupt handler. + */ + static int _interrupt(int vector, void *context, void *arg); + void _do_interrupt(); + + /** + * Cancel any DMA in progress with an error. + */ + void _abort_dma(); + + /** + * Performance counters. + */ + perf_counter_t _pc_dmaerrs; + + /** + * IO Buffer storage + */ + static uint8_t _io_buffer_storage[] px4_cache_aligned_data(); +}; diff --git a/platforms/nuttx/src/px4/nxp/imxrt/include/px4_arch/spi_hw_description.h b/platforms/nuttx/src/px4/nxp/imxrt/include/px4_arch/spi_hw_description.h deleted file mode 100644 index 4d069039f1cc..000000000000 --- a/platforms/nuttx/src/px4/nxp/imxrt/include/px4_arch/spi_hw_description.h +++ /dev/null @@ -1,140 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2020 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -#pragma once - -#include -#include - -#if defined(CONFIG_SPI) - -#include - -#define CS_IOMUX (IOMUX_CMOS_OUTPUT | IOMUX_PULL_UP_100K | IOMUX_DRIVE_33OHM | IOMUX_SPEED_LOW | IOMUX_SLEW_FAST) - -#define DRDY_IOMUX (IOMUX_SCHMITT_TRIGGER | IOMUX_PULL_UP_47K | IOMUX_DRIVE_HIZ) - -#define GENERAL_OUTPUT_IOMUX (IOMUX_CMOS_OUTPUT | IOMUX_PULL_KEEP | IOMUX_DRIVE_33OHM | IOMUX_SPEED_MEDIUM | IOMUX_SLEW_FAST) - -static inline constexpr px4_spi_bus_device_t initSPIDevice(uint32_t devid, SPI::CS cs_gpio, SPI::DRDY drdy_gpio = {}) -{ - px4_spi_bus_device_t ret{}; - ret.cs_gpio = getGPIOPort(cs_gpio.port) | getGPIOPin(cs_gpio.pin) | (GPIO_OUTPUT | GPIO_OUTPUT_ONE | CS_IOMUX); - - if (drdy_gpio.port != GPIO::PortInvalid) { - ret.drdy_gpio = getGPIOPort(drdy_gpio.port) | getGPIOPin(drdy_gpio.pin) | (GPIO_INPUT | DRDY_IOMUX); - } - - if (PX4_SPIDEVID_TYPE(devid) == 0) { // it's a PX4 device (internal or external) - ret.devid = PX4_SPIDEV_ID(PX4_SPI_DEVICE_ID, devid); - - } else { // it's a NuttX device (e.g. SPIDEV_FLASH(0)) - ret.devid = devid; - } - - ret.devtype_driver = PX4_SPI_DEV_ID(devid); - return ret; -} - -static inline constexpr px4_spi_bus_t initSPIBus(SPI::Bus bus, const px4_spi_bus_devices_t &devices, - GPIO::GPIOPin power_enable = {}) -{ - px4_spi_bus_t ret{}; - ret.requires_locking = false; - - for (int i = 0; i < SPI_BUS_MAX_DEVICES; ++i) { - ret.devices[i] = devices.devices[i]; - - - if (ret.devices[i].cs_gpio != 0) { - if (PX4_SPI_DEVICE_ID == PX4_SPIDEVID_TYPE(ret.devices[i].devid)) { - int same_devices_count = 0; - - for (int j = 0; j < i; ++j) { - if (ret.devices[j].cs_gpio != 0) { - same_devices_count += (ret.devices[i].devid & 0xff) == (ret.devices[j].devid & 0xff); - } - } - - // increment the 2. LSB byte to allow multiple devices of the same type - ret.devices[i].devid |= same_devices_count << 8; - - } else { - // A bus potentially requires locking if it is accessed by non-PX4 devices (i.e. NuttX drivers) - ret.requires_locking = true; - } - } - } - - ret.bus = (int)bus; - ret.is_external = false; - - if (power_enable.port != GPIO::PortInvalid) { - ret.power_enable_gpio = getGPIOPort(power_enable.port) | getGPIOPin(power_enable.pin) | - (GPIO_OUTPUT | GPIO_OUTPUT_ZERO | GENERAL_OUTPUT_IOMUX); - } - - return ret; -} - -// just a wrapper since we cannot pass brace-enclosed initialized arrays directly as arguments -struct bus_device_external_cfg_array_t { - SPI::bus_device_external_cfg_t devices[SPI_BUS_MAX_DEVICES]; -}; - -static inline constexpr px4_spi_bus_t initSPIBusExternal(SPI::Bus bus, const bus_device_external_cfg_array_t &devices) -{ - px4_spi_bus_t ret{}; - - for (int i = 0; i < SPI_BUS_MAX_DEVICES; ++i) { - if (devices.devices[i].cs_gpio.port == GPIO::PortInvalid) { - break; - } - - ret.devices[i] = initSPIDevice(i, devices.devices[i].cs_gpio, devices.devices[i].drdy_gpio); - } - - ret.bus = (int)bus; - ret.is_external = true; - ret.requires_locking = false; // external buses are never accessed by NuttX drivers - return ret; -} - -static inline constexpr SPI::bus_device_external_cfg_t initSPIConfigExternal(SPI::CS cs_gpio, SPI::DRDY drdy_gpio = {}) -{ - SPI::bus_device_external_cfg_t ret{}; - ret.cs_gpio = cs_gpio; - ret.drdy_gpio = drdy_gpio; - return ret; -} -#endif // CONFIG_SPI diff --git a/platforms/nuttx/src/px4/nxp/imxrt/io_pins/imxrt_pinirq.c b/platforms/nuttx/src/px4/nxp/imxrt/io_pins/imxrt_pinirq.c index e768c95fe6ae..255630a384ea 100644 --- a/platforms/nuttx/src/px4/nxp/imxrt/io_pins/imxrt_pinirq.c +++ b/platforms/nuttx/src/px4/nxp/imxrt/io_pins/imxrt_pinirq.c @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2020 PX4 Development Team. All rights reserved. + * Copyright (C) 2020, 2023 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -47,17 +47,50 @@ typedef struct { int hi; } lh_t; + +#if defined(CONFIG_ARCH_FAMILY_IMXRT106x) const lh_t port_to_irq[9] = { + {_IMXRT_GPIO1_0_15_BASE, _IMXRT_GPIO1_16_31_BASE}, {_IMXRT_GPIO2_0_15_BASE, _IMXRT_GPIO2_16_31_BASE}, + {_IMXRT_GPIO3_0_15_BASE, _IMXRT_GPIO3_16_31_BASE}, {_IMXRT_GPIO4_0_15_BASE, _IMXRT_GPIO4_16_31_BASE}, + {_IMXRT_GPIO5_0_15_BASE, _IMXRT_GPIO5_16_31_BASE}, {_IMXRT_GPIO6_0_15_BASE, _IMXRT_GPIO6_16_31_BASE}, + {_IMXRT_GPIO7_0_15_BASE, _IMXRT_GPIO7_16_31_BASE}, {_IMXRT_GPIO8_0_15_BASE, _IMXRT_GPIO8_16_31_BASE}, + {_IMXRT_GPIO9_0_15_BASE, _IMXRT_GPIO9_16_31_BASE}, +}; +#endif + +#if defined(CONFIG_ARCH_FAMILY_IMXRT117x) +const lh_t port_to_irq[13] = { {_IMXRT_GPIO1_0_15_BASE, _IMXRT_GPIO1_16_31_BASE}, {_IMXRT_GPIO2_0_15_BASE, _IMXRT_GPIO2_16_31_BASE}, {_IMXRT_GPIO3_0_15_BASE, _IMXRT_GPIO3_16_31_BASE}, {_IMXRT_GPIO4_0_15_BASE, _IMXRT_GPIO4_16_31_BASE}, {_IMXRT_GPIO5_0_15_BASE, _IMXRT_GPIO5_16_31_BASE}, {_IMXRT_GPIO6_0_15_BASE, _IMXRT_GPIO6_16_31_BASE}, - {_IMXRT_GPIO7_0_15_BASE, _IMXRT_GPIO7_16_31_BASE}, - {_IMXRT_GPIO8_0_15_BASE, _IMXRT_GPIO8_16_31_BASE}, - {_IMXRT_GPIO9_0_15_BASE, _IMXRT_GPIO9_16_31_BASE}, + {0, 0}, // GPIO7 Not on CM7 + {0, 0}, // GPIO8 Not on CM7 + {0, 0}, // GPIO9 Not on CM7 + {0, 0}, // GPIO10 Not on CM7 + {0, 0}, // GPIO11 Not on CM7 + {0, 0}, // GPIO12 Not on CM7 + {_IMXRT_GPIO13_BASE, _IMXRT_GPIO13_BASE}, }; +#endif + +static int imxrt_pin_irq(gpio_pinset_t pinset) +{ + volatile int irq = -1; + volatile int port = (pinset & GPIO_PORT_MASK) >> GPIO_PORT_SHIFT; + volatile int pin = (pinset & GPIO_PIN_MASK) >> GPIO_PIN_SHIFT; + + lh_t irqlh = port_to_irq[port]; + + if (irqlh.low != 0 && irqlh.hi != 0) { + irq = (pin < 16) ? irqlh.low : irqlh.hi; + irq += pin % 16; + } + + return irq; +} /**************************************************************************** * Name: imxrt_pin_irqattach @@ -79,15 +112,16 @@ const lh_t port_to_irq[9] = { static int imxrt_pin_irqattach(gpio_pinset_t pinset, xcpt_t func, void *arg) { - volatile int port = (pinset & GPIO_PORT_MASK) >> GPIO_PORT_SHIFT; - volatile int pin = (pinset & GPIO_PIN_MASK) >> GPIO_PIN_SHIFT; - volatile int irq; - lh_t irqlh = port_to_irq[port]; - irq = (pin < 16) ? irqlh.low : irqlh.hi; - irq += pin % 16; - irq_attach(irq, func, arg); - up_enable_irq(irq); - return 0; + int rv = -EINVAL; + int irq = imxrt_pin_irq(pinset); + + if (irq != -1) { + rv = OK; + irq_attach(irq, func, arg); + up_enable_irq(irq); + } + + return rv; } /**************************************************************************** @@ -113,28 +147,31 @@ int imxrt_gpiosetevent(uint32_t pinset, bool risingedge, bool fallingedge, bool event, xcpt_t func, void *arg) { int ret = -ENOSYS; + int irq = imxrt_pin_irq(pinset); - if (func == NULL) { - imxrt_gpioirq_disable(pinset); - pinset &= ~GPIO_INTCFG_MASK; - ret = imxrt_config_gpio(pinset); + if (irq != -1) { + if (func == NULL) { + imxrt_gpioirq_disable(irq); + pinset &= ~GPIO_INTCFG_MASK; + ret = imxrt_config_gpio(pinset); - } else { + } else { - pinset &= ~GPIO_INTCFG_MASK; + pinset &= ~GPIO_INTCFG_MASK; - if (risingedge & fallingedge) { - pinset |= GPIO_INTBOTH_EDGES; + if (risingedge & fallingedge) { + pinset |= GPIO_INTBOTH_EDGES; - } else if (risingedge) { - pinset |= GPIO_INT_RISINGEDGE; + } else if (risingedge) { + pinset |= GPIO_INT_RISINGEDGE; - } else if (fallingedge) { - pinset |= GPIO_INT_FALLINGEDGE; - } + } else if (fallingedge) { + pinset |= GPIO_INT_FALLINGEDGE; + } - imxrt_gpioirq_configure(pinset); - ret = imxrt_pin_irqattach(pinset, func, arg); + imxrt_gpioirq_configure(pinset); + ret = imxrt_pin_irqattach(pinset, func, arg); + } } return ret; diff --git a/platforms/nuttx/src/px4/nxp/imxrt/io_pins/io_timer.c b/platforms/nuttx/src/px4/nxp/imxrt/io_pins/io_timer.c index 6095a11afd37..4fa7d7fdb6fb 100644 --- a/platforms/nuttx/src/px4/nxp/imxrt/io_pins/io_timer.c +++ b/platforms/nuttx/src/px4/nxp/imxrt/io_pins/io_timer.c @@ -255,6 +255,34 @@ static inline int channels_timer(unsigned channel) return timer_io_channels[channel].timer_index; } +static uint32_t get_timer_channels(unsigned timer) +{ + uint32_t channels = 0; + static uint32_t channels_cache[MAX_IO_TIMERS] = {0}; + + if (validate_timer_index(timer) < 0) { + return channels; + + } else { + if (channels_cache[timer] == 0) { + /* Gather the channel bits that belong to the timer */ + + uint32_t first_channel_index = io_timers_channel_mapping.element[timer].first_channel_index; + uint32_t last_channel_index = first_channel_index + io_timers_channel_mapping.element[timer].channel_count; + + for (unsigned chan_index = first_channel_index; chan_index < last_channel_index; chan_index++) { + channels |= 1 << chan_index; + } + + /* cache them */ + + channels_cache[timer] = channels; + } + } + + return channels_cache[timer]; +} + static uint32_t get_channel_mask(unsigned channel) { return io_timer_validate_channel_index(channel) == 0 ? 1 << channel : 0; @@ -283,7 +311,7 @@ uint32_t io_timer_channel_get_gpio_output(unsigned channel) } return timer_io_channels[channel].gpio_portpin | (GPIO_OUTPUT | GPIO_OUTPUT_ZERO | IOMUX_CMOS_OUTPUT | IOMUX_PULL_KEEP - | IOMUX_DRIVE_33OHM | IOMUX_SPEED_MEDIUM | IOMUX_SLEW_FAST); + | IOMUX_SLEW_FAST); return 0; } @@ -391,41 +419,66 @@ static int allocate_channel(unsigned channel, io_timer_channel_mode_t mode) return rv; } -static int timer_set_rate(unsigned channel, unsigned rate) +static int timer_set_rate(unsigned timer, unsigned rate) { + int channels = get_timer_channels(timer); + irqstate_t flags = px4_enter_critical_section(); - rMCTRL(channels_timer(channel)) |= (timer_io_channels[channel].sub_module_bits >> MCTRL_LDOK_SHIFT) << MCTRL_CLDOK_SHIFT - ; - rVAL1(channels_timer(channel), timer_io_channels[channel].sub_module) = (BOARD_PWM_FREQ / rate) - 1; - rMCTRL(channels_timer(channel)) |= timer_io_channels[channel].sub_module_bits; + + for (uint32_t channel = 0; channel < DIRECT_PWM_OUTPUT_CHANNELS; ++channel) { + if ((1 << channel) & channels) { + rMCTRL(channels_timer(channel)) |= (timer_io_channels[channel].sub_module_bits >> MCTRL_LDOK_SHIFT) << MCTRL_CLDOK_SHIFT + ; + rVAL1(channels_timer(channel), timer_io_channels[channel].sub_module) = (BOARD_PWM_FREQ / rate) - 1; + rMCTRL(channels_timer(channel)) |= timer_io_channels[channel].sub_module_bits; + + } + } + px4_leave_critical_section(flags); return 0; } -static inline void io_timer_set_oneshot_mode(unsigned channel) +static inline void io_timer_set_oneshot_mode(unsigned timer) { + int channels = get_timer_channels(timer); + irqstate_t flags = px4_enter_critical_section(); - uint16_t rvalue = rCTRL(channels_timer(channel), timer_io_channels[channel].sub_module); - rvalue &= ~SMCTRL_PRSC_MASK; - rvalue |= SMCTRL_PRSC_DIV2 | SMCTRL_LDMOD; - rMCTRL(channels_timer(channel)) |= (timer_io_channels[channel].sub_module_bits >> MCTRL_LDOK_SHIFT) << MCTRL_CLDOK_SHIFT - ; - rCTRL(channels_timer(channel), timer_io_channels[channel].sub_module) = rvalue; - rMCTRL(channels_timer(channel)) |= timer_io_channels[channel].sub_module_bits; + + for (uint32_t channel = 0; channel < DIRECT_PWM_OUTPUT_CHANNELS; ++channel) { + if ((1 << channel) & channels) { + uint16_t rvalue = rCTRL(channels_timer(channel), timer_io_channels[channel].sub_module); + rvalue &= ~SMCTRL_PRSC_MASK; + rvalue |= SMCTRL_PRSC_DIV2 | SMCTRL_LDMOD; + rMCTRL(channels_timer(channel)) |= (timer_io_channels[channel].sub_module_bits >> MCTRL_LDOK_SHIFT) << MCTRL_CLDOK_SHIFT + ; + rCTRL(channels_timer(channel), timer_io_channels[channel].sub_module) = rvalue; + rMCTRL(channels_timer(channel)) |= timer_io_channels[channel].sub_module_bits; + } + } + px4_leave_critical_section(flags); } -static inline void io_timer_set_PWM_mode(unsigned channel) +static inline void io_timer_set_PWM_mode(unsigned timer) { + int channels = get_timer_channels(timer); + irqstate_t flags = px4_enter_critical_section(); - uint16_t rvalue = rCTRL(channels_timer(channel), timer_io_channels[channel].sub_module); - rvalue &= ~(SMCTRL_PRSC_MASK | SMCTRL_LDMOD); - rvalue |= SMCTRL_PRSC_DIV16; - rMCTRL(channels_timer(channel)) |= (timer_io_channels[channel].sub_module_bits >> MCTRL_LDOK_SHIFT) << MCTRL_CLDOK_SHIFT - ; - rCTRL(channels_timer(channel), timer_io_channels[channel].sub_module) = rvalue; - rMCTRL(channels_timer(channel)) |= timer_io_channels[channel].sub_module_bits; + + for (uint32_t channel = 0; channel < DIRECT_PWM_OUTPUT_CHANNELS; ++channel) { + if ((1 << channel) & channels) { + uint16_t rvalue = rCTRL(channels_timer(channel), timer_io_channels[channel].sub_module); + rvalue &= ~(SMCTRL_PRSC_MASK | SMCTRL_LDMOD); + rvalue |= SMCTRL_PRSC_DIV16; + rMCTRL(channels_timer(channel)) |= (timer_io_channels[channel].sub_module_bits >> MCTRL_LDOK_SHIFT) << MCTRL_CLDOK_SHIFT + ; + rCTRL(channels_timer(channel), timer_io_channels[channel].sub_module) = rvalue; + rMCTRL(channels_timer(channel)) |= timer_io_channels[channel].sub_module_bits; + } + } + px4_leave_critical_section(flags); } @@ -530,33 +583,35 @@ int io_timer_init_timer(unsigned timer, io_timer_channel_mode_t mode) break; } - uint32_t first_channel_index = io_timers_channel_mapping.element[timer].first_channel_index; - uint32_t last_channel_index = first_channel_index + io_timers_channel_mapping.element[timer].channel_count; - - for (uint32_t chan = first_channel_index; chan < last_channel_index; chan++) { - - /* Clear all Faults */ - rFSTS0(timer) = FSTS_FFLAG_MASK; - - rCTRL2(timer, timer_io_channels[chan].sub_module) = SMCTRL2_CLK_SEL_EXT_CLK | SMCTRL2_DBGEN | SMCTRL2_INDEP; - rCTRL(timer, timer_io_channels[chan].sub_module) = SMCTRL_PRSC_DIV16 | SMCTRL_FULL; - /* Edge aligned at 0 */ - rINIT(channels_timer(chan), timer_io_channels[chan].sub_module) = 0; - rVAL0(channels_timer(chan), timer_io_channels[chan].sub_module) = 0; - rVAL2(channels_timer(chan), timer_io_channels[chan].sub_module) = 0; - rVAL4(channels_timer(chan), timer_io_channels[chan].sub_module) = 0; - rFFILT0(timer) &= ~FFILT_FILT_PER_MASK; - rDISMAP0(timer, timer_io_channels[chan].sub_module) = 0xf000; - rDISMAP1(timer, timer_io_channels[chan].sub_module) = 0xf000; - rOUTEN(timer) |= timer_io_channels[chan].val_offset == PWMA_VAL ? OUTEN_PWMA_EN(1 << timer_io_channels[chan].sub_module) - : OUTEN_PWMB_EN(1 << timer_io_channels[chan].sub_module); - rDTSRCSEL(timer) = 0; - rMCTRL(timer) = MCTRL_LDOK(1 << timer_io_channels[chan].sub_module); - rMCTRL(timer) = timer_io_channels[chan].sub_module_bits; - io_timer_set_PWM_mode(chan); - timer_set_rate(chan, 50); + int channels = get_timer_channels(timer); + + for (uint32_t chan = 0; chan < DIRECT_PWM_OUTPUT_CHANNELS; ++chan) { + if ((1 << chan) & channels) { + + /* Clear all Faults */ + rFSTS0(timer) = FSTS_FFLAG_MASK; + + rCTRL2(timer, timer_io_channels[chan].sub_module) = SMCTRL2_CLK_SEL_EXT_CLK | SMCTRL2_DBGEN | SMCTRL2_INDEP; + rCTRL(timer, timer_io_channels[chan].sub_module) = SMCTRL_PRSC_DIV16 | SMCTRL_FULL; + /* Edge aligned at 0 */ + rINIT(channels_timer(chan), timer_io_channels[chan].sub_module) = 0; + rVAL0(channels_timer(chan), timer_io_channels[chan].sub_module) = 0; + rVAL2(channels_timer(chan), timer_io_channels[chan].sub_module) = 0; + rVAL4(channels_timer(chan), timer_io_channels[chan].sub_module) = 0; + rFFILT0(timer) &= ~FFILT_FILT_PER_MASK; + rDISMAP0(timer, timer_io_channels[chan].sub_module) = 0xf000; + rDISMAP1(timer, timer_io_channels[chan].sub_module) = 0xf000; + rOUTEN(timer) |= timer_io_channels[chan].val_offset == PWMA_VAL ? OUTEN_PWMA_EN(1 << timer_io_channels[chan].sub_module) + : OUTEN_PWMB_EN(1 << timer_io_channels[chan].sub_module); + rDTSRCSEL(timer) = 0; + rMCTRL(timer) = MCTRL_LDOK(1 << timer_io_channels[chan].sub_module); + rMCTRL(timer) = timer_io_channels[chan].sub_module_bits; + } } + io_timer_set_PWM_mode(timer); + timer_set_rate(timer, 50); + px4_leave_critical_section(flags); } @@ -818,8 +873,7 @@ uint16_t io_channel_get_ccr(unsigned channel) return value; } -// The rt has 1:1 group to channel -uint32_t io_timer_get_group(unsigned group) +uint32_t io_timer_get_group(unsigned timer) { - return get_channel_mask(group); + return get_timer_channels(timer); } diff --git a/platforms/nuttx/src/px4/nxp/imxrt/romapi/CMakeLists.txt b/platforms/nuttx/src/px4/nxp/imxrt/romapi/CMakeLists.txt new file mode 100644 index 000000000000..d6508bdd61d5 --- /dev/null +++ b/platforms/nuttx/src/px4/nxp/imxrt/romapi/CMakeLists.txt @@ -0,0 +1,36 @@ +############################################################################ +# +# Copyright (c) 2019 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +px4_add_library(arch_board_romapi + imxrt_romapi.c +) diff --git a/platforms/nuttx/src/px4/nxp/imxrt/romapi/imxrt_romapi.c b/platforms/nuttx/src/px4/nxp/imxrt/romapi/imxrt_romapi.c new file mode 100644 index 000000000000..68443e3353ba --- /dev/null +++ b/platforms/nuttx/src/px4/nxp/imxrt/romapi/imxrt_romapi.c @@ -0,0 +1,271 @@ +/**************************************************************************** + * platforms/nuttx/src/px4/nxp/imrt/romapi/imxrt_romapi.c + * + * Copyright 2017-2024 NXP + * All rights reserved. + * + * SPDX-License-Identifier: BSD-3-Clause + * +****************************************************************************/ + +/**************************************************************************** + * + * Included Files + ****************************************************************************/ + +#include "board_config.h" + +#include +#include +#include +#include + +#include "arm_internal.h" + +#include +#include + +#include + +/******************************************************************************* + * Definitions + ******************************************************************************/ +/*! + * @brief Structure of version property. + * + * @ingroup bl_core + */ +typedef union _standard_version { + struct { + uint8_t bugfix; /*!< bugfix version [7:0] */ + uint8_t minor; /*!< minor version [15:8] */ + uint8_t major; /*!< major version [23:16] */ + char name; /*!< name [31:24] */ + }; + uint32_t version; /*!< combined version numbers */ + +#if defined(__cplusplus) + StandardVersion() : version(0) { + } + StandardVersion(uint32_t version) : version(version) { + } +#endif +} standard_version_t; + +/*! + * @brief Interface for the ROM FLEXSPI NOR flash driver. + */ +typedef struct { + uint32_t version; + status_t (*init)(uint32_t instance, flexspi_nor_config_t *config); + status_t (*page_program)(uint32_t instance, flexspi_nor_config_t *config, uint32_t dst_addr, const uint32_t *src); + status_t (*erase_all)(uint32_t instance, flexspi_nor_config_t *config); + status_t (*erase)(uint32_t instance, flexspi_nor_config_t *config, uint32_t start, uint32_t length); + status_t (*read)(uint32_t instance, flexspi_nor_config_t *config, uint32_t *dst, uint32_t start, uint32_t bytes); + void (*clear_cache)(uint32_t instance); + status_t (*xfer)(uint32_t instance, flexspi_xfer_t *xfer); + status_t (*update_lut)(uint32_t instance, uint32_t seqIndex, const uint32_t *lutBase, uint32_t numberOfSeq); + status_t (*get_config)(uint32_t instance, flexspi_nor_config_t *config, serial_nor_config_option_t *option); + status_t (*erase_sector)(uint32_t instance, flexspi_nor_config_t *config, uint32_t address); + status_t (*erase_block)(uint32_t instance, flexspi_nor_config_t *config, uint32_t address); + const uint32_t reserved0; /*!< Reserved */ + status_t (*wait_busy)(uint32_t instance, flexspi_nor_config_t *config, bool isParallelMode, uint32_t address); + const uint32_t reserved1[2]; /*!< Reserved */ +} flexspi_nor_driver_interface_t; + +/*! + * @brief Root of the bootloader api tree. + * + * An instance of this struct resides in read-only memory in the bootloader. It + * provides a user application access to APIs exported by the bootloader. + * + * @note The order of existing fields must not be changed. + */ +typedef struct { + void (*runBootloader)(void *arg); /*!< Function to start the bootloader executing.*/ + standard_version_t version; /*!< Bootloader version number.*/ + const char *copyright; /*!< Copyright string.*/ + const flexspi_nor_driver_interface_t *flexSpiNorDriver; /*!< FlexSPI NOR FLASH Driver API.*/ + const uint32_t reserved[8]; /*!< Reserved */ +} bootloader_api_entry_t; + +/******************************************************************************* + * Variables + ******************************************************************************/ + +static bootloader_api_entry_t *g_bootloaderTree = NULL; + +/******************************************************************************* + * ROM FLEXSPI NOR driver + ******************************************************************************/ +/*! + * @brief ROM API init. + */ +locate_code(".ramfunc") +void ROM_API_Init(void) +{ + + if ((getreg32(IMXRT_ANADIG_MISC_MISC_DIFPROG) & ANADIG_MISC_MISC_DIFPROG_CHIPID(0x10U)) != 0U) { + g_bootloaderTree = ((bootloader_api_entry_t *) * (uint32_t *)0x0021001cU); + + } else { + g_bootloaderTree = ((bootloader_api_entry_t *) * (uint32_t *)0x0020001cU); + } +} + +/*! + * @brief Enter Bootloader. + * + * @param arg A pointer to the storage for the bootloader param. + * refer to System Boot Chapter in device reference manual for details. + */ +locate_code(".ramfunc") +void ROM_RunBootloader(void *arg) +{ + g_bootloaderTree->runBootloader(arg); +} + +/*! @brief Get FLEXSPI NOR Configuration Block based on specified option. */ +locate_code(".ramfunc") +status_t ROM_FLEXSPI_NorFlash_GetConfig(uint32_t instance, + flexspi_nor_config_t *config, + serial_nor_config_option_t *option) +{ + return g_bootloaderTree->flexSpiNorDriver->get_config(instance, config, option); +} + +/*! + * @brief Initialize Serial NOR devices via FLEXSPI. + * + * @param instance storage the instance of FLEXSPI. + * @param config A pointer to the storage for the driver runtime state. + */ +locate_code(".ramfunc") +status_t ROM_FLEXSPI_NorFlash_Init(uint32_t instance, flexspi_nor_config_t *config) +{ + return g_bootloaderTree->flexSpiNorDriver->init(instance, config); +} + +/*! + * @brief Program data to Serial NOR via FLEXSPI. + * + * @param instance storage the instance of FLEXSPI. + * @param config A pointer to the storage for the driver runtime state. + * @param dst_addr A pointer to the desired flash memory to be programmed. + * @param src A pointer to the source buffer of data that is to be programmed + * into the NOR flash. + */ +locate_code(".ramfunc") +status_t ROM_FLEXSPI_NorFlash_ProgramPage(uint32_t instance, + flexspi_nor_config_t *config, + uint32_t dst_addr, + const uint32_t *src) +{ + return g_bootloaderTree->flexSpiNorDriver->page_program(instance, config, dst_addr, src); +} + +/*! + * @brief Read data from Serial NOR + * + * @param instance storage the instance of FLEXSPI. + * @param config A pointer to the storage for the driver runtime state. + * @param dst A pointer to the dest buffer of data that is to be read from the NOR flash. + * @param lengthInBytes The length, given in bytes to be read. + */ +locate_code(".ramfunc") +status_t ROM_FLEXSPI_NorFlash_Read( + uint32_t instance, flexspi_nor_config_t *config, uint32_t *dst, uint32_t start, uint32_t lengthInBytes) +{ + return g_bootloaderTree->flexSpiNorDriver->read(instance, config, dst, start, lengthInBytes); +} + +/*! + * @brief Erase Flash Region specified by address and length. + * + * @param instance storage the index of FLEXSPI. + * @param config A pointer to the storage for the driver runtime state. + * @param start The start address of the desired NOR flash memory to be erased. + * @param length The length, given in bytes to be erased. + */ +locate_code(".ramfunc") +status_t ROM_FLEXSPI_NorFlash_Erase(uint32_t instance, flexspi_nor_config_t *config, uint32_t start, uint32_t length) +{ + return g_bootloaderTree->flexSpiNorDriver->erase(instance, config, start, length); +} + +/*! + * @brief Erase one sector specified by address. + * + * @param instance storage the index of FLEXSPI. + * @param config A pointer to the storage for the driver runtime state. + * @param start The start address of the desired NOR flash memory to be erased. + */ +locate_code(".ramfunc") +status_t ROM_FLEXSPI_NorFlash_EraseSector(uint32_t instance, flexspi_nor_config_t *config, uint32_t start) +{ + return g_bootloaderTree->flexSpiNorDriver->erase_sector(instance, config, start); +} + +/*! + * @brief Erase one block specified by address. + * + * @param instance storage the index of FLEXSPI. + * @param config A pointer to the storage for the driver runtime state. + * @param start The start address of the desired NOR flash memory to be erased. + */ +locate_code(".ramfunc") +status_t ROM_FLEXSPI_NorFlash_EraseBlock(uint32_t instance, flexspi_nor_config_t *config, uint32_t start) +{ + return g_bootloaderTree->flexSpiNorDriver->erase_block(instance, config, start); +} + +/*! @brief Erase all the Serial NOR devices connected on FLEXSPI. */ +locate_code(".ramfunc") +status_t ROM_FLEXSPI_NorFlash_EraseAll(uint32_t instance, flexspi_nor_config_t *config) +{ + return g_bootloaderTree->flexSpiNorDriver->erase_all(instance, config); +} + +/*! @brief FLEXSPI command */ +locate_code(".ramfunc") +status_t ROM_FLEXSPI_NorFlash_CommandXfer(uint32_t instance, flexspi_xfer_t *xfer) +{ + return g_bootloaderTree->flexSpiNorDriver->xfer(instance, xfer); +} +/*! @brief Configure FLEXSPI Lookup table. */ +locate_code(".ramfunc") +status_t ROM_FLEXSPI_NorFlash_UpdateLut(uint32_t instance, + uint32_t seqIndex, + const uint32_t *lutBase, + uint32_t seqNumber) +{ + return g_bootloaderTree->flexSpiNorDriver->update_lut(instance, seqIndex, lutBase, seqNumber); +} + +/*! @brief Software reset for the FLEXSPI logic. */ +locate_code(".ramfunc") +void ROM_FLEXSPI_NorFlash_ClearCache(uint32_t instance) +{ + uint32_t clearCacheFunctionAddress; + + if ((getreg32(IMXRT_ANADIG_MISC_MISC_DIFPROG) & ANADIG_MISC_MISC_DIFPROG_CHIPID(0x10U)) != 0U) { + clearCacheFunctionAddress = 0x0021a3b7U; + + } else { + clearCacheFunctionAddress = 0x0020426bU; + } + + clearCacheCommand_t clearCacheCommand; + MISRA_CAST(clearCacheCommand_t, clearCacheCommand, uint32_t, clearCacheFunctionAddress); + (void)clearCacheCommand(instance); +} + +/*! @brief Wait until device is idle*/ +locate_code(".ramfunc") +status_t ROM_FLEXSPI_NorFlash_WaitBusy(uint32_t instance, + flexspi_nor_config_t *config, + bool isParallelMode, + uint32_t address) +{ + return g_bootloaderTree->flexSpiNorDriver->wait_busy(instance, config, isParallelMode, address); +} diff --git a/platforms/nuttx/src/px4/nxp/imxrt/spi/CMakeLists.txt b/platforms/nuttx/src/px4/nxp/imxrt/spi/CMakeLists.txt new file mode 100644 index 000000000000..32bb104153ec --- /dev/null +++ b/platforms/nuttx/src/px4/nxp/imxrt/spi/CMakeLists.txt @@ -0,0 +1,39 @@ +############################################################################ +# +# Copyright (c) 2023 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +px4_add_library(arch_spi + spi.cpp +) +target_compile_options(arch_spi PRIVATE ${MAX_CUSTOM_OPT_LEVEL}) + +target_link_libraries (arch_spi PRIVATE drivers_board) # px4_spi_buses diff --git a/platforms/nuttx/src/px4/nxp/imxrt/spi/spi.cpp b/platforms/nuttx/src/px4/nxp/imxrt/spi/spi.cpp new file mode 100644 index 000000000000..13779e21376c --- /dev/null +++ b/platforms/nuttx/src/px4/nxp/imxrt/spi/spi.cpp @@ -0,0 +1,521 @@ +/**************************************************************************** + * + * Copyright (c) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include +#include +#include + +#include +#include +#include +#include + +#include +#include +#include +#include +#include "imxrt_gpio.h" + +static const px4_spi_bus_t *_spi_bus1; +static const px4_spi_bus_t *_spi_bus2; +static const px4_spi_bus_t *_spi_bus3; +static const px4_spi_bus_t *_spi_bus4; +static const px4_spi_bus_t *_spi_bus5; +static const px4_spi_bus_t *_spi_bus6; + +static void spi_bus_configgpio_cs(const px4_spi_bus_t *bus) +{ + for (int i = 0; i < SPI_BUS_MAX_DEVICES; ++i) { + if (bus->devices[i].cs_gpio != 0) { + px4_arch_configgpio(bus->devices[i].cs_gpio); + } + } +} + +__EXPORT void imxrt_spiinitialize() +{ + px4_set_spi_buses_from_hw_version(); + board_control_spi_sensors_power_configgpio(); + board_control_spi_sensors_power(true, 0xffff); + + for (int i = 0; i < SPI_BUS_MAX_BUS_ITEMS; ++i) { + switch (px4_spi_buses[i].bus) { + case 1: _spi_bus1 = &px4_spi_buses[i]; break; + + case 2: _spi_bus2 = &px4_spi_buses[i]; break; + + case 3: _spi_bus3 = &px4_spi_buses[i]; break; + + case 4: _spi_bus4 = &px4_spi_buses[i]; break; + + case 5: _spi_bus5 = &px4_spi_buses[i]; break; + + case 6: _spi_bus6 = &px4_spi_buses[i]; break; + } + } + +#ifdef CONFIG_IMXRT_LPSPI1 + ASSERT(_spi_bus1); + + if (board_has_bus(BOARD_SPI_BUS, 1)) { + spi_bus_configgpio_cs(_spi_bus1); + } + +#endif // CONFIG_IMXRT_LPSPI1 + + +#if defined(CONFIG_IMXRT_LPSPI2) + ASSERT(_spi_bus2); + + if (board_has_bus(BOARD_SPI_BUS, 2)) { + spi_bus_configgpio_cs(_spi_bus2); + } + +#endif // CONFIG_IMXRT_LPSPI2 + +#ifdef CONFIG_IMXRT_LPSPI3 + ASSERT(_spi_bus3); + + if (board_has_bus(BOARD_SPI_BUS, 3)) { + spi_bus_configgpio_cs(_spi_bus3); + } + +#endif // CONFIG_IMXRT_LPSPI3 + +#ifdef CONFIG_IMXRT_LPSPI4 + ASSERT(_spi_bus4); + + if (board_has_bus(BOARD_SPI_BUS, 4)) { + spi_bus_configgpio_cs(_spi_bus4); + } + +#endif // CONFIG_IMXRT_LPSPI4 + + +#ifdef CONFIG_IMXRT_LPSPI5 + ASSERT(_spi_bus5); + + if (board_has_bus(BOARD_SPI_BUS, 5)) { + spi_bus_configgpio_cs(_spi_bus5); + } + +#endif // CONFIG_IMXRT_LPSPI5 + + +#ifdef CONFIG_IMXRT_LPSPI6 + ASSERT(_spi_bus6); + + if (board_has_bus(BOARD_SPI_BUS, 6)) { + spi_bus_configgpio_cs(_spi_bus6); + } + +#endif // CONFIG_IMXRT_LPSPI6 +} + +static inline void imxrt_lpspixselect(const px4_spi_bus_t *bus, struct spi_dev_s *dev, uint32_t devid, bool selected) +{ + for (int i = 0; i < SPI_BUS_MAX_DEVICES; ++i) { + if (bus->devices[i].cs_gpio == 0) { + break; + } + + if (devid == bus->devices[i].devid) { + // SPI select is active low, so write !selected to select the device + imxrt_gpio_write(bus->devices[i].cs_gpio, !selected); + } + } +} + + +/************************************************************************************ + * Name: imxrt_lpspi1select and imxrt_lpspi1select + * + * Description: + * Called by imxrt spi driver on bus 1. + * + ************************************************************************************/ +#ifdef CONFIG_IMXRT_LPSPI1 + +__EXPORT void imxrt_lpspi1select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected) +{ + imxrt_lpspixselect(_spi_bus1, dev, devid, selected); +} + +__EXPORT uint8_t imxrt_lpspi1status(FAR struct spi_dev_s *dev, uint32_t devid) +{ + return SPI_STATUS_PRESENT; +} +#endif // CONFIG_IMXRT_LPSPI1 + +/************************************************************************************ + * Name: imxrt_lpspi2select and imxrt_lpspi2select + * + * Description: + * Called by imxrt spi driver on bus 2. + * + ************************************************************************************/ +#if defined(CONFIG_IMXRT_LPSPI2) +__EXPORT void imxrt_lpspi2select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected) +{ + imxrt_lpspixselect(_spi_bus2, dev, devid, selected); +} + +__EXPORT uint8_t imxrt_lpspi2status(FAR struct spi_dev_s *dev, uint32_t devid) +{ + return SPI_STATUS_PRESENT; +} +#endif // CONFIG_IMXRT_LPSPI2 + +/************************************************************************************ + * Name: imxrt_lpspi3select and imxrt_lpspi3select + * + * Description: + * Called by imxrt spi driver on bus 3. + * + ************************************************************************************/ +#if defined(CONFIG_IMXRT_LPSPI3) +__EXPORT void imxrt_lpspi3select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected) +{ + imxrt_lpspixselect(_spi_bus3, dev, devid, selected); +} + +__EXPORT uint8_t imxrt_lpspi3status(FAR struct spi_dev_s *dev, uint32_t devid) +{ + return SPI_STATUS_PRESENT; +} +#endif // CONFIG_IMXRT_LPSPI3 + +/************************************************************************************ + * Name: imxrt_lpspi4select and imxrt_lpspi4select + * + * Description: + * Called by imxrt spi driver on bus 4. + * + ************************************************************************************/ +#ifdef CONFIG_IMXRT_LPSPI4 + +__EXPORT void imxrt_lpspi4select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected) +{ + imxrt_lpspixselect(_spi_bus4, dev, devid, selected); +} + +__EXPORT uint8_t imxrt_lpspi4status(FAR struct spi_dev_s *dev, uint32_t devid) +{ + return SPI_STATUS_PRESENT; +} +#endif // CONFIG_IMXRT_LPSPI4 + +/************************************************************************************ + * Name: imxrt_lpspi5select and imxrt_lpspi5select + * + * Description: + * Called by imxrt spi driver on bus 5. + * + ************************************************************************************/ +#ifdef CONFIG_IMXRT_LPSPI5 + +__EXPORT void imxrt_lpspi5select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected) +{ + imxrt_lpspixselect(_spi_bus5, dev, devid, selected); +} + +__EXPORT uint8_t imxrt_lpspi5status(FAR struct spi_dev_s *dev, uint32_t devid) +{ + return SPI_STATUS_PRESENT; +} +#endif // CONFIG_IMXRT_LPSPI5 + +/************************************************************************************ + * Name: imxrt_lpspi6select and imxrt_lpspi6select + * + * Description: + * Called by imxrt spi driver on bus 6. + * + ************************************************************************************/ +#ifdef CONFIG_IMXRT_LPSPI6 + +__EXPORT void imxrt_lpspi6select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected) +{ + imxrt_lpspixselect(_spi_bus6, dev, devid, selected); +} + +__EXPORT uint8_t imxrt_lpspi6status(FAR struct spi_dev_s *dev, uint32_t devid) +{ + return SPI_STATUS_PRESENT; +} +#endif // CONFIG_IMXRT_LPSPI6 + + +void board_control_spi_sensors_power(bool enable_power, int bus_mask) +{ + const px4_spi_bus_t *buses = px4_spi_buses; + // this might be called very early on boot where we have not yet determined the hw version + // (we expect all versions to have the same power GPIO) +#if BOARD_NUM_SPI_CFG_HW_VERSIONS > 1 + + if (!buses) { + buses = &px4_spi_buses_all_hw[0].buses[0]; + } + +#endif + + for (int bus = 0; bus < SPI_BUS_MAX_BUS_ITEMS; ++bus) { + if (buses[bus].bus == -1) { + break; + } + + const bool bus_matches = bus_mask & (1 << (buses[bus].bus - 1)); + + if (buses[bus].power_enable_gpio == 0 || + !board_has_bus(BOARD_SPI_BUS, buses[bus].bus) || + !bus_matches) { + continue; + } + + px4_arch_gpiowrite(buses[bus].power_enable_gpio, enable_power ? 1 : 0); + } +} + +void board_control_spi_sensors_power_configgpio() +{ + const px4_spi_bus_t *buses = px4_spi_buses; + // this might be called very early on boot where we have yet not determined the hw version + // (we expect all versions to have the same power GPIO) +#if BOARD_NUM_SPI_CFG_HW_VERSIONS > 1 + + if (!buses) { + buses = &px4_spi_buses_all_hw[0].buses[0]; + } + +#endif + + for (int bus = 0; bus < SPI_BUS_MAX_BUS_ITEMS; ++bus) { + if (buses[bus].bus == -1) { + break; + } + + if (buses[bus].power_enable_gpio == 0 || + !board_has_bus(BOARD_SPI_BUS, buses[bus].bus)) { + continue; + } + + px4_arch_configgpio(buses[bus].power_enable_gpio); + } +} + +__EXPORT void board_spi_reset(int ms, int bus_mask) +{ + bool has_power_enable = false; + + // disable SPI bus + for (int bus = 0; bus < SPI_BUS_MAX_BUS_ITEMS; ++bus) { + if (px4_spi_buses[bus].bus == -1) { + break; + } + + const bool bus_requested = bus_mask & (1 << (px4_spi_buses[bus].bus - 1)); + + if (px4_spi_buses[bus].power_enable_gpio == 0 || + !board_has_bus(BOARD_SPI_BUS, px4_spi_buses[bus].bus) || + !bus_requested) { + continue; + } + + has_power_enable = true; + + for (int i = 0; i < SPI_BUS_MAX_DEVICES; ++i) { + if (px4_spi_buses[bus].devices[i].cs_gpio != 0) { + px4_arch_configgpio(_PIN_OFF(px4_spi_buses[bus].devices[i].cs_gpio)); + } + + if (px4_spi_buses[bus].devices[i].drdy_gpio != 0) { + px4_arch_configgpio(_PIN_OFF(px4_spi_buses[bus].devices[i].drdy_gpio)); + } + } + +#if defined(CONFIG_IMXRT_LPSPI1) + + if (px4_spi_buses[bus].bus == 1) { + px4_arch_configgpio(_PIN_OFF(GPIO_LPSPI1_SCK)); + px4_arch_configgpio(_PIN_OFF(GPIO_LPSPI1_MISO)); + px4_arch_configgpio(_PIN_OFF(GPIO_LPSPI1_MOSI)); + } + +#endif +#if defined(CONFIG_IMXRT_LPSPI2) + + if (px4_spi_buses[bus].bus == 2) { + px4_arch_configgpio(_PIN_OFF(GPIO_LPSPI2_SCK)); + px4_arch_configgpio(_PIN_OFF(GPIO_LPSPI2_MISO)); + px4_arch_configgpio(_PIN_OFF(GPIO_LPSPI2_MOSI)); + } + +#endif +#if defined(CONFIG_IMXRT_LPSPI3) + + if (px4_spi_buses[bus].bus == 3) { + px4_arch_configgpio(_PIN_OFF(GPIO_LPSPI3_SCK)); + px4_arch_configgpio(_PIN_OFF(GPIO_LPSPI3_MISO)); + px4_arch_configgpio(_PIN_OFF(GPIO_LPSPI3_MOSI)); + } + +#endif +#if defined(CONFIG_IMXRT_LPSPI4) + + if (px4_spi_buses[bus].bus == 4) { + px4_arch_configgpio(_PIN_OFF(GPIO_LPSPI4_SCK)); + px4_arch_configgpio(_PIN_OFF(GPIO_LPSPI4_MISO)); + px4_arch_configgpio(_PIN_OFF(GPIO_LPSPI4_MOSI)); + } + +#endif +#if defined(CONFIG_IMXRT_LPSPI5) + + if (px4_spi_buses[bus].bus == 5) { + px4_arch_configgpio(_PIN_OFF(GPIO_LPSPI5_SCK)); + px4_arch_configgpio(_PIN_OFF(GPIO_LPSPI5_MISO)); + px4_arch_configgpio(_PIN_OFF(GPIO_LPSPI5_MOSI)); + } + +#endif +#if defined(CONFIG_IMXRT_LPSPI6) + + if (px4_spi_buses[bus].bus == 6) { + px4_arch_configgpio(_PIN_OFF(GPIO_LPSPI6_SCK)); + px4_arch_configgpio(_PIN_OFF(GPIO_LPSPI6_MISO)); + px4_arch_configgpio(_PIN_OFF(GPIO_LPSPI6_MOSI)); + } + +#endif + } + + if (!has_power_enable) { + // board does not have power control over any of the sensor buses + return; + } + + // set the sensor rail(s) off + board_control_spi_sensors_power(false, bus_mask); + + // wait for the sensor rail to reach GND + usleep(ms * 1000); + syslog(LOG_DEBUG, "reset done, %d ms\n", ms); + + /* re-enable power */ + + // switch the sensor rail back on + board_control_spi_sensors_power(true, bus_mask); + + /* wait a bit before starting SPI, different times didn't influence results */ + usleep(100); + + /* reconfigure the SPI pins */ + for (int bus = 0; bus < SPI_BUS_MAX_BUS_ITEMS; ++bus) { + if (px4_spi_buses[bus].bus == -1) { + break; + } + + const bool bus_requested = bus_mask & (1 << (px4_spi_buses[bus].bus - 1)); + + if (px4_spi_buses[bus].power_enable_gpio == 0 || + !board_has_bus(BOARD_SPI_BUS, px4_spi_buses[bus].bus) || + !bus_requested) { + continue; + } + + for (int i = 0; i < SPI_BUS_MAX_DEVICES; ++i) { + if (px4_spi_buses[bus].devices[i].cs_gpio != 0) { + px4_arch_configgpio(px4_spi_buses[bus].devices[i].cs_gpio); + } + + if (px4_spi_buses[bus].devices[i].drdy_gpio != 0) { + px4_arch_configgpio(px4_spi_buses[bus].devices[i].drdy_gpio); + } + } + +#if defined(CONFIG_IMXRT_LPSPI1) + + if (px4_spi_buses[bus].bus == 1) { + px4_arch_configgpio(GPIO_LPSPI1_SCK); + px4_arch_configgpio(GPIO_LPSPI1_MISO); + px4_arch_configgpio(GPIO_LPSPI1_MOSI); + } + +#endif +#if defined(CONFIG_IMXRT_LPSPI2) + + if (px4_spi_buses[bus].bus == 2) { + px4_arch_configgpio(GPIO_LPSPI2_SCK); + px4_arch_configgpio(GPIO_LPSPI2_MISO); + px4_arch_configgpio(GPIO_LPSPI2_MOSI); + } + +#endif +#if defined(CONFIG_IMXRT_LPSPI3) + + if (px4_spi_buses[bus].bus == 3) { + px4_arch_configgpio(GPIO_LPSPI3_SCK); + px4_arch_configgpio(GPIO_LPSPI3_MISO); + px4_arch_configgpio(GPIO_LPSPI3_MOSI); + } + +#endif +#if defined(CONFIG_IMXRT_LPSPI4) + + if (px4_spi_buses[bus].bus == 4) { + px4_arch_configgpio(GPIO_LPSPI4_SCK); + px4_arch_configgpio(GPIO_LPSPI4_MISO); + px4_arch_configgpio(GPIO_LPSPI4_MOSI); + } + +#endif +#if defined(CONFIG_IMXRT_LPSPI5) + + if (px4_spi_buses[bus].bus == 5) { + px4_arch_configgpio(GPIO_LPSPI5_SCK); + px4_arch_configgpio(GPIO_LPSPI5_MISO); + px4_arch_configgpio(GPIO_LPSPI5_MOSI); + } + +#endif +#if defined(CONFIG_IMXRT_LPSPI6) + + if (px4_spi_buses[bus].bus == 6) { + px4_arch_configgpio(GPIO_LPSPI6_SCK); + px4_arch_configgpio(GPIO_LPSPI6_MISO); + px4_arch_configgpio(GPIO_LPSPI6_MOSI); + } + +#endif + } +} diff --git a/platforms/nuttx/src/px4/nxp/imxrt/tone_alarm/ToneAlarmInterface.cpp b/platforms/nuttx/src/px4/nxp/imxrt/tone_alarm/ToneAlarmInterface.cpp index c864ac245e12..01389b120093 100644 --- a/platforms/nuttx/src/px4/nxp/imxrt/tone_alarm/ToneAlarmInterface.cpp +++ b/platforms/nuttx/src/px4/nxp/imxrt/tone_alarm/ToneAlarmInterface.cpp @@ -72,12 +72,20 @@ # define TONE_ALARM_CLOCK_ALL() imxrt_clockall_gpt_bus() /* The Clock Gating macro for this GPT */ #elif TONE_ALARM_TIMER == 2 # define TONE_ALARM_CLOCK_ALL() imxrt_clockall_gpt2_bus() /* The Clock Gating macro for this GPT */ +#elif TONE_ALARM_TIMER == 3 +# define TONE_ALARM_CLOCK_ALL() imxrt_clockall_gpt3_bus() /* The Clock Gating macro for this GPT */ +#elif TONE_ALARM_TIMER == 4 +# define TONE_ALARM_CLOCK_ALL() imxrt_clockall_gpt4_bus() /* The Clock Gating macro for this GPT */ #endif #if TONE_ALARM_TIMER == 1 && defined(CONFIG_IMXRT_GPT1) # error must not set CONFIG_IMXRT_GPT1=y and TONE_ALARM_TIMER=1 #elif TONE_ALARM_TIMER == 2 && defined(CONFIG_IMXRT_GPT2) # error must not set CONFIG_IMXRT_GPT2=y and TONE_ALARM_TIMER=2 +#elif TONE_ALARM_TIMER == 3 && defined(CONFIG_IMXRT_GPT3) +# error must not set CONFIG_IMXRT_GPT3=y and TONE_ALARM_TIMER=3 +#elif TONE_ALARM_TIMER == 4 && defined(CONFIG_IMXRT_GPT4) +# error must not set CONFIG_IMXRT_GPT4=y and TONE_ALARM_TIMER=4 #endif diff --git a/platforms/nuttx/src/px4/nxp/imxrt/version/board_identity.c b/platforms/nuttx/src/px4/nxp/imxrt/version/board_identity.c index eb800c6a0acf..a167dc917ae6 100644 --- a/platforms/nuttx/src/px4/nxp/imxrt/version/board_identity.c +++ b/platforms/nuttx/src/px4/nxp/imxrt/version/board_identity.c @@ -42,7 +42,11 @@ #include #include #include +#ifdef CONFIG_ARCH_FAMILY_IMXRT117x +#include +#else #include +#endif #define CPU_UUID_BYTE_FORMAT_ORDER {3, 2, 1, 0, 7, 6, 5, 4} #define SWAP_UINT32(x) (((x) >> 24) | (((x) & 0x00ff0000) >> 8) | (((x) & 0x0000ff00) << 8) | ((x) << 24)) @@ -77,21 +81,8 @@ void board_get_uuid(uuid_byte_t uuid_bytes) void board_get_uuid32(uuid_uint32_t uuid_words) { - /* IMXRT_OCOTP_CFG1:0x420[10:0], IMXRT_OCOTP_CFG0:0x410[31:0] LOT_NO_ENC[42:0](SJC_CHALL/UNIQUE_ID[42:0]) - * 43 bits FSL-wide unique,encoded LOT ID STD II/SJC CHALLENGE/ Unique ID - * 0x420[15:11] WAFER_NO[4:0]( SJC_CHALL[47:43] /UNIQUE_ID[47:43]) - * 5 bits The wafer number of the wafer on which the device was fabricated/SJC CHALLENGE/ Unique ID - * 0x420[23:16] DIE-YCORDINATE[7:0]( SJC_CHALL[55:48] /UNIQUE_ID[55:48]) - * 8 bits The Y-coordinate of the die location on the wafer/SJC CHALLENGE/Unique ID - * 0x420[31:24] DIE-XCORDINATE[7:0]( SJC_CHALL[63:56] /UNIQUE_ID[63:56] ) - * 8 bits The X-coordinate of the die location on the wafer/SJC CHALLENGE/Unique ID - * - * word [0] word[1] - * SJC_CHALL[63:32] [31:00] - */ - - uuid_words[0] = getreg32(IMXRT_OCOTP_CFG1); - uuid_words[1] = getreg32(IMXRT_OCOTP_CFG0); + uuid_words[0] = getreg32(IMXRT_OCOTP_UNIQUE_ID_MSB); + uuid_words[1] = getreg32(IMXRT_OCOTP_UNIQUE_ID_LSB); } int board_get_uuid32_formated(char *format_buffer, int size, diff --git a/platforms/nuttx/src/px4/nxp/imxrt/version/board_mcu_version.c b/platforms/nuttx/src/px4/nxp/imxrt/version/board_mcu_version.c index d28253894ed1..ae8594bd4f16 100644 --- a/platforms/nuttx/src/px4/nxp/imxrt/version/board_mcu_version.c +++ b/platforms/nuttx/src/px4/nxp/imxrt/version/board_mcu_version.c @@ -39,10 +39,46 @@ #include #include - -#include -#include #include "arm_internal.h" +#ifdef CONFIG_ARCH_FAMILY_IMXRT117x +# include +# include +#else +# include +# include +#endif + +#ifdef CONFIG_ARCH_FAMILY_IMXRT117x + +#define CHIP_TAG "i.MX RT11?0 r??" +#define CHIP_TAG_LEN sizeof(CHIP_TAG)-1 + +#define SI_REV(n) ((n & 0x7000000) >> 24) +#define DIFPROG_TYPE(n) ((n & 0xF000) >> 12) +#define DIFPROG_REV_MAJOR(n) ((n & 0xF0) >> 4) +#define DIFPROG_REV_MINOR(n) ((n & 0xF)) + +int board_mcu_version(char *rev, const char **revstr, const char **errata) +{ + uint32_t info = getreg32(IMXRT_ANADIG_MISC_MISC_DIFPROG); + static char chip[sizeof(CHIP_TAG)] = CHIP_TAG; + *revstr = chip; + + chip[CHIP_TAG_LEN - 6] = '0' + DIFPROG_TYPE(info); + chip[CHIP_TAG_LEN - 2] = 'A' + (DIFPROG_REV_MAJOR(info) - 10); + chip[CHIP_TAG_LEN - 1] = '0' + DIFPROG_REV_MINOR(info); + + *rev = '0' + SI_REV(getreg32(IMXRT_OCOTP_FUSE(18))); + + if (errata) { + *errata = NULL; + } + + return 0; +} + + +#else #define DIGPROG_MINOR_SHIFT 0 #define DIGPROG_MINOR_MASK (0xff << DIGPROG_MINOR_SHIFT) @@ -74,3 +110,5 @@ int board_mcu_version(char *rev, const char **revstr, const char **errata) return 0; } + +#endif diff --git a/platforms/nuttx/src/px4/nxp/k66/CMakeLists.txt b/platforms/nuttx/src/px4/nxp/k66/CMakeLists.txt index 2b96e342f86a..5cacc8fcfc58 100644 --- a/platforms/nuttx/src/px4/nxp/k66/CMakeLists.txt +++ b/platforms/nuttx/src/px4/nxp/k66/CMakeLists.txt @@ -40,6 +40,3 @@ add_subdirectory(../kinetis/hrt hrt) add_subdirectory(../kinetis/io_pins io_pins) add_subdirectory(../kinetis/tone_alarm tone_alarm) add_subdirectory(../kinetis/version version) - - - diff --git a/platforms/nuttx/src/px4/nxp/k66/include/px4_arch/adc.h b/platforms/nuttx/src/px4/nxp/k66/include/px4_arch/adc.h index 743deaed331c..521bcf04d6c7 100644 --- a/platforms/nuttx/src/px4/nxp/k66/include/px4_arch/adc.h +++ b/platforms/nuttx/src/px4/nxp/k66/include/px4_arch/adc.h @@ -33,4 +33,3 @@ #pragma once #include "../../../kinetis/include/px4_arch/adc.h" - diff --git a/platforms/nuttx/src/px4/nxp/k66/include/px4_arch/io_timer.h b/platforms/nuttx/src/px4/nxp/k66/include/px4_arch/io_timer.h index 11661f853a71..11fbae6cbc4a 100644 --- a/platforms/nuttx/src/px4/nxp/k66/include/px4_arch/io_timer.h +++ b/platforms/nuttx/src/px4/nxp/k66/include/px4_arch/io_timer.h @@ -32,6 +32,4 @@ ****************************************************************************/ #pragma once - #include "../../../kinetis/include/px4_arch/io_timer.h" - diff --git a/platforms/nuttx/src/px4/nxp/kinetis/board_reset/board_reset.cpp b/platforms/nuttx/src/px4/nxp/kinetis/board_reset/board_reset.cpp index 8a073821ce19..62066a9cc2a6 100644 --- a/platforms/nuttx/src/px4/nxp/kinetis/board_reset/board_reset.cpp +++ b/platforms/nuttx/src/px4/nxp/kinetis/board_reset/board_reset.cpp @@ -38,6 +38,7 @@ */ #include +#include #include #include @@ -72,7 +73,7 @@ static int board_reset_enter_bootloader() int board_reset(int status) { - if (status == 1) { + if (status == REBOOT_TO_BOOTLOADER) { board_reset_enter_bootloader(); } diff --git a/platforms/nuttx/src/px4/nxp/kinetis/hrt/CMakeLists.txt b/platforms/nuttx/src/px4/nxp/kinetis/hrt/CMakeLists.txt index ebd97f8a42fa..3edd775b6a63 100644 --- a/platforms/nuttx/src/px4/nxp/kinetis/hrt/CMakeLists.txt +++ b/platforms/nuttx/src/px4/nxp/kinetis/hrt/CMakeLists.txt @@ -35,4 +35,3 @@ px4_add_library(arch_hrt hrt.c ) target_compile_options(arch_hrt PRIVATE -Wno-cast-align) # TODO: fix and enable - diff --git a/platforms/nuttx/src/px4/nxp/kinetis/include/px4_arch/adc.h b/platforms/nuttx/src/px4/nxp/kinetis/include/px4_arch/adc.h index 400305ebd21b..5ae5548411b5 100644 --- a/platforms/nuttx/src/px4/nxp/kinetis/include/px4_arch/adc.h +++ b/platforms/nuttx/src/px4/nxp/kinetis/include/px4_arch/adc.h @@ -37,5 +37,3 @@ #define SYSTEM_ADC_BASE 0 // not used on kinetis #include - - diff --git a/platforms/nuttx/src/px4/nxp/rt106x/CMakeLists.txt b/platforms/nuttx/src/px4/nxp/rt106x/CMakeLists.txt index 1bb46354db7b..f487b031c7fe 100644 --- a/platforms/nuttx/src/px4/nxp/rt106x/CMakeLists.txt +++ b/platforms/nuttx/src/px4/nxp/rt106x/CMakeLists.txt @@ -36,9 +36,11 @@ add_subdirectory(../imxrt/adc adc) add_subdirectory(../imxrt/board_critmon board_critmon) add_subdirectory(../imxrt/board_hw_info board_hw_info) add_subdirectory(../imxrt/board_reset board_reset) -#add_subdirectory(../imxrt/dshot dshot) +add_subdirectory(../imxrt/dshot dshot) add_subdirectory(../imxrt/hrt hrt) add_subdirectory(../imxrt/led_pwm led_pwm) add_subdirectory(../imxrt/io_pins io_pins) add_subdirectory(../imxrt/tone_alarm tone_alarm) add_subdirectory(../imxrt/version version) + +add_subdirectory(px4io_serial) diff --git a/platforms/nuttx/src/px4/nxp/rt106x/include/px4_arch/adc.h b/platforms/nuttx/src/px4/nxp/rt106x/include/px4_arch/adc.h index f9da7fb8f5d0..b2b4c609675c 100644 --- a/platforms/nuttx/src/px4/nxp/rt106x/include/px4_arch/adc.h +++ b/platforms/nuttx/src/px4/nxp/rt106x/include/px4_arch/adc.h @@ -32,4 +32,14 @@ ****************************************************************************/ #pragma once -#include "../../../imxrt/include/px4_arch/adc.h" +#include + +#if !defined(HW_REV_VER_ADC_BASE) +# define HW_REV_VER_ADC_BASE IMXRT_ADC1_BASE +#endif + +#if !defined(SYSTEM_ADC_BASE) +# define SYSTEM_ADC_BASE IMXRT_ADC1_BASE +#endif + +#include diff --git a/platforms/nuttx/src/px4/nxp/rt106x/include/px4_arch/dshot.h b/platforms/nuttx/src/px4/nxp/rt106x/include/px4_arch/dshot.h new file mode 100644 index 000000000000..b6aaca410a9d --- /dev/null +++ b/platforms/nuttx/src/px4/nxp/rt106x/include/px4_arch/dshot.h @@ -0,0 +1,36 @@ +/**************************************************************************** + * + * Copyright (c) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ +#pragma once + + +#include "../../../imxrt/include/px4_arch/dshot.h" diff --git a/platforms/nuttx/src/px4/nxp/rt106x/include/px4_arch/hw_description.h b/platforms/nuttx/src/px4/nxp/rt106x/include/px4_arch/hw_description.h index e7676690b997..d4aada2ffe3d 100644 --- a/platforms/nuttx/src/px4/nxp/rt106x/include/px4_arch/hw_description.h +++ b/platforms/nuttx/src/px4/nxp/rt106x/include/px4_arch/hw_description.h @@ -1,20 +1,20 @@ /**************************************************************************** * - * Copyright (c) 2019 PX4 Development Team. All rights reserved. + * Copyright (C) 2019 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions * are met: * * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. + * notice, this list of conditions and the following disclaimer. * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. + * used to endorse or promote products derived from this software + * without specific prior written permission. * * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT @@ -30,7 +30,368 @@ * POSSIBILITY OF SUCH DAMAGE. * ****************************************************************************/ + #pragma once -#include "../../../imxrt/include/px4_arch/hw_description.h" +#include + +#include "hardware/imxrt_flexpwm.h" + +#include + +#include +#ifndef CONFIG_ARCH_CHIP_MIMXRT1062DVL6A +# error "This code has only been validated with IMXRT1062. Make sure it is correct before using it on another board." +#endif + +/* + * PWM + */ + +namespace PWM +{ +enum FlexPWM { + FlexPWM1 = 0, + FlexPWM2, + FlexPWM3, + FlexPWM4, +}; + +enum FlexPWMModule { + PWM1_PWM_A = 0, + PWM1_PWM_B, + PWM1_PWM_X, + + PWM2_PWM_A, + PWM2_PWM_B, + + PWM3_PWM_A, + PWM3_PWM_B, + + PWM4_PWM_A, + PWM4_PWM_B, +}; + +enum FlexPWMSubmodule { + Submodule0 = 0, + Submodule1, + Submodule2, + Submodule3, +}; + +struct FlexPWMConfig { + FlexPWMModule module; + FlexPWMSubmodule submodule; +}; +} + +static inline constexpr uint32_t getFlexPWMBaseRegister(PWM::FlexPWM pwm) +{ + switch (pwm) { + case PWM::FlexPWM1: return IMXRT_FLEXPWM1_BASE; + + case PWM::FlexPWM2: return IMXRT_FLEXPWM2_BASE; + + case PWM::FlexPWM3: return IMXRT_FLEXPWM3_BASE; + + case PWM::FlexPWM4: return IMXRT_FLEXPWM4_BASE; + } + + return 0; +} + +namespace IOMUX +{ +enum class Pad { + GPIO_EMC_00 = 0, + GPIO_EMC_01 = 1, + GPIO_EMC_02 = 2, + GPIO_EMC_03 = 3, + GPIO_EMC_04 = 4, + GPIO_EMC_05 = 5, + GPIO_EMC_06 = 6, + GPIO_EMC_07 = 7, + GPIO_EMC_08 = 8, + GPIO_EMC_09 = 9, + GPIO_EMC_10 = 10, + GPIO_EMC_11 = 11, + GPIO_EMC_12 = 12, + GPIO_EMC_13 = 13, + GPIO_EMC_14 = 14, + GPIO_EMC_15 = 15, + GPIO_EMC_16 = 16, + GPIO_EMC_17 = 17, + GPIO_EMC_18 = 18, + GPIO_EMC_19 = 19, + GPIO_EMC_20 = 20, + GPIO_EMC_21 = 21, + GPIO_EMC_22 = 22, + GPIO_EMC_23 = 23, + GPIO_EMC_24 = 24, + GPIO_EMC_25 = 25, + GPIO_EMC_26 = 26, + GPIO_EMC_27 = 27, + GPIO_EMC_28 = 28, + GPIO_EMC_29 = 29, + GPIO_EMC_30 = 30, + GPIO_EMC_31 = 31, + GPIO_EMC_32 = 32, + GPIO_EMC_33 = 33, + GPIO_EMC_34 = 34, + GPIO_EMC_35 = 35, + GPIO_EMC_36 = 36, + GPIO_EMC_37 = 37, + GPIO_EMC_38 = 38, + GPIO_EMC_39 = 39, + GPIO_EMC_40 = 40, + GPIO_EMC_41 = 41, + GPIO_AD_B0_00 = 42, + GPIO_AD_B0_01 = 43, + GPIO_AD_B0_02 = 44, + GPIO_AD_B0_03 = 45, + GPIO_AD_B0_04 = 46, + GPIO_AD_B0_05 = 47, + GPIO_AD_B0_06 = 48, + GPIO_AD_B0_07 = 49, + GPIO_AD_B0_08 = 50, + GPIO_AD_B0_09 = 51, + GPIO_AD_B0_10 = 52, + GPIO_AD_B0_11 = 53, + GPIO_AD_B0_12 = 54, + GPIO_AD_B0_13 = 55, + GPIO_AD_B0_14 = 56, + GPIO_AD_B0_15 = 57, + GPIO_AD_B1_00 = 58, + GPIO_AD_B1_01 = 59, + GPIO_AD_B1_02 = 60, + GPIO_AD_B1_03 = 61, + GPIO_AD_B1_04 = 62, + GPIO_AD_B1_05 = 63, + GPIO_AD_B1_06 = 64, + GPIO_AD_B1_07 = 65, + GPIO_AD_B1_08 = 66, + GPIO_AD_B1_09 = 67, + GPIO_AD_B1_10 = 68, + GPIO_AD_B1_11 = 69, + GPIO_AD_B1_12 = 70, + GPIO_AD_B1_13 = 71, + GPIO_AD_B1_14 = 72, + GPIO_AD_B1_15 = 73, + GPIO_B0_00 = 74, + GPIO_B0_01 = 75, + GPIO_B0_02 = 76, + GPIO_B0_03 = 77, + GPIO_B0_04 = 78, + GPIO_B0_05 = 79, + GPIO_B0_06 = 80, + GPIO_B0_07 = 81, + GPIO_B0_08 = 82, + GPIO_B0_09 = 83, + GPIO_B0_10 = 84, + GPIO_B0_11 = 85, + GPIO_B0_12 = 86, + GPIO_B0_13 = 87, + GPIO_B0_14 = 88, + GPIO_B0_15 = 89, + GPIO_B1_00 = 90, + GPIO_B1_01 = 91, + GPIO_B1_02 = 92, + GPIO_B1_03 = 93, + GPIO_B1_04 = 94, + GPIO_B1_05 = 95, + GPIO_B1_06 = 96, + GPIO_B1_07 = 97, + GPIO_B1_08 = 98, + GPIO_B1_09 = 99, + GPIO_B1_10 = 100, + GPIO_B1_11 = 101, + GPIO_B1_12 = 102, + GPIO_B1_13 = 103, + GPIO_B1_14 = 104, + GPIO_B1_15 = 105, + GPIO_SD_B0_00 = 106, + GPIO_SD_B0_01 = 107, + GPIO_SD_B0_02 = 108, + GPIO_SD_B0_03 = 109, + GPIO_SD_B0_04 = 110, + GPIO_SD_B0_05 = 111, + GPIO_SD_B1_00 = 112, + GPIO_SD_B1_01 = 113, + GPIO_SD_B1_02 = 114, + GPIO_SD_B1_03 = 115, + GPIO_SD_B1_04 = 116, + GPIO_SD_B1_05 = 117, + GPIO_SD_B1_06 = 118, + GPIO_SD_B1_07 = 119, + GPIO_SD_B1_08 = 120, + GPIO_SD_B1_09 = 121, + GPIO_SD_B1_10 = 122, + GPIO_SD_B1_11 = 123, +}; + +} + +/* + * GPIO + */ + +namespace GPIO +{ +enum Port { + PortInvalid = 0, + Port1, + Port2, + Port3, + Port4, + Port5, +}; +enum Pin { + Pin0 = 0, + Pin1, + Pin2, + Pin3, + Pin4, + Pin5, + Pin6, + Pin7, + Pin8, + Pin9, + Pin10, + Pin11, + Pin12, + Pin13, + Pin14, + Pin15, + Pin16, + Pin17, + Pin18, + Pin19, + Pin20, + Pin21, + Pin22, + Pin23, + Pin24, + Pin25, + Pin26, + Pin27, + Pin28, + Pin29, + Pin30, + Pin31, +}; +struct GPIOPin { + Port port; + Pin pin; +}; +} + +static inline constexpr uint32_t getGPIOPort(GPIO::Port port) +{ + switch (port) { + case GPIO::Port1: return GPIO_PORT1; + + case GPIO::Port2: return GPIO_PORT2; + + case GPIO::Port3: return GPIO_PORT3; + + case GPIO::Port4: return GPIO_PORT4; + + case GPIO::Port5: return GPIO_PORT5; + + default: break; + } + + return 0; +} + +static inline constexpr uint32_t getGPIOPin(GPIO::Pin pin) +{ + switch (pin) { + case GPIO::Pin0: return GPIO_PIN0; + + case GPIO::Pin1: return GPIO_PIN1; + + case GPIO::Pin2: return GPIO_PIN2; + + case GPIO::Pin3: return GPIO_PIN3; + + case GPIO::Pin4: return GPIO_PIN4; + + case GPIO::Pin5: return GPIO_PIN5; + + case GPIO::Pin6: return GPIO_PIN6; + + case GPIO::Pin7: return GPIO_PIN7; + + case GPIO::Pin8: return GPIO_PIN8; + + case GPIO::Pin9: return GPIO_PIN9; + + case GPIO::Pin10: return GPIO_PIN10; + + case GPIO::Pin11: return GPIO_PIN11; + + case GPIO::Pin12: return GPIO_PIN12; + + case GPIO::Pin13: return GPIO_PIN13; + + case GPIO::Pin14: return GPIO_PIN14; + + case GPIO::Pin15: return GPIO_PIN15; + + case GPIO::Pin16: return GPIO_PIN16; + + case GPIO::Pin17: return GPIO_PIN17; + + case GPIO::Pin18: return GPIO_PIN18; + + case GPIO::Pin19: return GPIO_PIN19; + + case GPIO::Pin20: return GPIO_PIN20; + + case GPIO::Pin21: return GPIO_PIN21; + + case GPIO::Pin22: return GPIO_PIN22; + + case GPIO::Pin23: return GPIO_PIN23; + + case GPIO::Pin24: return GPIO_PIN24; + + case GPIO::Pin25: return GPIO_PIN25; + + case GPIO::Pin26: return GPIO_PIN26; + + case GPIO::Pin27: return GPIO_PIN27; + + case GPIO::Pin28: return GPIO_PIN28; + + case GPIO::Pin29: return GPIO_PIN29; + + case GPIO::Pin30: return GPIO_PIN30; + + case GPIO::Pin31: return GPIO_PIN31; + } + + return 0; +} + +namespace SPI +{ + +enum class Bus { + LPSPI1 = 1, + LPSPI2, + LPSPI3, + LPSPI4, +}; + +using CS = GPIO::GPIOPin; ///< chip-select pin +using DRDY = GPIO::GPIOPin; ///< data ready pin + +struct bus_device_external_cfg_t { + CS cs_gpio; + DRDY drdy_gpio; +}; + +} // namespace SPI diff --git a/platforms/nuttx/src/px4/nxp/rt106x/include/px4_arch/io_timer.h b/platforms/nuttx/src/px4/nxp/rt106x/include/px4_arch/io_timer.h index 328ac3eddfc3..83938d918bfe 100644 --- a/platforms/nuttx/src/px4/nxp/rt106x/include/px4_arch/io_timer.h +++ b/platforms/nuttx/src/px4/nxp/rt106x/include/px4_arch/io_timer.h @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2019 PX4 Development Team. All rights reserved. + * Copyright (C) 2018 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -30,7 +30,148 @@ * POSSIBILITY OF SUCH DAMAGE. * ****************************************************************************/ + +/** + * @file drv_io_timer.h + * + * imxrt-specific PWM output data. + */ +#include +#include +#include + +#include +#include "dshot.h" + #pragma once +__BEGIN_DECLS +/* configuration limits */ +#ifdef BOARD_NUM_IO_TIMERS +#define MAX_IO_TIMERS BOARD_NUM_IO_TIMERS +#else +#define MAX_IO_TIMERS 4 +#endif +#define MAX_TIMER_IO_CHANNELS 16 + +#define MAX_LED_TIMERS 2 +#define MAX_TIMER_LED_CHANNELS 6 + +#define IO_TIMER_ALL_MODES_CHANNELS 0 + +typedef enum io_timer_channel_mode_t { + IOTimerChanMode_NotUsed = 0, + IOTimerChanMode_PWMOut = 1, + IOTimerChanMode_PWMIn = 2, + IOTimerChanMode_Capture = 3, + IOTimerChanMode_OneShot = 4, + IOTimerChanMode_Trigger = 5, + IOTimerChanMode_Dshot = 6, + IOTimerChanMode_LED = 7, + IOTimerChanMode_PPS = 8, + IOTimerChanMode_Other = 9, + IOTimerChanModeSize +} io_timer_channel_mode_t; + +typedef uint16_t io_timer_channel_allocation_t; /* big enough to hold MAX_TIMER_IO_CHANNELS */ + +/* array of timers dedicated to PWM in and out and TBD capture use + *** Timers are driven from QTIMER3_OUT0 + *** In PWM mode the timer's prescaler is set to achieve a counter frequency of 1MHz + *** In OneShot mode the timer's prescaler is set to achieve a counter frequency of 8MHz + *** Other prescaler rates can be achieved by fore instance by setting the clock_freq = 1Mhz + *** the resulting PSC will be one and the timer will count at it's clock frequency. + */ +typedef struct io_timers_t { + uint32_t base; /* Base address of the timer */ + uint32_t submodle; /* Which Submodule */ + uint32_t clock_register; /* SIM_SCGCn */ + uint32_t clock_bit; /* SIM_SCGCn bit pos */ + uint32_t vectorno; /* IRQ number */ +} io_timers_t; + +typedef struct io_timers_channel_mapping_element_t { + uint32_t first_channel_index; + uint32_t channel_count; + uint32_t lowest_timer_channel; + uint32_t channel_count_including_gaps; +} io_timers_channel_mapping_element_t; + +/* mapping for each io_timers to timer_io_channels */ +typedef struct io_timers_channel_mapping_t { + io_timers_channel_mapping_element_t element[MAX_IO_TIMERS]; +} io_timers_channel_mapping_t; + +/* array of channels in logical order */ +typedef struct timer_io_channels_t { + uint32_t gpio_out; /* The timer valn_offset GPIO for PWM (this is the IOMUX Pad, e.g. PWM_IOMUX | GPIO_FLEXPWM2_PWMA00_2) */ + uint32_t gpio_in; /* The timer valn_offset GPIO for Capture */ + uint32_t gpio_portpin; /* The GPIO Port + Pin (e.g. GPIO_PORT2 | GPIO_PIN6) */ + uint8_t timer_index; /* 0 based index in the io_timers_t table */ + uint8_t val_offset; /* IMXRT_FLEXPWM_SM0VAL3_OFFSET or IMXRT_FLEXPWM_SM0VAL5_OFFSET */ + uint8_t sub_module; /* 0 based sub module offset */ + uint8_t sub_module_bits; /* LDOK and CLDOK bits */ + uint8_t timer_channel; /* Unused */ + dshot_conf_t dshot; +} timer_io_channels_t; + +#define SM0 0 +#define SM1 1 +#define SM2 2 +#define SM3 3 + +#define PWMA_VAL IMXRT_FLEXPWM_SM0VAL3_OFFSET +#define PWMB_VAL IMXRT_FLEXPWM_SM0VAL5_OFFSET + + +typedef void (*channel_handler_t)(void *context, const io_timers_t *timer, uint32_t chan_index, + const timer_io_channels_t *chan, + hrt_abstime isrs_time, uint16_t isrs_rcnt, + uint16_t capture); + + +/* supplied by board-specific code */ +__EXPORT extern const io_timers_t io_timers[MAX_IO_TIMERS]; +__EXPORT extern const io_timers_channel_mapping_t io_timers_channel_mapping; +__EXPORT extern const timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS]; + +__EXPORT extern const io_timers_t led_pwm_timers[MAX_LED_TIMERS]; +__EXPORT extern const timer_io_channels_t led_pwm_channels[MAX_TIMER_LED_CHANNELS]; + +__EXPORT int io_timer_channel_init(unsigned channel, io_timer_channel_mode_t mode, + channel_handler_t channel_handler, void *context); + +__EXPORT int io_timer_init_timer(unsigned timer, io_timer_channel_mode_t mode); + +__EXPORT int io_timer_set_pwm_rate(unsigned timer, unsigned rate); +__EXPORT int io_timer_set_enable(bool state, io_timer_channel_mode_t mode, + io_timer_channel_allocation_t masks); +__EXPORT uint16_t io_channel_get_ccr(unsigned channel); +__EXPORT int io_timer_set_ccr(unsigned channel, uint16_t value); +__EXPORT uint32_t io_timer_get_group(unsigned timer); +__EXPORT int io_timer_validate_channel_index(unsigned channel); +__EXPORT int io_timer_allocate_channel(unsigned channel, io_timer_channel_mode_t mode); +__EXPORT int io_timer_unallocate_channel(unsigned channel); +__EXPORT int io_timer_get_channel_mode(unsigned channel); +__EXPORT int io_timer_get_mode_channels(io_timer_channel_mode_t mode); +__EXPORT extern void io_timer_trigger(unsigned channel_mask); + +/** + * Reserve a timer + * @return 0 on success (if not used yet, or already set to the mode) + */ +__EXPORT int io_timer_allocate_timer(unsigned timer, io_timer_channel_mode_t mode); + +__EXPORT int io_timer_unallocate_timer(unsigned timer); +/** + * Returns the pin configuration for a specific channel, to be used as GPIO output. + * 0 is returned if the channel is not valid. + */ +__EXPORT uint32_t io_timer_channel_get_gpio_output(unsigned channel); +/** + * Returns the pin configuration for a specific channel, to be used as PWM input. + * 0 is returned if the channel is not valid. + */ +__EXPORT uint32_t io_timer_channel_get_as_pwm_input(unsigned channel); -#include "../../../imxrt/include/px4_arch/io_timer.h" +__END_DECLS diff --git a/platforms/nuttx/src/px4/nxp/rt106x/include/px4_arch/io_timer_hw_description.h b/platforms/nuttx/src/px4/nxp/rt106x/include/px4_arch/io_timer_hw_description.h index 3d4b6417dfba..5cbc33fdc3a9 100644 --- a/platforms/nuttx/src/px4/nxp/rt106x/include/px4_arch/io_timer_hw_description.h +++ b/platforms/nuttx/src/px4/nxp/rt106x/include/px4_arch/io_timer_hw_description.h @@ -1,20 +1,20 @@ /**************************************************************************** * - * Copyright (c) 2019 PX4 Development Team. All rights reserved. + * Copyright (C) 2019 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions * are met: * * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. + * notice, this list of conditions and the following disclaimer. * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. + * used to endorse or promote products derived from this software + * without specific prior written permission. * * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT @@ -30,7 +30,603 @@ * POSSIBILITY OF SUCH DAMAGE. * ****************************************************************************/ + #pragma once -#include "../../../imxrt/include/px4_arch/io_timer_hw_description.h" +#include +#include +#include +#include +#include + +#include +#include +#include +#include +#include + +#include +#ifndef CONFIG_ARCH_CHIP_MIMXRT1062DVL6A +# error "This code has only been validated with IMXRT1062. Make sure it is correct before using it on another board." +#endif + + +static inline constexpr timer_io_channels_t initIOTimerChannel(const io_timers_t io_timers_conf[MAX_IO_TIMERS], + PWM::FlexPWMConfig pwm_config, IOMUX::Pad pad) +{ + timer_io_channels_t ret{}; + PWM::FlexPWM pwm{}; + + // FlexPWM Muxing Options + switch (pwm_config.module) { + case PWM::PWM1_PWM_A: + pwm = PWM::FlexPWM1; + + switch (pwm_config.submodule) { + case PWM::Submodule0: + if (pad == IOMUX::Pad::GPIO_EMC_23) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_23_INDEX); + ret.gpio_portpin = GPIO_PORT4 | GPIO_PIN23; + + } else if (pad == IOMUX::Pad::GPIO_SD_B0_00) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_SD_B0_00_INDEX); + ret.gpio_portpin = GPIO_PORT3 | GPIO_PIN12; + } + + break; + + case PWM::Submodule1: + if (pad == IOMUX::Pad::GPIO_EMC_25) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_25_INDEX); + ret.gpio_portpin = GPIO_PORT4 | GPIO_PIN25; + + } else if (pad == IOMUX::Pad::GPIO_SD_B0_02) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_SD_B0_02_INDEX); + ret.gpio_portpin = GPIO_PORT3 | GPIO_PIN14; + } + + break; + + case PWM::Submodule2: + if (pad == IOMUX::Pad::GPIO_EMC_27) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_27_INDEX); + ret.gpio_portpin = GPIO_PORT4 | GPIO_PIN27; + + } else if (pad == IOMUX::Pad::GPIO_SD_B0_04) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_SD_B0_04_INDEX); + ret.gpio_portpin = GPIO_PORT3 | GPIO_PIN16; + } + + break; + + case PWM::Submodule3: + if (pad == IOMUX::Pad::GPIO_EMC_38) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_38_INDEX); + ret.gpio_portpin = GPIO_PORT3 | GPIO_PIN24; + + } else if (pad == IOMUX::Pad::GPIO_SD_B1_00) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT2 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_SD_B1_00_INDEX); + ret.gpio_portpin = GPIO_PORT3 | GPIO_PIN0; + + } else if (pad == IOMUX::Pad::GPIO_AD_B0_10) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_AD_B0_10_INDEX); + ret.gpio_portpin = GPIO_PORT1 | GPIO_PIN10; + + } else if (pad == IOMUX::Pad::GPIO_EMC_12) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT4 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_12_INDEX); + ret.gpio_portpin = GPIO_PORT4 | GPIO_PIN12; + + } else if (pad == IOMUX::Pad::GPIO_B1_00) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT6 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_B1_00_INDEX); + ret.gpio_portpin = GPIO_PORT2 | GPIO_PIN16; + } + + break; + } + + break; + + case PWM::PWM1_PWM_B: + pwm = PWM::FlexPWM1; + + switch (pwm_config.submodule) { + case PWM::Submodule0: + if (pad == IOMUX::Pad::GPIO_EMC_24) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_24_INDEX); + ret.gpio_portpin = GPIO_PORT4 | GPIO_PIN24; + + } else if (pad == IOMUX::Pad::GPIO_SD_B0_01) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_SD_B0_01_INDEX); + ret.gpio_portpin = GPIO_PORT3 | GPIO_PIN13; + } + + break; + + case PWM::Submodule1: + if (pad == IOMUX::Pad::GPIO_EMC_26) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_26_INDEX); + ret.gpio_portpin = GPIO_PORT4 | GPIO_PIN26; + + } else if (pad == IOMUX::Pad::GPIO_SD_B0_03) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_SD_B0_03_INDEX); + ret.gpio_portpin = GPIO_PORT3 | GPIO_PIN15; + } + + break; + + case PWM::Submodule2: + if (pad == IOMUX::Pad::GPIO_EMC_28) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_28_INDEX); + ret.gpio_portpin = GPIO_PORT4 | GPIO_PIN28; + + } else if (pad == IOMUX::Pad::GPIO_SD_B0_05) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_SD_B0_05_INDEX); + ret.gpio_portpin = GPIO_PORT3 | GPIO_PIN17; + } + + break; + + case PWM::Submodule3: + if (pad == IOMUX::Pad::GPIO_EMC_39) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_39_INDEX); + ret.gpio_portpin = GPIO_PORT3 | GPIO_PIN25; + + } else if (pad == IOMUX::Pad::GPIO_SD_B1_01) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT2 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_SD_B1_01_INDEX); + ret.gpio_portpin = GPIO_PORT3 | GPIO_PIN1; + + } else if (pad == IOMUX::Pad::GPIO_AD_B0_11) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_AD_B0_11_INDEX); + ret.gpio_portpin = GPIO_PORT1 | GPIO_PIN11; + + } else if (pad == IOMUX::Pad::GPIO_EMC_13) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT4 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_13_INDEX); + ret.gpio_portpin = GPIO_PORT4 | GPIO_PIN13; + + } else if (pad == IOMUX::Pad::GPIO_B1_01) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT6 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_B1_01_INDEX); + ret.gpio_portpin = GPIO_PORT2 | GPIO_PIN17; + } + + break; + } + + break; + + case PWM::PWM1_PWM_X: + pwm = PWM::FlexPWM1; + + switch (pwm_config.submodule) { + case PWM::Submodule0: + if (pad == IOMUX::Pad::GPIO_AD_B0_02) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT4 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_AD_B0_02_INDEX); + ret.gpio_portpin = GPIO_PORT1 | GPIO_PIN2; + } + + break; + + case PWM::Submodule1: + if (pad == IOMUX::Pad::GPIO_AD_B0_03) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT4 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_AD_B0_03_INDEX); + ret.gpio_portpin = GPIO_PORT1 | GPIO_PIN3; + } + + break; + + case PWM::Submodule2: + if (pad == IOMUX::Pad::GPIO_AD_B0_12) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT4 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_AD_B0_12_INDEX); + ret.gpio_portpin = GPIO_PORT1 | GPIO_PIN12; + } + + break; + + case PWM::Submodule3: + if (pad == IOMUX::Pad::GPIO_AD_B0_13) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT4 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_AD_B0_13_INDEX); + ret.gpio_portpin = GPIO_PORT1 | GPIO_PIN13; + } + + break; + } + + break; + + + case PWM::PWM2_PWM_A: + pwm = PWM::FlexPWM2; + + switch (pwm_config.submodule) { + case PWM::Submodule0: + if (pad == IOMUX::Pad::GPIO_B0_06) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT2 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_B0_06_INDEX); + ret.gpio_portpin = GPIO_PORT2 | GPIO_PIN6; + + } else if (pad == IOMUX::Pad::GPIO_EMC_06) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_06_INDEX); + ret.gpio_portpin = GPIO_PORT4 | GPIO_PIN6; + } + + break; + + case PWM::Submodule1: + if (pad == IOMUX::Pad::GPIO_EMC_08) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_08_INDEX); + ret.gpio_portpin = GPIO_PORT4 | GPIO_PIN8; + + } else if (pad == IOMUX::Pad::GPIO_B0_08) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT2 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_B0_08_INDEX); + ret.gpio_portpin = GPIO_PORT2 | GPIO_PIN8; + } + + break; + + case PWM::Submodule2: + if (pad == IOMUX::Pad::GPIO_EMC_10) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_10_INDEX); + ret.gpio_portpin = GPIO_PORT4 | GPIO_PIN10; + + } else if (pad == IOMUX::Pad::GPIO_B0_10) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT2 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_B0_10_INDEX); + ret.gpio_portpin = GPIO_PORT2 | GPIO_PIN10; + } + + break; + + case PWM::Submodule3: + if (pad == IOMUX::Pad::GPIO_AD_B0_09) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_AD_B0_09_INDEX); + ret.gpio_portpin = GPIO_PORT1 | GPIO_PIN9; + + } else if (pad == IOMUX::Pad::GPIO_SD_B1_02) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT2 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_SD_B1_02_INDEX); + ret.gpio_portpin = GPIO_PORT3 | GPIO_PIN2; + + } else if (pad == IOMUX::Pad::GPIO_EMC_19) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_19_INDEX); + ret.gpio_portpin = GPIO_PORT4 | GPIO_PIN19; + + } else if (pad == IOMUX::Pad::GPIO_B1_02) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT6 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_B1_02_INDEX); + ret.gpio_portpin = GPIO_PORT2 | GPIO_PIN18; + + } else if (pad == IOMUX::Pad::GPIO_AD_B0_00) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT0 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_AD_B0_00_INDEX); + ret.gpio_portpin = GPIO_PORT1 | GPIO_PIN0; + } + + break; + } + + break; + + case PWM::PWM2_PWM_B: + pwm = PWM::FlexPWM2; + + switch (pwm_config.submodule) { + case PWM::Submodule0: + if (pad == IOMUX::Pad::GPIO_B0_07) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT2 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_B0_07_INDEX); + ret.gpio_portpin = GPIO_PORT2 | GPIO_PIN6; + + } else if (pad == IOMUX::Pad::GPIO_EMC_07) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_07_INDEX); + ret.gpio_portpin = GPIO_PORT4 | GPIO_PIN6; + } + + break; + + case PWM::Submodule1: + if (pad == IOMUX::Pad::GPIO_EMC_09) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_09_INDEX); + ret.gpio_portpin = GPIO_PORT4 | GPIO_PIN8; + + } else if (pad == IOMUX::Pad::GPIO_B0_09) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT2 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_B0_09_INDEX); + ret.gpio_portpin = GPIO_PORT2 | GPIO_PIN8; + } + + break; + + case PWM::Submodule2: + if (pad == IOMUX::Pad::GPIO_EMC_11) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_11_INDEX); + ret.gpio_portpin = GPIO_PORT4 | GPIO_PIN10; + + } else if (pad == IOMUX::Pad::GPIO_B0_11) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT2 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_B0_11_INDEX); + ret.gpio_portpin = GPIO_PORT2 | GPIO_PIN10; + } + + break; + + case PWM::Submodule3: + if (pad == IOMUX::Pad::GPIO_AD_B0_01) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT0 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_AD_B0_01_INDEX); + ret.gpio_portpin = GPIO_PORT1 | GPIO_PIN1; + + } else if (pad == IOMUX::Pad::GPIO_SD_B1_03) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT2 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_SD_B1_03_INDEX); + ret.gpio_portpin = GPIO_PORT3 | GPIO_PIN3; + + } else if (pad == IOMUX::Pad::GPIO_EMC_20) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_20_INDEX); + ret.gpio_portpin = GPIO_PORT4 | GPIO_PIN20; + + } else if (pad == IOMUX::Pad::GPIO_B1_03) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT6 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_B1_03_INDEX); + ret.gpio_portpin = GPIO_PORT2 | GPIO_PIN19; + } + + break; + } + + break; + + + case PWM::PWM3_PWM_A: + pwm = PWM::FlexPWM3; + + switch (pwm_config.submodule) { + case PWM::Submodule0: + if (pad == IOMUX::Pad::GPIO_EMC_29) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_29_INDEX); + ret.gpio_portpin = GPIO_PORT4 | GPIO_PIN29; + } + + break; + + case PWM::Submodule1: + if (pad == IOMUX::Pad::GPIO_EMC_31) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_31_INDEX); + ret.gpio_portpin = GPIO_PORT4 | GPIO_PIN31; + } + + break; + + case PWM::Submodule2: + if (pad == IOMUX::Pad::GPIO_EMC_33) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_33_INDEX); + ret.gpio_portpin = GPIO_PORT3 | GPIO_PIN19; + } + + break; + + case PWM::Submodule3: + if (pad == IOMUX::Pad::GPIO_EMC_21) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_21_INDEX); + ret.gpio_portpin = GPIO_PORT4 | GPIO_PIN21; + } + + break; + } + + break; + + case PWM::PWM3_PWM_B: + pwm = PWM::FlexPWM3; + + switch (pwm_config.submodule) { + case PWM::Submodule0: + if (pad == IOMUX::Pad::GPIO_EMC_30) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_30_INDEX); + ret.gpio_portpin = GPIO_PORT4 | GPIO_PIN30; + } + + break; + + case PWM::Submodule1: + if (pad == IOMUX::Pad::GPIO_EMC_32) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_32_INDEX); + ret.gpio_portpin = GPIO_PORT3 | GPIO_PIN18; + } + + break; + + case PWM::Submodule2: + if (pad == IOMUX::Pad::GPIO_EMC_34) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_34_INDEX); + ret.gpio_portpin = GPIO_PORT3 | GPIO_PIN20; + } + + break; + + case PWM::Submodule3: + if (pad == IOMUX::Pad::GPIO_EMC_22) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_22_INDEX); + ret.gpio_portpin = GPIO_PORT4 | GPIO_PIN22; + } + + break; + } + + break; + + + case PWM::PWM4_PWM_A: + pwm = PWM::FlexPWM4; + + switch (pwm_config.submodule) { + case PWM::Submodule0: + if (pad == IOMUX::Pad::GPIO_AD_B1_08) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_AD_B1_08_INDEX); + ret.gpio_portpin = GPIO_PORT1 | GPIO_PIN24; + + } else if (pad == IOMUX::Pad::GPIO_EMC_00) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_00_INDEX); + ret.gpio_portpin = GPIO_PORT4 | GPIO_PIN0; + } + + break; + + case PWM::Submodule1: + if (pad == IOMUX::Pad::GPIO_EMC_02) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_02_INDEX); + ret.gpio_portpin = GPIO_PORT4 | GPIO_PIN2; + + } else if (pad == IOMUX::Pad::GPIO_AD_B1_09) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_AD_B1_09_INDEX); + ret.gpio_portpin = GPIO_PORT1 | GPIO_PIN25; + } + + break; + + case PWM::Submodule2: + if (pad == IOMUX::Pad::GPIO_EMC_04) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_04_INDEX); + ret.gpio_portpin = GPIO_PORT4 | GPIO_PIN4; + + } else if (pad == IOMUX::Pad::GPIO_B1_14) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_B1_14_INDEX); + ret.gpio_portpin = GPIO_PORT2 | GPIO_PIN30; + } + + break; + + case PWM::Submodule3: + if (pad == IOMUX::Pad::GPIO_EMC_17) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_17_INDEX); + ret.gpio_portpin = GPIO_PORT4 | GPIO_PIN17; + + } else if (pad == IOMUX::Pad::GPIO_B1_15) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_B1_15_INDEX); + ret.gpio_portpin = GPIO_PORT2 | GPIO_PIN31; + } + + break; + } + + break; + + case PWM::PWM4_PWM_B: + pwm = PWM::FlexPWM4; + + switch (pwm_config.submodule) { + case PWM::Submodule0: + if (pad == IOMUX::Pad::GPIO_EMC_01) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_01_INDEX); + ret.gpio_portpin = GPIO_PORT4 | GPIO_PIN1; + } + + break; + + case PWM::Submodule1: + if (pad == IOMUX::Pad::GPIO_EMC_03) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_03_INDEX); + ret.gpio_portpin = GPIO_PORT4 | GPIO_PIN3; + } + + break; + + case PWM::Submodule2: + if (pad == IOMUX::Pad::GPIO_EMC_05) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_05_INDEX); + ret.gpio_portpin = GPIO_PORT4 | GPIO_PIN5; + } + + break; + + case PWM::Submodule3: + if (pad == IOMUX::Pad::GPIO_EMC_18) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_18_INDEX); + ret.gpio_portpin = GPIO_PORT4 | GPIO_PIN18; + } + + break; + } + + break; + } + + constexpr_assert(ret.gpio_out != 0, "Invalid PWM/Pad config"); + ret.gpio_out |= IOMUX_CMOS_OUTPUT | IOMUX_PULL_NONE | IOMUX_DRIVE_50OHM | IOMUX_SPEED_MEDIUM | IOMUX_SLEW_FAST; + + switch (pwm_config.module) { + case PWM::PWM1_PWM_A: + case PWM::PWM2_PWM_A: + case PWM::PWM3_PWM_A: + case PWM::PWM4_PWM_A: + ret.val_offset = PWMA_VAL; + break; + + case PWM::PWM1_PWM_B: + case PWM::PWM2_PWM_B: + case PWM::PWM3_PWM_B: + case PWM::PWM4_PWM_B: + ret.val_offset = PWMB_VAL; + break; + + default: + constexpr_assert(false, "not implemented"); + } + + switch (pwm_config.submodule) { + case PWM::Submodule0: + ret.sub_module = SM0; + ret.sub_module_bits = MCTRL_LDOK(1 << SM0); + break; + + case PWM::Submodule1: + ret.sub_module = SM1; + ret.sub_module_bits = MCTRL_LDOK(1 << SM1); + break; + + case PWM::Submodule2: + ret.sub_module = SM2; + ret.sub_module_bits = MCTRL_LDOK(1 << SM2); + break; + + case PWM::Submodule3: + ret.sub_module = SM3; + ret.sub_module_bits = MCTRL_LDOK(1 << SM3); + break; + } + + ret.gpio_in = 0; // TODO (not used yet) + + // find timer index + ret.timer_index = 0xff; + const uint32_t timer_base = getFlexPWMBaseRegister(pwm); + + for (int i = 0; i < MAX_IO_TIMERS; ++i) { + if (io_timers_conf[i].base == timer_base && io_timers_conf[i].submodle == ret.sub_module) { + ret.timer_index = i; + break; + } + } + + constexpr_assert(ret.timer_index != 0xff, "Timer not found"); + + return ret; +} + +static inline constexpr timer_io_channels_t initIOTimerChannelDshot(const io_timers_t io_timers_conf[MAX_IO_TIMERS], + PWM::FlexPWMConfig pwm_config, IOMUX::Pad pad, uint32_t dshot_pinmux, uint32_t flexio_pin) +{ + timer_io_channels_t ret = initIOTimerChannel(io_timers_conf, pwm_config, pad); + + ret.dshot.pinmux = dshot_pinmux; + ret.dshot.flexio_pin = flexio_pin; + return ret; +} + +static inline constexpr io_timers_t initIOPWM(PWM::FlexPWM pwm, PWM::FlexPWMSubmodule sub) +{ + io_timers_t ret{}; + + ret.base = getFlexPWMBaseRegister(pwm); + ret.submodle = sub; + return ret; +} + + + +static inline constexpr io_timers_t initIOPWMDshot(PWM::FlexPWM pwm, PWM::FlexPWMSubmodule sub) +{ + io_timers_t ret{}; + + ret.base = getFlexPWMBaseRegister(pwm); + ret.submodle = sub; + return ret; +} diff --git a/platforms/nuttx/src/px4/nxp/rt106x/include/px4_arch/px4io_serial.h b/platforms/nuttx/src/px4/nxp/rt106x/include/px4_arch/px4io_serial.h new file mode 100644 index 000000000000..3252b5817f0f --- /dev/null +++ b/platforms/nuttx/src/px4/nxp/rt106x/include/px4_arch/px4io_serial.h @@ -0,0 +1,36 @@ +/**************************************************************************** + * + * Copyright (c) 2022 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#pragma once + +#include "../../../imxrt/include/px4_arch/px4io_serial.h" diff --git a/platforms/nuttx/src/px4/nxp/rt106x/include/px4_arch/spi_hw_description.h b/platforms/nuttx/src/px4/nxp/rt106x/include/px4_arch/spi_hw_description.h index b736695d8551..de0c30247d9f 100644 --- a/platforms/nuttx/src/px4/nxp/rt106x/include/px4_arch/spi_hw_description.h +++ b/platforms/nuttx/src/px4/nxp/rt106x/include/px4_arch/spi_hw_description.h @@ -1,20 +1,20 @@ /**************************************************************************** * - * Copyright (c) 2020 PX4 Development Team. All rights reserved. + * Copyright (C) 2020 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions * are met: * * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. + * notice, this list of conditions and the following disclaimer. * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. + * used to endorse or promote products derived from this software + * without specific prior written permission. * * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT @@ -30,11 +30,113 @@ * POSSIBILITY OF SUCH DAMAGE. * ****************************************************************************/ + #pragma once +#include +#include + #if defined(CONFIG_SPI) -#include "../../../imxrt/include/px4_arch/spi_hw_description.h" +#include + +#define CS_IOMUX (IOMUX_CMOS_OUTPUT | IOMUX_PULL_UP_100K | IOMUX_DRIVE_33OHM | IOMUX_SPEED_LOW | IOMUX_SLEW_FAST) + +#define DRDY_IOMUX (IOMUX_SCHMITT_TRIGGER | IOMUX_PULL_UP_47K | IOMUX_DRIVE_HIZ) + +#define GENERAL_OUTPUT_IOMUX (IOMUX_CMOS_OUTPUT | IOMUX_PULL_KEEP | IOMUX_DRIVE_33OHM | IOMUX_SPEED_MEDIUM | IOMUX_SLEW_FAST) + +static inline constexpr px4_spi_bus_device_t initSPIDevice(uint32_t devid, SPI::CS cs_gpio, SPI::DRDY drdy_gpio = {}) +{ + px4_spi_bus_device_t ret{}; + ret.cs_gpio = getGPIOPort(cs_gpio.port) | getGPIOPin(cs_gpio.pin) | (GPIO_OUTPUT | GPIO_OUTPUT_ONE | CS_IOMUX); + + if (drdy_gpio.port != GPIO::PortInvalid) { + ret.drdy_gpio = getGPIOPort(drdy_gpio.port) | getGPIOPin(drdy_gpio.pin) | (GPIO_INPUT | DRDY_IOMUX); + } + + if (PX4_SPIDEVID_TYPE(devid) == 0) { // it's a PX4 device (internal or external) + ret.devid = PX4_SPIDEV_ID(PX4_SPI_DEVICE_ID, devid); + + } else { // it's a NuttX device (e.g. SPIDEV_FLASH(0)) + ret.devid = devid; + } + + ret.devtype_driver = PX4_SPI_DEV_ID(devid); + return ret; +} + +static inline constexpr px4_spi_bus_t initSPIBus(SPI::Bus bus, const px4_spi_bus_devices_t &devices, + GPIO::GPIOPin power_enable = {}) +{ + px4_spi_bus_t ret{}; + ret.requires_locking = false; + + for (int i = 0; i < SPI_BUS_MAX_DEVICES; ++i) { + ret.devices[i] = devices.devices[i]; + + + if (ret.devices[i].cs_gpio != 0) { + if (PX4_SPI_DEVICE_ID == PX4_SPIDEVID_TYPE(ret.devices[i].devid)) { + int same_devices_count = 0; + + for (int j = 0; j < i; ++j) { + if (ret.devices[j].cs_gpio != 0) { + same_devices_count += (ret.devices[i].devid & 0xff) == (ret.devices[j].devid & 0xff); + } + } + + // increment the 2. LSB byte to allow multiple devices of the same type + ret.devices[i].devid |= same_devices_count << 8; + + } else { + // A bus potentially requires locking if it is accessed by non-PX4 devices (i.e. NuttX drivers) + ret.requires_locking = true; + } + } + } + + ret.bus = (int)bus; + ret.is_external = false; + + if (power_enable.port != GPIO::PortInvalid) { + ret.power_enable_gpio = getGPIOPort(power_enable.port) | getGPIOPin(power_enable.pin) | + (GPIO_OUTPUT | GPIO_OUTPUT_ZERO | GENERAL_OUTPUT_IOMUX); + } + + return ret; +} + +// just a wrapper since we cannot pass brace-enclosed initialized arrays directly as arguments +struct bus_device_external_cfg_array_t { + SPI::bus_device_external_cfg_t devices[SPI_BUS_MAX_DEVICES]; +}; + +static inline constexpr px4_spi_bus_t initSPIBusExternal(SPI::Bus bus, const bus_device_external_cfg_array_t &devices) +{ + px4_spi_bus_t ret{}; + + for (int i = 0; i < SPI_BUS_MAX_DEVICES; ++i) { + if (devices.devices[i].cs_gpio.port == GPIO::PortInvalid) { + break; + } + + ret.devices[i] = initSPIDevice(i, devices.devices[i].cs_gpio, devices.devices[i].drdy_gpio); + } + + ret.bus = (int)bus; + ret.is_external = true; + ret.requires_locking = false; // external buses are never accessed by NuttX drivers + return ret; +} + +static inline constexpr SPI::bus_device_external_cfg_t initSPIConfigExternal(SPI::CS cs_gpio, SPI::DRDY drdy_gpio = {}) +{ + SPI::bus_device_external_cfg_t ret{}; + ret.cs_gpio = cs_gpio; + ret.drdy_gpio = drdy_gpio; + return ret; +} constexpr bool validateSPIConfig(const px4_spi_bus_t spi_busses_conf[SPI_BUS_MAX_BUS_ITEMS]) { diff --git a/platforms/nuttx/src/px4/nxp/rt106x/px4io_serial/CMakeLists.txt b/platforms/nuttx/src/px4/nxp/rt106x/px4io_serial/CMakeLists.txt new file mode 100644 index 000000000000..df450593b1b8 --- /dev/null +++ b/platforms/nuttx/src/px4/nxp/rt106x/px4io_serial/CMakeLists.txt @@ -0,0 +1,36 @@ +############################################################################ +# +# Copyright (c) 2015-2019 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +px4_add_library(arch_px4io_serial + px4io_serial.cpp +) diff --git a/platforms/nuttx/src/px4/nxp/rt106x/px4io_serial/px4io_serial.cpp b/platforms/nuttx/src/px4/nxp/rt106x/px4io_serial/px4io_serial.cpp new file mode 100644 index 000000000000..78f6ce7b4c8f --- /dev/null +++ b/platforms/nuttx/src/px4/nxp/rt106x/px4io_serial/px4io_serial.cpp @@ -0,0 +1,516 @@ +/**************************************************************************** + * + * Copyright (c) 2022 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file px4io_serial.cpp + * + * Serial interface for PX4IO on RT1062 + */ + +#include + +#include +#include +#include "hardware/imxrt_lpuart.h" +#include "hardware/imxrt_dmamux.h" +#include "imxrt_lowputc.h" +#include "imxrt_edma.h" +#include "imxrt_periphclks.h" + + +/* serial register accessors */ +#define REG(_x) (*(volatile uint32_t *)(PX4IO_SERIAL_BASE + (_x))) +#define rBAUD REG(IMXRT_LPUART_BAUD_OFFSET) +#define rSTAT_ERR_FLAGS_MASK (LPUART_STAT_PF | LPUART_STAT_FE | LPUART_STAT_NF | LPUART_STAT_OR) +#define rSTAT REG(IMXRT_LPUART_STAT_OFFSET) +#define rCTRL REG(IMXRT_LPUART_CTRL_OFFSET) +#define rDATA REG(IMXRT_LPUART_DATA_OFFSET) + +#define DMA_BUFFER_MASK (ARMV7M_DCACHE_LINESIZE - 1) +#define DMA_ALIGN_UP(n) (((n) + DMA_BUFFER_MASK) & ~DMA_BUFFER_MASK) + +uint8_t ArchPX4IOSerial::_io_buffer_storage[DMA_ALIGN_UP(sizeof(IOPacket))]; + +ArchPX4IOSerial::ArchPX4IOSerial() : + _tx_dma(nullptr), + _rx_dma(nullptr), + _current_packet(nullptr), + _rx_dma_result(_dma_status_inactive), + _completion_semaphore(SEM_INITIALIZER(0)), + _pc_dmaerrs(perf_alloc(PC_COUNT, MODULE_NAME": DMA errors")) +{ +} + +ArchPX4IOSerial::~ArchPX4IOSerial() +{ + if (_tx_dma != nullptr) { + imxrt_dmach_stop(_tx_dma); + imxrt_dmach_free(_tx_dma); + } + + if (_rx_dma != nullptr) { + imxrt_dmach_stop(_rx_dma); + imxrt_dmach_free(_rx_dma); + } + + /* reset the UART */ + rCTRL = 0; + + /* detach our interrupt handler */ + up_disable_irq(PX4IO_SERIAL_VECTOR); + irq_detach(PX4IO_SERIAL_VECTOR); + + /* restore the GPIOs */ + px4_arch_unconfiggpio(PX4IO_SERIAL_TX_GPIO); + px4_arch_unconfiggpio(PX4IO_SERIAL_RX_GPIO); + + /* Disable clock for the USART peripheral */ + PX4IO_SERIAL_CLOCK_OFF(); + + /* and kill our semaphores */ + px4_sem_destroy(&_completion_semaphore); + + perf_free(_pc_dmaerrs); +} + +int +ArchPX4IOSerial::init() +{ + /* initialize base implementation */ + int r = PX4IO_serial::init((IOPacket *)&_io_buffer_storage[0]); + + if (r != 0) { + return r; + } + + /* allocate DMA */ + _tx_dma = imxrt_dmach_alloc(PX4IO_SERIAL_TX_DMAMAP | DMAMUX_CHCFG_ENBL, 0); + _rx_dma = imxrt_dmach_alloc(PX4IO_SERIAL_RX_DMAMAP | DMAMUX_CHCFG_ENBL, 0); + + if ((_tx_dma == nullptr) || (_rx_dma == nullptr)) { + return -1; + } + + struct uart_config_s config = { + .baud = PX4IO_SERIAL_BITRATE, + .parity = 0, /* 0=none, 1=odd, 2=even */ + .bits = 8, /* Number of bits (5-9) */ + .stopbits2 = false, /* true: Configure with 2 stop bits instead of 1 */ + .userts = false, /* True: Assert RTS when there are data to be sent */ + .invrts = false, /* True: Invert sense of RTS pin (true=active high) */ + .usects = false, /* True: Condition transmission on CTS asserted */ + .users485 = false, /* True: Assert RTS while transmission progresses */ + }; + + + int rv = imxrt_lpuart_configure(PX4IO_SERIAL_BASE, &config); + + if (rv == OK) { + /* configure pins for serial use */ + px4_arch_configgpio(PX4IO_SERIAL_TX_GPIO); + px4_arch_configgpio(PX4IO_SERIAL_RX_GPIO); + + /* attach serial interrupt handler */ + irq_attach(PX4IO_SERIAL_VECTOR, _interrupt, this); + up_enable_irq(PX4IO_SERIAL_VECTOR); + + /* Idel after Stop, , enable error and line idle interrupts */ + uint32_t regval = rCTRL; + regval &= ~(LPUART_CTRL_IDLECFG_MASK | LPUART_CTRL_ILT); + regval |= LPUART_CTRL_ILT | LPUART_CTRL_IDLECFG_1 | LPUART_CTRL_ILIE | + LPUART_CTRL_RE | LPUART_CTRL_TE; + rCTRL = regval; + + /* create semaphores */ + px4_sem_init(&_completion_semaphore, 0, 0); + + /* _completion_semaphore use case is a signal */ + + px4_sem_setprotocol(&_completion_semaphore, SEM_PRIO_NONE); + + /* XXX this could try talking to IO */ + } + + return rv; +} + +int +ArchPX4IOSerial::ioctl(unsigned operation, unsigned &arg) +{ + switch (operation) { + + case 1: /* XXX magic number - test operation */ + switch (arg) { + case 0: + syslog(LOG_INFO, "test 0\n"); + + /* kill DMA, this is a PIO test */ + imxrt_dmach_stop(_tx_dma); + imxrt_dmach_stop(_rx_dma); + + /* disable UART DMA */ + + rBAUD &= ~(LPUART_BAUD_RDMAE | LPUART_BAUD_TDMAE); + + for (;;) { + while (!(rSTAT & LPUART_STAT_TDRE)) + ; + + rDATA = 0x55; + } + + return 0; + + case 1: { + unsigned fails = 0; + + for (unsigned count = 0;; count++) { + uint16_t value = count & 0xffff; + + if (write((PX4IO_PAGE_TEST << 8) | PX4IO_P_TEST_LED, &value, 1) != 0) { + fails++; + } + + if (count >= 5000) { + syslog(LOG_INFO, "==== test 1 : %u failures ====\n", fails); + perf_print_counter(_pc_txns); + perf_print_counter(_pc_retries); + perf_print_counter(_pc_timeouts); + perf_print_counter(_pc_crcerrs); + perf_print_counter(_pc_dmaerrs); + perf_print_counter(_pc_protoerrs); + perf_print_counter(_pc_uerrs); + perf_print_counter(_pc_idle); + perf_print_counter(_pc_badidle); + count = 0; + } + } + + return 0; + } + + case 2: + syslog(LOG_INFO, "test 2\n"); + return 0; + } + + default: + break; + } + + return -1; +} + +int +ArchPX4IOSerial::_bus_exchange(IOPacket *_packet) +{ + // to be paranoid ensure all previous DMA transfers are cleared + _abort_dma(); + + _current_packet = _packet; + + /* clear data that may be in the RDR and clear overrun error: */ + while (rSTAT & LPUART_STAT_RDRF) { + (void)rDATA; + } + + rSTAT |= (rSTAT_ERR_FLAGS_MASK | LPUART_STAT_IDLE); /* clear the flags */ + + /* start RX DMA */ + perf_begin(_pc_txns); + + /* DMA setup time ~3µs */ + _rx_dma_result = _dma_status_waiting; + + struct imxrt_edma_xfrconfig_s rx_config; + rx_config.saddr = PX4IO_SERIAL_BASE + IMXRT_LPUART_DATA_OFFSET; + rx_config.daddr = reinterpret_cast(_current_packet); + rx_config.soff = 0; + rx_config.doff = 1; + rx_config.iter = sizeof(*_current_packet); + rx_config.flags = EDMA_CONFIG_LINKTYPE_LINKNONE; + rx_config.ssize = EDMA_8BIT; + rx_config.dsize = EDMA_8BIT; + rx_config.nbytes = 1; +#ifdef CONFIG_IMXRT_EDMA_ELINK + rx_config.linkch = NULL; +#endif + imxrt_dmach_xfrsetup(_rx_dma, &rx_config); + + /* Enable receive DMA for the UART */ + + rBAUD |= LPUART_BAUD_RDMAE; + + imxrt_dmach_start(_rx_dma, _dma_callback, (void *)this); + + /* Clean _current_packet, so DMA can see the data */ + up_clean_dcache((uintptr_t)_current_packet, + (uintptr_t)_current_packet + DMA_ALIGN_UP(sizeof(IOPacket))); + + /* start TX DMA - no callback if we also expect a reply */ + /* DMA setup time ~3µs */ + + struct imxrt_edma_xfrconfig_s tx_config; + tx_config.saddr = reinterpret_cast(_current_packet); + tx_config.daddr = PX4IO_SERIAL_BASE + IMXRT_LPUART_DATA_OFFSET; + tx_config.soff = 1; + tx_config.doff = 0; + tx_config.iter = sizeof(*_current_packet); + tx_config.flags = EDMA_CONFIG_LINKTYPE_LINKNONE; + tx_config.ssize = EDMA_8BIT; + tx_config.dsize = EDMA_8BIT; + tx_config.nbytes = 1; +#ifdef CONFIG_IMXRT_EDMA_ELINK + tx_config.linkch = NULL; +#endif + imxrt_dmach_xfrsetup(_tx_dma, &tx_config); + + + /* Enable transmit DMA for the UART */ + + rBAUD |= LPUART_BAUD_TDMAE; + + imxrt_dmach_start(_tx_dma, nullptr, nullptr); + + /* compute the deadline for a 10ms timeout */ + struct timespec abstime; + clock_gettime(CLOCK_REALTIME, &abstime); + abstime.tv_nsec += 10 * 1000 * 1000; + + if (abstime.tv_nsec >= 1000 * 1000 * 1000) { + abstime.tv_sec++; + abstime.tv_nsec -= 1000 * 1000 * 1000; + } + + /* wait for the transaction to complete - 64 bytes @ 1.5Mbps ~426µs */ + int ret; + + for (;;) { + ret = sem_timedwait(&_completion_semaphore, &abstime); + + if (ret == OK) { + /* check for DMA errors */ + if (_rx_dma_result != OK) { + // stream transfer error, ensure all DMA is also stopped before exiting early + _abort_dma(); + perf_count(_pc_dmaerrs); + ret = -EIO; + break; + } + + /* check packet CRC - corrupt packet errors mean IO receive CRC error */ + uint8_t crc = _current_packet->crc; + _current_packet->crc = 0; + + if ((crc != crc_packet(_current_packet)) || (PKT_CODE(*_current_packet) == PKT_CODE_CORRUPT)) { + _abort_dma(); + perf_count(_pc_crcerrs); + ret = -EIO; + break; + } + + /* successful txn (may still be reporting an error) */ + break; + } + + if (errno == ETIMEDOUT) { + /* something has broken - clear out any partial DMA state and reconfigure */ + _abort_dma(); + perf_count(_pc_timeouts); + perf_cancel(_pc_txns); /* don't count this as a transaction */ + break; + } + + /* we might? see this for EINTR */ + syslog(LOG_ERR, "unexpected ret %d/%d\n", ret, errno); + } + + /* reset DMA status */ + _rx_dma_result = _dma_status_inactive; + + /* update counters */ + perf_end(_pc_txns); + + return ret; +} + +void +ArchPX4IOSerial::_dma_callback(DMACH_HANDLE handle, void *arg, bool done, int result) +{ + if (arg != nullptr) { + ArchPX4IOSerial *ps = reinterpret_cast(arg); + + ps->_do_rx_dma_callback(done, result); + } +} + +void +ArchPX4IOSerial::_do_rx_dma_callback(bool done, int result) +{ + /* on completion of a reply, wake the waiter */ + + if (done && _rx_dma_result == _dma_status_waiting) { + + if (result != OK) { + + /* check for packet overrun - this will occur after DMA completes */ + uint32_t sr = rSTAT; + + if (sr & (LPUART_STAT_OR | LPUART_STAT_RDRF)) { + while (rSTAT & LPUART_STAT_RDRF) { + (void)rDATA; + } + + rSTAT = sr & (LPUART_STAT_OR); + result = -EIO; + } + } + + /* save RX status */ + _rx_dma_result = result; + + /* disable UART DMA */ + + rBAUD &= ~(LPUART_BAUD_RDMAE | LPUART_BAUD_TDMAE); + + /* complete now */ + px4_sem_post(&_completion_semaphore); + } +} + +int +ArchPX4IOSerial::_interrupt(int irq, void *context, void *arg) +{ + if (arg != nullptr) { + ArchPX4IOSerial *instance = reinterpret_cast(arg); + + instance->_do_interrupt(); + } + + return 0; +} + +void +ArchPX4IOSerial::_do_interrupt() +{ + uint32_t sr = rSTAT; + + while (rSTAT & LPUART_STAT_RDRF) { + (void)rDATA; /* read DATA register to clear RDRF */ + } + + rSTAT |= sr & rSTAT_ERR_FLAGS_MASK; /* clear flags */ + + if (sr & (LPUART_STAT_OR | /* overrun error - packet was too big for DMA or DMA was too slow */ + LPUART_STAT_NF | /* noise error - we have lost a byte due to noise */ + LPUART_STAT_FE)) { /* framing error - start/stop bit lost or line break */ + + /* + * If we are in the process of listening for something, these are all fatal; + * abort the DMA with an error. + */ + if (_rx_dma_result == _dma_status_waiting) { + _abort_dma(); + + perf_count(_pc_uerrs); + /* complete DMA as though in error */ + _do_rx_dma_callback(true, -EIO); + + return; + } + + /* XXX we might want to use FE / line break as an out-of-band handshake ... handle it here */ + + /* don't attempt to handle IDLE if it's set - things went bad */ + return; + } + + if (sr & LPUART_STAT_IDLE) { + + rSTAT |= LPUART_STAT_IDLE; /* clear IDLE flag */ + + /* if there is DMA reception going on, this is a short packet */ + if (_rx_dma_result == _dma_status_waiting) { + /* Invalidate _current_packet, so we get fresh data from RAM */ + up_invalidate_dcache((uintptr_t)_current_packet, + (uintptr_t)_current_packet + DMA_ALIGN_UP(sizeof(IOPacket))); + + /* verify that the received packet is complete */ + size_t length = sizeof(*_current_packet) - imxrt_dmach_getcount(_rx_dma); + + if ((length < 1) || (length < PKT_SIZE(*_current_packet))) { + perf_count(_pc_badidle); + + /* stop the receive DMA */ + imxrt_dmach_stop(_rx_dma); + + /* complete the short reception */ + _do_rx_dma_callback(true, -EIO); + return; + } + + perf_count(_pc_idle); + + /* complete the short reception */ + + _do_rx_dma_callback(true, _dma_status_done); + + /* stop the receive DMA */ + imxrt_dmach_stop(_rx_dma); + } + } +} + +void +ArchPX4IOSerial::_abort_dma() +{ + /* stop DMA */ + imxrt_dmach_stop(_tx_dma); + imxrt_dmach_stop(_rx_dma); + + /* disable UART DMA */ + + rBAUD &= ~(LPUART_BAUD_RDMAE | LPUART_BAUD_TDMAE); + + /* clear data that may be in the DATA register and clear overrun error: */ + uint32_t sr = rSTAT; + + if (sr & (LPUART_STAT_OR | LPUART_STAT_RDRF)) { + + while (rSTAT & LPUART_STAT_RDRF) { + (void)rDATA; + } + } + + rSTAT |= sr & (rSTAT_ERR_FLAGS_MASK | LPUART_STAT_IDLE); /* clear flags */ +} diff --git a/platforms/nuttx/src/px4/nxp/rt117x/CMakeLists.txt b/platforms/nuttx/src/px4/nxp/rt117x/CMakeLists.txt new file mode 100644 index 000000000000..7a1b5a8bdf9f --- /dev/null +++ b/platforms/nuttx/src/px4/nxp/rt117x/CMakeLists.txt @@ -0,0 +1,49 @@ +############################################################################ +# +# Copyright (c) 2019 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + + +add_subdirectory(adc) +add_subdirectory(../imxrt/board_critmon board_critmon) +add_subdirectory(../imxrt/board_hw_info board_hw_info) +add_subdirectory(../imxrt/board_reset board_reset) +add_subdirectory(../imxrt/romapi romapi) +add_subdirectory(../imxrt/hrt hrt) +add_subdirectory(../imxrt/led_pwm led_pwm) +add_subdirectory(../imxrt/io_pins io_pins) +add_subdirectory(../imxrt/tone_alarm tone_alarm) +add_subdirectory(../imxrt/version version) +add_subdirectory(../imxrt/spi spi) +add_subdirectory(../imxrt/dshot dshot) + +add_subdirectory(px4io_serial) +add_subdirectory(ssarc) diff --git a/platforms/nuttx/src/px4/nxp/rt117x/adc/CMakeLists.txt b/platforms/nuttx/src/px4/nxp/rt117x/adc/CMakeLists.txt new file mode 100644 index 000000000000..9f0d432ba04f --- /dev/null +++ b/platforms/nuttx/src/px4/nxp/rt117x/adc/CMakeLists.txt @@ -0,0 +1,36 @@ +############################################################################ +# +# Copyright (c) 2023 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +px4_add_library(arch_adc + adc.cpp +) diff --git a/platforms/nuttx/src/px4/nxp/rt117x/adc/adc.cpp b/platforms/nuttx/src/px4/nxp/rt117x/adc/adc.cpp new file mode 100644 index 000000000000..273821849e83 --- /dev/null +++ b/platforms/nuttx/src/px4/nxp/rt117x/adc/adc.cpp @@ -0,0 +1,248 @@ +/**************************************************************************** + * + * Copyright (C) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file adc.cpp + * + * Driver for the imxrt ADC. + * + * This is a low-rate driver, designed for sampling things like voltages + * and so forth. It avoids the gross complexity of the NuttX ADC driver. + */ + +#include +#include +#include +#include +#include + +#include +#include + +typedef uint32_t adc_chan_t; +#define ADC_TOTAL_CHANNELS 16 + +#define _REG(_addr) (*(volatile uint32_t *)(_addr)) + +/* ADC register accessors */ + +#define REG(base_address, _reg) _REG((base_address) + (_reg)) + +#define rVERID(base_address) REG(base_address, IMXRT_LPADC_VERID_OFFSET) /* Version ID Register */ +#define rPARAM(base_address) REG(base_address, IMXRT_LPADC_PARAM_OFFSET) /* Parameter Register */ +#define rCTRL(base_address) REG(base_address, IMXRT_LPADC_CTRL_OFFSET) /* LPADC Control Register */ +#define rSTAT(base_address) REG(base_address, IMXRT_LPADC_STAT_OFFSET) /* LPADC Status Register */ +#define rIE(base_address) REG(base_address, IMXRT_LPADC_IE_OFFSET) /* Interrupt Enable Register */ +#define rDE(base_address) REG(base_address, IMXRT_LPADC_DE_OFFSET) /* DMA Enable Register */ +#define rCFG(base_address) REG(base_address, IMXRT_LPADC_CFG_OFFSET) /* LPADC Configuration Register */ +#define rPAUSE(base_address) REG(base_address, IMXRT_LPADC_PAUSE_OFFSET) /* LPADC Pause Register */ +#define rFCTRL(base_address) REG(base_address, IMXRT_LPADC_FCTRL_OFFSET) /* LPADC FIFO Control Register */ +#define rSWTRIG(base_address) REG(base_address, IMXRT_LPADC_SWTRIG_OFFSET) /* Software Trigger Register */ +#define rCMDL1(base_address) REG(base_address, IMXRT_LPADC_CMDL1_OFFSET) /* LPADC Command Low Buffer Register */ +#define rCMDH1(base_address) REG(base_address, IMXRT_LPADC_CMDH1_OFFSET) /* LPADC Command High Buffer Register */ +#define rCMDL2(base_address) REG(base_address, IMXRT_LPADC_CMDL2_OFFSET) /* LPADC Command Low Buffer Register */ +#define rCMDH2(base_address) REG(base_address, IMXRT_LPADC_CMDH2_OFFSET) /* LPADC Command High Buffer Register */ +#define rCMDL3(base_address) REG(base_address, IMXRT_LPADC_CMDL3_OFFSET) /* LPADC Command Low Buffer Register */ +#define rCMDH3(base_address) REG(base_address, IMXRT_LPADC_CMDH3_OFFSET) /* LPADC Command High Buffer Register */ +#define rCMDL4(base_address) REG(base_address, IMXRT_LPADC_CMDL4_OFFSET) /* LPADC Command Low Buffer Register */ +#define rCMDH4(base_address) REG(base_address, IMXRT_LPADC_CMDH4_OFFSET) /* LPADC Command High Buffer Register */ +#define rCMDL5(base_address) REG(base_address, IMXRT_LPADC_CMDL5_OFFSET) /* LPADC Command Low Buffer Register */ +#define rCMDH5(base_address) REG(base_address, IMXRT_LPADC_CMDH5_OFFSET) /* LPADC Command High Buffer Register */ +#define rCMDL6(base_address) REG(base_address, IMXRT_LPADC_CMDL6_OFFSET) /* LPADC Command Low Buffer Register */ +#define rCMDH6(base_address) REG(base_address, IMXRT_LPADC_CMDH6_OFFSET) /* LPADC Command High Buffer Register */ +#define rCMDL7(base_address) REG(base_address, IMXRT_LPADC_CMDL7_OFFSET) /* LPADC Command Low Buffer Register */ +#define rCMDH7(base_address) REG(base_address, IMXRT_LPADC_CMDH7_OFFSET) /* LPADC Command High Buffer Register */ +#define rCMDL8(base_address) REG(base_address, IMXRT_LPADC_CMDL8_OFFSET) /* LPADC Command Low Buffer Register */ +#define rCMDH8(base_address) REG(base_address, IMXRT_LPADC_CMDH8_OFFSET) /* LPADC Command High Buffer Register */ +#define rCMDL9(base_address) REG(base_address, IMXRT_LPADC_CMDL9_OFFSET) /* LPADC Command Low Buffer Register */ +#define rCMDH9(base_address) REG(base_address, IMXRT_LPADC_CMDH9_OFFSET) /* LPADC Command High Buffer Register */ +#define rCMDL10(base_address) REG(base_address, IMXRT_LPADC_CMDL10_OFFSET) /* LPADC Command Low Buffer Register */ +#define rCMDH10(base_address) REG(base_address, IMXRT_LPADC_CMDH10_OFFSET) /* LPADC Command High Buffer Register */ +#define rCMDL11(base_address) REG(base_address, IMXRT_LPADC_CMDL11_OFFSET) /* LPADC Command Low Buffer Register */ +#define rCMDH11(base_address) REG(base_address, IMXRT_LPADC_CMDH11_OFFSET) /* LPADC Command High Buffer Register */ +#define rCMDL12(base_address) REG(base_address, IMXRT_LPADC_CMDL12_OFFSET) /* LPADC Command Low Buffer Register */ +#define rCMDH12(base_address) REG(base_address, IMXRT_LPADC_CMDH12_OFFSET) /* LPADC Command High Buffer Register */ +#define rCMDL13(base_address) REG(base_address, IMXRT_LPADC_CMDL13_OFFSET) /* LPADC Command Low Buffer Register */ +#define rCMDH13(base_address) REG(base_address, IMXRT_LPADC_CMDH13_OFFSET) /* LPADC Command High Buffer Register */ +#define rCMDL14(base_address) REG(base_address, IMXRT_LPADC_CMDL14_OFFSET) /* LPADC Command Low Buffer Register */ +#define rCMDH14(base_address) REG(base_address, IMXRT_LPADC_CMDH14_OFFSET) /* LPADC Command High Buffer Register */ +#define rCMDL15(base_address) REG(base_address, IMXRT_LPADC_CMDL15_OFFSET) /* LPADC Command Low Buffer Register */ +#define rCMDH15(base_address) REG(base_address, IMXRT_LPADC_CMDH15_OFFSET) /* LPADC Command High Buffer Register */ +#define rRESFIFO(base_address) REG(base_address, IMXRT_LPADC_RESFIFO_OFFSET) /* LPADC Data Result FIFO Register */ +#define rTCTRL0(base_address) REG(base_address, IMXRT_LPADC_TCTRL0_OFFSET) /* Trigger Control Register */ +#define rTCTRL1(base_address) REG(base_address, IMXRT_LPADC_TCTRL1_OFFSET) /* Trigger Control Register */ +#define rTCTRL2(base_address) REG(base_address, IMXRT_LPADC_TCTRL2_OFFSET) /* Trigger Control Register */ +#define rTCTRL3(base_address) REG(base_address, IMXRT_LPADC_TCTRL3_OFFSET) /* Trigger Control Register */ +#define rTCTRL4(base_address) REG(base_address, IMXRT_LPADC_TCTRL4_OFFSET) /* Trigger Control Register */ +#define rTCTRL5(base_address) REG(base_address, IMXRT_LPADC_TCTRL5_OFFSET) /* Trigger Control Register */ +#define rTCTRL6(base_address) REG(base_address, IMXRT_LPADC_TCTRL6_OFFSET) /* Trigger Control Register */ +#define rTCTRL7(base_address) REG(base_address, IMXRT_LPADC_TCTRL7_OFFSET) /* Trigger Control Register */ +#define rCV1(base_address) REG(base_address, IMXRT_LPADC_CV1_OFFSET) /* Compare Value Register */ +#define rCV2(base_address) REG(base_address, IMXRT_LPADC_CV2_OFFSET) /* Compare Value Register */ +#define rCV3(base_address) REG(base_address, IMXRT_LPADC_CV3_OFFSET) /* Compare Value Register */ +#define rCV4(base_address) REG(base_address, IMXRT_LPADC_CV4_OFFSET) /* Compare Value Register */ + +int px4_arch_adc_init(uint32_t base_address) +{ + static bool once = false; + + if (!once) { + + once = true; + + /* Input is ADCx_CLK_ROOT_SYS_PLL2_CLK with devide by 6. + * 528 Mhz / 6 = 88 Mhz. + */ + + + if (base_address == IMXRT_LPADC1_BASE) { + imxrt_clockall_adc1(); + + } else if (base_address == IMXRT_LPADC2_BASE) { + imxrt_clockall_adc2(); + } + + + irqstate_t flags = px4_enter_critical_section(); + rCTRL(base_address) |= IMXRT_LPADC_CTRL_RST; + rCTRL(base_address) &= ~IMXRT_LPADC_CTRL_RST; + rCTRL(base_address) |= IMXRT_LPADC_CTRL_RSTFIFO; + rCFG(base_address) = IMXRT_LPADC_CFG_REFSEL_REFSEL_0 | IMXRT_LPADC_CFG_PWREN | IMXRT_LPADC_CFG_PWRSEL_PWRSEL_3 | + IMXRT_LPADC_CFG_PUDLY(128); + rCTRL(base_address) = IMXRT_LPADC_CTRL_ADCEN; + + px4_leave_critical_section(flags); + + /* Read ADC1 vtemp_sensor_plus */ + + rCMDL1(base_address) = IMXRT_LPADC_CMDL1_ADCH_ADCH_7; + + rCMDH1(base_address) = IMXRT_LPADC_CMDH1_STS_STS_7 | IMXRT_LPADC_CMDH1_AVGS_AVGS_0; + rTCTRL0(base_address) = IMXRT_LPADC_TCTRL0_TCMD_TCMD_1; + rSTAT(base_address) = IMXRT_LPADC_STAT_FOF; + + /* kick off a sample and wait for it to complete */ + hrt_abstime now = hrt_absolute_time(); + + rSWTRIG(base_address) = IMXRT_LPADC_SWTRIG_SWT0; + + while (!(rSTAT(base_address) & IMXRT_LPADC_STAT_RDY)) { + + /* don't wait for more than 100us, since that means something broke - + * should reset here if we see this + */ + + if ((hrt_absolute_time() - now) > 100) { + rCTRL(base_address) &= ~IMXRT_LPADC_CTRL_ADCEN; + return -4; + } + } + + int32_t r = (rRESFIFO(base_address) & IMXRT_LPADC_RESFIFO_D_MASK) >> 3; + UNUSED(r); + rCTRL(base_address) &= ~IMXRT_LPADC_CTRL_ADCEN; + } // once + + return 0; +} + +void px4_arch_adc_uninit(uint32_t base_address) +{ + rCTRL(base_address) &= ~IMXRT_LPADC_CTRL_ADCEN; + + if (base_address == IMXRT_LPADC1_BASE) { + imxrt_clockoff_adc1(); + + } else if (base_address == IMXRT_LPADC2_BASE) { + imxrt_clockoff_adc2(); + } +} + +uint32_t px4_arch_adc_sample(uint32_t base_address, unsigned channel) +{ + + uint32_t absel = (channel & 1) ? IMXRT_LPADC_CMDL1_ABSEL : 0; + channel >>= 1; + + irqstate_t flags = px4_enter_critical_section(); + + /* clear any previous results */ + + rCTRL(base_address) |= IMXRT_LPADC_CTRL_RSTFIFO; + + rCMDL1(base_address) = absel | (channel & IMXRT_LPADC_CMDL1_ADCH_MASK); + rCMDH1(base_address) = IMXRT_LPADC_CMDH1_STS_STS_7 | IMXRT_LPADC_CMDH1_AVGS_AVGS_0; + rTCTRL0(base_address) = IMXRT_LPADC_TCTRL0_TCMD_TCMD_1; + rSTAT(base_address) = IMXRT_LPADC_STAT_FOF; + rCTRL(base_address) = IMXRT_LPADC_CTRL_ADCEN; + + up_udelay(1); + rSWTRIG(base_address) = IMXRT_LPADC_SWTRIG_SWT0; + + /* wait for the conversion to complete */ + hrt_abstime now = hrt_absolute_time(); + + while (!(rSTAT(base_address) & IMXRT_LPADC_STAT_RDY)) { + /* don't wait for more than 30us, since that means something broke + * should reset here if we see this + */ + if ((hrt_absolute_time() - now) > 30) { + rCTRL(base_address) &= ~IMXRT_LPADC_CTRL_ADCEN; + px4_leave_critical_section(flags); + return UINT32_MAX; + } + } + + /* read the result and clear COCO0 */ + + uint32_t result = (rRESFIFO(base_address) & IMXRT_LPADC_RESFIFO_D_MASK) >> 3; + rCTRL(base_address) &= ~IMXRT_LPADC_CTRL_ADCEN; + px4_leave_critical_section(flags); + + return result; +} + +float px4_arch_adc_reference_v() +{ + return BOARD_ADC_POS_REF_V; +} + +uint32_t px4_arch_adc_temp_sensor_mask() +{ + return 0; +} + +uint32_t px4_arch_adc_dn_fullcount(void) +{ + return 1 << 12; // 12 bit ADC +} diff --git a/platforms/nuttx/src/px4/nxp/rt117x/include/px4_arch/adc.h b/platforms/nuttx/src/px4/nxp/rt117x/include/px4_arch/adc.h new file mode 100644 index 000000000000..d43ba990e1fd --- /dev/null +++ b/platforms/nuttx/src/px4/nxp/rt117x/include/px4_arch/adc.h @@ -0,0 +1,45 @@ +/**************************************************************************** + * + * Copyright (c) 2019 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ +#pragma once + +#include + +#if !defined(HW_REV_VER_ADC_BASE) +# define HW_REV_VER_ADC_BASE IMXRT_LPADC1_BASE +#endif + +#if !defined(SYSTEM_ADC_BASE) +# define SYSTEM_ADC_BASE IMXRT_LPADC1_BASE +#endif + +#include diff --git a/platforms/nuttx/src/px4/nxp/rt117x/include/px4_arch/dshot.h b/platforms/nuttx/src/px4/nxp/rt117x/include/px4_arch/dshot.h new file mode 100644 index 000000000000..b6aaca410a9d --- /dev/null +++ b/platforms/nuttx/src/px4/nxp/rt117x/include/px4_arch/dshot.h @@ -0,0 +1,36 @@ +/**************************************************************************** + * + * Copyright (c) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ +#pragma once + + +#include "../../../imxrt/include/px4_arch/dshot.h" diff --git a/platforms/nuttx/src/px4/nxp/rt117x/include/px4_arch/hw_description.h b/platforms/nuttx/src/px4/nxp/rt117x/include/px4_arch/hw_description.h new file mode 100644 index 000000000000..71a492b16164 --- /dev/null +++ b/platforms/nuttx/src/px4/nxp/rt117x/include/px4_arch/hw_description.h @@ -0,0 +1,475 @@ +/**************************************************************************** + * + * Copyright (C) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#pragma once + + +#include + +#include "hardware/imxrt_flexpwm.h" + +#include + +#include +#if !defined(CONFIG_ARCH_CHIP_MIMXRT1176DVMAA) +# error "This code has only been validated with IMXRT1176. Make sure it is correct before using it on another board." +#endif + +/* + * PWM + */ + +namespace PWM +{ +enum FlexPWM { + FlexPWM1 = 0, + FlexPWM2, + FlexPWM3, + FlexPWM4, +}; + +enum FlexPWMModule { + PWM1_PWM_A = 0, + PWM1_PWM_B, + PWM1_PWM_X, + + PWM2_PWM_A, + PWM2_PWM_B, + PWM2_PWM_X, + + PWM3_PWM_A, + PWM3_PWM_B, + PWM3_PWM_X, + + PWM4_PWM_A, + PWM4_PWM_B, + PWM4_PWM_X, +}; + +enum FlexPWMSubmodule { + Submodule0 = 0, + Submodule1, + Submodule2, + Submodule3, +}; + +struct FlexPWMConfig { + FlexPWMModule module; + FlexPWMSubmodule submodule; +}; +} + +static inline constexpr uint32_t getFlexPWMBaseRegister(PWM::FlexPWM pwm) +{ + switch (pwm) { + case PWM::FlexPWM1: return IMXRT_FLEXPWM1_BASE; + + case PWM::FlexPWM2: return IMXRT_FLEXPWM2_BASE; + + case PWM::FlexPWM3: return IMXRT_FLEXPWM3_BASE; + + case PWM::FlexPWM4: return IMXRT_FLEXPWM4_BASE; + } + + return 0; +} +namespace IOMUX +{ +enum class Pad { + GPIO_EMC_B1_00 = 0, + GPIO_EMC_B1_01 = 1, + GPIO_EMC_B1_02 = 2, + GPIO_EMC_B1_03 = 3, + GPIO_EMC_B1_04 = 4, + GPIO_EMC_B1_05 = 5, + GPIO_EMC_B1_06 = 6, + GPIO_EMC_B1_07 = 7, + GPIO_EMC_B1_08 = 8, + GPIO_EMC_B1_09 = 9, + GPIO_EMC_B1_10 = 10, + GPIO_EMC_B1_11 = 11, + GPIO_EMC_B1_12 = 12, + GPIO_EMC_B1_13 = 13, + GPIO_EMC_B1_14 = 14, + GPIO_EMC_B1_15 = 15, + GPIO_EMC_B1_16 = 16, + GPIO_EMC_B1_17 = 17, + GPIO_EMC_B1_18 = 18, + GPIO_EMC_B1_19 = 19, + GPIO_EMC_B1_20 = 20, + GPIO_EMC_B1_21 = 21, + GPIO_EMC_B1_22 = 22, + GPIO_EMC_B1_23 = 23, + GPIO_EMC_B1_24 = 24, + GPIO_EMC_B1_25 = 25, + GPIO_EMC_B1_26 = 26, + GPIO_EMC_B1_27 = 27, + GPIO_EMC_B1_28 = 28, + GPIO_EMC_B1_29 = 29, + GPIO_EMC_B1_30 = 30, + GPIO_EMC_B1_31 = 31, + GPIO_EMC_B1_32 = 32, + GPIO_EMC_B1_33 = 33, + GPIO_EMC_B1_34 = 34, + GPIO_EMC_B1_35 = 35, + GPIO_EMC_B1_36 = 36, + GPIO_EMC_B1_37 = 37, + GPIO_EMC_B1_38 = 38, + GPIO_EMC_B1_39 = 39, + GPIO_EMC_B1_40 = 40, + GPIO_EMC_B1_41 = 41, + GPIO_EMC_B2_00 = 42, + GPIO_EMC_B2_01 = 43, + GPIO_EMC_B2_02 = 44, + GPIO_EMC_B2_03 = 45, + GPIO_EMC_B2_04 = 46, + GPIO_EMC_B2_05 = 47, + GPIO_EMC_B2_06 = 48, + GPIO_EMC_B2_07 = 49, + GPIO_EMC_B2_08 = 50, + GPIO_EMC_B2_09 = 51, + GPIO_EMC_B2_10 = 52, + GPIO_EMC_B2_11 = 53, + GPIO_EMC_B2_12 = 54, + GPIO_EMC_B2_13 = 55, + GPIO_EMC_B2_14 = 56, + GPIO_EMC_B2_15 = 57, + GPIO_EMC_B2_16 = 58, + GPIO_EMC_B2_17 = 59, + GPIO_EMC_B2_18 = 60, + GPIO_EMC_B2_19 = 61, + GPIO_EMC_B2_20 = 62, + GPIO_AD_00 = 63, + GPIO_AD_01 = 64, + GPIO_AD_02 = 65, + GPIO_AD_03 = 66, + GPIO_AD_04 = 67, + GPIO_AD_05 = 68, + GPIO_AD_06 = 69, + GPIO_AD_07 = 70, + GPIO_AD_08 = 71, + GPIO_AD_09 = 72, + GPIO_AD_10 = 73, + GPIO_AD_11 = 74, + GPIO_AD_12 = 75, + GPIO_AD_13 = 76, + GPIO_AD_14 = 77, + GPIO_AD_15 = 78, + GPIO_AD_16 = 79, + GPIO_AD_17 = 80, + GPIO_AD_18 = 81, + GPIO_AD_19 = 82, + GPIO_AD_20 = 83, + GPIO_AD_21 = 84, + GPIO_AD_22 = 85, + GPIO_AD_23 = 86, + GPIO_AD_24 = 87, + GPIO_AD_25 = 88, + GPIO_AD_26 = 89, + GPIO_AD_27 = 90, + GPIO_AD_28 = 91, + GPIO_AD_29 = 92, + GPIO_AD_30 = 93, + GPIO_AD_31 = 94, + GPIO_AD_32 = 95, + GPIO_AD_33 = 96, + GPIO_AD_34 = 97, + GPIO_AD_35 = 98, + GPIO_SD_B1_00 = 99, + GPIO_SD_B1_01 = 100, + GPIO_SD_B1_02 = 101, + GPIO_SD_B1_03 = 102, + GPIO_SD_B1_04 = 103, + GPIO_SD_B1_05 = 104, + GPIO_SD_B2_00 = 105, + GPIO_SD_B2_01 = 106, + GPIO_SD_B2_02 = 107, + GPIO_SD_B2_03 = 108, + GPIO_SD_B2_04 = 109, + GPIO_SD_B2_05 = 110, + GPIO_SD_B2_06 = 111, + GPIO_SD_B2_07 = 112, + GPIO_SD_B2_08 = 113, + GPIO_SD_B2_09 = 114, + GPIO_SD_B2_10 = 115, + GPIO_SD_B2_11 = 116, + GPIO_DISP_B1_00 = 117, + GPIO_DISP_B1_01 = 118, + GPIO_DISP_B1_02 = 119, + GPIO_DISP_B1_03 = 120, + GPIO_DISP_B1_04 = 121, + GPIO_DISP_B1_05 = 122, + GPIO_DISP_B1_06 = 123, + GPIO_DISP_B1_07 = 124, + GPIO_DISP_B1_08 = 125, + GPIO_DISP_B1_09 = 126, + GPIO_DISP_B1_10 = 127, + GPIO_DISP_B1_11 = 128, + GPIO_DISP_B2_00 = 129, + GPIO_DISP_B2_01 = 130, + GPIO_DISP_B2_02 = 131, + GPIO_DISP_B2_03 = 132, + GPIO_DISP_B2_04 = 133, + GPIO_DISP_B2_05 = 134, + GPIO_DISP_B2_06 = 135, + GPIO_DISP_B2_07 = 136, + GPIO_DISP_B2_08 = 137, + GPIO_DISP_B2_09 = 138, + GPIO_DISP_B2_10 = 139, + GPIO_DISP_B2_11 = 140, + GPIO_DISP_B2_12 = 141, + GPIO_DISP_B2_13 = 142, + GPIO_DISP_B2_14 = 143, + GPIO_DISP_B2_15 = 144, + WAKEUP = 145, + PMIC_ON_REQ = 146, + PMIC_STBY_REQ = 147, + GPIO_SNVS_00 = 148, + GPIO_SNVS_01 = 149, + GPIO_SNVS_02 = 150, + GPIO_SNVS_03 = 151, + GPIO_SNVS_04 = 152, + GPIO_SNVS_05 = 153, + GPIO_SNVS_06 = 154, + GPIO_SNVS_07 = 155, + GPIO_SNVS_08 = 156, + GPIO_SNVS_09 = 157, + GPIO_LPSR_00 = 158, + GPIO_LPSR_01 = 159, + GPIO_LPSR_02 = 160, + GPIO_LPSR_03 = 161, + GPIO_LPSR_04 = 162, + GPIO_LPSR_05 = 163, + GPIO_LPSR_06 = 164, + GPIO_LPSR_07 = 165, + GPIO_LPSR_08 = 166, + GPIO_LPSR_09 = 167, + GPIO_LPSR_10 = 168, + GPIO_LPSR_11 = 169, + GPIO_LPSR_12 = 170, + GPIO_LPSR_13 = 171, + GPIO_LPSR_14 = 172, + GPIO_LPSR_15 = 173 +}; + +} + +/* + * GPIO + */ + +namespace GPIO +{ +enum Port { + PortInvalid = 0, + Port1, + Port2, + Port3, + Port4, + Port5, + Port6, + Port7, + Port8, + Port9, + Port10, + Port11, + Port12, + Port13, +}; +enum Pin { + Pin0 = 0, + Pin1, + Pin2, + Pin3, + Pin4, + Pin5, + Pin6, + Pin7, + Pin8, + Pin9, + Pin10, + Pin11, + Pin12, + Pin13, + Pin14, + Pin15, + Pin16, + Pin17, + Pin18, + Pin19, + Pin20, + Pin21, + Pin22, + Pin23, + Pin24, + Pin25, + Pin26, + Pin27, + Pin28, + Pin29, + Pin30, + Pin31, +}; +struct GPIOPin { + Port port; + Pin pin; +}; +} + +static inline constexpr uint32_t getGPIOPort(GPIO::Port port) +{ + switch (port) { + case GPIO::Port1: return GPIO_PORT1; + + case GPIO::Port2: return GPIO_PORT2; + + case GPIO::Port3: return GPIO_PORT3; + + case GPIO::Port4: return GPIO_PORT4; + + case GPIO::Port5: return GPIO_PORT5; + + case GPIO::Port6: return GPIO_PORT6; + + case GPIO::Port7: return GPIO_PORT7; + + case GPIO::Port8: return GPIO_PORT8; + + case GPIO::Port9: return GPIO_PORT9; + + case GPIO::Port10: return GPIO_PORT10; + + case GPIO::Port11: return GPIO_PORT11; + + case GPIO::Port12: return GPIO_PORT12; + + case GPIO::Port13: return GPIO_PORT13; + + default: break; + } + + return 0; +} + +static inline constexpr uint32_t getGPIOPin(GPIO::Pin pin) +{ + switch (pin) { + case GPIO::Pin0: return GPIO_PIN0; + + case GPIO::Pin1: return GPIO_PIN1; + + case GPIO::Pin2: return GPIO_PIN2; + + case GPIO::Pin3: return GPIO_PIN3; + + case GPIO::Pin4: return GPIO_PIN4; + + case GPIO::Pin5: return GPIO_PIN5; + + case GPIO::Pin6: return GPIO_PIN6; + + case GPIO::Pin7: return GPIO_PIN7; + + case GPIO::Pin8: return GPIO_PIN8; + + case GPIO::Pin9: return GPIO_PIN9; + + case GPIO::Pin10: return GPIO_PIN10; + + case GPIO::Pin11: return GPIO_PIN11; + + case GPIO::Pin12: return GPIO_PIN12; + + case GPIO::Pin13: return GPIO_PIN13; + + case GPIO::Pin14: return GPIO_PIN14; + + case GPIO::Pin15: return GPIO_PIN15; + + case GPIO::Pin16: return GPIO_PIN16; + + case GPIO::Pin17: return GPIO_PIN17; + + case GPIO::Pin18: return GPIO_PIN18; + + case GPIO::Pin19: return GPIO_PIN19; + + case GPIO::Pin20: return GPIO_PIN20; + + case GPIO::Pin21: return GPIO_PIN21; + + case GPIO::Pin22: return GPIO_PIN22; + + case GPIO::Pin23: return GPIO_PIN23; + + case GPIO::Pin24: return GPIO_PIN24; + + case GPIO::Pin25: return GPIO_PIN25; + + case GPIO::Pin26: return GPIO_PIN26; + + case GPIO::Pin27: return GPIO_PIN27; + + case GPIO::Pin28: return GPIO_PIN28; + + case GPIO::Pin29: return GPIO_PIN29; + + case GPIO::Pin30: return GPIO_PIN30; + + case GPIO::Pin31: return GPIO_PIN31; + } + + return 0; +} + +namespace SPI +{ + +enum class Bus { + LPSPI1 = 1, + LPSPI2, + LPSPI3, + LPSPI4, + LPSPI5, + LPSPI6, +}; + +using CS = GPIO::GPIOPin; ///< chip-select pin +using DRDY = GPIO::GPIOPin; ///< data ready pin + +struct bus_device_external_cfg_t { + CS cs_gpio; + DRDY drdy_gpio; +}; + +} // namespace SPI diff --git a/platforms/nuttx/src/px4/nxp/rt117x/include/px4_arch/i2c_hw_description.h b/platforms/nuttx/src/px4/nxp/rt117x/include/px4_arch/i2c_hw_description.h new file mode 100644 index 000000000000..767e490ac18f --- /dev/null +++ b/platforms/nuttx/src/px4/nxp/rt117x/include/px4_arch/i2c_hw_description.h @@ -0,0 +1,35 @@ +/**************************************************************************** + * + * Copyright (c) 2020 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ +#pragma once + +#include "../../../imxrt/include/px4_arch/i2c_hw_description.h" diff --git a/platforms/nuttx/src/px4/nxp/rt117x/include/px4_arch/imxrt_flexspi_nor_flash.h b/platforms/nuttx/src/px4/nxp/rt117x/include/px4_arch/imxrt_flexspi_nor_flash.h new file mode 100644 index 000000000000..3925012e86fd --- /dev/null +++ b/platforms/nuttx/src/px4/nxp/rt117x/include/px4_arch/imxrt_flexspi_nor_flash.h @@ -0,0 +1,36 @@ +/**************************************************************************** + * + * Copyright (c) 2024 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ +#pragma once + + +#include "../../../imxrt/include/px4_arch/imxrt_flexspi_nor_flash.h" diff --git a/platforms/nuttx/src/px4/nxp/rt117x/include/px4_arch/imxrt_romapi.h b/platforms/nuttx/src/px4/nxp/rt117x/include/px4_arch/imxrt_romapi.h new file mode 100644 index 000000000000..aeab84116295 --- /dev/null +++ b/platforms/nuttx/src/px4/nxp/rt117x/include/px4_arch/imxrt_romapi.h @@ -0,0 +1,36 @@ +/**************************************************************************** + * + * Copyright (c) 2024 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ +#pragma once + + +#include "../../../imxrt/include/px4_arch/imxrt_romapi.h" diff --git a/platforms/nuttx/src/px4/nxp/rt117x/include/px4_arch/io_timer.h b/platforms/nuttx/src/px4/nxp/rt117x/include/px4_arch/io_timer.h new file mode 100644 index 000000000000..328ac3eddfc3 --- /dev/null +++ b/platforms/nuttx/src/px4/nxp/rt117x/include/px4_arch/io_timer.h @@ -0,0 +1,36 @@ +/**************************************************************************** + * + * Copyright (c) 2019 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ +#pragma once + + +#include "../../../imxrt/include/px4_arch/io_timer.h" diff --git a/platforms/nuttx/src/px4/nxp/rt117x/include/px4_arch/io_timer_hw_description.h b/platforms/nuttx/src/px4/nxp/rt117x/include/px4_arch/io_timer_hw_description.h new file mode 100644 index 000000000000..0bcf5c302ab8 --- /dev/null +++ b/platforms/nuttx/src/px4/nxp/rt117x/include/px4_arch/io_timer_hw_description.h @@ -0,0 +1,721 @@ +/**************************************************************************** + * + * Copyright (C) 2019 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#pragma once + + +#include +#include +#include +#include +#include + +#include +#include +#include +#include +#include + +#include +#if !defined(CONFIG_ARCH_CHIP_MIMXRT1176DVMAA) +# error "This code has only been validated with IMXRT1176. Make sure it is correct before using it on another board." +#endif + + +static inline constexpr timer_io_channels_t initIOTimerChannel(const io_timers_t io_timers_conf[MAX_IO_TIMERS], + PWM::FlexPWMConfig pwm_config, IOMUX::Pad pad) +{ + timer_io_channels_t ret{}; + PWM::FlexPWM pwm {}; + + // FlexPWM Muxing Options + switch (pwm_config.module) { + case PWM::PWM1_PWM_A: + pwm = PWM::FlexPWM1; + + switch (pwm_config.submodule) { + case PWM::Submodule0: + if (pad == IOMUX::Pad::GPIO_EMC_B1_23) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_B1_23_INDEX); + ret.gpio_portpin = GPIO_PORT1 | GPIO_PIN23; + + } else if (pad == IOMUX::Pad::GPIO_AD_00) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT4 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_AD_00_INDEX); + ret.gpio_portpin = GPIO_PORT8 | GPIO_PIN31; + } + + break; + + case PWM::Submodule1: + if (pad == IOMUX::Pad::GPIO_EMC_B1_25) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_B1_25_INDEX); + ret.gpio_portpin = GPIO_PORT1 | GPIO_PIN25; + + } else if (pad == IOMUX::Pad::GPIO_AD_02) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT4 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_AD_02_INDEX); + ret.gpio_portpin = GPIO_PORT9 | GPIO_PIN1; + } + + break; + + case PWM::Submodule2: + if (pad == IOMUX::Pad::GPIO_EMC_B1_27) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_B1_27_INDEX); + ret.gpio_portpin = GPIO_PORT1 | GPIO_PIN27; + + } else if (pad == IOMUX::Pad::GPIO_AD_04) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT4 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_AD_04_INDEX); + ret.gpio_portpin = GPIO_PORT9 | GPIO_PIN3; + } + + break; + + case PWM::Submodule3: + if (pad == IOMUX::Pad::GPIO_EMC_B1_38) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_B1_38_INDEX); + ret.gpio_portpin = GPIO_PORT8 | GPIO_PIN6; + + } + + break; + } + + break; + + case PWM::PWM1_PWM_B: + pwm = PWM::FlexPWM1; + + switch (pwm_config.submodule) { + case PWM::Submodule0: + if (pad == IOMUX::Pad::GPIO_EMC_B1_24) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_B1_24_INDEX); + ret.gpio_portpin = GPIO_PORT1 | GPIO_PIN24; + + } else if (pad == IOMUX::Pad::GPIO_AD_01) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT4 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_AD_01_INDEX); + ret.gpio_portpin = GPIO_PORT9 | GPIO_PIN0; + } + + break; + + case PWM::Submodule1: + if (pad == IOMUX::Pad::GPIO_EMC_B1_26) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_B1_26_INDEX); + ret.gpio_portpin = GPIO_PORT1 | GPIO_PIN26; + + } else if (pad == IOMUX::Pad::GPIO_AD_03) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT4 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_AD_03_INDEX); + ret.gpio_portpin = GPIO_PORT9 | GPIO_PIN2; + } + + break; + + case PWM::Submodule2: + if (pad == IOMUX::Pad::GPIO_EMC_B1_28) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_B1_28_INDEX); + ret.gpio_portpin = GPIO_PORT1 | GPIO_PIN28; + + } else if (pad == IOMUX::Pad::GPIO_AD_05) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT4 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_AD_05_INDEX); + ret.gpio_portpin = GPIO_PORT9 | GPIO_PIN4; + } + + break; + + case PWM::Submodule3: + if (pad == IOMUX::Pad::GPIO_EMC_B1_39) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_B1_39_INDEX); + ret.gpio_portpin = GPIO_PORT8 | GPIO_PIN7; + + } + + break; + } + + break; + + case PWM::PWM1_PWM_X: + pwm = PWM::FlexPWM1; + + switch (pwm_config.submodule) { + case PWM::Submodule0: + if (pad == IOMUX::Pad::GPIO_AD_06) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT11 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_AD_06_INDEX); + ret.gpio_portpin = GPIO_PORT9 | GPIO_PIN5; + } + + break; + + case PWM::Submodule1: + if (pad == IOMUX::Pad::GPIO_AD_07) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT11 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_AD_07_INDEX); + ret.gpio_portpin = GPIO_PORT9 | GPIO_PIN6; + } + + break; + + case PWM::Submodule2: + if (pad == IOMUX::Pad::GPIO_AD_08) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT11 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_AD_08_INDEX); + ret.gpio_portpin = GPIO_PORT9 | GPIO_PIN7; + } + + break; + + case PWM::Submodule3: + if (pad == IOMUX::Pad::GPIO_AD_09) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT11 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_AD_09_INDEX); + ret.gpio_portpin = GPIO_PORT9 | GPIO_PIN8; + } + + break; + } + + break; + + + case PWM::PWM2_PWM_A: + pwm = PWM::FlexPWM2; + + switch (pwm_config.submodule) { + case PWM::Submodule0: + if (pad == IOMUX::Pad::GPIO_EMC_B1_06) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_B1_06_INDEX); + ret.gpio_portpin = GPIO_PORT1 | GPIO_PIN6; + + } else if (pad == IOMUX::Pad::GPIO_AD_24) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT4 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_AD_24_INDEX); + ret.gpio_portpin = GPIO_PORT9 | GPIO_PIN23; + } + + break; + + case PWM::Submodule1: + if (pad == IOMUX::Pad::GPIO_EMC_B1_08) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_B1_08_INDEX); + ret.gpio_portpin = GPIO_PORT1 | GPIO_PIN8; + + } else if (pad == IOMUX::Pad::GPIO_AD_26) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT4 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_AD_26_INDEX); + ret.gpio_portpin = GPIO_PORT9 | GPIO_PIN25; + } + + break; + + case PWM::Submodule2: + if (pad == IOMUX::Pad::GPIO_EMC_B1_10) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_B1_10_INDEX); + ret.gpio_portpin = GPIO_PORT1 | GPIO_PIN10; + + } else if (pad == IOMUX::Pad::GPIO_AD_28) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT4 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_AD_28_INDEX); + ret.gpio_portpin = GPIO_PORT8 | GPIO_PIN27; + } + + break; + + case PWM::Submodule3: + if (pad == IOMUX::Pad::GPIO_EMC_B1_19) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_B1_19_INDEX); + ret.gpio_portpin = GPIO_PORT1 | GPIO_PIN19; + + } + + break; + } + + break; + + case PWM::PWM2_PWM_B: + pwm = PWM::FlexPWM2; + + switch (pwm_config.submodule) { + case PWM::Submodule0: + if (pad == IOMUX::Pad::GPIO_EMC_B1_07) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_B1_07_INDEX); + ret.gpio_portpin = GPIO_PORT1 | GPIO_PIN7; + + } else if (pad == IOMUX::Pad::GPIO_AD_25) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT4 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_AD_25_INDEX); + ret.gpio_portpin = GPIO_PORT9 | GPIO_PIN24; + } + + break; + + case PWM::Submodule1: + if (pad == IOMUX::Pad::GPIO_EMC_B1_09) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_B1_09_INDEX); + ret.gpio_portpin = GPIO_PORT1 | GPIO_PIN9; + + } else if (pad == IOMUX::Pad::GPIO_AD_27) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT4 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_AD_27_INDEX); + ret.gpio_portpin = GPIO_PORT9 | GPIO_PIN26; + } + + break; + + case PWM::Submodule2: + if (pad == IOMUX::Pad::GPIO_EMC_B1_11) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_B1_11_INDEX); + ret.gpio_portpin = GPIO_PORT1 | GPIO_PIN11; + + } else if (pad == IOMUX::Pad::GPIO_AD_29) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT4 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_AD_29_INDEX); + ret.gpio_portpin = GPIO_PORT9 | GPIO_PIN28; + } + + break; + + case PWM::Submodule3: + if (pad == IOMUX::Pad::GPIO_EMC_B1_20) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_B1_20_INDEX); + ret.gpio_portpin = GPIO_PORT1 | GPIO_PIN20; + + } + + break; + } + + break; + + case PWM::PWM2_PWM_X: + pwm = PWM::FlexPWM2; + + switch (pwm_config.submodule) { + case PWM::Submodule0: + if (pad == IOMUX::Pad::GPIO_AD_10) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT11 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_AD_10_INDEX); + ret.gpio_portpin = GPIO_PORT9 | GPIO_PIN9; + } + + break; + + case PWM::Submodule1: + if (pad == IOMUX::Pad::GPIO_AD_11) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT11 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_AD_11_INDEX); + ret.gpio_portpin = GPIO_PORT9 | GPIO_PIN10; + } + + break; + + case PWM::Submodule2: + if (pad == IOMUX::Pad::GPIO_AD_12) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT11 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_AD_12_INDEX); + ret.gpio_portpin = GPIO_PORT9 | GPIO_PIN11; + } + + break; + + case PWM::Submodule3: + if (pad == IOMUX::Pad::GPIO_AD_13) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT11 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_AD_13_INDEX); + ret.gpio_portpin = GPIO_PORT9 | GPIO_PIN12; + } + + break; + } + + break; + + + case PWM::PWM3_PWM_A: + pwm = PWM::FlexPWM3; + + switch (pwm_config.submodule) { + case PWM::Submodule0: + if (pad == IOMUX::Pad::GPIO_EMC_B1_29) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_B1_29_INDEX); + ret.gpio_portpin = GPIO_PORT1 | GPIO_PIN29; + + } else if (pad == IOMUX::Pad::GPIO_EMC_B2_00) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT11 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_B2_00_INDEX); + ret.gpio_portpin = GPIO_PORT2 | GPIO_PIN10; + } + + break; + + case PWM::Submodule1: + if (pad == IOMUX::Pad::GPIO_EMC_B1_31) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_B1_31_INDEX); + ret.gpio_portpin = GPIO_PORT1 | GPIO_PIN31; + + } else if (pad == IOMUX::Pad::GPIO_EMC_B2_02) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT11 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_B2_02_INDEX); + ret.gpio_portpin = GPIO_PORT8 | GPIO_PIN12; + } + + break; + + case PWM::Submodule2: + if (pad == IOMUX::Pad::GPIO_EMC_B1_33) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_B1_33_INDEX); + ret.gpio_portpin = GPIO_PORT8 | GPIO_PIN1; + + } else if (pad == IOMUX::Pad::GPIO_EMC_B2_04) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT11 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_B2_04_INDEX); + ret.gpio_portpin = GPIO_PORT8 | GPIO_PIN14; + } + + break; + + case PWM::Submodule3: + if (pad == IOMUX::Pad::GPIO_EMC_B1_21) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_B1_21_INDEX); + ret.gpio_portpin = GPIO_PORT1 | GPIO_PIN21; + + } else if (pad == IOMUX::Pad::GPIO_EMC_B2_06) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT11 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_B2_06_INDEX); + ret.gpio_portpin = GPIO_PORT8 | GPIO_PIN16; + } + + break; + } + + break; + + case PWM::PWM3_PWM_B: + pwm = PWM::FlexPWM3; + + switch (pwm_config.submodule) { + case PWM::Submodule0: + if (pad == IOMUX::Pad::GPIO_EMC_B1_30) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_B1_30_INDEX); + ret.gpio_portpin = GPIO_PORT1 | GPIO_PIN30; + + } else if (pad == IOMUX::Pad::GPIO_EMC_B2_01) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT11 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_B2_01_INDEX); + ret.gpio_portpin = GPIO_PORT8 | GPIO_PIN11; + } + + break; + + case PWM::Submodule1: + if (pad == IOMUX::Pad::GPIO_EMC_B1_32) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_B1_32_INDEX); + ret.gpio_portpin = GPIO_PORT8 | GPIO_PIN0; + + } else if (pad == IOMUX::Pad::GPIO_EMC_B2_03) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT11 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_B2_03_INDEX); + ret.gpio_portpin = GPIO_PORT8 | GPIO_PIN13; + } + + break; + + case PWM::Submodule2: + if (pad == IOMUX::Pad::GPIO_EMC_B1_34) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_B1_34_INDEX); + ret.gpio_portpin = GPIO_PORT8 | GPIO_PIN2; + + } else if (pad == IOMUX::Pad::GPIO_EMC_B2_05) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT11 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_B2_05_INDEX); + ret.gpio_portpin = GPIO_PORT8 | GPIO_PIN15; + } + + break; + + case PWM::Submodule3: + if (pad == IOMUX::Pad::GPIO_EMC_B1_22) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_B1_22_INDEX); + ret.gpio_portpin = GPIO_PORT1 | GPIO_PIN22; + + } else if (pad == IOMUX::Pad::GPIO_EMC_B2_07) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT11 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_B2_07_INDEX); + ret.gpio_portpin = GPIO_PORT8 | GPIO_PIN17; + } + + break; + } + + break; + + + case PWM::PWM3_PWM_X: + pwm = PWM::FlexPWM3; + + switch (pwm_config.submodule) { + case PWM::Submodule0: + if (pad == IOMUX::Pad::GPIO_AD_14) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT11 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_AD_14_INDEX); + ret.gpio_portpin = GPIO_PORT9 | GPIO_PIN13; + } + + break; + + case PWM::Submodule1: + if (pad == IOMUX::Pad::GPIO_AD_15) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT11 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_AD_15_INDEX); + ret.gpio_portpin = GPIO_PORT9 | GPIO_PIN14; + } + + break; + + case PWM::Submodule2: + if (pad == IOMUX::Pad::GPIO_AD_16) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT11 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_AD_16_INDEX); + ret.gpio_portpin = GPIO_PORT9 | GPIO_PIN15; + } + + break; + + case PWM::Submodule3: + if (pad == IOMUX::Pad::GPIO_AD_17) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT11 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_AD_17_INDEX); + ret.gpio_portpin = GPIO_PORT9 | GPIO_PIN16; + } + + break; + } + + break; + + case PWM::PWM4_PWM_A: + pwm = PWM::FlexPWM4; + + switch (pwm_config.submodule) { + case PWM::Submodule0: + if (pad == IOMUX::Pad::GPIO_EMC_B1_00) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_B1_00_INDEX); + ret.gpio_portpin = GPIO_PORT1 | GPIO_PIN0; + + } + + break; + + case PWM::Submodule1: + if (pad == IOMUX::Pad::GPIO_EMC_B1_02) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_B1_02_INDEX); + ret.gpio_portpin = GPIO_PORT1 | GPIO_PIN2; + + } + + break; + + case PWM::Submodule2: + if (pad == IOMUX::Pad::GPIO_EMC_B1_04) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_B1_04_INDEX); + ret.gpio_portpin = GPIO_PORT1 | GPIO_PIN4; + + } + + break; + + case PWM::Submodule3: + if (pad == IOMUX::Pad::GPIO_EMC_B1_17) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_B1_17_INDEX); + ret.gpio_portpin = GPIO_PORT1 | GPIO_PIN17; + + } + + break; + } + + break; + + case PWM::PWM4_PWM_B: + pwm = PWM::FlexPWM4; + + switch (pwm_config.submodule) { + case PWM::Submodule0: + if (pad == IOMUX::Pad::GPIO_EMC_B1_01) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_B1_01_INDEX); + ret.gpio_portpin = GPIO_PORT1 | GPIO_PIN1; + } + + break; + + case PWM::Submodule1: + if (pad == IOMUX::Pad::GPIO_EMC_B1_03) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_B1_03_INDEX); + ret.gpio_portpin = GPIO_PORT1 | GPIO_PIN3; + } + + break; + + case PWM::Submodule2: + if (pad == IOMUX::Pad::GPIO_EMC_B1_05) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_B1_05_INDEX); + ret.gpio_portpin = GPIO_PORT1 | GPIO_PIN5; + } + + break; + + case PWM::Submodule3: + if (pad == IOMUX::Pad::GPIO_EMC_B1_18) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_B1_18_INDEX); + ret.gpio_portpin = GPIO_PORT1 | GPIO_PIN18; + } + + break; + } + + break; + + + case PWM::PWM4_PWM_X: + pwm = PWM::FlexPWM4; + + switch (pwm_config.submodule) { + case PWM::Submodule0: + if (pad == IOMUX::Pad::GPIO_AD_18) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT11 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_AD_18_INDEX); + ret.gpio_portpin = GPIO_PORT9 | GPIO_PIN17; + } + + break; + + case PWM::Submodule1: + if (pad == IOMUX::Pad::GPIO_AD_19) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT11 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_AD_19_INDEX); + ret.gpio_portpin = GPIO_PORT9 | GPIO_PIN18; + } + + break; + + case PWM::Submodule2: + if (pad == IOMUX::Pad::GPIO_AD_20) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT11 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_AD_20_INDEX); + ret.gpio_portpin = GPIO_PORT9 | GPIO_PIN19; + } + + break; + + case PWM::Submodule3: + if (pad == IOMUX::Pad::GPIO_AD_21) { + ret.gpio_out = GPIO_PERIPH | GPIO_ALT11 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_AD_21_INDEX); + ret.gpio_portpin = GPIO_PORT9 | GPIO_PIN20; + } + + break; + } + + break; + } + + constexpr_assert(ret.gpio_out != 0, "Invalid PWM/Pad config"); + ret.gpio_out |= IOMUX_CMOS_OUTPUT | IOMUX_PULL_NONE | IOMUX_DRIVE_HIGHSTRENGTH | IOMUX_SLEW_FAST; + + switch (pwm_config.module) { + case PWM::PWM1_PWM_A: + case PWM::PWM2_PWM_A: + case PWM::PWM3_PWM_A: + case PWM::PWM4_PWM_A: + ret.val_offset = PWMA_VAL; + break; + + case PWM::PWM1_PWM_B: + case PWM::PWM2_PWM_B: + case PWM::PWM3_PWM_B: + case PWM::PWM4_PWM_B: + ret.val_offset = PWMB_VAL; + break; + + case PWM::PWM1_PWM_X: + case PWM::PWM2_PWM_X: + case PWM::PWM3_PWM_X: + case PWM::PWM4_PWM_X: + ret.val_offset = PWMX_VAL; + break; + + default: + constexpr_assert(false, "not implemented"); + } + + switch (pwm_config.submodule) { + case PWM::Submodule0: + ret.sub_module = SM0; + ret.sub_module_bits = MCTRL_LDOK(1 << SM0); + break; + + case PWM::Submodule1: + ret.sub_module = SM1; + ret.sub_module_bits = MCTRL_LDOK(1 << SM1); + break; + + case PWM::Submodule2: + ret.sub_module = SM2; + ret.sub_module_bits = MCTRL_LDOK(1 << SM2); + break; + + case PWM::Submodule3: + ret.sub_module = SM3; + ret.sub_module_bits = MCTRL_LDOK(1 << SM3); + break; + } + + ret.gpio_in = 0; // TODO (not used yet) + + // find timer index + ret.timer_index = 0xff; + const uint32_t timer_base = getFlexPWMBaseRegister(pwm); + + for (int i = 0; i < MAX_IO_TIMERS; ++i) { + if (io_timers_conf[i].base == timer_base && io_timers_conf[i].submodle == ret.sub_module) { + ret.timer_index = i; + break; + } + } + + constexpr_assert(ret.timer_index != 0xff, "Timer not found"); + + return ret; +} + +static inline constexpr timer_io_channels_t initIOTimerChannelDshot(const io_timers_t io_timers_conf[MAX_IO_TIMERS], + PWM::FlexPWMConfig pwm_config, IOMUX::Pad pad, uint32_t dshot_pinmux, uint32_t flexio_pin) +{ + timer_io_channels_t ret = initIOTimerChannel(io_timers_conf, pwm_config, pad); + + ret.dshot.pinmux = dshot_pinmux; + ret.dshot.flexio_pin = flexio_pin; + return ret; +} + +static inline constexpr io_timers_t initIOPWM(PWM::FlexPWM pwm, PWM::FlexPWMSubmodule sub) +{ + io_timers_t ret{}; + + ret.base = getFlexPWMBaseRegister(pwm); + ret.submodle = sub; + return ret; +} + + + +static inline constexpr io_timers_t initIOPWMDshot(PWM::FlexPWM pwm, PWM::FlexPWMSubmodule sub) +{ + io_timers_t ret{}; + + ret.base = getFlexPWMBaseRegister(pwm); + ret.submodle = sub; + return ret; +} diff --git a/platforms/nuttx/src/px4/nxp/rt117x/include/px4_arch/micro_hal.h b/platforms/nuttx/src/px4/nxp/rt117x/include/px4_arch/micro_hal.h new file mode 100644 index 000000000000..189eaeaa1a23 --- /dev/null +++ b/platforms/nuttx/src/px4/nxp/rt117x/include/px4_arch/micro_hal.h @@ -0,0 +1,122 @@ +/**************************************************************************** + * + * Copyright (c) 2019 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ +#pragma once + +#include "../../../nxp_common/include/px4_arch/micro_hal.h" + +__BEGIN_DECLS + +#define PX4_SOC_ARCH_ID PX4_SOC_ARCH_ID_NXPIMXRT1176 +#define PX4_NUMBER_I2C_BUSES 6 + +#define GPIO_OUTPUT_SET GPIO_OUTPUT_ONE +#define GPIO_OUTPUT_CLEAR GPIO_OUTPUT_ZERO + +#include +#include +#include +#include +//# include todo:Upsteam UID access + +/* imxrt defines the 64 bit UUID as + * + * OCOTP 0x410 bits 31:0 + * OCOTP 0x420 bits 63:32 + * + * PX4 uses the words in bigendian order MSB to LSB + * word [0] [1] + * bits 63-32, 31-00, + */ +#define PX4_CPU_UUID_BYTE_LENGTH 8 +#define PX4_CPU_UUID_WORD32_LENGTH (PX4_CPU_UUID_BYTE_LENGTH/sizeof(uint32_t)) + +/* The mfguid will be an array of bytes with + * MSD @ index 0 - LSD @ index PX4_CPU_MFGUID_BYTE_LENGTH-1 + * + * It will be converted to a string with the MSD on left and LSD on the right most position. + */ +#define PX4_CPU_MFGUID_BYTE_LENGTH PX4_CPU_UUID_BYTE_LENGTH + +/* define common formating across all commands */ + +#define PX4_CPU_UUID_WORD32_FORMAT "%08x" +#define PX4_CPU_UUID_WORD32_SEPARATOR ":" + +#define PX4_CPU_UUID_WORD32_UNIQUE_H 0 /* Least significant digits change the most (die wafer,X,Y */ +#define PX4_CPU_UUID_WORD32_UNIQUE_M 1 /* Most significant digits change the least (lot#) */ + +/* Separator nnn:nnn:nnnn 2 char per byte term */ +#define PX4_CPU_UUID_WORD32_FORMAT_SIZE (PX4_CPU_UUID_WORD32_LENGTH-1+(2*PX4_CPU_UUID_BYTE_LENGTH)+1) +#define PX4_CPU_MFGUID_FORMAT_SIZE ((2*PX4_CPU_MFGUID_BYTE_LENGTH)+1) + +/* bus_num is 1 based on imx and must be translated from the legacy one based */ + +#define PX4_BUS_OFFSET 0 /* imxrt buses are 1 based no adjustment needed */ + +#define px4_savepanic(fileno, context, length) ssarc_dump_savepanic(fileno, context, length) + +#if defined(CONFIG_BOARD_CRASHDUMP) +# define HAS_SSARC 1 +# define PX4_HF_GETDESC_IOCTL SSARC_DUMP_GETDESC_IOCTL +# define PX4_SSARC_DUMP_BASE IMXRT_SSARC_HP_BASE +# define PX4_SSARC_DUMP_SIZE 9216 +# define PX4_SSARC_BLOCK_SIZE 16 +# define PX4_SSARC_BLOCK_DATA 9 +# define PX4_SSARC_HEADER_SIZE 27 +#endif + + +#define px4_spibus_initialize(bus_num_1based) imxrt_lpspibus_initialize(PX4_BUS_NUMBER_FROM_PX4(bus_num_1based)) + +#define px4_i2cbus_initialize(bus_num_1based) imxrt_i2cbus_initialize(PX4_BUS_NUMBER_FROM_PX4(bus_num_1based)) +#define px4_i2cbus_uninitialize(pdev) imxrt_i2cbus_uninitialize(pdev) + +#define px4_arch_configgpio(pinset) imxrt_config_gpio(pinset) +#define px4_arch_unconfiggpio(pinset) +#define px4_arch_gpioread(pinset) imxrt_gpio_read(pinset) +#define px4_arch_gpiowrite(pinset, value) imxrt_gpio_write(pinset, value) + +int imxrt_gpiosetevent(uint32_t pinset, bool risingedge, bool fallingedge, bool event, xcpt_t func, void *arg); + +#define px4_arch_gpiosetevent(pinset,r,f,e,fp,a) imxrt_gpiosetevent(pinset,r,f,e,fp,a) + +#define PX4_MAKE_GPIO_INPUT(gpio) (((gpio) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_INPUT )) +#define PX4_MAKE_GPIO_PULLED_INPUT(gpio, pull) (PX4_MAKE_GPIO_INPUT((gpio)) | (pull)) +#define PX4_MAKE_GPIO_OUTPUT_CLEAR(gpio) (((gpio) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_OUTPUT | GPIO_OUTPUT_ZERO | IOMUX_CMOS_OUTPUT | IOMUX_PULL_KEEP | IOMUX_SLEW_FAST)) +#define PX4_MAKE_GPIO_OUTPUT_SET(gpio) (((gpio) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_OUTPUT | GPIO_OUTPUT_ONE | IOMUX_CMOS_OUTPUT | IOMUX_PULL_KEEP | IOMUX_SLEW_FAST)) + +#if defined(CONFIG_IMXRT_FLEXSPI) +# define HAS_FLEXSPI +#endif + +__END_DECLS diff --git a/platforms/nuttx/src/px4/nxp/rt117x/include/px4_arch/px4io_serial.h b/platforms/nuttx/src/px4/nxp/rt117x/include/px4_arch/px4io_serial.h new file mode 100644 index 000000000000..3252b5817f0f --- /dev/null +++ b/platforms/nuttx/src/px4/nxp/rt117x/include/px4_arch/px4io_serial.h @@ -0,0 +1,36 @@ +/**************************************************************************** + * + * Copyright (c) 2022 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#pragma once + +#include "../../../imxrt/include/px4_arch/px4io_serial.h" diff --git a/platforms/nuttx/src/px4/nxp/rt117x/include/px4_arch/spi_hw_description.h b/platforms/nuttx/src/px4/nxp/rt117x/include/px4_arch/spi_hw_description.h new file mode 100644 index 000000000000..64cad11a3b1b --- /dev/null +++ b/platforms/nuttx/src/px4/nxp/rt117x/include/px4_arch/spi_hw_description.h @@ -0,0 +1,238 @@ +/**************************************************************************** + * + * Copyright (C) 2020 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#pragma once + +#include +#include + +#if defined(CONFIG_SPI) + +#include + +constexpr bool validateSPIConfig(const px4_spi_bus_t spi_busses_conf[SPI_BUS_MAX_BUS_ITEMS]) +{ + const bool nuttx_enabled_spi_buses[] = { +#ifdef CONFIG_IMXRT_LPSPI1 + true, +#else + false, +#endif +#ifdef CONFIG_IMXRT_LPSPI2 + true, +#else + false, +#endif +#ifdef CONFIG_IMXRT_LPSPI3 + true, +#else + false, +#endif +#ifdef CONFIG_IMXRT_LPSPI4 + true, +#else + false, +#endif +#ifdef CONFIG_IMXRT_LPSPI5 + true, +#else + false, +#endif +#ifdef CONFIG_IMXRT_LPSPI6 + true, +#else + false, +#endif + }; + + for (unsigned i = 0; i < sizeof(nuttx_enabled_spi_buses) / sizeof(nuttx_enabled_spi_buses[0]); ++i) { + bool found_bus = false; + + for (int j = 0; j < SPI_BUS_MAX_BUS_ITEMS; ++j) { + if (spi_busses_conf[j].bus == (int)i + 1) { + found_bus = true; + } + } + + // Either the bus is enabled in NuttX and configured in spi_busses_conf, or disabled and not configured + constexpr_assert(found_bus == nuttx_enabled_spi_buses[i], "SPI bus config mismatch (CONFIG_STM32H7_SPIx)"); + } + + return false; +} + +static inline constexpr px4_spi_bus_device_t initSPIDevice(uint32_t devid, SPI::CS cs_gpio, SPI::DRDY drdy_gpio = {}) +{ + px4_spi_bus_device_t ret{}; + ret.cs_gpio = getGPIOPort(cs_gpio.port) | getGPIOPin(cs_gpio.pin) | (GPIO_OUTPUT | GPIO_OUTPUT_ONE | CS_IOMUX); + + if (drdy_gpio.port != GPIO::PortInvalid) { + ret.drdy_gpio = getGPIOPort(drdy_gpio.port) | getGPIOPin(drdy_gpio.pin) | (GPIO_INPUT | DRDY_IOMUX); + } + + if (PX4_SPIDEVID_TYPE(devid) == 0) { // it's a PX4 device (internal or external) + ret.devid = PX4_SPIDEV_ID(PX4_SPI_DEVICE_ID, devid); + + } else { // it's a NuttX device (e.g. SPIDEV_FLASH(0)) + ret.devid = devid; + } + + ret.devtype_driver = PX4_SPI_DEV_ID(devid); + return ret; +} + +static inline constexpr px4_spi_bus_t initSPIBus(SPI::Bus bus, const px4_spi_bus_devices_t &devices, + GPIO::GPIOPin power_enable = {}) +{ + px4_spi_bus_t ret{}; + ret.requires_locking = false; + + for (int i = 0; i < SPI_BUS_MAX_DEVICES; ++i) { + ret.devices[i] = devices.devices[i]; + + + if (ret.devices[i].cs_gpio != 0) { + if (PX4_SPI_DEVICE_ID == PX4_SPIDEVID_TYPE(ret.devices[i].devid)) { + int same_devices_count = 0; + + for (int j = 0; j < i; ++j) { + if (ret.devices[j].cs_gpio != 0) { + same_devices_count += (ret.devices[i].devid & 0xff) == (ret.devices[j].devid & 0xff); + } + } + + // increment the 2. LSB byte to allow multiple devices of the same type + ret.devices[i].devid |= same_devices_count << 8; + + } else { + // A bus potentially requires locking if it is accessed by non-PX4 devices (i.e. NuttX drivers) + ret.requires_locking = true; + } + } + } + + ret.bus = (int)bus; + ret.is_external = false; + + if (power_enable.port != GPIO::PortInvalid) { + ret.power_enable_gpio = getGPIOPort(power_enable.port) | getGPIOPin(power_enable.pin) | + (GPIO_OUTPUT | GPIO_OUTPUT_ZERO | GENERAL_OUTPUT_IOMUX); + } + + return ret; +} + +// just a wrapper since we cannot pass brace-enclosed initialized arrays directly as arguments +struct bus_device_external_cfg_array_t { + SPI::bus_device_external_cfg_t devices[SPI_BUS_MAX_DEVICES]; +}; + +static inline constexpr px4_spi_bus_t initSPIBusExternal(SPI::Bus bus, const bus_device_external_cfg_array_t &devices) +{ + px4_spi_bus_t ret{}; + + for (int i = 0; i < SPI_BUS_MAX_DEVICES; ++i) { + if (devices.devices[i].cs_gpio.port == GPIO::PortInvalid) { + break; + } + + ret.devices[i] = initSPIDevice(i, devices.devices[i].cs_gpio, devices.devices[i].drdy_gpio); + } + + ret.bus = (int)bus; + ret.is_external = true; + ret.requires_locking = false; // external buses are never accessed by NuttX drivers + return ret; +} + +static inline constexpr SPI::bus_device_external_cfg_t initSPIConfigExternal(SPI::CS cs_gpio, SPI::DRDY drdy_gpio = {}) +{ + SPI::bus_device_external_cfg_t ret{}; + ret.cs_gpio = cs_gpio; + ret.drdy_gpio = drdy_gpio; + return ret; +} + +struct px4_spi_bus_array_t { + px4_spi_bus_t item[SPI_BUS_MAX_BUS_ITEMS]; +}; +#if defined(BOARD_HAS_HW_SPLIT_VERSIONING) +static inline constexpr px4_spi_bus_all_hw_t initSPIFmumID(hw_fmun_id_t hw_fmun_id, + const px4_spi_bus_array_t &bus_items) +{ + px4_spi_bus_all_hw_t ret{}; + + for (int i = 0; i < SPI_BUS_MAX_BUS_ITEMS; ++i) { + ret.buses[i] = bus_items.item[i]; + } + + ret.board_hw_fmun_id = hw_fmun_id; + return ret; +} +#else +static inline constexpr px4_spi_bus_all_hw_t initSPIHWVersion(int hw_version_revision, + const px4_spi_bus_array_t &bus_items) +{ + px4_spi_bus_all_hw_t ret{}; + + for (int i = 0; i < SPI_BUS_MAX_BUS_ITEMS; ++i) { + ret.buses[i] = bus_items.item[i]; + } + + ret.board_hw_version_revision = hw_version_revision; + return ret; +} +#endif +constexpr bool validateSPIConfig(const px4_spi_bus_t spi_buses_conf[SPI_BUS_MAX_BUS_ITEMS]); + +constexpr bool validateSPIConfig(const px4_spi_bus_all_hw_t spi_buses_conf[BOARD_NUM_SPI_CFG_HW_VERSIONS]) +{ + for (int ver = 0; ver < BOARD_NUM_SPI_CFG_HW_VERSIONS; ++ver) { + validateSPIConfig(spi_buses_conf[ver].buses); + } + + for (int ver = 1; ver < BOARD_NUM_SPI_CFG_HW_VERSIONS; ++ver) { + for (int i = 0; i < SPI_BUS_MAX_BUS_ITEMS; ++i) { + const bool equal_power_enable_gpio = spi_buses_conf[ver].buses[i].power_enable_gpio == spi_buses_conf[ver - + 1].buses[i].power_enable_gpio; + // currently board_control_spi_sensors_power_configgpio() depends on that - this restriction can be removed + // by ensuring board_control_spi_sensors_power_configgpio() is called after the hw version is determined + // and SPI config is initialized. + constexpr_assert(equal_power_enable_gpio, "All HW versions must define the same power enable GPIO"); + } + } + + return false; +} + +#endif // CONFIG_SPI diff --git a/platforms/nuttx/src/px4/nxp/rt117x/include/ssarc_dump.h b/platforms/nuttx/src/px4/nxp/rt117x/include/ssarc_dump.h new file mode 100644 index 000000000000..5fe92762c46f --- /dev/null +++ b/platforms/nuttx/src/px4/nxp/rt117x/include/ssarc_dump.h @@ -0,0 +1,125 @@ +/**************************************************************************** + * + * Copyright (C) 2022 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include +#include + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +#pragma once + +#define SSARC_DUMP_GETDESC_IOCTL _DIOC(0x0000) /* Returns a progmem_s */ +#define SSARC_DUMP_CLEAR_IOCTL _DIOC(0x0010) /* Erases flash sector */ + +/**************************************************************************** + * Public Types + ****************************************************************************/ + +#ifndef __ASSEMBLY__ + +struct ssarc_s { + struct timespec lastwrite; + int fileno; + int len; + int flags; +}; + +/**************************************************************************** + * Public Data + ****************************************************************************/ + +#undef EXTERN +#if defined(__cplusplus) +# define EXTERN extern "C" +extern "C" +{ +#else +# define EXTERN extern +#endif + +/**************************************************************************** + * Public Function Prototypes + ****************************************************************************/ + +/**************************************************************************** + * Function: ssarc_dump_initialize + * + * Description: + * Initialize the Progmem dump driver + * + * Input Parameters: + * devpath - the path to instantiate the files. + * sizes - Pointer to a any array of file sizes to create + * the last entry should be 0 + * A size of -1 will use all the remaining spaces + * + * Returned Value: + * Number of files created on success; Negated errno on failure. + * + * Assumptions: + * + ****************************************************************************/ + +int ssarc_dump_initialize(char *devpath, int *sizes); + +/**************************************************************************** + * Function: ssarc_dump_savepanic + * + * Description: + * Saves the panic context in a previously allocated BBSRAM file + * + * Parameters: + * fileno - the value returned by the ioctl SSARC_DUMP_GETDESC_IOCTL + * context - Pointer to a any array of bytes to save + * length - The length of the data pointed to byt context + * + * Returned Value: + * Length saved or negated errno. + * + * Assumptions: + * + ****************************************************************************/ + +int ssarc_dump_savepanic(int fileno, uint8_t *context, int length); + +#undef EXTERN +#ifdef __cplusplus +} +#endif +#endif /* __ASSEMBLY__ */ diff --git a/platforms/nuttx/src/px4/nxp/rt117x/px4io_serial/CMakeLists.txt b/platforms/nuttx/src/px4/nxp/rt117x/px4io_serial/CMakeLists.txt new file mode 100644 index 000000000000..df450593b1b8 --- /dev/null +++ b/platforms/nuttx/src/px4/nxp/rt117x/px4io_serial/CMakeLists.txt @@ -0,0 +1,36 @@ +############################################################################ +# +# Copyright (c) 2015-2019 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +px4_add_library(arch_px4io_serial + px4io_serial.cpp +) diff --git a/platforms/nuttx/src/px4/nxp/rt117x/px4io_serial/px4io_serial.cpp b/platforms/nuttx/src/px4/nxp/rt117x/px4io_serial/px4io_serial.cpp new file mode 100644 index 000000000000..035801c8f67f --- /dev/null +++ b/platforms/nuttx/src/px4/nxp/rt117x/px4io_serial/px4io_serial.cpp @@ -0,0 +1,516 @@ +/**************************************************************************** + * + * Copyright (c) 2022 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file px4io_serial.cpp + * + * Serial interface for PX4IO on RT1170 + */ + +#include + +#include +#include +#include "hardware/imxrt_lpuart.h" +#include "hardware/imxrt_dmamux.h" +#include "imxrt_lowputc.h" +#include "imxrt_edma.h" +#include "imxrt_periphclks.h" + + +/* serial register accessors */ +#define REG(_x) (*(volatile uint32_t *)(PX4IO_SERIAL_BASE + (_x))) +#define rBAUD REG(IMXRT_LPUART_BAUD_OFFSET) +#define rSTAT_ERR_FLAGS_MASK (LPUART_STAT_PF | LPUART_STAT_FE | LPUART_STAT_NF | LPUART_STAT_OR) +#define rSTAT REG(IMXRT_LPUART_STAT_OFFSET) +#define rCTRL REG(IMXRT_LPUART_CTRL_OFFSET) +#define rDATA REG(IMXRT_LPUART_DATA_OFFSET) + +#define DMA_BUFFER_MASK (ARMV7M_DCACHE_LINESIZE - 1) +#define DMA_ALIGN_UP(n) (((n) + DMA_BUFFER_MASK) & ~DMA_BUFFER_MASK) + +uint8_t ArchPX4IOSerial::_io_buffer_storage[DMA_ALIGN_UP(sizeof(IOPacket))]; + +ArchPX4IOSerial::ArchPX4IOSerial() : + _tx_dma(nullptr), + _rx_dma(nullptr), + _current_packet(nullptr), + _rx_dma_result(_dma_status_inactive), + _completion_semaphore(SEM_INITIALIZER(0)), + _pc_dmaerrs(perf_alloc(PC_COUNT, MODULE_NAME": DMA errors")) +{ +} + +ArchPX4IOSerial::~ArchPX4IOSerial() +{ + if (_tx_dma != nullptr) { + imxrt_dmach_stop(_tx_dma); + imxrt_dmach_free(_tx_dma); + } + + if (_rx_dma != nullptr) { + imxrt_dmach_stop(_rx_dma); + imxrt_dmach_free(_rx_dma); + } + + /* reset the UART */ + rCTRL = 0; + + /* detach our interrupt handler */ + up_disable_irq(PX4IO_SERIAL_VECTOR); + irq_detach(PX4IO_SERIAL_VECTOR); + + /* restore the GPIOs */ + px4_arch_unconfiggpio(PX4IO_SERIAL_TX_GPIO); + px4_arch_unconfiggpio(PX4IO_SERIAL_RX_GPIO); + + /* Disable clock for the USART peripheral */ + PX4IO_SERIAL_CLOCK_OFF(); + + /* and kill our semaphores */ + px4_sem_destroy(&_completion_semaphore); + + perf_free(_pc_dmaerrs); +} + +int +ArchPX4IOSerial::init() +{ + /* initialize base implementation */ + int r = PX4IO_serial::init((IOPacket *)&_io_buffer_storage[0]); + + if (r != 0) { + return r; + } + + /* allocate DMA */ + _tx_dma = imxrt_dmach_alloc(PX4IO_SERIAL_TX_DMAMAP | DMAMUX_CHCFG_ENBL, 0); + _rx_dma = imxrt_dmach_alloc(PX4IO_SERIAL_RX_DMAMAP | DMAMUX_CHCFG_ENBL, 0); + + if ((_tx_dma == nullptr) || (_rx_dma == nullptr)) { + return -1; + } + + struct uart_config_s config = { + .baud = PX4IO_SERIAL_BITRATE, + .parity = 0, /* 0=none, 1=odd, 2=even */ + .bits = 8, /* Number of bits (5-9) */ + .stopbits2 = false, /* true: Configure with 2 stop bits instead of 1 */ + .userts = false, /* True: Assert RTS when there are data to be sent */ + .invrts = false, /* True: Invert sense of RTS pin (true=active high) */ + .usects = false, /* True: Condition transmission on CTS asserted */ + .users485 = false, /* True: Assert RTS while transmission progresses */ + }; + + + int rv = imxrt_lpuart_configure(PX4IO_SERIAL_BASE, &config); + + if (rv == OK) { + /* configure pins for serial use */ + px4_arch_configgpio(PX4IO_SERIAL_TX_GPIO); + px4_arch_configgpio(PX4IO_SERIAL_RX_GPIO); + + /* attach serial interrupt handler */ + irq_attach(PX4IO_SERIAL_VECTOR, _interrupt, this); + up_enable_irq(PX4IO_SERIAL_VECTOR); + + /* Idel after Stop, , enable error and line idle interrupts */ + uint32_t regval = rCTRL; + regval &= ~(LPUART_CTRL_IDLECFG_MASK | LPUART_CTRL_ILT); + regval |= LPUART_CTRL_ILT | LPUART_CTRL_IDLECFG_1 | LPUART_CTRL_ILIE | + LPUART_CTRL_RE | LPUART_CTRL_TE; + rCTRL = regval; + + /* create semaphores */ + px4_sem_init(&_completion_semaphore, 0, 0); + + /* _completion_semaphore use case is a signal */ + + px4_sem_setprotocol(&_completion_semaphore, SEM_PRIO_NONE); + + /* XXX this could try talking to IO */ + } + + return rv; +} + +int +ArchPX4IOSerial::ioctl(unsigned operation, unsigned &arg) +{ + switch (operation) { + + case 1: /* XXX magic number - test operation */ + switch (arg) { + case 0: + syslog(LOG_INFO, "test 0\n"); + + /* kill DMA, this is a PIO test */ + imxrt_dmach_stop(_tx_dma); + imxrt_dmach_stop(_rx_dma); + + /* disable UART DMA */ + + rBAUD &= ~(LPUART_BAUD_RDMAE | LPUART_BAUD_TDMAE); + + for (;;) { + while (!(rSTAT & LPUART_STAT_TDRE)) + ; + + rDATA = 0x55; + } + + return 0; + + case 1: { + unsigned fails = 0; + + for (unsigned count = 0;; count++) { + uint16_t value = count & 0xffff; + + if (write((PX4IO_PAGE_TEST << 8) | PX4IO_P_TEST_LED, &value, 1) != 0) { + fails++; + } + + if (count >= 5000) { + syslog(LOG_INFO, "==== test 1 : %u failures ====\n", fails); + perf_print_counter(_pc_txns); + perf_print_counter(_pc_retries); + perf_print_counter(_pc_timeouts); + perf_print_counter(_pc_crcerrs); + perf_print_counter(_pc_dmaerrs); + perf_print_counter(_pc_protoerrs); + perf_print_counter(_pc_uerrs); + perf_print_counter(_pc_idle); + perf_print_counter(_pc_badidle); + count = 0; + } + } + + return 0; + } + + case 2: + syslog(LOG_INFO, "test 2\n"); + return 0; + } + + default: + break; + } + + return -1; +} + +int +ArchPX4IOSerial::_bus_exchange(IOPacket *_packet) +{ + // to be paranoid ensure all previous DMA transfers are cleared + _abort_dma(); + + _current_packet = _packet; + + /* clear data that may be in the RDR and clear overrun error: */ + while (rSTAT & LPUART_STAT_RDRF) { + (void)rDATA; + } + + rSTAT |= (rSTAT_ERR_FLAGS_MASK | LPUART_STAT_IDLE); /* clear the flags */ + + /* start RX DMA */ + perf_begin(_pc_txns); + + /* DMA setup time ~3µs */ + _rx_dma_result = _dma_status_waiting; + + struct imxrt_edma_xfrconfig_s rx_config; + rx_config.saddr = PX4IO_SERIAL_BASE + IMXRT_LPUART_DATA_OFFSET; + rx_config.daddr = reinterpret_cast(_current_packet); + rx_config.soff = 0; + rx_config.doff = 1; + rx_config.iter = sizeof(*_current_packet); + rx_config.flags = EDMA_CONFIG_LINKTYPE_LINKNONE; + rx_config.ssize = EDMA_8BIT; + rx_config.dsize = EDMA_8BIT; + rx_config.nbytes = 1; +#ifdef CONFIG_IMXRT_EDMA_ELINK + rx_config.linkch = NULL; +#endif + imxrt_dmach_xfrsetup(_rx_dma, &rx_config); + + /* Enable receive DMA for the UART */ + + rBAUD |= LPUART_BAUD_RDMAE; + + imxrt_dmach_start(_rx_dma, _dma_callback, (void *)this); + + /* Clean _current_packet, so DMA can see the data */ + up_clean_dcache((uintptr_t)_current_packet, + (uintptr_t)_current_packet + DMA_ALIGN_UP(sizeof(IOPacket))); + + /* start TX DMA - no callback if we also expect a reply */ + /* DMA setup time ~3µs */ + + struct imxrt_edma_xfrconfig_s tx_config; + tx_config.saddr = reinterpret_cast(_current_packet); + tx_config.daddr = PX4IO_SERIAL_BASE + IMXRT_LPUART_DATA_OFFSET; + tx_config.soff = 1; + tx_config.doff = 0; + tx_config.iter = sizeof(*_current_packet); + tx_config.flags = EDMA_CONFIG_LINKTYPE_LINKNONE; + tx_config.ssize = EDMA_8BIT; + tx_config.dsize = EDMA_8BIT; + tx_config.nbytes = 1; +#ifdef CONFIG_IMXRT_EDMA_ELINK + tx_config.linkch = NULL; +#endif + imxrt_dmach_xfrsetup(_tx_dma, &tx_config); + + + /* Enable transmit DMA for the UART */ + + rBAUD |= LPUART_BAUD_TDMAE; + + imxrt_dmach_start(_tx_dma, nullptr, nullptr); + + /* compute the deadline for a 10ms timeout */ + struct timespec abstime; + clock_gettime(CLOCK_REALTIME, &abstime); + abstime.tv_nsec += 10 * 1000 * 1000; + + if (abstime.tv_nsec >= 1000 * 1000 * 1000) { + abstime.tv_sec++; + abstime.tv_nsec -= 1000 * 1000 * 1000; + } + + /* wait for the transaction to complete - 64 bytes @ 1.5Mbps ~426µs */ + int ret; + + for (;;) { + ret = sem_timedwait(&_completion_semaphore, &abstime); + + if (ret == OK) { + /* check for DMA errors */ + if (_rx_dma_result != OK) { + // stream transfer error, ensure all DMA is also stopped before exiting early + _abort_dma(); + perf_count(_pc_dmaerrs); + ret = -EIO; + break; + } + + /* check packet CRC - corrupt packet errors mean IO receive CRC error */ + uint8_t crc = _current_packet->crc; + _current_packet->crc = 0; + + if ((crc != crc_packet(_current_packet)) || (PKT_CODE(*_current_packet) == PKT_CODE_CORRUPT)) { + _abort_dma(); + perf_count(_pc_crcerrs); + ret = -EIO; + break; + } + + /* successful txn (may still be reporting an error) */ + break; + } + + if (errno == ETIMEDOUT) { + /* something has broken - clear out any partial DMA state and reconfigure */ + _abort_dma(); + perf_count(_pc_timeouts); + perf_cancel(_pc_txns); /* don't count this as a transaction */ + break; + } + + /* we might? see this for EINTR */ + syslog(LOG_ERR, "unexpected ret %d/%d\n", ret, errno); + } + + /* reset DMA status */ + _rx_dma_result = _dma_status_inactive; + + /* update counters */ + perf_end(_pc_txns); + + return ret; +} + +void +ArchPX4IOSerial::_dma_callback(DMACH_HANDLE handle, void *arg, bool done, int result) +{ + if (arg != nullptr) { + ArchPX4IOSerial *ps = reinterpret_cast(arg); + + ps->_do_rx_dma_callback(done, result); + } +} + +void +ArchPX4IOSerial::_do_rx_dma_callback(bool done, int result) +{ + /* on completion of a reply, wake the waiter */ + + if (done && _rx_dma_result == _dma_status_waiting) { + + if (result != OK) { + + /* check for packet overrun - this will occur after DMA completes */ + uint32_t sr = rSTAT; + + if (sr & (LPUART_STAT_OR | LPUART_STAT_RDRF)) { + while (rSTAT & LPUART_STAT_RDRF) { + (void)rDATA; + } + + rSTAT = sr & (LPUART_STAT_OR); + result = -EIO; + } + } + + /* save RX status */ + _rx_dma_result = result; + + /* disable UART DMA */ + + rBAUD &= ~(LPUART_BAUD_RDMAE | LPUART_BAUD_TDMAE); + + /* complete now */ + px4_sem_post(&_completion_semaphore); + } +} + +int +ArchPX4IOSerial::_interrupt(int irq, void *context, void *arg) +{ + if (arg != nullptr) { + ArchPX4IOSerial *instance = reinterpret_cast(arg); + + instance->_do_interrupt(); + } + + return 0; +} + +void +ArchPX4IOSerial::_do_interrupt() +{ + uint32_t sr = rSTAT; + + while (rSTAT & LPUART_STAT_RDRF) { + (void)rDATA; /* read DATA register to clear RDRF */ + } + + rSTAT |= sr & rSTAT_ERR_FLAGS_MASK; /* clear flags */ + + if (sr & (LPUART_STAT_OR | /* overrun error - packet was too big for DMA or DMA was too slow */ + LPUART_STAT_NF | /* noise error - we have lost a byte due to noise */ + LPUART_STAT_FE)) { /* framing error - start/stop bit lost or line break */ + + /* + * If we are in the process of listening for something, these are all fatal; + * abort the DMA with an error. + */ + if (_rx_dma_result == _dma_status_waiting) { + _abort_dma(); + + perf_count(_pc_uerrs); + /* complete DMA as though in error */ + _do_rx_dma_callback(true, -EIO); + + return; + } + + /* XXX we might want to use FE / line break as an out-of-band handshake ... handle it here */ + + /* don't attempt to handle IDLE if it's set - things went bad */ + return; + } + + if (sr & LPUART_STAT_IDLE) { + + rSTAT |= LPUART_STAT_IDLE; /* clear IDLE flag */ + + /* if there is DMA reception going on, this is a short packet */ + if (_rx_dma_result == _dma_status_waiting) { + /* Invalidate _current_packet, so we get fresh data from RAM */ + up_invalidate_dcache((uintptr_t)_current_packet, + (uintptr_t)_current_packet + DMA_ALIGN_UP(sizeof(IOPacket))); + + /* verify that the received packet is complete */ + size_t length = sizeof(*_current_packet) - imxrt_dmach_getcount(_rx_dma); + + if ((length < 1) || (length < PKT_SIZE(*_current_packet))) { + perf_count(_pc_badidle); + + /* stop the receive DMA */ + imxrt_dmach_stop(_rx_dma); + + /* complete the short reception */ + _do_rx_dma_callback(true, -EIO); + return; + } + + perf_count(_pc_idle); + + /* complete the short reception */ + + _do_rx_dma_callback(true, _dma_status_done); + + /* stop the receive DMA */ + imxrt_dmach_stop(_rx_dma); + } + } +} + +void +ArchPX4IOSerial::_abort_dma() +{ + /* stop DMA */ + imxrt_dmach_stop(_tx_dma); + imxrt_dmach_stop(_rx_dma); + + /* disable UART DMA */ + + rBAUD &= ~(LPUART_BAUD_RDMAE | LPUART_BAUD_TDMAE); + + /* clear data that may be in the DATA register and clear overrun error: */ + uint32_t sr = rSTAT; + + if (sr & (LPUART_STAT_OR | LPUART_STAT_RDRF)) { + + while (rSTAT & LPUART_STAT_RDRF) { + (void)rDATA; + } + } + + rSTAT |= sr & (rSTAT_ERR_FLAGS_MASK | LPUART_STAT_IDLE); /* clear flags */ +} diff --git a/platforms/nuttx/src/px4/nxp/rt117x/ssarc/CMakeLists.txt b/platforms/nuttx/src/px4/nxp/rt117x/ssarc/CMakeLists.txt new file mode 100644 index 000000000000..37c64bbbe85f --- /dev/null +++ b/platforms/nuttx/src/px4/nxp/rt117x/ssarc/CMakeLists.txt @@ -0,0 +1,40 @@ +############################################################################ +# +# Copyright (c) 2023 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +cmake_policy(PUSH) +cmake_policy(SET CMP0079 NEW) +px4_add_library(arch_ssarc + ssarc_dump.c +) +target_link_libraries(px4_layer PUBLIC arch_ssarc) +cmake_policy(POP) diff --git a/platforms/nuttx/src/px4/nxp/rt117x/ssarc/ssarc_dump.c b/platforms/nuttx/src/px4/nxp/rt117x/ssarc/ssarc_dump.c new file mode 100644 index 000000000000..fcbcf2bc777c --- /dev/null +++ b/platforms/nuttx/src/px4/nxp/rt117x/ssarc/ssarc_dump.c @@ -0,0 +1,724 @@ +/**************************************************************************** + * + * Copyright (c) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include +#include + +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include + +#ifdef CONFIG_BOARD_CRASHDUMP + +#include +#include "chip.h" + +#ifdef HAS_SSARC + +#include + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +#define SSARC_DUMP_FILES 5 +#define MAX_OPENCNT (255) /* Limit of uint8_t */ +#define SSARCH_HEADER_SIZE (sizeof(struct ssarcfh_s)) + +/**************************************************************************** + * Private Types + ****************************************************************************/ + +struct ssarc_data_s { + uint8_t data[PX4_SSARC_BLOCK_DATA]; + uint8_t padding[PX4_SSARC_BLOCK_SIZE - PX4_SSARC_BLOCK_DATA]; +}; + +struct ssarcfh_s { + int32_t fileno; /* The minor number */ + uint32_t len; /* Total Bytes in this file */ + uint8_t padding0[8]; + uint32_t clean; /* No data has been written to the file */ + uint8_t padding1[12]; + struct timespec lastwrite; /* Last write time */ + uint8_t padding2[8]; + struct ssarc_data_s data[]; /* Data in the file */ +}; + +struct ssarc_dump_s { + sem_t exclsem; /* For atomic accesses to this structure */ + uint8_t refs; /* Number of references */ + struct ssarcfh_s *pf; /* File in progmem */ +}; + +/**************************************************************************** + * Private Function Prototypes + ****************************************************************************/ + +static int ssarc_dump_open(struct file *filep); +static int ssarc_dump_close(struct file *filep); +static off_t ssarc_dump_seek(struct file *filep, off_t offset, + int whence); +static ssize_t ssarc_dump_read(struct file *filep, char *buffer, + size_t len); +static ssize_t ssarc_dump_write(struct file *filep, + const char *buffer, size_t len); +static int ssarc_dump_ioctl(struct file *filep, int cmd, + unsigned long arg); +static int ssarc_dump_poll(struct file *filep, + struct pollfd *fds, bool setup); +#ifndef CONFIG_DISABLE_PSEUDOFS_OPERATIONS +static int ssarc_dump_unlink(struct inode *inode); +#endif + +/**************************************************************************** + * Private Data + ****************************************************************************/ + + +static const struct file_operations ssarc_dump_fops = { + .open = ssarc_dump_open, + .close = ssarc_dump_close, + .read = ssarc_dump_read, + .write = ssarc_dump_write, + .seek = ssarc_dump_seek, + .ioctl = ssarc_dump_ioctl, + .poll = ssarc_dump_poll, +#ifndef CONFIG_DISABLE_PSEUDOFS_OPERATIONS + .unlink = ssarc_dump_unlink +#endif +}; + +static struct ssarc_dump_s g_ssarc[SSARC_DUMP_FILES]; + +/**************************************************************************** + * Name: ssarc_dump_semgive + ****************************************************************************/ + +static void ssarc_dump_semgive(struct ssarc_dump_s *priv) +{ + nxsem_post(&priv->exclsem); +} + +/**************************************************************************** + * Name: ssarc_dump_semtake + * + * Description: + * Take a semaphore handling any exceptional conditions + * + * Input Parameters: + * priv - A reference to the CAN peripheral state + * + * Returned Value: + * None + * + ****************************************************************************/ + +static int ssarc_dump_semtake(struct ssarc_dump_s *priv) +{ + return nxsem_wait_uninterruptible(&priv->exclsem); +} + +/**************************************************************************** + * Name: ssarc_dump_open + * + * Description: Open the device + * + ****************************************************************************/ + +static int ssarc_dump_open(struct file *filep) +{ + struct inode *inode = filep->f_inode; + struct ssarc_dump_s *pmf; + int ret; + + DEBUGASSERT(inode && inode->i_private); + pmf = (struct ssarc_dump_s *)inode->i_private; + + /* Increment the reference count */ + + ret = ssarc_dump_semtake(pmf); + + if (ret < 0) { + return ret; + } + + if (pmf->refs == MAX_OPENCNT) { + return -EMFILE; + + } else { + pmf->refs++; + } + + ssarc_dump_semgive(pmf); + return OK; +} + +/**************************************************************************** + * Name: ssarc_dump_internal_close + * + * Description: + * Close Progmem entry; Recalculate the time and crc + * + ****************************************************************************/ + +static int ssarc_dump_internal_close(struct ssarcfh_s *pf) +{ + struct timespec ts; + clock_gettime(CLOCK_REALTIME, &ts); + pf->lastwrite.tv_sec = ts.tv_sec; + pf->lastwrite.tv_nsec = ts.tv_nsec; + return pf->len; +} + +/**************************************************************************** + * Name: ssarc_dump_close + * + * Description: close the device + * + ****************************************************************************/ + +static int ssarc_dump_close(struct file *filep) +{ + struct inode *inode = filep->f_inode; + struct ssarc_dump_s *pmf; + int ret = OK; + + DEBUGASSERT(inode && inode->i_private); + pmf = (struct ssarc_dump_s *)inode->i_private; + + ret = ssarc_dump_semtake(pmf); + + if (ret < 0) { + return ret; + } + + if (pmf->refs == 0) { + ret = -EIO; + + } else { + pmf->refs--; + + if (pmf->refs == 0) { + if (pmf->pf->clean == 0) { + ssarc_dump_internal_close(pmf->pf); + } + } + } + + ssarc_dump_semgive(pmf); + return ret; +} + +/**************************************************************************** + * Name: ssarc_dump_seek + ****************************************************************************/ + +static off_t ssarc_dump_seek(struct file *filep, off_t offset, + int whence) +{ + struct inode *inode = filep->f_inode; + struct ssarc_dump_s *pmf; + off_t newpos; + int ret; + + DEBUGASSERT(inode && inode->i_private); + pmf = (struct ssarc_dump_s *)inode->i_private; + + ret = ssarc_dump_semtake(pmf); + + if (ret < 0) { + return (off_t)ret; + } + + /* Determine the new, requested file position */ + + switch (whence) { + case SEEK_CUR: + newpos = filep->f_pos + offset; + break; + + case SEEK_SET: + newpos = offset; + break; + + case SEEK_END: + newpos = pmf->pf->len + offset; + break; + + default: + + /* Return EINVAL if the whence argument is invalid */ + + ssarc_dump_semgive(pmf); + return -EINVAL; + } + + /* Opengroup.org: + * + * "The lseek() function shall allow the file offset to be set beyond the + * end of the existing data in the file. If data is later written at this + * point, subsequent reads of data in the gap shall return bytes with the + * value 0 until data is actually written into the gap." + * + * We can conform to the first part, but not the second. But return EINVAL + * if "...the resulting file offset would be negative for a regular file, + * block special file, or directory." + */ + + if (newpos >= 0) { + filep->f_pos = newpos; + ret = newpos; + + } else { + ret = -EINVAL; + } + + ssarc_dump_semgive(pmf); + return ret; +} + +/**************************************************************************** + * Name: ssarc_dump_read + ****************************************************************************/ + +static ssize_t ssarc_dump_read(struct file *filep, char *buffer, + size_t len) +{ + struct inode *inode = filep->f_inode; + struct ssarc_dump_s *pmf; + int ret; + + DEBUGASSERT(inode && inode->i_private); + pmf = (struct ssarc_dump_s *)inode->i_private; + + ret = ssarc_dump_semtake(pmf); + + if (ret < 0) { + return (ssize_t)ret; + } + + /* Trim len if read would go beyond end of device */ + + if ((filep->f_pos + len) > pmf->pf->len) { + len = pmf->pf->len - filep->f_pos; + } + + int offset = filep->f_pos % PX4_SSARC_BLOCK_DATA; + int abs_pos = filep->f_pos / PX4_SSARC_BLOCK_DATA; + size_t to_read = len; + + if (offset != 0) { + memcpy(buffer, &pmf->pf->data[abs_pos], PX4_SSARC_BLOCK_DATA - offset); + to_read -= (PX4_SSARC_BLOCK_DATA - offset); + abs_pos++; + } + + for (size_t i = 0; i < (len / PX4_SSARC_BLOCK_DATA); i++) { + if (to_read >= PX4_SSARC_BLOCK_DATA) { + memcpy(buffer, &pmf->pf->data[abs_pos], PX4_SSARC_BLOCK_DATA); + abs_pos++; + buffer += PX4_SSARC_BLOCK_DATA; + to_read -= PX4_SSARC_BLOCK_DATA; + + } else { + memcpy(buffer, &pmf->pf->data[abs_pos], to_read); + buffer += to_read; + abs_pos++; + } + } + + filep->f_pos += len; + ssarc_dump_semgive(pmf); + return len; +} + +/**************************************************************************** + * Name: ssarc_dump_internal_write + ****************************************************************************/ + +static ssize_t ssarc_dump_internal_write(struct ssarcfh_s *pf, + const char *buffer, + off_t offset, size_t len) +{ + /* Write data */ + for (size_t i = 0; i <= (len / PX4_SSARC_BLOCK_DATA); i++) { + memcpy(&pf->data[offset + i], &buffer[PX4_SSARC_BLOCK_DATA * i], + PX4_SSARC_BLOCK_DATA); + } + + return len; +} + +/**************************************************************************** + * Name: ssarc_dump_write + ****************************************************************************/ + +static ssize_t ssarc_dump_write(struct file *filep, + const char *buffer, size_t len) +{ + struct inode *inode = filep->f_inode; + struct ssarc_dump_s *pmf; + int ret = -EFBIG; + + DEBUGASSERT(inode && inode->i_private); + pmf = (struct ssarc_dump_s *)inode->i_private; + + /* Forbid writes past the end of the device */ + + if (filep->f_pos < (int)pmf->pf->len) { + /* Clamp len to avoid crossing the end of the memory */ + + if ((filep->f_pos + len) > pmf->pf->len) { + len = pmf->pf->len - filep->f_pos; + } + + ret = ssarc_dump_semtake(pmf); + + if (ret < 0) { + return (ssize_t)ret; + } + + ret = len; /* save number of bytes written */ + + ssarc_dump_internal_write(pmf->pf, buffer, filep->f_pos, len); + filep->f_pos += len; + + ssarc_dump_semgive(pmf); + } + + return ret; +} + +/**************************************************************************** + * Name: ssarc_dump_poll + ****************************************************************************/ + +static int ssarc_dump_poll(struct file *filep, struct pollfd *fds, + bool setup) +{ + if (setup) { + fds->revents |= (fds->events & (POLLIN | POLLOUT)); + + if (fds->revents != 0) { + nxsem_post(fds->sem); + } + } + + return OK; +} + +/**************************************************************************** + * Name: ssarc_dump_ioctl + * + * Description: Return device geometry + * + ****************************************************************************/ + +static int ssarc_dump_ioctl(struct file *filep, int cmd, + unsigned long arg) +{ + struct inode *inode = filep->f_inode; + struct ssarc_dump_s *pmf; + int ret = -ENOTTY; + + DEBUGASSERT(inode && inode->i_private); + pmf = (struct ssarc_dump_s *)inode->i_private; + + if (cmd == SSARC_DUMP_GETDESC_IOCTL) { + struct ssarc_s *desc = (struct ssarc_s *)((uintptr_t)arg); + + ret = ssarc_dump_semtake(pmf); + + if (ret < 0) { + return ret; + } + + if (!desc) { + ret = -EINVAL; + + } else { + desc->fileno = pmf->pf->fileno; + desc->len = pmf->pf->len; + desc->flags = ((pmf->pf->clean) ? 0 : 2); + desc->lastwrite = pmf->pf->lastwrite; + + ret = OK; + } + + ssarc_dump_semgive(pmf); + + } + + return ret; +} + +/**************************************************************************** + * Name: ssarc_dump_unlink + * + * Description: + * This function will remove the remove the file from the file system + * it will zero the contents and time stamp. It will leave the fileno + * and pointer to the Progmem intact. + * It should be called called on the file used for the crash dump + * to remove it from visibility in the file system after it is created or + * read thus arming it. + * + ****************************************************************************/ + +#ifndef CONFIG_DISABLE_PSEUDOFS_OPERATIONS +static int ssarc_dump_unlink(struct inode *inode) +{ + struct ssarc_dump_s *pmf; + int ret; + + DEBUGASSERT(inode && inode->i_private); + pmf = (struct ssarc_dump_s *)inode->i_private; + + ret = ssarc_dump_semtake(pmf); + + if (ret < 0) { + return ret; + } + + pmf->pf->lastwrite.tv_nsec = 0; + pmf->pf->lastwrite.tv_sec = 0; + pmf->refs = 0; + + ssarc_dump_semgive(pmf); + nxsem_destroy(&pmf->exclsem); + return 0; +} +#endif + +/**************************************************************************** + * Name: ssarc_dump_probe + * + * Description: Based on the number of files defined and their sizes + * Initializes the base pointers to the file entries. + * + ****************************************************************************/ + +static int ssarc_dump_probe(int *ent, struct ssarc_dump_s pdev[]) +{ + int i, j; + int alloc; + int size; + int avail; + struct ssarcfh_s *pf = (struct ssarcfh_s *) PX4_SSARC_DUMP_BASE; + int ret = -EFBIG; + + avail = PX4_SSARC_DUMP_SIZE; + + for (i = 0; (i < SSARC_DUMP_FILES) && ent[i] && (avail > 0); + i++) { + /* Validate the actual allocations against what is in the PROGMEM */ + + size = ent[i]; + + /* Use all that is left */ + + if (size == -1) { + size = avail; + size -= SSARCH_HEADER_SIZE; + } + + /* Add in header size and keep aligned to blocks */ + + alloc = (size / PX4_SSARC_BLOCK_DATA) * PX4_SSARC_BLOCK_SIZE; + + /* Does it fit? */ + + if (size <= avail) { + ret = i + 1; + + if ((int)pf->len != size || pf->fileno != i) { + pf->len = size; + pf->clean = 1; + pf->fileno = i; + pf->lastwrite.tv_sec = 0; + pf->lastwrite.tv_nsec = 0; + + for (j = 0; j < (size / PX4_SSARC_BLOCK_DATA); j++) { + memset(pf->data[j].data, 0, PX4_SSARC_BLOCK_DATA); + } + } + + pdev[i].pf = pf; + pf = (struct ssarcfh_s *)((uint32_t *)pf + ((alloc + sizeof(struct ssarcfh_s)) / 4)); + nxsem_init(&g_ssarc[i].exclsem, 0, 1); + } + + avail -= (size + PX4_SSARC_HEADER_SIZE); + } + + return ret; +} + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +/**************************************************************************** + * Function: ssarc_dump_initialize + * + * Description: + * Initialize the Battery Backed up SRAM driver. + * + * Input Parameters: + * devpath - the path to instantiate the files. + * sizes - Pointer to a any array of file sizes to create + * the last entry should be 0 + * A size of -1 will use all the remaining spaces + * + * Returned Value: + * Number of files created on success; Negated errno on failure. + * + * Assumptions: + * + ****************************************************************************/ + +int ssarc_dump_initialize(char *devpath, int *sizes) +{ + int i; + int fcnt; + char devname[32]; + + int ret = OK; + + if (devpath == NULL) { + return -EINVAL; + } + + i = strlen(devpath); + + if (i == 0 || i > (int)sizeof(devname) - 3) { + return -EINVAL; + } + + memset(g_ssarc, 0, sizeof(g_ssarc)); + + fcnt = ssarc_dump_probe(sizes, g_ssarc); + + for (i = 0; i < fcnt && ret >= OK; i++) { + snprintf(devname, sizeof(devname), "%s%d", devpath, i); + ret = register_driver(devname, &ssarc_dump_fops, 0666, &g_ssarc[i]); + } + + return ret < OK ? ret : fcnt; +} + +/**************************************************************************** + * Function: ssarc_dump_savepanic + * + * Description: + * Saves the panic context in a previously allocated PROGMEM file + * + * Input Parameters: + * fileno - the value returned by the ioctl GETDESC_IOCTL + * context - Pointer to a any array of bytes to save + * length - The length of the data pointed to byt context + * + * Returned Value: + * Length saved or negated errno. + * + * Assumptions: + * + ****************************************************************************/ + + +int ssarc_dump_savepanic(int fileno, uint8_t *context, int length) +{ + struct ssarcfh_s *pf; + int ret = -ENOSPC; + + /* On a bad day we could panic while panicking, (and we debug assert) + * this is a potential feeble attempt at only writing the first + * panic's context to the file + */ + + static bool once = false; + + if (!once) { + once = true; + + DEBUGASSERT(fileno > 0 && fileno < SSARC_DUMP_FILES); + + pf = g_ssarc[fileno].pf; + + /* If the g_ssarc has been nulled out we return ENXIO. + * + * As once ensures we will keep the first dump. Checking the time for + * 0 protects from over writing a previous crash dump that has not + * been saved to long term storage and erased. The dreaded reboot + * loop. + */ + + if (pf == NULL) { + ret = -ENXIO; + + } else if (pf->lastwrite.tv_sec == 0 && pf->lastwrite.tv_nsec == 0) { + /* Clamp length if too big */ + + if (length > (int)pf->len) { + length = pf->len; + } + + ssarc_dump_internal_write(pf, (char *) context, 0, length); + + /* Seal the file */ + + ssarc_dump_internal_close(pf); + ret = length; + } + } + + return ret; +} + +#endif /* HAS_SSARC */ +#endif /* SYSTEMCMDS_HARDFAULT_LOG */ diff --git a/platforms/nuttx/src/px4/nxp/s32k14x/include/px4_arch/micro_hal.h b/platforms/nuttx/src/px4/nxp/s32k14x/include/px4_arch/micro_hal.h index b18ed36ebe35..689f82579f4a 100644 --- a/platforms/nuttx/src/px4/nxp/s32k14x/include/px4_arch/micro_hal.h +++ b/platforms/nuttx/src/px4/nxp/s32k14x/include/px4_arch/micro_hal.h @@ -116,10 +116,14 @@ int s32k1xx_gpiosetevent(uint32_t pinset, bool risingedge, bool fallingedge, boo #define TIMER_HRT_CYCLES_PER_US (STM32_HCLK_FREQUENCY/1000000) #define TIMER_HRT_CYCLES_PER_MS (STM32_HCLK_FREQUENCY/1000) -#define crc_HiLOC S32K1XX_CAN0_RXIMR27 -#define crc_LoLOC S32K1XX_CAN0_RXIMR28 -#define signature_LOC S32K1XX_CAN0_RXIMR29 -#define bus_speed_LOC S32K1XX_CAN0_RXIMR30 -#define node_id_LOC S32K1XX_CAN0_RXIMR31 +#define crc_HiLOC S32K1XX_CAN0_RXIMR(27) +#define crc_LoLOC S32K1XX_CAN0_RXIMR(28) +#define signature_LOC S32K1XX_CAN0_RXIMR(29) +#define bus_speed_LOC S32K1XX_CAN0_RXIMR(30) +#define node_id_LOC S32K1XX_CAN0_RXIMR(31) + +#define shared_unlock() do { modreg32(CAN_MCR_FRZ|CAN_MCR_HALT, CAN_MCR_FRZ|CAN_MCR_HALT, S32K1XX_CAN0_MCR); up_udelay(1000);} while (0); +#define shared_lock() do { modreg32(0, CAN_MCR_FRZ|CAN_MCR_HALT,S32K1XX_CAN0_MCR ); } while (0); + __END_DECLS diff --git a/platforms/nuttx/src/px4/nxp/s32k1xx/board_reset/board_reset.cpp b/platforms/nuttx/src/px4/nxp/s32k1xx/board_reset/board_reset.cpp index 6883d77f555d..98404ffcb8f9 100644 --- a/platforms/nuttx/src/px4/nxp/s32k1xx/board_reset/board_reset.cpp +++ b/platforms/nuttx/src/px4/nxp/s32k1xx/board_reset/board_reset.cpp @@ -39,6 +39,7 @@ */ #include +#include #include #include #include @@ -96,7 +97,7 @@ int board_configure_reset(reset_mode_e mode, uint32_t arg) int board_reset(int status) { - if (status == 1) { + if (status == REBOOT_TO_BOOTLOADER) { board_reset_enter_bootloader(); } diff --git a/platforms/nuttx/src/px4/nxp/s32k3xx/adc/adc.cpp b/platforms/nuttx/src/px4/nxp/s32k3xx/adc/adc.cpp index 2a3356fb5456..92918be161ee 100644 --- a/platforms/nuttx/src/px4/nxp/s32k3xx/adc/adc.cpp +++ b/platforms/nuttx/src/px4/nxp/s32k3xx/adc/adc.cpp @@ -38,144 +38,76 @@ #include -#include - -//todo S32K add ADC fior now steal the kinetis one -#include -#include - - -#define _REG(_addr) (*(volatile uint32_t *)(_addr)) - -/* ADC register accessors */ - -#define REG(a, _reg) _REG(KINETIS_ADC##a##_BASE + (_reg)) - -#define rSC1A(adc) REG(adc, KINETIS_ADC_SC1A_OFFSET) /* ADC status and control registers 1 */ -#define rSC1B(adc) REG(adc, KINETIS_ADC_SC1B_OFFSET) /* ADC status and control registers 1 */ -#define rCFG1(adc) REG(adc, KINETIS_ADC_CFG1_OFFSET) /* ADC configuration register 1 */ -#define rCFG2(adc) REG(adc, KINETIS_ADC_CFG2_OFFSET) /* Configuration register 2 */ -#define rRA(adc) REG(adc, KINETIS_ADC_RA_OFFSET) /* ADC data result register */ -#define rRB(adc) REG(adc, KINETIS_ADC_RB_OFFSET) /* ADC data result register */ -#define rCV1(adc) REG(adc, KINETIS_ADC_CV1_OFFSET) /* Compare value registers */ -#define rCV2(adc) REG(adc, KINETIS_ADC_CV2_OFFSET) /* Compare value registers */ -#define rSC2(adc) REG(adc, KINETIS_ADC_SC2_OFFSET) /* Status and control register 2 */ -#define rSC3(adc) REG(adc, KINETIS_ADC_SC3_OFFSET) /* Status and control register 3 */ -#define rOFS(adc) REG(adc, KINETIS_ADC_OFS_OFFSET) /* ADC offset correction register */ -#define rPG(adc) REG(adc, KINETIS_ADC_PG_OFFSET) /* ADC plus-side gain register */ -#define rMG(adc) REG(adc, KINETIS_ADC_MG_OFFSET) /* ADC minus-side gain register */ -#define rCLPD(adc) REG(adc, KINETIS_ADC_CLPD_OFFSET) /* ADC plus-side general calibration value register */ -#define rCLPS(adc) REG(adc, KINETIS_ADC_CLPS_OFFSET) /* ADC plus-side general calibration value register */ -#define rCLP4(adc) REG(adc, KINETIS_ADC_CLP4_OFFSET) /* ADC plus-side general calibration value register */ -#define rCLP3(adc) REG(adc, KINETIS_ADC_CLP3_OFFSET) /* ADC plus-side general calibration value register */ -#define rCLP2(adc) REG(adc, KINETIS_ADC_CLP2_OFFSET) /* ADC plus-side general calibration value register */ -#define rCLP1(adc) REG(adc, KINETIS_ADC_CLP1_OFFSET) /* ADC plus-side general calibration value register */ -#define rCLP0(adc) REG(adc, KINETIS_ADC_CLP0_OFFSET) /* ADC plus-side general calibration value register */ -#define rCLMD(adc) REG(adc, KINETIS_ADC_CLMD_OFFSET) /* ADC minus-side general calibration value register */ -#define rCLMS(adc) REG(adc, KINETIS_ADC_CLMS_OFFSET) /* ADC minus-side general calibration value register */ -#define rCLM4(adc) REG(adc, KINETIS_ADC_CLM4_OFFSET) /* ADC minus-side general calibration value register */ -#define rCLM3(adc) REG(adc, KINETIS_ADC_CLM3_OFFSET) /* ADC minus-side general calibration value register */ -#define rCLM2(adc) REG(adc, KINETIS_ADC_CLM2_OFFSET) /* ADC minus-side general calibration value register */ -#define rCLM1(adc) REG(adc, KINETIS_ADC_CLM1_OFFSET) /* ADC minus-side general calibration value register */ -#define rCLM0(adc) REG(adc, KINETIS_ADC_CLM0_OFFSET) /* ADC minus-side general calibration value register */ +#include +#include int px4_arch_adc_init(uint32_t base_address) { - /* Input is Buss Clock 56 Mhz We will use /8 for 7 Mhz */ + uint32_t regval; - irqstate_t flags = px4_enter_critical_section(); + /* Configure and perform calibration */ + putreg32(ADC_MCR_ADCLKSEL_DIV4, S32K3XX_ADC2_MCR); - _REG(KINETIS_SIM_SCGC3) |= SIM_SCGC3_ADC1; - rCFG1(1) = ADC_CFG1_ADICLK_BUSCLK | ADC_CFG1_MODE_1213BIT | ADC_CFG1_ADIV_DIV8; - rCFG2(1) = 0; - rSC2(1) = ADC_SC2_REFSEL_DEFAULT; + regval = getreg32(S32K3XX_ADC2_AMSIO); + regval |= ADC_AMSIO_HSEN_MASK; + putreg32(regval, S32K3XX_ADC2_AMSIO); - px4_leave_critical_section(flags); + regval = getreg32(S32K3XX_ADC2_CAL2); + regval &= ~ADC_CAL2_ENX; + putreg32(regval, S32K3XX_ADC2_CAL2); - /* Clear the CALF and begin the calibration */ + regval = getreg32(S32K3XX_ADC2_CALBISTREG); + regval &= ~(ADC_CALBISTREG_TEST_EN | ADC_CALBISTREG_AVG_EN | ADC_CALBISTREG_NR_SMPL_MASK | + ADC_CALBISTREG_CALSTFUL | ADC_CALBISTREG_TSAMP_MASK | ADC_CALBISTREG_RESN_MASK); + regval |= ADC_CALBISTREG_TEST_EN | ADC_CALBISTREG_AVG_EN | ADC_CALBISTREG_NR_SMPL_4SMPL | + ADC_CALBISTREG_CALSTFUL | ADC_CALBISTREG_RESN_14BIT; + putreg32(regval, S32K3XX_ADC2_CALBISTREG); - rSC3(1) = ADC_SC3_CAL | ADC_SC3_CALF; + while (getreg32(S32K3XX_ADC2_CALBISTREG) & ADC_CALBISTREG_C_T_BUSY) {}; - while ((rSC1A(1) & ADC_SC1_COCO) == 0) { - usleep(100); + putreg32(ADC_MCR_PWDN, S32K3XX_ADC2_MCR); - if (rSC3(1) & ADC_SC3_CALF) { - return -1; - } - } + putreg32(22, S32K3XX_ADC2_CTR0); - /* dummy read to clear COCO of calibration */ + putreg32(22, S32K3XX_ADC2_CTR1); - int32_t r = rRA(1); + putreg32(0, S32K3XX_ADC2_DMAE); - /* Check the state of CALF at the end of calibration */ - - if (rSC3(1) & ADC_SC3_CALF) { - return -1; - } + putreg32(ADC_MCR_ADCLKSEL_DIV4 | ADC_MCR_AVGS_32CONV | ADC_MCR_AVGEN | ADC_MCR_BCTU_MODE | ADC_MCR_MODE, + S32K3XX_ADC2_MCR); - /* Calculate the calibration values for single ended positive */ + putreg32(0x10, S32K3XX_ADC2_NCMR0); - r = rCLP0(1) + rCLP1(1) + rCLP2(1) + rCLP3(1) + rCLP4(1) + rCLPS(1) ; - r = 0x8000U | (r >> 1U); - rPG(1) = r; + putreg32(0x10, S32K3XX_ADC2_NCMR1); - /* Calculate the calibration values for double ended Negitive */ + regval = getreg32(S32K3XX_ADC2_MCR); - r = rCLM0(1) + rCLM1(1) + rCLM2(1) + rCLM3(1) + rCLM4(1) + rCLMS(1) ; - r = 0x8000U | (r >> 1U); - rMG(1) = r; + regval |= ADC_MCR_NSTART; - /* kick off a sample and wait for it to complete */ - hrt_abstime now = hrt_absolute_time(); - - rSC1A(1) = ADC_SC1_ADCH(ADC_SC1_ADCH_TEMP); - - while (!(rSC1A(1) & ADC_SC1_COCO)) { - - /* don't wait for more than 500us, since that means something broke - should reset here if we see this */ - if ((hrt_absolute_time() - now) > 500) { - return -1; - } - } + putreg32(regval, S32K3XX_ADC2_MCR); return 0; } void px4_arch_adc_uninit(uint32_t base_address) { - irqstate_t flags = px4_enter_critical_section(); - _REG(KINETIS_SIM_SCGC3) &= ~SIM_SCGC3_ADC1; - px4_leave_critical_section(flags); } uint32_t px4_arch_adc_sample(uint32_t base_address, unsigned channel) { - irqstate_t flags = px4_enter_critical_section(); - - /* clear any previous COCC */ - rRA(1); + uint32_t result = 0; - /* run a single conversion right now - should take about 35 cycles (5 microseconds) max */ - rSC1A(1) = ADC_SC1_ADCH(channel); + if (channel == 0) { + result = getreg32(S32K3XX_ADC2_PCDR4); - /* wait for the conversion to complete */ - const hrt_abstime now = hrt_absolute_time(); + if ((result & ADC_PCDR_VALID) == ADC_PCDR_VALID) { + result = result & 0xFFFF; - while (!(rSC1A(1) & ADC_SC1_COCO)) { - - /* don't wait for more than 10us, since that means something broke - should reset here if we see this */ - if ((hrt_absolute_time() - now) > 10) { - px4_leave_critical_section(flags); - return 0xffff; + } else { + result = 0; } } - /* read the result and clear EOC */ - uint32_t result = rRA(1); - - px4_leave_critical_section(flags); - return result; } @@ -186,10 +118,10 @@ float px4_arch_adc_reference_v() uint32_t px4_arch_adc_temp_sensor_mask() { - return 1 << (ADC_SC1_ADCH_TEMP >> ADC_SC1_ADCH_SHIFT); + return 0; // No temp sensor } uint32_t px4_arch_adc_dn_fullcount() { - return 1 << 12; // 12 bit ADC + return 1 << 15; // 15 bit conversion data } diff --git a/platforms/nuttx/src/px4/nxp/s32k3xx/board_reset/board_reset.cpp b/platforms/nuttx/src/px4/nxp/s32k3xx/board_reset/board_reset.cpp index 0607e174c9e7..68fb865e9721 100644 --- a/platforms/nuttx/src/px4/nxp/s32k3xx/board_reset/board_reset.cpp +++ b/platforms/nuttx/src/px4/nxp/s32k3xx/board_reset/board_reset.cpp @@ -39,6 +39,7 @@ */ #include +#include #include #include #include diff --git a/platforms/nuttx/src/px4/rpi/rp2040/include/px4_arch/adc.h b/platforms/nuttx/src/px4/rpi/rp2040/include/px4_arch/adc.h index 234971efbdcd..d31323b9eb0e 100644 --- a/platforms/nuttx/src/px4/rpi/rp2040/include/px4_arch/adc.h +++ b/platforms/nuttx/src/px4/rpi/rp2040/include/px4_arch/adc.h @@ -33,4 +33,3 @@ #pragma once #include "../../../rpi_common/include/px4_arch/adc.h" - diff --git a/platforms/nuttx/src/px4/rpi/rp2040/include/px4_arch/i2c_hw_description.h b/platforms/nuttx/src/px4/rpi/rp2040/include/px4_arch/i2c_hw_description.h index 9655c49558b7..908cc4e9b0a5 100644 --- a/platforms/nuttx/src/px4/rpi/rp2040/include/px4_arch/i2c_hw_description.h +++ b/platforms/nuttx/src/px4/rpi/rp2040/include/px4_arch/i2c_hw_description.h @@ -33,4 +33,3 @@ #pragma once #include "../../../rpi_common/include/px4_arch/i2c_hw_description.h" - diff --git a/platforms/nuttx/src/px4/rpi/rpi_common/board_reset/board_reset.cpp b/platforms/nuttx/src/px4/rpi/rpi_common/board_reset/board_reset.cpp index 058f07aea118..c5876da85360 100644 --- a/platforms/nuttx/src/px4/rpi/rpi_common/board_reset/board_reset.cpp +++ b/platforms/nuttx/src/px4/rpi/rpi_common/board_reset/board_reset.cpp @@ -38,6 +38,7 @@ */ #include +#include #include #include @@ -119,7 +120,7 @@ int board_reset(int status) { - if (status == 1) { + if (status == REBOOT_TO_BOOTLOADER) { // board_configure_reset(BOARD_RESET_MODE_BOOT_TO_BL, 0); } diff --git a/platforms/nuttx/src/px4/rpi/rpi_common/include/px4_arch/adc.h b/platforms/nuttx/src/px4/rpi/rpi_common/include/px4_arch/adc.h index 96aa40bc333b..ae3cfbedcf32 100644 --- a/platforms/nuttx/src/px4/rpi/rpi_common/include/px4_arch/adc.h +++ b/platforms/nuttx/src/px4/rpi/rpi_common/include/px4_arch/adc.h @@ -37,4 +37,3 @@ #define SYSTEM_ADC_BASE RP2040_ADC_BASE #include - diff --git a/platforms/nuttx/src/px4/stm/CMakeLists.txt b/platforms/nuttx/src/px4/stm/CMakeLists.txt index ec489bf559c3..72584f3178ec 100644 --- a/platforms/nuttx/src/px4/stm/CMakeLists.txt +++ b/platforms/nuttx/src/px4/stm/CMakeLists.txt @@ -31,6 +31,4 @@ # ############################################################################ - add_subdirectory(${PX4_CHIP}) - diff --git a/platforms/nuttx/src/px4/stm/stm32_common/board_hw_info/board_hw_rev_ver.c b/platforms/nuttx/src/px4/stm/stm32_common/board_hw_info/board_hw_rev_ver.c index 54c8a836c916..1a505e98217f 100644 --- a/platforms/nuttx/src/px4/stm/stm32_common/board_hw_info/board_hw_rev_ver.c +++ b/platforms/nuttx/src/px4/stm/stm32_common/board_hw_info/board_hw_rev_ver.c @@ -51,7 +51,7 @@ #include #include -#if defined(BOARD_HAS_HW_VERSIONING) +#if defined(BOARD_HAS_HW_VERSIONING) || defined(BOARD_HAS_HW_SPLIT_VERSIONING) # if defined(GPIO_HW_VER_REV_DRIVE) # define GPIO_HW_REV_DRIVE GPIO_HW_VER_REV_DRIVE @@ -67,11 +67,13 @@ static int hw_version = 0; static int hw_revision = 0; static char hw_info[HW_INFO_SIZE] = {0}; - +#if defined(BOARD_HAS_HW_SPLIT_VERSIONING) +static char hw_base_info[HW_INFO_SIZE] = {0}; +#endif /**************************************************************************** * Protected Functions ****************************************************************************/ - +#if !defined(BOARD_HAS_ONLY_EEPROM_VERSIONING) static int dn_to_ordinal(uint16_t dn) { /* Table is scaled for 12, so if ADC is in 16 bit mode @@ -109,6 +111,7 @@ static int dn_to_ordinal(uint16_t dn) return -1; } +#endif /* BOARD_HAS_ONLY_EEPROM_VERSIONING */ /************************************************************************************ * Name: read_id_dn @@ -141,7 +144,7 @@ static int dn_to_ordinal(uint16_t dn) * -EIO - FAiled to init or read the ADC * ************************************************************************************/ - +#if !defined(BOARD_HAS_ONLY_EEPROM_VERSIONING) static int read_id_dn(int *id, uint32_t gpio_drive, uint32_t gpio_sense, int adc_channel) { int rv = -EIO; @@ -326,9 +329,15 @@ static int read_id_dn(int *id, uint32_t gpio_drive, uint32_t gpio_sense, int adc stm32_configgpio(gpio_drive); return rv; } +#endif /* BOARD_HAS_ONLY_EEPROM_VERSIONING */ static int determine_hw_info(int *revision, int *version) { +#if defined(BOARD_HAS_ONLY_EEPROM_VERSIONING) + *revision = HW_ID_EEPROM; + *version = HW_ID_EEPROM; + return OK; +#else int dn; int rv = read_id_dn(&dn, GPIO_HW_REV_DRIVE, GPIO_HW_REV_SENSE, ADC_HW_REV_SENSE_CHANNEL); @@ -342,6 +351,7 @@ static int determine_hw_info(int *revision, int *version) } return rv; +#endif } /**************************************************************************** @@ -366,6 +376,27 @@ __EXPORT const char *board_get_hw_type_name() return (const char *) hw_info; } +#if defined(BOARD_HAS_HW_SPLIT_VERSIONING) +/************************************************************************************ + * Name: board_get_hw_base_type_name + * + * Description: + * Optional returns a 0 terminated string defining the base type. + * + * Input Parameters: + * None + * + * Returned Value: + * a 0 terminated string defining the HW type. This my be a 0 length string "" + * + ************************************************************************************/ + +__EXPORT const char *board_get_hw_base_type_name() +{ + return (const char *) hw_base_info; +} +#endif + /************************************************************************************ * Name: board_get_hw_version * @@ -467,7 +498,12 @@ int board_determine_hw_info() } if (rv == OK) { +#if defined(BOARD_HAS_HW_SPLIT_VERSIONING) + snprintf(hw_info, sizeof(hw_info), HW_INFO_INIT_PREFIX HW_INFO_FMUM_SUFFIX, GET_HW_FMUM_ID()); + snprintf(hw_base_info, sizeof(hw_info), HW_INFO_BASE_SUFFIX, GET_HW_BASE_ID()); +#else snprintf(hw_info, sizeof(hw_info), HW_INFO_INIT_PREFIX HW_INFO_SUFFIX, hw_version, hw_revision); +#endif } return rv; diff --git a/platforms/nuttx/src/px4/stm/stm32_common/board_reset/board_reset.cpp b/platforms/nuttx/src/px4/stm/stm32_common/board_reset/board_reset.cpp index 15dfbd87616a..28b5ba5f848f 100644 --- a/platforms/nuttx/src/px4/stm/stm32_common/board_reset/board_reset.cpp +++ b/platforms/nuttx/src/px4/stm/stm32_common/board_reset/board_reset.cpp @@ -38,6 +38,7 @@ */ #include +#include #include #include #include @@ -117,7 +118,7 @@ int board_configure_reset(reset_mode_e mode, uint32_t arg) int board_reset(int status) { - if (status == 1) { + if (status == REBOOT_TO_BOOTLOADER) { board_configure_reset(BOARD_RESET_MODE_BOOT_TO_BL, 0); } diff --git a/platforms/nuttx/src/px4/stm/stm32_common/dshot/dshot.c b/platforms/nuttx/src/px4/stm/stm32_common/dshot/dshot.c index 5b501850668a..00491e976831 100644 --- a/platforms/nuttx/src/px4/stm/stm32_common/dshot/dshot.c +++ b/platforms/nuttx/src/px4/stm/stm32_common/dshot/dshot.c @@ -82,7 +82,7 @@ static uint8_t dshot_burst_buffer_array[DSHOT_TIMERS * DSHOT_BURST_BUFFER_SIZE(M px4_cache_aligned_data() = {}; static uint32_t *dshot_burst_buffer[DSHOT_TIMERS] = {}; -int up_dshot_init(uint32_t channel_mask, unsigned dshot_pwm_freq) +int up_dshot_init(uint32_t channel_mask, unsigned dshot_pwm_freq, bool enable_bidirectional_dshot) { unsigned buffer_offset = 0; @@ -152,6 +152,22 @@ int up_dshot_init(uint32_t channel_mask, unsigned dshot_pwm_freq) return ret_val == OK ? channels_init_mask : ret_val; } +int up_bdshot_get_erpm(uint8_t channel, int *erpm) +{ + // Not implemented + return -1; +} + +int up_bdshot_channel_status(uint8_t channel) +{ + // Not implemented + return -1; +} + +void up_bdshot_status(void) +{ +} + void up_dshot_trigger(void) { for (uint8_t timer = 0; (timer < DSHOT_TIMERS); timer++) { diff --git a/platforms/nuttx/src/px4/stm/stm32_common/include/px4_arch/adc.h b/platforms/nuttx/src/px4/stm/stm32_common/include/px4_arch/adc.h index 17ff58304537..1736386ce592 100644 --- a/platforms/nuttx/src/px4/stm/stm32_common/include/px4_arch/adc.h +++ b/platforms/nuttx/src/px4/stm/stm32_common/include/px4_arch/adc.h @@ -54,4 +54,3 @@ #endif #include - diff --git a/platforms/nuttx/src/px4/stm/stm32_common/include/px4_arch/px4io_serial.h b/platforms/nuttx/src/px4/stm/stm32_common/include/px4_arch/px4io_serial.h index 964627c636df..bf33426d3ceb 100644 --- a/platforms/nuttx/src/px4/stm/stm32_common/include/px4_arch/px4io_serial.h +++ b/platforms/nuttx/src/px4/stm/stm32_common/include/px4_arch/px4io_serial.h @@ -166,4 +166,3 @@ class ArchPX4IOSerial : public PX4IO_serial */ static uint8_t _io_buffer_storage[] px4_cache_aligned_data(); }; - diff --git a/platforms/nuttx/src/px4/stm/stm32_common/include/px4_arch/spi_hw_description.h b/platforms/nuttx/src/px4/stm/stm32_common/include/px4_arch/spi_hw_description.h index 40cc40854b7c..3594d1d82011 100644 --- a/platforms/nuttx/src/px4/stm/stm32_common/include/px4_arch/spi_hw_description.h +++ b/platforms/nuttx/src/px4/stm/stm32_common/include/px4_arch/spi_hw_description.h @@ -136,6 +136,21 @@ static inline constexpr SPI::bus_device_external_cfg_t initSPIConfigExternal(SPI struct px4_spi_bus_array_t { px4_spi_bus_t item[SPI_BUS_MAX_BUS_ITEMS]; }; + +#if defined(BOARD_HAS_HW_SPLIT_VERSIONING) +static inline constexpr px4_spi_bus_all_hw_t initSPIFmumID(hw_fmun_id_t hw_fmun_id, + const px4_spi_bus_array_t &bus_items) +{ + px4_spi_bus_all_hw_t ret{}; + + for (int i = 0; i < SPI_BUS_MAX_BUS_ITEMS; ++i) { + ret.buses[i] = bus_items.item[i]; + } + + ret.board_hw_fmun_id = hw_fmun_id; + return ret; +} +#else static inline constexpr px4_spi_bus_all_hw_t initSPIHWVersion(int hw_version_revision, const px4_spi_bus_array_t &bus_items) { @@ -148,6 +163,7 @@ static inline constexpr px4_spi_bus_all_hw_t initSPIHWVersion(int hw_version_rev ret.board_hw_version_revision = hw_version_revision; return ret; } +#endif constexpr bool validateSPIConfig(const px4_spi_bus_t spi_buses_conf[SPI_BUS_MAX_BUS_ITEMS]); constexpr bool validateSPIConfig(const px4_spi_bus_all_hw_t spi_buses_conf[BOARD_NUM_SPI_CFG_HW_VERSIONS]) diff --git a/platforms/nuttx/src/px4/stm/stm32_common/io_pins/io_timer.c b/platforms/nuttx/src/px4/stm/stm32_common/io_pins/io_timer.c index 5a72cc9f5e30..4246ea3585e5 100644 --- a/platforms/nuttx/src/px4/stm/stm32_common/io_pins/io_timer.c +++ b/platforms/nuttx/src/px4/stm/stm32_common/io_pins/io_timer.c @@ -898,11 +898,13 @@ int io_timer_set_enable(bool state, io_timer_channel_mode_t mode, io_timer_chann case IOTimerChanMode_Dshot: dier_bit = 0; + + /* fallthrough */ + case IOTimerChanMode_Capture: cr1_bit = state ? GTIM_CR1_CEN : 0; - break; + /* fallthrough */ case IOTimerChanMode_PWMIn: - case IOTimerChanMode_Capture: break; default: diff --git a/platforms/nuttx/src/px4/stm/stm32f1/include/px4_arch/dshot.h b/platforms/nuttx/src/px4/stm/stm32f1/include/px4_arch/dshot.h index 7a7f1791bd53..417c1bccb226 100644 --- a/platforms/nuttx/src/px4/stm/stm32f1/include/px4_arch/dshot.h +++ b/platforms/nuttx/src/px4/stm/stm32f1/include/px4_arch/dshot.h @@ -34,4 +34,3 @@ #define px4_stm32_dmasetup stm32_dmasetup #include "../../../stm32_common/include/px4_arch/dshot.h" - diff --git a/platforms/nuttx/src/px4/stm/stm32f1/io_timer.h b/platforms/nuttx/src/px4/stm/stm32f1/io_timer.h index 2960835d2ec2..6b565c384730 100644 --- a/platforms/nuttx/src/px4/stm/stm32f1/io_timer.h +++ b/platforms/nuttx/src/px4/stm/stm32f1/io_timer.h @@ -32,6 +32,4 @@ ****************************************************************************/ #pragma once - #include "../../../stm32_common/include/px4_arch/io_timer.h" - diff --git a/platforms/nuttx/src/px4/stm/stm32f3/CMakeLists.txt b/platforms/nuttx/src/px4/stm/stm32f3/CMakeLists.txt index 22c6701f946e..98f0e1b7db8f 100644 --- a/platforms/nuttx/src/px4/stm/stm32f3/CMakeLists.txt +++ b/platforms/nuttx/src/px4/stm/stm32f3/CMakeLists.txt @@ -36,5 +36,3 @@ add_subdirectory(board_critmon) add_subdirectory(../stm32_common/board_reset board_reset) add_subdirectory(../stm32_common/version version) add_subdirectory(../stm32_common/hrt hrt) - - diff --git a/platforms/nuttx/src/px4/stm/stm32f3/include/px4_arch/adc.h b/platforms/nuttx/src/px4/stm/stm32f3/include/px4_arch/adc.h index 9aa5b0c7aeba..6727319a5152 100644 --- a/platforms/nuttx/src/px4/stm/stm32f3/include/px4_arch/adc.h +++ b/platforms/nuttx/src/px4/stm/stm32f3/include/px4_arch/adc.h @@ -33,4 +33,3 @@ #pragma once #include "../../../stm32_common/include/px4_arch/adc.h" - diff --git a/platforms/nuttx/src/px4/stm/stm32f3/include/px4_arch/io_timer.h b/platforms/nuttx/src/px4/stm/stm32f3/include/px4_arch/io_timer.h index 2960835d2ec2..6b565c384730 100644 --- a/platforms/nuttx/src/px4/stm/stm32f3/include/px4_arch/io_timer.h +++ b/platforms/nuttx/src/px4/stm/stm32f3/include/px4_arch/io_timer.h @@ -32,6 +32,4 @@ ****************************************************************************/ #pragma once - #include "../../../stm32_common/include/px4_arch/io_timer.h" - diff --git a/platforms/nuttx/src/px4/stm/stm32f3/include/px4_arch/micro_hal.h b/platforms/nuttx/src/px4/stm/stm32f3/include/px4_arch/micro_hal.h index e43fabc2e39b..4ef37a9542f3 100644 --- a/platforms/nuttx/src/px4/stm/stm32f3/include/px4_arch/micro_hal.h +++ b/platforms/nuttx/src/px4/stm/stm32f3/include/px4_arch/micro_hal.h @@ -52,4 +52,3 @@ __BEGIN_DECLS #define PX4_ADC_INTERNAL_TEMP_SENSOR_CHANNEL 16 __END_DECLS - diff --git a/platforms/nuttx/src/px4/stm/stm32f4/CMakeLists.txt b/platforms/nuttx/src/px4/stm/stm32f4/CMakeLists.txt index 9b49f31f84cb..cc751f5d5f92 100644 --- a/platforms/nuttx/src/px4/stm/stm32f4/CMakeLists.txt +++ b/platforms/nuttx/src/px4/stm/stm32f4/CMakeLists.txt @@ -47,4 +47,3 @@ add_subdirectory(../stm32_common/version version) add_subdirectory(px4io_serial) add_subdirectory(watchdog) - diff --git a/platforms/nuttx/src/px4/stm/stm32f4/include/px4_arch/adc.h b/platforms/nuttx/src/px4/stm/stm32f4/include/px4_arch/adc.h index 9aa5b0c7aeba..6727319a5152 100644 --- a/platforms/nuttx/src/px4/stm/stm32f4/include/px4_arch/adc.h +++ b/platforms/nuttx/src/px4/stm/stm32f4/include/px4_arch/adc.h @@ -33,4 +33,3 @@ #pragma once #include "../../../stm32_common/include/px4_arch/adc.h" - diff --git a/platforms/nuttx/src/px4/stm/stm32f4/include/px4_arch/dshot.h b/platforms/nuttx/src/px4/stm/stm32f4/include/px4_arch/dshot.h index 449ca66b96b4..c71f84857141 100644 --- a/platforms/nuttx/src/px4/stm/stm32f4/include/px4_arch/dshot.h +++ b/platforms/nuttx/src/px4/stm/stm32f4/include/px4_arch/dshot.h @@ -35,4 +35,3 @@ #define px4_stm32_dmasetup stm32_dmasetup #include "../../../stm32_common/include/px4_arch/dshot.h" - diff --git a/platforms/nuttx/src/px4/stm/stm32f4/include/px4_arch/i2c_hw_description.h b/platforms/nuttx/src/px4/stm/stm32f4/include/px4_arch/i2c_hw_description.h index f125d3086e5e..dc883714e85f 100644 --- a/platforms/nuttx/src/px4/stm/stm32f4/include/px4_arch/i2c_hw_description.h +++ b/platforms/nuttx/src/px4/stm/stm32f4/include/px4_arch/i2c_hw_description.h @@ -33,4 +33,3 @@ #pragma once #include "../../../stm32_common/include/px4_arch/i2c_hw_description.h" - diff --git a/platforms/nuttx/src/px4/stm/stm32f4/include/px4_arch/micro_hal.h b/platforms/nuttx/src/px4/stm/stm32f4/include/px4_arch/micro_hal.h index d45a3add2b79..0844d7ed9475 100644 --- a/platforms/nuttx/src/px4/stm/stm32f4/include/px4_arch/micro_hal.h +++ b/platforms/nuttx/src/px4/stm/stm32f4/include/px4_arch/micro_hal.h @@ -51,4 +51,3 @@ __BEGIN_DECLS #define PX4_NUMBER_I2C_BUSES STM32_NI2C #define PX4_ADC_INTERNAL_TEMP_SENSOR_CHANNEL 18 __END_DECLS - diff --git a/platforms/nuttx/src/px4/stm/stm32f4/include/px4_arch/px4io_serial.h b/platforms/nuttx/src/px4/stm/stm32f4/include/px4_arch/px4io_serial.h index 5898838ee4b4..714afe06eb1c 100644 --- a/platforms/nuttx/src/px4/stm/stm32f4/include/px4_arch/px4io_serial.h +++ b/platforms/nuttx/src/px4/stm/stm32f4/include/px4_arch/px4io_serial.h @@ -34,4 +34,3 @@ #pragma once #include "../../../stm32_common/include/px4_arch/px4io_serial.h" - diff --git a/platforms/nuttx/src/px4/stm/stm32f4/px4io_serial/px4io_serial.cpp b/platforms/nuttx/src/px4/stm/stm32f4/px4io_serial/px4io_serial.cpp index 0ab41dd384a7..9f247653648f 100644 --- a/platforms/nuttx/src/px4/stm/stm32f4/px4io_serial/px4io_serial.cpp +++ b/platforms/nuttx/src/px4/stm/stm32f4/px4io_serial/px4io_serial.cpp @@ -473,4 +473,3 @@ ArchPX4IOSerial::_abort_dma() stm32_dmastop(_tx_dma); stm32_dmastop(_rx_dma); } - diff --git a/platforms/nuttx/src/px4/stm/stm32f7/include/px4_arch/adc.h b/platforms/nuttx/src/px4/stm/stm32f7/include/px4_arch/adc.h index 9aa5b0c7aeba..6727319a5152 100644 --- a/platforms/nuttx/src/px4/stm/stm32f7/include/px4_arch/adc.h +++ b/platforms/nuttx/src/px4/stm/stm32f7/include/px4_arch/adc.h @@ -33,4 +33,3 @@ #pragma once #include "../../../stm32_common/include/px4_arch/adc.h" - diff --git a/platforms/nuttx/src/px4/stm/stm32f7/include/px4_arch/dshot.h b/platforms/nuttx/src/px4/stm/stm32f7/include/px4_arch/dshot.h index 449ca66b96b4..c71f84857141 100644 --- a/platforms/nuttx/src/px4/stm/stm32f7/include/px4_arch/dshot.h +++ b/platforms/nuttx/src/px4/stm/stm32f7/include/px4_arch/dshot.h @@ -35,4 +35,3 @@ #define px4_stm32_dmasetup stm32_dmasetup #include "../../../stm32_common/include/px4_arch/dshot.h" - diff --git a/platforms/nuttx/src/px4/stm/stm32f7/include/px4_arch/io_timer.h b/platforms/nuttx/src/px4/stm/stm32f7/include/px4_arch/io_timer.h index 2960835d2ec2..6b565c384730 100644 --- a/platforms/nuttx/src/px4/stm/stm32f7/include/px4_arch/io_timer.h +++ b/platforms/nuttx/src/px4/stm/stm32f7/include/px4_arch/io_timer.h @@ -32,6 +32,4 @@ ****************************************************************************/ #pragma once - #include "../../../stm32_common/include/px4_arch/io_timer.h" - diff --git a/platforms/nuttx/src/px4/stm/stm32f7/include/px4_arch/micro_hal.h b/platforms/nuttx/src/px4/stm/stm32f7/include/px4_arch/micro_hal.h index 82ce68f8a571..122853e81760 100644 --- a/platforms/nuttx/src/px4/stm/stm32f7/include/px4_arch/micro_hal.h +++ b/platforms/nuttx/src/px4/stm/stm32f7/include/px4_arch/micro_hal.h @@ -61,4 +61,3 @@ int stm32_flash_unlock(void); int stm32_flash_writeprotect(size_t page, bool enabled); __END_DECLS - diff --git a/platforms/nuttx/src/px4/stm/stm32f7/include/px4_arch/px4io_serial.h b/platforms/nuttx/src/px4/stm/stm32f7/include/px4_arch/px4io_serial.h index 5898838ee4b4..714afe06eb1c 100644 --- a/platforms/nuttx/src/px4/stm/stm32f7/include/px4_arch/px4io_serial.h +++ b/platforms/nuttx/src/px4/stm/stm32f7/include/px4_arch/px4io_serial.h @@ -34,4 +34,3 @@ #pragma once #include "../../../stm32_common/include/px4_arch/px4io_serial.h" - diff --git a/platforms/nuttx/src/px4/stm/stm32f7/px4io_serial/px4io_serial.cpp b/platforms/nuttx/src/px4/stm/stm32f7/px4io_serial/px4io_serial.cpp index 2899c8db3fba..68d04b8e5d9b 100644 --- a/platforms/nuttx/src/px4/stm/stm32f7/px4io_serial/px4io_serial.cpp +++ b/platforms/nuttx/src/px4/stm/stm32f7/px4io_serial/px4io_serial.cpp @@ -506,4 +506,3 @@ ArchPX4IOSerial::_abort_dma() rICR = rISR & rISR_ERR_FLAGS_MASK; /* clear the flags */ } - diff --git a/platforms/nuttx/src/px4/stm/stm32h7/adc/adc.cpp b/platforms/nuttx/src/px4/stm/stm32h7/adc/adc.cpp index 80f98c564fd1..2a25cf6eeed5 100644 --- a/platforms/nuttx/src/px4/stm/stm32h7/adc/adc.cpp +++ b/platforms/nuttx/src/px4/stm/stm32h7/adc/adc.cpp @@ -37,6 +37,7 @@ #include #include +#include "stm32_dbgmcu.h" #include #include @@ -96,35 +97,123 @@ #define ADC_MAX_FADC 36000000 -#if STM32_PLL2P_FREQUENCY <= ADC_MAX_FADC -# define ADC_CCR_PRESC_DIV ADC_CCR_PRESC_NOT_DIV -#elif STM32_PLL2P_FREQUENCY/2 <= ADC_MAX_FADC -# define ADC_CCR_PRESC_DIV ADC_CCR_PRESC_DIV2 -#elif STM32_PLL2P_FREQUENCY/4 <= ADC_MAX_FADC -# define ADC_CCR_PRESC_DIV ADC_CCR_PRESC_DIV4 -#elif STM32_PLL2P_FREQUENCY/6 <= ADC_MAX_FADC -# define ADC_CCR_PRESC_DIV ADC_CCR_PRESC_DIV6 -#elif STM32_PLL2P_FREQUENCY/8 <= ADC_MAX_FADC -# define ADC_CCR_PRESC_DIV ADC_CCR_PRESC_DIV8 -#elif STM32_PLL2P_FREQUENCY/10 <= ADC_MAX_FADC -# define ADC_CCR_PRESC_DIV ADC_CCR_PRESC_DIV10 -#elif STM32_PLL2P_FREQUENCY/12 <= ADC_MAX_FADC -# define ADC_CCR_PRESC_DIV ADC_CCR_PRESC_DIV12 -#elif STM32_PLL2P_FREQUENCY/16 <= ADC_MAX_FADC -# define ADC_CCR_PRESC_DIV ADC_CCR_PRESC_DIV16 -#elif STM32_PLL2P_FREQUENCY/32 <= ADC_MAX_FADC -# define ADC_CCR_PRESC_DIV ADC_CCR_PRESC_DIV32 -#elif STM32_PLL2P_FREQUENCY/64 <= ADC_MAX_FADC -# define ADC_CCR_PRESC_DIV ADC_CCR_PRESC_DIV64 -#elif STM32_PLL2P_FREQUENCY/128 <= ADC_MAX_FADC -# define ADC_CCR_PRESC_DIV ADC_CCR_PRESC_DIV128 -#elif STM32_PLL2P_FREQUENCY/256 <= ADC_MAX_FADC -# define ADC_CCR_PRESC_DIV ADC_CCR_PRESC_DIV256 -#else -# error "ADC STM32_PLL2P_FREQUENCY too high - no divisor found " +#define ADC3_INTERNAL_TEMP_SENSOR_CHANNEL 18 //define to map the internal temperature channel. + + +/**************************************************************************** + * Name: adc_getclocks + ****************************************************************************/ + +static int adc_getclocks(uint32_t *prescaler, uint32_t *boost) +{ + uint32_t max_clock = ADC_MAX_FADC; + uint32_t src_clock = STM32_PLL2P_FREQUENCY; + uint32_t adc_clock; + int rv = OK; + +#if STM32_RCC_D3CCIPR_ADCSRC == RCC_D3CCIPR_ADCSEL_PLL3 + src_clock = STM32_PLL3R_FREQUENCY; +#elif STM32_RCC_D3CCIPR_ADCSRC == RCC_D3CCIPR_ADCSEL_PER +# error ADCSEL_PER not supported #endif -#define ADC3_INTERNAL_TEMP_SENSOR_CHANNEL 18 //define to map the internal temperature channel. + /* The maximum clock is different for rev Y devices and rev V devices. + * rev V can support an ADC clock of up to 50MHz. rev Y only supports + * up to 36MHz. + */ + + if ((getreg32(STM32_DEBUGMCU_BASE) & DBGMCU_IDCODE_REVID_MASK) == + STM32_IDCODE_REVID_V) { + /* The max fadc is 50MHz, but there is an always-present /2 divider + * after the configurable prescaler. Therefore, the max clock out of + * the prescaler block is 2*50=100MHz + */ + + max_clock = 100000000; + } + + if (src_clock <= max_clock) { + *prescaler = ADC_CCR_PRESC_NOT_DIV; + adc_clock = src_clock; + + } else if (src_clock / 2 <= max_clock) { + *prescaler = ADC_CCR_PRESC_DIV2; + adc_clock = src_clock / 2; + + } else if (src_clock / 4 <= max_clock) { + *prescaler = ADC_CCR_PRESC_DIV4; + adc_clock = src_clock / 4; + + } else if (src_clock / 6 <= max_clock) { + *prescaler = ADC_CCR_PRESC_DIV6; + adc_clock = src_clock / 6; + + } else if (src_clock / 8 <= max_clock) { + *prescaler = ADC_CCR_PRESC_DIV8; + adc_clock = src_clock / 8; + + } else if (src_clock / 10 <= max_clock) { + *prescaler = ADC_CCR_PRESC_DIV10; + adc_clock = src_clock / 10; + + } else if (src_clock / 12 <= max_clock) { + *prescaler = ADC_CCR_PRESC_DIV12; + adc_clock = src_clock / 12; + + } else if (src_clock / 16 <= max_clock) { + *prescaler = ADC_CCR_PRESC_DIV16; + adc_clock = src_clock / 16; + + } else if (src_clock / 32 <= max_clock) { + *prescaler = ADC_CCR_PRESC_DIV32; + adc_clock = src_clock / 32; + + } else if (src_clock / 64 <= max_clock) { + *prescaler = ADC_CCR_PRESC_DIV64; + adc_clock = src_clock / 64; + + } else if (src_clock / 128 <= max_clock) { + *prescaler = ADC_CCR_PRESC_DIV128; + adc_clock = src_clock / 128; + + } else if (src_clock / 256 <= max_clock) { + *prescaler = ADC_CCR_PRESC_DIV256; + adc_clock = src_clock / 256; + + } else { + rv = -1; + } + + if ((getreg32(STM32_DEBUGMCU_BASE) & DBGMCU_IDCODE_REVID_MASK) == + STM32_IDCODE_REVID_V) { + if (adc_clock >= 25000000) { + *boost = ADC_CR_BOOST_50_MHZ; + + } else if (adc_clock >= 12500000) { + *boost = ADC_CR_BOOST_25_MHZ; + + } else if (adc_clock >= 6250000) { + *boost = ADC_CR_BOOST_12p5_MHZ; + + } else { + *boost = ADC_CR_BOOST_6p25_MHZ; + } + + } else { + if (adc_clock >= 20000000) { + *boost = ADC_CR_BOOST; + + } else { + *boost = 0; + } + } + + return rv; +} + +/**************************************************************************** + * Name: px4_arch_adc_init + ****************************************************************************/ int px4_arch_adc_init(uint32_t base_address) { @@ -158,9 +247,21 @@ int px4_arch_adc_init(uint32_t base_address) *free = base_address; + /* Get cloking for this version of Siicon */ + + uint32_t boost = ADC_CR_BOOST; + uint32_t prescaler = ADC_CCR_PRESC_DIV256; + + if (adc_getclocks(&prescaler, &boost) != OK) { + + /* ERROR: source clock too high */ + + PANIC(); + } + /* do calibration if supported */ - rCR(base_address) = ADC_CR_ADVREGEN | ADC_CR_BOOST; + rCR(base_address) = ADC_CR_ADVREGEN | boost; /* Wait for voltage regulator to power up */ @@ -169,7 +270,7 @@ int px4_arch_adc_init(uint32_t base_address) /* enable the temperature sensor, VREFINT channel and VBAT */ rCCR(base_address) = (ADC_CCR_VREFEN | ADC_CCR_VSENSEEN | ADC_CCR_VBATEN | - ADC_CCR_CKMODE_ASYCH | ADC_CCR_PRESC_DIV); + ADC_CCR_CKMODE_ASYCH | prescaler); /* Enable ADC calibration. ADCALDIF == 0 so this is only for * single-ended conversions, not for differential ones. diff --git a/platforms/posix/CMakeLists.txt b/platforms/posix/CMakeLists.txt index 9561080ed36b..e5bf739d7f52 100644 --- a/platforms/posix/CMakeLists.txt +++ b/platforms/posix/CMakeLists.txt @@ -189,6 +189,7 @@ elseif("${PX4_BOARD}" MATCHES "sitl") ${PROJECT_SOURCE_DIR}/Tools/simulation/gz/worlds DESTINATION ${PROJECT_NAME}/Tools/simulation/gazebo-classic/sitl_gazebo-classic + OPTIONAL ) endif() diff --git a/platforms/posix/Debug/launch_sitl.json.in b/platforms/posix/Debug/launch_sitl.json.in index 2fb0a4bc6b0e..6703f4290346 100644 --- a/platforms/posix/Debug/launch_sitl.json.in +++ b/platforms/posix/Debug/launch_sitl.json.in @@ -223,6 +223,7 @@ "options": [ "x500", "x500_depth", + "x500_lidar", "rc_cessna", "standard_vtol", ], diff --git a/platforms/posix/cmake/Toolchain-aarch64-linux-gnu.cmake b/platforms/posix/cmake/Toolchain-aarch64-linux-gnu.cmake index 2a7cb6c8a372..d48cfc95f199 100644 --- a/platforms/posix/cmake/Toolchain-aarch64-linux-gnu.cmake +++ b/platforms/posix/cmake/Toolchain-aarch64-linux-gnu.cmake @@ -2,16 +2,8 @@ set(triple aarch64-linux-gnu) -if("${PX4_BOARD}" MATCHES "modalai_voxl2") - set(CMAKE_LIBRARY_ARCHITECTURE ${ARM_CROSS_GCC_ROOT}/bin/${triple}) - set(TOOLCHAIN_PREFIX ${ARM_CROSS_GCC_ROOT}/bin/${triple}) - set(ARM_CROSS_GCC_ROOT $ENV{ARM_CROSS_GCC_ROOT}) - set(HEXAGON_ARM_SYSROOT $ENV{HEXAGON_ARM_SYSROOT}) - set(CMAKE_EXE_LINKER_FLAGS "-Wl,-gc-sections -Wl,-rpath-link,${HEXAGON_ARM_SYSROOT}/usr/lib/aarch64-linux-gnu -Wl,-rpath-link,${HEXAGON_ARM_SYSROOT}/lib/aarch64-linux-gnu") -else() - set(CMAKE_LIBRARY_ARCHITECTURE ${triple}) - set(TOOLCHAIN_PREFIX ${triple}) -endif() +set(CMAKE_LIBRARY_ARCHITECTURE ${triple}) +set(TOOLCHAIN_PREFIX ${triple}) set(CMAKE_SYSTEM_NAME Linux) set(CMAKE_SYSTEM_PROCESSOR arm) diff --git a/platforms/posix/include/SerialImpl.hpp b/platforms/posix/include/SerialImpl.hpp new file mode 100644 index 000000000000..543041bc978f --- /dev/null +++ b/platforms/posix/include/SerialImpl.hpp @@ -0,0 +1,120 @@ +/**************************************************************************** + * + * Copyright (C) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#pragma once + +#include +#include + +#include + +using device::SerialConfig::ByteSize; +using device::SerialConfig::Parity; +using device::SerialConfig::StopBits; +using device::SerialConfig::FlowControl; + +namespace device +{ + +class SerialImpl +{ +public: + + SerialImpl(const char *port, uint32_t baudrate, ByteSize bytesize, Parity parity, StopBits stopbits, + FlowControl flowcontrol); + virtual ~SerialImpl(); + + bool open(); + bool isOpen() const; + + bool close(); + + ssize_t read(uint8_t *buffer, size_t buffer_size); + ssize_t readAtLeast(uint8_t *buffer, size_t buffer_size, size_t character_count = 1, uint32_t timeout_us = 0); + + ssize_t write(const void *buffer, size_t buffer_size); + + void flush(); + + const char *getPort() const; + static bool validatePort(const char *port); + bool setPort(const char *port); + + uint32_t getBaudrate() const; + bool setBaudrate(uint32_t baudrate); + + ByteSize getBytesize() const; + bool setBytesize(ByteSize bytesize); + + Parity getParity() const; + bool setParity(Parity parity); + + StopBits getStopbits() const; + bool setStopbits(StopBits stopbits); + + FlowControl getFlowcontrol() const; + bool setFlowcontrol(FlowControl flowcontrol); + + bool getSingleWireMode() const; + bool setSingleWireMode(); + + bool getSwapRxTxMode() const; + bool setSwapRxTxMode(); + + bool getInvertedMode() const; + bool setInvertedMode(bool enable); + +private: + + int _serial_fd{-1}; + + bool _open{false}; + + char _port[32] {}; + + uint32_t _baudrate{0}; + + ByteSize _bytesize{ByteSize::EightBits}; + Parity _parity{Parity::None}; + StopBits _stopbits{StopBits::One}; + FlowControl _flowcontrol{FlowControl::Disabled}; + + bool configure(); + + bool _single_wire_mode{false}; + bool _swap_rx_tx_mode{false}; + bool _inverted_mode{false}; + +}; + +} // namespace device diff --git a/platforms/posix/include/hrt_work.h b/platforms/posix/include/hrt_work.h index 6dd2ab5a09aa..317387ed31b2 100644 --- a/platforms/posix/include/hrt_work.h +++ b/platforms/posix/include/hrt_work.h @@ -48,16 +48,15 @@ int hrt_work_queue(struct work_s *work, worker_t worker, void *arg, uint32_t usd void hrt_work_cancel(struct work_s *work); static inline void hrt_work_lock(void); -static inline void hrt_work_lock() +static inline void hrt_work_lock(void) { px4_sem_wait(&_hrt_work_lock); } static inline void hrt_work_unlock(void); -static inline void hrt_work_unlock() +static inline void hrt_work_unlock(void) { px4_sem_post(&_hrt_work_lock); } __END_DECLS - diff --git a/platforms/posix/include/queue.h b/platforms/posix/include/queue.h index d6315ca1723c..b0a73322cf91 100644 --- a/platforms/posix/include/queue.h +++ b/platforms/posix/include/queue.h @@ -131,4 +131,3 @@ EXTERN FAR dq_entry_t *dq_remfirst(dq_queue_t *queue); #endif #endif /* __INCLUDE_QUEUE_H_ */ - diff --git a/platforms/posix/src/px4/CMakeLists.txt b/platforms/posix/src/px4/CMakeLists.txt index 929788b587e2..93a633982265 100644 --- a/platforms/posix/src/px4/CMakeLists.txt +++ b/platforms/posix/src/px4/CMakeLists.txt @@ -34,4 +34,3 @@ add_subdirectory(common) add_subdirectory(${PX4_CHIP_MANUFACTURER}) - diff --git a/platforms/posix/src/px4/common/CMakeLists.txt b/platforms/posix/src/px4/common/CMakeLists.txt index 34b65cdf44aa..90d4a77992bb 100644 --- a/platforms/posix/src/px4/common/CMakeLists.txt +++ b/platforms/posix/src/px4/common/CMakeLists.txt @@ -46,6 +46,8 @@ add_library(px4_layer drv_hrt.cpp cpuload.cpp print_load.cpp + ${PX4_SOURCE_DIR}/platforms/common/Serial.cpp + SerialImpl.cpp ) target_compile_definitions(px4_layer PRIVATE MODULE_NAME="px4") target_compile_options(px4_layer PRIVATE -Wno-cast-align) # TODO: fix and enable diff --git a/platforms/posix/src/px4/common/SerialImpl.cpp b/platforms/posix/src/px4/common/SerialImpl.cpp new file mode 100644 index 000000000000..2298c3829263 --- /dev/null +++ b/platforms/posix/src/px4/common/SerialImpl.cpp @@ -0,0 +1,498 @@ +/**************************************************************************** + * + * Copyright (C) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include +#include // strncpy +#include +#include +#include +#include +#include +#include + +namespace device +{ + +SerialImpl::SerialImpl(const char *port, uint32_t baudrate, ByteSize bytesize, Parity parity, StopBits stopbits, + FlowControl flowcontrol) : + _baudrate(baudrate), + _bytesize(bytesize), + _parity(parity), + _stopbits(stopbits), + _flowcontrol(flowcontrol) +{ + if (validatePort(port)) { + setPort(port); + + } else { + _port[0] = 0; + } +} + +SerialImpl::~SerialImpl() +{ + if (isOpen()) { + close(); + } +} + +bool SerialImpl::configure() +{ + /* process baud rate */ + int speed; + + switch (_baudrate) { + case 9600: speed = B9600; break; + + case 19200: speed = B19200; break; + + case 38400: speed = B38400; break; + + case 57600: speed = B57600; break; + + case 115200: speed = B115200; break; + + case 230400: speed = B230400; break; + +#ifndef B460800 +#define B460800 460800 +#endif + + case 460800: speed = B460800; break; + +#ifndef B500000 +#define B500000 500000 +#endif + + case 500000: speed = B500000; break; + +#ifndef B576000 +#define B576000 576000 +#endif + + case 576000: speed = B576000; break; + +#ifndef B921600 +#define B921600 921600 +#endif + + case 921600: speed = B921600; break; + +#ifndef B1000000 +#define B1000000 1000000 +#endif + + case 1000000: speed = B1000000; break; + +#ifndef B1500000 +#define B1500000 1500000 +#endif + + case 1500000: speed = B1500000; break; + + default: + speed = _baudrate; + PX4_WARN("Using non-standard baudrate: %u", _baudrate); + break; + } + + struct termios uart_config; + + int termios_state; + + /* fill the struct for the new configuration */ + if ((termios_state = tcgetattr(_serial_fd, &uart_config)) < 0) { + PX4_ERR("ERR: %d (tcgetattr)", termios_state); + return false; + } + + /* properly configure the terminal (see also https://en.wikibooks.org/wiki/Serial_Programming/termios ) */ + + // + // Input flags - Turn off input processing + // + // convert break to null byte, no CR to NL translation, + // no NL to CR translation, don't mark parity errors or breaks + // no input parity check, don't strip high bit off, + // no XON/XOFF software flow control + // + uart_config.c_iflag &= ~(IGNBRK | BRKINT | ICRNL | + INLCR | PARMRK | INPCK | ISTRIP | IXON); + + // + // Output flags - Turn off output processing + // + // no CR to NL translation, no NL to CR-NL translation, + // no NL to CR translation, no column 0 CR suppression, + // no Ctrl-D suppression, no fill characters, no case mapping, + // no local output processing + // + // config.c_oflag &= ~(OCRNL | ONLCR | ONLRET | + // ONOCR | ONOEOT| OFILL | OLCUC | OPOST); + uart_config.c_oflag = 0; + + // + // No line processing + // + // echo off, echo newline off, canonical mode off, + // extended input processing off, signal chars off + // + uart_config.c_lflag &= ~(ECHO | ECHONL | ICANON | IEXTEN | ISIG); + + /* no parity, one stop bit, disable flow control */ + uart_config.c_cflag &= ~(CSTOPB | PARENB | CRTSCTS); + + /* set baud rate */ + if ((termios_state = cfsetispeed(&uart_config, speed)) < 0) { + PX4_ERR("ERR: %d (cfsetispeed)", termios_state); + return false; + } + + if ((termios_state = cfsetospeed(&uart_config, speed)) < 0) { + PX4_ERR("ERR: %d (cfsetospeed)", termios_state); + return false; + } + + if ((termios_state = tcsetattr(_serial_fd, TCSANOW, &uart_config)) < 0) { + PX4_ERR("ERR: %d (tcsetattr)", termios_state); + return false; + } + + return true; +} + +bool SerialImpl::open() +{ + if (isOpen()) { + return true; + } + + if (!validatePort(_port)) { + PX4_ERR("Invalid port %s", _port); + return false; + } + + // Open the serial port + int serial_fd = ::open(_port, O_RDWR | O_NOCTTY | O_NONBLOCK); + + if (serial_fd < 0) { + PX4_ERR("failed to open %s err: %d", _port, errno); + return false; + } + + _serial_fd = serial_fd; + + // Configure the serial port + if (! configure()) { + PX4_ERR("failed to configure %s err: %d", _port, errno); + return false; + } + + _open = true; + + if (_single_wire_mode) { + setSingleWireMode(); + } + + if (_swap_rx_tx_mode) { + setSwapRxTxMode(); + } + + setInvertedMode(_inverted_mode); + + return _open; +} + +bool SerialImpl::isOpen() const +{ + return _open; +} + +bool SerialImpl::close() +{ + + if (_serial_fd >= 0) { + ::close(_serial_fd); + } + + _serial_fd = -1; + _open = false; + + return true; +} + +ssize_t SerialImpl::read(uint8_t *buffer, size_t buffer_size) +{ + if (!_open) { + PX4_ERR("Cannot read from serial device until it has been opened"); + return -1; + } + + int ret = ::read(_serial_fd, buffer, buffer_size); + + if (ret < 0) { + PX4_DEBUG("%s read error %d", _port, ret); + + } + + return ret; +} + +ssize_t SerialImpl::readAtLeast(uint8_t *buffer, size_t buffer_size, size_t character_count, uint32_t timeout_ms) +{ + if (!_open) { + PX4_ERR("Cannot readAtLeast from serial device until it has been opened"); + return -1; + } + + if (buffer_size < character_count) { + PX4_ERR("%s: Buffer not big enough to hold desired amount of read data", __FUNCTION__); + return -1; + } + + const hrt_abstime start_time_us = hrt_absolute_time(); + hrt_abstime timeout_us = timeout_ms * 1000; + int total_bytes_read = 0; + + while ((total_bytes_read < (int) character_count) && (hrt_elapsed_time(&start_time_us) < timeout_us)) { + // Poll for incoming UART data. + pollfd fds[1]; + fds[0].fd = _serial_fd; + fds[0].events = POLLIN; + + hrt_abstime elapsed_time_us = hrt_elapsed_time(&start_time_us); + + if (elapsed_time_us > timeout_us) { break; } + + int ret = poll(fds, sizeof(fds) / sizeof(fds[0]), (timeout_us - elapsed_time_us) / 1000); + + if (ret > 0) { + if (fds[0].revents & POLLIN) { + const unsigned sleeptime = character_count * 1000000 / (_baudrate / 10); + px4_usleep(sleeptime); + + ret = read(&buffer[total_bytes_read], buffer_size - total_bytes_read); + + if (ret > 0) { + total_bytes_read += ret; + } + + } else { + PX4_ERR("Got a poll error"); + return -1; + } + } + } + + return total_bytes_read; +} + +ssize_t SerialImpl::write(const void *buffer, size_t buffer_size) +{ + if (!_open) { + PX4_ERR("Cannot write to serial device until it has been opened"); + return -1; + } + + int written = ::write(_serial_fd, buffer, buffer_size); + ::fsync(_serial_fd); + + if (written < 0) { + PX4_ERR("%s write error %d", _port, written); + + } + + return written; +} + +void SerialImpl::flush() +{ + if (_open) { + tcflush(_serial_fd, TCIOFLUSH); + } +} + +const char *SerialImpl::getPort() const +{ + return _port; +} + +bool SerialImpl::validatePort(const char *port) +{ + return (port && (access(port, R_OK | W_OK) == 0)); +} + +bool SerialImpl::setPort(const char *port) +{ + if (_open) { + PX4_ERR("Cannot set port after port has already been opened"); + return false; + } + + if (validatePort(port)) { + strncpy(_port, port, sizeof(_port) - 1); + _port[sizeof(_port) - 1] = '\0'; + return true; + } + + return false; +} + +uint32_t SerialImpl::getBaudrate() const +{ + return _baudrate; +} + +bool SerialImpl::setBaudrate(uint32_t baudrate) +{ + // check if already configured + if ((baudrate == _baudrate) && _open) { + return true; + } + + _baudrate = baudrate; + + // process baud rate change now if port is already open + if (_open) { + return configure(); + } + + return true; +} + +ByteSize SerialImpl::getBytesize() const +{ + return _bytesize; +} + +bool SerialImpl::setBytesize(ByteSize bytesize) +{ + return bytesize == ByteSize::EightBits; +} + +Parity SerialImpl::getParity() const +{ + return _parity; +} + +bool SerialImpl::setParity(Parity parity) +{ + return parity == Parity::None; +} + +StopBits SerialImpl::getStopbits() const +{ + return _stopbits; +} + +bool SerialImpl::setStopbits(StopBits stopbits) +{ + return stopbits == StopBits::One; +} + +FlowControl SerialImpl::getFlowcontrol() const +{ + return _flowcontrol; +} + +bool SerialImpl::setFlowcontrol(FlowControl flowcontrol) +{ + return flowcontrol == FlowControl::Disabled; +} + +bool SerialImpl::getSingleWireMode() const +{ + return _single_wire_mode; +} + +bool SerialImpl::setSingleWireMode() +{ +#if defined(TIOCSSINGLEWIRE) + + if (_open) { + ioctl(_serial_fd, TIOCSSINGLEWIRE, SER_SINGLEWIRE_ENABLED); + } + + _single_wire_mode = true; + return true; +#else + return false; +#endif // TIOCSSINGLEWIRE +} + +bool SerialImpl::getSwapRxTxMode() const +{ + return _swap_rx_tx_mode; +} + +bool SerialImpl::setSwapRxTxMode() +{ +#if defined(TIOCSSWAP) + + if (_open) { + ioctl(_serial_fd, TIOCSSWAP, SER_SWAP_ENABLED); + } + + _swap_rx_tx_mode = true; + return true; +#else + return false; +#endif // TIOCSSWAP +} + +bool SerialImpl::getInvertedMode() const +{ + return _inverted_mode; +} + +bool SerialImpl::setInvertedMode(bool enable) +{ +#if defined(TIOCSINVERT) + + if (_open) { + if (enable) { + ioctl(_serial_fd, TIOCSINVERT, SER_INVERT_ENABLED_RX | SER_INVERT_ENABLED_TX); + + } else { + ioctl(_serial_fd, TIOCSINVERT, 0); + } + } + + _inverted_mode = enable; + return true; +#else + return _inverted_mode == enable; +#endif // TIOCSINVERT +} + +} // namespace device diff --git a/platforms/posix/src/px4/common/drv_hrt.cpp b/platforms/posix/src/px4/common/drv_hrt.cpp index 9634511bf3fc..b510229bc0cf 100644 --- a/platforms/posix/src/px4/common/drv_hrt.cpp +++ b/platforms/posix/src/px4/common/drv_hrt.cpp @@ -51,6 +51,11 @@ #include #include "hrt_work.h" +// Voxl2 board specific API definitions to get time offset +#if defined(CONFIG_MUORB_APPS_SYNC_TIMESTAMP) +#include "fc_sensor.h" +#endif + #if defined(ENABLE_LOCKSTEP_SCHEDULER) #include static LockstepScheduler lockstep_scheduler {true}; @@ -107,6 +112,29 @@ hrt_abstime hrt_absolute_time() #else // defined(ENABLE_LOCKSTEP_SCHEDULER) struct timespec ts; px4_clock_gettime(CLOCK_MONOTONIC, &ts); + +# if defined(CONFIG_MUORB_APPS_SYNC_TIMESTAMP) + hrt_abstime temp_abstime = ts_to_abstime(&ts); + int apps_time_offset = fc_sensor_get_time_offset(); + + if (apps_time_offset < 0) { + hrt_abstime temp_offset = -apps_time_offset; + + if (temp_offset >= temp_abstime) { + temp_abstime = 0; + + } else { + temp_abstime -= temp_offset; + } + + } else { + temp_abstime += (hrt_abstime) apps_time_offset; + } + + ts.tv_sec = temp_abstime / 1000000; + ts.tv_nsec = (temp_abstime % 1000000) * 1000; +# endif // defined(CONFIG_MUORB_APPS_SYNC_TIMESTAMP) + return ts_to_abstime(&ts); #endif // defined(ENABLE_LOCKSTEP_SCHEDULER) } @@ -449,6 +477,7 @@ int px4_clock_gettime(clockid_t clk_id, struct timespec *tp) #endif // defined(ENABLE_LOCKSTEP_SCHEDULER) return system_clock_gettime(clk_id, tp); + } #if defined(ENABLE_LOCKSTEP_SCHEDULER) diff --git a/platforms/posix/src/px4/common/lockstep_scheduler/include/lockstep_scheduler/lockstep_components.h b/platforms/posix/src/px4/common/lockstep_scheduler/include/lockstep_scheduler/lockstep_components.h index 3dc032e5a99c..15041c2b40ea 100644 --- a/platforms/posix/src/px4/common/lockstep_scheduler/include/lockstep_scheduler/lockstep_components.h +++ b/platforms/posix/src/px4/common/lockstep_scheduler/include/lockstep_scheduler/lockstep_components.h @@ -76,4 +76,3 @@ class LockstepComponents std::atomic_int _components_used_bitset{0}; std::atomic_int _components_progress_bitset{0}; }; - diff --git a/platforms/posix/src/px4/common/px4_daemon/CMakeLists.txt b/platforms/posix/src/px4/common/px4_daemon/CMakeLists.txt index e6cf9fcc7524..0e68741c181d 100644 --- a/platforms/posix/src/px4/common/px4_daemon/CMakeLists.txt +++ b/platforms/posix/src/px4/common/px4_daemon/CMakeLists.txt @@ -39,4 +39,3 @@ px4_add_library(px4_daemon server_io.cpp sock_protocol.cpp ) - diff --git a/platforms/posix/src/px4/common/px4_daemon/client.h b/platforms/posix/src/px4/common/px4_daemon/client.h index 41f4cb838192..b7883af3ebe6 100644 --- a/platforms/posix/src/px4/common/px4_daemon/client.h +++ b/platforms/posix/src/px4/common/px4_daemon/client.h @@ -85,4 +85,3 @@ class Client }; } // namespace px4_daemon - diff --git a/platforms/posix/src/px4/common/px4_daemon/history.h b/platforms/posix/src/px4/common/px4_daemon/history.h index b29ca8c53107..207c265f605a 100644 --- a/platforms/posix/src/px4/common/px4_daemon/history.h +++ b/platforms/posix/src/px4/common/px4_daemon/history.h @@ -101,4 +101,3 @@ class History }; } // namespace px4_daemon - diff --git a/platforms/posix/src/px4/common/px4_daemon/pxh.cpp b/platforms/posix/src/px4/common/px4_daemon/pxh.cpp index c17bbda26749..9bcf0268adb0 100644 --- a/platforms/posix/src/px4/common/px4_daemon/pxh.cpp +++ b/platforms/posix/src/px4/common/px4_daemon/pxh.cpp @@ -40,6 +40,7 @@ * @author Julian Oes */ +#include #include #include #include diff --git a/platforms/posix/src/px4/common/px4_daemon/pxh.h b/platforms/posix/src/px4/common/px4_daemon/pxh.h index 45bd4b863343..39009bed11c5 100644 --- a/platforms/posix/src/px4/common/px4_daemon/pxh.h +++ b/platforms/posix/src/px4/common/px4_daemon/pxh.h @@ -103,4 +103,3 @@ class Pxh } // namespace px4_daemon - diff --git a/platforms/posix/src/px4/common/px4_daemon/server.cpp b/platforms/posix/src/px4/common/px4_daemon/server.cpp index c3b012bb8462..c26b364457f7 100644 --- a/platforms/posix/src/px4/common/px4_daemon/server.cpp +++ b/platforms/posix/src/px4/common/px4_daemon/server.cpp @@ -153,9 +153,8 @@ Server::_server_main() // Reboot command causes System Interrupt to stop poll(). This is not an error if (errno != EINTR) { PX4_ERR("poll() failed: %s", strerror(errno)); + break; } - - break; } _lock(); diff --git a/platforms/posix/src/px4/common/px4_daemon/server.h b/platforms/posix/src/px4/common/px4_daemon/server.h index 2932a977ff29..36f347df6764 100644 --- a/platforms/posix/src/px4/common/px4_daemon/server.h +++ b/platforms/posix/src/px4/common/px4_daemon/server.h @@ -124,4 +124,3 @@ class Server } // namespace px4_daemon - diff --git a/platforms/posix/src/px4/common/px4_daemon/sock_protocol.cpp b/platforms/posix/src/px4/common/px4_daemon/sock_protocol.cpp index 65b9e18000c4..48d154ca8534 100644 --- a/platforms/posix/src/px4/common/px4_daemon/sock_protocol.cpp +++ b/platforms/posix/src/px4/common/px4_daemon/sock_protocol.cpp @@ -48,4 +48,3 @@ std::string get_socket_path(int instance_id) } } // namespace px4_daemon - diff --git a/platforms/posix/src/px4/common/px4_daemon/sock_protocol.h b/platforms/posix/src/px4/common/px4_daemon/sock_protocol.h index f158a29b66d0..725dfe281e1e 100644 --- a/platforms/posix/src/px4/common/px4_daemon/sock_protocol.h +++ b/platforms/posix/src/px4/common/px4_daemon/sock_protocol.h @@ -45,4 +45,3 @@ namespace px4_daemon std::string get_socket_path(int instance_id); } // namespace px4_daemon - diff --git a/platforms/posix/src/px4/common/px4_init.cpp b/platforms/posix/src/px4/common/px4_init.cpp index 71af70565d44..239841019263 100644 --- a/platforms/posix/src/px4/common/px4_init.cpp +++ b/platforms/posix/src/px4/common/px4_init.cpp @@ -40,15 +40,34 @@ #include #include +#if defined(CONFIG_MODULES_MUORB_APPS) +extern "C" { int muorb_init(); } +#endif + int px4_platform_init(void) { hrt_init(); - param_init(); - px4::WorkQueueManagerStart(); +// MUORB has slightly different startup requirements +#if defined(CONFIG_MODULES_MUORB_APPS) + //Put sleeper in here to allow wq to finish initializing before param_init is called + usleep(10000); + + uorb_start(); + + muorb_init(); + + // Give muorb some time to setup the DSP + usleep(100000); + + param_init(); +#else + param_init(); + uorb_start(); +#endif px4_log_initialize(); diff --git a/platforms/posix/src/px4/common/px4_posix_impl.cpp b/platforms/posix/src/px4/common/px4_posix_impl.cpp index 385c1a244551..31c1bb125cb4 100644 --- a/platforms/posix/src/px4/common/px4_posix_impl.cpp +++ b/platforms/posix/src/px4/common/px4_posix_impl.cpp @@ -97,4 +97,3 @@ void init(int argc, char *argv[], const char *app_name) } } - diff --git a/platforms/posix/src/px4/generic/CMakeLists.txt b/platforms/posix/src/px4/generic/CMakeLists.txt index ec489bf559c3..72584f3178ec 100644 --- a/platforms/posix/src/px4/generic/CMakeLists.txt +++ b/platforms/posix/src/px4/generic/CMakeLists.txt @@ -31,6 +31,4 @@ # ############################################################################ - add_subdirectory(${PX4_CHIP}) - diff --git a/platforms/posix/src/px4/generic/generic/CMakeLists.txt b/platforms/posix/src/px4/generic/generic/CMakeLists.txt index 4db79a429f8e..f99e817798ef 100644 --- a/platforms/posix/src/px4/generic/generic/CMakeLists.txt +++ b/platforms/posix/src/px4/generic/generic/CMakeLists.txt @@ -31,6 +31,4 @@ # ############################################################################ - add_subdirectory(tone_alarm) - diff --git a/platforms/posix/src/px4/generic/generic/include/px4_arch/micro_hal.h b/platforms/posix/src/px4/generic/generic/include/px4_arch/micro_hal.h index d09b73c687dd..2d85741cac90 100644 --- a/platforms/posix/src/px4/generic/generic/include/px4_arch/micro_hal.h +++ b/platforms/posix/src/px4/generic/generic/include/px4_arch/micro_hal.h @@ -33,4 +33,3 @@ #pragma once #include - diff --git a/platforms/posix/src/px4/generic/generic/tone_alarm/ToneAlarmInterface.cpp b/platforms/posix/src/px4/generic/generic/tone_alarm/ToneAlarmInterface.cpp index 61f9fc69ca24..639c16560381 100644 --- a/platforms/posix/src/px4/generic/generic/tone_alarm/ToneAlarmInterface.cpp +++ b/platforms/posix/src/px4/generic/generic/tone_alarm/ToneAlarmInterface.cpp @@ -58,4 +58,3 @@ void stop_note() } } /* namespace ToneAlarmInterface */ - diff --git a/platforms/qurt/CMakeLists.txt b/platforms/qurt/CMakeLists.txt index d85f3fcb7bff..0bb5f5d712b7 100644 --- a/platforms/qurt/CMakeLists.txt +++ b/platforms/qurt/CMakeLists.txt @@ -44,11 +44,11 @@ include_directories( add_library(px4 SHARED ${PX4_SOURCE_DIR}/platforms/qurt/unresolved_symbols.c + ${PX4_SOURCE_DIR}/platforms/qurt/new_delete.cpp ${PX4_BINARY_DIR}/apps.cpp ) target_link_libraries(px4 modules__muorb__slpi ${module_libraries} - px4_layer ) diff --git a/platforms/qurt/cmake/px4_impl_os.cmake b/platforms/qurt/cmake/px4_impl_os.cmake index e0c2dbaba17f..dcc28e176a2e 100644 --- a/platforms/qurt/cmake/px4_impl_os.cmake +++ b/platforms/qurt/cmake/px4_impl_os.cmake @@ -124,13 +124,7 @@ endfunction() # function(px4_os_add_flags) - set(DSPAL_ROOT platforms/qurt/dspal) include_directories( - ${DSPAL_ROOT}/include - ${DSPAL_ROOT}/sys - ${DSPAL_ROOT}/sys/sys - - platforms/posix/include platforms/qurt/include ) diff --git a/platforms/qurt/cmake/qurt_reqs.cmake b/platforms/qurt/cmake/qurt_reqs.cmake index c8920b717a7e..37be2f72d434 100644 --- a/platforms/qurt/cmake/qurt_reqs.cmake +++ b/platforms/qurt/cmake/qurt_reqs.cmake @@ -121,7 +121,8 @@ exec_program(${CMAKE_CXX_COMPILER} ${CMAKE_CURRENT_SOURCE_DIR} ARGS -print-file- set(EXTRA_LIBS ${EXTRA_LIBS} ${LIBM}) # Full optimization and Link Time Optimization (LTO) -set(QURT_OPTIMIZATION_FLAGS -O3 -flto) +# set(QURT_OPTIMIZATION_FLAGS -O3 -flto) +set(QURT_OPTIMIZATION_FLAGS -O3) # LTO takes a lot of extra time and doesn't really help much... # Flags we pass to the C compiler list2string(CFLAGS diff --git a/platforms/qurt/include/SerialImpl.hpp b/platforms/qurt/include/SerialImpl.hpp new file mode 100644 index 000000000000..39c3d63553d5 --- /dev/null +++ b/platforms/qurt/include/SerialImpl.hpp @@ -0,0 +1,120 @@ +/**************************************************************************** + * + * Copyright (C) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#pragma once + +#include + +#include + +using device::SerialConfig::ByteSize; +using device::SerialConfig::Parity; +using device::SerialConfig::StopBits; +using device::SerialConfig::FlowControl; + +namespace device +{ + +class SerialImpl +{ +public: + + SerialImpl(const char *port, uint32_t baudrate, ByteSize bytesize, Parity parity, StopBits stopbits, + FlowControl flowcontrol); + virtual ~SerialImpl(); + + bool open(); + bool isOpen() const; + + bool close(); + + ssize_t read(uint8_t *buffer, size_t buffer_size); + ssize_t readAtLeast(uint8_t *buffer, size_t buffer_size, size_t character_count = 1, uint32_t timeout_us = 0); + + ssize_t write(const void *buffer, size_t buffer_size); + + void flush(); + + const char *getPort() const; + bool setPort(const char *port); + static bool validatePort(const char *port); + + uint32_t getBaudrate() const; + bool setBaudrate(uint32_t baudrate); + + ByteSize getBytesize() const; + bool setBytesize(ByteSize bytesize); + + Parity getParity() const; + bool setParity(Parity parity); + + StopBits getStopbits() const; + bool setStopbits(StopBits stopbits); + + FlowControl getFlowcontrol() const; + bool setFlowcontrol(FlowControl flowcontrol); + + bool getSingleWireMode() const; + bool setSingleWireMode(); + + bool getSwapRxTxMode() const; + bool setSwapRxTxMode(); + + bool getInvertedMode() const; + bool setInvertedMode(bool enable); + +private: + + int _serial_fd{-1}; + + bool _open{false}; + + char _port[32] {}; + + uint32_t _baudrate{0}; + + ByteSize _bytesize{ByteSize::EightBits}; + Parity _parity{Parity::None}; + StopBits _stopbits{StopBits::One}; + FlowControl _flowcontrol{FlowControl::Disabled}; + + bool validateBaudrate(uint32_t baudrate); + + // Mutex used to lock the read functions + //pthread_mutex_t read_mutex; + + // Mutex used to lock the write functions + //pthread_mutex_t write_mutex; +}; + +} // namespace device diff --git a/platforms/qurt/include/crc32.h b/platforms/qurt/include/crc32.h new file mode 100644 index 000000000000..34e080b1c2e3 --- /dev/null +++ b/platforms/qurt/include/crc32.h @@ -0,0 +1,83 @@ +/**************************************************************************** + * include/crc.h + * + * Copyright (C) 2010 Gregory Nutt. All rights reserved. + * Author: Gregory Nutt + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name NuttX nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#ifndef __INCLUDE_CRC32_H +#define __INCLUDE_CRC32_H + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include +#include + +/**************************************************************************** + * Public Function Prototypes + ****************************************************************************/ + +#ifdef __cplusplus +#define EXTERN extern "C" +extern "C" { +#else +#define EXTERN extern +#endif + +/**************************************************************************** + * Name: crc32part + * + * Description: + * Continue CRC calculation on a part of the buffer. + * + ****************************************************************************/ + +EXTERN uint32_t crc32part(const uint8_t *src, size_t len, + uint32_t crc32val); + +/**************************************************************************** + * Name: crc32 + * + * Description: + * Return a 32-bit CRC of the contents of the 'src' buffer, length 'len' + * + ****************************************************************************/ + +EXTERN uint32_t crc32(const uint8_t *src, size_t len); + +#undef EXTERN +#ifdef __cplusplus +} +#endif + +#endif /* __INCLUDE_CRC32_H */ diff --git a/platforms/qurt/include/px4_arch/micro_hal.h b/platforms/qurt/include/px4_arch/micro_hal.h index c23a40dbcfd6..d88e2ee29ebd 100644 --- a/platforms/qurt/include/px4_arch/micro_hal.h +++ b/platforms/qurt/include/px4_arch/micro_hal.h @@ -32,4 +32,3 @@ ****************************************************************************/ // Placeholder - diff --git a/platforms/qurt/include/queue.h b/platforms/qurt/include/queue.h new file mode 100644 index 000000000000..b0a73322cf91 --- /dev/null +++ b/platforms/qurt/include/queue.h @@ -0,0 +1,133 @@ +/************************************************************************ + * include/queue.h + * + * Copyright (C) 2007-2009 Gregory Nutt. All rights reserved. + * Author: Gregory Nutt + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name NuttX nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ************************************************************************/ + +#ifndef __INCLUDE_QUEUE_H +#define __INCLUDE_QUEUE_H + +/************************************************************************ + * Included Files + ************************************************************************/ + +#include + +#ifdef __cplusplus +#include // NULL +#else +#include // NULL +#endif + +/************************************************************************ + * Pre-processor Definitions + ************************************************************************/ + +#define sq_init(q) do { (q)->head = NULL; (q)->tail = NULL; } while (0) +#define dq_init(q) do { (q)->head = NULL; (q)->tail = NULL; } while (0) + +#define sq_next(p) ((p)->flink) +#define dq_next(p) ((p)->flink) +#define dq_prev(p) ((p)->blink) + +#define sq_empty(q) ((q)->head == NULL) +#define dq_empty(q) ((q)->head == NULL) + +#define sq_peek(q) ((q)->head) +#define dq_peek(q) ((q)->head) + +// Required for Linux +#define FAR + +/************************************************************************ + * Global Type Declarations + ************************************************************************/ + +struct sq_entry_s { + FAR struct sq_entry_s *flink; +}; +typedef struct sq_entry_s sq_entry_t; + +struct dq_entry_s { + FAR struct dq_entry_s *flink; + FAR struct dq_entry_s *blink; +}; +typedef struct dq_entry_s dq_entry_t; + +struct sq_queue_s { + FAR sq_entry_t *head; + FAR sq_entry_t *tail; +}; +typedef struct sq_queue_s sq_queue_t; + +struct dq_queue_s { + FAR dq_entry_t *head; + FAR dq_entry_t *tail; +}; +typedef struct dq_queue_s dq_queue_t; + +/************************************************************************ + * Global Function Prototypes + ************************************************************************/ + +#ifdef __cplusplus +#define EXTERN extern "C" +extern "C" { +#else +#define EXTERN extern +#endif + +EXTERN void sq_addfirst(FAR sq_entry_t *node, sq_queue_t *queue); +EXTERN void dq_addfirst(FAR dq_entry_t *node, dq_queue_t *queue); +EXTERN void sq_addlast(FAR sq_entry_t *node, sq_queue_t *queue); +EXTERN void dq_addlast(FAR dq_entry_t *node, dq_queue_t *queue); +EXTERN void sq_addafter(FAR sq_entry_t *prev, FAR sq_entry_t *node, + sq_queue_t *queue); +EXTERN void dq_addafter(FAR dq_entry_t *prev, FAR dq_entry_t *node, + dq_queue_t *queue); +EXTERN void dq_addbefore(FAR dq_entry_t *next, FAR dq_entry_t *node, + dq_queue_t *queue); + +EXTERN FAR sq_entry_t *sq_remafter(FAR sq_entry_t *node, sq_queue_t *queue); +EXTERN void sq_rem(FAR sq_entry_t *node, sq_queue_t *queue); +EXTERN void dq_rem(FAR dq_entry_t *node, dq_queue_t *queue); +EXTERN FAR sq_entry_t *sq_remlast(sq_queue_t *queue); +EXTERN FAR dq_entry_t *dq_remlast(dq_queue_t *queue); +EXTERN FAR sq_entry_t *sq_remfirst(sq_queue_t *queue); +EXTERN FAR dq_entry_t *dq_remfirst(dq_queue_t *queue); + +#undef EXTERN +#ifdef __cplusplus +} +#endif + +#endif /* __INCLUDE_QUEUE_H_ */ diff --git a/platforms/qurt/include/system_config.h b/platforms/qurt/include/system_config.h new file mode 100644 index 000000000000..7d3162cbe0ce --- /dev/null +++ b/platforms/qurt/include/system_config.h @@ -0,0 +1,65 @@ +/**************************************************************************** + * + * Copyright (c) 2017 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file system_config.h + * + * Definitions used by all SITL and Linux targets + */ + +#pragma once + +#define PX4_CPU_UUID_BYTE_LENGTH 16 +#define PX4_CPU_UUID_WORD32_LENGTH 4 + +#define PX4_CPU_MFGUID_BYTE_LENGTH PX4_CPU_UUID_BYTE_LENGTH +#define PX4_CPU_UUID_WORD32_UNIQUE_H 2 /* Most significant digits change the least */ +#define PX4_CPU_UUID_WORD32_UNIQUE_M 1 /* Middle significant digits */ +#define PX4_CPU_UUID_WORD32_UNIQUE_L 0 /* Least significant digits change the most */ +#define PX4_CPU_UUID_WORD32_FORMAT_SIZE (PX4_CPU_UUID_WORD32_LENGTH-1+(2*PX4_CPU_UUID_BYTE_LENGTH)+1) +#define PX4_CPU_MFGUID_FORMAT_SIZE ((2*PX4_CPU_MFGUID_BYTE_LENGTH)+1) + +#define BOARD_OVERRIDE_CPU_VERSION (-1) +#define board_mcu_version(rev, revstr, errata) BOARD_OVERRIDE_CPU_VERSION + +#define BOARD_HAS_NO_UUID + +#define CONFIG_NFILE_STREAMS 1 +#define CONFIG_SCHED_WORKQUEUE 1 +#define CONFIG_SCHED_HPWORK 1 +#define CONFIG_SCHED_LPWORK 1 + +/** time in ms between checks for work in work queues **/ +#define CONFIG_SCHED_WORKPERIOD 50000 + +#define CONFIG_SCHED_INSTRUMENTATION 1 diff --git a/platforms/qurt/include/termios.h b/platforms/qurt/include/termios.h index d36d80ee9388..2e59ca1815bb 100644 --- a/platforms/qurt/include/termios.h +++ b/platforms/qurt/include/termios.h @@ -1,37 +1,318 @@ /**************************************************************************** + * include/termios.h * - * Copyright (C) 2022 ModalAI, Inc. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. + * Licensed to the Apache Software Foundation (ASF) under one or more + * contributor license agreements. See the NOTICE file distributed with + * this work for additional information regarding copyright ownership. The + * ASF licenses this file to you under the Apache License, Version 2.0 (the + * "License"); you may not use this file except in compliance with the + * License. You may obtain a copy of the License at * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT + * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the + * License for the specific language governing permissions and limitations + * under the License. + * + ****************************************************************************/ + +#ifndef __INCLUDE_TERMIOS_H +#define __INCLUDE_TERMIOS_H + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include +#include + +/**************************************************************************** + * Pre-processor Definitions ****************************************************************************/ -// This file prevents a missing header file error but since Qurt doesn't support -// termios the actual code will still need to be changed for Qurt +/* Terminal input modes (c_iflag in the termios structure) */ + +#define IGNBRK (1 << 0) /* Bit 0: Ignore break condition */ +#define BRKINT (1 << 1) /* Bit 1: Signal interrupt on break */ +#define IGNPAR (1 << 2) /* Bit 2: Ignore characters with parity errors */ +#define PARMRK (1 << 3) /* Bit 3: Mark parity errors */ +#define INPCK (1 << 4) /* Bit 4: Enable input parity check */ +#define ISTRIP (1 << 5) /* Bit 5: Strip character */ +#define INLCR (1 << 6) /* Bit 6: Map NL to CR on input */ +#define IGNCR (1 << 7) /* Bit 7: Ignore CR */ +#define ICRNL (1 << 8) /* Bit 8: Map CR to NL on input */ +#define IUCLC (1 << 9) /* Bit 9: Map upper-case to lower-case on input (LEGACY) */ +#define IXON (1 << 10) /* Bit 10: Enable start/stop output control */ +#define IXANY (1 << 11) /* Bit 11: Enable any character to restart output */ +#define IXOFF (1 << 12) /* Bit 12: Enable start/stop input control */ + +/* Terminal output modes (c_oflag in the termios structure) */ + +#define OPOST (1 << 0) /* Bit 0: Post-process output */ +#define OLCUC (1 << 1) /* Bit 1: Map lower-case to upper-case on output (LEGACY) */ +#define ONLCR (1 << 2) /* Bit 2: Map NL to CR-NL on output */ +#define OCRNL (1 << 3) /* Bit 3: Map CR to NL on output */ +#define ONOCR (1 << 4) /* Bit 4: No CR output at column 0 */ +#define ONLRET (1 << 5) /* Bit 5: NL performs CR function */ +#define OFILL (1 << 6) /* Bit 6: Use fill characters for delay */ +#define NLDLY (1 << 8) /* Bit 8: Select newline delays: */ +# define NL0 (0 << 8) /* Newline character type 0 */ +# define NL1 (1 << 8) /* Newline character type 1 */ +#define CRDLY (3 << 9) /* Bits 9-10: Select carriage-return delays: */ +# define CR0 (0 << 9) /* Carriage-return delay type 0 */ +# define CR1 (1 << 9) /* Carriage-return delay type 1 */ +# define CR2 (2 << 9) /* Carriage-return delay type 2 */ +# define CR3 (3 << 9) /* Carriage-return delay type 3 */ +#define TABDLY (3 << 11) /* Bits 11-12: Select horizontal-tab delays: */ +# define TAB0 (0 << 11) /* Horizontal-tab delay type 0 */ +# define TAB1 (1 << 11) /* Horizontal-tab delay type 1 */ +# define TAB2 (2 << 11) /* Horizontal-tab delay type 2 */ +# define TAB3 (3 << 11) /* Expand tabs to spaces */ +#define BSDLY (1 << 13) /* Bit 13: Select backspace delays: */ +# define BS0 (0 << 13) /* Backspace-delay type 0 */ +# define BS1 (1 << 13) /* Backspace-delay type 1 */ +#define VTDLY (1 << 14) /* Bit 14: Select vertical-tab delays: */ +# define VT0 (0 << 14) /* Vertical-tab delay type 0 */ +# define VT1 (1 << 14) /* Vertical-tab delay type 1 */ +#define FFDLY (1 << 15) /* Bit 15: Select form-feed delays: */ +# define FF0 (0 << 15) /* Form-feed delay type 0 */ +# define FF1 (1 << 15) /* Form-feed delay type 1 */ + +/* Control Modes (c_cflag in the termios structure) */ + +#define CSIZE (3 << 4) /* Bits 4-5: Character size: */ +# define CS5 (0 << 4) /* 5 bits */ +# define CS6 (1 << 4) /* 6 bits */ +# define CS7 (2 << 4) /* 7 bits */ +# define CS8 (3 << 4) /* 8 bits */ +#define CSTOPB (1 << 6) /* Bit 6: Send two stop bits, else one */ +#define CREAD (1 << 7) /* Bit 7: Enable receiver */ +#define PARENB (1 << 8) /* Bit 8: Parity enable */ +#define PARODD (1 << 9) /* Bit 9: Odd parity, else even */ +#define HUPCL (1 << 10) /* Bit 10: Hang up on last close */ +#define CLOCAL (1 << 11) /* Bit 11: Ignore modem status lines */ +#define CCTS_OFLOW (1 << 29) /* Bit 29: CTS flow control of output */ +#define CRTS_IFLOW (1u << 31) /* Bit 31: RTS flow control of input */ +#define CRTSCTS (CCTS_OFLOW | CRTS_IFLOW) + +/* Local Modes (c_lflag in the termios structure) */ + +#define ISIG (1 << 0) /* Bit 0: Enable signals */ +#define ICANON (1 << 1) /* Bit 1: Canonical input (erase and kill processing) */ +#define XCASE (1 << 2) /* Bit 2: Canonical upper/lower presentation (LEGACY) */ +#define ECHO (1 << 3) /* Bit 3: Enable echo */ +#define ECHOE (1 << 4) /* Bit 4: Echo erase character as error correcting backspace */ +#define ECHOK (1 << 5) /* Bit 5: Echo KILL */ +#define ECHONL (1 << 6) /* Bit 6: Echo NL */ +#define NOFLSH (1 << 7) /* Bit 7: Disable flush after interrupt or quit */ +#define TOSTOP (1 << 8) /* Bit 8: Send SIGTTOU for background output */ +#define IEXTEN (1 << 15) /* Bit 15: Enable extended input character processing */ + +/* The following are subscript names for the termios c_cc array. + * + * Common characters: VINTR, VQUIT, VSTART, VSTOP, VSUSP + * + * VINTR: Interrupt character (Default ETX, Control-C) + * VQUIT: Quit character (Default FS, Control-\) + * VSTART: Start character (Default DC1, Control-Q) + * VSTOP: Stop character (Default DC3, Control-S) + * VSUSP: Suspend character (Default SUB, Control-Z) + * + * Canonical mode: Adds VEOF, VEOL, VERASE, VKILL + * + * VEOL: End-of-file character (Default SUB, Control-Z) + * VEOF: End-of-line character (Default NUL) + * VERASE: Erase character (Default DEL or BS, Control-H) + * VKILL: Kill character (Default NAK or BS, Control-U) + * + * Non-canonical mode: Adds VMIN, VTIME + * + * VMIN: Minimum number of characters for non-canonical read + * VTIME: Timeout in deciseconds for non-canonical read + */ + +#define VINTR 0 /* Bit 0: INTR character */ +#define VQUIT 1 /* Bit 1: QUIT character */ +#define VERASE 2 /* Bit 2: ERASE character (canonical mode) */ +#define VKILL 3 /* Bit 3: KILL character (canonical mode) */ +#define VEOF 4 /* Bit 4: EOF character (canonical mode) */ +#define VTIME 5 /* Bit 5: TIME value (non-canonical mode) */ +#define VMIN 6 /* Bit 6: MIN value (non-canonical mode) */ +#define VSTART 8 /* Bit 8: START character */ +#define VSTOP 9 /* Bit 9: STOP character */ +#define VSUSP 10 /* Bit 10: SUSP character */ +#define VEOL 11 /* Bit 11: EOL character (canonical mode) */ +#define NCCS 12 /* Bit 12: Size of the array c_cc for control characters */ + +/* Baud Rate Selection. These are instances of type speed_t. Values of + * 38400 and below are specified by POSIX; values above 38400 are sometimes + * referred to as extended values and most values appear in most termios.h + * implementations. + */ + +#define B0 0000000 /* Hang up */ +#define B50 0000001 /* 50 baud */ +#define B75 0000002 /* 75 baud */ +#define B110 0000003 /* 110 baud */ +#define B134 0000004 /* 134.5 baud */ +#define B150 0000005 /* 150 baud */ +#define B200 0000006 /* 200 baud */ +#define B300 0000007 /* 300 baud */ +#define B600 0000010 /* 600 baud */ +#define B1200 0000011 /* 1,200 baud */ +#define B1800 0000012 /* 1,800 baud */ +#define B2400 0000013 /* 2,400 baud */ +#define B4800 0000014 /* 4,800 baud */ +#define B9600 0000015 /* 9,600 baud */ +#define B19200 0000016 /* 19,200 baud */ +#define B38400 0000017 /* 38,400 baud */ + +#define B57600 0010001 /* 57,600 baud */ +#define B115200 0010002 /* 115,200 baud */ +#define B230400 0010003 /* 230,400 baud */ +#define B460800 0010004 /* 460,800 baud */ +#define B500000 0010005 /* 500,000 baud */ +#define B576000 0010006 /* 576,000 baud */ +#define B921600 0010007 /* 921,600 baud */ +#define B1000000 0010010 /* 1,000,000 baud */ +#define B1152000 0010011 /* 1,152,000 baud */ +#define B1500000 0010012 /* 1,500,000 baud */ +#define B2000000 0010013 /* 2,000,000 baud */ +#define B2500000 0010014 /* 2,500,000 baud */ +#define B3000000 0010015 /* 3,000,000 baud */ +#define B3500000 0010016 /* 3,500,000 baud */ +#define B4000000 0010017 /* 4,000,000 baud */ + +/* Attribute Selection (used with tcsetattr()) */ + +#define TCSANOW 0 /* Change attributes immediately */ +#define TCSADRAIN 1 /* Change attributes when output has drained */ +#define TCSAFLUSH 2 /* Change attributes when output has drained; + * also flush pending input */ + +/* Line Control (used with tcflush()) */ + +#define TCIFLUSH 0 /* Flush pending input */ +#define TCOFLUSH 1 /* Flush untransmitted output */ +#define TCIOFLUSH 2 /* Flush both pending input and untransmitted + * output */ + +/* Constants for use with tcflow() */ + +#define TCOOFF 0 /* Suspend output */ +#define TCOON 1 /* Restart output */ +#define TCIOFF 2 /* Transmit a STOP character, intended to + * suspend input data */ +#define TCION 3 /* Transmit a START character, intended to + * restart input data */ + +/**************************************************************************** + * Public Type Definitions + ****************************************************************************/ + +/* Baud rate selection */ + +typedef unsigned long speed_t; /* Used for terminal baud rates */ + +/* Types used within the termios structure */ + +typedef unsigned int tcflag_t; /* Used for terminal modes */ +typedef unsigned char cc_t; /* Used for terminal special characters */ + +/* The termios structure */ + +struct termios { + /* Exposed fields defined by POSIX */ + + tcflag_t c_iflag; /* Input modes */ + tcflag_t c_oflag; /* Output modes */ + tcflag_t c_cflag; /* Control modes */ + tcflag_t c_lflag; /* Local modes */ + cc_t c_cc[NCCS]; /* Control chars */ + + /* Implementation specific fields. For portability reasons, these fields + * should not be accessed directly, but rather through only through the + * cf[set|get][o|i]speed() POSIX interfaces. + */ + + speed_t c_speed; /* Input/output speed (non-POSIX) */ +}; + +/**************************************************************************** + * Public Function Prototypes + ****************************************************************************/ + +#ifdef __cplusplus +#define EXTERN extern "C" +extern "C" +{ +#else +#define EXTERN extern +#endif + +/* The cfgetspeed() function is a non-POSIX function will extract the baud + * from the termios structure to which the termiosp argument points. NuttX + * does not control input/output baud independently. Both must be the same. + * The POSIX standard interfaces, cfigetispeed() and cfigetospeed() are + * supported by simply defining them to be cfgetspeed(). + * The return value is baud value(9600). + */ + +speed_t cfgetspeed(const struct termios *termiosp); +#define cfgetispeed(termiosp) cfgetspeed(termiosp) +#define cfgetospeed(termiosp) cfgetspeed(termiosp) + +/* The cfsetspeed() function is a non-POSIX function that sets the baud + * stored in the structure pointed to by termiosp to speed. NuttX does + * not control input/output baud independently. Both must be the same. + * The POSIX standard interfaces, cfigetispeed() and cfigetospeed() are + * supported by simply defining them to be cfsetspeed(). + * Speed could be baud value(9600) or could be baud mask(B9600). + */ + +int cfsetspeed(struct termios *termiosp, speed_t speed); +#define cfsetispeed(termiosp,speed) cfsetspeed(termiosp,speed) +#define cfsetospeed(termiosp,speed) cfsetspeed(termiosp,speed) + +/* The cfmakeraw() function is a non-POSIX function that sets the terminal + * to something like the "raw" mode. + */ + +void cfmakeraw(struct termios *termiosp); + +/* Wait for transmission of output */ + +int tcdrain(int fd); + +/* Suspend or restart the transmission or reception of data */ + +int tcflow(int fd, int action); + +/* Flush non-transmitted output data, non-read input data or both */ + +int tcflush(int fd, int cmd); + +/* Get the parameters associated with the terminal */ + +int tcgetattr(int fd, struct termios *termiosp); + +/* Get process group ID for session leader for controlling terminal */ + +pid_t tcgetsid(int fd); + +/* Send a "break" for a specific duration */ + +int tcsendbreak(int fd, int duration); + +/* Set the parameters associated with the terminal */ + +int tcsetattr(int fd, int options, const struct termios *termiosp); + +#undef EXTERN +#ifdef __cplusplus +} +#endif -typedef unsigned int speed_t; +#endif /* __INCLUDE_TERMIOS_H */ diff --git a/platforms/qurt/new_delete.cpp b/platforms/qurt/new_delete.cpp new file mode 100644 index 000000000000..1e8b004950cf --- /dev/null +++ b/platforms/qurt/new_delete.cpp @@ -0,0 +1,92 @@ +#include +#include + +/* + These are the heap access function exported by the SLPI DSP image. +*/ +extern "C" { + void *fc_heap_alloc(size_t size); + void fc_heap_free(void *ptr); +} + +/* + Globally override new and delete so that it can use the correct + heap manager for the Qurt platform. + + Note that new comes in multiple different variants. When new is used + without std::nothrow the compiler is free to assume it will not fail + as it assumes exceptions are enabled. This makes code like this + unsafe when using -fno-exceptions: + + a = new b; + if (a == nullptr) { + handle_error() + } + + The compiler may remove the error handling. With g++ you can use + -fcheck-new to avoid this, but on clang++ the compiler accepts + -fcheck-new as a valid flag, but doesn't implement it, and may remove + the error checking. That makes using clang++ unsafe with + -fno-exceptions if you ever call new without std::nothrow. +..It has been verified that hexagon-clang++ will remove the nullptr checks + after new if any optimization is selected for the compiler. +*/ + +/* + variant for new(std::nothrow), which is all that should be used in + PX4 + */ +void *operator new (size_t size, std::nothrow_t const ¬hrow) noexcept +{ + if (size < 1) { + size = 1; + } + + return (fc_heap_alloc(size)); +} + +void *operator new[](size_t size, std::nothrow_t const ¬hrow) noexcept +{ + if (size < 1) { + size = 1; + } + + return (fc_heap_alloc(size)); +} + +/* + These variants are for new without std::nothrow. We don't want to ever + use these from PX4 code + */ +void *operator new (size_t size) +{ + if (size < 1) { + size = 1; + } + + return (fc_heap_alloc(size)); +} + + +void *operator new[](size_t size) +{ + if (size < 1) { + size = 1; + } + + return (fc_heap_alloc(size)); +} + +/* + Override delete to free up memory to correct heap +*/ + +void operator delete (void *p) noexcept +{ + if (p) { fc_heap_free(p); } +} + +void operator delete[](void *ptr) noexcept +{ + if (ptr) { fc_heap_free(ptr); } +} diff --git a/platforms/qurt/src/px4/CMakeLists.txt b/platforms/qurt/src/px4/CMakeLists.txt index e685b8d42acf..8a25322755a9 100644 --- a/platforms/qurt/src/px4/CMakeLists.txt +++ b/platforms/qurt/src/px4/CMakeLists.txt @@ -38,6 +38,7 @@ set(QURT_LAYER_SRCS px4_qurt_impl.cpp main.cpp qurt_log.cpp + SerialImpl.cpp ) add_library(px4_layer diff --git a/platforms/qurt/src/px4/SerialImpl.cpp b/platforms/qurt/src/px4/SerialImpl.cpp new file mode 100644 index 000000000000..73f8ce8cc4ba --- /dev/null +++ b/platforms/qurt/src/px4/SerialImpl.cpp @@ -0,0 +1,389 @@ +/**************************************************************************** + * + * Copyright (C) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include +#include // strncpy +#include +#include +#include + +namespace device +{ + +SerialImpl::SerialImpl(const char *port, uint32_t baudrate, ByteSize bytesize, Parity parity, StopBits stopbits, + FlowControl flowcontrol) : + _baudrate(baudrate), + _bytesize(bytesize), + _parity(parity), + _stopbits(stopbits), + _flowcontrol(flowcontrol) +{ + if (validatePort(port)) { + setPort(port); + + } else { + _port[0] = 0; + } +} + +SerialImpl::~SerialImpl() +{ + if (isOpen()) { + close(); + } +} + +bool SerialImpl::validateBaudrate(uint32_t baudrate) +{ + if ((baudrate != 9600) && + (baudrate != 38400) && + (baudrate != 57600) && + (baudrate != 115200) && + (baudrate != 230400) && + (baudrate != 250000) && + (baudrate != 420000) && + (baudrate != 460800) && + (baudrate != 921600) && + (baudrate != 1000000) && + (baudrate != 1843200) && + (baudrate != 2000000)) { + return false; + } + + return true; +} + +bool SerialImpl::open() +{ + // There's no harm in calling open multiple times on the same port. + // In fact, that's the only way to change the baudrate + + _open = false; + _serial_fd = -1; + + if (! validateBaudrate(_baudrate)) { + PX4_ERR("Invalid baudrate: %u", _baudrate); + return false; + } + + if (_bytesize != ByteSize::EightBits) { + PX4_ERR("Qurt platform only supports ByteSize::EightBits"); + return false; + } + + if (_parity != Parity::None) { + PX4_ERR("Qurt platform only supports Parity::None"); + return false; + } + + if (_stopbits != StopBits::One) { + PX4_ERR("Qurt platform only supports StopBits::One"); + return false; + } + + if (_flowcontrol != FlowControl::Disabled) { + PX4_ERR("Qurt platform only supports FlowControl::Disabled"); + return false; + } + + if (!validatePort(_port)) { + PX4_ERR("Invalid port %s", _port); + return false; + } + + // qurt_uart_open will check validity of port and baudrate + int serial_fd = qurt_uart_open(_port, _baudrate); + + if (serial_fd < 0) { + PX4_ERR("failed to open %s, fd returned: %d", _port, serial_fd); + return false; + + } else { + PX4_INFO("Successfully opened UART %s with baudrate %u", _port, _baudrate); + } + + _serial_fd = serial_fd; + _open = true; + + return _open; +} + +bool SerialImpl::isOpen() const +{ + return _open; +} + +bool SerialImpl::close() +{ + // No close defined for qurt uart yet + // if (_serial_fd >= 0) { + // qurt_uart_close(_serial_fd); + // } + + _serial_fd = -1; + _open = false; + + return true; +} + +ssize_t SerialImpl::read(uint8_t *buffer, size_t buffer_size) +{ + if (!_open) { + PX4_ERR("Cannot read from serial device until it has been opened"); + return -1; + } + + int ret_read = qurt_uart_read(_serial_fd, (char *) buffer, buffer_size, 100); + + if (ret_read < 0) { + PX4_DEBUG("%s read error %d", _port, ret_read); + + } + + return ret_read; +} + +ssize_t SerialImpl::readAtLeast(uint8_t *buffer, size_t buffer_size, size_t character_count, uint32_t timeout_ms) +{ + if (!_open) { + PX4_ERR("Cannot readAtLeast from serial device until it has been opened"); + return -1; + } + + if (buffer_size < character_count) { + PX4_ERR("%s: Buffer not big enough to hold desired amount of read data", __FUNCTION__); + return -1; + } + + const hrt_abstime start_time_us = hrt_absolute_time(); + hrt_abstime timeout_us = timeout_ms * 1000; + int total_bytes_read = 0; + + while (total_bytes_read < (int) character_count) { + + if (timeout_us > 0) { + const uint64_t elapsed_us = hrt_elapsed_time(&start_time_us); + + if (elapsed_us >= timeout_us) { + // If there was a partial read but not enough to satisfy the minimum then they will be lost + // but this really should never happen when everything is working normally. + // PX4_WARN("%s timeout %d bytes read (%llu us elapsed)", __FUNCTION__, total_bytes_read, elapsed_us); + // Or, instead of returning an error, should we return the number of bytes read (assuming it is greater than zero)? + return total_bytes_read; + } + } + + int current_bytes_read = read(&buffer[total_bytes_read], buffer_size - total_bytes_read); + + if (current_bytes_read < 0) { + // Again, if there was a partial read but not enough to satisfy the minimum then they will be lost + // but this really should never happen when everything is working normally. + PX4_ERR("%s failed to read uart", __FUNCTION__); + // Or, instead of returning an error, should we return the number of bytes read (assuming it is greater than zero)? + return -1; + } + + // Current bytes read could be zero + total_bytes_read += current_bytes_read; + + // If we have at least reached our desired minimum number of characters + // then we can return now + if (total_bytes_read >= (int) character_count) { + return total_bytes_read; + } + + // Wait a set amount of time before trying again or the remaining time + // until the timeout if we are getting close + const uint64_t elapsed_us = hrt_elapsed_time(&start_time_us); + int64_t time_until_timeout = timeout_us - elapsed_us; + uint64_t time_to_sleep = 5000; + + if ((time_until_timeout >= 0) && + (time_until_timeout < (int64_t) time_to_sleep)) { + time_to_sleep = time_until_timeout; + } + + px4_usleep(time_to_sleep); + } + + return -1; +} + +ssize_t SerialImpl::write(const void *buffer, size_t buffer_size) +{ + if (!_open) { + PX4_ERR("Cannot write to serial device until it has been opened"); + return -1; + } + + int ret_write = qurt_uart_write(_serial_fd, (const char *) buffer, buffer_size); + + if (ret_write < 0) { + PX4_ERR("%s write error %d", _port, ret_write); + + } + + return ret_write; +} + +void SerialImpl::flush() +{ + // TODO: Flush not implemented yet on Qurt +} + +const char *SerialImpl::getPort() const +{ + return _port; +} + +bool SerialImpl::validatePort(const char *port) +{ + return (qurt_uart_get_port(port) >= 0); +} + +bool SerialImpl::setPort(const char *port) +{ + if (_open) { + PX4_ERR("Cannot set port after port has already been opened"); + return false; + } + + if (validatePort(port)) { + strncpy(_port, port, sizeof(_port) - 1); + _port[sizeof(_port) - 1] = '\0'; + return true; + } + + return false; +} + +uint32_t SerialImpl::getBaudrate() const +{ + return _baudrate; +} + +bool SerialImpl::setBaudrate(uint32_t baudrate) +{ + if (! validateBaudrate(baudrate)) { + PX4_ERR("Invalid baudrate: %u", baudrate); + return false; + } + + // check if already configured + if (baudrate == _baudrate) { + return true; + } + + _baudrate = baudrate; + + // process baud rate change now if port is already open + if (_open) { + return open(); + } + + return true; +} + +ByteSize SerialImpl::getBytesize() const +{ + return _bytesize; +} + +bool SerialImpl::setBytesize(ByteSize bytesize) +{ + return bytesize == ByteSize::EightBits; +} + +Parity SerialImpl::getParity() const +{ + return _parity; +} + +bool SerialImpl::setParity(Parity parity) +{ + return parity == Parity::None; +} + +StopBits SerialImpl::getStopbits() const +{ + return _stopbits; +} + +bool SerialImpl::setStopbits(StopBits stopbits) +{ + return stopbits == StopBits::One; +} + +FlowControl SerialImpl::getFlowcontrol() const +{ + return _flowcontrol; +} + +bool SerialImpl::setFlowcontrol(FlowControl flowcontrol) +{ + return flowcontrol == FlowControl::Disabled; +} + +bool SerialImpl::getSingleWireMode() const +{ + return false; +} + +bool SerialImpl::setSingleWireMode() +{ + // Qurt platform does not support single wire mode + return false; +} + +bool SerialImpl::getSwapRxTxMode() const +{ + return false; +} + +bool SerialImpl::setSwapRxTxMode() +{ + // Qurt platform does not support swap rx tx mode + return false; +} + +bool SerialImpl::setInvertedMode(bool enable) +{ + // Qurt platform does not support inverted mode + return false == enable; +} +bool SerialImpl::getInvertedMode() const +{ + return false; +} + +} // namespace device diff --git a/platforms/qurt/src/px4/common/include/px4_platform/cpuload.h b/platforms/qurt/src/px4/common/include/px4_platform/cpuload.h new file mode 100644 index 000000000000..c54221e6817d --- /dev/null +++ b/platforms/qurt/src/px4/common/include/px4_platform/cpuload.h @@ -0,0 +1,36 @@ +/**************************************************************************** + * + * Copyright (c) 2023 ModalAI, Inc. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#pragma once + +extern "C" float px4muorb_get_cpu_load(void); diff --git a/platforms/qurt/src/px4/drv_hrt.cpp b/platforms/qurt/src/px4/drv_hrt.cpp index 31b274f3b272..2ef152083249 100644 --- a/platforms/qurt/src/px4/drv_hrt.cpp +++ b/platforms/qurt/src/px4/drv_hrt.cpp @@ -81,7 +81,7 @@ static void hrt_unlock() px4_sem_post(&_hrt_lock); } -int px4_clock_settime(clockid_t clk_id, struct timespec *tp) +int px4_clock_settime(clockid_t clk_id, const struct timespec *tp) { return 0; } @@ -116,16 +116,10 @@ hrt_abstime hrt_absolute_time() int hrt_set_absolute_time_offset(int32_t time_diff_us) { - dsp_offset = time_diff_us; + // dsp_offset = time_diff_us; return 0; } -hrt_abstime hrt_elapsed_time_atomic(const volatile hrt_abstime *then) -{ - hrt_abstime delta = hrt_absolute_time() - *then; - return delta; -} - void hrt_store_absolute_time(volatile hrt_abstime *t) { *t = hrt_absolute_time(); diff --git a/platforms/qurt/src/px4/qurt_log.cpp b/platforms/qurt/src/px4/qurt_log.cpp index 239f9e52b87f..bc6bf2b44ac1 100644 --- a/platforms/qurt/src/px4/qurt_log.cpp +++ b/platforms/qurt/src/px4/qurt_log.cpp @@ -45,4 +45,4 @@ extern "C" void qurt_log_to_apps(int level, const char *message) else { ch->send_message("slpi_debug", strlen(message) + 1, (uint8_t *) message); } } -} \ No newline at end of file +} diff --git a/platforms/qurt/src/px4/tasks.cpp b/platforms/qurt/src/px4/tasks.cpp index 712c6c377c0d..529b234edc49 100644 --- a/platforms/qurt/src/px4/tasks.cpp +++ b/platforms/qurt/src/px4/tasks.cpp @@ -161,6 +161,9 @@ static px4_task_t px4_task_spawn_internal(const char *name, int priority, px4_ma return -1; } + char *charPointer = const_cast(name); + taskmap[task_index].argv[0] = charPointer; + for (i = 0; i < PX4_TASK_MAX_ARGC; i++) { if (i < taskmap[task_index].argc) { int argument_length = strlen(argv[i]); @@ -172,12 +175,13 @@ static px4_task_t px4_task_spawn_internal(const char *name, int priority, px4_ma } else { strcpy(taskmap[task_index].argv_storage[i], argv[i]); - taskmap[task_index].argv[i] = taskmap[task_index].argv_storage[i]; + taskmap[task_index].argv[i + 1] = taskmap[task_index].argv_storage[i]; } } else { // Must add NULL at end of argv - taskmap[task_index].argv[i] = nullptr; + taskmap[task_index].argv[i + 1] = nullptr; + taskmap[task_index].argc = i + 1; break; } } diff --git a/platforms/qurt/unresolved_symbols.c b/platforms/qurt/unresolved_symbols.c index 0d5ef43d5882..820ea1f4c40b 100644 --- a/platforms/qurt/unresolved_symbols.c +++ b/platforms/qurt/unresolved_symbols.c @@ -2,6 +2,7 @@ #include #include #include +#include __attribute__((visibility("default"))) void free(void *ptr) { @@ -31,3 +32,21 @@ __attribute__((visibility("default"))) int nanosleep(const struct timespec *req, PX4_ERR("Undefined nanosleep called"); return -1; } + +__attribute__((visibility("default"))) int tcgetattr(int fd, struct termios *termiosp) +{ + PX4_ERR("Undefined tcgetattr called"); + return -1; +} + +__attribute__((visibility("default"))) int cfsetspeed(struct termios *termiosp, speed_t speed) +{ + PX4_ERR("Undefined cfsetspeed called"); + return -1; +} + +__attribute__((visibility("default"))) int tcsetattr(int fd, int options, const struct termios *termiosp) +{ + PX4_ERR("Undefined tcsetattr called"); + return -1; +} diff --git a/platforms/ros2/include/hrt_work.h b/platforms/ros2/include/hrt_work.h index 2394ec09570d..7d4e17acfeb7 100644 --- a/platforms/ros2/include/hrt_work.h +++ b/platforms/ros2/include/hrt_work.h @@ -61,4 +61,3 @@ static inline void hrt_work_unlock() } __END_DECLS - diff --git a/platforms/ros2/include/px4_platform_common/module.h b/platforms/ros2/include/px4_platform_common/module.h index 436c86ed92d4..bc8516806b74 100644 --- a/platforms/ros2/include/px4_platform_common/module.h +++ b/platforms/ros2/include/px4_platform_common/module.h @@ -75,7 +75,7 @@ * static int custom_command(int argc, char *argv[]) * { * // support for custom commands - * // it none are supported, just do: + * // if none are supported, just do: * return print_usage("unrecognized command"); * } * diff --git a/platforms/ros2/include/queue.h b/platforms/ros2/include/queue.h index d6315ca1723c..b0a73322cf91 100644 --- a/platforms/ros2/include/queue.h +++ b/platforms/ros2/include/queue.h @@ -131,4 +131,3 @@ EXTERN FAR dq_entry_t *dq_remfirst(dq_queue_t *queue); #endif #endif /* __INCLUDE_QUEUE_H_ */ - diff --git a/platforms/ros2/include/uORB/Publication.hpp b/platforms/ros2/include/uORB/Publication.hpp index 3b53424e0b35..b7f1d0768d0b 100644 --- a/platforms/ros2/include/uORB/Publication.hpp +++ b/platforms/ros2/include/uORB/Publication.hpp @@ -45,28 +45,10 @@ namespace uORB { -template class DefaultQueueSize -{ -private: - template - static constexpr uint8_t get_queue_size(decltype(T::ORB_QUEUE_LENGTH) *) - { - return T::ORB_QUEUE_LENGTH; - } - - template static constexpr uint8_t get_queue_size(...) - { - return 1; - } - -public: - static constexpr unsigned value = get_queue_size(nullptr); -}; - /** * uORB publication wrapper class */ -template::value> +template class Publication { public: diff --git a/platforms/ros2/include/uORB/uORB.h b/platforms/ros2/include/uORB/uORB.h index c32910604693..2ebfeb075335 100644 --- a/platforms/ros2/include/uORB/uORB.h +++ b/platforms/ros2/include/uORB/uORB.h @@ -46,7 +46,6 @@ struct orb_metadata { const char *o_name; /**< unique object name */ const uint16_t o_size; /**< object size */ const uint16_t o_size_no_padding; /**< object size w/o padding at the end (for logger) */ - const char *o_fields; /**< semicolon separated list of fields (with type) */ uint8_t o_id; /**< ORB_ID enum */ }; diff --git a/platforms/ros2/src/px4/CMakeLists.txt b/platforms/ros2/src/px4/CMakeLists.txt index bf200988a5ed..a8bb11576e96 100644 --- a/platforms/ros2/src/px4/CMakeLists.txt +++ b/platforms/ros2/src/px4/CMakeLists.txt @@ -34,4 +34,3 @@ add_subdirectory(common) add_subdirectory(${PX4_CHIP_MANUFACTURER}) - diff --git a/platforms/ros2/src/px4/generic/generic/include/px4_arch/micro_hal.h b/platforms/ros2/src/px4/generic/generic/include/px4_arch/micro_hal.h index d09b73c687dd..2d85741cac90 100644 --- a/platforms/ros2/src/px4/generic/generic/include/px4_arch/micro_hal.h +++ b/platforms/ros2/src/px4/generic/generic/include/px4_arch/micro_hal.h @@ -33,4 +33,3 @@ #pragma once #include - diff --git a/posix-configs/rpi/px4_hil.config b/posix-configs/rpi/px4_hil.config index 6554f52d4525..bdd987e80193 100644 --- a/posix-configs/rpi/px4_hil.config +++ b/posix-configs/rpi/px4_hil.config @@ -42,4 +42,3 @@ control_allocator start logger start -t -b 200 mavlink boot_complete - diff --git a/src/drivers/actuators/modal_io/CMakeLists.txt b/src/drivers/actuators/modal_io/CMakeLists.txt deleted file mode 100644 index 06368a53e475..000000000000 --- a/src/drivers/actuators/modal_io/CMakeLists.txt +++ /dev/null @@ -1,53 +0,0 @@ -############################################################################ -# -# Copyright (c) 2020 PX4 Development Team. All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# 1. Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# 2. Redistributions in binary form must reproduce the above copyright -# notice, this list of conditions and the following disclaimer in -# the documentation and/or other materials provided with the -# distribution. -# 3. Neither the name PX4 nor the names of its contributors may be -# used to endorse or promote products derived from this software -# without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS -# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED -# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. -# -############################################################################ - -px4_add_module( - MODULE drivers__actuators__modal_io - MAIN modal_io - SRCS - crc16.c - crc16.h - - modal_io_serial.cpp - modal_io_serial.hpp - modal_io.cpp - modal_io.hpp - qc_esc_packet_types.h - qc_esc_packet.c - qc_esc_packet.h - DEPENDS - px4_work_queue - mixer_module - MODULE_CONFIG - module.yaml - ) diff --git a/src/drivers/actuators/modal_io/Kconfig b/src/drivers/actuators/modal_io/Kconfig deleted file mode 100644 index 742014f417e2..000000000000 --- a/src/drivers/actuators/modal_io/Kconfig +++ /dev/null @@ -1,5 +0,0 @@ -menuconfig DRIVERS_ACTUATORS_MODAL_IO - bool "modal_io" - default n - ---help--- - Enable support for modal_io diff --git a/src/drivers/actuators/modal_io/modal_io.cpp b/src/drivers/actuators/modal_io/modal_io.cpp deleted file mode 100644 index 6a9c6e0a24ee..000000000000 --- a/src/drivers/actuators/modal_io/modal_io.cpp +++ /dev/null @@ -1,1476 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2020 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -#include - -#include - -#include "modal_io.hpp" -#include "modal_io_serial.hpp" - -// utility for running on VOXL and using driver as a bridge -#define MODAL_IO_VOXL_BRIDGE_PORT "/dev/ttyS4" - -// future use: -#define MODALAI_PUBLISH_ESC_STATUS 0 - -const char *_device; - -ModalIo::ModalIo() : - OutputModuleInterface(MODULE_NAME, px4::serial_port_to_wq(MODAL_IO_DEFAULT_PORT)), - _mixing_output{"MODAL_IO", MODAL_IO_OUTPUT_CHANNELS, *this, MixingOutput::SchedulingPolicy::Auto, false, false}, - _cycle_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": cycle")), - _output_update_perf(perf_alloc(PC_INTERVAL, MODULE_NAME": output update interval")) -{ - _device = MODAL_IO_DEFAULT_PORT; - - _mixing_output.setAllFailsafeValues(0); - _mixing_output.setAllDisarmedValues(0); - - _esc_status.timestamp = hrt_absolute_time(); - _esc_status.counter = 0; - _esc_status.esc_count = MODAL_IO_OUTPUT_CHANNELS; - _esc_status.esc_connectiontype = esc_status_s::ESC_CONNECTION_TYPE_SERIAL; - - for (unsigned i = 0; i < MODAL_IO_OUTPUT_CHANNELS; i++) { - _esc_status.esc[i].timestamp = 0; - _esc_status.esc[i].esc_address = 0; - _esc_status.esc[i].esc_rpm = 0; - _esc_status.esc[i].esc_state = 0; - _esc_status.esc[i].esc_cmdcount = 0; - _esc_status.esc[i].esc_voltage = 0; - _esc_status.esc[i].esc_current = 0; - _esc_status.esc[i].esc_temperature = 0; - _esc_status.esc[i].esc_errorcount = 0; - _esc_status.esc[i].failures = 0; - _esc_status.esc[i].esc_power = 0; - } - - qc_esc_packet_init(&_fb_packet); - qc_esc_packet_init(&_uart_bridge_packet); - - _fb_idx = 0; -} - -ModalIo::~ModalIo() -{ - _outputs_on = false; - - if (_uart_port) { - _uart_port->uart_close(); - _uart_port = nullptr; - } - - if (_uart_port_bridge) { - _uart_port_bridge->uart_close(); - _uart_port_bridge = nullptr; - } - - perf_free(_cycle_perf); - perf_free(_output_update_perf); -} - -int ModalIo::init() -{ - - /* Getting initial parameter values */ - int ret = update_params(); - - if (ret != OK) { - return ret; - } - - _uart_port = new ModalIoSerial(); - _uart_port_bridge = new ModalIoSerial(); - memset(&_esc_chans, 0x00, sizeof(_esc_chans)); - - //get_instance()->ScheduleOnInterval(10000); //100hz - - ScheduleNow(); - - return 0; -} - -int ModalIo::load_params(modal_io_params_t *params, ch_assign_t *map) -{ - int ret = PX4_OK; - - // initialize out - for (int i = 0; i < MODAL_IO_OUTPUT_CHANNELS; i++) { - params->function_map[i] = (int)OutputFunction::Disabled; - params->direction_map[i] = 0; - params->motor_map[i] = 0; - } - - param_get(param_find("MODAL_IO_CONFIG"), ¶ms->config); - param_get(param_find("MODAL_IO_MODE"), ¶ms->mode); - param_get(param_find("MODAL_IO_BAUD"), ¶ms->baud_rate); - - param_get(param_find("MODAL_IO_T_PERC"), ¶ms->turtle_motor_percent); - param_get(param_find("MODAL_IO_T_DEAD"), ¶ms->turtle_motor_deadband); - param_get(param_find("MODAL_IO_T_EXPO"), ¶ms->turtle_motor_expo); - param_get(param_find("MODAL_IO_T_MINF"), ¶ms->turtle_stick_minf); - param_get(param_find("MODAL_IO_T_COSP"), ¶ms->turtle_cosphi); - - param_get(param_find("MODAL_IO_FUNC1"), ¶ms->function_map[0]); - param_get(param_find("MODAL_IO_FUNC2"), ¶ms->function_map[1]); - param_get(param_find("MODAL_IO_FUNC3"), ¶ms->function_map[2]); - param_get(param_find("MODAL_IO_FUNC4"), ¶ms->function_map[3]); - - param_get(param_find("MODAL_IO_SDIR1"), ¶ms->direction_map[0]); - param_get(param_find("MODAL_IO_SDIR2"), ¶ms->direction_map[1]); - param_get(param_find("MODAL_IO_SDIR3"), ¶ms->direction_map[2]); - param_get(param_find("MODAL_IO_SDIR4"), ¶ms->direction_map[3]); - - param_get(param_find("MODAL_IO_RPM_MIN"), ¶ms->rpm_min); - param_get(param_find("MODAL_IO_RPM_MAX"), ¶ms->rpm_max); - - param_get(param_find("MODAL_IO_VLOG"), ¶ms->verbose_logging); - - if (params->rpm_min >= params->rpm_max) { - PX4_ERR("Invalid parameter MODAL_IO_RPM_MIN. Please verify parameters."); - params->rpm_min = 0; - ret = PX4_ERROR; - } - - if (params->turtle_motor_percent < 0 || params->turtle_motor_percent > 100) { - PX4_ERR("Invalid parameter MODAL_IO_T_PERC. Please verify parameters."); - params->turtle_motor_percent = 0; - ret = PX4_ERROR; - } - - if (params->turtle_motor_deadband < 0 || params->turtle_motor_deadband > 100) { - PX4_ERR("Invalid parameter MODAL_IO_T_DEAD. Please verify parameters."); - params->turtle_motor_deadband = 0; - ret = PX4_ERROR; - } - - if (params->turtle_motor_expo < 0 || params->turtle_motor_expo > 100) { - PX4_ERR("Invalid parameter MODAL_IO_T_EXPO. Please verify parameters."); - params->turtle_motor_expo = 0; - ret = PX4_ERROR; - } - - if (params->turtle_stick_minf < 0.0f || params->turtle_stick_minf > 100.0f) { - PX4_ERR("Invalid parameter MODAL_IO_T_MINF. Please verify parameters."); - params->turtle_stick_minf = 0.0f; - ret = PX4_ERROR; - } - - if (params->turtle_cosphi < 0.0f || params->turtle_cosphi > 100.0f) { - PX4_ERR("Invalid parameter MODAL_IO_T_COSP. Please verify parameters."); - params->turtle_cosphi = 0.0f; - ret = PX4_ERROR; - } - - for (int i = 0; i < MODAL_IO_OUTPUT_CHANNELS; i++) { - if (params->function_map[i] < (int)OutputFunction::Motor1 || params->function_map[i] > (int)OutputFunction::Motor4) { - PX4_ERR("Invalid parameter MODAL_IO_FUNCX. Only supports motors 1-4. Please verify parameters."); - params->function_map[i] = 0; - ret = PX4_ERROR; - - } else { - // - // Motor function IDs start at 100, Motor1 = 101, Motor2 = 102... - // This motor_map array represents ESC IDs 0-3 (matching the silkscreen) - // This array will hold ESC ID to Motor ID (e.g. motor_map[0] = 1, means ESC ID0 wired to motor 1) - // - params->motor_map[i] = (params->function_map[i] - (int)OutputFunction::Motor1) + 1; - } - } - - for (int i = 0; i < MODAL_IO_OUTPUT_CHANNELS; i++) { - if (params->motor_map[i] == MODAL_IO_OUTPUT_DISABLED || - params->motor_map[i] < -(MODAL_IO_OUTPUT_CHANNELS) || - params->motor_map[i] > MODAL_IO_OUTPUT_CHANNELS) { - PX4_ERR("Invalid parameter MODAL_IO_MOTORX. Please verify parameters."); - params->motor_map[i] = 0; - ret = PX4_ERROR; - } - - // Keep tabs on motor map for turtle mode where we mix ourselves - map[i].number = params->motor_map[i]; - map[i].direction = (params->direction_map[i] > 0) ? -1 : 1; - } - - return ret; -} - -int ModalIo::task_spawn(int argc, char *argv[]) -{ - int myoptind = 0; - int ch; - const char *myoptarg = nullptr; - - while ((ch = px4_getopt(argc, argv, "dv", &myoptind, &myoptarg)) != EOF) { - switch (ch) { - case 'd': - _device = argv[myoptind]; - break; - - default: - break; - } - } - - ModalIo *instance = new ModalIo(); - - if (instance) { - _object.store(instance); - _task_id = task_id_is_work_queue; - - if (instance->init() == PX4_OK) { - return PX4_OK; - } - - } else { - PX4_ERR("alloc failed"); - } - - // This will cause a crash on SLPI DSP - // delete instance; - - _object.store(nullptr); - _task_id = -1; - - return PX4_ERROR; -} - -int ModalIo::flush_uart_rx() -{ - while (_uart_port->uart_read(_read_buf, sizeof(_read_buf)) > 0) {} - - return 0; -} - -int ModalIo::read_response(Command *out_cmd) -{ - px4_usleep(_current_cmd.resp_delay_us); - - int res = _uart_port->uart_read(_read_buf, sizeof(_read_buf)); - - if (res > 0) { - //PX4_INFO("read %i bytes",res); - if (parse_response(_read_buf, res, out_cmd->print_feedback) < 0) { - //PX4_ERR("Error parsing response"); - return -1; - } - - } else { - //PX4_ERR("Read error: %i", res); - return -1; - } - - //_current_cmd.response = false; - - return 0; -} - -int ModalIo::parse_response(uint8_t *buf, uint8_t len, bool print_feedback) -{ - hrt_abstime tnow = hrt_absolute_time(); - - for (int i = 0; i < len; i++) { - int16_t ret = qc_esc_packet_process_char(buf[i], &_fb_packet); - - if (ret > 0) { - //PX4_INFO("got packet of length %i",ret); - _rx_packet_count++; - uint8_t packet_type = qc_esc_packet_get_type(&_fb_packet); - uint8_t packet_size = qc_esc_packet_get_size(&_fb_packet); - - if (packet_type == ESC_PACKET_TYPE_FB_RESPONSE && packet_size == sizeof(QC_ESC_FB_RESPONSE_V2)) { - //PX4_INFO("Got feedback V2 packet!"); - QC_ESC_FB_RESPONSE_V2 fb; - memcpy(&fb, _fb_packet.buffer, packet_size); - - uint32_t id = (fb.id_state & 0xF0) >> 4; //ID of the ESC based on hardware address - - if (id < MODAL_IO_OUTPUT_CHANNELS) { - - int motor_idx = _output_map[id].number - 1; // mapped motor id.. user defined mapping is 1-4, array is 0-3 - - if (print_feedback) { - uint32_t rpm = fb.rpm; - uint32_t power = fb.power; - uint32_t voltage = fb.voltage; - int32_t current = fb.current * 8; - int32_t temperature = fb.temperature / 100; - PX4_INFO("[%" PRId64 "] ID_RAW=%d ID=%d, RPM=%5d, PWR=%3d%%, V=%5dmV, I=%+5dmA, T=%+3dC", tnow, (int)id, motor_idx + 1, - (int)rpm, (int)power, (int)voltage, (int)current, (int)temperature); - } - - _esc_chans[id].rate_meas = fb.rpm; - _esc_chans[id].power_applied = fb.power; - _esc_chans[id].state = fb.id_state & 0x0F; - _esc_chans[id].cmd_counter = fb.cmd_counter; - _esc_chans[id].voltage = fb.voltage * 0.001; - _esc_chans[id].current = fb.current * 0.008; - _esc_chans[id].temperature = fb.temperature * 0.01; - _esc_chans[id].feedback_time = tnow; - - // also update our internal report for logging - _esc_status.esc[id].esc_address = motor_idx + 1; //remapped motor ID - _esc_status.esc[id].timestamp = tnow; - _esc_status.esc[id].esc_rpm = fb.rpm; - _esc_status.esc[id].esc_power = fb.power; - _esc_status.esc[id].esc_state = fb.id_state & 0x0F; - _esc_status.esc[id].esc_cmdcount = fb.cmd_counter; - _esc_status.esc[id].esc_voltage = _esc_chans[id].voltage; - _esc_status.esc[id].esc_current = _esc_chans[id].current; - _esc_status.esc[id].failures = 0; //not implemented - - // this is hacky, but we need to set all 4 to online/armed otherwise commander times out on arming - _esc_status.esc_online_flags = (1 << _esc_status.esc_count) - 1; - // this is hacky, but we need to set all 4 to armed otherwise commander times out on arming - _esc_status.esc_armed_flags = (1 << _esc_status.esc_count) - 1; - - - int32_t t = fb.temperature / 100; //divide by 100 to get deg C and cap for int8 - - if (t < -127) { t = -127; } - - if (t > +127) { t = +127; } - - _esc_status.esc[id].esc_temperature = t; - - _esc_status.timestamp = _esc_status.esc[id].timestamp; - _esc_status.counter++; - - //print ESC status just for debugging - /* - PX4_INFO("[%lld] ID=%d, ADDR %d, STATE=%d, RPM=%5d, PWR=%3d%%, V=%.2fdV, I=%.2fA, T=%+3dC, CNT %d, FAIL %d", - _esc_status.esc[id].timestamp, id, _esc_status.esc[id].esc_address, - _esc_status.esc[id].esc_state, _esc_status.esc[id].esc_rpm, _esc_status.esc[id].esc_power, - (double)_esc_status.esc[id].esc_voltage, (double)_esc_status.esc[id].esc_current, _esc_status.esc[id].esc_temperature, - _esc_status.esc[id].esc_cmdcount, _esc_status.esc[id].failures); - */ - } - } - - else if (packet_type == ESC_PACKET_TYPE_VERSION_RESPONSE && packet_size == sizeof(QC_ESC_VERSION_INFO)) { - QC_ESC_VERSION_INFO ver; - memcpy(&ver, _fb_packet.buffer, packet_size); - PX4_INFO("ESC ID: %i", ver.id); - PX4_INFO("HW Version: %i", ver.hw_version); - PX4_INFO("SW Version: %i", ver.sw_version); - PX4_INFO("Unique ID: %i", (int)ver.unique_id); - - } else if (packet_type == ESC_PACKET_TYPE_VERSION_EXT_RESPONSE && packet_size == sizeof(QC_ESC_EXTENDED_VERSION_INFO)) { - QC_ESC_EXTENDED_VERSION_INFO ver; - memcpy(&ver, _fb_packet.buffer, packet_size); - PX4_INFO("\tESC ID : %i", ver.id); - PX4_INFO("\tBoard : %i", ver.hw_version); - PX4_INFO("\tSW Version : %i", ver.sw_version); - - uint8_t *u = &ver.unique_id[0]; - PX4_INFO("\tUnique ID : 0x%02X%02X%02X%02X%02X%02X%02X%02X%02X%02X%02X%02X", - u[11], u[10], u[9], u[8], u[7], u[6], u[5], u[4], u[3], u[2], u[1], u[0]); - - PX4_INFO("\tFirmware : version %4d, hash %.12s", ver.sw_version, ver.firmware_git_version); - PX4_INFO("\tBootloader : version %4d, hash %.12s", ver.bootloader_version, ver.bootloader_git_version); - } - - } else { //parser error - switch (ret) { - case ESC_ERROR_BAD_CHECKSUM: - _rx_crc_error_count++; - //PX4_INFO("BAD ESC packet checksum"); - break; - - case ESC_ERROR_BAD_LENGTH: - //PX4_INFO("BAD ESC packet length"); - break; - } - } - } - - /* - if (len < 4 || buf[0] != ESC_PACKET_HEADER) { - return -1; - } - - switch (buf[2]) { - case ESC_PACKET_TYPE_VERSION_RESPONSE: - if (len != sizeof(QC_ESC_VERSION_INFO)) { - return -1; - - } else { - QC_ESC_VERSION_INFO ver; - memcpy(&ver, buf, len); - PX4_INFO("ESC ID: %i", ver.id); - PX4_INFO("HW Version: %i", ver.hw_version); - PX4_INFO("SW Version: %i", ver.sw_version); - PX4_INFO("Unique ID: %i", ver.unique_id); - } - - break; - - case ESC_PACKET_TYPE_FB_RESPONSE: - if (len != sizeof(QC_ESC_FB_RESPONSE)) { - return -1; - - } else { - QC_ESC_FB_RESPONSE fb; - memcpy(&fb, buf, len); - uint8_t id = (fb.state & 0xF0) >> 4; - - if (id < MODAL_IO_OUTPUT_CHANNELS) { - _esc_chans[id].rate_meas = fb.rpm; - _esc_chans[id].state = fb.state & 0x0F; - _esc_chans[id].cmd_counter = fb.cmd_counter; - _esc_chans[id].voltage = 9.0 + fb.voltage / 34.0; - } - } - - break; - - default: - return -1; - } - */ - - return 0; -} - -int ModalIo::check_for_esc_timeout() -{ - hrt_abstime tnow = hrt_absolute_time(); - - for (int i = 0; i < MODAL_IO_OUTPUT_CHANNELS; i++) { - // PX4 motor indexed user defined mapping is 1-4, we want to use in bitmask (0-3) - uint8_t motor_idx = _output_map[i].number - 1; - - if (motor_idx < MODAL_IO_OUTPUT_CHANNELS) { - // we are using PX4 motor index in the bitmask - if (_esc_status.esc_online_flags & (1 << motor_idx)) { - // using index i here for esc_chans enumeration stored in ESC ID order - if ((tnow - _esc_chans[i].feedback_time) > MODAL_IO_DISCONNECT_TIMEOUT_US) { - // stale data, assume offline and clear armed - _esc_status.esc_online_flags &= ~(1 << motor_idx); - _esc_status.esc_armed_flags &= ~(1 << motor_idx); - } - } - } - } - - return 0; - -} - -int ModalIo::send_cmd_thread_safe(Command *cmd) -{ - cmd->id = _cmd_id++; - _pending_cmd.store(cmd); - - /* wait until main thread processed it */ - while (_pending_cmd.load()) { - px4_usleep(1000); - } - - return 0; -} - - - -int ModalIo::custom_command(int argc, char *argv[]) -{ - int myoptind = 0; - int ch; - const char *myoptarg = nullptr; - - Command cmd; - uint8_t esc_id = 255; - uint8_t period = 0; - uint8_t duration = 0; - uint8_t power = 0; - uint16_t led_mask = 0; - int16_t rate = 0; - - uint32_t repeat_count = 100; - uint32_t repeat_delay_us = 10000; - - if (argc < 3) { - return print_usage("unknown command"); - } - - const char *verb = argv[argc - 1]; - - /* start the FMU if not running */ - if (!strcmp(verb, "start")) { - if (!is_running()) { - return ModalIo::task_spawn(argc, argv); - } - } - - if (!is_running()) { - PX4_INFO("Not running"); - return -1; - - } - - while ((ch = px4_getopt(argc, argv, "i:p:d:v:l:n:r:t:", &myoptind, &myoptarg)) != EOF) { - switch (ch) { - case 'i': - esc_id = atoi(myoptarg); - break; - - case 'p': - period = atoi(myoptarg); - break; - - case 'd': - duration = atoi(myoptarg); - break; - - case 'v': - power = atoi(myoptarg); - break; - - case 'l': - led_mask = atoi(myoptarg); - break; - - case 'n': - repeat_count = atoi(myoptarg); - - if (repeat_count < 1) { - print_usage("bad repeat_count"); - return 0; - } - - break; - - case 't': - repeat_delay_us = atoi(myoptarg); - - if (repeat_delay_us < 1) { - print_usage("bad repeat delay"); - return 0; - } - - break; - - case 'r': - rate = atoi(myoptarg); - break; - - default: - print_usage("Unknown command"); - return 0; - } - } - - if (!strcmp(verb, "reset")) { - if (esc_id < MODAL_IO_OUTPUT_CHANNELS) { - PX4_INFO("Reset ESC: %i", esc_id); - cmd.len = qc_esc_create_reset_packet(esc_id, cmd.buf, sizeof(cmd.buf)); - cmd.response = false; - return get_instance()->send_cmd_thread_safe(&cmd); - - } else { - print_usage("Invalid ESC ID, use 0-3"); - return 0; - } - - } else if (!strcmp(verb, "version")) { - if (esc_id < MODAL_IO_OUTPUT_CHANNELS) { - PX4_INFO("Request version for ESC: %i", esc_id); - cmd.len = qc_esc_create_version_request_packet(esc_id, cmd.buf, sizeof(cmd.buf)); - cmd.response = true; - cmd.resp_delay_us = 2000; - return get_instance()->send_cmd_thread_safe(&cmd); - - } else { - print_usage("Invalid ESC ID, use 0-3"); - return 0; - } - - } else if (!strcmp(verb, "version-ext")) { - if (esc_id < MODAL_IO_OUTPUT_CHANNELS) { - PX4_INFO("Request extended version for ESC: %i", esc_id); - cmd.len = qc_esc_create_extended_version_request_packet(esc_id, cmd.buf, sizeof(cmd.buf)); - cmd.response = true; - cmd.resp_delay_us = 5000; - return get_instance()->send_cmd_thread_safe(&cmd); - - } else { - print_usage("Invalid ESC ID, use 0-3"); - return 0; - } - - } else if (!strcmp(verb, "tone")) { - if (esc_id < MODAL_IO_OUTPUT_CHANNELS) { - PX4_INFO("Request tone for ESC mask: %i", esc_id); - cmd.len = qc_esc_create_sound_packet(period, duration, power, esc_id, cmd.buf, sizeof(cmd.buf)); - cmd.response = false; - return get_instance()->send_cmd_thread_safe(&cmd); - - } else { - print_usage("Invalid ESC ID, use 0-3"); - return 0; - } - - } else if (!strcmp(verb, "led")) { - if (led_mask <= 0x0FFF) { - get_instance()->_led_rsc.test = true; - get_instance()->_led_rsc.breath_en = false; - PX4_INFO("Request LED control for ESCs with mask: %i", led_mask); - - get_instance()->_esc_chans[0].led = (led_mask & 0x0007); - get_instance()->_esc_chans[1].led = (led_mask & 0x0038) >> 3; - get_instance()->_esc_chans[2].led = (led_mask & 0x01C0) >> 6; - get_instance()->_esc_chans[3].led = (led_mask & 0x0E00) >> 9; - return 0; - - } else { - print_usage("Invalid ESC mask, use 1-15"); - return 0; - } - - } else if (!strcmp(verb, "rpm")) { - if (esc_id < MODAL_IO_OUTPUT_CHANNELS) { - PX4_INFO("Request RPM for ESC ID: %i - RPM: %i", esc_id, rate); - int16_t rate_req[MODAL_IO_OUTPUT_CHANNELS] = {0, 0, 0, 0}; - uint8_t id_fb = 0; - - if (esc_id == 0xFF) { - rate_req[0] = rate; - rate_req[1] = rate; - rate_req[2] = rate; - rate_req[3] = rate; - - } else { - rate_req[esc_id] = rate; - id_fb = esc_id; - } - - cmd.len = qc_esc_create_rpm_packet4_fb(rate_req[0], - rate_req[1], - rate_req[2], - rate_req[3], - 0, - 0, - 0, - 0, - id_fb, - cmd.buf, - sizeof(cmd.buf)); - - cmd.response = true; - cmd.repeats = repeat_count; - cmd.resp_delay_us = 0; - cmd.repeat_delay_us = repeat_delay_us; - cmd.print_feedback = true; - - PX4_INFO("feedback id debug: %i", id_fb); - PX4_INFO("Sending UART ESC RPM command %i", rate); - - return get_instance()->send_cmd_thread_safe(&cmd); - - } else { - print_usage("Invalid ESC ID, use 0-3"); - return 0; - } - - } else if (!strcmp(verb, "pwm")) { - if (esc_id < MODAL_IO_OUTPUT_CHANNELS) { - PX4_INFO("Request PWM for ESC ID: %i - PWM: %i", esc_id, rate); - int16_t rate_req[MODAL_IO_OUTPUT_CHANNELS] = {0, 0, 0, 0}; - uint8_t id_fb = 0; - - if (esc_id == 0xFF) { - rate_req[0] = rate; - rate_req[1] = rate; - rate_req[2] = rate; - rate_req[3] = rate; - - } else { - rate_req[esc_id] = rate; - id_fb = esc_id; - } - - cmd.len = qc_esc_create_pwm_packet4_fb(rate_req[0], - rate_req[1], - rate_req[2], - rate_req[3], - 0, - 0, - 0, - 0, - id_fb, /* ESC ID .. need to fix for correct ID.. but what about multiple ESCs in bit mask.. */ - cmd.buf, - sizeof(cmd.buf)); - - cmd.response = true; - cmd.repeats = repeat_count; - cmd.resp_delay_us = 0; - cmd.repeat_delay_us = repeat_delay_us; - cmd.print_feedback = true; - - PX4_INFO("feedback id debug: %i", id_fb); - PX4_INFO("Sending UART ESC power command %i", rate); - - return get_instance()->send_cmd_thread_safe(&cmd); - - } else { - print_usage("Invalid ESC mask, use 1-15"); - return 0; - } - } - - return print_usage("unknown command"); -} - -int ModalIo::update_params() -{ - int ret = PX4_ERROR; - - updateParams(); - ret = load_params(&_parameters, (ch_assign_t *)&_output_map); - - if (ret == PX4_OK) { - _mixing_output.setAllDisarmedValues(0); - _mixing_output.setAllFailsafeValues(0); - _mixing_output.setAllMinValues(_parameters.rpm_min); - _mixing_output.setAllMaxValues(_parameters.rpm_max); - - _rpm_fullscale = _parameters.rpm_max - _parameters.rpm_min; - } - - return ret; -} - -void ModalIo::update_leds(vehicle_control_mode_s mode, led_control_s control) -{ - int i = 0; - uint8_t led_mask = _led_rsc.led_mask; - - if (_led_rsc.test) { - return; - } - - /* - * TODO - this is just a simple approach to get started. - * - */ - if (mode.timestamp != _led_rsc.mode.timestamp) { - _led_rsc.mode = mode; - } - - if (control.timestamp != _led_rsc.control.timestamp) { - _led_rsc.control = control; - - switch (_led_rsc.control.color) { - case led_control_s::COLOR_RED: - led_mask = QC_ESC_LED_RED_ON; - break; - - case led_control_s::COLOR_GREEN: - led_mask = QC_ESC_LED_GREEN_ON; - break; - - case led_control_s::COLOR_BLUE: - led_mask = QC_ESC_LED_BLUE_ON; - break; - - case led_control_s::COLOR_WHITE: - led_mask = QC_ESC_LED_RED_ON | QC_ESC_LED_GREEN_ON | QC_ESC_LED_BLUE_ON; - break; - - case led_control_s::COLOR_OFF: - led_mask = 0; - break; - } - - _led_rsc.breath_en = false; - - switch (_led_rsc.control.mode) { - case led_control_s::MODE_OFF: - break; - - case led_control_s::MODE_ON: - break; - - case led_control_s::MODE_DISABLED: - break; - - case led_control_s::MODE_BLINK_SLOW: - break; - - case led_control_s::MODE_BLINK_NORMAL: - break; - - case led_control_s::MODE_BLINK_FAST: - break; - - case led_control_s::MODE_BREATHE: - _led_rsc.breath_en = true; - _led_rsc.breath_counter = 0; - break; - - case led_control_s::MODE_FLASH: - break; - - default: - break; - } - - _led_rsc.led_mask = led_mask; - } - - if (_led_rsc.mode.flag_armed) { - led_mask = QC_ESC_LED_BLUE_ON; - - if (_led_rsc.mode.flag_control_position_enabled) { - led_mask = QC_ESC_LED_GREEN_ON; - - } else if (_led_rsc.mode.flag_control_offboard_enabled) { - led_mask = QC_ESC_LED_RED_ON; - } - - _led_rsc.led_mask = led_mask; - } - - if (_led_rsc.breath_en) { - /* 8 bit counter for a decent blink visual effect for - * 'breathing' use case - */ - if ((_led_rsc.breath_counter += 8) < 128) { - led_mask = 0; - } - } - - for (i = 0; i < MODAL_IO_OUTPUT_CHANNELS; i++) { - _esc_chans[i].led = led_mask; - } -} - -void ModalIo::mix_turtle_mode(uint16_t outputs[MAX_ACTUATORS]) -{ - bool use_pitch = true; - bool use_roll = true; - bool use_yaw = true; - bool isolate = false; - - const float flip_pwr_mult = 1.0f - ((float)_parameters.turtle_motor_expo / 100.0f); - - // Sitck deflection - const float stick_def_r_abs = fabsf(_manual_control_setpoint.roll); - const float stick_def_p_abs = fabsf(_manual_control_setpoint.pitch); - const float stick_def_y_abs = fabsf(_manual_control_setpoint.yaw); - - const float stick_def_p_expo = flip_pwr_mult * stick_def_p_abs + powf(stick_def_p_abs, - 3.0) * (1 - flip_pwr_mult); - const float stick_def_r_expo = flip_pwr_mult * stick_def_r_abs + powf(stick_def_r_abs, - 3.0) * (1 - flip_pwr_mult); - const float stick_def_y_expo = flip_pwr_mult * stick_def_y_abs + powf(stick_def_y_abs, - 3.0) * (1 - flip_pwr_mult); - - float sign_r = _manual_control_setpoint.roll < 0 ? 1 : -1; - float sign_p = _manual_control_setpoint.pitch < 0 ? 1 : -1; - float sign_y = _manual_control_setpoint.yaw < 0 ? 1 : -1; - - float stick_def_len = sqrtf(powf(stick_def_p_abs, 2.0) + powf(stick_def_r_abs, 2.0)); - float stick_def_expo_len = sqrtf(powf(stick_def_p_expo, 2.0) + powf(stick_def_r_expo, 2.0)); - - // If yaw is the dominant, disable pitch and roll - if (stick_def_y_abs > math::max(stick_def_p_abs, stick_def_r_abs)) { - stick_def_len = stick_def_y_abs; - stick_def_expo_len = stick_def_y_expo; - sign_r = 0; - sign_p = 0; - use_pitch = false; - use_roll = false; - } - - // If pitch/roll dominant, disable yaw - else { - sign_y = 0; - use_yaw = false; - } - - const float cos_phi = (stick_def_len > 0) ? (stick_def_p_abs + stick_def_r_abs) / (sqrtf( - 2.0f) * stick_def_len) : 0; - - // TODO: this is hardcoded in betaflight... - const float cos_thresh = sqrtf(3.0f) / 2.0f; // cos(PI/6.0f) - - // This cos_phi values is 1.0 when sticks are in the far corners, which means we are trying to select a single motor - if (cos_phi > _parameters.turtle_cosphi) { - isolate = true; - use_pitch = false; - use_roll = false; - } - - // When cos_phi is less than cos_thresh, the user is in a narrow slot on the pitch or roll axis - else if (cos_phi < cos_thresh) { - // Enforce either roll or pitch exclusively, if not on diagonal - if (stick_def_r_abs > stick_def_p_abs) { - sign_p = 0; - use_pitch = false; - - } else if (stick_def_r_abs < stick_def_p_abs) { - sign_r = 0; - use_roll = false; - } - } - - const float crash_flip_stick_min_expo = flip_pwr_mult * _parameters.turtle_stick_minf + powf( - _parameters.turtle_stick_minf, 3.0) * (1 - flip_pwr_mult); - const float flip_stick_range = 1.0f - crash_flip_stick_min_expo; - const float flip_power = math::max(0.0f, stick_def_expo_len - crash_flip_stick_min_expo) / flip_stick_range; - - /* At this point, we are switching on what PX4 motor we want to talk to */ - for (unsigned i = 0; i < 4; i++) { - outputs[i] = 0; - - float motor_output_normalised = math::min(1.0f, flip_power); - float motor_output = _rpm_turtle_min + motor_output_normalised * _parameters.rpm_max * (( - float)_parameters.turtle_motor_percent / 100.f); - - // Add a little bit to the motorOutputMin so props aren't spinning when sticks are centered - motor_output = (motor_output < _rpm_turtle_min + _parameters.turtle_motor_deadband) ? 0.0f : - (motor_output - _parameters.turtle_motor_deadband); - - // using the output map here for clarity as PX4 motors are 1-4 - switch (_output_map[i].number) { - /* PX4 motor 1 - front right */ - case 1: - if (isolate && sign_p < 0 && sign_r < 0) { - outputs[i] = motor_output; - - } else if (!use_roll && use_pitch && sign_p < 0) { - outputs[i] = motor_output; - - } else if (!use_pitch && use_roll && sign_r < 0) { - outputs[i] = motor_output; - - } else if (use_yaw && sign_y > 0) { - outputs[i] = motor_output; - } - - break; - - /* PX4 motor 2 - rear left */ - case 2: - if (isolate && sign_p > 0 && sign_r > 0) { - outputs[i] = motor_output; - - } else if (!use_roll && use_pitch && sign_p > 0) { - outputs[i] = motor_output; - - } else if (!use_pitch && use_roll && sign_r > 0) { - outputs[i] = motor_output; - - } else if (use_yaw && sign_y > 0) { - outputs[i] = motor_output; - } - - break; - - /* PX4 motor 3 - front left */ - case 3: - if (isolate && sign_p < 0 && sign_r > 0) { - outputs[i] = motor_output; - - } else if (!use_roll && use_pitch && sign_p < 0) { - outputs[i] = motor_output; - - } else if (!use_pitch && use_roll && sign_r > 0) { - outputs[i] = motor_output; - - } else if (use_yaw && sign_y < 0) { - outputs[i] = motor_output; - } - - break; - - /* PX4 motor 4 - rear right */ - case 4: - if (isolate && sign_p > 0 && sign_r < 0) { - outputs[i] = motor_output; - - } else if (!use_roll && use_pitch && sign_p > 0) { - outputs[i] = motor_output; - - } else if (!use_pitch && use_roll && sign_r < 0) { - outputs[i] = motor_output; - - } else if (use_yaw && sign_y < 0) { - outputs[i] = motor_output; - } - - break; - } - } - - /* - static int filter = 0; - if(filter++ > 32){ - printf("map: %.2f %.2f %.2f %.2f - exp: %.2f %.2f %.2f - deflect: %.2f %.2f - sign: %.2f %.2f %.2f - outputs: %.2f %.2f %.2f %.2f\n", - (double)_output_map[0].number,(double)_output_map[1].number,(double)_output_map[2].number,(double)_output_map[3].number, - (double)stick_def_p_expo, (double)stick_def_r_expo,(double)stick_def_y_expo, - (double)stick_def_len, (double)stick_def_expo_len, - (double)sign_p, (double)sign_r, (double)sign_y, - (double)outputs[0], (double)outputs[1],(double)outputs[2],(double)outputs[3]); - filter = 0; - } - */ - -} - -/* OutputModuleInterface */ -bool ModalIo::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS], - unsigned num_outputs, unsigned num_control_groups_updated) -{ - if (num_outputs != MODAL_IO_OUTPUT_CHANNELS) { - return false; - } - - // don't use mixed values... recompute now. - if (_turtle_mode_en) { - mix_turtle_mode(outputs); - } - - for (int i = 0; i < MODAL_IO_OUTPUT_CHANNELS; i++) { - if (!_outputs_on || stop_motors) { - _esc_chans[i].rate_req = 0; - - } else { - if (!_turtle_mode_en) { - _esc_chans[i].rate_req = outputs[i] * _output_map[i].direction; - - } else { - // mapping updated in mixTurtleMode, no remap needed here, but reverse direction - _esc_chans[i].rate_req = outputs[i] * _output_map[i].direction * (-1); - } - } - } - - Command cmd; - cmd.len = qc_esc_create_rpm_packet4_fb(_esc_chans[0].rate_req, - _esc_chans[1].rate_req, - _esc_chans[2].rate_req, - _esc_chans[3].rate_req, - _esc_chans[0].led, - _esc_chans[1].led, - _esc_chans[2].led, - _esc_chans[3].led, - _fb_idx, - cmd.buf, - sizeof(cmd.buf)); - - - if (_uart_port->uart_write(cmd.buf, cmd.len) != cmd.len) { - PX4_ERR("Failed to send packet"); - return false; - } - - // round robin - _fb_idx = (_fb_idx + 1) % MODAL_IO_OUTPUT_CHANNELS; - - - /* - * Here we parse the feedback response. Rarely the packet is mangled - * but this means we simply miss a feedback response and will come back - * around in roughly 8ms for another... so don't freak out and keep on - * trucking I say - */ - int res = _uart_port->uart_read(_read_buf, sizeof(_read_buf)); - - if (res > 0) { - parse_response(_read_buf, res, false); - } - - /* handle loss of comms / disconnect */ - // TODO - enable after CRC issues in feedback are addressed - //check_for_esc_timeout(); - - // publish the actual command that we sent and the feedback received - if (_parameters.verbose_logging) { - actuator_outputs_s actuator_outputs{}; - actuator_outputs.noutputs = num_outputs; - - for (size_t i = 0; i < num_outputs; ++i) { - actuator_outputs.output[i] = _esc_chans[i].rate_req; - } - - actuator_outputs.timestamp = hrt_absolute_time(); - - _outputs_debug_pub.publish(actuator_outputs); - - } - - _esc_status_pub.publish(_esc_status); - - perf_count(_output_update_perf); - - return true; -} - - -void ModalIo::Run() -{ - if (should_exit()) { - ScheduleClear(); - _mixing_output.unregister(); - - exit_and_cleanup(); - return; - } - - perf_begin(_cycle_perf); - - /* Open serial port in this thread */ - if (!_uart_port->is_open()) { - if (_uart_port->uart_open(_device, _parameters.baud_rate) == PX4_OK) { - PX4_INFO("Opened UART ESC device"); - - } else { - PX4_ERR("Failed openening device"); - return; - } - } - - /* - for (int ii=0; ii<9; ii++) - { - const char * test_str = "Hello World!"; - _uart_port_bridge->uart_write((char*)test_str,12); - px4_usleep(10000); - } - */ - /* - uint8_t echo_buf[16]; - int bytes_read = _uart_port_bridge->uart_read(echo_buf,sizeof(echo_buf)); - if (bytes_read > 0) - _uart_port_bridge->uart_write(echo_buf,bytes_read); - */ - - - _mixing_output.update(); - - /* update output status if armed */ - _outputs_on = _mixing_output.armed().armed; - - /* check for parameter updates */ - if (!_outputs_on && _parameter_update_sub.updated()) { - /* clear update */ - parameter_update_s pupdate; - _parameter_update_sub.copy(&pupdate); - - /* update parameters from storage */ - update_params(); - } - - vehicle_control_mode_s vehicle_control_mode{}; - - if (_vehicle_control_mode_sub.updated()) { - _vehicle_control_mode_sub.copy(&vehicle_control_mode); - update_leds(vehicle_control_mode, _led_rsc.control); - } - - led_control_s led_control{}; - - if (_led_update_sub.updated()) { - _led_update_sub.copy(&led_control); - update_leds(_led_rsc.mode, led_control); - } - - /* breathing requires continuous updates */ - if (_led_rsc.breath_en) { - update_leds(_led_rsc.mode, _led_rsc.control); - } - - if (_parameters.mode > 0) { - /* if turtle mode enabled, we go straight to the sticks, no mix */ - if (_manual_control_setpoint_sub.updated()) { - - _manual_control_setpoint_sub.copy(&_manual_control_setpoint); - - if (!_outputs_on) { - - float setpoint = MODAL_IO_MODE_DISABLED_SETPOINT; - - if (_parameters.mode == MODAL_IO_MODE_TURTLE_AUX1) { - setpoint = _manual_control_setpoint.aux1; - - } else if (_parameters.mode == MODAL_IO_MODE_TURTLE_AUX2) { - setpoint = _manual_control_setpoint.aux2; - } - - if (setpoint > MODAL_IO_MODE_THRESHOLD) { - _turtle_mode_en = true; - - } else { - _turtle_mode_en = false; - } - } - } - - if (_parameters.mode == MODAL_IO_MODE_UART_BRIDGE) { - if (!_uart_port_bridge->is_open()) { - if (_uart_port_bridge->uart_open(MODAL_IO_VOXL_BRIDGE_PORT, 230400) == PX4_OK) { - PX4_INFO("Opened UART ESC Bridge device"); - - } else { - PX4_ERR("Failed openening UART ESC Bridge device"); - return; - } - } - - //uart passthrough test code - //run 9 times because i just don't know how to change update rate of the module from 10hz to 100hz.. - for (int ii = 0; ii < 9; ii++) { - uint8_t uart_buf[128]; - int bytes_read = _uart_port_bridge->uart_read(uart_buf, sizeof(uart_buf)); - - if (bytes_read > 0) { - _uart_port->uart_write(uart_buf, bytes_read); - - for (int i = 0; i < bytes_read; i++) { - int16_t ret = qc_esc_packet_process_char(uart_buf[i], &_uart_bridge_packet); - - if (ret > 0) { - //PX4_INFO("got packet of length %i",ret); - uint8_t packet_type = qc_esc_packet_get_type(&_uart_bridge_packet); - - //uint8_t packet_size = qc_esc_packet_get_size(&_uart_bridge_packet); - //if we received a command for ESC to reset, most likely firmware update is coming, switch to bootloader baud rate - if (packet_type == ESC_PACKET_TYPE_RESET_CMD) { - int bootloader_baud_rate = 230400; - - if (_uart_port->uart_get_baud() != bootloader_baud_rate) { - px4_usleep(5000); - _uart_port->uart_set_baud(bootloader_baud_rate); - } - - } else { - if (_uart_port->uart_get_baud() != _parameters.baud_rate) { - px4_usleep(5000); - _uart_port->uart_set_baud(_parameters.baud_rate); //restore normal baud rate - } - } - } - } - } - - bytes_read = _uart_port->uart_read(uart_buf, sizeof(uart_buf)); - - if (bytes_read > 0) { - _uart_port_bridge->uart_write(uart_buf, bytes_read); - } - - px4_usleep(10000); - } - } - - } else { - if (_uart_port_bridge->is_open()) { - PX4_INFO("Closed UART ESC Bridge device"); - _uart_port_bridge->uart_close(); - } - } - - if (!_outputs_on) { - if (_actuator_test_sub.updated()) { - // values are set in ActuatorTest::update, we just need to enable outputs to let them through - _outputs_on = true; - } - } - - /* Don't process commands if outputs on */ - if (!_outputs_on) { - if (_current_cmd.valid()) { - //PX4_INFO("sending %d commands with delay %dus",_current_cmd.repeats,_current_cmd.repeat_delay_us); - flush_uart_rx(); - - do { - //PX4_INFO("CMDs left %d",_current_cmd.repeats); - if (_uart_port->uart_write(_current_cmd.buf, _current_cmd.len) == _current_cmd.len) { - if (_current_cmd.repeats == 0) { - _current_cmd.clear(); - } - - if (_current_cmd.response) { - if (read_response(&_current_cmd) == 0) { - _esc_status_pub.publish(_esc_status); - } - } - - } else { - if (_current_cmd.retries == 0) { - _current_cmd.clear(); - PX4_ERR("Failed to send command, errno: %i", errno); - - } else { - _current_cmd.retries--; - PX4_ERR("Failed to send command, errno: %i", errno); - } - } - - px4_usleep(_current_cmd.repeat_delay_us); - } while (_current_cmd.repeats-- > 0); - - PX4_INFO("RX packet count: %d", (int)_rx_packet_count); - PX4_INFO("CRC error count: %d", (int)_rx_crc_error_count); - - } else { - Command *new_cmd = _pending_cmd.load(); - - if (new_cmd) { - _current_cmd = *new_cmd; - _pending_cmd.store(nullptr); - } - } - } - - /* check at end of cycle (updateSubscriptions() can potentially change to a different WorkQueue thread) */ - _mixing_output.updateSubscriptions(true); - - perf_end(_cycle_perf); -} - - -int ModalIo::print_usage(const char *reason) -{ - if (reason) { - PX4_WARN("%s\n", reason); - } - - PRINT_MODULE_DESCRIPTION( - R"DESCR_STR( -### Description -This module is responsible for... - -### Implementation -By default the module runs on a work queue with a callback on the uORB actuator_controls topic. - -### Examples -It is typically started with: -$ todo - -)DESCR_STR"); - - PRINT_MODULE_USAGE_NAME("modal_io", "driver"); - PRINT_MODULE_USAGE_COMMAND_DESCR("start", "Start the task"); - - PRINT_MODULE_USAGE_COMMAND_DESCR("reset", "Send reset request to ESC"); - PRINT_MODULE_USAGE_PARAM_INT('i', 0, 0, 3, "ESC ID, 0-3", false); - - PRINT_MODULE_USAGE_COMMAND_DESCR("version", "Send version request to ESC"); - PRINT_MODULE_USAGE_PARAM_INT('i', 0, 0, 3, "ESC ID, 0-3", false); - - PRINT_MODULE_USAGE_COMMAND_DESCR("version-ext", "Send extended version request to ESC"); - PRINT_MODULE_USAGE_PARAM_INT('i', 0, 0, 3, "ESC ID, 0-3", false); - - PRINT_MODULE_USAGE_COMMAND_DESCR("rpm", "Closed-Loop RPM test control request"); - PRINT_MODULE_USAGE_PARAM_INT('i', 0, 0, 3, "ESC ID, 0-3", false); - PRINT_MODULE_USAGE_PARAM_INT('r', 0, -32768, 32768, "RPM, -32,768 to 32,768", false); - PRINT_MODULE_USAGE_PARAM_INT('n', 100, 0, 1<<31, "Command repeat count, 0 to INT_MAX", false); - PRINT_MODULE_USAGE_PARAM_INT('t', 10000, 0, 1<<31, "Delay between repeated commands (microseconds), 0 to INT_MAX", false); - - PRINT_MODULE_USAGE_COMMAND_DESCR("pwm", "Open-Loop PWM test control request"); - PRINT_MODULE_USAGE_PARAM_INT('i', 0, 0, 3, "ESC ID, 0-3", false); - PRINT_MODULE_USAGE_PARAM_INT('r', 0, 0, 800, "Duty Cycle value, 0 to 800", false); - PRINT_MODULE_USAGE_PARAM_INT('n', 100, 0, 1<<31, "Command repeat count, 0 to INT_MAX", false); - PRINT_MODULE_USAGE_PARAM_INT('t', 10000, 0, 1<<31, "Delay between repeated commands (microseconds), 0 to INT_MAX", false); - - PRINT_MODULE_USAGE_COMMAND_DESCR("tone", "Send tone generation request to ESC"); - PRINT_MODULE_USAGE_PARAM_INT('i', 0, 0, 3, "ESC ID, 0-3", false); - PRINT_MODULE_USAGE_PARAM_INT('p', 0, 0, 255, "Period of sound, inverse frequency, 0-255", false); - PRINT_MODULE_USAGE_PARAM_INT('d', 0, 0, 255, "Duration of the sound, 0-255, 1LSB = 13ms", false); - PRINT_MODULE_USAGE_PARAM_INT('v', 0, 0, 100, "Power (volume) of sound, 0-100", false); - - PRINT_MODULE_USAGE_COMMAND_DESCR("led", "Send LED control request"); - PRINT_MODULE_USAGE_PARAM_INT('l', 0, 0, 4095, "Bitmask 0x0FFF (12 bits) - ESC0 (RGB) ESC1 (RGB) ESC2 (RGB) ESC3 (RGB)", false); - - PRINT_MODULE_USAGE_DEFAULT_COMMANDS(); - - return 0; -} - -int ModalIo::print_status() -{ - PX4_INFO("Max update rate: %i Hz", _current_update_rate); - PX4_INFO("Outputs on: %s", _outputs_on ? "yes" : "no"); - PX4_INFO("UART port: %s", _device); - PX4_INFO("UART open: %s", _uart_port->is_open() ? "yes" : "no"); - - PX4_INFO(""); - - PX4_INFO("Params: MODAL_IO_CONFIG: %" PRId32, _parameters.config); - PX4_INFO("Params: MODAL_IO_BAUD: %" PRId32, _parameters.baud_rate); - - PX4_INFO("Params: MODAL_IO_FUNC1: %" PRId32, _parameters.function_map[0]); - PX4_INFO("Params: MODAL_IO_FUNC2: %" PRId32, _parameters.function_map[1]); - PX4_INFO("Params: MODAL_IO_FUNC3: %" PRId32, _parameters.function_map[2]); - PX4_INFO("Params: MODAL_IO_FUNC4: %" PRId32, _parameters.function_map[3]); - - PX4_INFO("Params: MODAL_IO_SDIR1: %" PRId32, _parameters.direction_map[0]); - PX4_INFO("Params: MODAL_IO_SDIR2: %" PRId32, _parameters.direction_map[1]); - PX4_INFO("Params: MODAL_IO_SDIR3: %" PRId32, _parameters.direction_map[2]); - PX4_INFO("Params: MODAL_IO_SDIR4: %" PRId32, _parameters.direction_map[3]); - - PX4_INFO("Params: MODAL_IO_RPM_MIN: %" PRId32, _parameters.rpm_min); - PX4_INFO("Params: MODAL_IO_RPM_MAX: %" PRId32, _parameters.rpm_max); - - PX4_INFO(""); - - for( int i = 0; i < MODAL_IO_OUTPUT_CHANNELS; i++){ - PX4_INFO("-- ID: %i", i); - PX4_INFO(" Motor: %i", _output_map[i].number); - PX4_INFO(" Direction: %i", _output_map[i].direction); - PX4_INFO(" State: %i", _esc_chans[i].state); - PX4_INFO(" Requested: %i RPM", _esc_chans[i].rate_req); - PX4_INFO(" Measured: %i RPM", _esc_chans[i].rate_meas); - PX4_INFO(" Command Counter: %i", _esc_chans[i].cmd_counter); - PX4_INFO(" Voltage: %f VDC", (double)_esc_chans[i].voltage); - PX4_INFO(""); - } - - perf_print_counter(_cycle_perf); - perf_print_counter(_output_update_perf); - - _mixing_output.printStatus(); - - return 0; -} - -extern "C" __EXPORT int modal_io_main(int argc, char *argv[]); - -int modal_io_main(int argc, char *argv[]) -{ - return ModalIo::main(argc, argv); -} diff --git a/src/drivers/actuators/modal_io/modal_io.hpp b/src/drivers/actuators/modal_io/modal_io.hpp deleted file mode 100644 index a61c269e6b4d..000000000000 --- a/src/drivers/actuators/modal_io/modal_io.hpp +++ /dev/null @@ -1,230 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2020 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -#pragma once - -#include -#include -#include -#include - -#include -#include - -#include -#include -#include -#include -#include -#include - -#include "modal_io_serial.hpp" - -#include "qc_esc_packet.h" -#include "qc_esc_packet_types.h" - -class ModalIo : public ModuleBase, public OutputModuleInterface -{ -public: - ModalIo(); - virtual ~ModalIo(); - - /** @see ModuleBase */ - static int task_spawn(int argc, char *argv[]); - - /** @see ModuleBase */ - static int custom_command(int argc, char *argv[]); - - /** @see ModuleBase */ - static int print_usage(const char *reason = nullptr); - - /** @see ModuleBase::run() */ - void Run() override; - - /** @see ModuleBase::print_status() */ - int print_status() override; - - /** @see OutputModuleInterface */ - bool updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS], - unsigned num_outputs, unsigned num_control_groups_updated) override; - - virtual int init(); - - struct Command { - uint16_t id = 0; - uint8_t len = 0; - uint16_t repeats = 0; - uint16_t repeat_delay_us = 2000; - uint8_t retries = 0; - bool response = false; - uint16_t resp_delay_us = 1000; - bool print_feedback = false; - - static const uint8_t BUF_SIZE = 128; - uint8_t buf[BUF_SIZE]; - - bool valid() const { return len > 0; } - void clear() { len = 0; } - }; - - int send_cmd_thread_safe(Command *cmd); - -private: - static constexpr uint32_t MODAL_IO_UART_CONFIG = 1; - static constexpr uint32_t MODAL_IO_DEFAULT_BAUD = 250000; - static constexpr uint16_t MODAL_IO_OUTPUT_CHANNELS = 4; - static constexpr uint16_t MODAL_IO_OUTPUT_DISABLED = 0; - - static constexpr uint32_t MODAL_IO_WRITE_WAIT_US = 200; - static constexpr uint32_t MODAL_IO_DISCONNECT_TIMEOUT_US = 500000; - - static constexpr uint16_t DISARMED_VALUE = 0; - - static constexpr uint16_t MODAL_IO_PWM_MIN = 0; - static constexpr uint16_t MODAL_IO_PWM_MAX = 800; - static constexpr uint16_t MODAL_IO_DEFAULT_RPM_MIN = 5000; - static constexpr uint16_t MODAL_IO_DEFAULT_RPM_MAX = 17000; - - static constexpr float MODAL_IO_MODE_DISABLED_SETPOINT = -0.1f; - static constexpr float MODAL_IO_MODE_THRESHOLD = 0.0f; - - static constexpr uint32_t MODAL_IO_MODE = 0; - static constexpr uint32_t MODAL_IO_MODE_TURTLE_AUX1 = 1; - static constexpr uint32_t MODAL_IO_MODE_TURTLE_AUX2 = 2; - static constexpr uint32_t MODAL_IO_MODE_UART_BRIDGE = 3; - - //static constexpr uint16_t max_pwm(uint16_t pwm) { return math::min(pwm, MODAL_IO_PWM_MAX); } - //static constexpr uint16_t max_rpm(uint16_t rpm) { return math::min(rpm, MODAL_IO_RPM_MAX); } - - ModalIoSerial *_uart_port; - ModalIoSerial *_uart_port_bridge; - - typedef struct { - int32_t config{MODAL_IO_UART_CONFIG}; - int32_t mode{MODAL_IO_MODE}; - int32_t turtle_motor_expo{35}; - int32_t turtle_motor_deadband{20}; - int32_t turtle_motor_percent{90}; - float turtle_stick_minf{0.15f}; - float turtle_cosphi{0.99f}; - int32_t baud_rate{MODAL_IO_DEFAULT_BAUD}; - int32_t rpm_min{MODAL_IO_DEFAULT_RPM_MIN}; - int32_t rpm_max{MODAL_IO_DEFAULT_RPM_MAX}; - int32_t function_map[MODAL_IO_OUTPUT_CHANNELS] {0, 0, 0, 0}; - int32_t motor_map[MODAL_IO_OUTPUT_CHANNELS] {1, 2, 3, 4}; - int32_t direction_map[MODAL_IO_OUTPUT_CHANNELS] {1, 1, 1, 1}; - int32_t verbose_logging{0}; - } modal_io_params_t; - - struct EscChan { - int16_t rate_req; - uint8_t state; - uint16_t rate_meas; - uint8_t power_applied; - uint8_t led; - uint8_t cmd_counter; - float voltage; //Volts - float current; //Amps - float temperature; //deg C - hrt_abstime feedback_time; - }; - - typedef struct { - uint8_t number; - int8_t direction; - } ch_assign_t; - - typedef struct { - led_control_s control{}; - vehicle_control_mode_s mode{}; - uint8_t led_mask;// TODO led_mask[MODAL_IO_OUTPUT_CHANNELS]; - bool breath_en; - uint8_t breath_counter; - bool test; - } led_rsc_t; - - ch_assign_t _output_map[MODAL_IO_OUTPUT_CHANNELS] {{1, 1}, {2, 1}, {3, 1}, {4, 1}}; - MixingOutput _mixing_output; - - perf_counter_t _cycle_perf; - perf_counter_t _output_update_perf; - - bool _outputs_on{false}; - - unsigned _current_update_rate{0}; - - uORB::Subscription _vehicle_control_mode_sub{ORB_ID(vehicle_control_mode)}; - uORB::Subscription _manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)}; - uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)}; - uORB::Subscription _actuator_test_sub{ORB_ID(actuator_test)}; - uORB::Subscription _led_update_sub{ORB_ID(led_control)}; - - uORB::Publication _outputs_debug_pub{ORB_ID(actuator_outputs_debug)}; - uORB::Publication _esc_status_pub{ORB_ID(esc_status)}; - - modal_io_params_t _parameters; - int update_params(); - int load_params(modal_io_params_t *params, ch_assign_t *map); - - bool _turtle_mode_en{false}; - int32_t _rpm_turtle_min{0}; - int32_t _rpm_fullscale{0}; - manual_control_setpoint_s _manual_control_setpoint{}; - - uint16_t _cmd_id{0}; - Command _current_cmd; - px4::atomic _pending_cmd{nullptr}; - - EscChan _esc_chans[MODAL_IO_OUTPUT_CHANNELS]; - Command _esc_cmd; - esc_status_s _esc_status; - EscPacket _fb_packet; - EscPacket _uart_bridge_packet; - - led_rsc_t _led_rsc; - int _fb_idx; - uint32_t _rx_crc_error_count{0}; - uint32_t _rx_packet_count{0}; - - static const uint8_t READ_BUF_SIZE = 128; - uint8_t _read_buf[READ_BUF_SIZE]; - - void update_leds(vehicle_control_mode_s mode, led_control_s control); - - int read_response(Command *out_cmd); - int parse_response(uint8_t *buf, uint8_t len, bool print_feedback); - int flush_uart_rx(); - int check_for_esc_timeout(); - void mix_turtle_mode(uint16_t outputs[]); - void handle_actuator_test(); -}; diff --git a/src/drivers/actuators/modal_io/modal_io_params.c b/src/drivers/actuators/modal_io/modal_io_params.c deleted file mode 100644 index 3bb848985595..000000000000 --- a/src/drivers/actuators/modal_io/modal_io_params.c +++ /dev/null @@ -1,218 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2020 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * UART ESC configuration - * - * Selects what type of UART ESC, if any, is being used. - * - * @reboot_required true - * - * @group MODAL IO - * @value 0 - Disabled - * @value 1 - VOXL ESC - * @min 0 - * @max 1 - */ -PARAM_DEFINE_INT32(MODAL_IO_CONFIG, 0); - -/** - * UART ESC baud rate - * - * Default rate is 250Kbps, which is used in off-the-shelf MoadalAI ESC products. - * - * @group MODAL IO - * @unit bit/s - */ -PARAM_DEFINE_INT32(MODAL_IO_BAUD, 250000); - -/** - * Motor mappings for ModalAI ESC - * - * HW Channel Idexes (PX4 Indexes) (note: silkscreen shows 0 indexed) - * 4(1) 3(4) - * [front] - * 1(3) 2(2) - */ - -// The following are auto generated params from control allocator pattern, put here for reference - -// Default ESC1 to motor2 -//PARAM_DEFINE_INT32(MODAL_IO_FUNC1, 102); - -//PARAM_DEFINE_INT32(MODAL_IO_FUNC2, 103); - -//PARAM_DEFINE_INT32(MODAL_IO_FUNC3, 101); - -//PARAM_DEFINE_INT32(MODAL_IO_FUNC4, 104); - -/** - * UART ESC RPM Min - * - * Minimum RPM for ESC - * - * @group MODAL IO - * @unit rpm - */ -PARAM_DEFINE_INT32(MODAL_IO_RPM_MIN, 5500); - -/** - * UART ESC RPM Max - * - * Maximum RPM for ESC - * - * @group MODAL IO - * @unit rpm - */ -PARAM_DEFINE_INT32(MODAL_IO_RPM_MAX, 15000); - -/** - * UART ESC Mode - * - * Selects what type of mode is enabled, if any - * - * @reboot_required true - * - * @group MODAL IO - * @value 0 - None - * @value 1 - Turtle Mode enabled via AUX1 - * @value 2 - Turtle Mode enabled via AUX2 - * @value 3 - UART Passthrough Mode - * @min 0 - * @max 2 - */ -PARAM_DEFINE_INT32(MODAL_IO_MODE, 0); - -/** - * UART ESC ID 1 Spin Direction Flag - * - * @group MODAL IO - * @value 0 - Default - * @value 1 - Reverse - */ -PARAM_DEFINE_INT32(MODAL_IO_SDIR1, 0); - -/** - * UART ESC ID 2 Spin Direction Flag - * - * @group MODAL IO - * @value 0 - Default - * @value 1 - Reverse - */ -PARAM_DEFINE_INT32(MODAL_IO_SDIR2, 0); - -/** - * UART ESC ID 3 Spin Direction Flag - * - * @group MODAL IO - * @value 0 - Default - * @value 1 - Reverse - */ -PARAM_DEFINE_INT32(MODAL_IO_SDIR3, 0); - -/** - * UART ESC ID 4 Spin Direction Flag - * - * @group MODAL IO - * @value 0 - Default - * @value 1 - Reverse - */ -PARAM_DEFINE_INT32(MODAL_IO_SDIR4, 0); - -/** - * UART ESC Turtle Mode Crash Flip Motor Percent - * - * @group MODAL IO - * @min 1 - * @max 100 - * @decimal 10 - * @increment 1 - */ -PARAM_DEFINE_INT32(MODAL_IO_T_PERC, 90); - -/** - * UART ESC Turtle Mode Crash Flip Motor Deadband - * - * @group MODAL IO - * @min 0 - * @max 100 - * @decimal 10 - * @increment 1 - */ -PARAM_DEFINE_INT32(MODAL_IO_T_DEAD, 20); - -/** - * UART ESC Turtle Mode Crash Flip Motor STICK_MINF - * - * @group MODAL IO - * @min 0.0 - * @max 100.0 - * @decimal 10 - * @increment 1.0 - */ -PARAM_DEFINE_FLOAT(MODAL_IO_T_MINF, 0.15); - -/** - * UART ESC Turtle Mode Crash Flip Motor expo - * - * @group MODAL IO - * @min 0 - * @max 100 - * @decimal 10 - * @increment 1 - */ -PARAM_DEFINE_INT32(MODAL_IO_T_EXPO, 35); - -/** - * UART ESC Turtle Mode Cosphi - * - * @group MODAL IO - * @min 0.000 - * @max 1.000 - * @decimal 10 - * @increment 0.001 - */ -PARAM_DEFINE_FLOAT(MODAL_IO_T_COSP, 0.990); - -/** - * UART ESC verbose logging - * - * @reboot_required true - * - * @group MODAL IO - * @value 0 - Disabled - * @value 1 - Enabled - * @min 0 - * @max 1 - */ -PARAM_DEFINE_INT32(MODAL_IO_VLOG, 0); diff --git a/src/drivers/actuators/modal_io/modal_io_serial.cpp b/src/drivers/actuators/modal_io/modal_io_serial.cpp deleted file mode 100644 index f4b807673048..000000000000 --- a/src/drivers/actuators/modal_io/modal_io_serial.cpp +++ /dev/null @@ -1,191 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2020 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -#include "string.h" -#include "modal_io_serial.hpp" - -ModalIoSerial::ModalIoSerial() -{ -} - -ModalIoSerial::~ModalIoSerial() -{ - if (_uart_fd >= 0) { - uart_close(); - } -} - -int ModalIoSerial::uart_open(const char *dev, speed_t speed) -{ - if (_uart_fd >= 0) { - PX4_ERR("Port in use: %s (%i)", dev, errno); - return -1; - } - - /* Open UART */ -#ifdef __PX4_QURT - _uart_fd = qurt_uart_open(dev, speed); -#else - _uart_fd = open(dev, O_RDWR | O_NOCTTY | O_NONBLOCK); -#endif - - if (_uart_fd < 0) { - PX4_ERR("Error opening port: %s (%i)", dev, errno); - return -1; - } - -#ifndef __PX4_QURT - /* Back up the original UART configuration to restore it after exit */ - int termios_state; - - if ((termios_state = tcgetattr(_uart_fd, &_orig_cfg)) < 0) { - PX4_ERR("Error configuring port: tcgetattr %s: %d", dev, termios_state); - uart_close(); - return -1; - } - - /* Fill the struct for the new configuration */ - tcgetattr(_uart_fd, &_cfg); - - /* Disable output post-processing */ - _cfg.c_oflag &= ~OPOST; - - _cfg.c_cflag |= (CLOCAL | CREAD); /* ignore modem controls */ - _cfg.c_cflag &= ~CSIZE; - _cfg.c_cflag |= CS8; /* 8-bit characters */ - _cfg.c_cflag &= ~PARENB; /* no parity bit */ - _cfg.c_cflag &= ~CSTOPB; /* only need 1 stop bit */ - _cfg.c_cflag &= ~CRTSCTS; /* no hardware flowcontrol */ - - /* setup for non-canonical mode */ - _cfg.c_iflag &= ~(IGNBRK | BRKINT | PARMRK | ISTRIP | INLCR | IGNCR | ICRNL | IXON); - _cfg.c_lflag &= ~(ECHO | ECHONL | ICANON | ISIG | IEXTEN); - - if (cfsetispeed(&_cfg, speed) < 0 || cfsetospeed(&_cfg, speed) < 0) { - PX4_ERR("Error configuring port: %s: %d (cfsetispeed, cfsetospeed)", dev, termios_state); - uart_close(); - return -1; - } - - if ((termios_state = tcsetattr(_uart_fd, TCSANOW, &_cfg)) < 0) { - PX4_ERR("Error configuring port: %s (tcsetattr)", dev); - uart_close(); - return -1; - } - -#endif - - _speed = speed; - - return 0; -} - -int ModalIoSerial::uart_set_baud(speed_t speed) -{ -#ifndef __PX4_QURT - - if (_uart_fd < 0) { - return -1; - } - - if (cfsetispeed(&_cfg, speed) < 0) { - return -1; - } - - if (tcsetattr(_uart_fd, TCSANOW, &_cfg) < 0) { - return -1; - } - - _speed = speed; - - return 0; -#endif - - return -1; -} - -int ModalIoSerial::uart_close() -{ -#ifndef __PX4_QURT - - if (_uart_fd < 0) { - PX4_ERR("invalid state for closing"); - return -1; - } - - if (tcsetattr(_uart_fd, TCSANOW, &_orig_cfg)) { - PX4_ERR("failed restoring uart to original state"); - } - - if (close(_uart_fd)) { - PX4_ERR("error closing uart"); - } - -#endif - - _uart_fd = -1; - - return 0; -} - -int ModalIoSerial::uart_write(FAR void *buf, size_t len) -{ - if (_uart_fd < 0 || buf == NULL) { - PX4_ERR("invalid state for writing or buffer"); - return -1; - } - -#ifdef __PX4_QURT - return qurt_uart_write(_uart_fd, (const char *) buf, len); -#else - return write(_uart_fd, buf, len); -#endif -} - -int ModalIoSerial::uart_read(FAR void *buf, size_t len) -{ - if (_uart_fd < 0 || buf == NULL) { - PX4_ERR("invalid state for reading or buffer"); - return -1; - } - -#ifdef __PX4_QURT -#define ASYNC_UART_READ_WAIT_US 2000 - // The UART read on SLPI is via an asynchronous service so specify a timeout - // for the return. The driver will poll periodically until the read comes in - // so this may block for a while. However, it will timeout if no read comes in. - return qurt_uart_read(_uart_fd, (char *) buf, len, ASYNC_UART_READ_WAIT_US); -#else - return read(_uart_fd, buf, len); -#endif -} diff --git a/src/drivers/actuators/modal_io/modal_io_serial.hpp b/src/drivers/actuators/modal_io/modal_io_serial.hpp deleted file mode 100644 index c91f121ca39d..000000000000 --- a/src/drivers/actuators/modal_io/modal_io_serial.hpp +++ /dev/null @@ -1,69 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2020 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -#pragma once - -#include -#include -#include -#include - -#ifdef __PX4_QURT -#include -#define FAR -#endif - -class ModalIoSerial -{ -public: - ModalIoSerial(); - virtual ~ModalIoSerial(); - - int uart_open(const char *dev, speed_t speed); - int uart_set_baud(speed_t speed); - int uart_close(); - int uart_write(FAR void *buf, size_t len); - int uart_read(FAR void *buf, size_t len); - bool is_open() { return _uart_fd >= 0; }; - int uart_get_baud() {return _speed; } - -private: - int _uart_fd = -1; - -#if ! defined(__PX4_QURT) - struct termios _orig_cfg; - struct termios _cfg; -#endif - - int _speed = -1; -}; diff --git a/src/drivers/actuators/modal_io/module.yaml b/src/drivers/actuators/modal_io/module.yaml deleted file mode 100644 index a7c79fae621b..000000000000 --- a/src/drivers/actuators/modal_io/module.yaml +++ /dev/null @@ -1,26 +0,0 @@ -module_name: MODAL IO Output -actuator_output: - show_subgroups_if: 'MODAL_IO_CONFIG>0' - config_parameters: - - param: 'MODAL_IO_CONFIG' - label: 'Configure' - function: 'enable' - - param: 'MODAL_IO_BAUD' - label: 'Bitrate' - - param: 'MODAL_IO_RPM_MIN' - label: 'RPM Min' - - param: 'MODAL_IO_RPM_MAX' - label: 'RPM Max' - - param: 'MODAL_IO_SDIR1' - label: 'ESC 1 Spin Direction' - - param: 'MODAL_IO_SDIR2' - label: 'ESC 2 Spin Direction' - - param: 'MODAL_IO_SDIR3' - label: 'ESC 3 Spin Direction' - - param: 'MODAL_IO_SDIR4' - label: 'ESC 4 Spin Direction' - output_groups: - - param_prefix: MODAL_IO - group_label: 'ESCs' - channel_label: 'ESC' - num_channels: 4 diff --git a/src/drivers/actuators/voxl_esc/CMakeLists.txt b/src/drivers/actuators/voxl_esc/CMakeLists.txt new file mode 100644 index 000000000000..dbfa0c42c384 --- /dev/null +++ b/src/drivers/actuators/voxl_esc/CMakeLists.txt @@ -0,0 +1,52 @@ +############################################################################ +# +# Copyright (c) 2020 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +px4_add_module( + MODULE drivers__actuators__voxl_esc + MAIN voxl_esc + SRCS + crc16.c + crc16.h + + voxl_esc.cpp + voxl_esc.hpp + qc_esc_packet_types.h + qc_esc_packet.c + qc_esc_packet.h + DEPENDS + battery + px4_work_queue + mixer_module + MODULE_CONFIG + module.yaml + ) diff --git a/src/drivers/actuators/voxl_esc/Kconfig b/src/drivers/actuators/voxl_esc/Kconfig new file mode 100644 index 000000000000..5df8bb0bb4c6 --- /dev/null +++ b/src/drivers/actuators/voxl_esc/Kconfig @@ -0,0 +1,5 @@ +menuconfig DRIVERS_ACTUATORS_VOXL_ESC + bool "voxl_esc" + default n + ---help--- + Enable support for voxl_esc diff --git a/src/drivers/actuators/modal_io/crc16.c b/src/drivers/actuators/voxl_esc/crc16.c similarity index 100% rename from src/drivers/actuators/modal_io/crc16.c rename to src/drivers/actuators/voxl_esc/crc16.c diff --git a/src/drivers/actuators/modal_io/crc16.h b/src/drivers/actuators/voxl_esc/crc16.h similarity index 100% rename from src/drivers/actuators/modal_io/crc16.h rename to src/drivers/actuators/voxl_esc/crc16.h diff --git a/src/drivers/actuators/voxl_esc/module.yaml b/src/drivers/actuators/voxl_esc/module.yaml new file mode 100644 index 000000000000..c3bb1f4e6ed3 --- /dev/null +++ b/src/drivers/actuators/voxl_esc/module.yaml @@ -0,0 +1,41 @@ +module_name: VOXL ESC Output +actuator_output: + show_subgroups_if: 'VOXL_ESC_CONFIG>0' + config_parameters: + - param: 'VOXL_ESC_CONFIG' + label: 'Configure' + function: 'enable' + - param: 'VOXL_ESC_BAUD' + label: 'Bitrate' + - param: 'VOXL_ESC_RPM_MIN' + label: 'RPM Min' + - param: 'VOXL_ESC_RPM_MAX' + label: 'RPM Max' + - param: 'VOXL_ESC_SDIR1' + label: 'ESC 1 Spin Direction' + - param: 'VOXL_ESC_SDIR2' + label: 'ESC 2 Spin Direction' + - param: 'VOXL_ESC_SDIR3' + label: 'ESC 3 Spin Direction' + - param: 'VOXL_ESC_SDIR4' + label: 'ESC 4 Spin Direction' + output_groups: + - param_prefix: VOXL_ESC + group_label: 'ESCs' + channel_label: 'ESC' + num_channels: 4 + +parameters: + - group: ModalAI Custom Configuration + definitions: + MODALAI_CONFIG: + description: + short: Custom configuration for ModalAI drones + long: | + This can be set to indicate that drone behavior + needs to be changed to match a custom setting + type: int32 + reboot_required: true + num_instances: 1 + instance_start: 1 + default: 0 diff --git a/src/drivers/actuators/modal_io/qc_esc_packet.c b/src/drivers/actuators/voxl_esc/qc_esc_packet.c similarity index 83% rename from src/drivers/actuators/modal_io/qc_esc_packet.c rename to src/drivers/actuators/voxl_esc/qc_esc_packet.c index 0dc8fab6649d..086622379cbf 100644 --- a/src/drivers/actuators/modal_io/qc_esc_packet.c +++ b/src/drivers/actuators/voxl_esc/qc_esc_packet.c @@ -119,36 +119,60 @@ int32_t qc_esc_create_pwm_packet4_fb(int16_t pwm0, int16_t pwm1, int16_t pwm2, i } -int32_t qc_esc_create_rpm_packet4(int16_t rpm0, int16_t rpm1, int16_t rpm2, int16_t rpm3, +int32_t qc_esc_create_rpm_packet4(int32_t rpm0, int32_t rpm1, int32_t rpm2, int32_t rpm3, uint8_t led0, uint8_t led1, uint8_t led2, uint8_t led3, - uint8_t *out, uint16_t out_size) + uint8_t *out, uint16_t out_size, uint8_t ext_rpm) { - return qc_esc_create_rpm_packet4_fb(rpm0, rpm1, rpm2, rpm3, led0, led1, led2, led3, -1, out, out_size); + return qc_esc_create_rpm_packet4_fb(rpm0, rpm1, rpm2, rpm3, led0, led1, led2, led3, -1, out, out_size, ext_rpm); } -int32_t qc_esc_create_rpm_packet4_fb(int16_t rpm0, int16_t rpm1, int16_t rpm2, int16_t rpm3, +int32_t qc_esc_create_rpm_packet4_fb(int32_t rpm0, int32_t rpm1, int32_t rpm2, int32_t rpm3, uint8_t led0, uint8_t led1, uint8_t led2, uint8_t led3, - int32_t fb_id, uint8_t *out, uint16_t out_size) + int32_t fb_id, uint8_t *out, uint16_t out_size, uint8_t ext_rpm) { - uint16_t data[5]; + int16_t data[5]; uint16_t leds = 0; + uint8_t cmd = ESC_PACKET_TYPE_RPM_CMD; + int32_t max = ext_rpm > 0 ? ESC_RPM_MAX_EXT : ESC_RPM_MAX; + int32_t min = ext_rpm > 0 ? ESC_RPM_MIN_EXT : ESC_RPM_MIN; - if (fb_id != -1) { fb_id = fb_id % 4; } + // Limit RPMs to prevent overflow when converting to int16_t - //least significant bit is used for feedback request - rpm0 &= ~(0x0001); rpm1 &= ~(0x0001); rpm2 &= ~(0x0001); rpm3 &= ~(0x0001); + if (rpm0 > max) { rpm0 = max; } if (rpm0 < min) { rpm0 = min; } - if (fb_id == 0) { rpm0 |= 0x0001; } if (fb_id == 1) { rpm1 |= 0x0001; } + if (rpm1 > max) { rpm1 = max; } if (rpm1 < min) { rpm1 = min; } - if (fb_id == 2) { rpm2 |= 0x0001; } if (fb_id == 3) { rpm3 |= 0x0001; } + if (rpm2 > max) { rpm2 = max; } if (rpm2 < min) { rpm2 = min; } - leds |= led0 & 0b00000111; + if (rpm3 > max) { rpm3 = max; } if (rpm3 < min) { rpm3 = min; } + + if (fb_id != -1) { fb_id = fb_id % 4; } + + leds |= led0 & 0b00000111; leds |= (led1 & 0b00000111) << 3; leds |= ((uint16_t)(led2 & 0b00000111)) << 6; leds |= ((uint16_t)(led3 & 0b00000111)) << 9; - data[0] = rpm0; data[1] = rpm1; data[2] = rpm2; data[3] = rpm3; data[4] = leds; - return qc_esc_create_packet(ESC_PACKET_TYPE_RPM_CMD, (uint8_t *) & (data[0]), 10, out, out_size); + if (ext_rpm > 0) { + cmd = ESC_PACKET_TYPE_RPM_DIV2_CMD; + data[0] = ((rpm0 / 4) * 2); + data[1] = ((rpm1 / 4) * 2); + data[2] = ((rpm2 / 4) * 2); + data[3] = ((rpm3 / 4) * 2); + data[4] = leds; + + } else { + data[0] = rpm0; data[1] = rpm1; data[2] = rpm2; data[3] = rpm3; data[4] = leds; + } + + //least significant bit is used for feedback request + data[0] &= ~(0x0001); data[1] &= ~(0x0001); data[2] &= ~(0x0001); data[3] &= ~(0x0001); + + if (fb_id == 0) { data[0] |= 0x0001; } if (fb_id == 1) { data[1] |= 0x0001; } + + if (fb_id == 2) { data[2] |= 0x0001; } if (fb_id == 3) { data[3] |= 0x0001; } + + return qc_esc_create_packet(cmd, (uint8_t *) & (data[0]), 10, out, out_size); } int32_t qc_esc_create_packet(uint8_t type, uint8_t *data, uint16_t size, uint8_t *out, uint16_t out_size) diff --git a/src/drivers/actuators/modal_io/qc_esc_packet.h b/src/drivers/actuators/voxl_esc/qc_esc_packet.h similarity index 91% rename from src/drivers/actuators/modal_io/qc_esc_packet.h rename to src/drivers/actuators/voxl_esc/qc_esc_packet.h index 8af2b6ea5483..88ecc8e9f9df 100644 --- a/src/drivers/actuators/modal_io/qc_esc_packet.h +++ b/src/drivers/actuators/voxl_esc/qc_esc_packet.h @@ -52,6 +52,11 @@ extern "C" { #define QC_ESC_LED_GREEN_ON 2 #define QC_ESC_LED_BLUE_ON 4 +// Define RPM command max and min values +#define ESC_RPM_MAX INT16_MAX-1 // 32k +#define ESC_RPM_MIN INT16_MIN+1 // -32k +#define ESC_RPM_MAX_EXT UINT16_MAX-5 // 65k +#define ESC_RPM_MIN_EXT -UINT16_MAX+5 // -65k // Header of the packet. Each packet must start with this header #define ESC_PACKET_HEADER 0xAF @@ -142,6 +147,18 @@ typedef struct { } __attribute__((__packed__)) QC_ESC_FB_RESPONSE_V2; +// Definition of the feedback response packet from ESC, which contains battery voltage and total current +typedef struct { + uint8_t header; + uint8_t length; + uint8_t type; + uint8_t id; //ESC Id (could be used as system ID elsewhere) + uint16_t voltage; //Input voltage (Millivolts) + int16_t current; //Total Current (8mA resolution) + uint16_t crc; +} __attribute__((__packed__)) QC_ESC_FB_POWER_STATUS; + + //------------------------------------------------------------------------- //Below are functions for generating packets that would be outgoing to ESCs //------------------------------------------------------------------------- @@ -197,15 +214,15 @@ int32_t qc_esc_create_pwm_packet4_fb(int16_t pwm0, int16_t pwm1, int16_t pwm2, i // Create a packet for sending closed-loop RPM command and LED command to 4 ESCs without requesting any feedback // Return value is the length of generated packet (if positive), otherwise error code -int32_t qc_esc_create_rpm_packet4(int16_t rpm0, int16_t rpm1, int16_t rpm2, int16_t rpm3, +int32_t qc_esc_create_rpm_packet4(int32_t rpm0, int32_t rpm1, int32_t rpm2, int32_t rpm3, uint8_t led0, uint8_t led1, uint8_t led2, uint8_t led3, - uint8_t *out, uint16_t out_size); + uint8_t *out, uint16_t out_size, uint8_t ext_rpm); -// Create a packet for sending closed-loop RPM command and LED command to 4 ESCs, also request feedback from one ESC (with id=fb_id) +// Create a packet for sending closed-loop RPM command (32766 or 65530 max RPM) and LED command to 4 ESCs, also request feedback from one ESC (with id=fb_id) // Return value is the length of generated packet (if positive), otherwise error code -int32_t qc_esc_create_rpm_packet4_fb(int16_t rpm0, int16_t rpm1, int16_t rpm2, int16_t rpm3, +int32_t qc_esc_create_rpm_packet4_fb(int32_t rpm0, int32_t rpm1, int32_t rpm2, int32_t rpm3, uint8_t led0, uint8_t led1, uint8_t led2, uint8_t led3, - int32_t fb_id, uint8_t *out, uint16_t out_size); + int32_t fb_id, uint8_t *out, uint16_t out_size, uint8_t ext_rpm); //------------------------------------------------------------------------- diff --git a/src/drivers/actuators/modal_io/qc_esc_packet_types.h b/src/drivers/actuators/voxl_esc/qc_esc_packet_types.h similarity index 97% rename from src/drivers/actuators/modal_io/qc_esc_packet_types.h rename to src/drivers/actuators/voxl_esc/qc_esc_packet_types.h index 2453d7dbf043..538a8859a7c1 100644 --- a/src/drivers/actuators/modal_io/qc_esc_packet_types.h +++ b/src/drivers/actuators/voxl_esc/qc_esc_packet_types.h @@ -46,6 +46,7 @@ #define ESC_PACKET_TYPE_SOUND_CMD 3 #define ESC_PACKET_TYPE_STEP_CMD 4 #define ESC_PACKET_TYPE_LED_CMD 5 +#define ESC_PACKET_TYPE_RPM_DIV2_CMD 7 #define ESC_PACKET_TYPE_RESET_CMD 10 #define ESC_PACKET_TYPE_SET_ID_CMD 11 #define ESC_PACKET_TYPE_SET_DIR_CMD 12 @@ -69,5 +70,6 @@ #define ESC_PACKET_TYPE_TUNE_CONFIG 114 #define ESC_PACKET_TYPE_FB_RESPONSE 128 #define ESC_PACKET_TYPE_VERSION_EXT_RESPONSE 131 +#define ESC_PACKET_TYPE_FB_POWER_STATUS 132 #endif diff --git a/src/drivers/actuators/voxl_esc/voxl_esc.cpp b/src/drivers/actuators/voxl_esc/voxl_esc.cpp new file mode 100644 index 000000000000..f5568d7eebc7 --- /dev/null +++ b/src/drivers/actuators/voxl_esc/voxl_esc.cpp @@ -0,0 +1,1610 @@ +/**************************************************************************** + * + * Copyright (c) 2020 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include + +#include + +#include "voxl_esc.hpp" + +// future use: +#define MODALAI_PUBLISH_ESC_STATUS 0 + +const char *_device; + +VoxlEsc::VoxlEsc() : + OutputModuleInterface(MODULE_NAME, px4::serial_port_to_wq(VOXL_ESC_DEFAULT_PORT)), + _mixing_output{"VOXL_ESC", VOXL_ESC_OUTPUT_CHANNELS, *this, MixingOutput::SchedulingPolicy::Auto, false, false}, + _cycle_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": cycle")), + _output_update_perf(perf_alloc(PC_INTERVAL, MODULE_NAME": output update interval")), + _battery(1, nullptr, _battery_report_interval, battery_status_s::BATTERY_SOURCE_POWER_MODULE) +{ + _device = VOXL_ESC_DEFAULT_PORT; + + _mixing_output.setAllFailsafeValues(0); + _mixing_output.setAllDisarmedValues(0); + + _esc_status.timestamp = hrt_absolute_time(); + _esc_status.counter = 0; + _esc_status.esc_count = VOXL_ESC_OUTPUT_CHANNELS; + _esc_status.esc_connectiontype = esc_status_s::ESC_CONNECTION_TYPE_SERIAL; + + for (unsigned i = 0; i < VOXL_ESC_OUTPUT_CHANNELS; i++) { + _esc_status.esc[i].timestamp = 0; + _esc_status.esc[i].esc_address = 0; + _esc_status.esc[i].esc_rpm = 0; + _esc_status.esc[i].esc_state = 0; + _esc_status.esc[i].esc_cmdcount = 0; + _esc_status.esc[i].esc_voltage = 0; + _esc_status.esc[i].esc_current = 0; + _esc_status.esc[i].esc_temperature = 0; + _esc_status.esc[i].esc_errorcount = 0; + _esc_status.esc[i].failures = 0; + _esc_status.esc[i].esc_power = 0; + } + + qc_esc_packet_init(&_fb_packet); + + _fb_idx = 0; +} + +VoxlEsc::~VoxlEsc() +{ + _outputs_on = false; + + _uart_port.close(); + + perf_free(_cycle_perf); + perf_free(_output_update_perf); +} + +int VoxlEsc::init() +{ + PX4_INFO("VOXL_ESC: Starting VOXL ESC driver"); + + /* Getting initial parameter values */ + int ret = update_params(); + + if (ret != OK) { + PX4_ERR("VOXL_ESC: Failed to update params during init"); + return ret; + } + + print_params(); + + //WARING: uart port initialization and device detection does not happen here + //because init() is called from a different thread from Run(), so fd opened in init() cannot be used in Run() + //this is an issue (feature?) specific to nuttx where each thread group gets separate set of fds + //https://cwiki.apache.org/confluence/display/NUTTX/Detaching+File+Descriptors + //detaching file descriptors is not implemented in the current version of nuttx that px4 uses + // + //There is no problem when running on VOXL2, but in order to have the same logical flow on both systems, + //we will initialize uart and query the device in Run() + + ScheduleNow(); + + return 0; +} + +int VoxlEsc::device_init() +{ + if (_device_initialized) { + return 0; + } + + // Open serial port + if (!_uart_port.isOpen()) { + PX4_INFO("VOXL_ESC: Opening UART ESC device %s, baud rate %" PRIi32, _device, _parameters.baud_rate); +#ifndef __PX4_QURT + + //warn user that unless DMA is enabled for UART RX, data can be lost due to high frequency of per char cpu interrupts + //at least at 2mbit, there are definitely losses, did not test other baud rates to find the cut off + if (_parameters.baud_rate > 250000) { + PX4_WARN("VOXL_ESC: Baud rate is too high for non-DMA based UART, this can lead to loss of RX data"); + } + +#endif + + // Configure UART port + if (! _uart_port.setPort(_device)) { + PX4_ERR("Error configuring serial device on port %s", _device); + return -1; + } + + if (! _uart_port.setBaudrate(_parameters.baud_rate)) { + PX4_ERR("Error setting baudrate to %d on %s", (int) _parameters.baud_rate, _device); + return -1; + } + + // Open the UART. If this is successful then the UART is ready to use. + if (! _uart_port.open()) { + PX4_ERR("Error opening serial device %s", _device); + return -1; + } + } + + // Reset output channel values + memset(&_esc_chans, 0x00, sizeof(_esc_chans)); + + //reset the ESC version info before requesting + for (int esc_id = 0; esc_id < VOXL_ESC_OUTPUT_CHANNELS; ++esc_id) { + memset(&(_version_info[esc_id]), 0, sizeof(_version_info[esc_id])); + //_version_info[esc_id].sw_version = 0; //invalid + //_version_info[esc_id].hw_version = 0; //invalid + _version_info[esc_id].id = esc_id; + } + + // Detect ESCs + PX4_INFO("VOXL_ESC: Detecting ESCs..."); + qc_esc_packet_init(&_fb_packet); + + //request extended version info from each ESC and wait for reply + for (uint8_t esc_id = 0; esc_id < VOXL_ESC_OUTPUT_CHANNELS; esc_id++) { + Command cmd; + cmd.len = qc_esc_create_extended_version_request_packet(esc_id, cmd.buf, sizeof(cmd.buf)); + + if (_uart_port.write(cmd.buf, cmd.len) != cmd.len) { + PX4_ERR("VOXL_ESC: Could not write version request packet to UART port"); + return -1; + } + + hrt_abstime t_request = hrt_absolute_time(); + hrt_abstime t_timeout = 50000; //50ms timeout for version info response + bool got_response = false; + + while ((!got_response) && (hrt_elapsed_time(&t_request) < t_timeout)) { + px4_usleep(100); //sleep a bit while waiting for ESC to respond + + int nread = _uart_port.read(_read_buf, sizeof(_read_buf)); + + for (int i = 0; i < nread; i++) { + int16_t parse_ret = qc_esc_packet_process_char(_read_buf[i], &_fb_packet); + + if (parse_ret > 0) { + hrt_abstime response_time = hrt_elapsed_time(&t_request); + //PX4_INFO("got packet of length %i",ret); + _rx_packet_count++; + uint8_t packet_type = qc_esc_packet_get_type(&_fb_packet); + uint8_t packet_size = qc_esc_packet_get_size(&_fb_packet); + + if (packet_type == ESC_PACKET_TYPE_VERSION_EXT_RESPONSE && packet_size == sizeof(QC_ESC_EXTENDED_VERSION_INFO)) { + QC_ESC_EXTENDED_VERSION_INFO ver; + memcpy(&ver, _fb_packet.buffer, packet_size); + + PX4_INFO("VOXL_ESC: \tESC ID : %i", ver.id); + PX4_INFO("VOXL_ESC: \tBoard Type : %i: %s", ver.hw_version, board_id_to_name(ver.hw_version)); + + uint8_t *u = &ver.unique_id[0]; + PX4_INFO("VOXL_ESC: \tUnique ID : 0x%02X%02X%02X%02X%02X%02X%02X%02X%02X%02X%02X%02X", + u[11], u[10], u[9], u[8], u[7], u[6], u[5], u[4], u[3], u[2], u[1], u[0]); + + PX4_INFO("VOXL_ESC: \tFirmware : version %4d, hash %.12s", ver.sw_version, ver.firmware_git_version); + PX4_INFO("VOXL_ESC: \tBootloader : version %4d, hash %.12s", ver.bootloader_version, ver.bootloader_git_version); + PX4_INFO("VOXL_ESC: \tReply time : %" PRIu32 "us", (uint32_t)response_time); + PX4_INFO("VOXL_ESC:"); + + if (ver.id == esc_id) { + memcpy(&_version_info[esc_id], &ver, sizeof(ver)); + got_response = true; + } + } + } + } + } + + if (!got_response) { + PX4_ERR("VOXL_ESC: ESC %d version info response timeout", esc_id); + } + } + + //check the SW version of the ESCs + bool esc_detection_fault = false; + + for (int esc_id = 0; esc_id < VOXL_ESC_OUTPUT_CHANNELS; esc_id++) { + if (_version_info[esc_id].sw_version == 0) { + PX4_ERR("VOXL_ESC: ESC ID %d was not detected", esc_id); + esc_detection_fault = true; + } + } + + //check the firmware hashes to make sure they are the same. Firmware hash has 8 chars plus optional "*" + for (int esc_id = 1; esc_id < VOXL_ESC_OUTPUT_CHANNELS; esc_id++) { + if (strncmp(_version_info[0].firmware_git_version, _version_info[esc_id].firmware_git_version, 9) != 0) { + PX4_ERR("VOXL_ESC: ESC %d Firmware hash does not match ESC 0 firmware hash: (%.12s) != (%.12s)", + esc_id, _version_info[esc_id].firmware_git_version, _version_info[0].firmware_git_version); + esc_detection_fault = true; + } + } + + //if firmware version is equal or greater than VOXL_ESC_EXT_RPM, ESC packet with extended rpm range is supported. use it + _extended_rpm = true; + + for (int esc_id = 0; esc_id < VOXL_ESC_OUTPUT_CHANNELS; esc_id++) { + if (_version_info[esc_id].sw_version < VOXL_ESC_EXT_RPM) { + _extended_rpm = false; + } + } + + if (esc_detection_fault) { + PX4_ERR("VOXL_ESC: Critical error during ESC initialization"); + return -1; + } + + PX4_INFO("VOXL_ESC: Use extened rpm packet : %d", _extended_rpm); + + PX4_INFO("VOXL_ESC: All ESCs successfully detected"); + + _device_initialized = true; + + return 0; +} + +int VoxlEsc::load_params(voxl_esc_params_t *params, ch_assign_t *map) +{ + int ret = PX4_OK; + + // initialize out + for (int i = 0; i < VOXL_ESC_OUTPUT_CHANNELS; i++) { + params->function_map[i] = (int)OutputFunction::Disabled; + params->direction_map[i] = 0; + params->motor_map[i] = 0; + } + + param_get(param_find("VOXL_ESC_CONFIG"), ¶ms->config); + param_get(param_find("VOXL_ESC_MODE"), ¶ms->mode); + param_get(param_find("VOXL_ESC_BAUD"), ¶ms->baud_rate); + + param_get(param_find("VOXL_ESC_T_PERC"), ¶ms->turtle_motor_percent); + param_get(param_find("VOXL_ESC_T_DEAD"), ¶ms->turtle_motor_deadband); + param_get(param_find("VOXL_ESC_T_EXPO"), ¶ms->turtle_motor_expo); + param_get(param_find("VOXL_ESC_T_MINF"), ¶ms->turtle_stick_minf); + param_get(param_find("VOXL_ESC_T_COSP"), ¶ms->turtle_cosphi); + + param_get(param_find("VOXL_ESC_FUNC1"), ¶ms->function_map[0]); + param_get(param_find("VOXL_ESC_FUNC2"), ¶ms->function_map[1]); + param_get(param_find("VOXL_ESC_FUNC3"), ¶ms->function_map[2]); + param_get(param_find("VOXL_ESC_FUNC4"), ¶ms->function_map[3]); + + param_get(param_find("VOXL_ESC_SDIR1"), ¶ms->direction_map[0]); + param_get(param_find("VOXL_ESC_SDIR2"), ¶ms->direction_map[1]); + param_get(param_find("VOXL_ESC_SDIR3"), ¶ms->direction_map[2]); + param_get(param_find("VOXL_ESC_SDIR4"), ¶ms->direction_map[3]); + + param_get(param_find("VOXL_ESC_RPM_MIN"), ¶ms->rpm_min); + param_get(param_find("VOXL_ESC_RPM_MAX"), ¶ms->rpm_max); + + param_get(param_find("VOXL_ESC_VLOG"), ¶ms->verbose_logging); + param_get(param_find("VOXL_ESC_PUB_BST"), ¶ms->publish_battery_status); + + param_get(param_find("VOXL_ESC_T_WARN"), ¶ms->esc_warn_temp_threshold); + param_get(param_find("VOXL_ESC_T_OVER"), ¶ms->esc_over_temp_threshold); + + if (params->rpm_min >= params->rpm_max) { + PX4_ERR("VOXL_ESC: Invalid parameter VOXL_ESC_RPM_MIN. Please verify parameters."); + params->rpm_min = 0; + ret = PX4_ERROR; + } + + if (params->turtle_motor_percent < 0 || params->turtle_motor_percent > 100) { + PX4_ERR("VOXL_ESC: Invalid parameter VOXL_ESC_T_PERC. Please verify parameters."); + params->turtle_motor_percent = 0; + ret = PX4_ERROR; + } + + if (params->turtle_motor_deadband < 0 || params->turtle_motor_deadband > 100) { + PX4_ERR("VOXL_ESC: Invalid parameter VOXL_ESC_T_DEAD. Please verify parameters."); + params->turtle_motor_deadband = 0; + ret = PX4_ERROR; + } + + if (params->turtle_motor_expo < 0 || params->turtle_motor_expo > 100) { + PX4_ERR("VOXL_ESC: Invalid parameter VOXL_ESC_T_EXPO. Please verify parameters."); + params->turtle_motor_expo = 0; + ret = PX4_ERROR; + } + + if (params->turtle_stick_minf < 0.0f || params->turtle_stick_minf > 100.0f) { + PX4_ERR("VOXL_ESC: Invalid parameter VOXL_ESC_T_MINF. Please verify parameters."); + params->turtle_stick_minf = 0.0f; + ret = PX4_ERROR; + } + + if (params->turtle_cosphi < 0.0f || params->turtle_cosphi > 100.0f) { + PX4_ERR("VOXL_ESC: Invalid parameter VOXL_ESC_T_COSP. Please verify parameters."); + params->turtle_cosphi = 0.0f; + ret = PX4_ERROR; + } + + for (int i = 0; i < VOXL_ESC_OUTPUT_CHANNELS; i++) { + if (params->function_map[i] < (int)OutputFunction::Motor1 || params->function_map[i] > (int)OutputFunction::Motor4) { + PX4_ERR("VOXL_ESC: Invalid parameter VOXL_ESC_FUNCX. Only supports motors 1-4. Please verify parameters."); + params->function_map[i] = 0; + ret = PX4_ERROR; + + } else { + // + // Motor function IDs start at 100, Motor1 = 101, Motor2 = 102... + // This motor_map array represents ESC IDs 0-3 (matching the silkscreen) + // This array will hold ESC ID to Motor ID (e.g. motor_map[0] = 1, means ESC ID0 wired to motor 1) + // + params->motor_map[i] = (params->function_map[i] - (int)OutputFunction::Motor1) + 1; + } + } + + for (int i = 0; i < VOXL_ESC_OUTPUT_CHANNELS; i++) { + if (params->motor_map[i] == VOXL_ESC_OUTPUT_DISABLED || + params->motor_map[i] < -(VOXL_ESC_OUTPUT_CHANNELS) || + params->motor_map[i] > VOXL_ESC_OUTPUT_CHANNELS) { + PX4_ERR("VOXL_ESC: Invalid parameter VOXL_ESC_MOTORX. Please verify parameters."); + params->motor_map[i] = 0; + ret = PX4_ERROR; + } + + // Keep tabs on motor map for turtle mode where we mix ourselves + map[i].number = params->motor_map[i]; + map[i].direction = (params->direction_map[i] > 0) ? -1 : 1; + } + + return ret; +} + +int VoxlEsc::task_spawn(int argc, char *argv[]) +{ + int myoptind = 0; + int ch; + const char *myoptarg = nullptr; + + while ((ch = px4_getopt(argc, argv, "dv", &myoptind, &myoptarg)) != EOF) { + switch (ch) { + case 'd': + _device = argv[myoptind]; + break; + + default: + break; + } + } + + VoxlEsc *instance = new VoxlEsc(); + + if (instance) { + _object.store(instance); + _task_id = task_id_is_work_queue; + + if (instance->init() == PX4_OK) { + return PX4_OK; + } + + } else { + PX4_ERR("alloc failed"); + } + + // This will cause a crash on SLPI DSP + // delete instance; + + _object.store(nullptr); + _task_id = -1; + + return PX4_ERROR; +} + +int VoxlEsc::read_response(Command *out_cmd) +{ + px4_usleep(_current_cmd.resp_delay_us); + + int res = _uart_port.read(_read_buf, sizeof(_read_buf)); + + if (res > 0) { + //PX4_INFO("read %i bytes",res); + if (parse_response(_read_buf, res, out_cmd->print_feedback) < 0) { + //PX4_ERR("Error parsing response"); + return -1; + } + + } else { + //PX4_ERR("Read error: %i", res); + return -1; + } + + //_current_cmd.response = false; + + return 0; +} + +int VoxlEsc::parse_response(uint8_t *buf, uint8_t len, bool print_feedback) +{ + hrt_abstime tnow = hrt_absolute_time(); + + for (int i = 0; i < len; i++) { + int16_t ret = qc_esc_packet_process_char(buf[i], &_fb_packet); + + if (ret > 0) { + //PX4_INFO("got packet of length %i",ret); + _rx_packet_count++; + uint8_t packet_type = qc_esc_packet_get_type(&_fb_packet); + uint8_t packet_size = qc_esc_packet_get_size(&_fb_packet); + + if (packet_type == ESC_PACKET_TYPE_FB_RESPONSE && packet_size == sizeof(QC_ESC_FB_RESPONSE_V2)) { + // PX4_INFO("Got feedback V2 packet!"); + QC_ESC_FB_RESPONSE_V2 fb; + memcpy(&fb, _fb_packet.buffer, packet_size); + + uint32_t id = (fb.id_state & 0xF0) >> 4; //ID of the ESC based on hardware address + + if (id < VOXL_ESC_OUTPUT_CHANNELS) { + + int motor_idx = _output_map[id].number - 1; // mapped motor id.. user defined mapping is 1-4, array is 0-3 + + if (print_feedback) { + uint32_t rpm = fb.rpm; + uint32_t power = fb.power; + uint32_t voltage = fb.voltage; + int32_t current = fb.current * 8; + int32_t temperature = fb.temperature / 100; + PX4_INFO("VOXL_ESC: [%" PRId64 "] ID_RAW=%d ID=%d, RPM=%5d, PWR=%3d%%, V=%5dmV, I=%+5dmA, T=%+3dC", tnow, (int)id, + motor_idx + 1, + (int)rpm, (int)power, (int)voltage, (int)current, (int)temperature); + } + + _esc_chans[id].rate_meas = fb.rpm; + _esc_chans[id].power_applied = fb.power; + _esc_chans[id].state = fb.id_state & 0x0F; + _esc_chans[id].cmd_counter = fb.cmd_counter; + _esc_chans[id].voltage = fb.voltage * 0.001f; + _esc_chans[id].current = fb.current * 0.008f; + _esc_chans[id].temperature = fb.temperature * 0.01f; + _esc_chans[id].feedback_time = tnow; + + // also update our internal report for logging + _esc_status.esc[id].esc_address = motor_idx + 1; //remapped motor ID + _esc_status.esc[id].timestamp = tnow; + _esc_status.esc[id].esc_rpm = fb.rpm; + _esc_status.esc[id].esc_power = fb.power; + _esc_status.esc[id].esc_state = fb.id_state & 0x0F; + _esc_status.esc[id].esc_cmdcount = fb.cmd_counter; + _esc_status.esc[id].esc_voltage = _esc_chans[id].voltage; + _esc_status.esc[id].esc_current = _esc_chans[id].current; + _esc_status.esc[id].failures = 0; //not implemented + + // this is hacky, but we need to set all 4 to online/armed otherwise commander times out on arming + _esc_status.esc_online_flags = (1 << _esc_status.esc_count) - 1; + // this is hacky, but we need to set all 4 to armed otherwise commander times out on arming + _esc_status.esc_armed_flags = (1 << _esc_status.esc_count) - 1; + + + int32_t t = fb.temperature / 100; //divide by 100 to get deg C and cap for int8 + + if (t < -127) { t = -127; } + + if (t > +127) { t = +127; } + + _esc_status.esc[id].esc_temperature = t; + + _esc_status.timestamp = _esc_status.esc[id].timestamp; + _esc_status.counter++; + + + if ((_parameters.esc_over_temp_threshold > 0) + && (_esc_status.esc[id].esc_temperature > _parameters.esc_over_temp_threshold)) { + _esc_status.esc[id].failures |= 1 << (esc_report_s::FAILURE_OVER_ESC_TEMPERATURE); + } + + //TODO: do we also issue a warning if over-temperature threshold is exceeded? + if ((_parameters.esc_warn_temp_threshold > 0) + && (_esc_status.esc[id].esc_temperature > _parameters.esc_warn_temp_threshold)) { + _esc_status.esc[id].failures |= 1 << (esc_report_s::FAILURE_WARN_ESC_TEMPERATURE); + } + + + //print ESC status just for debugging + /* + PX4_INFO("[%lld] ID=%d, ADDR %d, STATE=%d, RPM=%5d, PWR=%3d%%, V=%.2fdV, I=%.2fA, T=%+3dC, CNT %d, FAIL %d", + _esc_status.esc[id].timestamp, id, _esc_status.esc[id].esc_address, + _esc_status.esc[id].esc_state, _esc_status.esc[id].esc_rpm, _esc_status.esc[id].esc_power, + (double)_esc_status.esc[id].esc_voltage, (double)_esc_status.esc[id].esc_current, _esc_status.esc[id].esc_temperature, + _esc_status.esc[id].esc_cmdcount, _esc_status.esc[id].failures); + */ + } + } + + else if (packet_type == ESC_PACKET_TYPE_VERSION_RESPONSE && packet_size == sizeof(QC_ESC_VERSION_INFO)) { + QC_ESC_VERSION_INFO ver; + memcpy(&ver, _fb_packet.buffer, packet_size); + + PX4_INFO("VOXL_ESC: ESC ID: %i", ver.id); + PX4_INFO("VOXL_ESC: HW Version: %i", ver.hw_version); + PX4_INFO("VOXL_ESC: SW Version: %i", ver.sw_version); + PX4_INFO("VOXL_ESC: Unique ID: %i", (int)ver.unique_id); + + } else if (packet_type == ESC_PACKET_TYPE_VERSION_EXT_RESPONSE && packet_size == sizeof(QC_ESC_EXTENDED_VERSION_INFO)) { + QC_ESC_EXTENDED_VERSION_INFO ver; + memcpy(&ver, _fb_packet.buffer, packet_size); + PX4_INFO("VOXL_ESC: \tESC ID : %i", ver.id); + PX4_INFO("VOXL_ESC: \tBoard : %i", ver.hw_version); + PX4_INFO("VOXL_ESC: \tSW Version : %i", ver.sw_version); + + uint8_t *u = &ver.unique_id[0]; + PX4_INFO("VOXL_ESC: \tUnique ID : 0x%02X%02X%02X%02X%02X%02X%02X%02X%02X%02X%02X%02X", + u[11], u[10], u[9], u[8], u[7], u[6], u[5], u[4], u[3], u[2], u[1], u[0]); + + PX4_INFO("VOXL_ESC: \tFirmware : version %4d, hash %.12s", ver.sw_version, ver.firmware_git_version); + PX4_INFO("VOXL_ESC: \tBootloader : version %4d, hash %.12s", ver.bootloader_version, ver.bootloader_git_version); + + } else if (packet_type == ESC_PACKET_TYPE_FB_POWER_STATUS && packet_size == sizeof(QC_ESC_FB_POWER_STATUS)) { + QC_ESC_FB_POWER_STATUS packet; + memcpy(&packet, _fb_packet.buffer, packet_size); + + float voltage = packet.voltage * 0.001f; // Voltage is reported at 1 mV resolution + float current = packet.current * 0.008f; // Total current is reported at 8mA resolution + + // Limit the frequency of battery status reports + if (_parameters.publish_battery_status) { + _battery.setConnected(true); + _battery.updateVoltage(voltage); + _battery.updateCurrent(current); + + hrt_abstime current_time = hrt_absolute_time(); + + if ((current_time - _last_battery_report_time) >= _battery_report_interval) { + _last_battery_report_time = current_time; + _battery.updateAndPublishBatteryStatus(current_time); + } + } + + } + + } else { //parser error + switch (ret) { + case ESC_ERROR_BAD_CHECKSUM: + _rx_crc_error_count++; + // PX4_INFO("BAD ESC packet checksum"); + break; + + case ESC_ERROR_BAD_LENGTH: + // PX4_INFO("BAD ESC packet length"); + break; + } + } + } + + return 0; +} + +int VoxlEsc::check_for_esc_timeout() +{ + hrt_abstime tnow = hrt_absolute_time(); + + for (int i = 0; i < VOXL_ESC_OUTPUT_CHANNELS; i++) { + // PX4 motor indexed user defined mapping is 1-4, we want to use in bitmask (0-3) + uint8_t motor_idx = _output_map[i].number - 1; + + if (motor_idx < VOXL_ESC_OUTPUT_CHANNELS) { + // we are using PX4 motor index in the bitmask + if (_esc_status.esc_online_flags & (1 << motor_idx)) { + // using index i here for esc_chans enumeration stored in ESC ID order + if ((tnow - _esc_chans[i].feedback_time) > VOXL_ESC_DISCONNECT_TIMEOUT_US) { + // stale data, assume offline and clear armed + _esc_status.esc_online_flags &= ~(1 << motor_idx); + _esc_status.esc_armed_flags &= ~(1 << motor_idx); + } + } + } + } + + return 0; + +} + +int VoxlEsc::send_cmd_thread_safe(Command *cmd) +{ + cmd->id = _cmd_id++; + _pending_cmd.store(cmd); + + /* wait until main thread processed it */ + while (_pending_cmd.load()) { + px4_usleep(1000); + } + + return 0; +} + + + +int VoxlEsc::custom_command(int argc, char *argv[]) +{ + int myoptind = 0; + int ch; + const char *myoptarg = nullptr; + + Command cmd; + uint8_t esc_id = 255; + uint8_t period = 0; + uint8_t duration = 0; + uint8_t power = 0; + uint16_t led_mask = 0; + int16_t rate = 0; + + uint32_t repeat_count = 100; + uint32_t repeat_delay_us = 10000; + + if (argc < 3) { + return print_usage("unknown command"); + } + + const char *verb = argv[argc - 1]; + + /* start the driver if not running */ + if (!strcmp(verb, "start")) { + if (!is_running()) { + return VoxlEsc::task_spawn(argc, argv); + } + } + + if (!is_running()) { + PX4_INFO("VOXL_ESC:Not running"); + return -1; + + } + + while ((ch = px4_getopt(argc, argv, "i:p:d:v:l:n:r:t:", &myoptind, &myoptarg)) != EOF) { + switch (ch) { + case 'i': + esc_id = atoi(myoptarg); + break; + + case 'p': + period = atoi(myoptarg); + break; + + case 'd': + duration = atoi(myoptarg); + break; + + case 'v': + power = atoi(myoptarg); + break; + + case 'l': + led_mask = atoi(myoptarg); + break; + + case 'n': + repeat_count = atoi(myoptarg); + + if (repeat_count < 1) { + print_usage("bad repeat_count"); + return 0; + } + + break; + + case 't': + repeat_delay_us = atoi(myoptarg); + + if (repeat_delay_us < 1) { + print_usage("bad repeat delay"); + return 0; + } + + break; + + case 'r': + rate = atoi(myoptarg); + break; + + default: + print_usage("Unknown command"); + return 0; + } + } + + if (!strcmp(verb, "reset")) { + if (esc_id < VOXL_ESC_OUTPUT_CHANNELS) { + PX4_INFO("VOXL_ESC: Reset ESC: %i", esc_id); + cmd.len = qc_esc_create_reset_packet(esc_id, cmd.buf, sizeof(cmd.buf)); + cmd.response = false; + return get_instance()->send_cmd_thread_safe(&cmd); + + } else { + print_usage("Invalid ESC ID, use 0-3"); + return 0; + } + + } else if (!strcmp(verb, "version")) { + if (esc_id < VOXL_ESC_OUTPUT_CHANNELS) { + PX4_INFO("VOXL_ESC: Request version for ESC: %i", esc_id); + cmd.len = qc_esc_create_version_request_packet(esc_id, cmd.buf, sizeof(cmd.buf)); + cmd.response = true; + cmd.resp_delay_us = 2000; + return get_instance()->send_cmd_thread_safe(&cmd); + + } else { + print_usage("Invalid ESC ID, use 0-3"); + return 0; + } + + } else if (!strcmp(verb, "version-ext")) { + if (esc_id < VOXL_ESC_OUTPUT_CHANNELS) { + PX4_INFO("VOXL_ESC: Request extended version for ESC: %i", esc_id); + cmd.len = qc_esc_create_extended_version_request_packet(esc_id, cmd.buf, sizeof(cmd.buf)); + cmd.response = true; + cmd.resp_delay_us = 5000; + return get_instance()->send_cmd_thread_safe(&cmd); + + } else { + print_usage("Invalid ESC ID, use 0-3"); + return 0; + } + + } else if (!strcmp(verb, "tone")) { + if (esc_id < VOXL_ESC_OUTPUT_CHANNELS) { + PX4_INFO("VOXL_ESC: Request tone for ESC mask: %i", esc_id); + cmd.len = qc_esc_create_sound_packet(period, duration, power, esc_id, cmd.buf, sizeof(cmd.buf)); + cmd.response = false; + return get_instance()->send_cmd_thread_safe(&cmd); + + } else { + print_usage("Invalid ESC ID, use 0-3"); + return 0; + } + + } else if (!strcmp(verb, "led")) { + if (led_mask <= 0x0FFF) { + get_instance()->_led_rsc.test = true; + get_instance()->_led_rsc.breath_en = false; + PX4_INFO("VOXL_ESC: Request LED control for ESCs with mask: %i", led_mask); + + get_instance()->_esc_chans[0].led = (led_mask & 0x0007); + get_instance()->_esc_chans[1].led = (led_mask & 0x0038) >> 3; + get_instance()->_esc_chans[2].led = (led_mask & 0x01C0) >> 6; + get_instance()->_esc_chans[3].led = (led_mask & 0x0E00) >> 9; + return 0; + + } else { + print_usage("Invalid ESC mask, use 1-15"); + return 0; + } + + } else if (!strcmp(verb, "rpm")) { + if (esc_id < VOXL_ESC_OUTPUT_CHANNELS) { + PX4_INFO("VOXL_ESC: Request RPM for ESC ID: %i - RPM: %i", esc_id, rate); + int16_t rate_req[VOXL_ESC_OUTPUT_CHANNELS] = {0, 0, 0, 0}; + uint8_t id_fb = 0; + + if (esc_id == 0xFF) { //WARNING: this condition is not possible due to check 'if (esc_id < VOXL_ESC_OUTPUT_CHANNELS)'. + rate_req[0] = rate; + rate_req[1] = rate; + rate_req[2] = rate; + rate_req[3] = rate; + + } else { + rate_req[esc_id] = rate; + id_fb = esc_id; + } + + cmd.len = qc_esc_create_rpm_packet4_fb(rate_req[0], + rate_req[1], + rate_req[2], + rate_req[3], + 0, + 0, + 0, + 0, + id_fb, + cmd.buf, + sizeof(cmd.buf), + get_instance()->_extended_rpm); + + cmd.response = true; + cmd.repeats = repeat_count; + cmd.resp_delay_us = 0; + cmd.repeat_delay_us = repeat_delay_us; + cmd.print_feedback = true; + + PX4_INFO("VOXL_ESC: Feedback id debug: %i", id_fb); + PX4_INFO("VOXL_ESC: Sending UART ESC RPM command %i", rate); + + return get_instance()->send_cmd_thread_safe(&cmd); + + } else { + print_usage("Invalid ESC ID, use 0-3"); + return 0; + } + + } else if (!strcmp(verb, "pwm")) { + if (esc_id < VOXL_ESC_OUTPUT_CHANNELS) { + PX4_INFO("VOXL_ESC: Request PWM for ESC ID: %i - PWM: %i", esc_id, rate); + int16_t rate_req[VOXL_ESC_OUTPUT_CHANNELS] = {0, 0, 0, 0}; + uint8_t id_fb = 0; + + if (esc_id == 0xFF) { //WARNING: this condition is not possible due to check 'if (esc_id < VOXL_ESC_OUTPUT_CHANNELS)'. + rate_req[0] = rate; + rate_req[1] = rate; + rate_req[2] = rate; + rate_req[3] = rate; + + } else { + rate_req[esc_id] = rate; + id_fb = esc_id; + } + + cmd.len = qc_esc_create_pwm_packet4_fb(rate_req[0], + rate_req[1], + rate_req[2], + rate_req[3], + 0, + 0, + 0, + 0, + id_fb, /* ESC ID .. need to fix for correct ID.. but what about multiple ESCs in bit mask.. */ + cmd.buf, + sizeof(cmd.buf)); + + cmd.response = true; + cmd.repeats = repeat_count; + cmd.resp_delay_us = 0; + cmd.repeat_delay_us = repeat_delay_us; + cmd.print_feedback = true; + + PX4_INFO("VOXL_ESC: Feedback id debug: %i", id_fb); + PX4_INFO("VOXL_ESC: Sending UART ESC power command %i", rate); + + return get_instance()->send_cmd_thread_safe(&cmd); + + } else { + print_usage("Invalid ESC ID, use 0-3"); + return 0; + } + } + + return print_usage("unknown command"); +} + +int VoxlEsc::update_params() +{ + int ret = PX4_ERROR; + + updateParams(); + ret = load_params(&_parameters, (ch_assign_t *)&_output_map); + + if (ret == PX4_OK) { + _mixing_output.setAllDisarmedValues(0); + _mixing_output.setAllFailsafeValues(0); + _mixing_output.setAllMinValues(_parameters.rpm_min); + _mixing_output.setAllMaxValues(_parameters.rpm_max); + + _rpm_fullscale = _parameters.rpm_max - _parameters.rpm_min; + } + + return ret; +} + +void VoxlEsc::update_leds(vehicle_control_mode_s mode, led_control_s control) +{ + int i = 0; + uint8_t led_mask = _led_rsc.led_mask; + + if (_led_rsc.test) { + return; + } + + /* + * TODO - this is just a simple approach to get started. + * + */ + if (mode.timestamp != _led_rsc.mode.timestamp) { + _led_rsc.mode = mode; + } + + if (control.timestamp != _led_rsc.control.timestamp) { + _led_rsc.control = control; + + switch (_led_rsc.control.color) { + case led_control_s::COLOR_RED: + led_mask = QC_ESC_LED_RED_ON; + break; + + case led_control_s::COLOR_GREEN: + led_mask = QC_ESC_LED_GREEN_ON; + break; + + case led_control_s::COLOR_BLUE: + led_mask = QC_ESC_LED_BLUE_ON; + break; + + case led_control_s::COLOR_WHITE: + led_mask = QC_ESC_LED_RED_ON | QC_ESC_LED_GREEN_ON | QC_ESC_LED_BLUE_ON; + break; + + case led_control_s::COLOR_OFF: + led_mask = 0; + break; + } + + _led_rsc.breath_en = false; + + switch (_led_rsc.control.mode) { + case led_control_s::MODE_OFF: + break; + + case led_control_s::MODE_ON: + break; + + case led_control_s::MODE_DISABLED: + break; + + case led_control_s::MODE_BLINK_SLOW: + break; + + case led_control_s::MODE_BLINK_NORMAL: + break; + + case led_control_s::MODE_BLINK_FAST: + break; + + case led_control_s::MODE_BREATHE: + _led_rsc.breath_en = true; + _led_rsc.breath_counter = 0; + break; + + case led_control_s::MODE_FLASH: + break; + + default: + break; + } + + _led_rsc.led_mask = led_mask; + } + + if (_led_rsc.mode.flag_armed) { + led_mask = QC_ESC_LED_BLUE_ON; + + if (_led_rsc.mode.flag_control_position_enabled) { + led_mask = QC_ESC_LED_GREEN_ON; + + } else if (_led_rsc.mode.flag_control_offboard_enabled) { + led_mask = QC_ESC_LED_RED_ON; + } + + _led_rsc.led_mask = led_mask; + } + + if (_led_rsc.breath_en) { + /* 8 bit counter for a decent blink visual effect for + * 'breathing' use case + */ + if ((_led_rsc.breath_counter += 8) < 128) { + led_mask = 0; + } + } + + for (i = 0; i < VOXL_ESC_OUTPUT_CHANNELS; i++) { + _esc_chans[i].led = led_mask; + } +} + +void VoxlEsc::mix_turtle_mode(uint16_t outputs[MAX_ACTUATORS]) +{ + bool use_pitch = true; + bool use_roll = true; + bool use_yaw = true; + bool isolate = false; + + const float flip_pwr_mult = 1.0f - ((float)_parameters.turtle_motor_expo / 100.0f); + + // Sitck deflection + const float stick_def_r_abs = fabsf(_manual_control_setpoint.roll); + const float stick_def_p_abs = fabsf(_manual_control_setpoint.pitch); + const float stick_def_y_abs = fabsf(_manual_control_setpoint.yaw); + + const float stick_def_p_expo = flip_pwr_mult * stick_def_p_abs + powf(stick_def_p_abs, + 3.0) * (1 - flip_pwr_mult); + const float stick_def_r_expo = flip_pwr_mult * stick_def_r_abs + powf(stick_def_r_abs, + 3.0) * (1 - flip_pwr_mult); + const float stick_def_y_expo = flip_pwr_mult * stick_def_y_abs + powf(stick_def_y_abs, + 3.0) * (1 - flip_pwr_mult); + + float sign_r = _manual_control_setpoint.roll < 0 ? 1 : -1; + float sign_p = _manual_control_setpoint.pitch < 0 ? 1 : -1; + float sign_y = _manual_control_setpoint.yaw < 0 ? 1 : -1; + + float stick_def_len = sqrtf(powf(stick_def_p_abs, 2.0) + powf(stick_def_r_abs, 2.0)); + float stick_def_expo_len = sqrtf(powf(stick_def_p_expo, 2.0) + powf(stick_def_r_expo, 2.0)); + + // If yaw is the dominant, disable pitch and roll + if (stick_def_y_abs > math::max(stick_def_p_abs, stick_def_r_abs)) { + stick_def_len = stick_def_y_abs; + stick_def_expo_len = stick_def_y_expo; + sign_r = 0; + sign_p = 0; + use_pitch = false; + use_roll = false; + } + + // If pitch/roll dominant, disable yaw + else { + sign_y = 0; + use_yaw = false; + } + + const float cos_phi = (stick_def_len > 0) ? (stick_def_p_abs + stick_def_r_abs) / (sqrtf( + 2.0f) * stick_def_len) : 0; + + // TODO: this is hardcoded in betaflight... + const float cos_thresh = sqrtf(3.0f) / 2.0f; // cos(PI/6.0f) + + // This cos_phi values is 1.0 when sticks are in the far corners, which means we are trying to select a single motor + if (cos_phi > _parameters.turtle_cosphi) { + isolate = true; + use_pitch = false; + use_roll = false; + } + + // When cos_phi is less than cos_thresh, the user is in a narrow slot on the pitch or roll axis + else if (cos_phi < cos_thresh) { + // Enforce either roll or pitch exclusively, if not on diagonal + if (stick_def_r_abs > stick_def_p_abs) { + sign_p = 0; + use_pitch = false; + + } else if (stick_def_r_abs < stick_def_p_abs) { + sign_r = 0; + use_roll = false; + } + } + + const float crash_flip_stick_min_expo = flip_pwr_mult * _parameters.turtle_stick_minf + powf( + _parameters.turtle_stick_minf, 3.0) * (1 - flip_pwr_mult); + const float flip_stick_range = 1.0f - crash_flip_stick_min_expo; + const float flip_power = math::max(0.0f, stick_def_expo_len - crash_flip_stick_min_expo) / flip_stick_range; + + /* At this point, we are switching on what PX4 motor we want to talk to */ + for (unsigned i = 0; i < 4; i++) { + outputs[i] = 0; + + float motor_output_normalised = math::min(1.0f, flip_power); + float motor_output = _rpm_turtle_min + motor_output_normalised * _parameters.rpm_max * (( + float)_parameters.turtle_motor_percent / 100.f); + + // Add a little bit to the motorOutputMin so props aren't spinning when sticks are centered + motor_output = (motor_output < _rpm_turtle_min + _parameters.turtle_motor_deadband) ? 0.0f : + (motor_output - _parameters.turtle_motor_deadband); + + // using the output map here for clarity as PX4 motors are 1-4 + switch (_output_map[i].number) { + /* PX4 motor 1 - front right */ + case 1: + if (isolate && sign_p < 0 && sign_r < 0) { + outputs[i] = motor_output; + + } else if (!use_roll && use_pitch && sign_p < 0) { + outputs[i] = motor_output; + + } else if (!use_pitch && use_roll && sign_r < 0) { + outputs[i] = motor_output; + + } else if (use_yaw && sign_y > 0) { + outputs[i] = motor_output; + } + + break; + + /* PX4 motor 2 - rear left */ + case 2: + if (isolate && sign_p > 0 && sign_r > 0) { + outputs[i] = motor_output; + + } else if (!use_roll && use_pitch && sign_p > 0) { + outputs[i] = motor_output; + + } else if (!use_pitch && use_roll && sign_r > 0) { + outputs[i] = motor_output; + + } else if (use_yaw && sign_y > 0) { + outputs[i] = motor_output; + } + + break; + + /* PX4 motor 3 - front left */ + case 3: + if (isolate && sign_p < 0 && sign_r > 0) { + outputs[i] = motor_output; + + } else if (!use_roll && use_pitch && sign_p < 0) { + outputs[i] = motor_output; + + } else if (!use_pitch && use_roll && sign_r > 0) { + outputs[i] = motor_output; + + } else if (use_yaw && sign_y < 0) { + outputs[i] = motor_output; + } + + break; + + /* PX4 motor 4 - rear right */ + case 4: + if (isolate && sign_p > 0 && sign_r < 0) { + outputs[i] = motor_output; + + } else if (!use_roll && use_pitch && sign_p > 0) { + outputs[i] = motor_output; + + } else if (!use_pitch && use_roll && sign_r < 0) { + outputs[i] = motor_output; + + } else if (use_yaw && sign_y < 0) { + outputs[i] = motor_output; + } + + break; + } + } + + /* + static int filter = 0; + if(filter++ > 32){ + printf("map: %.2f %.2f %.2f %.2f - exp: %.2f %.2f %.2f - deflect: %.2f %.2f - sign: %.2f %.2f %.2f - outputs: %.2f %.2f %.2f %.2f\n", + (double)_output_map[0].number,(double)_output_map[1].number,(double)_output_map[2].number,(double)_output_map[3].number, + (double)stick_def_p_expo, (double)stick_def_r_expo,(double)stick_def_y_expo, + (double)stick_def_len, (double)stick_def_expo_len, + (double)sign_p, (double)sign_r, (double)sign_y, + (double)outputs[0], (double)outputs[1],(double)outputs[2],(double)outputs[3]); + filter = 0; + } + */ + +} + +/* OutputModuleInterface */ +bool VoxlEsc::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS], + unsigned num_outputs, unsigned num_control_groups_updated) +{ + //in Run() we call _mixing_output.update(), which calls MixingOutput::limitAndUpdateOutputs which calls _interface.updateOutputs (this function) + //So, if Run() is blocked by a custom command, this function will not be called until Run is running again + + if (num_outputs != VOXL_ESC_OUTPUT_CHANNELS) { + return false; + } + + // don't use mixed values... recompute now. + if (_turtle_mode_en) { + mix_turtle_mode(outputs); + } + + for (int i = 0; i < VOXL_ESC_OUTPUT_CHANNELS; i++) { + if (!_outputs_on || stop_motors) { + _esc_chans[i].rate_req = 0; + + } else { + if (_extended_rpm) { + if (outputs[i] > VOXL_ESC_RPM_MAX_EXT) { outputs[i] = VOXL_ESC_RPM_MAX_EXT; } + + } else { + if (outputs[i] > VOXL_ESC_RPM_MAX) { outputs[i] = VOXL_ESC_RPM_MAX; } + } + + if (!_turtle_mode_en) { + _esc_chans[i].rate_req = outputs[i] * _output_map[i].direction; + + } else { + // mapping updated in mixTurtleMode, no remap needed here, but reverse direction + _esc_chans[i].rate_req = outputs[i] * _output_map[i].direction * (-1); + } + } + } + + + Command cmd; + cmd.len = qc_esc_create_rpm_packet4_fb(_esc_chans[0].rate_req, + _esc_chans[1].rate_req, + _esc_chans[2].rate_req, + _esc_chans[3].rate_req, + _esc_chans[0].led, + _esc_chans[1].led, + _esc_chans[2].led, + _esc_chans[3].led, + _fb_idx, + cmd.buf, + sizeof(cmd.buf), + _extended_rpm); + + if (_uart_port.write(cmd.buf, cmd.len) != cmd.len) { + PX4_ERR("VOXL_ESC: Failed to send packet"); + return false; + } + + // increment ESC id from which to request feedback in round robin order + _fb_idx = (_fb_idx + 1) % VOXL_ESC_OUTPUT_CHANNELS; + + + /* + * Here we read and parse response from ESCs. Since the latest command has just been sent out, + * the response packet we may read here is probabaly from previous iteration, but it is totally ok. + * uart_read is non-blocking and we will just parse whatever bytes came in up until this point + */ + + int res = _uart_port.read(_read_buf, sizeof(_read_buf)); + + if (res > 0) { + parse_response(_read_buf, res, false); + } + + /* handle loss of comms / disconnect */ + // TODO - enable after CRC issues in feedback are addressed + //check_for_esc_timeout(); + + // publish the actual command that we sent and the feedback received + if (_parameters.verbose_logging) { + actuator_outputs_s actuator_outputs{}; + actuator_outputs.noutputs = num_outputs; + + for (size_t i = 0; i < num_outputs; ++i) { + actuator_outputs.output[i] = _esc_chans[i].rate_req; + } + + actuator_outputs.timestamp = hrt_absolute_time(); + + _outputs_debug_pub.publish(actuator_outputs); + + } + + _esc_status_pub.publish(_esc_status); + + // If any extra external modal io data has been received then + // send it over as well + while (_voxl2_io_data_sub.updated()) { + buffer128_s io_data{}; + _voxl2_io_data_sub.copy(&io_data); + + // PX4_INFO("Got Modal IO data: %u bytes", io_data.len); + // PX4_INFO(" 0x%.2x 0x%.2x 0x%.2x 0x%.2x 0x%.2x 0x%.2x 0x%.2x 0x%.2x", + // io_data.data[0], io_data.data[1], io_data.data[2], io_data.data[3], + // io_data.data[4], io_data.data[5], io_data.data[6], io_data.data[7]); + if (_uart_port.write(io_data.data, io_data.len) != io_data.len) { + PX4_ERR("VOXL_ESC: Failed to send modal io data to esc"); + return false; + } + } + + perf_count(_output_update_perf); + + return true; +} + + +void VoxlEsc::Run() +{ + if (should_exit()) { + PX4_ERR("VOXL_ESC: Stopping the module"); + ScheduleClear(); + _mixing_output.unregister(); + + exit_and_cleanup(); + return; + } + + perf_begin(_cycle_perf); + + //check to see if we need to open uart port and query the device + //see comment in init() regarding why we do not initialize the device there + + int retries_left = VOXL_ESC_NUM_INIT_RETRIES; + + while ((!_device_initialized) && (retries_left > 0)) { + retries_left--; + int dev_init_ret = device_init(); + + if (dev_init_ret != 0) { + PX4_WARN("VOXL_ESC: Failed to initialize device, retries left %d", retries_left); + } + } + + if (!_device_initialized) { + PX4_ERR("VOXL_ESC: Failed to initialize device, exiting the module"); + ScheduleClear(); + _mixing_output.unregister(); + exit_and_cleanup(); + return; + } + + _mixing_output.update(); //calls MixingOutput::limitAndUpdateOutputs which calls updateOutputs in this module + + /* update output status if armed */ + _outputs_on = _mixing_output.armed().armed; + + /* check for parameter updates */ + if (!_outputs_on && _parameter_update_sub.updated()) { + /* clear update */ + parameter_update_s pupdate; + _parameter_update_sub.copy(&pupdate); + + /* update parameters from storage */ + update_params(); + } + + vehicle_control_mode_s vehicle_control_mode{}; + + if (_vehicle_control_mode_sub.updated()) { + _vehicle_control_mode_sub.copy(&vehicle_control_mode); + update_leds(vehicle_control_mode, _led_rsc.control); + } + + led_control_s led_control{}; + + if (_led_update_sub.updated()) { + _led_update_sub.copy(&led_control); + update_leds(_led_rsc.mode, led_control); + } + + /* breathing requires continuous updates */ + if (_led_rsc.breath_en) { + update_leds(_led_rsc.mode, _led_rsc.control); + } + + if (_parameters.mode > 0) { + /* if turtle mode enabled, we go straight to the sticks, no mix */ + if (_manual_control_setpoint_sub.updated()) { + + _manual_control_setpoint_sub.copy(&_manual_control_setpoint); + + if (!_outputs_on) { + + float setpoint = VOXL_ESC_MODE_DISABLED_SETPOINT; + + if (_parameters.mode == VOXL_ESC_MODE_TURTLE_AUX1) { + setpoint = _manual_control_setpoint.aux1; + + } else if (_parameters.mode == VOXL_ESC_MODE_TURTLE_AUX2) { + setpoint = _manual_control_setpoint.aux2; + } + + if (setpoint > VOXL_ESC_MODE_THRESHOLD) { + _turtle_mode_en = true; + + } else { + _turtle_mode_en = false; + } + } + } + + } + + if (!_outputs_on) { + if (_actuator_test_sub.updated()) { + // values are set in ActuatorTest::update, we just need to enable outputs to let them through + _outputs_on = true; + } + } + + /* Don't process commands if outputs on */ + if (!_outputs_on) { + if (_current_cmd.valid()) { + //PX4_INFO("sending %d commands with delay %dus",_current_cmd.repeats,_current_cmd.repeat_delay_us); + _uart_port.flush(); + + do { + //PX4_INFO("CMDs left %d",_current_cmd.repeats); + if (_uart_port.write(_current_cmd.buf, _current_cmd.len) == _current_cmd.len) { + if (_current_cmd.repeats == 0) { + _current_cmd.clear(); + } + + if (_current_cmd.response) { + if (read_response(&_current_cmd) == 0) { + _esc_status_pub.publish(_esc_status); + } + } + + } else { + if (_current_cmd.retries == 0) { + _current_cmd.clear(); + PX4_ERR("VOXL_ESC: Failed to send command, errno: %i", errno); + + } else { + _current_cmd.retries--; + PX4_ERR("VOXL_ESC: Failed to send command, errno: %i", errno); + } + } + + px4_usleep(_current_cmd.repeat_delay_us); + } while (_current_cmd.repeats-- > 0); + + PX4_INFO("VOXL_ESC: RX packet count: %d", (int)_rx_packet_count); + PX4_INFO("VOXL_ESC: CRC error count: %d", (int)_rx_crc_error_count); + + } else { + Command *new_cmd = _pending_cmd.load(); + + if (new_cmd) { + _current_cmd = *new_cmd; + _pending_cmd.store(nullptr); + } + } + } + + /* check at end of cycle (updateSubscriptions() can potentially change to a different WorkQueue thread) */ + _mixing_output.updateSubscriptions(true); + + perf_end(_cycle_perf); +} + + +int VoxlEsc::print_usage(const char *reason) +{ + if (reason) { + PX4_WARN("%s\n", reason); + } + + PRINT_MODULE_DESCRIPTION( + R"DESCR_STR( +### Description +This module is responsible for... + +### Implementation +By default the module runs on a work queue with a callback on the uORB actuator_controls topic. + +### Examples +It is typically started with: +$ todo + +)DESCR_STR"); + + PRINT_MODULE_USAGE_NAME("voxl_esc", "driver"); + PRINT_MODULE_USAGE_COMMAND_DESCR("start", "Start the task"); + + PRINT_MODULE_USAGE_COMMAND_DESCR("reset", "Send reset request to ESC"); + PRINT_MODULE_USAGE_PARAM_INT('i', 0, 0, 3, "ESC ID, 0-3", false); + + PRINT_MODULE_USAGE_COMMAND_DESCR("version", "Send version request to ESC"); + PRINT_MODULE_USAGE_PARAM_INT('i', 0, 0, 3, "ESC ID, 0-3", false); + + PRINT_MODULE_USAGE_COMMAND_DESCR("version-ext", "Send extended version request to ESC"); + PRINT_MODULE_USAGE_PARAM_INT('i', 0, 0, 3, "ESC ID, 0-3", false); + + PRINT_MODULE_USAGE_COMMAND_DESCR("rpm", "Closed-Loop RPM test control request"); + PRINT_MODULE_USAGE_PARAM_INT('i', 0, 0, 3, "ESC ID, 0-3", false); + PRINT_MODULE_USAGE_PARAM_INT('r', 0, -32768, 32768, "RPM, -32,768 to 32,768", false); + PRINT_MODULE_USAGE_PARAM_INT('n', 100, 0, 1<<31, "Command repeat count, 0 to INT_MAX", false); + PRINT_MODULE_USAGE_PARAM_INT('t', 10000, 0, 1<<31, "Delay between repeated commands (microseconds), 0 to INT_MAX", false); + + PRINT_MODULE_USAGE_COMMAND_DESCR("pwm", "Open-Loop PWM test control request"); + PRINT_MODULE_USAGE_PARAM_INT('i', 0, 0, 3, "ESC ID, 0-3", false); + PRINT_MODULE_USAGE_PARAM_INT('r', 0, 0, 800, "Duty Cycle value, 0 to 800", false); + PRINT_MODULE_USAGE_PARAM_INT('n', 100, 0, 1<<31, "Command repeat count, 0 to INT_MAX", false); + PRINT_MODULE_USAGE_PARAM_INT('t', 10000, 0, 1<<31, "Delay between repeated commands (microseconds), 0 to INT_MAX", false); + + PRINT_MODULE_USAGE_COMMAND_DESCR("tone", "Send tone generation request to ESC"); + PRINT_MODULE_USAGE_PARAM_INT('i', 0, 0, 3, "ESC ID, 0-3", false); + PRINT_MODULE_USAGE_PARAM_INT('p', 0, 0, 255, "Period of sound, inverse frequency, 0-255", false); + PRINT_MODULE_USAGE_PARAM_INT('d', 0, 0, 255, "Duration of the sound, 0-255, 1LSB = 13ms", false); + PRINT_MODULE_USAGE_PARAM_INT('v', 0, 0, 100, "Power (volume) of sound, 0-100", false); + + PRINT_MODULE_USAGE_COMMAND_DESCR("led", "Send LED control request"); + PRINT_MODULE_USAGE_PARAM_INT('l', 0, 0, 4095, "Bitmask 0x0FFF (12 bits) - ESC0 (RGB) ESC1 (RGB) ESC2 (RGB) ESC3 (RGB)", false); + + PRINT_MODULE_USAGE_DEFAULT_COMMANDS(); + + return 0; +} + +void VoxlEsc::print_params() +{ + PX4_INFO("Params: VOXL_ESC_CONFIG: %" PRId32, _parameters.config); + PX4_INFO("Params: VOXL_ESC_MODE: %" PRId32, _parameters.mode); + PX4_INFO("Params: VOXL_ESC_BAUD: %" PRId32, _parameters.baud_rate); + + PX4_INFO("Params: VOXL_ESC_FUNC1: %" PRId32, _parameters.function_map[0]); + PX4_INFO("Params: VOXL_ESC_FUNC2: %" PRId32, _parameters.function_map[1]); + PX4_INFO("Params: VOXL_ESC_FUNC3: %" PRId32, _parameters.function_map[2]); + PX4_INFO("Params: VOXL_ESC_FUNC4: %" PRId32, _parameters.function_map[3]); + + PX4_INFO("Params: VOXL_ESC_SDIR1: %" PRId32, _parameters.direction_map[0]); + PX4_INFO("Params: VOXL_ESC_SDIR2: %" PRId32, _parameters.direction_map[1]); + PX4_INFO("Params: VOXL_ESC_SDIR3: %" PRId32, _parameters.direction_map[2]); + PX4_INFO("Params: VOXL_ESC_SDIR4: %" PRId32, _parameters.direction_map[3]); + + PX4_INFO("Params: VOXL_ESC_RPM_MIN: %" PRId32, _parameters.rpm_min); + PX4_INFO("Params: VOXL_ESC_RPM_MAX: %" PRId32, _parameters.rpm_max); + + PX4_INFO("Params: VOXL_ESC_T_PERC: %" PRId32, _parameters.turtle_motor_percent); + PX4_INFO("Params: VOXL_ESC_T_DEAD: %" PRId32, _parameters.turtle_motor_deadband); + PX4_INFO("Params: VOXL_ESC_T_EXPO: %" PRId32, _parameters.turtle_motor_expo); + PX4_INFO("Params: VOXL_ESC_T_MINF: %f", (double)_parameters.turtle_stick_minf); + PX4_INFO("Params: VOXL_ESC_T_COSP: %f", (double)_parameters.turtle_cosphi); + + PX4_INFO("Params: VOXL_ESC_VLOG: %" PRId32, _parameters.verbose_logging); + PX4_INFO("Params: VOXL_ESC_PUB_BST: %" PRId32, _parameters.publish_battery_status); + + PX4_INFO("Params: VOXL_ESC_T_WARN: %" PRId32, _parameters.esc_warn_temp_threshold); + PX4_INFO("Params: VOXL_ESC_T_OVER: %" PRId32, _parameters.esc_over_temp_threshold); +} + +int VoxlEsc::print_status() +{ + PX4_INFO("Max update rate: %i Hz", _current_update_rate); + PX4_INFO("Outputs on: %s", _outputs_on ? "yes" : "no"); + PX4_INFO("UART port: %s", _device); + PX4_INFO("UART open: %s", _uart_port.isOpen() ? "yes" : "no"); + + PX4_INFO(""); + print_params(); + PX4_INFO(""); + + for( int i = 0; i < VOXL_ESC_OUTPUT_CHANNELS; i++){ + PX4_INFO("-- ID: %i", i); + PX4_INFO(" Motor: %i", _output_map[i].number); + PX4_INFO(" Direction: %i", _output_map[i].direction); + PX4_INFO(" State: %i", _esc_chans[i].state); + PX4_INFO(" Requested: %" PRIi32 " RPM", _esc_chans[i].rate_req); + PX4_INFO(" Measured: %" PRIi32 " RPM", _esc_chans[i].rate_meas); + PX4_INFO(" Command Counter: %i", _esc_chans[i].cmd_counter); + PX4_INFO(" Voltage: %f VDC", (double)_esc_chans[i].voltage); + PX4_INFO(""); + } + + perf_print_counter(_cycle_perf); + perf_print_counter(_output_update_perf); + + _mixing_output.printStatus(); + + return 0; +} + +const char * VoxlEsc::board_id_to_name(int board_id) +{ + switch(board_id){ + case 31: return "ModalAi 4-in-1 ESC V2 RevB (M0049)"; + case 32: return "Blheli32 4-in-1 ESC Type A (Tmotor F55A PRO F051)"; + case 33: return "Blheli32 4-in-1 ESC Type B (Tmotor F55A PRO G071)"; + case 34: return "ModalAi 4-in-1 ESC (M0117-1)"; + case 35: return "ModalAi I/O Expander (M0065)"; + case 36: return "ModalAi 4-in-1 ESC (M0117-3)"; + case 37: return "ModalAi 4-in-1 ESC (M0134-1)"; + case 38: return "ModalAi 4-in-1 ESC (M0134-3)"; + case 39: return "ModalAi 4-in-1 ESC (M0129-1)"; + case 40: return "ModalAi 4-in-1 ESC (M0129-3)"; + case 41: return "ModalAi 4-in-1 ESC (M0134-6)"; + case 42: return "ModalAi 4-in-1 ESC (M0138-1)"; + default: return "Unknown Board"; + } +} + +extern "C" __EXPORT int voxl_esc_main(int argc, char *argv[]); + +int voxl_esc_main(int argc, char *argv[]) +{ + return VoxlEsc::main(argc, argv); +} diff --git a/src/drivers/actuators/voxl_esc/voxl_esc.hpp b/src/drivers/actuators/voxl_esc/voxl_esc.hpp new file mode 100644 index 000000000000..d894cb93266f --- /dev/null +++ b/src/drivers/actuators/voxl_esc/voxl_esc.hpp @@ -0,0 +1,257 @@ +/**************************************************************************** + * + * Copyright (c) 2020 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#pragma once + +#include +#include +#include +#include + +#include +#include + +#include + +#include +#include +#include +#include +#include +#include +#include + +#include + +#include "qc_esc_packet.h" +#include "qc_esc_packet_types.h" + +using namespace device; + +class VoxlEsc : public ModuleBase, public OutputModuleInterface +{ +public: + VoxlEsc(); + virtual ~VoxlEsc(); + + /** @see ModuleBase */ + static int task_spawn(int argc, char *argv[]); + + /** @see ModuleBase */ + static int custom_command(int argc, char *argv[]); + + /** @see ModuleBase */ + static int print_usage(const char *reason = nullptr); + + /** @see ModuleBase::run() */ + void Run() override; + + /** @see ModuleBase::print_status() */ + int print_status() override; + void print_params(); + + /** @see OutputModuleInterface */ + bool updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS], + unsigned num_outputs, unsigned num_control_groups_updated) override; + + virtual int init(); + int device_init(); // function where uart port is opened and ESC queried + + struct Command { + uint16_t id = 0; + uint8_t len = 0; + uint16_t repeats = 0; + uint16_t repeat_delay_us = 2000; + uint8_t retries = 0; + bool response = false; + uint16_t resp_delay_us = 1000; + bool print_feedback = false; + + static const uint8_t BUF_SIZE = 128; + uint8_t buf[BUF_SIZE]; + + bool valid() const { return len > 0; } + void clear() { len = 0; } + }; + + int send_cmd_thread_safe(Command *cmd); + +private: + static constexpr uint32_t VOXL_ESC_UART_CONFIG = 1; + static constexpr uint32_t VOXL_ESC_DEFAULT_BAUD = 250000; + static constexpr uint16_t VOXL_ESC_OUTPUT_CHANNELS = 4; + static constexpr uint16_t VOXL_ESC_OUTPUT_DISABLED = 0; + + static constexpr uint32_t VOXL_ESC_WRITE_WAIT_US = 200; + static constexpr uint32_t VOXL_ESC_DISCONNECT_TIMEOUT_US = 500000; + + static constexpr uint16_t DISARMED_VALUE = 0; + + static constexpr uint16_t VOXL_ESC_PWM_MIN = 0; + static constexpr uint16_t VOXL_ESC_PWM_MAX = 800; + static constexpr uint16_t VOXL_ESC_DEFAULT_RPM_MIN = 5000; + static constexpr uint16_t VOXL_ESC_DEFAULT_RPM_MAX = 17000; + + static constexpr float VOXL_ESC_MODE_DISABLED_SETPOINT = -0.1f; + static constexpr float VOXL_ESC_MODE_THRESHOLD = 0.0f; + + static constexpr uint32_t VOXL_ESC_MODE = 0; + static constexpr uint32_t VOXL_ESC_MODE_TURTLE_AUX1 = 1; + static constexpr uint32_t VOXL_ESC_MODE_TURTLE_AUX2 = 2; + + static constexpr uint16_t VOXL_ESC_EXT_RPM = + 39; // minimum firmware version for extended RPM command support + static constexpr uint16_t VOXL_ESC_RPM_MAX = INT16_MAX - + 1; // 32K, Limit max standard range RPM to prevent overflow (rpm packet packing function accepts int32_t) + static constexpr uint16_t VOXL_ESC_RPM_MAX_EXT = UINT16_MAX - + 5; // 65K, Limit max extended range RPM to prevent overflow (rpm packet packing function accepts int32_t) + + static constexpr uint16_t VOXL_ESC_NUM_INIT_RETRIES = 3; + + //static constexpr uint16_t max_pwm(uint16_t pwm) { return math::min(pwm, VOXL_ESC_PWM_MAX); } + //static constexpr uint16_t max_rpm(uint16_t rpm) { return math::min(rpm, VOXL_ESC_RPM_MAX); } + + Serial _uart_port{}; + + typedef struct { + int32_t config{VOXL_ESC_UART_CONFIG}; + int32_t mode{VOXL_ESC_MODE}; + int32_t turtle_motor_expo{35}; + int32_t turtle_motor_deadband{20}; + int32_t turtle_motor_percent{90}; + float turtle_stick_minf{0.15f}; + float turtle_cosphi{0.99f}; + int32_t baud_rate{VOXL_ESC_DEFAULT_BAUD}; + int32_t rpm_min{VOXL_ESC_DEFAULT_RPM_MIN}; + int32_t rpm_max{VOXL_ESC_DEFAULT_RPM_MAX}; + int32_t function_map[VOXL_ESC_OUTPUT_CHANNELS] {0, 0, 0, 0}; + int32_t motor_map[VOXL_ESC_OUTPUT_CHANNELS] {1, 2, 3, 4}; + int32_t direction_map[VOXL_ESC_OUTPUT_CHANNELS] {1, 1, 1, 1}; + int32_t verbose_logging{0}; + int32_t publish_battery_status{0}; + int32_t esc_warn_temp_threshold{0}; + int32_t esc_over_temp_threshold{0}; + } voxl_esc_params_t; + + struct EscChan { + int32_t rate_req; + uint8_t state; + uint32_t rate_meas; + uint8_t power_applied; + uint8_t led; + uint8_t cmd_counter; + float voltage; //Volts + float current; //Amps + float temperature; //deg C + hrt_abstime feedback_time; + }; + + typedef struct { + uint8_t number; + int8_t direction; + } ch_assign_t; + + typedef struct { + led_control_s control{}; + vehicle_control_mode_s mode{}; + uint8_t led_mask;// TODO led_mask[VOXL_ESC_OUTPUT_CHANNELS]; + bool breath_en; + uint8_t breath_counter; + bool test; + } led_rsc_t; + + ch_assign_t _output_map[VOXL_ESC_OUTPUT_CHANNELS] {{1, 1}, {2, 1}, {3, 1}, {4, 1}}; + MixingOutput _mixing_output; + + perf_counter_t _cycle_perf; + perf_counter_t _output_update_perf; + + bool _outputs_on{false}; + + unsigned _current_update_rate{0}; + + uORB::Subscription _vehicle_control_mode_sub{ORB_ID(vehicle_control_mode)}; + uORB::Subscription _manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)}; + uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)}; + uORB::Subscription _actuator_test_sub{ORB_ID(actuator_test)}; + uORB::Subscription _led_update_sub{ORB_ID(led_control)}; + uORB::Subscription _voxl2_io_data_sub{ORB_ID(voxl2_io_data)}; + + uORB::Publication _outputs_debug_pub{ORB_ID(actuator_outputs_debug)}; + uORB::Publication _esc_status_pub{ORB_ID(esc_status)}; + + bool _extended_rpm{false}; + bool _need_version_info{true}; + QC_ESC_EXTENDED_VERSION_INFO _version_info[VOXL_ESC_OUTPUT_CHANNELS]; + + voxl_esc_params_t _parameters; + int update_params(); + int load_params(voxl_esc_params_t *params, ch_assign_t *map); + const char *board_id_to_name(int board_id); + + bool _turtle_mode_en{false}; + int32_t _rpm_turtle_min{0}; + int32_t _rpm_fullscale{0}; + manual_control_setpoint_s _manual_control_setpoint{}; + + uint16_t _cmd_id{0}; + Command _current_cmd; + px4::atomic _pending_cmd{nullptr}; + + EscChan _esc_chans[VOXL_ESC_OUTPUT_CHANNELS]; + Command _esc_cmd; + esc_status_s _esc_status; + EscPacket _fb_packet; + + led_rsc_t _led_rsc; + int _fb_idx; + uint32_t _rx_crc_error_count{0}; + uint32_t _rx_packet_count{0}; + + static const uint8_t READ_BUF_SIZE = 128; + uint8_t _read_buf[READ_BUF_SIZE]; + + Battery _battery; + static constexpr unsigned _battery_report_interval{100_ms}; + hrt_abstime _last_battery_report_time; + + bool _device_initialized{false}; + + void update_leds(vehicle_control_mode_s mode, led_control_s control); + + int read_response(Command *out_cmd); + int parse_response(uint8_t *buf, uint8_t len, bool print_feedback); + int check_for_esc_timeout(); + void mix_turtle_mode(uint16_t outputs[]); + void handle_actuator_test(); +}; diff --git a/src/drivers/actuators/voxl_esc/voxl_esc_params.c b/src/drivers/actuators/voxl_esc/voxl_esc_params.c new file mode 100644 index 000000000000..2752d9d7448a --- /dev/null +++ b/src/drivers/actuators/voxl_esc/voxl_esc_params.c @@ -0,0 +1,264 @@ +/**************************************************************************** + * + * Copyright (c) 2020 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * UART ESC configuration + * + * Selects what type of UART ESC, if any, is being used. + * + * @reboot_required true + * + * @group VOXL ESC + * @value 0 - Disabled + * @value 1 - VOXL ESC + * @min 0 + * @max 1 + */ +PARAM_DEFINE_INT32(VOXL_ESC_CONFIG, 0); + +/** + * UART ESC baud rate + * + * Default rate is 250Kbps, which is used in off-the-shelf MoadalAI ESC products. + * + * @group VOXL ESC + * @unit bit/s + */ +PARAM_DEFINE_INT32(VOXL_ESC_BAUD, 250000); + +/** + * Motor mappings for ModalAI ESC + * + * HW Channel Idexes (PX4 Indexes) (note: silkscreen shows 0 indexed) + * 4(1) 3(4) + * [front] + * 1(3) 2(2) + */ + +// The following are auto generated params from control allocator pattern, put here for reference + +// Default ESC1 to motor2 +//PARAM_DEFINE_INT32(VOXL_ESC_FUNC1, 102); + +//PARAM_DEFINE_INT32(VOXL_ESC_FUNC2, 103); + +//PARAM_DEFINE_INT32(VOXL_ESC_FUNC3, 101); + +//PARAM_DEFINE_INT32(VOXL_ESC_FUNC4, 104); + +/** + * UART ESC RPM Min + * + * Minimum RPM for ESC + * + * @group VOXL ESC + * @unit rpm + */ +PARAM_DEFINE_INT32(VOXL_ESC_RPM_MIN, 5500); + +/** + * UART ESC RPM Max + * + * Maximum RPM for ESC + * + * @group VOXL ESC + * @unit rpm + */ +PARAM_DEFINE_INT32(VOXL_ESC_RPM_MAX, 15000); + +/** + * UART ESC Mode + * + * Selects what type of mode is enabled, if any + * + * @reboot_required true + * + * @group VOXL ESC + * @value 0 - None + * @value 1 - Turtle Mode enabled via AUX1 + * @value 2 - Turtle Mode enabled via AUX2 + * @value 3 - UART Passthrough Mode + * @min 0 + * @max 2 + */ +PARAM_DEFINE_INT32(VOXL_ESC_MODE, 0); + +/** + * UART ESC ID 1 Spin Direction Flag + * + * @group VOXL ESC + * @value 0 - Default + * @value 1 - Reverse + */ +PARAM_DEFINE_INT32(VOXL_ESC_SDIR1, 0); + +/** + * UART ESC ID 2 Spin Direction Flag + * + * @group VOXL ESC + * @value 0 - Default + * @value 1 - Reverse + */ +PARAM_DEFINE_INT32(VOXL_ESC_SDIR2, 0); + +/** + * UART ESC ID 3 Spin Direction Flag + * + * @group VOXL ESC + * @value 0 - Default + * @value 1 - Reverse + */ +PARAM_DEFINE_INT32(VOXL_ESC_SDIR3, 0); + +/** + * UART ESC ID 4 Spin Direction Flag + * + * @group VOXL ESC + * @value 0 - Default + * @value 1 - Reverse + */ +PARAM_DEFINE_INT32(VOXL_ESC_SDIR4, 0); + +/** + * UART ESC Turtle Mode Crash Flip Motor Percent + * + * @group VOXL ESC + * @min 1 + * @max 100 + * @decimal 10 + * @increment 1 + */ +PARAM_DEFINE_INT32(VOXL_ESC_T_PERC, 90); + +/** + * UART ESC Turtle Mode Crash Flip Motor Deadband + * + * @group VOXL ESC + * @min 0 + * @max 100 + * @decimal 10 + * @increment 1 + */ +PARAM_DEFINE_INT32(VOXL_ESC_T_DEAD, 20); + +/** + * UART ESC Turtle Mode Crash Flip Motor STICK_MINF + * + * @group VOXL ESC + * @min 0.0 + * @max 100.0 + * @decimal 10 + * @increment 1.0 + */ +PARAM_DEFINE_FLOAT(VOXL_ESC_T_MINF, 0.15); + +/** + * UART ESC Turtle Mode Crash Flip Motor expo + * + * @group VOXL ESC + * @min 0 + * @max 100 + * @decimal 10 + * @increment 1 + */ +PARAM_DEFINE_INT32(VOXL_ESC_T_EXPO, 35); + +/** + * UART ESC Turtle Mode Cosphi + * + * @group VOXL ESC + * @min 0.000 + * @max 1.000 + * @decimal 10 + * @increment 0.001 + */ +PARAM_DEFINE_FLOAT(VOXL_ESC_T_COSP, 0.990); + +/** + * UART ESC verbose logging + * + * @reboot_required true + * + * @group VOXL ESC + * @value 0 - Disabled + * @value 1 - Enabled + * @min 0 + * @max 1 + */ +PARAM_DEFINE_INT32(VOXL_ESC_VLOG, 0); + + +/** + * UART ESC Enable publishing of battery status + * + * Only applicable to ESCs that report total battery voltage and current + * + * @reboot_required true + * + * @group VOXL ESC + * @value 0 - Disabled + * @value 1 - Enabled + * @min 0 + * @max 1 + */ +PARAM_DEFINE_INT32(VOXL_ESC_PUB_BST, 1); + + +/** + * UART ESC Temperature Warning Threshold (Degrees C) + * + * Only applicable to ESCs that report temperature + * + * @reboot_required true + * + * @group VOXL ESC + * @value 0 - Disabled + * @min 0 + * @max 200 + */ +PARAM_DEFINE_INT32(VOXL_ESC_T_WARN, 0); + + +/** + * UART ESC Over-Temperature Threshold (Degrees C) + * + * Only applicable to ESCs that report temperature + * + * @reboot_required true + * + * @group VOXL ESC + * @value 0 - Disabled + * @min 0 + * @max 200 + */ +PARAM_DEFINE_INT32(VOXL_ESC_T_OVER, 0); diff --git a/src/drivers/adc/ads1115/ADS1115.h b/src/drivers/adc/ads1115/ADS1115.h index 6f3c1e92be2d..79a31198c945 100644 --- a/src/drivers/adc/ads1115/ADS1115.h +++ b/src/drivers/adc/ads1115/ADS1115.h @@ -37,7 +37,7 @@ #include #include #include -#include +#include #include #include @@ -127,7 +127,7 @@ class ADS1115 : public device::I2C, public I2CSPIDriver private: - uORB::Publication _to_adc_report{ORB_ID(adc_report)}; + uORB::PublicationMulti _to_adc_report{ORB_ID(adc_report)}; static const hrt_abstime SAMPLE_INTERVAL{50_ms}; diff --git a/src/drivers/adc/ads1115/CMakeLists.txt b/src/drivers/adc/ads1115/CMakeLists.txt index d65265709d61..744cdfdb6b12 100644 --- a/src/drivers/adc/ads1115/CMakeLists.txt +++ b/src/drivers/adc/ads1115/CMakeLists.txt @@ -38,4 +38,4 @@ px4_add_module( ads1115_main.cpp ADS1115.cpp DEPENDS - ) \ No newline at end of file + ) diff --git a/src/drivers/adc/ads1115/ads1115_main.cpp b/src/drivers/adc/ads1115/ads1115_main.cpp index 18aa4cee9ab9..2132082c666b 100644 --- a/src/drivers/adc/ads1115/ads1115_main.cpp +++ b/src/drivers/adc/ads1115/ads1115_main.cpp @@ -134,6 +134,24 @@ void ADS1115::RunImpl() void ADS1115::print_usage() { + + PRINT_MODULE_DESCRIPTION( + R"DESCR_STR( +### Description + +Driver to enable an external [ADS1115](https://www.adafruit.com/product/1085) ADC connected via I2C. + +The driver is included by default in firmware for boards that do not have an internal analog to digital converter, +such as [PilotPi](../flight_controller/raspberry_pi_pilotpi.md) or [CUAV Nora](../flight_controller/cuav_nora.md) +(search for `CONFIG_DRIVERS_ADC_ADS1115` in board configuration files). + +It is enabled/disabled using the +[ADC_ADS1115_EN](../advanced_config/parameter_reference.md#ADC_ADS1115_EN) +parameter, and is disabled by default. +If enabled, internal ADCs are not used. + +)DESCR_STR"); + PRINT_MODULE_USAGE_NAME("ads1115", "driver"); PRINT_MODULE_USAGE_COMMAND("start"); PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, false); diff --git a/src/drivers/adc/ads1115/ads1115_params.c b/src/drivers/adc/ads1115/ads1115_params.c index 560637db00a7..b1af67f30760 100644 --- a/src/drivers/adc/ads1115/ads1115_params.c +++ b/src/drivers/adc/ads1115/ads1115_params.c @@ -41,4 +41,3 @@ * @group Sensors */ PARAM_DEFINE_INT32(ADC_ADS1115_EN, 0); - diff --git a/src/drivers/adc/board_adc/ADC.cpp b/src/drivers/adc/board_adc/ADC.cpp index d69d085c0171..906af6995945 100644 --- a/src/drivers/adc/board_adc/ADC.cpp +++ b/src/drivers/adc/board_adc/ADC.cpp @@ -210,7 +210,8 @@ void ADC::update_system_power(hrt_abstime now) if (_samples[i].am_channel == ADC_SCALED_V5_SENSE) { // it is 2:1 scaled - system_power.voltage5v_v = _samples[i].am_data * (ADC_V5_V_FULL_SCALE / px4_arch_adc_dn_fullcount()); + system_power.voltage5v_v = _samples[i].am_data * ((ADC_V5_V_FULL_SCALE / 3.3f) * (px4_arch_adc_reference_v() / + px4_arch_adc_dn_fullcount())); cnt--; } else @@ -224,7 +225,8 @@ void ADC::update_system_power(hrt_abstime now) for (int j = 0; j < ADC_SCALED_V3V3_SENSORS_COUNT; ++j) { if (_samples[i].am_channel == sensors_channels[j]) { // it is 2:1 scaled - system_power.sensors3v3[j] = _samples[i].am_data * (ADC_3V3_SCALE * (3.3f / px4_arch_adc_dn_fullcount())); + system_power.sensors3v3[j] = _samples[i].am_data * (ADC_3V3_SCALE * (px4_arch_adc_reference_v() / + px4_arch_adc_dn_fullcount())); system_power.sensors3v3_valid |= 1 << j; cnt--; } diff --git a/src/drivers/adc/board_adc/Kconfig b/src/drivers/adc/board_adc/Kconfig index d42ac3a5ee26..8fac33d81a86 100644 --- a/src/drivers/adc/board_adc/Kconfig +++ b/src/drivers/adc/board_adc/Kconfig @@ -2,4 +2,4 @@ menuconfig DRIVERS_ADC_BOARD_ADC bool "board_adc" default n ---help--- - Enable support for board_adc \ No newline at end of file + Enable support for board_adc diff --git a/src/drivers/barometer/CMakeLists.txt b/src/drivers/barometer/CMakeLists.txt index ba90108c38c2..5bb31ec3452d 100644 --- a/src/drivers/barometer/CMakeLists.txt +++ b/src/drivers/barometer/CMakeLists.txt @@ -1,6 +1,6 @@ ############################################################################ # -# Copyright (c) 2017 PX4 Development Team. All rights reserved. +# Copyright (c) 2017-2024 PX4 Development Team. All rights reserved. # # Redistribution and use in source and binary forms, with or without # modification, are permitted provided that the following conditions @@ -33,6 +33,7 @@ add_subdirectory(bmp280) add_subdirectory(bmp388) +add_subdirectory(bmp581) add_subdirectory(dps310) add_subdirectory(lps22hb) #add_subdirectory(lps25h) # not ready for general inclusion diff --git a/src/drivers/barometer/Kconfig b/src/drivers/barometer/Kconfig index e13c24c27251..da9c2dd7143a 100644 --- a/src/drivers/barometer/Kconfig +++ b/src/drivers/barometer/Kconfig @@ -4,6 +4,7 @@ menu "barometer" default n select DRIVERS_BAROMETER_BMP280 select DRIVERS_BAROMETER_BMP388 + select DRIVERS_BAROMETER_BMP581 select DRIVERS_BAROMETER_DPS310 select DRIVERS_BAROMETER_LPS22HB select DRIVERS_BAROMETER_LPS33HW diff --git a/src/drivers/barometer/bmp280/Kconfig b/src/drivers/barometer/bmp280/Kconfig index 25b6fed476a6..b13eb2dd9c97 100644 --- a/src/drivers/barometer/bmp280/Kconfig +++ b/src/drivers/barometer/bmp280/Kconfig @@ -2,4 +2,4 @@ menuconfig DRIVERS_BAROMETER_BMP280 bool "bmp280" default n ---help--- - Enable support for bmp280 \ No newline at end of file + Enable support for bmp280 diff --git a/src/drivers/barometer/bmp388/Kconfig b/src/drivers/barometer/bmp388/Kconfig index 585c4e975e06..d8d01477f855 100644 --- a/src/drivers/barometer/bmp388/Kconfig +++ b/src/drivers/barometer/bmp388/Kconfig @@ -2,4 +2,4 @@ menuconfig DRIVERS_BAROMETER_BMP388 bool "bmp388" default n ---help--- - Enable support for bmp388 \ No newline at end of file + Enable support for bmp388 diff --git a/src/drivers/barometer/bmp388/bmp388.cpp b/src/drivers/barometer/bmp388/bmp388.cpp index 8178bc5785dd..04d29dbccfbb 100644 --- a/src/drivers/barometer/bmp388/bmp388.cpp +++ b/src/drivers/barometer/bmp388/bmp388.cpp @@ -68,7 +68,10 @@ BMP388::init() return -EIO; } - _chip_id = _interface->get_reg(BMP3_CHIP_ID_ADDR); + if (_interface->get_reg(BMP3_CHIP_ID_ADDR, &_chip_id) != OK) { + PX4_WARN("failed to get chip id"); + return -EIO; + } if (_chip_id != BMP388_CHIP_ID && _chip_id != BMP390_CHIP_ID) { PX4_WARN("id of your baro is not: 0x%02x or 0x%02x", BMP388_CHIP_ID, BMP390_CHIP_ID); @@ -77,9 +80,13 @@ BMP388::init() if (_chip_id == BMP390_CHIP_ID) { _interface->set_device_type(DRV_BARO_DEVTYPE_BMP390); + this->_item_name = "bmp390"; } - _chip_rev_id = _interface->get_reg(BMP3_REV_ID_ADDR); + if (_interface->get_reg(BMP3_REV_ID_ADDR, &_chip_rev_id) != OK) { + PX4_WARN("failed to get chip rev id"); + return -EIO; + } _cal = _interface->get_calibration(BMP3_CALIB_DATA_ADDR); @@ -203,14 +210,22 @@ BMP388::soft_reset() uint8_t status; int ret; - status = _interface->get_reg(BMP3_SENS_STATUS_REG_ADDR); + ret = _interface->get_reg(BMP3_SENS_STATUS_REG_ADDR, &status); + + if (ret != OK) { + return false; + } if (status & BMP3_CMD_RDY) { ret = _interface->set_reg(BPM3_CMD_SOFT_RESET, BMP3_CMD_ADDR); if (ret == OK) { usleep(BMP3_POST_RESET_WAIT_TIME); - status = _interface->get_reg(BMP3_ERR_REG_ADDR); + ret = _interface->get_reg(BMP3_ERR_REG_ADDR, &status); + + if (ret != OK) { + return false; + } if ((status & BMP3_CMD_ERR) == 0) { result = true; @@ -268,7 +283,9 @@ BMP388::validate_trimming_param() crc = (crc ^ 0xFF); - stored_crc = _interface->get_reg(BMP3_TRIM_CRC_DATA_ADDR); + if (_interface->get_reg(BMP3_TRIM_CRC_DATA_ADDR, &stored_crc) != OK) { + return false; + } return stored_crc == crc; } @@ -403,7 +420,12 @@ BMP388::set_op_mode(uint8_t op_mode) uint8_t op_mode_reg_val; int ret = OK; - op_mode_reg_val = _interface->get_reg(BMP3_PWR_CTRL_ADDR); + ret = _interface->get_reg(BMP3_PWR_CTRL_ADDR, &op_mode_reg_val); + + if (ret != OK) { + return false; + } + last_set_mode = BMP3_GET_BITS(op_mode_reg_val, BMP3_OP_MODE); /* Device needs to be put in sleep mode to transition */ @@ -419,7 +441,12 @@ BMP388::set_op_mode(uint8_t op_mode) } if (ret == OK) { - op_mode_reg_val = _interface->get_reg(BMP3_PWR_CTRL_ADDR); + ret = _interface->get_reg(BMP3_PWR_CTRL_ADDR, &op_mode_reg_val); + + if (ret != OK) { + return false; + } + op_mode_reg_val = BMP3_SET_BITS(op_mode_reg_val, BMP3_OP_MODE, op_mode); ret = _interface->set_reg(op_mode_reg_val, BMP3_PWR_CTRL_ADDR); diff --git a/src/drivers/barometer/bmp388/bmp388.h b/src/drivers/barometer/bmp388/bmp388.h index 2db3e2238255..a72b95aef4f1 100644 --- a/src/drivers/barometer/bmp388/bmp388.h +++ b/src/drivers/barometer/bmp388/bmp388.h @@ -292,7 +292,7 @@ class IBMP388 virtual int init() = 0; // read reg value - virtual uint8_t get_reg(uint8_t addr) = 0; + virtual int get_reg(uint8_t addr, uint8_t *value) = 0; // bulk read reg value virtual int get_reg_buf(uint8_t addr, uint8_t *buf, uint8_t len) = 0; diff --git a/src/drivers/barometer/bmp388/bmp388_i2c.cpp b/src/drivers/barometer/bmp388/bmp388_i2c.cpp index 0b735d35df4a..73fe0427052a 100644 --- a/src/drivers/barometer/bmp388/bmp388_i2c.cpp +++ b/src/drivers/barometer/bmp388/bmp388_i2c.cpp @@ -49,7 +49,7 @@ class BMP388_I2C: public device::I2C, public IBMP388 int init(); - uint8_t get_reg(uint8_t addr); + int get_reg(uint8_t addr, uint8_t *value); int get_reg_buf(uint8_t addr, uint8_t *buf, uint8_t len); int set_reg(uint8_t value, uint8_t addr); calibration_s *get_calibration(uint8_t addr); @@ -78,12 +78,10 @@ int BMP388_I2C::init() return I2C::init(); } -uint8_t BMP388_I2C::get_reg(uint8_t addr) +int BMP388_I2C::get_reg(uint8_t addr, uint8_t *value) { - uint8_t cmd[2] = { (uint8_t)(addr), 0}; - transfer(&cmd[0], 1, &cmd[1], 1); - - return cmd[1]; + const uint8_t cmd = (uint8_t)(addr); + return transfer(&cmd, sizeof(cmd), value, 1); } int BMP388_I2C::get_reg_buf(uint8_t addr, uint8_t *buf, uint8_t len) diff --git a/src/drivers/barometer/bmp388/bmp388_spi.cpp b/src/drivers/barometer/bmp388/bmp388_spi.cpp index 18479a4aaf78..2970d2bc00b1 100644 --- a/src/drivers/barometer/bmp388/bmp388_spi.cpp +++ b/src/drivers/barometer/bmp388/bmp388_spi.cpp @@ -66,7 +66,7 @@ class BMP388_SPI: public device::SPI, public IBMP388 int init(); - uint8_t get_reg(uint8_t addr); + int get_reg(uint8_t addr, uint8_t *value); int get_reg_buf(uint8_t addr, uint8_t *buf, uint8_t len); int set_reg(uint8_t value, uint8_t addr); calibration_s *get_calibration(uint8_t addr); @@ -95,12 +95,16 @@ int BMP388_SPI::init() return SPI::init(); }; -uint8_t BMP388_SPI::get_reg(uint8_t addr) +int BMP388_SPI::get_reg(uint8_t addr, uint8_t *value) { uint8_t cmd[2] = { (uint8_t)(addr | DIR_READ), 0}; //set MSB bit - transfer(&cmd[0], &cmd[0], 2); + int ret = transfer(&cmd[0], &cmd[0], 2); - return cmd[1]; + if (ret == OK) { + *value = cmd[1]; + } + + return ret; } int BMP388_SPI::get_reg_buf(uint8_t addr, uint8_t *buf, uint8_t len) diff --git a/src/drivers/barometer/bmp581/CMakeLists.txt b/src/drivers/barometer/bmp581/CMakeLists.txt new file mode 100644 index 000000000000..c5de8e20b3f6 --- /dev/null +++ b/src/drivers/barometer/bmp581/CMakeLists.txt @@ -0,0 +1,44 @@ +############################################################################ +# +# Copyright (c) 2024 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +px4_add_module( + MODULE drivers__barometer__bmp581 + MAIN bmp581 + SRCS + bmp581_spi.cpp + bmp581_i2c.cpp + bmp581.cpp + bmp581_main.cpp + DEPENDS + px4_work_queue + ) diff --git a/src/drivers/barometer/bmp581/Kconfig b/src/drivers/barometer/bmp581/Kconfig new file mode 100644 index 000000000000..49f99b08b2b6 --- /dev/null +++ b/src/drivers/barometer/bmp581/Kconfig @@ -0,0 +1,5 @@ +menuconfig DRIVERS_BAROMETER_BMP581 + bool "bmp581" + default n + ---help--- + Enable support for bmp581 diff --git a/src/drivers/barometer/bmp581/bmp581.cpp b/src/drivers/barometer/bmp581/bmp581.cpp new file mode 100644 index 000000000000..a4a085397c4a --- /dev/null +++ b/src/drivers/barometer/bmp581/bmp581.cpp @@ -0,0 +1,727 @@ +/**************************************************************************** + * + * Copyright (c) 2024 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESSf + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include "bmp581.h" +#include + +BMP581::BMP581(const I2CSPIDriverConfig &config, IBMP581 *interface) : + I2CSPIDriver(config), + _interface(interface), + _sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": read")), + _measure_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": measure")), + _comms_errors(perf_alloc(PC_COUNT, MODULE_NAME": comms_errors")) +{ +} + +BMP581::~BMP581() +{ + /* free perf counters */ + perf_free(_sample_perf); + perf_free(_measure_perf); + perf_free(_comms_errors); + + delete _interface; +} + +int BMP581::init() +{ + int ret; + + ret = soft_reset(); + + if (ret != PX4_OK) { + PX4_DEBUG("failed to reset baro during init"); + return -EIO; + } + + _chip_id = _interface->get_reg(BMP5_REG_CHIP_ID_ADDR); + + if ((_chip_id != BMP581_CHIP_ID_PRIM) && (_chip_id != BMP581_CHIP_ID_SEC)) { + PX4_WARN("id of your baro is not: 0x%02x or 0x%02x", BMP581_CHIP_ID_PRIM, BMP581_CHIP_ID_SEC); + return -EIO; + } + + _chip_rev_id = _interface->get_reg(BMP5_REG_REV_ID_ADDR); + + ret = set_config(); + + if (ret != PX4_OK) { + PX4_WARN("failed to set_config"); + return -EIO; + } + + start(); + + return PX4_OK; +} + +void BMP581::print_status() +{ + I2CSPIDriverBase::print_status(); + printf("chip id: 0x%02x rev id: 0x%02x\n", _chip_id, _chip_rev_id); + perf_print_counter(_sample_perf); + perf_print_counter(_measure_perf); + perf_print_counter(_comms_errors); + printf("measurement interval: %u us \n", _measure_interval); +} + +void BMP581::start() +{ + _collect_phase = false; + + ScheduleOnInterval(_measure_interval, _measure_interval * 3); +} + +void BMP581::RunImpl() +{ + + if (_collect_phase) { + collect(); + } + + measure(); +} + +int BMP581::measure() +{ + int ret; + + _collect_phase = true; + + perf_begin(_measure_perf); + + /* start measurement */ + ret = set_power_mode(BMP5_POWERMODE_FORCED); + + if (ret != PX4_OK) { + PX4_DEBUG("failed to set power mode"); + perf_count(_comms_errors); + perf_cancel(_measure_perf); + return -EIO; + } + + perf_end(_measure_perf); + + return PX4_OK; +} + +int BMP581::collect() +{ + _collect_phase = false; + + bmp5_sensor_data data{}; + + uint8_t int_status; + int ret; + + perf_begin(_sample_perf); + + /* this should be fairly close to the end of the conversion, so the best approximation of the time */ + const hrt_abstime timestamp_sample = hrt_absolute_time(); + + int_status = get_interrupt_status(); + + if (int_status & BMP5_INT_ASSERTED_DRDY) { + ret = get_sensor_data(&data); + + if (ret != PX4_OK) { + perf_count(_comms_errors); + perf_cancel(_sample_perf); + return -EIO; + } + } + + //publish + sensor_baro_s sensor_baro{}; + sensor_baro.timestamp_sample = timestamp_sample; + sensor_baro.device_id = _interface->get_device_id(); + sensor_baro.pressure = data.pressure; + sensor_baro.temperature = data.temperature; + sensor_baro.error_count = perf_event_count(_comms_errors); + sensor_baro.timestamp = hrt_absolute_time(); + _sensor_baro_pub.publish(sensor_baro); + + perf_end(_sample_perf); + + return PX4_OK; +} + +/*! + * @brief This API performs the soft reset of the sensor + * + * https://github.com/boschsensortec/BMP5-Sensor-API/blob/master/bmp5.c + */ +int BMP581::soft_reset() +{ + uint8_t status; + int ret; + + if (intf == BMP5_SPI_INTF) { + /* Performing a single read via SPI of registers, + * e.g. registers CHIP_ID, before the actual + * SPI communication with the device. + */ + status = _interface->get_reg(BMP5_REG_CHIP_ID_ADDR); + } + + ret = _interface->set_reg(BMP5_SOFT_RESET_CMD, BMP5_REG_CMD_ADDR); + + if (ret != PX4_OK) { + return PX4_ERROR; + } + + usleep(BMP5_DELAY_US_SOFT_RESET); + + if (intf == BMP5_SPI_INTF) { + /* Performing a single read via SPI of registers, + * e.g. registers CHIP_ID, before the actual + * SPI communication with the device. + */ + status = _interface->get_reg(BMP5_REG_CHIP_ID_ADDR); + } + + status = _interface->get_reg(BMP5_REG_STATUS_ADDR); + + /* Check if nvm_rdy status = 1 and nvm_err status = 0 to proceed */ + if (!((status & BMP5_INT_NVM_RDY) && (!(status & BMP5_INT_NVM_ERR)))) { + return PX4_ERROR; + } + + status = _interface->get_reg(BMP5_REG_INT_STATUS_ADDR); + + if (status & BMP5_INT_ASSERTED_POR_SOFTRESET_COMPLETE) { + return PX4_OK; + + } else { + return PX4_ERROR; + } +} + +int BMP581::set_config() +{ + int ret; + + ret = set_power_mode(BMP5_POWERMODE_STANDBY); + + if (ret != PX4_OK) { + return PX4_ERROR; + } + + ret = set_osr_odr_press_config(); + + if (ret != PX4_OK) { + return PX4_ERROR; + } + + ret = set_iir_config(); + + if (ret != PX4_OK) { + return PX4_ERROR; + } + + ret = configure_interrupt(); + + if (ret != PX4_OK) { + return PX4_ERROR; + } + + ret = int_source_select(); + + if (ret != PX4_OK) { + return PX4_ERROR; + } + + return PX4_OK; +} + +/*! + * @brief This API is used to get interrupt status. + */ +uint8_t BMP581::get_interrupt_status() +{ + uint8_t status = 0xFF; + + status = _interface->get_reg(BMP5_REG_INT_STATUS_ADDR); + + return status; +} + +uint8_t BMP581::check_deepstandby_mode() +{ + int rslt; + uint8_t fifo_frame_sel; + uint8_t reg_data[2]; + uint8_t powermode = 0xFF; + + fifo_frame_sel = _interface->get_reg(BMP5_REG_FIFO_SEL_ADDR); + fifo_frame_sel = BMP5_GET_BITS_POS_0(fifo_frame_sel, BMP5_FIFO_FRAME_SEL); + + rslt = _interface->get_reg_buf(BMP5_REG_OSR_CONFIG_ADDR, reg_data, 2); + + if (rslt != PX4_OK) { + return PX4_ERROR; + } + + uint8_t odr_reg = 0xFF; + odr_reg = BMP5_GET_BITSLICE(reg_data[1], BMP5_ODR); + + rslt = _interface->get_reg_buf(BMP5_REG_DSP_CONFIG_ADDR, reg_data, 2); + + if (rslt != PX4_OK) { + return PX4_ERROR; + } + + uint8_t set_iir_t_reg = 0xFF; + uint8_t set_iir_p_reg = 0xFF; + + set_iir_t_reg = BMP5_GET_BITS_POS_0(reg_data[1], BMP5_SET_IIR_TEMP); + set_iir_p_reg = BMP5_GET_BITSLICE(reg_data[1], BMP5_SET_IIR_PRESS); + + /* As per datasheet odr should be less than 5Hz. But register value for 5Hz is less than 4Hz and so, + * thus in this below condition odr is checked whether greater than 5Hz macro. + */ + if ((odr_reg > BMP5_ODR_05_HZ) && (fifo_frame_sel == BMP5_DISABLE) && + (set_iir_t_reg == BMP5_IIR_FILTER_BYPASS) && (set_iir_p_reg == BMP5_IIR_FILTER_BYPASS)) { + powermode = BMP5_POWERMODE_DEEP_STANDBY; + } + + return powermode; +} + +/*! + * @brief This API is used to get powermode of the sensor. + */ +uint8_t BMP581::get_power_mode() +{ + uint8_t deep_dis; + uint8_t reg_data; + uint8_t powermode; + + reg_data = _interface->get_reg(BMP5_REG_ODR_CONFIG_ADDR); + powermode = BMP5_GET_BITS_POS_0(reg_data, BMP5_POWERMODE); + + if (powermode == BMP5_POWERMODE_STANDBY) { + deep_dis = BMP5_GET_BITSLICE(reg_data, BMP5_DEEP_DISABLE); + + if (deep_dis == BMP5_DEEP_ENABLED) { + powermode = check_deepstandby_mode(); + } + } + + return powermode; +} + +/*! + * @brief This API is used to set powermode of the sensor. + */ +int BMP581::set_power_mode(uint8_t power_mode) +{ + uint8_t lst_pwrmode; + uint8_t reg_data; + int rslt; + + lst_pwrmode = get_power_mode(); + + if (lst_pwrmode != BMP5_POWERMODE_STANDBY) { + reg_data = _interface->get_reg(BMP5_REG_ODR_CONFIG_ADDR); + reg_data = BMP5_SET_BITSLICE(reg_data, BMP5_DEEP_DISABLE, BMP5_DEEP_DISABLED); + reg_data = BMP5_SET_BITS_POS_0(reg_data, BMP5_POWERMODE, BMP5_POWERMODE_STANDBY); + rslt = _interface->set_reg(reg_data, BMP5_REG_ODR_CONFIG_ADDR); + + if (rslt != PX4_OK) { + return PX4_ERROR; + } + + ScheduleDelayed(BMP5_DELAY_US_STANDBY); + } + + switch (power_mode) { + case BMP5_POWERMODE_DEEP_STANDBY: + rslt = set_deep_standby_mode(); + + if (rslt != PX4_OK) { + return PX4_ERROR; + } + + break; + + case BMP5_POWERMODE_STANDBY: + break; + + case BMP5_POWERMODE_NORMAL: + case BMP5_POWERMODE_FORCED: + case BMP5_POWERMODE_CONTINOUS: + reg_data = _interface->get_reg(BMP5_REG_ODR_CONFIG_ADDR); + reg_data = BMP5_SET_BITSLICE(reg_data, BMP5_DEEP_DISABLE, BMP5_DEEP_DISABLED); + reg_data = BMP5_SET_BITS_POS_0(reg_data, BMP5_POWERMODE, power_mode); + rslt = _interface->set_reg(reg_data, BMP5_REG_ODR_CONFIG_ADDR); + + if (rslt != PX4_OK) { + return PX4_ERROR; + } + + break; + } + + return PX4_OK; +} + +/*! + * @brief This internal API is used to set sensor in deep standby mode. + */ +int BMP581::set_deep_standby_mode() +{ + uint8_t reg_data; + int rslt; + + reg_data = _interface->get_reg(BMP5_REG_ODR_CONFIG_ADDR); + reg_data = BMP5_SET_BIT_VAL_0(reg_data, BMP5_DEEP_DISABLE); + reg_data = BMP5_SET_BITSLICE(reg_data, BMP5_ODR, BMP5_ODR_01_HZ); + rslt = _interface->set_reg(reg_data, BMP5_REG_ODR_CONFIG_ADDR); + + if (rslt != PX4_OK) { + return PX4_ERROR; + } + + reg_data = _interface->get_reg(BMP5_REG_DSP_IIR_ADDR); + reg_data = reg_data & BMP5_IIR_BYPASS; + rslt = _interface->set_reg(reg_data, BMP5_REG_DSP_IIR_ADDR); + + if (rslt != PX4_OK) { + return PX4_ERROR; + } + + reg_data = _interface->get_reg(BMP5_REG_FIFO_SEL_ADDR); + reg_data = BMP5_SET_BIT_VAL_0(reg_data, BMP5_FIFO_FRAME_SEL); + rslt = _interface->set_reg(reg_data, BMP5_REG_FIFO_SEL_ADDR); + + if (rslt != PX4_OK) { + return PX4_ERROR; + } + + return PX4_OK; +} + +/*! + * @brief This internal API is used to set sensor in standby powermode when powermode is deepstandby mode. + */ +int BMP581::set_standby_mode() +{ + uint8_t powermode; + int ret; + + powermode = get_power_mode(); + + if (powermode == BMP5_POWERMODE_DEEP_STANDBY) { + ret = set_power_mode(BMP5_POWERMODE_STANDBY); + + if (ret != PX4_OK) { + return PX4_ERROR; + } + } + + return PX4_OK; +} + +uint32_t BMP581::get_measurement_time() +{ + /* + From BST-BMP3581-DS004-04.pdf, page 19, table 9 + + Pressure Temperature Measurement + Oversample Oversample Time + 1x 1x 2.7 ms + 2x 1x 3.3 ms + 4x 1x 4.6 ms + 8x 1x 7.2 ms + 16x 1x 12.5 ms + 32x 2x 23.3 ms + 64x 4x 44.2 ms + 128x 8x 88.0 ms + */ + + uint32_t meas_time_us = 0; // unsupported value by default + + if (OVERSAMPLING_TEMPERATURE == BMP5_OVERSAMPLING_1X) { + switch (OVERSAMPLING_PRESSURE) { + case BMP5_OVERSAMPLING_1X: + meas_time_us = 2700; + break; + + case BMP5_OVERSAMPLING_2X: + meas_time_us = 3300; + break; + + case BMP5_OVERSAMPLING_4X: + meas_time_us = 4600; + break; + + case BMP5_OVERSAMPLING_8X: + meas_time_us = 7200; + break; + + case BMP5_OVERSAMPLING_16X: + meas_time_us = 12500; + break; + } + + } else if (OVERSAMPLING_TEMPERATURE == BMP5_OVERSAMPLING_2X) { + switch (OVERSAMPLING_PRESSURE) { + case BMP5_OVERSAMPLING_32X: + meas_time_us = 23300; + break; + + } + + } else if (OVERSAMPLING_TEMPERATURE == BMP5_OVERSAMPLING_4X) { + switch (OVERSAMPLING_PRESSURE) { + case BMP5_OVERSAMPLING_64X: + meas_time_us = 44200; + break; + + } + + } else if (OVERSAMPLING_TEMPERATURE == BMP5_OVERSAMPLING_8X) { + switch (OVERSAMPLING_PRESSURE) { + case BMP5_OVERSAMPLING_128X: + meas_time_us = 88000; + break; + + } + } + + return meas_time_us; +} + +/*! + * @brief This API sets the configuration for oversampling temperature, oversampling of + * pressure and ODR configuration along with pressure enable. + * + * @note If ODR is set to a value higher than 5Hz then powermode is set as standby mode, as ODR value greater than 5HZ + * without disabling deep-standby mode makes powermode invalid. + */ +int BMP581::set_osr_odr_press_config() +{ + uint8_t reg_data[2] = {0}; + int rslt; + + _measure_interval = get_measurement_time(); + + if (_measure_interval == 0) { + PX4_WARN("unsupported oversampling selected"); + return false; + } + + if (OUTPUT_DATA_RATE < BMP5_ODR_05_HZ) { + rslt = set_standby_mode(); + + if (rslt != PX4_OK) { + return PX4_ERROR; + } + } + + rslt = _interface->get_reg_buf(BMP5_REG_OSR_CONFIG_ADDR, reg_data, 2); + + if (rslt != PX4_OK) { + return PX4_ERROR; + } + + reg_data[0] = BMP5_SET_BITS_POS_0(reg_data[0], BMP5_TEMP_OS, OVERSAMPLING_TEMPERATURE); + reg_data[0] = BMP5_SET_BITSLICE(reg_data[0], BMP5_PRESS_OS, OVERSAMPLING_PRESSURE); + reg_data[0] = BMP5_SET_BITSLICE(reg_data[0], BMP5_PRESS_EN, PRESSURE_ENABLE); + reg_data[1] = BMP5_SET_BITSLICE(reg_data[1], BMP5_ODR, OUTPUT_DATA_RATE); + + rslt = _interface->set_reg(reg_data[0], BMP5_REG_OSR_CONFIG_ADDR); + rslt = _interface->set_reg(reg_data[1], BMP5_REG_ODR_CONFIG_ADDR); + + if (rslt != PX4_OK) { + return PX4_ERROR; + } + + return PX4_OK; +} + +/*! + * @brief This API sets the configuration for IIR of temperature and pressure. + * + * @note If IIR value for both temperature and pressure is set a value other than bypass then powermode is set + * as standby mode, as IIR with value other than bypass without disabling deep-standby mode makes powermode invalid. + */ +int BMP581::set_iir_config() +{ + uint8_t curr_powermdoe; + uint8_t reg_data[2]; + int rslt; + + if ((IIR_FILTER_COEFF_TEMPERATURE != BMP5_IIR_FILTER_BYPASS) || (IIR_FILTER_COEFF_PRESSURE != BMP5_IIR_FILTER_BYPASS)) { + rslt = set_standby_mode(); + + if (rslt != PX4_OK) { + return PX4_ERROR; + } + } + + curr_powermdoe = get_power_mode(); + + if (curr_powermdoe != BMP5_POWERMODE_STANDBY) { + rslt = set_power_mode(BMP5_POWERMODE_STANDBY); + + if (rslt != PX4_OK) { + return PX4_ERROR; + } + } + + rslt = _interface->get_reg_buf(BMP5_REG_DSP_CONFIG_ADDR, reg_data, 2); + + if (rslt != PX4_OK) { + return PX4_ERROR; + } + + reg_data[0] = BMP5_SET_BITSLICE(reg_data[0], BMP5_SHDW_SET_IIR_TEMP, BMP5_ENABLE); + reg_data[0] = BMP5_SET_BITSLICE(reg_data[0], BMP5_SHDW_SET_IIR_PRESS, BMP5_ENABLE); + reg_data[0] = BMP5_SET_BITSLICE(reg_data[0], BMP5_IIR_FLUSH_FORCED_EN, BMP5_ENABLE); + + reg_data[1] = IIR_FILTER_COEFF_TEMPERATURE; + reg_data[1] = BMP5_SET_BITSLICE(reg_data[1], BMP5_SET_IIR_PRESS, IIR_FILTER_COEFF_PRESSURE); + + rslt = _interface->set_reg(reg_data[0], BMP5_REG_DSP_CONFIG_ADDR); + rslt = _interface->set_reg(reg_data[1], BMP5_REG_DSP_IIR_ADDR); + + if (rslt != PX4_OK) { + return PX4_ERROR; + } + + /* Since IIR works only in standby mode we are not re-writing to deepstandby mode + * as deep standby mode resets the IIR settings to default + */ + if ((curr_powermdoe != BMP5_POWERMODE_STANDBY) && (curr_powermdoe != BMP5_POWERMODE_DEEP_STANDBY)) { + if (!set_power_mode(curr_powermdoe)) { + return PX4_ERROR; + } + + } + + return PX4_OK; +} + +/*! +* @brief This API is used to configure the interrupt settings. +*/ +int BMP581::configure_interrupt() +{ + uint8_t reg_data = 0; + uint8_t int_source = 0; + int rslt; + + reg_data = _interface->get_reg(BMP5_REG_INT_CONFIG_ADDR); + + /* Any change between latched/pulsed mode has to be applied while interrupt is disabled */ + /* Step 1 : Turn off all INT sources (INT_SOURCE -> 0x00) */ + rslt = _interface->set_reg(int_source, BMP5_REG_INT_SOURCE_ADDR); + + if (rslt != PX4_OK) { + return PX4_ERROR; + } + + /* Step 2 : Read the INT_STATUS register to clear the status */ + _interface->get_reg(BMP5_REG_INT_STATUS_ADDR); + + /* Step 3 : Set the desired mode in INT_CONFIG.int_mode */ + reg_data = BMP5_SET_BITS_POS_0(reg_data, BMP5_INT_MODE, INTERRUPT_MODE); + reg_data = BMP5_SET_BITSLICE(reg_data, BMP5_INT_POL, INTERRUPT_POLARITY); + reg_data = BMP5_SET_BITSLICE(reg_data, BMP5_INT_OD, INTERRUPT_DRIVE); + reg_data = BMP5_SET_BITSLICE(reg_data, BMP5_INT_EN, BMP5_ENABLE); + + rslt = _interface->set_reg(reg_data, BMP5_REG_INT_CONFIG_ADDR); + + if (rslt != PX4_OK) { + return PX4_ERROR; + } + + return PX4_OK; +} + +int BMP581::int_source_select() +{ + uint8_t reg_data; + int rslt; + + reg_data = _interface->get_reg(BMP5_REG_INT_SOURCE_ADDR); + + reg_data = BMP5_SET_BITS_POS_0(reg_data, BMP5_INT_DRDY_EN, BMP5_ENABLE); + reg_data = BMP5_SET_BITSLICE(reg_data, BMP5_INT_FIFO_FULL_EN, BMP5_DISABLE); + reg_data = BMP5_SET_BITSLICE(reg_data, BMP5_INT_FIFO_THRES_EN, BMP5_DISABLE); + reg_data = BMP5_SET_BITSLICE(reg_data, BMP5_INT_OOR_PRESS_EN, BMP5_DISABLE); + + rslt = _interface->set_reg(reg_data, BMP5_REG_INT_SOURCE_ADDR); + + if (rslt != PX4_OK) { + return PX4_ERROR; + } + + return PX4_OK; +} + +/*! + * @brief This API reads the temperature(deg C) or both pressure(Pa) and temperature(deg C) data from the + * sensor and store it in the bmp5_sensor_data structure instance passed by the user. + */ +int BMP581::get_sensor_data(bmp5_sensor_data *sensor_data) +{ + uint8_t reg_data[6] = {0}; + int32_t raw_data_t; + uint32_t raw_data_p; + int8_t rslt; + + rslt = _interface->get_reg_buf(BMP5_REG_TEMP_DATA_XLSB_ADDR, reg_data, 6); + + if (rslt != PX4_OK) { + return PX4_ERROR; + } + + raw_data_t = (int32_t)((int32_t)((uint32_t)(((uint32_t)reg_data[2] << 16) | ((uint16_t)reg_data[1] << 8) | reg_data[0]) + << 8) >> 8); + /* Division by 2^16(whose equivalent value is 65536) is performed to get temperature data in deg C */ + sensor_data->temperature = (float)(raw_data_t / 65536.0); + + if (PRESSURE_ENABLE == BMP5_ENABLE) { + raw_data_p = (uint32_t)((uint32_t)(reg_data[5] << 16) | (uint16_t)(reg_data[4] << 8) | reg_data[3]); + /* Division by 2^6(whose equivalent value is 64) is performed to get pressure data in Pa */ + sensor_data->pressure = (float)(raw_data_p / 64.0); + + } else { + sensor_data->pressure = 0.0; + } + + return PX4_OK; +} diff --git a/src/drivers/barometer/bmp581/bmp581.h b/src/drivers/barometer/bmp581/bmp581.h new file mode 100644 index 000000000000..56d87fa3f1df --- /dev/null +++ b/src/drivers/barometer/bmp581/bmp581.h @@ -0,0 +1,320 @@ +/**************************************************************************** + * + * Copyright (C) 2024 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file bmp581.h + * + * Shared defines for the bmp581 driver. + */ +#pragma once + +#include +#include +#include +#include +#include +#include +#include +#include + +#include "board_config.h" + +// From https://github.com/boschsensortec/BMP5-Sensor-API/blob/master/bmp5_defs.h + +/* BIT SLICE GET AND SET FUNCTIONS */ +#define BMP5_GET_BITSLICE(regvar, bitname) \ + ((regvar & bitname##_MSK) >> bitname##_POS) + +#define BMP5_SET_BITSLICE(regvar, bitname, val) \ + ((regvar & ~bitname##_MSK) | \ + ((val << bitname##_POS) & bitname##_MSK)) + +#define BMP5_SET_BIT_VAL_0(reg_data, bitname) (reg_data & ~(bitname##_MSK)) + +#define BMP5_SET_BITS_POS_0(reg_data, bitname, data) \ + ((reg_data & ~(bitname##_MSK)) | \ + (data & bitname##_MSK)) + +#define BMP5_GET_BITS_POS_0(reg_data, bitname) (reg_data & (bitname##_MSK)) + +/* Chip id of BMP5 */ +#define BMP581_CHIP_ID_PRIM (0x50) +#define BMP581_CHIP_ID_SEC (0x51) + +#define BMP5_ENABLE (0x01) +#define BMP5_DISABLE (0x00) + +/* Register addresses */ +#define BMP5_REG_CHIP_ID_ADDR (0x01) +#define BMP5_REG_REV_ID_ADDR (0x02) +#define BMP5_REG_INT_CONFIG_ADDR (0x14) +#define BMP5_REG_INT_SOURCE_ADDR (0x15) +#define BMP5_REG_FIFO_SEL_ADDR (0x18) +#define BMP5_REG_TEMP_DATA_XLSB_ADDR (0x1D) +#define BMP5_REG_INT_STATUS_ADDR (0x27) +#define BMP5_REG_STATUS_ADDR (0x28) +#define BMP5_REG_NVM_ADDR (0x2B) +#define BMP5_REG_DSP_CONFIG_ADDR (0x30) +#define BMP5_REG_DSP_IIR_ADDR (0x31) +#define BMP5_REG_OSR_CONFIG_ADDR (0x36) +#define BMP5_REG_ODR_CONFIG_ADDR (0x37) +#define BMP5_REG_CMD_ADDR (0x7E) + +/* Delay definition */ +#define BMP5_DELAY_US_SOFT_RESET (2000) +#define BMP5_DELAY_US_STANDBY (2500) + +/* Soft reset command */ +#define BMP5_SOFT_RESET_CMD (0xB6) + +/* Deepstandby enable/disable */ +#define BMP5_DEEP_ENABLED (0) +#define BMP5_DEEP_DISABLED (1) + +/* ODR settings */ +#define BMP5_ODR_50_HZ (0x0F) +#define BMP5_ODR_05_HZ (0x18) +#define BMP5_ODR_01_HZ (0x1C) + + +/* Oversampling for temperature and pressure */ +#define BMP5_OVERSAMPLING_1X (0x00) +#define BMP5_OVERSAMPLING_2X (0x01) +#define BMP5_OVERSAMPLING_4X (0x02) +#define BMP5_OVERSAMPLING_8X (0x03) +#define BMP5_OVERSAMPLING_16X (0x04) +#define BMP5_OVERSAMPLING_32X (0x05) +#define BMP5_OVERSAMPLING_64X (0x06) +#define BMP5_OVERSAMPLING_128X (0x07) + +/* IIR filter for temperature and pressure */ +#define BMP5_IIR_FILTER_BYPASS (0x00) +#define BMP5_IIR_FILTER_COEFF_1 (0x01) + +/* Macro is used to bypass both iir_t and iir_p together */ +#define BMP5_IIR_BYPASS (0xC0) + +/* Interrupt configurations */ +#define BMP5_INT_MODE_PULSED (0) +#define BMP5_INT_POL_ACTIVE_HIGH (1) +#define BMP5_INT_OD_PUSHPULL (0) + +/* NVM and Interrupt status asserted macros */ +#define BMP5_INT_ASSERTED_POR_SOFTRESET_COMPLETE (0x10) +#define BMP5_INT_NVM_RDY (0x02) +#define BMP5_INT_NVM_ERR (0x04) + +/* Interrupt configurations */ +#define BMP5_INT_MODE_MSK (0x01) + +#define BMP5_INT_POL_MSK (0x02) +#define BMP5_INT_POL_POS (1) + +#define BMP5_INT_OD_MSK (0x04) +#define BMP5_INT_OD_POS (2) + +#define BMP5_INT_EN_MSK (0x08) +#define BMP5_INT_EN_POS (3) + +#define BMP5_INT_DRDY_EN_MSK (0x01) + +#define BMP5_INT_FIFO_FULL_EN_MSK (0x02) +#define BMP5_INT_FIFO_FULL_EN_POS (1) + +#define BMP5_INT_FIFO_THRES_EN_MSK (0x04) +#define BMP5_INT_FIFO_THRES_EN_POS (2) + +#define BMP5_INT_OOR_PRESS_EN_MSK (0x08) +#define BMP5_INT_OOR_PRESS_EN_POS (3) + +/* ODR configuration */ +#define BMP5_ODR_MSK (0x7C) +#define BMP5_ODR_POS (2) + +/* OSR configurations */ +#define BMP5_TEMP_OS_MSK (0x07) + +#define BMP5_PRESS_OS_MSK (0x38) +#define BMP5_PRESS_OS_POS (3) + +/* Pressure enable */ +#define BMP5_PRESS_EN_MSK (0x40) +#define BMP5_PRESS_EN_POS (6) + +/* IIR configurations */ +#define BMP5_SET_IIR_TEMP_MSK (0x07) + +#define BMP5_SET_IIR_PRESS_MSK (0x38) +#define BMP5_SET_IIR_PRESS_POS (3) + +#define BMP5_SHDW_SET_IIR_TEMP_MSK (0x08) +#define BMP5_SHDW_SET_IIR_TEMP_POS (3) + +#define BMP5_SHDW_SET_IIR_PRESS_MSK (0x20) +#define BMP5_SHDW_SET_IIR_PRESS_POS (5) + +#define BMP5_IIR_FLUSH_FORCED_EN_MSK (0x04) +#define BMP5_IIR_FLUSH_FORCED_EN_POS (2) + +/* Powermode */ +#define BMP5_POWERMODE_MSK (0x03) + +#define BMP5_DEEP_DISABLE_MSK (0x80) +#define BMP5_DEEP_DISABLE_POS (7) + +/* Fifo configurations */ +#define BMP5_FIFO_FRAME_SEL_MSK (0x03) + +/* NVM and Interrupt status asserted macros */ +#define BMP5_INT_ASSERTED_DRDY (0x01) + +/*! + * @brief Enumerator for powermode selection + */ +enum bmp5_powermode { + BMP5_POWERMODE_STANDBY, + BMP5_POWERMODE_NORMAL, + BMP5_POWERMODE_FORCED, + BMP5_POWERMODE_CONTINOUS, + BMP5_POWERMODE_DEEP_STANDBY +}; + +/*! + * @brief Enumerator for interface selection + */ +enum bmp5_intf { + BMP5_SPI_INTF, + BMP5_I2C_INTF, +}; + +/*! + * @brief BMP5 sensor data structure which comprises of temperature and pressure in floating point with data type as + * float for pressure and temperature. + */ +struct bmp5_sensor_data { + float pressure; + float temperature; +}; + +/* + * BMP581 internal constants and data structures. + */ +class IBMP581 +{ +public: + virtual ~IBMP581() = default; + + virtual int init() = 0; + + // read reg value + virtual uint8_t get_reg(uint8_t addr) = 0; + + // bulk read reg value + virtual int get_reg_buf(uint8_t addr, uint8_t *buf, uint8_t len) = 0; + + // write reg value + virtual int set_reg(uint8_t value, uint8_t addr) = 0; + + virtual uint32_t get_device_id() const = 0; + + virtual uint8_t get_device_address() const = 0; +}; + +class BMP581 : public I2CSPIDriver +{ +public: + BMP581(const I2CSPIDriverConfig &config, IBMP581 *interface); + virtual ~BMP581(); + + static I2CSPIDriverBase *instantiate(const I2CSPIDriverConfig &config, int runtime_instance); + static void print_usage(); + + virtual int init(); + + void print_status(); + + void RunImpl(); + + +private: + static constexpr uint8_t OVERSAMPLING_TEMPERATURE{BMP5_OVERSAMPLING_2X}; + static constexpr uint8_t OVERSAMPLING_PRESSURE{BMP5_OVERSAMPLING_32X}; + static constexpr uint8_t OUTPUT_DATA_RATE{BMP5_ODR_50_HZ}; + static constexpr uint8_t PRESSURE_ENABLE{BMP5_ENABLE}; + static constexpr uint8_t IIR_FILTER_COEFF_TEMPERATURE{BMP5_IIR_FILTER_COEFF_1}; + static constexpr uint8_t IIR_FILTER_COEFF_PRESSURE{BMP5_IIR_FILTER_COEFF_1}; + + static constexpr uint8_t INTERRUPT_MODE{BMP5_INT_MODE_PULSED}; + static constexpr uint8_t INTERRUPT_POLARITY{BMP5_INT_POL_ACTIVE_HIGH}; + static constexpr uint8_t INTERRUPT_DRIVE{BMP5_INT_OD_PUSHPULL}; + + uORB::PublicationMulti _sensor_baro_pub{ORB_ID(sensor_baro)}; + IBMP581 *_interface{nullptr}; + + unsigned _measure_interval{0}; // interval in microseconds needed to measure + + perf_counter_t _sample_perf; + perf_counter_t _measure_perf; + perf_counter_t _comms_errors; + + bool _collect_phase{false}; + + uint8_t _chip_id{0}; + uint8_t _chip_rev_id{0}; + + void start(); + int measure(); + int collect(); // get results and publish + + uint32_t get_measurement_time(); + + int soft_reset(); + int set_config(); + uint8_t get_interrupt_status(); + int configure_interrupt(); + int int_source_select(); + uint8_t get_power_mode(); + int set_power_mode(uint8_t power_mode); + uint8_t check_deepstandby_mode(); + int set_standby_mode(); + int set_deep_standby_mode(); + int set_osr_odr_press_config(); + int set_iir_config(); + int get_sensor_data(bmp5_sensor_data *sensor_data); +}; + + +/* interface factories */ +extern IBMP581 *bmp581_spi_interface(uint8_t busnum, uint32_t device, int bus_frequency, spi_mode_e spi_mode); +extern IBMP581 *bmp581_i2c_interface(uint8_t busnum, uint32_t device, int bus_frequency); +extern enum bmp5_intf intf; diff --git a/src/drivers/barometer/bmp581/bmp581_i2c.cpp b/src/drivers/barometer/bmp581/bmp581_i2c.cpp new file mode 100644 index 000000000000..92a4d7e79d77 --- /dev/null +++ b/src/drivers/barometer/bmp581/bmp581_i2c.cpp @@ -0,0 +1,94 @@ +/**************************************************************************** + * + * Copyright (c) 2024 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file bmp581_i2c.cpp + * + * I2C interface for BMP581 + */ + +#include + +#include "bmp581.h" + +class BMP581_I2C: public device::I2C, public IBMP581 +{ +public: + BMP581_I2C(uint8_t bus, uint32_t device, int bus_frequency); + virtual ~BMP581_I2C() = default; + + int init(); + + uint8_t get_reg(uint8_t addr); + int get_reg_buf(uint8_t addr, uint8_t *buf, uint8_t len); + int set_reg(uint8_t value, uint8_t addr); + + uint32_t get_device_id() const override { return device::I2C::get_device_id(); } + + uint8_t get_device_address() const override { return device::I2C::get_device_address(); } +}; + +IBMP581 *bmp581_i2c_interface(uint8_t busnum, uint32_t device, int bus_frequency) +{ + return new BMP581_I2C(busnum, device, bus_frequency); +} + +BMP581_I2C::BMP581_I2C(uint8_t bus, uint32_t device, int bus_frequency) : + I2C(DRV_BARO_DEVTYPE_BMP581, MODULE_NAME, bus, device, bus_frequency) +{ +} + +int BMP581_I2C::init() +{ + return I2C::init(); +} + +uint8_t BMP581_I2C::get_reg(uint8_t addr) +{ + uint8_t cmd[2] = { (uint8_t)(addr), 0}; + transfer(&cmd[0], 1, &cmd[1], 1); + + return cmd[1]; +} + +int BMP581_I2C::get_reg_buf(uint8_t addr, uint8_t *buf, uint8_t len) +{ + const uint8_t cmd = (uint8_t)(addr); + return transfer(&cmd, sizeof(cmd), buf, len); +} + +int BMP581_I2C::set_reg(uint8_t value, uint8_t addr) +{ + uint8_t cmd[2] = { (uint8_t)(addr), value}; + return transfer(cmd, sizeof(cmd), nullptr, 0); +} diff --git a/src/drivers/barometer/bmp581/bmp581_main.cpp b/src/drivers/barometer/bmp581/bmp581_main.cpp new file mode 100644 index 000000000000..d92ba376ac89 --- /dev/null +++ b/src/drivers/barometer/bmp581/bmp581_main.cpp @@ -0,0 +1,127 @@ +/**************************************************************************** + * + * Copyright (c) 2024 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include +#include +#include + +#include "bmp581.h" + +enum bmp5_intf intf; + +void BMP581::print_usage() +{ + PRINT_MODULE_USAGE_NAME("bmp581", "driver"); + PRINT_MODULE_USAGE_SUBCATEGORY("baro"); + PRINT_MODULE_USAGE_COMMAND("start"); + PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, true); + PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(0x46); + PRINT_MODULE_USAGE_DEFAULT_COMMANDS(); +} + +I2CSPIDriverBase *BMP581::instantiate(const I2CSPIDriverConfig &config, int runtime_instance) +{ + IBMP581 *interface = nullptr; + + if (config.bus_type == BOARD_I2C_BUS) { + interface = bmp581_i2c_interface(config.bus, config.i2c_address, config.bus_frequency); + intf = BMP5_I2C_INTF; + + } else if (config.bus_type == BOARD_SPI_BUS) { + interface = bmp581_spi_interface(config.bus, config.spi_devid, config.bus_frequency, config.spi_mode); + intf = BMP5_SPI_INTF; + } + + if (interface == nullptr) { + PX4_ERR("failed creating interface for bus %i (devid 0x%" PRIx32 ")", config.bus, config.spi_devid); + return nullptr; + } + + if (interface->init() != OK) { + delete interface; + PX4_DEBUG("no device on bus %i (devid 0x%" PRIx32 ")", config.bus, config.spi_devid); + return nullptr; + } + + BMP581 *dev = new BMP581(config, interface); + + if (dev == nullptr) { + delete interface; + return nullptr; + } + + if (dev->init() != OK) { + delete dev; + return nullptr; + } + + return dev; +} + + +extern "C" int bmp581_main(int argc, char *argv[]) +{ + using ThisDriver = BMP581; + BusCLIArguments cli{true, true}; + cli.i2c_address = 0x46; + cli.default_i2c_frequency = 100 * 1000; + cli.default_spi_frequency = 10 * 1000 * 1000; + + const char *verb = cli.parseDefaultArguments(argc, argv); + + if (!verb) { + ThisDriver::print_usage(); + return -1; + } + + BusInstanceIterator iterator(MODULE_NAME, cli, DRV_BARO_DEVTYPE_BMP581); + + if (!strcmp(verb, "start")) { + return ThisDriver::module_start(cli, iterator); + } + + if (!strcmp(verb, "stop")) { + return ThisDriver::module_stop(iterator); + } + + if (!strcmp(verb, "status")) { + return ThisDriver::module_status(iterator); + } + + ThisDriver::print_usage(); + return -1; + + + + +} diff --git a/src/drivers/barometer/bmp581/bmp581_spi.cpp b/src/drivers/barometer/bmp581/bmp581_spi.cpp new file mode 100644 index 000000000000..cda214e623bd --- /dev/null +++ b/src/drivers/barometer/bmp581/bmp581_spi.cpp @@ -0,0 +1,102 @@ +/**************************************************************************** + * + * Copyright (c) 2024 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file bmp581_spi.cpp + * + * SPI interface for BMP 581 (NOTE: untested!) + */ + +#include + +#include "bmp581.h" + +/* SPI protocol address bits */ +#define DIR_READ (1<<7) //for set +#define DIR_WRITE ~(1<<7) //for clear + +class BMP581_SPI: public device::SPI, public IBMP581 +{ +public: + BMP581_SPI(uint8_t bus, uint32_t device, int bus_frequency, spi_mode_e spi_mode); + virtual ~BMP581_SPI() = default; + + int init(); + + uint8_t get_reg(uint8_t addr); + int get_reg_buf(uint8_t addr, uint8_t *buf, uint8_t len); + int set_reg(uint8_t value, uint8_t addr); + + uint32_t get_device_id() const override { return device::SPI::get_device_id(); } + + uint8_t get_device_address() const override { return device::SPI::get_device_address(); } +}; + +IBMP581 *bmp581_spi_interface(uint8_t busnum, uint32_t device, int bus_frequency, spi_mode_e spi_mode) +{ + return new BMP581_SPI(busnum, device, bus_frequency, spi_mode); +} + +BMP581_SPI::BMP581_SPI(uint8_t bus, uint32_t device, int bus_frequency, spi_mode_e spi_mode) : + SPI(DRV_BARO_DEVTYPE_BMP581, MODULE_NAME, bus, device, spi_mode, bus_frequency) +{ +} + +int BMP581_SPI::init() +{ + return SPI::init(); +} + +uint8_t BMP581_SPI::get_reg(uint8_t addr) +{ + uint8_t cmd[2] = { (uint8_t)(addr | DIR_READ), 0}; //set MSB bit + transfer(&cmd[0], &cmd[0], 2); + return cmd[1]; +} + +int BMP581_SPI::get_reg_buf(uint8_t addr, uint8_t *buf, uint8_t len) +{ + uint8_t cmd[len + 1] = {(uint8_t)(addr | DIR_READ)}; + int ret; + + ret = transfer(&cmd[0], &cmd[0], (len + 1)); + memcpy(buf, &cmd[1], len); + + return ret; +} + +int BMP581_SPI::set_reg(uint8_t value, uint8_t addr) +{ + uint8_t cmd[2] = { (uint8_t)(addr & DIR_WRITE), value}; //clear MSB bit + return transfer(&cmd[0], nullptr, 2); +} diff --git a/src/drivers/barometer/dps310/Kconfig b/src/drivers/barometer/dps310/Kconfig index efd7746b0985..5353cd1c6802 100644 --- a/src/drivers/barometer/dps310/Kconfig +++ b/src/drivers/barometer/dps310/Kconfig @@ -2,4 +2,4 @@ menuconfig DRIVERS_BAROMETER_DPS310 bool "dps310" default n ---help--- - Enable support for dps310 \ No newline at end of file + Enable support for dps310 diff --git a/src/drivers/barometer/invensense/icp10100/Kconfig b/src/drivers/barometer/invensense/icp10100/Kconfig deleted file mode 100644 index f5ee5a51391f..000000000000 --- a/src/drivers/barometer/invensense/icp10100/Kconfig +++ /dev/null @@ -1,7 +0,0 @@ -menuconfig DRIVERS_BAROMETER_INVENSENSE_ICP10100 - bool "icp10100" - default n - ---help--- - Enable support for icp10100 - - diff --git a/src/drivers/barometer/invensense/icp10111/Kconfig b/src/drivers/barometer/invensense/icp10111/Kconfig deleted file mode 100644 index 1681c07d3831..000000000000 --- a/src/drivers/barometer/invensense/icp10111/Kconfig +++ /dev/null @@ -1,6 +0,0 @@ -menuconfig DRIVERS_BAROMETER_INVENSENSE_ICP10111 - bool "icp10100" - default n - ---help--- - Enable support for icp10111 - diff --git a/src/drivers/barometer/invensense/icp201xx/ICP201XX.cpp b/src/drivers/barometer/invensense/icp201xx/ICP201XX.cpp index a863ac975b5e..4cc21739323a 100755 --- a/src/drivers/barometer/invensense/icp201xx/ICP201XX.cpp +++ b/src/drivers/barometer/invensense/icp201xx/ICP201XX.cpp @@ -144,7 +144,8 @@ ICP201XX::RunImpl() if (version == 0xB2) { /* B2 version Asic is detected. Boot up sequence is not required for B2 Asic, so returning */ _state = STATE::CONFIG; - ScheduleDelayed(10_ms); + ScheduleDelayed(30_ms); + break; } /* Read boot up status and avoid re running boot up sequence if it is already done */ @@ -250,7 +251,7 @@ ICP201XX::RunImpl() case STATE::CONFIG: { if (configure()) { _state = STATE::WAIT_READ; - ScheduleDelayed(10_ms); + ScheduleDelayed(50_ms); } else { if (hrt_elapsed_time(&_reset_timestamp) > 1000_ms) { diff --git a/src/drivers/barometer/lps22hb/Kconfig b/src/drivers/barometer/lps22hb/Kconfig index 6823384732f1..f483164a1d96 100644 --- a/src/drivers/barometer/lps22hb/Kconfig +++ b/src/drivers/barometer/lps22hb/Kconfig @@ -2,4 +2,4 @@ menuconfig DRIVERS_BAROMETER_LPS22HB bool "lps22hb" default n ---help--- - Enable support for lps22hb \ No newline at end of file + Enable support for lps22hb diff --git a/src/drivers/barometer/lps25h/Kconfig b/src/drivers/barometer/lps25h/Kconfig index fa17e99ed9c7..3db2553a8f72 100644 --- a/src/drivers/barometer/lps25h/Kconfig +++ b/src/drivers/barometer/lps25h/Kconfig @@ -2,4 +2,4 @@ menuconfig DRIVERS_BAROMETER_LPS25H bool "lps25h" default n ---help--- - Enable support for lps25h \ No newline at end of file + Enable support for lps25h diff --git a/src/drivers/barometer/lps33hw/Kconfig b/src/drivers/barometer/lps33hw/Kconfig index bcf7f33edd6a..bb049961cd46 100644 --- a/src/drivers/barometer/lps33hw/Kconfig +++ b/src/drivers/barometer/lps33hw/Kconfig @@ -2,4 +2,4 @@ menuconfig DRIVERS_BAROMETER_LPS33HW bool "lps33hw" default n ---help--- - Enable support for lps33hw \ No newline at end of file + Enable support for lps33hw diff --git a/src/drivers/barometer/mpl3115a2/Kconfig b/src/drivers/barometer/mpl3115a2/Kconfig index 6d95e95af6a4..d11aac6500af 100644 --- a/src/drivers/barometer/mpl3115a2/Kconfig +++ b/src/drivers/barometer/mpl3115a2/Kconfig @@ -2,4 +2,4 @@ menuconfig DRIVERS_BAROMETER_MPL3115A2 bool "mpl3115a2" default n ---help--- - Enable support for mpl3115a2 \ No newline at end of file + Enable support for mpl3115a2 diff --git a/src/drivers/barometer/ms5611/Kconfig b/src/drivers/barometer/ms5611/Kconfig index 849894ba2720..a09cf38bbd0c 100644 --- a/src/drivers/barometer/ms5611/Kconfig +++ b/src/drivers/barometer/ms5611/Kconfig @@ -2,4 +2,4 @@ menuconfig DRIVERS_BAROMETER_MS5611 bool "ms5611" default n ---help--- - Enable support for ms5611 \ No newline at end of file + Enable support for ms5611 diff --git a/src/drivers/barometer/ms5837/MS5837.cpp b/src/drivers/barometer/ms5837/MS5837.cpp index 7041d886d937..00382070dedf 100644 --- a/src/drivers/barometer/ms5837/MS5837.cpp +++ b/src/drivers/barometer/ms5837/MS5837.cpp @@ -340,7 +340,7 @@ int MS5837::_collect() sensor_baro.timestamp_sample = timestamp_sample; sensor_baro.device_id = get_device_id(); sensor_baro.pressure = P; - sensor_baro.temperature = T; + sensor_baro.temperature = _last_temperature; sensor_baro.error_count = perf_event_count(_comms_errors); sensor_baro.timestamp = hrt_absolute_time(); _sensor_baro_pub.publish(sensor_baro); diff --git a/src/drivers/barometer/tcbp001ta/Kconfig b/src/drivers/barometer/tcbp001ta/Kconfig index ea251c373668..929d3c5eb9c6 100644 --- a/src/drivers/barometer/tcbp001ta/Kconfig +++ b/src/drivers/barometer/tcbp001ta/Kconfig @@ -2,4 +2,4 @@ menuconfig DRIVERS_BAROMETER_TCBP001TA bool "tcbp001ta" default n ---help--- - Enable support for tcbp001ta \ No newline at end of file + Enable support for tcbp001ta diff --git a/src/drivers/batt_smbus/Kconfig b/src/drivers/batt_smbus/Kconfig index 0b94c11e5535..a5e0f3b9b5fe 100644 --- a/src/drivers/batt_smbus/Kconfig +++ b/src/drivers/batt_smbus/Kconfig @@ -2,4 +2,4 @@ menuconfig DRIVERS_BATT_SMBUS bool "batt_smbus" default n ---help--- - Enable support for batt_smbus \ No newline at end of file + Enable support for batt_smbus diff --git a/src/drivers/batt_smbus/batt_smbus.cpp b/src/drivers/batt_smbus/batt_smbus.cpp index 8c5b1c73640c..194b88fa94c0 100644 --- a/src/drivers/batt_smbus/batt_smbus.cpp +++ b/src/drivers/batt_smbus/batt_smbus.cpp @@ -44,6 +44,7 @@ */ #include "batt_smbus.h" +#include extern "C" __EXPORT int batt_smbus_main(int argc, char *argv[]); @@ -115,13 +116,11 @@ void BATT_SMBUS::RunImpl() // Convert millivolts to volts. new_report.voltage_v = ((float)result) / 1000.0f; - new_report.voltage_filtered_v = new_report.voltage_v; // Read current. ret |= _interface->read_word(BATT_SMBUS_CURRENT, result); new_report.current_a = (-1.0f * ((float)(*(int16_t *)&result)) / 1000.0f) * _c_mult; - new_report.current_filtered_a = new_report.current_a; // Read average current. ret |= _interface->read_word(BATT_SMBUS_AVERAGE_CURRENT, result); @@ -160,7 +159,7 @@ void BATT_SMBUS::RunImpl() // Read battery temperature and covert to Celsius. ret |= _interface->read_word(BATT_SMBUS_TEMP, result); - new_report.temperature = ((float)result / 10.0f) + CONSTANTS_ABSOLUTE_NULL_CELSIUS; + new_report.temperature = ((float)result / 10.0f) + atmosphere::kAbsoluteNullCelsius; // Only publish if no errors. if (ret == PX4_OK) { @@ -391,6 +390,12 @@ int BATT_SMBUS::get_startup_info() uint16_t state_of_health; ret |= _interface->read_word(BATT_SMBUS_STATE_OF_HEALTH, state_of_health); + /* ManufacturerAccess dummy command to init the ManufacturerBlockAccess routine + in the BQ40Zx0 and avoid timeout during LifetimeDataFlush. + test Sleep > 20 ms to give time to init the ManufacturerBlockAccess routine*/ + ret |= _interface->write_word(BATT_SMBUS_MANUFACTURER_ACCESS, BATT_SMBUS_DEVICE_TYPE); + px4_usleep(30_ms); + if (!ret) { _serial_number = serial_num; _batt_startup_capacity = (uint16_t)((float)remaining_cap * _c_mult); diff --git a/src/drivers/batt_smbus/batt_smbus.h b/src/drivers/batt_smbus/batt_smbus.h index 1915865c80fb..b2b1e0b702b9 100644 --- a/src/drivers/batt_smbus/batt_smbus.h +++ b/src/drivers/batt_smbus/batt_smbus.h @@ -107,6 +107,7 @@ using namespace time_literals; #define BATT_SMBUS_SECURITY_KEYS 0x0035 +#define BATT_SMBUS_DEVICE_TYPE 0x0001 #define BATT_SMBUS_LIFETIME_FLUSH 0x002E #define BATT_SMBUS_LIFETIME_BLOCK_ONE 0x0060 #define BATT_SMBUS_ENABLED_PROTECTIONS_A_ADDRESS 0x4938 diff --git a/src/drivers/bootloaders/Kconfig b/src/drivers/bootloaders/Kconfig index 116e37539037..a630d51277f8 100644 --- a/src/drivers/bootloaders/Kconfig +++ b/src/drivers/bootloaders/Kconfig @@ -2,4 +2,4 @@ menuconfig DRIVERS_BOOTLOADERS bool "bootloaders" default n ---help--- - Enable support for bootloaders \ No newline at end of file + Enable support for bootloaders diff --git a/src/drivers/bootloaders/boot_app_shared.c b/src/drivers/bootloaders/boot_app_shared.c index 5c60b6561dfe..bbe1fdf71bd6 100644 --- a/src/drivers/bootloaders/boot_app_shared.c +++ b/src/drivers/bootloaders/boot_app_shared.c @@ -48,6 +48,13 @@ #include +#if !defined(shared_lock) +# define shared_lock() +#endif +#if !defined(shared_unlock) +# define shared_unlock() +#endif + #define BOOTLOADER_COMMON_APP_SIGNATURE 0xB0A04150u #define BOOTLOADER_COMMON_BOOTLOADER_SIGNATURE 0xB0A0424Cu @@ -56,20 +63,24 @@ inline static void read_shared(bootloader_app_shared_t *pshared) { + shared_unlock(); pshared->signature = getreg32(signature_LOC); pshared->bus_speed = getreg32(bus_speed_LOC); pshared->node_id = getreg32(node_id_LOC); pshared->crc.ul[CRC_L] = getreg32(crc_LoLOC); pshared->crc.ul[CRC_H] = getreg32(crc_HiLOC); + shared_lock(); } inline static void write_shared(bootloader_app_shared_t *pshared) { + shared_unlock(); putreg32(pshared->signature, signature_LOC); putreg32(pshared->bus_speed, bus_speed_LOC); putreg32(pshared->node_id, node_id_LOC); putreg32(pshared->crc.ul[CRC_L], crc_LoLOC); putreg32(pshared->crc.ul[CRC_H], crc_HiLOC); + shared_lock(); } static uint64_t calulate_signature(bootloader_app_shared_t *pshared) diff --git a/src/drivers/bootloaders/boot_app_shared.h b/src/drivers/bootloaders/boot_app_shared.h index ed36d53769a5..aee7a3bf3119 100644 --- a/src/drivers/bootloaders/boot_app_shared.h +++ b/src/drivers/bootloaders/boot_app_shared.h @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2015 PX4 Development Team. All rights reserved. + * Copyright (c) 2015, 2023 PX4 Development Team. All rights reserved. * Author: Ben Dyer * Pavel Kirienko * David Sidrane @@ -171,6 +171,42 @@ typedef begin_packed_struct struct app_descriptor_t { int bootloader_app_shared_read(bootloader_app_shared_t *shared, eRole_t role); +/**************************************************************************** + * Name: optional board_app_shared_read + * + * Description: + * When using the SocketCAN drivers. The OS brings up the CAN interface + * and will overwrite the data passed in the physical locations used + * to transfer the shared data to/from an application (internal data) + * Therfore the board's _board_initialize function must call + * bootloader_app_shared_read and cache the results. + * + * Based on the role requested, this function will conditionally populate + * a bootloader_app_shared_t structure from cached results saved by + * _board_initialize at boot. + * + * The functions will only populate the structure and return a status + * indicating success, if the internal data has the correct signature as + * requested by the Role AND has a valid crc. + * + * Input Parameters: + * shared - A pointer to a bootloader_app_shared_t return the data in if + * the internal data is valid for the requested Role + * role - An eRole_t of App or BootLoader to validate the internal data + * against. For a Bootloader this would be the value of App to + * read the application passed data. + * + * Returned value: + * OK - Indicates that the internal data has been copied to callers + * bootloader_app_shared_t structure. + * + * -EBADR - The Role or crc of the internal data was not valid. The copy + * did not occur. + * + ****************************************************************************/ + +int weak_function board_app_shared_read(bootloader_app_shared_t *shared, eRole_t role); + /**************************************************************************** * Name: bootloader_app_shared_write * diff --git a/src/drivers/camera_capture/Kconfig b/src/drivers/camera_capture/Kconfig index c8133484656e..3ae285f95dec 100644 --- a/src/drivers/camera_capture/Kconfig +++ b/src/drivers/camera_capture/Kconfig @@ -2,4 +2,4 @@ menuconfig DRIVERS_CAMERA_CAPTURE bool "camera_capture" default n ---help--- - Enable support for camera_capture \ No newline at end of file + Enable support for camera_capture diff --git a/src/drivers/camera_capture/camera_capture.cpp b/src/drivers/camera_capture/camera_capture.cpp index 91ab2663115d..7bf381354281 100644 --- a/src/drivers/camera_capture/camera_capture.cpp +++ b/src/drivers/camera_capture/camera_capture.cpp @@ -226,7 +226,9 @@ void CameraCapture::capture_trampoline(void *context, uint32_t chan_index, hrt_abstime edge_time, uint32_t edge_state, uint32_t overflow) { - camera_capture::g_camera_capture->capture_callback(chan_index, edge_time, edge_state, overflow); + if (camera_capture::g_camera_capture) { + camera_capture::g_camera_capture->capture_callback(chan_index, edge_time, edge_state, overflow); + } } void @@ -359,6 +361,11 @@ CameraCapture::stop() work_cancel(HPWORK, &_work_publisher); + if (_capture_channel >= 0) { + up_input_capture_set(_capture_channel, Disabled, 0, nullptr, nullptr); + } + + if (camera_capture::g_camera_capture != nullptr) { delete (camera_capture::g_camera_capture); } diff --git a/src/drivers/camera_capture/camera_capture_params.c b/src/drivers/camera_capture/camera_capture_params.c index f82d0318bf3d..606cf91f230f 100644 --- a/src/drivers/camera_capture/camera_capture_params.c +++ b/src/drivers/camera_capture/camera_capture_params.c @@ -84,4 +84,4 @@ PARAM_DEFINE_INT32(CAM_CAP_MODE, 0); * @group Camera Control * @reboot_required true */ -PARAM_DEFINE_INT32(CAM_CAP_EDGE, 0); \ No newline at end of file +PARAM_DEFINE_INT32(CAM_CAP_EDGE, 0); diff --git a/src/drivers/camera_trigger/Kconfig b/src/drivers/camera_trigger/Kconfig index b07f7eec0357..70756b380315 100644 --- a/src/drivers/camera_trigger/Kconfig +++ b/src/drivers/camera_trigger/Kconfig @@ -2,4 +2,4 @@ menuconfig DRIVERS_CAMERA_TRIGGER bool "camera_trigger" default n ---help--- - Enable support for camera_trigger \ No newline at end of file + Enable support for camera_trigger diff --git a/src/drivers/camera_trigger/camera_trigger.cpp b/src/drivers/camera_trigger/camera_trigger.cpp index c03e63aca45a..33d89f3c0166 100644 --- a/src/drivers/camera_trigger/camera_trigger.cpp +++ b/src/drivers/camera_trigger/camera_trigger.cpp @@ -53,6 +53,7 @@ #include #include #include +#include #include #include @@ -314,7 +315,7 @@ CameraTrigger::CameraTrigger() : // Advertise critical publishers here, because we cannot advertise in interrupt context camera_trigger_s trigger{}; - _trigger_pub = orb_advertise_queue(ORB_ID(camera_trigger), &trigger, camera_trigger_s::ORB_QUEUE_LENGTH); + _trigger_pub = orb_advertise(ORB_ID(camera_trigger), &trigger); } CameraTrigger::~CameraTrigger() @@ -924,7 +925,45 @@ CameraTrigger::status() static int usage() { - PX4_INFO("usage: camera_trigger {start|stop|status|test|test_power}\n"); + PRINT_MODULE_DESCRIPTION( + R"DESCR_STR( +### Description + +Camera trigger driver. + +This module triggers cameras that are connected to the flight-controller outputs, +or simple MAVLink cameras that implement the MAVLink trigger protocol. + +The driver responds to the following MAVLink trigger commands being found in missions or recieved over MAVLink: + +- `MAV_CMD_DO_TRIGGER_CONTROL` +- `MAV_CMD_DO_DIGICAM_CONTROL` +- `MAV_CMD_DO_SET_CAM_TRIGG_DIST` +- `MAV_CMD_OBLIQUE_SURVEY` + +The commands cause the driver to trigger camera image capture based on time or distance. +Each time an image capture is triggered, the `CAMERA_TRIGGER` MAVLink message is emitted. + +A "simple MAVLink camera" is one that supports the above command set. +When configured for this kind of camera, all the driver does is emit the `CAMERA_TRIGGER` MAVLink message as expected. +The incoming commands must be forwarded to the MAVLink camera, and are automatically emitted to MAVLink channels +when found in missions. + +The driver is configured using [Camera Trigger parameters](../advanced_config/parameter_reference.md#camera-trigger). +In particular: + +- `TRIG_INTERFACE` - How the camera is connected to flight controller (PWM, GPIO, Seagull, MAVLink) +- `TRIG_MODE` - Distance or time based triggering, with values set by `TRIG_DISTANCE` and `TRIG_INTERVAL`. + +[Setup/usage information](../camera/index.md). +)DESCR_STR"); + PRINT_MODULE_USAGE_NAME("camera_trigger", "driver"); + PRINT_MODULE_USAGE_SUBCATEGORY("camera"); + PRINT_MODULE_USAGE_COMMAND("start"); + PRINT_MODULE_USAGE_COMMAND_DESCR("stop","Stop driver"); + PRINT_MODULE_USAGE_COMMAND_DESCR("status","Print driver status information"); + PRINT_MODULE_USAGE_COMMAND_DESCR("test","Trigger one image (not logged or forwarded to GCS)"); + PRINT_MODULE_USAGE_COMMAND_DESCR("test_power","Toggle power"); return 1; } diff --git a/src/drivers/camera_trigger/camera_trigger_params.c b/src/drivers/camera_trigger/camera_trigger_params.c index 181c212e6a2d..3841e20e5642 100644 --- a/src/drivers/camera_trigger/camera_trigger_params.c +++ b/src/drivers/camera_trigger/camera_trigger_params.c @@ -163,4 +163,3 @@ PARAM_DEFINE_INT32(TRIG_PWM_SHOOT, 1900); * @reboot_required true */ PARAM_DEFINE_INT32(TRIG_PWM_NEUTRAL, 1500); - diff --git a/src/drivers/camera_trigger/interfaces/src/camera_interface.h b/src/drivers/camera_trigger/interfaces/src/camera_interface.h index f9079ea2bad2..d3c9a699ff4d 100644 --- a/src/drivers/camera_trigger/interfaces/src/camera_interface.h +++ b/src/drivers/camera_trigger/interfaces/src/camera_interface.h @@ -39,8 +39,7 @@ #include #include - -#define arraySize(a) (sizeof((a))/sizeof(((a)[0]))) +#include class CameraInterface { diff --git a/src/drivers/cdcacm_autostart/CMakeLists.txt b/src/drivers/cdcacm_autostart/CMakeLists.txt new file mode 100644 index 000000000000..8e78ba1cd24c --- /dev/null +++ b/src/drivers/cdcacm_autostart/CMakeLists.txt @@ -0,0 +1,40 @@ +############################################################################ +# +# Copyright (c) 2023 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ +px4_add_module( + MODULE drivers__cdcacm_autostart + MAIN cdcacm_autostart + COMPILE_FLAGS + # -DDEBUG_BUILD + SRCS + cdcacm_autostart.cpp + ) diff --git a/src/drivers/cdcacm_autostart/Kconfig b/src/drivers/cdcacm_autostart/Kconfig new file mode 100644 index 000000000000..575d7a31fd18 --- /dev/null +++ b/src/drivers/cdcacm_autostart/Kconfig @@ -0,0 +1,6 @@ +menuconfig DRIVERS_CDCACM_AUTOSTART + bool "cdcacm_autostart" + default n + depends on MODULES_MAVLINK + ---help--- + Enable support for cdcacm_autostart diff --git a/src/drivers/cdcacm_autostart/cdcacm_autostart.cpp b/src/drivers/cdcacm_autostart/cdcacm_autostart.cpp new file mode 100644 index 000000000000..3c963e798820 --- /dev/null +++ b/src/drivers/cdcacm_autostart/cdcacm_autostart.cpp @@ -0,0 +1,664 @@ +/**************************************************************************** + * + * Copyright (c) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#if defined(CONFIG_SYSTEM_CDCACM) + +#include "cdcacm_autostart.h" + +__BEGIN_DECLS +#include +#include + +extern int sercon_main(int c, char **argv); +extern int serdis_main(int c, char **argv); +__END_DECLS + +#include + +#define USB_DEVICE_PATH "/dev/ttyACM0" + +#if defined(CONFIG_SERIAL_PASSTHRU_UBLOX) +# undef SERIAL_PASSTHRU_UBLOX_DEV +# if defined(CONFIG_SERIAL_PASSTHRU_GPS1) && defined(CONFIG_BOARD_SERIAL_GPS1) +# define SERIAL_PASSTHRU_UBLOX_DEV CONFIG_BOARD_SERIAL_GPS1 +# elif defined(CONFIG_SERIAL_PASSTHRU_GPS2)&& defined(CONFIG_BOARD_SERIAL_GPS2) +# define SERIAL_PASSTHRU_UBLOX_DEV CONFIG_BOARD_SERIAL_GPS2 +# elif defined(CONFIG_SERIAL_PASSTHRU_GPS3)&& defined(CONFIG_BOARD_SERIAL_GPS3) +# define SERIAL_PASSTHRU_UBLOX_DEV CONFIG_BOARD_SERIAL_GPS3 +# elif defined(CONFIG_SERIAL_PASSTHRU_GPS4)&& defined(CONFIG_BOARD_SERIAL_GPS4) +# define SERIAL_PASSTHRU_UBLOX_DEV CONFIG_BOARD_SERIAL_GPS4 +# elif defined(CONFIG_SERIAL_PASSTHRU_GPS5) && defined(CONFIG_BOARD_SERIAL_GPS5) +# define SERIAL_PASSTHRU_UBLOX_DEV CONFIG_BOARD_SERIAL_GPS5 +# endif +# if !defined(SERIAL_PASSTHRU_UBLOX_DEV) +# error "CONFIG_SERIAL_PASSTHRU_GPSn and CONFIG_BOARD_SERIAL_GPSn must be defined" +# endif +#endif + +CdcAcmAutostart::CdcAcmAutostart() : + ModuleParams(nullptr), + ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::lp_default) +{} + +CdcAcmAutostart::~CdcAcmAutostart() +{ + PX4_INFO("Stopping CDC/ACM autostart"); + + if (_ttyacm_fd >= 0) { + px4_close(_ttyacm_fd); + } + + ScheduleClear(); +} + +int CdcAcmAutostart::Start() +{ + PX4_INFO("Starting CDC/ACM autostart"); + UpdateParams(true); + + ScheduleNow(); + + return PX4_OK; +} + +void CdcAcmAutostart::Run() +{ + if (should_exit()) { + exit_and_cleanup(); + return; + } + + UpdateParams(); + + run_state_machine(); +} + +void CdcAcmAutostart::run_state_machine() +{ + _reschedule_time = 500_ms; + _vbus_present = (board_read_VBUS_state() == PX4_OK); + + // If the hardware supports RESET lockout that has nArmed ANDed with VBUS + // vbus_sense may drop during a param save which uses + // BOARD_INDICATE_EXTERNAL_LOCKOUT_STATE to prevent external resets + // while writing the params. If we are not armed and nARMRED is low + // we are in such a lock out so ignore changes on VBUS_SENSE during this + // time. +#if defined(BOARD_GET_EXTERNAL_LOCKOUT_STATE) + + if (BOARD_GET_EXTERNAL_LOCKOUT_STATE() == 0) { + _vbus_present = _vbus_present_prev; + ScheduleDelayed(500_ms); + return; + } + +#endif + + // Do not reconfigure USB while flying + actuator_armed_s report; + _actuator_armed_sub.copy(&report); + + if (report.armed) { + _vbus_present_prev = _vbus_present; + + } else { + + switch (_state) { + case UsbAutoStartState::disconnected: + state_disconnected(); + break; + + case UsbAutoStartState::connecting: + state_connecting(); + break; + + case UsbAutoStartState::connected: + state_connected(); + break; + + case UsbAutoStartState::disconnecting: + state_disconnecting(); + break; + } + } + + _vbus_present_prev = _vbus_present; + ScheduleDelayed(_reschedule_time); +} + +void CdcAcmAutostart::state_connected() +{ + if (!_vbus_present && !_vbus_present_prev && (_active_protocol == UsbProtocol::mavlink)) { + PX4_DEBUG("lost vbus!"); + sched_lock(); + static const char app[] {"mavlink"}; + static const char *stop_argv[] {"mavlink", "stop", "-d", USB_DEVICE_PATH, NULL}; + exec_builtin(app, (char **)stop_argv, NULL, 0); + sched_unlock(); + _state = UsbAutoStartState::disconnecting; + } +} + +void CdcAcmAutostart::state_disconnected() +{ + if (_vbus_present && _vbus_present_prev) { + PX4_DEBUG("starting sercon"); + + if (sercon_main(0, nullptr) == EXIT_SUCCESS) { + _state = UsbAutoStartState::connecting; + PX4_DEBUG("state connecting"); + _reschedule_time = 1_s; + } + + } else if (_vbus_present && !_vbus_present_prev) { + // USB just connected, try again soon + _reschedule_time = 100_ms; + } +} + +void CdcAcmAutostart::state_connecting() +{ + int bytes_available = 0; +#if defined(CONFIG_SERIAL_PASSTHRU_UBLOX) + struct termios uart_config; + speed_t baudrate; +#endif + + if (!_vbus_present) { + PX4_DEBUG("No VBUS"); + goto fail; + } + + if (_ttyacm_fd < 0) { + PX4_DEBUG("opening port"); + _ttyacm_fd = px4_open(USB_DEVICE_PATH, O_RDONLY | O_NONBLOCK); + } + + if (_ttyacm_fd < 0) { + PX4_DEBUG("can't open port"); + // fail silently and keep trying to open the port + return; + } + + if (_sys_usb_auto.get() == 2) { + PX4_INFO("Starting mavlink on %s (SYS_USB_AUTO=2)", USB_DEVICE_PATH); + + if (start_mavlink()) { + _state = UsbAutoStartState::connected; + _active_protocol = UsbProtocol::mavlink; + + } else { + _state = UsbAutoStartState::disconnecting; + _reschedule_time = 100_ms; + } + + return; + + } else if (_sys_usb_auto.get() == 0) { + // Do nothing + _state = UsbAutoStartState::connected; + _active_protocol = UsbProtocol::none; + return; + } + + // Otherwise autodetect + + if ((px4_ioctl(_ttyacm_fd, FIONREAD, &bytes_available) != PX4_OK) || + (bytes_available < 3)) { + PX4_DEBUG("bytes_available: %d", bytes_available); + // Return back to connecting state to check again soon + return; + } + + // Non-blocking read + _bytes_read = px4_read(_ttyacm_fd, _buffer, sizeof(_buffer)); + +#if defined(DEBUG_BUILD) + + if (_bytes_read > 0) { + fprintf(stderr, "%d bytes\n", _bytes_read); + + for (int i = 0; i < _bytes_read; i++) { + fprintf(stderr, "|%X", _buffer[i]); + } + + fprintf(stderr, "\n"); + } + +#endif // DEBUG_BUILD + + if (_bytes_read <= 0) { + PX4_DEBUG("no _bytes_read"); + // Return back to connecting state to check again soon + return; + } + +#if defined(CONFIG_SERIAL_PASSTHRU_UBLOX) + // Get the baudrate for serial passthru before closing the port. + tcgetattr(_ttyacm_fd, &uart_config); + baudrate = cfgetspeed(&uart_config); +#endif + PX4_DEBUG("_bytes_read %d", _bytes_read); + px4_close(_ttyacm_fd); + _ttyacm_fd = -1; + + // Parse for mavlink reboot command + if (scan_buffer_for_mavlink_reboot()) { + // Reboot incoming. Return without rescheduling. + return; + } + + // Parse for mavlink heartbeats (v1 and v2). + if (scan_buffer_for_mavlink_heartbeat()) { + if (start_mavlink()) { + _state = UsbAutoStartState::connected; + _active_protocol = UsbProtocol::mavlink; + + } else { + _state = UsbAutoStartState::disconnecting; + _reschedule_time = 100_ms; + } + + return; + } + + // Parse for carriage returns indicating someone is trying to use the nsh. + if (scan_buffer_for_carriage_returns()) { + if (start_nsh()) { + _state = UsbAutoStartState::connected; + _active_protocol = UsbProtocol::nsh; + + } else { + _state = UsbAutoStartState::disconnecting; + _reschedule_time = 100_ms; + } + + return; + } + +#if defined(CONFIG_SERIAL_PASSTHRU_UBLOX) + + // Parse for ublox start of packet byte sequence. + if (scan_buffer_for_ublox_bytes()) { + if (start_ublox_serial_passthru(baudrate)) { + _state = UsbAutoStartState::connected; + _active_protocol = UsbProtocol::ublox; + + } else { + _state = UsbAutoStartState::disconnecting; + _reschedule_time = 100_ms; + } + + return; + } + +#endif + + return; + +fail: + PX4_DEBUG("fail..."); + + // VBUS not present, open failed + if (_ttyacm_fd >= 0) { + px4_close(_ttyacm_fd); + _ttyacm_fd = -1; + } + + _state = UsbAutoStartState::disconnecting; +} + +void CdcAcmAutostart::state_disconnecting() +{ + PX4_DEBUG("state_disconnecting"); + + if (_ttyacm_fd > 0) { + px4_close(_ttyacm_fd); + } + + // Disconnect serial + serdis_main(0, NULL); + _state = UsbAutoStartState::disconnected; + _active_protocol = UsbProtocol::none; +} + +bool CdcAcmAutostart::scan_buffer_for_mavlink_reboot() +{ + bool rebooting = false; + + // Mavlink reboot/shutdown command + // COMMAND_LONG (#76) with command MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN (246) + static constexpr int MAVLINK_COMMAND_LONG_MIN_LENGTH = 41; + + if (_bytes_read < MAVLINK_COMMAND_LONG_MIN_LENGTH) { + return rebooting; + } + + // scan buffer for mavlink COMMAND_LONG + for (int i = 0; i < _bytes_read - MAVLINK_COMMAND_LONG_MIN_LENGTH; i++) { + if ((_buffer[i] == 0xFE) // Mavlink v1 start byte + && (_buffer[i + 5] == 76) // 76=0x4C COMMAND_LONG + && (_buffer[i + 34] == 246) // 246=0xF6 MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN + ) { + // mavlink v1 COMMAND_LONG + // buffer[0]: start byte (0xFE for mavlink v1) + // buffer[3]: SYSID + // buffer[4]: COMPID + // buffer[5]: message id (COMMAND_LONG 76=0x4C) + // buffer[6-10]: COMMAND_LONG param 1 (little endian float) + // buffer[34]: COMMAND_LONG command MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN (246/0xF6) + float param1_raw = 0; + memcpy(¶m1_raw, &_buffer[i + 6], 4); + int param1 = roundf(param1_raw); + + PX4_INFO("%s: Mavlink MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN param 1: %d (SYSID:%d COMPID:%d)", + USB_DEVICE_PATH, param1, _buffer[i + 3], _buffer[i + 4]); + + if (param1 == 1) { + // 1: Reboot autopilot + rebooting = true; + px4_reboot_request(REBOOT_REQUEST, 0); + + } else if (param1 == 2) { + // 2: Shutdown autopilot +#if defined(BOARD_HAS_POWER_CONTROL) + rebooting = true; + px4_shutdown_request(0); +#endif // BOARD_HAS_POWER_CONTROL + + } else if (param1 == 3) { + // 3: Reboot autopilot and keep it in the bootloader until upgraded. + rebooting = true; + px4_reboot_request(REBOOT_TO_BOOTLOADER, 0); + } + } + } + + return rebooting; +} + +bool CdcAcmAutostart::scan_buffer_for_mavlink_heartbeat() +{ + static constexpr int MAVLINK_HEARTBEAT_MIN_LENGTH = 9; + bool start_mavlink = false; + + if (_bytes_read < MAVLINK_HEARTBEAT_MIN_LENGTH) { + return start_mavlink; + } + + // scan buffer for mavlink HEARTBEAT (v1 & v2) + for (int i = 0; i < _bytes_read - MAVLINK_HEARTBEAT_MIN_LENGTH; i++) { + if ((_buffer[i] == 0xFE) && (_buffer[i + 1] == 9) && (_buffer[i + 5] == 0)) { + // mavlink v1 HEARTBEAT + // buffer[0]: start byte (0xFE for mavlink v1) + // buffer[1]: length (9 for HEARTBEAT) + // buffer[3]: SYSID + // buffer[4]: COMPID + // buffer[5]: mavlink message id (0 for HEARTBEAT) + PX4_INFO("%s: launching mavlink (HEARTBEAT v1 from SYSID:%d COMPID:%d)", + USB_DEVICE_PATH, _buffer[i + 3], _buffer[i + 4]); + start_mavlink = true; + + } else if ((_buffer[i] == 0xFD) && (_buffer[i + 1] == 9) + && (_buffer[i + 7] == 0) && (_buffer[i + 8] == 0) && (_buffer[i + 9] == 0)) { + // mavlink v2 HEARTBEAT + // buffer[0]: start byte (0xFD for mavlink v2) + // buffer[1]: length (9 for HEARTBEAT) + // buffer[5]: SYSID + // buffer[6]: COMPID + // buffer[7:9]: mavlink message id (0 for HEARTBEAT) + PX4_INFO("%s: launching mavlink (HEARTBEAT v2 from SYSID:%d COMPID:%d)", + USB_DEVICE_PATH, _buffer[i + 5], _buffer[i + 6]); + start_mavlink = true; + } + } + + return start_mavlink; +} + +bool CdcAcmAutostart::scan_buffer_for_carriage_returns() +{ + bool start_nsh = false; + + if (_bytes_read < 3) { + return start_nsh; + } + + // nshterm (3 carriage returns) + // scan buffer looking for 3 consecutive carriage returns (0xD) + for (int i = 1; i < _bytes_read - 1; i++) { + if (_buffer[i - 1] == 0xD && _buffer[i] == 0xD && _buffer[i + 1] == 0xD) { + PX4_INFO("%s: launching nshterm", USB_DEVICE_PATH); + start_nsh = true; + break; + } + } + + return start_nsh; +} + +bool CdcAcmAutostart::scan_buffer_for_ublox_bytes() +{ + bool success = false; + + if (_bytes_read < 4) { + return success; + } + + // scan buffer looking for 0xb5 0x62 which indicates the start of a packet + for (int i = 0; i < _bytes_read; i++) { + bool ub = _buffer[i] == 0xb5 && _buffer[i + 1] == 0x62; + + if (ub && ((_buffer[i + 2 ] == 0x6 && (_buffer[i + 3 ] == 0xb8 || _buffer[i + 3 ] == 0x13)) || + (_buffer[i + 2 ] == 0xa && _buffer[i + 3 ] == 0x4))) { + PX4_INFO("%s: launching ublox serial passthru", USB_DEVICE_PATH); + success = true; + break; + } + } + + return success; +} + +bool CdcAcmAutostart::start_mavlink() +{ + bool success = false; + char mavlink_mode_string[3]; + snprintf(mavlink_mode_string, sizeof(mavlink_mode_string), "%ld", _usb_mav_mode.get()); + static const char *argv[] {"mavlink", "start", "-d", USB_DEVICE_PATH, "-m", mavlink_mode_string, nullptr}; + + if (execute_process((char **)argv) > 0) { + success = true; + } + + return success; +} + +bool CdcAcmAutostart::start_nsh() +{ + bool success = false; + static const char *argv[] {"nshterm", USB_DEVICE_PATH, nullptr}; + + if (execute_process((char **)argv) > 0) { + success = true; + } + + return success; +} + +#if defined(CONFIG_SERIAL_PASSTHRU_UBLOX) +bool CdcAcmAutostart::start_ublox_serial_passthru(speed_t baudrate) +{ + bool success = false; + char baudstring[16]; + snprintf(baudstring, sizeof(baudstring), "%ld", baudrate); + + // Stop the GPS driver first + static const char *gps_argv[] {"gps", "stop", nullptr}; + static const char *passthru_argv[] {"serial_passthru", "start", "-t", "-b", baudstring, "-e", USB_DEVICE_PATH, "-d", SERIAL_PASSTHRU_UBLOX_DEV, nullptr}; + + if (execute_process((char **)gps_argv) > 0) { + if (execute_process((char **)passthru_argv) > 0) { + success = true; + } + } + + return success; +} +#endif + +int CdcAcmAutostart::execute_process(char **argv) +{ + int pid = -1; + sched_lock(); + + pid = exec_builtin(argv[0], argv, nullptr, 0); + + sched_unlock(); + return pid; +} + +int CdcAcmAutostart::task_spawn(int argc, char *argv[]) +{ + CdcAcmAutostart *instance = new CdcAcmAutostart(); + + if (!instance) { + PX4_ERR("alloc failed"); + return -1; + } + + int ret = instance->Start(); + + if (ret != PX4_OK) { + delete instance; + return ret; + } + + _object.store(instance); + _task_id = task_id_is_work_queue; + + return ret; +} + +void CdcAcmAutostart::UpdateParams(const bool force) +{ + if (_parameter_update_sub.updated() || force) { + parameter_update_s param_update; + _parameter_update_sub.copy(¶m_update); + ModuleParams::updateParams(); + } +} + +int CdcAcmAutostart::custom_command(int argc, char *argv[]) +{ + return print_usage("unknown command"); +} + +int CdcAcmAutostart::print_status() +{ + const char *state = ""; + const char *protocol = ""; + + switch (_state) { + case UsbAutoStartState::disconnected: + state = "disconnected"; + break; + + case UsbAutoStartState::connecting: + state = "connecting"; + break; + + case UsbAutoStartState::connected: + state = "connected"; + break; + + case UsbAutoStartState::disconnecting: + state = "disconnecting"; + break; + } + + switch (_active_protocol) { + case UsbProtocol::none: + protocol = "none"; + break; + + case UsbProtocol::mavlink: + protocol = "mavlink"; + break; + + case UsbProtocol::nsh: + protocol = "nsh"; + break; + + case UsbProtocol::ublox: + protocol = "ublox"; + break; + } + + PX4_INFO("Running"); + PX4_INFO("State: %s", state); + PX4_INFO("Protocol: %s", protocol); + return PX4_OK; +} + +int CdcAcmAutostart::print_usage(const char *reason) +{ + if (reason) { + printf("%s\n\n", reason); + } + + PRINT_MODULE_DESCRIPTION( + R"DESCR_STR( +### Description +This module listens on USB and auto-configures the protocol depending on the bytes received. +The supported protocols are: MAVLink, nsh, and ublox serial passthrough. If the parameter SYS_USB_AUTO=2 +the module will only try to start mavlink as long as the USB VBUS is detected. Otherwise it will spin +and continue to check for VBUS and start mavlink once it is detected. +)DESCR_STR"); + + PRINT_MODULE_USAGE_NAME("cdcacm_autostart", "system"); + PRINT_MODULE_USAGE_COMMAND("start"); + PRINT_MODULE_USAGE_DEFAULT_COMMANDS(); + + return 0; +} + +#endif + +extern "C" __EXPORT int cdcacm_autostart_main(int argc, char *argv[]) +{ +#if defined(CONFIG_SYSTEM_CDCACM) + return CdcAcmAutostart::main(argc, argv); +#endif + return 1; +} diff --git a/src/drivers/cdcacm_autostart/cdcacm_autostart.h b/src/drivers/cdcacm_autostart/cdcacm_autostart.h new file mode 100644 index 000000000000..a0e12715151b --- /dev/null +++ b/src/drivers/cdcacm_autostart/cdcacm_autostart.h @@ -0,0 +1,124 @@ +/**************************************************************************** + * + * Copyright (c) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#pragma once + +#include +#include +#include +#include +#include +#include + +#include + +using namespace time_literals; + +class CdcAcmAutostart : public ModuleBase, public ModuleParams, public px4::ScheduledWorkItem +{ +public: + CdcAcmAutostart(); + ~CdcAcmAutostart() override; + + /** @see ModuleBase */ + static int task_spawn(int argc, char *argv[]); + + /** @see ModuleBase */ + static int custom_command(int argc, char *argv[]); + + /** @see ModuleBase */ + static int print_usage(const char *reason = nullptr); + + /** @see ModuleBase */ + int print_status() override; + + int Start(); + +private: + + enum class UsbAutoStartState { + disconnected, + connecting, + connected, + disconnecting, + }; + + enum class UsbProtocol { + none, + mavlink, + nsh, + ublox, + }; + + void Run() override; + + void UpdateParams(const bool force = false); + + void run_state_machine(); + + void state_disconnected(); + void state_connecting(); + void state_connected(); + void state_disconnecting(); + + bool scan_buffer_for_mavlink_reboot(); + bool scan_buffer_for_mavlink_heartbeat(); + bool scan_buffer_for_carriage_returns(); + bool scan_buffer_for_ublox_bytes(); + + bool start_mavlink(); + bool start_nsh(); +#if defined(CONFIG_SERIAL_PASSTHRU_UBLOX) + bool start_ublox_serial_passthru(speed_t baudrate); +#endif + int execute_process(char **argv); + + uORB::Subscription _actuator_armed_sub{ORB_ID(actuator_armed)}; + uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 500_ms}; + + UsbAutoStartState _state{UsbAutoStartState::disconnected}; + UsbProtocol _active_protocol{UsbProtocol::none}; + bool _vbus_present = false; + bool _vbus_present_prev = false; + int _ttyacm_fd = -1; + + char _buffer[80] = {}; + int _bytes_read = 0; + + uint32_t _reschedule_time = 0; + + DEFINE_PARAMETERS( + (ParamInt) _sys_usb_auto, + (ParamInt) _usb_mav_mode + ) +}; diff --git a/src/drivers/cdcacm_autostart/cdcacm_autostart_params.c b/src/drivers/cdcacm_autostart/cdcacm_autostart_params.c new file mode 100644 index 000000000000..20d436ba0601 --- /dev/null +++ b/src/drivers/cdcacm_autostart/cdcacm_autostart_params.c @@ -0,0 +1,68 @@ +/**************************************************************************** + * + * Copyright (c) 2024 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * Enable USB autostart + * + * @value 0 Disabled + * @value 1 Auto-detect + * @value 2 MAVLink + * + * @reboot_required true + * + * @group CDCACM + */ +PARAM_DEFINE_INT32(SYS_USB_AUTO, 2); + +/** + * Specify USB MAVLink mode + * + * @value 0 normal + * @value 1 custom + * @value 2 onboard + * @value 3 osd + * @value 4 magic + * @value 5 config + * @value 6 iridium + * @value 7 minimal + * @value 8 extvision + * @value 9 extvisionmin + * @value 10 gimbal + * @value 11 onboard_low_bandwidth + * @value 12 uavionix + * + * @reboot_required true + * + * @group CDCACM + */ +PARAM_DEFINE_INT32(USB_MAV_MODE, 2); diff --git a/src/drivers/cyphal/Actuators/EscClient.hpp b/src/drivers/cyphal/Actuators/EscClient.hpp index 8d3f75fba632..8dbe2aff90ad 100644 --- a/src/drivers/cyphal/Actuators/EscClient.hpp +++ b/src/drivers/cyphal/Actuators/EscClient.hpp @@ -37,12 +37,11 @@ * Client-side implementation of UDRAL specification ESC service * * Publishes the following Cyphal messages: - * reg.drone.service.actuator.common.sp.Value8.0.1 - * reg.drone.service.common.Readiness.0.1 + * reg.udral.service.actuator.common.sp.Value31.0.1 + * reg.udral.service.common.Readiness.0.1 * * Subscribes to the following Cyphal messages: - * reg.drone.service.actuator.common.Feedback.0.1 - * reg.drone.service.actuator.common.Status.0.1 + * zubax.telega.CompactFeedback.0.1 * * @author Pavel Kirienko * @author Jacob Crabill @@ -51,11 +50,13 @@ #pragma once #include -#include +#include #include #include #include #include +#include "../Subscribers/DynamicPortSubscriber.hpp" +#include "../Publishers/Publisher.hpp" #include // UDRAL Specification Messages @@ -63,16 +64,15 @@ using std::isfinite; #include #include -/// TODO: Allow derived class of Subscription at same time, to handle ESC Feedback/Status -class UavcanEscController : public UavcanPublisher + +class ReadinessPublisher : public UavcanPublisher { public: - static constexpr int MAX_ACTUATORS = MixingOutput::MAX_ACTUATORS; - UavcanEscController(CanardHandle &handle, UavcanParamManager &pmgr) : - UavcanPublisher(handle, pmgr, "udral.", "esc") { }; + ReadinessPublisher(CanardHandle &handle, UavcanParamManager &pmgr) : + UavcanPublisher(handle, pmgr, "udral.", "readiness") { }; - ~UavcanEscController() {}; + ~ReadinessPublisher() {}; void update() override { @@ -95,58 +95,18 @@ class UavcanEscController : public UavcanPublisher if (hrt_absolute_time() > _previous_pub_time + READINESS_PUBLISH_PERIOD) { publish_readiness(); } - }; + } - void update_outputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS], unsigned num_outputs) - { - if (_port_id > 0) { - reg_udral_service_actuator_common_sp_Vector31_0_1 msg_sp {0}; - size_t payload_size = reg_udral_service_actuator_common_sp_Vector31_0_1_SERIALIZATION_BUFFER_SIZE_BYTES_; - - for (uint8_t i = 0; i < MAX_ACTUATORS; i++) { - if (i < num_outputs) { - msg_sp.value[i] = static_cast(outputs[i]); - - } else { - // "unset" values published as NaN - msg_sp.value[i] = NAN; - } - } + static constexpr hrt_abstime READINESS_PUBLISH_PERIOD = 100000; + hrt_abstime _previous_pub_time = 0; - uint8_t esc_sp_payload_buffer[reg_udral_service_actuator_common_sp_Vector31_0_1_SERIALIZATION_BUFFER_SIZE_BYTES_]; - - const CanardTransferMetadata transfer_metadata = { - .priority = CanardPriorityNominal, - .transfer_kind = CanardTransferKindMessage, - .port_id = _port_id, // This is the subject-ID. - .remote_node_id = CANARD_NODE_ID_UNSET, // Messages cannot be unicast, so use UNSET. - .transfer_id = _transfer_id, - }; - - int result = reg_udral_service_actuator_common_sp_Vector31_0_1_serialize_(&msg_sp, esc_sp_payload_buffer, - &payload_size); - - if (result == 0) { - // set the data ready in the buffer and chop if needed - ++_transfer_id; // The transfer-ID shall be incremented after every transmission on this subject. - result = _canard_handle.TxPush(hrt_absolute_time() + PUBLISHER_DEFAULT_TIMEOUT_USEC, - &transfer_metadata, - payload_size, - &esc_sp_payload_buffer); - } - } - }; + uORB::Subscription _armed_sub{ORB_ID(actuator_armed)}; + actuator_armed_s _armed {}; - /** - * Sets the number of rotors - */ - void set_rotor_count(uint8_t count) { _rotor_count = count; } + uORB::Subscription _actuator_test_sub{ORB_ID(actuator_test)}; + uint64_t _actuator_test_timestamp{0}; -private: - /** - * ESC status message reception will be reported via this callback. - */ - void esc_status_sub_cb(const CanardRxTransfer &msg); + CanardTransferID _arming_transfer_id; void publish_readiness() { @@ -155,8 +115,7 @@ class UavcanEscController : public UavcanPublisher size_t payload_size = reg_udral_service_common_Readiness_0_1_SERIALIZATION_BUFFER_SIZE_BYTES_; - // Only publish if we have a valid publication ID set - if (_port_id == 0) { + if (_port_id == 0 || _port_id == CANARD_PORT_ID_UNSET) { return; } @@ -174,12 +133,12 @@ class UavcanEscController : public UavcanPublisher uint8_t arming_payload_buffer[reg_udral_service_common_Readiness_0_1_SERIALIZATION_BUFFER_SIZE_BYTES_]; - CanardPortID arming_pid = static_cast(static_cast(_port_id) + 1); + CanardPortID arming_pid = static_cast(static_cast(_port_id)); const CanardTransferMetadata transfer_metadata = { .priority = CanardPriorityNominal, .transfer_kind = CanardTransferKindMessage, - .port_id = arming_pid, // This is the subject-ID. - .remote_node_id = CANARD_NODE_ID_UNSET, // Messages cannot be unicast, so use UNSET. + .port_id = arming_pid, + .remote_node_id = CANARD_NODE_ID_UNSET, .transfer_id = _arming_transfer_id, }; @@ -187,25 +146,143 @@ class UavcanEscController : public UavcanPublisher &payload_size); if (result == 0) { - // set the data ready in the buffer and chop if needed - ++_arming_transfer_id; // The transfer-ID shall be incremented after every transmission on this subject. + ++_arming_transfer_id; result = _canard_handle.TxPush(hrt_absolute_time() + PUBLISHER_DEFAULT_TIMEOUT_USEC, &transfer_metadata, payload_size, &arming_payload_buffer); } }; +}; - uint8_t _rotor_count {0}; +class UavcanEscController : public UavcanPublisher +{ +public: + static constexpr int MAX_ACTUATORS = MixingOutput::MAX_ACTUATORS; - static constexpr hrt_abstime READINESS_PUBLISH_PERIOD = 100000; - hrt_abstime _previous_pub_time = 0; + UavcanEscController(CanardHandle &handle, UavcanParamManager &pmgr) : + UavcanPublisher(handle, pmgr, "udral.", "esc") { } - uORB::Subscription _armed_sub{ORB_ID(actuator_armed)}; - actuator_armed_s _armed {}; + ~UavcanEscController() {} - uORB::Subscription _actuator_test_sub{ORB_ID(actuator_test)}; - uint64_t _actuator_test_timestamp{0}; + void update() override + { + } - CanardTransferID _arming_transfer_id; + void update_outputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS], unsigned num_outputs) + { + if (_port_id == 0 || _port_id == CANARD_PORT_ID_UNSET) { + return; + } + + uint8_t max_num_outputs = MAX_ACTUATORS > num_outputs ? num_outputs : MAX_ACTUATORS; + + for (int8_t i = max_num_outputs - 1; i >= _max_number_of_nonzero_outputs; i--) { + if (outputs[i] != 0) { + _max_number_of_nonzero_outputs = i + 1; + break; + } + } + + uint16_t payload_buffer[reg_udral_service_actuator_common_sp_Vector31_0_1_value_ARRAY_CAPACITY_]; + + for (uint8_t i = 0; i < _max_number_of_nonzero_outputs; i++) { + payload_buffer[i] = nunavutFloat16Pack(outputs[i] / 8192.0); + } + + const CanardTransferMetadata transfer_metadata = { + .priority = CanardPriorityNominal, + .transfer_kind = CanardTransferKindMessage, + .port_id = _port_id, + .remote_node_id = CANARD_NODE_ID_UNSET, + .transfer_id = _transfer_id, + }; + + ++_transfer_id; + _canard_handle.TxPush(hrt_absolute_time() + PUBLISHER_DEFAULT_TIMEOUT_USEC, + &transfer_metadata, + _max_number_of_nonzero_outputs * 2, + &payload_buffer); + } + +private: + uint8_t _max_number_of_nonzero_outputs{1}; +}; + +class UavcanEscFeedbackSubscriber : public UavcanDynamicPortSubscriber +{ +public: + UavcanEscFeedbackSubscriber(CanardHandle &handle, UavcanParamManager &pmgr, uint8_t instance = 0) : + UavcanDynamicPortSubscriber(handle, pmgr, "zubax.", "feedback", instance) {} + + void subscribe() override + { + _canard_handle.RxSubscribe(CanardTransferKindMessage, + _subj_sub._canard_sub.port_id, + zubax_telega_CompactFeedback_0_1_SERIALIZATION_BUFFER_SIZE_BYTES, + CANARD_DEFAULT_TRANSFER_ID_TIMEOUT_USEC, + &_subj_sub._canard_sub); + _esc_status.esc_armed_flags |= 1 << _instance; + _esc_status.esc_count++; + }; + + void unsubscribe() override + { + _canard_handle.RxUnsubscribe(CanardTransferKindMessage, _subj_sub._canard_sub.port_id); + _esc_status.esc_armed_flags &= ~(1 << _instance); + _esc_status.esc_count--; + }; + + void callback(const CanardRxTransfer &receive) override + { + if (_instance >= esc_status_s::CONNECTED_ESC_MAX) { + return; + } + + auto &ref = _esc_status.esc[_instance]; + const ZubaxCompactFeedback *feedback = ((const ZubaxCompactFeedback *)(receive.payload)); + + ref.timestamp = hrt_absolute_time(); + ref.esc_address = receive.metadata.remote_node_id; + ref.esc_voltage = 0.2 * feedback->dc_voltage; + ref.esc_current = 0.2 * feedback->dc_current; + ref.esc_temperature = NAN; + ref.esc_rpm = feedback->velocity * RAD_PER_SEC_TO_RPM; + ref.esc_errorcount = 0; + + _esc_status.counter++; + _esc_status.esc_connectiontype = esc_status_s::ESC_CONNECTION_TYPE_CAN; + _esc_status.esc_armed_flags = (1 << _esc_status.esc_count) - 1; + _esc_status.timestamp = hrt_absolute_time(); + _esc_status_pub.publish(_esc_status); + + _esc_status.esc_online_flags = 0; + const hrt_abstime now = hrt_absolute_time(); + + for (int index = 0; index < esc_status_s::CONNECTED_ESC_MAX; index++) { + if (_esc_status.esc[index].timestamp > 0 && now - _esc_status.esc[index].timestamp < 1200_ms) { + _esc_status.esc_online_flags |= (1 << index); + } + } + }; + +private: + static constexpr float RAD_PER_SEC_TO_RPM = 9.5492968; + static constexpr size_t zubax_telega_CompactFeedback_0_1_SERIALIZATION_BUFFER_SIZE_BYTES = 7; + + // https://telega.zubax.com/interfaces/cyphal.html#compact +#pragma pack(push, 1) + struct ZubaxCompactFeedback { + uint32_t dc_voltage : 11; + int32_t dc_current : 12; + int32_t phase_current_amplitude : 12; + int32_t velocity : 13; + int8_t demand_factor_pct : 8; + }; +#pragma pack(pop) + static_assert(sizeof(ZubaxCompactFeedback) == zubax_telega_CompactFeedback_0_1_SERIALIZATION_BUFFER_SIZE_BYTES); + + static esc_status_s _esc_status; + + uORB::Publication _esc_status_pub{ORB_ID(esc_status)}; }; diff --git a/src/drivers/cyphal/Cyphal.cpp b/src/drivers/cyphal/Cyphal.cpp index 73de1992ff51..5a288274cf5d 100644 --- a/src/drivers/cyphal/Cyphal.cpp +++ b/src/drivers/cyphal/Cyphal.cpp @@ -62,6 +62,8 @@ using namespace time_literals; CyphalNode *CyphalNode::_instance; +esc_status_s UavcanEscFeedbackSubscriber::_esc_status; + CyphalNode::CyphalNode(uint32_t node_id, size_t capacity, size_t mtu_bytes) : ModuleParams(nullptr), ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::uavcan), @@ -125,7 +127,7 @@ int CyphalNode::start(uint32_t node_id, uint32_t bitrate) _instance = new CyphalNode(node_id, 8, CANARD_MTU_CAN_FD); } else { - _instance = new CyphalNode(node_id, 64, CANARD_MTU_CAN_CLASSIC); + _instance = new CyphalNode(node_id, 512, CANARD_MTU_CAN_CLASSIC); } if (_instance == nullptr) { @@ -188,6 +190,8 @@ void CyphalNode::Run() // send uavcan::node::Heartbeat_1_0 @ 1 Hz sendHeartbeat(); + sendPortList(); + // Check all publishers _pub_manager.update(); @@ -359,10 +363,10 @@ void CyphalNode::sendHeartbeat() if (hrt_elapsed_time(&_uavcan_node_heartbeat_last) >= 1_s) { uavcan_node_Heartbeat_1_0 heartbeat{}; - heartbeat.uptime = _uavcan_node_heartbeat_transfer_id; // TODO: use real uptime + const hrt_abstime now = hrt_absolute_time(); + heartbeat.uptime = now / 1000000; heartbeat.health.value = uavcan_node_Health_1_0_NOMINAL; heartbeat.mode.value = uavcan_node_Mode_1_0_OPERATIONAL; - const hrt_abstime now = hrt_absolute_time(); size_t payload_size = uavcan_node_Heartbeat_1_0_SERIALIZATION_BUFFER_SIZE_BYTES_; const CanardTransferMetadata transfer_metadata = { @@ -392,6 +396,45 @@ void CyphalNode::sendHeartbeat() } } +void CyphalNode::sendPortList() +{ + static hrt_abstime _uavcan_node_port_List_last{0}; + + if (hrt_elapsed_time(&_uavcan_node_port_List_last) < 3_s) { + return; + } + + static uavcan_node_port_List_0_1 msg{}; + static uint8_t uavcan_node_port_List_0_1_buffer[uavcan_node_port_List_0_1_EXTENT_BYTES_]; + static CanardTransferID _uavcan_node_port_List_transfer_id{0}; + size_t payload_size = uavcan_node_port_List_0_1_EXTENT_BYTES_; + const hrt_abstime now = hrt_absolute_time(); + + const CanardTransferMetadata transfer_metadata = { + .priority = CanardPriorityNominal, + .transfer_kind = CanardTransferKindMessage, + .port_id = uavcan_node_port_List_0_1_FIXED_PORT_ID_, + .remote_node_id = CANARD_NODE_ID_UNSET, + .transfer_id = _uavcan_node_port_List_transfer_id++ + }; + + // memset(uavcan_node_port_List_0_1_buffer, 0x00, uavcan_node_port_List_0_1_EXTENT_BYTES_); + uavcan_node_port_List_0_1_initialize_(&msg); + + _pub_manager.fillSubjectIdList(msg.publishers); + _sub_manager.fillSubjectIdList(msg.subscribers); + + uavcan_node_port_List_0_1_serialize_(&msg, uavcan_node_port_List_0_1_buffer, &payload_size); + + _canard_handle.TxPush(now + PUBLISHER_DEFAULT_TIMEOUT_USEC, + &transfer_metadata, + payload_size, + &uavcan_node_port_List_0_1_buffer + ); + + _uavcan_node_port_List_last = now; +} + bool UavcanMixingInterface::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS], unsigned num_outputs, unsigned num_control_groups_updated) { diff --git a/src/drivers/cyphal/Cyphal.hpp b/src/drivers/cyphal/Cyphal.hpp index 004a509f4039..0132830fb6c9 100644 --- a/src/drivers/cyphal/Cyphal.hpp +++ b/src/drivers/cyphal/Cyphal.hpp @@ -137,6 +137,9 @@ class CyphalNode : public ModuleParams, public px4::ScheduledWorkItem // Sends a heartbeat at 1s intervals void sendHeartbeat(); + // Sends a port.List at 3s intervals + void sendPortList(); + px4::atomic_bool _task_should_exit{false}; ///< flag to indicate to tear down the CAN driver bool _initialized{false}; ///< number of actuators currently available diff --git a/src/drivers/cyphal/ParamManager.cpp b/src/drivers/cyphal/ParamManager.cpp index 15a57f3744ed..0dba575cde1d 100644 --- a/src/drivers/cyphal/ParamManager.cpp +++ b/src/drivers/cyphal/ParamManager.cpp @@ -56,6 +56,15 @@ bool UavcanParamManager::GetParamByName(const char *param_name, uavcan_register_ } } + for (auto ¶m : _type_registers) { + if (strcmp(param_name, param.name) == 0) { + uavcan_register_Value_1_0_select_string_(&value); + value._string.value.count = strlen(param.value); + memcpy(&value._string, param.value, value._string.value.count); + return true; + } + } + return false; } @@ -73,18 +82,35 @@ bool UavcanParamManager::GetParamByName(const uavcan_register_Name_1_0 &name, ua } } + for (auto ¶m : _type_registers) { + if (strncmp((char *)name.name.elements, param.name, name.name.count) == 0) { + uavcan_register_Value_1_0_select_string_(&value); + value._string.value.count = strlen(param.value); + memcpy(&value._string, param.value, value._string.value.count); + return true; + } + } + return false; } bool UavcanParamManager::GetParamName(uint32_t id, uavcan_register_Name_1_0 &name) { - if (id >= sizeof(_uavcan_params) / sizeof(UavcanParamBinder)) { - return false; - } + size_t number_of_integer_registers = sizeof(_uavcan_params) / sizeof(UavcanParamBinder); + size_t number_of_type_registers = sizeof(_type_registers) / sizeof(CyphalTypeRegister); + + if (id < sizeof(_uavcan_params) / sizeof(UavcanParamBinder)) { + strncpy((char *)name.name.elements, _uavcan_params[id].uavcan_name, uavcan_register_Name_1_0_name_ARRAY_CAPACITY_); + name.name.count = strlen(_uavcan_params[id].uavcan_name); - strncpy((char *)name.name.elements, _uavcan_params[id].uavcan_name, uavcan_register_Name_1_0_name_ARRAY_CAPACITY_); + } else if (id < number_of_integer_registers + number_of_type_registers) { + id -= number_of_integer_registers; + strncpy((char *)name.name.elements, _type_registers[id].name, strlen(_type_registers[id].name)); + name.name.count = strlen(_type_registers[id].name); - name.name.count = strlen(_uavcan_params[id].uavcan_name); + } else { + return false; + } return true; } diff --git a/src/drivers/cyphal/ParamManager.hpp b/src/drivers/cyphal/ParamManager.hpp index 67c5dbc20bf6..e1330c4e5f31 100644 --- a/src/drivers/cyphal/ParamManager.hpp +++ b/src/drivers/cyphal/ParamManager.hpp @@ -103,6 +103,10 @@ typedef struct { bool is_persistent {true}; } UavcanParamBinder; +typedef struct { + const char *name; + const char *value; +} CyphalTypeRegister; class UavcanParamManager { @@ -116,8 +120,9 @@ class UavcanParamManager private: - const UavcanParamBinder _uavcan_params[13] { + const UavcanParamBinder _uavcan_params[22] { {"uavcan.pub.udral.esc.0.id", "UCAN1_ESC_PUB", px4_param_to_uavcan_port_id, uavcan_port_id_to_px4_param}, + {"uavcan.pub.udral.readiness.0.id", "UCAN1_READ_PUB", px4_param_to_uavcan_port_id, uavcan_port_id_to_px4_param}, {"uavcan.pub.udral.servo.0.id", "UCAN1_SERVO_PUB", px4_param_to_uavcan_port_id, uavcan_port_id_to_px4_param}, {"uavcan.pub.udral.gps.0.id", "UCAN1_GPS_PUB", px4_param_to_uavcan_port_id, uavcan_port_id_to_px4_param}, {"uavcan.pub.udral.actuator_outputs.0.id", "UCAN1_ACTR_PUB", px4_param_to_uavcan_port_id, uavcan_port_id_to_px4_param}, @@ -130,7 +135,28 @@ class UavcanParamManager {"uavcan.sub.udral.legacy_bms.0.id", "UCAN1_LG_BMS_SUB", px4_param_to_uavcan_port_id, uavcan_port_id_to_px4_param}, {"uavcan.sub.uorb.sensor_gps.0.id", "UCAN1_UORB_GPS", px4_param_to_uavcan_port_id, uavcan_port_id_to_px4_param}, {"uavcan.pub.uorb.sensor_gps.0.id", "UCAN1_UORB_GPS_P", px4_param_to_uavcan_port_id, uavcan_port_id_to_px4_param}, + {"uavcan.sub.zubax.feedback.0.id", "UCAN1_FB0_SUB", px4_param_to_uavcan_port_id, uavcan_port_id_to_px4_param}, + {"uavcan.sub.zubax.feedback.1.id", "UCAN1_FB1_SUB", px4_param_to_uavcan_port_id, uavcan_port_id_to_px4_param}, + {"uavcan.sub.zubax.feedback.2.id", "UCAN1_FB2_SUB", px4_param_to_uavcan_port_id, uavcan_port_id_to_px4_param}, + {"uavcan.sub.zubax.feedback.3.id", "UCAN1_FB3_SUB", px4_param_to_uavcan_port_id, uavcan_port_id_to_px4_param}, + {"uavcan.sub.zubax.feedback.4.id", "UCAN1_FB4_SUB", px4_param_to_uavcan_port_id, uavcan_port_id_to_px4_param}, + {"uavcan.sub.zubax.feedback.5.id", "UCAN1_FB5_SUB", px4_param_to_uavcan_port_id, uavcan_port_id_to_px4_param}, + {"uavcan.sub.zubax.feedback.6.id", "UCAN1_FB6_SUB", px4_param_to_uavcan_port_id, uavcan_port_id_to_px4_param}, + {"uavcan.sub.zubax.feedback.7.id", "UCAN1_FB7_SUB", px4_param_to_uavcan_port_id, uavcan_port_id_to_px4_param}, //{"uavcan.sub.bms.0.id", "UCAN1_BMS0_SUB"}, //FIXME instancing //{"uavcan.sub.bms.1.id", "UCAN1_BMS1_SUB"}, }; + + CyphalTypeRegister _type_registers[10] { + {"uavcan.pub.udral.esc.0.type", "reg.udral.service.actuator.common.sp.Vector31"}, + {"uavcan.pub.udral.readiness.0.type", "reg.udral.service.common.Readiness.0.1"}, + {"uavcan.sub.zubax.feedback.0.type", "zubax.telega.CompactFeedback.0.1"}, + {"uavcan.sub.zubax.feedback.1.type", "zubax.telega.CompactFeedback.0.1"}, + {"uavcan.sub.zubax.feedback.2.type", "zubax.telega.CompactFeedback.0.1"}, + {"uavcan.sub.zubax.feedback.3.type", "zubax.telega.CompactFeedback.0.1"}, + {"uavcan.sub.zubax.feedback.4.type", "zubax.telega.CompactFeedback.0.1"}, + {"uavcan.sub.zubax.feedback.5.type", "zubax.telega.CompactFeedback.0.1"}, + {"uavcan.sub.zubax.feedback.6.type", "zubax.telega.CompactFeedback.0.1"}, + {"uavcan.sub.zubax.feedback.7.type", "zubax.telega.CompactFeedback.0.1"}, + }; }; diff --git a/src/drivers/cyphal/PublicationManager.cpp b/src/drivers/cyphal/PublicationManager.cpp index 74ef3699c4d7..84133e037240 100644 --- a/src/drivers/cyphal/PublicationManager.cpp +++ b/src/drivers/cyphal/PublicationManager.cpp @@ -125,6 +125,15 @@ UavcanPublisher *PublicationManager::getPublisher(const char *subject_name) return NULL; } +void PublicationManager::fillSubjectIdList(uavcan_node_port_SubjectIDList_0_1 &publishers_list) +{ + uavcan_node_port_SubjectIDList_0_1_select_sparse_list_(&publishers_list); + + for (auto &dynpub : _dynpublishers) { + publishers_list.sparse_list.elements[publishers_list.sparse_list.count].value = dynpub->id(); + publishers_list.sparse_list.count++; + } +} void PublicationManager::update() { diff --git a/src/drivers/cyphal/PublicationManager.hpp b/src/drivers/cyphal/PublicationManager.hpp index 2c3da87d9d58..8defb8d8f479 100644 --- a/src/drivers/cyphal/PublicationManager.hpp +++ b/src/drivers/cyphal/PublicationManager.hpp @@ -67,7 +67,7 @@ /* Preprocessor calculation of publisher count */ #define UAVCAN_PUB_COUNT CONFIG_CYPHAL_GNSS_PUBLISHER + \ - CONFIG_CYPHAL_ESC_CONTROLLER + \ + 2 * CONFIG_CYPHAL_ESC_CONTROLLER + \ CONFIG_CYPHAL_READINESS_PUBLISHER + \ CONFIG_CYPHAL_UORB_ACTUATOR_OUTPUTS_PUBLISHER + \ CONFIG_CYPHAL_UORB_SENSOR_GPS_PUBLISHER @@ -79,6 +79,7 @@ #include #include +#include #include "Actuators/EscClient.hpp" #include "Publishers/udral/Readiness.hpp" @@ -103,6 +104,7 @@ class PublicationManager UavcanPublisher *getPublisher(const char *subject_name); + void fillSubjectIdList(uavcan_node_port_SubjectIDList_0_1 &publishers_list); private: void updateDynamicPublications(); @@ -131,6 +133,14 @@ class PublicationManager "udral.esc", 0 }, + { + [](CanardHandle & handle, UavcanParamManager & pmgr) -> UavcanPublisher * + { + return new ReadinessPublisher(handle, pmgr); + }, + "udral.readiness", + 0 + }, #endif #if CONFIG_CYPHAL_READINESS_PUBLISHER { diff --git a/src/drivers/cyphal/Publishers/udral/Gnss.hpp b/src/drivers/cyphal/Publishers/udral/Gnss.hpp index 168b1e437f1a..ef592c78553f 100644 --- a/src/drivers/cyphal/Publishers/udral/Gnss.hpp +++ b/src/drivers/cyphal/Publishers/udral/Gnss.hpp @@ -66,9 +66,9 @@ class UavcanGnssPublisher : public UavcanPublisher size_t payload_size = reg_udral_physics_kinematics_geodetic_Point_0_1_SERIALIZATION_BUFFER_SIZE_BYTES_; reg_udral_physics_kinematics_geodetic_Point_0_1 geo {}; - geo.latitude = gps.lat; - geo.longitude = gps.lon; - geo.altitude = uavcan_si_unit_length_WideScalar_1_0 { .meter = static_cast(gps.alt) }; + geo.latitude = (int64_t)(gps.latitude_deg / 1e7); + geo.longitude = (int64_t)(gps.longitude_deg / 1e7); + geo.altitude = uavcan_si_unit_length_WideScalar_1_0 { .meter = gps.altitude_msl_m }; uint8_t geo_payload_buffer[reg_udral_physics_kinematics_geodetic_Point_0_1_SERIALIZATION_BUFFER_SIZE_BYTES_]; diff --git a/src/drivers/cyphal/Subscribers/legacy/LegacyBatteryInfo.hpp b/src/drivers/cyphal/Subscribers/legacy/LegacyBatteryInfo.hpp index 4a4d316ee09c..718a70844fda 100644 --- a/src/drivers/cyphal/Subscribers/legacy/LegacyBatteryInfo.hpp +++ b/src/drivers/cyphal/Subscribers/legacy/LegacyBatteryInfo.hpp @@ -76,8 +76,6 @@ class UavcanLegacyBatteryInfoSubscriber : public UavcanDynamicPortSubscriber battery_status_s bat_status {0}; bat_status.timestamp = hrt_absolute_time(); - bat_status.voltage_filtered_v = bat_info.voltage; - bat_status.current_filtered_a = bat_info.current; bat_status.current_average_a = bat_info.average_power_10sec; bat_status.remaining = bat_info.state_of_charge_pct / 100.0f; bat_status.scale = -1; diff --git a/src/drivers/cyphal/Subscribers/uORB/uorb_subscriber.hpp b/src/drivers/cyphal/Subscribers/uORB/uorb_subscriber.hpp index a80edf292d75..63498e8c676f 100644 --- a/src/drivers/cyphal/Subscribers/uORB/uorb_subscriber.hpp +++ b/src/drivers/cyphal/Subscribers/uORB/uorb_subscriber.hpp @@ -85,7 +85,7 @@ class uORB_over_UAVCAN_Subscriber : public UavcanDynamicPortSubscriber _uorb_pub.publish(*data); } else { - PX4_ERR("uORB over UAVCAN %s payload size mismatch got %d expected %d", + PX4_ERR("uORB over UAVCAN %s payload size mismatch got %zu expected %zu", _subj_sub._subject_name, receive.payload_size, get_payload_size(data)); } }; diff --git a/src/drivers/cyphal/SubscriptionManager.cpp b/src/drivers/cyphal/SubscriptionManager.cpp index e489357fc2f5..ef4ae73f2bd9 100644 --- a/src/drivers/cyphal/SubscriptionManager.cpp +++ b/src/drivers/cyphal/SubscriptionManager.cpp @@ -158,3 +158,24 @@ void SubscriptionManager::updateParams() // Check for any newly-enabled subscriptions updateDynamicSubscriptions(); } + +void SubscriptionManager::fillSubjectIdList(uavcan_node_port_SubjectIDList_0_1 &subscribers_list) +{ + uavcan_node_port_SubjectIDList_0_1_select_sparse_list_(&subscribers_list); + + UavcanDynamicPortSubscriber *dynsub = _dynsubscribers; + + auto &sparse_list = subscribers_list.sparse_list; + + while (dynsub != nullptr) { + int32_t instance_idx = 0; + + while (dynsub->isValidPortId(dynsub->id(instance_idx))) { + sparse_list.elements[sparse_list.count].value = dynsub->id(instance_idx); + sparse_list.count++; + instance_idx++; + } + + dynsub = dynsub->next(); + } +} diff --git a/src/drivers/cyphal/SubscriptionManager.hpp b/src/drivers/cyphal/SubscriptionManager.hpp index bb56e1e05776..c9218d2f886c 100644 --- a/src/drivers/cyphal/SubscriptionManager.hpp +++ b/src/drivers/cyphal/SubscriptionManager.hpp @@ -45,6 +45,10 @@ #define CONFIG_CYPHAL_ESC_SUBSCRIBER 0 #endif +#ifndef CONFIG_CYPHAL_ESC_CONTROLLER +#define CONFIG_CYPHAL_ESC_CONTROLLER 0 +#endif + #ifndef CONFIG_CYPHAL_GNSS_SUBSCRIBER_0 #define CONFIG_CYPHAL_GNSS_SUBSCRIBER_0 0 #endif @@ -65,12 +69,15 @@ #define UAVCAN_SUB_COUNT CONFIG_CYPHAL_ESC_SUBSCRIBER + \ CONFIG_CYPHAL_GNSS_SUBSCRIBER_0 + \ + 8 * CONFIG_CYPHAL_ESC_CONTROLLER + \ CONFIG_CYPHAL_GNSS_SUBSCRIBER_1 + \ CONFIG_CYPHAL_BMS_SUBSCRIBER + \ CONFIG_CYPHAL_UORB_SENSOR_GPS_SUBSCRIBER #include #include +#include +#include "Actuators/EscClient.hpp" #include "Subscribers/DynamicPortSubscriber.hpp" #include "CanardInterface.hpp" @@ -100,6 +107,7 @@ class SubscriptionManager void subscribe(); void printInfo(); void updateParams(); + void fillSubjectIdList(uavcan_node_port_SubjectIDList_0_1 &subscribers_list); private: void updateDynamicSubscriptions(); @@ -130,6 +138,72 @@ class SubscriptionManager 0 }, #endif +#if CONFIG_CYPHAL_ESC_CONTROLLER + { + [](CanardHandle & handle, UavcanParamManager & pmgr) -> UavcanDynamicPortSubscriber * + { + return new UavcanEscFeedbackSubscriber(handle, pmgr, 0); + }, + "zubax.feedback", + 0 + }, + { + [](CanardHandle & handle, UavcanParamManager & pmgr) -> UavcanDynamicPortSubscriber * + { + return new UavcanEscFeedbackSubscriber(handle, pmgr, 1); + }, + "zubax.feedback", + 1 + }, + { + [](CanardHandle & handle, UavcanParamManager & pmgr) -> UavcanDynamicPortSubscriber * + { + return new UavcanEscFeedbackSubscriber(handle, pmgr, 2); + }, + "zubax.feedback", + 2 + }, + { + [](CanardHandle & handle, UavcanParamManager & pmgr) -> UavcanDynamicPortSubscriber * + { + return new UavcanEscFeedbackSubscriber(handle, pmgr, 3); + }, + "zubax.feedback", + 3 + }, + { + [](CanardHandle & handle, UavcanParamManager & pmgr) -> UavcanDynamicPortSubscriber * + { + return new UavcanEscFeedbackSubscriber(handle, pmgr, 4); + }, + "zubax.feedback", + 4 + }, + { + [](CanardHandle & handle, UavcanParamManager & pmgr) -> UavcanDynamicPortSubscriber * + { + return new UavcanEscFeedbackSubscriber(handle, pmgr, 5); + }, + "zubax.feedback", + 5 + }, + { + [](CanardHandle & handle, UavcanParamManager & pmgr) -> UavcanDynamicPortSubscriber * + { + return new UavcanEscFeedbackSubscriber(handle, pmgr, 6); + }, + "zubax.feedback", + 6 + }, + { + [](CanardHandle & handle, UavcanParamManager & pmgr) -> UavcanDynamicPortSubscriber * + { + return new UavcanEscFeedbackSubscriber(handle, pmgr, 7); + }, + "zubax.feedback", + 7 + }, +#endif #if CONFIG_CYPHAL_GNSS_SUBSCRIBER_0 { [](CanardHandle & handle, UavcanParamManager & pmgr) -> UavcanDynamicPortSubscriber * diff --git a/src/drivers/cyphal/parameters.c b/src/drivers/cyphal/parameters.c index becd33fc426a..4731f1c14e9c 100644 --- a/src/drivers/cyphal/parameters.c +++ b/src/drivers/cyphal/parameters.c @@ -162,6 +162,87 @@ PARAM_DEFINE_INT32(UCAN1_UORB_GPS_P, -1); */ PARAM_DEFINE_INT32(UCAN1_ESC_PUB, -1); +/** + * Cyphal ESC readiness port ID. + * + * @min -1 + * @max 6143 + * @group Cyphal + */ +PARAM_DEFINE_INT32(UCAN1_READ_PUB, -1); + +/** + * Cyphal ESC 0 zubax feedback port ID. + * + * @min -1 + * @max 6143 + * @group Cyphal + */ +PARAM_DEFINE_INT32(UCAN1_FB0_SUB, -1); + +/** + * Cyphal ESC 1 zubax feedback port ID. + * + * @min -1 + * @max 6143 + * @group Cyphal + */ +PARAM_DEFINE_INT32(UCAN1_FB1_SUB, -1); + +/** + * Cyphal ESC 2 zubax feedback port ID. + * + * @min -1 + * @max 6143 + * @group Cyphal + */ +PARAM_DEFINE_INT32(UCAN1_FB2_SUB, -1); + +/** + * Cyphal ESC 3 zubax feedback port ID. + * + * @min -1 + * @max 6143 + * @group Cyphal + */ +PARAM_DEFINE_INT32(UCAN1_FB3_SUB, -1); + +/** + * Cyphal ESC 4 zubax feedback port ID. + * + * @min -1 + * @max 6143 + * @group Cyphal + */ +PARAM_DEFINE_INT32(UCAN1_FB4_SUB, -1); + +/** + * Cyphal ESC 5 zubax feedback port ID. + * + * @min -1 + * @max 6143 + * @group Cyphal + */ +PARAM_DEFINE_INT32(UCAN1_FB5_SUB, -1); + +/** + * Cyphal ESC 6 zubax feedback port ID. + * + * @min -1 + * @max 6143 + * @group Cyphal + */ +PARAM_DEFINE_INT32(UCAN1_FB6_SUB, -1); + +/** + * Cyphal ESC 7 zubax feedback port ID. + * + * @min -1 + * @max 6143 + * @group Cyphal + */ +PARAM_DEFINE_INT32(UCAN1_FB7_SUB, -1); + /** * Cyphal GPS publication port ID. * diff --git a/src/drivers/differential_pressure/asp5033/ASP5033.cpp b/src/drivers/differential_pressure/asp5033/ASP5033.cpp new file mode 100644 index 000000000000..3f4b05b6d891 --- /dev/null +++ b/src/drivers/differential_pressure/asp5033/ASP5033.cpp @@ -0,0 +1,245 @@ +/**************************************************************************** + * + * + * Copyright (c) 2023 PX4 Development Team. All rights reserved. + * + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file ASP5033.cpp + * + *@author Denislav Petrov + */ + +#include "ASP5033.hpp" + +ASP5033::ASP5033(const I2CSPIDriverConfig &config) : + I2C(config), + I2CSPIDriver(config) +{ +} + +ASP5033::~ASP5033() +{ + perf_free(_sample_perf); + perf_free(_comms_errors); + perf_free(_fault_perf); +} + +int ASP5033::probe() +{ + int ret = sensor_id_check(); + return ret; +} + +int ASP5033::sensor_id_check() +{ + uint8_t id[1]; + uint8_t cmd_1 = REG_ID_SET_ASP5033; + uint8_t cmd_2 = REG_WHOAMI_RECHECK_ID_ASP5033; + uint8_t cmd_3 = REG_ID_ASP5033; + uint8_t cmd_1_2[2]; + cmd_1_2[0] = static_cast(cmd_1); + cmd_1_2[1] = static_cast(cmd_2); + + + if ((transfer(&cmd_1, 1, &id[0], sizeof(id)) != PX4_OK) || (*id != REG_WHOAMI_DEFAULT_ID_ASP5033)) { return 0; } + + if (transfer(&cmd_1_2[0], 2, nullptr, 0) != PX4_OK) { return 0; } + + if ((transfer(&cmd_3, 1, &id[0], sizeof(id)) != PX4_OK) || (*id != REG_WHOAMI_RECHECK_ID_ASP5033)) { return 0; } + + return 1; +} + +int ASP5033::init() +{ + int ret = I2C::init(); + + if (ret != PX4_OK) { + DEVICE_DEBUG("I2C::init failed (%i)", ret); + return ret; + } + + ScheduleNow(); + return ret; +} + + +/** + * @brief calculation of the differential pressure in this way: + * it collect all measured pressure and store it into press_sum, + * count the value of collected times-press_count, then divide both + * and get the actual value of differential pressure - _pressure + * + * @return true if pressure is valid and no errors, false if not + */ +bool ASP5033::get_differential_pressure() +{ + if (hrt_elapsed_time(&last_sample_time) > 200_ms) { + return false; + } + + if (press_count == 0) { + return false; + } + + //calculation differential pressure + _pressure = press_sum / press_count; + + press_sum = 0.; + press_count = 0; + return true; +} + + +void ASP5033::print_status() +{ + I2CSPIDriverBase::print_status(); + + perf_print_counter(_sample_perf); + perf_print_counter(_comms_errors); + perf_print_counter(_fault_perf); +} + +void ASP5033::RunImpl() +{ + int ret = PX4_ERROR; + + // collection phase + if (_collect_phase) { + // perform collection + ret = collect(); + + if (OK != ret) { + perf_count(_comms_errors); + /* restart the measurement state machine */ + _collect_phase = false; + _sensor_ok = false; + ScheduleNow(); + return; + } + + // next phase is measurement + _collect_phase = false; + + // is there a collect->measure gap? + if (_measure_interval > CONVERSION_INTERVAL) { + + // schedule a fresh cycle call when we are ready to measure again + ScheduleDelayed(_measure_interval - CONVERSION_INTERVAL); + + return; + } + } + + /* measurement phase */ + ret = measure(); + + if (OK != ret) { + DEVICE_DEBUG("measure error"); + } + + _sensor_ok = (ret == OK); + + // next phase is collection + _collect_phase = true; + + // schedule a fresh cycle call when the measurement is done + ScheduleDelayed(CONVERSION_INTERVAL); +} + + +int ASP5033::measure() +{ + // Send the command to begin a measurement. + uint8_t cmd_1 = CMD_MEASURE_ASP5033; + uint8_t cmd_2 = REG_CMD_ASP5033;; + + //write to driver to start + uint8_t cmd[2]; + cmd[0] = static_cast(cmd_2); + cmd[1] = static_cast(cmd_1); + int ret = transfer(&cmd[0], 2, nullptr, 0); + + if (OK != ret) { + perf_count(_comms_errors); + } + + return ret; +} + +int ASP5033::collect() +{ + perf_begin(_sample_perf); + const hrt_abstime timestamp_sample = hrt_absolute_time(); + + // Read pressure and temperature as one block + uint8_t val[5] {0, 0, 0, 0, 0}; + uint8_t cmd = REG_PRESS_DATA_ASP5033; + transfer(&cmd, 1, &val[0], sizeof(val)); + + //Pressure is a signed 24-bit value + int32_t press = (val[0] << 24) | (val[1] << 16) | (val[2] << 8); + // convert back to 24 bit + press >>= 8; + + // k is a shift based on the pressure range of the device. See + // table in the datasheet + constexpr uint8_t k = 7; + constexpr float press_scale = 1.0f / (1U << k); //= 1.0f / (1U << k); + press_sum += press * press_scale; + press_count++; + + // temperature is 16 bit signed in units of 1/256 C + const int16_t temp = (val[3] << 8) | val[4]; + constexpr float temp_scale = 1.0f / 256; + _temperature = temp * temp_scale; + last_sample_time = hrt_absolute_time(); + bool status = get_differential_pressure(); + + if (status == true && (int)_temperature != 0) { + // publish values + differential_pressure_s differential_pressure{}; + differential_pressure.timestamp_sample = timestamp_sample; + differential_pressure.device_id = get_device_id(); + differential_pressure.differential_pressure_pa = _pressure; + differential_pressure.temperature = _temperature ; + differential_pressure.error_count = perf_event_count(_comms_errors); + differential_pressure.timestamp = timestamp_sample; + _differential_pressure_pub.publish(differential_pressure); + + } + + perf_end(_sample_perf); + + return PX4_OK; +} diff --git a/src/drivers/differential_pressure/asp5033/ASP5033.hpp b/src/drivers/differential_pressure/asp5033/ASP5033.hpp new file mode 100644 index 000000000000..d8c385ef3a16 --- /dev/null +++ b/src/drivers/differential_pressure/asp5033/ASP5033.hpp @@ -0,0 +1,136 @@ +/**************************************************************************** + * + * Copyright (c) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file ASP5033.hpp + * + * Driver for ASP5033 connected via I2C. + * + * Supported sensors: + * + * - ASP5033 + * + * Interface application notes: + * + * + *@author Denislav Petrov + */ + +#pragma once + +#include +#include + +#include +#include +#include +#include + +#include +#include + + + + +/* Measurement rate is 100Hz */ +#define MEAS_RATE 100 +#define CONVERSION_INTERVAL (1000000 / MEAS_RATE) /* microseconds */ + + +/* Configuration Constants */ +static constexpr uint8_t I2C_ADDRESS_DEFAULT = 0x6D; /* 0x6D 0xE4 */ +static constexpr uint32_t I2C_SPEED = 100 * 1000; // 100 kHz I2C serial interface + + +#define REG_CMD_ASP5033 0x30 +#define REG_PRESS_DATA_ASP5033 0X06 +#define REG_TEMP_DATA_ASP5033 0X09 +#define CMD_MEASURE_ASP5033 0X0A +#define REG_WHOAMI_DEFAULT_ID_ASP5033 0X00 +#define REG_WHOAMI_RECHECK_ID_ASP5033 0X66 +#define REG_ID_ASP5033 0x01 +#define REG_ID_SET_ASP5033 0xa4 + +using namespace time_literals; + + +class ASP5033 : public device::I2C, public I2CSPIDriver +{ +public: + ASP5033(const I2CSPIDriverConfig &config); + ~ASP5033() override; + + static void print_usage(); + void print_status() override; + + + void RunImpl(); + + int init() override; + + + + float press_sum; + uint32_t press_count; + + +private: + + float _pressure = 0.f; + float _temperature = 0.f; + float _pressure_prev = 0.f; + float _temperaute_prev = 0.f; + + int probe() override; + + int measure(); + int collect(); + int sensor_id_check(); + + bool get_differential_pressure(); + hrt_abstime last_sample_time = hrt_absolute_time(); + orb_advert_t _mavlink_log_pub {nullptr}; //log send to + + + uint32_t _measure_interval{CONVERSION_INTERVAL}; + uint32_t _conversion_interval{CONVERSION_INTERVAL}; + + bool _sensor_ok{false}; + bool _collect_phase{false}; + + uORB::PublicationMulti _differential_pressure_pub{ORB_ID(differential_pressure)}; + + perf_counter_t _sample_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": read")}; + perf_counter_t _comms_errors{perf_alloc(PC_COUNT, MODULE_NAME": communication errors")}; + perf_counter_t _fault_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": fault detected")}; +}; diff --git a/src/drivers/differential_pressure/asp5033/CMakeLists.txt b/src/drivers/differential_pressure/asp5033/CMakeLists.txt new file mode 100644 index 000000000000..3ca04b9d67ab --- /dev/null +++ b/src/drivers/differential_pressure/asp5033/CMakeLists.txt @@ -0,0 +1,43 @@ +############################################################################ +# +# Copyright (c) 2023 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ +px4_add_module( + MODULE drivers__differential_pressure__asp5033 + MAIN asp5033 + COMPILE_FLAGS + SRCS + asp5033_main.cpp + ASP5033.cpp + ASP5033.hpp + DEPENDS + px4_work_queue + ) diff --git a/src/drivers/differential_pressure/asp5033/Kconfig b/src/drivers/differential_pressure/asp5033/Kconfig new file mode 100644 index 000000000000..6bf415af2e30 --- /dev/null +++ b/src/drivers/differential_pressure/asp5033/Kconfig @@ -0,0 +1,5 @@ +menuconfig DRIVERS_DIFFERENTIAL_PRESSURE_ASP5033 + bool "asp5033" + default n + ---help--- + Enable support for asp5033 diff --git a/src/drivers/differential_pressure/asp5033/asp5033_main.cpp b/src/drivers/differential_pressure/asp5033/asp5033_main.cpp new file mode 100644 index 000000000000..f34597ef37fa --- /dev/null +++ b/src/drivers/differential_pressure/asp5033/asp5033_main.cpp @@ -0,0 +1,94 @@ +/**************************************************************************** + * + * Copyright (c) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + + +#include "ASP5033.hpp" +#include +#include + + + + +void ASP5033::print_usage() +{ + PRINT_MODULE_DESCRIPTION( + R"DESCR_STR( +### Description +Driver to enable an external [ASP5033] +(https://www.qio-tek.com/index.php/product/qiotek-asp5033-dronecan-airspeed-and-compass-module/) +TE connected via I2C. +This is not included by default in firmware. It can be included with terminal command: "make boardconfig" +or in default.px4board with adding the line: "CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_ASP5033=y" +It can be enabled with the "SENS_EN_ASP5033" parameter set to 1. +)DESCR_STR"); + PRINT_MODULE_USAGE_NAME("asp5033", "driver"); + PRINT_MODULE_USAGE_SUBCATEGORY("airspeed_sensor"); + PRINT_MODULE_USAGE_COMMAND("start"); + PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, false); + PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(0x6D); + PRINT_MODULE_USAGE_DEFAULT_COMMANDS(); +} + +extern "C" int asp5033_main(int argc, char *argv[]) +{ + + using ThisDriver = ASP5033; + BusCLIArguments cli{true, false}; + cli.i2c_address = I2C_ADDRESS_DEFAULT; + cli.default_i2c_frequency = I2C_SPEED; + + const char *verb = cli.parseDefaultArguments(argc, argv); + + + + if (!verb) { + ThisDriver::print_usage(); + return -1; + } + + BusInstanceIterator iterator(MODULE_NAME, cli, DRV_DIFF_PRESS_DEVTYPE_ASP5033); + + + if (!strcmp(verb, "start")) { + return ThisDriver::module_start(cli, iterator); + + } else if (!strcmp(verb, "stop")) { + return ThisDriver::module_stop(iterator); + + } else if (!strcmp(verb, "status")) { + return ThisDriver::module_status(iterator); + } + + ThisDriver::print_usage(); + return -1; +} diff --git a/src/drivers/differential_pressure/asp5033/parameters.c b/src/drivers/differential_pressure/asp5033/parameters.c new file mode 100644 index 000000000000..07f91aac3d62 --- /dev/null +++ b/src/drivers/differential_pressure/asp5033/parameters.c @@ -0,0 +1,41 @@ +/**************************************************************************** + * + * Copyright (c) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * ASP5033 differential pressure sensor (external I2C) + * + * @reboot_required true + * @group Sensors + * @boolean + */ +PARAM_DEFINE_INT32(SENS_EN_ASP5033, 0); diff --git a/src/drivers/differential_pressure/ets/Kconfig b/src/drivers/differential_pressure/ets/Kconfig index e6e094eea4ab..4a0a2022ff11 100644 --- a/src/drivers/differential_pressure/ets/Kconfig +++ b/src/drivers/differential_pressure/ets/Kconfig @@ -2,4 +2,4 @@ menuconfig DRIVERS_DIFFERENTIAL_PRESSURE_ETS bool "ets" default n ---help--- - Enable support for ets \ No newline at end of file + Enable support for ets diff --git a/src/drivers/differential_pressure/sdp3x/Kconfig b/src/drivers/differential_pressure/sdp3x/Kconfig index 45314cfe6bd8..6aac8e11fd90 100644 --- a/src/drivers/differential_pressure/sdp3x/Kconfig +++ b/src/drivers/differential_pressure/sdp3x/Kconfig @@ -2,4 +2,4 @@ menuconfig DRIVERS_DIFFERENTIAL_PRESSURE_SDP3X bool "sdp3x" default n ---help--- - Enable support for sdp3x \ No newline at end of file + Enable support for sdp3x diff --git a/src/drivers/distance_sensor/CMakeLists.txt b/src/drivers/distance_sensor/CMakeLists.txt deleted file mode 100644 index dedcc944865c..000000000000 --- a/src/drivers/distance_sensor/CMakeLists.txt +++ /dev/null @@ -1,51 +0,0 @@ -############################################################################ -# -# Copyright (c) 2017 PX4 Development Team. All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# 1. Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# 2. Redistributions in binary form must reproduce the above copyright -# notice, this list of conditions and the following disclaimer in -# the documentation and/or other materials provided with the -# distribution. -# 3. Neither the name PX4 nor the names of its contributors may be -# used to endorse or promote products derived from this software -# without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS -# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED -# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. -# -############################################################################ - -add_subdirectory(broadcom) -add_subdirectory(cm8jl65) -add_subdirectory(leddar_one) -add_subdirectory(ll40ls) -add_subdirectory(ll40ls_pwm) -add_subdirectory(mappydot) -add_subdirectory(mb12xx) -add_subdirectory(pga460) -add_subdirectory(lightware_laser_i2c) -add_subdirectory(lightware_laser_serial) -add_subdirectory(srf02) -add_subdirectory(teraranger) -add_subdirectory(tfmini) -add_subdirectory(ulanding_radar) -add_subdirectory(vl53l0x) -add_subdirectory(vl53l1x) -add_subdirectory(gy_us42) -add_subdirectory(tf02pro) diff --git a/src/drivers/distance_sensor/Kconfig b/src/drivers/distance_sensor/Kconfig index ee98afed7e49..f45abe877c50 100644 --- a/src/drivers/distance_sensor/Kconfig +++ b/src/drivers/distance_sensor/Kconfig @@ -3,22 +3,18 @@ menu "Distance sensors" bool "Common distance sensor's" default n select DRIVERS_DISTANCE_SENSOR_CM8JL65 + select DRIVERS_DISTANCE_SENSOR_GY_US42 select DRIVERS_DISTANCE_SENSOR_LEDDAR_ONE - select DRIVERS_DISTANCE_SENSOR_LL40LS - select DRIVERS_DISTANCE_SENSOR_LL40LS_PWM - select DRIVERS_DISTANCE_SENSOR_MAPPYDOT - select DRIVERS_DISTANCE_SENSOR_MB12XX - select DRIVERS_DISTANCE_SENSOR_PGA460 select DRIVERS_DISTANCE_SENSOR_LIGHTWARE_LASER_I2C select DRIVERS_DISTANCE_SENSOR_LIGHTWARE_LASER_SERIAL + select DRIVERS_DISTANCE_SENSOR_LL40LS select DRIVERS_DISTANCE_SENSOR_SRF02 select DRIVERS_DISTANCE_SENSOR_TERARANGER + select DRIVERS_DISTANCE_SENSOR_TF02PRO select DRIVERS_DISTANCE_SENSOR_TFMINI select DRIVERS_DISTANCE_SENSOR_ULANDING_RADAR select DRIVERS_DISTANCE_SENSOR_VL53L0X select DRIVERS_DISTANCE_SENSOR_VL53L1X - select DRIVERS_DISTANCE_SENSOR_GY_US42 - select DRIVERS_DISTANCE_SENSOR_TF02PRO ---help--- Enable default set of distance sensor drivers diff --git a/src/drivers/distance_sensor/broadcom/afbrs50/AFBRS50.cpp b/src/drivers/distance_sensor/broadcom/afbrs50/AFBRS50.cpp index b66eeeba3d36..91e3366d5ec8 100644 --- a/src/drivers/distance_sensor/broadcom/afbrs50/AFBRS50.cpp +++ b/src/drivers/distance_sensor/broadcom/afbrs50/AFBRS50.cpp @@ -33,6 +33,7 @@ /* Include Files */ #include "AFBRS50.hpp" +#include "argus_hal_test.h" #include @@ -42,9 +43,6 @@ /*! Define the SPI baud rate (to be used in the SPI module). */ #define SPI_BAUD_RATE 5000000 -#define LONG_RANGE_MODE_HZ 25 -#define SHORT_RANGE_MODE_HZ 50 - #include "s2pi.h" #include "timer.h" #include "argus_hal_test.h" @@ -52,6 +50,7 @@ AFBRS50 *g_dev{nullptr}; AFBRS50::AFBRS50(uint8_t device_orientation): + ModuleParams(nullptr), ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::hp_default), _px4_rangefinder(0, device_orientation) { @@ -61,6 +60,7 @@ AFBRS50::AFBRS50(uint8_t device_orientation): device_id.devid_s.devtype = DRV_DIST_DEVTYPE_AFBRS50; _px4_rangefinder.set_device_id(device_id.devid); + _px4_rangefinder.set_device_type(distance_sensor_s::MAV_DISTANCE_SENSOR_LASER); } AFBRS50::~AFBRS50() @@ -70,12 +70,12 @@ AFBRS50::~AFBRS50() perf_free(_sample_perf); } -status_t AFBRS50::measurement_ready_callback(status_t status, void *data) +status_t AFBRS50::measurement_ready_callback(status_t status, argus_hnd_t *hnd) { if (!up_interrupt_context()) { if (status == STATUS_OK) { if (g_dev) { - g_dev->ProcessMeasurement(data); + g_dev->ProcessMeasurement(hnd); } } else { @@ -86,143 +86,177 @@ status_t AFBRS50::measurement_ready_callback(status_t status, void *data) return status; } -void AFBRS50::ProcessMeasurement(void *data) +void AFBRS50::ProcessMeasurement(argus_hnd_t *hnd) { - if (data != nullptr) { - perf_count(_sample_perf); + perf_count(_sample_perf); - argus_results_t res{}; - status_t evaluate_status = Argus_EvaluateData(_hnd, &res, data); + argus_results_t res{}; + status_t evaluate_status = Argus_EvaluateData(hnd, &res); - if ((evaluate_status == STATUS_OK) && (res.Status == STATUS_OK)) { - uint32_t result_mm = res.Bin.Range / (Q9_22_ONE / 1000); - float result_m = static_cast(result_mm) / 1000.f; - int8_t quality = res.Bin.SignalQuality; + if ((evaluate_status == STATUS_OK) && (res.Status == STATUS_OK)) { + uint32_t result_mm = res.Bin.Range / (Q9_22_ONE / 1000); + float result_m = static_cast(result_mm) / 1000.f; + int8_t quality = res.Bin.SignalQuality; - // Signal quality indicates 100% for good signals, 50% and lower for weak signals. - // 1% is an errored signal (not reliable). Signal Quality of 0% is unknown. - if (quality == 1) { - quality = 0; - } - - // distance quality check - if (result_m > _max_distance) { - result_m = 0.0; - quality = 0; - } + // Signal quality indicates 100% for good signals, 50% and lower for weak signals. + // 1% is an errored signal (not reliable). Signal Quality of 0% is unknown. + if (quality == 1) { + quality = 0; + } - _current_distance = result_m; - _current_quality = quality; - _px4_rangefinder.update(((res.TimeStamp.sec * 1000000ULL) + res.TimeStamp.usec), result_m, quality); + // distance quality check + if (result_m > _max_distance) { + result_m = 0.0; + quality = 0; } + + _current_distance = result_m; + _current_quality = quality; + _px4_rangefinder.update(((res.TimeStamp.sec * 1000000ULL) + res.TimeStamp.usec), result_m, quality); } } int AFBRS50::init() { - if (_hnd != nullptr) { - // retry - Argus_Deinit(_hnd); - Argus_DestroyHandle(_hnd); - _hnd = nullptr; - } - - _hnd = Argus_CreateHandle(); - - if (_hnd == nullptr) { - PX4_ERR("Handle not initialized"); - return PX4_ERROR; - } - - // Initialize the S2PI hardware required by the API. - S2PI_Init(BROADCOM_AFBR_S50_S2PI_SPI_BUS, SPI_BAUD_RATE); - - status_t status = Argus_Init(_hnd, BROADCOM_AFBR_S50_S2PI_SPI_BUS); - - if (status == STATUS_OK) { - uint32_t id = Argus_GetChipID(_hnd); - uint32_t value = Argus_GetAPIVersion(); - uint8_t a = (value >> 24) & 0xFFU; - uint8_t b = (value >> 16) & 0xFFU; - uint8_t c = value & 0xFFFFU; - PX4_INFO_RAW("AFBR-S50 Chip ID: %u, API Version: %u v%d.%d.%d\n", (uint)id, (uint)value, a, b, c); - - argus_module_version_t mv = Argus_GetModuleVersion(_hnd); - argus_laser_type_t lt = Argus_GetLaserType(_hnd); + // Retry initialization 3 times + for (int32_t i = 0; i < 3; i++) { + if (_hnd != nullptr) { + // retry + Argus_Deinit(_hnd); + Argus_DestroyHandle(_hnd); + _hnd = nullptr; + } - switch (mv) { - case AFBR_S50MV85G_V1: + _hnd = Argus_CreateHandle(); - // FALLTHROUGH - case AFBR_S50MV85G_V2: + if (_hnd == nullptr) { + PX4_ERR("Handle not initialized"); + return PX4_ERROR; + } - // FALLTHROUGH - case AFBR_S50MV85G_V3: - _min_distance = 0.08f; - _max_distance = 10.f; - _px4_rangefinder.set_min_distance(_min_distance); - _px4_rangefinder.set_max_distance(_max_distance); - _px4_rangefinder.set_fov(math::radians(6.f)); - PX4_INFO_RAW("AFBR-S50MV85G\n"); - break; + // Initialize the S2PI hardware required by the API. + S2PI_Init(BROADCOM_AFBR_S50_S2PI_SPI_BUS, SPI_BAUD_RATE); - case AFBR_S50LV85D_V1: - _min_distance = 0.08f; + int32_t mode_param = _p_sens_afbr_mode.get(); - if (lt == LASER_H_V2X) { - _max_distance = 50.f; - PX4_INFO_RAW("AFBR-S50LX85D (v2)\n"); + if (mode_param < 0 || mode_param > 3) { + PX4_ERR("Invalid mode parameter: %li", mode_param); + return PX4_ERROR; + } - } else { - _max_distance = 30.f; - PX4_INFO_RAW("AFBR-S50LV85D (v1)\n"); - } + argus_mode_t mode = ARGUS_MODE_SHORT_RANGE; - _px4_rangefinder.set_min_distance(_min_distance); - _px4_rangefinder.set_max_distance(_max_distance); - _px4_rangefinder.set_fov(math::radians(6.f)); + switch (mode_param) { + case 0: + mode = ARGUS_MODE_SHORT_RANGE; break; - case AFBR_S50MV68B_V1: - _min_distance = 0.08f; - _max_distance = 10.f; - _px4_rangefinder.set_min_distance(_min_distance); - _px4_rangefinder.set_max_distance(_max_distance); - _px4_rangefinder.set_fov(math::radians(1.f)); - PX4_INFO_RAW("AFBR-S50MV68B (v1)\n"); + case 1: + mode = ARGUS_MODE_LONG_RANGE; break; - case AFBR_S50MV85I_V1: - _min_distance = 0.08f; - _max_distance = 5.f; - _px4_rangefinder.set_min_distance(_min_distance); - _px4_rangefinder.set_max_distance(_max_distance); - _px4_rangefinder.set_fov(math::radians(6.f)); - PX4_INFO_RAW("AFBR-S50MV85I (v1)\n"); + case 2: + mode = ARGUS_MODE_HIGH_SPEED_SHORT_RANGE; break; - case AFBR_S50SV85K_V1: - _min_distance = 0.08f; - _max_distance = 10.f; - _px4_rangefinder.set_min_distance(_min_distance); - _px4_rangefinder.set_max_distance(_max_distance); - _px4_rangefinder.set_fov(math::radians(4.f)); - PX4_INFO_RAW("AFBR-S50SV85K (v1)\n"); + case 3: + mode = ARGUS_MODE_HIGH_SPEED_LONG_RANGE; break; default: break; } - if (_testing) { - _state = STATE::TEST; + status_t status = Argus_InitMode(_hnd, BROADCOM_AFBR_S50_S2PI_SPI_BUS, mode); + + if (status == STATUS_OK) { + uint32_t id = Argus_GetChipID(_hnd); + uint32_t value = Argus_GetAPIVersion(); + uint8_t a = (value >> 24) & 0xFFU; + uint8_t b = (value >> 16) & 0xFFU; + uint8_t c = value & 0xFFFFU; + PX4_INFO_RAW("AFBR-S50 Chip ID: %u, API Version: %u v%d.%d.%d\n", (uint)id, (uint)value, a, b, c); + + argus_module_version_t mv = Argus_GetModuleVersion(_hnd); + + switch (mv) { + case AFBR_S50MV85G_V1: + + // FALLTHROUGH + case AFBR_S50MV85G_V2: + + // FALLTHROUGH + case AFBR_S50MV85G_V3: + _min_distance = 0.0f; + _max_distance = 10.f; + _px4_rangefinder.set_min_distance(_min_distance); + _px4_rangefinder.set_max_distance(_max_distance); + _px4_rangefinder.set_fov(math::radians(6.f)); + PX4_INFO_RAW("AFBR-S50MV85G\n"); + break; + + case AFBR_S50LV85D_V1: + _min_distance = 0.0f; + _max_distance = 30.f; + _px4_rangefinder.set_min_distance(_min_distance); + _px4_rangefinder.set_max_distance(_max_distance); + _px4_rangefinder.set_fov(math::radians(6.f)); + PX4_INFO_RAW("AFBR-S50LV85D\n"); + break; + + case AFBR_S50LX85D_V1: + _min_distance = 0.0f; + _max_distance = 50.f; + _px4_rangefinder.set_min_distance(_min_distance); + _px4_rangefinder.set_max_distance(_max_distance); + _px4_rangefinder.set_fov(math::radians(6.f)); + PX4_INFO_RAW("AFBR-S50LX85D\n"); + break; + + case AFBR_S50MV68B_V1: + _min_distance = 0.0f; + _max_distance = 10.f; + _px4_rangefinder.set_min_distance(_min_distance); + _px4_rangefinder.set_max_distance(_max_distance); + _px4_rangefinder.set_fov(math::radians(1.f)); + PX4_INFO_RAW("AFBR-S50MV68B (v1)\n"); + break; + + case AFBR_S50MV85I_V1: + _min_distance = 0.0f; + _max_distance = 5.f; + _px4_rangefinder.set_min_distance(_min_distance); + _px4_rangefinder.set_max_distance(_max_distance); + _px4_rangefinder.set_fov(math::radians(6.f)); + PX4_INFO_RAW("AFBR-S50MV85I (v1)\n"); + break; + + case AFBR_S50SV85K_V1: + _min_distance = 0.0f; + _max_distance = 10.f; + _px4_rangefinder.set_min_distance(_min_distance); + _px4_rangefinder.set_max_distance(_max_distance); + _px4_rangefinder.set_fov(math::radians(4.f)); + PX4_INFO_RAW("AFBR-S50SV85K (v1)\n"); + break; + + default: + break; + } + + if (_testing) { + _state = STATE::TEST; + + } else { + _state = STATE::CONFIGURE; + } + + ScheduleDelayed(_measure_interval); + return PX4_OK; } else { - _state = STATE::CONFIGURE; + PX4_ERR("Argus_InitMode failed: %ld", status); } - - ScheduleDelayed(_measure_interval); - return PX4_OK; } return PX4_ERROR; @@ -230,6 +264,15 @@ int AFBRS50::init() void AFBRS50::Run() { + if (_parameter_update_sub.updated()) { + // clear update + parameter_update_s param_update; + _parameter_update_sub.copy(¶m_update); + + // update parameters from storage + ModuleParams::updateParams(); + } + switch (_state) { case STATE::TEST: { if (_testing) { @@ -243,7 +286,8 @@ void AFBRS50::Run() break; case STATE::CONFIGURE: { - status_t status = set_rate(SHORT_RANGE_MODE_HZ); + _current_rate = (uint32_t)_p_sens_afbr_s_rate.get(); + status_t status = set_rate_and_dfm(_current_rate, DFM_MODE_OFF); if (status != STATUS_OK) { PX4_ERR("CONFIGURE status not okay: %i", (int)status); @@ -251,24 +295,10 @@ void AFBRS50::Run() ScheduleNow(); } - status = Argus_SetConfigurationDFMMode(_hnd, ARGUS_MODE_B, DFM_MODE_8X); - - if (status != STATUS_OK) { - PX4_ERR("Argus_SetConfigurationDFMMode status not okay: %i", (int)status); - } - - status = Argus_SetConfigurationDFMMode(_hnd, ARGUS_MODE_A, DFM_MODE_8X); - - if (status != STATUS_OK) { - PX4_ERR("Argus_SetConfigurationDFMMode status not okay: %i", (int)status); - } - - // start in short range mode - _mode = ARGUS_MODE_B; - set_mode(_mode); + status = Argus_SetConfigurationSmartPowerSaveEnabled(_hnd, false); if (status != STATUS_OK) { - PX4_ERR("CONFIGURE status not okay: %i", (int)status); + PX4_ERR("Argus_SetConfigurationSmartPowerSaveEnabled status not okay: %i", (int)status); ScheduleNow(); } else { @@ -288,7 +318,7 @@ void AFBRS50::Run() } } - UpdateMode(); + Evaluate_rate(); } break; @@ -306,49 +336,41 @@ void AFBRS50::Run() ScheduleDelayed(_measure_interval); } -void AFBRS50::UpdateMode() +void AFBRS50::Evaluate_rate() { - // only update mode if _current_distance is a valid measurement - if ((_current_distance > 0) && (_current_quality > 0)) { + // only update mode if _current_distance is a valid measurement and if the last rate switch was more than 1 second ago + if ((_current_distance > 0) && (_current_quality > 0) && ((hrt_absolute_time() - _last_rate_switch) > 1_s)) { - if ((_current_distance >= _long_range_threshold) && (_mode != ARGUS_MODE_A)) { - // change to long range mode - argus_mode_t mode = ARGUS_MODE_A; - status_t status = set_mode(mode); + status_t status = STATUS_OK; - if (status != STATUS_OK) { - PX4_ERR("set_mode status not okay: %i", (int)status); - } + if ((_current_distance >= (_p_sens_afbr_thresh.get() + _p_sens_afbr_hyster.get())) + && (_current_rate != (uint32_t)_p_sens_afbr_l_rate.get())) { - status = set_rate(LONG_RANGE_MODE_HZ); + _current_rate = (uint32_t)_p_sens_afbr_l_rate.get(); + status = set_rate_and_dfm(_current_rate, DFM_MODE_8X); if (status != STATUS_OK) { PX4_ERR("set_rate status not okay: %i", (int)status); - } - - status = set_rate(LONG_RANGE_MODE_HZ); - if (status != STATUS_OK) { - PX4_ERR("set_rate status not okay: %i", (int)status); + } else { + PX4_INFO("switched to long range rate: %i", (int)_current_rate); + _last_rate_switch = hrt_absolute_time(); } - } else if ((_current_distance <= _short_range_threshold) && (_mode != ARGUS_MODE_B)) { - // change to short range mode - argus_mode_t mode = ARGUS_MODE_B; - status_t status = set_mode(mode); + } else if ((_current_distance <= (_p_sens_afbr_thresh.get() - _p_sens_afbr_hyster.get())) + && (_current_rate != (uint32_t)_p_sens_afbr_s_rate.get())) { - if (status != STATUS_OK) { - PX4_ERR("set_mode status not okay: %i", (int)status); - } - - status = set_rate(SHORT_RANGE_MODE_HZ); + _current_rate = (uint32_t)_p_sens_afbr_s_rate.get(); + status = set_rate_and_dfm(_current_rate, DFM_MODE_OFF); if (status != STATUS_OK) { PX4_ERR("set_rate status not okay: %i", (int)status); + + } else { + PX4_INFO("switched to short range rate: %i", (int)_current_rate); + _last_rate_switch = hrt_absolute_time(); } } - - ScheduleDelayed(1000_ms); // don't switch again for at least 1 second } } @@ -373,40 +395,20 @@ void AFBRS50::print_info() get_info(); } -status_t AFBRS50::set_mode(argus_mode_t mode) +status_t AFBRS50::set_rate_and_dfm(uint32_t rate_hz, argus_dfm_mode_t dfm_mode) { while (Argus_GetStatus(_hnd) != STATUS_IDLE) { px4_usleep(1_ms); } - status_t status = Argus_SetConfigurationMeasurementMode(_hnd, mode); - - if (status != STATUS_OK) { - PX4_ERR("Argus_SetConfigurationMeasurementMode status not okay: %i", (int)status); - return status; - } - - argus_mode_t current_mode; - status = Argus_GetConfigurationMeasurementMode(_hnd, ¤t_mode); + status_t status = Argus_SetConfigurationDFMMode(_hnd, dfm_mode); if (status != STATUS_OK) { - PX4_ERR("Argus_GetConfigurationMeasurementMode status not okay: %i", (int)status); + PX4_ERR("Argus_SetConfigurationDFMMode status not okay: %i", (int)status); return status; - - } else { - _mode = current_mode; - } - - return status; -} - -status_t AFBRS50::set_rate(uint32_t rate_hz) -{ - while (Argus_GetStatus(_hnd) != STATUS_IDLE) { - px4_usleep(1_ms); } - status_t status = Argus_SetConfigurationFrameTime(_hnd, (1000000 / rate_hz)); + status = Argus_SetConfigurationFrameTime(_hnd, (1000000 / rate_hz)); if (status != STATUS_OK) { PX4_ERR("Argus_SetConfigurationFrameTime status not okay: %i", (int)status); @@ -429,13 +431,10 @@ status_t AFBRS50::set_rate(uint32_t rate_hz) void AFBRS50::get_info() { - argus_mode_t current_mode; argus_dfm_mode_t dfm_mode; - Argus_GetConfigurationMeasurementMode(_hnd, ¤t_mode); - Argus_GetConfigurationDFMMode(_hnd, current_mode, &dfm_mode); + Argus_GetConfigurationDFMMode(_hnd, &dfm_mode); PX4_INFO_RAW("distance: %.3fm\n", (double)_current_distance); - PX4_INFO_RAW("mode: %d\n", current_mode); PX4_INFO_RAW("dfm mode: %d\n", dfm_mode); PX4_INFO_RAW("rate: %u Hz\n", (uint)(1000000 / _measure_interval)); } diff --git a/src/drivers/distance_sensor/broadcom/afbrs50/AFBRS50.hpp b/src/drivers/distance_sensor/broadcom/afbrs50/AFBRS50.hpp index f7503b321bfa..7b24c5b4baeb 100644 --- a/src/drivers/distance_sensor/broadcom/afbrs50/AFBRS50.hpp +++ b/src/drivers/distance_sensor/broadcom/afbrs50/AFBRS50.hpp @@ -44,13 +44,16 @@ #include #include #include -#include #include +#include +#include #include +#include +#include using namespace time_literals; -class AFBRS50 : public px4::ScheduledWorkItem +class AFBRS50 : public ModuleParams, public px4::ScheduledWorkItem { public: AFBRS50(const uint8_t device_orientation = distance_sensor_s::ROTATION_DOWNWARD_FACING); @@ -75,18 +78,16 @@ class AFBRS50 : public px4::ScheduledWorkItem private: void Run() override; - void UpdateMode(); + void Evaluate_rate(); - void ProcessMeasurement(void *data); + void ProcessMeasurement(argus_hnd_t *hnd); - static status_t measurement_ready_callback(status_t status, void *data); + static status_t measurement_ready_callback(status_t status, argus_hnd_t *hnd); void get_info(); - status_t set_mode(argus_mode_t mode); - status_t set_rate(uint32_t rate_hz); + status_t set_rate_and_dfm(uint32_t rate_hz, argus_dfm_mode_t dfm_mode); argus_hnd_t *_hnd{nullptr}; - argus_mode_t _mode{ARGUS_MODE_B}; // Short-Range enum class STATE : uint8_t { TEST, @@ -98,14 +99,24 @@ class AFBRS50 : public px4::ScheduledWorkItem PX4Rangefinder _px4_rangefinder; hrt_abstime _measurement_time{0}; + hrt_abstime _last_rate_switch{0}; perf_counter_t _sample_perf{perf_alloc(PC_INTERVAL, MODULE_NAME": sample interval")}; uint32_t _measure_interval{1000000 / 50}; // 50Hz float _current_distance{0}; int8_t _current_quality{0}; - const float _short_range_threshold = 4.0; //meters - const float _long_range_threshold = 6.0; //meters float _max_distance; float _min_distance; + uint32_t _current_rate{0}; + + uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)}; + + DEFINE_PARAMETERS( + (ParamInt) _p_sens_afbr_mode, + (ParamInt) _p_sens_afbr_s_rate, + (ParamInt) _p_sens_afbr_l_rate, + (ParamInt) _p_sens_afbr_thresh, + (ParamInt) _p_sens_afbr_hyster + ); }; diff --git a/src/drivers/distance_sensor/broadcom/afbrs50/API/Src/s2pi.c b/src/drivers/distance_sensor/broadcom/afbrs50/API/Src/s2pi.c index 61950a12b815..367c5417df60 100644 --- a/src/drivers/distance_sensor/broadcom/afbrs50/API/Src/s2pi.c +++ b/src/drivers/distance_sensor/broadcom/afbrs50/API/Src/s2pi.c @@ -85,6 +85,8 @@ static int gpio_falling_edge(int irq, void *context, void *arg) status_t S2PI_Init(s2pi_slave_t defaultSlave, uint32_t baudRate_Bps) { + (void)defaultSlave; + px4_arch_configgpio(BROADCOM_AFBR_S50_S2PI_CS); s2pi_.spidev = px4_spibus_initialize(BROADCOM_AFBR_S50_S2PI_SPI_BUS); @@ -107,11 +109,24 @@ status_t S2PI_Init(s2pi_slave_t defaultSlave, uint32_t baudRate_Bps) * - #STATUS_BUSY: An SPI transfer is in progress. * - #STATUS_S2PI_GPIO_MODE: The module is in GPIO mode. *****************************************************************************/ -status_t S2PI_GetStatus(void) +status_t S2PI_GetStatus(s2pi_slave_t slave) { + (void)slave; + return s2pi_.Status; } +status_t S2PI_TryGetMutex(s2pi_slave_t slave) +{ + (void) slave; + return STATUS_OK; +} + +void S2PI_ReleaseMutex(s2pi_slave_t slave) +{ + (void) slave; +} + /*!*************************************************************************** * @brief Sets the SPI baud rate in bps. * @param baudRate_Bps The default SPI baud rate in bauds-per-second. @@ -135,8 +150,10 @@ status_t S2PI_SetBaudRate(uint32_t baudRate_Bps) * switch back to ordinary SPI functionality. * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). *****************************************************************************/ -status_t S2PI_CaptureGpioControl(void) +status_t S2PI_CaptureGpioControl(s2pi_slave_t slave) { + (void)slave; + /* Check if something is ongoing. */ IRQ_LOCK(); status_t status = s2pi_.Status; @@ -165,8 +182,10 @@ status_t S2PI_CaptureGpioControl(void) * the #S2PI_CaptureGpioControl function. * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). *****************************************************************************/ -status_t S2PI_ReleaseGpioControl(void) +status_t S2PI_ReleaseGpioControl(s2pi_slave_t slave) { + (void)slave; + /* Check if something is ongoing. */ IRQ_LOCK(); status_t status = s2pi_.Status; @@ -202,6 +221,8 @@ status_t S2PI_ReleaseGpioControl(void) *****************************************************************************/ status_t S2PI_WriteGpioPin(s2pi_slave_t slave, s2pi_pin_t pin, uint32_t value) { + (void)slave; + /* Check if pin is valid. */ if (pin > S2PI_IRQ || value > 1) { return ERROR_INVALID_ARGUMENT; @@ -228,6 +249,8 @@ status_t S2PI_WriteGpioPin(s2pi_slave_t slave, s2pi_pin_t pin, uint32_t value) *****************************************************************************/ status_t S2PI_ReadGpioPin(s2pi_slave_t slave, s2pi_pin_t pin, uint32_t *value) { + (void)slave; + /* Check if pin is valid. */ if (pin > S2PI_IRQ || !value) { return ERROR_INVALID_ARGUMENT; @@ -255,6 +278,8 @@ status_t S2PI_ReadGpioPin(s2pi_slave_t slave, s2pi_pin_t pin, uint32_t *value) *****************************************************************************/ status_t S2PI_CycleCsPin(s2pi_slave_t slave) { + (void)slave; + /* Check the driver status. */ IRQ_LOCK(); status_t status = s2pi_.Status; @@ -337,9 +362,9 @@ status_t S2PI_TransferFrame(s2pi_slave_t spi_slave, uint8_t const *txData, uint8 } /* Check the spi slave.*/ - if (spi_slave != S2PI_S2) { - return ERROR_S2PI_INVALID_SLAVE; - } + // if (spi_slave != S2PI_S2) { + // return ERROR_S2PI_INVALID_SLAVE; + // } /* Check the driver status, lock if idle. */ IRQ_LOCK(); @@ -372,8 +397,10 @@ status_t S2PI_TransferFrame(s2pi_slave_t spi_slave, uint8_t const *txData, uint8 * invoked with the #ERROR_ABORTED error byte. * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). *****************************************************************************/ -status_t S2PI_Abort(void) +status_t S2PI_Abort(s2pi_slave_t slave) { + (void)slave; + status_t status = s2pi_.Status; /* Check if something is ongoing. */ @@ -405,6 +432,8 @@ status_t S2PI_Abort(void) *****************************************************************************/ status_t S2PI_SetIrqCallback(s2pi_slave_t slave, s2pi_irq_callback_t callback, void *callbackData) { + (void)slave; + s2pi_.IrqCallback = callback; s2pi_.IrqCallbackData = callbackData; @@ -430,5 +459,7 @@ status_t S2PI_SetIrqCallback(s2pi_slave_t slave, s2pi_irq_callback_t callback, v *****************************************************************************/ uint32_t S2PI_ReadIrqPin(s2pi_slave_t slave) { + (void)slave; + return px4_arch_gpioread(s2pi_.GPIOs[S2PI_IRQ]); } diff --git a/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_api.h b/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_api.h index a93397637000..3e30649ae104 100644 --- a/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_api.h +++ b/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_api.h @@ -1,12 +1,12 @@ /*************************************************************************//** * @file - * @brief This file is part of the AFBR-S50 API. - * @details This file provides generic functionality belonging to all - * devices from the AFBR-S50 product family. + * @brief This file is part of the AFBR-S50 API. + * @details This file provides generic functionality belonging to all + * devices from the AFBR-S50 product family. * * @copyright * - * Copyright (c) 2021, Broadcom Inc + * Copyright (c) 2023, Broadcom Inc. * All rights reserved. * * Redistribution and use in source and binary forms, with or without @@ -37,21 +37,21 @@ #ifndef ARGUS_API_H #define ARGUS_API_H - #ifdef __cplusplus extern "C" { #endif /*!*************************************************************************** - * @defgroup argusapi AFBR-S50 API + * @defgroup argus_api AFBR-S50 API + * @ingroup argus * - * @brief The main module of the API from the AFBR-S50 SDK. + * @brief The main module of the API from the AFBR-S50 SDK. * - * @details General API for the AFBR-S50 time-of-flight sensor device family.\n - * See the \ref getting_started Guide for a detailed description - * on how to use the module/API. + * @details General API for the AFBR-S50 time-of-flight sensor device family.\n + * See the \ref getting_started Guide for a detailed description + * on how to use the module/API. * - * @addtogroup argusapi + * @addtogroup argus_api * @{ *****************************************************************************/ @@ -61,213 +61,374 @@ extern "C" { #include "argus_dfm.h" #include "argus_snm.h" #include "argus_xtalk.h" - -/*! The data structure for the API representing a AFBR-S50 device instance. */ -typedef void argus_hnd_t; +#include "argus_offset.h" /*! The S2PI slave identifier. */ typedef int32_t s2pi_slave_t; /*!*************************************************************************** - * @brief Initializes the API modules and the device with default parameters. + * @brief Initializes the device with default measurement mode. * * @details The function that needs to be called once after power up to - * initialize the modules state (i.e. the corresponding handle) and the - * dedicated Time-of-Flight device. In order to obtain a handle, - * reference the #Argus_CreateHandle method. + * initialize the modules state (i.e. the corresponding handle) and the + * dedicated Time-of-Flight device. In order to obtain a handle, + * reference the #Argus_CreateHandle method. + * + * Prior to calling the function, the required peripherals (i.e. S2PI, + * GPIO w/ IRQ and Timers) must be initialized and ready to use. * - * Prior to calling the function, the required peripherals (i.e. S2PI, - * GPIO w/ IRQ and Timers) must be initialized and ready to use. + * The function executes the following tasks: + * - Initialization of the internal state represented by the handle + * object. + * - Setup the device such that an safe configuration is present in + * the registers. + * - Initialize sub modules such as calibration or measurement modules. + * . * - * The function executes the following tasks: - * - Initialization of the internal state represented by the handle - * object. - * - Setup the device such that an safe configuration is present in - * the registers. - * - Initialize sub modules such as calibration or measurement modules. - * . + * The modules configuration is initialized with reasonable default + * values. Note that the default measurement mode depends on the + * given device. * - * The modules configuration is initialized with reasonable default values. + * Also refer to #Argus_InitMode, which uses an specified measurement + * mode instead of the dedicated default measurement mode. * - * @param hnd The API handle; contains all internal states and data. + * @param hnd The API handle; contains all internal states and data. * - * @param spi_slave The SPI hardware slave, i.e. the specified CS and IRQ - * lines. This is actually just a number that is passed - * to the SPI interface to distinct for multiple SPI slave - * devices. Note that the slave must be not equal to 0, - * since is reserved for error handling. + * @param spi_slave The SPI hardware slave, i.e. the specified CS and IRQ + * lines. This is actually just a number that is passed + * to the SPI interface to distinct for multiple SPI slave + * devices. Note that the slave must be not equal to 0, + * since is reserved for error handling. * - * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). + * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). *****************************************************************************/ status_t Argus_Init(argus_hnd_t *hnd, s2pi_slave_t spi_slave); /*!*************************************************************************** - * @brief Reinitializes the API modules and the device with default parameters. + * @brief Initializes the device with specified measurement mode. + * + * @details The function that needs to be called once after power up to + * initialize the modules state (i.e. the corresponding handle) and the + * dedicated Time-of-Flight device. In order to obtain a handle, + * reference the #Argus_CreateHandle method. * - * @details The function reinitializes the device with default configuration. - * Can be used as reset sequence for the device. See #Argus_Init for - * more information on the initialization. + * Prior to calling the function, the required peripherals (i.e. S2PI, + * GPIO w/ IRQ and Timers) must be initialized and ready to use. * - * Note that the #Argus_Init function must be called first! Otherwise, - * the function will return an error if it is called for an yet - * uninitialized device/handle. + * The function executes the following tasks: + * - Initialization of the internal state represented by the handle + * object. + * - Setup the device such that an safe configuration is present in + * the registers. + * - Initialize sub modules such as calibration or measurement modules. + * . * - * @param hnd The API handle; contains all internal states and data. + * The modules configuration is initialized with reasonable default values. * - * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). + * Also refer to #Argus_Init, which uses the dedicated default measurement + * mode instead of an user specified measurement mode. + * + * @param hnd The API handle; contains all internal states and data. + * + * @param spi_slave The SPI hardware slave, i.e. the specified CS and IRQ + * lines. This is actually just a number that is passed + * to the SPI interface to distinct for multiple SPI slave + * devices. Note that the slave must be not equal to 0, + * since is reserved for error handling. + * + * @param mode The specified measurement mode to be initialized. + * Pass 0 as special value to select default measurement mode + * (see #Argus_Init). + * + * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). *****************************************************************************/ -status_t Argus_Reinit(argus_hnd_t *hnd); +status_t Argus_InitMode(argus_hnd_t *hnd, s2pi_slave_t spi_slave, argus_mode_t mode); /*!*************************************************************************** - * @brief Deinitializes the API modules and the device. + * @brief Reinitializes the device with the current measurement mode. * - * @details The function deinitializes the device and clear all internal states. - * Can be used to cleanup before releasing the memory. The device - * can not be used any more and must be initialized again prior to next - * usage. + * @details The function reinitializes the device with the currently active + * measurement mode. + * + * This can be used as a soft reset for the device and API. + * See #Argus_Init for more information on the initialization. + * + * Note that the #Argus_Init or #Argus_InitMode function must be called + * first! Otherwise, the function will return an error if it is called + * for an yet uninitialized device/handle. * - * Note that the #Argus_Init function must be called first! Otherwise, - * the function will return an error if it is called for an yet - * uninitialized device/handle. + * Also refer to #Argus_ReinitMode, which uses a specified measurement + * mode instead of the currently active measurement mode. * - * @param hnd The API handle; contains all internal states and data. + * @note If a full re-initialization is not desired, refer to the + * #Argus_RestoreDeviceState function that will only re-write the + * register map to the device to restore its state after an power + * cycle. * - * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). + * @param hnd The API handle; contains all internal states and data. + * + * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). *****************************************************************************/ -status_t Argus_Deinit(argus_hnd_t *hnd); +status_t Argus_Reinit(argus_hnd_t *hnd); /*!*************************************************************************** - * @brief Creates a new device data handle object to store all internal states. + * @brief Reinitializes the device with a specified measurement mode. * - * @details The function must be called to obtain a new device handle object. - * The handle is basically an abstract object in memory that contains - * all the internal states and settings of the API module. The handle - * is passed to all the API methods in order to address the specified - * device. This allows to use the API with more than a single measurement - * device. + * @details The function reinitializes the device with a specified (/p mode) + * measurement mode. + * + * This can be used as a soft reset for the device and API. + * See #Argus_InitMode for more information on the initialization. + * + * Note that the #Argus_Init or #Argus_InitMode function must be called + * first! Otherwise, the function will return an error if it is called + * for an yet uninitialized device/handle. * - * The handler is created by calling the memory allocation method from - * the standard library: @code void * malloc(size_t size) @endcode - * In order to implement an individual memory allocation method, - * define and implement the following weakly binded method and return - * a pointer to the newly allocated memory. * + * Also refer to #Argus_Reinit, which re-uses the currently active + * measurement mode instead of an user specified measurement mode. * - * @code void * Argus_Malloc (size_t size) @endcode + * @note If a full re-initialization is not desired, refer to the + * #Argus_RestoreDeviceState function that will only re-write the + * register map to the device to restore its state after an power + * cycle. * - * Also see the #Argus_DestroyHandle method for the corresponding - * deallocation of the allocated memory. + * @param hnd The API handle; contains all internal states and data. * - * @note Although the method is using memory allocated on the heap, it - * is eventually no dynamic memory allocation, since the block of - * memory is kept all the time and no memory blocks are dynamically - * freed and re-allocated. If the usage of heap must be avoided, one - * can always implement its own version of the `Argus_Malloc` function - * to create the memory elsewhere. + * @param mode The specified measurement mode to be initialized. + * Pass 0 as special value to select the current measurement mode + * (see #Argus_Init). * - * @return Returns a pointer to the newly allocated device handler object. - * Returns a null pointer if the allocation failed! + * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). + *****************************************************************************/ +status_t Argus_ReinitMode(argus_hnd_t *hnd, argus_mode_t mode); + +/*!*************************************************************************** + * @brief Deinitializes the API modules and the device. + * + * @details The function deinitializes the device and clear all internal states. + * Can be used to cleanup before releasing the memory. The device + * can not be used any more and must be initialized again prior to next + * usage. + * + * Note that the #Argus_Init function must be called first! Otherwise, + * the function will return an error if it is called for an yet + * uninitialized device/handle. + * + * @param hnd The API handle; contains all internal states and data. + * + * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). + *****************************************************************************/ +status_t Argus_Deinit(argus_hnd_t *hnd); + +/*!*************************************************************************** + * @brief Creates a new device data handle object to store all internal states. + * + * @details The function must be called to obtain a new device handle object. + * The handle is basically an abstract object in memory that contains + * all the internal states and settings of the API module. The handle + * is passed to all the API methods in order to address the specified + * device. This allows to use the API with more than a single measurement + * device. + * + * The handler is created by calling the memory allocation method from + * the standard library: @code void * malloc(size_t size) @endcode + * In order to implement an individual memory allocation method, + * define and implement the following weakly binded method and return + * a pointer to the newly allocated memory. * + * + * @code void * Argus_Malloc (size_t size) @endcode + * + * Also see the #Argus_DestroyHandle method for the corresponding + * deallocation of the allocated memory. + * + * @note Although the method is using memory allocated on the heap, it + * is eventually no dynamic memory allocation, since the block of + * memory is kept all the time and no memory blocks are dynamically + * freed and re-allocated. If the usage of heap must be avoided, one + * can always implement its own version of the `Argus_Malloc` function + * to create the memory elsewhere. + * + * @return Returns a pointer to the newly allocated device handler object. + * Returns a null pointer if the allocation failed! *****************************************************************************/ argus_hnd_t *Argus_CreateHandle(void); /*!*************************************************************************** - * @brief Destroys a given device data handle object. + * @brief Destroys a given device data handle object. * * @details The function can be called to free the previously created device - * data handle object in order to save memory when the device is not - * used any more. + * data handle object in order to save memory when the device is not + * used any more. + * + * Note that the handle must be deinitialized before it can be + * destroyed. The function returns #ERROR_FAIL if the handle is not + * yet deinitialized. * - * Please refer to the #Argus_CreateHandle method for the corresponding - * allocation of the memory. + * Please refer to the #Argus_CreateHandle method for the corresponding + * allocation of the memory. * - * The handler is destroyed by freeing the corresponding memory with the - * method from the standard library, @code void free(void * ptr) @endcode. - * In order to implement an individual memory deallocation method, define - * and implement the following weakly binded method and free the memory - * object passed to the method by a pointer. + * The handler is destroyed by freeing the corresponding memory with the + * method from the standard library, @code void free(void * ptr) @endcode. + * In order to implement an individual memory deallocation method, define + * and implement the following weakly binded method and free the memory + * object passed to the method by a pointer. * - * @code void Argus_Free (void * ptr) @endcode + * @code void Argus_Free (void * ptr) @endcode * - * Also see the #Argus_CreateHandle method for the corresponding - * allocation of the required memory. + * Also see the #Argus_CreateHandle method for the corresponding + * allocation of the required memory. * - * @param hnd The device handle object to be deallocated. + * @param hnd The device handle object to be deallocated. + * + * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). + *****************************************************************************/ +status_t Argus_DestroyHandle(argus_hnd_t *hnd); + +/*!*************************************************************************** + * @brief Restores the device state with a re-write of all register values. + * + * @details The function invalidates and restores the device state by executing + * a re-write of the full register map. + * + * The purpose of this function is to recover from known external + * events like power cycles, for example due to sleep / wake-up + * functionality. This can be implemented by cutting off the external + * power supply of the device (e.g. via a MOSFET switch controlled by + * a GPIB pin). By calling this function, the expected state of the + * API is written to the device without the need to fully re-initialize + * the device. Thus, the API can resume where it has stopped as if + * there has never been a power cycle. + * + * The internal state machines like the dynamic configuration adaption + * (DCA) algorithm will not be reseted. The API/sensor will immediately + * resume at the last state that was optimized for the given + * environmental conditions. + * + * The use case of sleep / wake-up can be implemented as follows: + * + * 1. In case of ongoing measurements, stop the measurements via + * the #Argus_StopMeasurementTimer function (if started by the + * #Argus_StartMeasurementTimer function). + * + * 2. Shut down the device by removing the 5V power supply, e.g. + * via a GPIO pin that switches a MOSFET circuit. + * + * 3. After the desired sleep period, power the device by switching + * the 5V power supply on again. Wait until the power-on-reset + * (POR) is finished (approx. 1 ms) or just repeat step 4 until + * it succeeds. + * + * 4. Call the #Argus_RestoreDeviceState function to trigger the + * restoration of the device state in the API. Note that the + * function will return an error code if it fails. One can repeat + * the execution of that function a few times until it succeeds. + * + * 6. Continue with measurements via #Argus_StartMeasurementTimer + * of #Argus_TriggerMeasurement functions as desired. + * + * @note If a complete re-initialization (= soft-reset) is desired, see + * the #Argus_Reinit functionality. + * + * @note Changing a configuration or calibration parameter will always + * invalidate the device state as well as the state machine of the + * dynamic configuration adaption (DCA) algorithm. In that case, the + * device/API needs a few measurements to adopt to the present + * environmental conditions before the first valid measurement result + * can be obtained. This is almost similar to re-initializing the + * device (see #Argus_Reinit) which would also re-read the EEPROM. + * On the other hand, the #Argus_RestoreDeviceState does not reset + * or re-initialize anything. It just makes sure that the device + * register map (which has changed to its reset values after the + * power cycle) is what the API expects upon the next measurement. + * + * @param hnd The device handle object to be invalidated. + * + * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). *****************************************************************************/ -void Argus_DestroyHandle(argus_hnd_t *hnd); +status_t Argus_RestoreDeviceState(argus_hnd_t *hnd); /*!************************************************************************** * Generic API ****************************************************************************/ /*!*************************************************************************** - * @brief Gets the version number of the current API library. + * @brief Gets the version number of the current API library. * - * @details The version is compiled of a major (a), minor (b) and bugfix (c) - * number: a.b.c. + * @details The version is compiled of a major (a), minor (b) and bugfix (c) + * number: a.b.c. * - * The values are encoded into a 32-bit value: + * The values are encoded into a 32-bit value: * - * - [ 31 .. 24 ] - Major Version Number - * - [ 23 .. 16 ] - Minor Version Number - * - [ 15 .. 0 ] - Bugfix Version Number - * . + * - [ 31 .. 24 ] - Major Version Number + * - [ 23 .. 16 ] - Minor Version Number + * - [ 15 .. 0 ] - Bugfix Version Number + * . * - * To obtain the parts from the returned uin32_t value: + * To obtain the parts from the returned uin32_t value: * - * @code - * uint32_t value = Argus_GetAPIVersion(); - * uint8_t a = (value >> 24) & 0xFFU; - * uint8_t b = (value >> 16) & 0xFFU; - * uint8_t c = value & 0xFFFFU; - * @endcode + * @code + * uint32_t value = Argus_GetAPIVersion(); + * uint8_t a = (value >> 24) & 0xFFU; + * uint8_t b = (value >> 16) & 0xFFU; + * uint8_t c = value & 0xFFFFU; + * @endcode * - * @return Returns the current version number. + * @return Returns the current version number. *****************************************************************************/ uint32_t Argus_GetAPIVersion(void); /*!*************************************************************************** - * @brief Gets the build number of the current API library. + * @brief Gets the build number of the current API library. * - * @return Returns the current build number as a C-string. + * @return Returns the current build number as a C-string. *****************************************************************************/ char const *Argus_GetBuildNumber(void); /*!*************************************************************************** - * @brief Gets the version/variant of the module. + * @brief Gets the version/variant of the module. * - * @param hnd The API handle; contains all internal states and data. - * @return Returns the current module number. + * @param hnd The API handle; contains all internal states and data. + * @return Returns the current module number. *****************************************************************************/ argus_module_version_t Argus_GetModuleVersion(argus_hnd_t *hnd); /*!*************************************************************************** - * @brief Gets the version number of the chip. + * @brief Gets the name string of the module. * - * @param hnd The API handle; contains all internal states and data. - * @return Returns the current version number. + * @param hnd The API handle; contains all internal states and data. + * @return Returns the current module name. + *****************************************************************************/ +char const *Argus_GetModuleName(argus_hnd_t *hnd); + +/*!*************************************************************************** + * @brief Gets the version number of the chip. + * + * @param hnd The API handle; contains all internal states and data. + * @return Returns the current version number. *****************************************************************************/ argus_chip_version_t Argus_GetChipVersion(argus_hnd_t *hnd); /*!*************************************************************************** - * @brief Gets the type number of the device laser. + * @brief Gets the type number of the device laser. * - * @param hnd The API handle; contains all internal states and data. - * @return Returns the current device laser type number. + * @param hnd The API handle; contains all internal states and data. + * @return Returns the current device laser type number. *****************************************************************************/ argus_laser_type_t Argus_GetLaserType(argus_hnd_t *hnd); /*!*************************************************************************** - * @brief Gets the unique identification number of the chip. + * @brief Gets the unique identification number of the chip. * - * @param hnd The API handle; contains all internal states and data. - * @return Returns the unique identification number. + * @param hnd The API handle; contains all internal states and data. + * @return Returns the unique identification number. *****************************************************************************/ uint32_t Argus_GetChipID(argus_hnd_t *hnd); /*!*************************************************************************** - * @brief Gets the SPI hardware slave identifier. + * @brief Gets the SPI hardware slave identifier. * - * @param hnd The API handle; contains all internal states and data. - * @return The SPI hardware slave identifier. + * @param hnd The API handle; contains all internal states and data. + * @return The SPI hardware slave identifier. *****************************************************************************/ s2pi_slave_t Argus_GetSPISlave(argus_hnd_t *hnd); @@ -276,323 +437,425 @@ s2pi_slave_t Argus_GetSPISlave(argus_hnd_t *hnd); /*!************************************************************************** * Measurement/Device Operation **************************************************************************** - * @addtogroup argusmeas + * @addtogroup argus_meas * @{ ****************************************************************************/ /*!*************************************************************************** - * @brief Starts the timer based measurement cycle asynchronously. + * @brief Starts the timer based measurement cycle asynchronously. * * @details This function starts a timer based measurement cycle asynchronously - * in the background. A periodic timer interrupt triggers the measurement - * frames on the ASIC and the data readout afterwards. - * - * When the measurement has finished, a callback (which is passed as - * a parameter to the function) is invoked in order to inform the - * main thread to call the \link #Argus_EvaluateData data evaluation - * method\endlink. This call is mandatory to release the data buffer - * for the next measurement and it must not be invoked directly from - * the callback since it is currently within an interrupt service - * routine. Rather a flag should inform the main thread or task - * scheduler to invoke the evaluation as soon as possible in order - * to not introduce any unwanted delays to the next measurement frame. - * - * The next measurement frame will be started as soon as the pre- - * conditions are meet. These are: - * 1. timer flag set (i.e. a certain time has passed since the last - * measurement in order to fulfill eye-safety), - * 2. device idle (i.e. no measurement currently ongoing) and - * 3. data buffer ready (i.e. the previous data has been evaluated). - * - * Usually, the device idle and data buffer ready conditions are met - * before the timer tick occurs and thus the timer dictates the frame - * rate. - * - * The callback function pointer will be invoked when the measurement - * frame has finished successfully or whenever an error, that cannot - * be handled internally, occurs. - * - * The periodic timer interrupts are used to check the measurement status - * for timeouts. An error is invoked when a measurement cycle have not - * finished within the specified time. - * - * Use #Argus_StopMeasurementTimer to stop the measurements. - * - * @note In order to use this function, the periodic interrupt timer module - * (see @ref argus_timer) must be implemented! - * - * @param hnd The API handle; contains all internal states and data. - * @param cb Callback function that will be invoked when the measurement - * is completed. Its parameters are the \link #status_t status - * \endlink and a pointer to the \link #argus_results_t results - * \endlink structure. If an error occurred, the status differs - * from #STATUS_OK and the second parameter is null. - * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). + * in the background. A periodic timer interrupt triggers the measurement + * frames on the ASIC and the data readout afterwards. + * + * When the measurement has finished, a callback (which is passed as + * a parameter to the function) is invoked in order to inform the + * main thread to call the \link #Argus_EvaluateData data evaluation + * method\endlink. This call is mandatory to release the data buffer + * for the next measurement and it must not be invoked directly from + * the callback since it is currently within an interrupt service + * routine. Rather a flag should inform the main thread or task + * scheduler to invoke the evaluation as soon as possible in order + * to not introduce any unwanted delays to the next measurement frame. + * + * The next measurement frame will be started as soon as the pre- + * conditions are meet. These are: + * 1. timer flag set (i.e. a certain time has passed since the last + * measurement in order to fulfill eye-safety), + * 2. device idle (i.e. no measurement currently ongoing) and + * 3. data buffer ready (i.e. the previous data has been evaluated). + * + * Usually, the device idle and data buffer ready conditions are met + * before the timer tick occurs and thus the timer dictates the frame + * rate. + * + * The callback function pointer will be invoked when the measurement + * frame has finished successfully or whenever an error, that cannot + * be handled internally, occurs. + * + * The periodic timer interrupts are used to check the measurement status + * for timeouts. An error is invoked when a measurement cycle have not + * finished within the specified time. + * + * Use #Argus_StopMeasurementTimer to stop the measurements. + * + * @note In order to use this function, the periodic interrupt timer module + * (see @ref argus_timer) must be implemented! + * + * @param hnd The API handle; contains all internal states and data. + * + * @param cb Callback function that will be invoked when the measurement + * is completed. Its parameters are the \link #status_t status + * \endlink of the finished measurement cycle and the pointer to + * the calling \link #argus_hnd_t API handle\endlink, i.e. the + * /p hnd value. The latter must be passed to the + * #Argus_EvaluateData function. + * If an error occurred, the status differs from #STATUS_OK. + * + * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). *****************************************************************************/ -status_t Argus_StartMeasurementTimer(argus_hnd_t *hnd, argus_callback_t cb); +status_t Argus_StartMeasurementTimer(argus_hnd_t *hnd, + argus_measurement_ready_callback_t cb); /*!*************************************************************************** - * @brief Stops the timer based measurement cycle. + * @brief Stops the timer based measurement cycle. * * @details This function stops the ongoing timer based measurement cycles - * that have been started using the #Argus_StartMeasurementTimer - * function. + * that have been started using the #Argus_StartMeasurementTimer + * function. * - * @param hnd The API handle; contains all internal states and data. - * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). + * @param hnd The API handle; contains all internal states and data. + * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). *****************************************************************************/ status_t Argus_StopMeasurementTimer(argus_hnd_t *hnd); /*!*************************************************************************** - * @brief Triggers a single measurement frame asynchronously. + * @brief Triggers a single measurement frame asynchronously. * * @details This function immediately triggers a single measurement frame - * asynchronously if all the pre-conditions are met. Otherwise it - * returns with a corresponding status (e.g. #STATUS_BUSY or - * #STATUS_ARGUS_POWERLIMIT). + * asynchronously if all the pre-conditions are met. Otherwise it + * returns with a corresponding status (e.g. #STATUS_BUSY or + * #STATUS_ARGUS_POWERLIMIT). + * + * When the measurement has finished, a callback (which is passed as + * a parameter to the function) is invoked in order to inform the + * main thread to call the \link #Argus_EvaluateData data evaluation + * method\endlink. This call is mandatory to release the data buffer + * for the next measurement and it must not be invoked directly from + * the callback since it is currently within an interrupt service + * routine. Rather a flag should inform the main thread or task + * scheduler to invoke the evaluation task. + * + * The pre-conditions for starting a measurement frame are: + * 1. timer flag set (i.e. a certain time has passed since the last + * measurement in order to fulfill eye-safety), + * 2. device idle (i.e. no measurement currently ongoing) and + * 3. data buffer ready (i.e. the previous data has been evaluated). + * + * The callback function pointer will be invoked when the measurement + * frame has finished successfully or whenever an error, that cannot + * be handled internally, occurs. + * + * The successful finishing of the measurement frame is not checked + * for timeouts! Instead, the user can call the #Argus_GetStatus() + * function on a regular function to do so. + * + * @note Despite this function triggers a new measurement cycle upon its + * invocation, the frame time parameter is still active for this + * measurement mode. Basically, the first pre-condition mentioned + * above is controlled via the frame time parameter. This means + * that measurements cannot be triggered faster than the frame + * timer parameters specifies. The maximum integration time (i.e. + * exposure time) is also determined by the frame time such that + * new measurements are finished with the specified frame time and + * the device is ready to trigger a new measurement after the + * frame time has elapse. + * See #Argus_SetConfigurationFrameTime function for more information + * on the frame time. + * + * @param hnd The API handle; contains all internal states and data. + * + * @param cb Callback function that will be invoked when the measurement + * is completed. Its parameters are the \link #status_t status + * \endlink of the finished measurement cycle and the pointer to + * the calling \link #argus_hnd_t API handle\endlink, i.e. the + * /p hnd value. The latter must be passed to the + * #Argus_EvaluateData function. + * If an error occurred, the status differs from #STATUS_OK. + * + * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). + *****************************************************************************/ +status_t Argus_TriggerMeasurement(argus_hnd_t *hnd, + argus_measurement_ready_callback_t cb); + +/*!*************************************************************************** + * @brief Determines whether a data evaluation is pending. * - * When the measurement has finished, a callback (which is passed as - * a parameter to the function) is invoked in order to inform the - * main thread to call the \link #Argus_EvaluateData data evaluation - * method\endlink. This call is mandatory to release the data buffer - * for the next measurement and it must not be invoked directly from - * the callback since it is currently within an interrupt service - * routine. Rather a flag should inform the main thread or task - * scheduler to invoke the evaluation task. + * @details If the function returns true, a raw buffer is required to be + * evaluated to the #Argus_EvaluateData function. The raw data buffer + * is filled with raw data from the measurement tasks which need to + * be evaluated and the buffer must be freed in order to restart a + * new measurement task. * - * The pre-conditions for starting a measurement frame are: - * 1. timer flag set (i.e. a certain time has passed since the last - * measurement in order to fulfill eye-safety), - * 2. device idle (i.e. no measurement currently ongoing) and - * 3. data buffer ready (i.e. the previous data has been evaluated). + * Note that no configuration parameters can be update until all raw + * buffers are evaluated. + * + * @note See also the #Argus_GetStatus function to obtain the current device + * status and error code if any. + * + * @param hnd The API handle; contains all internal states and data. + * @return True if any raw buffer is filled with data that must be evaluated. + *****************************************************************************/ +bool Argus_IsDataEvaluationPending(argus_hnd_t *hnd); + +/*!*************************************************************************** + * @brief Determines if the device if active with timer based measurements. + * @details If the function returns true, the device is active with timer + * scheduled measurements that have been started via the + * #Argus_StartMeasurementTimer. * - * The callback function pointer will be invoked when the measurement - * frame has finished successfully or whenever an error, that cannot - * be handled internally, occurs. + * Note that the active state is independent of the busy state that + * is set when the device is actually busy. The active state is also + * true if the device is currently idle but waits for the next timer + * event to trigger a new measurement cycle. * - * The successful finishing of the measurement frame is not checked - * for timeouts! Instead, the user can call the #Argus_GetStatus() - * function on a regular function to do so. + * @note See also the #Argus_GetStatus function to obtain the current device + * status and error code if any. * - * @param hnd The API handle; contains all internal states and data. - * @param cb Callback function that will be invoked when the measurement - * is completed. Its parameters are the \link #status_t status - * \endlink and a pointer to the \link #argus_results_t results - * \endlink structure. If an error occurred, the status differs - * from #STATUS_OK and the second parameter is null. - * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). + * @param hnd The API handle; contains all internal states and data. + * @return True if the device is operating in timer triggered measurement mode. *****************************************************************************/ -status_t Argus_TriggerMeasurement(argus_hnd_t *hnd, argus_callback_t cb); +bool Argus_IsTimerMeasurementActive(argus_hnd_t *hnd); /*!*************************************************************************** - * @brief Stops the currently ongoing measurements and SPI activity immediately. + * @brief Stops the currently ongoing measurements and SPI activity immediately. * - * @param hnd The API handle; contains all internal states and data. - * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). + * @param hnd The API handle; contains all internal states and data. + * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). *****************************************************************************/ status_t Argus_Abort(argus_hnd_t *hnd); /*!*************************************************************************** - * @brief Checks the state of the device/driver. - * - * @details Returns the current module status or error if any. - * See the following for a list of errors: - * - * Status: - * - Idle/OK: Device and SPI interface are idle (== #STATUS_IDLE). - * - Busy: Device or SPI interface are busy (== #STATUS_BUSY). - * - Initializing: The modules and devices are currently initializing - * (== #STATUS_INITIALIZING). - * . - * - * Error: - * - Not Initialized: The modules (or any submodule) has not been - * initialized yet (== #ERROR_NOT_INITIALIZED). - * - Not Connected: No device has been connected (or connection errors - * have occurred) (== #ERROR_ARGUS_NOT_CONNECTED). - * - Timeout: A previous frame measurement has not finished within a - * specified time (== #ERROR_TIMEOUT). - * . - * - * @param hnd The API handle; contains all internal states and data. - * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). + * @brief Checks the state of the device/driver. + * + * @details Returns the current module status or error if any. + * + * See the following for a list of errors: + * + * Status: + * - Idle/OK: Device and SPI interface are idle (== #STATUS_IDLE). + * - Busy: Device or SPI interface are busy (== #STATUS_BUSY). + * - Initializing: The modules and devices are currently initializing + * (== #STATUS_INITIALIZING). + * . + * + * Error: + * - Not Initialized: The modules (or any submodule) has not been + * initialized yet (== #ERROR_NOT_INITIALIZED). + * - Not Connected: No device has been connected (or connection errors + * have occurred) (== #ERROR_ARGUS_NOT_CONNECTED). + * - Timeout: A previous frame measurement has not finished within a + * specified time (== #ERROR_TIMEOUT). + * . + * + * @note Note that this function returns the actual busy state. This means + * that it will return #STATUS_IDLE during the pause between two + * consecutive measurement frames. If the device is active with timer + * based measurements (i.e. started via the #Argus_StartMeasurementTimer + * function), the return state switches from idle to busy and back + * periodically. Use the #Argus_IsTimerMeasurementActive function in + * order to determine if the device is active with timer based + * measurements. + * + * @note Note also that the device might reject configuration parameter + * update despite the status is #STATUS_IDLE. This is due to the fact + * that the internal raw data buffers are still busy and require to + * be freed by passing them to the #Argus_EvaluateData function. Use + * the #Argus_IsDataEvaluationPending function to see whether any of + * the raw data buffers is busy or the configuration can be changed. + * + * @param hnd The API handle; contains all internal states and data. + * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). *****************************************************************************/ status_t Argus_GetStatus(argus_hnd_t *hnd); /*!***************************************************************************** - * @brief Tests the connection to the device by sending a ping message. + * @brief Tests the connection to the device by sending a ping message. * - * @details A ping is transfered to the device in order to check the device and - * SPI connection status. Returns #STATUS_OK on success and - * #ERROR_ARGUS_NOT_CONNECTED elsewise. + * @details A ping is transferred to the device in order to check the device and + * SPI connection status. Returns #STATUS_OK on success and + * #ERROR_ARGUS_NOT_CONNECTED else-wise. * - * @param hnd The API handle; contains all internal states and data. - * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). + * @param hnd The API handle; contains all internal states and data. + * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). ******************************************************************************/ status_t Argus_Ping(argus_hnd_t *hnd); /*!*************************************************************************** - * @brief Evaluate useful information from the raw measurement data. - * - * @details This function is called with a pointer to the raw results obtained - * from the measurement cycle. It evaluates this data and creates - * useful information from it. Furthermore, calibration is applied to - * the data. Finally, the results are used in order to adapt the device - * configuration to the ambient conditions in order to achieve optimal - * device performance. - * - * Therefore, it consists of the following sub-functions: - * - Apply pre-calibration: Applies calibration steps before evaluating - * the data, i.e. calculations that are to the integration results - * directly. - * - Evaluate data: Calculates measurement parameters such as range, - * amplitude or ambient light intensity, depending on the configurations. - * - Apply post-calibration: Applies calibrations after evaluation of - * measurement data, i.e. calibrations applied to the calculated - * values such as range. - * - Dynamic Configuration Adaption: checks if the configuration needs - * to be adjusted before the next measurement cycle in order to - * achieve optimum performance. Note that the configuration might not - * applied directly but before the next measurement starts. This is - * due to the fact that the device could be busy measuring already - * the next frame and thus no SPI activity is allowed. - * . - * However, if the device is idle, the configuration will be written - * immediately. - * - * @param hnd The API handle; contains all internal states and data. - * @param res A pointer to the results structure that will be populated - * with evaluated data. - * @param raw The pointer to the raw data that has been obtained by the - * measurement finished callback. - * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). - *****************************************************************************/ -status_t Argus_EvaluateData(argus_hnd_t *hnd, argus_results_t *res, void *raw); - -/*!*************************************************************************** - * @brief Executes a crosstalk calibration measurement. + * @brief Evaluates measurement data from the raw sensor readout data. + * + * @details This function must be called after each completion of a measurement + * cycle. The completion of a measurement cycle is communicated by the + * API via the invocation of the measurement data ready callback. The + * callback is installed in the API when new measurements are started + * either via the #Argus_TriggerMeasurement or via the + * #Argus_StartMeasurementTimer functions. + * + * This function evaluates measurement values like distances, amplitudes + * states and auxiliary values like temperature or voltage values from + * the raw sensor readout data obtained from the device during the + * measurement cycle. A pointer to a #argus_results_t data structure + * must be passed where all the evaluated values will be written to. + * The structure must persist during the whole execution of the + * #Argus_EvaluateData function. + * + * In addition to the evaluation of measurement data, the function + * feeds back the obtained information to the device in order to + * optimize its performance with respect to the ambient conditions, + * utilizing the so called Dynamic Configuration Adaption (DCA) + * feature. + * + * Furthermore, several calibration algorithm are applied to the data. + * + * If the function is called without any data ready to be evaluated + * from the measurement module, the error code #ERROR_ARGUS_BUFFER_EMPTY + * is returned and not data is written to the passed #argus_results_t + * data structure. + * + * @note The call to this function is mandatory for each finished measurement + * cycle, i.e. for each call to the measurement data ready callback. + * If the function is not called, the data is not evaluated and the + * internal raw data buffers are not freed. In that case, they can not + * be reused for the next measurement and the API can not start new + * measurements. + * There are up to two internal buffers available, the to callback + * is called twice before the API must wait for the data evaluation + * to finish. + * + * @param hnd The API handle; contains all internal states and data. + * @param res A pointer to the results structure that will be populated + * with evaluated data. + * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). + *****************************************************************************/ +status_t Argus_EvaluateData(argus_hnd_t *hnd, argus_results_t *res); + +/*!*************************************************************************** + * @brief Evaluates measurement data from the raw sensor readout data. + * + * @details This function enhances the #Argus_EvaluateData by adding additional + * debug data into a specified debug data structure (\p dbg). If the + * \p dbg is null, the function is eqivalent to the #Argus_EvaluateData + * function. This, see #Argus_EvaluateData for reference. + * + * @param hnd The API handle; contains all internal states and data. + * @param res A pointer to the results structure that will be populated + * with evaluated data. + * @param dbg An optional pointer (can be null) to the debug data structure. + * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). + *****************************************************************************/ +status_t Argus_EvaluateDataDebug(argus_hnd_t *hnd, argus_results_t *res, + argus_results_debug_t *dbg); + +/*!*************************************************************************** + * @brief Executes a crosstalk calibration measurement. * * @details This function immediately triggers a crosstalk vector calibration - * measurement sequence. The ordinary measurement activity is suspended - * while the calibration is ongoing. + * measurement sequence. The ordinary measurement activity is suspended + * while the calibration is ongoing. * - * In order to perform a crosstalk calibration, the reflection of the - * transmitted signal must be kept from the receiver side, by either - * covering the TX completely (or RX respectively) or by setting up - * an absorbing target at far distance. + * In order to perform a crosstalk calibration, the reflection of the + * transmitted signal must be kept from the receiver side, by either + * covering the TX completely (or RX respectively) or by setting up + * an absorbing target at far distance. * - * After calibration has finished successfully, the obtained data is - * applied immediately and can be read from the API using the - * #Argus_GetCalibrationCrosstalkVectorTable function. + * After calibration has finished successfully, the obtained data is + * applied immediately and can be read from the API using the + * #Argus_GetCalibrationCrosstalkVectorTable function. * - * @param hnd The API handle; contains all internal states and data. - * @param mode The targeted measurement mode. - * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). + * @param hnd The API handle; contains all internal states and data. + * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). *****************************************************************************/ -status_t Argus_ExecuteXtalkCalibrationSequence(argus_hnd_t *hnd, argus_mode_t mode); - +status_t Argus_ExecuteXtalkCalibrationSequence(argus_hnd_t *hnd); /*!*************************************************************************** - * @brief Executes a relative range offset calibration measurement. + * @brief Executes a relative range offset calibration measurement. * * @details This function immediately triggers a relative range offset calibration - * measurement sequence. The ordinary measurement activity is suspended - * while the calibration is ongoing. + * measurement sequence. The ordinary measurement activity is suspended + * while the calibration is ongoing. * - * In order to perform a relative range offset calibration, a flat - * calibration target must be setup perpendicular to the sensors - * field-of-view. + * In order to perform a relative range offset calibration, a flat + * calibration target must be setup perpendicular to the sensors + * field-of-view. * - * \code + * \code * AFBR-S50 ToF Sensor - * #| - * #| | - * #|-----+ | - * #| Rx | | - * Reference #|----++ | Calibration - * Plane #| Tx | | Target - * #|----+ | - * #| | - * #| <------- targetRange -----------------> | - * \endcode - * - * There are two options to run the offset calibration: relative and - * absolute. - * - Relative (#Argus_ExecuteRelativeRangeOffsetCalibrationSequence): - * when the absolute distance is not essential or the distance to - * the calibration target is not known, the relative method can be - * used to compensate the relative pixel range offset w.r.t. the - * average range. The absolute or global range offset is not changed. - * - Absolute (#Argus_ExecuteAbsoluteRangeOffsetCalibrationSequence): - * when the absolute distance is essential and the distance to the - * calibration target is known, the absolute method can be used to - * calibrate the absolute measured distance. Additionally, the - * relative pixel offset w.r.t. the average range is also compensated. - * . - * - * After calibration has finished successfully, the obtained data is - * applied immediately and can be read from the API using the - * #Argus_GetCalibrationPixelRangeOffsets or - * #Argus_GetCalibrationGlobalRangeOffset function. - * - * @param hnd The API handle; contains all internal states and data. - * @param mode The targeted measurement mode. - * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). - *****************************************************************************/ -status_t Argus_ExecuteRelativeRangeOffsetCalibrationSequence(argus_hnd_t *hnd, - argus_mode_t mode); - -/*!*************************************************************************** - * @brief Executes an absolute range offset calibration measurement. + * #| + * #| | + * #|-----+ | + * #| RX | | + * Reference #|----++ | Calibration + * Plane #| TX | | Target + * #|----+ | + * #| | + * #| <------- targetRange -----------------> | + * \endcode + * + * There are two options to run the offset calibration: relative and + * absolute. + * + * - Relative (#Argus_ExecuteRelativeRangeOffsetCalibrationSequence): + * when the absolute distance is not essential or the distance to + * the calibration target is not known, the relative method can be + * used to compensate the relative pixel range offset w.r.t. the + * average range. The absolute or global range offset is not changed. + * - Absolute (#Argus_ExecuteAbsoluteRangeOffsetCalibrationSequence): + * when the absolute distance is essential and the distance to the + * calibration target is known, the absolute method can be used to + * calibrate the absolute measured distance. Additionally, the + * relative pixel offset w.r.t. the average range is also compensated. + * . + * + * After calibration has finished successfully, the obtained data is + * applied immediately and can be read from the API using the + * #Argus_GetCalibrationPixelRangeOffsets or + * #Argus_GetCalibrationGlobalRangeOffsets function. + * + * @param hnd The API handle; contains all internal states and data. + * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). + *****************************************************************************/ +status_t Argus_ExecuteRelativeRangeOffsetCalibrationSequence(argus_hnd_t *hnd); + +/*!*************************************************************************** + * @brief Executes an absolute range offset calibration measurement. * * @details This function immediately triggers an absolute range offset calibration - * measurement sequence. The ordinary measurement activity is suspended - * while the calibration is ongoing. + * measurement sequence. The ordinary measurement activity is suspended + * while the calibration is ongoing. * - * In order to perform a relative range offset calibration, a flat - * calibration target must be setup perpendicular to the sensors - * field-of-view. + * In order to perform a relative range offset calibration, a flat + * calibration target must be setup perpendicular to the sensors + * field-of-view. * - * \code + * \code * AFBR-S50 ToF Sensor - * #| - * #| | - * #|-----+ | - * #| Rx | | - * Reference #|----++ | Calibration - * Plane #| Tx | | Target - * #|----+ | - * #| | - * #| <------- targetRange -----------------> | - * \endcode - * - * There are two options to run the offset calibration: relative and - * absolute. - * - Relative (#Argus_ExecuteRelativeRangeOffsetCalibrationSequence): - * when the absolute distance is not essential or the distance to - * the calibration target is not known, the relative method can be - * used to compensate the relative pixel range offset w.r.t. the - * average range. The absolute or global range offset is not changed. - * - Absolute (#Argus_ExecuteAbsoluteRangeOffsetCalibrationSequence): - * when the absolute distance is essential and the distance to the - * calibration target is known, the absolute method can be used to - * calibrate the absolute measured distance. Additionally, the - * relative pixel offset w.r.t. the average range is also compensated. - * . - * - * After calibration has finished successfully, the obtained data is - * applied immediately and can be read from the API using the - * #Argus_GetCalibrationPixelRangeOffsets or - * #Argus_GetCalibrationGlobalRangeOffset function. - * - * @param hnd The API handle; contains all internal states and data. - * @param mode The targeted measurement mode. - * @param targetRange The absolute range between the reference plane and the - * calibration target in meter an Q9.22 format. - * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). + * #| + * #| | + * #|-----+ | + * #| RX | | + * Reference #|----++ | Calibration + * Plane #| TX | | Target + * #|----+ | + * #| | + * #| <------- targetRange -----------------> | + * \endcode + * + * There are two options to run the offset calibration: relative and + * absolute. + * + * - Relative (#Argus_ExecuteRelativeRangeOffsetCalibrationSequence): + * when the absolute distance is not essential or the distance to + * the calibration target is not known, the relative method can be + * used to compensate the relative pixel range offset w.r.t. the + * average range. The absolute or global range offset is not changed. + * - Absolute (#Argus_ExecuteAbsoluteRangeOffsetCalibrationSequence): + * when the absolute distance is essential and the distance to the + * calibration target is known, the absolute method can be used to + * calibrate the absolute measured distance. Additionally, the + * relative pixel offset w.r.t. the average range is also compensated. + * . + * + * After calibration has finished successfully, the obtained data is + * applied immediately and can be read from the API using the + * #Argus_GetCalibrationPixelRangeOffsets or + * #Argus_GetCalibrationGlobalRangeOffsets function. + * + * @param hnd The API handle; contains all internal states and data. + * @param targetRange The absolute range between the reference plane and the + * calibration target in meter an Q9.22 format. + * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). *****************************************************************************/ status_t Argus_ExecuteAbsoluteRangeOffsetCalibrationSequence(argus_hnd_t *hnd, - argus_mode_t mode, q9_22_t targetRange); /*! @} */ @@ -600,188 +863,245 @@ status_t Argus_ExecuteAbsoluteRangeOffsetCalibrationSequence(argus_hnd_t *hnd, /*!************************************************************************** * Configuration API **************************************************************************** - * @addtogroup arguscfg + * @addtogroup argus_cfg * @{ ****************************************************************************/ /*!*************************************************************************** - * @brief Sets the measurement mode to a specified device. + * @brief Gets the default measurement mode for a specified module type. * - * @param hnd The API handle; contains all internal states and data. - * @param value The new measurement mode. - * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). + * @param module The specified module type. + * @return Returns the default measurement mode for the specified module type. *****************************************************************************/ -status_t Argus_SetConfigurationMeasurementMode(argus_hnd_t *hnd, - argus_mode_t value); +argus_mode_t Argus_GetDefaultMeasurementMode(argus_module_version_t module); /*!*************************************************************************** - * @brief Gets the measurement mode from a specified device. + * @brief Sets the measurement mode to a specified device. * - * @param hnd The API handle; contains all internal states and data. - * @param value The current measurement mode. - * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). + * @details This generates a new default configuration and calibration for the + * specified measurement mode and applies it to the device. + * + * See #argus_mode_t for a list of all available measurement modes. + * + * @warning The function overwrites all made changes to the configuration or + * calibration parameters with the default values. So this function + * must be called before any other changes to the configuration or + * calibration parameters are made! + * + * @param hnd The API handle; contains all internal states and data. + * @param mode The new measurement mode. + * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). *****************************************************************************/ -status_t Argus_GetConfigurationMeasurementMode(argus_hnd_t *hnd, - argus_mode_t *value); +status_t Argus_SetMeasurementMode(argus_hnd_t *hnd, argus_mode_t mode); /*!*************************************************************************** - * @brief Sets the frame time to a specified device. + * @brief Resets the measurement mode to a specified device. + * + * @details This generates a new default configuration and calibration for the + * current measurement mode and applies it to the device. * - * @param hnd The API handle; contains all internal states and data. - * @param value The measurement frame time in microseconds. - * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). + * @warning The function overwrites all made changes to the configuration or + * calibration parameters with the default values. So this function + * must be called before any other changes to the configuration or + * calibration parameters are made! + * + * @param hnd The API handle; contains all internal states and data. + * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). + *****************************************************************************/ +status_t Argus_ResetMeasurementMode(argus_hnd_t *hnd); + +/*!*************************************************************************** + * @brief Gets the measurement mode from a specified device. + * + * @param hnd The API handle; contains all internal states and data. + * @param mode The current measurement mode. + * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). + *****************************************************************************/ +status_t Argus_GetMeasurementMode(argus_hnd_t *hnd, argus_mode_t *mode); + +/*!*************************************************************************** + * @brief Sets the frame time to a specified device. + * + * @details The frame time determines the measurement rate of the device. + * Usually, this controller the periodicity of measurements to be + * triggered via the timer based measurement mode that can be started + * via the #Argus_StartMeasurementTimer function. But also the + * behavior of the #Argus_TriggerMeasurement function is influenced + * by the frame rate parameter. + * + * The frame time parameter handles the maximum frame rate by limiting + * the trigger of a new measurement frame to the specified value. + * On the other hand, the accuracy of measurement results it also + * influenced since the frame time specifies the maximum integration + * depth (i.e. exposure time) along with the laser safety limitations. + * This means, the measurement speed can be increased by decreasing + * the frame time parameter and the accuracy can be improved by + * increasing the frame time parameter. + * + * Note the additional factor will limit the maximum frame rate on the + * one hand and the accuracy on the other hand: + * - High CPU load (or slow CPU in general) will lead to delays due + * to long data evaluation task (#Argus_EvaluateData) or long user + * application code. Reduce CPU load or increase CPU power to + * increase maximum frame rate. + * - The dual frequency mode (DFM, see #Argus_SetConfigurationDFMMode) + * will additionally limit the maximum frame rate to approximately + * 100 frames per second. Disable the DFM to increase maximum frame + * rates. + * - The smart power save (SPS, see + * #Argus_SetConfigurationSmartPowerSaveEnabled) mode will decrease + * the maximum possible frame rate slightly. Disable it to increase + * the maximum frame rate. + * - The dynamic configuration adaption with its specific power saving + * ratio parameter (see #Argus_SetConfigurationDynamicAdaption) + * will limit the maximum integration depth along with the laser + * safety limitations. Increase the power saving ratio to increase + * accuracy. Note that laser safety limitations might already limit + * the maximum integration depth such that the power saving ratio + * is ineffective. + * . + * + * @param hnd The API handle; contains all internal states and data. + * @param value The measurement frame time in microseconds. + * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). *****************************************************************************/ status_t Argus_SetConfigurationFrameTime(argus_hnd_t *hnd, uint32_t value); /*!*************************************************************************** - * @brief Gets the frame time from a specified device. + * @brief Gets the frame time from a specified device. * - * @param hnd The API handle; contains all internal states and data. - * @param value The current frame time in microseconds. - * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). + * @param hnd The API handle; contains all internal states and data. + * @param value The current frame time in microseconds. + * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). *****************************************************************************/ status_t Argus_GetConfigurationFrameTime(argus_hnd_t *hnd, uint32_t *value); /*!*************************************************************************** - * @brief Sets the smart power save enabled flag to a specified device. - * @param hnd The API handle; contains all internal states and data. - * @param mode The targeted measurement mode. - * @param value The new smart power save enabled flag. - * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). + * @brief Sets the smart power save enabled flag to a specified device. + * + * @param hnd The API handle; contains all internal states and data. + * @param value The new smart power save enabled flag. + * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). *****************************************************************************/ status_t Argus_SetConfigurationSmartPowerSaveEnabled(argus_hnd_t *hnd, - argus_mode_t mode, bool value); /*!*************************************************************************** - * @brief Gets the smart power save enabled flag from a specified device. - * @param hnd The API handle; contains all internal states and data. - * @param mode The targeted measurement mode. - * @param value The current smart power save enabled flag. - * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). + * @brief Gets the smart power save enabled flag from a specified device. + * + * @param hnd The API handle; contains all internal states and data. + * @param value The current smart power save enabled flag. + * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). *****************************************************************************/ status_t Argus_GetConfigurationSmartPowerSaveEnabled(argus_hnd_t *hnd, - argus_mode_t mode, bool *value); /*!*************************************************************************** - * @brief Sets the Dual Frequency Mode (DFM) to a specified device. - * @param hnd The API handle; contains all internal states and data. - * @param mode The targeted measurement mode. - * @param value The new DFM mode value. - * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). + * @brief Sets the Dual Frequency Mode (DFM) to a specified device. + * + * @param hnd The API handle; contains all internal states and data. + * @param value The new DFM mode value. + * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). *****************************************************************************/ status_t Argus_SetConfigurationDFMMode(argus_hnd_t *hnd, - argus_mode_t mode, argus_dfm_mode_t value); /*!*************************************************************************** - * @brief Gets the Dual Frequency Mode (DFM) from a specified device. - * @param hnd The API handle; contains all internal states and data. - * @param mode The targeted measurement mode. - * @param value The current DFM mode value. - * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). + * @brief Gets the Dual Frequency Mode (DFM) from a specified device. + * + * @param hnd The API handle; contains all internal states and data. + * @param value The current DFM mode value. + * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). *****************************************************************************/ status_t Argus_GetConfigurationDFMMode(argus_hnd_t *hnd, - argus_mode_t mode, argus_dfm_mode_t *value); /*!*************************************************************************** - * @brief Sets the Shot Noise Monitor (SNM) mode to a specified device. - * @param hnd The API handle; contains all internal states and data. - * @param mode The targeted measurement mode. - * @param value The new SNM mode value. - * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). + * @brief Sets the Shot Noise Monitor (SNM) mode to a specified device. + * + * @param hnd The API handle; contains all internal states and data. + * @param value The new SNM mode value. + * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). *****************************************************************************/ status_t Argus_SetConfigurationShotNoiseMonitorMode(argus_hnd_t *hnd, - argus_mode_t mode, argus_snm_mode_t value); /*!*************************************************************************** - * @brief Gets the Shot Noise Montor (SNM) mode from a specified device. - * @param hnd The API handle; contains all internal states and data. - * @param mode The targeted measurement mode. - * @param value The current SNM mode value. - * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). + * @brief Gets the Shot Noise Monitor (SNM) mode from a specified device. + * + * @param hnd The API handle; contains all internal states and data. + * @param value The current SNM mode value. + * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). *****************************************************************************/ status_t Argus_GetConfigurationShotNoiseMonitorMode(argus_hnd_t *hnd, - argus_mode_t mode, argus_snm_mode_t *value); -#if 0 -///*!*************************************************************************** -// * @brief Sets the Crosstalk Monitor (XTM) mode to a specified device. -// * @param hnd The API handle; contains all internal states and data. -// * @param mode The targeted measurement mode. -// * @param value The new XTM mode value (true: enabled; false: disabled). -// * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). -// *****************************************************************************/ -//status_t Argus_SetConfigurationCrosstalkMonitorMode(argus_hnd_t * hnd, -// argus_mode_t mode, -// bool value); -// -///*!*************************************************************************** -// * @brief Gets the Crosstalk Monitor (XTM) mode from a specified device. -// * @param hnd The API handle; contains all internal states and data. -// * @param mode The targeted measurement mode. -// * @param value The current XTM mode value (true: enabled; false: disabled). -// * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). -// *****************************************************************************/ -//status_t Argus_GetConfigurationCrosstalkMonitorMode(argus_hnd_t * hnd, -// argus_mode_t mode, -// bool * value); -#endif /*!*************************************************************************** - * @brief Sets the full DCA module configuration to a specified device. +* @brief Sets the Crosstalk Monitor (XTM) mode to a specified device. +* +* @param hnd The API handle; contains all internal states and data. +* @param value The new XTM mode value (true: enabled; false: disabled). +* @return Returns the \link #status_t status\endlink (#STATUS_OK on success). +*****************************************************************************/ +status_t Argus_SetConfigurationCrosstalkMonitorMode(argus_hnd_t *hnd, + bool value); + +/*!*************************************************************************** +* @brief Gets the Crosstalk Monitor (XTM) mode from a specified device. +* +* @param hnd The API handle; contains all internal states and data. +* @param value The current XTM mode value (true: enabled; false: disabled). +* @return Returns the \link #status_t status\endlink (#STATUS_OK on success). +*****************************************************************************/ +status_t Argus_GetConfigurationCrosstalkMonitorMode(argus_hnd_t *hnd, + bool *value); + +/*!*************************************************************************** + * @brief Sets the full DCA module configuration to a specified device. * - * @param hnd The API handle; contains all internal states and data. - * @param mode The targeted measurement mode. - * @param value The new DCA configuration set. - * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). + * @param hnd The API handle; contains all internal states and data. + * @param value The new DCA configuration set. + * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). *****************************************************************************/ status_t Argus_SetConfigurationDynamicAdaption(argus_hnd_t *hnd, - argus_mode_t mode, argus_cfg_dca_t const *value); /*!*************************************************************************** - * @brief Gets the # from a specified device. + * @brief Gets the # from a specified device. * - * @param hnd The API handle; contains all internal states and data. - * @param mode The targeted measurement mode. - * @param value The current DCA configuration set value. - * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). + * @param hnd The API handle; contains all internal states and data. + * @param value The current DCA configuration set value. + * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). *****************************************************************************/ status_t Argus_GetConfigurationDynamicAdaption(argus_hnd_t *hnd, - argus_mode_t mode, argus_cfg_dca_t *value); /*!*************************************************************************** - * @brief Sets the pixel binning configuration parameters to a specified device. - * @param hnd The API handle; contains all internal states and data. - * @param mode The targeted measurement mode. - * @param value The new pixel binning configuration parameters. - * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). + * @brief Sets the pixel binning configuration parameters to a specified device. + * + * @param hnd The API handle; contains all internal states and data. + * @param value The new pixel binning configuration parameters. + * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). *****************************************************************************/ status_t Argus_SetConfigurationPixelBinning(argus_hnd_t *hnd, - argus_mode_t mode, argus_cfg_pba_t const *value); /*!*************************************************************************** - * @brief Gets the pixel binning configuration parameters from a specified device. - * @param hnd The API handle; contains all internal states and data. - * @param mode The targeted measurement mode. - * @param value The current pixel binning configuration parameters. - * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). + * @brief Gets the pixel binning configuration parameters from a specified device. + * + * @param hnd The API handle; contains all internal states and data. + * @param value The current pixel binning configuration parameters. + * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). *****************************************************************************/ status_t Argus_GetConfigurationPixelBinning(argus_hnd_t *hnd, - argus_mode_t mode, argus_cfg_pba_t *value); /*!*************************************************************************** - * @brief Gets the current unambiguous range in mm. - * @param hnd The API handle; contains all internal states and data. - * @param range_mm The returned range in mm. - * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). + * @brief Gets the current unambiguous range in mm. + * + * @param hnd The API handle; contains all internal states and data. + * @param range_mm The returned range in mm. + * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). *****************************************************************************/ status_t Argus_GetConfigurationUnambiguousRange(argus_hnd_t *hnd, uint32_t *range_mm); @@ -791,458 +1111,410 @@ status_t Argus_GetConfigurationUnambiguousRange(argus_hnd_t *hnd, /*!************************************************************************** * Calibration API **************************************************************************** - * @addtogroup arguscal + * @addtogroup argus_cal * @{ ****************************************************************************/ /*!*************************************************************************** - * @brief Sets the global range offset value to a specified device. - * - * @details The global range offset is subtracted from the raw range values. - * - * @param hnd The API handle; contains all internal states and data. - * @param mode The targeted measurement mode. - * @param value The new global range offset in meter and Q0.15 format. - * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). + * @brief Sets the global range offset values to a specified device. + * + * @details The global range offsets are subtracted from the raw range values. + * There are two distinct values that are applied in low or high + * power stage setting respectively. + * + * @param hnd The API handle; contains all internal states and data. + * @param offset_low The new global range offset for the low power stage in + * meter and Q0.15 format. + * @param offset_high The new global range offset for the high power stage in + * meter and Q0.15 format. + * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). *****************************************************************************/ -status_t Argus_SetCalibrationGlobalRangeOffset(argus_hnd_t *hnd, - argus_mode_t mode, - q0_15_t value); +status_t Argus_SetCalibrationGlobalRangeOffsets(argus_hnd_t *hnd, + q0_15_t offset_low, + q0_15_t offset_high); /*!*************************************************************************** - * @brief Gets the global range offset value from a specified device. - * - * @details The global range offset is subtracted from the raw range values. - * - * @param hnd The API handle; contains all internal states and data. - * @param mode The targeted measurement mode. - * @param value The current global range offset in meter and Q0.15 format. - * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). + * @brief Gets the global range offset values from a specified device. + * + * @details The global range offsets are subtracted from the raw range values. + * There are two distinct values that are applied in low or high + * power stage setting respectively. + * + * @param hnd The API handle; contains all internal states and data. + * @param offset_low The current range offset for the low power stage in + * meter and Q0.15 format. + * @param offset_high The current global range offset for the high power stage + * in meter and Q0.15 format. + * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). *****************************************************************************/ -status_t Argus_GetCalibrationGlobalRangeOffset(argus_hnd_t *hnd, - argus_mode_t mode, - q0_15_t *value); +status_t Argus_GetCalibrationGlobalRangeOffsets(argus_hnd_t *hnd, + q0_15_t *offset_low, + q0_15_t *offset_high); /*!*************************************************************************** - * @brief Sets the relative pixel offset table to a specified device. + * @brief Sets the relative pixel offset table to a specified device. * * @details The relative pixel offset values are subtracted from the raw range - * values for each individual pixel. Note that a global range offset - * is applied additionally. The relative pixel offset values are meant - * to be with respect to the average range of all pixels, i.e. the - * average of all relative offsets should be 0! - * - * The crosstalk vector table is a two dimensional array of type - * #q0_15_t. - * - * The dimensions are: - * - size(0) = #ARGUS_PIXELS_X (Pixel count in x-direction) - * - size(1) = #ARGUS_PIXELS_Y (Pixel count in y-direction) - * . - * - * Its recommended to use the built-in pixel offset calibration - * sequence (see #Argus_ExecuteRelativeRangeOffsetCalibrationSequence) - * to determine the offset table for the current device. - * - * If a constant offset table for all device needs to be incorporated - * into the sources, the #Argus_GetExternalPixelRangeOffsets_Callback - * should be used. - * - * @param hnd The API handle; contains all internal states and data. - * @param mode The targeted measurement mode. - * @param value The new relative range offset in meter and Q0.15 format. - * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). + * values for each individual pixel. Note that a global range offset + * is applied additionally. The relative pixel offset values are meant + * to be with respect to the average range of all pixels, i.e. the + * average of all relative offsets should be 0! + * + * The crosstalk vector table is a two dimensional array of type + * #q0_15_t, wrapped within the #argus_cal_offset_table_t structure. + * + * The dimensions are: + * - size(0) = #ARGUS_PIXELS_X (Pixel count in x-direction) + * - size(1) = #ARGUS_PIXELS_Y (Pixel count in y-direction) + * . + * + * Its recommended to use the built-in pixel offset calibration + * sequence (see #Argus_ExecuteRelativeRangeOffsetCalibrationSequence) + * to determine the offset table for the current device. + * + * If a constant offset table for all device needs to be incorporated + * into the sources, the #Argus_GetPixelRangeOffsets_Callback + * should be used. + * + * @param hnd The API handle; contains all internal states and data. + * @param value The new relative range offset in meter and Q0.15 format. + * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). *****************************************************************************/ -status_t Argus_SetCalibrationPixelRangeOffsets(argus_hnd_t *hnd, argus_mode_t mode, - q0_15_t value[ARGUS_PIXELS_X][ARGUS_PIXELS_Y]); +status_t Argus_SetCalibrationPixelRangeOffsets(argus_hnd_t *hnd, + argus_cal_offset_table_t const *value); /*!*************************************************************************** - * @brief Gets the relative pixel offset table from a specified device. + * @brief Gets the relative pixel offset table from a specified device. * * @details The relative pixel offset values are subtracted from the raw range - * values for each individual pixel. Note that a global range offset - * is applied additionally. The relative pixel offset values are meant - * to be with respect to the average range of all pixels, i.e. the - * average of all relative offsets should be 0! - * - * The crosstalk vector table is a two dimensional array of type - * #q0_15_t. - * - * The dimensions are: - * - size(0) = #ARGUS_PIXELS_X (Pixel count in x-direction) - * - size(1) = #ARGUS_PIXELS_Y (Pixel count in y-direction) - * . - * - * @param hnd The API handle; contains all internal states and data. - * @param mode The targeted measurement mode. - * @param value The current relative range offset in meter and Q0.15 format. - * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). + * values for each individual pixel. Note that a global range offset + * is applied additionally. The relative pixel offset values are meant + * to be with respect to the average range of all pixels, i.e. the + * average of all relative offsets should be 0! + * + * The crosstalk vector table is a two dimensional array of type + * #q0_15_t, wrapped within the #argus_cal_offset_table_t structure. + * + * The dimensions are: + * - size(0) = #ARGUS_PIXELS_X (Pixel count in x-direction) + * - size(1) = #ARGUS_PIXELS_Y (Pixel count in y-direction) + * . + * + * @param hnd The API handle; contains all internal states and data. + * @param value The current relative range offset in meter and Q0.15 format. + * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). *****************************************************************************/ -status_t Argus_GetCalibrationPixelRangeOffsets(argus_hnd_t *hnd, argus_mode_t mode, - q0_15_t value[ARGUS_PIXELS_X][ARGUS_PIXELS_Y]); +status_t Argus_GetCalibrationPixelRangeOffsets(argus_hnd_t *hnd, + argus_cal_offset_table_t *value); /*!*************************************************************************** - * @brief Gets the relative pixel offset table from a specified device. + * @brief Resets the relative pixel offset values for the specified device to + * the factory calibrated default values. * * @details The relative pixel offset values are subtracted from the raw range - * values for each individual pixel. Note that a global range offset - * is applied additionally. The relative pixel offset values are meant - * to be with respect to the average range of all pixels, i.e. the - * average of all relative offsets should be 0! - * - * The crosstalk vector table is a two dimensional array of type - * #q0_15_t. - * - * The dimensions are: - * - size(0) = #ARGUS_PIXELS_X (Pixel count in x-direction) - * - size(1) = #ARGUS_PIXELS_Y (Pixel count in y-direction) + * values for each individual pixel. Note that a global range offset + * is applied additionally. * - * The total offset table consists of the custom pixel offset values - * (set via #Argus_SetCalibrationPixelRangeOffsets) and the internal, - * factory calibrated device specific offset values. - * This is informational only! + * The factory defaults are device specific values. * - * @param hnd The API handle; contains all internal states and data. - * @param mode The targeted measurement mode. - * @param value The current total relative range offset in meter and Q0.15 format. - * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). + * @param hnd The API handle; contains all internal states and data. + * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). *****************************************************************************/ -status_t Argus_GetCalibrationTotalPixelRangeOffsets(argus_hnd_t *hnd, argus_mode_t mode, - q0_15_t value[ARGUS_PIXELS_X][ARGUS_PIXELS_Y]); - - -/*!*************************************************************************** - * @brief Resets the relative pixel offset values for the specified device to - * the factory calibrated default values. - * - * @details The relative pixel offset values are subtracted from the raw range - * values for each individual pixel. Note that a global range offset - * is applied additionally. - * - * The factory defaults are device specific values. - * - * @param hnd The API handle; contains all internal states and data. - * @param mode The targeted measurement mode. - * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). - *****************************************************************************/ -status_t Argus_ResetCalibrationPixelRangeOffsets(argus_hnd_t *hnd, argus_mode_t mode); +status_t Argus_ResetCalibrationPixelRangeOffsets(argus_hnd_t *hnd); /*!*************************************************************************** - * @brief A callback that returns the external pixel range offsets. + * @brief A callback that returns the external pixel range offsets. * * @details The function needs to be implemented by the host application in - * order to set the external pixel range offsets values upon system - * initialization. If not defined in user code, the default - * implementation will return an all zero offset table, assuming there - * is no (additional) external pixel range offset values. - * - * If defined in user code, the function must fill all offset values - * in the provided \par offsets parameter with external range offset - * values. - * The values can be obtained by the calibration routine. - * - * Example usage: - * - * @code - * status_t Argus_GetExternalPixelRangeOffsets_Callback(q0_15_t offsets[ARGUS_PIXELS_X][ARGUS_PIXELS_Y], - * argus_mode_t mode) - * { - * (void) mode; // Ignore mode; use same values for all modes. - * memset(offsets, 0, sizeof(q0_15_t) * ARGUS_PIXELS); - * - * // Set offset values in meter and Q0.15 format. - * offsets[0][0].dS = -16384; offsets[0][0].dC = -32768; - * offsets[0][1].dS = -32768; offsets[0][1].dC = 0; - * offsets[0][2].dS = 16384; offsets[0][2].dC = -16384; - * // etc. - * } - * @endcode - * - * @param offsets The pixel range offsets in meter and Q0.15 format; to be - * filled with data. - * @param mode Determines the current measurement mode; can be ignored if - * only a single measurement mode is utilized. + * order to set the external pixel range offsets values upon system + * initialization. If not defined in user code, the default + * implementation will return an all zero offset table, assuming there + * is no (additional) external pixel range offset values. + * + * If defined in user code, the function must fill all offset values + * in the provided \par offsets parameter with external range offset + * values. + * The values can be obtained by the calibration routine. + * + * Example usage: + * + * @code + * status_t Argus_GetPixelRangeOffsets_Callback(argus_cal_offset_table_t offsets) + * { + * memset(offsets, 0, sizeof(argus_cal_offset_t)); + * + * // Set offset values in meter and Q0.15 format. + * offsets.Table[0][0] = -3542; + * offsets.Table[0][1] = -4385; + * offsets.Table[0][2] = 2953; + * // etc. + * } + * @endcode + * + * @param offsets The pixel range offsets in meter and Q0.15 format; to be + * filled with data. + * @param mode The current measurement mode. *****************************************************************************/ -void Argus_GetExternalPixelRangeOffsets_Callback(q0_15_t offsets[ARGUS_PIXELS_X][ARGUS_PIXELS_Y], - argus_mode_t mode); +void Argus_GetPixelRangeOffsets_Callback(argus_cal_offset_table_t *offsets, + argus_mode_t const mode); /*!*************************************************************************** - * @brief Sets the sample time for the range offset calibration sequence. + * @brief Sets the sample time for the range offset calibration sequence. * - * @details Gets the measurement sample acquisition time for executing the - * range offset calibration sequence and generate the offset data.\n - * Units: msec. + * @details Gets the measurement sample acquisition time for executing the + * range offset calibration sequence and generate the offset data.\n + * Units: msec. * - * @param hnd The API handle; contains all internal states and data. - * @param value The new range offset calibration sequence sample time. - * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). + * @param hnd The API handle; contains all internal states and data. + * @param value The new range offset calibration sequence sample time. + * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). *****************************************************************************/ status_t Argus_SetCalibrationRangeOffsetSequenceSampleTime(argus_hnd_t *hnd, uint16_t value); /*!*************************************************************************** - * @brief Gets the sample time for the range offset calibration sequence. + * @brief Gets the sample time for the range offset calibration sequence. * - * @details Gets the measurement sample acquisition time for executing the - * range offset calibration sequence and generate the ooffset data.\n - * Units: msec. + * @details Gets the measurement sample acquisition time for executing the + * range offset calibration sequence and generate the offset data.\n + * Units: msec. * - * @param hnd The API handle; contains all internal states and data. - * @param value The current range offset calibration sequence sample time. - * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). + * @param hnd The API handle; contains all internal states and data. + * @param value The current range offset calibration sequence sample time. + * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). *****************************************************************************/ status_t Argus_GetCalibrationRangeOffsetSequenceSampleTime(argus_hnd_t *hnd, uint16_t *value); /*!*************************************************************************** - * @brief Sets the pixel-to-pixel crosstalk compensation parameters to a specified device. + * @brief Sets the pixel-to-pixel crosstalk compensation parameters to a specified device. * - * @param hnd The API handle; contains all internal states and data. - * @param mode The targeted measurement mode. - * @param value The new pixel-to-pixel crosstalk compensation parameters. - * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). + * @param hnd The API handle; contains all internal states and data. + * @param value The new pixel-to-pixel crosstalk compensation parameters. + * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). *****************************************************************************/ status_t Argus_SetCalibrationCrosstalkPixel2Pixel(argus_hnd_t *hnd, - argus_mode_t mode, argus_cal_p2pxtalk_t const *value); /*!*************************************************************************** - * @brief Gets the pixel-to-pixel crosstalk compensation parameters from a specified device. + * @brief Gets the pixel-to-pixel crosstalk compensation parameters from a specified device. * - * @param hnd The API handle; contains all internal states and data. - * @param mode The targeted measurement mode. - * @param value The current pixel-to-pixel crosstalk compensation parameters. - * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). + * @param hnd The API handle; contains all internal states and data. + * @param value The current pixel-to-pixel crosstalk compensation parameters. + * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). *****************************************************************************/ status_t Argus_GetCalibrationCrosstalkPixel2Pixel(argus_hnd_t *hnd, - argus_mode_t mode, argus_cal_p2pxtalk_t *value); /*!*************************************************************************** - * @brief Sets the custom crosstalk vector table to a specified device. + * @brief Sets the custom crosstalk vector table to a specified device. * * @details The crosstalk vectors are subtracted from the raw sampling data - * in the data evaluation phase. + * in the data evaluation phase. * - * The crosstalk vector table is a three dimensional array of type - * #xtalk_t. + * The crosstalk vector table is a three dimensional array of type + * #xtalk_t. The #argus_cal_xtalk_table_t is the corresponding + * typedef for the required data. * - * The dimensions are: - * - size(0) = #ARGUS_DFM_FRAME_COUNT (Dual-frequency mode A- or B-frame) - * - size(1) = #ARGUS_PIXELS_X (Pixel count in x-direction) - * - size(2) = #ARGUS_PIXELS_Y (Pixel count in y-direction) - * . + * The dimensions are: + * - size(0) = #ARGUS_DFM_FRAME_COUNT (Dual-frequency mode A- or B-frame) + * - size(1) = #ARGUS_PIXELS_X (Pixel count in x-direction) + * - size(2) = #ARGUS_PIXELS_Y (Pixel count in y-direction) + * . * - * Its recommended to use the built-in crosstalk calibration sequence - * (see #Argus_ExecuteXtalkCalibrationSequence) to determine the - * crosstalk vector table. + * Its recommended to use the built-in crosstalk calibration sequence + * (see #Argus_ExecuteXtalkCalibrationSequence) to determine the + * crosstalk vector table. * - * If a constant table for all device needs to be incorporated into - * the sources, the #Argus_GetExternalCrosstalkVectorTable_Callback - * should be used. + * If a constant table for all device needs to be incorporated into + * the sources, the #Argus_GetCrosstalkVectorTable_Callback + * should be used. * - * @param hnd The API handle; contains all internal states and data. - * @param mode The targeted measurement mode. - * @param value The new crosstalk vector table. - * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). + * @param hnd The API handle; contains all internal states and data. + * @param value The new crosstalk vector table. + * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). *****************************************************************************/ status_t Argus_SetCalibrationCrosstalkVectorTable(argus_hnd_t *hnd, - argus_mode_t mode, - xtalk_t value[ARGUS_DFM_FRAME_COUNT][ARGUS_PIXELS_X][ARGUS_PIXELS_Y]); + argus_cal_xtalk_table_t const *value); /*!*************************************************************************** - * @brief Gets the custom crosstalk vector table from a specified device. + * @brief Gets the custom crosstalk vector table from a specified device. * * @details The crosstalk vectors are subtracted from the raw sampling data - * in the data evaluation phase. + * in the data evaluation phase. * - * The crosstalk vector table is a three dimensional array of type - * #xtalk_t. + * The crosstalk vector table is a three dimensional array of type + * #xtalk_t. The #argus_cal_xtalk_table_t is the corresponding + * typedef for the required data. * - * The dimensions are: - * - size(0) = #ARGUS_DFM_FRAME_COUNT (Dual-frequency mode A- or B-frame) - * - size(1) = #ARGUS_PIXELS_X (Pixel count in x-direction) - * - size(2) = #ARGUS_PIXELS_Y (Pixel count in y-direction) - * . + * The dimensions are: + * - size(0) = #ARGUS_DFM_FRAME_COUNT (Dual-frequency mode A- or B-frame) + * - size(1) = #ARGUS_PIXELS_X (Pixel count in x-direction) + * - size(2) = #ARGUS_PIXELS_Y (Pixel count in y-direction) + * . * - * @param hnd The API handle; contains all internal states and data. - * @param mode The targeted measurement mode. - * @param value The current crosstalk vector table. - * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). + * @param hnd The API handle; contains all internal states and data. + * @param value The current crosstalk vector table. + * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). *****************************************************************************/ status_t Argus_GetCalibrationCrosstalkVectorTable(argus_hnd_t *hnd, - argus_mode_t mode, - xtalk_t value[ARGUS_DFM_FRAME_COUNT][ARGUS_PIXELS_X][ARGUS_PIXELS_Y]); + argus_cal_xtalk_table_t *value); /*!*************************************************************************** - * @brief Gets the factory calibrated default crosstalk vector table for the - * specified device. + * @brief Resets the crosstalk vector table for the specified device to the + * factory calibrated default values. * * @details The crosstalk vectors are subtracted from the raw sampling data - * in the data evaluation phase. - * - * The crosstalk vector table is a three dimensional array of type - * #xtalk_t. - * - * The dimensions are: - * - size(0) = #ARGUS_DFM_FRAME_COUNT (Dual-frequency mode A- or B-frame) - * - size(1) = #ARGUS_PIXELS_X (Pixel count in x-direction) - * - size(2) = #ARGUS_PIXELS_Y (Pixel count in y-direction) - * . - * - * The total vector table consists of the custom crosstalk vector - * table (set via #Argus_SetCalibrationCrosstalkVectorTable) and - * an internal, factory calibrated device specific vector table. - * This is informational only! - * - * @param hnd The API handle; contains all internal states and data. - * @param mode The targeted measurement mode. - * @param value The current total crosstalk vector table. - * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). - *****************************************************************************/ -status_t Argus_GetCalibrationTotalCrosstalkVectorTable(argus_hnd_t *hnd, - argus_mode_t mode, - xtalk_t value[ARGUS_DFM_FRAME_COUNT][ARGUS_PIXELS_X][ARGUS_PIXELS_Y]); - -/*!*************************************************************************** - * @brief Resets the crosstalk vector table for the specified device to the - * factory calibrated default values. - * - * @details The crosstalk vectors are subtracted from the raw sampling data - * in the data evaluation phase. + * in the data evaluation phase. * * - * The factory defaults are device specific calibrated values. + * The factory defaults are device specific calibrated values. * - * @param hnd The API handle; contains all internal states and data. - * @param mode The targeted measurement mode. - * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). + * @param hnd The API handle; contains all internal states and data. + * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). *****************************************************************************/ -status_t Argus_ResetCalibrationCrosstalkVectorTable(argus_hnd_t *hnd, - argus_mode_t mode); +status_t Argus_ResetCalibrationCrosstalkVectorTable(argus_hnd_t *hnd); /*!*************************************************************************** - * @brief Sets the sample time for the crosstalk calibration sequence. + * @brief Sets the sample time for the crosstalk calibration sequence. * - * @details Sets the measurement sample acquisition time for executing the - * crosstalk calibration sequence and generate the crosstalk data.\n - * Units: msec. + * @details Sets the measurement sample acquisition time for executing the + * crosstalk calibration sequence and generate the crosstalk data.\n + * Units: msec. * - * @param hnd The API handle; contains all internal states and data. - * @param value The new crosstalk calibration sequence sample time. - * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). + * @param hnd The API handle; contains all internal states and data. + * @param value The new crosstalk calibration sequence sample time. + * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). *****************************************************************************/ status_t Argus_SetCalibrationCrosstalkSequenceSampleTime(argus_hnd_t *hnd, uint16_t value); /*!*************************************************************************** - * @brief Gets the sample time for the crosstalk calibration sequence. + * @brief Gets the sample time for the crosstalk calibration sequence. * - * @details Gets the measurement sample acquisition time for executing the - * crosstalk calibration sequence and generate the crosstalk data.\n - * Units: msec. + * @details Gets the measurement sample acquisition time for executing the + * crosstalk calibration sequence and generate the crosstalk data.\n + * Units: msec. * - * @param hnd The API handle; contains all internal states and data. - * @param value The current crosstalk calibration sequence sample time. - * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). + * @param hnd The API handle; contains all internal states and data. + * @param value The current crosstalk calibration sequence sample time. + * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). *****************************************************************************/ status_t Argus_GetCalibrationCrosstalkSequenceSampleTime(argus_hnd_t *hnd, uint16_t *value); /*!*************************************************************************** - * @brief Sets the max. amplitude threshold for the crosstalk calibration sequence. + * @brief Sets the max. amplitude threshold for the crosstalk calibration sequence. * - * @details The maximum amplitude threshold defines a maximum crosstalk vector - * amplitude before causing an error message. If the crosstalk is - * too high, there is usually an issue with the measurement setup, i.e. - * there is still a measurement signal detected. + * @details The maximum amplitude threshold defines a maximum crosstalk vector + * amplitude before causing an error message. If the crosstalk is + * too high, there is usually an issue with the measurement setup, i.e. + * there is still a measurement signal detected. * - * @param hnd The API handle; contains all internal states and data. - * @param value The new crosstalk calibration sequence maximum amplitude - * threshold value in UQ12.4 format. - * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). + * @param hnd The API handle; contains all internal states and data. + * @param value The new crosstalk calibration sequence maximum amplitude + * threshold value in UQ12.4 format. + * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). *****************************************************************************/ status_t Argus_SetCalibrationCrosstalkSequenceAmplitudeThreshold(argus_hnd_t *hnd, uq12_4_t value); /*!*************************************************************************** - * @brief Gets the max. amplitude threshold for the crosstalk calibration sequence. + * @brief Gets the max. amplitude threshold for the crosstalk calibration sequence. * - * @details The maximum amplitude threshold defines a maximum crosstalk vector - * amplitude before causing an error message. If the crosstalk is - * too high, there is usually an issue with the measurement setup, i.e. - * there is still a measurement signal detected. + * @details The maximum amplitude threshold defines a maximum crosstalk vector + * amplitude before causing an error message. If the crosstalk is + * too high, there is usually an issue with the measurement setup, i.e. + * there is still a measurement signal detected. * - * @param hnd The API handle; contains all internal states and data. - * @param value The current max. amplitude threshold value in UQ12.4 format. - * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). + * @param hnd The API handle; contains all internal states and data. + * @param value The current max. amplitude threshold value in UQ12.4 format. + * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). *****************************************************************************/ status_t Argus_GetCalibrationCrosstalkSequenceAmplitudeThreshold(argus_hnd_t *hnd, uq12_4_t *value); -/*!*************************************************************************** - * @brief Sets the sample count for the substrate voltage calibration sequence. - * - * @param hnd The API handle; contains all internal states and data. - * @param value The new substrate voltage calibration sequence sample count. - * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). - *****************************************************************************/ -status_t Argus_SetCalibrationVsubSequenceSampleCount(argus_hnd_t *hnd, - uint16_t value); /*!*************************************************************************** - * @brief Gets the sample count for the substrate voltage calibration sequence. + * @brief Clears all user calibration values from NVM for the specified device. + * + * @details The user calibration values are stored in the non-volatile memory + * (NVM) if corresponding \link #argus_nvm NVM hardware layer\endlink + * is implemented. This method clears the user calibration data from + * the non-volatile memory. + * + * @warning This does not reset the currently set calibration values to + * factory defaults! * - * @param hnd The API handle; contains all internal states and data. - * @param value The current substrate voltage calibration sequence sample count. - * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). + * @param hnd The API handle; contains all internal states and data. + * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). *****************************************************************************/ -status_t Argus_GetCalibrationVsubSequenceSampleCount(argus_hnd_t *hnd, - uint16_t *value); +status_t Argus_ClearUserCalibration(argus_hnd_t *hnd); + /*!*************************************************************************** - * @brief A callback that returns the external crosstalk vector table. + * @brief A callback that returns the external crosstalk vector table. * * @details The function needs to be implemented by the host application in - * order to set the external crosstalk vector table upon system - * initialization. If not defined in user code, the default - * implementation will return an all zero vector table, assuming there - * is no (additional) external crosstalk. - * - * If defined in user code, the function must fill all vector values - * in the provided \par xtalk parameter with external crosstalk values. - * The values can be obtained by the calibration routine. - * - * Example usage: - * - * @code - * status_t Argus_GetExternalCrosstalkVectorTable_Callback(xtalk_t xtalk[ARGUS_DFM_FRAME_COUNT][ARGUS_PIXELS_X][ARGUS_PIXELS_Y], - * argus_mode_t mode) - * { - * (void) mode; // Ignore mode; use same values for all modes. - * memset(&xtalk, 0, sizeof(xtalk)); - * - * // Set crosstalk vectors in Q11.4 format. - * // Note on dual-frequency frame index: 0 = A-Frame; 1 = B-Frame - * xtalk[0][0][0].dS = -9; xtalk[0][0][0].dC = -11; - * xtalk[0][0][1].dS = -13; xtalk[0][0][1].dC = -16; - * xtalk[0][0][2].dS = 6; xtalk[0][0][2].dC = -18; - * // etc. - * } - * @endcode - * - * @param xtalk The crosstalk vector array; to be filled with data. - * @param mode Determines the current measurement mode; can be ignored if - * only a single measurement mode is utilized. - *****************************************************************************/ -void Argus_GetExternalCrosstalkVectorTable_Callback(xtalk_t - xtalk[ARGUS_DFM_FRAME_COUNT][ARGUS_PIXELS_X][ARGUS_PIXELS_Y], - argus_mode_t mode); + * order to set the external crosstalk vector table upon system + * initialization. If not defined in user code, the default + * implementation will return an all zero vector table, assuming there + * is no (additional) external crosstalk. + * + * If defined in user code, the function must fill all vector values + * in the provided \par crosstalk parameter with external crosstalk + * values. The values can be obtained by the calibration routine. + * + * Example usage: + * + * @code + * status_t Argus_GetCrosstalkVectorTable_Callback( + * argus_cal_xtalk_table_t * xtalk) + * { + * memset(xtalk, 0, sizeof(argus_cal_xtalk_table_t)); + * + * // Set crosstalk vectors in Q11.4 format. + * // Note on dual-frequency frame index: 0 = A-Frame; 1 = B-Frame + * xtalk.FrameA[0][0].dS = -9; xtalk.FrameB[0][0].dC = -11; + * xtalk.FrameA[0][1].dS = -13; xtalk.FrameB[0][1].dC = -16; + * xtalk.FrameA[0][2].dS = 6; xtalk.FrameB[0][2].dC = -18; + * // etc. + * } + * @endcode + * + * @param xtalk The crosstalk vector array; to be filled with data. + * @param mode The current measurement mode. + *****************************************************************************/ +void Argus_GetCrosstalkVectorTable_Callback(argus_cal_xtalk_table_t *xtalk, + argus_mode_t const mode); -#ifdef __cplusplus -} -#endif +/*!*************************************************************************** + * @brief Gets the currently calibrated Golden Pixel coordinates. + * + * @details The Golden Pixel is the pixel that is located at the center of the + * receiving light beam. Thus it it the one that receives the most + * signal and plays a central role in 1D measurement systems. + * + * The function fills the provided \p x and \p y parameters with + * the Golden Pixel coordinates. Typical values are x = 5 and y = 1 + * or 2. But the actual values depend on the specific sensor. + * + * Please also note the utility functions provided in the \ref argus_map + * module to convert between pixel coordinates and channel numbers or + * shift pixel maps by a position offset (#ShiftSelectedPixels) or + * generate pixel masks centered around the Golden Pixel + * (#FillPixelMask). + * + * @param hnd The API handle; contains all internal states and data. + * @param x The Golden Pixel x-coordinate. + * @param y The Golden Pixel y-coordinate. + * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). + *****************************************************************************/ +status_t Argus_GetCalibrationGoldenPixel(argus_hnd_t const *hnd, uint8_t *x, uint8_t *y); /*! @} */ +#ifdef __cplusplus +} // extern "C" +#endif #endif /* ARGUS_API_H */ diff --git a/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_dca.h b/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_dca.h index f23d1176484e..8d9a854b2cc1 100644 --- a/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_dca.h +++ b/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_dca.h @@ -1,12 +1,12 @@ /*************************************************************************//** * @file - * @brief This file is part of the AFBR-S50 API. - * @details Defines the dynamic configuration adaption (DCA) setup parameters - * and data structure. + * @brief This file is part of the AFBR-S50 API. + * @details Defines the dynamic configuration adaption (DCA) setup parameters + * and data structure. * * @copyright * - * Copyright (c) 2021, Broadcom Inc + * Copyright (c) 2023, Broadcom Inc. * All rights reserved. * * Redistribution and use in source and binary forms, with or without @@ -37,34 +37,37 @@ #ifndef ARGUS_DCA_H #define ARGUS_DCA_H +#ifdef __cplusplus +extern "C" { +#endif /*!*************************************************************************** - * @defgroup argusdca Dynamic Configuration Adaption - * @ingroup argusapi + * @defgroup argus_dca Dynamic Configuration Adaption + * @ingroup argus_api * - * @brief Dynamic Configuration Adaption (DCA) parameter definitions and API functions. + * @brief Dynamic Configuration Adaption (DCA) parameter definitions and API functions. * - * @details The DCA contains an algorithms that detect ambient conditions - * and adopt the device configuration to the changing parameters - * dynamically while operating the sensor. This is achieved by - * rating the currently received signal quality and changing the - * device configuration accordingly to the gathered information - * from the current measurement frame results before the next - * integration cycle starts. + * @details The DCA contains an algorithms that detect ambient conditions + * and adopt the device configuration to the changing parameters + * dynamically while operating the sensor. This is achieved by + * rating the currently received signal quality and changing the + * device configuration accordingly to the gathered information + * from the current measurement frame results before the next + * integration cycle starts. * - * The DCA consists of the following features: - * - Static or Dynamic mode. The first is utilizing the nominal - * values while the latter is dynamically adopting between min. - * and max. value and starting from the nominal values. - * - Analog Integration Depth Adaption (from multiple patterns down to single pulses) - * - Optical Output Power Adaption - * - Pixel Input Gain Adaption (w/ ambient light rejection) - * - ADC Sensitivity (i.e. ADC Range) Adaption - * - Power Saving Ratio (to decrease the average output power and thus the current consumption) - * - All that features are heeding the Laser Safety limits. - * . + * The DCA consists of the following features: + * - Static or Dynamic mode. The first is utilizing the nominal + * values while the latter is dynamically adopting between min. + * and max. value and starting from the nominal values. + * - Analog Integration Depth Adaption (from multiple patterns down to single pulses) + * - Optical Output Power Adaption + * - Pixel Input Gain Adaption (w/ ambient light rejection) + * - ADC Sensitivity (i.e. ADC Range) Adaption + * - Power Saving Ratio (to decrease the average output power and thus the current consumption) + * - All that features are heeding the Laser Safety limits. + * . * - * @addtogroup argusdca + * @addtogroup argus_dca * @{ *****************************************************************************/ @@ -73,39 +76,26 @@ /*! The minimum amplitude threshold value. */ -#define ARGUS_CFG_DCA_ATH_MIN (1U << 6U) +#define ARGUS_CFG_DCA_ATH_MIN (1U << 6U) /*! The maximum amplitude threshold value. */ -#define ARGUS_CFG_DCA_ATH_MAX (0xFFFFU) +#define ARGUS_CFG_DCA_ATH_MAX (0xFFFFU) /*! The minimum saturated pixel threshold value. */ -#define ARGUS_CFG_DCA_PXTH_MIN (1U) +#define ARGUS_CFG_DCA_PXTH_MIN (1U) /*! The maximum saturated pixel threshold value. */ -#define ARGUS_CFG_DCA_PXTH_MAX (33U) +#define ARGUS_CFG_DCA_PXTH_MAX (33U) /*! The maximum analog integration depth in UQ10.6 format, * i.e. the maximum pattern count per sample. */ -#define ARGUS_CFG_DCA_DEPTH_MAX ((uq10_6_t)(ADS_SEQCT_N_MASK << (6U - ADS_SEQCT_N_SHIFT))) +#define ARGUS_CFG_DCA_DEPTH_MAX ((uq10_6_t)(0xFFC0U)) /*! The minimum analog integration depth in UQ10.6 format, * i.e. the minimum pattern count per sample. */ -#define ARGUS_CFG_DCA_DEPTH_MIN ((uq10_6_t)(1U)) // 1/64, i.e. 1/2 nibble - - -/*! The maximum optical output power, i.e. the maximum VCSEL high current in LSB. */ -#define ARGUS_CFG_DCA_POWER_MAX_LSB (ADS_LASET_VCSEL_HC1_MASK >> ADS_LASET_VCSEL_HC1_SHIFT) - -/*! The minimum optical output power, i.e. the minimum VCSEL high current in mA. */ -#define ARGUS_CFG_DCA_POWER_MIN_LSB (1) - -/*! The maximum optical output power, i.e. the maximum VCSEL high current in LSB. */ -#define ARGUS_CFG_DCA_POWER_MAX (ADS0032_HIGH_CURRENT_LSB2MA(ARGUS_CFG_DCA_POWER_MAX_LSB + 1)) - -/*! The minimum optical output power, i.e. the minimum VCSEL high current in mA. */ -#define ARGUS_CFG_DCA_POWER_MIN (1) +#define ARGUS_CFG_DCA_DEPTH_MIN ((uq10_6_t)(1U)) // 1/64, i.e. 1/2 nibble /*! The dynamic configuration algorithm Pixel Input Gain stage count. */ @@ -139,9 +129,9 @@ /*!*************************************************************************** - * @brief The dynamic configuration algorithm enable flags. + * @brief The dynamic configuration algorithm enable flags. *****************************************************************************/ -typedef enum { +typedef enum argus_dca_enable_t { /*! @internal * * DCA is disabled and will be completely skipped. @@ -160,9 +150,9 @@ typedef enum { } argus_dca_enable_t; /*!*************************************************************************** - * @brief The DCA amplitude evaluation method. + * @brief The DCA amplitude evaluation method. *****************************************************************************/ -typedef enum { +typedef enum argus_dca_amplitude_mode_t { /*! Evaluate the DCA amplitude as the maximum of all valid amplitudes. */ DCA_AMPLITUDE_MAX = 1U, @@ -172,9 +162,9 @@ typedef enum { } argus_dca_amplitude_mode_t; /*!*************************************************************************** - * @brief The dynamic configuration algorithm Optical Output Power stages enumerator. + * @brief The dynamic configuration algorithm Optical Output Power stages enumerator. *****************************************************************************/ -typedef enum { +typedef enum argus_dca_power_t { /*! Use low output power stage. */ DCA_POWER_LOW = 0, @@ -187,9 +177,9 @@ typedef enum { } argus_dca_power_t; /*!*************************************************************************** - * @brief The dynamic configuration algorithm Pixel Input Gain stages enumerator. + * @brief The dynamic configuration algorithm Pixel Input Gain stages enumerator. *****************************************************************************/ -typedef enum { +typedef enum argus_dca_gain_t { /*! Low gain stage. */ DCA_GAIN_LOW = 0, @@ -206,114 +196,116 @@ typedef enum { /*!*************************************************************************** - * @brief State flags for the current frame. - * @details State flags determine the current state of the measurement frame: - * - [0]: #ARGUS_STATE_MEASUREMENT_MODE - * - [1]: #ARGUS_STATE_DUAL_FREQ_MODE - * - [2]: #ARGUS_STATE_MEASUREMENT_FREQ - * - [3]: #ARGUS_STATE_DEBUG_MODE - * - [4]: #ARGUS_STATE_WEAK_SIGNAL - * - [5]: #ARGUS_STATE_BGL_WARNING - * - [6]: #ARGUS_STATE_BGL_ERROR - * - [7]: #ARGUS_STATE_PLL_LOCKED - * - [8]: #ARGUS_STATE_LASER_WARNING - * - [9]: #ARGUS_STATE_LASER_ERROR - * - [10]: #ARGUS_STATE_HAS_DATA - * - [11]: #ARGUS_STATE_HAS_AUX_DATA - * - [12]: #ARGUS_STATE_DCA_MAX - * - [13]: DCA Power Stage - * - [14-15]: DCA Gain Stages - * . + * @brief State flags for the current frame. + * @details State flags determine the current state of the measurement frame: + * - [0]: #ARGUS_STATE_XTALK_MONITOR_ACTIVE + * - [1]: #ARGUS_STATE_DUAL_FREQ_MODE + * - [2]: #ARGUS_STATE_MEASUREMENT_FREQ + * - [3]: #ARGUS_STATE_DEBUG_MODE + * - [4]: #ARGUS_STATE_WEAK_SIGNAL + * - [5]: #ARGUS_STATE_BGL_WARNING + * - [6]: #ARGUS_STATE_BGL_ERROR + * - [7]: #ARGUS_STATE_PLL_LOCKED + * - [8]: #ARGUS_STATE_LASER_WARNING + * - [9]: #ARGUS_STATE_LASER_ERROR + * - [10]: #ARGUS_STATE_HAS_DATA + * - [11]: #ARGUS_STATE_HAS_AUX_DATA + * - [12]: #ARGUS_STATE_SATURATED_PIXELS + * - [13]: DCA Power Stage + * - [14-15]: DCA Gain Stages + * - [16]: #ARGUS_STATE_DCA_MIN + * - [17]: #ARGUS_STATE_DCA_MAX + * - [18]: #ARGUS_STATE_DCA_RESET + * - [18-31]: not used + * . *****************************************************************************/ -typedef enum { +typedef enum argus_state_t { /*! No state flag set. */ ARGUS_STATE_NONE = 0, - /*! 0x0001: Measurement Mode. - * - 0: Mode A: Long Range / Medium Precision - * - 1: Mode B: Short Range / High Precision */ - ARGUS_STATE_MEASUREMENT_MODE = 1U << 0U, + /*! 0x0001: Crosstalk Monitor is enabled and updating. + * - 0: Inactive: crosstalk monitor values are not updated, + * - 1: Active: crosstalk monitor values are updated. */ + ARGUS_STATE_XTALK_MONITOR_ACTIVE = 1U << 0U, /*! 0x0002: Dual Frequency Mode Enabled. - * - 0: Disabled: measurements with base frequency, - * - 1: Enabled: measurement with detuned frequency. */ + * - 0: Disabled: measurements with base frequency, + * - 1: Enabled: measurement with detuned frequency. */ ARGUS_STATE_DUAL_FREQ_MODE = 1U << 1U, - /*! 0x0004: Measurement Frequency for Dual Frequency Mode + /*! 0x0004: Measurement Frequency for Dual Frequency Mode \n * (only if #ARGUS_STATE_DUAL_FREQ_MODE flag is set). - * - 0: A-Frame w/ detuned frequency, - * - 1: B-Frame w/ detuned frequency */ + * - 0: A-Frame w/ detuned frequency, + * - 1: B-Frame w/ detuned frequency */ ARGUS_STATE_MEASUREMENT_FREQ = 1U << 2U, - /*! 0x0008: Debug Mode. If set, the range value of erroneous pixels - * are not cleared or reset. - * - 0: Disabled (default). - * - 1: Enabled. */ + /*! 0x0008: Debug Mode. \n + * If set, the range value of erroneous pixels + * are not cleared or reset. + * - 0: Disabled (default). + * - 1: Enabled. */ ARGUS_STATE_DEBUG_MODE = 1U << 3U, - /*! 0x0010: Weak Signal Flag. - * Set whenever the Pixel Binning Algorithm is detecting a - * weak signal, i.e. if the amplitude dies not reach its - * (absolute) threshold. If the Golden Pixel is enabled, - * this also indicates that the Pixel Binning Algorithm - * falls back to the Golden Pixel. - * - 0: Normal Signal. - * - 1: Weak Signal or Golden Pixel Mode. */ + /*! 0x0010: Weak Signal Flag. \n + * Set whenever the Pixel Binning Algorithm is detecting a + * weak signal, i.e. if the amplitude dies not reach its + * (absolute) threshold. + * - 0: Normal Signal. + * - 1: Weak Signal. */ ARGUS_STATE_WEAK_SIGNAL = 1U << 4U, - /*! 0x0020: Background Light Warning Flag. - * Set whenever the background light is very high and the - * measurement data might be unreliable. - * - 0: No Warning: Background Light is within valid range. - * - 1: Warning: Background Light is very high. */ + /*! 0x0020: Background Light Warning Flag. \n + * Set whenever the background light is very high and the + * measurement data might be unreliable. + * - 0: No Warning: Background Light is within valid range. + * - 1: Warning: Background Light is very high. */ ARGUS_STATE_BGL_WARNING = 1U << 5U, - /*! 0x0040: Background Light Error Flag. - * Set whenever the background light is too high and the - * measurement data is unreliable or invalid. - * - 0: No Error: Background Light is within valid range. - * - 1: Error: Background Light is too high. */ + /*! 0x0040: Background Light Error Flag. \n + * Set whenever the background light is too high and the + * measurement data is unreliable or invalid. + * - 0: No Error: Background Light is within valid range. + * - 1: Error: Background Light is too high. */ ARGUS_STATE_BGL_ERROR = 1U << 6U, /*! 0x0080: PLL_LOCKED bit. - * - 0: PLL not locked at start of integration. - * - 1: PLL locked at start of integration. */ + * - 0: PLL not locked at start of integration. + * - 1: PLL locked at start of integration. */ ARGUS_STATE_PLL_LOCKED = 1U << 7U, - /*! 0x0100: Laser Failure Warning Flag. - * Set whenever the an invalid system condition is detected. - * (i.e. DCA at max state but no amplitude on any (incl. reference) - * pixel, not amplitude but any saturated pixel). - * - 0: No Warning: Laser is operating properly. - * - 1: Warning: Invalid laser conditions detected. If the invalid - * condition stays, a laser malfunction error is raised. */ + /*! 0x0100: Laser Failure Warning Flag. \n + * Set whenever the an invalid system condition is detected. + * (i.e. DCA at max state but no amplitude on any (incl. reference) + * pixel, not amplitude but any saturated pixel). + * - 0: No Warning: Laser is operating properly. + * - 1: Warning: Invalid laser conditions detected. If the invalid + * condition stays, a laser malfunction error is raised. */ ARGUS_STATE_LASER_WARNING = 1U << 8U, - /*! 0x0200: Laser Failure Error Flag. - * Set whenever a laser malfunction error is raised and the - * system is put into a safe state. - * - 0: No Error: Laser is operating properly. - * - 1: Error: Invalid laser conditions are detected for a certain - * soak time and the system is put into a safe state. */ + /*! 0x0200: Laser Failure Error Flag. \n + * Set whenever a laser malfunction error is raised and the + * system is put into a safe state. + * - 0: No Error: Laser is operating properly. + * - 1: Error: Invalid laser conditions are detected for a certain + * soak time and the system is put into a safe state. */ ARGUS_STATE_LASER_ERROR = 1U << 9U, /*! 0x0400: Set if current frame has distance measurement data available. - * - 0: No measurement data available, all values are 0 or stalled. - * - 1: Measurement data is available and correctly evaluated. */ + * - 0: No measurement data available, all values are 0 or stalled. + * - 1: Measurement data is available and correctly evaluated. */ ARGUS_STATE_HAS_DATA = 1U << 10U, /*! 0x0800: Set if current frame has auxiliary measurement data available. - * - 0: No auxiliary data available, all values are 0 or stalled. - * - 1: Auxiliary data is available and correctly evaluated. */ + * - 0: No auxiliary data available, all values are 0 or stalled. + * - 1: Auxiliary data is available and correctly evaluated. */ ARGUS_STATE_HAS_AUX_DATA = 1U << 11U, - /*! 0x1000: DCA Maximum State Flag. - * Set whenever the DCA has extended all its parameters to their - * maximum values and can not increase the integration energy any - * further. - * - 0: DCA has not yet reached its maximum state. - * - 1: DCA has reached its maximum state and can not increase any further. */ - ARGUS_STATE_DCA_MAX = 1U << 12U, + /*! 0x0100: Pixel Saturation Flag. \n + * Set whenever any pixel is saturated, i.e. its pixel state is + * #PIXEL_SAT + * - 0: No saturated pixels. + * - 1: Any saturated pixels. */ + ARGUS_STATE_SATURATED_PIXELS = 1U << 12U, /*! 0x2000: DCA is in high Optical Output Power stage. */ ARGUS_STATE_DCA_POWER_HIGH = DCA_POWER_HIGH << ARGUS_STATE_DCA_POWER_SHIFT, @@ -330,23 +322,48 @@ typedef enum { /*! 0xC000: DCA is in high Pixel Input Gain stage. */ ARGUS_STATE_DCA_GAIN_HIGH = DCA_GAIN_HIGH << ARGUS_STATE_DCA_GAIN_SHIFT, + /*! 0x10000: DCA Minimum State Flag. \n + * Set whenever the DCA has reduced all its parameters to their + * minimum values and it can not decrease the integration energy + * any further. + * - 0: DCA has not yet reached its minimum state. + * - 1: DCA has reached its minimum state and can not decrease + * its parameters any further. */ + ARGUS_STATE_DCA_MIN = 1U << 16U, + + /*! 0x20000: DCA Maximum State Flag. \n + * Set whenever the DCA has extended all its parameters to their + * maximum values and it can not increase the integration energy + * any further. + * - 0: DCA has not yet reached its maximum state. + * - 1: DCA has reached its maximum state and can not increase + * its parameters any further. */ + ARGUS_STATE_DCA_MAX = 1U << 17U, + + /*! 0x20000: DCA Reset State Flag. \n + * Set whenever the DCA is resetting all its parameters to their + * minimum values because it has detected too many saturated pixels. + * - 0: DCA is operating in normal mode. + * - 1: DCA is performing a reset. */ + ARGUS_STATE_DCA_RESET = 1U << 18U, + } argus_state_t; /*!*************************************************************************** - * @brief Dynamic Configuration Adaption (DCA) Parameters. - * @details DCA contains: - * - Static or dynamic mode. The first is utilizing the nominal values - * while the latter is dynamically adopting between min. and max. - * value and starting form the nominal values. - * - Analog Integration Depth Adaption down to single pulses. - * - Optical Output Power Adaption - * - Pixel Input Gain Adaption - * - Digital Integration Depth Adaption - * - Dynamic Global Phase Shift Injection. - * - All that features are heeding the Laser Safety limits. - * . + * @brief Dynamic Configuration Adaption (DCA) Parameters. + * @details DCA contains: + * - Static or dynamic mode. The first is utilizing the nominal values + * while the latter is dynamically adopting between min. and max. + * value and starting form the nominal values. + * - Analog Integration Depth Adaption down to single pulses. + * - Optical Output Power Adaption + * - Pixel Input Gain Adaption + * - Digital Integration Depth Adaption + * - Dynamic Global Phase Shift Injection. + * - All that features are heeding the Laser Safety limits. + * . *****************************************************************************/ -typedef struct { +typedef struct argus_cfg_dca_t { /*! Enables the automatic configuration adaption features. * Enables the dynamic part if #DCA_ENABLE_DYNAMIC and the static only if * #DCA_ENABLE_STATIC. */ @@ -494,4 +511,7 @@ typedef struct { } argus_cfg_dca_t; /*! @} */ +#ifdef __cplusplus +} // extern "C" +#endif #endif /* ARGUS_DCA_H */ diff --git a/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_def.h b/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_def.h index c639922a7d19..6d9dd3e9d38e 100644 --- a/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_def.h +++ b/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_def.h @@ -1,12 +1,12 @@ /*************************************************************************//** * @file - * @brief This file is part of the AFBR-S50 hardware API. - * @details This file provides generic definitions belonging to all - * devices from the AFBR-S50 product family. + * @brief This file is part of the AFBR-S50 hardware API. + * @details This file provides generic definitions belonging to all + * devices from the AFBR-S50 product family. * * @copyright * - * Copyright (c) 2021, Broadcom Inc + * Copyright (c) 2023, Broadcom Inc. * All rights reserved. * * Redistribution and use in source and binary forms, with or without @@ -37,6 +37,9 @@ #ifndef ARGUS_DEF_H #define ARGUS_DEF_H +#ifdef __cplusplus +extern "C" { +#endif /*!*************************************************************************** * Include files @@ -52,36 +55,41 @@ #include /*!*************************************************************************** - * @addtogroup argusapi + * @addtogroup argus_api * @{ *****************************************************************************/ /*!*************************************************************************** - * @brief Maximum number of phases per measurement cycle. - * @details The actual phase number is defined in the register configuration. - * However the software does only support a fixed value of 4 yet. + * @brief Maximum number of phases per measurement cycle. + * @details The actual phase number is defined in the register configuration. + * However the software does only support a fixed value of 4 yet. *****************************************************************************/ -#define ARGUS_PHASECOUNT 4U +#define ARGUS_PHASECOUNT 4 /*!*************************************************************************** - * @brief The device pixel field size in x direction (long edge). + * @brief The device pixel field size in x direction (long edge). *****************************************************************************/ -#define ARGUS_PIXELS_X 8U +#define ARGUS_PIXELS_X 8 /*!*************************************************************************** - * @brief The device pixel field size in y direction (short edge). + * @brief The device pixel field size in y direction (short edge). *****************************************************************************/ -#define ARGUS_PIXELS_Y 4U +#define ARGUS_PIXELS_Y 4 /*!*************************************************************************** - * @brief The total device pixel count. + * @brief The total device pixel count. *****************************************************************************/ -#define ARGUS_PIXELS ((ARGUS_PIXELS_X)*(ARGUS_PIXELS_Y)) +#define ARGUS_PIXELS ((ARGUS_PIXELS_X)*(ARGUS_PIXELS_Y)) /*!*************************************************************************** - * @brief The AFBR-S50 module types. + * @brief A flag indicating that the device is a extended range device. *****************************************************************************/ -typedef enum { +#define MODULE_EXTENDED_FLAG (0x40U) + +/*!*************************************************************************** + * @brief The AFBR-S50 module types. + *****************************************************************************/ +typedef enum argus_module_version_t { /*! No device connected or not recognized. */ MODULE_NONE = 0, @@ -89,54 +97,80 @@ typedef enum { * w/ 4x8 pixel matrix and infra-red, 850 nm, laser source for * medium range 3D applications. * Version 1 - legacy version! */ - AFBR_S50MV85G_V1 = 1, + AFBR_S50MV85G_V1 = 0x01, /*! AFBR-S50MV85G: an ADS0032 based multi-pixel range finder device * w/ 4x8 pixel matrix and infra-red, 850 nm, laser source for * medium range 3D applications. * Version 2 - legacy version! */ - AFBR_S50MV85G_V2 = 2, - - /*! AFBR-S50MV85G: an ADS0032 based multi-pixel range finder device - * w/ 4x8 pixel matrix and infra-red, 850 nm, laser source for - * medium range 3D applications. - * Version 7 - current version! */ - AFBR_S50MV85G_V3 = 7, + AFBR_S50MV85G_V2 = 0x02, /*! AFBR-S50LV85D: an ADS0032 based multi-pixel range finder device * w/ 4x8 pixel matrix and infra-red, 850 nm, laser source for * long range 1D applications. * Version 1 - current version! */ - AFBR_S50LV85D_V1 = 3, + AFBR_S50LV85D_V1 = 0x03, /*! AFBR-S50MV68B: an ADS0032 based multi-pixel range finder device * w/ 4x8 pixel matrix and red, 680 nm, laser source for * medium range 1D applications. * Version 1 - current version! */ - AFBR_S50MV68B_V1 = 4, + AFBR_S50MV68B_V1 = 0x04, /*! AFBR-S50MV85I: an ADS0032 based multi-pixel range finder device * w/ 4x8 pixel matrix and infra-red, 850 nm, laser source for * medium range 3D applications. * Version 1 - current version! */ - AFBR_S50MV85I_V1 = 5, + AFBR_S50MV85I_V1 = 0x05, /*! AFBR-S50MV85G: an ADS0032 based multi-pixel range finder device * w/ 4x8 pixel matrix and infra-red, 850 nm, laser source for * short range 3D applications. * Version 1 - current version! */ - AFBR_S50SV85K_V1 = 6, + AFBR_S50SV85K_V1 = 0x06, + /*! AFBR-S50MV85G: an ADS0032 based multi-pixel range finder device + * w/ 4x8 pixel matrix and infra-red, 850 nm, laser source for + * medium range 3D applications. + * Version 3 - current version! */ + AFBR_S50MV85G_V3 = 0x07, - /*! Reserved for future extensions. */ - Reserved = 0x3F + /*! AFBR-S50LX85D: an ADS0032 based multi-pixel range finder device + * w/ 4x8 pixel matrix and infra-red, 850 nm, laser source for + * extended long range 1D applications. + * Version 1 - current version! */ + AFBR_S50LX85D_V1 = AFBR_S50LV85D_V1 | MODULE_EXTENDED_FLAG, + + /*! AFBR-S50MX68B: an ADS0032 based multi-pixel range finder device + * w/ 4x8 pixel matrix and red, 680 nm, laser source for + * extended medium range 1D applications. + * Version 1 - current version! */ + AFBR_S50MX68B_V1 = AFBR_S50MV68B_V1 | MODULE_EXTENDED_FLAG, + + /*! AFBR-S50MX85I: an ADS0032 based multi-pixel range finder device + * w/ 4x8 pixel matrix and infra-red, 850 nm, laser source for + * extended medium range 3D applications. + * Version 1 - current version! */ + AFBR_S50MX85I_V1 = AFBR_S50MV85I_V1 | MODULE_EXTENDED_FLAG, + + /*! AFBR-S50MX85G: an ADS0032 based multi-pixel range finder device + * w/ 4x8 pixel matrix and infra-red, 850 nm, laser source for + * extended short range 3D applications. + * Version 1 - current version! */ + AFBR_S50SX85K_V1 = AFBR_S50SV85K_V1 | MODULE_EXTENDED_FLAG, + + /*! AFBR-S50MX85G: an ADS0032 based multi-pixel range finder device + * w/ 4x8 pixel matrix and infra-red, 850 nm, laser source for + * extended medium range 3D applications. + * Version 1 - current version! */ + AFBR_S50MX85G_V1 = AFBR_S50MV85G_V3 | MODULE_EXTENDED_FLAG, } argus_module_version_t; /*!*************************************************************************** - * @brief The AFBR-S50 laser configurations. + * @brief The AFBR-S50 laser configurations. *****************************************************************************/ -typedef enum { +typedef enum argus_laser_type_t { /*! No laser connected. */ LASER_NONE = 0, @@ -152,12 +186,15 @@ typedef enum { /*! 850nm Infra-Red VCSEL v2 /w extended mode. */ LASER_H_V2X = 4, + /*! 680nm Red VCSEL v1 w/ extended mode. */ + LASER_R_V1X = 5, + } argus_laser_type_t; /*!*************************************************************************** - * @brief The AFBR-S50 chip versions. + * @brief The AFBR-S50 chip versions. *****************************************************************************/ -typedef enum { +typedef enum argus_chip_version_t { /*! No device connected or not recognized. */ ADS0032_NONE = 0, @@ -178,37 +215,102 @@ typedef enum { } argus_chip_version_t; + /*!*************************************************************************** - * @brief The number of measurement modes with distinct configuration and - * calibration records. + * @brief The measurement mode flags. + * @details The measurement mode flags that can be combined to a measurement + * mode, e.g. high speed short range mode. See #argus_mode_t for + * a complete list of available measurement modes. + * + * - Bit 0: Short Range Mode + * - Bit 1: Long Range Mode + * - Bit 2: High Speed Mode + * + * Note that the Long and Short Range Flags are mutual exclusive but + * any of those 2 must be set. Thus the value 0 is invalid! + * All other flags enhance the base configurations, e.g. the High + * Speed flag create the high speed mode of the selected base + * measurement mode. *****************************************************************************/ -#define ARGUS_MODE_COUNT (2) +typedef enum argus_mode_flags_t { + /*! Measurement Mode Flag for Short Range Base Mode. */ + ARGUS_MODE_FLAG_SHORT_RANGE = 0x01 << 0, + + /*! Measurement Mode Flag for Long Range Base Mode. */ + ARGUS_MODE_FLAG_LONG_RANGE = 0x01 << 1, + + /*! Measurement Mode Flag for High Speed Mode. */ + ARGUS_MODE_FLAG_HIGH_SPEED = 0x01 << 2 + +} argus_mode_flags_t; /*!*************************************************************************** - * @brief The measurement modes. + * @brief The measurement modes. + * @details The measurement modes are composed in binary from of the flags + * define in #argus_mode_flags_t, i.e. each bit has a special meaning: + * + * - Bit 0: Short Range Mode + * - Bit 1: Long Range Mode + * - Bit 2: High Speed Mode + * + * Note that the Long and Short Range Bits are mutual exclusive but any + * of those 2 must be set. Thus the value 0 is invalid! *****************************************************************************/ -typedef enum { - /*! Measurement Mode A: Long Range Mode. */ - ARGUS_MODE_A = 1, +typedef enum argus_mode_t { + /*! Measurement Mode: Short Range Mode. */ + ARGUS_MODE_SHORT_RANGE = // = 0x01 = 0b0001 + ARGUS_MODE_FLAG_SHORT_RANGE, + + /*! Measurement Mode: Long Range Mode. */ + ARGUS_MODE_LONG_RANGE = // = 0x02 = 0b0010 + ARGUS_MODE_FLAG_LONG_RANGE, - /*! Measurement Mode B: Short Range Mode. */ - ARGUS_MODE_B = 2, + /*! Measurement Mode: High Speed Short Range Mode. */ + ARGUS_MODE_HIGH_SPEED_SHORT_RANGE = // = 0x05 = 0b0101 + ARGUS_MODE_FLAG_SHORT_RANGE | ARGUS_MODE_FLAG_HIGH_SPEED, + + /*! Measurement Mode: High Speed Long Range Mode. */ + ARGUS_MODE_HIGH_SPEED_LONG_RANGE = // = 0x06 = 0b0110 + ARGUS_MODE_FLAG_LONG_RANGE | ARGUS_MODE_FLAG_HIGH_SPEED, } argus_mode_t; +/*! The data structure for the API representing a AFBR-S50 device instance. */ +typedef struct argus_hnd_t argus_hnd_t; + /*!*************************************************************************** - * @brief Generic API callback function. - * @details Invoked by the API. The content of the abstract data pointer - * depends upon the context. - * @param status The module status that caused the callback. #STATUS_OK if - * everything was as expected. - * @param data An abstract pointer to an user defined data. This will usually - * be passed to the function that also takes the callback as an - * parameter. Otherwise it has a special meaning such as - * configuration or calibration data. - * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). + * @brief Measurement Ready API callback function. + * + * @details Invoked by the API whenever a measurement cycle is finished and + * new data is ready to be evaluated via the #Argus_EvaluateData API + * function. + * The callback is passed to the API via the #Argus_TriggerMeasurement + * or #Argus_StartMeasurementTimer API functions. + * The API passes the status of the currently finished measurement + * cycle to the callback as first parameters. The second parameter is + * a pointer the API handle structure. The latter is used to identify + * the calling instance of the API in case of multiple devices. + * Further it can be passed to the #Argus_EvaluateData function. + * + * @warning Since the callback is called from an interrupt context, the + * callback execution must return as fast as possible. The usual task + * in the callback is to post an event to the main thread to inform it + * about the new data and that is must call the #Argus_EvaluateData + * function. + * + * @param status The module status that caused the callback. #STATUS_OK if + * everything was as expected. + * + * @param hnd The API handle pointer to the calling instance. Identifies the + * instance of the API that was invoking the callback and thus the + * instance that must call the #Argus_EvaluateData for. + * + * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). *****************************************************************************/ -typedef status_t (*argus_callback_t)(status_t status, void *data); +typedef status_t (*argus_measurement_ready_callback_t)(status_t status, argus_hnd_t *hnd); /*! @} */ +#ifdef __cplusplus +} // extern "C" +#endif #endif /* ARGUS_DEF_H */ diff --git a/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_dfm.h b/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_dfm.h index b2517182f871..4c0182a0b381 100644 --- a/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_dfm.h +++ b/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_dfm.h @@ -1,11 +1,11 @@ /*************************************************************************//** * @file - * @brief This file is part of the AFBR-S50 API. - * @details Defines the dual frequency mode (DFM) setup parameters. + * @brief This file is part of the AFBR-S50 API. + * @details Defines the dual frequency mode (DFM) setup parameters. * * @copyright * - * Copyright (c) 2021, Broadcom Inc + * Copyright (c) 2023, Broadcom Inc. * All rights reserved. * * Redistribution and use in source and binary forms, with or without @@ -36,24 +36,27 @@ #ifndef ARGUS_DFM_H #define ARGUS_DFM_H +#ifdef __cplusplus +extern "C" { +#endif /*!*************************************************************************** - * @defgroup argusdfm Dual Frequency Mode - * @ingroup argusapi + * @defgroup argus_dfm Dual Frequency Mode + * @ingroup argus_api * - * @brief Dual Frequency Mode (DFM) parameter definitions and API functions. + * @brief Dual Frequency Mode (DFM) parameter definitions and API functions. * - * @details The DFM is an algorithm to extend the unambiguous range of the - * sensor by utilizing two detuned measurement frequencies. + * @details The DFM is an algorithm to extend the unambiguous range of the + * sensor by utilizing two detuned measurement frequencies. * - * The AFBR-S50 API provides three measurement modes: - * - 1X: Single Frequency Measurement - * - 4X: Dual Frequency Measurement w/ 4 times the unambiguous - * range of the Single Frequency Measurement - * - 8X: Dual Frequency Measurement w/ 8 times the unambiguous - * range of the Single Frequency Measurement + * The AFBR-S50 API provides three measurement modes: + * - 1X: Single Frequency Measurement + * - 4X: Dual Frequency Measurement w/ 4 times the unambiguous + * range of the Single Frequency Measurement + * - 8X: Dual Frequency Measurement w/ 8 times the unambiguous + * range of the Single Frequency Measurement * - * @addtogroup argusdfm + * @addtogroup argus_dfm * @{ *****************************************************************************/ @@ -61,10 +64,10 @@ #define ARGUS_DFM_FRAME_COUNT (2U) /*! The Dual Frequency Mode measurement modes count. Excluding the disabled mode. */ -#define ARGUS_DFM_MODE_COUNT (2U) // expect off-mode! +#define ARGUS_DFM_MODE_COUNT (2U) // except off-mode! /*! The Dual Frequency Mode measurement modes enumeration. */ -typedef enum { +typedef enum argus_dfm_mode_t { /*! Single Frequency Measurement Mode (w/ 1x Unambiguous Range). */ DFM_MODE_OFF = 0U, @@ -78,4 +81,7 @@ typedef enum { /*! @} */ +#ifdef __cplusplus +} // extern "C" +#endif #endif /* ARGUS_DFM_H */ diff --git a/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_map.h b/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_map.h index 64588d25f154..22a85b9d3e24 100644 --- a/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_map.h +++ b/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_map.h @@ -1,11 +1,11 @@ /*************************************************************************//** * @file - * @brief This file is part of the AFBR-S50 API. - * @details Defines macros to work with pixel and ADC channel masks. + * @brief This file is part of the AFBR-S50 API. + * @details Defines macros to work with pixel and ADC channel masks. * * @copyright * - * Copyright (c) 2021, Broadcom Inc + * Copyright (c) 2023, Broadcom Inc. * All rights reserved. * * Redistribution and use in source and binary forms, with or without @@ -37,217 +37,490 @@ #ifndef ARGUS_MAP_H #define ARGUS_MAP_H +#ifdef __cplusplus +extern "C" { +#endif /*!*************************************************************************** - * @defgroup argusmap ADC Channel Mapping - * @ingroup argusres + * @defgroup argus_map Pixel Channel Mapping + * @ingroup argus_api * - * @brief Pixel ADC Channel Mapping + * @brief Pixel Channel Mapping * - * @details The ADC Channels of each pixel or auxiliary channel on the device - * are numbered in a way that is convenient on the chip architecture. - * The macros in this module are defined in order to map between the - * chip internal channel number (ch) to the two-dimensional - * x-y-indices or one-dimensional n-index representation. + * @details The ADC Channels of each pixel or auxiliary channel on the device + * are numbered in a way that is convenient on the chip architecture. + * The macros in this module are defined in order to map between the + * chip internal channel number (ch) to the two-dimensional + * x-y-indices or one-dimensional n-index representation. * - * @addtogroup argusmap + * @addtogroup argus_map * @{ *****************************************************************************/ -#include "api/argus_def.h" #include "utility/int_math.h" +#include +#include +/*!*************************************************************************** + * @brief The device pixel field size in x direction (long edge). + *****************************************************************************/ +#define ARGUS_PIXELS_X 8 + +/*!*************************************************************************** + * @brief The device pixel field size in y direction (short edge). + *****************************************************************************/ +#define ARGUS_PIXELS_Y 4 + +/*!*************************************************************************** + * @brief The total device pixel count. + *****************************************************************************/ +#define ARGUS_PIXELS ((ARGUS_PIXELS_X)*(ARGUS_PIXELS_Y)) /*!***************************************************************************** - * @brief Macro to determine the pixel ADC channel number from the x-z-indices. - * @param x The x-index of the pixel. - * @param y The y-index of the pixel. - * @return The ADC channel number of the pixel. + * @brief Macro to determine the pixel ADC channel number from the x-z-indices. + * @param x The x-index of the pixel. + * @param y The y-index of the pixel. + * @return The ADC channel number of the pixel. ******************************************************************************/ #define PIXEL_XY2CH(x, y) ((((y) << 3U) & 0x10U) | (((x) ^ 0x07U) << 1U) | ((y) & 0x01U)) /*!***************************************************************************** - * @brief Macro to determine the pixel x-index from the ADC channel number. - * @param c The ADC channel number of the pixel. - * @return The x-index of the pixel. + * @brief Macro to determine the pixel x-index from the ADC channel number. + * @param c The ADC channel number of the pixel. + * @return The x-index of the pixel. ******************************************************************************/ #define PIXEL_CH2X(c) ((((c) >> 1U) ^ 0x07U) & 0x07U) /*!***************************************************************************** - * @brief Macro to determine the pixel y-index from the ADC channel number. - * @param c The ADC channel number of the pixel. - * @return The y-index of the pixel. + * @brief Macro to determine the pixel y-index from the ADC channel number. + * @param c The ADC channel number of the pixel. + * @return The y-index of the pixel. ******************************************************************************/ #define PIXEL_CH2Y(c) ((((c) >> 3U) & 0x02U) | ((c) & 0x01U)) /*!***************************************************************************** - * @brief Macro to determine the n-index from the x-y-indices. - * @param x The x-index of the pixel. - * @param y The y-index of the pixel. - * @return The n-index of the pixel. + * @brief Macro to determine the n-index from the x-y-indices. + * @param x The x-index of the pixel. + * @param y The y-index of the pixel. + * @return The n-index of the pixel. ******************************************************************************/ #define PIXEL_XY2N(x, y) (((x) << 2U) | (y)) /*!***************************************************************************** - * @brief Macro to determine the pixel x-index from the n-index. - * @param n The n-index of the pixel. - * @return The x-index number of the pixel. + * @brief Macro to determine the pixel x-index from the n-index. + * @param n The n-index of the pixel. + * @return The x-index number of the pixel. ******************************************************************************/ #define PIXEL_N2X(n) ((n) >> 2U) /*!***************************************************************************** - * @brief Macro to determine the pixel y-index from the n-index. - * @param n The n-index of the pixel. - * @return The y-index number of the pixel. + * @brief Macro to determine the pixel y-index from the n-index. + * @param n The n-index of the pixel. + * @return The y-index number of the pixel. ******************************************************************************/ #define PIXEL_N2Y(n) ((n) & 0x03U) /*!***************************************************************************** - * @brief Macro to determine the pixel n-index from the ADC channel number. - * @param n The n-index of the pixel. - * @return The ADC channel number of the pixel. + * @brief Macro to determine the pixel n-index from the ADC channel number. + * @param n The n-index of the pixel. + * @return The ADC channel number of the pixel. ******************************************************************************/ #define PIXEL_N2CH(n) ((((n) << 3U) & 0x10U) | ((((n) >> 1U) ^ 0x0EU) & 0x0EU) | ((n) & 0x01U)) /*!***************************************************************************** - * @brief Macro to determine the pixel - * @param c The ADC channel number of the pixel. - * @return The n-index of the pixel. + * @brief Macro to determine the pixel + * @param c The ADC channel number of the pixel. + * @return The n-index of the pixel. ******************************************************************************/ #define PIXEL_CH2N(c) (((((c) << 1U) ^ 0x1CU) & 0x1CU) | (((c) >> 3U) & 0x02U) | ((c) & 0x01U)) /*!***************************************************************************** - * @brief Macro to determine if a pixel given by the n-index is enabled in a pixel mask. - * @param msk 32-bit pixel mask - * @param n n-index of the pixel. - * @return True if the pixel (n) is enabled. + * @brief Macro to create a pixel mask given by the pixels n-index. + * @param n n-index of the pixel. + * @return The pixel mask with only n-index pixel set. + ******************************************************************************/ +#define PIXELN_MASK(n) (0x01U << (n)) + +/*!***************************************************************************** + * @brief Macro to determine if a pixel given by the n-index is enabled in a pixel mask. + * @param msk 32-bit pixel mask + * @param n n-index of the pixel. + * @return True if the pixel (n) is enabled. ******************************************************************************/ #define PIXELN_ISENABLED(msk, n) (((msk) >> (n)) & 0x01U) /*!***************************************************************************** - * @brief Macro to enable a pixel given by the n-index in a pixel mask. - * @param msk 32-bit pixel mask - * @param n n-index of the pixel to enable. + * @brief Macro to enable a pixel given by the n-index in a pixel mask. + * @param msk 32-bit pixel mask + * @param n n-index of the pixel to enable. ******************************************************************************/ -#define PIXELN_ENABLE(msk, n) ((msk) |= (0x01U << (n))) +#define PIXELN_ENABLE(msk, n) ((msk) |= (PIXELN_MASK(n))) /*!***************************************************************************** - * @brief Macro disable a pixel given by the n-index in a pixel mask. - * @param msk 32-bit pixel mask - * @param n n-index of the pixel to disable. + * @brief Macro disable a pixel given by the n-index in a pixel mask. + * @param msk 32-bit pixel mask + * @param n n-index of the pixel to disable. ******************************************************************************/ -#define PIXELN_DISABLE(msk, n) ((msk) &= (~(0x01U << (n)))) +#define PIXELN_DISABLE(msk, n) ((msk) &= (~PIXELN_MASK(n))) /*!***************************************************************************** - * @brief Macro to determine if an ADC pixel channel is enabled from a pixel mask. - * @param msk The 32-bit pixel mask - * @param c The ADC channel number of the pixel. - * @return True if the specified pixel ADC channel is enabled. + * @brief Macro to create a pixel mask given by the pixels ADC channel number. + * @param c The ADC channel number of the pixel. + * @return The 32-bit pixel mask with only pixel ADC channel set. + ******************************************************************************/ +#define PIXELCH_MASK(c) (0x01U << (PIXEL_CH2N(c))) + +/*!***************************************************************************** + * @brief Macro to determine if an ADC pixel channel is enabled from a pixel mask. + * @param msk The 32-bit pixel mask + * @param c The ADC channel number of the pixel. + * @return True if the specified pixel ADC channel is enabled. ******************************************************************************/ #define PIXELCH_ISENABLED(msk, c) (PIXELN_ISENABLED(msk, PIXEL_CH2N(c))) /*!***************************************************************************** - * @brief Macro to enable an ADC pixel channel in a pixel mask. - * @param msk The 32-bit pixel mask - * @param c The pixel ADC channel number to enable. + * @brief Macro to enable an ADC pixel channel in a pixel mask. + * @param msk The 32-bit pixel mask + * @param c The pixel ADC channel number to enable. ******************************************************************************/ #define PIXELCH_ENABLE(msk, c) (PIXELN_ENABLE(msk, PIXEL_CH2N(c))) /*!***************************************************************************** - * @brief Macro to disable an ADC pixel channel in a pixel mask. - * @param msk The 32-bit pixel mask - * @param c The pixel ADC channel number to disable. + * @brief Macro to disable an ADC pixel channel in a pixel mask. + * @param msk The 32-bit pixel mask + * @param c The pixel ADC channel number to disable. ******************************************************************************/ #define PIXELCH_DISABLE(msk, c) (PIXELN_DISABLE(msk, PIXEL_CH2N(c))) /*!***************************************************************************** - * @brief Macro to determine if a pixel given by the x-y-indices is enabled in a pixel mask. - * @param msk 32-bit pixel mask - * @param x x-index of the pixel. - * @param y y-index of the pixel. - * @return True if the pixel (x,y) is enabled. + * @brief Macro to create a pixel mask given by the pixel x-y-indices. + * @param x x-index of the pixel. + * @param y y-index of the pixel. + * @return The 32-bit pixel mask with only pixel ADC channel set. + ******************************************************************************/ +#define PIXELXY_MASK(x, y) (0x01U << (PIXEL_XY2N(x, y))) + +/*!***************************************************************************** + * @brief Macro to determine if a pixel given by the x-y-indices is enabled in a pixel mask. + * @param msk 32-bit pixel mask + * @param x x-index of the pixel. + * @param y y-index of the pixel. + * @return True if the pixel (x,y) is enabled. ******************************************************************************/ #define PIXELXY_ISENABLED(msk, x, y) (PIXELN_ISENABLED(msk, PIXEL_XY2N(x, y))) /*!***************************************************************************** - * @brief Macro to enable a pixel given by the x-y-indices in a pixel mask. - * @param msk 32-bit pixel mask - * @param x x-index of the pixel to enable. - * @param y y-index of the pixel to enable. + * @brief Macro to enable a pixel given by the x-y-indices in a pixel mask. + * @param msk 32-bit pixel mask + * @param x x-index of the pixel to enable. + * @param y y-index of the pixel to enable. ******************************************************************************/ #define PIXELXY_ENABLE(msk, x, y) (PIXELN_ENABLE(msk, PIXEL_XY2N(x, y))) /*!***************************************************************************** - * @brief Macro disable a pixel given by the x-y-indices in a pixel mask. - * @param msk 32-bit pixel mask - * @param x x-index of the pixel to disable. - * @param y y-index of the pixel to disable. + * @brief Macro disable a pixel given by the x-y-indices in a pixel mask. + * @param msk 32-bit pixel mask + * @param x x-index of the pixel to disable. + * @param y y-index of the pixel to disable. ******************************************************************************/ #define PIXELXY_DISABLE(msk, x, y) (PIXELN_DISABLE(msk, PIXEL_XY2N(x, y))) /*!***************************************************************************** - * @brief Macro to determine if an ADC channel is enabled in a channel mask. - * @param msk 32-bit channel mask - * @param ch channel number of the ADC channel. - * @return True if the ADC channel is enabled. + * @brief Macro to determine if an ADC channel is enabled in a channel mask. + * @param msk 32-bit channel mask + * @param ch channel number of the ADC channel. + * @return True if the ADC channel is enabled. ******************************************************************************/ #define CHANNELN_ISENABLED(msk, ch) (((msk) >> ((ch) - 32U)) & 0x01U) /*!***************************************************************************** - * @brief Macro to determine if an ADC channel is enabled in a channel mask. - * @param msk 32-bit channel mask - * @param ch channel number of the ADC channel to enabled. + * @brief Macro to determine if an ADC channel is enabled in a channel mask. + * @param msk 32-bit channel mask + * @param ch channel number of the ADC channel to enabled. ******************************************************************************/ #define CHANNELN_ENABLE(msk, ch) ((msk) |= (0x01U << ((ch) - 32U))) /*!***************************************************************************** - * @brief Macro to determine if an ADC channel is disabled in a channel mask. - * @param msk 32-bit channel mask - * @param ch channel number of the ADC channel to disable. + * @brief Macro to determine if an ADC channel is disabled in a channel mask. + * @param msk 32-bit channel mask + * @param ch channel number of the ADC channel to disable. ******************************************************************************/ #define CHANNELN_DISABLE(msk, ch) ((msk) &= (~(0x01U << ((ch) - 32U)))) /*!***************************************************************************** - * @brief Macro to determine the number of enabled pixel/channels in a mask - * via a popcount algorithm. - * @param pxmsk 32-bit pixel mask - * @return The count of enabled pixel channels. + * @brief Macro to determine the number of enabled pixel/channels in a mask + * via a popcount algorithm. + * @param pxmsk 32-bit pixel mask + * @return The count of enabled pixel channels. ******************************************************************************/ #define PIXEL_COUNT(pxmsk) popcount(pxmsk) /*!***************************************************************************** - * @brief Macro to determine the number of enabled channels via a popcount - * algorithm. - * @param pxmsk 32-bit pixel mask - * @param chmsk 32-bit channel mask - * @return The count of enabled ADC channels. + * @brief Macro to determine the number of enabled channels via a popcount + * algorithm. + * @param pxmsk 32-bit pixel mask + * @param chmsk 32-bit channel mask + * @return The count of enabled ADC channels. ******************************************************************************/ #define CHANNEL_COUNT(pxmsk, chmsk) (popcount(pxmsk) + popcount(chmsk)) /*!***************************************************************************** - * @brief Converts a raw ADC channel mask to a x-y-sorted pixel mask. - * @param msk The raw ADC channel mask to be converted. - * @return The converted x-y-sorted pixel mask. + * @brief Converts a raw ADC channel mask to a x-y-sorted pixel mask. + * @param msk The raw ADC channel mask to be converted. + * @return The converted x-y-sorted pixel mask. ******************************************************************************/ static inline uint32_t ChannelToPixelMask(uint32_t msk) { uint32_t res = 0; for (uint_fast8_t n = 0; n < 32; n += 2) { - res |= ((msk >> PIXEL_N2CH(n)) & 0x3U) << n; + res |= ((msk >> PIXEL_N2CH(n)) & 0x3U) << n; // sets 2 bits at once + } + + return res; +} + +/*!***************************************************************************** + * @brief Converts a x-y-sorted pixel mask to a raw ADC channel mask. + * @param msk The x-y-sorted pixel channel mask to be converted. + * @return The converted raw ADC channel mask. + ******************************************************************************/ +static inline uint32_t PixelToChannelMask(uint32_t msk) +{ + uint32_t res = 0; + + for (uint_fast8_t ch = 0; ch < 32; ch += 2) { + res |= ((msk >> PIXEL_CH2N(ch)) & 0x3U) << ch; // sets 2 bits at once } return res; } + +/*!***************************************************************************** + * @brief Shifts a pixel mask by a given offset. + * + * @details This moves the selected pixel pattern by a specified number of + * pixels in x and y direction. + * If the shift in y direction is odd (e.g +1), the pattern will be + * shifted by +0.5 or -0.5 in x direction due to the hexagonal shape + * of the pixel field. Thus, a center pixel (usually the Golden Pixel) + * is determined that is used to determine if the pattern is shifted + * by +0.5 or -0.5 pixels in x direction. The center pixel is then + * always shifted without changing the x index and the surrounding + * pixels are adopting its x index accordingly. + * + * Example: Consider the flower pattern, i.e. the Golden Pixel (e.g. + * 5/2) is selected and all is direct neighbors (i.e. 5/1, 6/1, 6/2, + * 6/3, 5/3, 4/2). If the pattern is shifted by -1 in y direction, the + * new Golden Pixel would be 5/1. Now all surrounding pixels are + * selected, namely 4/0, 4/1, 4/2, 5/0, 5/2, 6/1). This yields again + * the flower around the Golden Pixel. + * + * Thus, the pixels can not all be shifted by the same dx/dy values due + * to the hexagonal shape of the pixel field, e.g. the upper right + * neighbor of 5/2 is 5/1 but the upper right neighbor of 5/1 is NOT + * 5/0 but 4/0! + * This happens only if the shift in y direction is an odd number. + * The algorithm to determine new indices is as follows: + * - If the shift in y direction is even (e.g. +2, -2), no compensation + * of the hexagonal shape is needed; skip compensation, simply + * add/subtract indices. + * - If the center pixel y index is even, pixels that will have even y + * index after the shift will be additionally shifted by -1 in x + * direction. + * - If the center pixel y index is odd, pixel that will have odd y + * index after the shift will be additionally shifted by +1 in x + * direction. + * + * @see Please also refer to the function #Argus_GetCalibrationGoldenPixel + * to obtain the current Golden Pixel location. + * + * @param pixel_mask The x-y-sorted pixel mask to be shifted. + * @param dx The number of pixel to shift in x direction. + * @param dy The number of pixel to shift in y direction. + * @param center_y The center y index of the pattern that is shifted. + * @return The shifted pixel mask. + ******************************************************************************/ +static inline uint32_t ShiftSelectedPixels(const uint32_t pixel_mask, + const int8_t dx, + const int8_t dy, + const uint8_t center_y) +{ + if (dx == 0 && dy == 0) { return pixel_mask; } + + uint32_t shifted_mask = 0; + + for (int8_t x = 0; x < ARGUS_PIXELS_X; ++x) { + for (int8_t y = 0; y < ARGUS_PIXELS_Y; ++y) { + int8_t x_src = (int8_t)(x - dx); + int8_t y_src = (int8_t)(y - dy); + + if (dy & 0x1) { + /* Compensate for hexagonal pixel shape. */ + if ((center_y & 0x1) && (y & 0x1)) { + x_src--; + } + + if (!(center_y & 0x1) && !(y & 0x1)) { + x_src++; + } + } + + if (x_src < 0 || x_src >= ARGUS_PIXELS_X) { continue; } + + if (y_src < 0 || y_src >= ARGUS_PIXELS_Y) { continue; } + + if (PIXELXY_ISENABLED(pixel_mask, x_src, y_src)) { + PIXELXY_ENABLE(shifted_mask, x, y); + } + } + } + + return shifted_mask; +} + +/*!***************************************************************************** + * @brief Fills a pixel mask to a specified number of pixels around a center pixel. + * + * @details The pixel mask is iteratively filled with the nearest pixel to a + * specified center pixel until a specified number of pixels is achieved. + * The distance between two pixel is determined via a quadratic metric, + * i.e. dx^2 + dy^2. Pixels towards the lower x indices are preferred. + * + * Note that the distance of only calculated approximately, e.g. the + * y distance of pixels is considered to be 2 instead of cos(60)*2. + * + * Nothing is done if the number of pixels already exceeds the specified + * /p pixel_count parameter. + * + * @see Please also refer to the function #Argus_GetCalibrationGoldenPixel + * to obtain the current Golden Pixel location. + * + * @param pixel_mask The x-y-sorted pixel mask to be filled with pixels. + * @param pixel_count The final number of pixels in the pixel mask. + * @param center_x The center pixel x-index. + * @param center_y The center pixel y-index. + * @return The filled pixel mask with at least /p pixel_count pixels selected. + ******************************************************************************/ +static inline uint32_t FillPixelMask(uint32_t pixel_mask, + const uint8_t pixel_count, + const uint8_t center_x, + const uint8_t center_y) +{ + assert(pixel_count <= ARGUS_PIXELS); + assert(center_x < ARGUS_PIXELS_X); + assert(center_y < ARGUS_PIXELS_Y); + + if (pixel_count == ARGUS_PIXELS) { return 0xFFFFFFFFU; } + + /* If the pattern was shifted towards boundaries, the pixel count may have + * decreased. In this case, the pixels closest to the reference pixel are + * selected. Pixel towards lower x index are prioritized. */ + while (pixel_count > PIXEL_COUNT(pixel_mask)) { + int32_t min_dist = INT32_MAX; + int8_t min_x = -1; + int8_t min_y = -1; + + /* Find nearest not selected pixel. */ + for (int8_t x = 0; x < ARGUS_PIXELS_X; ++x) { + for (int8_t y = 0; y < ARGUS_PIXELS_Y; ++y) { + if (!PIXELXY_ISENABLED(pixel_mask, x, y)) { + int32_t distx = (x - center_x) << 1; + + if (!(y & 0x1)) { distx++; } + + if (!(center_y & 0x1)) { distx--; } + + const int32_t disty = (y - center_y) << 1; + int32_t dist = distx * distx + disty * disty; + + if (dist < min_dist) { + min_dist = dist; + min_x = (int8_t)x; + min_y = (int8_t)y; + } + } + } + } + + assert(min_x >= 0 && min_x < ARGUS_PIXELS_X); + assert(min_y >= 0 && min_y < ARGUS_PIXELS_Y); + assert(!PIXELXY_ISENABLED(pixel_mask, min_x, min_y)); + PIXELXY_ENABLE(pixel_mask, min_x, min_y); + } + + return pixel_mask; +} + +/*!***************************************************************************** + * @brief Fills a pixel mask with the direct neighboring pixels around a pixel. + * + * @details The pixel mask is iteratively filled with the direct neighbors of the + * specified center pixel. + * + * Note that the function is able to handle corner and edge pixels and + * also to handle odd/even lines (which have different layouts) + * + * @param x The selected pixel x-index. + * @param y The selected pixel y-index. + * @return The filled pixel mask with all direct neighbors of the selected pixel. + ******************************************************************************/ +static inline uint32_t GetAdjacentPixelsMask(const uint_fast8_t x, + const uint_fast8_t y) +{ + assert(x < ARGUS_PIXELS_X); + assert(y < ARGUS_PIXELS_Y); + + uint32_t mask = 0u; + + bool isXEdgeLow = (x == 0); + bool isXEdgeHigh = (x == (ARGUS_PIXELS_X - 1)); + bool isYEdgeLow = (y == 0); + bool isYEdgeHigh = (y == (ARGUS_PIXELS_Y - 1)); + + if (y % 2 == 0) { + if (!isYEdgeLow) { PIXELXY_ENABLE(mask, x, y - 1); } + + if ((!isXEdgeHigh) && (!isYEdgeLow)) { PIXELXY_ENABLE(mask, x + 1, y - 1); } + + if (!isXEdgeHigh) { PIXELXY_ENABLE(mask, x + 1, y); } + + if ((!isXEdgeHigh) && (!isYEdgeHigh)) { PIXELXY_ENABLE(mask, x + 1, y + 1); } + + if (!isYEdgeHigh) { PIXELXY_ENABLE(mask, x, y + 1); } + + if (!isXEdgeLow) { PIXELXY_ENABLE(mask, x - 1, y); } + + } else { + if ((!isXEdgeLow) && (!isYEdgeLow)) { PIXELXY_ENABLE(mask, x - 1, y - 1); } + + if (!isYEdgeLow) { PIXELXY_ENABLE(mask, x, y - 1); } + + if (!isXEdgeHigh) { PIXELXY_ENABLE(mask, x + 1, y); } + + if (!isYEdgeHigh) { PIXELXY_ENABLE(mask, x, y + 1); } + + if ((!isXEdgeLow) && (!isYEdgeHigh)) { PIXELXY_ENABLE(mask, x - 1, y + 1); } + + if (!isXEdgeLow) { PIXELXY_ENABLE(mask, x - 1, y); } + } + + return mask; +} + + /*! @} */ +#ifdef __cplusplus +} // extern "C" +#endif #endif /* ARGUS_MAP_H */ diff --git a/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_meas.h b/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_meas.h index 0e074c6a8b03..7a0fa31aa545 100644 --- a/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_meas.h +++ b/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_meas.h @@ -1,11 +1,11 @@ /*************************************************************************//** * @file - * @brief This file is part of the AFBR-S50 hardware API. - * @details Defines the generic measurement parameters and data structures. + * @brief This file is part of the AFBR-S50 hardware API. + * @details Defines the generic measurement parameters and data structures. * * @copyright * - * Copyright (c) 2021, Broadcom Inc + * Copyright (c) 2023, Broadcom Inc. * All rights reserved. * * Redistribution and use in source and binary forms, with or without @@ -36,17 +36,20 @@ #ifndef ARGUS_MEAS_H #define ARGUS_MEAS_H +#ifdef __cplusplus +extern "C" { +#endif /*!*************************************************************************** - * @defgroup argusmeas Measurement/Device Control - * @ingroup argusapi + * @defgroup argus_meas Measurement/Device Control + * @ingroup argus_api * - * @brief Measurement/Device control module + * @brief Measurement/Device control module * - * @details This module contains measurement and device control specific - * definitions and methods. + * @details This module contains measurement and device control specific + * definitions and methods. * - * @addtogroup argusmeas + * @addtogroup argus_meas * @{ *****************************************************************************/ @@ -66,11 +69,11 @@ #define ARGUS_AUX_DATA_SIZE (3U * ARGUS_AUX_CHANNEL_COUNT) // 3 bytes * x channels * 1 phase /*!*************************************************************************** - * @brief The device measurement configuration structure. - * @details The portion of the configuration data that belongs to the - * measurement cycle. I.e. the data that defines a measurement frame. + * @brief The device measurement configuration structure. + * @details The portion of the configuration data that belongs to the + * measurement cycle. I.e. the data that defines a measurement frame. *****************************************************************************/ -typedef struct { +typedef struct argus_meas_frame_t { /*! Frame integration time in microseconds. * The integration time determines the measured time between * the start signal and the IRQ. Note that this value will be @@ -82,13 +85,13 @@ typedef struct { /*! Pixel enabled mask for the 32 pixels sorted * by x-y-indices. - * See [pixel mapping](@ref argusmap) for more + * See [pixel mapping](@ref argus_map) for more * details on the pixel mask. */ uint32_t PxEnMask; /*! ADS channel enabled mask for the remaining * channels 31 .. 63 (miscellaneous values). - * See [pixel mapping](@ref argusmap) for more + * See [pixel mapping](@ref argus_map) for more * details on the ADC channel mask. */ uint32_t ChEnMask; @@ -113,9 +116,6 @@ typedef struct { * Determines the optical output power. */ uq12_4_t OutputPower; - /*! The amplitude that is evaluated and used in the DCA module. */ - uq12_4_t DCAAmplitude; - /*! Laser Bias Current Settings in LSB. */ uint8_t BiasCurrent; @@ -133,4 +133,7 @@ typedef struct { } argus_meas_frame_t; /*! @} */ +#ifdef __cplusplus +} // extern "C" +#endif #endif /* ARGUS_MEAS_H */ diff --git a/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_msk.h b/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_msk.h deleted file mode 100644 index 258fb3826092..000000000000 --- a/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_msk.h +++ /dev/null @@ -1,170 +0,0 @@ -/*************************************************************************//** - * @file - * @brief This file is part of the AFBR-S50 API. - * @details Defines macros to work with pixel and ADC channel masks. - * - * @copyright - * - * Copyright (c) 2021, Broadcom Inc - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * 1. Redistributions of source code must retain the above copyright notice, this - * list of conditions and the following disclaimer. - * - * 2. Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * - * 3. Neither the name of the copyright holder nor the names of its - * contributors may be used to endorse or promote products derived from - * this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE - * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL - * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR - * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, - * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE - * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - *****************************************************************************/ - -#ifndef ARGUS_MSK_H -#define ARGUS_MSK_H - -/*!*************************************************************************** - * @defgroup argusmap ADC Channel Mapping - * @ingroup argusres - * - * @brief Pixel ADC Channel (n) to x-y-Index Mapping - * - * @details The ADC Channels of each pixel or auxiliary channel on the device - * is numbered in a way that is convenient on the chip. The macros - * in this module are defined in order to obtain the x-y-indices of - * each channel and vice versa. - * - * @addtogroup argusmap - * @{ - *****************************************************************************/ - -#include "api/argus_def.h" -#include "utility/int_math.h" - -/*!***************************************************************************** - * @brief Macro to determine the channel number of an specified Pixel. - * @param x The x index of the pixel. - * @param y The y index of the pixel. - * @return The channel number n of the pixel. - ******************************************************************************/ -#define PIXEL_XY2N(x, y) ((((x) ^ 7) << 1) | ((y) & 2) << 3 | ((y) & 1)) - -/*!***************************************************************************** - * @brief Macro to determine the x index of an specified Pixel channel. - * @param n The channel number of the pixel. - * @return The x index number of the pixel. - ******************************************************************************/ -#define PIXEL_N2X(n) ((((n) >> 1U) & 7) ^ 7) - -/*!***************************************************************************** - * @brief Macro to determine the y index of an specified Pixel channel. - * @param n The channel number of the pixel. - * @return The y index number of the pixel. - ******************************************************************************/ -#define PIXEL_N2Y(n) (((n) & 1U) | (((n) >> 3) & 2U)) - -/*!***************************************************************************** - * @brief Macro to determine if a ADC Pixel channel was enabled from a pixel mask. - * @param msk The 32-bit pixel mask - * @param ch The channel number of the pixel. - * @return True if the pixel channel n was enabled, false elsewise. - ******************************************************************************/ -#define PIXELN_ISENABLED(msk, ch) (((msk) >> (ch)) & 0x01U) - -/*!***************************************************************************** - * @brief Macro enables an ADC Pixel channel in a pixel mask. - * @param msk The 32-bit pixel mask - * @param ch The channel number of the pixel. - ******************************************************************************/ -#define PIXELN_ENABLE(msk, ch) ((msk) |= (0x01U << (ch))) - -/*!***************************************************************************** - * @brief Macro disables an ADC Pixel channel in a pixel mask. - * @param msk The 32-bit pixel mask - * @param ch The channel number of the pixel. - ******************************************************************************/ -#define PIXELN_DISABLE(msk, ch) ((msk) &= (~(0x01U << (ch)))) - -/*!***************************************************************************** - * @brief Macro to determine if an ADC Pixel channel was enabled from a pixel mask. - * @param msk 32-bit pixel mask - * @param x x index of the pixel. - * @param y y index of the pixel. - * @return True if the pixel (x,y) was enabled, false elsewise. - ******************************************************************************/ -#define PIXELXY_ISENABLED(msk, x, y) (PIXELN_ISENABLED(msk, PIXEL_XY2N(x, y))) - -/*!***************************************************************************** - * @brief Macro enables an ADC Pixel channel in a pixel mask. - * @param msk 32-bit pixel mask - * @param x x index of the pixel. - * @param y y index of the pixel. - ******************************************************************************/ -#define PIXELXY_ENABLE(msk, x, y) (PIXELN_ENABLE(msk, PIXEL_XY2N(x, y))) - -/*!***************************************************************************** - * @brief Macro disables an ADC Pixel channel in a pixel mask. - * @param msk 32-bit pixel mask - * @param x x index of the pixel. - * @param y y index of the pixel. - ******************************************************************************/ -#define PIXELXY_DISABLE(msk, x, y) (PIXELN_DISABLE(msk, PIXEL_XY2N(x, y))) - -/*!***************************************************************************** - * @brief Macro to determine if a ADC channel was enabled from a channel mask. - * @param msk 32-bit channel mask - * @param ch channel number of the ADC channel. - * @return True if the ADC channel n was enabled, false elsewise. - ******************************************************************************/ -#define CHANNELN_ISENABLED(msk, ch) (((msk) >> ((ch) - 32U)) & 0x01U) - -/*!***************************************************************************** - * @brief Macro to determine if a ADC channel was enabled from a channel mask. - * @param msk 32-bit channel mask - * @param ch channel number of the ADC channel. - * @return True if the ADC channel n was enabled, false elsewise. - ******************************************************************************/ -#define CHANNELN_ENABLE(msk, ch) ((msk) |= (0x01U << ((ch) - 32U))) - -/*!***************************************************************************** - * @brief Macro to determine if a ADC channel was enabled from a channel mask. - * @param msk 32-bit channel mask - * @param ch channel number of the ADC channel. - * @return True if the ADC channel n was enabled, false elsewise. - ******************************************************************************/ -#define CHANNELN_DISABLE(msk, ch) ((msk) &= (~(0x01U << ((ch) - 32U)))) - - -/*!***************************************************************************** - * @brief Macro to determine the number of enabled pixel channels via a popcount - * algorithm. - * @param pxmsk 32-bit pixel mask - * @return The count of enabled pixel channels. - ******************************************************************************/ -#define PIXEL_COUNT(pxmsk) popcount(pxmsk) - -/*!***************************************************************************** - * @brief Macro to determine the number of enabled channels via a popcount - * algorithm. - * @param pxmsk 32-bit pixel mask - * @param chmsk 32-bit channel mask - * @return The count of enabled ADC channels. - ******************************************************************************/ -#define CHANNEL_COUNT(pxmsk, chmsk) (popcount(pxmsk) + popcount(chmsk)) - -/*! @} */ -#endif /* ARGUS_MSK_H */ diff --git a/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_offset.h b/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_offset.h new file mode 100644 index 000000000000..3ef649d45b3b --- /dev/null +++ b/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_offset.h @@ -0,0 +1,76 @@ +/*************************************************************************//** + * @file + * @brief This file is part of the AFBR-S50 hardware API. + * @details Defines the generic device calibration API. + * + * @copyright + * + * Copyright (c) 2023, Broadcom Inc. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, this + * list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * 3. Neither the name of the copyright holder nor the names of its + * contributors may be used to endorse or promote products derived from + * this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE + * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL + * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, + * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + *****************************************************************************/ + +#ifndef ARGUS_OFFSET_H +#define ARGUS_OFFSET_H +#ifdef __cplusplus +extern "C" { +#endif + +/*!*************************************************************************** + * @addtogroup argus_cal + * @{ + *****************************************************************************/ + +#include "argus_def.h" + +/*!*************************************************************************** + * @brief Pixel Range Offset Table. + * @details Contains pixel range offset values for all 32 active pixels. + *****************************************************************************/ +typedef union argus_cal_offset_table_t { + struct { + /*! The offset values table for Low Power Stage of all 32 pixels. + * Unit: meter; Format: Q0.15 */ + q0_15_t LowPower[ARGUS_PIXELS_X][ARGUS_PIXELS_Y]; + + /*! The offset values table for High Power Stage of all 32 pixels. + * Unit: meter; Format: Q0.15 */ + q0_15_t HighPower[ARGUS_PIXELS_X][ARGUS_PIXELS_Y]; + }; + + /*! The offset values table for Low/High Power Stages of all 32 pixels. + * Unit: meter; Format: Q0.15 */ + q0_15_t Table[ARGUS_DCA_POWER_STAGE_COUNT][ARGUS_PIXELS_X][ARGUS_PIXELS_Y]; + +} argus_cal_offset_table_t; + + +/*! @} */ +#ifdef __cplusplus +} // extern "C" +#endif +#endif /* ARGUS_OFFSET_T */ diff --git a/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_pba.h b/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_pba.h index 07b4853bda76..f412229396a6 100644 --- a/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_pba.h +++ b/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_pba.h @@ -1,12 +1,12 @@ /*************************************************************************//** * @file - * @brief This file is part of the AFBR-S50 API. - * @details Defines the pixel binning algorithm (PBA) setup parameters and - * data structure. + * @brief This file is part of the AFBR-S50 API. + * @details Defines the pixel binning algorithm (PBA) setup parameters and + * data structure. * * @copyright * - * Copyright (c) 2021, Broadcom Inc + * Copyright (c) 2023, Broadcom Inc. * All rights reserved. * * Redistribution and use in source and binary forms, with or without @@ -37,87 +37,147 @@ #ifndef ARGUS_PBA_H #define ARGUS_PBA_H +#ifdef __cplusplus +extern "C" { +#endif /*!*************************************************************************** - * @defgroup arguspba Pixel Binning Algorithm - * @ingroup argusapi - * - * @brief Pixel Binning Algorithm (PBA) parameter definitions and API functions. - * - * @details Defines the generic pixel binning algorithm (PBA) setup parameters - * and data structure. - * - * The PBA module contains filter algorithms that determine the - * pixels with the best signal quality and extract an 1d distance - * information from the filtered pixels. - * - * The pixel filter algorithm is a three-stage filter with a - * fallback value: - * - * -# A fixed pre-filter mask is applied to statically disable - * specified pixels. - * -# A relative and absolute amplitude filter is applied in the - * second stage. The relative filter is determined by a ratio - * of the maximum amplitude off all available (i.e. not filtered - * in stage 1) pixels. Pixels that have an amplitude below the - * relative threshold are dismissed. The same holds true for - * the absolute amplitude threshold. All pixel with smaller - * amplitude are dismissed.\n - * The relative threshold is useful to setup a distance - * measurement scenario. All well illuminated pixels are - * selected and considered for the final 1d distance. The - * absolute threshold is used to dismiss pixels that are below - * the noise level. The latter would be considered for the 1d - * result if the maximum amplitude is already very low. - * -# A distance filter is used to distinguish pixels that target - * the actual object from pixels that see the brighter background, - * e.g. white walls. Thus, the pixel with the minimum distance - * is referenced and all pixel that have a distance between - * the minimum and the given minimum distance scope are selected - * for the 1d distance result. The minimum distance scope is - * determined by an relative (to the current minimum distance) - * and an absolute value. The larger scope value is the - * relevant one, i.e. the relative distance scope can be used - * to heed the increasing noise at larger distances. - * -# If all of the above filters fail to determine a single valid - * pixel, the golden pixel is used as a fallback value. The - * golden pixel is the pixel that sits right at the focus point - * of the optics at large distances. - * . - * - * After filtering is done, there may be more than a single pixel - * left to determine the 1d signal. Therefore several averaging - * methods are implemented to obtain the best 1d result from many - * pixels. See #argus_pba_averaging_mode_t for details. - * - * - * @addtogroup arguspba + * @defgroup argus_pba Pixel Binning Algorithm + * @ingroup argus_api + * + * @brief Pixel Binning Algorithm (PBA) parameter definitions and API functions. + * + * @details Defines the generic Pixel Binning Algorithm (PBA) setup parameters + * and data structure. + * + * The PBA module contains filter algorithms that determine the + * pixels with the best signal quality and extract an 1D distance + * information from the filtered pixels by averaging them in a + * specified way. + * + * Basically, the Pixel Binning Algorithm is a multi-stage filter: + * + * -# A fixed pre-filter mask is applied to statically disable + * specified pixels. + * + * -# A relative and absolute amplitude filter is applied in the + * second stage. The relative filter is determined by a ratio + * of the maximum amplitude off all available (i.e. not filtered + * in stage 1) pixels. Pixels that have an amplitude below the + * relative threshold are dismissed. The same holds true for + * the absolute amplitude threshold. All pixel with smaller + * amplitude are dismissed.\n + * Note that the absolute amplitude threshold is disabled if + * the Golden Pixel (see below) is also disabled in order to + * prevent invalid filtering for multi-pixel devices.\n + * The relative threshold is useful to setup a distance + * measurement scenario. All well illuminated pixels are + * selected and considered for the final 1D distance. The + * absolute threshold is used to dismiss pixels that are below + * the noise level. The latter would be considered for the 1D + * result if the maximum amplitude is already very low.\n + * Those threshold are implemented using a hysteresis behavior. + * For its configuration, see the following parameters: + * - #argus_cfg_pba_t::RelativeAmplitudeInclusion + * - #argus_cfg_pba_t::RelativeAmplitudeExclusion + * - #argus_cfg_pba_t::AbsoluteAmplitudeInclusion + * - #argus_cfg_pba_t::AbsoluteAmplitudeExclusion + * . + * + * -# An absolute minimum distance filter is applied in addition + * to the amplitude filter. This removes all pixel that have + * a lower distance than the specified threshold. This is used + * to remove invalid pixels that can be detected by a physically + * not correct negative distance.\n + * For its configuration, see the following parameters: + * - #PBA_ENABLE_MIN_DIST_SCOPE + * - #argus_cfg_pba_t::AbsoluteDistanceScopeInclusion + * - #argus_cfg_pba_t::AbsoluteDistanceScopeExclusion + * - #argus_cfg_pba_t::RelativeDistanceScopeInclusion + * - #argus_cfg_pba_t::RelativeDistanceScopeExclusion + * . + * + * -# A distance filter is used to distinguish pixels that target + * the actual object from pixels that see the brighter background, + * e.g. white walls. Thus, the pixel with the minimum distance + * is referenced and all pixel that have a distance between + * the minimum and the given minimum distance scope are selected + * for the 1D distance result. The minimum distance scope is + * determined by an relative (to the current minimum distance) + * and an absolute value. The larger scope value is the + * relevant one, i.e. the relative distance scope can be used + * to heed the increasing noise at larger distances.\n + * For its configuration, see the following parameters: + * - #argus_cfg_pba_t::AbsoluteMinimumDistanceThreshold + * . + * + * -# If all of the above filters fail to determine a single valid + * pixel, the Golden Pixel is used as a fallback value. The + * Golden Pixel is the pixel that sits right at the focus point + * of the optics at large distances. Thus, it is expected to + * have the best signal at large distances.\n + * For its configuration, see the following parameters: + * - #PBA_ENABLE_GOLDPX_FALLBACK_MODE + * . + * + * -# In order to avoid unwanted effects from "out-of-focus" pixels + * in application that require a smaller focus, the Golden Pixel + * Priority Mode prioritizes a valid signal on the central + * Golden Pixel over other pixels. That is, while the Golden + * Pixel has a reasonable signal strength, it is the only pixel + * considered for the 1D result.\n + * For its configuration, see the following parameters: + * - #PBA_ENABLE_GOLDPX_FALLBACK_MODE + * - #argus_cfg_pba_t::GoldenPixelPriorityAmplitudeInclusion + * - #argus_cfg_pba_t::GoldenPixelPriorityAmplitudeExclusion + * . + * . + * + * After filtering is done, there may be more than a single pixel + * left to determine the 1D signal. Therefore several averaging + * methods are implemented to obtain the best 1D result from many + * pixels. See #argus_pba_averaging_mode_t for details. + * + * + * @addtogroup argus_pba * @{ *****************************************************************************/ #include "argus_def.h" /*!*************************************************************************** - * @brief Enable flags for the pixel binning algorithm. + * @brief Enable flags for the pixel binning algorithm. * * @details Determines the pixel binning algorithm feature enable status. - * - [0]: #PBA_ENABLE: Enables the pixel binning feature. - * - [1]: reserved - * - [2]: reserved - * - [3]: reserved - * - [4]: reserved - * - [5]: #PBA_ENABLE_GOLDPX: Enables the golden pixel feature. - * - [6]: #PBA_ENABLE_MIN_DIST_SCOPE: Enables the minimum distance scope - * feature. - * - [7]: reserved - * . + * + * - [0]: #PBA_ENABLE: Enables the pixel binning feature. + * - [1]: reserved + * - [2]: reserved + * - [3]: reserved + * - [4]: #PBA_ENABLE_GOLDPX_PRIORITY_MODE: Enables the Golden Pixel + * priority mode feature. + * - [5]: #PBA_ENABLE_GOLDPX_FALLBACK_MODE: Enables the Golden Pixel + * fallback mode feature. + * - [6]: #PBA_ENABLE_MIN_DIST_SCOPE: Enables the minimum distance + * scope feature. + * - [7]: reserved + * . *****************************************************************************/ -typedef enum { +typedef enum argus_pba_flags_t { /*! Enables the pixel binning feature. */ PBA_ENABLE = 1U << 0U, - /*! Enables the golden pixel. */ - PBA_ENABLE_GOLDPX = 1U << 5U, + /*! Enables the Golden Pixel Priority Mode. + * If enabled, the Golden Pixel is prioritized over other Pixels as long + * as it has a good signal (determined by # */ + PBA_ENABLE_GOLDPX_PRIORITY_MODE = 1U << 4U, + + /*! Enables the Golden Pixel Fallback Mode. + * If enabled, the Golden Pixel is used as a last fallback pixel to obtain + * a valid signal from. This is recommended for all non-multi pixel + * devices whose TX field-of-view is aligned to target the Golden Pixel in + * factory calibration. */ + PBA_ENABLE_GOLDPX_FALLBACK_MODE = 1U << 5U, /*! Enables the minimum distance scope filter. */ PBA_ENABLE_MIN_DIST_SCOPE = 1U << 6U, @@ -125,9 +185,9 @@ typedef enum { } argus_pba_flags_t; /*!*************************************************************************** - * @brief The averaging modes for the pixel binning algorithm. + * @brief The averaging modes for the pixel binning algorithm. *****************************************************************************/ -typedef enum { +typedef enum argus_pba_averaging_mode_t { /*! Evaluate the 1D range from all available pixels using * a simple average. */ PBA_SIMPLE_AVG = 1U, @@ -140,11 +200,12 @@ typedef enum { } argus_pba_averaging_mode_t; /*!*************************************************************************** - * @brief The pixel binning algorithm settings data structure. - * @details Describes the pixel binning algorithm settings. + * @brief The pixel binning algorithm settings data structure. + * @details Describes the pixel binning algorithm settings. *****************************************************************************/ typedef struct { - /*! Enables the pixel binning features. + /*! Enables the Pixel Binning Algorithm. + * * Each bit may enable a different feature. See #argus_pba_flags_t * for details about the enabled flags. */ argus_pba_flags_t Enabled; @@ -155,67 +216,314 @@ typedef struct { * about the individual evaluation modes. */ argus_pba_averaging_mode_t AveragingMode; - /*! The Relative amplitude threshold value (in %) of the max. amplitude. - * Pixels with amplitude below this threshold value are dismissed. + /*! The relative amplitude inclusion threshold (in %) of the max. amplitude. + * + * Pixels, whose amplitudes raise above this inclusion threshold, are + * added to the pixel binning. The amplitude must fall below the + * exclusion (#RelativeAmplitudeExclusion) threshold to be removed from + * the pixel binning again. * * All available values from the 8-bit representation are valid. * The actual percentage value is determined by 100%/256*x. * - * Use 0 to disable the relative amplitude threshold. */ - uq0_8_t RelAmplThreshold; + * Note: in addition to the relative criteria, there is also the absolute + * criteria (#AbsoluteAmplitudeInclusion, #AbsoluteAmplitudeExclusion). + * The pixels are added to the pixel binning if their respective amplitude + * is larger than the absolute AND relative inclusion values. On the other + * hand, they are removed if their amplitude falls below the absolute OR + * relative exclusion threshold. + * + * Must be greater than or equal to the #RelativeAmplitudeExclusion. + * + * Use #RelativeAmplitudeExclusion == #RelativeAmplitudeInclusion to + * disable the hysteresis behavior and use it as a threshold only. + * + * Use 0 (for both, #RelativeAmplitudeExclusion and + * #RelativeAmplitudeInclusion) to disable the relative amplitude + * hysteresis. */ + uq0_8_t RelativeAmplitudeInclusion; - /*! The relative minimum distance scope value in %. - * Pixels that have a range value within [x0, x0 + dx] are considered - * for the pixel binning, where x0 is the minimum distance of all - * amplitude picked pixels and dx is the minimum distance scope value. - * The minimum distance scope value will be the maximum of relative - * and absolute value. + /*! The relative amplitude exclusion threshold (in %) of the max. amplitude. + * + * Pixels, whose amplitudes fall below this exclusion threshold, are + * removed from the pixel binning. The amplitude must raise above the + * inclusion (#RelativeAmplitudeInclusion) threshold to be added back + * to be pixel binning again. * * All available values from the 8-bit representation are valid. * The actual percentage value is determined by 100%/256*x. * - * Special values: - * - 0: Use 0 for absolute value only or to choose the pixel with the - * minimum distance only (of also the absolute value is 0)! */ - uq0_8_t RelMinDistanceScope; + * Note: in addition to the relative criteria, there is also the absolute + * criteria (#AbsoluteAmplitudeInclusion, #AbsoluteAmplitudeExclusion). + * The pixels are added to the pixel binning if their respective amplitude + * is larger than the absolute AND relative inclusion values. On the other + * hand, they are removed if their amplitude falls below the absolute OR + * relative exclusion threshold. + * + * Must be less than or equal to #RelativeAmplitudeInclusion. + * + * Use #RelativeAmplitudeExclusion == #RelativeAmplitudeInclusion to + * disable the hysteresis behavior and use it as a threshold only. + * + * Use 0 (for both, #RelativeAmplitudeExclusion and + * #RelativeAmplitudeInclusion) to disable the relative amplitude + * hysteresis. */ + uq0_8_t RelativeAmplitudeExclusion; - /*! The Absolute amplitude threshold value in LSB. - * Pixels with amplitude below this threshold value are dismissed. + /*! The absolute amplitude inclusion threshold in LSB. + * + * Pixels, whose amplitudes raise above this inclusion threshold, are + * added to the pixel binning. The amplitude must fall below the + * exclusion (#RelativeAmplitudeExclusion) threshold to be removed from + * the pixel binning again. + * + * The absolute amplitude hysteresis is only valid if the Golden Pixel + * mode is enabled. Otherwise, the thresholds are set to 0 LSB internally + * which disables the absolute criteria. * * All available values from the 16-bit representation are valid. * The actual LSB value is determined by x/16. * - * Use 0 to disable the absolute amplitude threshold. */ - uq12_4_t AbsAmplThreshold; + * Note: in addition to the absolute criteria, there is also the relative + * criteria (#RelativeAmplitudeInclusion, #RelativeAmplitudeExclusion). + * The pixels are added to the pixel binning if their respective amplitude + * is larger than the absolute AND relative inclusion values. On the other + * hand, they are removed if their amplitude falls below the absolute OR + * relative exclusion threshold. + * + * Must be greater than or equal to #AbsoluteAmplitudeExclusion. + * + * Use #AbsoluteAmplitudeExclusion == #AbsoluteAmplitudeInclusion to + * disable the hysteresis behavior and use it as a threshold only. + * + * Use 0 (for both, #AbsoluteAmplitudeExclusion and + * #AbsoluteAmplitudeInclusion) to disable the absolute amplitude + * hysteresis. */ + uq12_4_t AbsoluteAmplitudeInclusion; - /*! The absolute minimum distance scope value in m. - * Pixels that have a range value within [x0, x0 + dx] are considered - * for the pixel binning, where x0 is the minimum distance of all - * amplitude picked pixels and dx is the minimum distance scope value. - * The minimum distance scope value will be the maximum of relative - * and absolute value. + /*! The absolute amplitude exclusion threshold in LSB. + * + * Pixels, whose amplitudes fall below this exclusion threshold, are + * removed from the pixel binning. The amplitude must raise above the + * inclusion (#RelativeAmplitudeInclusion) threshold to be added back + * to be pixel binning again. + * + * The absolute amplitude hysteresis is only valid if the Golden Pixel + * mode is enabled. Otherwise, the thresholds are set to 0 LSB internally + * which disables the absolute criteria. + * + * All available values from the 16-bit representation are valid. + * The actual LSB value is determined by x/16. + * + * Note: in addition to the absolute criteria, there is also the relative + * criteria (#RelativeAmplitudeInclusion, #RelativeAmplitudeExclusion). + * The pixels are added to the pixel binning if their respective amplitude + * is larger than the absolute AND relative inclusion values. On the other + * hand, they are removed if their amplitude falls below the absolute OR + * relative exclusion threshold. + * + * Must be less than or equal to #AbsoluteAmplitudeInclusion. + * + * Use #AbsoluteAmplitudeExclusion == #AbsoluteAmplitudeInclusion to + * disable the hysteresis behavior and use it as a threshold only. + * + * Use 0 (for both, #AbsoluteAmplitudeExclusion and + * #AbsoluteAmplitudeInclusion) to disable the absolute amplitude + * hysteresis. */ + uq12_4_t AbsoluteAmplitudeExclusion; + + /*! The Golden Pixel Priority Mode inclusion threshold in LSB. + * + * The Golden Pixel Priority Mode prioritizes a valid signal on the + * Golden Pixel over other pixel to avoid unwanted effects from + * "out-of-focus" pixels in application that require a smaller focus. + * + * If the Golden Pixel priority mode is enabled (see + * #PBA_ENABLE_GOLDPX_PRIORITY_MODE) and the Golden Pixel has a valid signal + * with amplitude higher than this inclusion threshold, its priority state + * is enabled and the binning exits early by dismissing all other pixels + * regardless of their respective amplitude or state. The Golden Pixel + * priority state is disabled if the Golden Pixel amplitude falls below + * the exclusion threshold (#GoldenPixelPriorityAmplitudeExclusion) or its + * state becomes invalid (e.g. #PIXEL_SAT). + * + * All available values from the 16-bit representation are valid. + * The actual LSB value is determined by x/16. + * + * Use 0 to disable the Golden Pixel priority mode hysteresis. */ + uq12_4_t GoldenPixelPriorityAmplitudeInclusion; + + /*! The Golden Pixel Priority Mode exclusion threshold in LSB. + * + * The Golden Pixel Priority Mode prioritizes a valid signal on the + * Golden Pixel over other pixel to avoid unwanted effects from + * "out-of-focus" pixels in application that require a smaller focus. + * + * If the Golden Pixel priority mode is enabled (see + * #PBA_ENABLE_GOLDPX_PRIORITY_MODE) and the Golden Pixel has a valid + * signal with amplitude higher than the exclusion threshold + * (#GoldenPixelPriorityAmplitudeInclusion), its priority state is enabled + * and the binning exits early by dismissing all other pixels regardless + * of their respective amplitude or state. The Golden Pixel priority state + * is disabled if the Golden Pixel amplitude falls below this exclusion + * threshold or its state becomes invalid (e.g. #PIXEL_SAT). + * + * All available values from the 16-bit representation are valid. + * The actual LSB value is determined by x/16. + * + * Use 0 to disable the Golden Pixel priority mode hysteresis. */ + uq12_4_t GoldenPixelPriorityAmplitudeExclusion; + + /*! The relative minimum distance scope inclusion threshold (in %). + * + * Pixels, whose range is smaller than the minimum distance inclusion + * threshold (x_min + dx_incl) are added to the pixel binning. The + * range must raise above the exclusion + * (#RelativeDistanceScopeExclusion) threshold to be removed + * from the pixel binning again. The relative value is determined + * by multiplying the percentage with the minimum distance. + * + * The distance scope determines an interval within that pixels + * are considered valid, originating at the minimum distance (x_min). + * The width of the interval is specified by the relative and absolute + * minimum distance scope thresholds. The actual values it the + * maximum of both, the relative and absolute inclusion values + * (#AbsoluteDistanceScopeInclusion). + * + * All available values from the 8-bit representation are valid. + * The actual percentage value is determined by 100%/256*x. + * + * Must be smaller than or equal to the #RelativeDistanceScopeExclusion. + * + * Use #RelativeDistanceScopeExclusion == #RelativeDistanceScopeInclusion to + * disable the hysteresis behavior and use it as a threshold only. */ + uq0_8_t RelativeDistanceScopeInclusion; + + /*! The relative distance scope exclusion threshold (in %). + * + * Pixels, whose range is larger than the minimum distance exclusion + * threshold (x_min + dx_excl) are removed from the pixel binning. The + * range must fall below the inclusion + * (#RelativeDistanceScopeInclusion) threshold to be added + * to the pixel binning again. The relative value is determined + * by multiplying the percentage with the minimum distance. + * + * The distance scope determines an interval within that pixels + * are considered valid, originating at the minimum distance (x_min). + * The width of the interval is specified by the relative and absolute + * minimum distance scope thresholds. The actual values it the + * maximum of both, the relative and absolute exclusion values + * (#AbsoluteDistanceScopeExclusion). + * + * All available values from the 8-bit representation are valid. + * The actual percentage value is determined by 100%/256*x. + * + * Must be larger than or equal to the #RelativeDistanceScopeInclusion. + * + * Use #RelativeDistanceScopeExclusion == #RelativeDistanceScopeInclusion to + * disable the hysteresis behavior and use it as a threshold only. */ + uq0_8_t RelativeDistanceScopeExclusion; + + /*! The absolute minimum distance scope inclusion threshold (in m). + * + * Pixels, whose range is smaller than the minimum distance inclusion + * threshold (x_min + dx_incl) are added to the pixel binning. The + * range must raise above the exclusion + * (#AbsoluteDistanceScopeExclusion) threshold to be added + * to the pixel binning again. + * + * The distance scope determines an interval within that pixels + * are considered valid, originating at the minimum distance (x_min). + * The width of the interval is specified by the relative and absolute + * minimum distance scope thresholds. The actual values it the + * maximum of both, the relative and absolute exclusion values + * (#RelativeDistanceScopeInclusion). * * All available values from the 16-bit representation are valid. * The actual LSB value is determined by x/2^15. * - * Special values: - * - 0: Use 0 for relative value only or to choose the pixel with the - * minimum distance only (of also the relative value is 0)! */ - uq1_15_t AbsMinDistanceScope; + * Must be smaller than or equal to the #AbsoluteDistanceScopeExclusion. + * + * Use #AbsoluteDistanceScopeExclusion == #AbsoluteDistanceScopeInclusion to + * disable the hysteresis behavior and use it as a threshold only. */ + uq1_15_t AbsoluteDistanceScopeInclusion; + + /*! The absolute minimum distance scope exclusion threshold (in m). + * + * Pixels, whose range is larger than the minimum distance exclusion + * threshold (x_min + dx_excl) are removed from the pixel binning. The + * range must fall below the inclusion + * (#AbsoluteDistanceScopeInclusion) threshold to be added + * to the pixel binning again. + * + * The distance scope determines an interval within that pixels + * are considered valid, originating at the minimum distance (x_min). + * The width of the interval is specified by the relative and absolute + * minimum distance scope thresholds. The actual values it the + * maximum of both, the relative and absolute exclusion values + * (#RelativeDistanceScopeExclusion). + * + * All available values from the 16-bit representation are valid. + * The actual LSB value is determined by x/2^15. + * + * Must be larger than or equal to the #AbsoluteDistanceScopeInclusion. + * + * Use #AbsoluteDistanceScopeExclusion == #AbsoluteDistanceScopeInclusion to + * disable the hysteresis behavior and use it as a threshold only. */ + uq1_15_t AbsoluteDistanceScopeExclusion; + + /*! The Golden Pixel Saturation Filter Pixel Threshold. + * + * The Golden Pixel Saturation Filter will evaluate the status of the + * Golden Pixel to #PIXEL_INVALID if a certain number of active pixels, + * i.e. pixels that are not removed by the static pre-filter mask + * (#PrefilterMask), are saturated (#PIXEL_SAT). + * + * The purpose of this filter is to avoid erroneous situations with highly + * reflective targets (e.g. retro-reflectors) that can invalidate the + * Golden Pixel such that it would not show the correct saturation state. + * In order to avoid using the Golden Pixel in that scenario, this filter + * mechanism can be used to remove the Golden Pixel if a specified number + * of other pixels show saturation state. + * + * Use 0 to disable the Golden Pixel Saturation Filter. */ + uint8_t GoldenPixelSaturationFilterPixelThreshold; + + /*! The Golden Pixel out-of-sync age limit for the GPPM. + * + * The Golden Pixel out-of-sync age is the number of consecutive frames + * where the Golden Pixel is out-of-sync. This parameters is the threshold + * to distinguish between temporary and permanent out-of-sync states. + * + * Temporary out-of-sync states happen when the target rapidly changes. In + * this case, the Golden Pixel Priority Mode (GPPM) is not exited. Only if + * the out-of-sync age exceeds the specified threshold, the Golden Pixel is + * considered erroneous and the GPPM is exited. + * + * Use 0 to disable the Golden Pixel out-of-sync aging (= infinity). */ + uint8_t GoldenPixelOutOfSyncAgeThreshold; + + /*! The absolute minimum distance threshold value in m. + * + * Pixels with distance below this threshold value are dismissed. */ + q9_22_t AbsoluteMinimumDistanceThreshold; /*! The pre-filter pixel mask determines the pixel channels that are - * statically excluded from the pixel binning (i.e. 1D distance) result. - * - * The pixel enabled mask is an 32-bit mask that determines the - * device internal channel number. It is recommended to use the - * - #PIXELXY_ISENABLED(msk, x, y) - * - #PIXELXY_ENABLE(msk, x, y) - * - #PIXELXY_DISABLE(msk, x, y) - * . - * macros to work with the pixel enable masks. */ + * statically excluded from the pixel binning (i.e. 1D distance) result. + * + * The pixel enabled mask is an 32-bit mask that determines the + * device internal channel number. It is recommended to use the + * - #PIXELXY_ISENABLED(msk, x, y) + * - #PIXELXY_ENABLE(msk, x, y) + * - #PIXELXY_DISABLE(msk, x, y) + * . + * macros to work with the pixel enable masks. */ uint32_t PrefilterMask; } argus_cfg_pba_t; /*! @} */ +#ifdef __cplusplus +} // extern "C" +#endif #endif /* ARGUS_PBA_H */ diff --git a/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_px.h b/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_px.h index faa031aeb733..3d4ef3d50ce4 100644 --- a/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_px.h +++ b/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_px.h @@ -1,11 +1,11 @@ /*************************************************************************//** * @file - * @brief This file is part of the AFBR-S50 API. - * @details Defines the device pixel measurement results data structure. + * @brief This file is part of the AFBR-S50 API. + * @details Defines the device pixel measurement results data structure. * * @copyright * - * Copyright (c) 2021, Broadcom Inc + * Copyright (c) 2023, Broadcom Inc. * All rights reserved. * * Redistribution and use in source and binary forms, with or without @@ -36,34 +36,43 @@ #ifndef ARGUS_PX_H #define ARGUS_PX_H +#ifdef __cplusplus +extern "C" { +#endif /*!*************************************************************************** - * @addtogroup argusres + * @addtogroup argus_res * @{ *****************************************************************************/ +#include "argus_def.h" + + /*! Maximum amplitude value in UQ12.4 format. */ -#define ARGUS_AMPLITUDE_MAX (0xFFF0U) +#define ARGUS_AMPLITUDE_MAX (0xFFF0U) /*! Maximum range value in Q9.22 format. * Also used as a special value to determine no object detected or infinity range. */ #define ARGUS_RANGE_MAX (Q9_22_MAX) +/*! Minimum range value in Q9.22 format. */ +#define ARGUS_RANGE_MIN (Q9_22_MIN) + /*!*************************************************************************** - * @brief Status flags for the evaluated pixel structure. + * @brief Status flags for the evaluated pixel structure. * * @details Determines the pixel status. 0 means OK (#PIXEL_OK). - * - [0]: #PIXEL_OFF: Pixel was disabled and not read from the device. - * - [1]: #PIXEL_SAT: The pixel was saturated. - * - [2]: #PIXEL_BIN_EXCL: The pixel was excluded from the 1D result. - * - [3]: #PIXEL_AMPL_MIN: The pixel amplitude has evaluated to 0. - * - [4]: #PIXEL_PREFILTERED: The was pre-filtered by static mask. - * - [5]: #PIXEL_NO_SIGNAL: The pixel has no valid signal. - * - [6]: #PIXEL_OUT_OF_SYNC: The pixel has lost signal trace. - * - [7]: #PIXEL_STALLED: The pixel value is stalled due to errors. - * . + * - [0]: #PIXEL_OFF: Pixel was disabled and not read from the device. + * - [1]: #PIXEL_SAT: The pixel was saturated. + * - [2]: #PIXEL_BIN_EXCL: The pixel was excluded from the 1D result. + * - [3]: #PIXEL_INVALID: The pixel data is invalid. + * - [4]: #PIXEL_PREFILTERED: The was pre-filtered by static mask. + * - [5]: #PIXEL_NO_SIGNAL: The pixel has no valid signal. + * - [6]: #PIXEL_OUT_OF_SYNC: The pixel has lost signal trace. + * - [7]: #PIXEL_STALLED: The pixel value is stalled due to errors. + * . *****************************************************************************/ -typedef enum { +typedef enum argus_px_status_t { /*! 0x00: Pixel status OK. */ PIXEL_OK = 0, @@ -77,43 +86,45 @@ typedef enum { /*! 0x04: Pixel is excluded from the pixel binning (1d) result. */ PIXEL_BIN_EXCL = 1U << 2U, - /*! 0x08: Pixel amplitude minimum underrun - * (i.e. the amplitude calculation yields 0). */ - PIXEL_AMPL_MIN = 1U << 3U, + /*! 0x08: Pixel has invalid data due to miscellaneous reasons, e.g. + * - Amplitude calculates to 0 (i.e. division by 0) + * - Golden Pixel is invalid due to other saturated pixel. + * - Range/distance is negative. */ + PIXEL_INVALID = 1U << 3U, /*! 0x10: Pixel is pre-filtered by the static pixel binning pre-filter mask, - * i.e. the pixel is disabled by software. */ + * i.e. the pixel is disabled by software. */ PIXEL_PREFILTERED = 1U << 4U, /*! 0x20: Pixel amplitude is below its threshold value. The received signal - * strength is too low to evaluate a valid signal. The range value is - * set to the maximum possible value (approx. 512 m). */ + * strength is too low to evaluate a valid signal. The range value is + * set to the maximum possible value (approx. 512 m). */ PIXEL_NO_SIGNAL = 1U << 5U, /*! 0x40: Pixel is not in sync with respect to the dual frequency algorithm. - * I.e. the pixel may have a correct value but is estimated into the - * wrong unambiguous window. */ + * I.e. the pixel may have a correct value but is estimated into the + * wrong unambiguous window. */ PIXEL_OUT_OF_SYNC = 1U << 6U, /*! 0x80: Pixel is stalled due to one of the following reasons: - * - #PIXEL_SAT - * - #PIXEL_AMPL_MIN - * - #PIXEL_OUT_OF_SYNC - * - Global Measurement Error - * . - * A stalled pixel does not update its measurement data and keeps the - * previous values. If the issue is resolved, the stall disappears and - * the pixel is updating again. */ + * - #PIXEL_SAT + * - #PIXEL_INVALID + * - #PIXEL_OUT_OF_SYNC + * - Global Measurement Error + * . + * A stalled pixel does not update its measurement data and keeps the + * previous values. If the issue is resolved, the stall disappears and + * the pixel is updating again. */ PIXEL_STALLED = 1U << 7U } argus_px_status_t; /*!*************************************************************************** - * @brief The evaluated measurement results per pixel. - * @details This structure contains the evaluated data for a single pixel.\n - * If the amplitude is 0, the pixel is turned off or has invalid data. + * @brief The evaluated measurement results per pixel. + * @details This structure contains the evaluated data for a single pixel.\n + * If the amplitude is 0, the pixel is turned off or has invalid data. *****************************************************************************/ -typedef struct { +typedef struct argus_pixel_t { /*! Range Values from the device in meter. It is the actual distance before * software adjustments/calibrations. */ q9_22_t Range; @@ -141,14 +152,23 @@ typedef struct { /*!*************************************************************************** * @brief Representation of a correlation vector containing sine/cosine components. *****************************************************************************/ -typedef struct { - /*! The sine component. */ - q15_16_t S; - - /*! The cosine component. */ - q15_16_t C; - +typedef struct argus_vector_t { + union { + /*! The sine [0] and cosine [1] components. */ + q15_16_t SC[2]; + + struct { + /*! The sine component. */ + q15_16_t S; + + /*! The cosine component. */ + q15_16_t C; + }; + }; } argus_vector_t; /*! @} */ +#ifdef __cplusplus +} // extern "C" +#endif #endif /* ARGUS_PX_H */ diff --git a/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_res.h b/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_res.h index f59d8176347b..7cb81bfcf116 100644 --- a/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_res.h +++ b/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_res.h @@ -1,11 +1,11 @@ /*************************************************************************//** * @file - * @brief This file is part of the AFBR-S50 API. - * @details Defines the generic measurement results data structure. + * @brief This file is part of the AFBR-S50 API. + * @details Defines the generic measurement results data structure. * * @copyright * - * Copyright (c) 2021, Broadcom Inc + * Copyright (c) 2023, Broadcom Inc. * All rights reserved. * * Redistribution and use in source and binary forms, with or without @@ -36,35 +36,39 @@ #ifndef ARGUS_RES_H #define ARGUS_RES_H +#ifdef __cplusplus +extern "C" { +#endif /*!*************************************************************************** - * @defgroup argusres Measurement Data - * @ingroup argusapi + * @defgroup argus_res Measurement Data + * @ingroup argus_api * - * @brief Measurement results data structures. + * @brief Measurement results data structures. * - * @details The interface defines all data structures that correspond to - * the AFBR-S50 measurement results, e.g. - * - 1D distance and amplitude values, - * - 3D distance and amplitude values (i.e. per pixel), - * - Auxiliary channel measurement results (VDD, IAPD, temperature, ...) - * - Device and result status - * - ... - * . + * @details The interface defines all data structures that correspond to + * the AFBR-S50 measurement results, e.g. + * - 1D distance and amplitude values, + * - 3D distance and amplitude values (i.e. per pixel), + * - Auxiliary channel measurement results (VDD, IAPD, temperature, ...) + * - Device and result status + * - ... + * . * - * @addtogroup argusres + * @addtogroup argus_res * @{ *****************************************************************************/ -#include "argus_def.h" #include "argus_px.h" +#include "argus_def.h" #include "argus_meas.h" +#include "argus_xtalk.h" /*!*************************************************************************** - * @brief The 1d measurement results data structure. + * @brief The 1d measurement results data structure. * @details The 1d measurement results obtained by the Pixel Binning Algorithm. *****************************************************************************/ -typedef struct { +typedef struct argus_results_bin_t { /*! Raw 1D range value in meter (Q9.22 format). The distance obtained by * the Pixel Binning Algorithm from the current measurement frame. */ q9_22_t Range; @@ -83,11 +87,11 @@ typedef struct { } argus_results_bin_t; /*!*************************************************************************** - * @brief The auxiliary measurement results data structure. - * @details The auxiliary measurement results obtained by the auxiliary task.\n - * Special values, i.e. 0xFFFFU, indicate no readout value available. + * @brief The auxiliary measurement results data structure. + * @details The auxiliary measurement results obtained by the auxiliary task.\n + * Special values, i.e. 0xFFFFU, indicate no readout value available. *****************************************************************************/ -typedef struct { +typedef struct argus_results_aux_t { /*! VDD ADC channel readout value.\n * Special Value if no value has been measured:\n * Invalid/NotAvailable = 0xFFFFU (UQ12_4_MAX) */ @@ -129,32 +133,66 @@ typedef struct { } argus_results_aux_t; /*!*************************************************************************** - * @brief The measurement results data structure. + * @brief The debug data of measurement results data structure. + * @details This data structure will be filled with API internal data for + * debugging purposes. + *****************************************************************************/ +typedef struct argus_results_debug_t { + /*! The amplitude that is evaluated and used in the DCA module. */ + uq12_4_t DCAAmplitude; + + /*! Raw x-y-sorted ADC results from the device.\n + * Data is arranged as 32-bit values in following order: + * index > phase; where index is pixel number n and auxiliary ADC channel.\n + * Note that disabled pixels are skipped.\n + * e.g. [n=0,p=0][n=0,p=1]..[n=0,p=3][n=1,p=0]...[n=1,p=3]...[n=31,p=3] */ + uint32_t Data[ARGUS_RAW_DATA_VALUES]; + + /*! The current crosstalk correction values as determined by the + * crosstalk predictor algorithm. This is basically the temperature + * dependent portion of the crosstalk correction.\n + * Note that there are two values for the upper and lower two rows + * respectively. */ + xtalk_t XtalkPredictor[ARGUS_PIXELS_Y / 2U]; + + /*! The current crosstalk correction values as determined by the + * crosstalk monitor algorithm. This is a dynamic portion of the + * crosstalk correction that is determined by monitoring passive + * pixels.\n + * Note that the values are valid row-wise. */ + xtalk_t XtalkMonitor[ARGUS_PIXELS_Y]; + +} argus_results_debug_t; + +/*!*************************************************************************** + * @brief The measurement results data structure. * @details This structure contains all information obtained by a single - * distance measurement on the device: - * - The measurement status can be read from the #Status. - * - A timing information is given via the #TimeStamp. - * - Information about the frame state is in the #Frame structure. - * - The 1D distance results are gathered under #Bin. - * - The 3D distance results for each pixel is at #Pixels or #Pixel. - * - Auxiliary values such as temperature can be found at #Auxiliary. - * - Raw data from the device is stored in the #Data array. - * . + * distance measurement on the device: + * - The measurement status can be read from the #Status. + * - A timing information is given via the #TimeStamp. + * - Information about the frame state is in the #Frame structure. + * - The 1D distance results are gathered under #Bin. + * - The 3D distance results for each pixel is at #Pixels or #Pixel. + * - Auxiliary values such as temperature can be found at #Auxiliary. + * - Raw data and debug information from the device and API is stored + * in the optional #Debug data structure. Note that this points to + * an optional structure and can be null! + * . * - * The pixel x-y orientation is sketched in the following graph. Note that - * the laser source would be on the right side beyond the reference pixel. - * See also \link argusmap ADC Channel Mapping\endlink + * The pixel x-y orientation is sketched in the following graph. Note that + * the laser source would be on the right side beyond the reference pixel. + * See also \link argus_map ADC Channel Mapping\endlink * @code - * // Pixel Field: Pixel[x][y] - * // - * // 0 -----------> x - * // | O O O O O O O O - * // | O O O O O O O O - * // | O O O O O O O O O (ref. Px) - * // y O O O O O O O O + * // Pixel Field: Pixel[x][y] + * // + * // 0 -----------> x + * // | O O O O O O O O + * // | O O O O O O O O + * // | O O O O O O O O O (ref. Px) + * // y O O O O O O O O * @endcode *****************************************************************************/ -typedef struct { +typedef struct argus_results_t { /*! The \link #status_t status\endlink of the current measurement frame. * - 0 (i.e. #STATUS_OK) for a good measurement signal. * - > 0 for warnings and weak measurement signal. @@ -168,13 +206,6 @@ typedef struct { /*! The configuration for the current measurement frame. */ argus_meas_frame_t Frame; - /*! Raw x-y-sorted ADC results from the device.\n - * Data is arranged as 32-bit values in following order: - * index > phase; where index is pixel number n and auxiliary ADC channel.\n - * Note that disabled pixels are skipped.\n - * e.g. [n=0,p=0][n=0,p=1]..[n=0,p=3][n=1,p=0]...[n=1,p=3]...[n=31,p=3] */ - uint32_t Data[ARGUS_RAW_DATA_VALUES]; - union { /*! Pixel data indexed by channel number n.\n * Contains calibrated range, amplitude and pixel status among others. @@ -183,14 +214,14 @@ typedef struct { * - 0..31: active pixels * - 32: reference pixel * - * See also \link argusmap ADC Channel Mapping\endlink */ + * See also \link argus_map ADC Channel Mapping\endlink */ argus_pixel_t Pixels[ARGUS_PIXELS + 1U]; struct { /*! Pixel data indexed by x-y-indices.\n * The pixels are ordered in a two dimensional array that represent * the x and y indices of the pixel.\n - * See also \link argusmap ADC Channel Mapping\endlink + * See also \link argus_map ADC Channel Mapping\endlink * * Contains calibrated range, amplitude and pixel status among others. */ argus_pixel_t Pixel[ARGUS_PIXELS_X][ARGUS_PIXELS_Y]; @@ -213,8 +244,17 @@ typedef struct { /*! The auxiliary ADC channel data, e.g. sensor temperature. */ argus_results_aux_t Auxiliary; + /*! Optional Debug Data. + * If the pointer is set to a #argus_results_debug_t data structure before + * passing it to the #Argus_EvaluateData function, the data structure is + * filled with internal parameters for debugging purposes. */ + argus_results_debug_t *Debug; + } argus_results_t; /*! @} */ +#ifdef __cplusplus +} // extern "C" +#endif #endif /* ARGUS_RES_H */ diff --git a/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_snm.h b/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_snm.h index 277630814396..2b77965bb0b2 100644 --- a/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_snm.h +++ b/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_snm.h @@ -1,11 +1,11 @@ /*************************************************************************//** * @file - * @brief This file is part of the AFBR-S50 API. - * @details Defines the Shot Noise Monitor (SNM) setup parameters. + * @brief This file is part of the AFBR-S50 API. + * @details Defines the Shot Noise Monitor (SNM) setup parameters. * * @copyright * - * Copyright (c) 2021, Broadcom Inc + * Copyright (c) 2023, Broadcom Inc. * All rights reserved. * * Redistribution and use in source and binary forms, with or without @@ -36,30 +36,33 @@ #ifndef ARGUS_SNM_H #define ARGUS_SNM_H +#ifdef __cplusplus +extern "C" { +#endif /*!*************************************************************************** - * @defgroup argussnm Shot Noise Monitor - * @ingroup argusapi + * @defgroup argus_snm Shot Noise Monitor + * @ingroup argus_api * - * @brief Shot Noise Monitor (SNM) parameter definitions and API functions. + * @brief Shot Noise Monitor (SNM) parameter definitions and API functions. * - * @details The SNM is an algorithm to monitor and react on shot noise - * induced by harsh environment conditions like high ambient - * light. + * @details The SNM is an algorithm to monitor and react on shot noise + * induced by harsh environment conditions like high ambient + * light. * - * The AFBR-S50 API provides three modes: - * - Dynamic: Automatic mode, automatically adopts to current - * ambient conditions. - * - Static (Outdoor): Static mode, optimized for outdoor applications. - * - Static (Indoor): Static mode, optimized for indoor applications. - * . + * The AFBR-S50 API provides three modes: + * - Dynamic: Automatic mode, automatically adopts to current + * ambient conditions. + * - Static (Outdoor): Static mode, optimized for outdoor applications. + * - Static (Indoor): Static mode, optimized for indoor applications. + * . * - * @addtogroup argussnm + * @addtogroup argus_snm * @{ *****************************************************************************/ /*! The Shot Noise Monitor modes enumeration. */ -typedef enum { +typedef enum argus_snm_mode_t { /*! Static Shot Noise Monitoring Mode, optimized for indoor applications. * Assumes the best case scenario, i.e. no bad influence from ambient conditions. * Thus it uses a fixed setting that will result in the best performance. @@ -79,4 +82,7 @@ typedef enum { /*! @} */ +#ifdef __cplusplus +} // extern "C" +#endif #endif /* ARGUS_SNM_H */ diff --git a/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_status.h b/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_status.h index 244ad1beec7e..8f3fb09688f4 100644 --- a/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_status.h +++ b/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_status.h @@ -1,11 +1,11 @@ /*************************************************************************//** * @file - * @brief This file is part of the AFBR-S50 API. - * @details Provides status codes for the AFBR-S50 API. + * @brief This file is part of the AFBR-S50 API. + * @details Provides status codes for the AFBR-S50 API. * * @copyright * - * Copyright (c) 2021, Broadcom Inc + * Copyright (c) 2023, Broadcom Inc. * All rights reserved. * * Redistribution and use in source and binary forms, with or without @@ -36,25 +36,32 @@ #ifndef ARGUS_STATUS_H #define ARGUS_STATUS_H +#ifdef __cplusplus +extern "C" { +#endif #include /*!*************************************************************************** - * @defgroup status Status Codes + * @defgroup argus_status Status Codes + * @ingroup argus + * * @brief Status and Error Code Definitions + * * @details Defines status and error codes for function return values. * Basic status number structure: * - 0 is OK or no error. * - negative values determine errors. * - positive values determine warnings or status information. * . - * @addtogroup status + * + * @addtogroup argus_status * @{ *****************************************************************************/ /*!*************************************************************************** - * @brief Type used for all status and error return values. - * @details Basic status number structure: + * @brief Type used for all status and error return values. + * @details Basic status number structure: * - 0 is OK or no error. * - negative values determine errors. * - positive values determine warnings or status information. @@ -138,8 +145,8 @@ enum Status { ********** NVM / Flash Layer Status ********************************************************* *********************************************************************************************/ - /*! -98: Flash Error: The version of the settings in the flash memory is not compatible. */ - ERROR_NVM_INVALID_FILE_VERSION = -98, + /*! -98: Flash Error: The read memory block was not written previously and contains no data. */ + ERROR_NVM_EMPTY = -98, /*! -99: Flash Error: The memory is out of range. */ ERROR_NVM_OUT_OF_RANGE = -99, @@ -183,6 +190,13 @@ enum Status { /*! -102: AFBR-S50 Error: Inconsistent configuration parameters. */ ERROR_ARGUS_INVALID_CFG = -102, + /*! -103: AFBR-S50 Error: The evaluation function has been called but no + * raw data is available yet. + * See also #Argus_EvaluateData for more information. */ + ERROR_ARGUS_BUFFER_EMPTY = -103, + + /*! -104: AFBR-S50 Error: Invalid slave identifier is passed to the module. */ + ERROR_ARGUS_INVALID_SLAVE = -104, /*! -105: AFBR-S50 Error: Invalid measurement mode configuration parameter. */ ERROR_ARGUS_INVALID_MODE = -105, @@ -191,7 +205,6 @@ enum Status { * The current measurement data set is invalid! */ ERROR_ARGUS_BIAS_VOLTAGE_REINIT = -107, - /*! -109: AFBR-S50 Error: The EEPROM readout has failed. The failure is detected * by three distinct read attempts, each resulting in invalid data. * Note: this state differs from that #STATUS_ARGUS_EEPROM_BIT_ERROR @@ -214,17 +227,23 @@ enum Status { /*! -114: AFBR-S50 Error: Register data integrity is lost (e.g. due to unexpected * power-on-reset cycle or invalid write cycle of SPI. System tries to - * reset the values. */ + * reset the values. + * + * @note If this error occurs after intentionally cycling the power supply + * of the device, use the #Argus_RestoreDeviceState API function to properly + * recover the current API state into the device to avoid that issue. */ ERROR_ARGUS_DATA_INTEGRITY_LOST = -114, /*! -115: AFBR-S50 Error: The range offsets calibration failed! */ ERROR_ARGUS_RANGE_OFFSET_CALIBRATION_FAILED = -115, + /*! -116: AFBR-S50 Error: The VSUB calibration failed! */ + ERROR_ARGUS_VSUB_CALIBRATION_FAILED = -116, + /*! -191: AFBR-S50 Error: The device is currently busy and cannot execute the * requested command. */ ERROR_ARGUS_BUSY = -191, - /*! -199: AFBR-S50 Error: Unknown module number. */ ERROR_ARGUS_UNKNOWN_MODULE = -199, @@ -235,24 +254,22 @@ enum Status { ERROR_ARGUS_UNKNOWN_LASER = -197, + /*! 191: AFBR-S50 Status (internal): The device is currently busy with testing the + * SPI connection to the device. */ + STATUS_ARGUS_BUSY_TEST = 191, - /*! 193: AFBR-S50 Status (internal): The device is currently busy with updating the - * configuration (i.e. with writing register values). */ - STATUS_ARGUS_BUSY_CFG_UPDATE = 193, - - /*! 194: AFBR-S50 Status (internal): The device is currently busy with updating the - * calibration data (i.e. writing to register values). */ - STATUS_ARGUS_BUSY_CAL_UPDATE = 194, + /*! 192: AFBR-S50 Status (internal): The device is currently busy with updating the + * settings parameter (i.e. with writing register values). */ + STATUS_ARGUS_BUSY_UPDATE = 192, /*! 195: AFBR-S50 Status (internal): The device is currently executing a calibration - * sequence. */ + * sequence. */ STATUS_ARGUS_BUSY_CAL_SEQ = 195, /*! 196: AFBR-S50 Status (internal): The device is currently executing a measurement * cycle. */ STATUS_ARGUS_BUSY_MEAS = 196, - /*! 100: AFBR-S50 Status (internal): The ASIC is initializing a new measurement, i.e. * a register value is written that starts an integration cycle on the ASIC. */ STATUS_ARGUS_STARTING = 100, @@ -260,9 +277,10 @@ enum Status { /*! 103: AFBR-S50 Status (internal): The ASIC is performing an integration cycle. */ STATUS_ARGUS_ACTIVE = 103, - - }; /*! @} */ +#ifdef __cplusplus +} // extern "C" +#endif #endif /* ARGUS_STATUS_H */ diff --git a/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_version.h b/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_version.h index ea16342c843d..f58ba1bba74e 100644 --- a/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_version.h +++ b/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_version.h @@ -1,11 +1,11 @@ /*************************************************************************//** * @file - * @brief This file is part of the AFBR-S50 API. - * @details This file contains the current API version number. + * @brief This file is part of the AFBR-S50 API. + * @details This file contains the current API version number. * * @copyright * - * Copyright (c) 2021, Broadcom Inc + * Copyright (c) 2023, Broadcom Inc. * All rights reserved. * * Redistribution and use in source and binary forms, with or without @@ -36,16 +36,19 @@ #ifndef ARGUS_VERSION_H #define ARGUS_VERSION_H +#ifdef __cplusplus +extern "C" { +#endif /*!*************************************************************************** - * @defgroup version API Version - * @ingroup argusapi + * @defgroup argus_version API Version + * @ingroup argus_api * - * @brief API and library core version number + * @brief API and library core version number * - * @details Contains the AFBR-S50 API and Library Core Version Number. + * @details Contains the AFBR-S50 API and Library Core Version Number. * - * @addtogroup version + * @addtogroup argus_version * @{ *****************************************************************************/ @@ -53,13 +56,13 @@ #define ARGUS_API_VERSION_MAJOR 1 /*! Minor version number of the AFBR-S50 API. */ -#define ARGUS_API_VERSION_MINOR 3 +#define ARGUS_API_VERSION_MINOR 5 /*! Bugfix version number of the AFBR-S50 API. */ -#define ARGUS_API_VERSION_BUGFIX 5 +#define ARGUS_API_VERSION_BUGFIX 6 -/*! Build version nunber of the AFBR-S50 API. */ -#define ARGUS_API_VERSION_BUILD "20210812171515" +/*! Build version number of the AFBR-S50 API. */ +#define ARGUS_API_VERSION_BUILD "20240208081753" /*****************************************************************************/ @@ -73,4 +76,7 @@ (ARGUS_API_VERSION_BUGFIX)) /*! @} */ +#ifdef __cplusplus +} // extern "C" +#endif #endif /* ARGUS_VERSION_H */ diff --git a/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_xtalk.h b/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_xtalk.h index 561370626736..284538a52bc9 100644 --- a/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_xtalk.h +++ b/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_xtalk.h @@ -1,11 +1,11 @@ /*************************************************************************//** * @file - * @brief This file is part of the AFBR-S50 hardware API. - * @details Defines the generic device calibration API. + * @brief This file is part of the AFBR-S50 hardware API. + * @details Defines the generic device calibration API. * * @copyright * - * Copyright (c) 2021, Broadcom Inc + * Copyright (c) 2023, Broadcom Inc. * All rights reserved. * * Redistribution and use in source and binary forms, with or without @@ -36,44 +36,69 @@ #ifndef ARGUS_XTALK_H #define ARGUS_XTALK_H +#ifdef __cplusplus +extern "C" { +#endif /*!*************************************************************************** - * @addtogroup arguscal + * @addtogroup argus_cal * @{ *****************************************************************************/ -#include "api/argus_def.h" +#include "argus_def.h" +#include "argus_dfm.h" /*!*************************************************************************** - * @brief Pixel Crosstalk Compensation Vector. - * @details Contains calibration data (per pixel) that belongs to the - * RX-TX-Crosstalk compensation feature. + * @brief Pixel Crosstalk Compensation Vector. + * @details Contains calibration data (per pixel) that belongs to the + * RX-TX-Crosstalk compensation feature. + * The crosstalk vector consists of a Sine and Cosine component in LSB. *****************************************************************************/ - -/*! Pixel Crosstalk Vector */ -typedef struct { +typedef struct xtalk_t { /*! Crosstalk Vector - Sine component. + * Units: LSB * Special Value: Q11_4_MIN == not available */ q11_4_t dS; /*! Crosstalk Vector - Cosine component. + * Units: LSB * Special Value: Q11_4_MIN == not available */ q11_4_t dC; } xtalk_t; /*!*************************************************************************** - * @brief Pixel-To-Pixel Crosstalk Compensation Parameters. - * @details Contains calibration data that belongs to the pixel-to-pixel - * crosstalk compensation feature. + * @brief Pixel Crosstalk Vector Table. + * @details Contains crosstalk vector values for all 32 active pixels, + * separated for A/B-Frames. *****************************************************************************/ -typedef struct { - /*! Pixel-To-Pixel Compensation on/off. */ +typedef union argus_cal_xtalk_table_t { + struct { + /*! The crosstalk vector table for A-Frames. */ + xtalk_t FrameA[ARGUS_PIXELS_X][ARGUS_PIXELS_Y]; + + /*! The crosstalk vector table for B-Frames. */ + xtalk_t FrameB[ARGUS_PIXELS_X][ARGUS_PIXELS_Y]; + }; + + /*! The crosstalk vector table for A/B-Frames of all 32 pixels.*/ + xtalk_t Table[ARGUS_DFM_FRAME_COUNT][ARGUS_PIXELS_X][ARGUS_PIXELS_Y]; + +} argus_cal_xtalk_table_t; + + +/*!*************************************************************************** + * @brief Electrical Pixel-To-Pixel Crosstalk Compensation Parameters. + * @details Contains calibration data that belongs to the electrical + * pixel-to-pixel crosstalk compensation feature. + *****************************************************************************/ +typedef struct argus_cal_electrical_p2pxtalk_t { + /*! Electrical Pixel-To-Pixel Compensation on/off. */ bool Enabled; /*! The relative threshold determines when the compensation is active for * each individual pixel. The value determines the ratio of the individual - * pixel signal is with respect to the overall average signal. If the + * pixel signal with respect to the overall average signal. If the * ratio is smaller than the value, the compensation is active. Absolute * and relative conditions are connected with AND logic. */ uq0_8_t RelativeThreshold; @@ -107,8 +132,42 @@ typedef struct { * Higher values determine more influence on the reference pixel signal. */ q3_12_t KcFactorCRefPx; -} argus_cal_p2pxtalk_t; +} argus_cal_electrical_p2pxtalk_t; + +/*!*************************************************************************** + * @brief Optical Pixel-To-Pixel Crosstalk Compensation Parameters. + * @details Contains calibration data that belongs to the optical + * pixel-to-pixel crosstalk compensation feature. + *****************************************************************************/ +typedef struct argus_cal_optical_p2pxtalk_t { + /*! Optical Pixel-To-Pixel Compensation on/off. */ + bool Enabled; + + /*! The sine component of the coupling coefficient that determines the amount + * of a neighbour pixel signal that influences the raw signal of certain pixel. + * Higher values determine more influence on the individual pixel signal. */ + q3_12_t CouplingCoeffS; + + /*! The cosine component of the coupling coefficient that determines the amount + * of a neighbour pixel signal that influences the raw signal of a certain pixel. + * Higher values determine more influence on the individual pixel signal. */ + q3_12_t CouplingCoeffC; +} argus_cal_optical_p2pxtalk_t; + +/*!*************************************************************************** + * @brief Pixel-To-Pixel Crosstalk Compensation Parameters. + * @details Contains combined calibration data for electrical and + * optical pixel-to-pixel crosstalk compensation feature. + *****************************************************************************/ +typedef struct argus_cal_p2pxtalk_t { + argus_cal_electrical_p2pxtalk_t Electrical; + + argus_cal_optical_p2pxtalk_t Optical; +} argus_cal_p2pxtalk_t; /*! @} */ +#ifdef __cplusplus +} // extern "C" +#endif #endif /* ARGUS_XTALK_H */ diff --git a/src/drivers/distance_sensor/broadcom/afbrs50/Inc/argus.h b/src/drivers/distance_sensor/broadcom/afbrs50/Inc/argus.h index dcea881d02cc..79cf0ede5895 100644 --- a/src/drivers/distance_sensor/broadcom/afbrs50/Inc/argus.h +++ b/src/drivers/distance_sensor/broadcom/afbrs50/Inc/argus.h @@ -1,11 +1,11 @@ /*************************************************************************//** * @file - * @brief This file is part of the AFBR-S50 API. - * @details This file the main header of the AFBR-S50 API. + * @brief This file is part of the AFBR-S50 API. + * @details This file the main header of the AFBR-S50 API. * * @copyright * - * Copyright (c) 2021, Broadcom Inc + * Copyright (c) 2023, Broadcom Inc. * All rights reserved. * * Redistribution and use in source and binary forms, with or without @@ -36,7 +36,6 @@ #ifndef ARGUS_H #define ARGUS_H - #ifdef __cplusplus extern "C" { #endif @@ -44,7 +43,6 @@ extern "C" { #include "api/argus_api.h" #ifdef __cplusplus -} +} // extern "C" #endif - #endif /* ARGUS_H */ diff --git a/src/drivers/distance_sensor/broadcom/afbrs50/Inc/platform/argus_irq.h b/src/drivers/distance_sensor/broadcom/afbrs50/Inc/platform/argus_irq.h index 3eb7d2cfd4a8..d55097cd8a38 100644 --- a/src/drivers/distance_sensor/broadcom/afbrs50/Inc/platform/argus_irq.h +++ b/src/drivers/distance_sensor/broadcom/afbrs50/Inc/platform/argus_irq.h @@ -1,11 +1,11 @@ /*************************************************************************//** * @file - * @brief This file is part of the AFBR-S50 API. - * @details This file provides an interface for enabling/disabling interrupts. + * @brief This file is part of the AFBR-S50 API. + * @details This file provides an interface for enabling/disabling interrupts. * * @copyright * - * Copyright (c) 2021, Broadcom Inc + * Copyright (c) 2023, Broadcom Inc. * All rights reserved. * * Redistribution and use in source and binary forms, with or without @@ -36,96 +36,94 @@ #ifndef ARGUS_IRQ_H #define ARGUS_IRQ_H - #ifdef __cplusplus extern "C" { #endif /*!*************************************************************************** - * @defgroup argus_irq IRQ: Global Interrupt Control Layer - * @ingroup argus_platform - * - * @brief Global Interrupt Control Layer - * - * @details This module provides functionality to globally enable/disable - * interrupts in a nested way. - * - * Here is a simple example implementation using the CMSIS functions - * "__enable_irq()" and "__disable_irq()". An integer counter is - * used to achieve nested interrupt disabling: - * - * @code - * - * // Global lock level counter value. - * static volatile int g_irq_lock_ct; - * - * // Global unlock all interrupts using CMSIS function "__enable_irq()". - * void IRQ_UNLOCK(void) - * { - * assert(g_irq_lock_ct > 0); - * if (--g_irq_lock_ct <= 0) - * { - * g_irq_lock_ct = 0; - * __enable_irq(); - * } - * } - * - * // Global lock all interrupts using CMSIS function "__disable_irq()". - * void IRQ_LOCK(void) - * { - * __disable_irq(); - * g_irq_lock_ct++; - * } - * - * @endcode - * - * @note The IRQ locking mechanism is used to create atomic sections - * (within the scope of the AFBR-S50 API) that are very few processor - * instruction only. It does NOT lock interrupts for considerable - * amounts of time. - * - * @note The IRQ_LOCK might get called multiple times. Therefore, the - * API expects that the IRQ_UNLOCK must be called as many times as - * the IRQ_LOCK was called before the interrupts are enabled. - * - * @note The interrupts utilized by the AFBR-S50 API can be interrupted - * by other, higher prioritized interrupts, e.g. some system - * critical interrupts. In this case, the IRQ_LOCK/IRQ_UNLOCK - * mechanism can be implemented such that only the interrupts - * required for the AFBR-S50 API are locked. The above example is - * dedicated to a ARM Corex-M0 architecture, where interrupts - * can only disabled at a global scope. Other architectures like - * ARM Cortex-M4 allow selective disabling of interrupts. - * - * @addtogroup argus_irq + * @defgroup argus_irq IRQ: Global Interrupt Control Layer + * @ingroup argus_hal + * + * @brief Global Interrupt Control Layer + * + * @details This module provides functionality to globally enable/disable + * interrupts in a nested way. + * + * Here is a simple example implementation using the CMSIS functions + * "__enable_irq()" and "__disable_irq()". An integer counter is + * used to achieve nested interrupt disabling: + * + * @code + * + * // Global lock level counter value. + * static volatile int g_irq_lock_ct; + * + * // Global unlock all interrupts using CMSIS function "__enable_irq()". + * void IRQ_UNLOCK(void) + * { + * assert(g_irq_lock_ct > 0); + * if (--g_irq_lock_ct <= 0) + * { + * g_irq_lock_ct = 0; + * __enable_irq(); + * } + * } + * + * // Global lock all interrupts using CMSIS function "__disable_irq()". + * void IRQ_LOCK(void) + * { + * __disable_irq(); + * g_irq_lock_ct++; + * } + * + * @endcode + * + * @note The IRQ locking mechanism is used to create atomic sections + * (within the scope of the AFBR-S50 API) that are very few processor + * instruction only. It does NOT lock interrupts for considerable + * amounts of time. + * + * @note The IRQ_LOCK might get called multiple times. Therefore, the + * API expects that the IRQ_UNLOCK must be called as many times as + * the IRQ_LOCK was called before the interrupts are enabled. + * + * @note The interrupts utilized by the AFBR-S50 API can be interrupted + * by other, higher prioritized interrupts, e.g. some system + * critical interrupts. In this case, the IRQ_LOCK/IRQ_UNLOCK + * mechanism can be implemented such that only the interrupts + * required for the AFBR-S50 API are locked. The above example is + * dedicated to a ARM Corex-M0 architecture, where interrupts + * can only disabled at a global scope. Other architectures like + * ARM Cortex-M4 allow selective disabling of interrupts. + * + * @addtogroup argus_irq * @{ *****************************************************************************/ /*!*************************************************************************** - * @brief Enable IRQ Interrupts + * @brief Enable IRQ Interrupts * - * @details Enables IRQ interrupts and enters an atomic or critical section. + * @details Enables IRQ interrupts and enters an atomic or critical section. * - * @note The IRQ_LOCK might get called multiple times. Therefore, the - * API expects that the IRQ_UNLOCK must be called as many times as - * the IRQ_LOCK was called before the interrupts are enabled. + * @note The IRQ_LOCK might get called multiple times. Therefore, the + * API expects that the IRQ_UNLOCK must be called as many times as + * the IRQ_LOCK was called before the interrupts are enabled. *****************************************************************************/ void IRQ_UNLOCK(void); /*!*************************************************************************** - * @brief Disable IRQ Interrupts + * @brief Disable IRQ Interrupts * - * @details Disables IRQ interrupts and leaves the atomic or critical section. + * @details Disables IRQ interrupts and leaves the atomic or critical section. * - * @note The IRQ_LOCK might get called multiple times. Therefore, the - * API expects that the IRQ_UNLOCK must be called as many times as - * the IRQ_LOCK was called before the interrupts are enabled. + * @note The IRQ_LOCK might get called multiple times. Therefore, the + * API expects that the IRQ_UNLOCK must be called as many times as + * the IRQ_LOCK was called before the interrupts are enabled. *****************************************************************************/ void IRQ_LOCK(void); +/*! @} */ #ifdef __cplusplus -} +} // extern "C" #endif - -/*! @} */ #endif // ARGUS_IRQ_H diff --git a/src/drivers/distance_sensor/broadcom/afbrs50/Inc/platform/argus_nvm.h b/src/drivers/distance_sensor/broadcom/afbrs50/Inc/platform/argus_nvm.h index 69939b775984..b8150f028128 100644 --- a/src/drivers/distance_sensor/broadcom/afbrs50/Inc/platform/argus_nvm.h +++ b/src/drivers/distance_sensor/broadcom/afbrs50/Inc/platform/argus_nvm.h @@ -1,11 +1,11 @@ /*************************************************************************//** * @file - * @brief This file is part of the AFBR-S50 API. - * @details This file provides an interface for the optional non-volatile memory. + * @brief This file is part of the AFBR-S50 API. + * @details This file provides an interface for the optional non-volatile memory. * * @copyright * - * Copyright (c) 2021, Broadcom Inc + * Copyright (c) 2023, Broadcom Inc. * All rights reserved. * * Redistribution and use in source and binary forms, with or without @@ -36,99 +36,113 @@ #ifndef ARGUS_NVM_H #define ARGUS_NVM_H - #ifdef __cplusplus extern "C" { #endif /*!*************************************************************************** - * @defgroup argus_nvm NVM: Non-Volatile Memory Layer - * @ingroup argus_platform + * @defgroup argus_nvm NVM: Non-Volatile Memory Layer + * @ingroup argus_hal * - * @brief Non-Volatile Memory Layer + * @brief Non-Volatile Memory Layer * - * @details This module provides functionality to access the non-volatile - * memory (e.g. flash) on the underlying platform. + * @details This module provides functionality to access the non-volatile + * memory (e.g. flash) on the underlying platform. * - * This module is optional and only required if calibration data - * needs to be stored within the API. + * This module is optional and only required if calibration data + * needs to be stored within the API. * - * @note The implementation of this module is optional for the correct - * execution of the API. If not implemented, a weak implementation - * within the API will be used that disables the NVM feature. + * @note The implementation of this module is optional for the correct + * execution of the API. If not implemented, a weak implementation + * within the API will be used that disables the NVM feature. * - * @addtogroup argus_nvm + * @addtogroup argus_nvm * @{ *****************************************************************************/ -#include "argus.h" +#include "api/argus_def.h" -/*!*************************************************************************** - * @brief Initializes the non-volatile memory unit and reserves a chunk of memory. - * - * @details The function is called upon API initialization sequence. If available, - * the non-volatile memory module reserves a chunk of memory with the - * provides number of bytes (size) and returns with #STATUS_OK. - * - * If not implemented, the function should return #ERROR_NOT_IMPLEMENTED - * in oder to inform the API to not use the NVM module. - * - * After initialization, the API calls the #NVM_Write and #NVM_Read - * methods to write within the reserved chunk of memory. - * - * @note The implementation of this function is optional for the correct - * execution of the API. If not implemented, a weak implementation - * within the API will be used that disables the NVM feature. - * - * @param size The required size of NVM to store all parameters. - * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). - *****************************************************************************/ -status_t NVM_Init(uint32_t size); +/*! The NVM block size in the non-volatile memory. */ +#define ARGUS_NVM_BLOCK_SIZE 0x300 // 768 bytes /*!*************************************************************************** - * @brief Write a block of data to the non-volatile memory. - * - * @details The function is called whenever the API wants to write data into - * the previously reserved (#NVM_Init) memory block. The data shall - * be written at a given offset and with a given size. - * - * If no NVM module is available, the function can return with error - * #ERROR_NOT_IMPLEMENTED. - * - * @note The implementation of this function is optional for the correct - * execution of the API. If not implemented, a weak implementation - * within the API will be used that disables the NVM feature. - * - * @param offset The index offset where the first byte needs to be written. - * @param size The number of bytes to be written. - * @param buf The pointer to the data buffer with the data to be written. - * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). + * @brief Write a block of data to the non-volatile memory. + * + * @details The function is called whenever the API wants to write data into + * non-volatile memory, e.g. flash. Later, the API reads the written + * data via the #NVM_ReadBlock function. + * + * The data shall be written to a specified memory block that is + * uniquely dedicated to each individual device. The /p id parameter + * is passed to the function that identifies the device. The /p id + * is composed of the device ID and module type, i.e. it is unique + * among all devices. If only a single device is used anyway, the + * /p id parameter can be ignored. + * + * If no NVM module is available, the function can return with error + * #ERROR_NOT_IMPLEMENTED and the API ignores the NVM. + * + * If write fails, e.g. due to lack of memory, a negative status + * must be returned, e.g. #ERROR_NVM_OUT_OF_RANGE. + * + * The block size is fixed for a single device. The actual block size + * is defined with #ARGUS_NVM_BLOCK_SIZE. + * + * @note The implementation of this function is optional for the correct + * execution of the API. If not implemented, a weak implementation + * within the API will be used that disables the NVM feature. + * + * @param id The 32-bit ID number to identify the corresponding memory block. + * @param block_size The number of bytes to be written. Note that this value + * is fixed, i.e. the API always writes the same data size. + * The size is defined here: #ARGUS_NVM_BLOCK_SIZE. + * @param buf The pointer to the data buffer of size /p block_size that needs + * to be written to the NVM. + * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). *****************************************************************************/ -status_t NVM_Write(uint32_t offset, uint32_t size, uint8_t const *buf); +status_t NVM_WriteBlock(uint32_t id, uint32_t block_size, uint8_t const *buf); /*!*************************************************************************** - * @brief Reads a block of data from the non-volatile memory. - * - * @details The function is called whenever the API wants to read data from - * the previously reserved (#NVM_Init) memory block. The data shall - * be read at a given offset and with a given size. - * - * If no NVM module is available, the function can return with error - * #ERROR_NOT_IMPLEMENTED. - * - * @note The implementation of this function is optional for the correct - * execution of the API. If not implemented, a weak implementation - * within the API will be used that disables the NVM feature. - * - * @param offset The index offset where the first byte needs to be read. - * @param size The number of bytes to be read. - * @param buf The pointer to the data buffer to copy the data to. - * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). + * @brief Reads a block of data from the non-volatile memory. + * + * @details The function is called whenever the API wants to read data from + * non-volatile memory, e.g. flash. The data will be previously + * stored using the #NVM_WriteBlock function. Otherwise, the function + * must return a corresponding error code, namely #ERROR_NVM_EMPTY. + * + * The data shall be read from a specified memory block that is + * uniquely dedicated to each individual device. The /p id parameter + * is passed to the function that identifies the device. The /p id + * is composed of the device ID and module type, i.e. it is unique + * among all devices. If only a single device is used anyway, the + * /p id parameter can be ignored. + * + * If no NVM module is available, the function can return with error + * #ERROR_NOT_IMPLEMENTED and the API ignores the NVM. + * + * If read fails, e.g. if data has not been written previously, + * a negative status must be returned, e.g. #ERROR_NVM_EMPTY if no + * data has been written yet or any other negative error else-wise. + * + * The block size is fixed for a single device. The actual block size + * is defined with #ARGUS_NVM_BLOCK_SIZE. + * + * @note The implementation of this function is optional for the correct + * execution of the API. If not implemented, a weak implementation + * within the API will be used that disables the NVM feature. + * + * @param id The 32-bit ID number to identify the corresponding memory block. + * @param block_size The number of bytes to be read. Note that this value + * is fixed, i.e. the API always reads the same data size. + * The size is defined here: #ARGUS_NVM_BLOCK_SIZE. + * @param buf The pointer to the data buffer of size /p block_size to copy + * the data to. + * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). *****************************************************************************/ -status_t NVM_Read(uint32_t offset, uint32_t size, uint8_t *buf); -#ifdef __cplusplus -} -#endif +status_t NVM_ReadBlock(uint32_t id, uint32_t block_size, uint8_t *buf); /*! @} */ +#ifdef __cplusplus +} // extern "C" +#endif #endif // ARGUS_NVM_H diff --git a/src/drivers/distance_sensor/broadcom/afbrs50/Inc/platform/argus_print.h b/src/drivers/distance_sensor/broadcom/afbrs50/Inc/platform/argus_print.h index 0ca49f858cbc..9a76dbe485af 100644 --- a/src/drivers/distance_sensor/broadcom/afbrs50/Inc/platform/argus_print.h +++ b/src/drivers/distance_sensor/broadcom/afbrs50/Inc/platform/argus_print.h @@ -1,11 +1,11 @@ /*************************************************************************//** * @file - * @brief This file is part of the AFBR-S50 API. - * @details This file provides an interface for the optional debug module. + * @brief This file is part of the AFBR-S50 API. + * @details This file provides an interface for the optional debug module. * * @copyright * - * Copyright (c) 2021, Broadcom Inc + * Copyright (c) 2023, Broadcom Inc. * All rights reserved. * * Redistribution and use in source and binary forms, with or without @@ -36,48 +36,55 @@ #ifndef ARGUS_PRINT_H #define ARGUS_PRINT_H +#ifdef __cplusplus +extern "C" { +#endif /*!*************************************************************************** - * @defgroup argus_log Debug: Logging Interface - * @ingroup argus_platform + * @defgroup argus_log Debug: Logging Interface + * @ingroup argus_hal * - * @brief Logging interface for the AFBR-S50 API. + * @brief Logging interface for the AFBR-S50 API. * - * @details This interface provides logging utility functions. - * Defines a printf-like function that is used to print error and - * log messages. + * @details This interface provides logging utility functions. + * Defines a printf-like function that is used to print error and + * log messages. * - * @addtogroup argus_log + * @addtogroup argus_log * @{ *****************************************************************************/ #include "api/argus_def.h" /*!*************************************************************************** - * @brief A printf-like function to print formatted data to an debugging interface. + * @brief A printf-like function to print formatted data to an debugging interface. * * @details Writes the C string pointed by fmt_t to an output. If format - * includes format specifiers (subsequences beginning with %), the - * additional arguments following fmt_t are formatted and inserted in - * the resulting string replacing their respective specifiers. + * includes format specifiers (subsequences beginning with %), the + * additional arguments following fmt_t are formatted and inserted in + * the resulting string replacing their respective specifiers. * - * To enable the print functionality, an implementation of the function - * must be provided that maps the output to an interface like UART or - * a debugging console, e.g. by forwarding to standard printf() method. + * To enable the print functionality, an implementation of the function + * must be provided that maps the output to an interface like UART or + * a debugging console, e.g. by forwarding to standard printf() method. * - * @note The implementation of this function is optional for the correct - * execution of the API. If not implemented, a weak implementation - * within the API will be used that does nothing. This will improve - * the performance but no error messages are logged. + * @note The implementation of this function is optional for the correct + * execution of the API. If not implemented, a weak implementation + * within the API will be used that does nothing. This will improve + * the performance but no error messages are logged. * - * @note The naming is different from the standard printf() on purpose to - * prevent builtin compiler optimizations. + * @note The naming is different from the standard printf() on purpose to + * prevent builtin compiler optimizations. * - * @param fmt_s The usual print() format string. - * @param ... The usual print() parameters. * - * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). + * @param fmt_s The usual print() format string. + * @param ... The usual print() parameters. + * + * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). *****************************************************************************/ status_t print(const char *fmt_s, ...); /*! @} */ +#ifdef __cplusplus +} // extern "C" +#endif #endif /* ARGUS_PRINT_H */ diff --git a/src/drivers/distance_sensor/broadcom/afbrs50/Inc/platform/argus_s2pi.h b/src/drivers/distance_sensor/broadcom/afbrs50/Inc/platform/argus_s2pi.h index 4b8f5331b50c..8d912afc22df 100644 --- a/src/drivers/distance_sensor/broadcom/afbrs50/Inc/platform/argus_s2pi.h +++ b/src/drivers/distance_sensor/broadcom/afbrs50/Inc/platform/argus_s2pi.h @@ -1,11 +1,11 @@ /*************************************************************************//** * @file - * @brief This file is part of the AFBR-S50 API. - * @details This file provides an interface for the required S2PI module. + * @brief This file is part of the AFBR-S50 API. + * @details This file provides an interface for the required S2PI module. * * @copyright * - * Copyright (c) 2021, Broadcom Inc + * Copyright (c) 2023, Broadcom Inc. * All rights reserved. * * Redistribution and use in source and binary forms, with or without @@ -36,95 +36,94 @@ #ifndef ARGUS_S2PI_H #define ARGUS_S2PI_H - #ifdef __cplusplus extern "C" { #endif /*!*************************************************************************** - * @defgroup argus_s2pi S2PI: Serial Peripheral Interface - * @ingroup argus_platform + * @defgroup argus_s2pi S2PI: Serial Peripheral Interface + * @ingroup argus_hal * - * @brief S2PI: SPI incl. GPIO Hardware Layer Module + * @brief S2PI: SPI incl. GPIO Hardware Layer Module * - * @details The S2PI module consists of a standard SPI interface plus a - * single GPIO interrupt line. Furthermore, the SPI pins are - * accessible via GPIO control to allow a software emulation of - * additional protocols using the same pins. + * @details The S2PI module consists of a standard SPI interface plus a + * single GPIO interrupt line. Furthermore, the SPI pins are + * accessible via GPIO control to allow a software emulation of + * additional protocols using the same pins. * - * **SPI interface:** + * **SPI interface:** * - * The SPI interface is based around a single functionality: + * The SPI interface is based around a single functionality: * - * #S2PI_TransferFrame. This function transfers a specified number - * of bytes via the interfaces MOSI line and simultaneously reads - * the incoming data on the MOSI line. The read can also be skipped. - * The transfer happen asynchronously, e.g. via a DMA request. After - * finishing the transfer, the provided callback is invoked with - * the status of the transfer and the provided abstract parameter. - * Furthermore, the functions receives a slave parameter that can - * be used to connect multiple slaves, each with its individual - * chip select line. + * #S2PI_TransferFrame. This function transfers a specified number + * of bytes via the interfaces MOSI line and simultaneously reads + * the incoming data on the MOSI line. The read can also be skipped. + * The transfer happen asynchronously, e.g. via a DMA request. After + * finishing the transfer, the provided callback is invoked with + * the status of the transfer and the provided abstract parameter. + * Furthermore, the functions receives a slave parameter that can + * be used to connect multiple slaves, each with its individual + * chip select line. * - * The interface also provides functionality to change the SPI - * baud rate. An additional abort method is used to cancel the - * ongoing transfer. + * The interface also provides functionality to change the SPI + * baud rate. An additional abort method is used to cancel the + * ongoing transfer. * - * **GPIO interface:** + * **GPIO interface:** * - * The GPIO part of the S2PI interface has two distinct concerns: + * The GPIO part of the S2PI interface has two distinct concerns: * - * First, the GPIO interface handles the measurement finished interrupt - * from the device. When the device invokes the interrupt, it pulls - * the interrupt line to low. Thus the interrupt must trigger when - * a transition from high to low occurs on the interrupt line. + * First, the GPIO interface handles the measurement finished interrupt + * from the device. When the device invokes the interrupt, it pulls + * the interrupt line to low. Thus the interrupt must trigger when + * a transition from high to low occurs on the interrupt line. * - * The module simply invokes a callback when this interrupt occurs. - * The #S2PI_SetIrqCallback method is used to install the callback - * for a specified slave. Each slave will have its own interrupt - * line. An additional callback parameter can be set that would be - * passed to the callback function. + * The module simply invokes a callback when this interrupt occurs. + * The #S2PI_SetIrqCallback method is used to install the callback + * for a specified slave. Each slave will have its own interrupt + * line. An additional callback parameter can be set that would be + * passed to the callback function. * - * In addition to the interrupt, all SPI pins need to be accessible - * as GPIO pins through this interface. This is required to read - * the EEPROM memory on the device hat is connected to the SPI - * pins but requires a different protocol that is not compatible - * to any standard SPI interface. Therefore, the interface provides - * the possibility to switch to GPIO control mode that allows to - * emulate the EEPROM protocol via software bit banging. + * In addition to the interrupt, all SPI pins need to be accessible + * as GPIO pins through this interface. This is required to read + * the EEPROM memory on the device hat is connected to the SPI + * pins but requires a different protocol that is not compatible + * to any standard SPI interface. Therefore, the interface provides + * the possibility to switch to GPIO control mode that allows to + * emulate the EEPROM protocol via software bit banging. * - * Two methods are provided to switch forth and back between SPI - * and GPIO control. In GPIO mode, several functions are used to - * read and write the individual GPIO pins. + * Two methods are provided to switch forth and back between SPI + * and GPIO control. In GPIO mode, several functions are used to + * read and write the individual GPIO pins. * - * Note that the GPIO mode is only required to readout the EEPROM - * upon initialization of the device, i.e. during execution of the - * #Argus_Init or #Argus_Reinit methods. The GPIO mode is not used - * during measurements. + * Note that the GPIO mode is only required to readout the EEPROM + * upon initialization of the device, i.e. during execution of the + * #Argus_Init or #Argus_Reinit methods. The GPIO mode is not used + * during measurements. * * - * @addtogroup argus_s2pi + * @addtogroup argus_s2pi * @{ *****************************************************************************/ #include "api/argus_def.h" /*!*************************************************************************** - * @brief S2PI layer callback function type for the SPI transfer completed event. + * @brief S2PI layer callback function type for the SPI transfer completed event. * - * @param status The \link #status_t status\endlink of the completed + * @param status The \link #status_t status\endlink of the completed * transfer (#STATUS_OK on success). * - * @param param The provided (optional, can be null) callback parameter. + * @param param The provided (optional, can be null) callback parameter. * - * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). + * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). *****************************************************************************/ typedef status_t (*s2pi_callback_t)(status_t status, void *param); /*!*************************************************************************** - * @brief S2PI layer callback function type for the GPIO interrupt event. + * @brief S2PI layer callback function type for the GPIO interrupt event. * - * @param param The provided (optional, can be null) callback parameter. + * @param param The provided (optional, can be null) callback parameter. *****************************************************************************/ typedef void (*s2pi_irq_callback_t)(void *param); @@ -132,8 +131,8 @@ typedef void (*s2pi_irq_callback_t)(void *param); * can be used to identify the slave within the SPI module. */ typedef int32_t s2pi_slave_t; -/*! The enumeration of S2PI pins. */ -typedef enum { +/*! The enumeration of S2PI pins. */ +typedef enum s2pi_pin_t { /*! The SPI clock pin. */ S2PI_CLK, @@ -153,64 +152,141 @@ typedef enum { /*!*************************************************************************** - * @brief Returns the status of the SPI module. + * @brief Returns the status of the SPI module. + * + * @param slave The specified S2PI slave. Note that the slave information is + * only required if multiple SPI instances are used in order to + * map to the correct SPI instance. + * + * @return Returns the \link #status_t status\endlink: + * - #STATUS_IDLE: No SPI transfer or GPIO access is ongoing. + * - #STATUS_BUSY: An SPI transfer is in progress. + * - #STATUS_S2PI_GPIO_MODE: The module is in GPIO mode. + *****************************************************************************/ +status_t S2PI_GetStatus(s2pi_slave_t slave); + +/*!*************************************************************************** + * @brief Tries to grab the SPI interface mutex for the next transfer. + * + * @details This mutex prevents new asynchronous SPI requests to interfere + * with transfers already in progress for this interface. + * + * Note that this is only required if multiple device are connected to + * a single SPI interface. If only operating a single device per SPI, + * the function can simply always return #STATUS_OK. + * + * There must be a dedicated mutex object per SPI interface if + * multiple SPI interfaces are used. + * + * The mutex will be released in the #S2PI_ReleaseMutex function. + * See #S2PI_ReleaseMutex for additional information. + * + * Here is a simple example implementation for the multiple devices on + * a single SPI interface case. Note that the SpiMutexBlocked must be + * defined per SPI interface if multiple SPI interfaces are used. + * + * @code + * static volatile bool SpiMutexBlocked = false; + * status_t S2PI_TryGetMutex(s2pi_slave_t slave) + * { + * (void) slave; // not used in this implementation as all + * // SPI slaves are on the same SPI interface + * + * status_t status = STATUS_BUSY; + * IRQ_LOCK(); + * if (!SpiMutexBlocked) + * { + * SpiMutexBlocked = true; + * status = STATUS_OK; + * } + * IRQ_UNLOCK(); + * return status; + * } + * void S2PI_ReleaseMutex(s2pi_slave_t slave) + * { + * (void) slave; // not used in this implementation + * SpiMutexBlocked = false; + * } + * @endcode + * + * @param slave The specified S2PI slave. Note that the slave information is + * only required if multiple SPI instances are used in order to + * map to the correct SPI instance. + * + * @return Returns the \link #status_t status\endlink: + * - #STATUS_OK: the SPI interface was successfully reserved for the caller + * - #STATUS_BUSY: another transfer is ongoing, the caller must not access the bus + *****************************************************************************/ +status_t S2PI_TryGetMutex(s2pi_slave_t slave); + +/*!*************************************************************************** + * @brief Releases the SPI interface mutex. + * + * @details Once the mutex is captured, only a single thread (the one that + * captured it) will call this release function, so there is no + * need for any test or thread safe barriers. Also there is no + * side effect of calling this function when the Mutex is not + * taken so this function can be really simple and doesn't need + * to return anything. + * + * See #S2PI_TryGetMutex on more information and an example + * implementation for the single SPI interface case. * - * @return Returns the \link #status_t status\endlink: - * - #STATUS_IDLE: No SPI transfer or GPIO access is ongoing. - * - #STATUS_BUSY: An SPI transfer is in progress. - * - #STATUS_S2PI_GPIO_MODE: The module is in GPIO mode. + * @param slave The specified S2PI slave. Note that the slave information is + * only required if multiple SPI instances are used in order to + * map to the correct SPI instance. *****************************************************************************/ -status_t S2PI_GetStatus(void); +void S2PI_ReleaseMutex(s2pi_slave_t slave); /*!*************************************************************************** - * @brief Transfers a single SPI frame asynchronously. + * @brief Transfers a single SPI frame asynchronously. * * @details Transfers a single SPI frame in asynchronous manner. The Tx data - * buffer is written to the device via the MOSI line. - * Optionally, the data on the MISO line is written to the provided - * Rx data buffer. If null, the read data is dismissed. Note that - * Rx and Tx buffer can be identical. I.e. the same buffer is used - * for writing and reading data. First, a byte is transmitted and - * the received byte overwrites the previously send value. - * - * The transfer of a single frame requires to not toggle the chip - * select line to high in between the data frame. The maximum - * number of bytes transfered in a single SPI transfer is given by - * the data value register of the device, which is 396 data bytes - * plus a single address byte: 397 bytes. - * - * An optional callback is invoked when the asynchronous transfer - * is finished. If the \p callback parameter is a null pointer, - * no callback is provided. Note that the provided buffer must not - * change while the transfer is ongoing. - * - * Use the slave parameter to determine the corresponding slave via the - * given chip select line. - * - * Usually, two distinct interrupts are required to handle the RX and - * TX ready events. The callback must be invoked from whichever - * interrupt comes after the SPI transfer has been finished. Note - * that new SPI transfers are invoked from within the callback function - * (i.e. from within the interrupt service routine of same priority). - * - * @param slave The specified S2PI slave. - * @param txData The 8-bit values to write to the SPI bus MOSI line. - * @param rxData The 8-bit values received from the SPI bus MISO line + * buffer is written to the device via the MOSI line. + * Optionally, the data on the MISO line is written to the provided + * Rx data buffer. If null, the read data is dismissed. Note that + * Rx and Tx buffer can be identical. I.e. the same buffer is used + * for writing and reading data. First, a byte is transmitted and + * the received byte overwrites the previously send value. + * + * The transfer of a single frame requires to not toggle the chip + * select line to high in between the data frame. The maximum + * number of bytes transferred in a single SPI transfer is given by + * the data value register of the device, which is 396 data bytes + * plus a single address byte: 397 bytes. + * + * An optional callback is invoked when the asynchronous transfer + * is finished. If the \p callback parameter is a null pointer, + * no callback is provided. Note that the provided buffer must not + * change while the transfer is ongoing. + * + * Use the slave parameter to determine the corresponding slave via the + * given chip select line. + * + * Usually, two distinct interrupts are required to handle the RX and + * TX ready events. The callback must be invoked from whichever + * interrupt comes after the SPI transfer has been finished. Note + * that new SPI transfers are invoked from within the callback function + * (i.e. from within the interrupt service routine of same priority). + * + * @param slave The specified S2PI slave. + * @param txData The 8-bit values to write to the SPI bus MOSI line. + * @param rxData The 8-bit values received from the SPI bus MISO line * (pass a null pointer if the data don't need to be read). - * @param frameSize The number of 8-bit values to be sent/received. - * @param callback A callback function to be invoked when the transfer is - * finished. Pass a null pointer if no callback is required. - * @param callbackData A pointer to a state that will be passed to the + * @param frameSize The number of 8-bit values to be sent/received. + * @param callback A callback function to be invoked when the transfer is + * finished. Pass a null pointer if no callback is required. + * @param callbackData A pointer to a state that will be passed to the * callback. Pass a null pointer if not used. * - * @return Returns the \link #status_t status\endlink: - * - #STATUS_OK: Successfully invoked the transfer. - * - #ERROR_INVALID_ARGUMENT: An invalid parameter has been passed. - * - #ERROR_S2PI_INVALID_SLAVE: A wrong slave identifier is provided. - * - #STATUS_BUSY: An SPI transfer is already in progress. The - * transfer was not started. - * - #STATUS_S2PI_GPIO_MODE: The module is in GPIO mode. The transfer - * was not started. + * @return Returns the \link #status_t status\endlink: + * - #STATUS_OK: Successfully invoked the transfer. + * - #ERROR_INVALID_ARGUMENT: An invalid parameter has been passed. + * - #ERROR_S2PI_INVALID_SLAVE: A wrong slave identifier is provided. + * - #STATUS_BUSY: An SPI transfer is already in progress. The + * transfer was not started. + * - #STATUS_S2PI_GPIO_MODE: The module is in GPIO mode. The transfer + * was not started. *****************************************************************************/ status_t S2PI_TransferFrame(s2pi_slave_t slave, uint8_t const *txData, @@ -220,136 +296,158 @@ status_t S2PI_TransferFrame(s2pi_slave_t slave, void *callbackData); /*!*************************************************************************** - * @brief Terminates a currently ongoing asynchronous SPI transfer. + * @brief Terminates a currently ongoing asynchronous SPI transfer. * - * @details When a callback is set for the current ongoing activity, it is - * invoked with the #ERROR_ABORTED error byte. + * @details When a callback is set for the current ongoing activity, it is + * invoked with the #ERROR_ABORTED error byte. * - * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). + * @param slave The specified S2PI slave. Note that the slave information is + * only required if multiple SPI instances are used in order to + * map to the correct SPI instance. + * + * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). *****************************************************************************/ -status_t S2PI_Abort(void); +status_t S2PI_Abort(s2pi_slave_t slave); /*!*************************************************************************** - * @brief Set a callback for the GPIO IRQ for a specified S2PI slave. + * @brief Set a callback for the GPIO IRQ for a specified S2PI slave. * - * @param slave The specified S2PI slave. - * @param callback A callback function to be invoked when the specified - * S2PI slave IRQ occurs. Pass a null pointer to disable - * the callback. - * @param callbackData A pointer to a state that will be passed to the + * @param slave The specified S2PI slave. + * @param callback A callback function to be invoked when the specified + * S2PI slave IRQ occurs. Pass a null pointer to disable + * the callback. + * @param callbackData A pointer to a state that will be passed to the * callback. Pass a null pointer if not used. * - * @return Returns the \link #status_t status\endlink: - * - #STATUS_OK: Successfully installation of the callback. - * - #ERROR_S2PI_INVALID_SLAVE: A wrong slave identifier is provided. + * @return Returns the \link #status_t status\endlink: + * - #STATUS_OK: Successfully installation of the callback. + * - #ERROR_S2PI_INVALID_SLAVE: A wrong slave identifier is provided. *****************************************************************************/ status_t S2PI_SetIrqCallback(s2pi_slave_t slave, s2pi_irq_callback_t callback, void *callbackData); /*!*************************************************************************** - * @brief Reads the current status of the IRQ pin. + * @brief Reads the current interrupt pending status of the IRQ pin. * * @details In order to keep a low priority for GPIO IRQs, the state of the - * IRQ pin must be read in order to reliable check for chip timeouts. - * - * The execution of the interrupt service routine for the data-ready - * interrupt from the corresponding GPIO pin might be delayed due to - * priority issues. The delayed execution might disable the timeout - * for the eye-safety checker too late causing false error messages. - * In order to overcome the issue, the state of the IRQ GPIO input - * pin is read before raising a timeout error in order to check if - * the device has already finished but the IRQ is still pending to be - * executed! + * IRQ pin must be read in order to reliable check for chip timeouts. + * + * The execution of the interrupt service routine for the data-ready + * interrupt from the corresponding GPIO pin might be delayed due to + * priority issues. The delayed execution might disable the timeout + * for the eye-safety checker too late causing false error messages. + * In order to overcome the issue, the interrupt state of the IRQ + * GPIO input pin is read before raising a timeout error in order to + * check if the device has already finished and the IRQ is still + * pending to be executed! + * + * Note: an easy implementation is to simply return the state of the + * IRQ line, i.e. 0 if there is a low input state and 1 if there is + * a high input state on the IRQ input pin. However, this + * implementation is not fully reliable since the GPIO interrupt + * (triggered on the falling edge) might be missed and the callback + * is never invoked while the IRQ line is correctly asserted to low + * state by the device. In that case, the API is waiting forever + * until the callback is invoked which might never happen. Therefore, + * it is better if the implementation checks the state of the IRQ + * pending status register or even combines both variations. - * @param slave The specified S2PI slave. - * @return Returns 1U if the IRQ pin is high (IRQ not pending) and 0U if the - * devices pulls the pin to low state (IRQ pending). + * @param slave The specified S2PI slave. + * + * @return Returns 1U if the IRQ is NOT pending (pin is in high state) and + * 0U if the IRQ is pending (pin is pulled to low state by the device). *****************************************************************************/ uint32_t S2PI_ReadIrqPin(s2pi_slave_t slave); /*!*************************************************************************** - * @brief Cycles the chip select line. + * @brief Cycles the chip select line. * * @details In order to cancel the integration on the ASIC, a fast toggling - * of the chip select pin of the corresponding SPI slave is required. - * Therefore, this function toggles the CS from high to low and back. - * The SPI instance for the specified S2PI slave must be idle, - * otherwise the status #STATUS_BUSY is returned. + * of the chip select pin of the corresponding SPI slave is required. + * Therefore, this function toggles the CS from high to low and back. + * The SPI instance for the specified S2PI slave must be idle, + * otherwise the status #STATUS_BUSY is returned. * - * @param slave The specified S2PI slave. - * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). + * @param slave The specified S2PI slave. + * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). *****************************************************************************/ status_t S2PI_CycleCsPin(s2pi_slave_t slave); - - /*!***************************************************************************** - * @brief Captures the S2PI pins for GPIO usage. + * @brief Captures the S2PI pins for GPIO usage. + * + * @details The SPI is disabled (module status: #STATUS_S2PI_GPIO_MODE) and the + * pins are configured for GPIO operation. The GPIO control must be + * release with the #S2PI_ReleaseGpioControl function in order to + * switch back to ordinary SPI functionality. * - * @details The SPI is disabled (module status: #STATUS_S2PI_GPIO_MODE) and the - * pins are configured for GPIO operation. The GPIO control must be - * release with the #S2PI_ReleaseGpioControl function in order to - * switch back to ordinary SPI functionality. + * @note This function is only called during device initialization! * - * @note This function is only called during device initialization! + * @param slave The specified S2PI slave. Note that the slave information is + * only required if multiple SPI instances are used in order to + * map to the correct SPI instance. * - * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). + * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). *****************************************************************************/ -status_t S2PI_CaptureGpioControl(void); +status_t S2PI_CaptureGpioControl(s2pi_slave_t slave); /*!***************************************************************************** - * @brief Releases the S2PI pins from GPIO usage and switches back to SPI mode. + * @brief Releases the S2PI pins from GPIO usage and switches back to SPI mode. * - * @details The GPIO pins are configured for SPI operation and the GPIO mode is - * left. Must be called if the pins are captured for GPIO operation via - * the #S2PI_CaptureGpioControl function. + * @details The GPIO pins are configured for SPI operation and the GPIO mode is + * left. Must be called if the pins are captured for GPIO operation via + * the #S2PI_CaptureGpioControl function. * - * @note This function is only called during device initialization! + * @note This function is only called during device initialization! * - * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). + * @param slave The specified S2PI slave. Note that the slave information is + * only required if multiple SPI instances are used in order to + * map to the correct SPI instance. + * + * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). *****************************************************************************/ -status_t S2PI_ReleaseGpioControl(void); +status_t S2PI_ReleaseGpioControl(s2pi_slave_t slave); /*!***************************************************************************** - * @brief Writes the output for a specified SPI pin in GPIO mode. + * @brief Writes the output for a specified SPI pin in GPIO mode. * * @details This function writes the value of an SPI pin if the SPI pins are - * captured for GPIO operation via the #S2PI_CaptureGpioControl previously. + * captured for GPIO operation via the #S2PI_CaptureGpioControl previously. * - * @note Since some GPIO peripherals switch the GPIO pins very fast a delay - * must be added after each GBIO access (i.e. right before returning - * from the #S2PI_WriteGpioPin method) in order to decrease the baud - * rate of the software EEPROM protocol. Increase the delay if timing - * issues occur while reading the EERPOM. For example: - * Delay = 10 µsec => Baud Rate < 100 kHz + * @note Since some GPIO peripherals switch the GPIO pins very fast a delay + * must be added after each GBIO access (i.e. right before returning + * from the #S2PI_WriteGpioPin method) in order to decrease the baud + * rate of the software EEPROM protocol. Increase the delay if timing + * issues occur while reading the EERPOM. For example: + * Delay = 10 µsec => Baud Rate < 100 kHz * - * @note This function is only called during device initialization! + * @note This function is only called during device initialization! * - * @param slave The specified S2PI slave. - * @param pin The specified S2PI pin. - * @param value The GPIO pin state to write (0 = low, 1 = high). - * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). + * @param slave The specified S2PI slave. + * @param pin The specified S2PI pin. + * @param value The GPIO pin state to write (0 = low, 1 = high). + * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). *****************************************************************************/ status_t S2PI_WriteGpioPin(s2pi_slave_t slave, s2pi_pin_t pin, uint32_t value); /*!***************************************************************************** - * @brief Reads the input from a specified SPI pin in GPIO mode. + * @brief Reads the input from a specified SPI pin in GPIO mode. * * @details This function reads the value of an SPI pin if the SPI pins are - * captured for GPIO operation via the #S2PI_CaptureGpioControl previously. + * captured for GPIO operation via the #S2PI_CaptureGpioControl previously. * - * @note This function is only called during device initialization! + * @note This function is only called during device initialization! * - * @param slave The specified S2PI slave. - * @param pin The specified S2PI pin. - * @param value The GPIO pin state to read (0 = low, GND level, 1 = high, VCC level). - * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). + * @param slave The specified S2PI slave. + * @param pin The specified S2PI pin. + * @param value The GPIO pin state to read (0 = low, GND level, 1 = high, VCC level). + * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). *****************************************************************************/ status_t S2PI_ReadGpioPin(s2pi_slave_t slave, s2pi_pin_t pin, uint32_t *value); -#ifdef __cplusplus -} -#endif /*! @} */ +#ifdef __cplusplus +} // extern "C" +#endif #endif // ARGUS_S2PI_H diff --git a/src/drivers/distance_sensor/broadcom/afbrs50/Inc/platform/argus_timer.h b/src/drivers/distance_sensor/broadcom/afbrs50/Inc/platform/argus_timer.h index 80deb42016f9..b736010682c2 100644 --- a/src/drivers/distance_sensor/broadcom/afbrs50/Inc/platform/argus_timer.h +++ b/src/drivers/distance_sensor/broadcom/afbrs50/Inc/platform/argus_timer.h @@ -1,11 +1,11 @@ /*************************************************************************//** * @file - * @brief This file is part of the AFBR-S50 API. - * @details This file provides an interface for the required timer modules. + * @brief This file is part of the AFBR-S50 API. + * @details This file provides an interface for the required timer modules. * * @copyright * - * Copyright (c) 2021, Broadcom Inc + * Copyright (c) 2023, Broadcom Inc. * All rights reserved. * * Redistribution and use in source and binary forms, with or without @@ -36,118 +36,117 @@ #ifndef ARGUS_TIMER_H #define ARGUS_TIMER_H - #ifdef __cplusplus extern "C" { #endif /*!*************************************************************************** - * @defgroup argus_timer Timer: Hardware Timer Interface - * @ingroup argus_platform - * - * @brief Timer implementations for lifetime counting as well as periodic - * callback. - * - * @details The module provides an interface to the timing utilities that - * are required by the AFBR-S50 time-of-flight sensor API. - * - * Two essential features have to be provided by the user code: - * 1. Time Measurement Capability: In order to keep track of outgoing - * signals, the API needs to measure elapsed time. In order to - * provide optimum device performance, the granularity should be - * around 10 to 100 microseconds. - * 2. Periodic Callback: The API provides an automatic starting of - * measurement cycles at a fixed frame rate via a periodic - * interrupt timer. If this feature is not used, implementation - * of the periodic interrupts can be skipped. An weak default - * implementation is provide in the API. - * . - * - * The time measurement feature is simply implemented by the function - * #Timer_GetCounterValue. Whenever the function is called, the - * provided counter values must be written with the values obtained - * by the current time. - * - * The periodic interrupt timer is a simple callback interface. - * After installing the callback function pointer via #Timer_SetCallback, - * the timer can be started by setting interval via #Timer_SetInterval. - * From then, the callback is invoked periodically as the corresponding - * interval may specify. The timer is stopped by setting the interval - * to 0 using the #Timer_SetInterval function. The interval can be - * updated at any time by updating the interval via the #Timer_SetInterval - * function. To any of these functions, an abstract parameter pointer - * must be passed. This parameter is passed back to the callback any - * time it is invoked. - * - * In order to provide the usage of multiple devices, an mechanism is - * introduced to allow the installation of multiple callback interval - * at the same time. Therefore, the abstract parameter pointer is used - * to identify the corresponding callback interval. For example, there - * are two callbacks for two intervals, t1 and t2, required. The user - * can start two timers by calling the #Timer_SetInterval method twice, - * but with an individual parameter pointer, ptr1 and ptr2, each: - * \code - * Timer_SetInterval(100000, ptr1); // 10 ms callback w/ parameter ptr1 - * Timer_SetInterval(200000, ptr2); // 20 ms callback w/ parameter ptr1 - * \endcode - * - * Note that the implemented timer module must therefore support - * as many different intervals as instances of the AFBR-S50 device are - * used. - * - * @addtogroup argus_timer + * @defgroup argus_timer Timer: Hardware Timer Interface + * @ingroup argus_hal + * + * @brief Timer implementations for lifetime counting as well as periodic + * callback. + * + * @details The module provides an interface to the timing utilities that + * are required by the AFBR-S50 time-of-flight sensor API. + * + * Two essential features have to be provided by the user code: + * 1. Time Measurement Capability: In order to keep track of outgoing + * signals, the API needs to measure elapsed time. In order to + * provide optimum device performance, the granularity should be + * around 10 to 100 microseconds. + * 2. Periodic Callback: The API provides an automatic starting of + * measurement cycles at a fixed frame rate via a periodic + * interrupt timer. If this feature is not used, implementation + * of the periodic interrupts can be skipped. An weak default + * implementation is provide in the API. + * . + * + * The time measurement feature is simply implemented by the function + * #Timer_GetCounterValue. Whenever the function is called, the + * provided counter values must be written with the values obtained + * by the current time. + * + * The periodic interrupt timer is a simple callback interface. + * After installing the callback function pointer via #Timer_SetCallback, + * the timer can be started by setting interval via #Timer_SetInterval. + * From then, the callback is invoked periodically as the corresponding + * interval may specify. The timer is stopped by setting the interval + * to 0 using the #Timer_SetInterval function. The interval can be + * updated at any time by updating the interval via the #Timer_SetInterval + * function. To any of these functions, an abstract parameter pointer + * must be passed. This parameter is passed back to the callback any + * time it is invoked. + * + * In order to provide the usage of multiple devices, an mechanism is + * introduced to allow the installation of multiple callback interval + * at the same time. Therefore, the abstract parameter pointer is used + * to identify the corresponding callback interval. For example, there + * are two callbacks for two intervals, t1 and t2, required. The user + * can start two timers by calling the #Timer_SetInterval method twice, + * but with an individual parameter pointer, ptr1 and ptr2, each: + * \code + * Timer_SetInterval(100000, ptr1); // 10 ms callback w/ parameter ptr1 + * Timer_SetInterval(200000, ptr2); // 20 ms callback w/ parameter ptr1 + * \endcode + * + * Note that the implemented timer module must therefore support + * as many different intervals as instances of the AFBR-S50 device are + * used. + * + * @addtogroup argus_timer * @{ *****************************************************************************/ -#include "api/argus_def.h" +#include "utility/status.h" /******************************************************************************* * Lifetime Counter Timer Interface ******************************************************************************/ /*!*************************************************************************** - * @brief Obtains the lifetime counter value from the timers. + * @brief Obtains the lifetime counter value from the timers. * * @details The function is required to get the current time relative to any - * point in time, e.g. the startup time. The returned values \p hct and - * \p lct are given in seconds and microseconds respectively. The current - * elapsed time since the reference time is then calculated from: + * point in time, e.g. the startup time. The returned values \p hct and + * \p lct are given in seconds and microseconds respectively. The current + * elapsed time since the reference time is then calculated from: * - * t_now [µsec] = hct * 1000000 µsec + lct * 1 µsec + * t_now [µsec] = hct * 1000000 µsec + lct * 1 µsec * - * Note that the accuracy/granularity of the lifetime counter does - * not need to be 1 µsec. Usually, a granularity of approximately - * 100 µsec is sufficient. However, in case of very high frame rates - * (above 1000 frames per second), it is recommended to implement - * an even lower granularity (somewhere in the 10 µsec regime). + * Note that the accuracy/granularity of the lifetime counter does + * not need to be 1 µsec. Usually, a granularity of approximately + * 100 µsec is sufficient. However, in case of very high frame rates + * (above 1000 frames per second), it is recommended to implement + * an even lower granularity (somewhere in the 10 µsec regime). * - * It must be guaranteed, that each call of the #Timer_GetCounterValue - * function must provide a value that is greater or equal, but never lower, - * than the value returned from the previous call. + * It must be guaranteed, that each call of the #Timer_GetCounterValue + * function must provide a value that is greater or equal, but never lower, + * than the value returned from the previous call. * - * A hardware based implementation of the lifetime counter functionality - * would be to chain two distinct timers such that counter 2 increases - * its value when counter 1 wraps to 0. The easiest way is to setup - * counter 1 to wrap exactly every second. Counter 1 would than count - * the sub-seconds (i.e. µsec) value (\p lct) and counter 2 the seconds - * (\p hct) value. A 16-bit counter is sufficient in case of counter 1 - * while counter 2 must be a 32-bit version. + * A hardware based implementation of the lifetime counter functionality + * would be to chain two distinct timers such that counter 2 increases + * its value when counter 1 wraps to 0. The easiest way is to setup + * counter 1 to wrap exactly every second. Counter 1 would than count + * the sub-seconds (i.e. µsec) value (\p lct) and counter 2 the seconds + * (\p hct) value. A 16-bit counter is sufficient in case of counter 1 + * while counter 2 must be a 32-bit version. * - * In case of a lack of available hardware timers, a software solution - * can be used that requires only a 16-bit timer. In a simple scenario, - * the timer is configured to wrap around every second and increase - * a software counter value in its interrupt service routine (triggered - * with the wrap around event) every time the wrap around occurs. + * In case of a lack of available hardware timers, a software solution + * can be used that requires only a 16-bit timer. In a simple scenario, + * the timer is configured to wrap around every second and increase + * a software counter value in its interrupt service routine (triggered + * with the wrap around event) every time the wrap around occurs. * * - * @note The implementation of this function is mandatory for the correct - * execution of the API. + * @note The implementation of this function is mandatory for the correct + * execution of the API. * - * @param hct A pointer to the high counter value bits representing current - * time in seconds. + * @param hct A pointer to the high counter value bits representing current + * time in seconds. * - * @param lct A pointer to the low counter value bits representing current - * time in microseconds. Range: 0, .., 999999 µsec + * @param lct A pointer to the low counter value bits representing current + * time in microseconds. Range: 0, .., 999999 µsec *****************************************************************************/ void Timer_GetCounterValue(uint32_t *hct, uint32_t *lct); @@ -156,68 +155,70 @@ void Timer_GetCounterValue(uint32_t *hct, uint32_t *lct); ******************************************************************************/ /*!*************************************************************************** - * @brief The callback function type for periodic interrupt timer. + * @brief The callback function type for periodic interrupt timer. * - * @details The function that is invoked every time a specified interval elapses. - * An abstract parameter is passed to the function whenever it is called. + * @details The function that is invoked every time a specified interval elapses. + * An abstract parameter is passed to the function whenever it is called. * - * @param param An abstract parameter to be passed to the callback. This is - * also the identifier of the given interval. + * @param param An abstract parameter to be passed to the callback. This is + * also the identifier of the given interval. *****************************************************************************/ typedef void (*timer_cb_t)(void *param); /*!*************************************************************************** - * @brief Installs an periodic timer callback function. + * @brief Installs an periodic timer callback function. * - * @details Installs an periodic timer callback function that is invoked whenever - * an interval elapses. The callback is the same for any interval, - * however, the single intervals can be identified by the passed - * parameter. - * Passing a zero-pointer removes and disables the callback. + * @details Installs an periodic timer callback function that is invoked whenever + * an interval elapses. The callback is the same for any interval, + * however, the single intervals can be identified by the passed + * parameter. + * Passing a zero-pointer removes and disables the callback. * - * @note The implementation of this function is optional for the correct - * execution of the API. If not implemented, a weak implementation - * within the API will be used that disable the periodic timer callback - * and thus the automatic starting of measurements from the background. + * @note The implementation of this function is optional for the correct + * execution of the API. If not implemented, a weak implementation + * within the API will be used that disable the periodic timer callback + * and thus the automatic starting of measurements from the background. * - * @param f The timer callback function. + * @param f The timer callback function. * - * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). + * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). *****************************************************************************/ status_t Timer_SetCallback(timer_cb_t f); /*!*************************************************************************** - * @brief Sets the timer interval for a specified callback parameter. + * @brief Sets the timer interval for a specified callback parameter. + * + * @details Sets the callback interval for the specified parameter and starts + * the timer with a new interval. If there is already an interval with + * the given parameter, the timer is restarted with the given interval. + * If the same time interval as already set is passed, nothing happens. + * Passing a interval of 0 disables the timer. * - * @details Sets the callback interval for the specified parameter and starts - * the timer with a new interval. If there is already an interval with - * the given parameter, the timer is restarted with the given interval. - * If the same time interval as already set is passed, nothing happens. - * Passing a interval of 0 disables the timer. + * When enabling the timer (or resetting by applying another interval), + * the first timer interrupt must happen after the specified interval. * - * Note that a microsecond granularity for the timer interrupt period is - * not required. Usually a microseconds granularity is sufficient. - * The required granularity depends on the targeted frame rate, e.g. in - * case of more than 1 kHz measurement rate, a granularity of less than - * a microsecond is required to achieve the given frame rate. + * Note that a microsecond granularity for the timer interrupt period is + * not required. Usually a milliseconds granularity is sufficient. + * The required granularity depends on the targeted frame rate, e.g. in + * case of more than 1 kHz measurement rate, a granularity of less than + * a millisecond is required to achieve the given frame rate. * - * @note The implementation of this function is optional for the correct - * execution of the API. If not implemented, a weak implementation - * within the API will be used that disable the periodic timer callback - * and thus the automatic starting of measurements from the background. + * @note The implementation of this function is optional for the correct + * execution of the API. If not implemented, a weak implementation + * within the API will be used that disable the periodic timer callback + * and thus the automatic starting of measurements from the background. * - * @param dt_microseconds The callback interval in microseconds. + * @param dt_microseconds The callback interval in microseconds. * - * @param param An abstract parameter to be passed to the callback. This is - * also the identifier of the given interval. + * @param param An abstract parameter to be passed to the callback. This is + * also the identifier of the given interval. * - * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). + * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). *****************************************************************************/ status_t Timer_SetInterval(uint32_t dt_microseconds, void *param); +/*! @} */ #ifdef __cplusplus -} +} // extern "C" #endif - -/*! @} */ #endif /* ARGUS_TIMER_H */ diff --git a/src/drivers/distance_sensor/broadcom/afbrs50/Inc/utility/fp_def.h b/src/drivers/distance_sensor/broadcom/afbrs50/Inc/utility/fp_def.h index ae7422ada596..8d5406360b15 100644 --- a/src/drivers/distance_sensor/broadcom/afbrs50/Inc/utility/fp_def.h +++ b/src/drivers/distance_sensor/broadcom/afbrs50/Inc/utility/fp_def.h @@ -1,11 +1,11 @@ /*************************************************************************//** * @file - * @brief This file is part of the AFBR-S50 API. - * @details Provides definitions and basic macros for fixed point data types. + * @brief This file is part of the AFBR-S50 API. + * @details Provides definitions and basic macros for fixed point data types. * * @copyright * - * Copyright (c) 2021, Broadcom Inc + * Copyright (c) 2023, Broadcom Inc. * All rights reserved. * * Redistribution and use in source and binary forms, with or without @@ -36,23 +36,30 @@ #ifndef FP_DEF_H #define FP_DEF_H +#ifdef __cplusplus +extern "C" { +#endif /*!*************************************************************************** - * @defgroup fixedpoint Fixed Point Math - * @ingroup argusutil - * @brief A basic math library for fixed point number in the Qx.y fomat. - * @details This module contains common fixed point type definitions as - * well as some basic math algorithms. All types are based on - * integer types. The number are defined with the Q number format. + * @defgroup argus_fp Fixed Point Math + * @ingroup argus_util * - * - For a description of the Q number format refer to: - * https://en.wikipedia.org/wiki/Q_(number_format) - * - Another resource for fixed point math in C might be found at - * http://www.eetimes.com/author.asp?section_id=36&doc_id=1287491 - * . - * @warning This definitions are not portable and work only with - * little-endian systems! - * @addtogroup fixedpoint + * @brief A basic math library for fixed point number in the Qx.y fomat. + * + * @details This module contains common fixed point type definitions as + * well as some basic math algorithms. All types are based on + * integer types. The number are defined with the Q number format. + * + * - For a description of the Q number format refer to: + * https://en.wikipedia.org/wiki/Q_(number_format) + * - Another resource for fixed point math in C might be found at + * http://www.eetimes.com/author.asp?section_id=36&doc_id=1287491 + * . + * + * @warning This definitions are not portable and work only with + * little-endian systems! + * + * @addtogroup argus_fp * @{ *****************************************************************************/ @@ -66,11 +73,11 @@ ***** UQ6.2 ******************************************************************************/ /*!*************************************************************************** - * @brief Unsigned fixed point number: UQ6.2 - * @details An unsigned fixed point number format based on the 8-bit unsigned - * integer type with 6 integer and 2 fractional bits. - * - Range: 0 .. 63.75 - * - Granularity: 0.25 + * @brief Unsigned fixed point number: UQ6.2 + * @details An unsigned fixed point number format based on the 8-bit unsigned + * integer type with 6 integer and 2 fractional bits. + * - Range: 0 .. 63.75 + * - Granularity: 0.25 *****************************************************************************/ typedef uint8_t uq6_2_t; @@ -86,11 +93,11 @@ typedef uint8_t uq6_2_t; ***** UQ4.4 ******************************************************************************/ /*!*************************************************************************** - * @brief Unsigned fixed point number: UQ4.4 - * @details An unsigned fixed point number format based on the 8-bit unsigned - * integer type with 4 integer and 4 fractional bits. - * - Range: 0 .. 15.9375 - * - Granularity: 0.0625 + * @brief Unsigned fixed point number: UQ4.4 + * @details An unsigned fixed point number format based on the 8-bit unsigned + * integer type with 4 integer and 4 fractional bits. + * - Range: 0 .. 15.9375 + * - Granularity: 0.0625 *****************************************************************************/ typedef uint8_t uq4_4_t; @@ -106,11 +113,11 @@ typedef uint8_t uq4_4_t; ***** UQ2.6 ******************************************************************************/ /*!*************************************************************************** - * @brief Unsigned fixed point number: UQ2.6 - * @details An unsigned fixed point number format based on the 8-bit unsigned - * integer type with 2 integer and 6 fractional bits. - * - Range: 0 .. 3.984375 - * - Granularity: 0.015625 + * @brief Unsigned fixed point number: UQ2.6 + * @details An unsigned fixed point number format based on the 8-bit unsigned + * integer type with 2 integer and 6 fractional bits. + * - Range: 0 .. 3.984375 + * - Granularity: 0.015625 *****************************************************************************/ typedef uint8_t uq2_6_t; @@ -126,11 +133,11 @@ typedef uint8_t uq2_6_t; ***** UQ1.7 ******************************************************************************/ /*!*************************************************************************** - * @brief Unsigned fixed point number: UQ1.7 - * @details An unsigned fixed point number format based on the 8-bit unsigned - * integer type with 1 integer and 7 fractional bits. - * - Range: 0 .. 1.9921875 - * - Granularity: 0.0078125 + * @brief Unsigned fixed point number: UQ1.7 + * @details An unsigned fixed point number format based on the 8-bit unsigned + * integer type with 1 integer and 7 fractional bits. + * - Range: 0 .. 1.9921875 + * - Granularity: 0.0078125 *****************************************************************************/ typedef uint8_t uq1_7_t; @@ -146,11 +153,11 @@ typedef uint8_t uq1_7_t; ***** UQ0.8 ******************************************************************************/ /*!*************************************************************************** - * @brief Unsigned fixed point number: UQ0.8 - * @details An unsigned fixed point number format based on the 8-bit unsigned - * integer type with 1 integer and 7 fractional bits. - * - Range: 0 .. 0.99609375 - * - Granularity: 0.00390625 + * @brief Unsigned fixed point number: UQ0.8 + * @details An unsigned fixed point number format based on the 8-bit unsigned + * integer type with 1 integer and 7 fractional bits. + * - Range: 0 .. 0.99609375 + * - Granularity: 0.00390625 *****************************************************************************/ typedef uint8_t uq0_8_t; @@ -167,11 +174,11 @@ typedef uint8_t uq0_8_t; ***** Q3.4 ******************************************************************************/ /*!*************************************************************************** - * @brief Signed fixed point number: Q3.4 - * @details A signed fixed point number format based on the 8-bit signed - * integer type with 3 integer and 4 fractional bits. - * - Range: -8 ... 7.9375 - * - Granularity: 0.0625 + * @brief Signed fixed point number: Q3.4 + * @details A signed fixed point number format based on the 8-bit signed + * integer type with 3 integer and 4 fractional bits. + * - Range: -8 ... 7.9375 + * - Granularity: 0.0625 *****************************************************************************/ typedef int8_t q3_4_t; @@ -189,11 +196,11 @@ typedef int8_t q3_4_t; ***** Q1.6 ******************************************************************************/ /*!*************************************************************************** - * @brief Signed fixed point number: Q1.6 - * @details A signed fixed point number format based on the 8-bit signed - * integer type with 1 integer and 6 fractional bits. - * - Range: -2 ... 1.984375 - * - Granularity: 0.015625 + * @brief Signed fixed point number: Q1.6 + * @details A signed fixed point number format based on the 8-bit signed + * integer type with 1 integer and 6 fractional bits. + * - Range: -2 ... 1.984375 + * - Granularity: 0.015625 *****************************************************************************/ typedef int8_t q1_6_t; @@ -215,11 +222,11 @@ typedef int8_t q1_6_t; ***** UQ12.4 ******************************************************************************/ /*!*************************************************************************** - * @brief Unsigned fixed point number: UQ12.4 - * @details An unsigned fixed point number format based on the 16-bit unsigned - * integer type with 12 integer and 4 fractional bits. - * - Range: 0 ... 4095.9375 - * - Granularity: 0.0625 + * @brief Unsigned fixed point number: UQ12.4 + * @details An unsigned fixed point number format based on the 16-bit unsigned + * integer type with 12 integer and 4 fractional bits. + * - Range: 0 ... 4095.9375 + * - Granularity: 0.0625 *****************************************************************************/ typedef uint16_t uq12_4_t; @@ -235,11 +242,11 @@ typedef uint16_t uq12_4_t; ***** UQ10.6 ******************************************************************************/ /*!*************************************************************************** - * @brief Unsigned fixed point number: UQ10.6 - * @details An unsigned fixed point number format based on the 16-bit unsigned - * integer type with 10 integer and 6 fractional bits. - * - Range: 0 ... 1023.984375 - * - Granularity: 0.015625 + * @brief Unsigned fixed point number: UQ10.6 + * @details An unsigned fixed point number format based on the 16-bit unsigned + * integer type with 10 integer and 6 fractional bits. + * - Range: 0 ... 1023.984375 + * - Granularity: 0.015625 *****************************************************************************/ typedef uint16_t uq10_6_t; @@ -255,11 +262,11 @@ typedef uint16_t uq10_6_t; ***** UQ1.15 ******************************************************************************/ /*!*************************************************************************** - * @brief Unsigned fixed point number: UQ1.15 - * @details An unsigned fixed point number format based on the 16-bit unsigned - * integer type with 1 integer and 15 fractional bits. - * - Range: 0 .. 1.999969 - * - Granularity: 0.000031 + * @brief Unsigned fixed point number: UQ1.15 + * @details An unsigned fixed point number format based on the 16-bit unsigned + * integer type with 1 integer and 15 fractional bits. + * - Range: 0 .. 1.999969 + * - Granularity: 0.000031 *****************************************************************************/ typedef uint16_t uq1_15_t; @@ -275,11 +282,11 @@ typedef uint16_t uq1_15_t; ***** UQ0.16 ******************************************************************************/ /*!*************************************************************************** - * @brief Unsigned fixed point number: UQ0.16 - * @details An unsigned fixed point number format based on the 16-bit unsigned - * integer type with 0 integer and 16 fractional bits. - * - Range: 0 .. 0.9999847412109375 - * - Granularity: 1.52587890625e-5 + * @brief Unsigned fixed point number: UQ0.16 + * @details An unsigned fixed point number format based on the 16-bit unsigned + * integer type with 0 integer and 16 fractional bits. + * - Range: 0 .. 0.9999847412109375 + * - Granularity: 1.52587890625e-5 *****************************************************************************/ typedef uint16_t uq0_16_t; @@ -296,11 +303,11 @@ typedef uint16_t uq0_16_t; ***** Q11.4 ******************************************************************************/ /*!*************************************************************************** - * @brief Signed fixed point number: Q11.4 - * @details A signed fixed point number format based on the 16-bit signed - * integer type with 11 integer and 4 fractional bits. - * - Range: -2048 ... 2047.9375 - * - Granularity: 0.0625 + * @brief Signed fixed point number: Q11.4 + * @details A signed fixed point number format based on the 16-bit signed + * integer type with 11 integer and 4 fractional bits. + * - Range: -2048 ... 2047.9375 + * - Granularity: 0.0625 *****************************************************************************/ typedef int16_t q11_4_t; @@ -319,11 +326,11 @@ typedef int16_t q11_4_t; ***** Q7.8 ******************************************************************************/ /*!*************************************************************************** - * @brief Signed fixed point number: Q7.8 - * @details A signed fixed point number format based on the 16-bit signed - * integer type with 7 integer and 8 fractional bits. - * - Range: -128 .. 127.99609375 - * - Granularity: 0.00390625 + * @brief Signed fixed point number: Q7.8 + * @details A signed fixed point number format based on the 16-bit signed + * integer type with 7 integer and 8 fractional bits. + * - Range: -128 .. 127.99609375 + * - Granularity: 0.00390625 *****************************************************************************/ typedef int16_t q7_8_t; @@ -342,11 +349,11 @@ typedef int16_t q7_8_t; ***** Q3.12 ******************************************************************************/ /*!*************************************************************************** - * @brief Signed fixed point number: Q3.12 - * @details A signed fixed point number format based on the 16-bit integer - * type with 3 integer and 12 fractional bits. - * - Range: -8 .. 7.99975586 - * - Granularity: 0.00024414 + * @brief Signed fixed point number: Q3.12 + * @details A signed fixed point number format based on the 16-bit integer + * type with 3 integer and 12 fractional bits. + * - Range: -8 .. 7.99975586 + * - Granularity: 0.00024414 *****************************************************************************/ typedef int16_t q3_12_t; @@ -365,11 +372,11 @@ typedef int16_t q3_12_t; ***** Q0.15 ******************************************************************************/ /*!*************************************************************************** - * @brief Signed fixed point number: Q0.15 - * @details A signed fixed point number format based on the 16-bit integer - * type with 0 integer and 15 fractional bits. - * - Range: -1 .. 0.999969482 - * - Granularity: 0.000030518 + * @brief Signed fixed point number: Q0.15 + * @details A signed fixed point number format based on the 16-bit integer + * type with 0 integer and 15 fractional bits. + * - Range: -1 .. 0.999969482 + * - Granularity: 0.000030518 *****************************************************************************/ typedef int16_t q0_15_t; @@ -389,11 +396,11 @@ typedef int16_t q0_15_t; ***** UQ28.4 ******************************************************************************/ /*!*************************************************************************** - * @brief Unsigned fixed point number: UQ28.4 - * @details An unsigned fixed point number format based on the 32-bit unsigned - * integer type with 28 integer and 4 fractional bits. - * - Range: 0 ... 268435455.9375 - * - Granularity: 0.0625 + * @brief Unsigned fixed point number: UQ28.4 + * @details An unsigned fixed point number format based on the 32-bit unsigned + * integer type with 28 integer and 4 fractional bits. + * - Range: 0 ... 268435455.9375 + * - Granularity: 0.0625 *****************************************************************************/ typedef uint32_t uq28_4_t; @@ -409,11 +416,11 @@ typedef uint32_t uq28_4_t; ***** UQ16.16 ******************************************************************************/ /*!*************************************************************************** - * @brief Unsigned fixed point number: UQ16.16 - * @details An unsigned fixed point number format based on the 32-bit unsigned - * integer type with 16 integer and 16 fractional bits. - * - Range: 0 ... 65535.999984741 - * - Granularity: 0.000015259 + * @brief Unsigned fixed point number: UQ16.16 + * @details An unsigned fixed point number format based on the 32-bit unsigned + * integer type with 16 integer and 16 fractional bits. + * - Range: 0 ... 65535.999984741 + * - Granularity: 0.000015259 *****************************************************************************/ typedef uint32_t uq16_16_t; @@ -432,11 +439,11 @@ typedef uint32_t uq16_16_t; ***** UQ10.22 ******************************************************************************/ /*!*************************************************************************** - * @brief Unsigned fixed point number: UQ10.22 - * @details An unsigned fixed point number format based on the 32-bit unsigned - * integer type with 10 integer and 22 fractional bits. - * - Range: 0 ... 1023.99999976158 - * - Granularity: 2.38418579101562E-07 + * @brief Unsigned fixed point number: UQ10.22 + * @details An unsigned fixed point number format based on the 32-bit unsigned + * integer type with 10 integer and 22 fractional bits. + * - Range: 0 ... 1023.99999976158 + * - Granularity: 2.38418579101562E-07 *****************************************************************************/ typedef uint32_t uq10_22_t; @@ -456,11 +463,11 @@ typedef uint32_t uq10_22_t; ***** Q27.4 ******************************************************************************/ /*!*************************************************************************** - * @brief Signed fixed point number: Q27.4 - * @details A signed fixed point number format based on the 32-bit signed - * integer type with 27 integer and 4 fractional bits. - * - Range: -134217728 ... 134217727.9375 - * - Granularity: 0.0625 + * @brief Signed fixed point number: Q27.4 + * @details A signed fixed point number format based on the 32-bit signed + * integer type with 27 integer and 4 fractional bits. + * - Range: -134217728 ... 134217727.9375 + * - Granularity: 0.0625 *****************************************************************************/ typedef int32_t q27_4_t; @@ -475,15 +482,35 @@ typedef int32_t q27_4_t; +/******************************************************************************* + ***** Q16.15 + ******************************************************************************/ +/*!*************************************************************************** + * @brief Signed fixed point number: Q16.15 + * @details A signed fixed point number format based on the 32-bit integer + * type with 16 integer and 15 fractional bits. + * - Range: -65536 .. 65536.999969482 + * - Granularity: 0.000030518 + *****************************************************************************/ +typedef int32_t q16_15_t; + +/*! Minimum value of Q16.15 number format. */ +#define Q16_15_MIN ((q16_15_t)INT32_MIN) + +/*! Maximum value of Q16.15 number format. */ +#define Q16_15_MAX ((q16_15_t)INT32_MAX) + + + /******************************************************************************* ***** Q15.16 ******************************************************************************/ /*!*************************************************************************** - * @brief Signed fixed point number: Q15.16 - * @details A signed fixed point number format based on the 32-bit integer - * type with 15 integer and 16 fractional bits. - * - Range: -32768 .. 32767.99998 - * - Granularity: 1.52588E-05 + * @brief Signed fixed point number: Q15.16 + * @details A signed fixed point number format based on the 32-bit integer + * type with 15 integer and 16 fractional bits. + * - Range: -32768 .. 32767.99998 + * - Granularity: 1.52588E-05 *****************************************************************************/ typedef int32_t q15_16_t; @@ -502,11 +529,11 @@ typedef int32_t q15_16_t; ***** Q9.22 ******************************************************************************/ /*!*************************************************************************** - * @brief Signed fixed point number: Q9.22 - * @details A signed fixed point number format based on the 32-bit integer - * type with 9 integer and 22 fractional bits. - * - Range: -512 ... 511.9999998 - * - Granularity: 2.38418579101562E-07 + * @brief Signed fixed point number: Q9.22 + * @details A signed fixed point number format based on the 32-bit integer + * type with 9 integer and 22 fractional bits. + * - Range: -512 ... 511.9999998 + * - Granularity: 2.38418579101562E-07 *****************************************************************************/ typedef int32_t q9_22_t; @@ -522,4 +549,7 @@ typedef int32_t q9_22_t; /*! @} */ +#ifdef __cplusplus +} // extern "C" +#endif #endif /* FP_DEF_H */ diff --git a/src/drivers/distance_sensor/broadcom/afbrs50/Inc/utility/fp_div.h b/src/drivers/distance_sensor/broadcom/afbrs50/Inc/utility/fp_div.h new file mode 100644 index 000000000000..09c6fdfdc3d7 --- /dev/null +++ b/src/drivers/distance_sensor/broadcom/afbrs50/Inc/utility/fp_div.h @@ -0,0 +1,179 @@ +/*************************************************************************//** + * @file + * @brief This file is part of the AFBR-S50 API. + * @details Provides definitions and basic macros for fixed point data types. + * + * @copyright + * + * Copyright (c) 2023, Broadcom Inc. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, this + * list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * 3. Neither the name of the copyright holder nor the names of its + * contributors may be used to endorse or promote products derived from + * this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE + * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL + * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, + * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + *****************************************************************************/ + +#ifndef FP_DIV_H +#define FP_DIV_H +#ifdef __cplusplus +extern "C" { +#endif + +/*!*************************************************************************** + * @addtogroup argus_fp + * @{ + *****************************************************************************/ + +#include "fp_def.h" +#include "int_math.h" + +/*!*************************************************************************** + * Set to use hardware division (Cortex-M3/4) over software division (Cortex-M0/1). + *****************************************************************************/ +#ifndef USE_HW_DIV +#define USE_HW_DIV 0 +#endif + +/*!*************************************************************************** + * @brief 32-bit implementation of an Q15.16 division. + * + * @details Algorithm to evaluate a/b, where b is in Q15.16 format, on a 32-bit + * architecture with maximum precision. + * The result is correctly rounded and given as the input format. + * Division by 0 yields max. values determined by signs of numerator. + * Too high/low results are truncated to max/min values. + * + * Depending on the architecture, the division is implemented with a 64-bit + * division and shifting (Cortex-M3/4) or as a fast software algorithm + * (Cortex-M0/1) wich runs fast on processors without hardware division. + * + * @see https://code.google.com/archive/p/libfixmath + * + * @param a Numerator in any Qx.y format + * @param b Denominator in Q15.16 format + * @return Result = a/b in the same Qx.y format as the input parameter a. + *****************************************************************************/ +inline int32_t fp_div16(int32_t a, q15_16_t b) +{ + //assert(b); + if (b == 0) { return a < 0 ? INT32_MIN : INT32_MAX; } + +#if USE_HW_DIV + // Tested on Cortex-M4, it takes approx. 75% of the + // software algorithm below. + int64_t c = ((int64_t) a) << 30U; + + if ((uint32_t)(a ^ b) & 0x80000000U) { + c = (((-c) / b) + (1 << 13U)) >> 14U; + + if (c > 0x80000000U) { return INT32_MIN; } + + return (int32_t) - c; + + } else { + c = ((c / b) + (1 << 13U)) >> 14U; + + if (c > (int64_t)INT32_MAX) { return INT32_MAX; } + + return (int32_t)c; + } + +#else + // This uses the basic binary restoring division algorithm. + // It appears to be faster to do the whole division manually than + // trying to compose a 64-bit divide out of 32-bit divisions on + // platforms without hardware divide. + // Tested on Cortex-M0, it takes approx. 33% of the time of the + // 64-bit version above. + + uint32_t remainder = absval(a); + uint32_t divider = absval(b); + + uint32_t quotient = 0; + uint32_t bit = 0x10000U; + + /* The algorithm requires D >= R */ + while (divider < remainder) { + divider <<= 1U; + bit <<= 1U; + } + + if (!bit) { + if ((uint32_t)(a ^ b) & 0x80000000U) { // return truncated values + return INT32_MIN; + + } else { + return INT32_MAX; + } + } + + if (divider & 0x80000000U) { + // Perform one step manually to avoid overflows later. + // We know that divider's bottom bit is 0 here. + if (remainder >= divider) { + quotient |= bit; + remainder -= divider; + } + + divider >>= 1U; + bit >>= 1U; + } + + /* Main division loop */ + while (bit && remainder) { + if (remainder >= divider) { + quotient |= bit; + remainder -= divider; + } + + remainder <<= 1U; + bit >>= 1U; + } + + if (remainder >= divider) { + quotient++; + } + + uint32_t result = quotient; + + /* Figure out the sign of result */ + if ((uint32_t)(a ^ b) & 0x80000000U) { + return (int32_t) - result; + + } else { + // fix 05.10.2023; the corner case, when result == INT32_MAX + 1: + // Catch the wraparound (to INT32_MIN) and truncate instead. + if (quotient > INT32_MAX) { return INT32_MAX; } + + return (int32_t)result; + } + +#endif +} + +/*! @} */ +#ifdef __cplusplus +} // extern "C" +#endif +#endif /* FP_DIV_H */ diff --git a/src/drivers/distance_sensor/broadcom/afbrs50/Inc/utility/fp_ema.h b/src/drivers/distance_sensor/broadcom/afbrs50/Inc/utility/fp_ema.h new file mode 100644 index 000000000000..f8c494a630a0 --- /dev/null +++ b/src/drivers/distance_sensor/broadcom/afbrs50/Inc/utility/fp_ema.h @@ -0,0 +1,204 @@ +/*************************************************************************//** + * @file + * @brief This file is part of the AFBR-S50 API. + * @details Provides averaging algorithms for fixed point data types. + * + * @copyright + * + * Copyright (c) 2023, Broadcom Inc. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, this + * list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * 3. Neither the name of the copyright holder nor the names of its + * contributors may be used to endorse or promote products derived from + * this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE + * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL + * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, + * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + *****************************************************************************/ + +#ifndef FP_EMA_H +#define FP_EMA_H +#ifdef __cplusplus +extern "C" { +#endif + +/*!*************************************************************************** + * @addtogroup argus_fp + * @{ + *****************************************************************************/ + +#include "fp_def.h" + +#include "utility/fp_rnd.h" +#include "utility/fp_mul.h" + +/*!*************************************************************************** + * @brief Circular exponentially weighted moving average using UQ1.15 format. + * + * @details Evaluates the moving average (exponentially weighted) for circular + * data in UQ1.15 format. + * Circular data is that MAX_VALUE + 1 == MIN_VALUE. For example the + * usual phase information. + * + * Problem: Due to circularity of phase values, i.e. 0+x and 2PI+x are + * the same, the usual EMA has issues with the wrap around effect. + * Especially for vectors with phase around 0 (or 2PI), two values + * like 0 + x and PI - y are averaged to something around PI instead + * of 0 which would be more correct. + * + * Solution: Assume that phase jumps of more than PI are not allowed + * or possible. If a deviation of the new value to the smoothed signal + * occurs, it is clear that this stems from the wrap around effect and + * can be caught and correctly handled by the smoothing algorithm. + * + * Caution: If a target comes immediately into the field of view, phase + * jumps of > PI are indeed possible and volitional. However, the + * averaging break there anyway since the smoothed signal approaches + * only with delay to the correct values. The error made here is, that + * the smoothed signal approaches from the opposite direction. However, + * is approaches even faster since it always takes the shortest + * direction. + * + * @param mean The previous mean value in UQ1.15 format. + * @param x The current value to be added to the average UQ1.15 format. + * @param weight The EMA weight in UQ0.7 format. + * @return The new mean value in UQ1.15 format. + *****************************************************************************/ +inline uq1_15_t fp_ema15c(uq1_15_t mean, uq1_15_t x, uq0_8_t weight) +{ + if (weight == 0) { return x; } + + // Heeds the wrap around effect by casting dx to int16: + const int16_t dx = (int16_t)(x - mean); + const int32_t diff = weight * dx; + return (uq1_15_t)fp_rnds((mean << 8U) + diff, 8U); +} + +/*!*************************************************************************** + * @brief Exponentially weighted moving average using the Q11.4 format. + * + * @details Evaluates the moving average (exponentially weighted) for data in + * Q11.4 format. + * + * @param mean The previous mean value in Q11.4 format. + * @param x The current value to be added to the average Q11.4 format. + * @param weight The EMA weight in UQ0.7 format. + * @return The new mean value in Q11.4 format. + *****************************************************************************/ +inline q11_4_t fp_ema4(q11_4_t mean, q11_4_t x, uq0_8_t weight) +{ + if (weight == 0) { return x; } + + const int32_t dx = x - mean; + const int32_t diff = weight * dx; + return (q11_4_t)fp_rnds((mean << 8U) + diff, 8U); +} + +/*!*************************************************************************** + * @brief Exponentially weighted moving average using the Q7.8 format. + * + * @details Evaluates the moving average (exponentially weighted) for data in + * Q7.8 format. + * + * @param mean The previous mean value in Q7.8 format. + * @param x The current value to be added to the average Q7.8 format. + * @param weight The EMA weight in UQ0.7 format. + * @return The new mean value in Q7.8 format. + *****************************************************************************/ +inline q7_8_t fp_ema8(q7_8_t mean, q7_8_t x, uq0_8_t weight) +{ + return (q7_8_t)fp_ema4(mean, x, weight); +} + +/*!*************************************************************************** + * @brief Exponentially weighted moving average using the Q15.16 format. + * + * @details Evaluates the moving average (exponentially weighted) for data in + * Q15.16 format. + * + * @param mean The previous mean value in Q15.16 format. + * @param x The current value to be added to the average Q15.16 format. + * @param weight The EMA weight in UQ0.7 format. + * @return The new mean value in Q15.16 format. + *****************************************************************************/ +inline uint32_t uint_ema32(uint32_t mean, uint32_t x, uq0_8_t weight) +{ + if (weight == 0) { return x; } + + if (x > mean) { + const uint32_t dx = x - mean; + const uint32_t diff = fp_mulu(weight, dx, 8U); + return mean + diff; + + } else { + const uint32_t dx = mean - x; + const uint32_t diff = fp_mulu(weight, dx, 8U); + return mean - diff; + } +} +/*!*************************************************************************** + * @brief Exponentially weighted moving average using the Q15.16 format. + * + * @details Evaluates the moving average (exponentially weighted) for data in + * Q15.16 format. + * + * @param mean The previous mean value in Q15.16 format. + * @param x The current value to be added to the average Q15.16 format. + * @param weight The EMA weight in UQ0.7 format. + * @return The new mean value in Q15.16 format. + *****************************************************************************/ +inline int32_t int_ema32(int32_t mean, int32_t x, uq0_8_t weight) +{ + if (weight == 0) { return x; } + + if (x > mean) { + const uint32_t dx = x - mean; + const uint32_t diff = fp_mulu(weight, dx, 8U); + return mean + diff; + + } else { + const uint32_t dx = mean - x; + const uint32_t diff = fp_mulu(weight, dx, 8U); + return mean - diff; + } +} + +/*!*************************************************************************** + * @brief Exponentially weighted moving average using the Q15.16 format. + * + * @details Evaluates the moving average (exponentially weighted) for data in + * Q15.16 format. + * + * @param mean The previous mean value in Q15.16 format. + * @param x The current value to be added to the average Q15.16 format. + * @param weight The EMA weight in UQ0.7 format. + * @return The new mean value in Q15.16 format. + *****************************************************************************/ +inline q15_16_t fp_ema16(q15_16_t mean, q15_16_t x, uq0_8_t weight) +{ + return (q15_16_t)int_ema32(mean, x, weight); +} + +/*! @} */ +#ifdef __cplusplus +} // extern "C" +#endif +#endif /* FP_EMA_H */ diff --git a/src/drivers/distance_sensor/broadcom/afbrs50/Inc/utility/fp_exp.h b/src/drivers/distance_sensor/broadcom/afbrs50/Inc/utility/fp_exp.h new file mode 100644 index 000000000000..f845ca6e0044 --- /dev/null +++ b/src/drivers/distance_sensor/broadcom/afbrs50/Inc/utility/fp_exp.h @@ -0,0 +1,69 @@ +/*************************************************************************//** + * @file + * @brief This file is part of the AFBR-S50 API. + * @details This file provides an exponential function for fixed point type. + * + * @copyright + * + * Copyright (c) 2023, Broadcom Inc. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, this + * list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * 3. Neither the name of the copyright holder nor the names of its + * contributors may be used to endorse or promote products derived from + * this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE + * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL + * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, + * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + *****************************************************************************/ + +#ifndef FP_EXP_H +#define FP_EXP_H +#ifdef __cplusplus +extern "C" { +#endif + +/*!*************************************************************************** + * @addtogroup argus_fp + * @{ + *****************************************************************************/ + +#include "fp_def.h" + +/*!*************************************************************************** + * @brief Calculates the exponential of an fixed point number Q15.16 format. + * + * @details Calculates y = exp(x) in fixed point representation. + * + * Note that the result might not be 100 % accurate and might contain + * a small error! + * + * @see https://www.quinapalus.com/efunc.html + * + * @param x The input parameter in unsigned fixed point format Q15.16. + * @return Result y = exp(x) in the UQ16.16 format. + *****************************************************************************/ +uq16_16_t fp_exp16(q15_16_t x); + +/*! @} */ +#ifdef __cplusplus +} // extern "C" +#endif +#endif /* FP_DIV_H */ diff --git a/src/drivers/distance_sensor/broadcom/afbrs50/Inc/utility/fp_log.h b/src/drivers/distance_sensor/broadcom/afbrs50/Inc/utility/fp_log.h new file mode 100644 index 000000000000..6bc42b2ec737 --- /dev/null +++ b/src/drivers/distance_sensor/broadcom/afbrs50/Inc/utility/fp_log.h @@ -0,0 +1,69 @@ +/*************************************************************************//** + * @file + * @brief This file is part of the AFBR-S50 API. + * @details This file provides an logarithm function for fixed point type. + * + * @copyright + * + * Copyright (c) 2023, Broadcom Inc. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, this + * list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * 3. Neither the name of the copyright holder nor the names of its + * contributors may be used to endorse or promote products derived from + * this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE + * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL + * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, + * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + *****************************************************************************/ + +#ifndef FP_LOG_H +#define FP_LOG_H +#ifdef __cplusplus +extern "C" { +#endif + +/*!*************************************************************************** + * @addtogroup argus_fp + * @{ + *****************************************************************************/ + +#include "fp_def.h" + +/*!*************************************************************************** + * @brief Calculates the natural logarithm (base e) of an fixed point number. + * + * @details Calculates y = ln(x) = log_e(x) in fixed point representation. + * + * Note that the result might not be 100 % accurate and might contain + * a small error! + * + * @see https://www.quinapalus.com/efunc.html + * + * @param x The input parameter in unsigned fixed point format Q15.16. + * @return Result y = ln(x) in the UQ16.16 format. + *****************************************************************************/ +q15_16_t fp_log16(uq16_16_t x); + +/*! @} */ +#ifdef __cplusplus +} // extern "C" +#endif +#endif /* FP_DIV_H */ diff --git a/src/drivers/distance_sensor/broadcom/afbrs50/Inc/utility/fp_mul.h b/src/drivers/distance_sensor/broadcom/afbrs50/Inc/utility/fp_mul.h new file mode 100644 index 000000000000..e0996d6d78a5 --- /dev/null +++ b/src/drivers/distance_sensor/broadcom/afbrs50/Inc/utility/fp_mul.h @@ -0,0 +1,237 @@ +/*************************************************************************//** + * @file + * @brief This file is part of the AFBR-S50 API. + * @details Provides definitions and basic macros for fixed point data types. + * + * @copyright + * + * Copyright (c) 2023, Broadcom Inc. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, this + * list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * 3. Neither the name of the copyright holder nor the names of its + * contributors may be used to endorse or promote products derived from + * this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE + * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL + * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, + * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + *****************************************************************************/ + +#ifndef FP_MUL_H +#define FP_MUL_H +#ifdef __cplusplus +extern "C" { +#endif + +/*!*************************************************************************** + * @addtogroup argus_fp + * @{ + *****************************************************************************/ + +#include "fp_def.h" +#include "utility/fp_rnd.h" + +/*!*************************************************************************** + * Set to use hardware division (Cortex-M3/4) over software division (Cortex-M0/1). + *****************************************************************************/ +#ifndef USE_64BIT_MUL +#define USE_64BIT_MUL 0 +#endif + +#if !USE_64BIT_MUL +/*!*************************************************************************** + * @brief Long multiplication of two unsigned 32-bit into an 64-bit value on + * 32-bit architecture. + * + * @details w (two words) gets the product of u and v (one word each). + * w[0] is the most significant word of the result, w[1] the least. + * (The words are in big-endian order). + * It is Knuth's Algorithm M from [Knu2] section 4.3.1. + * * + * @see http://www.hackersdelight.org/hdcodetxt/muldwu.c.txt + * + * @param w The result (u * v) value given as two unsigned 32-bit numbers: + * w[0] is the most significant word of the result, w[1] the least. + * (The words are in big-endian order). + * @param u Left hand side of the multiplication. + * @param v Right hand side of the multiplication. + *****************************************************************************/ +inline void muldwu(uint32_t w[], uint32_t u, uint32_t v) +{ + const uint32_t u0 = u >> 16U; + const uint32_t u1 = u & 0xFFFFU; + const uint32_t v0 = v >> 16U; + const uint32_t v1 = v & 0xFFFFU; + + uint32_t t = u1 * v1; + const uint32_t w3 = t & 0xFFFFU; + uint32_t k = t >> 16U; + + t = u0 * v1 + k; + const uint32_t w2 = t & 0xFFFFU; + const uint32_t w1 = t >> 16U; + + t = u1 * v0 + w2; + k = t >> 16U; + + w[0] = u0 * v0 + w1 + k; + w[1] = (t << 16U) + w3; +} +#endif + +/*!*************************************************************************** + * @brief 64-bit implementation of an unsigned multiplication with fixed point format. + * + * @details Algorithm to evaluate a*b, where a and b are arbitrary fixed point + * number of 32-bit width. The multiplication is done in 64-bit and + * the result is shifted down by the passed shift parameter in order + * to return a 32-bit value. + * The shift is executed with correct rounding. + * + * Note that the result must fit into the 32-bit value. An assertion + * error occurs otherwise (or undefined behavior of no assert available). + * + * @param u The left parameter in UQx1.y1 format + * @param v The right parameter in UQx2.y2 format + * @param shift The final right shift (rounding) value. + * @return Result = (a*b)>>shift in UQx.(y1+y2-shift) format. + *****************************************************************************/ +inline uint32_t fp_mulu(uint32_t u, uint32_t v, uint_fast8_t shift) +{ + assert(shift <= 32); +#if USE_64BIT_MUL + const uint64_t w = (uint64_t)u * (uint64_t)v; + return (uint32_t)((w >> shift) + ((w >> (shift - 1)) & 1U)); +#else + uint32_t tmp[2] = { 0 }; + muldwu(tmp, u, v); + + assert(shift ? tmp[0] <= (UINT32_MAX >> (32 - shift)) : tmp[0] == 0); + + if (32 - shift) { + return ((tmp[0] << (32 - shift)) + fp_rndu(tmp[1], shift)); + + } else { + return tmp[1] > (UINT32_MAX >> 1) ? tmp[0] + 1 : tmp[0]; + } + +#endif +} + +/*!*************************************************************************** + * @brief 64-bit implementation of a signed multiplication with fixed point format. + * + * @details Algorithm to evaluate a*b, where a and b are arbitrary fixed point + * number of 32-bit width. The multiplication is done in 64-bit and + * the result is shifted down by the passed shift parameter in order + * to return a 32-bit value. + * The shift is executed with correct rounding. + * + * Note that the result must fit into the 32-bit value. An assertion + * error occurs otherwise (or undefined behavior of no assert available). + * + * @param u The left parameter in Qx1.y1 format + * @param v The right parameter in Qx2.y2 format + * @param shift The final right shift (rounding) value. + * @return Result = (a*b)>>shift in Qx.(y1+y2-shift) format. + *****************************************************************************/ +inline int32_t fp_muls(int32_t u, int32_t v, uint_fast8_t shift) +{ + int_fast8_t sign = 1; + + uint32_t u2, v2; + + if (u < 0) { u2 = (uint32_t) - u; sign = -sign; } else { u2 = (uint32_t)u; } + + if (v < 0) { v2 = (uint32_t) - v; sign = -sign; } else { v2 = (uint32_t)v; } + + const uint32_t res = fp_mulu(u2, v2, shift); + + assert(sign > 0 ? res <= 0x7FFFFFFFU : res <= 0x80000000U); + + return sign > 0 ? (int32_t)res : -(int32_t)res; +} + + +/*!*************************************************************************** + * @brief 48-bit implementation of a unsigned multiplication with fixed point format. + * + * @details Algorithm to evaluate a*b, where a and b are arbitrary fixed point + * numbers with 32-bit unsigned and 16-bit unsigned format respectively. + * The multiplication is done in two 16x16-bit operations and the + * result is shifted down by the passed shift parameter in order to + * return a 32-bit value. + * + * Note that the result must fit into the 32-bit value. An assertion + * error occurs otherwise (or undefined behavior of no assert available). + * + * @param u The left parameter in Qx1.y1 format + * @param v The right parameter in Qx2.y2 format + * @param shift The final right shift (rounding) value. + * @return Result = (a*b)>>shift in Qx.(y1+y2-shift) format. + *****************************************************************************/ +inline uint32_t fp_mul_u32_u16(uint32_t u, uint16_t v, uint_fast8_t shift) +{ + assert(shift <= 48); + + if (shift > 16) { + uint32_t msk = 0xFFFFU; + uint32_t a = (u >> 16U) * v; + uint32_t b = (msk & u) * v; + return fp_rndu(a, shift - 16) + fp_rndu(b, shift); + + } else { + uint32_t msk = ~(0xFFFFFFFFU << shift); + uint32_t a = (u >> shift) * v; + uint32_t b = fp_rndu((msk & u) * v, shift); + return a + b; + } +} + +/*!*************************************************************************** + * @brief 48-bit implementation of an unsigned/signed multiplication with fixed point format. + * + * @details Algorithm to evaluate a*b, where a and b are arbitrary fixed point + * numbers with 32-bit signed and 16-bit unsigned format respectively. + * The multiplication is done in two 16x16-bit operations and the + * result is shifted down by the passed shift parameter in order to + * return a 32-bit value. + * The shift is executed with correct rounding. + * + * Note that the result must fit into the 32-bit value. An assertion + * error occurs otherwise (or undefined behavior of no assert available). + * + * @param u The left parameter in Qx1.y1 format + * @param v The right parameter in Qx2.y2 format + * @param shift The final right shift (rounding) value. + * @return Result = (a*b)>>shift in Qx.(y1+y2-shift) format. + *****************************************************************************/ +inline int32_t fp_mul_s32_u16(int32_t u, uint16_t v, uint_fast8_t shift) +{ + return u >= 0 ? + (int32_t)fp_mul_u32_u16((uint32_t)u, v, shift) : + -(int32_t)fp_mul_u32_u16((uint32_t) - u, v, shift); +} + +/*! @} */ +#ifdef __cplusplus +} // extern "C" +#endif +#endif /* FP_MUL_H */ diff --git a/src/drivers/distance_sensor/broadcom/afbrs50/Inc/utility/fp_rnd.h b/src/drivers/distance_sensor/broadcom/afbrs50/Inc/utility/fp_rnd.h new file mode 100644 index 000000000000..056f2e027df2 --- /dev/null +++ b/src/drivers/distance_sensor/broadcom/afbrs50/Inc/utility/fp_rnd.h @@ -0,0 +1,118 @@ +/*************************************************************************//** + * @file + * @brief This file is part of the AFBR-S50 API. + * @details Provides definitions and basic macros for fixed point data types. + * + * @copyright + * + * Copyright (c) 2023, Broadcom Inc. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, this + * list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * 3. Neither the name of the copyright holder nor the names of its + * contributors may be used to endorse or promote products derived from + * this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE + * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL + * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, + * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + *****************************************************************************/ + +#ifndef FP_RND_H +#define FP_RND_H +#ifdef __cplusplus +extern "C" { +#endif + +/*!*************************************************************************** + * @addtogroup argus_fp + * @{ + *****************************************************************************/ + +#include "fp_def.h" +#include + +/*!*************************************************************************** + * @brief Converting with rounding from UQx.n1 to UQx.n2. + * @details Equivalent to dividing by 2^n with correct rounding to unsigned + * integer values. + * @param Q The number in (U)Qx.n1 fixed point format to be rounded. + * @param n The number of bits to be rounded, + * e.g. UQ8.8 -> UQ12.4 => n = 8 - 4 = 4. + * @return The rounded value in (U)Qx.n2 format. + *****************************************************************************/ +inline uint32_t fp_rndu(uint32_t Q, uint_fast8_t n) +{ + if (n == 0) { return Q; } + + else if (n > 32U) { return 0; } + + // Shift by n>=32 yields undefined behavior! Thus, this extra first + // step is essential to prevent issues. + Q >>= n - 1; + return (Q >> 1) + (Q & 1U); +} + +/*!*************************************************************************** + * @brief Converting with rounding from Qx.n1 to Qx.n2. + * @details Equivalent to dividing by 2^n with correct rounding to integer + * values. + * @param Q The number in (U)Qx.n1 fixed point format to be rounded. + * @param n The number of bits to be rounded, + * e.g. Q7.8 -> Q11.4 => n = 8 - 4 = 4. + * @return The rounded value in (U)Qx.n2 format. + *****************************************************************************/ +inline int32_t fp_rnds(int32_t Q, uint_fast8_t n) +{ + return (Q < 0) ? -(int32_t)fp_rndu((uint32_t)(-Q), n) : (int32_t)fp_rndu((uint32_t)Q, n); +} + +/*!*************************************************************************** + * @brief Converting with truncation from UQx.n1 to UQx.n2. + * @details Equivalent to dividing by 2^n with truncating (throw away) the + * fractional part, resulting in an unsigned integer/fixed-point value. + * @param Q The number in (U)Qx.n1 fixed point format to be truncated. + * @param n The number of bits to be truncated, + * e.g. UQ8.8 -> UQ12.4 => n = 8 - 4 = 4. + * @return The truncated value in (U)Qx.n2 format. + *****************************************************************************/ +inline uint32_t fp_truncu(uint32_t Q, uint_fast8_t n) +{ + return (n < 32U) ? (Q >> n) : 0; +} + +/*!*************************************************************************** + * @brief Converting with truncation from Qx.n1 to Qx.n2. + * @details Equivalent to dividing by 2^n with truncating (throw away) the + * fractional part, resulting in a signed integer/fixed-point value. + * @param Q The number in (U)Qx.n1 fixed point format to be truncated. + * @param n The number of bits to be truncated, + * e.g. Q7.8 -> Q11.4 => n = 8 - 4 = 4. + * @return The truncated value in (U)Qx.n2 format. + *****************************************************************************/ +inline int32_t fp_truncs(int32_t Q, uint_fast8_t n) +{ + return (Q < 0) ? -(int32_t)fp_truncu((uint32_t)(-Q), n) : (int32_t)fp_truncu((uint32_t)Q, n); +} + +/*! @} */ +#ifdef __cplusplus +} // extern "C" +#endif +#endif /* FP_RND_H */ diff --git a/src/drivers/distance_sensor/broadcom/afbrs50/Inc/utility/int_math.h b/src/drivers/distance_sensor/broadcom/afbrs50/Inc/utility/int_math.h new file mode 100644 index 000000000000..b9b200414663 --- /dev/null +++ b/src/drivers/distance_sensor/broadcom/afbrs50/Inc/utility/int_math.h @@ -0,0 +1,281 @@ +/*************************************************************************//** + * @file + * @brief This file is part of the AFBR-S50 API. + * @details Provides algorithms applied to integer values. + * + * @copyright + * + * Copyright (c) 2023, Broadcom Inc. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, this + * list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * 3. Neither the name of the copyright holder nor the names of its + * contributors may be used to endorse or promote products derived from + * this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE + * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL + * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, + * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + *****************************************************************************/ + +#ifndef INT_MATH +#define INT_MATH +#ifdef __cplusplus +extern "C" { +#endif + +/*!*************************************************************************** + * @addtogroup argus_misc + * @{ + *****************************************************************************/ + +#include +#include + +/*! Enables the integer square root function. */ +#ifndef INT_SQRT +#define INT_SQRT 0 +#endif + +/*!*************************************************************************** + * @brief Integer Base-2 Logarithm. + * + * @details Calculates the base-2 logarithm for unsigned integer values. The + * result is the integer equivalent of floor(log2(x)). + * + * @param x Input parameter. + * @return The floor of the base-2 logarithm. + *****************************************************************************/ +inline uint32_t log2i(uint32_t x) +{ + assert(x != 0); +#if 1 + return (uint32_t)(31 - __builtin_clz(x)); +#else +#define S(k) if (x >= (1 << k)) { i += k; x >>= k; } + int i = 0; S(16); S(8); S(4); S(2); S(1); return i; +#undef S +#endif +} + +/*!*************************************************************************** + * @brief Integer Base-2 Logarithm with rounded result. + * + * @details Calculates the base-2 logarithm for unsigned integer values and + * returns the rounded result. The result is the integer equivalent + * of round(log2(x)). + * + * It is finding the nearest power-of-two value s.t. |x - 2^n| becomes + * minimum for all n. + * + * @param x Input parameter. + * @return The rounded value of the base-2 logarithm. + *****************************************************************************/ +inline uint32_t log2_round(uint32_t x) +{ + assert(x != 0); +#if 0 + const uint32_t y = x; + const uint32_t i = 0; + + while (y >>= 1) { i++; } + +#else + const uint32_t i = log2i(x); +#endif + return (i + ((x >> (i - 1U)) == 3U)); +} + +/*!*************************************************************************** + * @brief Finding the nearest power-of-two value. + * + * @details Implemented s.t. |x - 2^n| becomes minimum for all n. + * Special case 0: returns 0; + * Maximum input: 3037000499; higher number result in overflow! (returns 0) + * + * @param x Input parameter. + * @return Nearest power-of-two number, i.e. 2^n. + *****************************************************************************/ +inline uint32_t binary_round(uint32_t x) +{ + assert(x != 0); + const uint32_t shift = log2_round(x); + return (shift > 31U) ? 0 : 1U << shift; +} + +/*!*************************************************************************** + * @brief Counting bits set in a 32-bit unsigned integer. + * + * @details @see http://graphics.stanford.edu/~seander/bithacks.html + * + * @param x Input parameter. + * @return Number of bits set in input value. + *****************************************************************************/ +inline uint32_t popcount(uint32_t x) +{ + // http://graphics.stanford.edu/~seander/bithacks.html#CountBitsSetParallel + x = x - ((x >> 1) & 0x55555555); + x = (x & 0x33333333) + ((x >> 2) & 0x33333333); + return (((x + (x >> 4)) & 0xF0F0F0F) * 0x1010101) >> 24; +} + +/*!*************************************************************************** + * @brief Determining if an integer is a power of 2 + * + * @details @see http://graphics.stanford.edu/~seander/bithacks.html + * + * @param x Input parameter. + * @return True if integer is power of 2. + *****************************************************************************/ +inline uint32_t ispowoftwo(uint32_t x) +{ + return x && !(x & (x - 1)); +} + +/*!*************************************************************************** + * @brief Calculates the absolute value. + * + * @param x Input parameter. + * @return The absolute value of x. + *****************************************************************************/ +inline uint32_t absval(int32_t x) +{ + // Note: special case of INT32_MIN must be handled correctly: + return x < 0 ? ((~(uint32_t)(x)) + 1) : (uint32_t)x; + + /* alternative with equal performance:*/ +// int32_t y = x >> 31; +// return (x ^ y) - y; + /* wrong implementation: + * does not correctly return abs(INT32_MIN) on 32-bit platform */ +// return x < 0 ? (uint32_t)(-x) : (uint32_t)x; +} + +/*!*************************************************************************** + * @brief Calculates the floor division by a factor of 2: floor(x / 2^n). + * + * @param x Input parameter. + * @param n The shift value, maximum is 31. + * @return The floor division by 2^n result. + *****************************************************************************/ +inline uint32_t floor2(uint32_t x, uint_fast8_t n) +{ + assert(n < 32); + return x >> n; +} + +/*!*************************************************************************** + * @brief Calculates the ceildiv division by a factor of 2: ceildiv(x / 2^n). + * + * @param x Input parameter. + * @param n The shift value, maximum is 31. + * @return The ceildiv division by 2^n result. + *****************************************************************************/ +inline uint32_t ceiling2(uint32_t x, uint_fast8_t n) +{ + assert(n < 32); + return x ? (1 + ((x - 1) >> n)) : 0; +} + +/*!*************************************************************************** + * @brief Calculates the ceildiv division: ceildiv(x / y). + * + * @param x Numerator + * @param y Denominator + * @return The result of the ceildiv division ceildiv(x / y). + *****************************************************************************/ +inline uint32_t ceildiv(uint32_t x, uint32_t y) +{ + assert(y != 0); + return x ? (1 + ((x - 1) / y)) : 0; +} + +/*!*************************************************************************** + * @brief Calculates the maximum of two values. + * + * @param a Input parameter. + * @param b Input parameter. + * @return The maximum value of the input parameters. + *****************************************************************************/ +#define MAX(a, b) ((a) > (b) ? (a) : (b)) + +/*!*************************************************************************** + * @brief Calculates the minimum of two values. + * + * @param a Input parameter. + * @param b Input parameter. + * @return The minimum value of the input parameters. + *****************************************************************************/ +#define MIN(a, b) ((a) < (b) ? (a) : (b)) + +/*!*************************************************************************** + * @brief Clamps a value between a minimum and maximum boundary. + * + * @details Clamps the values such that the condition min <= x <= max is true. + * + * @note The condition \p min <= \p max must hold!!! + * + * @param x The input parameter to be clamped. + * @param min The minimum or lower boundary. + * @param max The maximum or upper boundary. + * @return The clamped value of the input parameter within [min,max]. + *****************************************************************************/ +#define CLAMP(x, min, max) (MIN(MAX((x), (min)), (max))) + +#if INT_SQRT +/*!*************************************************************************** + * @brief Calculates the integer square root of x. + * + * @details The integer square root is defined as: + * isqrt(x) = (int)sqrt(x) + * + * @see https://en.wikipedia.org/wiki/Integer_square_root + * @see https://github.com/chmike/fpsqrt/blob/master/fpsqrt.c + * + * @param x Input parameter. + * @return isqrt(x) + *****************************************************************************/ +inline uint32_t isqrt(uint32_t v) +{ + unsigned t, q, b, r; + r = v; // r = v - x² + b = 0x40000000; // a² + q = 0; // 2ax + + while (b > 0) { + t = q + b; // t = 2ax + a² + q >>= 1; // if a' = a/2, then q' = q/2 + + if (r >= t) { // if (v - x²) >= 2ax + a² + r -= t; // r' = (v - x²) - (2ax + a²) + q += b; // if x' = (x + a) then ax' = ax + a², thus q' = q' + b + } + + b >>= 2; // if a' = a/2, then b' = b / 4 + } + + return q; +} +#endif // INT_SQRT + +/*! @} */ +#ifdef __cplusplus +} // extern "C" +#endif +#endif /* INT_MATH */ diff --git a/src/drivers/distance_sensor/broadcom/afbrs50/Inc/utility/status.h b/src/drivers/distance_sensor/broadcom/afbrs50/Inc/utility/status.h new file mode 100644 index 000000000000..ae9a4648f52c --- /dev/null +++ b/src/drivers/distance_sensor/broadcom/afbrs50/Inc/utility/status.h @@ -0,0 +1,49 @@ +/*************************************************************************//** + * @file + * @brief This file is part of the AFBR-S50 API. + * @details This file contains status codes for all platform specific + * functions. + * + * @copyright + * + * Copyright (c) 2023, Broadcom Inc. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, this + * list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * 3. Neither the name of the copyright holder nor the names of its + * contributors may be used to endorse or promote products derived from + * this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE + * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL + * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, + * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + *****************************************************************************/ + +#ifndef STATUS_H +#define STATUS_H +#ifdef __cplusplus +extern "C" { +#endif + +#include "api/argus_status.h" + +#ifdef __cplusplus +} // extern "C" +#endif +#endif /* STATUS_H */ diff --git a/src/drivers/distance_sensor/broadcom/afbrs50/Inc/utility/time.h b/src/drivers/distance_sensor/broadcom/afbrs50/Inc/utility/time.h index 9c5f930351de..1c2fe480e824 100644 --- a/src/drivers/distance_sensor/broadcom/afbrs50/Inc/utility/time.h +++ b/src/drivers/distance_sensor/broadcom/afbrs50/Inc/utility/time.h @@ -1,11 +1,11 @@ /*************************************************************************//** * @file - * @brief This file is part of the AFBR-S50 API. - * @details This file provides utility functions for timing necessities. + * @brief This file is part of the AFBR-S50 API. + * @details This file provides utility functions for timing necessities. * * @copyright * - * Copyright (c) 2021, Broadcom Inc + * Copyright (c) 2023, Broadcom Inc. * All rights reserved. * * Redistribution and use in source and binary forms, with or without @@ -36,255 +36,563 @@ #ifndef TIME_H #define TIME_H +#ifdef __cplusplus +extern "C" { +#endif /*!*************************************************************************** - * @defgroup time Time Utility - * @ingroup argusutil - * @brief Timer utilities for time measurement duties. - * @details This module provides time measurement utility functions like - * delay or time measurement methods, or time math functions. - * @addtogroup time + * @defgroup argus_time Time Utility + * @ingroup argus_util + * + * @brief Timer utilities for time measurement duties. + * + * @details This module provides time measurement utility functions like + * delay or time measurement methods, or time math functions. + * + * @addtogroup argus_time * @{ *****************************************************************************/ +#include "platform/argus_timer.h" +#include #include #include /*!*************************************************************************** - * @brief A data structure to represent current time. + * @brief A data structure to represent current time. * - * @details Value is obtained from the PIT time which must be configured as - * lifetime counter. + * @details Value is obtained from the PIT time which must be configured as + * lifetime counter. + * + * Range: [0.000000, 4294967296.999999] seconds *****************************************************************************/ -typedef struct { - /*! Seconds. */ +typedef struct ltc_t { + /*! Seconds; + * Range: [0, UINT32_MAX] seconds */ uint32_t sec; - /*! Microseconds. */ + /*! Microseconds; + * Range: [0, 999999] microseconds */ uint32_t usec; } ltc_t; /*!*************************************************************************** - * @brief Obtains the elapsed time since MCU startup. - * @param t_now returned current time + * @brief Converts #ltc_t to microseconds (uint32_t). + * @details The specified time value (type #ltc_t) is converted to microseconds. + * The value is truncated to UINT32_MAX value if the result would + * exceed UINT32_MAX microseconds. + * @param t Input #ltc_t structure. + * @return Time value in microseconds. + *****************************************************************************/ +inline uint32_t Time_ToUSec(ltc_t const *t) +{ + assert(t != 0); + + // max. value to convert correctly is 4294.967295 sec (UINT32_MAX/1000000) + return ((t->sec < 4294U) || (t->sec == 4294U && t->usec < 967295U)) ? + t->usec + t->sec * 1000000U : UINT32_MAX; +} + +/*!*************************************************************************** + * @brief Converts #ltc_t to milliseconds (uint32_t). + * @details The specified time value (type #ltc_t) is converted to milliseconds. + * The value is truncated to UINT32_MAX value if the result would + * exceed UINT32_MAX milliseconds. + * The returned value is correctly rounded to the nearest value. + * @param t Input #ltc_t structure. + * @return Time value in milliseconds. + *****************************************************************************/ +inline uint32_t Time_ToMSec(ltc_t const *t) +{ + assert(t != 0); + + // max. value to convert correctly is 4294967.295499 sec (UINT32_MAX/1000) + return ((t->sec < 4294967U) || (t->sec == 4294967U && t->usec < 295500U)) ? + (t->usec + 500U) / 1000U + t->sec * 1000U : UINT32_MAX; +} + +/*!*************************************************************************** + * @brief Converts #ltc_t to seconds (uint32_t). + * @details The specified time value (type #ltc_t) is converted to seconds. + * The returned value is correctly rounded to the nearest value. + * @param t Input #ltc_t structure. + * @return Time value in seconds. + *****************************************************************************/ +inline uint32_t Time_ToSec(ltc_t const *t) +{ + assert(t != 0); + + // max. value to convert correctly is 4294967295.499999 sec (UINT32_MAX/1000) + return (t->sec < 4294967295U || t->usec < 500000U) ? + (t->usec + 500000U) / 1000000U + t->sec : UINT32_MAX; +} + +/*!*************************************************************************** + * @brief Converts microseconds (uint32_t) to #ltc_t. + * @details The specified time value in microseconds is converted to type #ltc_t. + * @param t Output #ltc_t structure. + * @param t_usec Input time in microseconds. + *****************************************************************************/ +inline void Time_FromUSec(ltc_t *t, uint32_t t_usec) +{ + assert(t != 0); + t->sec = t_usec / 1000000U; + t->usec = t_usec % 1000000U; +} + +/*!*************************************************************************** + * @brief Converts milliseconds (uint32_t) to #ltc_t. + * @details The specified time value in milliseconds is converted to type #ltc_t. + * @param t Output #ltc_t structure. + * @param t_msec Input time in milliseconds. + *****************************************************************************/ +inline void Time_FromMSec(ltc_t *t, uint32_t t_msec) +{ + assert(t != 0); + t->sec = t_msec / 1000U; + t->usec = (t_msec % 1000U) * 1000U; +} + +/*!*************************************************************************** + * @brief Converts seconds (uint32_t) to #ltc_t. + * @details The specified time value in seconds is converted to type #ltc_t. + * @param t Output #ltc_t structure. + * @param t_sec Input time in seconds. + *****************************************************************************/ +inline void Time_FromSec(ltc_t *t, uint32_t t_sec) +{ + assert(t != 0); + t->usec = 0; + t->sec = t_sec; +} + + +/*!*************************************************************************** + * @brief Checks if /p t1 is greater or equal that /p t2. + * @details Handles overflow. + * @param t1 1st operand. + * @param t2 2nd operand. + * @return Returns (t1 >= t2); *****************************************************************************/ -void Time_GetNow(ltc_t *t_now); +inline bool Time_GreaterEqual(ltc_t const *t1, ltc_t const *t2) +{ + assert(t1 != 0); + assert(t2 != 0); + return (t1->sec == t2->sec) ? (t1->usec >= t2->usec) : (t1->sec > t2->sec); +} + /*!*************************************************************************** - * @brief Obtains the elapsed microseconds since MCU startup. - * @details Wrap around effect due to uint32_t result format!! - * @param - - * @return Elapsed microseconds since MCU startup as uint32_t. + * @brief Obtains the elapsed time since MCU startup. + * @param t_now returned current time *****************************************************************************/ -uint32_t Time_GetNowUSec(void); +inline void Time_GetNow(ltc_t *t_now) +{ + assert(t_now != 0); + Timer_GetCounterValue(&(t_now->sec), &(t_now->usec)); + assert(t_now->usec < 1000000U); +} /*!*************************************************************************** - * @brief Obtains the elapsed milliseconds since MCU startup. - * @details Wrap around effect due to uint32_t result format!! - * @param - - * @return Elapsed milliseconds since MCU startup as uint32_t. + * @brief Obtains the elapsed time since MCU startup. + * @return Returns the current time. *****************************************************************************/ -uint32_t Time_GetNowMSec(void); +inline ltc_t Time_Now(void) +{ + ltc_t t_now; + Time_GetNow(&t_now); + return t_now; +} /*!*************************************************************************** - * @brief Obtains the elapsed seconds since MCU startup. - * @param - - * @return Elapsed seconds since MCU startup as uint32_t. + * @brief Obtains the elapsed microseconds since MCU startup. + * @details Wrap around effect due to uint32_t result format!! + * @return Elapsed microseconds since MCU startup as uint32_t. *****************************************************************************/ -uint32_t Time_GetNowSec(void); +inline uint32_t Time_GetNowUSec(void) +{ + ltc_t t_now = Time_Now(); + return Time_ToUSec(&t_now); +} /*!*************************************************************************** - * @brief Obtains the elapsed time since a given time point. - * @param t_elapsed Returns the elapsed time since t_start. - * @param t_start Start time point. + * @brief Obtains the elapsed milliseconds (rounded) since MCU startup. + * @details Wrap around effect due to uint32_t result format!! + * @return Elapsed milliseconds since MCU startup as uint32_t. *****************************************************************************/ -void Time_GetElapsed(ltc_t *t_elapsed, ltc_t const *t_start); +inline uint32_t Time_GetNowMSec(void) +{ + ltc_t t_now = Time_Now(); + return Time_ToMSec(&t_now); +} /*!*************************************************************************** - * @brief Obtains the elapsed microseconds since a given time point. - * @details Wrap around effect due to uint32_t result format!! - * @param t_start Start time point. - * @return Elapsed microseconds since t_start as uint32_t. + * @brief Obtains the elapsed seconds (rounded) since MCU startup. + * @return Elapsed seconds since MCU startup as uint32_t. *****************************************************************************/ -uint32_t Time_GetElapsedUSec(ltc_t const *t_start); +inline uint32_t Time_GetNowSec(void) +{ + ltc_t t_now = Time_Now(); + return Time_ToSec(&t_now); +} + /*!*************************************************************************** - * @brief Obtains the elapsed milliseconds since a given time point. - * @details Wrap around effect due to uint32_t result format!! - * @param t_start Start time point. - * @return Elapsed milliseconds since t_start as uint32_t. + * @brief Obtains the time difference between two given time points. + * @details Result is defined as t_diff = t_end - t_start. + * Note: since no negative time differences are supported, t_end has + * to be later/larger than t_start. Otherwise, the result is undefined! + * @param t_diff Returned time difference. + * @param t_start Start time point. + * @param t_end End time point. *****************************************************************************/ -uint32_t Time_GetElapsedMSec(ltc_t const *t_start); +inline void Time_Diff(ltc_t *t_diff, ltc_t const *t_start, ltc_t const *t_end) +{ + assert(t_diff != 0); + assert(t_start != 0); + assert(t_end != 0); + assert(t_diff != t_start); + assert(t_diff != t_end); + assert(Time_GreaterEqual(t_end, t_start)); + + if (t_start->usec <= t_end->usec) { // no carry over + t_diff->sec = t_end->sec - t_start->sec; + t_diff->usec = t_end->usec - t_start->usec; + + } else { // with carry over + t_diff->sec = t_end->sec - 1 - t_start->sec; + t_diff->usec = (1000000U - t_start->usec) + t_end->usec; + } +} /*!*************************************************************************** - * @brief Obtains the elapsed seconds since a given time point. - * @param t_start Start time point. - * @return Elapsed seconds since t_start as uint32_t. + * @brief Obtains the time difference between two given time points in + * microseconds. + * @details Result is defined as t_diff = t_end - t_start. + * Refers to Time_Diff() and handles overflow such that to large + * values are limited by 0xFFFFFFFF µs. + * @param t_start Start time point. + * @param t_end End time point. + * @return Time difference in microseconds. *****************************************************************************/ -uint32_t Time_GetElapsedSec(ltc_t const *t_start); +inline uint32_t Time_DiffUSec(ltc_t const *t_start, ltc_t const *t_end) +{ + ltc_t t_diff; + Time_Diff(&t_diff, t_start, t_end); + return Time_ToUSec(&t_diff); +} /*!*************************************************************************** - * @brief Obtains the time difference between two given time points. - * @details Result is defined as t_diff = t_end - t_start. - * Note: since no negative time differences are supported, t_end has - * to be later/larger than t_start. Otherwise, the result won't be - * a negative time span but given by max value. - * @param t_diff Returned time difference. - * @param t_start Start time point. - * @param t_end End time point. + * @brief Obtains the time difference between two given time points in + * milliseconds. + * @details Result is defined as t_diff = t_end - t_start. + * Refers to Time_Diff() and handles overflow. + * Wrap around effect due to uint32_t result format!! + * @param t_start Start time point. + * @param t_end End time point. + * @return Time difference in milliseconds. *****************************************************************************/ -void Time_Diff(ltc_t *t_diff, ltc_t const *t_start, ltc_t const *t_end); +inline uint32_t Time_DiffMSec(ltc_t const *t_start, ltc_t const *t_end) +{ + ltc_t t_diff; + Time_Diff(&t_diff, t_start, t_end); + return Time_ToMSec(&t_diff); +} /*!*************************************************************************** - * @brief Obtains the time difference between two given time points in - * microseconds. - * @details Result is defined as t_diff = t_end - t_start. - * Refers to Time_Diff() and handles overflow such that to large - * values are limited by 0xFFFFFFFF µs. - * @param t_start Start time point. - * @param t_end End time point. - * @return Time difference in microseconds. + * @brief Obtains the time difference between two given time points in + * seconds. + * @details Result is defined as t_diff = t_end - t_start. + * Refers to Time_Diff() and handles overflow. + * @param t_start Start time point. + * @param t_end End time point. + * @return Time difference in seconds. *****************************************************************************/ -uint32_t Time_DiffUSec(ltc_t const *t_start, ltc_t const *t_end); +inline uint32_t Time_DiffSec(ltc_t const *t_start, ltc_t const *t_end) +{ + ltc_t t_diff; + Time_Diff(&t_diff, t_start, t_end); + return Time_ToSec(&t_diff); +} + /*!*************************************************************************** - * @brief Obtains the time difference between two given time points in - * milliseconds. - * @details Result is defined as t_diff = t_end - t_start. - * Refers to Time_Diff() and handles overflow. - * Wrap around effect due to uint32_t result format!! - * @param t_start Start time point. - * @param t_end End time point. - * @return Time difference in milliseconds. + * @brief Obtains the elapsed time since a given time point. + * @details Calculates the currently elapsed time since a specified start time + * (/p t_start). + * + * Note that /p t_start must be in the past! Otherwise, the behavior is + * undefined! + * + * @param t_elapsed Returns the elapsed time since /p t_start. + * @param t_start Start time point. *****************************************************************************/ -uint32_t Time_DiffMSec(ltc_t const *t_start, ltc_t const *t_end); +inline void Time_GetElapsed(ltc_t *t_elapsed, ltc_t const *t_start) +{ + assert(t_elapsed != 0); + assert(t_start != 0); + assert(t_elapsed != t_start); + ltc_t t_now = Time_Now(); + Time_Diff(t_elapsed, t_start, &t_now); +} /*!*************************************************************************** - * @brief Obtains the time difference between two given time points in - * seconds. - * @details Result is defined as t_diff = t_end - t_start. - * Refers to Time_Diff() and handles overflow. - * @param t_start Start time point. - * @param t_end End time point. - * @return Time difference in seconds. + * @brief Obtains the elapsed microseconds since a given time point. + * @details Wrap around effect due to uint32_t result format!! + * @param t_start Start time point. + * @return Elapsed microseconds since t_start as uint32_t. *****************************************************************************/ -uint32_t Time_DiffSec(ltc_t const *t_start, ltc_t const *t_end); +inline uint32_t Time_GetElapsedUSec(ltc_t const *t_start) +{ + assert(t_start != 0); + ltc_t t_now = Time_Now(); + return Time_DiffUSec(t_start, &t_now); +} /*!*************************************************************************** - * @brief Time delay for a given time period. - * @param dt Delay time. + * @brief Obtains the elapsed milliseconds since a given time point. + * @details Wrap around effect due to uint32_t result format!! + * @param t_start Start time point. + * @return Elapsed milliseconds since t_start as uint32_t. *****************************************************************************/ -void Time_Delay(ltc_t const *dt); +inline uint32_t Time_GetElapsedMSec(ltc_t const *t_start) +{ + assert(t_start != 0); + ltc_t t_now = Time_Now(); + return Time_DiffMSec(t_start, &t_now); +} /*!*************************************************************************** - * @brief Time delay for a given time period in microseconds. - * @param dt_usec Delay time in microseconds. + * @brief Obtains the elapsed seconds since a given time point. + * @param t_start Start time point. + * @return Elapsed seconds since t_start as uint32_t. *****************************************************************************/ -void Time_DelayUSec(uint32_t dt_usec); +inline uint32_t Time_GetElapsedSec(ltc_t const *t_start) +{ + assert(t_start != 0); + ltc_t t_now = Time_Now(); + return Time_DiffSec(t_start, &t_now); +} + /*!*************************************************************************** - * @brief Time delay for a given time period in milliseconds. - * @param dt_msec Delay time in milliseconds. + * @brief Adds two #ltc_t values. + * @details Result is defined as t = t1 + t2. + * The results are wrapped around at maximum values just like integers. + * The references for t, t1 and t2 may point to the same instance(s). + * + * @param t Return value: t = t1 + t2. + * @param t1 1st operand. + * @param t2 2nd operand. *****************************************************************************/ -void Time_DelayMSec(uint32_t dt_msec); +inline void Time_Add(ltc_t *t, ltc_t const *t1, ltc_t const *t2) +{ + assert(t != 0); + assert(t1 != 0); + assert(t2 != 0); + + t->sec = t1->sec + t2->sec; + t->usec = t1->usec + t2->usec; + + if (t->usec > 999999U) { + t->sec += 1U; + t->usec -= 1000000U; + } +} /*!*************************************************************************** - * @brief Time delay for a given time period in seconds. - * @param dt_sec Delay time in seconds. + * @brief Adds a given time in microseconds to an #ltc_t value. + * @details Result is defined as t = t1 + t2. + * The results are wrapped around at maximum values just like integers. + * The references for t and t1 may point to the same instance. + * + * @param t Return value: t = t1 + t2. + * @param t1 1st operand. + * @param t2_usec 2nd operand in microseconds. *****************************************************************************/ -void Time_DelaySec(uint32_t dt_sec); +inline void Time_AddUSec(ltc_t *t, ltc_t const *t1, uint32_t t2_usec) +{ + assert(t != 0); + assert(t1 != 0); + ltc_t t2; + Time_FromUSec(&t2, t2_usec); + Time_Add(t, t1, &t2); +} /*!*************************************************************************** - * @brief Checks if timeout is reached from a given starting time. - * @details Handles overflow. - * @param t_start Start time. - * @param t_timeout Timeout period. - * @return Timeout elapsed? True/False (boolean value) + * @brief Adds a given time in milliseconds to an #ltc_t value. + * @details Result is defined as t = t1 + t2. + * The results are wrapped around at maximum values just like integers. + * The references for t and t1 may point to the same instance. + * + * @param t Return value: t = t1 + t2. + * @param t1 1st operand. + * @param t2_msec 2nd operand in milliseconds. *****************************************************************************/ -bool Time_CheckTimeout(ltc_t const *t_start, ltc_t const *t_timeout); +inline void Time_AddMSec(ltc_t *t, ltc_t const *t1, uint32_t t2_msec) +{ + assert(t != 0); + assert(t1 != 0); + ltc_t t2; + Time_FromMSec(&t2, t2_msec); + Time_Add(t, t1, &t2); +} /*!*************************************************************************** - * @brief Checks if timeout is reached from a given starting time. - * @details Handles overflow. - * @param t_start Start time. - * @param t_timeout_usec Timeout period in microseconds. - * @return Timeout elapsed? True/False (boolean value) + * @brief Adds a given time in seconds to an #ltc_t value. + * @details Result is defined as t = t1 + t2. + * The results are wrapped around at maximum values just like integers. + * The references for t and t1 may point to the same instance. + * + * @param t Return value: t = t1 + t2. + * @param t1 1st operand. + * @param t2_sec 2nd operand in seconds. *****************************************************************************/ -bool Time_CheckTimeoutUSec(ltc_t const *t_start, uint32_t const t_timeout_usec); +inline void Time_AddSec(ltc_t *t, ltc_t const *t1, uint32_t t2_sec) +{ + assert(t != 0); + assert(t1 != 0); + ltc_t t2; + Time_FromSec(&t2, t2_sec); + Time_Add(t, t1, &t2); +} + /*!*************************************************************************** - * @brief Checks if timeout is reached from a given starting time. - * @details Handles overflow. - * @param t_start Start time. - * @param t_timeout_msec Timeout period in milliseconds. - * @return Timeout elapsed? True/False (boolean value) + * @brief Checks if /p t is within the time interval /p t_start and /p t_end. + * @details The interval is from /p t_start to /p t_end. + * The function returns true if /p t >= /p t_start AND /p t < /p t_end. + * If /p t_end is before /p t_start, /p t_end is consider to be wrapped + * around and the condition inverts (i.e. the function returns true if + * /p < /p t_end OR /p t >= t_start. + * @param t_start The start of the time interval. + * @param t_end The end of the time interval. + * @param t The time to be checked if it is with the interval. + * @return True if t is within t_start and t_stop. *****************************************************************************/ -bool Time_CheckTimeoutMSec(ltc_t const *t_start, uint32_t const t_timeout_msec); +inline bool Time_CheckWithin(ltc_t const *t_start, ltc_t const *t_end, ltc_t const *t) +{ + if (Time_GreaterEqual(t_end, t_start)) { + return Time_GreaterEqual(t, t_start) && !Time_GreaterEqual(t, t_end); + + } else { + return Time_GreaterEqual(t, t_start) || !Time_GreaterEqual(t, t_end); + } +} + /*!*************************************************************************** - * @brief Checks if timeout is reached from a given starting time. - * @details Handles overflow. - * @param t_start Start time. - * @param t_timeout_sec Timeout period in seconds. - * @return Timeout elapsed? True/False (boolean value) + * @brief Checks if timeout is reached from a given starting time. + * @details Checks if a specified time (/p t_timeout) has elapsed since a + * specified start time (/p t_start). + * Handles overflow/wraparound of time values at the maximum value. + * @param t_start Start time. + * @param t_timeout Timeout period. + * @return Timeout elapsed? True/False (boolean value) *****************************************************************************/ -bool Time_CheckTimeoutSec(ltc_t const *t_start, uint32_t const t_timeout_sec); +inline bool Time_CheckTimeout(ltc_t const *t_start, ltc_t const *t_timeout) +{ + assert(t_start != 0); + assert(t_timeout != 0); + + ltc_t t_end; + ltc_t t_now = Time_Now(); + Time_Add(&t_end, t_start, t_timeout); + return !Time_CheckWithin(t_start, &t_end, &t_now); +} /*!*************************************************************************** - * @brief Adds two ltc_t values. - * @details Result is defined as t = t1 + t2. Results are wrapped around at - * maximum values just like integers. - * @param t Return value: t = t1 + t2. - * @param t1 1st operand. - * @param t2 2nd operand. + * @brief Checks if timeout is reached from a given starting time. + * @details Handles overflow. + * @param t_start Start time. + * @param t_timeout_usec Timeout period in microseconds. + * @return Timeout elapsed? True/False (boolean value) *****************************************************************************/ -void Time_Add(ltc_t *t, ltc_t const *t1, ltc_t const *t2); +inline bool Time_CheckTimeoutUSec(ltc_t const *t_start, uint32_t const t_timeout_usec) +{ + ltc_t t_timeout; + Time_FromUSec(&t_timeout, t_timeout_usec); + return Time_CheckTimeout(t_start, &t_timeout); +} /*!*************************************************************************** - * @brief Adds a given time in microseconds to an ltc_t value. - * @param t Return value: t = t1 + t2. - * @param t1 1st operand. - * @param t2_usec 2nd operand in microseconds. + * @brief Checks if timeout is reached from a given starting time. + * @details Handles overflow. + * @param t_start Start time. + * @param t_timeout_msec Timeout period in milliseconds. + * @return Timeout elapsed? True/False (boolean value) *****************************************************************************/ -void Time_AddUSec(ltc_t *t, ltc_t const *t1, uint32_t t2_usec); +inline bool Time_CheckTimeoutMSec(ltc_t const *t_start, uint32_t const t_timeout_msec) +{ + ltc_t t_timeout; + Time_FromMSec(&t_timeout, t_timeout_msec); + return Time_CheckTimeout(t_start, &t_timeout); +} /*!*************************************************************************** - * @brief Adds a given time in milliseconds to an ltc_t value. - * @param t Return value: t = t1 + t2. - * @param t1 1st operand. - * @param t2_msec 2nd operand in milliseconds. + * @brief Checks if timeout is reached from a given starting time. + * @details Handles overflow. + * @param t_start Start time. + * @param t_timeout_sec Timeout period in seconds. + * @return Timeout elapsed? True/False (boolean value) *****************************************************************************/ -void Time_AddMSec(ltc_t *t, ltc_t const *t1, uint32_t t2_msec); +inline bool Time_CheckTimeoutSec(ltc_t const *t_start, uint32_t const t_timeout_sec) +{ + ltc_t t_timeout; + Time_FromSec(&t_timeout, t_timeout_sec); + return Time_CheckTimeout(t_start, &t_timeout); +} + /*!*************************************************************************** - * @brief Adds a given time in seconds to an ltc_t value. - * @param t Return value: t = t1 + t2. - * @param t1 1st operand. - * @param t2_sec 2nd operand in seconds. + * @brief Time delay for a given time period. + * @param dt Delay time. *****************************************************************************/ -void Time_AddSec(ltc_t *t, ltc_t const *t1, uint32_t t2_sec); +inline void Time_Delay(ltc_t const *dt) +{ + assert(dt != 0); + ltc_t t_start = Time_Now(); + + while (!Time_CheckTimeout(&t_start, dt)); +} /*!*************************************************************************** - * @brief Converts ltc_t to microseconds (uint32_t). - * @param t Input ltc_t struct. - * @return Time value in microseconds. + * @brief Time delay for a given time period in microseconds. + * @param dt_usec Delay time in microseconds. *****************************************************************************/ -uint32_t Time_ToUSec(ltc_t const *t); +inline void Time_DelayUSec(uint32_t dt_usec) +{ + ltc_t t_start = Time_Now(); + + while (!Time_CheckTimeoutUSec(&t_start, dt_usec)); +} /*!*************************************************************************** - * @brief Converts ltc_t to milliseconds (uint32_t). - * @param t Input ltc_t struct. - * @return Time value in milliseconds. + * @brief Time delay for a given time period in milliseconds. + * @param dt_msec Delay time in milliseconds. *****************************************************************************/ -uint32_t Time_ToMSec(ltc_t const *t); +inline void Time_DelayMSec(uint32_t dt_msec) +{ + ltc_t t_start = Time_Now(); + + while (!Time_CheckTimeoutMSec(&t_start, dt_msec)); +} /*!*************************************************************************** - * @brief Converts ltc_t to seconds (uint32_t). - * @param t Input ltc_t struct. - * @return Time value in seconds. + * @brief Time delay for a given time period in seconds. + * @param dt_sec Delay time in seconds. *****************************************************************************/ -uint32_t Time_ToSec(ltc_t const *t); +inline void Time_DelaySec(uint32_t dt_sec) +{ + ltc_t t_start = Time_Now(); + + while (!Time_CheckTimeoutSec(&t_start, dt_sec)); +} + /*! @} */ +#ifdef __cplusplus +} // extern "C" +#endif #endif /* TIME_H */ diff --git a/src/drivers/distance_sensor/broadcom/afbrs50/Lib/libafbrs50_m4_fpu.a b/src/drivers/distance_sensor/broadcom/afbrs50/Lib/libafbrs50_m4_fpu.a index c646ab311623..1cd0fe27e0df 100644 Binary files a/src/drivers/distance_sensor/broadcom/afbrs50/Lib/libafbrs50_m4_fpu.a and b/src/drivers/distance_sensor/broadcom/afbrs50/Lib/libafbrs50_m4_fpu.a differ diff --git a/src/drivers/distance_sensor/broadcom/afbrs50/Lib/libafbrs50_m4_fpu_os.a b/src/drivers/distance_sensor/broadcom/afbrs50/Lib/libafbrs50_m4_fpu_os.a index 905b2fa66d34..a6e7c581d6d4 100644 Binary files a/src/drivers/distance_sensor/broadcom/afbrs50/Lib/libafbrs50_m4_fpu_os.a and b/src/drivers/distance_sensor/broadcom/afbrs50/Lib/libafbrs50_m4_fpu_os.a differ diff --git a/src/drivers/distance_sensor/broadcom/afbrs50/argus_hal_test.c b/src/drivers/distance_sensor/broadcom/afbrs50/argus_hal_test.c index 5f8fd4b1f1da..2e0e8dff16a2 100644 --- a/src/drivers/distance_sensor/broadcom/afbrs50/argus_hal_test.c +++ b/src/drivers/distance_sensor/broadcom/afbrs50/argus_hal_test.c @@ -1,10 +1,10 @@ /*************************************************************************//** - * @file argus_hal_test.c - * @brief Tests for the AFBR-S50 API hardware abstraction layer. + * @file + * @brief Tests for the AFBR-S50 API hardware abstraction layer. * * @copyright * - * Copyright (c) 2021, Broadcom, Inc. + * Copyright (c) 2023, Broadcom Inc. * All rights reserved. * * Redistribution and use in source and binary forms, with or without @@ -34,6 +34,10 @@ * POSSIBILITY OF SUCH DAMAGE. *****************************************************************************/ +/*!*************************************************************************** + * @addtogroup argus_test + * @{ + *****************************************************************************/ /******************************************************************************* * Include Files @@ -46,44 +50,44 @@ #include "platform/argus_nvm.h" #include "platform/argus_irq.h" -#include -#include -#include - /******************************************************************************* * Definitions ******************************************************************************/ -/*! An error log message via print(); */ +/*! An error log message via #print function. */ #define error_log(fmt, ...) print("ERROR: " fmt "\n", ##__VA_ARGS__) /******************************************************************************* * Prototypes ******************************************************************************/ +static status_t VerifyHALImplementation(s2pi_slave_t spi_slave); + static status_t TimerPlausibilityTest(void); static status_t TimerWraparoundTest(void); static status_t SpiConnectionTest(s2pi_slave_t slave); -static status_t SpiInterruptTest(s2pi_slave_t slave); +static status_t SpiMaxLengthTest(s2pi_slave_t slave); +//static status_t SpiInterruptTest(s2pi_slave_t slave); +static status_t GpioInterruptTest(s2pi_slave_t slave); static status_t GpioModeTest(s2pi_slave_t slave); static status_t TimerTest(s2pi_slave_t slave); static status_t PITTest(void); +static status_t SpiTransferFromInterruptTest(s2pi_slave_t slave); static status_t CheckTimerCounterValues(uint32_t hct, uint32_t lct); -static status_t SPITransferSync(s2pi_slave_t slave, uint8_t *data, uint8_t size); +static status_t SPITransferSync(s2pi_slave_t slave, uint8_t *data, size_t size); static status_t ConfigureDevice(s2pi_slave_t slave, int8_t rcoTrim); -static status_t TriggerMeasurement(s2pi_slave_t slave, uint16_t samples); -static status_t AwaitDataReady(s2pi_slave_t slave, uint32_t timeout_ms); +static status_t TriggerMeasurement(s2pi_slave_t slave, uint16_t samples, s2pi_callback_t callback, void *callbackData); static status_t ReadEEPROM(s2pi_slave_t slave, uint8_t *eeprom); static status_t ReadRcoTrim(s2pi_slave_t slave, int8_t *RcoTrim); static status_t RunMeasurement(s2pi_slave_t slave, uint16_t samples); static status_t RunPITTest(uint32_t exp_dt_us, uint32_t n); static void PIT_Callback(void *param); -static void DataReadyCallback(void *param); +static void GPIO_Callback(void *param); /// @cond EXTERN extern uint32_t EEPROM_ReadChipId(uint8_t const *eeprom); -extern argus_module_version_t EEPROM_ReadModule(uint8_t const *eeprom); +extern uint8_t EEPROM_ReadModule(uint8_t const *eeprom); extern status_t EEPROM_Read(s2pi_slave_t slave, uint8_t address, uint8_t *data); extern uint8_t hamming_decode(uint8_t const *code, uint8_t *data); /// @endcond @@ -98,99 +102,129 @@ extern uint8_t hamming_decode(uint8_t const *code, uint8_t *data); status_t Argus_VerifyHALImplementation(s2pi_slave_t spi_slave) { - status_t status = STATUS_OK; + print("########################################################\n"); + print("# Running HAL Verification Test - " HAL_TEST_VERSION "\n"); + print("########################################################\n"); + print("- SPI Slave: %d \n\n", spi_slave); + + const status_t status = VerifyHALImplementation(spi_slave); + + print("########################################################\n"); + + if (status != STATUS_OK) { + print("# FAIL: HAL Verification Test finished with error %d!\n", status); + + } else { + print("# PASS: HAL Verification Test finished successfully!\n"); + } - PX4_INFO_RAW("########################################################\n"); - PX4_INFO_RAW("# Running HAL Verification Test - " HAL_TEST_VERSION "\n"); - PX4_INFO_RAW("########################################################\n\n"); + print("########################################################\n\n"); - PX4_INFO_RAW("1 > Timer Plausibility Test\n"); + return status; +} + +/*!*************************************************************************** + * @brief Executes a series of tests in order to verify the HAL implementation. + * + * @details See #Argus_VerifyHALImplementation for details. + * + * @param spi_slave The SPI hardware slave. + * + * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). + *****************************************************************************/ +static status_t VerifyHALImplementation(s2pi_slave_t spi_slave) +{ + status_t status = STATUS_OK; + + print("1 > Timer Plausibility Test\n"); status = TimerPlausibilityTest(); - if (status != STATUS_OK) { goto summary; } + if (status != STATUS_OK) { return status; } - PX4_INFO_RAW("1 > PASS\n\n"); + print("1 > PASS\n\n"); - PX4_INFO_RAW("2 > Timer Wraparound Test\n"); + print("2 > Timer Wraparound Test\n"); status = TimerWraparoundTest(); - if (status != STATUS_OK) { goto summary; } + if (status != STATUS_OK) { return status; } - PX4_INFO_RAW("2 > PASS\n\n"); + print("2 > PASS\n\n"); - PX4_INFO_RAW("3 > SPI Connection Test\n"); + print("3 > SPI Connection Test\n"); status = SpiConnectionTest(spi_slave); - if (status != STATUS_OK) { goto summary; } + if (status != STATUS_OK) { return status; } + + print("3 > PASS\n\n"); - PX4_INFO_RAW("3 > PASS\n\n"); + print("4 > SPI Maximum Data Length Test\n"); + status = SpiMaxLengthTest(spi_slave); - PX4_INFO_RAW("4 > SPI Interrupt Test\n"); - status = SpiInterruptTest(spi_slave); + if (status != STATUS_OK) { return status; } - if (status != STATUS_OK) { goto summary; } + print("4 > PASS\n\n"); + + print("5 > GPIO Interrupt Test\n"); + status = GpioInterruptTest(spi_slave); + + if (status != STATUS_OK) { return status; } - PX4_INFO_RAW("4 > PASS\n\n"); + print("5 > PASS\n\n"); - PX4_INFO_RAW("5 > GPIO Mode Test\n"); + print("6 > GPIO Mode Test\n"); status = GpioModeTest(spi_slave); - if (status != STATUS_OK) { goto summary; } + if (status != STATUS_OK) { return status; } - PX4_INFO_RAW("5 > PASS\n\n"); + print("6 > PASS\n\n"); - PX4_INFO_RAW("6 > Lifetime Counter Timer (LTC) Test\n"); + print("7 > Lifetime Counter Timer (LTC) Test\n"); status = TimerTest(spi_slave); - if (status != STATUS_OK) { goto summary; } + if (status != STATUS_OK) { return status; } - PX4_INFO_RAW("6 > PASS\n\n"); + print("7 > PASS\n\n"); - PX4_INFO_RAW("7 > Periodic Interrupt Timer (PIT) Test\n"); + print("8 > Periodic Interrupt Timer (PIT) Test\n"); status = PITTest(); if (status == ERROR_NOT_IMPLEMENTED) { - PX4_INFO_RAW("7 > SKIPPED (PIT is not implemented)\n\n"); + print("8 > SKIPPED (PIT is not implemented)\n\n"); } else { - if (status != STATUS_OK) { goto summary; } + if (status != STATUS_OK) { return status; } - PX4_INFO_RAW("7 > PASS\n\n"); + print("8 > PASS\n\n"); } + print("9 > SPI Interrupt Test\n"); + status = SpiTransferFromInterruptTest(spi_slave); -summary: - PX4_INFO_RAW("########################################################\n"); - - if (status != STATUS_OK) { - PX4_INFO_RAW("# FAIL: HAL Verification Test finished with error %d!\n", (int)status); + if (status != STATUS_OK) { return status; } - } else { - PX4_INFO_RAW("# PASS: HAL Verification Test finished successfully!\n"); - } + print("9 > PASS\n\n"); - PX4_INFO_RAW("########################################################\n\n"); return status; } /*!*************************************************************************** - * @brief Checks the validity of timer counter values. + * @brief Checks the validity of timer counter values. * - * @details This verifies that the counter values returned from the - * #Timer_GetCounterValue function are valid. This means, the low - * counter value \p lct is within 0 and 999999 µs. + * @details This verifies that the counter values returned from the + * #Timer_GetCounterValue function are valid. This means, the low + * counter value \p lct is within 0 and 999999 µs. * - * @return Returns the \link #status_t status\endlink: - * - #STATUS_OK on success. - * - #ERROR_FAIL on failure (check the error log for more information). + * @return Returns the \link #status_t status\endlink: + * - #STATUS_OK on success. + * - #ERROR_FAIL on failure (check the error log for more information). *****************************************************************************/ static status_t CheckTimerCounterValues(uint32_t hct, uint32_t lct) { if (lct > 999999) { - PX4_INFO_RAW("Timer plausibility check:\n" - "The parameter \"lct\" of Timer_GetCounterValue() must always " - "be within 0 and 999999.\n" - "Current Values: hct = %d, lct = %d", (uint)hct, (uint)lct); + error_log("Timer plausibility check:\n" + "The parameter \"lct\" of Timer_GetCounterValue() must always " + "be within 0 and 999999.\n" + "Current Values: hct = %d, lct = %d", hct, lct); return ERROR_FAIL; } @@ -198,24 +232,24 @@ static status_t CheckTimerCounterValues(uint32_t hct, uint32_t lct) } /*!*************************************************************************** - * @brief Plausibility Test for Timer HAL Implementation. + * @brief Plausibility Test for Timer HAL Implementation. * - * @details Rudimentary tests the lifetime counter (LTC) implementation. - * This verifies that the LTC is running by checking if the returned - * values of two consecutive calls to the #Timer_GetCounterValue - * function are ascending. An artificial delay using the NOP operation - * is induced such that the timer is not read to fast. + * @details Rudimentary tests the lifetime counter (LTC) implementation. + * This verifies that the LTC is running by checking if the returned + * values of two consecutive calls to the #Timer_GetCounterValue + * function are ascending. An artificial delay using the NOP operation + * is induced such that the timer is not read to fast. * * @warning If using an ultra-fast processor with a rather low timer granularity, - * the test may fail! In this case, it could help to increase the delay - * by increasing the for-loop exit criteria. + * the test may fail! In this case, it could help to increase the delay + * by increasing the for-loop exit criteria. * - * @warning This test does not test yet verify if the timing is correct at all! - * This it done in later test... + * @warning This test does not test yet verify if the timing is correct at all! + * This it done in later test... * - * @return Returns the \link #status_t status\endlink: - * - #STATUS_OK on success. - * - #ERROR_FAIL on failure (check the error log for more information). + * @return Returns the \link #status_t status\endlink: + * - #STATUS_OK on success. + * - #ERROR_FAIL on failure (check the error log for more information). *****************************************************************************/ static status_t TimerPlausibilityTest(void) { @@ -230,7 +264,7 @@ static status_t TimerPlausibilityTest(void) /* Check max value is not exceeded for LCT timer (us) */ status_t status = CheckTimerCounterValues(hct0, lct0); - if (status < STATUS_OK) { return status; } + if (status != STATUS_OK) { return status; } /* Adding a delay. Depending on MCU speed, this takes any time. * However, the Timer should be able to solve this on any MCU. */ @@ -242,18 +276,18 @@ static status_t TimerPlausibilityTest(void) /* Check max value is not exceeded for LCT timer (us) */ status = CheckTimerCounterValues(hct1, lct1); - if (status < STATUS_OK) { return status; } + if (status != STATUS_OK) { return status; } /* Either the hct value must have been increased or the lct value if the hct * value is still the same. */ if (!((hct1 > hct0) || ((hct1 == hct0) && (lct1 > lct0)))) { - PX4_INFO_RAW("Timer plausibility check: the elapsed time could not be " - "measured with the Timer_GetCounterValue() function; no time " - "has elapsed!\n" - "The delay was induced by the following code:\n" - "for (volatile uint32_t i = 0; i < 100000; ++i) __asm(\"nop\");\n" - "Current Values: hct0 = %d, lct0 = %d, hct1 = %d, lct1 = %d", - (uint)hct0, (uint)lct0, (uint)hct1, (uint)lct1); + error_log("Timer plausibility check: the elapsed time could not be " + "measured with the Timer_GetCounterValue() function; no time " + "has elapsed!\n" + "The delay was induced by the following code:\n" + "for (volatile uint32_t i = 0; i < 100000; ++i) __asm(\"nop\");\n", + "Current Values: hct0 = %d, lct0 = %d, hct1 = %d, lct1 = %d", + hct0, lct0, hct1, lct1); return ERROR_FAIL; } @@ -261,29 +295,29 @@ static status_t TimerPlausibilityTest(void) } /*!*************************************************************************** - * @brief Wraparound Test for the Timer HAL Implementation. + * @brief Wraparound Test for the Timer HAL Implementation. * * @details The LTC values must wrap from 999999 µs to 0 µs and increase the * seconds counter accordingly. This test verifies the correct wrapping * by consecutively calling the #Timer_GetCounterValue function until * at least 2 wraparound events have been occurred. * - * @note This test requires the timer to basically run and return ascending - * values. Also, if the timer is too slow, this may take very long! - * Usually, the test takes 2 seconds, since 2 wraparound events are - * verified. + * @note This test requires the timer to basically run and return ascending + * values. Also, if the timer is too slow, this may take very long! + * Usually, the test takes 2 seconds, since 2 wraparound events are + * verified. * - * @warning This test does not test yet verify if the timing is correct at all! - * This it done in later test... + * @warning This test does not test yet verify if the timing is correct at all! + * This it done in later test... * - * @return Returns the \link #status_t status\endlink: - * - #STATUS_OK on success. - * - #ERROR_FAIL on failure (check the error log for more information). + * @return Returns the \link #status_t status\endlink: + * - #STATUS_OK on success. + * - #ERROR_FAIL on failure (check the error log for more information). *****************************************************************************/ static status_t TimerWraparoundTest(void) { /* Test parameter configuration: *****************************************/ - const int8_t n = 2; // The number of wraparounds to test. + const uint8_t n = 2; // The number of wraparounds to test. /*************************************************************************/ uint32_t hct0 = 0; @@ -297,14 +331,12 @@ static status_t TimerWraparoundTest(void) /* Check max value is not exceeded for LCT timer (us) */ status_t status = CheckTimerCounterValues(hct0, lct0); - if (status < STATUS_OK) { return status; } + if (status != STATUS_OK) { return status; } /* Set end after 2 seconds, i.e. 2 wrap around events. */ uint32_t hct2 = hct0 + n; uint32_t lct2 = lct0; - px4_usleep(20000); - /* Periodically read timer values. From previous tests we * already know the timer value is increasing. */ while (hct0 < hct2 || lct0 < lct2) { @@ -315,69 +347,92 @@ static status_t TimerWraparoundTest(void) /* Check max value is not exceeded for LCT timer (us) */ status = CheckTimerCounterValues(hct0, lct0); - if (status < STATUS_OK) { return status; } + if (status != STATUS_OK) { return status; } /* Testing if calls to Timer_GetCounterValue are equal or increasing. * Also testing if wraparound is correctly handled. * Assumption here is that two sequential calls to the get functions are - * only a few µs appart! I.e. if hct wraps, the new lct must be smaller + * only a few µs apart! I.e. if hct wraps, the new lct must be smaller * than previous one. */ if (!(((hct1 == hct0 + 1) && (lct1 < lct0)) || ((hct1 == hct0) && (lct1 >= lct0)))) { - PX4_INFO_RAW("Timer plausibility check: the wraparound of \"lct\" or " - "\"hct\" parameters of the Timer_GetCounterValue() " - "function was not handled correctly!\n" - "Current Values: hct0 = %d, lct0 = %d, hct1 = %d, lct1 = %d", - (uint)hct0, (uint)lct0, (uint)hct1, (uint)lct1); + error_log("Timer plausibility check: the wraparound of \"lct\" or " + "\"hct\" parameters of the Timer_GetCounterValue() " + "function was not handled correctly!\n" + "Current Values: hct0 = %d, lct0 = %d, hct1 = %d, lct1 = %d", + hct0, lct0, hct1, lct1); return ERROR_FAIL; } hct0 = hct1; lct0 = lct1; - - px4_usleep(20000); } return STATUS_OK; } /*!*************************************************************************** - * @brief Helper function for transfer data to SPI in blocking mode. + * @brief SPI interrupt callback function for the SPI transfer interrupt test. + * + * @details The interrupt callback is invoked from the S2PI module upon + * finishing the SPI transfer. The callback is used by the + * #SPITransferSync helper function to retrieve the status of the + * SPI transfer. + * + * @param status The S2PI module status passed to the callback. + * @param param The abstract interrupt callback parameter. + * + * @return Returns #STATUS_OK. + *****************************************************************************/ +static status_t SpiTransferInterruptCallback(status_t status, void *param) +{ + *((status_t *)param) = status; + return STATUS_OK; +} + +/*!*************************************************************************** + * @brief Helper function for transfer data to SPI in blocking mode. * * @details Calls the #S2PI_TransferFrame function and waits until the transfer - * has been finished by checking the #S2PI_GetStatus return code to - * become #STATUS_IDLE (or #STATUS_OK). - * - * @warning The test utilizes already the timer HAL in order to implement a - * rudimentary timeout. However, at this time, only some basic - * plausibility checks are performed on the timer HAL. I.e. if there - * is an issue in the time HAL, e.g. too fast or too slow time - * counting, the test may fail with an #ERROR_TIMEOUT. In this case, - * one also needs to verify the timer HAL, especially the - * #Timer_GetCounterValue function. - * - * @param slave The S2PI slave parameter passed to the S2PI HAL functions. - * @param data The data array to be transfered. - * @param size The size of the data array to be transfered. - * - * @return Returns the \link #status_t status\endlink: - * - #STATUS_OK on success. - * - #ERROR_TIMEOUT if the operation did not finished within a specified - * time (check also timer HAL implementation). - * - The S2PI layer error code if #S2PI_TransferFrame or #S2PI_GetStatus - * return any negative status. + * has been finished by checking the #S2PI_GetStatus return code to + * become #STATUS_IDLE (or #STATUS_OK). + * + * @warning The test utilizes already the timer HAL in order to implement a + * rudimentary timeout. However, at this time, only some basic + * plausibility checks are performed on the timer HAL. I.e. if there + * is an issue in the time HAL, e.g. too fast or too slow time + * counting, the test may fail with an #ERROR_TIMEOUT. In this case, + * one also needs to verify the timer HAL, especially the + * #Timer_GetCounterValue function. + * + * @param slave The S2PI slave parameter passed to the S2PI HAL functions. + * @param data The data array to be transferred. + * @param size The size of the data array to be transferred. + * + * @return Returns the \link #status_t status\endlink: + * - #STATUS_OK on success. + * - #ERROR_TIMEOUT if the operation did not finished within a specified + * time (check also timer HAL implementation). + * - The S2PI layer error code if #S2PI_TransferFrame or #S2PI_GetStatus + * return any negative status. *****************************************************************************/ -static status_t SPITransferSync(s2pi_slave_t slave, uint8_t *data, uint8_t size) +static status_t SPITransferSync(s2pi_slave_t slave, uint8_t *data, size_t size) { /* Test parameter configuration: *****************************************/ - const uint32_t timeout_ms = 100; // The transfer timeout in ms. + const uint32_t timeout_ms = 100; // The transfer timeout in ms. /*************************************************************************/ - status_t status = S2PI_TransferFrame(slave, data, data, size, 0, 0); + /* The status will be changed in the SPI callback. */ + volatile status_t callbackStatus = STATUS_BUSY; - if (status < STATUS_OK) { - PX4_INFO_RAW("SPI transfer failed! The call to S2PI_TransferFrame " - "yielded error code: %d", (int)status); + status_t status = S2PI_TransferFrame(slave, data, data, size, + SpiTransferInterruptCallback, + (void *)&callbackStatus); + + if (status != STATUS_OK) { + error_log("SPI transfer failed! The call to S2PI_TransferFrame " + "yielded error code: %d", + status); return status; } @@ -388,53 +443,67 @@ static status_t SPITransferSync(s2pi_slave_t slave, uint8_t *data, uint8_t size) Time_GetNow(&start); do { - status = S2PI_GetStatus(); + status = S2PI_GetStatus(slave); if (status < STATUS_OK) { - PX4_INFO_RAW("SPI transfer failed! The call to S2PI_GetStatus " - "yielded error code: %d", (int)status); - S2PI_Abort(); + error_log("SPI transfer failed! The call to S2PI_GetStatus " + "yielded error code: %d", status); + S2PI_Abort(slave); return status; } if (Time_CheckTimeoutMSec(&start, timeout_ms)) { - PX4_INFO_RAW("SPI transfer failed! The operation did not finished " - "within %u ms. This may also be caused by an invalid " - "timer implementation!", (uint)timeout_ms); + error_log("SPI transfer failed! The operation did not finished " + "within %d ms. This may also be caused by an invalid " + "timer implementation!", timeout_ms); return ERROR_TIMEOUT; } } while (status == STATUS_BUSY); + if (callbackStatus != STATUS_OK) { + error_log("Invocation of the SPI callback failed! The SPI transfer " + "callback yielded error code: %d", callbackStatus); + return callbackStatus; + } + return status; } /*!*************************************************************************** - * @brief SPI Connection Test for S2PI HAL Implementation. + * @brief SPI Connection Test for S2PI HAL Implementation. * * @details This test verifies the basic functionality of the SPI interface. - * The test utilizes the devices laser pattern register, which can - * be freely programmed by any 128-bit pattern. Thus, it writes a byte - * sequence and reads back the written values on the consecutive SPI - * access. - * - * @warning The test utilizes already the timer HAL in order to implement a - * rudimentary timeout. However, at this time, only some basic - * plausibility checks are performed on the timer HAL. I.e. if there - * is an issue in the time HAL, e.g. too fast or too slow time - * counting, the test may fail with an #ERROR_TIMEOUT. In this case, - * one also needs to verify the timer HAL, especially the - * #Timer_GetCounterValue function. - * - * @param slave The S2PI slave parameter passed to the S2PI HAL functions. - * - * @return Returns the \link #status_t status\endlink: - * - #STATUS_OK on success. - * - #ERROR_TIMEOUT if the operation did not finished within a specified - * time (check also timer HAL implementation). - * - #ERROR_FAIL if the device access failed and the read data did not - * match the expected values. - * - The S2PI layer error code if #S2PI_TransferFrame or #S2PI_GetStatus - * return any negative status. + * + * The test utilizes the devices laser pattern register, which can + * be freely programmed by any 128-bit pattern. Thus, it writes a byte + * sequence and reads back the written values on the consecutive SPI + * access. + * + * Note: The test verifies the SPI interface transfer functionality + * in blocking mode and also verifies the interrupt callback. + * In order to wait for the transfer to finish, it reads the S2PI + * status in a loop. If the status does not change to #STATUS_IDLE, + * the test will fail with an #ERROR_TIMEOUT. Finally, the test will + * verify the SPI transfer callback status. + * + * @warning The test utilizes already the timer HAL in order to implement a + * rudimentary timeout. However, at this time, only some basic + * plausibility checks are performed on the timer HAL. I.e. if there + * is an issue in the time HAL, e.g. too fast or too slow time + * counting, the test may fail with an #ERROR_TIMEOUT. In this case, + * one also needs to verify the timer HAL, especially the + * #Timer_GetCounterValue function. + * + * @param slave The S2PI slave parameter passed to the S2PI HAL functions. + * + * @return Returns the \link #status_t status\endlink: + * - #STATUS_OK on success. + * - #ERROR_TIMEOUT if the operation did not finished within a specified + * time (check also timer HAL implementation). + * - #ERROR_FAIL if the device access failed and the read data did not + * match the expected values. + * - The S2PI layer error code if #S2PI_TransferFrame, #S2PI_GetStatus + * or the SPI callback yield any negative status. *****************************************************************************/ static status_t SpiConnectionTest(s2pi_slave_t slave) { @@ -448,8 +517,8 @@ static status_t SpiConnectionTest(s2pi_slave_t slave) status = SPITransferSync(slave, data, 17U); - if (status < STATUS_OK) { - PX4_INFO_RAW("SPI connection test failed!"); + if (status != STATUS_OK) { + error_log("SPI connection test failed!"); return status; } @@ -460,18 +529,18 @@ static status_t SpiConnectionTest(s2pi_slave_t slave) status = SPITransferSync(slave, data, 17U); - if (status < STATUS_OK) { - PX4_INFO_RAW("SPI connection test failed!"); + if (status != STATUS_OK) { + error_log("SPI connection test failed!"); return status; } /* Verify the read pattern. */ for (uint8_t i = 1; i < 17U; ++i) { if (data[i] != i) { - PX4_INFO_RAW("SPI connection test failed!\n" - "Verification of read data is invalid!\n" - "read_data[%d] = %d, but expected was %d", - i, data[i], i); + error_log("SPI connection test failed!\n" + "Verification of read data is invalid!\n" + "read_data[%d] = %d, but expected was %d", + i, data[i], i); return ERROR_FAIL; } } @@ -479,142 +548,236 @@ static status_t SpiConnectionTest(s2pi_slave_t slave) return STATUS_OK; } - /*!*************************************************************************** - * @brief The data ready callback invoked by the API. - * - * @details The callback is invoked by the API when the device GPIO IRQ is - * pending after a measurement has been executed and data is ready to - * be read from the device. - * - * @param param The abstract pointer to the boolean value that determines if - * the callback is invoked. + * @brief Maximum SPI Data Size Test for S2PI HAL Implementation. + * + * @details This test verifies the maximum data transfer length of the SPI + * interface. The test sends and receives up to 396 data bytes plus + * a single address byte over the SPI interface and verifies that no + * data get lost. + * + * The test utilizes the channel select register which is 3 bytes plus + * address. This register can be repeatedly written with any pattern + * using the DMA mode. The register is written 100 times in a row + * to verify that long data frames with up to 400 bytes can be + * transmitted. + * + * Note that this test was motivated by an invalid implementation that + * used uint8_t type for the frame length in the #S2PI_TransferFrame + * function instead of an uint16_t value. This resulted in a maximum + * data length of 141 bytes (367 & 0xFF = 141) when reading the + * data value register. + * + * @warning The test utilizes already the timer HAL in order to implement a + * rudimentary timeout. However, at this time, only some basic + * plausibility checks are performed on the timer HAL. I.e. if there + * is an issue in the time HAL, e.g. too fast or too slow time + * counting, the test may fail with an #ERROR_TIMEOUT. In this case, + * one also needs to verify the timer HAL, especially the + * #Timer_GetCounterValue function. + * + * @param slave The S2PI slave parameter passed to the S2PI HAL functions. + * + * @return Returns the \link #status_t status\endlink: + * - #STATUS_OK on success. + * - #ERROR_TIMEOUT if the operation did not finished within a specified + * time (check also timer HAL implementation). + * - #ERROR_FAIL if the device access failed and the read data did not + * match the expected values. + * - The S2PI layer error code if #S2PI_TransferFrame or #S2PI_GetStatus + * return any negative status. *****************************************************************************/ -static void DataReadyCallback(void *param) +static status_t SpiMaxLengthTest(s2pi_slave_t slave) { - IRQ_LOCK(); - *((bool *) param) = true; - IRQ_UNLOCK(); + status_t status = STATUS_OK; + uint8_t data[400U] = { 0 }; + + /* Setup device (enable DMA mode). */ + data[0] = 0x10; data[1] = 0x12; + status = SPITransferSync(slave, data, 2); + + if (status != STATUS_OK) { + error_log("Device configuration failed!"); + return status; + } + + data[0] = 0x12; data[1] = 0x00; data[2] = 0x2B; + status = SPITransferSync(slave, data, 3); + + if (status != STATUS_OK) { + error_log("Device configuration failed!"); + return status; + } + + /* Transfer a pattern to the register */ + for (uint32_t i = 0; i < sizeof(data); i += 4) { + data[i + 0] = 0x1E; // Address + data[i + 1] = (uint8_t)i; // Random Data Byte 0 + data[i + 2] = (uint8_t)(i + 1); // Random Data Byte 1 + data[i + 3] = (uint8_t)(i * 2); // Random Data Byte 2 + } + + status = SPITransferSync(slave, data, sizeof(data)); + + if (status != STATUS_OK) { + error_log("SPI maximum data length test failed!"); + return status; + } + + /* Repeat ... */ + for (uint32_t i = 0; i < sizeof(data); i += 4) { + data[i + 0] = 0x1E; // Address + data[i + 1] = (uint8_t)i; // Random Data Byte 0 + data[i + 2] = (uint8_t)(i + 1); // Random Data Byte 1 + data[i + 3] = (uint8_t)(i * 2); // Random Data Byte 2 + } + + status = SPITransferSync(slave, data, sizeof(data)); + + if (status != STATUS_OK) { + error_log("SPI maximum data length test failed!"); + return status; + } + + /* Verify the read pattern; skip all address bytes. */ + for (uint32_t i = 0; i < sizeof(data); i += 4) { + uint32_t j = (i + 4) % sizeof(data); + + if (data[j + 1] != (uint8_t)i + || data[j + 2] != (uint8_t)(i + 1) + || data[j + 3] != (uint8_t)(i * 2)) { + error_log("SPI maximum data length test failed!\n" + "Verification of read data is invalid at byte %d!\n" + " - expected: 0x%02X%02X%02X\n" + " - actual: 0x%02X%02X%02X", + i, (uint8_t)i, (uint8_t)(i + 1), (uint8_t)(i * 2), + data[j + 1], data[j + 2], data[j + 3]); + return ERROR_FAIL; + } + } + + return STATUS_OK; } /*!*************************************************************************** - * @brief Configures the device with a bare minimum setup to run the tests. - * - * @details This function applies a number of configuration values to the - * device, such that a pseudo measurement w/o laser output can be - * performed. - * - * A \p rcoTrim parameter can be passed to adjust the actual clock - * setup. - * - * @warning The test utilizes already the timer HAL in order to implement a - * rudimentary timeout. However, at this time, only some basic - * plausibility checks are performed on the timer HAL. I.e. if there - * is an issue in the time HAL, e.g. too fast or too slow time - * counting, the test may fail with an #ERROR_TIMEOUT. In this case, - * one also needs to verify the timer HAL, especially the - * #Timer_GetCounterValue function. - * - * @param slave The S2PI slave parameter passed to the S2PI HAL functions. - * @param rcoTrim The RCO Trimming value added to the nominal RCO register - * value. Pass 0 if no fine tuning is required. - * - * @return Returns the \link #status_t status\endlink: - * - #STATUS_OK on success. - * - #ERROR_TIMEOUT if the SPI operation did not finished within a - * specified time (check also timer HAL implementation). - * - The S2PI layer error code if #S2PI_TransferFrame or #S2PI_GetStatus - * return any negative status. + * @brief Configures the device with a bare minimum setup to run the tests. + * + * @details This function applies a number of configuration values to the + * device, such that a pseudo measurement w/o laser output can be + * performed. + * + * A \p rcoTrim parameter can be passed to adjust the actual clock + * setup. + * + * @warning The test utilizes already the timer HAL in order to implement a + * rudimentary timeout. However, at this time, only some basic + * plausibility checks are performed on the timer HAL. I.e. if there + * is an issue in the time HAL, e.g. too fast or too slow time + * counting, the test may fail with an #ERROR_TIMEOUT. In this case, + * one also needs to verify the timer HAL, especially the + * #Timer_GetCounterValue function. + * + * @param slave The S2PI slave parameter passed to the S2PI HAL functions. + * @param rcoTrim The RCO Trimming value added to the nominal RCO register + * value. Pass 0 if no fine tuning is required. + * + * @return Returns the \link #status_t status\endlink: + * - #STATUS_OK on success. + * - #ERROR_TIMEOUT if the SPI operation did not finished within a + * specified time (check also timer HAL implementation). + * - The S2PI layer error code if #S2PI_TransferFrame or #S2PI_GetStatus + * return any negative status. *****************************************************************************/ static status_t ConfigureDevice(s2pi_slave_t slave, int8_t rcoTrim) { /* Setup Device and Trigger Measurement. */ - uint16_t v = 0x0010U | (((34 + rcoTrim) & 0x3F) << 6); - uint8_t d1[] = { 0x14, v >> 8, v & 0xFF, 0x21 }; + assert(rcoTrim >= -34 && rcoTrim < 0x3F - 34); + const uint16_t v = (uint16_t)(0x0010U | (((uint16_t)(34 + rcoTrim) & 0x3F) << 6U)); + uint8_t d1[] = { 0x14U, (uint8_t)(v >> 8U), v & 0xFFU, 0x21U }; status_t status = SPITransferSync(slave, d1, sizeof(d1)); - if (status < STATUS_OK) { - PX4_INFO_RAW("Device configuration failed!"); + if (status != STATUS_OK) { + error_log("Device configuration failed!"); return status; } uint8_t d2[] = { 0x16, 0x7F, 0xFF, 0x7F, 0xE9 }; status = SPITransferSync(slave, d2, sizeof(d2)); - if (status < STATUS_OK) { - PX4_INFO_RAW("Device configuration failed!"); + if (status != STATUS_OK) { + error_log("Device configuration failed!"); return status; } uint8_t d3[] = { 0x18, 0x00, 0x00, 0x03 }; status = SPITransferSync(slave, d3, sizeof(d3)); - if (status < STATUS_OK) { - PX4_INFO_RAW("Device configuration failed!"); + if (status != STATUS_OK) { + error_log("Device configuration failed!"); return status; } uint8_t d4[] = { 0x10, 0x12 }; status = SPITransferSync(slave, d4, sizeof(d4)); - if (status < STATUS_OK) { - PX4_INFO_RAW("Device configuration failed!"); + if (status != STATUS_OK) { + error_log("Device configuration failed!"); return status; } uint8_t d5[] = { 0x12, 0x00, 0x2B }; status = SPITransferSync(slave, d5, sizeof(d5)); - if (status < STATUS_OK) { - PX4_INFO_RAW("Device configuration failed!"); + if (status != STATUS_OK) { + error_log("Device configuration failed!"); return status; } uint8_t d6[] = { 0x08, 0x04, 0x84, 0x10 }; status = SPITransferSync(slave, d6, sizeof(d6)); - if (status < STATUS_OK) { - PX4_INFO_RAW("Device configuration failed!"); + if (status != STATUS_OK) { + error_log("Device configuration failed!"); return status; } uint8_t d7[] = { 0x0A, 0xFE, 0x51, 0x0F, 0x05 }; status = SPITransferSync(slave, d7, sizeof(d7)); - if (status < STATUS_OK) { - PX4_INFO_RAW("Device configuration failed!"); + if (status != STATUS_OK) { + error_log("Device configuration failed!"); return status; } uint8_t d8[] = { 0x0C, 0x00, 0x00, 0x00 }; status = SPITransferSync(slave, d8, sizeof(d8)); - if (status < STATUS_OK) { - PX4_INFO_RAW("Device configuration failed!"); + if (status != STATUS_OK) { + error_log("Device configuration failed!"); return status; } uint8_t d9[] = { 0x1E, 0x00, 0x00, 0x00 }; status = SPITransferSync(slave, d9, sizeof(d9)); - if (status < STATUS_OK) { - PX4_INFO_RAW("Device configuration failed!"); + if (status != STATUS_OK) { + error_log("Device configuration failed!"); return status; } uint8_t d10[] = { 0x20, 0x01, 0xFF, 0xFF }; status = SPITransferSync(slave, d10, sizeof(d10)); - if (status < STATUS_OK) { - PX4_INFO_RAW("Device configuration failed!"); + if (status != STATUS_OK) { + error_log("Device configuration failed!"); return status; } uint8_t d11[] = { 0x22, 0xFF, 0xFF, 0x04 }; status = SPITransferSync(slave, d11, sizeof(d11)); - if (status < STATUS_OK) { - PX4_INFO_RAW("Device configuration failed!"); + if (status != STATUS_OK) { + error_log("Device configuration failed!"); return status; } @@ -622,40 +785,55 @@ static status_t ConfigureDevice(s2pi_slave_t slave, int8_t rcoTrim) } /*!*************************************************************************** - * @brief Triggers a measurement on the device with specified sample count. + * @brief Triggers a measurement on the device with specified sample count. * * @details The function triggers a measurement cycle on the device. A - * \p sample count can be specified to setup individual number of - * digital averaging. - * - * @warning The test utilizes already the timer HAL in order to implement a - * rudimentary timeout. However, at this time, only some basic - * plausibility checks are performed on the timer HAL. I.e. if there - * is an issue in the time HAL, e.g. too fast or too slow time - * counting, the test may fail with an #ERROR_TIMEOUT. In this case, - * one also needs to verify the timer HAL, especially the - * #Timer_GetCounterValue function. - * - * @param slave The S2PI slave parameter passed to the S2PI HAL functions. - * @param samples The specified number of averaging samples for the measurement. - * - * @return Returns the \link #status_t status\endlink: - * - #STATUS_OK on success. - * - #ERROR_TIMEOUT if the operation did not finished within a specified - * time (check also timer HAL implementation). - * - The S2PI layer error code if #S2PI_TransferFrame or #S2PI_GetStatus - * return any negative status. + * \p sample count can be specified to setup individual number of + * digital averaging. + * + * The measurement in triggered asynchronously without waiting + * for any event to finish. + * + * @warning The test utilizes already the timer HAL in order to implement a + * rudimentary timeout. However, at this time, only some basic + * plausibility checks are performed on the timer HAL. I.e. if there + * is an issue in the time HAL, e.g. too fast or too slow time + * counting, the test may fail with an #ERROR_TIMEOUT. In this case, + * one also needs to verify the timer HAL, especially the + * #Timer_GetCounterValue function. + * + * @param slave The S2PI slave parameter passed to the S2PI HAL functions. + * @param samples The specified number of averaging samples for the measurement. + * @param callback An optional SPI callback. + * @param callbackData The optional callback data parameter. + * + * @return Returns the \link #status_t status\endlink: + * - #STATUS_OK on success. + * - #ERROR_TIMEOUT if the operation did not finished within a specified + * time (check also timer HAL implementation). + * - The S2PI layer error code if #S2PI_TransferFrame or #S2PI_GetStatus + * return any negative status. *****************************************************************************/ -static status_t TriggerMeasurement(s2pi_slave_t slave, uint16_t samples) +static status_t TriggerMeasurement(s2pi_slave_t slave, uint16_t samples, + s2pi_callback_t callback, void *callbackData) { // samples is zero based, i.e. writing 0 yields 1 sample samples = samples > 0 ? samples - 1 : samples; - uint16_t v = 0x8000U | ((samples & 0x03FFU) << 5U); - uint8_t d[] = { 0x1C, v >> 8, v & 0xFFU }; - status_t status = SPITransferSync(slave, d, sizeof(d)); + const uint16_t v = (uint16_t)(0x8000U | ((samples & 0x03FFU) << 5U)); + + // data is static as the transfer is asynchronous and the buffer must persist. + static uint8_t data[] = { 0x1CU, 0x00U, 0x00U }; + data[0] = 0x1CU; + data[1] = (uint8_t)(v >> 8U); + data[2] = v & 0xFFU; + + status_t status = S2PI_TransferFrame(slave, data, data, sizeof(data), + callback, callbackData); - if (status < STATUS_OK) { - PX4_INFO_RAW("Trigger measurement failed!"); + if (status != STATUS_OK) { + error_log("SPI transfer failed to trigger measurements! " + "The call to S2PI_TransferFrame yielded error code: %d", + status); return status; } @@ -663,162 +841,263 @@ static status_t TriggerMeasurement(s2pi_slave_t slave, uint16_t samples) } /*!*************************************************************************** - * @brief Waits for the data ready interrupt to be pending. - * - * @details The function polls the current interrupt pending state of the data - * ready interrupt from the device, i.e. reads the IRQ GPIO pin until - * it is pulled to low by the device. - * - * - * @warning The test utilizes already the timer HAL in order to implement a - * rudimentary timeout. However, at this time, only some basic - * plausibility checks are performed on the timer HAL. I.e. if there - * is an issue in the time HAL, e.g. too fast or too slow time - * counting, the test may fail with an #ERROR_TIMEOUT. In this case, - * one also needs to verify the timer HAL, especially the - * #Timer_GetCounterValue function. - * - * @param slave The S2PI slave parameter passed to the S2PI HAL functions. - * @param timeout_ms The timeout to cancel waiting for the IRQ. - * - * @return Returns the \link #status_t status\endlink: - * - #STATUS_OK on success. - * - #ERROR_TIMEOUT if either the SPI operation did not finished - * or the IRQ was not detected within a specified time (check also - * timer HAL implementation). - * - The S2PI layer error code if #S2PI_TransferFrame, #S2PI_GetStatus - * or #S2PI_SetIrqCallback return any negative status. + * @brief Data structure for the GPIO interrupt test. + * + * @details Contains data that is required by the GPIO interrupt test. *****************************************************************************/ -static status_t AwaitDataReady(s2pi_slave_t slave, uint32_t timeout_ms) +typedef struct gpio_data_t { + /* The S2PI slave parameter passed to the S2PI HAL functions. */ + s2pi_slave_t Slave; + + /* The callback status. */ + volatile status_t Status; + + /* The GPIO timeout in milliseconds. */ + uint32_t Timeout_ms; + + /* A counter to determine how often the callback is invoked. */ + volatile uint32_t CallbackInvoked; + + /* The return value of the #S2PI_ReadIrqPin function. */ + volatile uint32_t ReadIrqPinValue; + +} gpio_data_t; + +/*!*************************************************************************** + * @brief The IRQ callback dedicated to the #GpioInterruptTest. + * + * @details The callback is invoked by the API when the device GPIO IRQ is + * pending after a measurement has been executed and data is ready to + * be read from the device. + * + * @param param The abstract pointer to the boolean value that determines if + * the callback is invoked. + *****************************************************************************/ +static void GPIO_Callback(void *param) { + if (param == NULL) { + error_log("GPIO interrupt test failed: callback parameter \"param\" was NULL!"); + return; + } + + gpio_data_t *data = (gpio_data_t *)param; + data->CallbackInvoked = 1; +} + +/*!*************************************************************************** + * @brief The SPI transfer callback dedicated to the #GpioInterruptTest. + * + * @details The callback is invoked by the S2PI layer when the SPI transfer + * finished IRQ is invoked. The callback is used to simulate a + * deferred GPIO interrupt by locking the interrupts until the + * #S2PI_ReadIrqPin detects an GPIO interrupt pending state and + * returns 0. + * + * @param status The status of the SPI transfer. + * @param param The abstract pointer to the boolean value that determines if + * the callback is invoked. + * + * @return Returns the \link #status_t status\endlink: + * - #STATUS_OK on success. + * - #ERROR_FAIL if the \p param parameter is NULL. + * - #ERROR_TIMEOUT if the #S2PI_ReadIrqPin does not return 0 after + * a specified time (check also timer HAL implementation). + * - The S2PI layer error code that may be received from the S2PI + * module via the \p status parameter. + *****************************************************************************/ +static status_t GPIO_SPI_Callback(status_t status, void *param) +{ + IRQ_LOCK(); // prevents GPIO interrupt to preempt if set to higher priority. + + if (param == NULL) { + IRQ_UNLOCK(); + error_log("GPIO interrupt test failed: callback parameter \"param\" was NULL!"); + return ERROR_FAIL; + } + + gpio_data_t *data = (gpio_data_t *)param; + + if (status != STATUS_OK) { + IRQ_UNLOCK(); + error_log("GPIO interrupt test failed: callback parameter \"status\" was %d!", + status); + data->Status = status; + return status; + } + + /* The S2PI_ReadIrqPin must correctly return the GPIO IRQ state if the GPIO + * interrupt is pending but deferred due to any higher priority or critical + * sections. Therefore, the SPI callback with the #IRQ_LOCK/#IRQ_UNLOCK is + * used to delay the GPIO callback and test the #S2PI_ReadIrqPin function. + * + * The purpose is to simulate a delayed GPIO interrupt that can in the + * production code happen due to any higher priority interrupts (such as + * the SPI interrupt in this test). In those cases, the API relies on the + * #S2PI_ReadIrqPin method to obtain if the device has finished in time and + * the interrupt is already pending. Otherwise, it would fail with an + * timeout due to the deferred GPIO interrupt callback event. */ + ltc_t start; Time_GetNow(&start); - - while (S2PI_ReadIrqPin(slave)) { - if (Time_CheckTimeoutMSec(&start, timeout_ms)) { - PX4_INFO_RAW("SPI interrupt test failed! The S2PI_ReadIrqPin did not " - "determine an pending interrupt within %u ms.", (uint)timeout_ms); + data->ReadIrqPinValue = S2PI_ReadIrqPin(data->Slave); + + while (data->ReadIrqPinValue) { + if (Time_CheckTimeoutMSec(&start, data->Timeout_ms)) { + IRQ_UNLOCK(); + error_log("GPIO interrupt test failed! The IRQ pin did not assert " + "to low state when reading from the IRQ callback. " + "Elapsed %d ms.", data->Timeout_ms); + data->Status = ERROR_TIMEOUT; return ERROR_TIMEOUT; } + + data->ReadIrqPinValue = S2PI_ReadIrqPin(data->Slave); } + IRQ_UNLOCK(); + data->Status = STATUS_OK; return STATUS_OK; } /*!*************************************************************************** - * @brief SPI Interrupt Test for S2PI HAL Implementation. - * - * @details This test verifies the correct implementation of the device - * integration finished interrupt callback. Therefore it configures - * the device with a minimal setup to run a pseudo measurement that - * does not emit any laser light. - * - * Note that this test does verify the GPIO interrupt that occurs - * whenever the device has finished the integration/measurement and - * new data is waiting to be read from the device. This does not test - * the interrupt that is triggered when the SPI transfer has finished. - * - * The data ready interrupt implies two S2PI layer functions that - * are tested in this test: The #S2PI_SetIrqCallback function installs - * a callback function that is invoked whenever the IRQ occurs. - * The IRQ can be delayed due to higher priority task, e.g. from the - * user code. It is essential for the laser safety timeout algorithm - * to determine the device ready signal as fast as possible, another - * method is implemented to read if the IRQ is pending but the - * callback has not been reset yet. This is what the #S2PI_ReadIrqPin - * function is for. - * + * @brief SPI Interrupt Test for S2PI HAL Implementation. + * + * @details This test verifies the correct implementation of the device + * integration finished interrupt callback, a.k.a. the GPIO interrupt. + * Therefore it configures the device with a minimal setup to run a + * pseudo measurement that does not emit any laser light but triggers + * an GPIO interrupt once finished. + * + * The data ready interrupt implies two S2PI layer functions that + * are tested in this test: The #S2PI_SetIrqCallback function installs + * a callback function that is invoked whenever the IRQ occurs and + * the #S2PI_ReadIrqPin function to obtain the pending interrupt state. + * + * The IRQ can be delayed due to higher priority task, e.g. from the + * user code. It is essential for the laser safety timeout algorithm + * to determine the device ready signal as fast as possible. Thus a + * method is required to obtain if the IRQ is currently pending but + * the callback has not been invoked yet. This is what the + * #S2PI_ReadIrqPin function is for. Note that the #S2PI_ReadIrqPin + * must return 0 if not interrupt is pending and 1 else. Just like + * the IRQ pin is active low. + * + * The test simulate a delayed GPIO interrupt by locking the interrupts + * until the #S2PI_ReadIrqPin detects an GPIO interrupt pending state + * and returns 0. This is done by the #GPIO_SPI_Callback function. + * + * Note that this test does verify the GPIO interrupt that occurs + * whenever the device has finished the integration/measurement and + * new data is waiting to be read from the device. This does not test + * the interrupt that is triggered when the SPI transfer has finished. * * @warning The test assumes the device is in a fresh power on state and no - * additional reset is required. If the test fail, one may want to - * power cycle the device and try again. - * - * @warning The test utilizes already the timer HAL in order to implement a - * rudimentary timeout. However, at this time, only some basic - * plausibility checks are performed on the timer HAL. I.e. if there - * is an issue in the time HAL, e.g. too fast or too slow time - * counting, the test may fail with an #ERROR_TIMEOUT. In this case, - * one also needs to verify the timer HAL, especially the - * #Timer_GetCounterValue function. - * - * @param slave The S2PI slave parameter passed to the S2PI HAL functions. - * - * @return Returns the \link #status_t status\endlink: - * - #STATUS_OK on success. - * - #ERROR_TIMEOUT if either the SPI operation did not finished - * or the IRQ was not detected within a specified time (check also - * timer HAL implementation). - * - #ERROR_FAIL if the IRQ pin readout failed and the no or invalid - * interrupt was detected. - * - The S2PI layer error code if #S2PI_TransferFrame, #S2PI_GetStatus - * or #S2PI_SetIrqCallback return any negative status. + * additional reset is required. If the test fail, one may want to + * power cycle the device and try again. + * + * @warning The test locks the interrupts for a quite long period of time in + * order to simulate a delayed GPIO interrupt. This is not a good + * practice in production code. However, it is required to test the + * #S2PI_ReadIrqPin function. Please be aware of that when you run + * this test. + * + * @warning The test utilizes already the timer HAL in order to implement a + * rudimentary timeout. However, at this time, only some basic + * plausibility checks are performed on the timer HAL. I.e. if there + * is an issue in the time HAL, e.g. too fast or too slow time + * counting, the test may fail with an #ERROR_TIMEOUT. In this case, + * one also needs to verify the timer HAL, especially the + * #Timer_GetCounterValue function. + * + * @param slave The S2PI slave parameter passed to the S2PI HAL functions. + * + * @return Returns the \link #status_t status\endlink: + * - #STATUS_OK on success. + * - #ERROR_TIMEOUT if either the SPI operation did not finished + * or the IRQ was not detected within a specified time (check also + * timer HAL implementation). + * - #ERROR_FAIL if the IRQ pin readout failed and the no or invalid + * interrupt was detected. + * - The S2PI layer error code if #S2PI_TransferFrame, #S2PI_GetStatus + * or #S2PI_SetIrqCallback return any negative status. *****************************************************************************/ -static status_t SpiInterruptTest(s2pi_slave_t slave) +static status_t GpioInterruptTest(s2pi_slave_t slave) { /* Test parameter configuration: *****************************************/ const uint32_t timeout_ms = 300; // timeout for measurement, might be increased.. /*************************************************************************/ + gpio_data_t data = { .Slave = slave, + .Status = ERROR_FAIL, + .Timeout_ms = timeout_ms, + .ReadIrqPinValue = 12345, + .CallbackInvoked = 0 + }; + /* Install IRQ callback. */ - volatile bool isDataReady = false; - status_t status = S2PI_SetIrqCallback(slave, DataReadyCallback, (void *)&isDataReady); + status_t status = S2PI_SetIrqCallback(slave, GPIO_Callback, &data); - if (status < STATUS_OK) { - PX4_INFO_RAW("SPI interrupt test failed! The call to S2PI_SetIrqCallback " - "yielded error code: %d", (int)status); + if (status != STATUS_OK) { + error_log("GPIO interrupt test failed! The call to S2PI_SetIrqCallback " + "yielded error code: %d", status); return status; } - /* Check if IRQ is not yet pending. */ - if (S2PI_ReadIrqPin(slave) == 0) { - PX4_INFO_RAW("SPI interrupt test failed! The S2PI_ReadIrqPin did " - "return 0 but no interrupt is pending since no " - "measurements are executed yet!"); - return ERROR_FAIL; - }; - /* Setup Device. */ status = ConfigureDevice(slave, 0); - if (status < STATUS_OK) { - PX4_INFO_RAW("SPI interrupt test failed!"); + if (status != STATUS_OK) { + error_log("GPIO interrupt test failed!"); return status; } + /* Check if IRQ is not yet pending. */ + if (S2PI_ReadIrqPin(slave) == 0) { + error_log("GPIO interrupt test failed! The S2PI_ReadIrqPin did " + "return 0 but no interrupt is pending since no " + "measurements are executed yet!"); + return ERROR_FAIL; + }; + /* Trigger Measurement. */ - status = TriggerMeasurement(slave, 0); + status = TriggerMeasurement(slave, 0, GPIO_SPI_Callback, &data); - if (status < STATUS_OK) { - PX4_INFO_RAW("SPI interrupt test failed!"); + if (status != STATUS_OK) { + error_log("GPIO interrupt test failed!"); return status; } + /* Wait for Interrupt using the callback method. */ ltc_t start; Time_GetNow(&start); - /* Wait for Interrupt using the S2PI_ReadIrqPin method. */ - status = AwaitDataReady(slave, timeout_ms); - - if (status < STATUS_OK) { - PX4_INFO_RAW("SPI interrupt test failed!"); - return status; - } - - /* Wait for Interrupt using the callback method. */ - while (!isDataReady) { + while (!data.CallbackInvoked) { if (Time_CheckTimeoutMSec(&start, timeout_ms)) { - PX4_INFO_RAW("SPI interrupt test failed! The IRQ callback was not " - "invoked within %u ms.", (uint)timeout_ms); + error_log("GPIO interrupt test failed! The IRQ callback was not " + "invoked within %d ms.", timeout_ms); return ERROR_TIMEOUT; } } + /* Verify ... */ + if (data.Status != STATUS_OK) { + error_log("GPIO interrupt test failed! The SPI IRQ callback yielded " + "an error status: %d (expected 0)", data.Status); + return ERROR_FAIL; + } + + if (data.ReadIrqPinValue != 0) { + error_log("GPIO interrupt test failed! The IRQ pin returned " + "the wrong value: %d (expected 0)", data.ReadIrqPinValue); + return ERROR_FAIL; + } + /* Remove callback. */ status = S2PI_SetIrqCallback(slave, 0, 0); - if (status < STATUS_OK) { - PX4_INFO_RAW("SPI interrupt test failed! The call to S2PI_SetIrqCallback " - "with null pointers yielded error code: %d", (int)status); + if (status != STATUS_OK) { + error_log("GPIO interrupt test failed! The call to S2PI_SetIrqCallback " + "with null pointers yielded error code: %d", status); return status; } @@ -826,28 +1105,28 @@ static status_t SpiInterruptTest(s2pi_slave_t slave) } /*!*************************************************************************** - * @brief Reads the EEPROM bytewise and applies Hamming weight. - * @details The EEPROM bytes are consecutevly read from the device via GPIO mode. - * The #EEPROM_Read function is an internal API function that enables - * the GPIO mode from the S2PI module and reads the data via a software - * bit-banging protocol. Finally it disables the GPIO mode and returns - * to SPI mode. - * - * The calls to S2PI HAL module is as follows: - * 1. S2PI_CaptureGpioControl - * 2. multiple calls to S2PI_WriteGpioPin and S2PI_ReadGpioPin - * 3. S2PI_ReleaseGpioControl - * - * @param slave The S2PI slave parameter passed to the S2PI HAL functions. - * @param eeprom The 16 byte array to be filled with EEPROM data. - * - * @return Returns the \link #status_t status\endlink: - * - #STATUS_OK on success. - * - #STATUS_ARGUS_EEPROM_BIT_ERROR if the Hamming weight fails. - * interrupt was detected. - * - The S2PI layer error code if #S2PI_CaptureGpioControl, - * #S2PI_ReleaseGpioControl, #S2PI_WriteGpioPin or - * #S2PI_ReadGpioPin return any negative status. + * @brief Reads the EEPROM byte-wise and applies Hamming weight. + * @details The EEPROM bytes are consecutively read from the device via GPIO mode. + * The EEPROM_Read function is an internal API function that enables + * the GPIO mode from the S2PI module and reads the data via a software + * bit-banging protocol. Finally it disables the GPIO mode and returns + * to SPI mode. + * + * The calls to S2PI HAL module is as follows: + * 1. S2PI_CaptureGpioControl + * 2. multiple calls to S2PI_WriteGpioPin and S2PI_ReadGpioPin + * 3. S2PI_ReleaseGpioControl + * + * @param slave The S2PI slave parameter passed to the S2PI HAL functions. + * @param eeprom The 16 byte array to be filled with EEPROM data. + * + * @return Returns the \link #status_t status\endlink: + * - #STATUS_OK on success. + * - #STATUS_ARGUS_EEPROM_BIT_ERROR if the Hamming weight fails. + * interrupt was detected. + * - The S2PI layer error code if #S2PI_CaptureGpioControl, + * #S2PI_ReleaseGpioControl, #S2PI_WriteGpioPin or + * #S2PI_ReadGpioPin return any negative status. *****************************************************************************/ static status_t ReadEEPROM(s2pi_slave_t slave, uint8_t *eeprom) { @@ -855,9 +1134,9 @@ static status_t ReadEEPROM(s2pi_slave_t slave, uint8_t *eeprom) uint8_t d1[] = { 0x12, 0x00, 0x4B }; status_t status = SPITransferSync(slave, d1, sizeof(d1)); - if (status < STATUS_OK) { - PX4_INFO_RAW("EEPROM readout failed (enable EEPROM), " - "error code: %d", (int)status); + if (status != STATUS_OK) { + error_log("EEPROM readout failed (enable EEPROM), " + "error code: %d", status); return status; } @@ -868,8 +1147,8 @@ static status_t ReadEEPROM(s2pi_slave_t slave, uint8_t *eeprom) status = EEPROM_Read(slave, address, &data[address]); if (status != STATUS_OK) { - PX4_INFO_RAW("EEPROM readout failed @ address 0x%02x, " - "error code: %d!", address, (int)status); + error_log("EEPROM readout failed @ address 0x%02x, " + "error code: %d!", address, status); return status; } } @@ -878,9 +1157,9 @@ static status_t ReadEEPROM(s2pi_slave_t slave, uint8_t *eeprom) uint8_t d2[] = { 0x12, 0x00, 0x2B }; status = SPITransferSync(slave, d2, sizeof(d2)); - if (status < STATUS_OK) { - PX4_INFO_RAW("EEPROM readout failed (enable EEPROM), " - "error code: %d", (int)status); + if (status != STATUS_OK) { + error_log("EEPROM readout failed (enable EEPROM), " + "error code: %d", status); return status; } @@ -888,8 +1167,8 @@ static status_t ReadEEPROM(s2pi_slave_t slave, uint8_t *eeprom) uint8_t err = hamming_decode(data, eeprom); if (err != 0) { - PX4_INFO_RAW("EEPROM readout failed! Failed to decoding " - "Hamming weight (error: %d)!", err); + error_log("EEPROM readout failed! Failed to decoding " + "Hamming weight (Hamming parity error: %d)!", err); return STATUS_ARGUS_EEPROM_BIT_ERROR; } @@ -900,30 +1179,30 @@ static status_t ReadEEPROM(s2pi_slave_t slave, uint8_t *eeprom) } /*!*************************************************************************** - * @brief GPIO Mode Test for S2PI HAL Implementation. + * @brief GPIO Mode Test for S2PI HAL Implementation. * * @details This test verifies the GPIO mode of the S2PI HAL module. This is - * done by leveraging the EEPROM readout sequence that accesses the - * devices EEPROM via a software protocol that depends on the GPIO - * mode. - * - * This the requires several steps, most of them are already verified - * in previous tests: - * - Basic device configuration and enable EEPROM. - * - Read EERPOM via GPIO mode and apply Hamming weight - * - Repeat several times (to eliminate random readout issues). - * - Decode the EEPROM (using EEPROM_Decode in argus_cal_eeprom.c) - * - Check if Module Number and Chip ID is not 0 - * - * @param slave The S2PI slave parameter passed to the S2PI HAL functions. - * - * @return Returns the \link #status_t status\endlink: - * - #STATUS_OK on success. - * - #ERROR_FAIL if the GPIO test fails. - * - #STATUS_ARGUS_EEPROM_BIT_ERROR if the Hamming weight fails. - * - The S2PI layer error code if #S2PI_CaptureGpioControl, - * #S2PI_ReleaseGpioControl, #S2PI_WriteGpioPin or - * #S2PI_ReadGpioPin return any negative status. + * done by leveraging the EEPROM readout sequence that accesses the + * devices EEPROM via a software protocol that depends on the GPIO + * mode. + * + * This the requires several steps, most of them are already verified + * in previous tests: + * - Basic device configuration and enable EEPROM. + * - Read EEPROM via GPIO mode and apply Hamming weight + * - Repeat several times (to eliminate random readout issues). + * - Decode the EEPROM (using EEPROM_Decode in argus_cal_eeprom.c) + * - Check if Module Number and Chip ID is not 0 + * + * @param slave The S2PI slave parameter passed to the S2PI HAL functions. + * + * @return Returns the \link #status_t status\endlink: + * - #STATUS_OK on success. + * - #ERROR_FAIL if the GPIO test fails. + * - #STATUS_ARGUS_EEPROM_BIT_ERROR if the Hamming weight fails. + * - The S2PI layer error code if #S2PI_CaptureGpioControl, + * #S2PI_ReleaseGpioControl, #S2PI_WriteGpioPin or + * #S2PI_ReadGpioPin return any negative status. *****************************************************************************/ static status_t GpioModeTest(s2pi_slave_t slave) { @@ -934,66 +1213,66 @@ static status_t GpioModeTest(s2pi_slave_t slave) status_t status = ReadEEPROM(slave, eeprom1); - if (status < STATUS_OK) { - PX4_INFO_RAW("GPIO mode test failed (1st attempt)!"); + if (status != STATUS_OK) { + error_log("GPIO mode test failed (1st attempt)!"); return status; } status = ReadEEPROM(slave, eeprom2); - if (status < STATUS_OK) { - PX4_INFO_RAW("GPIO mode test failed (2nd attempt)!"); + if (status != STATUS_OK) { + error_log("GPIO mode test failed (2nd attempt)!"); return status; } status = ReadEEPROM(slave, eeprom3); - if (status < STATUS_OK) { - PX4_INFO_RAW("GPIO mode test failed (3rd attempt)!"); + if (status != STATUS_OK) { + error_log("GPIO mode test failed (3rd attempt)!"); return status; } /* Verify EEPROM data. */ if ((memcmp(eeprom1, eeprom2, 16) != 0) || (memcmp(eeprom1, eeprom3, 16) != 0)) { - PX4_INFO_RAW("GPIO Mode test failed (data comparison)!\n" - "The data from 3 distinct EEPROM readout does not match!"); + error_log("GPIO Mode test failed (data comparison)!\n" + "The data from 3 distinct EEPROM readout does not match!"); return ERROR_FAIL; } /* Check EEPROM data for reasonable chip and module number (i.e. not 0) */ uint32_t chipID = EEPROM_ReadChipId(eeprom1); - argus_module_version_t module = EEPROM_ReadModule(eeprom1); + uint8_t module = EEPROM_ReadModule(eeprom1); if (chipID == 0 || module == 0) { - PX4_INFO_RAW("GPIO Mode test failed (data verification)!\n" - "Invalid EEPROM data: Module = %d; Chip ID = %u!", module, (uint)chipID); + error_log("GPIO Mode test failed (data verification)!\n" + "Invalid EEPROM data: Module = %d; Chip ID = %d!", module, chipID); return ERROR_FAIL; } - PX4_INFO_RAW("EEPROM Readout succeeded!\n"); - PX4_INFO_RAW("- Module: %d\n", module); - PX4_INFO_RAW("- Device ID: %u\n", (uint)chipID); + print("EEPROM Readout succeeded!\n"); + print("- Module: %d\n", module); + print("- Device ID: %d\n", chipID); return STATUS_OK; } /*!*************************************************************************** - * @brief Reads the RCO_TRIM value from the devices EEPROM. + * @brief Reads the RCO_TRIM value from the devices EEPROM. * * @details The function reads the devices EEPROM via GPIO mode and extracts - * the RCO_TRIM value from the EEPROM map. - * - * @param slave The S2PI slave parameter passed to the S2PI HAL functions. - * @param rcotrim The read RCO_TRIM value will be returned via this pointer. - * - * @return Returns the \link #status_t status\endlink: - * - #STATUS_OK on success. - * - #STATUS_ARGUS_EEPROM_BIT_ERROR if the Hamming weight fails. - * - #ERROR_ARGUS_UNKNOWN_MODULE if the EEPROM module number is invalid. - * - The S2PI layer error code if #S2PI_CaptureGpioControl, - * #S2PI_ReleaseGpioControl, #S2PI_WriteGpioPin or - * #S2PI_ReadGpioPin return any negative status. + * the RCO_TRIM value from the EEPROM map. + * + * @param slave The S2PI slave parameter passed to the S2PI HAL functions. + * @param rcotrim The read RCO_TRIM value will be returned via this pointer. + * + * @return Returns the \link #status_t status\endlink: + * - #STATUS_OK on success. + * - #STATUS_ARGUS_EEPROM_BIT_ERROR if the Hamming weight fails. + * - #ERROR_ARGUS_UNKNOWN_MODULE if the EEPROM module number is invalid. + * - The S2PI layer error code if #S2PI_CaptureGpioControl, + * #S2PI_ReleaseGpioControl, #S2PI_WriteGpioPin or + * #S2PI_ReadGpioPin return any negative status. *****************************************************************************/ static status_t ReadRcoTrim(s2pi_slave_t slave, int8_t *rcotrim) { @@ -1003,25 +1282,15 @@ static status_t ReadRcoTrim(s2pi_slave_t slave, int8_t *rcotrim) if (status != STATUS_OK) { return status; } - argus_module_version_t module = EEPROM_ReadModule(eeprom); - - switch (module) { - case AFBR_S50MV85G_V1: - case AFBR_S50MV85G_V2: - case AFBR_S50MV85G_V3: - case AFBR_S50LV85D_V1: - case AFBR_S50MV68B_V1: - case AFBR_S50MV85I_V1: - case AFBR_S50SV85K_V1: + uint8_t module = EEPROM_ReadModule(eeprom); + if (module > 0 && module < 8) { /* Read RCO Trim Value from EEPROM Map 1/2/3: */ *rcotrim = ((int8_t) eeprom[0]) >> 3; - break; - - case MODULE_NONE: /* Uncalibrated module; use all 0 data. */ - default: - PX4_INFO_RAW("EEPROM Readout failed! Unknown module number: %d", module); + } else { + /* Uncalibrated module; use all 0 data. */ + error_log("EEPROM Readout failed! Unknown module number: %d", module); return ERROR_ARGUS_UNKNOWN_MODULE; } @@ -1029,112 +1298,151 @@ static status_t ReadRcoTrim(s2pi_slave_t slave, int8_t *rcotrim) } /*!*************************************************************************** - * @brief Triggers a measurement on the device and waits for the data ready - * interrupt. + * @brief Callback function for the data ready interrupt. + * + * @details The function is called by the S2PI layer when the data ready + * interrupt is pending. The function sets the \p param to + * #STATUS_IDLE. + * + * @param param The parameter passed to the #S2PI_SetIrqCallback function as + * an abstract pointer to an #status_t type. + *****************************************************************************/ +static void MeasurementCallback(void *param) +{ + *(status_t *) param = STATUS_IDLE; +} + +/*!*************************************************************************** + * @brief Triggers a measurement on the device and waits for the data ready + * interrupt. * * @details The function triggers a measurement cycle on the device and waits - * until the measurement has been finished. A \p sample count can be - * specified to setup individual number of digital averaging. - * - * @warning The test utilizes already the timer HAL in order to implement a - * rudimentary timeout. However, at this time, only some basic - * plausibility checks are performed on the timer HAL. I.e. if there - * is an issue in the time HAL, e.g. too fast or too slow time - * counting, the test may fail with an #ERROR_TIMEOUT. In this case, - * one also needs to verify the timer HAL, especially the - * #Timer_GetCounterValue function. - * - * @param slave The S2PI slave parameter passed to the S2PI HAL functions. - * @param samples The specified number of averaging samples for the measurement. - * - * @return Returns the \link #status_t status\endlink: - * - #STATUS_OK on success. - * - #ERROR_TIMEOUT if either the SPI operation did not finished - * or the IRQ was not detected within a specified time (check also - * timer HAL implementation). - * - The S2PI layer error code if #S2PI_TransferFrame, #S2PI_GetStatus - * or #S2PI_SetIrqCallback return any negative status. + * until the measurement has been finished. A \p sample count can be + * specified to setup individual number of digital averaging. + * + * @warning The test utilizes already the timer HAL in order to implement a + * rudimentary timeout. However, at this time, only some basic + * plausibility checks are performed on the timer HAL. I.e. if there + * is an issue in the time HAL, e.g. too fast or too slow time + * counting, the test may fail with an #ERROR_TIMEOUT. In this case, + * one also needs to verify the timer HAL, especially the + * #Timer_GetCounterValue function. + * + * @param slave The S2PI slave parameter passed to the S2PI HAL functions. + * @param samples The specified number of averaging samples for the measurement. + * + * @return Returns the \link #status_t status\endlink: + * - #STATUS_OK on success. + * - #ERROR_TIMEOUT if either the SPI operation did not finished + * or the IRQ was not detected within a specified time (check also + * timer HAL implementation). + * - The S2PI layer error code if #S2PI_TransferFrame, #S2PI_GetStatus + * or #S2PI_SetIrqCallback return any negative status. *****************************************************************************/ static status_t RunMeasurement(s2pi_slave_t slave, uint16_t samples) { - status_t status = TriggerMeasurement(slave, samples); + /* Test parameter configuration: *****************************************/ + const uint32_t timeout_ms = 300; // The transfer timeout in ms. + /*************************************************************************/ + + volatile status_t callbackStatus = STATUS_BUSY; - if (status < STATUS_OK) { - PX4_INFO_RAW("Speed test failed!\n" - "Call to TransferFrame returned code: %d", - (int)status); + status_t status = S2PI_SetIrqCallback(slave, MeasurementCallback, (void *)&callbackStatus); + + if (status != STATUS_OK) { + error_log("Failed to run a measurement!\n" + "Call to SetIrqCallback returned code: %d", status); return status; } - /* Wait until the transfer is finished using a timeout. */ - status = AwaitDataReady(slave, 300); + status = TriggerMeasurement(slave, samples, 0, 0); - if (status < STATUS_OK) { - PX4_INFO_RAW("Speed test failed!\n" - "SPI Read IRQ pin didn't raised, timeout activated at 200ms, error code: %d", - (int)status); + if (status != STATUS_OK) { + error_log("Failed to run a measurement!\n" + "Call to TransferFrame returned code: %d", status); return status; } - return status; + /* Wait until the transfer is finished using a timeout. */ + + ltc_t start; + Time_GetNow(&start); + + while (callbackStatus == STATUS_BUSY) { + if (Time_CheckTimeoutMSec(&start, timeout_ms)) { + error_log("Failed to run a measurement!\n" + "Timeout occurred while waiting for the SPI interrupt (%d ms).", + timeout_ms); + return ERROR_TIMEOUT; + } + } + + if (callbackStatus != STATUS_OK) { + error_log("Failed to run a measurement!\n" + "The SPI callback yielded returned code: %d", + callbackStatus); + return callbackStatus; + } + + return STATUS_OK; } /*!*************************************************************************** - * @brief Test for Timer HAL Implementation by comparing timings to the device. - * - * @details The test verifies the timer HAL implementation by comparing the - * timings to the AFBR-S50 device as a reference. - * Therefore several measurement are executed on the device, each with - * a different averaging sample count. The elapsed time increases - * linearly with the number of averaging samples. In order to remove - * the time for software/setup, a linear regression fit is applied to - * the measurement results and only the slope is considered for the - * result. A delta of 102.4 microseconds per sample is expected. - * If the measured delta per sample is within an specified error range, - * the timer implementation is considered correct. - * - * @param slave The S2PI slave parameter passed to the S2PI HAL functions. - * - * @return Returns the \link #status_t status\endlink: - * - #STATUS_OK on success. - * - #ERROR_FAIL if the timer test fails. - * - #STATUS_ARGUS_EEPROM_BIT_ERROR if the EEPROM Hamming weight fails. - * - #ERROR_ARGUS_UNKNOWN_MODULE if the EEPROM module number is invalid. - * - #ERROR_TIMEOUT if either the SPI operation did not finished - * or the IRQ was not detected within a specified time (check also - * timer HAL implementation). - * - The S2PI layer error code if #S2PI_TransferFrame, #S2PI_GetStatus, - * #S2PI_SetIrqCallback, #S2PI_CaptureGpioControl, - * #S2PI_ReleaseGpioControl, #S2PI_WriteGpioPin or #S2PI_ReadGpioPin - * return any negative status. + * @brief Test for Timer HAL Implementation by comparing timings to the device. + * + * @details The test verifies the timer HAL implementation by comparing the + * timings to the AFBR-S50 device as a reference. + * Therefore several measurement are executed on the device, each with + * a different averaging sample count. The elapsed time increases + * linearly with the number of averaging samples. In order to remove + * the time for software/setup, a linear regression fit is applied to + * the measurement results and only the slope is considered for the + * result. A delta of 102.4 microseconds per sample is expected. + * If the measured delta per sample is within an specified error range, + * the timer implementation is considered correct. + * + * @param slave The S2PI slave parameter passed to the S2PI HAL functions. + * + * @return Returns the \link #status_t status\endlink: + * - #STATUS_OK on success. + * - #ERROR_FAIL if the timer test fails. + * - #STATUS_ARGUS_EEPROM_BIT_ERROR if the EEPROM Hamming weight fails. + * - #ERROR_ARGUS_UNKNOWN_MODULE if the EEPROM module number is invalid. + * - #ERROR_TIMEOUT if either the SPI operation did not finished + * or the IRQ was not detected within a specified time (check also + * timer HAL implementation). + * - The S2PI layer error code if #S2PI_TransferFrame, #S2PI_GetStatus, + * #S2PI_SetIrqCallback, #S2PI_CaptureGpioControl, + * #S2PI_ReleaseGpioControl, #S2PI_WriteGpioPin or #S2PI_ReadGpioPin + * return any negative status. *****************************************************************************/ static status_t TimerTest(s2pi_slave_t slave) { /* Test parameter configuration: *****************************************/ - const int8_t n = 10; // The number of measurements. - const uint32_t ds = 100; // The step size in averaging samples. - const float exp_slope = 102.4; // Expected slope is 102.4 µs / phase / sample - const float rel_slope_error = 3e-2; // Relative slope tolerance is 3%. + const int8_t n = 10; // The number of measurements. + const uint32_t ds = 100; // The step size in averaging samples. + const float exp_slope = 102.4f; // Expected slope is 102.4 µs / phase / sample + const float rel_slope_error = 3e-2f; // Relative slope tolerance is 3%. /*************************************************************************/ /* Read RCOTrim value from EEPROM*/ int8_t RcoTrim = 0; status_t status = ReadRcoTrim(slave, &RcoTrim); - if (status < STATUS_OK) { - PX4_INFO_RAW("Timer test failed!\n" - "EEPROM Read test returned code: %d", (int)status); + if (status != STATUS_OK) { + error_log("Timer test failed!\n" + "EEPROM Read test returned code: %d", status); return status; } - PX4_INFO_RAW("RCOTrim = %d\n", RcoTrim); + print("RCOTrim = %d\n", RcoTrim); /* Configure the device with calibrated RCO to 24MHz. */ status = ConfigureDevice(slave, RcoTrim); - if (status < STATUS_OK) { - PX4_INFO_RAW("Timer test failed!\n" - "Configuration test returned code: %d", (int)status); + if (status != STATUS_OK) { + error_log("Timer test failed!\n" + "Configuration test returned code: %d", status); return status; } @@ -1146,21 +1454,23 @@ static status_t TimerTest(s2pi_slave_t slave) float x2sum = 0; float xysum = 0; - PX4_INFO_RAW("+-------+---------+------------+\n"); - PX4_INFO_RAW("| count | samples | elapsed us |\n"); - PX4_INFO_RAW("+-------+---------+------------+\n"); + print("+-------+---------+------------+\n"); + print("| count | samples | elapsed us |\n"); + print("+-------+---------+------------+\n"); for (uint8_t i = 1; i <= n; ++i) { ltc_t start; Time_GetNow(&start); - int samples = ds * i; - status = RunMeasurement(slave, samples); + uint32_t samples = ds * i; + assert(samples < UINT16_MAX); - if (status < STATUS_OK) { - PX4_INFO_RAW("Timer test failed!\n" - "Run measurement returned code: %d", - (int)status); + status = RunMeasurement(slave, (uint16_t)samples); + + if (status != STATUS_OK) { + error_log("Timer test failed!\n" + "Run measurement returned code: %d", + status); return status; } @@ -1168,30 +1478,30 @@ static status_t TimerTest(s2pi_slave_t slave) xsum += (float) samples; ysum += (float) elapsed_usec; - x2sum += (float) samples * samples; - xysum += (float) samples * elapsed_usec; + x2sum += (float) samples * (float) samples; + xysum += (float) samples * (float) elapsed_usec; - PX4_INFO_RAW("| %5d | %7d | %10d |\n", i, samples, (uint)elapsed_usec); + print("| %5d | %7d | %10d |\n", i, samples, elapsed_usec); } - PX4_INFO_RAW("+-------+---------+------------+\n"); + print("+-------+---------+------------+\n"); const float slope = (n * xysum - xsum * ysum) / (n * x2sum - xsum * xsum); const float intercept = (ysum * x2sum - xsum * xysum) / (n * x2sum - xsum * xsum); - PX4_INFO_RAW("Linear Regression: y(x) = %dE-7 sec * x + %dE-7 sec\n", - (int)(10 * slope), (int)(10 * intercept)); + print("Linear Regression: y(x) = %dE-7 sec * x + %dE-7 sec\n", + (int)(10 * slope), (int)(10 * intercept)); /* Check the error of the slope. */ const float max_slope = exp_slope * (1.f + rel_slope_error); const float min_slope = exp_slope * (1.f - rel_slope_error); if (slope > max_slope || slope < min_slope) { - PX4_INFO_RAW("Time test failed!\n" - "The measured time slope does not match the expected value! " - "(actual: %dE-7, expected: %dE-7, min: %dE-7, max: %dE-7)\n", - (int)(10 * slope), (int)(10 * exp_slope), - (int)(10 * min_slope), (int)(10 * max_slope)); + error_log("Time test failed!\n" + "The measured time slope does not match the expected value! " + "(actual: %dE-7, expected: %dE-7, min: %dE-7, max: %dE-7)\n", + (int)(10 * slope), (int)(10 * exp_slope), + (int)(10 * min_slope), (int)(10 * max_slope)); return ERROR_FAIL; } @@ -1200,11 +1510,11 @@ static status_t TimerTest(s2pi_slave_t slave) /*!*************************************************************************** - * @brief Data structure for the PIT test. + * @brief Data structure for the PIT test. * - * @details Contains data that is required by the PIT timer test. + * @details Contains data that is required by the PIT timer test. *****************************************************************************/ -typedef struct { +typedef struct pit_data_t { /*! The number of PIT callback events. */ volatile uint32_t n; @@ -1216,90 +1526,113 @@ typedef struct { } pit_data_t; - - /*!*************************************************************************** - * @brief Callback function invoked by the PIT. + * @brief Callback function invoked by the PIT. * - * @details The function that is invoked every time a specified interval elapses. - * An abstract parameter is passed to the function whenever it is called. + * @details The function that is invoked every time a specified interval elapses. + * An abstract parameter is passed to the function whenever it is called. * - * This implementation collects callback time stamps and counts the - * number of callback events using the abstract parameter. + * This implementation collects callback time stamps and counts the + * number of callback events using the abstract parameter. * - * @param param An abstract parameter to be passed to the callback. This is - * also the identifier of the given interval. + * @param param An abstract parameter to be passed to the callback. This is + * also the identifier of the given interval. *****************************************************************************/ static void PIT_Callback(void *param) { - pit_data_t *data = (pit_data_t *) param; - - if (data->n == 0) { - Time_GetNow(&data->t_first); - data->t_last = data->t_first; + if (param == NULL) { + error_log("PIT interrupt test failed: callback parameter \"param\" was NULL!"); } else { - Time_GetNow(&data->t_last); - } + pit_data_t *data = (pit_data_t *)param; + + if (data->n == 0) { + Time_GetNow(&data->t_first); + data->t_last = data->t_first; - data->n++; + } else { + Time_GetNow(&data->t_last); + } + + data->n++; + } } /*!*************************************************************************** - * @brief Executes a PIT measurement and verifies the callback interval. + * @brief Executes a PIT measurement and verifies the callback interval. * * @details The function configures the PIT with a given interval and waits - * several callback events to happen. In each callback event, the - * elapsed time is measured and the number of calls are counted. - * Finally, the average interrupt period is compared with the - * lifetime timer that has been already verified in a previous test - * (see #Timer_Test). - * - * @param exp_dt_us The expected timer interval in microseconds. - * @param n The number of PIT events to await. - * - * @return Returns the \link #status_t status\endlink: - * - #STATUS_OK on success. - * - #ERROR_FAIL if the measured interval does not match the - * expectations or the PIT was not disabled properly. - * - #ERROR_TIMEOUT if either the PIT events do not occur within the - * expected time. - * - The PIT layer error code if #Timer_SetInterval return any - * negative status. + * several callback events to happen. In each callback event, the + * elapsed time is measured and the number of calls are counted. + * Finally, the average interrupt period is compared with the + * lifetime timer that has been already verified in a previous test + * (see #TimerTest). The time until the first interrupt event is also + * verified. + * + * @param exp_dt_us The expected timer interval in microseconds. + * @param n The number of PIT events to await. + * + * @return Returns the \link #status_t status\endlink: + * - #STATUS_OK on success. + * - #ERROR_FAIL if the measured interval does not match the + * expectations or the PIT was not disabled properly. + * - #ERROR_TIMEOUT if either the PIT events do not occur within the + * expected time. + * - The PIT layer error code if #Timer_SetInterval return any + * negative status. *****************************************************************************/ static status_t RunPITTest(uint32_t exp_dt_us, uint32_t n) { /* Test parameter configuration: *****************************************/ - const float rel_dt_error = 1e-3; // Relative timer interval tolerance is 0.1%. - const float abs_dt_error = 1.0; // Absolute timer interval tolerance is 1us. + const float rel_dt_error = 5e-3f; // Relative timer interval tolerance: 0.5 %. + const float abs_dt_error = 5.0f; // Absolute timer interval tolerance: 5.0 us. /*************************************************************************/ - float dt = exp_dt_us * rel_dt_error; + float dt = (float) exp_dt_us * rel_dt_error; if (dt < abs_dt_error) { dt = abs_dt_error; } - const float max_dt = exp_dt_us + dt; - const float min_dt = exp_dt_us - dt; + const float max_dt = (float) exp_dt_us + dt; + const float min_dt = (float) exp_dt_us - dt; + + if (dt < abs_dt_error * 3) { dt = abs_dt_error * 3; } + + const float t_first_max = (float) exp_dt_us + dt * 5; // use 5x tolerance for + const float t_first_min = (float) exp_dt_us - dt * 5; // the first interval /*************************************************************************/ + print("Run PIT Test (w/ %d us interval):\n" + " - expected event count: %d\n" + " - expected interval: %d us, min: %d us, max: %d us\n" + " - expected first event: %d us, min: %d us, max: %d us\n", + exp_dt_us, n, exp_dt_us, (int)min_dt, (int)max_dt, + exp_dt_us, (int)t_first_min, (int)t_first_max); + /* Setup the PIT callback with specified interval. */ pit_data_t data = { 0 }; status_t status = Timer_SetInterval(exp_dt_us, &data); - if (status < STATUS_OK) { - PX4_INFO_RAW("PIT test failed!\n" - "Timer_SetInterval returned status code: %d", (int)status); + if (status != STATUS_OK) { + error_log("PIT test failed!\n" + "Timer_SetInterval returned status code: %d", status); return status; } /* Wait until n PIT callback have been happened. */ - uint32_t timeout_us = (n + 1) * exp_dt_us; + const uint32_t timeout_us = (n + 1) * exp_dt_us; + ltc_t start; Time_GetNow(&start); while (data.n < n) { if (Time_CheckTimeoutUSec(&start, timeout_us)) { - PX4_INFO_RAW("PIT test failed!\n" - "Waiting for the PIT interrupt events yielded a timeout."); + const uint32_t elapsed_us = Time_GetElapsedUSec(&start); + const uint32_t t_first_us = Time_DiffUSec(&start, &data.t_first); + const uint32_t t_last_us = Time_DiffUSec(&start, &data.t_last); + error_log("PIT test failed!\n" + "Waiting for the PIT interrupt events yielded a timeout.\n" + "Timeout: %d us; Elapsed: %d us (%d of %d events).\n" + "First event @ %d us, last event @ %d us", + timeout_us, elapsed_us, data.n, n, t_first_us, t_last_us); status = ERROR_TIMEOUT; break; } @@ -1309,59 +1642,71 @@ static status_t RunPITTest(uint32_t exp_dt_us, uint32_t n) /* Disable the PIT timer callback. */ status = Timer_SetInterval(0, &data); - if (status < STATUS_OK) { - PX4_INFO_RAW("PIT test failed!\n" - "Timer_SetInterval returned status code: %d", (int)status); + if (status != STATUS_OK) { + error_log("PIT test failed!\n" + "Timer_SetInterval returned status code: %d", status); } } if (status == STATUS_OK) { /* Check if PIT callback is not invoked any more. */ - timeout_us = 2 * exp_dt_us; - Time_GetNow(&start); - - while (!Time_CheckTimeoutUSec(&start, timeout_us)) { __asm("nop"); } + Time_DelayUSec(3 * exp_dt_us); if (data.n > n) { - PX4_INFO_RAW("PIT test failed!\n" - "Timer_SetInterval has been called after it was disabled."); + const uint32_t elapsed_us = Time_GetElapsedUSec(&start); + error_log("PIT test failed!\n" + "Timer_SetInterval has been called again after it was disabled\n" + "(within %d us; %d of %d events in total).", + elapsed_us, data.n, n); status = ERROR_FAIL; } } /* Verify the measured average timer interval. */ - const float act_dt_us = Time_DiffUSec(&data.t_first, &data.t_last) / (n - 1); + const float act_dt_us = Time_DiffUSec(&data.t_first, &data.t_last) / (float)(n - 1); + const uint32_t t_first_us = Time_DiffUSec(&start, &data.t_first); + const uint32_t t_last_us = Time_DiffUSec(&start, &data.t_last); + + print(" - actual event count: %d\n" + " - actual interval: %d us\n" + " - actual first event: %d us\n" + " - actual last event: %d us\n\n", + data.n, (int)act_dt_us, t_first_us, t_last_us); + + if (status == STATUS_OK && (t_first_us > t_first_max || t_first_us < t_first_min)) { + error_log("PIT test failed!\n" + "The first timer event did not occur after the expected interval!"); + status = ERROR_FAIL; + } if (status == STATUS_OK && (act_dt_us > max_dt || act_dt_us < min_dt)) { - PX4_INFO_RAW("PIT test failed!\n" - "The measured timer interval does not match the expected value!\n"); + error_log("PIT test failed!\n" + "The measured timer interval does not match the expected value!"); status = ERROR_FAIL; } - PX4_INFO_RAW("PIT Test Results:\n" - " - event count: %u\n" - " - actual interval: %d us\n" - " - expected interval: %d us, min: %d us, max: %d us\n", - (uint)data.n, (int)act_dt_us, (uint)exp_dt_us, (int)min_dt, (int)max_dt); + print(" - test status: %d\n\n", status); return status; } /*!*************************************************************************** - * @brief Test for PIT HAL Implementation by comparing timings to the device. - * - * @details The test verifies the timer HAL implementation by comparing the - * - * @return Returns the \link #status_t status\endlink: - * - #STATUS_OK on success. - * - #ERROR_NOT_IMPLEMENTED if the PIT functionality is not - * implemented and the test is skipped. - * - #ERROR_FAIL if the measured interval does not match the - * expectations or the PIT was not disabled properly. - * - #ERROR_TIMEOUT if either the PIT events do not occur within the - * expected time. - * - The PIT layer error code if #Timer_SetInterval or - * #Timer_SetCallback return any negative status. + * @brief Test for PIT HAL Implementation by comparing timings to the device. + * + * @details The test verifies the timer HAL implementation by comparing the + * period between the interrupts with the lifetime timer values + * that has been already verified in a previous test (see #TimerTest). + * + * @return Returns the \link #status_t status\endlink: + * - #STATUS_OK on success. + * - #ERROR_NOT_IMPLEMENTED if the PIT functionality is not + * implemented and the test is skipped. + * - #ERROR_FAIL if the measured interval does not match the + * expectations or the PIT was not disabled properly. + * - #ERROR_TIMEOUT if either the PIT events do not occur within the + * expected time. + * - The PIT layer error code if #Timer_SetInterval or + * #Timer_SetCallback return any negative status. *****************************************************************************/ static status_t PITTest(void) { @@ -1369,31 +1714,595 @@ static status_t PITTest(void) if (status == ERROR_NOT_IMPLEMENTED) { return status; } - if (status < STATUS_OK) { - PX4_INFO_RAW("PIT test failed!\n" - "Timer_SetCallback returned status code: %d", (int)status); + if (status != STATUS_OK) { + error_log("PIT test failed!\n" + "Timer_SetCallback returned status code: %d", status); return status; } + status = RunPITTest(200000, 5); + + if (status != STATUS_OK) { return status; } + status = RunPITTest(10000, 10); - if (status < STATUS_OK) { return status; } + if (status != STATUS_OK) { return status; } + + /* High Speed Test down to 1000 microseconds. If this fails, just print + * a message that very high frame rates might have issues. */ + status = RunPITTest(1000, 500); + + if (status != STATUS_OK) { + print("WARNING: PIT test failed for 1000 us interval!\n" + " This is only critical if high frame rates (up to 1000 fps)\n" + " need to be achieved. Otherwise, the error can be safely ignored.\n"); + status = STATUS_IGNORE; // ignore + } + + if (status == STATUS_OK) { // only run if previous test succeeded! + /* High Speed Test down to 333 microseconds. If this fails, just print + * a message that very high frame rates might have issues. */ + status = RunPITTest(333, 500); + + if (status != STATUS_OK) { + print("WARNING: PIT test failed for 333 us interval!\n" + " This is only critical if very high frame rates (up to 3000 fps)\n" + " need to be achieved. Otherwise, the error can be safely ignored.\n"); + status = STATUS_IGNORE; // ignore + } + } + + status = Timer_SetCallback(0); + + if (status != STATUS_OK) { + error_log("PIT test failed!\n" + "Timer_SetCallback to 0 returned status code: %d", status); + return status; + } + + return STATUS_OK; +} + +/*!*************************************************************************** + * @brief Data structure for the S2PI transfer from interrupt tests. + * + * @details Contains data that is required by the S2PI transfer from interrupt + * test. The data structure is passed to the corresponding interrupt + * callback functions. + *****************************************************************************/ +typedef struct spi_irq_data_t { + /*! The status of the interrupt callback function. */ + volatile status_t Status; + + /*! The S2PI slave parameter passed to the S2PI HAL functions. */ + s2pi_slave_t Slave; + + /*! The data buffer to be transferred from/to the device for testing purposes. */ + uint8_t Data[17U]; + + /*! Set to true when all SPI transfers are finished. */ + volatile bool Finished; + + /*! Set to true when the second SPI transfers is started. + The second transfer is used to read-back the previously set values. */ + volatile bool ReadBack; + +} spi_irq_data_t; + + +/*!*************************************************************************** + * @brief SPI interrupt callback function for the SPI transfer from IRQ test. + * + * @details The interrupt callback is invoked from the S2PI module upon + * finishing the SPI transfer. The callback is used by the + * #SpiTransferFromSpiInterrupt test to trigger the second SPI transfer + * from the interrupt callback context. + * + * @note The callback also utilizes the #print functionality. This requires + * a correct implementation of the corresponding function such that it + * can be invoked from the given interrupt context. This usually + * requires the underlying send (e.g. UART or USB send functions) to + * have higher priority that this interrupt in order to finished the + * print statement asynchronously. + * + * @param status The S2PI module status passed to the callback. + * @param param The abstract interrupt callback parameter. + * + * @return Returns the \link #status_t status\endlink: + * - #STATUS_OK on success. + * - #ERROR_INVALID_ARGUMENT if the \p param is NULL. + * - The S2PI layer error code if any is passed to the callback function. + * - The S2PI layer error code if #S2PI_TransferFrame return any. + *****************************************************************************/ +static status_t SpiTransferFromSpiInterruptCallback(status_t status, void *param) +{ + if (param == NULL) { + error_log("SPI transfer from SPI interrupt test failed\n" + "callback parameter \"param\" was NULL!"); + return ERROR_INVALID_ARGUMENT; + } + + spi_irq_data_t *data = (spi_irq_data_t *) param; + + if (status != STATUS_OK) { + error_log("SPI transfer from SPI interrupt test failed:\n" + "callback received error! Error code: %d", status); + data->Status = status; + return status; + } + + if (!data->ReadBack) { + print("Invoking SPI transfer from SPI interrupt callback...\n"); + + /* Clear the laser pattern and read back previous values. */ + data->Data[0] = 0x04; // Laser Pattern Register Address + + for (uint8_t i = 1; i < 17U; ++i) { data->Data[i] = 0; } + + status = S2PI_TransferFrame(data->Slave, data->Data, data->Data, 17U, + SpiTransferFromSpiInterruptCallback, param); + + if (status != STATUS_OK) { + error_log("SPI transfer from SPI interrupt test failed:\n" + "Calling S2PI_TransferFrame from SPI interrupt " + "returned error code: %d", status); + data->Status = status; + return status; + } + + data->ReadBack = true; + + } else { + data->Finished = true; + } + + return STATUS_OK; +} + +/*!*************************************************************************** + * @brief SPI transfer from SPI interrupt callback test. + * + * @details This test verifies the interrupt functionality of the SPI interface. + * The test verifies that an SPI transfer can be triggered from the SPI + * interrupt service routine context. + * + * The test basically repeats the #SpiConnectionTest but this time it + * invokes the second SPI transfer from the SPI callback function. + * A very common error is that the callback is invoked while the SPI + * module is still busy which does not allow to invoke another SPI + * transfer from the callback. + * + * @param slave The S2PI slave parameter passed to the S2PI HAL functions. + * + * @return Returns the \link #status_t status\endlink: + * - #STATUS_OK on success. + * - #ERROR_TIMEOUT if the test did not finish within a specified time. + * - #ERROR_FAIL if the device access failed and the read data did not + * match the expected values. + * - The S2PI layer error code if #S2PI_TransferFrame or the SPI + * callback yield in any non-OK status. + *****************************************************************************/ +static status_t SpiTransferFromSpiInterrupt(s2pi_slave_t slave) +{ + /* Test parameter configuration: *****************************************/ + const uint32_t timeout_us = 100000; // timeout for SPI transfers to finish + /*************************************************************************/ + + status_t status = STATUS_OK; + spi_irq_data_t data = { .Slave = slave }; + + print("Invoking SPI transfer from task level...\n"); + + /* Transfer a pattern to the register */ + data.Data[0] = 0x04; // Laser Pattern Register Address + + for (uint8_t i = 1; i < 17U; ++i) { data.Data[i] = i; } + + status = S2PI_TransferFrame(slave, data.Data, data.Data, 17U, + SpiTransferFromSpiInterruptCallback, &data); + + if (status != STATUS_OK) { + error_log("SPI transfer from SPI interrupt test failed:\n" + "Failed to transfer a data frame! Error code: %d", status); + return status; + } + + /* Wait until transfers has finished. */ + ltc_t start; + Time_GetNow(&start); + + while (!data.Finished && (data.Status == STATUS_OK)) { + if (Time_CheckTimeoutUSec(&start, timeout_us)) { + const uint32_t elapsed_us = Time_GetElapsedUSec(&start); + error_log("SPI transfer from SPI interrupt test failed:\n" + "Waiting for the transfers to be finished yielded a timeout.\n" + "Timeout: %d us; Elapsed: %d us (%d of %d events).", + timeout_us, elapsed_us); + status = ERROR_TIMEOUT; + break; + } + } + + if (data.Status != STATUS_OK) { + error_log("SPI transfer from SPI interrupt test failed:\n" + "Waiting for the transfers to be finished yielded a error code: %d", + data.Status); + return data.Status; + } + + print("Verify read data...\n"); + + /* Verify the read pattern. */ + for (uint8_t i = 1; i < 17U; ++i) { + if (data.Data[i] != i) { + error_log("SPI transfer from SPI interrupt test failed:\n" + "Verification of read data is invalid!\n" + "read_data[%d] = %d, but expected was %d", + i, data.Data[i], i); + return ERROR_FAIL; + } + } + + return STATUS_OK; +} + +/*!*************************************************************************** + * @brief GPIO interrupt callback function for the SPI transfer from IRQ test. + * + * @details The interrupt callback is invoked from the S2PI module upon + * receiving an GPIO interrupt from the devices IRQ pin. The callback + * is used by the #SpiTransferFromGpioInterrupt test to trigger the + * first SPI transfer from the interrupt callback context. + * + * @note The callback also utilizes the #print functionality. This requires + * a correct implementation of the corresponding function such that it + * can be invoked from the given interrupt context. This usually + * requires the underlying send (e.g. UART or USB send functions) to + * have higher priority that this interrupt in order to finished the + * print statement asynchronously. + * + * @param param The abstract interrupt callback parameter. + *****************************************************************************/ +static void SpiTransferFromGpioInterruptCallback(void *param) +{ + if (param == NULL) { + error_log("SPI transfer from GPIO interrupt test failed:\n" + "callback parameter \"param\" was NULL!"); + return; + } + + print("Invoking SPI transfer from GPIO interrupt callback...\n"); + + /* Clear the laser pattern and read back previous values. */ + spi_irq_data_t *data = (spi_irq_data_t *) param; + data->Data[0] = 0x04; // Laser Pattern Register Address + + for (uint8_t i = 1; i < 17U; ++i) { data->Data[i] = i; } + + status_t status = S2PI_TransferFrame(data->Slave, data->Data, data->Data, 17U, + SpiTransferFromSpiInterruptCallback, param); + + if (status != STATUS_OK) { + error_log("SPI transfer from GPIO interrupt test failed:\n" + "Calling S2PI_TransferFrame from GPIO interrupt " + "returned error code: %d", status); + data->Status = status; + return; + } +} + +/*!*************************************************************************** + * @brief SPI transfer from GPIO interrupt callback test. + * + * @details This test verifies the interrupt functionality of the SPI interface. + * The test verifies that an SPI transfer can be triggered from the + * GPIO interrupt service routine context. + * + * The test basically repeats the #SpiTransferFromSpiInterrupt but + * this time it invokes the first SPI transfer from the GPIO callback + * function. In order to trigger a GPIO interrupt, the device is + * configured and a measurement is started (see #GpioInterruptTest). + * + * @param slave The S2PI slave parameter passed to the S2PI HAL functions. + * + * @return Returns the \link #status_t status\endlink: + * - #STATUS_OK on success. + * - #ERROR_TIMEOUT if the test did not finish within a specified time. + * - #ERROR_FAIL if the device access failed and the read data did not + * match the expected values. + * - The S2PI layer error code if #S2PI_TransferFrame or the GPIO or + * SPI callback yield in any non-OK status. + *****************************************************************************/ +static status_t SpiTransferFromGpioInterrupt(s2pi_slave_t slave) +{ + /* Test parameter configuration: *****************************************/ + const uint32_t timeout_ms = 300; // timeout for measurement, might be increased.. + /*************************************************************************/ + + spi_irq_data_t data = { .Slave = slave }; - status = RunPITTest(333, 1000); + /* Install IRQ callback. */ + status_t status = S2PI_SetIrqCallback(slave, SpiTransferFromGpioInterruptCallback, &data); + + if (status != STATUS_OK) { + error_log("SPI transfer from GPIO interrupt test failed:\n" + "The call to S2PI_SetIrqCallback returned error code: %d", status); + return status; + } + + /* Setup Device for invoking GPIO interrupt. */ + status = ConfigureDevice(slave, 0); + + if (status != STATUS_OK) { + error_log("SPI transfer from GPIO interrupt test failed."); + return status; + } + + /* Trigger Measurement and invoke GPIO interrupt. */ + status = TriggerMeasurement(slave, 0, 0, 0); + + if (status != STATUS_OK) { + error_log("GPIO interrupt test failed!"); + return status; + } + + ltc_t start; + Time_GetNow(&start); + + /* Wait for Interrupt using the callback method. */ + while (!data.Finished) { + if (Time_CheckTimeoutMSec(&start, timeout_ms)) { + error_log("SPI transfer from GPIO interrupt test failed:\n" + "The IRQ callback was not invoked within %d ms.", + timeout_ms); + return ERROR_TIMEOUT; + } + } + + if (data.Status != STATUS_OK) { + error_log("SPI transfer from GPIO interrupt test failed:\n" + "Waiting for the transfers to be finished yielded a error code: %d", + data.Status); + return data.Status; + } + + print("Verify read data...\n"); + + /* Verify the read pattern. */ + for (uint8_t i = 1; i < 17U; ++i) { + if (data.Data[i] != i) { + error_log("SPI transfer from GPIO interrupt test failed:\n" + "Verification of read data is invalid!\n" + "read_data[%d] = %d, but expected was %d", + i, data.Data[i], i); + return ERROR_FAIL; + } + } + + return STATUS_OK; +} + +/*!*************************************************************************** + * @brief PIT interrupt callback function for the SPI transfer from IRQ test. + * + * @details The interrupt callback is invoked from the PIT module upon periodic + * timeout event. The callback is used by the + * #SpiTransferFromPitInterrupt test to trigger the first SPI transfer + * from the interrupt callback context. + * + * @note The callback also utilizes the #print functionality. This requires + * a correct implementation of the corresponding function such that it + * can be invoked from the given interrupt context. This usually + * requires the underlying send (e.g. UART or USB send functions) to + * have higher priority that this interrupt in order to finished the + * print statement asynchronously. + * + * @param param The abstract interrupt callback parameter. + *****************************************************************************/ +static void SpiTransferFromPitInterruptCallback(void *param) +{ + status_t status = Timer_SetInterval(0, param); // disable timer + + if (status != STATUS_OK) { + error_log("SPI transfer from PIT interrupt test failed:\n" + "Timer_SetCallback to 0 returned status code: %d", + status); + + if (param != NULL) { ((spi_irq_data_t *)param)->Status = status; } + + return; + } + + + if (param == NULL) { + error_log("SPI transfer from PIT interrupt test failed:\n" + "callback parameter \"param\" was NULL!"); + return; + } + + print("Invoking SPI transfer from PIT interrupt callback...\n"); + + /* Clear the laser pattern and read back previous values. */ + spi_irq_data_t *data = (spi_irq_data_t *) param; + data->Data[0] = 0x04; // Laser Pattern Register Address + + for (uint8_t i = 1; i < 17U; ++i) { data->Data[i] = i; } + + status = S2PI_TransferFrame(data->Slave, data->Data, data->Data, 17U, + SpiTransferFromSpiInterruptCallback, param); + + if (status != STATUS_OK) { + error_log("SPI transfer from PIT interrupt test failed:\n" + "Calling S2PI_TransferFrame from GPIO interrupt " + "returned error code: %d", status); + data->Status = status; + return; + } +} + +/*!*************************************************************************** + * @brief SPI transfer from PIT interrupt callback test. + * + * @details This test verifies the interrupt functionality of the SPI interface. + * The test verifies that an SPI transfer can be triggered from the + * PIT interrupt service routine context. + * + * The test basically repeats the #SpiTransferFromSpiInterrupt but + * this time it invokes the first SPI transfer from the PIT callback + * function. In order to trigger a PIT interrupt, the timer is + * configured with a small interval and immediately disabled upon the + * first event. + * + * Note that this test is only executed if the PIT module is actually + * implemented. + * + * @param slave The S2PI slave parameter passed to the S2PI HAL functions. + * + * @return Returns the \link #status_t status\endlink: + * - #STATUS_OK on success. + * - #ERROR_NOT_IMPLEMENTED if the PIT functionality is not + * implemented and the test is skipped. + * - #ERROR_TIMEOUT if the test did not finish within a specified time. + * - #ERROR_FAIL if the device access failed and the read data did not + * match the expected values. + * - The S2PI layer error code if #S2PI_TransferFrame or the SPI + * callback yield in any non-OK status. + * - The PIT layer error code if #Timer_SetCallback or the PIT + * callback yield in any non-OK status. + *****************************************************************************/ +static status_t SpiTransferFromPitInterrupt(s2pi_slave_t slave) +{ + /* Test parameter configuration: *****************************************/ + const uint32_t timeout_ms = 100; // timeout for test. + const uint32_t interval_us = 1000; // PIT interval for the first event. + /*************************************************************************/ + + spi_irq_data_t data = { .Slave = slave }; + + status_t status = Timer_SetCallback(SpiTransferFromPitInterruptCallback); + + if (status == ERROR_NOT_IMPLEMENTED) { return status; } + + if (status != STATUS_OK) { + error_log("SPI transfer from PIT interrupt test failed:\n" + "Timer_SetCallback returned status code: %d", status); + return status; + } - if (status < STATUS_OK) { return status; } + /* Setup the PIT callback with specified interval. */ + status = Timer_SetInterval(interval_us, &data); - status = RunPITTest(100000, 5); + if (status != STATUS_OK) { + error_log("SPI transfer from PIT interrupt test failed:\n" + "Timer_SetInterval returned status code: %d", status); + return status; + } - if (status < STATUS_OK) { return status; } + ltc_t start; + Time_GetNow(&start); + + /* Wait for test to be finished. */ + while (!data.Finished) { + if (Time_CheckTimeoutMSec(&start, timeout_ms)) { + error_log("SPI transfer from PIT interrupt test failed:\n" + "The IRQ callback was not invoked within %d ms.", + timeout_ms); + return ERROR_TIMEOUT; + } + } + + if (data.Status != STATUS_OK) { + error_log("SPI transfer from PIT interrupt test failed:\n" + "Waiting for the transfers to be finished yielded a error code: %d", + data.Status); + return data.Status; + } status = Timer_SetCallback(0); - if (status < STATUS_OK) { - PX4_INFO_RAW("PIT test failed!\n" - "Timer_SetCallback to 0 returned status code: %d", (int)status); + if (status != STATUS_OK) { + error_log("SPI transfer from PIT interrupt test failed:\n" + "Timer_SetCallback to 0 returned status code: %d", status); return status; } + print("Verify read data...\n"); + + /* Verify the read pattern. */ + for (uint8_t i = 1; i < 17U; ++i) { + if (data.Data[i] != i) { + error_log("SPI transfer from PIT interrupt test failed:\n" + "Verification of read data is invalid!\n" + "read_data[%d] = %d, but expected was %d", + i, data.Data[i], i); + return ERROR_FAIL; + } + } + + return STATUS_OK; +} + +/*!*************************************************************************** + * @brief SPI Transfer from Interrupt Test for S2PI HAL Implementation. + * + * @details This test verifies the interrupt functionality of the SPI interface. + * The test verifies that an SPI transfer can be triggered from the + * interrupt service routine context. I.e. the #S2PI_TransferFrame + * function is called from the following interrupts: + * - SPI interrupt + * - GPIO interrupt + * - PIT interrupt (optional, if PIT is implemented) + * + * @warning The test utilizes already the timer HAL in order to implement a + * rudimentary timeout. However, at this time, only some basic + * plausibility checks are performed on the timer HAL. I.e. if there + * is an issue in the time HAL, e.g. too fast or too slow time + * counting, the test may fail with an #ERROR_TIMEOUT. In this case, + * one also needs to verify the timer HAL, especially the + * #Timer_GetCounterValue function. + * + * @param slave The S2PI slave parameter passed to the S2PI HAL functions. + * + * @return Returns the \link #status_t status\endlink: + * - #STATUS_OK on success. + * - #ERROR_TIMEOUT if the operation did not finished within a specified + * time (check also timer HAL implementation). + * - #ERROR_FAIL if the device access failed and the read data did not + * match the expected values. + * - The S2PI layer error code if #S2PI_TransferFrame or #S2PI_GetStatus + * return any negative status. + *****************************************************************************/ +static status_t SpiTransferFromInterruptTest(s2pi_slave_t slave) +{ + status_t status = STATUS_OK; + + print(" .1 >> SPI Transfer from SPI Interrupt Test\n"); + status = SpiTransferFromSpiInterrupt(slave); + + if (status != STATUS_OK) { return status; } + + print(" .1 >> PASS\n\n"); + + print(" .2 >> SPI Transfer from GPIO Interrupt Test\n"); + status = SpiTransferFromGpioInterrupt(slave); + + if (status != STATUS_OK) { return status; } + + print(" .2 >> PASS\n\n"); + + print(" .3 >> SPI Transfer from PIT Interrupt Test\n"); + status = SpiTransferFromPitInterrupt(slave); + + if (status == ERROR_NOT_IMPLEMENTED) { + print(" .3 >> SKIPPED (PIT is not implemented)\n\n"); + + } else { + if (status != STATUS_OK) { return status; } + + print(" .3 >> PASS\n\n"); + } + return STATUS_OK; } + +/*! @} */ diff --git a/src/drivers/distance_sensor/broadcom/afbrs50/argus_hal_test.h b/src/drivers/distance_sensor/broadcom/afbrs50/argus_hal_test.h index 5af6660dfa58..be9c0071e4fa 100644 --- a/src/drivers/distance_sensor/broadcom/afbrs50/argus_hal_test.h +++ b/src/drivers/distance_sensor/broadcom/afbrs50/argus_hal_test.h @@ -1,10 +1,10 @@ /*************************************************************************//** - * @file argus_hal_test.c - * @brief Tests for the AFBR-S50 API hardware abstraction layer. + * @file + * @brief Tests for the AFBR-S50 API hardware abstraction layer. * * @copyright * - * Copyright (c) 2021, Broadcom, Inc. + * Copyright (c) 2023, Broadcom Inc. * All rights reserved. * * Redistribution and use in source and binary forms, with or without @@ -41,147 +41,192 @@ extern "C" { #endif - /*!*************************************************************************** - * @defgroup argustest HAL Self Test + * @defgroup argus_test HAL Self Test + * @ingroup argus + * + * @brief A test module to verify implementation of the HAL. * - * @brief A test module to verify implementation of the HAL. + * @details A series of automated tests that can be executed on the target + * platform in order to verify the implementation of the HAL that + * are required by the API. * - * @details A series of automated tests that can be executed on the target - * platform in order to verify the implementation of the HAL that - * are required by the API. + * See #Argus_VerifyHALImplementation for a detailed documentation. * - * @addtogroup argustest + * @addtogroup argus_test * @{ *****************************************************************************/ #include "argus.h" /*!*************************************************************************** - * @brief Version number of the HAL Self Test. + * @brief Version number of the HAL Self Test. * * @details Changes: - * * v1.0: - * - Initial release. - * * v1.1: - * - Added additional print output. - * - Increased tolerance for timer test to 3%. - * - Fixed callback issue by disabling it after IRQ test. - * * v1.1: - * - Added PIT test cases. + * * v1.0: + * - Initial release. + * * v1.1: + * - Added additional print output. + * - Increased tolerance for timer test to 3%. + * - Fixed callback issue by disabling it after IRQ test. + * * v1.2: + * - Added PIT test cases. + * * v1.3: + * - Added test case for SPI maximum data transfer size. + * - Added tests for SPI transfers invoked from all IRQ callbacks. + * - Added verification of first PIT event occurrence. + * - Relaxed PIT pass conditions (0.1% -> 0.5%) + * * v1.4: + * - Adopted to new multi-device HAL interface of API v1.4.4 release. + * - Added verification of SPI callback invocation. + * - Updated GPIO interrupt test to verify if delayed interrupt + * pending states can be detected via #S2PI_ReadIrqPin. + * *****************************************************************************/ -#define HAL_TEST_VERSION "v1.2" +#define HAL_TEST_VERSION "v1.4" /*!*************************************************************************** - * @brief Executes a series of tests in order to verify the HAL implementation. + * @brief Executes a series of tests in order to verify the HAL implementation. * * @details A series of automated tests are executed on the target platform in - * order to verify the implementation of the HAL that are required by - * the API. - * - * Each test will write an error description via the print (i.e. UART) - * function that shows what went wrong. Also an corresponding status is - * returned in case no print functionality is available. - * - * The following tests are executed: - * - * **1) Timer Plausibility Test:** - * - * Rudimentary tests of the lifetime counter (LTC) implementation. - * This verifies that the LTC is running by checking if the returned - * values of two consecutive calls to the #Timer_GetCounterValue - * function are ascending. An artificial delay using the NOP operation - * is induced such that the timer is not read to fast. - * - * **2) Timer Wraparound Test:** - * - * The LTC values must wrap from 999999 µs to 0 µs and increase the - * seconds counter accordingly. This test verifies the correct wrapping - * by consecutively calling the #Timer_GetCounterValue function until - * at least 2 wraparound events have been occurred. - * - * **3) SPI Connection Test:** - * - * This test verifies the basic functionality of the SPI interface. - * The test utilizes the devices laser pattern register, which can - * be freely programmed by any 128-bit pattern. Thus, it writes a byte - * sequence and reads back the written values on the consecutive SPI - * access. - * - * **4) SPI Interrupt Test:** - * - * This test verifies the correct implementation of the device - * integration finished interrupt callback. Therefore it configures - * the device with a minimal setup to run a pseudo measurement that - * does not emit any laser light. - * - * Note that this test does verify the GPIO interrupt that occurs - * whenever the device has finished the integration/measurement and - * new data is waiting to be read from the device. This does not test - * the interrupt that is triggered when the SPI transfer has finished. - * - * The data ready interrupt implies two S2PI layer functions that - * are tested in this test: The #S2PI_SetIrqCallback function installs - * a callback function that is invoked whenever the IRQ occurs. - * The IRQ can be delayed due to higher priority task, e.g. from the - * user code. It is essential for the laser safety timeout algorithm - * to determine the device ready signal as fast as possible, another - * method is implemented to read if the IRQ is pending but the - * callback has not been reset yet. This is what the #S2PI_ReadIrqPin - * function is for. - * - * **5) GPIO Mode Test:** - * - * This test verifies the GPIO mode of the S2PI HAL module. This is - * done by leveraging the EEPROM readout sequence that accesses the - * devices EEPROM via a software protocol that depends on the GPIO - * mode. - * - * This the requires several steps, most of them are already verified - * in previous tests: - * - * - Basic device configuration and enable EEPROM. - * - Read EERPOM via GPIO mode and apply Hamming weight. - * - Repeat several times (to eliminate random readout issues). - * - Decode the EEPROM (using EEPROM_Decode in argus_cal_eeprom.c). - * - Check if Module Number and Chip ID is not 0. - * - * **6) Timer Test for Lifetime Counter:** - * - * The test verifies the lifetime counter timer HAL implementation by - * comparing the timings to the AFBR-S50 device as a reference. - * Therefore several measurement are executed on the device, each with - * a different averaging sample count. The elapsed time increases - * linearly with the number of averaging samples. In order to remove - * the time for software/setup, a linear regression fit is applied to - * the measurement results and only the slope is considered for the - * result. A delta of 102.4 microseconds per sample is expected. - * If the measured delta per sample is within an specified error range, - * the timer implementation is considered correct. - * - * **7) Timer Test for Periodic Interrupt Timer:** - * - * The test verifies the correct implementation of the periodic - * interrupt timer (PIT). It sets different intervals and waits for - * a certain number of interrupts to happen. Each interrupt event - * is counted and the time between the first and the last interrupt - * is measured. Finally, the measured interval is compared to the - * expectations. - * - * - * @param spi_slave The SPI hardware slave, i.e. the specified CS and IRQ - * lines. This is actually just a number that is passed - * to the SPI interface to distinct for multiple SPI slave - * devices. Note that the slave must be not equal to 0, - * since is reserved for error handling. - * - * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). + * order to verify the implementation of the HAL that are required by + * the API. + * + * Each test will write an error description via the print (i.e. UART) + * function that shows what went wrong. Also an corresponding status is + * returned in case no print functionality is available. + * + * The following tests are executed: + * + * **1) Timer Plausibility Test:** + * + * Rudimentary tests of the lifetime counter (LTC) implementation. + * This verifies that the LTC is running by checking if the returned + * values of two consecutive calls to the #Timer_GetCounterValue + * function are ascending. An artificial delay using the NOP operation + * is induced such that the timer is not read to fast. + * + * **2) Timer Wraparound Test:** + * + * The LTC values must wrap from 999999 µs to 0 µs and increase the + * seconds counter accordingly. This test verifies the correct wrapping + * by consecutively calling the #Timer_GetCounterValue function until + * at least 2 wraparound events have been occurred. + * + * **3) SPI Connection Test:** + * + * This test verifies the basic functionality of the SPI interface. + * The test utilizes the devices laser pattern register, which can + * be freely programmed by any 128-bit pattern. Thus, it writes a byte + * sequence and reads back the written values on the consecutive SPI + * access. + * + * **4) SPI Maximum Data Length Test**: + * + * This test verifies the maximum data transfer length of the SPI + * interface. The test sends and receives up to 396 data bytes plus + * a single address byte over the SPI interface and verifies that no + * data get lost. + * + * **5) SPI Interrupt Test:** + * + * This test verifies the correct implementation of the device + * integration finished interrupt callback. Therefore it configures + * the device with a minimal setup to run a pseudo measurement that + * does not emit any laser light. + * + * Note that this test does verify the GPIO interrupt that occurs + * whenever the device has finished the integration/measurement and + * new data is waiting to be read from the device. This does not test + * the interrupt that is triggered when the SPI transfer has finished. + * + * The data ready interrupt implies two S2PI layer functions that + * are tested in this test: The #S2PI_SetIrqCallback function installs + * a callback function that is invoked whenever the IRQ occurs. + * The IRQ can be delayed due to higher priority task, e.g. from the + * user code. It is essential for the laser safety timeout algorithm + * to determine the device ready signal as fast as possible, another + * method is implemented to read if the IRQ is pending but the + * callback has not been reset yet. This is what the #S2PI_ReadIrqPin + * function is for. + * + * **6) GPIO Mode Test:** + * + * This test verifies the GPIO mode of the S2PI HAL module. This is + * done by leveraging the EEPROM readout sequence that accesses the + * devices EEPROM via a software protocol that depends on the GPIO + * mode. + * + * This the requires several steps, most of them are already verified + * in previous tests: + * + * - Basic device configuration and enable EEPROM. + * - Read EERPOM via GPIO mode and apply Hamming weight. + * - Repeat several times (to eliminate random readout issues). + * - Decode the EEPROM (using EEPROM_Decode in argus_cal_eeprom.c). + * - Check if Module Number and Chip ID is not 0. + * + * **7) Timer Test for Lifetime Counter:** + * + * The test verifies the lifetime counter timer HAL implementation by + * comparing the timings to the AFBR-S50 device as a reference. + * Therefore several measurement are executed on the device, each with + * a different averaging sample count. The elapsed time increases + * linearly with the number of averaging samples. In order to remove + * the time for software/setup, a linear regression fit is applied to + * the measurement results and only the slope is considered for the + * result. A delta of 102.4 microseconds per sample is expected. + * If the measured delta per sample is within an specified error range, + * the timer implementation is considered correct. + * + * **8) Timer Test for Periodic Interrupt Timer (optional):** + * + * The test verifies the correct implementation of the periodic + * interrupt timer (PIT). It sets different intervals and waits for + * a certain number of interrupts to happen. Each interrupt event + * is counted and the time between the first and the last interrupt + * is measured. Finally, the measured interval is compared to the + * expectations. + * + * Note that this test is only executed if the PIT is actually + * implemented. Otherwise, the test is skipped. + * + * **9) SPI Transfer from Interrupt Callback Test:** + * + * The test verifies that the #S2PI_TransferFrame method of the + * S2PI layer can be invoked from a interrupt callback function too. + * Thus, it repeats the S2PI Connection Test but this time from + * different interrupt callback functions: + * + * - SPI Callback: The first transfer is invoked from thread level, + * the second transfer is invoke from the SPI interrupt callback + * function. + * + * - GPIO Callback: The device is setup to trigger an GPIO interrupt + * (see also the SPI Interrupt Test). The corresponding GPIO + * interrupt callback function will trigger the first transfer while + * the second one is triggered from the SPI callback function. + * + * - PIT Callback (optional): This test is only executed optional if + * the PIT interface is implemented. The test sequence is the same + * as for the GPIO callback, but the first transfer is triggered + * from the PIT callback function. + * + * @note See #HAL_TEST_VERSION for a version history and change log of + * the HAL self tests. + * + * @param spi_slave The SPI hardware slave, i.e. the specified CS and IRQ + * lines. This is actually just a number that is passed + * to the SPI interface to distinct for multiple SPI slave + * devices. Note that the slave must be not equal to 0, + * since is reserved for error handling. + * + * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). *****************************************************************************/ status_t Argus_VerifyHALImplementation(s2pi_slave_t spi_slave); +/*! @} */ #ifdef __cplusplus -} +} // extern "C" #endif - -/*! @} */ -#endif /* ARGUS_CAL_API_H */ +#endif /* ARGUS_HAL_TEST_H */ diff --git a/src/drivers/distance_sensor/broadcom/afbrs50/parameters.c b/src/drivers/distance_sensor/broadcom/afbrs50/parameters.c new file mode 100644 index 000000000000..26f3683e96d8 --- /dev/null +++ b/src/drivers/distance_sensor/broadcom/afbrs50/parameters.c @@ -0,0 +1,102 @@ +/**************************************************************************** + * + * Copyright (c) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * AFBR Rangefinder Mode + * + * This parameter defines the mode of the AFBR Rangefinder. + * + * @reboot_required true + * @min 0 + * @max 3 + * @group Sensors + * + * @value 0 Short Range Mode + * @value 1 Long Range Mode + * @value 2 High Speed Short Range Mode + * @value 3 High Speed Long Range Mode + */ +PARAM_DEFINE_INT32(SENS_AFBR_MODE, 0); + +/** + * AFBR Rangefinder Short Range Rate + * + * This parameter defines measurement rate of the AFBR Rangefinder in short range mode. + * + * @min 1 + * @max 100 + * @group Sensors + * + */ +PARAM_DEFINE_INT32(SENS_AFBR_S_RATE, 50); + +/** + * AFBR Rangefinder Long Range Rate + * + * This parameter defines measurement rate of the AFBR Rangefinder in long range mode. + * + * @min 1 + * @max 100 + * @group Sensors + * + */ +PARAM_DEFINE_INT32(SENS_AFBR_L_RATE, 25); + +/** + * AFBR Rangefinder Short/Long Range Threshold + * + * This parameter defines the threshold for switching between short and long range mode. + * The mode will switch from short to long range when the distance is greater than the threshold plus the hysteresis. + * The mode will switch from long to short range when the distance is less than the threshold minus the hysteresis. + * + * @unit m + * @min 1 + * @max 50 + * @group Sensors + * + */ +PARAM_DEFINE_INT32(SENS_AFBR_THRESH, 4); + + +/** + * AFBR Rangefinder Short/Long Range Threshold Hysteresis + * + * This parameter defines the hysteresis for switching between short and long range mode. + * + * @unit m + * @min 1 + * @max 10 + * @group Sensors + * + */ +PARAM_DEFINE_INT32(SENS_AFBR_HYSTER, 1); diff --git a/src/drivers/distance_sensor/cm8jl65/CM8JL65.cpp b/src/drivers/distance_sensor/cm8jl65/CM8JL65.cpp index 8887408ff305..89f71ee1c0b7 100644 --- a/src/drivers/distance_sensor/cm8jl65/CM8JL65.cpp +++ b/src/drivers/distance_sensor/cm8jl65/CM8JL65.cpp @@ -113,7 +113,7 @@ CM8JL65::CM8JL65(const char *port, uint8_t rotation) : _px4_rangefinder.set_max_distance(7.9f); // Datasheet: 8.0m _px4_rangefinder.set_fov(0.0488692f); _px4_rangefinder.set_device_type(DRV_DIST_DEVTYPE_CM8JL65); - _px4_rangefinder.set_rangefinder_type(distance_sensor_s::MAV_DISTANCE_SENSOR_LASER); + _px4_rangefinder.set_rangefinder_type(distance_sensor_s::MAV_DISTANCE_SENSOR_INFRARED); } CM8JL65::~CM8JL65() diff --git a/src/drivers/distance_sensor/cm8jl65/Kconfig b/src/drivers/distance_sensor/cm8jl65/Kconfig index 2da9e8f79c0f..5b06b2679c0c 100644 --- a/src/drivers/distance_sensor/cm8jl65/Kconfig +++ b/src/drivers/distance_sensor/cm8jl65/Kconfig @@ -2,4 +2,4 @@ menuconfig DRIVERS_DISTANCE_SENSOR_CM8JL65 bool "cm8jl65" default n ---help--- - Enable support for cm8jl65 \ No newline at end of file + Enable support for cm8jl65 diff --git a/src/drivers/distance_sensor/leddar_one/Kconfig b/src/drivers/distance_sensor/leddar_one/Kconfig index 8b8cd271ccfc..0b79b266fd1c 100644 --- a/src/drivers/distance_sensor/leddar_one/Kconfig +++ b/src/drivers/distance_sensor/leddar_one/Kconfig @@ -2,4 +2,4 @@ menuconfig DRIVERS_DISTANCE_SENSOR_LEDDAR_ONE bool "leddar_one" default n ---help--- - Enable support for leddar_one \ No newline at end of file + Enable support for leddar_one diff --git a/src/drivers/distance_sensor/lightware_laser_i2c/CMakeLists.txt b/src/drivers/distance_sensor/lightware_laser_i2c/CMakeLists.txt index 657ffa105efb..a19f16d5b904 100644 --- a/src/drivers/distance_sensor/lightware_laser_i2c/CMakeLists.txt +++ b/src/drivers/distance_sensor/lightware_laser_i2c/CMakeLists.txt @@ -38,4 +38,3 @@ px4_add_module( DEPENDS drivers_rangefinder ) - diff --git a/src/drivers/distance_sensor/lightware_laser_i2c/Kconfig b/src/drivers/distance_sensor/lightware_laser_i2c/Kconfig index ecbf154b0a0c..903b2ccbb189 100644 --- a/src/drivers/distance_sensor/lightware_laser_i2c/Kconfig +++ b/src/drivers/distance_sensor/lightware_laser_i2c/Kconfig @@ -2,4 +2,4 @@ menuconfig DRIVERS_DISTANCE_SENSOR_LIGHTWARE_LASER_I2C bool "lightware_laser_i2c" default n ---help--- - Enable support for lightware_laser_i2c \ No newline at end of file + Enable support for lightware_laser_i2c diff --git a/src/drivers/distance_sensor/lightware_laser_i2c/lightware_laser_i2c.cpp b/src/drivers/distance_sensor/lightware_laser_i2c/lightware_laser_i2c.cpp index baa2649d48a7..8e0815bff561 100644 --- a/src/drivers/distance_sensor/lightware_laser_i2c/lightware_laser_i2c.cpp +++ b/src/drivers/distance_sensor/lightware_laser_i2c/lightware_laser_i2c.cpp @@ -46,18 +46,22 @@ #include #include #include +#include #include #include #include #include #include +#include +#include +#include using namespace time_literals; /* Configuration Constants */ #define LIGHTWARE_LASER_BASEADDR 0x66 -class LightwareLaser : public device::I2C, public I2CSPIDriver +class LightwareLaser : public device::I2C, public I2CSPIDriver, public ModuleParams { public: LightwareLaser(const I2CSPIDriverConfig &config); @@ -75,12 +79,14 @@ class LightwareLaser : public device::I2C, public I2CSPIDriver private: // I2C (legacy) binary protocol command static constexpr uint8_t I2C_LEGACY_CMD_READ_ALTITUDE = 0; + static constexpr uint8_t I2C_LEGACY_CMD_WRITE_LASER_CONTROL = 5; enum class Register : uint8_t { // see http://support.lightware.co.za/sf20/#/commands ProductName = 0, DistanceOutput = 27, DistanceData = 44, + LaserFiring = 50, MeasurementMode = 93, ZeroOffset = 94, LostSignalCounter = 95, @@ -117,6 +123,8 @@ class LightwareLaser : public device::I2C, public I2CSPIDriver int enableI2CBinaryProtocol(); int collect(); + int updateRestriction(); + PX4Rangefinder _px4_rangefinder; int _conversion_interval{-1}; @@ -127,11 +135,22 @@ class LightwareLaser : public device::I2C, public I2CSPIDriver Type _type{Type::Generic}; State _state{State::Configuring}; int _consecutive_errors{0}; + + DEFINE_PARAMETERS( + (ParamInt) _param_sens_en_sf1xx, + (ParamInt) _param_sf1xx_mode + ) + uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)}; + uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)}; + typeof(px4::msg::VehicleStatus::vehicle_type) _vehicle_type{px4::msg::VehicleStatus::VEHICLE_TYPE_UNKNOWN}; + bool _restriction{false}; + bool _auto_restriction{false}; }; LightwareLaser::LightwareLaser(const I2CSPIDriverConfig &config) : I2C(config), I2CSPIDriver(config), + ModuleParams(nullptr), _px4_rangefinder(get_device_id(), config.rotation) { _px4_rangefinder.set_device_type(DRV_DIST_DEVTYPE_LIGHTWARE_LASER); @@ -147,8 +166,8 @@ LightwareLaser::~LightwareLaser() int LightwareLaser::init() { int ret = PX4_ERROR; - int32_t hw_model = 0; - param_get(param_find("SENS_EN_SF1XX"), &hw_model); + updateParams(); + const int32_t hw_model = _param_sens_en_sf1xx.get(); switch (hw_model) { case 0: @@ -195,6 +214,13 @@ int LightwareLaser::init() _type = Type::LW20c; break; + case 7: + /* SF/LW30/d (200m 49-20'000Hz) */ + _px4_rangefinder.set_min_distance(0.2f); + _px4_rangefinder.set_max_distance(200.0f); + _conversion_interval = 20409; + break; + default: PX4_ERR("invalid HW model %" PRId32 ".", hw_model); return ret; @@ -285,8 +311,10 @@ int LightwareLaser::configure() { switch (_type) { case Type::Generic: { - uint8_t cmd = I2C_LEGACY_CMD_READ_ALTITUDE; - int ret = transfer(&cmd, 1, nullptr, 0); + uint8_t cmd1 = I2C_LEGACY_CMD_READ_ALTITUDE; + int ret = transfer(&cmd1, 1, nullptr, 0); + const uint8_t cmd2[] = {I2C_LEGACY_CMD_WRITE_LASER_CONTROL, (uint8_t)(_restriction ? 0 : 1)}; + ret |= transfer(cmd2, sizeof(cmd2), nullptr, 0); if (PX4_OK != ret) { perf_count(_comms_errors); @@ -311,6 +339,8 @@ int LightwareLaser::configure() ret |= transfer(cmd4, sizeof(cmd4), nullptr, 0); const uint8_t cmd5[] = {(uint8_t)Register::LostSignalCounter, 0, 0, 0, 0}; // immediately report lost signal ret |= transfer(cmd5, sizeof(cmd5), nullptr, 0); + const uint8_t cmd6[] = {(uint8_t)Register::LaserFiring, (uint8_t)(_restriction ? 0 : 1)}; + ret |= transfer(cmd6, sizeof(cmd6), nullptr, 0); return ret; break; @@ -379,8 +409,78 @@ void LightwareLaser::start() ScheduleDelayed(_conversion_interval); } +int LightwareLaser::updateRestriction() +{ + px4::msg::VehicleStatus vehicle_status; + + if (_vehicle_status_sub.update(&vehicle_status)) { + // Check if vehicle type changed + if (vehicle_status.vehicle_type != _vehicle_type) { + // Transition VTOL -> Fixed Wing + if (_vehicle_type == px4::msg::VehicleStatus::VEHICLE_TYPE_ROTARY_WING && + vehicle_status.vehicle_type == px4::msg::VehicleStatus::VEHICLE_TYPE_FIXED_WING) { + _auto_restriction = true; + } + + // Transition Fixed Wing -> VTOL + else if (_vehicle_type == px4::msg::VehicleStatus::VEHICLE_TYPE_FIXED_WING && + vehicle_status.vehicle_type == px4::msg::VehicleStatus::VEHICLE_TYPE_ROTARY_WING) { + _auto_restriction = false; + } + + _vehicle_type = vehicle_status.vehicle_type; + } + } + + if (_parameter_update_sub.updated()) { + parameter_update_s pupdate; + _parameter_update_sub.copy(&pupdate); + updateParams(); + } + + bool _prev_restriction{_restriction}; + + switch (_param_sf1xx_mode.get()) { + case 0: // Sensor disabled + _restriction = true; + break; + + case 1: // Sensor enabled + default: + _restriction = false; + break; + + case 2: + _restriction = _auto_restriction; + break; + } + + if (_prev_restriction != _restriction) { + PX4_INFO("Emission Control: %sabling sensor!", _restriction ? "dis" : "en"); + + switch (_type) { + case Type::Generic: { + const uint8_t cmd[] = {I2C_LEGACY_CMD_WRITE_LASER_CONTROL, (uint8_t)(_restriction ? 0 : 1)}; + return transfer(cmd, sizeof(cmd), nullptr, 0); + } + + case Type::LW20c: { + const uint8_t cmd[] = {(uint8_t)Register::LaserFiring, (uint8_t)(_restriction ? 0 : 1)}; + return transfer(cmd, sizeof(cmd), nullptr, 0); + } + } + } + + return 0; +} + void LightwareLaser::RunImpl() { + if (PX4_OK != updateRestriction()) { + PX4_DEBUG("restriction error"); + perf_count(_comms_errors); + } + switch (_state) { case State::Configuring: { if (configure() == 0) { @@ -397,12 +497,14 @@ void LightwareLaser::RunImpl() } case State::Running: - if (PX4_OK != collect()) { - PX4_DEBUG("collection error"); - - if (++_consecutive_errors > 3) { - _state = State::Configuring; - _consecutive_errors = 0; + if (!_restriction) { + if (PX4_OK != collect()) { + PX4_DEBUG("collection error"); + + if (++_consecutive_errors > 3) { + _state = State::Configuring; + _consecutive_errors = 0; + } } } diff --git a/src/drivers/distance_sensor/lightware_laser_i2c/parameters.c b/src/drivers/distance_sensor/lightware_laser_i2c/parameters.c index c417efbe9e48..defe335751f3 100644 --- a/src/drivers/distance_sensor/lightware_laser_i2c/parameters.c +++ b/src/drivers/distance_sensor/lightware_laser_i2c/parameters.c @@ -45,5 +45,18 @@ * @value 4 SF11/c * @value 5 SF/LW20/b * @value 6 SF/LW20/c + * @value 7 SF/LW30/d */ PARAM_DEFINE_INT32(SENS_EN_SF1XX, 0); + +/** + * Lightware SF1xx/SF20/LW20 Operation Mode + * + * @value 0 Disabled + * @value 1 Enabled + * @value 2 Disabled during VTOL fast forward flight + * + * @min 0 + * @max 2 + */ +PARAM_DEFINE_INT32(SF1XX_MODE, 1); diff --git a/src/drivers/distance_sensor/lightware_laser_serial/Kconfig b/src/drivers/distance_sensor/lightware_laser_serial/Kconfig index aca223c8284d..8fcdb7a93787 100644 --- a/src/drivers/distance_sensor/lightware_laser_serial/Kconfig +++ b/src/drivers/distance_sensor/lightware_laser_serial/Kconfig @@ -2,4 +2,4 @@ menuconfig DRIVERS_DISTANCE_SENSOR_LIGHTWARE_LASER_SERIAL bool "lightware_laser_serial" default n ---help--- - Enable support for lightware_laser_serial \ No newline at end of file + Enable support for lightware_laser_serial diff --git a/src/drivers/distance_sensor/lightware_laser_serial/lightware_laser_serial.cpp b/src/drivers/distance_sensor/lightware_laser_serial/lightware_laser_serial.cpp index de418c69d73f..648d5f649f9d 100644 --- a/src/drivers/distance_sensor/lightware_laser_serial/lightware_laser_serial.cpp +++ b/src/drivers/distance_sensor/lightware_laser_serial/lightware_laser_serial.cpp @@ -219,6 +219,11 @@ int LightwareLaserSerial::collect() } else { for (int i = 0; i < ret; i++) { + // Check for overflow + if (_linebuf_index >= sizeof(_linebuf)) { + _parse_state = LW_PARSE_STATE0_UNSYNC; + } + if (OK == lightware_parser(readbuf[i], _linebuf, &_linebuf_index, &_parse_state, &distance_m)) { valid = true; } @@ -308,7 +313,7 @@ void LightwareLaserSerial::Run() // LW20: Enable serial mode by sending some characters if (hw_model == 8) { const char *data = "www\r\n"; - (void)!::write(_fd, &data, strlen(data)); + (void)!::write(_fd, data, strlen(data)); } } diff --git a/src/drivers/distance_sensor/lightware_laser_serial/module.yaml b/src/drivers/distance_sensor/lightware_laser_serial/module.yaml index 269fe85ffd8c..6ad9eb656786 100644 --- a/src/drivers/distance_sensor/lightware_laser_serial/module.yaml +++ b/src/drivers/distance_sensor/lightware_laser_serial/module.yaml @@ -4,4 +4,3 @@ serial_config: port_config_param: name: SENS_SF0X_CFG group: Sensors - diff --git a/src/drivers/distance_sensor/lightware_sf45_serial/lightware_sf45_serial.cpp b/src/drivers/distance_sensor/lightware_sf45_serial/lightware_sf45_serial.cpp index 1a8c9534283a..e28bcdfc2b62 100755 --- a/src/drivers/distance_sensor/lightware_sf45_serial/lightware_sf45_serial.cpp +++ b/src/drivers/distance_sensor/lightware_sf45_serial/lightware_sf45_serial.cpp @@ -75,7 +75,7 @@ SF45LaserSerial::SF45LaserSerial(const char *port, uint8_t rotation) : // populate obstacle map members _obstacle_map_msg.frame = obstacle_distance_s::MAV_FRAME_BODY_FRD; _obstacle_map_msg.increment = 5; - _obstacle_map_msg.angle_offset = -2.5; + _obstacle_map_msg.angle_offset = 2.5; _obstacle_map_msg.min_distance = UINT16_MAX; _obstacle_map_msg.max_distance = 5000; @@ -157,7 +157,6 @@ int SF45LaserSerial::collect() int64_t read_elapsed = hrt_elapsed_time(&_last_read); int ret; /* the buffer for read chars is buflen minus null termination */ - param_get(param_find("SF45_CP_LIMIT"), &_collision_constraint); uint8_t readbuf[SF45_MAX_PAYLOAD]; float distance_m = -1.0f; @@ -669,34 +668,35 @@ void SF45LaserSerial::sf45_process_replies(float *distance_m) raw_yaw = raw_yaw * -1; } + // SF45/B product guide {Data output bit: 8 Description: "Yaw angle [1/100 deg] size: int16}" + scaled_yaw = raw_yaw * SF45_SCALE_FACTOR; + switch (_yaw_cfg) { case 0: break; case 1: - if (raw_yaw > 180) { - raw_yaw = raw_yaw - 180; + if (scaled_yaw > 180) { + scaled_yaw = scaled_yaw - 180; } else { - raw_yaw = raw_yaw + 180; // rotation facing aft + scaled_yaw = scaled_yaw + 180; // rotation facing aft } break; case 2: - raw_yaw = raw_yaw + 90; // rotation facing right + scaled_yaw = scaled_yaw + 90; // rotation facing right break; case 3: - raw_yaw = raw_yaw - 90; // rotation facing left + scaled_yaw = scaled_yaw - 90; // rotation facing left break; default: break; } - scaled_yaw = raw_yaw * SF45_SCALE_FACTOR; - // Convert to meters for rangefinder update *distance_m = raw_distance * SF45_SCALE_FACTOR; obstacle_dist_cm = (uint16_t)raw_distance; diff --git a/src/drivers/distance_sensor/ll40ls/Kconfig b/src/drivers/distance_sensor/ll40ls/Kconfig index 297a86147a66..5b9cec95a2e6 100644 --- a/src/drivers/distance_sensor/ll40ls/Kconfig +++ b/src/drivers/distance_sensor/ll40ls/Kconfig @@ -2,4 +2,4 @@ menuconfig DRIVERS_DISTANCE_SENSOR_LL40LS bool "ll40ls" default n ---help--- - Enable support for ll40ls \ No newline at end of file + Enable support for ll40ls diff --git a/src/drivers/distance_sensor/ll40ls_pwm/Kconfig b/src/drivers/distance_sensor/ll40ls_pwm/Kconfig index 543d57f80383..b7e4119e4cc5 100644 --- a/src/drivers/distance_sensor/ll40ls_pwm/Kconfig +++ b/src/drivers/distance_sensor/ll40ls_pwm/Kconfig @@ -2,4 +2,4 @@ menuconfig DRIVERS_DISTANCE_SENSOR_LL40LS_PWM bool "ll40ls_pwm" default n ---help--- - Enable support for ll40ls_pwm \ No newline at end of file + Enable support for ll40ls_pwm diff --git a/src/drivers/distance_sensor/mappydot/Kconfig b/src/drivers/distance_sensor/mappydot/Kconfig index 8e13c2fc44b4..58031737ab66 100644 --- a/src/drivers/distance_sensor/mappydot/Kconfig +++ b/src/drivers/distance_sensor/mappydot/Kconfig @@ -2,4 +2,4 @@ menuconfig DRIVERS_DISTANCE_SENSOR_MAPPYDOT bool "mappydot" default n ---help--- - Enable support for mappydot \ No newline at end of file + Enable support for mappydot diff --git a/src/drivers/distance_sensor/mappydot/parameters.c b/src/drivers/distance_sensor/mappydot/parameters.c index 6fdadaabfcf3..7b29ba549d91 100644 --- a/src/drivers/distance_sensor/mappydot/parameters.c +++ b/src/drivers/distance_sensor/mappydot/parameters.c @@ -294,4 +294,4 @@ PARAM_DEFINE_INT32(SENS_MPDT10_ROT, 0); * @value 6 Yaw 270° * @value 7 Yaw 315° */ -PARAM_DEFINE_INT32(SENS_MPDT11_ROT, 0); \ No newline at end of file +PARAM_DEFINE_INT32(SENS_MPDT11_ROT, 0); diff --git a/src/drivers/distance_sensor/mb12xx/Kconfig b/src/drivers/distance_sensor/mb12xx/Kconfig index 01eb0c2bfe16..8fbcb5fe6076 100644 --- a/src/drivers/distance_sensor/mb12xx/Kconfig +++ b/src/drivers/distance_sensor/mb12xx/Kconfig @@ -2,4 +2,4 @@ menuconfig DRIVERS_DISTANCE_SENSOR_MB12XX bool "mb12xx" default n ---help--- - Enable support for mb12xx \ No newline at end of file + Enable support for mb12xx diff --git a/src/drivers/distance_sensor/mb12xx/parameters.c b/src/drivers/distance_sensor/mb12xx/parameters.c index 53a53276e38c..9974a8548ecc 100644 --- a/src/drivers/distance_sensor/mb12xx/parameters.c +++ b/src/drivers/distance_sensor/mb12xx/parameters.c @@ -291,4 +291,4 @@ PARAM_DEFINE_INT32(SENS_MB12_10_ROT, 0); * @value 6 Yaw 270° * @value 7 Yaw 315° */ -PARAM_DEFINE_INT32(SENS_MB12_11_ROT, 0); \ No newline at end of file +PARAM_DEFINE_INT32(SENS_MB12_11_ROT, 0); diff --git a/src/drivers/distance_sensor/pga460/Kconfig b/src/drivers/distance_sensor/pga460/Kconfig index de9f2ef5392e..14ab976a0c78 100644 --- a/src/drivers/distance_sensor/pga460/Kconfig +++ b/src/drivers/distance_sensor/pga460/Kconfig @@ -2,4 +2,4 @@ menuconfig DRIVERS_DISTANCE_SENSOR_PGA460 bool "pga460" default n ---help--- - Enable support for pga460 \ No newline at end of file + Enable support for pga460 diff --git a/src/drivers/distance_sensor/srf02/Kconfig b/src/drivers/distance_sensor/srf02/Kconfig index 258dec353ff9..1c36ead8a3e7 100644 --- a/src/drivers/distance_sensor/srf02/Kconfig +++ b/src/drivers/distance_sensor/srf02/Kconfig @@ -2,4 +2,4 @@ menuconfig DRIVERS_DISTANCE_SENSOR_SRF02 bool "srf02" default n ---help--- - Enable support for srf02 \ No newline at end of file + Enable support for srf02 diff --git a/src/drivers/distance_sensor/srf05/Kconfig b/src/drivers/distance_sensor/srf05/Kconfig index a425ccb9fc0a..05357ca42fb2 100644 --- a/src/drivers/distance_sensor/srf05/Kconfig +++ b/src/drivers/distance_sensor/srf05/Kconfig @@ -2,4 +2,4 @@ menuconfig DRIVERS_DISTANCE_SENSOR_SRF05 bool "srf05" default n ---help--- - Enable support for srf05 \ No newline at end of file + Enable support for srf05 diff --git a/src/drivers/distance_sensor/teraranger/Kconfig b/src/drivers/distance_sensor/teraranger/Kconfig index cee7073c3d6e..cfe1368d6315 100644 --- a/src/drivers/distance_sensor/teraranger/Kconfig +++ b/src/drivers/distance_sensor/teraranger/Kconfig @@ -2,4 +2,4 @@ menuconfig DRIVERS_DISTANCE_SENSOR_TERARANGER bool "teraranger" default n ---help--- - Enable support for teraranger \ No newline at end of file + Enable support for teraranger diff --git a/src/drivers/distance_sensor/tfmini/Kconfig b/src/drivers/distance_sensor/tfmini/Kconfig index 9157e4a216c9..f175c18071d2 100644 --- a/src/drivers/distance_sensor/tfmini/Kconfig +++ b/src/drivers/distance_sensor/tfmini/Kconfig @@ -2,4 +2,4 @@ menuconfig DRIVERS_DISTANCE_SENSOR_TFMINI bool "tfmini" default n ---help--- - Enable support for tfmini \ No newline at end of file + Enable support for tfmini diff --git a/src/drivers/distance_sensor/tfmini/module.yaml b/src/drivers/distance_sensor/tfmini/module.yaml index 770cbe979c37..59cb6b234311 100644 --- a/src/drivers/distance_sensor/tfmini/module.yaml +++ b/src/drivers/distance_sensor/tfmini/module.yaml @@ -4,4 +4,3 @@ serial_config: port_config_param: name: SENS_TFMINI_CFG group: Sensors - diff --git a/src/drivers/distance_sensor/ulanding_radar/Kconfig b/src/drivers/distance_sensor/ulanding_radar/Kconfig index f2b51c843d98..96789b4774ea 100644 --- a/src/drivers/distance_sensor/ulanding_radar/Kconfig +++ b/src/drivers/distance_sensor/ulanding_radar/Kconfig @@ -2,4 +2,4 @@ menuconfig DRIVERS_DISTANCE_SENSOR_ULANDING_RADAR bool "ulanding_radar" default n ---help--- - Enable support for ulanding_radar \ No newline at end of file + Enable support for ulanding_radar diff --git a/src/drivers/distance_sensor/vl53l0x/Kconfig b/src/drivers/distance_sensor/vl53l0x/Kconfig index 98dac82b0069..f00531751bdf 100644 --- a/src/drivers/distance_sensor/vl53l0x/Kconfig +++ b/src/drivers/distance_sensor/vl53l0x/Kconfig @@ -2,4 +2,4 @@ menuconfig DRIVERS_DISTANCE_SENSOR_VL53L0X bool "vl53l0x" default n ---help--- - Enable support for vl53l0x \ No newline at end of file + Enable support for vl53l0x diff --git a/src/drivers/distance_sensor/vl53l1x/Kconfig b/src/drivers/distance_sensor/vl53l1x/Kconfig index cdb6c003b085..63bca496e665 100644 --- a/src/drivers/distance_sensor/vl53l1x/Kconfig +++ b/src/drivers/distance_sensor/vl53l1x/Kconfig @@ -2,4 +2,4 @@ menuconfig DRIVERS_DISTANCE_SENSOR_VL53L1X bool "vl53l1x" default n ---help--- - Enable support for vl53l1x \ No newline at end of file + Enable support for vl53l1x diff --git a/src/drivers/distance_sensor/vl53l1x/vl53l1x.cpp b/src/drivers/distance_sensor/vl53l1x/vl53l1x.cpp index 090152d9bc09..fb95686381b6 100644 --- a/src/drivers/distance_sensor/vl53l1x/vl53l1x.cpp +++ b/src/drivers/distance_sensor/vl53l1x/vl53l1x.cpp @@ -35,10 +35,11 @@ ***********/ #include "vl53l1x.hpp" +#include -#define VL53L1X_DELAY 20 //ms +#define VL53L1X_DELAY 50000 // delay to reduce CPU usage (us) #define VL53L1X_SAMPLE_RATE 200 // ms, default -#define VL53L1X_INTER_MEAS_MS 200 // ms +#define VL53L1X_INTER_MEAS_MS 200 // ms #define VL53L1X_SHORT_RANGE 1 // sub-2 meter distance mode #define VL53L1X_LONG_RANGE 2 // sub-4 meter distance mode #define VL53L1X_RANGE_STATUS_OUT_OF_BOUNDS 13 // region of interest out of bounds error @@ -261,18 +262,19 @@ int VL53L1X::probe() void VL53L1X::RunImpl() { + uint8_t dataReady = 0; + VL53L1X_CheckForDataReady(&dataReady); if (dataReady == 1) { collect(); } + // Reduce CPU usage ScheduleDelayed(VL53L1X_DELAY); - // zone modulus increment _zone_index = (_zone_index + 1) % _zone_limit; - // Set the ROI center based on zone incrementation VL53L1X_SetROICenter(roi_center[_zone_index]); } @@ -292,6 +294,7 @@ int VL53L1X::init() uint8_t x = 4; uint8_t y = 4; + ret |= VL53L1X_SensorInit(); ret |= VL53L1X_ConfigBig(_distance_mode, VL53L1X_SAMPLE_RATE); ret |= VL53L1X_SetROI(x, y); @@ -488,6 +491,7 @@ int8_t VL53L1X::VL53L1X_CheckForDataReady(uint8_t *isDataReady) uint8_t IntPol; int8_t status = 0; + status = VL53L1X_GetInterruptPolarity(&IntPol); status = VL53L1_RdByte(GPIO__TIO_HV_STATUS, &Temp); @@ -498,6 +502,7 @@ int8_t VL53L1X::VL53L1X_CheckForDataReady(uint8_t *isDataReady) } else { *isDataReady = 0; + } } @@ -520,6 +525,7 @@ int8_t VL53L1X::VL53L1X_ClearInterrupt() int8_t status = 0; status = VL53L1_WrByte(SYSTEM__INTERRUPT_CLEAR, 0x01); + return status; } @@ -528,6 +534,8 @@ int8_t VL53L1X::VL53L1X_StopRanging() int8_t status = 0; status = VL53L1_WrByte(SYSTEM__MODE_START, 0x00); /* Disable VL53L1X */ + + ScheduleClear(); return status; } diff --git a/src/drivers/drv_dshot.h b/src/drivers/drv_dshot.h index 2e8dab2d6db9..81c92b4d50ee 100644 --- a/src/drivers/drv_dshot.h +++ b/src/drivers/drv_dshot.h @@ -91,7 +91,7 @@ typedef enum { * @param dshot_pwm_freq Frequency of DSHOT signal. Usually DSHOT150, DSHOT300, DSHOT600 or DSHOT1200 * @return <0 on error, the initialized channels mask. */ -__EXPORT extern int up_dshot_init(uint32_t channel_mask, unsigned dshot_pwm_freq); +__EXPORT extern int up_dshot_init(uint32_t channel_mask, unsigned dshot_pwm_freq, bool enable_bidirectional_dshot); /** * Set Dshot motor data, used by up_dshot_motor_data_set() and up_dshot_motor_command() (internal method) @@ -137,4 +137,28 @@ __EXPORT extern void up_dshot_trigger(void); */ __EXPORT extern int up_dshot_arm(bool armed); +/** + * Print bidrectional dshot status + */ +__EXPORT extern void up_bdshot_status(void); + + +/** + * Get bidrectional dshot erpm for a channel + * @param channel Dshot channel + * @param erpm pointer to write the erpm value + * @return <0 on error, OK on succes + */ +__EXPORT extern int up_bdshot_get_erpm(uint8_t channel, int *erpm); + + +/** + * Get bidrectional dshot status for a channel + * @param channel Dshot channel + * @param erpm pointer to write the erpm value + * @return <0 on error / not supported, 0 on offline, 1 on online + */ +__EXPORT extern int up_bdshot_channel_status(uint8_t channel); + + __END_DECLS diff --git a/src/drivers/drv_hrt.h b/src/drivers/drv_hrt.h index 17563002c40e..bb62da0189c3 100644 --- a/src/drivers/drv_hrt.h +++ b/src/drivers/drv_hrt.h @@ -162,7 +162,16 @@ static inline void abstime_to_ts(struct timespec *ts, hrt_abstime abstime) */ static inline hrt_abstime hrt_elapsed_time(const hrt_abstime *then) { - return hrt_absolute_time() - *then; + hrt_abstime now = hrt_absolute_time(); + + // Cannot allow a negative elapsed time as this would appear + // to be a huge positive elapsed time when represented as an + // unsigned value! + if (*then > now) { + return 0; + } + + return now - *then; } /** @@ -294,17 +303,17 @@ namespace time_literals // User-defined integer literals for different time units. // The base unit is hrt_abstime in microseconds -constexpr hrt_abstime operator "" _s(unsigned long long seconds) +constexpr hrt_abstime operator ""_s(unsigned long long seconds) { return hrt_abstime(seconds * 1000000ULL); } -constexpr hrt_abstime operator "" _ms(unsigned long long milliseconds) +constexpr hrt_abstime operator ""_ms(unsigned long long milliseconds) { return hrt_abstime(milliseconds * 1000ULL); } -constexpr hrt_abstime operator "" _us(unsigned long long microseconds) +constexpr hrt_abstime operator ""_us(unsigned long long microseconds) { return hrt_abstime(microseconds); } diff --git a/src/drivers/drv_orb_dev.h b/src/drivers/drv_orb_dev.h index 042dbe2097e1..42f361d43968 100644 --- a/src/drivers/drv_orb_dev.h +++ b/src/drivers/drv_orb_dev.h @@ -64,13 +64,10 @@ /** Get the priority for the topic */ #define ORBIOCGPRIORITY _ORBIOC(14) -/** Set the queue size of the topic */ -#define ORBIOCSETQUEUESIZE _ORBIOC(15) - /** Get the minimum interval at which the topic can be seen to be updated for this subscription */ -#define ORBIOCGETINTERVAL _ORBIOC(16) +#define ORBIOCGETINTERVAL _ORBIOC(15) /** Check whether the topic is advertised, sets *(unsigned long *)arg to 1 if advertised, 0 otherwise */ -#define ORBIOCISADVERTISED _ORBIOC(17) +#define ORBIOCISADVERTISED _ORBIOC(16) #endif /* _DRV_UORB_H */ diff --git a/src/drivers/drv_pwm_output.h b/src/drivers/drv_pwm_output.h index 13251bfebd22..6aedf298a32a 100644 --- a/src/drivers/drv_pwm_output.h +++ b/src/drivers/drv_pwm_output.h @@ -61,41 +61,11 @@ __BEGIN_DECLS */ #define PWM_LOWEST_MIN 90 -/** - * Default value for a shutdown motor - */ -#define PWM_MOTOR_OFF 900 - -/** - * Default minimum PWM in us - */ -#define PWM_DEFAULT_MIN 1000 - -/** - * Highest PWM allowed as the minimum PWM - */ -#define PWM_HIGHEST_MIN 1600 - /** * Highest maximum PWM in us */ #define PWM_HIGHEST_MAX 2500 -/** - * Default maximum PWM in us - */ -#define PWM_DEFAULT_MAX 2000 - -/** - * Default trim PWM in us - */ -#define PWM_DEFAULT_TRIM 0 - -/** - * Lowest PWM allowed as the maximum PWM - */ -#define PWM_LOWEST_MAX 200 - #endif // not PX4_PWM_ALTERNATE_RANGES /** diff --git a/src/drivers/drv_sensor.h b/src/drivers/drv_sensor.h index a744ad9ddfa0..53eecce4be71 100644 --- a/src/drivers/drv_sensor.h +++ b/src/drivers/drv_sensor.h @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2012-2023 PX4 Development Team. All rights reserved. + * Copyright (c) 2012-2024 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -63,6 +63,8 @@ #define DRV_MAG_DEVTYPE_IST8308 0x0B #define DRV_MAG_DEVTYPE_LIS2MDL 0x0C +#define DRV_MAG_DEVTYPE_MMC5983MA 0x0D +#define DRV_MAG_DEVTYPE_IIS2MDC 0x0E #define DRV_IMU_DEVTYPE_LSM303D 0x11 @@ -82,6 +84,7 @@ #define DRV_IMU_DEVTYPE_IIM42652 0x2B #define DRV_IMU_DEVTYPE_IAM20680HP 0x2C #define DRV_IMU_DEVTYPE_ICM42686P 0x2D +#define DRV_IMU_DEVTYPE_IIM42653 0x2E #define DRV_RNG_DEVTYPE_MB12XX 0x31 #define DRV_RNG_DEVTYPE_LL40LS 0x32 @@ -114,6 +117,7 @@ #define DRV_DIFF_PRESS_DEVTYPE_SDP32 0x4B #define DRV_DIFF_PRESS_DEVTYPE_SDP33 0x4C + #define DRV_BARO_DEVTYPE_TCBP001TA 0x4D #define DRV_BARO_DEVTYPE_MS5837 0x4E #define DRV_BARO_DEVTYPE_SPL06 0x4F @@ -129,6 +133,8 @@ #define DRV_IMU_DEVTYPE_ADIS16477 0x59 #define DRV_IMU_DEVTYPE_ADIS16507 0x5A +#define DRV_IMU_DEVTYPE_SCH16T 0x5B + #define DRV_BARO_DEVTYPE_MPC2520 0x5F #define DRV_BARO_DEVTYPE_LPS22HB 0x60 @@ -145,6 +151,7 @@ #define DRV_ACC_DEVTYPE_BMI085 0x6C #define DRV_GYR_DEVTYPE_BMI085 0x6D #define DRV_BARO_DEVTYPE_BMP390 0x6E +#define DRV_BARO_DEVTYPE_BMP581 0x6F #define DRV_DIST_DEVTYPE_LL40LS 0x70 #define DRV_DIST_DEVTYPE_MAPPYDOT 0x71 @@ -157,6 +164,8 @@ #define DRV_LED_DEVTYPE_RGBLED 0x7a #define DRV_LED_DEVTYPE_RGBLED_NCP5623C 0x7b #define DRV_LED_DEVTYPE_RGBLED_IS31FL3195 0xbf +#define DRV_LED_DEVTYPE_RGBLED_LP5562 0xc0 + #define DRV_BAT_DEVTYPE_SMBUS 0x7c #define DRV_SENS_DEVTYPE_IRLOCK 0x7d #define DRV_SENS_DEVTYPE_PCF8583 0x7e @@ -231,6 +240,9 @@ #define DRV_INS_DEVTYPE_VN100 0xE1 #define DRV_INS_DEVTYPE_VN200 0xE2 #define DRV_INS_DEVTYPE_VN300 0xE3 +#define DRV_DIFF_PRESS_DEVTYPE_ASP5033 0xE4 + +#define DRV_MAG_DEVTYPE_BMM350 0xE5 #define DRV_DEVTYPE_UNUSED 0xff diff --git a/src/drivers/dshot/DShot.cpp b/src/drivers/dshot/DShot.cpp index 5ae0150efba9..940019d9bf04 100644 --- a/src/drivers/dshot/DShot.cpp +++ b/src/drivers/dshot/DShot.cpp @@ -144,7 +144,9 @@ void DShot::enable_dshot_outputs(const bool enabled) } } - int ret = up_dshot_init(_output_mask, dshot_frequency); + _bidirectional_dshot_enabled = _param_bidirectional_enable.get(); + + int ret = up_dshot_init(_output_mask, dshot_frequency, _bidirectional_dshot_enabled); if (ret < 0) { PX4_ERR("up_dshot_init failed (%i)", ret); @@ -157,6 +159,7 @@ void DShot::enable_dshot_outputs(const bool enabled) for (unsigned i = 0; i < _num_outputs; ++i) { if (((1 << i) & _output_mask) == 0) { _mixing_output.disableFunction(i); + } } @@ -167,6 +170,10 @@ void DShot::enable_dshot_outputs(const bool enabled) } _outputs_initialized = true; + + if (_bidirectional_dshot_enabled) { + init_telemetry(NULL); + } } if (_outputs_initialized) { @@ -206,17 +213,20 @@ void DShot::init_telemetry(const char *device) _telemetry->esc_status_pub.advertise(); - int ret = _telemetry->handler.init(device); + if (device != NULL) { + int ret = _telemetry->handler.init(device); - if (ret != 0) { - PX4_ERR("telemetry init failed (%i)", ret); + if (ret != 0) { + PX4_ERR("telemetry init failed (%i)", ret); + } } update_telemetry_num_motors(); } -void DShot::handle_new_telemetry_data(const int telemetry_index, const DShotTelemetry::EscData &data) +int DShot::handle_new_telemetry_data(const int telemetry_index, const DShotTelemetry::EscData &data) { + int ret = 0; // fill in new motor data esc_status_s &esc_status = _telemetry->esc_status_pub.get(); @@ -239,18 +249,83 @@ void DShot::handle_new_telemetry_data(const int telemetry_index, const DShotTele esc_status.esc_connectiontype = esc_status_s::ESC_CONNECTION_TYPE_DSHOT; esc_status.esc_count = _telemetry->handler.numMotors(); ++esc_status.counter; - // FIXME: mark all ESC's as online, otherwise commander complains even for a single dropout - esc_status.esc_online_flags = (1 << esc_status.esc_count) - 1; - esc_status.esc_armed_flags = (1 << esc_status.esc_count) - 1; - - _telemetry->esc_status_pub.update(); - // reset esc data (in case a motor times out, so we won't send stale data) - memset(&esc_status.esc, 0, sizeof(_telemetry->esc_status_pub.get().esc)); - esc_status.esc_online_flags = 0; + ret = 1; // Indicate we wrapped, so we publish data } _telemetry->last_telemetry_index = telemetry_index; + + return ret; +} + +void DShot::publish_esc_status(void) +{ + esc_status_s &esc_status = _telemetry->esc_status_pub.get(); + int telemetry_index = 0; + + // clear data of the esc that are offline + for (int index = 0; (index < _telemetry->last_telemetry_index); index++) { + if ((esc_status.esc_online_flags & (1 << index)) == 0) { + memset(&esc_status.esc[index], 0, sizeof(struct esc_report_s)); + } + } + + // FIXME: mark all UART Telemetry ESC's as online, otherwise commander complains even for a single dropout + esc_status.esc_count = _telemetry->handler.numMotors(); + esc_status.esc_online_flags = (1 << esc_status.esc_count) - 1; + esc_status.esc_armed_flags = (1 << esc_status.esc_count) - 1; + + if (_bidirectional_dshot_enabled) { + for (unsigned i = 0; i < _num_outputs; i++) { + if (_mixing_output.isFunctionSet(i)) { + if (up_bdshot_channel_status(i)) { + esc_status.esc_online_flags |= 1 << i; + + } else { + esc_status.esc_online_flags &= ~(1 << i); + } + + ++telemetry_index; + } + } + } + + // ESC telem wrap around or bdshot update + _telemetry->esc_status_pub.update(); + + // reset esc online flags + esc_status.esc_online_flags = 0; +} + +int DShot::handle_new_bdshot_erpm(void) +{ + int num_erpms = 0; + int telemetry_index = 0; + int erpm; + esc_status_s &esc_status = _telemetry->esc_status_pub.get(); + + esc_status.timestamp = hrt_absolute_time(); + esc_status.counter = _esc_status_counter++; + esc_status.esc_connectiontype = esc_status_s::ESC_CONNECTION_TYPE_DSHOT; + esc_status.esc_armed_flags = _outputs_on; + + for (unsigned i = 0; i < _num_outputs; i++) { + if (_mixing_output.isFunctionSet(i)) { + if (up_bdshot_get_erpm(i, &erpm) == 0) { + num_erpms++; + esc_status.esc_online_flags |= 1 << telemetry_index; + esc_status.esc[telemetry_index].timestamp = hrt_absolute_time(); + esc_status.esc[telemetry_index].esc_rpm = (erpm * 100) / (_param_mot_pole_count.get() / 2); + esc_status.esc[telemetry_index].actuator_function = _telemetry->actuator_functions[telemetry_index]; + } + + ++telemetry_index; + } + + + } + + return num_erpms; } int DShot::send_command_thread_safe(const dshot_command_t command, const int num_repetitions, const int motor_index) @@ -463,6 +538,7 @@ void DShot::Run() if (_telemetry) { int telem_update = _telemetry->handler.update(); + int need_to_publish = 0; // Are we waiting for ESC info? if (_waiting_for_esc_info) { @@ -472,10 +548,21 @@ void DShot::Run() } } else if (telem_update >= 0) { - handle_new_telemetry_data(telem_update, _telemetry->handler.latestESCData()); + need_to_publish = handle_new_telemetry_data(telem_update, _telemetry->handler.latestESCData()); + } + + if (_bidirectional_dshot_enabled) { + // Add bdshot data to esc status + need_to_publish += handle_new_bdshot_erpm(); + } + + if (need_to_publish > 0) { + // ESC telem wrap around or bdshot update + publish_esc_status(); } } + if (_parameter_update_sub.updated()) { update_params(); } @@ -713,6 +800,11 @@ int DShot::print_status() _telemetry->handler.printStatus(); } + /* Print dshot status */ + if (_bidirectional_dshot_enabled) { + up_bdshot_status(); + } + return 0; } diff --git a/src/drivers/dshot/DShot.h b/src/drivers/dshot/DShot.h index f0cb4458f404..e60b33b86279 100644 --- a/src/drivers/dshot/DShot.h +++ b/src/drivers/dshot/DShot.h @@ -131,7 +131,11 @@ class DShot final : public ModuleBase, public OutputModuleInterface void init_telemetry(const char *device); - void handle_new_telemetry_data(const int telemetry_index, const DShotTelemetry::EscData &data); + int handle_new_telemetry_data(const int telemetry_index, const DShotTelemetry::EscData &data); + + void publish_esc_status(void); + + int handle_new_bdshot_erpm(void); int request_esc_info(); @@ -143,7 +147,7 @@ class DShot final : public ModuleBase, public OutputModuleInterface void handle_vehicle_commands(); - MixingOutput _mixing_output {PARAM_PREFIX, DIRECT_PWM_OUTPUT_CHANNELS, *this, MixingOutput::SchedulingPolicy::Auto, false, false}; + MixingOutput _mixing_output{PARAM_PREFIX, DIRECT_PWM_OUTPUT_CHANNELS, *this, MixingOutput::SchedulingPolicy::Auto, false, false}; uint32_t _reversible_outputs{}; Telemetry *_telemetry{nullptr}; @@ -158,6 +162,7 @@ class DShot final : public ModuleBase, public OutputModuleInterface bool _outputs_initialized{false}; bool _outputs_on{false}; bool _waiting_for_esc_info{false}; + bool _bidirectional_dshot_enabled{false}; static constexpr unsigned _num_outputs{DIRECT_PWM_OUTPUT_CHANNELS}; uint32_t _output_mask{0}; @@ -169,12 +174,14 @@ class DShot final : public ModuleBase, public OutputModuleInterface uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s}; uORB::Subscription _vehicle_command_sub{ORB_ID(vehicle_command)}; uORB::Publication _command_ack_pub{ORB_ID(vehicle_command_ack)}; + uint16_t _esc_status_counter{0}; DEFINE_PARAMETERS( (ParamFloat) _param_dshot_min, (ParamBool) _param_dshot_3d_enable, (ParamInt) _param_dshot_3d_dead_h, (ParamInt) _param_dshot_3d_dead_l, - (ParamInt) _param_mot_pole_count + (ParamInt) _param_mot_pole_count, + (ParamBool) _param_bidirectional_enable ) }; diff --git a/src/drivers/dshot/DShotTelemetry.cpp b/src/drivers/dshot/DShotTelemetry.cpp index 14a21d5654e0..0132a9b04941 100644 --- a/src/drivers/dshot/DShotTelemetry.cpp +++ b/src/drivers/dshot/DShotTelemetry.cpp @@ -183,6 +183,9 @@ bool DShotTelemetry::decodeByte(uint8_t byte, bool &successful_decoding) _latest_data.erpm); ++_num_successful_responses; successful_decoding = true; + + } else { + ++_num_checksum_errors; } return true; @@ -195,6 +198,7 @@ void DShotTelemetry::printStatus() const { PX4_INFO("Number of successful ESC frames: %i", _num_successful_responses); PX4_INFO("Number of timeouts: %i", _num_timeouts); + PX4_INFO("Number of CRC errors: %i", _num_checksum_errors); } uint8_t DShotTelemetry::updateCrc8(uint8_t crc, uint8_t crc_seed) @@ -472,4 +476,3 @@ int DShotTelemetry::setBaudrate(unsigned baud) return 0; } - diff --git a/src/drivers/dshot/DShotTelemetry.h b/src/drivers/dshot/DShotTelemetry.h index a5c549c47676..1164d1e2008c 100644 --- a/src/drivers/dshot/DShotTelemetry.h +++ b/src/drivers/dshot/DShotTelemetry.h @@ -140,4 +140,5 @@ class DShotTelemetry // statistics int _num_timeouts{0}; int _num_successful_responses{0}; + int _num_checksum_errors{0}; }; diff --git a/src/drivers/dshot/Kconfig b/src/drivers/dshot/Kconfig index bed3aaf9d735..a37510aa0ac9 100644 --- a/src/drivers/dshot/Kconfig +++ b/src/drivers/dshot/Kconfig @@ -2,4 +2,4 @@ menuconfig DRIVERS_DSHOT bool "dshot" default n ---help--- - Enable support for dshot \ No newline at end of file + Enable support for dshot diff --git a/src/drivers/dshot/module.yaml b/src/drivers/dshot/module.yaml index edd38edd23f1..e2dcf8bc97e8 100644 --- a/src/drivers/dshot/module.yaml +++ b/src/drivers/dshot/module.yaml @@ -33,6 +33,16 @@ parameters: When mixer outputs 1000 or value inside DSHOT 3D deadband, DShot 0 is sent. type: boolean default: 0 + DSHOT_BIDIR_EN: + description: + short: Enable bidirectional DShot + long: | + This parameter enables bidirectional DShot which provides RPM feedback. + Note that this requires ESCs that support bidirectional DSHot, e.g. BlHeli32. + This is not the same as DShot telemetry which requires an additional serial connection. + type: boolean + default: 0 + reboot_required: true DSHOT_3D_DEAD_H: description: short: DSHOT 3D deadband high diff --git a/src/drivers/gnss/Kconfig b/src/drivers/gnss/Kconfig new file mode 100644 index 000000000000..6353836988b2 --- /dev/null +++ b/src/drivers/gnss/Kconfig @@ -0,0 +1 @@ +rsource "*/Kconfig" diff --git a/src/drivers/gnss/septentrio/CMakeLists.txt b/src/drivers/gnss/septentrio/CMakeLists.txt new file mode 100644 index 000000000000..62451fc9b1f3 --- /dev/null +++ b/src/drivers/gnss/septentrio/CMakeLists.txt @@ -0,0 +1,50 @@ +############################################################################ +# +# Copyright (c) 2024 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +px4_add_module( + MODULE driver__septentrio + MAIN septentrio + COMPILE_FLAGS + # -DDEBUG_BUILD # Enable during development of the module + -DSEP_LOG_ERROR # Enable module-level error logs + # -DSEP_LOG_WARN # Enable module-level warning logs + # -DSEP_LOG_INFO # Enable module-level info logs + # -DSEP_LOG_TRACE_PARSING # Tracing of parsing steps + SRCS + septentrio.cpp + util.cpp + rtcm.cpp + sbf/decoder.cpp + MODULE_CONFIG + module.yaml + ) diff --git a/src/drivers/gnss/septentrio/Kconfig b/src/drivers/gnss/septentrio/Kconfig new file mode 100644 index 000000000000..5d3d52388587 --- /dev/null +++ b/src/drivers/gnss/septentrio/Kconfig @@ -0,0 +1,5 @@ +menuconfig DRIVERS_GNSS_SEPTENTRIO + bool "Septentrio GNSS receivers" + default n + ---help--- + Enable support for Septentrio receivers diff --git a/src/drivers/gnss/septentrio/README.md b/src/drivers/gnss/septentrio/README.md new file mode 100644 index 000000000000..7f5b83938c57 --- /dev/null +++ b/src/drivers/gnss/septentrio/README.md @@ -0,0 +1,6 @@ +# Septentrio GNSS Driver + +## SBF Library + +The `sbf/` directory contains all the logic required to work with SBF, including message +definitions, block IDs and a simple parser for the messages used by PX4. diff --git a/src/drivers/gnss/septentrio/module.h b/src/drivers/gnss/septentrio/module.h new file mode 100644 index 000000000000..c935c1263e44 --- /dev/null +++ b/src/drivers/gnss/septentrio/module.h @@ -0,0 +1,80 @@ +/**************************************************************************** + * + * Copyright (c) 2024 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file module.h + * + * Module functionality for the Septentrio GNSS driver. + * + * @author Thomas Frans +*/ + +#pragma once + +#include + +#ifdef DEBUG_BUILD +#ifndef SEP_LOG_ERROR +#define SEP_LOG_ERROR +#endif +#ifndef SEP_LOG_WARN +#define SEP_LOG_WARN +#endif +#ifndef SEP_LOG_INFO +#define SEP_LOG_INFO +#endif +#endif + +#ifdef SEP_LOG_ERROR +#define SEP_ERR(...) {PX4_ERR(__VA_ARGS__);} +#else +#define SEP_ERR(...) {} +#endif + +#ifdef SEP_LOG_WARN +#define SEP_WARN(...) {PX4_WARN(__VA_ARGS__);} +#else +#define SEP_WARN(...) {} +#endif + +#ifdef SEP_LOG_INFO +#define SEP_INFO(...) {PX4_INFO(__VA_ARGS__);} +#else +#define SEP_INFO(...) {} +#endif + +#ifdef SEP_LOG_TRACE_PARSING +#define SEP_TRACE_PARSING(...) {PX4_DEBUG(__VA_ARGS__);} +#else +#define SEP_TRACE_PARSING(...) {} +#endif diff --git a/src/drivers/gnss/septentrio/module.yaml b/src/drivers/gnss/septentrio/module.yaml new file mode 100644 index 000000000000..1b151f3618ba --- /dev/null +++ b/src/drivers/gnss/septentrio/module.yaml @@ -0,0 +1,206 @@ +module_name: Septentrio + +serial_config: + - command: set DUAL_GPS_ARGS "-e ${SERIAL_DEV} -g p:${BAUD_PARAM}" + port_config_param: + name: SEP_PORT2_CFG + group: Septentrio + label: Secondary GPS port + - command: septentrio start -d ${SERIAL_DEV} -b p:${BAUD_PARAM} ${DUAL_GPS_ARGS} + port_config_param: + name: SEP_PORT1_CFG + group: Septentrio + default: GPS1 + label: GPS Port + +parameters: + - group: Septentrio + definitions: + SEP_STREAM_MAIN: + description: + short: Main stream used during automatic configuration + long: | + The stream the autopilot sets up on the receiver to output the main data. + + Set this to another value if the default stream is already used for another purpose. + type: int32 + min: 1 + max: 10 + default: 1 + reboot_required: true + SEP_STREAM_LOG: + description: + short: Logging stream used during automatic configuration + long: | + The stream the autopilot sets up on the receiver to output the logging data. + + Set this to another value if the default stream is already used for another purpose. + type: int32 + min: 1 + max: 10 + default: 2 + reboot_required: true + SEP_OUTP_HZ: + description: + short: Output frequency of main SBF blocks + long: | + The output frequency of the main SBF blocks needed for PVT information. + type: enum + min: 0 + max: 3 + default: 1 + values: + 0: 5 Hz + 1: 10 Hz + 2: 20 Hz + 3: 25 Hz + reboot_required: true + SEP_YAW_OFFS: + description: + short: Heading/Yaw offset for dual antenna GPS + long: | + Heading offset angle for dual antenna GPS setups that support heading estimation. + + Set this to 0 if the antennas are parallel to the forward-facing direction + of the vehicle and the rover antenna is in front. + + The offset angle increases clockwise. + + Set this to 90 if the rover antenna is placed on the + right side of the vehicle and the moving base antenna is on the left side. + type: float + decimal: 3 + default: 0 + min: -360 + max: 360 + unit: deg + reboot_required: true + SEP_SAT_INFO: + description: + short: Enable sat info + long: | + Enable publication of satellite info (ORB_ID(satellite_info)) if possible. + type: boolean + default: 0 + reboot_required: true + SEP_PITCH_OFFS: + description: + short: Pitch offset for dual antenna GPS + long: | + Vertical offsets can be compensated for by adjusting the Pitch offset. + + Note that this can be interpreted as the "roll" angle in case the antennas are aligned along the perpendicular axis. + This occurs in situations where the two antenna ARPs may not be exactly at the same height in the vehicle reference frame. + Since pitch is defined as the right-handed rotation about the vehicle Y axis, + a situation where the main antenna is mounted lower than the aux antenna (assuming the default antenna setup) will result in a positive pitch. + type: float + decimal: 3 + default: 0 + min: -90 + max: 90 + unit: deg + reboot_required: true + SEP_DUMP_COMM: + description: + short: Log GPS communication data + long: | + Log raw communication between the driver and connected receivers. + For example, "To receiver" will log all commands and corrections sent by the driver to the receiver. + type: enum + default: 0 + min: 0 + max: 3 + values: + 0: Disabled + 1: From receiver + 2: To receiver + 3: Both + SEP_AUTO_CONFIG: + description: + short: Toggle automatic receiver configuration + long: | + By default, the receiver is automatically configured. Sometimes it may be used for multiple purposes. + If the offered parameters aren't sufficient, this parameter can be disabled to have full control of the receiver configuration. + A good way to use this is to enable automatic configuration, let the receiver be configured, and then disable it to make manual adjustments. + type: boolean + default: true + reboot_required: true + SEP_CONST_USAGE: + description: + short: Usage of different constellations + long: | + Choice of which constellations the receiver should use for PVT computation. + + When this is 0, the constellation usage isn't changed. + type: bitmask + bit: + 0: GPS + 1: GLONASS + 2: Galileo + 3: SBAS + 4: BeiDou + default: 0 + min: 0 + max: 63 + reboot_required: true + SEP_LOG_HZ: + description: + short: Logging frequency for the receiver + long: | + Select the frequency at which the connected receiver should log data to its internal storage. + type: enum + default: 0 + min: 0 + max: 10 + values: + 0: Disabled + 1: 0.1 Hz + 2: 0.2 Hz + 3: 0.5 Hz + 4: 1 Hz + 5: 2 Hz + 6: 5 Hz + 7: 10 Hz + 8: 20 Hz + 9: 25 Hz + 10: 50 Hz + reboot_required: true + SEP_LOG_LEVEL: + description: + short: Logging level for the receiver + long: | + Select the level of detail that needs to be logged by the receiver. + type: enum + default: 2 + min: 0 + max: 3 + values: + 0: Lite + 1: Basic + 2: Default + 3: Full + reboot_required: true + SEP_LOG_FORCE: + description: + short: Whether to overwrite or add to existing logging + long: | + When the receiver is already set up to log data, this decides whether extra logged data should be added or overwrite existing data. + type: boolean + default: false + reboot_required: true + SEP_HARDW_SETUP: + description: + short: Setup and expected use of the hardware + long: | + Setup and expected use of the hardware. + + - Default: Use two receivers as completely separate instances. + - Moving base: Use two receivers in a rover & moving base setup for heading. + type: enum + default: 0 + min: 0 + max: 1 + values: + 0: Default + 1: Moving base + reboot_required: true diff --git a/src/drivers/gnss/septentrio/rtcm.cpp b/src/drivers/gnss/septentrio/rtcm.cpp new file mode 100644 index 000000000000..007b2a168e33 --- /dev/null +++ b/src/drivers/gnss/septentrio/rtcm.cpp @@ -0,0 +1,162 @@ +/**************************************************************************** + * + * Copyright (c) 2024 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file rtcm.cpp + * + * @author Thomas Frans +*/ + +#include "rtcm.h" + +#include +#include + +#include "module.h" + +namespace septentrio +{ + +namespace rtcm +{ + +Decoder::Decoder() +{ + reset(); +} + +Decoder::~Decoder() +{ + delete[] _message; +} + +Decoder::State Decoder::add_byte(uint8_t byte) +{ + switch (_state) { + case State::SearchingPreamble: + if (byte == PREAMBLE) { + _message[_current_index] = byte; + _current_index++; + _state = State::GettingHeader; + } + + break; + + case State::GettingHeader: + _message[_current_index] = byte; + _current_index++; + + if (header_received()) { + _message_length = parse_message_length(); + + if (_message_length > MAX_BODY_SIZE) { + reset(); + return _state; + + } else if (_message_length + HEADER_SIZE + CRC_SIZE > INITIAL_BUFFER_LENGTH) { + uint16_t new_buffer_size = _message_length + HEADER_SIZE + CRC_SIZE; + uint8_t *new_buffer = new uint8_t[new_buffer_size]; + + if (!new_buffer) { + reset(); + return _state; + } + + memcpy(new_buffer, _message, HEADER_SIZE); + delete[](_message); + + _message = new_buffer; + } + + _state = State::Busy; + } + + break; + + case State::Busy: + _message[_current_index] = byte; + _current_index++; + + if (_message_length + HEADER_SIZE + CRC_SIZE == _current_index) { + _state = State::Done; + } + + break; + + case State::Done: + SEP_WARN("RTCM: Discarding excess byte"); + break; + } + + return _state; +} + +void Decoder::reset() +{ + if (_message) { + delete[] _message; + } + + _message = new uint8_t[INITIAL_BUFFER_LENGTH]; + _current_index = 0; + _message_length = 0; + _state = State::SearchingPreamble; +} + +uint16_t Decoder::parse_message_length() const +{ + if (!header_received()) { + return PX4_ERROR; + } + + return ((static_cast(_message[1]) & 3) << 8) | _message[2]; +} + +bool Decoder::header_received() const +{ + return _current_index >= HEADER_SIZE; +} + +uint16_t Decoder::received_bytes() const +{ + return _current_index; +} + +uint16_t Decoder::message_id() const +{ + return (_message[3] << 4) | (_message[4] >> 4); +} + +} // namespace rtcm + +} // namespace septentrio diff --git a/src/drivers/gnss/septentrio/rtcm.h b/src/drivers/gnss/septentrio/rtcm.h new file mode 100644 index 000000000000..672ac08da9e1 --- /dev/null +++ b/src/drivers/gnss/septentrio/rtcm.h @@ -0,0 +1,132 @@ +/**************************************************************************** + * + * Copyright (c) 2024 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file rtcm.h + * + * @author Thomas Frans + */ + +#pragma once + +#include +#include + +namespace septentrio +{ + +namespace rtcm +{ + +constexpr uint8_t PREAMBLE = 0xD3; +constexpr uint8_t HEADER_SIZE = 3; ///< Total number of bytes in a message header. +constexpr uint8_t CRC_SIZE = 3; ///< Total number of bytes in the CRC. +constexpr uint8_t LENGTH_FIELD_BITS = 10; ///< Total number of bits used for the length. +constexpr uint16_t MAX_BODY_SIZE = 1 << LENGTH_FIELD_BITS; ///< Maximum allowed size of the message body. + +class Decoder +{ +public: + enum class State { + /// Searching for the first byte of an RTCM message. + SearchingPreamble, + + /// Getting the complete header of an RTCM message. + GettingHeader, + + /// Getting a complete RTCM message. + Busy, + + /// Complete RTCM message is available. + Done, + }; + + Decoder(); + ~Decoder(); + + /** + * Add a byte to the current message. + * + * @param byte The new byte. + * + * @return true if message complete (use @message to get it) + */ + State add_byte(uint8_t b); + + /** + * @brief Reset the parser to a clean state. + */ + void reset(); + + uint8_t *message() const { return _message; } + + /** + * @brief Number of received bytes of the current message. + */ + uint16_t received_bytes() const; + + /** + * @brief The id of the current message. + * + * This should only be called if the message has been received completely. + * + * @return The id of the current complete message. + */ + uint16_t message_id() const; + +private: + static constexpr uint16_t INITIAL_BUFFER_LENGTH = 300; + + /** + * @brief Parse the message lentgh of the current message. + * + * @return The expected length of the current message without header and CRC. + */ + uint16_t parse_message_length() const; + + /** + * @brief Check whether the full header has been received. + * + * @return `true` if the full header is available, `false` otherwise. + */ + bool header_received() const; + + uint8_t *_message{nullptr}; + uint16_t _message_length; ///< The total length of the message excluding header and CRC (3 bytes each). + uint16_t _current_index; ///< The current index of the byte we expect to read into the buffer. + State _state{State::SearchingPreamble}; ///< Current state of the parser. +}; + +} // namespace rtcm + +} // namespace septentrio diff --git a/src/drivers/gnss/septentrio/sbf/decoder.cpp b/src/drivers/gnss/septentrio/sbf/decoder.cpp new file mode 100644 index 000000000000..318a5c4db968 --- /dev/null +++ b/src/drivers/gnss/septentrio/sbf/decoder.cpp @@ -0,0 +1,252 @@ +/**************************************************************************** + * + * Copyright (c) 2024 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file decoder.cpp + * + * Decoding logic for the Septentrio Binary Format (SBF). + * + * @author Thomas Frans + */ + +#include "decoder.h" + +#include +#include +#include +#include + +#include "../module.h" +#include "../util.h" +#include "drivers/gnss/septentrio/sbf/messages.h" + +namespace septentrio +{ + +namespace sbf +{ + +Decoder::State Decoder::add_byte(uint8_t byte) +{ + uint8_t *message = reinterpret_cast(&_message); + + switch (_state) { + case State::SearchingSync1: + if (byte == (uint8_t)k_sync1) { + // Sync is always same, so we don't store it. + _current_index++; + _state = State::SearchingSync2; + } + + break; + + case State::SearchingSync2: + if (byte == (uint8_t)k_sync2) { + // Sync is always same, so we don't store it. + _current_index++; + _state = State::Busy; + + } else { + reset(); + } + + break; + + case State::Busy: + message[_current_index] = byte; + _current_index++; + + if (done()) { + _state = State::Done; + } + + break; + + case State::Done: + SEP_WARN("SBF: Discarding excess byte"); + break; + } + + return _state; +} + +BlockID Decoder::id() const +{ + return _state == State::Done ? _message.header.id_number : BlockID::Invalid; +} + +int Decoder::parse(Header *header) const +{ + if (can_parse()) { + memcpy(header, &_message.header, sizeof(Header)); + return PX4_OK; + } + + return PX4_ERROR; +} + +int Decoder::parse(DOP *message) const +{ + if (can_parse() && id() == BlockID::DOP) { + memcpy(message, _message.payload, sizeof(DOP)); + return PX4_OK; + } + + return PX4_ERROR; +} + +int Decoder::parse(PVTGeodetic *message) const +{ + if (can_parse() && id() == BlockID::PVTGeodetic) { + memcpy(message, _message.payload, sizeof(PVTGeodetic)); + return PX4_OK; + } + + return PX4_ERROR; +} + +int Decoder::parse(ReceiverStatus *message) const +{ + if (can_parse() && id() == BlockID::ReceiverStatus) { + memcpy(message, _message.payload, sizeof(ReceiverStatus)); + return PX4_OK; + } + + return PX4_ERROR; +} + +int Decoder::parse(QualityInd *message) const +{ + if (can_parse() && id() == BlockID::QualityInd) { + // Safe to copy entire size of the message as it is smaller than the maximum expected SBF message size. + // It's up to the user of the parsed message to ignore the invalid fields. + memcpy(message, _message.payload, sizeof(QualityInd)); + return PX4_OK; + } + + return PX4_ERROR; +} + +int Decoder::parse(RFStatus *message) const +{ + if (can_parse() && id() == BlockID::PVTGeodetic) { + memcpy(message, _message.payload, sizeof(RFStatus) - sizeof(RFStatus::rf_band)); + + for (uint8_t i = 0; i < math::min(message->n, k_max_rfband_blocks); i++) { + memcpy(&message->rf_band[i], &_message.payload[sizeof(RFStatus) - sizeof(RFStatus::rf_band) + i * + message->sb_length], sizeof(RFBand)); + } + + return PX4_OK; + } + + return PX4_ERROR; +} + +int Decoder::parse(GALAuthStatus *message) const +{ + if (can_parse() && id() == BlockID::GALAuthStatus) { + memcpy(message, _message.payload, sizeof(GALAuthStatus)); + return PX4_OK; + } + + return PX4_ERROR; +} + +int Decoder::parse(VelCovGeodetic *message) const +{ + if (can_parse() && id() == BlockID::VelCovGeodetic) { + memcpy(message, _message.payload, sizeof(VelCovGeodetic)); + return PX4_OK; + } + + return PX4_ERROR; +} + +int Decoder::parse(GEOIonoDelay *message) const +{ + if (can_parse() && id() == BlockID::GEOIonoDelay) { + memcpy(message, _message.payload, sizeof(GEOIonoDelay) - sizeof(GEOIonoDelay::idc)); + + for (size_t i = 0; i < math::min(message->n, (uint8_t)4); i++) { + memcpy(&message->idc[i], &_message.payload[sizeof(GEOIonoDelay) - sizeof(GEOIonoDelay::idc) + i * + message->sb_length], sizeof(IDC)); + } + + return PX4_OK; + } + + return PX4_ERROR; +} + +int Decoder::parse(AttEuler *message) const +{ + if (can_parse() && id() == BlockID::AttEuler) { + memcpy(message, _message.payload, sizeof(AttEuler)); + return PX4_OK; + } + + return PX4_ERROR; +} + +int Decoder::parse(AttCovEuler *message) const +{ + if (can_parse() && id() == BlockID::AttCovEuler) { + memcpy(message, _message.payload, sizeof(AttCovEuler)); + return PX4_OK; + } + + return PX4_ERROR; +} + +void Decoder::reset() +{ + _current_index = 0; + _state = State::SearchingSync1; + memset(&_message, 0, sizeof(_message)); +} + +bool Decoder::done() const +{ + return (_current_index >= 14 && _current_index >= _message.header.length) || _current_index >= sizeof(_message); +} + +bool Decoder::can_parse() const +{ + return done() + && _message.header.crc == buffer_crc16(reinterpret_cast(&_message) + 4, _message.header.length - 4); +} + +} // namespace sbf + +} // namespace septentrio diff --git a/src/drivers/gnss/septentrio/sbf/decoder.h b/src/drivers/gnss/septentrio/sbf/decoder.h new file mode 100644 index 000000000000..78a62ebc0f42 --- /dev/null +++ b/src/drivers/gnss/septentrio/sbf/decoder.h @@ -0,0 +1,233 @@ +/**************************************************************************** + * + * Copyright (c) 2024 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file decoder.h + * + * Decoding logic for the Septentrio Binary Format (SBF). + * + * @author Thomas Frans +*/ + +#pragma once + +#include + +#include "messages.h" + +namespace septentrio +{ + +namespace sbf +{ + +#pragma pack(push, 1) + +/// A complete SBF message with parsed header and unparsed body. +typedef struct { + Header header; + uint8_t payload[k_max_message_size]; +} message_t; + +#pragma pack(pop) + +/** + * @brief A decoder and parser for Septentrio Binary Format (SBF) data. + */ +class Decoder +{ +public: + /** + * @brief The current decoding state of the decoder. + */ + enum class State { + /// Searching for the first sync byte of an SBF message. + SearchingSync1, + + /// Searching for the second sync byte of an SBF message. + SearchingSync2, + + /// In the process of receiving an SBF message. + Busy, + + /// Done receiving an SBF message and ready to parse. + Done, + }; + + /** + * @brief Add one byte to the decoder. + * + * @param byte The byte to add. + * + * @return The decoding state after adding the byte. + */ + State add_byte(uint8_t byte); + + /** + * @brief Get the id of the current message. + * + * @return The SBF id of the current message. + */ + BlockID id() const; + + /** + * @brief Try to parse the current header. + * + * @param header The header data structure to parse into. + * + * @return `PX4_OK` if success, or `PX4_ERROR` when an error occurs. + */ + int parse(Header *header) const; + + /** + * @brief Parse a DOP SBF message. + * + * @param message The DOP data structure to parse into. + * + * @return `PX4_OK` if success, or `PX4_ERROR` when an error occurs. + */ + int parse(DOP *message) const; + + /** + * @brief Parse a PVTGeodetic SBF message. + * + * @param message The PVTGeodetic data structure to parse into. + * + * @return `PX4_OK` if success, or `PX4_ERROR` when an error occurs. + */ + int parse(PVTGeodetic *message) const; + + /** + * @brief Parse a ReceiverStatus SBF message. + * + * @param message The ReceiverStatus data structure to parse into. + * + * @return `PX4_OK` if success, or `PX4_ERROR` when an error occurs. + */ + int parse(ReceiverStatus *message) const; + + /** + * @brief Parse a QualityInd SBF message. + * + * @param message The QualityInd data structure to parse into. + * + * @return `PX4_OK` if success, or `PX4_ERROR` when an error occurs. + */ + int parse(QualityInd *message) const; + + /** + * @brief Parse an RFSTatus SBF message. + * + * @param message The RFStatus data structure to parse into. + * + * @return `PX4_OK` if success, or `PX4_ERROR` when an error occurs. + */ + int parse(RFStatus *message) const; + + /** + * @brief Parse a GALAuthStatus SBF message. + * + * @param message The GALAuthStatus data structure to parse into. + * + * @return `PX4_OK` if success, or `PX4_ERROR` when an error occurs. + */ + int parse(GALAuthStatus *message) const; + + /** + * @brief Parse a VelCovGeodetic SBF message. + * + * @param message The VelCovGeodetic data structure to parse into. + * + * @return `PX4_OK` if success, or `PX4_ERROR` when an error occurs. + */ + int parse(VelCovGeodetic *message) const; + + /** + * @brief Parse a GEOIonoDelay SBF message. + * + * @param message The GEOIonoDelay data structure to parse into. + * + * @return `PX4_OK` if success, or `PX4_ERROR` when an error occurs. + */ + int parse(GEOIonoDelay *message) const; // NOTE: This serves as an example of how to parse sub-blocks. + + /** + * @brief Parse an AttEuler SBF message. + * + * @param message The AttEuler data structure to parse into. + * + * @return `PX4_OK` if success, or `PX4_ERROR` when an error occurs. + */ + int parse(AttEuler *message) const; + + /** + * @brief Parse an AttCovEuler SBF message. + * + * @param message The AttCovEuler data structure to parse into. + * + * @return `PX4_OK` if success, or `PX4_ERROR` when an error occurs. + */ + int parse(AttCovEuler *message) const; + + /** + * @brief Reset the decoder to a clean state. + * + * If the decoder is in the process of decoding a message or contains a complete message, it will discard it and + * become ready for the next message. + */ + void reset(); +private: + /** + * @brief Check whether a full message has been received. + * + * Does not guarantee validity of the message, only that a complete message should be available. + * + * @return `true` if a message is ready, `false` if still decoding. + */ + bool done() const; + + /** + * @brief Check whether a full message has been received and is valid. + * + * @return `true` if the data can be parsed, `false` if the message is incomplete or not valid. + */ + bool can_parse() const; + + State _state{State::SearchingSync1}; + uint16_t _current_index; + message_t _message; +}; + +} // namespace sbf + +} // namespace septentrio diff --git a/src/drivers/gnss/septentrio/sbf/messages.h b/src/drivers/gnss/septentrio/sbf/messages.h new file mode 100644 index 000000000000..487a40054c64 --- /dev/null +++ b/src/drivers/gnss/septentrio/sbf/messages.h @@ -0,0 +1,353 @@ +/**************************************************************************** + * + * Copyright (c) 2024 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file messages.h + * + * @brief Septentrio binary format (SBF) protocol message definitions. + * + * @author Thomas Frans + */ + +#pragma once + +#include +#include + +namespace septentrio +{ + +namespace sbf +{ + +constexpr char k_sync1 {'$'}; +constexpr char k_sync2 {'@'}; + +// Do-Not-Use values for fields in SBF blocks. The receiver can set certain fields to these values to signal that they are invalid. +// Most fields of a certain type will use these values (u2 representing a value often has DNU value of 65535). +// For the ones that do not use these, custom ones can be specified together with the blocks. +constexpr uint32_t k_dnu_u4_value {4294967295}; +constexpr uint32_t k_dnu_u4_bitfield {0}; +constexpr uint16_t k_dnu_u2_value {65535}; +constexpr uint16_t k_dnu_u2_bitfield {0}; +constexpr float k_dnu_f4_value {-2.0f * 10000000000.0f}; +constexpr double k_dnu_f8_value {-2.0 * 10000000000.0}; + +/// Maximum size of all expected messages. +/// This needs to be bigger than the maximum size of all declared SBF blocks so that `memcpy()` can safely copy from the decoding buffer using this value into messages. +constexpr size_t k_max_message_size {300}; + +/// Maximum expected number of sub-blocks. +constexpr uint8_t k_max_quality_indicators {9}; +constexpr uint8_t k_max_rfband_blocks {4}; + +/** + * IDs of all the available SBF messages that we care about. +*/ +enum class BlockID : uint16_t { + Invalid = 0, + DOP = 4001, + PVTGeodetic = 4007, + ReceiverStatus = 4014, + QualityInd = 4082, + RFStatus = 4092, + GALAuthStatus = 4245, + VelCovGeodetic = 5908, + EndOfPVT = 5921, + GEOIonoDelay = 5933, + AttEuler = 5938, + AttCovEuler = 5939, +}; + +#pragma pack(push, 1) + +/** + * Common SBF message header. + */ +struct Header { + uint8_t sync1; + uint8_t sync2; + uint16_t crc; + BlockID id_number: 13; + uint16_t id_revision: 3; + uint16_t length; + uint32_t tow; + uint16_t wnc; +}; + +struct DOP { + uint8_t nr_sv; + uint8_t reserved; + uint16_t p_dop; + uint16_t t_dop; + uint16_t h_dop; + uint16_t v_dop; + float hpl; + float vpl; +}; + +struct PVTGeodetic { + static constexpr uint8_t k_dnu_nr_sv {255}; + enum class ModeType : uint8_t { + NoPVT = 0, + StandAlonePVT = 1, + DifferentialPVT = 2, + FixedLocation = 3, + RTKFixed = 4, + RTKFloat = 5, + PVTWithSBAS = 6, + MovingBaseRTKFixed = 7, + MovingBaseRTKFloat = 8, + PrecisePointPositioning = 10, + }; + enum class Error : uint8_t { + None = 0, + InsufficientMeasurements = 1, + InsufficientEphemerides = 2, + DOPTooLarge = 3, + SquaredResidualSumTooLarge = 4, + NoConvergence = 5, + InsufficientMeasurementsAfterOutlierRejection = 6, + ExportLawsForbidPositionOutput = 7, + InsufficientDifferentialCorrections = 8, + MissingBaseStationCoordinates = 9, + MissingRequiredRTKFixedPosition = 10, + }; + ModeType mode_type: 4; + uint8_t mode_reserved: 2; + uint8_t mode_base_fixed: 1; + uint8_t mode_2d: 1; + Error error; + double latitude; + double longitude; + double height; + float undulation; + float vn; + float ve; + float vu; + float cog; + double rx_clk_bias; + float rx_clk_drift; + uint8_t time_system; + uint8_t datum; + uint8_t nr_sv; + uint8_t wa_corr_info; + uint16_t reference_id; + uint16_t mean_corr_age; + uint32_t signal_info; + uint8_t alert_flag; + uint8_t nr_bases; + uint16_t ppp_info; + uint16_t latency; + uint16_t h_accuracy; + uint16_t v_accuracy; +}; + +struct ReceiverStatus { + uint8_t cpu_load; + uint8_t ext_error_siserror: 1; + uint8_t ext_error_diff_corr_error: 1; + uint8_t ext_error_ext_sensor_error: 1; + uint8_t ext_error_setup_error: 1; + uint8_t ext_error_reserved: 4; + uint32_t uptime; + uint32_t rx_state_reserved1: 1; + uint32_t rx_state_active_antenna: 1; + uint32_t rx_state_ext_freq: 1; + uint32_t rx_state_ext_time: 1; + uint32_t rx_state_wn_set: 1; + uint32_t rx_state_tow_set: 1; + uint32_t rx_state_fine_time: 1; + uint32_t rx_state_internal_disk_activity: 1; + uint32_t rx_state_internal_disk_full: 1; + uint32_t rx_state_internal_disk_mounted: 1; + uint32_t rx_state_int_ant: 1; + uint32_t rx_state_refout_locked: 1; + uint32_t rx_state_reserved2: 1; + uint32_t rx_state_external_disk_activity: 1; + uint32_t rx_state_external_disk_full: 1; + uint32_t rx_state_external_disk_mounted: 1; + uint32_t rx_state_pps_in_cal: 1; + uint32_t rx_state_diff_corr_in: 1; + uint32_t rx_state_internet: 1; + uint32_t rx_state_reserved3: 13; + uint32_t rx_error_reserved1: 3; + uint32_t rx_error_software: 1; + uint32_t rx_error_watchdog: 1; + uint32_t rx_error_antenna: 1; + uint32_t rx_error_congestion: 1; + uint32_t rx_error_reserved2: 1; + uint32_t rx_error_missed_event: 1; + uint32_t rx_error_cpu_overload: 1; + uint32_t rx_error_invalid_config: 1; + uint32_t rx_error_out_of_geofence: 1; + uint32_t rx_error_reserved3: 22; + uint8_t n; + uint8_t sb_length; + uint8_t cmd_count; + uint8_t temperature; +}; + +struct QualityIndicator { + enum class Type : uint8_t { + Overall = 0, + GNSSSignalsMainAntenna = 1, + GNSSSignalsAuxAntenna = 2, + RFPowerMainAntenna = 11, + RFPowerAuxAntenna = 12, + CPUHeadroom = 21, + OCXOStability = 25, + BaseStationMeasurements = 30, + RTKPostProcessing = 31, + }; + Type type: 8; + uint16_t value: 4; + uint16_t reserved: 4; +}; + +struct QualityInd { + uint8_t n; + uint8_t reserved1; + // Only support the currently available indicators for now so we don't have to allocate. + QualityIndicator indicators[k_max_quality_indicators]; +}; + +struct RFBand { + uint32_t frequency; + uint16_t bandwidth; + uint8_t info_mode: 4; + uint8_t info_reserved: 2; + uint8_t info_antenna_id: 2; +}; + +struct RFStatus { + uint8_t n; + uint8_t sb_length; + uint8_t flags_inauthentic_gnss_signals: 1; + uint8_t flags_inauthentic_navigation_message: 1; + uint8_t flags_reserved: 6; + uint8_t reserved[3]; + RFBand rf_band[k_max_rfband_blocks]; +}; + +struct GALAuthStatus { + uint16_t osnma_status_status: 3; + uint16_t osnma_status_initialization_progress: 8; + uint16_t osnma_status_trusted_time_source: 3; + uint16_t osnma_status_merkle_tree_busy: 1; + uint16_t osnma_status_reserved: 1; + float trusted_time_delta; + uint64_t gal_active_mask; + uint64_t gal_authentic_mask; + uint64_t gps_active_mask; + uint64_t gps_authentic_mask; +}; + +struct VelCovGeodetic { + uint8_t mode_type: 4; + uint8_t mode_reserved: 2; + uint8_t mode_base_fixed: 1; + uint8_t mode_2d: 1; + uint8_t error; + float cov_vn_vn; + float cov_ve_ve; + float cov_vu_vu; + float cov_dt_dt; + float cov_vn_ve; + float cov_vn_vu; + float cov_vn_dt; + float cov_ve_vu; + float cov_ve_dt; + float cov_vu_dt; +}; + +struct IDC { + uint8_t igp_mask_no; + uint8_t givei; + uint8_t reserved[2]; + float vertical_delay; +}; + +struct GEOIonoDelay { + uint8_t prn; + uint8_t bandnbr; + uint8_t iodi; + uint8_t n; + uint8_t sb_length; + uint8_t reserved; + IDC idc[4]; +}; + +struct AttEuler { + enum class Error : uint8_t { + None = 0, + InsufficientMeasurements = 1, + }; + uint8_t nr_sv; + Error error_aux1: 2; + Error error_aux2: 2; + uint8_t error_reserved: 3; + uint8_t error_not_requested: 1; + uint16_t mode; + uint16_t reserved; + float heading; + float pitch; + float roll; + float pitch_dot; + float roll_dot; + float heading_dot; +}; + +struct AttCovEuler { + enum class Error : uint8_t { + None = 0, + InsufficientMeasurements = 1, + }; + uint8_t reserved; + Error error_aux1: 2; + Error error_aux2: 2; + uint8_t error_reserved: 3; + uint8_t error_not_requested: 1; + float cov_headhead; + float cov_pitchpitch; + float cov_rollroll; + float cov_headpitch; + float cov_headroll; + float cov_pitchroll; +}; + +#pragma pack(pop) + +} // namespace sbf + +} // namespace septentrio diff --git a/src/drivers/gnss/septentrio/septentrio.cpp b/src/drivers/gnss/septentrio/septentrio.cpp new file mode 100644 index 000000000000..5c53db6098d5 --- /dev/null +++ b/src/drivers/gnss/septentrio/septentrio.cpp @@ -0,0 +1,1751 @@ +/**************************************************************************** + * + * Copyright (c) 2024 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file septentrio.cpp + * + * Septentrio GNSS receiver driver + * + * @author Matej Franceskin + * @author Seppe Geuens + * @author Thomas Frans +*/ + +#include "septentrio.h" + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include "util.h" +#include "sbf/messages.h" + +using namespace device; + +namespace septentrio +{ + +/** + * RTC drift time when time synchronization is needed (in seconds). +*/ +constexpr int k_max_allowed_clock_drift = 5; + +/** + * If silence from the receiver for this time (ms), assume full data received. +*/ +constexpr int k_receiver_read_timeout = 2; + +/** + * The maximum allowed time for reading from the receiver. + */ +constexpr int k_max_receiver_read_timeout = 50; + +/** + * Minimum amount of bytes we try to read at one time from the receiver. +*/ +constexpr size_t k_min_receiver_read_bytes = 32; + +/** + * The baud rate of Septentrio receivers with factory default configuration. +*/ +constexpr uint32_t k_septentrio_receiver_default_baud_rate = 115200; + +constexpr uint8_t k_max_command_size = 120; +constexpr uint16_t k_timeout_5hz = 500; +constexpr uint32_t k_read_buffer_size = 150; +constexpr time_t k_gps_epoch_secs = 1234567890ULL; // TODO: This seems wrong + +// Septentrio receiver commands +// - erst: exeResetReceiver +// - sso: setSBFOutput +// - ssu: setSatelliteUsage +// - scs: setCOMSettings +// - srd: setReceiverDynamics +// - sto: setAttitudeOffset +// - sdio: setDataInOut +// - gecm: getEchoMessage +// - sga: setGNSSAttitude +constexpr const char *k_command_force_input = "SSSSSSSSSS\n"; +constexpr const char *k_command_reset_hot = "erst,soft,none\n"; +constexpr const char *k_command_reset_warm = "erst,soft,PVTData\n"; +constexpr const char *k_command_reset_cold = "erst,hard,SatData\n"; +constexpr const char *k_command_sbf_output_pvt = + "sso,Stream%lu,%s,PVTGeodetic+VelCovGeodetic+DOP+AttEuler+AttCovEuler+EndOfPVT+ReceiverStatus,%s\n"; +constexpr const char *k_command_set_sbf_output = + "sso,Stream%lu,%s,%s%s,%s\n"; +constexpr const char *k_command_clear_sbf = "sso,Stream%lu,%s,none,off\n"; +constexpr const char *k_command_set_baud_rate = + "scs,%s,baud%lu\n"; // The receiver sends the reply at the new baud rate! +constexpr const char *k_command_set_dynamics = "srd,%s,UAV\n"; +constexpr const char *k_command_set_attitude_offset = "sto,%.3f,%.3f\n"; +constexpr const char *k_command_set_data_io = "sdio,%s,Auto,%s\n"; +constexpr const char *k_command_set_satellite_usage = "ssu,%s\n"; +constexpr const char *k_command_ping = "gecm\n"; +constexpr const char *k_command_set_gnss_attitude = "sga,%s\n"; + +constexpr const char *k_gnss_attitude_source_moving_base = "MovingBase"; +constexpr const char *k_gnss_attitude_source_multi_antenna = "MultiAntenna"; + +constexpr const char *k_frequency_0_1hz = "sec10"; +constexpr const char *k_frequency_0_2hz = "sec5"; +constexpr const char *k_frequency_0_5hz = "sec2"; +constexpr const char *k_frequency_1_0hz = "sec1"; +constexpr const char *k_frequency_2_0hz = "msec500"; +constexpr const char *k_frequency_5_0hz = "msec200"; +constexpr const char *k_frequency_10_0hz = "msec100"; +constexpr const char *k_frequency_20_0hz = "msec50"; +constexpr const char *k_frequency_25_0hz = "msec40"; +constexpr const char *k_frequency_50_0hz = "msec20"; + +px4::atomic SeptentrioDriver::_secondary_instance {nullptr}; +uint32_t SeptentrioDriver::k_supported_baud_rates[] {0, 38400, 57600, 115200, 230400, 460800, 500000, 576000, 921600, 1000000, 1500000}; +uint32_t SeptentrioDriver::k_default_baud_rate {230400}; +orb_advert_t SeptentrioDriver::k_mavlink_log_pub {nullptr}; + +SeptentrioDriver::SeptentrioDriver(const char *device_path, Instance instance, uint32_t baud_rate) : + Device(MODULE_NAME), + _instance(instance), + _chosen_baud_rate(baud_rate) +{ + strncpy(_port, device_path, sizeof(_port) - 1); + // Enforce null termination. + _port[sizeof(_port) - 1] = '\0'; + + int32_t enable_sat_info {0}; + get_parameter("SEP_SAT_INFO", &enable_sat_info); + + if (enable_sat_info) { + _message_satellite_info = new satellite_info_s(); + } + + get_parameter("SEP_YAW_OFFS", &_heading_offset); + get_parameter("SEP_PITCH_OFFS", &_pitch_offset); + + int32_t dump_mode {0}; + get_parameter("SEP_DUMP_COMM", &dump_mode); + DumpMode mode = static_cast(dump_mode); + + if (mode != DumpMode::Disabled) { + initialize_communication_dump(mode); + } + + int32_t receiver_stream_main {k_default_main_stream}; + get_parameter("SEP_STREAM_MAIN", &receiver_stream_main); + _receiver_stream_main = receiver_stream_main; + int32_t receiver_stream_log {k_default_log_stream}; + get_parameter("SEP_STREAM_LOG", &receiver_stream_log); + _receiver_stream_log = receiver_stream_log; + + if (_receiver_stream_log == _receiver_stream_main) { + mavlink_log_warning(&k_mavlink_log_pub, "Septentrio: Logging stream should be different from main stream"); + } + + int32_t automatic_configuration {true}; + get_parameter("SEP_AUTO_CONFIG", &automatic_configuration); + _automatic_configuration = static_cast(automatic_configuration); + + get_parameter("SEP_CONST_USAGE", &_receiver_constellation_usage); + + int32_t logging_frequency {static_cast(ReceiverLogFrequency::Hz1_0)}; + get_parameter("SEP_LOG_HZ", &logging_frequency); + _receiver_logging_frequency = static_cast(logging_frequency); + int32_t logging_level {static_cast(ReceiverLogLevel::Default)}; + get_parameter("SEP_LOG_LEVEL", &logging_level); + _receiver_logging_level = static_cast(logging_level); + int32_t logging_overwrite {false}; + get_parameter("SEP_LOG_FORCE", &logging_overwrite); + _receiver_logging_overwrite = logging_overwrite; + int32_t receiver_setup {static_cast(ReceiverSetup::Default)}; + get_parameter("SEP_HARDW_SETUP", &receiver_setup); + _receiver_setup = static_cast(receiver_setup); + int32_t sbf_output_frequency {static_cast(SBFOutputFrequency::Hz5_0)}; + get_parameter("SEP_OUTP_HZ", &sbf_output_frequency); + _sbf_output_frequency = static_cast(sbf_output_frequency); + + if (_instance == Instance::Secondary && _receiver_setup == ReceiverSetup::MovingBase) { + _rtcm_decoder = new rtcm::Decoder(); + } + + set_device_type(DRV_GPS_DEVTYPE_SBF); + + reset_gps_state_message(); +} + +SeptentrioDriver::~SeptentrioDriver() +{ + if (_instance == Instance::Main) { + if (await_second_instance_shutdown() == PX4_ERROR) { + SEP_ERR("Secondary instance shutdown timed out"); + } + } + + if (_message_data_from_receiver) { + delete _message_data_from_receiver; + } + + if (_message_data_to_receiver) { + delete _message_data_to_receiver; + } + + if (_message_satellite_info) { + delete _message_satellite_info; + } + + if (_rtcm_decoder) { + delete _rtcm_decoder; + } +} + +int SeptentrioDriver::print_status() +{ + SeptentrioDriver *secondary_instance = _secondary_instance.load(); + + switch (_instance) { + case Instance::Main: + PX4_INFO("Main GPS"); + break; + + case Instance::Secondary: + PX4_INFO(""); + PX4_INFO("Secondary GPS"); + break; + } + + PX4_INFO("health: %s, port: %s, baud rate: %lu", is_healthy() ? "OK" : "NOT OK", _port, _uart.getBaudrate()); + PX4_INFO("controller -> receiver data rate: %lu B/s", output_data_rate()); + PX4_INFO("receiver -> controller data rate: %lu B/s", input_data_rate()); + PX4_INFO("sat info: %s", (_message_satellite_info != nullptr) ? "enabled" : "disabled"); + + if (first_gps_uorb_message_created() && _state == State::ReceivingData) { + PX4_INFO("rate RTCM injection: %6.2f Hz", static_cast(rtcm_injection_frequency())); + print_message(ORB_ID(sensor_gps), _message_gps_state); + } + + if (_instance == Instance::Main && secondary_instance) { + secondary_instance->print_status(); + } + + return 0; +} + +void SeptentrioDriver::run() +{ + while (!should_exit()) { + switch (_state) { + case State::OpeningSerialPort: { + _uart.setPort(_port); + + if (_uart.open()) { + _state = State::DetectingBaudRate; + + } else { + // Failed to open port, so wait a bit before trying again. + px4_usleep(200000); + } + + break; + } + + case State::DetectingBaudRate: { + static uint32_t expected_baud_rates[] = {k_septentrio_receiver_default_baud_rate, 115200, 230400, 57600, 460800, 500000, 576000, 38400, 921600, 1000000, 1500000}; + expected_baud_rates[0] = _chosen_baud_rate != 0 ? _chosen_baud_rate : k_septentrio_receiver_default_baud_rate; + + if (detect_receiver_baud_rate(expected_baud_rates[_current_baud_rate_index], true)) { + if (set_baudrate(expected_baud_rates[_current_baud_rate_index]) == PX4_OK) { + _state = State::ConfiguringDevice; + + } else { + SEP_ERR("Setting local baud rate failed"); + } + + } else { + _current_baud_rate_index++; + + if (_current_baud_rate_index == sizeof(expected_baud_rates) / sizeof(expected_baud_rates[0])) { + _current_baud_rate_index = 0; + } + } + + break; + } + + case State::ConfiguringDevice: { + ConfigureResult result = configure(); + + if (!(static_cast(result) & static_cast(ConfigureResult::FailedCompletely))) { + if (static_cast(result) & static_cast(ConfigureResult::NoLogging)) { + mavlink_log_warning(&k_mavlink_log_pub, "Septentrio: Failed to configure receiver internal logging"); + } + + SEP_INFO("Automatic configuration finished"); + _state = State::ReceivingData; + + } else { + _state = State::DetectingBaudRate; + } + + break; + } + + case State::ReceivingData: { + int receive_result {0}; + + receive_result = receive(k_timeout_5hz); + + if (receive_result == -1) { + _state = State::DetectingBaudRate; + } + + if (_message_satellite_info && (receive_result & 2)) { + publish_satellite_info(); + } + + break; + } + + } + + reset_if_scheduled(); + + handle_inject_data_topic(); + + if (update_monitoring_interval_ended()) { + start_update_monitoring_interval(); + } + } + +} + +int SeptentrioDriver::task_spawn(int argc, char *argv[]) +{ + return task_spawn(argc, argv, Instance::Main); +} + +int SeptentrioDriver::task_spawn(int argc, char *argv[], Instance instance) +{ + px4_main_t entry_point; + static constexpr int k_task_stack_size = PX4_STACK_ADJUSTED(2048); + + if (instance == Instance::Main) { + entry_point = &run_trampoline; + + } else { + entry_point = &run_trampoline_secondary; + } + + px4_task_t task_id = px4_task_spawn_cmd("septentrio", + SCHED_DEFAULT, + SCHED_PRIORITY_SLOW_DRIVER, + k_task_stack_size, + entry_point, + (char *const *)argv); + + if (task_id < 0) { + // `_task_id` of module that hasn't been started before or has been stopped should already be -1. + // This is just to make sure. + _task_id = -1; + return -errno; + } + + if (instance == Instance::Main) { + _task_id = task_id; + } + + return 0; +} + +int SeptentrioDriver::run_trampoline_secondary(int argc, char *argv[]) +{ + // Get rid of the task name (first argument) + argc -= 1; + argv += 1; + + SeptentrioDriver *gps = instantiate(argc, argv, Instance::Secondary); + + if (gps) { + _secondary_instance.store(gps); + gps->run(); + _secondary_instance.store(nullptr); + delete gps; + + } else { + return -1; + } + + return 0; +} + +SeptentrioDriver *SeptentrioDriver::instantiate(int argc, char *argv[]) +{ + return instantiate(argc, argv, Instance::Main); +} + +SeptentrioDriver *SeptentrioDriver::instantiate(int argc, char *argv[], Instance instance) +{ + ModuleArguments arguments {}; + SeptentrioDriver *gps {nullptr}; + + if (parse_cli_arguments(argc, argv, arguments) == PX4_ERROR) { + return nullptr; + } + + if (arguments.device_path_main && arguments.device_path_secondary + && strcmp(arguments.device_path_main, arguments.device_path_secondary) == 0) { + mavlink_log_critical(&k_mavlink_log_pub, "Septentrio: Device paths must be different"); + return nullptr; + } + + bool valid_chosen_baud_rate {false}; + + for (uint8_t i = 0; i < sizeof(k_supported_baud_rates) / sizeof(k_supported_baud_rates[0]); i++) { + switch (instance) { + case Instance::Main: + if (arguments.baud_rate_main == static_cast(k_supported_baud_rates[i])) { + valid_chosen_baud_rate = true; + } + + break; + + case Instance::Secondary: + if (arguments.baud_rate_secondary == static_cast(k_supported_baud_rates[i])) { + valid_chosen_baud_rate = true; + } + + break; + } + } + + if (!valid_chosen_baud_rate) { + mavlink_log_critical(&k_mavlink_log_pub, "Septentrio: Baud rate %d is unsupported, falling back to default %lu", + instance == Instance::Main ? arguments.baud_rate_main : arguments.baud_rate_secondary, k_default_baud_rate); + } + + if (instance == Instance::Main) { + if (Serial::validatePort(arguments.device_path_main)) { + gps = new SeptentrioDriver(arguments.device_path_main, instance, + valid_chosen_baud_rate ? arguments.baud_rate_main : k_default_baud_rate); + + } else { + PX4_ERR("Invalid device (-d) %s", arguments.device_path_main ? arguments.device_path_main : ""); + } + + if (gps && arguments.device_path_secondary) { + task_spawn(argc, argv, Instance::Secondary); + + if (await_second_instance_startup() == PX4_ERROR) { + return nullptr; + } + } + + } else { + if (Serial::validatePort(arguments.device_path_secondary)) { + gps = new SeptentrioDriver(arguments.device_path_secondary, instance, + valid_chosen_baud_rate ? arguments.baud_rate_secondary : k_default_baud_rate); + + } else { + PX4_ERR("Invalid secondary device (-e) %s", arguments.device_path_secondary ? arguments.device_path_secondary : ""); + } + } + + return gps; +} + +// Called from outside driver thread. +// Return 0 on success, -1 otherwise. +int SeptentrioDriver::custom_command(int argc, char *argv[]) +{ + bool handled = false; + const char *failure_reason {"unknown command"}; + SeptentrioDriver *driver_instance; + + if (!is_running()) { + PX4_INFO("not running"); + return -1; + } + + driver_instance = get_instance(); + + if (argc >= 1 && strcmp(argv[0], "reset") == 0) { + if (argc == 2) { + ReceiverResetType type{ReceiverResetType::None}; + + if (strcmp(argv[1], "hot") == 0) { + type = ReceiverResetType::Hot; + + } else if (strcmp(argv[1], "warm") == 0) { + type = ReceiverResetType::Warm; + + } else if (strcmp(argv[1], "cold") == 0) { + type = ReceiverResetType::Cold; + + } else { + failure_reason = "unknown reset type"; + } + + if (type != ReceiverResetType::None) { + driver_instance->schedule_reset(type); + handled = true; + } + + } else { + failure_reason = "incorrect usage of reset command"; + } + } + + return handled ? 0 : print_usage(failure_reason); +} + +int SeptentrioDriver::print_usage(const char *reason) +{ + if (reason) { + PX4_WARN("%s\n", reason); + } + + PRINT_MODULE_DESCRIPTION( + R"DESCR_STR( +### Description +Driver for Septentrio GNSS receivers. +It can automatically configure them and make their output available for the rest of the system. +A secondary receiver is supported for redundancy, logging and dual-receiver heading. +Septentrio receiver baud rates from 57600 to 1500000 are supported. +If others are used, the driver will use 230400 and give a warning. + +### Examples + +Use one receiver on port `/dev/ttyS0` and automatically configure it to use baud rate 230400: +$ septentrio start -d /dev/ttyS0 -b 230400 + +Use two receivers, the primary on port `/dev/ttyS3` and the secondary on `/dev/ttyS4`, +detect baud rate automatically and preserve them: +$ septentrio start -d /dev/ttyS3 -e /dev/ttyS4 + +Perform warm reset of the receivers: +$ gps reset warm +)DESCR_STR"); + PRINT_MODULE_USAGE_NAME("septentrio", "driver"); + PRINT_MODULE_USAGE_COMMAND("start"); + PRINT_MODULE_USAGE_PARAM_STRING('d', nullptr, "", "Primary receiver port", false); + PRINT_MODULE_USAGE_PARAM_INT('b', 0, 57600, 1500000, "Primary receiver baud rate", true); + PRINT_MODULE_USAGE_PARAM_STRING('e', nullptr, "", "Secondary receiver port", true); + PRINT_MODULE_USAGE_PARAM_INT('g', 0, 57600, 1500000, "Secondary receiver baud rate", true); + + PRINT_MODULE_USAGE_DEFAULT_COMMANDS(); + PRINT_MODULE_USAGE_COMMAND_DESCR("reset", "Reset connected receiver"); + PRINT_MODULE_USAGE_ARG("cold|warm|hot", "Specify reset type", false); + + return 0; +} + +int SeptentrioDriver::reset(ReceiverResetType type) +{ + bool res = false; + + force_input(); + + switch (type) { + case ReceiverResetType::Hot: + res = send_message_and_wait_for_ack(k_command_reset_hot, k_receiver_ack_timeout_fast); + break; + + case ReceiverResetType::Warm: + res = send_message_and_wait_for_ack(k_command_reset_warm, k_receiver_ack_timeout_fast); + break; + + case ReceiverResetType::Cold: + res = send_message_and_wait_for_ack(k_command_reset_cold, k_receiver_ack_timeout_fast); + break; + + default: + break; + } + + if (res) { + return PX4_OK; + } else { + return PX4_ERROR; + } +} + +int SeptentrioDriver::force_input() +{ + ssize_t written = write(reinterpret_cast(k_command_force_input), strlen(k_command_force_input)); + + if (written < 0) { + return PX4_ERROR; + } else { + // The receiver can't receive input right after forcing input. From testing, the duration seems to be 1 ms, so wait 10 ms to be sure. + px4_usleep(10000); + return PX4_OK; + } +} + +int SeptentrioDriver::parse_cli_arguments(int argc, char *argv[], ModuleArguments& arguments) +{ + int ch{'\0'}; + int myoptind{1}; + const char *myoptarg{nullptr}; + + while ((ch = px4_getopt(argc, argv, "d:e:b:g:", &myoptind, &myoptarg)) != EOF) { + switch (ch) { + case 'b': + if (px4_get_parameter_value(myoptarg, arguments.baud_rate_main) != 0) { + PX4_ERR("Baud rate parsing failed"); + return PX4_ERROR; + } + break; + case 'g': + if (px4_get_parameter_value(myoptarg, arguments.baud_rate_secondary) != 0) { + PX4_ERR("Baud rate parsing failed"); + return PX4_ERROR; + } + break; + case 'd': + arguments.device_path_main = myoptarg; + break; + + case 'e': + arguments.device_path_secondary = myoptarg; + break; + + case '?': + return PX4_ERROR; + + default: + PX4_WARN("unrecognized flag"); + return PX4_ERROR; + break; + } + } + + return PX4_OK; +} + +int SeptentrioDriver::await_second_instance_startup() +{ + uint32_t i = 0; + + do { + px4_usleep(2500); + } while (!_secondary_instance.load() && ++i < 400); + + if (!_secondary_instance.load()) { + SEP_ERR("Timed out while waiting for second instance to start"); + return PX4_ERROR; + } + + return PX4_OK; +} + +int SeptentrioDriver::await_second_instance_shutdown() +{ + if (_instance == Instance::Secondary) { + return PX4_OK; + } + + SeptentrioDriver* secondary_instance = _secondary_instance.load(); + + if (secondary_instance) { + secondary_instance->request_stop(); + + uint32_t i {0}; + + // Give the secondary instance 2 seconds at most to properly shut down. + while (_secondary_instance.load() && i < 100) { + px4_usleep(20000); + + ++i; + } + + return _secondary_instance.load() ? PX4_ERROR : PX4_OK; + } else { + return PX4_OK; + } +} + +void SeptentrioDriver::schedule_reset(ReceiverResetType reset_type) +{ + SeptentrioDriver *secondary_instance = _secondary_instance.load(); + + _scheduled_reset.store((int)reset_type); + + if (_instance == Instance::Main && secondary_instance) { + secondary_instance->schedule_reset(reset_type); + } +} + +bool SeptentrioDriver::detect_receiver_baud_rate(const uint32_t &baud_rate, bool forced_input) { + if (set_baudrate(baud_rate) != PX4_OK) { + return false; + } + + if (forced_input) { + force_input(); + } + + // Make sure that any weird data is "flushed" in the receiver. + (void)send_message("\n"); + + if (send_message_and_wait_for_ack(k_command_ping, k_receiver_ack_timeout_fast)) { + SEP_INFO("Detected baud rate: %lu", baud_rate); + return true; + } + + return false; +} + +int SeptentrioDriver::detect_serial_port(char* const port_name) { + // Read buffer to get the COM port + char buf[k_read_buffer_size]; + size_t buffer_offset = 0; // The offset into the string where the next data should be read to. + hrt_abstime timeout_time = hrt_absolute_time() + 5 * 1000 * k_receiver_ack_timeout_fast; + bool response_detected = false; + + // Receiver prints prompt after a message. + if (!send_message(k_command_ping)) { + return PX4_ERROR; + } + + do { + // Read at most the amount of available bytes in the buffer after the current offset, -1 because we need '\0' at the end for a valid string. + int read_result = read(reinterpret_cast(buf) + buffer_offset, sizeof(buf) - buffer_offset - 1, k_receiver_ack_timeout_fast); + + if (read_result < 0) { + SEP_WARN("SBF read error"); + return PX4_ERROR; + } + + // Sanitize the data so it doesn't contain any `0` values. + for (size_t i = buffer_offset; i < buffer_offset + read_result; i++) { + if (buf[i] == 0) { + buf[i] = 1; + } + } + + buffer_offset += read_result; + + // Make sure the current buffer is a valid string. + buf[buffer_offset] = '\0'; + + char* port_name_address = strstr(buf, ">"); + + // Check if we found a port candidate. + if (buffer_offset > 4 && port_name_address != nullptr) { + size_t port_name_offset = reinterpret_cast(port_name_address) - reinterpret_cast(buf) - 4; + for (size_t i = 0; i < 4; i++) { + port_name[i] = buf[port_name_offset + i]; + } + // NOTE: This limits the ports to serial and USB ports only. Otherwise the detection doesn't work correctly. + if (strstr(port_name, "COM") != nullptr || strstr(port_name, "USB") != nullptr) { + response_detected = true; + break; + } + } + + if (buffer_offset + 1 >= sizeof(buf)) { + // Copy the last 3 bytes such that a half port isn't lost. + for (int i = 0; i < 4; i++) { + buf[i] = buf[sizeof(buf) - 4 + i]; + } + buffer_offset = 3; + } + } while (timeout_time > hrt_absolute_time()); + + if (!response_detected) { + SEP_WARN("No valid serial port detected"); + return PX4_ERROR; + } else { + SEP_INFO("Serial port found: %s", port_name); + return PX4_OK; + } +} + +SeptentrioDriver::ConfigureResult SeptentrioDriver::configure() +{ + char msg[k_max_command_size] {}; + char com_port[5] {}; + ConfigureResult result {ConfigureResult::OK}; + + // Passively detect receiver port. + if (detect_serial_port(com_port) != PX4_OK) { + SEP_WARN("CONFIG: failed port detection"); + return ConfigureResult::FailedCompletely; + } + + // We should definitely match baud rates and detect used port, but don't do other configuration if not requested. + // This will force input on the receiver. That shouldn't be a problem as it's on our own connection. + if (!_automatic_configuration) { + return ConfigureResult::OK; + } + + // If user requested specific baud rate, set it now. Otherwise keep detected baud rate. + if (strstr(com_port, "COM") != nullptr && _chosen_baud_rate != 0) { + snprintf(msg, sizeof(msg), k_command_set_baud_rate, com_port, _chosen_baud_rate); + + if (!send_message(msg)) { + SEP_WARN("CONFIG: baud rate command write error"); + return ConfigureResult::FailedCompletely; + } + + // When sending a command and setting the baud rate right after, the controller could send the command at the new baud rate. + // From testing this could take some time. + px4_usleep(2000000); + + if (set_baudrate(_chosen_baud_rate) != PX4_OK) { + SEP_WARN("CONFIG: failed local baud rate setting"); + return ConfigureResult::FailedCompletely; + } + + if (!send_message_and_wait_for_ack(k_command_ping, k_receiver_ack_timeout_fast)) { + SEP_WARN("CONFIG: failed remote baud rate setting"); + return ConfigureResult::FailedCompletely; + } + } + + // Delete all sbf outputs on current COM port to remove clutter data + snprintf(msg, sizeof(msg), k_command_clear_sbf, _receiver_stream_main, com_port); + + if (!send_message_and_wait_for_ack(msg, k_receiver_ack_timeout_fast)) { + SEP_WARN("CONFIG: failed delete output"); + return ConfigureResult::FailedCompletely; // connection and/or baudrate detection failed + } + + // Set up the satellites used in PVT computation. + if (_receiver_constellation_usage != static_cast(SatelliteUsage::Default)) { + char requested_satellites[40] {}; + if (_receiver_constellation_usage & static_cast(SatelliteUsage::GPS)) { + strcat(requested_satellites, "GPS+"); + } + if (_receiver_constellation_usage & static_cast(SatelliteUsage::GLONASS)) { + strcat(requested_satellites, "GLONASS+"); + } + if (_receiver_constellation_usage & static_cast(SatelliteUsage::Galileo)) { + strcat(requested_satellites, "GALILEO+"); + } + if (_receiver_constellation_usage & static_cast(SatelliteUsage::SBAS)) { + strcat(requested_satellites, "SBAS+"); + } + if (_receiver_constellation_usage & static_cast(SatelliteUsage::BeiDou)) { + strcat(requested_satellites, "BEIDOU+"); + } + // Make sure to remove the trailing '+' if any. + requested_satellites[math::max(static_cast(strlen(requested_satellites)) - 1, 0)] = '\0'; + snprintf(msg, sizeof(msg), k_command_set_satellite_usage, requested_satellites); + // Use a longer timeout as the `setSatelliteUsage` command acknowledges a bit slower on mosaic-H-based receivers. + if (!send_message_and_wait_for_ack(msg, k_receiver_ack_timeout_slow)) { + SEP_WARN("CONFIG: Failed to configure constellation usage"); + return ConfigureResult::FailedCompletely; + } + } + + // Internal logging on the receiver. + if (_receiver_logging_frequency != ReceiverLogFrequency::Disabled && _receiver_stream_log != _receiver_stream_main) { + const char *frequency {nullptr}; + const char *level {nullptr}; + + switch (_receiver_logging_frequency) { + case ReceiverLogFrequency::Hz0_1: + frequency = k_frequency_0_1hz; + break; + case ReceiverLogFrequency::Hz0_2: + frequency = k_frequency_0_2hz; + break; + case ReceiverLogFrequency::Hz0_5: + frequency = k_frequency_0_5hz; + break; + case ReceiverLogFrequency::Hz1_0: + default: + frequency = k_frequency_1_0hz; + break; + case ReceiverLogFrequency::Hz2_0: + frequency = k_frequency_2_0hz; + break; + case ReceiverLogFrequency::Hz5_0: + frequency = k_frequency_5_0hz; + break; + case ReceiverLogFrequency::Hz10_0: + frequency = k_frequency_10_0hz; + break; + case ReceiverLogFrequency::Hz20_0: + frequency = k_frequency_20_0hz; + break; + case ReceiverLogFrequency::Hz25_0: + frequency = k_frequency_25_0hz; + break; + case ReceiverLogFrequency::Hz50_0: + frequency = k_frequency_50_0hz; + break; + } + + switch (_receiver_logging_level) { + case ReceiverLogLevel::Lite: + level = "Comment+ReceiverStatus"; + break; + case ReceiverLogLevel::Basic: + level = "Comment+ReceiverStatus+PostProcess+Event"; + break; + case ReceiverLogLevel::Default: + default: + level = "Comment+ReceiverStatus+PostProcess+Event+Support"; + break; + case ReceiverLogLevel::Full: + level = "Comment+ReceiverStatus+PostProcess+Event+Support+BBSamples"; + break; + } + + snprintf(msg, sizeof(msg), k_command_set_sbf_output, _receiver_stream_log, "DSK1", _receiver_logging_overwrite ? "" : "+", level, frequency); + if (!send_message_and_wait_for_ack(msg, k_receiver_ack_timeout_fast)) { + result = static_cast(static_cast(result) | static_cast(ConfigureResult::NoLogging)); + } + } else if (_receiver_stream_log == _receiver_stream_main) { + result = static_cast(static_cast(result) | static_cast(ConfigureResult::NoLogging)); + } + + // Define/inquire the type of data that the receiver should accept/send on a given connection descriptor + snprintf(msg, sizeof(msg), k_command_set_data_io, com_port, "SBF"); + + if (!send_message_and_wait_for_ack(msg, k_receiver_ack_timeout_fast)) { + return ConfigureResult::FailedCompletely; + } + + // Specify the offsets that the receiver applies to the computed attitude angles. + snprintf(msg, sizeof(msg), k_command_set_attitude_offset, static_cast(_heading_offset), static_cast(_pitch_offset)); + + if (!send_message_and_wait_for_ack(msg, k_receiver_ack_timeout_fast)) { + return ConfigureResult::FailedCompletely; + } + + snprintf(msg, sizeof(msg), k_command_set_dynamics, "high"); + if (!send_message_and_wait_for_ack(msg, k_receiver_ack_timeout_fast)) { + return ConfigureResult::FailedCompletely; + } + + const char *sbf_frequency {k_frequency_10_0hz}; + switch (_sbf_output_frequency) { + case SBFOutputFrequency::Hz5_0: + sbf_frequency = k_frequency_5_0hz; + break; + case SBFOutputFrequency::Hz10_0: + sbf_frequency = k_frequency_10_0hz; + break; + case SBFOutputFrequency::Hz20_0: + sbf_frequency = k_frequency_20_0hz; + break; + case SBFOutputFrequency::Hz25_0: + sbf_frequency = k_frequency_25_0hz; + break; + } + + // Output a set of SBF blocks on a given connection at a regular interval. + snprintf(msg, sizeof(msg), k_command_sbf_output_pvt, _receiver_stream_main, com_port, sbf_frequency); + if (!send_message_and_wait_for_ack(msg, k_receiver_ack_timeout_fast)) { + SEP_WARN("CONFIG: Failed to configure SBF"); + return ConfigureResult::FailedCompletely; + } + + if (_receiver_setup == ReceiverSetup::MovingBase) { + if (_instance == Instance::Secondary) { + snprintf(msg, sizeof(msg), k_command_set_data_io, com_port, "+RTCMv3"); + if (!send_message_and_wait_for_ack(msg, k_receiver_ack_timeout_fast)) { + SEP_WARN("CONFIG: Failed to configure RTCM output"); + } + } else { + snprintf(msg, sizeof(msg), k_command_set_gnss_attitude, k_gnss_attitude_source_moving_base); + if (!send_message_and_wait_for_ack(msg, k_receiver_ack_timeout_fast)) { + SEP_WARN("CONFIG: Failed to configure attitude source"); + } + } + } else { + snprintf(msg, sizeof(msg), k_command_set_gnss_attitude, k_gnss_attitude_source_multi_antenna); + // This fails on single-antenna receivers, which is fine. Therefore don't check for acknowledgement. + if (!send_message(msg)) { + SEP_WARN("CONFIG: Failed to configure attitude source"); + return ConfigureResult::FailedCompletely; + } + } + + return result; +} + +int SeptentrioDriver::parse_char(const uint8_t byte) +{ + int result = 0; + + switch (_active_decoder) { + case DecodingStatus::Searching: + if (_sbf_decoder.add_byte(byte) != sbf::Decoder::State::SearchingSync1) { + _active_decoder = DecodingStatus::SBF; + } else if (_rtcm_decoder && _rtcm_decoder->add_byte(byte) != rtcm::Decoder::State::SearchingPreamble) { + _active_decoder = DecodingStatus::RTCMv3; + } + break; + case DecodingStatus::SBF: + if (_sbf_decoder.add_byte(byte) == sbf::Decoder::State::Done) { + if (process_message() == PX4_OK) { + result = 1; + } + _sbf_decoder.reset(); + _active_decoder = DecodingStatus::Searching; + } + break; + case DecodingStatus::RTCMv3: + if (_rtcm_decoder->add_byte(byte) == rtcm::Decoder::State::Done) { + if (process_message() == PX4_OK) { + result = 1; + } + _rtcm_decoder->reset(); + _active_decoder = DecodingStatus::Searching; + } + break; + } + + return result; +} + +int SeptentrioDriver::process_message() +{ + int result = PX4_ERROR; + + switch (_active_decoder) { + case DecodingStatus::Searching: { + SEP_ERR("Can't process incomplete message!"); + result = PX4_ERROR; + break; + } + case DecodingStatus::SBF: { + using namespace sbf; + + switch (_sbf_decoder.id()) { + case BlockID::Invalid: { + SEP_TRACE_PARSING("Tried to process invalid SBF message"); + break; + } + case BlockID::DOP: { + SEP_TRACE_PARSING("Processing DOP SBF message"); + _current_interval_messages.dop = true; + + DOP dop; + + if (_sbf_decoder.parse(&dop) == PX4_OK) { + _message_gps_state.hdop = dop.h_dop * 0.01f; + _message_gps_state.vdop = dop.v_dop * 0.01f; + result = PX4_OK; + } + + break; + } + case BlockID::PVTGeodetic: { + using ModeType = PVTGeodetic::ModeType; + using Error = PVTGeodetic::Error; + + SEP_TRACE_PARSING("Processing PVTGeodetic SBF message"); + _current_interval_messages.pvt_geodetic = true; + + Header header; + PVTGeodetic pvt_geodetic; + + if (_sbf_decoder.parse(&header) == PX4_OK && _sbf_decoder.parse(&pvt_geodetic) == PX4_OK) { + switch (pvt_geodetic.mode_type) { + case ModeType::NoPVT: + _message_gps_state.fix_type = sensor_gps_s::FIX_TYPE_NONE; + break; + case ModeType::PVTWithSBAS: + _message_gps_state.fix_type = sensor_gps_s::FIX_TYPE_RTCM_CODE_DIFFERENTIAL; + break; + case ModeType::RTKFloat: + case ModeType::MovingBaseRTKFloat: + _message_gps_state.fix_type = sensor_gps_s::FIX_TYPE_RTK_FLOAT; + break; + case ModeType::RTKFixed: + case ModeType::MovingBaseRTKFixed: + _message_gps_state.fix_type = sensor_gps_s::FIX_TYPE_RTK_FIXED; + break; + default: + _message_gps_state.fix_type = sensor_gps_s::FIX_TYPE_3D; + break; + } + + // Check boundaries and invalidate GPS velocities + if (pvt_geodetic.vn <= k_dnu_f4_value || pvt_geodetic.ve <= k_dnu_f4_value || pvt_geodetic.vu <= k_dnu_f4_value) { + _message_gps_state.vel_ned_valid = false; + } + + if (pvt_geodetic.latitude > k_dnu_f8_value && pvt_geodetic.longitude > k_dnu_f8_value && pvt_geodetic.height > k_dnu_f8_value && pvt_geodetic.undulation > k_dnu_f4_value) { + _message_gps_state.latitude_deg = pvt_geodetic.latitude * M_RAD_TO_DEG; + _message_gps_state.longitude_deg = pvt_geodetic.longitude * M_RAD_TO_DEG; + _message_gps_state.altitude_msl_m = pvt_geodetic.height - static_cast(pvt_geodetic.undulation); + _message_gps_state.altitude_ellipsoid_m = pvt_geodetic.height; + } else { + _message_gps_state.fix_type = sensor_gps_s::FIX_TYPE_NONE; + } + + if (pvt_geodetic.nr_sv != PVTGeodetic::k_dnu_nr_sv) { + _message_gps_state.satellites_used = pvt_geodetic.nr_sv; + + if (_message_satellite_info) { + // Only fill in the satellite count for now (we could use the ChannelStatus message for the + // other data, but it's really large: >800B) + _message_satellite_info->timestamp = hrt_absolute_time(); + _message_satellite_info->count = _message_gps_state.satellites_used; + } + + } else { + _message_gps_state.satellites_used = 0; + } + + /* H and V accuracy are reported in 2DRMS, but based off the u-blox reporting we expect RMS. + * Divide by 100 from cm to m and in addition divide by 2 to get RMS. */ + _message_gps_state.eph = static_cast(pvt_geodetic.h_accuracy) / 200.0f; + _message_gps_state.epv = static_cast(pvt_geodetic.v_accuracy) / 200.0f; + + // Check fix and error code + _message_gps_state.vel_ned_valid = _message_gps_state.fix_type > sensor_gps_s::FIX_TYPE_NONE && pvt_geodetic.error == Error::None; + _message_gps_state.vel_n_m_s = pvt_geodetic.vn; + _message_gps_state.vel_e_m_s = pvt_geodetic.ve; + _message_gps_state.vel_d_m_s = -1.0f * pvt_geodetic.vu; + _message_gps_state.vel_m_s = sqrtf(_message_gps_state.vel_n_m_s * _message_gps_state.vel_n_m_s + + _message_gps_state.vel_e_m_s * _message_gps_state.vel_e_m_s); + + if (pvt_geodetic.cog > k_dnu_f4_value) { + _message_gps_state.cog_rad = pvt_geodetic.cog * M_DEG_TO_RAD_F; + } + _message_gps_state.c_variance_rad = M_DEG_TO_RAD_F; + + _message_gps_state.time_utc_usec = 0; +#ifndef __PX4_QURT // NOTE: Functionality isn't available on Snapdragon yet. + struct tm timeinfo; + time_t epoch; + + // Convert to unix timestamp + memset(&timeinfo, 0, sizeof(timeinfo)); + + timeinfo.tm_year = 1980 - 1900; + timeinfo.tm_mon = 0; + timeinfo.tm_mday = 6 + header.wnc * 7; + timeinfo.tm_hour = 0; + timeinfo.tm_min = 0; + timeinfo.tm_sec = header.tow / 1000; + + epoch = mktime(&timeinfo); + + if (epoch > k_gps_epoch_secs) { + // FMUv2+ boards have a hardware RTC, but GPS helps us to configure it + // and control its drift. Since we rely on the HRT for our monotonic + // clock, updating it from time to time is safe. + + timespec ts; + memset(&ts, 0, sizeof(ts)); + ts.tv_sec = epoch; + ts.tv_nsec = (header.tow % 1000) * 1000 * 1000; + set_clock(ts); + + _message_gps_state.time_utc_usec = static_cast(epoch) * 1000000ULL; + _message_gps_state.time_utc_usec += (header.tow % 1000) * 1000; + } + +#endif + _message_gps_state.timestamp = hrt_absolute_time(); + result = PX4_OK; + } + + break; + } + + case BlockID::ReceiverStatus: { + SEP_TRACE_PARSING("Processing ReceiverStatus SBF message"); + + ReceiverStatus receiver_status; + + if (_sbf_decoder.parse(&receiver_status) == PX4_OK) { + _message_gps_state.rtcm_msg_used = receiver_status.rx_state_diff_corr_in ? sensor_gps_s::RTCM_MSG_USED_USED : sensor_gps_s::RTCM_MSG_USED_NOT_USED; + } + + break; + } + case BlockID::QualityInd: { + SEP_TRACE_PARSING("Processing QualityInd SBF message"); + break; + } + case BlockID::RFStatus: { + SEP_TRACE_PARSING("Processing RFStatus SBF message"); + break; + } + case BlockID::GALAuthStatus: { + SEP_TRACE_PARSING("Processing GALAuthStatus SBF message"); + break; + } + case BlockID::EndOfPVT: { + SEP_TRACE_PARSING("Processing EndOfPVT SBF message"); + + // EndOfPVT guarantees that all PVT blocks for this epoch have been sent, so it's safe to assume the uORB message contains all required data. + publish(); + break; + } + case BlockID::VelCovGeodetic: { + SEP_TRACE_PARSING("Processing VelCovGeodetic SBF message"); + _current_interval_messages.vel_cov_geodetic = true; + + VelCovGeodetic vel_cov_geodetic; + + if (_sbf_decoder.parse(&vel_cov_geodetic) == PX4_OK) { + if (vel_cov_geodetic.cov_ve_ve > k_dnu_f4_value && vel_cov_geodetic.cov_vn_vn > k_dnu_f4_value && vel_cov_geodetic.cov_vu_vu > k_dnu_f4_value) { + _message_gps_state.s_variance_m_s = math::max(math::max(vel_cov_geodetic.cov_ve_ve, vel_cov_geodetic.cov_vn_vn), vel_cov_geodetic.cov_vu_vu); + } + } + + break; + } + case BlockID::GEOIonoDelay: { + SEP_TRACE_PARSING("Processing GEOIonoDelay SBF message"); + break; + } + case BlockID::AttEuler: { + using Error = AttEuler::Error; + + SEP_TRACE_PARSING("Processing AttEuler SBF message"); + _current_interval_messages.att_euler = true; + + AttEuler att_euler; + + if (_sbf_decoder.parse(&att_euler) == PX4_OK && + !att_euler.error_not_requested && + att_euler.error_aux1 == Error::None && + att_euler.error_aux2 == Error::None && + att_euler.heading > k_dnu_f4_value) { + float heading = att_euler.heading * M_PI_F / 180.0f; // Range of degrees to range of radians in [0, 2PI]. + + // Ensure range is in [-PI, PI]. + if (heading > M_PI_F) { + heading -= 2.f * M_PI_F; + } + + _message_gps_state.heading = heading; + } + + break; + } + case BlockID::AttCovEuler: { + using Error = AttCovEuler::Error; + + SEP_TRACE_PARSING("Processing AttCovEuler SBF message"); + _current_interval_messages.att_cov_euler = true; + + AttCovEuler att_cov_euler; + + if (_sbf_decoder.parse(&att_cov_euler) == PX4_OK && + !att_cov_euler.error_not_requested && + att_cov_euler.error_aux1 == Error::None && + att_cov_euler.error_aux2 == Error::None && + att_cov_euler.cov_headhead > k_dnu_f4_value) { + _message_gps_state.heading_accuracy = att_cov_euler.cov_headhead * M_PI_F / 180.0f; // Convert range of degrees to range of radians in [0, 2PI] + } + + break; + } + } + + break; + } + case DecodingStatus::RTCMv3: { + SEP_TRACE_PARSING("Processing RTCMv3 message"); + publish_rtcm_corrections(_rtcm_decoder->message(), _rtcm_decoder->received_bytes()); + break; + } + } + + return result; +} + +bool SeptentrioDriver::send_message(const char *msg) +{ + PX4_DEBUG("Send MSG: %s", msg); + int length = strlen(msg); + + return (write(reinterpret_cast(msg), length) == length); +} + +bool SeptentrioDriver::send_message_and_wait_for_ack(const char *msg, const int timeout) +{ + if (!send_message(msg)) { + return false; + } + + // Wait for acknowledge + // For all valid set -, get - and exe -commands, the first line of the reply is an exact copy + // of the command as entered by the user, preceded with "$R: " + char buf[k_read_buffer_size]; + char expected_response[k_max_command_size+4]; + snprintf(expected_response, sizeof(expected_response), "$R: %s", msg); + uint16_t response_check_character = 0; + // Length of the message without the newline but including the preceding response part "$R: " + size_t response_len = strlen(msg) + 3; + hrt_abstime timeout_time = hrt_absolute_time() + 1000 * timeout; + + do { + int read_result = read(reinterpret_cast(buf), sizeof(buf), 50); + + if (read_result < 0) { + SEP_WARN("SBF read error"); + return false; + } + + for (int i = 0; i < read_result; i++) { + if (response_check_character == response_len) { + // We encountered the complete response + return true; + } else if (expected_response[response_check_character] == buf[i]) { + ++response_check_character; + } else if (buf[i] == '$') { + // Special case makes sure we don't miss start of new response if that happened to be the character we weren't expecting next (e.g., `$R: ge$R: gecm`) + response_check_character = 1; + } else { + response_check_character = 0; + } + } + } while (timeout_time > hrt_absolute_time()); + + SEP_WARN("Response: timeout"); + return false; +} + +int SeptentrioDriver::receive(unsigned timeout) +{ + int ret = 0; + int handled = 0; + uint8_t buf[k_read_buffer_size]; + + // timeout additional to poll + hrt_abstime time_started = hrt_absolute_time(); + + while (true) { + // Wait for only `k_receiver_read_timeout` if something already received. + ret = read(buf, sizeof(buf), handled ? k_receiver_read_timeout : timeout); + + if (ret < 0) { + // Something went wrong when polling or reading. + SEP_WARN("poll_or_read err"); + return -1; + + } else { + // Pass received bytes to the packet decoder. + for (int i = 0; i < ret; i++) { + handled |= parse_char(buf[i]); + } + } + + if (handled > 0) { + return handled; + } + + // abort after timeout if no useful packets received + if (time_started + timeout * 1000 < hrt_absolute_time()) { + PX4_DEBUG("timed out, returning"); + return -1; + } + } +} + +int SeptentrioDriver::read(uint8_t *buf, size_t buf_length, int timeout) +{ + int num_read = poll_or_read(buf, buf_length, timeout); + + if (num_read > 0) { + _current_interval_bytes_read += num_read; + if (should_dump_incoming()) { + dump_gps_data(buf, num_read, DataDirection::FromReceiver); + } + } + + return num_read; +} + +int SeptentrioDriver::poll_or_read(uint8_t *buf, size_t buf_length, int timeout) +{ + int read_timeout = math::min(k_max_receiver_read_timeout, timeout); + + return _uart.readAtLeast(buf, buf_length, math::min(k_min_receiver_read_bytes, buf_length), read_timeout); +} + +int SeptentrioDriver::write(const uint8_t* buf, size_t buf_length) +{ + ssize_t write_result = _uart.write(buf, buf_length); + + if (write_result >= 0) { + _current_interval_bytes_written += write_result; + if (should_dump_outgoing()) { + dump_gps_data(buf, write_result, DataDirection::ToReceiver); + } + } + + return write_result; +} + +int SeptentrioDriver::initialize_communication_dump(DumpMode mode) +{ + if (mode == DumpMode::FromReceiver || mode == DumpMode::Both) { + _message_data_from_receiver = new gps_dump_s(); + + if (!_message_data_from_receiver) { + SEP_ERR("Failed to allocate incoming dump buffer"); + return PX4_ERROR; + } + + memset(_message_data_from_receiver, 0, sizeof(*_message_data_from_receiver)); + } + if (mode == DumpMode::ToReceiver || mode == DumpMode::Both) { + _message_data_to_receiver = new gps_dump_s(); + + if (!_message_data_to_receiver) { + SEP_ERR("failed to allocated dump data"); + return PX4_ERROR; + } + + memset(_message_data_to_receiver, 0, sizeof(*_message_data_to_receiver)); + } + + if (mode != DumpMode::Disabled) { + _gps_dump_pub.advertise(); + } + + return PX4_OK; +} + +void SeptentrioDriver::reset_if_scheduled() +{ + ReceiverResetType reset_type = (ReceiverResetType)_scheduled_reset.load(); + + if (reset_type != ReceiverResetType::None) { + _scheduled_reset.store((int)ReceiverResetType::None); + int res = reset(reset_type); + + if (res == PX4_OK) { + SEP_INFO("Reset succeeded."); + } else { + SEP_INFO("Reset failed."); + } + } +} + +int SeptentrioDriver::set_baudrate(uint32_t baud) +{ + if (_uart.setBaudrate(baud)) { + SEP_INFO("baud controller: %lu", baud); + return PX4_OK; + } else { + return PX4_ERROR; + } +} + +void SeptentrioDriver::handle_inject_data_topic() +{ + // We don't want to call copy again further down if we have already done a copy in the selection process. + bool already_copied = false; + gps_inject_data_s msg; + + // If there has not been a valid RTCM message for a while, try to switch to a different RTCM link + if ((hrt_absolute_time() - _last_rtcm_injection_time) > 5_s) { + + for (int instance = 0; instance < _gps_inject_data_sub.size(); instance++) { + const bool exists = _gps_inject_data_sub[instance].advertised(); + + if (exists) { + if (_gps_inject_data_sub[instance].copy(&msg)) { + if ((hrt_absolute_time() - msg.timestamp) < 5_s) { + // Remember that we already did a copy on this instance. + already_copied = true; + _selected_rtcm_instance = instance; + break; + } + } + } + } + } + + bool updated = already_copied; + + // Limit maximum number of GPS injections to 8 since usually + // GPS injections should consist of 1-4 packets (GPS, GLONASS, BeiDou, Galileo). + // Looking at 8 packets thus guarantees, that at least a full injection + // data set is evaluated. + // Moving Base requires a higher rate, so we allow up to 8 packets. + const size_t max_num_injections = gps_inject_data_s::ORB_QUEUE_LENGTH; + size_t num_injections = 0; + + do { + if (updated) { + num_injections++; + + // Prevent injection of data from self or from ground if moving base and this is rover. + if ((_instance == Instance::Secondary && msg.device_id != get_device_id()) || (_instance == Instance::Main && msg.device_id == get_device_id()) || _receiver_setup != ReceiverSetup::MovingBase) { + /* Write the message to the gps device. Note that the message could be fragmented. + * But as we don't write anywhere else to the device during operation, we don't + * need to assemble the message first. + */ + write(msg.data, msg.len); + + ++_current_interval_rtcm_injections; + _last_rtcm_injection_time = hrt_absolute_time(); + } + } + + updated = _gps_inject_data_sub[_selected_rtcm_instance].update(&msg); + + } while (updated && num_injections < max_num_injections); +} + +void SeptentrioDriver::publish() +{ + _message_gps_state.device_id = get_device_id(); + _message_gps_state.selected_rtcm_instance = _selected_rtcm_instance; + _message_gps_state.rtcm_injection_rate = rtcm_injection_frequency(); + + _sensor_gps_pub.publish(_message_gps_state); + + if (_message_gps_state.spoofing_state != _spoofing_state) { + + if (_message_gps_state.spoofing_state > sensor_gps_s::SPOOFING_STATE_NONE) { + SEP_WARN("GPS spoofing detected! (state: %d)", _message_gps_state.spoofing_state); + } + + _spoofing_state = _message_gps_state.spoofing_state; + } + + if (_message_gps_state.jamming_state != _jamming_state) { + + if (_message_gps_state.jamming_state > sensor_gps_s::JAMMING_STATE_WARNING) { + SEP_WARN("GPS jamming detected! (state: %d) (indicator: %d)", _message_gps_state.jamming_state, + (uint8_t)_message_gps_state.jamming_indicator); + } + + _jamming_state = _message_gps_state.jamming_state; + } +} + +void SeptentrioDriver::publish_satellite_info() +{ + if (_message_satellite_info) { + _satellite_info_pub.publish(*_message_satellite_info); + } +} + +bool SeptentrioDriver::first_gps_uorb_message_created() const +{ + return _message_gps_state.timestamp != 0; +} + +void SeptentrioDriver::publish_rtcm_corrections(uint8_t *data, size_t len) +{ + gps_inject_data_s gps_inject_data{}; + + gps_inject_data.timestamp = hrt_absolute_time(); + gps_inject_data.device_id = get_device_id(); + + size_t capacity = (sizeof(gps_inject_data.data) / sizeof(gps_inject_data.data[0])); + + if (len > capacity) { + gps_inject_data.flags = 1; //LSB: 1=fragmented + + } else { + gps_inject_data.flags = 0; + } + + size_t written = 0; + + while (written < len) { + + gps_inject_data.len = len - written; + + if (gps_inject_data.len > capacity) { + gps_inject_data.len = capacity; + } + + memcpy(gps_inject_data.data, &data[written], gps_inject_data.len); + + _gps_inject_data_pub.publish(gps_inject_data); + + written = written + gps_inject_data.len; + } +} + +void SeptentrioDriver::dump_gps_data(const uint8_t *data, size_t len, DataDirection data_direction) +{ + gps_dump_s *dump_data = data_direction == DataDirection::FromReceiver ? _message_data_from_receiver : _message_data_to_receiver; + dump_data->instance = _instance == Instance::Main ? 0 : 1; + + while (len > 0) { + size_t write_len = len; + + if (write_len > sizeof(dump_data->data) - dump_data->len) { + write_len = sizeof(dump_data->data) - dump_data->len; + } + + memcpy(dump_data->data + dump_data->len, data, write_len); + data += write_len; + dump_data->len += write_len; + len -= write_len; + + if (dump_data->len >= sizeof(dump_data->data)) { + if (data_direction == DataDirection::ToReceiver) { + dump_data->len |= 1 << 7; + } + + dump_data->timestamp = hrt_absolute_time(); + _gps_dump_pub.publish(*dump_data); + dump_data->len = 0; + } + } +} + +bool SeptentrioDriver::should_dump_incoming() const +{ + return _message_data_from_receiver != 0; +} + +bool SeptentrioDriver::should_dump_outgoing() const +{ + return _message_data_to_receiver != 0; +} + +void SeptentrioDriver::start_update_monitoring_interval() +{ + PX4_DEBUG("Update monitoring interval started"); + _last_interval_rtcm_injections = _current_interval_rtcm_injections; + _last_interval_bytes_written = _current_interval_bytes_written; + _last_interval_bytes_read = _current_interval_bytes_read; + _last_interval_messages = _current_interval_messages; + _current_interval_rtcm_injections = 0; + _current_interval_bytes_written = 0; + _current_interval_bytes_read = 0; + _current_interval_messages = MessageTracker {}; + _current_interval_start_time = hrt_absolute_time(); +} + +bool SeptentrioDriver::update_monitoring_interval_ended() const +{ + return current_monitoring_interval_duration() > k_update_monitoring_interval_duration; +} + +hrt_abstime SeptentrioDriver::current_monitoring_interval_duration() const +{ + return hrt_absolute_time() - _current_interval_start_time; +} + +float SeptentrioDriver::rtcm_injection_frequency() const +{ + return _last_interval_rtcm_injections / us_to_s(static_cast(k_update_monitoring_interval_duration)); +} + +uint32_t SeptentrioDriver::output_data_rate() const +{ + return static_cast(_last_interval_bytes_written / us_to_s(static_cast(k_update_monitoring_interval_duration))); +} + +uint32_t SeptentrioDriver::input_data_rate() const +{ + return static_cast(_last_interval_bytes_read / us_to_s(static_cast(k_update_monitoring_interval_duration))); +} + +bool SeptentrioDriver::receiver_configuration_healthy() const +{ + return _last_interval_messages.dop && + _last_interval_messages.pvt_geodetic && + _last_interval_messages.vel_cov_geodetic && + _last_interval_messages.att_euler && + _last_interval_messages.att_cov_euler; +} + +float SeptentrioDriver::us_to_s(uint64_t us) +{ + return static_cast(us) / 1000000.0f; +} + +bool SeptentrioDriver::clock_needs_update(timespec real_time) +{ + timespec rtc_system_time; + + px4_clock_gettime(CLOCK_REALTIME, &rtc_system_time); + int drift_time = abs(rtc_system_time.tv_sec - real_time.tv_sec); + + return drift_time >= k_max_allowed_clock_drift; +} + +void SeptentrioDriver::set_clock(timespec rtc_gps_time) +{ + if (clock_needs_update(rtc_gps_time)) { + px4_clock_settime(CLOCK_REALTIME, &rtc_gps_time); + } +} + +bool SeptentrioDriver::is_healthy() const +{ + if (_state == State::ReceivingData && receiver_configuration_healthy()) { + return true; + } + + return false; +} + +void SeptentrioDriver::reset_gps_state_message() +{ + memset(&_message_gps_state, 0, sizeof(_message_gps_state)); + _message_gps_state.heading = NAN; + _message_gps_state.heading_offset = matrix::wrap_pi(math::radians(_heading_offset)); +} + +uint32_t SeptentrioDriver::get_parameter(const char *name, int32_t *value) +{ + return _get_parameter(name, value); +} + +uint32_t SeptentrioDriver::get_parameter(const char *name, float *value) +{ + return _get_parameter(name, value); +} + +} // namespace septentrio + +extern "C" __EXPORT int septentrio_main(int argc, char *argv[]) +{ + return septentrio::SeptentrioDriver::main(argc, argv); +} diff --git a/src/drivers/gnss/septentrio/septentrio.h b/src/drivers/gnss/septentrio/septentrio.h new file mode 100644 index 000000000000..ec203cd86186 --- /dev/null +++ b/src/drivers/gnss/septentrio/septentrio.h @@ -0,0 +1,763 @@ +/**************************************************************************** + * + * Copyright (c) 2024 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file septentrio.h + * + * Septentrio GNSS receiver driver + * + * @author Matej Franceskin + * @author Seppe Geuens + * @author Thomas Frans +*/ + +#pragma once + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include "module.h" +#include "sbf/decoder.h" +#include "rtcm.h" + +using namespace time_literals; + +namespace septentrio +{ + +/** + * The parsed command line arguments for this module. + */ +struct ModuleArguments { + int baud_rate_main {0}; + int baud_rate_secondary {0}; + const char *device_path_main {nullptr}; + const char *device_path_secondary {nullptr}; +}; + +/** + * Which raw communication data to dump to the log file. +*/ +enum class DumpMode : int32_t { + Disabled = 0, + FromReceiver = 1, + ToReceiver = 2, + Both = 3, +}; + +/** + * Instance of the driver. +*/ +enum class Instance : uint8_t { + Main = 0, + Secondary, +}; + +/** + * Hardware setup and use of the connected receivers. +*/ +enum class ReceiverSetup { + /// Two receivers with the same purpose. + Default = 0, + + /// One rover and one moving base receiver, used for heading with two single-antenna receivers. + MovingBase = 1, +}; + +/** + * Type of reset to perform on the receiver. +*/ +enum class ReceiverResetType { + /** + * There is no pending GPS reset. + */ + None, + + /** + * In hot start mode, the receiver was powered down only for a short time (4 hours or less), + * so that its ephemeris is still valid. Since the receiver doesn't need to download ephemeris + * again, this is the fastest startup method. + */ + Hot, + + /** + * In warm start mode, the receiver has approximate information for time, position, and coarse + * satellite position data (Almanac). In this mode, after power-up, the receiver normally needs + * to download ephemeris before it can calculate position and velocity data. + */ + Warm, + + /** + * In cold start mode, the receiver has no information from the last position at startup. + * Therefore, the receiver must search the full time and frequency space, and all possible + * satellite numbers. If a satellite signal is found, it is tracked to decode the ephemeris, + * whereas the other channels continue to search satellites. Once there is a sufficient number + * of satellites with valid ephemeris, the receiver can calculate position and velocity data. + */ + Cold +}; + +/** + * Direction of raw data. +*/ +enum class DataDirection { + /// Data sent by the flight controller to the receiver. + ToReceiver, + + /// Data sent by the receiver to the flight controller. + FromReceiver, +}; + +/** + * Which satellites the receiver should use for PVT computation. +*/ +enum class SatelliteUsage : int32_t { + Default = 0, + GPS = 1 << 0, + GLONASS = 1 << 1, + Galileo = 1 << 2, + SBAS = 1 << 3, + BeiDou = 1 << 4, +}; + +/** + * General logging level of the receiver that determines the blocks to log. +*/ +enum class ReceiverLogLevel : int32_t { + Lite = 0, + Basic = 1, + Default = 2, + Full = 3, +}; + +/** + * Logging frequency of the receiver that determines SBF output frequency. +*/ +enum class ReceiverLogFrequency : int32_t { + Disabled = 0, + Hz0_1 = 1, + Hz0_2 = 2, + Hz0_5 = 3, + Hz1_0 = 4, + Hz2_0 = 5, + Hz5_0 = 6, + Hz10_0 = 7, + Hz20_0 = 8, + Hz25_0 = 9, + Hz50_0 = 10, +}; + +/** + * Output frequency for the main SBF blocks required for PVT computation. +*/ +enum class SBFOutputFrequency : int32_t { + Hz5_0 = 0, + Hz10_0 = 1, + Hz20_0 = 2, + Hz25_0 = 3, +}; + +/** + * Tracker for messages received by the driver. +*/ +struct MessageTracker { + bool dop {false}; + bool pvt_geodetic {false}; + bool vel_cov_geodetic {false}; + bool att_euler {false}; + bool att_cov_euler {false}; +}; + +/** + * Used for a bitmask to keep track of received messages to know when we need to broadcast them and to monitor receiver health. +*/ +enum class ReceiverOutputTracker { + None = 0, + DOP = 1 << 0, + PVTGeodetic = 1 << 1, + VelCovGeodetic = 1 << 2, + AttEuler = 1 << 3, + AttCovEuler = 1 << 4, + HeadingMessages = AttEuler + AttCovEuler, + RequiredPositionMessages = DOP + PVTGeodetic + VelCovGeodetic + AttCovEuler, + PositioningMessages = DOP + PVTGeodetic + VelCovGeodetic + AttEuler + AttCovEuler, +}; + +class SeptentrioDriver : public ModuleBase, public device::Device +{ +public: + SeptentrioDriver(const char *device_path, Instance instance, uint32_t baud_rate); + ~SeptentrioDriver() override; + + /** @see ModuleBase */ + int print_status() override; + + /** @see ModuleBase */ + void run() override; + + /** @see ModuleBase */ + static int task_spawn(int argc, char *argv[]); + + static int task_spawn(int argc, char *argv[], Instance instance); + + /** + * @brief Secondary run trampoline to support two driver instances. + */ + static int run_trampoline_secondary(int argc, char *argv[]); + + /** @see ModuleBase */ + static SeptentrioDriver *instantiate(int argc, char *argv[]); + + static SeptentrioDriver *instantiate(int argc, char *argv[], Instance instance); + + /** @see ModuleBase */ + static int custom_command(int argc, char *argv[]); + + /** @see ModuleBase */ + static int print_usage(const char *reason = nullptr); + + /** + * @brief Reset the connected GPS receiver. + * + * @return `PX4_OK` on success, `PX4_ERROR` on otherwise + */ + int reset(ReceiverResetType type); + + /** + * @brief Force command input on the currently used port on the receiver. + * + * @return `PX4_OK` on success, `PX4_ERROR` otherwise + */ + int force_input(); + + /** + * Standard baud rates the driver can be started with. `0` means the driver matches baud rates but does not change them. + */ + static uint32_t k_supported_baud_rates[]; + + /** + * Default baud rate, used when the user requested an invalid baud rate. + */ + static uint32_t k_default_baud_rate; +private: + enum class State { + OpeningSerialPort, + DetectingBaudRate, + ConfiguringDevice, + ReceivingData, + }; + + /** + * The current decoder that data has to be fed to. + */ + enum class DecodingStatus { + Searching, + SBF, + RTCMv3, + }; + + enum class ReceiveResult { + ReadError, + Timeout, + Receiving, + MessageAvailable, + }; + + /** + * The result of trying to configure the receiver. + */ + enum class ConfigureResult : int32_t { + OK = 0, + FailedCompletely = 1 << 0, + NoLogging = 1 << 1, + }; + + /** + * Maximum timeout to wait for fast command acknowledgement by the receiver. + */ + static constexpr uint16_t k_receiver_ack_timeout_fast = 200; + + /** + * Maximum timeout to wait for slow command acknowledgement by the receiver. + * Might be the case for commands that send more output back as reply. + */ + static constexpr uint16_t k_receiver_ack_timeout_slow = 400; + + /** + * Duration of one update monitoring interval in us. + * This should be longer than the time it takes for all *positioning* SBF messages to be sent once by the receiver! + * Otherwise the driver will assume the receiver configuration isn't healthy because it doesn't see all blocks in time. + */ + static constexpr hrt_abstime k_update_monitoring_interval_duration = 5_s; + + /** + * uORB type to send messages to ground control stations. + */ + static orb_advert_t k_mavlink_log_pub; + + /** + * The default stream for output of PVT data. + */ + static constexpr uint8_t k_default_main_stream = 1; + + /** + * The default stream for output of logging data. + */ + static constexpr uint8_t k_default_log_stream = 2; + + /** + * @brief Parse command line arguments for this module. + * + * @param argc Number of arguments. + * @param argv The arguments. + * @param arguments The parsed arguments. + * + * @return `PX4_OK` on success, `PX4_ERROR` on a parsing error. + */ + static int parse_cli_arguments(int argc, char *argv[], ModuleArguments &arguments); + + /** + * @brief Wait for the second instance to properly start up. + * + * @return `PX4_OK` once the second instance has started, or `PX4_ERROR` if timed out waiting. + */ + static int await_second_instance_startup(); + + /** + * @brief Wait for the second instance to properly shut down. + * + * @return `PX4_OK` once the second instance has shut down, or `PX4_ERROR` if timed out waiting. + */ + int await_second_instance_shutdown(); + + /** + * @brief Schedule a reset of the connected receiver. + */ + void schedule_reset(ReceiverResetType type); + + /** + * @brief Detect whether the receiver is running at the given baud rate. + * Does not preserve local baud rate! + * + * @param baud_rate The baud rate to check. + * @param force_input Choose whether the receiver forces input on the port. + * + * @return `true` if running at the baud rate, or `false` on error. + */ + bool detect_receiver_baud_rate(const uint32_t &baud_rate, bool forced_input); + + /** + * @brief Try to detect the serial port used on the receiver side. + * + * @param port_name A string with a length of 5 to store the result + * + * @return `PX4_OK` on success, `PX4_ERROR` on error + */ + int detect_serial_port(char *const port_name); + + /** + * @brief Configure the attached receiver based on the user's parameters. + * + * If the user has disabled automatic configuration, only execute the steps that do not touch the receiver (e.g., baud rate detection, port detection...). + * + * @return `ConfigureResult::OK` if configured, or error. + */ + ConfigureResult configure(); + + /** + * @brief Parse the next byte of a received message from the receiver. + * + * @return 0 = decoding, 1 = message handled, 2 = sat info message handled + */ + int parse_char(const uint8_t byte); + + /** + * @brief Process a fully received message from the receiver. + * + * @return `PX4_OK` on message handled, `PX4_ERROR` on error. + */ + int process_message(); + + /** + * @brief Add payload rx byte. + * + * @return -1 = error, 0 = ok, 1 = payload received completely + */ + int payload_rx_add(const uint8_t byte); + + /** + * @brief Parses incoming SBF blocks. + * + * @return bitfield: all 0 = no message handled, 1 = position handled, 2 = satellite info handled + */ + int payload_rx_done(); + + /** + * @brief Send a message. + * + * @return true on success, false on write error (errno set) + */ + [[nodiscard]] bool send_message(const char *msg); + + /** + * @brief Send a message and waits for acknowledge. + * + * @param msg The message to send to the receiver + * @param timeout The time before sending the message times out + * + * @return true on success, false on write error (errno set) or ack wait timeout + */ + [[nodiscard]] bool send_message_and_wait_for_ack(const char *msg, const int timeout); + + /** + * @brief Receive incoming messages. + * + * @param timeout Maximum time to wait for new data in ms, after which we return. + * + * @return -1 = error, 0 = no message handled, 1 = message handled, 2 = sat info message handled + */ + int receive(unsigned timeout); + + /** + * @brief Read from the receiver. + * + * @param buf Data that is read + * @param buf_length Size of the buffer + * @param timeout Reading timeout + * + * @return 0 on nothing read or poll timeout, <0 on error and >0 on bytes read (nr of bytes) + */ + int read(uint8_t *buf, size_t buf_length, int timeout); + + /** + * @brief This is an abstraction for the poll on serial used. + * + * @param buf The read buffer + * @param buf_length Size of the read buffer + * @param timeout Read timeout in ms + * + * @return 0 on nothing read or poll timeout, <0 on error and >0 on bytes read (nr of bytes) + */ + int poll_or_read(uint8_t *buf, size_t buf_length, int timeout); + + /** + * @brief Write to the receiver. + * + * @param buf Data to be written + * @param buf_length Amount of bytes to be written + * + * @return the number of bytes written on success, or -1 otherwise + */ + int write(const uint8_t *buf, size_t buf_length); + + /** + * @brief Initialize uORB GPS logging and advertise the topic. + * + * @return `PX4_OK` on success, `PX4_ERROR` otherwise + */ + int initialize_communication_dump(DumpMode mode); + + /** + * @brief Reset the receiver if it was requested by the user. + */ + void reset_if_scheduled(); + + /** + * @brief Set the baudrate of the serial connection. + * + * @param baud The baud rate of the connection + * + * @return `PX4_OK` on success, `PX4_ERROR` on otherwise + */ + int set_baudrate(uint32_t baud); + + /** + * @brief Handle incoming messages on the "inject data" uORB topic and send them to the receiver. + */ + void handle_inject_data_topic(); + + /** + * @brief Send data to the receiver, such as RTCM injections. + * + * @param data The raw data to send to the device + * @param len The size of `data` + * + * @return `true` if all the data was written correctly, `false` otherwise + */ + inline bool inject_data(uint8_t *data, size_t len); + + /** + * @brief Publish new GPS data with uORB. + */ + void publish(); + + /** + * @brief Publish new GPS satellite data with uORB. + */ + void publish_satellite_info(); + + /** + * @brief Check whether the driver has created its first complete `SensorGPS` uORB message. + * + * @return `true` if the driver has created its first complete `SensorGPS` uORB message, `false` if still waiting. + */ + bool first_gps_uorb_message_created() const; + + /** + * @brief Publish RTCM corrections. + * + * @param data: The raw data to publish + * @param len: The size of `data` + */ + void publish_rtcm_corrections(uint8_t *data, size_t len); + + /** + * @brief Dump gps communication. + * + * @param data The raw data of the message. + * @param len The size of `data`. + * @param data_direction The type of data, either incoming or outgoing. + */ + void dump_gps_data(const uint8_t *data, size_t len, DataDirection data_direction); + + /** + * @brief Check whether we should dump incoming data. + * + * @return `true` when we should dump incoming data, `false` otherwise. + */ + bool should_dump_incoming() const; + + /** + * @brief Check whether we should dump outgoing data. + * + * @return `true` when we should dump outgoing data, `false` otherwise. + */ + bool should_dump_outgoing() const; + + /** + * @brief Start a new update frequency monitoring interval. + */ + void start_update_monitoring_interval(); + + /** + * @brief Check whether the current update monitoring interval should end. + * + * @return `true` if a new interval should be started, or `false` if the current interval is still valid. + */ + bool update_monitoring_interval_ended() const; + + /** + * @brief Get the duration of the current update frequency monitoring interval. + * + * @return The duration of the current interval in us. + */ + hrt_abstime current_monitoring_interval_duration() const; + + /** + * @brief Calculate RTCM message injection frequency for the current measurement interval. + * + * @return The RTCM message injection frequency for the current measurement interval in Hz. + */ + float rtcm_injection_frequency() const; + + /** + * @brief Calculate output data rate to the receiver for the current measurement interval. + * + * @return The output data rate for the current measurement interval in B/s. + */ + uint32_t output_data_rate() const; + + /** + * @brief Calculate input data rate from the receiver for the current measurement interval. + * + * @return The input data rate for the current measurement interval in B/s. + */ + uint32_t input_data_rate() const; + + /** + * @brief Check whether the current receiver configuration is likely healthy. + * + * This is checked by passively monitoring output from the receiver and validating whether it is what is + * expected. + * + * @return `true` if the receiver is operating correctly, `false` if it needs to be reconfigured. + */ + bool receiver_configuration_healthy() const; + + /** + * @brief Convert from microseconds to seconds. + * + * @return `us` converted into seconds. + */ + static float us_to_s(uint64_t us); + + /** + * @brief Check if the system clock needs to be updated with new time obtained from the receiver. + * + * Setting the clock on Nuttx temporarily pauses interrupts. Therefore it should only be set if it is absolutely necessary. + * + * @return `true` if the clock should be update, `false` if the clock is still accurate enough. + */ + static bool clock_needs_update(timespec real_time); + + /** + * @brief Used to set the system clock accurately. + * + * This does not guarantee that the clock will be set. + * + * @param time The current time. + */ + static void set_clock(timespec rtc_gps_time); + + /** + * @brief Check whether the driver is operating correctly. + * + * The driver is operating correctly when it has fully configured the receiver and is actively receiving all the + * expected data. + * + * @return `true` if the driver is working as expected, `false` otherwise. + */ + bool is_healthy() const; + + /** + * @brief Reset the GPS state uORB message for reuse. + */ + void reset_gps_state_message(); + + /** + * @brief Get the parameter with the given name into `value`. + * + * @param name The name of the parameter. + * @param value The value in which to store the parameter. + * + * @return `PX4_OK` on success, or `PX4_ERROR` if the parameter wasn't found. + */ + static uint32_t get_parameter(const char *name, int32_t *value); + + /** + * @brief Get the parameter with the given name into `value`. + * + * @param name The name of the parameter. + * @param value The value in which to store the parameter. + * + * @return `PX4_OK` on success, or `PX4_ERROR` if the parameter wasn't found. + */ + static uint32_t get_parameter(const char *name, float *value); + + /** + * @brief Don't use this, use the other parameter functions instead! + */ + template + static uint32_t _get_parameter(const char *name, T *value) + { + param_t handle = param_find(name); + + if (handle == PARAM_INVALID || param_get(handle, value) == PX4_ERROR) { + SEP_ERR("Failed to get parameter %s", name); + return PX4_ERROR; + } + + return PX4_OK; + } + + State _state {State::OpeningSerialPort}; ///< Driver state which allows for single run loop + px4::atomic _scheduled_reset {static_cast(ReceiverResetType::None)}; ///< The type of receiver reset that is scheduled + DumpMode _dump_communication_mode {DumpMode::Disabled}; ///< GPS communication dump mode + device::Serial _uart {}; ///< Serial UART port for communication with the receiver + char _port[20] {}; ///< The path of the used serial device + hrt_abstime _last_rtcm_injection_time {0}; ///< Time of last RTCM injection + uint8_t _selected_rtcm_instance {0}; ///< uORB instance that is being used for RTCM corrections + uint8_t _spoofing_state {0}; ///< Receiver spoofing state + uint8_t _jamming_state {0}; ///< Receiver jamming state + const Instance _instance {Instance::Main}; ///< The receiver that this instance of the driver controls + uint32_t _chosen_baud_rate {0}; ///< The baud rate requested by the user + static px4::atomic _secondary_instance; + hrt_abstime _sleep_end {0}; ///< End time for sleeping + State _resume_state {State::OpeningSerialPort}; ///< Resume state after sleep + + // Module configuration + float _heading_offset {0.0f}; ///< The heading offset given by the `SEP_YAW_OFFS` parameter + float _pitch_offset {0.0f}; ///< The pitch offset given by the `SEP_PITCH_OFFS` parameter + uint32_t _receiver_stream_main {k_default_main_stream}; ///< The main output stream for the receiver given by the `SEP_STREAM_MAIN` parameter + uint32_t _receiver_stream_log {k_default_log_stream}; ///< The log output stream for the receiver given by the `SEP_STREAM_LOG` parameter + SBFOutputFrequency _sbf_output_frequency {SBFOutputFrequency::Hz5_0}; ///< Output frequency of the main SBF blocks given by the `SEP_OUTP_HZ` parameter + ReceiverLogFrequency _receiver_logging_frequency {ReceiverLogFrequency::Hz1_0}; ///< Logging frequency of the receiver given by the `SEP_LOG_HZ` parameter + ReceiverLogLevel _receiver_logging_level {ReceiverLogLevel::Default}; ///< Logging level of the receiver given by the `SEP_LOG_LEVEL` parameter + bool _receiver_logging_overwrite {0}; ///< Logging overwrite behavior, given by the `SEP_LOG_FORCE` parameter + bool _automatic_configuration {true}; ///< Automatic configuration of the receiver given by the `SEP_AUTO_CONFIG` parameter + ReceiverSetup _receiver_setup {ReceiverSetup::Default}; ///< Purpose of the receivers, given by the `SEP_HARDW_SETUP` parameter + int32_t _receiver_constellation_usage {0}; ///< Constellation usage in PVT computation given by the `SEP_CONST_USAGE` parameter + uint8_t _current_baud_rate_index {0}; ///< Index of the current baud rate to check + + // Decoding and parsing + DecodingStatus _active_decoder {DecodingStatus::Searching}; ///< Currently active decoder that new data has to be fed into + sbf::Decoder _sbf_decoder {}; ///< SBF message decoder + rtcm::Decoder *_rtcm_decoder {nullptr}; ///< RTCM message decoder + + // uORB topics and subscriptions + sensor_gps_s _message_gps_state {}; ///< uORB topic for position + gps_dump_s *_message_data_to_receiver {nullptr}; ///< uORB topic for dumping data to the receiver + gps_dump_s *_message_data_from_receiver {nullptr}; ///< uORB topic for dumping data from the receiver + satellite_info_s *_message_satellite_info {nullptr}; ///< uORB topic for satellite info + uORB::PublicationMulti _sensor_gps_pub {ORB_ID(sensor_gps)}; ///< uORB publication for gps position + uORB::Publication _gps_dump_pub {ORB_ID(gps_dump)}; ///< uORB publication for dump GPS data + uORB::Publication _gps_inject_data_pub {ORB_ID(gps_inject_data)}; ///< uORB publication for injected data to the receiver + uORB::PublicationMulti _satellite_info_pub {ORB_ID(satellite_info)}; ///< uORB publication for satellite info + uORB::SubscriptionMultiArray _gps_inject_data_sub {ORB_ID::gps_inject_data}; ///< uORB subscription about data to inject to the receiver + + // Data about update frequencies of various bits of information like RTCM message injection frequency, received data rate... + hrt_abstime _current_interval_start_time {0}; ///< Start time of the current update measurement interval in us + uint16_t _last_interval_rtcm_injections {0}; ///< Nr of RTCM message injections in the last measurement interval + uint16_t _current_interval_rtcm_injections {0}; ///< Nr of RTCM message injections in the current measurement interval + uint32_t _last_interval_bytes_written {0}; ///< Nr of bytes written to the receiver in the last measurement interval + uint32_t _current_interval_bytes_written {0}; ///< Nr of bytes written to the receiver in the current measurement interval + uint32_t _last_interval_bytes_read {0}; ///< Nr of bytes read from the receiver in the last measurement interval + uint32_t _current_interval_bytes_read {0}; ///< Nr of bytes read from the receiver in the current measurement interval + MessageTracker _last_interval_messages {}; ///< Messages encountered in the last measurement interval + MessageTracker _current_interval_messages {}; ///< Messages encountered in the current measurement interval +}; + +} // namespace septentrio diff --git a/src/drivers/gnss/septentrio/util.cpp b/src/drivers/gnss/septentrio/util.cpp new file mode 100644 index 000000000000..34bf02f58b89 --- /dev/null +++ b/src/drivers/gnss/septentrio/util.cpp @@ -0,0 +1,59 @@ +/**************************************************************************** + * + * Copyright (c) 2024 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file util.cpp + * + * @author Thomas Frans +*/ + +#include "util.h" + +namespace septentrio +{ + +uint16_t buffer_crc16(const uint8_t *data_p, uint32_t length) +{ + uint8_t x; + uint16_t crc = 0; + + while (length--) { + x = crc >> 8 ^ *data_p++; + x ^= x >> 4; + crc = static_cast((crc << 8) ^ (x << 12) ^ (x << 5) ^ x); + } + + return crc; +} + +} // namespace septentrio diff --git a/src/drivers/gnss/septentrio/util.h b/src/drivers/gnss/septentrio/util.h new file mode 100644 index 000000000000..aeb9369ad5ac --- /dev/null +++ b/src/drivers/gnss/septentrio/util.h @@ -0,0 +1,52 @@ +/**************************************************************************** + * + * Copyright (c) 2024 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file util.h + * + * @author Thomas Frans + */ + +#pragma once + +#include + +namespace septentrio +{ + +/** + * @brief Calculate buffer CRC16 + */ +uint16_t buffer_crc16(const uint8_t *data_p, uint32_t length); + +} // namespace septentrio diff --git a/src/drivers/gpio/Kconfig b/src/drivers/gpio/Kconfig new file mode 100644 index 000000000000..902613ebbfbe --- /dev/null +++ b/src/drivers/gpio/Kconfig @@ -0,0 +1,9 @@ +menu "GPIO" + menuconfig COMMON_GPIO + bool "Common GPIOs" + default n + select DRIVERS_GPIO_MCP23009 + ---help--- + Enable default set of GPIO drivers + rsource "*/Kconfig" +endmenu diff --git a/src/drivers/gpio/mcp23009/CMakeLists.txt b/src/drivers/gpio/mcp23009/CMakeLists.txt new file mode 100644 index 000000000000..c7897fea8ee6 --- /dev/null +++ b/src/drivers/gpio/mcp23009/CMakeLists.txt @@ -0,0 +1,41 @@ +############################################################################ +# +# Copyright (c) 2023 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ +px4_add_module( + MODULE drivers__mcp23009 + MAIN mcp23009 + COMPILE_FLAGS + SRCS + mcp23009_main.cpp + mcp23009.cpp + DEPENDS + ) diff --git a/src/drivers/gpio/mcp23009/Kconfig b/src/drivers/gpio/mcp23009/Kconfig new file mode 100644 index 000000000000..73078bf8eba1 --- /dev/null +++ b/src/drivers/gpio/mcp23009/Kconfig @@ -0,0 +1,5 @@ +menuconfig DRIVERS_GPIO_MCP23009 + bool "mcp23009" + default n + ---help--- + Enable support for mcp23009 diff --git a/src/drivers/gpio/mcp23009/mcp23009.cpp b/src/drivers/gpio/mcp23009/mcp23009.cpp new file mode 100644 index 000000000000..8d8eb928857e --- /dev/null +++ b/src/drivers/gpio/mcp23009/mcp23009.cpp @@ -0,0 +1,123 @@ +/**************************************************************************** + * + * Copyright (c) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include "mcp23009.h" + +int MCP23009::read_reg(Register address, uint8_t &data) +{ + return transfer((uint8_t *)&address, 1, &data, 1); +} + +int MCP23009::write_reg(Register address, uint8_t value) +{ + uint8_t data[2] = {(uint8_t)address, value}; + return transfer(data, sizeof(data), nullptr, 0); +} + +int MCP23009::init(uint8_t direction, uint8_t state, uint8_t pull_up) +{ + // do I2C init (and probe) first + int ret = I2C::init(); + + if (ret != PX4_OK) { + PX4_ERR("I2C init failed"); + return ret; + } + + // buffer the new initial states + _iodir = direction; + _olat = state; + _gppu = pull_up; + + // Write the initial state to the device + ret = write_reg(Register::OLAT, _olat); + ret |= write_reg(Register::IODIR, _iodir); + ret |= write_reg(Register::GPPU, _gppu); + + if (ret != PX4_OK) { + PX4_ERR("Device init failed (%i)", ret); + return ret; + } + + return init_uorb(); +} + +int MCP23009::probe() +{ + // no whoami, try to read IOCON + uint8_t data; + return read_reg(Register::IOCON, data); +} + +int MCP23009::read(uint8_t *mask) +{ + return read_reg(Register::GPIO, *mask); +} + +int MCP23009::write(uint8_t mask_set, uint8_t mask_clear) +{ + // no need to read, we can use the buffered register value + _olat = (_olat & ~mask_clear) | mask_set; + return write_reg(Register::OLAT, _olat); +} + +int MCP23009::configure(uint8_t mask, PinType type) +{ + // no need to read, we can use the buffered register values + switch (type) { + case PinType::Input: + _iodir |= mask; + _gppu &= ~mask; + break; + + case PinType::InputPullUp: + _iodir |= mask; + _gppu |= mask; + break; + + case PinType::Output: + _iodir &= ~mask; + break; + + default: + return -EINVAL; + } + + int ret = write_reg(Register::GPPU, _gppu); + + if (ret != 0) { + return ret; + } + + return write_reg(Register::IODIR, _iodir); +} diff --git a/src/drivers/gpio/mcp23009/mcp23009.h b/src/drivers/gpio/mcp23009/mcp23009.h new file mode 100644 index 000000000000..fce68576c51e --- /dev/null +++ b/src/drivers/gpio/mcp23009/mcp23009.h @@ -0,0 +1,111 @@ +/**************************************************************************** + * + * Copyright (c) 2020 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#pragma once + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +using namespace time_literals; + +class MCP23009 : public device::I2C, public I2CSPIDriver +{ +public: + MCP23009(const I2CSPIDriverConfig &config); + ~MCP23009() override; + + void RunImpl(); + + static void print_usage(); + static I2CSPIDriverBase *instantiate(const I2CSPIDriverConfig &config, int runtime_instance); + +protected: + int init_uorb(); + int init(uint8_t direction, uint8_t state, uint8_t pull_up); + + int probe() override; + void print_status() override; + void exit_and_cleanup() override; + +private: + enum class + Register : uint8_t { + IODIR = 0x00, + IPOL = 0x01, + GPINTEN = 0x02, + DEFVAL = 0x03, + INTCON = 0x04, + IOCON = 0x05, + GPPU = 0x06, + INTF = 0x07, + INTCAP = 0x08, + GPIO = 0x09, + OLAT = 0x0a + }; + + enum class + PinType : uint8_t { + Output, + Input, + InputPullUp, + }; + + uORB::SubscriptionCallbackWorkItem _gpio_out_sub{this, ORB_ID(gpio_out)}; + uORB::SubscriptionCallbackWorkItem _gpio_request_sub{this, ORB_ID(gpio_request)}; + uORB::SubscriptionCallbackWorkItem _gpio_config_sub{this, ORB_ID(gpio_config)}; + + uORB::Publication _to_gpio_in{ORB_ID(gpio_in)}; + + perf_counter_t _cycle_perf; + + // buffer often used (write-only!) registers here + uint8_t _olat; + uint8_t _iodir; + uint8_t _gppu; + + int read(uint8_t *mask); + int write(uint8_t mask_set, uint8_t mask_clear); + int configure(uint8_t mask, PinType type); + + int read_reg(Register address, uint8_t &data); + int write_reg(Register address, uint8_t data); +}; diff --git a/src/drivers/gpio/mcp23009/mcp23009_main.cpp b/src/drivers/gpio/mcp23009/mcp23009_main.cpp new file mode 100644 index 000000000000..f5f9a2cfc416 --- /dev/null +++ b/src/drivers/gpio/mcp23009/mcp23009_main.cpp @@ -0,0 +1,215 @@ +/**************************************************************************** + * + * Copyright (C) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * Driver for the MCP23009 connected via I2C. + */ + +#include "mcp23009.h" +#include + +MCP23009::MCP23009(const I2CSPIDriverConfig &config) : + I2C(config), + I2CSPIDriver(config), + _cycle_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": single-sample")) +{ +} + +MCP23009::~MCP23009() +{ + ScheduleClear(); + perf_free(_cycle_perf); +} + +int MCP23009::init_uorb() +{ + if (!_gpio_config_sub.registerCallback() || + !_gpio_request_sub.registerCallback() || + !_gpio_out_sub.registerCallback()) { + PX4_ERR("callback registration failed"); + return -1; + } + + return PX4_OK; +} + +void MCP23009::exit_and_cleanup() +{ + _gpio_config_sub.unregisterCallback(); + _gpio_request_sub.unregisterCallback(); + _gpio_out_sub.unregisterCallback(); +} + +void MCP23009::RunImpl() +{ + perf_begin(_cycle_perf); + + gpio_config_s config; + + if (_gpio_config_sub.update(&config) && config.device_id == get_device_id()) { + PinType type = PinType::Input; + + switch (config.config) { + case config.INPUT_PULLUP: type = PinType::InputPullUp; break; + + case config.OUTPUT: type = PinType::Output; break; + } + + write(config.state, config.mask); + configure(config.mask, type); + } + + gpio_out_s output; + + if (_gpio_out_sub.update(&output) && output.device_id == get_device_id()) { + write(output.state, output.mask); + } + + // read every time we run, either when requested or when scheduled on interval + { + gpio_in_s _gpio_in; + _gpio_in.timestamp = hrt_absolute_time(); + _gpio_in.device_id = get_device_id(); + uint8_t input; + read(&input); + _gpio_in.state = input; + _to_gpio_in.publish(_gpio_in); + } + + perf_end(_cycle_perf); +} + +void MCP23009::print_usage() +{ + PRINT_MODULE_USAGE_NAME("MCP23009", "driver"); + PRINT_MODULE_USAGE_COMMAND("start"); + PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, false); + PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(0x25); + PRINT_MODULE_USAGE_PARAM_INT('D', 0, 0, 255, "Direction", true); + PRINT_MODULE_USAGE_PARAM_INT('O', 0, 0, 255, "Output", true); + PRINT_MODULE_USAGE_PARAM_INT('P', 0, 0, 255, "Pullups", true); + PRINT_MODULE_USAGE_PARAM_INT('U', 0, 0, 1000, "Update Interval [ms]", true); + PRINT_MODULE_USAGE_DEFAULT_COMMANDS(); +} + +void MCP23009::print_status() +{ + I2CSPIDriverBase::print_status(); + perf_print_counter(_cycle_perf); +} + +struct init_config_t { + uint16_t interval; + uint8_t direction; + uint8_t state; + uint8_t pullup; +}; + +I2CSPIDriverBase *MCP23009::instantiate(const I2CSPIDriverConfig &config, int runtime_instance) +{ + auto *init = (const init_config_t *)config.custom_data; + auto *instance = new MCP23009(config); + + if (!instance) { + PX4_ERR("alloc failed"); + return nullptr; + } + + if (OK != instance->init(init->direction, init->state, init->pullup)) { + delete instance; + return nullptr; + } + + if (init->interval) { + instance->ScheduleOnInterval(init->interval * 1000); + } + + return instance; +} + +extern "C" int mcp23009_main(int argc, char *argv[]) +{ + using ThisDriver = MCP23009; + BusCLIArguments cli{true, false}; + cli.default_i2c_frequency = 400000; + cli.i2c_address = 0x25; + init_config_t config_data{}; + + int ch; + + while ((ch = cli.getOpt(argc, argv, "D:O:P:U:")) != EOF) { + switch (ch) { + case 'D': + config_data.direction = (int)strtol(cli.optArg(), nullptr, 0); + break; + + case 'O': + config_data.state = (int)strtol(cli.optArg(), nullptr, 0); + break; + + case 'P': + config_data.pullup = (int)strtol(cli.optArg(), nullptr, 0); + break; + + case 'U': + config_data.interval = atoi(cli.optArg()); + break; + } + } + + cli.custom_data = &config_data; + + const char *verb = cli.optArg(); + + if (!verb) { + ThisDriver::print_usage(); + return -1; + } + + BusInstanceIterator iterator(MODULE_NAME, cli, DRV_GPIO_DEVTYPE_MCP23009); + + if (!strcmp(verb, "start")) { + return ThisDriver::module_start(cli, iterator); + } + + if (!strcmp(verb, "stop")) { + return ThisDriver::module_stop(iterator); + } + + if (!strcmp(verb, "status")) { + return ThisDriver::module_status(iterator); + } + + ThisDriver::print_usage(); + return -1; +} diff --git a/src/drivers/gps/CMakeLists.txt b/src/drivers/gps/CMakeLists.txt index 9796d24fb3bc..4719e0e34e14 100644 --- a/src/drivers/gps/CMakeLists.txt +++ b/src/drivers/gps/CMakeLists.txt @@ -51,7 +51,6 @@ px4_add_module( devices/src/nmea.cpp devices/src/unicore.cpp devices/src/crc.cpp - devices/src/sbf.cpp MODULE_CONFIG module.yaml DEPENDS diff --git a/src/drivers/gps/devices b/src/drivers/gps/devices index 99f5960eca66..a41210ede8c2 160000 --- a/src/drivers/gps/devices +++ b/src/drivers/gps/devices @@ -1 +1 @@ -Subproject commit 99f5960eca66150e33dc277e71a4c99187c27ddc +Subproject commit a41210ede8c2d22dd8e9fdcf388fca927c1fc5e1 diff --git a/src/drivers/gps/gps.cpp b/src/drivers/gps/gps.cpp index 008f4d39778e..004be4cc8b90 100644 --- a/src/drivers/gps/gps.cpp +++ b/src/drivers/gps/gps.cpp @@ -45,7 +45,6 @@ #include #endif -#include #include #include @@ -57,9 +56,12 @@ #include #include #include +#include +#include #include #include #include +#include #include #include #include @@ -71,7 +73,6 @@ # include "devices/src/mtk.h" # include "devices/src/femtomes.h" # include "devices/src/nmea.h" -# include "devices/src/sbf.h" #endif // CONSTRAINED_FLASH #include "devices/src/ubx.h" @@ -80,6 +81,7 @@ #include #endif /* __PX4_LINUX */ +using namespace device; using namespace time_literals; #define TIMEOUT_1HZ 1300 //!< Timeout time in mS, 1000 mS (1Hz) + 300 mS delta for error @@ -94,7 +96,6 @@ enum class gps_driver_mode_t { EMLIDREACH, FEMTOMES, NMEA, - SBF }; enum class gps_dump_comm_mode_t : int32_t { @@ -168,7 +169,10 @@ class GPS : public ModuleBase, public device::Device void reset_if_scheduled(); private: - int _serial_fd{-1}; ///< serial interface to GPS +#ifdef __PX4_LINUX + int _spi_fd {-1}; ///< SPI interface to GPS +#endif + Serial _uart {}; ///< UART interface to GPS unsigned _baudrate{0}; ///< current baudrate const unsigned _configured_baudrate{0}; ///< configured baudrate (0=auto-detect) char _port[20] {}; ///< device / serial port path @@ -203,7 +207,7 @@ class GPS : public ModuleBase, public device::Device const Instance _instance; - uORB::Subscription _orb_inject_data_sub{ORB_ID(gps_inject_data)}; + uORB::SubscriptionMultiArray _orb_inject_data_sub{ORB_ID::gps_inject_data}; uORB::Publication _gps_inject_data_pub{ORB_ID(gps_inject_data)}; uORB::Publication _dump_communication_pub{ORB_ID(gps_dump)}; gps_dump_s *_dump_to_device{nullptr}; @@ -328,8 +332,11 @@ GPS::GPS(const char *path, gps_driver_mode_t mode, GPSHelper::Interface interfac char c = _port[strlen(_port) - 1]; // last digit of path (eg /dev/ttyS2) set_device_bus(c - 48); // sub 48 to convert char to integer +#ifdef __PX4_LINUX + } else if (_interface == GPSHelper::Interface::SPI) { set_device_bus_type(device::Device::DeviceBusType::DeviceBusType_SPI); +#endif } if (_mode == gps_driver_mode_t::None) { @@ -352,8 +359,6 @@ GPS::GPS(const char *path, gps_driver_mode_t mode, GPSHelper::Interface interfac case 5: _mode = gps_driver_mode_t::FEMTOMES; break; case 6: _mode = gps_driver_mode_t::NMEA; break; - - case 7: _mode = gps_driver_mode_t::SBF; break; #endif // CONSTRAINED_FLASH } } @@ -402,10 +407,23 @@ int GPS::callback(GPSCallbackType type, void *data1, int data2, void *user) return num_read; } - case GPSCallbackType::writeDeviceData: - gps->dumpGpsData((uint8_t *)data1, (size_t)data2, gps_dump_comm_mode_t::Full, true); + case GPSCallbackType::writeDeviceData: { + gps->dumpGpsData((uint8_t *)data1, (size_t)data2, gps_dump_comm_mode_t::Full, true); + + int ret = 0; + + if (gps->_interface == GPSHelper::Interface::UART) { + ret = gps->_uart.write((void *) data1, (size_t) data2); - return ::write(gps->_serial_fd, data1, (size_t)data2); +#ifdef __PX4_LINUX + + } else if (gps->_spi_fd >= 0) { + ret = ::write(gps->_spi_fd, data1, (size_t)data2); +#endif + } + + return ret; + } case GPSCallbackType::setBaudrate: return gps->setBaudrate(data2); @@ -448,72 +466,64 @@ int GPS::callback(GPSCallbackType type, void *data1, int data2, void *user) int GPS::pollOrRead(uint8_t *buf, size_t buf_length, int timeout) { - handleInjectDataTopic(); - -#if !defined(__PX4_QURT) - - /* For non QURT, use the usual polling. */ - - //Poll only for the serial data. In the same thread we also need to handle orb messages, - //so ideally we would poll on both, the serial fd and orb subscription. Unfortunately the - //two pollings use different underlying mechanisms (at least under posix), which makes this - //impossible. Instead we limit the maximum polling interval and regularly check for new orb - //messages. - //FIXME: add a unified poll() API + int ret = 0; + const size_t character_count = 32; // minimum bytes that we want to read const int max_timeout = 50; + int timeout_adjusted = math::min(max_timeout, timeout); - pollfd fds[1]; - fds[0].fd = _serial_fd; - fds[0].events = POLLIN; - - int ret = poll(fds, sizeof(fds) / sizeof(fds[0]), math::min(max_timeout, timeout)); - - if (ret > 0) { - /* if we have new data from GPS, go handle it */ - if (fds[0].revents & POLLIN) { - /* - * We are here because poll says there is some data, so this - * won't block even on a blocking device. But don't read immediately - * by 1-2 bytes, wait for some more data to save expensive read() calls. - * If we have all requested data available, read it without waiting. - * If more bytes are available, we'll go back to poll() again. - */ - const unsigned character_count = 32; // minimum bytes that we want to read - unsigned baudrate = _baudrate == 0 ? 115200 : _baudrate; - const unsigned sleeptime = character_count * 1000000 / (baudrate / 10); + handleInjectDataTopic(); -#ifdef __PX4_NUTTX - int err = 0; - int bytes_available = 0; - err = ::ioctl(_serial_fd, FIONREAD, (unsigned long)&bytes_available); + if (_interface == GPSHelper::Interface::UART) { + ret = _uart.readAtLeast(buf, buf_length, math::min(character_count, buf_length), timeout_adjusted); + +// SPI is only supported on LInux +#if defined(__PX4_LINUX) + + } else if ((_interface == GPSHelper::Interface::SPI) && (_spi_fd >= 0)) { + + //Poll only for the SPI data. In the same thread we also need to handle orb messages, + //so ideally we would poll on both, the SPI fd and orb subscription. Unfortunately the + //two pollings use different underlying mechanisms (at least under posix), which makes this + //impossible. Instead we limit the maximum polling interval and regularly check for new orb + //messages. + //FIXME: add a unified poll() API + + pollfd fds[1]; + fds[0].fd = _spi_fd; + fds[0].events = POLLIN; + + ret = poll(fds, sizeof(fds) / sizeof(fds[0]), timeout_adjusted); + + if (ret > 0) { + /* if we have new data from GPS, go handle it */ + if (fds[0].revents & POLLIN) { + /* + * We are here because poll says there is some data, so this + * won't block even on a blocking device. But don't read immediately + * by 1-2 bytes, wait for some more data to save expensive read() calls. + * If we have all requested data available, read it without waiting. + * If more bytes are available, we'll go back to poll() again. + */ + unsigned baudrate = _baudrate == 0 ? 115200 : _baudrate; + const unsigned sleeptime = character_count * 1000000 / (baudrate / 10); - if (err != 0 || bytes_available < (int)character_count) { px4_usleep(sleeptime); - } -#else - px4_usleep(sleeptime); -#endif + ret = ::read(_spi_fd, buf, buf_length); - ret = ::read(_serial_fd, buf, buf_length); + if (ret > 0) { + _num_bytes_read += ret; + } - if (ret > 0) { - _num_bytes_read += ret; + } else { + ret = -1; } - - } else { - ret = -1; } + +#endif } return ret; - -#else - /* For QURT, just use read for now, since this doesn't block, we need to slow it down - * just a bit. */ - px4_usleep(10000); - return ::read(_serial_fd, buf, buf_length); -#endif } void GPS::handleInjectDataTopic() @@ -530,13 +540,15 @@ void GPS::handleInjectDataTopic() // If there has not been a valid RTCM message for a while, try to switch to a different RTCM link if ((hrt_absolute_time() - _last_rtcm_injection_time) > 5_s) { - for (uint8_t i = 0; i < gps_inject_data_s::MAX_INSTANCES; i++) { - if (_orb_inject_data_sub.ChangeInstance(i)) { - if (_orb_inject_data_sub.copy(&msg)) { + for (int instance = 0; instance < _orb_inject_data_sub.size(); instance++) { + const bool exists = _orb_inject_data_sub[instance].advertised(); + + if (exists) { + if (_orb_inject_data_sub[instance].copy(&msg)) { if ((hrt_absolute_time() - msg.timestamp) < 5_s) { // Remember that we already did a copy on this instance. already_copied = true; - _selected_rtcm_instance = i; + _selected_rtcm_instance = instance; break; } } @@ -544,9 +556,6 @@ void GPS::handleInjectDataTopic() } } - // Reset instance in case we didn't actually want to switch - _orb_inject_data_sub.ChangeInstance(_selected_rtcm_instance); - bool updated = already_copied; // Limit maximum number of GPS injections to 8 since usually @@ -574,7 +583,7 @@ void GPS::handleInjectDataTopic() } } - updated = _orb_inject_data_sub.update(&msg); + updated = _orb_inject_data_sub[_selected_rtcm_instance].update(&msg); } while (updated && num_injections < max_num_injections); } @@ -583,105 +592,38 @@ bool GPS::injectData(uint8_t *data, size_t len) { dumpGpsData(data, len, gps_dump_comm_mode_t::Full, true); - size_t written = ::write(_serial_fd, data, len); - ::fsync(_serial_fd); - return written == len; -} - -int GPS::setBaudrate(unsigned baud) -{ - /* process baud rate */ - int speed; - - switch (baud) { - case 9600: speed = B9600; break; - - case 19200: speed = B19200; break; - - case 38400: speed = B38400; break; - - case 57600: speed = B57600; break; - - case 115200: speed = B115200; break; - - case 230400: speed = B230400; break; + size_t written = 0; -#ifndef B460800 -#define B460800 460800 -#endif + if (_interface == GPSHelper::Interface::UART) { + written = _uart.write((const void *) data, len); - case 460800: speed = B460800; break; +#ifdef __PX4_LINUX -#ifndef B921600 -#define B921600 921600 + } else if (_interface == GPSHelper::Interface::SPI) { + written = ::write(_spi_fd, data, len); + ::fsync(_spi_fd); #endif - - case 921600: speed = B921600; break; - - default: - PX4_ERR("ERR: unknown baudrate: %d", baud); - return -EINVAL; } - struct termios uart_config; - - int termios_state; - - /* fill the struct for the new configuration */ - tcgetattr(_serial_fd, &uart_config); - - /* properly configure the terminal (see also https://en.wikibooks.org/wiki/Serial_Programming/termios ) */ - - // - // Input flags - Turn off input processing - // - // convert break to null byte, no CR to NL translation, - // no NL to CR translation, don't mark parity errors or breaks - // no input parity check, don't strip high bit off, - // no XON/XOFF software flow control - // - uart_config.c_iflag &= ~(IGNBRK | BRKINT | ICRNL | - INLCR | PARMRK | INPCK | ISTRIP | IXON); - // - // Output flags - Turn off output processing - // - // no CR to NL translation, no NL to CR-NL translation, - // no NL to CR translation, no column 0 CR suppression, - // no Ctrl-D suppression, no fill characters, no case mapping, - // no local output processing - // - // config.c_oflag &= ~(OCRNL | ONLCR | ONLRET | - // ONOCR | ONOEOT| OFILL | OLCUC | OPOST); - uart_config.c_oflag = 0; - - // - // No line processing - // - // echo off, echo newline off, canonical mode off, - // extended input processing off, signal chars off - // - uart_config.c_lflag &= ~(ECHO | ECHONL | ICANON | IEXTEN | ISIG); - - /* no parity, one stop bit, disable flow control */ - uart_config.c_cflag &= ~(CSTOPB | PARENB | CRTSCTS); - - /* set baud rate */ - if ((termios_state = cfsetispeed(&uart_config, speed)) < 0) { - GPS_ERR("ERR: %d (cfsetispeed)", termios_state); - return -1; - } + return written == len; +} - if ((termios_state = cfsetospeed(&uart_config, speed)) < 0) { - GPS_ERR("ERR: %d (cfsetospeed)", termios_state); - return -1; - } +int GPS::setBaudrate(unsigned baud) +{ + if (_interface == GPSHelper::Interface::UART) { + if (_uart.setBaudrate(baud)) { + return 0; + } + +#ifdef __PX4_LINUX - if ((termios_state = tcsetattr(_serial_fd, TCSANOW, &uart_config)) < 0) { - GPS_ERR("ERR: %d (tcsetattr)", termios_state); - return -1; + } else if (_interface == GPSHelper::Interface::SPI) { + // Can't set the baudrate on a SPI port but just return a success + return 0; +#endif } - return 0; + return -1; } void GPS::initializeCommunicationDump() @@ -760,13 +702,6 @@ GPS::run() heading_offset = matrix::wrap_pi(math::radians(heading_offset)); } - handle = param_find("GPS_PITCH_OFFSET"); - float pitch_offset = 0.f; - - if (handle != PARAM_INVALID) { - param_get(handle, &pitch_offset); - } - int32_t gps_ubx_dynmodel = 7; // default to 7: airborne with <2g acceleration handle = param_find("GPS_UBX_DYNMODEL"); @@ -782,7 +717,8 @@ GPS::run() int32_t gps_ubx_mode = 0; param_get(handle, &gps_ubx_mode); - if (gps_ubx_mode == 1) { // heading + switch (gps_ubx_mode) { + case 1: // heading if (_instance == Instance::Main) { ubx_mode = GPSDriverUBX::UBXMode::RoverWithMovingBase; @@ -790,10 +726,13 @@ GPS::run() ubx_mode = GPSDriverUBX::UBXMode::MovingBase; } - } else if (gps_ubx_mode == 2) { + break; + + case 2: ubx_mode = GPSDriverUBX::UBXMode::MovingBase; + break; - } else if (gps_ubx_mode == 3) { + case 3: if (_instance == Instance::Main) { ubx_mode = GPSDriverUBX::UBXMode::RoverWithMovingBaseUART1; @@ -801,11 +740,18 @@ GPS::run() ubx_mode = GPSDriverUBX::UBXMode::MovingBaseUART1; } - } else if (gps_ubx_mode == 4) { + break; + + case 4: ubx_mode = GPSDriverUBX::UBXMode::MovingBaseUART1; + break; - } else if (gps_ubx_mode == 5) { // rover with static base on Uart2 + case 5: // rover with static base on Uart2 ubx_mode = GPSDriverUBX::UBXMode::RoverWithStaticBaseUart2; + break; + + default: + break; } } @@ -840,31 +786,54 @@ GPS::run() _helper = nullptr; } - if (_serial_fd < 0) { - /* open the serial port */ - _serial_fd = ::open(_port, O_RDWR | O_NOCTTY); + if ((_interface == GPSHelper::Interface::UART) && (! _uart.isOpen())) { - if (_serial_fd < 0) { - PX4_ERR("failed to open %s err: %d", _port, errno); + // Configure UART port + if (!_uart.setPort(_port)) { + PX4_ERR("Error configuring serial device on port %s", _port); + px4_sleep(1); + continue; + } + + // Configure the desired baudrate if one was specified by the user. + // Otherwise the default baudrate will be used. + if (_configured_baudrate) { + if (! _uart.setBaudrate(_configured_baudrate)) { + PX4_ERR("Error setting baudrate to %u on %s", _configured_baudrate, _port); + px4_sleep(1); + continue; + } + } + + // Open the UART. If this is successful then the UART is ready to use. + if (! _uart.open()) { + PX4_ERR("Error opening serial device %s", _port); px4_sleep(1); continue; } #ifdef __PX4_LINUX - if (_interface == GPSHelper::Interface::SPI) { - int spi_speed = 1000000; // make sure the bus speed is not too high (required on RPi) - int status_value = ::ioctl(_serial_fd, SPI_IOC_WR_MAX_SPEED_HZ, &spi_speed); + } else if ((_interface == GPSHelper::Interface::SPI) && (_spi_fd < 0)) { + _spi_fd = ::open(_port, O_RDWR | O_NOCTTY); - if (status_value < 0) { - PX4_ERR("SPI_IOC_WR_MAX_SPEED_HZ failed for %s (%d)", _port, errno); - } + if (_spi_fd < 0) { + PX4_ERR("failed to open SPI port %s err: %d", _port, errno); + px4_sleep(1); + continue; + } - status_value = ::ioctl(_serial_fd, SPI_IOC_RD_MAX_SPEED_HZ, &spi_speed); + int spi_speed = 1000000; // make sure the bus speed is not too high (required on RPi) + int status_value = ::ioctl(_spi_fd, SPI_IOC_WR_MAX_SPEED_HZ, &spi_speed); - if (status_value < 0) { - PX4_ERR("SPI_IOC_RD_MAX_SPEED_HZ failed for %s (%d)", _port, errno); - } + if (status_value < 0) { + PX4_ERR("SPI_IOC_WR_MAX_SPEED_HZ failed for %s (%d)", _port, errno); + } + + status_value = ::ioctl(_spi_fd, SPI_IOC_RD_MAX_SPEED_HZ, &spi_speed); + + if (status_value < 0) { + PX4_ERR("SPI_IOC_RD_MAX_SPEED_HZ failed for %s (%d)", _port, errno); } #endif /* __PX4_LINUX */ @@ -906,11 +875,6 @@ GPS::run() _helper = new GPSDriverNMEA(&GPS::callback, this, &_report_gps_pos, _p_report_sat_info, heading_offset); set_device_type(DRV_GPS_DEVTYPE_NMEA); break; - - case gps_driver_mode_t::SBF: - _helper = new GPSDriverSBF(&GPS::callback, this, &_report_gps_pos, _p_report_sat_info, heading_offset, pitch_offset); - set_device_type(DRV_GPS_DEVTYPE_SBF); - break; #endif // CONSTRAINED_FLASH default: @@ -970,7 +934,8 @@ GPS::run() set_device_type(DRV_GPS_DEVTYPE_UBX_9); break; - case GPSDriverUBX::Board::u_blox9_F9P: + case GPSDriverUBX::Board::u_blox9_F9P_L1L2: + case GPSDriverUBX::Board::u_blox9_F9P_L1L5: set_device_type(DRV_GPS_DEVTYPE_UBX_F9P); break; @@ -1056,9 +1021,15 @@ GPS::run() } } - if (_serial_fd >= 0) { - ::close(_serial_fd); - _serial_fd = -1; + if (_interface == GPSHelper::Interface::UART) { + (void) _uart.close(); + +#ifdef __PX4_LINUX + + } else if ((_interface == GPSHelper::Interface::SPI) && (_spi_fd >= 0)) { + ::close(_spi_fd); + _spi_fd = -1; +#endif } if (_mode_auto) { @@ -1081,11 +1052,8 @@ GPS::run() break; case gps_driver_mode_t::FEMTOMES: - _mode = gps_driver_mode_t::SBF; - break; - - case gps_driver_mode_t::SBF: case gps_driver_mode_t::NMEA: // skip NMEA for auto-detection to avoid false positive matching + #endif // CONSTRAINED_FLASH _mode = gps_driver_mode_t::UBX; px4_usleep(500000); // tried all possible drivers. Wait a bit before next round @@ -1145,10 +1113,6 @@ GPS::print_status() case gps_driver_mode_t::NMEA: PX4_INFO("protocol: NMEA"); - break; - - case gps_driver_mode_t::SBF: - PX4_INFO("protocol: SBF"); #endif // CONSTRAINED_FLASH default: @@ -1250,11 +1214,13 @@ GPS::publish() void GPS::publishSatelliteInfo() { - if (_instance == Instance::Main) { + if (_instance == Instance::Main || _is_gps_main_advertised.load()) { if (_p_report_sat_info != nullptr) { _report_sat_info_pub.publish(*_p_report_sat_info); } + _is_gps_main_advertised.store(true); + } else { //we don't publish satellite info for the secondary gps } @@ -1406,7 +1372,7 @@ int GPS::task_spawn(int argc, char *argv[], Instance instance) entry_point, (char *const *)argv); if (task_id < 0) { - task_id = -1; + _task_id = -1; return -errno; } @@ -1477,12 +1443,12 @@ GPS *GPS::instantiate(int argc, char *argv[], Instance instance) break; case 'i': - if (!strcmp(myoptarg, "spi")) { - interface = GPSHelper::Interface::SPI; - - } else if (!strcmp(myoptarg, "uart")) { + if (!strcmp(myoptarg, "uart")) { interface = GPSHelper::Interface::UART; - +#ifdef __PX4_LINUX + } else if (!strcmp(myoptarg, "spi")) { + interface = GPSHelper::Interface::SPI; +#endif } else { PX4_ERR("unknown interface: %s", myoptarg); error_flag = true; @@ -1490,12 +1456,12 @@ GPS *GPS::instantiate(int argc, char *argv[], Instance instance) break; case 'j': - if (!strcmp(myoptarg, "spi")) { - interface_secondary = GPSHelper::Interface::SPI; - - } else if (!strcmp(myoptarg, "uart")) { + if (!strcmp(myoptarg, "uart")) { interface_secondary = GPSHelper::Interface::UART; - +#ifdef __PX4_LINUX + } else if (!strcmp(myoptarg, "spi")) { + interface_secondary = GPSHelper::Interface::SPI; +#endif } else { PX4_ERR("unknown interface for secondary: %s", myoptarg); error_flag = true; @@ -1521,8 +1487,6 @@ GPS *GPS::instantiate(int argc, char *argv[], Instance instance) } else if (!strcmp(myoptarg, "nmea")) { mode = gps_driver_mode_t::NMEA; - } else if (!strcmp(myoptarg, "sbf")) { - mode = gps_driver_mode_t::SBF; #endif // CONSTRAINED_FLASH } else { PX4_ERR("unknown protocol: %s", myoptarg); @@ -1547,7 +1511,7 @@ GPS *GPS::instantiate(int argc, char *argv[], Instance instance) GPS *gps = nullptr; if (instance == Instance::Main) { - if (device_name && (access(device_name, R_OK|W_OK) == 0)) { + if (Serial::validatePort(device_name)) { gps = new GPS(device_name, mode, interface, instance, baudrate_main); } else { @@ -1570,7 +1534,7 @@ GPS *GPS::instantiate(int argc, char *argv[], Instance instance) } } } else { // secondary instance - if (device_name_secondary && (access(device_name_secondary, R_OK|W_OK) == 0)) { + if (Serial::validatePort(device_name_secondary)) { gps = new GPS(device_name_secondary, mode, interface_secondary, instance, baudrate_secondary); } else { diff --git a/src/drivers/gps/module.yaml b/src/drivers/gps/module.yaml index 484e434d5881..1424864277fc 100644 --- a/src/drivers/gps/module.yaml +++ b/src/drivers/gps/module.yaml @@ -13,4 +13,3 @@ serial_config: group: GPS default: GPS1 label: Main GPS - diff --git a/src/drivers/gps/params.c b/src/drivers/gps/params.c index 49b4da7065bf..512a5131e1c5 100644 --- a/src/drivers/gps/params.c +++ b/src/drivers/gps/params.c @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2016 PX4 Development Team. All rights reserved. + * Copyright (c) 2016-2024 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -152,8 +152,9 @@ PARAM_DEFINE_INT32(GPS_UBX_CFG_INTF, 0); * * The offset angle increases clockwise. * - * Set this to 90 if the rover (or Unicore primary) antenna is placed on the - * right side of the vehicle and the moving base antenna is on the left side. + * Set this to 90 if the rover (or Unicore primary, or Septentrio Mosaic Aux) + * antenna is placed on the right side of the vehicle and the moving base + * antenna is on the left side. * * (Note: the Unicore primary antenna is the one connected on the right as seen * from the top). @@ -168,24 +169,6 @@ PARAM_DEFINE_INT32(GPS_UBX_CFG_INTF, 0); */ PARAM_DEFINE_FLOAT(GPS_YAW_OFFSET, 0.f); -/** - * Pitch offset for dual antenna GPS - * - * Vertical offsets can be compensated for by adjusting the Pitch offset (Septentrio). - * - * Note that this can be interpreted as the "roll" angle in case the antennas are aligned along the perpendicular axis. This occurs in situations where the two antenna ARPs may not be exactly at the same height in the vehicle reference frame. Since pitch is defined as the right-handed rotation about the vehicle Y axis, a situation where the main antenna is mounted lower than the aux antenna (assuming the default antenna setup) will result in a positive pitch. - * - * - * @min -90 - * @max 90 - * @unit deg - * @reboot_required true - * @decimal 3 - * - * @group GPS - */ -PARAM_DEFINE_FLOAT(GPS_PITCH_OFFSET, 0.f); - /** * Protocol for Main GPS * @@ -202,7 +185,6 @@ PARAM_DEFINE_FLOAT(GPS_PITCH_OFFSET, 0.f); * @value 4 Emlid Reach * @value 5 Femtomes * @value 6 NMEA (generic) - * @value 7 Septentrio (SBF) * * @reboot_required true * @group GPS @@ -247,14 +229,16 @@ PARAM_DEFINE_INT32(GPS_2_PROTOCOL, 1); * 2 : Use Galileo * 3 : Use BeiDou * 4 : Use GLONASS + * 5 : Use NAVIC * * @min 0 - * @max 31 + * @max 63 * @bit 0 GPS (with QZSS) * @bit 1 SBAS * @bit 2 Galileo * @bit 3 BeiDou * @bit 4 GLONASS + * @bit 5 NAVIC * * @reboot_required true * @group GPS @@ -277,14 +261,16 @@ PARAM_DEFINE_INT32(GPS_1_GNSS, 0); * 2 : Use Galileo * 3 : Use BeiDou * 4 : Use GLONASS + * 5 : Use NAVIC * * @min 0 - * @max 31 + * @max 63 * @bit 0 GPS (with QZSS) * @bit 1 SBAS * @bit 2 Galileo * @bit 3 BeiDou * @bit 4 GLONASS + * @bit 5 NAVIC * * @reboot_required true * @group GPS diff --git a/src/drivers/heater/Kconfig b/src/drivers/heater/Kconfig index a90575ed090b..e70dc61bb35f 100644 --- a/src/drivers/heater/Kconfig +++ b/src/drivers/heater/Kconfig @@ -2,4 +2,4 @@ menuconfig DRIVERS_HEATER bool "heater" default n ---help--- - Enable support for heater \ No newline at end of file + Enable support for heater diff --git a/src/drivers/heater/heater.cpp b/src/drivers/heater/heater.cpp index 170bd859a49f..aba6f7066e40 100644 --- a/src/drivers/heater/heater.cpp +++ b/src/drivers/heater/heater.cpp @@ -231,7 +231,7 @@ void Heater::Run() _controller_time_on_usec = math::constrain(_controller_time_on_usec, 0, _controller_period_usec); - if (abs(temperature_delta) < TEMPERATURE_TARGET_THRESHOLD) { + if (fabsf(temperature_delta) < TEMPERATURE_TARGET_THRESHOLD) { _temperature_target_met = true; } else { diff --git a/src/drivers/imu/Kconfig b/src/drivers/imu/Kconfig index 9a1de9995a17..ee0978d39cd9 100644 --- a/src/drivers/imu/Kconfig +++ b/src/drivers/imu/Kconfig @@ -2,14 +2,15 @@ menu "IMU" menuconfig COMMON_IMU bool "Common IMU's" default n - select DRIVERS_IMU_ADIS16477 - select DRIVERS_IMU_ADIS16497 + select DRIVERS_IMU_ANALOG_DEVICES_ADIS16477 + select DRIVERS_IMU_ANALOG_DEVICES_ADIS16497 select DRIVERS_IMU_ANALOG_DEVICES_ADIS16448 select DRIVERS_IMU_ANALOG_DEVICES_ADIS16470 select DRIVERS_IMU_BOSCH_BMI055 select DRIVERS_IMU_BOSCH_BMI088 - select DRIVERS_IMU_FXAS21002C - select DRIVERS_IMU_FXOS8701CQ + select DRIVERS_IMU_MURATA_SCH16T + select DRIVERS_IMU_NXP_FXAS21002C + select DRIVERS_IMU_NXP_FXOS8701CQ select DRIVERS_IMU_INVENSENSE_ICM20602 select DRIVERS_IMU_INVENSENSE_ICM20608G select DRIVERS_IMU_INVENSENSE_ICM20649 @@ -21,9 +22,9 @@ menu "IMU" select DRIVERS_IMU_INVENSENSE_MPU6000 select DRIVERS_IMU_INVENSENSE_MPU6500 select DRIVERS_IMU_INVENSENSE_MPU9250 - select DRIVERS_IMU_L3GD20 - select DRIVERS_IMU_LSM303D - select DRIVERS_IMU_ST + select DRIVERS_IMU_ST_L3GD20 + select DRIVERS_IMU_ST_LSM303D + select DRIVERS_IMU_ST_LSM9DS1 ---help--- Enable default set of IMU drivers rsource "*/Kconfig" diff --git a/src/drivers/imu/adis16477/Kconfig b/src/drivers/imu/adis16477/Kconfig deleted file mode 100644 index 74b76d24824e..000000000000 --- a/src/drivers/imu/adis16477/Kconfig +++ /dev/null @@ -1,5 +0,0 @@ -menuconfig DRIVERS_IMU_ADIS16477 - bool "adis16477" - default n - ---help--- - Enable support for adis16477 \ No newline at end of file diff --git a/src/drivers/imu/adis16497/Kconfig b/src/drivers/imu/adis16497/Kconfig deleted file mode 100644 index 41fa1b759bda..000000000000 --- a/src/drivers/imu/adis16497/Kconfig +++ /dev/null @@ -1,5 +0,0 @@ -menuconfig DRIVERS_IMU_ADIS16497 - bool "adis16497" - default n - ---help--- - Enable support for adis16497 \ No newline at end of file diff --git a/src/drivers/imu/analog_devices/Kconfig b/src/drivers/imu/analog_devices/Kconfig index 15f0287c18c2..96efe0ca8d3c 100644 --- a/src/drivers/imu/analog_devices/Kconfig +++ b/src/drivers/imu/analog_devices/Kconfig @@ -1,3 +1,3 @@ menu "Analog Devices" rsource "*/Kconfig" -endmenu +endmenu #Analog Devices diff --git a/src/drivers/imu/adis16477/ADIS16477.cpp b/src/drivers/imu/analog_devices/adis16477/ADIS16477.cpp similarity index 100% rename from src/drivers/imu/adis16477/ADIS16477.cpp rename to src/drivers/imu/analog_devices/adis16477/ADIS16477.cpp diff --git a/src/drivers/imu/adis16477/ADIS16477.hpp b/src/drivers/imu/analog_devices/adis16477/ADIS16477.hpp similarity index 100% rename from src/drivers/imu/adis16477/ADIS16477.hpp rename to src/drivers/imu/analog_devices/adis16477/ADIS16477.hpp diff --git a/src/drivers/imu/adis16477/CMakeLists.txt b/src/drivers/imu/analog_devices/adis16477/CMakeLists.txt similarity index 100% rename from src/drivers/imu/adis16477/CMakeLists.txt rename to src/drivers/imu/analog_devices/adis16477/CMakeLists.txt diff --git a/src/drivers/imu/analog_devices/adis16477/Kconfig b/src/drivers/imu/analog_devices/adis16477/Kconfig new file mode 100644 index 000000000000..555128e62188 --- /dev/null +++ b/src/drivers/imu/analog_devices/adis16477/Kconfig @@ -0,0 +1,5 @@ +menuconfig DRIVERS_IMU_ANALOG_DEVICES_ADIS16477 + bool "adis16477" + default n + ---help--- + Enable support for adis16477 diff --git a/src/drivers/imu/adis16477/adis16477_main.cpp b/src/drivers/imu/analog_devices/adis16477/adis16477_main.cpp similarity index 100% rename from src/drivers/imu/adis16477/adis16477_main.cpp rename to src/drivers/imu/analog_devices/adis16477/adis16477_main.cpp diff --git a/src/drivers/imu/adis16497/ADIS16497.cpp b/src/drivers/imu/analog_devices/adis16497/ADIS16497.cpp similarity index 99% rename from src/drivers/imu/adis16497/ADIS16497.cpp rename to src/drivers/imu/analog_devices/adis16497/ADIS16497.cpp index 9b39f4a07101..3d94c4c2c523 100644 --- a/src/drivers/imu/adis16497/ADIS16497.cpp +++ b/src/drivers/imu/analog_devices/adis16497/ADIS16497.cpp @@ -342,9 +342,9 @@ ADIS16497::read_reg16(uint8_t reg) cmd[0] = ((reg | DIR_READ) << 8) & 0xff00; transferhword(cmd, nullptr, 1); - up_udelay(T_STALL); + px4_udelay(T_STALL); transferhword(nullptr, cmd, 1); - up_udelay(T_STALL); + px4_udelay(T_STALL); return cmd[0]; } @@ -367,9 +367,9 @@ ADIS16497::write_reg16(uint8_t reg, uint16_t value) cmd[1] = (((reg + 0x1) | DIR_WRITE) << 8) | ((0xff00 & value) >> 8); transferhword(cmd, nullptr, 1); - up_udelay(T_STALL); + px4_udelay(T_STALL); transferhword(cmd + 1, nullptr, 1); - up_udelay(T_STALL); + px4_udelay(T_STALL); } void diff --git a/src/drivers/imu/adis16497/ADIS16497.hpp b/src/drivers/imu/analog_devices/adis16497/ADIS16497.hpp similarity index 100% rename from src/drivers/imu/adis16497/ADIS16497.hpp rename to src/drivers/imu/analog_devices/adis16497/ADIS16497.hpp diff --git a/src/drivers/imu/adis16497/CMakeLists.txt b/src/drivers/imu/analog_devices/adis16497/CMakeLists.txt similarity index 100% rename from src/drivers/imu/adis16497/CMakeLists.txt rename to src/drivers/imu/analog_devices/adis16497/CMakeLists.txt diff --git a/src/drivers/imu/analog_devices/adis16497/Kconfig b/src/drivers/imu/analog_devices/adis16497/Kconfig new file mode 100644 index 000000000000..bc8a6faf30c2 --- /dev/null +++ b/src/drivers/imu/analog_devices/adis16497/Kconfig @@ -0,0 +1,5 @@ +menuconfig DRIVERS_IMU_ANALOG_DEVICES_ADIS16497 + bool "adis16497" + default n + ---help--- + Enable support for adis16497 diff --git a/src/drivers/imu/adis16497/adis16497_main.cpp b/src/drivers/imu/analog_devices/adis16497/adis16497_main.cpp similarity index 100% rename from src/drivers/imu/adis16497/adis16497_main.cpp rename to src/drivers/imu/analog_devices/adis16497/adis16497_main.cpp diff --git a/src/drivers/imu/analog_devices/adis16507/ADIS16507.cpp b/src/drivers/imu/analog_devices/adis16507/ADIS16507.cpp index 0aa216c940bf..dff2c7f4f8a2 100644 --- a/src/drivers/imu/analog_devices/adis16507/ADIS16507.cpp +++ b/src/drivers/imu/analog_devices/adis16507/ADIS16507.cpp @@ -172,7 +172,9 @@ void ADIS16507::RunImpl() const uint16_t DIAG_STAT = RegisterRead(Register::DIAG_STAT); if (DIAG_STAT != 0) { - PX4_ERR("DIAG_STAT: %#X", DIAG_STAT); + PX4_ERR("self test failed, resetting. DIAG_STAT: %#X", DIAG_STAT); + _state = STATE::RESET; + ScheduleDelayed(3_s); } else { PX4_DEBUG("self test passed"); @@ -283,6 +285,7 @@ void ADIS16507::RunImpl() if (buffer.checksum != checksum) { //PX4_DEBUG("adis_report.checksum: %X vs calculated: %X", buffer.checksum, checksum); perf_count(_bad_transfer_perf); + perf_count(_perf_crc_bad); } if (buffer.DIAG_STAT != DIAG_STAT_BIT::Data_path_overrun) { diff --git a/src/drivers/imu/bosch/Kconfig b/src/drivers/imu/bosch/Kconfig index ec6fdc279578..ddc4a02ed35e 100644 --- a/src/drivers/imu/bosch/Kconfig +++ b/src/drivers/imu/bosch/Kconfig @@ -1,3 +1,3 @@ menu "Bosch" rsource "*/Kconfig" -endmenu +endmenu #Bosch diff --git a/src/drivers/imu/bosch/bmi055/BMI055_Gyroscope.cpp b/src/drivers/imu/bosch/bmi055/BMI055_Gyroscope.cpp index d2ea51453003..cf8a2495ca93 100644 --- a/src/drivers/imu/bosch/bmi055/BMI055_Gyroscope.cpp +++ b/src/drivers/imu/bosch/bmi055/BMI055_Gyroscope.cpp @@ -33,8 +33,6 @@ #include "BMI055_Gyroscope.hpp" -#include - using namespace time_literals; namespace Bosch::BMI055::Gyroscope diff --git a/src/drivers/imu/bosch/bmi088/BMI088_Gyroscope.cpp b/src/drivers/imu/bosch/bmi088/BMI088_Gyroscope.cpp index 5c8714712f56..d945a815f9cd 100644 --- a/src/drivers/imu/bosch/bmi088/BMI088_Gyroscope.cpp +++ b/src/drivers/imu/bosch/bmi088/BMI088_Gyroscope.cpp @@ -33,8 +33,6 @@ #include "BMI088_Gyroscope.hpp" -#include - using namespace time_literals; namespace Bosch::BMI088::Gyroscope diff --git a/src/drivers/imu/bosch/bmi088_i2c/Kconfig b/src/drivers/imu/bosch/bmi088_i2c/Kconfig index b4e48f2da9e8..763070403088 100644 --- a/src/drivers/imu/bosch/bmi088_i2c/Kconfig +++ b/src/drivers/imu/bosch/bmi088_i2c/Kconfig @@ -1,5 +1,6 @@ menuconfig DRIVERS_IMU_BOSCH_BMI088_I2C bool "bosch bmi088_i2c" default n + depends on !DRIVERS_IMU_BOSCH_BMI088 ---help--- Enable support for bosch bmi088_i2c diff --git a/src/drivers/imu/fxas21002c/Kconfig b/src/drivers/imu/fxas21002c/Kconfig deleted file mode 100644 index 15d7c39c814f..000000000000 --- a/src/drivers/imu/fxas21002c/Kconfig +++ /dev/null @@ -1,5 +0,0 @@ -menuconfig DRIVERS_IMU_FXAS21002C - bool "fxas21002c" - default n - ---help--- - Enable support for fxas21002c \ No newline at end of file diff --git a/src/drivers/imu/fxos8701cq/Kconfig b/src/drivers/imu/fxos8701cq/Kconfig deleted file mode 100644 index 697de1dab1ed..000000000000 --- a/src/drivers/imu/fxos8701cq/Kconfig +++ /dev/null @@ -1,5 +0,0 @@ -menuconfig DRIVERS_IMU_FXOS8701CQ - bool "fxos8701cq" - default n - ---help--- - Enable support for fxos8701cq \ No newline at end of file diff --git a/src/drivers/imu/invensense/icm20602/Kconfig b/src/drivers/imu/invensense/icm20602/Kconfig index c3f3c4600feb..903ceb04c3a0 100644 --- a/src/drivers/imu/invensense/icm20602/Kconfig +++ b/src/drivers/imu/invensense/icm20602/Kconfig @@ -2,4 +2,4 @@ menuconfig DRIVERS_IMU_INVENSENSE_ICM20602 bool "icm20602" default n ---help--- - Enable support for icm20602 \ No newline at end of file + Enable support for icm20602 diff --git a/src/drivers/imu/invensense/icm20649/Kconfig b/src/drivers/imu/invensense/icm20649/Kconfig index d00418f23414..d41bad0e5910 100644 --- a/src/drivers/imu/invensense/icm20649/Kconfig +++ b/src/drivers/imu/invensense/icm20649/Kconfig @@ -2,4 +2,4 @@ menuconfig DRIVERS_IMU_INVENSENSE_ICM20649 bool "icm20649" default n ---help--- - Enable support for icm20649 \ No newline at end of file + Enable support for icm20649 diff --git a/src/drivers/imu/invensense/icm20689/Kconfig b/src/drivers/imu/invensense/icm20689/Kconfig index 0b2ab48ba993..385a60b659cd 100644 --- a/src/drivers/imu/invensense/icm20689/Kconfig +++ b/src/drivers/imu/invensense/icm20689/Kconfig @@ -2,4 +2,4 @@ menuconfig DRIVERS_IMU_INVENSENSE_ICM20689 bool "icm20689" default n ---help--- - Enable support for icm20689 \ No newline at end of file + Enable support for icm20689 diff --git a/src/drivers/imu/invensense/icm20948/Kconfig b/src/drivers/imu/invensense/icm20948/Kconfig index 42ac914cbfdf..52a23cf6c71d 100644 --- a/src/drivers/imu/invensense/icm20948/Kconfig +++ b/src/drivers/imu/invensense/icm20948/Kconfig @@ -2,4 +2,4 @@ menuconfig DRIVERS_IMU_INVENSENSE_ICM20948 bool "icm20948" default n ---help--- - Enable support for icm20948 \ No newline at end of file + Enable support for icm20948 diff --git a/src/drivers/imu/invensense/icm40609d/ICM40609D.cpp b/src/drivers/imu/invensense/icm40609d/ICM40609D.cpp index 8dc0f4b79512..28fce0691ce9 100644 --- a/src/drivers/imu/invensense/icm40609d/ICM40609D.cpp +++ b/src/drivers/imu/invensense/icm40609d/ICM40609D.cpp @@ -203,57 +203,45 @@ void ICM40609D::RunImpl() case STATE::FIFO_READ: { hrt_abstime timestamp_sample = now; - uint8_t samples = 0; + uint8_t samples = FIFOReadCount(); - if (_data_ready_interrupt_enabled) { - // scheduled from interrupt if _drdy_timestamp_sample was set as expected - const hrt_abstime drdy_timestamp_sample = _drdy_timestamp_sample.fetch_and(0); - - if ((now - drdy_timestamp_sample) < _fifo_empty_interval_us) { - timestamp_sample = drdy_timestamp_sample; - samples = _fifo_gyro_samples; + if (samples == 0) { + perf_count(_fifo_empty_perf); - } else { - perf_count(_drdy_missed_perf); + } else { + // tolerate minor jitter, leave sample to next iteration if behind by only 1 + if (samples == _fifo_gyro_samples + 1) { + timestamp_sample -= static_cast(FIFO_SAMPLE_DT); + samples--; } - // push backup schedule back - ScheduleDelayed(_fifo_empty_interval_us * 2); - } - - if (samples == 0) { - // check current FIFO count - const uint16_t fifo_count = FIFOReadCount(); - - if (fifo_count >= FIFO::SIZE) { + if (samples > FIFO_MAX_SAMPLES) { + // not technically an overflow, but more samples than we expected or can publish FIFOReset(); perf_count(_fifo_overflow_perf); + samples = 0; + } + } - } else if (fifo_count == 0) { - perf_count(_fifo_empty_perf); + bool success = false; - } else { - // FIFO count (size in bytes) - samples = (fifo_count / sizeof(FIFO::DATA)); + if (samples > 0) { + if (_data_ready_interrupt_enabled) { + // scheduled from interrupt if _drdy_timestamp_sample was set as expected + const hrt_abstime drdy_timestamp_sample = _drdy_timestamp_sample.fetch_and(0); - // tolerate minor jitter, leave sample to next iteration if behind by only 1 - if (samples == _fifo_gyro_samples + 1) { - timestamp_sample -= static_cast(FIFO_SAMPLE_DT); - samples--; - } + if ((now - drdy_timestamp_sample) < _fifo_empty_interval_us) { + timestamp_sample = drdy_timestamp_sample; + samples = _fifo_gyro_samples; - if (samples > FIFO_MAX_SAMPLES) { - // not technically an overflow, but more samples than we expected or can publish - FIFOReset(); - perf_count(_fifo_overflow_perf); - samples = 0; + } else { + perf_count(_drdy_missed_perf); } - } - } - bool success = false; + // push backup schedule back + ScheduleDelayed(_fifo_empty_interval_us * 2); + } - if (samples >= 1) { if (FIFORead(timestamp_sample, samples)) { success = true; @@ -374,17 +362,11 @@ void ICM40609D::ConfigureSampleRate(int sample_rate) void ICM40609D::ConfigureFIFOWatermark(uint8_t samples) { - // FIFO watermark threshold in number of bytes - const uint16_t fifo_watermark_threshold = samples * sizeof(FIFO::DATA); - for (auto &r : _register_bank0_cfg) { if (r.reg == Register::BANK_0::FIFO_CONFIG2) { // FIFO_WM[7:0] FIFO_CONFIG2 - r.set_bits = fifo_watermark_threshold & 0xFF; + r.set_bits = samples & 0xFF; - } else if (r.reg == Register::BANK_0::FIFO_CONFIG3) { - // FIFO_WM[11:8] FIFO_CONFIG3 - r.set_bits = (fifo_watermark_threshold >> 8) & 0x0F; } } } @@ -537,25 +519,10 @@ bool ICM40609D::FIFORead(const hrt_abstime ×tamp_sample, uint8_t samples) return false; } - const uint16_t fifo_count_bytes = combine(buffer.FIFO_COUNTH, buffer.FIFO_COUNTL); - - if (fifo_count_bytes >= FIFO::SIZE) { - perf_count(_fifo_overflow_perf); - FIFOReset(); - return false; - } - - const uint8_t fifo_count_samples = fifo_count_bytes / sizeof(FIFO::DATA); - - if (fifo_count_samples == 0) { - perf_count(_fifo_empty_perf); - return false; - } - // check FIFO header in every sample uint8_t valid_samples = 0; - for (int i = 0; i < math::min(samples, fifo_count_samples); i++) { + for (int i = 0; i < samples; i++) { bool valid = true; // With FIFO_ACCEL_EN and FIFO_GYRO_EN header should be 8’b_0110_10xx @@ -599,6 +566,9 @@ void ICM40609D::FIFOReset() // SIGNAL_PATH_RESET: FIFO flush RegisterSetBits(Register::BANK_0::SIGNAL_PATH_RESET, SIGNAL_PATH_RESET_BIT::FIFO_FLUSH); + // Read INT_STATUS to clear + RegisterRead(Register::BANK_0::INT_STATUS); + // reset while FIFO is disabled _drdy_timestamp_sample.store(0); } diff --git a/src/drivers/imu/invensense/icm40609d/ICM40609D.hpp b/src/drivers/imu/invensense/icm40609d/ICM40609D.hpp index ab6fcfa1f27b..8dee6c2fb793 100644 --- a/src/drivers/imu/invensense/icm40609d/ICM40609D.hpp +++ b/src/drivers/imu/invensense/icm40609d/ICM40609D.hpp @@ -160,10 +160,11 @@ class ICM40609D : public device::SPI, public I2CSPIDriver int32_t _fifo_gyro_samples{static_cast(_fifo_empty_interval_us / (1000000 / GYRO_RATE))}; uint8_t _checked_register_bank0{0}; - static constexpr uint8_t size_register_bank0_cfg{10}; + static constexpr uint8_t size_register_bank0_cfg{11}; register_bank0_config_t _register_bank0_cfg[size_register_bank0_cfg] { // Register | Set bits, Clear bits { Register::BANK_0::INT_CONFIG, INT_CONFIG_BIT::INT1_MODE | INT_CONFIG_BIT::INT1_DRIVE_CIRCUIT, INT_CONFIG_BIT::INT1_POLARITY }, + { Register::BANK_0::INTF_CONFIG0, INTF_CONFIG0_BIT::FIFO_COUNT_REC | INTF_CONFIG0_BIT::UI_SIFS_CFG_DISABLE_I2C, 0}, { Register::BANK_0::FIFO_CONFIG, FIFO_CONFIG_BIT::FIFO_MODE_STOP_ON_FULL, 0 }, { Register::BANK_0::PWR_MGMT0, PWR_MGMT0_BIT::GYRO_MODE_LOW_NOISE | PWR_MGMT0_BIT::ACCEL_MODE_LOW_NOISE, 0 }, { Register::BANK_0::GYRO_CONFIG0, GYRO_CONFIG0_BIT::GYRO_ODR_8kHz, Bit7 | Bit6 | Bit5 | Bit3 | Bit2 }, diff --git a/src/drivers/imu/invensense/icm40609d/InvenSense_ICM40609D_registers.hpp b/src/drivers/imu/invensense/icm40609d/InvenSense_ICM40609D_registers.hpp index 4d359526ba92..e9880ec8cdd0 100644 --- a/src/drivers/imu/invensense/icm40609d/InvenSense_ICM40609D_registers.hpp +++ b/src/drivers/imu/invensense/icm40609d/InvenSense_ICM40609D_registers.hpp @@ -82,6 +82,8 @@ enum class BANK_0 : uint8_t { SIGNAL_PATH_RESET = 0x4B, + INTF_CONFIG0 = 0x4C, + PWR_MGMT0 = 0x4E, GYRO_CONFIG0 = 0x4F, ACCEL_CONFIG0 = 0x50, @@ -132,6 +134,16 @@ enum SIGNAL_PATH_RESET_BIT : uint8_t { FIFO_FLUSH = Bit1, }; +// INTF_CONFIG0 +enum INTF_CONFIG0_BIT : uint8_t { + FIFO_HOLD_LAST_DATA_EN = Bit7, + FIFO_COUNT_REC = Bit6, + FIFO_COUNT_ENDIAN = Bit5, + SENSOR_DATA_ENDIAN = Bit4, + UI_SIFS_CFG_DISABLE_SPI = Bit1, + UI_SIFS_CFG_DISABLE_I2C = Bit1 | Bit0 +}; + // PWR_MGMT0 enum PWR_MGMT0_BIT : uint8_t { GYRO_MODE_LOW_NOISE = Bit3 | Bit2, // 11: Places gyroscope in Low Noise (LN) Mode diff --git a/src/drivers/imu/invensense/icm40609d/Kconfig b/src/drivers/imu/invensense/icm40609d/Kconfig index 0981df7fbdab..553be597f32f 100644 --- a/src/drivers/imu/invensense/icm40609d/Kconfig +++ b/src/drivers/imu/invensense/icm40609d/Kconfig @@ -2,4 +2,4 @@ menuconfig DRIVERS_IMU_INVENSENSE_ICM40609D bool "icm40609d" default n ---help--- - Enable support for icm40609d \ No newline at end of file + Enable support for icm40609d diff --git a/src/drivers/imu/invensense/icm42605/Kconfig b/src/drivers/imu/invensense/icm42605/Kconfig index a280b6da6c69..16edc88a1829 100644 --- a/src/drivers/imu/invensense/icm42605/Kconfig +++ b/src/drivers/imu/invensense/icm42605/Kconfig @@ -2,4 +2,4 @@ menuconfig DRIVERS_IMU_INVENSENSE_ICM42605 bool "icm42605" default n ---help--- - Enable support for icm42605 \ No newline at end of file + Enable support for icm42605 diff --git a/src/drivers/imu/invensense/icm42688p/ICM42688P.cpp b/src/drivers/imu/invensense/icm42688p/ICM42688P.cpp index b123768e0bff..382bd74fb313 100644 --- a/src/drivers/imu/invensense/icm42688p/ICM42688P.cpp +++ b/src/drivers/imu/invensense/icm42688p/ICM42688P.cpp @@ -126,8 +126,9 @@ int ICM42688P::probe() { for (int i = 0; i < 3; i++) { uint8_t whoami = RegisterRead(Register::BANK_0::WHO_AM_I); + uint8_t expected_whoami = isICM686 ? WHOAMI686 : WHOAMI; - if (whoami == WHOAMI || (isICM686 && whoami == WHOAMI686)) { + if (whoami == expected_whoami) { return PX4_OK; } else { @@ -356,7 +357,7 @@ void ICM42688P::ConfigureCLKIN() { for (auto &r0 : _register_bank0_cfg) { if (r0.reg == Register::BANK_0::INTF_CONFIG1) { - r0.set_bits = INTF_CONFIG1_BIT::RTC_MODE; + r0.set_bits = r0.set_bits | INTF_CONFIG1_BIT::RTC_MODE; } } diff --git a/src/drivers/imu/invensense/icm42688p/ICM42688P.hpp b/src/drivers/imu/invensense/icm42688p/ICM42688P.hpp index a04e74e70784..a2fc22a9f2e0 100644 --- a/src/drivers/imu/invensense/icm42688p/ICM42688P.hpp +++ b/src/drivers/imu/invensense/icm42688p/ICM42688P.hpp @@ -88,7 +88,7 @@ class ICM42688P : public device::SPI, public I2CSPIDriver FIFO::DATA f[FIFO_MAX_SAMPLES] {}; }; // ensure no struct padding - static_assert(sizeof(FIFOTransferBuffer) == (4 + FIFO_MAX_SAMPLES *sizeof(FIFO::DATA))); + static_assert(sizeof(FIFOTransferBuffer) == (4 + FIFO_MAX_SAMPLES *sizeof(FIFO::DATA)), "Invalid transfer buffer size"); struct register_bank0_config_t { Register::BANK_0 reg; @@ -179,12 +179,13 @@ class ICM42688P : public device::SPI, public I2CSPIDriver int32_t _fifo_gyro_samples{static_cast(_fifo_empty_interval_us / (1000000 / GYRO_RATE))}; uint8_t _checked_register_bank0{0}; - static constexpr uint8_t size_register_bank0_cfg{16}; + static constexpr uint8_t size_register_bank0_cfg{17}; register_bank0_config_t _register_bank0_cfg[size_register_bank0_cfg] { // Register | Set bits, Clear bits { Register::BANK_0::INT_CONFIG, INT_CONFIG_BIT::INT1_MODE | INT_CONFIG_BIT::INT1_DRIVE_CIRCUIT, INT_CONFIG_BIT::INT1_POLARITY }, { Register::BANK_0::FIFO_CONFIG, FIFO_CONFIG_BIT::FIFO_MODE_STOP_ON_FULL, 0 }, - { Register::BANK_0::INTF_CONFIG1, 0, 0}, // RTC_MODE[2] set at runtime + { Register::BANK_0::INTF_CONFIG0, INTF_CONFIG0_BIT::FIFO_COUNT_ENDIAN | INTF_CONFIG0_BIT::SENSOR_DATA_ENDIAN | INTF_CONFIG0_BIT::UI_SIFS_CFG_DISABLE_I2C, 0}, + { Register::BANK_0::INTF_CONFIG1, INTF_CONFIG1_BIT::AFSR_SET, INTF_CONFIG1_BIT::AFSR_CLEAR}, // RTC_MODE[2] set at runtime { Register::BANK_0::PWR_MGMT0, PWR_MGMT0_BIT::GYRO_MODE_LOW_NOISE | PWR_MGMT0_BIT::ACCEL_MODE_LOW_NOISE, 0 }, { Register::BANK_0::GYRO_CONFIG0, GYRO_CONFIG0_BIT::GYRO_FS_SEL_2000_DPS | GYRO_CONFIG0_BIT::GYRO_ODR_8KHZ_SET, GYRO_CONFIG0_BIT::GYRO_ODR_8KHZ_CLEAR }, { Register::BANK_0::ACCEL_CONFIG0, ACCEL_CONFIG0_BIT::ACCEL_FS_SEL_16G | ACCEL_CONFIG0_BIT::ACCEL_ODR_8KHZ_SET, ACCEL_CONFIG0_BIT::ACCEL_ODR_8KHZ_CLEAR }, diff --git a/src/drivers/imu/invensense/icm42688p/InvenSense_ICM42688P_registers.hpp b/src/drivers/imu/invensense/icm42688p/InvenSense_ICM42688P_registers.hpp index 6c407216f044..c6e9d6ca2913 100644 --- a/src/drivers/imu/invensense/icm42688p/InvenSense_ICM42688P_registers.hpp +++ b/src/drivers/imu/invensense/icm42688p/InvenSense_ICM42688P_registers.hpp @@ -159,7 +159,19 @@ enum SIGNAL_PATH_RESET_BIT : uint8_t { FIFO_FLUSH = Bit1, }; +// INTF_CONFIG0 +enum INTF_CONFIG0_BIT : uint8_t { + FIFO_HOLD_LAST_DATA_EN = Bit7, + FIFO_COUNT_REC = Bit6, + FIFO_COUNT_ENDIAN = Bit5, + SENSOR_DATA_ENDIAN = Bit4, + UI_SIFS_CFG_DISABLE_I2C = Bit1 | Bit0, +}; + +// INTF_CONFIG1 enum INTF_CONFIG1_BIT : uint8_t { + AFSR_CLEAR = Bit7, // 10: adaptive full scale range on by default, 01: off + AFSR_SET = Bit6, RTC_MODE = Bit2, // 0: No input RTC clock is required, 1: RTC clock input is required CLKSEL = Bit0, CLKSEL_CLEAR = Bit1, diff --git a/src/drivers/imu/invensense/icm42688p/Kconfig b/src/drivers/imu/invensense/icm42688p/Kconfig index 2c565ed51ee0..235a888dfec2 100644 --- a/src/drivers/imu/invensense/icm42688p/Kconfig +++ b/src/drivers/imu/invensense/icm42688p/Kconfig @@ -2,4 +2,4 @@ menuconfig DRIVERS_IMU_INVENSENSE_ICM42688P bool "icm42688p" default n ---help--- - Enable support for icm42688p \ No newline at end of file + Enable support for icm42688p diff --git a/src/drivers/imu/invensense/icm45686/ICM45686.cpp b/src/drivers/imu/invensense/icm45686/ICM45686.cpp index 07fdf6633a86..1bd2a1283450 100644 --- a/src/drivers/imu/invensense/icm45686/ICM45686.cpp +++ b/src/drivers/imu/invensense/icm45686/ICM45686.cpp @@ -522,7 +522,7 @@ void ICM45686::ProcessAccel(const hrt_abstime ×tamp_sample, const FIFO::DAT accel.dt = (float)timestamp_fifo * ((1.f / _input_clock_freq) * 1e6f); } else { - accel.dt = FIFO_TIMESTAMP_SCALING; + accel.dt = FIFO_SAMPLE_DT; } // 20 bit hires mode @@ -634,7 +634,7 @@ void ICM45686::ProcessGyro(const hrt_abstime ×tamp_sample, const FIFO::DATA gyro.dt = (float)timestamp_fifo * ((1.f / _input_clock_freq) * 1e6f); } else { - gyro.dt = FIFO_TIMESTAMP_SCALING; + gyro.dt = FIFO_SAMPLE_DT; } // 20 bit hires mode diff --git a/src/drivers/imu/invensense/icm45686/ICM45686.hpp b/src/drivers/imu/invensense/icm45686/ICM45686.hpp index f370808772e1..efcc485b7152 100644 --- a/src/drivers/imu/invensense/icm45686/ICM45686.hpp +++ b/src/drivers/imu/invensense/icm45686/ICM45686.hpp @@ -70,7 +70,7 @@ class ICM45686 : public device::SPI, public I2CSPIDriver void exit_and_cleanup() override; // Sensor Configuration - static constexpr float FIFO_SAMPLE_DT{1e6f / 8000.f}; // 8000 Hz accel & gyro ODR configured + static constexpr float FIFO_SAMPLE_DT{1e6f / 6400.f}; // 6400 Hz accel & gyro ODR configured static constexpr float GYRO_RATE{1e6f / FIFO_SAMPLE_DT}; static constexpr float ACCEL_RATE{1e6f / FIFO_SAMPLE_DT}; diff --git a/src/drivers/imu/invensense/icm45686/Kconfig b/src/drivers/imu/invensense/icm45686/Kconfig index 880baaa3c09e..ed294917e7dc 100644 --- a/src/drivers/imu/invensense/icm45686/Kconfig +++ b/src/drivers/imu/invensense/icm45686/Kconfig @@ -2,4 +2,4 @@ menuconfig DRIVERS_IMU_INVENSENSE_ICM45686 bool "icm45686" default n ---help--- - Enable support for icm45686 \ No newline at end of file + Enable support for icm45686 diff --git a/src/drivers/imu/invensense/icm45686/icm45686_main.cpp b/src/drivers/imu/invensense/icm45686/icm45686_main.cpp index 8cf88e059754..1951acd9895e 100644 --- a/src/drivers/imu/invensense/icm45686/icm45686_main.cpp +++ b/src/drivers/imu/invensense/icm45686/icm45686_main.cpp @@ -38,7 +38,7 @@ void ICM45686::print_usage() { - PRINT_MODULE_USAGE_NAME("icm42688p", "driver"); + PRINT_MODULE_USAGE_NAME("icm45686", "driver"); PRINT_MODULE_USAGE_SUBCATEGORY("imu"); PRINT_MODULE_USAGE_COMMAND("start"); PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(false, true); diff --git a/src/drivers/imu/invensense/iim42652/IIM42652.cpp b/src/drivers/imu/invensense/iim42652/IIM42652.cpp index 69e3075ea2b7..afc6e551b7d7 100644 --- a/src/drivers/imu/invensense/iim42652/IIM42652.cpp +++ b/src/drivers/imu/invensense/iim42652/IIM42652.cpp @@ -353,7 +353,7 @@ void IIM42652::ConfigureCLKIN() { for (auto &r0 : _register_bank0_cfg) { if (r0.reg == Register::BANK_0::INTF_CONFIG1) { - r0.set_bits = INTF_CONFIG1_BIT::RTC_MODE; + r0.set_bits = r0.set_bits | INTF_CONFIG1_BIT::RTC_MODE; } } diff --git a/src/drivers/imu/invensense/iim42652/IIM42652.hpp b/src/drivers/imu/invensense/iim42652/IIM42652.hpp index 65e286e3ed68..063a94050f1e 100644 --- a/src/drivers/imu/invensense/iim42652/IIM42652.hpp +++ b/src/drivers/imu/invensense/iim42652/IIM42652.hpp @@ -184,7 +184,7 @@ class IIM42652 : public device::SPI, public I2CSPIDriver // Register | Set bits, Clear bits { Register::BANK_0::INT_CONFIG, INT_CONFIG_BIT::INT1_MODE | INT_CONFIG_BIT::INT1_DRIVE_CIRCUIT, INT_CONFIG_BIT::INT1_POLARITY }, { Register::BANK_0::FIFO_CONFIG, FIFO_CONFIG_BIT::FIFO_MODE_STOP_ON_FULL, 0 }, - { Register::BANK_0::INTF_CONFIG1, 0, 0}, // RTC_MODE[2] set at runtime + { Register::BANK_0::INTF_CONFIG1, INTF_CONFIG1_BIT::AFSR_SET, INTF_CONFIG1_BIT::AFSR_CLEAR}, // RTC_MODE[2] set at runtime { Register::BANK_0::PWR_MGMT0, PWR_MGMT0_BIT::GYRO_MODE_LOW_NOISE | PWR_MGMT0_BIT::ACCEL_MODE_LOW_NOISE, 0 }, { Register::BANK_0::GYRO_CONFIG0, GYRO_CONFIG0_BIT::GYRO_FS_SEL_2000_DPS | GYRO_CONFIG0_BIT::GYRO_ODR_8KHZ_SET, GYRO_CONFIG0_BIT::GYRO_ODR_8KHZ_CLEAR }, { Register::BANK_0::ACCEL_CONFIG0, ACCEL_CONFIG0_BIT::ACCEL_FS_SEL_16G | ACCEL_CONFIG0_BIT::ACCEL_ODR_8KHZ_SET, ACCEL_CONFIG0_BIT::ACCEL_ODR_8KHZ_CLEAR }, diff --git a/src/drivers/imu/invensense/iim42652/InvenSense_IIM42652_registers.hpp b/src/drivers/imu/invensense/iim42652/InvenSense_IIM42652_registers.hpp index cd328745eeb6..cc0d04b2f493 100644 --- a/src/drivers/imu/invensense/iim42652/InvenSense_IIM42652_registers.hpp +++ b/src/drivers/imu/invensense/iim42652/InvenSense_IIM42652_registers.hpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2022 PX4 Development Team. All rights reserved. + * Copyright (c) 2023 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -159,6 +159,8 @@ enum SIGNAL_PATH_RESET_BIT : uint8_t { }; enum INTF_CONFIG1_BIT : uint8_t { + AFSR_CLEAR = Bit7, // 10: adaptive full scale range on by default, 01: off + AFSR_SET = Bit6, RTC_MODE = Bit2, // 0: No input RTC clock is required, 1: RTC clock input is required CLKSEL = Bit0, CLKSEL_CLEAR = Bit1, diff --git a/src/drivers/imu/invensense/iim42653/CMakeLists.txt b/src/drivers/imu/invensense/iim42653/CMakeLists.txt new file mode 100644 index 000000000000..4f0e7a798662 --- /dev/null +++ b/src/drivers/imu/invensense/iim42653/CMakeLists.txt @@ -0,0 +1,48 @@ +############################################################################ +# +# Copyright (c) 2022 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ +px4_add_module( + MODULE drivers__imu__invensense__iim42653 + MAIN iim42653 + COMPILE_FLAGS + ${MAX_CUSTOM_OPT_LEVEL} + #-DDEBUG_BUILD + SRCS + iim42653_main.cpp + IIM42653.cpp + IIM42653.hpp + InvenSense_IIM42653_registers.hpp + DEPENDS + px4_work_queue + drivers_accelerometer + drivers_gyroscope + ) diff --git a/src/drivers/imu/invensense/iim42653/IIM42653.cpp b/src/drivers/imu/invensense/iim42653/IIM42653.cpp new file mode 100644 index 000000000000..4d5c2f6db867 --- /dev/null +++ b/src/drivers/imu/invensense/iim42653/IIM42653.cpp @@ -0,0 +1,860 @@ +/**************************************************************************** + * + * Copyright (c) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include "IIM42653.hpp" + +using namespace time_literals; + +static constexpr int16_t combine(uint8_t msb, uint8_t lsb) +{ + return (msb << 8u) | lsb; +} + +static constexpr uint16_t combine_uint(uint8_t msb, uint8_t lsb) +{ + return (msb << 8u) | lsb; +} + +IIM42653::IIM42653(const I2CSPIDriverConfig &config) : + SPI(config), + I2CSPIDriver(config), + _drdy_gpio(config.drdy_gpio), + _px4_accel(get_device_id(), config.rotation), + _px4_gyro(get_device_id(), config.rotation) +{ + if (config.drdy_gpio != 0) { + _drdy_missed_perf = perf_alloc(PC_COUNT, MODULE_NAME": DRDY missed"); + } + + if (config.custom1 != 0) { + _enable_clock_input = true; + _input_clock_freq = config.custom1; + ConfigureCLKIN(); + + } else { + _enable_clock_input = false; + } + + ConfigureSampleRate(_px4_gyro.get_max_rate_hz()); +} + +IIM42653::~IIM42653() +{ + perf_free(_bad_register_perf); + perf_free(_bad_transfer_perf); + perf_free(_fifo_empty_perf); + perf_free(_fifo_overflow_perf); + perf_free(_fifo_reset_perf); + perf_free(_drdy_missed_perf); +} + +int IIM42653::init() +{ + int ret = SPI::init(); + + if (ret != PX4_OK) { + DEVICE_DEBUG("SPI::init failed (%i)", ret); + return ret; + } + + return Reset() ? 0 : -1; +} + +bool IIM42653::Reset() +{ + _state = STATE::RESET; + DataReadyInterruptDisable(); + ScheduleClear(); + ScheduleNow(); + return true; +} + +void IIM42653::exit_and_cleanup() +{ + DataReadyInterruptDisable(); + I2CSPIDriverBase::exit_and_cleanup(); +} + +void IIM42653::print_status() +{ + I2CSPIDriverBase::print_status(); + + PX4_INFO("FIFO empty interval: %d us (%.1f Hz)", _fifo_empty_interval_us, 1e6 / _fifo_empty_interval_us); + PX4_INFO("Clock input: %s", _enable_clock_input ? "enabled" : "disabled"); + + perf_print_counter(_bad_register_perf); + perf_print_counter(_bad_transfer_perf); + perf_print_counter(_fifo_empty_perf); + perf_print_counter(_fifo_overflow_perf); + perf_print_counter(_fifo_reset_perf); + perf_print_counter(_drdy_missed_perf); +} + +int IIM42653::probe() +{ + for (int i = 0; i < 3; i++) { + uint8_t whoami = RegisterRead(Register::BANK_0::WHO_AM_I); + + if (whoami == WHOAMI) { + return PX4_OK; + + } else { + DEVICE_DEBUG("unexpected WHO_AM_I 0x%02x", whoami); + + uint8_t reg_bank_sel = RegisterRead(Register::BANK_0::REG_BANK_SEL); + int bank = reg_bank_sel >> 4; + + if (bank >= 1 && bank <= 3) { + DEVICE_DEBUG("incorrect register bank for WHO_AM_I REG_BANK_SEL:0x%02x, bank:%d", reg_bank_sel, bank); + // force bank selection and retry + SelectRegisterBank(REG_BANK_SEL_BIT::BANK_SEL_0, true); + } + } + } + + return PX4_ERROR; +} + +void IIM42653::RunImpl() +{ + const hrt_abstime now = hrt_absolute_time(); + + switch (_state) { + case STATE::RESET: + // DEVICE_CONFIG: Software reset configuration + RegisterWrite(Register::BANK_0::DEVICE_CONFIG, DEVICE_CONFIG_BIT::SOFT_RESET_CONFIG); + _reset_timestamp = now; + _failure_count = 0; + _state = STATE::WAIT_FOR_RESET; + ScheduleDelayed(1_ms); // wait 1 ms for soft reset to be effective + break; + + case STATE::WAIT_FOR_RESET: + if ((RegisterRead(Register::BANK_0::WHO_AM_I) == WHOAMI) + && (RegisterRead(Register::BANK_0::DEVICE_CONFIG) == 0x00) + && (RegisterRead(Register::BANK_0::INT_STATUS) & INT_STATUS_BIT::RESET_DONE_INT)) { + + // Wakeup accel and gyro and schedule remaining configuration + RegisterWrite(Register::BANK_0::PWR_MGMT0, PWR_MGMT0_BIT::GYRO_MODE_LOW_NOISE | PWR_MGMT0_BIT::ACCEL_MODE_LOW_NOISE); + _state = STATE::CONFIGURE; + ScheduleDelayed(30_ms); // 30 ms gyro startup time, 10 ms accel from sleep to valid data + + } else { + // RESET not complete + if (hrt_elapsed_time(&_reset_timestamp) > 1000_ms) { + PX4_DEBUG("Reset failed, retrying"); + _state = STATE::RESET; + ScheduleDelayed(100_ms); + + } else { + PX4_DEBUG("Reset not complete, check again in 10 ms"); + ScheduleDelayed(10_ms); + } + } + + break; + + case STATE::CONFIGURE: + if (Configure()) { + // if configure succeeded then reset the FIFO + _state = STATE::FIFO_RESET; + ScheduleDelayed(1_ms); + + } else { + // CONFIGURE not complete + if (hrt_elapsed_time(&_reset_timestamp) > 1000_ms) { + PX4_DEBUG("Configure failed, resetting"); + _state = STATE::RESET; + + } else { + PX4_DEBUG("Configure failed, retrying"); + } + + ScheduleDelayed(100_ms); + } + + break; + + case STATE::FIFO_RESET: + + _state = STATE::FIFO_READ; + FIFOReset(); + + if (DataReadyInterruptConfigure()) { + _data_ready_interrupt_enabled = true; + + // backup schedule as a watchdog timeout + ScheduleDelayed(100_ms); + + } else { + _data_ready_interrupt_enabled = false; + ScheduleOnInterval(_fifo_empty_interval_us, _fifo_empty_interval_us); + } + + break; + + case STATE::FIFO_READ: { + hrt_abstime timestamp_sample = now; + uint8_t samples = 0; + + if (_data_ready_interrupt_enabled) { + // scheduled from interrupt if _drdy_timestamp_sample was set as expected + const hrt_abstime drdy_timestamp_sample = _drdy_timestamp_sample.fetch_and(0); + + if ((now - drdy_timestamp_sample) < _fifo_empty_interval_us) { + timestamp_sample = drdy_timestamp_sample; + samples = _fifo_gyro_samples; + + } else { + perf_count(_drdy_missed_perf); + } + + // push backup schedule back + ScheduleDelayed(_fifo_empty_interval_us * 2); + } + + if (samples == 0) { + // check current FIFO count + const uint16_t fifo_count = FIFOReadCount(); + + if (fifo_count >= FIFO::SIZE) { + FIFOReset(); + perf_count(_fifo_overflow_perf); + + } else if (fifo_count == 0) { + perf_count(_fifo_empty_perf); + + } else { + // FIFO count (size in bytes) + samples = (fifo_count / sizeof(FIFO::DATA)); + + // tolerate minor jitter, leave sample to next iteration if behind by only 1 + if (samples == _fifo_gyro_samples + 1) { + timestamp_sample -= static_cast(FIFO_SAMPLE_DT); + samples--; + } + + if (samples > FIFO_MAX_SAMPLES) { + // not technically an overflow, but more samples than we expected or can publish + FIFOReset(); + perf_count(_fifo_overflow_perf); + samples = 0; + } + } + } + + bool success = false; + + if (samples >= 1) { + if (FIFORead(timestamp_sample, samples)) { + success = true; + + if (_failure_count > 0) { + _failure_count--; + } + } + } + + if (!success) { + _failure_count++; + + // full reset if things are failing consistently + if (_failure_count > 10) { + Reset(); + return; + } + } + + if (!success || hrt_elapsed_time(&_last_config_check_timestamp) > 100_ms) { + // check configuration registers periodically or immediately following any failure + if (RegisterCheck(_register_bank0_cfg[_checked_register_bank0]) + && RegisterCheck(_register_bank1_cfg[_checked_register_bank1]) + && RegisterCheck(_register_bank2_cfg[_checked_register_bank2]) + ) { + _last_config_check_timestamp = now; + _checked_register_bank0 = (_checked_register_bank0 + 1) % size_register_bank0_cfg; + _checked_register_bank1 = (_checked_register_bank1 + 1) % size_register_bank1_cfg; + _checked_register_bank2 = (_checked_register_bank2 + 1) % size_register_bank2_cfg; + + } else { + // register check failed, force reset + perf_count(_bad_register_perf); + Reset(); + } + } + } + + break; + } +} + +void IIM42653::ConfigureSampleRate(int sample_rate) +{ + // round down to nearest FIFO sample dt + const float min_interval = FIFO_SAMPLE_DT; + _fifo_empty_interval_us = math::max(roundf((1e6f / (float)sample_rate) / min_interval) * min_interval, min_interval); + + _fifo_gyro_samples = roundf(math::min((float)_fifo_empty_interval_us / (1e6f / GYRO_RATE), (float)FIFO_MAX_SAMPLES)); + + // recompute FIFO empty interval (us) with actual gyro sample limit + _fifo_empty_interval_us = _fifo_gyro_samples * (1e6f / GYRO_RATE); + + ConfigureFIFOWatermark(_fifo_gyro_samples); +} + +void IIM42653::ConfigureFIFOWatermark(uint8_t samples) +{ + // FIFO watermark threshold in number of bytes + const uint16_t fifo_watermark_threshold = samples * sizeof(FIFO::DATA); + + for (auto &r : _register_bank0_cfg) { + if (r.reg == Register::BANK_0::FIFO_CONFIG2) { + // FIFO_WM[7:0] FIFO_CONFIG2 + r.set_bits = fifo_watermark_threshold & 0xFF; + + } else if (r.reg == Register::BANK_0::FIFO_CONFIG3) { + // FIFO_WM[11:8] FIFO_CONFIG3 + r.set_bits = (fifo_watermark_threshold >> 8) & 0x0F; + } + } +} + +void IIM42653::ConfigureCLKIN() +{ + for (auto &r0 : _register_bank0_cfg) { + if (r0.reg == Register::BANK_0::INTF_CONFIG1) { + r0.set_bits = r0.set_bits | INTF_CONFIG1_BIT::RTC_MODE | INTF_CONFIG1_BIT::CLKSEL; + r0.clear_bits = r0.clear_bits | INTF_CONFIG1_BIT::CLKSEL_CLEAR; + } + } + + for (auto &r1 : _register_bank1_cfg) { + if (r1.reg == Register::BANK_1::INTF_CONFIG5) { + r1.set_bits = INTF_CONFIG5_BIT::PIN9_FUNCTION_CLKIN_SET; + r1.clear_bits = INTF_CONFIG5_BIT::PIN9_FUNCTION_CLKIN_CLEAR; + } + } +} + +void IIM42653::SelectRegisterBank(enum REG_BANK_SEL_BIT bank, bool force) +{ + if (bank != _last_register_bank || force) { + // select BANK_0 + uint8_t cmd_bank_sel[2] {}; + cmd_bank_sel[0] = static_cast(Register::BANK_0::REG_BANK_SEL); + cmd_bank_sel[1] = bank; + transfer(cmd_bank_sel, cmd_bank_sel, sizeof(cmd_bank_sel)); + + _last_register_bank = bank; + } +} + +bool IIM42653::Configure() +{ + // first set and clear all configured register bits + for (const auto ®_cfg : _register_bank0_cfg) { + RegisterSetAndClearBits(reg_cfg.reg, reg_cfg.set_bits, reg_cfg.clear_bits); + } + + for (const auto ®_cfg : _register_bank1_cfg) { + RegisterSetAndClearBits(reg_cfg.reg, reg_cfg.set_bits, reg_cfg.clear_bits); + } + + for (const auto ®_cfg : _register_bank2_cfg) { + RegisterSetAndClearBits(reg_cfg.reg, reg_cfg.set_bits, reg_cfg.clear_bits); + } + + // now check that all are configured + bool success = true; + + for (const auto ®_cfg : _register_bank0_cfg) { + if (!RegisterCheck(reg_cfg)) { + success = false; + } + } + + for (const auto ®_cfg : _register_bank1_cfg) { + if (!RegisterCheck(reg_cfg)) { + success = false; + } + } + + for (const auto ®_cfg : _register_bank2_cfg) { + if (!RegisterCheck(reg_cfg)) { + success = false; + } + } + + // 20-bits data format used + // the only FSR settings that are operational are ±2000dps for gyroscope and ±16g for accelerometer + _px4_accel.set_range(16.f * CONSTANTS_ONE_G); + _px4_gyro.set_range(math::radians(2000.f)); + + return success; +} + +int IIM42653::DataReadyInterruptCallback(int irq, void *context, void *arg) +{ + static_cast(arg)->DataReady(); + return 0; +} + +void IIM42653::DataReady() +{ + _drdy_timestamp_sample.store(hrt_absolute_time()); + ScheduleNow(); +} + +bool IIM42653::DataReadyInterruptConfigure() +{ + if (_drdy_gpio == 0) { + return false; + } + + // Setup data ready on falling edge + return px4_arch_gpiosetevent(_drdy_gpio, false, true, true, &DataReadyInterruptCallback, this) == 0; +} + +bool IIM42653::DataReadyInterruptDisable() +{ + if (_drdy_gpio == 0) { + return false; + } + + return px4_arch_gpiosetevent(_drdy_gpio, false, false, false, nullptr, nullptr) == 0; +} + +template +bool IIM42653::RegisterCheck(const T ®_cfg) +{ + bool success = true; + + const uint8_t reg_value = RegisterRead(reg_cfg.reg); + + if (reg_cfg.set_bits && ((reg_value & reg_cfg.set_bits) != reg_cfg.set_bits)) { + PX4_DEBUG("0x%02hhX: 0x%02hhX (0x%02hhX not set)", (uint8_t)reg_cfg.reg, reg_value, reg_cfg.set_bits); + success = false; + } + + if (reg_cfg.clear_bits && ((reg_value & reg_cfg.clear_bits) != 0)) { + PX4_DEBUG("0x%02hhX: 0x%02hhX (0x%02hhX not cleared)", (uint8_t)reg_cfg.reg, reg_value, reg_cfg.clear_bits); + success = false; + } + + return success; +} + +template +uint8_t IIM42653::RegisterRead(T reg) +{ + uint8_t cmd[2] {}; + cmd[0] = static_cast(reg) | DIR_READ; + SelectRegisterBank(reg); + transfer(cmd, cmd, sizeof(cmd)); + return cmd[1]; +} + +template +void IIM42653::RegisterWrite(T reg, uint8_t value) +{ + uint8_t cmd[2] { (uint8_t)reg, value }; + SelectRegisterBank(reg); + transfer(cmd, cmd, sizeof(cmd)); +} + +template +void IIM42653::RegisterSetAndClearBits(T reg, uint8_t setbits, uint8_t clearbits) +{ + const uint8_t orig_val = RegisterRead(reg); + + uint8_t val = (orig_val & ~clearbits) | setbits; + + if (orig_val != val) { + RegisterWrite(reg, val); + } +} + +uint16_t IIM42653::FIFOReadCount() +{ + // read FIFO count + uint8_t fifo_count_buf[3] {}; + fifo_count_buf[0] = static_cast(Register::BANK_0::FIFO_COUNTH) | DIR_READ; + SelectRegisterBank(REG_BANK_SEL_BIT::BANK_SEL_0); + + if (transfer(fifo_count_buf, fifo_count_buf, sizeof(fifo_count_buf)) != PX4_OK) { + perf_count(_bad_transfer_perf); + return 0; + } + + return combine(fifo_count_buf[1], fifo_count_buf[2]); +} + +bool IIM42653::FIFORead(const hrt_abstime ×tamp_sample, uint8_t samples) +{ + FIFOTransferBuffer buffer{}; + const size_t transfer_size = math::min(samples * sizeof(FIFO::DATA) + 4, FIFO::SIZE); + SelectRegisterBank(REG_BANK_SEL_BIT::BANK_SEL_0); + + if (transfer((uint8_t *)&buffer, (uint8_t *)&buffer, transfer_size) != PX4_OK) { + perf_count(_bad_transfer_perf); + return false; + } + + if (buffer.INT_STATUS & INT_STATUS_BIT::FIFO_FULL_INT) { + perf_count(_fifo_overflow_perf); + FIFOReset(); + return false; + } + + const uint16_t fifo_count_bytes = combine(buffer.FIFO_COUNTH, buffer.FIFO_COUNTL); + + if (fifo_count_bytes >= FIFO::SIZE) { + perf_count(_fifo_overflow_perf); + FIFOReset(); + return false; + } + + const uint8_t fifo_count_samples = fifo_count_bytes / sizeof(FIFO::DATA); + + if (fifo_count_samples == 0) { + perf_count(_fifo_empty_perf); + return false; + } + + // check FIFO header in every sample + uint8_t valid_samples = 0; + + for (int i = 0; i < math::min(samples, fifo_count_samples); i++) { + bool valid = true; + + // With FIFO_ACCEL_EN and FIFO_GYRO_EN header should be 8’b_0110_10xx + const uint8_t FIFO_HEADER = buffer.f[i].FIFO_Header; + + if (FIFO_HEADER & FIFO::FIFO_HEADER_BIT::HEADER_MSG) { + // FIFO sample empty if HEADER_MSG set + valid = false; + + } else if (!(FIFO_HEADER & FIFO::FIFO_HEADER_BIT::HEADER_ACCEL)) { + // accel bit not set + valid = false; + + } else if (!(FIFO_HEADER & FIFO::FIFO_HEADER_BIT::HEADER_GYRO)) { + // gyro bit not set + valid = false; + + } else if (!(FIFO_HEADER & FIFO::FIFO_HEADER_BIT::HEADER_20)) { + // Packet does not contain a new and valid extended 20-bit data + valid = false; + + } else if ((FIFO_HEADER & FIFO::FIFO_HEADER_BIT::HEADER_TIMESTAMP_FSYNC) != Bit3) { + // Packet does not contain ODR timestamp + valid = false; + + } else if (FIFO_HEADER & FIFO::FIFO_HEADER_BIT::HEADER_ODR_ACCEL) { + // accel ODR changed + valid = false; + + } else if (FIFO_HEADER & FIFO::FIFO_HEADER_BIT::HEADER_ODR_GYRO) { + // gyro ODR changed + valid = false; + } + + if (valid) { + valid_samples++; + + } else { + perf_count(_bad_transfer_perf); + break; + } + } + + if (valid_samples > 0) { + if (ProcessTemperature(buffer.f, valid_samples)) { + ProcessGyro(timestamp_sample, buffer.f, valid_samples); + ProcessAccel(timestamp_sample, buffer.f, valid_samples); + return true; + } + } + + return false; +} + +void IIM42653::FIFOReset() +{ + perf_count(_fifo_reset_perf); + + // SIGNAL_PATH_RESET: FIFO flush + RegisterSetBits(Register::BANK_0::SIGNAL_PATH_RESET, SIGNAL_PATH_RESET_BIT::FIFO_FLUSH); + + // reset while FIFO is disabled + _drdy_timestamp_sample.store(0); +} + +static constexpr int32_t reassemble_20bit(const uint32_t a, const uint32_t b, const uint32_t c) +{ + // 0xXXXAABBC + uint32_t high = ((a << 12) & 0x000FF000); + uint32_t low = ((b << 4) & 0x00000FF0); + uint32_t lowest = (c & 0x0000000F); + + uint32_t x = high | low | lowest; + + if (a & Bit7) { + // sign extend + x |= 0xFFF00000u; + } + + return static_cast(x); +} + +void IIM42653::ProcessAccel(const hrt_abstime ×tamp_sample, const FIFO::DATA fifo[], const uint8_t samples) +{ + sensor_accel_fifo_s accel{}; + accel.timestamp_sample = timestamp_sample; + accel.samples = 0; + + // 18-bits of accelerometer data + bool scale_20bit = false; + + // first pass + for (int i = 0; i < samples; i++) { + + uint16_t timestamp_fifo = combine_uint(fifo[i].TimeStamp_h, fifo[i].TimeStamp_l); + + if (_enable_clock_input) { + accel.dt = (float)timestamp_fifo * ((1.f / _input_clock_freq) * 1e6f); + + } else { + accel.dt = (float)timestamp_fifo * FIFO_TIMESTAMP_SCALING; + } + + // 20 bit hires mode + // Sign extension + Accel [19:12] + Accel [11:4] + Accel [3:2] (20 bit extension byte) + // Accel data is 18 bit () + int32_t accel_x = reassemble_20bit(fifo[i].ACCEL_DATA_X1, fifo[i].ACCEL_DATA_X0, + fifo[i].Ext_Accel_X_Gyro_X & 0xF0 >> 4); + int32_t accel_y = reassemble_20bit(fifo[i].ACCEL_DATA_Y1, fifo[i].ACCEL_DATA_Y0, + fifo[i].Ext_Accel_Y_Gyro_Y & 0xF0 >> 4); + int32_t accel_z = reassemble_20bit(fifo[i].ACCEL_DATA_Z1, fifo[i].ACCEL_DATA_Z0, + fifo[i].Ext_Accel_Z_Gyro_Z & 0xF0 >> 4); + + // sample invalid if -524288 + if (accel_x != -524288 && accel_y != -524288 && accel_z != -524288) { + // check if any values are going to exceed int16 limits + static constexpr int16_t max_accel = INT16_MAX; + static constexpr int16_t min_accel = INT16_MIN; + + if (accel_x >= max_accel || accel_x <= min_accel) { + scale_20bit = true; + } + + if (accel_y >= max_accel || accel_y <= min_accel) { + scale_20bit = true; + } + + if (accel_z >= max_accel || accel_z <= min_accel) { + scale_20bit = true; + } + + // shift by 2 (2 least significant bits are always 0) + accel.x[accel.samples] = accel_x / 4; + accel.y[accel.samples] = accel_y / 4; + accel.z[accel.samples] = accel_z / 4; + accel.samples++; + } + } + + if (!scale_20bit) { + // if highres enabled accel data is always 4096 LSB/g + _px4_accel.set_scale(CONSTANTS_ONE_G / 4096.f); + + } else { + // 20 bit data scaled to 16 bit (2^4) + for (int i = 0; i < samples; i++) { + // 20 bit hires mode + // Sign extension + Accel [19:12] + Accel [11:4] + Accel [3:2] (20 bit extension byte) + // Accel data is 18 bit () + int16_t accel_x = combine(fifo[i].ACCEL_DATA_X1, fifo[i].ACCEL_DATA_X0); + int16_t accel_y = combine(fifo[i].ACCEL_DATA_Y1, fifo[i].ACCEL_DATA_Y0); + int16_t accel_z = combine(fifo[i].ACCEL_DATA_Z1, fifo[i].ACCEL_DATA_Z0); + + accel.x[i] = accel_x; + accel.y[i] = accel_y; + accel.z[i] = accel_z; + } + + _px4_accel.set_scale(CONSTANTS_ONE_G / 1024.f); + } + + // correct frame for publication + for (int i = 0; i < accel.samples; i++) { + // sensor's frame is +x forward, +y left, +z up + // flip y & z to publish right handed with z down (x forward, y right, z down) + accel.x[i] = accel.x[i]; + accel.y[i] = (accel.y[i] == INT16_MIN) ? INT16_MAX : -accel.y[i]; + accel.z[i] = (accel.z[i] == INT16_MIN) ? INT16_MAX : -accel.z[i]; + } + + _px4_accel.set_error_count(perf_event_count(_bad_register_perf) + perf_event_count(_bad_transfer_perf) + + perf_event_count(_fifo_empty_perf) + perf_event_count(_fifo_overflow_perf)); + + if (accel.samples > 0) { + _px4_accel.updateFIFO(accel); + } +} + +void IIM42653::ProcessGyro(const hrt_abstime ×tamp_sample, const FIFO::DATA fifo[], const uint8_t samples) +{ + sensor_gyro_fifo_s gyro{}; + gyro.timestamp_sample = timestamp_sample; + gyro.samples = 0; + + // 20-bits of gyroscope data + bool scale_20bit = false; + + // first pass + for (int i = 0; i < samples; i++) { + + uint16_t timestamp_fifo = combine_uint(fifo[i].TimeStamp_h, fifo[i].TimeStamp_l); + + if (_enable_clock_input) { + gyro.dt = (float)timestamp_fifo * ((1.f / _input_clock_freq) * 1e6f); + + } else { + gyro.dt = (float)timestamp_fifo * FIFO_TIMESTAMP_SCALING; + } + + // 20 bit hires mode + // Gyro [19:12] + Gyro [11:4] + Gyro [3:0] (bottom 4 bits of 20 bit extension byte) + int32_t gyro_x = reassemble_20bit(fifo[i].GYRO_DATA_X1, fifo[i].GYRO_DATA_X0, fifo[i].Ext_Accel_X_Gyro_X & 0x0F); + int32_t gyro_y = reassemble_20bit(fifo[i].GYRO_DATA_Y1, fifo[i].GYRO_DATA_Y0, fifo[i].Ext_Accel_Y_Gyro_Y & 0x0F); + int32_t gyro_z = reassemble_20bit(fifo[i].GYRO_DATA_Z1, fifo[i].GYRO_DATA_Z0, fifo[i].Ext_Accel_Z_Gyro_Z & 0x0F); + + // check if any values are going to exceed int16 limits + static constexpr int16_t max_gyro = INT16_MAX; + static constexpr int16_t min_gyro = INT16_MIN; + + if (gyro_x >= max_gyro || gyro_x <= min_gyro) { + scale_20bit = true; + } + + if (gyro_y >= max_gyro || gyro_y <= min_gyro) { + scale_20bit = true; + } + + if (gyro_z >= max_gyro || gyro_z <= min_gyro) { + scale_20bit = true; + } + + gyro.x[gyro.samples] = gyro_x / 2; + gyro.y[gyro.samples] = gyro_y / 2; + gyro.z[gyro.samples] = gyro_z / 2; + gyro.samples++; + } + + if (!scale_20bit) { + // if highres enabled gyro data is always 65.5 LSB/dps + _px4_gyro.set_scale(math::radians(1.f / 65.5f)); + + } else { + // 20 bit data scaled to 16 bit (2^4) + for (int i = 0; i < samples; i++) { + gyro.x[i] = combine(fifo[i].GYRO_DATA_X1, fifo[i].GYRO_DATA_X0); + gyro.y[i] = combine(fifo[i].GYRO_DATA_Y1, fifo[i].GYRO_DATA_Y0); + gyro.z[i] = combine(fifo[i].GYRO_DATA_Z1, fifo[i].GYRO_DATA_Z0); + } + + _px4_gyro.set_scale(math::radians(4000.f / 32768.f)); + } + + // correct frame for publication + for (int i = 0; i < gyro.samples; i++) { + // sensor's frame is +x forward, +y left, +z up + // flip y & z to publish right handed with z down (x forward, y right, z down) + gyro.x[i] = gyro.x[i]; + gyro.y[i] = (gyro.y[i] == INT16_MIN) ? INT16_MAX : -gyro.y[i]; + gyro.z[i] = (gyro.z[i] == INT16_MIN) ? INT16_MAX : -gyro.z[i]; + } + + _px4_gyro.set_error_count(perf_event_count(_bad_register_perf) + perf_event_count(_bad_transfer_perf) + + perf_event_count(_fifo_empty_perf) + perf_event_count(_fifo_overflow_perf)); + + if (gyro.samples > 0) { + _px4_gyro.updateFIFO(gyro); + } +} + +bool IIM42653::ProcessTemperature(const FIFO::DATA fifo[], const uint8_t samples) +{ + int16_t temperature[FIFO_MAX_SAMPLES]; + float temperature_sum{0}; + + int valid_samples = 0; + + for (int i = 0; i < samples; i++) { + const int16_t t = combine(fifo[i].TEMP_DATA1, fifo[i].TEMP_DATA0); + + // sample invalid if -32768 + if (t != -32768) { + temperature_sum += t; + temperature[valid_samples] = t; + valid_samples++; + } + } + + if (valid_samples > 0) { + const float temperature_avg = temperature_sum / valid_samples; + + for (int i = 0; i < valid_samples; i++) { + // temperature changing wildly is an indication of a transfer error + if (fabsf(temperature[i] - temperature_avg) > 1000) { + perf_count(_bad_transfer_perf); + return false; + } + } + + // use average temperature reading + const float TEMP_degC = (temperature_avg / TEMPERATURE_SENSITIVITY) + TEMPERATURE_OFFSET; + + if (PX4_ISFINITE(TEMP_degC)) { + _px4_accel.set_temperature(TEMP_degC); + _px4_gyro.set_temperature(TEMP_degC); + return true; + + } else { + perf_count(_bad_transfer_perf); + } + } + + return false; +} diff --git a/src/drivers/imu/invensense/iim42653/IIM42653.hpp b/src/drivers/imu/invensense/iim42653/IIM42653.hpp new file mode 100644 index 000000000000..b9b6d2669a8d --- /dev/null +++ b/src/drivers/imu/invensense/iim42653/IIM42653.hpp @@ -0,0 +1,227 @@ +/**************************************************************************** + * + * Copyright (c) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file IIM42653.hpp + * + * Driver for the Invensense IIM42653 connected via SPI. + * + */ + +#pragma once + +#include "InvenSense_IIM42653_registers.hpp" + +#include +#include +#include +#include +#include +#include +#include +#include + +using namespace InvenSense_IIM42653; + +class IIM42653 : public device::SPI, public I2CSPIDriver +{ +public: + IIM42653(const I2CSPIDriverConfig &config); + ~IIM42653() override; + + static void print_usage(); + + void RunImpl(); + + int init() override; + void print_status() override; + +private: + void exit_and_cleanup() override; + + // Sensor Configuration + static constexpr float FIFO_SAMPLE_DT{1e6f / 8000.f}; // 8000 Hz accel & gyro ODR configured + static constexpr float GYRO_RATE{1e6f / FIFO_SAMPLE_DT}; + static constexpr float ACCEL_RATE{1e6f / FIFO_SAMPLE_DT}; + + static constexpr float FIFO_TIMESTAMP_SCALING{16.f *(32.f / 30.f)}; // Used when not using clock input + + // maximum FIFO samples per transfer is limited to the size of sensor_accel_fifo/sensor_gyro_fifo + static constexpr int32_t FIFO_MAX_SAMPLES{math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0]), sizeof(sensor_accel_fifo_s::x) / sizeof(sensor_accel_fifo_s::x[0]) * (int)(GYRO_RATE / ACCEL_RATE))}; + + // Transfer data + struct FIFOTransferBuffer { + uint8_t cmd{static_cast(Register::BANK_0::INT_STATUS) | DIR_READ}; + uint8_t INT_STATUS{0}; + uint8_t FIFO_COUNTH{0}; + uint8_t FIFO_COUNTL{0}; + FIFO::DATA f[FIFO_MAX_SAMPLES] {}; + }; + // ensure no struct padding + static_assert(sizeof(FIFOTransferBuffer) == (4 + FIFO_MAX_SAMPLES *sizeof(FIFO::DATA))); + + struct register_bank0_config_t { + Register::BANK_0 reg; + uint8_t set_bits{0}; + uint8_t clear_bits{0}; + }; + + struct register_bank1_config_t { + Register::BANK_1 reg; + uint8_t set_bits{0}; + uint8_t clear_bits{0}; + }; + + struct register_bank2_config_t { + Register::BANK_2 reg; + uint8_t set_bits{0}; + uint8_t clear_bits{0}; + }; + + int probe() override; + + bool Reset(); + + bool Configure(); + void ConfigureSampleRate(int sample_rate); + void ConfigureFIFOWatermark(uint8_t samples); + void ConfigureCLKIN(); + + void SelectRegisterBank(enum REG_BANK_SEL_BIT bank, bool force = false); + void SelectRegisterBank(Register::BANK_0 reg) { SelectRegisterBank(REG_BANK_SEL_BIT::BANK_SEL_0); } + void SelectRegisterBank(Register::BANK_1 reg) { SelectRegisterBank(REG_BANK_SEL_BIT::BANK_SEL_1); } + void SelectRegisterBank(Register::BANK_2 reg) { SelectRegisterBank(REG_BANK_SEL_BIT::BANK_SEL_2); } + + static int DataReadyInterruptCallback(int irq, void *context, void *arg); + void DataReady(); + bool DataReadyInterruptConfigure(); + bool DataReadyInterruptDisable(); + + template bool RegisterCheck(const T ®_cfg); + template uint8_t RegisterRead(T reg); + template void RegisterWrite(T reg, uint8_t value); + template void RegisterSetAndClearBits(T reg, uint8_t setbits, uint8_t clearbits); + template void RegisterSetBits(T reg, uint8_t setbits) { RegisterSetAndClearBits(reg, setbits, 0); } + template void RegisterClearBits(T reg, uint8_t clearbits) { RegisterSetAndClearBits(reg, 0, clearbits); } + + uint16_t FIFOReadCount(); + bool FIFORead(const hrt_abstime ×tamp_sample, uint8_t samples); + void FIFOReset(); + + void ProcessAccel(const hrt_abstime ×tamp_sample, const FIFO::DATA fifo[], const uint8_t samples); + void ProcessGyro(const hrt_abstime ×tamp_sample, const FIFO::DATA fifo[], const uint8_t samples); + bool ProcessTemperature(const FIFO::DATA fifo[], const uint8_t samples); + + const spi_drdy_gpio_t _drdy_gpio; + + PX4Accelerometer _px4_accel; + PX4Gyroscope _px4_gyro; + + perf_counter_t _bad_register_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad register")}; + perf_counter_t _bad_transfer_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad transfer")}; + perf_counter_t _fifo_empty_perf{perf_alloc(PC_COUNT, MODULE_NAME": FIFO empty")}; + perf_counter_t _fifo_overflow_perf{perf_alloc(PC_COUNT, MODULE_NAME": FIFO overflow")}; + perf_counter_t _fifo_reset_perf{perf_alloc(PC_COUNT, MODULE_NAME": FIFO reset")}; + perf_counter_t _drdy_missed_perf{nullptr}; + + hrt_abstime _reset_timestamp{0}; + hrt_abstime _last_config_check_timestamp{0}; + hrt_abstime _temperature_update_timestamp{0}; + int _failure_count{0}; + + bool _enable_clock_input{false}; + float _input_clock_freq{0.f}; + + enum REG_BANK_SEL_BIT _last_register_bank {REG_BANK_SEL_BIT::BANK_SEL_0}; + + px4::atomic _drdy_timestamp_sample{0}; + bool _data_ready_interrupt_enabled{false}; + + enum class STATE : uint8_t { + RESET, + WAIT_FOR_RESET, + CONFIGURE, + FIFO_RESET, + FIFO_READ, + } _state{STATE::RESET}; + + uint16_t _fifo_empty_interval_us{1250}; // default 1250 us / 800 Hz transfer interval + int32_t _fifo_gyro_samples{static_cast(_fifo_empty_interval_us / (1000000 / GYRO_RATE))}; + + uint8_t _checked_register_bank0{0}; + static constexpr uint8_t size_register_bank0_cfg{16}; + register_bank0_config_t _register_bank0_cfg[size_register_bank0_cfg] { + // Register | Set bits, Clear bits + { Register::BANK_0::INT_CONFIG, INT_CONFIG_BIT::INT1_MODE | INT_CONFIG_BIT::INT1_DRIVE_CIRCUIT, INT_CONFIG_BIT::INT1_POLARITY }, + { Register::BANK_0::FIFO_CONFIG, FIFO_CONFIG_BIT::FIFO_MODE_STOP_ON_FULL, 0 }, + { Register::BANK_0::INTF_CONFIG1, INTF_CONFIG1_BIT::AFSR_SET, INTF_CONFIG1_BIT::AFSR_CLEAR}, // RTC_MODE[2] set at runtime + { Register::BANK_0::PWR_MGMT0, PWR_MGMT0_BIT::GYRO_MODE_LOW_NOISE | PWR_MGMT0_BIT::ACCEL_MODE_LOW_NOISE, 0 }, + { Register::BANK_0::GYRO_CONFIG0, GYRO_CONFIG0_BIT::GYRO_FS_SEL_4000_DPS | GYRO_CONFIG0_BIT::GYRO_ODR_8KHZ_SET, GYRO_CONFIG0_BIT::GYRO_ODR_8KHZ_CLEAR }, + { Register::BANK_0::ACCEL_CONFIG0, ACCEL_CONFIG0_BIT::ACCEL_FS_SEL_32G | ACCEL_CONFIG0_BIT::ACCEL_ODR_8KHZ_SET, ACCEL_CONFIG0_BIT::ACCEL_ODR_8KHZ_CLEAR }, + { Register::BANK_0::GYRO_CONFIG1, 0, GYRO_CONFIG1_BIT::GYRO_UI_FILT_ORD }, + { Register::BANK_0::GYRO_ACCEL_CONFIG0, 0, GYRO_ACCEL_CONFIG0_BIT::ACCEL_UI_FILT_BW | GYRO_ACCEL_CONFIG0_BIT::GYRO_UI_FILT_BW }, + { Register::BANK_0::ACCEL_CONFIG1, 0, ACCEL_CONFIG1_BIT::ACCEL_UI_FILT_ORD }, + { Register::BANK_0::TMST_CONFIG, TMST_CONFIG_BIT::TMST_EN | TMST_CONFIG_BIT::TMST_DELTA_EN | TMST_CONFIG_BIT::TMST_TO_REGS_EN | TMST_CONFIG_BIT::TMST_RES, TMST_CONFIG_BIT::TMST_FSYNC_EN }, + { Register::BANK_0::FIFO_CONFIG1, FIFO_CONFIG1_BIT::FIFO_WM_GT_TH | FIFO_CONFIG1_BIT::FIFO_HIRES_EN | FIFO_CONFIG1_BIT::FIFO_TEMP_EN | FIFO_CONFIG1_BIT::FIFO_GYRO_EN | FIFO_CONFIG1_BIT::FIFO_ACCEL_EN, FIFO_CONFIG1_BIT::FIFO_TMST_FSYNC_EN }, + { Register::BANK_0::FIFO_CONFIG2, 0, 0 }, // FIFO_WM[7:0] set at runtime + { Register::BANK_0::FIFO_CONFIG3, 0, 0 }, // FIFO_WM[11:8] set at runtime + { Register::BANK_0::INT_CONFIG0, INT_CONFIG0_BIT::CLEAR_ON_FIFO_READ, 0 }, + { Register::BANK_0::INT_CONFIG1, 0, INT_CONFIG1_BIT::INT_ASYNC_RESET }, + { Register::BANK_0::INT_SOURCE0, INT_SOURCE0_BIT::FIFO_THS_INT1_EN, 0 }, + }; + + uint8_t _checked_register_bank1{0}; + static constexpr uint8_t size_register_bank1_cfg{5}; + register_bank1_config_t _register_bank1_cfg[size_register_bank1_cfg] { + // Register | Set bits, Clear bits + { Register::BANK_1::GYRO_CONFIG_STATIC2, 0, GYRO_CONFIG_STATIC2_BIT::GYRO_NF_DIS | GYRO_CONFIG_STATIC2_BIT::GYRO_AAF_DIS }, + { Register::BANK_1::GYRO_CONFIG_STATIC3, GYRO_CONFIG_STATIC3_BIT::GYRO_AAF_DELT_585HZ_SET, GYRO_CONFIG_STATIC3_BIT::GYRO_AAF_DELT_585HZ_CLEAR}, + { Register::BANK_1::GYRO_CONFIG_STATIC4, GYRO_CONFIG_STATIC4_BIT::GYRO_AAF_DELTSQR_LSB_585HZ_SET, GYRO_CONFIG_STATIC4_BIT::GYRO_AAF_DELTSQR_LSB_585HZ_CLEAR}, + { Register::BANK_1::GYRO_CONFIG_STATIC5, GYRO_CONFIG_STATIC5_BIT::GYRO_AAF_BITSHIFT_585HZ_SET | GYRO_CONFIG_STATIC5_BIT::GYRO_AAF_DELTSQR_MSB_585HZ_SET, GYRO_CONFIG_STATIC5_BIT::GYRO_AAF_BITSHIFT_585HZ_CLEAR | GYRO_CONFIG_STATIC5_BIT::GYRO_AAF_DELTSQR_MSB_585HZ_CLEAR}, + { Register::BANK_1::INTF_CONFIG5, 0, 0 }, + }; + + uint8_t _checked_register_bank2{0}; + static constexpr uint8_t size_register_bank2_cfg{8}; + register_bank2_config_t _register_bank2_cfg[size_register_bank2_cfg] { + // Register | Set bits, Clear bits + { Register::BANK_2::ACCEL_CONFIG_STATIC2, ACCEL_CONFIG_STATIC2_BIT::ACCEL_AAF_DELT_585HZ_SET, ACCEL_CONFIG_STATIC2_BIT::ACCEL_AAF_DELT_585HZ_CLEAR | ACCEL_CONFIG_STATIC2_BIT::ACCEL_AAF_DIS }, + { Register::BANK_2::ACCEL_CONFIG_STATIC3, ACCEL_CONFIG_STATIC3_BIT::ACCEL_AAF_DELTSQR_LSB_585HZ_SET, ACCEL_CONFIG_STATIC3_BIT::ACCEL_AAF_DELTSQR_LSB_585HZ_CLEAR }, + { Register::BANK_2::ACCEL_CONFIG_STATIC4, ACCEL_CONFIG_STATIC4_BIT::ACCEL_AAF_BITSHIFT_585HZ_SET | ACCEL_CONFIG_STATIC4_BIT::ACCEL_AAF_DELTSQR_MSB_SET, ACCEL_CONFIG_STATIC4_BIT::ACCEL_AAF_BITSHIFT_585HZ_CLEAR | ACCEL_CONFIG_STATIC4_BIT::ACCEL_AAF_DELTSQR_MSB_CLEAR }, + { Register::BANK_2::AUX1_CONFIG1, 0, AUX1_CONFIG1_BIT::AUX1_ACCEL_LP_CLK_SEL | AUX1_CONFIG1_BIT::GYRO_AUX1_EN | AUX1_CONFIG1_BIT::ACCEL_AUX1_EN}, + { Register::BANK_2::AUX1_CONFIG2, AUX1_CONFIG2_BIT::GYRO_AUX1_HPF_DIS, 0}, + { Register::BANK_2::AUX1_SPI_REG1, AUX1_SPI_REG1_BIT::AUX1_SPI_REG1_SET, AUX1_SPI_REG1_BIT::AUX1_SPI_REG1_CLEAR }, + { Register::BANK_2::AUX1_SPI_REG2, AUX1_SPI_REG2_BIT::AUX1_SPI_REG2_SET, AUX1_SPI_REG2_BIT::AUX1_SPI_REG2_CLEAR }, + { Register::BANK_2::AUX1_SPI_REG3, AUX1_SPI_REG3_BIT::AUX1_SPI_REG3_SET, AUX1_SPI_REG3_BIT::AUX1_SPI_REG3_CLEAR }, + }; +}; diff --git a/src/drivers/imu/invensense/iim42653/InvenSense_IIM42653_registers.hpp b/src/drivers/imu/invensense/iim42653/InvenSense_IIM42653_registers.hpp new file mode 100644 index 000000000000..3c139e27e5ad --- /dev/null +++ b/src/drivers/imu/invensense/iim42653/InvenSense_IIM42653_registers.hpp @@ -0,0 +1,455 @@ +/**************************************************************************** + * + * Copyright (c) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file InvenSense_IIM42653_registers.hpp + * + * Invensense IIM-42653 registers. + * + */ + +#pragma once + +#include +#include + +namespace InvenSense_IIM42653 +{ +// TODO: move to a central header +static constexpr uint8_t Bit0 = (1 << 0); +static constexpr uint8_t Bit1 = (1 << 1); +static constexpr uint8_t Bit2 = (1 << 2); +static constexpr uint8_t Bit3 = (1 << 3); +static constexpr uint8_t Bit4 = (1 << 4); +static constexpr uint8_t Bit5 = (1 << 5); +static constexpr uint8_t Bit6 = (1 << 6); +static constexpr uint8_t Bit7 = (1 << 7); + +static constexpr uint32_t SPI_SPEED = 24 * 1000 * 1000; // 24 MHz SPI +static constexpr uint8_t DIR_READ = 0x80; + +static constexpr uint8_t WHOAMI = 0x56; + +static constexpr float TEMPERATURE_SENSITIVITY = 132.48f; // LSB/C +static constexpr float TEMPERATURE_OFFSET = 25.f; // C + +namespace Register +{ + +enum class BANK_0 : uint8_t { + DEVICE_CONFIG = 0x11, + + INT_CONFIG = 0x14, + + FIFO_CONFIG = 0x16, + + TEMP_DATA1 = 0x1D, + TEMP_DATA0 = 0x1E, + + INT_STATUS = 0x2D, + FIFO_COUNTH = 0x2E, + FIFO_COUNTL = 0x2F, + FIFO_DATA = 0x30, + + SIGNAL_PATH_RESET = 0x4B, + INTF_CONFIG0 = 0x4C, + INTF_CONFIG1 = 0x4D, + PWR_MGMT0 = 0x4E, + GYRO_CONFIG0 = 0x4F, + ACCEL_CONFIG0 = 0x50, + GYRO_CONFIG1 = 0x51, + GYRO_ACCEL_CONFIG0 = 0x52, + ACCEL_CONFIG1 = 0x53, + TMST_CONFIG = 0x54, + + FIFO_CONFIG1 = 0x5F, + FIFO_CONFIG2 = 0x60, + FIFO_CONFIG3 = 0x61, + + INT_CONFIG0 = 0x63, + INT_CONFIG1 = 0x64, + + INT_SOURCE0 = 0x65, + + SELF_TEST_CONFIG = 0x70, + + WHO_AM_I = 0x75, + REG_BANK_SEL = 0x76, +}; + +enum class BANK_1 : uint8_t { + GYRO_CONFIG_STATIC2 = 0x0B, + GYRO_CONFIG_STATIC3 = 0x0C, + GYRO_CONFIG_STATIC4 = 0x0D, + GYRO_CONFIG_STATIC5 = 0x0E, + + INTF_CONFIG5 = 0x7B, +}; + +enum class BANK_2 : uint8_t { + ACCEL_CONFIG_STATIC2 = 0x03, + ACCEL_CONFIG_STATIC3 = 0x04, + ACCEL_CONFIG_STATIC4 = 0x05, + AUX1_CONFIG1 = 0x44, + AUX1_CONFIG2 = 0x45, + AUX1_CONFIG3 = 0x46, + AUX1_SPI_REG1 = 0x71, + AUX1_SPI_REG2 = 0x72, + AUX1_SPI_REG3 = 0x73, +}; + +}; + +//---------------- BANK0 Register bits + +// DEVICE_CONFIG +enum DEVICE_CONFIG_BIT : uint8_t { + SOFT_RESET_CONFIG = Bit0, // +}; + +// INT_CONFIG +enum INT_CONFIG_BIT : uint8_t { + INT1_MODE = Bit2, + INT1_DRIVE_CIRCUIT = Bit1, + INT1_POLARITY = Bit0, +}; + +// FIFO_CONFIG +enum FIFO_CONFIG_BIT : uint8_t { + // 7:6 FIFO_MODE + FIFO_MODE_STOP_ON_FULL = Bit7 | Bit6, // 11: STOP-on-FULL Mode +}; + +// INT_STATUS +enum INT_STATUS_BIT : uint8_t { + RESET_DONE_INT = Bit4, + DATA_RDY_INT = Bit3, + FIFO_THS_INT = Bit2, + FIFO_FULL_INT = Bit1, +}; + +// SIGNAL_PATH_RESET +enum SIGNAL_PATH_RESET_BIT : uint8_t { + ABORT_AND_RESET = Bit3, + FIFO_FLUSH = Bit1, +}; + +enum INTF_CONFIG1_BIT : uint8_t { + AFSR_CLEAR = Bit7, // 10: adaptive full scale range on by default, 01: off + AFSR_SET = Bit6, + RTC_MODE = Bit2, // 0: No input RTC clock is required, 1: RTC clock input is required + CLKSEL = Bit0, + CLKSEL_CLEAR = Bit1, +}; + +// PWR_MGMT0 +enum PWR_MGMT0_BIT : uint8_t { + GYRO_MODE_LOW_NOISE = Bit3 | Bit2, // 11: Places gyroscope in Low Noise (LN) Mode + ACCEL_MODE_LOW_NOISE = Bit1 | Bit0, // 11: Places accelerometer in Low Noise (LN) Mode +}; + +// GYRO_CONFIG0 +enum GYRO_CONFIG0_BIT : uint8_t { + // 7:5 GYRO_FS_SEL + GYRO_FS_SEL_4000_DPS = 0, // 0b000 = ±4000dps (default) + GYRO_FS_SEL_2000_DPS = Bit5, + GYRO_FS_SEL_1000_DPS = Bit6, + GYRO_FS_SEL_500_DPS = Bit6 | Bit5, + GYRO_FS_SEL_250_DPS = Bit7, + + + // 3:0 GYRO_ODR + // 0001: 32kHz + GYRO_ODR_32KHZ_SET = Bit0, + GYRO_ODR_32KHZ_CLEAR = Bit3 | Bit2 | Bit0, + // 0010: 16kHz + GYRO_ODR_16KHZ_SET = Bit1, + GYRO_ODR_16KHZ_CLEAR = Bit3 | Bit2 | Bit0, + // 0011: 8kHz + GYRO_ODR_8KHZ_SET = Bit1 | Bit0, + GYRO_ODR_8KHZ_CLEAR = Bit3 | Bit2, + // 0110: 1kHz (default) + GYRO_ODR_1KHZ_SET = Bit2 | Bit1, + GYRO_ODR_1KHZ_CLEAR = Bit3 | Bit0, +}; + +// ACCEL_CONFIG0 +enum ACCEL_CONFIG0_BIT : uint8_t { + // 7:5 ACCEL_FS_SEL + ACCEL_FS_SEL_32G = 0, // 000: ±32g (default) + ACCEL_FS_SEL_16G = Bit5, + ACCEL_FS_SEL_8G = Bit6, + ACCEL_FS_SEL_4G = Bit6 | Bit5, + + + // 3:0 ACCEL_ODR + // 0001: 32kHz + ACCEL_ODR_32KHZ_SET = Bit0, + ACCEL_ODR_32KHZ_CLEAR = Bit3 | Bit2 | Bit0, + // 0010: 16kHz + ACCEL_ODR_16KHZ_SET = Bit1, + ACCEL_ODR_16KHZ_CLEAR = Bit3 | Bit2 | Bit0, + // 0011: 8kHz + ACCEL_ODR_8KHZ_SET = Bit1 | Bit0, + ACCEL_ODR_8KHZ_CLEAR = Bit3 | Bit2, + // 0110: 1kHz (default) + ACCEL_ODR_1KHZ_SET = Bit2 | Bit1, + ACCEL_ODR_1KHZ_CLEAR = Bit3 | Bit0, +}; + +// GYRO_CONFIG1 +enum GYRO_CONFIG1_BIT : uint8_t { + GYRO_UI_FILT_ORD = Bit3 | Bit2, // 00: 1st Order +}; + +// GYRO_ACCEL_CONFIG0 +enum GYRO_ACCEL_CONFIG0_BIT : uint8_t { + // 7:4 ACCEL_UI_FILT_BW + ACCEL_UI_FILT_BW = Bit7 | Bit6 | Bit5 | Bit4, // 0: BW=ODR/2 + + // 3:0 GYRO_UI_FILT_BW + GYRO_UI_FILT_BW = Bit3 | Bit2 | Bit1 | Bit0, // 0: BW=ODR/2 +}; + +// ACCEL_CONFIG1 +enum ACCEL_CONFIG1_BIT : uint8_t { + ACCEL_UI_FILT_ORD = Bit4 | Bit3, // 00: 1st Order +}; + +// TMST_CONFIG +enum TMST_CONFIG_BIT : uint8_t { + TMST_TO_REGS_EN = Bit4, // 1: TMST_VALUE[19:0] read returns timestamp value + TMST_RES = Bit3, // 0: 1us resolution, 1: 16us resolution + TMST_DELTA_EN = Bit2, // 1: Time Stamp delta enable + TMST_FSYNC_EN = Bit1, // 1: The contents of the Timestamp feature of FSYNC is enabled + TMST_EN = Bit0, // 1: Time Stamp register enable (default) +}; + +// FIFO_CONFIG1 +enum FIFO_CONFIG1_BIT : uint8_t { + FIFO_RESUME_PARTIAL_RD = Bit6, + FIFO_WM_GT_TH = Bit5, + FIFO_HIRES_EN = Bit4, + FIFO_TMST_FSYNC_EN = Bit3, + FIFO_TEMP_EN = Bit2, + FIFO_GYRO_EN = Bit1, + FIFO_ACCEL_EN = Bit0, +}; + +// INT_CONFIG0 +enum INT_CONFIG0_BIT : uint8_t { + // 3:2 FIFO_THS_INT_CLEAR + CLEAR_ON_FIFO_READ = Bit3, +}; + +// INT_CONFIG1 +enum INT_CONFIG1_BIT : uint8_t { + INT_ASYNC_RESET = Bit4, +}; + +// INT_SOURCE0 +enum INT_SOURCE0_BIT : uint8_t { + UI_FSYNC_INT1_EN = Bit6, + PLL_RDY_INT1_EN = Bit5, + RESET_DONE_INT1_EN = Bit4, + UI_DRDY_INT1_EN = Bit3, + FIFO_THS_INT1_EN = Bit2, // FIFO threshold interrupt routed to INT1 + FIFO_FULL_INT1_EN = Bit1, + UI_AGC_RDY_INT1_EN = Bit0, +}; + +// REG_BANK_SEL +enum REG_BANK_SEL_BIT : uint8_t { + // 2:0 BANK_SEL + BANK_SEL_0 = 0, // 000: Bank 0 (default) + BANK_SEL_1 = Bit0, // 001: Bank 1 + BANK_SEL_2 = Bit1, // 010: Bank 2 + BANK_SEL_3 = Bit1 | Bit0, // 011: Bank 3 + BANK_SEL_4 = Bit2, // 100: Bank 4 +}; + + +//---------------- BANK1 Register bits + +// GYRO_CONFIG_STATIC2 +enum GYRO_CONFIG_STATIC2_BIT : uint8_t { + GYRO_AAF_DIS = Bit1, // 1: Disable gyroscope anti-aliasing filter + GYRO_NF_DIS = Bit0, // 1: Disable Notch Filter +}; + +// GYRO_CONFIG_STATIC3 +enum GYRO_CONFIG_STATIC3_BIT : uint8_t { + // 5:0 GYRO_AAF_DELT + // 585 Hz = 13 (0b00'1101) + GYRO_AAF_DELT_585HZ_SET = Bit3 | Bit2 | Bit0, + GYRO_AAF_DELT_585HZ_CLEAR = Bit5 | Bit4 | Bit1, +}; + +// GYRO_CONFIG_STATIC4 +enum GYRO_CONFIG_STATIC4_BIT : uint8_t { + // 7:0 GYRO_AAF_DELTSQR + // 585 Hz = 170 (0b1010'1010) + GYRO_AAF_DELTSQR_LSB_585HZ_SET = Bit7 | Bit5 | Bit3 | Bit1, + GYRO_AAF_DELTSQR_LSB_585HZ_CLEAR = Bit6 | Bit4 | Bit2 | Bit0, +}; + +// GYRO_CONFIG_STATIC5 +enum GYRO_CONFIG_STATIC5_BIT : uint8_t { + // 7:4 GYRO_AAF_BITSHIFT + // 585 Hz = 8 (0b1000) + GYRO_AAF_BITSHIFT_585HZ_SET = Bit7, + GYRO_AAF_BITSHIFT_585HZ_CLEAR = Bit6 | Bit5 | Bit4, + + // 3:0 GYRO_AAF_DELTSQR[11:8] + // 585 Hz = 170 (0b0000'1010'1010) + GYRO_AAF_DELTSQR_MSB_585HZ_SET = 0, + GYRO_AAF_DELTSQR_MSB_585HZ_CLEAR = Bit3 | Bit2 | Bit1 | Bit0, +}; + +// INTF_CONFIG5 +enum INTF_CONFIG5_BIT : uint8_t { + // 2:1 PIN9_FUNCTION + PIN9_FUNCTION_CLKIN_SET = Bit2, // 0b10: CLKIN + PIN9_FUNCTION_CLKIN_CLEAR = Bit1, + + PIN9_FUNCTION_RESET_SET = 0, + PIN9_FUNCTION_RESET_CLEAR = Bit2 | Bit1, +}; + +//---------------- BANK2 Register bits + +// ACCEL_CONFIG_STATIC2 +enum ACCEL_CONFIG_STATIC2_BIT : uint8_t { + // 6:1 ACCEL_AAF_DELT + // 585 Hz = 13 (0b00'1101) + ACCEL_AAF_DELT_585HZ_SET = Bit4 | Bit3 | Bit1, + ACCEL_AAF_DELT_585HZ_CLEAR = Bit6 | Bit5 | Bit2, + + // 0 ACCEL_AAF_DIS + ACCEL_AAF_DIS = Bit0, // 0: Enable accelerometer anti-aliasing filter (default) +}; + +// ACCEL_CONFIG_STATIC3 +enum ACCEL_CONFIG_STATIC3_BIT : uint8_t { + // 7:0 ACCEL_AAF_DELTSQR[7:0] + // 585 Hz = 170 (0b0000'1010'1010) + ACCEL_AAF_DELTSQR_LSB_585HZ_SET = Bit7 | Bit5 | Bit3 | Bit1, + ACCEL_AAF_DELTSQR_LSB_585HZ_CLEAR = Bit6 | Bit4 | Bit2 | Bit0, +}; + +// ACCEL_CONFIG_STATIC4 +enum ACCEL_CONFIG_STATIC4_BIT : uint8_t { + // 7:4 ACCEL_AAF_BITSHIFT + // 585 Hz = 8 (0b1000) + ACCEL_AAF_BITSHIFT_585HZ_SET = Bit7, + ACCEL_AAF_BITSHIFT_585HZ_CLEAR = Bit6 | Bit5 | Bit4, + + // 3:0 ACCEL_AAF_DELTSQR[11:8] + // 585 Hz = 170 (0b0000'1010'1010) + ACCEL_AAF_DELTSQR_MSB_SET = 0, + ACCEL_AAF_DELTSQR_MSB_CLEAR = Bit3 | Bit2 | Bit1 | Bit0, +}; + +// AUX1_CONFIG1 +enum AUX1_CONFIG1_BIT : uint8_t { + AUX1_ACCEL_LP_CLK_SEL = Bit5, + GYRO_AUX1_EN = Bit1, + ACCEL_AUX1_EN = Bit0, +}; + +// AUX1_CONFIG2 +enum AUX1_CONFIG2_BIT : uint8_t { + GYRO_AUX1_HPF_DIS = Bit6, +}; + +// AUX1_SPI_REG1 +enum AUX1_SPI_REG1_BIT : uint8_t { + AUX1_SPI_REG1_CLEAR = Bit1, + AUX1_SPI_REG1_SET = Bit0, +}; + +// AUX1_SPI_REG2 +enum AUX1_SPI_REG2_BIT : uint8_t { + AUX1_SPI_REG2_CLEAR = Bit1, + AUX1_SPI_REG2_SET = Bit0, +}; + +// AUX1_SPI_REG3 +enum AUX1_SPI_REG3_BIT : uint8_t { + AUX1_SPI_REG3_CLEAR = Bit1, + AUX1_SPI_REG3_SET = Bit0, +}; + +namespace FIFO +{ +static constexpr size_t SIZE = 2048; + +// FIFO_DATA layout when FIFO_CONFIG1 has FIFO_GYRO_EN and FIFO_ACCEL_EN set + +// Packet 4 +struct DATA { + uint8_t FIFO_Header; + uint8_t ACCEL_DATA_X1; // Accel X [19:12] + uint8_t ACCEL_DATA_X0; // Accel X [11:4] + uint8_t ACCEL_DATA_Y1; // Accel Y [19:12] + uint8_t ACCEL_DATA_Y0; // Accel Y [11:4] + uint8_t ACCEL_DATA_Z1; // Accel Z [19:12] + uint8_t ACCEL_DATA_Z0; // Accel Z [11:4] + uint8_t GYRO_DATA_X1; // Gyro X [19:12] + uint8_t GYRO_DATA_X0; // Gyro X [11:4] + uint8_t GYRO_DATA_Y1; // Gyro Y [19:12] + uint8_t GYRO_DATA_Y0; // Gyro Y [11:4] + uint8_t GYRO_DATA_Z1; // Gyro Z [19:12] + uint8_t GYRO_DATA_Z0; // Gyro Z [11:4] + uint8_t TEMP_DATA1; // Temperature[15:8] + uint8_t TEMP_DATA0; // Temperature[7:0] + uint8_t TimeStamp_h; // TimeStamp[15:8] + uint8_t TimeStamp_l; // TimeStamp[7:0] + uint8_t Ext_Accel_X_Gyro_X; // Accel X [3:0] Gyro X [3:0] + uint8_t Ext_Accel_Y_Gyro_Y; // Accel Y [3:0] Gyro Y [3:0] + uint8_t Ext_Accel_Z_Gyro_Z; // Accel Z [3:0] Gyro Z [3:0] +}; + +// With FIFO_ACCEL_EN and FIFO_GYRO_EN header should be 8’b_0110_10xx +enum FIFO_HEADER_BIT : uint8_t { + HEADER_MSG = Bit7, // 1: FIFO is empty + HEADER_ACCEL = Bit6, // 1: Packet is sized so that accel data have location in the packet, FIFO_ACCEL_EN must be 1 + HEADER_GYRO = Bit5, // 1: Packet is sized so that gyro data have location in the packet, FIFO_GYRO_EN must be1 + HEADER_20 = Bit4, // 1: Packet has a new and valid sample of extended 20-bit data for gyro and/or accel + HEADER_TIMESTAMP_FSYNC = Bit3 | Bit2, // 10: Packet contains ODR Timestamp + HEADER_ODR_ACCEL = Bit1, // 1: The ODR for accel is different for this accel data packet compared to the previous accel packet + HEADER_ODR_GYRO = Bit0, // 1: The ODR for gyro is different for this gyro data packet compared to the previous gyro packet +}; + +} +} // namespace InvenSense_IIM42653 diff --git a/src/drivers/imu/invensense/iim42653/Kconfig b/src/drivers/imu/invensense/iim42653/Kconfig new file mode 100644 index 000000000000..903f3d3cb9ae --- /dev/null +++ b/src/drivers/imu/invensense/iim42653/Kconfig @@ -0,0 +1,5 @@ +menuconfig DRIVERS_IMU_INVENSENSE_IIM42653 + bool "iim42653" + default n + ---help--- + Enable support for iim42653 diff --git a/src/drivers/imu/invensense/iim42653/iim42653_main.cpp b/src/drivers/imu/invensense/iim42653/iim42653_main.cpp new file mode 100644 index 000000000000..655fdd2e19b1 --- /dev/null +++ b/src/drivers/imu/invensense/iim42653/iim42653_main.cpp @@ -0,0 +1,92 @@ +/**************************************************************************** + * + * Copyright (c) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include "IIM42653.hpp" + +#include +#include + +void IIM42653::print_usage() +{ + PRINT_MODULE_USAGE_NAME("iim42653", "driver"); + PRINT_MODULE_USAGE_SUBCATEGORY("imu"); + PRINT_MODULE_USAGE_COMMAND("start"); + PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(false, true); + PRINT_MODULE_USAGE_PARAM_INT('R', 0, 0, 35, "Rotation", true); + PRINT_MODULE_USAGE_PARAM_INT('C', 0, 0, 35000, "Input clock frequency (Hz)", true); + PRINT_MODULE_USAGE_DEFAULT_COMMANDS(); +} + +extern "C" int iim42653_main(int argc, char *argv[]) +{ + int ch; + using ThisDriver = IIM42653; + BusCLIArguments cli{false, true}; + cli.default_spi_frequency = SPI_SPEED; + + while ((ch = cli.getOpt(argc, argv, "C:R:")) != EOF) { + switch (ch) { + case 'C': + cli.custom1 = atoi(cli.optArg()); + break; + + case 'R': + cli.rotation = (enum Rotation)atoi(cli.optArg()); + break; + } + } + + const char *verb = cli.optArg(); + + if (!verb) { + ThisDriver::print_usage(); + return -1; + } + + BusInstanceIterator iterator(MODULE_NAME, cli, DRV_IMU_DEVTYPE_IIM42653); + + if (!strcmp(verb, "start")) { + return ThisDriver::module_start(cli, iterator); + } + + if (!strcmp(verb, "stop")) { + return ThisDriver::module_stop(iterator); + } + + if (!strcmp(verb, "status")) { + return ThisDriver::module_status(iterator); + } + + ThisDriver::print_usage(); + return -1; +} diff --git a/src/drivers/imu/invensense/mpu6000/Kconfig b/src/drivers/imu/invensense/mpu6000/Kconfig index ab64a6f32be7..687570b61eec 100644 --- a/src/drivers/imu/invensense/mpu6000/Kconfig +++ b/src/drivers/imu/invensense/mpu6000/Kconfig @@ -2,4 +2,4 @@ menuconfig DRIVERS_IMU_INVENSENSE_MPU6000 bool "mpu6000" default n ---help--- - Enable support for mpu6000 \ No newline at end of file + Enable support for mpu6000 diff --git a/src/drivers/imu/invensense/mpu6500/Kconfig b/src/drivers/imu/invensense/mpu6500/Kconfig index b99ad79b9817..940c1a4f03d5 100644 --- a/src/drivers/imu/invensense/mpu6500/Kconfig +++ b/src/drivers/imu/invensense/mpu6500/Kconfig @@ -2,4 +2,4 @@ menuconfig DRIVERS_IMU_INVENSENSE_MPU6500 bool "mpu6500" default n ---help--- - Enable support for mpu6500 \ No newline at end of file + Enable support for mpu6500 diff --git a/src/drivers/imu/invensense/mpu9250/Kconfig b/src/drivers/imu/invensense/mpu9250/Kconfig index 2bd2c8e1effb..e457b714a4ba 100644 --- a/src/drivers/imu/invensense/mpu9250/Kconfig +++ b/src/drivers/imu/invensense/mpu9250/Kconfig @@ -2,4 +2,4 @@ menuconfig DRIVERS_IMU_INVENSENSE_MPU9250 bool "mpu9250" default n ---help--- - Enable support for mpu9250 \ No newline at end of file + Enable support for mpu9250 diff --git a/src/drivers/imu/l3gd20/Kconfig b/src/drivers/imu/l3gd20/Kconfig deleted file mode 100644 index 417becfc95e6..000000000000 --- a/src/drivers/imu/l3gd20/Kconfig +++ /dev/null @@ -1,5 +0,0 @@ -menuconfig DRIVERS_IMU_L3GD20 - bool "l3gd20" - default n - ---help--- - Enable support for l3gd20 \ No newline at end of file diff --git a/src/drivers/imu/lsm303d/Kconfig b/src/drivers/imu/lsm303d/Kconfig deleted file mode 100644 index 49c139db4f79..000000000000 --- a/src/drivers/imu/lsm303d/Kconfig +++ /dev/null @@ -1,5 +0,0 @@ -menuconfig DRIVERS_IMU_LSM303D - bool "lsm303d" - default n - ---help--- - Enable support for lsm303d \ No newline at end of file diff --git a/src/drivers/imu/murata/Kconfig b/src/drivers/imu/murata/Kconfig new file mode 100644 index 000000000000..36d4534078aa --- /dev/null +++ b/src/drivers/imu/murata/Kconfig @@ -0,0 +1,3 @@ +menu "Murata" +rsource "*/Kconfig" +endmenu #Murata diff --git a/src/drivers/imu/murata/sch16t/CMakeLists.txt b/src/drivers/imu/murata/sch16t/CMakeLists.txt new file mode 100644 index 000000000000..73b90a12fb45 --- /dev/null +++ b/src/drivers/imu/murata/sch16t/CMakeLists.txt @@ -0,0 +1,47 @@ +############################################################################ +# +# Copyright (c) 2022 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +px4_add_module( + MODULE drivers__imu__murata__sch16t + MAIN sch16t + COMPILE_FLAGS + SRCS + SCH16T.cpp + SCH16T.hpp + sch16t_main.cpp + Murata_SCH16T_registers.hpp + DEPENDS + drivers_accelerometer + drivers_gyroscope + px4_work_queue + ) diff --git a/src/drivers/imu/murata/sch16t/Kconfig b/src/drivers/imu/murata/sch16t/Kconfig new file mode 100644 index 000000000000..ef0e906edd25 --- /dev/null +++ b/src/drivers/imu/murata/sch16t/Kconfig @@ -0,0 +1,5 @@ +menuconfig DRIVERS_IMU_MURATA_SCH16T + bool "SCH16T" + default n + ---help--- + Enable support for murata SCH16T diff --git a/src/drivers/imu/murata/sch16t/Murata_SCH16T_registers.hpp b/src/drivers/imu/murata/sch16t/Murata_SCH16T_registers.hpp new file mode 100644 index 000000000000..3d85c6eb012c --- /dev/null +++ b/src/drivers/imu/murata/sch16t/Murata_SCH16T_registers.hpp @@ -0,0 +1,199 @@ +/**************************************************************************** + * + * Copyright (c) 2024 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#pragma once + +#include + +namespace Murata_SCH16T +{ +// General definitions +static constexpr uint16_t EOI = (1 << 1); // End of Initialization +static constexpr uint16_t EN_SENSOR = (1 << 0); // Enable RATE and ACC measurement +static constexpr uint16_t DRY_DRV_EN = (1 << 5); // Enables Data ready function +static constexpr uint16_t SPI_SOFT_RESET = (0b1010); + +// Filter settings +static constexpr uint8_t FILTER_13_HZ = (0b010); +static constexpr uint8_t FILTER_30_HZ = (0b001); +static constexpr uint8_t FILTER_68_HZ = (0b000); +static constexpr uint8_t FILTER_280_HZ = (0b011); +static constexpr uint8_t FILTER_370_HZ = (0b100); +static constexpr uint8_t FILTER_235_HZ = (0b101); +static constexpr uint8_t FILTER_BYPASS = (0b111); + +// Dynamic range settings +static constexpr uint8_t RATE_RANGE_300 = (0b001); +static constexpr uint8_t ACC12_RANGE_80 = (0b001); +static constexpr uint8_t ACC3_RANGE_260 = (0b000); + +// Decimation ratio settings +static constexpr uint8_t DECIMATION_NONE = (0b000); +static constexpr uint8_t DECIMATION_5900_HZ = (0b001); +static constexpr uint8_t DECIMATION_2950_HZ = (0b010); +static constexpr uint8_t DECIMATION_1475_HZ = (0b011); +static constexpr uint8_t DECIMATION_738_HZ = (0b100); + +union CTRL_FILT_RATE_Register { + struct { + uint16_t FILT_SEL_RATE_X : 3; + uint16_t FILT_SEL_RATE_Y : 3; + uint16_t FILT_SEL_RATE_Z : 3; + uint16_t reserved : 7; + } bits; + + uint16_t value; +}; + +union CTRL_FILT_ACC12_Register { + struct { + uint16_t FILT_SEL_ACC_X12 : 3; + uint16_t FILT_SEL_ACC_Y12 : 3; + uint16_t FILT_SEL_ACC_Z12 : 3; + uint16_t reserved : 7; + } bits; + + uint16_t value; +}; + +union CTRL_FILT_ACC3_Register { + struct { + uint16_t FILT_SEL_ACC_X3 : 3; + uint16_t FILT_SEL_ACC_Y3 : 3; + uint16_t FILT_SEL_ACC_Z3 : 3; + uint16_t reserved : 7; + } bits; + + uint16_t value; +}; + +union RATE_CTRL_Register { + struct { + uint16_t DEC_RATE_X2 : 3; + uint16_t DEC_RATE_Y2 : 3; + uint16_t DEC_RATE_Z2 : 3; + uint16_t DYN_RATE_XYZ2: 3; + uint16_t DYN_RATE_XYZ1: 3; + uint16_t reserved : 1; + } bits; + + uint16_t value; +}; + +union ACC12_CTRL_Register { + struct { + uint16_t DEC_ACC_X2 : 3; + uint16_t DEC_ACC_Y2 : 3; + uint16_t DEC_ACC_Z2 : 3; + uint16_t DYN_ACC_XYZ2: 3; + uint16_t DYN_ACC_XYZ1: 3; + uint16_t reserved : 1; + } bits; + + uint16_t value; +}; + +union ACC3_CTRL_Register { + struct { + uint16_t DYN_ACC_XYZ3 : 3; + uint16_t reserved : 13; + } bits; + + uint16_t value; +}; + +// Data registers +#define RATE_X1 0x01 // 20 bit +#define RATE_Y1 0x02 // 20 bit +#define RATE_Z1 0x03 // 20 bit +#define ACC_X1 0x04 // 20 bit +#define ACC_Y1 0x05 // 20 bit +#define ACC_Z1 0x06 // 20 bit +#define ACC_X3 0x07 // 20 bit +#define ACC_Y3 0x08 // 20 bit +#define ACC_Z3 0x09 // 20 bit +#define RATE_X2 0x0A // 20 bit +#define RATE_Y2 0x0B // 20 bit +#define RATE_Z2 0x0C // 20 bit +#define ACC_X2 0x0D // 20 bit +#define ACC_Y2 0x0E // 20 bit +#define ACC_Z2 0x0F // 20 bit +#define TEMP 0x10 // 16 bit +// Status registers +#define STAT_SUM 0x14 // 16 bit +#define STAT_SUM_SAT 0x15 // 16 bit +#define STAT_COM 0x16 // 16 bit +#define STAT_RATE_COM 0x17 // 16 bit +#define STAT_RATE_X 0x18 // 16 bit +#define STAT_RATE_Y 0x19 // 16 bit +#define STAT_RATE_Z 0x1A // 16 bit +#define STAT_ACC_X 0x1B // 16 bit +#define STAT_ACC_Y 0x1C // 16 bit +#define STAT_ACC_Z 0x1D // 16 bit +// Control registers +#define CTRL_FILT_RATE 0x25 // 9 bit +#define CTRL_FILT_ACC12 0x26 // 9 bit +#define CTRL_FILT_ACC3 0x27 // 9 bit +#define CTRL_RATE 0x28 // 15 bit +#define CTRL_ACC12 0x29 // 15 bit +#define CTRL_ACC3 0x2A // 3 bit +#define CTRL_USER_IF 0x33 // 16 bit +#define CTRL_ST 0x34 // 13 bit +#define CTRL_MODE 0x35 // 4 bit +#define CTRL_RESET 0x36 // 4 bit +// Misc registers +#define ASIC_ID 0x3B // 12 bit +#define COMP_ID 0x3C // 16 bit +#define SN_ID1 0x3D // 16 bit +#define SN_ID2 0x3E // 16 bit +#define SN_ID3 0x3F // 16 bit + +// STAT_SUM_SAT bits +#define STAT_SUM_SAT_RSVD (1 << 15) +#define STAT_SUM_SAT_RATE_X1 (1 << 14) +#define STAT_SUM_SAT_RATE_Y1 (1 << 13) +#define STAT_SUM_SAT_RATE_Z1 (1 << 12) +#define STAT_SUM_SAT_ACC_X1 (1 << 11) +#define STAT_SUM_SAT_ACC_Y1 (1 << 10) +#define STAT_SUM_SAT_ACC_Z1 (1 << 9) +#define STAT_SUM_SAT_ACC_X3 (1 << 8) +#define STAT_SUM_SAT_ACC_Y3 (1 << 7) +#define STAT_SUM_SAT_ACC_Z3 (1 << 6) +#define STAT_SUM_SAT_RATE_X2 (1 << 5) +#define STAT_SUM_SAT_RATE_Y2 (1 << 4) +#define STAT_SUM_SAT_RATE_Z2 (1 << 3) +#define STAT_SUM_SAT_ACC_X2 (1 << 2) +#define STAT_SUM_SAT_ACC_Y2 (1 << 1) +#define STAT_SUM_SAT_ACC_Z2 (1 << 0) + +} // namespace Murata_SCH16T diff --git a/src/drivers/imu/murata/sch16t/SCH16T.cpp b/src/drivers/imu/murata/sch16t/SCH16T.cpp new file mode 100644 index 000000000000..d7ed53f27c7a --- /dev/null +++ b/src/drivers/imu/murata/sch16t/SCH16T.cpp @@ -0,0 +1,713 @@ +/**************************************************************************** + * + * Copyright (c) 2024 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include "SCH16T.hpp" + +using namespace time_literals; + +#define SPI48_DATA_INT32(a) (((int32_t)(((a) << 4) & 0xfffff000UL)) >> 12) +#define SPI48_DATA_UINT32(a) ((uint32_t)(((a) >> 8) & 0x000fffffUL)) +#define SPI48_DATA_UINT16(a) ((uint16_t)(((a) >> 8) & 0x0000ffffUL)) + +static constexpr uint32_t POWER_ON_TIME = 250_ms; + +SCH16T::SCH16T(const I2CSPIDriverConfig &config) : + SPI(config), + I2CSPIDriver(config), + ModuleParams(nullptr), + _px4_accel(get_device_id(), config.rotation), + _px4_gyro(get_device_id(), config.rotation), + _drdy_gpio(config.drdy_gpio) +{ + if (_drdy_gpio != 0) { + _drdy_missed_perf = perf_alloc(PC_COUNT, MODULE_NAME": DRDY missed"); + } + +#if defined(SPI6_nRESET_EXTERNAL1) + _hardware_reset_available = true; +#endif +} + +SCH16T::~SCH16T() +{ + perf_free(_reset_perf); + perf_free(_bad_transfer_perf); + perf_free(_perf_crc_bad); + perf_free(_drdy_missed_perf); + perf_free(_perf_general_error); + perf_free(_perf_command_error); + perf_free(_perf_saturation_error); + perf_free(_perf_doing_initialization); +} + +int SCH16T::init() +{ + px4_usleep(POWER_ON_TIME); + + int ret = SPI::init(); + + if (ret != PX4_OK) { + DEVICE_DEBUG("SPI::init failed (%i)", ret); + return ret; + } + + Reset(); + + return PX4_OK; +} + +int SCH16T::probe() +{ + if (hrt_absolute_time() < POWER_ON_TIME) { + PX4_WARN("Required Power-On Start-Up Time %" PRIu32 " ms", POWER_ON_TIME); + } + + RegisterRead(COMP_ID); + uint16_t comp_id = SPI48_DATA_UINT16(RegisterRead(ASIC_ID)); + uint16_t asic_id = SPI48_DATA_UINT16(RegisterRead(ASIC_ID)); + + RegisterRead(SN_ID1); + uint16_t sn_id1 = SPI48_DATA_UINT16(RegisterRead(SN_ID2)); + uint16_t sn_id2 = SPI48_DATA_UINT16(RegisterRead(SN_ID3)); + uint16_t sn_id3 = SPI48_DATA_UINT16(RegisterRead(SN_ID3)); + + char serial_str[14]; + snprintf(serial_str, 14, "%05d%01X%04X", sn_id2, sn_id1 & 0x000F, sn_id3); + + PX4_INFO("Serial:\t %s", serial_str); + PX4_INFO("COMP_ID:\t 0x%0x", comp_id); + PX4_INFO("ASIC_ID:\t 0x%0x", asic_id); + + bool success = asic_id == 0x21 && comp_id == 0x23; + + return success ? PX4_OK : PX4_ERROR; +} + +void SCH16T::Reset() +{ + if (_drdy_gpio) { + DataReadyInterruptDisable(); + } + + ScheduleClear(); + + _state = STATE::RESET_INIT; + ScheduleNow(); +} + +void SCH16T::ResetSpi6(bool reset) +{ +#if defined(SPI6_RESET) + SPI6_RESET(reset); +#endif +} + +void SCH16T::exit_and_cleanup() +{ + if (_drdy_gpio) { + DataReadyInterruptDisable(); + } + + I2CSPIDriverBase::exit_and_cleanup(); +} + +void SCH16T::print_status() +{ + I2CSPIDriverBase::print_status(); + perf_print_counter(_reset_perf); + perf_print_counter(_bad_transfer_perf); + perf_print_counter(_perf_crc_bad); + perf_print_counter(_drdy_missed_perf); + perf_print_counter(_perf_general_error); + perf_print_counter(_perf_command_error); + perf_print_counter(_perf_saturation_error); + perf_print_counter(_perf_doing_initialization); +} + +void SCH16T::RunImpl() +{ + const hrt_abstime now = hrt_absolute_time(); + + switch (_state) { + case STATE::RESET_INIT: { + perf_count(_reset_perf); + + _failure_count = 0; + + if (_hardware_reset_available) { + PX4_INFO("Resetting (hard)"); + ResetSpi6(true); + _state = STATE::RESET_HARD; + ScheduleDelayed(2_ms); + + } else { + PX4_INFO("Resetting (soft)"); + SoftwareReset(); + _state = STATE::CONFIGURE; + ScheduleDelayed(POWER_ON_TIME); + } + + break; + } + + case STATE::RESET_HARD: { + if (_hardware_reset_available) { + ResetSpi6(false); + } + + _state = STATE::CONFIGURE; + ScheduleDelayed(POWER_ON_TIME); + break; + } + + case STATE::CONFIGURE: { + ConfigurationFromParameters(); + Configure(); + + _state = STATE::LOCK_CONFIGURATION; + ScheduleDelayed(POWER_ON_TIME); + break; + } + + case STATE::LOCK_CONFIGURATION: { + ReadStatusRegisters(); // Read all status registers once + RegisterWrite(CTRL_MODE, (EOI | EN_SENSOR)); // Write EOI and EN_SENSOR + + _state = STATE::VALIDATE; + ScheduleDelayed(5_ms); + break; + } + + case STATE::VALIDATE: { + ReadStatusRegisters(); // Read all status registers twice + ReadStatusRegisters(); + + // Check that registers are configured properly and that the sensor status is OK + if (ValidateSensorStatus() && ValidateRegisterConfiguration()) { + _state = STATE::READ; + + if (_drdy_gpio) { + DataReadyInterruptConfigure(); + ScheduleDelayed(100_ms); // backup schedule as a watchdog timeout + + } else { + ScheduleOnInterval(_sample_interval_us, _sample_interval_us); + } + + } else { + _state = STATE::RESET_INIT; + ScheduleDelayed(100_ms); + } + + break; + } + + case STATE::READ: { + hrt_abstime timestamp_sample = now; + + if (_drdy_gpio) { + // scheduled from interrupt if _drdy_timestamp_sample was set as expected + const hrt_abstime drdy_timestamp_sample = _drdy_timestamp_sample.fetch_and(0); + + if ((now - drdy_timestamp_sample) < _sample_interval_us) { + timestamp_sample = drdy_timestamp_sample; + + } else { + perf_count(_drdy_missed_perf); + } + + // push backup schedule back + ScheduleDelayed(_sample_interval_us * 2); + } + + // Collect the data + SensorData data = {}; + + if (ReadData(&data)) { + _px4_accel.set_temperature(float(data.temp) / 100.f); // Temperature signal sensitivity is 100 LSB/°C + _px4_gyro.set_temperature(float(data.temp) / 100.f); + _px4_accel.update(timestamp_sample, data.acc_x, data.acc_y, data.acc_z); + _px4_gyro.update(timestamp_sample, data.gyro_x, data.gyro_y, data.gyro_z); + + if (_failure_count > 0) { + _failure_count--; + } + + } else { + perf_count(_bad_transfer_perf); + _failure_count++; + } + + // Reset if successive failures + if (_failure_count > 10) { + PX4_INFO("Failure count high, resetting"); + Reset(); + return; + } + + break; + } + + default: + break; + } // end switch/case +} + +bool SCH16T::ReadData(SensorData *data) +{ + // Register reads return 48bits. See SafeSpi 48bit out-of-frame protocol. + RegisterRead(RATE_X2); + uint64_t gyro_x = RegisterRead(RATE_Y2); + uint64_t gyro_y = RegisterRead(RATE_Z2); + uint64_t gyro_z = RegisterRead(ACC_X2); + uint64_t acc_x = RegisterRead(ACC_Y2); + uint64_t acc_y = RegisterRead(ACC_Z2); + uint64_t acc_z = RegisterRead(TEMP); + uint64_t temp = RegisterRead(TEMP); + + static constexpr uint64_t MASK48_GENERAL_ERROR = 0b00000000'00010000'00000000'00000000'00000000'00000000; + static constexpr uint64_t MASK48_COMMAND_ERROR = 0b00000000'00001000'00000000'00000000'00000000'00000000; + static constexpr uint64_t MASK48_SATURATION_ERROR = 0b00000000'00000100'00000000'00000000'00000000'00000000; + static constexpr uint64_t MASK48_DOING_INIT = 0b00000000'00000110'00000000'00000000'00000000'00000000; + + uint64_t values[] = { gyro_x, gyro_y, gyro_z, acc_x, acc_y, acc_z, temp }; + + for (auto v : values) { + // [1b ][1b][ 2b ] + // [IDS][CE][S1:0] + // IDS: Internal Data Status indication. SCH16T uses this field to indicate common cause error. This is redundant, more accurate info + // is seen from sensor status (S1:S0). + // CE: Command Error indication. SCH16T reports only semantically invalid frame content using this field. SPI protocol + // level errors are indicated with High-Z on MISO pin. + // S1,0: Sensor status indication. + // 00: Normal operation + // 01: Error status + // 10: Saturation error + // 11: Initialization running + + if (v & MASK48_GENERAL_ERROR) { + perf_count(_perf_general_error); + return false; + + } else if (v & MASK48_COMMAND_ERROR) { + perf_count(_perf_command_error); + return false; + + } else if ((v & MASK48_DOING_INIT) == MASK48_DOING_INIT) { + perf_count(_perf_doing_initialization); + return false; + + } else if (v & MASK48_SATURATION_ERROR) { + perf_count(_perf_saturation_error); + // Don't consider saturation an error + } + + // Validate the CRC + if (uint8_t(v & 0xff) != CalculateCRC8(v)) { + perf_count(_perf_crc_bad); + return false; + } + } + + // Data registers are 20bit 2s complement + data->acc_x = SPI48_DATA_INT32(acc_x); + data->acc_y = SPI48_DATA_INT32(acc_y); + data->acc_z = SPI48_DATA_INT32(acc_z); + data->gyro_x = SPI48_DATA_INT32(gyro_x); + data->gyro_y = SPI48_DATA_INT32(gyro_y); + data->gyro_z = SPI48_DATA_INT32(gyro_z); + // Temperature data is always 16 bits wide. Drop 4 LSBs as they are not used. + data->temp = SPI48_DATA_INT32(temp) >> 4; + // Conver to PX4 coordinate system (FLU to FRD) + data->acc_x = data->acc_x; + data->acc_y = -data->acc_y; + data->acc_z = -data->acc_z; + data->gyro_x = data->gyro_x; + data->gyro_y = -data->gyro_y; + data->gyro_z = -data->gyro_z; + return true; +} + +void SCH16T::ConfigurationFromParameters() +{ + // NOTE: We use ACC2 and RATE2 which are both decimated without interpolation + CTRL_FILT_RATE_Register filt_rate; + CTRL_FILT_ACC12_Register filt_acc12; + CTRL_FILT_ACC3_Register filt_acc3; + RATE_CTRL_Register rate_ctrl; + ACC12_CTRL_Register acc12_ctrl; + ACC3_CTRL_Register acc3_ctrl; + + // We always use the maximum dynamic range for gyro and accel + rate_ctrl.bits.DYN_RATE_XYZ1 = RATE_RANGE_300; + rate_ctrl.bits.DYN_RATE_XYZ2 = RATE_RANGE_300; + acc12_ctrl.bits.DYN_ACC_XYZ1 = ACC12_RANGE_80; + acc12_ctrl.bits.DYN_ACC_XYZ2 = ACC12_RANGE_80; + acc3_ctrl.bits.DYN_ACC_XYZ3 = ACC3_RANGE_260; + + _px4_gyro.set_range(math::radians(327.5f)); // 327.5 °/sec + _px4_gyro.set_scale(math::radians(1.f / 1600.f)); // 1600 LSB/(°/sec) + _px4_accel.set_range(163.4f); // 163.4 m/s2 + _px4_accel.set_scale(1.f / 3200.f); // 3200 LSB/(m/s2) + + // Gyro filter + switch (_sch16t_gyro_filt.get()) { + case 0: + filt_rate.bits.FILT_SEL_RATE_X = FILTER_13_HZ; + filt_rate.bits.FILT_SEL_RATE_Y = FILTER_13_HZ; + filt_rate.bits.FILT_SEL_RATE_Z = FILTER_13_HZ; + break; + + case 1: + filt_rate.bits.FILT_SEL_RATE_X = FILTER_30_HZ; + filt_rate.bits.FILT_SEL_RATE_Y = FILTER_30_HZ; + filt_rate.bits.FILT_SEL_RATE_Z = FILTER_30_HZ; + break; + + case 2: + filt_rate.bits.FILT_SEL_RATE_X = FILTER_68_HZ; + filt_rate.bits.FILT_SEL_RATE_Y = FILTER_68_HZ; + filt_rate.bits.FILT_SEL_RATE_Z = FILTER_68_HZ; + break; + + case 3: + filt_rate.bits.FILT_SEL_RATE_X = FILTER_235_HZ; + filt_rate.bits.FILT_SEL_RATE_Y = FILTER_235_HZ; + filt_rate.bits.FILT_SEL_RATE_Z = FILTER_235_HZ; + break; + + case 4: + filt_rate.bits.FILT_SEL_RATE_X = FILTER_280_HZ; + filt_rate.bits.FILT_SEL_RATE_Y = FILTER_280_HZ; + filt_rate.bits.FILT_SEL_RATE_Z = FILTER_280_HZ; + break; + + case 5: + filt_rate.bits.FILT_SEL_RATE_X = FILTER_370_HZ; + filt_rate.bits.FILT_SEL_RATE_Y = FILTER_370_HZ; + filt_rate.bits.FILT_SEL_RATE_Z = FILTER_370_HZ; + break; + + case 6: + filt_rate.bits.FILT_SEL_RATE_X = FILTER_BYPASS; + filt_rate.bits.FILT_SEL_RATE_Y = FILTER_BYPASS; + filt_rate.bits.FILT_SEL_RATE_Z = FILTER_BYPASS; + break; + } + + // ACC12 / ACC3 filter + switch (_sch16t_acc_filt.get()) { + case 0: + filt_acc12.bits.FILT_SEL_ACC_X12 = FILTER_13_HZ; + filt_acc12.bits.FILT_SEL_ACC_Y12 = FILTER_13_HZ; + filt_acc12.bits.FILT_SEL_ACC_Z12 = FILTER_13_HZ; + + filt_acc3.bits.FILT_SEL_ACC_X3 = FILTER_13_HZ; + filt_acc3.bits.FILT_SEL_ACC_Y3 = FILTER_13_HZ; + filt_acc3.bits.FILT_SEL_ACC_Z3 = FILTER_13_HZ; + break; + + case 1: + filt_acc12.bits.FILT_SEL_ACC_X12 = FILTER_30_HZ; + filt_acc12.bits.FILT_SEL_ACC_Y12 = FILTER_30_HZ; + filt_acc12.bits.FILT_SEL_ACC_Z12 = FILTER_30_HZ; + + filt_acc3.bits.FILT_SEL_ACC_X3 = FILTER_30_HZ; + filt_acc3.bits.FILT_SEL_ACC_Y3 = FILTER_30_HZ; + filt_acc3.bits.FILT_SEL_ACC_Z3 = FILTER_30_HZ; + break; + + case 2: + filt_acc12.bits.FILT_SEL_ACC_X12 = FILTER_68_HZ; + filt_acc12.bits.FILT_SEL_ACC_Y12 = FILTER_68_HZ; + filt_acc12.bits.FILT_SEL_ACC_Z12 = FILTER_68_HZ; + + filt_acc3.bits.FILT_SEL_ACC_X3 = FILTER_68_HZ; + filt_acc3.bits.FILT_SEL_ACC_Y3 = FILTER_68_HZ; + filt_acc3.bits.FILT_SEL_ACC_Z3 = FILTER_68_HZ; + break; + + case 3: + filt_acc12.bits.FILT_SEL_ACC_X12 = FILTER_235_HZ; + filt_acc12.bits.FILT_SEL_ACC_Y12 = FILTER_235_HZ; + filt_acc12.bits.FILT_SEL_ACC_Z12 = FILTER_235_HZ; + + filt_acc3.bits.FILT_SEL_ACC_X3 = FILTER_235_HZ; + filt_acc3.bits.FILT_SEL_ACC_Y3 = FILTER_235_HZ; + filt_acc3.bits.FILT_SEL_ACC_Z3 = FILTER_235_HZ; + break; + + case 4: + filt_acc12.bits.FILT_SEL_ACC_X12 = FILTER_280_HZ; + filt_acc12.bits.FILT_SEL_ACC_Y12 = FILTER_280_HZ; + filt_acc12.bits.FILT_SEL_ACC_Z12 = FILTER_280_HZ; + + filt_acc3.bits.FILT_SEL_ACC_X3 = FILTER_280_HZ; + filt_acc3.bits.FILT_SEL_ACC_Y3 = FILTER_280_HZ; + filt_acc3.bits.FILT_SEL_ACC_Z3 = FILTER_280_HZ; + break; + + case 5: + filt_acc12.bits.FILT_SEL_ACC_X12 = FILTER_370_HZ; + filt_acc12.bits.FILT_SEL_ACC_Y12 = FILTER_370_HZ; + filt_acc12.bits.FILT_SEL_ACC_Z12 = FILTER_370_HZ; + + filt_acc3.bits.FILT_SEL_ACC_X3 = FILTER_370_HZ; + filt_acc3.bits.FILT_SEL_ACC_Y3 = FILTER_370_HZ; + filt_acc3.bits.FILT_SEL_ACC_Z3 = FILTER_370_HZ; + break; + + case 6: + filt_acc12.bits.FILT_SEL_ACC_X12 = FILTER_BYPASS; + filt_acc12.bits.FILT_SEL_ACC_Y12 = FILTER_BYPASS; + filt_acc12.bits.FILT_SEL_ACC_Z12 = FILTER_BYPASS; + + filt_acc3.bits.FILT_SEL_ACC_X3 = FILTER_BYPASS; + filt_acc3.bits.FILT_SEL_ACC_Y3 = FILTER_BYPASS; + filt_acc3.bits.FILT_SEL_ACC_Z3 = FILTER_BYPASS; + break; + } + + // Gyro decimation (only affects channel 2, ie RATE2) + switch (_sch16t_decim.get()) { + case 0: + _sample_interval_us = 85; + rate_ctrl.bits.DEC_RATE_X2 = DECIMATION_NONE; + rate_ctrl.bits.DEC_RATE_Y2 = DECIMATION_NONE; + rate_ctrl.bits.DEC_RATE_Z2 = DECIMATION_NONE; + acc12_ctrl.bits.DEC_ACC_X2 = DECIMATION_NONE; + acc12_ctrl.bits.DEC_ACC_Y2 = DECIMATION_NONE; + acc12_ctrl.bits.DEC_ACC_Z2 = DECIMATION_NONE; + break; + + case 1: + _sample_interval_us = 169; + rate_ctrl.bits.DEC_RATE_X2 = DECIMATION_5900_HZ; + rate_ctrl.bits.DEC_RATE_Y2 = DECIMATION_5900_HZ; + rate_ctrl.bits.DEC_RATE_Z2 = DECIMATION_5900_HZ; + acc12_ctrl.bits.DEC_ACC_X2 = DECIMATION_5900_HZ; + acc12_ctrl.bits.DEC_ACC_Y2 = DECIMATION_5900_HZ; + acc12_ctrl.bits.DEC_ACC_Z2 = DECIMATION_5900_HZ; + break; + + case 2: + _sample_interval_us = 338; + rate_ctrl.bits.DEC_RATE_X2 = DECIMATION_2950_HZ; + rate_ctrl.bits.DEC_RATE_Y2 = DECIMATION_2950_HZ; + rate_ctrl.bits.DEC_RATE_Z2 = DECIMATION_2950_HZ; + acc12_ctrl.bits.DEC_ACC_X2 = DECIMATION_2950_HZ; + acc12_ctrl.bits.DEC_ACC_Y2 = DECIMATION_2950_HZ; + acc12_ctrl.bits.DEC_ACC_Z2 = DECIMATION_2950_HZ; + break; + + case 3: + _sample_interval_us = 678; + rate_ctrl.bits.DEC_RATE_X2 = DECIMATION_1475_HZ; + rate_ctrl.bits.DEC_RATE_Y2 = DECIMATION_1475_HZ; + rate_ctrl.bits.DEC_RATE_Z2 = DECIMATION_1475_HZ; + acc12_ctrl.bits.DEC_ACC_X2 = DECIMATION_1475_HZ; + acc12_ctrl.bits.DEC_ACC_Y2 = DECIMATION_1475_HZ; + acc12_ctrl.bits.DEC_ACC_Z2 = DECIMATION_1475_HZ; + break; + + case 4: + _sample_interval_us = 1355; + rate_ctrl.bits.DEC_RATE_X2 = DECIMATION_738_HZ; + rate_ctrl.bits.DEC_RATE_Y2 = DECIMATION_738_HZ; + rate_ctrl.bits.DEC_RATE_Z2 = DECIMATION_738_HZ; + acc12_ctrl.bits.DEC_ACC_X2 = DECIMATION_738_HZ; + acc12_ctrl.bits.DEC_ACC_Y2 = DECIMATION_738_HZ; + acc12_ctrl.bits.DEC_ACC_Z2 = DECIMATION_738_HZ; + break; + } + + _registers[0] = RegisterConfig(CTRL_FILT_RATE, filt_rate.value); + _registers[1] = RegisterConfig(CTRL_FILT_ACC12, filt_acc12.value); + _registers[2] = RegisterConfig(CTRL_FILT_ACC3, filt_acc3.value); + _registers[3] = RegisterConfig(CTRL_RATE, rate_ctrl.value); + _registers[4] = RegisterConfig(CTRL_ACC12, acc12_ctrl.value); + _registers[5] = RegisterConfig(CTRL_ACC3, acc3_ctrl.value); +} + +void SCH16T::Configure() +{ + for (auto &r : _registers) { + RegisterWrite(r.addr, r.value); + } + + RegisterWrite(CTRL_USER_IF, DRY_DRV_EN); // Enable data ready + RegisterWrite(CTRL_MODE, EN_SENSOR); // Enable the sensor +} + +bool SCH16T::ValidateRegisterConfiguration() +{ + bool success = true; + + for (auto &r : _registers) { + RegisterRead(r.addr); // double read, wasteful but makes the code cleaner, not high rate so doesn't matter anyway + auto value = SPI48_DATA_UINT16(RegisterRead(r.addr)); + + if (value != r.value) { + PX4_INFO("Register 0x%0x misconfigured: 0x%0x", r.addr, value); + success = false; + } + } + + return success; +} + +void SCH16T::ReadStatusRegisters() +{ + RegisterRead(STAT_SUM); + _sensor_status.summary = SPI48_DATA_UINT16(RegisterRead(STAT_SUM_SAT)); + _sensor_status.saturation = SPI48_DATA_UINT16(RegisterRead(STAT_COM)); + _sensor_status.common = SPI48_DATA_UINT16(RegisterRead(STAT_RATE_COM)); + _sensor_status.rate_common = SPI48_DATA_UINT16(RegisterRead(STAT_RATE_X)); + _sensor_status.rate_x = SPI48_DATA_UINT16(RegisterRead(STAT_RATE_Y)); + _sensor_status.rate_y = SPI48_DATA_UINT16(RegisterRead(STAT_RATE_Z)); + _sensor_status.rate_z = SPI48_DATA_UINT16(RegisterRead(STAT_ACC_X)); + _sensor_status.acc_x = SPI48_DATA_UINT16(RegisterRead(STAT_ACC_Y)); + _sensor_status.acc_y = SPI48_DATA_UINT16(RegisterRead(STAT_ACC_Z)); + _sensor_status.acc_z = SPI48_DATA_UINT16(RegisterRead(STAT_ACC_Z)); +} + +bool SCH16T::ValidateSensorStatus() +{ + auto &s = _sensor_status; + uint16_t values[] = { s.summary, s.saturation, s.common, s.rate_common, s.rate_x, s.rate_y, s.rate_z, s.acc_x, s.acc_y, s.acc_z }; + + for (auto v : values) { + if (v != 0xFFFF) { + PX4_INFO("Sensor status failed"); + return false; + } + } + + return true; +} + +void SCH16T::SoftwareReset() +{ + RegisterWrite(CTRL_RESET, SPI_SOFT_RESET); +} + +uint64_t SCH16T::RegisterRead(uint8_t addr) +{ + uint64_t frame = {}; + frame |= uint64_t(addr) << 38; // Target address offset + frame |= uint64_t(1) << 35; // FrameType: SPI48BF + frame |= uint64_t(CalculateCRC8(frame)); + + return TransferSpiFrame(frame); +} + +// Non-data registers are the only writable ones and are 16 bit or less +void SCH16T::RegisterWrite(uint8_t addr, uint16_t value) +{ + uint64_t frame = {}; + frame |= uint64_t(1) << 37; // Write bit + frame |= uint64_t(addr) << 38; // Target address offset + frame |= uint64_t(1) << 35; // FrameType: SPI48BF + frame |= uint64_t(value) << 8; + frame |= uint64_t(CalculateCRC8(frame)); + + // We don't care about the return frame on a write + (void)TransferSpiFrame(frame); +} + +// The SPI protocol (SafeSPI) is 48bit out-of-frame. This means read return frames will be received on the next transfer. +uint64_t SCH16T::TransferSpiFrame(uint64_t frame) +{ + uint16_t buf[3]; + + for (int index = 0; index < 3; index++) { + buf[3 - index - 1] = (frame >> (index << 4)) & 0xFFFF; + } + + transferhword(buf, buf, 3); + +#if defined(DEBUG_BUILD) + PX4_INFO("TransferSpiFrame: 0x%llx", frame); + + PX4_INFO("RECEIVED"); + + for (auto r : buf) { + PX4_INFO("%u", r); + } + +#endif + + uint64_t value = {}; + + for (int index = 0; index < 3; index++) { + value |= (uint64_t)buf[index] << ((3 - index - 1) << 4); + } + + return value; +} + +int SCH16T::DataReadyInterruptCallback(int irq, void *context, void *arg) +{ + static_cast(arg)->DataReady(); + return 0; +} + +void SCH16T::DataReady() +{ + _drdy_timestamp_sample.store(hrt_absolute_time()); + ScheduleNow(); +} + +bool SCH16T::DataReadyInterruptConfigure() +{ + // Setup data ready on falling edge + return px4_arch_gpiosetevent(_drdy_gpio, true, false, false, &DataReadyInterruptCallback, this) == 0; +} + +bool SCH16T::DataReadyInterruptDisable() +{ + return px4_arch_gpiosetevent(_drdy_gpio, false, false, false, nullptr, nullptr) == 0; +} + +uint8_t SCH16T::CalculateCRC8(uint64_t frame) +{ + uint64_t data = frame & 0xFFFFFFFFFF00LL; + uint8_t crc = 0xFF; + + for (int i = 47; i >= 0; i--) { + uint8_t data_bit = data >> i & 0x01; + crc = crc & 0x80 ? (uint8_t)((crc << 1) ^ 0x2F) ^ data_bit : (uint8_t)(crc << 1) | data_bit; + } + + return crc; +} diff --git a/src/drivers/imu/murata/sch16t/SCH16T.hpp b/src/drivers/imu/murata/sch16t/SCH16T.hpp new file mode 100644 index 000000000000..3487bf115e0e --- /dev/null +++ b/src/drivers/imu/murata/sch16t/SCH16T.hpp @@ -0,0 +1,154 @@ +/**************************************************************************** + * + * Copyright (c) 2024 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#pragma once + +#include "Murata_SCH16T_registers.hpp" +#include +#include +#include +#include + +using namespace Murata_SCH16T; + +class SCH16T : public device::SPI, public I2CSPIDriver, public ModuleParams +{ +public: + SCH16T(const I2CSPIDriverConfig &config); + ~SCH16T() override; + + static void print_usage(); + + void RunImpl(); + + int init() override; + void print_status() override; + +private: + struct SensorData { + int32_t acc_x; + int32_t acc_y; + int32_t acc_z; + int32_t gyro_x; + int32_t gyro_y; + int32_t gyro_z; + int32_t temp; + }; + + struct SensorStatus { + uint16_t summary; + uint16_t saturation; + uint16_t common; + uint16_t rate_common; + uint16_t rate_x; + uint16_t rate_y; + uint16_t rate_z; + uint16_t acc_x; + uint16_t acc_y; + uint16_t acc_z; + }; + + struct RegisterConfig { + RegisterConfig(uint16_t a = 0, uint16_t v = 0) + : addr(a) + , value(v) + {}; + uint8_t addr; + uint16_t value; + }; + + int probe() override; + void exit_and_cleanup() override; + + bool ValidateSensorStatus(); + bool ValidateRegisterConfiguration(); + void Reset(); + void ResetSpi6(bool reset); + uint8_t CalculateCRC8(uint64_t frame); + + bool ReadData(SensorData *data); + void ReadStatusRegisters(); + + void Configure(); + void ConfigurationFromParameters(); + + void SoftwareReset(); + + void RegisterWrite(uint8_t addr, uint16_t value); + uint64_t RegisterRead(uint8_t addr); + uint64_t TransferSpiFrame(uint64_t frame); + + static int DataReadyInterruptCallback(int irq, void *context, void *arg); + void DataReady(); + bool DataReadyInterruptConfigure(); + bool DataReadyInterruptDisable(); +private: + PX4Accelerometer _px4_accel; + PX4Gyroscope _px4_gyro; + + SensorStatus _sensor_status{}; + + int _failure_count{0}; + + px4::atomic _drdy_timestamp_sample{0}; + const spi_drdy_gpio_t _drdy_gpio; + bool _hardware_reset_available{false}; + + enum class STATE : uint8_t { + RESET_INIT, + RESET_HARD, + CONFIGURE, + LOCK_CONFIGURATION, + VALIDATE, + READ, + } _state{STATE::RESET_INIT}; + + RegisterConfig _registers[6]; + + uint32_t _sample_interval_us = 678; + + perf_counter_t _reset_perf{perf_alloc(PC_COUNT, MODULE_NAME": reset")}; + perf_counter_t _bad_transfer_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad transfer")}; + perf_counter_t _perf_crc_bad{perf_counter_t(perf_alloc(PC_COUNT, MODULE_NAME": CRC8 bad"))}; + perf_counter_t _drdy_missed_perf{nullptr}; + perf_counter_t _perf_general_error{perf_counter_t(perf_alloc(PC_COUNT, MODULE_NAME": general error"))}; + perf_counter_t _perf_command_error{perf_counter_t(perf_alloc(PC_COUNT, MODULE_NAME": command error"))}; + perf_counter_t _perf_saturation_error{perf_counter_t(perf_alloc(PC_COUNT, MODULE_NAME": saturation error"))}; + perf_counter_t _perf_doing_initialization{perf_counter_t(perf_alloc(PC_COUNT, MODULE_NAME": re-initializing"))}; + + DEFINE_PARAMETERS( + (ParamInt) _sch16t_gyro_filt, + (ParamInt) _sch16t_acc_filt, + (ParamInt) _sch16t_decim + ) +}; diff --git a/src/drivers/imu/murata/sch16t/parameters.c b/src/drivers/imu/murata/sch16t/parameters.c new file mode 100644 index 000000000000..85e6728f6461 --- /dev/null +++ b/src/drivers/imu/murata/sch16t/parameters.c @@ -0,0 +1,90 @@ +/**************************************************************************** + * + * Copyright (c) 2024 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * Murata SCH16T IMU (external SPI) + * + * @reboot_required true + * @min 0 + * @max 1 + * @group Sensors + * @value 0 Disabled + * @value 1 Enabled + */ +PARAM_DEFINE_INT32(SENS_EN_SCH16T, 0); + +/** + * Gyro filter settings + * + * @value 0 13 Hz + * @value 1 30 Hz + * @value 2 68 Hz + * @value 3 235 Hz + * @value 4 280 Hz + * @value 5 370 Hz + * @value 6 No filter + * + * @reboot_required true + * + */ +PARAM_DEFINE_INT32(SCH16T_GYRO_FILT, 2); + +/** + * Accel filter settings + * + * @value 0 13 Hz + * @value 1 30 Hz + * @value 2 68 Hz + * @value 3 235 Hz + * @value 4 280 Hz + * @value 5 370 Hz + * @value 6 No filter + * + * @reboot_required true + * + */ +PARAM_DEFINE_INT32(SCH16T_ACC_FILT, 6); + +/** + * Gyro and Accel decimation settings + * + * @value 0 None + * @value 1 5900 Hz + * @value 2 2950 Hz + * @value 3 1475 Hz + * @value 4 738 Hz + * + * @reboot_required true + * + */ +PARAM_DEFINE_INT32(SCH16T_DECIM, 4); diff --git a/src/drivers/imu/murata/sch16t/sch16t_main.cpp b/src/drivers/imu/murata/sch16t/sch16t_main.cpp new file mode 100644 index 000000000000..0f2341abd8b8 --- /dev/null +++ b/src/drivers/imu/murata/sch16t/sch16t_main.cpp @@ -0,0 +1,87 @@ +/**************************************************************************** + * + * Copyright (c) 2024 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include "SCH16T.hpp" + +#include + +void SCH16T::print_usage() +{ + PRINT_MODULE_USAGE_NAME("sch16t", "driver"); + PRINT_MODULE_USAGE_SUBCATEGORY("imu"); + PRINT_MODULE_USAGE_COMMAND("start"); + PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(false, true); + PRINT_MODULE_USAGE_PARAM_INT('R', 0, 0, 35, "Rotation", true); + PRINT_MODULE_USAGE_DEFAULT_COMMANDS(); +} + +extern "C" int sch16t_main(int argc, char *argv[]) +{ + int ch; + using ThisDriver = SCH16T; + BusCLIArguments cli{false, true}; + cli.default_spi_frequency = 5000000; + cli.spi_mode = SPIDEV_MODE0; + + while ((ch = cli.getOpt(argc, argv, "R:")) != EOF) { + switch (ch) { + case 'R': + cli.rotation = (enum Rotation)atoi(cli.optArg()); + break; + } + } + + const char *verb = cli.optArg(); + + if (!verb) { + ThisDriver::print_usage(); + return -1; + } + + BusInstanceIterator iterator(MODULE_NAME, cli, DRV_IMU_DEVTYPE_SCH16T); + + if (!strcmp(verb, "start")) { + return ThisDriver::module_start(cli, iterator); + } + + if (!strcmp(verb, "stop")) { + return ThisDriver::module_stop(iterator); + } + + if (!strcmp(verb, "status")) { + return ThisDriver::module_status(iterator); + } + + ThisDriver::print_usage(); + return -1; +} diff --git a/src/drivers/imu/nxp/Kconfig b/src/drivers/imu/nxp/Kconfig new file mode 100644 index 000000000000..ebcede4df7e0 --- /dev/null +++ b/src/drivers/imu/nxp/Kconfig @@ -0,0 +1,3 @@ +menu "NXP" +rsource "*/Kconfig" +endmenu #NXP diff --git a/src/drivers/imu/fxas21002c/CMakeLists.txt b/src/drivers/imu/nxp/fxas21002c/CMakeLists.txt similarity index 100% rename from src/drivers/imu/fxas21002c/CMakeLists.txt rename to src/drivers/imu/nxp/fxas21002c/CMakeLists.txt diff --git a/src/drivers/imu/fxas21002c/FXAS21002C.cpp b/src/drivers/imu/nxp/fxas21002c/FXAS21002C.cpp similarity index 100% rename from src/drivers/imu/fxas21002c/FXAS21002C.cpp rename to src/drivers/imu/nxp/fxas21002c/FXAS21002C.cpp diff --git a/src/drivers/imu/fxas21002c/FXAS21002C.hpp b/src/drivers/imu/nxp/fxas21002c/FXAS21002C.hpp similarity index 100% rename from src/drivers/imu/fxas21002c/FXAS21002C.hpp rename to src/drivers/imu/nxp/fxas21002c/FXAS21002C.hpp diff --git a/src/drivers/imu/nxp/fxas21002c/Kconfig b/src/drivers/imu/nxp/fxas21002c/Kconfig new file mode 100644 index 000000000000..6c27f5bac974 --- /dev/null +++ b/src/drivers/imu/nxp/fxas21002c/Kconfig @@ -0,0 +1,5 @@ +menuconfig DRIVERS_IMU_NXP_FXAS21002C + bool "fxas21002c" + default n + ---help--- + Enable support for fxas21002c diff --git a/src/drivers/imu/fxas21002c/fxas21002c_i2c.cpp b/src/drivers/imu/nxp/fxas21002c/fxas21002c_i2c.cpp similarity index 100% rename from src/drivers/imu/fxas21002c/fxas21002c_i2c.cpp rename to src/drivers/imu/nxp/fxas21002c/fxas21002c_i2c.cpp diff --git a/src/drivers/imu/fxas21002c/fxas21002c_main.cpp b/src/drivers/imu/nxp/fxas21002c/fxas21002c_main.cpp similarity index 100% rename from src/drivers/imu/fxas21002c/fxas21002c_main.cpp rename to src/drivers/imu/nxp/fxas21002c/fxas21002c_main.cpp diff --git a/src/drivers/imu/fxas21002c/fxas21002c_spi.cpp b/src/drivers/imu/nxp/fxas21002c/fxas21002c_spi.cpp similarity index 100% rename from src/drivers/imu/fxas21002c/fxas21002c_spi.cpp rename to src/drivers/imu/nxp/fxas21002c/fxas21002c_spi.cpp diff --git a/src/drivers/imu/fxos8701cq/CMakeLists.txt b/src/drivers/imu/nxp/fxos8701cq/CMakeLists.txt similarity index 100% rename from src/drivers/imu/fxos8701cq/CMakeLists.txt rename to src/drivers/imu/nxp/fxos8701cq/CMakeLists.txt diff --git a/src/drivers/imu/fxos8701cq/FXOS8701CQ.cpp b/src/drivers/imu/nxp/fxos8701cq/FXOS8701CQ.cpp similarity index 100% rename from src/drivers/imu/fxos8701cq/FXOS8701CQ.cpp rename to src/drivers/imu/nxp/fxos8701cq/FXOS8701CQ.cpp diff --git a/src/drivers/imu/fxos8701cq/FXOS8701CQ.hpp b/src/drivers/imu/nxp/fxos8701cq/FXOS8701CQ.hpp similarity index 100% rename from src/drivers/imu/fxos8701cq/FXOS8701CQ.hpp rename to src/drivers/imu/nxp/fxos8701cq/FXOS8701CQ.hpp diff --git a/src/drivers/imu/nxp/fxos8701cq/Kconfig b/src/drivers/imu/nxp/fxos8701cq/Kconfig new file mode 100644 index 000000000000..1193f23dc8dc --- /dev/null +++ b/src/drivers/imu/nxp/fxos8701cq/Kconfig @@ -0,0 +1,5 @@ +menuconfig DRIVERS_IMU_NXP_FXOS8701CQ + bool "fxos8701cq" + default n + ---help--- + Enable support for fxos8701cq diff --git a/src/drivers/imu/fxos8701cq/fxos8701cq_i2c.cpp b/src/drivers/imu/nxp/fxos8701cq/fxos8701cq_i2c.cpp similarity index 100% rename from src/drivers/imu/fxos8701cq/fxos8701cq_i2c.cpp rename to src/drivers/imu/nxp/fxos8701cq/fxos8701cq_i2c.cpp diff --git a/src/drivers/imu/fxos8701cq/fxos8701cq_main.cpp b/src/drivers/imu/nxp/fxos8701cq/fxos8701cq_main.cpp similarity index 100% rename from src/drivers/imu/fxos8701cq/fxos8701cq_main.cpp rename to src/drivers/imu/nxp/fxos8701cq/fxos8701cq_main.cpp diff --git a/src/drivers/imu/fxos8701cq/fxos8701cq_spi.cpp b/src/drivers/imu/nxp/fxos8701cq/fxos8701cq_spi.cpp similarity index 99% rename from src/drivers/imu/fxos8701cq/fxos8701cq_spi.cpp rename to src/drivers/imu/nxp/fxos8701cq/fxos8701cq_spi.cpp index 28c12b3f652a..795afdea006e 100644 --- a/src/drivers/imu/fxos8701cq/fxos8701cq_spi.cpp +++ b/src/drivers/imu/nxp/fxos8701cq/fxos8701cq_spi.cpp @@ -213,4 +213,3 @@ int FXOS8701CQ_SPI::write(unsigned reg, void *data, unsigned count) return transfer(cmd, nullptr, sizeof(cmd)); } - diff --git a/src/drivers/imu/st/Kconfig b/src/drivers/imu/st/Kconfig index 9047657caa94..8188d8bf5046 100644 --- a/src/drivers/imu/st/Kconfig +++ b/src/drivers/imu/st/Kconfig @@ -1,3 +1,3 @@ menu "ST" rsource "*/Kconfig" -endmenu #Invensense +endmenu #ST diff --git a/src/drivers/imu/l3gd20/CMakeLists.txt b/src/drivers/imu/st/l3gd20/CMakeLists.txt similarity index 100% rename from src/drivers/imu/l3gd20/CMakeLists.txt rename to src/drivers/imu/st/l3gd20/CMakeLists.txt diff --git a/src/drivers/imu/st/l3gd20/Kconfig b/src/drivers/imu/st/l3gd20/Kconfig new file mode 100644 index 000000000000..063c4948018b --- /dev/null +++ b/src/drivers/imu/st/l3gd20/Kconfig @@ -0,0 +1,5 @@ +menuconfig DRIVERS_IMU_ST_L3GD20 + bool "l3gd20" + default n + ---help--- + Enable support for l3gd20 diff --git a/src/drivers/imu/l3gd20/L3GD20.cpp b/src/drivers/imu/st/l3gd20/L3GD20.cpp similarity index 100% rename from src/drivers/imu/l3gd20/L3GD20.cpp rename to src/drivers/imu/st/l3gd20/L3GD20.cpp diff --git a/src/drivers/imu/l3gd20/L3GD20.hpp b/src/drivers/imu/st/l3gd20/L3GD20.hpp similarity index 100% rename from src/drivers/imu/l3gd20/L3GD20.hpp rename to src/drivers/imu/st/l3gd20/L3GD20.hpp diff --git a/src/drivers/imu/l3gd20/l3gd20_main.cpp b/src/drivers/imu/st/l3gd20/l3gd20_main.cpp similarity index 100% rename from src/drivers/imu/l3gd20/l3gd20_main.cpp rename to src/drivers/imu/st/l3gd20/l3gd20_main.cpp diff --git a/src/drivers/imu/lsm303d/CMakeLists.txt b/src/drivers/imu/st/lsm303d/CMakeLists.txt similarity index 100% rename from src/drivers/imu/lsm303d/CMakeLists.txt rename to src/drivers/imu/st/lsm303d/CMakeLists.txt diff --git a/src/drivers/imu/st/lsm303d/Kconfig b/src/drivers/imu/st/lsm303d/Kconfig new file mode 100644 index 000000000000..8e0fb7463ea1 --- /dev/null +++ b/src/drivers/imu/st/lsm303d/Kconfig @@ -0,0 +1,5 @@ +menuconfig DRIVERS_IMU_ST_LSM303D + bool "lsm303d" + default n + ---help--- + Enable support for lsm303d diff --git a/src/drivers/imu/lsm303d/LSM303D.cpp b/src/drivers/imu/st/lsm303d/LSM303D.cpp similarity index 100% rename from src/drivers/imu/lsm303d/LSM303D.cpp rename to src/drivers/imu/st/lsm303d/LSM303D.cpp diff --git a/src/drivers/imu/lsm303d/LSM303D.hpp b/src/drivers/imu/st/lsm303d/LSM303D.hpp similarity index 100% rename from src/drivers/imu/lsm303d/LSM303D.hpp rename to src/drivers/imu/st/lsm303d/LSM303D.hpp diff --git a/src/drivers/imu/lsm303d/lsm303d_main.cpp b/src/drivers/imu/st/lsm303d/lsm303d_main.cpp similarity index 100% rename from src/drivers/imu/lsm303d/lsm303d_main.cpp rename to src/drivers/imu/st/lsm303d/lsm303d_main.cpp diff --git a/src/drivers/ins/vectornav/VectorNav.cpp b/src/drivers/ins/vectornav/VectorNav.cpp index 8b3bc951450e..85dd4c1846af 100644 --- a/src/drivers/ins/vectornav/VectorNav.cpp +++ b/src/drivers/ins/vectornav/VectorNav.cpp @@ -38,9 +38,15 @@ #include +using matrix::Vector2f; + VectorNav::VectorNav(const char *port) : ModuleParams(nullptr), - ScheduledWorkItem(MODULE_NAME, px4::serial_port_to_wq(port)) + ScheduledWorkItem(MODULE_NAME, px4::serial_port_to_wq(port)), + _attitude_pub((_param_vn_mode.get() == 0) ? ORB_ID(external_ins_attitude) : ORB_ID(vehicle_attitude)), + _local_position_pub((_param_vn_mode.get() == 0) ? ORB_ID(external_ins_local_position) : ORB_ID(vehicle_local_position)), + _global_position_pub((_param_vn_mode.get() == 0) ? ORB_ID(external_ins_global_position) : ORB_ID( + vehicle_global_position)) { // store port name strncpy(_port, port, sizeof(_port) - 1); @@ -48,6 +54,23 @@ VectorNav::VectorNav(const char *port) : // enforce null termination _port[sizeof(_port) - 1] = '\0'; + // VN_MODE 1 full INS + if (_param_vn_mode.get() == 1) { + int32_t v = 0; + + // EKF2_EN 0 (disabled) + v = 0; + param_set(param_find("EKF2_EN"), &v); + + // SENS_IMU_MODE (VN handles sensor selection) + v = 0; + param_set(param_find("SENS_IMU_MODE"), &v); + + // SENS_MAG_MODE (VN handles sensor selection) + v = 0; + param_set(param_find("SENS_MAG_MODE"), &v); + } + device::Device::DeviceId device_id{}; device_id.devid_s.devtype = DRV_INS_DEVTYPE_VN300; device_id.devid_s.bus_type = device::Device::DeviceBusType_SERIAL; @@ -75,6 +98,16 @@ VectorNav::~VectorNav() perf_free(_sample_perf); perf_free(_comms_errors); + + perf_free(_accel_pub_interval_perf); + perf_free(_gyro_pub_interval_perf); + perf_free(_mag_pub_interval_perf); + perf_free(_gnss_pub_interval_perf); + perf_free(_baro_pub_interval_perf); + + perf_free(_attitude_pub_interval_perf); + perf_free(_local_position_pub_interval_perf); + perf_free(_global_position_pub_interval_perf); } void VectorNav::binaryAsyncMessageReceived(void *userData, VnUartPacket *packet, size_t runningIndex) @@ -108,7 +141,7 @@ void VectorNav::sensorCallback(VnUartPacket *packet) if (VnUartPacket_isCompatible(packet, COMMONGROUP_NONE, TIMEGROUP_TIMESTARTUP, - (ImuGroup)(IMUGROUP_UNCOMPACCEL | IMUGROUP_UNCOMPGYRO), + (ImuGroup)(IMUGROUP_ACCEL | IMUGROUP_ANGULARRATE), GPSGROUP_NONE, ATTITUDEGROUP_NONE, INSGROUP_NONE, @@ -118,17 +151,21 @@ void VectorNav::sensorCallback(VnUartPacket *packet) uint64_t time_startup = VnUartPacket_extractUint64(packet); (void)time_startup; - // IMUGROUP_UNCOMPACCEL + // IMUGROUP_ACCEL vec3f accel = VnUartPacket_extractVec3f(packet); - // IMUGROUP_UNCOMPGYRO + // IMUGROUP_ANGULARRATE vec3f angular_rate = VnUartPacket_extractVec3f(packet); // publish sensor_accel _px4_accel.update(time_now_us, accel.c[0], accel.c[1], accel.c[2]); + perf_count(_accel_pub_interval_perf); // publish sensor_gyro _px4_gyro.update(time_now_us, angular_rate.c[0], angular_rate.c[1], angular_rate.c[2]); + perf_count(_gyro_pub_interval_perf); + + _time_last_valid_imu_us.store(hrt_absolute_time()); } // binary output 2 @@ -188,9 +225,11 @@ void VectorNav::sensorCallback(VnUartPacket *packet) sensor_baro.temperature = temperature; sensor_baro.timestamp = hrt_absolute_time(); _sensor_baro_pub.publish(sensor_baro); + perf_count(_baro_pub_interval_perf); // publish sensor_mag _px4_mag.update(time_now_us, mag.c[0], mag.c[1], mag.c[2]); + perf_count(_mag_pub_interval_perf); // publish attitude vehicle_attitude_s attitude{}; @@ -201,13 +240,14 @@ void VectorNav::sensorCallback(VnUartPacket *packet) attitude.q[3] = quaternion.c[2]; attitude.timestamp = hrt_absolute_time(); _attitude_pub.publish(attitude); + perf_count(_attitude_pub_interval_perf); // mode const uint16_t mode = (insStatus & 0b11); //const bool mode_initializing = (mode == 0b00); const bool mode_aligning = (mode == 0b01); const bool mode_tracking = (mode == 0b10); - const bool mode_loss_gnss = (mode == 0b11); + //const bool mode_loss_gnss = (mode == 0b11); // mode_initializing @@ -228,41 +268,117 @@ void VectorNav::sensorCallback(VnUartPacket *packet) // - attitude is good // - treat as mode 0 - - if ((mode_aligning || mode_tracking) && !mode_loss_gnss) { + if (mode_aligning || mode_tracking) { // publish local_position - // TODO: projection + const double lat = positionEstimatedLla.c[0]; + const double lon = positionEstimatedLla.c[1]; + const float alt = positionEstimatedLla.c[2]; + + if (!_pos_ref.isInitialized()) { + _pos_ref.initReference(lat, lon, time_now_us); + _gps_alt_ref = alt; + } + + const Vector2f pos_ned = _pos_ref.project(lat, lon); + vehicle_local_position_s local_position{}; local_position.timestamp_sample = time_now_us; - local_position.ax = accelerationLinearNed.c[0]; - local_position.ay = accelerationLinearNed.c[1]; - local_position.az = accelerationLinearNed.c[2]; - local_position.x = positionEstimatedLla.c[0]; // TODO - local_position.y = positionEstimatedLla.c[1]; // TODO - local_position.z = positionEstimatedLla.c[2]; // TODO + + local_position.xy_valid = true; + local_position.z_valid = true; + local_position.v_xy_valid = true; + local_position.v_z_valid = true; + + local_position.x = pos_ned(0); + local_position.y = pos_ned(1); + local_position.z = -(alt - _gps_alt_ref); + local_position.vx = velocityEstimatedNed.c[0]; local_position.vy = velocityEstimatedNed.c[1]; local_position.vz = velocityEstimatedNed.c[2]; + local_position.z_deriv = velocityEstimatedNed.c[2]; // TODO + + local_position.ax = accelerationLinearNed.c[0]; + local_position.ay = accelerationLinearNed.c[1]; + local_position.az = accelerationLinearNed.c[2]; + + matrix::Quatf q{attitude.q}; + local_position.heading = matrix::Eulerf{q}.psi(); + local_position.heading_good_for_control = mode_tracking; + + if (_pos_ref.isInitialized()) { + local_position.xy_global = true; + local_position.z_global = true; + local_position.ref_timestamp = _pos_ref.getProjectionReferenceTimestamp(); + local_position.ref_lat = _pos_ref.getProjectionReferenceLat(); + local_position.ref_lon = _pos_ref.getProjectionReferenceLon(); + local_position.ref_alt = _gps_alt_ref; + } + + local_position.dist_bottom_valid = false; + local_position.eph = positionUncertaintyEstimated; local_position.epv = positionUncertaintyEstimated; local_position.evh = velocityUncertaintyEstimated; local_position.evv = velocityUncertaintyEstimated; - local_position.xy_valid = true; - local_position.heading_good_for_control = mode_tracking; + + local_position.dead_reckoning = false; + + local_position.vxy_max = INFINITY; + local_position.vz_max = INFINITY; + local_position.hagl_min = INFINITY; + local_position.hagl_max = INFINITY; + + local_position.unaided_heading = NAN; local_position.timestamp = hrt_absolute_time(); _local_position_pub.publish(local_position); - + perf_count(_local_position_pub_interval_perf); // publish global_position vehicle_global_position_s global_position{}; global_position.timestamp_sample = time_now_us; - global_position.lat = positionEstimatedLla.c[0]; - global_position.lon = positionEstimatedLla.c[1]; - global_position.alt = positionEstimatedLla.c[2]; + global_position.lat = lat; + global_position.lon = lon; + global_position.alt = alt; + global_position.alt = alt; + + global_position.eph = positionUncertaintyEstimated; + global_position.epv = positionUncertaintyEstimated; + global_position.timestamp = hrt_absolute_time(); _global_position_pub.publish(global_position); + perf_count(_global_position_pub_interval_perf); + } + + // publish estimator_status (VN_MODE 1 only) + if (_param_vn_mode.get() == 1) { + + estimator_status_s estimator_status{}; + estimator_status.timestamp_sample = time_now_us; + + float test_ratio = 0.f; + + if (mode_aligning) { + test_ratio = 0.99f; + + } else if (mode_tracking) { + // very good + test_ratio = 0.1f; + } + + estimator_status.hdg_test_ratio = test_ratio; + estimator_status.vel_test_ratio = test_ratio; + estimator_status.pos_test_ratio = test_ratio; + estimator_status.hgt_test_ratio = test_ratio; + + estimator_status.accel_device_id = _px4_accel.get_device_id(); + estimator_status.gyro_device_id = _px4_gyro.get_device_id(); + + estimator_status.timestamp = hrt_absolute_time(); + _estimator_status_pub.publish(estimator_status); + } } @@ -320,26 +436,28 @@ void VectorNav::sensorCallback(VnUartPacket *packet) sensor_gps.fix_type = gpsFix; - sensor_gps.lat = positionGpsLla.c[0] * 1e7; - sensor_gps.lon = positionGpsLla.c[1] * 1e7; - sensor_gps.alt = positionGpsLla.c[2] * 1e3; - sensor_gps.alt_ellipsoid = sensor_gps.alt; + sensor_gps.latitude_deg = positionGpsLla.c[0]; + sensor_gps.longitude_deg = positionGpsLla.c[1]; + sensor_gps.altitude_msl_m = positionGpsLla.c[2]; + sensor_gps.altitude_ellipsoid_m = sensor_gps.altitude_msl_m; - sensor_gps.vel_ned_valid = true; + sensor_gps.vel_m_s = matrix::Vector3f(velocityGpsNed.c).length(); sensor_gps.vel_n_m_s = velocityGpsNed.c[0]; sensor_gps.vel_e_m_s = velocityGpsNed.c[1]; sensor_gps.vel_d_m_s = velocityGpsNed.c[2]; + sensor_gps.vel_ned_valid = true; sensor_gps.hdop = dop.hDOP; sensor_gps.vdop = dop.vDOP; - sensor_gps.eph = positionUncertaintyGpsNed.c[0]; + sensor_gps.eph = sqrtf(sq(positionUncertaintyGpsNed.c[0]) + sq(positionUncertaintyGpsNed.c[1])); sensor_gps.epv = positionUncertaintyGpsNed.c[2]; sensor_gps.s_variance_m_s = velocityUncertaintyGps; sensor_gps.timestamp = hrt_absolute_time(); _sensor_gps_pub.publish(sensor_gps); + perf_count(_gnss_pub_interval_perf); } } } @@ -493,7 +611,7 @@ bool VectorNav::configure() 1, // divider COMMONGROUP_NONE, TIMEGROUP_TIMESTARTUP, - (ImuGroup)(IMUGROUP_UNCOMPACCEL | IMUGROUP_UNCOMPGYRO), + (ImuGroup)(IMUGROUP_ACCEL | IMUGROUP_ANGULARRATE), GPSGROUP_NONE, ATTITUDEGROUP_NONE, INSGROUP_NONE, @@ -551,6 +669,8 @@ bool VectorNav::configure() VnSensor_registerAsyncPacketReceivedHandler(&_vs, VectorNav::binaryAsyncMessageReceived, this); VnSensor_registerErrorPacketReceivedHandler(&_vs, VectorNav::binaryAsyncMessageReceived, this); + _time_configured_us.store(hrt_absolute_time()); + return true; } @@ -582,11 +702,42 @@ void VectorNav::Run() _initialized = true; } else { - ScheduleDelayed(3_s); + ScheduleDelayed(1_s); return; } } + if (_connected && _configured && _initialized) { + + // check for timeout + const hrt_abstime time_configured_us = _time_configured_us.load(); + const hrt_abstime time_last_valid_imu_us = _time_last_valid_imu_us.load(); + + if (_param_vn_mode.get() == 1) { + if ((time_last_valid_imu_us != 0) && (hrt_elapsed_time(&time_last_valid_imu_us) < 3_s)) + + // update sensor_selection if configured in INS mode + if ((_px4_accel.get_device_id() != 0) && (_px4_gyro.get_device_id() != 0)) { + sensor_selection_s sensor_selection{}; + sensor_selection.accel_device_id = _px4_accel.get_device_id(); + sensor_selection.gyro_device_id = _px4_gyro.get_device_id(); + sensor_selection.timestamp = hrt_absolute_time(); + _sensor_selection_pub.publish(sensor_selection); + } + } + + if ((time_configured_us != 0) && (hrt_elapsed_time(&time_last_valid_imu_us) > 5_s) + && (time_last_valid_imu_us != 0) && (hrt_elapsed_time(&time_last_valid_imu_us) > 1_s) + ) { + PX4_ERR("timeout, reinitializing"); + VnSensor_unregisterAsyncPacketReceivedHandler(&_vs); + VnSensor_disconnect(&_vs); + _connected = false; + _configured = false; + _initialized = false; + } + } + ScheduleDelayed(100_ms); } @@ -681,7 +832,7 @@ Serial bus driver for the VectorNav VN-100, VN-200, VN-300. Most boards are configured to enable/start the driver on a specified UART using the SENS_VN_CFG parameter. -Setup/usage information: https://docs.px4.io/master/en/sensor/vectornav.html +Setup/usage information: https://docs.px4.io/main/en/sensor/vectornav.html ### Examples diff --git a/src/drivers/ins/vectornav/VectorNav.hpp b/src/drivers/ins/vectornav/VectorNav.hpp index bc1244a00981..7984687a6c22 100644 --- a/src/drivers/ins/vectornav/VectorNav.hpp +++ b/src/drivers/ins/vectornav/VectorNav.hpp @@ -56,15 +56,18 @@ extern "C" { #include #include #include +#include #include #include #include #include #include #include +#include #include #include #include +#include #include #include #include @@ -99,6 +102,9 @@ class VectorNav : public ModuleBase, public ModuleParams, public px4: static void binaryAsyncMessageReceived(void *userData, VnUartPacket *packet, size_t runningIndex); + // return the square of two floating point numbers + static constexpr float sq(float var) { return var * var; } + void sensorCallback(VnUartPacket *packet); char _port[20] {}; @@ -108,7 +114,8 @@ class VectorNav : public ModuleBase, public ModuleParams, public px4: bool _connected{false}; bool _configured{false}; - hrt_abstime _last_read{0}; + px4::atomic _time_configured_us{false}; + px4::atomic _time_last_valid_imu_us{false}; VnSensor _vs{}; @@ -122,16 +129,33 @@ class VectorNav : public ModuleBase, public ModuleParams, public px4: PX4Gyroscope _px4_gyro{0}; PX4Magnetometer _px4_mag{0}; + MapProjection _pos_ref{}; + float _gps_alt_ref{NAN}; ///< WGS-84 height (m) + uORB::PublicationMulti _sensor_baro_pub{ORB_ID(sensor_baro)}; uORB::PublicationMulti _sensor_gps_pub{ORB_ID(sensor_gps)}; - uORB::PublicationMulti _attitude_pub{ORB_ID(external_ins_attitude)}; - uORB::PublicationMulti _local_position_pub{ORB_ID(external_ins_local_position)}; - uORB::PublicationMulti _global_position_pub{ORB_ID(external_ins_global_position)}; + uORB::Publication _sensor_selection_pub{ORB_ID(sensor_selection)}; + + uORB::PublicationMulti _attitude_pub; + uORB::PublicationMulti _local_position_pub; + uORB::PublicationMulti _global_position_pub; + + uORB::Publication _estimator_status_pub{ORB_ID(estimator_status)}; perf_counter_t _comms_errors{perf_alloc(PC_COUNT, MODULE_NAME": com_err")}; perf_counter_t _sample_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": read")}; + perf_counter_t _accel_pub_interval_perf{perf_alloc(PC_INTERVAL, MODULE_NAME": accel publish interval")}; + perf_counter_t _gyro_pub_interval_perf{perf_alloc(PC_INTERVAL, MODULE_NAME": gyro publish interval")}; + perf_counter_t _mag_pub_interval_perf{perf_alloc(PC_INTERVAL, MODULE_NAME": mag publish interval")}; + perf_counter_t _gnss_pub_interval_perf{perf_alloc(PC_INTERVAL, MODULE_NAME": GNSS publish interval")}; + perf_counter_t _baro_pub_interval_perf{perf_alloc(PC_INTERVAL, MODULE_NAME": baro publish interval")}; + + perf_counter_t _attitude_pub_interval_perf{perf_alloc(PC_INTERVAL, MODULE_NAME": attitude publish interval")}; + perf_counter_t _local_position_pub_interval_perf{perf_alloc(PC_INTERVAL, MODULE_NAME": local position publish interval")}; + perf_counter_t _global_position_pub_interval_perf{perf_alloc(PC_INTERVAL, MODULE_NAME": global position publish interval")}; + // TODO: params for GNSS antenna offsets // A @@ -154,4 +178,8 @@ class VectorNav : public ModuleBase, public ModuleParams, public px4: // VN_GNSS_ANTB_POS_X // Uncertainty in the X-axis position measurement. + + DEFINE_PARAMETERS( + (ParamInt) _param_vn_mode + ) }; diff --git a/src/drivers/ins/vectornav/libvnc/include/vn/enum.h b/src/drivers/ins/vectornav/libvnc/include/vn/enum.h index c7cbba373c4f..ca59b176c404 100644 --- a/src/drivers/ins/vectornav/libvnc/include/vn/enum.h +++ b/src/drivers/ins/vectornav/libvnc/include/vn/enum.h @@ -667,4 +667,4 @@ typedef enum VNPROCESSOR_IMU /**< IMU Processor. */ } VnProcessorType; -#endif \ No newline at end of file +#endif diff --git a/src/drivers/ins/vectornav/libvnc/include/vn/math/matrix.h b/src/drivers/ins/vectornav/libvnc/include/vn/math/matrix.h index 6bbf62b97c80..959d42314d88 100644 --- a/src/drivers/ins/vectornav/libvnc/include/vn/math/matrix.h +++ b/src/drivers/ins/vectornav/libvnc/include/vn/math/matrix.h @@ -84,4 +84,3 @@ mat3f vnm_negative_mat3f(mat3f m); #endif #endif - diff --git a/src/drivers/ins/vectornav/libvnc/include/vn/util.h b/src/drivers/ins/vectornav/libvnc/include/vn/util.h index 02388f41f08a..6da16dfd1c31 100644 --- a/src/drivers/ins/vectornav/libvnc/include/vn/util.h +++ b/src/drivers/ins/vectornav/libvnc/include/vn/util.h @@ -11,6 +11,10 @@ #include "vn/util/export.h" #include "vn/types.h" +#ifndef UNUSED +#define UNUSED(x) (void)(sizeof(x)) +#endif + #ifdef __cplusplus extern "C" { #endif diff --git a/src/drivers/ins/vectornav/libvnc/src/vn/protocol/spi.c b/src/drivers/ins/vectornav/libvnc/src/vn/protocol/spi.c index d162a2f9aa73..fefce9ba515b 100644 --- a/src/drivers/ins/vectornav/libvnc/src/vn/protocol/spi.c +++ b/src/drivers/ins/vectornav/libvnc/src/vn/protocol/spi.c @@ -2,8 +2,6 @@ #include #include "vn/util.h" -//#define UNUSED(x) (void)(sizeof(x)) - VnError VnSpi_genGenericCommand( char cmdId, char* buffer, diff --git a/src/drivers/ins/vectornav/libvnc/src/vn/xplat/event.c b/src/drivers/ins/vectornav/libvnc/src/vn/xplat/event.c index 958315b0421c..996fa4cd1baf 100644 --- a/src/drivers/ins/vectornav/libvnc/src/vn/xplat/event.c +++ b/src/drivers/ins/vectornav/libvnc/src/vn/xplat/event.c @@ -1,7 +1,9 @@ /* Enable IEEE Std 1003.1b-1993 functionality required for clock_gettime. */ #if defined(__linux__) || defined(__NUTTX__) /* Works for Ubuntu 15.10 */ +#ifndef _POSIX_C_SOURCE #define _POSIX_C_SOURCE 199309L +#endif #elif defined __CYGWIN__ /* Works for Cygwin 2.4.0 64-bit */ #define _POSIX_TIMERS 1 diff --git a/src/drivers/ins/vectornav/libvnc/src/vn/xplat/time.c b/src/drivers/ins/vectornav/libvnc/src/vn/xplat/time.c index f06d415de0c7..9548f8c65341 100644 --- a/src/drivers/ins/vectornav/libvnc/src/vn/xplat/time.c +++ b/src/drivers/ins/vectornav/libvnc/src/vn/xplat/time.c @@ -1,7 +1,9 @@ /* Enable IEEE Std 1003.1b-1993 functionality required for clock_gettime. */ #if defined(__linux__) || defined(__NUTTX__) /* Works for Ubuntu 15.10 */ +#ifndef _POSIX_C_SOURCE #define _POSIX_C_SOURCE 199309L +#endif #elif defined __CYGWIN__ /* Works for Cygwin 2.4.0 64-bit */ #define _POSIX_TIMERS 1 diff --git a/src/drivers/ins/vectornav/module.yaml b/src/drivers/ins/vectornav/module.yaml index c95bfeb60862..349fb9869bda 100644 --- a/src/drivers/ins/vectornav/module.yaml +++ b/src/drivers/ins/vectornav/module.yaml @@ -1,7 +1,22 @@ module_name: VectorNav (VN-100, VN-200, VN-300) + serial_config: - command: vectornav start -d ${SERIAL_DEV} port_config_param: name: SENS_VN_CFG group: Sensors +parameters: + - group: Sensors + definitions: + + VN_MODE: + description: + short: VectorNav driver mode + long: INS or sensors + category: System + type: enum + values: + 0: Sensors Only (default) + 1: INS + default: 0 diff --git a/src/drivers/irlock/Kconfig b/src/drivers/irlock/Kconfig index ddf22968cdaa..b954c5d23641 100644 --- a/src/drivers/irlock/Kconfig +++ b/src/drivers/irlock/Kconfig @@ -2,4 +2,4 @@ menuconfig DRIVERS_IRLOCK bool "irlock" default n ---help--- - Enable support for irlock \ No newline at end of file + Enable support for irlock diff --git a/src/drivers/lights/CMakeLists.txt b/src/drivers/lights/CMakeLists.txt index 450dffe80f68..6dbfbd87acae 100644 --- a/src/drivers/lights/CMakeLists.txt +++ b/src/drivers/lights/CMakeLists.txt @@ -35,4 +35,5 @@ add_subdirectory(rgbled) add_subdirectory(rgbled_ncp5623c) add_subdirectory(rgbled_is31fl3195) +add_subdirectory(rgbled_lp5562) #add_subdirectory(rgbled_pwm) # requires board support (BOARD_HAS_LED_PWM/BOARD_HAS_UI_LED_PWM) diff --git a/src/drivers/lights/Kconfig b/src/drivers/lights/Kconfig index a4dd0316efea..844a40ea02df 100644 --- a/src/drivers/lights/Kconfig +++ b/src/drivers/lights/Kconfig @@ -5,6 +5,7 @@ menu "Lights" select DRIVERS_LIGHTS_RGBLED select DRIVERS_LIGHTS_RGBLED_NCP5623C select DRIVERS_LIGHTS_RGBLED_IS31FL3195 + select DRIVERS_LIGHTS_RGBLED_LP5562 ---help--- Enable default set of light drivers rsource "*/Kconfig" diff --git a/src/drivers/lights/neopixel/Kconfig b/src/drivers/lights/neopixel/Kconfig index a8f68316904b..bf119759a63c 100644 --- a/src/drivers/lights/neopixel/Kconfig +++ b/src/drivers/lights/neopixel/Kconfig @@ -2,4 +2,4 @@ menuconfig DRIVERS_LIGHTS_NEOPIXEL bool "neopixel" default n ---help--- - Enable support for neopixel \ No newline at end of file + Enable support for neopixel diff --git a/src/drivers/lights/rgbled/Kconfig b/src/drivers/lights/rgbled/Kconfig index 52f606acd7fb..f9736cc6549d 100644 --- a/src/drivers/lights/rgbled/Kconfig +++ b/src/drivers/lights/rgbled/Kconfig @@ -2,4 +2,4 @@ menuconfig DRIVERS_LIGHTS_RGBLED bool "rgbled" default n ---help--- - Enable support for rgbled \ No newline at end of file + Enable support for rgbled diff --git a/src/drivers/lights/rgbled_is31fl3195/Kconfig b/src/drivers/lights/rgbled_is31fl3195/Kconfig index 8835539e286c..eb2427b11550 100644 --- a/src/drivers/lights/rgbled_is31fl3195/Kconfig +++ b/src/drivers/lights/rgbled_is31fl3195/Kconfig @@ -2,4 +2,4 @@ menuconfig DRIVERS_LIGHTS_RGBLED_IS31FL3195 bool "rgbled is31fl3195" default n ---help--- - Enable support for rgbled IS3FL3195 driver \ No newline at end of file + Enable support for rgbled IS3FL3195 driver diff --git a/src/drivers/lights/rgbled_lp5562/CMakeLists.txt b/src/drivers/lights/rgbled_lp5562/CMakeLists.txt new file mode 100644 index 000000000000..210f81cec191 --- /dev/null +++ b/src/drivers/lights/rgbled_lp5562/CMakeLists.txt @@ -0,0 +1,42 @@ +############################################################################ +# +# Copyright (c) 2023 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +px4_add_module( + MODULE drivers__rgbled_lp5562 + MAIN rgbled_lp5562 + SRCS + rgbled_lp5562.cpp + DEPENDS + drivers__device + led + ) diff --git a/src/drivers/lights/rgbled_lp5562/Kconfig b/src/drivers/lights/rgbled_lp5562/Kconfig new file mode 100644 index 000000000000..ab12804d448b --- /dev/null +++ b/src/drivers/lights/rgbled_lp5562/Kconfig @@ -0,0 +1,5 @@ +menuconfig DRIVERS_LIGHTS_RGBLED_LP5562 + bool "rgbled lp5562" + default n + ---help--- + Enable support for RGBLED LP5562 driver diff --git a/src/drivers/lights/rgbled_lp5562/rgbled_lp5562.cpp b/src/drivers/lights/rgbled_lp5562/rgbled_lp5562.cpp new file mode 100644 index 000000000000..7d795d105c62 --- /dev/null +++ b/src/drivers/lights/rgbled_lp5562/rgbled_lp5562.cpp @@ -0,0 +1,329 @@ +/**************************************************************************** + * + * Copyright (c) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file rgbled_lp5562.cpp + * + * Driver for the RGB LED controller Texas Instruments LP5562 connected via I2C. + * + * @author Julian Oes + */ + +#include +#include + +#include +#include +#include +#include +#include +#include + + +using namespace time_literals; + +// The addresses are 0x60, 0x62, 0x64, 0x66 according to the datasheet page 27. +// We specify 7bit addresses, hence 0x60 becomes 0x30. +#define I2C_ADDR 0x30 + +// Unfortunately, there is no WHO_AM_I or device id register, so +// instead we query the W_CURRENT which has a certain pattern +// after reset, and we don't use it or change it, so we don't have +// to reset it and therefore don't mess with a device that we're +// not sure what it is. +static constexpr uint8_t LED_MAP_ADDR = 0x70; +static constexpr uint8_t LED_MAP_ALL_PWM = 0b00000000; + +static constexpr uint8_t ENABLE_ADDR = 0x00; +static constexpr uint8_t ENABLE_CHIP_EN = 0b01000000; + +static constexpr uint8_t CONFIG_ADDR = 0x08; +static constexpr uint8_t CONFIG_ENABLE_INTERNAL_CLOCK = 0b00000001; + +static constexpr uint8_t RESET_ADDR = 0x0D; +static constexpr uint8_t RESET_DO_RESET = 0xFF; + +static constexpr uint8_t B_PWM_ADDR = 0x02; + +static constexpr uint8_t B_CURRENT_ADDR = 0x05; + +static constexpr uint8_t W_CURRENT_ADDR = 0x0F; +static constexpr uint8_t W_CURRENT_DEFAULT = 0b10101111; + + +class RGBLED_LP5562: public device::I2C, public I2CSPIDriver +{ +public: + RGBLED_LP5562(const I2CSPIDriverConfig &config); + virtual ~RGBLED_LP5562() = default; + + static void print_usage(); + + int init() override; + int probe() override; + + void RunImpl(); + +private: + int read(uint8_t address, uint8_t *data, unsigned count); + int write(uint8_t address, uint8_t *data, unsigned count); + int send_led_rgb(uint8_t r, uint8_t g, uint8_t b); + + LedController _led_controller; + uint8_t _current = 175; // matching default current of 17.5mA +}; + +RGBLED_LP5562::RGBLED_LP5562(const I2CSPIDriverConfig &config) : + I2C(config), + I2CSPIDriver(config) +{ + _current = config.custom1; +} + +int +RGBLED_LP5562::init() +{ + int ret = I2C::init(); + + if (ret != OK) { + return ret; + } + + uint8_t command[1] = {ENABLE_CHIP_EN}; + ret = write(ENABLE_ADDR, command, sizeof(command)); + + if (ret != OK) { + return ret; + } + + // We have to wait 500us after enable. + px4_usleep(500); + + command[0] = CONFIG_ENABLE_INTERNAL_CLOCK; + ret = write(CONFIG_ADDR, command, sizeof(command)); + + if (ret != OK) { + return ret; + } + + command[0] = LED_MAP_ALL_PWM; + ret = write(LED_MAP_ADDR, command, sizeof(command)); + + if (ret != OK) { + return ret; + } + + // Write all 3 colors at once. + uint8_t currents[3] = {_current, _current, _current}; + ret = write(B_CURRENT_ADDR, currents, sizeof(currents)); + + if (ret != OK) { + return ret; + } + + ScheduleNow(); + + return OK; +} + +int +RGBLED_LP5562::probe() +{ + uint8_t result[1] = {0}; + int ret = read(W_CURRENT_ADDR, result, sizeof(result)); + + if (ret != OK) { + return ret; + } + + _retries = 1; + + return (result[0] == W_CURRENT_DEFAULT) ? OK : ERROR; +} + +int +RGBLED_LP5562::read(uint8_t address, uint8_t *data, unsigned count) +{ + uint8_t cmd = address; + return transfer(&cmd, 1, (uint8_t *)data, count); +} + +int +RGBLED_LP5562::write(uint8_t address, uint8_t *data, unsigned count) +{ + uint8_t buf[4]; + + if (sizeof(buf) < (count + 1)) { + return -EIO; + } + + buf[0] = address; + memcpy(&buf[1], data, count); + + return transfer(&buf[0], count + 1, nullptr, 0); +} + +void +RGBLED_LP5562::RunImpl() +{ + if (should_exit()) { + send_led_rgb(0, 0, 0); + return; + } + + LedControlData led_control_data; + + if (_led_controller.update(led_control_data) == 1) { + + const uint8_t on = led_control_data.leds[0].brightness; + + switch (led_control_data.leds[0].color) { + case led_control_s::COLOR_RED: + send_led_rgb(on, 0, 0); + break; + + case led_control_s::COLOR_GREEN: + send_led_rgb(0, on, 0); + break; + + case led_control_s::COLOR_BLUE: + send_led_rgb(0, 0, on); + break; + + case led_control_s::COLOR_AMBER: // same as yellow + case led_control_s::COLOR_YELLOW: + send_led_rgb(on, on, 0); + break; + + case led_control_s::COLOR_PURPLE: + send_led_rgb(on, 0, on); + break; + + case led_control_s::COLOR_CYAN: + send_led_rgb(0, on, on); + break; + + case led_control_s::COLOR_WHITE: + send_led_rgb(on, on, on); + break; + + case led_control_s::COLOR_OFF: + default: + send_led_rgb(0, 0, 0); + break; + } + + } + + ScheduleDelayed(_led_controller.maximum_update_interval()); +} + +int +RGBLED_LP5562::send_led_rgb(uint8_t r, uint8_t g, uint8_t b) +{ + uint8_t leds[3] = {b, g, r}; + return write(B_PWM_ADDR, leds, sizeof(leds)); +} + +void +RGBLED_LP5562::print_usage() +{ + PRINT_MODULE_DESCRIPTION( + R"DESCR_STR( +### Description +Driver for [LP5562](https://www.ti.com/product/LP5562) LED driver connected via I2C. + +This used in some GPS modules by Holybro for [PX4 status notification](../getting_started/led_meanings.md) + +The driver is included by default in firmware (KConfig key DRIVERS_LIGHTS_RGBLED_LP5562) and is always enabled. +)DESCR_STR"); + PRINT_MODULE_USAGE_NAME("rgbled_lp5562", "driver"); + PRINT_MODULE_USAGE_COMMAND("start"); + PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, false); + PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(I2C_ADDR); + PRINT_MODULE_USAGE_PARAM_FLOAT('u', 17.5f, 0.1f, 25.5f, "Current in mA", true); + + PRINT_MODULE_USAGE_DEFAULT_COMMANDS(); +} + +extern "C" __EXPORT int rgbled_lp5562_main(int argc, char *argv[]) +{ + int ch; + using ThisDriver = RGBLED_LP5562; + BusCLIArguments cli{true, false}; + cli.default_i2c_frequency = 100000; + cli.i2c_address = I2C_ADDR; + cli.custom1 = 175; + + while ((ch = cli.getOpt(argc, argv, "u:")) != EOF) { + switch (ch) { + case 'u': + float v = atof(cli.optArg()); + + if (v >= 0.1f && v <= 25.5f) { + cli.custom1 = ((uint8_t)(v * 10.f)); + + } else { + PX4_ERR("current out of range"); + return -1; + } + + break; + } + } + + + const char *verb = cli.optArg(); + + if (!verb) { + ThisDriver::print_usage(); + return -1; + } + + BusInstanceIterator iterator(MODULE_NAME, cli, DRV_LED_DEVTYPE_RGBLED_LP5562); + + if (!strcmp(verb, "start")) { + return ThisDriver::module_start(cli, iterator); + } + + if (!strcmp(verb, "stop")) { + return ThisDriver::module_stop(iterator); + } + + if (!strcmp(verb, "status")) { + return ThisDriver::module_status(iterator); + } + + ThisDriver::print_usage(); + return -1; +} diff --git a/src/drivers/lights/rgbled_ncp5623c/Kconfig b/src/drivers/lights/rgbled_ncp5623c/Kconfig index 14964779b141..23570bf85571 100644 --- a/src/drivers/lights/rgbled_ncp5623c/Kconfig +++ b/src/drivers/lights/rgbled_ncp5623c/Kconfig @@ -2,4 +2,4 @@ menuconfig DRIVERS_LIGHTS_RGBLED_NCP5623C bool "rgbled_ncp5623c" default n ---help--- - Enable support for rgbled_ncp5623c \ No newline at end of file + Enable support for rgbled_ncp5623c diff --git a/src/drivers/lights/rgbled_pwm/Kconfig b/src/drivers/lights/rgbled_pwm/Kconfig index 231b5161d157..1df3d9708dce 100644 --- a/src/drivers/lights/rgbled_pwm/Kconfig +++ b/src/drivers/lights/rgbled_pwm/Kconfig @@ -2,4 +2,4 @@ menuconfig DRIVERS_LIGHTS_RGBLED_PWM bool "rgbled_pwm" default n ---help--- - Enable support for rgbled_pwm \ No newline at end of file + Enable support for rgbled_pwm diff --git a/src/drivers/linux_pwm_out/Kconfig b/src/drivers/linux_pwm_out/Kconfig index 36193d19745d..ac7b54b2045a 100644 --- a/src/drivers/linux_pwm_out/Kconfig +++ b/src/drivers/linux_pwm_out/Kconfig @@ -1,5 +1,6 @@ menuconfig DRIVERS_LINUX_PWM_OUT bool "linux_pwm_out" default n + depends on PLATFORM_POSIX && !BOARD_TESTING ---help--- - Enable support for linux_pwm_out \ No newline at end of file + Enable support for linux_pwm_out diff --git a/src/drivers/linux_pwm_out/module.yaml b/src/drivers/linux_pwm_out/module.yaml index 133e04e155bb..abc29c704c09 100644 --- a/src/drivers/linux_pwm_out/module.yaml +++ b/src/drivers/linux_pwm_out/module.yaml @@ -4,7 +4,7 @@ actuator_output: - param_prefix: PWM_MAIN channel_label: 'Channel' standard_params: - disarmed: { min: 800, max: 2200, default: 900 } + disarmed: { min: 800, max: 2200, default: 1000 } min: { min: 800, max: 1400, default: 1000 } max: { min: 1600, max: 2200, default: 2000 } failsafe: { min: 800, max: 2200 } diff --git a/src/drivers/magnetometer/CMakeLists.txt b/src/drivers/magnetometer/CMakeLists.txt index 7255574717b0..07bf93cddc2b 100644 --- a/src/drivers/magnetometer/CMakeLists.txt +++ b/src/drivers/magnetometer/CMakeLists.txt @@ -39,5 +39,7 @@ add_subdirectory(isentek) add_subdirectory(lis2mdl) add_subdirectory(lis3mdl) add_subdirectory(lsm303agr) +add_subdirectory(memsic) add_subdirectory(rm3100) +add_subdirectory(st) add_subdirectory(vtrantech) diff --git a/src/drivers/magnetometer/Kconfig b/src/drivers/magnetometer/Kconfig index 12859150806c..018b89502b26 100644 --- a/src/drivers/magnetometer/Kconfig +++ b/src/drivers/magnetometer/Kconfig @@ -9,11 +9,12 @@ menu "Magnetometer" select DRIVERS_MAGNETOMETER_QMC5883L select DRIVERS_MAGNETOMETER_ISENTEK_IST8308 select DRIVERS_MAGNETOMETER_ISENTEK_IST8310 - select DRIVERS_MAGNETOMETER_LIS2MDL select DRIVERS_MAGNETOMETER_LIS3MDL select DRIVERS_MAGNETOMETER_LSM303AGR select DRIVERS_MAGNETOMETER_RM3100 select DRIVERS_MAGNETOMETER_VTRANTECH_VCM1193L + select DRIVERS_MAGNETOMETER_MEMSIC_MMC5983MA + select DRIVERS_MAGNETOMETER_ST_IIS2MDC ---help--- Enable default set of magnetometer drivers rsource "*/Kconfig" diff --git a/src/drivers/magnetometer/bosch/CMakeLists.txt b/src/drivers/magnetometer/bosch/CMakeLists.txt index b814e7224fb1..d7e848ec86a4 100644 --- a/src/drivers/magnetometer/bosch/CMakeLists.txt +++ b/src/drivers/magnetometer/bosch/CMakeLists.txt @@ -32,3 +32,4 @@ ############################################################################ add_subdirectory(bmm150) +add_subdirectory(bmm350) diff --git a/src/drivers/magnetometer/bosch/bmm350/BMM350.cpp b/src/drivers/magnetometer/bosch/bmm350/BMM350.cpp new file mode 100755 index 000000000000..e4e8e19f9c5e --- /dev/null +++ b/src/drivers/magnetometer/bosch/bmm350/BMM350.cpp @@ -0,0 +1,773 @@ +/**************************************************************************** + * + * Copyright (c) 2020-2022 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include "BMM350.hpp" +using namespace time_literals; + +BMM350::BMM350(const I2CSPIDriverConfig &config) : + I2C(config), + I2CSPIDriver(config), + ModuleParams(nullptr), + _px4_mag(get_device_id(), config.rotation) + +{ +} + +BMM350::~BMM350() +{ + perf_free(_reset_perf); + perf_free(_bad_read_perf); + perf_free(_self_test_failed_perf); +} + +int BMM350::init() +{ + ModuleParams::updateParams(); + ParametersUpdate(true); + int ret = I2C::init(); + + if (ret != PX4_OK) { + DEVICE_DEBUG("I2C::init failed (%i)", ret); + return ret; + } + + return Reset() ? 0 : -1; +} + +bool BMM350::Reset() +{ + RegisterWrite(Register::CMD, SOFT_RESET); + _state = STATE::RESET; + ScheduleClear(); + ScheduleDelayed(1_ms); + return true; +} + +void BMM350::print_status() +{ + I2CSPIDriverBase::print_status(); + + perf_print_counter(_reset_perf); + perf_print_counter(_bad_read_perf); + perf_print_counter(_self_test_failed_perf); +} + +void BMM350::ParametersUpdate(bool force) +{ + if (_parameter_update_sub.updated() || force) { + parameter_update_s param_update; + _parameter_update_sub.copy(¶m_update); + updateParams(); + UpdateMagParams(); + } +} + +void BMM350::UpdateMagParams() +{ + uint8_t odr = GetODR(_param_bmm350_odr.get()); + uint8_t avg = GetAVG(_param_bmm350_avg.get()); + + _mag_odr_mode = odr; + _mag_avg_mode = avg; + _mag_pad_drive = static_cast(_param_bmm350_drive.get()); + PX4_DEBUG("Set params odr = %d, avg = %d, drive = %d", _mag_odr_mode, _mag_avg_mode, _mag_pad_drive); +} + +uint8_t BMM350::GetODR(int value) +{ + switch (value) { + case 0: return ODR_400HZ; + + case 1: return ODR_200HZ; + + case 2: return ODR_100HZ; + + case 3: return ODR_50HZ; + + case 4: return ODR_25HZ; + + case 5: return ODR_12_5HZ; + + case 6: return ODR_6_25HZ; + + case 7: return ODR_3_125HZ; + + case 8: return ODR_1_5625HZ; + + default: return ODR_200HZ; + } +} + +hrt_abstime BMM350::OdrToUs(uint8_t odr) +{ + switch (odr) { + case ODR_400HZ: + return 2500_us; + + case ODR_200HZ: + return 5000_us; + + case ODR_100HZ: + return 10000_us; + + case ODR_50HZ: + return 20000_us; + + case ODR_25HZ: + return 40000_us; + + case ODR_12_5HZ: + return 80000_us; + + case ODR_6_25HZ: + return 160000_us; + + case ODR_3_125HZ: + return 320000_us; + + case ODR_1_5625HZ: + return 640000_us; + + default: + return 5000_us; + } +} + +uint8_t BMM350::GetAVG(int value) +{ + switch (value) { + case 0: return AVG_NO_AVG; + + case 1: return AVG_2; + + case 2: return AVG_4; + + case 3: return AVG_8; + + default: return AVG_2; + } +} + + +int BMM350::probe() +{ + for (int i = 0; i < 3; i++) { + uint8_t chip_id; + + if (PX4_OK == RegisterRead(Register::CHIP_ID, &chip_id)) { + PX4_DEBUG("CHIP_ID: 0x%02hhX", chip_id); + + if (chip_id == chip_identification_number) { + return PX4_OK; + } + } + } + + return PX4_ERROR; +} + +void BMM350::RunImpl() +{ + const hrt_abstime now = hrt_absolute_time(); + int ret = PX4_OK; + ParametersUpdate(); + + switch (_state) { + case STATE::RESET: { + if (RegisterWrite(Register::CMD, SOFT_RESET) == PX4_OK) { + _reset_timestamp = now; + _state = STATE::WAIT_FOR_RESET; + perf_count(_reset_perf); + } + + ScheduleDelayed(10_ms); + } + break; + + case STATE::WAIT_FOR_RESET: { + ret = probe(); + + if (ret == PX4_OK) { + _state = STATE::RESET; + uint8_t status_0; + ret = RegisterRead(Register::PMU_STATUS_0, &status_0); + + if (ret == PX4_OK && (status_0 & PWR_NORMAL) != 0) { + ret = PX4_ERROR; + } + + if (ret == PX4_OK) { + ret = UpdateMagOffsets(); + } + + if (ret == PX4_OK) { + PX4_DEBUG("Going to FGR"); + _state = STATE::FGR; + + } + + ScheduleDelayed(10_ms); + + } else { + if (hrt_elapsed_time(&_reset_timestamp) > 1000_ms) { + PX4_DEBUG("Reset failed, retrying"); + _state = STATE::RESET; + ScheduleDelayed(100_ms); + + } else { + PX4_DEBUG("Reset not complete, check again in 10 ms"); + ScheduleDelayed(10_ms); + } + } + } + break; + + case STATE::FGR: { + _state = STATE::RESET; + uint8_t odr_reg_data = (ODR_100HZ & 0xf); + odr_reg_data = ((odr_reg_data & ~(0x30)) | ((AVG_2 << 0x4) & 0x30)); + ret = RegisterWrite(Register::PMU_CMD_AGGR_SET, odr_reg_data); + + if (ret == PX4_OK) { + ret = RegisterWrite(Register::PMU_CMD_AXIS_EN, EN_XYZ); + } + + if (ret == PX4_OK) { + ret = RegisterWrite(Register::PMU_CMD, PMU_CMD_FGR); + } + + if (ret == PX4_OK) { + PX4_DEBUG("Going to BR"); + _state = STATE::BR; + } + + ScheduleDelayed(30_ms); + } + break; + + case STATE::BR: { + uint8_t status_0; + _state = STATE::RESET; + ret = RegisterRead(Register::PMU_STATUS_0, &status_0); + + if (ret == PX4_OK && PMU_CMD_STATUS_0_RES(status_0) == PMU_STATUS_FGR) { + ret = RegisterWrite(Register::PMU_CMD, PMU_CMD_BR_FAST); + + if (ret == PX4_OK) { + PX4_DEBUG("Going to after reset"); + _state = STATE::AFTER_RESET; + } + } + + ScheduleDelayed(4_ms); + } + break; + + case STATE::AFTER_RESET: { + uint8_t status_0; + _state = STATE::RESET; + ret = RegisterRead(Register::PMU_STATUS_0, &status_0); + + if (ret == PX4_OK && PMU_CMD_STATUS_0_RES(status_0) == PMU_STATUS_BR_FAST) { + _state = STATE::MEASURE_FORCED; + _self_test_state = SELF_TEST_STATE::INIT; + PX4_DEBUG("Going to fast FM"); + } + + ScheduleNow(); + } + break; + + case STATE::MEASURE_FORCED: { + ret = RegisterWrite(Register::PMU_CMD, PMU_CMD_FAST_FM); + + if (ret == PX4_OK) { + _state = STATE::SELF_TEST_CHECK; + + } else { + _state = STATE::RESET; + } + + ScheduleDelayed(OdrToUs(_mag_odr_mode)); + break; + } + + case STATE::SELF_TEST_CHECK: { + + float xyzt[4]; + _state = STATE::RESET; + + if (ReadOutRawData(xyzt) != PX4_OK) { + perf_count(_self_test_failed_perf); + ScheduleNow(); + break; + } + + switch (_self_test_state) { + case SELF_TEST_STATE::INIT: + memcpy(_initial_self_test_values, xyzt, sizeof(_initial_self_test_values)); + + if (RegisterWrite(Register::TMR_SELF_TEST_USER, SELF_TEST_POS_X) == PX4_OK) { + _self_test_state = SELF_TEST_STATE::POS_X; + _state = STATE::MEASURE_FORCED; + } + + break; + + case SELF_TEST_STATE::POS_X: + if (xyzt[0] - _initial_self_test_values[0] >= 130.0f && + RegisterWrite(Register::TMR_SELF_TEST_USER, SELF_TEST_NEG_X) == PX4_OK) { + _self_test_state = SELF_TEST_STATE::NEG_X; + _state = STATE::MEASURE_FORCED; + } + + break; + + case SELF_TEST_STATE::NEG_X: + if (xyzt[0] - _initial_self_test_values[0] <= -130.0f && + RegisterWrite(Register::TMR_SELF_TEST_USER, SELF_TEST_POS_Y) == PX4_OK) { + _self_test_state = SELF_TEST_STATE::POS_Y; + _state = STATE::MEASURE_FORCED; + } + + break; + + case SELF_TEST_STATE::POS_Y: + if (xyzt[1] - _initial_self_test_values[1] >= 130.0f && + RegisterWrite(Register::TMR_SELF_TEST_USER, SELF_TEST_NEG_Y) == PX4_OK) { + _self_test_state = SELF_TEST_STATE::NEG_Y; + _state = STATE::MEASURE_FORCED; + } + + break; + + case SELF_TEST_STATE::NEG_Y: + if (xyzt[1] - _initial_self_test_values[1] <= -130.0f && + RegisterWrite(Register::TMR_SELF_TEST_USER, SELF_TEST_DISABLE) == PX4_OK) { + PX4_DEBUG("Self test good, going to configure"); + _state = STATE::CONFIGURE; + } + + break; + + } + + if (_state == STATE::RESET) { + PX4_DEBUG("Self test failed"); + perf_count(_self_test_failed_perf); + } + + ScheduleDelayed(1_ms); + } + break; + + + case STATE::CONFIGURE: + if (Configure() == PX4_OK) { + _state = STATE::READ; + PX4_DEBUG("Configure went fine"); + ScheduleOnInterval(OdrToUs(_mag_odr_mode), 50_ms); + + } else { + // CONFIGURE not complete + if (hrt_elapsed_time(&_reset_timestamp) > 1000_ms) { + PX4_DEBUG("Configure failed, resetting"); + _state = STATE::RESET; + + } else { + PX4_DEBUG("Configure failed, retrying"); + } + + ScheduleDelayed(100_ms); + } + + break; + + case STATE::READ: { + // -- start get_compensated_mag_xyz_temp_data + float out_data[4] = {0.0f}; + float dut_offset_coeff[3], dut_sensit_coeff[3], dut_tcos[3], dut_tcss[3]; + float cr_ax_comp_x, cr_ax_comp_y, cr_ax_comp_z; + + ret = ReadOutRawData(out_data); + + if (ret == PX4_OK) { + // Apply compensation to temperature reading + out_data[3] = (1 + _mag_comp_vals.dut_sensit_coef.t_sens) * out_data[3] + + _mag_comp_vals.dut_offset_coef.t_offs; + + // Store magnetic compensation structure to an array + dut_offset_coeff[0] = _mag_comp_vals.dut_offset_coef.offset_x; + dut_offset_coeff[1] = _mag_comp_vals.dut_offset_coef.offset_y; + dut_offset_coeff[2] = _mag_comp_vals.dut_offset_coef.offset_z; + + dut_sensit_coeff[0] = _mag_comp_vals.dut_sensit_coef.sens_x; + dut_sensit_coeff[1] = _mag_comp_vals.dut_sensit_coef.sens_y; + dut_sensit_coeff[2] = _mag_comp_vals.dut_sensit_coef.sens_z; + + dut_tcos[0] = _mag_comp_vals.dut_tco.tco_x; + dut_tcos[1] = _mag_comp_vals.dut_tco.tco_y; + dut_tcos[2] = _mag_comp_vals.dut_tco.tco_z; + + dut_tcss[0] = _mag_comp_vals.dut_tcs.tcs_x; + dut_tcss[1] = _mag_comp_vals.dut_tcs.tcs_y; + dut_tcss[2] = _mag_comp_vals.dut_tcs.tcs_z; + + for (int idx = 0; idx < 3; idx++) { + out_data[idx] *= 1 + dut_sensit_coeff[idx]; + out_data[idx] += dut_offset_coeff[idx]; + out_data[idx] += dut_tcos[idx] * (out_data[3] - _mag_comp_vals.dut_t0); + out_data[idx] /= 1 + dut_tcss[idx] * (out_data[3] - _mag_comp_vals.dut_t0); + } + + cr_ax_comp_x = (out_data[0] - _mag_comp_vals.cross_axis.cross_x_y * out_data[1]) / + (1 - _mag_comp_vals.cross_axis.cross_y_x * _mag_comp_vals.cross_axis.cross_x_y); + cr_ax_comp_y = (out_data[1] - _mag_comp_vals.cross_axis.cross_y_x * out_data[0]) / + (1 - _mag_comp_vals.cross_axis.cross_y_x * _mag_comp_vals.cross_axis.cross_x_y); + cr_ax_comp_z = + (out_data[2] + + (out_data[0] * + (_mag_comp_vals.cross_axis.cross_y_x * _mag_comp_vals.cross_axis.cross_z_y - + _mag_comp_vals.cross_axis.cross_z_x) - + out_data[1] * + (_mag_comp_vals.cross_axis.cross_z_y - _mag_comp_vals.cross_axis.cross_x_y * + _mag_comp_vals.cross_axis.cross_z_x)) / + (1 - _mag_comp_vals.cross_axis.cross_y_x * _mag_comp_vals.cross_axis.cross_x_y)); + + out_data[0] = cr_ax_comp_x; + out_data[1] = cr_ax_comp_y; + out_data[2] = cr_ax_comp_z; + _px4_mag.set_error_count(perf_event_count(_bad_read_perf) + perf_event_count(_self_test_failed_perf)); + _px4_mag.set_temperature(out_data[3]); + _px4_mag.update(now, out_data[0], out_data[1], out_data[2]); + + } else { + perf_count(_bad_read_perf); + } + } + + break; + } +} + +int BMM350::Configure() +{ + PX4_DEBUG("Configuring"); + uint8_t readData = 0; + int ret; + + // Set pad drive + ret = RegisterWrite(Register::PAD_CTRL, (_mag_pad_drive & 0x7)); + + if (ret != PX4_OK) { + PX4_DEBUG("Couldn't set pad drive, defaults to 7"); + return ret; + } + + // Set PMU data aggregation + uint8_t odr = _mag_odr_mode; + uint8_t avg = _mag_avg_mode; + + if (odr == ODR_400HZ && avg >= AVG_2) { + avg = AVG_NO_AVG; + + } else if (odr == ODR_200HZ && avg >= AVG_4) { + avg = AVG_2; + + } else if (odr == ODR_100HZ && avg >= AVG_8) { + avg = AVG_4; + } + + uint8_t odr_reg_data = (odr & 0xf); + odr_reg_data = ((odr_reg_data & ~(0x30)) | ((avg << 0x4) & 0x30)); + + ret = RegisterWrite(Register::PMU_CMD_AGGR_SET, odr_reg_data); + + if (ret != PX4_OK) { + PX4_DEBUG("Cannot set PMU AGG REG"); + return ret; + } + + ret = RegisterRead(Register::PMU_CMD_AGGR_SET, &readData); + + if (ret != PX4_OK || readData != odr_reg_data) { + PX4_DEBUG("Couldn't check PMU AGGR REG"); + return ret; + } + + odr_reg_data = PMU_CMD_UPDATE_OAE; + ret = RegisterWrite(Register::PMU_CMD, odr_reg_data); + + if (ret != PX4_OK) { + PX4_DEBUG("Couldn't write PMU CMD REG"); + return ret; + } + + ret = RegisterRead(Register::PMU_CMD, &readData); + + if (ret != PX4_OK || readData != odr_reg_data) { + PX4_DEBUG("Couldn't check PMU CMD REG"); + return ret; + } + + // Enable AXIS + uint8_t axis_data = EN_X | EN_Y | EN_Z; + // PMU_CMD_AXIS_EN + ret = RegisterWrite(Register::PMU_CMD_AXIS_EN, axis_data); + + if (ret != PX4_OK) { + PX4_DEBUG("Couldn't write AXIS data"); + return ret; + } + + ret = RegisterRead(Register::PMU_CMD_AXIS_EN, &readData); + + if (ret != PX4_OK || readData != axis_data) { + PX4_DEBUG("Couldn't cross check the set AXIS"); + return ret; + } + + ret = RegisterWrite(Register::PMU_CMD, PMU_CMD_NM); + + if (ret != PX4_OK) { + PX4_DEBUG("Failed to start mag in normal mode"); + return ret; + } + + // microTesla -> Gauss + _px4_mag.set_scale(0.01f); + + return ret; +} + +int32_t BMM350::FixSign(uint32_t inval, int8_t num_bits) +{ + int32_t power = 1 << (num_bits - 1); // Calculate 2^(num_bits - 1) + int32_t retval = static_cast(inval); + + if (retval >= power) { + retval -= (power << 1); // Equivalent to retval = retval - (power * 2) + } + + return retval; +} + +int BMM350::ReadOutRawData(float *out_data) +{ + if (out_data == NULL) { + return -1; + } + + float temp = 0.0; + struct BMM350::raw_mag_data raw_data = {0}; + + // --- Start read_uncomp_mag_temp_data + uint8_t mag_data[14] = {0}; + + uint32_t raw_mag_x, raw_mag_y, raw_mag_z, raw_temp; + uint8_t cmd = static_cast(Register::DATAX_XLSB); + + uint8_t res = transfer(&cmd, 1, (uint8_t *)&mag_data, sizeof(mag_data)); + + if (res != PX4_OK) { + return -1; + } + + raw_mag_x = mag_data[2] + ((uint32_t)mag_data[3] << 8) + ((uint32_t)mag_data[4] << 16); + raw_mag_y = mag_data[5] + ((uint32_t)mag_data[6] << 8) + ((uint32_t)mag_data[7] << 16); + raw_mag_z = mag_data[8] + ((uint32_t)mag_data[9] << 8) + ((uint32_t)mag_data[10] << 16); + raw_temp = mag_data[11] + ((uint32_t)mag_data[12] << 8) + ((uint32_t)mag_data[13] << 16); + + raw_data.raw_x = FixSign(raw_mag_x, 24); + raw_data.raw_y = FixSign(raw_mag_y, 24); + raw_data.raw_z = FixSign(raw_mag_z, 24); + raw_data.raw_t = FixSign(raw_temp, 24); + // --- End read_uncomp_mag_temp_data + + // --- Start read_out_raw_data + out_data[0] = (float)raw_data.raw_x * lsb_to_utc_degc[0]; + out_data[1] = (float)raw_data.raw_y * lsb_to_utc_degc[1]; + out_data[2] = (float)raw_data.raw_z * lsb_to_utc_degc[2]; + out_data[3] = (float)raw_data.raw_t * lsb_to_utc_degc[3]; + + // Adjust temperature + if (out_data[3] > 0.0f) { + temp = (float)(out_data[3] - (1 * 25.49f)); + + } else if (out_data[3] < 0.0f) { + temp = (float)(out_data[3] - (-1 * 25.49f)); + + } else { + temp = (float)(out_data[3]); + } + + out_data[3] = temp; + + return res; +} + +int BMM350::ReadOTPWord(uint8_t addr, uint16_t *lsb_msb) +{ + uint8_t otp_cmd = OTP_DIR_READ | (addr & OTP_WORD_MSK); + int ret = RegisterWrite(Register::OTP_CMD, otp_cmd); + uint8_t otp_status = 0; + + if (ret == PX4_OK) { + do { + ret = RegisterRead(Register::OTP_STATUS, &otp_status); + + if (ret != PX4_OK) { + return PX4_ERROR; + } + } while (!(otp_status & 0x01)); + + uint8_t msb = 0, lsb = 0; + ret = RegisterRead(Register::OTP_DATA_MSB, &msb); + + if (ret == PX4_OK) { + ret = RegisterRead(Register::OTP_DATA_LSB, &lsb); + + if (ret == PX4_OK) { + *lsb_msb = ((msb << 8) | lsb) & 0xffff; + } + } + } + + return ret; +} + +int BMM350::UpdateMagOffsets() +{ + PX4_DEBUG("DUMPING OTP"); + uint16_t otp_data[32] = {0}; + + for (int idx = 0; idx < 32; idx++) { + if (ReadOTPWord(idx, &otp_data[idx]) != PX4_OK) { + return PX4_ERROR; + } + + PX4_DEBUG("i: %i, val = %i", idx, otp_data[idx]); + } + + if (RegisterWrite(Register::OTP_CMD, PWR_OFF_OTP) != PX4_OK) { + return PX4_ERROR; + } + + PX4_DEBUG("var_id: %i", (otp_data[30] & 0x7f00) >> 9); + + PX4_DEBUG("UPDATING OFFSETS"); + uint16_t off_x_lsb_msb, off_y_lsb_msb, off_z_lsb_msb, t_off; + uint8_t sens_x, sens_y, sens_z, t_sens; + uint8_t tco_x, tco_y, tco_z; + uint8_t tcs_x, tcs_y, tcs_z; + uint8_t cross_x_y, cross_y_x, cross_z_x, cross_z_y; + + off_x_lsb_msb = otp_data[0x0E] & 0x0FFF; + off_y_lsb_msb = ((otp_data[0x0E] & 0xF000) >> 4) + + (otp_data[0x0F] & 0x00FF); + off_z_lsb_msb = (otp_data[0x0F] & 0x0F00) + + (otp_data[0x10] & 0x00FF); + t_off = otp_data[0x0D] & 0x00FF; + + _mag_comp_vals.dut_offset_coef.offset_x = FixSign(off_x_lsb_msb, 12); + _mag_comp_vals.dut_offset_coef.offset_y = FixSign(off_y_lsb_msb, 12); + _mag_comp_vals.dut_offset_coef.offset_z = FixSign(off_z_lsb_msb, 12); + _mag_comp_vals.dut_offset_coef.t_offs = FixSign(t_off, 8) / 5.0f; + + sens_x = (otp_data[0x10] & 0xFF00) >> 8; + sens_y = (otp_data[0x11] & 0x00FF); + sens_z = (otp_data[0x11] & 0xFF00) >> 8; + t_sens = (otp_data[0x0D] & 0xFF00) >> 8; + + _mag_comp_vals.dut_sensit_coef.sens_x = FixSign(sens_x, 8) / 256.0f; + _mag_comp_vals.dut_sensit_coef.sens_y = (FixSign(sens_y, 8) / 256.0f) + 0.01f; + _mag_comp_vals.dut_sensit_coef.sens_z = FixSign(sens_z, 8) / 256.0f; + _mag_comp_vals.dut_sensit_coef.t_sens = FixSign(t_sens, 8) / 512.0f; + + tco_x = (otp_data[0x12] & 0x00FF); + tco_y = (otp_data[0x13] & 0x00FF); + tco_z = (otp_data[0x14] & 0x00FF); + + _mag_comp_vals.dut_tco.tco_x = FixSign(tco_x, 8) / 32.0f; + _mag_comp_vals.dut_tco.tco_y = FixSign(tco_y, 8) / 32.0f; + _mag_comp_vals.dut_tco.tco_z = FixSign(tco_z, 8) / 32.0f; + + tcs_x = (otp_data[0x12] & 0xFF00) >> 8; + tcs_y = (otp_data[0x13] & 0xFF00) >> 8; + tcs_z = (otp_data[0x14] & 0xFF00) >> 8; + + _mag_comp_vals.dut_tcs.tcs_x = FixSign(tcs_x, 8) / 16384.0f; + _mag_comp_vals.dut_tcs.tcs_y = FixSign(tcs_y, 8) / 16384.0f; + _mag_comp_vals.dut_tcs.tcs_z = (FixSign(tcs_z, 8) / 16384.0f) - 0.0001f; + + _mag_comp_vals.dut_t0 = (FixSign(otp_data[0x18], 16) / 512.0f) + 23.0f; + + cross_x_y = (otp_data[0x15] & 0x00FF); + cross_y_x = (otp_data[0x15] & 0xFF00) >> 8; + cross_z_x = (otp_data[0x16] & 0x00FF); + cross_z_y = (otp_data[0x16] & 0xFF00) >> 8; + + _mag_comp_vals.cross_axis.cross_x_y = FixSign(cross_x_y, 8) / 800.0f; + _mag_comp_vals.cross_axis.cross_y_x = FixSign(cross_y_x, 8) / 800.0f; + _mag_comp_vals.cross_axis.cross_z_x = FixSign(cross_z_x, 8) / 800.0f; + _mag_comp_vals.cross_axis.cross_z_y = FixSign(cross_z_y, 8) / 800.0f; + return PX4_OK; +} + +int BMM350::RegisterRead(Register reg, uint8_t *value) +{ + const uint8_t cmd = static_cast(reg); + uint8_t buffer[3] = {0}; + int ret = transfer(&cmd, 1, buffer, 3); + + if (ret != PX4_OK) { + PX4_DEBUG("register read 0x%02hhX failed, ret = %d", cmd, ret); + + } else { + *value = buffer[2]; + } + + return ret; +} + +int BMM350::RegisterWrite(Register reg, uint8_t value) +{ + uint8_t buffer[2] {(uint8_t)reg, value}; + int ret = transfer(buffer, sizeof(buffer), nullptr, 0); + + if (ret != PX4_OK) { + PX4_DEBUG("register write 0x%02hhX failed, ret = %d", (uint8_t)reg, ret); + } + + return ret; +} diff --git a/src/drivers/magnetometer/bosch/bmm350/BMM350.hpp b/src/drivers/magnetometer/bosch/bmm350/BMM350.hpp new file mode 100644 index 000000000000..4ba7f535dbd9 --- /dev/null +++ b/src/drivers/magnetometer/bosch/bmm350/BMM350.hpp @@ -0,0 +1,210 @@ +/**************************************************************************** + * + * Copyright (c) 2020-2022 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file BMM350.hpp + * + * Driver for the Bosch BMM350 connected via I2C. + * + */ + +#pragma once + +#include "Bosch_BMM350_registers.hpp" + +#include +#include +#include +#include +#include +#include +#include +#include + +using namespace Bosch_BMM350; +using namespace time_literals; + +class BMM350 : public device::I2C, public I2CSPIDriver, public ModuleParams +{ +public: + BMM350(const I2CSPIDriverConfig &config); + ~BMM350() override; + + static void print_usage(); + + void RunImpl(); + + int init() override; + void print_status() override; + +private: + struct mag_temp_data { + float x; + float y; + float z; + float temp; + }; + + struct raw_mag_data { + int32_t raw_x; + int32_t raw_y; + int32_t raw_z; + int32_t raw_t; + }; + + struct register_config_t { + Register reg; + uint8_t set_bits{0}; + uint8_t clear_bits{0}; + }; + + struct dut_offset_coef { + float t_offs; + float offset_x; + float offset_y; + float offset_z; + }; + struct dut_sensit_coef { + float t_sens; + float sens_x; + float sens_y; + float sens_z; + }; + + struct dut_tco { + float tco_x; + float tco_y; + float tco_z; + }; + + struct dut_tcs { + float tcs_x; + float tcs_y; + float tcs_z; + }; + + struct cross_axis { + float cross_x_y; + float cross_y_x; + float cross_z_x; + float cross_z_y; + }; + + struct mag_compensate_vals { + struct dut_offset_coef dut_offset_coef; + struct dut_sensit_coef dut_sensit_coef; + struct dut_tco dut_tco; + struct dut_tcs dut_tcs; + float dut_t0; + struct cross_axis cross_axis; + }; + + int probe() override; + bool Reset(); + int Configure(); + + int RegisterRead(Register reg, uint8_t *value); + int RegisterWrite(Register reg, uint8_t value); + + int8_t CompensateAxisAndTemp(); + int ReadOutRawData(float *out_data); + int ReadOTPWord(uint8_t addr, uint16_t *lsb_msb); + int32_t FixSign(uint32_t inval, int8_t num_bits); + + int UpdateMagOffsets(); + void ParametersUpdate(bool force = false); + void UpdateMagParams(); + uint8_t GetODR(int value); + hrt_abstime OdrToUs(uint8_t value); + uint8_t GetAVG(int value); + + PX4Magnetometer _px4_mag; + + perf_counter_t _reset_perf{perf_alloc(PC_COUNT, MODULE_NAME ": reset")}; + perf_counter_t _bad_read_perf{perf_alloc(PC_COUNT, MODULE_NAME ": bad read")}; + perf_counter_t _self_test_failed_perf{perf_alloc(PC_COUNT, MODULE_NAME ": self test failed")}; + + hrt_abstime _reset_timestamp{0}; + hrt_abstime _last_config_check_timestamp{0}; + + mag_compensate_vals _mag_comp_vals{0}; + + float _initial_self_test_values[4]; + + uint8_t _mag_odr_mode = ODR_200HZ; + uint8_t _mag_avg_mode = AVG_2; + uint8_t _mag_pad_drive = 7; + + + static constexpr float BXY_SENS = 14.55f; + static constexpr float BZ_SENS = 9.0f; + static constexpr float TEMP_SENS = 0.00204f; + static constexpr float INA_XY_GAIN_TRT = 19.46f; + static constexpr float INA_Z_GAIN_TRT = 31.0f; + static constexpr float ADC_GAIN = 1 / 1.5f; + static constexpr float LUT_GAIN = 0.714607238769531f; + static constexpr float POWER = 1000000.0f / 1048576.0f; + float lsb_to_utc_degc[4] = { + (POWER / (BXY_SENS *INA_XY_GAIN_TRT *ADC_GAIN * LUT_GAIN)), + (POWER / (BXY_SENS *INA_XY_GAIN_TRT *ADC_GAIN * LUT_GAIN)), + (POWER / (BZ_SENS *INA_Z_GAIN_TRT *ADC_GAIN * LUT_GAIN)), + 1 / (TEMP_SENS *ADC_GAIN *LUT_GAIN * 1048576) + }; + + enum class STATE : uint8_t { + RESET, + WAIT_FOR_RESET, + FGR, + BR, + AFTER_RESET, + MEASURE_FORCED, + SELF_TEST_CHECK, + CONFIGURE, + READ, + } _state{STATE::RESET}; + + enum class SELF_TEST_STATE : uint8_t { + INIT, + POS_X, + NEG_X, + POS_Y, + NEG_Y + } _self_test_state{SELF_TEST_STATE::INIT}; + + DEFINE_PARAMETERS( + (ParamInt) _param_bmm350_odr, + (ParamInt) _param_bmm350_avg, + (ParamInt) _param_bmm350_drive + ) + uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s}; +}; diff --git a/src/drivers/magnetometer/bosch/bmm350/Bosch_BMM350_registers.hpp b/src/drivers/magnetometer/bosch/bmm350/Bosch_BMM350_registers.hpp new file mode 100644 index 000000000000..dc391f8824aa --- /dev/null +++ b/src/drivers/magnetometer/bosch/bmm350/Bosch_BMM350_registers.hpp @@ -0,0 +1,159 @@ +/**************************************************************************** + * + * Copyright (c) 2020-2024 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file Bosch_BMM350_registers.hpp + * + * Bosch BMM350 registers. + * + */ + +#pragma once + +#include + +namespace Bosch_BMM350 +{ +#define ENABLE_X_AXIS(axis_data) (axis_data = (axis_data & ~(0x01)) | (1 & 0x01)) +#define ENABLE_Y_AXIS(axis_data) (axis_data = ((axis_data & ~(0x02)) | ((1 << 0x1) & 0x02))) +#define ENABLE_Z_AXIS(axis_data) (axis_data = ((axis_data & ~(0x04)) | ((1 << 0x2) & 0x04))) + +static constexpr uint32_t I2C_SPEED = 400 * 1000; +static constexpr uint8_t I2C_ADDRESS_DEFAULT = 0x14; +static constexpr uint8_t chip_identification_number = 0x33; + +enum class Register : uint8_t { + CHIP_ID = 0x00, + + PAD_CTRL = 0x03, + PMU_CMD_AGGR_SET = 0x04, + PMU_CMD_AXIS_EN = 0x05, + PMU_CMD = 0x06, + PMU_STATUS_0 = 0x07, + PMU_STATUS_1 = 0x08, + + I2C_WDT_SET = 0x0a, + + DATAX_XLSB = 0x31, + + OTP_CMD = 0x50, + OTP_DATA_MSB = 0x52, + OTP_DATA_LSB = 0x53, + OTP_STATUS = 0x55, + + TMR_SELF_TEST_USER = 0x60, + CMD = 0x7e +}; + +enum CONTROL_CMD : uint8_t { + SOFT_RESET = 0xb6, + EN_XYZ = 0x7 +}; + +enum PMU_CONTROL_CMD : uint8_t { + PMU_CMD_SUSPEND = 0x00, + PMU_CMD_NM = 0x01, + PMU_CMD_UPDATE_OAE = 0x02, + PMU_CMD_FM = 0x03, + PMU_CMD_FAST_FM = 0x04, + PMU_CMD_FGR = 0x05, + PMU_CMD_FAST_FGR = 0x06, + PMU_CMD_BR = 0x07, + PMU_CMD_BR_FAST = 0x08, + PMU_CMD_NM_TC = 0x09 +}; + +static inline uint8_t PMU_CMD_STATUS_0_RES(uint8_t val) +{ + return (val >> 5) & 0x7; +}; + +enum PMU_STATUS_0_BIT : uint8_t { + PMU_BUSY = (1 << 0), + ODR_OVWR = (1 << 1), + AVG_OVWR = (1 << 2), + PWR_NORMAL = (1 << 3), + ILLEGAL_CMD = (1 << 4) +}; + +enum PMU_STATUS_VALUE { + PMU_STATUS_SUS = 0x0, + PMU_STATUS_NM = 0x1, + PMU_STATUS_UPDATE_OAE = 0x2, + PMU_STATUS_FM = 0x3, + PMU_STATUS_FM_FAST = 0x4, + PMU_STATUS_FGR = 0x5, + PMU_STATUS_FGR_FAST = 0x6, + PMU_STATUS_BR = 0x7, + PMU_STATUS_BR_FAST = 0x7, +}; + +enum ODR_CONTROL_CMD : uint8_t { + ODR_400HZ = 0x2, + ODR_200HZ = 0x3, + ODR_100HZ = 0x4, + ODR_50HZ = 0x5, + ODR_25HZ = 0x6, + ODR_12_5HZ = 0x7, + ODR_6_25HZ = 0x8, + ODR_3_125HZ = 0x9, + ODR_1_5625HZ = 0xa +}; + +enum AVG_CONTROL_CMD : uint8_t { + AVG_NO_AVG = 0x0, + AVG_2 = 0x1, + AVG_4 = 0x2, + AVG_8 = 0x3 +}; + +enum ENABLE_AXIS_BIT : uint8_t { + EN_X = (1 << 0), + EN_Y = (1 << 1), + EN_Z = (1 << 2) +}; + +enum OTP_CONTROL_CMD : uint8_t { + PWR_OFF_OTP = 0x80, + OTP_DIR_READ = 0x20, + OTP_WORD_MSK = 0x1F, +}; + +enum SELF_TEST_CMD : uint8_t { + SELF_TEST_DISABLE = 0x00, + SELF_TEST_POS_X = 0x0d, + SELF_TEST_NEG_X = 0x0b, + SELF_TEST_POS_Y = 0x15, + SELF_TEST_NEG_Y = 0x13, +}; +} // namespace Bosch_BMM350 diff --git a/src/drivers/magnetometer/bosch/bmm350/CMakeLists.txt b/src/drivers/magnetometer/bosch/bmm350/CMakeLists.txt new file mode 100644 index 000000000000..ca253077287e --- /dev/null +++ b/src/drivers/magnetometer/bosch/bmm350/CMakeLists.txt @@ -0,0 +1,48 @@ +############################################################################ +# +# Copyright (c) 2020 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +px4_add_module( + MODULE drivers__magnetometer__bosch__bmm350 + MAIN bmm350 + COMPILE_FLAGS + SRCS + BMM350.cpp + BMM350.hpp + bmm350_main.cpp + Bosch_BMM350_registers.hpp + DEPENDS + drivers_magnetometer + px4_work_queue + MODULE_CONFIG + module.yaml + ) diff --git a/src/drivers/magnetometer/bosch/bmm350/Kconfig b/src/drivers/magnetometer/bosch/bmm350/Kconfig new file mode 100644 index 000000000000..834a2c694780 --- /dev/null +++ b/src/drivers/magnetometer/bosch/bmm350/Kconfig @@ -0,0 +1,5 @@ +menuconfig DRIVERS_MAGNETOMETER_BOSCH_BMM350 + bool "bmm350" + default n + ---help--- + Enable support for bosch bmm350 diff --git a/src/drivers/magnetometer/bosch/bmm350/bmm350_main.cpp b/src/drivers/magnetometer/bosch/bmm350/bmm350_main.cpp new file mode 100644 index 000000000000..c707d7957b6b --- /dev/null +++ b/src/drivers/magnetometer/bosch/bmm350/bmm350_main.cpp @@ -0,0 +1,89 @@ +/**************************************************************************** + * + * Copyright (c) 2020-2022 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include "BMM350.hpp" + +#include +#include + +void BMM350::print_usage() +{ + PRINT_MODULE_USAGE_NAME("bmm350", "driver"); + PRINT_MODULE_USAGE_SUBCATEGORY("magnetometer"); + PRINT_MODULE_USAGE_COMMAND("start"); + PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, false); + PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(0x14); + PRINT_MODULE_USAGE_PARAM_INT('R', 0, 0, 35, "Rotation", true); + PRINT_MODULE_USAGE_DEFAULT_COMMANDS(); +} + +extern "C" int bmm350_main(int argc, char *argv[]) +{ + int ch; + using ThisDriver = BMM350; + BusCLIArguments cli{true, false}; + cli.default_i2c_frequency = I2C_SPEED; + cli.i2c_address = I2C_ADDRESS_DEFAULT; + + while ((ch = cli.getOpt(argc, argv, "R:")) != EOF) { + switch (ch) { + case 'R': + cli.rotation = (enum Rotation)atoi(cli.optArg()); + break; + } + } + + const char *verb = cli.optArg(); + + if (!verb) { + ThisDriver::print_usage(); + return -1; + } + + BusInstanceIterator iterator(MODULE_NAME, cli, DRV_MAG_DEVTYPE_BMM350); + + if (!strcmp(verb, "start")) { + return ThisDriver::module_start(cli, iterator); + } + + if (!strcmp(verb, "stop")) { + return ThisDriver::module_stop(iterator); + } + + if (!strcmp(verb, "status")) { + return ThisDriver::module_status(iterator); + } + + ThisDriver::print_usage(); + return -1; +} diff --git a/src/drivers/magnetometer/bosch/bmm350/module.yaml b/src/drivers/magnetometer/bosch/bmm350/module.yaml new file mode 100644 index 000000000000..140c5c321a8a --- /dev/null +++ b/src/drivers/magnetometer/bosch/bmm350/module.yaml @@ -0,0 +1,44 @@ +module_name: BMM350 +parameters: + - group: Magnetometer + definitions: + BMM350_ODR: + description: + short: BMM350 ODR rate + long: | + Defines which ODR rate to use during data polling. + type: enum + values: + 0: 400 Hz + 1: 200 Hz + 2: 100 Hz + 3: 50 Hz + 4: 25 Hz + 5: 12.5 Hz + 6: 6.25 Hz + 7: 3.125 Hz + 8: 1.5625 Hz + reboot_required: true + default: [3] + BMM350_AVG: + description: + short: BMM350 data averaging + long: | + Defines which averaging mode to use during data polling. + type: enum + values: + 0: No averaging + 1: 2 sample averaging + 2: 4 sample averaging + 3: 8 sample averaging + reboot_required: true + default: [1] + BMM350_DRIVE: + description: + short: BMM350 pad drive strength setting + long: | + This setting helps avoid signal problems like overshoot or undershoot. + type: int32 + min: 0 + max: 7 + default: [7] diff --git a/src/drivers/magnetometer/hmc5883/CMakeLists.txt b/src/drivers/magnetometer/hmc5883/CMakeLists.txt index 77b8784629dc..d8a4998eb376 100644 --- a/src/drivers/magnetometer/hmc5883/CMakeLists.txt +++ b/src/drivers/magnetometer/hmc5883/CMakeLists.txt @@ -44,4 +44,3 @@ px4_add_module( drivers_magnetometer px4_work_queue ) - diff --git a/src/drivers/magnetometer/hmc5883/Kconfig b/src/drivers/magnetometer/hmc5883/Kconfig index 658ab4b86353..f4cf89b18060 100644 --- a/src/drivers/magnetometer/hmc5883/Kconfig +++ b/src/drivers/magnetometer/hmc5883/Kconfig @@ -2,4 +2,4 @@ menuconfig DRIVERS_MAGNETOMETER_HMC5883 bool "hmc5883" default n ---help--- - Enable support for hmc5883 \ No newline at end of file + Enable support for hmc5883 diff --git a/src/drivers/magnetometer/isentek/ist8310/IST8310.cpp b/src/drivers/magnetometer/isentek/ist8310/IST8310.cpp index b7d8512ce931..e5baf14ac59c 100644 --- a/src/drivers/magnetometer/isentek/ist8310/IST8310.cpp +++ b/src/drivers/magnetometer/isentek/ist8310/IST8310.cpp @@ -85,10 +85,27 @@ void IST8310::print_status() int IST8310::probe() { - const uint8_t WAI = RegisterRead(Register::WAI); + uint8_t id = RegisterRead(Register::WAI); + + if (id != Device_ID) { + DEVICE_DEBUG("unexpected WAI 0x%02x", id); + + // Apparently, the IST8310's WHOAMI register is writeable. Presumably, + // this can get corrupted by bus noise. It is only reset if powered off + // for 30s or by a reset. + RegisterWrite(Register::CNTL2, CNTL2_BIT::SRST); + + auto start_time = hrt_absolute_time(); + + while (hrt_elapsed_time(&start_time) < 50_ms) { + px4_usleep(10'000); + id = RegisterRead(Register::WAI); + + if (id == Device_ID) { + return PX4_OK; + } + } - if (WAI != Device_ID) { - DEVICE_DEBUG("unexpected WAI 0x%02x", WAI); return PX4_ERROR; } diff --git a/src/drivers/magnetometer/lis2mdl/Kconfig b/src/drivers/magnetometer/lis2mdl/Kconfig index 2b841d2c65ce..07e9e4d5b8e1 100644 --- a/src/drivers/magnetometer/lis2mdl/Kconfig +++ b/src/drivers/magnetometer/lis2mdl/Kconfig @@ -2,4 +2,4 @@ menuconfig DRIVERS_MAGNETOMETER_LIS2MDL bool "lis2mdl" default n ---help--- - Enable support for lis2mdl \ No newline at end of file + Enable support for lis2mdl diff --git a/src/drivers/magnetometer/lis2mdl/lis2mdl_i2c.cpp b/src/drivers/magnetometer/lis2mdl/lis2mdl_i2c.cpp index 3dcc472e6046..f5f8987d07e1 100644 --- a/src/drivers/magnetometer/lis2mdl/lis2mdl_i2c.cpp +++ b/src/drivers/magnetometer/lis2mdl/lis2mdl_i2c.cpp @@ -40,7 +40,6 @@ #include #include -#include #include #include #include diff --git a/src/drivers/magnetometer/lis2mdl/lis2mdl_spi.cpp b/src/drivers/magnetometer/lis2mdl/lis2mdl_spi.cpp index b017ad4afef0..0f65bd95826c 100644 --- a/src/drivers/magnetometer/lis2mdl/lis2mdl_spi.cpp +++ b/src/drivers/magnetometer/lis2mdl/lis2mdl_spi.cpp @@ -40,7 +40,6 @@ #include #include -#include #include #include #include diff --git a/src/drivers/magnetometer/lis3mdl/Kconfig b/src/drivers/magnetometer/lis3mdl/Kconfig index 64b3b5eee38e..9b6dcd3c587e 100644 --- a/src/drivers/magnetometer/lis3mdl/Kconfig +++ b/src/drivers/magnetometer/lis3mdl/Kconfig @@ -2,4 +2,4 @@ menuconfig DRIVERS_MAGNETOMETER_LIS3MDL bool "lis3mdl" default n ---help--- - Enable support for lis3mdl \ No newline at end of file + Enable support for lis3mdl diff --git a/src/drivers/magnetometer/lis3mdl/lis3mdl_i2c.cpp b/src/drivers/magnetometer/lis3mdl/lis3mdl_i2c.cpp index a0957cff3cd9..44e609cdfd1e 100644 --- a/src/drivers/magnetometer/lis3mdl/lis3mdl_i2c.cpp +++ b/src/drivers/magnetometer/lis3mdl/lis3mdl_i2c.cpp @@ -40,7 +40,6 @@ #include #include -#include #include #include #include diff --git a/src/drivers/magnetometer/lis3mdl/lis3mdl_spi.cpp b/src/drivers/magnetometer/lis3mdl/lis3mdl_spi.cpp index 9646259b639d..91ea43cd9b3f 100644 --- a/src/drivers/magnetometer/lis3mdl/lis3mdl_spi.cpp +++ b/src/drivers/magnetometer/lis3mdl/lis3mdl_spi.cpp @@ -40,7 +40,6 @@ #include #include -#include #include #include #include diff --git a/src/drivers/magnetometer/lsm303agr/Kconfig b/src/drivers/magnetometer/lsm303agr/Kconfig index a51b500c31eb..ee8eec55d862 100644 --- a/src/drivers/magnetometer/lsm303agr/Kconfig +++ b/src/drivers/magnetometer/lsm303agr/Kconfig @@ -2,4 +2,4 @@ menuconfig DRIVERS_MAGNETOMETER_LSM303AGR bool "lsm303agr" default n ---help--- - Enable support for lsm303agr \ No newline at end of file + Enable support for lsm303agr diff --git a/src/drivers/magnetometer/lsm9ds1_mag/Kconfig b/src/drivers/magnetometer/lsm9ds1_mag/Kconfig index 45e0c7235051..8d6369b1272c 100644 --- a/src/drivers/magnetometer/lsm9ds1_mag/Kconfig +++ b/src/drivers/magnetometer/lsm9ds1_mag/Kconfig @@ -2,4 +2,4 @@ menuconfig DRIVERS_MAGNETOMETER_LSM9DS1_MAG bool "lsm9ds1_mag" default n ---help--- - Enable support for lsm9ds1_mag \ No newline at end of file + Enable support for lsm9ds1_mag diff --git a/src/drivers/magnetometer/memsic/Kconfig b/src/drivers/magnetometer/memsic/Kconfig new file mode 100644 index 000000000000..22e5aa4175e5 --- /dev/null +++ b/src/drivers/magnetometer/memsic/Kconfig @@ -0,0 +1,3 @@ +menu "Memsic" + rsource "*/Kconfig" +endmenu diff --git a/src/drivers/magnetometer/memsic/mmc5983ma/CMakeLists.txt b/src/drivers/magnetometer/memsic/mmc5983ma/CMakeLists.txt new file mode 100644 index 000000000000..3bba9619d707 --- /dev/null +++ b/src/drivers/magnetometer/memsic/mmc5983ma/CMakeLists.txt @@ -0,0 +1,44 @@ +############################################################################ +# +# Copyright (c) 2024 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ +px4_add_module( + MODULE drivers__magnetometer__memsic__mmc5983ma + MAIN mmc5983ma + COMPILE_FLAGS + SRCS + mmc5983ma_i2c.cpp + mmc5983ma_main.cpp + mmc5983ma.cpp + DEPENDS + drivers_magnetometer + px4_work_queue + ) diff --git a/src/drivers/magnetometer/memsic/mmc5983ma/Kconfig b/src/drivers/magnetometer/memsic/mmc5983ma/Kconfig new file mode 100644 index 000000000000..f3d1f3145793 --- /dev/null +++ b/src/drivers/magnetometer/memsic/mmc5983ma/Kconfig @@ -0,0 +1,5 @@ +menuconfig DRIVERS_MAGNETOMETER_MEMSIC_MMC5983MA + bool "mmc5983ma" + default n + ---help--- + Enable support for mmc5983ma diff --git a/src/drivers/magnetometer/memsic/mmc5983ma/mmc5983ma.cpp b/src/drivers/magnetometer/memsic/mmc5983ma/mmc5983ma.cpp new file mode 100644 index 000000000000..11ec0ea7de19 --- /dev/null +++ b/src/drivers/magnetometer/memsic/mmc5983ma/mmc5983ma.cpp @@ -0,0 +1,215 @@ +/**************************************************************************** + * + * Copyright (c) 2024 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include "mmc5983ma.h" + +using namespace time_literals; + +MMC5983MA::MMC5983MA(device::Device *interface, const I2CSPIDriverConfig &config) : + I2CSPIDriver(config), + _interface(interface), + _px4_mag(interface->get_device_id(), config.rotation), + _sample_count(perf_alloc(PC_COUNT, "mmc5983ma_read")), + _comms_errors(perf_alloc(PC_COUNT, "mmc5983ma_comms_errors")) +{} + +MMC5983MA::~MMC5983MA() +{ + perf_free(_sample_count); + perf_free(_comms_errors); + delete _interface; +} + +int MMC5983MA::init() +{ + // Start with a reset of the chip + write_register(MMC5983MA_ADDR_CTRL_REG2, MMC5983MA_CTRL_REG1_SW_RESET); + px4_usleep(20_ms); + + // Set measurement BW to 200HZ + write_register(MMC5983MA_ADDR_CTRL_REG1, MMC5983MA_CTRL_REG1_BW_200HZ); + + ScheduleNow(); + + return PX4_OK; +} + +void MMC5983MA::RunImpl() +{ + // The measure/collect loop uses the set/reset functionality of the chip to eliminate temperature related bias + // by reversing the polarity of the sensing element and taking the difference of the two measurements to eliminate + // the offset and then dividing by 2 to arrive at the true value of the field measurement. + // + // The measurement will contain not only the sensors response to the external magnetic field, H, but also the Offset. + // + // Output1 = +H + Offset + // Output2 = -H + Offset + // Measurment = (Output1 - Output2) / 2 + // + // Please refer to Page 18 of the datasheet + // https://www.memsic.com/Public/Uploads/uploadfile/files/20220119/MMC5983MADatasheetRevA.pdf + + switch (_state) { + case State::Measure: { + + uint8_t set_reset_flag = _sample_index == 0 ? MMC5983MA_CTRL_REG0_SET : MMC5983MA_CTRL_REG0_RESET; + write_register(MMC5983MA_ADDR_CTRL_REG0, MMC5983MA_CTRL_REG0_TM_M | set_reset_flag); + + _collect_retries = 0; + _state = State::Collect; + + // 200Hz BW is 4ms measurement time + ScheduleDelayed(5_ms); + return; + } + + case State::Collect: { + + uint8_t status = read_register(MMC5983MA_ADDR_STATUS_REG); + + if (status & MMC5983MA_STATUS_REG_MEAS_M_DONE) { + SensorData data = {}; + + if (read_register_block(&data) != PX4_OK) { + PX4_DEBUG("read failed"); + perf_count(_comms_errors); + _state = State::Measure; + _sample_index = 0; + ScheduleDelayed(100_ms); + return; + } + + // Measurement available + _measurements[_sample_index] = data; + _sample_index++; + + if (_sample_index > 1) { + publish_data(); + _sample_index = 0; + perf_count(_sample_count); + } + + _state = State::Measure; + + // Immediately schedule next measurement + ScheduleNow(); + return; + + } else { + PX4_DEBUG("not ready"); + perf_count(_comms_errors); + _collect_retries++; + _state = _collect_retries > 3 ? State::Measure : State::Collect; + ScheduleDelayed(5_ms); + return; + } + } + } // end switch/case +} + +void MMC5983MA::publish_data() +{ + uint32_t xraw_1 = (_measurements[0].xout0 << 10) | (_measurements[0].xout1 << 2) | (( + _measurements[0].xyzout2 & 0b11000000) >> 6); + uint32_t yraw_1 = (_measurements[0].yout0 << 10) | (_measurements[0].yout1 << 2) | (( + _measurements[0].xyzout2 & 0b00110000) >> 4); + uint32_t zraw_1 = (_measurements[0].zout0 << 10) | (_measurements[0].zout1 << 2) | (( + _measurements[0].xyzout2 & 0b00001100) >> 2); + + uint32_t xraw_2 = (_measurements[1].xout0 << 10) | (_measurements[1].xout1 << 2) | (( + _measurements[1].xyzout2 & 0b11000000) >> 6); + uint32_t yraw_2 = (_measurements[1].yout0 << 10) | (_measurements[1].yout1 << 2) | (( + _measurements[1].xyzout2 & 0b00110000) >> 4); + uint32_t zraw_2 = (_measurements[1].zout0 << 10) | (_measurements[1].zout1 << 2) | (( + _measurements[1].xyzout2 & 0b00001100) >> 2); + + // NOTE: Temperature conversions did not work + // float trawf = float(_measurements[0].tout + _measurements[1].tout) / 2.f; + // float temp_c = trawf * 0.8f - 75.f; + // _px4_mag.set_temperature(temp_c); + + // +/- 8 Gauss full scale range + // 18-bit mode scaling factor: 0.0625 mG/LSB + float x1 = -8.f + (float(xraw_1) * 0.0625f) / 1e3f; + float x2 = -8.f + (float(xraw_2) * 0.0625f) / 1e3f; + float y1 = -8.f + (float(yraw_1) * 0.0625f) / 1e3f; + float y2 = -8.f + (float(yraw_2) * 0.0625f) / 1e3f; + float z1 = -8.f + (float(zraw_1) * 0.0625f) / 1e3f; + float z2 = -8.f + (float(zraw_2) * 0.0625f) / 1e3f; + + // Remove the offset from the measurements (SET/RESET) + float x = (x1 - x2) / 2.f; + float y = -1.f * (y1 - y2) / 2.f; // Y axis is inverted to convert from LH to RH + float z = (z1 - z2) / 2.f; + + _px4_mag.update(hrt_absolute_time(), x, y, z); + _px4_mag.set_error_count(perf_event_count(_comms_errors)); +} + +uint8_t MMC5983MA::read_register_block(SensorData *data) +{ + uint8_t reg = MMC5983MA_ADDR_XOUT_0; + + if (_interface->read(reg, data, sizeof(SensorData)) != PX4_OK) { + perf_count(_comms_errors); + + return PX4_ERROR; + } + + return PX4_OK; +} + +uint8_t MMC5983MA::read_register(uint8_t reg) +{ + uint8_t value = 0; + + if (_interface->read(reg, &value, sizeof(value)) != PX4_OK) { + perf_count(_comms_errors); + } + + return value; +} + +void MMC5983MA::write_register(uint8_t reg, uint8_t value) +{ + if (_interface->write(reg, &value, sizeof(value)) != PX4_OK) { + perf_count(_comms_errors); + } +} + +void MMC5983MA::print_status() +{ + I2CSPIDriverBase::print_status(); + perf_print_counter(_sample_count); + perf_print_counter(_comms_errors); +} diff --git a/src/drivers/magnetometer/memsic/mmc5983ma/mmc5983ma.h b/src/drivers/magnetometer/memsic/mmc5983ma/mmc5983ma.h new file mode 100644 index 000000000000..afa526dd1a60 --- /dev/null +++ b/src/drivers/magnetometer/memsic/mmc5983ma/mmc5983ma.h @@ -0,0 +1,104 @@ +/**************************************************************************** + * + * Copyright (c) 2024 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#pragma once + +#include +#include + +// MMC5983MA Registers +#define MMC5983MA_ADDR_XOUT_0 0x00 +#define MMC5983MA_ADDR_STATUS_REG 0x08 +#define MMC5983MA_ADDR_CTRL_REG0 0x09 +#define MMC5983MA_ADDR_CTRL_REG1 0x0A +#define MMC5983MA_ADDR_CTRL_REG2 0x0B +#define MMC5983MA_ADDR_PRODUCT_ID 0x2F +// MMC5983MA Definitions +#define MMC5983MA_PRODUCT_ID 0x30 +#define MMC5983MA_STATUS_REG_MEAS_M_DONE (1 << 0) +#define MMC5983MA_CTRL_REG0_TM_M (1 << 0) +#define MMC5983MA_CTRL_REG0_SET (1 << 3) +#define MMC5983MA_CTRL_REG0_RESET (1 << 4) + +#define MMC5983MA_CTRL_REG1_BW_200HZ (0b00000001) +#define MMC5983MA_CTRL_REG1_SW_RESET (1 << 7) + +extern device::Device *MMC5983MA_I2C_interface(const I2CSPIDriverConfig &config); + +class MMC5983MA : public I2CSPIDriver +{ +public: + MMC5983MA(device::Device *interface, const I2CSPIDriverConfig &config); + virtual ~MMC5983MA(); + + struct SensorData { + uint8_t xout0; + uint8_t xout1; + uint8_t yout0; + uint8_t yout1; + uint8_t zout0; + uint8_t zout1; + uint8_t xyzout2; + uint8_t tout; + }; + + enum class State { + Measure, + Collect, + }; + + static I2CSPIDriverBase *instantiate(const I2CSPIDriverConfig &config, int runtime_instance); + static void print_usage(); + + int init(); + void print_status() override; + + void RunImpl(); + +private: + void publish_data(); + + // Read data + uint8_t read_register_block(SensorData *data); + uint8_t read_register(uint8_t reg); + void write_register(uint8_t reg, uint8_t value); + + device::Device *_interface; + PX4Magnetometer _px4_mag; + State _state = State::Measure; + int _sample_index = 0; + int _collect_retries = 0; + SensorData _measurements[2]; + perf_counter_t _sample_count; + perf_counter_t _comms_errors; +}; diff --git a/src/drivers/magnetometer/memsic/mmc5983ma/mmc5983ma_i2c.cpp b/src/drivers/magnetometer/memsic/mmc5983ma/mmc5983ma_i2c.cpp new file mode 100644 index 000000000000..294fcb27af67 --- /dev/null +++ b/src/drivers/magnetometer/memsic/mmc5983ma/mmc5983ma_i2c.cpp @@ -0,0 +1,97 @@ +/**************************************************************************** + * + * Copyright (c) 2024 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include "mmc5983ma.h" +#include + +class MMC5983MA_I2C : public device::I2C +{ +public: + MMC5983MA_I2C(const I2CSPIDriverConfig &config); + virtual ~MMC5983MA_I2C() = default; + + virtual int read(unsigned address, void *data, unsigned count) override; + virtual int write(unsigned address, void *data, unsigned count) override; + +protected: + virtual int probe(); +}; + +MMC5983MA_I2C::MMC5983MA_I2C(const I2CSPIDriverConfig &config) : + I2C(config) +{ +} + +int MMC5983MA_I2C::probe() +{ + uint8_t data = 0; + + if (read(MMC5983MA_ADDR_PRODUCT_ID, &data, 1)) { + DEVICE_DEBUG("read_reg fail"); + return -EIO; + } + + if (data != MMC5983MA_PRODUCT_ID) { + DEVICE_DEBUG("MMC5983MA bad ID: %02x", data); + return -EIO; + } + + _retries = 1; + + return OK; +} + +int MMC5983MA_I2C::read(unsigned address, void *data, unsigned count) +{ + uint8_t cmd = address; + return transfer(&cmd, 1, (uint8_t *)data, count); +} + +int MMC5983MA_I2C::write(unsigned address, void *data, unsigned count) +{ + uint8_t buf[32]; + + if (sizeof(buf) < (count + 1)) { + return -EIO; + } + + buf[0] = address; + memcpy(&buf[1], data, count); + + return transfer(&buf[0], count + 1, nullptr, 0); +} + +device::Device *MMC5983MA_I2C_interface(const I2CSPIDriverConfig &config) +{ + return new MMC5983MA_I2C(config); +} diff --git a/src/drivers/magnetometer/memsic/mmc5983ma/mmc5983ma_main.cpp b/src/drivers/magnetometer/memsic/mmc5983ma/mmc5983ma_main.cpp new file mode 100644 index 000000000000..b8d6e81e3471 --- /dev/null +++ b/src/drivers/magnetometer/memsic/mmc5983ma/mmc5983ma_main.cpp @@ -0,0 +1,117 @@ +/**************************************************************************** + * + * Copyright (c) 2024 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include "mmc5983ma.h" +#include + +I2CSPIDriverBase *MMC5983MA::instantiate(const I2CSPIDriverConfig &config, int runtime_instance) +{ + device::Device *interface = MMC5983MA_I2C_interface(config); + + if (interface == nullptr) { + PX4_ERR("alloc failed"); + return nullptr; + } + + if (interface->init() != OK) { + delete interface; + PX4_DEBUG("no device on bus %i (devid 0x%x)", config.bus, config.spi_devid); + return nullptr; + } + + MMC5983MA *dev = new MMC5983MA(interface, config); + + if (dev == nullptr) { + delete interface; + return nullptr; + } + + if (OK != dev->init()) { + delete dev; + return nullptr; + } + + return dev; +} + +void MMC5983MA::print_usage() +{ + PRINT_MODULE_USAGE_NAME("mmc5983ma", "driver"); + PRINT_MODULE_USAGE_SUBCATEGORY("magnetometer"); + PRINT_MODULE_USAGE_COMMAND("start"); + PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, false); + PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(0x30); + PRINT_MODULE_USAGE_COMMAND("reset"); + PRINT_MODULE_USAGE_DEFAULT_COMMANDS(); +} + +extern "C" int mmc5983ma_main(int argc, char *argv[]) +{ + using ThisDriver = MMC5983MA; + int ch; + BusCLIArguments cli{true, false}; + cli.i2c_address = 0x30; + cli.default_i2c_frequency = 400000; + + while ((ch = cli.getOpt(argc, argv, "R:")) != EOF) { + switch (ch) { + case 'R': + cli.rotation = (enum Rotation)atoi(cli.optArg()); + break; + } + } + + const char *verb = cli.optArg(); + + if (!verb) { + ThisDriver::print_usage(); + return -1; + } + + BusInstanceIterator iterator(MODULE_NAME, cli, DRV_MAG_DEVTYPE_MMC5983MA); + + if (!strcmp(verb, "start")) { + return ThisDriver::module_start(cli, iterator); + } + + if (!strcmp(verb, "stop")) { + return ThisDriver::module_stop(iterator); + } + + if (!strcmp(verb, "status")) { + return ThisDriver::module_status(iterator); + } + + ThisDriver::print_usage(); + return -1; +} diff --git a/src/drivers/magnetometer/qmc5883l/Kconfig b/src/drivers/magnetometer/qmc5883l/Kconfig index 8b4e732ccd0c..e40dc25b1007 100644 --- a/src/drivers/magnetometer/qmc5883l/Kconfig +++ b/src/drivers/magnetometer/qmc5883l/Kconfig @@ -2,4 +2,4 @@ menuconfig DRIVERS_MAGNETOMETER_QMC5883L bool "qmc5883l" default n ---help--- - Enable support for qmc5883l \ No newline at end of file + Enable support for qmc5883l diff --git a/src/drivers/magnetometer/rm3100/Kconfig b/src/drivers/magnetometer/rm3100/Kconfig index e7cb53408147..d2bb61c0a843 100644 --- a/src/drivers/magnetometer/rm3100/Kconfig +++ b/src/drivers/magnetometer/rm3100/Kconfig @@ -2,4 +2,4 @@ menuconfig DRIVERS_MAGNETOMETER_RM3100 bool "rm3100" default n ---help--- - Enable support for rm3100 \ No newline at end of file + Enable support for rm3100 diff --git a/src/drivers/magnetometer/rm3100/rm3100_i2c.cpp b/src/drivers/magnetometer/rm3100/rm3100_i2c.cpp index fe13bebfd3d6..3aeba5d57ed0 100644 --- a/src/drivers/magnetometer/rm3100/rm3100_i2c.cpp +++ b/src/drivers/magnetometer/rm3100/rm3100_i2c.cpp @@ -40,7 +40,6 @@ #include #include -#include #include #include #include diff --git a/src/drivers/magnetometer/rm3100/rm3100_spi.cpp b/src/drivers/magnetometer/rm3100/rm3100_spi.cpp index 0ae20b02069d..3d8f84498ae0 100644 --- a/src/drivers/magnetometer/rm3100/rm3100_spi.cpp +++ b/src/drivers/magnetometer/rm3100/rm3100_spi.cpp @@ -40,7 +40,6 @@ #include #include -#include #include #include #include diff --git a/src/drivers/magnetometer/st/Kconfig b/src/drivers/magnetometer/st/Kconfig new file mode 100644 index 000000000000..f5acb5b61698 --- /dev/null +++ b/src/drivers/magnetometer/st/Kconfig @@ -0,0 +1,3 @@ +menu "ST" + rsource "*/Kconfig" +endmenu diff --git a/src/drivers/magnetometer/st/iis2mdc/CMakeLists.txt b/src/drivers/magnetometer/st/iis2mdc/CMakeLists.txt new file mode 100644 index 000000000000..041f142ca1a3 --- /dev/null +++ b/src/drivers/magnetometer/st/iis2mdc/CMakeLists.txt @@ -0,0 +1,45 @@ +############################################################################ +# +# Copyright (c) 2024 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ +px4_add_module( + MODULE drivers__magnetometer__st__iis2mdc + MAIN iis2mdc + COMPILE_FLAGS + # -DDEBUG_BUILD + SRCS + iis2mdc_i2c.cpp + iis2mdc_main.cpp + iis2mdc.cpp + DEPENDS + drivers_magnetometer + px4_work_queue + ) diff --git a/src/drivers/magnetometer/st/iis2mdc/Kconfig b/src/drivers/magnetometer/st/iis2mdc/Kconfig new file mode 100644 index 000000000000..fdd140c17eb6 --- /dev/null +++ b/src/drivers/magnetometer/st/iis2mdc/Kconfig @@ -0,0 +1,5 @@ +menuconfig DRIVERS_MAGNETOMETER_ST_IIS2MDC + bool "iis2mdc" + default n + ---help--- + Enable support for iis2mdc diff --git a/src/drivers/magnetometer/st/iis2mdc/iis2mdc.cpp b/src/drivers/magnetometer/st/iis2mdc/iis2mdc.cpp new file mode 100644 index 000000000000..23ce5ac5390b --- /dev/null +++ b/src/drivers/magnetometer/st/iis2mdc/iis2mdc.cpp @@ -0,0 +1,137 @@ +/**************************************************************************** + * + * Copyright (c) 2024 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include "iis2mdc.h" + +using namespace time_literals; + +IIS2MDC::IIS2MDC(device::Device *interface, const I2CSPIDriverConfig &config) : + I2CSPIDriver(config), + _interface(interface), + _px4_mag(interface->get_device_id(), config.rotation), + _sample_count(perf_alloc(PC_COUNT, "iis2mdc_read")), + _comms_errors(perf_alloc(PC_COUNT, "iis2mdc_comms_errors")) +{} + +IIS2MDC::~IIS2MDC() +{ + perf_free(_sample_count); + perf_free(_comms_errors); + delete _interface; +} + +int IIS2MDC::init() +{ + if (hrt_absolute_time() < 20_ms) { + px4_usleep(20_ms); // ~10ms power-on time + } + + write_register(IIS2MDC_ADDR_CFG_REG_A, MD_CONTINUOUS | ODR_100 | COMP_TEMP_EN); + write_register(IIS2MDC_ADDR_CFG_REG_B, OFF_CANC); + write_register(IIS2MDC_ADDR_CFG_REG_C, BDU); + + _px4_mag.set_scale(100.f / 65535.f); // +/- 50 Gauss, 16bit + + ScheduleDelayed(20_ms); + + return PX4_OK; +} + +void IIS2MDC::RunImpl() +{ + uint8_t status = read_register(IIS2MDC_ADDR_STATUS_REG); + + if (status & IIS2MDC_STATUS_REG_READY) { + SensorData data = {}; + + if (read_register_block(&data) == PX4_OK) { + int16_t x = int16_t((data.xout1 << 8) | data.xout0); + int16_t y = int16_t((data.yout1 << 8) | data.yout0); + int16_t z = -int16_t((data.zout1 << 8) | data.zout0); + int16_t t = int16_t((data.tout1 << 8) | data.tout0); + // 16 bits twos complement with a sensitivity of 8 LSB/°C. Typically, the output zero level corresponds to 25 °C. + _px4_mag.set_temperature(float(t) / 8.f + 25.f); + _px4_mag.update(hrt_absolute_time(), x, y, z); + _px4_mag.set_error_count(perf_event_count(_comms_errors)); + perf_count(_sample_count); + + } else { + PX4_DEBUG("read failed"); + perf_count(_comms_errors); + } + + } else { + PX4_DEBUG("not ready: %u", status); + perf_count(_comms_errors); + } + + ScheduleDelayed(10_ms); +} + +uint8_t IIS2MDC::read_register_block(SensorData *data) +{ + uint8_t reg = IIS2MDC_ADDR_OUTX_L_REG; + + if (_interface->read(reg, data, sizeof(SensorData)) != PX4_OK) { + perf_count(_comms_errors); + + return PX4_ERROR; + } + + return PX4_OK; +} + +uint8_t IIS2MDC::read_register(uint8_t reg) +{ + uint8_t value = 0; + + if (_interface->read(reg, &value, sizeof(value)) != PX4_OK) { + perf_count(_comms_errors); + } + + return value; +} + +void IIS2MDC::write_register(uint8_t reg, uint8_t value) +{ + if (_interface->write(reg, &value, sizeof(value)) != PX4_OK) { + perf_count(_comms_errors); + } +} + +void IIS2MDC::print_status() +{ + I2CSPIDriverBase::print_status(); + perf_print_counter(_sample_count); + perf_print_counter(_comms_errors); +} diff --git a/src/drivers/magnetometer/st/iis2mdc/iis2mdc.h b/src/drivers/magnetometer/st/iis2mdc/iis2mdc.h new file mode 100644 index 000000000000..40da40469d69 --- /dev/null +++ b/src/drivers/magnetometer/st/iis2mdc/iis2mdc.h @@ -0,0 +1,95 @@ +/**************************************************************************** + * + * Copyright (c) 2024 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#pragma once + +#include +#include + +// IIS2MDC Registers +#define IIS2MDC_ADDR_CFG_REG_A 0x60 +#define IIS2MDC_ADDR_CFG_REG_B 0x61 +#define IIS2MDC_ADDR_CFG_REG_C 0x62 +#define IIS2MDC_ADDR_STATUS_REG 0x67 +#define IIS2MDC_ADDR_OUTX_L_REG 0x68 +#define IIS2MDC_ADDR_WHO_AM_I 0x4F + +// IIS2MDC Definitions +#define IIS2MDC_WHO_AM_I 0b01000000 +#define IIS2MDC_STATUS_REG_READY 0b00001111 +// CFG_REG_A +#define COMP_TEMP_EN (1 << 7) +#define MD_CONTINUOUS (0 << 0) +#define ODR_100 ((1 << 3) | (1 << 2)) +// CFG_REG_B +#define OFF_CANC (1 << 1) +// CFG_REG_C +#define BDU (1 << 4) + +extern device::Device *IIS2MDC_I2C_interface(const I2CSPIDriverConfig &config); + +class IIS2MDC : public I2CSPIDriver +{ +public: + IIS2MDC(device::Device *interface, const I2CSPIDriverConfig &config); + virtual ~IIS2MDC(); + + struct SensorData { + uint8_t xout0; + uint8_t xout1; + uint8_t yout0; + uint8_t yout1; + uint8_t zout0; + uint8_t zout1; + uint8_t tout0; + uint8_t tout1; + }; + + static I2CSPIDriverBase *instantiate(const I2CSPIDriverConfig &config, int runtime_instance); + static void print_usage(); + + int init(); + void print_status() override; + + void RunImpl(); + +private: + uint8_t read_register_block(SensorData *data); + uint8_t read_register(uint8_t reg); + void write_register(uint8_t reg, uint8_t value); + + device::Device *_interface; + PX4Magnetometer _px4_mag; + perf_counter_t _sample_count; + perf_counter_t _comms_errors; +}; diff --git a/src/drivers/magnetometer/st/iis2mdc/iis2mdc_i2c.cpp b/src/drivers/magnetometer/st/iis2mdc/iis2mdc_i2c.cpp new file mode 100644 index 000000000000..c3cd02813c19 --- /dev/null +++ b/src/drivers/magnetometer/st/iis2mdc/iis2mdc_i2c.cpp @@ -0,0 +1,97 @@ +/**************************************************************************** + * + * Copyright (c) 2024 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include "iis2mdc.h" +#include + +class IIS2MDC_I2C : public device::I2C +{ +public: + IIS2MDC_I2C(const I2CSPIDriverConfig &config); + virtual ~IIS2MDC_I2C() = default; + + virtual int read(unsigned address, void *data, unsigned count) override; + virtual int write(unsigned address, void *data, unsigned count) override; + +protected: + virtual int probe(); +}; + +IIS2MDC_I2C::IIS2MDC_I2C(const I2CSPIDriverConfig &config) : + I2C(config) +{ +} + +int IIS2MDC_I2C::probe() +{ + uint8_t data = 0; + + if (read(IIS2MDC_ADDR_WHO_AM_I, &data, 1)) { + DEVICE_DEBUG("read_reg fail"); + return -EIO; + } + + if (data != IIS2MDC_WHO_AM_I) { + DEVICE_DEBUG("IIS2MDC bad ID: %02x", data); + return -EIO; + } + + _retries = 1; + + return OK; +} + +int IIS2MDC_I2C::read(unsigned address, void *data, unsigned count) +{ + uint8_t cmd = address; + return transfer(&cmd, 1, (uint8_t *)data, count); +} + +int IIS2MDC_I2C::write(unsigned address, void *data, unsigned count) +{ + uint8_t buf[32]; + + if (sizeof(buf) < (count + 1)) { + return -EIO; + } + + buf[0] = address; + memcpy(&buf[1], data, count); + + return transfer(&buf[0], count + 1, nullptr, 0); +} + +device::Device *IIS2MDC_I2C_interface(const I2CSPIDriverConfig &config) +{ + return new IIS2MDC_I2C(config); +} diff --git a/src/drivers/magnetometer/st/iis2mdc/iis2mdc_main.cpp b/src/drivers/magnetometer/st/iis2mdc/iis2mdc_main.cpp new file mode 100644 index 000000000000..09ff5eceff86 --- /dev/null +++ b/src/drivers/magnetometer/st/iis2mdc/iis2mdc_main.cpp @@ -0,0 +1,116 @@ +/**************************************************************************** + * + * Copyright (c) 2024 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include "iis2mdc.h" +#include + +I2CSPIDriverBase *IIS2MDC::instantiate(const I2CSPIDriverConfig &config, int runtime_instance) +{ + device::Device *interface = IIS2MDC_I2C_interface(config); + + if (interface == nullptr) { + PX4_ERR("alloc failed"); + return nullptr; + } + + if (interface->init() != OK) { + delete interface; + PX4_DEBUG("no device on bus %i (devid 0x%lx)", config.bus, config.spi_devid); + return nullptr; + } + + IIS2MDC *dev = new IIS2MDC(interface, config); + + if (dev == nullptr) { + delete interface; + return nullptr; + } + + if (OK != dev->init()) { + delete dev; + return nullptr; + } + + return dev; +} + +void IIS2MDC::print_usage() +{ + PRINT_MODULE_USAGE_NAME("iis2mdc", "driver"); + PRINT_MODULE_USAGE_SUBCATEGORY("magnetometer"); + PRINT_MODULE_USAGE_COMMAND("start"); + PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, false); + PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(0x30); + PRINT_MODULE_USAGE_DEFAULT_COMMANDS(); +} + +extern "C" int iis2mdc_main(int argc, char *argv[]) +{ + using ThisDriver = IIS2MDC; + int ch; + BusCLIArguments cli{true, false}; + cli.i2c_address = 0x1E; + cli.default_i2c_frequency = 400000; + + while ((ch = cli.getOpt(argc, argv, "R:")) != EOF) { + switch (ch) { + case 'R': + cli.rotation = (enum Rotation)atoi(cli.optArg()); + break; + } + } + + const char *verb = cli.optArg(); + + if (!verb) { + ThisDriver::print_usage(); + return -1; + } + + BusInstanceIterator iterator(MODULE_NAME, cli, DRV_MAG_DEVTYPE_IIS2MDC); + + if (!strcmp(verb, "start")) { + return ThisDriver::module_start(cli, iterator); + } + + if (!strcmp(verb, "stop")) { + return ThisDriver::module_stop(iterator); + } + + if (!strcmp(verb, "status")) { + return ThisDriver::module_status(iterator); + } + + ThisDriver::print_usage(); + return -1; +} diff --git a/src/drivers/optical_flow/paa3905/PAA3905.cpp b/src/drivers/optical_flow/paa3905/PAA3905.cpp index be4ae7065544..e99621f27bca 100644 --- a/src/drivers/optical_flow/paa3905/PAA3905.cpp +++ b/src/drivers/optical_flow/paa3905/PAA3905.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2022 PX4 Development Team. All rights reserved. + * Copyright (c) 2022-2024 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -194,13 +194,13 @@ void PAA3905::RunImpl() _state = STATE::READ; if (DataReadyInterruptConfigure()) { - _data_ready_interrupt_enabled = true; + _motion_interrupt_enabled = true; // backup schedule as a watchdog timeout ScheduleDelayed(1_s); } else { - _data_ready_interrupt_enabled = false; + _motion_interrupt_enabled = false; ScheduleOnInterval(_scheduled_interval_us, _scheduled_interval_us); } @@ -222,7 +222,7 @@ void PAA3905::RunImpl() case STATE::READ: { hrt_abstime timestamp_sample = now; - if (_data_ready_interrupt_enabled) { + if (_motion_interrupt_enabled) { // scheduled from interrupt if _drdy_timestamp_sample was set as expected const hrt_abstime drdy_timestamp_sample = _drdy_timestamp_sample.fetch_and(0); @@ -258,12 +258,6 @@ void PAA3905::RunImpl() PX4_ERR("invalid RawData_Sum > 0x98"); } - // Number of Features = SQUAL * 4 - // RawData_Sum maximum register value is 0x98 - bool data_valid = (buffer.data.SQUAL > 0) - && (buffer.data.RawData_Sum <= 0x98) - && (_discard_reading == 0); - // Bit [5:0] check if chip is working correctly // 0x3F: chip is working correctly if ((buffer.data.Observation & 0x3F) != 0x3F) { @@ -313,7 +307,7 @@ void PAA3905::RunImpl() if (prev_mode != _mode) { // update scheduling on mode change - if (!_data_ready_interrupt_enabled) { + if (!_motion_interrupt_enabled) { ScheduleOnInterval(_scheduled_interval_us, _scheduled_interval_us); } } @@ -348,6 +342,14 @@ void PAA3905::RunImpl() const uint32_t shutter = (shutter_upper << 16) | (shutter_middle << 8) | shutter_lower; + // Number of Features = SQUAL * 4 + // RawData_Sum maximum register value is 0x98 + bool data_valid = (buffer.data.SQUAL > 0) + && (buffer.data.RawData_Sum > 0) + && (buffer.data.RawData_Sum <= 0x98) + && (shutter > 0) + && (_discard_reading == 0); + switch (_mode) { case Mode::Bright: sensor_optical_flow.integration_timespan_us = SAMPLE_INTERVAL_MODE_0; @@ -392,12 +394,17 @@ void PAA3905::RunImpl() // motion in burst transfer const bool motion_reported = (buffer.data.Motion & Motion_Bit::MotionOccurred); + const int16_t delta_x_raw = combine(buffer.data.Delta_X_H, buffer.data.Delta_X_L); + const int16_t delta_y_raw = combine(buffer.data.Delta_Y_H, buffer.data.Delta_Y_L); + if (data_valid) { - if (motion_reported) { - // only populate flow if data valid (motion and quality > 0) - const int16_t delta_x_raw = combine(buffer.data.Delta_X_H, buffer.data.Delta_X_L); - const int16_t delta_y_raw = combine(buffer.data.Delta_Y_H, buffer.data.Delta_Y_L); + const bool zero_flow = (delta_x_raw == 0) && (delta_y_raw == 0); + const bool little_to_no_flow = (abs(delta_x_raw) <= 1) && (abs(delta_y_raw) <= 1); + + bool publish = false; + + if (motion_reported) { // rotate measurements in yaw from sensor frame to body frame const matrix::Vector3f pixel_flow_rotated = _rotation * matrix::Vector3f{(float)delta_x_raw, (float)delta_y_raw, 0.f}; @@ -412,15 +419,53 @@ void PAA3905::RunImpl() sensor_optical_flow.pixel_flow[1] = pixel_flow_rotated(1) * SCALE; sensor_optical_flow.quality = buffer.data.SQUAL; + + publish = true; + + _last_motion = timestamp_sample; + + } else if (zero_flow && (timestamp_sample > _last_motion)) { + // no motion, but burst read looks valid and we should have seen new data by now if there was any motion + const bool burst_read_changed = (delta_x_raw != _delta_x_raw_prev) || (delta_y_raw != _delta_y_raw_prev) + || (shutter != _shutter_prev) + || (buffer.data.RawData_Sum != _raw_data_sum_prev) + || (buffer.data.SQUAL != _quality_prev); + + if (burst_read_changed) { + + sensor_optical_flow.pixel_flow[0] = 0; + sensor_optical_flow.pixel_flow[1] = 0; + + sensor_optical_flow.quality = buffer.data.SQUAL; + + publish = true; + } } - // only publish when there's motion or at least every second - if (motion_reported || (hrt_elapsed_time(&_last_publish) >= kBackupScheduleIntervalUs)) { + // only publish when there's valid data or on timeout + if (publish || (hrt_elapsed_time(&_last_publish) >= kBackupScheduleIntervalUs)) { sensor_optical_flow.timestamp = hrt_absolute_time(); _sensor_optical_flow_pub.publish(sensor_optical_flow); - _last_publish = sensor_optical_flow.timestamp; + _last_publish = sensor_optical_flow.timestamp_sample; + } + + // backup schedule if we're reliant on the motion interrupt and there's very little flow + if (_motion_interrupt_enabled && little_to_no_flow) { + switch (_mode) { + case Mode::Bright: + ScheduleDelayed(SAMPLE_INTERVAL_MODE_0); + break; + + case Mode::LowLight: + ScheduleDelayed(SAMPLE_INTERVAL_MODE_1); + break; + + case Mode::SuperLowLight: + ScheduleDelayed(SAMPLE_INTERVAL_MODE_2); + break; + } } success = true; @@ -430,6 +475,12 @@ void PAA3905::RunImpl() } } + _delta_x_raw_prev = delta_x_raw; + _delta_y_raw_prev = delta_y_raw; + _shutter_prev = shutter; + _raw_data_sum_prev = buffer.data.RawData_Sum; + _quality_prev = buffer.data.SQUAL; + } else { perf_count(_bad_transfer_perf); } @@ -663,7 +714,7 @@ uint8_t PAA3905::RegisterRead(uint8_t reg) // tSRW/tSRR SPI Time Between Read And Subsequent Commands const hrt_abstime elapsed_last_read = hrt_elapsed_time(&_last_read_time); - if (elapsed_last_write < TIME_TSRW_TSRR_us) { + if (elapsed_last_read < TIME_TSRW_TSRR_us) { px4_udelay(TIME_TSRW_TSRR_us - elapsed_last_read); } diff --git a/src/drivers/optical_flow/paa3905/PAA3905.hpp b/src/drivers/optical_flow/paa3905/PAA3905.hpp index e27bdf0fb6df..c850b0405afa 100644 --- a/src/drivers/optical_flow/paa3905/PAA3905.hpp +++ b/src/drivers/optical_flow/paa3905/PAA3905.hpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2022 PX4 Development Team. All rights reserved. + * Copyright (c) 2022-2023 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -114,14 +114,22 @@ class PAA3905 : public device::SPI, public I2CSPIDriver hrt_abstime _reset_timestamp{0}; hrt_abstime _last_publish{0}; + hrt_abstime _last_motion{0}; + + int16_t _delta_x_raw_prev{0}; + int16_t _delta_y_raw_prev{0}; + uint32_t _shutter_prev{0}; + uint8_t _quality_prev{0}; + uint8_t _raw_data_sum_prev{0}; + int _failure_count{0}; int _discard_reading{0}; px4::atomic _drdy_timestamp_sample{0}; - bool _data_ready_interrupt_enabled{false}; + bool _motion_interrupt_enabled{false}; uint32_t _scheduled_interval_us{SAMPLE_INTERVAL_MODE_0 / 2}; - static constexpr uint32_t kBackupScheduleIntervalUs{200_ms}; + static constexpr uint32_t kBackupScheduleIntervalUs{SAMPLE_INTERVAL_MODE_2}; // longest expected interval Mode _mode{Mode::LowLight}; diff --git a/src/drivers/optical_flow/paw3902/PAW3902.cpp b/src/drivers/optical_flow/paw3902/PAW3902.cpp index 9b30e7efcf8b..af70f9a5e32a 100644 --- a/src/drivers/optical_flow/paw3902/PAW3902.cpp +++ b/src/drivers/optical_flow/paw3902/PAW3902.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2019-2022 PX4 Development Team. All rights reserved. + * Copyright (c) 2019-2024 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -199,13 +199,13 @@ void PAW3902::RunImpl() _state = STATE::READ; if (DataReadyInterruptConfigure()) { - _data_ready_interrupt_enabled = true; + _motion_interrupt_enabled = true; // backup schedule as a watchdog timeout ScheduleDelayed(1_s); } else { - _data_ready_interrupt_enabled = false; + _motion_interrupt_enabled = false; ScheduleOnInterval(_scheduled_interval_us, _scheduled_interval_us); } @@ -227,7 +227,7 @@ void PAW3902::RunImpl() case STATE::READ: { hrt_abstime timestamp_sample = now; - if (_data_ready_interrupt_enabled) { + if (_motion_interrupt_enabled) { // scheduled from interrupt if _drdy_timestamp_sample was set as expected const hrt_abstime drdy_timestamp_sample = _drdy_timestamp_sample.fetch_and(0); @@ -263,12 +263,6 @@ void PAW3902::RunImpl() PX4_ERR("invalid RawData_Sum > 0x98"); } - // Number of Features = SQUAL * 4 - // RawData_Sum maximum register value is 0x98 - bool data_valid = (buffer.data.SQUAL > 0) - && (buffer.data.RawData_Sum <= 0x98) - && (_discard_reading == 0); - // publish sensor_optical_flow sensor_optical_flow_s sensor_optical_flow{}; sensor_optical_flow.timestamp_sample = timestamp_sample; @@ -293,6 +287,14 @@ void PAW3902::RunImpl() const uint16_t shutter = (shutter_upper << 8) | shutter_lower; + // Number of Features = SQUAL * 4 + // RawData_Sum maximum register value is 0x98 + bool data_valid = (buffer.data.SQUAL > 0) + && (buffer.data.RawData_Sum > 0) + && (buffer.data.RawData_Sum <= 0x98) + && (shutter > 0) + && (_discard_reading == 0); + switch (_mode) { case Mode::Bright: sensor_optical_flow.integration_timespan_us = SAMPLE_INTERVAL_MODE_0; @@ -395,12 +397,17 @@ void PAW3902::RunImpl() // motion in burst transfer const bool motion_reported = (buffer.data.Motion & Motion_Bit::MOT); + const int16_t delta_x_raw = combine(buffer.data.Delta_X_H, buffer.data.Delta_X_L); + const int16_t delta_y_raw = combine(buffer.data.Delta_Y_H, buffer.data.Delta_Y_L); + if (data_valid) { - if (motion_reported) { - // only populate flow if data valid (motion and quality > 0) - const int16_t delta_x_raw = combine(buffer.data.Delta_X_H, buffer.data.Delta_X_L); - const int16_t delta_y_raw = combine(buffer.data.Delta_Y_H, buffer.data.Delta_Y_L); + const bool zero_flow = (delta_x_raw == 0) && (delta_y_raw == 0); + const bool little_to_no_flow = (abs(delta_x_raw) <= 1) && (abs(delta_y_raw) <= 1); + + bool publish = false; + + if (motion_reported) { // rotate measurements in yaw from sensor frame to body frame const matrix::Vector3f pixel_flow_rotated = _rotation * matrix::Vector3f{(float)delta_x_raw, (float)delta_y_raw, 0.f}; @@ -415,15 +422,53 @@ void PAW3902::RunImpl() sensor_optical_flow.pixel_flow[1] = pixel_flow_rotated(1) * SCALE; sensor_optical_flow.quality = buffer.data.SQUAL; + + publish = true; + + _last_motion = timestamp_sample; + + } else if (zero_flow && (timestamp_sample > _last_motion)) { + // no motion, but burst read looks valid and we should have seen new data by now if there was any motion + const bool burst_read_changed = (delta_x_raw != _delta_x_raw_prev) || (delta_y_raw != _delta_y_raw_prev) + || (shutter != _shutter_prev) + || (buffer.data.RawData_Sum != _raw_data_sum_prev) + || (buffer.data.SQUAL != _quality_prev); + + if (burst_read_changed) { + + sensor_optical_flow.pixel_flow[0] = 0; + sensor_optical_flow.pixel_flow[1] = 0; + + sensor_optical_flow.quality = buffer.data.SQUAL; + + publish = true; + } } - // only publish when there's motion or at least every second - if (motion_reported || (hrt_elapsed_time(&_last_publish) >= kBackupScheduleIntervalUs)) { + // only publish when there's valid data or on timeout + if (publish || (hrt_elapsed_time(&_last_publish) >= kBackupScheduleIntervalUs)) { sensor_optical_flow.timestamp = hrt_absolute_time(); _sensor_optical_flow_pub.publish(sensor_optical_flow); - _last_publish = sensor_optical_flow.timestamp; + _last_publish = sensor_optical_flow.timestamp_sample; + } + + // backup schedule if we're reliant on the motion interrupt and there's very little flow + if (_motion_interrupt_enabled && little_to_no_flow) { + switch (_mode) { + case Mode::Bright: + ScheduleDelayed(SAMPLE_INTERVAL_MODE_0); + break; + + case Mode::LowLight: + ScheduleDelayed(SAMPLE_INTERVAL_MODE_1); + break; + + case Mode::SuperLowLight: + ScheduleDelayed(SAMPLE_INTERVAL_MODE_2); + break; + } } success = true; @@ -433,6 +478,12 @@ void PAW3902::RunImpl() } } + _delta_x_raw_prev = delta_x_raw; + _delta_y_raw_prev = delta_y_raw; + _shutter_prev = shutter; + _raw_data_sum_prev = buffer.data.RawData_Sum; + _quality_prev = buffer.data.SQUAL; + } else { perf_count(_bad_transfer_perf); } @@ -867,7 +918,7 @@ uint8_t PAW3902::RegisterRead(uint8_t reg) // tSRW/tSRR SPI Time Between Read And Subsequent Commands const hrt_abstime elapsed_last_read = hrt_elapsed_time(&_last_read_time); - if (elapsed_last_write < TIME_TSRW_TSRR_us) { + if (elapsed_last_read < TIME_TSRW_TSRR_us) { px4_udelay(TIME_TSRW_TSRR_us - elapsed_last_read); } diff --git a/src/drivers/optical_flow/paw3902/PAW3902.hpp b/src/drivers/optical_flow/paw3902/PAW3902.hpp index f5c624e8560b..b2e568d6197f 100644 --- a/src/drivers/optical_flow/paw3902/PAW3902.hpp +++ b/src/drivers/optical_flow/paw3902/PAW3902.hpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2019-2022 PX4 Development Team. All rights reserved. + * Copyright (c) 2019-2023 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -114,14 +114,22 @@ class PAW3902 : public device::SPI, public I2CSPIDriver hrt_abstime _reset_timestamp{0}; hrt_abstime _last_publish{0}; + hrt_abstime _last_motion{0}; + + int16_t _delta_x_raw_prev{0}; + int16_t _delta_y_raw_prev{0}; + uint16_t _shutter_prev{0}; + uint8_t _quality_prev{0}; + uint8_t _raw_data_sum_prev{0}; + int _failure_count{0}; int _discard_reading{0}; px4::atomic _drdy_timestamp_sample{0}; - bool _data_ready_interrupt_enabled{false}; + bool _motion_interrupt_enabled{false}; uint32_t _scheduled_interval_us{SAMPLE_INTERVAL_MODE_0 / 2}; - static constexpr uint32_t kBackupScheduleIntervalUs{200_ms}; + static constexpr uint32_t kBackupScheduleIntervalUs{SAMPLE_INTERVAL_MODE_2}; // longest expected interval Mode _mode{Mode::LowLight}; diff --git a/src/drivers/optical_flow/pmw3901/Kconfig b/src/drivers/optical_flow/pmw3901/Kconfig index f559f13d370e..eb0432fa7e6e 100644 --- a/src/drivers/optical_flow/pmw3901/Kconfig +++ b/src/drivers/optical_flow/pmw3901/Kconfig @@ -2,4 +2,4 @@ menuconfig DRIVERS_OPTICAL_FLOW_PMW3901 bool "pmw3901" default n ---help--- - Enable support for pmw3901 \ No newline at end of file + Enable support for pmw3901 diff --git a/src/drivers/optical_flow/px4flow/Kconfig b/src/drivers/optical_flow/px4flow/Kconfig index 497860f0c5d7..50d1f95c91da 100644 --- a/src/drivers/optical_flow/px4flow/Kconfig +++ b/src/drivers/optical_flow/px4flow/Kconfig @@ -2,4 +2,4 @@ menuconfig DRIVERS_OPTICAL_FLOW_PX4FLOW bool "px4flow" default n ---help--- - Enable support for px4flow \ No newline at end of file + Enable support for px4flow diff --git a/src/drivers/optical_flow/thoneflow/Kconfig b/src/drivers/optical_flow/thoneflow/Kconfig index 3a1ab3fa8161..8033b47d63cc 100644 --- a/src/drivers/optical_flow/thoneflow/Kconfig +++ b/src/drivers/optical_flow/thoneflow/Kconfig @@ -2,4 +2,4 @@ menuconfig DRIVERS_OPTICAL_FLOW_THONEFLOW bool "thoneflow" default n ---help--- - Enable support for thoneflow \ No newline at end of file + Enable support for thoneflow diff --git a/src/drivers/optical_flow/thoneflow/module.yaml b/src/drivers/optical_flow/thoneflow/module.yaml index 262a23e048bd..9d899fbd89b9 100644 --- a/src/drivers/optical_flow/thoneflow/module.yaml +++ b/src/drivers/optical_flow/thoneflow/module.yaml @@ -3,4 +3,4 @@ serial_config: - command: thoneflow start -d ${SERIAL_DEV} port_config_param: name: SENS_TFLOW_CFG - group: Sensors \ No newline at end of file + group: Sensors diff --git a/src/drivers/optical_flow/thoneflow/thoneflow_parser.cpp b/src/drivers/optical_flow/thoneflow/thoneflow_parser.cpp index 3534af002abb..54cc21d105a3 100644 --- a/src/drivers/optical_flow/thoneflow/thoneflow_parser.cpp +++ b/src/drivers/optical_flow/thoneflow/thoneflow_parser.cpp @@ -133,8 +133,8 @@ bool thoneflow_parse(char c, char *parserbuf, unsigned *parserbuf_index, enum TH // Checksum valid, populate sensor report int16_t delta_x = uint16_t(parserbuf[1]) << 8 | parserbuf[0]; int16_t delta_y = uint16_t(parserbuf[3]) << 8 | parserbuf[2]; - flow->pixel_flow[0] = static_cast(delta_x) * (3.52e-3f); - flow->pixel_flow[1] = static_cast(delta_y) * (3.52e-3f); + flow->pixel_flow[0] = static_cast(delta_x) * (1.76e-3f); + flow->pixel_flow[1] = static_cast(delta_y) * (1.76e-3f); *state = THONEFLOW_PARSE_STATE7_CHECKSUM; } else { diff --git a/src/drivers/osd/atxxxx/Kconfig b/src/drivers/osd/atxxxx/Kconfig index 8fa85e50f5ea..da9e6e6e271b 100644 --- a/src/drivers/osd/atxxxx/Kconfig +++ b/src/drivers/osd/atxxxx/Kconfig @@ -2,4 +2,4 @@ menuconfig DRIVERS_OSD_ATXXXX bool "atxxxx" default n ---help--- - Enable support for atxxxx \ No newline at end of file + Enable support for atxxxx diff --git a/src/drivers/osd/atxxxx/atxxxx.cpp b/src/drivers/osd/atxxxx/atxxxx.cpp index b504b943c79a..a5acabd3919d 100644 --- a/src/drivers/osd/atxxxx/atxxxx.cpp +++ b/src/drivers/osd/atxxxx/atxxxx.cpp @@ -241,7 +241,7 @@ OSDatxxxx::add_battery_info(uint8_t pos_x, uint8_t pos_y) int ret = PX4_OK; // TODO: show battery symbol based on battery fill level - snprintf(buf, sizeof(buf), "%c%5.2f", OSD_SYMBOL_BATT_3, (double)_battery_voltage_filtered_v); + snprintf(buf, sizeof(buf), "%c%5.2f", OSD_SYMBOL_BATT_3, (double)_battery_voltage_v); buf[sizeof(buf) - 1] = '\0'; for (int i = 0; buf[i] != '\0'; i++) { @@ -330,7 +330,7 @@ OSDatxxxx::update_topics() _battery_sub.copy(&battery); if (battery.connected) { - _battery_voltage_filtered_v = battery.voltage_filtered_v; + _battery_voltage_v = battery.voltage_v; _battery_discharge_mah = battery.discharged_mah; _battery_valid = true; diff --git a/src/drivers/osd/atxxxx/atxxxx.h b/src/drivers/osd/atxxxx/atxxxx.h index e821e65deb32..10685eec9b98 100644 --- a/src/drivers/osd/atxxxx/atxxxx.h +++ b/src/drivers/osd/atxxxx/atxxxx.h @@ -111,7 +111,7 @@ class OSDatxxxx : public device::SPI, public ModuleParams, public I2CSPIDriverSend(MSP_COMP_GPS, &msg); @@ -379,17 +375,11 @@ void MspOsd::Run() sensor_gps_s vehicle_gps_position{}; _vehicle_gps_position_sub.copy(&vehicle_gps_position); - estimator_status_s estimator_status{}; - _estimator_status_sub.copy(&estimator_status); - vehicle_local_position_s vehicle_local_position{}; _vehicle_local_position_sub.copy(&vehicle_local_position); // construct and send message - const auto msg = msp_osd::construct_ALTITUDE( - vehicle_gps_position, - estimator_status, - vehicle_local_position); + const auto msg = msp_osd::construct_ALTITUDE(vehicle_gps_position, vehicle_local_position); this->Send(MSP_ALTITUDE, &msg); } diff --git a/src/drivers/osd/msp_osd/msp_osd.hpp b/src/drivers/osd/msp_osd/msp_osd.hpp index ad233e204125..b35e7ff13554 100644 --- a/src/drivers/osd/msp_osd/msp_osd.hpp +++ b/src/drivers/osd/msp_osd/msp_osd.hpp @@ -43,7 +43,6 @@ #include #include #include -#include #include #include #include @@ -145,7 +144,6 @@ class MspOsd : public ModuleBase, public ModuleParams, public px4::Sched // subscriptions to desired vehicle display information uORB::Subscription _airspeed_validated_sub{ORB_ID(airspeed_validated)}; uORB::Subscription _battery_status_sub{ORB_ID(battery_status)}; - uORB::Subscription _estimator_status_sub{ORB_ID(estimator_status)}; uORB::Subscription _home_position_sub{ORB_ID(home_position)}; uORB::Subscription _input_rc_sub{ORB_ID(input_rc)}; uORB::Subscription _log_message_sub{ORB_ID(log_message)}; @@ -174,4 +172,3 @@ class MspOsd : public ModuleBase, public ModuleParams, public px4::Sched char _device[64] {}; PerformanceData _performance_data{}; }; - diff --git a/src/drivers/osd/msp_osd/uorb_to_msp.cpp b/src/drivers/osd/msp_osd/uorb_to_msp.cpp index f30960ddc55a..7be449157d9b 100644 --- a/src/drivers/osd/msp_osd/uorb_to_msp.cpp +++ b/src/drivers/osd/msp_osd/uorb_to_msp.cpp @@ -40,6 +40,7 @@ #include #include #include +#include // clock access #include @@ -77,94 +78,7 @@ msp_name_t construct_display_message(const vehicle_status_s &vehicle_status, } // display flight mode - switch (vehicle_status.nav_state) { - case vehicle_status_s::NAVIGATION_STATE_MANUAL: - display.set(MessageDisplayType::FLIGHT_MODE, "MANUAL"); - break; - - case vehicle_status_s::NAVIGATION_STATE_ALTCTL: - display.set(MessageDisplayType::FLIGHT_MODE, "ALTCTL"); - break; - - case vehicle_status_s::NAVIGATION_STATE_POSCTL: - display.set(MessageDisplayType::FLIGHT_MODE, "POSCTL"); - break; - - case vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION: - display.set(MessageDisplayType::FLIGHT_MODE, "AUTO_MISSION"); - break; - - case vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER: - display.set(MessageDisplayType::FLIGHT_MODE, "AUTO_LOITER"); - break; - - case vehicle_status_s::NAVIGATION_STATE_AUTO_RTL: - display.set(MessageDisplayType::FLIGHT_MODE, "AUTO_RTL"); - break; - - case vehicle_status_s::NAVIGATION_STATE_UNUSED: - display.set(MessageDisplayType::FLIGHT_MODE, "UNUSED"); - break; - - case vehicle_status_s::NAVIGATION_STATE_ACRO: - display.set(MessageDisplayType::FLIGHT_MODE, "ACRO"); - break; - - case vehicle_status_s::NAVIGATION_STATE_UNUSED1: - display.set(MessageDisplayType::FLIGHT_MODE, "UNUSED1"); - break; - - case vehicle_status_s::NAVIGATION_STATE_DESCEND: - display.set(MessageDisplayType::FLIGHT_MODE, "DESCEND"); - break; - - case vehicle_status_s::NAVIGATION_STATE_TERMINATION: - display.set(MessageDisplayType::FLIGHT_MODE, "TERMINATION"); - break; - - case vehicle_status_s::NAVIGATION_STATE_OFFBOARD: - display.set(MessageDisplayType::FLIGHT_MODE, "OFFBOARD"); - break; - - case vehicle_status_s::NAVIGATION_STATE_STAB: - display.set(MessageDisplayType::FLIGHT_MODE, "STAB"); - break; - - case vehicle_status_s::NAVIGATION_STATE_UNUSED2: - display.set(MessageDisplayType::FLIGHT_MODE, "UNUSED2"); - break; - - case vehicle_status_s::NAVIGATION_STATE_AUTO_TAKEOFF: - display.set(MessageDisplayType::FLIGHT_MODE, "AUTO_TAKEOFF"); - break; - - case vehicle_status_s::NAVIGATION_STATE_AUTO_LAND: - display.set(MessageDisplayType::FLIGHT_MODE, "AUTO_LAND"); - break; - - case vehicle_status_s::NAVIGATION_STATE_AUTO_FOLLOW_TARGET: - display.set(MessageDisplayType::FLIGHT_MODE, "AUTO_FOLLOW_TARGET"); - break; - - case vehicle_status_s::NAVIGATION_STATE_AUTO_PRECLAND: - display.set(MessageDisplayType::FLIGHT_MODE, "AUTO_PRECLAND"); - break; - - case vehicle_status_s::NAVIGATION_STATE_ORBIT: - display.set(MessageDisplayType::FLIGHT_MODE, "ORBIT"); - break; - - case vehicle_status_s::NAVIGATION_STATE_AUTO_VTOL_TAKEOFF: - display.set(MessageDisplayType::FLIGHT_MODE, "AUTO_VTOL_TAKEOFF"); - break; - - case vehicle_status_s::NAVIGATION_STATE_MAX: - display.set(MessageDisplayType::FLIGHT_MODE, "MAX"); - break; - - default: - display.set(MessageDisplayType::FLIGHT_MODE, "???"); - } + display.set(MessageDisplayType::FLIGHT_MODE, mode_util::nav_state_names[vehicle_status.nav_state]); } // display, if updated @@ -314,9 +228,9 @@ msp_raw_gps_t construct_RAW_GPS(const sensor_gps_s &vehicle_gps_position, msp_raw_gps_t raw_gps {0}; if (vehicle_gps_position.fix_type >= 2) { - raw_gps.lat = vehicle_gps_position.lat; - raw_gps.lon = vehicle_gps_position.lon; - raw_gps.alt = vehicle_gps_position.alt / 10; + raw_gps.lat = static_cast(vehicle_gps_position.latitude_deg * 1e7); + raw_gps.lon = static_cast(vehicle_gps_position.longitude_deg * 1e7); + raw_gps.alt = static_cast(vehicle_gps_position.altitude_msl_m * 100.0); float course = math::degrees(vehicle_gps_position.cog_rad); @@ -365,7 +279,6 @@ msp_raw_gps_t construct_RAW_GPS(const sensor_gps_s &vehicle_gps_position, } msp_comp_gps_t construct_COMP_GPS(const home_position_s &home_position, - const estimator_status_s &estimator_status, const vehicle_global_position_s &vehicle_global_position, const bool heartbeat) { @@ -375,7 +288,8 @@ msp_comp_gps_t construct_COMP_GPS(const home_position_s &home_position, // Calculate distance and direction to home if (home_position.valid_hpos && home_position.valid_lpos - && estimator_status.solution_status_flags & (1 << 4)) { + && (hrt_elapsed_time(&vehicle_global_position.timestamp) < 1_s)) { + float bearing_to_home = math::degrees(get_bearing_to_next_waypoint(vehicle_global_position.lat, vehicle_global_position.lon, home_position.lat, home_position.lon)); @@ -425,21 +339,20 @@ msp_attitude_t construct_ATTITUDE(const vehicle_attitude_s &vehicle_attitude) } msp_altitude_t construct_ALTITUDE(const sensor_gps_s &vehicle_gps_position, - const estimator_status_s &estimator_status, const vehicle_local_position_s &vehicle_local_position) { // initialize result msp_altitude_t altitude {0}; if (vehicle_gps_position.fix_type >= 2) { - altitude.estimatedActualPosition = vehicle_gps_position.alt / 10; + altitude.estimatedActualPosition = static_cast(vehicle_gps_position.altitude_msl_m * 100.0); // cm } else { altitude.estimatedActualPosition = 0; } - if (estimator_status.solution_status_flags & (1 << 5)) { - altitude.estimatedActualVelocity = -vehicle_local_position.vz * 10; //m/s to cm/s + if (vehicle_local_position.v_z_valid) { + altitude.estimatedActualVelocity = -vehicle_local_position.vz * 100; //m/s to cm/s } else { altitude.estimatedActualVelocity = 0; diff --git a/src/drivers/osd/msp_osd/uorb_to_msp.hpp b/src/drivers/osd/msp_osd/uorb_to_msp.hpp index d841faf522a6..1f5cdb3b6d56 100644 --- a/src/drivers/osd/msp_osd/uorb_to_msp.hpp +++ b/src/drivers/osd/msp_osd/uorb_to_msp.hpp @@ -54,7 +54,6 @@ #include #include #include -#include #include #include @@ -94,7 +93,6 @@ msp_raw_gps_t construct_RAW_GPS(const sensor_gps_s &vehicle_gps_position, // construct an MSP_COMP_GPS struct msp_comp_gps_t construct_COMP_GPS(const home_position_s &home_position, - const estimator_status_s &estimator_status, const vehicle_global_position_s &vehicle_global_position, const bool heartbeat); @@ -103,7 +101,6 @@ msp_attitude_t construct_ATTITUDE(const vehicle_attitude_s &vehicle_attitude); // construct an MSP_ALTITUDE struct msp_altitude_t construct_ALTITUDE(const sensor_gps_s &vehicle_gps_position, - const estimator_status_s &estimator_status, const vehicle_local_position_s &vehicle_local_position); // construct an MSP_ESC_SENSOR_DATA struct diff --git a/src/drivers/pca9685_pwm_out/Kconfig b/src/drivers/pca9685_pwm_out/Kconfig index 84cc71cda739..05e7f58994f1 100644 --- a/src/drivers/pca9685_pwm_out/Kconfig +++ b/src/drivers/pca9685_pwm_out/Kconfig @@ -2,4 +2,20 @@ menuconfig DRIVERS_PCA9685_PWM_OUT bool "pca9685_pwm_out" default n ---help--- - Enable support for pca9685_pwm_out \ No newline at end of file + Enable support for pca9685_pwm_out + +if DRIVERS_PCA9685_PWM_OUT + config PCA9685_USE_EXTERNAL_CRYSTAL + bool "Use external crystal for clock reference" + default n + + config PCA9685_EXTERNAL_CRYSTAL_FREQ + int "External crystal frequency" + depends on PCA9685_USE_EXTERNAL_CRYSTAL + default 25000000 + + config PCA9685_INTERNAL_CRYSTAL_FREQ + int "Corrected frequency of internal oscillator" + depends on !PCA9685_USE_EXTERNAL_CRYSTAL + default 26075000 +endif diff --git a/src/drivers/pca9685_pwm_out/PCA9685.cpp b/src/drivers/pca9685_pwm_out/PCA9685.cpp index c2a1af4b16cf..7eccd6c04b3c 100644 --- a/src/drivers/pca9685_pwm_out/PCA9685.cpp +++ b/src/drivers/pca9685_pwm_out/PCA9685.cpp @@ -32,91 +32,48 @@ ****************************************************************************/ #include +#include #include #include "PCA9685.h" -#include -using namespace drv_pca9685_pwm; - -PCA9685::PCA9685(int bus, int addr): - I2C(DRV_PWM_DEVTYPE_PCA9685, MODULE_NAME, bus, addr, 400000) -{ +#ifdef CONFIG_PCA9685_USE_EXTERNAL_CRYSTAL +#define PCA9685_CLOCK_REFERENCE CONFIG_PCA9685_EXTERNAL_CRYSTAL_FREQ +#else +#define PCA9685_CLOCK_REFERENCE CONFIG_PCA9685_INTERNAL_CRYSTAL_FREQ +#endif -} +#define PCA9685_DEFAULT_MODE1_CFG PCA9685_MODE1_AI_MASK +#define PCA9685_DEFAULT_MODE2_CFG PCA9685_MODE2_OUTDRV_MASK -int PCA9685::Stop() -{ - disableAllOutput(); - stopOscillator(); - return PX4_OK; -} +using namespace drv_pca9685_pwm; -int PCA9685::updatePWM(const uint16_t *outputs, unsigned num_outputs) +PCA9685::PCA9685(int bus, int addr): + I2C(DRV_PWM_DEVTYPE_PCA9685, MODULE_NAME, bus, addr, 400000), + currentFreq(0.0) { - if (num_outputs > PCA9685_PWM_CHANNEL_COUNT) { - num_outputs = PCA9685_PWM_CHANNEL_COUNT; - PX4_DEBUG("PCA9685 can only drive up to 16 channels"); - } - - uint16_t out[PCA9685_PWM_CHANNEL_COUNT]; - memcpy(out, outputs, sizeof(uint16_t) * num_outputs); - - for (unsigned i = 0; i < num_outputs; ++i) { - out[i] = (uint16_t)roundl((out[i] * _Freq * PCA9685_PWM_RES / (float)1e6)); // convert us to 12 bit resolution - } - - setPWM(num_outputs, out); - return 0; } -int PCA9685::setFreq(float freq) +int PCA9685::init() { - uint16_t realResolution = floorl((float)PCA9685_CLOCK_FREQ / freq); + int ret = I2C::init(); - if (realResolution < PCA9685_PWM_RES) { // unable to provide enough resolution - PX4_DEBUG("frequency too high"); - return -EINVAL; - } - - uint16_t divider = (uint16_t)round((float)PCA9685_CLOCK_FREQ / freq / PCA9685_PWM_RES) - 1; - - if (divider > 0x00FF) { // out of divider - PX4_DEBUG("frequency too low"); - return -EINVAL; - } - - float freq_err = ((float)PCA9685_CLOCK_FREQ / (float)(divider + (uint16_t)1) - - (float)(freq * PCA9685_PWM_RES)) - / (float)(freq * PCA9685_PWM_RES); // actually asked for (freq * PCA9685_PWM_RES) - - if (fabsf(freq_err) > 0.01f) { // TODO decide threshold - PX4_WARN("frequency error too large: %.4f", (double)freq_err); - // should we return an error? - } - - _Freq = (float)PCA9685_CLOCK_FREQ / (float)(divider + (uint16_t)1) / PCA9685_PWM_RES; // use actual pwm freq instead. - - setDivider(divider); - - return PX4_OK; + if (ret != PX4_OK) { return ret; } -} - -int PCA9685::initReg() -{ uint8_t buf[2] = {}; buf[0] = PCA9685_REG_MODE1; - buf[1] = DEFAULT_MODE1_CFG; - int ret = transfer(buf, 2, nullptr, 0); // make sure oscillator is disabled + buf[1] = PCA9685_DEFAULT_MODE1_CFG | PCA9685_MODE1_SLEEP_MASK; // put into sleep mode + ret = transfer(buf, 2, nullptr, 0); if (OK != ret) { PX4_ERR("init: i2c::transfer returned %d", ret); return ret; } +#ifdef CONFIG_PCA9685_USE_EXTERNAL_CRYSTAL + buf[1] = PCA9685_DEFAULT_MODE1_CFG | PCA9685_MODE1_SLEEP_MASK | PCA9685_MODE1_EXTCLK_MASK; ret = transfer(buf, 2, nullptr, 0); // enable EXTCLK if possible if (OK != ret) { @@ -124,8 +81,10 @@ int PCA9685::initReg() return ret; } +#endif + buf[0] = PCA9685_REG_MODE2; - buf[1] = DEFAULT_MODE2_CFG; + buf[1] = PCA9685_DEFAULT_MODE2_CFG; ret = transfer(buf, 2, nullptr, 0); if (OK != ret) { @@ -136,125 +95,129 @@ int PCA9685::initReg() return PX4_OK; } -int PCA9685::probe() -{ - return I2C::probe(); -} - -void PCA9685::setPWM(uint8_t channel, const uint16_t &value) +int PCA9685::updatePWM(const uint16_t *outputs, unsigned num_outputs) { - if (value >= 4096) { - PX4_DEBUG("invalid pwm value"); - return; + if (num_outputs > PCA9685_PWM_CHANNEL_COUNT) { + num_outputs = PCA9685_PWM_CHANNEL_COUNT; + PX4_DEBUG("PCA9685 can only drive up to 16 channels"); } - uint8_t buf[5] = {}; - buf[0] = PCA9685_REG_LED0 + channel * PCA9685_REG_LED_INCREMENT; - buf[1] = 0x00; - buf[2] = 0x00; - buf[3] = (uint8_t)(value & (uint8_t)0xFF); - buf[4] = value != 0 ? ((uint8_t)(value >> (uint8_t)8)) : PCA9685_LED_ON_FULL_ON_OFF_MASK; - - int ret = transfer(buf, 5, nullptr, 0); + uint16_t out[PCA9685_PWM_CHANNEL_COUNT]; + memcpy(out, outputs, sizeof(uint16_t) * num_outputs); - if (OK != ret) { - PX4_DEBUG("setPWM: i2c::transfer returned %d", ret); + for (unsigned i = 0; i < num_outputs; ++i) { + out[i] = calcRawFromPulse(out[i]); } + + return writePWM(0, out, num_outputs); } -void PCA9685::setPWM(uint8_t channel_count, const uint16_t *value) +int PCA9685::updateFreq(float freq) { - uint8_t buf[PCA9685_PWM_CHANNEL_COUNT * PCA9685_REG_LED_INCREMENT + 1] = {}; - buf[0] = PCA9685_REG_LED0; + uint16_t divider = (uint16_t)round((float)PCA9685_CLOCK_REFERENCE / freq / PCA9685_PWM_RES) - 1; - for (int i = 0; i < channel_count; ++i) { - if (value[i] >= 4096) { - PX4_DEBUG("invalid pwm value"); - return; - } + if (divider > 0x00FF) { + PX4_ERR("frequency too low"); + return PX4_ERROR; + } - buf[1 + i * PCA9685_REG_LED_INCREMENT] = 0x00; - buf[2 + i * PCA9685_REG_LED_INCREMENT] = 0x00; - buf[3 + i * PCA9685_REG_LED_INCREMENT] = (uint8_t)(value[i] & (uint8_t)0xFF); - buf[4 + i * PCA9685_REG_LED_INCREMENT] = value[i] != 0 ? ((uint8_t)(value[i] >> (uint8_t)8)) : - PCA9685_LED_ON_FULL_ON_OFF_MASK; + if (divider < 0x0003) { + PX4_ERR("frequency too high"); + return PX4_ERROR; } - int ret = transfer(buf, channel_count * PCA9685_REG_LED_INCREMENT + 1, nullptr, 0); + currentFreq = (float)PCA9685_CLOCK_REFERENCE / (float)((divider + 1) * 4096); + PX4_INFO("PCA9685 PWM frequency: target=%.2f real=%.2f", (double)freq, (double)currentFreq); - if (OK != ret) { - PX4_DEBUG("setPWM: i2c::transfer returned %d", ret); - } + return setDivider(divider); } -void PCA9685::disableAllOutput() +int PCA9685::updateRAW(const uint16_t *outputs, unsigned int num_outputs) { - uint8_t buf[5] = {}; - buf[0] = PCA9685_REG_ALLLED_ON_L; - buf[1] = 0x00; - buf[2] = 0x00; - buf[3] = 0x00; - buf[4] = PCA9685_LED_ON_FULL_ON_OFF_MASK; + return writePWM(0, outputs, num_outputs); +} - int ret = transfer(buf, 5, nullptr, 0); +int PCA9685::setAllPWM(uint16_t output) +{ + uint16_t val = (uint16_t)roundl((output * currentFreq * PCA9685_PWM_RES / (float)1e6)); + uint8_t buf[] = { + PCA9685_REG_ALLLED_ON_L, + 0x00, 0x00, + (uint8_t)(val & (uint8_t)0xFF), + val != 0 ? (uint8_t)(val >> 8) : (uint8_t)PCA9685_LED_ON_FULL_ON_OFF_MASK + }; + return transfer(buf, sizeof(buf), nullptr, 0); +} - if (OK != ret) { - PX4_DEBUG("i2c::transfer returned %d", ret); - } +int PCA9685::sleep() +{ + uint8_t buf[2] = { + PCA9685_REG_MODE1, + PCA9685_DEFAULT_MODE1_CFG | PCA9685_MODE1_SLEEP_MASK + }; + return transfer(buf, 2, nullptr, 0); } -void PCA9685::setDivider(uint8_t value) +int PCA9685::wake() { - uint8_t buf[2] = {}; - buf[0] = PCA9685_REG_PRE_SCALE; - buf[1] = value; - int ret = transfer(buf, 2, nullptr, 0); + uint8_t buf[2] = { + PCA9685_REG_MODE1, + PCA9685_DEFAULT_MODE1_CFG + }; + return transfer(buf, 2, nullptr, 0); +} - if (OK != ret) { - PX4_DEBUG("i2c::transfer returned %d", ret); - return; - } +int PCA9685::doRestart() +{ + uint8_t buf[2] = { + PCA9685_REG_MODE1, + PCA9685_DEFAULT_MODE1_CFG | PCA9685_MODE1_RESTART_MASK + }; + return transfer(buf, 2, nullptr, 0); } -void PCA9685::stopOscillator() +int PCA9685::probe() { - uint8_t buf[2] = {PCA9685_REG_MODE1}; + int ret = I2C::probe(); - // set to sleep - buf[1] = DEFAULT_MODE1_CFG; - int ret = transfer(buf, 2, nullptr, 0); + if (ret != PX4_OK) { return ret; } - if (OK != ret) { - PX4_DEBUG("i2c::transfer returned %d", ret); - return; - } + uint8_t buf[2] = {0x00}; + return transfer(buf, 2, buf, 1); } -void PCA9685::startOscillator() +int PCA9685::writePWM(uint8_t idx, const uint16_t *value, uint8_t num) { - uint8_t buf[2] = {PCA9685_REG_MODE1}; + uint8_t buf[PCA9685_PWM_CHANNEL_COUNT * PCA9685_REG_LED_INCREMENT + 1] = {}; + buf[0] = PCA9685_REG_LED0 + PCA9685_REG_LED_INCREMENT * idx; - // clear sleep bit, with restart bit = 0 - buf[1] = DEFAULT_MODE1_CFG & (~PCA9685_MODE1_SLEEP_MASK); - int ret = transfer(buf, 2, nullptr, 0); + for (int i = 0; i < num; ++i) { + buf[1 + i * PCA9685_REG_LED_INCREMENT] = 0x00; - if (OK != ret) { - PX4_DEBUG("startOscillator: i2c::transfer returned %d", ret); - return; + if (value[i] == 0) { + buf[2 + i * PCA9685_REG_LED_INCREMENT] = 0x00; + buf[3 + i * PCA9685_REG_LED_INCREMENT] = 0x00; + buf[4 + i * PCA9685_REG_LED_INCREMENT] = PCA9685_LED_ON_FULL_ON_OFF_MASK; + + } else if (value[i] == 4096) { + buf[2 + i * PCA9685_REG_LED_INCREMENT] = PCA9685_LED_ON_FULL_ON_OFF_MASK; + buf[3 + i * PCA9685_REG_LED_INCREMENT] = 0x00; + buf[4 + i * PCA9685_REG_LED_INCREMENT] = 0x00; + + } else { + buf[2 + i * PCA9685_REG_LED_INCREMENT] = 0x00; + buf[3 + i * PCA9685_REG_LED_INCREMENT] = (uint8_t)(value[i] & 0xFF); + buf[4 + i * PCA9685_REG_LED_INCREMENT] = (uint8_t)(value[i] >> 8); + } } + + return transfer(buf, num * PCA9685_REG_LED_INCREMENT + 1, nullptr, 0); } -void PCA9685::triggerRestart() +int PCA9685::setDivider(uint8_t value) { - uint8_t buf[2] = {PCA9685_REG_MODE1}; - - // clear sleep bit, with restart bit = 0 - buf[1] = DEFAULT_MODE1_CFG & (~PCA9685_MODE1_SLEEP_MASK); - buf[1] |= PCA9685_MODE1_RESTART_MASK; - int ret = transfer(buf, 2, nullptr, 0); - - if (OK != ret) { - PX4_DEBUG("triggerRestart: i2c::transfer returned %d", ret); - return; - } + uint8_t buf[2] = {}; + buf[0] = PCA9685_REG_PRE_SCALE; + buf[1] = value; + return transfer(buf, 2, nullptr, 0); } diff --git a/src/drivers/pca9685_pwm_out/PCA9685.h b/src/drivers/pca9685_pwm_out/PCA9685.h index 5c7740164c25..e8bd5eb4d893 100644 --- a/src/drivers/pca9685_pwm_out/PCA9685.h +++ b/src/drivers/pca9685_pwm_out/PCA9685.h @@ -34,10 +34,7 @@ #pragma once #include #include -#include - -namespace drv_pca9685_pwm -{ +#include #define PCA9685_REG_MODE1 0x00 // Mode register 1 #define PCA9685_REG_MODE2 0x01 // Mode register 2 @@ -82,93 +79,98 @@ namespace drv_pca9685_pwm // PRE_SCALE register #define PCA9685_PRE_SCALE_MASK 0xFF +// common sense #define PCA9685_PWM_CHANNEL_COUNT 16 -#define PCA9685_PWM_RES 4096 //Resolution 4096=12bit -/* This should be 25000000 ideally, - * but it seems most chips have its oscillator working at a higher frequency - * Reference: https://github.com/adafruit/Adafruit-PWM-Servo-Driver-Library/blob/6664ce936210eea53259b814062009d9569a4213/Adafruit_PWMServoDriver.h#L66 */ -#define PCA9685_CLOCK_INT 26075000.0 //25MHz internal clock -#ifndef PCA9685_CLOCK_EXT -#define PCA9685_CLOCK_FREQ PCA9685_CLOCK_INT // use int clk -#else -#define PCA9685_CLOCK_FREQ PCA9685_CLOCK_EXT // use ext clk -#endif - -#define PCA9685_DEVICE_BASE_PATH "/dev/pca9685" -#define PWM_DEFAULT_FREQUENCY 50 // default pwm frequency +#define PCA9685_PWM_RES 4096 + +namespace drv_pca9685_pwm +{ //! Main class that exports features for PCA9685 chip class PCA9685 : public device::I2C { public: PCA9685(int bus, int addr); + ~PCA9685() override = default; - int Stop(); + int init() override; /* - * outputs formatted to us. + * Write new PWM value to device + * + * *output: pulse width, us */ int updatePWM(const uint16_t *outputs, unsigned num_outputs); - int setFreq(float freq); + /* + * Set PWM frequency to new value. + * + * Only a few of precious frequency can be set, while others will be rounded to the nearest possible value. + * + * Only allowed when PCA9685 is put into sleep mode + * + * freq: Hz + */ + int updateFreq(float freq); - ~PCA9685() override = default; + /* + * Write new PWM value to device, in raw counter value + * + * *output: 0~4095 + */ + int updateRAW(const uint16_t *outputs, unsigned num_outputs); - int initReg(); + /* + * Get the real frequency + */ + float inline getFreq() {return currentFreq;} - inline float getFrequency() {return _Freq;} + uint16_t inline calcRawFromPulse(uint16_t pulse_width) + { + return (uint16_t)roundl((pulse_width * currentFreq * PCA9685_PWM_RES / (float)1e6)); + } /* - * disable all of the output + * Set PWM value on all channels at once */ - void disableAllOutput(); + int setAllPWM(uint16_t output); /* - * turn off oscillator - */ - void stopOscillator(); + * Put PCA9685 into sleep mode + * + * This will disable the clock reference inside PCA9685 + */ + int sleep(); /* - * turn on oscillator + * Put PCA9685 out of sleep mode. + * + * Must wait 500 us for oscillator stabilization before outputting anything */ - void startOscillator(); + int wake(); /* - * turn on output + * If PCA9685 is put into sleep without clearing all the outputs, + * then the restart command will be available, and it can bring back PWM output without the + * need of updatePWM() call. */ - void triggerRestart(); + int doRestart(); protected: int probe() override; -#ifdef PCA9685_CLOCL_EXT - static const uint8_t DEFAULT_MODE1_CFG = 0x70; // Auto-Increment, Sleep, EXTCLK -#else - static const uint8_t DEFAULT_MODE1_CFG = 0x30; // Auto-Increment, Sleep -#endif - static const uint8_t DEFAULT_MODE2_CFG = 0x04; // totem pole - - float _Freq = PWM_DEFAULT_FREQUENCY; - - /** - * set PWM value for a channel[0,15]. - * value should be range of 0-4095 - */ - void setPWM(uint8_t channel, const uint16_t &value); - - /** - * set all PWMs in a single I2C transmission. - * value should be range of 0-4095 + /* + * set clock divider */ - void setPWM(uint8_t channel_count, const uint16_t *value); + int setDivider(uint8_t value); /* - * set clock divider + * Write PWM value to PCA9685 */ - void setDivider(uint8_t value); + int writePWM(uint8_t idx, const uint16_t *value, uint8_t num); private: - + float currentFreq; }; } diff --git a/src/drivers/pca9685_pwm_out/main.cpp b/src/drivers/pca9685_pwm_out/main.cpp index 1c141d5cfa31..0e9bfa63dfcc 100644 --- a/src/drivers/pca9685_pwm_out/main.cpp +++ b/src/drivers/pca9685_pwm_out/main.cpp @@ -33,9 +33,10 @@ /** * @file pca9685/main.cpp - * A cross-platform driver and wrapper for pca9685. - * Designed to support all control-groups by binding to correct mixer files - * @author SalimTerryLi + * + * This file serves as the wrapper layer for PCA9685 driver, working with parameters + * and scheduling stuffs on PX4 side. + * */ #include @@ -45,11 +46,10 @@ #include #include #include +#include #include "PCA9685.h" -#include - #define PCA9685_DEFAULT_IICBUS 1 #define PCA9685_DEFAULT_ADDRESS (0x40) @@ -59,26 +59,25 @@ using namespace time_literals; class PCA9685Wrapper : public ModuleBase, public OutputModuleInterface { public: - PCA9685Wrapper(int schd_rate_limit = 400); - ~PCA9685Wrapper() override ; + PCA9685Wrapper(); + ~PCA9685Wrapper() override; + PCA9685Wrapper(const PCA9685Wrapper &) = delete; + PCA9685Wrapper operator=(const PCA9685Wrapper &) = delete; int init(); - /** @see ModuleBase */ static int task_spawn(int argc, char *argv[]); - /** @see ModuleBase */ static int custom_command(int argc, char *argv[]); - /** @see ModuleBase */ static int print_usage(const char *reason = nullptr); bool updateOutputs(bool stop_motors, uint16_t *outputs, unsigned num_outputs, unsigned num_control_groups_updated) override; - PCA9685Wrapper(const PCA9685Wrapper &) = delete; - PCA9685Wrapper operator=(const PCA9685Wrapper &) = delete; - int print_status() override; +protected: + void updateParams() override; + private: perf_counter_t _cycle_perf; @@ -86,40 +85,37 @@ class PCA9685Wrapper : public ModuleBase, public OutputModuleInt INIT, WAIT_FOR_OSC, RUNNING + } state{STATE::INIT}; + + PCA9685 *pca9685 = nullptr; + uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s}; + MixingOutput _mixing_output { + "PCA9685", + PCA9685_PWM_CHANNEL_COUNT, + *this, + MixingOutput::SchedulingPolicy::Disabled, + true }; - STATE _state{STATE::INIT}; - // used to compare and cancel unecessary scheduling changes caused by parameter update - int32_t _last_fetched_Freq = -1; - // If this value is above zero, then change freq and scheduling in running state. - float _targetFreq = -1.0f; + float param_pwm_freq, previous_pwm_freq; + float param_schd_rate, previous_schd_rate; + uint32_t param_duty_mode; void Run() override; - -protected: - int _schd_rate_limit = 400; - - PCA9685 *pca9685 = nullptr; // driver handle. - - uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s}; - - MixingOutput _mixing_output{"PCA9685", PCA9685_PWM_CHANNEL_COUNT, *this, MixingOutput::SchedulingPolicy::Disabled, true}; }; -PCA9685Wrapper::PCA9685Wrapper(int schd_rate_limit) : +PCA9685Wrapper::PCA9685Wrapper() : OutputModuleInterface(MODULE_NAME, px4::wq_configurations::hp_default), - _cycle_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": cycle")), - _schd_rate_limit(schd_rate_limit) + _cycle_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": cycle")) { } PCA9685Wrapper::~PCA9685Wrapper() { - if (pca9685 != nullptr) { // normally this should not be called. - PX4_DEBUG("Destruction of PCA9685Wrapper without pwmDevice unloaded!"); - pca9685->Stop(); // force stop + if (pca9685 != nullptr) { + pca9685->setAllPWM(0); + pca9685->sleep(); delete pca9685; - pca9685 = nullptr; } perf_free(_cycle_perf); @@ -129,9 +125,7 @@ int PCA9685Wrapper::init() { int ret = pca9685->init(); - if (ret != PX4_OK) { - return ret; - } + if (ret != PX4_OK) { return ret; } this->ChangeWorkQueue(px4::device_bus_to_wq(pca9685->get_device_id())); @@ -145,7 +139,26 @@ int PCA9685Wrapper::init() bool PCA9685Wrapper::updateOutputs(bool stop_motors, uint16_t *outputs, unsigned num_outputs, unsigned num_control_groups_updated) { - return pca9685->updatePWM(outputs, num_outputs) == 0 ? true : false; + if (state != STATE::RUNNING) { return false; } + + uint16_t low_level_outputs[PCA9685_PWM_CHANNEL_COUNT] = {}; + num_outputs = num_outputs > PCA9685_PWM_CHANNEL_COUNT ? PCA9685_PWM_CHANNEL_COUNT : num_outputs; + + for (uint8_t i = 0; i < num_outputs; ++i) { + if (param_duty_mode & (1 << i)) { + low_level_outputs[i] = outputs[i]; + + } else { + low_level_outputs[i] = pca9685->calcRawFromPulse(outputs[i]); + } + } + + if (pca9685->updateRAW(low_level_outputs, num_outputs) != PX4_OK) { + PX4_ERR("Failed to write PWM to PCA9685"); + return false; + } + + return true; } void PCA9685Wrapper::Run() @@ -154,7 +167,8 @@ void PCA9685Wrapper::Run() ScheduleClear(); _mixing_output.unregister(); - pca9685->Stop(); + pca9685->setAllPWM(0); + pca9685->sleep(); delete pca9685; pca9685 = nullptr; @@ -162,44 +176,27 @@ void PCA9685Wrapper::Run() return; } - perf_begin(_cycle_perf); - - switch (_state) { + switch (state) { case STATE::INIT: - pca9685->initReg(); + updateParams(); + pca9685->updateFreq(param_pwm_freq); + previous_pwm_freq = param_pwm_freq; + previous_schd_rate = param_schd_rate; - if (_targetFreq > 0.0f) { - if (pca9685->setFreq(_targetFreq) != PX4_OK) { - PX4_ERR("failed to set pwm frequency to %.2f, fall back to 50Hz", (double)_targetFreq); - pca9685->setFreq(50.0f); // this should not fail - } - - _targetFreq = -1.0f; - - } else { - // should not happen - PX4_ERR("INIT failed: invalid initial frequency settings"); - } - - pca9685->startOscillator(); - _state = STATE::WAIT_FOR_OSC; + pca9685->wake(); + state = STATE::WAIT_FOR_OSC; ScheduleDelayed(500); break; case STATE::WAIT_FOR_OSC: { - pca9685->triggerRestart(); // start actual outputting - _state = STATE::RUNNING; - float schedule_rate = pca9685->getFrequency(); - - if (_schd_rate_limit < pca9685->getFrequency()) { - schedule_rate = _schd_rate_limit; - } - - ScheduleOnInterval(1000000 / schedule_rate, 1000000 / schedule_rate); + state = STATE::RUNNING; + ScheduleOnInterval(1000000 / param_schd_rate, 0); } break; case STATE::RUNNING: + perf_begin(_cycle_perf); + _mixing_output.update(); // check for parameter updates @@ -210,30 +207,36 @@ void PCA9685Wrapper::Run() // update parameters from storage updateParams(); - } - _mixing_output.updateSubscriptions(false); + // apply param updates + if ((float)fabs(previous_pwm_freq - param_pwm_freq) > 0.01f) { + previous_pwm_freq = param_pwm_freq; - if (_targetFreq > 0.0f) { // check if frequency should be changed - ScheduleClear(); - pca9685->disableAllOutput(); - pca9685->stopOscillator(); + ScheduleClear(); - if (pca9685->setFreq(_targetFreq) != PX4_OK) { - PX4_ERR("failed to set pwm frequency, fall back to 50Hz"); - pca9685->setFreq(50.0f); // this should not fail - } + pca9685->sleep(); + pca9685->updateFreq(param_pwm_freq); + pca9685->wake(); - _targetFreq = -1.0f; - pca9685->startOscillator(); - _state = STATE::WAIT_FOR_OSC; - ScheduleDelayed(500); + // update of PWM freq will always trigger scheduling change + previous_schd_rate = param_schd_rate; + + state = STATE::WAIT_FOR_OSC; + ScheduleDelayed(500); + + } else if ((float)fabs(previous_schd_rate - param_schd_rate) > 0.01f) { + // case when PWM freq not changed but scheduling rate does + previous_schd_rate = param_schd_rate; + ScheduleClear(); + ScheduleOnInterval(1000000 / param_schd_rate, 1000000 / param_schd_rate); + } } + _mixing_output.updateSubscriptions(false); + + perf_end(_cycle_perf); break; } - - perf_end(_cycle_perf); } int PCA9685Wrapper::print_usage(const char *reason) @@ -245,27 +248,24 @@ int PCA9685Wrapper::print_usage(const char *reason) PRINT_MODULE_DESCRIPTION( R"DESCR_STR( ### Description -This module is responsible for generate pwm pulse with PCA9685 chip. +This is a PCA9685 PWM output driver. -It listens on the actuator_controls topics, does the mixing and writes the PWM outputs. +It runs on I2C workqueue which is asynchronous with FC control loop, +fetching the latest mixing result and write them to PCA9685 at its scheduling ticks. -### Implementation -This module depends on ModuleBase and OutputModuleInterface. -IIC communication is based on CDev::I2C +It can do full 12bits output as duty-cycle mode, while also able to output precious pulse width +that can be accepted by most ESCs and servos. ### Examples It is typically started with: -$ pca9685_pwm_out start -a 64 -b 1 +$ pca9685_pwm_out start -a 0x40 -b 1 -The number X can be acquired by executing -`pca9685_pwm_out status` when this driver is running. )DESCR_STR"); PRINT_MODULE_USAGE_NAME("pca9685_pwm_out", "driver"); PRINT_MODULE_USAGE_COMMAND_DESCR("start", "Start the task"); - PRINT_MODULE_USAGE_PARAM_INT('a',64,0,255,"device address on this bus",true); + PRINT_MODULE_USAGE_PARAM_STRING('a',"0x40","","7-bits I2C address of PCA9685",true); PRINT_MODULE_USAGE_PARAM_INT('b',1,0,255,"bus that pca9685 is connected to",true); - PRINT_MODULE_USAGE_PARAM_INT('r',400,50,400,"schedule rate limit",true); PRINT_MODULE_USAGE_DEFAULT_COMMANDS(); return 0; @@ -273,39 +273,42 @@ The number X can be acquired by executing int PCA9685Wrapper::print_status() { int ret = ModuleBase::print_status(); - PX4_INFO("PCA9685 @I2C Bus %d, address 0x%.2x, true frequency %.5f", + PX4_INFO("PCA9685 @I2C Bus %d, address 0x%.2x, real frequency %.2f", pca9685->get_device_bus(), pca9685->get_device_address(), - (double)(pca9685->getFrequency())); + (double)(pca9685->getFreq())); return ret; } -int PCA9685Wrapper::custom_command(int argc, char **argv) { // only for test use +int PCA9685Wrapper::custom_command(int argc, char **argv) { return PX4_OK; } int PCA9685Wrapper::task_spawn(int argc, char **argv) { - int ch; int address=PCA9685_DEFAULT_ADDRESS; int iicbus=PCA9685_DEFAULT_IICBUS; - int schd_rate_limit=400; int myoptind = 1; const char *myoptarg = nullptr; - while ((ch = px4_getopt(argc, argv, "a:b:r:", &myoptind, &myoptarg)) != EOF) { + while ((ch = px4_getopt(argc, argv, "a:b:", &myoptind, &myoptarg)) != EOF) { switch (ch) { case 'a': - address = atoi(myoptarg); + errno = 0; + address = strtol(myoptarg, nullptr, 16); + if (errno != 0) { + PX4_WARN("Invalid address"); + return PX4_ERROR; + } break; case 'b': - iicbus = atoi(myoptarg); - break; - - case 'r': - schd_rate_limit = atoi(myoptarg); + iicbus = strtol(myoptarg, nullptr, 10); + if (errno != 0) { + PX4_WARN("Invalid bus"); + return PX4_ERROR; + } break; case '?': @@ -317,7 +320,7 @@ int PCA9685Wrapper::task_spawn(int argc, char **argv) { } } - auto *instance = new PCA9685Wrapper(schd_rate_limit); + auto *instance = new PCA9685Wrapper(); if (instance) { _object.store(instance); @@ -349,6 +352,31 @@ int PCA9685Wrapper::task_spawn(int argc, char **argv) { return PX4_ERROR; } +void PCA9685Wrapper::updateParams() { + ModuleParams::updateParams(); + + param_t param = param_find("PCA9685_SCHD_HZ"); + if (param != PARAM_INVALID) { + param_get(param, ¶m_schd_rate); + } else { + PX4_ERR("param PCA9685_SCHD_HZ not found"); + } + + param = param_find("PCA9685_PWM_FREQ"); + if (param != PARAM_INVALID) { + param_get(param, ¶m_pwm_freq); + } else { + PX4_ERR("param PCA9685_PWM_FREQ not found"); + } + + param = param_find("PCA9685_DUTY_EN"); + if (param != PARAM_INVALID) { + param_get(param, (int32_t*)¶m_duty_mode); + } else { + PX4_ERR("param PCA9685_DUTY_EN not found"); + } +} + extern "C" __EXPORT int pca9685_pwm_out_main(int argc, char *argv[]){ return PCA9685Wrapper::main(argc, argv); } diff --git a/src/drivers/pca9685_pwm_out/module.yaml b/src/drivers/pca9685_pwm_out/module.yaml index 8833091e3cc9..198810f8cb3e 100644 --- a/src/drivers/pca9685_pwm_out/module.yaml +++ b/src/drivers/pca9685_pwm_out/module.yaml @@ -4,8 +4,76 @@ actuator_output: - param_prefix: PCA9685 channel_label: 'Channel' standard_params: - disarmed: { min: 800, max: 2200, default: 900 } - min: { min: 800, max: 1400, default: 1000 } - max: { min: 1600, max: 2200, default: 2000 } + disarmed: { min: 800, max: 2200, default: 1000 } + min: { min: 800, max: 1400, default: 1100 } + max: { min: 1600, max: 2200, default: 1900 } failsafe: { min: 800, max: 2200 } + custom_params: + - name: 'DUTY_EN' + label: "Duty-Cycle\n Mode" + index_offset: -1 + show_as: bitset + advanced: true num_channels: 16 + +parameters: + - group: Actuator Outputs + definitions: + PCA9685_SCHD_HZ: + description: + short: PWM update rate + long: | + Controls the update rate of PWM output. + Flight Controller will inform those numbers of update events in a second, to PCA9685. + Higher update rate will consume more I2C bandwidth, which may even lead to worse + output latency, or completely block I2C bus. + type: float + decimal: 2 + min: 50.0 + max: 400.0 + default: 50.0 + PCA9685_PWM_FREQ: + description: + short: PWM cycle frequency + long: | + Controls the PWM frequency at timing perspective. + This is independent from PWM update frequency, as PCA9685 is capable to output + without being continuously commanded by FC. + Higher frequency leads to more accurate pulse width, but some ESCs and servos may not support it. + This parameter should be set to the same value as PWM update rate in most case. + This parameter MUST NOT exceed upper limit of 400.0, if any outputs as generic 1000~2000us + pulse width is desired. Frequency higher than 400 only makes sense in duty-cycle mode. + type: float + decimal: 2 + min: 23.8 + max: 1525.87 + default: 50.0 + PCA9685_DUTY_EN: + description: + short: Put the selected channels into Duty-Cycle output mode + long: | + The driver will output standard pulse-width encoded signal without this bit set. + To make PCA9685 output in duty-cycle fashion, please enable the corresponding + channel bit here and adjusting standard params to suit your need. + The driver will have 12bits resolution for duty-cycle output. That means to achieve 0% to 100% + output range on one channel, the corresponding params MIN and MAX for the channel should be set + to 0 and 4096. Other standard params follows the same rule. + type: bitmask + bit: + 0: Put CH1 to Duty-Cycle mode + 1: Put CH2 to Duty-Cycle mode + 2: Put CH3 to Duty-Cycle mode + 3: Put CH4 to Duty-Cycle mode + 4: Put CH5 to Duty-Cycle mode + 5: Put CH6 to Duty-Cycle mode + 6: Put CH7 to Duty-Cycle mode + 7: Put CH8 to Duty-Cycle mode + 8: Put CH9 to Duty-Cycle mode + 9: Put CH10 to Duty-Cycle mode + 10: Put CH11 to Duty-Cycle mode + 11: Put CH12 to Duty-Cycle mode + 12: Put CH13 to Duty-Cycle mode + 13: Put CH14 to Duty-Cycle mode + 14: Put CH15 to Duty-Cycle mode + 15: Put CH16 to Duty-Cycle mode + default: 0 diff --git a/src/drivers/power_monitor/ina220/ina220_main.cpp b/src/drivers/power_monitor/ina220/ina220_main.cpp index 287c7f46865b..fba9c3657b85 100644 --- a/src/drivers/power_monitor/ina220/ina220_main.cpp +++ b/src/drivers/power_monitor/ina220/ina220_main.cpp @@ -82,7 +82,7 @@ this flag set, the battery must be plugged in before starting the driver. PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, false); PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(0x41); PRINT_MODULE_USAGE_PARAMS_I2C_KEEP_RUNNING_FLAG(); - PRINT_MODULE_USAGE_PARAM_INT('t', 1, 1, 2, "battery index for calibration values (1 or 2)", true); + PRINT_MODULE_USAGE_PARAM_INT('t', 1, 1, 3, "battery index for calibration values (1 or 3)", true); PRINT_MODULE_USAGE_PARAM_STRING('T', "VBATT", "VBATT|VREG", "Type", true); PRINT_MODULE_USAGE_DEFAULT_COMMANDS(); } diff --git a/src/drivers/power_monitor/ina226/Kconfig b/src/drivers/power_monitor/ina226/Kconfig index 05f77beb783d..cdd8fb160b75 100644 --- a/src/drivers/power_monitor/ina226/Kconfig +++ b/src/drivers/power_monitor/ina226/Kconfig @@ -2,4 +2,4 @@ menuconfig DRIVERS_POWER_MONITOR_INA226 bool "ina226" default n ---help--- - Enable support for ina226 \ No newline at end of file + Enable support for ina226 diff --git a/src/drivers/power_monitor/ina226/ina226_main.cpp b/src/drivers/power_monitor/ina226/ina226_main.cpp index d1376ed5d184..a02095e3fb22 100644 --- a/src/drivers/power_monitor/ina226/ina226_main.cpp +++ b/src/drivers/power_monitor/ina226/ina226_main.cpp @@ -82,7 +82,7 @@ this flag set, the battery must be plugged in before starting the driver. PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, false); PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(0x41); PRINT_MODULE_USAGE_PARAMS_I2C_KEEP_RUNNING_FLAG(); - PRINT_MODULE_USAGE_PARAM_INT('t', 1, 1, 2, "battery index for calibration values (1 or 2)", true); + PRINT_MODULE_USAGE_PARAM_INT('t', 1, 1, 3, "battery index for calibration values (1 or 3)", true); PRINT_MODULE_USAGE_DEFAULT_COMMANDS(); } diff --git a/src/drivers/power_monitor/ina228/ina228.h b/src/drivers/power_monitor/ina228/ina228.h index d010d5e4b950..9b57e5011af3 100644 --- a/src/drivers/power_monitor/ina228/ina228.h +++ b/src/drivers/power_monitor/ina228/ina228.h @@ -214,7 +214,7 @@ using namespace time_literals; #define INA228_ENERGY_SHIFTS (0) #define INA228_ENERGY_MASK (UINT64_C(0xffffffffff) << INA228_ENERGY_SHIFTS) -/* INA228 Energy Result (CHARGE) 40-bit Register (Address = Ah) [reset = 0h] */ +/* INA228 Charge Result (CHARGE) 40-bit Register (Address = Ah) [reset = 0h] */ #define INA228_CHARGE_SHIFTS (0) #define INA228_CHARGE_MASK (UINT64_C(0xffffffffff) << INA228_CHARGE_SHIFTS) diff --git a/src/drivers/power_monitor/ina228/ina228_main.cpp b/src/drivers/power_monitor/ina228/ina228_main.cpp index 1d1f02e5e7e9..cf7d49ddd8b0 100644 --- a/src/drivers/power_monitor/ina228/ina228_main.cpp +++ b/src/drivers/power_monitor/ina228/ina228_main.cpp @@ -82,7 +82,7 @@ this flag set, the battery must be plugged in before starting the driver. PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, false); PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(0x45); PRINT_MODULE_USAGE_PARAMS_I2C_KEEP_RUNNING_FLAG(); - PRINT_MODULE_USAGE_PARAM_INT('t', 1, 1, 2, "battery index for calibration values (1 or 2)", true); + PRINT_MODULE_USAGE_PARAM_INT('t', 1, 1, 3, "battery index for calibration values (1 or 3)", true); PRINT_MODULE_USAGE_DEFAULT_COMMANDS(); } diff --git a/src/drivers/power_monitor/ina238/ina238.cpp b/src/drivers/power_monitor/ina238/ina238.cpp index d8afc1bd636b..6d58e84d8f95 100644 --- a/src/drivers/power_monitor/ina238/ina238.cpp +++ b/src/drivers/power_monitor/ina238/ina238.cpp @@ -66,6 +66,15 @@ INA238::INA238(const I2CSPIDriverConfig &config, int battery_index) : } _current_lsb = _max_current / INA238_DN_MAX; + _shunt_calibration = static_cast(INA238_CONST * _current_lsb * _rshunt); + + if (_range == INA238_ADCRANGE_LOW) { + _shunt_calibration *= 4; + } + + _register_cfg[0].set_bits = (uint16_t)(_range); + _register_cfg[2].set_bits = _shunt_calibration; + _register_cfg[2].clear_bits = ~_shunt_calibration; // We need to publish immediately, to guarantee that the first instance of the driver publishes to uORB instance 0 _battery.setConnected(false); @@ -114,33 +123,7 @@ int INA238::init() return ret; } - if (write(INA238_REG_CONFIG, (uint16_t)(INA238_RST_RESET | _range)) != PX4_OK) { - return ret; - } - - uint16_t shunt_calibration = static_cast(INA238_CONST * _current_lsb * _rshunt); - - if (_range == INA238_ADCRANGE_LOW) { - shunt_calibration *= 4; - } - - if (write(INA238_REG_SHUNTCAL, shunt_calibration) < 0) { - return -3; - } - - // Set the CONFIG for max I - if (write(INA238_REG_CONFIG, (uint16_t) _range) != PX4_OK) { - return ret; - } - - // Start ADC continous mode here - ret = write(INA238_REG_ADCCONFIG, (uint16_t)INA238_ADCCONFIG); - - start(); - _sensor_ok = true; - - _initialized = ret == PX4_OK; - return ret; + return Reset(); } int INA238::force_init() @@ -156,12 +139,12 @@ int INA238::probe() { uint16_t value{0}; - if (read(INA238_MANUFACTURER_ID, value) != PX4_OK || value != INA238_MFG_ID_TI) { + if (RegisterRead(Register::MANUFACTURER_ID, value) != PX4_OK || value != INA238_MFG_ID_TI) { PX4_DEBUG("probe mfgid %d", value); return -1; } - if (read(INA238_DEVICE_ID, value) != PX4_OK || ( + if (RegisterRead(Register::DEVICE_ID, value) != PX4_OK || ( INA238_DEVICEID(value) != INA238_MFG_DIE )) { PX4_DEBUG("probe die id %d", value); @@ -171,6 +154,58 @@ int INA238::probe() return PX4_OK; } +int INA238::Reset() +{ + + int ret = PX4_ERROR; + + if (RegisterWrite(Register::CONFIG, (uint16_t)(ADC_RESET_BIT)) != PX4_OK) { + return ret; + } + + if (RegisterWrite(Register::SHUNT_CAL, uint16_t(_shunt_calibration)) < 0) { + return -3; + } + + // Set the CONFIG for max I + if (RegisterWrite(Register::CONFIG, (uint16_t) _range) != PX4_OK) { + return ret; + } + + // Start ADC continous mode here + ret = write((uint16_t)_register_cfg[1].reg, (uint16_t)_register_cfg[1].set_bits); + + return ret; +} + +bool INA238::RegisterCheck(const register_config_t ®_cfg) +{ + bool success = true; + + uint16_t reg_value = 0; + RegisterRead(reg_cfg.reg, reg_value); + + if (reg_cfg.set_bits && ((reg_value & reg_cfg.set_bits) != reg_cfg.set_bits)) { + PX4_DEBUG("0x%02hhX: 0x%02hhX (0x%02hhX not set)", (uint8_t)reg_cfg.reg, reg_value, reg_cfg.set_bits); + success = false; + } + + if (reg_cfg.clear_bits && ((reg_value & reg_cfg.clear_bits) != 0)) { + PX4_DEBUG("0x%02hhX: 0x%02hhX (0x%02hhX not cleared)", (uint8_t)reg_cfg.reg, reg_value, reg_cfg.clear_bits); + success = false; + } + + return success; +} + +int INA238::RegisterWrite(Register reg, uint16_t value) +{ + return write((uint8_t)reg, value); +} +int INA238::RegisterRead(Register reg, uint16_t &value) +{ + return read((uint8_t)reg, value); +} int INA238::collect() { @@ -190,8 +225,22 @@ int INA238::collect() int16_t bus_voltage{0}; int16_t current{0}; - success = success && (read(INA238_REG_VSBUS, bus_voltage) == PX4_OK); - success = success && (read(INA238_REG_CURRENT, current) == PX4_OK); + success = (RegisterRead(Register::VS_BUS, (uint16_t &)bus_voltage) == PX4_OK); + success = success && (RegisterRead(Register::CURRENT, (uint16_t &)current) == PX4_OK); + + if (!success || hrt_elapsed_time(&_last_config_check_timestamp) > 100_ms) { + // check configuration registers periodically or immediately following any failure + if (RegisterCheck(_register_cfg[_checked_register])) { + _last_config_check_timestamp = hrt_absolute_time(); + _checked_register = (_checked_register + 1) % size_register_cfg; + + } else { + // register check failed, force reset + PX4_DEBUG("register check failed"); + perf_count(_bad_register_perf); + success = false; + } + } if (!success) { PX4_DEBUG("error reading from sensor"); @@ -234,7 +283,9 @@ void INA238::RunImpl() if (collect() != PX4_OK) { perf_count(_collection_errors); /* if error restart the measurement state machine */ - start(); + ScheduleClear(); + _initialized = false; + ScheduleNow(); return; } @@ -262,6 +313,10 @@ void INA238::RunImpl() if (init() != PX4_OK) { ScheduleDelayed(INA238_INIT_RETRY_INTERVAL_US); + + } else { + _initialized = true; + start(); } } } diff --git a/src/drivers/power_monitor/ina238/ina238.h b/src/drivers/power_monitor/ina238/ina238.h index a9108c258eab..c40514ad58a7 100644 --- a/src/drivers/power_monitor/ina238/ina238.h +++ b/src/drivers/power_monitor/ina238/ina238.h @@ -44,8 +44,10 @@ #include #include #include +#include "ina238_registers.hpp" using namespace time_literals; +using namespace ina238; /* Configuration Constants */ #define INA238_BASEADDR 0x45 /* 7-bit address. 8-bit address is 0x45 */ @@ -53,225 +55,14 @@ using namespace time_literals; // connect to the INA238 every this many microseconds #define INA238_INIT_RETRY_INTERVAL_US 500000 -/* INA238 Registers addresses */ -#define INA238_REG_CONFIG (0x00) -#define INA238_REG_ADCCONFIG (0x01) -#define INA238_REG_SHUNTCAL (0x02) -#define INA238_REG_SHUNTTEMPCO (0x03) -#define INA238_REG_VSHUNT (0x04) -#define INA238_REG_VSBUS (0x05) -#define INA238_REG_DIETEMP (0x06) -#define INA238_REG_CURRENT (0x07) -#define INA238_REG_POWER (0x08) -#define INA238_REG_ENERGY (0x09) -#define INA238_REG_CHARGE (0x0a) -#define INA238_REG_DIAG_ALRT (0x0b) -#define INA238_REG_SOVL (0x0c) -#define INA238_REG_SUVL (0x0d) -#define INA238_REG_BOVL (0x0e) -#define INA238_REG_BUVL (0x0f) -#define INA238_REG_TEMP_LIMIT (0x10) -#define INA238_REG_TPWR_LIMIT (0x11) -#define INA238_MANUFACTURER_ID (0x3e) -#define INA238_DEVICE_ID (0x3f) #define INA238_MFG_ID_TI (0x5449) // TI #define INA238_MFG_DIE (0x238) // INA237, INA238 -/* INA238 Configuration (CONFIG) 16-bit Register (Address = 0h) [reset = 0h] */ #define INA238_ADCRANGE_SHIFTS (4) -#define INA238_ADCRANGE_MASK (1 << INA238_ADCRANGE_SHIFTS) #define INA238_ADCRANGE_LOW (1 << INA238_ADCRANGE_SHIFTS) // ± 40.96 mV #define INA238_ADCRANGE_HIGH (0 << INA238_ADCRANGE_SHIFTS) // ±163.84 mV -#define INA238_TEMPCOMP_SHIFTS (5) -#define INA238_TEMPCOMP_MASK (1 << INA238_TEMPCOMP_SHIFTS) -#define INA238_TEMPCOMP_ENABLE (1 << INA238_TEMPCOMP_SHIFTS) -#define INA238_TEMPCOMP_DISABLE (0 << INA238_TEMPCOMP_SHIFTS) - -#define INA238_CONVDLY_SHIFTS (6) -#define INA238_CONVDLY_MASK (0xff << INA238_CONVDLY_SHIFTS) -#define INA238_CONVDLY2MS(n) ((n) << INA238_CONVDLY_SHIFTS) - -#define INA238_RSTACC_SHIFTS (14) -#define INA238_RSTACC_MASK (1 << INA238_RSTACC_SHIFTS) -#define INA238_RSTACC_CLEAR (1 << INA238_RSTACC_SHIFTS) -#define INA238_RSTACC_NORMAL (0 << INA238_RSTACC_SHIFTS) - -#define INA238_RST_SHIFTS (15) -#define INA238_RST_MASK (1 << INA238_RST_SHIFTS) -#define INA238_RST_RESET (1 << INA238_RST_SHIFTS) -#define INA238_RST_NORMAL (0 << INA238_RST_SHIFTS) - -/* INA238 ADC Configuration (ADC_CONFIG) 16-bit Register (Address = 1h) [reset = FB68h] */ -#define INA238_MODE_SHIFTS (12) -#define INA238_MODE_MASK (0xf << INA238_MODE_SHIFTS) -#define INA238_MODE_SHUTDOWN_TRIG (0 << INA238_MODE_SHIFTS) -#define INA238_MODE_BUS_TRIG (1 << INA238_MODE_SHIFTS) -#define INA238_MODE_SHUNT_TRIG (2 << INA238_MODE_SHIFTS) -#define INA238_MODE_SHUNT_BUS_TRIG (3 << INA238_MODE_SHIFTS) -#define INA238_MODE_TEMP_TRIG (4 << INA238_MODE_SHIFTS) -#define INA238_MODE_TEMP_BUS_TRIG (5 << INA238_MODE_SHIFTS) -#define INA238_MODE_TEMP_SHUNT_TRIG (6 << INA238_MODE_SHIFTS) -#define INA238_MODE_TEMP_SHUNT_BUS_TRIG (7 << INA238_MODE_SHIFTS) - -#define INA238_MODE_SHUTDOWN_CONT (8 << INA238_MODE_SHIFTS) -#define INA238_MODE_BUS_CONT (9 << INA238_MODE_SHIFTS) -#define INA238_MODE_SHUNT_CONT (10 << INA238_MODE_SHIFTS) -#define INA238_MODE_SHUNT_BUS_CONT (11 << INA238_MODE_SHIFTS) -#define INA238_MODE_TEMP_CONT (12 << INA238_MODE_SHIFTS) -#define INA238_MODE_TEMP_BUS_CONT (13 << INA238_MODE_SHIFTS) -#define INA238_MODE_TEMP_SHUNT_CONT (14 << INA238_MODE_SHIFTS) -#define INA238_MODE_TEMP_SHUNT_BUS_CONT (15 << INA238_MODE_SHIFTS) - -#define INA238_VBUSCT_SHIFTS (9) -#define INA238_VBUSCT_MASK (7 << INA238_VBUSCT_SHIFTS) -#define INA238_VBUSCT_50US (0 << INA238_VBUSCT_SHIFTS) -#define INA238_VBUSCT_84US (1 << INA238_VBUSCT_SHIFTS) -#define INA238_VBUSCT_150US (2 << INA238_VBUSCT_SHIFTS) -#define INA238_VBUSCT_280US (3 << INA238_VBUSCT_SHIFTS) -#define INA238_VBUSCT_540US (4 << INA238_VBUSCT_SHIFTS) -#define INA238_VBUSCT_1052US (5 << INA238_VBUSCT_SHIFTS) -#define INA238_VBUSCT_2074US (6 << INA238_VBUSCT_SHIFTS) -#define INA238_VBUSCT_4170US (7 << INA238_VBUSCT_SHIFTS) - -#define INA238_VSHCT_SHIFTS (6) -#define INA238_VSHCT_MASK (7 << INA238_VSHCT_SHIFTS) -#define INA238_VSHCT_50US (0 << INA238_VSHCT_SHIFTS) -#define INA238_VSHCT_84US (1 << INA238_VSHCT_SHIFTS) -#define INA238_VSHCT_150US (2 << INA238_VSHCT_SHIFTS) -#define INA238_VSHCT_280US (3 << INA238_VSHCT_SHIFTS) -#define INA238_VSHCT_540US (4 << INA238_VSHCT_SHIFTS) -#define INA238_VSHCT_1052US (5 << INA238_VSHCT_SHIFTS) -#define INA238_VSHCT_2074US (6 << INA238_VSHCT_SHIFTS) -#define INA238_VSHCT_4170US (7 << INA238_VSHCT_SHIFTS) - -#define INA238_VTCT_SHIFTS (3) -#define INA238_VTCT_MASK (7 << INA238_VTCT_SHIFTS) -#define INA238_VTCT_50US (0 << INA238_VTCT_SHIFTS) -#define INA238_VTCT_84US (1 << INA238_VTCT_SHIFTS) -#define INA238_VTCT_150US (2 << INA238_VTCT_SHIFTS) -#define INA238_VTCT_280US (3 << INA238_VTCT_SHIFTS) -#define INA238_VTCT_540US (4 << INA238_VTCT_SHIFTS) -#define INA238_VTCT_1052US (5 << INA238_VTCT_SHIFTS) -#define INA238_VTCT_2074US (6 << INA238_VTCT_SHIFTS) -#define INA238_VTCT_4170US (7 << INA238_VTCT_SHIFTS) - -#define INA238_AVERAGES_SHIFTS (0) -#define INA238_AVERAGES_MASK (7 << INA238_AVERAGES_SHIFTS) -#define INA238_AVERAGES_1 (0 << INA238_AVERAGES_SHIFTS) -#define INA238_AVERAGES_4 (1 << INA238_AVERAGES_SHIFTS) -#define INA238_AVERAGES_16 (2 << INA238_AVERAGES_SHIFTS) -#define INA238_AVERAGES_64 (3 << INA238_AVERAGES_SHIFTS) -#define INA238_AVERAGES_128 (4 << INA238_AVERAGES_SHIFTS) -#define INA238_AVERAGES_256 (5 << INA238_AVERAGES_SHIFTS) -#define INA238_AVERAGES_512 (6 << INA238_AVERAGES_SHIFTS) -#define INA238_AVERAGES_1024 (7 << INA238_AVERAGES_SHIFTS) - -#define INA238_ADCCONFIG (INA238_MODE_TEMP_SHUNT_BUS_CONT | INA238_VBUSCT_540US | INA238_VSHCT_540US | INA238_VTCT_540US |INA238_AVERAGES_64) -/* INA238 Shunt Calibration (SHUNT_CAL) 16-bit Register (Address = 2h) [reset = 1000h] */ - -#define INA238_CURRLSB_SHIFTS (0) -#define INA238_CURRLSB_MASK (0x7fff << INA238_CURRLSB_SHIFTS) - -/* INA238 Shunt Temperature Coefficient (SHUNT_TEMPCO) 16-bit Register (Address = 3h) [reset = 0h] */ - -#define INA238_TEMPCO_SHIFTS (0) -#define INA238_TEMPCO_MASK (0x1fff << INA238_TEMPCO_SHIFTS) - -/* INA238 Shunt Voltage Measurement (VSHUNT) 24-bit Register (Address = 4h) [reset = 0h] */ - -#define INA238_VSHUNT_SHIFTS (4) -#define INA238_VSHUNT_MASK (UINT32_C(0xffffff) << INA238_VSHUNT_SHIFTS) - -/* INA238 Bus Voltage Measurement (VBUS) 24-bit Register (Address = 5h) [reset = 0h] */ - -#define INA238_VBUS_SHIFTS (4) -#define INA238_VBUS_MASK (UINT32_C(0xffffff) << INA238_VBUS_SHIFTS) - -/* INA238 Temperature Measurement (DIETEMP) 16-bit Register (Address = 6h) [reset = 0h] */ - -#define INA238_DIETEMP_SHIFTS (0) -#define INA238_DIETEMP_MASK (0xffff << INA238_DIETEMP_SHIFTS) - -/* INA238 Current Result (CURRENT) 24-bit Register (Address = 7h) [reset = 0h] */ - -#define INA238_CURRENT_SHIFTS (4) -#define INA238_CURRENT_MASK (UINT32_C(0xffffff) << INA238_CURRENT_SHIFTS) - -/* INA238 Power Result (POWER) 24-bit Register (Address = 8h) [reset = 0h] */ - -#define INA238_POWER_SHIFTS (0) -#define INA238_POWER_MASK (UINT32_C(0xffffff) << INA238_POWER_SHIFTS) - -/* INA238 Energy Result (ENERGY) 40-bit Register (Address = 9h) [reset = 0h] */ - -#define INA238_ENERGY_SHIFTS (0) -#define INA238_ENERGY_MASK (UINT64_C(0xffffffffff) << INA238_ENERGY_SHIFTS) - -/* INA238 Energy Result (CHARGE) 40-bit Register (Address = Ah) [reset = 0h] */ - -#define INA238_CHARGE_SHIFTS (0) -#define INA238_CHARGE_MASK (UINT64_C(0xffffffffff) << INA238_CHARGE_SHIFTS) - - -/* INA238 Diagnostic Flags and Alert (DIAG_ALRT) 16-bit Register (Address = Bh) [reset = 0001h] */ - -#define INA238_MEMSTAT (1 << 0) // This bit is set to 0 if a checksum error is detected in the device trim memory space -#define INA238_CNVRF (1 << 1) // This bit is set to 1 if the conversion is completed. When ALATCH =1 this bit is cleared by reading the register or starting a new triggered conversion. -#define INA238_POL (1 << 2) // This bit is set to 1 if the power measurement exceeds the threshold limit in the power limit register. -#define INA238_BUSUL (1 << 3) // This bit is set to 1 if the bus voltage measurement falls below the threshold limit in the bus under-limit register. -#define INA238_BUSOL (1 << 4) // This bit is set to 1 if the bus voltage measurement exceeds the threshold limit in the bus over-limit register. -#define INA238_SHNTUL (1 << 5) // This bit is set to 1 if the shunt voltage measurement falls below the threshold limit in the shunt under-limit register -#define INA238_SHNTOL (1 << 6) // This bit is set to 1 if the shunt voltage measurement exceeds the threshold limit in the shunt over-limit register. -#define INA238_TMPOL (1 << 7) // This bit is set to 1 if the temperature measurement exceeds the threshold limit in the temperature over-limit register. -#define INA238_MATHOF (1 << 9) // This bit is set to 1 if an arithmetic operation resulted in an overflow error. -#define INA238_CHARGEOF (1 << 10) // This bit indicates the health of the CHARGE register. If the 40 bit CHARGE register has overflowed this bit is set to 1. -#define INA238_ENERGYOF (1 << 11) // This bit indicates the health of the ENERGY register. If the 40 bit ENERGY register has overflowed this bit is set to 1. -#define INA238_APOL (1 << 12) // Alert Polarity bit sets the Alert pin polarity. -#define INA238_SLOWALER (1 << 13) // ALERT function is asserted on the completed averaged value. This gives the flexibility to delay the ALERT after the averaged value. -#define INA238_CNVR (1 << 14) // Setting this bit high configures the Alert pin to be asserted when the Conversion Ready Flag (bit 1) is asserted, indicating that a conversion cycle has completed -#define INA238_ALATCH (1 << 15) // When the Alert Latch Enable bit is set to Transparent mode, the Alert pin and Flag bit reset to the idle state when the fault has been -// cleared. When the Alert Latch Enable bit is set to Latch mode, the Alert pin and Alert Flag bit remain active following a fault until -// the DIAG_ALRT Register has been read. - -/* Shunt Overvoltage Threshold (SOVL) 16-bit Register (Address = Ch) [reset = 7FFFh] */ - -#define INA238_SOVL_SHIFTS (0) -#define INA238_SOVL_MASK (0xffff << INA238_SOVL_SHIFTS) - -/* Shunt Undervoltage Threshold (SUVL) 16-bit Register (Address = Dh) [reset = 8000h] */ - -#define INA238_SUVL_SHIFTS (0) -#define INA238_SUVL_MASK (0xffff << INA238_SUVL_SHIFTS) - -/* Bus Overvoltage Threshold (BOVL) 16-bit Register (Address = Eh) [reset = 7FFFh] */ - -#define INA238_BOVL_SHIFTS (0) -#define INA238_BOVL_MASK (0xffff << INA238_BOVL_SHIFTS) - -/* Bus Undervoltage Threshold (BUVL) 16-bit Register (Address = Fh) [reset = 0h] */ - -#define INA238_BUVL_SHIFTS (0) -#define INA238_BUVL_MASK (0xffff << INA238_BUVL_SHIFTS) - -/* Temperature Over-Limit Threshold (TEMP_LIMIT) 16-bit Register (Address = 10h) [reset = 7FFFh */ - -#define INA238_TEMP_LIMIT_SHIFTS (0) -#define INA238_TEMP_LIMIT_MASK (0xffff << INA238_TEMP_LIMIT_SHIFTS) - -/* Power Over-Limit Threshold (PWR_LIMIT) 16-bit Register (Address = 11h) [reset = FFFFh] */ - -#define INA238_POWER_LIMIT_SHIFTS (0) -#define INA238_POWER_LIMIT_MASK (0xffff << INA238_POWER_LIMIT_SHIFTS) - -/* Manufacturer ID (MANUFACTURER_ID) 16-bit Register (Address = 3Eh) [reset = 5449h] */ - -/* Device ID (DEVICE_ID) 16-bit Register (Address = 3Fh) [reset = 2380h] */ - -#define INA238_DEVICE_REV_ID_SHIFTS (0) -#define INA238_DEVICE_REV_ID_MASK (0xf << INA238_DEVICE_REV_ID_SHIFTS) -#define INA238_DEVICEREV_ID(v) (((v) & INA238_DEVICE_REV_ID_MASK) >> INA238_DEVICE_REV_ID_SHIFTS) #define INA238_DEVICE_ID_SHIFTS (4) #define INA238_DEVICE_ID_MASK (0xfff << INA238_DEVICE_ID_SHIFTS) #define INA238_DEVICEID(v) (((v) & INA238_DEVICE_ID_MASK) >> INA238_DEVICE_ID_SHIFTS) @@ -283,7 +74,6 @@ using namespace time_literals; #define INA238_CONST 819.2e6f /* is an internal fixed value used to ensure scaling is maintained properly */ #define INA238_VSCALE 3.125e-03f /* LSB of voltage is 3.1255 mV/LSB */ - #define DEFAULT_MAX_CURRENT 327.68f /* Amps */ #define DEFAULT_SHUNT 0.0003f /* Shunt is 300 uOhm */ @@ -321,7 +111,17 @@ class INA238 : public device::I2C, public ModuleParams, public I2CSPIDriver +#include + +PowerMonitorSelectorAuterion::PowerMonitorSelectorAuterion() : + ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::hp_default) +{ +} + +PowerMonitorSelectorAuterion::~PowerMonitorSelectorAuterion() = default; + +bool PowerMonitorSelectorAuterion::init() +{ + int32_t sens_en = 0; + param_get(param_find("SENS_EN_INA226"), &sens_en); + + if (sens_en == 1) { + + sens_en = 0; + param_set(param_find("SENS_EN_INA226"), &sens_en); + const char *stop_argv[] {"ina226", "stop", NULL}; + exec_builtin("ina226", (char **)stop_argv, NULL, 0); + } + + ScheduleNow(); + return true; +} + +void PowerMonitorSelectorAuterion::Run() +{ + if (should_exit()) { + exit_and_cleanup(); + return; + } + + actuator_armed_s actuator_armed{}; + _actuator_armed_sub.copy(&actuator_armed); + + if (actuator_armed.armed) { + exit_and_cleanup(); + return; + } + + for (uint32_t i = 0U; i < SENSORS_NUMBER; ++i) { + + if (!_sensors[i].started) { + + int ret_val = ina226_probe(i); + + if (ret_val == PX4_OK) { + char bus_number[4] = {0}; + itoa(_sensors[i].bus_number, bus_number, 10); + const char *start_argv[] { + _sensors[i].name, + "-X", "-b", bus_number, "-a", _sensors[i].i2c_addr, + "-t", _sensors[i].id, "-q", "start", NULL + }; + + int status = PX4_ERROR; + int pid = exec_builtin(_sensors[i].name, (char **)start_argv, NULL, 0); + + if (pid != -1) { + waitpid(pid, &status, WUNTRACED); + } + + if (status == PX4_OK) { + _sensors[i].started = true; + } + } + } + } + + ScheduleDelayed(RUN_INTERVAL); +} + +int PowerMonitorSelectorAuterion::ina226_probe(uint32_t instance) +{ + struct i2c_master_s *i2c = px4_i2cbus_initialize(_sensors[instance].bus_number); + int ret = PX4_ERROR; + + if (i2c != nullptr) { + + struct i2c_msg_s msgv[2]; + + uint8_t txdata[1] = {0}; + uint8_t rxdata[2] = {0}; + + msgv[0].frequency = I2C_SPEED_STANDARD; + msgv[0].addr = static_cast(strtol(_sensors[instance].i2c_addr, NULL, 0)); + msgv[0].flags = 0; + msgv[0].buffer = txdata; + msgv[0].length = sizeof(txdata); + + msgv[1].frequency = I2C_SPEED_STANDARD; + msgv[1].addr = static_cast(strtol(_sensors[instance].i2c_addr, NULL, 0)); + msgv[1].flags = I2C_M_READ; + msgv[1].buffer = rxdata; + msgv[1].length = sizeof(rxdata); + + txdata[0] = {INA226_MFG_ID}; + ret = I2C_TRANSFER(i2c, msgv, 2); + uint16_t value = static_cast(rxdata[1] | rxdata[0] << 8); + + if (ret != PX4_OK || value != INA226_MFG_ID_TI) { + + ret = PX4_ERROR; + + } else { + + txdata[0] = {INA226_MFG_DIEID}; + ret = I2C_TRANSFER(i2c, msgv, 2); + value = static_cast(rxdata[1] | rxdata[0] << 8); + + if (ret != PX4_OK || value != INA226_MFG_DIE) { + ret = PX4_ERROR; + } + } + + px4_i2cbus_uninitialize(i2c); + } + + return ret; +} + +int PowerMonitorSelectorAuterion::task_spawn(int argc, char *argv[]) +{ + PowerMonitorSelectorAuterion *instance = new PowerMonitorSelectorAuterion(); + + if (instance) { + _object.store(instance); + _task_id = task_id_is_work_queue; + + if (instance->init()) { + return PX4_OK; + } + + } else { + PX4_ERR("alloc failed"); + } + + delete instance; + _object.store(nullptr); + _task_id = -1; + + return PX4_ERROR; +} + +int PowerMonitorSelectorAuterion::custom_command(int argc, char *argv[]) +{ + return print_usage("unknown command"); +} + +int PowerMonitorSelectorAuterion::print_usage(const char *reason) +{ + if (reason) { + PX4_WARN("%s\n", reason); + } + + PRINT_MODULE_DESCRIPTION( + R"DESCR_STR( +### Description +Driver for starting and auto-detecting different power monitors. + +)DESCR_STR"); + + PRINT_MODULE_USAGE_NAME("pm_selector_auterion", "driver"); + PRINT_MODULE_USAGE_COMMAND("start"); + PRINT_MODULE_USAGE_DEFAULT_COMMANDS(); + + return 0; +} + +extern "C" __EXPORT int pm_selector_auterion_main(int argc, char *argv[]) +{ + return PowerMonitorSelectorAuterion::main(argc, argv); +} diff --git a/src/drivers/power_monitor/pm_selector_auterion/PowerMonitorSelectorAuterion.h b/src/drivers/power_monitor/pm_selector_auterion/PowerMonitorSelectorAuterion.h new file mode 100644 index 000000000000..2bc9bffbe38c --- /dev/null +++ b/src/drivers/power_monitor/pm_selector_auterion/PowerMonitorSelectorAuterion.h @@ -0,0 +1,118 @@ +/**************************************************************************** + * + * Copyright (C) 2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#pragma once + +#include +#include +#include +#include +#include +#include +#include + +using namespace time_literals; + +class PowerMonitorSelectorAuterion : public ModuleBase, public px4::ScheduledWorkItem +{ + +public: + PowerMonitorSelectorAuterion(); + virtual ~PowerMonitorSelectorAuterion(); + + /** @see ModuleBase */ + static int task_spawn(int argc, char *argv[]); + + /** @see ModuleBase */ + static int custom_command(int argc, char *argv[]); + + /** @see ModuleBase */ + static int print_usage(const char *reason = nullptr); + +private: + + void Run() override; + + bool init(); + + int ina226_probe(uint32_t instance); + + uORB::Subscription _actuator_armed_sub{ORB_ID(actuator_armed)}; ///< system armed control topic + + struct Sensor { + const char *name; + const char *i2c_addr; + const uint8_t bus_number; + float shunt_value; + bool started; + const char *id; + }; + + static constexpr int RUN_INTERVAL{500_ms}; + static constexpr int SENSORS_NUMBER{4}; + + Sensor _sensors[SENSORS_NUMBER] = { + { + .name = "ina226", + .i2c_addr = "0x41", + .bus_number = 1, + .shunt_value = 0.0008f, + .started = false, + .id = "1" + }, + { + .name = "ina226", + .i2c_addr = "0x40", + .bus_number = 1, + .shunt_value = 0.0005f, + .started = false, + .id = "1" + }, + { + .name = "ina226", + .i2c_addr = "0x41", + .bus_number = 2, + .shunt_value = 0.0008f, + .started = false, + .id = "2" + }, + { + .name = "ina226", + .i2c_addr = "0x40", + .bus_number = 2, + .shunt_value = 0.0005f, + .started = false, + .id = "2" + } + }; +}; diff --git a/src/drivers/power_monitor/voxlpm/Kconfig b/src/drivers/power_monitor/voxlpm/Kconfig index f2553b1ed020..ae6980db5a17 100644 --- a/src/drivers/power_monitor/voxlpm/Kconfig +++ b/src/drivers/power_monitor/voxlpm/Kconfig @@ -2,4 +2,4 @@ menuconfig DRIVERS_POWER_MONITOR_VOXLPM bool "voxlpm" default n ---help--- - Enable support for voxlpm \ No newline at end of file + Enable support for voxlpm diff --git a/src/drivers/power_monitor/voxlpm/voxlpm.cpp b/src/drivers/power_monitor/voxlpm/voxlpm.cpp index 2627dcebbbeb..5fa109d57d26 100644 --- a/src/drivers/power_monitor/voxlpm/voxlpm.cpp +++ b/src/drivers/power_monitor/voxlpm/voxlpm.cpp @@ -74,7 +74,6 @@ VOXLPM::init() _battery.setConnected(false); _battery.updateVoltage(0.f); _battery.updateCurrent(0.f); - _battery.updateAndPublishBatteryStatus(hrt_absolute_time()); } /* do I2C init, it will probe the bus for two possible configurations, LTC2946 or INA231 */ @@ -82,6 +81,11 @@ VOXLPM::init() return ret; } + // Don't actually publish anything unless we have had a successful probe + if (_ch_type == VOXLPM_CH_TYPE_VBATT) { + _battery.updateAndPublishBatteryStatus(hrt_absolute_time()); + } + /* If we've probed and succeeded we'll have an accurate address here for the VBat addr */ uint8_t addr = get_device_address(); @@ -420,7 +424,7 @@ VOXLPM::measure_ina231() int16_t vshunt = -1; uint16_t vbus = -1; - uint16_t amps = 0; + int16_t amps = 0; int vshunt_ret = read_reg_buf(INA231_REG_SHUNTVOLTAGE, raw_vshunt, sizeof(raw_vshunt)); int vbus_ret = read_reg_buf(INA231_REG_BUSVOLTAGE, raw_vbus, sizeof(raw_vbus)); diff --git a/src/drivers/pps_capture/Kconfig b/src/drivers/pps_capture/Kconfig index 9a41a5eae3ee..e948467fa8dc 100644 --- a/src/drivers/pps_capture/Kconfig +++ b/src/drivers/pps_capture/Kconfig @@ -2,4 +2,4 @@ menuconfig DRIVERS_PPS_CAPTURE bool "pps_capture" default n ---help--- - Enable support for pps_capture \ No newline at end of file + Enable support for pps_capture diff --git a/src/drivers/pwm_input/Kconfig b/src/drivers/pwm_input/Kconfig index 85481a2048d5..301aca450cad 100644 --- a/src/drivers/pwm_input/Kconfig +++ b/src/drivers/pwm_input/Kconfig @@ -2,4 +2,4 @@ menuconfig DRIVERS_PWM_INPUT bool "pwm_input" default n ---help--- - Enable support for pwm_input \ No newline at end of file + Enable support for pwm_input diff --git a/src/drivers/pwm_out/Kconfig b/src/drivers/pwm_out/Kconfig index a263be9a3e05..0db808cb37b9 100644 --- a/src/drivers/pwm_out/Kconfig +++ b/src/drivers/pwm_out/Kconfig @@ -2,4 +2,4 @@ menuconfig DRIVERS_PWM_OUT bool "pwm_out" default n ---help--- - Enable support for pwm_out \ No newline at end of file + Enable support for pwm_out diff --git a/src/drivers/pwm_out/PWMOut.cpp b/src/drivers/pwm_out/PWMOut.cpp index 3a93e0e9d64c..0a3cbad4cad3 100644 --- a/src/drivers/pwm_out/PWMOut.cpp +++ b/src/drivers/pwm_out/PWMOut.cpp @@ -218,42 +218,55 @@ void PWMOut::update_params() updateParams(); - // Automatically set the PWM rate and disarmed value when a channel is first set to a servo + // Automatically set PWM configuration when a channel is first assigned if (!_first_update_cycle) { for (size_t i = 0; i < _num_outputs; i++) { if ((previously_set_functions & (1u << i)) == 0 && _mixing_output.functionParamHandle(i) != PARAM_INVALID) { int32_t output_function; - if (param_get(_mixing_output.functionParamHandle(i), &output_function) == 0 - && output_function >= (int)OutputFunction::Servo1 - && output_function <= (int)OutputFunction::ServoMax) { // Function got set to a servo - int32_t val = 1500; - PX4_INFO("Setting disarmed to %i for channel %i", (int) val, i); - param_set(_mixing_output.disarmedParamHandle(i), &val); + if (param_get(_mixing_output.functionParamHandle(i), &output_function) == 0) { + // Servos need PWM rate 50Hz and disramed value 1500us + if (output_function >= (int)OutputFunction::Servo1 + && output_function <= (int)OutputFunction::ServoMax) { // Function got set to a servo + int32_t val = 1500; + PX4_INFO("Setting channel %i disarmed to %i", i + 1, (int)val); + param_set(_mixing_output.disarmedParamHandle(i), &val); - // If the whole timer group was not set previously, then set the pwm rate to 50 Hz - for (int timer = 0; timer < MAX_IO_TIMERS; ++timer) { + // If the whole timer group was not set previously, then set the pwm rate to 50 Hz + for (int timer = 0; timer < MAX_IO_TIMERS; ++timer) { - uint32_t channels = io_timer_get_group(timer); + uint32_t channels = io_timer_get_group(timer); - if ((channels & (1u << i)) == 0) { - continue; - } + if ((channels & (1u << i)) == 0) { + continue; + } - if ((channels & previously_set_functions) == 0) { // None of the channels was set - char param_name[17]; - snprintf(param_name, sizeof(param_name), "%s_TIM%u", _mixing_output.paramPrefix(), timer); + if ((channels & previously_set_functions) == 0) { // None of the channels was set + char param_name[17]; + snprintf(param_name, sizeof(param_name), "%s_TIM%u", _mixing_output.paramPrefix(), timer); - int32_t tim_config = 0; - param_t handle = param_find(param_name); + int32_t tim_config = 0; + param_t handle = param_find(param_name); - if (param_get(handle, &tim_config) == 0 && tim_config == 400) { - tim_config = 50; - PX4_INFO("setting timer %i to %i Hz", timer, (int) tim_config); - param_set(handle, &tim_config); + if (param_get(handle, &tim_config) == 0 && tim_config == 400) { + tim_config = 50; + PX4_INFO("Setting timer %i to %i Hz", timer, (int)tim_config); + param_set(handle, &tim_config); + } } } } + + // Motors need a minimum value that idles the motor and have a deadzone at the top of the range + if (output_function >= (int)OutputFunction::Motor1 + && output_function <= (int)OutputFunction::MotorMax) { // Function got set to a motor + int32_t val = 1100; + PX4_INFO("Setting channel %i minimum to %i", i + 1, (int)val); + param_set(_mixing_output.minParamHandle(i), &val); + val = 1900; + PX4_INFO("Setting channel %i maximum to %i", i + 1, (int)val); + param_set(_mixing_output.maxParamHandle(i), &val); + } } } } diff --git a/src/drivers/pwm_out/module.yaml b/src/drivers/pwm_out/module.yaml index 733276c678d3..c63b4195d29a 100644 --- a/src/drivers/pwm_out/module.yaml +++ b/src/drivers/pwm_out/module.yaml @@ -5,7 +5,7 @@ actuator_output: param_prefix: '${PWM_MAIN_OR_AUX}' channel_labels: ['${PWM_MAIN_OR_AUX}', '${PWM_MAIN_OR_AUX_CAP}'] standard_params: - disarmed: { min: 800, max: 2200, default: 900 } + disarmed: { min: 800, max: 2200, default: 1000 } min: { min: 800, max: 1400, default: 1000 } max: { min: 1600, max: 2200, default: 2000 } failsafe: { min: 800, max: 2200 } @@ -30,4 +30,3 @@ actuator_output: 200: PWM 200 Hz 400: PWM 400 Hz reboot_required: true - diff --git a/src/drivers/px4io/Kconfig b/src/drivers/px4io/Kconfig index dd9b402249fa..052f088d701f 100644 --- a/src/drivers/px4io/Kconfig +++ b/src/drivers/px4io/Kconfig @@ -1,5 +1,6 @@ menuconfig DRIVERS_PX4IO bool "px4io" default n + depends on PLATFORM_NUTTX ---help--- Enable support for px4io diff --git a/src/drivers/px4io/module.yaml b/src/drivers/px4io/module.yaml index 5b5a1975798c..01d21a4afe3b 100644 --- a/src/drivers/px4io/module.yaml +++ b/src/drivers/px4io/module.yaml @@ -7,7 +7,7 @@ actuator_output: channel_label_module_name_prefix: false timer_config_file: "boards/px4/io-v2/src/timer_config.cpp" standard_params: - disarmed: { min: 800, max: 2200, default: 900 } + disarmed: { min: 800, max: 2200, default: 1000 } min: { min: 800, max: 1400, default: 1000 } max: { min: 1600, max: 2200, default: 2000 } failsafe: { min: 800, max: 2200 } diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp index 20bdfcb96e5e..52ad8325144e 100644 --- a/src/drivers/px4io/px4io.cpp +++ b/src/drivers/px4io/px4io.cpp @@ -209,7 +209,7 @@ class PX4IO : public cdev::CDev, public ModuleBase, public OutputModuleIn bool _timer_rates_configured{false}; /* advertised topics */ - uORB::PublicationMulti _to_input_rc{ORB_ID(input_rc)}; + uORB::PublicationMulti _input_rc_pub{ORB_ID(input_rc)}; uORB::Publication _px4io_status_pub{ORB_ID(px4io_status)}; ButtonPublisher _button_publisher; @@ -335,9 +335,7 @@ class PX4IO : public cdev::CDev, public ModuleBase, public OutputModuleIn (ParamInt) _param_rc_rssi_pwm_chan, (ParamInt) _param_rc_rssi_pwm_max, (ParamInt) _param_rc_rssi_pwm_min, - (ParamInt) _param_sens_en_themal, - (ParamInt) _param_sys_hitl, - (ParamInt) _param_sys_use_io + (ParamInt) _param_sens_en_themal ) }; @@ -365,6 +363,13 @@ PX4IO::~PX4IO() bool PX4IO::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS], unsigned num_outputs, unsigned num_control_groups_updated) { + for (size_t i = 0; i < num_outputs; i++) { + if (!_mixing_output.isFunctionSet(i)) { + // do not run any signal on disabled channels + outputs[i] = 0; + } + } + if (!_test_fmu_fail) { /* output to the servos */ io_reg_set(PX4IO_PAGE_DIRECT_PWM, 0, outputs, num_outputs); @@ -468,9 +473,7 @@ int PX4IO::init() } /* try to claim the generic PWM output device node as well - it's OK if we fail at this */ - if (_param_sys_hitl.get() <= 0 && _param_sys_use_io.get() == 1) { - _mixing_output.setMaxTopicUpdateRate(MIN_TOPIC_UPDATE_INTERVAL); - } + _mixing_output.setMaxTopicUpdateRate(MIN_TOPIC_UPDATE_INTERVAL); _px4io_status_pub.advertise(); @@ -519,9 +522,7 @@ void PX4IO::Run() perf_count(_interval_perf); /* if we have new control data from the ORB, handle it */ - if (_param_sys_hitl.get() <= 0) { - _mixing_output.update(); - } + _mixing_output.update(); if (hrt_elapsed_time(&_poll_last) >= 20_ms) { /* run at 50 */ @@ -534,13 +535,11 @@ void PX4IO::Run() io_publish_raw_rc(); } - if (_param_sys_hitl.get() <= 0) { - /* check updates on uORB topics and handle it */ - if (_t_actuator_armed.updated()) { - io_set_arming_state(); + /* check updates on uORB topics and handle it */ + if (_t_actuator_armed.updated()) { + io_set_arming_state(); - // TODO: throttle - } + // TODO: throttle } if (!_mixing_output.armed().armed) { @@ -702,36 +701,48 @@ void PX4IO::update_params() if ((previously_set_functions & (1u << i)) == 0 && _mixing_output.functionParamHandle(i) != PARAM_INVALID) { int32_t output_function; - if (param_get(_mixing_output.functionParamHandle(i), &output_function) == 0 - && output_function >= (int)OutputFunction::Servo1 - && output_function <= (int)OutputFunction::ServoMax) { // Function got set to a servo - int32_t val = 1500; - PX4_INFO("Setting disarmed to %i for channel %i", (int) val, i); - param_set(_mixing_output.disarmedParamHandle(i), &val); + if (param_get(_mixing_output.functionParamHandle(i), &output_function) == 0) { + if (output_function >= (int)OutputFunction::Servo1 + && output_function <= (int)OutputFunction::ServoMax) { // Function got set to a servo + int32_t val = 1500; + PX4_INFO("Setting channel %i disarmed to %i", i + 1, (int)val); + param_set(_mixing_output.disarmedParamHandle(i), &val); - // If the whole timer group was not set previously, then set the pwm rate to 50 Hz - for (int timer = 0; timer < (int)(sizeof(_group_channels) / sizeof(_group_channels[0])); ++timer) { + // If the whole timer group was not set previously, then set the pwm rate to 50 Hz + for (int timer = 0; timer < (int)(sizeof(_group_channels) / sizeof(_group_channels[0])); ++timer) { - uint32_t channels = _group_channels[timer]; + uint32_t channels = _group_channels[timer]; - if ((channels & (1u << i)) == 0) { - continue; - } + if ((channels & (1u << i)) == 0) { + continue; + } - if ((channels & previously_set_functions) == 0) { // None of the channels was set - char param_name[17]; - snprintf(param_name, sizeof(param_name), "%s_TIM%u", _mixing_output.paramPrefix(), timer); + if ((channels & previously_set_functions) == 0) { // None of the channels was set + char param_name[17]; + snprintf(param_name, sizeof(param_name), "%s_TIM%u", _mixing_output.paramPrefix(), timer); - int32_t tim_config = 0; - param_t handle = param_find(param_name); + int32_t tim_config = 0; + param_t handle = param_find(param_name); - if (param_get(handle, &tim_config) == 0 && tim_config == 400) { - tim_config = 50; - PX4_INFO("setting timer %i to %i Hz", timer, (int) tim_config); - param_set(handle, &tim_config); + if (param_get(handle, &tim_config) == 0 && tim_config == 400) { + tim_config = 50; + PX4_INFO("Setting timer %i to %i Hz", timer, (int)tim_config); + param_set(handle, &tim_config); + } } } } + + // Motors need a minimum value that idles the motor + if (output_function >= (int)OutputFunction::Motor1 + && output_function <= (int)OutputFunction::MotorMax) { // Function got set to a motor + int32_t val = 1100; + PX4_INFO("Setting channel %i minimum to %i", i + 1, (int)val); + param_set(_mixing_output.minParamHandle(i), &val); + val = 1900; + PX4_INFO("Setting channel %i maximum to %i", i + 1, (int)val); + param_set(_mixing_output.maxParamHandle(i), &val); + } } } } @@ -796,14 +807,6 @@ PX4IO::io_set_arming_state() clear |= PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE; } - // XXX this is for future support in the commander - // but can be removed if unneeded - // if (armed.termination_failsafe) { - // set |= PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE; - // } else { - // clear |= PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE; - // } - if (armed.ready_to_arm) { set |= PX4IO_P_SETUP_ARMING_IO_ARM_OK; @@ -1144,7 +1147,7 @@ int PX4IO::io_publish_raw_rc() input_rc.link_quality = -1; input_rc.rssi_dbm = NAN; - _to_input_rc.publish(input_rc); + _input_rc_pub.publish(input_rc); } return ret; @@ -1545,6 +1548,10 @@ int PX4IO::custom_command(int argc, char *argv[]) { const char *verb = argv[0]; + if (!strcmp(verb, "supported")) { + return 0; + } + if (!strcmp(verb, "checkcrc")) { if (is_running()) { PX4_ERR("io must be stopped"); @@ -1738,6 +1745,7 @@ Output driver communicating with the IO co-processor. PRINT_MODULE_USAGE_ARG("dsm2|dsmx|dsmx8", "protocol", false); PRINT_MODULE_USAGE_COMMAND_DESCR("sbus1_out", "enable sbus1 out"); PRINT_MODULE_USAGE_COMMAND_DESCR("sbus2_out", "enable sbus2 out"); + PRINT_MODULE_USAGE_COMMAND_DESCR("supported", "Returns 0 if px4io is supported"); PRINT_MODULE_USAGE_COMMAND_DESCR("test_fmu_fail", "test: turn off IO updates"); PRINT_MODULE_USAGE_COMMAND_DESCR("test_fmu_ok", "re-enable IO updates"); @@ -1750,7 +1758,7 @@ Output driver communicating with the IO co-processor. extern "C" __EXPORT int px4io_main(int argc, char *argv[]) { if (!PX4_MFT_HW_SUPPORTED(PX4_MFT_PX4IO)) { - PX4_ERR("PX4IO Not Supported"); + PX4_INFO("PX4IO Not Supported"); return -1; } return PX4IO::main(argc, argv); diff --git a/src/drivers/px4io/px4io_params.c b/src/drivers/px4io/px4io_params.c index ef1c1ee6ab92..b390bdb18a29 100644 --- a/src/drivers/px4io/px4io_params.c +++ b/src/drivers/px4io/px4io_params.c @@ -42,18 +42,6 @@ #include #include -/** - * Set usage of IO board - * - * Can be used to use a configure the use of the IO board. - * - * @value 0 IO PWM disabled (RC only) - * @value 1 IO enabled (RC & PWM) - * @reboot_required true - * @group System - */ -PARAM_DEFINE_INT32(SYS_USE_IO, 0); - /** * S.BUS out * diff --git a/src/drivers/rc/Kconfig b/src/drivers/rc/Kconfig index f4b771e2ba19..7a53a650f432 100644 --- a/src/drivers/rc/Kconfig +++ b/src/drivers/rc/Kconfig @@ -3,6 +3,9 @@ menu "RC" bool "Common RC" default n select DRIVERS_RC_CRSF_RC + select DRIVERS_RC_DSM_RC + select DRIVERS_RC_GHST_RC + select DRIVERS_RC_SBUS_RC ---help--- Enable default set of magnetometer drivers rsource "*/Kconfig" diff --git a/src/drivers/rc/crsf_rc/CMakeLists.txt b/src/drivers/rc/crsf_rc/CMakeLists.txt index ceb75310799a..a3ebb1a1ae87 100644 --- a/src/drivers/rc/crsf_rc/CMakeLists.txt +++ b/src/drivers/rc/crsf_rc/CMakeLists.txt @@ -46,6 +46,4 @@ px4_add_module( MODULE_CONFIG module.yaml - DEPENDS - rc ) diff --git a/src/drivers/rc/crsf_rc/Crc8.cpp b/src/drivers/rc/crsf_rc/Crc8.cpp index e912409fa4b8..0841bf7bf9ab 100644 --- a/src/drivers/rc/crsf_rc/Crc8.cpp +++ b/src/drivers/rc/crsf_rc/Crc8.cpp @@ -26,4 +26,4 @@ uint8_t Crc8Calc(const uint8_t *data, uint8_t size) } return crc; -} \ No newline at end of file +} diff --git a/src/drivers/rc/crsf_rc/CrsfParser.cpp b/src/drivers/rc/crsf_rc/CrsfParser.cpp index ba0ddac23318..a81fe930f517 100644 --- a/src/drivers/rc/crsf_rc/CrsfParser.cpp +++ b/src/drivers/rc/crsf_rc/CrsfParser.cpp @@ -161,6 +161,8 @@ static float MapF(const float x, const float in_min, const float in_max, const f return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min; } +#define CONSTRAIN_CHAN(x) ConstrainF(x, CRSF_CHANNEL_VALUE_MIN, CRSF_CHANNEL_VALUE_MAX) + static bool ProcessChannelData(const uint8_t *data, const uint32_t size, CrsfPacket_t *const new_packet) { uint32_t raw_channels[CRSF_CHANNEL_COUNT]; @@ -169,25 +171,24 @@ static bool ProcessChannelData(const uint8_t *data, const uint32_t size, CrsfPac new_packet->message_type = CRSF_MESSAGE_TYPE_RC_CHANNELS; // Decode channel data - raw_channels[0] = (data[0] | data[1] << 8) & 0x07FF; - raw_channels[1] = (data[1] >> 3 | data[2] << 5) & 0x07FF; - raw_channels[2] = (data[2] >> 6 | data[3] << 2 | data[4] << 10) & 0x07FF; - raw_channels[3] = (data[4] >> 1 | data[5] << 7) & 0x07FF; - raw_channels[4] = (data[5] >> 4 | data[6] << 4) & 0x07FF; - raw_channels[5] = (data[6] >> 7 | data[7] << 1 | data[8] << 9) & 0x07FF; - raw_channels[6] = (data[8] >> 2 | data[9] << 6) & 0x07FF; - raw_channels[7] = (data[9] >> 5 | data[10] << 3) & 0x07FF; - raw_channels[8] = (data[11] | data[12] << 8) & 0x07FF; - raw_channels[9] = (data[12] >> 3 | data[13] << 5) & 0x07FF; - raw_channels[10] = (data[13] >> 6 | data[14] << 2 | data[15] << 10) & 0x07FF; - raw_channels[11] = (data[15] >> 1 | data[16] << 7) & 0x07FF; - raw_channels[12] = (data[16] >> 4 | data[17] << 4) & 0x07FF; - raw_channels[13] = (data[17] >> 7 | data[18] << 1 | data[19] << 9) & 0x07FF; - raw_channels[14] = (data[19] >> 2 | data[20] << 6) & 0x07FF; - raw_channels[15] = (data[20] >> 5 | data[21] << 3) & 0x07FF; + raw_channels[0] = CONSTRAIN_CHAN((data[0] | data[1] << 8) & 0x07FF); + raw_channels[1] = CONSTRAIN_CHAN((data[1] >> 3 | data[2] << 5) & 0x07FF); + raw_channels[2] = CONSTRAIN_CHAN((data[2] >> 6 | data[3] << 2 | data[4] << 10) & 0x07FF); + raw_channels[3] = CONSTRAIN_CHAN((data[4] >> 1 | data[5] << 7) & 0x07FF); + raw_channels[4] = CONSTRAIN_CHAN((data[5] >> 4 | data[6] << 4) & 0x07FF); + raw_channels[5] = CONSTRAIN_CHAN((data[6] >> 7 | data[7] << 1 | data[8] << 9) & 0x07FF); + raw_channels[6] = CONSTRAIN_CHAN((data[8] >> 2 | data[9] << 6) & 0x07FF); + raw_channels[7] = CONSTRAIN_CHAN((data[9] >> 5 | data[10] << 3) & 0x07FF); + raw_channels[8] = CONSTRAIN_CHAN((data[11] | data[12] << 8) & 0x07FF); + raw_channels[9] = CONSTRAIN_CHAN((data[12] >> 3 | data[13] << 5) & 0x07FF); + raw_channels[10] = CONSTRAIN_CHAN((data[13] >> 6 | data[14] << 2 | data[15] << 10) & 0x07FF); + raw_channels[11] = CONSTRAIN_CHAN((data[15] >> 1 | data[16] << 7) & 0x07FF); + raw_channels[12] = CONSTRAIN_CHAN((data[16] >> 4 | data[17] << 4) & 0x07FF); + raw_channels[13] = CONSTRAIN_CHAN((data[17] >> 7 | data[18] << 1 | data[19] << 9) & 0x07FF); + raw_channels[14] = CONSTRAIN_CHAN((data[19] >> 2 | data[20] << 6) & 0x07FF); + raw_channels[15] = CONSTRAIN_CHAN((data[20] >> 5 | data[21] << 3) & 0x07FF); for (i = 0; i < CRSF_CHANNEL_COUNT; i++) { - raw_channels[i] = ConstrainF(raw_channels[i], CRSF_CHANNEL_VALUE_MIN, CRSF_CHANNEL_VALUE_MAX); new_packet->channel_data.channels[i] = MapF((float)raw_channels[i], CRSF_CHANNEL_VALUE_MIN, CRSF_CHANNEL_VALUE_MAX, 1000.0f, 2000.0f); } @@ -293,9 +294,9 @@ bool CrsfParser_TryParseCrsfPacket(CrsfPacket_t *const new_packet, CrsfParserSta } else { // We don't know what this packet is, so we'll let the parser continue // just so that we can dequeue it in one shot - working_segment_size = packet_size + PACKET_SIZE_TYPE_SIZE; + working_segment_size = packet_size - PACKET_SIZE_TYPE_SIZE; - if (working_segment_size > CRSF_MAX_PACKET_LEN) { + if (working_index + working_segment_size + CRC_SIZE > CRSF_MAX_PACKET_LEN) { parser_statistics->invalid_unknown_packet_sizes++; parser_state = PARSER_STATE_HEADER; working_segment_size = HEADER_SIZE; diff --git a/src/drivers/rc/crsf_rc/CrsfRc.cpp b/src/drivers/rc/crsf_rc/CrsfRc.cpp index 9ba3bc939eb6..3ea6c0ac273d 100644 --- a/src/drivers/rc/crsf_rc/CrsfRc.cpp +++ b/src/drivers/rc/crsf_rc/CrsfRc.cpp @@ -35,8 +35,6 @@ #include "CrsfParser.hpp" #include "Crc8.hpp" -#include -#include #include #include @@ -118,76 +116,74 @@ void CrsfRc::Run() { if (should_exit()) { ScheduleClear(); - ::close(_rc_fd); - _rc_fd = -1; + + if (_uart) { + (void) _uart->close(); + delete _uart; + _uart = nullptr; + } + exit_and_cleanup(); return; } - if (_rc_fd < 0) { - _rc_fd = ::open(_device, O_RDWR | O_NONBLOCK); + if (_uart == nullptr) { + // Create the UART port instance + _uart = new Serial(_device); - if (_rc_fd >= 0) { - struct termios t; - - tcgetattr(_rc_fd, &t); - cfsetspeed(&t, CRSF_BAUDRATE); - t.c_cflag &= ~(CSTOPB | PARENB | CRTSCTS); - t.c_lflag &= ~(ECHO | ECHONL | ICANON | IEXTEN | ISIG); - t.c_iflag &= ~(IGNBRK | BRKINT | ICRNL | INLCR | PARMRK | INPCK | ISTRIP | IXON); - t.c_oflag = 0; - tcsetattr(_rc_fd, TCSANOW, &t); + if (_uart == nullptr) { + PX4_ERR("Error creating serial device %s", _device); + px4_sleep(1); + return; + } + } - if (board_rc_swap_rxtx(_device)) { -#if defined(TIOCSSWAP) - ioctl(_rc_fd, TIOCSSWAP, SER_SWAP_ENABLED); -#endif // TIOCSSWAP - } + if (! _uart->isOpen()) { + // Configure the desired baudrate if one was specified by the user. + // Otherwise the default baudrate will be used. + if (! _uart->setBaudrate(CRSF_BAUDRATE)) { + PX4_ERR("Error setting baudrate to %u on %s", CRSF_BAUDRATE, _device); + px4_sleep(1); + return; + } - if (board_rc_singlewire(_device)) { - _is_singlewire = true; -#if defined(TIOCSSINGLEWIRE) - ioctl(_rc_fd, TIOCSSINGLEWIRE, SER_SINGLEWIRE_ENABLED); -#endif // TIOCSSINGLEWIRE - } + // Open the UART. If this is successful then the UART is ready to use. + if (! _uart->open()) { + PX4_ERR("Error opening serial device %s", _device); + px4_sleep(1); + return; + } - PX4_INFO("Crsf serial opened sucessfully"); + if (board_rc_swap_rxtx(_device)) { + _uart->setSwapRxTxMode(); + } - if (_is_singlewire) { - PX4_INFO("Crsf serial is single wire. Telemetry disabled"); - } + if (board_rc_singlewire(_device)) { + _is_singlewire = true; + _uart->setSingleWireMode(); + } - tcflush(_rc_fd, TCIOFLUSH); + PX4_INFO("Crsf serial opened sucessfully"); - Crc8Init(0xd5); + if (_is_singlewire) { + PX4_INFO("Crsf serial is single wire. Telemetry disabled"); } + _uart->flush(); + + Crc8Init(0xd5); + _input_rc.rssi_dbm = NAN; _input_rc.link_quality = -1; CrsfParser_Init(); - - - } - - // poll with 100mS timeout - pollfd fds[1]; - fds[0].fd = _rc_fd; - fds[0].events = POLLIN; - int ret = ::poll(fds, 1, 100); - - if (ret < 0) { - PX4_ERR("poll error"); - // try again with delay - ScheduleDelayed(100_ms); - return; } const hrt_abstime time_now_us = hrt_absolute_time(); perf_count_interval(_cycle_interval_perf, time_now_us); // Read all available data from the serial RC input UART - int new_bytes = ::read(_rc_fd, &_rcs_buf[0], RC_MAX_BUFFER_SIZE); + int new_bytes = _uart->readAtLeast(&_rcs_buf[0], RC_MAX_BUFFER_SIZE, 1, 100); if (new_bytes > 0) { _bytes_rx += new_bytes; @@ -228,8 +224,8 @@ void CrsfRc::Run() battery_status_s battery_status; if (_battery_status_sub.update(&battery_status)) { - uint16_t voltage = battery_status.voltage_filtered_v * 10; - uint16_t current = battery_status.current_filtered_a * 10; + uint16_t voltage = battery_status.voltage_v * 10; + uint16_t current = battery_status.current_a * 10; int fuel = battery_status.discharged_mah; uint8_t remaining = battery_status.remaining * 100; this->SendTelemetryBattery(voltage, current, fuel, remaining); @@ -241,11 +237,11 @@ void CrsfRc::Run() sensor_gps_s sensor_gps; if (_vehicle_gps_position_sub.update(&sensor_gps)) { - int32_t latitude = sensor_gps.lat; - int32_t longitude = sensor_gps.lon; + int32_t latitude = static_cast(round(sensor_gps.latitude_deg * 1e7)); + int32_t longitude = static_cast(round(sensor_gps.longitude_deg * 1e7)); uint16_t groundspeed = sensor_gps.vel_d_m_s / 3.6f * 10.f; uint16_t gps_heading = math::degrees(sensor_gps.cog_rad) * 100.f; - uint16_t altitude = sensor_gps.alt + 1000; + uint16_t altitude = static_cast(sensor_gps.altitude_msl_m) + 1000; uint8_t num_satellites = sensor_gps.satellites_used; this->SendTelemetryGps(latitude, longitude, groundspeed, gps_heading, altitude, num_satellites); } @@ -433,7 +429,8 @@ bool CrsfRc::SendTelemetryBattery(const uint16_t voltage, const uint16_t current write_uint24_t(buf, offset, fuel); write_uint8_t(buf, offset, remaining); WriteFrameCrc(buf, offset, sizeof(buf)); - return write(_rc_fd, buf, offset) == offset; + return _uart->write((void *) buf, (size_t) offset); + } bool CrsfRc::SendTelemetryGps(const int32_t latitude, const int32_t longitude, const uint16_t groundspeed, @@ -449,7 +446,7 @@ bool CrsfRc::SendTelemetryGps(const int32_t latitude, const int32_t longitude, c write_uint16_t(buf, offset, altitude); write_uint8_t(buf, offset, num_satellites); WriteFrameCrc(buf, offset, sizeof(buf)); - return write(_rc_fd, buf, offset) == offset; + return _uart->write((void *) buf, (size_t) offset); } bool CrsfRc::SendTelemetryAttitude(const int16_t pitch, const int16_t roll, const int16_t yaw) @@ -461,7 +458,7 @@ bool CrsfRc::SendTelemetryAttitude(const int16_t pitch, const int16_t roll, cons write_uint16_t(buf, offset, roll); write_uint16_t(buf, offset, yaw); WriteFrameCrc(buf, offset, sizeof(buf)); - return write(_rc_fd, buf, offset) == offset; + return _uart->write((void *) buf, (size_t) offset); } bool CrsfRc::SendTelemetryFlightMode(const char *flight_mode) @@ -480,7 +477,7 @@ bool CrsfRc::SendTelemetryFlightMode(const char *flight_mode) offset += length; buf[offset - 1] = 0; // ensure null-terminated string WriteFrameCrc(buf, offset, length + 4); - return write(_rc_fd, buf, offset) == offset; + return _uart->write((void *) buf, (size_t) offset); } int CrsfRc::print_status() diff --git a/src/drivers/rc/crsf_rc/CrsfRc.hpp b/src/drivers/rc/crsf_rc/CrsfRc.hpp index 6603e01ea3af..c3b0a4ec54d0 100644 --- a/src/drivers/rc/crsf_rc/CrsfRc.hpp +++ b/src/drivers/rc/crsf_rc/CrsfRc.hpp @@ -40,6 +40,7 @@ #include #include #include +#include #include #include #include @@ -53,6 +54,8 @@ #include #include +using namespace device; + class CrsfRc : public ModuleBase, public ModuleParams, public px4::ScheduledWorkItem { public: @@ -87,7 +90,8 @@ class CrsfRc : public ModuleBase, public ModuleParams, public px4::Sched bool SendTelemetryFlightMode(const char *flight_mode); - int _rc_fd{-1}; + Serial *_uart = nullptr; ///< UART interface to RC + char _device[20] {}; ///< device / serial port path bool _is_singlewire{false}; diff --git a/src/drivers/rc/crsf_rc/QueueBuffer.cpp b/src/drivers/rc/crsf_rc/QueueBuffer.cpp index 68aeb41a7aa1..725cec0fe96d 100644 --- a/src/drivers/rc/crsf_rc/QueueBuffer.cpp +++ b/src/drivers/rc/crsf_rc/QueueBuffer.cpp @@ -160,4 +160,4 @@ bool QueueBuffer_PeekBuffer(const QueueBuffer_t *q, const uint32_t index, uint8_ } return true; -} \ No newline at end of file +} diff --git a/src/drivers/rc/crsf_rc/QueueBuffer.hpp b/src/drivers/rc/crsf_rc/QueueBuffer.hpp index af035401a674..f042eab0d579 100644 --- a/src/drivers/rc/crsf_rc/QueueBuffer.hpp +++ b/src/drivers/rc/crsf_rc/QueueBuffer.hpp @@ -60,4 +60,4 @@ bool QueueBuffer_IsEmpty(const QueueBuffer_t *q); bool QueueBuffer_Get(QueueBuffer_t *const q, uint8_t *const x); void QueueBuffer_Dequeue(QueueBuffer_t *const q, const uint32_t n); bool QueueBuffer_Peek(const QueueBuffer_t *q, const uint32_t index, uint8_t *const x); -bool QueueBuffer_PeekBuffer(const QueueBuffer_t *q, const uint32_t index, uint8_t *buffer, const uint32_t size); \ No newline at end of file +bool QueueBuffer_PeekBuffer(const QueueBuffer_t *q, const uint32_t index, uint8_t *buffer, const uint32_t size); diff --git a/src/drivers/rc/dsm_rc/CMakeLists.txt b/src/drivers/rc/dsm_rc/CMakeLists.txt new file mode 100644 index 000000000000..addfa9afb59a --- /dev/null +++ b/src/drivers/rc/dsm_rc/CMakeLists.txt @@ -0,0 +1,44 @@ +############################################################################ +# +# Copyright (c) 2015-2024 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ +px4_add_module( + MODULE drivers__rc__dsm_rc + MAIN dsm_rc + COMPILE_FLAGS + SRCS + DsmRc.cpp + DsmRc.hpp + MODULE_CONFIG + module.yaml + DEPENDS + rc + ) diff --git a/src/drivers/rc/dsm_rc/DsmRc.cpp b/src/drivers/rc/dsm_rc/DsmRc.cpp new file mode 100644 index 000000000000..f35bc4487ff0 --- /dev/null +++ b/src/drivers/rc/dsm_rc/DsmRc.cpp @@ -0,0 +1,417 @@ +/**************************************************************************** + * + * Copyright (c) 2012-2024 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include "DsmRc.hpp" + +#include + +#include + +using namespace time_literals; + +DsmRc::DsmRc(const char *device) : + ScheduledWorkItem(MODULE_NAME, px4::serial_port_to_wq(device)), + _cycle_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": cycle time")), + _publish_interval_perf(perf_alloc(PC_INTERVAL, MODULE_NAME": publish interval")) +{ + if (device) { + strncpy(_device, device, sizeof(_device) - 1); + _device[sizeof(_device) - 1] = '\0'; + } +} + +DsmRc::~DsmRc() +{ +#if defined(SPEKTRUM_POWER_PASSIVE) + // Disable power controls for Spektrum receiver + SPEKTRUM_POWER_PASSIVE(); +#endif // SPEKTRUM_POWER_PASSIVE + + perf_free(_cycle_perf); + perf_free(_publish_interval_perf); +} + +int DsmRc::task_spawn(int argc, char *argv[]) +{ + bool error_flag = false; + + int myoptind = 1; + int ch; + const char *myoptarg = nullptr; + const char *device_name = nullptr; + bool silent = false; + + while ((ch = px4_getopt(argc, argv, "d:", &myoptind, &myoptarg)) != EOF) { + switch (ch) { + case 'd': + device_name = myoptarg; + silent = false; + break; + + case '?': + error_flag = true; + break; + + default: + PX4_WARN("unrecognized flag"); + error_flag = true; + break; + } + } + + if (error_flag) { + return -1; + } + + if (device_name && (access(device_name, R_OK | W_OK) == 0)) { + DsmRc *instance = new DsmRc(device_name); + + if (instance == nullptr) { + PX4_ERR("alloc failed"); + return PX4_ERROR; + } + + _object.store(instance); + _task_id = task_id_is_work_queue; + + instance->ScheduleOnInterval(_current_update_interval); + + return PX4_OK; + + } else if (silent) { + return PX4_OK; + + } else { + if (device_name) { + PX4_ERR("invalid device (-d) %s", device_name); + + } else { + PX4_ERR("valid device required"); + } + } + + return PX4_ERROR; +} + +void DsmRc::Run() +{ + if (should_exit()) { + + close(_rcs_fd); + + dsm_deinit(); + + exit_and_cleanup(); + return; + } + + perf_begin(_cycle_perf); + + if (_vehicle_status_sub.updated()) { + vehicle_status_s vehicle_status; + + if (_vehicle_status_sub.copy(&vehicle_status)) { + _armed = (vehicle_status.arming_state == vehicle_status_s::ARMING_STATE_ARMED); + } + } + + const hrt_abstime cycle_timestamp = hrt_absolute_time(); + + + /* vehicle command */ + vehicle_command_s vcmd; + + if (_vehicle_cmd_sub.update(&vcmd)) { + // Check for a pairing command + if (vcmd.command == vehicle_command_s::VEHICLE_CMD_START_RX_PAIR) { + + uint8_t cmd_ret = vehicle_command_ack_s::VEHICLE_CMD_RESULT_UNSUPPORTED; +#if defined(SPEKTRUM_POWER) + + if (!_rc_scan_locked && !_armed) { + if ((int)vcmd.param1 == 0) { + // DSM binding command + int dsm_bind_mode = (int)vcmd.param2; + + int dsm_bind_pulses = 0; + + if (dsm_bind_mode == 0) { + dsm_bind_pulses = DSM2_BIND_PULSES; + + } else if (dsm_bind_mode == 1) { + dsm_bind_pulses = DSMX_BIND_PULSES; + + } else { + dsm_bind_pulses = DSMX8_BIND_PULSES; + } + + bind_spektrum(dsm_bind_pulses); + + cmd_ret = vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED; + } + + } else { + cmd_ret = vehicle_command_ack_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED; + } + +#endif // SPEKTRUM_POWER + + // publish acknowledgement + vehicle_command_ack_s command_ack{}; + command_ack.command = vcmd.command; + command_ack.result = cmd_ret; + command_ack.target_system = vcmd.source_system; + command_ack.target_component = vcmd.source_component; + command_ack.timestamp = hrt_absolute_time(); + uORB::Publication vehicle_command_ack_pub{ORB_ID(vehicle_command_ack)}; + vehicle_command_ack_pub.publish(command_ack); + } + } + + bool rc_updated = false; + + constexpr hrt_abstime rc_scan_max = 3_s; + + // read all available data from the serial RC input UART + uint8_t rcs_buf[DSM_BUFFER_SIZE] {}; + int newBytes = ::read(_rcs_fd, &rcs_buf[0], DSM_BUFFER_SIZE); + + if (newBytes > 0) { + _bytes_rx += newBytes; + } + + const bool rc_scan_locked = _rc_scan_locked; + + if (_rc_scan_begin == 0) { + _rc_scan_begin = cycle_timestamp; + + // Configure serial port + if (_rcs_fd < 0) { + _rcs_fd = open(_device, O_RDWR | O_NONBLOCK); + } + + dsm_config(_rcs_fd); + + // flush serial buffer and any existing buffered data + tcflush(_rcs_fd, TCIOFLUSH); + + } else if (_rc_scan_locked + || cycle_timestamp - _rc_scan_begin < rc_scan_max) { + + if (newBytes > 0) { + uint16_t raw_rc_values[input_rc_s::RC_INPUT_MAX_CHANNELS] {}; + uint16_t raw_rc_count = 0; + + int8_t dsm_rssi = 0; + bool dsm_11_bit = false; + unsigned frame_drops = 0; + + if (dsm_parse(cycle_timestamp, &rcs_buf[0], newBytes, &raw_rc_values[0], &raw_rc_count, &dsm_11_bit, &frame_drops, + &dsm_rssi, input_rc_s::RC_INPUT_MAX_CHANNELS) + ) { + // we have a new DSM frame. Publish it. + input_rc_s input_rc{}; + input_rc.timestamp_last_signal = cycle_timestamp; + input_rc.channel_count = math::constrain(raw_rc_count, (uint16_t)0, (uint16_t)input_rc_s::RC_INPUT_MAX_CHANNELS); + input_rc.rssi = dsm_rssi; + input_rc.input_source = input_rc_s::RC_INPUT_SOURCE_PX4FMU_DSM; + + unsigned valid_chans = 0; + + for (unsigned i = 0; i < input_rc.channel_count; i++) { + input_rc.values[i] = raw_rc_values[i]; + + if (raw_rc_values[i] != UINT16_MAX) { + valid_chans++; + } + } + + input_rc.channel_count = valid_chans; + + if (valid_chans == 0) { + input_rc.rssi = 0; + } + + input_rc.rc_lost = (valid_chans == 0); + input_rc.rc_lost_frame_count = frame_drops; + + input_rc.link_quality = -1; + input_rc.rssi_dbm = NAN; + + input_rc.timestamp = hrt_absolute_time(); + _input_rc_pub.publish(input_rc); + perf_count(_publish_interval_perf); + + _timestamp_last_signal = cycle_timestamp; + rc_updated = true; + + if (valid_chans > 0) { + _rc_scan_locked = true; + } + } + } + + } else { + _rc_scan_begin = 0; + _rc_scan_locked = false; + + close(_rcs_fd); + _rcs_fd = -1; + } + + if (!rc_updated && !_armed && (hrt_elapsed_time(&_timestamp_last_signal) > 1_s)) { + _rc_scan_locked = false; + } + + if (!rc_scan_locked && _rc_scan_locked) { + PX4_INFO("RC input locked"); + } + + perf_end(_cycle_perf); +} + +#if defined(SPEKTRUM_POWER) +bool DsmRc::bind_spektrum(int arg) const +{ + int ret = PX4_ERROR; + + /* specify 11ms DSMX. RX will automatically fall back to 22ms or DSM2 if necessary */ + + /* only allow DSM2, DSM-X and DSM-X with more than 7 channels */ + PX4_INFO("DSM_BIND_START: DSM%s RX", (arg == 0) ? "2" : ((arg == 1) ? "-X" : "-X8")); + + if (arg == DSM2_BIND_PULSES || + arg == DSMX_BIND_PULSES || + arg == DSMX8_BIND_PULSES) { + + dsm_bind(DSM_CMD_BIND_POWER_DOWN, 0); + + dsm_bind(DSM_CMD_BIND_SET_RX_OUT, 0); + usleep(500000); + + dsm_bind(DSM_CMD_BIND_POWER_UP, 0); + usleep(72000); + + irqstate_t flags = px4_enter_critical_section(); + dsm_bind(DSM_CMD_BIND_SEND_PULSES, arg); + px4_leave_critical_section(flags); + + usleep(50000); + + dsm_bind(DSM_CMD_BIND_REINIT_UART, 0); + + ret = OK; + + } else { + PX4_ERR("DSM bind failed"); + ret = -EINVAL; + } + + return (ret == PX4_OK); +} +#endif /* SPEKTRUM_POWER */ + +int DsmRc::custom_command(int argc, char *argv[]) +{ +#if defined(SPEKTRUM_POWER) + const char *verb = argv[0]; + + if (!strcmp(verb, "bind")) { + uORB::Publication vehicle_command_pub{ORB_ID(vehicle_command)}; + vehicle_command_s vcmd{}; + vcmd.command = vehicle_command_s::VEHICLE_CMD_START_RX_PAIR; + vcmd.timestamp = hrt_absolute_time(); + vehicle_command_pub.publish(vcmd); + return 0; + } + +#endif // SPEKTRUM_POWER + + if (!is_running()) { + int ret = DsmRc::task_spawn(argc, argv); + + if (ret) { + return ret; + } + } + + return print_usage("unknown command"); +} + +int DsmRc::print_status() +{ + PX4_INFO("Max update rate: %u Hz", 1000000 / _current_update_interval); + + if (_device[0] != '\0') { + PX4_INFO("UART device: %s", _device); + PX4_INFO("UART RX bytes: %" PRIu32, _bytes_rx); + } + + PX4_INFO("RC state: %s", _rc_scan_locked ? "found" : "searching for signal"); + + perf_print_counter(_cycle_perf); + perf_print_counter(_publish_interval_perf); + + return 0; +} + +int DsmRc::print_usage(const char *reason) +{ + if (reason) { + PX4_WARN("%s\n", reason); + } + + PRINT_MODULE_DESCRIPTION( + R"DESCR_STR( +### Description +This module does Spektrum DSM RC input parsing. + +)DESCR_STR"); + + PRINT_MODULE_USAGE_NAME("dsm_rc", "driver"); + PRINT_MODULE_USAGE_COMMAND("start"); + PRINT_MODULE_USAGE_PARAM_STRING('d', "/dev/ttyS3", "", "RC device", true); + +#if defined(SPEKTRUM_POWER) + PRINT_MODULE_USAGE_COMMAND_DESCR("bind", "Send a DSM bind command (module must be running)"); +#endif /* SPEKTRUM_POWER */ + + PRINT_MODULE_USAGE_DEFAULT_COMMANDS(); + + return 0; +} + +extern "C" __EXPORT int dsm_rc_main(int argc, char *argv[]) +{ + return DsmRc::main(argc, argv); +} diff --git a/src/drivers/rc/dsm_rc/DsmRc.hpp b/src/drivers/rc/dsm_rc/DsmRc.hpp new file mode 100644 index 000000000000..5ce935ec5de1 --- /dev/null +++ b/src/drivers/rc/dsm_rc/DsmRc.hpp @@ -0,0 +1,102 @@ +/**************************************************************************** + * + * Copyright (c) 2012-2024 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#pragma once + +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +class DsmRc : public ModuleBase, public px4::ScheduledWorkItem +{ +public: + + DsmRc(const char *device); + virtual ~DsmRc(); + + /** @see ModuleBase */ + static int task_spawn(int argc, char *argv[]); + + /** @see ModuleBase */ + static int custom_command(int argc, char *argv[]); + + /** @see ModuleBase */ + static int print_usage(const char *reason = nullptr); + + /** @see ModuleBase::print_status() */ + int print_status() override; + +private: + + void Run() override; + +#if defined(SPEKTRUM_POWER) + bool bind_spektrum(int arg = DSMX8_BIND_PULSES) const; +#endif // SPEKTRUM_POWER + + hrt_abstime _rc_scan_begin{0}; + hrt_abstime _timestamp_last_signal{0}; + + bool _rc_scan_locked{false}; + + static constexpr unsigned _current_update_interval{4000}; // 250 Hz + + uORB::Subscription _vehicle_cmd_sub{ORB_ID(vehicle_command)}; + uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)}; + + uORB::PublicationMulti _input_rc_pub{ORB_ID(input_rc)}; + + bool _armed{false}; + + int _rcs_fd{-1}; + char _device[20] {}; ///< device / serial port path + + perf_counter_t _cycle_perf; + perf_counter_t _publish_interval_perf; + uint32_t _bytes_rx{0}; +}; diff --git a/src/drivers/rc/dsm_rc/Kconfig b/src/drivers/rc/dsm_rc/Kconfig new file mode 100644 index 000000000000..19095081606c --- /dev/null +++ b/src/drivers/rc/dsm_rc/Kconfig @@ -0,0 +1,5 @@ +menuconfig DRIVERS_RC_DSM_RC + bool "dsm_rc" + default n + ---help--- + Enable support for dsm_rc diff --git a/src/drivers/rc/dsm_rc/module.yaml b/src/drivers/rc/dsm_rc/module.yaml new file mode 100644 index 000000000000..12f36bc77a8e --- /dev/null +++ b/src/drivers/rc/dsm_rc/module.yaml @@ -0,0 +1,10 @@ +module_name: DSM RC Input Driver +serial_config: + - command: "dsm_rc start -d ${SERIAL_DEV}" + port_config_param: + name: RC_DSM_PRT_CFG + group: Serial + #default: RC + #depends_on_port: RC + description_extended: | + DSM RC (Spektrum) driver. diff --git a/src/drivers/rc/ghst_rc/CMakeLists.txt b/src/drivers/rc/ghst_rc/CMakeLists.txt new file mode 100644 index 000000000000..2a0342584fd6 --- /dev/null +++ b/src/drivers/rc/ghst_rc/CMakeLists.txt @@ -0,0 +1,45 @@ +############################################################################ +# +# Copyright (c) 2015-2024 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ +px4_add_module( + MODULE drivers__rc__ghst_rc + MAIN ghst_rc + COMPILE_FLAGS + SRCS + GhstRc.cpp + GhstRc.hpp + ghst_telemetry.cpp + MODULE_CONFIG + module.yaml + DEPENDS + rc + ) diff --git a/src/drivers/rc/ghst_rc/GhstRc.cpp b/src/drivers/rc/ghst_rc/GhstRc.cpp new file mode 100644 index 000000000000..1960c84ce6d4 --- /dev/null +++ b/src/drivers/rc/ghst_rc/GhstRc.cpp @@ -0,0 +1,304 @@ +/**************************************************************************** + * + * Copyright (c) 2012-2024 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include "GhstRc.hpp" + +#include + +GhstRc::GhstRc(const char *device) : + ModuleParams(nullptr), + ScheduledWorkItem(MODULE_NAME, px4::serial_port_to_wq(device)), + _cycle_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": cycle time")), + _publish_interval_perf(perf_alloc(PC_INTERVAL, MODULE_NAME": publish interval")) +{ + if (device) { + strncpy(_device, device, sizeof(_device) - 1); + _device[sizeof(_device) - 1] = '\0'; + } +} + +GhstRc::~GhstRc() +{ + delete _ghst_telemetry; + + perf_free(_cycle_perf); + perf_free(_publish_interval_perf); +} + +int GhstRc::task_spawn(int argc, char *argv[]) +{ + bool error_flag = false; + + int myoptind = 1; + int ch; + const char *myoptarg = nullptr; + const char *device_name = nullptr; + bool silent = false; + + while ((ch = px4_getopt(argc, argv, "d:", &myoptind, &myoptarg)) != EOF) { + switch (ch) { + case 'd': + device_name = myoptarg; + silent = false; + break; + + case '?': + error_flag = true; + break; + + default: + PX4_WARN("unrecognized flag"); + error_flag = true; + break; + } + } + + if (error_flag) { + return -1; + } + + if (device_name && (access(device_name, R_OK | W_OK) == 0)) { + GhstRc *instance = new GhstRc(device_name); + + if (instance == nullptr) { + PX4_ERR("alloc failed"); + return PX4_ERROR; + } + + _object.store(instance); + _task_id = task_id_is_work_queue; + + instance->ScheduleOnInterval(_current_update_interval); + + return PX4_OK; + + } else if (silent) { + return PX4_OK; + + } else { + if (device_name) { + PX4_ERR("invalid device (-d) %s", device_name); + + } else { + PX4_ERR("valid device required"); + } + } + + return PX4_ERROR; +} + +void GhstRc::Run() +{ + if (should_exit()) { + + close(_rcs_fd); + + exit_and_cleanup(); + return; + } + + perf_begin(_cycle_perf); + + // Check if parameters have changed + if (_parameter_update_sub.updated()) { + // clear update + parameter_update_s param_update; + _parameter_update_sub.copy(¶m_update); + + updateParams(); + } + + const hrt_abstime cycle_timestamp = hrt_absolute_time(); + + bool rc_updated = false; + + constexpr hrt_abstime rc_scan_max = 3_s; + + // read all available data from the serial RC input UART + static constexpr size_t RC_MAX_BUFFER_SIZE{64}; + uint8_t rcs_buf[RC_MAX_BUFFER_SIZE] {}; + int newBytes = ::read(_rcs_fd, &rcs_buf[0], RC_MAX_BUFFER_SIZE); + + if (newBytes > 0) { + _bytes_rx += newBytes; + } + + const bool rc_scan_locked = _rc_scan_locked; + + if (_rc_scan_begin == 0) { + _rc_scan_begin = cycle_timestamp; + + // Configure serial port + if (_rcs_fd < 0) { + _rcs_fd = open(_device, O_RDWR | O_NONBLOCK); + } + + ghst_config(_rcs_fd); + + // flush serial buffer and any existing buffered data + tcflush(_rcs_fd, TCIOFLUSH); + + } else if (_rc_scan_locked + || cycle_timestamp - _rc_scan_begin < rc_scan_max) { + + if (newBytes > 0) { + uint16_t raw_rc_values[input_rc_s::RC_INPUT_MAX_CHANNELS] {}; + uint16_t raw_rc_count = 0; + int8_t ghst_rssi = -1; + + if (ghst_parse(cycle_timestamp, &rcs_buf[0], newBytes, &raw_rc_values[0], &ghst_rssi, + &raw_rc_count, input_rc_s::RC_INPUT_MAX_CHANNELS) + ) { + // we have a new GHST frame. Publish it. + input_rc_s input_rc{}; + input_rc.timestamp_last_signal = cycle_timestamp; + input_rc.channel_count = math::constrain(raw_rc_count, (uint16_t)0, (uint16_t)input_rc_s::RC_INPUT_MAX_CHANNELS); + input_rc.rssi = ghst_rssi; + input_rc.input_source = input_rc_s::RC_INPUT_SOURCE_PX4FMU_GHST; + + unsigned valid_chans = 0; + + for (unsigned i = 0; i < input_rc.channel_count; i++) { + input_rc.values[i] = raw_rc_values[i]; + + if (raw_rc_values[i] != UINT16_MAX) { + valid_chans++; + } + } + + input_rc.channel_count = valid_chans; + + if (valid_chans == 0) { + input_rc.rssi = 0; + } + + input_rc.rc_lost = (valid_chans == 0); + + input_rc.link_quality = -1; + input_rc.rssi_dbm = NAN; + + input_rc.timestamp = hrt_absolute_time(); + _input_rc_pub.publish(input_rc); + perf_count(_publish_interval_perf); + + _timestamp_last_signal = cycle_timestamp; + rc_updated = true; + + if (valid_chans > 0) { + _rc_scan_locked = true; + } + + if (!_rc_scan_locked && !_ghst_telemetry && _param_rc_ghst_tel_en.get()) { + _ghst_telemetry = new GHSTTelemetry(_rcs_fd); + } + + if (_ghst_telemetry) { + _ghst_telemetry->update(cycle_timestamp); + } + } + } + + } else { + _rc_scan_begin = 0; + _rc_scan_locked = false; + + close(_rcs_fd); + _rcs_fd = -1; + } + + if (!rc_updated && (hrt_elapsed_time(&_timestamp_last_signal) > 1_s)) { + _rc_scan_locked = false; + } + + if (!rc_scan_locked && _rc_scan_locked) { + PX4_INFO("RC input locked"); + } + + perf_end(_cycle_perf); +} + +int GhstRc::custom_command(int argc, char *argv[]) +{ + if (!is_running()) { + int ret = GhstRc::task_spawn(argc, argv); + + if (ret) { + return ret; + } + } + + return print_usage("unknown command"); +} + +int GhstRc::print_status() +{ + PX4_INFO("Max update rate: %u Hz", 1000000 / _current_update_interval); + + if (_device[0] != '\0') { + PX4_INFO("UART device: %s", _device); + PX4_INFO("UART RX bytes: %" PRIu32, _bytes_rx); + } + + PX4_INFO("RC state: %s", _rc_scan_locked ? "found" : "searching for signal"); + + perf_print_counter(_cycle_perf); + perf_print_counter(_publish_interval_perf); + + return 0; +} + +int GhstRc::print_usage(const char *reason) +{ + if (reason) { + PX4_WARN("%s\n", reason); + } + + PRINT_MODULE_DESCRIPTION( + R"DESCR_STR( +### Description +This module does Ghost (GHST) RC input parsing. + +)DESCR_STR"); + + PRINT_MODULE_USAGE_NAME("ghst_rc", "driver"); + PRINT_MODULE_USAGE_COMMAND("start"); + PRINT_MODULE_USAGE_PARAM_STRING('d', "/dev/ttyS3", "", "RC device", true); + PRINT_MODULE_USAGE_DEFAULT_COMMANDS(); + + return 0; +} + +extern "C" __EXPORT int ghst_rc_main(int argc, char *argv[]) +{ + return GhstRc::main(argc, argv); +} diff --git a/src/drivers/rc/ghst_rc/GhstRc.hpp b/src/drivers/rc/ghst_rc/GhstRc.hpp new file mode 100644 index 000000000000..0090b216dc21 --- /dev/null +++ b/src/drivers/rc/ghst_rc/GhstRc.hpp @@ -0,0 +1,104 @@ +/**************************************************************************** + * + * Copyright (c) 2012-2024 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#pragma once + +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include "ghst_telemetry.hpp" + +using namespace time_literals; + +class GhstRc : public ModuleBase, public ModuleParams, public px4::ScheduledWorkItem +{ +public: + + GhstRc(const char *device); + virtual ~GhstRc(); + + /** @see ModuleBase */ + static int task_spawn(int argc, char *argv[]); + + /** @see ModuleBase */ + static int custom_command(int argc, char *argv[]); + + /** @see ModuleBase */ + static int print_usage(const char *reason = nullptr); + + /** @see ModuleBase::print_status() */ + int print_status() override; + +private: + + void Run() override; + + hrt_abstime _rc_scan_begin{0}; + hrt_abstime _timestamp_last_signal{0}; + + bool _rc_scan_locked{false}; + + static constexpr unsigned _current_update_interval{4000}; // 250 Hz + + uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s}; + + uORB::PublicationMulti _input_rc_pub{ORB_ID(input_rc)}; + + int _rcs_fd{-1}; + char _device[20] {}; ///< device / serial port path + + GHSTTelemetry *_ghst_telemetry{nullptr}; + + perf_counter_t _cycle_perf; + perf_counter_t _publish_interval_perf; + uint32_t _bytes_rx{0}; + + DEFINE_PARAMETERS( + (ParamBool) _param_rc_ghst_tel_en + ) +}; diff --git a/src/drivers/rc/ghst_rc/Kconfig b/src/drivers/rc/ghst_rc/Kconfig new file mode 100644 index 000000000000..fbff9b26d4d3 --- /dev/null +++ b/src/drivers/rc/ghst_rc/Kconfig @@ -0,0 +1,5 @@ +menuconfig DRIVERS_RC_GHST_RC + bool "ghst_rc" + default n + ---help--- + Enable support for ghst_rc diff --git a/src/drivers/rc/ghst_rc/ghst_telemetry.cpp b/src/drivers/rc/ghst_rc/ghst_telemetry.cpp new file mode 100644 index 000000000000..9a910063931a --- /dev/null +++ b/src/drivers/rc/ghst_rc/ghst_telemetry.cpp @@ -0,0 +1,138 @@ +/**************************************************************************** + * + * Copyright (c) 2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file ghst_telemetry.cpp + * + * IRC Ghost (Immersion RC Ghost) telemetry. + * + * @author Igor Misic + * @author Juraj Ciberlin + */ + +#include "ghst_telemetry.hpp" +#include + +using time_literals::operator ""_s; + +GHSTTelemetry::GHSTTelemetry(int uart_fd) : + _uart_fd(uart_fd) +{ +} + +bool GHSTTelemetry::update(const hrt_abstime &now) +{ + bool success = false; + + if ((now - _last_update) > (1_s / (UPDATE_RATE_HZ * NUM_DATA_TYPES))) { + + switch (_next_type) { + case 0U: + success = send_battery_status(); + break; + + case 1U: + success = send_gps1_status(); + break; + + case 2U: + success = send_gps2_status(); + break; + + default: + success = false; + break; + } + + _last_update = now; + _next_type = (_next_type + 1U) % NUM_DATA_TYPES; + } + + return success; +} + +bool GHSTTelemetry::send_battery_status() +{ + bool success = false; + float voltage_in_10mV; + float current_in_10mA; + float fuel_in_10mAh; + battery_status_s battery_status; + + if (_battery_status_sub.update(&battery_status)) { + voltage_in_10mV = battery_status.voltage_v * FACTOR_VOLTS_TO_10MV; + current_in_10mA = battery_status.current_a * FACTOR_AMPS_TO_10MA; + fuel_in_10mAh = battery_status.discharged_mah * FACTOR_MAH_TO_10MAH; + success = ghst_send_telemetry_battery_status(_uart_fd, + static_cast(voltage_in_10mV), + static_cast(current_in_10mA), + static_cast(fuel_in_10mAh)); + } + + return success; +} + +bool GHSTTelemetry::send_gps1_status() +{ + sensor_gps_s vehicle_gps_position; + + if (!_vehicle_gps_position_sub.update(&vehicle_gps_position)) { + return false; + } + + int32_t latitude = static_cast(round(vehicle_gps_position.latitude_deg * 1e7)); // 1e-7 degrees + int32_t longitude = static_cast(round(vehicle_gps_position.longitude_deg * 1e7)); // 1e-7 degrees + uint16_t altitude = static_cast(round(vehicle_gps_position.altitude_msl_m)); // meters + + return ghst_send_telemetry_gps1_status(_uart_fd, latitude, longitude, altitude); +} + +bool GHSTTelemetry::send_gps2_status() +{ + sensor_gps_s vehicle_gps_position; + + if (!_vehicle_gps_position_sub.update(&vehicle_gps_position)) { + return false; + } + + uint16_t ground_speed = (uint16_t)(vehicle_gps_position.vel_d_m_s / 3.6f * 10.f); + uint16_t ground_course = (uint16_t)(math::degrees(vehicle_gps_position.cog_rad) * 100.f); + uint8_t num_sats = vehicle_gps_position.satellites_used; + + // TBD: Can these be computed in a RC telemetry driver? + uint16_t home_dist = 0; + uint16_t home_dir = 0; + uint8_t flags = 0; + + return ghst_send_telemetry_gps2_status(_uart_fd, ground_speed, ground_course, num_sats, home_dist, home_dir, flags); +} diff --git a/src/drivers/rc/ghst_rc/ghst_telemetry.hpp b/src/drivers/rc/ghst_rc/ghst_telemetry.hpp new file mode 100644 index 000000000000..faa61f69b28e --- /dev/null +++ b/src/drivers/rc/ghst_rc/ghst_telemetry.hpp @@ -0,0 +1,91 @@ +/**************************************************************************** + * + * Copyright (c) 2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file ghst_telemetry.cpp + * + * IRC Ghost (Immersion RC Ghost) telemetry. + * + * @author Igor Misic + * @author Juraj Ciberlin + */ + +#pragma once + +#include +#include +#include +#include + +/** + * High-level class that handles sending of GHST telemetry data + */ +class GHSTTelemetry +{ +public: + /** + * @param uart_fd file descriptor for the UART to use. It is expected to be configured + * already. + */ + explicit GHSTTelemetry(int uart_fd); + + ~GHSTTelemetry() = default; + + /** + * Send telemetry data. Call this regularly (i.e. at 100Hz), it will automatically + * limit the sending rate. + * @return true if new data sent + */ + bool update(const hrt_abstime &now); + +private: + bool send_battery_status(); + bool send_gps1_status(); + bool send_gps2_status(); + + uORB::Subscription _vehicle_gps_position_sub{ORB_ID(vehicle_gps_position)}; + uORB::Subscription _battery_status_sub{ORB_ID(battery_status)}; + + int _uart_fd; + hrt_abstime _last_update {0U}; + uint32_t _next_type {0U}; + + static constexpr uint32_t NUM_DATA_TYPES {3U}; // number of different telemetry data types + static constexpr uint32_t UPDATE_RATE_HZ {10U}; // update rate [Hz] + + // Factors that should be applied to get correct values + static constexpr float FACTOR_VOLTS_TO_10MV {100.0F}; + static constexpr float FACTOR_AMPS_TO_10MA {100.0F}; + static constexpr float FACTOR_MAH_TO_10MAH {0.1F}; + +}; diff --git a/src/drivers/rc/ghst_rc/module.yaml b/src/drivers/rc/ghst_rc/module.yaml new file mode 100644 index 000000000000..2e15a42d97a3 --- /dev/null +++ b/src/drivers/rc/ghst_rc/module.yaml @@ -0,0 +1,22 @@ +module_name: GHST RC Input Driver +serial_config: + - command: "ghst_rc start -d ${SERIAL_DEV}" + port_config_param: + name: RC_GHST_PRT_CFG + group: Serial + #default: RC + #depends_on_port: RC + description_extended: | + Ghost (GHST) RC driver. + +parameters: + - group: RC + definitions: + RC_GHST_TEL_EN: + description: + short: Ghost RC telemetry enable + long: | + Ghost telemetry enable + + type: boolean + default: [0] diff --git a/src/drivers/rc/sbus_rc/CMakeLists.txt b/src/drivers/rc/sbus_rc/CMakeLists.txt new file mode 100644 index 000000000000..fd5e56263330 --- /dev/null +++ b/src/drivers/rc/sbus_rc/CMakeLists.txt @@ -0,0 +1,44 @@ +############################################################################ +# +# Copyright (c) 2015-2024 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ +px4_add_module( + MODULE drivers__rc__sbus_rc + MAIN sbus_rc + COMPILE_FLAGS + SRCS + SbusRc.cpp + SbusRc.hpp + MODULE_CONFIG + module.yaml + DEPENDS + rc + ) diff --git a/src/drivers/rc/sbus_rc/Kconfig b/src/drivers/rc/sbus_rc/Kconfig new file mode 100644 index 000000000000..d79e5745b59c --- /dev/null +++ b/src/drivers/rc/sbus_rc/Kconfig @@ -0,0 +1,5 @@ +menuconfig DRIVERS_RC_SBUS_RC + bool "sbus_rc" + default n + ---help--- + Enable support for sbus_rc diff --git a/src/drivers/rc/sbus_rc/SbusRc.cpp b/src/drivers/rc/sbus_rc/SbusRc.cpp new file mode 100644 index 000000000000..12d57da141e1 --- /dev/null +++ b/src/drivers/rc/sbus_rc/SbusRc.cpp @@ -0,0 +1,315 @@ +/**************************************************************************** + * + * Copyright (c) 2012-2024 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include "SbusRc.hpp" + +#include + +SbusRc::SbusRc(const char *device) : + ModuleParams(nullptr), + ScheduledWorkItem(MODULE_NAME, px4::serial_port_to_wq(device)), + _cycle_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": cycle time")), + _publish_interval_perf(perf_alloc(PC_INTERVAL, MODULE_NAME": publish interval")) +{ + if (device) { + strncpy(_device, device, sizeof(_device) - 1); + _device[sizeof(_device) - 1] = '\0'; + } +} + +SbusRc::~SbusRc() +{ + perf_free(_cycle_perf); + perf_free(_publish_interval_perf); +} + +int SbusRc::task_spawn(int argc, char *argv[]) +{ + bool error_flag = false; + + int myoptind = 1; + int ch; + const char *myoptarg = nullptr; + const char *device_name = nullptr; + bool silent = false; + + while ((ch = px4_getopt(argc, argv, "d:", &myoptind, &myoptarg)) != EOF) { + switch (ch) { + case 'd': + device_name = myoptarg; + silent = false; + break; + + case '?': + error_flag = true; + break; + + default: + PX4_WARN("unrecognized flag"); + error_flag = true; + break; + } + } + + if (error_flag) { + return -1; + } + + if (device_name && (access(device_name, R_OK | W_OK) == 0)) { + SbusRc *instance = new SbusRc(device_name); + + if (instance == nullptr) { + PX4_ERR("alloc failed"); + return PX4_ERROR; + } + + _object.store(instance); + _task_id = task_id_is_work_queue; + + instance->ScheduleOnInterval(_current_update_interval); + + return PX4_OK; + + } else if (silent) { + return PX4_OK; + + } else { + if (device_name) { + PX4_ERR("invalid device (-d) %s", device_name); + + } else { + PX4_ERR("valid device required"); + } + } + + return PX4_ERROR; +} + +void SbusRc::Run() +{ + if (should_exit()) { + + close(_rcs_fd); + + exit_and_cleanup(); + return; + } + + perf_begin(_cycle_perf); + + // Check if parameters have changed + if (_parameter_update_sub.updated()) { + // clear update + parameter_update_s param_update; + _parameter_update_sub.copy(¶m_update); + + updateParams(); + } + + const hrt_abstime cycle_timestamp = hrt_absolute_time(); + + bool rc_updated = false; + + constexpr hrt_abstime rc_scan_max = 3_s; + + // read all available data from the serial RC input UART + uint8_t rcs_buf[SBUS_BUFFER_SIZE] {}; + int newBytes = ::read(_rcs_fd, &rcs_buf[0], SBUS_BUFFER_SIZE); + + if (newBytes > 0) { + _bytes_rx += newBytes; + } + + const bool rc_scan_locked = _rc_scan_locked; + + if (_rc_scan_begin == 0) { + _rc_scan_begin = cycle_timestamp; + + // Configure serial port + if (_rcs_fd < 0) { + _rcs_fd = open(_device, O_RDWR | O_NONBLOCK); + } + + sbus_config(_rcs_fd, board_rc_singlewire(_device)); + + // First check if the board provides a board-specific inversion method (e.g. via GPIO), + // and if not use an IOCTL + if (!board_rc_invert_input(_device, true)) { +#if defined(TIOCSINVERT) + ioctl(_rcs_fd, TIOCSINVERT, SER_INVERT_ENABLED_RX | SER_INVERT_ENABLED_TX); +#endif // TIOCSINVERT + } + + // flush serial buffer and any existing buffered data + tcflush(_rcs_fd, TCIOFLUSH); + + } else if (_rc_scan_locked + || cycle_timestamp - _rc_scan_begin < rc_scan_max) { + + if (newBytes > 0) { + uint16_t raw_rc_values[input_rc_s::RC_INPUT_MAX_CHANNELS] {}; + uint16_t raw_rc_count = 0; + bool sbus_failsafe = false; + bool sbus_frame_drop = false; + unsigned sbus_frame_drops = 0; + + if (sbus_parse(cycle_timestamp, &rcs_buf[0], newBytes, &raw_rc_values[0], &raw_rc_count, + &sbus_failsafe, &sbus_frame_drop, &sbus_frame_drops, input_rc_s::RC_INPUT_MAX_CHANNELS) + ) { + // we have a new SBUS frame. Publish it. + input_rc_s input_rc{}; + input_rc.timestamp_last_signal = cycle_timestamp; + input_rc.channel_count = math::constrain(raw_rc_count, (uint16_t)0, (uint16_t)input_rc_s::RC_INPUT_MAX_CHANNELS); + input_rc.rssi = -1; + input_rc.input_source = input_rc_s::RC_INPUT_SOURCE_PX4FMU_SBUS; + + unsigned valid_chans = 0; + + for (unsigned i = 0; i < input_rc.channel_count; i++) { + input_rc.values[i] = raw_rc_values[i]; + + if (raw_rc_values[i] != UINT16_MAX) { + valid_chans++; + } + } + + input_rc.channel_count = valid_chans; + + if ((_param_rc_rssi_pwm_chan.get() > 0) && (_param_rc_rssi_pwm_chan.get() < input_rc.channel_count)) { + const int32_t rssi_pwm_chan = _param_rc_rssi_pwm_chan.get(); + const int32_t rssi_pwm_min = _param_rc_rssi_pwm_min.get(); + const int32_t rssi_pwm_max = _param_rc_rssi_pwm_max.get(); + + // get RSSI from input channel + int rc_rssi = ((input_rc.values[rssi_pwm_chan - 1] - rssi_pwm_min) * 100) / (rssi_pwm_max - rssi_pwm_min); + input_rc.rssi = math::constrain(rc_rssi, 0, 100); + } + + if (valid_chans == 0) { + input_rc.rssi = 0; + } + + input_rc.rc_failsafe = sbus_failsafe; + input_rc.rc_lost = (valid_chans == 0); + input_rc.rc_lost_frame_count = sbus_frame_drops; + + input_rc.link_quality = -1; + input_rc.rssi_dbm = NAN; + + input_rc.timestamp = hrt_absolute_time(); + _input_rc_pub.publish(input_rc); + perf_count(_publish_interval_perf); + + _timestamp_last_signal = cycle_timestamp; + rc_updated = true; + + if (valid_chans > 0) { + _rc_scan_locked = true; + } + } + } + + } else { + _rc_scan_begin = 0; + _rc_scan_locked = false; + + close(_rcs_fd); + _rcs_fd = -1; + } + + if (!rc_updated && (hrt_elapsed_time(&_timestamp_last_signal) > 1_s)) { + _rc_scan_locked = false; + } + + if (!rc_scan_locked && _rc_scan_locked) { + PX4_INFO("RC input locked"); + } + + perf_end(_cycle_perf); +} + +int SbusRc::custom_command(int argc, char *argv[]) +{ + if (!is_running()) { + int ret = SbusRc::task_spawn(argc, argv); + + if (ret) { + return ret; + } + } + + return print_usage("unknown command"); +} + +int SbusRc::print_status() +{ + PX4_INFO("Max update rate: %u Hz", 1000000 / _current_update_interval); + + if (_device[0] != '\0') { + PX4_INFO("UART device: %s", _device); + PX4_INFO("UART RX bytes: %" PRIu32, _bytes_rx); + } + + PX4_INFO("RC state: %s", _rc_scan_locked ? "found" : "searching for signal"); + + perf_print_counter(_cycle_perf); + perf_print_counter(_publish_interval_perf); + + return 0; +} + +int SbusRc::print_usage(const char *reason) +{ + if (reason) { + PX4_WARN("%s\n", reason); + } + + PRINT_MODULE_DESCRIPTION( + R"DESCR_STR( +### Description +This module does SBUS RC input parsing. + +)DESCR_STR"); + + PRINT_MODULE_USAGE_NAME("sbus_rc", "driver"); + PRINT_MODULE_USAGE_COMMAND("start"); + PRINT_MODULE_USAGE_PARAM_STRING('d', "/dev/ttyS3", "", "RC device", true); + PRINT_MODULE_USAGE_DEFAULT_COMMANDS(); + + return 0; +} + +extern "C" __EXPORT int sbus_rc_main(int argc, char *argv[]) +{ + return SbusRc::main(argc, argv); +} diff --git a/src/drivers/rc/sbus_rc/SbusRc.hpp b/src/drivers/rc/sbus_rc/SbusRc.hpp new file mode 100644 index 000000000000..c02d7e3f50a2 --- /dev/null +++ b/src/drivers/rc/sbus_rc/SbusRc.hpp @@ -0,0 +1,102 @@ +/**************************************************************************** + * + * Copyright (c) 2012-2024 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#pragma once + +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +using namespace time_literals; + +class SbusRc : public ModuleBase, public ModuleParams, public px4::ScheduledWorkItem +{ +public: + + SbusRc(const char *device); + virtual ~SbusRc(); + + /** @see ModuleBase */ + static int task_spawn(int argc, char *argv[]); + + /** @see ModuleBase */ + static int custom_command(int argc, char *argv[]); + + /** @see ModuleBase */ + static int print_usage(const char *reason = nullptr); + + /** @see ModuleBase::print_status() */ + int print_status() override; + +private: + + void Run() override; + + hrt_abstime _rc_scan_begin{0}; + hrt_abstime _timestamp_last_signal{0}; + + bool _rc_scan_locked{false}; + + static constexpr unsigned _current_update_interval{4000}; // 250 Hz + + uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s}; + + uORB::PublicationMulti _input_rc_pub{ORB_ID(input_rc)}; + + int _rcs_fd{-1}; + char _device[20] {}; ///< device / serial port path + + perf_counter_t _cycle_perf; + perf_counter_t _publish_interval_perf; + uint32_t _bytes_rx{0}; + + DEFINE_PARAMETERS( + (ParamInt) _param_rc_rssi_pwm_chan, + (ParamInt) _param_rc_rssi_pwm_min, + (ParamInt) _param_rc_rssi_pwm_max + ) +}; diff --git a/src/drivers/rc/sbus_rc/module.yaml b/src/drivers/rc/sbus_rc/module.yaml new file mode 100644 index 000000000000..bc8a0ee14078 --- /dev/null +++ b/src/drivers/rc/sbus_rc/module.yaml @@ -0,0 +1,10 @@ +module_name: SBUS RC Input Driver +serial_config: + - command: "sbus_rc start -d ${SERIAL_DEV}" + port_config_param: + name: RC_SBUS_PRT_CFG + group: Serial + default: RC + #depends_on_port: RC + description_extended: | + SBUS RC driver. diff --git a/src/drivers/rc_input/Kconfig b/src/drivers/rc_input/Kconfig index 1ada2e84f4d8..373966572be8 100644 --- a/src/drivers/rc_input/Kconfig +++ b/src/drivers/rc_input/Kconfig @@ -2,4 +2,4 @@ menuconfig DRIVERS_RC_INPUT bool "rc_input" default n ---help--- - Enable support for rc_input \ No newline at end of file + Enable support for rc_input diff --git a/src/drivers/rc_input/RCInput.cpp b/src/drivers/rc_input/RCInput.cpp index 80c7d7afd15b..12cd1ab0bf40 100644 --- a/src/drivers/rc_input/RCInput.cpp +++ b/src/drivers/rc_input/RCInput.cpp @@ -124,6 +124,7 @@ RCInput::task_spawn(int argc, char *argv[]) int ch; const char *myoptarg = nullptr; const char *device_name = nullptr; + bool silent = false; #if defined(RC_SERIAL_PORT) device_name = RC_SERIAL_PORT; #endif // RC_SERIAL_PORT @@ -133,6 +134,7 @@ RCInput::task_spawn(int argc, char *argv[]) // if RC_SERIAL_PORT == PX4IO_SERIAL_DEVICE then don't use it by default if the px4io is running if ((strcmp(RC_SERIAL_PORT, PX4IO_SERIAL_DEVICE) == 0) && (access("/dev/px4io", R_OK) == 0)) { device_name = nullptr; + silent = true; } #endif // RC_SERIAL_PORT && PX4IO_SERIAL_DEVICE @@ -141,6 +143,7 @@ RCInput::task_spawn(int argc, char *argv[]) switch (ch) { case 'd': device_name = myoptarg; + silent = false; break; case '?': @@ -173,6 +176,9 @@ RCInput::task_spawn(int argc, char *argv[]) return PX4_OK; + } else if (silent) { + return PX4_OK; + } else { if (device_name) { PX4_ERR("invalid device (-d) %s", device_name); @@ -185,23 +191,23 @@ RCInput::task_spawn(int argc, char *argv[]) return PX4_ERROR; } -void +int32_t RCInput::fill_rc_in(uint16_t raw_rc_count_local, uint16_t raw_rc_values_local[input_rc_s::RC_INPUT_MAX_CHANNELS], hrt_abstime now, bool frame_drop, bool failsafe, unsigned frame_drops, int rssi = -1) { // fill rc_in struct for publishing - _rc_in.channel_count = raw_rc_count_local; + _input_rc.channel_count = raw_rc_count_local; - if (_rc_in.channel_count > input_rc_s::RC_INPUT_MAX_CHANNELS) { - _rc_in.channel_count = input_rc_s::RC_INPUT_MAX_CHANNELS; + if (_input_rc.channel_count > input_rc_s::RC_INPUT_MAX_CHANNELS) { + _input_rc.channel_count = input_rc_s::RC_INPUT_MAX_CHANNELS; } unsigned valid_chans = 0; - for (unsigned i = 0; i < _rc_in.channel_count; i++) { - _rc_in.values[i] = raw_rc_values_local[i]; + for (unsigned i = 0; i < _input_rc.channel_count; i++) { + _input_rc.values[i] = raw_rc_values_local[i]; if (raw_rc_values_local[i] != UINT16_MAX) { valid_chans++; @@ -211,20 +217,20 @@ RCInput::fill_rc_in(uint16_t raw_rc_count_local, _raw_rc_values[i] = UINT16_MAX; } - _rc_in.timestamp = now; - _rc_in.timestamp_last_signal = _rc_in.timestamp; - _rc_in.rc_ppm_frame_length = 0; + _input_rc.timestamp = now; + _input_rc.timestamp_last_signal = _input_rc.timestamp; + _input_rc.rc_ppm_frame_length = 0; /* fake rssi if no value was provided */ if (rssi == -1) { - if ((_param_rc_rssi_pwm_chan.get() > 0) && (_param_rc_rssi_pwm_chan.get() < _rc_in.channel_count)) { + if ((_param_rc_rssi_pwm_chan.get() > 0) && (_param_rc_rssi_pwm_chan.get() < _input_rc.channel_count)) { const int32_t rssi_pwm_chan = _param_rc_rssi_pwm_chan.get(); const int32_t rssi_pwm_min = _param_rc_rssi_pwm_min.get(); const int32_t rssi_pwm_max = _param_rc_rssi_pwm_max.get(); // get RSSI from input channel - int rc_rssi = ((_rc_in.values[rssi_pwm_chan - 1] - rssi_pwm_min) * 100) / (rssi_pwm_max - rssi_pwm_min); - _rc_in.rssi = math::constrain(rc_rssi, 0, 100); + int rc_rssi = ((_input_rc.values[rssi_pwm_chan - 1] - rssi_pwm_min) * 100) / (rssi_pwm_max - rssi_pwm_min); + _input_rc.rssi = math::constrain(rc_rssi, 0, 100); } else if (_analog_rc_rssi_stable) { // set RSSI if analog RSSI input is present @@ -238,24 +244,26 @@ RCInput::fill_rc_in(uint16_t raw_rc_count_local, rssi_analog = 0.0f; } - _rc_in.rssi = rssi_analog; + _input_rc.rssi = rssi_analog; } else { - _rc_in.rssi = 255; + _input_rc.rssi = 255; } } else { - _rc_in.rssi = rssi; + _input_rc.rssi = rssi; } if (valid_chans == 0) { - _rc_in.rssi = 0; + _input_rc.rssi = 0; } - _rc_in.rc_failsafe = failsafe; - _rc_in.rc_lost = (valid_chans == 0); - _rc_in.rc_lost_frame_count = frame_drops; - _rc_in.rc_total_frame_count = 0; + _input_rc.rc_failsafe = failsafe; + _input_rc.rc_lost = (valid_chans == 0); + _input_rc.rc_lost_frame_count = frame_drops; + _input_rc.rc_total_frame_count = 0; + + return valid_chans; } void RCInput::set_rc_scan_state(RC_SCAN newState) @@ -296,6 +304,25 @@ void RCInput::rc_io_invert(bool invert) } } +void RCInput::swap_rx_tx() +{ +#if defined(RC_SERIAL_SWAP_USING_SINGLEWIRE) + int rv = -ENOTTY; +# if defined(TIOCSSWAP) + rv = ioctl(_rcs_fd, TIOCSSWAP, SER_SWAP_ENABLED); +# endif // TIOCSSWAP +# ifdef TIOCSSINGLEWIRE + + if (rv != OK) { + ioctl(_rcs_fd, TIOCSSINGLEWIRE, SER_SINGLEWIRE_ENABLED); + } + +# else + UNUSED(rv); +# endif // TIOCSSINGLEWIRE +#endif // RC_SERIAL_SWAP_USING_SINGLEWIRE +} + void RCInput::Run() { if (should_exit()) { @@ -468,10 +495,13 @@ void RCInput::Run() if (rc_updated) { // we have a new SBUS frame. Publish it. - _rc_in.input_source = input_rc_s::RC_INPUT_SOURCE_PX4FMU_SBUS; - fill_rc_in(_raw_rc_count, _raw_rc_values, cycle_timestamp, - sbus_frame_drop, sbus_failsafe, frame_drops); - _rc_scan_locked = true; + _input_rc.input_source = input_rc_s::RC_INPUT_SOURCE_PX4FMU_SBUS; + int32_t valid_chans = fill_rc_in(_raw_rc_count, _raw_rc_values, cycle_timestamp, + sbus_frame_drop, sbus_failsafe, frame_drops); + + if (valid_chans > 0) { + _rc_scan_locked = true; + } } } @@ -488,6 +518,7 @@ void RCInput::Run() _rc_scan_begin = cycle_timestamp; // Configure serial port for DSM dsm_config(_rcs_fd); + swap_rx_tx(); // flush serial buffer and any existing buffered data tcflush(_rcs_fd, TCIOFLUSH); @@ -506,10 +537,13 @@ void RCInput::Run() if (rc_updated) { // we have a new DSM frame. Publish it. - _rc_in.input_source = input_rc_s::RC_INPUT_SOURCE_PX4FMU_DSM; - fill_rc_in(_raw_rc_count, _raw_rc_values, cycle_timestamp, - false, false, frame_drops, dsm_rssi); - _rc_scan_locked = true; + _input_rc.input_source = input_rc_s::RC_INPUT_SOURCE_PX4FMU_DSM; + int32_t valid_chans = fill_rc_in(_raw_rc_count, _raw_rc_values, cycle_timestamp, + false, false, frame_drops, dsm_rssi); + + if (valid_chans > 0) { + _rc_scan_locked = true; + } } } @@ -525,6 +559,7 @@ void RCInput::Run() _rc_scan_begin = cycle_timestamp; // Configure serial port for DSM dsm_config(_rcs_fd); + swap_rx_tx(); // flush serial buffer and any existing buffered data tcflush(_rcs_fd, TCIOFLUSH); @@ -552,14 +587,17 @@ void RCInput::Run() if (rc_updated) { if (lost_count == 0) { // we have a new ST24 frame. Publish it. - _rc_in.input_source = input_rc_s::RC_INPUT_SOURCE_PX4FMU_ST24; - fill_rc_in(_raw_rc_count, _raw_rc_values, cycle_timestamp, - false, false, frame_drops, st24_rssi); - _rc_scan_locked = true; + _input_rc.input_source = input_rc_s::RC_INPUT_SOURCE_PX4FMU_ST24; + int32_t valid_chans = fill_rc_in(_raw_rc_count, _raw_rc_values, cycle_timestamp, + false, false, frame_drops, st24_rssi); + + if (valid_chans > 0) { + _rc_scan_locked = true; + } } else { // if the lost count > 0 means that there is an RC loss - _rc_in.rc_lost = true; + _input_rc.rc_lost = true; } } } @@ -576,6 +614,7 @@ void RCInput::Run() _rc_scan_begin = cycle_timestamp; // Configure serial port for DSM dsm_config(_rcs_fd); + swap_rx_tx(); // flush serial buffer and any existing buffered data tcflush(_rcs_fd, TCIOFLUSH); @@ -600,10 +639,13 @@ void RCInput::Run() if (rc_updated) { // we have a new SUMD frame. Publish it. - _rc_in.input_source = input_rc_s::RC_INPUT_SOURCE_PX4FMU_SUMD; - fill_rc_in(_raw_rc_count, _raw_rc_values, cycle_timestamp, - false, sumd_failsafe, frame_drops, sumd_rssi); - _rc_scan_locked = true; + _input_rc.input_source = input_rc_s::RC_INPUT_SOURCE_PX4FMU_SUMD; + int32_t valid_chans = fill_rc_in(_raw_rc_count, _raw_rc_values, cycle_timestamp, + false, sumd_failsafe, frame_drops, sumd_rssi); + + if (valid_chans > 0) { + _rc_scan_locked = true; + } } } @@ -625,14 +667,18 @@ void RCInput::Run() } else if (_rc_scan_locked || cycle_timestamp - _rc_scan_begin < rc_scan_max) { // see if we have new PPM input data - if ((ppm_last_valid_decode != _rc_in.timestamp_last_signal) && ppm_decoded_channels > 3) { + if ((ppm_last_valid_decode != _input_rc.timestamp_last_signal) && ppm_decoded_channels > 3) { // we have a new PPM frame. Publish it. rc_updated = true; - _rc_in.input_source = input_rc_s::RC_INPUT_SOURCE_PX4FMU_PPM; - fill_rc_in(ppm_decoded_channels, ppm_buffer, cycle_timestamp, false, false, 0); - _rc_scan_locked = true; - _rc_in.rc_ppm_frame_length = ppm_frame_length; - _rc_in.timestamp_last_signal = ppm_last_valid_decode; + _input_rc.input_source = input_rc_s::RC_INPUT_SOURCE_PX4FMU_PPM; + int32_t valid_chans = fill_rc_in(ppm_decoded_channels, ppm_buffer, cycle_timestamp, false, false, 0); + + if (valid_chans > 0) { + _rc_scan_locked = true; + } + + _input_rc.rc_ppm_frame_length = ppm_frame_length; + _input_rc.timestamp_last_signal = ppm_last_valid_decode; } } else { @@ -654,6 +700,7 @@ void RCInput::Run() _rc_scan_begin = cycle_timestamp; // Configure serial port for CRSF crsf_config(_rcs_fd); + swap_rx_tx(); // flush serial buffer and any existing buffered data tcflush(_rcs_fd, TCIOFLUSH); @@ -669,8 +716,8 @@ void RCInput::Run() if (rc_updated) { // we have a new CRSF frame. Publish it. - _rc_in.input_source = input_rc_s::RC_INPUT_SOURCE_PX4FMU_CRSF; - fill_rc_in(_raw_rc_count, _raw_rc_values, cycle_timestamp, false, false, 0); + _input_rc.input_source = input_rc_s::RC_INPUT_SOURCE_PX4FMU_CRSF; + int32_t valid_chans = fill_rc_in(_raw_rc_count, _raw_rc_values, cycle_timestamp, false, false, 0); // on Pixhawk (-related) boards we cannot write to the RC UART // another option is to use a different UART port @@ -682,7 +729,9 @@ void RCInput::Run() #endif /* BOARD_SUPPORTS_RC_SERIAL_PORT_OUTPUT */ - _rc_scan_locked = true; + if (valid_chans > 0) { + _rc_scan_locked = true; + } if (_crsf_telemetry) { _crsf_telemetry->update(cycle_timestamp); @@ -702,6 +751,7 @@ void RCInput::Run() _rc_scan_begin = cycle_timestamp; // Configure serial port for GHST ghst_config(_rcs_fd); + swap_rx_tx(); // flush serial buffer and any existing buffered data tcflush(_rcs_fd, TCIOFLUSH); @@ -718,8 +768,8 @@ void RCInput::Run() if (rc_updated) { // we have a new GHST frame. Publish it. - _rc_in.input_source = input_rc_s::RC_INPUT_SOURCE_PX4FMU_GHST; - fill_rc_in(_raw_rc_count, _raw_rc_values, cycle_timestamp, false, false, 0, ghst_rssi); + _input_rc.input_source = input_rc_s::RC_INPUT_SOURCE_PX4FMU_GHST; + int32_t valid_chans = fill_rc_in(_raw_rc_count, _raw_rc_values, cycle_timestamp, false, false, 0, ghst_rssi); // ghst telemetry works on fmu-v5 // on other Pixhawk (-related) boards we cannot write to the RC UART @@ -732,7 +782,9 @@ void RCInput::Run() #endif /* BOARD_SUPPORTS_RC_SERIAL_PORT_OUTPUT */ - _rc_scan_locked = true; + if (valid_chans > 0) { + _rc_scan_locked = true; + } if (_ghst_telemetry) { _ghst_telemetry->update(cycle_timestamp); @@ -753,12 +805,12 @@ void RCInput::Run() if (rc_updated) { perf_count(_publish_interval_perf); - _rc_in.link_quality = -1; - _rc_in.rssi_dbm = NAN; + _input_rc.link_quality = -1; + _input_rc.rssi_dbm = NAN; - _to_input_rc.publish(_rc_in); + _input_rc_pub.publish(_input_rc); - } else if (!rc_updated && !_armed && (hrt_elapsed_time(&_rc_in.timestamp_last_signal) > 1_s)) { + } else if (!rc_updated && !_armed && (hrt_elapsed_time(&_input_rc.timestamp_last_signal) > 1_s)) { _rc_scan_locked = false; } @@ -907,8 +959,8 @@ int RCInput::print_status() perf_print_counter(_cycle_perf); perf_print_counter(_publish_interval_perf); - if (hrt_elapsed_time(&_rc_in.timestamp) < 1_s) { - print_message(ORB_ID(input_rc), _rc_in); + if (hrt_elapsed_time(&_input_rc.timestamp) < 1_s) { + print_message(ORB_ID(input_rc), _input_rc); } return 0; diff --git a/src/drivers/rc_input/RCInput.hpp b/src/drivers/rc_input/RCInput.hpp index efea2ba23185..626d84d88cc4 100644 --- a/src/drivers/rc_input/RCInput.hpp +++ b/src/drivers/rc_input/RCInput.hpp @@ -118,15 +118,17 @@ class RCInput : public ModuleBase, public ModuleParams, public px4::Sch bool bind_spektrum(int arg = DSMX8_BIND_PULSES) const; #endif // SPEKTRUM_POWER - void fill_rc_in(uint16_t raw_rc_count_local, - uint16_t raw_rc_values_local[input_rc_s::RC_INPUT_MAX_CHANNELS], - hrt_abstime now, bool frame_drop, bool failsafe, - unsigned frame_drops, int rssi); + int32_t fill_rc_in(uint16_t raw_rc_count_local, + uint16_t raw_rc_values_local[input_rc_s::RC_INPUT_MAX_CHANNELS], + hrt_abstime now, bool frame_drop, bool failsafe, + unsigned frame_drops, int rssi); void set_rc_scan_state(RC_SCAN _rc_scan_state); void rc_io_invert(bool invert); + void swap_rx_tx(void); + input_rc_s _input_rc{}; hrt_abstime _rc_scan_begin{0}; bool _initialized{false}; @@ -140,16 +142,13 @@ class RCInput : public ModuleBase, public ModuleParams, public px4::Sch uORB::Subscription _vehicle_cmd_sub{ORB_ID(vehicle_command)}; uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)}; - input_rc_s _rc_in{}; + uORB::PublicationMulti _input_rc_pub{ORB_ID(input_rc)}; float _analog_rc_rssi_volt{-1.0f}; bool _analog_rc_rssi_stable{false}; bool _armed{false}; - - uORB::PublicationMulti _to_input_rc{ORB_ID(input_rc)}; - int _rcs_fd{-1}; char _device[20] {}; ///< device / serial port path diff --git a/src/drivers/rc_input/crsf_telemetry.cpp b/src/drivers/rc_input/crsf_telemetry.cpp index e11687b5d826..60286e0f40aa 100644 --- a/src/drivers/rc_input/crsf_telemetry.cpp +++ b/src/drivers/rc_input/crsf_telemetry.cpp @@ -81,8 +81,8 @@ bool CRSFTelemetry::send_battery() return false; } - uint16_t voltage = battery_status.voltage_filtered_v * 10; - uint16_t current = battery_status.current_filtered_a * 10; + uint16_t voltage = battery_status.voltage_v * 10; + uint16_t current = battery_status.current_a * 10; int fuel = battery_status.discharged_mah; uint8_t remaining = battery_status.remaining * 100; return crsf_send_telemetry_battery(_uart_fd, voltage, current, fuel, remaining); @@ -96,11 +96,11 @@ bool CRSFTelemetry::send_gps() return false; } - int32_t latitude = vehicle_gps_position.lat; - int32_t longitude = vehicle_gps_position.lon; + int32_t latitude = static_cast(round(vehicle_gps_position.latitude_deg * 1e7)); + int32_t longitude = static_cast(round(vehicle_gps_position.longitude_deg * 1e7)); uint16_t groundspeed = vehicle_gps_position.vel_d_m_s / 3.6f * 10.f; uint16_t gps_heading = math::degrees(vehicle_gps_position.cog_rad) * 100.f; - uint16_t altitude = vehicle_gps_position.alt + 1000; + uint16_t altitude = static_cast(round(vehicle_gps_position.altitude_msl_m + 1.0)); uint8_t num_satellites = vehicle_gps_position.satellites_used; return crsf_send_telemetry_gps(_uart_fd, latitude, longitude, groundspeed, diff --git a/src/drivers/rc_input/ghst_telemetry.cpp b/src/drivers/rc_input/ghst_telemetry.cpp index 2b253bbc3fe3..9a910063931a 100644 --- a/src/drivers/rc_input/ghst_telemetry.cpp +++ b/src/drivers/rc_input/ghst_telemetry.cpp @@ -90,8 +90,8 @@ bool GHSTTelemetry::send_battery_status() battery_status_s battery_status; if (_battery_status_sub.update(&battery_status)) { - voltage_in_10mV = battery_status.voltage_filtered_v * FACTOR_VOLTS_TO_10MV; - current_in_10mA = battery_status.current_filtered_a * FACTOR_AMPS_TO_10MA; + voltage_in_10mV = battery_status.voltage_v * FACTOR_VOLTS_TO_10MV; + current_in_10mA = battery_status.current_a * FACTOR_AMPS_TO_10MA; fuel_in_10mAh = battery_status.discharged_mah * FACTOR_MAH_TO_10MAH; success = ghst_send_telemetry_battery_status(_uart_fd, static_cast(voltage_in_10mV), @@ -110,9 +110,9 @@ bool GHSTTelemetry::send_gps1_status() return false; } - int32_t latitude = vehicle_gps_position.lat; // 1e-7 degrees - int32_t longitude = vehicle_gps_position.lon; // 1e-7 degrees - uint16_t altitude = vehicle_gps_position.alt / 1000; // mm -> m + int32_t latitude = static_cast(round(vehicle_gps_position.latitude_deg * 1e7)); // 1e-7 degrees + int32_t longitude = static_cast(round(vehicle_gps_position.longitude_deg * 1e7)); // 1e-7 degrees + uint16_t altitude = static_cast(round(vehicle_gps_position.altitude_msl_m)); // meters return ghst_send_telemetry_gps1_status(_uart_fd, latitude, longitude, altitude); } @@ -136,4 +136,3 @@ bool GHSTTelemetry::send_gps2_status() return ghst_send_telemetry_gps2_status(_uart_fd, ground_speed, ground_course, num_sats, home_dist, home_dir, flags); } - diff --git a/src/drivers/rc_input/module.yaml b/src/drivers/rc_input/module.yaml index d0f9040a6ff8..bf15df092074 100644 --- a/src/drivers/rc_input/module.yaml +++ b/src/drivers/rc_input/module.yaml @@ -32,4 +32,3 @@ serial_config: description_extended: | Setting this to 'Disabled' will use a board-specific default port for RC input. - diff --git a/src/drivers/roboclaw/CMakeLists.txt b/src/drivers/roboclaw/CMakeLists.txt new file mode 100644 index 000000000000..f32d2fae4b38 --- /dev/null +++ b/src/drivers/roboclaw/CMakeLists.txt @@ -0,0 +1,42 @@ +############################################################################ +# +# Copyright (c) 2015-2023 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +px4_add_module( + MODULE drivers__roboclaw + MAIN roboclaw + COMPILE_FLAGS + SRCS + Roboclaw.cpp + MODULE_CONFIG + module.yaml + ) diff --git a/src/drivers/roboclaw/Kconfig b/src/drivers/roboclaw/Kconfig new file mode 100644 index 000000000000..93395269a8d1 --- /dev/null +++ b/src/drivers/roboclaw/Kconfig @@ -0,0 +1,5 @@ +menuconfig DRIVERS_ROBOCLAW + bool "roboclaw" + default n + ---help--- + Enable support for roboclaw diff --git a/src/drivers/roboclaw/Roboclaw.cpp b/src/drivers/roboclaw/Roboclaw.cpp new file mode 100644 index 000000000000..d4aeeee5d3ee --- /dev/null +++ b/src/drivers/roboclaw/Roboclaw.cpp @@ -0,0 +1,545 @@ +/**************************************************************************** + * + * Copyright (c) 2013-2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file Roboclaw.cpp + * + * Roboclaw Motor Driver + * + * references: + * http://downloads.orionrobotics.com/downloads/datasheets/motor_controller_robo_claw_R0401.pdf + * + */ + +#include "Roboclaw.hpp" +#include + +Roboclaw::Roboclaw(const char *device_name, const char *bad_rate_parameter) : + OutputModuleInterface(MODULE_NAME, px4::wq_configurations::hp_default) +{ + strncpy(_stored_device_name, device_name, sizeof(_stored_device_name) - 1); + _stored_device_name[sizeof(_stored_device_name) - 1] = '\0'; // Ensure null-termination + + strncpy(_stored_baud_rate_parameter, bad_rate_parameter, sizeof(_stored_baud_rate_parameter) - 1); + _stored_baud_rate_parameter[sizeof(_stored_baud_rate_parameter) - 1] = '\0'; // Ensure null-termination +} + +Roboclaw::~Roboclaw() +{ + close(_uart_fd); +} + +int Roboclaw::initializeUART() +{ + // The Roboclaw has a serial communication timeout of 10ms + // Add a little extra to account for timing inaccuracy + static constexpr int TIMEOUT_US = 11_ms; + _uart_fd_timeout = { .tv_sec = 0, .tv_usec = TIMEOUT_US }; + + int32_t baud_rate_parameter_value{0}; + int32_t baud_rate_posix{0}; + param_get(param_find(_stored_baud_rate_parameter), &baud_rate_parameter_value); + + switch (baud_rate_parameter_value) { + case 0: // Auto + default: + PX4_ERR("Please configure the port's baud_rate_parameter_value"); + break; + + case 2400: + baud_rate_posix = B2400; + break; + + case 9600: + baud_rate_posix = B9600; + break; + + case 19200: + baud_rate_posix = B19200; + break; + + case 38400: + baud_rate_posix = B38400; + break; + + case 57600: + baud_rate_posix = B57600; + break; + + case 115200: + baud_rate_posix = B115200; + break; + + case 230400: + baud_rate_posix = B230400; + break; + + case 460800: + baud_rate_posix = B460800; + break; + } + + // start serial port + _uart_fd = open(_stored_device_name, O_RDWR | O_NOCTTY); + + if (_uart_fd < 0) { err(1, "could not open %s", _stored_device_name); } + + int ret = 0; + struct termios uart_config {}; + ret = tcgetattr(_uart_fd, &uart_config); + + if (ret < 0) { err(1, "failed to get attr"); } + + uart_config.c_oflag &= ~ONLCR; // no CR for every LF + uart_config.c_cflag &= ~CRTSCTS; + + // Set baud rate + ret = cfsetispeed(&uart_config, baud_rate_posix); + + if (ret < 0) { err(1, "failed to set input speed"); } + + ret = cfsetospeed(&uart_config, baud_rate_posix); + + if (ret < 0) { err(1, "failed to set output speed"); } + + ret = tcsetattr(_uart_fd, TCSANOW, &uart_config); + + if (ret < 0) { err(1, "failed to set attr"); } + + FD_ZERO(&_uart_fd_set); + FD_SET(_uart_fd, &_uart_fd_set); + + // Make sure the device does respond + static constexpr int READ_STATUS_RESPONSE_SIZE = 6; + uint8_t response_buffer[READ_STATUS_RESPONSE_SIZE]; + + if (receiveTransaction(Command::ReadStatus, response_buffer, READ_STATUS_RESPONSE_SIZE) < READ_STATUS_RESPONSE_SIZE) { + PX4_ERR("No valid response, stopping driver"); + request_stop(); + return ERROR; + + } else { + PX4_INFO("Successfully connected"); + return OK; + } +} + +bool Roboclaw::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS], + unsigned num_outputs, unsigned num_control_groups_updated) +{ + float right_motor_output = ((float)outputs[0] - 128.0f) / 127.f; + float left_motor_output = ((float)outputs[1] - 128.0f) / 127.f; + + if (stop_motors) { + setMotorSpeed(Motor::Right, 0.f); + setMotorSpeed(Motor::Left, 0.f); + + } else { + setMotorSpeed(Motor::Right, right_motor_output); + setMotorSpeed(Motor::Left, left_motor_output); + } + + return true; +} + +void Roboclaw::Run() +{ + if (should_exit()) { + ScheduleClear(); + exit_and_cleanup(); + _mixing_output.unregister(); + return; + } + + _mixing_output.update(); + + if (!_uart_initialized) { + initializeUART(); + _uart_initialized = true; + } + + // check for parameter updates + if (_parameter_update_sub.updated()) { + // Read from topic to clear updated flag + parameter_update_s parameter_update; + _parameter_update_sub.copy(¶meter_update); + + updateParams(); + } + + _actuator_armed_sub.update(); + _mixing_output.updateSubscriptions(false); + + if (readEncoder() != OK) { + PX4_ERR("Error reading encoders"); + } +} + +int Roboclaw::readEncoder() +{ + static constexpr int ENCODER_MESSAGE_SIZE = 10; // response size for ReadEncoderCounters + static constexpr int ENCODER_SPEED_MESSAGE_SIZE = 7; // response size for CMD_READ_SPEED_{1,2} + + uint8_t buffer_positon[ENCODER_MESSAGE_SIZE]; + uint8_t buffer_speed_right[ENCODER_SPEED_MESSAGE_SIZE]; + uint8_t buffer_speed_left[ENCODER_SPEED_MESSAGE_SIZE]; + + if (receiveTransaction(Command::ReadSpeedMotor1, buffer_speed_right, + ENCODER_SPEED_MESSAGE_SIZE) < ENCODER_SPEED_MESSAGE_SIZE) { + return ERROR; + } + + if (receiveTransaction(Command::ReadSpeedMotor2, buffer_speed_left, + ENCODER_SPEED_MESSAGE_SIZE) < ENCODER_SPEED_MESSAGE_SIZE) { + return ERROR; + } + + if (receiveTransaction(Command::ReadEncoderCounters, buffer_positon, ENCODER_MESSAGE_SIZE) < ENCODER_MESSAGE_SIZE) { + return ERROR; + } + + int32_t speed_right = swapBytesInt32(&buffer_speed_right[0]); + int32_t speed_left = swapBytesInt32(&buffer_speed_left[0]); + int32_t position_right = swapBytesInt32(&buffer_positon[0]); + int32_t position_left = swapBytesInt32(&buffer_positon[4]); + + wheel_encoders_s wheel_encoders{}; + wheel_encoders.wheel_speed[0] = static_cast(speed_right) / _param_rbclw_counts_rev.get() * M_TWOPI_F; + wheel_encoders.wheel_speed[1] = static_cast(speed_left) / _param_rbclw_counts_rev.get() * M_TWOPI_F; + wheel_encoders.wheel_angle[0] = static_cast(position_right) / _param_rbclw_counts_rev.get() * M_TWOPI_F; + wheel_encoders.wheel_angle[1] = static_cast(position_left) / _param_rbclw_counts_rev.get() * M_TWOPI_F; + wheel_encoders.timestamp = hrt_absolute_time(); + _wheel_encoders_pub.publish(wheel_encoders); + + return OK; +} + +void Roboclaw::setMotorSpeed(Motor motor, float value) +{ + Command command; + + // send command + if (motor == Motor::Right) { + if (value > 0) { + command = Command::DriveForwardMotor1; + + } else { + command = Command::DriveBackwardsMotor1; + } + + } else if (motor == Motor::Left) { + if (value > 0) { + command = Command::DriveForwardMotor2; + + } else { + command = Command::DriveBackwardsMotor2; + } + + } else { + return; + } + + sendUnsigned7Bit(command, value); +} + +void Roboclaw::setMotorDutyCycle(Motor motor, float value) +{ + Command command; + + // send command + if (motor == Motor::Right) { + command = Command::DutyCycleMotor1; + + } else if (motor == Motor::Left) { + command = Command::DutyCycleMotor2; + + } else { + return; + } + + return sendSigned16Bit(command, value); +} + +void Roboclaw::resetEncoders() +{ + sendTransaction(Command::ResetEncoders, nullptr, 0); +} + +void Roboclaw::sendUnsigned7Bit(Command command, float data) +{ + data = fabs(data); + + if (data >= 1.0f) { + data = 0.99f; + } + + auto byte = (uint8_t)(data * INT8_MAX); + sendTransaction(command, &byte, 1); +} + +void Roboclaw::sendSigned16Bit(Command command, float data) +{ + int16_t value = math::constrain(data, -1.f, 1.f) * INT16_MAX; + uint8_t buff[2]; + buff[0] = (value >> 8) & 0xFF; // High byte + buff[1] = value & 0xFF; // Low byte + sendTransaction(command, (uint8_t *) &buff, 2); +} + +int Roboclaw::sendTransaction(Command cmd, uint8_t *write_buffer, size_t bytes_to_write) +{ + if (writeCommandWithPayload(cmd, write_buffer, bytes_to_write) != OK) { + return ERROR; + } + + return readAcknowledgement(); +} + +int Roboclaw::writeCommandWithPayload(Command command, uint8_t *wbuff, size_t bytes_to_write) +{ + size_t packet_size = 2 + bytes_to_write + 2; + uint8_t buffer[packet_size]; + + // Add address + command ID + buffer[0] = (uint8_t) _param_rbclw_address.get(); + buffer[1] = static_cast(command); + + // Add payload + if (bytes_to_write > 0 && wbuff) { + memcpy(&buffer[2], wbuff, bytes_to_write); + } + + // Add checksum + uint16_t sum = _calcCRC(buffer, packet_size - 2); + buffer[packet_size - 2] = (sum >> 8) & 0xFF; + buffer[packet_size - 1] = sum & 0xFFu; + + // Write to device + size_t bytes_written = write(_uart_fd, buffer, packet_size); + + // Not all bytes sent + if (bytes_written < packet_size) { + PX4_ERR("Only wrote %d out of %d bytes", bytes_written, bytes_to_write); + return ERROR; + } + + return OK; +} + +int Roboclaw::readAcknowledgement() +{ + int select_status = select(_uart_fd + 1, &_uart_fd_set, nullptr, nullptr, &_uart_fd_timeout); + + if (select_status <= 0) { + PX4_ERR("ACK timeout"); + return ERROR; + } + + uint8_t acknowledgement{0}; + int bytes_read = read(_uart_fd, &acknowledgement, 1); + + if ((bytes_read != 1) || (acknowledgement != 0xFF)) { + PX4_ERR("ACK wrong"); + return ERROR; + } + + return OK; +} + +int Roboclaw::receiveTransaction(Command command, uint8_t *read_buffer, size_t bytes_to_read) +{ + if (writeCommand(command) != OK) { + return ERROR; + } + + return readResponse(command, read_buffer, bytes_to_read); +} + +int Roboclaw::writeCommand(Command command) +{ + uint8_t buffer[2]; + + // Just address + command ID + buffer[0] = (uint8_t)_param_rbclw_address.get(); + buffer[1] = static_cast(command); + + size_t bytes_written = write(_uart_fd, buffer, 2); + + if (bytes_written < 2) { + PX4_ERR("Only wrote %d out of %d bytes", bytes_written, 2); + return ERROR; + } + + return OK; +} + +int Roboclaw::readResponse(Command command, uint8_t *read_buffer, size_t bytes_to_read) +{ + size_t total_bytes_read = 0; + + while (total_bytes_read < bytes_to_read) { + int select_status = select(_uart_fd + 1, &_uart_fd_set, nullptr, nullptr, &_uart_fd_timeout); + + if (select_status <= 0) { + PX4_ERR("Select timeout %d\n", select_status); + return ERROR; + } + + int bytes_read = read(_uart_fd, &read_buffer[total_bytes_read], bytes_to_read - total_bytes_read); + + if (bytes_read <= 0) { + PX4_ERR("Read timeout %d\n", select_status); + return ERROR; + } + + total_bytes_read += bytes_read; + } + + if (total_bytes_read < 2) { + PX4_ERR("Too short payload received\n"); + return ERROR; + } + + // Verify response checksum + uint8_t address = static_cast(_param_rbclw_address.get()); + uint8_t command_byte = static_cast(command); + uint16_t crc_calculated = _calcCRC(&address, 1); // address + crc_calculated = _calcCRC(&command_byte, 1, crc_calculated); // command + crc_calculated = _calcCRC(read_buffer, total_bytes_read - 2, crc_calculated); // received payload + uint16_t crc_received = (read_buffer[total_bytes_read - 2] << 8) + read_buffer[total_bytes_read - 1]; + + if (crc_calculated != crc_received) { + PX4_ERR("Checksum mismatch\n"); + return ERROR; + } + + return total_bytes_read; +} + +uint16_t Roboclaw::_calcCRC(const uint8_t *buffer, size_t bytes, uint16_t init) +{ + uint16_t crc = init; + + for (size_t byte = 0; byte < bytes; byte++) { + crc = crc ^ (((uint16_t) buffer[byte]) << 8); + + for (uint8_t bit = 0; bit < 8; bit++) { + if (crc & 0x8000) { + crc = (crc << 1) ^ 0x1021; + + } else { + crc = crc << 1; + } + } + } + + return crc; +} + +int32_t Roboclaw::swapBytesInt32(uint8_t *buffer) +{ + return (buffer[0] << 24) + | (buffer[1] << 16) + | (buffer[2] << 8) + | buffer[3]; +} + +int Roboclaw::task_spawn(int argc, char *argv[]) +{ + const char *device_name = argv[1]; + const char *baud_rate_parameter_value = argv[2]; + + Roboclaw *instance = new Roboclaw(device_name, baud_rate_parameter_value); + + if (instance) { + _object.store(instance); + _task_id = task_id_is_work_queue; + instance->ScheduleNow(); + return OK; + + } else { + PX4_ERR("alloc failed"); + } + + delete instance; + _object.store(nullptr); + _task_id = -1; + + printf("Ending task_spawn"); + + return ERROR; +} + +int Roboclaw::custom_command(int argc, char *argv[]) +{ + return print_usage("unknown command"); +} + +int Roboclaw::print_usage(const char *reason) +{ + if (reason) { + PX4_WARN("%s\n", reason); + } + + PRINT_MODULE_DESCRIPTION(R"DESCR_STR( +### Description + +This driver communicates over UART with the [Roboclaw motor driver](https://www.basicmicro.com/motor-controller). +It performs two tasks: + + - Control the motors based on the OutputModuleInterface. + - Read the wheel encoders and publish the raw data in the `wheel_encoders` uORB topic + +In order to use this driver, the Roboclaw should be put into Packet Serial mode (see the linked documentation), and +your flight controller's UART port should be connected to the Roboclaw as shown in the documentation. +The driver needs to be enabled using the parameter `RBCLW_SER_CFG`, the baudrate needs to be set correctly and +the address `RBCLW_ADDRESS` needs to match the ESC configuration. + +The command to start this driver is: `$ roboclaw start ` +)DESCR_STR"); + + PRINT_MODULE_USAGE_NAME("roboclaw", "driver"); + PRINT_MODULE_USAGE_COMMAND("start"); + PRINT_MODULE_USAGE_DEFAULT_COMMANDS(); + return 0; +} + +int Roboclaw::print_status() +{ + return 0; +} + +extern "C" __EXPORT int roboclaw_main(int argc, char *argv[]) +{ + return Roboclaw::main(argc, argv); +} diff --git a/src/drivers/roboclaw/Roboclaw.hpp b/src/drivers/roboclaw/Roboclaw.hpp new file mode 100644 index 000000000000..c58ef1bf5eb6 --- /dev/null +++ b/src/drivers/roboclaw/Roboclaw.hpp @@ -0,0 +1,141 @@ +/**************************************************************************** + * + * Copyright (C) 2013-2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file Roboclaw.hpp + * + * Roboclaw motor control driver + * + * Product page: https://www.basicmicro.com/motor-controller + * Manual: https://downloads.basicmicro.com/docs/roboclaw_user_manual.pdf + */ + +#pragma once + +#include +#include +#include +#include + +#include +#include +#include + +#include +#include + +class Roboclaw : public ModuleBase, public OutputModuleInterface +{ +public: + /** + * @param device_name Name of the serial port e.g. "/dev/ttyS2" + * @param bad_rate_parameter Name of the parameter that holds the baud rate of this serial port + */ + Roboclaw(const char *device_name, const char *bad_rate_parameter); + virtual ~Roboclaw(); + + enum class Motor { + Right = 0, + Left = 1 + }; + + static int task_spawn(int argc, char *argv[]); ///< @see ModuleBase + static int custom_command(int argc, char *argv[]); ///< @see ModuleBase + static int print_usage(const char *reason = nullptr); ///< @see ModuleBase + int print_status() override; ///< @see ModuleBase + + void Run() override; + + /** @see OutputModuleInterface */ + bool updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS], + unsigned num_outputs, unsigned num_control_groups_updated) override; + + void setMotorSpeed(Motor motor, float value); ///< rev/sec + void setMotorDutyCycle(Motor motor, float value); + int readEncoder(); + void resetEncoders(); + +private: + enum class Command : uint8_t { + ReadStatus = 90, + + DriveForwardMotor1 = 0, + DriveBackwardsMotor1 = 1, + DriveForwardMotor2 = 4, + DriveBackwardsMotor2 = 5, + DutyCycleMotor1 = 32, + DutyCycleMotor2 = 33, + + ReadSpeedMotor1 = 18, + ReadSpeedMotor2 = 19, + ResetEncoders = 20, + ReadEncoderCounters = 78, + }; + + static constexpr int MAX_ACTUATORS = 2; + MixingOutput _mixing_output{"RBCLW", MAX_ACTUATORS, *this, MixingOutput::SchedulingPolicy::Auto, false}; + + uORB::SubscriptionData _actuator_armed_sub{ORB_ID(actuator_armed)}; + uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)}; + uORB::Publication _wheel_encoders_pub{ORB_ID(wheel_encoders)}; + + char _stored_device_name[256]; // Adjust size as necessary + char _stored_baud_rate_parameter[256]; // Adjust size as necessary + + void sendUnsigned7Bit(Command command, float data); + void sendSigned16Bit(Command command, float data); + + // Roboclaw protocol + int sendTransaction(Command cmd, uint8_t *write_buffer, size_t bytes_to_write); + int writeCommandWithPayload(Command cmd, uint8_t *wbuff, size_t bytes_to_write); + int readAcknowledgement(); + + int receiveTransaction(Command cmd, uint8_t *read_buffer, size_t bytes_to_read); + int writeCommand(Command cmd); + int readResponse(Command command, uint8_t *read_buffer, size_t bytes_to_read); + + static uint16_t _calcCRC(const uint8_t *buf, size_t n, uint16_t init = 0); + int32_t swapBytesInt32(uint8_t *buffer); + + // UART handling + int initializeUART(); + bool _uart_initialized{false}; + int _uart_fd{0}; + fd_set _uart_fd_set; + struct timeval _uart_fd_timeout; + + DEFINE_PARAMETERS( + (ParamInt) _param_rbclw_address, + (ParamInt) _param_rbclw_counts_rev + ) +}; diff --git a/src/drivers/roboclaw/module.yaml b/src/drivers/roboclaw/module.yaml new file mode 100644 index 000000000000..1a4b58691c3c --- /dev/null +++ b/src/drivers/roboclaw/module.yaml @@ -0,0 +1,45 @@ +module_name: Roboclaw Driver +serial_config: + - command: roboclaw start ${SERIAL_DEV} ${BAUD_PARAM} + port_config_param: + name: RBCLW_SER_CFG + group: Roboclaw + +actuator_output: + output_groups: + - param_prefix: RBCLW + channel_label: 'Channel' + standard_params: + disarmed: { min: 128, max: 128, default: 128 } + min: { min: 1, max: 128, default: 1 } + max: { min: 128, max: 256, default: 256 } + failsafe: { min: 0, max: 257 } + num_channels: 2 + +parameters: + - group: Roboclaw Driver + definitions: + RBCLW_COUNTS_REV: + description: + short: Number of encoder counts for one wheel revolution + long: The default value of 1200 corresponds to the default configuration of the Aion R1 rover. + type: int32 + default: 1200 + min: 1 + RBCLW_ADDRESS: + description: + short: Address of the ESC on the bus + long: The ESC has to be configured to have an address from 0x80 to 0x87. This parameter needs to match the configured value. + type: enum + default: 128 + min: 128 + max: 135 + values: + 128: '0x80' + 129: '0x81' + 130: '0x82' + 131: '0x83' + 132: '0x84' + 133: '0x85' + 134: '0x86' + 135: '0x87' diff --git a/src/drivers/rpi_rc_in/CMakeLists.txt b/src/drivers/rpi_rc_in/CMakeLists.txt index 69ff3eb7dcba..06a106b13866 100644 --- a/src/drivers/rpi_rc_in/CMakeLists.txt +++ b/src/drivers/rpi_rc_in/CMakeLists.txt @@ -38,4 +38,3 @@ px4_add_module( rpi_rc_in.cpp DEPENDS ) - diff --git a/src/drivers/rpi_rc_in/Kconfig b/src/drivers/rpi_rc_in/Kconfig index c496b033c9e9..3ca01e4038b7 100644 --- a/src/drivers/rpi_rc_in/Kconfig +++ b/src/drivers/rpi_rc_in/Kconfig @@ -2,4 +2,4 @@ menuconfig DRIVERS_RPI_RC_IN bool "rpi_rc_in" default n ---help--- - Enable support for rpi_rc_in \ No newline at end of file + Enable support for rpi_rc_in diff --git a/src/drivers/rpi_rc_in/rpi_rc_in.cpp b/src/drivers/rpi_rc_in/rpi_rc_in.cpp index 6e52a274c805..619e5c00f17f 100644 --- a/src/drivers/rpi_rc_in/rpi_rc_in.cpp +++ b/src/drivers/rpi_rc_in/rpi_rc_in.cpp @@ -211,4 +211,3 @@ int rpi_rc_in_main(int argc, char **argv) return 1; } - diff --git a/src/drivers/safety_button/Kconfig b/src/drivers/safety_button/Kconfig index e891c6f96c5e..5783e781aac2 100644 --- a/src/drivers/safety_button/Kconfig +++ b/src/drivers/safety_button/Kconfig @@ -2,4 +2,4 @@ menuconfig DRIVERS_SAFETY_BUTTON bool "safety_button" default n ---help--- - Enable support for safety_button \ No newline at end of file + Enable support for safety_button diff --git a/src/drivers/smart_battery/batmon/batmon.cpp b/src/drivers/smart_battery/batmon/batmon.cpp index e3e54db2f20b..9061a6d3e4aa 100644 --- a/src/drivers/smart_battery/batmon/batmon.cpp +++ b/src/drivers/smart_battery/batmon/batmon.cpp @@ -43,6 +43,7 @@ #include "batmon.h" #include +#include extern "C" __EXPORT int batmon_main(int argc, char *argv[]); @@ -145,13 +146,11 @@ void Batmon::RunImpl() // Convert millivolts to volts. new_report.voltage_v = ((float)result) / 1000.0f; - new_report.voltage_filtered_v = new_report.voltage_v; // Read current. ret |= _interface->read_word(BATT_SMBUS_CURRENT, result); new_report.current_a = (-1.0f * ((float)(*(int16_t *)&result)) / 1000.0f); - new_report.current_filtered_a = new_report.current_a; // Read average current. ret |= _interface->read_word(BATT_SMBUS_AVERAGE_CURRENT, result); @@ -186,7 +185,7 @@ void Batmon::RunImpl() // Read battery temperature and covert to Celsius. ret |= _interface->read_word(BATT_SMBUS_TEMP, result); - new_report.temperature = ((float)result / 10.0f) + CONSTANTS_ABSOLUTE_NULL_CELSIUS; + new_report.temperature = ((float)result / 10.0f) + atmosphere::kAbsoluteNullCelsius; // Only publish if no errors. if (ret == PX4_OK) { @@ -239,7 +238,7 @@ int Batmon::get_batmon_startup_info() _cell_count = math::min((uint8_t)num_cells, (uint8_t)MAX_CELL_COUNT); int32_t _num_cells = num_cells; - param_set(param_find("BAT_N_CELLS"), &_num_cells); + param_set(param_find("BAT1_N_CELLS"), &_num_cells); return ret; } diff --git a/src/drivers/sw_crypto/crypto.c b/src/drivers/sw_crypto/crypto.c index ca0a23de8e66..60c820f90656 100644 --- a/src/drivers/sw_crypto/crypto.c +++ b/src/drivers/sw_crypto/crypto.c @@ -276,8 +276,9 @@ bool crypto_encrypt_data(crypto_session_handle_t handle, uint8_t *key = (uint8_t *)crypto_get_key_ptr(handle.keystore_handle, key_idx, &key_sz); chacha20_context_t *context = handle.context; - if (key_sz == 32) { - context->ctr = crypto_xchacha20_ctr(cipher, message, *cipher_size, key, context->nonce, context->ctr); + if (key_sz == 32 && *cipher_size >= message_size) { + context->ctr = crypto_xchacha20_ctr(cipher, message, message_size, key, context->nonce, context->ctr); + *cipher_size = message_size; ret = true; } } diff --git a/src/drivers/tap_esc/TAP_ESC.cpp b/src/drivers/tap_esc/TAP_ESC.cpp index 2d6983d2a2ef..0d37dda2c0a4 100644 --- a/src/drivers/tap_esc/TAP_ESC.cpp +++ b/src/drivers/tap_esc/TAP_ESC.cpp @@ -65,6 +65,8 @@ int TAP_ESC::init() return ret; } + _esc_feedback_pub.advertise(); + /* Respect boot time required by the ESC FW */ hrt_abstime uptime_us = hrt_absolute_time(); diff --git a/src/drivers/tap_esc/tap_esc_uploader.cpp b/src/drivers/tap_esc/tap_esc_uploader.cpp index 03b3b84c5056..350e366b7347 100644 --- a/src/drivers/tap_esc/tap_esc_uploader.cpp +++ b/src/drivers/tap_esc/tap_esc_uploader.cpp @@ -163,7 +163,7 @@ int TAP_ESC_UPLOADER::upload_id(uint8_t esc_id, int32_t fw_size) /****************************************** * second: get device bootloader revision ******************************************/ - uint32_t bl_rev; + uint32_t bl_rev = 0; ret = get_device_info(esc_id, PROTO_GET_DEVICE, PROTO_DEVICE_BL_REV, bl_rev); if (ret == OK) { @@ -390,7 +390,7 @@ int TAP_ESC_UPLOADER::checkcrc(const char *filenames[]) return -EIO; } - uint32_t temp_revision; + uint32_t temp_revision = 0; /* get device bootloader revision */ ret = get_device_info(esc_id, PROTO_GET_DEVICE, PROTO_DEVICE_BL_REV, temp_revision); @@ -1098,7 +1098,7 @@ int TAP_ESC_UPLOADER::verify_crc(uint8_t esc_id, size_t fw_size_local) uint32_t sum = 0; uint32_t bytes_read = 0; uint32_t crc = 0; - uint32_t fw_size_remote; + uint32_t fw_size_remote = 0; uint8_t fill_blank = 0xff; file_buf = new uint8_t[PROG_MULTI_MAX]; diff --git a/src/drivers/tap_esc/tap_esc_uploader.h b/src/drivers/tap_esc/tap_esc_uploader.h index 1f1a0964bf36..abfd5ee65224 100644 --- a/src/drivers/tap_esc/tap_esc_uploader.h +++ b/src/drivers/tap_esc/tap_esc_uploader.h @@ -44,7 +44,7 @@ #include #include -#define TAP_ESC_FW_SEARCH_PATHS {"/etc/extras/tap_esc.bin", "/fs/microsd/tap_esc.bin", nullptr } +#define TAP_ESC_FW_SEARCH_PATHS {"/etc/extras/tap_esc.bin", CONFIG_BOARD_ROOT_PATH "/tap_esc.bin", nullptr } #define PROTO_SUPPORT_BL_REV 5 /**< supported bootloader protocol revision */ #define SYNC_RETRY_TIMES 5 /**< (uint8) esc sync failed allow retry times*/ #define UPLOADER_RETRY_TIMES 2 /**< esc uploader failed allow retry times*/ diff --git a/src/drivers/tattu_can/TattuCan.cpp b/src/drivers/tattu_can/TattuCan.cpp index 746a24137225..1f414c090796 100644 --- a/src/drivers/tattu_can/TattuCan.cpp +++ b/src/drivers/tattu_can/TattuCan.cpp @@ -115,9 +115,7 @@ void TattuCan::Run() battery_status.state_of_health = static_cast(tattu_message.health_status); battery_status.voltage_v = static_cast(tattu_message.voltage) / 1000.0f; - battery_status.voltage_filtered_v = static_cast(tattu_message.voltage) / 1000.0f; battery_status.current_a = static_cast(tattu_message.current) / 1000.0f; - battery_status.current_filtered_a = static_cast(tattu_message.current) / 1000.0f; battery_status.remaining = static_cast(tattu_message.remaining_percent) / 100.0f; battery_status.temperature = static_cast(tattu_message.temperature); battery_status.capacity = tattu_message.standard_capacity; diff --git a/src/drivers/telemetry/CMakeLists.txt b/src/drivers/telemetry/CMakeLists.txt index 0980f2d9f3e8..97e0ed7806cd 100644 --- a/src/drivers/telemetry/CMakeLists.txt +++ b/src/drivers/telemetry/CMakeLists.txt @@ -34,4 +34,4 @@ add_subdirectory(bst) add_subdirectory(frsky_telemetry) add_subdirectory(hott) -#add_subdirectory(iridiumsbd) +add_subdirectory(iridiumsbd) diff --git a/src/drivers/telemetry/bst/CMakeLists.txt b/src/drivers/telemetry/bst/CMakeLists.txt index c9c9e7ff798e..1bbeec9b8dd3 100644 --- a/src/drivers/telemetry/bst/CMakeLists.txt +++ b/src/drivers/telemetry/bst/CMakeLists.txt @@ -38,4 +38,3 @@ px4_add_module( bst.cpp DEPENDS ) - diff --git a/src/drivers/telemetry/bst/Kconfig b/src/drivers/telemetry/bst/Kconfig index 28ce52902d4c..89ed335272fa 100644 --- a/src/drivers/telemetry/bst/Kconfig +++ b/src/drivers/telemetry/bst/Kconfig @@ -2,4 +2,4 @@ menuconfig DRIVERS_TELEMETRY_BST bool "bst" default n ---help--- - Enable support for bst \ No newline at end of file + Enable support for bst diff --git a/src/drivers/telemetry/bst/bst.cpp b/src/drivers/telemetry/bst/bst.cpp index 5eaa83d01171..7d7013651bcb 100644 --- a/src/drivers/telemetry/bst/bst.cpp +++ b/src/drivers/telemetry/bst/bst.cpp @@ -268,9 +268,9 @@ void BST::RunImpl() if (gps.fix_type >= 3 && gps.eph < 50.0f) { BSTPacket bst_gps = {}; bst_gps.type = 0x02; - bst_gps.payload.lat = swap_int32(gps.lat); - bst_gps.payload.lon = swap_int32(gps.lon); - bst_gps.payload.alt = swap_int16(gps.alt / 1000 + 1000); + bst_gps.payload.lat = swap_int32(static_cast(round(gps.latitude_deg * 1e7))); + bst_gps.payload.lon = swap_int32(static_cast(round(gps.longitude_deg * 1e7))); + bst_gps.payload.alt = swap_int16(static_cast(round(gps.altitude_msl_m)) + 1000); bst_gps.payload.gs = swap_int16(gps.vel_m_s * 360.0f); bst_gps.payload.heading = swap_int16(gps.cog_rad * 18000.0f / M_PI_F); bst_gps.payload.sats = gps.satellites_used; diff --git a/src/drivers/telemetry/frsky_telemetry/CMakeLists.txt b/src/drivers/telemetry/frsky_telemetry/CMakeLists.txt index 719227703b75..49c86518a3da 100644 --- a/src/drivers/telemetry/frsky_telemetry/CMakeLists.txt +++ b/src/drivers/telemetry/frsky_telemetry/CMakeLists.txt @@ -41,4 +41,3 @@ px4_add_module( MODULE_CONFIG module.yaml ) - diff --git a/src/drivers/telemetry/frsky_telemetry/Kconfig b/src/drivers/telemetry/frsky_telemetry/Kconfig index ce7382b6c55a..dc453cc7a598 100644 --- a/src/drivers/telemetry/frsky_telemetry/Kconfig +++ b/src/drivers/telemetry/frsky_telemetry/Kconfig @@ -2,4 +2,4 @@ menuconfig DRIVERS_TELEMETRY_FRSKY_TELEMETRY bool "frsky_telemetry" default n ---help--- - Enable support for frsky_telemetry \ No newline at end of file + Enable support for frsky_telemetry diff --git a/src/drivers/telemetry/frsky_telemetry/module.yaml b/src/drivers/telemetry/frsky_telemetry/module.yaml index 796342de9c66..62f32aabec89 100644 --- a/src/drivers/telemetry/frsky_telemetry/module.yaml +++ b/src/drivers/telemetry/frsky_telemetry/module.yaml @@ -4,4 +4,3 @@ serial_config: port_config_param: name: TEL_FRSKY_CONFIG group: Telemetry - diff --git a/src/drivers/telemetry/frsky_telemetry/sPort_data.cpp b/src/drivers/telemetry/frsky_telemetry/sPort_data.cpp index 238f8949c0af..cac0b1c71974 100644 --- a/src/drivers/telemetry/frsky_telemetry/sPort_data.cpp +++ b/src/drivers/telemetry/frsky_telemetry/sPort_data.cpp @@ -233,11 +233,11 @@ void sPort_send_GPS_LON(int uart) /* send longitude */ /* convert to 30 bit signed magnitude degrees*6E5 with MSb = 1 and bit 30=sign */ /* precision is approximately 0.1m */ - uint32_t iLon = 6E-2 * fabs(s_port_subscription_data->vehicle_gps_position_sub.get().lon); + uint32_t iLon = 6E-2 * fabs(s_port_subscription_data->vehicle_gps_position_sub.get().longitude_deg * 1e7); iLon |= (1 << 31); - if (s_port_subscription_data->vehicle_gps_position_sub.get().lon < 0) { iLon |= (1 << 30); } + if (s_port_subscription_data->vehicle_gps_position_sub.get().longitude_deg < 0) { iLon |= (1 << 30); } sPort_send_data(uart, SMARTPORT_ID_GPS_LON_LAT, iLon); } @@ -246,9 +246,9 @@ void sPort_send_GPS_LAT(int uart) { /* send latitude */ /* convert to 30 bit signed magnitude degrees*6E5 with MSb = 0 and bit 30=sign */ - uint32_t iLat = 6E-2 * fabs(s_port_subscription_data->vehicle_gps_position_sub.get().lat); + uint32_t iLat = 6E-2 * fabs(s_port_subscription_data->vehicle_gps_position_sub.get().latitude_deg * 1e7); - if (s_port_subscription_data->vehicle_gps_position_sub.get().lat < 0) { iLat |= (1 << 30); } + if (s_port_subscription_data->vehicle_gps_position_sub.get().latitude_deg < 0) { iLat |= (1 << 30); } sPort_send_data(uart, SMARTPORT_ID_GPS_LON_LAT, iLat); } @@ -256,7 +256,7 @@ void sPort_send_GPS_LAT(int uart) void sPort_send_GPS_ALT(int uart) { /* send altitude */ - uint32_t iAlt = s_port_subscription_data->vehicle_gps_position_sub.get().alt / 10; + uint32_t iAlt = static_cast(s_port_subscription_data->vehicle_gps_position_sub.get().altitude_msl_m * 1e2); sPort_send_data(uart, SMARTPORT_ID_GPS_ALT, iAlt); } diff --git a/src/drivers/telemetry/hott/Kconfig b/src/drivers/telemetry/hott/Kconfig index 6f73e2013b38..564af12c4268 100644 --- a/src/drivers/telemetry/hott/Kconfig +++ b/src/drivers/telemetry/hott/Kconfig @@ -2,4 +2,4 @@ menuconfig DRIVERS_TELEMETRY_HOTT bool "hott" default n ---help--- - Enable support for hott \ No newline at end of file + Enable support for hott diff --git a/src/drivers/telemetry/hott/hott_sensors/CMakeLists.txt b/src/drivers/telemetry/hott/hott_sensors/CMakeLists.txt index e2f9ee6e7919..41e762a9824f 100644 --- a/src/drivers/telemetry/hott/hott_sensors/CMakeLists.txt +++ b/src/drivers/telemetry/hott/hott_sensors/CMakeLists.txt @@ -38,4 +38,3 @@ px4_add_module( hott_sensors.cpp DEPENDS ) - diff --git a/src/drivers/telemetry/hott/hott_telemetry/module.yaml b/src/drivers/telemetry/hott/hott_telemetry/module.yaml index ff50a8e3d4ee..1467a377ddb0 100644 --- a/src/drivers/telemetry/hott/hott_telemetry/module.yaml +++ b/src/drivers/telemetry/hott/hott_telemetry/module.yaml @@ -4,4 +4,3 @@ serial_config: port_config_param: name: TEL_HOTT_CONFIG group: Telemetry - diff --git a/src/drivers/telemetry/hott/messages.cpp b/src/drivers/telemetry/hott/messages.cpp index 96c2dd338685..f800a0056624 100644 --- a/src/drivers/telemetry/hott/messages.cpp +++ b/src/drivers/telemetry/hott/messages.cpp @@ -242,14 +242,14 @@ build_gps_response(uint8_t *buffer, size_t *size) msg.gps_speed_H = (uint8_t)(speed >> 8) & 0xff; /* Get latitude in degrees, minutes and seconds */ - double lat = ((double)(gps.lat)) * 1e-7d; + double lat = gps.latitude_deg; /* Set the N or S specifier */ msg.latitude_ns = 0; if (lat < 0) { msg.latitude_ns = 1; - lat = abs(lat); + lat = fabs(lat); } int deg; @@ -265,7 +265,7 @@ build_gps_response(uint8_t *buffer, size_t *size) msg.latitude_sec_H = (uint8_t)(lat_sec >> 8) & 0xff; /* Get longitude in degrees, minutes and seconds */ - double lon = ((double)(gps.lon)) * 1e-7d; + double lon = gps.longitude_deg; /* Set the E or W specifier */ msg.longitude_ew = 0; @@ -285,7 +285,7 @@ build_gps_response(uint8_t *buffer, size_t *size) msg.longitude_sec_H = (uint8_t)(lon_sec >> 8) & 0xff; /* Altitude */ - uint16_t alt = (uint16_t)(gps.alt * 1e-3f + 500.0f); + uint16_t alt = (uint16_t)(round(gps.altitude_msl_m) + 500.0); msg.altitude_L = (uint8_t)alt & 0xff; msg.altitude_H = (uint8_t)(alt >> 8) & 0xff; diff --git a/src/drivers/telemetry/iridiumsbd/IridiumSBD.cpp b/src/drivers/telemetry/iridiumsbd/IridiumSBD.cpp index 5fddd4ac46fe..1ee9d2c6276a 100644 --- a/src/drivers/telemetry/iridiumsbd/IridiumSBD.cpp +++ b/src/drivers/telemetry/iridiumsbd/IridiumSBD.cpp @@ -235,7 +235,7 @@ int IridiumSBD::print_status() PX4_INFO("RX session pending: %d", _rx_session_pending); PX4_INFO("RX read pending: %d", _rx_read_pending); PX4_INFO("Time since last signal check: %" PRId64, hrt_absolute_time() - _last_signal_check); - PX4_INFO("Last heartbeat: %" PRId64, _last_heartbeat); + PX4_INFO("Last heartbeat: %" PRId64, _last_at_ok_timestamp); return 0; } @@ -333,6 +333,11 @@ void IridiumSBD::standby_loop(void) } } + if (!is_modem_responsive()) { + VERBOSE_INFO("MODEM IS NOT RENSPONSIVE"); + return; + } + // check for incoming SBDRING, handled inside read_at_command() read_at_command(); @@ -477,7 +482,6 @@ void IridiumSBD::sbdsession_loop(void) _ring_pending = false; _tx_session_pending = false; _last_read_time = hrt_absolute_time(); - _last_heartbeat = _last_read_time; ++_successful_sbd_sessions; if (mt_queued > 0) { @@ -498,8 +502,6 @@ void IridiumSBD::sbdsession_loop(void) case 1: VERBOSE_INFO("SBD SESSION: MO SUCCESS, MT FAIL"); - _last_heartbeat = hrt_absolute_time(); - // after a successful session reset the tx buffer _tx_buf_write_idx = 0; ++_successful_sbd_sessions; @@ -552,11 +554,6 @@ void IridiumSBD::start_csq(void) _last_signal_check = hrt_absolute_time(); - if (!is_modem_ready()) { - VERBOSE_INFO("UPDATE SIGNAL QUALITY: MODEM NOT READY!"); - return; - } - write_at("AT+CSQ"); _new_state = SATCOM_STATE_CSQ; } @@ -571,11 +568,6 @@ void IridiumSBD::start_sbd_session(void) VERBOSE_INFO("STARTING SBD SESSION"); } - if (!is_modem_ready()) { - VERBOSE_INFO("SBD SESSION: MODEM NOT READY!"); - return; - } - if (_ring_pending) { write_at("AT+SBDIXA"); @@ -610,8 +602,8 @@ void IridiumSBD::start_test(void) printf("\n"); } - if (!is_modem_ready()) { - PX4_WARN("MODEM NOT READY!"); + if (!is_modem_responsive()) { + PX4_WARN("MODEM NOT RENSPONSIVE!"); return; } @@ -718,11 +710,6 @@ ssize_t IridiumSBD::read(struct file *filp, char *buffer, size_t buflen) void IridiumSBD::write_tx_buf() { - if (!is_modem_ready()) { - VERBOSE_INFO("WRITE SBD: MODEM NOT READY!"); - return; - } - pthread_mutex_lock(&_tx_buf_mutex); char command[13]; @@ -779,11 +766,6 @@ void IridiumSBD::write_tx_buf() void IridiumSBD::read_rx_buf(void) { - if (!is_modem_ready()) { - VERBOSE_INFO("READ SBD: MODEM NOT READY!"); - return; - } - pthread_mutex_lock(&_rx_buf_mutex); @@ -949,11 +931,12 @@ satcom_uart_status IridiumSBD::open_uart(char *uart_name) return SATCOM_UART_OK; } -bool IridiumSBD::is_modem_ready(void) +bool IridiumSBD::is_modem_responsive(void) { write_at("AT"); if (read_at_command() == SATCOM_RESULT_OK) { + _last_at_ok_timestamp = hrt_absolute_time(); return true; } else { @@ -980,9 +963,9 @@ void IridiumSBD::publish_iridium_status() { bool need_to_publish = false; - if (_status.last_heartbeat != _last_heartbeat) { + if (_status.last_at_ok_timestamp != _last_at_ok_timestamp) { need_to_publish = true; - _status.last_heartbeat = _last_heartbeat; + _status.last_at_ok_timestamp = _last_at_ok_timestamp; } if (_status.tx_buf_write_index != _tx_buf_write_idx) { diff --git a/src/drivers/telemetry/iridiumsbd/IridiumSBD.h b/src/drivers/telemetry/iridiumsbd/IridiumSBD.h index 3d628440e6ac..897201cf715c 100644 --- a/src/drivers/telemetry/iridiumsbd/IridiumSBD.h +++ b/src/drivers/telemetry/iridiumsbd/IridiumSBD.h @@ -245,7 +245,7 @@ class IridiumSBD : public cdev::CDev, public ModuleBase /* * Checks if the modem responds to the "AT" command */ - bool is_modem_ready(void); + bool is_modem_responsive(void); /* * Get the poll state @@ -321,7 +321,7 @@ class IridiumSBD : public cdev::CDev, public ModuleBase hrt_abstime _last_write_time = 0; hrt_abstime _last_read_time = 0; - hrt_abstime _last_heartbeat = 0; + hrt_abstime _last_at_ok_timestamp = 0; hrt_abstime _session_start_time = 0; satcom_state _state = SATCOM_STATE_STANDBY; diff --git a/src/drivers/telemetry/iridiumsbd/Kconfig b/src/drivers/telemetry/iridiumsbd/Kconfig index db01020c815d..f1dd631405c5 100644 --- a/src/drivers/telemetry/iridiumsbd/Kconfig +++ b/src/drivers/telemetry/iridiumsbd/Kconfig @@ -2,4 +2,4 @@ menuconfig DRIVERS_TELEMETRY_IRIDIUMSBD bool "iridiumsbd" default n ---help--- - Enable support for iridiumsbd \ No newline at end of file + Enable support for iridiumsbd diff --git a/src/drivers/telemetry/iridiumsbd/module.yaml b/src/drivers/telemetry/iridiumsbd/module.yaml index 5fa8d138c4c4..7ced65126767 100644 --- a/src/drivers/telemetry/iridiumsbd/module.yaml +++ b/src/drivers/telemetry/iridiumsbd/module.yaml @@ -12,4 +12,3 @@ serial_config: port_config_param: name: ISBD_CONFIG group: Iridium SBD - diff --git a/src/drivers/test_ppm/CMakeLists.txt b/src/drivers/test_ppm/CMakeLists.txt index dbe3b7b64828..2c9c91c5c455 100644 --- a/src/drivers/test_ppm/CMakeLists.txt +++ b/src/drivers/test_ppm/CMakeLists.txt @@ -38,4 +38,3 @@ px4_add_module( test_ppm.cpp DEPENDS ) - diff --git a/src/drivers/test_ppm/Kconfig b/src/drivers/test_ppm/Kconfig index 514f9fb52b44..2b4d370a5b43 100644 --- a/src/drivers/test_ppm/Kconfig +++ b/src/drivers/test_ppm/Kconfig @@ -2,4 +2,4 @@ menuconfig DRIVERS_TEST_PPM bool "test_ppm" default n ---help--- - Enable support for test_ppm \ No newline at end of file + Enable support for test_ppm diff --git a/src/drivers/tone_alarm/Kconfig b/src/drivers/tone_alarm/Kconfig index 3e7444f92b9a..f323b70af84e 100644 --- a/src/drivers/tone_alarm/Kconfig +++ b/src/drivers/tone_alarm/Kconfig @@ -2,4 +2,4 @@ menuconfig DRIVERS_TONE_ALARM bool "tone_alarm" default n ---help--- - Enable support for tone_alarm \ No newline at end of file + Enable support for tone_alarm diff --git a/src/drivers/tone_alarm/ToneAlarm.cpp b/src/drivers/tone_alarm/ToneAlarm.cpp index 5893f9018f7e..256f218b76f8 100644 --- a/src/drivers/tone_alarm/ToneAlarm.cpp +++ b/src/drivers/tone_alarm/ToneAlarm.cpp @@ -45,8 +45,6 @@ using namespace time_literals; ToneAlarm::ToneAlarm() : ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::hp_default) { - // ensure ORB_ID(tune_control) is advertised with correct queue depth - orb_advertise_queue(ORB_ID(tune_control), nullptr, tune_control_s::ORB_QUEUE_LENGTH); } ToneAlarm::~ToneAlarm() diff --git a/src/drivers/transponder/sagetech_mxs/SagetechMXS.cpp b/src/drivers/transponder/sagetech_mxs/SagetechMXS.cpp index cd0f5b11e538..b11f13f237ba 100644 --- a/src/drivers/transponder/sagetech_mxs/SagetechMXS.cpp +++ b/src/drivers/transponder/sagetech_mxs/SagetechMXS.cpp @@ -52,8 +52,6 @@ SagetechMXS::SagetechMXS(const char *port) : SagetechMXS::~SagetechMXS() { - free((char *)_port); - if (!(_fd < 0)) { close(_fd); } @@ -455,7 +453,7 @@ void SagetechMXS::determine_furthest_aircraft() continue; } - const float distance = get_distance_to_next_waypoint(_gps.lat * GPS_SCALE, _gps.lon * GPS_SCALE, + const float distance = get_distance_to_next_waypoint(_gps.latitude_deg, _gps.longitude_deg, vehicle_list[index].lat, vehicle_list[index].lon); @@ -492,8 +490,8 @@ void SagetechMXS::handle_vehicle(const transponder_report_s &vehicle) // needs to handle updating the vehicle list, keeping track of which vehicles to drop // and which to keep, allocating new vehicles, and publishing to the transponder_report topic uint16_t index = list_size_allocated + 1; // Make invalid to start with. - const bool my_loc_is_zero = (_gps.lat == 0) && (_gps.lon == 0); - const float my_loc_distance_to_vehicle = get_distance_to_next_waypoint(_gps.lat * GPS_SCALE, _gps.lon * GPS_SCALE, + const bool my_loc_is_zero = (fabs(_gps.latitude_deg) < DBL_EPSILON) && (fabs(_gps.longitude_deg) < DBL_EPSILON); + const float my_loc_distance_to_vehicle = get_distance_to_next_waypoint(_gps.latitude_deg, _gps.longitude_deg, vehicle.lat, vehicle.lon); const bool is_tracked_in_list = find_index(vehicle, &index); // const bool is_special = is_special_vehicle(vehicle.icao_address); @@ -745,7 +743,8 @@ void SagetechMXS::send_operating_msg() mxs_state.op.altRes25 = !mxs_state.inst.altRes100; // Host Altitude Resolution from install - mxs_state.op.altitude = _gps.alt * SAGETECH_SCALE_MM_TO_FT; // Height above sealevel in feet + mxs_state.op.altitude = static_cast(_gps.altitude_msl_m * + SAGETECH_SCALE_M_TO_FT); // Height above sealevel in feet mxs_state.op.identOn = _adsb_ident.get(); @@ -806,8 +805,8 @@ void SagetechMXS::send_gps_msg() } // Get Vehicle Longitude and Latitude and Convert to string - const int32_t longitude = _gps.lon; - const int32_t latitude = _gps.lat; + const int32_t longitude = static_cast(_gps.longitude_deg * 1e7); + const int32_t latitude = static_cast(_gps.latitude_deg * 1e7); const double lon_deg = longitude * 1.0E-7 * (longitude < 0 ? -1 : 1); const double lon_minutes = (lon_deg - int(lon_deg)) * 60; snprintf((char *)&gps.longitude, 12, "%03u%02u.%05u", (unsigned)lon_deg, (unsigned)lon_minutes, @@ -836,7 +835,7 @@ void SagetechMXS::send_gps_msg() snprintf((char *)&gps.timeOfFix, 11, "%02u%02u%06.3f", tm->tm_hour, tm->tm_min, tm->tm_sec + (_gps.time_utc_usec % 1000000) * 1.0e-6); - gps.height = _gps.alt_ellipsoid * 1E-3; + gps.height = (float)_gps.altitude_ellipsoid_m; // checkGPSInputs(&gps); last.msg.type = SG_MSG_TYPE_HOST_GPS; @@ -1284,7 +1283,8 @@ void SagetechMXS::auto_config_operating() mxs_state.op.altHostAvlbl = false; mxs_state.op.altRes25 = true; // Host Altitude Resolution from install - mxs_state.op.altitude = _gps.alt * SAGETECH_SCALE_MM_TO_FT; // Height above sealevel in feet + mxs_state.op.altitude = static_cast(_gps.altitude_msl_m * + SAGETECH_SCALE_M_TO_FT); // Height above sealevel in feet mxs_state.op.identOn = false; diff --git a/src/drivers/transponder/sagetech_mxs/SagetechMXS.hpp b/src/drivers/transponder/sagetech_mxs/SagetechMXS.hpp index f63661b629ba..ad4314d13036 100644 --- a/src/drivers/transponder/sagetech_mxs/SagetechMXS.hpp +++ b/src/drivers/transponder/sagetech_mxs/SagetechMXS.hpp @@ -142,7 +142,7 @@ class SagetechMXS : public ModuleBase, public ModuleParams, public static constexpr float SAGETECH_SCALE_KNOTS_TO_M_PER_SEC{0.514444F}; static constexpr float SAGETECH_SCALE_M_PER_SEC_TO_KNOTS{1.94384F}; static constexpr float SAGETECH_SCALE_FT_PER_MIN_TO_M_PER_SEC{0.00508F}; - static constexpr float SAGETECH_SCALE_MM_TO_FT{0.00328084F}; + static constexpr double SAGETECH_SCALE_M_TO_FT{3.28084}; static constexpr float SAGETECH_SCALE_M_PER_SEC_TO_FT_PER_MIN{196.85F}; static constexpr uint8_t ADSB_ALTITUDE_TYPE_PRESSURE_QNH{0}; static constexpr uint8_t ADSB_ALTITUDE_TYPE_GEOMETRIC{1}; @@ -156,7 +156,6 @@ class SagetechMXS : public ModuleBase, public ModuleParams, public static constexpr uint16_t INVALID_SQUAWK{7777}; static constexpr unsigned BAUD_460800{0010004}; // B460800 not defined in MacOS termios static constexpr unsigned BAUD_921600{0010007}; // B921600 not defined in MacOS termios - static constexpr double GPS_SCALE{1.0E-7}; // Stored variables uint64_t _loop_count; diff --git a/src/drivers/transponder/sagetech_mxs/sg_sdk/LICENSE b/src/drivers/transponder/sagetech_mxs/sg_sdk/LICENSE index f49a4e16e68b..261eeb9e9f8b 100644 --- a/src/drivers/transponder/sagetech_mxs/sg_sdk/LICENSE +++ b/src/drivers/transponder/sagetech_mxs/sg_sdk/LICENSE @@ -198,4 +198,4 @@ distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and - limitations under the License. \ No newline at end of file + limitations under the License. diff --git a/src/drivers/transponder/sagetech_mxs/sg_sdk/sagetech_mxs.h b/src/drivers/transponder/sagetech_mxs/sg_sdk/sagetech_mxs.h index 587b1dec396a..8ec7f29025cd 100644 --- a/src/drivers/transponder/sagetech_mxs/sg_sdk/sagetech_mxs.h +++ b/src/drivers/transponder/sagetech_mxs/sg_sdk/sagetech_mxs.h @@ -10,4 +10,4 @@ extern "C" #ifdef __cplusplus } -#endif \ No newline at end of file +#endif diff --git a/src/drivers/uavcan/CMakeLists.txt b/src/drivers/uavcan/CMakeLists.txt index 37993c97ce51..c70d029ea7e3 100644 --- a/src/drivers/uavcan/CMakeLists.txt +++ b/src/drivers/uavcan/CMakeLists.txt @@ -75,6 +75,7 @@ add_definitions( -DUAVCAN_${UAVCAN_DRIVER_UPPER}_${OS_UPPER}=1 -DUAVCAN_${UAVCAN_DRIVER_UPPER}_NUM_IFACES=${config_uavcan_num_ifaces} -DUAVCAN_${UAVCAN_DRIVER_UPPER}_TIMER_NUMBER=${UAVCAN_TIMER} + -DUAVCAN_NUM_IFACES=${config_uavcan_num_ifaces} -DUAVCAN_CPP_VERSION=UAVCAN_CPP03 -DUAVCAN_DRIVER=uavcan_${UAVCAN_DRIVER} -DUAVCAN_IMPLEMENT_PLACEMENT_NEW=1 @@ -167,6 +168,8 @@ px4_add_module( sensors/battery.cpp sensors/airspeed.cpp sensors/flow.cpp + sensors/fuel_tank_status.cpp + sensors/gnss_relative.cpp sensors/gnss.cpp sensors/mag.cpp sensors/rangefinder.cpp diff --git a/src/drivers/uavcan/Kconfig b/src/drivers/uavcan/Kconfig index c5f3d1e76ae3..0076d36568f5 100644 --- a/src/drivers/uavcan/Kconfig +++ b/src/drivers/uavcan/Kconfig @@ -1,9 +1,93 @@ menuconfig DRIVERS_UAVCAN bool "uavcan" default n + depends on PLATFORM_NUTTX ---help--- Enable support for uavcan +if DRIVERS_UAVCAN + config UAVCAN_ARMING_CONTROLLER + bool "Include arming status controller" + default y + + config UAVCAN_BEEP_CONTROLLER + bool "Include beep controller" + default y + + config UAVCAN_OUTPUTS_CONTROLLER + bool "Include servo & ESC controller" + default y + + config UAVCAN_HARDPOINT_CONTROLLER + bool "Include hardpoint controller" + default y + + config UAVCAN_SAFETY_STATE_CONTROLLER + bool "Include safety state controller" + default y + + config UAVCAN_RGB_CONTROLLER + bool "Include rgb controller" + default y + + config UAVCAN_SENSOR_ACCEL + bool "Subscribe to IMU: uavcan::equipment::ahrs::RawIMU" + default y + + config UAVCAN_SENSOR_AIRSPEED + bool "Subscribe to Airspeed: uavcan::equipment::air_data::IndicatedAirspeed | uavcan::equipment::air_data::TrueAirspeed | uavcan::equipment::air_data::StaticTemperature" + default y + + config UAVCAN_SENSOR_BARO + bool "Subscribe to Barometer: uavcan::equipment::air_data::StaticPressure | uavcan::equipment::air_data::StaticTemperature" + default y + + config UAVCAN_SENSOR_BATTERY + bool "Subscribe to Battery: uavcan::equipment::power::BatteryInfo | ardupilot::equipment::power::BatteryInfoAux" + default y + + config UAVCAN_SENSOR_DIFFERENTIAL_PRESSURE + bool "Subscribe to Differential Pressure: uavcan::equipment::air_data::RawAirData" + default y + + config UAVCAN_SENSOR_FLOW + bool "Subscribe to Flow: com::hex::equipment::flow::Measurement" + default y + + config UAVCAN_SENSOR_FUEL_TANK_STATUS + bool "Subscribe to Fuel Tank Status: uavcan::equipment::ice::FuelTankStatus" + default y + + config UAVCAN_SENSOR_GNSS + bool "Subscribe to GPS: uavcan::equipment::gnss::Auxiliary | uavcan::equipment::gnss::Fix | uavcan::equipment::gnss::Fix2" + default y + + config UAVCAN_SENSOR_GNSS_RELATIVE + bool "Subscribe to GPS Relative: ardupilot::equipment::gnss::RelPosHeading" + default y + + config UAVCAN_SENSOR_HYGROMETER + bool "Subscribe to Hygrometer: dronecan::sensors::hygrometer::Hygrometer" + default y + + config UAVCAN_SENSOR_ICE_STATUS + bool "Subscribe to Internal Combustion Engine: uavcan::equipment::ice::reciprocating::Status" + default y + + config UAVCAN_SENSOR_MAG + bool "Subscribe to Magnetometer: uavcan::equipment::ahrs::MagneticFieldStrength | uavcan::equipment::ahrs::MagneticFieldStrength2" + default y + + config UAVCAN_SENSOR_RANGEFINDER + bool "Subscribe to Rangefinder: uavcan::equipment::range_sensor::Measurement" + default y + + config UAVCAN_SENSOR_SAFETY_BUTTON + bool "Subscribe to Safety Button: ardupilot::indication::Button" + default y + +endif #DRIVERS_UAVCAN + menuconfig BOARD_UAVCAN_INTERFACES depends on DRIVERS_UAVCAN || DRIVERS_UAVCANNODE diff --git a/src/drivers/uavcan/actuators/esc.cpp b/src/drivers/uavcan/actuators/esc.cpp index 2031b3187750..12f5d8600bf2 100644 --- a/src/drivers/uavcan/actuators/esc.cpp +++ b/src/drivers/uavcan/actuators/esc.cpp @@ -64,6 +64,8 @@ UavcanEscController::init() return res; } + _esc_status_pub.advertise(); + return res; } diff --git a/src/drivers/uavcan/arming_status.cpp b/src/drivers/uavcan/arming_status.cpp index 3d4b720c982b..f37fc8e33b51 100644 --- a/src/drivers/uavcan/arming_status.cpp +++ b/src/drivers/uavcan/arming_status.cpp @@ -69,7 +69,7 @@ void UavcanArmingStatus::periodic_update(const uavcan::TimerEvent &) if (actuator_armed.lockdown || actuator_armed.manual_lockdown) { cmd.status = cmd.STATUS_DISARMED; - } else if (actuator_armed.armed || actuator_armed.prearmed) { + } else if (actuator_armed.armed) { cmd.status = cmd.STATUS_FULLY_ARMED; } else { diff --git a/src/drivers/uavcan/sensors/airspeed.cpp b/src/drivers/uavcan/sensors/airspeed.cpp index 1757c3a1451c..e62b29d5ead4 100644 --- a/src/drivers/uavcan/sensors/airspeed.cpp +++ b/src/drivers/uavcan/sensors/airspeed.cpp @@ -38,7 +38,7 @@ #include #include "airspeed.hpp" #include -#include // For CONSTANTS_* +#include const char *const UavcanAirspeedBridge::NAME = "airspeed"; @@ -104,7 +104,7 @@ UavcanAirspeedBridge::ias_sub_cb(const report.timestamp = hrt_absolute_time(); report.indicated_airspeed_m_s = msg.indicated_airspeed; report.true_airspeed_m_s = _last_tas_m_s; - report.air_temperature_celsius = _last_outside_air_temp_k + CONSTANTS_ABSOLUTE_NULL_CELSIUS; + report.air_temperature_celsius = _last_outside_air_temp_k + atmosphere::kAbsoluteNullCelsius; publish(msg.getSrcNodeID().get(), &report); } diff --git a/src/drivers/uavcan/sensors/baro.cpp b/src/drivers/uavcan/sensors/baro.cpp index 6658d4090ce3..90adfe175918 100644 --- a/src/drivers/uavcan/sensors/baro.cpp +++ b/src/drivers/uavcan/sensors/baro.cpp @@ -41,7 +41,7 @@ #include #include -#include // For CONSTANTS_* +#include const char *const UavcanBarometerBridge::NAME = "baro"; @@ -78,10 +78,10 @@ void UavcanBarometerBridge::air_temperature_sub_cb(const } else if (msg.static_temperature < 0) { // handle previous incorrect temperature conversion to Kelvin where 273 was subtracted instead of added (https://github.com/PX4/PX4-Autopilot/pull/19061) - float temperature_c = msg.static_temperature - CONSTANTS_ABSOLUTE_NULL_CELSIUS; + float temperature_c = msg.static_temperature - atmosphere::kAbsoluteNullCelsius; if (temperature_c > -40.f && temperature_c < 120.f) { - _last_temperature_kelvin = temperature_c - CONSTANTS_ABSOLUTE_NULL_CELSIUS; + _last_temperature_kelvin = temperature_c - atmosphere::kAbsoluteNullCelsius; } } } @@ -119,7 +119,7 @@ void UavcanBarometerBridge::air_pressure_sub_cb(const sensor_baro.pressure = msg.static_pressure; if (PX4_ISFINITE(_last_temperature_kelvin) && (_last_temperature_kelvin >= 0.f)) { - sensor_baro.temperature = _last_temperature_kelvin + CONSTANTS_ABSOLUTE_NULL_CELSIUS; + sensor_baro.temperature = _last_temperature_kelvin + atmosphere::kAbsoluteNullCelsius; } else { sensor_baro.temperature = NAN; diff --git a/src/drivers/uavcan/sensors/battery.cpp b/src/drivers/uavcan/sensors/battery.cpp index bace756c657c..77698cff16d1 100644 --- a/src/drivers/uavcan/sensors/battery.cpp +++ b/src/drivers/uavcan/sensors/battery.cpp @@ -33,7 +33,7 @@ #include "battery.hpp" -#include +#include #include #include @@ -104,9 +104,7 @@ UavcanBatteryBridge::battery_sub_cb(const uavcan::ReceivedDataStructure= 1, or -1 if unknown - _battery_status[instance].temperature = msg.temperature + CONSTANTS_ABSOLUTE_NULL_CELSIUS; // Kelvin to Celsius + _battery_status[instance].temperature = msg.temperature + atmosphere::kAbsoluteNullCelsius; // Kelvin to Celsius // _battery_status[instance].cell_count = msg.; _battery_status[instance].connected = true; _battery_status[instance].source = msg.status_flags & uavcan::equipment::power::BatteryInfo::STATUS_FLAG_IN_USE; @@ -239,7 +237,7 @@ UavcanBatteryBridge::filterData(const uavcan::ReceivedDataStructuregetBatteryStatus(); - _battery_status[instance].temperature = msg.temperature + CONSTANTS_ABSOLUTE_NULL_CELSIUS; // Kelvin to Celsius + _battery_status[instance].temperature = msg.temperature + atmosphere::kAbsoluteNullCelsius; // Kelvin to Celsius _battery_status[instance].serial_number = msg.model_instance_id; _battery_status[instance].id = msg.getSrcNodeID().get(); // overwrite zeroed index from _battery diff --git a/src/drivers/uavcan/sensors/differential_pressure.cpp b/src/drivers/uavcan/sensors/differential_pressure.cpp index 95d87f01a2e9..245778734849 100644 --- a/src/drivers/uavcan/sensors/differential_pressure.cpp +++ b/src/drivers/uavcan/sensors/differential_pressure.cpp @@ -38,7 +38,7 @@ #include "differential_pressure.hpp" #include -#include +#include #include #include @@ -71,7 +71,7 @@ void UavcanDifferentialPressureBridge::air_sub_cb(const _device_id.devid_s.address = msg.getSrcNodeID().get() & 0xFF; float diff_press_pa = msg.differential_pressure; - float temperature_c = msg.static_air_temperature + CONSTANTS_ABSOLUTE_NULL_CELSIUS; + float temperature_c = msg.static_air_temperature + atmosphere::kAbsoluteNullCelsius; differential_pressure_s report{}; report.timestamp_sample = timestamp_sample; diff --git a/src/drivers/uavcan/sensors/flow.cpp b/src/drivers/uavcan/sensors/flow.cpp index 099de615f0cc..f084cd98b3fe 100644 --- a/src/drivers/uavcan/sensors/flow.cpp +++ b/src/drivers/uavcan/sensors/flow.cpp @@ -79,7 +79,7 @@ void UavcanFlowBridge::flow_sub_cb(const uavcan::ReceivedDataStructure + */ + +#include "fuel_tank_status.hpp" + +#include + +const char *const UavcanFuelTankStatusBridge::NAME = "fuel_tank_status"; + +UavcanFuelTankStatusBridge::UavcanFuelTankStatusBridge(uavcan::INode &node) : + UavcanSensorBridgeBase("uavcan_fuel_tank_status", ORB_ID(fuel_tank_status)), + _sub_fuel_tank_status_data(node) +{ } + +int UavcanFuelTankStatusBridge::init() +{ + int res = _sub_fuel_tank_status_data.start(FuelTankStatusCbBinder(this, + &UavcanFuelTankStatusBridge::fuel_tank_status_sub_cb)); + + if (res < 0) { + DEVICE_LOG("failed to start uavcan sub: %d", res); + return res; + } + + // Fetch maximum fuel capacity (in liters) + param_get(param_find("UAVCAN_ECU_MAXF"), &_max_fuel_capacity); + + // Fetching fuel type + param_get(param_find("UAVCAN_ECU_FUELT"), &_fuel_type); + + return 0; +} + +void UavcanFuelTankStatusBridge::fuel_tank_status_sub_cb(const + uavcan::ReceivedDataStructure &msg) +{ + auto report = ::fuel_tank_status_s(); + report.timestamp = hrt_absolute_time(); + report.maximum_fuel_capacity = _max_fuel_capacity * 1000.0f; // convert to ml + report.fuel_type = static_cast(_fuel_type); + report.consumed_fuel = NAN; // only the remaining fuel is measured + report.fuel_consumption_rate = msg.fuel_consumption_rate_cm3pm / 60.0f; // convert to ml/s + report.percent_remaining = msg.available_fuel_volume_percent; + report.remaining_fuel = msg.available_fuel_volume_cm3; + report.fuel_tank_id = msg.fuel_tank_id; + + // Optional temperature field, in Kelvin, set to NaN if not provided. + report.temperature = !PX4_ISFINITE(msg.fuel_temperature) ? NAN : msg.fuel_temperature; + + publish(msg.getSrcNodeID().get(), &report); +} + +int UavcanFuelTankStatusBridge::init_driver(uavcan_bridge::Channel *channel) +{ + return PX4_OK; +} diff --git a/src/drivers/uavcan/sensors/fuel_tank_status.hpp b/src/drivers/uavcan/sensors/fuel_tank_status.hpp new file mode 100644 index 000000000000..ca58666c3cc5 --- /dev/null +++ b/src/drivers/uavcan/sensors/fuel_tank_status.hpp @@ -0,0 +1,73 @@ +/**************************************************************************** + * + * Copyright (c) 2024 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file fuel_tank_status.hpp + * @author Nuno Marques + * @brief UAVCAN bridge for Fuel Tank Status messages. + */ + +#pragma once + +#include "sensor_bridge.hpp" +#include + +#include + +class UavcanFuelTankStatusBridge : public UavcanSensorBridgeBase +{ +public: + static const char *const NAME; + + UavcanFuelTankStatusBridge(uavcan::INode &node); + + const char *get_name() const override { return NAME; } + + int init() override; + +private: + + void fuel_tank_status_sub_cb(const uavcan::ReceivedDataStructure &msg); + + int init_driver(uavcan_bridge::Channel *channel) override; + + typedef uavcan::MethodBinder &)> + FuelTankStatusCbBinder; + + uavcan::Subscriber _sub_fuel_tank_status_data; + + float _max_fuel_capacity{0.0f}; + int32_t _fuel_type{fuel_tank_status_s::MAV_FUEL_TYPE_UNKNOWN}; +}; diff --git a/src/drivers/uavcan/sensors/gnss.cpp b/src/drivers/uavcan/sensors/gnss.cpp index 2eb59d3b26fd..db88941a564b 100644 --- a/src/drivers/uavcan/sensors/gnss.cpp +++ b/src/drivers/uavcan/sensors/gnss.cpp @@ -155,7 +155,7 @@ UavcanGnssBridge::gnss_fix_sub_cb(const uavcan::ReceivedDataStructure> 8; + spoofing_state = msg.ecef_position_velocity[0].position_xyz_mm[2] & 0xFF; } process_fixx(msg, fix_type, pos_cov, vel_cov, valid_covariances, valid_covariances, heading, heading_offset, - heading_accuracy); + heading_accuracy, noise_per_ms, jamming_indicator, jamming_state, spoofing_state); } template @@ -322,7 +335,9 @@ void UavcanGnssBridge::process_fixx(const uavcan::ReceivedDataStructure const float (&pos_cov)[9], const float (&vel_cov)[9], const bool valid_pos_cov, const bool valid_vel_cov, const float heading, const float heading_offset, - const float heading_accuracy) + const float heading_accuracy, const int32_t noise_per_ms, + const int32_t jamming_indicator, const uint8_t jamming_state, + const uint8_t spoofing_state) { sensor_gps_s report{}; report.device_id = get_device_id(); @@ -337,10 +352,10 @@ void UavcanGnssBridge::process_fixx(const uavcan::ReceivedDataStructure */ report.timestamp = hrt_absolute_time(); - report.lat = msg.latitude_deg_1e8 / 10; - report.lon = msg.longitude_deg_1e8 / 10; - report.alt = msg.height_msl_mm; - report.alt_ellipsoid = msg.height_ellipsoid_mm; + report.latitude_deg = msg.latitude_deg_1e8 / 1e8; + report.longitude_deg = msg.longitude_deg_1e8 / 1e8; + report.altitude_msl_m = msg.height_msl_mm / 1e3; + report.altitude_ellipsoid_m = msg.height_ellipsoid_mm / 1e3; if (valid_pos_cov) { // Horizontal position uncertainty @@ -421,7 +436,7 @@ void UavcanGnssBridge::process_fixx(const uavcan::ReceivedDataStructure } // If we haven't already done so, set the system clock using GPS data - if (valid_pos_cov && !_system_clock_set) { + if ((fix_type >= sensor_gps_s::FIX_TYPE_2D) && !_system_clock_set) { timespec ts{}; // get the whole microseconds @@ -452,6 +467,11 @@ void UavcanGnssBridge::process_fixx(const uavcan::ReceivedDataStructure report.heading_offset = heading_offset; report.heading_accuracy = heading_accuracy; + report.noise_per_ms = noise_per_ms; + report.jamming_indicator = jamming_indicator; + report.jamming_state = jamming_state; + report.spoofing_state = spoofing_state; + publish(msg.getSrcNodeID().get(), &report); } @@ -467,29 +487,61 @@ void UavcanGnssBridge::update() // to work. void UavcanGnssBridge::handleInjectDataTopic() { - // Limit maximum number of GPS injections to 6 since usually + // We don't want to call copy again further down if we have already done a + // copy in the selection process. + bool already_copied = false; + gps_inject_data_s msg; + + // If there has not been a valid RTCM message for a while, try to switch to a different RTCM link + if ((hrt_absolute_time() - _last_rtcm_injection_time) > 5_s) { + + for (int instance = 0; instance < _orb_inject_data_sub.size(); instance++) { + const bool exists = _orb_inject_data_sub[instance].advertised(); + + if (exists) { + if (_orb_inject_data_sub[instance].copy(&msg)) { + if ((hrt_absolute_time() - msg.timestamp) < 5_s) { + // Remember that we already did a copy on this instance. + already_copied = true; + _selected_rtcm_instance = instance; + break; + } + } + } + } + } + + bool updated = already_copied; + + // Limit maximum number of GPS injections to 8 since usually // GPS injections should consist of 1-4 packets (GPS, Glonass, BeiDou, Galileo). - // Looking at 6 packets thus guarantees, that at least a full injection + // Looking at 8 packets thus guarantees, that at least a full injection // data set is evaluated. - static constexpr size_t MAX_NUM_INJECTIONS = 6; - + // Moving Base requires a higher rate, so we allow up to 8 packets. + const size_t max_num_injections = gps_inject_data_s::ORB_QUEUE_LENGTH; size_t num_injections = 0; - gps_inject_data_s gps_inject_data; - - while ((num_injections <= MAX_NUM_INJECTIONS) && _gps_inject_data_sub.update(&gps_inject_data)) { - // Write the message to the gps device. Note that the message could be fragmented. - // But as we don't write anywhere else to the device during operation, we don't - // need to assemble the message first. - if (_publish_rtcm_stream) { - PublishRTCMStream(gps_inject_data.data, gps_inject_data.len); - } - if (_publish_moving_baseline_data) { - PublishMovingBaselineData(gps_inject_data.data, gps_inject_data.len); + do { + if (updated) { + num_injections++; + + // Write the message to the gps device. Note that the message could be fragmented. + // But as we don't write anywhere else to the device during operation, we don't + // need to assemble the message first. + if (_publish_rtcm_stream) { + PublishRTCMStream(msg.data, msg.len); + } + + if (_publish_moving_baseline_data) { + PublishMovingBaselineData(msg.data, msg.len); + } + + _last_rtcm_injection_time = hrt_absolute_time(); } - num_injections++; - } + updated = _orb_inject_data_sub[_selected_rtcm_instance].update(&msg); + + } while (updated && num_injections < max_num_injections); } bool UavcanGnssBridge::PublishRTCMStream(const uint8_t *const data, const size_t data_len) diff --git a/src/drivers/uavcan/sensors/gnss.hpp b/src/drivers/uavcan/sensors/gnss.hpp index b60c238f2f9d..f2f28eb5bc86 100644 --- a/src/drivers/uavcan/sensors/gnss.hpp +++ b/src/drivers/uavcan/sensors/gnss.hpp @@ -45,6 +45,7 @@ #pragma once #include +#include #include #include #include @@ -88,7 +89,9 @@ class UavcanGnssBridge : public UavcanSensorBridgeBase const float (&pos_cov)[9], const float (&vel_cov)[9], const bool valid_pos_cov, const bool valid_vel_cov, const float heading, const float heading_offset, - const float heading_accuracy); + const float heading_accuracy, const int32_t noise_per_ms, + const int32_t jamming_indicator, const uint8_t jamming_state, + const uint8_t spoofing_state); void handleInjectDataTopic(); bool PublishRTCMStream(const uint8_t *data, size_t data_len); @@ -123,7 +126,9 @@ class UavcanGnssBridge : public UavcanSensorBridgeBase float _last_gnss_auxiliary_hdop{0.0f}; float _last_gnss_auxiliary_vdop{0.0f}; - uORB::Subscription _gps_inject_data_sub{ORB_ID(gps_inject_data)}; + uORB::SubscriptionMultiArray _orb_inject_data_sub{ORB_ID::gps_inject_data}; + hrt_abstime _last_rtcm_injection_time{0}; ///< time of last rtcm injection + uint8_t _selected_rtcm_instance{0}; ///< uorb instance that is being used for RTCM corrections bool _system_clock_set{false}; ///< Have we set the system clock at least once from GNSS data? diff --git a/src/drivers/uavcan/sensors/gnss_relative.cpp b/src/drivers/uavcan/sensors/gnss_relative.cpp new file mode 100644 index 000000000000..16369391634b --- /dev/null +++ b/src/drivers/uavcan/sensors/gnss_relative.cpp @@ -0,0 +1,78 @@ +/**************************************************************************** + * + * Copyright (c) 2019 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include "gnss_relative.hpp" + +#include +#include + +const char *const UavcanGnssRelativeBridge::NAME = "gnss_relative"; + +UavcanGnssRelativeBridge::UavcanGnssRelativeBridge(uavcan::INode &node) : + UavcanSensorBridgeBase("uavcan_gnss_relative", ORB_ID(sensor_gnss_relative)), + _sub_rel_pos_heading(node) +{ +} + +int +UavcanGnssRelativeBridge::init() +{ + int res = _sub_rel_pos_heading.start(RelPosHeadingCbBinder(this, &UavcanGnssRelativeBridge::rel_pos_heading_sub_cb)); + + if (res < 0) { + DEVICE_LOG("failed to start uavcan sub: %d", res); + return res; + } + + return 0; +} + +void UavcanGnssRelativeBridge::rel_pos_heading_sub_cb(const + uavcan::ReceivedDataStructure &msg) +{ + sensor_gnss_relative_s sensor_gnss_relative{}; + + sensor_gnss_relative.timestamp_sample = uavcan::UtcTime(msg.timestamp).toUSec(); + + sensor_gnss_relative.heading_valid = msg.reported_heading_acc_available; + sensor_gnss_relative.heading = math::radians(msg.reported_heading_deg); + sensor_gnss_relative.heading_accuracy = math::radians(msg.reported_heading_acc_deg); + sensor_gnss_relative.position_length = msg.relative_distance_m; + sensor_gnss_relative.position[2] = msg.relative_down_pos_m; + + sensor_gnss_relative.device_id = get_device_id(); + + sensor_gnss_relative.timestamp = hrt_absolute_time(); + + publish(msg.getSrcNodeID().get(), &sensor_gnss_relative); +} diff --git a/src/drivers/uavcan/sensors/gnss_relative.hpp b/src/drivers/uavcan/sensors/gnss_relative.hpp new file mode 100644 index 000000000000..87c7e2273176 --- /dev/null +++ b/src/drivers/uavcan/sensors/gnss_relative.hpp @@ -0,0 +1,65 @@ +/**************************************************************************** + * + * Copyright (c) 2019 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#pragma once + +#include "sensor_bridge.hpp" + +#include + +#include + +#include + +class UavcanGnssRelativeBridge : public UavcanSensorBridgeBase +{ +public: + static const char *const NAME; + + UavcanGnssRelativeBridge(uavcan::INode &node); + + const char *get_name() const override { return NAME; } + + int init() override; + +private: + + void rel_pos_heading_sub_cb(const uavcan::ReceivedDataStructure &msg); + + typedef uavcan::MethodBinder < UavcanGnssRelativeBridge *, + void (UavcanGnssRelativeBridge::*)(const uavcan::ReceivedDataStructure &) > + RelPosHeadingCbBinder; + + uavcan::Subscriber _sub_rel_pos_heading; + +}; diff --git a/src/drivers/uavcan/sensors/hygrometer.cpp b/src/drivers/uavcan/sensors/hygrometer.cpp index e22ce31d241c..98bd4b1155c8 100755 --- a/src/drivers/uavcan/sensors/hygrometer.cpp +++ b/src/drivers/uavcan/sensors/hygrometer.cpp @@ -34,7 +34,7 @@ #include "hygrometer.hpp" #include -#include +#include const char *const UavcanHygrometerBridge::NAME = "hygrometer_sensor"; @@ -65,7 +65,7 @@ void UavcanHygrometerBridge::hygro_sub_cb(const uavcan::ReceivedDataStructureupdate(hrt_absolute_time(), msg.range); + int8_t quality = -1; + + if (msg.reading_type == uavcan::equipment::range_sensor::Measurement::READING_TYPE_VALID_RANGE) { + quality = 100; + } + + rangefinder->update(hrt_absolute_time(), msg.range, quality); } int UavcanRangefinderBridge::init_driver(uavcan_bridge::Channel *channel) diff --git a/src/drivers/uavcan/sensors/sensor_bridge.cpp b/src/drivers/uavcan/sensors/sensor_bridge.cpp index 023a16cf1d05..1fa67050e1f2 100644 --- a/src/drivers/uavcan/sensors/sensor_bridge.cpp +++ b/src/drivers/uavcan/sensors/sensor_bridge.cpp @@ -38,19 +38,49 @@ #include "sensor_bridge.hpp" #include +#if defined(CONFIG_UAVCAN_SENSOR_ACCEL) #include "accel.hpp" +#include "gyro.hpp" +#endif +#if defined(CONFIG_UAVCAN_SENSOR_AIRSPEED) #include "airspeed.hpp" +#endif +#if defined(CONFIG_UAVCAN_SENSOR_BARO) #include "baro.hpp" +#endif +#if defined(CONFIG_UAVCAN_SENSOR_BATTERY) #include "battery.hpp" +#endif +#if defined(CONFIG_UAVCAN_SENSOR_DIFFERENTIAL_PRESSURE) #include "differential_pressure.hpp" +#endif +#if defined(CONFIG_UAVCAN_SENSOR_FLOW) #include "flow.hpp" +#endif +#if defined(CONFIG_UAVCAN_SENSOR_FUEL_TANK_STATUS) +#include "fuel_tank_status.hpp" +#endif +#if defined(CONFIG_UAVCAN_SENSOR_GNSS) #include "gnss.hpp" -#include "gyro.hpp" +#endif +#if defined(CONFIG_UAVCAN_SENSOR_GNSS_RELATIVE) +#include "gnss_relative.hpp" +#endif +#if defined(CONFIG_UAVCAN_SENSOR_HYGROMETER) #include "hygrometer.hpp" +#endif +#if defined(CONFIG_UAVCAN_SENSOR_ICE_STATUS) #include "ice_status.hpp" +#endif +#if defined(CONFIG_UAVCAN_SENSOR_MAG) #include "mag.hpp" +#endif +#if defined(CONFIG_UAVCAN_SENSOR_RANGEFINDER) #include "rangefinder.hpp" +#endif +#if defined(CONFIG_UAVCAN_SENSOR_SAFETY_BUTTON) #include "safety_button.hpp" +#endif /* * IUavcanSensorBridge @@ -58,6 +88,7 @@ void IUavcanSensorBridge::make_all(uavcan::INode &node, List &list) { // airspeed +#if defined(CONFIG_UAVCAN_SENSOR_AIRSPEED) int32_t uavcan_sub_aspd = 1; param_get(param_find("UAVCAN_SUB_ASPD"), &uavcan_sub_aspd); @@ -65,6 +96,9 @@ void IUavcanSensorBridge::make_all(uavcan::INode &node, Listcan_id; + + if (recv_frame->len > CANFD_MAX_DLEN) { + return -EFAULT; + } + out_frame.dlc = recv_frame->len; memcpy(out_frame.data, &recv_frame->data, recv_frame->len); } else { struct can_frame *recv_frame = (struct can_frame *)&_recv_frame; out_frame.id = recv_frame->can_id; + + if (recv_frame->can_dlc > CAN_MAX_DLEN) { + return -EFAULT; + } + out_frame.dlc = recv_frame->can_dlc; memcpy(out_frame.data, &recv_frame->data, recv_frame->can_dlc); } diff --git a/src/drivers/uavcan/uavcan_drivers/stm32h7/driver/include/uavcan_stm32h7/can.hpp b/src/drivers/uavcan/uavcan_drivers/stm32h7/driver/include/uavcan_stm32h7/can.hpp index 9720b24967a3..b8a28789a4af 100644 --- a/src/drivers/uavcan/uavcan_drivers/stm32h7/driver/include/uavcan_stm32h7/can.hpp +++ b/src/drivers/uavcan/uavcan_drivers/stm32h7/driver/include/uavcan_stm32h7/can.hpp @@ -177,6 +177,8 @@ class CanIface : public uavcan::ICanIface, uavcan::Noncopyable void handleTxInterrupt(uavcan::uint64_t utc_usec); void handleRxInterrupt(uavcan::uint8_t fifo_index); + void handleBusOff(); + /** * This method is used to count errors and abort transmission on error if necessary. * This functionality used to be implemented in the SCE interrupt handler, but that approach was diff --git a/src/drivers/uavcan/uavcan_drivers/stm32h7/driver/src/uc_stm32h7_can.cpp b/src/drivers/uavcan/uavcan_drivers/stm32h7/driver/src/uc_stm32h7_can.cpp index 9a5e32647a55..baddaa599717 100644 --- a/src/drivers/uavcan/uavcan_drivers/stm32h7/driver/src/uc_stm32h7_can.cpp +++ b/src/drivers/uavcan/uavcan_drivers/stm32h7/driver/src/uc_stm32h7_can.cpp @@ -147,6 +147,12 @@ inline void handleTxInterrupt(uavcan::uint8_t iface_index) } ifaces[iface_index]->handleTxInterrupt(utc_usec); + + } else if ((fdcan::Can[iface_index]->IR & FDCAN_IR_BO) != 0) { + + fdcan::Can[iface_index]->IR = FDCAN_IR_BO; + ifaces[iface_index]->handleBusOff(); + } } @@ -184,6 +190,11 @@ inline void handleRxInterrupt(uavcan::uint8_t iface_index) fdcan::Can[iface_index]->IR = (FDCAN_IR_RF1N | FDCAN_IR_RF1F); ifaces[iface_index]->handleRxInterrupt(1); + } else if ((IR & FDCAN_IR_BO) != 0) { + + fdcan::Can[iface_index]->IR = FDCAN_IR_BO; + ifaces[iface_index]->handleBusOff(); + } else { UAVCAN_ASSERT(0); } @@ -500,6 +511,37 @@ uavcan::int16_t CanIface::receive(uavcan::CanFrame &out_frame, uavcan::Monotonic uavcan::int16_t CanIface::configureFilters(const uavcan::CanFilterConfig *filter_configs, uavcan::uint16_t num_configs) { + + /* + * Software initialization is started by setting INIT bit in FDCAN_CCCR register, either by + * software or by a hardware reset, or by going Bus_Off. While INIT bit in FDCAN_CCCR + * register is set, message transfer from and to the CAN bus is stopped, the status of the CAN + * bus output FDCAN_TX is recessive (high). The counters of the error management logic + * (EML) are unchanged. Setting INIT bit in FDCAN_CCCR does not change any configuration + * register. Clearing INIT bit in FDCAN_CCCR finishes the software initialization. Afterwards + * the bit stream processor (BSP) synchronizes itself to the data transfer on the CAN bus by + * waiting for the occurrence of a sequence of 11 consecutive recessive bits (Bus_Idle) before + * it can take part in bus activities and start the message transfer. + */ + + /* + * Access to the FDCAN configuration registers is only enabled when both INIT bit in + * FDCAN_CCCR register and CCE bit in FDCAN_CCCR register are set + */ + + /* + * CCE bit in FDCAN_CCCR register can only be set/cleared while INIT bit in FDCAN_CCCR + * is set. CCE bit in FDCAN_CCCR register is automatically cleared when INIT bit in + * FDCAN_CCCR is cleared + */ + + /* + * Up to 128 filter elements can be configured for 11-bit standard IDs. When accessing a + * standard message ID filter element, its address is the filter list standard start address + * FDCAN_SIDFC.FLSSA plus the index of the filter element (0 ... 127 + */ + + /* * The FDCAN controller handles standard ID and extended ID filters separately. * We must scan through the requested filter configurations, and group them by @@ -509,21 +551,95 @@ uavcan::int16_t CanIface::configureFilters(const uavcan::CanFilterConfig *filter // Filter config registers are protected; write access is only available // when bit CCE and bit INIT of FDCAN_CCCR register are set to 1. - // CriticalSectionLocker lock; + uint32_t num_of_sid_filter = 0; + uint32_t num_of_xid_filter = 0; - // // Request Init mode, then wait for completion - // can_->CCCR |= FDCAN_CCCR_INIT; - // while ((can_->CCCR & FDCAN_CCCR_INIT) == 0) {} + if (num_configs <= NumFilters) { - // // Configuration Chane Enable - // can_->CCCR |= FDCAN_CCCR_CCE; + CriticalSectionLocker lock; - // /// TODO ------------------------- + // // Request Init mode, then wait for completion + can_->CCCR |= FDCAN_CCCR_INIT; - // // Leave Init mode - // can_->CCCR &= ~FDCAN_CCCR_INIT; + while ((can_->CCCR & FDCAN_CCCR_INIT) == 0) {}; - return 0; + // // Configuration Chane Enable + can_->CCCR |= FDCAN_CCCR_CCE; + + for (uint8_t i = 0; i < NumFilters; i++) { + + if (i < num_configs) { + + // determine what type of filter is this: + // and add to the number of filter + const uavcan::CanFilterConfig *const cfg = filter_configs + i; + + // extended message + if ((cfg->id & uavcan::CanFrame::FlagEFF) || !(cfg->mask & uavcan::CanFrame::FlagEFF)) { + + volatile uint32_t *xid_filter_address = (uint32_t *)((can_->XIDFC | FDCAN_XIDFC_FLESA_Msk) + 2 * num_of_xid_filter); + num_of_xid_filter += 1; + + uint32_t f0 = 0; + uint32_t f1 = 0; + + // bit 31:29 EFEC[2:0], extended filter element configuration -> set Priority + f0 |= 4 << 29; + + // bit 28:0 EFID[28:0], Extended Filter ID + f0 |= cfg->id; + + // bit 31:30 EFEC[2:0], extended filter type -> classic filter + f1 |= 2 << 30; + + // bit 28:0 EFID2[28:18], Extended Filter ID2 + f1 |= cfg->mask; + + *xid_filter_address = f0; + xid_filter_address += 1; + *(xid_filter_address) = f1; + } + + // standard message + else { + volatile uint32_t *sid_filter_address = (uint32_t *)((can_->SIDFC | FDCAN_SIDFC_FLSSA_Msk) + num_of_sid_filter); + + num_of_sid_filter += 1; + + uint32_t filter = 0; + + // bit 31:30 SFT[1:0], standard filter type, -> classic + filter |= 2 << 30; + + // bit 29:27 SFEC[2:0], standard filter element configuration, -> Set priority + filter |= (4 << 27); + + // bit 26:16 SFID1[10:0], Standard Filter ID1 + filter |= (cfg->id << 16); + + // bit 15:0 SFID2[15:10], Standard Filter ID2 + filter |= (cfg->mask << 10); + + *sid_filter_address = filter; + + + } + } + + } + + // set the number of SID filters + can_->SIDFC |= (num_of_sid_filter << FDCAN_SIDFC_LSS_Pos); + // set the number of XID filters + can_->XIDFC |= (num_of_xid_filter << FDCAN_XIDFC_LSE_Pos); + + // // Leave Init mode + can_->CCCR &= ~FDCAN_CCCR_INIT; + return 0; + } + + + return -ErrFilterNumConfigs; } bool CanIface::waitCCCRBitStateChange(uint32_t mask, bool target_state) @@ -646,7 +762,8 @@ int CanIface::init(const uavcan::uint32_t bitrate, const OperatingMode mode) | FDCAN_IE_RF0NE // Rx FIFO 0 new message | FDCAN_IE_RF0FE // Rx FIFO 0 FIFO full | FDCAN_IE_RF1NE // Rx FIFO 1 new message - | FDCAN_IE_RF1FE; // Rx FIFO 1 FIFO full + | FDCAN_IE_RF1FE // Rx FIFO 1 FIFO full + | FDCAN_IE_BOE; // bus off state // Keep Rx interrupts on Line 0; move Tx to Line 1 can_->ILS = FDCAN_ILS_TCL; // TC interrupt on line 1 @@ -681,8 +798,9 @@ int CanIface::init(const uavcan::uint32_t bitrate, const OperatingMode mode) * factor of 4 necessary in the address relative to the SA register values. */ - // Location of this interface's message RAM - address in CPU memory address - // and relative address (in words) used for configuration + +// Location of this interface's message RAM - address in CPU memory address +// and relative address (in words) used for configuration const uint32_t iface_ram_base = (2560 / 2) * self_index_; const uint32_t gl_ram_base = SRAMCAN_BASE; uint32_t ram_offset = iface_ram_base; @@ -692,14 +810,16 @@ int CanIface::init(const uavcan::uint32_t bitrate, const OperatingMode mode) message_ram_.StdIdFilterSA = gl_ram_base + ram_offset * WORD_LENGTH; can_->SIDFC = ((n_stdid << FDCAN_SIDFC_LSS_Pos) | ram_offset << FDCAN_SIDFC_FLSSA_Pos); + memset((void *)message_ram_.StdIdFilterSA, 0, WORD_LENGTH * n_stdid); // make sure filters are disabled ram_offset += n_stdid; - // Extended ID Filters: Allow space for 128 filters (128 words) - const uint8_t n_extid = 128; + // Extended ID Filters: Allow space for 64 filters (128 words) + const uint8_t n_extid = 64; message_ram_.ExtIdFilterSA = gl_ram_base + ram_offset * WORD_LENGTH; can_->XIDFC = ((n_extid << FDCAN_XIDFC_LSE_Pos) | ram_offset << FDCAN_XIDFC_FLESA_Pos); - ram_offset += n_extid; + memset((void *)message_ram_.ExtIdFilterSA, 0, (2 * WORD_LENGTH) * n_extid); // make sure filters are disabled + ram_offset += 2 * n_extid; // Set size of each element in the Rx/Tx buffers and FIFOs can_->RXESC = 0; // 8 byte space for every element (Rx buffer, FIFO1, FIFO0) @@ -754,6 +874,24 @@ void CanIface::handleTxInterrupt(const uavcan::uint64_t utc_usec) pollErrorFlagsFromISR(); } + +void CanIface::handleBusOff() +{ + + /* + * The bus off recovery sequence consists of 128 occurrences of 11 consecutive recessive bits. MCAN controllers + * start sensing the bus looking for the recovery sequence when the INIT bit of control register (CCCR) is reset by + * the user. The bus off recovery sequence cannot be shortened by setting or resetting CCCR[INIT]. + * Summarizing, if the device raises a bus off condition, CCCR[INIT] is set stopping all bus activities. Once + * CCCR[INIT] has been cleared again by the software, the device will then wait for 129 occurrences of bus idle + * (129 x 11 consecutive recessive bits) before resuming on normal operation. At the end of the bus off recovery + * sequence, the error management counters will be reset, and so PSR.BO, ECR.TEC, and ECR.REC. + */ + + can_->CCCR &= ~FDCAN_CCCR_INIT; + +} + void CanIface::handleRxInterrupt(uavcan::uint8_t fifo_index) { UAVCAN_ASSERT(fifo_index < 2); diff --git a/src/drivers/uavcan/uavcan_main.cpp b/src/drivers/uavcan/uavcan_main.cpp index c054304d76fc..fbdc534a9c30 100644 --- a/src/drivers/uavcan/uavcan_main.cpp +++ b/src/drivers/uavcan/uavcan_main.cpp @@ -80,14 +80,26 @@ UavcanNode::UavcanNode(uavcan::ICanDriver &can_driver, uavcan::ISystemClock &sys ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::uavcan), ModuleParams(nullptr), _node(can_driver, system_clock, _pool_allocator), +#if defined(CONFIG_UAVCAN_ARMING_CONTROLLER) _arming_status_controller(_node), +#endif +#if defined(CONFIG_UAVCAN_BEEP_CONTROLLER) _beep_controller(_node), +#endif +#if defined(CONFIG_UAVCAN_OUTPUTS_CONTROLLER) _esc_controller(_node), _servo_controller(_node), +#endif +#if defined(CONFIG_UAVCAN_HARDPOINT_CONTROLLER) _hardpoint_controller(_node), +#endif +#if defined(CONFIG_UAVCAN_SAFETY_STATE_CONTROLLER) _safety_state_controller(_node), - _log_message_controller(_node), +#endif +#if defined(CONFIG_UAVCAN_RGB_CONTROLLER) _rgbled_controller(_node), +#endif + _log_message_controller(_node), _time_sync_master(_node), _time_sync_slave(_node), _node_status_monitor(_node), @@ -103,8 +115,10 @@ UavcanNode::UavcanNode(uavcan::ICanDriver &can_driver, uavcan::ISystemClock &sys std::abort(); } +#if defined(CONFIG_UAVCAN_OUTPUTS_CONTROLLER) _mixing_interface_esc.mixingOutput().setMaxTopicUpdateRate(1000000 / UavcanEscController::MAX_RATE_HZ); _mixing_interface_servo.mixingOutput().setMaxTopicUpdateRate(1000000 / UavcanServoController::MAX_RATE_HZ); +#endif } UavcanNode::~UavcanNode() @@ -395,8 +409,10 @@ UavcanNode::get_param(int remote_node_id, const char *name) void UavcanNode::update_params() { +#if defined(CONFIG_UAVCAN_OUTPUTS_CONTROLLER) _mixing_interface_esc.updateParams(); _mixing_interface_servo.updateParams(); +#endif } int @@ -429,8 +445,11 @@ UavcanNode::start(uavcan::NodeID node_id, uint32_t bitrate) } _instance->ScheduleOnInterval(ScheduleIntervalMs * 1000); + +#if defined(CONFIG_UAVCAN_OUTPUTS_CONTROLLER) _instance->_mixing_interface_esc.ScheduleNow(); _instance->_mixing_interface_servo.ScheduleNow(); +#endif return OK; } @@ -482,6 +501,7 @@ UavcanNode::init(uavcan::NodeID node_id, UAVCAN_DRIVER::BusEvent &bus_events) int ret; // UAVCAN_PUB_ARM +#if defined(CONFIG_UAVCAN_ARMING_CONTROLLER) int32_t uavcan_pub_arm = 0; param_get(param_find("UAVCAN_PUB_ARM"), &uavcan_pub_arm); @@ -493,43 +513,60 @@ UavcanNode::init(uavcan::NodeID node_id, UAVCAN_DRIVER::BusEvent &bus_events) } } +#endif + +#if defined(CONFIG_UAVCAN_BEEP_CONTROLLER) ret = _beep_controller.init(); if (ret < 0) { return ret; } +#endif + // Actuators +#if defined(CONFIG_UAVCAN_OUTPUTS_CONTROLLER) ret = _esc_controller.init(); if (ret < 0) { return ret; } +#endif + +#if defined(CONFIG_UAVCAN_HARDPOINT_CONTROLLER) ret = _hardpoint_controller.init(); if (ret < 0) { return ret; } +#endif + +#if defined(CONFIG_UAVCAN_SAFETY_CONTROLLER) ret = _safety_state_controller.init(); if (ret < 0) { return ret; } +#endif + ret = _log_message_controller.init(); if (ret < 0) { return ret; } +#if defined(CONFIG_UAVCAN_RGB_CONTROLLER) ret = _rgbled_controller.init(); if (ret < 0) { return ret; } +#endif + /* Start node info retriever to fetch node info from new nodes */ ret = _node_info_retriever.start(); @@ -552,6 +589,8 @@ UavcanNode::init(uavcan::NodeID node_id, UAVCAN_DRIVER::BusEvent &bus_events) PX4_DEBUG("sensor bridge '%s' init ok", br->get_name()); } +#if defined(CONFIG_UAVCAN_OUTPUTS_CONTROLLER) + // Ensure we don't exceed maximum limits and assumptions. FIXME: these should be static assertions if (UavcanEscController::max_output_value() >= UavcanEscController::DISARMED_OUTPUT_VALUE || UavcanEscController::max_output_value() > (int)UINT16_MAX) { @@ -560,6 +599,7 @@ UavcanNode::init(uavcan::NodeID node_id, UAVCAN_DRIVER::BusEvent &bus_events) } _mixing_interface_esc.mixingOutput().setAllDisarmedValues(UavcanEscController::DISARMED_OUTPUT_VALUE); +#endif /* Set up shared service clients */ _param_getset_client.setCallback(GetSetCallback(this, &UavcanNode::cb_getset)); @@ -704,6 +744,41 @@ UavcanNode::Run() _node.spinOnce(); // expected to be non-blocking + // Publish status + constexpr hrt_abstime status_pub_interval = 100_ms; + + if (hrt_absolute_time() - _last_can_status_pub >= status_pub_interval) { + _last_can_status_pub = hrt_absolute_time(); + + for (int i = 0; i < _node.getDispatcher().getCanIOManager().getCanDriver().getNumIfaces(); i++) { + if (i > UAVCAN_NUM_IFACES) { + break; + } + + auto iface = _node.getDispatcher().getCanIOManager().getCanDriver().getIface(i); + + if (!iface) { + continue; + } + + auto iface_perf_cnt = _node.getDispatcher().getCanIOManager().getIfacePerfCounters(i); + can_interface_status_s status{ + .timestamp = hrt_absolute_time(), + .io_errors = iface_perf_cnt.errors, + .frames_tx = iface_perf_cnt.frames_tx, + .frames_rx = iface_perf_cnt.frames_rx, + .interface = static_cast(i), + }; + + if (_can_status_pub_handles[i] == nullptr) { + int instance{0}; + _can_status_pub_handles[i] = orb_advertise_multi(ORB_ID(can_interface_status), nullptr, &instance); + } + + (void)orb_publish(ORB_ID(can_interface_status), _can_status_pub_handles[i], &status); + } + } + // check for parameter updates if (_parameter_update_sub.updated()) { // clear update @@ -921,15 +996,20 @@ UavcanNode::Run() pthread_mutex_unlock(&_node_mutex); if (_task_should_exit.load()) { + +#if defined(CONFIG_UAVCAN_OUTPUTS_CONTROLLER) _mixing_interface_esc.mixingOutput().unregister(); _mixing_interface_esc.ScheduleClear(); + _mixing_interface_servo.mixingOutput().unregister(); _mixing_interface_servo.ScheduleClear(); +#endif ScheduleClear(); _instance = nullptr; } } +#if defined(CONFIG_UAVCAN_OUTPUTS_CONTROLLER) bool UavcanMixingInterfaceESC::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS], unsigned num_outputs, unsigned num_control_groups_updated) { @@ -974,6 +1054,7 @@ void UavcanMixingInterfaceServo::Run() _mixing_output.updateSubscriptions(false); pthread_mutex_unlock(&_node_mutex); } +#endif void UavcanNode::print_info() @@ -1016,10 +1097,13 @@ UavcanNode::print_info() printf("\n"); +#if defined(CONFIG_UAVCAN_OUTPUTS_CONTROLLER) printf("ESC outputs:\n"); _mixing_interface_esc.mixingOutput().printStatus(); + printf("Servo outputs:\n"); _mixing_interface_servo.mixingOutput().printStatus(); +#endif printf("\n"); diff --git a/src/drivers/uavcan/uavcan_main.hpp b/src/drivers/uavcan/uavcan_main.hpp index 7fcc86e96839..5afa04ef672e 100644 --- a/src/drivers/uavcan/uavcan_main.hpp +++ b/src/drivers/uavcan/uavcan_main.hpp @@ -46,15 +46,36 @@ #include #include +#if defined(CONFIG_UAVCAN_OUTPUTS_CONTROLLER) #include "actuators/esc.hpp" -#include "actuators/hardpoint.hpp" #include "actuators/servo.hpp" +#endif + +#if defined(CONFIG_UAVCAN_HARDPOINT_CONTROLLER) +#include "actuators/hardpoint.hpp" +#endif + + #include "allocator.hpp" + +#if defined(CONFIG_UAVCAN_ARMING_CONTROLLER) #include "arming_status.hpp" +#endif + +#if defined(CONFIG_UAVCAN_BEEP_CONTROLLER) #include "beep.hpp" +#endif + #include "logmessage.hpp" + +#if defined(CONFIG_UAVCAN_RGB_CONTROLLER) #include "rgbled.hpp" +#endif + +#if defined(CONFIG_UAVCAN_SAFETY_STATE_CONTROLLER) #include "safety_state.hpp" +#endif + #include "sensors/sensor_bridge.hpp" #include "uavcan_driver.hpp" #include "uavcan_servers.hpp" @@ -75,6 +96,7 @@ #include #include #include +#include #include #include #include @@ -91,6 +113,8 @@ class UavcanNode; * a fixed rate or upon bus updates). * All work items are expected to run on the same work queue. */ + +#if defined(CONFIG_UAVCAN_OUTPUTS_CONTROLLER) class UavcanMixingInterfaceESC : public OutputModuleInterface { public: @@ -143,6 +167,7 @@ class UavcanMixingInterfaceServo : public OutputModuleInterface UavcanServoController &_servo_controller; MixingOutput _mixing_output{"UAVCAN_SV", UavcanServoController::MAX_ACTUATORS, *this, MixingOutput::SchedulingPolicy::Auto, false, false}; }; +#endif /** * A UAVCAN node. @@ -225,16 +250,30 @@ class UavcanNode : public px4::ScheduledWorkItem, public ModuleParams uavcan::Node<> _node; ///< library instance pthread_mutex_t _node_mutex; +#if defined(CONFIG_UAVCAN_ARMING_CONTROLLER) UavcanArmingStatus _arming_status_controller; +#endif +#if defined(CONFIG_UAVCAN_BEEP_CONTROLLER) UavcanBeepController _beep_controller; +#endif +#if defined(CONFIG_UAVCAN_OUTPUTS_CONTROLLER) UavcanEscController _esc_controller; - UavcanServoController _servo_controller; UavcanMixingInterfaceESC _mixing_interface_esc{_node_mutex, _esc_controller}; + + UavcanServoController _servo_controller; UavcanMixingInterfaceServo _mixing_interface_servo{_node_mutex, _servo_controller}; +#endif +#if defined(CONFIG_UAVCAN_HARDPOINT_CONTROLLER) UavcanHardpointController _hardpoint_controller; +#endif +#if defined(CONFIG_UAVCAN_SAFETY_STATE_CONTROLLER) UavcanSafetyState _safety_state_controller; - UavcanLogMessage _log_message_controller; +#endif +#if defined(CONFIG_UAVCAN_RGB_CONTROLLER) UavcanRGBController _rgbled_controller; +#endif + + UavcanLogMessage _log_message_controller; uavcan::GlobalTimeSyncMaster _time_sync_master; uavcan::GlobalTimeSyncSlave _time_sync_slave; @@ -271,6 +310,10 @@ class UavcanNode : public px4::ScheduledWorkItem, public ModuleParams uORB::Publication _param_response_pub{ORB_ID(uavcan_parameter_value)}; uORB::Publication _command_ack_pub{ORB_ID(vehicle_command_ack)}; + uORB::PublicationMulti _can_status_pub{ORB_ID(can_interface_status)}; + + hrt_abstime _last_can_status_pub{0}; + orb_advert_t _can_status_pub_handles[UAVCAN_NUM_IFACES] = {nullptr}; /* * The MAVLink parameter bridge needs to know the maximum parameter index diff --git a/src/drivers/uavcan/uavcan_module.hpp b/src/drivers/uavcan/uavcan_module.hpp index 08d6bd5e987a..bd055cda9be7 100644 --- a/src/drivers/uavcan/uavcan_module.hpp +++ b/src/drivers/uavcan/uavcan_module.hpp @@ -49,7 +49,7 @@ // firmware paths #define UAVCAN_MAX_PATH_LENGTH (128 + 40) -#define UAVCAN_SD_ROOT_PATH "/fs/microsd/" +#define UAVCAN_SD_ROOT_PATH CONFIG_BOARD_ROOT_PATH "/" #define UAVCAN_FIRMWARE_PATH UAVCAN_SD_ROOT_PATH"ufw" #define UAVCAN_ROMFS_FW_PATH "/etc/uavcan/fw" #define UAVCAN_ROMFS_FW_PREFIX "_" diff --git a/src/drivers/uavcan/uavcan_params.c b/src/drivers/uavcan/uavcan_params.c index 21672f7c1edc..edd2c41ea4c3 100644 --- a/src/drivers/uavcan/uavcan_params.c +++ b/src/drivers/uavcan/uavcan_params.c @@ -97,6 +97,40 @@ PARAM_DEFINE_FLOAT(UAVCAN_RNG_MIN, 0.3f); */ PARAM_DEFINE_FLOAT(UAVCAN_RNG_MAX, 200.0f); +/** + * UAVCAN fuel tank maximum capacity + * + * This parameter defines the maximum fuel capacity of the vehicle's fuel tank. + * + * @min 0.0 + * @max 100000.0 + * @unit liters + * @decimal 1 + * @increment 0.1 + * @reboot_required true + * @group UAVCAN + */ +PARAM_DEFINE_FLOAT(UAVCAN_ECU_MAXF, 15.0f); + +/** + * UAVCAN fuel tank fuel type + * + * This parameter defines the type of fuel used in the vehicle's fuel tank. + * + * 0: Unknown + * 1: Liquid (e.g., gasoline, diesel) + * 2: Gas (e.g., hydrogen, methane, propane) + * + * @min 0 + * @max 2 + * @value 0 Unknown + * @value 1 Liquid + * @value 2 Gas + * @reboot_required true + * @group UAVCAN + */ +PARAM_DEFINE_INT32(UAVCAN_ECU_FUELT, 1); + /** * UAVCAN ANTI_COLLISION light operating mode * @@ -292,6 +326,17 @@ PARAM_DEFINE_INT32(UAVCAN_SUB_DPRES, 0); */ PARAM_DEFINE_INT32(UAVCAN_SUB_FLOW, 0); +/** + * subscription fuel tank + * + * Enable UAVCAN fuel tank status subscription. + * + * @boolean + * @reboot_required true + * @group UAVCAN + */ +PARAM_DEFINE_INT32(UAVCAN_SUB_FUEL, 0); + /** * subscription GPS * @@ -306,6 +351,18 @@ PARAM_DEFINE_INT32(UAVCAN_SUB_FLOW, 0); */ PARAM_DEFINE_INT32(UAVCAN_SUB_GPS, 1); +/** + * subscription GPS Relative + * + * Enable UAVCAN GPS Relative subscription. + * ardupilot::gnss::RelPosHeading + * + * @boolean + * @reboot_required true + * @group UAVCAN + */ +PARAM_DEFINE_INT32(UAVCAN_SUB_GPS_R, 1); + /** * subscription hygrometer * diff --git a/src/drivers/uavcan/uavcan_servers.cpp b/src/drivers/uavcan/uavcan_servers.cpp index fa4b2aab10de..3d35ea523ed5 100644 --- a/src/drivers/uavcan/uavcan_servers.cpp +++ b/src/drivers/uavcan/uavcan_servers.cpp @@ -180,7 +180,7 @@ void UavcanServers::migrateFWFromRoot(const char *sd_path, const char *sd_root_p while ((dev_dirent = readdir(sd_root_dir)) != nullptr) { - uavcan_posix::FirmwareVersionChecker::AppDescriptor descriptor; + uavcan_posix::FirmwareVersionChecker::AppDescriptor descriptor{0}; // Looking for all uavcan.bin files. diff --git a/src/drivers/uavcannode/Kconfig b/src/drivers/uavcannode/Kconfig index 1e504ae201f6..9aa7073a5b0f 100644 --- a/src/drivers/uavcannode/Kconfig +++ b/src/drivers/uavcannode/Kconfig @@ -1,6 +1,7 @@ menuconfig DRIVERS_UAVCANNODE bool "uavcannode" default n + depends on BOARD_ROMFSROOT != "px4fmu_common" ---help--- Enable support for uavcannode @@ -37,6 +38,10 @@ if DRIVERS_UAVCANNODE bool "Include hygrometer measurement" default n + config UAVCANNODE_INDICATED_AIR_SPEED + bool "Include Indicated Airspeed" + default n + config UAVCANNODE_LIGHTS_COMMAND bool "Include lights command" default n diff --git a/src/drivers/uavcannode/Publishers/BatteryInfo.hpp b/src/drivers/uavcannode/Publishers/BatteryInfo.hpp index 9a68744436a7..686dc0508666 100644 --- a/src/drivers/uavcannode/Publishers/BatteryInfo.hpp +++ b/src/drivers/uavcannode/Publishers/BatteryInfo.hpp @@ -39,6 +39,7 @@ #include #include +#include namespace uavcannode { @@ -76,7 +77,7 @@ class BatteryInfo : uavcan::equipment::power::BatteryInfo battery_info{}; battery_info.voltage = battery.voltage_v; battery_info.current = fabs(battery.current_a); - battery_info.temperature = battery.temperature - CONSTANTS_ABSOLUTE_NULL_CELSIUS; // convert from C to K + battery_info.temperature = battery.temperature - atmosphere::kAbsoluteNullCelsius; // convert from C to K battery_info.full_charge_capacity_wh = battery.capacity; battery_info.remaining_capacity_wh = battery.remaining * battery.capacity; battery_info.state_of_charge_pct = battery.remaining * 100; diff --git a/src/drivers/uavcannode/Publishers/GnssAuxiliary.hpp b/src/drivers/uavcannode/Publishers/GnssAuxiliary.hpp new file mode 100644 index 000000000000..6a57cccdc72a --- /dev/null +++ b/src/drivers/uavcannode/Publishers/GnssAuxiliary.hpp @@ -0,0 +1,100 @@ +/**************************************************************************** + * + * Copyright (c) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#pragma once + +#include + +#include "UavcanPublisherBase.hpp" + +#include + +#include +#include + +namespace uavcannode +{ + +class GnssAuxiliary : + public UavcanPublisherBase, + public uORB::SubscriptionCallbackWorkItem, + private uavcan::Publisher +{ +public: + GnssAuxiliary(px4::WorkItem *work_item, uavcan::INode &node) : + UavcanPublisherBase(uavcan::equipment::gnss::Auxiliary::DefaultDataTypeID), + uORB::SubscriptionCallbackWorkItem(work_item, ORB_ID(sensor_gps)), + uavcan::Publisher(node) + { + this->setPriority(uavcan::TransferPriority::Default); + } + + void PrintInfo() override + { + if (uORB::SubscriptionCallbackWorkItem::advertised()) { + printf("\t%s -> %s:%d\n", + uORB::SubscriptionCallbackWorkItem::get_topic()->o_name, + uavcan::equipment::gnss::Auxiliary::getDataTypeFullName(), + id()); + } + } + + void BroadcastAnyUpdates() override + { + using uavcan::equipment::gnss::Auxiliary; + + // sensor_gps -> uavcan::equipment::gnss::Auxiliary + sensor_gps_s gps; + + if (uORB::SubscriptionCallbackWorkItem::update(&gps)) { + uavcan::equipment::gnss::Auxiliary auxiliary{}; + + //auxiliary.gdop = gps.gdop; + //auxiliary.pdop = gps.pdop; + auxiliary.hdop = gps.hdop; + auxiliary.vdop = gps.vdop; + //auxiliary.tdop = gps.tdop; + //auxiliary.ndop = gps.ndop; + //auxiliary.edop = gps.edop; + + auxiliary.sats_visible = gps.satellites_used; + auxiliary.sats_used = gps.satellites_used; + + uavcan::Publisher::broadcast(auxiliary); + + // ensure callback is registered + uORB::SubscriptionCallbackWorkItem::registerCallback(); + } + } +}; +} // namespace uavcannode diff --git a/src/drivers/uavcannode/Publishers/GnssFix2.hpp b/src/drivers/uavcannode/Publishers/GnssFix2.hpp index e7453e04f992..4f3223ec489d 100644 --- a/src/drivers/uavcannode/Publishers/GnssFix2.hpp +++ b/src/drivers/uavcannode/Publishers/GnssFix2.hpp @@ -81,10 +81,10 @@ class GnssFix2 : fix2.gnss_time_standard = fix2.GNSS_TIME_STANDARD_UTC; fix2.gnss_timestamp.usec = gps.time_utc_usec; - fix2.latitude_deg_1e8 = (int64_t)gps.lat * 10; - fix2.longitude_deg_1e8 = (int64_t)gps.lon * 10; - fix2.height_msl_mm = gps.alt; - fix2.height_ellipsoid_mm = gps.alt_ellipsoid; + fix2.latitude_deg_1e8 = (int64_t)(gps.latitude_deg * 1e8); + fix2.longitude_deg_1e8 = (int64_t)(gps.longitude_deg * 1e8); + fix2.height_msl_mm = (int32_t)(gps.altitude_msl_m * 1e3); + fix2.height_ellipsoid_mm = (int32_t)(gps.altitude_ellipsoid_m * 1e3); fix2.status = gps.fix_type; fix2.ned_velocity[0] = gps.vel_n_m_s; fix2.ned_velocity[1] = gps.vel_e_m_s; @@ -127,6 +127,11 @@ class GnssFix2 : ecefpositionvelocity.velocity_xyz[1] = NAN; ecefpositionvelocity.velocity_xyz[2] = NAN; + // Use ecef_position_velocity for now... There are no fields for these + ecefpositionvelocity.position_xyz_mm[0] = gps.noise_per_ms; + ecefpositionvelocity.position_xyz_mm[1] = gps.jamming_indicator; + ecefpositionvelocity.position_xyz_mm[2] = (gps.jamming_state << 8) | gps.spoofing_state; + // Use ecef_position_velocity for now... There is no heading field if (!std::isnan(gps.heading)) { ecefpositionvelocity.velocity_xyz[0] = gps.heading; @@ -138,10 +143,10 @@ class GnssFix2 : if (!std::isnan(gps.heading_accuracy)) { ecefpositionvelocity.velocity_xyz[2] = gps.heading_accuracy; } - - fix2.ecef_position_velocity.push_back(ecefpositionvelocity); } + fix2.ecef_position_velocity.push_back(ecefpositionvelocity); + uavcan::Publisher::broadcast(fix2); // ensure callback is registered diff --git a/src/drivers/uavcannode/Publishers/IndicatedAirspeed.hpp b/src/drivers/uavcannode/Publishers/IndicatedAirspeed.hpp new file mode 100644 index 000000000000..67982cf5f835 --- /dev/null +++ b/src/drivers/uavcannode/Publishers/IndicatedAirspeed.hpp @@ -0,0 +1,91 @@ +/**************************************************************************** + * + * Copyright (c) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#pragma once + +#include "UavcanPublisherBase.hpp" + +#include +#include +#include + +namespace uavcannode +{ + +class IndicatedAirspeed : public UavcanPublisherBase, + public uORB::SubscriptionCallbackWorkItem, + private uavcan::Publisher < + uavcan::equipment::air_data::IndicatedAirspeed > +{ +public: + IndicatedAirspeed(px4::WorkItem *work_item, uavcan::INode &node) + : UavcanPublisherBase( + uavcan::equipment::air_data::IndicatedAirspeed::DefaultDataTypeID), + uORB::SubscriptionCallbackWorkItem(work_item, ORB_ID(airspeed)), + uavcan::Publisher( + node) + { + this->setPriority(uavcan::TransferPriority::OneLowerThanHighest); + } + + void PrintInfo() override + { + if (uORB::SubscriptionCallbackWorkItem::advertised()) { + printf( + "\t%s -> %s:%d\n", + uORB::SubscriptionCallbackWorkItem::get_topic()->o_name, + uavcan::equipment::air_data::IndicatedAirspeed::getDataTypeFullName(), + uavcan::equipment::air_data::IndicatedAirspeed::DefaultDataTypeID); + } + } + + void BroadcastAnyUpdates() override + { + + // airspeed -> uavcan::equipment::air_data::IndicatedAirspeed + + airspeed_s airspeed_m; + + if (uORB::SubscriptionCallbackWorkItem::update(&airspeed_m)) { + uavcan::equipment::air_data::IndicatedAirspeed indicated_as{}; + + indicated_as.indicated_airspeed = airspeed_m.indicated_airspeed_m_s; + uavcan::Publisher:: + broadcast(indicated_as); + + // ensure callback is registered + uORB::SubscriptionCallbackWorkItem::registerCallback(); + } + } +}; +} // namespace uavcannode diff --git a/src/drivers/uavcannode/Publishers/RawAirData.hpp b/src/drivers/uavcannode/Publishers/RawAirData.hpp index c711213f7ac2..6226a5feb42b 100644 --- a/src/drivers/uavcannode/Publishers/RawAirData.hpp +++ b/src/drivers/uavcannode/Publishers/RawAirData.hpp @@ -39,6 +39,7 @@ #include #include +#include namespace uavcannode { @@ -78,8 +79,8 @@ class RawAirData : // raw_air_data.static_pressure = raw_air_data.differential_pressure = diff_press.differential_pressure_pa; // raw_air_data.static_pressure_sensor_temperature = - raw_air_data.differential_pressure_sensor_temperature = diff_press.temperature - CONSTANTS_ABSOLUTE_NULL_CELSIUS; - raw_air_data.static_air_temperature = diff_press.temperature - CONSTANTS_ABSOLUTE_NULL_CELSIUS; + raw_air_data.differential_pressure_sensor_temperature = diff_press.temperature - atmosphere::kAbsoluteNullCelsius; + raw_air_data.static_air_temperature = diff_press.temperature - atmosphere::kAbsoluteNullCelsius; // raw_air_data.pitot_temperature // raw_air_data.covariance uavcan::Publisher::broadcast(raw_air_data); diff --git a/src/drivers/uavcannode/Publishers/StaticTemperature.hpp b/src/drivers/uavcannode/Publishers/StaticTemperature.hpp index 46998967f0c9..3784c4b06788 100644 --- a/src/drivers/uavcannode/Publishers/StaticTemperature.hpp +++ b/src/drivers/uavcannode/Publishers/StaticTemperature.hpp @@ -39,6 +39,7 @@ #include #include +#include namespace uavcannode { @@ -74,7 +75,7 @@ class StaticTemperature : if ((hrt_elapsed_time(&_last_static_temperature_publish) > 1_s) && uORB::SubscriptionCallbackWorkItem::update(&baro)) { uavcan::equipment::air_data::StaticTemperature static_temperature{}; - static_temperature.static_temperature = baro.temperature - CONSTANTS_ABSOLUTE_NULL_CELSIUS; + static_temperature.static_temperature = baro.temperature - atmosphere::kAbsoluteNullCelsius; uavcan::Publisher::broadcast(static_temperature); // ensure callback is registered diff --git a/src/drivers/uavcannode/Subscribers/ArmingStatus.hpp b/src/drivers/uavcannode/Subscribers/ArmingStatus.hpp index b3b2d4b5385f..6e895f3b424c 100644 --- a/src/drivers/uavcannode/Subscribers/ArmingStatus.hpp +++ b/src/drivers/uavcannode/Subscribers/ArmingStatus.hpp @@ -89,6 +89,7 @@ class ArmingStatus : actuator_armed.armed = false; } + actuator_armed.prearmed = true; actuator_armed.timestamp = hrt_absolute_time(); _actuator_armed_pub.publish(actuator_armed); } diff --git a/src/drivers/uavcannode/UavcanNode.cpp b/src/drivers/uavcannode/UavcanNode.cpp index 8ac153380e1d..61c96bd6b237 100644 --- a/src/drivers/uavcannode/UavcanNode.cpp +++ b/src/drivers/uavcannode/UavcanNode.cpp @@ -58,8 +58,13 @@ #if defined(CONFIG_UAVCANNODE_GNSS_FIX) #include "Publishers/GnssFix2.hpp" +#include "Publishers/GnssAuxiliary.hpp" #endif // CONFIG_UAVCANNODE_GNSS_FIX +#if defined(CONFIG_UAVCANNODE_INDICATED_AIR_SPEED) +#include "Publishers/IndicatedAirspeed.hpp" +#endif // CONFIG_UAVCANNODE_INDICATED_AIR_SPEED + #if defined(CONFIG_UAVCANNODE_MAGNETIC_FIELD_STRENGTH) #include "Publishers/MagneticFieldStrength2.hpp" #endif // CONFIG_UAVCANNODE_MAGNETIC_FIELD_STRENGTH @@ -157,6 +162,7 @@ UavcanNode::UavcanNode(CanInitHelper *can_init, uint32_t bitrate, uavcan::ICanDr _time_sync_slave(_node), _fw_update_listner(_node), _param_server(_node), + _dyn_node_id_client(_node), _reset_timer(_node) { int res = pthread_mutex_init(&_node_mutex, nullptr); @@ -167,6 +173,10 @@ UavcanNode::UavcanNode(CanInitHelper *can_init, uint32_t bitrate, uavcan::ICanDr if (res < 0) { std::abort(); } + + // Ensure this param is marked as used + int32_t bitrate_temp = 0; + (void)param_get(param_find("CANNODE_BITRATE"), &bitrate_temp); } UavcanNode::~UavcanNode() @@ -366,6 +376,7 @@ int UavcanNode::init(uavcan::NodeID node_id, UAVCAN_DRIVER::BusEvent &bus_events #if defined(CONFIG_UAVCANNODE_GNSS_FIX) _publisher_list.add(new GnssFix2(this, _node)); + _publisher_list.add(new GnssAuxiliary(this, _node)); #endif // CONFIG_UAVCANNODE_GNSS_FIX #if defined(CONFIG_UAVCANNODE_MAGNETIC_FIELD_STRENGTH) @@ -448,7 +459,6 @@ int UavcanNode::init(uavcan::NodeID node_id, UAVCAN_DRIVER::BusEvent &bus_events _log_message_sub.registerCallback(); bus_events.registerSignalCallback(UavcanNode::busevent_signal_trampoline); - return 1; } @@ -473,69 +483,82 @@ void UavcanNode::Run() watchdog_pet(); - if (!_initialized) { + switch (_init_state) { + case Booted: { - const int can_init_res = _can->init((uint32_t)_bitrate); + const int can_init_res = _can->init((uint32_t)_bitrate); - if (can_init_res < 0) { - PX4_ERR("CAN driver init failed %i", can_init_res); - } + if (can_init_res < 0) { + PX4_ERR("CAN driver init failed %i", can_init_res); + } - int rv = _node.start(); + int rv = _node.start(); - if (rv < 0) { - PX4_ERR("Failed to start the node"); - } + if (rv < 0) { + PX4_ERR("Failed to start the node"); + } - // If the node_id was not supplied by the bootloader do Dynamic Node ID allocation + // If the node_id was not supplied by the bootloader do Dynamic Node ID allocation - if (_node.getNodeID() == 0) { + if (_node.getNodeID() != 0) { + _init_state = Allocated; - uavcan::DynamicNodeIDClient client(_node); + } else { - int client_start_res = client.start(_node.getHardwareVersion().unique_id, // USING THE SAME UNIQUE ID AS ABOVE - _node.getNodeID()); + _init_state = Allocation; - if (client_start_res < 0) { - PX4_ERR("Failed to start the dynamic node ID client"); - } + int client_start_res = _dyn_node_id_client.start( + _node.getHardwareVersion().unique_id, // USING THE SAME UNIQUE ID AS ABOVE + _node.getNodeID()); - watchdog_pet(); // If allocation takes too long reboot + if (client_start_res < 0) { + PX4_ERR("Failed to start the dynamic node ID client"); + } + } + } + break; - /* - * Waiting for the client to obtain a node ID. - * This may take a few seconds. - */ + case Allocation: - while (!client.isAllocationComplete()) { - const int res = _node.spin(uavcan::MonotonicDuration::fromMSec(200)); // Spin duration doesn't matter + /* + * Waiting for the client to obtain a node ID. + * This may take a few seconds. + */ - if (res < 0) { - PX4_ERR("Transient failure: %d", res); - } - } + if (_dyn_node_id_client.isAllocationComplete()) { + PX4_INFO("Got node ID %d", _dyn_node_id_client.getAllocatedNodeID().get()); - _node.setNodeID(client.getAllocatedNodeID()); + _node.setNodeID(_dyn_node_id_client.getAllocatedNodeID()); + _init_state = Allocated; } - up_time = hrt_absolute_time(); - get_node().setRestartRequestHandler(&restart_request_handler); - _param_server.start(&_param_manager); + break; + + case Allocated: + if (_node.getNodeID() != 0) { + + up_time = hrt_absolute_time(); + get_node().setRestartRequestHandler(&restart_request_handler); + _param_server.start(&_param_manager); - // Set up the time synchronization - const int slave_init_res = _time_sync_slave.start(); + // Set up the time synchronization + const int slave_init_res = _time_sync_slave.start(); - if (slave_init_res < 0) { - PX4_ERR("Failed to start time_sync_slave"); - _task_should_exit.store(true); + if (slave_init_res < 0) { + PX4_ERR("Failed to start time_sync_slave"); + _task_should_exit.store(true); + } } _node.getLogger().setLevel(uavcan::protocol::debug::LogLevel::DEBUG); _node.setModeOperational(); - _initialized = true; + _init_state = Done; + + default: + break; } perf_begin(_cycle_perf); @@ -634,6 +657,19 @@ void UavcanNode::PrintInfo() { pthread_mutex_lock(&_node_mutex); + // Firmware version + printf("Hardware and software status:\n"); + printf("\tNode ID: %d\n", int(_node.getNodeID().get())); + printf("\tHardware version: %d.%d\n", + int(_node.getHardwareVersion().major), + int(_node.getHardwareVersion().minor)); + printf("\tSoftware version: %d.%d.%08x\n", + int(_node.getSoftwareVersion().major), + int(_node.getSoftwareVersion().minor), + int(_node.getSoftwareVersion().vcs_commit)); + + printf("\n"); + // Memory status printf("Pool allocator status:\n"); printf("\tCapacity hard/soft: %u/%u blocks\n", @@ -729,8 +765,15 @@ extern "C" int uavcannode_start(int argc, char *argv[]) int32_t node_id = 0; // Did the bootloader auto baud and get a node ID Allocated + int valid = -1; bootloader_app_shared_t shared; - int valid = bootloader_app_shared_read(&shared, BootLoader); + + if (board_app_shared_read) { + valid = board_app_shared_read(&shared, BootLoader); + + } else { + valid = bootloader_app_shared_read(&shared, BootLoader); + } if (valid == 0) { @@ -750,7 +793,6 @@ extern "C" int uavcannode_start(int argc, char *argv[]) } else #endif { - (void)param_get(param_find("CANNODE_NODE_ID"), &node_id); (void)param_get(param_find("CANNODE_BITRATE"), &bitrate); } } @@ -759,7 +801,7 @@ extern "C" int uavcannode_start(int argc, char *argv[]) #if defined(SUPPORT_ALT_CAN_BOOTLOADER) board_booted_by_px4() && #endif - (node_id < 0 || node_id > uavcan::NodeID::Max || !uavcan::NodeID(node_id).isUnicast())) { + (node_id < 0 || node_id > uavcan::NodeID::Max)) { PX4_ERR("Invalid Node ID %" PRId32, node_id); return 1; } diff --git a/src/drivers/uavcannode/UavcanNode.hpp b/src/drivers/uavcannode/UavcanNode.hpp index f7a3a2537489..be75f0bd6911 100644 --- a/src/drivers/uavcannode/UavcanNode.hpp +++ b/src/drivers/uavcannode/UavcanNode.hpp @@ -152,7 +152,7 @@ class UavcanNode : public px4::ScheduledWorkItem px4::atomic_bool _task_should_exit{false}; ///< flag to indicate to tear down the CAN driver - bool _initialized{false}; ///< number of actuators currently available + enum {Booted, Interfaced, Allocation, Allocated, Done} _init_state{Booted}; ///< State of the boot. static UavcanNode *_instance; ///< singleton pointer @@ -181,6 +181,8 @@ class UavcanNode : public px4::ScheduledWorkItem UavcanNodeParamManager _param_manager; uavcan::ParamServer _param_server; + uavcan::DynamicNodeIDClient _dyn_node_id_client; + perf_counter_t _cycle_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": cycle time")}; perf_counter_t _interval_perf{perf_alloc(PC_INTERVAL, MODULE_NAME": cycle interval")}; diff --git a/src/drivers/uavcannode/uavcannode_params.c b/src/drivers/uavcannode/uavcannode_params.c index 8a9e1ba0eec9..5b6a27e44ebb 100644 --- a/src/drivers/uavcannode/uavcannode_params.c +++ b/src/drivers/uavcannode/uavcannode_params.c @@ -31,17 +31,6 @@ * ****************************************************************************/ -/** - * UAVCAN Node ID. - * - * Read the specs at http://uavcan.org to learn more about Node ID. - * - * @min 1 - * @max 125 - * @group UAVCAN - */ -PARAM_DEFINE_INT32(CANNODE_NODE_ID, 120); - /** * UAVCAN CAN bus bitrate. * diff --git a/src/drivers/uwb/uwb_sr150/module.yaml b/src/drivers/uwb/uwb_sr150/module.yaml index 68085187bf49..7a62d0cc75b0 100644 --- a/src/drivers/uwb/uwb_sr150/module.yaml +++ b/src/drivers/uwb/uwb_sr150/module.yaml @@ -4,12 +4,10 @@ serial_config: port_config_param: name: UWB_PORT_CFG group: UWB - default: "" parameters: - group: UWB definitions: - UWB_INIT_OFF_X: description: short: UWB sensor X offset in body frame @@ -32,7 +30,7 @@ parameters: UWB_INIT_OFF_Z: description: - short: UWB sensor Y offset in body frame + short: UWB sensor Z offset in body frame long: UWB sensor positioning in relation to Drone in NED. Z offset. type: float unit: m @@ -40,14 +38,52 @@ parameters: increment: 0.01 default: 0.00 - UWB_INIT_OFF_YAW: + UWB_SENS_ROT: description: - short: UWB sensor YAW offset in body frame - long: UWB sensor positioning in relation to Drone in NED. Yaw rotation in relation to direction of FMU. - type: float - unit: deg - decimal: 1 - increment: 0.1 - default: 0.00 - - + short: UWB sensor orientation + long: The orientation of the sensor relative to the forward direction of the body frame. Look up table in src/lib/conversion/rotation.h + Default position is the antannaes downward facing, UWB board parallel with body frame. + type: enum + values: + 0: ROTATION_NONE + 1: ROTATION_YAW_45 + 2: ROTATION_YAW_90 + 3: ROTATION_YAW_135 + 4: ROTATION_YAW_180 + 5: ROTATION_YAW_225 + 6: ROTATION_YAW_270 + 7: ROTATION_YAW_315 + 8: ROTATION_ROLL_180 + 9: ROTATION_ROLL_180_YAW_45 + 10: ROTATION_ROLL_180_YAW_90 + 11: ROTATION_ROLL_180_YAW_135 + 12: ROTATION_PITCH_180 + 13: ROTATION_ROLL_180_YAW_225 + 14: ROTATION_ROLL_180_YAW_270 + 15: ROTATION_ROLL_180_YAW_315 + 16: ROTATION_ROLL_90 + 17: ROTATION_ROLL_90_YAW_45 + 18: ROTATION_ROLL_90_YAW_90 + 19: ROTATION_ROLL_90_YAW_135 + 20: ROTATION_ROLL_270 + 21: ROTATION_ROLL_270_YAW_45 + 22: ROTATION_ROLL_270_YAW_90 + 23: ROTATION_ROLL_270_YAW_135 + 24: ROTATION_PITCH_90 + 25: ROTATION_PITCH_270 + 26: ROTATION_PITCH_180_YAW_90 + 27: ROTATION_PITCH_180_YAW_270 + 28: ROTATION_ROLL_90_PITCH_90 + 29: ROTATION_ROLL_180_PITCH_90 + 30: ROTATION_ROLL_270_PITCH_90 + 31: ROTATION_ROLL_90_PITCH_180 + 32: ROTATION_ROLL_270_PITCH_180 + 33: ROTATION_ROLL_90_PITCH_270 + 34: ROTATION_ROLL_180_PITCH_270 + 35: ROTATION_ROLL_270_PITCH_270 + 36: ROTATION_ROLL_90_PITCH_180_YAW_90 + 37: ROTATION_ROLL_90_YAW_270 + 38: ROTATION_ROLL_90_PITCH_68_YAW_293 + 39: ROTATION_PITCH_315 + 40: ROTATION_ROLL_90_PITCH_315 + default: 0 diff --git a/src/drivers/uwb/uwb_sr150/uwb_sr150.cpp b/src/drivers/uwb/uwb_sr150/uwb_sr150.cpp index 7f917adbc0d4..ec7b8f69ae60 100644 --- a/src/drivers/uwb/uwb_sr150/uwb_sr150.cpp +++ b/src/drivers/uwb/uwb_sr150/uwb_sr150.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2020-2022 PX4 Development Team. All rights reserved. + * Copyright (c) 2020-2023 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -63,128 +63,130 @@ // The default baudrate of the uwb_sr150 module before configuration #define DEFAULT_BAUD B115200 -const uint8_t CMD_RANGING_STOP[UWB_CMD_LEN ] = {UWB_CMD, 0x00, 0x02, UWB_DRONE_CTL, UWB_CMD_STOP}; -const uint8_t CMD_RANGING_START[UWB_CMD_LEN ] = {UWB_CMD, 0x00, 0x02, UWB_DRONE_CTL, UWB_CMD_START}; -const uint8_t CMD_APP_START[UWB_CMD_LEN ] = {0x01, 0x00, 0x02, UWB_APP_START, UWB_PRECNAV_APP}; -const uint8_t CMD_APP_STOP[0x04 ] = {0x01, 0x00, 0x01, UWB_APP_STOP}; - extern "C" __EXPORT int uwb_sr150_main(int argc, char *argv[]); -UWB_SR150::UWB_SR150(const char *device_name, speed_t baudrate, bool uwb_pos_debug): +UWB_SR150::UWB_SR150(const char *port): ModuleParams(nullptr), + ScheduledWorkItem(MODULE_NAME, px4::serial_port_to_wq(port)), _read_count_perf(perf_alloc(PC_COUNT, "uwb_sr150_count")), _read_err_perf(perf_alloc(PC_COUNT, "uwb_sr150_err")) { - _uwb_pos_debug = uwb_pos_debug; - // start serial port - _uart = open(device_name, O_RDWR | O_NOCTTY); - - if (_uart < 0) { err(1, "could not open %s", device_name); } - - int ret = 0; - struct termios uart_config {}; - ret = tcgetattr(_uart, &uart_config); + /* store port name */ + strncpy(_port, port, sizeof(_port) - 1); + /* enforce null termination */ + _port[sizeof(_port) - 1] = '\0'; +} - if (ret < 0) { err(1, "failed to get attr"); } +UWB_SR150::~UWB_SR150() +{ + printf("UWB: Ranging Stopped\t\n"); - uart_config.c_oflag &= ~ONLCR; // no CR for every LF - ret = cfsetispeed(&uart_config, baudrate); + // stop{}; will be implemented when this is changed to a scheduled work task + perf_free(_read_err_perf); + perf_free(_read_count_perf); - if (ret < 0) { err(1, "failed to set input speed"); } + close(_uart); +} - ret = cfsetospeed(&uart_config, baudrate); +bool UWB_SR150::init() +{ + // execute Run() on every sensor_accel publication + if (!_sensor_uwb_sub.registerCallback()) { + PX4_ERR("callback registration failed"); + return false; + } - if (ret < 0) { err(1, "failed to set output speed"); } + // alternatively, Run on fixed interval + // ScheduleOnInterval(5000_us); // 2000 us interval, 200 Hz rate - ret = tcsetattr(_uart, TCSANOW, &uart_config); + return true; +} - if (ret < 0) { err(1, "failed to set attr"); } +void UWB_SR150::start() +{ + /* schedule a cycle to start things */ + ScheduleNow(); } -UWB_SR150::~UWB_SR150() +void UWB_SR150::stop() { - printf("UWB: Ranging Stopped\t\n"); - int written = write(_uart, &CMD_APP_STOP, sizeof(CMD_APP_STOP)); + ScheduleClear(); +} - if (written < (int) sizeof(CMD_APP_STOP)) { - PX4_ERR("Only wrote %d bytes out of %d.", written, (int) sizeof(CMD_APP_STOP)); +void UWB_SR150::Run() +{ + if (should_exit()) { + ScheduleClear(); + exit_and_cleanup(); + return; } - perf_free(_read_err_perf); - perf_free(_read_count_perf); + if (_uart < 0) { + /* open fd */ + _uart = ::open(_port, O_RDWR | O_NOCTTY | O_NONBLOCK); - close(_uart); -} + if (_uart < 0) { + PX4_ERR("open failed (%i)", errno); + return; + } -void UWB_SR150::run() -{ - // Subscribe to parameter_update message - parameters_update(); + struct termios uart_config; - //TODO replace with BLE grid configuration - grid_info_read(&_uwb_grid_info.target_pos); - _uwb_grid_info.num_anchors = 4; - _uwb_grid_info.initator_time = hrt_absolute_time(); - _uwb_grid_info.mac_mode = 0x00; + int termios_state; - /* Grid Info Message*/ - _uwb_grid.timestamp = hrt_absolute_time(); - _uwb_grid.initator_time = _uwb_grid_info.initator_time; - _uwb_grid.num_anchors = _uwb_grid_info.num_anchors; + /* fill the struct for the new configuration */ + tcgetattr(_uart, &uart_config); - memcpy(&_uwb_grid.target_pos, &_uwb_grid_info.target_pos, sizeof(position_t) * 5); //write Grid positions + /* clear ONLCR flag (which appends a CR for every LF) */ + uart_config.c_oflag &= ~ONLCR; - _uwb_grid_pub.publish(_uwb_grid); + //TODO: should I keep this? + /* no parity, one stop bit */ + uart_config.c_cflag &= ~(CSTOPB | PARENB); - /* Ranging Command */ - int written = write(_uart, CMD_RANGING_START, UWB_CMD_LEN); + unsigned speed = DEFAULT_BAUD; - if (written < UWB_CMD_LEN) { - PX4_ERR("Only wrote %d bytes out of %d.", written, (int) sizeof(uint8_t) * UWB_CMD_LEN); - } + /* set baud rate */ + if ((termios_state = cfsetispeed(&uart_config, speed)) < 0) { + PX4_ERR("CFG: %d ISPD", termios_state); + } + + if ((termios_state = cfsetospeed(&uart_config, speed)) < 0) { + PX4_ERR("CFG: %d OSPD", termios_state); + } - while (!should_exit()) { - written = UWB_SR150::distance(); //evaluate Ranging Messages until Stop + if ((termios_state = tcsetattr(_uart, TCSANOW, &uart_config)) < 0) { + PX4_ERR("baud %d ATTR", termios_state); + } } - if (!written) { printf("ERROR: Distance Failed"); } + /* perform collection */ + int collect_ret = collectData(); - // Automatic Stop. This should not be reachable - written = write(_uart, &CMD_RANGING_STOP, UWB_CMD_LEN); + if (collect_ret == -EAGAIN) { + /* reschedule to grab the missing bits, time to transmit 8 bytes @ 9600 bps */ + ScheduleDelayed(1042 * 8); - if (written < (int) sizeof(CMD_RANGING_STOP)) { - PX4_ERR("Only wrote %d bytes out of %d.", written, (int) sizeof(CMD_RANGING_STOP)); + return; } -} -void UWB_SR150::grid_info_read(position_t *grid) -{ - //place holder, until UWB initiator can respond with Grid info - /* This Reads the position of each Anchor in the Grid. - Right now the Grid configuration is saved on the SD card. - In the future, we would like, that the Initiator responds with the Grid Information (Including Position). */ - PX4_INFO("Reading UWB GRID from SD... \t\n"); - FILE *file; - file = fopen(UWB_GRID_CONFIG, "r"); - - int bread = 0; - - for (int i = 0; i < 5; i++) { - bread += fscanf(file, "%hd,%hd,%hd\n", &grid[i].x, &grid[i].y, &grid[i].z); - } + if (OK != collect_ret) { - if (bread == 5 * 3) { - PX4_INFO("GRID INFO READ! bytes read: %d \t\n", bread); + /* we know the sensor needs about four seconds to initialize */ + if (hrt_absolute_time() > 5 * 1000 * 1000LL && _consecutive_fail_count < 5) { + PX4_ERR("collection error #%u", _consecutive_fail_count); + } - } else { //use UUID from Grid survey - PX4_INFO("GRID INFO Missing! bytes read: %d \t\n Using standrd Grid \t\n", bread); - position_t grid_setup[5] = {{0x0, 0x0, 0x0}, {(int16_t)0xff68, 0x0, 0x0a}, {0x99, 0x0, 0x0a}, {0x0, 0x96, 0x64}, {0x0, (int16_t)0xff6a, 0x63}}; - memcpy(grid, &grid_setup, sizeof(grid_setup)); - PX4_INFO("Insert \"uwb_grid_config.csv\" containing gridinfo in cm at \"/fs/microsd/etc/\".\t\n"); - PX4_INFO("n + 1 Anchor Positions starting with Landing Target. Int16 Format: \"x,y,z\" \t\n"); - } + _consecutive_fail_count++; - fclose(file); + /* restart the measurement state machine */ + start(); + return; + + } else { + /* apparently success */ + _consecutive_fail_count = 0; + } } int UWB_SR150::custom_command(int argc, char *argv[]) @@ -214,43 +216,20 @@ Start the driver with a given device: PRINT_MODULE_USAGE_COMMAND("start"); PRINT_MODULE_USAGE_PARAM_STRING('d', nullptr, "", "Name of device for serial communication with UWB", false); PRINT_MODULE_USAGE_PARAM_STRING('b', nullptr, "", "Baudrate for serial communication", false); - PRINT_MODULE_USAGE_PARAM_STRING('p', nullptr, "", "Position Debug: displays errors in Multilateration", false); PRINT_MODULE_USAGE_COMMAND("stop"); PRINT_MODULE_USAGE_COMMAND("status"); return 0; } int UWB_SR150::task_spawn(int argc, char *argv[]) -{ - int task_id = px4_task_spawn_cmd( - "uwb_driver", - SCHED_DEFAULT, - SCHED_PRIORITY_DEFAULT, - 2048, - &run_trampoline, - argv - ); - - if (task_id < 0) { - return -errno; - - } else { - _task_id = task_id; - return 0; - } -} - -UWB_SR150 *UWB_SR150::instantiate(int argc, char *argv[]) { int ch; int option_index = 1; const char *option_arg; - const char *device_name = nullptr; - bool error_flag = false; + const char *device_name = UWB_DEFAULT_PORT; int baudrate = 0; - bool uwb_pos_debug = false; // Display UWB position calculation debug Messages - while ((ch = px4_getopt(argc, argv, "d:b:p", &option_index, &option_arg)) != EOF) { + while ((ch = px4_getopt(argc, argv, "d:b", &option_index, &option_arg)) != EOF) { switch (ch) { case 'd': device_name = option_arg; @@ -260,47 +239,54 @@ UWB_SR150 *UWB_SR150::instantiate(int argc, char *argv[]) px4_get_parameter_value(option_arg, baudrate); break; - case 'p': - - uwb_pos_debug = true; - break; - default: PX4_WARN("Unrecognized flag: %c", ch); - error_flag = true; break; } } - if (!error_flag && device_name == nullptr) { - print_usage("Device name not provided. Using default Device: TEL1:/dev/ttyS4 \n"); - device_name = "TEL2"; - error_flag = true; - } + UWB_SR150 *instance = new UWB_SR150(device_name); - if (!error_flag && baudrate == 0) { - printf("Baudrate not provided. Using default Baud: 115200 \n"); - baudrate = B115200; - } + if (instance) { + _object.store(instance); + _task_id = task_id_is_work_queue; - if (!error_flag && uwb_pos_debug == true) { - printf("UWB Position algorithm Debugging \n"); - } + instance->ScheduleOnInterval(5000_us); - if (error_flag) { - PX4_WARN("Failed to start UWB driver. \n"); - return nullptr; + if (instance->init()) { + return PX4_OK; + } } else { - PX4_INFO("Constructing UWB_SR150. Device: %s", device_name); - return new UWB_SR150(device_name, baudrate, uwb_pos_debug); + PX4_ERR("alloc failed"); } + + delete instance; + _object.store(nullptr); + _task_id = -1; + + return PX4_ERROR; } -int UWB_SR150::distance() +int uwb_sr150_main(int argc, char *argv[]) +{ + return UWB_SR150::main(argc, argv); +} + +void UWB_SR150::parameters_update() +{ + if (_parameter_update_sub.updated()) { + parameter_update_s param_update; + _parameter_update_sub.copy(¶m_update); + + // If any parameter updated, call updateParams() to check if + // this class attributes need updating (and do so). + updateParams(); + } +} + +int UWB_SR150::collectData() { - _uwb_init_offset_v3f = matrix::Vector3f(_uwb_init_off_x.get(), _uwb_init_off_y.get(), - _uwb_init_off_z.get()); //set offset at the start uint8_t *buffer = (uint8_t *) &_distance_result_msg; FD_ZERO(&_uart_set); @@ -350,366 +336,54 @@ int UWB_SR150::distance() perf_count(_read_count_perf); // All of the following criteria must be met for the message to be acceptable: - // - Size of message == sizeof(distance_msg_t) (51 bytes) + // - Size of message == sizeof(distance_msg_t) (36 bytes) // - status == 0x00 - // - Values of all 3 position measurements are reasonable - // (If one or more anchors is missed, then position might be an unreasonably large number.) - bool ok = (buffer_location == sizeof(distance_msg_t) && _distance_result_msg.stop == 0x1b); //|| - //(buffer_location == sizeof(grid_msg_t) && _distance_result_msg.stop == 0x1b) - //); + bool ok = (buffer_location == sizeof(distance_msg_t) && _distance_result_msg.stop == 0x1b); if (ok) { /* Ranging Message*/ - _uwb_distance.timestamp = hrt_absolute_time(); - _uwb_distance.time_uwb_ms = _distance_result_msg.time_uwb_ms; - _uwb_distance.counter = _distance_result_msg.seq_ctr; - _uwb_distance.sessionid = _distance_result_msg.sessionId; - _uwb_distance.time_offset = _distance_result_msg.range_interval; - - for (int i = 0; i < 4; i++) { - _uwb_distance.anchor_distance[i] = _distance_result_msg.measurements[i].distance; - _uwb_distance.nlos[i] = _distance_result_msg.measurements[i].nLos; - _uwb_distance.aoafirst[i] = float(_distance_result_msg.measurements[i].aoaFirst) / - 128; // Angle of Arrival has Format Q9.7; dividing by 2^7 results in the correct value - } + _sensor_uwb.timestamp = hrt_absolute_time(); - // Algorithm goes here - UWB_POS_ERROR_CODES UWB_POS_ERROR = UWB_SR150::localization(); + _sensor_uwb.sessionid = _distance_result_msg.sessionId; + _sensor_uwb.time_offset = _distance_result_msg.range_interval; + _sensor_uwb.counter = _distance_result_msg.seq_ctr; + _sensor_uwb.mac = _distance_result_msg.MAC; - _uwb_distance.status = UWB_POS_ERROR; + _sensor_uwb.mac_dest = _distance_result_msg.measurements.MAC; + _sensor_uwb.status = _distance_result_msg.measurements.status; + _sensor_uwb.nlos = _distance_result_msg.measurements.nLos; + _sensor_uwb.distance = double(_distance_result_msg.measurements.distance) / 100; - if (UWB_OK == UWB_POS_ERROR) { - _uwb_distance.position[0] = _rel_pos(0); - _uwb_distance.position[1] = _rel_pos(1); - _uwb_distance.position[2] = _rel_pos(2); + /*Angle of Arrival has Format Q9.7; dividing by 2^7 and negating results in the correct value*/ + _sensor_uwb.aoa_azimuth_dev = - double(_distance_result_msg.measurements.aoa_azimuth) / 128; + _sensor_uwb.aoa_elevation_dev = - double(_distance_result_msg.measurements.aoa_elevation) / 128; + _sensor_uwb.aoa_azimuth_resp = - double(_distance_result_msg.measurements.aoa_dest_azimuth) / 128; + _sensor_uwb.aoa_elevation_resp = - double(_distance_result_msg.measurements.aoa_dest_elevation) / 128; - } else { - //only print the error if debug is enabled - if (_uwb_pos_debug) { - switch (UWB_POS_ERROR) { //UWB POSITION ALGORItHM Errors - case UWB_ANC_BELOW_THREE: - PX4_INFO("UWB not enough anchors for doing localization"); - break; - - case UWB_LIN_DEP_FOR_THREE: - PX4_INFO("UWB localization: linear dependent with 3 Anchors"); - break; - - case UWB_ANC_ON_ONE_LEVEL: - PX4_INFO("UWB localization: Anchors are on a X,Y Plane and there are not enought Anchors"); - break; - - case UWB_LIN_DEP_FOR_FOUR: - PX4_INFO("UWB localization: linear dependent with four or more Anchors"); - break; - - case UWB_RANK_ZERO: - PX4_INFO("UWB localization: rank is zero"); - break; - - default: - PX4_INFO("UWB localization: Unknown failure in Position Algorithm"); - break; - } - } - } - _uwb_distance_pub.publish(_uwb_distance); + /*Angle of Arrival has Format Q9.7; dividing by 2^7 and negating results in the correct value*/ + _sensor_uwb.aoa_azimuth_fom = - double(_distance_result_msg.measurements.aoa_azimuth) / 128; + _sensor_uwb.aoa_elevation_fom = - double(_distance_result_msg.measurements.aoa_elevation) / 128; + _sensor_uwb.aoa_dest_azimuth_fom = - double(_distance_result_msg.measurements.aoa_dest_azimuth) / 128; + _sensor_uwb.aoa_dest_elevation_fom = - double(_distance_result_msg.measurements.aoa_dest_elevation) / 128; + + /* Sensor physical offset*/ //for now we propagate the physical configuration via Uorb + _sensor_uwb.orientation = _sensor_rot.get(); + _sensor_uwb.offset_x = _offset_x.get(); + _sensor_uwb.offset_y = _offset_y.get(); + _sensor_uwb.offset_z = _offset_z.get(); + + _sensor_uwb_pub.publish(_sensor_uwb); } else { - //PX4_ERR("Read %d bytes instead of %d.", (int) buffer_location, (int) sizeof(distance_msg_t)); perf_count(_read_err_perf); if (buffer_location == 0) { PX4_WARN("UWB module is not responding."); - - //TODO add retry Ranging Start Message. Sometimes the UWB devices Crashes. (Check Power) } } return 1; } - -UWB_POS_ERROR_CODES UWB_SR150::localization() -{ -// WIP - /****************************************************** - ****************** 3D Localization ******************* - *****************************************************/ - - /*!@brief: This function calculates the 3D position of the initiator from the anchor distances and positions using least squared errors. - * The function expects more than 4 anchors. The used equation system looks like follows:\n - \verbatim - - - - | M_11 M_12 M_13 | x b[0] - | M_12 M_22 M_23 | * y = b[1] - | M_23 M_13 M_33 | z b[2] - - - - \endverbatim - * @param distances_cm_in_pt: Pointer to array that contains the distances to the anchors in cm (including invalid results) - * @param no_distances: Number of valid distances in distance array (it's not the size of the array) - * @param anchor_pos: Pointer to array that contains anchor positions in cm (including positions related to invalid results) - * @param no_anc_positions: Number of valid anchor positions in the position array (it's not the size of the array) - * @param position_result_pt: Pointer toposition. position_t variable that holds the result of this calculation - * @return: The function returns a status code. */ - - /* Algorithm used: - * Linear Least Sqaures to solve Multilateration - * with a Special case if there are only 3 Anchors. - * Output is the Coordinates of the Initiator in relation to Anchor 0 in NEU (North-East-Up) Framing - * In cm - */ - - /* Resulting Position Vector*/ - int64_t x_pos = 0; - int64_t y_pos = 0; - int64_t z_pos = 0; - /* Matrix components (3*3 Matrix resulting from least square error method) [cm^2] */ - int64_t M_11 = 0; - int64_t M_12 = 0; // = M_21 - int64_t M_13 = 0; // = M_31 - int64_t M_22 = 0; - int64_t M_23 = 0; // = M_23 - int64_t M_33 = 0; - - /* Vector components (3*1 Vector resulting from least square error method) [cm^3] */ - int64_t b[3] = {0}; - - /* Miscellaneous variables */ - int64_t temp = 0; - int64_t temp2 = 0; - int64_t nominator = 0; - int64_t denominator = 0; - bool anchors_on_x_y_plane = true; // Is true, if all anchors are on the same height => x-y-plane - bool lin_dep = true; // All vectors are linear dependent, if this variable is true - uint8_t ind_y_indi = - 0; //numberr of independet vectors // First anchor index, for which the second row entry of the matrix [(x_1 - x_0) (x_2 - x_0) ... ; (y_1 - x_0) (y_2 - x_0) ...] is non-zero => linear independent - - /* Arrays for used distances and anchor positions (without rejected ones) */ - uint8_t no_distances = _uwb_grid_info.num_anchors; - uint32_t distances_cm[no_distances]; - position_t anchor_pos[no_distances]; //position in CM - uint8_t no_valid_distances = 0; - - /* Reject invalid distances (including related anchor position) */ - for (int i = 0; i < no_distances; i++) { - if (_distance_result_msg.measurements[i].distance != 0xFFFFu) { - //excludes any distance that is 0xFFFFU (int16 Maximum Value) - distances_cm[no_valid_distances] = _distance_result_msg.measurements[i].distance; - anchor_pos[no_valid_distances] = _uwb_grid_info.anchor_pos[i]; - no_valid_distances++; - - } - } - - /* Check, if there are enough valid results for doing the localization at all */ - if (no_valid_distances < 3) { - return UWB_ANC_BELOW_THREE; - } - - /* Check, if anchors are on the same x-y plane */ - for (int i = 1; i < no_valid_distances; i++) { - if (anchor_pos[i].z != anchor_pos[0].z) { - anchors_on_x_y_plane = false; - break; - } - } - - /**** Check, if there are enough linear independent anchor positions ****/ - - /* Check, if the matrix |(x_1 - x_0) (x_2 - x_0) ... | has rank 2 - * |(y_1 - y_0) (y_2 - y_0) ... | */ - - for (ind_y_indi = 2; ((ind_y_indi < no_valid_distances) && (lin_dep == true)); ind_y_indi++) { - temp = ((int64_t)anchor_pos[ind_y_indi].y - (int64_t)anchor_pos[0].y) * ((int64_t)anchor_pos[1].x - - (int64_t)anchor_pos[0].x); - temp2 = ((int64_t)anchor_pos[1].y - (int64_t)anchor_pos[0].y) * ((int64_t)anchor_pos[ind_y_indi].x - - (int64_t)anchor_pos[0].x); - - if ((temp - temp2) != 0) { - lin_dep = false; - break; - } - } - - /* Leave function, if rank is below 2 */ - if (lin_dep == true) { - return UWB_LIN_DEP_FOR_THREE; - } - - /* If the anchors are not on the same plane, three vectors must be independent => check */ - if (!anchors_on_x_y_plane) { - /* Check, if there are enough valid results for doing the localization */ - if (no_valid_distances < 4) { - return UWB_ANC_ON_ONE_LEVEL; - } - - /* Check, if the matrix |(x_1 - x_0) (x_2 - x_0) (x_3 - x_0) ... | has rank 3 (Rank y, y already checked) - * |(y_1 - y_0) (y_2 - y_0) (y_3 - y_0) ... | - * |(z_1 - z_0) (z_2 - z_0) (z_3 - z_0) ... | */ - lin_dep = true; - - for (int i = 2; ((i < no_valid_distances) && (lin_dep == true)); i++) { - if (i != ind_y_indi) { - /* (x_1 - x_0)*[(y_2 - y_0)(z_n - z_0) - (y_n - y_0)(z_2 - z_0)] */ - temp = ((int64_t)anchor_pos[ind_y_indi].y - (int64_t)anchor_pos[0].y) * ((int64_t)anchor_pos[i].z - - (int64_t)anchor_pos[0].z); - temp -= ((int64_t)anchor_pos[i].y - (int64_t)anchor_pos[0].y) * ((int64_t)anchor_pos[ind_y_indi].z - - (int64_t)anchor_pos[0].z); - temp2 = ((int64_t)anchor_pos[1].x - (int64_t)anchor_pos[0].x) * temp; - - /* Add (x_2 - x_0)*[(y_n - y_0)(z_1 - z_0) - (y_1 - y_0)(z_n - z_0)] */ - temp = ((int64_t)anchor_pos[i].y - (int64_t)anchor_pos[0].y) * ((int64_t)anchor_pos[1].z - (int64_t)anchor_pos[0].z); - temp -= ((int64_t)anchor_pos[1].y - (int64_t)anchor_pos[0].y) * ((int64_t)anchor_pos[i].z - (int64_t)anchor_pos[0].z); - temp2 += ((int64_t)anchor_pos[ind_y_indi].x - (int64_t)anchor_pos[0].x) * temp; - - /* Add (x_n - x_0)*[(y_1 - y_0)(z_2 - z_0) - (y_2 - y_0)(z_1 - z_0)] */ - temp = ((int64_t)anchor_pos[1].y - (int64_t)anchor_pos[0].y) * ((int64_t)anchor_pos[ind_y_indi].z - - (int64_t)anchor_pos[0].z); - temp -= ((int64_t)anchor_pos[ind_y_indi].y - (int64_t)anchor_pos[0].y) * ((int64_t)anchor_pos[1].z - - (int64_t)anchor_pos[0].z); - temp2 += ((int64_t)anchor_pos[i].x - (int64_t)anchor_pos[0].x) * temp; - - if (temp2 != 0) { lin_dep = false; } - } - } - - /* Leave function, if rank is below 3 */ - if (lin_dep == true) { - return UWB_LIN_DEP_FOR_FOUR; - } - } - - /************************************************** Algorithm ***********************************************************************/ - - /* Writing values resulting from least square error method (A_trans*A*x = A_trans*r; row 0 was used to remove x^2,y^2,z^2 entries => index starts at 1) */ - for (int i = 1; i < no_valid_distances; i++) { - /* Matrix (needed to be multiplied with 2, afterwards) */ - M_11 += sq((int64_t)(anchor_pos[i].x - anchor_pos[0].x)); - M_12 += (int64_t)((int64_t)(anchor_pos[i].x - anchor_pos[0].x) * (int64_t)(anchor_pos[i].y - anchor_pos[0].y)); - M_13 += (int64_t)((int64_t)(anchor_pos[i].x - anchor_pos[0].x) * (int64_t)(anchor_pos[i].z - anchor_pos[0].z)); - M_22 += sq((int64_t)(anchor_pos[i].y - anchor_pos[0].y)); - M_23 += (int64_t)((int64_t)(anchor_pos[i].y - anchor_pos[0].y) * (int64_t)(anchor_pos[i].z - anchor_pos[0].z)); - M_33 += sq((int64_t)(anchor_pos[i].z - anchor_pos[0].z)); - - /* Vector */ - temp = sq(distances_cm[0]) - sq(distances_cm[i]) - + sq(anchor_pos[i].x) + sq(anchor_pos[i].y) - + sq(anchor_pos[i].z) - sq(anchor_pos[0].x) - - sq(anchor_pos[0].y) - sq(anchor_pos[0].z); - - b[0] += (int64_t)((int64_t)(anchor_pos[i].x - anchor_pos[0].x) * temp); - b[1] += (int64_t)((int64_t)(anchor_pos[i].y - anchor_pos[0].y) * temp); - b[2] += (int64_t)((int64_t)(anchor_pos[i].z - anchor_pos[0].z) * temp); - } - - M_11 = 2 * M_11; - M_12 = 2 * M_12; - M_13 = 2 * M_13; - M_22 = 2 * M_22; - M_23 = 2 * M_23; - M_33 = 2 * M_33; - - /* Calculating the z-position, if calculation is possible (at least one anchor at z != 0) */ - if (anchors_on_x_y_plane == false) { - nominator = b[0] * (M_12 * M_23 - M_13 * M_22) + b[1] * (M_12 * M_13 - M_11 * M_23) + b[2] * - (M_11 * M_22 - M_12 * M_12); // [cm^7] - denominator = M_11 * (M_33 * M_22 - M_23 * M_23) + 2 * M_12 * M_13 * M_23 - M_33 * M_12 * M_12 - M_22 * M_13 * - M_13; // [cm^6] - - /* Check, if denominator is zero (Rank of matrix not high enough) */ - if (denominator == 0) { - return UWB_RANK_ZERO; - } - - z_pos = ((nominator * 10) / denominator + 5) / 10; // [cm] - } - - /* Else prepare for different calculation approach (after x and y were calculated) */ - else { - z_pos = 0; - } - - /* Calculating the y-position */ - nominator = b[1] * M_11 - b[0] * M_12 - (z_pos * (M_11 * M_23 - M_12 * M_13)); // [cm^5] - denominator = M_11 * M_22 - M_12 * M_12;// [cm^4] - - /* Check, if denominator is zero (Rank of matrix not high enough) */ - if (denominator == 0) { - return UWB_RANK_ZERO; - } - - y_pos = ((nominator * 10) / denominator + 5) / 10; // [cm] - - /* Calculating the x-position */ - nominator = b[0] - z_pos * M_13 - y_pos * M_12; // [cm^3] - denominator = M_11; // [cm^2] - - x_pos = ((nominator * 10) / denominator + 5) / 10;// [cm] - - /* Calculate z-position form x and y coordinates, if z can't be determined by previous steps (All anchors at z_n = 0) */ - if (anchors_on_x_y_plane == true) { - /* Calculate z-positon relative to the anchor grid's height */ - for (int i = 0; i < no_distances; i++) { - /* z² = dis_meas_n² - (x - x_anc_n)² - (y - y_anc_n)² */ - temp = (int64_t)((int64_t)pow(distances_cm[i], 2) - - (int64_t)pow((x_pos - (int64_t)anchor_pos[i].x), 2) - - (int64_t)pow((y_pos - (int64_t)anchor_pos[i].y), 2)); - - /* z² must be positive, else x and y must be wrong => calculate positive sqrt and sum up all calculated heights, if positive */ - if (temp >= 0) { - z_pos += (int64_t)sqrt(temp); - - } else { - z_pos = 0; - } - } - - z_pos = z_pos / no_distances; // Divide sum by number of distances to get the average - - /* Add height of the anchor grid's height */ - z_pos += anchor_pos[0].z; - } - - //Output is the Coordinates of the Initiator in relation to 0,0,0 in NEU (North-East-Up) Framing - // The end goal of this math is to get the position relative to the landing point in the NED frame. - _current_position_uwb_init = matrix::Vector3f(x_pos, y_pos, z_pos); - - // Construct the rotation from the UWB_R4frame to the NWU frame. - // The UWB_SR150 frame is just NWU, rotated by some amount about the Z (up) axis. (Parameter Yaw offset) - // To get back to NWU, just rotate by negative this amount about Z. - _uwb_init_to_nwu = matrix::Dcmf(matrix::Eulerf(0.0f, 0.0f, - -(_uwb_init_off_yaw.get() * M_PI_F / 180.0f))); // - // The actual conversion: - // - Subtract _landing_point to get the position relative to the landing point, in UWB_R4 frame - // - Rotate by _rddrone_to_nwu to get into the NWU frame - // - Rotate by _nwu_to_ned to get into the NED frame - _current_position_ned = _nwu_to_ned * _uwb_init_to_nwu * _current_position_uwb_init; - - // Now the position is the landing point relative to the vehicle. - // so the only thing left is to convert cm to Meters and to add the Initiator offset - _rel_pos = _current_position_ned / 100 + _uwb_init_offset_v3f; - - // The UWB report contains the position of the vehicle relative to the landing point. - - return UWB_OK; -} - -int uwb_sr150_main(int argc, char *argv[]) -{ - return UWB_SR150::main(argc, argv); -} - -void UWB_SR150::parameters_update() -{ - if (_parameter_update_sub.updated()) { - parameter_update_s param_update; - _parameter_update_sub.copy(¶m_update); - - // If any parameter updated, call updateParams() to check if - // this class attributes need updating (and do so). - updateParams(); - } -} diff --git a/src/drivers/uwb/uwb_sr150/uwb_sr150.h b/src/drivers/uwb/uwb_sr150/uwb_sr150.h index 5b42b50e16b7..a405c361ea5e 100644 --- a/src/drivers/uwb/uwb_sr150/uwb_sr150.h +++ b/src/drivers/uwb/uwb_sr150/uwb_sr150.h @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2020-2022 PX4 Development Team. All rights reserved. + * Copyright (c) 2020-2023 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -38,101 +38,63 @@ #include #include #include +#include +#include #include #include -#include +#include + #include -#include -#include -#include -#include #include +#include #include -#include -#include -#include +#include +#include -using namespace time_literals; +#include -#define UWB_CMD 0x8e -#define UWB_CMD_START 0x01 -#define UWB_CMD_STOP 0x00 -#define UWB_CMD_RANGING 0x0A -#define STOP_B 0x0A - -#define UWB_PRECNAV_APP 0x04 -#define UWB_APP_START 0x10 -#define UWB_APP_STOP 0x11 -#define UWB_SESSION_START 0x22 -#define UWB_SESSION_STOP 0x23 -#define UWB_RANGING_START 0x01 -#define UWB_RANGING_STOP 0x00 -#define UWB_DRONE_CTL 0x0A - -#define UWB_CMD_LEN 0x05 -#define UWB_CMD_DISTANCE_LEN 0x21 -#define UWB_MAC_MODE 2 -#define MAX_ANCHORS 12 -#define UWB_GRID_CONFIG "/fs/microsd/etc/uwb_grid_config.csv" - -typedef struct { //needs higher accuracy? - float lat, lon, alt, yaw; //offset to true North -} gps_pos_t; +#define UWB_DEFAULT_PORT "/dev/ttyS1" -typedef struct { - int16_t x, y, z; //axis in cm -} position_t; // Position of a device or target in 3D space - -enum UWB_POS_ERROR_CODES { - UWB_OK, - UWB_ANC_BELOW_THREE, - UWB_LIN_DEP_FOR_THREE, - UWB_ANC_ON_ONE_LEVEL, - UWB_LIN_DEP_FOR_FOUR, - UWB_RANK_ZERO -}; +using namespace time_literals; typedef struct { - uint8_t MAC[2]; // MAC Adress of UWB device - uint8_t status; // Status of Measurement - uint16_t distance; // Distance in cm - uint8_t nLos; // line of sight y/n - uint16_t aoaFirst; // Angle of Arrival of incoming msg + uint16_t MAC; // MAC address of UWB device + uint8_t status; // Status of Measurement + uint16_t distance; // Distance in cm + uint8_t nLos; // line of sight y/n + int16_t aoa_azimuth; // AOA of incoming msg for Azimuth antenna pairing + int16_t aoa_elevation; // AOA of incoming msg for Altitude antenna pairing + int16_t aoa_dest_azimuth; // AOA destination Azimuth + int16_t aoa_dest_elevation; // AOA destination elevation + uint8_t aoa_azimuth_FOM; // AOA Azimuth FOM + uint8_t aoa_elevation_FOM; // AOA Elevation FOM + uint8_t aoa_dest_azimuth_FOM; // AOA Azimuth FOM + uint8_t aoa_dest_elevation_FOM; // AOA Elevation FOM } __attribute__((packed)) UWB_range_meas_t; typedef struct { - uint32_t initator_time; //timestamp of init - uint32_t sessionId; // Session ID of UWB session - uint8_t num_anchors; //number of anchors - gps_pos_t target_gps; //GPS position of Landing Point - uint8_t mac_mode; // MAC adress mode, either 2 Byte or 8 Byte - uint8_t MAC[UWB_MAC_MODE][MAX_ANCHORS]; - position_t target_pos; //target position - position_t anchor_pos[MAX_ANCHORS]; // Position of each anchor - uint8_t stop; // Should be 27 -} grid_msg_t; - -typedef struct { - uint8_t cmd; // Should be 0x8E for distance result message - uint16_t len; // Should be 0x30 for distance result message - uint32_t time_uwb_ms; // Timestamp of UWB device in ms - uint32_t seq_ctr; // Number of Ranges since last Start of Ranging - uint32_t sessionId; // Session ID of UWB session - uint32_t range_interval; // Time between ranging rounds - uint8_t mac_mode; // MAC adress mode, either 2 Byte or 8 Byte - uint8_t no_measurements; // MAC adress mode, either 2 Byte or 8 Byte - UWB_range_meas_t measurements[4]; //Raw anchor_distance distances in CM 2*9 - uint8_t stop; // Should be 0x1B + uint8_t cmd; // Should be 0x8E for distance result message + uint16_t len; // Should be 0x30 for distance result message + uint32_t seq_ctr; // Number of Ranges since last Start of Ranging + uint32_t sessionId; // Session ID of UWB session + uint32_t range_interval; // Time between ranging rounds + uint16_t MAC; // MAC address of UWB device + UWB_range_meas_t measurements; //Raw anchor_distance distances in CM 2*9 + uint8_t stop; // Should be 0x1B } __attribute__((packed)) distance_msg_t; -class UWB_SR150 : public ModuleBase, public ModuleParams +class UWB_SR150 : public ModuleBase, public ModuleParams, public px4::ScheduledWorkItem { public: - UWB_SR150(const char *device_name, speed_t baudrate, bool uwb_pos_debug); - + UWB_SR150(const char *port); ~UWB_SR150(); + /** + * @see ModuleBase::task_spawn + */ + static int task_spawn(int argc, char *argv[]); + /** * @see ModuleBase::custom_command */ @@ -143,67 +105,51 @@ class UWB_SR150 : public ModuleBase, public ModuleParams */ static int print_usage(const char *reason = nullptr); - /** - * @see ModuleBase::Multilateration - */ - UWB_POS_ERROR_CODES localization(); - - /** - * @see ModuleBase::Distance Result - */ - int distance(); + bool init(); - /** - * @see ModuleBase::task_spawn - */ - static int task_spawn(int argc, char *argv[]); + void start(); - static UWB_SR150 *instantiate(int argc, char *argv[]); + void stop(); - void run() override; + int collectData(); private: - static constexpr int64_t sq(int64_t x) { return x * x; } void parameters_update(); - void grid_info_read(position_t *grid); + void Run() override; - DEFINE_PARAMETERS( - (ParamFloat) _uwb_init_off_x, - (ParamFloat) _uwb_init_off_y, - (ParamFloat) _uwb_init_off_z, - (ParamFloat) _uwb_init_off_yaw - ) + // Publications + uORB::Publication _sensor_uwb_pub{ORB_ID(sensor_uwb)}; + // Subscriptions + uORB::SubscriptionCallbackWorkItem _sensor_uwb_sub{this, ORB_ID(sensor_uwb)}; uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s}; - int _uart; - fd_set _uart_set; - struct timeval _uart_timeout {}; - bool _uwb_pos_debug; - - uORB::Publication _uwb_grid_pub{ORB_ID(uwb_grid)}; - uwb_grid_s _uwb_grid{}; + // Parameters + DEFINE_PARAMETERS( + (ParamInt) _uwb_port_cfg, + (ParamFloat) _offset_x, + (ParamFloat) _offset_y, + (ParamFloat) _offset_z, + (ParamInt) _sensor_rot + ) + // Performance (perf) counters + perf_counter_t _read_count_perf; + perf_counter_t _read_err_perf; - uORB::Publication _uwb_distance_pub{ORB_ID(uwb_distance)}; - uwb_distance_s _uwb_distance{}; + sensor_uwb_s _sensor_uwb{}; - uORB::Publication _landing_target_pub{ORB_ID(landing_target_pose)}; - landing_target_pose_s _landing_target{}; + char _port[20] {}; + hrt_abstime param_timestamp{0}; - grid_msg_t _uwb_grid_info{}; - distance_msg_t _distance_result_msg{}; - matrix::Vector3f _rel_pos; + int _uart{-1}; + fd_set _uart_set; + struct timeval _uart_timeout {}; - matrix::Dcmf _uwb_init_to_nwu; - matrix::Dcmf _nwu_to_ned{matrix::Eulerf(M_PI_F, 0.0f, 0.0f)}; - matrix::Vector3f _current_position_uwb_init; - matrix::Vector3f _current_position_ned; - matrix::Vector3f _uwb_init_offset_v3f; + unsigned _consecutive_fail_count; + int _interval{100000}; - perf_counter_t _read_count_perf; - perf_counter_t _read_err_perf; + distance_msg_t _distance_result_msg{}; }; - #endif //PX4_RDDRONE_H diff --git a/src/drivers/voxl2_io/CMakeLists.txt b/src/drivers/voxl2_io/CMakeLists.txt new file mode 100644 index 000000000000..57a5f4af21af --- /dev/null +++ b/src/drivers/voxl2_io/CMakeLists.txt @@ -0,0 +1,53 @@ +############################################################################ +# +# Copyright (c) 2015-2020 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +px4_add_module( + MODULE drivers__voxl2_io + MAIN voxl2_io + SRCS + voxl2_io_crc16.c + voxl2_io_crc16.h + voxl2_io_serial.cpp + voxl2_io_serial.hpp + voxl2_io_packet.c + voxl2_io_packet.h + voxl2_io_packet_types.h + voxl2_io.cpp + voxl2_io.hpp + DEPENDS + rc + px4_work_queue + mixer_module + MODULE_CONFIG + module.yaml + ) diff --git a/src/drivers/voxl2_io/Kconfig b/src/drivers/voxl2_io/Kconfig new file mode 100644 index 000000000000..622cad470d06 --- /dev/null +++ b/src/drivers/voxl2_io/Kconfig @@ -0,0 +1,5 @@ +menuconfig DRIVERS_VOXL2_IO + bool "voxl2_io" + default n + ---help--- + Enable support for voxl2_io diff --git a/src/drivers/voxl2_io/module.yaml b/src/drivers/voxl2_io/module.yaml new file mode 100644 index 000000000000..021305e955fa --- /dev/null +++ b/src/drivers/voxl2_io/module.yaml @@ -0,0 +1,12 @@ +module_name: VOXL2 IO Output +actuator_output: + config_parameters: + - param: 'VOXL2_IO_MIN' + label: 'PWM min value' + - param: 'VOXL2_IO_MAX' + label: 'PWM max value' + output_groups: + - param_prefix: VOXL2_IO + group_label: 'PWMs' + channel_label: 'PWM Channel' + num_channels: 4 diff --git a/src/drivers/voxl2_io/voxl2_io.cpp b/src/drivers/voxl2_io/voxl2_io.cpp new file mode 100644 index 000000000000..352b47490618 --- /dev/null +++ b/src/drivers/voxl2_io/voxl2_io.cpp @@ -0,0 +1,1122 @@ +/**************************************************************************** + * + * Copyright (c) 2012-2022 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include "voxl2_io.hpp" + +#include + + +Voxl2IO::Voxl2IO() : + OutputModuleInterface(MODULE_NAME, px4::serial_port_to_wq(VOXL2_IO_DEFAULT_PORT)), + _mixing_output{"VOXL2_IO", VOXL2_IO_OUTPUT_CHANNELS, *this, MixingOutput::SchedulingPolicy::Auto, false, false}, + _cycle_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": module cycle")}, + _output_update_perf(perf_alloc(PC_INTERVAL, MODULE_NAME": output update interval")) +{ + _mixing_output.setMaxNumOutputs(VOXL2_IO_OUTPUT_CHANNELS); + _uart_port = new Voxl2IoSerial(); + voxl2_io_packet_init(&_sbus_packet); +} + +Voxl2IO::~Voxl2IO() +{ + /* make sure servos are off */ + stop_all_pwms(); + + if (_uart_port) { + _uart_port->uart_close(); + _uart_port = nullptr; + } + + perf_free(_cycle_perf); + perf_free(_output_update_perf); +} + + +int Voxl2IO::init() +{ + int ret = PX4_OK; + + /* Open serial port in this thread */ + if (!_uart_port->is_open()) { + if (_uart_port->uart_open((const char *)_device, _parameters.baud_rate) == PX4_OK) { + /* Send PWM config to M0065... pwm_min and pwm_max */ + PX4_INFO("Opened UART connection to M0065 device on port %s", _device); + + } else { + PX4_ERR("Failed opening device"); + return PX4_ERROR; + } + } + + /* Verify connectivity and protocol version number */ + if (get_version_info() < 0) { + PX4_ERR("Failed to detect voxl2_io protocol version."); + return PX4_ERROR; + + } else { + if (_version_info.sw_version == VOXL2_IO_SW_PROTOCOL_VERSION + && _version_info.hw_version == VOXL2_IO_HW_PROTOCOL_VERSION) { + PX4_INFO("Detected M0065 protocol version. SW: %u HW: %u", _version_info.sw_version, _version_info.hw_version); + + } else { + PX4_ERR("Detected incorrect M0065 protocol version. SW: %u HW: %u", _version_info.sw_version, _version_info.hw_version); + return PX4_ERROR; + } + } + + /* Getting initial parameter values */ + ret = update_params(); + + if (ret != OK) { + return ret; + } + + /* Send PWM MIN/MAX to M0065 */ + update_pwm_config(); + + ScheduleOnInterval(_current_update_interval); + // ScheduleNow(); + return ret; +} + +int Voxl2IO::update_params() +{ + int ret = PX4_ERROR; + + updateParams(); + ret = load_params(&_parameters); + + if (ret == PX4_OK) { + _mixing_output.setAllDisarmedValues(VOXL2_IO_MIXER_DISARMED); + _mixing_output.setAllFailsafeValues(VOXL2_IO_MIXER_FAILSAFE); + _mixing_output.setAllMinValues(VOXL2_IO_MIXER_MIN); + _mixing_output.setAllMaxValues(VOXL2_IO_MIXER_MAX); + _pwm_fullscale = _parameters.pwm_max - _parameters.pwm_min; + } + + return ret; +} + +int Voxl2IO::load_params(voxl2_io_params_t *params) +{ + int ret = PX4_OK; + int32_t max = params->pwm_max; + int32_t min = params->pwm_min; + + // initialize out + for (int i = 0; i < VOXL2_IO_OUTPUT_CHANNELS; i++) { + params->function_map[i] = (int)OutputFunction::Disabled; + } + + /* UART config, PWM mode, and RC protocol*/ + param_get(param_find("VOXL2_IO_BAUD"), ¶ms->baud_rate); + param_get(param_find("RC_INPUT_PROTO"), ¶ms->param_rc_input_proto); + + /* PWM min, max, and failsafe values*/ + param_get(param_find("VOXL2_IO_MIN"), ¶ms->pwm_min); + param_get(param_find("VOXL2_IO_MAX"), ¶ms->pwm_max); + + /* PWM output functions */ + param_get(param_find("VOXL2_IO_FUNC1"), ¶ms->function_map[0]); + param_get(param_find("VOXL2_IO_FUNC2"), ¶ms->function_map[1]); + param_get(param_find("VOXL2_IO_FUNC3"), ¶ms->function_map[2]); + param_get(param_find("VOXL2_IO_FUNC4"), ¶ms->function_map[3]); + + /* Validate PWM min and max values */ + if (params->pwm_min > params->pwm_max) { + PX4_ERR("Invalid parameter VOXL2_IO_MIN. Please verify parameters."); + params->pwm_min = 0; + ret = PX4_ERROR; + } + + if (ret == PX4_OK && _uart_port->is_open() && (max != params->pwm_max || min != params->pwm_min)) { + PX4_INFO("Updating PWM params load_params"); + update_pwm_config(); + } + + return ret; +} + +void Voxl2IO::update_pwm_config() +{ + Command cmd; + uint8_t data[VOXL2_IO_BOARD_CONFIG_SIZE] = {static_cast((_parameters.pwm_min & 0xFF00) >> 8), static_cast(_parameters.pwm_min & 0xFF), + static_cast((_parameters.pwm_max & 0xFF00) >> 8), static_cast(_parameters.pwm_max & 0xFF) + }; + cmd.len = voxl2_io_create_packet(VOXL2_IO_PACKET_TYPE_CONFIG_BOARD_REQUEST, data, VOXL2_IO_BOARD_CONFIG_SIZE, cmd.buf, + sizeof(cmd.buf)); + + if (_uart_port->uart_write(cmd.buf, cmd.len) != cmd.len) { + PX4_ERR("Failed to send config packet"); + + } else { + _bytes_sent += cmd.len; + _packets_sent++; + } +} + +int Voxl2IO::get_version_info() +{ + int res = 0 ; + int header = -1 ; + int info_packet = -1; + int read_retries = 3; + int read_succeeded = 0; + Command cmd; + + /* Request protocol version info from M0065 */ + cmd.len = voxl2_io_create_version_request_packet(0, cmd.buf, VOXL2_IO_VERSION_INFO_SIZE); + + if (_uart_port->uart_write(cmd.buf, cmd.len) != cmd.len) { + PX4_ERR("Failed to send version info packet"); + + } else { + _bytes_sent += cmd.len; + _packets_sent++; + } + + /* Read response */ + px4_usleep(10000); + memset(&_read_buf, 0x00, READ_BUF_SIZE); + res = _uart_port->uart_read(_read_buf, READ_BUF_SIZE); + + while (read_retries) { + if (res) { + /* Get index of packer header */ + for (int index = 0; index < READ_BUF_SIZE; ++index) { + if (_read_buf[index] == VOXL2_IO_PACKET_TYPE_VERSION_RESPONSE) { + info_packet = index; + break; + } + + if (_read_buf[index] == VOXL2_IO_PACKET_HEADER) { + header = index; + } + } + + /* Try again in a bit if packet header not present yet... */ + if (header == -1 || info_packet == -1) { + if (_debug && header == -1) { PX4_ERR("Failed to find voxl2_io packet header, trying again... retries left: %i", read_retries); } + + if (_debug && info_packet == -1) { PX4_ERR("Failed to find version info packet header, trying again... retries left: %i", read_retries); } + + read_retries--; + flush_uart_rx(); + + if (_uart_port->uart_write(cmd.buf, cmd.len) != cmd.len) { + PX4_ERR("Failed to send version info packet"); + + } else { + _bytes_sent += cmd.len; + _packets_sent++; + px4_usleep(2000); + } + + continue; + } + + /* Check if we got a valid packet...*/ + if (parse_response(&_read_buf[header], (uint8_t)VOXL2_IO_VERSION_INFO_SIZE)) { + if (_debug) { + PX4_ERR("Error parsing version info packet"); + PX4_INFO_RAW("[%02x,%02x,%02x,%02x,%02x,%02x,%02x,%02x,%02x,%02x,%02x,%02x,%02x,%02x,%02x,%02x,%02x,%02x,%02x,%02x,%02x,%02x,%02x,%02x,%02x,%02x,%02x,%02x,%02x,%02x]\n", + _read_buf[header + 0], _read_buf[header + 1], _read_buf[header + 2], _read_buf[header + 3], _read_buf[header + 4], + _read_buf[header + 5], + _read_buf[header + 6], _read_buf[header + 7], _read_buf[header + 8], _read_buf[header + 9], _read_buf[header + 10], + _read_buf[header + 11], + _read_buf[header + 12], _read_buf[header + 13], _read_buf[header + 14], _read_buf[header + 15], _read_buf[header + 16], + _read_buf[header + 17], + _read_buf[header + 18], _read_buf[header + 19], _read_buf[header + 20], _read_buf[header + 21], _read_buf[header + 22], + _read_buf[header + 23], + _read_buf[header + 24], _read_buf[header + 25], _read_buf[header + 26], _read_buf[header + 27], _read_buf[header + 28], + _read_buf[header + 29] + ); + } + + read_retries--; + flush_uart_rx(); + + if (_uart_port->uart_write(cmd.buf, cmd.len) != cmd.len) { + PX4_ERR("Failed to send version info packet"); + + } else { + _bytes_sent += cmd.len; + _packets_sent++; + px4_usleep(2000); + } + + break; + + } else { + memcpy(&_version_info, &_read_buf[header], sizeof(VOXL2_IO_VERSION_INFO)); + read_succeeded = 1; + break; + } + + } else { + read_retries--; + + if (_uart_port->uart_write(cmd.buf, cmd.len) != cmd.len) { + PX4_ERR("Failed to send version info packet"); + + } else { + _bytes_sent += cmd.len; + _packets_sent++; + px4_usleep(2000); + } + } + } + + if (! read_succeeded) { + return -EIO; + } + + return 0; +} + +bool Voxl2IO::updateOutputs(bool stop_motors, uint16_t outputs[input_rc_s::RC_INPUT_MAX_CHANNELS], + unsigned num_outputs, unsigned num_control_groups_updated) +{ + /* Stop Mixer while ESCs are being calibrated */ + if (_outputs_disabled) { + return 0; + } + + //in Run() we call _mixing_output.update(), which calls MixingOutput::limitAndUpdateOutputs which calls _interface.updateOutputs (this function) + //So, if Run() is blocked by a custom command, this function will not be called until Run is running again + int16_t _rate_req[VOXL2_IO_OUTPUT_CHANNELS] = {0, 0, 0, 0}; + uint8_t _led_req[VOXL2_IO_OUTPUT_CHANNELS] = {0, 0, 0, 0}; + int32_t _fb_idx = -1; + + if (num_outputs != VOXL2_IO_OUTPUT_CHANNELS) { + PX4_ERR("Num outputs != VOXL2_IO_OUTPUT_CHANNELS!"); + return false; + } + + for (int i = 0; i < VOXL2_IO_OUTPUT_CHANNELS; i++) { + // do not run any signal on disabled channels + if (!_mixing_output.isFunctionSet(i)) { + outputs[i] = 0; + } + + if (outputs[i]) { + _pwm_on = true; + } + + if (!_pwm_on || stop_motors) { + _rate_req[i] = 0; + + } else { + _rate_req[i] = outputs[i]; + } + + _pwm_values[i] = _rate_req[i]; + } + + Command cmd; + cmd.len = voxl2_io_create_pwm_packet4_fb(_rate_req[0], _rate_req[1], _rate_req[2], _rate_req[3], + _led_req[0], _led_req[1], _led_req[2], _led_req[3], + _fb_idx, cmd.buf, sizeof(cmd.buf)); + + if (_pwm_on && _debug) { + PX4_INFO("Mixer outputs"); + PX4_INFO("[%u, %u, %u, %u, %u, %u, %u, %u, %u, %u, %u, %u, %u, %u, %u, %u, %u, %u]", + outputs[0], outputs[1], outputs[2], outputs[3], outputs[4], outputs[5], + outputs[6], outputs[7], outputs[8], outputs[9], outputs[10], outputs[11], + outputs[12], outputs[13], outputs[14], outputs[15], outputs[16], outputs[17] + ); + + // Debug messages for PWM 400Hz values sent to M0065 + uint16_t tics_1 = (_parameters.pwm_min + (_pwm_fullscale * ((double)outputs[0] / VOXL2_IO_MIXER_MAX))) * VOXL2_IO_TICS; + PX4_INFO("\tPWM CH1: %hu::%uus::%u tics", outputs[0], tics_1 / 24, tics_1); + uint16_t tics_2 = (_parameters.pwm_min + (_pwm_fullscale * ((double)outputs[1] / VOXL2_IO_MIXER_MAX))) * VOXL2_IO_TICS; + PX4_INFO("\tPWM CH2: %u::%uus::%u tics", outputs[1], tics_2 / 24, tics_2); + uint16_t tics_3 = (_parameters.pwm_min + (_pwm_fullscale * ((double)outputs[2] / VOXL2_IO_MIXER_MAX))) * VOXL2_IO_TICS; + PX4_INFO("\tPWM CH3: %u::%uus::%u tics", outputs[2], tics_3 / 24, tics_3); + uint16_t tics_4 = (_parameters.pwm_min + (_pwm_fullscale * ((double)outputs[3] / VOXL2_IO_MIXER_MAX))) * VOXL2_IO_TICS; + PX4_INFO("\tPWM CH4: %u::%uus::%u tics", outputs[3], tics_4 / 24, tics_4); + PX4_INFO(""); + } + + if (_uart_port->uart_write(cmd.buf, cmd.len) != cmd.len) { + PX4_ERR("Failed to send packet"); + return false; + + } else { + _bytes_sent += cmd.len; + _packets_sent++; + } + + perf_count(_output_update_perf); + + return true; +} + +int Voxl2IO::flush_uart_rx() +{ + while (_uart_port->uart_read(_read_buf, sizeof(_read_buf)) > 0) {} + + return 0; +} + +static bool valid_port(int port) +{ + if (port == 2 || port == 6 || port == 7) { return true; } + + return false; +} + +int Voxl2IO::parse_response(uint8_t *buf, uint8_t len) +{ + for (int i = 0; i < len; i++) { + int16_t ret = voxl2_io_packet_process_char(buf[i], &_sbus_packet); + + if (ret > 0) { + uint8_t packet_type = voxl2_io_packet_get_type(&_sbus_packet); + uint8_t packet_size = voxl2_io_packet_get_size(&_sbus_packet); + + if (packet_type == VOXL2_IO_PACKET_TYPE_RC_DATA_RAW && packet_size == VOXL2_IO_SBUS_FRAME_SIZE) { + return 0; + + } else if (packet_type == VOXL2_IO_PACKET_TYPE_VERSION_RESPONSE && packet_size == sizeof(VOXL2_IO_VERSION_INFO)) { + return 0; + + } else { + return -1; + } + + } else { //parser error + switch (ret) { + case VOXL2_IO_ERROR_BAD_CHECKSUM: + if (_pwm_on && _debug) { PX4_WARN("BAD packet checksum"); } + + break; + + case VOXL2_IO_ERROR_BAD_LENGTH: + if (_pwm_on && _debug) { PX4_WARN("BAD packet length"); } + + break; + + case VOXL2_IO_ERROR_BAD_HEADER: + if (_pwm_on && _debug) { PX4_WARN("BAD packet header"); } + + break; + + case VOXL2_IO_NO_PACKET: + // if(_pwm_on) PX4_WARN("NO packet"); + break; + + default: + if (_pwm_on && _debug) { PX4_WARN("Unknown error: %i", ret); } + + break; + } + + return ret; + } + } + + return 0; +} + +void Voxl2IO::fill_rc_in(uint16_t raw_rc_count_local, + uint16_t raw_rc_values_local[input_rc_s::RC_INPUT_MAX_CHANNELS], + hrt_abstime now, bool frame_drop, bool failsafe, + unsigned frame_drops, int rssi, input_rc_s &input_rc) +{ + // fill rc_in struct for publishing + input_rc.channel_count = raw_rc_count_local; + + if (input_rc.channel_count > input_rc_s::RC_INPUT_MAX_CHANNELS) { + input_rc.channel_count = input_rc_s::RC_INPUT_MAX_CHANNELS; + } + + unsigned valid_chans = 0; + + for (unsigned i = 0; i < input_rc.channel_count; i++) { + input_rc.values[i] = raw_rc_values_local[i]; + + if (raw_rc_values_local[i] != UINT16_MAX) { + valid_chans++; + } + + // once filled, reset values back to default + _raw_rc_values[i] = UINT16_MAX; + } + + input_rc.timestamp = now; + input_rc.timestamp_last_signal = input_rc.timestamp; + input_rc.rc_ppm_frame_length = 0; + + /* fake rssi if no value was provided */ + if (rssi == -1) { + input_rc.rssi = 255; + + } else { + input_rc.rssi = rssi; + } + + if (valid_chans == 0) { + input_rc.rssi = 0; + } + + if (frame_drops) { + _sbus_frame_drops++; + } + + input_rc.rc_failsafe = failsafe; + input_rc.rc_lost = input_rc.rc_failsafe; + input_rc.rc_lost_frame_count = _sbus_frame_drops; + input_rc.rc_total_frame_count = ++_sbus_total_frames; +} + +int Voxl2IO::receive_sbus() +{ + int res = 0; + int header = -1; + int read_retries = 3; + int read_succeeded = 0; + voxl2_io_packet_init(&_sbus_packet); + + while (read_retries) { + memset(&_read_buf, 0x00, READ_BUF_SIZE); + res = _uart_port->uart_read(_read_buf, READ_BUF_SIZE); + + if (res) { + /* Get index of packer header */ + for (int index = 0; index < READ_BUF_SIZE; ++index) { + if (_read_buf[index] == VOXL2_IO_PACKET_HEADER) { + header = index; + break; + } + } + + /* Try again in a bit if packet header not present yet... */ + if (header == -1) { + if (_debug) { PX4_ERR("Failed to find SBUS packet header, trying again... retries left: %i", read_retries); } + + read_retries--; + continue; + } + + /* Check if we got a valid packet...*/ + if (parse_response(&_read_buf[header], (uint8_t)VOXL2_IO_SBUS_FRAME_SIZE)) { + if (_pwm_on && _debug) { + PX4_ERR("Error parsing QC RAW SBUS packet"); + PX4_INFO_RAW("[%02x,%02x,%02x,%02x,%02x,%02x,%02x,%02x,%02x,%02x,%02x,%02x,%02x,%02x,%02x,%02x,%02x,%02x,%02x,%02x,%02x,%02x,%02x,%02x,%02x,%02x,%02x,%02x,%02x,%02x]\n", + _read_buf[header + 0], _read_buf[header + 1], _read_buf[header + 2], _read_buf[header + 3], _read_buf[header + 4], + _read_buf[header + 5], + _read_buf[header + 6], _read_buf[header + 7], _read_buf[header + 8], _read_buf[header + 9], _read_buf[header + 10], + _read_buf[header + 11], + _read_buf[header + 12], _read_buf[header + 13], _read_buf[header + 14], _read_buf[header + 15], _read_buf[header + 16], + _read_buf[header + 17], + _read_buf[header + 18], _read_buf[header + 19], _read_buf[header + 20], _read_buf[header + 21], _read_buf[header + 22], + _read_buf[header + 23], + _read_buf[header + 24], _read_buf[header + 25], _read_buf[header + 26], _read_buf[header + 27], _read_buf[header + 28], + _read_buf[header + 29] + ); + } + + read_retries--; + break; + } + + input_rc_s input_rc; + uint16_t num_values; + bool sbus_failsafe = false; + bool sbus_frame_drop = false; + uint16_t max_channels = sizeof(_raw_rc_values) / sizeof(_raw_rc_values[0]); + hrt_abstime now = hrt_absolute_time(); + bool rc_updated = sbus_parse(now, &_read_buf[header + SBUS_PAYLOAD], SBUS_FRAME_SIZE, _raw_rc_values, &num_values, + &sbus_failsafe, &sbus_frame_drop, &_sbus_frame_drops, max_channels); + + if (rc_updated) { + if (_pwm_on && _debug) { + PX4_INFO("Decoded packet, header pos: %i", header); + PX4_INFO("[%u, %u, %u, %u, %u, %u, %u, %u, %u, %u, %u, %u, %u, %u, %u, %u, %u, %u]", + _raw_rc_values[0], _raw_rc_values[1], _raw_rc_values[2], + _raw_rc_values[3], _raw_rc_values[4], _raw_rc_values[5], + _raw_rc_values[6], _raw_rc_values[7], _raw_rc_values[8], + _raw_rc_values[9], _raw_rc_values[10], _raw_rc_values[11], + _raw_rc_values[12], _raw_rc_values[13], _raw_rc_values[14], + _raw_rc_values[15], _raw_rc_values[16], _raw_rc_values[17] + ); + } + + input_rc.input_source = input_rc_s::RC_INPUT_SOURCE_PX4IO_SBUS; + fill_rc_in(num_values, _raw_rc_values, now, sbus_frame_drop, sbus_failsafe, _sbus_frame_drops, -1, input_rc); + + if (!input_rc.rc_lost && !input_rc.rc_failsafe) { + _rc_last_valid = input_rc.timestamp; + } + + input_rc.timestamp_last_signal = _rc_last_valid; + _rc_pub.publish(input_rc); + + _bytes_received += res; + _packets_received++; + read_succeeded = 1; + break; + + } else if (_pwm_on && _debug) { + PX4_ERR("Failed to decode SBUS packet, header pos: %i", header); + + if (sbus_frame_drop) { + PX4_WARN("SBUS frame dropped"); + } + + PX4_ERR("[%02x,%02x,%02x,%02x,%02x,%02x,%02x,%02x,%02x,%02x,%02x,%02x,%02x,%02x,%02x,%02x,%02x,%02x,%02x,%02x,%02x,%02x,%02x,%02x,%02x,%02x,%02x,%02x,%02x,%02x]", + _read_buf[header + 0], _read_buf[header + 1], _read_buf[header + 2], _read_buf[header + 3], _read_buf[header + 4], + _read_buf[header + 5], + _read_buf[header + 6], _read_buf[header + 7], _read_buf[header + 8], _read_buf[header + 9], _read_buf[header + 10], + _read_buf[header + 11], + _read_buf[header + 12], _read_buf[header + 13], _read_buf[header + 14], _read_buf[header + 15], _read_buf[header + 16], + _read_buf[header + 17], + _read_buf[header + 18], _read_buf[header + 19], _read_buf[header + 20], _read_buf[header + 21], _read_buf[header + 22], + _read_buf[header + 23], + _read_buf[header + 24], _read_buf[header + 25], _read_buf[header + 26], _read_buf[header + 27], _read_buf[header + 28], + _read_buf[header + 29] + ); + } + } + + read_retries--; + } + + if (! read_succeeded) { + _new_packet = false; + return -EIO; + } + + _new_packet = true; + return 0; +} + + +void Voxl2IO::Run() +{ + if (should_exit()) { + ScheduleClear(); + _mixing_output.unregister(); + + exit_and_cleanup(); + return; + } + + perf_begin(_cycle_perf); + + /* Handle RC */ + if (_rc_mode == RC_MODE::SCAN) { + if (receive_sbus() == PX4_OK) { + PX4_INFO("Found M0065 SBUS RC."); + _rc_mode = RC_MODE::SBUS; + } // Add more cases here for other protocols in the future.. + + } else if (_rc_mode == RC_MODE::SBUS) { + receive_sbus(); + } + + /* Only update outputs if we have new values from RC */ + if (_new_packet || _rc_mode == RC_MODE::EXTERNAL) { + _mixing_output.update(); //calls MixingOutput::limitAndUpdateOutputs which calls updateOutputs in this module + _new_packet = false; + } + + /* update PWM status if armed or if disarmed PWM values are set */ + _pwm_on = _mixing_output.armed().armed; + + /* check for parameter updates */ + if (!_pwm_on && _parameter_update_sub.updated()) { + /* clear update */ + parameter_update_s pupdate; + _parameter_update_sub.copy(&pupdate); + + /* update parameters from storage */ + update_params(); + } + + /* Don't process commands if pwm on */ + if (!_pwm_on) { + if (_current_cmd.valid()) { + PX4_INFO("sending %d commands with delay %dus", _current_cmd.repeats, _current_cmd.repeat_delay_us); + flush_uart_rx(); + + do { + PX4_INFO("CMDs left %d", _current_cmd.repeats); + + if (_uart_port->uart_write(_current_cmd.buf, _current_cmd.len) == _current_cmd.len) { + if (_current_cmd.repeats == 0) { + _current_cmd.clear(); + } + + + } else { + _bytes_sent += _current_cmd.len; + _packets_sent++; + + if (_current_cmd.retries == 0) { + _current_cmd.clear(); + PX4_ERR("Failed to send command, errno: %i", errno); + + } else { + _current_cmd.retries--; + PX4_ERR("Failed to send command, errno: %i", errno); + } + } + + px4_usleep(_current_cmd.repeat_delay_us); + } while (_current_cmd.repeats-- > 0); + + } else { + Command *new_cmd = _pending_cmd.load(); + + if (new_cmd) { + _current_cmd = *new_cmd; + _pending_cmd.store(nullptr); + } + } + } + + /* check at end of cycle (updateSubscriptions() can potentially change to a different WorkQueue thread) */ + _mixing_output.updateSubscriptions(true); + perf_end(_cycle_perf); +} + +int Voxl2IO::task_spawn(int argc, char *argv[]) +{ + Voxl2IO *instance = new Voxl2IO(); + + if (instance) { + int myoptind = 0; + int ch; + const char *myoptarg = nullptr; + + _object.store(instance); + _task_id = task_id_is_work_queue; + argv++; + + while ((ch = px4_getopt(argc - 1, argv, "vdep:", &myoptind, &myoptarg)) != EOF) { + switch (ch) { + case 'v': + PX4_INFO("Verbose mode enabled"); + get_instance()->_debug = true; + break; + + case 'd': + PX4_INFO("M0065 PWM outputs disabled"); + get_instance()->_outputs_disabled = true; + break; + + case 'e': + PX4_INFO("M0065 using external RC"); + get_instance()->_rc_mode = RC_MODE::EXTERNAL; + break; + + case 'p': + if (valid_port(atoi(myoptarg))) { + snprintf(get_instance()->_device, 2, "%s", myoptarg); + + } else { + PX4_ERR("Bad UART port number: %s (must be 2, 6, or 7).", myoptarg); + _object.store(nullptr); + _task_id = -1; + return PX4_ERROR; + } + + break; + + default: + print_usage("Unknown command, parsing flags"); + break; + } + } + + if (instance->init() == PX4_OK) { + return PX4_OK; + } + + } else { + PX4_ERR("alloc failed"); + } + + _object.store(nullptr); + _task_id = -1; + + return PX4_ERROR; +} + + +bool Voxl2IO::stop_all_pwms() +{ + int16_t _rate_req[VOXL2_IO_OUTPUT_CHANNELS] = {0, 0, 0, 0}; + int16_t _led_req[VOXL2_IO_OUTPUT_CHANNELS] = {0, 0, 0, 0}; + uint8_t _fb_idx = 0; + + Command cmd; + cmd.len = voxl2_io_create_pwm_packet4_fb(_rate_req[0], _rate_req[1], _rate_req[2], _rate_req[3], + _led_req[0], _led_req[1], _led_req[2], _led_req[3], + _fb_idx, cmd.buf, sizeof(cmd.buf)); + + if (_uart_port->uart_write(cmd.buf, cmd.len) != cmd.len) { + PX4_ERR("Failed to send packet"); + return false; + + } else { + _bytes_sent += cmd.len; + _packets_sent++; + } + + return true; +} + +int Voxl2IO::send_cmd_thread_safe(Command *cmd) +{ + cmd->id = _cmd_id++; + _pending_cmd.store(cmd); + + /* wait until main thread processed it */ + while (_pending_cmd.load()) { + px4_usleep(1000); + } + + return 0; +} + +int Voxl2IO::calibrate_escs() +{ + + /* Disable outputs so Mixer isn't being a PITA while we calibrate */ + _outputs_disabled = true; + + Command cmd; + int32_t fb_idx = -1; + uint8_t data[VOXL2_IO_ESC_CAL_SIZE] {0}; + cmd.len = voxl2_io_create_packet(VOXL2_IO_PACKET_TYPE_TUNE_CONFIG, data, VOXL2_IO_ESC_CAL_SIZE, cmd.buf, + sizeof(cmd.buf)); + + if (_uart_port->uart_write(cmd.buf, cmd.len) != cmd.len) { + PX4_ERR("ESC Calibration failed: Failed to send PWM OFF packet"); + _outputs_disabled = false; + return -1; + } + + /* Give user 10 seconds to plug in PWM cable for ESCs */ + PX4_INFO("Disconnected and reconnect your ESCs! (Calibration will start in ~10 seconds)"); + hrt_abstime start_cal = hrt_absolute_time(); + + while (hrt_elapsed_time(&start_cal) < 10000000) { + continue; + } + + /* PWM MAX 3 seconds */ + PX4_INFO("Writing PWM MAX for 3 seconds!"); + int16_t max_pwm[4] {VOXL2_IO_MIXER_MAX, VOXL2_IO_MIXER_MAX, VOXL2_IO_MIXER_MAX, VOXL2_IO_MIXER_MAX}; + + if (_debug) { PX4_INFO("%i %i %i %i", max_pwm[0], max_pwm[1], max_pwm[2], max_pwm[3]); } + + int16_t led_cmd[4] {0, 0, 0, 0}; + cmd.len = voxl2_io_create_pwm_packet4_fb(max_pwm[0], max_pwm[1], max_pwm[2], max_pwm[3], + led_cmd[0], led_cmd[1], led_cmd[2], led_cmd[3], + fb_idx, cmd.buf, sizeof(cmd.buf)); + + if (_uart_port->uart_write(cmd.buf, cmd.len) != cmd.len) { + PX4_ERR("ESC Calibration failed: Failed to send PWM MAX packet"); + _outputs_disabled = false; + return -1; + + } else { + cmd.clear(); + } + + hrt_abstime start_pwm_max = hrt_absolute_time(); + + while (hrt_elapsed_time(&start_pwm_max) < 3000000) { + continue; + } + + /* PWM MIN 4 seconds */ + PX4_INFO("Writing PWM MIN for 4 seconds!"); + int16_t min_pwm[4] {VOXL2_IO_MIXER_MIN, VOXL2_IO_MIXER_MIN, VOXL2_IO_MIXER_MIN, VOXL2_IO_MIXER_MIN}; + + if (_debug) { PX4_INFO("%i %i %i %i", min_pwm[0], min_pwm[1], min_pwm[2], min_pwm[3]); } + + cmd.len = voxl2_io_create_pwm_packet4_fb(min_pwm[0], min_pwm[1], min_pwm[2], min_pwm[3], + led_cmd[0], led_cmd[1], led_cmd[2], led_cmd[3], + fb_idx, cmd.buf, sizeof(cmd.buf)); + + if (_uart_port->uart_write(cmd.buf, cmd.len) != cmd.len) { + PX4_ERR("ESC Calibration failed: Failed to send PWM MIN packet"); + _outputs_disabled = false; + return -1; + } + + hrt_abstime start_pwm_min = hrt_absolute_time(); + + while (hrt_elapsed_time(&start_pwm_min) < 4000000) { + continue; + } + + PX4_INFO("ESC Calibration complete"); + + _outputs_disabled = false; + return 0; +} + +int Voxl2IO::custom_command(int argc, char *argv[]) +{ + int myoptind = 0; + int ch; + const char *myoptarg = nullptr; + + Command cmd; + uint8_t output_channel = 0xF; + int16_t rate = 0; + + uint32_t repeat_count = 100; + uint32_t repeat_delay_us = 10000; + + const char *verb = argv[argc - 1]; + + if ((strcmp(verb, "pwm")) == 0 && argc < 3) { + return print_usage("pwm command: missing args"); + + } else if (argc < 1) { + return print_usage("unknown command: missing args"); + } + + PX4_INFO("Executing the following command: %s", verb); + + /* start the FMU if not running */ + if (!strcmp(verb, "start")) { + if (!is_running()) { + return Voxl2IO::task_spawn(argc, argv); + } + } + + if (!strcmp(verb, "status")) { + if (!is_running()) { + PX4_INFO("Not running"); + return -1; + } + + return get_instance()->print_status(); + } + + if (!is_running()) { + PX4_INFO("Not running"); + return -1; + } + + if (!strcmp(verb, "calibrate_escs")) { + if (get_instance()->_outputs_disabled) { + PX4_WARN("Can't calibrate ESCs while outputs are disabled."); + return -1; + } + + return get_instance()->calibrate_escs(); + } + + while ((ch = px4_getopt(argc, argv, "c:n:t:r:p:", &myoptind, &myoptarg)) != EOF) { + switch (ch) { + case 'c': + output_channel = atoi(myoptarg); + + if (output_channel > VOXL2_IO_OUTPUT_CHANNELS - 1) { + char reason[50]; + sprintf(reason, "Bad channel value: %d. Must be 0-%d.", output_channel, VOXL2_IO_OUTPUT_CHANNELS - 1); + print_usage(reason); + return 0; + } + + break; + + case 'n': + repeat_count = atoi(myoptarg); + + if (repeat_count < 1) { + print_usage("bad repeat_count"); + return 0; + } + + break; + + case 't': + repeat_delay_us = atoi(myoptarg); + + if (repeat_delay_us < 1) { + print_usage("bad repeat delay"); + return 0; + } + + break; + + case 'r': + rate = atoi(myoptarg); + break; + + case 'p': + if (valid_port(atoi(myoptarg))) { + snprintf(get_instance()->_device, 2, "%s", myoptarg); + + } else { + PX4_ERR("Bad UART port number: %s (must be 2, 6, or 7).", myoptarg); + return 0; + } + + break; + + default: + print_usage("Unknown command, parsing flags"); + return 0; + } + } + + if (!strcmp(verb, "pwm")) { + PX4_INFO("Output channel: %i", output_channel); + PX4_INFO("Repeat count: %i", repeat_count); + PX4_INFO("Repeat delay (us): %i", repeat_delay_us); + PX4_INFO("Rate: %i", rate); + + if (output_channel < VOXL2_IO_OUTPUT_CHANNELS) { + PX4_INFO("Request PWM for Output Channel: %i - PWM: %i", output_channel, rate); + int16_t rate_req[VOXL2_IO_OUTPUT_CHANNELS] = {0, 0, 0, 0}; + uint8_t id_fb = 0; + + if (output_channel == + 0xFF) { //WARNING: this condition is not possible due to check 'if (esc_id < MODAL_IO_OUTPUT_CHANNELS)'. + rate_req[0] = rate; + rate_req[1] = rate; + rate_req[2] = rate; + rate_req[3] = rate; + + } else { + rate_req[output_channel] = rate; + id_fb = output_channel; + } + + cmd.len = voxl2_io_create_pwm_packet4_fb(rate_req[0], rate_req[1], rate_req[2], rate_req[3], + 0, 0, 0, 0, + id_fb, cmd.buf, sizeof(cmd.buf)); + + cmd.response = false; + cmd.repeats = repeat_count; + cmd.resp_delay_us = 1000; + cmd.repeat_delay_us = repeat_delay_us; + cmd.print_feedback = false; + + PX4_INFO("feedback id debug: %i", id_fb); + PX4_INFO("Sending UART M0065 power command %i", rate); + + if (get_instance()->_uart_port->uart_write(cmd.buf, cmd.len) != cmd.len) { + PX4_ERR("Failed to send packet: stop PWMs"); + return -1; + + } else { + get_instance()->_bytes_sent += cmd.len; + get_instance()->_packets_sent++; + } + + } else { + print_usage("Invalid Output Channel, use 0-3"); + return 0; + } + } + + return print_usage("unknown custom command"); +} + +int Voxl2IO::print_status() +{ + PX4_INFO("Max update rate: %u Hz", 1000000 / _current_update_interval); + PX4_INFO("PWM Rate: 400 Hz"); // Only support 400 Hz for now + PX4_INFO("Outputs on: %s", _pwm_on ? "yes" : "no"); + PX4_INFO("FW version: v%u.%u", _version_info.sw_version, _version_info.hw_version); + PX4_INFO("RC Type: SBUS"); // Only support SBUS through M0065 for now + PX4_INFO("RC Connected: %s", hrt_absolute_time() - _rc_last_valid > 500000 ? "no" : "yes"); + PX4_INFO("RC Packets Received: %" PRIu16, _sbus_total_frames); + PX4_INFO("UART port: %s", _device); + PX4_INFO("UART open: %s", _uart_port->is_open() ? "yes" : "no"); + PX4_INFO("Packets sent: %" PRIu32, _packets_sent); + PX4_INFO(""); + PX4_INFO("Params: VOXL2_IO_BAUD: %" PRId32, _parameters.baud_rate); + PX4_INFO("Params: VOXL2_IO_FUNC1: %" PRId32, _parameters.function_map[0]); + PX4_INFO("Params: VOXL2_IO_FUNC2: %" PRId32, _parameters.function_map[1]); + PX4_INFO("Params: VOXL2_IO_FUNC3: %" PRId32, _parameters.function_map[2]); + PX4_INFO("Params: VOXL2_IO_FUNC4: %" PRId32, _parameters.function_map[3]); + + perf_print_counter(_cycle_perf); + perf_print_counter(_output_update_perf); + PX4_INFO(""); + _mixing_output.printStatus(); + return 0; +} + +int Voxl2IO::print_usage(const char *reason) +{ + if (reason) { + PX4_WARN("%s\n", reason); + } + + PRINT_MODULE_DESCRIPTION( + R"DESCR_STR( +### Description +This module is responsible for driving the output pins. For boards without a separate IO chip +(eg. Pixracer), it uses the main channels. On boards with an IO chip (eg. Pixhawk), it uses the AUX channels, and the +px4io driver is used for main ones. + +)DESCR_STR"); + + PRINT_MODULE_USAGE_NAME("voxl2_io", "driver"); + PRINT_MODULE_USAGE_COMMAND_DESCR("start", "Start the task"); + PRINT_MODULE_USAGE_PARAM_FLAG('v', "Verbose messages", false); + PRINT_MODULE_USAGE_PARAM_FLAG('d', "Disable PWM", false); + PRINT_MODULE_USAGE_PARAM_FLAG('e', "Disable RC", false); + PRINT_MODULE_USAGE_PARAM_INT('p', 2, 2, 7, "UART port", false); + PRINT_MODULE_USAGE_COMMAND_DESCR("calibrate_escs", "Calibrate ESCs min/max range"); + PRINT_MODULE_USAGE_COMMAND_DESCR("calibrate_escs", "Calibrate ESCs min/max range"); + PRINT_MODULE_USAGE_COMMAND_DESCR("pwm", "Open-Loop PWM test control request"); + PRINT_MODULE_USAGE_PARAM_INT('c', 0, 0, 3, "PWM OUTPUT Channel, 0-3", false); + PRINT_MODULE_USAGE_PARAM_INT('r', 0, 0, 800, "Duty Cycle value, 0 to 800", false); + PRINT_MODULE_USAGE_PARAM_INT('n', 100, 0, 1<<31, "Command repeat count, 0 to INT_MAX", false); + PRINT_MODULE_USAGE_PARAM_INT('t', 10000, 0, 1<<31, "Delay between repeated commands (microseconds), 0 to INT_MAX", false); + PRINT_MODULE_USAGE_DEFAULT_COMMANDS(); + + return 0; +} + +extern "C" __EXPORT int voxl2_io_main(int argc, char *argv[]); + +int voxl2_io_main(int argc, char *argv[]) +{ + return Voxl2IO::main(argc, argv); +} diff --git a/src/drivers/voxl2_io/voxl2_io.hpp b/src/drivers/voxl2_io/voxl2_io.hpp new file mode 100644 index 000000000000..6ac46251bcc9 --- /dev/null +++ b/src/drivers/voxl2_io/voxl2_io.hpp @@ -0,0 +1,228 @@ +/**************************************************************************** + * + * Copyright (c) 2012-2022 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#pragma once + +#include +#include + +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include "voxl2_io_serial.hpp" + +#include "voxl2_io_packet.h" +#include "voxl2_io_packet_types.h" + +using namespace time_literals; + +class Voxl2IO final : public ModuleBase, public OutputModuleInterface +{ +public: + Voxl2IO(); + ~Voxl2IO() override; + + /** @see ModuleBase */ + static int task_spawn(int argc, char *argv[]); + + /** @see ModuleBase */ + static int custom_command(int argc, char *argv[]); + + /** @see ModuleBase */ + static int print_usage(const char *reason = nullptr); + + /** @see ModuleBase::print_status() */ + int print_status() override; + + /** @see OutputModuleInterface */ + bool updateOutputs(bool stop_motors, uint16_t outputs[input_rc_s::RC_INPUT_MAX_CHANNELS], + unsigned num_outputs, unsigned num_control_groups_updated) override; + + virtual int init(); + + void update_pwm_config(); + int get_version_info(); + + struct Command { + uint16_t id = 0; + uint8_t len = 0; + uint16_t repeats = 0; + uint16_t repeat_delay_us = 2000; + uint8_t retries = 0; + bool response = false; + uint16_t resp_delay_us = 1000; + bool print_feedback = false; + + static const uint8_t BUF_SIZE = 128; + uint8_t buf[BUF_SIZE]; + + bool valid() const { return len > 0; } + void clear() { len = 0; } + }; + + int send_cmd_thread_safe(Command *cmd); + int receive_sbus(); + + void fill_rc_in(uint16_t raw_rc_count_local, + uint16_t raw_rc_values_local[input_rc_s::RC_INPUT_MAX_CHANNELS], + hrt_abstime now, bool frame_drop, bool failsafe, + unsigned frame_drops, int rssi, input_rc_s &input_rc); +private: + void Run() override; + bool stop_all_pwms(); + + /* PWM Parameters */ + static constexpr uint32_t VOXL2_IO_CONFIG = 0; // Default to off + static constexpr uint32_t VOXL2_IO_BOARD_CONFIG_SIZE = 4; // PWM_MIN, PWM_MAX, 4 bytes + static constexpr uint32_t VOXL2_IO_ESC_CAL_SIZE = 1; + static constexpr uint32_t VOXL2_IO_DEFAULT_BAUD = 921600; + static constexpr uint16_t VOXL2_IO_OUTPUT_CHANNELS = 4; + static constexpr uint16_t VOXL2_IO_OUTPUT_DISABLED = 0; + + static constexpr uint32_t VOXL2_IO_WRITE_WAIT_US = 200; + static constexpr uint32_t VOXL2_IO_DISCONNECT_TIMEOUT_US = 500000; + + static constexpr uint16_t DISARMED_VALUE = 0; + + static constexpr uint16_t VOXL2_IO_MIXER_MIN = 0; + static constexpr uint16_t VOXL2_IO_MIXER_MAX = 800; + static constexpr uint16_t VOXL2_IO_MIXER_FAILSAFE = 0; + static constexpr uint16_t VOXL2_IO_MIXER_DISARMED = 0; + + static constexpr int32_t VOXL2_IO_DEFAULT_MIN = 1000; + static constexpr int32_t VOXL2_IO_DEFAULT_MAX = 2000; + static constexpr int32_t VOXL2_IO_DEFAULT_FAILSAFE = 900; + static constexpr int32_t VOXL2_IO_TICS = 24; // 24 tics per us on M0065 timer clks + + /* SBUS */ + static constexpr uint16_t VOXL2_IO_SBUS_FRAME_SIZE = 30; + static constexpr uint16_t SBUS_PAYLOAD = 3; + + /* M0065 version info */ + static constexpr uint16_t VOXL2_IO_VERSION_INFO_SIZE = 6; + static constexpr uint16_t VOXL2_IO_SW_PROTOCOL_VERSION = 1; + static constexpr uint16_t VOXL2_IO_HW_PROTOCOL_VERSION = 35; + VOXL2_IO_VERSION_INFO _version_info; + + /* Module update interval */ + static constexpr unsigned _current_update_interval{4000}; // 250 Hz + + typedef struct { + int32_t config{VOXL2_IO_CONFIG}; + int32_t baud_rate{VOXL2_IO_DEFAULT_BAUD}; + int32_t pwm_min{VOXL2_IO_DEFAULT_MIN}; + int32_t pwm_max{VOXL2_IO_DEFAULT_MAX}; + int32_t pwm_failsafe{VOXL2_IO_DEFAULT_FAILSAFE}; + int32_t param_rc_input_proto{0}; + int32_t param_rc_rssi_pwm_chan{0}; + int32_t function_map[VOXL2_IO_OUTPUT_CHANNELS] {0, 0, 0, 0}; + int32_t verbose_logging{0}; + } voxl2_io_params_t; + voxl2_io_params_t _parameters; + + typedef enum { + PWM_MODE_START = 0, + PWM_MODE_400, + PWM_MODE_END + } PWM_MODE; + + enum RC_MODE { + DISABLED = 0, + SBUS, + SPEKTRUM, + EXTERNAL, + SCAN + } _rc_mode{RC_MODE::SCAN}; + + /* QUP7, VOXL2 J19, /dev/slpi-uart-7*/ + char _device[10] {VOXL2_IO_DEFAULT_PORT}; + Voxl2IoSerial *_uart_port; + + /* Mixer output */ + MixingOutput _mixing_output; + + /* RC input */ + VOXL2_IOPacket _sbus_packet; + uint64_t _rc_last_valid; + uint16_t _raw_rc_values[input_rc_s::RC_INPUT_MAX_CHANNELS] {UINT16_MAX}; + unsigned _sbus_frame_drops{0}; + uint16_t _sbus_total_frames{0}; + bool _new_packet{false}; + + /* Publications */ + uORB::PublicationMulti _rc_pub{ORB_ID(input_rc)}; + + /* Subscriptions */ + uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)}; + + bool _pwm_on{false}; + int32_t _pwm_fullscale{0}; + int16_t _pwm_values[VOXL2_IO_OUTPUT_CHANNELS] = {0, 0, 0, 0}; + bool _outputs_disabled{false}; + + perf_counter_t _cycle_perf; + perf_counter_t _output_update_perf; + + bool _debug{false}; + uint16_t _cmd_id{0}; + Command _current_cmd; + px4::atomic _pending_cmd{nullptr}; + + static const uint8_t READ_BUF_SIZE = 128; + uint8_t _read_buf[READ_BUF_SIZE]; + uint32_t _bytes_sent{0}; + uint32_t _bytes_received{0}; + uint32_t _packets_sent{0}; + uint32_t _packets_received{0}; + + int parse_response(uint8_t *buf, uint8_t len); + int load_params(voxl2_io_params_t *params); + int update_params(); + int flush_uart_rx(); + int calibrate_escs(); +}; diff --git a/src/drivers/voxl2_io/voxl2_io_crc16.c b/src/drivers/voxl2_io/voxl2_io_crc16.c new file mode 100644 index 000000000000..229610b1e01b --- /dev/null +++ b/src/drivers/voxl2_io/voxl2_io_crc16.c @@ -0,0 +1,95 @@ +/**************************************************************************** + * Copyright (c) 2017 The Linux Foundation. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name The Linux Foundation nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY + * THIS LICENSE. + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * In addition Supplemental Terms apply. See the SUPPLEMENTAL file. + * + ****************************************************************************/ + +#include +#include "voxl2_io_crc16.h" + +// Look-up table for fast CRC16 computations +const uint16_t voxl2_io_crc16_table[256] = { + 0x0000, 0xc0c1, 0xc181, 0x0140, 0xc301, 0x03c0, 0x0280, 0xc241, + 0xc601, 0x06c0, 0x0780, 0xc741, 0x0500, 0xc5c1, 0xc481, 0x0440, + 0xcc01, 0x0cc0, 0x0d80, 0xcd41, 0x0f00, 0xcfc1, 0xce81, 0x0e40, + 0x0a00, 0xcac1, 0xcb81, 0x0b40, 0xc901, 0x09c0, 0x0880, 0xc841, + 0xd801, 0x18c0, 0x1980, 0xd941, 0x1b00, 0xdbc1, 0xda81, 0x1a40, + 0x1e00, 0xdec1, 0xdf81, 0x1f40, 0xdd01, 0x1dc0, 0x1c80, 0xdc41, + 0x1400, 0xd4c1, 0xd581, 0x1540, 0xd701, 0x17c0, 0x1680, 0xd641, + 0xd201, 0x12c0, 0x1380, 0xd341, 0x1100, 0xd1c1, 0xd081, 0x1040, + 0xf001, 0x30c0, 0x3180, 0xf141, 0x3300, 0xf3c1, 0xf281, 0x3240, + 0x3600, 0xf6c1, 0xf781, 0x3740, 0xf501, 0x35c0, 0x3480, 0xf441, + 0x3c00, 0xfcc1, 0xfd81, 0x3d40, 0xff01, 0x3fc0, 0x3e80, 0xfe41, + 0xfa01, 0x3ac0, 0x3b80, 0xfb41, 0x3900, 0xf9c1, 0xf881, 0x3840, + 0x2800, 0xe8c1, 0xe981, 0x2940, 0xeb01, 0x2bc0, 0x2a80, 0xea41, + 0xee01, 0x2ec0, 0x2f80, 0xef41, 0x2d00, 0xedc1, 0xec81, 0x2c40, + 0xe401, 0x24c0, 0x2580, 0xe541, 0x2700, 0xe7c1, 0xe681, 0x2640, + 0x2200, 0xe2c1, 0xe381, 0x2340, 0xe101, 0x21c0, 0x2080, 0xe041, + 0xa001, 0x60c0, 0x6180, 0xa141, 0x6300, 0xa3c1, 0xa281, 0x6240, + 0x6600, 0xa6c1, 0xa781, 0x6740, 0xa501, 0x65c0, 0x6480, 0xa441, + 0x6c00, 0xacc1, 0xad81, 0x6d40, 0xaf01, 0x6fc0, 0x6e80, 0xae41, + 0xaa01, 0x6ac0, 0x6b80, 0xab41, 0x6900, 0xa9c1, 0xa881, 0x6840, + 0x7800, 0xb8c1, 0xb981, 0x7940, 0xbb01, 0x7bc0, 0x7a80, 0xba41, + 0xbe01, 0x7ec0, 0x7f80, 0xbf41, 0x7d00, 0xbdc1, 0xbc81, 0x7c40, + 0xb401, 0x74c0, 0x7580, 0xb541, 0x7700, 0xb7c1, 0xb681, 0x7640, + 0x7200, 0xb2c1, 0xb381, 0x7340, 0xb101, 0x71c0, 0x7080, 0xb041, + 0x5000, 0x90c1, 0x9181, 0x5140, 0x9301, 0x53c0, 0x5280, 0x9241, + 0x9601, 0x56c0, 0x5780, 0x9741, 0x5500, 0x95c1, 0x9481, 0x5440, + 0x9c01, 0x5cc0, 0x5d80, 0x9d41, 0x5f00, 0x9fc1, 0x9e81, 0x5e40, + 0x5a00, 0x9ac1, 0x9b81, 0x5b40, 0x9901, 0x59c0, 0x5880, 0x9841, + 0x8801, 0x48c0, 0x4980, 0x8941, 0x4b00, 0x8bc1, 0x8a81, 0x4a40, + 0x4e00, 0x8ec1, 0x8f81, 0x4f40, 0x8d01, 0x4dc0, 0x4c80, 0x8c41, + 0x4400, 0x84c1, 0x8581, 0x4540, 0x8701, 0x47c0, 0x4680, 0x8641, + 0x8201, 0x42c0, 0x4380, 0x8341, 0x4100, 0x81c1, 0x8081, 0x4040, +}; + +uint16_t voxl2_io_crc16_init() +{ + return 0xFFFF; +} + +uint16_t voxl2_io_crc16_byte(uint16_t prev_crc, const uint8_t new_byte) +{ + uint8_t lut = (prev_crc ^ new_byte) & 0xFF; + return (prev_crc >> 8) ^ voxl2_io_crc16_table[lut]; +} + +uint16_t voxl2_io_crc16(uint16_t prev_crc, uint8_t const *input_buffer, uint16_t input_length) +{ + uint16_t crc = prev_crc; + + while (input_length--) { + crc = voxl2_io_crc16_byte(crc, *input_buffer++); + } + + return crc; +} diff --git a/src/drivers/voxl2_io/voxl2_io_crc16.h b/src/drivers/voxl2_io/voxl2_io_crc16.h new file mode 100644 index 000000000000..c8e320edda20 --- /dev/null +++ b/src/drivers/voxl2_io/voxl2_io_crc16.h @@ -0,0 +1,65 @@ +/**************************************************************************** + * Copyright (c) 2017 The Linux Foundation. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name The Linux Foundation nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY + * THIS LICENSE. + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * In addition Supplemental Terms apply. See the SUPPLEMENTAL file. + * + ****************************************************************************/ + +/* + * This file contains function prototypes for crc16 computations using polynomial 0x8005 + */ + +#ifndef CRC16_H_ +#define CRC16_H_ + +#ifdef __cplusplus +extern "C" +{ +#endif + +#include + +// Returns the seed of crc output, which should be used when computing crc16 of a byte sequence +uint16_t voxl2_io_crc16_init(void); + +// Process one byte by providing crc16 from previous step and new byte to consume. +// Output is the new crc16 value +uint16_t voxl2_io_crc16_byte(uint16_t prev_crc, const uint8_t new_byte); + +// Process an array of bytes by providing crc16 from previous step (or seed), array of bytes and its length +// Output is the new crc16 value +uint16_t voxl2_io_crc16(uint16_t prev_crc, uint8_t const *input_buffer, uint16_t input_length); + +#ifdef __cplusplus +} +#endif + +#endif //CRC16_H_ diff --git a/src/drivers/voxl2_io/voxl2_io_packet.c b/src/drivers/voxl2_io/voxl2_io_packet.c new file mode 100644 index 000000000000..3de26acbfed7 --- /dev/null +++ b/src/drivers/voxl2_io/voxl2_io_packet.c @@ -0,0 +1,253 @@ +/**************************************************************************** + * Copyright (c) 2017 The Linux Foundation. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name The Linux Foundation nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY + * THIS LICENSE. + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * In addition Supplemental Terms apply. See the SUPPLEMENTAL file. + * + ****************************************************************************/ + +#include "voxl2_io_packet.h" +#include "voxl2_io_packet_types.h" + +#include + +int32_t voxl2_io_create_version_request_packet(uint8_t id, uint8_t *out, uint16_t out_size) +{ + return voxl2_io_create_packet(VOXL2_IO_PACKET_TYPE_VERSION_REQUEST, &id, 1, out, out_size); +} + +int32_t voxl2_io_create_extended_version_request_packet(uint8_t id, uint8_t *out, uint16_t out_size) +{ + return voxl2_io_create_packet(VOXL2_IO_PACKET_TYPE_VERSION_EXT_REQUEST, &id, 1, out, out_size); +} + +int32_t voxl2_io_create_reset_packet(uint8_t id, uint8_t *out, uint16_t out_size) +{ + char payload[] = "RESET0"; + payload[5] += id; + + return voxl2_io_create_packet(VOXL2_IO_PACKET_TYPE_RESET_CMD, (uint8_t *)payload, 6 /*sizeof(payload)*/, out, out_size); +} + + +int32_t voxl2_io_create_sound_packet(uint8_t frequency, uint8_t duration, uint8_t power, uint8_t mask, uint8_t *out, + uint16_t out_size) +{ + uint8_t data[4] = {frequency, duration, power, mask}; + return voxl2_io_create_packet(VOXL2_IO_PACKET_TYPE_SOUND_CMD, (uint8_t *) & (data[0]), 4, out, out_size); +} + +int32_t voxl2_io_create_led_control_packet(uint8_t led_byte_1, uint8_t led_byte_2, uint8_t *out, uint16_t out_size) +{ + uint8_t data[2] = {led_byte_1, led_byte_2}; + return voxl2_io_create_packet(VOXL2_IO_PACKET_TYPE_LED_CMD, (uint8_t *) & (data[0]), 2, out, out_size); +} + +int32_t voxl2_io_create_set_id_packet(uint8_t id, uint8_t *out, uint16_t out_size) +{ + return voxl2_io_create_packet(VOXL2_IO_PACKET_TYPE_SET_ID_CMD, (uint8_t *)&id, 1, out, out_size); +} + +int32_t voxl2_io_create_pwm_packet4(int16_t pwm0, int16_t pwm1, int16_t pwm2, int16_t pwm3, + uint8_t led0, uint8_t led1, uint8_t led2, uint8_t led3, + uint8_t *out, uint16_t out_size) +{ + return voxl2_io_create_pwm_packet4_fb(pwm0, pwm1, pwm2, pwm3, led0, led1, led2, led3, -1, out, out_size); +} + +int32_t voxl2_io_create_pwm_packet4_fb(int16_t pwm0, int16_t pwm1, int16_t pwm2, int16_t pwm3, + uint8_t led0, uint8_t led1, uint8_t led2, uint8_t led3, + int32_t fb_id, uint8_t *out, uint16_t out_size) +{ + uint16_t data[5]; + uint16_t leds = 0; + + if (fb_id != -1) { fb_id = fb_id % 4; } + + //limit the pwm commands + + if (pwm0 > 800) { pwm0 = 800; } if (pwm0 < -800) { pwm0 = -800; } + + if (pwm1 > 800) { pwm1 = 800; } if (pwm1 < -800) { pwm1 = -800; } + + if (pwm2 > 800) { pwm2 = 800; } if (pwm2 < -800) { pwm2 = -800; } + + if (pwm3 > 800) { pwm3 = 800; } if (pwm3 < -800) { pwm3 = -800; } + + //least significant bit is used for feedback request + pwm0 &= ~(0x0001); pwm1 &= ~(0x0001); pwm2 &= ~(0x0001); pwm3 &= ~(0x0001); + + if (fb_id == 0) { pwm0 |= 0x0001; } if (fb_id == 1) { pwm1 |= 0x0001; } + + if (fb_id == 2) { pwm2 |= 0x0001; } if (fb_id == 3) { pwm3 |= 0x0001; } + + leds |= led0 & 0b00000111; + leds |= (led1 & 0b00000111) << 3; + leds |= ((uint16_t)(led2 & 0b00000111)) << 6; + leds |= ((uint16_t)(led3 & 0b00000111)) << 9; + + data[0] = pwm0; data[1] = pwm1; data[2] = pwm2; data[3] = pwm3; data[4] = leds; + return voxl2_io_create_packet(VOXL2_IO_PACKET_TYPE_PWM_CMD, (uint8_t *) & (data[0]), 10, out, out_size); +} + + +int32_t voxl2_io_create_rpm_packet4(int16_t rpm0, int16_t rpm1, int16_t rpm2, int16_t rpm3, + uint8_t led0, uint8_t led1, uint8_t led2, uint8_t led3, + uint8_t *out, uint16_t out_size) +{ + return voxl2_io_create_rpm_packet4_fb(rpm0, rpm1, rpm2, rpm3, led0, led1, led2, led3, -1, out, out_size); +} + +int32_t voxl2_io_create_rpm_packet4_fb(int16_t rpm0, int16_t rpm1, int16_t rpm2, int16_t rpm3, + uint8_t led0, uint8_t led1, uint8_t led2, uint8_t led3, + int32_t fb_id, uint8_t *out, uint16_t out_size) +{ + uint16_t data[5]; + uint16_t leds = 0; + + if (fb_id != -1) { fb_id = fb_id % 4; } + + //least significant bit is used for feedback request + rpm0 &= ~(0x0001); rpm1 &= ~(0x0001); rpm2 &= ~(0x0001); rpm3 &= ~(0x0001); + + if (fb_id == 0) { rpm0 |= 0x0001; } if (fb_id == 1) { rpm1 |= 0x0001; } + + if (fb_id == 2) { rpm2 |= 0x0001; } if (fb_id == 3) { rpm3 |= 0x0001; } + + leds |= led0 & 0b00000111; + leds |= (led1 & 0b00000111) << 3; + leds |= ((uint16_t)(led2 & 0b00000111)) << 6; + leds |= ((uint16_t)(led3 & 0b00000111)) << 9; + + data[0] = rpm0; data[1] = rpm1; data[2] = rpm2; data[3] = rpm3; data[4] = leds; + return voxl2_io_create_packet(VOXL2_IO_PACKET_TYPE_RPM_CMD, (uint8_t *) & (data[0]), 10, out, out_size); +} + +int32_t voxl2_io_create_packet(uint8_t type, uint8_t *data, uint16_t size, uint8_t *out, uint16_t out_size) +{ + uint16_t packet_size = size + 5; + + if (packet_size > 255) { return -1; } + + if (out_size < packet_size) { return -2; } + + out[0] = 0xAF; + out[1] = packet_size; + out[2] = type; + + memcpy(&(out[3]), data, size); + + uint16_t crc = voxl2_io_crc16_init(); + crc = voxl2_io_crc16(crc, &(out[1]), packet_size - 3); + + memcpy(&(out[packet_size - 2]), &crc, sizeof(uint16_t)); + + return packet_size; +} + + + + +//feed in a character and see if we got a complete packet +int16_t voxl2_io_packet_process_char(uint8_t c, VOXL2_IOPacket *packet) +{ + int16_t ret = VOXL2_IO_NO_PACKET; + + uint16_t chk_comp; + uint16_t chk_rcvd; + + if (packet->len_received >= (sizeof(packet->buffer) - 1)) { + packet->len_received = 0; + } + + //reset the packet and start parsing from beginning if length byte == header + //this can only happen if the packet is de-synced and last char of checksum + //ends up being equal to the header, in that case we can end up in endless loop + //unable to re-sync with the packet + if (packet->len_received == 1 && c == VOXL2_IO_PACKET_HEADER) { + packet->len_received = 0; + } + + switch (packet->len_received) { + case 0: //header + packet->bp = packet->buffer; //reset the pointer for storing data + voxl2_io_packet_checksum_reset(packet); //reset the checksum to starting value + + if (c != VOXL2_IO_PACKET_HEADER) { //check the packet header + packet->len_received = 0; + ret = VOXL2_IO_ERROR_BAD_HEADER; + break; + } + + packet->len_received++; + *(packet->bp)++ = c; + break; + + case 1: //length + packet->len_received++; + *(packet->bp)++ = c; + packet->len_expected = c; + + if (packet->len_expected >= (sizeof(packet->buffer) - 1)) { + packet->len_received = 0; + ret = VOXL2_IO_ERROR_BAD_LENGTH; + break; + } + + voxl2_io_packet_checksum_process_char(packet, c); + break; + + default: //rest of the packet + packet->len_received++; + *(packet->bp)++ = c; + + if (packet->len_received < (packet->len_expected - 1)) { //do not compute checksum of checksum (last 2 bytes) + voxl2_io_packet_checksum_process_char(packet, c); + } + + if (packet->len_received < packet->len_expected) { //waiting for more bytes + break; + } + + //grab the computed checksum and compare against the received value + chk_comp = voxl2_io_packet_checksum_get(packet); + + memcpy(&chk_rcvd, packet->bp - 2, sizeof(uint16_t)); + + if (chk_comp == chk_rcvd) { ret = packet->len_received; } + + else { ret = VOXL2_IO_ERROR_BAD_CHECKSUM; } + + packet->len_received = 0; + break; + } + + return ret; +} diff --git a/src/drivers/voxl2_io/voxl2_io_packet.h b/src/drivers/voxl2_io/voxl2_io_packet.h new file mode 100644 index 000000000000..7e6237017f92 --- /dev/null +++ b/src/drivers/voxl2_io/voxl2_io_packet.h @@ -0,0 +1,287 @@ +/**************************************************************************** + * Copyright (c) 2017 The Linux Foundation. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name The Linux Foundation nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY + * THIS LICENSE. + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * In addition Supplemental Terms apply. See the SUPPLEMENTAL file. + * + ****************************************************************************/ + +/* + * This file contains function prototypes for Voxl2 IO UART interface + */ + +#ifndef VOXL2_IO_PACKET +#define VOXL2_IO_PACKET + +#ifdef __cplusplus +extern "C" { +#endif + +#include +#include "voxl2_io_crc16.h" + +// Define byte values that correspond to setting red, greed, and blue LEDs +#define VOXL2_IO_LED_RED_ON 1 +#define VOXL2_IO_LED_GREEN_ON 2 +#define VOXL2_IO_LED_BLUE_ON 4 + + +// Header of the packet. Each packet must start with this header +#define VOXL2_IO_PACKET_HEADER 0xAF + +enum { VOXL2_IO_ERROR_BAD_LENGTH = -3, + VOXL2_IO_ERROR_BAD_HEADER = -2, + VOXL2_IO_ERROR_BAD_CHECKSUM = -1, + VOXL2_IO_NO_PACKET = 0 + }; + +// Defines for the constatnt offsets of different parts of the packet +enum { VOXL2_IO_PACKET_POS_HEADER1 = 0, + VOXL2_IO_PACKET_POS_LENGTH, + VOXL2_IO_PACKET_POS_TYPE, + VOXL2_IO_PACKET_POS_DATA + }; + +// Definition of the structure that holds the state of the incoming data that is being recived (i.e. incomplete packets) +typedef struct { + uint8_t len_received; // Number of chars received so far + uint8_t len_expected; // Expected number of chars based on header + uint8_t *bp; // Pointer to the next write position in the buffer + uint16_t crc; // Accumulated CRC value so far + uint8_t buffer[64]; // Buffer to hold incoming data that is being parsed +} VOXL2_IOPacket; + + +// Definition of the response packet from ESC, containing the ESC version information +typedef struct { + uint8_t header; + uint8_t length; // Total length of the packet + uint8_t type; // This will be equal to ESC_PACKET_TYPE_VERSION_RESPONSE + + uint8_t id; // ID of the ESC that responded + uint16_t sw_version; // Software version of the ESC firmware + uint16_t hw_version; // HW version of the board + + uint32_t unique_id; // Unique ID of the ESC, if available + uint16_t crc; +} __attribute__((__packed__)) VOXL2_IO_VERSION_INFO; + +typedef struct { + uint8_t header; + uint8_t length; + uint8_t type; + uint8_t id; + uint16_t sw_version; + uint16_t hw_version; + uint8_t unique_id[12]; + char firmware_git_version[12]; + char bootloader_git_version[12]; + uint16_t bootloader_version; + uint16_t crc; +} __attribute__((__packed__)) VOXL2_IO_EXTENDED_VERSION_INFO; + +// Definition of the feedback response packet from ESC +typedef struct { + uint8_t header; + uint8_t length; // Total length of the packet + uint8_t type; // This will be equal to ESC_PACKET_TYPE_FB_RESPONSE + + uint8_t state; // bits 0:3 = state, bits 4:7 = ID + uint16_t rpm; // Current RPM of the motor + uint8_t cmd_counter; // Number of commands received by the ESC + uint8_t reserved0; + int8_t voltage; // Voltage = (-28)/34.0 + 9.0 = 8.176V. 0xE4 --> 228 (-28) + uint8_t reserved1; + + uint16_t crc; +} __attribute__((__packed__)) VOXL2_IO_FB_RESPONSE; + +// Definition of the feedback response packet from ESC +typedef struct { + uint8_t header; + uint8_t length; // Total length of the packet + uint8_t type; // This will be equal to ESC_PACKET_TYPE_FB_RESPONSE + uint8_t id_state; // bits 0:3 = state, bits 4:7 = ID + + uint16_t rpm; // Current RPM of the motor + uint8_t cmd_counter; // Number of commands received by the ESC + uint8_t power; // Applied power [0..100] + + uint16_t voltage; // Voltage measured by the ESC in mV + int16_t current; // Current measured by the ESC in 8mA resolution + int16_t temperature; // Temperature measured by the ESC in 0.01 degC resolution + + uint16_t crc; +} __attribute__((__packed__)) VOXL2_IO_FB_RESPONSE_V2; + + +// Definition of the feedback response packet from ESC, which contains battery voltage and total current +typedef struct { + uint8_t header; + uint8_t length; + uint8_t type; + uint8_t id; //ESC Id (could be used as system ID elsewhere) + uint16_t voltage; //Input voltage (Millivolts) + int16_t current; //Total Current (8mA resolution) + uint16_t crc; +} __attribute__((__packed__)) VOXL2_IO_FB_POWER_STATUS; + + +//------------------------------------------------------------------------- +//Below are functions for generating packets that would be outgoing to ESCs +//------------------------------------------------------------------------- + +// Create a generic packet by providing all required components +// Inputs are packet type, input data array and its size, output array and maximum size of output array +// Resulting packet will be placed in the output data array together with appropriate header and checksum +// Output value represents total length of the created packet (if positive), otherwise error code +int32_t voxl2_io_create_packet(uint8_t type, uint8_t *input_data, uint16_t input_size, uint8_t *out_data, + uint16_t out_data_size); + +// Create a packet for requesting version information from ESC with desired id +// If an ESC with this id is connected and receives this command, it will reply with it's version information +int32_t voxl2_io_create_version_request_packet(uint8_t id, uint8_t *out, uint16_t out_size); +int32_t voxl2_io_create_extended_version_request_packet(uint8_t id, uint8_t *out, uint16_t out_size); + +// Create a packet for requesting an ESC with desired id to reset +// When ESC with the particular id receives this command, and it's not spinning, ESC will reset +// This is useful for entering bootloader without removing power from the system +int32_t voxl2_io_create_reset_packet(uint8_t id, uint8_t *out, uint16_t out_size); + +// Create a packet for generating a tone packet (signals are applied to motor to generate sounds) +// Inputs are relative frequency (0-255), relative duration (0-255), power (0-255) and bit mask for which ESCs should play a tone +// Bit mask definition: if bit i is set to 1, then ESC with ID=i will generate the tone +// Note that tones can only be generated when motor is not spinning +int32_t voxl2_io_create_sound_packet(uint8_t frequency, uint8_t duration, uint8_t power, uint8_t mask, uint8_t *out, + uint16_t out_size); + +// Create a packet for standalone LED control +// Bit mask definition: +// led_byte_1 - bit0 = ESC0 Red, bit1 = ESC0, Green, bit2 = ESC0 Blue, bit3 = ESC1 Red, bit4 = ESC1 Green, +// bit5 = ESC1 Blue, bit6 = ESC2 Red, bit7 = ESC2 Green +// led_byte_2 - bit0 = ESC2 Blue, bit1 = ESC3 Red, bit2 = ESC3 Green, bit3 = ESC3 Blue, bits 4:7 = unused +// Note that control can only be sent when motor is not spinning +int32_t voxl2_io_create_led_control_packet(uint8_t led_byte_1, uint8_t led_byte_2, uint8_t *out, uint16_t out_size); + +// Create a packet for setting the ID of an ESC +// Return value is the length of generated packet (if positive), otherwise error code +// Note that all ESCs that will receive this command will be set to this ID +int32_t voxl2_io_create_set_id_packet(uint8_t id, uint8_t *out, uint16_t out_size); + +// Create a packet for sending open-loop command and LED command to 4 ESCs without requesting any feedback +// Return value is the length of generated packet (if positive), otherwise error code +int32_t voxl2_io_create_pwm_packet4(int16_t pwm0, int16_t pwm1, int16_t pwm2, int16_t pwm3, + uint8_t led0, uint8_t led1, uint8_t led2, uint8_t led3, + uint8_t *out, uint16_t out_size); + +// Create a packet for sending open-loop command and LED command to 4 ESCs, also request feedback from one ESC (with id=fb_id) +// Return value is the length of generated packet (if positive), otherwise error code +int32_t voxl2_io_create_pwm_packet4_fb(int16_t pwm0, int16_t pwm1, int16_t pwm2, int16_t pwm3, + uint8_t led0, uint8_t led1, uint8_t led2, uint8_t led3, + int32_t fb_id, uint8_t *out, uint16_t out_size); + +// Create a packet for sending closed-loop RPM command and LED command to 4 ESCs without requesting any feedback +// Return value is the length of generated packet (if positive), otherwise error code +int32_t voxl2_io_create_rpm_packet4(int16_t rpm0, int16_t rpm1, int16_t rpm2, int16_t rpm3, + uint8_t led0, uint8_t led1, uint8_t led2, uint8_t led3, + uint8_t *out, uint16_t out_size); + +// Create a packet for sending closed-loop RPM command and LED command to 4 ESCs, also request feedback from one ESC (with id=fb_id) +// Return value is the length of generated packet (if positive), otherwise error code +int32_t voxl2_io_create_rpm_packet4_fb(int16_t rpm0, int16_t rpm1, int16_t rpm2, int16_t rpm3, + uint8_t led0, uint8_t led1, uint8_t led2, uint8_t led3, + int32_t fb_id, uint8_t *out, uint16_t out_size); + + +//------------------------------------------------------------------------- +// Below are functions for processing incoming packets +//------------------------------------------------------------------------- + + +// Feed one char and see if we have accumulated a complete packet +int16_t voxl2_io_packet_process_char(uint8_t c, VOXL2_IOPacket *packet); + +// Get a pointer to the packet type from a pointer to VOXL2_IOPacket +static inline uint8_t voxl2_io_packet_get_type(VOXL2_IOPacket *packet) { return packet->buffer[VOXL2_IO_PACKET_POS_TYPE]; } + +// Get a pointer to the packet type from a uint8_t pointer that points to the raw packet data as it comes from UART port +static inline uint8_t voxl2_io_packet_raw_get_type(uint8_t *packet) { return packet[VOXL2_IO_PACKET_POS_TYPE]; } + +//get a pointer to the packet payload from a pointer to VOXL2_IOPacket +static inline uint8_t *voxl2_io_packet_get_data_ptr(VOXL2_IOPacket *packet) { return &(packet->buffer[VOXL2_IO_PACKET_POS_DATA]); } + +// Get a pointer to the packet payload from a uint8_t pointer that points to the raw packet data as it comes from UART port +static inline uint8_t *voxl2_io_packet_raw_get_data_ptr(uint8_t *packet) { return &(packet[VOXL2_IO_PACKET_POS_DATA]); } + +// Get the total size (length) in bytes of the packet +static inline uint8_t voxl2_io_packet_get_size(VOXL2_IOPacket *packet) { return packet->buffer[VOXL2_IO_PACKET_POS_LENGTH]; } + +// Get checksum of the packet from a pointer to VOXL2_IOPacket +static inline uint16_t voxl2_io_packet_checksum_get(VOXL2_IOPacket *packet) { return packet->crc; } + +// Calculate the checksum of a data array. Used for packet generation / processing +static inline uint16_t voxl2_io_packet_checksum(uint8_t *buf, uint16_t size) +{ + uint16_t crc = voxl2_io_crc16_init(); + return voxl2_io_crc16(crc, buf, size); +} + +// Reset the checksum of the incoming packet. Used internally for packet reception +static inline void voxl2_io_packet_checksum_reset(VOXL2_IOPacket *packet) { packet->crc = voxl2_io_crc16_init(); } + +// Process one character for checksum calculation while receiving a packet (used internally for packet reception) +static inline void voxl2_io_packet_checksum_process_char(VOXL2_IOPacket *packet, uint8_t c) +{ + packet->crc = voxl2_io_crc16_byte(packet->crc, c); +} + + +// Initialize an instance of an VOXL2_IOPacket. This should be called once before using an instance of VOXL2_IOPacket +static inline void voxl2_io_packet_init(VOXL2_IOPacket *packet) +{ + packet->len_received = 0; + packet->len_expected = 0; + packet->bp = 0; + + voxl2_io_packet_checksum_reset(packet); +} + +// Reset status of the packet that is being parsed. Effectively, this achieves the same thing as _packet_init +// so that _packet_init may be redundant +static inline void voxl2_io_packet_reset(VOXL2_IOPacket *packet) +{ + packet->len_received = 0; +} + +#endif //VOXL2_IO_PACKET + +#ifdef __cplusplus +} +#endif diff --git a/src/drivers/voxl2_io/voxl2_io_packet_types.h b/src/drivers/voxl2_io/voxl2_io_packet_types.h new file mode 100644 index 000000000000..150982eca4de --- /dev/null +++ b/src/drivers/voxl2_io/voxl2_io_packet_types.h @@ -0,0 +1,75 @@ +/**************************************************************************** + * Copyright (c) 2017 The Linux Foundation. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name The Linux Foundation nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY + * THIS LICENSE. + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * In addition Supplemental Terms apply. See the SUPPLEMENTAL file. + * + ****************************************************************************/ + +/* + * This file contains the type values of all supported VOXL2_IO UART packets + */ + +#ifndef VOXL2_IO_PACKET_TYPES +#define VOXL2_IO_PACKET_TYPES + +#define VOXL2_IO_PACKET_TYPE_VERSION_REQUEST 0 +#define VOXL2_IO_PACKET_TYPE_PWM_CMD 1 +#define VOXL2_IO_PACKET_TYPE_RPM_CMD 2 +#define VOXL2_IO_PACKET_TYPE_SOUND_CMD 3 +#define VOXL2_IO_PACKET_TYPE_STEP_CMD 4 +#define VOXL2_IO_PACKET_TYPE_LED_CMD 5 +#define VOXL2_IO_PACKET_TYPE_RESET_CMD 10 +#define VOXL2_IO_PACKET_TYPE_SET_ID_CMD 11 +#define VOXL2_IO_PACKET_TYPE_SET_DIR_CMD 12 +#define VOXL2_IO_PACKET_TYPE_CONFIG_BOARD_REQUEST 20 +#define VOXL2_IO_PACKET_TYPE_CONFIG_USER_REQUEST 21 +#define VOXL2_IO_PACKET_TYPE_CONFIG_UART_REQUEST 22 +#define VOXL2_IO_PACKET_TYPE_CONFIG_TUNE_REQUEST 23 +#define VOXL2_IO_PACKET_TYPE_VERSION_EXT_REQUEST 24 + +#define VOXL2_IO_PACKET_TYPE_SET_FEEDBACK_MODE 50 //reserved for future use + +#define VOXL2_IO_PACKET_TYPE_EEPROM_WRITE_UNLOCK 70 +#define VOXL2_IO_PACKET_TYPE_EEPROM_READ_UNLOCK 71 +#define VOXL2_IO_PACKET_TYPE_EEPROM_WRITE 72 + +#define VOXL2_IO_PACKET_TYPE_VERSION_RESPONSE 109 +#define VOXL2_IO_PACKET_TYPE_PARAMS 110 +#define VOXL2_IO_PACKET_TYPE_BOARD_CONFIG 111 +#define VOXL2_IO_PACKET_TYPE_USER_CONFIG 112 +#define VOXL2_IO_PACKET_TYPE_UART_CONFIG 113 +#define VOXL2_IO_PACKET_TYPE_TUNE_CONFIG 114 +#define VOXL2_IO_PACKET_TYPE_FB_RESPONSE 128 +#define VOXL2_IO_PACKET_TYPE_VERSION_EXT_RESPONSE 131 +#define VOXL2_IO_PACKET_TYPE_FB_POWER_STATUS 132 +#define VOXL2_IO_PACKET_TYPE_RC_DATA_RAW 133 + +#endif diff --git a/src/drivers/voxl2_io/voxl2_io_params.c b/src/drivers/voxl2_io/voxl2_io_params.c new file mode 100644 index 000000000000..704cca989e09 --- /dev/null +++ b/src/drivers/voxl2_io/voxl2_io_params.c @@ -0,0 +1,65 @@ +/**************************************************************************** + * + * Copyright (c) 2020 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * UART M0065 baud rate + * + * Default rate is 921600, which is used for communicating with M0065. + * + * @group VOXL2 IO + * @unit bit/s + */ +PARAM_DEFINE_INT32(VOXL2_IO_BAUD, 921600); + +/** + * M0065 PWM Min + * + * Minimum duration (microseconds) for M0065 PWM + * + * @min 0 + * @max 2000 + * @group VOXL2 IO + * @unit us + */ +PARAM_DEFINE_INT32(VOXL2_IO_MIN, 1000); + +/** + * M0065 PWM Max + * + * Maximum duration (microseconds) for M0065 PWM + * @min 0 + * @max 2000 + * @group VOXL2 IO + * @unit us + */ +PARAM_DEFINE_INT32(VOXL2_IO_MAX, 2000); diff --git a/src/drivers/voxl2_io/voxl2_io_serial.cpp b/src/drivers/voxl2_io/voxl2_io_serial.cpp new file mode 100644 index 000000000000..cee0923ece06 --- /dev/null +++ b/src/drivers/voxl2_io/voxl2_io_serial.cpp @@ -0,0 +1,191 @@ +/**************************************************************************** + * + * Copyright (c) 2020 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include "string.h" +#include "voxl2_io_serial.hpp" + +Voxl2IoSerial::Voxl2IoSerial() +{ +} + +Voxl2IoSerial::~Voxl2IoSerial() +{ + if (_uart_fd >= 0) { + uart_close(); + } +} + +int Voxl2IoSerial::uart_open(const char *dev, speed_t speed) +{ + if (_uart_fd >= 0) { + PX4_ERR("Port in use: %s (%i)", dev, errno); + return -1; + } + + /* Open UART */ +#ifdef __PX4_QURT + _uart_fd = qurt_uart_open(dev, speed); +#else + _uart_fd = open(dev, O_RDWR | O_NOCTTY | O_NONBLOCK); +#endif + + if (_uart_fd < 0) { + PX4_ERR("Error opening port: %s (%i)", dev, errno); + return -1; + } + +#ifndef __PX4_QURT + /* Back up the original UART configuration to restore it after exit */ + int termios_state; + + if ((termios_state = tcgetattr(_uart_fd, &_orig_cfg)) < 0) { + PX4_ERR("Error configuring port: tcgetattr %s: %d", dev, termios_state); + uart_close(); + return -1; + } + + /* Fill the struct for the new configuration */ + tcgetattr(_uart_fd, &_cfg); + + /* Disable output post-processing */ + _cfg.c_oflag &= ~OPOST; + + _cfg.c_cflag |= (CLOCAL | CREAD); /* ignore modem controls */ + _cfg.c_cflag &= ~CSIZE; + _cfg.c_cflag |= CS8; /* 8-bit characters */ + _cfg.c_cflag &= ~PARENB; /* no parity bit */ + _cfg.c_cflag &= ~CSTOPB; /* only need 1 stop bit */ + _cfg.c_cflag &= ~CRTSCTS; /* no hardware flowcontrol */ + + /* setup for non-canonical mode */ + _cfg.c_iflag &= ~(IGNBRK | BRKINT | PARMRK | ISTRIP | INLCR | IGNCR | ICRNL | IXON); + _cfg.c_lflag &= ~(ECHO | ECHONL | ICANON | ISIG | IEXTEN); + + if (cfsetispeed(&_cfg, speed) < 0 || cfsetospeed(&_cfg, speed) < 0) { + PX4_ERR("Error configuring port: %s: %d (cfsetispeed, cfsetospeed)", dev, termios_state); + uart_close(); + return -1; + } + + if ((termios_state = tcsetattr(_uart_fd, TCSANOW, &_cfg)) < 0) { + PX4_ERR("Error configuring port: %s (tcsetattr)", dev); + uart_close(); + return -1; + } + +#endif + + _speed = speed; + + return 0; +} + +int Voxl2IoSerial::uart_set_baud(speed_t speed) +{ +#ifndef __PX4_QURT + + if (_uart_fd < 0) { + return -1; + } + + if (cfsetispeed(&_cfg, speed) < 0) { + return -1; + } + + if (tcsetattr(_uart_fd, TCSANOW, &_cfg) < 0) { + return -1; + } + + _speed = speed; + + return 0; +#endif + + return -1; +} + +int Voxl2IoSerial::uart_close() +{ +#ifndef __PX4_QURT + + if (_uart_fd < 0) { + PX4_ERR("invalid state for closing"); + return -1; + } + + if (tcsetattr(_uart_fd, TCSANOW, &_orig_cfg)) { + PX4_ERR("failed restoring uart to original state"); + } + + if (close(_uart_fd)) { + PX4_ERR("error closing uart"); + } + +#endif + + _uart_fd = -1; + + return 0; +} + +int Voxl2IoSerial::uart_write(FAR void *buf, size_t len) +{ + if (_uart_fd < 0 || buf == NULL) { + PX4_ERR("invalid state for writing or buffer"); + return -1; + } + +#ifdef __PX4_QURT + return qurt_uart_write(_uart_fd, (const char *) buf, len); +#else + return write(_uart_fd, buf, len); +#endif +} + +int Voxl2IoSerial::uart_read(FAR void *buf, size_t len) +{ + if (_uart_fd < 0 || buf == NULL) { + PX4_ERR("invalid state for reading or buffer"); + return -1; + } + +#ifdef __PX4_QURT +#define ASYNC_UART_READ_WAIT_US 2000 + // The UART read on SLPI is via an asynchronous service so specify a timeout + // for the return. The driver will poll periodically until the read comes in + // so this may block for a while. However, it will timeout if no read comes in. + return qurt_uart_read(_uart_fd, (char *) buf, len, ASYNC_UART_READ_WAIT_US); +#else + return read(_uart_fd, buf, len); +#endif +} diff --git a/src/drivers/voxl2_io/voxl2_io_serial.hpp b/src/drivers/voxl2_io/voxl2_io_serial.hpp new file mode 100644 index 000000000000..638bdef28856 --- /dev/null +++ b/src/drivers/voxl2_io/voxl2_io_serial.hpp @@ -0,0 +1,69 @@ +/**************************************************************************** + * + * Copyright (c) 2020 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#pragma once + +#include +#include +#include +#include + +#ifdef __PX4_QURT +#include +#define FAR +#endif + +class Voxl2IoSerial +{ +public: + Voxl2IoSerial(); + virtual ~Voxl2IoSerial(); + + int uart_open(const char *dev, speed_t speed); + int uart_set_baud(speed_t speed); + int uart_close(); + int uart_write(FAR void *buf, size_t len); + int uart_read(FAR void *buf, size_t len); + bool is_open() { return _uart_fd >= 0; }; + int uart_get_baud() {return _speed; } + +private: + int _uart_fd = -1; + +#if ! defined(__PX4_QURT) + struct termios _orig_cfg; + struct termios _cfg; +#endif + + int _speed = -1; +}; diff --git a/src/drivers/wind_sensor/Kconfig b/src/drivers/wind_sensor/Kconfig new file mode 100644 index 000000000000..128e91491d94 --- /dev/null +++ b/src/drivers/wind_sensor/Kconfig @@ -0,0 +1,10 @@ +menu "Wind Sensors" + menuconfig COMMON_WIND_SENSOR + bool "Common wind sensor's" + default n + select DRIVERS_WIND_SENSOR_FT_TECHNOLOGIES + ---help--- + Enable default set of wind sensor drivers + + rsource "*/Kconfig" +endmenu diff --git a/src/drivers/wind_sensor/ft_technologies/CMakeLists.txt b/src/drivers/wind_sensor/ft_technologies/CMakeLists.txt new file mode 100644 index 000000000000..5f9d9c2d63d7 --- /dev/null +++ b/src/drivers/wind_sensor/ft_technologies/CMakeLists.txt @@ -0,0 +1,46 @@ +############################################################################ +# +# Copyright (c) 2023 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ +px4_add_module( + MODULE drivers__wind_sensor__ft_technologies + MAIN ft7_technologies + COMPILE_FLAGS + -Wno-cast-align # TODO: fix and enable + SRCS + ft7_technologies.cpp + ft7_technologies.hpp + ft7_technologies_main.cpp + DEPENDS + px4_work_queue + MODULE_CONFIG + module.yaml + ) diff --git a/src/drivers/wind_sensor/ft_technologies/Kconfig b/src/drivers/wind_sensor/ft_technologies/Kconfig new file mode 100644 index 000000000000..fa3f186952fc --- /dev/null +++ b/src/drivers/wind_sensor/ft_technologies/Kconfig @@ -0,0 +1,5 @@ +menuconfig DRIVERS_WIND_SENSOR_FT_TECHNOLOGIES + bool "ft7_technologies" + default n + ---help--- + Enable support for ft7_technologies diff --git a/src/drivers/wind_sensor/ft_technologies/ft7_technologies.cpp b/src/drivers/wind_sensor/ft_technologies/ft7_technologies.cpp new file mode 100644 index 000000000000..43f74c50ad66 --- /dev/null +++ b/src/drivers/wind_sensor/ft_technologies/ft7_technologies.cpp @@ -0,0 +1,359 @@ +/**************************************************************************** + * + * Copyright (c) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include "ft7_technologies.hpp" + +#include +#include +#include +#include + +Ft7Technologies::Ft7Technologies(const char *port) : + ScheduledWorkItem(MODULE_NAME, px4::serial_port_to_wq(port)), + _sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": read")), + _comms_errors(perf_alloc(PC_COUNT, MODULE_NAME": com_err")) +{ + /* store port name */ + strncpy(_port, port, sizeof(_port) - 1); + + /* enforce null termination */ + _port[sizeof(_port) - 1] = '\0'; + + _sensor_airflow_pub.advertise(); +} + +Ft7Technologies::~Ft7Technologies() +{ + stop(); + + perf_free(_sample_perf); + perf_free(_comms_errors); +} + +int +Ft7Technologies::init() +{ + _interval = 1e6 / 10; // 10 Hz, The maximum query frequency is 10Hz + start(); + + return PX4_OK; +} + +int Ft7Technologies::measure() +{ + // Send the command to begin a measurement. + const char cmd[] = {'$', '/', '/', ',', 'W', 'V', '?', '*', '/', '/', '\r', '\n', '\0'}; + int ret = ::write(_fd, cmd, 12); + + perf_begin(_sample_perf); + + if (ret != 12) { + perf_count(_comms_errors); + return ret; + } + + _last_measure = hrt_absolute_time(); + + return PX4_OK; +} + +uint8_t Ft7Technologies::hex2int(char ch) +{ + if (ch >= '0' && ch <= '9') { + return ch - '0'; + } + + if (ch >= 'A' && ch <= 'F') { + return ch - 'A' + 10; + } + + if (ch >= 'a' && ch <= 'f') { + return ch - 'a' + 10; + } + + return -1; +} + +bool Ft7Technologies::checksum(char *buf, uint32_t checksum) +{ + + uint32_t checksum_verify = 0; + + for (int i = 0; i < _byte_counter; i++) { + + if (!(buf[i] == '$' || buf[i] == '*')) { + checksum_verify ^= buf[i]; + } + + if (buf[i] == '*') { + i = _byte_counter; + } + } + + return checksum_verify == checksum; +} + +int Ft7Technologies::collect() +{ + // PX4_INFO("collect"); + + /* clear buffer if last read was too long ago */ + // int64_t read_elapsed = hrt_elapsed_time(&_last_read); + + /* the buffer for read chars is buflen minus null termination */ + char readbuf[sizeof(_linebuf)]; + unsigned readlen = sizeof(readbuf) - 1; + + /* read from the sensor (uart buffer) */ + // const hrt_abstime timestamp_sample = hrt_absolute_time(); + + int ret = ::read(_fd, readbuf, readlen); + + // PX4_INFO("collect() ret: %d \n", ret); + + if (ret < 0) { + // PX4_INFO("read err: %d", ret); + return -EAGAIN; + + } else if (ret == 0) { + perf_count(_comms_errors); + return -EAGAIN; + } + + _last_read = hrt_absolute_time(); + + bool valid = false; + + //$,WVP=,,* + for (int i = 0; i < ret; i++) { + // _px4_windsensor.update(timestamp_sample, (double)ret, 13.0f, _status); + // received a full message + _readbuf[_byte_counter] = readbuf[i]; + _byte_counter += 1; + + + if (readbuf[i] == '\n') { + + _checksum = (uint32_t)atoi((char *)_raw_checksum); + _hex_checksum = 0; + + sensor_airflow_s sensor_airflow{}; + sensor_airflow.timestamp = hrt_absolute_time(); + sensor_airflow.speed = (float)atoi((char *)_raw_speed) / 10.0f; + sensor_airflow.direction = ((float)atoi((char *)_raw_angle) - 180.0f) * M_PI_F / 180.0f; + sensor_airflow.status = (uint8_t)atoi((char *)_raw_status); + + if (_checksum_counter == 2) { + _hex_checksum = hex2int(_raw_checksum[0]) << 4 | hex2int(_raw_checksum[1]); + + } else { + _hex_checksum = hex2int(_raw_checksum[0]); + } + + // checksum is verified + if (checksum(_readbuf, _hex_checksum)) { + + _sensor_airflow_pub.publish(sensor_airflow); + valid = true; + + } + + // reset counters + _msg_part_counter = 0; + _byte_counter = 0; + _msg_byte_counter = 0; + _checksum_counter = 0; + memset(readbuf, 0, sizeof(_linebuf)); + memset(_readbuf, 0, sizeof(_linebuf)); + memset(_raw_speed, 0, 5); + memset(_raw_angle, 0, 5); + memset(_raw_status, 0, 2); + memset(_raw_checksum, 0, 3); + + } + + else if (readbuf[i] == '$' || readbuf[i] == ',' || readbuf[i] == '=' || readbuf[i] == '*' || readbuf[i] == '\r') { + _msg_part_counter += 1; + _msg_byte_counter = 0; + + } else { + + if (readbuf[i] != '.') { + + if (_msg_part_counter == 3) { // speed measurement + _raw_speed[_msg_byte_counter] = readbuf[i]; + + } else if (_msg_part_counter == 4) { // angle measurement + _raw_angle[_msg_byte_counter] = readbuf[i]; + + } else if (_msg_part_counter == 5) { // status + _raw_status[_msg_byte_counter] = readbuf[i]; + + } else if (_msg_part_counter == 6) { // checksum + _checksum_counter += 1; + _raw_checksum[_msg_byte_counter] = readbuf[i]; + + } + + _msg_byte_counter += 1; + + } + + } + + } + + if (!valid) { + return -EAGAIN; + } + + perf_end(_sample_perf); + return PX4_OK; +} + +void Ft7Technologies::start() +{ + /* reset the report ring and state machine */ + _collect_phase = false; + + /* schedule a cycle to start things */ + ScheduleNow(); +} + +void Ft7Technologies::stop() +{ + ScheduleClear(); +} + +void Ft7Technologies::Run() +{ + + /* fds initialized? */ + if (_fd < 0) { + /* open fd */ + _fd = ::open(_port, O_RDWR | O_NOCTTY | O_NONBLOCK); + + if (_fd < 0) { + PX4_ERR("open failed (%i)", errno); + return; + } + + struct termios uart_config; + + int termios_state; + + /* fill the struct for the new configuration */ + tcgetattr(_fd, &uart_config); + + /* clear ONLCR flag (which appends a CR for every LF) */ + // uart_config.c_oflag &= ~ONLCR; + uart_config.c_iflag &= ~(IGNBRK | BRKINT | ICRNL | INLCR | PARMRK | INPCK | ISTRIP | IXON); + + /* no parity, one stop bit */ + uart_config.c_oflag &= ~(OCRNL | ONLCR | ONLRET | ONOCR | OFILL | OPOST); + + // No line processing: + // echo off, echo newline off, canonical mode off, + // extended input processing off, signal chars off + uart_config.c_lflag &= ~(ECHO | ECHONL | ICANON | IEXTEN | ISIG); + + // Turn off character processing + // clear current char size mask, no parity checking, + // no output processing, force 8 bit input + uart_config.c_cflag &= ~(CSIZE | PARENB); + + uart_config.c_cflag |= CS8; + + unsigned speed = B9600; + + /* set baud rate */ + if ((termios_state = cfsetispeed(&uart_config, speed)) < 0) { + PX4_ERR("CFG: %d ISPD", termios_state); + } + + if ((termios_state = cfsetospeed(&uart_config, speed)) < 0) { + PX4_ERR("CFG: %d OSPD", termios_state); + } + + if ((termios_state = tcsetattr(_fd, TCSANOW, &uart_config)) < 0) { + PX4_ERR("baud %d ATTR", termios_state); + } + + } + + /* collection phase? */ + if (_collect_phase) { + + /* perform collection */ + int collect_ret = collect(); + + if (collect_ret == -EAGAIN) { + + if (hrt_elapsed_time(&_last_measure) > (_interval * 15) / 10) { + // resend the command again + // we waited to long to receive a response from the sensor + // so we are resending the command again + _collect_phase = false; + } + + ScheduleNow(); + return; + // we received a valid response from the sensor. we need to + // send another command through + + } else if (collect_ret == PX4_OK) { + + /* next phase is measurement */ + _collect_phase = false; + } + + } + + /* measurement phase */ + if (OK != measure()) { + PX4_INFO("measure error"); + } + + /* next phase is collection */ + _collect_phase = true; + + /* schedule a fresh cycle call when the measurement is done */ + ScheduleDelayed(_interval); +} + +void Ft7Technologies::print_info() +{ + PX4_INFO_RAW("%s: port: %s\n", MODULE_NAME, _port); + perf_print_counter(_sample_perf); + perf_print_counter(_comms_errors); +} diff --git a/src/drivers/wind_sensor/ft_technologies/ft7_technologies.hpp b/src/drivers/wind_sensor/ft_technologies/ft7_technologies.hpp new file mode 100644 index 000000000000..816942797347 --- /dev/null +++ b/src/drivers/wind_sensor/ft_technologies/ft7_technologies.hpp @@ -0,0 +1,102 @@ +/**************************************************************************** + * + * Copyright (c) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file ft7_technolofies.hpp + * @author Henry Kotze + * + * Driver for the FT Technology Wind Sensor. FT742 + */ + +#pragma once + +#include +#include +#include +#include +#include +#include +#include +#include + +#include + +using namespace time_literals; + + +class Ft7Technologies : public px4::ScheduledWorkItem +{ +public: + Ft7Technologies(const char *port); + ~Ft7Technologies() override; + + int init(); + void print_info(); + +private: + + void start(); + void stop(); + void Run() override; + int measure(); + int collect(); + bool checksum(char *buf, uint32_t checksum); + uint8_t hex2int(char ch); + + uORB::Publication _sensor_airflow_pub{ORB_ID(sensor_airflow)}; + + char _port[20] {}; + char _readbuf[30] {}; + uint64_t _interval{100000}; + bool _collect_phase{false}; + int _fd{-1}; + char _linebuf[20] {}; + hrt_abstime _last_read{0}; + hrt_abstime _last_measure{0}; + + char _raw_angle[5]; + char _raw_speed[5]; + char _raw_status[2]; + char _raw_checksum[3]; + + uint16_t _checksum{0}; + uint32_t _hex_checksum{0}; + int _msg_part_counter{0}; + int _byte_counter{0}; + int _msg_byte_counter{0}; + uint32_t _checksum_counter{0}; + + perf_counter_t _sample_perf; + perf_counter_t _comms_errors; + +}; diff --git a/src/drivers/wind_sensor/ft_technologies/ft7_technologies_main.cpp b/src/drivers/wind_sensor/ft_technologies/ft7_technologies_main.cpp new file mode 100644 index 000000000000..85ec29b182ec --- /dev/null +++ b/src/drivers/wind_sensor/ft_technologies/ft7_technologies_main.cpp @@ -0,0 +1,162 @@ +/**************************************************************************** + * + * Copyright (c) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include "ft7_technologies.hpp" + +#include +#include + +namespace ft7_technologies_wind_sensor +{ + +Ft7Technologies *g_dev{nullptr}; + +static int start(const char *port) +{ + if (g_dev != nullptr) { + PX4_WARN("already started"); + return -1; + } + + if (port == nullptr) { + PX4_ERR("no device specified"); + return -1; + } + + /* create the driver */ + g_dev = new Ft7Technologies(port); + PX4_INFO("port name: %s", port); + + if (g_dev == nullptr) { + return -1; + } + + if (g_dev->init() != PX4_OK) { + delete g_dev; + g_dev = nullptr; + return -1; + } + + return 0; +} + +static int stop() +{ + if (g_dev != nullptr) { + delete g_dev; + g_dev = nullptr; + + } else { + return -1; + } + + return 0; +} + +static int status() +{ + if (g_dev == nullptr) { + PX4_ERR("driver not running"); + return -1; + } + + g_dev->print_info(); + + return 0; +} + +static int usage() +{ + PRINT_MODULE_DESCRIPTION( + R"DESCR_STR( +### Description + +Serial bus driver for the FT Technologies Digital Wind Sensor FT742. This driver is required to operate alongside +a RS485 to UART signal transfer module. + +Most boards are configured to enable/start the driver on a specified UART using the SENS_FTX_CFG parameter. + +### Examples + +Attempt to start driver on a specified serial device. +$ ft_technologies_serial start -d /dev/ttyS1 +Stop driver +$ ft_technologies_serial stop +)DESCR_STR"); + + PRINT_MODULE_USAGE_NAME("ft_technologies_serial", "driver"); + PRINT_MODULE_USAGE_COMMAND_DESCR("start", "Start driver"); + PRINT_MODULE_USAGE_PARAM_STRING('d', nullptr, nullptr, "Serial device", false); + PRINT_MODULE_USAGE_COMMAND_DESCR("stop", "Stop driver"); + return PX4_OK; +} + +} // namespace + +extern "C" __EXPORT int ft7_technologies_main(int argc, char *argv[]) +{ + const char *device_path = nullptr; + int ch; + int myoptind = 1; + const char *myoptarg = nullptr; + + while ((ch = px4_getopt(argc, argv, "d:", &myoptind, &myoptarg)) != EOF) { + switch (ch) { + case 'd': + device_path = myoptarg; + break; + + default: + ft7_technologies_wind_sensor::usage(); + return -1; + } + } + + if (myoptind >= argc) { + ft7_technologies_wind_sensor::usage(); + return -1; + } + + if (!strcmp(argv[myoptind], "start")) { + return ft7_technologies_wind_sensor::start(device_path); + + } else if (!strcmp(argv[myoptind], "stop")) { + return ft7_technologies_wind_sensor::stop(); + + } else if (!strcmp(argv[myoptind], "status")) { + return ft7_technologies_wind_sensor::status(); + } + + ft7_technologies_wind_sensor::usage(); + return -1; +} diff --git a/src/drivers/wind_sensor/ft_technologies/module.yaml b/src/drivers/wind_sensor/ft_technologies/module.yaml new file mode 100644 index 000000000000..4ff7dd05f74e --- /dev/null +++ b/src/drivers/wind_sensor/ft_technologies/module.yaml @@ -0,0 +1,6 @@ +module_name: FT Technologies Digital Wind Sensor (serial) +serial_config: + - command: ft7_technologies start -d ${SERIAL_DEV} + port_config_param: + name: SENS_FTX_CFG + group: Sensors diff --git a/src/examples/dyn_hello/Kconfig b/src/examples/dyn_hello/Kconfig index 30a5b6898ab9..923b04dabafa 100644 --- a/src/examples/dyn_hello/Kconfig +++ b/src/examples/dyn_hello/Kconfig @@ -2,4 +2,4 @@ menuconfig EXAMPLES_DYN_HELLO bool "dyn_hello" default n ---help--- - Enable support for dyn_hello \ No newline at end of file + Enable support for dyn_hello diff --git a/src/examples/fake_gps/FakeGps.cpp b/src/examples/fake_gps/FakeGps.cpp index 6b08b58666fb..e2f966e023ca 100644 --- a/src/examples/fake_gps/FakeGps.cpp +++ b/src/examples/fake_gps/FakeGps.cpp @@ -35,12 +35,12 @@ using namespace time_literals; -FakeGps::FakeGps(double latitude_deg, double longitude_deg, float altitude_m) : +FakeGps::FakeGps(double latitude_deg, double longitude_deg, double altitude_m) : ModuleParams(nullptr), ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::lp_default), - _latitude(latitude_deg * 10e6), - _longitude(longitude_deg * 10e6), - _altitude(altitude_m * 10e2f) + _latitude(latitude_deg), + _longitude(longitude_deg), + _altitude(altitude_m) { } @@ -60,10 +60,10 @@ void FakeGps::Run() sensor_gps_s sensor_gps{}; sensor_gps.time_utc_usec = hrt_absolute_time() + 1613692609599954; - sensor_gps.lat = _latitude; - sensor_gps.lon = _longitude; - sensor_gps.alt = _altitude; - sensor_gps.alt_ellipsoid = _altitude; + sensor_gps.latitude_deg = _latitude; + sensor_gps.longitude_deg = _longitude; + sensor_gps.altitude_msl_m = _altitude; + sensor_gps.altitude_ellipsoid_m = _altitude; sensor_gps.s_variance_m_s = 0.3740f; sensor_gps.c_variance_rad = 0.6737f; sensor_gps.eph = 2.1060f; diff --git a/src/examples/fake_gps/FakeGps.hpp b/src/examples/fake_gps/FakeGps.hpp index ef5a9197ebec..eae3b47512a0 100644 --- a/src/examples/fake_gps/FakeGps.hpp +++ b/src/examples/fake_gps/FakeGps.hpp @@ -45,7 +45,7 @@ class FakeGps : public ModuleBase, public ModuleParams, public px4::ScheduledWorkItem { public: - FakeGps(double latitude_deg = 29.6603018, double longitude_deg = -82.3160500, float altitude_m = 30.1f); + FakeGps(double latitude_deg = 29.6603018, double longitude_deg = -82.3160500, double altitude_m = 30.1); ~FakeGps() override = default; @@ -67,7 +67,7 @@ class FakeGps : public ModuleBase, public ModuleParams, public px4::Sch uORB::PublicationMulti _sensor_gps_pub{ORB_ID(sensor_gps)}; - int32_t _latitude{296603018}; // Latitude in 1e-7 degrees - int32_t _longitude{-823160500}; // Longitude in 1e-7 degrees - int32_t _altitude{30100}; // Altitude in 1e-3 meters above MSL, (millimetres) + double _latitude{29.6603018}; // Latitude in degrees + double _longitude{-82.3160500}; // Longitude in degrees + double _altitude{30.1}; // Altitude in meters above MSL, (millimetres) }; diff --git a/src/examples/fake_gps/Kconfig b/src/examples/fake_gps/Kconfig index 419a5f55cdcf..62c71aa731b1 100644 --- a/src/examples/fake_gps/Kconfig +++ b/src/examples/fake_gps/Kconfig @@ -2,4 +2,4 @@ menuconfig EXAMPLES_FAKE_GPS bool "fake_gps" default n ---help--- - Enable support for fake_gps \ No newline at end of file + Enable support for fake_gps diff --git a/src/examples/fake_magnetometer/CMakeLists.txt b/src/examples/fake_magnetometer/CMakeLists.txt index c99b4267f3a6..e959f0ebeef8 100644 --- a/src/examples/fake_magnetometer/CMakeLists.txt +++ b/src/examples/fake_magnetometer/CMakeLists.txt @@ -42,4 +42,5 @@ px4_add_module( drivers_magnetometer geo px4_work_queue + world_magnetic_model ) diff --git a/src/examples/fake_magnetometer/FakeMagnetometer.cpp b/src/examples/fake_magnetometer/FakeMagnetometer.cpp index 488ed0d40783..56878ec9855c 100644 --- a/src/examples/fake_magnetometer/FakeMagnetometer.cpp +++ b/src/examples/fake_magnetometer/FakeMagnetometer.cpp @@ -66,15 +66,12 @@ void FakeMagnetometer::Run() if (_vehicle_gps_position_sub.copy(&gps)) { if (gps.eph < 1000) { - const double lat = gps.lat / 1.e7; - const double lon = gps.lon / 1.e7; - // magnetic field data returned by the geo library using the current GPS position - const float mag_declination_gps = get_mag_declination_radians(lat, lon); - const float mag_inclination_gps = get_mag_inclination_radians(lat, lon); - const float mag_strength_gps = get_mag_strength_gauss(lat, lon); + const float declination_rad = math::radians(get_mag_declination_degrees(gps.latitude_deg, gps.longitude_deg)); + const float inclination_rad = math::radians(get_mag_inclination_degrees(gps.latitude_deg, gps.longitude_deg)); + const float field_strength_gauss = get_mag_strength_gauss(gps.latitude_deg, gps.longitude_deg); - _mag_earth_pred = Dcmf(Eulerf(0, -mag_inclination_gps, mag_declination_gps)) * Vector3f(mag_strength_gps, 0, 0); + _mag_earth_pred = Dcmf(Eulerf(0, -inclination_rad, declination_rad)) * Vector3f(field_strength_gauss, 0, 0); _mag_earth_available = true; } diff --git a/src/examples/fake_magnetometer/Kconfig b/src/examples/fake_magnetometer/Kconfig index c59060338254..f6450b5fa527 100644 --- a/src/examples/fake_magnetometer/Kconfig +++ b/src/examples/fake_magnetometer/Kconfig @@ -2,4 +2,4 @@ menuconfig EXAMPLES_FAKE_MAGNETOMETER bool "fake_magnetometer" default n ---help--- - Enable support for fake_magnetometer \ No newline at end of file + Enable support for fake_magnetometer diff --git a/src/examples/hello/Kconfig b/src/examples/hello/Kconfig index c47ec7587ab8..3424824a6436 100644 --- a/src/examples/hello/Kconfig +++ b/src/examples/hello/Kconfig @@ -2,4 +2,4 @@ menuconfig EXAMPLES_HELLO bool "hello" default n ---help--- - Enable support for hello \ No newline at end of file + Enable support for hello diff --git a/src/examples/matlab_csv_serial/Kconfig b/src/examples/matlab_csv_serial/Kconfig index 7352ebcabb5a..07edfafab807 100644 --- a/src/examples/matlab_csv_serial/Kconfig +++ b/src/examples/matlab_csv_serial/Kconfig @@ -2,4 +2,4 @@ menuconfig EXAMPLES_MATLAB_CSV_SERIAL bool "matlab_csv_serial" default n ---help--- - Enable support for matlab_csv_serial \ No newline at end of file + Enable support for matlab_csv_serial diff --git a/src/examples/matlab_csv_serial/matlab_csv_serial.c b/src/examples/matlab_csv_serial/matlab_csv_serial.c index 78a7b79a0e0c..b7ccbd014335 100644 --- a/src/examples/matlab_csv_serial/matlab_csv_serial.c +++ b/src/examples/matlab_csv_serial/matlab_csv_serial.c @@ -41,6 +41,7 @@ */ #include +#include #include #include #include @@ -48,7 +49,6 @@ #include #include #include -#include #include #include #include @@ -60,6 +60,9 @@ #include #include +#include +#include + __EXPORT int matlab_csv_serial_main(int argc, char *argv[]); static bool thread_should_exit = false; /**< Daemon exit flag */ static bool thread_running = false; /**< Daemon status flag */ @@ -221,9 +224,9 @@ int matlab_csv_serial_thread_main(int argc, char *argv[]) orb_copy(ORB_ID(sensor_gyro), gyro1_sub, &gyro1); // write out on accel 0, but collect for all other sensors as they have updates - dprintf(serial_fd, "%llu,%d,%d,%d,%d,%d,%d\n", accel0.timestamp, (int)accel0.x_raw, (int)accel0.y_raw, - (int)accel0.z_raw, - (int)accel1.x_raw, (int)accel1.y_raw, (int)accel1.z_raw); + dprintf(serial_fd, "%"PRId64",%d,%d,%d,%d,%d,%d\n", accel0.timestamp, (int)accel0.x, (int)accel0.y, + (int)accel0.z, + (int)accel1.x, (int)accel1.y, (int)accel1.z); } } @@ -235,5 +238,3 @@ int matlab_csv_serial_thread_main(int argc, char *argv[]) fflush(stdout); return 0; } - - diff --git a/src/examples/px4_mavlink_debug/Kconfig b/src/examples/px4_mavlink_debug/Kconfig index 5707edd736f7..2f299844c060 100644 --- a/src/examples/px4_mavlink_debug/Kconfig +++ b/src/examples/px4_mavlink_debug/Kconfig @@ -2,4 +2,4 @@ menuconfig EXAMPLES_PX4_MAVLINK_DEBUG bool "px4_mavlink_debug" default n ---help--- - Enable support for px4_mavlink_debug \ No newline at end of file + Enable support for px4_mavlink_debug diff --git a/src/examples/px4_simple_app/Kconfig b/src/examples/px4_simple_app/Kconfig index 64fbc1916d11..9a92916c088c 100644 --- a/src/examples/px4_simple_app/Kconfig +++ b/src/examples/px4_simple_app/Kconfig @@ -2,4 +2,4 @@ menuconfig EXAMPLES_PX4_SIMPLE_APP bool "px4_simple_app" default n ---help--- - Enable support for px4_simple_app \ No newline at end of file + Enable support for px4_simple_app diff --git a/src/examples/work_item/Kconfig b/src/examples/work_item/Kconfig index f6a29b15d463..04c7b8579568 100644 --- a/src/examples/work_item/Kconfig +++ b/src/examples/work_item/Kconfig @@ -2,4 +2,4 @@ menuconfig EXAMPLES_WORK_ITEM bool "work_item" default n ---help--- - Enable support for work_item \ No newline at end of file + Enable support for work_item diff --git a/src/include/containers/Array.hpp b/src/include/containers/Array.hpp index 2911f605f85b..26372a2e0d87 100644 --- a/src/include/containers/Array.hpp +++ b/src/include/containers/Array.hpp @@ -99,6 +99,12 @@ class Array const T *begin() const { return &_items[0]; } const T *end() const { return &_items[_size]; } + void clear() + { + _size = 0; + _overflow = false; + } + private: T _items[N]; size_t _size{0}; diff --git a/src/include/containers/BlockingQueue.hpp b/src/include/containers/BlockingQueue.hpp index 3b1ec77a8668..00b64d10534a 100644 --- a/src/include/containers/BlockingQueue.hpp +++ b/src/include/containers/BlockingQueue.hpp @@ -46,6 +46,8 @@ class BlockingQueue { px4_sem_init(&_sem_head, 0, N); px4_sem_init(&_sem_tail, 0, 0); + px4_sem_setprotocol(&_sem_head, SEM_PRIO_NONE); + px4_sem_setprotocol(&_sem_tail, SEM_PRIO_NONE); } ~BlockingQueue() @@ -56,7 +58,7 @@ class BlockingQueue void push(T newItem) { - px4_sem_wait(&_sem_head); + do {} while (px4_sem_wait(&_sem_head) != 0); _data[_tail] = newItem; _tail = (_tail + 1) % N; @@ -66,7 +68,7 @@ class BlockingQueue T pop() { - px4_sem_wait(&_sem_tail); + do {} while (px4_sem_wait(&_sem_tail) != 0); T ret = _data[_head]; _head = (_head + 1) % N; diff --git a/src/lib/CMakeLists.txt b/src/lib/CMakeLists.txt index f6bcc9260b6a..7a7b5973fd4a 100644 --- a/src/lib/CMakeLists.txt +++ b/src/lib/CMakeLists.txt @@ -1,6 +1,6 @@ ############################################################################ # -# Copyright (c) 2017 PX4 Development Team. All rights reserved. +# Copyright (c) 2017-2023 PX4 Development Team. All rights reserved. # # Redistribution and use in source and binary forms, with or without # modification, are permitted provided that the following conditions @@ -33,11 +33,13 @@ add_subdirectory(adsb EXCLUDE_FROM_ALL) add_subdirectory(airspeed EXCLUDE_FROM_ALL) +add_subdirectory(atmosphere EXCLUDE_FROM_ALL) add_subdirectory(avoidance EXCLUDE_FROM_ALL) add_subdirectory(battery EXCLUDE_FROM_ALL) add_subdirectory(bezier EXCLUDE_FROM_ALL) add_subdirectory(button EXCLUDE_FROM_ALL) add_subdirectory(cdev EXCLUDE_FROM_ALL) +add_subdirectory(cdrstream EXCLUDE_FROM_ALL) add_subdirectory(circuit_breaker EXCLUDE_FROM_ALL) add_subdirectory(collision_prevention EXCLUDE_FROM_ALL) add_subdirectory(component_information EXCLUDE_FROM_ALL) @@ -45,9 +47,11 @@ add_subdirectory(controllib EXCLUDE_FROM_ALL) add_subdirectory(conversion EXCLUDE_FROM_ALL) add_subdirectory(crc EXCLUDE_FROM_ALL) add_subdirectory(crypto EXCLUDE_FROM_ALL) +add_subdirectory(dataman_client EXCLUDE_FROM_ALL) add_subdirectory(drivers EXCLUDE_FROM_ALL) add_subdirectory(field_sensor_bias_estimator EXCLUDE_FROM_ALL) add_subdirectory(geo EXCLUDE_FROM_ALL) +add_subdirectory(heatshrink EXCLUDE_FROM_ALL) add_subdirectory(hysteresis EXCLUDE_FROM_ALL) add_subdirectory(l1 EXCLUDE_FROM_ALL) add_subdirectory(led EXCLUDE_FROM_ALL) @@ -57,10 +61,14 @@ add_subdirectory(mixer_module EXCLUDE_FROM_ALL) add_subdirectory(motion_planning EXCLUDE_FROM_ALL) add_subdirectory(npfg EXCLUDE_FROM_ALL) add_subdirectory(perf EXCLUDE_FROM_ALL) +add_subdirectory(fw_performance_model EXCLUDE_FROM_ALL) add_subdirectory(pid EXCLUDE_FROM_ALL) add_subdirectory(pid_design EXCLUDE_FROM_ALL) +add_subdirectory(pure_pursuit EXCLUDE_FROM_ALL) add_subdirectory(rate_control EXCLUDE_FROM_ALL) add_subdirectory(rc EXCLUDE_FROM_ALL) +add_subdirectory(ringbuffer EXCLUDE_FROM_ALL) +add_subdirectory(rtl EXCLUDE_FROM_ALL) add_subdirectory(sensor_calibration EXCLUDE_FROM_ALL) add_subdirectory(slew_rate EXCLUDE_FROM_ALL) add_subdirectory(systemlib EXCLUDE_FROM_ALL) @@ -70,6 +78,7 @@ add_subdirectory(terrain_estimation EXCLUDE_FROM_ALL) add_subdirectory(timesync EXCLUDE_FROM_ALL) add_subdirectory(tinybson EXCLUDE_FROM_ALL) add_subdirectory(tunes EXCLUDE_FROM_ALL) +add_subdirectory(variable_length_ringbuffer EXCLUDE_FROM_ALL) add_subdirectory(version EXCLUDE_FROM_ALL) add_subdirectory(weather_vane EXCLUDE_FROM_ALL) add_subdirectory(wind_estimator EXCLUDE_FROM_ALL) diff --git a/src/lib/Kconfig b/src/lib/Kconfig new file mode 100644 index 000000000000..6353836988b2 --- /dev/null +++ b/src/lib/Kconfig @@ -0,0 +1 @@ +rsource "*/Kconfig" diff --git a/src/lib/adsb/AdsbConflict.cpp b/src/lib/adsb/AdsbConflict.cpp index cb40f27a7df6..8fa11a8f2a72 100644 --- a/src/lib/adsb/AdsbConflict.cpp +++ b/src/lib/adsb/AdsbConflict.cpp @@ -108,12 +108,14 @@ void AdsbConflict::remove_icao_address_from_conflict_list(int traffic_index) { _traffic_buffer.icao_address.remove(traffic_index); _traffic_buffer.timestamp.remove(traffic_index); + PX4_INFO("icao_address removed. Buffer Size: %d", (int)_traffic_buffer.timestamp.size()); } void AdsbConflict::add_icao_address_from_conflict_list(uint32_t icao_address) { _traffic_buffer.timestamp.push_back(hrt_absolute_time()); _traffic_buffer.icao_address.push_back(icao_address); + PX4_INFO("icao_address added. Buffer Size: %d", (int)_traffic_buffer.timestamp.size()); } void AdsbConflict::get_traffic_state() @@ -129,7 +131,6 @@ void AdsbConflict::get_traffic_state() if (old_conflict && _conflict_detected) { old_conflict_warning_expired = (hrt_elapsed_time(&_traffic_buffer.timestamp[traffic_index]) > CONFLICT_WARNING_TIMEOUT); - } if (new_traffic && _conflict_detected && !_traffic_buffer_full) { @@ -154,65 +155,56 @@ void AdsbConflict::get_traffic_state() } +void AdsbConflict::remove_expired_conflicts() +{ + for (uint8_t traffic_index = 0; traffic_index < _traffic_buffer.timestamp.size();) { + if (hrt_elapsed_time(&_traffic_buffer.timestamp[traffic_index]) > TRAFFIC_CONFLICT_LIFETIME) { + events::send(events::ID("navigator_traffic_expired"), events::Log::Notice, + "Traffic Conflict {1} Expired and removed from buffer", + _traffic_buffer.icao_address[traffic_index]); + remove_icao_address_from_conflict_list(traffic_index); + + } else { + traffic_index++; + } + } +} bool AdsbConflict::handle_traffic_conflict() { get_traffic_state(); - char uas_id[UTM_GUID_MSG_LENGTH]; //GUID of incoming UTM messages - - //convert UAS_id byte array to char array for User Warning - for (int i = 0; i < 5; i++) { - snprintf(&uas_id[i * 2], sizeof(uas_id) - i * 2, "%02x", _transponder_report.uas_id[PX4_GUID_BYTE_LENGTH - 5 + i]); - } - - uint64_t uas_id_int = 0; - - for (int i = 0; i < 8; i++) { - uas_id_int |= (uint64_t)(_transponder_report.uas_id[PX4_GUID_BYTE_LENGTH - i - 1]) << (i * 8); - } - - bool take_action = false; switch (_traffic_state) { case TRAFFIC_STATE::ADD_CONFLICT: case TRAFFIC_STATE::REMIND_CONFLICT: { - - take_action = send_traffic_warning(math::degrees(_transponder_report.heading) + 180, - (int)fabsf(_crosstrack_error.distance), _transponder_report.flags, uas_id, + take_action = send_traffic_warning((int)(math::degrees(_transponder_report.heading) + 180.f), + (int)fabsf(_crosstrack_error.distance), _transponder_report.flags, _transponder_report.callsign, - uas_id_int); - + _transponder_report.icao_address); } break; case TRAFFIC_STATE::REMOVE_OLD_CONFLICT: { - - mavlink_log_critical(&_mavlink_log_pub, "TRAFFIC UPDATE: %s is no longer in conflict!", - _transponder_report.flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_CALLSIGN ? - _transponder_report.callsign : uas_id); - - events::send(events::ID("navigator_traffic_resolved"), events::Log::Critical, "Traffic Conflict Resolved", - uas_id_int); - + events::send(events::ID("navigator_traffic_resolved"), events::Log::Notice, + "Traffic Conflict Resolved {1}!", + _transponder_report.icao_address); + _last_traffic_warning_time = hrt_absolute_time(); } break; case TRAFFIC_STATE::BUFFER_FULL: { - if (_traffic_state_previous != TRAFFIC_STATE::BUFFER_FULL) { - PX4_WARN("Too much traffic! Showing all messages from now on"); + if ((_traffic_state_previous != TRAFFIC_STATE::BUFFER_FULL) + && (hrt_elapsed_time(&_last_buffer_full_warning_time) > TRAFFIC_WARNING_TIMESTEP)) { + events::send(events::ID("buffer_full"), events::Log::Notice, "Too much traffic! Showing all messages from now on"); + _last_buffer_full_warning_time = hrt_absolute_time(); } - //stop buffering incoming conflicts - take_action = send_traffic_warning(math::degrees(_transponder_report.heading) + 180, - (int)fabsf(_crosstrack_error.distance), _transponder_report.flags, uas_id, - _transponder_report.callsign, - uas_id_int); - + //disable conflict warnings when buffer is full } break; @@ -242,49 +234,67 @@ void AdsbConflict::set_conflict_detection_params(float crosstrack_separation, fl bool AdsbConflict::send_traffic_warning(int traffic_direction, int traffic_seperation, uint16_t tr_flags, - char uas_id[UTM_GUID_MSG_LENGTH], char tr_callsign[UTM_CALLSIGN_LENGTH], uint64_t uas_id_int) + char tr_callsign[UTM_CALLSIGN_LENGTH], uint32_t icao_address) { switch (_conflict_detection_params.traffic_avoidance_mode) { case 0: { - PX4_WARN("TRAFFIC %s! dst %d, hdg %d", - tr_flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_CALLSIGN ? tr_callsign : uas_id, - traffic_seperation, - traffic_direction); + + if (tr_flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_CALLSIGN) { + + PX4_WARN("Traffic alert - UTM callsign %s! Separation Distance %d, Heading %d, ICAO Address %d", + tr_callsign, + traffic_seperation, + traffic_direction, (int)icao_address); + + } + + + _last_traffic_warning_time = hrt_absolute_time(); + break; } case 1: { - mavlink_log_critical(&_mavlink_log_pub, "Warning TRAFFIC %s! dst %d, hdg %d\t", - tr_flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_CALLSIGN ? tr_callsign : uas_id, - traffic_seperation, - traffic_direction); + + + if (tr_flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_CALLSIGN) { + + PX4_WARN("Traffic alert - UTM callsign %s! Separation Distance %d, Heading %d, ICAO Address %d", + tr_callsign, + traffic_seperation, + traffic_direction, (int)icao_address); + + } + /* EVENT * @description - * - ID: {1} - * - Distance: {2m} - * - Direction: {3} degrees + * - ICAO Address: {1} + * - Traffic Separation Distance: {2m} + * - Heading: {3} degrees */ - events::send(events::ID("navigator_traffic"), events::Log::Critical, "Traffic alert", - uas_id_int, traffic_seperation, traffic_direction); + events::send(events::ID("navigator_traffic"), events::Log::Notice, + "Traffic alert - ICAO Address {1}! Separation Distance {2}, Heading {3}", + icao_address, traffic_seperation, traffic_direction); + + _last_traffic_warning_time = hrt_absolute_time(); + break; } case 2: { - mavlink_log_critical(&_mavlink_log_pub, "TRAFFIC: %s Returning home! dst %d, hdg %d\t", - tr_flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_CALLSIGN ? tr_callsign : uas_id, - traffic_seperation, - traffic_direction); /* EVENT * @description - * - ID: {1} - * - Distance: {2m} - * - Direction: {3} degrees + * - ICAO Address: {1} + * - Traffic Separation Distance: {2m} + * - Heading: {3} degrees */ - events::send(events::ID("navigator_traffic_rtl"), events::Log::Critical, - "Traffic alert, returning home", - uas_id_int, traffic_seperation, traffic_direction); + events::send(events::ID("navigator_traffic_rtl"), events::Log::Notice, + "Traffic alert - ICAO Address {1}! Separation Distance {2}, Heading {3}, returning home", + icao_address, traffic_seperation, traffic_direction); + + _last_traffic_warning_time = hrt_absolute_time(); return true; @@ -292,19 +302,17 @@ bool AdsbConflict::send_traffic_warning(int traffic_direction, int traffic_seper } case 3: { - mavlink_log_critical(&_mavlink_log_pub, "TRAFFIC: %s Landing! dst %d, hdg % d\t", - tr_flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_CALLSIGN ? tr_callsign : uas_id, - traffic_seperation, - traffic_direction); /* EVENT * @description - * - ID: {1} - * - Distance: {2m} - * - Direction: {3} degrees + * - ICAO Address: {1} + * - Traffic Separation Distance: {2m} + * - Heading: {3} degrees */ - events::send(events::ID("navigator_traffic_land"), events::Log::Critical, - "Traffic alert, landing", - uas_id_int, traffic_seperation, traffic_direction); + events::send(events::ID("navigator_traffic_land"), events::Log::Notice, + "Traffic alert - ICAO Address {1}! Separation Distance {2}, Heading {3}, landing", + icao_address, traffic_seperation, traffic_direction); + + _last_traffic_warning_time = hrt_absolute_time(); return true; @@ -313,19 +321,18 @@ bool AdsbConflict::send_traffic_warning(int traffic_direction, int traffic_seper } case 4: { - mavlink_log_critical(&_mavlink_log_pub, "TRAFFIC: %s Holding position! dst %d, hdg %d\t", - tr_flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_CALLSIGN ? tr_callsign : uas_id, - traffic_seperation, - traffic_direction); /* EVENT * @description - * - ID: {1} - * - Distance: {2m} - * - Direction: {3} degrees + * - ICAO Address: {1} + * - Traffic Separation Distance: {2m} + * - Heading: {3} degrees */ - events::send(events::ID("navigator_traffic_hold"), events::Log::Critical, - "Traffic alert, holding position", - uas_id_int, traffic_seperation, traffic_direction); + events::send(events::ID("navigator_traffic_hold"), events::Log::Notice, + "Traffic alert - ICAO Address {1}! Separation Distance {2}, Heading {3}, holding position", + icao_address, traffic_seperation, traffic_direction); + + _last_traffic_warning_time = hrt_absolute_time(); + return true; @@ -391,8 +398,7 @@ void AdsbConflict::fake_traffic(const char *callsign, float distance, float dire void AdsbConflict::run_fake_traffic(double &lat_uav, double &lon_uav, float &alt_uav) { - - /* + //Test with buffer size of 10 //first conflict fake_traffic("LX001", 5, 1.0f, 0.0f, 0.0f, 90000.0f, 90000.0f, transponder_report_s::ADSB_EMITTER_TYPE_LIGHT, 1, lat_uav, lon_uav, @@ -402,19 +408,20 @@ void AdsbConflict::run_fake_traffic(double &lat_uav, double &lon_uav, fake_traffic("LX002", 5, 1.0f, 0.0f, 0.0f, 90000.0f, 90000.0f, transponder_report_s::ADSB_EMITTER_TYPE_LIGHT, 2, lat_uav, lon_uav, alt_uav); - fake_traffic("LX0002", 5, 1.0f, 0.0f, 0.0f, 90000.0f, 90000.0f, + fake_traffic("LX002", 5, 1.0f, 0.0f, 0.0f, 90000.0f, 90000.0f, transponder_report_s::ADSB_EMITTER_TYPE_LIGHT, 2, lat_uav, lon_uav, alt_uav); - fake_traffic("LX0002", 5, 1.0f, 0.0f, 0.0f, 90000.0f, 90000.0f, + fake_traffic("LX002", 5, 1.0f, 0.0f, 0.0f, 90000.0f, 90000.0f, transponder_report_s::ADSB_EMITTER_TYPE_LIGHT, 2, lat_uav, lon_uav, alt_uav); //stop spamming - + //new conflicts fake_traffic("LX003", 5, 1.0f, 0.0f, 0.0f, 90000.0f, 90000.0f, transponder_report_s::ADSB_EMITTER_TYPE_LIGHT, 3, lat_uav, lon_uav, alt_uav); + fake_traffic("LX004", 5, 1.0f, 0.0f, 0.0f, 90000.0f, 90000.0f, transponder_report_s::ADSB_EMITTER_TYPE_LIGHT, 4, lat_uav, lon_uav, alt_uav); @@ -445,6 +452,9 @@ void AdsbConflict::run_fake_traffic(double &lat_uav, double &lon_uav, alt_uav); //buffer full + + //buffer full conflicts + fake_traffic("LX011", 5, 1.0f, 0.0f, 0.0f, 90000.0f, 90000.0f, transponder_report_s::ADSB_EMITTER_TYPE_LIGHT, 11, lat_uav, lon_uav, alt_uav); @@ -458,7 +468,7 @@ void AdsbConflict::run_fake_traffic(double &lat_uav, double &lon_uav, alt_uav); - //end conflict + //end conflicts fake_traffic("LX001", 5000, 1.0f, 0.0f, 0.0f, 90000.0f, 90000.0f, transponder_report_s::ADSB_EMITTER_TYPE_LIGHT, 1, lat_uav, lon_uav, alt_uav); @@ -474,30 +484,29 @@ void AdsbConflict::run_fake_traffic(double &lat_uav, double &lon_uav, transponder_report_s::ADSB_EMITTER_TYPE_LIGHT, 4, lat_uav, lon_uav, alt_uav); - //new conflicts with space in buffer fake_traffic("LX013", 5, 1.0f, 0.0f, 0.0f, 90000.0f, 90000.0f, transponder_report_s::ADSB_EMITTER_TYPE_LIGHT, 13, lat_uav, lon_uav, alt_uav); - + //spam fake_traffic("LX013", 5, 1.0f, 0.0f, 0.0f, 90000.0f, 90000.0f, transponder_report_s::ADSB_EMITTER_TYPE_LIGHT, 13, lat_uav, lon_uav, alt_uav); - + //new conflict fake_traffic("LX014", 5, 1.0f, 0.0f, 0.0f, 90000.0f, 90000.0f, transponder_report_s::ADSB_EMITTER_TYPE_LIGHT, 14, lat_uav, lon_uav, alt_uav); - + //spam fake_traffic("LX014", 5, 1.0f, 0.0f, 0.0f, 90000.0f, 90000.0f, transponder_report_s::ADSB_EMITTER_TYPE_LIGHT, 14, lat_uav, lon_uav, alt_uav); - + //new conflict fake_traffic("LX015", 5, 1.0f, 0.0f, 0.0f, 90000.0f, 90000.0f, transponder_report_s::ADSB_EMITTER_TYPE_LIGHT, 15, lat_uav, lon_uav, alt_uav); + for (size_t i = 0; i < _traffic_buffer.icao_address.size(); i++) { PX4_INFO("%u ", static_cast(_traffic_buffer.icao_address[i])); } - */ } diff --git a/src/lib/adsb/AdsbConflict.h b/src/lib/adsb/AdsbConflict.h index 84ed38287dbb..9942a6b921b6 100644 --- a/src/lib/adsb/AdsbConflict.h +++ b/src/lib/adsb/AdsbConflict.h @@ -46,7 +46,6 @@ #include #include -#include #include #include @@ -57,14 +56,15 @@ using namespace time_literals; static constexpr uint8_t NAVIGATOR_MAX_TRAFFIC{10}; -static constexpr uint8_t UTM_GUID_MSG_LENGTH{11}; - static constexpr uint8_t UTM_CALLSIGN_LENGTH{9}; static constexpr uint64_t CONFLICT_WARNING_TIMEOUT{60_s}; static constexpr float TRAFFIC_TO_UAV_DISTANCE_EXTENSION{1000.0f}; +static constexpr uint64_t TRAFFIC_WARNING_TIMESTEP{60_s}; //limits the max warning rate when traffic conflict buffer is full + +static constexpr uint64_t TRAFFIC_CONFLICT_LIFETIME{120_s}; //limits the time a conflict can be in the buffer without being seen (as a conflict) struct traffic_data_s { double lat_traffic; @@ -118,7 +118,7 @@ class AdsbConflict bool send_traffic_warning(int traffic_direction, int traffic_seperation, uint16_t tr_flags, - char uas_id[UTM_GUID_MSG_LENGTH], char tr_callsign[UTM_CALLSIGN_LENGTH], uint64_t uas_id_int); + char tr_callsign[UTM_CALLSIGN_LENGTH], uint32_t icao_address); transponder_report_s _transponder_report{}; @@ -132,6 +132,8 @@ class AdsbConflict void run_fake_traffic(double &lat_uav, double &lon_uav, float &alt_uav); + void remove_expired_conflicts(); + bool _conflict_detected{false}; TRAFFIC_STATE _traffic_state{TRAFFIC_STATE::NO_CONFLICT}; @@ -144,15 +146,15 @@ class AdsbConflict private: - orb_advert_t _mavlink_log_pub{nullptr}; - crosstrack_error_s _crosstrack_error{}; - transponder_report_s tr{}; - orb_advert_t fake_traffic_report_publisher = orb_advertise_queue(ORB_ID(transponder_report), &tr, (unsigned int)20); + orb_advert_t fake_traffic_report_publisher = orb_advertise(ORB_ID(transponder_report), &tr); TRAFFIC_STATE _traffic_state_previous{TRAFFIC_STATE::NO_CONFLICT}; + hrt_abstime _last_traffic_warning_time{0}; + + hrt_abstime _last_buffer_full_warning_time{0}; }; diff --git a/src/lib/adsb/AdsbConflictTest.cpp b/src/lib/adsb/AdsbConflictTest.cpp index d83ad8241463..5d6b6ccbe630 100644 --- a/src/lib/adsb/AdsbConflictTest.cpp +++ b/src/lib/adsb/AdsbConflictTest.cpp @@ -50,7 +50,7 @@ TEST_F(AdsbConflictTest, detectTrafficConflict) for (uint32_t i = 0; i < traffic_dataset_size; i++) { - printf("---------------%d--------------\n", i); + //printf("---------------%d--------------\n", i); struct traffic_data_s traffic = traffic_dataset[i]; @@ -64,10 +64,10 @@ TEST_F(AdsbConflictTest, detectTrafficConflict) adsb_conflict.detect_traffic_conflict(lat_now, lon_now, alt_now, vx_now, vy_now, vz_now); - printf("conflict_detected %d \n", adsb_conflict._conflict_detected); + //printf("conflict_detected %d \n", adsb_conflict._conflict_detected); - printf("------------------------------\n"); - printf("------------------------------\n \n"); + //printf("------------------------------\n"); + //printf("------------------------------\n \n"); EXPECT_TRUE(adsb_conflict._conflict_detected == traffic.in_conflict); } @@ -191,7 +191,6 @@ TEST_F(AdsbConflictTest, trafficAlerts) TEST_F(AdsbConflictTest, trafficReminder) { - struct traffic_buffer_s used_buffer; used_buffer.icao_address.push_back(2345); used_buffer.icao_address.push_back(1234); @@ -201,11 +200,11 @@ TEST_F(AdsbConflictTest, trafficReminder) used_buffer.icao_address.push_back(5000); used_buffer.timestamp.push_back(3_s); - used_buffer.timestamp.push_back(800_s); + used_buffer.timestamp.push_back(80_s); + used_buffer.timestamp.push_back(10_s); + used_buffer.timestamp.push_back(1000_s); used_buffer.timestamp.push_back(100_s); - used_buffer.timestamp.push_back(20000_s); - used_buffer.timestamp.push_back(6000_s); - used_buffer.timestamp.push_back(6587_s); + used_buffer.timestamp.push_back(187_s); struct traffic_buffer_s full_buffer; full_buffer.icao_address.push_back(2345); @@ -220,15 +219,15 @@ TEST_F(AdsbConflictTest, trafficReminder) full_buffer.icao_address.push_back(99999); full_buffer.timestamp.push_back(1_s); - full_buffer.timestamp.push_back(800_s); + full_buffer.timestamp.push_back(80_s); + full_buffer.timestamp.push_back(10_s); + full_buffer.timestamp.push_back(1000_s); full_buffer.timestamp.push_back(100_s); - full_buffer.timestamp.push_back(20000_s); - full_buffer.timestamp.push_back(6000_s); - full_buffer.timestamp.push_back(19000_s); - full_buffer.timestamp.push_back(5000_s); + full_buffer.timestamp.push_back(900_s); + full_buffer.timestamp.push_back(500_s); full_buffer.timestamp.push_back(2_s); - full_buffer.timestamp.push_back(1000_s); - full_buffer.timestamp.push_back(58943_s); + full_buffer.timestamp.push_back(100_s); + full_buffer.timestamp.push_back(5843_s); TestAdsbConflict adsb_conflict; diff --git a/src/lib/airspeed/airspeed.cpp b/src/lib/airspeed/airspeed.cpp index 24f7f018509c..b563ecd3b5d0 100644 --- a/src/lib/airspeed/airspeed.cpp +++ b/src/lib/airspeed/airspeed.cpp @@ -43,7 +43,10 @@ #include "airspeed.h" #include -#include +#include + +using atmosphere::getDensityFromPressureAndTemp; +using atmosphere::kAirDensitySeaLevelStandardAtmos; float calc_IAS_corrected(enum AIRSPEED_COMPENSATION_MODEL pmodel, enum AIRSPEED_SENSOR_MODEL smodel, float tube_len, float tube_dia_mm, float differential_pressure, float pressure_ambient, float temperature_celsius) @@ -53,7 +56,7 @@ float calc_IAS_corrected(enum AIRSPEED_COMPENSATION_MODEL pmodel, enum AIRSPEED_ } // air density in kg/m3 - const float rho_air = get_air_density(pressure_ambient, temperature_celsius); + const float rho_air = getDensityFromPressureAndTemp(pressure_ambient, temperature_celsius); const float dp = fabsf(differential_pressure); float dp_tot = dp; @@ -153,20 +156,8 @@ float calc_IAS_corrected(enum AIRSPEED_COMPENSATION_MODEL pmodel, enum AIRSPEED_ break; } - // if (!PX4_ISFINITE(dp_tube)) { - // dp_tube = 0.0f; - // } - - // if (!PX4_ISFINITE(dp_pitot)) { - // dp_pitot = 0.0f; - // } - - // if (!PX4_ISFINITE(dv)) { - // dv = 0.0f; - // } - // computed airspeed without correction for inflow-speed at tip of pitot-tube - const float airspeed_uncorrected = sqrtf(2.0f * dp_tot / CONSTANTS_AIR_DENSITY_SEA_LEVEL_15C); + const float airspeed_uncorrected = sqrtf(2.0f * dp_tot / kAirDensitySeaLevelStandardAtmos); // corrected airspeed const float airspeed_corrected = airspeed_uncorrected + dv; @@ -178,10 +169,10 @@ float calc_IAS_corrected(enum AIRSPEED_COMPENSATION_MODEL pmodel, enum AIRSPEED_ float calc_IAS(float differential_pressure) { if (differential_pressure > 0.0f) { - return sqrtf((2.0f * differential_pressure) / CONSTANTS_AIR_DENSITY_SEA_LEVEL_15C); + return sqrtf((2.0f * differential_pressure) / kAirDensitySeaLevelStandardAtmos); } else { - return -sqrtf((2.0f * fabsf(differential_pressure)) / CONSTANTS_AIR_DENSITY_SEA_LEVEL_15C); + return -sqrtf((2.0f * fabsf(differential_pressure)) / kAirDensitySeaLevelStandardAtmos); } } @@ -192,7 +183,7 @@ float calc_TAS_from_CAS(float speed_calibrated, float pressure_ambient, float te temperature_celsius = 15.f; // ICAO Standard Atmosphere 15 degrees Celsius } - return speed_calibrated * sqrtf(CONSTANTS_AIR_DENSITY_SEA_LEVEL_15C / get_air_density(pressure_ambient, + return speed_calibrated * sqrtf(kAirDensitySeaLevelStandardAtmos / getDensityFromPressureAndTemp(pressure_ambient, temperature_celsius)); } @@ -203,10 +194,10 @@ float calc_CAS_from_IAS(float speed_indicated, float scale) float calc_TAS(float total_pressure, float static_pressure, float temperature_celsius) { - float density = get_air_density(static_pressure, temperature_celsius); + float density = getDensityFromPressureAndTemp(static_pressure, temperature_celsius); if (density < 0.0001f || !PX4_ISFINITE(density)) { - density = CONSTANTS_AIR_DENSITY_SEA_LEVEL_15C; + density = kAirDensitySeaLevelStandardAtmos; } float pressure_difference = total_pressure - static_pressure; @@ -219,16 +210,7 @@ float calc_TAS(float total_pressure, float static_pressure, float temperature_ce } } -float get_air_density(float static_pressure, float temperature_celsius) -{ - if (!PX4_ISFINITE(temperature_celsius)) { - temperature_celsius = 15.f; // ICAO Standard Atmosphere 15 degrees Celsius - } - - return static_pressure / (CONSTANTS_AIR_GAS_CONST * (temperature_celsius - CONSTANTS_ABSOLUTE_NULL_CELSIUS)); -} - float calc_calibrated_from_true_airspeed(float speed_true, float air_density) { - return speed_true * sqrtf(air_density / CONSTANTS_AIR_DENSITY_SEA_LEVEL_15C); + return speed_true * sqrtf(air_density / kAirDensitySeaLevelStandardAtmos); } diff --git a/src/lib/airspeed/airspeed.h b/src/lib/airspeed/airspeed.h index dba000a4e509..6b5161c5ddde 100644 --- a/src/lib/airspeed/airspeed.h +++ b/src/lib/airspeed/airspeed.h @@ -127,7 +127,6 @@ __EXPORT float calc_TAS(float total_pressure, float static_pressure, float tempe * @param static_pressure ambient pressure in millibar * @param temperature_celcius air / ambient temperature in Celsius */ -__EXPORT float get_air_density(float static_pressure, float temperature_celsius); /** * @brief Calculates calibrated airspeed from true airspeed and air density diff --git a/src/lib/atmosphere/CMakeLists.txt b/src/lib/atmosphere/CMakeLists.txt new file mode 100644 index 000000000000..eb25c8df4b75 --- /dev/null +++ b/src/lib/atmosphere/CMakeLists.txt @@ -0,0 +1,37 @@ +############################################################################ +# +# Copyright (c) 2023 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +px4_add_library(atmosphere + atmosphere.cpp + ) +px4_add_unit_gtest(SRC test_atmosphere.cpp LINKLIBS atmosphere) diff --git a/src/lib/atmosphere/atmosphere.cpp b/src/lib/atmosphere/atmosphere.cpp new file mode 100644 index 000000000000..5c52ffa53c85 --- /dev/null +++ b/src/lib/atmosphere/atmosphere.cpp @@ -0,0 +1,78 @@ +/**************************************************************************** + * + * Copyright (C) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file atmosphere.cpp + * + */ + +#include +#include "atmosphere.h" +namespace atmosphere +{ + + +float getDensityFromPressureAndTemp(const float pressure_pa, const float temperature_celsius) +{ + return (pressure_pa / (kAirGasConstant * (temperature_celsius - kAbsoluteNullCelsius))); +} +float getPressureFromAltitude(const float altitude_m) +{ + + return kPressRefSeaLevelPa * powf((altitude_m * kTempGradient + kTempRefKelvin) / kTempRefKelvin, + -CONSTANTS_ONE_G / (kTempGradient * kAirGasConstant)); +} +float getAltitudeFromPressure(float pressure_pa, float pressure_sealevel_pa) +{ + // calculate altitude using the hypsometric equation + + const float pressure_ratio = pressure_pa / pressure_sealevel_pa; + + /* + * Solve: + * + * / -(aR / g) \ + * | (p / p1) . T1 | - T1 + * \ / + * h = ------------------------------- + h1 + * a + */ + return (((powf(pressure_ratio, (-(kTempGradient * kAirGasConstant) / CONSTANTS_ONE_G))) * kTempRefKelvin) - + kTempRefKelvin) / kTempGradient; + +} +float getStandardTemperatureAtAltitude(float altitude_m) +{ + return 15.0f + kTempGradient * altitude_m; +} +} diff --git a/src/lib/atmosphere/atmosphere.h b/src/lib/atmosphere/atmosphere.h new file mode 100644 index 000000000000..eeca58422d78 --- /dev/null +++ b/src/lib/atmosphere/atmosphere.h @@ -0,0 +1,91 @@ +/**************************************************************************** + * + * Copyright (c) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file atmosphere.h + * + */ + +#ifndef PX4_SRC_LIB_ATMOSPHERE_ATMOSPHERE_H_ +#define PX4_SRC_LIB_ATMOSPHERE_ATMOSPHERE_H_ + +namespace atmosphere +{ + +// NOTE: We are currently only modelling the first layer of the US Standard Atmosphere 1976. +// This means that the functions are only valid up to an altitude of 11km. +static constexpr float kAirDensitySeaLevelStandardAtmos = 1.225f; // kg/m^3 + +// [kg/m^3] air density of standard atmosphere at 11000m above mean sea level (this is the upper limit for the standard +// atmosphere model we are using, see atmosphere lib used) +static constexpr float kAirDensityStandardAtmos11000Amsl = 0.3639; + +static constexpr float kAirGasConstant = 287.1f; // J/(kg * K) +static constexpr float kAbsoluteNullCelsius = -273.15f; // °C +static constexpr float kTempRefKelvin = 15.f - kAbsoluteNullCelsius; // temperature at base height in Kelvin +static constexpr float kTempGradient = -6.5f / 1000.f; // temperature gradient in degrees per meter +static constexpr float kPressRefSeaLevelPa = 101325.f; // pressure at sea level in Pa + +/** +* Calculate air density given air pressure and temperature. +* +* @param pressure_pa ambient pressure in Pa +* @param temperature_celsius ambient temperature in degrees Celsius +*/ +float getDensityFromPressureAndTemp(const float pressure_pa, const float temperature_celsius); + +/** +* Calculate standard airpressure given altitude. +* +* @param altitude_m altitude above MSL in meters in the standard atmosphere +*/ +float getPressureFromAltitude(const float altitude_m); + +/** +* Calculate altitude from air pressure and temperature. +* +* @param pressure_pa ambient pressure in Pa +* @param pressure_sealevel_pa sea level pressure in Pa +*/ +float getAltitudeFromPressure(float pressure_pa, float pressure_sealevel_pa); + +/** +* Get standard temperature at altitude. +* +* @param altitude_m Altitude msl in meters +* @return Standard temperature in degrees Celsius +*/ +float getStandardTemperatureAtAltitude(float altitude_m); +} + +#endif //PX4_SRC_LIB_ATMOSPHERE_ATMOSPHERE_H_ diff --git a/src/lib/atmosphere/test_atmosphere.cpp b/src/lib/atmosphere/test_atmosphere.cpp new file mode 100644 index 000000000000..72e6a9a83949 --- /dev/null +++ b/src/lib/atmosphere/test_atmosphere.cpp @@ -0,0 +1,126 @@ +/**************************************************************************** + * + * Copyright (C) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * To run this test only use: make tests TESTFILTER=atmosphere + */ + +#include +#include +using namespace atmosphere; + +TEST(TestAtmosphere, pressureFromAltitude) +{ + // GIVEN pressure at seal level in standard atmosphere and sea level altitude + const float pressureAtSeaLevel = 101325.f; // Pa + float altitude = 0.0f; + + // WHEN we calculate pressure based on altitude + float pressure = getPressureFromAltitude(altitude); + + // THEN expect seal level pressure for standard atmosphere + EXPECT_FLOAT_EQ(pressure, pressureAtSeaLevel); + + // WHEN we are at 3000m altitude + altitude = 3000.0f; + pressure = getPressureFromAltitude(altitude); + + // THEN expect standard atmosphere pressure at 3000m (error of 10Pa corresponds to 1m altitude error in standard atmosphere when altitude is between 1000 and 2000m) + EXPECT_NEAR(pressure, 70120.f, 10.0f); +} + +TEST(TestAtmosphere, altitudeFromPressure) +{ + // GIVEN pressure at seal level in standard atmosphere + const float pressureAtSealevel = 101325.f; + float pressure = pressureAtSealevel; + + // WHEN we calculate altitude from pressure + float altitude = getAltitudeFromPressure(pressure, pressureAtSealevel); + + // THEN expect resulting altitude to be near sea level + EXPECT_FLOAT_EQ(altitude, 0.0f); + + // GIVEN pressure is standard atmosphere pressure at 3000m + pressure = 70109.f; + + // WHEN we calculate altitude from pressure + altitude = getAltitudeFromPressure(pressure, pressureAtSealevel); + + // THEN expect altitude to be near 3000m + EXPECT_NEAR(altitude, 3000.0f, 0.5f); +} + +TEST(TestAtmosphere, DensityFromPressure) +{ +// GIVEN standard atmosphere at sea level + const float pressureAtSealevel = 101325.f; + const float tempSeaLevel = 15.f; + + // WHEN we calculate density from pressure and temperature + float density = getDensityFromPressureAndTemp(pressureAtSealevel, tempSeaLevel); + + // THEN expect density at sea level in standard atmosphere + EXPECT_NEAR(density, 1.225f, 0.001f); + + // GIVEN standard atmosphere at 3000m + const float pressure = 70109.f; + const float tempAt3000m = -4.5f; + + // WHEN we calculate density from pressure and temperature + density = getDensityFromPressureAndTemp(pressure, tempAt3000m); + + // THEN expect density at 3000m in standard atmosphere + EXPECT_NEAR(density, 0.9091f, 0.001f); +} + +TEST(TestAtmosphere, StandardTemperature) +{ + // GIVEN standard atmosphere at sea level + float altitude = 0.f; + + // WHEN we calculate standard temperature from altitude + float temperature = getStandardTemperatureAtAltitude(altitude); + + // THEN expect standard temperature at sea level + EXPECT_NEAR(temperature, 15.f, 0.001f); + + // GIVEN standard atmosphere at 3000m + altitude = 3000.f; + + // WHEN we calculate standard temperature from altitude + temperature = getStandardTemperatureAtAltitude(altitude); + + // THEN expect standard temperature at 3000m + EXPECT_NEAR(temperature, -4.5f, 0.001f); +} diff --git a/src/lib/avoidance/ObstacleAvoidanceTest.cpp b/src/lib/avoidance/ObstacleAvoidanceTest.cpp index 593bbabbd729..008a8758a9e2 100644 --- a/src/lib/avoidance/ObstacleAvoidanceTest.cpp +++ b/src/lib/avoidance/ObstacleAvoidanceTest.cpp @@ -198,7 +198,6 @@ TEST_F(ObstacleAvoidanceTest, oa_desired) // WHEN: we subscribe to the uORB message out of the interface uORB::SubscriptionData _sub_traj_wp_avoidance_desired{ORB_ID(vehicle_trajectory_waypoint_desired)}; - _sub_traj_wp_avoidance_desired.update(); // THEN: we expect the setpoints in POINT_0 and waypoints in POINT_1 and POINT_2 EXPECT_FLOAT_EQ(pos_sp(0), diff --git a/src/lib/battery/battery.cpp b/src/lib/battery/battery.cpp index 2ed157dee4b8..5b41dde3b846 100644 --- a/src/lib/battery/battery.cpp +++ b/src/lib/battery/battery.cpp @@ -46,6 +46,7 @@ #include using namespace time_literals; +using namespace matrix; Battery::Battery(int index, ModuleParams *parent, const int sample_interval_us, const uint8_t source) : ModuleParams(parent), @@ -53,10 +54,9 @@ Battery::Battery(int index, ModuleParams *parent, const int sample_interval_us, _source(source) { const float expected_filter_dt = static_cast(sample_interval_us) / 1_s; - _voltage_filter_v.setParameters(expected_filter_dt, 1.f); - _current_filter_a.setParameters(expected_filter_dt, .5f); _current_average_filter_a.setParameters(expected_filter_dt, 50.f); - _throttle_filter.setParameters(expected_filter_dt, 1.f); + _ocv_filter_v.setParameters(expected_filter_dt, 1.f); + _cell_voltage_filter_v.setParameters(expected_filter_dt, 1.f); if (index > 9 || index < 1) { PX4_ERR("Battery index must be between 1 and 9 (inclusive). Received %d. Defaulting to 1.", index); @@ -81,9 +81,6 @@ Battery::Battery(int index, ModuleParams *parent, const int sample_interval_us, snprintf(param_name, sizeof(param_name), "BAT%d_CAPACITY", _index); _param_handles.capacity = param_find(param_name); - snprintf(param_name, sizeof(param_name), "BAT%d_V_LOAD_DROP", _index); - _param_handles.v_load_drop = param_find(param_name); - snprintf(param_name, sizeof(param_name), "BAT%d_R_INTERNAL", _index); _param_handles.r_internal = param_find(param_name); @@ -102,24 +99,17 @@ Battery::Battery(int index, ModuleParams *parent, const int sample_interval_us, void Battery::updateVoltage(const float voltage_v) { _voltage_v = voltage_v; - _voltage_filter_v.update(voltage_v); } void Battery::updateCurrent(const float current_a) { _current_a = current_a; - _current_filter_a.update(current_a); } void Battery::updateBatteryStatus(const hrt_abstime ×tamp) { - if (!_battery_initialized) { - _voltage_filter_v.reset(_voltage_v); - _current_filter_a.reset(_current_a); - } - // Require minimum voltage otherwise override connected status - if (_voltage_filter_v.getState() < LITHIUM_BATTERY_RECOGNITION_VOLTAGE) { + if (_voltage_v < LITHIUM_BATTERY_RECOGNITION_VOLTAGE) { _connected = false; } @@ -127,12 +117,16 @@ void Battery::updateBatteryStatus(const hrt_abstime ×tamp) _last_unconnected_timestamp = timestamp; } - // wait with initializing filters to avoid relying on a voltage sample from the rising edge + // Wait with initializing filters to avoid relying on a voltage sample from the rising edge _battery_initialized = _connected && (timestamp > _last_unconnected_timestamp + 2_s); + if (_connected && !_battery_initialized && _internal_resistance_initialized && _params.n_cells > 0) { + resetInternalResistanceEstimation(_voltage_v, _current_a); + } + sumDischarged(timestamp, _current_a); _state_of_charge_volt_based = - calculateStateOfChargeVoltageBased(_voltage_filter_v.getState(), _current_filter_a.getState()); + calculateStateOfChargeVoltageBased(_voltage_v, _current_a); if (!_external_state_of_charge) { estimateStateOfCharge(); @@ -149,9 +143,7 @@ battery_status_s Battery::getBatteryStatus() { battery_status_s battery_status{}; battery_status.voltage_v = _voltage_v; - battery_status.voltage_filtered_v = _voltage_filter_v.getState(); battery_status.current_a = _current_a; - battery_status.current_filtered_a = _current_filter_a.getState(); battery_status.current_average_a = _current_average_filter_a.getState(); battery_status.discharged_mah = _discharged_mah; battery_status.remaining = _state_of_charge; @@ -166,6 +158,16 @@ battery_status_s Battery::getBatteryStatus() battery_status.id = static_cast(_index); battery_status.warning = _warning; battery_status.timestamp = hrt_absolute_time(); + battery_status.faults = determineFaults(); + battery_status.internal_resistance_estimate = _internal_resistance_estimate; + battery_status.ocv_estimate = _voltage_v + _internal_resistance_estimate * _params.n_cells * _current_a; + battery_status.ocv_estimate_filtered = _ocv_filter_v.getState(); + battery_status.volt_based_soc_estimate = _params.n_cells > 0 ? math::interpolate(_ocv_filter_v.getState() / + _params.n_cells, + _params.v_empty, _params.v_charged, 0.f, 1.f) : -1.f; + battery_status.voltage_prediction = _voltage_prediction; + battery_status.prediction_error = _prediction_error; + battery_status.estimation_covariance_norm = _estimation_covariance_norm; return battery_status; } @@ -205,39 +207,85 @@ void Battery::sumDischarged(const hrt_abstime ×tamp, float current_a) float Battery::calculateStateOfChargeVoltageBased(const float voltage_v, const float current_a) { + if (_params.n_cells == 0) { + return -1.0f; + } + // remaining battery capacity based on voltage float cell_voltage = voltage_v / _params.n_cells; - // correct battery voltage locally for load drop to avoid estimation fluctuations - if (_params.r_internal >= 0.f && current_a > FLT_EPSILON) { - cell_voltage += _params.r_internal * current_a; - - } else { - vehicle_thrust_setpoint_s vehicle_thrust_setpoint{}; - _vehicle_thrust_setpoint_0_sub.copy(&vehicle_thrust_setpoint); - const matrix::Vector3f thrust_setpoint = matrix::Vector3f(vehicle_thrust_setpoint.xyz); - const float throttle = thrust_setpoint.length(); + // correct battery voltage locally for load drop according to internal resistance and current + if (current_a > FLT_EPSILON) { + updateInternalResistanceEstimation(voltage_v, current_a); - _throttle_filter.update(throttle); + if (_params.r_internal >= 0.f) { // Use user specified internal resistance value + cell_voltage += _params.r_internal * current_a; - if (!_battery_initialized) { - _throttle_filter.reset(throttle); + } else { // Use estimated internal resistance value + cell_voltage += _internal_resistance_estimate * current_a; } - // assume linear relation between throttle and voltage drop - cell_voltage += throttle * _params.v_load_drop; } - return math::interpolate(cell_voltage, _params.v_empty, _params.v_charged, 0.f, 1.f); + _cell_voltage_filter_v.update(cell_voltage); + return math::interpolate(_cell_voltage_filter_v.getState(), _params.v_empty, _params.v_charged, 0.f, 1.f); +} + +void Battery::updateInternalResistanceEstimation(const float voltage_v, const float current_a) +{ + Vector2f x{1, -current_a}; + _voltage_prediction = (x.transpose() * _RLS_est)(0, 0); + _prediction_error = voltage_v - _voltage_prediction; + const Vector2f gamma = _estimation_covariance * x / (LAMBDA + (x.transpose() * _estimation_covariance * x)(0, 0)); + const Vector2f RSL_est_temp = _RLS_est + gamma * _prediction_error; + const Matrix2f estimation_covariance_temp = (_estimation_covariance + - Matrix(gamma) * (x.transpose() * _estimation_covariance)) / LAMBDA; + const float estimation_covariance_temp_norm = + sqrtf(powf(estimation_covariance_temp(0, 0), 2.f) + + 2.f * powf(estimation_covariance_temp(1, 0), 2.f) + + powf(estimation_covariance_temp(1, 1), 2.f)); + + if (estimation_covariance_temp_norm < _estimation_covariance_norm) { // Only update if estimation improves + _RLS_est = RSL_est_temp; + _estimation_covariance = estimation_covariance_temp; + _estimation_covariance_norm = estimation_covariance_temp_norm; + _internal_resistance_estimate = + math::max(_RLS_est(1) / _params.n_cells, 0.f); // Only use positive values + + } else { // Update OCV estimate with IR estimate + _RLS_est(0) = voltage_v + _RLS_est(1) * current_a; + } + + _ocv_filter_v.update(voltage_v + _internal_resistance_estimate * _params.n_cells * current_a); +} + +void Battery::resetInternalResistanceEstimation(const float voltage_v, const float current_a) +{ + _RLS_est(0) = voltage_v; + _RLS_est(1) = R_DEFAULT * _params.n_cells; + _estimation_covariance.setZero(); + _estimation_covariance(0, 0) = OCV_COVARIANCE * _params.n_cells; + _estimation_covariance(1, 1) = R_COVARIANCE * _params.n_cells; + _estimation_covariance_norm = sqrtf(powf(_estimation_covariance(0, 0), 2.f) + 2.f * powf(_estimation_covariance(1, 0), + 2.f) + powf(_estimation_covariance(1, 1), 2.f)); + _internal_resistance_estimate = R_DEFAULT; + _ocv_filter_v.reset(voltage_v + _internal_resistance_estimate * _params.n_cells * current_a); + + if (_params.r_internal >= 0.f) { // Use user specified internal resistance value + _cell_voltage_filter_v.reset(voltage_v / _params.n_cells + _params.r_internal * current_a); + + } else { // Use estimated internal resistance value + _cell_voltage_filter_v.reset(voltage_v / _params.n_cells + _internal_resistance_estimate * current_a); + } } void Battery::estimateStateOfCharge() { // choose which quantity we're using for final reporting - if (_params.capacity > 0.f && _battery_initialized) { + if ((_params.capacity > 0.f) && _battery_initialized) { // if battery capacity is known, fuse voltage measurement with used capacity // The lower the voltage the more adjust the estimate with it to avoid deep discharge - const float weight_v = 3e-4f * (1 - _state_of_charge_volt_based); + const float weight_v = 3e-2f * (1 - _state_of_charge_volt_based); _state_of_charge = (1 - weight_v) * _state_of_charge + weight_v * _state_of_charge_volt_based; // directly apply current capacity slope calculated using current _state_of_charge -= _discharged_mah_loop / _params.capacity; @@ -267,19 +315,27 @@ uint8_t Battery::determineWarning(float state_of_charge) } } -void Battery::computeScale() +uint16_t Battery::determineFaults() { - const float voltage_range = (_params.v_charged - _params.v_empty); + uint16_t faults{0}; + + if ((_params.n_cells > 0) + && (_voltage_v > (_params.n_cells * _params.v_charged * 1.05f))) { + // Reported as a "spike" since "over-voltage" does not exist in MAV_BATTERY_FAULT + faults |= (1 << battery_status_s::BATTERY_FAULT_SPIKES); + } - // reusing capacity calculation to get single cell voltage before drop - const float bat_v = _params.v_empty + (voltage_range * _state_of_charge_volt_based); + return faults; +} - _scale = _params.v_charged / bat_v; +void Battery::computeScale() +{ + _scale = _params.v_charged / _cell_voltage_filter_v.getState(); - if (_scale > 1.3f) { // Allow at most 30% compensation - _scale = 1.3f; + if (PX4_ISFINITE(_scale)) { + _scale = math::constrain(_scale, 1.f, 1.3f); // Allow at most 30% compensation - } else if (!PX4_ISFINITE(_scale) || _scale < 1.f) { // Shouldn't ever be more than the power at full battery + } else { _scale = 1.f; } } @@ -287,22 +343,37 @@ void Battery::computeScale() float Battery::computeRemainingTime(float current_a) { float time_remaining_s = NAN; + bool reset_current_avg_filter = false; if (_vehicle_status_sub.updated()) { vehicle_status_s vehicle_status; if (_vehicle_status_sub.copy(&vehicle_status)) { _armed = (vehicle_status.arming_state == vehicle_status_s::ARMING_STATE_ARMED); + + if (vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING && !_vehicle_status_is_fw) { + reset_current_avg_filter = true; + } + + _vehicle_status_is_fw = (vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING); } } - if (!PX4_ISFINITE(_current_average_filter_a.getState()) || _current_average_filter_a.getState() < FLT_EPSILON) { + _flight_phase_estimation_sub.update(); + + // reset filter if not feasible, negative or we did a VTOL transition to FW mode + if (!PX4_ISFINITE(_current_average_filter_a.getState()) || _current_average_filter_a.getState() < FLT_EPSILON + || reset_current_avg_filter) { _current_average_filter_a.reset(_params.bat_avrg_current); } if (_armed && PX4_ISFINITE(current_a)) { - // only update with positive numbers - _current_average_filter_a.update(fmaxf(current_a, 0.f)); + // For FW only update when we are in level flight + if (!_vehicle_status_is_fw || ((hrt_absolute_time() - _flight_phase_estimation_sub.get().timestamp) < 2_s + && _flight_phase_estimation_sub.get().flight_phase == flight_phase_estimation_s::FLIGHT_PHASE_LEVEL)) { + // only update with positive numbers + _current_average_filter_a.update(fmaxf(current_a, 0.f)); + } } // Remaining time estimation only possible with capacity @@ -317,11 +388,11 @@ float Battery::computeRemainingTime(float current_a) void Battery::updateParams() { + const int n_cells = _first_parameter_update ? 0 : _params.n_cells; param_get(_param_handles.v_empty, &_params.v_empty); param_get(_param_handles.v_charged, &_params.v_charged); param_get(_param_handles.n_cells, &_params.n_cells); param_get(_param_handles.capacity, &_params.capacity); - param_get(_param_handles.v_load_drop, &_params.v_load_drop); param_get(_param_handles.r_internal, &_params.r_internal); param_get(_param_handles.source, &_params.source); param_get(_param_handles.low_thr, &_params.low_thr); @@ -329,6 +400,22 @@ void Battery::updateParams() param_get(_param_handles.emergen_thr, &_params.emergen_thr); param_get(_param_handles.bat_avrg_current, &_params.bat_avrg_current); + if (n_cells != _params.n_cells) { + _internal_resistance_initialized = false; + } + + if (!_internal_resistance_initialized && _params.n_cells > 0) { + _RLS_est(0) = OCV_DEFAULT * _params.n_cells; + _RLS_est(1) = R_DEFAULT * _params.n_cells; + _estimation_covariance(0, 0) = OCV_COVARIANCE * _params.n_cells; + _estimation_covariance(0, 1) = 0.f; + _estimation_covariance(1, 0) = 0.f; + _estimation_covariance(1, 1) = R_COVARIANCE * _params.n_cells; + _estimation_covariance_norm = sqrtf(powf(_estimation_covariance(0, 0), 2.f) + 2.f * powf(_estimation_covariance(1, 0), + 2.f) + powf(_estimation_covariance(1, 1), 2.f)); + _internal_resistance_initialized = true; + } + ModuleParams::updateParams(); _first_parameter_update = false; diff --git a/src/lib/battery/battery.h b/src/lib/battery/battery.h index 26dc4e3e61d5..04d018960256 100644 --- a/src/lib/battery/battery.h +++ b/src/lib/battery/battery.h @@ -56,8 +56,8 @@ #include #include #include +#include #include -#include /** * BatteryBase is a base class for any type of battery. @@ -117,7 +117,6 @@ class Battery : public ModuleParams param_t v_charged; param_t n_cells; param_t capacity; - param_t v_load_drop; param_t r_internal; param_t low_thr; param_t crit_thr; @@ -131,7 +130,6 @@ class Battery : public ModuleParams float v_charged; int32_t n_cells; float capacity; - float v_load_drop; float r_internal; float low_thr; float crit_thr; @@ -150,11 +148,12 @@ class Battery : public ModuleParams float calculateStateOfChargeVoltageBased(const float voltage_v, const float current_a); void estimateStateOfCharge(); uint8_t determineWarning(float state_of_charge); + uint16_t determineFaults(); void computeScale(); float computeRemainingTime(float current_a); - uORB::Subscription _vehicle_thrust_setpoint_0_sub{ORB_ID(vehicle_thrust_setpoint)}; uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)}; + uORB::SubscriptionData _flight_phase_estimation_sub{ORB_ID(flight_phase_estimation)}; uORB::PublicationMulti _battery_status_pub{ORB_ID(battery_status)}; bool _external_state_of_charge{false}; ///< inticates that the soc is injected and not updated by this library @@ -164,11 +163,11 @@ class Battery : public ModuleParams uint8_t _priority{0}; bool _battery_initialized{false}; float _voltage_v{0.f}; - AlphaFilter _voltage_filter_v; + AlphaFilter _ocv_filter_v; + AlphaFilter _cell_voltage_filter_v; float _current_a{-1}; - AlphaFilter _current_filter_a; - AlphaFilter _current_average_filter_a; - AlphaFilter _throttle_filter; + AlphaFilter + _current_average_filter_a; ///< averaging filter for current. For FW, it is the current in level flight. float _discharged_mah{0.f}; float _discharged_mah_loop{0.f}; float _state_of_charge_volt_based{-1.f}; // [0,1] @@ -177,5 +176,22 @@ class Battery : public ModuleParams uint8_t _warning{battery_status_s::BATTERY_WARNING_NONE}; hrt_abstime _last_timestamp{0}; bool _armed{false}; + bool _vehicle_status_is_fw{false}; hrt_abstime _last_unconnected_timestamp{0}; + + // Internal Resistance estimation + void updateInternalResistanceEstimation(const float voltage_v, const float current_a); + void resetInternalResistanceEstimation(const float voltage_v, const float current_a); + matrix::Vector2f _RLS_est; // [Open circuit voltage estimate [V], Total internal resistance estimate [Ohm]]^T + matrix::Matrix2f _estimation_covariance; + bool _internal_resistance_initialized{false}; + float _estimation_covariance_norm{0.f}; + float _internal_resistance_estimate{0.005f}; // [Ohm] Per cell estimate of the internal resistance + float _voltage_prediction{0.f}; // [V] Predicted voltage of the estimator + float _prediction_error{0.f}; // [V] Error between the predicted and measured voltage + static constexpr float LAMBDA = 0.95f; // [0, 1] Forgetting factor (Tuning parameter for the RLS algorithm) + static constexpr float R_DEFAULT = 0.005f; // [Ohm] Initial per cell estimate of the internal resistance + static constexpr float OCV_DEFAULT = 4.2f; // [V] Initial per cell estimate of the open circuit voltage + static constexpr float R_COVARIANCE = 0.1f; // Initial per cell covariance of the internal resistance + static constexpr float OCV_COVARIANCE = 1.5f; // Initial per cell covariance of the open circuit voltage }; diff --git a/src/lib/battery/battery_params_common.c b/src/lib/battery/battery_params_common.c deleted file mode 100644 index b98c4cff2e9b..000000000000 --- a/src/lib/battery/battery_params_common.c +++ /dev/null @@ -1,101 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2013-2019 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file battery_params.c - * - * Parameters defined by the battery lib, shared between all batteries. - * - * @author Julian Oes - */ - -/** - * Low threshold - * - * Sets the threshold when the battery will be reported as low. - * This has to be higher than the critical threshold. - * - * @group Battery Calibration - * @unit norm - * @min 0.12 - * @max 0.5 - * @decimal 2 - * @increment 0.01 - */ -PARAM_DEFINE_FLOAT(BAT_LOW_THR, 0.15f); - -/** - * Critical threshold - * - * Sets the threshold when the battery will be reported as critically low. - * This has to be lower than the low threshold. This threshold commonly - * will trigger RTL. - * - * @group Battery Calibration - * @unit norm - * @min 0.05 - * @max 0.25 - * @decimal 2 - * @increment 0.01 - */ -PARAM_DEFINE_FLOAT(BAT_CRIT_THR, 0.07f); - -/** - * Emergency threshold - * - * Sets the threshold when the battery will be reported as dangerously low. - * This has to be lower than the critical threshold. This threshold commonly - * will trigger landing. - * - * @group Battery Calibration - * @unit norm - * @min 0.03 - * @max 0.1 - * @decimal 2 - * @increment 0.01 - */ -PARAM_DEFINE_FLOAT(BAT_EMERGEN_THR, 0.05f); - -/** - * Expected battery current in flight. - * - * This value is used to initialize the in-flight average current estimation, - * which in turn is used for estimating remaining flight time and RTL triggering. - * - * @group Battery Calibration - * @unit A - * @min 0 - * @max 500 - * @increment 0.1 - */ -PARAM_DEFINE_FLOAT(BAT_AVRG_CURRENT, 15.0f); diff --git a/src/lib/battery/battery_params_deprecated.c b/src/lib/battery/battery_params_deprecated.c deleted file mode 100644 index 829e636c2c27..000000000000 --- a/src/lib/battery/battery_params_deprecated.c +++ /dev/null @@ -1,70 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2012-2019 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file battery_params_deprecated.c - * - * Defines the deprcated single battery configuration which are temporarily kept for backwards compatibility with QGC. - */ - -/** - * This parameter is deprecated. Please use BAT1_V_EMPTY instead. - * - * @group Battery Calibration - * @category system - */ -PARAM_DEFINE_FLOAT(BAT_V_EMPTY, 3.6f); - -/** - * This parameter is deprecated. Please use BAT1_V_CHARGED instead. - * - * @group Battery Calibration - * @category system - */ -PARAM_DEFINE_FLOAT(BAT_V_CHARGED, 4.05f); - -/** - * This parameter is deprecated. Please use BAT1_V_LOAD_DROP instead. - * - * @group Battery Calibration - * @category system - */ -PARAM_DEFINE_FLOAT(BAT_V_LOAD_DROP, 0.3f); - -/** - * This parameter is deprecated. Please use BAT1_N_CELLS instead. - * - * @group Battery Calibration - * @category system - */ -PARAM_DEFINE_INT32(BAT_N_CELLS, 3); diff --git a/src/lib/battery/int_res_est_replay.py b/src/lib/battery/int_res_est_replay.py new file mode 100644 index 000000000000..336dba474478 --- /dev/null +++ b/src/lib/battery/int_res_est_replay.py @@ -0,0 +1,208 @@ +# Test internal resistance estimator on flight logs +# run with: +# python3 int_res_est_replay.py -f -c <#batteryCells> +# -u <(optional)fullCellVoltage> -e <(optional)emptyCellVoltage> -l <(optional)forgettingFactor> -d <(optional)filterMeasurements> +# Note: Can lead to slightly different results than the online estimation due to the fact that +# the log frequency of the voltage and current are not the same as the online frequency. + +from pyulog import ULog +import matplotlib.pyplot as plt +import numpy as np +import argparse + +def getData(log, topic_name, variable_name, instance=0): + for elem in log.data_list: + if elem.name == topic_name and instance == elem.multi_id: + return elem.data[variable_name] + return np.array([]) + +def us2s(time_us): + return time_us * 1e-6 + +def getParam(log, param_name): + if param_name in log.initial_parameters: + return log.initial_parameters[param_name] + else: + print(f"Parameter {param_name} not found in log.") + return None + +def rls_update(theta, P, x, V, I, lam): + gamma = P @ x / (lam + x.T @ P @ x) + error = V - x.T @ theta + data_cov = x.T @ P @ x + theta_temp = theta + gamma * error + P_temp = (P - gamma @ x.T @ P) / lam + if (abs(np.linalg.norm(P)) < abs(np.linalg.norm(P_temp))): + theta_corr = np.array([V + theta[1] * I, theta[1]]) # Correct OCV estimation + P_corr = P + return theta_corr, P_corr, error, data_cov, 0, 0 + return theta_temp, P_temp, error, data_cov, gamma[0], gamma[1] + +def main(log_name, n_cells, full_cell, empty_cell, lam): + log = ULog(log_name) + + log_n_cells = getParam(log, 'BAT1_N_CELLS') + log_full_cell = getParam(log, 'BAT1_V_CHARGED') + log_empty_cell = getParam(log, 'BAT1_V_EMPTY') + + # Debug information + print(f"Extracted from log - BAT1_N_CELLS: {log_n_cells}, BAT1_V_CHARGED: {log_full_cell}, BAT1_V_EMPTY: {log_empty_cell}") + + # Use log parameters unless overridden + if n_cells is None: + n_cells = log_n_cells + else: + print(f"Using override for n_cells: {n_cells}") + if full_cell is None: + full_cell = log_full_cell + else: + print(f"Using override for full_cell: {full_cell}") + if empty_cell is None: + empty_cell = log_empty_cell + else: + print(f"Using override for empty_cell: {empty_cell}") + + # Debug information for final parameter values + print(f"Using parameters - n_cells: {n_cells}, full_cell: {full_cell}, empty_cell: {empty_cell}") + + timestamps = us2s(getData(log, 'battery_status', 'timestamp')) + I = getData(log, 'battery_status', 'current_a') + V = getData(log, 'battery_status', 'voltage_v') + remaining = getData(log, 'battery_status', 'remaining') + + if not timestamps.size or not I.size or not V.size or not remaining.size: + print("Error: Incomplete data.") + return + + # Initializations + theta = np.array([[V[0] + 0.005 * n_cells * I[0]], [0.005 * n_cells]]) # Initial VOC and R + P = np.diag([1.2 * n_cells, 0.1 * n_cells]) # Initial covariance + error = 0 + + # For plotting + VOC_est = np.zeros_like(I) + R_est = np.zeros_like(I) + error_hist = np.zeros_like(I) + v_est = np.zeros_like(I) + internal_resistance_stable = np.zeros_like(I) + internal_resistance_stable[-1] = 0.005 + cov_norm = np.zeros_like(I) + r_cov = np.zeros_like(I) + ocv_cov = np.zeros_like(I) + mixed_cov = np.zeros_like(I) + data_cov_hist = np.zeros_like(I) + gamma_voc_hist = np.zeros_like(I) + gamma_r_hist = np.zeros_like(I) + + for index in range(len(I)): + # RLS algorithm + x = np.array([[1.0], [-I[index]]]) # Input vector + theta, P, error, data_cov, gamma_voc_hist[index], gamma_r_hist[index] = rls_update(theta, P, x, V[index], I[index], lam) # Run RLS + + # For plotting + VOC_est[index] = theta[0][0] + R_est[index] = theta[1][0] + error_hist[index] = error + v_est[index] = x.T @ theta + cov_norm[index] = abs(np.linalg.norm(P)) + ocv_cov[index] = P[0][0] + r_cov[index] = P[1][1] + mixed_cov[index] = P[0][1] + data_cov_hist[index] = data_cov + internal_resistance_stable[index] = max(R_est[index]/n_cells, 0.001) + + # Plot data + print("Internal Resistance mean (per cell): ", np.mean(R_est) / n_cells) + + # Summary plot + sumFig = plt.figure("Battery Estimation with RLS") + + volt = plt.subplot(2, 3, 1) + volt.plot(timestamps, V, label='Measured voltage') + volt.plot(timestamps, v_est, label='Estimated voltage') + volt.plot(timestamps, np.array(V) + np.array(internal_resistance_stable) * np.array(I) * n_cells, label='OCV estimate') + ocv_smoothed = np.convolve(np.array(V) + np.array(internal_resistance_stable) * np.array(I) * n_cells, np.ones(30)/30, mode='full')[0:np.size(timestamps)] + ocv_smoothed[0:30] = ocv_smoothed[31] + volt.plot(timestamps, ocv_smoothed, label='OCV estimate smoothed') + volt.plot(timestamps, np.full_like(I, full_cell * n_cells), label='100% SOC') + volt.set_title("Measured Voltage vs Estimated voltage vs Estimated Open circuit voltage [V]") + volt.legend() + + intR = plt.subplot(2, 3, 2) + intR.plot(timestamps, np.array(R_est) * 1000 / n_cells, label='Internal resistance estimate') + intR.set_title("Internal resistance estimate (per cell) [mOhm]") + intR.legend() + + soc = plt.subplot(2, 3, 3) + soc.plot(timestamps, remaining, label='SoC logged') + soc.plot(timestamps, np.interp((np.array(V) + np.array(internal_resistance_stable) * n_cells * np.array(I)) / n_cells, [empty_cell, full_cell], [0, 1]), label='SoC with estimator') + soc.plot(timestamps, np.interp(ocv_smoothed / n_cells, [empty_cell, full_cell], [0, 1]), label='SoC with estimator smoothed') + soc.set_title("State of charge") + soc.legend() + + curr = plt.subplot(2, 3, 4) + curr.plot(timestamps, I, label='Measured current') + curr.set_title("Measured Current [A]") + curr.legend() + + err = plt.subplot(2, 3, 5) + err.plot(timestamps, error_hist, label='$Error$') + err.set_title("Voltage estimation error [V]") + err.legend() + + cov = plt.subplot(2, 3, 6) + cov.plot(timestamps, cov_norm, label = 'Covariance norm') + cov.set_title("Covariance norm") + cov.legend() + + # # SoC estimation plots + # socFig = plt.figure("SoC estimation") + # plt.plot(timestamps, np.interp((np.array(V) + np.array(I) * 0.005 * n_cells) / n_cells, [empty_cell, full_cell], [0, 1]), label='SoC with default $R_{int}$') + # plt.plot(timestamps, remaining, label='SoC logged') + # plt.plot(timestamps, np.interp((np.array(V) + np.array(internal_resistance_stable) * n_cells * np.array(I)) / n_cells, [empty_cell, full_cell], [0, 1]), label='SoC with estimator') + # # plt.plot(timestamps, np.convolve(np.interp((np.array(V) + np.array(internal_resistance_stable) * n_cells * np.array(I)) / n_cells, [empty_cell, full_cell], [0, 1]), np.ones(500)/500, mode='full')[0:np.size(timestamps)], label='SoC with estimator smoothed') + # # plt.plot(timestamps, np.interp((np.array(V) + np.array(I) * 0.0009 * n_cells) / n_cells, [empty_cell, full_cell], [0, 1]), label='SoC with $R_{int}$ measured beforehand') + # # plt.plot(timestamps, np.interp(VOC_est/n_cells, [empty_cell, full_cell], [0, 1]), label='SoC with VOC estimate') + # plt.legend() + + # # Covariance plots + # covFig = plt.figure("Covariance plots") + # covR = plt.subplot(2, 2, 1) + # covR.plot(timestamps, r_cov, label = 'r_cov') + # covR.set_title("Internal resistance covariance") + # covR.legend() + # covVOC = plt.subplot(2, 2, 2) + # covVOC.plot(timestamps, ocv_cov, label = 'ocv_cov') + # covVOC.set_title("Open circuit covariance") + # covVOC.legend() + # covM = plt.subplot(2, 2, 3) + # covM.plot(timestamps, mixed_cov, label = 'mixed_cov') + # covM.set_title("Mixed covariance") + # covM.legend() + # covM = plt.subplot(2, 2, 4) + # covM.plot(timestamps, cov_norm, label = 'cov_norm') + # covM.set_title("Covariance norm") + # covM.legend() + + # # Gain plots + # gainFig = plt.figure("Gain plots") + # gainVoc = plt.subplot(1, 2, 1) + # gainVoc.plot(timestamps, gamma_voc_hist, label = 'gain_voc') + # gainVoc.set_title("Gain VOC") + # gainVoc.legend() + # gainR = plt.subplot(1, 2, 2) + # gainR.plot(timestamps, gamma_r_hist, label = 'gain_r') + # gainR.set_title("Gain R") + # gainR.legend() + + plt.show() + +if __name__ == "__main__": + parser = argparse.ArgumentParser(description='Estimate battery parameters from ulog file.') + parser.add_argument('-f', type = str, required = True, help = 'Full path to ulog file') + parser.add_argument('-c', type = float, required = False, help = 'Number of cells in battery') + parser.add_argument('-u', type = float, required = False, default = None, help = 'Full cell voltage') + parser.add_argument('-e', type = float, required = False, default = None, help = 'Empty cell voltage') + parser.add_argument('-l', type = float, required = False, default = 0.99, help = 'Forgetting factor') + args = parser.parse_args() + main(args.f, args.c, args.u, args.e, args.l) diff --git a/src/lib/battery/module.yaml b/src/lib/battery/module.yaml index 4cbf1da675ef..b20900fa08d4 100644 --- a/src/lib/battery/module.yaml +++ b/src/lib/battery/module.yaml @@ -1,4 +1,4 @@ -__max_num_config_instances: &max_num_config_instances 2 +__max_num_config_instances: &max_num_config_instances 3 module_name: battery @@ -7,12 +7,12 @@ parameters: definitions: BAT${i}_V_EMPTY: description: - short: Empty cell voltage (5C load) + short: Empty cell voltage long: | - Defines the voltage where a single cell of battery 1 is considered empty. - The voltage should be chosen before the steep dropoff to 2.8V. A typical - lithium battery can only be discharged down to 10% before it drops off - to a voltage level damaging the cells. + Defines the voltage where a single cell of the battery is considered empty. + The voltage should be chosen above the steep dropoff at 3.5V. A typical + lithium battery can only be discharged under high load down to 10% before + it drops off to a voltage level damaging the cells. type: float unit: V @@ -21,14 +21,14 @@ parameters: reboot_required: true num_instances: *max_num_config_instances instance_start: 1 - default: [3.6, 3.6] + default: [3.6, 3.6, 3.6] BAT${i}_V_CHARGED: description: - short: Full cell voltage (5C load) + short: Full cell voltage long: | - Defines the voltage where a single cell of battery 1 is considered full - under a mild load. This will never be the nominal voltage of 4.2V + Defines the voltage where a single cell of the battery is considered full. + For a more accurate estimate set this below the nominal voltage of e.g. 4.2V type: float unit: V @@ -37,35 +37,13 @@ parameters: reboot_required: true num_instances: *max_num_config_instances instance_start: 1 - default: [4.05, 4.05] - - BAT${i}_V_LOAD_DROP: - description: - short: Voltage drop per cell on full throttle - long: | - This implicitly defines the internal resistance - to maximum current ratio for battery 1 and assumes linearity. - A good value to use is the difference between the - 5C and 20-25C load. Not used if BAT${i}_R_INTERNAL is - set. - - type: float - unit: V - min: 0.07 - max: 0.5 - decimal: 2 - increment: 0.01 - reboot_required: true - num_instances: *max_num_config_instances - instance_start: 1 - default: [0.1, 0.1] + default: [4.05, 4.05, 4.05] BAT${i}_R_INTERNAL: description: short: Explicitly defines the per cell internal resistance for battery ${i} long: | - If non-negative, then this will be used in place of - BAT${i}_V_LOAD_DROP for all calculations. + If non-negative, then this will be used instead of the online estimated internal resistance. type: float unit: Ohm @@ -76,7 +54,7 @@ parameters: reboot_required: true num_instances: *max_num_config_instances instance_start: 1 - default: [0.005, 0.005] + default: [-1.0, -1.0, -1.0] BAT${i}_N_CELLS: description: @@ -86,6 +64,7 @@ parameters: type: enum values: + 0: Unknown 1: 1S Battery 2: 2S Battery 3: 3S Battery @@ -102,10 +81,9 @@ parameters: 14: 14S Battery 15: 15S Battery 16: 16S Battery - reboot_required: true num_instances: *max_num_config_instances instance_start: 1 - default: [0, 0] + default: [0, 0, 0] BAT${i}_CAPACITY: description: @@ -121,7 +99,7 @@ parameters: reboot_required: true num_instances: *max_num_config_instances instance_start: 1 - default: [-1.0, -1.0] + default: [-1.0, -1.0, -1.0] BAT${i}_SOURCE: description: @@ -141,4 +119,62 @@ parameters: reboot_required: true num_instances: *max_num_config_instances instance_start: 1 - default: [0, -1] + default: [0, -1, -1] + + BAT_LOW_THR: + description: + short: Low threshold. + long: | + Sets the threshold when the battery will be reported as low. + This has to be higher than the critical threshold. + type: float + unit: norm + min: 0.12 + max: 0.5 + decimal: 2 + increment: 0.01 + default: 0.15 + + BAT_CRIT_THR: + description: + short: Critical threshold. + long: | + Sets the threshold when the battery will be reported as critically low. + This has to be lower than the low threshold. This threshold commonly + will trigger RTL. + type: float + unit: norm + min: 0.05 + max: 0.5 + decimal: 2 + increment: 0.01 + default: 0.07 + + BAT_EMERGEN_THR: + description: + short: Emergency threshold. + long: | + Sets the threshold when the battery will be reported as dangerously low. + This has to be lower than the critical threshold. This threshold commonly + will trigger landing. + type: float + unit: norm + min: 0.03 + max: 0.5 + decimal: 2 + increment: 0.01 + default: 0.05 + + BAT_AVRG_CURRENT: + description: + short: Expected battery current in flight. + long: | + This value is used to initialize the in-flight average current estimation, + which in turn is used for estimating remaining flight time and RTL triggering. + type: float + unit: A + min: 0 + max: 500 + decimal: 2 + increment: 0.1 + default: 15 diff --git a/src/lib/button/ButtonPublisher.cpp b/src/lib/button/ButtonPublisher.cpp index b3b35a7b3af1..826e5ed49f9a 100644 --- a/src/lib/button/ButtonPublisher.cpp +++ b/src/lib/button/ButtonPublisher.cpp @@ -70,9 +70,9 @@ void ButtonPublisher::pairingButtonTriggerEvent() led_control_s led_control{}; led_control.led_mask = 0xff; led_control.mode = led_control_s::MODE_BLINK_FAST; - led_control.color = led_control_s::COLOR_GREEN; - led_control.num_blinks = 1; - led_control.priority = 0; + led_control.color = led_control_s::COLOR_WHITE; + led_control.num_blinks = 20; + led_control.priority = 2; led_control.timestamp = hrt_absolute_time(); _led_control_pub.publish(led_control); diff --git a/src/lib/cdrstream/CMakeLists.txt b/src/lib/cdrstream/CMakeLists.txt new file mode 100644 index 000000000000..cfdb6ab09021 --- /dev/null +++ b/src/lib/cdrstream/CMakeLists.txt @@ -0,0 +1,49 @@ +############################################################################ +# +# Copyright (c) 2023 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +if(CONFIG_LIB_CDRSTREAM) + set(BUILD_SHARED_LIBS NO) + + # CycloneDDS CDR serializer + include(${CMAKE_CURRENT_LIST_DIR}/cyclonedds/src/core/cdr/CMakeLists.txt) + target_compile_options(cdr PUBLIC + -Wno-cast-align + -Wno-double-promotion + $<$:-Wno-implicit-function-declaration -Wno-nested-externs> + -DNDEBUG) + px4_add_git_submodule(TARGET git_cyclonedds PATH "cyclonedds") + px4_add_git_submodule(TARGET git_rosidl PATH "rosidl") + add_dependencies(cdr git_cyclonedds git_rosidl uorb_headers parameters px4_platform) + target_sources(cdr PRIVATE dds_serializer.c) + target_include_directories(cdr PUBLIC ${CMAKE_CURRENT_LIST_DIR}) +endif() diff --git a/src/lib/cdrstream/Kconfig b/src/lib/cdrstream/Kconfig new file mode 100644 index 000000000000..311443075afa --- /dev/null +++ b/src/lib/cdrstream/Kconfig @@ -0,0 +1,5 @@ +config LIB_CDRSTREAM + bool + default n + ---help--- + Enable CDR stream serializer library diff --git a/src/lib/cdrstream/cyclonedds b/src/lib/cdrstream/cyclonedds new file mode 160000 index 000000000000..314887ca403c --- /dev/null +++ b/src/lib/cdrstream/cyclonedds @@ -0,0 +1 @@ +Subproject commit 314887ca403c2fb0a0316add22672102936ed36c diff --git a/src/lib/cdrstream/dds_serializer.c b/src/lib/cdrstream/dds_serializer.c new file mode 100644 index 000000000000..b17cc105ea80 --- /dev/null +++ b/src/lib/cdrstream/dds_serializer.c @@ -0,0 +1,53 @@ +/**************************************************************************** + * + * Copyright (c) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include "dds_serializer.h" + + +void *dds_malloc(size_t size) +{ + return NULL; +} +void *dds_realloc(void *ptr, size_t new_size) +{ + printf("Error CDR buffer is too small\n"); + return NULL; +} +void dds_free(void *pt) +{ + +} +const struct dds_cdrstream_allocator dds_allocator = { dds_malloc, dds_realloc, dds_free }; + +// CDR Xtypes header {0x00, 0x01} indicates it's Little Endian (CDR_LE representation) +const uint8_t ros2_header[4] = {0x00, 0x01, 0x00, 0x00}; diff --git a/src/lib/cdrstream/dds_serializer.h b/src/lib/cdrstream/dds_serializer.h new file mode 100644 index 000000000000..ac89dfb0b0a9 --- /dev/null +++ b/src/lib/cdrstream/dds_serializer.h @@ -0,0 +1,43 @@ +/**************************************************************************** + * + * Copyright (c) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#ifndef DDS_CDRSTREAM_SERDER_H +#define DDS_CDRSTREAM_SERDER_H + +#include +#include + +extern const struct dds_cdrstream_allocator dds_allocator; +extern const uint8_t ros2_header[4]; + +#endif //DDS_CDRSTREAM_SERDER_H diff --git a/src/lib/cdrstream/msg2idl.py b/src/lib/cdrstream/msg2idl.py new file mode 100644 index 000000000000..74a464ab3d8e --- /dev/null +++ b/src/lib/cdrstream/msg2idl.py @@ -0,0 +1,57 @@ +#!/usr/bin/env python3 + +############################################################################ +# +# Copyright (C) 2023 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +import argparse +import pathlib +import sys + +from rosidl_adapter.msg import convert_msg_to_idl + +if __name__ == '__main__': + parser = argparse.ArgumentParser( + description=f'Convert px4 .msg files to .idl') + parser.add_argument( + 'interface_files', nargs='+', + help='The interface files to convert') + args = parser.parse_args(sys.argv[1:]) + + for interface_file in args.interface_files: + interface_file = pathlib.Path(interface_file) + package_dir = interface_file.parent.absolute() + + convert_msg_to_idl( + package_dir, 'px4', + interface_file.absolute().relative_to(package_dir), + interface_file.parent) diff --git a/src/lib/cdrstream/rosidl b/src/lib/cdrstream/rosidl new file mode 160000 index 000000000000..7790c70717e0 --- /dev/null +++ b/src/lib/cdrstream/rosidl @@ -0,0 +1 @@ +Subproject commit 7790c70717e09c003711f6f65015666c223fc283 diff --git a/src/lib/circuit_breaker/circuit_breaker.h b/src/lib/circuit_breaker/circuit_breaker.h index 9487278bc88f..dbc54edede67 100644 --- a/src/lib/circuit_breaker/circuit_breaker.h +++ b/src/lib/circuit_breaker/circuit_breaker.h @@ -53,7 +53,6 @@ #define CBRK_BUZZER_KEY 782097 #define CBRK_SUPPLY_CHK_KEY 894281 #define CBRK_IO_SAFETY_KEY 22027 -#define CBRK_AIRSPD_CHK_KEY 162128 #define CBRK_FLIGHTTERM_KEY 121212 #define CBRK_USB_CHK_KEY 197848 #define CBRK_VTOLARMING_KEY 159753 diff --git a/src/lib/circuit_breaker/circuit_breaker_params.c b/src/lib/circuit_breaker/circuit_breaker_params.c index f33159943ad9..e71b4fd59b34 100644 --- a/src/lib/circuit_breaker/circuit_breaker_params.c +++ b/src/lib/circuit_breaker/circuit_breaker_params.c @@ -69,21 +69,6 @@ PARAM_DEFINE_INT32(CBRK_SUPPLY_CHK, 0); */ PARAM_DEFINE_INT32(CBRK_IO_SAFETY, 22027); -/** - * Circuit breaker for airspeed sensor - * - * Setting this parameter to 162128 will disable the check for an airspeed sensor. - * The sensor driver will not be started and it cannot be calibrated. - * WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK - * - * @reboot_required true - * @min 0 - * @max 162128 - * @category Developer - * @group Circuit Breaker - */ -PARAM_DEFINE_INT32(CBRK_AIRSPD_CHK, 0); - /** * Circuit breaker for flight termination * diff --git a/src/lib/component_information/generate_crc.py b/src/lib/component_information/generate_crc.py index ea50680d1daa..45b961cd0e7f 100755 --- a/src/lib/component_information/generate_crc.py +++ b/src/lib/component_information/generate_crc.py @@ -58,5 +58,3 @@ def sha256sum(filename): outfile.write("}\n") - - diff --git a/src/lib/controllib/controllib_test/CMakeLists.txt b/src/lib/controllib/controllib_test/CMakeLists.txt index a6fed39a2147..0d57d54cc152 100644 --- a/src/lib/controllib/controllib_test/CMakeLists.txt +++ b/src/lib/controllib/controllib_test/CMakeLists.txt @@ -30,6 +30,7 @@ # POSSIBILITY OF SUCH DAMAGE. # ############################################################################ + px4_add_module( MODULE lib__controllib__controllib_test MAIN controllib_test @@ -39,5 +40,3 @@ px4_add_module( controllib_test_main.cpp DEPENDS ) - - diff --git a/src/lib/conversion/rotation.h b/src/lib/conversion/rotation.h index 80a9910d8be7..b33e4a8383f0 100644 --- a/src/lib/conversion/rotation.h +++ b/src/lib/conversion/rotation.h @@ -91,8 +91,10 @@ enum Rotation : uint8_t { ROTATION_ROLL_90_PITCH_68_YAW_293 = 38, ROTATION_PITCH_315 = 39, ROTATION_ROLL_90_PITCH_315 = 40, + ROTATION_MAX, - ROTATION_MAX + // Rotation Enum reserved for custom rotation using Euler Angles + ROTATION_CUSTOM = 100 }; struct rot_lookup_t { diff --git a/src/lib/dataman_client/CMakeLists.txt b/src/lib/dataman_client/CMakeLists.txt new file mode 100644 index 000000000000..8d60c9935d60 --- /dev/null +++ b/src/lib/dataman_client/CMakeLists.txt @@ -0,0 +1,34 @@ +############################################################################ +# +# Copyright (c) 2023 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +px4_add_library(dataman_client DatamanClient.cpp) diff --git a/src/lib/dataman_client/DatamanClient.cpp b/src/lib/dataman_client/DatamanClient.cpp new file mode 100644 index 000000000000..c2c0ec995fcd --- /dev/null +++ b/src/lib/dataman_client/DatamanClient.cpp @@ -0,0 +1,677 @@ +/**************************************************************************** + * + * Copyright (c) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file DatamanClient.cpp + */ + +#include + +DatamanClient::DatamanClient() +{ + _sync_perf = perf_alloc(PC_ELAPSED, "DatamanClient: sync"); + + _dataman_request_pub.advertise(); + _dataman_response_sub = orb_subscribe(ORB_ID(dataman_response)); + + if (_dataman_response_sub < 0) { + PX4_ERR("Failed to subscribe (%i)", errno); + + } else { + // make sure we don't get any stale response by doing an orb_copy + dataman_response_s response{}; + orb_copy(ORB_ID(dataman_response), _dataman_response_sub, &response); + + _fds.fd = _dataman_response_sub; + _fds.events = POLLIN; + + hrt_abstime timestamp = hrt_absolute_time(); + + dataman_request_s request; + request.timestamp = timestamp; + request.request_type = DM_GET_ID; + request.client_id = CLIENT_ID_NOT_SET; + + bool success = syncHandler(request, response, timestamp, 1000_ms); + + if (success && (response.client_id > CLIENT_ID_NOT_SET)) { + + _client_id = response.client_id; + + } else { + PX4_ERR("Failed to get client ID!"); + } + } +} + +DatamanClient::~DatamanClient() +{ + perf_free(_sync_perf); + + if (_dataman_response_sub >= 0) { + orb_unsubscribe(_dataman_response_sub); + } +} + +bool DatamanClient::syncHandler(const dataman_request_s &request, dataman_response_s &response, + const hrt_abstime &start_time, hrt_abstime timeout) +{ + bool response_received = false; + int32_t ret = 0; + hrt_abstime time_elapsed = hrt_elapsed_time(&start_time); + perf_begin(_sync_perf); + _dataman_request_pub.publish(request); + + while (!response_received && (time_elapsed < timeout)) { + + uint32_t timeout_ms = 100; + ret = px4_poll(&_fds, 1, timeout_ms); + + if (ret < 0) { + PX4_ERR("px4_poll returned error: %" PRIu32, ret); + break; + + } else if (ret == 0) { + + // No response received, send new request + _dataman_request_pub.publish(request); + + } else { + + bool updated = false; + orb_check(_dataman_response_sub, &updated); + + if (updated) { + orb_copy(ORB_ID(dataman_response), _dataman_response_sub, &response); + + if (response.client_id == request.client_id) { + + if ((response.request_type == request.request_type) && + (response.item == request.item) && + (response.index == request.index)) { + response_received = true; + break; + } + + } else if (request.client_id == CLIENT_ID_NOT_SET) { + + // validate timestamp from response.data + if (0 == memcmp(&(request.timestamp), &(response.data), sizeof(hrt_abstime))) { + response_received = true; + break; + } + } + } + } + + time_elapsed = hrt_elapsed_time(&start_time); + } + + perf_end(_sync_perf); + + if (!response_received && ret >= 0) { + PX4_ERR("timeout after %" PRIu32 " ms!", static_cast(timeout / 1000)); + } + + return response_received; +} + +bool DatamanClient::readSync(dm_item_t item, uint32_t index, uint8_t *buffer, uint32_t length, hrt_abstime timeout) +{ + if (length > g_per_item_size[item]) { + PX4_ERR("Length %" PRIu32 " can't fit in data size for item %" PRIi8, length, static_cast(item)); + return false; + } + + bool success = false; + hrt_abstime timestamp = hrt_absolute_time(); + + dataman_request_s request; + request.timestamp = timestamp; + request.index = index; + request.data_length = length; + request.client_id = _client_id; + request.request_type = DM_READ; + request.item = static_cast(item); + + dataman_response_s response{}; + success = syncHandler(request, response, timestamp, timeout); + + if (success) { + + if (response.status != dataman_response_s::STATUS_SUCCESS) { + + success = false; + PX4_ERR("readSync failed! status=%" PRIu8 ", item=%" PRIu8 ", index=%" PRIu32 ", length=%" PRIu32, + response.status, static_cast(item), index, length); + + } else { + memcpy(buffer, response.data, length); + } + } + + return success; +} + +bool DatamanClient::writeSync(dm_item_t item, uint32_t index, uint8_t *buffer, uint32_t length, hrt_abstime timeout) +{ + if (length > g_per_item_size[item]) { + PX4_ERR("Length %" PRIu32 " can't fit in data size for item %" PRIi8, length, static_cast(item)); + return false; + } + + bool success = false; + hrt_abstime timestamp = hrt_absolute_time(); + + dataman_request_s request; + request.timestamp = timestamp; + request.index = index; + request.data_length = length; + request.client_id = _client_id; + request.request_type = DM_WRITE; + request.item = static_cast(item); + + memcpy(request.data, buffer, length); + + dataman_response_s response{}; + success = syncHandler(request, response, timestamp, timeout); + + if (success) { + + if (response.status != dataman_response_s::STATUS_SUCCESS) { + + success = false; + PX4_ERR("writeSync failed! status=%" PRIu8 ", item=%" PRIu8 ", index=%" PRIu32 ", length=%" PRIu32, + response.status, static_cast(item), index, length); + } + } + + return success; +} + +bool DatamanClient::clearSync(dm_item_t item, hrt_abstime timeout) +{ + bool success = false; + hrt_abstime timestamp = hrt_absolute_time(); + + dataman_request_s request; + request.timestamp = timestamp; + request.client_id = _client_id; + request.request_type = DM_CLEAR; + request.item = static_cast(item); + + dataman_response_s response{}; + success = syncHandler(request, response, timestamp, timeout); + + if (success) { + + if (response.status != dataman_response_s::STATUS_SUCCESS) { + + success = false; + PX4_ERR("clearSync failed! status=%" PRIu8 ", item=%" PRIu8, + response.status, static_cast(item)); + } + } + + return success; +} + +bool DatamanClient::readAsync(dm_item_t item, uint32_t index, uint8_t *buffer, uint32_t length) +{ + if (length > g_per_item_size[item]) { + PX4_ERR("Length %" PRIu32 " can't fit in data size for item %" PRIi8, length, static_cast(item)); + return false; + } + + bool success = false; + + if (_state == State::Idle) { + + hrt_abstime timestamp = hrt_absolute_time(); + + dataman_request_s request; + request.timestamp = timestamp; + request.index = index; + request.data_length = length; + request.client_id = _client_id; + request.request_type = DM_READ; + request.item = static_cast(item); + + _active_request.timestamp = timestamp; + _active_request.request_type = DM_READ; + _active_request.item = item; + _active_request.index = index; + _active_request.buffer = buffer; + _active_request.length = length; + + _state = State::RequestSent; + + _dataman_request_pub.publish(request); + + success = true; + } + + return success; +} + +bool DatamanClient::writeAsync(dm_item_t item, uint32_t index, uint8_t *buffer, uint32_t length) +{ + if (length > g_per_item_size[item]) { + PX4_ERR("Length %" PRIu32 " can't fit in data size for item %" PRIi8, length, static_cast(item)); + return false; + } + + bool success = false; + + if (_state == State::Idle) { + + hrt_abstime timestamp = hrt_absolute_time(); + + dataman_request_s request; + request.timestamp = timestamp; + request.index = index; + request.data_length = length; + request.client_id = _client_id; + request.request_type = DM_WRITE; + request.item = static_cast(item); + + memcpy(request.data, buffer, length); + + _active_request.timestamp = timestamp; + _active_request.request_type = DM_WRITE; + _active_request.item = item; + _active_request.index = index; + _active_request.buffer = buffer; + _active_request.length = length; + + _state = State::RequestSent; + + _dataman_request_pub.publish(request); + + success = true; + } + + return success; +} + +bool DatamanClient::clearAsync(dm_item_t item) +{ + bool success = false; + + if (_state == State::Idle) { + + hrt_abstime timestamp = hrt_absolute_time(); + + dataman_request_s request; + request.timestamp = timestamp; + request.client_id = _client_id; + request.request_type = DM_CLEAR; + request.item = static_cast(item); + request.index = 0; + + _active_request.timestamp = timestamp; + _active_request.request_type = DM_CLEAR; + _active_request.item = item; + _active_request.index = request.index; + _state = State::RequestSent; + + _dataman_request_pub.publish(request); + + success = true; + } + + return success; +} + +void DatamanClient::update() +{ + if (_state == State::RequestSent) { + + bool updated = false; + orb_check(_dataman_response_sub, &updated); + + dataman_response_s response; + + if (updated) { + orb_copy(ORB_ID(dataman_response), _dataman_response_sub, &response); + + if ((response.client_id == _client_id) && + (response.request_type == _active_request.request_type) && + (response.item == _active_request.item) && + (response.index == _active_request.index)) { + + if (response.request_type == DM_READ) { + memcpy(_active_request.buffer, response.data, _active_request.length); + } + + _response_status = response.status; + + if (_response_status != dataman_response_s::STATUS_SUCCESS) { + + PX4_ERR("Async request type %" PRIu8 " failed! status=%" PRIu8 " item=%" PRIu8 " index=%" PRIu32, + response.request_type, response.status, static_cast(_active_request.item), _active_request.index); + } + + _state = State::ResponseReceived; + } + } + + if (_state == State::RequestSent) { + + /* Retry the request if there is no answer */ + if (((_active_request.request_type != DM_CLEAR) && (hrt_elapsed_time(&_active_request.timestamp) > 100_ms)) || + (hrt_elapsed_time(&_active_request.timestamp) > 1000_ms) + ) { + + hrt_abstime timestamp = hrt_absolute_time(); + + _active_request.timestamp = timestamp; + + dataman_request_s request; + request.timestamp = timestamp; + request.index = _active_request.index; + request.data_length = _active_request.length; + request.client_id = _client_id; + request.request_type = static_cast(_active_request.request_type); + request.item = static_cast(_active_request.item); + + if (_active_request.request_type == DM_WRITE) { + memcpy(request.data, _active_request.buffer, _active_request.length); + } + + _dataman_request_pub.publish(request); + + _state = State::RequestSent; + } + } + } +} + +bool DatamanClient::lastOperationCompleted(bool &success) +{ + bool completed = false; + success = false; + + if (_state == State::ResponseReceived) { + + if (_response_status == dataman_response_s::STATUS_SUCCESS) { + success = true; + } + + _state = State::Idle; + completed = true; + } + + return completed; +} + +void DatamanClient::abortCurrentOperation() +{ + _state = State::Idle; +} + +DatamanCache::DatamanCache(const char *cache_miss_perf_counter_name, uint32_t num_items) + : _cache_miss_perf(perf_alloc(PC_COUNT, cache_miss_perf_counter_name)) +{ + _items = new Item[num_items] {}; + + if (_items != nullptr) { + _num_items = num_items; + + } else { + PX4_ERR("alloc failed"); + } +} + +DatamanCache::~DatamanCache() +{ + delete[] _items; + perf_free(_cache_miss_perf); +} + +void DatamanCache::resize(uint32_t num_items) +{ + Item *new_items = new Item[num_items] {}; + + if (new_items != nullptr) { + uint32_t num_min = num_items < _num_items ? num_items : _num_items; + + for (uint32_t i = 0; i < num_min; ++i) { + new_items[i] = _items[i]; + } + + delete[] _items; + _items = new_items; + _num_items = num_items; + + } else { + PX4_ERR("alloc failed"); + } +} + +bool DatamanCache::load(dm_item_t item, uint32_t index) +{ + if (!_items) { + return false; + } + + bool success = false; + bool duplicate = false; + + //Prevent duplicates + for (uint32_t i = 0; i < _num_items; ++i) { + + if (_items[i].cache_state != State::Idle && + _items[i].cache_state != State::Error && + _items[i].response.item == item && + _items[i].response.index == index) { + duplicate = true; + break; + } + } + + if (!duplicate && (_item_counter < _num_items)) { + + _items[_load_index].cache_state = State::RequestPrepared; + _items[_load_index].response.item = item; + _items[_load_index].response.index = index; + + _load_index = (_load_index + 1) % _num_items; + + ++_item_counter; + + success = true; + } + + return success; +} + +bool DatamanCache::loadWait(dm_item_t item, uint32_t index, uint8_t *buffer, uint32_t length, hrt_abstime timeout) +{ + if (length > g_per_item_size[item]) { + PX4_ERR("Length %" PRIu32 " can't fit in data size for item %" PRIi8, length, static_cast(item)); + return false; + } + + if (!_items) { + return false; + } + + bool success = false; + bool item_found = false; + + for (uint32_t i = 0; i < _num_items; ++i) { + if ((_items[i].response.item == item) && + (_items[i].response.index == index)) { + item_found = true; + + if (_items[i].cache_state == State::ResponseReceived) { + memcpy(buffer, _items[i].response.data, length); + success = true; + break; + } + } + } + + if (!success && (timeout > 0)) { + perf_count(_cache_miss_perf); + success = _client.readSync(item, index, buffer, length, timeout); + + // Cache the item if not found already (it could be in the process of being loaded) + if (success && !item_found && _item_counter < _num_items) { + _items[_load_index].cache_state = State::ResponseReceived; + _items[_load_index].response.item = item; + _items[_load_index].response.index = index; + memcpy(_items[_load_index].response.data, buffer, length); + + _load_index = (_load_index + 1) % _num_items; + + ++_item_counter; // Still increase the counter here + } + } + + return success; +} + +bool DatamanCache::writeWait(dm_item_t item, uint32_t index, uint8_t *buffer, uint32_t length, hrt_abstime timeout) +{ + if (length > g_per_item_size[item]) { + PX4_ERR("Length %" PRIu32 " can't fit in data size for item %" PRIi8, length, static_cast(item)); + return false; + } + + bool success = _client.writeSync(item, index, buffer, length, timeout); + + if (success && _items) { + for (uint32_t i = 0; i < _num_items; ++i) { + if ((_items[i].response.item == item) && + (_items[i].response.index == index) && + ((_items[i].cache_state == State::ResponseReceived) || + (_items[i].cache_state == State::RequestPrepared))) { + + memcpy(_items[i].response.data, buffer, length); + _items[i].cache_state = State::ResponseReceived; + break; + } + } + } + + return success; +} + +void DatamanCache::update() +{ + if (_item_counter > 0) { + + _client.update(); + + bool success = false; + bool response_success = false; + + switch (_items[_update_index].cache_state) { + case State::Idle: + break; + + case State::ResponseReceived: + // Skip it + changeUpdateIndex(); + break; + + case State::RequestPrepared: + + success = _client.readAsync(static_cast(_items[_update_index].response.item), + _items[_update_index].response.index, + _items[_update_index].response.data, + g_per_item_size[_items[_update_index].response.item]); + + if (success) { + _items[_update_index].cache_state = State::RequestSent; + + } else { + _items[_update_index].cache_state = State::Error; + } + + break; + + case State::RequestSent: + + if (_client.lastOperationCompleted(response_success)) { + + if (response_success) { + + _items[_update_index].cache_state = State::ResponseReceived; + changeUpdateIndex(); + + } else { + _items[_update_index].cache_state = State::Error; + } + } + + break; + + case State::Error: + // Handled below + break; + } + + if (_items[_update_index].cache_state == State::Error) { + PX4_ERR("Caching: item %" PRIu8 ", index %" PRIu32", status %" PRIu8, + _items[_update_index].response.item, _items[_update_index].response.index, + _items[_update_index].response.status); + + changeUpdateIndex(); + } + + } +} + +void DatamanCache::invalidate() +{ + for (uint32_t i = 0; i < _num_items; ++i) { + _items[i].cache_state = State::Idle; + } + + _update_index = 0; + _item_counter = 0; + _load_index = 0; + _client.abortCurrentOperation(); +} + +inline void DatamanCache::changeUpdateIndex() +{ + _update_index = (_update_index + 1) % _num_items; + + if (_item_counter > 0) { + --_item_counter; + } +} diff --git a/src/lib/dataman_client/DatamanClient.hpp b/src/lib/dataman_client/DatamanClient.hpp new file mode 100644 index 000000000000..9d1b71fd2cc4 --- /dev/null +++ b/src/lib/dataman_client/DatamanClient.hpp @@ -0,0 +1,306 @@ +/**************************************************************************** + * + * Copyright (c) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ +#pragma once + +#include +#include +#include +#include +#include +#include +#include + +using namespace time_literals; + +class DatamanClient +{ +public: + DatamanClient(); + ~DatamanClient(); + + DatamanClient(const DatamanClient &) = delete; + DatamanClient &operator=(const DatamanClient &) = delete; + + /** + * @brief Reads data synchronously from the dataman for the specified item and index. + * + * @param[in] item The item to read data from. + * @param[in] index The index of the item to read data from. + * @param[out] buffer Pointer to the buffer to store the read data. + * @param[in] length The length of the data to read. + * @param[in] timeout The timeout in microseconds for waiting for the response. + * + * @return true if data was read successfully within the timeout, false otherwise. + */ + bool readSync(dm_item_t item, uint32_t index, uint8_t *buffer, uint32_t length, hrt_abstime timeout = 5000_ms); + + /** + * @brief Write data to the dataman synchronously. + * + * @param[in] item The data item type to write. + * @param[in] index The index of the data item. + * @param[in] buffer The buffer that contains the data to write. + * @param[in] length The length of the data to write. + * @param[in] timeout The maximum time in microseconds to wait for the response. + * + * @return True if the write operation succeeded, false otherwise. + */ + bool writeSync(dm_item_t item, uint32_t index, uint8_t *buffer, uint32_t length, hrt_abstime timeout = 5000_ms); + + /** + * @brief Clears the data in the specified dataman item. + * + * @param[in] item The dataman item to clear. + * @param[in] timeout The timeout for the operation. + * + * @return True if the operation was successful, false otherwise. + */ + bool clearSync(dm_item_t item, hrt_abstime timeout = 5000_ms); + + /** + * @brief Initiates an asynchronous request to read the data from dataman for a specific item and index. + * + * @param[in] item The item to read from. + * @param[in] index The index within the item to read from. + * @param[out] buffer The buffer to store the read data in. + * @param[in] length The length of the data to read. + * + * @return True if the read request was successfully queued, false otherwise. + * + * @note The buffer must be kept alive as long as the request did not finish. + * The completion status of the request can be obtained with the + * lastOperationCompleted() function. + */ + bool readAsync(dm_item_t item, uint32_t index, uint8_t *buffer, uint32_t length); + + /** + * @brief Initiates an asynchronous request to write the data to dataman for a specific item and index. + * + * @param[in] item The item to write data to. + * @param[in] index The index of the item to write data to. + * @param[in] buffer The buffer containing the data to write. + * @param[in] length The length of the data to write. + * + * @return True if the write request was successfully sent, false otherwise. + * + * @note The buffer must be kept alive as long as the request did not finish. + * The completion status of the request can be obtained with the + * lastOperationCompleted() function. + */ + bool writeAsync(dm_item_t item, uint32_t index, uint8_t *buffer, uint32_t length); + + /** + * @brief Initiates an asynchronous request to clear an item in dataman. + * + * The request is only initiated if the DatamanClient is in the Idle state. + * + * @param[in] item The item to clear. + * @return True if the request was successfully initiated, false otherwise. + */ + bool clearAsync(dm_item_t item); + + /** + * @brief Updates the state of the dataman client for asynchronous functions. + * + * This function shall be called regularly. It checks if there is any response from the dataman, + * and updates the state accordingly. If there is no response for a request, it retries the + * request after a timeout. + * + * @see readAsync(), writeAsync(), clearAsync(), lastOperationCompleted() + */ + void update(); + + /** + * @brief Check if the last dataman operation has completed and whether it was successful. + * + * @param[out] success Output parameter indicating whether the last operation was successful. + * @return true if the last operation has completed, false otherwise. + */ + bool lastOperationCompleted(bool &success); + + /** + * Abort any async operation currently in progress + */ + void abortCurrentOperation(); + +private: + + enum class State { + Idle, + RequestSent, + ResponseReceived + }; + + struct Request { + hrt_abstime timestamp; + dm_function_t request_type; + dm_item_t item; + uint32_t index; + uint8_t *buffer; + uint32_t length; + }; + + /* Synchronous response/request handler */ + bool syncHandler(const dataman_request_s &request, dataman_response_s &response, + const hrt_abstime &start_time, hrt_abstime timeout); + + State _state{State::Idle}; + Request _active_request{}; + uint8_t _response_status{}; + + int32_t _dataman_response_sub{}; + uORB::Publication _dataman_request_pub{ORB_ID(dataman_request)}; + + px4_pollfd_struct_t _fds; + + uint8_t _client_id{0}; + + perf_counter_t _sync_perf{nullptr}; + + static constexpr uint8_t CLIENT_ID_NOT_SET{0}; +}; + + +class DatamanCache +{ +public: + DatamanCache(const char *cache_miss_perf_counter_name, uint32_t num_items); + ~DatamanCache(); + + /** + * @brief Resizes the cache to hold the specified number of items. + * + * @param[in] num_items The number of items the cache should hold. + */ + void resize(uint32_t num_items); + + /** + * @brief Invalidates all cached items in the cache by resetting their cache_state to Idle. + */ + void invalidate(); + + /** + * @brief Adds an index for items to be cached. + * + * Calling this function will exit immediately. Data shall be acquired with 'update()' function and + * it will be cached at full size. Later it can be retrieved with 'loadWait()' function. + * + * @param[in] item The item to load. + * @param[in] index The index of the item to load. + * + * @return true if the item was added to be cached, false otherwise if the size of the cache is reached. + */ + bool load(dm_item_t item, uint32_t index); + + /** + * @brief Loads for a specific item from the cache or acquires and wait for it if not found in the cache. + * + * @param[in] item Dataman item type + * @param[in] index Item index + * @param[out] buffer Buffer for the data to be stored + * @param[in] length Length of the buffer in bytes to be stored + * @param[in] timeout Maximum time to wait for the item to be available in microseconds, 0 to return immediately + * + * @return true if item was successfully loaded from cache or acquired through the client, false otherwise. + * + * @note This function will block if timeout is set differently than 0 and data doesn't exist in cache. + */ + bool loadWait(dm_item_t item, uint32_t index, uint8_t *buffer, uint32_t length, hrt_abstime timeout = 0); + + /** + * @brief Write data back and update it in the cache if stored. + * + * @param[in] item The data item type to write. + * @param[in] index The index of the data item. + * @param[in] buffer The buffer that contains the data to write. + * @param[in] length The length of the data to write. + * @param[in] timeout The maximum time in microseconds to wait for the response. + * + * @return True if the write operation succeeded, false otherwise. + */ + bool writeWait(dm_item_t item, uint32_t index, uint8_t *buffer, uint32_t length, hrt_abstime timeout = 5000_ms); + + /** + * @brief Updates the dataman cache by checking for responses from the DatamanClient and processing them. + * + * If there are items in the cache, this function will call the DatamanClient's 'update()' function to check for responses. + * Depending on the state of each item, it will either send a request, wait for a response, or report an error. + * If a response is received for an item, it will be marked as "response received" and the update index will be changed + * to the next item in the cache. This function does not block and returns immediately. + * The data can be acquired with the 'loadWait()' function after it has been cached. + */ + void update(); + + /** + * @brief Function providing info if there items to be loaded to dataman cache. + * + * @return true if there are items to be processed. + */ + bool isLoading() { return (_item_counter > 0); } + + /** + * @brief Returns a reference to the DatamanClient instance used by the DatamanCache. + * + * @return A reference to the DatamanClient instance used by the DatamanCache. + */ + DatamanClient &client() { return _client; } + + int size() const { return _num_items; } + +private: + + enum class State { + Idle, + RequestPrepared, + RequestSent, + ResponseReceived, + Error + }; + + struct Item { + dataman_response_s response; + State cache_state; + }; + + inline void changeUpdateIndex(); + + Item *_items{nullptr}; + uint32_t _load_index{0}; ///< index for tracking last index used by load function + uint32_t _update_index{0}; ///< index for tracking last index used by update function + uint32_t _item_counter{0}; ///< number of items to process with update function + uint32_t _num_items{0}; ///< number of items that cache can store + + DatamanClient _client{}; + + perf_counter_t _cache_miss_perf; +}; diff --git a/src/lib/drivers/accelerometer/PX4Accelerometer.cpp b/src/lib/drivers/accelerometer/PX4Accelerometer.cpp index 9994745a0216..f09120a14578 100644 --- a/src/lib/drivers/accelerometer/PX4Accelerometer.cpp +++ b/src/lib/drivers/accelerometer/PX4Accelerometer.cpp @@ -179,5 +179,5 @@ void PX4Accelerometer::updateFIFO(sensor_accel_fifo_s &sample) void PX4Accelerometer::UpdateClipLimit() { // 99.9% of potential max - _clip_limit = math::constrain((_range / _scale) * 0.999f, 0.f, (float)INT16_MAX); + _clip_limit = fabsf(_range / _scale * 0.999f); } diff --git a/src/lib/drivers/device/qurt/uart.c b/src/lib/drivers/device/qurt/uart.c index 798d20534443..ca1d0f66c740 100644 --- a/src/lib/drivers/device/qurt/uart.c +++ b/src/lib/drivers/device/qurt/uart.c @@ -25,19 +25,32 @@ void configure_uart_callbacks(open_uart_func_t open_func, } } -int qurt_uart_open(const char *dev, speed_t speed) +int qurt_uart_get_port(const char *dev) { - if (_callbacks_configured) { + if (dev != NULL) { // Convert device string into a uart port number char *endptr = NULL; - uint8_t port_number = (uint8_t) strtol(dev, &endptr, 10); + int port_number = strtol(dev, &endptr, 10); if ((port_number == 0) && (endptr == dev)) { PX4_ERR("Could not convert %s into a valid uart port number", dev); return -1; + + } else { + return port_number; } + } + + return -1; +} + +int qurt_uart_open(const char *dev, speed_t speed) +{ + int port_number = qurt_uart_get_port(dev); + + if (_callbacks_configured && (port_number >= 0)) { - return _open_uart(port_number, speed); + return _open_uart((uint8_t) port_number, speed); } else { PX4_ERR("Cannot open uart until callbacks have been configured"); diff --git a/src/lib/drivers/device/qurt/uart.h b/src/lib/drivers/device/qurt/uart.h index 03055961898f..d1632fe6a2c8 100644 --- a/src/lib/drivers/device/qurt/uart.h +++ b/src/lib/drivers/device/qurt/uart.h @@ -7,6 +7,7 @@ extern "C" { #include #include +int qurt_uart_get_port(const char *dev); int qurt_uart_open(const char *dev, speed_t speed); int qurt_uart_write(int fd, const char *buf, size_t len); int qurt_uart_read(int fd, char *buf, size_t len, uint32_t timeout_us); diff --git a/src/lib/drivers/gyroscope/PX4Gyroscope.cpp b/src/lib/drivers/gyroscope/PX4Gyroscope.cpp index fdce2004a185..687747d4aa92 100644 --- a/src/lib/drivers/gyroscope/PX4Gyroscope.cpp +++ b/src/lib/drivers/gyroscope/PX4Gyroscope.cpp @@ -178,5 +178,5 @@ void PX4Gyroscope::updateFIFO(sensor_gyro_fifo_s &sample) void PX4Gyroscope::UpdateClipLimit() { // 99.9% of potential max - _clip_limit = math::constrain((_range / _scale) * 0.999f, 0.f, (float)INT16_MAX); + _clip_limit = fabsf(_range / _scale * 0.999f); } diff --git a/src/lib/drivers/smbus/CMakeLists.txt b/src/lib/drivers/smbus/CMakeLists.txt index d3e1a1fcce9f..f20f92059f84 100644 --- a/src/lib/drivers/smbus/CMakeLists.txt +++ b/src/lib/drivers/smbus/CMakeLists.txt @@ -31,4 +31,4 @@ # ############################################################################ -px4_add_library(drivers__smbus SMBus.cpp) \ No newline at end of file +px4_add_library(drivers__smbus SMBus.cpp) diff --git a/src/lib/drivers/smbus_sbs/SBS.hpp b/src/lib/drivers/smbus_sbs/SBS.hpp index 176928923af0..dc421b1ca7fe 100644 --- a/src/lib/drivers/smbus_sbs/SBS.hpp +++ b/src/lib/drivers/smbus_sbs/SBS.hpp @@ -47,8 +47,7 @@ #include #include #include -#include - +#include using namespace time_literals; @@ -262,13 +261,11 @@ int SMBUS_SBS_BaseClass::populate_smbus_data(battery_status_s &data) // Convert millivolts to volts. data.voltage_v = ((float)result) * 0.001f; - data.voltage_filtered_v = data.voltage_v; // Read current. ret |= _interface->read_word(BATT_SMBUS_CURRENT, result); data.current_a = (-1.0f * ((float)(*(int16_t *)&result)) * 0.001f); - data.current_filtered_a = data.current_a; // Read remaining capacity. ret |= _interface->read_word(BATT_SMBUS_RELATIVE_SOC, result); @@ -292,7 +289,7 @@ int SMBUS_SBS_BaseClass::populate_smbus_data(battery_status_s &data) // Read battery temperature and covert to Celsius. ret |= _interface->read_word(BATT_SMBUS_TEMP, result); - data.temperature = ((float)result * 0.1f) + CONSTANTS_ABSOLUTE_NULL_CELSIUS; + data.temperature = ((float)result * 0.1f) + atmosphere::kAbsoluteNullCelsius; return ret; diff --git a/src/lib/events/CMakeLists.txt b/src/lib/events/CMakeLists.txt index b3540ffb3d78..fcdb971f6427 100644 --- a/src/lib/events/CMakeLists.txt +++ b/src/lib/events/CMakeLists.txt @@ -35,13 +35,21 @@ px4_add_git_submodule(TARGET git_libevents PATH "libevents") get_property(all_px4_src_files GLOBAL PROPERTY PX4_SRC_FILES) +# Use relative path list to work around Makefile command character limit +set(all_px4_src_files_relative "") +foreach(f ${all_px4_src_files}) + file(RELATIVE_PATH relative_path ${PX4_SOURCE_DIR}/src ${f}) + list(APPEND all_px4_src_files_relative "${relative_path}") +endforeach(f) + set(generated_events_dir ${PX4_BINARY_DIR}/events) set(generated_events_px4_file ${generated_events_dir}/px4.json) set(generated_events_common_enums_file ${generated_events_dir}/common_with_enums.json) add_custom_command(OUTPUT ${generated_events_px4_file} COMMAND ${CMAKE_COMMAND} -E make_directory ${generated_events_dir} COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_events.py - --src-path ${all_px4_src_files} + --base-path ${PX4_SOURCE_DIR}/src + --src-path ${all_px4_src_files_relative} --json ${generated_events_px4_file} #--verbose DEPENDS ${all_px4_src_files} @@ -110,3 +118,12 @@ add_custom_command(OUTPUT ${generated_events_header} ) add_custom_target(events_header DEPENDS ${generated_events_header}) add_dependencies(prebuild_targets events_header) + +# Build the interface(s) +if (${PX4_PLATFORM} STREQUAL "nuttx" AND NOT CONFIG_BUILD_FLAT) + list(APPEND EXTRA_SRCS events_ioctl.cpp) + add_library(usr_events usr_events.cpp) + add_dependencies(usr_events prebuild_targets) +endif() + +px4_add_library(events events.cpp ${EXTRA_SRCS}) diff --git a/src/lib/events/enums.json b/src/lib/events/enums.json index ff8ed065112c..1a0817c8adbb 100644 --- a/src/lib/events/enums.json +++ b/src/lib/events/enums.json @@ -110,6 +110,38 @@ "4194304": { "name": "vtol_takeoff", "description": "VTOL Takeoff" + }, + "8388608": { + "name": "external1", + "description": "External 1" + }, + "16777216": { + "name": "external2", + "description": "External 2" + }, + "33554432": { + "name": "external3", + "description": "External 3" + }, + "67108864": { + "name": "external4", + "description": "External 4" + }, + "134217728": { + "name": "external5", + "description": "External 5" + }, + "268435456": { + "name": "external6", + "description": "External 6" + }, + "536870912": { + "name": "external7", + "description": "External 7" + }, + "1073741824": { + "name": "external8", + "description": "External 8" } } }, @@ -240,6 +272,10 @@ "536870912": { "name": "gyro", "description": "Gyroscope" + }, + "1073741824": { + "name": "open_drone_id", + "description": "Open Drone ID system" } } }, @@ -328,7 +364,7 @@ }, "1": { "name": "manual_control_loss", - "description": "manual control loss" + "description": "Manual control loss" }, "2": { "name": "gcs_connection_loss", @@ -336,15 +372,19 @@ }, "3": { "name": "low_battery_level", - "description": "low battery level" + "description": "Low battery level" }, "4": { "name": "critical_battery_level", - "description": "critical battery level" + "description": "Critical battery level" }, "5": { "name": "emergency_battery_level", - "description": "emergency battery level" + "description": "Emergency battery level" + }, + "6": { + "name": "low_remaining_flight_time", + "description": "Remaining flight time low" } } }, @@ -362,19 +402,19 @@ }, "2": { "name": "fallback_posctrl", - "description": "fallback to position control" + "description": "Position mode" }, "3": { "name": "fallback_altctrl", - "description": "fallback to altitude control" + "description": "Altitude mode" }, "4": { "name": "fallback_stabilized", - "description": "fallback to stabilized" + "description": "Stabilized mode" }, "5": { "name": "hold", - "description": "hold" + "description": "Hold" }, "6": { "name": "rtl", @@ -382,11 +422,11 @@ }, "7": { "name": "land", - "description": "land" + "description": "Land" }, "8": { "name": "descend", - "description": "descend" + "description": "Descend" }, "9": { "name": "disarm", @@ -504,6 +544,10 @@ "name": "stab", "description": "Stabilized" }, + "9": { + "name": "position_slow", + "description": "Position Slow" + }, "10": { "name": "auto_takeoff", "description": "Takeoff" @@ -528,6 +572,38 @@ "name": "auto_vtol_takeoff", "description": "Vtol Takeoff" }, + "16": { + "name": "external1", + "description": "External 1" + }, + "17": { + "name": "external2", + "description": "External 2" + }, + "18": { + "name": "external3", + "description": "External 3" + }, + "19": { + "name": "external4", + "description": "External 4" + }, + "20": { + "name": "external5", + "description": "External 5" + }, + "21": { + "name": "external6", + "description": "External 6" + }, + "22": { + "name": "external7", + "description": "External 7" + }, + "23": { + "name": "external8", + "description": "External 8" + }, "255": { "name": "unknown", "description": "[Unknown]" @@ -555,7 +631,7 @@ "description": "Battery reported over-current" }, "4": { - "name": "fault_temperature", + "name": "over_temperature", "description": "Battery has reached a critical temperature which can result in a critical failure" }, "5": { @@ -579,26 +655,8 @@ "description": "Battery reported an hardware problem" }, "10": { - "name": "over_temperature", - "description": "Battery is over-heating" - } - } - }, - "battery_mode_t": { - "type": "uint8_t", - "description": "Smart battery modes of operation", - "entries": { - "0": { - "name": "unknown", - "description": "unknown" - }, - "1": { - "name": "autodischarging", - "description": "auto discharging towards storage level" - }, - "2": { - "name": "hotswap", - "description": "hot-swap" + "name": "failed_to_arm", + "description": "Battery failed to arm" } } }, @@ -665,24 +723,6 @@ "description": "Reduce throttle!" } } - }, - "geofence_violation_reason_t": { - "type": "uint8_t", - "description": "Reason for geofence violation", - "entries": { - "0": { - "name": "dist_to_home_exceeded", - "description": "maximum distance to home exceeded" - }, - "1": { - "name": "max_altitude_exceeded", - "description": "maximum altitude exceeded" - }, - "2": { - "name": "fence_violation", - "description": "approaching or outside geofence" - } - } } }, "navigation_mode_groups": { @@ -701,7 +741,15 @@ "19": [134479872], "20": [151257088], "21": [16973824], - "22": [168034304] + "22": [168034304], + "23": [184811520], + "24": [201588736], + "25": [218365952], + "26": [235143168], + "27": [251920384], + "28": [268697600], + "29": [285474816], + "30": [302252032] } }, "supported_protocols": [ "health_and_arming_check" ] diff --git a/platforms/common/events.cpp b/src/lib/events/events.cpp similarity index 95% rename from platforms/common/events.cpp rename to src/lib/events/events.cpp index c4d6867020c0..2cac17c3f1e5 100644 --- a/platforms/common/events.cpp +++ b/src/lib/events/events.cpp @@ -45,7 +45,7 @@ static uint16_t event_sequence{events::initial_event_sequence}; namespace events { -void send(EventType &event) +void send(event_s &event) { event.timestamp = hrt_absolute_time(); @@ -61,7 +61,7 @@ void send(EventType &event) orb_publish(ORB_ID(event), orb_event_pub, &event); } else { - orb_event_pub = orb_advertise_queue(ORB_ID(event), &event, event_s::ORB_QUEUE_LENGTH); + orb_event_pub = orb_advertise(ORB_ID(event), &event); } pthread_mutex_unlock(&publish_event_mutex); diff --git a/src/lib/events/events.h b/src/lib/events/events.h new file mode 100644 index 000000000000..929dbc498279 --- /dev/null +++ b/src/lib/events/events.h @@ -0,0 +1,36 @@ +/**************************************************************************** + * + * Copyright (c) 2023 Technology Innovation Institute. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#pragma once + +void events_ioctl_init(void); diff --git a/src/lib/events/events_ioctl.cpp b/src/lib/events/events_ioctl.cpp new file mode 100644 index 000000000000..a3c8260ddd8b --- /dev/null +++ b/src/lib/events/events_ioctl.cpp @@ -0,0 +1,68 @@ +/**************************************************************************** + * + * Copyright (c) 2023 Technology Innovation Institute. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file events_ioctl.cpp + * + * Interface to send events from user space. + */ + +#include + +#include + +#include "events_ioctl.h" + +static int events_ioctl(unsigned int cmd, unsigned long arg) +{ + int ret = OK; + + switch (cmd) { + case EVENTSIOCSEND: { + eventiocsend_t *data = (eventiocsend_t *)arg; + events::send(data->event); + } + break; + + default: + ret = -ENOTTY; + break; + } + + return ret; +} + +void events_ioctl_init(void) +{ + px4_register_boardct_ioctl(_EVENTSIOCBASE, events_ioctl); +} diff --git a/src/lib/events/events_ioctl.h b/src/lib/events/events_ioctl.h new file mode 100644 index 000000000000..e3b6b0e07461 --- /dev/null +++ b/src/lib/events/events_ioctl.h @@ -0,0 +1,51 @@ +/**************************************************************************** + * + * Copyright (c) 2023 Technology Innovation Institute. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file events_ioctl.h + * + * User space - kernel space interface for dispatching events. + */ + +#pragma once + +#include +#include +#include + +#define _EVENTSIOC(_n) (_PX4_IOC(_EVENTSIOCBASE, _n)) + +#define EVENTSIOCSEND _EVENTSIOC(1) +typedef struct eventiocsend { + event_s &event; +} eventiocsend_t; diff --git a/src/lib/events/libevents b/src/lib/events/libevents index a9a3fc07abb8..9474657606d1 160000 --- a/src/lib/events/libevents +++ b/src/lib/events/libevents @@ -1 +1 @@ -Subproject commit a9a3fc07abb8bd8eb6fbca64c35b479cab91ff35 +Subproject commit 9474657606d13301d426e044450c4f84de2221be diff --git a/src/lib/events/usr_events.cpp b/src/lib/events/usr_events.cpp new file mode 100644 index 000000000000..e989437a7734 --- /dev/null +++ b/src/lib/events/usr_events.cpp @@ -0,0 +1,53 @@ +/**************************************************************************** + * + * Copyright (c) 2023 Technology Innovation Institute. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file usr_events.cpp + * + * User space interface for dispatching events. + */ + +#include + +#include "events_ioctl.h" + +namespace events +{ + +void send(event_s &event) +{ + eventiocsend_t data = {event}; + boardctl(EVENTSIOCSEND, reinterpret_cast(&data)); +} + +} /* namespace events */ diff --git a/src/lib/fw_performance_model/CMakeLists.txt b/src/lib/fw_performance_model/CMakeLists.txt new file mode 100644 index 000000000000..a09424fdeeae --- /dev/null +++ b/src/lib/fw_performance_model/CMakeLists.txt @@ -0,0 +1,36 @@ +############################################################################ +# +# Copyright (c) 2023 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +px4_add_library(performance_model + PerformanceModel.cpp +) diff --git a/src/lib/fw_performance_model/PerformanceModel.cpp b/src/lib/fw_performance_model/PerformanceModel.cpp new file mode 100644 index 000000000000..6fb315cb8933 --- /dev/null +++ b/src/lib/fw_performance_model/PerformanceModel.cpp @@ -0,0 +1,235 @@ +/**************************************************************************** + * + * Copyright (c) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + + +/** + * @file PerformanceModel.cpp + * Performance model. + */ + +#include +#include +#include "PerformanceModel.hpp" +#include + +using namespace atmosphere; + + +// [.] minimum ratio between the actual vehicle weight and the vehicle nominal weight (weight at which the performance limits are derived) +static constexpr float kMinWeightRatio = 0.5f; + +// [.] maximum ratio between the actual vehicle weight and the vehicle nominal weight (weight at which the performance limits are derived) +static constexpr float kMaxWeightRatio = 2.0f; + +// [m/s] climbrate defining the service ceiling, used to compensate max climbrate based on air density +static constexpr float kClimbRateAtServiceCeiling = 0.5f; + +PerformanceModel::PerformanceModel(): ModuleParams(nullptr) +{ + updateParams(); +} +float PerformanceModel::getWeightRatio() const +{ + float weight_factor = 1.0f; + + if (_param_weight_base.get() > FLT_EPSILON && _param_weight_gross.get() > FLT_EPSILON) { + weight_factor = math::constrain(_param_weight_gross.get() / _param_weight_base.get(), kMinWeightRatio, + kMaxWeightRatio); + } + + return weight_factor; +} +float PerformanceModel::getMaximumClimbRate(float air_density) const +{ + air_density = sanitiseAirDensity(air_density); + float climbrate_max = _param_fw_t_clmb_max.get(); + + const float service_ceiling = _param_service_ceiling.get(); + + if (service_ceiling > FLT_EPSILON) { + const float ceiling_pressure = getPressureFromAltitude(service_ceiling); + const float ceiling_density = getDensityFromPressureAndTemp(ceiling_pressure, + getStandardTemperatureAtAltitude(service_ceiling)); + const float climbrate_gradient = math::max((_param_fw_t_clmb_max.get() - kClimbRateAtServiceCeiling) / + (kAirDensitySeaLevelStandardAtmos - + ceiling_density), 0.0f); + const float delta_rho = air_density - kAirDensitySeaLevelStandardAtmos; + climbrate_max = math::constrain(_param_fw_t_clmb_max.get() + climbrate_gradient * delta_rho, kClimbRateAtServiceCeiling, + _param_fw_t_clmb_max.get()); + } + + return climbrate_max / getWeightRatio(); +} +float PerformanceModel::getTrimThrottle(float throttle_min, float throttle_max, float airspeed_sp, + float air_density) const +{ + const float throttle_trim = getTrimThrottleForCalibratedAirspeed(airspeed_sp) * getAirDensityThrottleScale( + air_density); + return math::constrain(throttle_trim, throttle_min, throttle_max); +} + +float PerformanceModel::getAirDensityThrottleScale(float air_density) const +{ + air_density = sanitiseAirDensity(air_density); + float air_density_throttle_scale = 1.0f; + + // scale throttle as a function of sqrt(rho0/rho) + const float eas2tas = sqrtf(kAirDensitySeaLevelStandardAtmos / air_density); + const float eas2tas_at_11km_amsl = sqrtf(kAirDensitySeaLevelStandardAtmos / kAirDensityStandardAtmos11000Amsl); + air_density_throttle_scale = math::constrain(eas2tas, 1.f, eas2tas_at_11km_amsl); + + return air_density_throttle_scale; +} +float PerformanceModel::getTrimThrottleForCalibratedAirspeed(float calibrated_airspeed_sp) const +{ + float throttle_trim = + _param_fw_thr_trim.get(); // throttle required for level flight at trim airspeed, at sea level (standard atmosphere) + + // Drag modelling (parasite drag): calculate mapping airspeed-->throttle, assuming a linear relation with different gradients +// above and below trim. This is tunable thorugh FW_THR_ASPD_MIN and FW_THR_ASPD_MAX. + const float slope_below_trim = (_param_fw_thr_trim.get() - _param_fw_thr_aspd_min.get()) / + (_param_fw_airspd_trim.get() - _param_fw_airspd_min.get()); + const float slope_above_trim = (_param_fw_thr_aspd_max.get() - _param_fw_thr_trim.get()) / + (_param_fw_airspd_max.get() - _param_fw_airspd_trim.get()); + + if (PX4_ISFINITE(calibrated_airspeed_sp) && PX4_ISFINITE(slope_below_trim) && _param_fw_thr_aspd_min.get() > FLT_EPSILON + && calibrated_airspeed_sp < _param_fw_airspd_trim.get()) { + throttle_trim = _param_fw_thr_trim.get() - slope_below_trim * (_param_fw_airspd_trim.get() - calibrated_airspeed_sp); + + } else if (PX4_ISFINITE(calibrated_airspeed_sp) && PX4_ISFINITE(slope_above_trim) + && _param_fw_thr_aspd_max.get() > FLT_EPSILON + && calibrated_airspeed_sp > _param_fw_airspd_trim.get()) { + throttle_trim = _param_fw_thr_trim.get() + slope_above_trim * (calibrated_airspeed_sp - _param_fw_airspd_trim.get()); + } + + return throttle_trim; +} +float PerformanceModel::getMinimumSinkRate(float air_density) const +{ + air_density = sanitiseAirDensity(air_density); + return _param_fw_t_sink_min.get() * sqrtf(getWeightRatio() * kAirDensitySeaLevelStandardAtmos / air_density); +} +float PerformanceModel::getCalibratedTrimAirspeed() const +{ + return math::constrain(_param_fw_airspd_trim.get() * sqrtf(getWeightRatio()), _param_fw_airspd_min.get(), + _param_fw_airspd_max.get()); +} +float PerformanceModel::getMinimumCalibratedAirspeed(float load_factor) const +{ + + load_factor = math::max(load_factor, FLT_EPSILON); + return _param_fw_airspd_min.get() * sqrtf(getWeightRatio() * load_factor); +} + +float PerformanceModel::getCalibratedStallAirspeed(float load_factor) const +{ + load_factor = math::max(load_factor, FLT_EPSILON); + return _param_fw_airspd_stall.get() * sqrtf(getWeightRatio() * load_factor); +} + +float PerformanceModel::getMaximumCalibratedAirspeed() const +{ + return _param_fw_airspd_max.get(); +} +bool PerformanceModel::runSanityChecks() const +{ + bool ret = true; + + // sanity check parameters + if (_param_fw_airspd_max.get() < _param_fw_airspd_min.get()) { + /* EVENT + * @description + * - FW_AIRSPD_MAX: {1:.1} + * - FW_AIRSPD_MIN: {2:.1} + */ + events::send(events::ID("fixedwing_position_control_conf_invalid_airspeed"), events::Log::Error, + "Invalid configuration: Airspeed max smaller than min", + _param_fw_airspd_max.get(), _param_fw_airspd_min.get()); + ret = false; + } + + if (_param_fw_airspd_max.get() < 5.0f || _param_fw_airspd_min.get() > 100.0f) { + /* EVENT + * @description + * - FW_AIRSPD_MAX: {1:.1} + * - FW_AIRSPD_MIN: {2:.1} + */ + events::send(events::ID("fixedwing_position_control_conf_invalid_airspeed_bounds"), events::Log::Error, + "Invalid configuration: Airspeed max \\< 5 m/s or min \\> 100 m/s", + _param_fw_airspd_max.get(), _param_fw_airspd_min.get()); + ret = false; + } + + if (_param_fw_airspd_trim.get() < _param_fw_airspd_min.get() || + _param_fw_airspd_trim.get() > _param_fw_airspd_max.get()) { + /* EVENT + * @description + * - FW_AIRSPD_MAX: {1:.1} + * - FW_AIRSPD_MIN: {2:.1} + * - FW_AIRSPD_TRIM: {3:.1} + */ + events::send(events::ID("fixedwing_position_control_conf_invalid_trim_bounds"), + events::Log::Error, + "Invalid configuration: Airspeed trim out of min or max bounds", + _param_fw_airspd_max.get(), _param_fw_airspd_min.get(), _param_fw_airspd_trim.get()); + ret = false; + } + + if (_param_fw_airspd_stall.get() > _param_fw_airspd_min.get()) { + /* EVENT + * @description + * - FW_AIRSPD_MIN: {1:.1} + * - FW_AIRSPD_STALL: {2:.1} + */ + events::send(events::ID("fixedwing_position_control_conf_invalid_stall"), events::Log::Error, + "Invalid configuration: FW_AIRSPD_STALL higher FW_AIRSPD_MIN", + _param_fw_airspd_min.get(), _param_fw_airspd_stall.get()); + ret = false; + } + + return ret; + +} +void PerformanceModel:: updateParameters() +{ + updateParams(); +} + +float PerformanceModel::sanitiseAirDensity(float air_density) +{ + if (!PX4_ISFINITE(air_density)) { + air_density = kAirDensitySeaLevelStandardAtmos; + } + + return math::max(air_density, kAirDensityStandardAtmos11000Amsl); +} diff --git a/src/lib/fw_performance_model/PerformanceModel.hpp b/src/lib/fw_performance_model/PerformanceModel.hpp new file mode 100644 index 000000000000..fbdd8693c21d --- /dev/null +++ b/src/lib/fw_performance_model/PerformanceModel.hpp @@ -0,0 +1,150 @@ +/**************************************************************************** + * + * Copyright (c) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + + +/** + * @file PerformanceModel.hpp + * Performance model. + */ + +#include + +#ifndef PX4_SRC_MODULES_FW_POS_CONTROL_PERFORMANCEMODEL_H_ +#define PX4_SRC_MODULES_FW_POS_CONTROL_PERFORMANCEMODEL_H_ + +class PerformanceModel : public ModuleParams +{ +public: + PerformanceModel(); + ~PerformanceModel() = default; + + void updateParameters(); + + /** + * Get the maximum climb rate (true airspeed) expected for current air density and weight. + * @param air_density in kg/m^3 + * @return maximum climb rate in m/s + */ + float getMaximumClimbRate(float air_density) const; + + /** + * Get the minimum sink rate (true airspeed) expected for current air density and weight. + * @param air_density in kg/m^3 + * @return minimum sink rate in m/s + */ + float getMinimumSinkRate(float air_density) const; + + /** + * Get the ration of actual weight to base weight + * @return weight ratio + */ + float getWeightRatio() const; + + /** + * Get the trim throttle for the current airspeed setpoint as well as air density and weight. + * @param throttle_min minimum throttle in range [0,1] + * @param throttle_max maximum throttle in range [0,1] + * @param airspeed_sp calibrated airspeed setpoint in m/s + * @param air_density air density in kg/m^3 + * @return trim throttle in range [0,1] + */ + float getTrimThrottle(float throttle_min, float throttle_max, float airspeed_sp, float air_density) const; + + /** + * Get the throttle scale factor for the current air density. + * @param air_density in kg/m^3 + * @return throttle scale factor for air density + */ + float getAirDensityThrottleScale(float air_density) const; + + /** + * Get the trim airspeed compensated for weight. + * @return calibrated trim airspeed in m/s + */ + float getCalibratedTrimAirspeed() const; + + /** + * Get the minimum airspeed compensated for weight and load factor due to bank angle. + * @param load_factor due to banking + * @return calibrated minimum airspeed in m/s + */ + float getMinimumCalibratedAirspeed(float load_factor = 1.0f) const; + + /** + * Get the maximum airspeed. + * @return calibrated maximum airspeed in m/s + */ + float getMaximumCalibratedAirspeed() const; + + /** + * get the stall airspeed compensated for load factor due to bank angle. + * @param load_factor load factor due to banking + * @return calibrated stall airspeed in m/s + */ + float getCalibratedStallAirspeed(float load_factor) const; + + /** + * Run some checks on parameters and detect unfeasible combinations. + * @return true if all checks pass + */ + bool runSanityChecks() const; + +private: + DEFINE_PARAMETERS( + (ParamFloat) _param_fw_airspd_max, + (ParamFloat) _param_fw_airspd_min, + (ParamFloat) _param_fw_airspd_trim, + (ParamFloat) _param_fw_airspd_stall, + (ParamFloat) _param_fw_t_clmb_max, + (ParamFloat) _param_fw_t_sink_min, + (ParamFloat) _param_weight_base, + (ParamFloat) _param_weight_gross, + (ParamFloat) _param_service_ceiling, + (ParamFloat) _param_fw_thr_trim, + (ParamFloat) _param_fw_thr_max, + (ParamFloat) _param_fw_thr_min, + (ParamFloat) _param_fw_thr_aspd_min, + (ParamFloat) _param_fw_thr_aspd_max) + + /** + * Get the sea level trim throttle for a given calibrated airspeed setpoint. + * @param calibrated_airspeed_sp [m/s] calibrated + * @return trim throttle [0, 1] at sea level + */ + float getTrimThrottleForCalibratedAirspeed(float calibrated_airspeed_sp) const; + + + static float sanitiseAirDensity(float air_density); +}; + +#endif //PX4_SRC_MODULES_FW_POS_CONTROL_PERFORMANCEMODEL_H_ diff --git a/src/lib/fw_performance_model/performance_model_params.c b/src/lib/fw_performance_model/performance_model_params.c new file mode 100644 index 000000000000..0c39d2ed39c5 --- /dev/null +++ b/src/lib/fw_performance_model/performance_model_params.c @@ -0,0 +1,214 @@ +/**************************************************************************** + * + * Copyright (c) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * Trim throttle + * + * Required throttle (at sea level, standard atmosphere) for level flight at FW_AIRSPD_TRIM + * + * @unit norm + * @min 0.0 + * @max 1.0 + * @decimal 2 + * @increment 0.01 + * @group FW Performance + */ +PARAM_DEFINE_FLOAT(FW_THR_TRIM, 0.6f); + +/** + * Throttle at min airspeed + * + * Required throttle (at sea level, standard atmosphere) for level flight at minimum airspeed FW_AIRSPD_MIN + * + * Set to 0 to disable mapping of airspeed to trim throttle below FW_AIRSPD_TRIM. + * + * @min 0 + * @max 1 + * @decimal 2 + * @increment 0.01 + * @group FW Performance + */ +PARAM_DEFINE_FLOAT(FW_THR_ASPD_MIN, 0.f); + +/** + * Throttle at max airspeed + * + * Required throttle (at sea level, standard atmosphere) for level flight at maximum airspeed FW_AIRSPD_MAX + * + * Set to 0 to disable mapping of airspeed to trim throttle. + * + * @min 0 + * @max 1 + * @decimal 2 + * @increment 0.01 + * @group FW Performance + */ +PARAM_DEFINE_FLOAT(FW_THR_ASPD_MAX, 0.f); + + +/** + * Service ceiling + * + * Altitude in standard atmosphere at which the vehicle in normal configuration (WEIGHT_BASE) is still able to achieve a maximum climb rate of + * 0.5m/s at maximum throttle (FW_THR_MAX). Used to compensate for air density in FW_T_CLMB_MAX. + * Set negative to disable. + * + * @min -1.0 + * @unit m + * @decimal 0 + * @increment 1.0 + * @group FW Performance + */ +PARAM_DEFINE_FLOAT(FW_SERVICE_CEIL, -1.0f); + +/** + * Vehicle base weight. + * + * This is the weight of the vehicle at which it's performance limits were derived. A zero or negative value + * disables trim throttle and minimum airspeed compensation based on weight. + * + * @unit kg + * @decimal 1 + * @increment 0.5 + * @group FW Performance + */ +PARAM_DEFINE_FLOAT(WEIGHT_BASE, -1.0f); + +/** + * Vehicle gross weight. + * + * This is the actual weight of the vehicle at any time. This value will differ from WEIGHT_BASE in case weight was added + * or removed from the base weight. Examples are the addition of payloads or larger batteries. A zero or negative value + * disables trim throttle and minimum airspeed compensation based on weight. + * + * @unit kg + * @decimal 1 + * @increment 0.1 + * @group FW Performance + */ +PARAM_DEFINE_FLOAT(WEIGHT_GROSS, -1.0f); + +/** + * Maximum climb rate + * + * This is the maximum calibrated climb rate that the aircraft can achieve with + * the throttle set to FW_THR_MAX and the airspeed set to the + * trim value. For electric aircraft make sure this number can be + * achieved towards the end of flight when the battery voltage has reduced. + * + * @unit m/s + * @min 1.0 + * @max 15.0 + * @decimal 1 + * @increment 0.5 + * @group FW Performance + */ +PARAM_DEFINE_FLOAT(FW_T_CLMB_MAX, 5.0f); + +/** + * Minimum descent rate + * + * This is the minimum calibrated sink rate of the aircraft with the throttle + * set to THR_MIN and flown at the same airspeed as used + * to measure FW_T_CLMB_MAX. + * + * @unit m/s + * @min 1.0 + * @max 5.0 + * @decimal 1 + * @increment 0.5 + * @group FW Performance + */ +PARAM_DEFINE_FLOAT(FW_T_SINK_MIN, 2.0f); + +/** + * Trim (Cruise) Airspeed + * + * The trim CAS (calibrated airspeed) of the vehicle. If an airspeed controller is active, + * this is the default airspeed setpoint that the controller will try to achieve. + * This value corresponds to the trim airspeed with the default load factor (level flight, default weight). + * + * @unit m/s + * @min 0.5 + * @decimal 1 + * @increment 0.5 + * @group FW Performance + */ +PARAM_DEFINE_FLOAT(FW_AIRSPD_TRIM, 15.0f); + +/** + * Stall Airspeed (CAS) + * + * The stall airspeed (calibrated airspeed) of the vehicle. + * It is used for airspeed sensor failure detection and for the control + * surface scaling airspeed limits. + * + * @unit m/s + * @min 0.5 + * @decimal 1 + * @increment 0.5 + * @group FW Performance + */ +PARAM_DEFINE_FLOAT(FW_AIRSPD_STALL, 7.0f); + +/** + * Minimum Airspeed (CAS) + * + * The minimal airspeed (calibrated airspeed) the user is able to command. + * Further, if the airspeed falls below this value, the TECS controller will try to + * increase airspeed more aggressively. + * Has to be set according to the vehicle's stall speed (which should be set in FW_AIRSPD_STALL), + * with some margin between the stall speed and minimum airspeed. + * This value corresponds to the desired minimum speed with the default load factor (level flight, default weight), + * and is automatically adpated to the current load factor (calculated from roll setpoint and WEIGHT_GROSS/WEIGHT_BASE). + * + * @unit m/s + * @min 0.5 + * @decimal 1 + * @increment 0.5 + * @group FW Performance + */ +PARAM_DEFINE_FLOAT(FW_AIRSPD_MIN, 10.0f); + +/** + * Maximum Airspeed (CAS) + * + * The maximal airspeed (calibrated airspeed) the user is able to command. + * + * @unit m/s + * @min 0.5 + * @decimal 1 + * @increment 0.5 + * @group FW Performance + */ +PARAM_DEFINE_FLOAT(FW_AIRSPD_MAX, 20.0f); diff --git a/src/lib/geo/geo.h b/src/lib/geo/geo.h index 8d38bd263253..30cc10b6fedc 100644 --- a/src/lib/geo/geo.h +++ b/src/lib/geo/geo.h @@ -54,19 +54,8 @@ #include static constexpr float CONSTANTS_ONE_G = 9.80665f; // m/s^2 - -static constexpr float CONSTANTS_STD_PRESSURE_PA = 101325.0f; // pascals (Pa) -static constexpr float CONSTANTS_STD_PRESSURE_KPA = CONSTANTS_STD_PRESSURE_PA / 1000.0f; // kilopascals (kPa) -static constexpr float CONSTANTS_STD_PRESSURE_MBAR = CONSTANTS_STD_PRESSURE_PA / - 100.0f; // Millibar (mbar) (1 mbar = 100 Pa) - -static constexpr float CONSTANTS_AIR_DENSITY_SEA_LEVEL_15C = 1.225f; // kg/m^3 -static constexpr float CONSTANTS_AIR_GAS_CONST = 287.1f; // J/(kg * K) -static constexpr float CONSTANTS_ABSOLUTE_NULL_CELSIUS = -273.15f; // °C - static constexpr double CONSTANTS_RADIUS_OF_EARTH = 6371000; // meters (m) static constexpr float CONSTANTS_RADIUS_OF_EARTH_F = CONSTANTS_RADIUS_OF_EARTH; // meters (m) - static constexpr float CONSTANTS_EARTH_SPIN_RATE = 7.2921150e-5f; // radians/second (rad/s) diff --git a/src/lib/geo/test_geo.cpp b/src/lib/geo/test_geo.cpp index e93bdae0f6be..0cd3d835aaf4 100644 --- a/src/lib/geo/test_geo.cpp +++ b/src/lib/geo/test_geo.cpp @@ -42,7 +42,7 @@ class GeoTest : public ::testing::Test public: void SetUp() override { - proj.initReference(math::radians(473566094 / 1e7), math::radians(85190237 / 1e7), 0); + proj.initReference(473566094 / 1e7, 85190237 / 1e7, 0); } protected: @@ -73,7 +73,7 @@ TEST_F(GeoTest, reprojectProject) TEST_F(GeoTest, projectReproject) { - // GIVEN: x and y coordinates in the local cartesian frame + // GIVEN: lat and lon coordinates in the geographic coordinate system double lat = 47.356616973876953; double lon = 8.5190505981445313; float x; diff --git a/src/lib/heatshrink/CMakeLists.txt b/src/lib/heatshrink/CMakeLists.txt new file mode 100644 index 000000000000..bd07dc825409 --- /dev/null +++ b/src/lib/heatshrink/CMakeLists.txt @@ -0,0 +1,42 @@ +############################################################################ +# +# Copyright (c) 2023 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +px4_add_git_submodule(TARGET git_heatshrink PATH heatshrink) + +px4_add_library(heatshrink + heatshrink/heatshrink_decoder.c +) + +target_compile_options(heatshrink PRIVATE + ${MAX_CUSTOM_OPT_LEVEL} + -DHEATSHRINK_DYNAMIC_ALLOC=0) diff --git a/src/lib/heatshrink/heatshrink b/src/lib/heatshrink/heatshrink new file mode 160000 index 000000000000..052e6de72f67 --- /dev/null +++ b/src/lib/heatshrink/heatshrink @@ -0,0 +1 @@ +Subproject commit 052e6de72f67f1777198bce98f3de62f7f3c16a0 diff --git a/src/lib/heatshrink/heatshrink_encode.py b/src/lib/heatshrink/heatshrink_encode.py new file mode 100644 index 000000000000..01beb02c7a58 --- /dev/null +++ b/src/lib/heatshrink/heatshrink_encode.py @@ -0,0 +1,421 @@ +import ctypes +from enum import Enum + + +# Note: this implementation directly follows the heatshrink_encoder.c code +# (it's neither expected to be very efficient, nor is it pythonic) + +# Enum +class HSE_state(ctypes.c_int): + HSES_NOT_FULL = 0 + HSES_FILLED = 1 + HSES_SEARCH = 2 + HSES_YIELD_TAG_BIT = 3 + HSES_YIELD_LITERAL = 4 + HSES_YIELD_BR_INDEX = 5 + HSES_YIELD_BR_LENGTH = 6 + HSES_SAVE_BACKLOG = 7 + HSES_FLUSH_BITS = 8 + HSES_DONE = 9 + + +# Constants +FLAG_IS_FINISHING = 0x01 +MATCH_NOT_FOUND = 0xFFFF + +HEATSHRINK_LITERAL_MARKER = 0x01 +HEATSHRINK_BACKREF_MARKER = 0x00 + + +# Structs +class output_info(ctypes.Structure): + _fields_ = [ + ("buf", ctypes.POINTER(ctypes.c_uint8)), + ("buf_size", ctypes.c_size_t), + ("output_size", ctypes.POINTER(ctypes.c_size_t)) + ] + + +# Functions +def add_tag_bit(hse, oi, tag): + push_bits(hse, 1, tag, oi) + + +def push_bits(hse, count, bits, oi): + assert count <= 8 + current_byte = ctypes.c_uint8(hse.current_byte) + bit_index = ctypes.c_uint8(hse.bit_index) + for i in range(count - 1, -1, -1): + bit = bits & (1 << i) + if bit: + current_byte.value |= bit_index.value + bit_index.value >>= 1 + if bit_index.value == 0: + bit_index.value = 0x80 + oi.buf[oi.output_size[0]] = current_byte.value + oi.output_size[0] += 1 + current_byte.value = 0 + hse.current_byte = current_byte.value + hse.bit_index = bit_index.value + + +def push_literal_byte(hse, oi): + processed_offset = hse.match_scan_index - 1 + input_offset = get_input_offset(hse) + processed_offset + c = hse.buffer[input_offset] + push_bits(hse, 8, c, oi) + + +# Define necessary structures and enums +class heatshrink_encoder(ctypes.Structure): + _fields_ = [ + ("input_size", ctypes.c_uint16), + ("match_scan_index", ctypes.c_uint16), + ("match_length", ctypes.c_uint16), + ("match_pos", ctypes.c_uint16), + ("outgoing_bits", ctypes.c_uint16), + ("outgoing_bits_count", ctypes.c_uint8), + ("flags", ctypes.c_uint8), + ("state", ctypes.c_uint8), + ("current_byte", ctypes.c_uint8), + ("bit_index", ctypes.c_uint8), + + ("buffer", ctypes.POINTER(ctypes.c_uint8)), + ] + + def __init__(self, window_size=8, lookahead_size=4): + super().__init__() + self.window_size = window_size + self.lookahead_size = lookahead_size + self.search_index = hs_index(window_size) + self.buffer = (ctypes.c_uint8 * (2 << window_size))() + self.bit_index = 0x80 + + +class hs_index(ctypes.Structure): + _fields_ = [("index", ctypes.POINTER(ctypes.c_int16))] + + def __init__(self, window_size): + super().__init__() + self.index = (ctypes.c_int16 * (2 << window_size))() + + +class HSE_sink_res(Enum): + HSER_SINK_OK = 0 + HSER_SINK_ERROR_NULL = -1 + HSER_SINK_ERROR_MISUSE = -2 + + +class HSE_poll_res(Enum): + HSER_POLL_EMPTY = 0 + HSER_POLL_MORE = 1 + HSER_POLL_ERROR_NULL = -1 + HSER_POLL_ERROR_MISUSE = -2 + + +class HSE_finish_res(Enum): + HSER_FINISH_DONE = 0 + HSER_FINISH_MORE = 1 + HSER_FINISH_ERROR_NULL = -1 + + +def is_finishing(hse): + return hse.flags & FLAG_IS_FINISHING + + +def can_take_byte(oi): + return oi.output_size[0] < oi.buf_size + + +def get_input_buffer_size(hse): + return 1 << hse.window_size + + +def get_lookahead_size(hse): + return 1 << hse.lookahead_size + + +def get_input_offset(hse): + return get_input_buffer_size(hse) + + +def heatshrink_encoder_sink(hse, in_buf, size, input_size): + if hse is None or in_buf is None or input_size is None: + return HSE_sink_res.HSER_SINK_ERROR_NULL + + if is_finishing(hse): + return HSE_sink_res.HSER_SINK_ERROR_MISUSE + + if hse.state != HSE_state.HSES_NOT_FULL: + return HSE_sink_res.HSER_SINK_ERROR_MISUSE + + write_offset = get_input_offset(hse) + hse.input_size + ibs = get_input_buffer_size(hse) + rem = ibs - hse.input_size + cp_sz = min(rem, size) + + for i in range(cp_sz): + hse.buffer[write_offset + i] = in_buf[i] + input_size.value = cp_sz + hse.input_size += cp_sz + + if cp_sz == rem: + hse.state = HSE_state.HSES_FILLED + + return HSE_sink_res.HSER_SINK_OK + + +def do_indexing(hse): + # Build an index array I that contains flattened linked lists + # for the previous instances of every byte in the buffer. + + hsi = hse.search_index + last = [0xffff] * 256 + buf = hse.buffer + index = hsi.index + input_offset = get_input_offset(hse) + end = input_offset + hse.input_size + + for i in range(0, end): + v = buf[i] + lv = last[v] + index[i] = lv + last[v] = i + + +def heatshrink_encoder_poll(hse, out_buf, out_buf_size, output_size): + if hse is None or out_buf is None or output_size is None: + return HSE_poll_res.HSER_POLL_ERROR_NULL + + if out_buf_size == 0: + return HSE_poll_res.HSER_POLL_ERROR_MISUSE + + output_size[0] = 0 + oi = output_info() + oi.buf = out_buf + oi.buf_size = out_buf_size + oi.output_size = output_size + + while True: + in_state = hse.state + if in_state == HSE_state.HSES_NOT_FULL: + return HSE_poll_res.HSER_POLL_EMPTY + elif in_state == HSE_state.HSES_DONE: + return HSE_poll_res.HSER_POLL_EMPTY + elif in_state == HSE_state.HSES_FILLED: + do_indexing(hse) + hse.state = HSE_state.HSES_SEARCH + elif in_state == HSE_state.HSES_SEARCH: + hse.state = st_step_search(hse) + elif in_state == HSE_state.HSES_YIELD_TAG_BIT: + hse.state = st_yield_tag_bit(hse, oi) + elif in_state == HSE_state.HSES_YIELD_LITERAL: + hse.state = st_yield_literal(hse, oi) + elif in_state == HSE_state.HSES_YIELD_BR_INDEX: + hse.state = st_yield_br_index(hse, oi) + elif in_state == HSE_state.HSES_YIELD_BR_LENGTH: + hse.state = st_yield_br_length(hse, oi) + elif in_state == HSE_state.HSES_SAVE_BACKLOG: + hse.state = st_save_backlog(hse) + elif in_state == HSE_state.HSES_FLUSH_BITS: + hse.state = st_flush_bit_buffer(hse, oi) + else: + return HSE_poll_res.HSER_POLL_ERROR_MISUSE + + if hse.state == in_state: + if oi.output_size == oi.buf_size: + return HSE_poll_res.HSER_POLL_MORE + + +def heatshrink_encoder_finish(hse): + hse.flags |= FLAG_IS_FINISHING + if hse.state == HSE_state.HSES_NOT_FULL: + hse.state = HSE_state.HSES_FILLED + if hse.state == HSE_state.HSES_DONE: + return HSE_finish_res.HSER_FINISH_DONE + return HSE_finish_res.HSER_FINISH_MORE + + +def st_step_search(hse): + window_length = get_input_buffer_size(hse) + lookahead_sz = get_lookahead_size(hse) + msi = hse.match_scan_index + + fin = is_finishing(hse) + if msi > hse.input_size - (1 if fin else lookahead_sz): + return HSE_state.HSES_FLUSH_BITS if fin else HSE_state.HSES_SAVE_BACKLOG + + input_offset = get_input_offset(hse) + end = input_offset + msi + start = end - window_length + + max_possible = lookahead_sz if hse.input_size - msi >= lookahead_sz else hse.input_size - msi + + match_pos, match_length = find_longest_match(hse, start, end, max_possible) + + if match_pos == MATCH_NOT_FOUND: + hse.match_scan_index += 1 + hse.match_length = 0 + return HSE_state.HSES_YIELD_TAG_BIT + else: + hse.match_pos = match_pos + hse.match_length = match_length + return HSE_state.HSES_YIELD_TAG_BIT + + +def find_longest_match(hse, start, end, maxlen): + buf = hse.buffer + + match_maxlen = 0 + match_index = MATCH_NOT_FOUND + + needlepoint = end + + pos = hse.search_index.index[end] + buf_needlepoint_maxlen = buf[needlepoint + match_maxlen] + while pos >= start: + + if buf[pos + match_maxlen] != buf_needlepoint_maxlen: + pos = hse.search_index.index[pos] + continue + + length = 1 + for length in range(1, maxlen): + if buf[pos + length] != buf[needlepoint + length]: + break + if length > match_maxlen: + match_maxlen = length + match_index = pos + buf_needlepoint_maxlen = buf[needlepoint + match_maxlen] + if length == maxlen: + break # won't find better + + pos = hse.search_index.index[pos] + + break_even_point = 1 + hse.window_size + hse.lookahead_size + + if match_maxlen > (break_even_point // 8): + return end - match_index, match_maxlen + return MATCH_NOT_FOUND, 0 + + +def push_outgoing_bits(hse, oi): + if hse.outgoing_bits_count > 8: + count = 8 + bits = hse.outgoing_bits >> (hse.outgoing_bits_count - 8) + else: + count = hse.outgoing_bits_count + bits = hse.outgoing_bits + + if count > 0: + push_bits(hse, count, bits, oi) + hse.outgoing_bits_count -= count + return count + + +def st_yield_tag_bit(hse, oi): + if can_take_byte(oi): + if hse.match_length == 0: + add_tag_bit(hse, oi, HEATSHRINK_LITERAL_MARKER) + return HSE_state.HSES_YIELD_LITERAL + else: + add_tag_bit(hse, oi, HEATSHRINK_BACKREF_MARKER) + hse.outgoing_bits = hse.match_pos - 1 + hse.outgoing_bits_count = hse.window_size + return HSE_state.HSES_YIELD_BR_INDEX + else: + return HSE_state.HSES_YIELD_TAG_BIT + + +def st_yield_literal(hse, oi): + if can_take_byte(oi): + push_literal_byte(hse, oi) + return HSE_state.HSES_SEARCH + else: + return HSE_state.HSES_YIELD_LITERAL + + +def st_yield_br_index(hse, oi): + if can_take_byte(oi): + if push_outgoing_bits(hse, oi) > 0: + return HSE_state.HSES_YIELD_BR_INDEX + else: + hse.outgoing_bits = hse.match_length - 1 + hse.outgoing_bits_count = hse.lookahead_size + return HSE_state.HSES_YIELD_BR_LENGTH + else: + return HSE_state.HSES_YIELD_BR_INDEX + + +def st_yield_br_length(hse, oi): + if can_take_byte(oi): + if push_outgoing_bits(hse, oi) > 0: + return HSE_state.HSES_YIELD_BR_LENGTH + else: + hse.match_scan_index += hse.match_length + hse.match_length = 0 + return HSE_state.HSES_SEARCH + else: + return HSE_state.HSES_YIELD_BR_LENGTH + + +def st_save_backlog(hse): + save_backlog(hse) + return HSE_state.HSES_NOT_FULL + + +def st_flush_bit_buffer(hse, oi): + if hse.bit_index == 0x80: + return HSE_state.HSES_DONE + elif can_take_byte(oi): + oi.buf[oi.output_size[0]] = hse.current_byte + oi.output_size[0] += 1 + return HSE_state.HSES_DONE + else: + return HSE_state.HSES_FLUSH_BITS + + +def save_backlog(hse): + input_buf_sz = get_input_buffer_size(hse) + + msi = hse.match_scan_index + + rem = input_buf_sz - msi # unprocessed bytes + shift_sz = input_buf_sz + rem + + for i in range(shift_sz): + hse.buffer[i] = hse.buffer[input_buf_sz - rem + i] + + hse.match_scan_index = 0 + hse.input_size -= input_buf_sz - rem + + +def encode(data, window_size, lookahead_size): + hse = heatshrink_encoder(window_size, lookahead_size) + input_buf = (ctypes.c_uint8 * len(data))() + for i, d in enumerate(data): + input_buf[i] = d + in_size = len(input_buf) + + out_buf_size = 4 * in_size # set output buffer size a bit larger + out_buf = (ctypes.c_uint8 * out_buf_size)() + + sunk = 0 + ret = [] + while sunk < in_size: + input_size = ctypes.c_size_t(in_size) + heatshrink_encoder_sink(hse, input_buf, in_size - sunk, input_size) + input_buf = input_buf[input_size.value:] + sunk += input_size.value + if sunk == in_size: + heatshrink_encoder_finish(hse) + + poll_res = HSE_poll_res.HSER_POLL_MORE + while poll_res == HSE_poll_res.HSER_POLL_MORE: + output_size = (ctypes.c_size_t * 1)() + poll_res = heatshrink_encoder_poll(hse, out_buf, out_buf_size, output_size) + ret += list(out_buf)[0:output_size[0]] + + if sunk == in_size: + heatshrink_encoder_finish(hse) + return ret diff --git a/src/lib/mathlib/CMakeLists.txt b/src/lib/mathlib/CMakeLists.txt index aad1d3446c51..7f3a3d534e0a 100644 --- a/src/lib/mathlib/CMakeLists.txt +++ b/src/lib/mathlib/CMakeLists.txt @@ -33,6 +33,7 @@ px4_add_library(mathlib math/test/test.cpp + math/filter/FilteredDerivative.hpp math/filter/LowPassFilter2p.hpp math/filter/MedianFilter.hpp math/filter/NotchFilter.hpp diff --git a/src/lib/mathlib/math/Functions.hpp b/src/lib/mathlib/math/Functions.hpp index 7fb54442d9b4..77cdb33c3475 100644 --- a/src/lib/mathlib/math/Functions.hpp +++ b/src/lib/mathlib/math/Functions.hpp @@ -290,6 +290,11 @@ inline bool isFinite(const float &value) return PX4_ISFINITE(value); } +inline bool isFinite(const matrix::Vector2f &value) +{ + return value.isAllFinite(); +} + inline bool isFinite(const matrix::Vector3f &value) { return value.isAllFinite(); diff --git a/src/lib/mathlib/math/Utilities.hpp b/src/lib/mathlib/math/Utilities.hpp index 9b8f7047c422..890346b9733c 100644 --- a/src/lib/mathlib/math/Utilities.hpp +++ b/src/lib/mathlib/math/Utilities.hpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2020-2022 PX4 Development Team. All rights reserved. + * Copyright (c) 2020-2024 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -51,17 +51,18 @@ static constexpr float sq(float var) { return var * var; } // rot312(1) - Second rotation is a RH rotation about the X axis (rad) // rot312(2) - Third rotation is a RH rotation about the Y axis (rad) // See http://www.atacolorado.com/eulersequences.doc -inline matrix::Dcmf taitBryan312ToRotMat(const matrix::Vector3f &rot312) +template +inline matrix::Dcm taitBryan312ToRotMat(const matrix::Vector3 &rot312) { // Calculate the frame2 to frame 1 rotation matrix from a 312 Tait-Bryan rotation sequence - const float c2 = cosf(rot312(2)); // third rotation is pitch - const float s2 = sinf(rot312(2)); - const float s1 = sinf(rot312(1)); // second rotation is roll - const float c1 = cosf(rot312(1)); - const float s0 = sinf(rot312(0)); // first rotation is yaw - const float c0 = cosf(rot312(0)); - - matrix::Dcmf R; + const T c2 = cosf(rot312(2)); // third rotation is pitch + const T s2 = sinf(rot312(2)); + const T s1 = sinf(rot312(1)); // second rotation is roll + const T c1 = cosf(rot312(1)); + const T s0 = sinf(rot312(0)); // first rotation is yaw + const T c0 = cosf(rot312(0)); + + matrix::Dcm R; R(0, 0) = c0 * c2 - s0 * s1 * s2; R(1, 1) = c0 * c1; R(2, 2) = c2 * c1; @@ -75,20 +76,21 @@ inline matrix::Dcmf taitBryan312ToRotMat(const matrix::Vector3f &rot312) return R; } -inline matrix::Dcmf quatToInverseRotMat(const matrix::Quatf &quat) +template +inline matrix::Dcm quatToInverseRotMat(const matrix::Quaternion &quat) { - const float q00 = quat(0) * quat(0); - const float q11 = quat(1) * quat(1); - const float q22 = quat(2) * quat(2); - const float q33 = quat(3) * quat(3); - const float q01 = quat(0) * quat(1); - const float q02 = quat(0) * quat(2); - const float q03 = quat(0) * quat(3); - const float q12 = quat(1) * quat(2); - const float q13 = quat(1) * quat(3); - const float q23 = quat(2) * quat(3); - - matrix::Dcmf dcm; + const T q00 = quat(0) * quat(0); + const T q11 = quat(1) * quat(1); + const T q22 = quat(2) * quat(2); + const T q33 = quat(3) * quat(3); + const T q01 = quat(0) * quat(1); + const T q02 = quat(0) * quat(2); + const T q03 = quat(0) * quat(3); + const T q12 = quat(1) * quat(2); + const T q13 = quat(1) * quat(3); + const T q23 = quat(2) * quat(3); + + matrix::Dcm dcm; dcm(0, 0) = q00 + q11 - q22 - q33; dcm(1, 1) = q00 - q11 + q22 - q33; dcm(2, 2) = q00 - q11 - q22 + q33; @@ -105,40 +107,46 @@ inline matrix::Dcmf quatToInverseRotMat(const matrix::Quatf &quat) // We should use a 3-2-1 Tait-Bryan (yaw-pitch-roll) rotation sequence // when there is more roll than pitch tilt and a 3-1-2 rotation sequence // when there is more pitch than roll tilt to avoid gimbal lock. -inline bool shouldUse321RotationSequence(const matrix::Dcmf &R) +template +inline bool shouldUse321RotationSequence(const matrix::Dcm &R) { return fabsf(R(2, 0)) < fabsf(R(2, 1)); } -inline float getEuler321Yaw(const matrix::Dcmf &R) +template +inline float getEuler321Yaw(const matrix::Dcm &R) { return atan2f(R(1, 0), R(0, 0)); } -inline float getEuler312Yaw(const matrix::Dcmf &R) +template +inline float getEuler312Yaw(const matrix::Dcm &R) { return atan2f(-R(0, 1), R(1, 1)); } -inline float getEuler321Yaw(const matrix::Quatf &q) +template +inline T getEuler321Yaw(const matrix::Quaternion &q) { // Values from yaw_input_321.c file produced by // https://github.com/PX4/ecl/blob/master/matlab/scripts/Inertial%20Nav%20EKF/quat2yaw321.m - const float a = 2.f * (q(0) * q(3) + q(1) * q(2)); - const float b = sq(q(0)) + sq(q(1)) - sq(q(2)) - sq(q(3)); + const T a = static_cast(2.) * (q(0) * q(3) + q(1) * q(2)); + const T b = sq(q(0)) + sq(q(1)) - sq(q(2)) - sq(q(3)); return atan2f(a, b); } -inline float getEuler312Yaw(const matrix::Quatf &q) +template +inline T getEuler312Yaw(const matrix::Quaternion &q) { // Values from yaw_input_312.c file produced by // https://github.com/PX4/ecl/blob/master/matlab/scripts/Inertial%20Nav%20EKF/quat2yaw312.m - const float a = 2.f * (q(0) * q(3) - q(1) * q(2)); - const float b = sq(q(0)) - sq(q(1)) + sq(q(2)) - sq(q(3)); + const T a = static_cast(2.) * (q(0) * q(3) - q(1) * q(2)); + const T b = sq(q(0)) - sq(q(1)) + sq(q(2)) - sq(q(3)); return atan2f(a, b); } -inline float getEulerYaw(const matrix::Dcmf &R) +template +inline T getEulerYaw(const matrix::Dcm &R) { if (shouldUse321RotationSequence(R)) { return getEuler321Yaw(R); @@ -148,23 +156,32 @@ inline float getEulerYaw(const matrix::Dcmf &R) } } -inline matrix::Dcmf updateEuler321YawInRotMat(float yaw, const matrix::Dcmf &rot_in) +template +inline T getEulerYaw(const matrix::Quaternion &q) { - matrix::Eulerf euler321(rot_in); + return getEulerYaw(matrix::Dcm(q)); +} + +template +inline matrix::Dcm updateEuler321YawInRotMat(T yaw, const matrix::Dcm &rot_in) +{ + matrix::Euler euler321(rot_in); euler321(2) = yaw; - return matrix::Dcmf(euler321); + return matrix::Dcm(euler321); } -inline matrix::Dcmf updateEuler312YawInRotMat(float yaw, const matrix::Dcmf &rot_in) +template +inline matrix::Dcm updateEuler312YawInRotMat(T yaw, const matrix::Dcm &rot_in) { - const matrix::Vector3f rotVec312(yaw, // yaw - asinf(rot_in(2, 1)), // roll - atan2f(-rot_in(2, 0), rot_in(2, 2))); // pitch + const matrix::Vector3 rotVec312(yaw, // yaw + asinf(rot_in(2, 1)), // roll + atan2f(-rot_in(2, 0), rot_in(2, 2))); // pitch return taitBryan312ToRotMat(rotVec312); } // Checks which euler rotation sequence to use and update yaw in rotation matrix -inline matrix::Dcmf updateYawInRotMat(float yaw, const matrix::Dcmf &rot_in) +template +inline matrix::Dcm updateYawInRotMat(T yaw, const matrix::Dcm &rot_in) { if (shouldUse321RotationSequence(rot_in)) { return updateEuler321YawInRotMat(yaw, rot_in); diff --git a/src/lib/mathlib/math/filter/AlphaFilter.hpp b/src/lib/mathlib/math/filter/AlphaFilter.hpp index 0635ae438c3c..4e651cfee960 100644 --- a/src/lib/mathlib/math/filter/AlphaFilter.hpp +++ b/src/lib/mathlib/math/filter/AlphaFilter.hpp @@ -116,9 +116,26 @@ class AlphaFilter float getCutoffFreq() const { return _cutoff_freq; } protected: - T updateCalculation(const T &sample) { return (1.f - _alpha) * _filter_state + _alpha * sample; } + T updateCalculation(const T &sample); + float _cutoff_freq{0.f}; float _alpha{0.f}; T _filter_state{}; }; + +template +T AlphaFilter::updateCalculation(const T &sample) { return _filter_state + _alpha * (sample - _filter_state); } + +/* Specialization for 3D rotations + * The filter is computed on the 3-sphere of unit quaternions instead of the cartesian space + * Additions and subtractions are done using the quaternion multiplication and + * the error is scaled on the tangent space. + */ +template <> inline +matrix::Quatf AlphaFilter::updateCalculation(const matrix::Quatf &sample) +{ + matrix::Quatf q_error(_filter_state.inversed() * sample); + q_error.canonicalize(); // prevent unwrapping + return _filter_state * matrix::Quatf(matrix::AxisAnglef(_alpha * matrix::AxisAnglef(q_error))); +} diff --git a/src/lib/mathlib/math/filter/FilteredDerivative.hpp b/src/lib/mathlib/math/filter/FilteredDerivative.hpp new file mode 100644 index 000000000000..f0099334d2e7 --- /dev/null +++ b/src/lib/mathlib/math/filter/FilteredDerivative.hpp @@ -0,0 +1,114 @@ +/**************************************************************************** + * + * Copyright (c) 2024 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file FilteredDerivative.hpp + * + * @brief Derivative function passed through a first order "alpha" IIR digital filter + * + * @author Silvan Fuhrer + */ + +#pragma once + +// #include +// #include +#include + +using namespace math; + +template +class FilteredDerivative +{ +public: + FilteredDerivative() = default; + ~FilteredDerivative() = default; + + /** + * Set filter parameters for time abstraction + * + * Both parameters have to be provided in the same units. + * + * @param sample_interval interval between two samples + * @param time_constant filter time constant determining convergence + */ + void setParameters(float sample_interval, float time_constant) + { + _alpha_filter.setParameters(sample_interval, time_constant); + _sample_interval = sample_interval; + } + + /** + * Set filter state to an initial value + * + * @param sample new initial value + */ + void reset(const T &sample) + { + _alpha_filter.reset(sample); + _initialized = false; + } + + /** + * Add a new raw value to the filter + * + * @return retrieve the filtered result + */ + const T &update(const T &sample) + { + if (_initialized) { + if (_sample_interval > FLT_EPSILON) { + _alpha_filter.update((sample - _previous_sample) / _sample_interval); + + } else { + _initialized = false; + } + + } else { + // don't update in the first iteration + _initialized = true; + } + + _previous_sample = sample; + return _alpha_filter.getState(); + } + + const T &getState() const { return _alpha_filter.getState(); } + + +private: + AlphaFilter _alpha_filter; + float _sample_interval{0.f}; + T _previous_sample{0.f}; + bool _initialized{false}; +}; diff --git a/src/lib/mathlib/math/test/AlphaFilterTest.cpp b/src/lib/mathlib/math/test/AlphaFilterTest.cpp index 30661ea82b2f..63868f9aee85 100644 --- a/src/lib/mathlib/math/test/AlphaFilterTest.cpp +++ b/src/lib/mathlib/math/test/AlphaFilterTest.cpp @@ -44,6 +44,8 @@ #include using matrix::Vector3f; +using matrix::Quatf; +using matrix::Eulerf; TEST(AlphaFilterTest, initializeToZero) { @@ -73,7 +75,7 @@ TEST(AlphaFilterTest, runZero) TEST(AlphaFilterTest, runPositive) { - // GIVEN an input of 1 in a filter with a default time constant of 9 (alpha = 0.9) + // GIVEN an input of 1 in a filter with a default time constant of 9 (alpha = 0.1) AlphaFilter filter_float{}; const float input = 1.f; filter_float.setAlpha(.1f); @@ -89,7 +91,7 @@ TEST(AlphaFilterTest, runPositive) TEST(AlphaFilterTest, runNegative) { - // GIVEN an input of 1 in a filter with a default time constant of 9 (alpha = 0.9) + // GIVEN an input of 1 in a filter with a default time constant of 9 (alpha = 0.1) AlphaFilter filter_float{}; const float input = -1.f; filter_float.setAlpha(.1f); @@ -105,7 +107,7 @@ TEST(AlphaFilterTest, runNegative) TEST(AlphaFilterTest, riseTime) { - // GIVEN an input of 1 in a filter with a default time constant of 9 (alpha = 0.9) + // GIVEN an input of 1 in a filter with a default time constant of 9 (alpha = 0.1) AlphaFilter filter_float{}; const float input = 1.f; filter_float.setAlpha(.1f); @@ -121,7 +123,7 @@ TEST(AlphaFilterTest, riseTime) TEST(AlphaFilterTest, convergence) { - // GIVEN an input of 1 in a filter with a default time constant of 9 (alpha = 0.9) + // GIVEN an input of 1 in a filter with a default time constant of 9 (alpha = 0.1) AlphaFilter filter_float{}; const float input = 1.f; filter_float.setAlpha(.1f); @@ -137,7 +139,7 @@ TEST(AlphaFilterTest, convergence) TEST(AlphaFilterTest, convergenceVector3f) { - // GIVEN an Vector3f input in a filter with a default time constant of 9 (alpha = 0.9) + // GIVEN an Vector3f input in a filter with a default time constant of 9 (alpha = 0.1) AlphaFilter filter_v3{}; const Vector3f input = {3.f, 7.f, -11.f}; filter_v3.setAlpha(.1f); @@ -280,3 +282,51 @@ TEST(AlphaFilterTest, ConvergenceTest) EXPECT_NEAR(last_value, -100.f, 1e-4f); } + +TEST(AlphaFilterTest, runPositiveRot3) +{ + // GIVEN a filter with a default time constant of 9 (alpha = 0.1) + const Quatf q_init(Eulerf(0.f, 0.f, -0.01f)); + const Quatf input(Eulerf(0.f, 0.f, M_PI_F / 2.f)); + + AlphaFilter filter{}; + filter.setAlpha(.1f); + filter.reset(q_init); + + // WHEN we run the filter 9 times + for (int i = 0; i < 9; i++) { + filter.update(input); + } + + // THEN the state of the filter should have reached 63% + EXPECT_NEAR(Eulerf(filter.getState()).psi(), 0.63f * (M_PI_F / 2.f - 0.01f), 0.03); + + EXPECT_FLOAT_EQ(Eulerf(filter.getState()).phi(), 0.f); + EXPECT_FLOAT_EQ(Eulerf(filter.getState()).theta(), 0.f); +} + +TEST(AlphaFilterTest, runNecgativeRot3) +{ + // GIVEN a filter with a default time constant of 9 (alpha = 0.1) + const float roll = -M_PI_F; + const float pitch = 0.f; + const float yaw_init = 0.01f; + const float yaw_input = -M_PI_F / 2.f; + const Quatf q_init(Eulerf(roll, pitch, yaw_init)); + const Quatf input(Eulerf(roll, pitch, yaw_input)); + + AlphaFilter filter{}; + filter.setAlpha(.1f); + filter.reset(q_init); + + // WHEN we run the filter 9 times + for (int i = 0; i < 9; i++) { + filter.update(input); + } + + // THEN the state of the filter should have reached 63% + EXPECT_NEAR(Eulerf(filter.getState()).psi(), 0.63f * (yaw_input + yaw_init), 0.03); + + EXPECT_TRUE(matrix::wrap_pi(Eulerf(filter.getState()).phi() - roll) < FLT_EPSILON); + EXPECT_TRUE(matrix::wrap_pi(Eulerf(filter.getState()).theta() - pitch) < FLT_EPSILON); +} diff --git a/src/lib/mathlib/math/test/test.cpp b/src/lib/mathlib/math/test/test.cpp index 77d1991f5326..663fb0f5a18e 100644 --- a/src/lib/mathlib/math/test/test.cpp +++ b/src/lib/mathlib/math/test/test.cpp @@ -134,5 +134,3 @@ void __EXPORT float2SigExp(const float &num, float &sig, int &exp) for (int i = 0; i < abs(exp); i++) { sig *= 10; } } } - - diff --git a/src/lib/matrix/matrix/AxisAngle.hpp b/src/lib/matrix/matrix/AxisAngle.hpp index 049e54d2771a..5cf351a3efb2 100644 --- a/src/lib/matrix/matrix/AxisAngle.hpp +++ b/src/lib/matrix/matrix/AxisAngle.hpp @@ -6,19 +6,16 @@ #pragma once -#include "math.hpp" +#include "Vector3.hpp" namespace matrix { -template -class Dcm; - template class Euler; -template -class AxisAngle; +template +class Quaternion; /** * AxisAngle class @@ -27,7 +24,7 @@ class AxisAngle; * described by this class. */ template -class AxisAngle : public Vector +class AxisAngle : public Vector3 { public: using Matrix31 = Matrix; @@ -38,7 +35,7 @@ class AxisAngle : public Vector * @param data_ array */ explicit AxisAngle(const Type data_[3]) : - Vector(data_) + Vector3(data_) { } @@ -53,7 +50,7 @@ class AxisAngle : public Vector * @param other Matrix31 to copy */ AxisAngle(const Matrix31 &other) : - Vector(other) + Vector3(other) { } @@ -133,7 +130,7 @@ class AxisAngle : public Vector { AxisAngle &v = *this; // make sure axis is a unit vector - Vector a = axis_; + Vector3 a = axis_; a = a.unit(); v(0) = a(0) * angle_; v(1) = a(1) * angle_; @@ -141,10 +138,10 @@ class AxisAngle : public Vector } - Vector axis() + Vector3 axis() { - if (Vector::norm() > 0) { - return Vector::unit(); + if (Vector3::norm() > 0) { + return Vector3::unit(); } else { return Vector3(1, 0, 0); @@ -153,7 +150,7 @@ class AxisAngle : public Vector Type angle() { - return Vector::norm(); + return Vector3::norm(); } }; diff --git a/src/lib/matrix/matrix/Dcm.hpp b/src/lib/matrix/matrix/Dcm.hpp index 274728ceebc8..e05da5cbf3ee 100644 --- a/src/lib/matrix/matrix/Dcm.hpp +++ b/src/lib/matrix/matrix/Dcm.hpp @@ -15,19 +15,20 @@ #pragma once -#include "math.hpp" +#include "SquareMatrix.hpp" +#include "Vector3.hpp" namespace matrix { template -class Quaternion; +class AxisAngle; template class Euler; template -class AxisAngle; +class Quaternion; /** * Direction cosine matrix class @@ -39,8 +40,6 @@ template class Dcm : public SquareMatrix { public: - using Vector3 = Matrix; - /** * Standard constructor * @@ -90,7 +89,6 @@ class Dcm : public SquareMatrix const Type b = q(1); const Type c = q(2); const Type d = q(3); - const Type aa = a * a; const Type ab = a * b; const Type ac = a * c; const Type ad = a * d; @@ -100,15 +98,15 @@ class Dcm : public SquareMatrix const Type cc = c * c; const Type cd = c * d; const Type dd = d * d; - dcm(0, 0) = aa + bb - cc - dd; + dcm(0, 0) = Type(1) - Type(2) * (cc + dd); dcm(0, 1) = Type(2) * (bc - ad); dcm(0, 2) = Type(2) * (ac + bd); dcm(1, 0) = Type(2) * (bc + ad); - dcm(1, 1) = aa - bb + cc - dd; + dcm(1, 1) = Type(1) - Type(2) * (bb + dd); dcm(1, 2) = Type(2) * (cd - ab); dcm(2, 0) = Type(2) * (bd - ac); dcm(2, 1) = Type(2) * (ab + cd); - dcm(2, 2) = aa - bb - cc + dd; + dcm(2, 2) = Type(1) - Type(2) * (bb + cc); } /** @@ -159,14 +157,10 @@ class Dcm : public SquareMatrix dcm = Quaternion(aa); } - Vector vee() const // inverse to Vector.hat() operation + Vector3 vee() const // inverse to Vector.hat() operation { const Dcm &A(*this); - Vector v; - v(0) = -A(1, 2); - v(1) = A(0, 2); - v(2) = -A(0, 1); - return v; + return {-A(1, 2), A(0, 2), -A(0, 1)}; } void renormalize() diff --git a/src/lib/matrix/matrix/Dcm2.hpp b/src/lib/matrix/matrix/Dcm2.hpp index ae3b12c1f459..e74ea48b3e71 100644 --- a/src/lib/matrix/matrix/Dcm2.hpp +++ b/src/lib/matrix/matrix/Dcm2.hpp @@ -48,7 +48,8 @@ #pragma once -#include "math.hpp" +#include "SquareMatrix.hpp" +#include "Vector2.hpp" namespace matrix { @@ -102,8 +103,8 @@ class Dcm2 : public SquareMatrix Dcm2(const Type angle) { Dcm2 &dcm = *this; - Type sin_angle = sin(angle); - Type cos_angle = cos(angle); + Type sin_angle = std::sin(angle); + Type cos_angle = std::cos(angle); dcm(0, 0) = cos_angle; dcm(0, 1) = -sin_angle; @@ -113,10 +114,10 @@ class Dcm2 : public SquareMatrix void renormalize() { - /* renormalize rows */ + // renormalize rows for (size_t r = 0; r < 2; r++) { - matrix::Vector2 rvec(Matrix(this->Matrix::row(r)).transpose()); - this->Matrix::row(r) = rvec.normalized(); + Vector2 rvec(Matrix(this->row(r)).transpose()); + this->row(r) = rvec.normalized(); } } }; diff --git a/src/lib/matrix/matrix/Dual.hpp b/src/lib/matrix/matrix/Dual.hpp index fad15816234f..43f1d2abd3e0 100644 --- a/src/lib/matrix/matrix/Dual.hpp +++ b/src/lib/matrix/matrix/Dual.hpp @@ -15,14 +15,12 @@ #include -#include "math.hpp" +#include "Scalar.hpp" +#include "Vector.hpp" namespace matrix { -template -class Vector; - template struct Dual { static constexpr size_t WIDTH = N; @@ -377,4 +375,3 @@ OStream &operator<<(OStream &os, const matrix::Dual &dual) } } - diff --git a/src/lib/matrix/matrix/Euler.hpp b/src/lib/matrix/matrix/Euler.hpp index d885b852154a..5a0bbdceda08 100644 --- a/src/lib/matrix/matrix/Euler.hpp +++ b/src/lib/matrix/matrix/Euler.hpp @@ -15,17 +15,9 @@ #pragma once -#include "math.hpp" - namespace matrix { -template -class Dcm; - -template -class Quaternion; - /** * Euler angles class * diff --git a/src/lib/matrix/matrix/LeastSquaresSolver.hpp b/src/lib/matrix/matrix/LeastSquaresSolver.hpp index 036b845ec4e3..80aed7cfee4e 100644 --- a/src/lib/matrix/matrix/LeastSquaresSolver.hpp +++ b/src/lib/matrix/matrix/LeastSquaresSolver.hpp @@ -14,7 +14,7 @@ #pragma once -#include "math.hpp" +#include "Vector.hpp" namespace matrix { diff --git a/src/lib/matrix/matrix/Matrix.hpp b/src/lib/matrix/matrix/Matrix.hpp index fbf5c501884e..9e60b9ebef38 100644 --- a/src/lib/matrix/matrix/Matrix.hpp +++ b/src/lib/matrix/matrix/Matrix.hpp @@ -12,20 +12,12 @@ #include #include -#include "math.hpp" +#include "helper_functions.hpp" +#include "Slice.hpp" namespace matrix { -template -class Vector; - -template -class Matrix; - -template -class Slice; - template class Matrix { @@ -75,6 +67,18 @@ class Matrix } } + template + Matrix(const ConstSlice &in_slice) + { + Matrix &self = *this; + + for (size_t i = 0; i < M; i++) { + for (size_t j = 0; j < N; j++) { + self(i, j) = in_slice(i, j); + } + } + } + /** * Accessors/ Assignment etc. */ @@ -158,6 +162,24 @@ class Matrix return res; } + // Using this function reduces the number of temporary variables needed to compute A * B.T + template + Matrix multiplyByTranspose(const Matrix &other) const + { + Matrix res; + const Matrix &self = *this; + + for (size_t i = 0; i < M; i++) { + for (size_t k = 0; k < P; k++) { + for (size_t j = 0; j < N; j++) { + res(i, k) += self(i, j) * other(k, j); + } + } + } + + return res; + } + // Element-wise multiplication Matrix emult(const Matrix &other) const { @@ -365,13 +387,55 @@ class Matrix } } - void print() const + void print(float eps = 1e-9) const { - // element: tab, point, 8 digits, 4 scientific notation chars; row: newline; string: \0 end - static const size_t n = 15 * N * M + M + 1; - char string[n]; - write_string(string, n); - printf("%s\n", string); + // print column numbering + if (N > 1) { + printf(" "); + + for (unsigned i = 0; i < N; i++) { + printf("|%2u ", i); + + } + + printf("\n"); + } + + const Matrix &self = *this; + bool is_prev_symmetric = true; // assume symmetric until one element is not + + for (unsigned i = 0; i < M; i++) { + printf("%2u|", i); // print row numbering + + for (unsigned j = 0; j < N; j++) { + double d = static_cast(self(i, j)); + + // if symmetric don't print upper triangular elements + if (is_prev_symmetric && (M == N) && (j > i) && (i < N) && (j < M) + && (fabs(d - static_cast(self(j, i))) < (double)eps) + ) { + // print empty space + printf(" "); + + } else { + // avoid -0.0 for display + if (fabs(d - 0.0) < (double)eps) { + // print fixed width zero + printf(" 0 "); + + } else if ((fabs(d) < 1e-4) || (fabs(d) >= 10.0)) { + printf("% .1e ", d); + + } else { + printf("% 6.5f ", d); + } + + is_prev_symmetric = false; // not symmetric if once inside here + } + } + + printf("\n"); + } } Matrix transpose() const @@ -395,18 +459,18 @@ class Matrix } template - const Slice slice(size_t x0, size_t y0) const + ConstSlice slice(size_t x0, size_t y0) const { - return Slice(x0, y0, this); + return {x0, y0, this}; } template Slice slice(size_t x0, size_t y0) { - return Slice(x0, y0, this); + return {x0, y0, this}; } - const Slice row(size_t i) const + ConstSlice row(size_t i) const { return slice<1, N>(i, 0); } @@ -416,7 +480,7 @@ class Matrix return slice<1, N>(i, 0); } - const Slice col(size_t j) const + ConstSlice col(size_t j) const { return slice(0, j); } diff --git a/src/lib/matrix/matrix/PseudoInverse.hpp b/src/lib/matrix/matrix/PseudoInverse.hpp index 37a084b351fa..70404aed7180 100644 --- a/src/lib/matrix/matrix/PseudoInverse.hpp +++ b/src/lib/matrix/matrix/PseudoInverse.hpp @@ -9,7 +9,8 @@ #pragma once -#include "math.hpp" +#include "SquareMatrix.hpp" +#include "Vector.hpp" namespace matrix { diff --git a/src/lib/matrix/matrix/Quaternion.hpp b/src/lib/matrix/matrix/Quaternion.hpp index 5b91dde0a4ba..a2637606fd4c 100644 --- a/src/lib/matrix/matrix/Quaternion.hpp +++ b/src/lib/matrix/matrix/Quaternion.hpp @@ -28,21 +28,20 @@ #pragma once -#include "math.hpp" +#include // FLT_EPSILON + +#include "Vector3.hpp" +#include "Vector4.hpp" namespace matrix { -template -class Dcm; - template class Euler; template class AxisAngle; - /** * Quaternion class * @@ -458,7 +457,7 @@ class Quaternion : public Vector4 for (size_t i = 0; i < 4; i++) { if (std::fabs(q(i)) > FLT_EPSILON) { - return q * Type(matrix::sign(q(i))); + return q * Type(sign(q(i))); } } diff --git a/src/lib/matrix/matrix/Scalar.hpp b/src/lib/matrix/matrix/Scalar.hpp index f34551fbd4f8..c40b32912bc3 100644 --- a/src/lib/matrix/matrix/Scalar.hpp +++ b/src/lib/matrix/matrix/Scalar.hpp @@ -8,7 +8,7 @@ #pragma once -#include "math.hpp" +#include "Matrix.hpp" namespace matrix { diff --git a/src/lib/matrix/matrix/Slice.hpp b/src/lib/matrix/matrix/Slice.hpp index 207d21fdd9ea..57f7cfcb7002 100644 --- a/src/lib/matrix/matrix/Slice.hpp +++ b/src/lib/matrix/matrix/Slice.hpp @@ -8,8 +8,9 @@ #pragma once -#include "math.hpp" - +#include +#include +#include namespace matrix { @@ -20,14 +21,16 @@ class Matrix; template class Vector; -template -class Slice +template +class SliceT { public: - Slice(size_t x0, size_t y0, const Matrix *data) : + using Self = SliceT; + + SliceT(size_t x0, size_t y0, MatrixT *data) : _x0(x0), _y0(y0), - _data(const_cast*>(data)) + _data(data) { static_assert(P <= M, "Slice rows bigger than backing matrix"); static_assert(Q <= N, "Slice cols bigger than backing matrix"); @@ -35,6 +38,8 @@ class Slice assert(y0 + Q <= N); } + SliceT(const Self &other) = default; + const Type &operator()(size_t i, size_t j) const { assert(i < P); @@ -44,7 +49,6 @@ class Slice } Type &operator()(size_t i, size_t j) - { assert(i < P); assert(j < Q); @@ -52,10 +56,30 @@ class Slice return (*_data)(_x0 + i, _y0 + j); } + // Separate function needed otherwise the default copy constructor matches before the deep copy implementation + Self &operator=(const Self &other) + { + return this->operator=(other); + } + + template + Self &operator=(const SliceT, Type, P, Q, MM, NN> &other) + { + Self &self = *this; + + for (size_t i = 0; i < P; i++) { + for (size_t j = 0; j < Q; j++) { + self(i, j) = other(i, j); + } + } + + return self; + } + template - Slice &operator=(const Slice &other) + SliceT &operator=(const SliceT, Type, P, Q, MM, NN> &other) { - Slice &self = *this; + SliceT &self = *this; for (size_t i = 0; i < P; i++) { for (size_t j = 0; j < Q; j++) { @@ -66,9 +90,9 @@ class Slice return self; } - Slice &operator=(const Matrix &other) + SliceT &operator=(const Matrix &other) { - Slice &self = *this; + SliceT &self = *this; for (size_t i = 0; i < P; i++) { for (size_t j = 0; j < Q; j++) { @@ -79,9 +103,9 @@ class Slice return self; } - Slice &operator=(const Type &other) + SliceT &operator=(const Type &other) { - Slice &self = *this; + SliceT &self = *this; for (size_t i = 0; i < P; i++) { for (size_t j = 0; j < Q; j++) { @@ -94,9 +118,9 @@ class Slice // allow assigning vectors to a slice that are in the axis template // make this a template function since it only exists for some instantiations - Slice &operator=(const Vector &other) + SliceT &operator=(const Vector &other) { - Slice &self = *this; + SliceT &self = *this; for (size_t j = 0; j < Q; j++) { self(0, j) = other(j); @@ -106,9 +130,9 @@ class Slice } template - Slice &operator+=(const Slice &other) + SliceT &operator+=(const SliceT &other) { - Slice &self = *this; + SliceT &self = *this; for (size_t i = 0; i < P; i++) { for (size_t j = 0; j < Q; j++) { @@ -119,9 +143,9 @@ class Slice return self; } - Slice &operator+=(const Matrix &other) + SliceT &operator+=(const Matrix &other) { - Slice &self = *this; + SliceT &self = *this; for (size_t i = 0; i < P; i++) { for (size_t j = 0; j < Q; j++) { @@ -132,9 +156,9 @@ class Slice return self; } - Slice &operator+=(const Type &other) + SliceT &operator+=(const Type &other) { - Slice &self = *this; + SliceT &self = *this; for (size_t i = 0; i < P; i++) { for (size_t j = 0; j < Q; j++) { @@ -146,9 +170,9 @@ class Slice } template - Slice &operator-=(const Slice &other) + SliceT &operator-=(const SliceT &other) { - Slice &self = *this; + SliceT &self = *this; for (size_t i = 0; i < P; i++) { for (size_t j = 0; j < Q; j++) { @@ -159,9 +183,9 @@ class Slice return self; } - Slice &operator-=(const Matrix &other) + SliceT &operator-=(const Matrix &other) { - Slice &self = *this; + SliceT &self = *this; for (size_t i = 0; i < P; i++) { for (size_t j = 0; j < Q; j++) { @@ -172,9 +196,9 @@ class Slice return self; } - Slice &operator-=(const Type &other) + SliceT &operator-=(const Type &other) { - Slice &self = *this; + SliceT &self = *this; for (size_t i = 0; i < P; i++) { for (size_t j = 0; j < Q; j++) { @@ -185,9 +209,9 @@ class Slice return self; } - Slice &operator*=(const Type &other) + SliceT &operator*=(const Type &other) { - Slice &self = *this; + SliceT &self = *this; for (size_t i = 0; i < P; i++) { for (size_t j = 0; j < Q; j++) { @@ -198,14 +222,14 @@ class Slice return self; } - Slice &operator/=(const Type &other) + SliceT &operator/=(const Type &other) { return operator*=(Type(1) / other); } Matrix operator*(const Type &other) const { - const Slice &self = *this; + const SliceT &self = *this; Matrix res; for (size_t i = 0; i < P; i++) { @@ -219,25 +243,25 @@ class Slice Matrix operator/(const Type &other) const { - const Slice &self = *this; + const SliceT &self = *this; return self * (Type(1) / other); } template - const Slice slice(size_t x0, size_t y0) const + const SliceT slice(size_t x0, size_t y0) const { - return Slice(x0 + _x0, y0 + _y0, _data); + return SliceT(x0 + _x0, y0 + _y0, _data); } template - Slice slice(size_t x0, size_t y0) + SliceT slice(size_t x0, size_t y0) { - return Slice(x0 + _x0, y0 + _y0, _data); + return SliceT(x0 + _x0, y0 + _y0, _data); } void copyTo(Type dst[P * Q]) const { - const Slice &self = *this; + const SliceT &self = *this; for (size_t i = 0; i < P; i++) { for (size_t j = 0; j < Q; j++) { @@ -248,7 +272,7 @@ class Slice void copyToColumnMajor(Type dst[P * Q]) const { - const Slice &self = *this; + const SliceT &self = *this; for (size_t i = 0; i < P; i++) { for (size_t j = 0; j < Q; j++) { @@ -259,7 +283,7 @@ class Slice Vector < Type, P < Q ? P : Q > diag() const { - const Slice &self = *this; + const SliceT &self = *this; Vector < Type, P < Q ? P : Q > res; for (size_t j = 0; j < (P < Q ? P : Q); j++) { @@ -271,7 +295,7 @@ class Slice Type norm_squared() const { - const Slice &self = *this; + const SliceT &self = *this; Type accum(0); for (size_t i = 0; i < P; i++) { @@ -329,7 +353,13 @@ class Slice private: size_t _x0, _y0; - Matrix *_data; + MatrixT *_data; }; +template +using Slice = SliceT, Type, P, Q, M, N>; + +template +using ConstSlice = SliceT, Type, P, Q, M, N>; + } diff --git a/src/lib/matrix/matrix/SparseVector.hpp b/src/lib/matrix/matrix/SparseVector.hpp index 40e790dfbf76..79fc360db63b 100644 --- a/src/lib/matrix/matrix/SparseVector.hpp +++ b/src/lib/matrix/matrix/SparseVector.hpp @@ -10,7 +10,7 @@ #pragma once -#include "math.hpp" +#include "Vector.hpp" namespace matrix { diff --git a/src/lib/matrix/matrix/SquareMatrix.hpp b/src/lib/matrix/matrix/SquareMatrix.hpp index 20ecd67f2c8d..0cd20bc5bc4e 100644 --- a/src/lib/matrix/matrix/SquareMatrix.hpp +++ b/src/lib/matrix/matrix/SquareMatrix.hpp @@ -10,20 +10,11 @@ #include // FLT_EPSILON -#include "math.hpp" +#include "Slice.hpp" namespace matrix { -template -class Matrix; - -template -class Vector; - -template -class Slice; - template class SquareMatrix : public Matrix { @@ -45,10 +36,8 @@ class SquareMatrix : public Matrix { } - template - SquareMatrix(const Slice &in_slice) : Matrix(in_slice) - { - } + using base = Matrix; + using base::base; SquareMatrix &operator=(const Matrix &other) { @@ -64,15 +53,15 @@ class SquareMatrix : public Matrix } template - const Slice slice(size_t x0, size_t y0) const + ConstSlice slice(size_t x0, size_t y0) const { - return Slice(x0, y0, this); + return {x0, y0, this}; } template Slice slice(size_t x0, size_t y0) { - return Slice(x0, y0, this); + return {x0, y0, this}; } // inverse alias @@ -126,18 +115,43 @@ class SquareMatrix : public Matrix return res; } - Type trace() const + template + Type trace(size_t first) const { + static_assert(Width <= M, "Width bigger than matrix"); + assert(first + Width <= M); + Type res = 0; const SquareMatrix &self = *this; - for (size_t i = 0; i < M; i++) { + for (size_t i = first; i < (first + Width); i++) { res += self(i, i); } return res; } + Type trace() const + { + const SquareMatrix &self = *this; + return self.trace(0); + } + + // keep the sub covariance matrix and zero all covariance elements related + // to the rest of the matrix + template + void uncorrelateCovarianceBlock(size_t first) + { + static_assert(Width <= M, "Width bigger than matrix"); + assert(first + Width <= M); + + SquareMatrix &self = *this; + SquareMatrix cov = self.slice(first, first); + self.slice(0, first) = 0.f; + self.slice(first, 0) = 0.f; + self.slice(first, first) = cov; + } + // zero all offdiagonal elements and keep corresponding diagonal elements template void uncorrelateCovariance(size_t first) @@ -280,6 +294,27 @@ class SquareMatrix : public Matrix return self.isBlockSymmetric(first, eps); } + void copyLowerToUpperTriangle() + { + SquareMatrix &self = *this; + + for (size_t row_idx = 1; row_idx < M; row_idx++) { + for (size_t col_idx = 0 ; col_idx < row_idx; col_idx++) { + self(col_idx, row_idx) = self(row_idx, col_idx); + } + } + } + + void copyUpperToLowerTriangle() + { + SquareMatrix &self = *this; + + for (size_t row_idx = 1; row_idx < M; row_idx++) { + for (size_t col_idx = 0 ; col_idx < row_idx; col_idx++) { + self(row_idx, col_idx) = self(col_idx, row_idx); + } + } + } }; using SquareMatrix3f = SquareMatrix; @@ -322,6 +357,19 @@ SquareMatrix expm(const Matrix &A, size_t order = 5) return res; } +/** + * Deal with the special case where the square matrix is 1 + */ +template +bool inv(const SquareMatrix &A, SquareMatrix &inv, size_t rank = 1) +{ + if (std::fabs(A(0, 0)) < Type(FLT_EPSILON)) { + return false; + } + + inv(0, 0) = Type(1) / A(0, 0); + return true; +} /** * inverse based on LU factorization with partial pivotting @@ -570,6 +618,7 @@ SquareMatrix choleskyInv(const SquareMatrix &A) return L_inv.T() * L_inv; } +using Matrix2f = SquareMatrix; using Matrix3f = SquareMatrix; using Matrix3d = SquareMatrix; diff --git a/src/lib/matrix/matrix/Vector.hpp b/src/lib/matrix/matrix/Vector.hpp index 7890192b22fd..ba0d0b51ce86 100644 --- a/src/lib/matrix/matrix/Vector.hpp +++ b/src/lib/matrix/matrix/Vector.hpp @@ -8,14 +8,11 @@ #pragma once -#include "math.hpp" +#include "Matrix.hpp" namespace matrix { -template -class Matrix; - template class Vector : public Matrix { @@ -50,6 +47,22 @@ class Vector : public Matrix } } + template + Vector(const ConstSlice &slice_in) : + Matrix(slice_in) + { + } + + template + Vector(const ConstSlice &slice_in) + { + Vector &self(*this); + + for (size_t i = 0; i < M; i++) { + self(i) = slice_in(0, i); + } + } + inline const Type &operator()(size_t i) const { assert(i < M); @@ -153,6 +166,11 @@ class Vector : public Matrix { (*this).transpose().print(); } + + static size_t size() + { + return M; + } }; template diff --git a/src/lib/matrix/matrix/Vector2.hpp b/src/lib/matrix/matrix/Vector2.hpp index 35ceb7c1ac14..3376445fdaec 100644 --- a/src/lib/matrix/matrix/Vector2.hpp +++ b/src/lib/matrix/matrix/Vector2.hpp @@ -8,14 +8,11 @@ #pragma once -#include "math.hpp" +#include "Vector.hpp" namespace matrix { -template -class Vector; - template class Vector2 : public Vector { @@ -43,15 +40,8 @@ class Vector2 : public Vector v(1) = y; } - template - Vector2(const Slice &slice_in) : Vector(slice_in) - { - } - - template - Vector2(const Slice &slice_in) : Vector(slice_in) - { - } + using base = Vector; + using base::base; explicit Vector2(const Vector3 &other) { @@ -66,6 +56,45 @@ class Vector2 : public Vector return a(0) * b(1, 0) - a(1) * b(0, 0); } + /** + * Override matrix ops so Vector2 type is returned + */ + + Vector2 operator+(Vector2 other) const + { + return Matrix21::operator+(other); + } + + Vector2 operator+(Type scalar) const + { + return Matrix21::operator+(scalar); + } + + Vector2 operator-(Vector2 other) const + { + return Matrix21::operator-(other); + } + + Vector2 operator-(Type scalar) const + { + return Matrix21::operator-(scalar); + } + + Vector2 operator-() const + { + return Matrix21::operator-(); + } + + Vector2 operator*(Type scalar) const + { + return Matrix21::operator*(scalar); + } + + Type operator*(Vector2 b) const + { + return Vector::operator*(b); + } + Type operator%(const Matrix21 &b) const { return (*this).cross(b); diff --git a/src/lib/matrix/matrix/Vector3.hpp b/src/lib/matrix/matrix/Vector3.hpp index b67ab39a8bb9..ccfece92f0e4 100644 --- a/src/lib/matrix/matrix/Vector3.hpp +++ b/src/lib/matrix/matrix/Vector3.hpp @@ -8,23 +8,14 @@ #pragma once -#include "math.hpp" +#include "Vector.hpp" namespace matrix { -template -class Matrix; - -template -class Vector; - template class Dcm; -template -class Vector2; - template class Vector3 : public Vector { @@ -52,15 +43,8 @@ class Vector3 : public Vector v(2) = z; } - template - Vector3(const Slice &slice_in) : Vector(slice_in) - { - } - - template - Vector3(const Slice &slice_in) : Vector(slice_in) - { - } + using base = Vector; + using base::base; Vector3 cross(const Matrix31 &b) const { @@ -112,30 +96,16 @@ class Vector3 : public Vector return (*this).cross(b); } - /** - * Override vector ops so Vector3 type is returned - */ - inline Vector3 unit() const - { - return Vector3(Vector::unit()); - } - - inline Vector3 normalized() const + ConstSlice xy() const { - return unit(); - } - - const Slice xy() const - { - return Slice(0, 0, this); + return {0, 0, this}; } Slice xy() { - return Slice(0, 0, this); + return {0, 0, this}; } - Dcm hat() const // inverse to Dcm.vee() operation { const Vector3 &v(*this); diff --git a/src/lib/matrix/matrix/Vector4.hpp b/src/lib/matrix/matrix/Vector4.hpp index 088399847d98..5115d420e35f 100644 --- a/src/lib/matrix/matrix/Vector4.hpp +++ b/src/lib/matrix/matrix/Vector4.hpp @@ -41,17 +41,11 @@ #pragma once -#include "math.hpp" +#include "Vector.hpp" namespace matrix { -template -class Matrix; - -template -class Vector; - template class Vector4 : public Vector { @@ -88,6 +82,46 @@ class Vector4 : public Vector Vector4(const Slice &slice_in) : Vector(slice_in) { } + + /** + * Override matrix ops so Vector4 type is returned + */ + + Vector4 operator+(Vector4 other) const + { + return Matrix41::operator+(other); + } + + Vector4 operator+(Type scalar) const + { + return Matrix41::operator+(scalar); + } + + Vector4 operator-(Vector4 other) const + { + return Matrix41::operator-(other); + } + + Vector4 operator-(Type scalar) const + { + return Matrix41::operator-(scalar); + } + + Vector4 operator-() const + { + return Matrix41::operator-(); + } + + Vector4 operator*(Type scalar) const + { + return Matrix41::operator*(scalar); + } + + Type operator*(Vector4 b) const + { + return Vector::operator*(b); + } + }; using Vector4f = Vector4; diff --git a/src/lib/matrix/matrix/filter.hpp b/src/lib/matrix/matrix/filter.hpp index 76c091d44aba..983af10eab2d 100644 --- a/src/lib/matrix/matrix/filter.hpp +++ b/src/lib/matrix/matrix/filter.hpp @@ -1,6 +1,7 @@ #pragma once -#include "math.hpp" +#include "Scalar.hpp" +#include "SquareMatrix.hpp" namespace matrix { diff --git a/src/lib/matrix/matrix/helper_functions.hpp b/src/lib/matrix/matrix/helper_functions.hpp index 6a9e871ef0cd..d482a92cf21f 100644 --- a/src/lib/matrix/matrix/helper_functions.hpp +++ b/src/lib/matrix/matrix/helper_functions.hpp @@ -2,6 +2,8 @@ #include +#include + namespace matrix { @@ -41,7 +43,7 @@ Floating wrap_floating(Floating x, Floating low, Floating high) return x - range * num_wraps; } -} // namespace detail +} // namespace detail /** * Wrap single precision floating point value to stay in range [low, high) diff --git a/src/lib/matrix/matrix/integration.hpp b/src/lib/matrix/matrix/integration.hpp index 338958ed4b46..9ca190333e6d 100644 --- a/src/lib/matrix/matrix/integration.hpp +++ b/src/lib/matrix/matrix/integration.hpp @@ -1,6 +1,6 @@ #pragma once -#include "math.hpp" +#include "Vector.hpp" namespace matrix { diff --git a/src/lib/matrix/matrix/math.hpp b/src/lib/matrix/matrix/math.hpp index dd80723d85c2..7f55520544ab 100644 --- a/src/lib/matrix/matrix/math.hpp +++ b/src/lib/matrix/matrix/math.hpp @@ -1,24 +1,20 @@ #pragma once -#include -#include - +#include "AxisAngle.hpp" +#include "Dcm.hpp" +#include "Dcm2.hpp" +#include "Dual.hpp" +#include "Euler.hpp" #include "helper_functions.hpp" - +#include "LeastSquaresSolver.hpp" #include "Matrix.hpp" -#include "SquareMatrix.hpp" +#include "PseudoInverse.hpp" +#include "Quaternion.hpp" +#include "Scalar.hpp" #include "Slice.hpp" +#include "SparseVector.hpp" +#include "SquareMatrix.hpp" #include "Vector.hpp" #include "Vector2.hpp" #include "Vector3.hpp" #include "Vector4.hpp" -#include "Euler.hpp" -#include "Dcm.hpp" -#include "Dcm2.hpp" -#include "Scalar.hpp" -#include "Quaternion.hpp" -#include "AxisAngle.hpp" -#include "LeastSquaresSolver.hpp" -#include "Dual.hpp" -#include "PseudoInverse.hpp" -#include "SparseVector.hpp" diff --git a/src/lib/matrix/test/MatrixAssignmentTest.cpp b/src/lib/matrix/test/MatrixAssignmentTest.cpp index 29b7f9951d33..0500f8734f55 100644 --- a/src/lib/matrix/test/MatrixAssignmentTest.cpp +++ b/src/lib/matrix/test/MatrixAssignmentTest.cpp @@ -276,14 +276,20 @@ TEST(MatrixAssignmentTest, Assignment) } } + char print_out[] = " | 0 | 1 \n 0| 1.00000 1.2e+04\n 1| 1.2e+04 0.12346\n 2| 1.2e+10 1.2e+12\n"; + printf("%s\n", print_out); // for debugging in case of failure + // check print() // Redirect stdout - EXPECT_TRUE(freopen("testoutput.txt", "w", stdout) != NULL); + FILE *fp = freopen("testoutput.txt", "w", stdout); + EXPECT_NE(fp, nullptr); + // write Comma.print(); - fclose(stdout); + EXPECT_FALSE(fclose(fp)); // FIXME: this doesn't work as expected, further printf are not redirected to the console + // read - FILE *fp = fopen("testoutput.txt", "r"); + fp = fopen("testoutput.txt", "r"); EXPECT_NE(fp, nullptr); EXPECT_FALSE(fseek(fp, 0, SEEK_SET)); @@ -294,8 +300,8 @@ TEST(MatrixAssignmentTest, Assignment) break; } - printf("%d %d %d\n", static_cast(i), output[i], c); - EXPECT_EQ(c, output[i]); + printf("%d %d %d\n", static_cast(i), print_out[i], c); + EXPECT_EQ(c, print_out[i]); } EXPECT_FALSE(fclose(fp)); diff --git a/src/lib/matrix/test/MatrixDcm2Test.cpp b/src/lib/matrix/test/MatrixDcm2Test.cpp index 32cdc3608583..4e1b696ae6bb 100644 --- a/src/lib/matrix/test/MatrixDcm2Test.cpp +++ b/src/lib/matrix/test/MatrixDcm2Test.cpp @@ -34,6 +34,7 @@ #include #include #include +#include using namespace matrix; diff --git a/src/lib/matrix/test/MatrixFilterTest.cpp b/src/lib/matrix/test/MatrixFilterTest.cpp index 10d1b786ae17..a5104c7daaf5 100644 --- a/src/lib/matrix/test/MatrixFilterTest.cpp +++ b/src/lib/matrix/test/MatrixFilterTest.cpp @@ -33,6 +33,7 @@ #include #include +#include using namespace matrix; diff --git a/src/lib/matrix/test/MatrixSliceTest.cpp b/src/lib/matrix/test/MatrixSliceTest.cpp index 7849259c65e5..9240e6b5a8c2 100644 --- a/src/lib/matrix/test/MatrixSliceTest.cpp +++ b/src/lib/matrix/test/MatrixSliceTest.cpp @@ -262,3 +262,12 @@ TEST(MatrixSliceTest, Slice) float O_check_data_12 [4] = {2.5, 3, 4, 5}; EXPECT_EQ(res_12, (SquareMatrix(O_check_data_12))); } + +TEST(MatrixSliceTest, XYAssignmentTest) +{ + Vector3f a(1, 2, 3); + Vector3f b(4, 5, 6); + // Assign first two elements from b to first two slot of a + a.xy() = b.xy(); + EXPECT_EQ(a, Vector3f(4, 5, 3)); +} diff --git a/src/lib/matrix/test/MatrixSquareTest.cpp b/src/lib/matrix/test/MatrixSquareTest.cpp index b52e9dd66534..eafca26d7459 100644 --- a/src/lib/matrix/test/MatrixSquareTest.cpp +++ b/src/lib/matrix/test/MatrixSquareTest.cpp @@ -47,6 +47,7 @@ TEST(MatrixSquareTest, Square) EXPECT_EQ(A.diag(), diag_check); EXPECT_FLOAT_EQ(A.trace(), 16); + EXPECT_FLOAT_EQ(A.trace<2>(1), 15); float data_check[9] = { 1.01158503f, 0.02190432f, 0.03238144f, @@ -117,6 +118,16 @@ TEST(MatrixSquareTest, Square) SquareMatrix E_check(data_E_check); EXPECT_EQ(E, E_check); + SquareMatrix A_block(data_4x4); + A_block.uncorrelateCovarianceBlock<2>(1); + float data_A_block_check[16] = {1, 0, 0, 4, + 0, 6, 7, 0, + 0, 10, 11, 0, + 13, 0, 0, 16 + }; + SquareMatrix A_block_check(data_A_block_check); + EXPECT_EQ(A_block, A_block_check); + // test symmetric functions SquareMatrix F(data_4x4); F.makeBlockSymmetric<2>(1); @@ -174,4 +185,28 @@ TEST(MatrixSquareTest, Square) }; SquareMatrix K(data_K); EXPECT_FALSE(K.isRowColSymmetric<1>(2)); + + float data_L[16] = {1, 0, 0, 0, + 2, 3, 0, 0, + 3, 4, 11, 0, + 4, 11, 15, 16 + }; + float data_L_check[16] = {1, 2, 3, 4, + 2, 3, 4, 11, + 3, 4, 11, 15, + 4, 11, 15, 16 + }; + SquareMatrix L(data_L); + L.copyLowerToUpperTriangle(); + SquareMatrix L_check(data_L_check); + EXPECT_EQ(L, L_check); + + float data_M[16] = {1, 2, 3, 4, + 0, 3, 4, 11, + 0, 0, 11, 15, + 0, 0, 0, 16 + }; + SquareMatrix M(data_M); + M.copyUpperToLowerTriangle(); + EXPECT_EQ(M, L_check); } diff --git a/src/lib/metadata/CMakeLists.txt b/src/lib/metadata/CMakeLists.txt index a333722507cd..28f50c214af3 100644 --- a/src/lib/metadata/CMakeLists.txt +++ b/src/lib/metadata/CMakeLists.txt @@ -58,4 +58,3 @@ add_custom_command(OUTPUT ${generated_actuators_metadata_file} COMMENT "Generating actuators.json" ) add_custom_target(actuators_json DEPENDS ${generated_actuators_metadata_file}) - diff --git a/src/lib/mixer_module/actuator_test.cpp b/src/lib/mixer_module/actuator_test.cpp index 3ff8d4a7c33f..5347be6b1129 100644 --- a/src/lib/mixer_module/actuator_test.cpp +++ b/src/lib/mixer_module/actuator_test.cpp @@ -75,7 +75,7 @@ void ActuatorTest::update(int num_outputs, float thrust_curve) float value = actuator_test.value; // handle motors - if (actuator_test.function >= (int)OutputFunction::Motor1 && actuator_test.function <= (int)OutputFunction::MotorMax) { + if ((int)OutputFunction::Motor1 <= actuator_test.function && actuator_test.function <= (int)OutputFunction::MotorMax) { actuator_motors_s motors; motors.reversible_flags = 0; _actuator_motors_sub.copy(&motors); @@ -84,7 +84,7 @@ void ActuatorTest::update(int num_outputs, float thrust_curve) } // handle servos: add trim - if (actuator_test.function >= (int)OutputFunction::Servo1 && actuator_test.function <= (int)OutputFunction::ServoMax) { + if ((int)OutputFunction::Servo1 <= actuator_test.function && actuator_test.function <= (int)OutputFunction::ServoMax) { actuator_servos_trim_s trim{}; _actuator_servos_trim_sub.copy(&trim); int idx = actuator_test.function - (int)OutputFunction::Servo1; diff --git a/src/lib/mixer_module/functions/FunctionActuatorSet.hpp b/src/lib/mixer_module/functions/FunctionActuatorSet.hpp index c9369addd526..8c34767eb5d9 100644 --- a/src/lib/mixer_module/functions/FunctionActuatorSet.hpp +++ b/src/lib/mixer_module/functions/FunctionActuatorSet.hpp @@ -38,7 +38,7 @@ #include /** - * Functions: Offboard_Actuator_Set1 ... Offboard_Actuator_Set6 + * Functions: Peripheral_via_Actuator_Set1 ... Peripheral_via_Actuator_Set6 */ class FunctionActuatorSet : public FunctionProviderBase { @@ -61,18 +61,23 @@ class FunctionActuatorSet : public FunctionProviderBase int index = (int)(vehicle_command.param7 + 0.5f); if (index == 0) { - _data[0] = vehicle_command.param1; - _data[1] = vehicle_command.param2; - _data[2] = vehicle_command.param3; - _data[3] = vehicle_command.param4; - _data[4] = vehicle_command.param5; - _data[5] = vehicle_command.param6; + if (PX4_ISFINITE(vehicle_command.param1)) { _data[0] = vehicle_command.param1; } + + if (PX4_ISFINITE(vehicle_command.param2)) {_data[1] = vehicle_command.param2; } + + if (PX4_ISFINITE(vehicle_command.param3)) {_data[2] = vehicle_command.param3; } + + if (PX4_ISFINITE(vehicle_command.param4)) {_data[3] = vehicle_command.param4; } + + if (PX4_ISFINITE(vehicle_command.param5)) {_data[4] = vehicle_command.param5; } + + if (PX4_ISFINITE(vehicle_command.param6)) {_data[5] = vehicle_command.param6; } } } } } - float value(OutputFunction func) override { return _data[(int)func - (int)OutputFunction::Offboard_Actuator_Set1]; } + float value(OutputFunction func) override { return _data[(int)func - (int)OutputFunction::Peripheral_via_Actuator_Set1]; } private: static constexpr int max_num_actuators = 6; diff --git a/src/lib/mixer_module/functions/FunctionManualRC.hpp b/src/lib/mixer_module/functions/FunctionManualRC.hpp index 38f7d096a94e..171c28a81750 100644 --- a/src/lib/mixer_module/functions/FunctionManualRC.hpp +++ b/src/lib/mixer_module/functions/FunctionManualRC.hpp @@ -45,9 +45,7 @@ class FunctionManualRC : public FunctionProviderBase public: FunctionManualRC() { - for (int i = 0; i < num_data_points; ++i) { - _data[i] = NAN; - } + resetAllToDisarmedValue(); } static FunctionProviderBase *allocate(const Context &context) { return new FunctionManualRC(); } @@ -57,17 +55,22 @@ class FunctionManualRC : public FunctionProviderBase manual_control_setpoint_s manual_control_setpoint; if (_topic.update(&manual_control_setpoint)) { - _data[0] = manual_control_setpoint.roll; - _data[1] = manual_control_setpoint.pitch; - _data[2] = manual_control_setpoint.throttle; - _data[3] = manual_control_setpoint.yaw; - _data[4] = manual_control_setpoint.flaps; - _data[5] = manual_control_setpoint.aux1; - _data[6] = manual_control_setpoint.aux2; - _data[7] = manual_control_setpoint.aux3; - _data[8] = manual_control_setpoint.aux4; - _data[9] = manual_control_setpoint.aux5; - _data[10] = manual_control_setpoint.aux6; + if (manual_control_setpoint.valid) { + _data[0] = manual_control_setpoint.roll; + _data[1] = manual_control_setpoint.pitch; + _data[2] = manual_control_setpoint.throttle; + _data[3] = manual_control_setpoint.yaw; + _data[4] = manual_control_setpoint.flaps; + _data[5] = manual_control_setpoint.aux1; + _data[6] = manual_control_setpoint.aux2; + _data[7] = manual_control_setpoint.aux3; + _data[8] = manual_control_setpoint.aux4; + _data[9] = manual_control_setpoint.aux5; + _data[10] = manual_control_setpoint.aux6; + + } else { + resetAllToDisarmedValue(); + } } } @@ -76,6 +79,13 @@ class FunctionManualRC : public FunctionProviderBase private: static constexpr int num_data_points = 11; + void resetAllToDisarmedValue() + { + for (int i = 0; i < num_data_points; ++i) { + _data[i] = NAN; + } + } + static_assert(num_data_points == (int)OutputFunction::RC_AUXMax - (int)OutputFunction::RC_Roll + 1, "number of functions mismatch"); diff --git a/src/lib/mixer_module/functions/FunctionMotors.hpp b/src/lib/mixer_module/functions/FunctionMotors.hpp index 6873a3919f07..fa42c8b63d22 100644 --- a/src/lib/mixer_module/functions/FunctionMotors.hpp +++ b/src/lib/mixer_module/functions/FunctionMotors.hpp @@ -35,7 +35,7 @@ #include "FunctionProviderBase.hpp" -#include +#include /** * Functions: Motor1 ... MotorMax diff --git a/src/lib/mixer_module/mixer_module.cpp b/src/lib/mixer_module/mixer_module.cpp index 29a07ba690ac..45f56ab54025 100644 --- a/src/lib/mixer_module/mixer_module.cpp +++ b/src/lib/mixer_module/mixer_module.cpp @@ -57,7 +57,7 @@ static const FunctionProvider all_function_providers[] = { {OutputFunction::Constant_Max, &FunctionConstantMax::allocate}, {OutputFunction::Motor1, OutputFunction::MotorMax, &FunctionMotors::allocate}, {OutputFunction::Servo1, OutputFunction::ServoMax, &FunctionServos::allocate}, - {OutputFunction::Offboard_Actuator_Set1, OutputFunction::Offboard_Actuator_Set6, &FunctionActuatorSet::allocate}, + {OutputFunction::Peripheral_via_Actuator_Set1, OutputFunction::Peripheral_via_Actuator_Set6, &FunctionActuatorSet::allocate}, {OutputFunction::Landing_Gear, &FunctionLandingGear::allocate}, {OutputFunction::Landing_Gear_Wheel, &FunctionLandingGearWheel::allocate}, {OutputFunction::Parachute, &FunctionParachute::allocate}, @@ -67,7 +67,7 @@ static const FunctionProvider all_function_providers[] = { }; MixingOutput::MixingOutput(const char *param_prefix, uint8_t max_num_outputs, OutputModuleInterface &interface, - SchedulingPolicy scheduling_policy, bool support_esc_calibration, bool ramp_up) : + SchedulingPolicy scheduling_policy, bool support_esc_calibration, bool ramp_up, const uint8_t instance_start) : ModuleParams(&interface), _output_ramp_up(ramp_up), _scheduling_policy(scheduling_policy), @@ -87,7 +87,7 @@ MixingOutput::MixingOutput(const char *param_prefix, uint8_t max_num_outputs, Ou px4_sem_init(&_lock, 0, 1); - initParamHandles(); + initParamHandles(instance_start); for (unsigned i = 0; i < MAX_ACTUATORS; i++) { _failsafe_value[i] = UINT16_MAX; @@ -108,20 +108,20 @@ MixingOutput::~MixingOutput() _outputs_pub.unadvertise(); } -void MixingOutput::initParamHandles() +void MixingOutput::initParamHandles(const uint8_t instance_start) { char param_name[17]; for (unsigned i = 0; i < _max_num_outputs; ++i) { - snprintf(param_name, sizeof(param_name), "%s_%s%d", _param_prefix, "FUNC", i + 1); + snprintf(param_name, sizeof(param_name), "%s_%s%d", _param_prefix, "FUNC", i + instance_start); _param_handles[i].function = param_find(param_name); - snprintf(param_name, sizeof(param_name), "%s_%s%d", _param_prefix, "DIS", i + 1); + snprintf(param_name, sizeof(param_name), "%s_%s%d", _param_prefix, "DIS", i + instance_start); _param_handles[i].disarmed = param_find(param_name); - snprintf(param_name, sizeof(param_name), "%s_%s%d", _param_prefix, "MIN", i + 1); + snprintf(param_name, sizeof(param_name), "%s_%s%d", _param_prefix, "MIN", i + instance_start); _param_handles[i].min = param_find(param_name); - snprintf(param_name, sizeof(param_name), "%s_%s%d", _param_prefix, "MAX", i + 1); + snprintf(param_name, sizeof(param_name), "%s_%s%d", _param_prefix, "MAX", i + instance_start); _param_handles[i].max = param_find(param_name); - snprintf(param_name, sizeof(param_name), "%s_%s%d", _param_prefix, "FAIL", i + 1); + snprintf(param_name, sizeof(param_name), "%s_%s%d", _param_prefix, "FAIL", i + instance_start); _param_handles[i].failsafe = param_find(param_name); } @@ -455,7 +455,8 @@ bool MixingOutput::update() } } - if (!all_disabled) { + // Send output if any function mapped or one last disabling sample + if (!all_disabled || !_was_all_disabled) { if (!_armed.armed && !_armed.manual_lockdown) { _actuator_test.overrideValues(outputs, _max_num_outputs); } @@ -463,6 +464,8 @@ bool MixingOutput::update() limitAndUpdateOutputs(outputs, has_updates); } + _was_all_disabled = all_disabled; + return true; } @@ -490,6 +493,24 @@ MixingOutput::limitAndUpdateOutputs(float outputs[MAX_ACTUATORS], bool has_updat output_limit_calc(_throttle_armed || _actuator_test.inTestMode(), _max_num_outputs, outputs); } + // We must calibrate the PWM and Oneshot ESCs to a consistent range of 1000-2000us (gets mapped to 125-250us for Oneshot) + // Doing so makes calibrations consistent among different configurations and hence PWM minimum and maximum have a consistent effect + // hence the defaults for these parameters also make most setups work out of the box + if (_armed.in_esc_calibration_mode) { + static constexpr uint16_t PWM_CALIBRATION_LOW = 1000; + static constexpr uint16_t PWM_CALIBRATION_HIGH = 2000; + + for (int i = 0; i < _max_num_outputs; i++) { + if (_current_output_value[i] == _min_value[i]) { + _current_output_value[i] = PWM_CALIBRATION_LOW; + } + + if (_current_output_value[i] == _max_value[i]) { + _current_output_value[i] = PWM_CALIBRATION_HIGH; + } + } + } + /* now return the outputs to the driver */ if (_interface.updateOutputs(stop_motors, _current_output_value, _max_num_outputs, has_updates)) { actuator_outputs_s actuator_outputs{}; @@ -510,10 +531,10 @@ uint16_t MixingOutput::output_limit_calc_single(int i, float value) const value = -1.f * value; } - uint16_t effective_output = value * (_max_value[i] - _min_value[i]) / 2 + (_max_value[i] + _min_value[i]) / 2; + const float output = math::interpolate(value, -1.f, 1.f, + static_cast(_min_value[i]), static_cast(_max_value[i])); - // last line of defense against invalid inputs - return math::constrain(effective_output, _min_value[i], _max_value[i]); + return math::constrain(lroundf(output), 0L, static_cast(UINT16_MAX)); } void @@ -526,21 +547,6 @@ MixingOutput::output_limit_calc(const bool armed, const int num_channels, const /* first evaluate state changes */ switch (_output_state) { - case OutputLimitState::INIT: - if (armed) { - // set arming time for the first call - if (_output_time_armed == 0) { - _output_time_armed = hrt_absolute_time(); - } - - // time for the ESCs to initialize (this is not actually needed if the signal is sent right after boot) - if (hrt_elapsed_time(&_output_time_armed) >= 50_ms) { - _output_state = OutputLimitState::OFF; - } - } - - break; - case OutputLimitState::OFF: if (armed) { if (_output_ramp_up) { @@ -589,7 +595,6 @@ MixingOutput::output_limit_calc(const bool armed, const int num_channels, const // then set _current_output_value based on state switch (local_limit_state) { case OutputLimitState::OFF: - case OutputLimitState::INIT: for (int i = 0; i < num_channels; i++) { _current_output_value[i] = _disarmed_value[i]; } @@ -598,53 +603,16 @@ MixingOutput::output_limit_calc(const bool armed, const int num_channels, const case OutputLimitState::RAMP: { hrt_abstime diff = hrt_elapsed_time(&_output_time_armed); + float progress = static_cast(diff) / RAMP_TIME_US; - static constexpr int PROGRESS_INT_SCALING = 10000; - int progress = diff * PROGRESS_INT_SCALING / RAMP_TIME_US; - - if (progress > PROGRESS_INT_SCALING) { - progress = PROGRESS_INT_SCALING; + if (progress > 1.f) { + progress = 1.f; } for (int i = 0; i < num_channels; i++) { - - float control_value = output[i]; - - /* check for invalid / disabled channels */ - if (!PX4_ISFINITE(control_value)) { - _current_output_value[i] = _disarmed_value[i]; - continue; - } - - uint16_t ramp_min_output; - - /* if a disarmed output value was set, blend between disarmed and min */ - if (_disarmed_value[i] > 0) { - - /* safeguard against overflows */ - auto disarmed = _disarmed_value[i]; - - if (disarmed > _min_value[i]) { - disarmed = _min_value[i]; - } - - int disarmed_min_diff = _min_value[i] - disarmed; - ramp_min_output = disarmed + (disarmed_min_diff * progress) / PROGRESS_INT_SCALING; - - } else { - /* no disarmed output value set, choose min output */ - ramp_min_output = _min_value[i]; - } - - if (_reverse_output_mask & (1 << i)) { - control_value = -1.f * control_value; - } - - _current_output_value[i] = control_value * (_max_value[i] - ramp_min_output) / 2 + (_max_value[i] + ramp_min_output) / - 2; - - /* last line of defense against invalid inputs */ - _current_output_value[i] = math::constrain(_current_output_value[i], ramp_min_output, _max_value[i]); + // Ramp from disarmed value to currently desired output that would apply without ramp + uint16_t desired_output = output_limit_calc_single(i, output[i]); + _current_output_value[i] = _disarmed_value[i] + progress * (desired_output - _disarmed_value[i]); } } break; diff --git a/src/lib/mixer_module/mixer_module.hpp b/src/lib/mixer_module/mixer_module.hpp index d3dda97e8362..fa6cd81fcb40 100644 --- a/src/lib/mixer_module/mixer_module.hpp +++ b/src/lib/mixer_module/mixer_module.hpp @@ -120,7 +120,7 @@ class MixingOutput : public ModuleParams */ MixingOutput(const char *param_prefix, uint8_t max_num_outputs, OutputModuleInterface &interface, SchedulingPolicy scheduling_policy, - bool support_esc_calibration, bool ramp_up = true); + bool support_esc_calibration, bool ramp_up = true, const uint8_t instance_start = 1); ~MixingOutput(); @@ -179,6 +179,8 @@ class MixingOutput : public ModuleParams param_t functionParamHandle(int index) const { return _param_handles[index].function; } param_t disarmedParamHandle(int index) const { return _param_handles[index].disarmed; } + param_t minParamHandle(int index) const { return _param_handles[index].min; } + param_t maxParamHandle(int index) const { return _param_handles[index].max; } /** * Returns the actual failsafe value taking into account the assigned function @@ -204,6 +206,7 @@ class MixingOutput : public ModuleParams protected: void updateParams() override; + uint16_t output_limit_calc_single(int i, float value) const; private: @@ -218,12 +221,10 @@ class MixingOutput : public ModuleParams void cleanupFunctions(); - void initParamHandles(); + void initParamHandles(const uint8_t instance_start); void limitAndUpdateOutputs(float outputs[MAX_ACTUATORS], bool has_updates); - uint16_t output_limit_calc_single(int i, float value) const; - void output_limit_calc(const bool armed, const int num_channels, const float outputs[MAX_ACTUATORS]); struct ParamHandles { @@ -248,10 +249,9 @@ class MixingOutput : public ModuleParams enum class OutputLimitState { OFF = 0, - INIT, RAMP, ON - } _output_state{OutputLimitState::INIT}; + } _output_state{OutputLimitState::OFF}; hrt_abstime _output_time_armed{0}; const bool _output_ramp_up; ///< if true, motors will ramp up from disarmed to min_output after arming @@ -288,6 +288,7 @@ class MixingOutput : public ModuleParams hrt_abstime _lowrate_schedule_interval{300_ms}; ActuatorTest _actuator_test{_function_assignment}; uint32_t _reversible_mask{0}; ///< per-output bits. If set, the output is configured to be reversible (motors only) + bool _was_all_disabled{false}; uORB::SubscriptionCallbackWorkItem *_subscription_callback{nullptr}; ///< current scheduling callback diff --git a/src/lib/mixer_module/mixer_module_tests.cpp b/src/lib/mixer_module/mixer_module_tests.cpp index fe6cb7977293..3901a1c85de9 100644 --- a/src/lib/mixer_module/mixer_module_tests.cpp +++ b/src/lib/mixer_module/mixer_module_tests.cpp @@ -50,12 +50,11 @@ #define PARAM_PREFIX "HIL_ACT" #endif -static constexpr int max_num_outputs = 8; - -static constexpr int disarmed_value = 900; -static constexpr int failsafe_value = 800; -static constexpr int min_value = 1000; -static constexpr int max_value = 2000; +static constexpr int MAX_NUM_OUTPUTS = 8; +static constexpr int DISARMED_VALUE = 900; +static constexpr int FAILSAFE_VALUE = 800; +static constexpr int MIN_VALUE = 1000; +static constexpr int MAX_VALUE = 2000; class MixerModuleTest : public ::testing::Test { @@ -101,9 +100,9 @@ class OutputModuleTest : public OutputModuleInterface mixer_changed = true; } - void configureFunctions(const std::array &functions) + void configureFunctions(const std::array &functions) { - for (int i = 0; i < max_num_outputs; ++i) { + for (int i = 0; i < MAX_NUM_OUTPUTS; ++i) { char buffer[17]; snprintf(buffer, sizeof(buffer), "%s_FUNC%u", PARAM_PREFIX, i + 1); @@ -185,18 +184,22 @@ TEST_F(MixerModuleTest, basic) { OutputModuleTest test_module; test_module.configureFunctions({}); - MixingOutput mixing_output{PARAM_PREFIX, max_num_outputs, test_module, MixingOutput::SchedulingPolicy::Disabled, false, false}; - mixing_output.setAllDisarmedValues(disarmed_value); - mixing_output.setAllFailsafeValues(failsafe_value); - mixing_output.setAllMinValues(min_value); - mixing_output.setAllMaxValues(max_value); + MixingOutput mixing_output{PARAM_PREFIX, MAX_NUM_OUTPUTS, test_module, MixingOutput::SchedulingPolicy::Disabled, false, false}; + mixing_output.setAllDisarmedValues(DISARMED_VALUE); + mixing_output.setAllFailsafeValues(FAILSAFE_VALUE); + mixing_output.setAllMinValues(MIN_VALUE); + mixing_output.setAllMaxValues(MAX_VALUE); EXPECT_EQ(test_module.num_updates, 0); - // all functions disabled: not expected to get an update + // all functions disabled: expect to get one single update to process disabling the output signal mixing_output.update(); mixing_output.updateSubscriptions(false); mixing_output.update(); - EXPECT_EQ(test_module.num_updates, 0); + EXPECT_EQ(test_module.num_updates, 1); + mixing_output.update(); + mixing_output.updateSubscriptions(false); + mixing_output.update(); + EXPECT_EQ(test_module.num_updates, 1); test_module.reset(); // configure motor, ensure all still disarmed @@ -204,10 +207,10 @@ TEST_F(MixerModuleTest, basic) mixing_output.updateSubscriptions(false); EXPECT_TRUE(test_module.mixer_changed); EXPECT_EQ(test_module.num_updates, update(mixing_output)); - EXPECT_EQ(test_module.num_outputs, max_num_outputs); + EXPECT_EQ(test_module.num_outputs, MAX_NUM_OUTPUTS); for (int i = 0; i < test_module.num_outputs; ++i) { - EXPECT_EQ(test_module.outputs[i], disarmed_value); + EXPECT_EQ(test_module.outputs[i], DISARMED_VALUE); } test_module.reset(); @@ -222,10 +225,10 @@ TEST_F(MixerModuleTest, basic) mixing_output.updateSubscriptions(false); EXPECT_EQ(test_module.num_updates, update(mixing_output)); - EXPECT_EQ(test_module.num_outputs, max_num_outputs); + EXPECT_EQ(test_module.num_outputs, MAX_NUM_OUTPUTS); for (int i = 0; i < test_module.num_outputs; ++i) { - EXPECT_EQ(test_module.outputs[i], disarmed_value); + EXPECT_EQ(test_module.outputs[i], DISARMED_VALUE); } test_module.reset(); @@ -236,14 +239,14 @@ TEST_F(MixerModuleTest, basic) test_module.sendMotors({1.f, 1.f, 1.f, 1.f, 1.f, 1.f, 1.f, 1.f}); mixing_output.updateSubscriptions(false); EXPECT_EQ(test_module.num_updates, update(mixing_output)); - EXPECT_EQ(test_module.num_outputs, max_num_outputs); + EXPECT_EQ(test_module.num_outputs, MAX_NUM_OUTPUTS); for (int i = 0; i < test_module.num_outputs; ++i) { if (i == 3) { - EXPECT_EQ(test_module.outputs[i], max_value); + EXPECT_EQ(test_module.outputs[i], MAX_VALUE); } else { - EXPECT_EQ(test_module.outputs[i], disarmed_value); + EXPECT_EQ(test_module.outputs[i], DISARMED_VALUE); } } @@ -254,10 +257,10 @@ TEST_F(MixerModuleTest, basic) test_module.sendMotors({1.f, 1.f, 1.f, 1.f, 1.f, 1.f, 1.f, 1.f}); mixing_output.updateSubscriptions(false); EXPECT_EQ(test_module.num_updates, update(mixing_output)); - EXPECT_EQ(test_module.num_outputs, max_num_outputs); + EXPECT_EQ(test_module.num_outputs, MAX_NUM_OUTPUTS); for (int i = 0; i < test_module.num_outputs; ++i) { - EXPECT_EQ(test_module.outputs[i], disarmed_value); + EXPECT_EQ(test_module.outputs[i], DISARMED_VALUE); } test_module.reset(); @@ -274,11 +277,11 @@ TEST_F(MixerModuleTest, arming) (int)OutputFunction::Motor1, (int)OutputFunction::Motor5, (int)OutputFunction::Servo3}); - MixingOutput mixing_output{PARAM_PREFIX, max_num_outputs, test_module, MixingOutput::SchedulingPolicy::Disabled, false, false}; - mixing_output.setAllDisarmedValues(disarmed_value); - mixing_output.setAllFailsafeValues(failsafe_value); - mixing_output.setAllMinValues(min_value); - mixing_output.setAllMaxValues(max_value); + MixingOutput mixing_output{PARAM_PREFIX, MAX_NUM_OUTPUTS, test_module, MixingOutput::SchedulingPolicy::Disabled, false, false}; + mixing_output.setAllDisarmedValues(DISARMED_VALUE); + mixing_output.setAllFailsafeValues(FAILSAFE_VALUE); + mixing_output.setAllMinValues(MIN_VALUE); + mixing_output.setAllMaxValues(MAX_VALUE); test_module.sendMotors({1.f, 1.f, 1.f, 1.f, 1.f, 1.f, 1.f, 1.f}); test_module.sendActuatorArmed(false); @@ -286,10 +289,10 @@ TEST_F(MixerModuleTest, arming) // ensure all disarmed mixing_output.updateSubscriptions(false); EXPECT_EQ(test_module.num_updates, update(mixing_output)); - EXPECT_EQ(test_module.num_outputs, max_num_outputs); + EXPECT_EQ(test_module.num_outputs, MAX_NUM_OUTPUTS); - for (int i = 0; i < max_num_outputs; ++i) { - EXPECT_EQ(test_module.outputs[i], disarmed_value); + for (int i = 0; i < MAX_NUM_OUTPUTS; ++i) { + EXPECT_EQ(test_module.outputs[i], DISARMED_VALUE); } test_module.reset(); @@ -299,20 +302,20 @@ TEST_F(MixerModuleTest, arming) test_module.sendActuatorArmed(true); EXPECT_EQ(test_module.num_updates, update(mixing_output)); - EXPECT_EQ(test_module.num_outputs, max_num_outputs); + EXPECT_EQ(test_module.num_outputs, MAX_NUM_OUTPUTS); - for (int i = 0; i < max_num_outputs; ++i) { + for (int i = 0; i < MAX_NUM_OUTPUTS; ++i) { if (i == 1) { - EXPECT_EQ(test_module.outputs[i], (max_value - min_value) * 0.1f + min_value); + EXPECT_EQ(test_module.outputs[i], (MAX_VALUE - MIN_VALUE) * 0.1f + MIN_VALUE); } else if (i == 2) { - EXPECT_EQ(test_module.outputs[i], (max_value - min_value) * 0.5f + min_value); + EXPECT_EQ(test_module.outputs[i], (MAX_VALUE - MIN_VALUE) * 0.5f + MIN_VALUE); } else if (i == 3) { - EXPECT_EQ(test_module.outputs[i], max_value); + EXPECT_EQ(test_module.outputs[i], MAX_VALUE); } else { - EXPECT_EQ(test_module.outputs[i], disarmed_value); + EXPECT_EQ(test_module.outputs[i], DISARMED_VALUE); } } @@ -323,18 +326,18 @@ TEST_F(MixerModuleTest, arming) mixing_output.updateSubscriptions(false); mixing_output.update(); - for (int i = 0; i < max_num_outputs; ++i) { + for (int i = 0; i < MAX_NUM_OUTPUTS; ++i) { if (i == 1) { - EXPECT_EQ(test_module.outputs[i], (max_value - min_value) * 0.24f + min_value); + EXPECT_EQ(test_module.outputs[i], (MAX_VALUE - MIN_VALUE) * 0.24f + MIN_VALUE); } else if (i == 2) { - EXPECT_EQ(test_module.outputs[i], (max_value - min_value) * 0.9f + min_value); + EXPECT_EQ(test_module.outputs[i], (MAX_VALUE - MIN_VALUE) * 0.9f + MIN_VALUE); } else if (i == 3) { - EXPECT_EQ(test_module.outputs[i], min_value); + EXPECT_EQ(test_module.outputs[i], MIN_VALUE); } else { - EXPECT_EQ(test_module.outputs[i], disarmed_value); + EXPECT_EQ(test_module.outputs[i], DISARMED_VALUE); } } @@ -345,8 +348,8 @@ TEST_F(MixerModuleTest, arming) test_module.sendMotors({0.5f, 1.f, 0.1f, 0.2f, 1.f, 1.f, 1.f, 1.f}); mixing_output.update(); - for (int i = 0; i < max_num_outputs; ++i) { - EXPECT_EQ(test_module.outputs[i], failsafe_value); + for (int i = 0; i < MAX_NUM_OUTPUTS; ++i) { + EXPECT_EQ(test_module.outputs[i], FAILSAFE_VALUE); } test_module.reset(); @@ -356,12 +359,12 @@ TEST_F(MixerModuleTest, arming) test_module.sendMotors({1.f, 1.f, 1.f, 1.f, 1.f, 1.f, 1.f, 1.f}); mixing_output.update(); - for (int i = 0; i < max_num_outputs; ++i) { + for (int i = 0; i < MAX_NUM_OUTPUTS; ++i) { if (i >= 1 && i <= 3) { - EXPECT_EQ(test_module.outputs[i], max_value); + EXPECT_EQ(test_module.outputs[i], MAX_VALUE); } else { - EXPECT_EQ(test_module.outputs[i], disarmed_value); + EXPECT_EQ(test_module.outputs[i], DISARMED_VALUE); } } @@ -372,8 +375,8 @@ TEST_F(MixerModuleTest, arming) test_module.sendMotors({0.5f, 1.f, 0.1f, 0.2f, 1.f, 1.f, 1.f, 1.f}); mixing_output.update(); - for (int i = 0; i < max_num_outputs; ++i) { - EXPECT_EQ(test_module.outputs[i], disarmed_value); + for (int i = 0; i < MAX_NUM_OUTPUTS; ++i) { + EXPECT_EQ(test_module.outputs[i], DISARMED_VALUE); } test_module.reset(); @@ -383,12 +386,12 @@ TEST_F(MixerModuleTest, arming) test_module.sendMotors({0.f, 0.f, 0.f, 0.f, 0.f, 1.f, 1.f, 1.f}); mixing_output.update(); - for (int i = 0; i < max_num_outputs; ++i) { + for (int i = 0; i < MAX_NUM_OUTPUTS; ++i) { if (i >= 1 && i <= 3) { - EXPECT_EQ(test_module.outputs[i], min_value); + EXPECT_EQ(test_module.outputs[i], MIN_VALUE); } else { - EXPECT_EQ(test_module.outputs[i], disarmed_value); + EXPECT_EQ(test_module.outputs[i], DISARMED_VALUE); } } @@ -400,18 +403,18 @@ TEST_F(MixerModuleTest, arming) mixing_output.update(); EXPECT_EQ(mixing_output.reversibleOutputs(), 1u << 3); - for (int i = 0; i < max_num_outputs; ++i) { + for (int i = 0; i < MAX_NUM_OUTPUTS; ++i) { if (i == 1) { - EXPECT_EQ(test_module.outputs[i], min_value); + EXPECT_EQ(test_module.outputs[i], MIN_VALUE); } else if (i == 2) { - EXPECT_EQ(test_module.outputs[i], min_value); + EXPECT_EQ(test_module.outputs[i], MIN_VALUE); } else if (i == 3) { - EXPECT_EQ(test_module.outputs[i], (max_value - min_value) * 0.5f + min_value); + EXPECT_EQ(test_module.outputs[i], (MAX_VALUE - MIN_VALUE) * 0.5f + MIN_VALUE); } else { - EXPECT_EQ(test_module.outputs[i], disarmed_value); + EXPECT_EQ(test_module.outputs[i], DISARMED_VALUE); } } @@ -422,8 +425,8 @@ TEST_F(MixerModuleTest, arming) test_module.sendMotors({0.f, 0.f, 0.f, 0.f, 0.f, 1.f, 1.f, 1.f}, 1u << 4); mixing_output.update(); - for (int i = 0; i < max_num_outputs; ++i) { - EXPECT_EQ(test_module.outputs[i], disarmed_value); + for (int i = 0; i < MAX_NUM_OUTPUTS; ++i) { + EXPECT_EQ(test_module.outputs[i], DISARMED_VALUE); } test_module.reset(); @@ -437,11 +440,11 @@ TEST_F(MixerModuleTest, prearm) test_module.configureFunctions({ (int)OutputFunction::Motor1, (int)OutputFunction::Servo1}); - MixingOutput mixing_output{PARAM_PREFIX, max_num_outputs, test_module, MixingOutput::SchedulingPolicy::Disabled, false, false}; - mixing_output.setAllDisarmedValues(disarmed_value); - mixing_output.setAllFailsafeValues(failsafe_value); - mixing_output.setAllMinValues(min_value); - mixing_output.setAllMaxValues(max_value); + MixingOutput mixing_output{PARAM_PREFIX, MAX_NUM_OUTPUTS, test_module, MixingOutput::SchedulingPolicy::Disabled, false, false}; + mixing_output.setAllDisarmedValues(DISARMED_VALUE); + mixing_output.setAllFailsafeValues(FAILSAFE_VALUE); + mixing_output.setAllMinValues(MIN_VALUE); + mixing_output.setAllMaxValues(MAX_VALUE); test_module.sendMotors({1.f, 1.f, 1.f, 1.f, 1.f, 1.f, 1.f, 1.f}); test_module.sendServos({1.f, 1.f, 1.f, 1.f, 1.f, 1.f, 1.f, 1.f}); @@ -450,14 +453,14 @@ TEST_F(MixerModuleTest, prearm) // ensure all disarmed, except the servo mixing_output.updateSubscriptions(false); EXPECT_EQ(test_module.num_updates, update(mixing_output)); - EXPECT_EQ(test_module.num_outputs, max_num_outputs); + EXPECT_EQ(test_module.num_outputs, MAX_NUM_OUTPUTS); - for (int i = 0; i < max_num_outputs; ++i) { + for (int i = 0; i < MAX_NUM_OUTPUTS; ++i) { if (i == 1) { - EXPECT_EQ(test_module.outputs[i], max_value); + EXPECT_EQ(test_module.outputs[i], MAX_VALUE); } else { - EXPECT_EQ(test_module.outputs[i], disarmed_value); + EXPECT_EQ(test_module.outputs[i], DISARMED_VALUE); } } @@ -465,3 +468,66 @@ TEST_F(MixerModuleTest, prearm) EXPECT_FALSE(test_module.was_scheduled); } + +class TestMixingOutput : public MixingOutput +{ +public: + TestMixingOutput(const char *param_prefix, uint8_t max_num_outputs, OutputModuleInterface &interface, + SchedulingPolicy scheduling_policy, + bool support_esc_calibration, bool ramp_up = true) + : MixingOutput(param_prefix, max_num_outputs, interface, scheduling_policy, support_esc_calibration, ramp_up) + {}; + uint16_t output_limit_calc_single(int i, float value) const { return MixingOutput::output_limit_calc_single(i, value); } +}; + +TEST_F(MixerModuleTest, OutputLimitCalcSingle) +{ + OutputModuleTest test_module; + test_module.configureFunctions({(int)OutputFunction::Motor1}); + TestMixingOutput mixing_output{PARAM_PREFIX, MAX_NUM_OUTPUTS, test_module, MixingOutput::SchedulingPolicy::Disabled, false, false}; + + mixing_output.setAllMinValues(MIN_VALUE); // default range [1000,2000] + mixing_output.setAllMaxValues(MAX_VALUE); + EXPECT_EQ(mixing_output.output_limit_calc_single(0, -1.f), 1000); // In range + EXPECT_EQ(mixing_output.output_limit_calc_single(0, -.5f), 1250); + EXPECT_EQ(mixing_output.output_limit_calc_single(0, 0.f), 1500); + EXPECT_EQ(mixing_output.output_limit_calc_single(0, .5f), 1750); + EXPECT_EQ(mixing_output.output_limit_calc_single(0, 1.f), 2000); + EXPECT_EQ(mixing_output.output_limit_calc_single(0, -1.1f), 1000); // Out of range + EXPECT_EQ(mixing_output.output_limit_calc_single(0, 1.1f), 2000); + EXPECT_EQ(mixing_output.output_limit_calc_single(0, -1000.f), 1000); // Way ouf of range + EXPECT_EQ(mixing_output.output_limit_calc_single(0, 1000.f), 2000); + EXPECT_EQ(mixing_output.output_limit_calc_single(0, 0.0005), 1500); // Rounding down + EXPECT_EQ(mixing_output.output_limit_calc_single(0, 0.0015), 1501); // Rounding up + EXPECT_EQ(mixing_output.output_limit_calc_single(0, 0.002), 1501); // Exact value + + mixing_output.setAllMinValues(0); // lower range [0,20] + mixing_output.setAllMaxValues(20); + EXPECT_EQ(mixing_output.output_limit_calc_single(0, -1.f), 0); // In range + EXPECT_EQ(mixing_output.output_limit_calc_single(0, -.5f), 5); + EXPECT_EQ(mixing_output.output_limit_calc_single(0, 0.f), 10); + EXPECT_EQ(mixing_output.output_limit_calc_single(0, .5f), 15); + EXPECT_EQ(mixing_output.output_limit_calc_single(0, 1.f), 20); + EXPECT_EQ(mixing_output.output_limit_calc_single(0, -1.1f), 0); // Out of range + EXPECT_EQ(mixing_output.output_limit_calc_single(0, 1.1f), 20); + EXPECT_EQ(mixing_output.output_limit_calc_single(0, -1000.f), 0); // Way ouf of range + EXPECT_EQ(mixing_output.output_limit_calc_single(0, 1000.f), 20); + EXPECT_EQ(mixing_output.output_limit_calc_single(0, 0.025), 10); // Rounding down + EXPECT_EQ(mixing_output.output_limit_calc_single(0, 0.075), 11); // Rounding up + EXPECT_EQ(mixing_output.output_limit_calc_single(0, 0.1), 11); // Exact value + + mixing_output.setAllMinValues(20); // inverted range [20,0] + mixing_output.setAllMaxValues(0); + EXPECT_EQ(mixing_output.output_limit_calc_single(0, -1.f), 20); // In range + EXPECT_EQ(mixing_output.output_limit_calc_single(0, -.5f), 15); + EXPECT_EQ(mixing_output.output_limit_calc_single(0, 0.f), 10); + EXPECT_EQ(mixing_output.output_limit_calc_single(0, .5f), 5); + EXPECT_EQ(mixing_output.output_limit_calc_single(0, 1.f), 0); + EXPECT_EQ(mixing_output.output_limit_calc_single(0, -1.1f), 20); // Out of range + EXPECT_EQ(mixing_output.output_limit_calc_single(0, 1.1f), 0); + EXPECT_EQ(mixing_output.output_limit_calc_single(0, -1000.f), 20); // Way ouf of range + EXPECT_EQ(mixing_output.output_limit_calc_single(0, 1000.f), 0); + EXPECT_EQ(mixing_output.output_limit_calc_single(0, 0.025), 10); // Rounding down + EXPECT_EQ(mixing_output.output_limit_calc_single(0, 0.075), 9); // Rounding up + EXPECT_EQ(mixing_output.output_limit_calc_single(0, 0.1), 9); // Exact value +} diff --git a/src/lib/mixer_module/output_functions.yaml b/src/lib/mixer_module/output_functions.yaml index 1c57ed9d2a63..7543ed388bce 100644 --- a/src/lib/mixer_module/output_functions.yaml +++ b/src/lib/mixer_module/output_functions.yaml @@ -13,7 +13,7 @@ functions: Servo: start: 201 count: 8 - Offboard_Actuator_Set: + Peripheral_via_Actuator_Set: start: 301 count: 6 diff --git a/src/lib/modes/standard_modes.hpp b/src/lib/modes/standard_modes.hpp new file mode 100644 index 000000000000..df27f927350e --- /dev/null +++ b/src/lib/modes/standard_modes.hpp @@ -0,0 +1,97 @@ +/**************************************************************************** + * + * Copyright (c) 2022 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#pragma once + +#include + +#include + +namespace mode_util +{ + +// This matches the definition from MAVLink MAV_STANDARD_MODE +enum class StandardMode : uint8_t { + NON_STANDARD = 0, + POSITION_HOLD = 1, + ORBIT = 2, + CRUISE = 3, + ALTITUDE_HOLD = 4, + RETURN_HOME = 5, + SAFE_RECOVERY = 6, + MISSION = 7, + LAND = 8, + TAKEOFF = 9, +}; + +/** + * @return Get MAVLink standard mode from nav_state + */ +static inline StandardMode getStandardModeFromNavState(uint8_t nav_state) +{ + switch (nav_state) { + case vehicle_status_s::NAVIGATION_STATE_AUTO_RTL: return StandardMode::RETURN_HOME; + + case vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION: return StandardMode::MISSION; + + case vehicle_status_s::NAVIGATION_STATE_AUTO_LAND: return StandardMode::LAND; + + case vehicle_status_s::NAVIGATION_STATE_AUTO_TAKEOFF: return StandardMode::TAKEOFF; + // Note: all other standard modes do not directly map, or are vehicle-type specific + } + + return StandardMode::NON_STANDARD; +} + +/** + * @return Get nav_state from a standard mode, or vehicle_status_s::NAVIGATION_STATE_MAX if not supported + */ +static inline uint8_t getNavStateFromStandardMode(StandardMode mode) +{ + switch (mode) { + case StandardMode::RETURN_HOME: return vehicle_status_s::NAVIGATION_STATE_AUTO_RTL; + + case StandardMode::MISSION: return vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION; + + case StandardMode::LAND: return vehicle_status_s::NAVIGATION_STATE_AUTO_LAND; + + case StandardMode::TAKEOFF: return vehicle_status_s::NAVIGATION_STATE_AUTO_TAKEOFF; + + default: break; + } + + return vehicle_status_s::NAVIGATION_STATE_MAX; +} + + +} // namespace mode_util diff --git a/src/lib/modes/ui.hpp b/src/lib/modes/ui.hpp new file mode 100644 index 000000000000..9e4156ae007a --- /dev/null +++ b/src/lib/modes/ui.hpp @@ -0,0 +1,134 @@ +/**************************************************************************** + * + * Copyright (c) 2022 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#pragma once + +#include + +#include + +namespace mode_util +{ + +/** + * @return Bitmask with all valid modes + */ +static inline uint32_t getValidNavStates() +{ + return (1u << vehicle_status_s::NAVIGATION_STATE_MANUAL) | + (1u << vehicle_status_s::NAVIGATION_STATE_ALTCTL) | + (1u << vehicle_status_s::NAVIGATION_STATE_POSCTL) | + (1u << vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION) | + (1u << vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER) | + (1u << vehicle_status_s::NAVIGATION_STATE_AUTO_RTL) | + (1u << vehicle_status_s::NAVIGATION_STATE_POSITION_SLOW) | + (1u << vehicle_status_s::NAVIGATION_STATE_ACRO) | + (1u << vehicle_status_s::NAVIGATION_STATE_TERMINATION) | + (1u << vehicle_status_s::NAVIGATION_STATE_OFFBOARD) | + (1u << vehicle_status_s::NAVIGATION_STATE_STAB) | + (1u << vehicle_status_s::NAVIGATION_STATE_AUTO_TAKEOFF) | + (1u << vehicle_status_s::NAVIGATION_STATE_AUTO_LAND) | + (1u << vehicle_status_s::NAVIGATION_STATE_AUTO_FOLLOW_TARGET) | + (1u << vehicle_status_s::NAVIGATION_STATE_AUTO_PRECLAND) | + (1u << vehicle_status_s::NAVIGATION_STATE_ORBIT) | + (1u << vehicle_status_s::NAVIGATION_STATE_AUTO_VTOL_TAKEOFF); + + static_assert(vehicle_status_s::NAVIGATION_STATE_MAX == 31, "update valid nav states"); +} + +const char *const nav_state_names[vehicle_status_s::NAVIGATION_STATE_MAX] = { + "Manual", + "Altitude", + "Position", + "Mission", + "Hold", + "Return", + "Position Slow", + "7: unallocated", + "8: unallocated", + "9: unallocated", + "Acro", + "11: UNUSED", + "Descend", + "Termination", + "Offboard", + "Stabilized", + "16: UNUSED2", + "Takeoff", + "Land", + "Follow Target", + "Precision Landing", + "Orbit", + "VTOL Takeoff", + "External 1", + "External 2", + "External 3", + "External 4", + "External 5", + "External 6", + "External 7", + "External 8", +}; + +/** + * @return returns true for advanced modes + */ +static inline bool isAdvanced(uint8_t nav_state) +{ + switch (nav_state) { + case vehicle_status_s::NAVIGATION_STATE_ALTCTL: return false; + + case vehicle_status_s::NAVIGATION_STATE_POSCTL: return false; + + case vehicle_status_s::NAVIGATION_STATE_EXTERNAL1: return false; + + case vehicle_status_s::NAVIGATION_STATE_EXTERNAL2: return false; + + case vehicle_status_s::NAVIGATION_STATE_EXTERNAL3: return false; + + case vehicle_status_s::NAVIGATION_STATE_EXTERNAL4: return false; + + case vehicle_status_s::NAVIGATION_STATE_EXTERNAL5: return false; + + case vehicle_status_s::NAVIGATION_STATE_EXTERNAL6: return false; + + case vehicle_status_s::NAVIGATION_STATE_EXTERNAL7: return false; + + case vehicle_status_s::NAVIGATION_STATE_EXTERNAL8: return false; + + } + + return true; +} + +} // namespace mode_util diff --git a/src/lib/motion_planning/CMakeLists.txt b/src/lib/motion_planning/CMakeLists.txt index f913c495d6a6..6b04cded05fe 100644 --- a/src/lib/motion_planning/CMakeLists.txt +++ b/src/lib/motion_planning/CMakeLists.txt @@ -32,10 +32,11 @@ ############################################################################ px4_add_library(motion_planning - VelocitySmoothing.cpp - PositionSmoothing.cpp + HeadingSmoothing.cpp ManualVelocitySmoothingXY.cpp ManualVelocitySmoothingZ.cpp + PositionSmoothing.cpp + VelocitySmoothing.cpp ) target_include_directories(motion_planning PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}) diff --git a/src/lib/motion_planning/HeadingSmoothing.cpp b/src/lib/motion_planning/HeadingSmoothing.cpp new file mode 100644 index 000000000000..037eeb701b99 --- /dev/null +++ b/src/lib/motion_planning/HeadingSmoothing.cpp @@ -0,0 +1,58 @@ +/**************************************************************************** + * + * Copyright (c) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include "HeadingSmoothing.hpp" + +HeadingSmoothing::HeadingSmoothing() +{ + _velocity_smoothing.setMaxVel(M_PI_F); // smoothed "velocity" is heading [-pi, pi] +} + +void HeadingSmoothing::reset(const float heading, const float heading_rate) +{ + const float wrapped_heading = matrix::wrap_pi(heading); + _velocity_smoothing.setCurrentVelocity(wrapped_heading); + _velocity_smoothing.setCurrentAcceleration(heading_rate); +} + +void HeadingSmoothing::update(const float heading_setpoint, const float time_elapsed) +{ + const float delta_heading_wrapped = matrix::wrap_pi(heading_setpoint - getSmoothedHeading()); + const float unwrapped_heading_setpoint = delta_heading_wrapped + getSmoothedHeading(); + + _velocity_smoothing.updateDurations(unwrapped_heading_setpoint); + _velocity_smoothing.updateTraj(time_elapsed); + + const float wrapped_current_heading = matrix::wrap_pi(getSmoothedHeading()); + _velocity_smoothing.setCurrentVelocity(wrapped_current_heading); +} diff --git a/src/lib/motion_planning/HeadingSmoothing.hpp b/src/lib/motion_planning/HeadingSmoothing.hpp new file mode 100644 index 000000000000..5fdb4dde367e --- /dev/null +++ b/src/lib/motion_planning/HeadingSmoothing.hpp @@ -0,0 +1,90 @@ +/**************************************************************************** + * + * Copyright (c) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#pragma once + +#include +#include +#include "VelocitySmoothing.hpp" + +/** + * @brief Wrapper class for smoothing heading via maximum angular acceleration limited trajectories. + * + * Make sure to properly initialize the smoother on the first pass with: + * + * reset(initial heading, initial heading rate); + * setMaxHeadingRate(max heading rate); + * setMaxHeadingAccel(max heading accel); + * + * At the desired time interval, call the update method to update the smoother: + * update(heading setpoint, time elapsed) + * + * Use the getters to retrieve the current smoothed setpoints. + */ +class HeadingSmoothing +{ +public: + HeadingSmoothing(); + ~HeadingSmoothing() = default; + + /** @param max_heading_rate [rad/s] */ + void setMaxHeadingRate(const float max_heading_rate) { _velocity_smoothing.setMaxAccel(max_heading_rate); } + + /** @param max_heading_accel [rad/s^2] */ + void setMaxHeadingAccel(const float max_heading_accel) { _velocity_smoothing.setMaxJerk(max_heading_accel); } + + /** + * @brief resets internal trajectory states, handles heading wrap + * + * @param heading [rad] [-pi,pi] + * @param heading_rate [rad/s] + */ + void reset(const float heading, const float heading_rate); + + /** + * @brief updates the heading setpoint, re-calculates trajectory, and takes an integration step + * + * @param heading_setpoint [rad] + * @param time_elapsed [s] + */ + void update(const float heading_setpoint, const float time_elapsed); + + /** @return [rad] [-pi,pi] smoothed heading setpoint to retreive after update */ + float getSmoothedHeading() const { return _velocity_smoothing.getCurrentVelocity(); } + + /** @return [rad/s] smoothed heading rate setpoint to retreive after update */ + float getSmoothedHeadingRate() const { return _velocity_smoothing.getCurrentAcceleration(); } + +private: + VelocitySmoothing _velocity_smoothing; +}; diff --git a/src/lib/motion_planning/PositionSmoothing.cpp b/src/lib/motion_planning/PositionSmoothing.cpp index a5c68f04d173..28c70c690d60 100644 --- a/src/lib/motion_planning/PositionSmoothing.cpp +++ b/src/lib/motion_planning/PositionSmoothing.cpp @@ -35,8 +35,6 @@ #include "TrajectoryConstraints.hpp" #include #include -#include - void PositionSmoothing::_generateSetpoints( const Vector3f &position, @@ -134,21 +132,20 @@ const Vector3f PositionSmoothing::_getCrossingPoint(const Vector3f &position, co } // Get the crossing point using L1-style guidance - auto l1_point = _getL1Point(position, waypoints); - return {l1_point(0), l1_point(1), target(2)}; + return _getL1Point(position, waypoints); } -const Vector2f PositionSmoothing::_getL1Point(const Vector3f &position, const Vector3f(&waypoints)[3]) const +const Vector3f PositionSmoothing::_getL1Point(const Vector3f &position, const Vector3f(&waypoints)[3]) const { - const Vector2f pos_traj(_trajectory[0].getCurrentPosition(), - _trajectory[1].getCurrentPosition()); - const Vector2f u_prev_to_target = Vector2f(waypoints[1] - waypoints[0]).unit_or_zero(); - const Vector2f prev_to_pos(pos_traj - Vector2f(waypoints[0])); - const Vector2f prev_to_closest(u_prev_to_target * (prev_to_pos * u_prev_to_target)); - const Vector2f closest_pt = Vector2f(waypoints[0]) + prev_to_closest; + const Vector3f pos_traj(_trajectory[0].getCurrentPosition(), _trajectory[1].getCurrentPosition(), + _trajectory[2].getCurrentPosition()); + const Vector3f u_prev_to_target = (waypoints[1] - waypoints[0]).unit_or_zero(); + const Vector3f prev_to_pos(pos_traj - waypoints[0]); + const Vector3f prev_to_closest(u_prev_to_target * (prev_to_pos * u_prev_to_target)); + const Vector3f closest_pt = waypoints[0] + prev_to_closest; // Compute along-track error using L1 distance and cross-track error - const float crosstrack_error = Vector2f(closest_pt - pos_traj).length(); + const float crosstrack_error = (closest_pt - pos_traj).length(); const float l1 = math::max(_target_acceptance_radius, 5.f); float alongtrack_error = 0.f; @@ -159,9 +156,7 @@ const Vector2f PositionSmoothing::_getL1Point(const Vector3f &position, const Ve } // Position of the point on the line where L1 intersect the line between the two waypoints - const Vector2f l1_point = closest_pt + alongtrack_error * u_prev_to_target; - - return l1_point; + return closest_pt + alongtrack_error * u_prev_to_target; } const Vector3f PositionSmoothing::_generateVelocitySetpoint(const Vector3f &position, const Vector3f(&waypoints)[3], @@ -282,9 +277,14 @@ void PositionSmoothing::_generateTrajectory( Vector2f drone_to_trajectory_xy(position_trajectory_xy - position_xy); float position_error = drone_to_trajectory_xy.length(); - float time_stretch = 1.f - math::constrain(position_error / _max_allowed_horizontal_error, 0.f, 1.f); + float time_stretch = 1.f; + + // Only stretch time if there's no division by zero and the drone isn't ahead of the position setpoint + if ((_max_allowed_horizontal_error > FLT_EPSILON) + && drone_to_trajectory_xy.dot(vel_traj_xy) >= 0) { + time_stretch = 1.f - math::constrain(position_error / _max_allowed_horizontal_error, 0.f, 1.f); + } - // Don't stretch time if the drone is ahead of the position setpoint if (drone_to_trajectory_xy.dot(vel_traj_xy) < 0.f) { time_stretch = 1.f; } diff --git a/src/lib/motion_planning/PositionSmoothing.hpp b/src/lib/motion_planning/PositionSmoothing.hpp index 73886d0124ed..ba13b461c438 100644 --- a/src/lib/motion_planning/PositionSmoothing.hpp +++ b/src/lib/motion_planning/PositionSmoothing.hpp @@ -262,11 +262,11 @@ class PositionSmoothing /** * @param jerk maximum jerk for generated trajectory */ - inline void setMaxJerk(const Vector3f &jerk) + inline void setMaxJerk(const float jerk) { - _trajectory[0].setMaxJerk(jerk(0)); - _trajectory[1].setMaxJerk(jerk(1)); - _trajectory[2].setMaxJerk(jerk(2)); + _trajectory[0].setMaxJerk(jerk); + _trajectory[1].setMaxJerk(jerk); + _trajectory[2].setMaxJerk(jerk); } /** @@ -438,7 +438,7 @@ class PositionSmoothing const Vector3f _generateVelocitySetpoint(const Vector3f &position, const Vector3f(&waypoints)[3], bool is_single_waypoint, const Vector3f &feedforward_velocity_setpoint); - const Vector2f _getL1Point(const Vector3f &position, const Vector3f(&waypoints)[3]) const; + const Vector3f _getL1Point(const Vector3f &position, const Vector3f(&waypoints)[3]) const; const Vector3f _getCrossingPoint(const Vector3f &position, const Vector3f(&waypoints)[3]) const; float _getMaxXYSpeed(const Vector3f(&waypoints)[3]) const; float _getMaxZSpeed(const Vector3f(&waypoints)[3]) const; diff --git a/src/lib/motion_planning/PositionSmoothingTest.cpp b/src/lib/motion_planning/PositionSmoothingTest.cpp index f550a5ee77c1..ee06f8c2b1be 100644 --- a/src/lib/motion_planning/PositionSmoothingTest.cpp +++ b/src/lib/motion_planning/PositionSmoothingTest.cpp @@ -2,6 +2,26 @@ #include +TEST(PositionSmoothingBasicTest, AllZeroCase) +{ + PositionSmoothing position_smoothing; + PositionSmoothing::PositionSmoothingSetpoints out; + + position_smoothing.generateSetpoints( + Vector3f(), + {Vector3f(), Vector3f(), Vector3f()}, + Vector3f(), + 0.f, + false, + out + ); + + EXPECT_EQ(out.jerk, Vector3f()); + EXPECT_EQ(out.acceleration, Vector3f()); + EXPECT_EQ(out.velocity, Vector3f()); + EXPECT_EQ(out.position, Vector3f()); + EXPECT_EQ(out.unsmoothed_velocity, Vector3f()); +} static constexpr float MAX_JERK = 4.f; static constexpr float MAX_ACCELERATION = 3.f; @@ -23,7 +43,7 @@ class PositionSmoothingTest : public ::testing::Test PositionSmoothingTest() { - _position_smoothing.setMaxJerk({MAX_JERK, MAX_JERK, MAX_JERK}); + _position_smoothing.setMaxJerk(MAX_JERK); _position_smoothing.setMaxAcceleration({MAX_ACCELERATION, MAX_ACCELERATION, MAX_ACCELERATION}); _position_smoothing.setMaxVelocity({MAX_VELOCITY, MAX_VELOCITY, MAX_VELOCITY}); _position_smoothing.setMaxAllowedHorizontalError(MAX_ALLOWED_HOR_ERR); @@ -35,23 +55,6 @@ class PositionSmoothingTest : public ::testing::Test _position_smoothing.reset({0.f, 0.f, 0.f}, {0.f, 0.f, 0.f}, {0.f, 0.f, 0.f}); } - static bool _vectorNear(const Vector3f &a, const Vector3f &b, float EPS = 1e-4f) - { - return (fabsf(a(0) - b(0)) < EPS) && (fabsf(a(1) - b(1)) < EPS) && (fabsf(a(2) - b(2)) < EPS); - } - - static void expectVectorEqual(const Vector3f &expected, const Vector3f &value, const char *name, float EPS) - { - EXPECT_TRUE(_vectorNear(expected, value, EPS)) << - "Vector \"" << name << "\" expected [" << - expected(0) << ", " << - expected(1) << ", " << - expected(2) << "] has value [" << - value(0) << ", " << - value(1) << ", " << - value(2) << "]\n"; - } - static void expectDynamicsLimitsRespected(const PositionSmoothing::PositionSmoothingSetpoints &setpoints) { EXPECT_LE(fabsf(setpoints.velocity(0)), MAX_VELOCITY) << "Velocity in x too high\n"; @@ -69,7 +72,6 @@ class PositionSmoothingTest : public ::testing::Test TEST_F(PositionSmoothingTest, reachesTargetPositionSetpoint) { - const float EPS = 1e-4; const int N_ITER = 2000; const float DELTA_T = 0.02f; const Vector3f INITIAL_POSITION{0.f, 0.f, 0.f}; @@ -96,20 +98,19 @@ TEST_F(PositionSmoothingTest, reachesTargetPositionSetpoint) position = out.position; expectDynamicsLimitsRespected(out); - if ((position - TARGET).length() < EPS) { + if (position == TARGET) { printf("Converged in %d iterations\n", iteration); break; } } - expectVectorEqual(TARGET, position, "position", EPS); + EXPECT_EQ(TARGET, position); EXPECT_LT(iteration, N_ITER) << "Took too long to converge\n"; } TEST_F(PositionSmoothingTest, reachesTargetVelocityIntegration) { - const float EPS = 1e-4; const int N_ITER = 2000; const float DELTA_T = 0.02f; const Vector3f INITIAL_POSITION{0.f, 0.f, 0.f}; @@ -137,20 +138,19 @@ TEST_F(PositionSmoothingTest, reachesTargetVelocityIntegration) expectDynamicsLimitsRespected(out); - if ((position - TARGET).length() < EPS) { + if (position == TARGET) { printf("Converged in %d iterations\n", iteration); break; } } - expectVectorEqual(TARGET, position, "position", EPS); + EXPECT_EQ(TARGET, position); EXPECT_LT(iteration, N_ITER) << "Took too long to converge\n"; } TEST_F(PositionSmoothingTest, reachesTargetInitialVelocity) { - const float EPS = 1e-4; const int N_ITER = 2000; const float DELTA_T = 0.02f; const Vector3f INITIAL_POSITION{0.f, 0.f, 0.f}; @@ -180,12 +180,12 @@ TEST_F(PositionSmoothingTest, reachesTargetInitialVelocity) ff_velocity = {0.f, 0.f, 0.f}; expectDynamicsLimitsRespected(out); - if ((position - TARGET).length() < EPS) { + if (position == TARGET) { printf("Converged in %d iterations\n", iteration); break; } } - expectVectorEqual(TARGET, position, "position", EPS); + EXPECT_EQ(TARGET, position); EXPECT_LT(iteration, N_ITER) << "Took too long to converge\n"; } diff --git a/src/lib/motion_planning/VelocitySmoothing.cpp b/src/lib/motion_planning/VelocitySmoothing.cpp index 6471bfaf4c28..d4a741f051fc 100644 --- a/src/lib/motion_planning/VelocitySmoothing.cpp +++ b/src/lib/motion_planning/VelocitySmoothing.cpp @@ -168,12 +168,7 @@ void VelocitySmoothing::updateDurations(float vel_setpoint) _direction = computeDirection(); - if (_direction != 0) { - updateDurationsMinimizeTotalTime(); - - } else { - _T1 = _T2 = _T3 = 0.f; - } + updateDurationsMinimizeTotalTime(); } int VelocitySmoothing::computeDirection() const @@ -187,7 +182,7 @@ int VelocitySmoothing::computeDirection() const if (direction == 0) { // If by braking immediately the velocity is exactly - // the require one with zero acceleration, then brake + // the required one with zero acceleration, then brake direction = sign(_state.a); } @@ -212,14 +207,19 @@ void VelocitySmoothing::updateDurationsMinimizeTotalTime() float jerk_max_T1 = _direction * _max_jerk; float delta_v = _vel_sp - _state.v; - // compute increasing acceleration time - _T1 = computeT1(_state.a, delta_v, jerk_max_T1, _max_accel); + if (fabsf(jerk_max_T1) > FLT_EPSILON) { // zero direction or jerk would lead to division by zero + // compute increasing acceleration time + _T1 = computeT1(_state.a, delta_v, jerk_max_T1, _max_accel); + + // compute decreasing acceleration time + _T3 = computeT3(_T1, _state.a, jerk_max_T1); - // compute decreasing acceleration time - _T3 = computeT3(_T1, _state.a, jerk_max_T1); + // compute constant acceleration time + _T2 = computeT2(_T1, _T3, _state.a, delta_v, jerk_max_T1); - // compute constant acceleration time - _T2 = computeT2(_T1, _T3, _state.a, delta_v, jerk_max_T1); + } else { + _T1 = _T2 = _T3 = 0.f; + } } Trajectory VelocitySmoothing::evaluatePoly(float j, float a0, float v0, float x0, float t, int d) const @@ -292,12 +292,17 @@ void VelocitySmoothing::updateDurationsGivenTotalTime(float T123) float jerk_max_T1 = _direction * _max_jerk; float delta_v = _vel_sp - _state.v; - // compute increasing acceleration time - _T1 = computeT1(T123, _state.a, delta_v, jerk_max_T1, _max_accel); + if (fabsf(jerk_max_T1) > FLT_EPSILON) { // zero direction or jerk would lead to division by zero + // compute increasing acceleration time + _T1 = computeT1(T123, _state.a, delta_v, jerk_max_T1, _max_accel); + + // compute decreasing acceleration time + _T3 = computeT3(_T1, _state.a, jerk_max_T1); - // compute decreasing acceleration time - _T3 = computeT3(_T1, _state.a, jerk_max_T1); + // compute constant acceleration time + _T2 = computeT2(T123, _T1, _T3); - // compute constant acceleration time - _T2 = computeT2(T123, _T1, _T3); + } else { + _T1 = _T2 = _T3 = 0.f; + } } diff --git a/src/lib/motion_planning/VelocitySmoothing.hpp b/src/lib/motion_planning/VelocitySmoothing.hpp index 25799d1ce945..2ea584d156c0 100644 --- a/src/lib/motion_planning/VelocitySmoothing.hpp +++ b/src/lib/motion_planning/VelocitySmoothing.hpp @@ -107,8 +107,6 @@ class VelocitySmoothing void setCurrentPosition(const float pos) { _state.x = _state_init.x = pos; } float getCurrentPosition() const { return _state.x; } - float getVelSp() const { return _vel_sp; } - float getT1() const { return _T1; } float getT2() const { return _T2; } float getT3() const { return _T3; } @@ -192,12 +190,12 @@ class VelocitySmoothing inline Trajectory evaluatePoly(float j, float a0, float v0, float x0, float t, int d) const; /* Input */ - float _vel_sp{0.0f}; + float _vel_sp{0.f}; /* Constraints */ - float _max_jerk = 22.f; - float _max_accel = 8.f; - float _max_vel = 6.f; + float _max_jerk{0.f}; + float _max_accel{0.f}; + float _max_vel{0.f}; /* State (previous setpoints) */ Trajectory _state{}; @@ -207,9 +205,9 @@ class VelocitySmoothing Trajectory _state_init{}; /* Duration of each phase */ - float _T1 = 0.f; ///< Increasing acceleration [s] - float _T2 = 0.f; ///< Constant acceleration [s] - float _T3 = 0.f; ///< Decreasing acceleration [s] + float _T1{0.f}; ///< Increasing acceleration [s] + float _T2{0.f}; ///< Constant acceleration [s] + float _T3{0.f}; ///< Decreasing acceleration [s] - float _local_time = 0.f; ///< Current local time + float _local_time{0.f}; ///< Current local time }; diff --git a/src/lib/motion_planning/VelocitySmoothingTest.cpp b/src/lib/motion_planning/VelocitySmoothingTest.cpp index 0106235769f4..5f7e00d720d1 100644 --- a/src/lib/motion_planning/VelocitySmoothingTest.cpp +++ b/src/lib/motion_planning/VelocitySmoothingTest.cpp @@ -43,6 +43,65 @@ using namespace matrix; +TEST(VelocitySmoothingBasicTest, AllZeroCase) +{ + // GIVEN: An unconfigured VelocitySmoothing instance + VelocitySmoothing trajectory; + + // WHEN: We update it + trajectory.updateDurations(0.f); + trajectory.updateTraj(0.f); + + // THEN: All the trajectories should still be zero + EXPECT_FLOAT_EQ(trajectory.getTotalTime(), 0.f); + EXPECT_FLOAT_EQ(trajectory.getCurrentJerk(), 0.f); + EXPECT_FLOAT_EQ(trajectory.getCurrentAcceleration(), 0.f); + EXPECT_FLOAT_EQ(trajectory.getCurrentVelocity(), 0.f); + EXPECT_FLOAT_EQ(trajectory.getCurrentPosition(), 0.f); +} + +TEST(VelocitySmoothingBasicTest, DivisionByZeroComputeT1) +{ + // GIVEN: A try to trigger division by zero in computeT1() + // zero jerk but enough input to go that code path + VelocitySmoothing trajectory; + trajectory.setMaxJerk(0.f); + trajectory.setMaxAccel(0.f); + trajectory.setMaxVel(1.f); + + // WHEN: We update it + trajectory.updateDurations(1.f); + trajectory.updateTraj(1.f); + + // THEN: All the trajectories should still be zero + EXPECT_FLOAT_EQ(trajectory.getTotalTime(), 0.f); + EXPECT_FLOAT_EQ(trajectory.getCurrentJerk(), 0.f); + EXPECT_FLOAT_EQ(trajectory.getCurrentAcceleration(), 0.f); + EXPECT_FLOAT_EQ(trajectory.getCurrentVelocity(), 0.f); + EXPECT_FLOAT_EQ(trajectory.getCurrentPosition(), 0.f); +} + +TEST(VelocitySmoothingBasicTest, DivisionByZeroSaturateT1ForAccel) +{ + // GIVEN: We trigger division by zero in saturateT1ForAccel() + // zero jerk but enough input to go that code path + VelocitySmoothing trajectory(1.f, 0.f, 0.f); + trajectory.setMaxJerk(0.f); + trajectory.setMaxAccel(0.f); + trajectory.setMaxVel(1.f); + + // WHEN: We update it + trajectory.updateDurations(1.f); + trajectory.updateTraj(1.f); + + // THEN: All the trajectories should still be zero + EXPECT_FLOAT_EQ(trajectory.getTotalTime(), 0.f); + EXPECT_FLOAT_EQ(trajectory.getCurrentJerk(), 0.f); + EXPECT_FLOAT_EQ(trajectory.getCurrentAcceleration(), 0.f); + EXPECT_FLOAT_EQ(trajectory.getCurrentVelocity(), 0.f); + EXPECT_FLOAT_EQ(trajectory.getCurrentPosition(), 0.f); +} + class VelocitySmoothingTest : public ::testing::Test { public: @@ -174,7 +233,7 @@ TEST_F(VelocitySmoothingTest, testConstantSetpoint) updateTrajectories(dt, velocity_setpoints); } - // THEN: All the trajectories should have reach their + // THEN: All the trajectories should have reached their // final state: desired velocity target and zero acceleration for (int i = 0; i < 3; i++) { EXPECT_LE(fabsf(_trajectories[i].getCurrentVelocity() - velocity_setpoints(i)), 0.01f); diff --git a/src/lib/motion_planning/test_velocity_smoothing.cpp b/src/lib/motion_planning/test_velocity_smoothing.cpp deleted file mode 100644 index 65ef639d5c5e..000000000000 --- a/src/lib/motion_planning/test_velocity_smoothing.cpp +++ /dev/null @@ -1,99 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2018 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * Test code for the Velocity Smoothing library - * Build and run using: make && ./test_velocity_smoothing - */ - -#include "VelocitySmoothing.hpp" -#include -#include - -int main(int argc, char *argv[]) -{ - VelocitySmoothing trajectory[3]; - - float a0[3] = {0.f, 0.f, 0.f}; - float v0[3] = {0.f, 0.f, 0.f}; - float x0[3] = {0.f, 0.f, 0.f}; - - float j_max = 55.2f; - float a_max = 6.f; - float v_max = 6.f; - - for (int i = 0; i < 3; i++) { - trajectory[i].setMaxJerk(j_max); - trajectory[i].setMaxAccel(a_max); - trajectory[i].setMaxVel(v_max); - trajectory[i].setCurrentAcceleration(a0[i]); - trajectory[i].setCurrentVelocity(v0[i]); - } - - const float dt = 0.01f; - - float velocity_setpoint[3] = {1.f, 0.f, -1.f}; - - for (int i = 0; i < 3; i++) { - trajectory[i].updateDurations(velocity_setpoint[i]); - } - - float t123 = trajectory[0].getTotalTime(); - int nb_steps = ceil(t123 / dt); - printf("Nb steps = %d\n", nb_steps); - - for (int i = 0; i < nb_steps; i++) { - for (int i = 0; i < 3; i++) { - trajectory[i].updateTraj(dt); - } - - for (int i = 0; i < 3; i++) { - trajectory[i].updateDurations(velocity_setpoint[i]); - } - - VelocitySmoothing::timeSynchronization(trajectory, 2); - - for (int i = 0; i < 1; i++) { - printf("Traj[%d]\n", i); - printf("jerk = %.3f\taccel = %.3f\tvel = %.3f\tpos = %.3f\n", - trajectory[i].getCurrentJerk(), - trajectory[i].getCurrentAcceleration(), - trajectory[i].getCurrentVelocity(), - trajectory[i].getCurrentPosition()); - printf("T1 = %.3f\tT2 = %.3f\tT3 = %.3f\n", trajectory[i].getT1(), trajectory[i].getT2(), trajectory[i].getT3()); - printf("\n"); - } - } - - return 0; -} diff --git a/src/lib/npfg/npfg.cpp b/src/lib/npfg/npfg.cpp index a4308fb150fc..fdcfa570b01c 100644 --- a/src/lib/npfg/npfg.cpp +++ b/src/lib/npfg/npfg.cpp @@ -47,6 +47,32 @@ using matrix::Vector2d; using matrix::Vector2f; +float NPFG::canRun(const vehicle_local_position_s &local_pos, const bool is_wind_valid) const +{ + if (is_wind_valid) { + // If we have a valid wind estimate, npfg is able to handle all degenerated cases + return 1.f; + } + + // NPFG can run without wind information as long as the system is not flying backwards and has a minimal ground speed + // Check the minimal ground speed. if it is greater than twice the standard deviation, we assume that we can infer a valid track angle + const Vector2f ground_vel(local_pos.vx, local_pos.vy); + const float ground_speed(ground_vel.norm()); + const float low_ground_speed_factor(math::constrain((ground_speed - HORIZONTAL_EVH_FACTOR_COURSE_INVALID * + local_pos.evh) / ((HORIZONTAL_EVH_FACTOR_COURSE_VALID - HORIZONTAL_EVH_FACTOR_COURSE_INVALID)*local_pos.evh), + 0.f, 1.f)); + + // Check that the angle between heading and track is not off too much. if it is greater than 90° we will be pushed back from the wind and the npfg will propably give a roll command in the wrong direction. + const Vector2f heading_vector(matrix::Dcm2f(local_pos.heading)*Vector2f({1.f, 0.f})); + const Vector2f ground_vel_norm(ground_vel.normalized()); + const float flying_forward_factor(math::constrain((heading_vector.dot(ground_vel_norm) - + COS_HEADING_TRACK_ANGLE_PUSHED_BACK) / ((COS_HEADING_TRACK_ANGLE_NOT_PUSHED_BACK - + COS_HEADING_TRACK_ANGLE_PUSHED_BACK)), + 0.f, 1.f)); + + return flying_forward_factor * low_ground_speed_factor; +} + void NPFG::guideToPath(const matrix::Vector2f &curr_pos_local, const Vector2f &ground_vel, const Vector2f &wind_vel, const Vector2f &unit_path_tangent, const Vector2f &position_on_path, const float path_curvature) @@ -59,7 +85,7 @@ void NPFG::guideToPath(const matrix::Vector2f &curr_pos_local, const Vector2f &g const float wind_speed = wind_vel.norm(); const Vector2f path_pos_to_vehicle{curr_pos_local - position_on_path}; - const float signed_track_error = unit_path_tangent.cross(path_pos_to_vehicle); + signed_track_error_ = unit_path_tangent.cross(path_pos_to_vehicle); // on-track wind triangle projections const float wind_cross_upt = wind_vel.cross(unit_path_tangent); @@ -68,7 +94,7 @@ void NPFG::guideToPath(const matrix::Vector2f &curr_pos_local, const Vector2f &g // calculate the bearing feasibility on the track at the current closest point feas_on_track_ = bearingFeasibility(wind_cross_upt, wind_dot_upt, airspeed, wind_speed); - const float track_error = fabsf(signed_track_error); + const float track_error = fabsf(signed_track_error_); // update control parameters considering upper and lower stability bounds (if enabled) // must be called before trackErrorBound() as it updates time_const_ @@ -86,7 +112,7 @@ void NPFG::guideToPath(const matrix::Vector2f &curr_pos_local, const Vector2f &g track_proximity_ = trackProximity(look_ahead_ang); - bearing_vec_ = bearingVec(unit_path_tangent, look_ahead_ang, signed_track_error); + bearing_vec_ = bearingVec(unit_path_tangent, look_ahead_ang, signed_track_error_); // wind triangle projections const float wind_cross_bearing = wind_vel.cross(bearing_vec_); @@ -112,7 +138,7 @@ void NPFG::guideToPath(const matrix::Vector2f &curr_pos_local, const Vector2f &g // lateral acceleration needed to stay on curved track (assuming no heading error) lateral_accel_ff_ = lateralAccelFF(unit_path_tangent, ground_vel, wind_dot_upt, - wind_cross_upt, airspeed, wind_speed, signed_track_error, path_curvature); + wind_cross_upt, airspeed, wind_speed, signed_track_error_, path_curvature); // total lateral acceleration to drive aircaft towards track as well as account // for path curvature. The full effect of the feed-forward acceleration is smoothly @@ -476,11 +502,6 @@ void NPFG::updateRollSetpoint() float roll_new = atanf(lateral_accel_ * 1.0f / CONSTANTS_ONE_G); roll_new = math::constrain(roll_new, -roll_lim_rad_, roll_lim_rad_); - if (dt_ > 0.0f && roll_slew_rate_ > 0.0f) { - // slew rate limiting active - roll_new = math::constrain(roll_new, roll_setpoint_ - roll_slew_rate_ * dt_, roll_setpoint_ + roll_slew_rate_ * dt_); - } - if (PX4_ISFINITE(roll_new)) { roll_setpoint_ = roll_new; } diff --git a/src/lib/npfg/npfg.hpp b/src/lib/npfg/npfg.hpp index f9c6bf2c42d7..c36184ef9645 100644 --- a/src/lib/npfg/npfg.hpp +++ b/src/lib/npfg/npfg.hpp @@ -63,6 +63,8 @@ #include #include +#include + /* * NPFG * Lateral-directional nonlinear path following guidance logic with excess wind handling @@ -71,8 +73,19 @@ class NPFG { public: + /** + * @brief Can run + * + * Evaluation if all the necessary information are available such that npfg can produce meaningful results. + * + * @param[in] local_pos is the current vehicle local position uorb message + * @param[in] is_wind_valid flag if the wind estimation is valid + * @return estimate of certainty of the correct functionality of the npfg roll setpoint in [0, 1]. Can be used to define proper mitigation actions. + */ + + float canRun(const vehicle_local_position_s &local_pos, bool is_wind_valid) const; /* - * Computes the lateral acceleration and airspeed references necessary to track + * Computes the lateral acceleration and true airspeed references necessary to track * a path in wind (including excess wind conditions). * * @param[in] curr_pos_local Current horizontal vehicle position in local coordinates [m] @@ -137,12 +150,12 @@ class NPFG void setMaxTrackKeepingMinGroundSpeed(float min_gsp) { min_gsp_track_keeping_max_ = math::max(min_gsp, 0.0f); } /* - * Set the nominal airspeed reference [m/s]. + * Set the nominal airspeed reference (true airspeed) [m/s]. */ void setAirspeedNom(float airsp) { airspeed_nom_ = math::max(airsp, 0.1f); } /* - * Set the maximum airspeed reference [m/s]. + * Set the maximum airspeed reference (true airspeed) [m/s]. */ void setAirspeedMax(float airsp) { airspeed_max_ = math::max(airsp, 0.1f); } @@ -234,20 +247,6 @@ class NPFG */ void setRollLimit(float roll_lim_rad) { roll_lim_rad_ = roll_lim_rad; } - /* - * [Copied directly from ECL_L1_Pos_Controller] - * - * Set roll angle slew rate. Set to zero to deactivate. - */ - void setRollSlewRate(float roll_slew_rate) { roll_slew_rate_ = roll_slew_rate; } - - /* - * [Copied directly from ECL_L1_Pos_Controller] - * - * Set control loop dt. The value will be used to apply roll angle setpoint slew rate limiting. - */ - void setDt(const float dt) { dt_ = dt; } - /* * [Copied directly from ECL_L1_Pos_Controller] * @@ -270,6 +269,10 @@ class NPFG float getRollSetpoint() { return roll_setpoint_; } private: + static constexpr float HORIZONTAL_EVH_FACTOR_COURSE_VALID{3.f}; ///< Factor of velocity standard deviation above which course calculation is considered good enough + static constexpr float HORIZONTAL_EVH_FACTOR_COURSE_INVALID{2.f}; ///< Factor of velocity standard deviation below which course calculation is considered unsafe + static constexpr float COS_HEADING_TRACK_ANGLE_NOT_PUSHED_BACK{0.09f}; ///< Cos of Heading to track angle below which it is assumed that the vehicle is not pushed back by the wind ~cos(85°) + static constexpr float COS_HEADING_TRACK_ANGLE_PUSHED_BACK{0.f}; ///< Cos of Heading to track angle above which it is assumed that the vehicle is pushed back by the wind static constexpr float NPFG_EPSILON = 1.0e-6; // small number *bigger than machine epsilon static constexpr float MIN_RADIUS = 0.5f; // minimum effective radius (avoid singularities) [m] @@ -303,8 +306,8 @@ class NPFG // ^disabling this parameter disables all other excess wind handling options, using only the nominal airspeed for reference // guidance settings - float airspeed_nom_{15.0f}; // nominal (desired) airspeed reference (generally equivalent to cruise optimized airspeed) [m/s] - float airspeed_max_{20.0f}; // maximum airspeed reference - the maximum achievable/allowed airspeed reference [m/s] + float airspeed_nom_{15.0f}; // nominal (desired) true airspeed reference (generally equivalent to cruise optimized airspeed) [m/s] + float airspeed_max_{20.0f}; // maximum true airspeed reference - the maximum achievable/allowed airspeed reference [m/s] float roll_time_const_{0.0f}; // autopilot roll response time constant [s] float min_gsp_desired_{0.0f}; // user defined miminum desired forward ground speed [m/s] float min_gsp_track_keeping_max_{5.0f}; // maximum, minimum forward ground speed demand from track keeping logic [m/s] @@ -338,8 +341,8 @@ class NPFG * guidance outputs */ - float airspeed_ref_{15.0f}; // airspeed reference [m/s] - matrix::Vector2f air_vel_ref_{matrix::Vector2f{15.0f, 0.0f}}; // air velocity reference vector [m/s] + float airspeed_ref_{15.0f}; // true airspeed reference [m/s] + matrix::Vector2f air_vel_ref_{matrix::Vector2f{15.0f, 0.0f}}; // true air velocity reference vector [m/s] float lateral_accel_{0.0f}; // lateral acceleration reference [m/s^2] float lateral_accel_ff_{0.0f}; // lateral acceleration demand to maintain path curvature [m/s^2] @@ -347,17 +350,15 @@ class NPFG * ECL_L1_Pos_Controller functionality */ - float dt_{0}; // control loop time [s] float roll_lim_rad_{math::radians(30.0f)}; // maximum roll angle [rad] float roll_setpoint_{0.0f}; // current roll angle setpoint [rad] - float roll_slew_rate_{0.0f}; // roll angle setpoint slew rate limit [rad/s] /* * Adapts the controller period considering user defined inputs, current flight * condition, path properties, and stability bounds. * * @param[in] ground_speed Vehicle ground speed [m/s] - * @param[in] airspeed Vehicle airspeed [m/s] + * @param[in] airspeed Vehicle true airspeed [m/s] * @param[in] wind_speed Wind speed [m/s] * @param[in] track_error Track error (magnitude) [m] * @param[in] path_curvature Path curvature at closest point on track [m^-1] @@ -383,7 +384,7 @@ class NPFG /* * Cacluates an approximation of the wind factor (see [TODO: include citation]). * - * @param[in] airspeed Vehicle airspeed [m/s] + * @param[in] airspeed Vehicle true airspeed [m/s] * @param[in] wind_speed Wind speed [m/s] * @return Non-dimensional wind factor approximation */ @@ -394,7 +395,7 @@ class NPFG * track keeping stability. * * @param[in] air_turn_rate The turn rate required to track the current path - * curvature at the current airspeed, in a no-wind condition [rad/s] + * curvature at the current true airspeed, in a no-wind condition [rad/s] * @param[in] wind_factor Non-dimensional wind factor (see [TODO: include citation]) * @return Period upper bound [s] */ @@ -407,7 +408,7 @@ class NPFG * and a safety factor should be applied in addition to the returned value. * * @param[in] air_turn_rate The turn rate required to track the current path - * curvature at the current airspeed, in a no-wind condition [rad/s] + * curvature at the current true airspeed, in a no-wind condition [rad/s] * @param[in] wind_factor Non-dimensional wind factor (see [TODO: include citation]) * @return Period lower bound [s] */ @@ -492,8 +493,8 @@ class NPFG /* * Determines a reference air velocity *without curvature compensation, but - * including "optimal" airspeed reference compensation in excess wind conditions. - * Nominal and maximum airspeed member variables must be set before using this method. + * including "optimal" true airspeed reference compensation in excess wind conditions. + * Nominal and maximum true airspeed member variables must be set before using this method. * * @param[in] wind_vel Wind velocity vector [m/s] * @param[in] bearing_vec Bearing vector @@ -511,7 +512,7 @@ class NPFG * Projection of the air velocity vector onto the bearing line considering * a connected wind triangle. * - * @param[in] airspeed Vehicle airspeed [m/s] + * @param[in] airspeed Vehicle true airspeed [m/s] * @param[in] wind_cross_bearing 2D cross product of wind velocity and bearing vector [m/s] * @return Projection of air velocity vector on bearing vector [m/s] */ @@ -522,7 +523,7 @@ class NPFG * * @param[in] wind_cross_bearing 2D cross product of wind velocity and bearing vector [m/s] * @param[in] wind_dot_bearing 2D dot product of wind velocity and bearing vector [m/s] - * @param[in] airspeed Vehicle airspeed [m/s] + * @param[in] airspeed Vehicle true airspeed [m/s] * @param[in] wind_speed Wind speed [m/s] * @return Binary bearing feasibility: 1 if feasible, 0 if infeasible */ @@ -548,7 +549,7 @@ class NPFG * @param[in] wind_vel Wind velocity vector [m/s] * @param[in] bearing_vec Bearing vector * @param[in] wind_speed Wind speed [m/s] - * @param[in] airspeed Vehicle airspeed [m/s] + * @param[in] airspeed Vehicle true airspeed [m/s] * @return Air velocity vector [m/s] */ matrix::Vector2f infeasibleAirVelRef(const matrix::Vector2f &wind_vel, const matrix::Vector2f &bearing_vec, @@ -561,7 +562,7 @@ class NPFG * * @param[in] wind_cross_bearing 2D cross product of wind velocity and bearing vector [m/s] * @param[in] wind_dot_bearing 2D dot product of wind velocity and bearing vector [m/s] - * @param[in] airspeed Vehicle airspeed [m/s] + * @param[in] airspeed Vehicle true airspeed [m/s] * @param[in] wind_speed Wind speed [m/s] * @return bearing feasibility */ @@ -576,7 +577,7 @@ class NPFG * in direction of path * @param[in] ground_vel Vehicle ground velocity vector [m/s] * @param[in] wind_vel Wind velocity vector [m/s] - * @param[in] airspeed Vehicle airspeed [m/s] + * @param[in] airspeed Vehicle true airspeed [m/s] * @param[in] wind_speed Wind speed [m/s] * @param[in] signed_track_error Signed error to track at closest point (sign * determined by path normal direction) [m] @@ -593,7 +594,7 @@ class NPFG * * @param[in] air_vel Vechile air velocity vector [m/s] * @param[in] air_vel_ref Reference air velocity vector [m/s] - * @param[in] airspeed Vehicle airspeed [m/s] + * @param[in] airspeed Vehicle true airspeed [m/s] * @return Lateral acceleration demand [m/s^2] */ float lateralAccel(const matrix::Vector2f &air_vel, const matrix::Vector2f &air_vel_ref, diff --git a/src/lib/parameters/CMakeLists.txt b/src/lib/parameters/CMakeLists.txt index 7e9ce681e5e2..b87e652cad4f 100644 --- a/src/lib/parameters/CMakeLists.txt +++ b/src/lib/parameters/CMakeLists.txt @@ -156,7 +156,23 @@ add_custom_target(parameters_header DEPENDS px4_parameters.hpp) set(SRCS) -list(APPEND SRCS parameters.cpp) +list(APPEND SRCS + parameters.cpp + atomic_transaction.cpp + autosave.cpp +) + +if(CONFIG_PARAM_PRIMARY) +list(APPEND SRCS + parameters_primary.cpp +) +endif() + +if(CONFIG_PARAM_REMOTE) +list(APPEND SRCS + parameters_remote.cpp +) +endif() if(BUILD_TESTING) list(APPEND SRCS param_translation_unit_tests.cpp) @@ -201,4 +217,8 @@ if(${PX4_PLATFORM} STREQUAL "nuttx") target_link_libraries(parameters PRIVATE flashparams) endif() +if(${PX4_PLATFORM} STREQUAL "posix" OR ${PX4_PLATFORM} STREQUAL "ros2") + target_include_directories(parameters PRIVATE "${CMAKE_CURRENT_SOURCE_DIR}/../../../platforms/posix/include/") +endif() + px4_add_functional_gtest(SRC ParameterTest.cpp LINKLIBS parameters) diff --git a/src/lib/parameters/ConstLayer.h b/src/lib/parameters/ConstLayer.h new file mode 100644 index 000000000000..7c42667538aa --- /dev/null +++ b/src/lib/parameters/ConstLayer.h @@ -0,0 +1,93 @@ +/**************************************************************************** + * + * Copyright (c) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#pragma once + +#include "ParamLayer.h" + +class ConstLayer : public ParamLayer +{ +public: + + ConstLayer() = default; + + bool store(param_t param, param_value_u value) override + { + return false; + } + + bool contains(param_t param) const override + { + return param < PARAM_COUNT; + } + + px4::AtomicBitset containedAsBitset() const override + { + px4::AtomicBitset set; + + for (int i = 0; i < PARAM_COUNT; i++) { + set.set(i); + } + + return set; + } + + param_value_u get(param_t param) const override + { + if (param >= PARAM_COUNT) { + return {0}; + } + + return px4::parameters[param].val; + } + + void reset(param_t param) override + { + // Do nothing + } + + void refresh(param_t param) override + { + // Do nothing + } + + int size() const override + { + return PARAM_COUNT; + } + + int byteSize() const override + { + return PARAM_COUNT * sizeof(param_info_s); + } +}; diff --git a/src/lib/parameters/DynamicSparseLayer.h b/src/lib/parameters/DynamicSparseLayer.h new file mode 100644 index 000000000000..926958b38ae7 --- /dev/null +++ b/src/lib/parameters/DynamicSparseLayer.h @@ -0,0 +1,245 @@ +/**************************************************************************** + * + * Copyright (c) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#pragma once + +#include "ParamLayer.h" + +#include + +class DynamicSparseLayer : public ParamLayer +{ +public: + DynamicSparseLayer(ParamLayer *parent, int n_prealloc = 32, int n_grow = 4) : ParamLayer(parent), + _n_slots(n_prealloc), _n_grow(n_grow) + { + Slot *slots = (Slot *)malloc(sizeof(Slot) * n_prealloc); + + if (slots == nullptr) { + PX4_ERR("Failed to allocate memory for dynamic sparse layer"); + _n_slots = 0; + return; + } + + for (int i = 0; i < _n_slots; i++) { + slots[i] = {UINT16_MAX, param_value_u{}}; + } + + _slots.store(slots); + } + + virtual ~DynamicSparseLayer() + { + if (_slots.load()) { + free(_slots.load()); + } + } + + bool store(param_t param, param_value_u value) override + { + AtomicTransaction transaction; + Slot *slots = _slots.load(); + + const int index = _getIndex(param); + + if (index < _next_slot) { // already exists + slots[index].value = value; + + } else if (_next_slot < _n_slots) { + slots[_next_slot++] = {param, value}; + _sort(); + + } else { + if (!_grow(transaction)) { + return false; + } + + _slots.load()[_next_slot++] = {param, value}; + _sort(); + } + + return true; + } + + bool contains(param_t param) const override + { + const AtomicTransaction transaction; + return _getIndex(param) < _next_slot; + } + + px4::AtomicBitset containedAsBitset() const override + { + px4::AtomicBitset set; + const AtomicTransaction transaction; + Slot *slots = _slots.load(); + + for (int i = 0; i < _next_slot; i++) { + set.set(slots[i].param); + } + + return set; + } + + param_value_u get(param_t param) const override + { + const AtomicTransaction transaction; + Slot *slots = _slots.load(); + + const int index = _getIndex(param); + + if (index < _next_slot) { // exists in our data structure + return slots[index].value; + } + + return _parent->get(param); + } + + void reset(param_t param) override + { + const AtomicTransaction transaction; + int index = _getIndex(param); + Slot *slots = _slots.load(); + + if (index < _next_slot) { + slots[index] = {UINT16_MAX, param_value_u{}}; + _sort(); + _next_slot--; + } + } + + void refresh(param_t param) override + { + _parent->refresh(param); + } + + int size() const override + { + return _next_slot; + } + + int byteSize() const override + { + return _n_slots * sizeof(Slot); + } + +private: + struct Slot { + param_t param; + param_value_u value; + }; + + static int _slotCompare(const void *a, const void *b) + { + return ((int)((Slot *)a)->param) - ((int)((Slot *)b)->param); + } + + void _sort() + { + qsort(_slots.load(), _n_slots, sizeof(Slot), _slotCompare); + } + + int _getIndex(param_t param) const + { + int left = 0; + int right = _next_slot - 1; + Slot *slots = _slots.load(); + + while (left <= right) { + int mid = (left + right) / 2; + + if (slots[mid].param == param) { + return mid; + + } else if (slots[mid].param < param) { + left = mid + 1; + + } else { + right = mid - 1; + } + } + + return _next_slot; + } + + bool _grow(AtomicTransaction &transaction) + { + if (_n_slots == 0) { + return false; + } + + int max_retries = 5; + + // As malloc uses locking, so we need to re-enable IRQ's during malloc/free and + // then atomically exchange the buffer + while (_next_slot >= _n_slots && max_retries-- > 0) { + Slot *previous_slots = nullptr; + Slot *new_slots = nullptr; + + do { + previous_slots = _slots.load(); + transaction.unlock(); + + if (new_slots) { + free(new_slots); + } + + new_slots = (Slot *) malloc(sizeof(Slot) * (_n_slots + _n_grow)); + transaction.lock(); + + if (new_slots == nullptr) { + return false; + } + + } while (!_slots.compare_exchange(&previous_slots, new_slots)); + + memcpy(new_slots, previous_slots, sizeof(Slot) * _n_slots); + + for (int i = _n_slots; i < _n_slots + _n_grow; i++) { + new_slots[i] = {UINT16_MAX, param_value_u{}}; + } + + _n_slots += _n_grow; + + transaction.unlock(); + free(previous_slots); + transaction.lock(); + } + + return _next_slot < _n_slots; + } + + int _next_slot = 0; + int _n_slots = 0; + const int _n_grow; + px4::atomic _slots{nullptr}; +}; diff --git a/src/lib/parameters/ExhaustiveLayer.h b/src/lib/parameters/ExhaustiveLayer.h new file mode 100644 index 000000000000..cc2c22d6d741 --- /dev/null +++ b/src/lib/parameters/ExhaustiveLayer.h @@ -0,0 +1,124 @@ +/**************************************************************************** + * + * Copyright (c) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#pragma once + +#include +#include "ParamLayer.h" + +class ExhaustiveLayer : public ParamLayer +{ +public: + ExhaustiveLayer(ParamLayer *parent) : ParamLayer(parent) + { + // refresh all values + for (param_t i = 0; i < PARAM_COUNT; i++) { + _values[i] = parent->get(i); + } + } + + bool store(param_t param, param_value_u value) override + { + if (param >= PARAM_COUNT) { + return false; + } + + { + const AtomicTransaction transaction; + _values[param] = value; + _ownership_set.set(param); + } + + return true; + } + + bool contains(param_t param) const override + { + return param < PARAM_COUNT && _ownership_set[param]; + } + + px4::AtomicBitset containedAsBitset() const override + { + return _ownership_set; + } + + param_value_u get(param_t param) const override + { + if (param >= PARAM_COUNT) { + return {0}; + } + + const AtomicTransaction transaction; + // We assume to have the correct values for all params, even without ownership. + // We expect that refresh was called when underlying defaults changed + return _values[param]; + } + + void reset(param_t param) override + { + if (param >= PARAM_COUNT) { + return; + } + + const AtomicTransaction transaction; + _values[param] = _parent->get(param); + _ownership_set.set(param, false); + } + + void refresh(param_t param) override + { + _parent->refresh(param); + // in case we don't have ownership, and it changed below, we have to refresh our cache. + { + const AtomicTransaction transaction; + + if (!contains(param)) { + _values[param] = _parent->get(param); + } + } + } + + int size() const override + { + return _ownership_set.count(); + } + + int byteSize() const override + { + return PARAM_COUNT * sizeof(param_value_u); + } + +private: + param_value_u _values[PARAM_COUNT]; + px4::AtomicBitset _ownership_set; +}; diff --git a/src/lib/parameters/Kconfig b/src/lib/parameters/Kconfig new file mode 100644 index 000000000000..f296180d996f --- /dev/null +++ b/src/lib/parameters/Kconfig @@ -0,0 +1,11 @@ +menuconfig PARAM_PRIMARY + bool "parameter primary" + default n + ---help--- + Enable support for the parameter primary in distributed board architectures + +menuconfig PARAM_REMOTE + bool "parameter remote" + default n + ---help--- + Enable support for the parameter remote in distributed board architectures diff --git a/src/lib/parameters/ParamLayer.h b/src/lib/parameters/ParamLayer.h new file mode 100644 index 000000000000..5d9a6e23951e --- /dev/null +++ b/src/lib/parameters/ParamLayer.h @@ -0,0 +1,72 @@ +/**************************************************************************** + * + * Copyright (c) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#pragma once + +#include +#include "atomic_transaction.h" +#include "param.h" +#include + +class ParamLayer +{ +public: + static constexpr param_t PARAM_COUNT = sizeof(px4::parameters) / sizeof(param_info_s); + + ParamLayer(ParamLayer *parent = nullptr) : _parent(parent) {} + + ParamLayer(const ParamLayer &) = delete; + ParamLayer &operator=(const ParamLayer &) = delete; + ParamLayer(ParamLayer &&) = delete; + ParamLayer &operator=(ParamLayer &&) = delete; + + + virtual bool store(param_t param, param_value_u value) = 0; + + virtual bool contains(param_t param) const = 0; + + virtual px4::AtomicBitset containedAsBitset() const = 0; + + virtual param_value_u get(param_t param) const = 0; + + virtual void reset(param_t param) = 0; + + virtual void refresh(param_t param) = 0; + + virtual int size() const = 0; + + virtual int byteSize() const = 0; + +protected: + ParamLayer *const _parent; +}; diff --git a/src/lib/parameters/StaticSparseLayer.h b/src/lib/parameters/StaticSparseLayer.h new file mode 100644 index 000000000000..0ae538e8622c --- /dev/null +++ b/src/lib/parameters/StaticSparseLayer.h @@ -0,0 +1,168 @@ +/**************************************************************************** + * + * Copyright (c) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#pragma once + +#include +#include "ParamLayer.h" + +template +class StaticSparseLayer : public ParamLayer +{ +public: + StaticSparseLayer(ParamLayer *parent) : ParamLayer(parent) + { + for (int i = 0; i < N_SLOTS; i++) { + _slots[i] = {UINT16_MAX, param_value_u{}}; + } + } + + virtual ~StaticSparseLayer() = default; + + bool store(param_t param, param_value_u value) override + { + const AtomicTransaction transaction; + const int index = _getIndex(param); + + if (index < _next_slot) { // already exists + _slots[index].value = value; + + } else if (_next_slot < N_SLOTS) { + _slots[_next_slot++] = {param, value}; + _sort(); + + } else { + return false; + } + + return true; + } + + bool contains(param_t param) const override + { + const AtomicTransaction transaction; + return _getIndex(param) < _next_slot; + } + + px4::AtomicBitset containedAsBitset() const override + { + px4::AtomicBitset set; + const AtomicTransaction transaction; + + for (int i = 0; i < _next_slot; i++) { + set.set(_slots[i].param); + } + + return set; + } + + param_value_u get(param_t param) const override + { + const AtomicTransaction transaction; + const int index = _getIndex(param); + + if (index < _next_slot) { // exists in this layer + return _slots[index].value; + } + + return _parent->get(param); + } + + void reset(param_t param) override + { + const AtomicTransaction transaction; + int index = _getIndex(param); + + if (index < _next_slot) { + _slots[index] = {UINT16_MAX, param_value_u{}}; + _sort(); + _next_slot--; + } + } + + void refresh(param_t param) override + { + _parent->refresh(param); + } + + int size() const override + { + return _next_slot; + } + + int byteSize() const override + { + return N_SLOTS * sizeof(Slot); + } + +private: + struct Slot { + param_t param; + param_value_u value; + }; + + static int _slotCompare(const void *a, const void *b) + { + return ((int)((Slot *)a)->param) - ((int)((Slot *)b)->param); + } + + void _sort() + { + qsort(_slots, N_SLOTS, sizeof(Slot), &_slotCompare); + } + + int _getIndex(param_t param) const + { + int left = 0; + int right = _next_slot - 1; + + while (left <= right) { + int mid = (left + right) / 2; + + if (_slots[mid].param == param) { + return mid; + + } else if (_slots[mid].param < param) { + left = mid + 1; + + } else { + right = mid - 1; + } + } + + return _next_slot; + } + + Slot _slots[N_SLOTS]; + int _next_slot = 0; +}; diff --git a/src/lib/parameters/atomic_transaction.cpp b/src/lib/parameters/atomic_transaction.cpp new file mode 100644 index 000000000000..5b1b21a761cd --- /dev/null +++ b/src/lib/parameters/atomic_transaction.cpp @@ -0,0 +1,38 @@ +/**************************************************************************** + * + * Copyright (c) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include "atomic_transaction.h" + +#ifdef __PX4_POSIX +_MutexHolder AtomicTransaction::_mutex_holder = _MutexHolder {}; +#endif diff --git a/src/lib/parameters/atomic_transaction.h b/src/lib/parameters/atomic_transaction.h new file mode 100644 index 000000000000..60797464166b --- /dev/null +++ b/src/lib/parameters/atomic_transaction.h @@ -0,0 +1,105 @@ +/**************************************************************************** + * + * Copyright (c) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#pragma once + +#ifdef __PX4_NUTTX +#include "px4_platform_common/micro_hal.h" +#endif + +#ifdef __PX4_POSIX +#include + +class _MutexHolder +{ +public: + pthread_mutex_t _mutex; + pthread_mutexattr_t _mutex_attr; + + _MutexHolder() + { + pthread_mutexattr_init(&_mutex_attr); + pthread_mutexattr_settype(&_mutex_attr, PTHREAD_MUTEX_RECURSIVE); + pthread_mutex_init(&_mutex, &_mutex_attr); + } + + ~_MutexHolder() + { + pthread_mutex_destroy(&_mutex); + } +}; +#endif + + +class AtomicTransaction +{ +private: +#ifdef __PX4_NUTTX + irqstate_t _irq_state; +#endif + +#ifdef __PX4_POSIX + static _MutexHolder _mutex_holder; +#endif + +public: + AtomicTransaction() + { + lock(); + } + + ~AtomicTransaction() + { + unlock(); + } + + void lock() + { +#ifdef __PX4_NUTTX + _irq_state = px4_enter_critical_section(); +#endif +#ifdef __PX4_POSIX + pthread_mutex_lock(&_mutex_holder._mutex); +#endif + } + + void unlock() + { +#ifdef __PX4_NUTTX + px4_leave_critical_section(_irq_state); +#endif +#ifdef __PX4_POSIX + pthread_mutex_unlock(&_mutex_holder._mutex); +#endif + } +}; diff --git a/src/lib/parameters/autosave.cpp b/src/lib/parameters/autosave.cpp new file mode 100644 index 000000000000..f06ff8df45aa --- /dev/null +++ b/src/lib/parameters/autosave.cpp @@ -0,0 +1,130 @@ +/**************************************************************************** + * + * Copyright (c) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include "autosave.h" + +#include +#include +#include + +#include "param.h" +#include "atomic_transaction.h" + +using namespace time_literals; + +ParamAutosave::ParamAutosave() + : ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::lp_default) +{ +} + +void ParamAutosave::request() +{ + if (_scheduled.load() || _disabled) { + return; + } + + // wait at least 300ms before saving, because: + // - tasks often call param_set() for multiple params, so this avoids unnecessary save calls + // - the logger stores changed params. He gets notified on a param change via uORB and then + // looks at all unsaved params. + hrt_abstime delay = 300_ms; + + static constexpr const hrt_abstime rate_limit = 2_s; // rate-limit saving to 2 seconds + const hrt_abstime last_save_elapsed = hrt_elapsed_time(&_last_timestamp); + + if (last_save_elapsed < rate_limit && rate_limit > last_save_elapsed + delay) { + delay = rate_limit - last_save_elapsed; + } + + _scheduled.store(true); + ScheduleDelayed(delay); +} + +void ParamAutosave::enable(bool enable) +{ + AtomicTransaction transaction; + _disabled = !enable; + + if (!enable && _scheduled.load()) { + _scheduled.store(false); + px4::ScheduledWorkItem::ScheduleClear(); + } +} + +void ParamAutosave::Run() +{ + bool disabled = false; + + if (!param_get_default_file()) { + // In case we save to FLASH, defer param writes until disarmed, + // as writing to FLASH can stall the entire CPU (in rare cases around 300ms on STM32F7) + uORB::SubscriptionData armed_sub{ORB_ID(actuator_armed)}; + + if (armed_sub.get().armed) { + ScheduleDelayed(1_s); + return; + } + } + + { + const AtomicTransaction transaction; + _last_timestamp = hrt_absolute_time(); + // Note that the order is important here: we first clear _scheduled, then save the parameters, as during export, + // more parameter changes could happen. + _scheduled.store(false); + disabled = _disabled; + } + + if (disabled) { + return; + } + + PX4_DEBUG("Autosaving params"); + int ret = param_save_default(false); + + if (ret != PX4_OK) { + // re-request to be saved in the future, try 3 times at most + if (_retry_count < 3) { + _retry_count++; + PX4_INFO("param auto save unavailable (%i), retrying..", ret); + request(); + + } else { + PX4_ERR("param auto save failed (%i)", ret); + _retry_count = 0; + } + + } else { + _retry_count = 0; + } +} diff --git a/src/lib/parameters/autosave.h b/src/lib/parameters/autosave.h new file mode 100644 index 000000000000..0636a44defaa --- /dev/null +++ b/src/lib/parameters/autosave.h @@ -0,0 +1,64 @@ +/**************************************************************************** + * + * Copyright (c) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#pragma once + +#include +#include +#include + +class ParamAutosave : public px4::ScheduledWorkItem +{ +public: + + ParamAutosave(); + + /** + * Automatically save the parameters after a timeout and at limited rate. + */ + void request(); + + void enable(bool enable); + + bool enabled() const { return !_disabled; } + + hrt_abstime lastAutosave() const { return _last_timestamp; } + + void Run() override; + +private: + hrt_abstime _last_timestamp{0}; + px4::atomic_bool _scheduled{false}; + int _retry_count{0}; + bool _disabled{false}; +}; diff --git a/src/lib/parameters/flashparams/CMakeLists.txt b/src/lib/parameters/flashparams/CMakeLists.txt index 23cbd9223430..9b7ac3f9c61d 100644 --- a/src/lib/parameters/flashparams/CMakeLists.txt +++ b/src/lib/parameters/flashparams/CMakeLists.txt @@ -42,7 +42,7 @@ add_library(flashparams flashparams.cpp ) -add_dependencies(flashparams prebuild_targets) +add_dependencies(flashparams prebuild_targets parameters_header) target_compile_definitions(flashparams PRIVATE -DMODULE_NAME="flashparams") target_compile_options(flashparams PRIVATE diff --git a/src/lib/parameters/flashparams/flashparams.cpp b/src/lib/parameters/flashparams/flashparams.cpp index b30920785021..c37959a706fc 100644 --- a/src/lib/parameters/flashparams/flashparams.cpp +++ b/src/lib/parameters/flashparams/flashparams.cpp @@ -46,6 +46,7 @@ #include #include #include +#include #include #include @@ -54,7 +55,6 @@ #include -#include "../uthash/utarray.h" #include #include "flashparams.h" #include "flashfs.h" @@ -78,36 +78,30 @@ struct param_wbuf_s { static int param_export_internal(param_filter_func filter) { - struct param_wbuf_s *s = nullptr; bson_encoder_s encoder{}; int result = -1; /* Use realloc */ bson_encoder_init_buf(&encoder, nullptr, 0); + auto changed_params = user_config.containedAsBitset(); - /* no modified parameters -> we are done */ - if (param_values == nullptr) { - result = 0; - goto out; - } + for (param_t param = 0; param < user_config.PARAM_COUNT; param++) { - while ((s = (struct param_wbuf_s *)utarray_next(param_values, s)) != nullptr) { + if (!changed_params[param] || (filter && !filter(param))) { + continue; + } int32_t i; float f; - if (filter && !filter(s->param)) { - continue; - } - /* append the appropriate BSON type object */ - switch (param_type(s->param)) { + switch (param_type(param)) { case PARAM_TYPE_INT32: - i = s->val.i; + i = user_config.get(param).i; - if (bson_encoder_append_int32(&encoder, param_name(s->param), i)) { + if (bson_encoder_append_int32(&encoder, param_name(param), i)) { debug("BSON append failed for '%s'", param_name(s->param)); goto out; } @@ -115,9 +109,9 @@ param_export_internal(param_filter_func filter) break; case PARAM_TYPE_FLOAT: - f = s->val.f; + f = user_config.get(param).f; - if (bson_encoder_append_double(&encoder, param_name(s->param), f)) { + if (bson_encoder_append_double(&encoder, param_name(param), (double)f)) { debug("BSON append failed for '%s'", param_name(s->param)); goto out; } @@ -195,7 +189,9 @@ param_import_callback(bson_decoder_t decoder, bson_node_t node) return 0; } - param_modify_on_import(node); + if (param_modify_on_import(node) == param_modify_on_import_ret::PARAM_SKIP_IMPORT) { + return 1; + } /* * Find the parameter this node represents. If we don't know it, diff --git a/src/lib/parameters/flashparams/flashparams.h b/src/lib/parameters/flashparams/flashparams.h index 2620e5e91dd8..667b464767af 100644 --- a/src/lib/parameters/flashparams/flashparams.h +++ b/src/lib/parameters/flashparams/flashparams.h @@ -49,6 +49,7 @@ #include #include #include +#include "../DynamicSparseLayer.h" __BEGIN_DECLS @@ -57,9 +58,9 @@ __BEGIN_DECLS * the param_values and 2 functions to be global */ -__EXPORT extern UT_array *param_values; +__EXPORT extern DynamicSparseLayer user_config; __EXPORT int param_set_external(param_t param, const void *val, bool mark_saved, bool notify_changes); -__EXPORT const void *param_get_value_ptr_external(param_t param); +__EXPORT void param_get_external(param_t param, void *val); /* The interface hooks to the Flash based storage. The caller is responsible for locking */ __EXPORT int flash_param_save(param_filter_func filter); diff --git a/src/lib/parameters/param.h b/src/lib/parameters/param.h index 5e7802230ef7..c8b8dbd79df9 100644 --- a/src/lib/parameters/param.h +++ b/src/lib/parameters/param.h @@ -267,6 +267,18 @@ __EXPORT void param_set_used(param_t param); */ __EXPORT int param_set_no_notification(param_t param, const void *val); +/** + * Set the value of a parameter, but do not update the remote system. This avoids + * a set loop between primary and remote. + * + * @param param A handle returned by param_find or passed by param_foreach. + * @param val The value to set; assumed to point to a variable of the parameter type. + * For structures, the pointer is assumed to point to a structure to be copied. + * @param notify Set this to true for the primary (to send out a param update) and false on client + * @return Zero if the parameter's value could be set from a scalar, nonzero otherwise. + */ +__EXPORT int param_set_no_remote_update(param_t param, const void *val, bool notify); + /** * Notify the system about parameter changes. Can be used for example after several calls to * param_set_no_notification() to avoid unnecessary system notifications. @@ -400,13 +412,17 @@ __EXPORT const char *param_get_backup_file(void); /** * Save parameters to the default file. + * * Note: this method requires a large amount of stack size! * * This function saves all parameters with non-default values. * - * @return Zero on success. + * @param blocking If true, in case the default file is busy, the function blocks + * until the file is available for writing. + * + * @return Zero on success, -EWOULDBLOCK if the file is busy and blocking is false. */ -__EXPORT int param_save_default(void); +__EXPORT int param_save_default(bool blocking); /** * Load parameters from the default parameter file. diff --git a/src/lib/parameters/param_translation.cpp b/src/lib/parameters/param_translation.cpp index 5a5603d4cf3d..490ad02f22c3 100644 --- a/src/lib/parameters/param_translation.cpp +++ b/src/lib/parameters/param_translation.cpp @@ -40,196 +40,107 @@ #include #include -bool param_modify_on_import(bson_node_t node) +param_modify_on_import_ret param_modify_on_import(bson_node_t node) { - // 2022-04-11: translate VT_PTCH_MIN to VT_PITCH_MIN + // 2023-12-06: translate and invert FW_ARSP_MODE-> FW_USE_AIRSPD { - if (strcmp("VT_PTCH_MIN", node->name) == 0) { - strcpy(node->name, "VT_PITCH_MIN"); - PX4_INFO("copying %s -> %s", "VT_PTCH_MIN", "VT_PITCH_MIN"); - return true; - } - } - - // 2022-04-11: translate VT_LND_PTCH_MIN to VT_LND_PITCH_MIN - { - if (strcmp("VT_LND_PTCH_MIN", node->name) == 0) { - strcpy(node->name, "VT_LND_PITCH_MIN"); - PX4_INFO("copying %s -> %s", "VT_LND_PTCH_MIN", "VT_LND_PITCH_MIN"); - return true; - } - } + if (strcmp("FW_ARSP_MODE", node->name) == 0) { + if (node->i32 == 0) { + node->i32 = 1; + } else { + node->i32 = 0; + } - // 2021-10-21: translate NAV_GPSF_LT to FW_GPSF_LT and NAV_GPSF_R to FW_GPSF_R - { - if (strcmp("NAV_GPSF_LT", node->name) == 0) { - strcpy(node->name, "FW_GPSF_LT"); - node->i32 = static_cast(node->d); - node->type = BSON_INT32; - PX4_INFO("copying %s -> %s", "NAV_GPSF_LT", "FW_GPSF_LT"); - return true; - } - - if (strcmp("NAV_GPSF_R", node->name) == 0) { - strcpy(node->name, "FW_GPSF_R"); - PX4_INFO("copying %s -> %s", "NAV_GPSF_R", "FW_GPSF_R"); - return true; + strcpy(node->name, "FW_USE_AIRSPD"); + PX4_INFO("copying and inverting %s -> %s", "FW_ARSP_MODE", "FW_USE_AIRSPD"); + return param_modify_on_import_ret::PARAM_MODIFIED; } } - // 2022-03-15: translate notch filter IMU_GYRO_NF_FREQ to IMU_GYRO_NF0_FRQ and IMU_GYRO_NF_BW -> IMU_GYRO_NF0_BW + // 2023-12-06: translate CBRK_AIRSPD_CHK-> SYS_HAS_NUM_ASPD { - if (strcmp("IMU_GYRO_NF_FREQ", node->name) == 0) { - strcpy(node->name, "IMU_GYRO_NF0_FRQ"); - PX4_INFO("copying %s -> %s", "IMU_GYRO_NF_FREQ", "IMU_GYRO_NF0_FRQ"); - return true; - } + if (strcmp("CBRK_AIRSPD_CHK", node->name) == 0) { + if (node->i32 == 162128) { + node->i32 = 0; - if (strcmp("IMU_GYRO_NF_BW", node->name) == 0) { - strcpy(node->name, "IMU_GYRO_NF0_BW"); - PX4_INFO("copying %s -> %s", "IMU_GYRO_NF_BW", "IMU_GYRO_NF0_BW"); - return true; - } - } + strcpy(node->name, "SYS_HAS_NUM_ASPD"); + PX4_INFO("copying %s -> %s", "CBRK_AIRSPD_CHK", "SYS_HAS_NUM_ASPD"); - // 2022-04-25 (v1.13 alpha): translate MS4525->MS4525DO and MS5525->MS5525DSO - { - if (strcmp("SENS_EN_MS4525", node->name) == 0) { - strcpy(node->name, "SENS_EN_MS4525DO"); - PX4_INFO("copying %s -> %s", "SENS_EN_MS4525", "SENS_EN_MS4525DO"); - return true; - } + } - if (strcmp("SENS_EN_MS5525", node->name) == 0) { - strcpy(node->name, "SENS_EN_MS5525DS"); - PX4_INFO("copying %s -> %s", "SENS_EN_MS5525", "SENS_EN_MS5525DS"); - return true; + return param_modify_on_import_ret::PARAM_MODIFIED; } } - // 2022-06-09: migrate EKF2_WIND_NOISE->EKF2_WIND_NSD - { - if (strcmp("EKF2_WIND_NOISE", node->name) == 0) { - node->d /= 10.0; // at 100Hz (EKF2 rate), NSD is sqrt(100) times smaller than std_dev - strcpy(node->name, "EKF2_WIND_NSD"); - PX4_INFO("param migrating EKF2_WIND_NOISE (removed) -> EKF2_WIND_NSD: value=%.3f", node->d); - return true; - } - } + // 2024-04-15 SYS_MC_EST_GROUP removed + if ((node->type == bson_type_t::BSON_INT32) && (strcmp("SYS_MC_EST_GROUP", node->name) == 0)) { - // 2022-06-09: translate ASPD_SC_P_NOISE->ASPD_SCALE_NSD and ASPD_W_P_NOISE->ASPD_WIND_NSD - { - if (strcmp("ASPD_SC_P_NOISE", node->name) == 0) { - strcpy(node->name, "ASPD_SCALE_NSD"); - PX4_INFO("copying %s -> %s", "ASPD_SC_P_NOISE", "ASPD_SCALE_NSD"); - return true; - } + int32_t value = node->i32; - if (strcmp("ASPD_W_P_NOISE", node->name) == 0) { - strcpy(node->name, "ASPD_WIND_NSD"); - PX4_INFO("copying %s -> %s", "ASPD_W_P_NOISE", "ASPD_WIND_NSD"); - return true; - } - } + // value 1 local_position_estimator, attitude_estimator_q (unsupported) + if (value == 1) { + // enable local_position_estimator + int32_t lpe_en_val = 1; + int lpe_en_ret = param_set(param_find("LPE_EN"), &lpe_en_val); - // 2022-07-07: translate FW_THR_CRUISE->FW_THR_TRIM - { - if (strcmp("FW_THR_CRUISE", node->name) == 0) { - strcpy(node->name, "FW_THR_TRIM"); - PX4_INFO("copying %s -> %s", "FW_THR_CRUISE", "FW_THR_TRIM"); - return true; - } - } - - // 2022-08-04: migrate EKF2_RNG_AID->EKF2_RNG_CTRL and EKF2_HGT_MODE->EKF2_HGT_REF - { - if (strcmp("EKF2_RNG_AID", node->name) == 0) { - strcpy(node->name, "EKF2_RNG_CTRL"); - PX4_INFO("param migrating EKF2_RNG_AID (removed) -> EKF2_RNG_CTRL: value=%" PRId32, node->i32); - return true; - } + // enable attitude_estimator_q + int32_t att_en_val = 1; + int att_en_ret = param_set(param_find("ATT_EN"), &att_en_val); - if (strcmp("EKF2_HGT_MODE", node->name) == 0) { - strcpy(node->name, "EKF2_HGT_REF"); + // disable ekf2 (only if enabling lpe and att_w was successful) + if (lpe_en_ret == PX4_OK && att_en_ret == PX4_OK) { + int32_t ekf2_en_val = 0; + param_set(param_find("EKF2_EN"), &ekf2_en_val); - // If was in range height mode, set range aiding to "always" - if (node->i32 == 2) { - int32_t rng_mode = 2; - param_set_no_notification(param_find("EKF2_RNG_CTRL"), &rng_mode); + } else { + int32_t ekf2_en_val = 1; + param_set(param_find("EKF2_EN"), &ekf2_en_val); } - PX4_INFO("param migrating EKF2_HGT_MODE (removed) -> EKF2_HGT_REF: value=%" PRId32, node->i32); - return true; + return param_modify_on_import_ret::PARAM_MODIFIED; } - } - // 2022-07-18: translate VT_FW_DIFTHR_SC->VT_FW_DIFTHR_S_Y - { - if (strcmp("VT_FW_DIFTHR_SC", node->name) == 0) { - strcpy(node->name, "VT_FW_DIFTHR_S_Y"); - PX4_INFO("copying %s -> %s", "VT_FW_DIFTHR_SC", "VT_FW_DIFTHR_S_Y"); - return true; - } - } + // value 2 ekf2 (recommended) + if (value == 2) { + // disable local_position_estimator + int32_t lpe_en_val = 0; + param_set(param_find("LPE_EN"), &lpe_en_val); - // 2022-11-11: translate VT_F_TRANS_THR/VT_PSHER_RMP_DT -> VT_PSHER_SLEW - { - if (strcmp("VT_PSHER_RMP_DT", node->name) == 0) { - strcpy(node->name, "VT_PSHER_SLEW"); - double _param_vt_f_trans_thr = param_find("VT_F_TRANS_THR"); - node->d = _param_vt_f_trans_thr / node->d; - PX4_INFO("copying %s -> %s", "VT_PSHER_RMP_DT", "VT_PSHER_SLEW"); - } - } + // disable attitude_estimator_q + int32_t att_en_val = 0; + param_set(param_find("ATT_EN"), &att_en_val); - // 2022-11-09: translate several fixed-wing launch parameters - { - if (strcmp("LAUN_ALL_ON", node->name) == 0) { - strcpy(node->name, "FW_LAUN_DETCN_ON"); - PX4_INFO("copying %s -> %s", "LAUN_ALL_ON", "FW_LAUN_DETCN_ON"); - return true; - } + // enable ekf2 + int32_t ekf2_en_val = 1; + param_set(param_find("EKF2_EN"), &ekf2_en_val); - if (strcmp("LAUN_CAT_A", node->name) == 0) { - strcpy(node->name, "FW_LAUN_AC_THLD"); - PX4_INFO("copying %s -> %s", "LAUN_CAT_A", "FW_LAUN_AC_THLD"); - return true; + return param_modify_on_import_ret::PARAM_MODIFIED; } - if (strcmp("LAUN_CAT_T", node->name) == 0) { - strcpy(node->name, "FW_LAUN_AC_T"); - PX4_INFO("copying %s -> %s", "LAUN_CAT_T", "FW_LAUN_AC_T"); - return true; - } + // value 3 Q attitude estimator (no position) + if (value == 3) { + // disable local_position_estimator + int32_t lpe_en_val = 0; + param_set(param_find("LPE_EN"), &lpe_en_val); - if (strcmp("LAUN_CAT_MDEL", node->name) == 0) { - strcpy(node->name, "FW_LAUN_MOT_DEL"); - PX4_INFO("copying %s -> %s", "LAUN_CAT_MDEL", "FW_LAUN_MOT_DEL"); - return true; - } - } + // enable attitude_estimator_q + int32_t att_en_val = 1; + int att_en_ret = param_set(param_find("ATT_EN"), &att_en_val); - return false; + // disable ekf2 (only if enabling att_w was successful) + if (att_en_ret == PX4_OK) { + int32_t ekf2_en_val = 0; + param_set(param_find("EKF2_EN"), &ekf2_en_val); - //2023-02-08: translate L1 parameters after removing l1 control - { - if (strcmp("RWTO_L1_PERIOD", node->name) == 0) { - strcpy(node->name, "RWTO_NPFG_PERIOD"); - PX4_INFO("copying %s -> %s", "RWTO_L1_PERIOD", "RWTO_NPFG_PERIOD"); - return true; - } - - if (strcmp("FW_L1_R_SLEW_MAX", node->name) == 0) { - strcpy(node->name, "FW_PN_R_SLEW_MAX"); - PX4_INFO("copying %s -> %s", "FW_L1_R_SLEW_MAX", "FW_PN_R_SLEW_MAX"); - return true; - } + } else { + int32_t ekf2_en_val = 1; + param_set(param_find("EKF2_EN"), &ekf2_en_val); + } - if (strcmp("FW_L1_PERIOD", node->name) == 0) { - strcpy(node->name, "NPFG_PERIOD"); - PX4_INFO("copying %s -> %s", "FW_L1_PERIOD", "NPFG_PERIOD"); - return true; + return param_modify_on_import_ret::PARAM_MODIFIED; } } + + return param_modify_on_import_ret::PARAM_NOT_MODIFIED; } diff --git a/src/lib/parameters/param_translation.h b/src/lib/parameters/param_translation.h index 1d001ce09e06..2bbf401ac70f 100644 --- a/src/lib/parameters/param_translation.h +++ b/src/lib/parameters/param_translation.h @@ -35,4 +35,10 @@ #include "tinybson/tinybson.h" -__EXPORT bool param_modify_on_import(bson_node_t node); +enum class param_modify_on_import_ret { + PARAM_SKIP_IMPORT = 0, + PARAM_NOT_MODIFIED = 1, + PARAM_MODIFIED = 2 +}; + +__EXPORT param_modify_on_import_ret param_modify_on_import(bson_node_t node); diff --git a/src/lib/parameters/param_translation_unit_tests.cpp b/src/lib/parameters/param_translation_unit_tests.cpp index 69709bf31afb..b2e398effb34 100644 --- a/src/lib/parameters/param_translation_unit_tests.cpp +++ b/src/lib/parameters/param_translation_unit_tests.cpp @@ -33,8 +33,8 @@ #include "param_translation.h" -bool param_modify_on_import(bson_node_t node) +param_modify_on_import_ret param_modify_on_import(bson_node_t node) { // don't modify params for unit tests - return false; + return param_modify_on_import_ret::PARAM_NOT_MODIFIED; } diff --git a/src/lib/parameters/parameters.cpp b/src/lib/parameters/parameters.cpp index 84a5da768287..f8cd3d6fa3ea 100644 --- a/src/lib/parameters/parameters.cpp +++ b/src/lib/parameters/parameters.cpp @@ -60,15 +60,21 @@ #include #include #include -#include "uthash/utarray.h" +#include using namespace time_literals; #include "uORB/uORB.h" #include "uORB/topics/parameter_update.h" -#include #include +#include "ExhaustiveLayer.h" +#include "ConstLayer.h" +#include "DynamicSparseLayer.h" +#include "StaticSparseLayer.h" + +#include "atomic_transaction.h" + /* Include functions common to user and kernel sides */ #include "parameters_common.cpp" @@ -88,111 +94,41 @@ inline static int flash_param_import() { return -1; } static char *param_default_file = nullptr; static char *param_backup_file = nullptr; -#include -/* autosaving variables */ -static hrt_abstime last_autosave_timestamp = 0; -static struct work_s autosave_work {}; -static px4::atomic_bool autosave_scheduled{false}; -static bool autosave_disabled = false; +#include "autosave.h" +static ParamAutosave *autosave_instance {nullptr}; static px4::AtomicBitset params_active; // params found -static px4::AtomicBitset params_changed; // params non-default -static px4::Bitset params_custom_default; // params with runtime default value static px4::AtomicBitset params_unsaved; -// Storage for modified parameters. -struct param_wbuf_s { - union param_value_u val; - param_t param; -}; - -/** flexible array holding modified parameter values */ -UT_array *param_values{nullptr}; -UT_array *param_custom_default_values{nullptr}; - -const UT_icd param_icd = {sizeof(param_wbuf_s), nullptr, nullptr, nullptr}; +static ConstLayer firmware_defaults; +static DynamicSparseLayer runtime_defaults{&firmware_defaults}; +DynamicSparseLayer user_config{&runtime_defaults}; /** parameter update topic handle */ +#if not defined(CONFIG_PARAM_REMOTE) static orb_advert_t param_topic = nullptr; static unsigned int param_instance = 0; - -// the following implements an RW-lock using 2 semaphores (used as mutexes). It gives -// priority to readers, meaning a writer could suffer from starvation, but in our use-case -// we only have short periods of reads and writes are rare. -static px4_sem_t param_sem; ///< this protects against concurrent access to param_values -static int reader_lock_holders = 0; -static px4_sem_t reader_lock_holders_lock; ///< this protects against concurrent access to reader_lock_holders +#endif static perf_counter_t param_export_perf; static perf_counter_t param_find_perf; static perf_counter_t param_get_perf; static perf_counter_t param_set_perf; -static px4_sem_t param_sem_save; ///< this protects against concurrent param saves (file or flash access). -///< we use a separate lock to allow concurrent param reads and saves. -///< a param_set could still be blocked by a param save, because it -///< needs to take the reader lock - -/** lock the parameter store for read access */ -static void -param_lock_reader() -{ - do {} while (px4_sem_wait(&reader_lock_holders_lock) != 0); - - ++reader_lock_holders; - - if (reader_lock_holders == 1) { - // the first reader takes the lock, the next ones are allowed to just continue - do {} while (px4_sem_wait(¶m_sem) != 0); - } - - px4_sem_post(&reader_lock_holders_lock); -} - -/** lock the parameter store for write access */ -static void -param_lock_writer() -{ - do {} while (px4_sem_wait(¶m_sem) != 0); -} - -/** unlock the parameter store */ -static void -param_unlock_reader() -{ - do {} while (px4_sem_wait(&reader_lock_holders_lock) != 0); +static pthread_mutex_t file_mutex = + PTHREAD_MUTEX_INITIALIZER; ///< this protects against concurrent param saves (file or flash access). - --reader_lock_holders; - - if (reader_lock_holders == 0) { - // the last reader releases the lock - px4_sem_post(¶m_sem); - } - - px4_sem_post(&reader_lock_holders_lock); -} - -/** unlock the parameter store */ -static void -param_unlock_writer() -{ - px4_sem_post(¶m_sem); -} - -/** assert that the parameter store is locked */ -static void -param_assert_locked() -{ - /* XXX */ -} +// Support for remote parameter node +#if defined(CONFIG_PARAM_PRIMARY) +# include "parameters_primary.h" +#endif // CONFIG_PARAM_PRIMARY +#if defined(CONFIG_PARAM_REMOTE) +# include "parameters_remote.h" +#endif // CONFIG_PARAM_REMOTE void param_init() { - px4_sem_init(¶m_sem, 0, 1); - px4_sem_init(¶m_sem_save, 0, 1); - px4_sem_init(&reader_lock_holders_lock, 0, 1); - param_export_perf = perf_alloc(PC_ELAPSED, "param: export"); param_find_perf = perf_alloc(PC_COUNT, "param: find"); param_get_perf = perf_alloc(PC_COUNT, "param: get"); @@ -201,63 +137,36 @@ param_init() #if defined(__PX4_NUTTX) && !defined(CONFIG_BUILD_FLAT) px4_register_boardct_ioctl(_PARAMIOCBASE, param_ioctl); #endif -} -/** - * Compare two modified parameter structures to determine ordering. - * - * This function is suitable for passing to qsort or bsearch. - */ -static int -param_compare_values(const void *a, const void *b) -{ - struct param_wbuf_s *pa = (struct param_wbuf_s *)a; - struct param_wbuf_s *pb = (struct param_wbuf_s *)b; +#if defined(CONFIG_PARAM_PRIMARY) + param_primary_init(); +#endif // CONFIG_PARAM_PRIMARY - if (pa->param < pb->param) { - return -1; - } +#if defined(CONFIG_PARAM_REMOTE) + param_remote_init(); +#endif // CONFIG_PARAM_REMOTE - if (pa->param > pb->param) { - return 1; - } - - return 0; +#if not defined(CONFIG_PARAM_REMOTE) + autosave_instance = new ParamAutosave(); +#endif } -/** - * Locate the modified parameter structure for a parameter, if it exists. - * - * @param param The parameter being searched. - * @return The structure holding the modified value, or - * nullptr if the parameter has not been modified. - */ -static param_wbuf_s * -param_find_changed(param_t param) -{ - param_assert_locked(); - - if (params_changed[param] && (param_values != nullptr)) { - param_wbuf_s key{}; - key.param = param; - return (param_wbuf_s *)utarray_find(param_values, &key, param_compare_values); - } - - return nullptr; -} void param_notify_changes() { - parameter_update_s pup{}; +// Don't send if this is a remote node. Only the primary +// sends out update notices +#if not defined(CONFIG_PARAM_REMOTE) + parameter_update_s pup {}; pup.instance = param_instance++; pup.get_count = perf_event_count(param_get_perf); pup.set_count = perf_event_count(param_set_perf); pup.find_count = perf_event_count(param_find_perf); pup.export_count = perf_event_count(param_export_perf); pup.active = params_active.count(); - pup.changed = params_changed.count(); - pup.custom_default = params_custom_default.count(); + pup.changed = user_config.size(); + pup.custom_default = runtime_defaults.size(); pup.timestamp = hrt_absolute_time(); if (param_topic == nullptr) { @@ -266,6 +175,8 @@ param_notify_changes() } else { orb_publish(ORB_ID(parameter_update), param_topic, &pup); } + +#endif } static param_t param_find_internal(const char *name, bool notification) @@ -372,51 +283,6 @@ param_value_unsaved(param_t param) return handle_in_range(param) ? params_unsaved[param] : false; } -/** - * Obtain a pointer to the storage allocated for a parameter. - * - * @param param The parameter whose storage is sought. - * @return A pointer to the parameter value, or nullptr - * if the parameter does not exist. - */ -static const void * -param_get_value_ptr(param_t param) -{ - param_assert_locked(); - - if (handle_in_range(param)) { - /* work out whether we're fetching the default or a written value */ - struct param_wbuf_s *s = param_find_changed(param); - - if (s != nullptr) { - return &s->val; - - } else { - if (params_custom_default[param] && param_custom_default_values) { - // get default from custom default storage - param_wbuf_s key{}; - key.param = param; - param_wbuf_s *pbuf = (param_wbuf_s *)utarray_find(param_custom_default_values, &key, param_compare_values); - - if (pbuf != nullptr) { - return &pbuf->val; - } - } - - // otherwise return static default value - switch (param_type(param)) { - case PARAM_TYPE_INT32: - return &px4::parameters[param].val.i; - - case PARAM_TYPE_FLOAT: - return &px4::parameters[param].val.f; - } - } - } - - return nullptr; -} - int param_get(param_t param, void *val) { @@ -434,28 +300,18 @@ param_get(param_t param, void *val) int result = PX4_ERROR; if (val) { - if (!params_changed[param] && !params_custom_default[param]) { - // if parameter is unchanged (static default value) copy immediately and avoid locking - switch (param_type(param)) { - case PARAM_TYPE_INT32: - memcpy(val, &px4::parameters[param].val.i, sizeof(px4::parameters[param].val.i)); - return PX4_OK; - - case PARAM_TYPE_FLOAT: - memcpy(val, &px4::parameters[param].val.f, sizeof(px4::parameters[param].val.f)); - return PX4_OK; - } - } - param_lock_reader(); - const void *v = param_get_value_ptr(param); + auto retrieve_value = user_config.get(param); - if (v) { - memcpy(val, v, param_size(param)); - result = PX4_OK; - } + switch (param_type(param)) { + case PARAM_TYPE_INT32: + *(int32_t *)val = retrieve_value.i; + return PX4_OK; - param_unlock_reader(); + case PARAM_TYPE_FLOAT: + *(float *)val = retrieve_value.f; + return PX4_OK; + } } return result; @@ -470,26 +326,13 @@ param_get_default_value_internal(param_t param, void *default_val) } if (default_val) { - if (params_custom_default[param] && param_custom_default_values) { - // get default from custom default storage - param_wbuf_s key{}; - key.param = param; - param_wbuf_s *pbuf = (param_wbuf_s *)utarray_find(param_custom_default_values, &key, param_compare_values); - - if (pbuf != nullptr) { - memcpy(default_val, &pbuf->val, param_size(param)); - return PX4_OK; - } - } - - // otherwise return static default value switch (param_type(param)) { case PARAM_TYPE_INT32: - memcpy(default_val, &px4::parameters[param].val.i, param_size(param)); + *(int32_t *) default_val = runtime_defaults.get(param).i; return PX4_OK; case PARAM_TYPE_FLOAT: - memcpy(default_val, &px4::parameters[param].val.f, param_size(param)); + *(float *) default_val = runtime_defaults.get(param).f; return PX4_OK; } } @@ -504,26 +347,7 @@ param_get_default_value(param_t param, void *default_val) return PX4_ERROR; } - int ret = 0; - - if (!params_custom_default[param]) { - // return static default value - switch (param_type(param)) { - case PARAM_TYPE_INT32: - memcpy(default_val, &px4::parameters[param].val.i, sizeof(px4::parameters[param].val.i)); - return PX4_OK; - - case PARAM_TYPE_FLOAT: - memcpy(default_val, &px4::parameters[param].val.f, sizeof(px4::parameters[param].val.f)); - return PX4_OK; - } - - } else { - param_lock_reader(); - ret = param_get_default_value_internal(param, default_val); - param_unlock_reader(); - } - + int ret = param_get_default_value_internal(param, default_val); return ret; } @@ -533,139 +357,47 @@ bool param_value_is_default(param_t param) return true; } - if (!params_changed[param] && !params_custom_default[param]) { - // no value saved and no custom default + if (!user_config.contains(param)) { + // if user config does not contain it, consider it default. return true; } else { - // the param_values dynamic array might carry things that have been set - // back to default, so we don't rely on the params_changed bitset here + // compare with default value + const param_value_u user_config_value = user_config.get(param); + const param_value_u runtime_default_value = runtime_defaults.get(param); + switch (param_type(param)) { case PARAM_TYPE_INT32: { - param_lock_reader(); - int32_t default_value = 0; - - if (param_get_default_value_internal(param, &default_value) == PX4_OK) { - const void *v = param_get_value_ptr(param); - - if (v) { - bool unchanged = (*static_cast(v) == default_value); - param_unlock_reader(); - return unchanged; - } - } - - param_unlock_reader(); + return user_config_value.i == runtime_default_value.i; } - break; case PARAM_TYPE_FLOAT: { - param_lock_reader(); - float default_value = 0; - - if (param_get_default_value_internal(param, &default_value) == PX4_OK) { - const void *v = param_get_value_ptr(param); - - if (v) { - bool unchanged = (fabsf(*static_cast(v) - default_value) <= FLT_EPSILON); - param_unlock_reader(); - return unchanged; - } - } - - param_unlock_reader(); + return user_config_value.f - runtime_default_value.f < FLT_EPSILON; } - break; } } return true; } -/** - * worker callback method to save the parameters - * @param arg unused - */ -static void -autosave_worker(void *arg) -{ - bool disabled = false; - - if (!param_get_default_file()) { - // In case we save to FLASH, defer param writes until disarmed, - // as writing to FLASH can stall the entire CPU (in rare cases around 300ms on STM32F7) - uORB::SubscriptionData armed_sub{ORB_ID(actuator_armed)}; - - if (armed_sub.get().armed) { - work_queue(LPWORK, &autosave_work, (worker_t)&autosave_worker, nullptr, USEC2TICK(1_s)); - return; - } - } - - param_lock_writer(); - last_autosave_timestamp = hrt_absolute_time(); - autosave_scheduled.store(false); - disabled = autosave_disabled; - param_unlock_writer(); - - if (disabled) { - return; - } - - PX4_DEBUG("Autosaving params"); - int ret = param_save_default(); - - if (ret != 0) { - PX4_ERR("param auto save failed (%i)", ret); - } -} - -/** - * Automatically save the parameters after a timeout and limited rate. - * - * This needs to be called with the writer lock held (it's not necessary that it's the writer lock, but it - * needs to be the same lock as autosave_worker() and param_control_autosave() use). - */ static void param_autosave() { - if (autosave_scheduled.load() || autosave_disabled) { - return; - } - - // wait at least 300ms before saving, because: - // - tasks often call param_set() for multiple params, so this avoids unnecessary save calls - // - the logger stores changed params. He gets notified on a param change via uORB and then - // looks at all unsaved params. - hrt_abstime delay = 300_ms; - - static constexpr const hrt_abstime rate_limit = 2_s; // rate-limit saving to 2 seconds - const hrt_abstime last_save_elapsed = hrt_elapsed_time(&last_autosave_timestamp); - - if (last_save_elapsed < rate_limit && rate_limit > last_save_elapsed + delay) { - delay = rate_limit - last_save_elapsed; + if (autosave_instance) { + autosave_instance->request(); } - - autosave_scheduled.store(true); - work_queue(LPWORK, &autosave_work, (worker_t)&autosave_worker, nullptr, USEC2TICK(delay)); } void param_control_autosave(bool enable) { - param_lock_writer(); - - if (!enable && autosave_scheduled.load()) { - work_cancel(LPWORK, &autosave_work); - autosave_scheduled.store(false); + if (autosave_instance) { + autosave_instance->enable(enable); } - - autosave_disabled = !enable; - param_unlock_writer(); } static int -param_set_internal(param_t param, const void *val, bool mark_saved, bool notify_changes) +param_set_internal(param_t param, const void *val, bool mark_saved, bool notify_changes, bool update_remote = true) { if (!handle_in_range(param)) { PX4_ERR("set invalid param %d", param); @@ -679,84 +411,60 @@ param_set_internal(param_t param, const void *val, bool mark_saved, bool notify_ int result = -1; bool param_changed = false; - - param_lock_writer(); perf_begin(param_set_perf); - // create the parameter store if it doesn't exist - if (param_values == nullptr) { - utarray_new(param_values, ¶m_icd); - - // mark all parameters unchanged (default) - params_changed.reset(); - params_unsaved.reset(); - } - - if (param_values == nullptr) { - PX4_ERR("failed to allocate modified values array"); - goto out; + const param_value_u user_config_value = user_config.get(param); + param_value_u new_value{}; - } else { - param_wbuf_s *s = param_find_changed(param); - - if (s == nullptr) { - /* construct a new parameter */ - param_wbuf_s buf{}; - buf.param = param; - - param_changed = true; + switch (param_type(param)) { + case PARAM_TYPE_INT32: + param_changed = user_config_value.i != *(int32_t *)val; + new_value.i = *(int32_t *)val; + break; - /* add it to the array and sort */ - utarray_push_back(param_values, &buf); - utarray_sort(param_values, param_compare_values); - params_changed.set(param, true); + case PARAM_TYPE_FLOAT: + param_changed = fabsf(user_config_value.f - * (float *) val) > FLT_EPSILON; + new_value.f = *(float *) val; + break; - /* find it after sorting */ - s = param_find_changed(param); + default: { + PX4_ERR("param_set invalid param type for %s", param_name(param)); + break; } + } - if (s == nullptr) { - PX4_ERR("error param_values storage slot invalid"); + if (user_config.store(param, new_value)) { + params_unsaved.set(param, !mark_saved); + result = PX4_OK; - } else { - /* update the changed value */ - switch (param_type(param)) { - case PARAM_TYPE_INT32: - if (s->val.i != *(int32_t *)val) { - s->val.i = *(int32_t *)val; - param_changed = true; - } + } else { + PX4_ERR("param_set failed to store param %s", param_name(param)); + result = PX4_ERROR; + } - params_changed.set(param, true); - params_unsaved.set(param, !mark_saved); - result = PX4_OK; - break; + if ((result == PX4_OK) && param_changed && !mark_saved) { // this is false when importing parameters + param_autosave(); + } - case PARAM_TYPE_FLOAT: - if (fabsf(s->val.f - * (float *)val) > FLT_EPSILON) { - s->val.f = *(float *)val; - param_changed = true; - } + // If this is the parameter server, make sure that the remote is updated +#if defined(CONFIG_PARAM_PRIMARY) - params_changed.set(param, true); - params_unsaved.set(param, !mark_saved); - result = PX4_OK; - break; + if (param_changed && update_remote) { + param_primary_set_value(param, val); + } - default: - PX4_ERR("param_set invalid param type for %s", param_name(param)); - break; - } - } +#endif - if ((result == PX4_OK) && param_changed && !mark_saved) { // this is false when importing parameters - param_autosave(); - } + // If this is the parameter remote, make sure that the primary is updated +#if defined(CONFIG_PARAM_REMOTE) + + if (param_changed && update_remote) { + param_remote_set_value(param, val); } -out: +#endif + perf_end(param_set_perf); - param_unlock_writer(); /* * If we set something, now that we have unlocked, go ahead and advertise that @@ -775,9 +483,9 @@ int param_set_external(param_t param, const void *val, bool mark_saved, bool not return param_set_internal(param, val, mark_saved, notify_changes); } -const void *param_get_value_ptr_external(param_t param) +void param_get_external(param_t param, void *val) { - return param_get_value_ptr(param); + param_get(param, val); } #endif @@ -791,6 +499,11 @@ int param_set_no_notification(param_t param, const void *val) return param_set_internal(param, val, false, false); } +int param_set_no_remote_update(param_t param, const void *val, bool notify) +{ + return param_set_internal(param, val, false, notify, false); +} + bool param_used(param_t param) { if (handle_in_range(param)) { @@ -803,6 +516,14 @@ bool param_used(param_t param) void param_set_used(param_t param) { if (handle_in_range(param)) { +#if defined(CONFIG_PARAM_REMOTE) + + if (!param_used(param)) { + param_remote_set_used(param); + } + +#endif + params_active.set(param, true); } } @@ -821,90 +542,53 @@ int param_set_default_value(param_t param, const void *val) int result = PX4_ERROR; - param_lock_writer(); - - if (param_custom_default_values == nullptr) { - utarray_new(param_custom_default_values, ¶m_icd); - - // mark all parameters unchanged (default) - params_custom_default.reset(); - - if (param_custom_default_values == nullptr) { - PX4_ERR("failed to allocate custom default values array"); - param_unlock_writer(); - return PX4_ERROR; - } - } // check if param being set to default value bool setting_to_static_default = false; + const param_value_u firmware_default_value = firmware_defaults.get(param); switch (param_type(param)) { case PARAM_TYPE_INT32: - setting_to_static_default = (px4::parameters[param].val.i == *(int32_t *)val); + setting_to_static_default = (firmware_default_value.i == *(int32_t *)val); break; case PARAM_TYPE_FLOAT: - setting_to_static_default = (fabsf(px4::parameters[param].val.f - * (float *)val) <= FLT_EPSILON); + setting_to_static_default = (fabsf(firmware_default_value.f - * (float *)val) <= FLT_EPSILON); break; } - // find if custom default value is already set - param_wbuf_s *s = nullptr; - - { - param_wbuf_s key{}; - key.param = param; - s = (param_wbuf_s *)utarray_find(param_custom_default_values, &key, param_compare_values); - } - if (setting_to_static_default) { - if (s != nullptr) { - // param in memory and set to non-default value, clear - int pos = utarray_eltidx(param_custom_default_values, s); - utarray_erase(param_custom_default_values, pos, 1); - } + runtime_defaults.reset(param); - // do nothing if param not already set and being set to default - params_custom_default.set(param, false); result = PX4_OK; } else { - if (s == nullptr) { - // construct a new parameter default value - param_wbuf_s buf{}; - buf.param = param; - - // add it to the array and sort - utarray_push_back(param_custom_default_values, &buf); - utarray_sort(param_custom_default_values, param_compare_values); - - // find it after sorting - s = (param_wbuf_s *)utarray_find(param_custom_default_values, &buf, param_compare_values); - } + param_value_u new_value{}; - if (s != nullptr) { - // update the default value - switch (param_type(param)) { - case PARAM_TYPE_INT32: - s->val.i = *(int32_t *)val; - params_custom_default.set(param, true); - result = PX4_OK; - break; - - case PARAM_TYPE_FLOAT: - s->val.f = *(float *)val; - params_custom_default.set(param, true); - result = PX4_OK; + switch (param_type(param)) { + case PARAM_TYPE_INT32: { + new_value.i = *(int32_t *) val; break; + } - default: + case PARAM_TYPE_FLOAT: { + new_value.f = *(float *) val; break; } + + default: + break; + } + + if (runtime_defaults.store(param, new_value)) { + user_config.refresh(param); + result = PX4_OK; + + } else { + result = PX4_ERROR; } } - param_unlock_writer(); if ((result == PX4_OK) && param_used(param)) { // send notification if param is already in use @@ -914,38 +598,32 @@ int param_set_default_value(param_t param, const void *val) return result; } -static int param_reset_internal(param_t param, bool notify = true) +static int param_reset_internal(param_t param, bool notify = true, bool autosave = true) { - param_wbuf_s *s = nullptr; - bool param_found = false; +#if defined(CONFIG_PARAM_REMOTE) + // Remote doesn't support reset + return false; +#endif - param_lock_writer(); + bool param_found = user_config.contains(param); if (handle_in_range(param)) { - /* look for a saved value */ - s = param_find_changed(param); - - /* if we found one, erase it */ - if (s != nullptr) { - int pos = utarray_eltidx(param_values, s); - utarray_erase(param_values, pos, 1); - } - - params_changed.set(param, false); - params_unsaved.set(param, true); - - param_found = true; + user_config.reset(param); } - param_autosave(); - - param_unlock_writer(); + if (autosave) { + param_autosave(); + } - if (s != nullptr && notify) { + if (param_found && notify) { param_notify_changes(); } - return (!param_found); +#if defined(CONFIG_PARAM_PRIMARY) + param_primary_reset(param); +#endif + + return param_found; } int param_reset(param_t param) { return param_reset_internal(param, true); } @@ -954,22 +632,22 @@ int param_reset_no_notification(param_t param) { return param_reset_internal(par static void param_reset_all_internal(bool auto_save) { - param_lock_writer(); - - if (param_values != nullptr) { - utarray_free(param_values); +#if defined(CONFIG_PARAM_REMOTE) + // Remote doesn't support reset + return; +#endif - params_changed.reset(); + for (param_t param = 0; handle_in_range(param); param++) { + param_reset_internal(param, false, false); } - /* mark as reset / deleted */ - param_values = nullptr; - if (auto_save) { param_autosave(); } - param_unlock_writer(); +#if defined(CONFIG_PARAM_PRIMARY) + param_primary_reset_all(); +#endif param_notify_changes(); } @@ -1094,20 +772,27 @@ const char *param_get_backup_file() static int param_export_internal(int fd, param_filter_func filter); static int param_verify(int fd); -int param_save_default() +int param_save_default(bool blocking) { PX4_DEBUG("param_save_default"); + + // take the file lock + if (blocking) { + pthread_mutex_lock(&file_mutex); + + } else { + if (pthread_mutex_trylock(&file_mutex) != 0) { + PX4_DEBUG("param_save_default: file lock failed (already locked)"); + return -EWOULDBLOCK; + } + } + int shutdown_lock_ret = px4_shutdown_lock(); if (shutdown_lock_ret != 0) { PX4_ERR("px4_shutdown_lock() failed (%i)", shutdown_lock_ret); } - // take the file lock - do {} while (px4_sem_wait(¶m_sem_save) != 0); - - param_lock_reader(); - int res = PX4_ERROR; const char *filename = param_get_default_file(); @@ -1174,8 +859,7 @@ int param_save_default() } } - param_unlock_reader(); - px4_sem_post(¶m_sem_save); + pthread_mutex_unlock(&file_mutex); if (shutdown_lock_ret == 0) { px4_shutdown_unlock(); @@ -1336,9 +1020,10 @@ param_export(const char *filename, param_filter_func filter) } // take the file lock - do {} while (px4_sem_wait(¶m_sem_save) != 0); - - param_lock_reader(); + if (pthread_mutex_trylock(&file_mutex) != 0) { + PX4_ERR("param_export: file lock failed (already locked)"); + return PX4_ERROR; + } int fd = ::open(filename, O_RDWR | O_CREAT, PX4_O_MODE_666); int result = PX4_ERROR; @@ -1354,8 +1039,7 @@ param_export(const char *filename, param_filter_func filter) perf_end(param_export_perf); - param_unlock_reader(); - px4_sem_post(¶m_sem_save); + pthread_mutex_unlock(&file_mutex); if (shutdown_lock_ret == 0) { px4_shutdown_unlock(); @@ -1368,9 +1052,9 @@ param_export(const char *filename, param_filter_func filter) static int param_export_internal(int fd, param_filter_func filter) { PX4_DEBUG("param_export_internal"); + const auto changed_params = user_config.containedAsBitset(); int result = -1; - param_wbuf_s *s = nullptr; bson_encoder_s encoder{}; uint8_t bson_buffer[256]; @@ -1383,50 +1067,41 @@ static int param_export_internal(int fd, param_filter_func filter) goto out; } - // no modified parameters, export empty BSON document - if (param_values == nullptr) { - result = 0; - goto out; - } - - while ((s = (struct param_wbuf_s *)utarray_next(param_values, s)) != nullptr) { - if (filter && !filter(s->param)) { + for (param_t param = 0; handle_in_range(param); param++) { + if (!changed_params[param] || (filter && !filter(param))) { continue; } - // don't export default values - switch (param_type(s->param)) { - case PARAM_TYPE_INT32: { - int32_t default_value = 0; - param_get_default_value_internal(s->param, &default_value); + const param_value_u runtime_default_value = runtime_defaults.get(param); + const param_value_u user_config_value = user_config.get(param); - if (s->val.i == default_value) { - PX4_DEBUG("skipping %s %" PRIi32 " export", param_name(s->param), default_value); - continue; - } + // don't export default values + switch (param_type(param)) { + case PARAM_TYPE_INT32: + if (user_config_value.i == runtime_default_value.i) { + PX4_DEBUG("skipping %s %" PRIi32 " export", param_name(param), runtime_default_value.i); + continue; } - break; - case PARAM_TYPE_FLOAT: { - float default_value = 0; - param_get_default_value_internal(s->param, &default_value); + break; - if (fabsf(s->val.f - default_value) <= FLT_EPSILON) { - PX4_DEBUG("skipping %s %.3f export", param_name(s->param), (double)default_value); - continue; - } + case PARAM_TYPE_FLOAT: + if (fabsf(user_config_value.f - runtime_default_value.f) <= FLT_EPSILON) { + PX4_DEBUG("skipping %s %.3f export", param_name(param), (double)runtime_default_value.f); + continue; } + break; } - const char *name = param_name(s->param); - const size_t size = param_size(s->param); + const char *name = param_name(param); + const size_t size = param_size(param); /* append the appropriate BSON type object */ - switch (param_type(s->param)) { + switch (param_type(param)) { case PARAM_TYPE_INT32: { - const int32_t i = s->val.i; - PX4_DEBUG("exporting: %s (%d) size: %lu val: %" PRIi32, name, s->param, (long unsigned int)size, i); + const int32_t i = user_config_value.i; + PX4_DEBUG("exporting: %s (%d) size: %lu val: %" PRIi32, name, param, (long unsigned int)size, i); if (bson_encoder_append_int32(&encoder, name, i) != 0) { PX4_ERR("BSON append failed for '%s'", name); @@ -1436,8 +1111,8 @@ static int param_export_internal(int fd, param_filter_func filter) break; case PARAM_TYPE_FLOAT: { - const double f = (double)s->val.f; - PX4_DEBUG("exporting: %s (%d) size: %lu val: %.3f", name, s->param, (long unsigned int)size, (double)f); + const double f = (double)user_config_value.f; + PX4_DEBUG("exporting: %s (%d) size: %lu val: %.3f", name, param, (long unsigned int)size, (double)f); if (bson_encoder_append_double(&encoder, name, f) != 0) { PX4_ERR("BSON append failed for '%s'", name); @@ -1447,7 +1122,7 @@ static int param_export_internal(int fd, param_filter_func filter) break; default: - PX4_ERR("%s unrecognized parameter type %d, skipping export", name, param_type(s->param)); + PX4_ERR("%s unrecognized parameter type %d, skipping export", name, param_type(param)); } } @@ -1477,7 +1152,10 @@ param_import_callback(bson_decoder_t decoder, bson_node_t node) return 0; } - param_modify_on_import(node); + // if we do param_set() directly in the translation, set PARAM_SKIP_IMPORT as return value and return here + if (param_modify_on_import(node) == param_modify_on_import_ret::PARAM_SKIP_IMPORT) { + return 1; + } // Find the parameter this node represents. If we don't know it, ignore the node. param_t param = param_find_no_notification(node->name); @@ -1606,7 +1284,7 @@ param_foreach(void (*func)(void *arg, param_t param), void *arg, bool only_chang for (param = 0; handle_in_range(param); param++) { /* if requested, skip unchanged values */ - if (only_changed && (param_find_changed(param) == nullptr)) { + if (only_changed && (!user_config.contains(param))) { continue; } @@ -1622,8 +1300,6 @@ uint32_t param_hash_check() { uint32_t param_hash = 0; - param_lock_reader(); - /* compute the CRC32 over all string param names and 4 byte values */ for (param_t param = 0; handle_in_range(param); param++) { if (!param_used(param) || param_is_volatile(param)) { @@ -1631,13 +1307,12 @@ uint32_t param_hash_check() } const char *name = param_name(param); - const void *val = param_get_value_ptr(param); + auto value = user_config.get(param).i; + const void *val = (void *)&value; param_hash = crc32part((const uint8_t *)name, strlen(name), param_hash); param_hash = crc32part((const uint8_t *)val, param_size(param), param_hash); } - param_unlock_reader(); - return param_hash; } @@ -1658,25 +1333,48 @@ void param_print_status() #endif /* FLASH_BASED_PARAMS */ - if (param_values != nullptr) { - PX4_INFO("storage array: %d/%d elements (%zu bytes total)", - utarray_len(param_values), param_values->n, param_values->n * sizeof(UT_icd)); - } + PX4_INFO("storage array: %d/%d elements (%zu bytes total)", + user_config.size(), firmware_defaults.size(), (size_t)user_config.byteSize()); - if (param_custom_default_values != nullptr) { - PX4_INFO("storage array (custom defaults): %d/%d elements (%zu bytes total)", - utarray_len(param_custom_default_values), param_custom_default_values->n, - param_custom_default_values->n * sizeof(UT_icd)); - } - PX4_INFO("auto save: %s", autosave_disabled ? "off" : "on"); + PX4_INFO("storage array (custom defaults): %d/%d elements (%zu bytes total)", + runtime_defaults.size(), firmware_defaults.size(), (size_t)runtime_defaults.byteSize()); - if (!autosave_disabled && (last_autosave_timestamp > 0)) { - PX4_INFO("last auto save: %.3f seconds ago", hrt_elapsed_time(&last_autosave_timestamp) * 1e-6); + if (autosave_instance) { + PX4_INFO("auto save: %s", autosave_instance->enabled() ? "on" : "off"); + + hrt_abstime last_autosave = autosave_instance->lastAutosave(); + + if (last_autosave > 0) { + PX4_INFO("last auto save: %.3f seconds ago", hrt_elapsed_time(&last_autosave) * 1e-6); + } } perf_print_counter(param_export_perf); perf_print_counter(param_find_perf); perf_print_counter(param_get_perf); perf_print_counter(param_set_perf); + +#if defined(CONFIG_PARAM_PRIMARY) + struct param_primary_counters counts; + param_primary_get_counters(&counts); + PX4_INFO("set value requests received: %" PRIu32 ", set value responses sent: %" PRIu32, + counts.set_value_request_received, counts.set_value_response_sent); + PX4_INFO("set value requests sent: %" PRIu32 ", set value responses received: %" PRIu32, + counts.set_value_request_sent, counts.set_value_response_received); + PX4_INFO("resets sent: %" PRIu32 ", set used requests received: %" PRIu32, + counts.reset_sent, counts.set_used_received); +#endif + +#if defined(CONFIG_PARAM_REMOTE) + struct param_remote_counters counts; + param_remote_get_counters(&counts); + PX4_INFO("set value requests received: %" PRIu32 ", set value responses sent: %" PRIu32, + counts.set_value_request_received, counts.set_value_response_sent); + PX4_INFO("set value requests sent: %" PRIu32 ", set value responses received: %" PRIu32, + counts.set_value_request_sent, counts.set_value_response_received); + PX4_INFO("resets received: %" PRIu32 ", set used requests sent: %" PRIu32, + counts.reset_received, counts.set_used_sent); +#endif + } diff --git a/src/lib/parameters/parameters_ioctl.cpp b/src/lib/parameters/parameters_ioctl.cpp index 47a567ec93e9..fe0350863e2d 100644 --- a/src/lib/parameters/parameters_ioctl.cpp +++ b/src/lib/parameters/parameters_ioctl.cpp @@ -168,7 +168,7 @@ int param_ioctl(unsigned int cmd, unsigned long arg) case PARAMIOCSAVEDEFAULT: { paramiocsavedefault_t *data = (paramiocsavedefault_t *)arg; - data->ret = param_save_default(); + data->ret = param_save_default(data->blocking); } break; diff --git a/src/lib/parameters/parameters_ioctl.h b/src/lib/parameters/parameters_ioctl.h index 4e046d213ab1..e33ba9224a02 100644 --- a/src/lib/parameters/parameters_ioctl.h +++ b/src/lib/parameters/parameters_ioctl.h @@ -140,6 +140,7 @@ typedef struct paramiocresetgroup { #define PARAMIOCSAVEDEFAULT _PARAMIOC(15) typedef struct paramiocsavedefault { + bool blocking; int ret; } paramiocsavedefault_t; diff --git a/src/lib/parameters/parameters_primary.cpp b/src/lib/parameters/parameters_primary.cpp new file mode 100644 index 000000000000..3d61fe167a15 --- /dev/null +++ b/src/lib/parameters/parameters_primary.cpp @@ -0,0 +1,314 @@ +/**************************************************************************** + * + * Copyright (c) 2024 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include "parameters_primary.h" + +#include "uORB/uORBManager.hpp" + +#include +#include + +// uORB topics needed to keep parameter server and client in sync +#include +#include +#include +#include + +// Debug flag +static bool debug = false; + +static struct param_primary_counters param_primary_counters; + +#define TIMEOUT_WAIT 1000 +#define TIMEOUT_COUNT 50 + +static px4_task_t sync_thread_tid; +static const char *sync_thread_name = "param_primary_sync"; + +static orb_advert_t param_set_value_req_h = nullptr; +static orb_advert_t param_reset_req_h = nullptr; + +static int param_set_rsp_fd = PX4_ERROR; + +static int primary_sync_thread(int argc, char *argv[]) +{ + // Need to wait until the uORB and muORB are ready + // Check for uORB initialization with get_instance + while (uORB::Manager::get_instance() == nullptr) { px4_usleep(100); } + + // Check for muORB initialization with get_uorb_communicator + while (uORB::Manager::get_instance()->get_uorb_communicator() == nullptr) { px4_usleep(100); } + + orb_advert_t _set_value_rsp_h = nullptr; + + int _set_used_req_fd = orb_subscribe(ORB_ID(parameter_set_used_request)); + int _set_value_req_fd = orb_subscribe(ORB_ID(parameter_primary_set_value_request)); + + struct parameter_set_used_request_s _set_used_request; + struct parameter_set_value_request_s _set_value_request; + struct parameter_set_value_response_s _set_value_response; + + px4_pollfd_struct_t fds[2] = { { .fd = _set_used_req_fd, .events = POLLIN }, + { .fd = _set_value_req_fd, .events = POLLIN } + }; + + PX4_INFO("Starting parameter primary sync thread"); + + while (true) { + px4_poll(fds, 2, 1000); + + if (fds[0].revents & POLLIN) { + bool updated = true; + + while (updated) { + orb_copy(ORB_ID(parameter_set_used_request), _set_used_req_fd, &_set_used_request); + + if (debug) { + PX4_INFO("Got parameter_set_used_request for %s", param_name(_set_used_request.parameter_index)); + } + + param_primary_counters.set_used_received++; + + param_find(param_name(_set_used_request.parameter_index)); + + (void) orb_check(_set_used_req_fd, &updated); + } + + } + + if (fds[1].revents & POLLIN) { + bool updated = true; + + while (updated) { + orb_copy(ORB_ID(parameter_primary_set_value_request), _set_value_req_fd, &_set_value_request); + + if (debug) { + PX4_INFO("Got parameter_primary_set_value_request for %s", param_name(_set_value_request.parameter_index)); + } + + param_primary_counters.set_value_request_received++; + + param_t param = _set_value_request.parameter_index; + + switch (param_type(param)) { + case PARAM_TYPE_INT32: + param_set_no_remote_update(param, (const void *) &_set_value_request.int_value, true); + break; + + case PARAM_TYPE_FLOAT: + param_set_no_remote_update(param, (const void *) &_set_value_request.float_value, true); + break; + + default: + PX4_ERR("Parameter must be either int or float"); + break; + } + + _set_value_response.timestamp = hrt_absolute_time(); + _set_value_response.request_timestamp = _set_value_request.timestamp; + _set_value_response.parameter_index = _set_value_request.parameter_index; + + if (_set_value_rsp_h == nullptr) { + _set_value_rsp_h = orb_advertise(ORB_ID(parameter_primary_set_value_response), &_set_value_response); + + } else { + orb_publish(ORB_ID(parameter_primary_set_value_response), _set_value_rsp_h, &_set_value_response); + } + + param_primary_counters.set_value_response_sent++; + + (void) orb_check(_set_value_req_fd, &updated); + } + } + } + + return 0; +} + +void param_primary_init() +{ + + sync_thread_tid = px4_task_spawn_cmd(sync_thread_name, + SCHED_DEFAULT, + SCHED_PRIORITY_PARAMS, + (1024 * 4), + primary_sync_thread, + NULL); + +} + +// void param_primary_set_value(param_t param, const void *val, bool from_file) +void param_primary_set_value(param_t param, const void *val) +{ + bool send_request = true; + struct parameter_set_value_request_s req; + req.timestamp = hrt_absolute_time(); + req.parameter_index = param; + + switch (param_type(param)) { + case PARAM_TYPE_INT32: + req.int_value = *(int32_t *)val; + + if (debug) { + PX4_INFO("*** Setting %s to %d ***", param_name(req.parameter_index), req.int_value); + } + + break; + + case PARAM_TYPE_FLOAT: + req.float_value = *(float *)val; + + if (debug) { + PX4_INFO("*** Setting %s to %f ***", param_name(req.parameter_index), (double) req.float_value); + } + + break; + + default: + PX4_ERR("Parameter must be either int or float"); + send_request = false; + break; + } + + if (param_set_rsp_fd == PX4_ERROR) { + if (debug) { + PX4_INFO("Subscribing to parameter_client_set_value_response"); + } + + param_set_rsp_fd = orb_subscribe(ORB_ID(parameter_remote_set_value_response)); + + if (param_set_rsp_fd == PX4_ERROR) { + PX4_ERR("Subscription to parameter_remote_set_value_response failed"); + + } else { + if (debug) { + PX4_INFO("Subscription to parameter_client_set_value_response succeeded"); + } + } + } + + if (send_request) { + if (debug) { + PX4_INFO("Sending param set request to remote for %s", param_name(req.parameter_index)); + } + + if (param_set_value_req_h == nullptr) { + param_set_value_req_h = orb_advertise(ORB_ID(parameter_remote_set_value_request), nullptr); + } + + orb_publish(ORB_ID(parameter_remote_set_value_request), param_set_value_req_h, &req); + + param_primary_counters.set_value_request_sent++; + + // Wait for response + bool updated = false; + + if (debug) { + PX4_INFO("Waiting for parameter_client_set_value_response for %s", param_name(req.parameter_index)); + } + + px4_usleep(TIMEOUT_WAIT); + int count = TIMEOUT_COUNT; + + while (--count) { + (void) orb_check(param_set_rsp_fd, &updated); + + struct parameter_set_value_response_s rsp; + + while (updated) { + + orb_copy(ORB_ID(parameter_remote_set_value_response), param_set_rsp_fd, &rsp); + + if ((rsp.request_timestamp == req.timestamp) && (rsp.parameter_index == req.parameter_index)) { + if (debug) { + PX4_INFO("Got parameter_remote_set_value_response for %s", param_name(req.parameter_index)); + } + + param_primary_counters.set_value_response_received++; + return; + } + + (void) orb_check(param_set_rsp_fd, &updated); + } + + px4_usleep(TIMEOUT_WAIT); + } + + PX4_ERR("Timeout waiting for parameter_client_set_value_response for %s", param_name(req.parameter_index)); + } +} + +static void param_primary_reset_internal(param_t param, bool reset_all) +{ + if (debug) { + PX4_INFO("Param reset at primary"); + } + + struct parameter_reset_request_s req; + + req.timestamp = hrt_absolute_time(); + + req.reset_all = reset_all; + + if (reset_all == false) { + req.parameter_index = param; + } + + if (debug) { + PX4_INFO("Sending param reset request to remote"); + } + + if (param_reset_req_h == nullptr) { + param_reset_req_h = orb_advertise(ORB_ID(parameter_reset_request), &req); + + } else { + orb_publish(ORB_ID(parameter_reset_request), param_reset_req_h, &req); + } + + param_primary_counters.reset_sent++; +} + +void param_primary_reset(param_t param) +{ + param_primary_reset_internal(param, false); +} + +void param_primary_reset_all() +{ + param_primary_reset_internal(0, true); +} + +void param_primary_get_counters(struct param_primary_counters *cnt) +{ + *cnt = param_primary_counters; +} diff --git a/src/lib/parameters/parameters_primary.h b/src/lib/parameters/parameters_primary.h new file mode 100644 index 000000000000..2d534cc24c4f --- /dev/null +++ b/src/lib/parameters/parameters_primary.h @@ -0,0 +1,51 @@ +/**************************************************************************** + * + * Copyright (c) 2024 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#pragma once + +#include "param.h" + +struct param_primary_counters { + uint32_t set_value_request_received; + uint32_t set_value_response_sent; + uint32_t reset_sent; + uint32_t set_value_request_sent; + uint32_t set_value_response_received; + uint32_t set_used_received; +}; + +void param_primary_init(); +void param_primary_set_value(param_t param, const void *val); +void param_primary_reset(param_t param); +void param_primary_reset_all(); +void param_primary_get_counters(struct param_primary_counters *cnt); diff --git a/src/lib/parameters/parameters_remote.cpp b/src/lib/parameters/parameters_remote.cpp new file mode 100644 index 000000000000..78b7ee153cf1 --- /dev/null +++ b/src/lib/parameters/parameters_remote.cpp @@ -0,0 +1,310 @@ +/**************************************************************************** + * + * Copyright (c) 2024 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include "parameters_remote.h" + +#include "uORB/uORBManager.hpp" + +#include + +#include +#include + +// uORB topics needed to keep parameter server and client in sync +#include +#include +#include +#include + +// Debug flag +static bool debug = false; + +static struct param_remote_counters param_remote_counters; + +#define TIMEOUT_WAIT 1000 +#define TIMEOUT_COUNT 50 + +static orb_advert_t parameter_set_used_h = nullptr; +static orb_advert_t param_set_value_req_h = nullptr; + +static int param_set_rsp_fd = PX4_ERROR; + +static px4_task_t sync_thread_tid; +static const char *sync_thread_name = "param_remote_sync"; + +static int remote_sync_thread(int argc, char *argv[]) +{ + // This thread gets started by the remote side during PX4 initialization. + // We cannot send out the subscribe request immediately because the other + // side will not be ready to receive it on the muorb yet and it will get dropped. + // So, sleep a little bit to give other side a chance to finish initialization + // of the muorb. But don't wait too long otherwise a set request from the server + // side could be missed. + usleep(200000); + + orb_advert_t _set_value_rsp_h = nullptr; + + int _reset_req_fd = orb_subscribe(ORB_ID(parameter_reset_request)); + int _set_value_req_fd = orb_subscribe(ORB_ID(parameter_remote_set_value_request)); + + struct parameter_reset_request_s _reset_request; + struct parameter_set_value_request_s _set_value_request; + struct parameter_set_value_response_s _set_value_response; + + px4_pollfd_struct_t fds[2] = { { .fd = _reset_req_fd, .events = POLLIN }, + { .fd = _set_value_req_fd, .events = POLLIN } + }; + + PX4_INFO("Starting parameter remote sync thread"); + + while (true) { + px4_poll(fds, 2, 1000); + + if (fds[0].revents & POLLIN) { + bool updated = true; + + while (updated) { + orb_copy(ORB_ID(parameter_reset_request), _reset_req_fd, &_reset_request); + + if (debug) { + PX4_INFO("Got parameter_reset_request for %s", param_name(_reset_request.parameter_index)); + } + + param_remote_counters.reset_received++; + + if (_reset_request.reset_all) { + param_reset_all(); + + } else { + param_reset_no_notification(_reset_request.parameter_index); + + } + + (void) orb_check(_reset_req_fd, &updated); + } + } + + if (fds[1].revents & POLLIN) { + bool updated = true; + + while (updated) { + orb_copy(ORB_ID(parameter_primary_set_value_request), _set_value_req_fd, &_set_value_request); + + if (debug) { + PX4_INFO("Got parameter_remote_set_value_request for %s", param_name(_set_value_request.parameter_index)); + } + + param_remote_counters.set_value_request_received++; + + switch (param_type(_set_value_request.parameter_index)) { + case PARAM_TYPE_INT32: + param_set_no_remote_update(_set_value_request.parameter_index, + (const void *) &_set_value_request.int_value, + false); + break; + + case PARAM_TYPE_FLOAT: + param_set_no_remote_update(_set_value_request.parameter_index, + (const void *) &_set_value_request.float_value, + false); + break; + + default: + PX4_ERR("Parameter must be either int or float"); + break; + } + + _set_value_response.timestamp = hrt_absolute_time(); + _set_value_response.request_timestamp = _set_value_request.timestamp; + _set_value_response.parameter_index = _set_value_request.parameter_index; + + if (_set_value_rsp_h == nullptr) { + _set_value_rsp_h = orb_advertise(ORB_ID(parameter_remote_set_value_response), &_set_value_response); + + } else { + if (debug) { + PX4_INFO("Sending set value response for %s", param_name(_set_value_request.parameter_index)); + } + + orb_publish(ORB_ID(parameter_remote_set_value_response), _set_value_rsp_h, &_set_value_response); + } + + param_remote_counters.set_value_response_sent++; + + (void) orb_check(_set_value_req_fd, &updated); + } + } + } + + return 0; +} + +void param_remote_init() +{ + + sync_thread_tid = px4_task_spawn_cmd(sync_thread_name, + SCHED_DEFAULT, + SCHED_PRIORITY_PARAMS, + (1024 * 4), + remote_sync_thread, + NULL); + +} + +void param_remote_set_used(param_t param) +{ + // Notify the parameter server that this parameter has been marked as used + if (debug) { + PX4_INFO("Requesting server to mark %s as used", param_name(param)); + } + + struct parameter_set_used_request_s req; + + req.timestamp = hrt_absolute_time(); + + req.parameter_index = param; + + if (parameter_set_used_h == nullptr) { + parameter_set_used_h = orb_advertise(ORB_ID(parameter_set_used_request), &req); + + } else { + orb_publish(ORB_ID(parameter_set_used_request), parameter_set_used_h, &req); + } + + param_remote_counters.set_used_sent++; +} + +void param_remote_set_value(param_t param, const void *val) +{ + bool send_request = true; + struct parameter_set_value_request_s req; + req.timestamp = hrt_absolute_time(); + req.parameter_index = param; + + switch (param_type(param)) { + case PARAM_TYPE_INT32: + req.int_value = *(int32_t *)val; + + if (debug) { + PX4_INFO("*** Setting %s to %" PRIi32 " ***", param_name(req.parameter_index), req.int_value); + } + + break; + + case PARAM_TYPE_FLOAT: + req.float_value = *(float *)val; + + if (debug) { + PX4_INFO("*** Setting %s to %f ***", param_name(req.parameter_index), (double) req.float_value); + } + + break; + + default: + PX4_ERR("Parameter must be either int or float"); + send_request = false; + break; + } + + if (param_set_rsp_fd == PX4_ERROR) { + if (debug) { + PX4_INFO("Subscribing to parameter_primary_set_value_response"); + } + + param_set_rsp_fd = orb_subscribe(ORB_ID(parameter_primary_set_value_response)); + + if (param_set_rsp_fd == PX4_ERROR) { + PX4_ERR("Subscription to parameter_primary_set_value_response failed"); + + } else { + if (debug) { + PX4_INFO("Subscription to parameter_primary_set_value_response succeeded"); + } + } + } + + if (send_request) { + if (debug) { + PX4_INFO("Sending param set value request to primary for %s", param_name(req.parameter_index)); + } + + if (param_set_value_req_h == nullptr) { + param_set_value_req_h = orb_advertise(ORB_ID(parameter_primary_set_value_request), nullptr); + } + + orb_publish(ORB_ID(parameter_primary_set_value_request), param_set_value_req_h, &req); + + param_remote_counters.set_value_request_sent++; + + // Wait for response + bool updated = false; + + if (debug) { + PX4_INFO("Waiting for parameter_client_set_value_response for %s", param_name(req.parameter_index)); + } + + px4_usleep(TIMEOUT_WAIT); + int count = TIMEOUT_COUNT; + + while (--count) { + (void) orb_check(param_set_rsp_fd, &updated); + + struct parameter_set_value_response_s rsp; + + while (updated) { + + orb_copy(ORB_ID(parameter_primary_set_value_response), param_set_rsp_fd, &rsp); + + if ((rsp.request_timestamp == req.timestamp) && (rsp.parameter_index == req.parameter_index)) { + if (debug) { + PX4_INFO("Got parameter_primary_set_value_response for %s", param_name(req.parameter_index)); + } + + param_remote_counters.set_value_response_received++; + return; + } + + (void) orb_check(param_set_rsp_fd, &updated); + } + + px4_usleep(TIMEOUT_WAIT); + } + + PX4_ERR("Timeout waiting for parameter_primary_set_value_response for %s", param_name(req.parameter_index)); + } +} + +void param_remote_get_counters(struct param_remote_counters *cnt) +{ + *cnt = param_remote_counters; +} diff --git a/src/lib/parameters/parameters_remote.h b/src/lib/parameters/parameters_remote.h new file mode 100644 index 000000000000..7eba416643cf --- /dev/null +++ b/src/lib/parameters/parameters_remote.h @@ -0,0 +1,50 @@ +/**************************************************************************** + * + * Copyright (c) 2024 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#pragma once + +#include "param.h" + +struct param_remote_counters { + uint32_t set_value_request_received; + uint32_t set_value_response_sent; + uint32_t reset_received; + uint32_t set_value_request_sent; + uint32_t set_value_response_received; + uint32_t set_used_sent; +}; + +void param_remote_init(); +void param_remote_set_used(param_t param); +void param_remote_set_value(param_t param, const void *val); +void param_remote_get_counters(struct param_remote_counters *cnt); diff --git a/src/lib/parameters/px4params/injectxmlparams.py b/src/lib/parameters/px4params/injectxmlparams.py index 060015a170ab..fd9d19ed178a 100755 --- a/src/lib/parameters/px4params/injectxmlparams.py +++ b/src/lib/parameters/px4params/injectxmlparams.py @@ -14,7 +14,7 @@ class XMLInject(): def __init__(self, injected_xml_filename): self.groups=[] - valid_parameter_attributes = set(["category", "default", "name", "type", "volatile"]) + valid_parameter_attributes = set(["category", "default", "name", "type", "volatile", "boolean"]) valid_field_tags = set(["board","short_desc", "long_desc", "min", "max", "unit", "decimal", "increment", "reboot_required"]) valid_other_top_level_tags = set(["group","values"]) @@ -42,7 +42,8 @@ def __init__(self, injected_xml_filename): new_param.default = iparam.get('default') elif param_attrib == 'volatile': new_param.SetVolatile() - + elif param_attrib == "boolean": + new_param.SetBoolean() #get param info stored as child tags for child in iparam: diff --git a/src/lib/parameters/px4params/jsonout.py b/src/lib/parameters/px4params/jsonout.py index a3ed2e9f09f2..e4a8b021bd19 100644 --- a/src/lib/parameters/px4params/jsonout.py +++ b/src/lib/parameters/px4params/jsonout.py @@ -140,10 +140,9 @@ def get_typed_value(value: str, type_name: str): #Json string output. - self.output = json.dumps(all_json, indent=2, sort_keys=True) + self.output = json.dumps(all_json, sort_keys=True) def Save(self, filename): with codecs.open(filename, 'w', 'utf-8') as f: f.write(self.output) - diff --git a/src/lib/parameters/px4params/markdownout.py b/src/lib/parameters/px4params/markdownout.py index eb1690e7cdbf..4c698fb5115a 100644 --- a/src/lib/parameters/px4params/markdownout.py +++ b/src/lib/parameters/px4params/markdownout.py @@ -1,51 +1,43 @@ from xml.sax.saxutils import escape import codecs +import html class MarkdownTablesOutput(): def __init__(self, groups): result = ( """# Parameter Reference -:::note +::: info This documentation was auto-generated from the source code for this PX4 version (using `make parameters_metadata`). ::: -:::tip +::: tip If a listed parameter is missing from the Firmware see: [Finding/Updating Parameters](../advanced_config/parameters.md#parameter-not-in-firmware). ::: - - """ ) for group in groups: - result += '## %s\n\n' % group.GetName() - result += ( -""" - - - - - -""" - ) + result += f'## {group.GetName()}\n\n' + for param in group.GetParams(): - code = param.GetName() - name = param.GetFieldValue("short_desc") or '' + name = param.GetName() + short_desc = param.GetFieldValue("short_desc") or '' + + # Add fullstop to short_desc if not present + if short_desc: + if not short_desc.strip().endswith('.'): + short_desc += "." + long_desc = param.GetFieldValue("long_desc") or '' + + #Strip out short text from start of long text, if it ends in fullstop + if long_desc.startswith(short_desc): + long_desc = long_desc[len(short_desc):].lstrip() + min_val = param.GetFieldValue("min") or '' max_val = param.GetFieldValue("max") or '' increment = param.GetFieldValue("increment") or '' @@ -59,59 +51,43 @@ def __init__(self, groups): #field_codes = param.GetFieldCodes() ## Disabled as not needed for display. #boolean = param.GetFieldValue("boolean") # or '' # Disabled - does not appear useful. - # Format values for display. - # Display min/max/increment value based on what values are defined. - max_min_combined = '' - if min_val or max_val: - if not min_val: - min_val='?' - if not max_val: - max_val='?' - max_min_combined+='[%s, %s] ' % (min_val, max_val) - if increment: - max_min_combined+='(%s)' % increment - - if long_desc != '': - long_desc = '

Comment: %s

' % long_desc - - if name == code: - name = "" - code='%s' % (code, code) - - if reboot_required: - reboot_required='

Reboot required: %s

\n' % reboot_required - enum_codes=param.GetEnumCodes() or '' # Gets numerical values for parameter. enum_output='' # Format codes and their descriptions for display. if enum_codes: - enum_output+='Values:
    ' + enum_output+='**Values:**\n\n' enum_codes=sorted(enum_codes,key=float) for item in enum_codes: - enum_output+='\n
  • %s: %s
    • \n' % (item, param.GetEnumValue(item)) - enum_output+='
\n' - + enum_output+=f"- `{item}`: {param.GetEnumValue(item)}\n" + enum_output+='\n\n' bitmask_list=param.GetBitmaskList() #Gets bitmask values for parameter bitmask_output='' #Format bitmask values if bitmask_list: - bitmask_output+='Bitmask:
    ' + bitmask_output+='**Bitmask:**\n\n' for bit in bitmask_list: bit_text = param.GetBitmaskBit(bit) - bitmask_output+='
  • %s: %s
    • \n' % (bit, bit_text) - bitmask_output+='
\n' + bitmask_output+=f"- `{bit}`: {bit_text}\n" + bitmask_output+='\n\n' if is_boolean and def_val=='1': def_val='Enabled (1)' if is_boolean and def_val=='0': def_val='Disabled (0)' - result += '\n \n \n \n \n \n\n' % (code, type, name, long_desc, enum_output, bitmask_output, reboot_required, max_min_combined, def_val, unit) - - #Close the table. - result += '
NameDescription[Min, Max] (Incr.)DefaultUnits
%s (%s)%s %s %s %s %s%s%s%s
\n\n' + result += f'### {name} (`{type}`)' + ' {#' + name + '}\n\n' + if short_desc: + result += f'{short_desc}\n\n' + if long_desc: + result += f'{long_desc}\n\n' + if enum_codes: + result += enum_output + if bitmask_list: + result += bitmask_output + # Format the ranges as a table. + result += f"Reboot | minValue | maxValue | increment | default | unit\n--- | --- | --- | --- | --- | ---\n{'✓' if reboot_required else ' ' } | {min_val} | {max_val} | {increment} | {def_val} | {unit} \n\n" self.output = result diff --git a/src/lib/parameters/px4params/srcparser.py b/src/lib/parameters/px4params/srcparser.py index f60789ea1b10..8bdb10f645b1 100644 --- a/src/lib/parameters/px4params/srcparser.py +++ b/src/lib/parameters/px4params/srcparser.py @@ -355,10 +355,10 @@ def Validate(self): '%', 'Hz', '1/s', 'mAh', 'rad', '%/rad', 'rad/s', 'rad/s^2', '%/rad/s', 'rad s^2/m', 'rad s/m', 'bit/s', 'B/s', - 'deg', 'deg*1e7', 'deg/s', - 'celcius', 'gauss', 'gauss/s', 'gauss^2', - 'hPa', 'kg', 'kg/m^2', 'kg m^2', - 'mm', 'm', 'm/s', 'm^2', 'm/s^2', 'm/s^3', 'm/s^2/sqrt(Hz)', '1/s/sqrt(Hz)', 'm/s/rad', + 'deg', 'deg*1e7', 'deg/s', 'deg/s^2', + 'celcius', 'gauss', 'gauss/s', 'gauss^2', 'liters', + 'hPa', 'kg', 'kg/m^2', 'kg m^2', 'kg/m^3', + 'mm', 'm', 'm/s', 'm^2', 'm/s^2', 'm/s^3', 'm/s^2/sqrt(Hz)', '1/s/sqrt(Hz)', 'm/s/rad', 'g0', 'Ohm', 'V', 'A', 'us', 'ms', 's', 'S', 'A/%', '(m/s^2)^2', 'm/m', 'tan(rad)^2', '(m/s)^2', 'm/rad', diff --git a/src/lib/parameters/usr_parameters_if.cpp b/src/lib/parameters/usr_parameters_if.cpp index 04be2219ff81..ea4a7bea70af 100644 --- a/src/lib/parameters/usr_parameters_if.cpp +++ b/src/lib/parameters/usr_parameters_if.cpp @@ -187,9 +187,9 @@ param_reset_specific(const char *resets[], int num_resets) boardctl(PARAMIOCRESETGROUP, reinterpret_cast(&data)); } -int param_save_default() +int param_save_default(bool blocking) { - paramiocsavedefault_t data = {PX4_ERROR}; + paramiocsavedefault_t data = {blocking, PX4_ERROR}; boardctl(PARAMIOCSAVEDEFAULT, reinterpret_cast(&data)); return data.ret; } diff --git a/src/lib/parameters/uthash/doc/utarray.txt b/src/lib/parameters/uthash/doc/utarray.txt deleted file mode 100644 index 37830f1244a2..000000000000 --- a/src/lib/parameters/uthash/doc/utarray.txt +++ /dev/null @@ -1,376 +0,0 @@ -utarray: dynamic array macros for C -=================================== -Troy D. Hanson -v1.9.5, November 2011 - -include::sflogo.txt[] -include::topnav_utarray.txt[] - -Introduction ------------- -include::toc.txt[] - -A set of general-purpose dynamic array macros for C structures are included with -uthash in `utarray.h`. To use these macros in your own C program, just -copy `utarray.h` into your source directory and use it in your programs. - - #include "utarray.h" - -The dynamic array supports basic operations such as push, pop, and erase on the -array elements. These array elements can be any simple datatype or structure. -The array <> are based loosely on the C++ STL vector methods. - -Internally the dynamic array contains a contiguous memory region into which -the elements are copied. This buffer is grown as needed using `realloc` to -accomodate all the data that is pushed into it. - -Download -~~~~~~~~ -To download the `utarray.h` header file, follow the link on the -http://uthash.sourceforge.net[uthash home page]. - -BSD licensed -~~~~~~~~~~~~ -This software is made available under the -link:license.html[revised BSD license]. -It is free and open source. - -Platforms -~~~~~~~~~ -The 'utarray' macros have been tested on: - - * Linux, - * Mac OS X, - * Windows, using Visual Studio 2008 and Visual Studio 2010 - -Usage ------ - -Declaration -~~~~~~~~~~~ - -The array itself has the data type `UT_array`, regardless of the type of -elements to be stored in it. It is declared like, - - UT_array *nums; - -New and free -~~~~~~~~~~~~ -The next step is to create the array using `utarray_new`. Later when you're -done with the array, `utarray_free` will free it and all its elements. - -Push, pop, etc -~~~~~~~~~~~~~~ -The central features of the utarray involve putting elements into it, taking -them out, and iterating over them. There are several <> -to pick from that deal with either single elements or ranges of elements at a -time. In the examples below we will use only the push operation to insert -elements. - -Elements --------- - -Support for dynamic arrays of integers or strings is especially easy. These are -best shown by example: - -Integers -~~~~~~~~ -This example makes a utarray of integers, pushes 0-9 into it, then prints it. -Lastly it frees it. - -.Integer elements -------------------------------------------------------------------------------- -#include -#include "utarray.h" - -int main() { - UT_array *nums; - int i, *p; - - utarray_new(nums,&ut_int_icd); - for(i=0; i < 10; i++) utarray_push_back(nums,&i); - - for(p=(int*)utarray_front(nums); - p!=NULL; - p=(int*)utarray_next(nums,p)) { - printf("%d\n",*p); - } - - utarray_free(nums); - - return 0; -} -------------------------------------------------------------------------------- - -The second argument to `utarray_push_back` is always a 'pointer' to the type -(so a literal cannot be used). So for integers, it is an `int*`. - -Strings -~~~~~~~ -In this example we make a utarray of strings, push two strings into it, print -it and free it. - -.String elements -------------------------------------------------------------------------------- -#include -#include "utarray.h" - -int main() { - UT_array *strs; - char *s, **p; - - utarray_new(strs,&ut_str_icd); - - s = "hello"; utarray_push_back(strs, &s); - s = "world"; utarray_push_back(strs, &s); - p = NULL; - while ( (p=(char**)utarray_next(strs,p))) { - printf("%s\n",*p); - } - - utarray_free(strs); - - return 0; -} -------------------------------------------------------------------------------- - -In this example, since the element is a `char*`, we pass a pointer to it -(`char**`) as the second argument to `utarray_push_back`. Note that "push" makes -a copy of the source string and pushes that copy into the array. - -About UT_icd -~~~~~~~~~~~~ - -Arrays be made of any type of element, not just integers and strings. The -elements can be basic types or structures. Unless you're dealing with integers -and strings (which use pre-defined `ut_int_icd` and `ut_str_icd`), you'll need -to define a `UT_icd` helper structure. This structure contains everything that -utarray needs to initialize, copy or destruct elements. - - typedef struct { - size_t sz; - init_f *init; - ctor_f *copy; - dtor_f *dtor; - } UT_icd; - -The three function pointers `init`, `copy`, and `dtor` have these prototypes: - - typedef void (ctor_f)(void *dst, const void *src); - typedef void (dtor_f)(void *elt); - typedef void (init_f)(void *elt); - -The `sz` is just the size of the element being stored in the array. - -The `init` function will be invoked whenever utarray needs to initialize an -empty element. This only happens as a byproduct of `utarray_resize` or -`utarray_extend_back`. If `init` is `NULL`, it defaults to zero filling the -new element using memset. - -The `copy` function is used whenever an element is copied into the array. -It is invoked during `utarray_push_back`, `utarray_insert`, `utarray_inserta`, -or `utarray_concat`. If `copy` is `NULL`, it defaults to a bitwise copy using -memcpy. - -The `dtor` function is used to clean up an element that is being removed from -the array. It may be invoked due to `utarray_resize`, `utarray_pop_back`, -`utarray_erase`, `utarray_clear`, `utarray_done` or `utarray_free`. If the -elements need no cleanup upon destruction, `dtor` may be `NULL`. - -Scalar types -~~~~~~~~~~~~ - -The next example uses `UT_icd` with all its defaults to make a utarray of -`long` elements. This example pushes two longs, prints them, and frees the -array. - -.long elements -------------------------------------------------------------------------------- -#include -#include "utarray.h" - -UT_icd long_icd = {sizeof(long), NULL, NULL, NULL }; - -int main() { - UT_array *nums; - long l, *p; - utarray_new(nums, &long_icd); - - l=1; utarray_push_back(nums, &l); - l=2; utarray_push_back(nums, &l); - - p=NULL; - while( (p=(long*)utarray_next(nums,p))) printf("%ld\n", *p); - - utarray_free(nums); - return 0; -} -------------------------------------------------------------------------------- - -Structures -~~~~~~~~~~ - -Structures can be used as utarray elements. If the structure requires no -special effort to initialize, copy or destruct, we can use `UT_icd` with all -its defaults. This example shows a structure that consists of two integers. Here -we push two values, print them and free the array. - -.Structure (simple) -------------------------------------------------------------------------------- -#include -#include "utarray.h" - -typedef struct { - int a; - int b; -} intpair_t; - -UT_icd intpair_icd = {sizeof(intpair_t), NULL, NULL, NULL}; - -int main() { - - UT_array *pairs; - intpair_t ip, *p; - utarray_new(pairs,&intpair_icd); - - ip.a=1; ip.b=2; utarray_push_back(pairs, &ip); - ip.a=10; ip.b=20; utarray_push_back(pairs, &ip); - - for(p=(intpair_t*)utarray_front(pairs); - p!=NULL; - p=(intpair_t*)utarray_next(pairs,p)) { - printf("%d %d\n", p->a, p->b); - } - - utarray_free(pairs); - return 0; -} -------------------------------------------------------------------------------- - -The real utility of `UT_icd` is apparent when the elements of the utarray are -structures that require special work to initialize, copy or destruct. - -For example, when a structure contains pointers to related memory areas that -need to be copied when the structure is copied (and freed when the structure is -freed), we can use custom `init`, `copy`, and `dtor` members in the `UT_icd`. - -Here we take an example of a structure that contains an integer and a string. -When this element is copied (such as when an element is pushed into the array), -we want to "deep copy" the `s` pointer (so the original element and the new -element point to their own copies of `s`). When an element is destructed, we -want to "deep free" its copy of `s`. Lastly, this example is written to work -even if `s` has the value `NULL`. - -.Structure (complex) -------------------------------------------------------------------------------- -#include -#include -#include "utarray.h" - -typedef struct { - int a; - char *s; -} intchar_t; - -void intchar_copy(void *_dst, const void *_src) { - intchar_t *dst = (intchar_t*)_dst, *src = (intchar_t*)_src; - dst->a = src->a; - dst->s = src->s ? strdup(src->s) : NULL; -} - -void intchar_dtor(void *_elt) { - intchar_t *elt = (intchar_t*)_elt; - if (elt->s) free(elt->s); -} - -UT_icd intchar_icd = {sizeof(intchar_t), NULL, intchar_copy, intchar_dtor}; - -int main() { - UT_array *intchars; - intchar_t ic, *p; - utarray_new(intchars, &intchar_icd); - - ic.a=1; ic.s="hello"; utarray_push_back(intchars, &ic); - ic.a=2; ic.s="world"; utarray_push_back(intchars, &ic); - - p=NULL; - while( (p=(intchar_t*)utarray_next(intchars,p))) { - printf("%d %s\n", p->a, (p->s ? p->s : "null")); - } - - utarray_free(intchars); - return 0; -} - -------------------------------------------------------------------------------- - -[[operations]] -Reference ---------- -This table lists all the utarray operations. These are loosely based on the C++ -vector class. - -Operations -~~~~~~~~~~ - -[width="100%",cols="50 /* size_t */ -#include /* memset, etc */ -#include /* exit */ - -// FIXME: this needs to be checked: we need to handle OOM properly instead of just exiting -#define oom() system_exit(-1) - -typedef void (ctor_f)(void *dst, const void *src); -typedef void (dtor_f)(void *elt); -typedef void (init_f)(void *elt); -typedef struct { - size_t sz; - init_f *init; - ctor_f *copy; - dtor_f *dtor; -} UT_icd; - -typedef struct { - unsigned i,n;/* i: index of next available slot, n: num slots */ - UT_icd icd; /* initializer, copy and destructor functions */ - char *d; /* n slots of size icd->sz*/ -} UT_array; - -#define utarray_init(a,_icd) do { \ - memset(a,0,sizeof(UT_array)); \ - (a)->icd=*_icd; \ -} while(0) - -#define utarray_done(a) do { \ - if ((a)->n) { \ - if ((a)->icd.dtor) { \ - size_t _ut_i; \ - for(_ut_i=0; _ut_i < (a)->i; _ut_i++) { \ - (a)->icd.dtor(utarray_eltptr(a,_ut_i)); \ - } \ - } \ - free((a)->d); \ - } \ - (a)->n=0; \ -} while(0) - -#define utarray_new(a,_icd) do { \ - a=(UT_array*)malloc(sizeof(UT_array)); \ - utarray_init(a,_icd); \ -} while(0) - -#define utarray_free(a) do { \ - utarray_done(a); \ - free(a); \ -} while(0) - -#define utarray_reserve(a,by) do { \ - if (((a)->i+by) > ((a)->n)) { \ - while(((a)->i+by) > ((a)->n)) { (a)->n = ((a)->n ? (2*(a)->n) : 8); } \ - if ( ((a)->d=(char*)realloc((a)->d, (a)->n*(a)->icd.sz)) == NULL) oom(); \ - } \ -} while(0) - -#define utarray_push_back(a,p) do { \ - utarray_reserve(a,1); \ - if ((a)->icd.copy) { (a)->icd.copy( _utarray_eltptr(a,(a)->i++), p); } \ - else { memcpy(_utarray_eltptr(a,(a)->i++), p, (a)->icd.sz); }; \ -} while(0) - -#define utarray_pop_back(a) do { \ - if ((a)->icd.dtor) { (a)->icd.dtor( _utarray_eltptr(a,--((a)->i))); } \ - else { (a)->i--; } \ -} while(0) - -#define utarray_extend_back(a) do { \ - utarray_reserve(a,1); \ - if ((a)->icd.init) { (a)->icd.init(_utarray_eltptr(a,(a)->i)); } \ - else { memset(_utarray_eltptr(a,(a)->i),0,(a)->icd.sz); } \ - (a)->i++; \ -} while(0) - -#define utarray_len(a) ((a)->i) - -#define utarray_eltptr(a,j) (((j) < (a)->i) ? _utarray_eltptr(a,j) : NULL) -#define _utarray_eltptr(a,j) ((char*)((a)->d + ((a)->icd.sz*(j) ))) - -#define utarray_insert(a,p,j) do { \ - utarray_reserve(a,1); \ - if (j > (a)->i) break; \ - if ((j) < (a)->i) { \ - memmove( _utarray_eltptr(a,(j)+1), _utarray_eltptr(a,j), \ - ((a)->i - (j))*((a)->icd.sz)); \ - } \ - if ((a)->icd.copy) { (a)->icd.copy( _utarray_eltptr(a,j), p); } \ - else { memcpy(_utarray_eltptr(a,j), p, (a)->icd.sz); }; \ - (a)->i++; \ -} while(0) - -#define utarray_inserta(a,w,j) do { \ - if (utarray_len(w) == 0) break; \ - if (j > (a)->i) break; \ - utarray_reserve(a,utarray_len(w)); \ - if ((j) < (a)->i) { \ - memmove(_utarray_eltptr(a,(j)+utarray_len(w)), \ - _utarray_eltptr(a,j), \ - ((a)->i - (j))*((a)->icd.sz)); \ - } \ - if ((a)->icd.copy) { \ - size_t _ut_i; \ - for(_ut_i=0;_ut_i<(w)->i;_ut_i++) { \ - (a)->icd.copy(_utarray_eltptr(a,j+_ut_i), _utarray_eltptr(w,_ut_i)); \ - } \ - } else { \ - memcpy(_utarray_eltptr(a,j), _utarray_eltptr(w,0), \ - utarray_len(w)*((a)->icd.sz)); \ - } \ - (a)->i += utarray_len(w); \ -} while(0) - -#define utarray_resize(dst,num) do { \ - size_t _ut_i; \ - if (dst->i > (size_t)(num)) { \ - if ((dst)->icd.dtor) { \ - for(_ut_i=num; _ut_i < dst->i; _ut_i++) { \ - (dst)->icd.dtor(utarray_eltptr(dst,_ut_i)); \ - } \ - } \ - } else if (dst->i < (size_t)(num)) { \ - utarray_reserve(dst,num-dst->i); \ - if ((dst)->icd.init) { \ - for(_ut_i=dst->i; _ut_i < num; _ut_i++) { \ - (dst)->icd.init(utarray_eltptr(dst,_ut_i)); \ - } \ - } else { \ - memset(_utarray_eltptr(dst,dst->i),0,(dst)->icd.sz*(num-dst->i)); \ - } \ - } \ - dst->i = num; \ -} while(0) - -#define utarray_concat(dst,src) do { \ - utarray_inserta((dst),(src),utarray_len(dst)); \ -} while(0) - -#define utarray_erase(a,pos,len) do { \ - if ((a)->icd.dtor) { \ - size_t _ut_i; \ - for(_ut_i=0; _ut_i < len; _ut_i++) { \ - (a)->icd.dtor(utarray_eltptr((a),pos+_ut_i)); \ - } \ - } \ - if ((a)->i > (pos+len)) { \ - memmove( _utarray_eltptr((a),pos), _utarray_eltptr((a),pos+len), \ - (((a)->i)-(pos+len))*((a)->icd.sz)); \ - } \ - (a)->i -= (len); \ -} while(0) - -#define utarray_renew(a,u) do { \ - if (a) utarray_clear(a); \ - else utarray_new((a),(u)); \ -} while(0) - -#define utarray_clear(a) do { \ - if ((a)->i > 0) { \ - if ((a)->icd.dtor) { \ - size_t _ut_i; \ - for(_ut_i=0; _ut_i < (a)->i; _ut_i++) { \ - (a)->icd.dtor(utarray_eltptr(a,_ut_i)); \ - } \ - } \ - (a)->i = 0; \ - } \ -} while(0) - -#define utarray_sort(a,cmp) do { \ - qsort((a)->d, (a)->i, (a)->icd.sz, cmp); \ -} while(0) - -#define utarray_find(a,v,cmp) bsearch((v),(a)->d,(a)->i,(a)->icd.sz,cmp) - -#define utarray_front(a) (((a)->i) ? (_utarray_eltptr(a,0)) : NULL) -#define utarray_next(a,e) (((e)==NULL) ? utarray_front(a) : ((((a)->i) > (utarray_eltidx(a,e)+1)) ? _utarray_eltptr(a,utarray_eltidx(a,e)+1) : NULL)) -#define utarray_prev(a,e) (((e)==NULL) ? utarray_back(a) : ((utarray_eltidx(a,e) > 0) ? _utarray_eltptr(a,utarray_eltidx(a,e)-1) : NULL)) -#define utarray_back(a) (((a)->i) ? (_utarray_eltptr(a,(a)->i-1)) : NULL) -#define utarray_eltidx(a,e) (((char*)(e) >= (char*)((a)->d)) ? (((char*)(e) - (char*)((a)->d))/(a)->icd.sz) : -1) - -/* last we pre-define a few icd for common utarrays of ints and strings */ -static void utarray_str_cpy(void *dst, const void *src) { - char **_src = (char**)src, **_dst = (char**)dst; - *_dst = (*_src == NULL) ? NULL : strdup(*_src); -} -static void utarray_str_dtor(void *elt) { - char **eltc = (char**)elt; - if (*eltc) free(*eltc); -} -static const UT_icd ut_str_icd _UNUSED_ = {sizeof(char*),NULL,utarray_str_cpy,utarray_str_dtor}; -static const UT_icd ut_int_icd _UNUSED_ = {sizeof(int),NULL,NULL,NULL}; -static const UT_icd ut_ptr_icd _UNUSED_ = {sizeof(void*),NULL,NULL,NULL}; - - -#endif /* UTARRAY_H */ diff --git a/src/lib/pure_pursuit/CMakeLists.txt b/src/lib/pure_pursuit/CMakeLists.txt new file mode 100644 index 000000000000..19154fb5a53f --- /dev/null +++ b/src/lib/pure_pursuit/CMakeLists.txt @@ -0,0 +1,40 @@ +############################################################################ +# +# Copyright (c) 2024 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +px4_add_library(pure_pursuit + PurePursuit.cpp + PurePursuit.hpp +) + +px4_add_functional_gtest(SRC PurePursuitTest.cpp LINKLIBS pure_pursuit) +set_property(GLOBAL APPEND PROPERTY PX4_MODULE_CONFIG_FILES ${CMAKE_CURRENT_SOURCE_DIR}/module.yaml) diff --git a/src/lib/pure_pursuit/PurePursuit.cpp b/src/lib/pure_pursuit/PurePursuit.cpp new file mode 100644 index 000000000000..324a504959ba --- /dev/null +++ b/src/lib/pure_pursuit/PurePursuit.cpp @@ -0,0 +1,97 @@ +/**************************************************************************** + * + * Copyright (c) 2024 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include "PurePursuit.hpp" +#include + + +PurePursuit::PurePursuit(ModuleParams *parent) : ModuleParams(parent) +{ + _param_handles.lookahead_gain = param_find("PP_LOOKAHD_GAIN"); + _param_handles.lookahead_max = param_find("PP_LOOKAHD_MAX"); + _param_handles.lookahead_min = param_find("PP_LOOKAHD_MIN"); + updateParams(); +} + +void PurePursuit::updateParams() +{ + param_get(_param_handles.lookahead_gain, &_params.lookahead_gain); + param_get(_param_handles.lookahead_max, &_params.lookahead_max); + param_get(_param_handles.lookahead_min, &_params.lookahead_min); + + ModuleParams::updateParams(); + +} + +float PurePursuit::calcDesiredHeading(const Vector2f &curr_wp_ned, const Vector2f &prev_wp_ned, + const Vector2f &curr_pos_ned, + const float vehicle_speed) +{ + // Check input validity + if (!curr_wp_ned.isAllFinite() || !curr_pos_ned.isAllFinite() || vehicle_speed < -FLT_EPSILON + || !PX4_ISFINITE(vehicle_speed) || !prev_wp_ned.isAllFinite()) { + return NAN; + } + + _lookahead_distance = math::constrain(_params.lookahead_gain * vehicle_speed, + _params.lookahead_min, _params.lookahead_max); + + // Pure pursuit + const Vector2f curr_pos_to_curr_wp = curr_wp_ned - curr_pos_ned; + const Vector2f prev_wp_to_curr_wp = curr_wp_ned - prev_wp_ned; + + if (curr_pos_to_curr_wp.norm() < _lookahead_distance + || prev_wp_to_curr_wp.norm() < + FLT_EPSILON) { // Target current waypoint if closer to it than lookahead or waypoints overlap + return atan2f(curr_pos_to_curr_wp(1), curr_pos_to_curr_wp(0)); + } + + const Vector2f prev_wp_to_curr_pos = curr_pos_ned - prev_wp_ned; + const Vector2f prev_wp_to_curr_wp_u = prev_wp_to_curr_wp.unit_or_zero(); + const Vector2f distance_on_line_segment = (prev_wp_to_curr_pos * prev_wp_to_curr_wp_u) * + prev_wp_to_curr_wp_u; // Projection of prev_wp_to_curr_pos onto prev_wp_to_curr_wp + const Vector2f curr_pos_to_path = distance_on_line_segment - + prev_wp_to_curr_pos; // Shortest vector from the current position to the path + + if (curr_pos_to_path.norm() > _lookahead_distance) { // Target closest point on path if there is no intersection point + return atan2f(curr_pos_to_path(1), curr_pos_to_path(0)); + } + + const float line_extension = sqrt(powf(_lookahead_distance, 2.f) - powf(curr_pos_to_path.norm(), + 2.f)); // Length of the vector from the endpoint of distance_on_line_segment to the intersection point + const Vector2f prev_wp_to_intersection_point = distance_on_line_segment + line_extension * + prev_wp_to_curr_wp_u; + const Vector2f curr_pos_to_intersection_point = prev_wp_to_intersection_point - prev_wp_to_curr_pos; + return atan2f(curr_pos_to_intersection_point(1), curr_pos_to_intersection_point(0)); + +} diff --git a/src/lib/pure_pursuit/PurePursuit.hpp b/src/lib/pure_pursuit/PurePursuit.hpp new file mode 100644 index 000000000000..9de498c2e1b1 --- /dev/null +++ b/src/lib/pure_pursuit/PurePursuit.hpp @@ -0,0 +1,126 @@ +/**************************************************************************** + * + * Copyright (c) 2024 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#pragma once + +#include +#include + +using namespace matrix; + +/** + * @file PurePursuit.hpp + * + * Implementation of pure pursuit guidance logic. + * + * Acknowledgements and References: + * + * This implementation has been built for PX4 based on the idea from [1] (not including any code). + * + * [1] Coulter, R. C. (1992). Implementation of the Pure Pursuit Path Tracking Algorithm + * (Techreport CMU-RI-TR-92-01). + * + * Pure pursuit is a path following algorithm that uses the intersection between the path and + * a circle (the radius of which is referred to as lookahead distance) around the vehicle as + * the target point for the vehicle. + * The lookahead distance is defined as v * k. + * v: Vehicle ground speed [m/s] + * k: Tuning parameter + * The lookahead distance is further constrained between an upper and lower threshhold. + * C + * / + * __/__ + * / / \ + * / / \ + * | / V | + * \/ / + * /\ _____ / + * N (0 rad) / + * ^ P + * | + * | D + * (-1.5708 rad) <----- ⨂ -----> E (1.5708 rad) + * | + * | + * ⌄ + * (+- 3.14159 rad) + * + * Input: Current/prev waypoint and the vehicle position in NED frame as well as the vehicle speed. + * Output: Calculates the intersection points as described above and returns the heading towards the point that is closer to the current waypoint. + */ +class PurePursuit : public ModuleParams +{ +public: + PurePursuit(ModuleParams *parent); + ~PurePursuit() = default; + + /** + * @brief Return heading towards the intersection point between a circle with a radius of + * vehicle_speed * PP_LOOKAHD_GAIN around the vehicle and an extended line segment from the previous to the current waypoint. + * Exceptions: + * Will return heading towards the current waypoint if it is closer to the vehicle than the lookahead or if the waypoints overlap. + * Will return heading towards the closest point on the path if there are no intersection points (crosstrack error bigger than lookahead). + * Will return NAN if input is invalid. + * @param curr_wp_ned North/East coordinates of current waypoint in NED frame [m]. + * @param prev_wp_ned North/East coordinates of previous waypoint in NED frame [m]. + * @param curr_pos_ned North/East coordinates of current position of the vehicle in NED frame [m]. + * @param vehicle_speed Vehicle speed [m/s]. + * @param PP_LOOKAHD_GAIN Tuning parameter [-] + * @param PP_LOOKAHD_MAX Maximum lookahead distance [m] + * @param PP_LOOKAHD_MIN Minimum lookahead distance [m] + */ + float calcDesiredHeading(const Vector2f &curr_wp_ned, const Vector2f &prev_wp_ned, const Vector2f &curr_pos_ned, + float vehicle_speed); + + float getLookaheadDistance() {return _lookahead_distance;}; + +protected: + /** + * @brief Update the parameters of the module. + */ + void updateParams() override; + + struct { + param_t lookahead_gain; + param_t lookahead_max; + param_t lookahead_min; + } _param_handles{}; + + struct { + float lookahead_gain{1.f}; + float lookahead_max{10.f}; + float lookahead_min{1.f}; + } _params{}; +private: + float _lookahead_distance{0.f}; +}; diff --git a/src/lib/pure_pursuit/PurePursuitTest.cpp b/src/lib/pure_pursuit/PurePursuitTest.cpp new file mode 100644 index 000000000000..c5b6897fbdaf --- /dev/null +++ b/src/lib/pure_pursuit/PurePursuitTest.cpp @@ -0,0 +1,201 @@ +/**************************************************************************** + * + * Copyright (C) 2024 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/****************************************************************** + * Test code for the Pure Pursuit algorithm + * Run this test only using "make tests TESTFILTER=PurePursuit" + * + * Graphic interpretation: + * Legend: + * C: Current waypoint + * P: Previous waypoint + * V: Vehicle + * |: Line segment + * Orientation: + * C + * / + * __/__ + * / / \ + * / / \ + * | / V | + * \/ / + * /\ _____ / + * N (0 rad) / + * ^ P + * | + * | D + * (-1.5708 rad) <----- ⨂ -----> E (1.5708 rad) + * | + * | + * ⌄ + * (+- 3.14159 rad) + * + * NOTE: + * The tuning parameters for the pure pursuit algorithm are set to the following for all tests: + * PP_LOOKAHD_GAIN = 1.f + * PP_LOOKAHD_MAX = 10.f + * PP_LOOKAHD_MIN = 1.f + * This way passing the vehicle_speed in calcDesiredHeading function is equivalent to passing + * the lookahead distance. + * +******************************************************************/ + +#include +#include + +using namespace matrix; + +class PurePursuitTest : public ::testing::Test +{ +public: + PurePursuit pure_pursuit{nullptr}; +}; + +TEST_F(PurePursuitTest, InvalidSpeed) +{ + // V C + // / + // / + // / + // P + const Vector2f curr_wp_ned(10.f, 10.f); + const Vector2f prev_wp_ned(0.f, 0.f); + const Vector2f curr_pos_ned(10.f, 0.f); + // Negative speed + const float desired_heading1 = pure_pursuit.calcDesiredHeading(curr_wp_ned, prev_wp_ned, curr_pos_ned, -1.f); + // NaN speed + const float desired_heading2 = pure_pursuit.calcDesiredHeading(curr_wp_ned, prev_wp_ned, curr_pos_ned, NAN); + EXPECT_FALSE(PX4_ISFINITE(desired_heading1)); + EXPECT_FALSE(PX4_ISFINITE(desired_heading2)); +} + +TEST_F(PurePursuitTest, InvalidWaypoints) +{ + // V C + // / + // / + // / + // P + const Vector2f curr_wp_ned(10.f, 10.f); + const Vector2f prev_wp_ned(0.f, 0.f); + const Vector2f curr_pos_ned(10.f, 0.f); + const float lookahead_distance{5.f}; + // Prev WP is NAN + const float desired_heading1 = pure_pursuit.calcDesiredHeading(curr_wp_ned, Vector2f(NAN, NAN), curr_pos_ned, + lookahead_distance); + // Curr WP is NAN + const float desired_heading2 = pure_pursuit.calcDesiredHeading(Vector2f(NAN, NAN), prev_wp_ned, curr_pos_ned, + lookahead_distance); + + // Curr Pos is NAN + const float desired_heading3 = pure_pursuit.calcDesiredHeading(curr_wp_ned, prev_wp_ned, Vector2f(NAN, NAN), + lookahead_distance); + EXPECT_FALSE(PX4_ISFINITE(desired_heading1)); + EXPECT_FALSE(PX4_ISFINITE(desired_heading2)); + EXPECT_FALSE(PX4_ISFINITE(desired_heading3)); +} + +TEST_F(PurePursuitTest, OutOfLookahead) +{ + const float lookahead_distance{5.f}; + // V C + // / + // / + // / + // P + const float desired_heading1 = pure_pursuit.calcDesiredHeading(Vector2f(10.f, 10.f), Vector2f(0.f, 0.f), Vector2f(10.f, + 0.f), + lookahead_distance); + // V + // + // P ----- C + const float desired_heading2 = pure_pursuit.calcDesiredHeading(Vector2f(0.f, 20.f), Vector2f(0.f, 0.f), Vector2f(10.f, + 10.f), + lookahead_distance); + EXPECT_NEAR(desired_heading1, M_PI_2_F + M_PI_4_F, FLT_EPSILON); // Fallback: Bearing to closest point on path + EXPECT_NEAR(desired_heading2, M_PI_F, FLT_EPSILON); // Fallback: Bearing to closest point on path +} + +TEST_F(PurePursuitTest, WaypointOverlap) +{ + const float lookahead_distance{5.f}; + // C/P + // + // + // + // V + const float desired_heading1 = pure_pursuit.calcDesiredHeading(Vector2f(10.f, 10.f), Vector2f(10.f, 10.f), Vector2f(0.f, + 0.f), + lookahead_distance); + // V + // + // + // + // C/P + const float desired_heading2 = pure_pursuit.calcDesiredHeading(Vector2f(0.f, 0.f), Vector2f(0.f, 0.f), Vector2f(10.f, + 10.f), + lookahead_distance); + EXPECT_NEAR(desired_heading1, M_PI_4_F, FLT_EPSILON); // Fallback: Bearing to closest point on path + EXPECT_NEAR(desired_heading2, -(M_PI_4_F + M_PI_2_F), FLT_EPSILON); // Fallback: Bearing to closest point on path +} + +TEST_F(PurePursuitTest, CurrAndPrevSameNorthCoordinate) +{ + const float lookahead_distance{5.f}; + // P -- V -- C + const float desired_heading1 = pure_pursuit.calcDesiredHeading(Vector2f(0.f, 20.f), Vector2f(0.f, 0.f), Vector2f(0.f, + 10.f), + lookahead_distance); + + // V + // P ------ C + const float desired_heading2 = pure_pursuit.calcDesiredHeading(Vector2f(0.f, 20.f), Vector2f(0.f, 0.f), + Vector2f(5.f / sqrtf(2.f), 10.f), + lookahead_distance); + // V + // C ------ P + const float desired_heading3 = pure_pursuit.calcDesiredHeading(Vector2f(0.f, 0.f), Vector2f(0.f, 20.f), + Vector2f(5.f / sqrtf(2.f), 10.f), + lookahead_distance); + // V + // + // P ------ C + const float desired_heading4 = pure_pursuit.calcDesiredHeading(Vector2f(0.f, 20.f), Vector2f(0.f, 0.f), Vector2f(10.f, + 10.f), + lookahead_distance); + + EXPECT_NEAR(desired_heading1, M_PI_2_F, FLT_EPSILON); + EXPECT_NEAR(desired_heading2, M_PI_2_F + M_PI_4_F, FLT_EPSILON); + EXPECT_NEAR(desired_heading3, -(M_PI_2_F + M_PI_4_F), FLT_EPSILON); + EXPECT_NEAR(desired_heading4, M_PI_F, FLT_EPSILON); // Fallback: Bearing to closest point on path +} diff --git a/src/lib/pure_pursuit/module.yaml b/src/lib/pure_pursuit/module.yaml new file mode 100644 index 000000000000..5e7cc109d464 --- /dev/null +++ b/src/lib/pure_pursuit/module.yaml @@ -0,0 +1,37 @@ +module_name: Pure Pursuit + +parameters: + - group: Pure Pursuit + definitions: + PP_LOOKAHD_GAIN: + description: + short: Tuning parameter for the pure pursuit controller + long: Lower value -> More aggressive controller (beware overshoot/oscillations) + type: float + min: 0.1 + max: 100 + increment: 0.01 + decimal: 2 + default: 1 + + PP_LOOKAHD_MIN: + description: + short: Minimum lookahead distance for the pure pursuit controller + type: float + unit: m + min: 0.1 + max: 100 + increment: 0.01 + decimal: 2 + default: 1 + + PP_LOOKAHD_MAX: + description: + short: Maximum lookahead distance for the pure pursuit controller + type: float + unit: m + min: 0.1 + max: 100 + increment: 0.01 + decimal: 2 + default: 10 diff --git a/src/lib/rate_control/rate_control.cpp b/src/lib/rate_control/rate_control.cpp index 77b776ba118a..baa4c8e7b5ba 100644 --- a/src/lib/rate_control/rate_control.cpp +++ b/src/lib/rate_control/rate_control.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2019 PX4 Development Team. All rights reserved. + * Copyright (c) 2019-2023 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -40,20 +40,34 @@ using namespace matrix; -void RateControl::setGains(const Vector3f &P, const Vector3f &I, const Vector3f &D) +void RateControl::setPidGains(const Vector3f &P, const Vector3f &I, const Vector3f &D) { _gain_p = P; _gain_i = I; _gain_d = D; } -void RateControl::setSaturationStatus(const Vector &saturation_positive, - const Vector &saturation_negative) +void RateControl::setSaturationStatus(const Vector3 &saturation_positive, + const Vector3 &saturation_negative) { _control_allocator_saturation_positive = saturation_positive; _control_allocator_saturation_negative = saturation_negative; } +void RateControl::setPositiveSaturationFlag(size_t axis, bool is_saturated) +{ + if (axis < 3) { + _control_allocator_saturation_positive(axis) = is_saturated; + } +} + +void RateControl::setNegativeSaturationFlag(size_t axis, bool is_saturated) +{ + if (axis < 3) { + _control_allocator_saturation_negative(axis) = is_saturated; + } +} + Vector3f RateControl::update(const Vector3f &rate, const Vector3f &rate_sp, const Vector3f &angular_accel, const float dt, const bool landed) { diff --git a/src/lib/rate_control/rate_control.hpp b/src/lib/rate_control/rate_control.hpp index 1db18ee0929b..0ee8bd151649 100644 --- a/src/lib/rate_control/rate_control.hpp +++ b/src/lib/rate_control/rate_control.hpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2019 PX4 Development Team. All rights reserved. + * Copyright (c) 2019-2023 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -51,12 +51,12 @@ class RateControl ~RateControl() = default; /** - * Set the rate control gains + * Set the rate control PID gains * @param P 3D vector of proportional gains for body x,y,z axis * @param I 3D vector of integral gains * @param D 3D vector of derivative gains */ - void setGains(const matrix::Vector3f &P, const matrix::Vector3f &I, const matrix::Vector3f &D); + void setPidGains(const matrix::Vector3f &P, const matrix::Vector3f &I, const matrix::Vector3f &D); /** * Set the mximum absolute value of the integrator for all axes @@ -75,8 +75,16 @@ class RateControl * Set saturation status * @param control saturation vector from control allocator */ - void setSaturationStatus(const matrix::Vector &saturation_positive, - const matrix::Vector &saturation_negative); + void setSaturationStatus(const matrix::Vector3 &saturation_positive, + const matrix::Vector3 &saturation_negative); + + /** + * Set individual saturation flags + * @param axis 0 roll, 1 pitch, 2 yaw + * @param is_saturated value to update the flag with + */ + void setPositiveSaturationFlag(size_t axis, bool is_saturated); + void setNegativeSaturationFlag(size_t axis, bool is_saturated); /** * Run one control loop cycle calculation @@ -94,6 +102,18 @@ class RateControl */ void resetIntegral() { _rate_int.zero(); } + /** + * Set the integral term to 0 for specific axes + * @param axis roll 0 / pitch 1 / yaw 2 + * @see _rate_int + */ + void resetIntegral(size_t axis) + { + if (axis < 3) { + _rate_int(axis) = 0.f; + } + } + /** * Get status message of controller for logging/debugging * @param rate_ctrl_status status message to fill with internal states diff --git a/src/lib/rc/dsm.cpp b/src/lib/rc/dsm.cpp index d1b78a99bf69..257307a62078 100644 --- a/src/lib/rc/dsm.cpp +++ b/src/lib/rc/dsm.cpp @@ -481,6 +481,9 @@ void dsm_proto_init() channel_buffer[i].last_seen = 0; channel_buffer[i].value = 0; } + + /* reset the format detector */ + dsm_guess_format(true); } /** diff --git a/src/lib/rc/ghst.cpp b/src/lib/rc/ghst.cpp index d3c13d7ad25c..1af68e8da01c 100644 --- a/src/lib/rc/ghst.cpp +++ b/src/lib/rc/ghst.cpp @@ -428,4 +428,3 @@ bool ghst_send_telemetry_gps2_status(int uart_fd, uint16_t ground_speed, uint16_ return write(uart_fd, buf, offset) == offset; } - diff --git a/src/lib/rc/rc_tests/RCTest.cpp b/src/lib/rc/rc_tests/RCTest.cpp index 07c45d33c02d..1997c19e85a3 100644 --- a/src/lib/rc/rc_tests/RCTest.cpp +++ b/src/lib/rc/rc_tests/RCTest.cpp @@ -19,7 +19,7 @@ #if defined(CONFIG_ARCH_BOARD_PX4_SITL) #define TEST_DATA_PATH "./test_data/" #else -#define TEST_DATA_PATH "/fs/microsd" +#define TEST_DATA_PATH CONFIG_BOARD_ROOT_PATH #endif extern "C" __EXPORT int rc_tests_main(int argc, char *argv[]); @@ -359,7 +359,6 @@ bool RCTest::sbus2Test() bool sbus_frame_drop; uint16_t max_channels = sizeof(rc_values) / sizeof(rc_values[0]); - int rate_limiter = 0; unsigned last_drop = 0; while (EOF != (ret = fscanf(fp, "%f,%x,,", &f, &x))) { @@ -390,7 +389,6 @@ bool RCTest::sbus2Test() last_drop = sbus_frame_drops + sbus_frame_resets; } - rate_limiter++; } ut_test(ret == EOF); @@ -522,7 +520,4 @@ bool RCTest::sumdTest() return true; } - - ut_declare_test_c(rc_tests_main, RCTest) - diff --git a/src/lib/ringbuffer/CMakeLists.txt b/src/lib/ringbuffer/CMakeLists.txt new file mode 100644 index 000000000000..78a26de16664 --- /dev/null +++ b/src/lib/ringbuffer/CMakeLists.txt @@ -0,0 +1,40 @@ +############################################################################ +# +# Copyright (c) 2023 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +px4_add_library(ringbuffer + Ringbuffer.cpp +) + +target_include_directories(ringbuffer PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}) + +px4_add_unit_gtest(SRC RingbufferTest.cpp LINKLIBS ringbuffer) diff --git a/src/lib/ringbuffer/Ringbuffer.cpp b/src/lib/ringbuffer/Ringbuffer.cpp new file mode 100644 index 000000000000..64fc33d8361d --- /dev/null +++ b/src/lib/ringbuffer/Ringbuffer.cpp @@ -0,0 +1,180 @@ +/**************************************************************************** + * + * Copyright (C) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + + + + +#include "Ringbuffer.hpp" + +#include +#include +#include + + +Ringbuffer::~Ringbuffer() +{ + deallocate(); +} + +bool Ringbuffer::allocate(size_t buffer_size) +{ + assert(_ringbuffer == nullptr); + + _size = buffer_size; + _ringbuffer = new uint8_t[_size]; + return _ringbuffer != nullptr; +} + +void Ringbuffer::deallocate() +{ + delete[] _ringbuffer; + _ringbuffer = nullptr; + _size = 0; +} + +size_t Ringbuffer::space_available() const +{ + if (_start > _end) { + return _start - _end - 1; + + } else { + return _start - _end - 1 + _size; + } +} + +size_t Ringbuffer::space_used() const +{ + if (_start <= _end) { + return _end - _start; + + } else { + // Potential wrap around. + return _end - _start + _size; + } +} + + +bool Ringbuffer::push_back(const uint8_t *buf, size_t buf_len) +{ + if (buf_len == 0 || buf == nullptr) { + // Nothing to add, we better don't try. + return false; + } + + if (_start > _end) { + // Add after end up to start, no wrap around. + + // Leave one byte free so that start don't end up the same + // which signals empty. + const size_t available = _start - _end - 1; + + if (available < buf_len) { + return false; + } + + memcpy(&_ringbuffer[_end], buf, buf_len); + _end += buf_len; + + } else { + // Add after end, maybe wrap around. + const size_t available = _start - _end - 1 + _size; + + if (available < buf_len) { + return false; + } + + const size_t remaining_packet_len = _size - _end; + + if (buf_len > remaining_packet_len) { + memcpy(&_ringbuffer[_end], buf, remaining_packet_len); + _end = 0; + + memcpy(&_ringbuffer[_end], buf + remaining_packet_len, buf_len - remaining_packet_len); + _end += buf_len - remaining_packet_len; + + } else { + memcpy(&_ringbuffer[_end], buf, buf_len); + _end += buf_len; + } + } + + return true; +} + +size_t Ringbuffer::pop_front(uint8_t *buf, size_t buf_max_len) +{ + if (buf == nullptr) { + // User needs to supply a valid pointer. + return 0; + } + + if (_start == _end) { + // Empty + return 0; + } + + if (_start < _end) { + + // No wrap around. + size_t to_copy_len = math::min(_end - _start, buf_max_len); + + memcpy(buf, &_ringbuffer[_start], to_copy_len); + _start += to_copy_len; + + return to_copy_len; + + } else { + // Potential wrap around. + size_t to_copy_len = _end - _start + _size; + + if (to_copy_len > buf_max_len) { + to_copy_len = buf_max_len; + } + + const size_t remaining_buf_len = _size - _start; + + if (to_copy_len > remaining_buf_len) { + + memcpy(buf, &_ringbuffer[_start], remaining_buf_len); + _start = 0; + memcpy(buf + remaining_buf_len, &_ringbuffer[_start], to_copy_len - remaining_buf_len); + _start += to_copy_len - remaining_buf_len; + + } else { + memcpy(buf, &_ringbuffer[_start], to_copy_len); + _start += to_copy_len; + } + + return to_copy_len; + } +} diff --git a/src/lib/ringbuffer/Ringbuffer.hpp b/src/lib/ringbuffer/Ringbuffer.hpp new file mode 100644 index 000000000000..541f322db947 --- /dev/null +++ b/src/lib/ringbuffer/Ringbuffer.hpp @@ -0,0 +1,120 @@ +/**************************************************************************** + * + * Copyright (C) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + + + +#pragma once + +#include +#include + + +// FIFO ringbuffer implementation. +// +// The ringbuffer can store up 1 byte less than allocated as +// start and end marker need to be one byte apart when the buffer +// is full, otherwise it would suddenly be empty. +// +// The buffer is not thread-safe. + +class Ringbuffer +{ +public: + /* @brief Constructor + * + * @note Does not allocate automatically. + */ + Ringbuffer() = default; + + /* + * @brief Destructor + * + * Automatically calls deallocate. + */ + ~Ringbuffer(); + + /* @brief Allocate ringbuffer + * + * @param buffer_size Number of bytes to allocate on heap. + * + * @returns false if allocation fails. + */ + bool allocate(size_t buffer_size); + + /* + * @brief Deallocate ringbuffer + * + * @note only required to deallocate and reallocate again. + */ + void deallocate(); + + /* + * @brief Space available to copy bytes into + * + * @returns number of free bytes. + */ + size_t space_available() const; + + /* + * @brief Space used to copy data from + * + * @returns number of used bytes. + */ + size_t space_used() const; + + /* + * @brief Copy data into ringbuffer + * + * @param buf Pointer to buffer to copy from. + * @param buf_len Number of bytes to copy. + * + * @returns true if packet could be copied into buffer. + */ + bool push_back(const uint8_t *buf, size_t buf_len); + + /* + * @brief Get data from ringbuffer + * + * @param buf Pointer to buffer where data can be copied into. + * @param max_buf_len Max number of bytes to copy. + * + * @returns 0 if buffer is empty. + */ + size_t pop_front(uint8_t *buf, size_t max_buf_len); + +private: + size_t _size {0}; + uint8_t *_ringbuffer {nullptr}; + size_t _start{0}; + size_t _end{0}; +}; diff --git a/src/lib/ringbuffer/RingbufferTest.cpp b/src/lib/ringbuffer/RingbufferTest.cpp new file mode 100644 index 000000000000..e5e0a7a57f8a --- /dev/null +++ b/src/lib/ringbuffer/RingbufferTest.cpp @@ -0,0 +1,247 @@ +/**************************************************************************** + * + * Copyright (C) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include +#include +#include + + +#include "Ringbuffer.hpp" + +class TempData +{ +public: + TempData(size_t len) + { + _size = len; + _buf = new uint8_t[_size]; + } + + ~TempData() + { + delete[] _buf; + _buf = nullptr; + } + + uint8_t *buf() const + { + return _buf; + } + + size_t size() const + { + return _size; + } + + void paint(unsigned offset = 0) + { + for (size_t i = 0; i < _size; ++i) { + _buf[i] = (uint8_t)((i + offset) % UINT8_MAX); + } + } + +private: + uint8_t *_buf {nullptr}; + size_t _size{0}; + +}; + +bool operator==(const TempData &lhs, const TempData &rhs) +{ + if (lhs.size() != rhs.size()) { + return false; + } + + return memcmp(lhs.buf(), rhs.buf(), lhs.size()) == 0; +} + + +TEST(Ringbuffer, AllocateAndDeallocate) +{ + Ringbuffer buf; + ASSERT_TRUE(buf.allocate(100)); + buf.deallocate(); + + ASSERT_TRUE(buf.allocate(1000)); + // The second time we forget to clean up, but we expect no leak. +} + +TEST(Ringbuffer, PushATooBigMessage) +{ + Ringbuffer buf; + ASSERT_TRUE(buf.allocate(100)); + + TempData data{200}; + + // A message that doesn't fit should get rejected. + EXPECT_FALSE(buf.push_back(data.buf(), data.size())); +} + +TEST(Ringbuffer, PushAndPopOne) +{ + Ringbuffer buf; + ASSERT_TRUE(buf.allocate(100)); + + TempData data{20}; + data.paint(); + + EXPECT_TRUE(buf.push_back(data.buf(), data.size())); + + EXPECT_EQ(buf.space_used(), 20); + EXPECT_EQ(buf.space_available(), 79); + + // Get everything + TempData out{20}; + EXPECT_EQ(buf.pop_front(out.buf(), out.size()), 20); + EXPECT_EQ(data, out); + + // Nothing remaining + EXPECT_EQ(buf.pop_front(out.buf(), out.size()), 0); +} + +TEST(Ringbuffer, PushAndPopSeveral) +{ + Ringbuffer buf; + ASSERT_TRUE(buf.allocate(100)); + + TempData data{90}; + data.paint(); + + // 9 little chunks in + for (unsigned i = 0; i < 9; ++i) { + EXPECT_TRUE(buf.push_back(data.buf() + i * 10, 10)); + } + + // 10 won't because of overhead inside the buffer + EXPECT_FALSE(buf.push_back(data.buf(), 10)); + + TempData out{90}; + // Take it back out in 2 big steps + EXPECT_EQ(buf.pop_front(out.buf(), 50), 50); + EXPECT_EQ(buf.pop_front(out.buf() + 50, 40), 40); + EXPECT_EQ(data, out); +} + +TEST(Ringbuffer, PushAndTryToPopMore) +{ + Ringbuffer buf; + ASSERT_TRUE(buf.allocate(100)); + + TempData data1{50}; + data1.paint(); + EXPECT_TRUE(buf.push_back(data1.buf(), data1.size())); + + TempData out1{80}; + EXPECT_EQ(buf.pop_front(out1.buf(), out1.size()), data1.size()); +} + +TEST(Ringbuffer, PushAndPopSeveralInterleaved) +{ + Ringbuffer buf; + ASSERT_TRUE(buf.allocate(100)); + + TempData data1{50}; + data1.paint(); + EXPECT_TRUE(buf.push_back(data1.buf(), data1.size())); + + TempData data2{30}; + data2.paint(50); + EXPECT_TRUE(buf.push_back(data2.buf(), data2.size())); + + TempData out12{80}; + EXPECT_EQ(buf.pop_front(out12.buf(), out12.size()), out12.size()); + + TempData out12_ref{80}; + out12_ref.paint(); + EXPECT_EQ(out12_ref, out12); + + TempData data3{50}; + data3.paint(33); + EXPECT_TRUE(buf.push_back(data3.buf(), data3.size())); + + TempData out3{50}; + EXPECT_EQ(buf.pop_front(out3.buf(), out3.size()), data3.size()); + EXPECT_EQ(data3, out3); +} + +TEST(Ringbuffer, PushEmpty) +{ + Ringbuffer buf; + ASSERT_TRUE(buf.allocate(100)); + + EXPECT_FALSE(buf.push_back(nullptr, 0)); +} + +TEST(Ringbuffer, PopWithoutBuffer) +{ + Ringbuffer buf; + ASSERT_TRUE(buf.allocate(100)); + + EXPECT_FALSE(buf.push_back(nullptr, 0)); + + TempData data{50}; + data.paint(); + + EXPECT_TRUE(buf.push_back(data.buf(), data.size())); + + + EXPECT_EQ(buf.pop_front(nullptr, 50), 0); +} + +TEST(Ringbuffer, EmptyAndNoSpaceForHeader) +{ + // Addressing a corner case where start and end are at the end + // and the same. + + Ringbuffer buf; + // Allocate 1 bytes more than the packet, 1 for the start/end logic. + ASSERT_TRUE(buf.allocate(21)); + + { + TempData data{20}; + data.paint(); + EXPECT_TRUE(buf.push_back(data.buf(), data.size())); + TempData out{20}; + EXPECT_EQ(buf.pop_front(out.buf(), out.size()), out.size()); + EXPECT_EQ(data, out); + } + + { + TempData data{10}; + data.paint(); + EXPECT_TRUE(buf.push_back(data.buf(), data.size())); + TempData out{10}; + EXPECT_EQ(buf.pop_front(out.buf(), out.size()), out.size()); + EXPECT_EQ(data, out); + } +} diff --git a/src/lib/rtl/CMakeLists.txt b/src/lib/rtl/CMakeLists.txt new file mode 100644 index 000000000000..4f3e7a3c5331 --- /dev/null +++ b/src/lib/rtl/CMakeLists.txt @@ -0,0 +1,34 @@ +############################################################################ +# +# Copyright (c) 2024 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +px4_add_library(rtl_time_estimator rtl_time_estimator.cpp) diff --git a/src/lib/rtl/rtl_time_estimator.cpp b/src/lib/rtl/rtl_time_estimator.cpp new file mode 100644 index 000000000000..055b62ccabca --- /dev/null +++ b/src/lib/rtl/rtl_time_estimator.cpp @@ -0,0 +1,267 @@ +/**************************************************************************** + * + * Copyright (C) 2024 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file rtl_time_estimator.cpp + * + * Helper class to calculate the remaining time estimate to go to RTL landing point. + * + */ + +#include "rtl_time_estimator.h" + +#include +#include + +#include +#include +#include + +RtlTimeEstimator::RtlTimeEstimator() : ModuleParams(nullptr) +{ + _param_mpc_z_v_auto_up = param_find("MPC_Z_V_AUTO_UP"); + _param_mpc_z_v_auto_dn = param_find("MPC_Z_V_AUTO_DN"); + _param_mpc_land_speed = param_find("MPC_LAND_SPEED"); + _param_fw_climb_rate = param_find("FW_T_CLMB_R_SP"); + _param_fw_sink_rate = param_find("FW_T_SINK_R_SP"); + _param_fw_airspeed_trim = param_find("FW_AIRSPD_TRIM"); + _param_mpc_xy_cruise = param_find("MPC_XY_CRUISE"); + _param_rover_cruise_speed = param_find("GND_SPEED_THR_SC"); +}; + +rtl_time_estimate_s RtlTimeEstimator::getEstimate() const +{ + rtl_time_estimate_s time_estimate{}; + + if (_is_valid && PX4_ISFINITE(_time_estimate)) { + time_estimate.valid = true; + time_estimate.time_estimate = _time_estimate; + // Use actual time estimate to compute the safer time estimate with additional scale factor and a margin + time_estimate.safe_time_estimate = _param_rtl_time_factor.get() * _time_estimate + _param_rtl_time_margin.get(); + + } else { + time_estimate.valid = false; + } + + time_estimate.timestamp = hrt_absolute_time(); + return time_estimate; +} + +void RtlTimeEstimator::update() +{ + _vehicle_status_sub.update(); + _wind_sub.update(); + + if (_parameter_update_sub.updated()) { + parameter_update_s param_update; + _parameter_update_sub.copy(¶m_update); + + // If any parameter updated, call updateParams() to check if + // this class attributes need updating (and do so). + updateParams(); + } +} + +void RtlTimeEstimator::addVertDistance(float alt) +{ + if (PX4_ISFINITE(alt)) { + _is_valid = true; + + _time_estimate += calcVertTimeEstimate(alt); + } +} + +void RtlTimeEstimator::addDistance(float hor_dist, const matrix::Vector2f &direction, float vert_dist) +{ + if (PX4_ISFINITE(hor_dist) && PX4_ISFINITE(vert_dist)) { + _is_valid = true; + + float hor_time_estimate{0.f}; + + if (hor_dist > FLT_EPSILON && PX4_ISFINITE(hor_dist)) { + hor_time_estimate = hor_dist / getCruiseGroundSpeed(direction.normalized()); + } + + float ver_time_estimate{calcVertTimeEstimate(vert_dist)}; + + _time_estimate += math::max(hor_time_estimate, ver_time_estimate); + + } +} + +void RtlTimeEstimator::addWait(float time_s) +{ + if (PX4_ISFINITE(time_s)) { + _is_valid = true; + + if (time_s > FLT_EPSILON) { + _time_estimate += time_s; + } + } +} + +void RtlTimeEstimator::addDescendMCLand(float alt) +{ + if (PX4_ISFINITE(alt)) { + _is_valid = true; + + if (alt < -FLT_EPSILON && PX4_ISFINITE(alt)) { + _time_estimate += -alt / getHoverLandSpeed(); + } + } +} + +float RtlTimeEstimator::getCruiseGroundSpeed(const matrix::Vector2f &direction_norm) +{ + float cruise_speed = getCruiseSpeed(); + + if (_vehicle_status_sub.get().vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING) { + matrix::Vector2f wind = get_wind(); + + const float wind_along_dir = wind.dot(direction_norm); + const float wind_across_dir = matrix::Vector2f(wind - direction_norm * wind_along_dir).norm(); + + // Note: use fminf so that we don't _rely_ on tailwind towards direction to make RTL more efficient + const float ground_speed = sqrtf(cruise_speed * cruise_speed - wind_across_dir * wind_across_dir) + fminf( + 0.f, wind_along_dir); + + cruise_speed = ground_speed; + } + + return cruise_speed; +} + +float RtlTimeEstimator::calcVertTimeEstimate(float alt) +{ + float vertical_rate{0.1f}; + float time_estimate{0.f}; + + if (alt > FLT_EPSILON) { + vertical_rate = getClimbRate(); + + } else { + vertical_rate = getDescendRate(); + } + + float abs_alt = fabsf(alt); + + if (abs_alt > FLT_EPSILON) { + time_estimate = abs_alt / vertical_rate; + } + + return time_estimate; +} + +float RtlTimeEstimator::getCruiseSpeed() +{ + float ret = 1e6f; + + if (_vehicle_status_sub.get().vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) { + if (_param_mpc_xy_cruise == PARAM_INVALID || param_get(_param_mpc_xy_cruise, &ret) != PX4_OK) { + ret = 1e6f; + } + + } else if (_vehicle_status_sub.get().vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING) { + if (_param_fw_airspeed_trim == PARAM_INVALID || param_get(_param_fw_airspeed_trim, &ret) != PX4_OK) { + ret = 1e6f; + } + + } else if (_vehicle_status_sub.get().vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROVER) { + if (_param_rover_cruise_speed == PARAM_INVALID || param_get(_param_rover_cruise_speed, &ret) != PX4_OK) { + ret = 1e6f; + } + } + + return ret; +} + +float RtlTimeEstimator::getHoverLandSpeed() +{ + float ret = 1e6f; + + if (_param_mpc_land_speed == PARAM_INVALID || param_get(_param_mpc_land_speed, &ret) != PX4_OK) { + ret = 1e6f; + } + + return ret; +} + +matrix::Vector2f RtlTimeEstimator::get_wind() +{ + _wind_sub.update(); + matrix::Vector2f wind{}; + + if (hrt_absolute_time() - _wind_sub.get().timestamp < 1_s) { + wind(0) = _wind_sub.get().windspeed_north; + wind(1) = _wind_sub.get().windspeed_east; + } + + return wind; +} + +float RtlTimeEstimator::getClimbRate() +{ + float ret = 1e6f; + + if (_vehicle_status_sub.get().vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) { + if (_param_mpc_z_v_auto_up == PARAM_INVALID || param_get(_param_mpc_z_v_auto_up, &ret) != PX4_OK) { + ret = 1e6f; + } + + } else if (_vehicle_status_sub.get().vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING) { + + if (_param_fw_climb_rate == PARAM_INVALID || param_get(_param_fw_climb_rate, &ret) != PX4_OK) { + ret = 1e6f; + } + } + + return ret; +} + +float RtlTimeEstimator::getDescendRate() +{ + float ret = 1e6f; + + if (_vehicle_status_sub.get().vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) { + if (_param_mpc_z_v_auto_dn == PARAM_INVALID || param_get(_param_mpc_z_v_auto_dn, &ret) != PX4_OK) { + ret = 1e6f; + } + + } else if (_vehicle_status_sub.get().vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING) { + if (_param_fw_sink_rate == PARAM_INVALID || param_get(_param_fw_sink_rate, &ret) != PX4_OK) { + ret = 1e6f; + } + } + + return ret; +} diff --git a/src/lib/rtl/rtl_time_estimator.h b/src/lib/rtl/rtl_time_estimator.h new file mode 100644 index 000000000000..db0f8c234ea3 --- /dev/null +++ b/src/lib/rtl/rtl_time_estimator.h @@ -0,0 +1,146 @@ +/**************************************************************************** + * + * Copyright (C) 2024 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file rtl_time_estimator.h + * + * Helper class to calculate the remaining time estimate to go to RTL landing point. + * + */ + +#ifndef RTL_TIME_ESTIMATOR_H_ +#define RTL_TIME_ESTIMATOR_H_ + +#include + +#include +#include +#include +#include +#include +#include + +#include + +using namespace time_literals; + +class Navigator; + +class RtlTimeEstimator : public ModuleParams +{ +public: + RtlTimeEstimator(); + ~RtlTimeEstimator() = default; + + void update(); + void reset() { _time_estimate = 0.f; _is_valid = false;}; + rtl_time_estimate_s getEstimate() const; + void addDistance(float hor_dist, const matrix::Vector2f &hor_direction, float vert_dist); + void addVertDistance(float alt); + void addWait(float time_s); + void addDescendMCLand(float alt); + +private: + /** + * @brief Get the Cruise Ground Speed + * + * @param direction_norm normalized direction in which to fly + * @return Ground speed in cruise mode [m/s]. + */ + float getCruiseGroundSpeed(const matrix::Vector2f &direction_norm); + + /** + * @brief Get time estimate of vertical distance + * + */ + float calcVertTimeEstimate(float alt); + + /** + * @brief Get the climb rate + * + * @return Climb rate [m/s] + */ + float getClimbRate(); + + /** + * @brief Get the descend rate + * + * @return descend rate [m/s] + */ + float getDescendRate(); + + /** + * @brief Get the cruise speed + * + * @return cruise speed [m/s] + */ + float getCruiseSpeed(); + + /** + * @brief Get the Hover Land Speed + * + * @return Hover land speed [m/s] + */ + float getHoverLandSpeed(); + + /** + * @brief Get the horizontal wind velocity + * + * @return horizontal wind velocity. + */ + matrix::Vector2f get_wind(); + + float _time_estimate; /**< Accumulated time estimate [s] */ + bool _is_valid{false}; /**< Checks if time estimate is valid */ + + DEFINE_PARAMETERS( + (ParamFloat) _param_rtl_time_factor, /**< Safety factory for safe time estimate */ + (ParamInt) _param_rtl_time_margin /**< Safety margin for safe time estimate */ + ) + + param_t _param_mpc_z_v_auto_up{PARAM_INVALID}; /**< MC climb velocity parameter */ + param_t _param_mpc_z_v_auto_dn{PARAM_INVALID}; /**< MC descend velocity parameter */ + param_t _param_mpc_land_speed{PARAM_INVALID}; /**< MC land descend speed parameter */ + param_t _param_fw_climb_rate{PARAM_INVALID}; /**< FW climb speed parameter */ + param_t _param_fw_sink_rate{PARAM_INVALID}; /**< FW descend speed parameter */ + + param_t _param_fw_airspeed_trim{PARAM_INVALID}; /**< FW cruise airspeed parameter */ + param_t _param_mpc_xy_cruise{PARAM_INVALID}; /**< MC horizontal cruise speed parameter */ + param_t _param_rover_cruise_speed{PARAM_INVALID}; /**< Rover cruise speed parameter */ + + uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s}; /**< Parameter update topic */ + uORB::SubscriptionData _vehicle_status_sub{ORB_ID(vehicle_status)}; /**< vehicle status subscription */ + uORB::SubscriptionData _wind_sub{ORB_ID(wind)}; /**< wind topic */ +}; + +#endif /* RTL_TIME_ESTIMATOR_H_ */ diff --git a/src/lib/sensor_calibration/Magnetometer.cpp b/src/lib/sensor_calibration/Magnetometer.cpp index efb2b8c1b2d0..95079371ec1e 100644 --- a/src/lib/sensor_calibration/Magnetometer.cpp +++ b/src/lib/sensor_calibration/Magnetometer.cpp @@ -65,12 +65,52 @@ void Magnetometer::set_device_id(uint32_t device_id) Reset(); ParametersUpdate(); + SensorCorrectionsUpdate(true); + } +} + +void Magnetometer::SensorCorrectionsUpdate(bool force) +{ + // check if the selected sensor has updated + if (_sensor_correction_sub.updated() || force) { + + // valid device id required + if (_device_id == 0) { + return; + } + + sensor_correction_s corrections; + + if (_sensor_correction_sub.copy(&corrections)) { + // find sensor_corrections index + for (int i = 0; i < MAX_SENSOR_COUNT; i++) { + if (corrections.mag_device_ids[i] == _device_id) { + switch (i) { + case 0: + _thermal_offset = Vector3f{corrections.mag_offset_0}; + return; + case 1: + _thermal_offset = Vector3f{corrections.mag_offset_1}; + return; + case 2: + _thermal_offset = Vector3f{corrections.mag_offset_2}; + return; + case 3: + _thermal_offset = Vector3f{corrections.mag_offset_3}; + return; + } + } + } + } + + // zero thermal offset if not found + _thermal_offset.zero(); } } bool Magnetometer::set_offset(const Vector3f &offset) { - if (Vector3f(_offset - offset).longerThan(0.01f)) { + if (Vector3f(_offset - offset).longerThan(0.005f)) { if (offset.isAllFinite()) { _offset = offset; _calibration_count++; @@ -119,12 +159,39 @@ bool Magnetometer::set_offdiagonal(const Vector3f &offdiagonal) return false; } -void Magnetometer::set_rotation(Rotation rotation) +void Magnetometer::set_rotation(const Rotation rotation) +{ + if (rotation < ROTATION_MAX) { + _rotation_enum = rotation; + + } else { + // invalid rotation, resetting + _rotation_enum = ROTATION_NONE; + } + + // always apply level adjustments + _rotation = Dcmf(GetSensorLevelAdjustment()) * get_rot_matrix(_rotation_enum); + + // clear any custom rotation + _rotation_custom_euler.zero(); +} + +void Magnetometer::set_custom_rotation(const Eulerf &rotation) { - _rotation_enum = rotation; + _rotation_enum = ROTATION_CUSTOM; + + // store custom rotation + _rotation_custom_euler = rotation; // always apply board level adjustments - _rotation = Dcmf(GetSensorLevelAdjustment()) * get_rot_matrix(rotation); + _rotation = Dcmf(GetSensorLevelAdjustment()) * Dcmf(_rotation_custom_euler); + + // TODO: Note that ideally this shouldn't be necessary for an external sensors, as the definition of *rotation + // between sensor frame & vehicle's body frame isn't affected by the rotation of the Autopilot. + // however, since while doing the 'level-calibration', users don't put the vehicle truly *horizontal, the + // measured board roll/pitch offset isn't true. So this affects external sensors as well (which is why we apply + // internal SensorLevelAdjustment to all the sensors). We need to figure out how to set the sensor board offset + // values properly (i.e. finding Vehicle's true Forward-Right-Down frame in a user's perspective) } bool Magnetometer::set_calibration_index(int calibration_index) @@ -160,13 +227,39 @@ bool Magnetometer::ParametersLoad() // CAL_MAGx_ROT int32_t rotation_value = GetCalibrationParamInt32(SensorString(), "ROT", _calibration_index); + const float euler_roll_deg = GetCalibrationParamFloat(SensorString(), "ROLL", _calibration_index); + const float euler_pitch_deg = GetCalibrationParamFloat(SensorString(), "PITCH", _calibration_index); + const float euler_yaw_deg = GetCalibrationParamFloat(SensorString(), "YAW", _calibration_index); + if (_external) { - if ((rotation_value >= ROTATION_MAX) || (rotation_value < 0)) { + if (((rotation_value >= ROTATION_MAX) && (rotation_value != ROTATION_CUSTOM)) || (rotation_value < 0)) { // invalid rotation, resetting rotation_value = ROTATION_NONE; } - set_rotation(static_cast(rotation_value)); + // if CAL_MAGx_{ROLL,PITCH,YAW} manually set then CAL_MAGx_ROT needs to be ROTATION_CUSTOM + if ((rotation_value != ROTATION_CUSTOM) + && ((fabsf(euler_roll_deg) > FLT_EPSILON) + || (fabsf(euler_pitch_deg) > FLT_EPSILON) + || (fabsf(euler_yaw_deg) > FLT_EPSILON))) { + + rotation_value = ROTATION_CUSTOM; + SetCalibrationParam(SensorString(), "ROT", _calibration_index, rotation_value); + } + + // Handle custom specified euler angle + if (rotation_value == ROTATION_CUSTOM) { + + const matrix::Eulerf rotation_custom_euler{ + math::radians(euler_roll_deg), + math::radians(euler_pitch_deg), + math::radians(euler_yaw_deg)}; + + set_custom_rotation(rotation_custom_euler); + + } else { + set_rotation(static_cast(rotation_value)); + } } else { // internal sensors follow board rotation @@ -271,6 +364,10 @@ bool Magnetometer::ParametersSave(int desired_calibration_index, bool force) success &= SetCalibrationParam(SensorString(), "ROT", _calibration_index, -1); // internal } + success &= SetCalibrationParam(SensorString(), "ROLL", _calibration_index, math::degrees(_rotation_custom_euler(0))); + success &= SetCalibrationParam(SensorString(), "PITCH", _calibration_index, math::degrees(_rotation_custom_euler(1))); + success &= SetCalibrationParam(SensorString(), "YAW", _calibration_index, math::degrees(_rotation_custom_euler(2))); + return success; } diff --git a/src/lib/sensor_calibration/Magnetometer.hpp b/src/lib/sensor_calibration/Magnetometer.hpp index 481cc58e8d4c..8d328e7a7d11 100644 --- a/src/lib/sensor_calibration/Magnetometer.hpp +++ b/src/lib/sensor_calibration/Magnetometer.hpp @@ -39,6 +39,7 @@ #include #include #include +#include namespace calibration { @@ -64,8 +65,21 @@ class Magnetometer bool set_offset(const matrix::Vector3f &offset); bool set_scale(const matrix::Vector3f &scale); bool set_offdiagonal(const matrix::Vector3f &offdiagonal); + + /** + * @brief Set the rotation enum & corresponding rotation matrix for Magnetometer + * + * @param rotation Rotation enum + */ void set_rotation(Rotation rotation); + /** + * @brief Set the custom rotation & rotation enum to ROTATION_CUSTOM for Magnetometer + * + * @param rotation Rotation euler angles + */ + void set_custom_rotation(const matrix::Eulerf &rotation); + bool calibrated() const { return (_device_id != 0) && (_calibration_index >= 0); } uint8_t calibration_count() const { return _calibration_count; } int8_t calibration_index() const { return _calibration_index; } @@ -98,15 +112,27 @@ class Magnetometer void Reset(); + void SensorCorrectionsUpdate(bool force = false); + void UpdatePower(float power) { _power = power; } private: + uORB::Subscription _sensor_correction_sub{ORB_ID(sensor_correction)}; + Rotation _rotation_enum{ROTATION_NONE}; + /** + * @brief 3 x 3 Rotation matrix that translates from sensor frame (XYZ) to vehicle body frame (FRD) + */ matrix::Dcmf _rotation; + + matrix::Eulerf _rotation_custom_euler{0.f, 0.f, 0.f}; // custom rotation euler angles (optional) + matrix::Vector3f _offset; matrix::Matrix3f _scale; + matrix::Vector3f _thermal_offset; matrix::Vector3f _power_compensation; + float _power{0.f}; int8_t _calibration_index{-1}; diff --git a/src/lib/sensor_calibration/Utilities.cpp b/src/lib/sensor_calibration/Utilities.cpp index dd3f2d8cb268..f1c864bf3fe1 100644 --- a/src/lib/sensor_calibration/Utilities.cpp +++ b/src/lib/sensor_calibration/Utilities.cpp @@ -64,7 +64,7 @@ int8_t FindCurrentCalibrationIndex(const char *sensor_type, uint32_t device_id) for (unsigned i = 0; i < MAX_SENSOR_COUNT; ++i) { char str[20] {}; - sprintf(str, "CAL_%s%u_ID", sensor_type, i); + snprintf(str, sizeof(str), "CAL_%s%u_ID", sensor_type, i); int32_t device_id_val = 0; @@ -103,7 +103,7 @@ int8_t FindAvailableCalibrationIndex(const char *sensor_type, uint32_t device_id for (unsigned i = 0; i < MAX_SENSOR_COUNT; ++i) { char str[20] {}; - sprintf(str, "CAL_%s%u_ID", sensor_type, i); + snprintf(str, sizeof(str), "CAL_%s%u_ID", sensor_type, i); int32_t device_id_val = 0; if (param_get(param_find_no_notification(str), &device_id_val) == PX4_OK) { @@ -138,7 +138,7 @@ int32_t GetCalibrationParamInt32(const char *sensor_type, const char *cal_type, { // eg CAL_MAGn_ID/CAL_MAGn_ROT char str[20] {}; - sprintf(str, "CAL_%s%" PRIu8 "_%s", sensor_type, instance, cal_type); + snprintf(str, sizeof(str), "CAL_%s%" PRIu8 "_%s", sensor_type, instance, cal_type); int32_t value = 0; @@ -153,7 +153,7 @@ float GetCalibrationParamFloat(const char *sensor_type, const char *cal_type, ui { // eg CAL_BAROn_OFF char str[20] {}; - sprintf(str, "CAL_%s%" PRIu8 "_%s", sensor_type, instance, cal_type); + snprintf(str, sizeof(str), "CAL_%s%" PRIu8 "_%s", sensor_type, instance, cal_type); float value = NAN; @@ -174,7 +174,7 @@ Vector3f GetCalibrationParamsVector3f(const char *sensor_type, const char *cal_t char axis_char = 'X' + axis; // eg CAL_MAGn_{X,Y,Z}OFF - sprintf(str, "CAL_%s%" PRIu8 "_%c%s", sensor_type, instance, axis_char, cal_type); + snprintf(str, sizeof(str), "CAL_%s%" PRIu8 "_%c%s", sensor_type, instance, axis_char, cal_type); if (param_get(param_find(str), &values(axis)) != 0) { PX4_ERR("failed to get %s", str); @@ -193,7 +193,7 @@ bool SetCalibrationParamsVector3f(const char *sensor_type, const char *cal_type, char axis_char = 'X' + axis; // eg CAL_MAGn_{X,Y,Z}OFF - sprintf(str, "CAL_%s%" PRIu8 "_%c%s", sensor_type, instance, axis_char, cal_type); + snprintf(str, sizeof(str), "CAL_%s%" PRIu8 "_%c%s", sensor_type, instance, axis_char, cal_type); if (param_set_no_notification(param_find(str), &values(axis)) != 0) { PX4_ERR("failed to set %s = %.4f", str, (double)values(axis)); @@ -222,7 +222,7 @@ enum Rotation GetBoardRotation() int32_t board_rot = -1; param_get(param_find("SENS_BOARD_ROT"), &board_rot); - if (board_rot >= 0 && board_rot <= Rotation::ROTATION_MAX) { + if (board_rot >= 0 && board_rot < Rotation::ROTATION_MAX) { return static_cast(board_rot); } else { diff --git a/src/lib/sensor_calibration/Utilities.hpp b/src/lib/sensor_calibration/Utilities.hpp index 4696f01f369a..b825ad149665 100644 --- a/src/lib/sensor_calibration/Utilities.hpp +++ b/src/lib/sensor_calibration/Utilities.hpp @@ -88,7 +88,7 @@ bool SetCalibrationParam(const char *sensor_type, const char *cal_type, uint8_t char str[20] {}; // eg CAL_MAGn_ID/CAL_MAGn_ROT - sprintf(str, "CAL_%s%u_%s", sensor_type, instance, cal_type); + snprintf(str, sizeof(str), "CAL_%s%u_%s", sensor_type, instance, cal_type); int ret = param_set_no_notification(param_find(str), &value); diff --git a/src/lib/slew_rate/SlewRate.hpp b/src/lib/slew_rate/SlewRate.hpp index 945276fedc0d..363f2d2cc70e 100644 --- a/src/lib/slew_rate/SlewRate.hpp +++ b/src/lib/slew_rate/SlewRate.hpp @@ -49,6 +49,7 @@ class SlewRate { public: SlewRate() = default; + SlewRate(Type initial_value) { setForcedValue(initial_value); } ~SlewRate() = default; /** diff --git a/src/lib/system_identification/signal_generator.hpp b/src/lib/system_identification/signal_generator.hpp new file mode 100644 index 000000000000..b61b0991cdef --- /dev/null +++ b/src/lib/system_identification/signal_generator.hpp @@ -0,0 +1,66 @@ +/**************************************************************************** + * + * Copyright (c) 2024 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file signal_generator.hpp + */ + +#pragma once + +namespace signal_generator +{ + +inline float getLinearSineSweep(float f_start, float f_end, float duration, float t) +{ + if (t > duration) { + return 0.f; + } + + const float w_start = f_start * M_TWOPI_F; + const float w_end = f_end * M_TWOPI_F; + + return sinf(w_start * t + 0.5f * (w_end - w_start) * t * t / duration); +} + +inline float getLogSineSweep(float f_start, float f_end, float duration, float t) +{ + if (t > duration) { + return 0.f; + } + + const float f_ratio = f_end / fmaxf(f_start, 0.1f); + + return sinf(M_TWOPI_F * f_start * duration * (powf(f_ratio, t / duration) - 1.f) / logf(f_ratio)); +} + +} /* namespace signal_generator */ diff --git a/src/lib/systemlib/hardfault_log.h b/src/lib/systemlib/hardfault_log.h index 574a2628cafe..678a0398f3ed 100644 --- a/src/lib/systemlib/hardfault_log.h +++ b/src/lib/systemlib/hardfault_log.h @@ -147,7 +147,57 @@ typedef struct progmem_s dump_s; PROGMEM_SIZE_FN3, /* For the Panic Log use rest of space */ \ 0 /* End of table marker */ \ } -#else /* HAS_PROGMEM */ +#elif defined(HAS_SSARC) + +typedef struct ssarc_s dump_s; + +#define HARDFAULT_REBOOT_FILENO 0 +#define HARDFAULT_REBOOT_PATH SSARC_DUMP_PATH "" STRINGIFY(HARDFAULT_REBOOT_FILENO) +#define HARDFAULT_ULOG_FILENO 3 +#define HARDFAULT_ULOG_PATH SSARC_DUMP_PATH "" STRINGIFY(HARDFAULT_ULOG_FILENO) +#define HARDFAULT_FILENO 4 +#define HARDFAULT_PATH SSARC_DUMP_PATH "" STRINGIFY(HARDFAULT_FILENO) + +#define HARDFAULT_MAX_ULOG_FILE_LEN 64 /* must be large enough to store the full path to the log file */ + +#define SSARC_DUMP_SIZE_FN0 ((((sizeof(int)) / PX4_SSARC_BLOCK_DATA) + 1) * PX4_SSARC_BLOCK_DATA) +#define SSARC_DUMP_SIZE_FN1 (((384 / PX4_SSARC_BLOCK_DATA) + 1) * PX4_SSARC_BLOCK_DATA) /* greater then 2.5 times the size of vehicle_status_s */ +#define SSARC_DUMP_SIZE_FN2 (((384 / PX4_SSARC_BLOCK_DATA) + 1) * PX4_SSARC_BLOCK_DATA) /* greater then 2.5 times the size of vehicle_status_s */ +#define SSARC_DUMP_SIZE_FN3 (((HARDFAULT_MAX_ULOG_FILE_LEN / PX4_SSARC_BLOCK_DATA) + 1) * PX4_SSARC_BLOCK_DATA) +#define SSARC_DUMP_SIZE_FN4 -1 + +/* The following guides in the amount of the user and interrupt stack + * data we can save. The amount of storage left will dictate the actual + * number of entries of the user stack data saved. If it is too big + * It will be truncated by the call to savepanic + */ +#define SSARC_DUMP_HEADER_SIZE PX4_SSARC_HEADER_SIZE + 32 /* This is an assumption */ +#define SSARC_DUMP_USED ((5*SSARC_DUMP_HEADER_SIZE)+(SSARC_DUMP_SIZE_FN0+SSARC_DUMP_SIZE_FN1+SSARC_DUMP_SIZE_FN2+SSARC_DUMP_SIZE_FN3)) +#define SSARC_DUMP_REMAINING (PX4_SSARC_DUMP_SIZE-SSARC_DUMP_USED) +#if CONFIG_ARCH_INTERRUPTSTACK <= 3 +# define SSARC_DUMP_NUMBER_STACKS 1 +#else +# define SSARC_DUMP_NUMBER_STACKS 2 +#endif +#define SSARC_DUMP_FIXED_ELEMENTS_SIZE (sizeof(info_s)) +#define SSARC_DUMP_LEFTOVER (SSARC_DUMP_REMAINING-SSARC_DUMP_FIXED_ELEMENTS_SIZE) + +#define CONFIG_ISTACK_SIZE (SSARC_DUMP_LEFTOVER/SSARC_DUMP_NUMBER_STACKS/sizeof(stack_word_t)) +#define CONFIG_USTACK_SIZE (SSARC_DUMP_LEFTOVER/SSARC_DUMP_NUMBER_STACKS/sizeof(stack_word_t)) + +#define SSARC_DUMP_FILE_COUNT 5 +/* The path to the Battery Backed up SRAM */ +#define SSARC_DUMP_PATH "/fs/ssarc" +/* The sizes of the files to create (-1) use rest of BBSRAM memory */ +#define SSARC_DUMP_FILE_SIZES { \ + SSARC_DUMP_SIZE_FN0, /* For Time stamp only */ \ + SSARC_DUMP_SIZE_FN1, /* For Current Flight Parameters Copy A */ \ + SSARC_DUMP_SIZE_FN2, /* For Current Flight Parameters Copy B */ \ + SSARC_DUMP_SIZE_FN3, /* For the latest ULog file path */ \ + SSARC_DUMP_SIZE_FN4, /* For the Panic Log use rest of space */ \ + 0 /* End of table marker */ \ + } +#else /* HAS_SSARC */ #define CONFIG_ISTACK_SIZE 0 #define CONFIG_USTACK_SIZE 0 @@ -163,7 +213,7 @@ typedef struct progmem_s dump_s; * Specifier to the xxxx_NUM definei.e %Y is YYYY so add 2 and %s is -2 * Also xxxxTIME_FMT need to match in size. See CCASERT in hardfault_log.c */ -#define LOG_PATH_BASE "/fs/microsd/" +#define LOG_PATH_BASE CONFIG_BOARD_ROOT_PATH "/" #define LOG_PATH_BASE_LEN ((arraySize(LOG_PATH_BASE))-1) #define LOG_NAME_FMT "fault_%s.log" diff --git a/src/lib/systemlib/mavlink_log.cpp b/src/lib/systemlib/mavlink_log.cpp index d31136f21530..94870af7ae12 100644 --- a/src/lib/systemlib/mavlink_log.cpp +++ b/src/lib/systemlib/mavlink_log.cpp @@ -73,6 +73,6 @@ __EXPORT void mavlink_vasprintf(int severity, orb_advert_t *mavlink_log_pub, con orb_publish(ORB_ID(mavlink_log), *mavlink_log_pub, &log_msg); } else { - *mavlink_log_pub = orb_advertise_queue(ORB_ID(mavlink_log), &log_msg, mavlink_log_s::ORB_QUEUE_LENGTH); + *mavlink_log_pub = orb_advertise(ORB_ID(mavlink_log), &log_msg); } } diff --git a/src/lib/systemlib/otp.c b/src/lib/systemlib/otp.c index ee1c4f865c3e..d2e83ae0748c 100644 --- a/src/lib/systemlib/otp.c +++ b/src/lib/systemlib/otp.c @@ -53,7 +53,6 @@ #include "err.h" // warnx #include - int val_read(void *dest, volatile const void *src, int bytes) { @@ -144,8 +143,6 @@ int lock_otp(void) return errors; } - - // COMPLETE, BUSY, or other flash error? static int F_GetStatus(void) { @@ -177,7 +174,7 @@ void F_unlock(void) } } -// lock the FLASH Registers +// lock the FLASH Registers void F_lock(void) { FLASH->control |= F_CR_LOCK; @@ -233,6 +230,3 @@ int F_write_byte(unsigned long Address, uint8_t Data) //Return the Program Status return !(status == F_COMPLETE); } - - - diff --git a/src/lib/systemlib/ppm_decode.h b/src/lib/systemlib/ppm_decode.h index 5079def84c09..b5c18a368bdc 100644 --- a/src/lib/systemlib/ppm_decode.h +++ b/src/lib/systemlib/ppm_decode.h @@ -61,4 +61,4 @@ __EXPORT extern uint16_t ppm_frame_length; /**< length of the decoded PPM fra __EXPORT extern unsigned ppm_decoded_channels; /**< count of decoded channels */ __EXPORT extern hrt_abstime ppm_last_valid_decode; /**< timestamp of the last valid decode */ -__END_DECLS \ No newline at end of file +__END_DECLS diff --git a/src/lib/systemlib/system_params.c b/src/lib/systemlib/system_params.c index f019b6f2d004..1ca273be8473 100644 --- a/src/lib/systemlib/system_params.c +++ b/src/lib/systemlib/system_params.c @@ -84,18 +84,17 @@ PARAM_DEFINE_INT32(SYS_AUTOCONFIG, 0); PARAM_DEFINE_INT32(SYS_HITL, 0); /** - * Set multicopter estimator group + * Parameter version * - * Set the group of estimators used for multicopters and VTOLs + * This is used internally only: an airframe configuration might set an expected + * parameter version value via PARAM_DEFAULTS_VER. This is checked on bootup + * against SYS_PARAM_VER, and if they do not match, parameters are reset and + * reloaded from the airframe configuration. * - * @value 1 local_position_estimator, attitude_estimator_q (unsupported) - * @value 2 ekf2 (recommended) - * @value 3 Q attitude estimator (no position) - * - * @reboot_required true + * @min 0 * @group System */ -PARAM_DEFINE_INT32(SYS_MC_EST_GROUP, 2); +PARAM_DEFINE_INT32(SYS_PARAM_VER, 1); /** * Enable auto start of rate gyro thermal calibration at the next power up. @@ -217,13 +216,24 @@ PARAM_DEFINE_INT32(SYS_HAS_MAG, 1); PARAM_DEFINE_INT32(SYS_HAS_BARO, 1); /** - * Control the number of distance sensors on the vehicle + * Control if the vehicle has an airspeed sensor * - * If set to the number of distance sensors, the preflight check will check - * for their presence and valid data publication. Disable with 0 if no distance - * sensor present or to disable the preflight check. + * Set this to 0 if the board has no airspeed sensor. + * If set to 0, the preflight checks will not check for the presence of an + * airspeed sensor. * - * @reboot_required true + * @group System + * @min 0 + * @max 1 + */ +PARAM_DEFINE_INT32(SYS_HAS_NUM_ASPD, 0); + +/** + * Number of distance sensors to check being available + * + * The preflight check will fail if fewer than this number of distance sensors with valid data is present. + * + * Disable the check with 0. * * @group System * @min 0 @@ -239,7 +249,9 @@ PARAM_DEFINE_INT32(SYS_HAS_NUM_DIST, 0); * Note: this is only supported on boards with a separate calibration storage * /fs/mtd_caldata. * - * @boolean + * @value 0 Disabled + * @value 1 All sensors + * @value 2 All sensors except mag * @group System */ PARAM_DEFINE_INT32(SYS_FAC_CAL_MODE, 0); diff --git a/src/lib/tecs/TECS.cpp b/src/lib/tecs/TECS.cpp index 5b6f5f2ffc91..4a6d3593e894 100644 --- a/src/lib/tecs/TECS.cpp +++ b/src/lib/tecs/TECS.cpp @@ -52,10 +52,17 @@ using namespace time_literals; static inline constexpr bool TIMESTAMP_VALID(float dt) { return (PX4_ISFINITE(dt) && dt > FLT_EPSILON);} -void TECSAirspeedFilter::initialize(const float equivalent_airspeed) +void TECSAirspeedFilter::initialize(const float equivalent_airspeed, const float equivalent_airspeed_trim, + const bool airspeed_sensor_available) { - _airspeed_state.speed = equivalent_airspeed; - _airspeed_state.speed_rate = 0.0f; + if (airspeed_sensor_available && PX4_ISFINITE(equivalent_airspeed)) { + _airspeed_state.speed = equivalent_airspeed; + + } else { + _airspeed_state.speed = equivalent_airspeed_trim; + } + + _airspeed_state.speed_rate = 0.f; } void TECSAirspeedFilter::update(const float dt, const Input &input, const Param ¶m, @@ -156,6 +163,10 @@ void TECSAltitudeReferenceModel::update(const float dt, const AltitudeReferenceS _alt_control_traj_generator.setMaxAccel(param.vert_accel_limit); _alt_control_traj_generator.setMaxVel(fmax(param.max_climb_rate, param.max_sink_rate)); + // XXX: this is a bit risky.. .alt_rate here could be NAN (by interface design) - and is only ok to input to the + // setVelSpFeedback() method because it calls the reset in the logic below when it is NAN. + // TODO: stop it with the NAN interfaces, make sure to take care of this when refactoring and separating altitude + // and height rate control loops. _velocity_control_traj_generator.setVelSpFeedback(setpoint.alt_rate); bool control_altitude = true; @@ -220,6 +231,8 @@ void TECSControl::initialize(const Setpoint &setpoint, const Input &input, Param AltitudePitchControl control_setpoint; + control_setpoint.tas_setpoint = setpoint.tas_setpoint; + control_setpoint.tas_rate_setpoint = _calcAirspeedControlOutput(setpoint, input, param, flag); control_setpoint.altitude_rate_setpoint = _calcAltitudeControlOutput(setpoint, input, param); @@ -263,6 +276,7 @@ void TECSControl::update(const float dt, const Setpoint &setpoint, const Input & AltitudePitchControl control_setpoint; + control_setpoint.tas_setpoint = setpoint.tas_setpoint; control_setpoint.tas_rate_setpoint = _calcAirspeedControlOutput(setpoint, input, param, flag); if (PX4_ISFINITE(setpoint.altitude_rate_setpoint_direct)) { @@ -309,9 +323,11 @@ float TECSControl::_calcAirspeedControlOutput(const Setpoint &setpoint, const In // if airspeed measurement is not enabled then always set the rate setpoint to zero in order to avoid constant rate setpoints if (flag.airspeed_enabled) { // Calculate limits for the demanded rate of change of speed based on physical performance limits - // with a 50% margin to allow the total energy controller to correct for errors. - const float max_tas_rate_sp = 0.5f * limit.STE_rate_max / math::max(input.tas, FLT_EPSILON); - const float min_tas_rate_sp = 0.5f * limit.STE_rate_min / math::max(input.tas, FLT_EPSILON); + // with a 50% margin to allow the total energy controller to correct for errors. Increase it in case of fast descend + const float max_tas_rate_sp = (param.fast_descend * 0.5f + 0.5f) * limit.STE_rate_max / math::max(input.tas, + FLT_EPSILON); + const float min_tas_rate_sp = (param.fast_descend * 0.5f + 0.5f) * limit.STE_rate_min / math::max(input.tas, + FLT_EPSILON); airspeed_rate_output = constrain((setpoint.tas_setpoint - input.tas) * param.airspeed_error_gain, min_tas_rate_sp, max_tas_rate_sp); } @@ -337,7 +353,7 @@ TECSControl::SpecificEnergyRates TECSControl::_calcSpecificEnergyRates(const Alt // Calculate specific energy rate demands in units of (m**2/sec**3) specific_energy_rates.spe_rate.setpoint = control_setpoint.altitude_rate_setpoint * CONSTANTS_ONE_G; // potential energy rate of change - specific_energy_rates.ske_rate.setpoint = input.tas * + specific_energy_rates.ske_rate.setpoint = control_setpoint.tas_setpoint * control_setpoint.tas_rate_setpoint; // kinetic energy rate of change // Calculate specific energy rates in units of (m**2/sec**3) @@ -349,7 +365,7 @@ TECSControl::SpecificEnergyRates TECSControl::_calcSpecificEnergyRates(const Alt void TECSControl::_detectUnderspeed(const Input &input, const Param ¶m, const Flag &flag) { - if (!flag.detect_underspeed_enabled) { + if (!flag.detect_underspeed_enabled || !flag.airspeed_enabled) { _ratio_undersped = 0.0f; return; } @@ -383,19 +399,20 @@ TECSControl::SpecificEnergyWeighting TECSControl::_updateSpeedAltitudeWeights(co } else if (!flag.airspeed_enabled) { pitch_speed_weight = 0.0f; + } else if (param.fast_descend > FLT_EPSILON) { + // pitch loop controls the airspeed to max + pitch_speed_weight = 1.f + param.fast_descend; + } - // don't allow any weight to be larger than one, as it has the same effect as reducing the control - // loop time constant and therefore can lead to a destabilization of that control loop - weight.spe_weighting = constrain(2.0f - pitch_speed_weight, 0.f, 1.f); - weight.ske_weighting = constrain(pitch_speed_weight, 0.f, 1.f); + weight.spe_weighting = constrain(2.0f - pitch_speed_weight, 0.f, 2.f); + weight.ske_weighting = constrain(pitch_speed_weight, 0.f, 2.f); return weight; } void TECSControl::_calcPitchControl(float dt, const Input &input, const SpecificEnergyRates &specific_energy_rates, - const Param ¶m, - const Flag &flag) + const Param ¶m, const Flag &flag) { const SpecificEnergyWeighting weight{_updateSpeedAltitudeWeights(param, flag)}; ControlValues seb_rate{_calcPitchControlSebRate(weight, specific_energy_rates)}; @@ -408,6 +425,7 @@ void TECSControl::_calcPitchControl(float dt, const Input &input, const Specific const float pitch_increment = dt * param.vert_accel_limit / math::max(input.tas, FLT_EPSILON); _pitch_setpoint = constrain(pitch_setpoint, _pitch_setpoint - pitch_increment, _pitch_setpoint + pitch_increment); + _pitch_setpoint = constrain(_pitch_setpoint, param.pitch_min, param.pitch_max); //Debug Output _debug_output.energy_balance_rate_estimate = seb_rate.estimate; @@ -469,8 +487,15 @@ void TECSControl::_calcPitchControlUpdate(float dt, const Input &input, const Co float TECSControl::_calcPitchControlOutput(const Input &input, const ControlValues &seb_rate, const Param ¶m, const Flag &flag) const { + float airspeed_for_seb_rate = param.equivalent_airspeed_trim; + + // avoid division by zero by checking if airspeed is finite and greater than zero + if (flag.airspeed_enabled && PX4_ISFINITE(input.tas) && input.tas > FLT_EPSILON) { + airspeed_for_seb_rate = input.tas; + } + // Calculate derivative from change in climb angle to rate of change of specific energy balance - const float climb_angle_to_SEB_rate = input.tas * CONSTANTS_ONE_G; + const float climb_angle_to_SEB_rate = airspeed_for_seb_rate * CONSTANTS_ONE_G; // Calculate a specific energy correction that doesn't include the integrator contribution float SEB_rate_correction = _getControlError(seb_rate) * param.pitch_damping_gain + @@ -495,10 +520,22 @@ void TECSControl::_calcThrottleControl(float dt, const SpecificEnergyRates &spec const float STE_rate_estimate_raw = specific_energy_rates.spe_rate.estimate + specific_energy_rates.ske_rate.estimate; _ste_rate_estimate_filter.setParameters(dt, param.ste_rate_time_const); _ste_rate_estimate_filter.update(STE_rate_estimate_raw); - ControlValues ste_rate{_calcThrottleControlSteRate(limit, specific_energy_rates, param)}; - _calcThrottleControlUpdate(dt, limit, ste_rate, param, flag); - float throttle_setpoint{_calcThrottleControlOutput(limit, ste_rate, param, flag)}; + float throttle_setpoint{param.throttle_min}; + + if (1.f - param.fast_descend < FLT_EPSILON) { + // During fast descend, we control airspeed over the pitch control loop. Give minimal thrust as soon as we are descending + if (specific_energy_rates.spe_rate.estimate > 0) { // We have a positive altitude rate and are stil climbing + throttle_setpoint = param.throttle_trim; // Do not cut off throttle yet + + } else { + throttle_setpoint = param.throttle_min; + } + + } else { + _calcThrottleControlUpdate(dt, limit, ste_rate, param, flag); + throttle_setpoint = _calcThrottleControlOutput(limit, ste_rate, param, flag); + } // Rate limit the throttle demand if (fabsf(param.throttle_slewrate) > FLT_EPSILON) { @@ -557,7 +594,7 @@ void TECSControl::_calcThrottleControlUpdate(float dt, const STERateLimit &limit // Calculate a throttle demand from the integrated total energy rate error // This will be added to the total throttle demand to compensate for steady state errors - _throttle_integ_state = _throttle_integ_state + throttle_integ_input; + _throttle_integ_state = PX4_ISFINITE(throttle_integ_input) ? _throttle_integ_state + throttle_integ_input : 0.f; } else { _throttle_integ_state = 0.0f; @@ -588,11 +625,11 @@ float TECSControl::_calcThrottleControlOutput(const STERateLimit &limit, const C if (ste_rate.setpoint >= FLT_EPSILON) { // throttle is between trim and maximum - throttle_predicted = param.throttle_trim_adjusted + ste_rate.setpoint * throttle_above_trim_per_ste_rate; + throttle_predicted = param.throttle_trim + ste_rate.setpoint * throttle_above_trim_per_ste_rate; } else { // throttle is between trim and minimum - throttle_predicted = param.throttle_trim_adjusted - ste_rate.setpoint * throttle_below_trim_per_ste_rate; + throttle_predicted = param.throttle_trim - ste_rate.setpoint * throttle_below_trim_per_ste_rate; } @@ -623,34 +660,32 @@ void TECSControl::resetIntegrals() _throttle_integ_state = 0.0f; } -float TECS::_update_speed_setpoint(const float tas_min, const float tas_max, const float tas_setpoint, const float tas) +void TECS::initControlParams(float target_climbrate, float target_sinkrate, float eas_to_tas, float pitch_limit_max, + float pitch_limit_min, float throttle_min, float throttle_setpoint_max, float throttle_trim) { - float new_setpoint{tas_setpoint}; - const float percent_undersped = _control.getRatioUndersped(); - - // Set the TAS demand to the minimum value if an underspeed condition exists to maximise climb rate - if (percent_undersped > FLT_EPSILON) { - // TAS setpoint is reset from external setpoint every time tecs is called, so the interpolation is still - // between current setpoint and mininimum airspeed here (it's not feeding the newly adjusted setpoint - // from this line back into this method each time). - // TODO: WOULD BE GOOD to "functionalize" this library a bit and remove many of these internal states to - // avoid the fear of side effects in simple operations like this. - new_setpoint = tas_min * percent_undersped + (1.0f - percent_undersped) * tas_setpoint; - } - - new_setpoint = constrain(new_setpoint, tas_min, tas_max); - - return new_setpoint; + // Update parameters from input + // Reference model + _reference_param.target_climbrate = target_climbrate; + _reference_param.target_sinkrate = target_sinkrate; + // Control + _control_param.tas_min = eas_to_tas * _equivalent_airspeed_min; + _control_param.tas_max = eas_to_tas * _equivalent_airspeed_max; + _control_param.pitch_max = pitch_limit_max; + _control_param.pitch_min = pitch_limit_min; + _control_param.throttle_trim = throttle_trim; + _control_param.throttle_max = throttle_setpoint_max; + _control_param.throttle_min = throttle_min; } void TECS::initialize(const float altitude, const float altitude_rate, const float equivalent_airspeed, - const float eas_to_tas) + float eas_to_tas) { // Init subclasses TECSAltitudeReferenceModel::AltitudeReferenceState current_state{.alt = altitude, .alt_rate = altitude_rate}; _altitude_reference_model.initialize(current_state); - _airspeed_filter.initialize(equivalent_airspeed); + _airspeed_filter.initialize(equivalent_airspeed, _airspeed_filter_param.equivalent_airspeed_trim, + _control_flag.airspeed_enabled); TECSControl::Setpoint control_setpoint; control_setpoint.altitude_reference = _altitude_reference_model.getAltitudeReference(); @@ -664,21 +699,11 @@ void TECS::initialize(const float altitude, const float altitude_rate, const flo .tas_rate = 0.0f}; _control.initialize(control_setpoint, control_input, _control_param, _control_flag); - - _debug_status.tecs_mode = _tecs_mode; - _debug_status.control = _control.getDebugOutput(); - _debug_status.true_airspeed_filtered = eas_to_tas * _airspeed_filter.getState().speed; - _debug_status.true_airspeed_derivative = eas_to_tas * _airspeed_filter.getState().speed_rate; - _debug_status.altitude_reference = _altitude_reference_model.getAltitudeReference().alt; - _debug_status.height_rate_reference = _altitude_reference_model.getAltitudeReference().alt_rate; - _debug_status.height_rate_direct = _altitude_reference_model.getHeightRateSetpointDirect(); - - _update_timestamp = hrt_absolute_time(); } void TECS::update(float pitch, float altitude, float hgt_setpoint, float EAS_setpoint, float equivalent_airspeed, float eas_to_tas, float throttle_min, float throttle_setpoint_max, - float throttle_trim, float throttle_trim_adjusted, float pitch_limit_min, float pitch_limit_max, float target_climbrate, + float throttle_trim, float pitch_limit_min, float pitch_limit_max, float target_climbrate, float target_sinkrate, const float speed_deriv_forward, float hgt_rate, float hgt_rate_sp) { @@ -686,18 +711,8 @@ void TECS::update(float pitch, float altitude, float hgt_setpoint, float EAS_set const hrt_abstime now(hrt_absolute_time()); const float dt = static_cast((now - _update_timestamp)) / 1_s; - // Update parameters from input - // Reference model - _reference_param.target_climbrate = target_climbrate; - _reference_param.target_sinkrate = target_sinkrate; - // Control - _control_param.tas_min = eas_to_tas * _equivalent_airspeed_min; - _control_param.pitch_max = pitch_limit_max; - _control_param.pitch_min = pitch_limit_min; - _control_param.throttle_trim = throttle_trim; - _control_param.throttle_trim_adjusted = throttle_trim_adjusted; - _control_param.throttle_max = throttle_setpoint_max; - _control_param.throttle_min = throttle_min; + initControlParams(target_climbrate, target_sinkrate, eas_to_tas, pitch_limit_max, pitch_limit_min, throttle_min, + throttle_setpoint_max, throttle_trim); if (dt < DT_MIN) { // Update intervall too small, do not update. Assume constant states/output in this case. @@ -709,55 +724,67 @@ void TECS::update(float pitch, float altitude, float hgt_setpoint, float EAS_set initialize(altitude, hgt_rate, equivalent_airspeed, eas_to_tas); } else { + /* Check if we want to fast descend. On fast descend, we set the throttle to min, and use the altitude control + loop to control the speed to the maximum airspeed. */ + _setFastDescend(hgt_setpoint, altitude); + _control_param.fast_descend = _fast_descend; + // Update airspeedfilter submodule const TECSAirspeedFilter::Input airspeed_input{ .equivalent_airspeed = equivalent_airspeed, .equivalent_airspeed_rate = speed_deriv_forward / eas_to_tas}; _airspeed_filter.update(dt, airspeed_input, _airspeed_filter_param, _control_flag.airspeed_enabled); - const TECSAirspeedFilter::AirspeedFilterState eas = _airspeed_filter.getState(); // Update Reference model submodule - const TECSAltitudeReferenceModel::AltitudeReferenceState setpoint{ .alt = hgt_setpoint, - .alt_rate = hgt_rate_sp}; + if (1.f - _fast_descend < FLT_EPSILON) { + // Reset the altitude reference model, while we are in fast descend. + const TECSAltitudeReferenceModel::AltitudeReferenceState init_state{ + .alt = altitude, + .alt_rate = hgt_rate}; + _altitude_reference_model.initialize(init_state); - _altitude_reference_model.update(dt, setpoint, altitude, hgt_rate, _reference_param); + } else { + const TECSAltitudeReferenceModel::AltitudeReferenceState setpoint{ .alt = hgt_setpoint, + .alt_rate = hgt_rate_sp}; + + _altitude_reference_model.update(dt, setpoint, altitude, hgt_rate, _reference_param); + } TECSControl::Setpoint control_setpoint; control_setpoint.altitude_reference = _altitude_reference_model.getAltitudeReference(); control_setpoint.altitude_rate_setpoint_direct = _altitude_reference_model.getHeightRateSetpointDirect(); - - // Calculate the demanded true airspeed - // TODO this function should not be in the module. Only give feedback that the airspeed can't be achieved. - control_setpoint.tas_setpoint = _update_speed_setpoint(eas_to_tas * _equivalent_airspeed_min, - eas_to_tas * _equivalent_airspeed_max, EAS_setpoint * eas_to_tas, eas_to_tas * eas.speed); + control_setpoint.tas_setpoint = _control_param.tas_max * _fast_descend + (1 - _fast_descend) * eas_to_tas * + EAS_setpoint; const TECSControl::Input control_input{ .altitude = altitude, .altitude_rate = hgt_rate, - .tas = eas_to_tas * eas.speed, - .tas_rate = eas_to_tas * eas.speed_rate}; + .tas = eas_to_tas * _airspeed_filter.getState().speed, + .tas_rate = eas_to_tas * _airspeed_filter.getState().speed_rate}; _control.update(dt, control_setpoint, control_input, _control_param, _control_flag); + } - // Update time stamps - _update_timestamp = now; + _debug_status.control = _control.getDebugOutput(); + _debug_status.true_airspeed_filtered = eas_to_tas * _airspeed_filter.getState().speed; + _debug_status.true_airspeed_derivative = eas_to_tas * _airspeed_filter.getState().speed_rate; + _debug_status.altitude_reference = _altitude_reference_model.getAltitudeReference().alt; + _debug_status.height_rate_reference = _altitude_reference_model.getAltitudeReference().alt_rate; + _debug_status.height_rate_direct = _altitude_reference_model.getHeightRateSetpointDirect(); + _update_timestamp = now; +} - // Set TECS mode for next frame - if (_control.getRatioUndersped() > FLT_EPSILON) { - _tecs_mode = ECL_TECS_MODE_UNDERSPEED; +void TECS::_setFastDescend(const float alt_setpoint, const float alt) +{ + if (_control_flag.airspeed_enabled && (_fast_descend_alt_err > FLT_EPSILON) + && ((alt_setpoint + _fast_descend_alt_err) < alt)) { + _fast_descend = 1.f; - } else { - // This is the default operation mode - _tecs_mode = ECL_TECS_MODE_NORMAL; - } + } else if ((_fast_descend > FLT_EPSILON) && (_fast_descend_alt_err > FLT_EPSILON)) { + // Were in fast descend, scale it down. up until 5m above target altitude + _fast_descend = constrain((alt - alt_setpoint - 5.f) / _fast_descend_alt_err, 0.f, 1.f); - _debug_status.tecs_mode = _tecs_mode; - _debug_status.control = _control.getDebugOutput(); - _debug_status.true_airspeed_filtered = eas_to_tas * eas.speed; - _debug_status.true_airspeed_derivative = eas_to_tas * eas.speed_rate; - _debug_status.altitude_reference = control_setpoint.altitude_reference.alt; - _debug_status.height_rate_reference = control_setpoint.altitude_reference.alt_rate; - _debug_status.height_rate_direct = _altitude_reference_model.getHeightRateSetpointDirect(); + } else { + _fast_descend = 0.f; } } - diff --git a/src/lib/tecs/TECS.hpp b/src/lib/tecs/TECS.hpp index 5673342772e1..f033bf72dabf 100644 --- a/src/lib/tecs/TECS.hpp +++ b/src/lib/tecs/TECS.hpp @@ -88,8 +88,11 @@ class TECSAirspeedFilter * @brief Initialize filter * * @param[in] equivalent_airspeed is the equivalent airspeed in [m/s]. + * @param[in] equivalent_airspeed_trim is the equivalent airspeed trim (vehicle setting) in [m/s]. + * @param[in] airspeed_sensor_available boolean if the airspeed sensor is available. */ - void initialize(float equivalent_airspeed); + void initialize(float equivalent_airspeed, const float equivalent_airspeed_trim, + const bool airspeed_sensor_available); /** * @brief Update filter @@ -198,11 +201,11 @@ class TECSControl float max_climb_rate; ///< Climb rate produced by max allowed throttle [m/s]. float vert_accel_limit; ///< Magnitude of the maximum vertical acceleration allowed [m/s²]. float equivalent_airspeed_trim; ///< Equivalent cruise airspeed for airspeed less mode [m/s]. - float tas_min; ///< True airpeed demand lower limit [m/s]. + float tas_min; ///< True airspeed demand lower limit [m/s]. + float tas_max; ///< True airspeed demand upper limit [m/s]. float pitch_max; ///< Maximum pitch angle allowed in [rad]. float pitch_min; ///< Minimal pitch angle allowed in [rad]. - float throttle_trim; ///< Normalized throttle required to fly level at trim airspeed and sea level - float throttle_trim_adjusted; ///< Trim throttle adjusted for airspeed, load factor and air density + float throttle_trim; ///< Normalized throttle required to fly level at calibrated airspeed setpoint [0,1] float throttle_max; ///< Normalized throttle upper limit. float throttle_min; ///< Normalized throttle lower limit. @@ -231,6 +234,8 @@ class TECSControl float load_factor_correction; ///< Gain from normal load factor increase to total energy rate demand [m²/s³]. float load_factor; ///< Additional normal load factor. + + float fast_descend; }; /** @@ -361,6 +366,7 @@ class TECSControl struct AltitudePitchControl { float altitude_rate_setpoint; ///< Controlled altitude rate setpoint [m/s]. float tas_rate_setpoint; ///< Controlled true airspeed rate setpoint [m/s²]. + float tas_setpoint; ///< Controller true airspeed setpoint [m/s] }; /** @@ -391,7 +397,7 @@ class TECSControl * @brief calculate airspeed control proportional output. * * @param setpoint is the control setpoints. - * @param input is the current input measurment of the UAS. + * @param input is the current input measurement of the UAS. * @param param is the control parameters. * @param flag is the control flags. * @return controlled airspeed rate setpoint in [m/s²]. @@ -402,7 +408,7 @@ class TECSControl * @brief calculate altitude control proportional output. * * @param setpoint is the control setpoints. - * @param input is the current input measurment of the UAS. + * @param input is the current input measurement of the UAS. * @param param is the control parameters. * @return controlled altitude rate setpoint in [m/s]. */ @@ -411,14 +417,14 @@ class TECSControl * @brief Calculate specific energy rates. * * @param control_setpoint is the controlles altitude and airspeed rate setpoints. - * @param input is the current input measurment of the UAS. + * @param input is the current input measurement of the UAS. * @return Specific energy rates in [m²/s³]. */ SpecificEnergyRates _calcSpecificEnergyRates(const AltitudePitchControl &control_setpoint, const Input &input) const; /** * @brief Detect underspeed. * - * @param input is the current input measurment of the UAS. + * @param input is the current input measurement of the UAS. * @param param is the control parameters. * @param flag is the control flags. */ @@ -539,11 +545,6 @@ class TECSControl class TECS { public: - enum ECL_TECS_MODE { - ECL_TECS_MODE_NORMAL = 0, - ECL_TECS_MODE_UNDERSPEED - }; - struct DebugOutput { TECSControl::DebugOutput control; float true_airspeed_filtered; @@ -551,7 +552,6 @@ class TECS float altitude_reference; float height_rate_reference; float height_rate_direct; - enum ECL_TECS_MODE tecs_mode; }; public: TECS() = default; @@ -583,15 +583,9 @@ class TECS */ void update(float pitch, float altitude, float hgt_setpoint, float EAS_setpoint, float equivalent_airspeed, float eas_to_tas, float throttle_min, float throttle_setpoint_max, - float throttle_trim, float throttle_trim_adjusted, float pitch_limit_min, float pitch_limit_max, float target_climbrate, + float throttle_trim, float pitch_limit_min, float pitch_limit_max, float target_climbrate, float target_sinkrate, float speed_deriv_forward, float hgt_rate, float hgt_rate_sp = NAN); - /** - * @brief Initialize the control loop - * - */ - void initialize(float altitude, float altitude_rate, float equivalent_airspeed, float eas_to_tas); - void resetIntegrals() { _control.resetIntegrals(); @@ -612,10 +606,11 @@ class TECS void set_max_climb_rate(float climb_rate) { _control_param.max_climb_rate = climb_rate; _reference_param.max_climb_rate = climb_rate; }; void set_altitude_rate_ff(float altitude_rate_ff) { _control_param.altitude_setpoint_gain_ff = altitude_rate_ff; }; - void set_altitude_error_time_constant(float time_const) { _control_param.altitude_error_gain = 1.0f / math::max(time_const, 0.1f);; }; + void set_altitude_error_time_constant(float time_const) { _control_param.altitude_error_gain = 1.0f / math::max(time_const, 0.1f); }; + void set_fast_descend_altitude_error(float altitude_error) { _fast_descend_alt_err = altitude_error; }; - void set_equivalent_airspeed_max(float airspeed) { _equivalent_airspeed_max = airspeed; } void set_equivalent_airspeed_min(float airspeed) { _equivalent_airspeed_min = airspeed; } + void set_equivalent_airspeed_max(float airspeed) { _equivalent_airspeed_max = airspeed; } void set_equivalent_airspeed_trim(float airspeed) { _control_param.equivalent_airspeed_trim = airspeed; _airspeed_filter_param.equivalent_airspeed_trim = airspeed; } void set_pitch_damping(float damping) { _control_param.pitch_damping_gain = damping; } @@ -653,19 +648,33 @@ class TECS float get_throttle_setpoint() {return _control.getThrottleSetpoint();} uint64_t timestamp() { return _update_timestamp; } - ECL_TECS_MODE tecs_mode() { return _tecs_mode; } + float get_underspeed_ratio() { return _control.getRatioUndersped(); } private: + /** + * @brief Initialize the control parameters + * + */ + void initControlParams(float target_climbrate, float target_sinkrate, float eas_to_tas, float pitch_limit_max, + float pitch_limit_min, float throttle_min, float throttle_setpoint_max, float throttle_trim); + + /** + * @brief Initialize the control loop + * + */ + void initialize(const float altitude, const float altitude_rate, const float equivalent_airspeed, + float eas_to_tas); + TECSControl _control; ///< Control submodule. TECSAirspeedFilter _airspeed_filter; ///< Airspeed filter submodule. TECSAltitudeReferenceModel _altitude_reference_model; ///< Setpoint reference model submodule. - enum ECL_TECS_MODE _tecs_mode {ECL_TECS_MODE_NORMAL}; ///< Current activated mode. - hrt_abstime _update_timestamp{0}; ///< last timestamp of the update function call. - float _equivalent_airspeed_min{3.0f}; ///< equivalent airspeed demand lower limit (m/sec) - float _equivalent_airspeed_max{30.0f}; ///< equivalent airspeed demand upper limit (m/sec) + float _equivalent_airspeed_min{10.0f}; ///< equivalent airspeed demand lower limit (m/sec) + float _equivalent_airspeed_max{20.0f}; ///< equivalent airspeed demand upper limit (m/sec) + float _fast_descend_alt_err{-1.f}; ///< Altitude difference between current altitude to altitude setpoint needed to descend with higher airspeed [m]. + float _fast_descend{0.f}; ///< Value for fast descend in [0,1]. continuous value used to flatten the high speed value out when close to target altitude. static constexpr float DT_MIN = 0.001f; ///< minimum allowed value of _dt (sec) static constexpr float DT_MAX = 1.0f; ///< max value of _dt allowed before a filter state reset is performed (sec) @@ -696,11 +705,11 @@ class TECS .max_climb_rate = 5.0f, .vert_accel_limit = 0.0f, .equivalent_airspeed_trim = 15.0f, - .tas_min = 3.0f, - .pitch_max = 5.0f, - .pitch_min = -5.0f, + .tas_min = 10.0f, + .tas_max = 20.0f, + .pitch_max = 0.5f, + .pitch_min = -0.5f, .throttle_trim = 0.0f, - .throttle_trim_adjusted = 0.f, .throttle_max = 1.0f, .throttle_min = 0.1f, .altitude_error_gain = 0.2f, @@ -717,6 +726,7 @@ class TECS .throttle_slewrate = 0.0f, .load_factor_correction = 0.0f, .load_factor = 1.0f, + .fast_descend = 0.f }; TECSControl::Flag _control_flag{ @@ -725,8 +735,10 @@ class TECS }; /** - * Update the desired airspeed + * @brief Set fast descend value + * + * @param alt_setpoint is the altitude setpoint + * @param alt is the current altitude */ - float _update_speed_setpoint(const float tas_min, const float tas_max, const float tas_setpoint, const float tas); + void _setFastDescend(float alt_setpoint, float alt); }; - diff --git a/src/lib/timesync/Timesync.cpp b/src/lib/timesync/Timesync.cpp index 84961b128a96..dc2c7211c2de 100644 --- a/src/lib/timesync/Timesync.cpp +++ b/src/lib/timesync/Timesync.cpp @@ -66,7 +66,7 @@ void Timesync::update(const uint64_t now_us, const int64_t remote_timestamp_ns, // We reset the filter if we received 5 consecutive samples which violate our present estimate. // This is most likely due to a time jump on the offboard system. if (_high_deviation_count > MAX_CONSECUTIVE_HIGH_DEVIATION) { - PX4_ERR("Time jump detected. Resetting time synchroniser."); + PX4_WARN("time jump detected. Resetting time synchroniser."); // Reset the filter reset_filter(); } @@ -103,12 +103,9 @@ void Timesync::update(const uint64_t now_us, const int64_t remote_timestamp_ns, // Increment counter if round trip time is too high for accurate timesync _high_rtt_count++; - if (_high_rtt_count > MAX_CONSECUTIVE_HIGH_RTT) { + if (_high_rtt_count == MAX_CONSECUTIVE_HIGH_RTT) { PX4_WARN("RTT too high for timesync: %llu ms", rtt_us / 1000ULL); - // Reset counter to rate-limit warnings - _high_rtt_count = 0; } - } // Publish status message diff --git a/src/lib/timesync/Timesync.hpp b/src/lib/timesync/Timesync.hpp index b17766b09a35..2948be529d55 100644 --- a/src/lib/timesync/Timesync.hpp +++ b/src/lib/timesync/Timesync.hpp @@ -87,8 +87,8 @@ static constexpr uint32_t CONVERGENCE_WINDOW = 500; // TODO : automatically determine these using ping statistics? static constexpr uint64_t MAX_RTT_SAMPLE = 10_ms; static constexpr uint64_t MAX_DEVIATION_SAMPLE = 100_ms; -static constexpr uint32_t MAX_CONSECUTIVE_HIGH_RTT = 5; -static constexpr uint32_t MAX_CONSECUTIVE_HIGH_DEVIATION = 5; +static constexpr uint32_t MAX_CONSECUTIVE_HIGH_RTT = 10; +static constexpr uint32_t MAX_CONSECUTIVE_HIGH_DEVIATION = 10; class Timesync { @@ -106,13 +106,6 @@ class Timesync int64_t offset() const { return (int64_t)_time_offset; } -private: - - /** - * Online exponential filter to smooth time offset - */ - void add_sample(int64_t offset_us); - /** * Return true if the timesync algorithm converged to a good estimate, * return false otherwise @@ -124,6 +117,13 @@ class Timesync */ void reset_filter(); + +private: + + /** + * Online exponential filter to smooth time offset + */ + void add_sample(int64_t offset_us); uORB::PublicationMulti _timesync_status_pub{ORB_ID(timesync_status)}; uint32_t _sequence{0}; diff --git a/src/lib/variable_length_ringbuffer/CMakeLists.txt b/src/lib/variable_length_ringbuffer/CMakeLists.txt new file mode 100644 index 000000000000..2d2bf4706731 --- /dev/null +++ b/src/lib/variable_length_ringbuffer/CMakeLists.txt @@ -0,0 +1,42 @@ +############################################################################ +# +# Copyright (c) 2023 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +px4_add_library(variable_length_ringbuffer + VariableLengthRingbuffer.cpp +) + +target_link_libraries(variable_length_ringbuffer PRIVATE ringbuffer) + +target_include_directories(variable_length_ringbuffer PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}) + +px4_add_unit_gtest(SRC VariableLengthRingbufferTest.cpp LINKLIBS variable_length_ringbuffer) diff --git a/src/lib/variable_length_ringbuffer/VariableLengthRingbuffer.cpp b/src/lib/variable_length_ringbuffer/VariableLengthRingbuffer.cpp new file mode 100644 index 000000000000..9b607e208b07 --- /dev/null +++ b/src/lib/variable_length_ringbuffer/VariableLengthRingbuffer.cpp @@ -0,0 +1,106 @@ +/**************************************************************************** + * + * Copyright (C) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + + + + +#include "VariableLengthRingbuffer.hpp" + +#include +#include + + +VariableLengthRingbuffer::~VariableLengthRingbuffer() +{ + deallocate(); +} + +bool VariableLengthRingbuffer::allocate(size_t buffer_size) +{ + return _ringbuffer.allocate(buffer_size); +} + +void VariableLengthRingbuffer::deallocate() +{ + _ringbuffer.deallocate(); +} + +bool VariableLengthRingbuffer::push_back(const uint8_t *packet, size_t packet_len) +{ + if (packet_len == 0 || packet == nullptr) { + // Nothing to add, we better don't try. + return false; + } + + size_t space_required = packet_len + sizeof(Header); + + if (space_required > _ringbuffer.space_available()) { + return false; + } + + Header header{static_cast(packet_len)}; + bool result = _ringbuffer.push_back(reinterpret_cast(&header), sizeof(header)); + assert(result); + + result = _ringbuffer.push_back(packet, packet_len); + assert(result); + + // In case asserts are commented out to prevent unused warnings. + (void)result; + + return true; +} + +size_t VariableLengthRingbuffer::pop_front(uint8_t *buf, size_t buf_max_len) +{ + if (buf == nullptr) { + // User needs to supply a valid pointer. + return 0; + } + + // Check next header + Header header; + + if (_ringbuffer.pop_front(reinterpret_cast(&header), sizeof(header)) < sizeof(header)) { + return 0; + } + + // We can't fit the packet into the user supplied buffer. + // This should never happen as the user has to supply a big // enough buffer. + assert(static_cast(header.len) <= buf_max_len); + + size_t bytes_read = _ringbuffer.pop_front(buf, header.len); + assert(bytes_read == header.len); + + return bytes_read; +} diff --git a/src/lib/variable_length_ringbuffer/VariableLengthRingbuffer.hpp b/src/lib/variable_length_ringbuffer/VariableLengthRingbuffer.hpp new file mode 100644 index 000000000000..89f92eb24670 --- /dev/null +++ b/src/lib/variable_length_ringbuffer/VariableLengthRingbuffer.hpp @@ -0,0 +1,111 @@ +/**************************************************************************** + * + * Copyright (C) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + + + +#pragma once + +#include +#include + + +// FIFO ringbuffer implementation for packets of variable length. +// +// The variable length is implemented using a 4 byte header +// containing a the length. +// +// The buffer is not thread-safe. + +class VariableLengthRingbuffer +{ +public: + /* @brief Constructor + * + * @note Does not allocate automatically. + */ + VariableLengthRingbuffer() = default; + + /* + * @brief Destructor + * + * Automatically calls deallocate. + */ + ~VariableLengthRingbuffer(); + + /* @brief Allocate ringbuffer + * + * @note The variable length requires 4 bytes + * of overhead per packet. + * + * @param buffer_size Number of bytes to allocate on heap. + * + * @returns false if allocation fails. + */ + bool allocate(size_t buffer_size); + + /* + * @brief Deallocate ringbuffer + * + * @note only required to deallocate and reallocate again. + */ + void deallocate(); + + /* + * @brief Copy packet into ringbuffer + * + * @param packet Pointer to packet to copy from. + * @param packet_len Length of packet. + * + * @returns true if packet could be copied into buffer. + */ + bool push_back(const uint8_t *packet, size_t packet_len); + + /* + * @brief Get packet from ringbuffer + * + * @note max_buf_len needs to be bigger equal to any pushed packet. + * + * @param buf Pointer to where next packet can be copied into. + * @param max_buf_len Max size of buf + * + * @returns 0 if packet is bigger than max_len or buffer is empty. + */ + size_t pop_front(uint8_t *buf, size_t max_buf_len); + +private: + struct Header { + uint32_t len; + }; + + Ringbuffer _ringbuffer {}; +}; diff --git a/src/lib/variable_length_ringbuffer/VariableLengthRingbufferTest.cpp b/src/lib/variable_length_ringbuffer/VariableLengthRingbufferTest.cpp new file mode 100644 index 000000000000..958f36947eda --- /dev/null +++ b/src/lib/variable_length_ringbuffer/VariableLengthRingbufferTest.cpp @@ -0,0 +1,257 @@ +/**************************************************************************** + * + * Copyright (C) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include +#include +#include + + +#include "VariableLengthRingbuffer.hpp" + +class TempData +{ +public: + TempData(size_t len) + { + _size = len; + _buf = new uint8_t[_size]; + } + + ~TempData() + { + delete[] _buf; + _buf = nullptr; + } + + uint8_t *buf() const + { + return _buf; + } + + size_t size() const + { + return _size; + } + + void paint(unsigned offset = 0) + { + for (size_t i = 0; i < _size; ++i) { + _buf[i] = (uint8_t)((i + offset) % UINT8_MAX); + } + } + +private: + uint8_t *_buf {nullptr}; + size_t _size{0}; + +}; + +bool operator==(const TempData &lhs, const TempData &rhs) +{ + if (lhs.size() != rhs.size()) { + return false; + } + + return memcmp(lhs.buf(), rhs.buf(), lhs.size()) == 0; +} + + +TEST(VariableLengthRingbuffer, AllocateAndDeallocate) +{ + VariableLengthRingbuffer buf; + ASSERT_TRUE(buf.allocate(100)); + buf.deallocate(); + + ASSERT_TRUE(buf.allocate(1000)); + // The second time we forget to clean up, but we expect no leak. +} + +TEST(VariableLengthRingbuffer, PushATooBigMessage) +{ + VariableLengthRingbuffer buf; + ASSERT_TRUE(buf.allocate(100)); + + TempData data{200}; + + // A message that doesn't fit should get rejected. + EXPECT_FALSE(buf.push_back(data.buf(), data.size())); +} + +TEST(VariableLengthRingbuffer, PushAndPopOne) +{ + VariableLengthRingbuffer buf; + ASSERT_TRUE(buf.allocate(100)); + + TempData data{20}; + data.paint(); + + EXPECT_TRUE(buf.push_back(data.buf(), data.size())); + + + // Out buffer is the same size + TempData out{20}; + EXPECT_EQ(buf.pop_front(out.buf(), out.size()), 20); + EXPECT_EQ(data, out); + + EXPECT_TRUE(buf.push_back(data.buf(), data.size())); + // Out buffer is supposedly bigger + TempData out2{20}; + EXPECT_EQ(buf.pop_front(out2.buf(), 21), 20); + EXPECT_EQ(data, out2); + + EXPECT_TRUE(buf.push_back(data.buf(), data.size())); + + // Disabled because it doesn't work reliably. + // For some reason the abort works when tests are filtered using TESTFILTER + // but not when all tests are run. + // + // Out buffer is too small + // Asserts are disabled in release build + //TempData out3{19}; + //EXPECT_DEATH(buf.pop_front(out3.buf(), out3.size()), ".*"); +} + +TEST(VariableLengthRingbuffer, PushAndPopSeveral) +{ + VariableLengthRingbuffer buf; + ASSERT_TRUE(buf.allocate(100)); + + TempData data{20}; + data.paint(); + + // 4 should fit + for (unsigned i = 0; i < 4; ++i) { + EXPECT_TRUE(buf.push_back(data.buf(), data.size())); + } + + // 5 won't because of overhead + EXPECT_FALSE(buf.push_back(data.buf(), data.size())); + + // Take 4 back out + for (unsigned i = 0; i < 4; ++i) { + TempData out{20}; + EXPECT_EQ(buf.pop_front(out.buf(), out.size()), data.size()); + EXPECT_EQ(data, out); + } + + TempData out{20}; + EXPECT_EQ(buf.pop_front(out.buf(), out.size()), 0); +} + +TEST(VariableLengthRingbuffer, PushAndPopSeveralVariableSize) +{ + VariableLengthRingbuffer buf; + ASSERT_TRUE(buf.allocate(100)); + + TempData data1{50}; + data1.paint(); + EXPECT_TRUE(buf.push_back(data1.buf(), data1.size())); + + TempData data2{30}; + data2.paint(42); + EXPECT_TRUE(buf.push_back(data2.buf(), data2.size())); + + // Supposedly more space + TempData out1{50}; + EXPECT_EQ(buf.pop_front(out1.buf(), 100), data1.size()); + EXPECT_EQ(data1, out1); + + TempData data3{50}; + data3.paint(33); + EXPECT_TRUE(buf.push_back(data3.buf(), data3.size())); + + // Supposedly more space + TempData out2{30}; + EXPECT_EQ(buf.pop_front(out2.buf(), 100), data2.size()); + EXPECT_EQ(data2, out2); + + // Supposedly more space + TempData out3{50}; + EXPECT_EQ(buf.pop_front(out3.buf(), 100), data3.size()); + EXPECT_EQ(data3, out3); + + TempData out4{100}; + EXPECT_EQ(buf.pop_front(out4.buf(), out4.size()), 0); +} + +TEST(VariableLengthRingbuffer, PushEmpty) +{ + VariableLengthRingbuffer buf; + ASSERT_TRUE(buf.allocate(100)); + + EXPECT_FALSE(buf.push_back(nullptr, 0)); +} + +TEST(VariableLengthRingbuffer, PopWithoutBuffer) +{ + VariableLengthRingbuffer buf; + ASSERT_TRUE(buf.allocate(100)); + + EXPECT_FALSE(buf.push_back(nullptr, 0)); + + TempData data{50}; + data.paint(); + + EXPECT_TRUE(buf.push_back(data.buf(), data.size())); + + + EXPECT_EQ(buf.pop_front(nullptr, 50), 0); +} + +TEST(VariableLengthRingbuffer, EmptyAndNoSpaceForHeader) +{ + // Addressing a corner case where start and end are at the end + // and the same. + + VariableLengthRingbuffer buf; + // Allocate 4+1 bytes more than the packet, 4 for the header, 1 for the start/end logic. + ASSERT_TRUE(buf.allocate(25)); + + { + TempData data{20}; + data.paint(); + EXPECT_TRUE(buf.push_back(data.buf(), data.size())); + TempData out{20}; + EXPECT_EQ(buf.pop_front(out.buf(), out.size()), out.size()); + EXPECT_EQ(data, out); + } + + { + TempData data{10}; + data.paint(); + EXPECT_TRUE(buf.push_back(data.buf(), data.size())); + TempData out{10}; + EXPECT_EQ(buf.pop_front(out.buf(), out.size()), out.size()); + EXPECT_EQ(data, out); + } +} diff --git a/src/lib/version/CMakeLists.txt b/src/lib/version/CMakeLists.txt index 6b91e9cb11f7..ad2e516b4f57 100644 --- a/src/lib/version/CMakeLists.txt +++ b/src/lib/version/CMakeLists.txt @@ -53,7 +53,8 @@ endif() set(px4_git_ver_header ${CMAKE_CURRENT_BINARY_DIR}/build_git_version.h) add_custom_command(OUTPUT ${px4_git_ver_header} - COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/px_update_git_header.py ${px4_git_ver_header} --validate + COMMAND + ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/px_update_git_header.py ${px4_git_ver_header} --validate --git_tag '${PX4_GIT_TAG}' DEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/px_update_git_header.py ${git_dir_path}/HEAD diff --git a/src/lib/version/get_git_tag_or_branch_version.sh b/src/lib/version/get_git_tag_or_branch_version.sh index a7d9c13b3346..4c8cfab62c81 100755 --- a/src/lib/version/get_git_tag_or_branch_version.sh +++ b/src/lib/version/get_git_tag_or_branch_version.sh @@ -18,4 +18,3 @@ if [ ! -f "$version_file" ]; then fi sed -n 's/.*PX4_GIT_TAG_OR_BRANCH_NAME\s*"\(.*\)".*/version=\1/p' "$version_file" - diff --git a/src/lib/version/px_update_git_header.py b/src/lib/version/px_update_git_header.py index 5bf7d464239c..bd1836fb0360 100755 --- a/src/lib/version/px_update_git_header.py +++ b/src/lib/version/px_update_git_header.py @@ -10,6 +10,7 @@ generate a version header file. The working directory is expected to be the root of Firmware.""") parser.add_argument('filename', metavar='version.h', help='Header output file') +parser.add_argument('--git_tag', help='git tag string') parser.add_argument('-v', '--verbose', dest='verbose', action='store_true', help='Verbose output', default=False) parser.add_argument('--validate', dest='validate', action='store_true', @@ -36,8 +37,11 @@ # PX4 -git_describe_cmd = 'git describe --exclude ext/* --always --tags --dirty' -git_tag = subprocess.check_output(git_describe_cmd.split(), +if args.git_tag: + git_tag = args.git_tag +else: + git_describe_cmd = 'git describe --exclude ext/* --always --tags --dirty' + git_tag = subprocess.check_output(git_describe_cmd.split(), stderr=subprocess.STDOUT).decode('utf-8').strip() try: @@ -57,17 +61,7 @@ # now check the version format m = re.match(r'v([0-9]+)\.([0-9]+)\.[0-9]+(((-dev)|(-alpha[0-9]+)|(-beta[0-9]+)|(-rc[0-9]+))|'\ r'(-[0-9]+\.[0-9]+\.[0-9]+((-dev)|(-alpha[0-9]+)|(-beta[0-9]+)|([-]?rc[0-9]+))?))?$', git_tag_test) - if m: - # format matches, check the major and minor numbers - major = int(m.group(1)) - minor = int(m.group(2)) - if major < 1 or (major == 1 and minor < 9): - print("") - print("Error: PX4 version too low, expected at least v1.9.0") - print("Check the git tag (current tag: '{:}')".format(git_tag_test)) - print("") - sys.exit(1) - else: + if not m: print("") print("Error: the git tag '{:}' does not match the expected format.".format(git_tag_test)) print("") @@ -103,9 +97,9 @@ if tag_or_branch is None: # replace / so it can be used as directory name tag_or_branch = git_branch_name.replace('/', '-') - # either a release or master branch (used for metadata) + # either a release or main branch (used for metadata) if not tag_or_branch.startswith('release-'): - tag_or_branch = 'master' + tag_or_branch = 'main' header += f""" #define PX4_GIT_VERSION_STR "{git_version}" @@ -115,22 +109,7 @@ #define PX4_GIT_OEM_VERSION_STR "{oem_tag}" -#define PX4_GIT_TAG_OR_BRANCH_NAME "{tag_or_branch}" // special variable: git tag, release or master branch -""" - - -# ECL -if (os.path.exists('src/lib/ecl/.git')): - ecl_git_tag = subprocess.check_output('git describe --always --tags --dirty'.split(), - cwd='src/lib/ecl', stderr=subprocess.STDOUT).decode('utf-8') - - ecl_git_version = subprocess.check_output('git rev-parse --verify HEAD'.split(), - cwd='src/lib/ecl', stderr=subprocess.STDOUT).decode('utf-8').strip() - ecl_git_version_short = ecl_git_version[0:16] - - header += f""" -#define ECL_LIB_GIT_VERSION_STR "{ecl_git_version}" -#define ECL_LIB_GIT_VERSION_BINARY 0x{ecl_git_version_short} +#define PX4_GIT_TAG_OR_BRANCH_NAME "{tag_or_branch}" // special variable: git tag, release or main branch """ diff --git a/src/lib/version/version.c b/src/lib/version/version.c index f0b137661b62..593c799e3331 100644 --- a/src/lib/version/version.c +++ b/src/lib/version/version.c @@ -345,14 +345,6 @@ uint64_t px4_firmware_version_binary(void) return PX4_GIT_VERSION_BINARY; } -const char *px4_ecl_lib_version_string(void) -{ -#ifdef ECL_LIB_GIT_VERSION_STRING - return ECL_LIB_GIT_VERSION_STRING; -#else - return NULL; -#endif -} #ifdef MAVLINK_LIB_GIT_VERSION_BINARY uint64_t px4_mavlink_lib_version_binary(void) @@ -374,4 +366,3 @@ const char *px4_firmware_oem_version_string(void) { return PX4_GIT_OEM_VERSION_STR; } - diff --git a/src/lib/version/version.h b/src/lib/version/version.h index ef2d9b5f0915..cf6ad0ed83d4 100644 --- a/src/lib/version/version.h +++ b/src/lib/version/version.h @@ -88,6 +88,16 @@ static inline int px4_board_hw_revision(void) return board_get_hw_revision(); } +#if defined(BOARD_HAS_HW_SPLIT_VERSIONING) +/** + * get the base board type + */ +static inline const char *px4_board_base_type(void) +{ + return board_get_hw_base_type_name(); +} +#endif + /** * get the build URI (used for crash logging) */ @@ -179,11 +189,6 @@ __EXPORT const char *px4_firmware_git_branch(void); */ __EXPORT uint64_t px4_firmware_version_binary(void); -/** - * ECL lib version as human readable string (git tag) - */ -__EXPORT const char *px4_ecl_lib_version_string(void); - /** * MAVLink lib version in binary form (first part of the git tag) */ @@ -201,4 +206,3 @@ __EXPORT uint64_t px4_os_version_binary(void); __EXPORT const char *px4_firmware_oem_version_string(void); __END_DECLS - diff --git a/src/lib/weather_vane/weathervane_params.c b/src/lib/weather_vane/weathervane_params.c index 2c98d53404e6..9cf6e021c100 100644 --- a/src/lib/weather_vane/weathervane_params.c +++ b/src/lib/weather_vane/weathervane_params.c @@ -79,4 +79,4 @@ PARAM_DEFINE_FLOAT(WV_ROLL_MIN, 1.0f); * @unit deg/s * @group Multicopter Position Control */ -PARAM_DEFINE_FLOAT(WV_YRATE_MAX, 90.0f); \ No newline at end of file +PARAM_DEFINE_FLOAT(WV_YRATE_MAX, 90.0f); diff --git a/src/lib/wind_estimator/python/derivation.py b/src/lib/wind_estimator/python/derivation.py index f3d844e266dd..7d53e699b097 100755 --- a/src/lib/wind_estimator/python/derivation.py +++ b/src/lib/wind_estimator/python/derivation.py @@ -34,42 +34,43 @@ Derivation of a wind and airspeed scale (EKF) estimator using SymForce """ -from symforce import symbolic as sm -from symforce import geo -from symforce import typing as T +import symforce +symforce.set_epsilon_to_symbol() + +import symforce.symbolic as sf from derivation_utils import * def fuse_airspeed( - v_local: geo.V3, - state: geo.V3, - P: geo.M33, - airspeed: T.Scalar, - R: T.Scalar, - epsilon: T.Scalar -) -> (geo.V3, geo.V3, T.Scalar, T.Scalar): - - vel_rel = geo.V3(v_local[0] - state[0], v_local[1] - state[1], v_local[2]) + v_local: sf.V3, + state: sf.V3, + P: sf.M33, + airspeed: sf.Scalar, + R: sf.Scalar, + epsilon: sf.Scalar +) -> (sf.M13, sf.M31, sf.Scalar, sf.Scalar): + + vel_rel = sf.V3(v_local[0] - state[0], v_local[1] - state[1], v_local[2]) airspeed_pred = vel_rel.norm(epsilon=epsilon) * state[2] innov = airspeed - airspeed_pred - H = geo.V1(airspeed_pred).jacobian(state) + H = sf.V1(airspeed_pred).jacobian(state) innov_var = (H * P * H.T + R)[0,0] K = P * H.T / sm.Max(innov_var, epsilon) - return (geo.V3(H), K, innov_var, innov) + return (H, K, innov_var, innov) def fuse_beta( - v_local: geo.V3, - state: geo.V3, - P: geo.M33, - q_att: geo.V4, - R: T.Scalar, - epsilon: T.Scalar -) -> (geo.V3, geo.V3, T.Scalar, T.Scalar): - - vel_rel = geo.V3(v_local[0] - state[0], v_local[1] - state[1], v_local[2]) + v_local: sf.V3, + state: sf.V3, + P: sf.M33, + q_att: sf.V4, + R: sf.Scalar, + epsilon: sf.Scalar +) -> (sf.M13, sf.M31, sf.Scalar, sf.Scalar): + + vel_rel = sf.V3(v_local[0] - state[0], v_local[1] - state[1], v_local[2]) relative_wind_body = quat_to_rot(q_att).T * vel_rel # Small angle approximation of side slip model @@ -78,29 +79,29 @@ def fuse_beta( innov = 0.0 - beta_pred - H = geo.V1(beta_pred).jacobian(state) + H = sf.V1(beta_pred).jacobian(state) innov_var = (H * P * H.T + R)[0,0] K = P * H.T / sm.Max(innov_var, epsilon) - return (geo.V3(H), K, innov_var, innov) + return (H, K, innov_var, innov) def init_wind_using_airspeed( - v_local: geo.V3, - heading: T.Scalar, - airspeed: T.Scalar, - v_var: T.Scalar, - heading_var: T.Scalar, - sideslip_var: T.Scalar, - airspeed_var: T.Scalar, -) -> (geo.V2, geo.M22): - - # Initialise wind states assuming zero side slip and horizontal flight - wind = geo.V2(v_local[0] - airspeed * sm.cos(heading), v_local[1] - airspeed * sm.sin(heading)) - # Zero sideslip, propagate the sideslip variance using partial derivatives w.r.t heading - J = wind.jacobian([v_local[0], v_local[1], heading, heading, airspeed]) - - R = geo.M55() + v_local: sf.V3, + heading: sf.Scalar, + airspeed: sf.Scalar, + v_var: sf.Scalar, + heading_var: sf.Scalar, + sideslip_var: sf.Scalar, + airspeed_var: sf.Scalar, +) -> (sf.V2, sf.M22): + + # Initialise wind states assuming horizontal flight + sideslip = sm.Symbol("beta") + wind = sf.V2(v_local[0] - airspeed * sm.cos(heading + sideslip), v_local[1] - airspeed * sm.sin(heading + sideslip)) + J = wind.jacobian([v_local[0], v_local[1], heading, sideslip, airspeed]) + + R = sf.M55() R[0,0] = v_var R[1,1] = v_var R[2,2] = heading_var @@ -109,6 +110,10 @@ def init_wind_using_airspeed( P = J * R * J.T + # Assume zero sideslip + P = P.subs({sideslip: 0.0}) + wind = wind.subs({sideslip: 0.0}) + return (wind, P) generate_px4_function(fuse_airspeed, output_names=["H", "K", "innov_var", "innov"]) diff --git a/src/lib/wind_estimator/python/generated/fuse_airspeed.h b/src/lib/wind_estimator/python/generated/fuse_airspeed.h index a3d677736d0a..5d1e29351695 100644 --- a/src/lib/wind_estimator/python/generated/fuse_airspeed.h +++ b/src/lib/wind_estimator/python/generated/fuse_airspeed.h @@ -1,6 +1,6 @@ // ----------------------------------------------------------------------------- // This file was autogenerated by symforce from template: -// backends/cpp/templates/function/FUNCTION.h.jinja +// function/FUNCTION.h.jinja // Do NOT modify by hand. // ----------------------------------------------------------------------------- diff --git a/src/lib/wind_estimator/python/generated/fuse_airspeed.py b/src/lib/wind_estimator/python/generated/fuse_airspeed.py index 3b6180320f51..cdbdc597b1d6 100644 --- a/src/lib/wind_estimator/python/generated/fuse_airspeed.py +++ b/src/lib/wind_estimator/python/generated/fuse_airspeed.py @@ -1,21 +1,21 @@ # ----------------------------------------------------------------------------- # This file was autogenerated by symforce from template: -# backends/python/templates/function/FUNCTION.py.jinja +# function/FUNCTION.py.jinja # Do NOT modify by hand. # ----------------------------------------------------------------------------- -import math # pylint: disable=unused-import -import numpy # pylint: disable=unused-import -import typing as T # pylint: disable=unused-import +# pylint: disable=too-many-locals,too-many-lines,too-many-statements,unused-argument,unused-import -import sym # pylint: disable=unused-import +import math +import typing as T +import numpy -# pylint: disable=too-many-locals,too-many-lines,too-many-statements,unused-argument +import sym def fuse_airspeed(v_local, state, P, airspeed, R, epsilon): - # type: (T.Sequence[float], T.Sequence[float], numpy.ndarray, float, float, float) -> T.Tuple[numpy.ndarray, T.List[float], float, float] + # type: (numpy.ndarray, numpy.ndarray, numpy.ndarray, float, float, float) -> T.Tuple[numpy.ndarray, numpy.ndarray, float, float] """ This function was autogenerated from a symbolic function. Do not modify by hand. @@ -39,34 +39,51 @@ def fuse_airspeed(v_local, state, P, airspeed, R, epsilon): # Total ops: 56 # Input arrays + if v_local.shape == (3,): + v_local = v_local.reshape((3, 1)) + elif v_local.shape != (3, 1): + raise IndexError( + "v_local is expected to have shape (3, 1) or (3,); instead had shape {}".format( + v_local.shape + ) + ) + + if state.shape == (3,): + state = state.reshape((3, 1)) + elif state.shape != (3, 1): + raise IndexError( + "state is expected to have shape (3, 1) or (3,); instead had shape {}".format( + state.shape + ) + ) # Intermediate terms (11) - _tmp0 = -state[0] + v_local[0] - _tmp1 = -state[1] + v_local[1] - _tmp2 = math.sqrt(_tmp0 ** 2 + _tmp1 ** 2 + epsilon + v_local[2] ** 2) - _tmp3 = state[2] / _tmp2 + _tmp0 = -state[0, 0] + v_local[0, 0] + _tmp1 = -state[1, 0] + v_local[1, 0] + _tmp2 = math.sqrt(_tmp0**2 + _tmp1**2 + epsilon + v_local[2, 0] ** 2) + _tmp3 = state[2, 0] / _tmp2 _tmp4 = _tmp0 * _tmp3 _tmp5 = _tmp1 * _tmp3 - _tmp6 = -P[0] * _tmp4 - _tmp7 = -P[4] * _tmp5 - _tmp8 = P[8] * _tmp2 + _tmp6 = -P[0, 0] * _tmp4 + _tmp7 = -P[1, 1] * _tmp5 + _tmp8 = P[2, 2] * _tmp2 _tmp9 = ( R - + _tmp2 * (-P[6] * _tmp4 - P[7] * _tmp5 + _tmp8) - - _tmp4 * (-P[1] * _tmp5 + P[2] * _tmp2 + _tmp6) - - _tmp5 * (-P[3] * _tmp4 + P[5] * _tmp2 + _tmp7) + + _tmp2 * (-P[0, 2] * _tmp4 - P[1, 2] * _tmp5 + _tmp8) + - _tmp4 * (-P[1, 0] * _tmp5 + P[2, 0] * _tmp2 + _tmp6) + - _tmp5 * (-P[0, 1] * _tmp4 + P[2, 1] * _tmp2 + _tmp7) ) - _tmp10 = max(_tmp9, epsilon) ** (-1) + _tmp10 = 1 / max(_tmp9, epsilon) # Output terms - _H = numpy.zeros((1, 3)) - _H[0, 0] = -_tmp4 - _H[0, 1] = -_tmp5 - _H[0, 2] = _tmp2 - _K = [0.0] * 3 - _K[0] = _tmp10 * (-P[3] * _tmp5 + P[6] * _tmp2 + _tmp6) - _K[1] = _tmp10 * (-P[1] * _tmp4 + P[7] * _tmp2 + _tmp7) - _K[2] = _tmp10 * (-P[2] * _tmp4 - P[5] * _tmp5 + _tmp8) + _H = numpy.zeros(3) + _H[0] = -_tmp4 + _H[1] = -_tmp5 + _H[2] = _tmp2 + _K = numpy.zeros(3) + _K[0] = _tmp10 * (-P[0, 1] * _tmp5 + P[0, 2] * _tmp2 + _tmp6) + _K[1] = _tmp10 * (-P[1, 0] * _tmp4 + P[1, 2] * _tmp2 + _tmp7) + _K[2] = _tmp10 * (-P[2, 0] * _tmp4 - P[2, 1] * _tmp5 + _tmp8) _innov_var = _tmp9 - _innov = -_tmp2 * state[2] + airspeed + _innov = -_tmp2 * state[2, 0] + airspeed return _H, _K, _innov_var, _innov diff --git a/src/lib/wind_estimator/python/generated/fuse_beta.h b/src/lib/wind_estimator/python/generated/fuse_beta.h index 39469ce892f1..cbfde79770b7 100644 --- a/src/lib/wind_estimator/python/generated/fuse_beta.h +++ b/src/lib/wind_estimator/python/generated/fuse_beta.h @@ -1,6 +1,6 @@ // ----------------------------------------------------------------------------- // This file was autogenerated by symforce from template: -// backends/cpp/templates/function/FUNCTION.h.jinja +// function/FUNCTION.h.jinja // Do NOT modify by hand. // ----------------------------------------------------------------------------- diff --git a/src/lib/wind_estimator/python/generated/init_wind_using_airspeed.h b/src/lib/wind_estimator/python/generated/init_wind_using_airspeed.h index f79f65600939..8fca830af2fe 100644 --- a/src/lib/wind_estimator/python/generated/init_wind_using_airspeed.h +++ b/src/lib/wind_estimator/python/generated/init_wind_using_airspeed.h @@ -1,6 +1,6 @@ // ----------------------------------------------------------------------------- // This file was autogenerated by symforce from template: -// backends/cpp/templates/function/FUNCTION.h.jinja +// function/FUNCTION.h.jinja // Do NOT modify by hand. // ----------------------------------------------------------------------------- @@ -34,18 +34,20 @@ void InitWindUsingAirspeed(const matrix::Matrix& v_local, const Sc const Scalar sideslip_var, const Scalar airspeed_var, matrix::Matrix* const wind = nullptr, matrix::Matrix* const P = nullptr) { - // Total ops: 22 + // Total ops: 29 // Input arrays - // Intermediate terms (7) + // Intermediate terms (9) const Scalar _tmp0 = std::cos(heading); const Scalar _tmp1 = std::sin(heading); const Scalar _tmp2 = std::pow(_tmp1, Scalar(2)); - const Scalar _tmp3 = std::pow(airspeed, Scalar(2)) * sideslip_var; - const Scalar _tmp4 = std::pow(_tmp0, Scalar(2)); - const Scalar _tmp5 = _tmp0 * _tmp1; - const Scalar _tmp6 = -_tmp3 * _tmp5 + _tmp5 * airspeed_var; + const Scalar _tmp3 = std::pow(airspeed, Scalar(2)); + const Scalar _tmp4 = _tmp3 * sideslip_var; + const Scalar _tmp5 = _tmp3 * heading_var; + const Scalar _tmp6 = std::pow(_tmp0, Scalar(2)); + const Scalar _tmp7 = _tmp0 * _tmp1; + const Scalar _tmp8 = -_tmp4 * _tmp7 - _tmp5 * _tmp7 + _tmp7 * airspeed_var; // Output terms (2) if (wind != nullptr) { @@ -58,10 +60,10 @@ void InitWindUsingAirspeed(const matrix::Matrix& v_local, const Sc if (P != nullptr) { matrix::Matrix& _p = (*P); - _p(0, 0) = _tmp2 * _tmp3 + _tmp4 * airspeed_var + v_var; - _p(1, 0) = _tmp6; - _p(0, 1) = _tmp6; - _p(1, 1) = _tmp2 * airspeed_var + _tmp3 * _tmp4 + v_var; + _p(0, 0) = _tmp2 * _tmp4 + _tmp2 * _tmp5 + _tmp6 * airspeed_var + v_var; + _p(1, 0) = _tmp8; + _p(0, 1) = _tmp8; + _p(1, 1) = _tmp2 * airspeed_var + _tmp4 * _tmp6 + _tmp5 * _tmp6 + v_var; } } // NOLINT(readability/fn_size) diff --git a/src/lib/wind_estimator/python/wind_estimator_replay.py b/src/lib/wind_estimator/python/wind_estimator_replay.py index efa19eaf0e71..dcc292286df6 100644 --- a/src/lib/wind_estimator/python/wind_estimator_replay.py +++ b/src/lib/wind_estimator/python/wind_estimator_replay.py @@ -54,7 +54,7 @@ def getData(log, topic_name, variable_name, instance=0): def us2s(time_ms): return time_ms * 1e-6 -def run(logfile, use_gnss): +def run(logfile, use_gnss, scale_init): log = ULog(logfile) if use_gnss: @@ -75,7 +75,12 @@ def run(logfile, use_gnss): dist_bottom = getData(log, 'vehicle_local_position', 'dist_bottom') t_dist_bottom = us2s(getData(log, 'vehicle_local_position', 'timestamp')) - state = np.array([0.0, 0.0, 1.0]) + if scale_init is None: + scale_init = 1.0 + + # The estimator estimates the inverse scale factor to have a simpler measurement jacobian + inverse_scale_init = 1 / scale_init + state = np.array([0.0, 0.0, inverse_scale_init]) P = np.diag([1.0, 1.0, 1e-4]) wind_nsd = 1e-2 scale_nsd = 1e-4 @@ -103,19 +108,19 @@ def run(logfile, use_gnss): P += Q * dt - if t_true_airspeed[i_airspeed] < t_now: + if i_airspeed < len(t_true_airspeed) and t_true_airspeed[i_airspeed] < t_now: while i_airspeed < len(t_true_airspeed) and t_true_airspeed[i_airspeed] < t_now: i_airspeed += 1 i_airspeed -= 1 - (H, K, innov_var, innov) = fuse_airspeed(np.asarray(v_local[:,i]), state, P.flatten(), true_airspeed[i_airspeed], R, epsilon) + (H, K, innov_var, innov) = fuse_airspeed(np.asarray(v_local[:,i]), state, P, true_airspeed[i_airspeed], R, epsilon) state += np.array(K) * innov P -= K * H * P i_airspeed += 1 wind_est_n[i] = state[0] wind_est_e[i] = state[1] - scale_est[i] = state[2] + scale_est[i] = 1 / state[2] plt.figure(1) ax1 = plt.subplot(2, 1, 1) @@ -145,8 +150,9 @@ def run(logfile, use_gnss): parser.add_argument('logfile', help='Full ulog file path, name and extension', type=str) parser.add_argument('--gnss', help='Use GNSS velocity instead of local velocity estimate', action='store_true') + parser.add_argument('--scale_init', help='Initial airsped scale factor (1.0 if not specified)', type=float) args = parser.parse_args() logfile = os.path.abspath(args.logfile) # Convert to absolute path - run(logfile, args.gnss) + run(logfile, args.gnss, args.scale_init) diff --git a/src/lib/world_magnetic_model/fetch_noaa_table.py b/src/lib/world_magnetic_model/fetch_noaa_table.py index 85863ffb842b..83ff3dda1e06 100755 --- a/src/lib/world_magnetic_model/fetch_noaa_table.py +++ b/src/lib/world_magnetic_model/fetch_noaa_table.py @@ -1,7 +1,7 @@ #!/usr/bin/env python3 ############################################################################ # -# Copyright (c) 2020-2022 PX4 Development Team. All rights reserved. +# Copyright (c) 2020-2024 PX4 Development Team. All rights reserved. # # Redistribution and use in source and binary forms, with or without # modification, are permitted provided that the following conditions @@ -33,7 +33,9 @@ ############################################################################ import math +import numpy import json +import statistics import sys import urllib.request @@ -48,7 +50,7 @@ def constrain(n, nmin, nmax): header = """/**************************************************************************** * - * Copyright (c) 2020-2022 PX4 Development Team. All rights reserved. + * Copyright (c) 2020-2024 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -79,6 +81,9 @@ def constrain(n, nmin, nmax): * ****************************************************************************/ """ + +key=sys.argv[1] # NOAA key (https://www.ngdc.noaa.gov/geomag/CalcSurvey.shtml) + print(header) print('#include \n') @@ -96,85 +101,106 @@ def constrain(n, nmin, nmax): print('static constexpr int LON_DIM = {}'.format(LON_DIM) + ';') print('\n') -print('// *INDENT-OFF*') +print('// *INDENT-OFF*\n\n\n') -# Declination -params = urllib.parse.urlencode({'lat1': 0, 'lat2': 0, 'lon1': 0, 'lon2': 0, 'latStepSize': 1, 'lonStepSize': 1, 'magneticComponent': 'd', 'resultFormat': 'json'}) -key=sys.argv[1] # NOAA key (https://www.ngdc.noaa.gov/geomag/CalcSurvey.shtml) -f = urllib.request.urlopen("https://www.ngdc.noaa.gov/geomag-web/calculators/calculateIgrfgrid?key=%s&%s" % (key, params)) -data = json.loads(f.read()) -print("// Magnetic declination data in radians * 10^-4") -print('// Model: {},'.format(data['model'])) -print('// Version: {},'.format(data['version'])) -print('// Date: {},'.format(data['result'][0]['date'])) -print('static constexpr const int16_t declination_table[{}][{}]'.format(LAT_DIM, LON_DIM) + " {") -print('\t// LONGITUDE: ', end='') -for l in range(SAMPLING_MIN_LON, SAMPLING_MAX_LON+1, SAMPLING_RES): - print('{0:6d},'.format(l), end='') -print('') -for latitude in range(SAMPLING_MIN_LAT, SAMPLING_MAX_LAT+1, SAMPLING_RES): - params = urllib.parse.urlencode({'lat1': latitude, 'lat2': latitude, 'lon1': SAMPLING_MIN_LON, 'lon2': SAMPLING_MAX_LON, 'latStepSize': 1, 'lonStepSize': SAMPLING_RES, 'magneticComponent': 'd', 'resultFormat': 'json'}) - f = urllib.request.urlopen("https://www.ngdc.noaa.gov/geomag-web/calculators/calculateIgrfgrid?key=%s&%s" % (key, params)) - data = json.loads(f.read()) - - print('\t/* LAT: {0:3d} */'.format(latitude) + ' { ', end='') - for p in data['result']: - # declination in radians * 10^-4 - declination_int = constrain(int(round(math.radians(p['declination'] * 10000))), 32767, -32768) - print('{0:6d},'.format(declination_int), end='') - - print(' },') -print("};\n") - -# Inclination -params = urllib.parse.urlencode({'lat1': 0, 'lat2': 0, 'lon1': 0, 'lon2': 0, 'latStepSize': 1, 'lonStepSize': 1, 'magneticComponent': 'i', 'resultFormat': 'json'}) -f = urllib.request.urlopen("https://www.ngdc.noaa.gov/geomag-web/calculators/calculateIgrfgrid?key=%s&%s" % (key, params)) -data = json.loads(f.read()) -print("// Magnetic inclination data in radians * 10^-4") -print('// Model: {},'.format(data['model'])) -print('// Version: {},'.format(data['version'])) -print('// Date: {},'.format(data['result'][0]['date'])) -print('static constexpr const int16_t inclination_table[{}][{}]'.format(LAT_DIM, LON_DIM) + " {") -print('\t// LONGITUDE: ', end='') -for l in range(SAMPLING_MIN_LON, SAMPLING_MAX_LON+1, SAMPLING_RES): - print('{0:6d},'.format(l), end='') -print('') -for latitude in range(SAMPLING_MIN_LAT, SAMPLING_MAX_LAT+1, SAMPLING_RES): - params = urllib.parse.urlencode({'lat1': latitude, 'lat2': latitude, 'lon1': SAMPLING_MIN_LON, 'lon2': SAMPLING_MAX_LON, 'latStepSize': 1, 'lonStepSize': SAMPLING_RES, 'magneticComponent': 'i', 'resultFormat': 'json'}) - f = urllib.request.urlopen("https://www.ngdc.noaa.gov/geomag-web/calculators/calculateIgrfgrid?key=%s&%s" % (key, params)) - data = json.loads(f.read()) - - print('\t/* LAT: {0:3d} */'.format(latitude) + ' { ', end='') - for p in data['result']: - # inclination in radians * 10^-4 - inclination_int = constrain(int(round(math.radians(p['inclination'] * 10000))), 32767, -32768) - print('{0:6d},'.format(inclination_int), end='') - - print(' },') -print("};\n") - -# total intensity -params = urllib.parse.urlencode({'lat1': 0, 'lat2': 0, 'lon1': 0, 'lon2': 0, 'latStepSize': 1, 'lonStepSize': 1, 'magneticComponent': 'i', 'resultFormat': 'json'}) -f = urllib.request.urlopen("https://www.ngdc.noaa.gov/geomag-web/calculators/calculateIgrfgrid?key=%s&%s" % (key, params)) + + +# build the world magnetic model dictionary +world_magnitude_model = {} # lat/lon dictionary with grid result + +params = urllib.parse.urlencode({'lat1': 0, 'lon1': 0, 'resultFormat': 'json'}) +f = urllib.request.urlopen("https://www.ngdc.noaa.gov/geomag-web/calculators/calculateIgrfwmm?key=%s&%s" % (key, params)) data = json.loads(f.read()) -print("// Magnetic strength data in milli-Gauss * 10") -print('// Model: {},'.format(data['model'])) -print('// Version: {},'.format(data['version'])) -print('// Date: {},'.format(data['result'][0]['date'])) -print('static constexpr const int16_t strength_table[{}][{}]'.format(LAT_DIM, LON_DIM) + " {") -print('\t// LONGITUDE: ', end='') -for l in range(SAMPLING_MIN_LON, SAMPLING_MAX_LON+1, SAMPLING_RES): - print('{0:5d},'.format(l), end='') -print('') + +world_magnitude_model_units = data['units'] + for latitude in range(SAMPLING_MIN_LAT, SAMPLING_MAX_LAT+1, SAMPLING_RES): - params = urllib.parse.urlencode({'lat1': latitude, 'lat2': latitude, 'lon1': SAMPLING_MIN_LON, 'lon2': SAMPLING_MAX_LON, 'latStepSize': 1, 'lonStepSize': SAMPLING_RES, 'magneticComponent': 'f', 'resultFormat': 'json'}) - f = urllib.request.urlopen("https://www.ngdc.noaa.gov/geomag-web/calculators/calculateIgrfgrid?key=%s&%s" % (key, params)) - data = json.loads(f.read()) + world_magnitude_model[latitude] = {} + + for longitude in range(SAMPLING_MIN_LON, SAMPLING_MAX_LON+1, SAMPLING_RES): + params = urllib.parse.urlencode({'lat1': latitude, 'lon1': longitude, 'lon2': SAMPLING_MAX_LON, 'resultFormat': 'json'}) + f = urllib.request.urlopen("https://www.ngdc.noaa.gov/geomag-web/calculators/calculateIgrfwmm?key=%s&%s" % (key, params)) + data = json.loads(f.read()) + #print(json.dumps(data, indent = 4)) # debugging + + world_magnitude_model[latitude][longitude] = data['result'][0] + #print(world_magnitude_model[latitude][longitude]) + + +def print_wmm_table(key_name): + + value_min = float('inf') + value_min_lat_lon = () + + value_max = float('-inf') + value_max_lat_lon = () + + for latitude, lat_row in world_magnitude_model.items(): + #print(latitude, lat_row) + for longitude, result in lat_row.items(): + #print(result) + + value = float(result[key_name]) + + if (value > value_max): + value_max = value + value_max_lat_lon = (latitude, longitude) + + if (value < value_min): + value_min = value + value_min_lat_lon = (latitude, longitude) + + # scale the values to fit into int16_t + value_scale_max = abs(numpy.iinfo(numpy.int16).max) / abs(value_max) + value_scale_min = abs(numpy.iinfo(numpy.int16).min) / abs(value_min) + value_scale = min(value_scale_max, value_scale_min) + + units_str = world_magnitude_model_units[key_name].split(' ')[0] + + # print the table + print('// Magnetic {} data in {:.4g} {}'.format(key_name, 1.0 / value_scale, units_str)) + print('// Model: {},'.format(data['model'])) + print('// Version: {},'.format(data['version'])) + print('// Date: {},'.format(data['result'][0]['date'])) + print('static constexpr const int16_t {}_table[{}][{}]'.format(key_name, LAT_DIM, LON_DIM) + " {") + print('\t// LONGITUDE: ', end='') + for l in range(SAMPLING_MIN_LON, SAMPLING_MAX_LON+1, SAMPLING_RES): + print('{0:6d},'.format(l), end='') + print('') + + for latitude, lat_row in world_magnitude_model.items(): + print('\t/* LAT: {0:3d} */'.format(latitude) + ' { ', end='') + latitude_blackout_zone = False + + for longitude, result in lat_row.items(): + + value = float(result[key_name]) + + # value scaled to fit into int16_t + value_int = int(round(value * value_scale)) + print('{0:6d},'.format(value_int), end='') + + # blackout warning at this latitude + try: + if result['warning']: + latitude_blackout_zone = True + + except: + pass + + if latitude_blackout_zone: + print(' }, // WARNING! black out zone') + else: + print(' },') + + print("};") + + print('static constexpr float WMM_{}_SCALE_TO_{} = {:.9g}f;'.format(key_name.upper(), units_str.upper(), 1.0 / value_scale)) + print('static constexpr float WMM_{}_MIN_{} = {:.1f}f; // latitude: {:.0f}, longitude: {:.0f}'.format(key_name.upper(), units_str.upper(), value_min, value_min_lat_lon[0], value_min_lat_lon[1])) + print('static constexpr float WMM_{}_MAX_{} = {:.1f}f; // latitude: {:.0f}, longitude: {:.0f}'.format(key_name.upper(), units_str.upper(), value_max, value_max_lat_lon[0], value_max_lat_lon[1])) + print("\n") - print('\t/* LAT: {0:3d} */'.format(latitude) + ' { ', end='') - for p in data['result']: - totalintensity_int = int(round(p['totalintensity']/10)) - print('{0:5d},'.format(totalintensity_int), end='') - print(' },') -print("};") +print_wmm_table('declination') +print_wmm_table('inclination') +print_wmm_table('totalintensity') diff --git a/src/lib/world_magnetic_model/generate_gtest.py b/src/lib/world_magnetic_model/generate_gtest.py index 5e7f5bc3fbc5..966e56a4bd02 100755 --- a/src/lib/world_magnetic_model/generate_gtest.py +++ b/src/lib/world_magnetic_model/generate_gtest.py @@ -1,7 +1,7 @@ #!/usr/bin/env python3 ############################################################################ # -# Copyright (c) 2020-2022 PX4 Development Team. All rights reserved. +# Copyright (c) 2020-2023 PX4 Development Team. All rights reserved. # # Redistribution and use in source and binary forms, with or without # modification, are permitted provided that the following conditions @@ -44,7 +44,7 @@ header = """/**************************************************************************** * - * Copyright (c) 2020-2022 PX4 Development Team. All rights reserved. + * Copyright (c) 2020-2024 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -100,13 +100,13 @@ data = json.loads(f.read()) for p in data['result']: - error = 1 + error_deg = 1.0 - # thing start getting worse here - if latitude <= -44: - error = 2 + # why is this area worse? + if (-45 <= p['latitude'] <= -44) and (100 <= p['longitude'] <= 120): + error_deg = 1.8 - print('\tEXPECT_NEAR(get_mag_declination_degrees({}, {}), {}, {} + {});'.format(p['latitude'], p['longitude'], p['declination'], p['declination_uncertainty'], error)) + print('\tEXPECT_NEAR(get_mag_declination_degrees({}, {}), {:.1f}, {:.2f} + {});'.format(p['latitude'], p['longitude'], p['declination'], p['declination_uncertainty'], error_deg)) print('}') print('') @@ -120,11 +120,11 @@ for p in data['result']: error = 1.2 - # thing start getting worse here - if latitude <= -44: - error = 2 + # why is this area worse? + if (-45 <= p['latitude'] <= -44) and (100 <= p['longitude'] <= 120): + error_deg = 1.5 - print('\tEXPECT_NEAR(get_mag_inclination_degrees({}, {}), {}, {} + {});'.format(p['latitude'], p['longitude'], p['inclination'], p['inclination_uncertainty'], error)) + print('\tEXPECT_NEAR(get_mag_inclination_degrees({}, {}), {:.1f}, {:.2f} + {});'.format(p['latitude'], p['longitude'], p['inclination'], p['inclination_uncertainty'], error)) print('}') print('') @@ -136,7 +136,11 @@ data = json.loads(f.read()) for p in data['result']: - error = 500 + error = 0.01 - print('\tEXPECT_NEAR(get_mag_strength_tesla({}, {}) * 1e9, {}, {} + {});'.format(p['latitude'], p['longitude'], p['totalintensity'], p['totalintensity_uncertainty'], error)) + # why is this area worse? + if (-45 <= p['latitude'] <= -35): + error = 0.017 + + print('\tEXPECT_NEAR(get_mag_strength_tesla({}, {}) * 1e9, {:.0f}, {:.0f} + {:.0f});'.format(p['latitude'], p['longitude'], p['totalintensity'], p['totalintensity_uncertainty'], p['totalintensity'] * error)) print('}') diff --git a/src/lib/world_magnetic_model/geo_mag_declination.cpp b/src/lib/world_magnetic_model/geo_mag_declination.cpp index f40a77935004..64738426f501 100644 --- a/src/lib/world_magnetic_model/geo_mag_declination.cpp +++ b/src/lib/world_magnetic_model/geo_mag_declination.cpp @@ -66,21 +66,21 @@ static constexpr unsigned get_lookup_table_index(float *val, float min, float ma return static_cast((-(min) + *val) / SAMPLING_RES); } -static constexpr float get_table_data(float lat, float lon, const int16_t table[LAT_DIM][LON_DIM]) +static constexpr float get_table_data(float latitude_deg, float longitude_deg, const int16_t table[LAT_DIM][LON_DIM]) { - lat = math::constrain(lat, SAMPLING_MIN_LAT, SAMPLING_MAX_LAT); + latitude_deg = math::constrain(latitude_deg, SAMPLING_MIN_LAT, SAMPLING_MAX_LAT); - if (lon > SAMPLING_MAX_LON) { - lon -= 360; + if (longitude_deg > SAMPLING_MAX_LON) { + longitude_deg -= 360.f; } - if (lon < SAMPLING_MIN_LON) { - lon += 360; + if (longitude_deg < SAMPLING_MIN_LON) { + longitude_deg += 360.f; } /* round down to nearest sampling resolution */ - float min_lat = floorf(lat / SAMPLING_RES) * SAMPLING_RES; - float min_lon = floorf(lon / SAMPLING_RES) * SAMPLING_RES; + float min_lat = floorf(latitude_deg / SAMPLING_RES) * SAMPLING_RES; + float min_lon = floorf(longitude_deg / SAMPLING_RES) * SAMPLING_RES; /* find index of nearest low sampling point */ unsigned min_lat_index = get_lookup_table_index(&min_lat, SAMPLING_MIN_LAT, SAMPLING_MAX_LAT); @@ -92,8 +92,8 @@ static constexpr float get_table_data(float lat, float lon, const int16_t table[ const float data_nw = table[min_lat_index + 1][min_lon_index]; /* perform bilinear interpolation on the four grid corners */ - const float lat_scale = constrain((lat - min_lat) / SAMPLING_RES, 0.f, 1.f); - const float lon_scale = constrain((lon - min_lon) / SAMPLING_RES, 0.f, 1.f); + const float lat_scale = constrain((latitude_deg - min_lat) / SAMPLING_RES, 0.f, 1.f); + const float lon_scale = constrain((longitude_deg - min_lon) / SAMPLING_RES, 0.f, 1.f); const float data_min = lon_scale * (data_se - data_sw) + data_sw; const float data_max = lon_scale * (data_ne - data_nw) + data_nw; @@ -101,32 +101,27 @@ static constexpr float get_table_data(float lat, float lon, const int16_t table[ return lat_scale * (data_max - data_min) + data_min; } -float get_mag_declination_radians(float lat, float lon) +float get_mag_declination_degrees(float latitude_deg, float longitude_deg) { - return get_table_data(lat, lon, declination_table) * 1e-4f; // declination table stored as 10^-4 radians + // table stored as scaled degrees + return get_table_data(latitude_deg, longitude_deg, declination_table) * WMM_DECLINATION_SCALE_TO_DEGREES; } -float get_mag_declination_degrees(float lat, float lon) +float get_mag_inclination_degrees(float latitude_deg, float longitude_deg) { - return math::degrees(get_mag_declination_radians(lat, lon)); + // table stored as scaled degrees + return get_table_data(latitude_deg, longitude_deg, inclination_table) * WMM_INCLINATION_SCALE_TO_DEGREES; } -float get_mag_inclination_radians(float lat, float lon) +float get_mag_strength_gauss(float latitude_deg, float longitude_deg) { - return get_table_data(lat, lon, inclination_table) * 1e-4f; // inclination table stored as 10^-4 radians + // 1 Gauss = 1e4 Tesla + return get_mag_strength_tesla(latitude_deg, longitude_deg) * 1e4f; } -float get_mag_inclination_degrees(float lat, float lon) +float get_mag_strength_tesla(float latitude_deg, float longitude_deg) { - return math::degrees(get_mag_inclination_radians(lat, lon)); -} - -float get_mag_strength_gauss(float lat, float lon) -{ - return get_table_data(lat, lon, strength_table) * 1e-4f; // strength table table stored as milli-Gauss * 10 -} - -float get_mag_strength_tesla(float lat, float lon) -{ - return get_mag_strength_gauss(lat, lon) * 1e-4f; // 1 Gauss == 0.0001 Tesla + // table stored as scaled nanotesla + return get_table_data(latitude_deg, longitude_deg, totalintensity_table) + * WMM_TOTALINTENSITY_SCALE_TO_NANOTESLA * 1e-9f; } diff --git a/src/lib/world_magnetic_model/geo_mag_declination.h b/src/lib/world_magnetic_model/geo_mag_declination.h index 790f3b353a07..7e6f34670663 100644 --- a/src/lib/world_magnetic_model/geo_mag_declination.h +++ b/src/lib/world_magnetic_model/geo_mag_declination.h @@ -41,14 +41,12 @@ #pragma once -// Return magnetic declination in degrees or radians -float get_mag_declination_degrees(float lat, float lon); -float get_mag_declination_radians(float lat, float lon); +// Return magnetic declination in degrees +float get_mag_declination_degrees(float latitude_deg, float longitude_deg); -// Return magnetic field inclination in degrees or radians -float get_mag_inclination_degrees(float lat, float lon); -float get_mag_inclination_radians(float lat, float lon); +// Return magnetic field inclination in degrees +float get_mag_inclination_degrees(float latitude_deg, float longitude_deg); // return magnetic field strength in Gauss or Tesla -float get_mag_strength_gauss(float lat, float lon); -float get_mag_strength_tesla(float lat, float lon); +float get_mag_strength_gauss(float latitude_deg, float longitude_deg); +float get_mag_strength_tesla(float latitude_deg, float longitude_deg); diff --git a/src/lib/world_magnetic_model/geo_magnetic_tables.hpp b/src/lib/world_magnetic_model/geo_magnetic_tables.hpp index 3366c1d4bf48..855a971406b8 100644 --- a/src/lib/world_magnetic_model/geo_magnetic_tables.hpp +++ b/src/lib/world_magnetic_model/geo_magnetic_tables.hpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2020-2022 PX4 Development Team. All rights reserved. + * Copyright (c) 2020-2024 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -44,83 +44,97 @@ static constexpr int LON_DIM = 37; // *INDENT-OFF* -// Magnetic declination data in radians * 10^-4 + + + +// Magnetic declination data in 0.005451 degrees // Model: WMM-2020, // Version: 0.5.1.11, -// Date: 2023.3287, +// Date: 2024.41257, static constexpr const int16_t declination_table[19][37] { // LONGITUDE: -180, -170, -160, -150, -140, -130, -120, -110, -100, -90, -80, -70, -60, -50, -40, -30, -20, -10, 0, 10, 20, 30, 40, 50, 60, 70, 80, 90, 100, 110, 120, 130, 140, 150, 160, 170, 180, - /* LAT: -90 */ { 25967, 24222, 22477, 20731, 18986, 17240, 15495, 13750, 12005, 10259, 8514, 6769, 5023, 3278, 1533, -212, -1958, -3703, -5448, -7194, -8939,-10684,-12429,-14175,-15920,-17665,-19411,-21156,-22902,-24647,-26392,-28138,-29883, 31203, 29458, 27713, 25967, }, - /* LAT: -80 */ { 22532, 20403, 18464, 16692, 15052, 13514, 12051, 10640, 9265, 7916, 6584, 5266, 3957, 2652, 1344, 24, -1318, -2691, -4102, -5555, -7051, -8589,-10168,-11788,-13454,-15173,-16960,-18833,-20817,-22937,-25212,-27647,-30215, 29979, 27363, 24859, 22532, }, - /* LAT: -70 */ { 14982, 13583, 12455, 11491, 10620, 9787, 8944, 8056, 7102, 6083, 5013, 3920, 2836, 1782, 761, -249, -1287, -2394, -3598, -4901, -6285, -7718, -9168,-10611,-12038,-13455,-14885,-16373,-18000,-19920,-22451,-26265, 30648, 24116, 19620, 16853, 14982, }, - /* LAT: -60 */ { 8438, 8189, 7905, 7627, 7371, 7115, 6804, 6369, 5752, 4931, 3929, 2818, 1699, 675, -202, -957, -1685, -2510, -3520, -4724, -6060, -7434, -8757, -9968,-11032,-11930,-12644,-13139,-13310,-12862,-10754, -3444, 4979, 7699, 8458, 8577, 8438, }, - /* LAT: -50 */ { 5499, 5534, 5475, 5383, 5307, 5268, 5231, 5102, 4756, 4090, 3077, 1804, 465, -710, -1572, -2128, -2520, -2962, -3656, -4683, -5938, -7221, -8364, -9263, -9857,-10090, -9889, -9125, -7611, -5244, -2337, 412, 2522, 3948, 4822, 5296, 5499, }, - /* LAT: -40 */ { 3965, 4057, 4063, 4015, 3953, 3917, 3921, 3908, 3733, 3195, 2167, 721, -841, -2148, -3000, -3440, -3614, -3670, -3846, -4436, -5432, -6517, -7400, -7932, -8030, -7641, -6742, -5354, -3645, -1948, -492, 728, 1773, 2642, 3301, 3733, 3965, }, - /* LAT: -30 */ { 2992, 3078, 3106, 3088, 3027, 2947, 2885, 2851, 2723, 2241, 1198, -327, -1933, -3178, -3906, -4240, -4309, -4088, -3651, -3450, -3841, -4601, -5295, -5635, -5498, -4900, -3934, -2730, -1529, -592, 81, 680, 1306, 1913, 2426, 2791, 2992, }, - /* LAT: -20 */ { 2349, 2395, 2409, 2408, 2363, 2266, 2156, 2079, 1933, 1434, 369, -1126, -2602, -3653, -4173, -4277, -4063, -3493, -2628, -1843, -1591, -1961, -2612, -3073, -3100, -2733, -2094, -1280, -512, -31, 227, 527, 971, 1455, 1882, 2194, 2349, }, - /* LAT: -10 */ { 1956, 1949, 1925, 1918, 1887, 1799, 1686, 1593, 1408, 855, -214, -1595, -2864, -3682, -3934, -3693, -3110, -2325, -1480, -731, -278, -324, -801, -1304, -1511, -1415, -1100, -603, -112, 122, 165, 322, 697, 1141, 1541, 1833, 1956, }, - /* LAT: 0 */ { 1742, 1708, 1649, 1637, 1623, 1551, 1442, 1325, 1070, 448, -596, -1824, -2872, -3446, -3431, -2920, -2149, -1369, -720, -187, 222, 325, 39, -378, -629, -683, -584, -325, -39, 44, -23, 62, 407, 858, 1284, 1610, 1742, }, - /* LAT: 10 */ { 1604, 1612, 1567, 1580, 1603, 1551, 1425, 1235, 858, 141, -881, -1955, -2774, -3103, -2887, -2274, -1497, -788, -277, 101, 425, 569, 402, 79, -153, -261, -287, -210, -109, -155, -300, -276, 29, 491, 978, 1391, 1604, }, - /* LAT: 20 */ { 1416, 1564, 1623, 1713, 1798, 1775, 1616, 1311, 766, -89, -1130, -2076, -2665, -2766, -2431, -1825, -1114, -467, -10, 297, 554, 697, 602, 359, 161, 42, -54, -124, -208, -402, -642, -702, -464, -11, 535, 1057, 1416, }, - /* LAT: 30 */ { 1108, 1474, 1733, 1957, 2116, 2125, 1935, 1511, 784, -243, -1355, -2225, -2633, -2564, -2162, -1581, -926, -309, 150, 454, 684, 828, 804, 654, 506, 380, 218, -1, -289, -666, -1036, -1196, -1033, -603, -24, 586, 1108, }, - /* LAT: 40 */ { 742, 1328, 1823, 2216, 2466, 2510, 2294, 1761, 851, -371, -1602, -2460, -2775, -2619, -2172, -1579, -925, -297, 211, 573, 842, 1038, 1128, 1116, 1040, 890, 615, 195, -350, -959, -1480, -1721, -1602, -1183, -585, 85, 742, }, - /* LAT: 50 */ { 443, 1188, 1870, 2430, 2800, 2909, 2682, 2030, 894, -593, -2005, -2911, -3202, -3009, -2519, -1873, -1163, -466, 148, 652, 1068, 1421, 1698, 1866, 1882, 1691, 1238, 519, -383, -1287, -1962, -2243, -2116, -1675, -1044, -317, 443, }, - /* LAT: 60 */ { 233, 1083, 1890, 2589, 3098, 3317, 3110, 2308, 810, -1130, -2833, -3808, -4061, -3803, -3233, -2489, -1664, -825, -19, 731, 1421, 2050, 2590, 2982, 3137, 2942, 2291, 1160, -263, -1582, -2443, -2746, -2579, -2089, -1403, -610, 233, }, - /* LAT: 70 */ { -27, 905, 1801, 2603, 3222, 3525, 3289, 2187, 4, -2659, -4601, -5437, -5459, -4985, -4223, -3294, -2274, -1211, -138, 920, 1943, 2908, 3773, 4477, 4919, 4942, 4316, 2820, 607, -1504, -2794, -3233, -3075, -2549, -1808, -946, -27, }, - /* LAT: 80 */ { -816, 104, 954, 1645, 2036, 1878, 760, -1675, -4727, -6835, -7634, -7551, -6956, -6063, -4988, -3801, -2543, -1244, 77, 1401, 2713, 3995, 5222, 6361, 7359, 8121, 8464, 8007, 6022, 2118, -1550, -3257, -3603, -3265, -2585, -1736, -816, }, - /* LAT: 90 */ { -29541,-27795,-26050,-24304,-22559,-20814,-19068,-17323,-15578,-13833,-12087,-10342, -8597, -6852, -5107, -3362, -1616, 129, 1874, 3619, 5364, 7110, 8855, 10600, 12346, 14091, 15836, 17582, 19327, 21073, 22818, 24564, 26309, 28055, 29800,-31286,-29541, }, + /* LAT: -90 */ { 27264, 25429, 23595, 21761, 19926, 18092, 16258, 14423, 12589, 10754, 8920, 7086, 5251, 3417, 1583, -252, -2086, -3921, -5755, -7589, -9424,-11258,-13092,-14927,-16761,-18596,-20430,-22264,-24099,-25933,-27768,-29602,-31436, 32767, 30933, 29098, 27264, }, + /* LAT: -80 */ { 23650, 21416, 19382, 17521, 15799, 14184, 12647, 11165, 9721, 8303, 6904, 5519, 4143, 2772, 1397, 9, -1403, -2848, -4333, -5863, -7437, -9056,-10718,-12423,-14175,-15984,-17864,-19835,-21922,-24152,-26545,-29105,-31803, 31464, 28718, 26092, 23650, }, + /* LAT: -70 */ { 15755, 14282, 13094, 12077, 11159, 10281, 9392, 8457, 7454, 6381, 5257, 4109, 2971, 1865, 794, -267, -1359, -2527, -3797, -5172, -6632, -8142, -9669,-11188,-12690,-14181,-15686,-17253,-18969,-20997,-23675,-27707, 32110, 25303, 20617, 17720, 15755, }, // WARNING! black out zone + /* LAT: -60 */ { 8903, 8634, 8328, 8030, 7755, 7481, 7150, 6689, 6037, 5171, 4116, 2948, 1775, 704, -211, -998, -1763, -2635, -3706, -4982, -6396, -7846, -9240,-10513,-11630,-12572,-13320,-13839,-14019,-13549,-11322, -3523, 5353, 8167, 8943, 9057, 8903, }, // WARNING! black out zone + /* LAT: -50 */ { 5806, 5839, 5774, 5672, 5587, 5541, 5499, 5359, 4991, 4286, 3216, 1875, 470, -754, -1647, -2218, -2623, -3091, -3835, -4934, -6270, -7627, -8830, -9771,-10388,-10623,-10400, -9587, -7986, -5492, -2431, 460, 2679, 4178, 5097, 5594, 5806, }, + /* LAT: -40 */ { 4186, 4282, 4284, 4229, 4159, 4118, 4119, 4103, 3914, 3342, 2253, 728, -912, -2273, -3151, -3597, -3767, -3819, -4016, -4665, -5740, -6891, -7817, -8365, -8453, -8028, -7069, -5603, -3811, -2034, -509, 772, 1872, 2790, 3486, 3942, 4186, }, + /* LAT: -30 */ { 3161, 3250, 3275, 3251, 3182, 3094, 3026, 2988, 2851, 2337, 1229, -384, -2070, -3364, -4111, -4446, -4503, -4252, -3790, -3609, -4059, -4874, -5597, -5938, -5777, -5133, -4109, -2845, -1594, -619, 83, 710, 1372, 2016, 2561, 2948, 3161, }, + /* LAT: -20 */ { 2485, 2532, 2542, 2534, 2481, 2375, 2255, 2172, 2018, 1486, 353, -1228, -2777, -3865, -4390, -4481, -4240, -3623, -2707, -1902, -1669, -2082, -2768, -3241, -3254, -2856, -2179, -1328, -531, -35, 229, 542, 1013, 1529, 1985, 2318, 2485, }, + /* LAT: -10 */ { 2072, 2064, 2032, 2018, 1980, 1883, 1758, 1657, 1461, 874, -261, -1719, -3046, -3887, -4129, -3855, -3229, -2397, -1510, -734, -274, -342, -854, -1379, -1586, -1478, -1143, -624, -116, 121, 159, 321, 720, 1197, 1625, 1939, 2072, }, + /* LAT: 0 */ { 1847, 1810, 1742, 1723, 1703, 1621, 1500, 1371, 1102, 444, -660, -1952, -3043, -3628, -3589, -3035, -2219, -1401, -724, -169, 254, 350, 38, -401, -658, -711, -608, -338, -43, 36, -42, 45, 413, 896, 1354, 1703, 1847, }, + /* LAT: 10 */ { 1699, 1705, 1653, 1662, 1681, 1620, 1480, 1275, 878, 122, -954, -2080, -2929, -3256, -3012, -2356, -1536, -796, -265, 129, 466, 610, 425, 85, -155, -268, -299, -222, -121, -175, -335, -312, 14, 509, 1030, 1470, 1699, }, + /* LAT: 20 */ { 1494, 1649, 1708, 1799, 1884, 1855, 1681, 1355, 781, -117, -1209, -2197, -2803, -2893, -2528, -1885, -1137, -461, 13, 332, 601, 746, 640, 383, 178, 51, -55, -135, -228, -437, -694, -758, -503, -19, 561, 1114, 1494, }, + /* LAT: 30 */ { 1160, 1544, 1816, 2050, 2215, 2221, 2017, 1567, 802, -275, -1438, -2341, -2756, -2673, -2242, -1629, -939, -294, 184, 499, 738, 885, 855, 696, 542, 408, 230, -8, -317, -718, -1109, -1275, -1099, -642, -30, 613, 1160, }, + /* LAT: 40 */ { 765, 1379, 1900, 2314, 2577, 2622, 2393, 1831, 876, -403, -1685, -2574, -2892, -2722, -2248, -1623, -936, -278, 252, 629, 908, 1109, 1199, 1184, 1104, 944, 647, 195, -387, -1030, -1576, -1826, -1696, -1253, -625, 77, 765, }, + /* LAT: 50 */ { 437, 1218, 1936, 2528, 2919, 3036, 2799, 2116, 928, -623, -2091, -3030, -3327, -3121, -2604, -1925, -1180, -449, 193, 719, 1153, 1519, 1805, 1977, 1991, 1784, 1297, 527, -430, -1381, -2085, -2373, -2234, -1771, -1112, -355, 437, }, + /* LAT: 60 */ { 198, 1087, 1936, 2674, 3216, 3452, 3243, 2411, 855, -1158, -2926, -3941, -4206, -3936, -3339, -2560, -1696, -817, 27, 812, 1534, 2191, 2754, 3160, 3315, 3098, 2397, 1190, -317, -1699, -2593, -2902, -2725, -2214, -1502, -680, 198, }, + /* LAT: 70 */ { -111, 863, 1803, 2648, 3305, 3634, 3405, 2285, 58, -2678, -4700, -5589, -5627, -5143, -4352, -3383, -2317, -1205, -83, 1026, 2098, 3108, 4014, 4748, 5204, 5214, 4533, 2927, 575, -1644, -2988, -3441, -3276, -2730, -1962, -1068, -111, }, // WARNING! black out zone + /* LAT: 80 */ { -1054, -90, 801, 1527, 1946, 1812, 731, -1632, -4654, -6842, -7732, -7698, -7114, -6204, -5096, -3864, -2554, -1197, 184, 1572, 2947, 4292, 5581, 6779, 7828, 8630, 8988, 8486, 6313, 2026, -1910, -3677, -4009, -3636, -2914, -2019, -1054, }, // WARNING! black out zone + /* LAT: 90 */ { -30607,-28773,-26938,-25104,-23269,-21435,-19601,-17766,-15932,-14097,-12263,-10429, -8594, -6760, -4926, -3091, -1257, 578, 2412, 4246, 6081, 7915, 9749, 11584, 13418, 15253, 17087, 18921, 20756, 22590, 24424, 26259, 28093, 29928, 31762,-32441,-30607, }, // WARNING! black out zone }; +static constexpr float WMM_DECLINATION_SCALE_TO_DEGREES = 0.00545143529f; +static constexpr float WMM_DECLINATION_MIN_DEGREES = -176.9f; // latitude: 90, longitude: 170 +static constexpr float WMM_DECLINATION_MAX_DEGREES = 178.6f; // latitude: -90, longitude: 150 -// Magnetic inclination data in radians * 10^-4 + +// Magnetic inclination data in 0.002699 degrees // Model: WMM-2020, // Version: 0.5.1.11, -// Date: 2023.3287, +// Date: 2024.41257, static constexpr const int16_t inclination_table[19][37] { // LONGITUDE: -180, -170, -160, -150, -140, -130, -120, -110, -100, -90, -80, -70, -60, -50, -40, -30, -20, -10, 0, 10, 20, 30, 40, 50, 60, 70, 80, 90, 100, 110, 120, 130, 140, 150, 160, 170, 180, - /* LAT: -90 */ { -12567,-12567,-12567,-12567,-12567,-12567,-12567,-12567,-12567,-12567,-12566,-12566,-12566,-12566,-12566,-12566,-12566,-12566,-12566,-12566,-12566,-12566,-12566,-12567,-12567,-12567,-12567,-12567,-12567,-12567,-12567,-12567,-12567,-12567,-12567,-12567,-12567, }, - /* LAT: -80 */ { -13650,-13516,-13355,-13175,-12981,-12780,-12576,-12376,-12186,-12010,-11853,-11719,-11609,-11523,-11459,-11418,-11398,-11400,-11427,-11481,-11565,-11680,-11825,-11999,-12197,-12414,-12644,-12877,-13105,-13317,-13503,-13653,-13756,-13807,-13803,-13749,-13650, }, - /* LAT: -70 */ { -14098,-13779,-13460,-13137,-12805,-12462,-12107,-11750,-11408,-11100,-10848,-10666,-10554,-10502,-10487,-10490,-10495,-10504,-10526,-10582,-10690,-10865,-11113,-11429,-11802,-12221,-12669,-13134,-13600,-14052,-14469,-14813,-14999,-14943,-14712,-14414,-14098, }, - /* LAT: -60 */ { -13514,-13160,-12821,-12488,-12145,-11773,-11358,-10904,-10437,-10008, -9680, -9507, -9506, -9644, -9847,-10037,-10158,-10198,-10182,-10166,-10214,-10374,-10667,-11078,-11579,-12136,-12723,-13319,-13908,-14469,-14967,-15255,-15075,-14689,-14282,-13887,-13514, }, - /* LAT: -50 */ { -12494,-12151,-11819,-11497,-11173,-10827,-10428, -9957, -9428, -8909, -8522, -8402, -8607, -9070, -9633,-10141,-10494,-10649,-10613,-10456,-10314,-10324,-10550,-10972,-11517,-12111,-12697,-13234,-13679,-13976,-14084,-14010,-13806,-13522,-13193,-12845,-12494, }, - /* LAT: -40 */ { -11239,-10889,-10541,-10195, -9856, -9518, -9158, -8733, -8213, -7650, -7229, -7196, -7664, -8491, -9412,-10237,-10890,-11316,-11445,-11268,-10921,-10653,-10654,-10943,-11409,-11914,-12358,-12676,-12833,-12837,-12748,-12612,-12434,-12202,-11915,-11587,-11239, }, - /* LAT: -30 */ { -9602, -9221, -8839, -8448, -8056, -7681, -7327, -6938, -6426, -5816, -5370, -5466, -6249, -7458, -8708, -9798,-10705,-11407,-11793,-11770,-11389,-10882,-10555,-10563,-10819,-11141,-11394,-11503,-11438,-11263,-11090,-10959,-10816,-10610,-10329, -9982, -9602, }, - /* LAT: -20 */ { -7373, -6927, -6506, -6077, -5633, -5204, -4816, -4406, -3842, -3158, -2719, -2998, -4128, -5750, -7375, -8735, -9790,-10555,-10981,-11002,-10628,-10009, -9454, -9218, -9271, -9434, -9573, -9586, -9411, -9140, -8950, -8869, -8770, -8566, -8249, -7835, -7373, }, - /* LAT: -10 */ { -4418, -3874, -3416, -2976, -2519, -2069, -1658, -1209, -588, 111, 462, 14, -1338, -3267, -5238, -6831, -7910, -8530, -8784, -8710, -8290, -7597, -6935, -6596, -6560, -6653, -6768, -6789, -6599, -6305, -6156, -6175, -6144, -5932, -5548, -5017, -4418, }, - /* LAT: 0 */ { -910, -278, 193, 599, 1017, 1434, 1820, 2257, 2834, 3405, 3595, 3081, 1765, -159, -2199, -3831, -4819, -5232, -5281, -5102, -4651, -3927, -3222, -2856, -2797, -2865, -2988, -3060, -2929, -2696, -2648, -2804, -2879, -2699, -2274, -1640, -910, }, - /* LAT: 10 */ { 2558, 3192, 3631, 3975, 4330, 4697, 5045, 5426, 5870, 6233, 6260, 5757, 4660, 3083, 1395, 35, -752, -984, -884, -642, -223, 423, 1056, 1389, 1453, 1412, 1313, 1222, 1264, 1365, 1282, 1003, 799, 866, 1219, 1825, 2558, }, - /* LAT: 20 */ { 5414, 5947, 6330, 6627, 6941, 7284, 7624, 7966, 8294, 8488, 8393, 7922, 7077, 5976, 4853, 3954, 3437, 3330, 3487, 3735, 4070, 4540, 5001, 5254, 5313, 5299, 5253, 5195, 5181, 5160, 4980, 4639, 4333, 4239, 4412, 4838, 5414, }, - /* LAT: 30 */ { 7568, 7943, 8262, 8546, 8855, 9202, 9557, 9894, 10167, 10276, 10126, 9699, 9067, 8354, 7696, 7191, 6906, 6872, 7019, 7234, 7483, 7785, 8074, 8248, 8306, 8322, 8327, 8317, 8292, 8207, 7981, 7623, 7263, 7041, 7025, 7221, 7568, }, - /* LAT: 40 */ { 9266, 9487, 9743, 10029, 10355, 10715, 11081, 11418, 11667, 11745, 11593, 11231, 10757, 10285, 9891, 9611, 9466, 9467, 9581, 9745, 9922, 10108, 10281, 10406, 10484, 10547, 10604, 10637, 10619, 10505, 10261, 9908, 9538, 9252, 9110, 9122, 9266, }, - /* LAT: 50 */ { 10802, 10923, 11124, 11393, 11715, 12068, 12421, 12735, 12955, 13012, 12872, 12574, 12210, 11867, 11593, 11409, 11319, 11318, 11387, 11492, 11607, 11724, 11841, 11957, 12076, 12200, 12314, 12387, 12376, 12248, 12000, 11671, 11331, 11046, 10856, 10776, 10802, }, - /* LAT: 60 */ { 12320, 12391, 12540, 12757, 13026, 13325, 13626, 13891, 14066, 14093, 13958, 13710, 13423, 13153, 12933, 12778, 12689, 12659, 12677, 12726, 12795, 12881, 12988, 13121, 13281, 13457, 13622, 13730, 13734, 13612, 13386, 13106, 12828, 12592, 12422, 12330, 12320, }, - /* LAT: 70 */ { 13757, 13798, 13892, 14032, 14210, 14412, 14619, 14800, 14905, 14887, 14753, 14553, 14337, 14134, 13961, 13827, 13733, 13679, 13661, 13674, 13717, 13790, 13894, 14031, 14199, 14387, 14571, 14710, 14755, 14681, 14519, 14320, 14126, 13961, 13841, 13772, 13757, }, - /* LAT: 80 */ { 14994, 15005, 15041, 15099, 15174, 15258, 15336, 15381, 15367, 15292, 15182, 15060, 14938, 14825, 14725, 14644, 14582, 14542, 14523, 14527, 14554, 14604, 14676, 14769, 14881, 15008, 15144, 15276, 15384, 15427, 15386, 15297, 15201, 15115, 15050, 15009, 14994, }, - /* LAT: 90 */ { 15398, 15398, 15398, 15398, 15398, 15398, 15398, 15398, 15398, 15398, 15398, 15398, 15398, 15398, 15398, 15398, 15398, 15398, 15398, 15398, 15398, 15398, 15398, 15398, 15398, 15398, 15398, 15398, 15398, 15398, 15398, 15398, 15398, 15398, 15398, 15398, 15398, }, + /* LAT: -90 */ { -26663,-26663,-26663,-26663,-26663,-26663,-26663,-26663,-26663,-26663,-26663,-26663,-26663,-26663,-26663,-26663,-26663,-26663,-26663,-26663,-26663,-26663,-26663,-26663,-26663,-26663,-26663,-26663,-26663,-26663,-26663,-26663,-26663,-26663,-26663,-26663,-26663, }, + /* LAT: -80 */ { -28959,-28675,-28333,-27951,-27540,-27113,-26682,-26258,-25854,-25482,-25150,-24867,-24633,-24450,-24315,-24226,-24183,-24188,-24245,-24361,-24539,-24783,-25092,-25462,-25884,-26346,-26833,-27328,-27812,-28262,-28656,-28973,-29191,-29297,-29287,-29170,-28959, }, + /* LAT: -70 */ { -29906,-29230,-28552,-27867,-27164,-26436,-25685,-24930,-24205,-23555,-23023,-22638,-22403,-22293,-22261,-22264,-22272,-22285,-22330,-22447,-22678,-23053,-23582,-24256,-25053,-25944,-26898,-27885,-28874,-29833,-30717,-31441,-31829,-31704,-31211,-30578,-29906, }, // WARNING! black out zone + /* LAT: -60 */ { -28675,-27922,-27202,-26495,-25766,-24977,-24097,-23135,-22147,-21240,-20551,-20191,-20196,-20492,-20922,-21317,-21564,-21635,-21592,-21554,-21657,-22006,-22635,-23517,-24587,-25775,-27023,-28290,-29540,-30732,-31788,-32398,-32004,-31178,-30310,-29471,-28675, }, // WARNING! black out zone + /* LAT: -50 */ { -26518,-25787,-25081,-24395,-23709,-22973,-22127,-21129,-20009,-18913,-18103,-17862,-18313,-19305,-20497,-21563,-22295,-22602,-22503,-22157,-21856,-21888,-22387,-23298,-24466,-25730,-26974,-28112,-29052,-29680,-29904,-29747,-29313,-28709,-28008,-27265,-26518, }, + /* LAT: -40 */ { -23859,-23111,-22367,-21631,-20911,-20195,-19433,-18535,-17434,-16245,-15366,-15320,-16340,-18110,-20062,-21801,-23168,-24048,-24290,-23883,-23136,-22578,-22605,-23240,-24242,-25316,-26251,-26918,-27243,-27250,-27062,-26776,-26401,-25910,-25300,-24601,-23859, }, + /* LAT: -30 */ { -20386,-19567,-18750,-17917,-17085,-16293,-15544,-14724,-13640,-12351,-11424,-11666,-13370,-15956,-18605,-20904,-22812,-24277,-25061,-24972,-24136,-23057,-22385,-22426,-22983,-23667,-24196,-24414,-24269,-23896,-23536,-23265,-22968,-22536,-21939,-21200,-20386, }, + /* LAT: -20 */ { -15655,-14695,-13789,-12872,-11930,-11023,-10206, -9346, -8156, -6711, -5803, -6449, -8904,-12373,-15815,-18676,-20887,-22480,-23348,-23356,-22530,-21203,-20034,-19551,-19678,-20026,-20313,-20331,-19954,-19380,-18986,-18828,-18633,-18206,-17535,-16650,-15655, }, + /* LAT: -10 */ { -9385, -8209, -7218, -6278, -5306, -4355, -3491, -2554, -1249, 222, 935, -75, -3005, -7132,-11304,-14645,-16891,-18169,-18676,-18490,-17568,-16077,-14672,-13969,-13905,-14103,-14342,-14377,-13970,-13348,-13045,-13109,-13066,-12627,-11813,-10677, -9385, }, + /* LAT: 0 */ { -1941, -572, 447, 1316, 2208, 3089, 3901, 4808, 6012, 7204, 7577, 6434, 3584, -534, -4855, -8273,-10317,-11152,-11228,-10827, -9842, -8280, -6784, -6023, -5903, -6042, -6299, -6446, -6167, -5676, -5592, -5955, -6145, -5775, -4872, -3514, -1941, }, + /* LAT: 10 */ { 5421, 6791, 7742, 8478, 9236, 10013, 10743, 11532, 12453, 13205, 13235, 12131, 9759, 6384, 2805, -45, -1666, -2121, -1883, -1354, -444, 946, 2291, 2989, 3125, 3048, 2844, 2651, 2737, 2945, 2751, 2128, 1664, 1792, 2543, 3843, 5421, }, + /* LAT: 20 */ { 11488, 12637, 13462, 14098, 14766, 15492, 16206, 16917, 17594, 17991, 17771, 16744, 14925, 12573, 10194, 8309, 7245, 7046, 7400, 7937, 8662, 9672, 10651, 11186, 11314, 11296, 11203, 11079, 11045, 10991, 10595, 9848, 9176, 8967, 9335, 10249, 11488, }, + /* LAT: 30 */ { 16064, 16869, 17552, 18157, 18813, 19547, 20295, 21001, 21567, 21785, 21452, 20532, 19178, 17663, 16272, 15213, 14627, 14573, 14900, 15364, 15901, 16550, 17167, 17534, 17662, 17704, 17719, 17697, 17639, 17449, 16959, 16185, 15409, 14931, 14899, 15320, 16064, }, + /* LAT: 40 */ { 19670, 20142, 20688, 21294, 21986, 22747, 23519, 24226, 24746, 24903, 24570, 23795, 22787, 21787, 20958, 20373, 20075, 20088, 20340, 20695, 21077, 21477, 21845, 22111, 22280, 22419, 22544, 22615, 22571, 22323, 21795, 21038, 20247, 19638, 19335, 19364, 19670, }, + /* LAT: 50 */ { 22933, 23187, 23612, 24182, 24864, 25609, 26354, 27016, 27477, 27593, 27291, 26658, 25888, 25162, 24586, 24201, 24016, 24023, 24176, 24404, 24654, 24906, 25156, 25404, 25658, 25925, 26171, 26324, 26295, 26017, 25483, 24780, 24056, 23451, 23049, 22878, 22933, }, + /* LAT: 60 */ { 26155, 26303, 26615, 27072, 27639, 28270, 28905, 29465, 29833, 29890, 29605, 29081, 28474, 27904, 27442, 27117, 26932, 26874, 26915, 27023, 27173, 27359, 27588, 27873, 28215, 28592, 28943, 29169, 29170, 28904, 28420, 27827, 27237, 26736, 26376, 26179, 26155, }, + /* LAT: 70 */ { 29204, 29286, 29480, 29773, 30146, 30572, 31008, 31388, 31612, 31580, 31301, 30883, 30427, 29998, 29634, 29351, 29155, 29043, 29006, 29037, 29130, 29287, 29511, 29805, 30163, 30562, 30953, 31246, 31335, 31173, 30826, 30404, 29992, 29643, 29386, 29237, 29204, }, // WARNING! black out zone + /* LAT: 80 */ { 31820, 31841, 31914, 32033, 32188, 32362, 32524, 32622, 32598, 32449, 32224, 31969, 31713, 31474, 31265, 31093, 30963, 30878, 30840, 30850, 30908, 31015, 31169, 31368, 31607, 31878, 32167, 32450, 32679, 32767, 32672, 32479, 32271, 32087, 31945, 31855, 31820, }, // WARNING! black out zone + /* LAT: 90 */ { 32694, 32694, 32694, 32694, 32694, 32694, 32694, 32694, 32694, 32694, 32694, 32694, 32694, 32694, 32694, 32694, 32694, 32694, 32694, 32694, 32694, 32694, 32694, 32694, 32694, 32694, 32694, 32694, 32694, 32694, 32694, 32694, 32694, 32694, 32694, 32694, 32694, }, // WARNING! black out zone }; +static constexpr float WMM_INCLINATION_SCALE_TO_DEGREES = 0.00269892697f; +static constexpr float WMM_INCLINATION_MIN_DEGREES = -87.4f; // latitude: -60, longitude: 130 +static constexpr float WMM_INCLINATION_MAX_DEGREES = 88.4f; // latitude: 80, longitude: 110 + -// Magnetic strength data in milli-Gauss * 10 +// Magnetic totalintensity data in 2.042 nanoTesla // Model: WMM-2020, // Version: 0.5.1.11, -// Date: 2023.3287, -static constexpr const int16_t strength_table[19][37] { - // LONGITUDE: -180, -170, -160, -150, -140, -130, -120, -110, -100, -90, -80, -70, -60, -50, -40, -30, -20, -10, 0, 10, 20, 30, 40, 50, 60, 70, 80, 90, 100, 110, 120, 130, 140, 150, 160, 170, 180, - /* LAT: -90 */ { 5447, 5447, 5447, 5447, 5447, 5447, 5447, 5447, 5447, 5447, 5447, 5447, 5447, 5447, 5447, 5447, 5447, 5447, 5447, 5447, 5447, 5447, 5447, 5447, 5447, 5447, 5447, 5447, 5447, 5447, 5447, 5447, 5447, 5447, 5447, 5447, 5447, }, - /* LAT: -80 */ { 6053, 5989, 5910, 5818, 5714, 5602, 5484, 5363, 5240, 5120, 5006, 4901, 4807, 4728, 4665, 4620, 4596, 4595, 4616, 4663, 4734, 4828, 4943, 5075, 5219, 5369, 5519, 5662, 5793, 5907, 5999, 6068, 6112, 6131, 6126, 6100, 6053, }, - /* LAT: -70 */ { 6298, 6164, 6013, 5847, 5668, 5476, 5270, 5056, 4837, 4622, 4419, 4237, 4080, 3949, 3846, 3769, 3722, 3710, 3739, 3816, 3945, 4126, 4355, 4623, 4919, 5226, 5530, 5814, 6064, 6267, 6418, 6513, 6554, 6546, 6496, 6410, 6298, }, - /* LAT: -60 */ { 6183, 5990, 5788, 5578, 5359, 5124, 4867, 4589, 4297, 4007, 3741, 3514, 3335, 3201, 3103, 3029, 2979, 2959, 2985, 3077, 3246, 3499, 3827, 4214, 4637, 5072, 5493, 5877, 6201, 6449, 6612, 6690, 6691, 6627, 6513, 6361, 6183, }, - /* LAT: -50 */ { 5841, 5610, 5377, 5146, 4913, 4668, 4397, 4094, 3765, 3434, 3132, 2893, 2733, 2642, 2594, 2559, 2524, 2498, 2503, 2576, 2752, 3044, 3442, 3915, 4423, 4929, 5403, 5821, 6160, 6401, 6538, 6578, 6535, 6424, 6261, 6062, 5841, }, - /* LAT: -40 */ { 5391, 5145, 4899, 4659, 4424, 4186, 3931, 3647, 3333, 3007, 2709, 2488, 2372, 2346, 2365, 2386, 2389, 2376, 2363, 2393, 2525, 2804, 3225, 3741, 4289, 4812, 5278, 5665, 5957, 6143, 6231, 6233, 6163, 6031, 5849, 5631, 5391, }, - /* LAT: -30 */ { 4877, 4636, 4396, 4161, 3934, 3715, 3496, 3265, 3009, 2733, 2476, 2294, 2226, 2251, 2318, 2389, 2454, 2502, 2522, 2534, 2604, 2807, 3173, 3664, 4196, 4692, 5109, 5424, 5625, 5725, 5751, 5724, 5644, 5511, 5331, 5114, 4877, }, - /* LAT: -20 */ { 4320, 4107, 3897, 3692, 3496, 3313, 3144, 2981, 2802, 2604, 2413, 2280, 2241, 2286, 2376, 2487, 2614, 2741, 2827, 2861, 2887, 2986, 3230, 3618, 4069, 4495, 4842, 5074, 5178, 5185, 5155, 5108, 5026, 4898, 4731, 4534, 4320, }, - /* LAT: -10 */ { 3790, 3628, 3475, 3328, 3192, 3072, 2968, 2876, 2778, 2662, 2540, 2442, 2398, 2424, 2512, 2642, 2797, 2955, 3076, 3137, 3151, 3179, 3306, 3561, 3888, 4210, 4473, 4634, 4668, 4615, 4548, 4484, 4396, 4272, 4122, 3958, 3790, }, - /* LAT: 0 */ { 3412, 3318, 3234, 3161, 3105, 3067, 3040, 3021, 2995, 2946, 2867, 2773, 2694, 2665, 2709, 2813, 2945, 3080, 3194, 3268, 3299, 3321, 3398, 3557, 3768, 3981, 4161, 4265, 4270, 4202, 4114, 4022, 3911, 3779, 3645, 3520, 3412, }, - /* LAT: 10 */ { 3282, 3251, 3230, 3226, 3250, 3297, 3352, 3404, 3438, 3428, 3359, 3244, 3119, 3025, 3001, 3044, 3125, 3224, 3324, 3409, 3472, 3535, 3624, 3743, 3880, 4019, 4138, 4208, 4209, 4147, 4037, 3893, 3731, 3572, 3436, 3339, 3282, }, - /* LAT: 20 */ { 3399, 3401, 3427, 3480, 3571, 3692, 3820, 3936, 4016, 4028, 3954, 3813, 3647, 3509, 3435, 3424, 3460, 3533, 3630, 3728, 3819, 3918, 4029, 4141, 4251, 4363, 4466, 4531, 4541, 4482, 4344, 4141, 3913, 3703, 3540, 3439, 3399, }, - /* LAT: 30 */ { 3722, 3728, 3781, 3880, 4022, 4192, 4367, 4523, 4630, 4656, 4584, 4429, 4241, 4078, 3975, 3930, 3935, 3987, 4074, 4173, 4271, 4377, 4494, 4612, 4732, 4859, 4981, 5067, 5092, 5033, 4876, 4636, 4361, 4107, 3907, 3778, 3722, }, - /* LAT: 40 */ { 4222, 4218, 4282, 4404, 4570, 4757, 4939, 5096, 5200, 5226, 5158, 5011, 4825, 4652, 4526, 4451, 4427, 4450, 4511, 4591, 4678, 4776, 4891, 5025, 5176, 5338, 5490, 5600, 5638, 5582, 5426, 5187, 4914, 4654, 4443, 4297, 4222, }, - /* LAT: 50 */ { 4832, 4822, 4876, 4985, 5130, 5289, 5438, 5560, 5634, 5644, 5581, 5455, 5293, 5131, 4994, 4898, 4844, 4833, 4859, 4910, 4980, 5071, 5190, 5341, 5516, 5701, 5867, 5984, 6027, 5981, 5850, 5654, 5430, 5215, 5035, 4905, 4832, }, - /* LAT: 60 */ { 5392, 5378, 5404, 5465, 5550, 5644, 5731, 5798, 5832, 5824, 5771, 5678, 5558, 5430, 5312, 5217, 5151, 5118, 5116, 5144, 5201, 5288, 5406, 5554, 5720, 5888, 6035, 6138, 6181, 6158, 6075, 5950, 5804, 5662, 5540, 5448, 5392, }, - /* LAT: 70 */ { 5726, 5704, 5700, 5711, 5732, 5758, 5782, 5798, 5798, 5780, 5742, 5685, 5616, 5540, 5467, 5403, 5356, 5328, 5324, 5344, 5389, 5459, 5551, 5660, 5777, 5891, 5989, 6062, 6100, 6103, 6074, 6021, 5954, 5884, 5819, 5765, 5726, }, - /* LAT: 80 */ { 5790, 5772, 5757, 5744, 5734, 5724, 5715, 5703, 5689, 5671, 5649, 5624, 5598, 5571, 5547, 5527, 5513, 5509, 5514, 5529, 5555, 5590, 5633, 5681, 5730, 5778, 5821, 5855, 5879, 5892, 5894, 5887, 5873, 5853, 5832, 5810, 5790, }, - /* LAT: 90 */ { 5684, 5684, 5684, 5684, 5684, 5684, 5684, 5684, 5684, 5684, 5684, 5684, 5684, 5684, 5684, 5684, 5684, 5684, 5684, 5684, 5684, 5684, 5684, 5684, 5684, 5684, 5684, 5684, 5684, 5684, 5684, 5684, 5684, 5684, 5684, 5684, 5684, }, +// Date: 2024.41257, +static constexpr const int16_t totalintensity_table[19][37] { + // LONGITUDE: -180, -170, -160, -150, -140, -130, -120, -110, -100, -90, -80, -70, -60, -50, -40, -30, -20, -10, 0, 10, 20, 30, 40, 50, 60, 70, 80, 90, 100, 110, 120, 130, 140, 150, 160, 170, 180, + /* LAT: -90 */ { 26644, 26644, 26644, 26644, 26644, 26644, 26644, 26644, 26644, 26644, 26644, 26644, 26644, 26644, 26644, 26644, 26644, 26644, 26644, 26644, 26644, 26644, 26644, 26644, 26644, 26644, 26644, 26644, 26644, 26644, 26644, 26644, 26644, 26644, 26644, 26644, 26644, }, + /* LAT: -80 */ { 29615, 29299, 28908, 28453, 27945, 27395, 26815, 26218, 25619, 25032, 24474, 23959, 23502, 23115, 22808, 22592, 22476, 22469, 22578, 22807, 23157, 23621, 24187, 24836, 25543, 26279, 27014, 27716, 28358, 28914, 29365, 29700, 29913, 30004, 29979, 29846, 29615, }, + /* LAT: -70 */ { 30814, 30152, 29407, 28592, 27711, 26765, 25759, 24706, 23635, 22584, 21596, 20706, 19938, 19300, 18794, 18422, 18195, 18139, 18285, 18666, 19302, 20195, 21322, 22642, 24092, 25601, 27090, 28480, 29701, 30696, 31432, 31894, 32090, 32046, 31794, 31371, 30814, }, // WARNING! black out zone + /* LAT: -60 */ { 30256, 29303, 28305, 27273, 26195, 25041, 23783, 22419, 20989, 19575, 18274, 17168, 16296, 15644, 15162, 14803, 14555, 14459, 14593, 15046, 15888, 17136, 18753, 20656, 22732, 24862, 26925, 28803, 30388, 31598, 32391, 32767, 32766, 32449, 31882, 31131, 30256, }, // WARNING! black out zone + /* LAT: -50 */ { 28585, 27448, 26301, 25162, 24017, 22813, 21484, 19998, 18389, 16768, 15296, 14132, 13352, 12914, 12677, 12503, 12330, 12195, 12223, 12590, 13464, 14914, 16881, 19207, 21698, 24175, 26497, 28540, 30193, 31368, 32034, 32224, 32006, 31456, 30654, 29673, 28585, }, + /* LAT: -40 */ { 26388, 25175, 23965, 22783, 21629, 20463, 19212, 17819, 16281, 14687, 13231, 12153, 11593, 11476, 11568, 11662, 11671, 11598, 11530, 11680, 12349, 13743, 15828, 18371, 21056, 23615, 25886, 27774, 29196, 30107, 30531, 30536, 30188, 29538, 28642, 27566, 26388, }, + /* LAT: -30 */ { 23875, 22687, 21506, 20350, 19238, 18163, 17088, 15953, 14699, 13348, 12090, 11211, 10886, 11019, 11346, 11688, 11997, 12225, 12312, 12367, 12723, 13749, 15575, 17999, 20611, 23034, 25059, 26587, 27567, 28051, 28176, 28039, 27646, 26992, 26106, 25040, 23875, }, + /* LAT: -20 */ { 21154, 20100, 19069, 18060, 17097, 16201, 15373, 14569, 13693, 12716, 11782, 11141, 10963, 11194, 11640, 12182, 12805, 13413, 13818, 13974, 14106, 14617, 15845, 17765, 19985, 22068, 23750, 24872, 25370, 25402, 25252, 25023, 24621, 23994, 23174, 22204, 21154, }, + /* LAT: -10 */ { 18558, 17760, 17002, 16280, 15615, 15025, 14516, 14058, 13572, 13001, 12403, 11927, 11727, 11873, 12314, 12952, 13712, 14475, 15055, 15339, 15405, 15556, 16199, 17471, 19086, 20662, 21941, 22713, 22869, 22606, 22275, 21968, 21540, 20930, 20196, 19388, 18558, }, + /* LAT: 0 */ { 16709, 16246, 15828, 15466, 15193, 15003, 14869, 14765, 14634, 14389, 14000, 13543, 13167, 13043, 13274, 13791, 14440, 15095, 15645, 15999, 16143, 16257, 16647, 17443, 18484, 19534, 20407, 20910, 20925, 20587, 20154, 19705, 19162, 18518, 17858, 17244, 16709, }, + /* LAT: 10 */ { 16075, 15916, 15810, 15786, 15900, 16127, 16390, 16638, 16796, 16740, 16399, 15842, 15234, 14793, 14691, 14911, 15314, 15798, 16286, 16698, 17008, 17318, 17762, 18355, 19031, 19718, 20303, 20638, 20637, 20325, 19783, 19078, 18284, 17502, 16834, 16355, 16075, }, + /* LAT: 20 */ { 16646, 16650, 16769, 17024, 17466, 18051, 18672, 19233, 19618, 19672, 19310, 18619, 17813, 17152, 16804, 16764, 16949, 17315, 17793, 18272, 18719, 19208, 19759, 20311, 20853, 21411, 21916, 22235, 22275, 21976, 21295, 20297, 19178, 18148, 17345, 16845, 16646, }, + /* LAT: 30 */ { 18228, 18245, 18498, 18973, 19662, 20491, 21341, 22097, 22620, 22746, 22388, 21634, 20724, 19941, 19447, 19240, 19272, 19535, 19972, 20460, 20944, 21470, 22044, 22622, 23213, 23845, 24444, 24864, 24980, 24684, 23906, 22724, 21376, 20127, 19146, 18510, 18228, }, + /* LAT: 40 */ { 20676, 20646, 20945, 21535, 22339, 23247, 24138, 24900, 25411, 25538, 25208, 24491, 23592, 22759, 22150, 21796, 21685, 21808, 22117, 22515, 22946, 23429, 23995, 24649, 25392, 26192, 26939, 27472, 27650, 27367, 26593, 25423, 24081, 22812, 21778, 21055, 20676, }, + /* LAT: 50 */ { 23666, 23603, 23852, 24371, 25074, 25848, 26580, 27175, 27541, 27593, 27291, 26681, 25898, 25111, 24452, 23986, 23733, 23688, 23819, 24073, 24420, 24871, 25459, 26197, 27059, 27964, 28776, 29343, 29542, 29310, 28661, 27703, 26610, 25561, 24680, 24034, 23666, }, + /* LAT: 60 */ { 26412, 26324, 26436, 26723, 27132, 27589, 28019, 28351, 28524, 28493, 28240, 27789, 27209, 26590, 26018, 25556, 25239, 25081, 25078, 25221, 25503, 25932, 26515, 27239, 28055, 28877, 29590, 30087, 30289, 30171, 29764, 29152, 28446, 27753, 27153, 26695, 26412, }, + /* LAT: 70 */ { 28043, 27927, 27896, 27940, 28040, 28166, 28285, 28364, 28372, 28290, 28109, 27838, 27503, 27138, 26784, 26477, 26247, 26116, 26097, 26198, 26422, 26766, 27217, 27750, 28323, 28879, 29358, 29708, 29894, 29908, 29765, 29507, 29181, 28836, 28513, 28242, 28043, }, // WARNING! black out zone + /* LAT: 80 */ { 28358, 28266, 28189, 28125, 28072, 28025, 27977, 27922, 27854, 27769, 27667, 27549, 27422, 27295, 27178, 27083, 27020, 26999, 27025, 27102, 27229, 27402, 27613, 27847, 28090, 28324, 28531, 28697, 28813, 28875, 28885, 28848, 28776, 28680, 28572, 28462, 28358, }, // WARNING! black out zone + /* LAT: 90 */ { 27849, 27849, 27849, 27849, 27849, 27849, 27849, 27849, 27849, 27849, 27849, 27849, 27849, 27849, 27849, 27849, 27849, 27849, 27849, 27849, 27849, 27849, 27849, 27849, 27849, 27849, 27849, 27849, 27849, 27849, 27849, 27849, 27849, 27849, 27849, 27849, 27849, }, // WARNING! black out zone }; +static constexpr float WMM_TOTALINTENSITY_SCALE_TO_NANOTESLA = 2.04183477f; +static constexpr float WMM_TOTALINTENSITY_MIN_NANOTESLA = 22226.9f; // latitude: -30, longitude: -60 +static constexpr float WMM_TOTALINTENSITY_MAX_NANOTESLA = 66904.8f; // latitude: -60, longitude: 130 diff --git a/src/lib/world_magnetic_model/test_geo_lookup.cpp b/src/lib/world_magnetic_model/test_geo_lookup.cpp index 0d3757a9e854..674d4252f14c 100644 --- a/src/lib/world_magnetic_model/test_geo_lookup.cpp +++ b/src/lib/world_magnetic_model/test_geo_lookup.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2020-2022 PX4 Development Team. All rights reserved. + * Copyright (c) 2020-2023 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -40,5049 +40,5049 @@ TEST(GeoLookupTest, declination) { - EXPECT_NEAR(get_mag_declination_degrees(-50, -180), 31.50566, 0.40065 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-50, -175), 31.69586, 0.39371 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-50, -170), 31.70545, 0.38793 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-50, -165), 31.58317, 0.38312 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-50, -160), 31.37217, 0.3791 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-50, -155), 31.11298, 0.37576 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-50, -150), 30.84433, 0.37297 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-50, -145), 30.6007, 0.37063 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-50, -140), 30.40695, 0.36866 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-50, -135), 30.2719, 0.36698 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-50, -130), 30.18285, 0.36556 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-50, -125), 30.10305, 0.36437 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-50, -120), 29.97263, 0.36343 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-50, -115), 29.71298, 0.36279 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-50, -110), 29.23373, 0.36253 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-50, -105), 28.44186, 0.36278 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-50, -100), 27.25195, 0.36369 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-50, -95), 25.59667, 0.36541 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-50, -90), 23.43663, 0.3681 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-50, -85), 20.7687, 0.37189 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-50, -80), 17.63217, 0.37686 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-50, -75), 14.11148, 0.38306 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-50, -70), 10.33372, 0.3905 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-50, -65), 6.45875, 0.39916 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-50, -60), 2.6614, 0.40904 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-50, -55), -0.89188, 0.42014 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-50, -50), -4.06681, 0.43246 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-50, -45), -6.77958, 0.44595 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-50, -40), -9.00606, 0.46041 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-50, -35), -10.78122, 0.47549 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-50, -30), -12.19087, 0.4906 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-50, -25), -13.35941, 0.50492 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-50, -20), -14.43684, 0.51744 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-50, -15), -15.5862, 0.52701 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-50, -10), -16.96891, 0.53257 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-50, -5), -18.72493, 0.53335 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-50, 0), -20.94835, 0.52906 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-50, 5), -23.66615, 0.52004 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-50, 10), -26.83055, 0.5072 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-50, 15), -30.3309, 0.49184 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-50, 20), -34.02043, 0.4754 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-50, 25), -37.74655, 0.45921 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-50, 30), -41.37338, 0.44434 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-50, 35), -44.79206, 0.43151 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-50, 40), -47.92048, 0.42114 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-50, 45), -50.69739, 0.41343 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-50, 50), -53.07519, 0.40843 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-50, 55), -55.01385, 0.40614 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-50, 60), -56.47617, 0.40654 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-50, 65), -57.42368, 0.40965 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-50, 70), -57.8117, 0.41559 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-50, 75), -57.58286, 0.42454 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-50, 80), -56.65944, 0.43681 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-50, 85), -54.93683, 0.45275 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-50, 90), -52.28282, 0.4726 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-50, 95), -48.54938, 0.4962 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-50, 100), -43.60629, 0.52255 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-50, 105), -37.40282, 0.54927 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-50, 110), -30.04874, 0.57252 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-50, 115), -21.872, 0.58786 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-50, 120), -13.38769, 0.59212 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-50, 125), -5.15993, 0.58499 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-50, 130), 2.36154, 0.56894 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-50, 135), 8.92368, 0.54763 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-50, 140), 14.45182, 0.52438 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-50, 145), 18.98528, 0.5015 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-50, 150), 22.61798, 0.4803 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-50, 155), 25.46159, 0.4614 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-50, 160), 27.62788, 0.44494 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-50, 165), 29.22237, 0.43087 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-50, 170), 30.34257, 0.41896 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-50, 175), 31.07731, 0.40898 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-50, 180), 31.50566, 0.40065 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-45, -180), 26.54462, 0.37423 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-45, -175), 26.847, 0.37033 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-45, -170), 26.97658, 0.36708 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-45, -165), 26.97301, 0.3644 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-45, -160), 26.87004, 0.36219 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-45, -155), 26.70027, 0.3604 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-45, -150), 26.49855, 0.35898 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-45, -145), 26.30152, 0.35791 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-45, -140), 26.14273, 0.35715 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-45, -135), 26.04516, 0.35668 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-45, -130), 26.0138, 0.35648 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-45, -125), 26.03015, 0.35656 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-45, -120), 26.04902, 0.3569 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-45, -115), 25.99799, 0.35755 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-45, -110), 25.77998, 0.35854 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-45, -105), 25.28033, 0.35997 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-45, -100), 24.37909, 0.36198 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-45, -95), 22.96755, 0.36477 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-45, -90), 20.96594, 0.36852 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-45, -85), 18.33982, 0.37341 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-45, -80), 15.11302, 0.37957 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-45, -75), 11.37546, 0.38703 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-45, -70), 7.28267, 0.39577 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-45, -65), 3.04267, 0.40574 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-45, -60), -1.11141, 0.41692 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-45, -55), -4.95856, 0.42939 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-45, -50), -8.32604, 0.44328 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-45, -45), -11.11345, 0.45871 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-45, -40), -13.29901, 0.47572 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-45, -35), -14.92951, 0.49414 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-45, -30), -16.10029, 0.51358 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-45, -25), -16.93495, 0.53327 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-45, -20), -17.57358, 0.55204 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-45, -15), -18.17284, 0.56828 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-45, -10), -18.91008, 0.58002 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-45, -5), -19.97497, 0.58539 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-45, 0), -21.53612, 0.58312 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-45, 5), -23.69082, 0.57307 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-45, 10), -26.42614, 0.55632 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-45, 15), -29.61873, 0.53495 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-45, 20), -33.07448, 0.51143 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-45, 25), -36.5834, 0.48806 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-45, 30), -39.96198, 0.46662 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-45, 35), -43.07038, 0.44822 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-45, 40), -45.80923, 0.4334 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-45, 45), -48.1074, 0.42227 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-45, 50), -49.90971, 0.41471 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-45, 55), -51.16869, 0.41049 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-45, 60), -51.84019, 0.40933 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-45, 65), -51.88085, 0.41095 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-45, 70), -51.2453, 0.41513 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-45, 75), -49.8826, 0.42161 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-45, 80), -47.73459, 0.43011 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-45, 85), -44.74228, 0.4402 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-45, 90), -40.86717, 0.45115 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-45, 95), -36.12859, 0.46181 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-45, 100), -30.64382, 0.47071 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-45, 105), -24.64227, 0.47643 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-45, 110), -18.42818, 0.47814 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-45, 115), -12.30241, 0.47587 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-45, 120), -6.49124, 0.47039 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-45, 125), -1.12282, 0.4627 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-45, 130), 3.75132, 0.45369 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-45, 135), 8.11995, 0.444 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-45, 140), 11.98556, 0.4341 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-45, 145), 15.35353, 0.42431 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-45, 150), 18.23135, 0.41489 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-45, 155), 20.63141, 0.40606 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-45, 160), 22.57411, 0.39796 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-45, 165), 24.09027, 0.39071 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-45, 170), 25.22207, 0.38435 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-45, 175), 26.02131, 0.37887 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-45, 180), 26.54462, 0.37423 + 2); - EXPECT_NEAR(get_mag_declination_degrees(-40, -180), 22.71498, 0.35481 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-40, -175), 23.05656, 0.35275 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-40, -170), 23.2434, 0.35109 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-40, -165), 23.30893, 0.34976 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-40, -160), 23.27698, 0.34874 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-40, -155), 23.16806, 0.34798 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-40, -150), 23.00622, 0.34748 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-40, -145), 22.82175, 0.34723 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-40, -140), 22.64818, 0.34726 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-40, -135), 22.51567, 0.34756 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-40, -130), 22.44349, 0.34818 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-40, -125), 22.43337, 0.34912 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-40, -120), 22.46298, 0.35039 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-40, -115), 22.47908, 0.35198 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-40, -110), 22.39227, 0.35393 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-40, -105), 22.07785, 0.35627 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-40, -100), 21.38739, 0.35912 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-40, -95), 20.17082, 0.36269 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-40, -90), 18.30434, 0.3672 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-40, -85), 15.71746, 0.37286 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-40, -80), 12.41508, 0.37982 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-40, -75), 8.49176, 0.38806 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-40, -70), 4.13354, 0.39748 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-40, -65), -0.40026, 0.40798 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-40, -60), -4.8181, 0.41951 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-40, -55), -8.85151, 0.43223 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-40, -50), -12.30488, 0.4464 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-40, -45), -15.08253, 0.46235 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-40, -40), -17.18677, 0.48031 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-40, -35), -18.69251, 0.50039 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-40, -30), -19.70965, 0.52247 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-40, -25), -20.34909, 0.54618 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-40, -20), -20.70875, 0.57066 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-40, -15), -20.88866, 0.59426 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-40, -10), -21.027, 0.61441 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-40, -5), -21.32712, 0.62787 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-40, 0), -22.03749, 0.63163 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-40, 5), -23.37224, 0.6241 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-40, 10), -25.41464, 0.60588 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-40, 15), -28.07341, 0.57962 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-40, 20), -31.12299, 0.54904 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-40, 25), -34.29177, 0.51789 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-40, 30), -37.338, 0.48905 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-40, 35), -40.08195, 0.46426 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-40, 40), -42.40118, 0.44425 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-40, 45), -44.21122, 0.42907 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-40, 50), -45.44851, 0.41837 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-40, 55), -46.06128, 0.41161 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-40, 60), -46.00747, 0.40819 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-40, 65), -45.25514, 0.40751 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-40, 70), -43.7822, 0.40893 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-40, 75), -41.57495, 0.41183 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-40, 80), -38.63071, 0.41553 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-40, 85), -34.9723, 0.41926 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-40, 90), -30.67638, 0.42217 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-40, 95), -25.90127, 0.42342 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-40, 100), -20.88545, 0.42252 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-40, 105), -15.89795, 0.4195 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-40, 110), -11.16119, 0.41495 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-40, 115), -6.79574, 0.40963 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-40, 120), -2.81834, 0.4042 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-40, 125), 0.8176, 0.39901 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-40, 130), 4.17186, 0.39412 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-40, 135), 7.28334, 0.38945 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-40, 140), 10.16003, 0.3849 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-40, 145), 12.78645, 0.3804 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-40, 150), 15.13661, 0.37596 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-40, 155), 17.18448, 0.37163 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-40, 160), 18.91075, 0.36751 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-40, 165), 20.30824, 0.3637 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-40, 170), 21.38671, 0.36028 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-40, 175), 22.17459, 0.35731 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-40, 180), 22.71498, 0.35481 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-35, -180), 19.64538, 0.34006 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-35, -175), 19.98261, 0.33914 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-35, -170), 20.18647, 0.3385 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-35, -165), 20.28919, 0.33809 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-35, -160), 20.30753, 0.33788 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-35, -155), 20.24982, 0.33785 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-35, -150), 20.12602, 0.33799 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-35, -145), 19.95412, 0.33833 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-35, -140), 19.76004, 0.33888 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-35, -135), 19.57302, 0.3397 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-35, -130), 19.41997, 0.34081 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-35, -125), 19.31963, 0.34227 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-35, -120), 19.27425, 0.34407 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-35, -115), 19.25657, 0.34622 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-35, -110), 19.19503, 0.3487 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-35, -105), 18.96555, 0.35154 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-35, -100), 18.39975, 0.35483 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-35, -95), 17.31199, 0.35877 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-35, -90), 15.53826, 0.36361 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-35, -85), 12.9755, 0.36958 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-35, -80), 9.61364, 0.37677 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-35, -75), 5.55621, 0.38514 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-35, -70), 1.02259, 0.39449 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-35, -65), -3.67843, 0.40463 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-35, -60), -8.20681, 0.41555 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-35, -55), -12.26467, 0.42748 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-35, -50), -15.65545, 0.44083 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-35, -45), -18.30773, 0.45604 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-35, -40), -20.26137, 0.47345 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-35, -35), -21.626, 0.49325 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-35, -30), -22.52674, 0.51555 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-35, -25), -23.05659, 0.54035 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-35, -20), -23.25769, 0.56733 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-35, -15), -23.1461, 0.59543 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-35, -10), -22.77538, 0.62226 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-35, -5), -22.30688, 0.644 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-35, 0), -22.03029, 0.65605 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-35, 5), -22.28628, 0.65479 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-35, 10), -23.31435, 0.63933 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-35, 15), -25.13254, 0.61197 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-35, 20), -27.54053, 0.57725 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-35, 25), -30.22695, 0.54023 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-35, 30), -32.88702, 0.50511 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-35, 35), -35.28383, 0.47452 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-35, 40), -37.25263, 0.44959 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-35, 45), -38.68058, 0.43039 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-35, 50), -39.48818, 0.41638 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-35, 55), -39.62157, 0.40678 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-35, 60), -39.05242, 0.40067 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-35, 65), -37.77878, 0.39717 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-35, 70), -35.82155, 0.39544 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-35, 75), -33.21773, 0.39469 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-35, 80), -30.01945, 0.3942 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-35, 85), -26.30861, 0.3933 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-35, 90), -22.22338, 0.39142 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-35, 95), -17.97126, 0.38824 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-35, 100), -13.79976, 0.38386 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-35, 105), -9.92657, 0.37877 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-35, 110), -6.47146, 0.37361 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-35, 115), -3.43443, 0.36893 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-35, 120), -0.72708, 0.36502 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-35, 125), 1.76916, 0.36187 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-35, 130), 4.15009, 0.35931 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-35, 135), 6.46081, 0.35708 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-35, 140), 8.69677, 0.35499 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-35, 145), 10.8228, 0.3529 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-35, 150), 12.79397, 0.35079 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-35, 155), 14.56738, 0.34866 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-35, 160), 16.10614, 0.34658 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-35, 165), 17.38287, 0.3446 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-35, 170), 18.38657, 0.34282 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-35, 175), 19.12919, 0.34129 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-35, 180), 19.64538, 0.34006 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-30, -180), 17.14231, 0.32874 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-30, -175), 17.44506, 0.32853 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-30, -170), 17.6342, 0.32854 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-30, -165), 17.74583, 0.32875 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-30, -160), 17.79426, 0.32912 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-30, -155), 17.77838, 0.32963 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-30, -150), 17.69433, 0.33026 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-30, -145), 17.54541, 0.33103 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-30, -140), 17.3451, 0.33198 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-30, -135), 17.11535, 0.33313 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-30, -130), 16.88393, 0.33455 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-30, -125), 16.6811, 0.33627 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-30, -120), 16.53065, 0.3383 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-30, -115), 16.43141, 0.34064 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-30, -110), 16.33258, 0.34326 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-30, -105), 16.11595, 0.34617 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-30, -100), 15.60014, 0.34948 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-30, -95), 14.57248, 0.35339 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-30, -90), 12.83878, 0.35814 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-30, -85), 10.2745, 0.36394 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-30, -80), 6.86541, 0.37084 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-30, -75), 2.732, 0.3787 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-30, -70), -1.87174, 0.38724 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-30, -65), -6.59707, 0.39627 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-30, -60), -11.07574, 0.40584 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-30, -55), -15.00505, 0.41629 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-30, -50), -18.2065, 0.42813 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-30, -45), -20.63988, 0.44182 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-30, -40), -22.37764, 0.45766 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-30, -35), -23.5529, 0.47575 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-30, -30), -24.29561, 0.49615 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-30, -25), -24.67749, 0.51894 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-30, -20), -24.69123, 0.54411 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-30, -15), -24.28099, 0.57118 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-30, -10), -23.42018, 0.59856 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-30, -5), -22.20679, 0.62295 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-30, 0), -20.92076, 0.6397 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-30, 5), -19.97782, 0.64424 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-30, 10), -19.7678, 0.63426 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-30, 15), -20.47422, 0.61084 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-30, 20), -22.00821, 0.57793 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-30, 25), -24.08579, 0.54074 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-30, 30), -26.36162, 0.50405 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-30, 35), -28.52597, 0.4712 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-30, 40), -30.33929, 0.44384 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-30, 45), -31.62993, 0.42231 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-30, 50), -32.28459, 0.40613 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-30, 55), -32.24366, 0.39439 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-30, 60), -31.49925, 0.38611 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-30, 65), -30.08808, 0.38032 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-30, 70), -28.0752, 0.37616 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-30, 75), -25.53452, 0.37294 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-30, 80), -22.54219, 0.37007 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-30, 85), -19.19449, 0.36705 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-30, 90), -15.63897, 0.36353 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-30, 95), -12.08452, 0.35939 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-30, 100), -8.7614, 0.35482 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-30, 105), -5.84482, 0.35025 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-30, 110), -3.39284, 0.34613 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-30, 115), -1.33882, 0.34278 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-30, 120), 0.46321, 0.34029 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-30, 125), 2.17064, 0.33855 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-30, 130), 3.8945, 0.33733 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-30, 135), 5.67317, 0.33639 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-30, 140), 7.48191, 0.33553 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-30, 145), 9.26404, 0.33464 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-30, 150), 10.96024, 0.33369 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-30, 155), 12.52055, 0.33269 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-30, 160), 13.9023, 0.33169 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-30, 165), 15.06804, 0.33072 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-30, 170), 15.99249, 0.32987 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-30, 175), 16.6745, 0.32919 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-30, 180), 17.14231, 0.32874 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-25, -180), 15.10099, 0.32015 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-25, -175), 15.34739, 0.32037 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-25, -170), 15.49484, 0.32081 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-25, -165), 15.5876, 0.32144 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-25, -160), 15.64233, 0.32221 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-25, -155), 15.65272, 0.32311 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-25, -150), 15.60376, 0.32411 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-25, -145), 15.4847, 0.32522 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-25, -140), 15.29507, 0.32645 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-25, -135), 15.04606, 0.32785 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-25, -130), 14.76158, 0.32944 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-25, -125), 14.47799, 0.33125 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-25, -120), 14.23512, 0.3333 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-25, -115), 14.05284, 0.33557 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-25, -110), 13.89739, 0.33804 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-25, -105), 13.65554, 0.34074 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-25, -100), 13.13673, 0.34377 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-25, -95), 12.11054, 0.34736 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-25, -90), 10.36648, 0.35173 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-25, -85), 7.7742, 0.35702 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-25, -80), 4.32959, 0.36321 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-25, -75), 0.17819, 0.37007 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-25, -70), -4.39456, 0.37729 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-25, -65), -9.01679, 0.3847 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-25, -60), -13.31721, 0.39246 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-25, -55), -17.01027, 0.40102 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-25, -50), -19.94378, 0.41093 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-25, -45), -22.10053, 0.42262 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-25, -40), -23.56568, 0.43626 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-25, -35), -24.47345, 0.45176 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-25, -30), -24.94405, 0.46892 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-25, -25), -25.02975, 0.48757 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-25, -20), -24.69665, 0.50763 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-25, -15), -23.85957, 0.52881 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-25, -10), -22.46246, 0.55014 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-25, -5), -20.57325, 0.56946 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-25, 0), -18.44488, 0.58344 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-25, 5), -16.49012, 0.58854 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-25, 10), -15.15272, 0.58255 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-25, 15), -14.73778, 0.56558 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-25, 20), -15.30734, 0.54004 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-25, 25), -16.69135, 0.50969 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-25, 30), -18.57671, 0.47839 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-25, 35), -20.60705, 0.44926 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-25, 40), -22.45459, 0.42416 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-25, 45), -23.86027, 0.40376 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-25, 50), -24.65253, 0.38789 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-25, 55), -24.75257, 0.3759 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-25, 60), -24.16653, 0.36695 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-25, 65), -22.96238, 0.36026 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-25, 70), -21.23414, 0.35513 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-25, 75), -19.06893, 0.35102 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-25, 80), -16.53896, 0.3475 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-25, 85), -13.72827, 0.3442 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-25, 90), -10.77405, 0.34084 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-25, 95), -7.87926, 0.33732 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-25, 100), -5.26702, 0.33374 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-25, 105), -3.09663, 0.33038 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-25, 110), -1.39813, 0.32755 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-25, 115), -0.06765, 0.32542 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-25, 120), 1.07919, 0.32402 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-25, 125), 2.22855, 0.32321 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-25, 130), 3.5015, 0.32281 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-25, 135), 4.92571, 0.32259 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-25, 140), 6.45282, 0.32239 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-25, 145), 8.00292, 0.32213 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-25, 150), 9.50373, 0.3218 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-25, 155), 10.90297, 0.32142 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-25, 160), 12.15868, 0.32102 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-25, 165), 13.22931, 0.32063 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-25, 170), 14.07918, 0.32031 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-25, 175), 14.6956, 0.32013 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-25, 180), 15.10099, 0.32015 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-20, -180), 13.46013, 0.31389 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-20, -175), 13.63597, 0.31439 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-20, -170), 13.7204, 0.31509 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-20, -165), 13.76899, 0.31598 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-20, -160), 13.80502, 0.31702 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-20, -155), 13.8214, 0.31818 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-20, -150), 13.79558, 0.31943 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-20, -145), 13.70507, 0.32078 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-20, -140), 13.53638, 0.32221 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-20, -135), 13.28954, 0.32375 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-20, -130), 12.9826, 0.32541 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-20, -125), 12.65405, 0.32722 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-20, -120), 12.3536, 0.32915 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-20, -115), 12.11403, 0.33121 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-20, -110), 11.91056, 0.33337 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-20, -105), 11.63021, 0.3357 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-20, -100), 11.07525, 0.33834 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-20, -95), 10.00726, 0.34148 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-20, -90), 8.21456, 0.34533 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-20, -85), 5.57772, 0.34994 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-20, -80), 2.11583, 0.3552 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-20, -75), -1.99632, 0.36079 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-20, -70), -6.4509, 0.36641 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-20, -65), -10.87318, 0.37198 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-20, -60), -14.91072, 0.37774 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-20, -55), -18.30672, 0.3842 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-20, -50), -20.93123, 0.39191 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-20, -45), -22.77287, 0.40124 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-20, -40), -23.90676, 0.41223 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-20, -35), -24.44922, 0.4246 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-20, -30), -24.50509, 0.43785 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-20, -25), -24.12248, 0.4515 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-20, -20), -23.27948, 0.46516 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-20, -15), -21.91822, 0.47851 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-20, -10), -20.01509, 0.49099 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-20, -5), -17.65266, 0.50152 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-20, 0), -15.0555, 0.50852 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-20, 5), -12.56569, 0.51027 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-20, 10), -10.562, 0.50559 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-20, 15), -9.35679, 0.49432 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-20, 20), -9.11305, 0.47752 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-20, 25), -9.8068, 0.4571 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-20, 30), -11.23806, 0.43529 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-20, 35), -13.08234, 0.41412 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-20, 40), -14.96786, 0.39506 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-20, 45), -16.55704, 0.37889 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-20, 50), -17.60911, 0.36575 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-20, 55), -18.0091, 0.3554 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-20, 60), -17.7596, 0.34735 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-20, 65), -16.94117, 0.3411 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-20, 70), -15.65736, 0.33621 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-20, 75), -13.99055, 0.33231 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-20, 80), -11.99557, 0.32911 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-20, 85), -9.73608, 0.32634 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-20, 90), -7.33538, 0.32374 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-20, 95), -4.99271, 0.32122 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-20, 100), -2.93428, 0.31879 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-20, 105), -1.32121, 0.31663 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-20, 110), -0.17571, 0.3149 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-20, 115), 0.62684, 0.31373 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-20, 120), 1.29953, 0.3131 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-20, 125), 2.05333, 0.31292 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-20, 130), 3.01838, 0.31302 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-20, 135), 4.21162, 0.31323 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-20, 140), 5.56097, 0.31343 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-20, 145), 6.96329, 0.31355 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-20, 150), 8.33402, 0.31359 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-20, 155), 9.62029, 0.31357 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-20, 160), 10.78354, 0.31352 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-20, 165), 11.78096, 0.31347 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-20, 170), 12.5685, 0.31348 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-20, 175), 13.12269, 0.3136 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-20, 180), 13.46013, 0.31389 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-15, -180), 12.17599, 0.30974 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-15, -175), 12.27639, 0.3104 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-15, -170), 12.28483, 0.31126 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-15, -165), 12.27048, 0.31231 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-15, -160), 12.26681, 0.3135 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-15, -155), 12.26987, 0.31481 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-15, -150), 12.25289, 0.3162 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-15, -145), 12.18407, 0.31766 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-15, -140), 12.03873, 0.31918 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-15, -135), 11.80717, 0.32075 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-15, -130), 11.50199, 0.32239 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-15, -125), 11.16183, 0.32408 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-15, -120), 10.84056, 0.32582 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-15, -115), 10.57493, 0.32759 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-15, -110), 10.3398, 0.3294 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-15, -105), 10.01723, 0.33135 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-15, -100), 9.40473, 0.33359 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-15, -95), 8.26591, 0.33631 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-15, -90), 6.40248, 0.33963 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-15, -85), 3.7199, 0.34354 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-15, -80), 0.26869, 0.34781 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-15, -75), -3.74946, 0.35209 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-15, -70), -8.01796, 0.35611 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-15, -65), -12.17767, 0.35987 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-15, -60), -15.90732, 0.36366 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-15, -55), -18.97833, 0.36801 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-15, -50), -21.27131, 0.37342 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-15, -45), -22.76478, 0.38018 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-15, -40), -23.51073, 0.38826 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-15, -35), -23.60322, 0.39725 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-15, -30), -23.14119, 0.4065 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-15, -25), -22.1951, 0.41532 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-15, -20), -20.7958, 0.42314 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-15, -15), -18.95724, 0.42963 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-15, -10), -16.72086, 0.43461 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-15, -5), -14.19221, 0.43786 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-15, 0), -11.54845, 0.43906 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-15, 5), -9.01874, 0.43778 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-15, 10), -6.85423, 0.43363 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-15, 15), -5.29643, 0.42643 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-15, 20), -4.53688, 0.41643 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-15, 25), -4.66317, 0.40436 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-15, 30), -5.60962, 0.3912 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-15, 35), -7.14648, 0.37795 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-15, 40), -8.92808, 0.36546 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-15, 45), -10.5868, 0.35431 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-15, 50), -11.83135, 0.34479 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-15, 55), -12.50701, 0.33691 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-15, 60), -12.5978, 0.33053 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-15, 65), -12.17881, 0.32539 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-15, 70), -11.34721, 0.3213 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-15, 75), -10.17029, 0.31805 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-15, 80), -8.68066, 0.31546 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-15, 85), -6.91974, 0.31335 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-15, 90), -4.99534, 0.31154 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-15, 95), -3.10156, 0.3099 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-15, 100), -1.46926, 0.30844 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-15, 105), -0.26817, 0.30721 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-15, 110), 0.47639, 0.30633 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-15, 115), 0.89856, 0.30585 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-15, 120), 1.2319, 0.30576 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-15, 125), 1.70805, 0.306 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-15, 130), 2.46575, 0.30643 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-15, 135), 3.51331, 0.30693 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-15, 140), 4.75817, 0.3074 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-15, 145), 6.0765, 0.30778 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-15, 150), 7.37238, 0.30808 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-15, 155), 8.59207, 0.30832 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-15, 160), 9.70011, 0.30852 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-15, 165), 10.65281, 0.30871 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-15, 170), 11.39833, 0.30894 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-15, 175), 11.90259, 0.30926 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-15, 180), 12.17599, 0.30974 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-10, -180), 11.20567, 0.3075 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-10, -175), 11.23754, 0.30829 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-10, -170), 11.16848, 0.30925 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-10, -165), 11.08295, 0.31038 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-10, -160), 11.02776, 0.31164 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-10, -155), 11.00547, 0.313 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-10, -150), 10.98758, 0.31442 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-10, -145), 10.93441, 0.31587 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-10, -140), 10.81127, 0.31735 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-10, -135), 10.60036, 0.31883 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-10, -130), 10.31033, 0.32033 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-10, -125), 9.97937, 0.32182 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-10, -120), 9.66119, 0.32329 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-10, -115), 9.38888, 0.32475 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-10, -110), 9.12938, 0.32623 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-10, -105), 8.75691, 0.32785 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-10, -100), 8.06834, 0.32977 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-10, -95), 6.83937, 0.33215 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-10, -90), 4.89696, 0.33503 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-10, -85), 2.18049, 0.3383 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-10, -80), -1.22659, 0.34166 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-10, -75), -5.10404, 0.34476 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-10, -70), -9.14121, 0.34737 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-10, -65), -13.00662, 0.34954 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-10, -60), -16.41182, 0.35159 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-10, -55), -19.14806, 0.35401 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-10, -50), -21.09527, 0.35723 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-10, -45), -22.21543, 0.36149 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-10, -40), -22.53974, 0.36669 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-10, -35), -22.15109, 0.37245 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-10, -30), -21.16041, 0.37812 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-10, -25), -19.68194, 0.38298 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-10, -20), -17.81862, 0.38653 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-10, -15), -15.66487, 0.38854 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-10, -10), -13.31844, 0.38909 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-10, -5), -10.88577, 0.38844 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-10, 0), -8.47702, 0.38683 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-10, 5), -6.20377, 0.38436 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-10, 10), -4.19116, 0.38093 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-10, 15), -2.59472, 0.3764 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-10, 20), -1.59263, 0.37069 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-10, 25), -1.33319, 0.36397 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-10, 30), -1.85554, 0.35658 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-10, 35), -3.03393, 0.34893 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-10, 40), -4.58925, 0.3414 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-10, 45), -6.17163, 0.33433 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-10, 50), -7.47337, 0.32796 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-10, 55), -8.31345, 0.32241 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-10, 60), -8.65525, 0.31769 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-10, 65), -8.55975, 0.31376 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-10, 70), -8.10988, 0.31055 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-10, 75), -7.35395, 0.30798 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-10, 80), -6.30187, 0.30597 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-10, 85), -4.97271, 0.30441 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-10, 90), -3.4563, 0.30319 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-10, 95), -1.93639, 0.30221 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-10, 100), -0.6432, 0.30144 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-10, 105), 0.2462, 0.30089 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-10, 110), 0.69886, 0.30061 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-10, 115), 0.84987, 0.30063 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-10, 120), 0.9441, 0.30092 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-10, 125), 1.22759, 0.30144 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-10, 130), 1.84622, 0.30211 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-10, 135), 2.80318, 0.30282 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-10, 140), 3.99157, 0.30351 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-10, 145), 5.272, 0.30412 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-10, 150), 6.53882, 0.30467 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-10, 155), 7.73607, 0.30514 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-10, 160), 8.82909, 0.30557 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-10, 165), 9.77182, 0.30597 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-10, 170), 10.50416, 0.30639 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-10, 175), 10.98106, 0.30688 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-10, 180), 11.20567, 0.3075 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-5, -180), 10.49679, 0.30705 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-5, -175), 10.48121, 0.30796 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-5, -170), 10.34735, 0.309 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-5, -165), 10.19599, 0.31017 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-5, -160), 10.09016, 0.31144 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-5, -155), 10.04196, 0.31276 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-5, -150), 10.02306, 0.31411 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-5, -145), 9.98618, 0.31544 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-5, -140), 9.88643, 0.31675 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-5, -135), 9.69833, 0.31802 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-5, -130), 9.42747, 0.31926 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-5, -125), 9.11138, 0.32046 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-5, -120), 8.80078, 0.32162 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-5, -115), 8.52035, 0.32275 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-5, -110), 8.22555, 0.32394 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-5, -105), 7.78355, 0.3253 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-5, -100), 6.99666, 0.327 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-5, -95), 5.66155, 0.32912 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-5, -90), 3.63864, 0.33166 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-5, -85), 0.90466, 0.33441 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-5, -80), -2.42826, 0.33703 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-5, -75), -6.13236, 0.33917 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-5, -70), -9.91456, 0.34065 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-5, -65), -13.4753, 0.34155 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-5, -60), -16.55367, 0.34218 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-5, -55), -18.95179, 0.34298 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-5, -50), -20.54476, 0.34432 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-5, -45), -21.28361, 0.34638 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-5, -40), -21.19304, 0.34909 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-5, -35), -20.36206, 0.35212 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-5, -30), -18.92628, 0.35495 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-5, -25), -17.04549, 0.35704 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-5, -20), -14.88314, 0.35799 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-5, -15), -12.59118, 0.35771 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-5, -10), -10.29709, 0.35639 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-5, -5), -8.0905, 0.35439 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-5, 0), -6.01742, 0.35205 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-5, 5), -4.0956, 0.34956 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-5, 10), -2.35372, 0.34694 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-5, 15), -0.87493, 0.34405 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-5, 20), 0.19106, 0.34077 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-5, 25), 0.67293, 0.33707 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-5, 30), 0.4663, 0.333 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-5, 35), -0.38599, 0.3287 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-5, 40), -1.67664, 0.3243 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-5, 45), -3.0973, 0.31996 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-5, 50), -4.3505, 0.31584 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-5, 55), -5.24676, 0.31206 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-5, 60), -5.73581, 0.30869 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-5, 65), -5.86528, 0.30577 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-5, 70), -5.70407, 0.30331 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-5, 75), -5.28365, 0.30131 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-5, 80), -4.59442, 0.29974 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-5, 85), -3.63484, 0.29858 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-5, 90), -2.47486, 0.29775 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-5, 95), -1.28164, 0.2972 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-5, 100), -0.27637, 0.29688 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-5, 105), 0.36293, 0.2968 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-5, 110), 0.59604, 0.29693 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-5, 115), 0.5527, 0.29729 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-5, 120), 0.47934, 0.29785 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-5, 125), 0.6281, 0.29858 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-5, 130), 1.1494, 0.29942 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-5, 135), 2.04548, 0.30033 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-5, 140), 3.20333, 0.30123 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-5, 145), 4.47513, 0.30209 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-5, 150), 5.7482, 0.30289 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-5, 155), 6.96259, 0.30363 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-5, 160), 8.08122, 0.30431 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-5, 165), 9.0533, 0.30495 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-5, 170), 9.80943, 0.30559 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-5, 175), 10.29255, 0.30627 + 1); - EXPECT_NEAR(get_mag_declination_degrees(-5, 180), 10.49679, 0.30705 + 1); - EXPECT_NEAR(get_mag_declination_degrees(0, -180), 9.98214, 0.30823 + 1); - EXPECT_NEAR(get_mag_declination_degrees(0, -175), 9.95611, 0.30928 + 1); - EXPECT_NEAR(get_mag_declination_degrees(0, -170), 9.78659, 0.31041 + 1); - EXPECT_NEAR(get_mag_declination_degrees(0, -165), 9.59055, 0.31161 + 1); - EXPECT_NEAR(get_mag_declination_degrees(0, -160), 9.44936, 0.31283 + 1); - EXPECT_NEAR(get_mag_declination_degrees(0, -155), 9.38761, 0.31406 + 1); - EXPECT_NEAR(get_mag_declination_degrees(0, -150), 9.37881, 0.31526 + 1); - EXPECT_NEAR(get_mag_declination_degrees(0, -145), 9.36802, 0.31638 + 1); - EXPECT_NEAR(get_mag_declination_degrees(0, -140), 9.29891, 0.31742 + 1); - EXPECT_NEAR(get_mag_declination_degrees(0, -135), 9.13717, 0.31839 + 1); - EXPECT_NEAR(get_mag_declination_degrees(0, -130), 8.88467, 0.31928 + 1); - EXPECT_NEAR(get_mag_declination_degrees(0, -125), 8.57734, 0.32012 + 1); - EXPECT_NEAR(get_mag_declination_degrees(0, -120), 8.26118, 0.32092 + 1); - EXPECT_NEAR(get_mag_declination_degrees(0, -115), 7.95091, 0.32173 + 1); - EXPECT_NEAR(get_mag_declination_degrees(0, -110), 7.5913, 0.32266 + 1); - EXPECT_NEAR(get_mag_declination_degrees(0, -105), 7.04685, 0.32382 + 1); - EXPECT_NEAR(get_mag_declination_degrees(0, -100), 6.13226, 0.32536 + 1); - EXPECT_NEAR(get_mag_declination_degrees(0, -95), 4.67237, 0.32731 + 1); - EXPECT_NEAR(get_mag_declination_degrees(0, -90), 2.56538, 0.32957 + 1); - EXPECT_NEAR(get_mag_declination_degrees(0, -85), -0.17557, 0.33191 + 1); - EXPECT_NEAR(get_mag_declination_degrees(0, -80), -3.41643, 0.33394 + 1); - EXPECT_NEAR(get_mag_declination_degrees(0, -75), -6.93141, 0.33536 + 1); - EXPECT_NEAR(get_mag_declination_degrees(0, -70), -10.4508, 0.336 + 1); - EXPECT_NEAR(get_mag_declination_degrees(0, -65), -13.70519, 0.33596 + 1); - EXPECT_NEAR(get_mag_declination_degrees(0, -60), -16.45501, 0.33552 + 1); - EXPECT_NEAR(get_mag_declination_degrees(0, -55), -18.51003, 0.33505 + 1); - EXPECT_NEAR(get_mag_declination_degrees(0, -50), -19.74591, 0.33489 + 1); - EXPECT_NEAR(get_mag_declination_degrees(0, -45), -20.11667, 0.3352 + 1); - EXPECT_NEAR(get_mag_declination_degrees(0, -40), -19.65772, 0.33595 + 1); - EXPECT_NEAR(get_mag_declination_degrees(0, -35), -18.47632, 0.33692 + 1); - EXPECT_NEAR(get_mag_declination_degrees(0, -30), -16.73199, 0.33776 + 1); - EXPECT_NEAR(get_mag_declination_degrees(0, -25), -14.61293, 0.33811 + 1); - EXPECT_NEAR(get_mag_declination_degrees(0, -20), -12.31327, 0.33771 + 1); - EXPECT_NEAR(get_mag_declination_degrees(0, -15), -10.01085, 0.33653 + 1); - EXPECT_NEAR(get_mag_declination_degrees(0, -10), -7.84231, 0.33473 + 1); - EXPECT_NEAR(get_mag_declination_degrees(0, -5), -5.88003, 0.3326 + 1); - EXPECT_NEAR(get_mag_declination_degrees(0, 0), -4.12581, 0.3304 + 1); - EXPECT_NEAR(get_mag_declination_degrees(0, 5), -2.53552, 0.3283 + 1); - EXPECT_NEAR(get_mag_declination_degrees(0, 10), -1.07238, 0.32634 + 1); - EXPECT_NEAR(get_mag_declination_degrees(0, 15), 0.23535, 0.32444 + 1); - EXPECT_NEAR(get_mag_declination_degrees(0, 20), 1.2696, 0.32249 + 1); - EXPECT_NEAR(get_mag_declination_degrees(0, 25), 1.85824, 0.32039 + 1); - EXPECT_NEAR(get_mag_declination_degrees(0, 30), 1.86254, 0.31813 + 1); - EXPECT_NEAR(get_mag_declination_degrees(0, 35), 1.26802, 0.31571 + 1); - EXPECT_NEAR(get_mag_declination_degrees(0, 40), 0.22114, 0.31314 + 1); - EXPECT_NEAR(get_mag_declination_degrees(0, 45), -1.01573, 0.31049 + 1); - EXPECT_NEAR(get_mag_declination_degrees(0, 50), -2.168, 0.30783 + 1); - EXPECT_NEAR(get_mag_declination_degrees(0, 55), -3.04992, 0.30527 + 1); - EXPECT_NEAR(get_mag_declination_degrees(0, 60), -3.60518, 0.30287 + 1); - EXPECT_NEAR(get_mag_declination_degrees(0, 65), -3.87279, 0.30071 + 1); - EXPECT_NEAR(get_mag_declination_degrees(0, 70), -3.91245, 0.29882 + 1); - EXPECT_NEAR(get_mag_declination_degrees(0, 75), -3.74518, 0.29724 + 1); - EXPECT_NEAR(get_mag_declination_degrees(0, 80), -3.34832, 0.29599 + 1); - EXPECT_NEAR(get_mag_declination_degrees(0, 85), -2.70392, 0.29508 + 1); - EXPECT_NEAR(get_mag_declination_degrees(0, 90), -1.86191, 0.29449 + 1); - EXPECT_NEAR(get_mag_declination_degrees(0, 95), -0.96782, 0.2942 + 1); - EXPECT_NEAR(get_mag_declination_degrees(0, 100), -0.22512, 0.29416 + 1); - EXPECT_NEAR(get_mag_declination_degrees(0, 105), 0.1958, 0.29436 + 1); - EXPECT_NEAR(get_mag_declination_degrees(0, 110), 0.25118, 0.29476 + 1); - EXPECT_NEAR(get_mag_declination_degrees(0, 115), 0.06173, 0.29535 + 1); - EXPECT_NEAR(get_mag_declination_degrees(0, 120), -0.13366, 0.29609 + 1); - EXPECT_NEAR(get_mag_declination_degrees(0, 125), -0.08571, 0.29697 + 1); - EXPECT_NEAR(get_mag_declination_degrees(0, 130), 0.35724, 0.29797 + 1); - EXPECT_NEAR(get_mag_declination_degrees(0, 135), 1.20078, 0.29905 + 1); - EXPECT_NEAR(get_mag_declination_degrees(0, 140), 2.33464, 0.30018 + 1); - EXPECT_NEAR(get_mag_declination_degrees(0, 145), 3.61086, 0.30131 + 1); - EXPECT_NEAR(get_mag_declination_degrees(0, 150), 4.91322, 0.30241 + 1); - EXPECT_NEAR(get_mag_declination_degrees(0, 155), 6.17654, 0.30346 + 1); - EXPECT_NEAR(get_mag_declination_degrees(0, 160), 7.35813, 0.30446 + 1); - EXPECT_NEAR(get_mag_declination_degrees(0, 165), 8.40018, 0.3054 + 1); - EXPECT_NEAR(get_mag_declination_degrees(0, 170), 9.22292, 0.30632 + 1); - EXPECT_NEAR(get_mag_declination_degrees(0, 175), 9.75608, 0.30725 + 1); - EXPECT_NEAR(get_mag_declination_degrees(0, 180), 9.98214, 0.30823 + 1); - EXPECT_NEAR(get_mag_declination_degrees(5, -180), 9.57862, 0.31085 + 1); - EXPECT_NEAR(get_mag_declination_degrees(5, -175), 9.59512, 0.3121 + 1); - EXPECT_NEAR(get_mag_declination_degrees(5, -170), 9.43695, 0.31334 + 1); - EXPECT_NEAR(get_mag_declination_degrees(5, -165), 9.23472, 0.31455 + 1); - EXPECT_NEAR(get_mag_declination_degrees(5, -160), 9.08863, 0.31572 + 1); - EXPECT_NEAR(get_mag_declination_degrees(5, -155), 9.03792, 0.31681 + 1); - EXPECT_NEAR(get_mag_declination_degrees(5, -150), 9.06002, 0.31778 + 1); - EXPECT_NEAR(get_mag_declination_degrees(5, -145), 9.09287, 0.31863 + 1); - EXPECT_NEAR(get_mag_declination_degrees(5, -140), 9.06774, 0.31935 + 1); - EXPECT_NEAR(get_mag_declination_degrees(5, -135), 8.93965, 0.31995 + 1); - EXPECT_NEAR(get_mag_declination_degrees(5, -130), 8.70448, 0.32046 + 1); - EXPECT_NEAR(get_mag_declination_degrees(5, -125), 8.39437, 0.32092 + 1); - EXPECT_NEAR(get_mag_declination_degrees(5, -120), 8.04929, 0.32135 + 1); - EXPECT_NEAR(get_mag_declination_degrees(5, -115), 7.6749, 0.32186 + 1); - EXPECT_NEAR(get_mag_declination_degrees(5, -110), 7.20919, 0.32255 + 1); - EXPECT_NEAR(get_mag_declination_degrees(5, -105), 6.52037, 0.32355 + 1); - EXPECT_NEAR(get_mag_declination_degrees(5, -100), 5.44232, 0.32495 + 1); - EXPECT_NEAR(get_mag_declination_degrees(5, -95), 3.8329, 0.32674 + 1); - EXPECT_NEAR(get_mag_declination_degrees(5, -90), 1.62939, 0.32878 + 1); - EXPECT_NEAR(get_mag_declination_degrees(5, -85), -1.12159, 0.33076 + 1); - EXPECT_NEAR(get_mag_declination_degrees(5, -80), -4.26986, 0.33234 + 1); - EXPECT_NEAR(get_mag_declination_degrees(5, -75), -7.59614, 0.33322 + 1); - EXPECT_NEAR(get_mag_declination_degrees(5, -70), -10.85374, 0.33326 + 1); - EXPECT_NEAR(get_mag_declination_degrees(5, -65), -13.7992, 0.33255 + 1); - EXPECT_NEAR(get_mag_declination_degrees(5, -60), -16.21209, 0.33132 + 1); - EXPECT_NEAR(get_mag_declination_degrees(5, -55), -17.915, 0.32992 + 1); - EXPECT_NEAR(get_mag_declination_degrees(5, -50), -18.79705, 0.32864 + 1); - EXPECT_NEAR(get_mag_declination_degrees(5, -45), -18.83122, 0.32765 + 1); - EXPECT_NEAR(get_mag_declination_degrees(5, -40), -18.0754, 0.32699 + 1); - EXPECT_NEAR(get_mag_declination_degrees(5, -35), -16.65642, 0.32654 + 1); - EXPECT_NEAR(get_mag_declination_degrees(5, -30), -14.74532, 0.32609 + 1); - EXPECT_NEAR(get_mag_declination_degrees(5, -25), -12.53416, 0.32544 + 1); - EXPECT_NEAR(get_mag_declination_degrees(5, -20), -10.21809, 0.32442 + 1); - EXPECT_NEAR(get_mag_declination_degrees(5, -15), -7.97636, 0.323 + 1); - EXPECT_NEAR(get_mag_declination_degrees(5, -10), -5.94517, 0.32127 + 1); - EXPECT_NEAR(get_mag_declination_degrees(5, -5), -4.18852, 0.3194 + 1); - EXPECT_NEAR(get_mag_declination_degrees(5, 0), -2.68719, 0.31757 + 1); - EXPECT_NEAR(get_mag_declination_degrees(5, 5), -1.3636, 0.3159 + 1); - EXPECT_NEAR(get_mag_declination_degrees(5, 10), -0.14023, 0.31443 + 1); - EXPECT_NEAR(get_mag_declination_degrees(5, 15), 0.99489, 0.31312 + 1); - EXPECT_NEAR(get_mag_declination_degrees(5, 20), 1.95436, 0.31188 + 1); - EXPECT_NEAR(get_mag_declination_degrees(5, 25), 2.57754, 0.31066 + 1); - EXPECT_NEAR(get_mag_declination_degrees(5, 30), 2.71191, 0.30938 + 1); - EXPECT_NEAR(get_mag_declination_degrees(5, 35), 2.30642, 0.308 + 1); - EXPECT_NEAR(get_mag_declination_degrees(5, 40), 1.46031, 0.3065 + 1); - EXPECT_NEAR(get_mag_declination_degrees(5, 45), 0.39384, 0.30485 + 1); - EXPECT_NEAR(get_mag_declination_degrees(5, 50), -0.64441, 0.30311 + 1); - EXPECT_NEAR(get_mag_declination_degrees(5, 55), -1.47761, 0.30133 + 1); - EXPECT_NEAR(get_mag_declination_degrees(5, 60), -2.04777, 0.2996 + 1); - EXPECT_NEAR(get_mag_declination_degrees(5, 65), -2.38911, 0.29797 + 1); - EXPECT_NEAR(get_mag_declination_degrees(5, 70), -2.55777, 0.29649 + 1); - EXPECT_NEAR(get_mag_declination_degrees(5, 75), -2.57216, 0.29521 + 1); - EXPECT_NEAR(get_mag_declination_degrees(5, 80), -2.40499, 0.29417 + 1); - EXPECT_NEAR(get_mag_declination_degrees(5, 85), -2.02811, 0.2934 + 1); - EXPECT_NEAR(get_mag_declination_degrees(5, 90), -1.47348, 0.29294 + 1); - EXPECT_NEAR(get_mag_declination_degrees(5, 95), -0.86213, 0.29277 + 1); - EXPECT_NEAR(get_mag_declination_degrees(5, 100), -0.37274, 0.29287 + 1); - EXPECT_NEAR(get_mag_declination_degrees(5, 105), -0.15965, 0.29323 + 1); - EXPECT_NEAR(get_mag_declination_degrees(5, 110), -0.26473, 0.29378 + 1); - EXPECT_NEAR(get_mag_declination_degrees(5, 115), -0.57744, 0.2945 + 1); - EXPECT_NEAR(get_mag_declination_degrees(5, 120), -0.87333, 0.29536 + 1); - EXPECT_NEAR(get_mag_declination_degrees(5, 125), -0.91378, 0.29635 + 1); - EXPECT_NEAR(get_mag_declination_degrees(5, 130), -0.54906, 0.29747 + 1); - EXPECT_NEAR(get_mag_declination_degrees(5, 135), 0.23333, 0.29873 + 1); - EXPECT_NEAR(get_mag_declination_degrees(5, 140), 1.33407, 0.30009 + 1); - EXPECT_NEAR(get_mag_declination_degrees(5, 145), 2.61293, 0.30151 + 1); - EXPECT_NEAR(get_mag_declination_degrees(5, 150), 3.95417, 0.30295 + 1); - EXPECT_NEAR(get_mag_declination_degrees(5, 155), 5.28704, 0.30437 + 1); - EXPECT_NEAR(get_mag_declination_degrees(5, 160), 6.56099, 0.30575 + 1); - EXPECT_NEAR(get_mag_declination_degrees(5, 165), 7.70973, 0.30707 + 1); - EXPECT_NEAR(get_mag_declination_degrees(5, 170), 8.64296, 0.30835 + 1); - EXPECT_NEAR(get_mag_declination_degrees(5, 175), 9.2766, 0.3096 + 1); - EXPECT_NEAR(get_mag_declination_degrees(5, 180), 9.57862, 0.31085 + 1); - EXPECT_NEAR(get_mag_declination_degrees(10, -180), 9.19161, 0.3146 + 1); - EXPECT_NEAR(get_mag_declination_degrees(10, -175), 9.31654, 0.31611 + 1); - EXPECT_NEAR(get_mag_declination_degrees(10, -170), 9.23386, 0.3175 + 1); - EXPECT_NEAR(get_mag_declination_degrees(10, -165), 9.08181, 0.31876 + 1); - EXPECT_NEAR(get_mag_declination_degrees(10, -160), 8.97651, 0.31985 + 1); - EXPECT_NEAR(get_mag_declination_degrees(10, -155), 8.97225, 0.32077 + 1); - EXPECT_NEAR(get_mag_declination_degrees(10, -150), 9.0525, 0.3215 + 1); - EXPECT_NEAR(get_mag_declination_degrees(10, -145), 9.15039, 0.32205 + 1); - EXPECT_NEAR(get_mag_declination_degrees(10, -140), 9.18574, 0.32243 + 1); - EXPECT_NEAR(get_mag_declination_degrees(10, -135), 9.10174, 0.32267 + 1); - EXPECT_NEAR(get_mag_declination_degrees(10, -130), 8.88542, 0.32282 + 1); - EXPECT_NEAR(get_mag_declination_degrees(10, -125), 8.56192, 0.32291 + 1); - EXPECT_NEAR(get_mag_declination_degrees(10, -120), 8.16364, 0.32304 + 1); - EXPECT_NEAR(get_mag_declination_degrees(10, -115), 7.68898, 0.32328 + 1); - EXPECT_NEAR(get_mag_declination_degrees(10, -110), 7.07428, 0.32378 + 1); - EXPECT_NEAR(get_mag_declination_degrees(10, -105), 6.19795, 0.32463 + 1); - EXPECT_NEAR(get_mag_declination_degrees(10, -100), 4.91846, 0.3259 + 1); - EXPECT_NEAR(get_mag_declination_degrees(10, -95), 3.12922, 0.32753 + 1); - EXPECT_NEAR(get_mag_declination_degrees(10, -90), 0.80592, 0.32932 + 1); - EXPECT_NEAR(get_mag_declination_degrees(10, -85), -1.9742, 0.33096 + 1); - EXPECT_NEAR(get_mag_declination_degrees(10, -80), -5.04716, 0.33213 + 1); - EXPECT_NEAR(get_mag_declination_degrees(10, -75), -8.19892, 0.33257 + 1); - EXPECT_NEAR(get_mag_declination_degrees(10, -70), -11.201, 0.33215 + 1); - EXPECT_NEAR(get_mag_declination_degrees(10, -65), -13.83244, 0.33096 + 1); - EXPECT_NEAR(get_mag_declination_degrees(10, -60), -15.89553, 0.32919 + 1); - EXPECT_NEAR(get_mag_declination_degrees(10, -55), -17.23766, 0.32713 + 1); - EXPECT_NEAR(get_mag_declination_degrees(10, -50), -17.77713, 0.32507 + 1); - EXPECT_NEAR(get_mag_declination_degrees(10, -45), -17.51805, 0.3232 + 1); - EXPECT_NEAR(get_mag_declination_degrees(10, -40), -16.54384, 0.32159 + 1); - EXPECT_NEAR(get_mag_declination_degrees(10, -35), -14.99298, 0.32022 + 1); - EXPECT_NEAR(get_mag_declination_degrees(10, -30), -13.03137, 0.31899 + 1); - EXPECT_NEAR(get_mag_declination_degrees(10, -25), -10.83402, 0.31779 + 1); - EXPECT_NEAR(get_mag_declination_degrees(10, -20), -8.57702, 0.31651 + 1); - EXPECT_NEAR(get_mag_declination_degrees(10, -15), -6.42706, 0.31511 + 1); - EXPECT_NEAR(get_mag_declination_degrees(10, -10), -4.51662, 0.3136 + 1); - EXPECT_NEAR(get_mag_declination_degrees(10, -5), -2.91034, 0.31206 + 1); - EXPECT_NEAR(get_mag_declination_degrees(10, 0), -1.58646, 0.31059 + 1); - EXPECT_NEAR(get_mag_declination_degrees(10, 5), -0.45583, 0.30927 + 1); - EXPECT_NEAR(get_mag_declination_degrees(10, 10), 0.58086, 0.30813 + 1); - EXPECT_NEAR(get_mag_declination_degrees(10, 15), 1.56414, 0.30718 + 1); - EXPECT_NEAR(get_mag_declination_degrees(10, 20), 2.43487, 0.30636 + 1); - EXPECT_NEAR(get_mag_declination_degrees(10, 25), 3.05087, 0.30563 + 1); - EXPECT_NEAR(get_mag_declination_degrees(10, 30), 3.25948, 0.30491 + 1); - EXPECT_NEAR(get_mag_declination_degrees(10, 35), 2.9883, 0.30414 + 1); - EXPECT_NEAR(get_mag_declination_degrees(10, 40), 2.3009, 0.30326 + 1); - EXPECT_NEAR(get_mag_declination_degrees(10, 45), 1.38092, 0.30222 + 1); - EXPECT_NEAR(get_mag_declination_degrees(10, 50), 0.45142, 0.30104 + 1); - EXPECT_NEAR(get_mag_declination_degrees(10, 55), -0.32112, 0.29976 + 1); - EXPECT_NEAR(get_mag_declination_degrees(10, 60), -0.8782, 0.29845 + 1); - EXPECT_NEAR(get_mag_declination_degrees(10, 65), -1.25089, 0.29717 + 1); - EXPECT_NEAR(get_mag_declination_degrees(10, 70), -1.49547, 0.29595 + 1); - EXPECT_NEAR(get_mag_declination_degrees(10, 75), -1.63447, 0.29486 + 1); - EXPECT_NEAR(get_mag_declination_degrees(10, 80), -1.64436, 0.29394 + 1); - EXPECT_NEAR(get_mag_declination_degrees(10, 85), -1.49403, 0.29324 + 1); - EXPECT_NEAR(get_mag_declination_degrees(10, 90), -1.20127, 0.29281 + 1); - EXPECT_NEAR(get_mag_declination_degrees(10, 95), -0.86203, 0.29268 + 1); - EXPECT_NEAR(get_mag_declination_degrees(10, 100), -0.62568, 0.29283 + 1); - EXPECT_NEAR(get_mag_declination_degrees(10, 105), -0.6238, 0.29324 + 1); - EXPECT_NEAR(get_mag_declination_degrees(10, 110), -0.89088, 0.29385 + 1); - EXPECT_NEAR(get_mag_declination_degrees(10, 115), -1.32539, 0.29463 + 1); - EXPECT_NEAR(get_mag_declination_degrees(10, 120), -1.72105, 0.29554 + 1); - EXPECT_NEAR(get_mag_declination_degrees(10, 125), -1.85507, 0.29659 + 1); - EXPECT_NEAR(get_mag_declination_degrees(10, 130), -1.58204, 0.29781 + 1); - EXPECT_NEAR(get_mag_declination_degrees(10, 135), -0.88011, 0.29921 + 1); - EXPECT_NEAR(get_mag_declination_degrees(10, 140), 0.16812, 0.30079 + 1); - EXPECT_NEAR(get_mag_declination_degrees(10, 145), 1.43639, 0.3025 + 1); - EXPECT_NEAR(get_mag_declination_degrees(10, 150), 2.81317, 0.30428 + 1); - EXPECT_NEAR(get_mag_declination_degrees(10, 155), 4.22273, 0.3061 + 1); - EXPECT_NEAR(get_mag_declination_degrees(10, 160), 5.60582, 0.3079 + 1); - EXPECT_NEAR(get_mag_declination_degrees(10, 165), 6.88771, 0.30966 + 1); - EXPECT_NEAR(get_mag_declination_degrees(10, 170), 7.96904, 0.31136 + 1); - EXPECT_NEAR(get_mag_declination_degrees(10, 175), 8.75307, 0.31301 + 1); - EXPECT_NEAR(get_mag_declination_degrees(10, 180), 9.19161, 0.3146 + 1); - EXPECT_NEAR(get_mag_declination_degrees(15, -180), 8.72698, 0.31909 + 1); - EXPECT_NEAR(get_mag_declination_degrees(15, -175), 9.0317, 0.32091 + 1); - EXPECT_NEAR(get_mag_declination_degrees(15, -170), 9.10111, 0.3225 + 1); - EXPECT_NEAR(get_mag_declination_degrees(15, -165), 9.07121, 0.32382 + 1); - EXPECT_NEAR(get_mag_declination_degrees(15, -160), 9.0664, 0.32486 + 1); - EXPECT_NEAR(get_mag_declination_degrees(15, -155), 9.15292, 0.3256 + 1); - EXPECT_NEAR(get_mag_declination_degrees(15, -150), 9.32185, 0.32609 + 1); - EXPECT_NEAR(get_mag_declination_degrees(15, -145), 9.50565, 0.32635 + 1); - EXPECT_NEAR(get_mag_declination_degrees(15, -140), 9.61665, 0.32643 + 1); - EXPECT_NEAR(get_mag_declination_degrees(15, -135), 9.58749, 0.32638 + 1); - EXPECT_NEAR(get_mag_declination_degrees(15, -130), 9.39433, 0.32625 + 1); - EXPECT_NEAR(get_mag_declination_degrees(15, -125), 9.05182, 0.3261 + 1); - EXPECT_NEAR(get_mag_declination_degrees(15, -120), 8.58273, 0.32601 + 1); - EXPECT_NEAR(get_mag_declination_degrees(15, -115), 7.97955, 0.32609 + 1); - EXPECT_NEAR(get_mag_declination_degrees(15, -110), 7.18127, 0.32647 + 1); - EXPECT_NEAR(get_mag_declination_degrees(15, -105), 6.0815, 0.32723 + 1); - EXPECT_NEAR(get_mag_declination_degrees(15, -100), 4.56643, 0.32838 + 1); - EXPECT_NEAR(get_mag_declination_degrees(15, -95), 2.56553, 0.32982 + 1); - EXPECT_NEAR(get_mag_declination_degrees(15, -90), 0.09128, 0.33132 + 1); - EXPECT_NEAR(get_mag_declination_degrees(15, -85), -2.74986, 0.33259 + 1); - EXPECT_NEAR(get_mag_declination_degrees(15, -80), -5.7787, 0.33333 + 1); - EXPECT_NEAR(get_mag_declination_degrees(15, -75), -8.78099, 0.33331 + 1); - EXPECT_NEAR(get_mag_declination_degrees(15, -70), -11.54016, 0.33249 + 1); - EXPECT_NEAR(get_mag_declination_degrees(15, -65), -13.85656, 0.3309 + 1); - EXPECT_NEAR(get_mag_declination_degrees(15, -60), -15.56285, 0.32875 + 1); - EXPECT_NEAR(get_mag_declination_degrees(15, -55), -16.54511, 0.32629 + 1); - EXPECT_NEAR(get_mag_declination_degrees(15, -50), -16.76383, 0.32375 + 1); - EXPECT_NEAR(get_mag_declination_degrees(15, -45), -16.25977, 0.32133 + 1); - EXPECT_NEAR(get_mag_declination_degrees(15, -40), -15.13762, 0.31914 + 1); - EXPECT_NEAR(get_mag_declination_degrees(15, -35), -13.53613, 0.31722 + 1); - EXPECT_NEAR(get_mag_declination_degrees(15, -30), -11.60221, 0.31554 + 1); - EXPECT_NEAR(get_mag_declination_degrees(15, -25), -9.48149, 0.31406 + 1); - EXPECT_NEAR(get_mag_declination_degrees(15, -20), -7.32148, 0.31269 + 1); - EXPECT_NEAR(get_mag_declination_degrees(15, -15), -5.27021, 0.31137 + 1); - EXPECT_NEAR(get_mag_declination_degrees(15, -10), -3.45504, 0.31008 + 1); - EXPECT_NEAR(get_mag_declination_degrees(15, -5), -1.94644, 0.30883 + 1); - EXPECT_NEAR(get_mag_declination_degrees(15, 0), -0.73183, 0.30766 + 1); - EXPECT_NEAR(get_mag_declination_degrees(15, 5), 0.27404, 0.30661 + 1); - EXPECT_NEAR(get_mag_declination_degrees(15, 10), 1.1776, 0.30573 + 1); - EXPECT_NEAR(get_mag_declination_degrees(15, 15), 2.03802, 0.30502 + 1); - EXPECT_NEAR(get_mag_declination_degrees(15, 20), 2.82144, 0.30446 + 1); - EXPECT_NEAR(get_mag_declination_degrees(15, 25), 3.40846, 0.30403 + 1); - EXPECT_NEAR(get_mag_declination_degrees(15, 30), 3.65599, 0.30366 + 1); - EXPECT_NEAR(get_mag_declination_degrees(15, 35), 3.48171, 0.30327 + 1); - EXPECT_NEAR(get_mag_declination_degrees(15, 40), 2.92258, 0.30278 + 1); - EXPECT_NEAR(get_mag_declination_degrees(15, 45), 2.13002, 0.30212 + 1); - EXPECT_NEAR(get_mag_declination_degrees(15, 50), 1.302, 0.30127 + 1); - EXPECT_NEAR(get_mag_declination_degrees(15, 55), 0.59373, 0.30029 + 1); - EXPECT_NEAR(get_mag_declination_degrees(15, 60), 0.06387, 0.29922 + 1); - EXPECT_NEAR(get_mag_declination_degrees(15, 65), -0.31528, 0.29813 + 1); - EXPECT_NEAR(get_mag_declination_degrees(15, 70), -0.60128, 0.29707 + 1); - EXPECT_NEAR(get_mag_declination_degrees(15, 75), -0.82472, 0.29607 + 1); - EXPECT_NEAR(get_mag_declination_degrees(15, 80), -0.97224, 0.29519 + 1); - EXPECT_NEAR(get_mag_declination_degrees(15, 85), -1.01645, 0.2945 + 1); - EXPECT_NEAR(get_mag_declination_degrees(15, 90), -0.96564, 0.29405 + 1); - EXPECT_NEAR(get_mag_declination_degrees(15, 95), -0.89207, 0.29388 + 1); - EXPECT_NEAR(get_mag_declination_degrees(15, 100), -0.91392, 0.294 + 1); - EXPECT_NEAR(get_mag_declination_degrees(15, 105), -1.1357, 0.29439 + 1); - EXPECT_NEAR(get_mag_declination_degrees(15, 110), -1.57971, 0.29499 + 1); - EXPECT_NEAR(get_mag_declination_degrees(15, 115), -2.15068, 0.29575 + 1); - EXPECT_NEAR(get_mag_declination_degrees(15, 120), -2.6607, 0.29665 + 1); - EXPECT_NEAR(get_mag_declination_degrees(15, 125), -2.90477, 0.29771 + 1); - EXPECT_NEAR(get_mag_declination_degrees(15, 130), -2.74313, 0.29898 + 1); - EXPECT_NEAR(get_mag_declination_degrees(15, 135), -2.14395, 0.30048 + 1); - EXPECT_NEAR(get_mag_declination_degrees(15, 140), -1.17047, 0.30222 + 1); - EXPECT_NEAR(get_mag_declination_degrees(15, 145), 0.0683, 0.30417 + 1); - EXPECT_NEAR(get_mag_declination_degrees(15, 150), 1.46761, 0.30626 + 1); - EXPECT_NEAR(get_mag_declination_degrees(15, 155), 2.94785, 0.30844 + 1); - EXPECT_NEAR(get_mag_declination_degrees(15, 160), 4.44157, 0.31066 + 1); - EXPECT_NEAR(get_mag_declination_degrees(15, 165), 5.86722, 0.31286 + 1); - EXPECT_NEAR(get_mag_declination_degrees(15, 170), 7.11998, 0.31502 + 1); - EXPECT_NEAR(get_mag_declination_degrees(15, 175), 8.09432, 0.31711 + 1); - EXPECT_NEAR(get_mag_declination_degrees(15, 180), 8.72698, 0.31909 + 1); - EXPECT_NEAR(get_mag_declination_degrees(20, -180), 8.11069, 0.32386 + 1); - EXPECT_NEAR(get_mag_declination_degrees(20, -175), 8.66065, 0.326 + 1); - EXPECT_NEAR(get_mag_declination_degrees(20, -170), 8.96138, 0.32782 + 1); - EXPECT_NEAR(get_mag_declination_degrees(20, -165), 9.13409, 0.32923 + 1); - EXPECT_NEAR(get_mag_declination_degrees(20, -160), 9.29908, 0.33023 + 1); - EXPECT_NEAR(get_mag_declination_degrees(20, -155), 9.52701, 0.33084 + 1); - EXPECT_NEAR(get_mag_declination_degrees(20, -150), 9.81604, 0.33112 + 1); - EXPECT_NEAR(get_mag_declination_degrees(20, -145), 10.10308, 0.33117 + 1); - EXPECT_NEAR(get_mag_declination_degrees(20, -140), 10.29977, 0.33105 + 1); - EXPECT_NEAR(get_mag_declination_degrees(20, -135), 10.33268, 0.33084 + 1); - EXPECT_NEAR(get_mag_declination_degrees(20, -130), 10.16748, 0.33059 + 1); - EXPECT_NEAR(get_mag_declination_degrees(20, -125), 9.80584, 0.33037 + 1); - EXPECT_NEAR(get_mag_declination_degrees(20, -120), 9.25863, 0.33025 + 1); - EXPECT_NEAR(get_mag_declination_degrees(20, -115), 8.51245, 0.33034 + 1); - EXPECT_NEAR(get_mag_declination_degrees(20, -110), 7.51104, 0.33074 + 1); - EXPECT_NEAR(get_mag_declination_degrees(20, -105), 6.16541, 0.3315 + 1); - EXPECT_NEAR(get_mag_declination_degrees(20, -100), 4.39017, 0.33258 + 1); - EXPECT_NEAR(get_mag_declination_degrees(20, -95), 2.1496, 0.33385 + 1); - EXPECT_NEAR(get_mag_declination_degrees(20, -90), -0.50865, 0.33504 + 1); - EXPECT_NEAR(get_mag_declination_degrees(20, -85), -3.44874, 0.33587 + 1); - EXPECT_NEAR(get_mag_declination_degrees(20, -80), -6.47225, 0.33609 + 1); - EXPECT_NEAR(get_mag_declination_degrees(20, -75), -9.3582, 0.33555 + 1); - EXPECT_NEAR(get_mag_declination_degrees(20, -70), -11.89694, 0.33426 + 1); - EXPECT_NEAR(get_mag_declination_degrees(20, -65), -13.9113, 0.3323 + 1); - EXPECT_NEAR(get_mag_declination_degrees(20, -60), -15.27215, 0.32986 + 1); - EXPECT_NEAR(get_mag_declination_degrees(20, -55), -15.91426, 0.32714 + 1); - EXPECT_NEAR(get_mag_declination_degrees(20, -50), -15.84636, 0.32435 + 1); - EXPECT_NEAR(get_mag_declination_degrees(20, -45), -15.14455, 0.32166 + 1); - EXPECT_NEAR(get_mag_declination_degrees(20, -40), -13.92731, 0.31919 + 1); - EXPECT_NEAR(get_mag_declination_degrees(20, -35), -12.32437, 0.31699 + 1); - EXPECT_NEAR(get_mag_declination_degrees(20, -30), -10.45676, 0.3151 + 1); - EXPECT_NEAR(get_mag_declination_degrees(20, -25), -8.43725, 0.3135 + 1); - EXPECT_NEAR(get_mag_declination_degrees(20, -20), -6.38329, 0.31211 + 1); - EXPECT_NEAR(get_mag_declination_degrees(20, -15), -4.4227, 0.3109 + 1); - EXPECT_NEAR(get_mag_declination_degrees(20, -10), -2.67626, 0.3098 + 1); - EXPECT_NEAR(get_mag_declination_degrees(20, -5), -1.22114, 0.30878 + 1); - EXPECT_NEAR(get_mag_declination_degrees(20, 0), -0.05948, 0.30786 + 1); - EXPECT_NEAR(get_mag_declination_degrees(20, 5), 0.88023, 0.30705 + 1); - EXPECT_NEAR(get_mag_declination_degrees(20, 10), 1.70027, 0.30637 + 1); - EXPECT_NEAR(get_mag_declination_degrees(20, 15), 2.46971, 0.30585 + 1); - EXPECT_NEAR(get_mag_declination_degrees(20, 20), 3.17661, 0.3055 + 1); - EXPECT_NEAR(get_mag_declination_degrees(20, 25), 3.727, 0.30529 + 1); - EXPECT_NEAR(get_mag_declination_degrees(20, 30), 3.99484, 0.30516 + 1); - EXPECT_NEAR(get_mag_declination_degrees(20, 35), 3.89717, 0.30504 + 1); - EXPECT_NEAR(get_mag_declination_degrees(20, 40), 3.45156, 0.30481 + 1); - EXPECT_NEAR(get_mag_declination_degrees(20, 45), 2.78005, 0.30438 + 1); - EXPECT_NEAR(get_mag_declination_degrees(20, 50), 2.05431, 0.30373 + 1); - EXPECT_NEAR(get_mag_declination_degrees(20, 55), 1.41571, 0.30289 + 1); - EXPECT_NEAR(get_mag_declination_degrees(20, 60), 0.92169, 0.30192 + 1); - EXPECT_NEAR(get_mag_declination_degrees(20, 65), 0.54846, 0.3009 + 1); - EXPECT_NEAR(get_mag_declination_degrees(20, 70), 0.23823, 0.29987 + 1); - EXPECT_NEAR(get_mag_declination_degrees(20, 75), -0.04823, 0.29888 + 1); - EXPECT_NEAR(get_mag_declination_degrees(20, 80), -0.31077, 0.29799 + 1); - EXPECT_NEAR(get_mag_declination_degrees(20, 85), -0.53046, 0.29725 + 1); - EXPECT_NEAR(get_mag_declination_degrees(20, 90), -0.71046, 0.29673 + 1); - EXPECT_NEAR(get_mag_declination_degrees(20, 95), -0.90203, 0.29649 + 1); - EXPECT_NEAR(get_mag_declination_degrees(20, 100), -1.19239, 0.29653 + 1); - EXPECT_NEAR(get_mag_declination_degrees(20, 105), -1.65673, 0.29684 + 1); - EXPECT_NEAR(get_mag_declination_degrees(20, 110), -2.30135, 0.29736 + 1); - EXPECT_NEAR(get_mag_declination_degrees(20, 115), -3.03326, 0.29805 + 1); - EXPECT_NEAR(get_mag_declination_degrees(20, 120), -3.68027, 0.29888 + 1); - EXPECT_NEAR(get_mag_declination_degrees(20, 125), -4.05437, 0.29988 + 1); - EXPECT_NEAR(get_mag_declination_degrees(20, 130), -4.02203, 0.30112 + 1); - EXPECT_NEAR(get_mag_declination_degrees(20, 135), -3.54263, 0.30263 + 1); - EXPECT_NEAR(get_mag_declination_degrees(20, 140), -2.66108, 0.30444 + 1); - EXPECT_NEAR(get_mag_declination_degrees(20, 145), -1.4692, 0.30652 + 1); - EXPECT_NEAR(get_mag_declination_degrees(20, 150), -0.06431, 0.30882 + 1); - EXPECT_NEAR(get_mag_declination_degrees(20, 155), 1.47116, 0.31127 + 1); - EXPECT_NEAR(get_mag_declination_degrees(20, 160), 3.0629, 0.31381 + 1); - EXPECT_NEAR(get_mag_declination_degrees(20, 165), 4.62546, 0.3164 + 1); - EXPECT_NEAR(get_mag_declination_degrees(20, 170), 6.05373, 0.31898 + 1); - EXPECT_NEAR(get_mag_declination_degrees(20, 175), 7.24, 0.32149 + 1); - EXPECT_NEAR(get_mag_declination_degrees(20, 180), 8.11069, 0.32386 + 1); - EXPECT_NEAR(get_mag_declination_degrees(25, -180), 7.30991, 0.32852 + 1); - EXPECT_NEAR(get_mag_declination_degrees(25, -175), 8.15263, 0.33094 + 1); - EXPECT_NEAR(get_mag_declination_degrees(25, -170), 8.7526, 0.33295 + 1); - EXPECT_NEAR(get_mag_declination_degrees(25, -165), 9.20419, 0.33447 + 1); - EXPECT_NEAR(get_mag_declination_degrees(25, -160), 9.60878, 0.33548 + 1); - EXPECT_NEAR(get_mag_declination_degrees(25, -155), 10.03023, 0.33602 + 1); - EXPECT_NEAR(get_mag_declination_degrees(25, -150), 10.47022, 0.3362 + 1); - EXPECT_NEAR(get_mag_declination_degrees(25, -145), 10.87412, 0.33616 + 1); - EXPECT_NEAR(get_mag_declination_degrees(25, -140), 11.16058, 0.336 + 1); - EXPECT_NEAR(get_mag_declination_degrees(25, -135), 11.25702, 0.33582 + 1); - EXPECT_NEAR(get_mag_declination_degrees(25, -130), 11.12191, 0.33568 + 1); - EXPECT_NEAR(get_mag_declination_degrees(25, -125), 10.74381, 0.33563 + 1); - EXPECT_NEAR(get_mag_declination_degrees(25, -120), 10.12018, 0.33574 + 1); - EXPECT_NEAR(get_mag_declination_degrees(25, -115), 9.23053, 0.33609 + 1); - EXPECT_NEAR(get_mag_declination_degrees(25, -110), 8.02281, 0.33673 + 1); - EXPECT_NEAR(get_mag_declination_degrees(25, -105), 6.42461, 0.33768 + 1); - EXPECT_NEAR(get_mag_declination_degrees(25, -100), 4.37702, 0.33884 + 1); - EXPECT_NEAR(get_mag_declination_degrees(25, -95), 1.87667, 0.34001 + 1); - EXPECT_NEAR(get_mag_declination_degrees(25, -90), -0.99492, 0.3409 + 1); - EXPECT_NEAR(get_mag_declination_degrees(25, -85), -4.07099, 0.34123 + 1); - EXPECT_NEAR(get_mag_declination_degrees(25, -80), -7.12945, 0.34082 + 1); - EXPECT_NEAR(get_mag_declination_degrees(25, -75), -9.93756, 0.33964 + 1); - EXPECT_NEAR(get_mag_declination_degrees(25, -70), -12.29068, 0.33776 + 1); - EXPECT_NEAR(get_mag_declination_degrees(25, -65), -14.03655, 0.33536 + 1); - EXPECT_NEAR(get_mag_declination_degrees(25, -60), -15.0887, 0.33262 + 1); - EXPECT_NEAR(get_mag_declination_degrees(25, -55), -15.43299, 0.32973 + 1); - EXPECT_NEAR(get_mag_declination_degrees(25, -50), -15.12404, 0.32685 + 1); - EXPECT_NEAR(get_mag_declination_degrees(25, -45), -14.26681, 0.32408 + 1); - EXPECT_NEAR(get_mag_declination_degrees(25, -40), -12.98643, 0.32154 + 1); - EXPECT_NEAR(get_mag_declination_degrees(25, -35), -11.39955, 0.31927 + 1); - EXPECT_NEAR(get_mag_declination_degrees(25, -30), -9.60191, 0.31733 + 1); - EXPECT_NEAR(get_mag_declination_degrees(25, -25), -7.67716, 0.3157 + 1); - EXPECT_NEAR(get_mag_declination_degrees(25, -20), -5.71631, 0.31436 + 1); - EXPECT_NEAR(get_mag_declination_degrees(25, -15), -3.82788, 0.31326 + 1); - EXPECT_NEAR(get_mag_declination_degrees(25, -10), -2.12415, 0.31233 + 1); - EXPECT_NEAR(get_mag_declination_degrees(25, -5), -0.68664, 0.31154 + 1); - EXPECT_NEAR(get_mag_declination_degrees(25, 0), 0.4673, 0.31086 + 1); - EXPECT_NEAR(get_mag_declination_degrees(25, 5), 1.39036, 0.31027 + 1); - EXPECT_NEAR(get_mag_declination_degrees(25, 10), 2.17264, 0.3098 + 1); - EXPECT_NEAR(get_mag_declination_degrees(25, 15), 2.88554, 0.30947 + 1); - EXPECT_NEAR(get_mag_declination_degrees(25, 20), 3.53512, 0.3093 + 1); - EXPECT_NEAR(get_mag_declination_degrees(25, 25), 4.05408, 0.30928 + 1); - EXPECT_NEAR(get_mag_declination_degrees(25, 30), 4.33921, 0.30936 + 1); - EXPECT_NEAR(get_mag_declination_degrees(25, 35), 4.3146, 0.30944 + 1); - EXPECT_NEAR(get_mag_declination_degrees(25, 40), 3.9845, 0.30939 + 1); - EXPECT_NEAR(get_mag_declination_degrees(25, 45), 3.44313, 0.30911 + 1); - EXPECT_NEAR(get_mag_declination_degrees(25, 50), 2.83286, 0.30855 + 1); - EXPECT_NEAR(get_mag_declination_degrees(25, 55), 2.27635, 0.30774 + 1); - EXPECT_NEAR(get_mag_declination_degrees(25, 60), 1.82647, 0.30676 + 1); - EXPECT_NEAR(get_mag_declination_degrees(25, 65), 1.46308, 0.30569 + 1); - EXPECT_NEAR(get_mag_declination_degrees(25, 70), 1.13035, 0.3046 + 1); - EXPECT_NEAR(get_mag_declination_degrees(25, 75), 0.7828, 0.30355 + 1); - EXPECT_NEAR(get_mag_declination_degrees(25, 80), 0.40799, 0.30258 + 1); - EXPECT_NEAR(get_mag_declination_degrees(25, 85), 0.01471, 0.30176 + 1); - EXPECT_NEAR(get_mag_declination_degrees(25, 90), -0.39812, 0.30115 + 1); - EXPECT_NEAR(get_mag_declination_degrees(25, 95), -0.8637, 0.3008 + 1); - EXPECT_NEAR(get_mag_declination_degrees(25, 100), -1.43968, 0.30073 + 1); - EXPECT_NEAR(get_mag_declination_degrees(25, 105), -2.17115, 0.30092 + 1); - EXPECT_NEAR(get_mag_declination_degrees(25, 110), -3.04509, 0.30131 + 1); - EXPECT_NEAR(get_mag_declination_degrees(25, 115), -3.9661, 0.30185 + 1); - EXPECT_NEAR(get_mag_declination_degrees(25, 120), -4.7733, 0.30253 + 1); - EXPECT_NEAR(get_mag_declination_degrees(25, 125), -5.29326, 0.30338 + 1); - EXPECT_NEAR(get_mag_declination_degrees(25, 130), -5.39925, 0.30447 + 1); - EXPECT_NEAR(get_mag_declination_degrees(25, 135), -5.04501, 0.30587 + 1); - EXPECT_NEAR(get_mag_declination_degrees(25, 140), -4.26119, 0.30761 + 1); - EXPECT_NEAR(get_mag_declination_degrees(25, 145), -3.12564, 0.30967 + 1); - EXPECT_NEAR(get_mag_declination_degrees(25, 150), -1.7295, 0.31201 + 1); - EXPECT_NEAR(get_mag_declination_degrees(25, 155), -0.15753, 0.31457 + 1); - EXPECT_NEAR(get_mag_declination_degrees(25, 160), 1.51102, 0.31729 + 1); - EXPECT_NEAR(get_mag_declination_degrees(25, 165), 3.19011, 0.32012 + 1); - EXPECT_NEAR(get_mag_declination_degrees(25, 170), 4.78002, 0.32299 + 1); - EXPECT_NEAR(get_mag_declination_degrees(25, 175), 6.17871, 0.32583 + 1); - EXPECT_NEAR(get_mag_declination_degrees(25, 180), 7.30991, 0.32852 + 1); - EXPECT_NEAR(get_mag_declination_degrees(30, -180), 6.34636, 0.33287 + 1); - EXPECT_NEAR(get_mag_declination_degrees(30, -175), 7.50305, 0.33544 + 1); - EXPECT_NEAR(get_mag_declination_degrees(30, -170), 8.44472, 0.33759 + 1); - EXPECT_NEAR(get_mag_declination_degrees(30, -165), 9.23109, 0.33921 + 1); - EXPECT_NEAR(get_mag_declination_degrees(30, -160), 9.93209, 0.34029 + 1); - EXPECT_NEAR(get_mag_declination_degrees(30, -155), 10.59298, 0.34088 + 1); - EXPECT_NEAR(get_mag_declination_degrees(30, -150), 11.21283, 0.34113 + 1); - EXPECT_NEAR(get_mag_declination_degrees(30, -145), 11.7462, 0.3412 + 1); - EXPECT_NEAR(get_mag_declination_degrees(30, -140), 12.12431, 0.34123 + 1); - EXPECT_NEAR(get_mag_declination_degrees(30, -135), 12.28206, 0.34133 + 1); - EXPECT_NEAR(get_mag_declination_degrees(30, -130), 12.17577, 0.34157 + 1); - EXPECT_NEAR(get_mag_declination_degrees(30, -125), 11.78334, 0.34201 + 1); - EXPECT_NEAR(get_mag_declination_degrees(30, -120), 11.08901, 0.34267 + 1); - EXPECT_NEAR(get_mag_declination_degrees(30, -115), 10.06406, 0.3436 + 1); - EXPECT_NEAR(get_mag_declination_degrees(30, -110), 8.65832, 0.34481 + 1); - EXPECT_NEAR(get_mag_declination_degrees(30, -105), 6.81262, 0.34624 + 1); - EXPECT_NEAR(get_mag_declination_degrees(30, -100), 4.49073, 0.34771 + 1); - EXPECT_NEAR(get_mag_declination_degrees(30, -95), 1.71849, 0.34894 + 1); - EXPECT_NEAR(get_mag_declination_degrees(30, -90), -1.38964, 0.3496 + 1); - EXPECT_NEAR(get_mag_declination_degrees(30, -85), -4.63392, 0.3494 + 1); - EXPECT_NEAR(get_mag_declination_degrees(30, -80), -7.76519, 0.34826 + 1); - EXPECT_NEAR(get_mag_declination_degrees(30, -75), -10.53694, 0.34625 + 1); - EXPECT_NEAR(get_mag_declination_degrees(30, -70), -12.75048, 0.34362 + 1); - EXPECT_NEAR(get_mag_declination_degrees(30, -65), -14.28067, 0.34062 + 1); - EXPECT_NEAR(get_mag_declination_degrees(30, -60), -15.08339, 0.3375 + 1); - EXPECT_NEAR(get_mag_declination_degrees(30, -55), -15.19045, 0.33442 + 1); - EXPECT_NEAR(get_mag_declination_degrees(30, -50), -14.69334, 0.33147 + 1); - EXPECT_NEAR(get_mag_declination_degrees(30, -45), -13.71666, 0.32873 + 1); - EXPECT_NEAR(get_mag_declination_degrees(30, -40), -12.387, 0.32624 + 1); - EXPECT_NEAR(get_mag_declination_degrees(30, -35), -10.80885, 0.32404 + 1); - EXPECT_NEAR(get_mag_declination_degrees(30, -30), -9.05888, 0.32216 + 1); - EXPECT_NEAR(get_mag_declination_degrees(30, -25), -7.19995, 0.32061 + 1); - EXPECT_NEAR(get_mag_declination_degrees(30, -20), -5.30317, 0.31937 + 1); - EXPECT_NEAR(get_mag_declination_degrees(30, -15), -3.46016, 0.31841 + 1); - EXPECT_NEAR(get_mag_declination_degrees(30, -10), -1.7727, 0.31767 + 1); - EXPECT_NEAR(get_mag_declination_degrees(30, -5), -0.32246, 0.31711 + 1); - EXPECT_NEAR(get_mag_declination_degrees(30, 0), 0.86095, 0.31668 + 1); - EXPECT_NEAR(get_mag_declination_degrees(30, 5), 1.81053, 0.31636 + 1); - EXPECT_NEAR(get_mag_declination_degrees(30, 10), 2.59938, 0.31613 + 1); - EXPECT_NEAR(get_mag_declination_degrees(30, 15), 3.2951, 0.31603 + 1); - EXPECT_NEAR(get_mag_declination_degrees(30, 20), 3.91734, 0.31607 + 1); - EXPECT_NEAR(get_mag_declination_degrees(30, 25), 4.42497, 0.31625 + 1); - EXPECT_NEAR(get_mag_declination_degrees(30, 30), 4.74124, 0.31651 + 1); - EXPECT_NEAR(get_mag_declination_degrees(30, 35), 4.80321, 0.31675 + 1); - EXPECT_NEAR(get_mag_declination_degrees(30, 40), 4.60668, 0.31683 + 1); - EXPECT_NEAR(get_mag_declination_degrees(30, 45), 4.21887, 0.31661 + 1); - EXPECT_NEAR(get_mag_declination_degrees(30, 50), 3.74895, 0.31606 + 1); - EXPECT_NEAR(get_mag_declination_degrees(30, 55), 3.29448, 0.3152 + 1); - EXPECT_NEAR(get_mag_declination_degrees(30, 60), 2.89855, 0.31411 + 1); - EXPECT_NEAR(get_mag_declination_degrees(30, 65), 2.54314, 0.31292 + 1); - EXPECT_NEAR(get_mag_declination_degrees(30, 70), 2.17659, 0.31171 + 1); - EXPECT_NEAR(get_mag_declination_degrees(30, 75), 1.75141, 0.31054 + 1); - EXPECT_NEAR(get_mag_declination_degrees(30, 80), 1.24625, 0.30947 + 1); - EXPECT_NEAR(get_mag_declination_degrees(30, 85), 0.66125, 0.30854 + 1); - EXPECT_NEAR(get_mag_declination_degrees(30, 90), -0.00347, 0.30783 + 1); - EXPECT_NEAR(get_mag_declination_degrees(30, 95), -0.76503, 0.30737 + 1); - EXPECT_NEAR(get_mag_declination_degrees(30, 100), -1.65302, 0.30716 + 1); - EXPECT_NEAR(get_mag_declination_degrees(30, 105), -2.68187, 0.30718 + 1); - EXPECT_NEAR(get_mag_declination_degrees(30, 110), -3.81616, 0.30736 + 1); - EXPECT_NEAR(get_mag_declination_degrees(30, 115), -4.95303, 0.30766 + 1); - EXPECT_NEAR(get_mag_declination_degrees(30, 120), -5.93801, 0.30807 + 1); - EXPECT_NEAR(get_mag_declination_degrees(30, 125), -6.60983, 0.30863 + 1); - EXPECT_NEAR(get_mag_declination_degrees(30, 130), -6.84996, 0.30943 + 1); - EXPECT_NEAR(get_mag_declination_degrees(30, 135), -6.61132, 0.31054 + 1); - EXPECT_NEAR(get_mag_declination_degrees(30, 140), -5.91665, 0.31202 + 1); - EXPECT_NEAR(get_mag_declination_degrees(30, 145), -4.83518, 0.31387 + 1); - EXPECT_NEAR(get_mag_declination_degrees(30, 150), -3.45442, 0.31606 + 1); - EXPECT_NEAR(get_mag_declination_degrees(30, 155), -1.8612, 0.31852 + 1); - EXPECT_NEAR(get_mag_declination_degrees(30, 160), -0.13769, 0.32122 + 1); - EXPECT_NEAR(get_mag_declination_degrees(30, 165), 1.63262, 0.32409 + 1); - EXPECT_NEAR(get_mag_declination_degrees(30, 170), 3.36006, 0.32705 + 1); - EXPECT_NEAR(get_mag_declination_degrees(30, 175), 4.95502, 0.33002 + 1); - EXPECT_NEAR(get_mag_declination_degrees(30, 180), 6.34636, 0.33287 + 1); - EXPECT_NEAR(get_mag_declination_degrees(35, -180), 5.29334, 0.33707 + 1); - EXPECT_NEAR(get_mag_declination_degrees(35, -175), 6.75696, 0.33963 + 1); - EXPECT_NEAR(get_mag_declination_degrees(35, -170), 8.04826, 0.34182 + 1); - EXPECT_NEAR(get_mag_declination_degrees(35, -165), 9.19136, 0.34354 + 1); - EXPECT_NEAR(get_mag_declination_degrees(35, -160), 10.21897, 0.34477 + 1); - EXPECT_NEAR(get_mag_declination_degrees(35, -155), 11.14991, 0.34559 + 1); - EXPECT_NEAR(get_mag_declination_degrees(35, -150), 11.974, 0.34614 + 1); - EXPECT_NEAR(get_mag_declination_degrees(35, -145), 12.65193, 0.34659 + 1); - EXPECT_NEAR(get_mag_declination_degrees(35, -140), 13.12812, 0.34712 + 1); - EXPECT_NEAR(get_mag_declination_degrees(35, -135), 13.34806, 0.34783 + 1); - EXPECT_NEAR(get_mag_declination_degrees(35, -130), 13.26991, 0.34881 + 1); - EXPECT_NEAR(get_mag_declination_degrees(35, -125), 12.8644, 0.35009 + 1); - EXPECT_NEAR(get_mag_declination_degrees(35, -120), 12.1045, 0.3517 + 1); - EXPECT_NEAR(get_mag_declination_degrees(35, -115), 10.95296, 0.35363 + 1); - EXPECT_NEAR(get_mag_declination_degrees(35, -110), 9.35911, 0.35582 + 1); - EXPECT_NEAR(get_mag_declination_degrees(35, -105), 7.27296, 0.35813 + 1); - EXPECT_NEAR(get_mag_declination_degrees(35, -100), 4.67667, 0.36026 + 1); - EXPECT_NEAR(get_mag_declination_degrees(35, -95), 1.6225, 0.36181 + 1); - EXPECT_NEAR(get_mag_declination_degrees(35, -90), -1.74236, 0.36235 + 1); - EXPECT_NEAR(get_mag_declination_degrees(35, -85), -5.18328, 0.3616 + 1); - EXPECT_NEAR(get_mag_declination_degrees(35, -80), -8.42232, 0.35957 + 1); - EXPECT_NEAR(get_mag_declination_degrees(35, -75), -11.20008, 0.35652 + 1); - EXPECT_NEAR(get_mag_declination_degrees(35, -70), -13.32657, 0.35288 + 1); - EXPECT_NEAR(get_mag_declination_degrees(35, -65), -14.70474, 0.34905 + 1); - EXPECT_NEAR(get_mag_declination_degrees(35, -60), -15.32868, 0.34534 + 1); - EXPECT_NEAR(get_mag_declination_degrees(35, -55), -15.26645, 0.34191 + 1); - EXPECT_NEAR(get_mag_declination_degrees(35, -50), -14.63451, 0.33883 + 1); - EXPECT_NEAR(get_mag_declination_degrees(35, -45), -13.56774, 0.33609 + 1); - EXPECT_NEAR(get_mag_declination_degrees(35, -40), -12.19083, 0.33369 + 1); - EXPECT_NEAR(get_mag_declination_degrees(35, -35), -10.5998, 0.33161 + 1); - EXPECT_NEAR(get_mag_declination_degrees(35, -30), -8.86092, 0.32986 + 1); - EXPECT_NEAR(get_mag_declination_degrees(35, -25), -7.02614, 0.32845 + 1); - EXPECT_NEAR(get_mag_declination_degrees(35, -20), -5.15438, 0.32737 + 1); - EXPECT_NEAR(get_mag_declination_degrees(35, -15), -3.32364, 0.3266 + 1); - EXPECT_NEAR(get_mag_declination_degrees(35, -10), -1.62382, 0.3261 + 1); - EXPECT_NEAR(get_mag_declination_degrees(35, -5), -0.13216, 0.32582 + 1); - EXPECT_NEAR(get_mag_declination_degrees(35, 0), 1.11435, 0.3257 + 1); - EXPECT_NEAR(get_mag_declination_degrees(35, 5), 2.13137, 0.32569 + 1); - EXPECT_NEAR(get_mag_declination_degrees(35, 10), 2.97356, 0.32578 + 1); - EXPECT_NEAR(get_mag_declination_degrees(35, 15), 3.70023, 0.32596 + 1); - EXPECT_NEAR(get_mag_declination_degrees(35, 20), 4.33987, 0.32625 + 1); - EXPECT_NEAR(get_mag_declination_degrees(35, 25), 4.87484, 0.32664 + 1); - EXPECT_NEAR(get_mag_declination_degrees(35, 30), 5.25543, 0.32707 + 1); - EXPECT_NEAR(get_mag_declination_degrees(35, 35), 5.4348, 0.32744 + 1); - EXPECT_NEAR(get_mag_declination_degrees(35, 40), 5.40365, 0.32758 + 1); - EXPECT_NEAR(get_mag_declination_degrees(35, 45), 5.20287, 0.32739 + 1); - EXPECT_NEAR(get_mag_declination_degrees(35, 50), 4.90512, 0.32679 + 1); - EXPECT_NEAR(get_mag_declination_degrees(35, 55), 4.57677, 0.32582 + 1); - EXPECT_NEAR(get_mag_declination_degrees(35, 60), 4.24531, 0.32461 + 1); - EXPECT_NEAR(get_mag_declination_degrees(35, 65), 3.89203, 0.32327 + 1); - EXPECT_NEAR(get_mag_declination_degrees(35, 70), 3.47073, 0.32192 + 1); - EXPECT_NEAR(get_mag_declination_degrees(35, 75), 2.93628, 0.32064 + 1); - EXPECT_NEAR(get_mag_declination_degrees(35, 80), 2.26372, 0.31948 + 1); - EXPECT_NEAR(get_mag_declination_degrees(35, 85), 1.44858, 0.31848 + 1); - EXPECT_NEAR(get_mag_declination_degrees(35, 90), 0.49383, 0.31768 + 1); - EXPECT_NEAR(get_mag_declination_degrees(35, 95), -0.60162, 0.3171 + 1); - EXPECT_NEAR(get_mag_declination_degrees(35, 100), -1.83951, 0.31672 + 1); - EXPECT_NEAR(get_mag_declination_degrees(35, 105), -3.20226, 0.3165 + 1); - EXPECT_NEAR(get_mag_declination_degrees(35, 110), -4.62856, 0.31637 + 1); - EXPECT_NEAR(get_mag_declination_degrees(35, 115), -6.00326, 0.31627 + 1); - EXPECT_NEAR(get_mag_declination_degrees(35, 120), -7.17422, 0.31622 + 1); - EXPECT_NEAR(get_mag_declination_degrees(35, 125), -7.99119, 0.31627 + 1); - EXPECT_NEAR(get_mag_declination_degrees(35, 130), -8.34684, 0.31655 + 1); - EXPECT_NEAR(get_mag_declination_degrees(35, 135), -8.19962, 0.31716 + 1); - EXPECT_NEAR(get_mag_declination_degrees(35, 140), -7.57183, 0.31816 + 1); - EXPECT_NEAR(get_mag_declination_degrees(35, 145), -6.53008, 0.31956 + 1); - EXPECT_NEAR(get_mag_declination_degrees(35, 150), -5.16102, 0.32136 + 1); - EXPECT_NEAR(get_mag_declination_degrees(35, 155), -3.55317, 0.32349 + 1); - EXPECT_NEAR(get_mag_declination_degrees(35, 160), -1.78946, 0.32592 + 1); - EXPECT_NEAR(get_mag_declination_degrees(35, 165), 0.05155, 0.32858 + 1); - EXPECT_NEAR(get_mag_declination_degrees(35, 170), 1.89265, 0.3314 + 1); - EXPECT_NEAR(get_mag_declination_degrees(35, 175), 3.66016, 0.33427 + 1); - EXPECT_NEAR(get_mag_declination_degrees(35, 180), 5.29334, 0.33707 + 1); - EXPECT_NEAR(get_mag_declination_degrees(40, -180), 4.25264, 0.34177 + 1); - EXPECT_NEAR(get_mag_declination_degrees(40, -175), 5.99295, 0.34419 + 1); - EXPECT_NEAR(get_mag_declination_degrees(40, -170), 7.60786, 0.34635 + 1); - EXPECT_NEAR(get_mag_declination_degrees(40, -165), 9.09162, 0.34819 + 1); - EXPECT_NEAR(get_mag_declination_degrees(40, -160), 10.44271, 0.3497 + 1); - EXPECT_NEAR(get_mag_declination_degrees(40, -155), 11.65244, 0.35097 + 1); - EXPECT_NEAR(get_mag_declination_degrees(40, -150), 12.69716, 0.35211 + 1); - EXPECT_NEAR(get_mag_declination_degrees(40, -145), 13.53817, 0.35331 + 1); - EXPECT_NEAR(get_mag_declination_degrees(40, -140), 14.12852, 0.35471 + 1); - EXPECT_NEAR(get_mag_declination_degrees(40, -135), 14.42206, 0.35645 + 1); - EXPECT_NEAR(get_mag_declination_degrees(40, -130), 14.37906, 0.3586 + 1); - EXPECT_NEAR(get_mag_declination_degrees(40, -125), 13.96495, 0.36121 + 1); - EXPECT_NEAR(get_mag_declination_degrees(40, -120), 13.14327, 0.36427 + 1); - EXPECT_NEAR(get_mag_declination_degrees(40, -115), 11.86867, 0.36775 + 1); - EXPECT_NEAR(get_mag_declination_degrees(40, -110), 10.08826, 0.3715 + 1); - EXPECT_NEAR(get_mag_declination_degrees(40, -105), 7.75824, 0.37524 + 1); - EXPECT_NEAR(get_mag_declination_degrees(40, -100), 4.8764, 0.37851 + 1); - EXPECT_NEAR(get_mag_declination_degrees(40, -95), 1.52056, 0.38071 + 1); - EXPECT_NEAR(get_mag_declination_degrees(40, -90), -2.12769, 0.38127 + 1); - EXPECT_NEAR(get_mag_declination_degrees(40, -85), -5.79637, 0.37989 + 1); - EXPECT_NEAR(get_mag_declination_degrees(40, -80), -9.17837, 0.37672 + 1); - EXPECT_NEAR(get_mag_declination_degrees(40, -75), -12.0042, 0.37226 + 1); - EXPECT_NEAR(get_mag_declination_degrees(40, -70), -14.09614, 0.36721 + 1); - EXPECT_NEAR(get_mag_declination_degrees(40, -65), -15.38528, 0.36216 + 1); - EXPECT_NEAR(get_mag_declination_degrees(40, -60), -15.89815, 0.3575 + 1); - EXPECT_NEAR(get_mag_declination_degrees(40, -55), -15.72883, 0.35343 + 1); - EXPECT_NEAR(get_mag_declination_degrees(40, -50), -15.00787, 0.34996 + 1); - EXPECT_NEAR(get_mag_declination_degrees(40, -45), -13.87285, 0.34706 + 1); - EXPECT_NEAR(get_mag_declination_degrees(40, -40), -12.44479, 0.34464 + 1); - EXPECT_NEAR(get_mag_declination_degrees(40, -35), -10.81525, 0.34264 + 1); - EXPECT_NEAR(get_mag_declination_degrees(40, -30), -9.04789, 0.34103 + 1); - EXPECT_NEAR(get_mag_declination_degrees(40, -25), -7.19246, 0.3398 + 1); - EXPECT_NEAR(get_mag_declination_degrees(40, -20), -5.30267, 0.33893 + 1); - EXPECT_NEAR(get_mag_declination_degrees(40, -15), -3.44648, 0.33841 + 1); - EXPECT_NEAR(get_mag_declination_degrees(40, -10), -1.70153, 0.33821 + 1); - EXPECT_NEAR(get_mag_declination_degrees(40, -5), -0.13699, 0.33827 + 1); - EXPECT_NEAR(get_mag_declination_degrees(40, 0), 1.20811, 0.33853 + 1); - EXPECT_NEAR(get_mag_declination_degrees(40, 5), 2.33652, 0.33892 + 1); - EXPECT_NEAR(get_mag_declination_degrees(40, 10), 3.28571, 0.33939 + 1); - EXPECT_NEAR(get_mag_declination_degrees(40, 15), 4.10425, 0.33992 + 1); - EXPECT_NEAR(get_mag_declination_degrees(40, 20), 4.82443, 0.3405 + 1); - EXPECT_NEAR(get_mag_declination_degrees(40, 25), 5.4469, 0.34112 + 1); - EXPECT_NEAR(get_mag_declination_degrees(40, 30), 5.94573, 0.3417 + 1); - EXPECT_NEAR(get_mag_declination_degrees(40, 35), 6.28959, 0.34214 + 1); - EXPECT_NEAR(get_mag_declination_degrees(40, 40), 6.46536, 0.34231 + 1); - EXPECT_NEAR(get_mag_declination_degrees(40, 45), 6.48877, 0.3421 + 1); - EXPECT_NEAR(get_mag_declination_degrees(40, 50), 6.39507, 0.34146 + 1); - EXPECT_NEAR(get_mag_declination_degrees(40, 55), 6.21595, 0.34045 + 1); - EXPECT_NEAR(get_mag_declination_degrees(40, 60), 5.9585, 0.33918 + 1); - EXPECT_NEAR(get_mag_declination_degrees(40, 65), 5.59966, 0.3378 + 1); - EXPECT_NEAR(get_mag_declination_degrees(40, 70), 5.098, 0.33643 + 1); - EXPECT_NEAR(get_mag_declination_degrees(40, 75), 4.41346, 0.33516 + 1); - EXPECT_NEAR(get_mag_declination_degrees(40, 80), 3.52242, 0.33403 + 1); - EXPECT_NEAR(get_mag_declination_degrees(40, 85), 2.42101, 0.33306 + 1); - EXPECT_NEAR(get_mag_declination_degrees(40, 90), 1.11911, 0.33224 + 1); - EXPECT_NEAR(get_mag_declination_degrees(40, 95), -0.36565, 0.33155 + 1); - EXPECT_NEAR(get_mag_declination_degrees(40, 100), -2.00468, 0.33095 + 1); - EXPECT_NEAR(get_mag_declination_degrees(40, 105), -3.74512, 0.33035 + 1); - EXPECT_NEAR(get_mag_declination_degrees(40, 110), -5.4954, 0.32968 + 1); - EXPECT_NEAR(get_mag_declination_degrees(40, 115), -7.12393, 0.3289 + 1); - EXPECT_NEAR(get_mag_declination_degrees(40, 120), -8.47872, 0.32807 + 1); - EXPECT_NEAR(get_mag_declination_degrees(40, 125), -9.42188, 0.32729 + 1); - EXPECT_NEAR(get_mag_declination_degrees(40, 130), -9.86223, 0.32672 + 1); - EXPECT_NEAR(get_mag_declination_degrees(40, 135), -9.77107, 0.3265 + 1); - EXPECT_NEAR(get_mag_declination_degrees(40, 140), -9.1777, 0.32672 + 1); - EXPECT_NEAR(get_mag_declination_degrees(40, 145), -8.15147, 0.32742 + 1); - EXPECT_NEAR(get_mag_declination_degrees(40, 150), -6.78028, 0.32856 + 1); - EXPECT_NEAR(get_mag_declination_degrees(40, 155), -5.15345, 0.33012 + 1); - EXPECT_NEAR(get_mag_declination_degrees(40, 160), -3.35268, 0.33203 + 1); - EXPECT_NEAR(get_mag_declination_degrees(40, 165), -1.45034, 0.33425 + 1); - EXPECT_NEAR(get_mag_declination_degrees(40, 170), 0.48866, 0.33668 + 1); - EXPECT_NEAR(get_mag_declination_degrees(40, 175), 2.40604, 0.33922 + 1); - EXPECT_NEAR(get_mag_declination_degrees(40, 180), 4.25264, 0.34177 + 1); - EXPECT_NEAR(get_mag_declination_degrees(45, -180), 3.31743, 0.34827 + 1); - EXPECT_NEAR(get_mag_declination_degrees(45, -175), 5.29105, 0.35048 + 1); - EXPECT_NEAR(get_mag_declination_degrees(45, -170), 7.18051, 0.35263 + 1); - EXPECT_NEAR(get_mag_declination_degrees(45, -165), 8.95989, 0.35469 + 1); - EXPECT_NEAR(get_mag_declination_degrees(45, -160), 10.60283, 0.35666 + 1); - EXPECT_NEAR(get_mag_declination_degrees(45, -155), 12.07853, 0.35864 + 1); - EXPECT_NEAR(get_mag_declination_degrees(45, -150), 13.34959, 0.36073 + 1); - EXPECT_NEAR(get_mag_declination_degrees(45, -145), 14.3728, 0.36309 + 1); - EXPECT_NEAR(get_mag_declination_degrees(45, -140), 15.10252, 0.36587 + 1); - EXPECT_NEAR(get_mag_declination_degrees(45, -135), 15.49435, 0.36919 + 1); - EXPECT_NEAR(get_mag_declination_degrees(45, -130), 15.50644, 0.37314 + 1); - EXPECT_NEAR(get_mag_declination_degrees(45, -125), 15.09707, 0.37777 + 1); - EXPECT_NEAR(get_mag_declination_degrees(45, -120), 14.21972, 0.38306 + 1); - EXPECT_NEAR(get_mag_declination_degrees(45, -115), 12.82001, 0.38892 + 1); - EXPECT_NEAR(get_mag_declination_degrees(45, -110), 10.84106, 0.39509 + 1); - EXPECT_NEAR(get_mag_declination_degrees(45, -105), 8.24346, 0.40109 + 1); - EXPECT_NEAR(get_mag_declination_degrees(45, -100), 5.04049, 0.40619 + 1); - EXPECT_NEAR(get_mag_declination_degrees(45, -95), 1.33868, 0.40947 + 1); - EXPECT_NEAR(get_mag_declination_degrees(45, -90), -2.64011, 0.41014 + 1); - EXPECT_NEAR(get_mag_declination_degrees(45, -85), -6.58126, 0.40787 + 1); - EXPECT_NEAR(get_mag_declination_degrees(45, -80), -10.14755, 0.40303 + 1); - EXPECT_NEAR(get_mag_declination_degrees(45, -75), -13.06306, 0.39649 + 1); - EXPECT_NEAR(get_mag_declination_degrees(45, -70), -15.16665, 0.38932 + 1); - EXPECT_NEAR(get_mag_declination_degrees(45, -65), -16.41814, 0.38235 + 1); - EXPECT_NEAR(get_mag_declination_degrees(45, -60), -16.87192, 0.37613 + 1); - EXPECT_NEAR(get_mag_declination_degrees(45, -55), -16.64048, 0.37087 + 1); - EXPECT_NEAR(get_mag_declination_degrees(45, -50), -15.8611, 0.36657 + 1); - EXPECT_NEAR(get_mag_declination_degrees(45, -45), -14.66969, 0.36314 + 1); - EXPECT_NEAR(get_mag_declination_degrees(45, -40), -13.18313, 0.36043 + 1); - EXPECT_NEAR(get_mag_declination_degrees(45, -35), -11.4914, 0.35834 + 1); - EXPECT_NEAR(get_mag_declination_degrees(45, -30), -9.66045, 0.35677 + 1); - EXPECT_NEAR(get_mag_declination_degrees(45, -25), -7.74323, 0.35568 + 1); - EXPECT_NEAR(get_mag_declination_degrees(45, -20), -5.79283, 0.35502 + 1); - EXPECT_NEAR(get_mag_declination_degrees(45, -15), -3.87019, 0.35479 + 1); - EXPECT_NEAR(get_mag_declination_degrees(45, -10), -2.04133, 0.35493 + 1); - EXPECT_NEAR(get_mag_declination_degrees(45, -5), -0.36524, 0.35538 + 1); - EXPECT_NEAR(get_mag_declination_degrees(45, 0), 1.12141, 0.35607 + 1); - EXPECT_NEAR(get_mag_declination_degrees(45, 5), 2.41344, 0.35691 + 1); - EXPECT_NEAR(get_mag_declination_degrees(45, 10), 3.53422, 0.35781 + 1); - EXPECT_NEAR(get_mag_declination_degrees(45, 15), 4.52062, 0.35873 + 1); - EXPECT_NEAR(get_mag_declination_degrees(45, 20), 5.40363, 0.35962 + 1); - EXPECT_NEAR(get_mag_declination_degrees(45, 25), 6.19467, 0.36046 + 1); - EXPECT_NEAR(get_mag_declination_degrees(45, 30), 6.88436, 0.36117 + 1); - EXPECT_NEAR(get_mag_declination_degrees(45, 35), 7.45242, 0.36167 + 1); - EXPECT_NEAR(get_mag_declination_degrees(45, 40), 7.8813, 0.36188 + 1); - EXPECT_NEAR(get_mag_declination_degrees(45, 45), 8.16392, 0.36171 + 1); - EXPECT_NEAR(get_mag_declination_degrees(45, 50), 8.30092, 0.36117 + 1); - EXPECT_NEAR(get_mag_declination_degrees(45, 55), 8.28995, 0.36032 + 1); - EXPECT_NEAR(get_mag_declination_degrees(45, 60), 8.11527, 0.35928 + 1); - EXPECT_NEAR(get_mag_declination_degrees(45, 65), 7.74528, 0.35819 + 1); - EXPECT_NEAR(get_mag_declination_degrees(45, 70), 7.13991, 0.35717 + 1); - EXPECT_NEAR(get_mag_declination_degrees(45, 75), 6.26354, 0.35627 + 1); - EXPECT_NEAR(get_mag_declination_degrees(45, 80), 5.09641, 0.3555 + 1); - EXPECT_NEAR(get_mag_declination_degrees(45, 85), 3.63997, 0.35483 + 1); - EXPECT_NEAR(get_mag_declination_degrees(45, 90), 1.91666, 0.35417 + 1); - EXPECT_NEAR(get_mag_declination_degrees(45, 95), -0.03111, 0.35343 + 1); - EXPECT_NEAR(get_mag_declination_degrees(45, 100), -2.13807, 0.35249 + 1); - EXPECT_NEAR(get_mag_declination_degrees(45, 105), -4.30946, 0.35123 + 1); - EXPECT_NEAR(get_mag_declination_degrees(45, 110), -6.41786, 0.34959 + 1); - EXPECT_NEAR(get_mag_declination_degrees(45, 115), -8.31209, 0.34761 + 1); - EXPECT_NEAR(get_mag_declination_degrees(45, 120), -9.84094, 0.34543 + 1); - EXPECT_NEAR(get_mag_declination_degrees(45, 125), -10.88322, 0.34327 + 1); - EXPECT_NEAR(get_mag_declination_degrees(45, 130), -11.37072, 0.34135 + 1); - EXPECT_NEAR(get_mag_declination_degrees(45, 135), -11.2951, 0.33986 + 1); - EXPECT_NEAR(get_mag_declination_degrees(45, 140), -10.69908, 0.33892 + 1); - EXPECT_NEAR(get_mag_declination_degrees(45, 145), -9.65872, 0.33855 + 1); - EXPECT_NEAR(get_mag_declination_degrees(45, 150), -8.26416, 0.33875 + 1); - EXPECT_NEAR(get_mag_declination_degrees(45, 155), -6.60441, 0.33946 + 1); - EXPECT_NEAR(get_mag_declination_degrees(45, 160), -4.75841, 0.34062 + 1); - EXPECT_NEAR(get_mag_declination_degrees(45, 165), -2.79238, 0.34217 + 1); - EXPECT_NEAR(get_mag_declination_degrees(45, 170), -0.76123, 0.34402 + 1); - EXPECT_NEAR(get_mag_declination_degrees(45, 175), 1.28865, 0.34608 + 1); - EXPECT_NEAR(get_mag_declination_degrees(45, 180), 3.31743, 0.34827 + 1); - EXPECT_NEAR(get_mag_declination_degrees(50, -180), 2.53747, 0.35868 + 1); - EXPECT_NEAR(get_mag_declination_degrees(50, -175), 4.69971, 0.36073 + 1); - EXPECT_NEAR(get_mag_declination_degrees(50, -170), 6.80822, 0.363 + 1); - EXPECT_NEAR(get_mag_declination_degrees(50, -165), 8.82691, 0.36546 + 1); - EXPECT_NEAR(get_mag_declination_degrees(50, -160), 10.71582, 0.36817 + 1); - EXPECT_NEAR(get_mag_declination_degrees(50, -155), 12.43068, 0.3712 + 1); - EXPECT_NEAR(get_mag_declination_degrees(50, -150), 13.92354, 0.37469 + 1); - EXPECT_NEAR(get_mag_declination_degrees(50, -145), 15.14414, 0.37877 + 1); - EXPECT_NEAR(get_mag_declination_degrees(50, -140), 16.04168, 0.3836 + 1); - EXPECT_NEAR(get_mag_declination_degrees(50, -135), 16.56567, 0.38932 + 1); - EXPECT_NEAR(get_mag_declination_degrees(50, -130), 16.66503, 0.39603 + 1); - EXPECT_NEAR(get_mag_declination_degrees(50, -125), 16.28519, 0.40381 + 1); - EXPECT_NEAR(get_mag_declination_degrees(50, -120), 15.36478, 0.41262 + 1); - EXPECT_NEAR(get_mag_declination_degrees(50, -115), 13.83577, 0.42227 + 1); - EXPECT_NEAR(get_mag_declination_degrees(50, -110), 11.63303, 0.43233 + 1); - EXPECT_NEAR(get_mag_declination_degrees(50, -105), 8.719, 0.44199 + 1); - EXPECT_NEAR(get_mag_declination_degrees(50, -100), 5.12456, 0.45003 + 1); - EXPECT_NEAR(get_mag_declination_degrees(50, -95), 0.99358, 0.455 + 1); - EXPECT_NEAR(get_mag_declination_degrees(50, -90), -3.39841, 0.45572 + 1); - EXPECT_NEAR(get_mag_declination_degrees(50, -85), -7.68216, 0.45188 + 1); - EXPECT_NEAR(get_mag_declination_degrees(50, -80), -11.48607, 0.44424 + 1); - EXPECT_NEAR(get_mag_declination_degrees(50, -75), -14.53163, 0.43429 + 1); - EXPECT_NEAR(get_mag_declination_degrees(50, -70), -16.68054, 0.42366 + 1); - EXPECT_NEAR(get_mag_declination_degrees(50, -65), -17.92469, 0.41356 + 1); - EXPECT_NEAR(get_mag_declination_degrees(50, -60), -18.34549, 0.40469 + 1); - EXPECT_NEAR(get_mag_declination_degrees(50, -55), -18.07074, 0.39731 + 1); - EXPECT_NEAR(get_mag_declination_degrees(50, -50), -17.24164, 0.39139 + 1); - EXPECT_NEAR(get_mag_declination_degrees(50, -45), -15.99137, 0.38678 + 1); - EXPECT_NEAR(get_mag_declination_degrees(50, -40), -14.43327, 0.38327 + 1); - EXPECT_NEAR(get_mag_declination_degrees(50, -35), -12.65717, 0.38068 + 1); - EXPECT_NEAR(get_mag_declination_degrees(50, -30), -10.73272, 0.37887 + 1); - EXPECT_NEAR(get_mag_declination_degrees(50, -25), -8.7174, 0.37772 + 1); - EXPECT_NEAR(get_mag_declination_degrees(50, -20), -6.66523, 0.37717 + 1); - EXPECT_NEAR(get_mag_declination_degrees(50, -15), -4.63169, 0.37714 + 1); - EXPECT_NEAR(get_mag_declination_degrees(50, -10), -2.67235, 0.37758 + 1); - EXPECT_NEAR(get_mag_declination_degrees(50, -5), -0.83552, 0.3784 + 1); - EXPECT_NEAR(get_mag_declination_degrees(50, 0), 0.8471, 0.37949 + 1); - EXPECT_NEAR(get_mag_declination_degrees(50, 5), 2.36653, 0.38075 + 1); - EXPECT_NEAR(get_mag_declination_degrees(50, 10), 3.73529, 0.38206 + 1); - EXPECT_NEAR(get_mag_declination_degrees(50, 15), 4.97845, 0.38335 + 1); - EXPECT_NEAR(get_mag_declination_degrees(50, 20), 6.12072, 0.38455 + 1); - EXPECT_NEAR(get_mag_declination_degrees(50, 25), 7.17544, 0.38561 + 1); - EXPECT_NEAR(get_mag_declination_degrees(50, 30), 8.14006, 0.38648 + 1); - EXPECT_NEAR(get_mag_declination_degrees(50, 35), 8.9985, 0.38714 + 1); - EXPECT_NEAR(get_mag_declination_degrees(50, 40), 9.72723, 0.38754 + 1); - EXPECT_NEAR(get_mag_declination_degrees(50, 45), 10.30018, 0.3877 + 1); - EXPECT_NEAR(get_mag_declination_degrees(50, 50), 10.68977, 0.38764 + 1); - EXPECT_NEAR(get_mag_declination_degrees(50, 55), 10.86434, 0.38746 + 1); - EXPECT_NEAR(get_mag_declination_degrees(50, 60), 10.78543, 0.38729 + 1); - EXPECT_NEAR(get_mag_declination_degrees(50, 65), 10.40843, 0.38723 + 1); - EXPECT_NEAR(get_mag_declination_degrees(50, 70), 9.6882, 0.38735 + 1); - EXPECT_NEAR(get_mag_declination_degrees(50, 75), 8.58825, 0.38765 + 1); - EXPECT_NEAR(get_mag_declination_degrees(50, 80), 7.09079, 0.38802 + 1); - EXPECT_NEAR(get_mag_declination_degrees(50, 85), 5.20477, 0.3883 + 1); - EXPECT_NEAR(get_mag_declination_degrees(50, 90), 2.97136, 0.38822 + 1); - EXPECT_NEAR(get_mag_declination_degrees(50, 95), 0.46721, 0.38755 + 1); - EXPECT_NEAR(get_mag_declination_degrees(50, 100), -2.19403, 0.38604 + 1); - EXPECT_NEAR(get_mag_declination_degrees(50, 105), -4.86444, 0.38356 + 1); - EXPECT_NEAR(get_mag_declination_degrees(50, 110), -7.37295, 0.38014 + 1); - EXPECT_NEAR(get_mag_declination_degrees(50, 115), -9.54698, 0.37601 + 1); - EXPECT_NEAR(get_mag_declination_degrees(50, 120), -11.23992, 0.3715 + 1); - EXPECT_NEAR(get_mag_declination_degrees(50, 125), -12.35452, 0.36703 + 1); - EXPECT_NEAR(get_mag_declination_degrees(50, 130), -12.85358, 0.36295 + 1); - EXPECT_NEAR(get_mag_declination_degrees(50, 135), -12.75598, 0.3595 + 1); - EXPECT_NEAR(get_mag_declination_degrees(50, 140), -12.12272, 0.35682 + 1); - EXPECT_NEAR(get_mag_declination_degrees(50, 145), -11.03896, 0.35493 + 1); - EXPECT_NEAR(get_mag_declination_degrees(50, 150), -9.59742, 0.3538 + 1); - EXPECT_NEAR(get_mag_declination_degrees(50, 155), -7.88585, 0.35336 + 1); - EXPECT_NEAR(get_mag_declination_degrees(50, 160), -5.97979, 0.35353 + 1); - EXPECT_NEAR(get_mag_declination_degrees(50, 165), -3.94034, 0.35422 + 1); - EXPECT_NEAR(get_mag_declination_degrees(50, 170), -1.81576, 0.35536 + 1); - EXPECT_NEAR(get_mag_declination_degrees(50, 175), 0.35485, 0.35687 + 1); - EXPECT_NEAR(get_mag_declination_degrees(50, 180), 2.53747, 0.35868 + 1); - EXPECT_NEAR(get_mag_declination_degrees(55, -180), 1.90149, 0.37644 + 1); - EXPECT_NEAR(get_mag_declination_degrees(55, -175), 4.21643, 0.37851 + 1); - EXPECT_NEAR(get_mag_declination_degrees(55, -170), 6.49718, 0.38112 + 1); - EXPECT_NEAR(get_mag_declination_degrees(55, -165), 8.70496, 0.38431 + 1); - EXPECT_NEAR(get_mag_declination_degrees(55, -160), 10.79547, 0.38817 + 1); - EXPECT_NEAR(get_mag_declination_degrees(55, -155), 12.71918, 0.39279 + 1); - EXPECT_NEAR(get_mag_declination_degrees(55, -150), 14.42236, 0.39833 + 1); - EXPECT_NEAR(get_mag_declination_degrees(55, -145), 15.84817, 0.40496 + 1); - EXPECT_NEAR(get_mag_declination_degrees(55, -140), 16.93728, 0.41288 + 1); - EXPECT_NEAR(get_mag_declination_degrees(55, -135), 17.62728, 0.42229 + 1); - EXPECT_NEAR(get_mag_declination_degrees(55, -130), 17.8508, 0.43336 + 1); - EXPECT_NEAR(get_mag_declination_degrees(55, -125), 17.53262, 0.44619 + 1); - EXPECT_NEAR(get_mag_declination_degrees(55, -120), 16.58781, 0.46075 + 1); - EXPECT_NEAR(get_mag_declination_degrees(55, -115), 14.925, 0.47674 + 1); - EXPECT_NEAR(get_mag_declination_degrees(55, -110), 12.46103, 0.49339 + 1); - EXPECT_NEAR(get_mag_declination_degrees(55, -105), 9.15389, 0.50926 + 1); - EXPECT_NEAR(get_mag_declination_degrees(55, -100), 5.05453, 0.5222 + 1); - EXPECT_NEAR(get_mag_declination_degrees(55, -95), 0.35968, 0.52976 + 1); - EXPECT_NEAR(get_mag_declination_degrees(55, -90), -4.57575, 0.53011 + 1); - EXPECT_NEAR(get_mag_declination_degrees(55, -85), -9.30418, 0.52305 + 1); - EXPECT_NEAR(get_mag_declination_degrees(55, -80), -13.41007, 0.51021 + 1); - EXPECT_NEAR(get_mag_declination_degrees(55, -75), -16.61755, 0.49423 + 1); - EXPECT_NEAR(get_mag_declination_degrees(55, -70), -18.82236, 0.47763 + 1); - EXPECT_NEAR(get_mag_declination_degrees(55, -65), -20.05741, 0.46216 + 1); - EXPECT_NEAR(get_mag_declination_degrees(55, -60), -20.43569, 0.44873 + 1); - EXPECT_NEAR(get_mag_declination_degrees(55, -55), -20.10214, 0.43763 + 1); - EXPECT_NEAR(get_mag_declination_degrees(55, -50), -19.20317, 0.42875 + 1); - EXPECT_NEAR(get_mag_declination_degrees(55, -45), -17.87065, 0.42185 + 1); - EXPECT_NEAR(get_mag_declination_degrees(55, -40), -16.21548, 0.41663 + 1); - EXPECT_NEAR(get_mag_declination_degrees(55, -35), -14.32731, 0.41281 + 1); - EXPECT_NEAR(get_mag_declination_degrees(55, -30), -12.27816, 0.41017 + 1); - EXPECT_NEAR(get_mag_declination_degrees(55, -25), -10.12812, 0.4085 + 1); - EXPECT_NEAR(get_mag_declination_degrees(55, -20), -7.93079, 0.40767 + 1); - EXPECT_NEAR(get_mag_declination_degrees(55, -15), -5.73633, 0.40756 + 1); - EXPECT_NEAR(get_mag_declination_degrees(55, -10), -3.59093, 0.40805 + 1); - EXPECT_NEAR(get_mag_declination_degrees(55, -5), -1.53313, 0.40901 + 1); - EXPECT_NEAR(get_mag_declination_degrees(55, 0), 0.41094, 0.41032 + 1); - EXPECT_NEAR(get_mag_declination_degrees(55, 5), 2.23068, 0.41184 + 1); - EXPECT_NEAR(get_mag_declination_degrees(55, 10), 3.93008, 0.41344 + 1); - EXPECT_NEAR(get_mag_declination_degrees(55, 15), 5.52232, 0.41502 + 1); - EXPECT_NEAR(get_mag_declination_degrees(55, 20), 7.02166, 0.41651 + 1); - EXPECT_NEAR(get_mag_declination_degrees(55, 25), 8.43537, 0.41787 + 1); - EXPECT_NEAR(get_mag_declination_degrees(55, 30), 9.75852, 0.4191 + 1); - EXPECT_NEAR(get_mag_declination_degrees(55, 35), 10.97263, 0.42022 + 1); - EXPECT_NEAR(get_mag_declination_degrees(55, 40), 12.04718, 0.42129 + 1); - EXPECT_NEAR(get_mag_declination_degrees(55, 45), 12.94214, 0.42239 + 1); - EXPECT_NEAR(get_mag_declination_degrees(55, 50), 13.60997, 0.42363 + 1); - EXPECT_NEAR(get_mag_declination_degrees(55, 55), 13.99662, 0.42515 + 1); - EXPECT_NEAR(get_mag_declination_degrees(55, 60), 14.04266, 0.42707 + 1); - EXPECT_NEAR(get_mag_declination_degrees(55, 65), 13.6859, 0.42947 + 1); - EXPECT_NEAR(get_mag_declination_degrees(55, 70), 12.86682, 0.43234 + 1); - EXPECT_NEAR(get_mag_declination_degrees(55, 75), 11.53753, 0.43553 + 1); - EXPECT_NEAR(get_mag_declination_degrees(55, 80), 9.67366, 0.43871 + 1); - EXPECT_NEAR(get_mag_declination_degrees(55, 85), 7.28832, 0.44139 + 1); - EXPECT_NEAR(get_mag_declination_degrees(55, 90), 4.44552, 0.44293 + 1); - EXPECT_NEAR(get_mag_declination_degrees(55, 95), 1.26863, 0.44271 + 1); - EXPECT_NEAR(get_mag_declination_degrees(55, 100), -2.0618, 0.44028 + 1); - EXPECT_NEAR(get_mag_declination_degrees(55, 105), -5.32608, 0.43554 + 1); - EXPECT_NEAR(get_mag_declination_degrees(55, 110), -8.29787, 0.42881 + 1); - EXPECT_NEAR(get_mag_declination_degrees(55, 115), -10.78176, 0.42075 + 1); - EXPECT_NEAR(get_mag_declination_degrees(55, 120), -12.64234, 0.41217 + 1); - EXPECT_NEAR(get_mag_declination_degrees(55, 125), -13.81583, 0.4038 + 1); - EXPECT_NEAR(get_mag_declination_degrees(55, 130), -14.30439, 0.39619 + 1); - EXPECT_NEAR(get_mag_declination_degrees(55, 135), -14.16001, 0.38965 + 1); - EXPECT_NEAR(get_mag_declination_degrees(55, 140), -13.46525, 0.38432 + 1); - EXPECT_NEAR(get_mag_declination_degrees(55, 145), -12.31587, 0.38018 + 1); - EXPECT_NEAR(get_mag_declination_degrees(55, 150), -10.80741, 0.37716 + 1); - EXPECT_NEAR(get_mag_declination_degrees(55, 155), -9.02618, 0.37513 + 1); - EXPECT_NEAR(get_mag_declination_degrees(55, 160), -7.04462, 0.374 + 1); - EXPECT_NEAR(get_mag_declination_degrees(55, 165), -4.92032, 0.37364 + 1); - EXPECT_NEAR(get_mag_declination_degrees(55, 170), -2.69807, 0.37397 + 1); - EXPECT_NEAR(get_mag_declination_degrees(55, 175), -0.41369, 0.37492 + 1); - EXPECT_NEAR(get_mag_declination_degrees(55, 180), 1.90149, 0.37644 + 1); - EXPECT_NEAR(get_mag_declination_degrees(60, -180), 1.33743, 0.40753 + 1); - EXPECT_NEAR(get_mag_declination_degrees(60, -175), 3.78298, 0.40988 + 1); - EXPECT_NEAR(get_mag_declination_degrees(60, -170), 6.20569, 0.41325 + 1); - EXPECT_NEAR(get_mag_declination_degrees(60, -165), 8.56811, 0.41771 + 1); - EXPECT_NEAR(get_mag_declination_degrees(60, -160), 10.82706, 0.42339 + 1); - EXPECT_NEAR(get_mag_declination_degrees(60, -155), 12.93326, 0.43047 + 1); - EXPECT_NEAR(get_mag_declination_degrees(60, -150), 14.83147, 0.43915 + 1); - EXPECT_NEAR(get_mag_declination_degrees(60, -145), 16.46038, 0.44971 + 1); - EXPECT_NEAR(get_mag_declination_degrees(60, -140), 17.75192, 0.46246 + 1); - EXPECT_NEAR(get_mag_declination_degrees(60, -135), 18.62934, 0.47773 + 1); - EXPECT_NEAR(get_mag_declination_degrees(60, -130), 19.00433, 0.49584 + 1); - EXPECT_NEAR(get_mag_declination_degrees(60, -125), 18.7737, 0.51705 + 1); - EXPECT_NEAR(get_mag_declination_degrees(60, -120), 17.81822, 0.54137 + 1); - EXPECT_NEAR(get_mag_declination_degrees(60, -115), 16.00846, 0.56832 + 1); - EXPECT_NEAR(get_mag_declination_degrees(60, -110), 13.22638, 0.59655 + 1); - EXPECT_NEAR(get_mag_declination_degrees(60, -105), 9.41246, 0.62339 + 1); - EXPECT_NEAR(get_mag_declination_degrees(60, -100), 4.63955, 0.64478 + 1); - EXPECT_NEAR(get_mag_declination_degrees(60, -95), -0.81631, 0.65618 + 1); - EXPECT_NEAR(get_mag_declination_degrees(60, -90), -6.47502, 0.65461 + 1); - EXPECT_NEAR(get_mag_declination_degrees(60, -85), -11.77029, 0.64045 + 1); - EXPECT_NEAR(get_mag_declination_degrees(60, -80), -16.23041, 0.61735 + 1); - EXPECT_NEAR(get_mag_declination_degrees(60, -75), -19.59616, 0.59014 + 1); - EXPECT_NEAR(get_mag_declination_degrees(60, -70), -21.81968, 0.56291 + 1); - EXPECT_NEAR(get_mag_declination_degrees(60, -65), -22.99236, 0.53812 + 1); - EXPECT_NEAR(get_mag_declination_degrees(60, -60), -23.2689, 0.51687 + 1); - EXPECT_NEAR(get_mag_declination_degrees(60, -55), -22.81669, 0.49936 + 1); - EXPECT_NEAR(get_mag_declination_degrees(60, -50), -21.79051, 0.48531 + 1); - EXPECT_NEAR(get_mag_declination_degrees(60, -45), -20.32291, 0.4743 + 1); - EXPECT_NEAR(get_mag_declination_degrees(60, -40), -18.52294, 0.46585 + 1); - EXPECT_NEAR(get_mag_declination_degrees(60, -35), -16.47873, 0.45952 + 1); - EXPECT_NEAR(get_mag_declination_degrees(60, -30), -14.26165, 0.45497 + 1); - EXPECT_NEAR(get_mag_declination_degrees(60, -25), -11.93079, 0.45188 + 1); - EXPECT_NEAR(get_mag_declination_degrees(60, -20), -9.53664, 0.45 + 1); - EXPECT_NEAR(get_mag_declination_degrees(60, -15), -7.12329, 0.44915 + 1); - EXPECT_NEAR(get_mag_declination_degrees(60, -10), -4.72866, 0.44911 + 1); - EXPECT_NEAR(get_mag_declination_degrees(60, -5), -2.38338, 0.44973 + 1); - EXPECT_NEAR(get_mag_declination_degrees(60, 0), -0.10913, 0.45084 + 1); - EXPECT_NEAR(get_mag_declination_degrees(60, 5), 2.0821, 0.45229 + 1); - EXPECT_NEAR(get_mag_declination_degrees(60, 10), 4.18682, 0.45395 + 1); - EXPECT_NEAR(get_mag_declination_degrees(60, 15), 6.20667, 0.45573 + 1); - EXPECT_NEAR(get_mag_declination_degrees(60, 20), 8.1434, 0.45757 + 1); - EXPECT_NEAR(get_mag_declination_degrees(60, 25), 9.99363, 0.45949 + 1); - EXPECT_NEAR(get_mag_declination_degrees(60, 30), 11.74465, 0.46152 + 1); - EXPECT_NEAR(get_mag_declination_degrees(60, 35), 13.372, 0.46379 + 1); - EXPECT_NEAR(get_mag_declination_degrees(60, 40), 14.83885, 0.46642 + 1); - EXPECT_NEAR(get_mag_declination_degrees(60, 45), 16.09653, 0.46963 + 1); - EXPECT_NEAR(get_mag_declination_degrees(60, 50), 17.08552, 0.47361 + 1); - EXPECT_NEAR(get_mag_declination_degrees(60, 55), 17.7364, 0.47859 + 1); - EXPECT_NEAR(get_mag_declination_degrees(60, 60), 17.9712, 0.48475 + 1); - EXPECT_NEAR(get_mag_declination_degrees(60, 65), 17.70588, 0.49218 + 1); - EXPECT_NEAR(get_mag_declination_degrees(60, 70), 16.8556, 0.50081 + 1); - EXPECT_NEAR(get_mag_declination_degrees(60, 75), 15.34491, 0.51026 + 1); - EXPECT_NEAR(get_mag_declination_degrees(60, 80), 13.12489, 0.51978 + 1); - EXPECT_NEAR(get_mag_declination_degrees(60, 85), 10.19809, 0.52819 + 1); - EXPECT_NEAR(get_mag_declination_degrees(60, 90), 6.64694, 0.53393 + 1); - EXPECT_NEAR(get_mag_declination_degrees(60, 95), 2.65349, 0.53548 + 1); - EXPECT_NEAR(get_mag_declination_degrees(60, 100), -1.50767, 0.53185 + 1); - EXPECT_NEAR(get_mag_declination_degrees(60, 105), -5.51361, 0.52305 + 1); - EXPECT_NEAR(get_mag_declination_degrees(60, 110), -9.06133, 0.51016 + 1); - EXPECT_NEAR(get_mag_declination_degrees(60, 115), -11.92791, 0.49489 + 1); - EXPECT_NEAR(get_mag_declination_degrees(60, 120), -13.99654, 0.47899 + 1); - EXPECT_NEAR(get_mag_declination_degrees(60, 125), -15.24773, 0.46381 + 1); - EXPECT_NEAR(get_mag_declination_degrees(60, 130), -15.73177, 0.45021 + 1); - EXPECT_NEAR(get_mag_declination_degrees(60, 135), -15.5391, 0.43857 + 1); - EXPECT_NEAR(get_mag_declination_degrees(60, 140), -14.77684, 0.42897 + 1); - EXPECT_NEAR(get_mag_declination_degrees(60, 145), -13.55299, 0.42132 + 1); - EXPECT_NEAR(get_mag_declination_degrees(60, 150), -11.96696, 0.41542 + 1); - EXPECT_NEAR(get_mag_declination_degrees(60, 155), -10.10456, 0.41109 + 1); - EXPECT_NEAR(get_mag_declination_degrees(60, 160), -8.0363, 0.40814 + 1); - EXPECT_NEAR(get_mag_declination_degrees(60, 165), -5.81808, 0.4064 + 1); - EXPECT_NEAR(get_mag_declination_degrees(60, 170), -3.49362, 0.40577 + 1); - EXPECT_NEAR(get_mag_declination_degrees(60, 175), -1.09818, 0.40616 + 1); - EXPECT_NEAR(get_mag_declination_degrees(60, 180), 1.33743, 0.40753 + 1); + EXPECT_NEAR(get_mag_declination_degrees(-50, -180), 31.7, 0.40 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-50, -175), 31.8, 0.39 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-50, -170), 31.8, 0.39 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-50, -165), 31.7, 0.38 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-50, -160), 31.5, 0.38 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-50, -155), 31.2, 0.38 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-50, -150), 30.9, 0.37 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-50, -145), 30.7, 0.37 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-50, -140), 30.5, 0.37 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-50, -135), 30.3, 0.37 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-50, -130), 30.2, 0.37 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-50, -125), 30.1, 0.36 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-50, -120), 30.0, 0.36 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-50, -115), 29.7, 0.36 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-50, -110), 29.2, 0.36 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-50, -105), 28.4, 0.36 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-50, -100), 27.2, 0.36 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-50, -95), 25.5, 0.37 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-50, -90), 23.4, 0.37 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-50, -85), 20.7, 0.37 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-50, -80), 17.5, 0.38 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-50, -75), 14.0, 0.38 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-50, -70), 10.2, 0.39 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-50, -65), 6.4, 0.40 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-50, -60), 2.6, 0.41 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-50, -55), -1.0, 0.42 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-50, -50), -4.1, 0.43 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-50, -45), -6.8, 0.45 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-50, -40), -9.0, 0.46 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-50, -35), -10.7, 0.48 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-50, -30), -12.1, 0.49 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-50, -25), -13.2, 0.51 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-50, -20), -14.3, 0.52 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-50, -15), -15.4, 0.53 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-50, -10), -16.8, 0.53 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-50, -5), -18.6, 0.53 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-50, 0), -20.9, 0.53 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-50, 5), -23.7, 0.52 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-50, 10), -26.9, 0.51 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-50, 15), -30.4, 0.49 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-50, 20), -34.2, 0.47 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-50, 25), -37.9, 0.46 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-50, 30), -41.6, 0.44 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-50, 35), -45.0, 0.43 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-50, 40), -48.1, 0.42 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-50, 45), -50.9, 0.41 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-50, 50), -53.3, 0.41 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-50, 55), -55.2, 0.41 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-50, 60), -56.6, 0.41 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-50, 65), -57.5, 0.41 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-50, 70), -57.9, 0.42 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-50, 75), -57.7, 0.42 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-50, 80), -56.7, 0.44 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-50, 85), -54.9, 0.45 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-50, 90), -52.3, 0.47 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-50, 95), -48.5, 0.50 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-50, 100), -43.5, 0.52 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-50, 105), -37.3, 0.55 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-50, 110), -29.9, 0.57 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-50, 115), -21.7, 0.59 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-50, 120), -13.3, 0.59 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-50, 125), -5.0, 0.59 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-50, 130), 2.5, 0.57 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-50, 135), 9.1, 0.55 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-50, 140), 14.6, 0.52 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-50, 145), 19.1, 0.50 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-50, 150), 22.8, 0.48 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-50, 155), 25.6, 0.46 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-50, 160), 27.8, 0.45 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-50, 165), 29.4, 0.43 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-50, 170), 30.5, 0.42 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-50, 175), 31.2, 0.41 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-50, 180), 31.7, 0.40 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-45, -180), 26.7, 0.37 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-45, -175), 27.0, 0.37 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-45, -170), 27.1, 0.37 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-45, -165), 27.1, 0.36 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-45, -160), 27.0, 0.36 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-45, -155), 26.8, 0.36 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-45, -150), 26.6, 0.36 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-45, -145), 26.4, 0.36 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-45, -140), 26.2, 0.36 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-45, -135), 26.1, 0.36 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-45, -130), 26.0, 0.36 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-45, -125), 26.0, 0.36 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-45, -120), 26.0, 0.36 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-45, -115), 26.0, 0.36 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-45, -110), 25.8, 0.36 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-45, -105), 25.2, 0.36 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-45, -100), 24.3, 0.36 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-45, -95), 22.9, 0.37 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-45, -90), 20.9, 0.37 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-45, -85), 18.2, 0.37 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-45, -80), 15.0, 0.38 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-45, -75), 11.2, 0.39 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-45, -70), 7.1, 0.40 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-45, -65), 2.9, 0.41 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-45, -60), -1.2, 0.42 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-45, -55), -5.1, 0.43 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-45, -50), -8.4, 0.44 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-45, -45), -11.1, 0.46 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-45, -40), -13.3, 0.48 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-45, -35), -14.9, 0.50 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-45, -30), -16.0, 0.52 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-45, -25), -16.8, 0.54 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-45, -20), -17.4, 0.55 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-45, -15), -18.0, 0.57 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-45, -10), -18.7, 0.58 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-45, -5), -19.8, 0.59 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-45, 0), -21.4, 0.58 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-45, 5), -23.7, 0.57 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-45, 10), -26.5, 0.56 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-45, 15), -29.7, 0.53 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-45, 20), -33.2, 0.51 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-45, 25), -36.8, 0.49 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-45, 30), -40.2, 0.47 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-45, 35), -43.3, 0.45 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-45, 40), -46.0, 0.43 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-45, 45), -48.3, 0.42 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-45, 50), -50.1, 0.41 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-45, 55), -51.3, 0.41 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-45, 60), -52.0, 0.41 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-45, 65), -52.0, 0.41 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-45, 70), -51.3, 0.42 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-45, 75), -49.9, 0.42 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-45, 80), -47.7, 0.43 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-45, 85), -44.7, 0.44 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-45, 90), -40.8, 0.45 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-45, 95), -36.0, 0.46 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-45, 100), -30.5, 0.47 + 1.8); + EXPECT_NEAR(get_mag_declination_degrees(-45, 105), -24.5, 0.48 + 1.8); + EXPECT_NEAR(get_mag_declination_degrees(-45, 110), -18.3, 0.48 + 1.8); + EXPECT_NEAR(get_mag_declination_degrees(-45, 115), -12.2, 0.48 + 1.8); + EXPECT_NEAR(get_mag_declination_degrees(-45, 120), -6.4, 0.47 + 1.8); + EXPECT_NEAR(get_mag_declination_degrees(-45, 125), -1.0, 0.46 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-45, 130), 3.8, 0.45 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-45, 135), 8.2, 0.44 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-45, 140), 12.1, 0.43 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-45, 145), 15.5, 0.42 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-45, 150), 18.3, 0.42 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-45, 155), 20.7, 0.41 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-45, 160), 22.7, 0.40 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-45, 165), 24.2, 0.39 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-45, 170), 25.3, 0.38 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-45, 175), 26.1, 0.38 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-45, 180), 26.7, 0.37 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-40, -180), 22.8, 0.35 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-40, -175), 23.2, 0.35 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-40, -170), 23.3, 0.35 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-40, -165), 23.4, 0.35 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-40, -160), 23.4, 0.35 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-40, -155), 23.2, 0.35 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-40, -150), 23.1, 0.35 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-40, -145), 22.9, 0.35 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-40, -140), 22.7, 0.35 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-40, -135), 22.5, 0.35 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-40, -130), 22.4, 0.35 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-40, -125), 22.4, 0.35 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-40, -120), 22.5, 0.35 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-40, -115), 22.5, 0.35 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-40, -110), 22.4, 0.35 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-40, -105), 22.0, 0.36 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-40, -100), 21.3, 0.36 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-40, -95), 20.1, 0.36 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-40, -90), 18.2, 0.37 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-40, -85), 15.6, 0.37 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-40, -80), 12.3, 0.38 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-40, -75), 8.3, 0.39 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-40, -70), 4.0, 0.40 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-40, -65), -0.6, 0.41 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-40, -60), -5.0, 0.42 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-40, -55), -9.0, 0.43 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-40, -50), -12.4, 0.45 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-40, -45), -15.1, 0.46 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-40, -40), -17.2, 0.48 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-40, -35), -18.6, 0.50 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-40, -30), -19.6, 0.53 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-40, -25), -20.2, 0.55 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-40, -20), -20.5, 0.57 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-40, -15), -20.7, 0.60 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-40, -10), -20.8, 0.62 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-40, -5), -21.1, 0.63 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-40, 0), -21.9, 0.63 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-40, 5), -23.3, 0.62 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-40, 10), -25.4, 0.61 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-40, 15), -28.2, 0.58 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-40, 20), -31.3, 0.55 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-40, 25), -34.5, 0.52 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-40, 30), -37.6, 0.49 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-40, 35), -40.3, 0.46 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-40, 40), -42.6, 0.44 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-40, 45), -44.4, 0.43 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-40, 50), -45.6, 0.42 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-40, 55), -46.2, 0.41 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-40, 60), -46.1, 0.41 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-40, 65), -45.3, 0.41 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-40, 70), -43.8, 0.41 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-40, 75), -41.5, 0.41 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-40, 80), -38.5, 0.42 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-40, 85), -34.9, 0.42 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-40, 90), -30.5, 0.42 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-40, 95), -25.8, 0.42 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-40, 100), -20.8, 0.42 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-40, 105), -15.8, 0.42 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-40, 110), -11.1, 0.41 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-40, 115), -6.7, 0.41 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-40, 120), -2.8, 0.40 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-40, 125), 0.9, 0.40 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-40, 130), 4.2, 0.39 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-40, 135), 7.3, 0.39 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-40, 140), 10.2, 0.39 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-40, 145), 12.8, 0.38 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-40, 150), 15.2, 0.38 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-40, 155), 17.3, 0.37 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-40, 160), 19.0, 0.37 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-40, 165), 20.4, 0.36 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-40, 170), 21.5, 0.36 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-40, 175), 22.3, 0.36 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-40, 180), 22.8, 0.35 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-35, -180), 19.7, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-35, -175), 20.1, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-35, -170), 20.3, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-35, -165), 20.4, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-35, -160), 20.4, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-35, -155), 20.3, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-35, -150), 20.2, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-35, -145), 20.0, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-35, -140), 19.8, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-35, -135), 19.6, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-35, -130), 19.4, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-35, -125), 19.3, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-35, -120), 19.3, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-35, -115), 19.2, 0.35 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-35, -110), 19.2, 0.35 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-35, -105), 18.9, 0.35 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-35, -100), 18.3, 0.36 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-35, -95), 17.2, 0.36 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-35, -90), 15.4, 0.36 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-35, -85), 12.9, 0.37 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-35, -80), 9.5, 0.38 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-35, -75), 5.4, 0.39 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-35, -70), 0.8, 0.40 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-35, -65), -3.9, 0.41 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-35, -60), -8.4, 0.42 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-35, -55), -12.4, 0.43 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-35, -50), -15.8, 0.44 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-35, -45), -18.4, 0.46 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-35, -40), -20.3, 0.48 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-35, -35), -21.6, 0.50 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-35, -30), -22.5, 0.52 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-35, -25), -22.9, 0.54 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-35, -20), -23.1, 0.57 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-35, -15), -22.9, 0.60 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-35, -10), -22.5, 0.63 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-35, -5), -22.1, 0.65 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-35, 0), -21.8, 0.66 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-35, 5), -22.2, 0.66 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-35, 10), -23.3, 0.64 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-35, 15), -25.2, 0.61 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-35, 20), -27.7, 0.58 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-35, 25), -30.4, 0.54 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-35, 30), -33.1, 0.50 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-35, 35), -35.5, 0.47 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-35, 40), -37.4, 0.45 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-35, 45), -38.8, 0.43 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-35, 50), -39.6, 0.42 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-35, 55), -39.7, 0.41 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-35, 60), -39.1, 0.40 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-35, 65), -37.8, 0.40 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-35, 70), -35.8, 0.40 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-35, 75), -33.1, 0.39 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-35, 80), -29.9, 0.39 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-35, 85), -26.2, 0.39 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-35, 90), -22.1, 0.39 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-35, 95), -17.9, 0.39 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-35, 100), -13.7, 0.38 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-35, 105), -9.9, 0.38 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-35, 110), -6.4, 0.37 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-35, 115), -3.4, 0.37 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-35, 120), -0.7, 0.36 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-35, 125), 1.8, 0.36 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-35, 130), 4.2, 0.36 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-35, 135), 6.5, 0.36 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-35, 140), 8.7, 0.36 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-35, 145), 10.9, 0.35 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-35, 150), 12.8, 0.35 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-35, 155), 14.6, 0.35 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-35, 160), 16.2, 0.35 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-35, 165), 17.5, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-35, 170), 18.5, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-35, 175), 19.2, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-35, 180), 19.7, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-30, -180), 17.2, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-30, -175), 17.5, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-30, -170), 17.7, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-30, -165), 17.8, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-30, -160), 17.9, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-30, -155), 17.8, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-30, -150), 17.7, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-30, -145), 17.6, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-30, -140), 17.3, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-30, -135), 17.1, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-30, -130), 16.9, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-30, -125), 16.7, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-30, -120), 16.5, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-30, -115), 16.4, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-30, -110), 16.3, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-30, -105), 16.1, 0.35 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-30, -100), 15.5, 0.35 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-30, -95), 14.5, 0.35 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-30, -90), 12.7, 0.36 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-30, -85), 10.1, 0.36 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-30, -80), 6.7, 0.37 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-30, -75), 2.5, 0.38 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-30, -70), -2.1, 0.39 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-30, -65), -6.8, 0.40 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-30, -60), -11.3, 0.41 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-30, -55), -15.2, 0.42 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-30, -50), -18.3, 0.43 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-30, -45), -20.7, 0.44 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-30, -40), -22.4, 0.46 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-30, -35), -23.5, 0.48 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-30, -30), -24.2, 0.50 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-30, -25), -24.6, 0.52 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-30, -20), -24.5, 0.55 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-30, -15), -24.1, 0.58 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-30, -10), -23.2, 0.60 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-30, -5), -21.9, 0.63 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-30, 0), -20.7, 0.64 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-30, 5), -19.8, 0.65 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-30, 10), -19.7, 0.64 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-30, 15), -20.5, 0.61 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-30, 20), -22.1, 0.58 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-30, 25), -24.3, 0.54 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-30, 30), -26.6, 0.50 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-30, 35), -28.7, 0.47 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-30, 40), -30.5, 0.44 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-30, 45), -31.8, 0.42 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-30, 50), -32.4, 0.41 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-30, 55), -32.3, 0.39 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-30, 60), -31.5, 0.39 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-30, 65), -30.0, 0.38 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-30, 70), -28.0, 0.38 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-30, 75), -25.4, 0.37 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-30, 80), -22.4, 0.37 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-30, 85), -19.0, 0.37 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-30, 90), -15.5, 0.36 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-30, 95), -12.0, 0.36 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-30, 100), -8.7, 0.35 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-30, 105), -5.8, 0.35 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-30, 110), -3.4, 0.35 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-30, 115), -1.3, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-30, 120), 0.4, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-30, 125), 2.1, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-30, 130), 3.9, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-30, 135), 5.7, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-30, 140), 7.5, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-30, 145), 9.3, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-30, 150), 11.0, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-30, 155), 12.6, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-30, 160), 14.0, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-30, 165), 15.1, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-30, 170), 16.1, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-30, 175), 16.8, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-30, 180), 17.2, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-25, -180), 15.2, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-25, -175), 15.4, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-25, -170), 15.6, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-25, -165), 15.7, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-25, -160), 15.7, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-25, -155), 15.7, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-25, -150), 15.6, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-25, -145), 15.5, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-25, -140), 15.3, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-25, -135), 15.0, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-25, -130), 14.7, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-25, -125), 14.4, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-25, -120), 14.2, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-25, -115), 14.0, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-25, -110), 13.8, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-25, -105), 13.6, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-25, -100), 13.1, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-25, -95), 12.0, 0.35 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-25, -90), 10.3, 0.35 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-25, -85), 7.6, 0.36 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-25, -80), 4.1, 0.36 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-25, -75), -0.0, 0.37 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-25, -70), -4.6, 0.38 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-25, -65), -9.3, 0.39 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-25, -60), -13.5, 0.39 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-25, -55), -17.2, 0.40 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-25, -50), -20.1, 0.41 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-25, -45), -22.2, 0.42 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-25, -40), -23.6, 0.44 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-25, -35), -24.5, 0.45 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-25, -30), -24.9, 0.47 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-25, -25), -24.9, 0.49 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-25, -20), -24.6, 0.51 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-25, -15), -23.7, 0.53 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-25, -10), -22.2, 0.55 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-25, -5), -20.3, 0.57 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-25, 0), -18.2, 0.59 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-25, 5), -16.2, 0.59 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-25, 10), -15.0, 0.58 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-25, 15), -14.7, 0.57 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-25, 20), -15.4, 0.54 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-25, 25), -16.8, 0.51 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-25, 30), -18.7, 0.48 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-25, 35), -20.8, 0.45 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-25, 40), -22.6, 0.42 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-25, 45), -24.0, 0.40 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-25, 50), -24.7, 0.39 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-25, 55), -24.8, 0.38 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-25, 60), -24.1, 0.37 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-25, 65), -22.9, 0.36 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-25, 70), -21.1, 0.35 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-25, 75), -18.9, 0.35 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-25, 80), -16.4, 0.35 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-25, 85), -13.6, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-25, 90), -10.7, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-25, 95), -7.8, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-25, 100), -5.2, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-25, 105), -3.1, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-25, 110), -1.4, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-25, 115), -0.1, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-25, 120), 1.0, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-25, 125), 2.2, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-25, 130), 3.5, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-25, 135), 4.9, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-25, 140), 6.4, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-25, 145), 8.0, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-25, 150), 9.5, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-25, 155), 10.9, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-25, 160), 12.2, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-25, 165), 13.3, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-25, 170), 14.2, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-25, 175), 14.8, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-25, 180), 15.2, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-20, -180), 13.5, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-20, -175), 13.7, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-20, -170), 13.8, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-20, -165), 13.8, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-20, -160), 13.9, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-20, -155), 13.9, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-20, -150), 13.8, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-20, -145), 13.7, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-20, -140), 13.5, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-20, -135), 13.3, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-20, -130), 12.9, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-20, -125), 12.6, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-20, -120), 12.3, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-20, -115), 12.0, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-20, -110), 11.8, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-20, -105), 11.6, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-20, -100), 11.0, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-20, -95), 9.9, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-20, -90), 8.1, 0.35 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-20, -85), 5.4, 0.35 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-20, -80), 1.9, 0.36 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-20, -75), -2.2, 0.36 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-20, -70), -6.7, 0.37 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-20, -65), -11.1, 0.37 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-20, -60), -15.1, 0.38 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-20, -55), -18.5, 0.39 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-20, -50), -21.1, 0.39 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-20, -45), -22.9, 0.40 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-20, -40), -23.9, 0.41 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-20, -35), -24.4, 0.43 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-20, -30), -24.4, 0.44 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-20, -25), -24.0, 0.45 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-20, -20), -23.1, 0.47 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-20, -15), -21.7, 0.48 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-20, -10), -19.7, 0.49 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-20, -5), -17.4, 0.50 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-20, 0), -14.8, 0.51 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-20, 5), -12.3, 0.51 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-20, 10), -10.4, 0.51 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-20, 15), -9.3, 0.49 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-20, 20), -9.1, 0.48 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-20, 25), -9.9, 0.46 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-20, 30), -11.3, 0.43 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-20, 35), -13.2, 0.41 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-20, 40), -15.1, 0.39 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-20, 45), -16.7, 0.38 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-20, 50), -17.7, 0.37 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-20, 55), -18.0, 0.35 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-20, 60), -17.7, 0.35 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-20, 65), -16.9, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-20, 70), -15.6, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-20, 75), -13.9, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-20, 80), -11.9, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-20, 85), -9.6, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-20, 90), -7.2, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-20, 95), -4.9, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-20, 100), -2.9, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-20, 105), -1.3, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-20, 110), -0.2, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-20, 115), 0.6, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-20, 120), 1.2, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-20, 125), 2.0, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-20, 130), 3.0, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-20, 135), 4.2, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-20, 140), 5.5, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-20, 145), 6.9, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-20, 150), 8.3, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-20, 155), 9.6, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-20, 160), 10.8, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-20, 165), 11.8, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-20, 170), 12.6, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-20, 175), 13.2, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-20, 180), 13.5, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-15, -180), 12.3, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-15, -175), 12.4, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-15, -170), 12.4, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-15, -165), 12.3, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-15, -160), 12.3, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-15, -155), 12.3, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-15, -150), 12.3, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-15, -145), 12.2, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-15, -140), 12.0, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-15, -135), 11.8, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-15, -130), 11.5, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-15, -125), 11.1, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-15, -120), 10.8, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-15, -115), 10.5, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-15, -110), 10.3, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-15, -105), 9.9, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-15, -100), 9.3, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-15, -95), 8.2, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-15, -90), 6.3, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-15, -85), 3.6, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-15, -80), 0.1, 0.35 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-15, -75), -4.0, 0.35 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-15, -70), -8.3, 0.36 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-15, -65), -12.4, 0.36 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-15, -60), -16.1, 0.36 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-15, -55), -19.2, 0.37 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-15, -50), -21.4, 0.37 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-15, -45), -22.8, 0.38 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-15, -40), -23.5, 0.39 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-15, -35), -23.5, 0.40 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-15, -30), -23.0, 0.41 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-15, -25), -22.0, 0.42 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-15, -20), -20.6, 0.42 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-15, -15), -18.7, 0.43 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-15, -10), -16.5, 0.44 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-15, -5), -13.9, 0.44 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-15, 0), -11.3, 0.44 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-15, 5), -8.8, 0.44 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-15, 10), -6.7, 0.43 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-15, 15), -5.2, 0.43 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-15, 20), -4.5, 0.42 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-15, 25), -4.7, 0.40 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-15, 30), -5.7, 0.39 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-15, 35), -7.2, 0.38 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-15, 40), -9.0, 0.36 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-15, 45), -10.7, 0.35 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-15, 50), -11.9, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-15, 55), -12.5, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-15, 60), -12.6, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-15, 65), -12.1, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-15, 70), -11.3, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-15, 75), -10.1, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-15, 80), -8.6, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-15, 85), -6.8, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-15, 90), -4.9, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-15, 95), -3.1, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-15, 100), -1.4, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-15, 105), -0.3, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-15, 110), 0.4, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-15, 115), 0.9, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-15, 120), 1.2, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-15, 125), 1.6, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-15, 130), 2.4, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-15, 135), 3.4, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-15, 140), 4.7, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-15, 145), 6.0, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-15, 150), 7.4, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-15, 155), 8.6, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-15, 160), 9.7, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-15, 165), 10.7, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-15, 170), 11.5, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-15, 175), 12.0, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-15, 180), 12.3, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-10, -180), 11.3, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-10, -175), 11.3, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-10, -170), 11.3, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-10, -165), 11.2, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-10, -160), 11.1, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-10, -155), 11.0, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-10, -150), 11.0, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-10, -145), 10.9, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-10, -140), 10.8, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-10, -135), 10.6, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-10, -130), 10.3, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-10, -125), 9.9, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-10, -120), 9.6, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-10, -115), 9.3, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-10, -110), 9.0, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-10, -105), 8.7, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-10, -100), 8.0, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-10, -95), 6.7, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-10, -90), 4.8, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-10, -85), 2.0, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-10, -80), -1.4, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-10, -75), -5.3, 0.35 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-10, -70), -9.4, 0.35 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-10, -65), -13.2, 0.35 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-10, -60), -16.6, 0.35 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-10, -55), -19.3, 0.35 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-10, -50), -21.2, 0.36 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-10, -45), -22.2, 0.36 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-10, -40), -22.5, 0.37 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-10, -35), -22.1, 0.37 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-10, -30), -21.0, 0.38 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-10, -25), -19.5, 0.38 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-10, -20), -17.6, 0.39 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-10, -15), -15.4, 0.39 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-10, -10), -13.1, 0.39 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-10, -5), -10.6, 0.39 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-10, 0), -8.2, 0.39 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-10, 5), -6.0, 0.38 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-10, 10), -4.0, 0.38 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-10, 15), -2.4, 0.38 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-10, 20), -1.5, 0.37 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-10, 25), -1.3, 0.36 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-10, 30), -1.9, 0.36 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-10, 35), -3.1, 0.35 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-10, 40), -4.7, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-10, 45), -6.2, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-10, 50), -7.5, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-10, 55), -8.3, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-10, 60), -8.6, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-10, 65), -8.5, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-10, 70), -8.1, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-10, 75), -7.3, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-10, 80), -6.2, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-10, 85), -4.9, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-10, 90), -3.4, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-10, 95), -1.9, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-10, 100), -0.6, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-10, 105), 0.2, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-10, 110), 0.7, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-10, 115), 0.8, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-10, 120), 0.9, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-10, 125), 1.1, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-10, 130), 1.8, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-10, 135), 2.7, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-10, 140), 3.9, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-10, 145), 5.2, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-10, 150), 6.5, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-10, 155), 7.7, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-10, 160), 8.9, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-10, 165), 9.8, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-10, 170), 10.6, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-10, 175), 11.1, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-10, 180), 11.3, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-5, -180), 10.6, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-5, -175), 10.6, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-5, -170), 10.4, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-5, -165), 10.3, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-5, -160), 10.1, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-5, -155), 10.1, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-5, -150), 10.0, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-5, -145), 10.0, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-5, -140), 9.9, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-5, -135), 9.7, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-5, -130), 9.4, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-5, -125), 9.0, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-5, -120), 8.7, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-5, -115), 8.4, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-5, -110), 8.1, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-5, -105), 7.7, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-5, -100), 6.9, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-5, -95), 5.5, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-5, -90), 3.5, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-5, -85), 0.7, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-5, -80), -2.6, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-5, -75), -6.3, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-5, -70), -10.1, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-5, -65), -13.7, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-5, -60), -16.7, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-5, -55), -19.1, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-5, -50), -20.6, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-5, -45), -21.3, 0.35 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-5, -40), -21.1, 0.35 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-5, -35), -20.2, 0.35 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-5, -30), -18.8, 0.36 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-5, -25), -16.8, 0.36 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-5, -20), -14.7, 0.36 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-5, -15), -12.4, 0.36 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-5, -10), -10.1, 0.36 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-5, -5), -7.9, 0.35 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-5, 0), -5.8, 0.35 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-5, 5), -3.9, 0.35 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-5, 10), -2.2, 0.35 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-5, 15), -0.7, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-5, 20), 0.3, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-5, 25), 0.7, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-5, 30), 0.5, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-5, 35), -0.4, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-5, 40), -1.7, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-5, 45), -3.1, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-5, 50), -4.4, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-5, 55), -5.3, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-5, 60), -5.7, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-5, 65), -5.8, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-5, 70), -5.7, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-5, 75), -5.2, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-5, 80), -4.5, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-5, 85), -3.6, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-5, 90), -2.4, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-5, 95), -1.3, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-5, 100), -0.3, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-5, 105), 0.3, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-5, 110), 0.6, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-5, 115), 0.5, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-5, 120), 0.4, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-5, 125), 0.5, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-5, 130), 1.0, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-5, 135), 1.9, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-5, 140), 3.1, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-5, 145), 4.4, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-5, 150), 5.7, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-5, 155), 7.0, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-5, 160), 8.1, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-5, 165), 9.1, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-5, 170), 9.9, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-5, 175), 10.4, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(-5, 180), 10.6, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(0, -180), 10.1, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(0, -175), 10.0, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(0, -170), 9.9, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(0, -165), 9.7, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(0, -160), 9.5, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(0, -155), 9.4, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(0, -150), 9.4, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(0, -145), 9.4, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(0, -140), 9.3, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(0, -135), 9.1, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(0, -130), 8.8, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(0, -125), 8.5, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(0, -120), 8.2, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(0, -115), 7.8, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(0, -110), 7.5, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(0, -105), 6.9, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(0, -100), 6.0, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(0, -95), 4.5, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(0, -90), 2.4, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(0, -85), -0.3, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(0, -80), -3.6, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(0, -75), -7.1, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(0, -70), -10.6, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(0, -65), -13.9, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(0, -60), -16.6, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(0, -55), -18.6, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(0, -50), -19.8, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(0, -45), -20.1, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(0, -40), -19.6, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(0, -35), -18.3, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(0, -30), -16.5, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(0, -25), -14.4, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(0, -20), -12.1, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(0, -15), -9.8, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(0, -10), -7.6, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(0, -5), -5.7, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(0, 0), -3.9, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(0, 5), -2.4, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(0, 10), -0.9, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(0, 15), 0.4, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(0, 20), 1.4, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(0, 25), 1.9, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(0, 30), 1.9, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(0, 35), 1.3, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(0, 40), 0.2, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(0, 45), -1.0, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(0, 50), -2.2, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(0, 55), -3.1, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(0, 60), -3.6, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(0, 65), -3.8, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(0, 70), -3.9, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(0, 75), -3.7, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(0, 80), -3.3, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(0, 85), -2.7, 0.29 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(0, 90), -1.8, 0.29 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(0, 95), -1.0, 0.29 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(0, 100), -0.2, 0.29 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(0, 105), 0.2, 0.29 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(0, 110), 0.2, 0.29 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(0, 115), -0.0, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(0, 120), -0.2, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(0, 125), -0.2, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(0, 130), 0.2, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(0, 135), 1.1, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(0, 140), 2.2, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(0, 145), 3.6, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(0, 150), 4.9, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(0, 155), 6.2, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(0, 160), 7.4, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(0, 165), 8.4, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(0, 170), 9.3, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(0, 175), 9.8, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(0, 180), 10.1, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(5, -180), 9.7, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(5, -175), 9.7, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(5, -170), 9.5, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(5, -165), 9.3, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(5, -160), 9.1, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(5, -155), 9.1, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(5, -150), 9.1, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(5, -145), 9.1, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(5, -140), 9.1, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(5, -135), 8.9, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(5, -130), 8.7, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(5, -125), 8.3, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(5, -120), 8.0, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(5, -115), 7.6, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(5, -110), 7.1, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(5, -105), 6.4, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(5, -100), 5.3, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(5, -95), 3.7, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(5, -90), 1.5, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(5, -85), -1.3, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(5, -80), -4.4, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(5, -75), -7.8, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(5, -70), -11.0, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(5, -65), -13.9, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(5, -60), -16.3, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(5, -55), -18.0, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(5, -50), -18.8, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(5, -45), -18.8, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(5, -40), -18.0, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(5, -35), -16.5, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(5, -30), -14.6, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(5, -25), -12.3, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(5, -20), -10.0, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(5, -15), -7.8, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(5, -10), -5.8, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(5, -5), -4.0, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(5, 0), -2.5, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(5, 5), -1.2, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(5, 10), -0.0, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(5, 15), 1.1, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(5, 20), 2.1, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(5, 25), 2.7, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(5, 30), 2.8, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(5, 35), 2.3, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(5, 40), 1.5, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(5, 45), 0.4, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(5, 50), -0.6, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(5, 55), -1.5, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(5, 60), -2.0, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(5, 65), -2.4, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(5, 70), -2.5, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(5, 75), -2.5, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(5, 80), -2.4, 0.29 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(5, 85), -2.0, 0.29 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(5, 90), -1.5, 0.29 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(5, 95), -0.9, 0.29 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(5, 100), -0.4, 0.29 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(5, 105), -0.2, 0.29 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(5, 110), -0.3, 0.29 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(5, 115), -0.7, 0.29 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(5, 120), -1.0, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(5, 125), -1.0, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(5, 130), -0.7, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(5, 135), 0.1, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(5, 140), 1.2, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(5, 145), 2.6, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(5, 150), 3.9, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(5, 155), 5.3, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(5, 160), 6.6, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(5, 165), 7.7, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(5, 170), 8.7, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(5, 175), 9.3, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(5, 180), 9.7, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(10, -180), 9.3, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(10, -175), 9.4, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(10, -170), 9.3, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(10, -165), 9.1, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(10, -160), 9.0, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(10, -155), 9.0, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(10, -150), 9.1, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(10, -145), 9.1, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(10, -140), 9.2, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(10, -135), 9.1, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(10, -130), 8.8, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(10, -125), 8.5, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(10, -120), 8.1, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(10, -115), 7.6, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(10, -110), 6.9, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(10, -105), 6.1, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(10, -100), 4.8, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(10, -95), 3.0, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(10, -90), 0.7, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(10, -85), -2.1, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(10, -80), -5.2, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(10, -75), -8.3, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(10, -70), -11.3, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(10, -65), -13.9, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(10, -60), -16.0, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(10, -55), -17.3, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(10, -50), -17.8, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(10, -45), -17.4, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(10, -40), -16.4, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(10, -35), -14.8, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(10, -30), -12.8, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(10, -25), -10.6, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(10, -20), -8.4, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(10, -15), -6.2, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(10, -10), -4.3, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(10, -5), -2.8, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(10, 0), -1.4, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(10, 5), -0.3, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(10, 10), 0.7, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(10, 15), 1.7, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(10, 20), 2.5, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(10, 25), 3.1, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(10, 30), 3.3, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(10, 35), 3.0, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(10, 40), 2.3, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(10, 45), 1.4, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(10, 50), 0.5, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(10, 55), -0.3, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(10, 60), -0.8, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(10, 65), -1.2, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(10, 70), -1.5, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(10, 75), -1.6, 0.29 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(10, 80), -1.6, 0.29 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(10, 85), -1.5, 0.29 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(10, 90), -1.2, 0.29 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(10, 95), -0.9, 0.29 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(10, 100), -0.7, 0.29 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(10, 105), -0.7, 0.29 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(10, 110), -1.0, 0.29 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(10, 115), -1.4, 0.29 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(10, 120), -1.8, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(10, 125), -2.0, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(10, 130), -1.7, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(10, 135), -1.0, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(10, 140), 0.1, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(10, 145), 1.4, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(10, 150), 2.8, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(10, 155), 4.2, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(10, 160), 5.6, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(10, 165), 6.9, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(10, 170), 8.0, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(10, 175), 8.8, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(10, 180), 9.3, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(15, -180), 8.8, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(15, -175), 9.1, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(15, -170), 9.1, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(15, -165), 9.1, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(15, -160), 9.1, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(15, -155), 9.2, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(15, -150), 9.3, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(15, -145), 9.5, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(15, -140), 9.6, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(15, -135), 9.6, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(15, -130), 9.3, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(15, -125), 9.0, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(15, -120), 8.5, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(15, -115), 7.9, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(15, -110), 7.1, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(15, -105), 5.9, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(15, -100), 4.4, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(15, -95), 2.4, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(15, -90), -0.0, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(15, -85), -2.9, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(15, -80), -5.9, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(15, -75), -8.9, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(15, -70), -11.6, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(15, -65), -13.9, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(15, -60), -15.6, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(15, -55), -16.5, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(15, -50), -16.7, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(15, -45), -16.2, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(15, -40), -15.0, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(15, -35), -13.4, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(15, -30), -11.4, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(15, -25), -9.3, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(15, -20), -7.1, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(15, -15), -5.1, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(15, -10), -3.3, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(15, -5), -1.8, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(15, 0), -0.6, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(15, 5), 0.4, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(15, 10), 1.3, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(15, 15), 2.1, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(15, 20), 2.9, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(15, 25), 3.5, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(15, 30), 3.7, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(15, 35), 3.5, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(15, 40), 3.0, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(15, 45), 2.1, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(15, 50), 1.3, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(15, 55), 0.6, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(15, 60), 0.1, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(15, 65), -0.3, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(15, 70), -0.6, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(15, 75), -0.8, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(15, 80), -1.0, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(15, 85), -1.0, 0.29 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(15, 90), -1.0, 0.29 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(15, 95), -0.9, 0.29 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(15, 100), -1.0, 0.29 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(15, 105), -1.2, 0.29 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(15, 110), -1.7, 0.29 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(15, 115), -2.2, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(15, 120), -2.8, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(15, 125), -3.0, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(15, 130), -2.9, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(15, 135), -2.2, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(15, 140), -1.3, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(15, 145), 0.0, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(15, 150), 1.4, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(15, 155), 2.9, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(15, 160), 4.4, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(15, 165), 5.9, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(15, 170), 7.2, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(15, 175), 8.1, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(15, 180), 8.8, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(20, -180), 8.1, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(20, -175), 8.7, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(20, -170), 9.0, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(20, -165), 9.2, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(20, -160), 9.3, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(20, -155), 9.5, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(20, -150), 9.8, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(20, -145), 10.1, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(20, -140), 10.3, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(20, -135), 10.3, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(20, -130), 10.1, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(20, -125), 9.7, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(20, -120), 9.2, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(20, -115), 8.4, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(20, -110), 7.4, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(20, -105), 6.0, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(20, -100), 4.3, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(20, -95), 2.0, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(20, -90), -0.6, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(20, -85), -3.6, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(20, -80), -6.6, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(20, -75), -9.5, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(20, -70), -12.0, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(20, -65), -14.0, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(20, -60), -15.3, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(20, -55), -15.9, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(20, -50), -15.8, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(20, -45), -15.0, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(20, -40), -13.8, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(20, -35), -12.2, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(20, -30), -10.3, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(20, -25), -8.2, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(20, -20), -6.2, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(20, -15), -4.2, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(20, -10), -2.5, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(20, -5), -1.1, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(20, 0), 0.1, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(20, 5), 1.0, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(20, 10), 1.8, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(20, 15), 2.6, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(20, 20), 3.3, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(20, 25), 3.8, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(20, 30), 4.1, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(20, 35), 4.0, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(20, 40), 3.5, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(20, 45), 2.8, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(20, 50), 2.1, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(20, 55), 1.5, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(20, 60), 1.0, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(20, 65), 0.6, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(20, 70), 0.3, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(20, 75), -0.0, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(20, 80), -0.3, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(20, 85), -0.5, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(20, 90), -0.7, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(20, 95), -0.9, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(20, 100), -1.2, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(20, 105), -1.7, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(20, 110), -2.4, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(20, 115), -3.1, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(20, 120), -3.8, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(20, 125), -4.2, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(20, 130), -4.1, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(20, 135), -3.6, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(20, 140), -2.7, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(20, 145), -1.5, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(20, 150), -0.1, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(20, 155), 1.4, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(20, 160), 3.1, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(20, 165), 4.6, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(20, 170), 6.1, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(20, 175), 7.3, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(20, 180), 8.1, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(25, -180), 7.3, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(25, -175), 8.2, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(25, -170), 8.8, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(25, -165), 9.2, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(25, -160), 9.6, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(25, -155), 10.0, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(25, -150), 10.4, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(25, -145), 10.8, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(25, -140), 11.1, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(25, -135), 11.2, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(25, -130), 11.1, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(25, -125), 10.7, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(25, -120), 10.0, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(25, -115), 9.1, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(25, -110), 7.9, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(25, -105), 6.3, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(25, -100), 4.3, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(25, -95), 1.8, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(25, -90), -1.1, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(25, -85), -4.2, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(25, -80), -7.2, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(25, -75), -10.0, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(25, -70), -12.3, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(25, -65), -14.0, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(25, -60), -15.1, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(25, -55), -15.4, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(25, -50), -15.0, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(25, -45), -14.1, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(25, -40), -12.8, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(25, -35), -11.2, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(25, -30), -9.4, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(25, -25), -7.5, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(25, -20), -5.5, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(25, -15), -3.7, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(25, -10), -2.0, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(25, -5), -0.5, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(25, 0), 0.6, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(25, 5), 1.5, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(25, 10), 2.3, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(25, 15), 3.0, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(25, 20), 3.6, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(25, 25), 4.1, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(25, 30), 4.4, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(25, 35), 4.4, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(25, 40), 4.0, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(25, 45), 3.5, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(25, 50), 2.9, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(25, 55), 2.3, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(25, 60), 1.9, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(25, 65), 1.5, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(25, 70), 1.2, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(25, 75), 0.8, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(25, 80), 0.4, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(25, 85), 0.0, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(25, 90), -0.4, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(25, 95), -0.9, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(25, 100), -1.5, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(25, 105), -2.2, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(25, 110), -3.1, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(25, 115), -4.1, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(25, 120), -4.9, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(25, 125), -5.4, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(25, 130), -5.5, 0.30 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(25, 135), -5.1, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(25, 140), -4.3, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(25, 145), -3.2, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(25, 150), -1.8, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(25, 155), -0.2, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(25, 160), 1.5, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(25, 165), 3.2, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(25, 170), 4.8, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(25, 175), 6.2, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(25, 180), 7.3, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(30, -180), 6.3, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(30, -175), 7.5, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(30, -170), 8.4, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(30, -165), 9.2, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(30, -160), 9.9, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(30, -155), 10.6, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(30, -150), 11.2, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(30, -145), 11.7, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(30, -140), 12.1, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(30, -135), 12.2, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(30, -130), 12.1, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(30, -125), 11.7, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(30, -120), 11.0, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(30, -115), 10.0, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(30, -110), 8.5, 0.35 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(30, -105), 6.7, 0.35 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(30, -100), 4.4, 0.35 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(30, -95), 1.6, 0.35 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(30, -90), -1.5, 0.35 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(30, -85), -4.7, 0.35 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(30, -80), -7.8, 0.35 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(30, -75), -10.6, 0.35 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(30, -70), -12.8, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(30, -65), -14.3, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(30, -60), -15.0, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(30, -55), -15.1, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(30, -50), -14.6, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(30, -45), -13.6, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(30, -40), -12.2, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(30, -35), -10.6, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(30, -30), -8.9, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(30, -25), -7.0, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(30, -20), -5.1, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(30, -15), -3.3, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(30, -10), -1.6, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(30, -5), -0.2, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(30, 0), 1.0, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(30, 5), 1.9, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(30, 10), 2.7, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(30, 15), 3.4, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(30, 20), 4.0, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(30, 25), 4.5, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(30, 30), 4.8, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(30, 35), 4.9, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(30, 40), 4.7, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(30, 45), 4.3, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(30, 50), 3.8, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(30, 55), 3.3, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(30, 60), 3.0, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(30, 65), 2.6, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(30, 70), 2.2, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(30, 75), 1.8, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(30, 80), 1.3, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(30, 85), 0.6, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(30, 90), -0.0, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(30, 95), -0.8, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(30, 100), -1.7, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(30, 105), -2.8, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(30, 110), -3.9, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(30, 115), -5.1, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(30, 120), -6.0, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(30, 125), -6.7, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(30, 130), -6.9, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(30, 135), -6.7, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(30, 140), -6.0, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(30, 145), -4.9, 0.31 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(30, 150), -3.5, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(30, 155), -1.9, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(30, 160), -0.2, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(30, 165), 1.6, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(30, 170), 3.3, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(30, 175), 4.9, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(30, 180), 6.3, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(35, -180), 5.2, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(35, -175), 6.7, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(35, -170), 8.0, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(35, -165), 9.1, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(35, -160), 10.2, 0.35 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(35, -155), 11.1, 0.35 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(35, -150), 11.9, 0.35 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(35, -145), 12.6, 0.35 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(35, -140), 13.1, 0.35 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(35, -135), 13.3, 0.35 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(35, -130), 13.2, 0.35 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(35, -125), 12.8, 0.35 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(35, -120), 12.0, 0.35 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(35, -115), 10.9, 0.35 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(35, -110), 9.2, 0.36 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(35, -105), 7.2, 0.36 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(35, -100), 4.6, 0.36 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(35, -95), 1.5, 0.36 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(35, -90), -1.8, 0.36 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(35, -85), -5.3, 0.36 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(35, -80), -8.5, 0.36 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(35, -75), -11.2, 0.36 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(35, -70), -13.3, 0.35 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(35, -65), -14.6, 0.35 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(35, -60), -15.2, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(35, -55), -15.1, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(35, -50), -14.5, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(35, -45), -13.4, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(35, -40), -12.0, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(35, -35), -10.4, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(35, -30), -8.7, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(35, -25), -6.8, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(35, -20), -5.0, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(35, -15), -3.1, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(35, -10), -1.4, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(35, -5), 0.0, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(35, 0), 1.3, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(35, 5), 2.3, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(35, 10), 3.1, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(35, 15), 3.8, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(35, 20), 4.5, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(35, 25), 5.0, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(35, 30), 5.3, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(35, 35), 5.5, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(35, 40), 5.5, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(35, 45), 5.3, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(35, 50), 5.0, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(35, 55), 4.6, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(35, 60), 4.3, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(35, 65), 3.9, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(35, 70), 3.5, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(35, 75), 3.0, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(35, 80), 2.3, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(35, 85), 1.4, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(35, 90), 0.4, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(35, 95), -0.7, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(35, 100), -1.9, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(35, 105), -3.3, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(35, 110), -4.7, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(35, 115), -6.1, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(35, 120), -7.3, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(35, 125), -8.1, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(35, 130), -8.4, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(35, 135), -8.3, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(35, 140), -7.6, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(35, 145), -6.6, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(35, 150), -5.2, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(35, 155), -3.6, 0.32 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(35, 160), -1.8, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(35, 165), 0.0, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(35, 170), 1.8, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(35, 175), 3.6, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(35, 180), 5.2, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(40, -180), 4.2, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(40, -175), 5.9, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(40, -170), 7.5, 0.35 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(40, -165), 9.0, 0.35 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(40, -160), 10.4, 0.35 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(40, -155), 11.6, 0.35 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(40, -150), 12.6, 0.35 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(40, -145), 13.5, 0.35 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(40, -140), 14.0, 0.36 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(40, -135), 14.3, 0.36 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(40, -130), 14.3, 0.36 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(40, -125), 13.9, 0.36 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(40, -120), 13.0, 0.36 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(40, -115), 11.8, 0.37 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(40, -110), 10.0, 0.37 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(40, -105), 7.7, 0.38 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(40, -100), 4.8, 0.38 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(40, -95), 1.4, 0.38 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(40, -90), -2.2, 0.38 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(40, -85), -5.8, 0.38 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(40, -80), -9.2, 0.38 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(40, -75), -12.0, 0.37 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(40, -70), -14.0, 0.37 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(40, -65), -15.3, 0.36 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(40, -60), -15.8, 0.36 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(40, -55), -15.6, 0.35 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(40, -50), -14.8, 0.35 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(40, -45), -13.7, 0.35 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(40, -40), -12.3, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(40, -35), -10.6, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(40, -30), -8.8, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(40, -25), -7.0, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(40, -20), -5.1, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(40, -15), -3.3, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(40, -10), -1.5, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(40, -5), 0.0, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(40, 0), 1.4, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(40, 5), 2.5, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(40, 10), 3.4, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(40, 15), 4.2, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(40, 20), 5.0, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(40, 25), 5.6, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(40, 30), 6.0, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(40, 35), 6.4, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(40, 40), 6.5, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(40, 45), 6.6, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(40, 50), 6.5, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(40, 55), 6.3, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(40, 60), 6.0, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(40, 65), 5.7, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(40, 70), 5.1, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(40, 75), 4.4, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(40, 80), 3.5, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(40, 85), 2.4, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(40, 90), 1.1, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(40, 95), -0.4, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(40, 100), -2.1, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(40, 105), -3.9, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(40, 110), -5.6, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(40, 115), -7.2, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(40, 120), -8.6, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(40, 125), -9.5, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(40, 130), -10.0, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(40, 135), -9.8, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(40, 140), -9.2, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(40, 145), -8.2, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(40, 150), -6.8, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(40, 155), -5.2, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(40, 160), -3.4, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(40, 165), -1.5, 0.33 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(40, 170), 0.4, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(40, 175), 2.3, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(40, 180), 4.2, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(45, -180), 3.2, 0.35 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(45, -175), 5.2, 0.35 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(45, -170), 7.1, 0.35 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(45, -165), 8.8, 0.35 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(45, -160), 10.5, 0.36 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(45, -155), 12.0, 0.36 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(45, -150), 13.2, 0.36 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(45, -145), 14.3, 0.36 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(45, -140), 15.0, 0.37 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(45, -135), 15.4, 0.37 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(45, -130), 15.4, 0.37 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(45, -125), 15.0, 0.38 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(45, -120), 14.1, 0.38 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(45, -115), 12.7, 0.39 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(45, -110), 10.7, 0.40 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(45, -105), 8.1, 0.40 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(45, -100), 5.0, 0.41 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(45, -95), 1.3, 0.41 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(45, -90), -2.7, 0.41 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(45, -85), -6.6, 0.41 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(45, -80), -10.1, 0.40 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(45, -75), -13.0, 0.40 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(45, -70), -15.1, 0.39 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(45, -65), -16.3, 0.38 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(45, -60), -16.7, 0.38 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(45, -55), -16.5, 0.37 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(45, -50), -15.7, 0.37 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(45, -45), -14.5, 0.36 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(45, -40), -13.0, 0.36 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(45, -35), -11.3, 0.36 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(45, -30), -9.4, 0.36 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(45, -25), -7.5, 0.36 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(45, -20), -5.6, 0.35 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(45, -15), -3.7, 0.35 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(45, -10), -1.8, 0.35 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(45, -5), -0.2, 0.36 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(45, 0), 1.3, 0.36 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(45, 5), 2.6, 0.36 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(45, 10), 3.7, 0.36 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(45, 15), 4.7, 0.36 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(45, 20), 5.5, 0.36 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(45, 25), 6.3, 0.36 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(45, 30), 7.0, 0.36 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(45, 35), 7.6, 0.36 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(45, 40), 8.0, 0.36 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(45, 45), 8.2, 0.36 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(45, 50), 8.4, 0.36 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(45, 55), 8.4, 0.36 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(45, 60), 8.2, 0.36 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(45, 65), 7.8, 0.36 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(45, 70), 7.2, 0.36 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(45, 75), 6.3, 0.36 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(45, 80), 5.1, 0.36 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(45, 85), 3.6, 0.36 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(45, 90), 1.8, 0.35 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(45, 95), -0.1, 0.35 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(45, 100), -2.3, 0.35 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(45, 105), -4.4, 0.35 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(45, 110), -6.6, 0.35 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(45, 115), -8.4, 0.35 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(45, 120), -10.0, 0.35 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(45, 125), -11.0, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(45, 130), -11.5, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(45, 135), -11.4, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(45, 140), -10.8, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(45, 145), -9.7, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(45, 150), -8.3, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(45, 155), -6.7, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(45, 160), -4.8, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(45, 165), -2.9, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(45, 170), -0.9, 0.34 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(45, 175), 1.2, 0.35 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(45, 180), 3.2, 0.35 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(50, -180), 2.4, 0.36 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(50, -175), 4.5, 0.36 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(50, -170), 6.6, 0.36 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(50, -165), 8.7, 0.37 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(50, -160), 10.6, 0.37 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(50, -155), 12.3, 0.37 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(50, -150), 13.8, 0.37 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(50, -145), 15.0, 0.38 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(50, -140), 15.9, 0.38 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(50, -135), 16.4, 0.39 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(50, -130), 16.5, 0.40 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(50, -125), 16.2, 0.40 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(50, -120), 15.3, 0.41 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(50, -115), 13.7, 0.42 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(50, -110), 11.5, 0.43 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(50, -105), 8.6, 0.44 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(50, -100), 5.1, 0.45 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(50, -95), 1.0, 0.45 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(50, -90), -3.4, 0.45 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(50, -85), -7.6, 0.45 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(50, -80), -11.4, 0.44 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(50, -75), -14.4, 0.43 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(50, -70), -16.5, 0.42 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(50, -65), -17.7, 0.41 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(50, -60), -18.1, 0.40 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(50, -55), -17.8, 0.40 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(50, -50), -17.0, 0.39 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(50, -45), -15.8, 0.39 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(50, -40), -14.2, 0.38 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(50, -35), -12.4, 0.38 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(50, -30), -10.5, 0.38 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(50, -25), -8.5, 0.38 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(50, -20), -6.4, 0.38 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(50, -15), -4.4, 0.38 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(50, -10), -2.4, 0.38 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(50, -5), -0.6, 0.38 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(50, 0), 1.1, 0.38 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(50, 5), 2.6, 0.38 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(50, 10), 3.9, 0.38 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(50, 15), 5.2, 0.38 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(50, 20), 6.3, 0.38 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(50, 25), 7.3, 0.39 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(50, 30), 8.3, 0.39 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(50, 35), 9.1, 0.39 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(50, 40), 9.8, 0.39 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(50, 45), 10.4, 0.39 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(50, 50), 10.8, 0.39 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(50, 55), 10.9, 0.39 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(50, 60), 10.9, 0.39 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(50, 65), 10.5, 0.39 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(50, 70), 9.7, 0.39 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(50, 75), 8.6, 0.39 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(50, 80), 7.1, 0.39 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(50, 85), 5.1, 0.39 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(50, 90), 2.9, 0.39 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(50, 95), 0.3, 0.39 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(50, 100), -2.3, 0.39 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(50, 105), -5.0, 0.38 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(50, 110), -7.5, 0.38 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(50, 115), -9.7, 0.38 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(50, 120), -11.4, 0.37 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(50, 125), -12.5, 0.37 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(50, 130), -12.9, 0.36 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(50, 135), -12.8, 0.36 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(50, 140), -12.2, 0.36 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(50, 145), -11.1, 0.35 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(50, 150), -9.7, 0.35 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(50, 155), -8.0, 0.35 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(50, 160), -6.1, 0.35 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(50, 165), -4.0, 0.35 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(50, 170), -1.9, 0.36 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(50, 175), 0.2, 0.36 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(50, 180), 2.4, 0.36 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(55, -180), 1.7, 0.38 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(55, -175), 4.0, 0.38 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(55, -170), 6.3, 0.38 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(55, -165), 8.5, 0.38 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(55, -160), 10.6, 0.39 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(55, -155), 12.5, 0.39 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(55, -150), 14.2, 0.40 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(55, -145), 15.7, 0.41 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(55, -140), 16.8, 0.41 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(55, -135), 17.5, 0.42 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(55, -130), 17.7, 0.43 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(55, -125), 17.4, 0.45 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(55, -120), 16.5, 0.46 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(55, -115), 14.8, 0.48 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(55, -110), 12.4, 0.49 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(55, -105), 9.1, 0.51 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(55, -100), 5.0, 0.52 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(55, -95), 0.4, 0.53 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(55, -90), -4.5, 0.53 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(55, -85), -9.2, 0.52 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(55, -80), -13.2, 0.51 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(55, -75), -16.4, 0.49 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(55, -70), -18.6, 0.48 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(55, -65), -19.8, 0.46 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(55, -60), -20.2, 0.45 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(55, -55), -19.8, 0.44 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(55, -50), -18.9, 0.43 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(55, -45), -17.6, 0.42 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(55, -40), -15.9, 0.42 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(55, -35), -14.1, 0.41 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(55, -30), -12.0, 0.41 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(55, -25), -9.9, 0.41 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(55, -20), -7.7, 0.41 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(55, -15), -5.5, 0.41 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(55, -10), -3.3, 0.41 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(55, -5), -1.3, 0.41 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(55, 0), 0.6, 0.41 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(55, 5), 2.4, 0.41 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(55, 10), 4.1, 0.41 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(55, 15), 5.7, 0.42 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(55, 20), 7.2, 0.42 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(55, 25), 8.6, 0.42 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(55, 30), 9.9, 0.42 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(55, 35), 11.1, 0.42 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(55, 40), 12.2, 0.42 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(55, 45), 13.1, 0.42 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(55, 50), 13.7, 0.42 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(55, 55), 14.1, 0.43 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(55, 60), 14.1, 0.43 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(55, 65), 13.7, 0.43 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(55, 70), 12.9, 0.43 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(55, 75), 11.5, 0.44 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(55, 80), 9.6, 0.44 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(55, 85), 7.2, 0.44 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(55, 90), 4.3, 0.44 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(55, 95), 1.1, 0.44 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(55, 100), -2.2, 0.44 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(55, 105), -5.5, 0.44 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(55, 110), -8.5, 0.43 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(55, 115), -10.9, 0.42 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(55, 120), -12.8, 0.41 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(55, 125), -13.9, 0.40 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(55, 130), -14.4, 0.40 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(55, 135), -14.2, 0.39 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(55, 140), -13.5, 0.38 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(55, 145), -12.4, 0.38 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(55, 150), -10.9, 0.38 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(55, 155), -9.1, 0.38 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(55, 160), -7.2, 0.37 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(55, 165), -5.1, 0.37 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(55, 170), -2.9, 0.37 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(55, 175), -0.6, 0.37 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(55, 180), 1.7, 0.38 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(60, -180), 1.1, 0.41 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(60, -175), 3.5, 0.41 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(60, -170), 5.9, 0.41 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(60, -165), 8.3, 0.42 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(60, -160), 10.6, 0.42 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(60, -155), 12.7, 0.43 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(60, -150), 14.6, 0.44 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(60, -145), 16.2, 0.45 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(60, -140), 17.5, 0.46 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(60, -135), 18.4, 0.48 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(60, -130), 18.8, 0.50 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(60, -125), 18.6, 0.52 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(60, -120), 17.7, 0.54 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(60, -115), 15.9, 0.57 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(60, -110), 13.1, 0.59 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(60, -105), 9.4, 0.62 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(60, -100), 4.7, 0.64 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(60, -95), -0.7, 0.65 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(60, -90), -6.3, 0.65 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(60, -85), -11.5, 0.64 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(60, -80), -16.0, 0.61 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(60, -75), -19.3, 0.59 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(60, -70), -21.5, 0.56 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(60, -65), -22.7, 0.54 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(60, -60), -22.9, 0.52 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(60, -55), -22.5, 0.50 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(60, -50), -21.5, 0.48 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(60, -45), -20.0, 0.47 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(60, -40), -18.2, 0.47 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(60, -35), -16.2, 0.46 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(60, -30), -14.0, 0.45 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(60, -25), -11.6, 0.45 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(60, -20), -9.2, 0.45 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(60, -15), -6.8, 0.45 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(60, -10), -4.5, 0.45 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(60, -5), -2.1, 0.45 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(60, 0), 0.1, 0.45 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(60, 5), 2.3, 0.45 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(60, 10), 4.4, 0.45 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(60, 15), 6.4, 0.46 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(60, 20), 8.4, 0.46 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(60, 25), 10.2, 0.46 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(60, 30), 11.9, 0.46 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(60, 35), 13.6, 0.46 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(60, 40), 15.0, 0.47 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(60, 45), 16.3, 0.47 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(60, 50), 17.2, 0.47 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(60, 55), 17.9, 0.48 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(60, 60), 18.1, 0.49 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(60, 65), 17.8, 0.49 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(60, 70), 16.9, 0.50 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(60, 75), 15.3, 0.51 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(60, 80), 13.1, 0.52 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(60, 85), 10.1, 0.53 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(60, 90), 6.5, 0.54 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(60, 95), 2.5, 0.54 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(60, 100), -1.7, 0.53 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(60, 105), -5.7, 0.52 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(60, 110), -9.3, 0.51 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(60, 115), -12.1, 0.50 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(60, 120), -14.1, 0.48 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(60, 125), -15.4, 0.46 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(60, 130), -15.8, 0.45 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(60, 135), -15.6, 0.44 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(60, 140), -14.9, 0.43 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(60, 145), -13.6, 0.42 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(60, 150), -12.1, 0.42 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(60, 155), -10.2, 0.41 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(60, 160), -8.2, 0.41 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(60, 165), -6.0, 0.41 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(60, 170), -3.7, 0.41 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(60, 175), -1.3, 0.41 + 1.0); + EXPECT_NEAR(get_mag_declination_degrees(60, 180), 1.1, 0.41 + 1.0); } TEST(GeoLookupTest, inclination) { - EXPECT_NEAR(get_mag_inclination_degrees(-50, -180), -71.58401, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-50, -175), -70.59455, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-50, -170), -69.62019, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-50, -165), -68.66205, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-50, -160), -67.7198, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-50, -155), -66.79138, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-50, -150), -65.87195, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-50, -145), -64.95256, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-50, -140), -64.01931, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-50, -135), -63.05368, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-50, -130), -62.03405, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-50, -125), -60.9385, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-50, -120), -59.74839, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-50, -115), -58.4524, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-50, -110), -57.05104, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-50, -105), -55.56121, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-50, -100), -54.02015, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-50, -95), -52.4877, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-50, -90), -51.04547, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-50, -85), -49.79158, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-50, -80), -48.83025, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-50, -75), -48.25641, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-50, -70), -48.13796, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-50, -65), -48.4997, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-50, -60), -49.31498, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-50, -55), -50.50837, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-50, -50), -51.96942, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-50, -45), -53.57229, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-50, -40), -55.19487, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-50, -35), -56.73229, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-50, -30), -58.10283, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-50, -25), -59.24766, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-50, -20), -60.12742, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-50, -15), -60.71924, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-50, -10), -61.01671, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-50, -5), -61.03317, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-50, 0), -60.8064, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-50, 5), -60.40159, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-50, 10), -59.90942, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-50, 15), -59.43749, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-50, 20), -59.09544, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-50, 25), -58.97782, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-50, 30), -59.15001, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-50, 35), -59.64167, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-50, 40), -60.44829, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-50, 45), -61.53839, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-50, 50), -62.86303, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-50, 55), -64.36512, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-50, 60), -65.98713, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-50, 65), -67.67666, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-50, 70), -69.38941, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-50, 75), -71.08956, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-50, 80), -72.74763, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-50, 85), -74.33668, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-50, 90), -75.82805, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-50, 95), -77.18814, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-50, 100), -78.37761, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-50, 105), -79.35416, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-50, 110), -80.07912, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-50, 115), -80.52685, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-50, 120), -80.69297, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-50, 125), -80.59617, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-50, 130), -80.27176, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-50, 135), -79.76126, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-50, 140), -79.10403, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-50, 145), -78.3335, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-50, 150), -77.47696, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-50, 155), -76.55686, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-50, 160), -75.59229, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-50, 165), -74.59983, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-50, 170), -73.59372, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-50, 175), -72.58558, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-50, 180), -71.58401, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-45, -180), -68.19244, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-45, -175), -67.20464, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-45, -170), -66.22442, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-45, -165), -65.25331, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-45, -160), -64.2922, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-45, -155), -63.34191, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-45, -150), -62.40227, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-45, -145), -61.47011, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-45, -140), -60.53727, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-45, -135), -59.58959, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-45, -130), -58.60724, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-45, -125), -57.56626, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-45, -120), -56.4411, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-45, -115), -55.20869, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-45, -110), -53.85454, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-45, -105), -52.38098, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-45, -100), -50.8162, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-45, -95), -49.22159, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-45, -90), -47.69421, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-45, -85), -46.36165, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-45, -80), -45.36751, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-45, -75), -44.84792, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-45, -70), -44.90232, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-45, -65), -45.56704, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-45, -60), -46.80192, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-45, -55), -48.49755, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-45, -50), -50.50087, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-45, -45), -52.64828, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-45, -40), -54.79352, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-45, -35), -56.82278, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-45, -30), -58.65608, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-45, -25), -60.23891, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-45, -20), -61.53041, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-45, -15), -62.49492, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-45, -10), -63.10173, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-45, -5), -63.33356, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-45, 0), -63.19989, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-45, 5), -62.7491, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-45, 10), -62.07378, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-45, 15), -61.30526, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-45, 20), -60.59578, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-45, 25), -60.09128, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-45, 30), -59.90414, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-45, 35), -60.09625, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-45, 40), -60.67671, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-45, 45), -61.61099, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-45, 50), -62.83526, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-45, 55), -64.27102, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-45, 60), -65.83749, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-45, 65), -67.46063, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-45, 70), -69.0783, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-45, 75), -70.64114, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-45, 80), -72.10957, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-45, 85), -73.44875, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-45, 90), -74.62433, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-45, 95), -75.60213, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-45, 100), -76.35324, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-45, 105), -76.86222, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-45, 110), -77.13335, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-45, 115), -77.18955, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-45, 120), -77.06399, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-45, 125), -76.78947, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-45, 130), -76.39146, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-45, 135), -75.88671, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-45, 140), -75.2858, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-45, 145), -74.59661, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-45, 150), -73.82711, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-45, 155), -72.98695, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-45, 160), -72.08813, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-45, 165), -71.14475, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-45, 170), -70.17196, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-45, 175), -69.18404, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-45, 180), -68.19244, 0.21 + 2); - EXPECT_NEAR(get_mag_inclination_degrees(-40, -180), -64.39611, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-40, -175), -63.39272, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-40, -170), -62.39141, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-40, -165), -61.39218, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-40, -160), -60.39466, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-40, -155), -59.40048, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-40, -150), -58.41316, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-40, -145), -57.43589, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-40, -140), -56.46851, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-40, -135), -55.50519, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-40, -130), -54.53301, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-40, -125), -53.53113, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-40, -120), -52.4708, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-40, -115), -51.31766, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-40, -110), -50.03878, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-40, -105), -48.61542, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-40, -100), -47.05949, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-40, -95), -45.42862, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-40, -90), -43.8338, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-40, -85), -42.43478, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-40, -80), -41.42028, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-40, -75), -40.97348, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-40, -70), -41.22804, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-40, -65), -42.22798, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-40, -60), -43.90989, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-40, -55), -46.11894, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-40, -50), -48.65233, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-40, -45), -51.30923, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-40, -40), -53.92718, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-40, -35), -56.3963, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-40, -30), -58.6533, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-40, -25), -60.66236, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-40, -20), -62.39255, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-40, -15), -63.80193, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-40, -10), -64.83535, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-40, -5), -65.43742, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-40, 0), -65.5749, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-40, 5), -65.2589, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-40, 10), -64.55896, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-40, 15), -63.60503, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-40, 20), -62.57433, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-40, 25), -61.66129, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-40, 30), -61.03733, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-40, 35), -60.81697, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-40, 40), -61.04333, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-40, 45), -61.69385, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-40, 50), -62.69787, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-40, 55), -63.95768, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-40, 60), -65.36791, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-40, 65), -66.8305, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-40, 70), -68.26367, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-40, 75), -69.60421, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-40, 80), -70.8039, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-40, 85), -71.82365, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-40, 90), -72.63039, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-40, 95), -73.20046, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-40, 100), -73.52806, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-40, 105), -73.63195, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-40, 110), -73.55291, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-40, 115), -73.34114, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-40, 120), -73.04051, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-40, 125), -72.67784, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-40, 130), -72.26125, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-40, 135), -71.78563, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-40, 140), -71.24084, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-40, 145), -70.6182, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-40, 150), -69.91369, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-40, 155), -69.12883, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-40, 160), -68.27068, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-40, 165), -67.3516, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-40, 170), -66.38807, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-40, 175), -65.39782, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-40, 180), -64.39611, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-35, -180), -60.05607, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-35, -175), -59.01756, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-35, -170), -57.98021, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-35, -165), -56.94105, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-35, -160), -55.8958, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-35, -155), -54.84387, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-35, -150), -53.79006, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-35, -145), -52.74258, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-35, -140), -51.70951, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-35, -135), -50.69537, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-35, -130), -49.69784, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-35, -125), -48.70383, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-35, -120), -47.68525, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-35, -115), -46.59797, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-35, -110), -45.38897, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-35, -105), -44.01452, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-35, -100), -42.46614, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-35, -95), -40.79583, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-35, -90), -39.1301, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-35, -85), -37.66521, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-35, -80), -36.64037, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-35, -75), -36.28944, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-35, -70), -36.77921, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-35, -65), -38.15449, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-35, -60), -40.31785, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-35, -55), -43.05936, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-35, -50), -46.12197, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-35, -45), -49.26874, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-35, -40), -52.32548, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-35, -35), -55.19193, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-35, -30), -57.82743, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-35, -25), -60.22136, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-35, -20), -62.36043, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-35, -15), -64.2055, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-35, -10), -65.68664, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-35, -5), -66.71826, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-35, 0), -67.22767, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-35, 5), -67.18498, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-35, 10), -66.62317, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-35, 15), -65.64546, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-35, 20), -64.42115, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-35, 25), -63.16548, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-35, 30), -62.09944, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-35, 35), -61.40111, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-35, 40), -61.17013, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-35, 45), -61.41842, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-35, 50), -62.08426, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-35, 55), -63.05903, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-35, 60), -64.21624, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-35, 65), -65.4356, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-35, 70), -66.61797, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-35, 75), -67.68916, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-35, 80), -68.59503, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-35, 85), -69.29399, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-35, 90), -69.75494, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-35, 95), -69.96416, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-35, 100), -69.93607, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-35, 105), -69.71701, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-35, 110), -69.37463, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-35, 115), -68.97674, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-35, 120), -68.57054, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-35, 125), -68.17227, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-35, 130), -67.77033, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-35, 135), -67.33776, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-35, 140), -66.84624, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-35, 145), -66.27508, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-35, 150), -65.6134, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-35, 155), -64.85849, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-35, 160), -64.01449, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-35, 165), -63.09254, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-35, 170), -62.11082, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-35, 175), -61.0917, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-35, 180), -60.05607, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-30, -180), -55.01714, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-30, -175), -53.92062, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-30, -170), -52.83143, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-30, -165), -51.74312, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-30, -160), -50.6451, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-30, -155), -49.53132, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-30, -150), -48.40444, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-30, -145), -47.27491, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-30, -140), -46.15729, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-30, -135), -45.06619, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-30, -130), -44.01138, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-30, -125), -42.99019, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-30, -120), -41.97786, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-30, -115), -40.92189, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-30, -110), -39.74901, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-30, -105), -38.38982, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-30, -100), -36.81626, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-30, -95), -35.07807, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-30, -90), -33.32276, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-30, -85), -31.78894, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-30, -80), -30.76972, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-30, -75), -30.54853, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-30, -70), -31.31919, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-30, -65), -33.11826, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-30, -60), -35.80637, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-30, -55), -39.11487, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-30, -50), -42.73271, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-30, -45), -46.38758, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-30, -40), -49.89177, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-30, -35), -53.14974, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-30, -30), -56.13732, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-30, -25), -58.86468, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-30, -20), -61.33658, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-30, -15), -63.52392, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-30, -10), -65.35624, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-30, -5), -66.73652, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-30, 0), -67.5715, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-30, 5), -67.80466, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-30, 10), -67.43861, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-30, 15), -66.54321, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-30, 20), -65.25628, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-30, 25), -63.77793, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-30, 30), -62.3465, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-30, 35), -61.19075, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-30, 40), -60.47491, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-30, 45), -60.26393, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-30, 50), -60.52287, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-30, 55), -61.14472, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-30, 60), -61.99008, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-30, 65), -62.92317, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-30, 70), -63.83355, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-30, 75), -64.64062, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-30, 80), -65.28524, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-30, 85), -65.71987, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-30, 90), -65.90828, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-30, 95), -65.83794, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-30, 100), -65.53529, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-30, 105), -65.06844, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-30, 110), -64.52955, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-30, 115), -64.004, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-30, 120), -63.54239, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-30, 125), -63.14871, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-30, 130), -62.78863, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-30, 135), -62.41082, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-30, 140), -61.96895, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-30, 145), -61.43349, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-30, 150), -60.79132, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-30, 155), -60.03943, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-30, 160), -59.18087, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-30, 165), -58.22587, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-30, 170), -57.19451, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-30, 175), -56.1152, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-30, 180), -55.01714, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-25, -180), -49.12399, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-25, -175), -47.94167, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-25, -170), -46.78244, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-25, -165), -45.63671, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-25, -160), -44.48578, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-25, -155), -43.31487, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-25, -150), -42.12082, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-25, -145), -40.91271, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-25, -140), -39.70855, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-25, -135), -38.53094, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-25, -130), -37.40083, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-25, -125), -36.32609, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-25, -120), -35.28582, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-25, -115), -34.21969, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-25, -110), -33.03531, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-25, -105), -31.64078, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-25, -100), -29.99464, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-25, -95), -28.15291, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-25, -90), -26.29239, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-25, -85), -24.69836, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-25, -80), -23.71541, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-25, -75), -23.66717, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-25, -70), -24.76215, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-25, -65), -27.02032, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-25, -60), -30.26103, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-25, -55), -34.16451, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-25, -50), -38.37291, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-25, -45), -42.57879, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-25, -40), -46.57229, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-25, -35), -50.2475, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-25, -30), -53.58, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-25, -25), -56.58782, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-25, -20), -59.28888, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-25, -15), -61.66944, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-25, -10), -63.67376, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-25, -5), -65.21615, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-25, 0), -66.2084, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-25, 5), -66.58985, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-25, 10), -66.34811, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-25, 15), -65.52711, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-25, 20), -64.23077, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-25, 25), -62.62735, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-25, 30), -60.94349, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-25, 35), -59.42973, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-25, 40), -58.29938, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-25, 45), -57.67012, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-25, 50), -57.54184, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-25, 55), -57.81897, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-25, 60), -58.3589, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-25, 65), -59.01963, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-25, 70), -59.68766, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-25, 75), -60.28078, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-25, 80), -60.73466, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-25, 85), -60.99031, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-25, 90), -60.99746, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-25, 95), -60.73531, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-25, 100), -60.23537, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-25, 105), -59.58519, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-25, 110), -58.90356, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-25, 115), -58.29749, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-25, 120), -57.82335, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-25, 125), -57.47157, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-25, 130), -57.18086, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-25, 135), -56.87146, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-25, 140), -56.47773, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-25, 145), -55.96353, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-25, 150), -55.31768, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-25, 155), -54.54062, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-25, 160), -53.63615, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-25, 165), -52.61386, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-25, 170), -51.49607, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-25, 175), -50.3191, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-25, 180), -49.12399, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-20, -180), -42.24206, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-20, -175), -40.94139, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-20, -170), -39.69111, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-20, -165), -38.47974, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-20, -160), -37.27911, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-20, -155), -36.06266, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-20, -150), -34.81772, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-20, -145), -33.54842, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-20, -140), -32.27289, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-20, -135), -31.01881, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-20, -130), -29.81565, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-20, -125), -28.67934, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-20, -120), -27.59095, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-20, -115), -26.4819, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-20, -110), -25.24344, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-20, -105), -23.76848, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-20, -100), -22.01322, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-20, -95), -20.05158, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-20, -90), -18.09663, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-20, -85), -16.47823, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-20, -80), -15.57947, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-20, -75), -15.74429, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-20, -70), -17.17918, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-20, -65), -19.88508, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-20, -60), -23.65448, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-20, -55), -28.13813, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-20, -50), -32.94585, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-20, -45), -37.73464, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-20, -40), -42.25832, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-20, -35), -46.37885, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-20, -30), -50.04952, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-20, -25), -53.28002, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-20, -20), -56.09537, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-20, -15), -58.50274, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-20, -10), -60.47713, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-20, -5), -61.96758, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-20, 0), -62.91612, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-20, 5), -63.27846, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-20, 10), -63.03868, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-20, 15), -62.21952, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-20, 20), -60.89425, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-20, 25), -59.20126, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-20, 30), -57.34905, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-20, 35), -55.59184, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-20, 40), -54.1691, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-20, 45), -53.23373, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-20, 50), -52.81241, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-20, 55), -52.82097, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-20, 60), -53.11874, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-20, 65), -53.5656, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-20, 70), -54.05306, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-20, 75), -54.50287, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-20, 80), -54.84664, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-20, 85), -55.01065, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-20, 90), -54.92429, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-20, 95), -54.55147, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-20, 100), -53.92366, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-20, 105), -53.14688, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-20, 110), -52.36972, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-20, 115), -51.72572, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-20, 120), -51.27989, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-20, 125), -51.00783, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-20, 130), -50.81672, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-20, 135), -50.59355, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-20, 140), -50.25119, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-20, 145), -49.74806, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-20, 150), -49.07817, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-20, 155), -48.24855, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-20, 160), -47.26546, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-20, 165), -46.13832, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-20, 170), -44.89247, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-20, 175), -43.57462, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-20, 180), -42.24206, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-15, -180), -34.29388, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-15, -175), -32.84176, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-15, -170), -31.47968, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-15, -165), -30.19614, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-15, -160), -28.95262, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-15, -155), -27.70792, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-15, -150), -26.43636, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-15, -145), -25.13391, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-15, -140), -23.81627, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-15, -135), -22.51361, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-15, -130), -21.26062, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-15, -125), -20.07716, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-15, -120), -18.94256, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-15, -115), -17.77939, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-15, -110), -16.46764, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-15, -105), -14.89602, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-15, -100), -13.03215, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-15, -95), -10.978, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-15, -90), -8.9832, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-15, -85), -7.40871, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-15, -80), -6.65113, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-15, -75), -7.0475, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-15, -70), -8.7871, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-15, -65), -11.85916, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-15, -60), -16.05669, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-15, -55), -21.03298, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-15, -50), -26.38537, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-15, -45), -31.73549, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-15, -40), -36.78553, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-15, -35), -41.34368, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-15, -30), -45.32077, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-15, -25), -48.70467, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-15, -20), -51.52342, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-15, -15), -53.81131, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-15, -10), -55.58911, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-15, -5), -56.86003, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-15, 0), -57.61448, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-15, 5), -57.8361, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-15, 10), -57.50895, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-15, 15), -56.6324, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-15, 20), -55.24714, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-15, 25), -53.46468, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-15, 30), -51.48126, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-15, 35), -49.55536, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-15, 40), -47.94294, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-15, 45), -46.81589, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-15, 50), -46.21238, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-15, 55), -46.05045, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-15, 60), -46.18936, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-15, 65), -46.49424, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-15, 70), -46.86775, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-15, 75), -47.24127, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-15, 80), -47.54556, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-15, 85), -47.69214, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-15, 90), -47.58717, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-15, 95), -47.17487, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-15, 100), -46.48268, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-15, 105), -45.63345, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-15, 110), -44.80735, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-15, 115), -44.16801, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-15, 120), -43.79158, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-15, 125), -43.63793, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-15, 130), -43.57916, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-15, 135), -43.465, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-15, 140), -43.18441, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-15, 145), -42.69035, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-15, 150), -41.98369, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-15, 155), -41.08003, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-15, 160), -39.98941, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-15, 165), -38.72187, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-15, 170), -37.30701, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-15, 175), -35.80489, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-15, 180), -34.29388, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-10, -180), -25.31126, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-10, -175), -23.68453, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-10, -170), -22.19803, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-10, -165), -20.8427, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-10, -160), -19.56947, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-10, -155), -18.32016, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-10, -150), -17.05281, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-10, -145), -15.75257, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-10, -140), -14.43109, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-10, -135), -13.11959, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-10, -130), -11.85525, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-10, -125), -10.65766, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-10, -120), -9.50081, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-10, -115), -8.29929, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-10, -110), -6.92953, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-10, -105), -5.28892, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-10, -100), -3.36839, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-10, -95), -1.30124, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-10, -90), 0.63721, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-10, -85), 2.07953, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-10, -80), 2.6469, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-10, -75), 2.03462, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-10, -70), 0.07845, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-10, -65), -3.21342, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-10, -60), -7.66467, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-10, -55), -12.96384, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-10, -50), -18.7179, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-10, -45), -24.51866, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-10, -40), -30.00879, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-10, -35), -34.92958, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-10, -30), -39.13781, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-10, -25), -42.59223, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-10, -20), -45.32175, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-10, -15), -47.39104, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-10, -10), -48.87421, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-10, -5), -49.83743, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-10, 0), -50.32584, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-10, 5), -50.35348, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-10, 10), -49.90365, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-10, 15), -48.94947, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-10, 20), -47.49581, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-10, 25), -45.62667, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-10, 30), -43.52996, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-10, 35), -41.47417, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-10, 40), -39.73323, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-10, 45), -38.49202, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-10, 50), -37.78975, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-10, 55), -37.5368, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-10, 60), -37.58663, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-10, 65), -37.80883, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-10, 70), -38.12004, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-10, 75), -38.46586, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-10, 80), -38.78053, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-10, 85), -38.9635, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-10, 90), -38.89827, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-10, 95), -38.50767, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-10, 100), -37.81189, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-10, 105), -36.94731, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-10, 110), -36.12381, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-10, 115), -35.53524, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-10, 120), -35.26971, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-10, 125), -35.27188, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-10, 130), -35.37822, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-10, 135), -35.40001, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-10, 140), -35.2009, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-10, 145), -34.72714, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-10, 150), -33.98589, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-10, 155), -33.00152, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-10, 160), -31.78856, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-10, 165), -30.35858, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-10, 170), -28.74703, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-10, 175), -27.03006, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-10, 180), -25.31126, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-5, -180), -15.49028, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-5, -175), -13.69091, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-5, -170), -12.08656, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-5, -165), -10.67334, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-5, -160), -9.39285, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-5, -155), -8.16895, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-5, -150), -6.94107, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-5, -145), -5.68144, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-5, -140), -4.39661, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-5, -135), -3.11829, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-5, -130), -1.88459, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-5, -125), -0.7123, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-5, -120), 0.43088, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-5, -115), 1.6344, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-5, -110), 3.01585, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-5, -105), 4.65811, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-5, -100), 6.54169, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-5, -95), 8.50898, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-5, -90), 10.27931, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-5, -85), 11.50716, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-5, -80), 11.85803, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-5, -75), 11.07488, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-5, -70), 9.0185, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-5, -65), 5.68225, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-5, -60), 1.19296, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-5, -55), -4.1945, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-5, -50), -10.11738, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-5, -45), -16.15373, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-5, -40), -21.89614, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-5, -35), -27.02292, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-5, -30), -31.33749, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-5, -25), -34.76781, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-5, -20), -37.33968, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-5, -15), -39.14281, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-5, -10), -40.29934, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-5, -5), -40.9341, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-5, 0), -41.14402, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-5, 5), -40.97224, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-5, 10), -40.40131, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-5, 15), -39.37863, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-5, 20), -37.8731, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-5, 25), -35.94037, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-5, 30), -33.75972, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-5, 35), -31.61024, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-5, 40), -29.78399, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-5, 45), -28.47719, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-5, 50), -27.72662, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-5, 55), -27.43108, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-5, 60), -27.43479, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-5, 65), -27.6097, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-5, 70), -27.88649, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-5, 75), -28.22756, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-5, 80), -28.57527, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-5, 85), -28.82252, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-5, 90), -28.83475, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-5, 95), -28.51532, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-5, 100), -27.87515, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-5, 105), -27.05843, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-5, 110), -26.29732, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-5, 115), -25.80989, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-5, 120), -25.69444, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-5, 125), -25.88305, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-5, 130), -26.18168, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-5, 135), -26.36731, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-5, 140), -26.27919, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-5, 145), -25.8547, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-5, 150), -25.10404, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-5, 155), -24.05823, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-5, 160), -22.73596, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-5, 165), -21.15133, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-5, 170), -19.34697, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-5, 175), -17.41644, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(-5, 180), -15.49028, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(0, -180), -5.21365, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(0, -175), -3.28107, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(0, -170), -1.59209, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(0, -165), -0.15079, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(0, -160), 1.10723, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(0, -155), 2.27418, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(0, -150), 3.42932, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(0, -145), 4.6145, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(0, -140), 5.82915, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(0, -135), 7.04174, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(0, -130), 8.21381, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(0, -125), 9.3312, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(0, -120), 10.42951, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(0, -115), 11.59518, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(0, -110), 12.93063, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(0, -105), 14.49303, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(0, -100), 16.23763, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(0, -95), 17.99707, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(0, -90), 19.50752, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(0, -85), 20.46729, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(0, -80), 20.60029, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(0, -75), 19.70066, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(0, -70), 17.6514, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(0, -65), 14.42868, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(0, -60), 10.11014, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(0, -55), 4.89129, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(0, -50), -0.90913, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(0, -45), -6.88115, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(0, -40), -12.5975, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(0, -35), -17.69877, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(0, -30), -21.94961, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(0, -25), -25.24952, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(0, -20), -27.61272, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(0, -15), -29.13844, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(0, -10), -29.97954, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(0, -5), -30.30537, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(0, 0), -30.25665, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(0, 5), -29.90402, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(0, 10), -29.23232, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(0, 15), -28.16826, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(0, 20), -26.64899, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(0, 25), -24.70295, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(0, 30), -22.49746, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(0, 35), -20.31522, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(0, 40), -18.45853, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(0, 45), -17.13001, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(0, 50), -16.36411, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(0, 55), -16.05114, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(0, 60), -16.02825, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(0, 65), -16.16904, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(0, 70), -16.41619, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(0, 75), -16.74886, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(0, 80), -17.12191, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(0, 85), -17.43032, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(0, 90), -17.53125, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(0, 95), -17.31539, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(0, 100), -16.78427, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(0, 105), -16.08143, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(0, 110), -15.44718, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(0, 115), -15.11053, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(0, 120), -15.17469, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(0, 125), -15.56474, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(0, 130), -16.0684, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(0, 135), -16.43965, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(0, 140), -16.49799, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(0, 145), -16.16951, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(0, 150), -15.46166, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(0, 155), -14.40734, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(0, 160), -13.02783, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(0, 165), -11.34033, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(0, 170), -9.39497, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(0, 175), -7.30122, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(0, 180), -5.21365, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(5, -180), 5.00455, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(5, -175), 6.99463, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(5, -170), 8.71188, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(5, -165), 10.14177, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(5, -160), 11.34891, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(5, -155), 12.43587, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(5, -150), 13.49728, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(5, -145), 14.58829, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(5, -140), 15.71535, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(5, -135), 16.84842, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(5, -130), 17.94904, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(5, -125), 19.00332, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(5, -120), 20.04428, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(5, -115), 21.1472, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(5, -110), 22.3927, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(5, -105), 23.81212, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(5, -100), 25.34411, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(5, -95), 26.82684, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(5, -90), 28.02919, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(5, -85), 28.70338, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(5, -80), 28.63336, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(5, -75), 27.66094, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(5, -70), 25.69049, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(5, -65), 22.68936, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(5, -60), 18.70223, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(5, -55), 13.87849, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(5, -50), 8.48936, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(5, -45), 2.9064, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(5, -40), -2.46493, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(5, -35), -7.26857, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(5, -30), -11.25725, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(5, -25), -14.30972, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(5, -20), -16.41941, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(5, -15), -17.67484, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(5, -10), -18.23585, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(5, -5), -18.29591, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(5, 0), -18.02731, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(5, 5), -17.52556, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(5, 10), -16.78323, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(5, 15), -15.71609, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(5, 20), -14.23885, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(5, 25), -12.35622, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(5, 30), -10.21787, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(5, 35), -8.09606, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(5, 40), -6.28723, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(5, 45), -4.99077, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(5, 50), -4.23978, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(5, 55), -3.92427, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(5, 60), -3.88186, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(5, 65), -3.98935, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(5, 70), -4.19777, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(5, 75), -4.49974, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(5, 80), -4.86549, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(5, 85), -5.20249, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(5, 90), -5.37419, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(5, 95), -5.27031, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(5, 100), -4.88531, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(5, 105), -4.35212, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(5, 110), -3.90026, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(5, 115), -3.75097, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(5, 120), -4.0046, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(5, 125), -4.58684, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(5, 130), -5.28512, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(5, 135), -5.84805, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(5, 140), -6.08431, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(5, 145), -5.90734, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(5, 150), -5.31472, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(5, 155), -4.33446, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(5, 160), -2.98741, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(5, 165), -1.2934, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(5, 170), 0.69159, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(5, 175), 2.84765, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(5, 180), 5.00455, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(10, -180), 14.65459, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(10, -175), 16.60735, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(10, -170), 18.28725, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(10, -165), 19.66757, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(10, -160), 20.80598, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(10, -155), 21.80662, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(10, -150), 22.77261, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(10, -145), 23.76936, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(10, -140), 24.81081, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(10, -135), 25.87055, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(10, -130), 26.9108, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(10, -125), 27.91523, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(10, -120), 28.90819, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(10, -115), 29.94711, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(10, -110), 31.0878, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(10, -105), 32.33921, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(10, -100), 33.63247, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(10, -95), 34.82159, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(10, -90), 35.71446, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(10, -85), 36.11662, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(10, -80), 35.86602, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(10, -75), 34.84671, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(10, -70), 32.98688, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(10, -65), 30.2592, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(10, -60), 26.69739, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(10, -55), 22.424, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(10, -50), 17.66681, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(10, -45), 12.74096, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(10, -40), 7.99393, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(10, -35), 3.7376, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(10, -30), 0.19985, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(10, -25), -2.49165, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(10, -20), -4.30693, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(10, -15), -5.30831, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(10, -10), -5.63984, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(10, -5), -5.49582, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(10, 0), -5.06285, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(10, 5), -4.45491, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(10, 10), -3.67758, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(10, 15), -2.64898, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(10, 20), -1.27496, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(10, 25), 0.45762, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(10, 30), 2.42353, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(10, 35), 4.37838, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(10, 40), 6.05087, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(10, 45), 7.25612, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(10, 50), 7.96121, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(10, 55), 8.26658, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(10, 60), 8.32403, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(10, 65), 8.25029, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(10, 70), 8.09017, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(10, 75), 7.84361, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(10, 80), 7.52553, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(10, 85), 7.20719, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(10, 90), 7.00385, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(10, 95), 7.01301, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(10, 100), 7.24272, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(10, 105), 7.5789, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(10, 110), 7.82066, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(10, 115), 7.77253, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(10, 120), 7.34494, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(10, 125), 6.60457, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(10, 130), 5.74626, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(10, 135), 5.00741, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(10, 140), 4.57835, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(10, 145), 4.55701, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(10, 150), 4.96158, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(10, 155), 5.77582, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(10, 160), 6.9833, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(10, 165), 8.56349, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(10, 170), 10.45846, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(10, 175), 12.54662, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(10, 180), 14.65459, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(15, -180), 23.37517, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(15, -175), 25.199, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(15, -170), 26.78074, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(15, -165), 28.08178, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(15, -160), 29.14648, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(15, -155), 30.07089, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(15, -150), 30.95757, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(15, -145), 31.87695, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(15, -140), 32.84984, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(15, -135), 33.85548, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(15, -130), 34.85825, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(15, -125), 35.83792, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(15, -120), 36.80628, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(15, -115), 37.79947, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(15, -110), 38.84866, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(15, -105), 39.94476, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(15, -100), 41.01751, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(15, -95), 41.94059, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(15, -90), 42.55929, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(15, -85), 42.72537, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(15, -80), 42.32186, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(15, -75), 41.27008, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(15, -70), 39.52594, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(15, -65), 37.08077, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(15, -60), 33.97548, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(15, -55), 30.3213, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(15, -50), 26.3085, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(15, -45), 22.18864, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(15, -40), 18.2323, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(15, -35), 14.68231, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(15, -30), 11.72364, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(15, -25), 9.47374, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(15, -20), 7.97925, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(15, -15), 7.20837, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(15, -10), 7.04759, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(15, -5), 7.32286, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(15, 0), 7.8532, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(15, 5), 8.51706, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(15, 10), 9.29366, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(15, 15), 10.25, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(15, 20), 11.47426, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(15, 25), 12.98983, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(15, 30), 14.70052, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(15, 35), 16.40389, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(15, 40), 17.86939, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(15, 45), 18.93569, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(15, 50), 19.56948, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(15, 55), 19.85398, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(15, 60), 19.92165, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(15, 65), 19.87879, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(15, 70), 19.76901, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(15, 75), 19.59119, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(15, 80), 19.34918, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(15, 85), 19.08972, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(15, 90), 18.89721, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(15, 95), 18.84578, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(15, 100), 18.94062, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(15, 105), 19.08971, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(15, 110), 19.1307, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(15, 115), 18.90477, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(15, 120), 18.33852, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(15, 125), 17.48736, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(15, 130), 16.51681, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(15, 135), 15.63569, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(15, 140), 15.02205, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(15, 145), 14.78083, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(15, 150), 14.94792, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(15, 155), 15.52312, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(15, 160), 16.49794, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(15, 165), 17.8539, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(15, 170), 19.53614, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(15, 175), 21.43101, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(15, 180), 23.37517, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(20, -180), 31.01932, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(20, -175), 32.64095, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(20, -170), 34.07574, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(20, -165), 35.27629, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(20, -160), 36.27043, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(20, -155), 37.13802, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(20, -150), 37.97183, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(20, -145), 38.84055, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(20, -140), 39.76945, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(20, -135), 40.74438, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(20, -130), 41.73363, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(20, -125), 42.71359, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(20, -120), 43.68292, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(20, -115), 44.65666, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(20, -110), 45.64366, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(20, -105), 46.62075, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(20, -100), 47.51907, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(20, -95), 48.23079, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(20, -90), 48.63254, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(20, -85), 48.61286, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(20, -80), 48.09086, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(20, -75), 47.02071, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(20, -70), 45.38841, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(20, -65), 43.21163, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(20, -60), 40.5479, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(20, -55), 37.5047, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(20, -50), 34.23933, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(20, -45), 30.94149, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(20, -40), 27.80398, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(20, -35), 24.9963, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(20, -30), 22.65215, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(20, -25), 20.8671, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(20, -20), 19.69304, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(20, -15), 19.12285, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(20, -10), 19.0773, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(20, -5), 19.41567, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(20, 0), 19.97934, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(20, 5), 20.65143, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(20, 10), 21.39814, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(20, 15), 22.26413, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(20, 20), 23.3203, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(20, 25), 24.59235, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(20, 30), 26.01261, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(20, 35), 27.42641, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(20, 40), 28.6514, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(20, 45), 29.55506, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(20, 50), 30.10473, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(20, 55), 30.36334, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(20, 60), 30.43907, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(20, 65), 30.4243, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(20, 70), 30.36176, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(20, 75), 30.25339, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(20, 80), 30.0968, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(20, 85), 29.91677, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(20, 90), 29.76548, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(20, 95), 29.68972, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(20, 100), 29.68773, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(20, 105), 29.68729, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(20, 110), 29.56464, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(20, 115), 29.19915, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(20, 120), 28.53535, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(20, 125), 27.61778, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(20, 130), 26.58, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(20, 135), 25.59639, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(20, 140), 24.82531, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(20, 145), 24.37274, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(20, 150), 24.28932, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(20, 155), 24.59085, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(20, 160), 25.27809, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(20, 165), 26.3369, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(20, 170), 27.71958, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(20, 175), 29.32792, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(20, 180), 31.01932, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(25, -180), 37.62767, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(25, -175), 38.99854, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(25, -170), 40.25168, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(25, -165), 41.33675, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(25, -160), 42.26565, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(25, -155), 43.09738, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(25, -150), 43.90722, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(25, -145), 44.75497, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(25, -140), 45.6661, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(25, -135), 46.63216, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(25, -130), 47.62648, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(25, -125), 48.62393, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(25, -120), 49.61237, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(25, -115), 50.58897, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(25, -110), 51.5443, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(25, -105), 52.44444, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(25, -100), 53.22257, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(25, -95), 53.78588, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(25, -90), 54.03494, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(25, -85), 53.88601, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(25, -80), 53.28639, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(25, -75), 52.21859, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(25, -70), 50.69742, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(25, -65), 48.76735, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(25, -60), 46.50294, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(25, -55), 44.00881, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(25, -50), 41.41283, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(25, -45), 38.85094, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(25, -40), 36.4498, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(25, -35), 34.31632, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(25, -30), 32.53756, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(25, -25), 31.18356, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(25, -20), 30.30169, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(25, -15), 29.8992, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(25, -10), 29.92619, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(25, -5), 30.27823, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(25, 0), 30.8278, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(25, 5), 31.47196, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(25, 10), 32.16907, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(25, 15), 32.94064, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(25, 20), 33.83517, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(25, 25), 34.87435, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(25, 30), 36.01402, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(25, 35), 37.14461, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(25, 40), 38.13177, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(25, 45), 38.87352, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(25, 50), 39.34029, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(25, 55), 39.57609, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(25, 60), 39.66394, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(25, 65), 39.67979, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(25, 70), 39.66357, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(25, 75), 39.62082, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(25, 80), 39.54667, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(25, 85), 39.44937, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(25, 90), 39.35373, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(25, 95), 39.28126, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(25, 100), 39.22157, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(25, 105), 39.1172, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(25, 110), 38.87656, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(25, 115), 38.41233, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(25, 120), 37.68594, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(25, 125), 36.73393, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(25, 130), 35.66203, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(25, 135), 34.61193, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(25, 140), 33.71986, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(25, 145), 33.08718, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(25, 150), 32.77332, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(25, 155), 32.80612, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(25, 160), 33.19436, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(25, 165), 33.92888, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(25, 170), 34.97133, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(25, 175), 36.24277, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(25, 180), 37.62767, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(30, -180), 43.36043, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(30, -175), 44.45891, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(30, -170), 45.51173, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(30, -165), 46.47234, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(30, -160), 47.3404, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(30, -155), 48.15326, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(30, -150), 48.96415, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(30, -145), 49.8179, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(30, -140), 50.73506, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(30, -135), 51.70999, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(30, -130), 52.72076, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(30, -125), 53.74269, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(30, -120), 54.75665, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(30, -115), 55.74697, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(30, -110), 56.69101, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(30, -105), 57.54744, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(30, -100), 58.25151, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(30, -95), 58.72174, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(30, -90), 58.8762, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(30, -85), 58.65154, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(30, -80), 58.0168, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(30, -75), 56.97756, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(30, -70), 55.57258, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(30, -65), 53.86745, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(30, -60), 51.94822, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(30, -55), 49.91408, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(30, -50), 47.86739, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(30, -45), 45.90228, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(30, -40), 44.09663, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(30, -35), 42.5119, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(30, -30), 41.19957, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(30, -25), 40.20643, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(30, -20), 39.56975, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(30, -15), 39.30159, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(30, -10), 39.37247, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(30, -5), 39.70956, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(30, 0), 40.21693, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(30, 5), 40.8101, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(30, 10), 41.44522, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(30, 15), 42.12478, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(30, 20), 42.87558, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(30, 25), 43.71195, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(30, 30), 44.60661, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(30, 35), 45.48757, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(30, 40), 46.26319, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(30, 45), 46.86097, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(30, 50), 47.25716, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(30, 55), 47.48075, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(30, 60), 47.59149, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(30, 65), 47.64772, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(30, 70), 47.68343, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(30, 75), 47.70573, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(30, 80), 47.70867, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(30, 85), 47.68931, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(30, 90), 47.65224, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(30, 95), 47.59897, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(30, 100), 47.51105, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(30, 105), 47.34095, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(30, 110), 47.0213, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(30, 115), 46.49113, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(30, 120), 45.72666, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(30, 125), 44.76002, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(30, 130), 43.67589, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(30, 135), 42.58893, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(30, 140), 41.61418, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(30, 145), 40.84428, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(30, 150), 40.34087, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(30, 155), 40.13814, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(30, 160), 40.25001, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(30, 165), 40.6718, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(30, 170), 41.37475, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(30, 175), 42.29982, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(30, 180), 43.36043, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(35, -180), 48.43609, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(35, -175), 49.2684, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(35, -170), 50.12084, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(35, -165), 50.95582, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(35, -160), 51.76578, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(35, -155), 52.56902, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(35, -150), 53.39612, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(35, -145), 54.27376, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(35, -140), 55.21327, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(35, -135), 56.20813, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(35, -130), 57.23934, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(35, -125), 58.28358, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(35, -120), 59.31827, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(35, -115), 60.32017, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(35, -110), 61.25863, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(35, -105), 62.0883, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(35, -100), 62.74694, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(35, -95), 63.16185, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(35, -90), 63.26412, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(35, -85), 63.00572, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(35, -80), 62.3722, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(35, -75), 61.38651, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(35, -70), 60.10401, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(35, -65), 58.60278, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(35, -60), 56.97259, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(35, -55), 55.3041, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(35, -50), 53.67879, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(35, -45), 52.1616, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(35, -40), 50.79904, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(35, -35), 49.62404, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(35, -30), 48.66451, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(35, -25), 47.94882, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(35, -20), 47.50235, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(35, -15), 47.33542, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(35, -10), 47.43022, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(35, -5), 47.7374, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(35, 0), 48.18798, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(35, 5), 48.71613, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(35, 10), 49.28038, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(35, 15), 49.87048, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(35, 20), 50.496, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(35, 25), 51.16354, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(35, 30), 51.85697, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(35, 35), 52.53301, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(35, 40), 53.13497, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(35, 45), 53.61658, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(35, 50), 53.96172, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(35, 55), 54.18871, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(35, 60), 54.33753, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(35, 65), 54.44899, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(35, 70), 54.54821, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(35, 75), 54.64051, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(35, 80), 54.71837, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(35, 85), 54.7713, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(35, 90), 54.79009, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(35, 95), 54.76221, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(35, 100), 54.66313, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(35, 105), 54.45224, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(35, 110), 54.08001, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(35, 115), 53.50593, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(35, 120), 52.71905, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(35, 125), 51.7503, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(35, 130), 50.66987, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(35, 135), 49.57143, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(35, 140), 48.55111, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(35, 145), 47.69032, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(35, 150), 47.04741, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(35, 155), 46.65769, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(35, 160), 46.5372, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(35, 165), 46.68483, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(35, 170), 47.08076, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(35, 175), 47.68428, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(35, 180), 48.43609, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(40, -180), 53.0875, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(40, -175), 53.68544, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(40, -170), 54.35615, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(40, -165), 55.07296, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(40, -160), 55.82549, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(40, -155), 56.61786, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(40, -150), 57.46133, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(40, -145), 58.36511, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(40, -140), 59.32962, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(40, -135), 60.34458, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(40, -130), 61.39161, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(40, -125), 62.44834, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(40, -120), 63.49088, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(40, -115), 64.49229, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(40, -110), 65.4182, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(40, -105), 66.22221, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(40, -100), 66.84546, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(40, -95), 67.22287, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(40, -90), 67.29618, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(40, -85), 67.02955, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(40, -80), 66.42111, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(40, -75), 65.5055, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(40, -70), 64.34701, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(40, -65), 63.02748, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(40, -60), 61.63344, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(40, -55), 60.24492, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(40, -50), 58.92715, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(40, -45), 57.7266, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(40, -40), 56.67225, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(40, -35), 55.78176, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(40, -30), 55.06921, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(40, -25), 54.54985, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(40, -20), 54.23803, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(40, -15), 54.13906, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(40, -10), 54.24027, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(40, -5), 54.50782, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(40, 0), 54.89315, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(40, 5), 55.34685, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(40, 10), 55.83273, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(40, 15), 56.33415, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(40, 20), 56.84939, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(40, 25), 57.37914, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(40, 30), 57.91449, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(40, 35), 58.43266, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(40, 40), 58.90338, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(40, 45), 59.30165, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(40, 50), 59.61914, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(40, 55), 59.86723, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(40, 60), 60.07012, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(40, 65), 60.2525, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(40, 70), 60.42883, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(40, 75), 60.59946, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(40, 80), 60.75363, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(40, 85), 60.87505, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(40, 90), 60.94533, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(40, 95), 60.9429, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(40, 100), 60.83981, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(40, 105), 60.60127, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(40, 110), 60.1918, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(40, 115), 59.58745, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(40, 120), 58.78883, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(40, 125), 57.82808, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(40, 130), 56.76583, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(40, 135), 55.67959, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(40, 140), 54.64888, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(40, 145), 53.74266, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(40, 150), 53.01236, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(40, 155), 52.49071, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(40, 160), 52.1938, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(40, 165), 52.12331, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(40, 170), 52.26738, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(40, 175), 52.60089, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(40, 180), 53.0875, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(45, -180), 57.52337, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(45, -175), 57.93647, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(45, -170), 58.45759, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(45, -165), 59.06985, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(45, -160), 59.76295, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(45, -155), 60.53235, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(45, -150), 61.37584, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(45, -145), 62.28941, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(45, -140), 63.26404, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(45, -135), 64.28493, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(45, -130), 65.33265, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(45, -125), 66.38488, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(45, -120), 67.41701, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(45, -115), 68.40051, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(45, -110), 69.29972, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(45, -105), 70.06912, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(45, -100), 70.65389, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(45, -95), 70.99622, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(45, -90), 71.04743, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(45, -85), 70.78222, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(45, -80), 70.20851, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(45, -75), 69.36789, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(45, -70), 68.32709, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(45, -65), 67.16502, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(45, -60), 65.96019, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(45, -55), 64.78122, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(45, -50), 63.68097, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(45, -45), 62.69493, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(45, -40), 61.84356, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(45, -35), 61.13767, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(45, -30), 60.5843, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(45, -25), 60.19022, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(45, -20), 59.96106, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(45, -15), 59.89666, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(45, -10), 59.9858, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(45, -5), 60.20412, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(45, 0), 60.51745, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(45, 5), 60.88966, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(45, 10), 61.29131, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(45, 15), 61.70457, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(45, 20), 62.1222, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(45, 25), 62.5418, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(45, 30), 62.9592, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(45, 35), 63.36526, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(45, 40), 63.74781, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(45, 45), 64.09716, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(45, 50), 64.4113, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(45, 55), 64.69725, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(45, 60), 64.96739, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(45, 65), 65.23277, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(45, 70), 65.49697, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(45, 75), 65.75335, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(45, 80), 65.98618, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(45, 85), 66.17384, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(45, 90), 66.2915, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(45, 95), 66.31218, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(45, 100), 66.20704, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(45, 105), 65.94737, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(45, 110), 65.51001, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(45, 115), 64.88542, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(45, 120), 64.08494, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(45, 125), 63.14327, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(45, 130), 62.11462, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(45, 135), 61.06372, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(45, 140), 60.05548, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(45, 145), 59.14626, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(45, 150), 58.37894, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(45, 155), 57.78179, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(45, 160), 57.36978, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(45, 165), 57.1469, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(45, 170), 57.1079, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(45, 175), 57.23975, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(45, 180), 57.52337, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(50, -180), 61.89099, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(50, -175), 62.17383, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(50, -170), 62.58157, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(50, -165), 63.10434, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(50, -160), 63.73323, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(50, -155), 64.45982, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(50, -150), 65.27489, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(50, -145), 66.16696, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(50, -140), 67.12136, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(50, -135), 68.12016, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(50, -130), 69.14275, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(50, -125), 70.16638, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(50, -120), 71.16577, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(50, -115), 72.11147, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(50, -110), 72.9675, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(50, -105), 73.68972, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(50, -100), 74.2273, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(50, -95), 74.52916, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(50, -90), 74.55554, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(50, -85), 74.29071, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(50, -80), 73.75044, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(50, -75), 72.98004, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(50, -70), 72.04431, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(50, -65), 71.01509, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(50, -60), 69.96049, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(50, -55), 68.93791, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(50, -50), 67.99053, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(50, -45), 67.14711, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(50, -40), 66.42422, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(50, -35), 65.83017, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(50, -30), 65.3689, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(50, -25), 65.04236, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(50, -20), 64.85043, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(50, -15), 64.78884, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(50, -10), 64.84666, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(50, -5), 65.00541, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(50, 0), 65.24085, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(50, 5), 65.52725, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(50, 10), 65.84229, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(50, 15), 66.17045, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(50, 20), 66.50354, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(50, 25), 66.83858, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(50, 30), 67.17464, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(50, 35), 67.51065, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(50, 40), 67.84519, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(50, 45), 68.1778, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(50, 50), 68.51031, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(50, 55), 68.84679, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(50, 60), 69.1913, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(50, 65), 69.54446, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(50, 70), 69.90032, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(50, 75), 70.24483, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(50, 80), 70.55643, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(50, 85), 70.80815, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(50, 90), 70.97024, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(50, 95), 71.01259, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(50, 100), 70.90741, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(50, 105), 70.63275, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(50, 110), 70.17711, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(50, 115), 69.544, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(50, 120), 68.75449, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(50, 125), 67.84618, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(50, 130), 66.86841, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(50, 135), 65.87544, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(50, 140), 64.91941, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(50, 145), 64.04501, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(50, 150), 63.28648, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(50, 155), 62.66711, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(50, 160), 62.20035, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(50, 165), 61.8918, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(50, 170), 61.7411, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(50, 175), 61.74347, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(50, 180), 61.89099, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(55, -180), 66.25235, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(55, -175), 66.45182, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(55, -170), 66.77707, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(55, -165), 67.22227, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(55, -160), 67.78022, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(55, -155), 68.44191, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(55, -150), 69.19617, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(55, -145), 70.02934, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(55, -140), 70.92524, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(55, -135), 71.86538, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(55, -130), 72.82925, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(55, -125), 73.7942, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(55, -120), 74.73472, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(55, -115), 75.62086, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(55, -110), 76.41654, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(55, -105), 77.07872, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(55, -100), 77.55964, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(55, -95), 77.81384, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(55, -90), 77.80944, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(55, -85), 77.53942, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(55, -80), 77.02624, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(55, -75), 76.3169, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(55, -70), 75.472, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(55, -65), 74.55438, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(55, -60), 73.62107, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(55, -55), 72.71889, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(55, -50), 71.88288, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(55, -45), 71.13682, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(55, -40), 70.49505, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(55, -35), 69.96494, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(55, -30), 69.54931, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(55, -25), 69.24788, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(55, -20), 69.05773, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(55, -15), 68.9727, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(55, -10), 68.98266, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(55, -5), 69.07347, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(55, 0), 69.22811, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(55, 5), 69.42897, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(55, 10), 69.66049, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(55, 15), 69.91125, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(55, 20), 70.17481, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(55, 25), 70.44915, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(55, 30), 70.73538, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(55, 35), 71.03629, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(55, 40), 71.35532, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(55, 45), 71.69603, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(55, 50), 72.06154, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(55, 55), 72.45351, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(55, 60), 72.87054, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(55, 65), 73.3063, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(55, 70), 73.74787, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(55, 75), 74.17502, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(55, 80), 74.56082, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(55, 85), 74.87337, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(55, 90), 75.07882, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(55, 95), 75.14513, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(55, 100), 75.04659, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(55, 105), 74.76829, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(55, 110), 74.30963, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(55, 115), 73.68563, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(55, 120), 72.92558, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(55, 125), 72.06917, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(55, 130), 71.16148, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(55, 135), 70.24784, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(55, 140), 69.36963, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(55, 145), 68.56147, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(55, 150), 67.84993, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(55, 155), 67.2536, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(55, 160), 66.78421, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(55, 165), 66.44812, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(55, 170), 66.24783, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(55, 175), 66.18323, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(55, 180), 66.25235, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(60, -180), 70.58559, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(60, -175), 70.73325, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(60, -170), 70.99602, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(60, -165), 71.37007, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(60, -160), 71.84967, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(60, -155), 72.42694, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(60, -150), 73.09173, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(60, -145), 73.83159, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(60, -140), 74.6319, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(60, -135), 75.47603, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(60, -130), 76.34527, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(60, -125), 77.21841, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(60, -120), 78.07083, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(60, -115), 78.87308, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(60, -110), 79.58938, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(60, -105), 80.17748, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(60, -100), 80.59164, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(60, -95), 80.79046, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(60, -90), 80.74878, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(60, -85), 80.46753, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(60, -80), 79.97507, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(60, -75), 79.31903, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(60, -70), 78.55453, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(60, -65), 77.73477, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(60, -60), 76.9058, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(60, -55), 76.10447, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(60, -50), 75.3584, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(60, -45), 74.68677, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(60, -40), 74.10175, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(60, -35), 73.60996, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(60, -30), 73.21387, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(60, -25), 72.91277, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(60, -20), 72.70328, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(60, -15), 72.57957, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(60, -10), 72.53345, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(60, -5), 72.55476, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(60, 0), 72.63223, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(60, 5), 72.75466, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(60, 10), 72.91236, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(60, 15), 73.09825, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(60, 20), 73.30849, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(60, 25), 73.54247, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(60, 30), 73.8022, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(60, 35), 74.09138, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(60, 40), 74.41439, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(60, 45), 74.77519, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(60, 50), 75.17619, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(60, 55), 75.61701, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(60, 60), 76.09309, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(60, 65), 76.59441, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(60, 70), 77.10437, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(60, 75), 77.59928, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(60, 80), 78.04872, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(60, 85), 78.41719, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(60, 90), 78.66747, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(60, 95), 78.7659, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(60, 100), 78.68854, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(60, 105), 78.42662, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(60, 110), 77.98882, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(60, 115), 77.3994, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(60, 120), 76.69352, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(60, 125), 75.91155, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(60, 130), 75.09428, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(60, 135), 74.27941, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(60, 140), 73.49954, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(60, 145), 72.78115, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(60, 150), 72.14454, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(60, 155), 71.60429, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(60, 160), 71.17026, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(60, 165), 70.84865, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(60, 170), 70.64305, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(60, 175), 70.55524, 0.21 + 1.2); - EXPECT_NEAR(get_mag_inclination_degrees(60, 180), 70.58559, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-50, -180), -71.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-50, -175), -70.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-50, -170), -69.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-50, -165), -68.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-50, -160), -67.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-50, -155), -66.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-50, -150), -65.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-50, -145), -64.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-50, -140), -64.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-50, -135), -63.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-50, -130), -62.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-50, -125), -60.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-50, -120), -59.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-50, -115), -58.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-50, -110), -57.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-50, -105), -55.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-50, -100), -54.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-50, -95), -52.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-50, -90), -51.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-50, -85), -49.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-50, -80), -48.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-50, -75), -48.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-50, -70), -48.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-50, -65), -48.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-50, -60), -49.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-50, -55), -50.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-50, -50), -52.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-50, -45), -53.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-50, -40), -55.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-50, -35), -56.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-50, -30), -58.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-50, -25), -59.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-50, -20), -60.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-50, -15), -60.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-50, -10), -61.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-50, -5), -61.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-50, 0), -60.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-50, 5), -60.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-50, 10), -59.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-50, 15), -59.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-50, 20), -59.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-50, 25), -58.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-50, 30), -59.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-50, 35), -59.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-50, 40), -60.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-50, 45), -61.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-50, 50), -62.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-50, 55), -64.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-50, 60), -66.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-50, 65), -67.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-50, 70), -69.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-50, 75), -71.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-50, 80), -72.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-50, 85), -74.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-50, 90), -75.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-50, 95), -77.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-50, 100), -78.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-50, 105), -79.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-50, 110), -80.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-50, 115), -80.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-50, 120), -80.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-50, 125), -80.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-50, 130), -80.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-50, 135), -79.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-50, 140), -79.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-50, 145), -78.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-50, 150), -77.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-50, 155), -76.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-50, 160), -75.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-50, 165), -74.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-50, 170), -73.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-50, 175), -72.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-50, 180), -71.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-45, -180), -68.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-45, -175), -67.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-45, -170), -66.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-45, -165), -65.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-45, -160), -64.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-45, -155), -63.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-45, -150), -62.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-45, -145), -61.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-45, -140), -60.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-45, -135), -59.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-45, -130), -58.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-45, -125), -57.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-45, -120), -56.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-45, -115), -55.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-45, -110), -53.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-45, -105), -52.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-45, -100), -50.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-45, -95), -49.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-45, -90), -47.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-45, -85), -46.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-45, -80), -45.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-45, -75), -44.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-45, -70), -45.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-45, -65), -45.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-45, -60), -47.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-45, -55), -48.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-45, -50), -50.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-45, -45), -52.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-45, -40), -55.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-45, -35), -57.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-45, -30), -58.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-45, -25), -60.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-45, -20), -61.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-45, -15), -62.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-45, -10), -63.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-45, -5), -63.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-45, 0), -63.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-45, 5), -62.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-45, 10), -62.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-45, 15), -61.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-45, 20), -60.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-45, 25), -60.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-45, 30), -59.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-45, 35), -60.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-45, 40), -60.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-45, 45), -61.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-45, 50), -62.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-45, 55), -64.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-45, 60), -65.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-45, 65), -67.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-45, 70), -69.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-45, 75), -70.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-45, 80), -72.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-45, 85), -73.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-45, 90), -74.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-45, 95), -75.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-45, 100), -76.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-45, 105), -76.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-45, 110), -77.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-45, 115), -77.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-45, 120), -77.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-45, 125), -76.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-45, 130), -76.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-45, 135), -75.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-45, 140), -75.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-45, 145), -74.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-45, 150), -73.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-45, 155), -73.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-45, 160), -72.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-45, 165), -71.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-45, 170), -70.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-45, 175), -69.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-45, 180), -68.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-40, -180), -64.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-40, -175), -63.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-40, -170), -62.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-40, -165), -61.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-40, -160), -60.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-40, -155), -59.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-40, -150), -58.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-40, -145), -57.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-40, -140), -56.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-40, -135), -55.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-40, -130), -54.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-40, -125), -53.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-40, -120), -52.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-40, -115), -51.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-40, -110), -50.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-40, -105), -48.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-40, -100), -47.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-40, -95), -45.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-40, -90), -43.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-40, -85), -42.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-40, -80), -41.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-40, -75), -41.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-40, -70), -41.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-40, -65), -42.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-40, -60), -44.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-40, -55), -46.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-40, -50), -48.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-40, -45), -51.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-40, -40), -54.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-40, -35), -56.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-40, -30), -58.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-40, -25), -60.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-40, -20), -62.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-40, -15), -63.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-40, -10), -64.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-40, -5), -65.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-40, 0), -65.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-40, 5), -65.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-40, 10), -64.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-40, 15), -63.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-40, 20), -62.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-40, 25), -61.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-40, 30), -60.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-40, 35), -60.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-40, 40), -61.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-40, 45), -61.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-40, 50), -62.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-40, 55), -64.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-40, 60), -65.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-40, 65), -66.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-40, 70), -68.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-40, 75), -69.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-40, 80), -70.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-40, 85), -71.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-40, 90), -72.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-40, 95), -73.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-40, 100), -73.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-40, 105), -73.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-40, 110), -73.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-40, 115), -73.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-40, 120), -73.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-40, 125), -72.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-40, 130), -72.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-40, 135), -71.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-40, 140), -71.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-40, 145), -70.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-40, 150), -69.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-40, 155), -69.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-40, 160), -68.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-40, 165), -67.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-40, 170), -66.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-40, 175), -65.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-40, 180), -64.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-35, -180), -60.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-35, -175), -59.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-35, -170), -58.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-35, -165), -56.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-35, -160), -55.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-35, -155), -54.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-35, -150), -53.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-35, -145), -52.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-35, -140), -51.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-35, -135), -50.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-35, -130), -49.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-35, -125), -48.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-35, -120), -47.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-35, -115), -46.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-35, -110), -45.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-35, -105), -44.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-35, -100), -42.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-35, -95), -40.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-35, -90), -39.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-35, -85), -37.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-35, -80), -36.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-35, -75), -36.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-35, -70), -36.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-35, -65), -38.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-35, -60), -40.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-35, -55), -43.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-35, -50), -46.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-35, -45), -49.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-35, -40), -52.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-35, -35), -55.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-35, -30), -58.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-35, -25), -60.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-35, -20), -62.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-35, -15), -64.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-35, -10), -65.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-35, -5), -66.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-35, 0), -67.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-35, 5), -67.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-35, 10), -66.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-35, 15), -65.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-35, 20), -64.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-35, 25), -63.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-35, 30), -62.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-35, 35), -61.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-35, 40), -61.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-35, 45), -61.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-35, 50), -62.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-35, 55), -63.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-35, 60), -64.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-35, 65), -65.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-35, 70), -66.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-35, 75), -67.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-35, 80), -68.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-35, 85), -69.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-35, 90), -69.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-35, 95), -70.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-35, 100), -69.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-35, 105), -69.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-35, 110), -69.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-35, 115), -69.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-35, 120), -68.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-35, 125), -68.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-35, 130), -67.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-35, 135), -67.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-35, 140), -66.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-35, 145), -66.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-35, 150), -65.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-35, 155), -64.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-35, 160), -64.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-35, 165), -63.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-35, 170), -62.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-35, 175), -61.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-35, 180), -60.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-30, -180), -55.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-30, -175), -53.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-30, -170), -52.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-30, -165), -51.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-30, -160), -50.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-30, -155), -49.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-30, -150), -48.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-30, -145), -47.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-30, -140), -46.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-30, -135), -45.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-30, -130), -44.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-30, -125), -43.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-30, -120), -42.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-30, -115), -40.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-30, -110), -39.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-30, -105), -38.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-30, -100), -36.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-30, -95), -35.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-30, -90), -33.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-30, -85), -31.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-30, -80), -30.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-30, -75), -30.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-30, -70), -31.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-30, -65), -33.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-30, -60), -36.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-30, -55), -39.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-30, -50), -43.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-30, -45), -46.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-30, -40), -50.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-30, -35), -53.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-30, -30), -56.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-30, -25), -59.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-30, -20), -61.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-30, -15), -63.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-30, -10), -65.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-30, -5), -66.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-30, 0), -67.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-30, 5), -67.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-30, 10), -67.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-30, 15), -66.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-30, 20), -65.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-30, 25), -63.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-30, 30), -62.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-30, 35), -61.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-30, 40), -60.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-30, 45), -60.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-30, 50), -60.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-30, 55), -61.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-30, 60), -62.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-30, 65), -63.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-30, 70), -63.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-30, 75), -64.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-30, 80), -65.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-30, 85), -65.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-30, 90), -65.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-30, 95), -65.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-30, 100), -65.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-30, 105), -65.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-30, 110), -64.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-30, 115), -64.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-30, 120), -63.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-30, 125), -63.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-30, 130), -62.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-30, 135), -62.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-30, 140), -62.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-30, 145), -61.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-30, 150), -60.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-30, 155), -60.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-30, 160), -59.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-30, 165), -58.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-30, 170), -57.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-30, 175), -56.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-30, 180), -55.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-25, -180), -49.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-25, -175), -47.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-25, -170), -46.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-25, -165), -45.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-25, -160), -44.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-25, -155), -43.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-25, -150), -42.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-25, -145), -40.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-25, -140), -39.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-25, -135), -38.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-25, -130), -37.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-25, -125), -36.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-25, -120), -35.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-25, -115), -34.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-25, -110), -33.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-25, -105), -31.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-25, -100), -30.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-25, -95), -28.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-25, -90), -26.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-25, -85), -24.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-25, -80), -23.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-25, -75), -23.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-25, -70), -25.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-25, -65), -27.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-25, -60), -30.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-25, -55), -34.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-25, -50), -38.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-25, -45), -43.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-25, -40), -46.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-25, -35), -50.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-25, -30), -53.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-25, -25), -56.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-25, -20), -59.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-25, -15), -61.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-25, -10), -63.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-25, -5), -65.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-25, 0), -66.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-25, 5), -66.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-25, 10), -66.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-25, 15), -65.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-25, 20), -64.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-25, 25), -62.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-25, 30), -60.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-25, 35), -59.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-25, 40), -58.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-25, 45), -57.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-25, 50), -57.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-25, 55), -57.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-25, 60), -58.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-25, 65), -59.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-25, 70), -59.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-25, 75), -60.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-25, 80), -60.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-25, 85), -61.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-25, 90), -61.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-25, 95), -60.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-25, 100), -60.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-25, 105), -59.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-25, 110), -58.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-25, 115), -58.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-25, 120), -57.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-25, 125), -57.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-25, 130), -57.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-25, 135), -56.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-25, 140), -56.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-25, 145), -56.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-25, 150), -55.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-25, 155), -54.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-25, 160), -53.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-25, 165), -52.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-25, 170), -51.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-25, 175), -50.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-25, 180), -49.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-20, -180), -42.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-20, -175), -40.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-20, -170), -39.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-20, -165), -38.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-20, -160), -37.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-20, -155), -36.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-20, -150), -34.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-20, -145), -33.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-20, -140), -32.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-20, -135), -30.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-20, -130), -29.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-20, -125), -28.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-20, -120), -27.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-20, -115), -26.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-20, -110), -25.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-20, -105), -23.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-20, -100), -22.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-20, -95), -20.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-20, -90), -18.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-20, -85), -16.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-20, -80), -15.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-20, -75), -15.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-20, -70), -17.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-20, -65), -20.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-20, -60), -24.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-20, -55), -28.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-20, -50), -33.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-20, -45), -38.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-20, -40), -42.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-20, -35), -46.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-20, -30), -50.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-20, -25), -53.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-20, -20), -56.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-20, -15), -58.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-20, -10), -60.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-20, -5), -62.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-20, 0), -63.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-20, 5), -63.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-20, 10), -63.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-20, 15), -62.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-20, 20), -60.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-20, 25), -59.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-20, 30), -57.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-20, 35), -55.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-20, 40), -54.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-20, 45), -53.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-20, 50), -52.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-20, 55), -52.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-20, 60), -53.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-20, 65), -53.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-20, 70), -54.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-20, 75), -54.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-20, 80), -54.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-20, 85), -55.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-20, 90), -54.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-20, 95), -54.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-20, 100), -53.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-20, 105), -53.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-20, 110), -52.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-20, 115), -51.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-20, 120), -51.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-20, 125), -51.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-20, 130), -50.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-20, 135), -50.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-20, 140), -50.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-20, 145), -49.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-20, 150), -49.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-20, 155), -48.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-20, 160), -47.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-20, 165), -46.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-20, 170), -44.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-20, 175), -43.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-20, 180), -42.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-15, -180), -34.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-15, -175), -32.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-15, -170), -31.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-15, -165), -30.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-15, -160), -28.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-15, -155), -27.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-15, -150), -26.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-15, -145), -25.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-15, -140), -23.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-15, -135), -22.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-15, -130), -21.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-15, -125), -20.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-15, -120), -18.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-15, -115), -17.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-15, -110), -16.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-15, -105), -14.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-15, -100), -13.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-15, -95), -11.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-15, -90), -9.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-15, -85), -7.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-15, -80), -6.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-15, -75), -7.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-15, -70), -9.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-15, -65), -12.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-15, -60), -16.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-15, -55), -21.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-15, -50), -26.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-15, -45), -32.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-15, -40), -37.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-15, -35), -41.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-15, -30), -45.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-15, -25), -49.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-15, -20), -51.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-15, -15), -54.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-15, -10), -55.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-15, -5), -57.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-15, 0), -57.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-15, 5), -57.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-15, 10), -57.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-15, 15), -56.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-15, 20), -55.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-15, 25), -53.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-15, 30), -51.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-15, 35), -49.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-15, 40), -47.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-15, 45), -46.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-15, 50), -46.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-15, 55), -46.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-15, 60), -46.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-15, 65), -46.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-15, 70), -46.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-15, 75), -47.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-15, 80), -47.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-15, 85), -47.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-15, 90), -47.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-15, 95), -47.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-15, 100), -46.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-15, 105), -45.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-15, 110), -44.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-15, 115), -44.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-15, 120), -43.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-15, 125), -43.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-15, 130), -43.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-15, 135), -43.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-15, 140), -43.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-15, 145), -42.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-15, 150), -42.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-15, 155), -41.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-15, 160), -40.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-15, 165), -38.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-15, 170), -37.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-15, 175), -35.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-15, 180), -34.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-10, -180), -25.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-10, -175), -23.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-10, -170), -22.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-10, -165), -20.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-10, -160), -19.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-10, -155), -18.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-10, -150), -16.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-10, -145), -15.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-10, -140), -14.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-10, -135), -13.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-10, -130), -11.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-10, -125), -10.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-10, -120), -9.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-10, -115), -8.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-10, -110), -6.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-10, -105), -5.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-10, -100), -3.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-10, -95), -1.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-10, -90), 0.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-10, -85), 2.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-10, -80), 2.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-10, -75), 1.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-10, -70), -0.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-10, -65), -3.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-10, -60), -8.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-10, -55), -13.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-10, -50), -19.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-10, -45), -25.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-10, -40), -30.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-10, -35), -35.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-10, -30), -39.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-10, -25), -42.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-10, -20), -45.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-10, -15), -47.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-10, -10), -49.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-10, -5), -50.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-10, 0), -50.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-10, 5), -50.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-10, 10), -49.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-10, 15), -48.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-10, 20), -47.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-10, 25), -45.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-10, 30), -43.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-10, 35), -41.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-10, 40), -39.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-10, 45), -38.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-10, 50), -37.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-10, 55), -37.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-10, 60), -37.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-10, 65), -37.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-10, 70), -38.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-10, 75), -38.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-10, 80), -38.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-10, 85), -38.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-10, 90), -38.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-10, 95), -38.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-10, 100), -37.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-10, 105), -36.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-10, 110), -36.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-10, 115), -35.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-10, 120), -35.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-10, 125), -35.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-10, 130), -35.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-10, 135), -35.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-10, 140), -35.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-10, 145), -34.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-10, 150), -34.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-10, 155), -33.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-10, 160), -31.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-10, 165), -30.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-10, 170), -28.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-10, 175), -27.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-10, 180), -25.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-5, -180), -15.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-5, -175), -13.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-5, -170), -12.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-5, -165), -10.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-5, -160), -9.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-5, -155), -8.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-5, -150), -6.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-5, -145), -5.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-5, -140), -4.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-5, -135), -3.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-5, -130), -1.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-5, -125), -0.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-5, -120), 0.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-5, -115), 1.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-5, -110), 3.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-5, -105), 4.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-5, -100), 6.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-5, -95), 8.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-5, -90), 10.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-5, -85), 11.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-5, -80), 11.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-5, -75), 10.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-5, -70), 8.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-5, -65), 5.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-5, -60), 0.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-5, -55), -4.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-5, -50), -10.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-5, -45), -16.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-5, -40), -22.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-5, -35), -27.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-5, -30), -31.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-5, -25), -35.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-5, -20), -37.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-5, -15), -39.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-5, -10), -40.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-5, -5), -41.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-5, 0), -41.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-5, 5), -41.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-5, 10), -40.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-5, 15), -39.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-5, 20), -37.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-5, 25), -35.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-5, 30), -33.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-5, 35), -31.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-5, 40), -29.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-5, 45), -28.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-5, 50), -27.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-5, 55), -27.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-5, 60), -27.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-5, 65), -27.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-5, 70), -27.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-5, 75), -28.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-5, 80), -28.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-5, 85), -28.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-5, 90), -28.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-5, 95), -28.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-5, 100), -27.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-5, 105), -26.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-5, 110), -26.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-5, 115), -25.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-5, 120), -25.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-5, 125), -25.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-5, 130), -26.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-5, 135), -26.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-5, 140), -26.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-5, 145), -26.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-5, 150), -25.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-5, 155), -24.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-5, 160), -22.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-5, 165), -21.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-5, 170), -19.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-5, 175), -17.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(-5, 180), -15.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(0, -180), -5.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(0, -175), -3.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(0, -170), -1.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(0, -165), -0.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(0, -160), 1.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(0, -155), 2.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(0, -150), 3.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(0, -145), 4.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(0, -140), 6.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(0, -135), 7.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(0, -130), 8.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(0, -125), 9.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(0, -120), 10.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(0, -115), 11.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(0, -110), 13.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(0, -105), 14.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(0, -100), 16.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(0, -95), 18.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(0, -90), 19.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(0, -85), 20.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(0, -80), 20.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(0, -75), 19.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(0, -70), 17.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(0, -65), 14.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(0, -60), 9.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(0, -55), 4.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(0, -50), -1.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(0, -45), -7.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(0, -40), -13.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(0, -35), -18.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(0, -30), -22.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(0, -25), -25.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(0, -20), -27.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(0, -15), -29.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(0, -10), -30.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(0, -5), -30.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(0, 0), -30.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(0, 5), -29.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(0, 10), -29.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(0, 15), -28.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(0, 20), -26.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(0, 25), -24.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(0, 30), -22.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(0, 35), -20.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(0, 40), -18.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(0, 45), -17.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(0, 50), -16.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(0, 55), -16.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(0, 60), -15.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(0, 65), -16.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(0, 70), -16.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(0, 75), -16.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(0, 80), -17.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(0, 85), -17.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(0, 90), -17.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(0, 95), -17.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(0, 100), -16.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(0, 105), -15.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(0, 110), -15.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(0, 115), -15.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(0, 120), -15.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(0, 125), -15.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(0, 130), -16.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(0, 135), -16.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(0, 140), -16.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(0, 145), -16.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(0, 150), -15.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(0, 155), -14.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(0, 160), -13.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(0, 165), -11.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(0, 170), -9.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(0, 175), -7.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(0, 180), -5.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(5, -180), 5.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(5, -175), 7.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(5, -170), 8.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(5, -165), 10.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(5, -160), 11.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(5, -155), 12.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(5, -150), 13.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(5, -145), 14.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(5, -140), 15.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(5, -135), 17.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(5, -130), 18.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(5, -125), 19.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(5, -120), 20.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(5, -115), 21.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(5, -110), 22.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(5, -105), 23.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(5, -100), 25.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(5, -95), 26.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(5, -90), 28.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(5, -85), 28.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(5, -80), 28.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(5, -75), 27.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(5, -70), 25.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(5, -65), 22.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(5, -60), 18.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(5, -55), 13.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(5, -50), 8.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(5, -45), 2.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(5, -40), -2.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(5, -35), -7.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(5, -30), -11.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(5, -25), -14.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(5, -20), -16.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(5, -15), -17.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(5, -10), -18.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(5, -5), -18.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(5, 0), -18.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(5, 5), -17.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(5, 10), -16.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(5, 15), -15.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(5, 20), -14.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(5, 25), -12.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(5, 30), -10.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(5, 35), -7.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(5, 40), -6.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(5, 45), -4.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(5, 50), -4.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(5, 55), -3.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(5, 60), -3.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(5, 65), -3.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(5, 70), -4.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(5, 75), -4.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(5, 80), -4.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(5, 85), -5.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(5, 90), -5.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(5, 95), -5.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(5, 100), -4.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(5, 105), -4.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(5, 110), -3.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(5, 115), -3.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(5, 120), -3.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(5, 125), -4.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(5, 130), -5.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(5, 135), -5.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(5, 140), -6.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(5, 145), -6.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(5, 150), -5.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(5, 155), -4.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(5, 160), -3.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(5, 165), -1.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(5, 170), 0.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(5, 175), 2.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(5, 180), 5.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(10, -180), 14.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(10, -175), 16.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(10, -170), 18.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(10, -165), 19.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(10, -160), 20.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(10, -155), 21.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(10, -150), 22.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(10, -145), 23.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(10, -140), 24.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(10, -135), 26.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(10, -130), 27.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(10, -125), 28.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(10, -120), 29.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(10, -115), 30.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(10, -110), 31.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(10, -105), 32.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(10, -100), 33.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(10, -95), 34.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(10, -90), 35.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(10, -85), 36.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(10, -80), 35.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(10, -75), 34.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(10, -70), 32.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(10, -65), 30.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(10, -60), 26.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(10, -55), 22.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(10, -50), 17.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(10, -45), 12.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(10, -40), 7.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(10, -35), 3.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(10, -30), -0.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(10, -25), -2.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(10, -20), -4.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(10, -15), -5.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(10, -10), -5.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(10, -5), -5.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(10, 0), -5.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(10, 5), -4.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(10, 10), -3.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(10, 15), -2.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(10, 20), -1.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(10, 25), 0.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(10, 30), 2.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(10, 35), 4.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(10, 40), 6.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(10, 45), 7.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(10, 50), 8.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(10, 55), 8.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(10, 60), 8.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(10, 65), 8.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(10, 70), 8.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(10, 75), 8.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(10, 80), 7.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(10, 85), 7.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(10, 90), 7.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(10, 95), 7.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(10, 100), 7.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(10, 105), 7.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(10, 110), 7.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(10, 115), 7.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(10, 120), 7.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(10, 125), 6.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(10, 130), 5.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(10, 135), 5.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(10, 140), 4.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(10, 145), 4.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(10, 150), 4.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(10, 155), 5.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(10, 160), 6.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(10, 165), 8.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(10, 170), 10.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(10, 175), 12.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(10, 180), 14.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(15, -180), 23.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(15, -175), 25.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(15, -170), 26.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(15, -165), 28.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(15, -160), 29.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(15, -155), 30.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(15, -150), 31.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(15, -145), 32.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(15, -140), 33.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(15, -135), 34.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(15, -130), 35.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(15, -125), 35.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(15, -120), 36.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(15, -115), 37.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(15, -110), 38.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(15, -105), 39.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(15, -100), 41.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(15, -95), 41.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(15, -90), 42.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(15, -85), 42.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(15, -80), 42.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(15, -75), 41.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(15, -70), 39.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(15, -65), 36.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(15, -60), 33.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(15, -55), 30.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(15, -50), 25.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(15, -45), 21.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(15, -40), 17.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(15, -35), 14.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(15, -30), 11.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(15, -25), 9.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(15, -20), 7.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(15, -15), 7.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(15, -10), 7.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(15, -5), 7.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(15, 0), 7.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(15, 5), 8.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(15, 10), 9.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(15, 15), 10.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(15, 20), 11.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(15, 25), 13.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(15, 30), 14.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(15, 35), 16.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(15, 40), 18.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(15, 45), 19.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(15, 50), 19.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(15, 55), 20.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(15, 60), 20.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(15, 65), 20.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(15, 70), 19.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(15, 75), 19.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(15, 80), 19.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(15, 85), 19.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(15, 90), 19.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(15, 95), 19.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(15, 100), 19.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(15, 105), 19.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(15, 110), 19.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(15, 115), 19.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(15, 120), 18.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(15, 125), 17.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(15, 130), 16.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(15, 135), 15.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(15, 140), 14.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(15, 145), 14.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(15, 150), 14.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(15, 155), 15.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(15, 160), 16.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(15, 165), 17.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(15, 170), 19.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(15, 175), 21.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(15, 180), 23.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(20, -180), 31.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(20, -175), 32.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(20, -170), 34.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(20, -165), 35.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(20, -160), 36.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(20, -155), 37.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(20, -150), 38.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(20, -145), 38.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(20, -140), 39.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(20, -135), 40.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(20, -130), 41.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(20, -125), 42.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(20, -120), 43.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(20, -115), 44.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(20, -110), 45.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(20, -105), 46.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(20, -100), 47.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(20, -95), 48.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(20, -90), 48.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(20, -85), 48.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(20, -80), 48.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(20, -75), 46.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(20, -70), 45.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(20, -65), 43.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(20, -60), 40.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(20, -55), 37.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(20, -50), 33.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(20, -45), 30.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(20, -40), 27.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(20, -35), 24.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(20, -30), 22.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(20, -25), 20.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(20, -20), 19.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(20, -15), 19.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(20, -10), 19.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(20, -5), 19.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(20, 0), 20.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(20, 5), 20.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(20, 10), 21.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(20, 15), 22.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(20, 20), 23.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(20, 25), 24.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(20, 30), 26.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(20, 35), 27.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(20, 40), 28.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(20, 45), 29.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(20, 50), 30.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(20, 55), 30.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(20, 60), 30.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(20, 65), 30.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(20, 70), 30.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(20, 75), 30.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(20, 80), 30.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(20, 85), 30.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(20, 90), 29.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(20, 95), 29.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(20, 100), 29.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(20, 105), 29.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(20, 110), 29.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(20, 115), 29.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(20, 120), 28.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(20, 125), 27.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(20, 130), 26.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(20, 135), 25.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(20, 140), 24.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(20, 145), 24.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(20, 150), 24.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(20, 155), 24.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(20, 160), 25.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(20, 165), 26.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(20, 170), 27.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(20, 175), 29.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(20, 180), 31.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(25, -180), 37.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(25, -175), 39.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(25, -170), 40.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(25, -165), 41.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(25, -160), 42.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(25, -155), 43.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(25, -150), 44.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(25, -145), 44.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(25, -140), 45.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(25, -135), 46.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(25, -130), 47.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(25, -125), 48.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(25, -120), 49.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(25, -115), 50.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(25, -110), 51.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(25, -105), 52.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(25, -100), 53.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(25, -95), 53.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(25, -90), 54.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(25, -85), 53.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(25, -80), 53.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(25, -75), 52.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(25, -70), 50.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(25, -65), 48.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(25, -60), 46.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(25, -55), 43.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(25, -50), 41.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(25, -45), 38.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(25, -40), 36.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(25, -35), 34.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(25, -30), 32.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(25, -25), 31.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(25, -20), 30.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(25, -15), 29.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(25, -10), 29.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(25, -5), 30.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(25, 0), 30.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(25, 5), 31.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(25, 10), 32.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(25, 15), 33.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(25, 20), 33.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(25, 25), 34.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(25, 30), 36.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(25, 35), 37.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(25, 40), 38.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(25, 45), 39.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(25, 50), 39.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(25, 55), 39.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(25, 60), 39.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(25, 65), 39.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(25, 70), 39.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(25, 75), 39.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(25, 80), 39.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(25, 85), 39.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(25, 90), 39.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(25, 95), 39.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(25, 100), 39.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(25, 105), 39.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(25, 110), 39.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(25, 115), 38.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(25, 120), 37.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(25, 125), 36.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(25, 130), 35.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(25, 135), 34.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(25, 140), 33.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(25, 145), 33.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(25, 150), 32.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(25, 155), 32.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(25, 160), 33.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(25, 165), 33.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(25, 170), 34.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(25, 175), 36.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(25, 180), 37.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(30, -180), 43.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(30, -175), 44.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(30, -170), 45.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(30, -165), 46.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(30, -160), 47.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(30, -155), 48.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(30, -150), 49.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(30, -145), 49.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(30, -140), 50.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(30, -135), 51.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(30, -130), 52.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(30, -125), 53.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(30, -120), 54.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(30, -115), 55.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(30, -110), 56.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(30, -105), 57.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(30, -100), 58.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(30, -95), 58.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(30, -90), 58.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(30, -85), 58.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(30, -80), 57.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(30, -75), 56.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(30, -70), 55.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(30, -65), 53.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(30, -60), 51.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(30, -55), 49.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(30, -50), 47.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(30, -45), 45.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(30, -40), 43.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(30, -35), 42.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(30, -30), 41.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(30, -25), 40.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(30, -20), 39.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(30, -15), 39.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(30, -10), 39.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(30, -5), 39.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(30, 0), 40.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(30, 5), 40.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(30, 10), 41.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(30, 15), 42.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(30, 20), 42.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(30, 25), 43.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(30, 30), 44.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(30, 35), 45.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(30, 40), 46.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(30, 45), 46.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(30, 50), 47.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(30, 55), 47.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(30, 60), 47.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(30, 65), 47.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(30, 70), 47.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(30, 75), 47.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(30, 80), 47.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(30, 85), 47.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(30, 90), 47.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(30, 95), 47.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(30, 100), 47.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(30, 105), 47.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(30, 110), 47.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(30, 115), 46.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(30, 120), 45.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(30, 125), 44.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(30, 130), 43.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(30, 135), 42.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(30, 140), 41.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(30, 145), 40.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(30, 150), 40.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(30, 155), 40.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(30, 160), 40.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(30, 165), 40.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(30, 170), 41.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(30, 175), 42.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(30, 180), 43.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(35, -180), 48.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(35, -175), 49.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(35, -170), 50.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(35, -165), 51.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(35, -160), 51.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(35, -155), 52.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(35, -150), 53.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(35, -145), 54.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(35, -140), 55.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(35, -135), 56.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(35, -130), 57.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(35, -125), 58.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(35, -120), 59.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(35, -115), 60.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(35, -110), 61.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(35, -105), 62.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(35, -100), 62.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(35, -95), 63.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(35, -90), 63.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(35, -85), 62.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(35, -80), 62.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(35, -75), 61.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(35, -70), 60.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(35, -65), 58.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(35, -60), 56.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(35, -55), 55.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(35, -50), 53.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(35, -45), 52.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(35, -40), 50.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(35, -35), 49.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(35, -30), 48.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(35, -25), 47.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(35, -20), 47.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(35, -15), 47.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(35, -10), 47.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(35, -5), 47.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(35, 0), 48.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(35, 5), 48.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(35, 10), 49.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(35, 15), 49.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(35, 20), 50.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(35, 25), 51.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(35, 30), 51.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(35, 35), 52.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(35, 40), 53.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(35, 45), 53.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(35, 50), 54.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(35, 55), 54.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(35, 60), 54.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(35, 65), 54.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(35, 70), 54.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(35, 75), 54.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(35, 80), 54.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(35, 85), 54.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(35, 90), 54.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(35, 95), 54.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(35, 100), 54.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(35, 105), 54.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(35, 110), 54.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(35, 115), 53.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(35, 120), 52.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(35, 125), 51.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(35, 130), 50.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(35, 135), 49.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(35, 140), 48.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(35, 145), 47.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(35, 150), 47.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(35, 155), 46.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(35, 160), 46.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(35, 165), 46.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(35, 170), 47.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(35, 175), 47.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(35, 180), 48.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(40, -180), 53.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(40, -175), 53.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(40, -170), 54.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(40, -165), 55.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(40, -160), 55.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(40, -155), 56.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(40, -150), 57.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(40, -145), 58.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(40, -140), 59.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(40, -135), 60.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(40, -130), 61.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(40, -125), 62.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(40, -120), 63.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(40, -115), 64.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(40, -110), 65.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(40, -105), 66.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(40, -100), 66.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(40, -95), 67.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(40, -90), 67.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(40, -85), 66.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(40, -80), 66.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(40, -75), 65.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(40, -70), 64.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(40, -65), 62.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(40, -60), 61.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(40, -55), 60.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(40, -50), 58.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(40, -45), 57.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(40, -40), 56.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(40, -35), 55.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(40, -30), 55.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(40, -25), 54.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(40, -20), 54.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(40, -15), 54.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(40, -10), 54.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(40, -5), 54.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(40, 0), 54.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(40, 5), 55.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(40, 10), 55.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(40, 15), 56.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(40, 20), 56.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(40, 25), 57.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(40, 30), 58.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(40, 35), 58.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(40, 40), 59.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(40, 45), 59.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(40, 50), 59.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(40, 55), 59.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(40, 60), 60.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(40, 65), 60.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(40, 70), 60.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(40, 75), 60.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(40, 80), 60.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(40, 85), 61.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(40, 90), 61.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(40, 95), 61.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(40, 100), 60.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(40, 105), 60.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(40, 110), 60.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(40, 115), 59.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(40, 120), 58.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(40, 125), 57.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(40, 130), 56.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(40, 135), 55.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(40, 140), 54.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(40, 145), 53.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(40, 150), 53.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(40, 155), 52.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(40, 160), 52.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(40, 165), 52.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(40, 170), 52.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(40, 175), 52.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(40, 180), 53.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(45, -180), 57.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(45, -175), 57.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(45, -170), 58.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(45, -165), 59.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(45, -160), 59.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(45, -155), 60.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(45, -150), 61.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(45, -145), 62.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(45, -140), 63.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(45, -135), 64.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(45, -130), 65.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(45, -125), 66.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(45, -120), 67.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(45, -115), 68.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(45, -110), 69.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(45, -105), 70.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(45, -100), 70.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(45, -95), 70.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(45, -90), 71.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(45, -85), 70.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(45, -80), 70.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(45, -75), 69.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(45, -70), 68.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(45, -65), 67.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(45, -60), 65.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(45, -55), 64.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(45, -50), 63.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(45, -45), 62.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(45, -40), 61.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(45, -35), 61.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(45, -30), 60.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(45, -25), 60.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(45, -20), 59.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(45, -15), 59.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(45, -10), 60.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(45, -5), 60.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(45, 0), 60.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(45, 5), 60.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(45, 10), 61.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(45, 15), 61.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(45, 20), 62.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(45, 25), 62.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(45, 30), 63.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(45, 35), 63.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(45, 40), 63.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(45, 45), 64.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(45, 50), 64.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(45, 55), 64.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(45, 60), 65.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(45, 65), 65.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(45, 70), 65.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(45, 75), 65.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(45, 80), 66.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(45, 85), 66.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(45, 90), 66.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(45, 95), 66.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(45, 100), 66.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(45, 105), 66.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(45, 110), 65.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(45, 115), 64.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(45, 120), 64.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(45, 125), 63.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(45, 130), 62.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(45, 135), 61.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(45, 140), 60.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(45, 145), 59.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(45, 150), 58.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(45, 155), 57.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(45, 160), 57.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(45, 165), 57.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(45, 170), 57.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(45, 175), 57.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(45, 180), 57.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(50, -180), 61.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(50, -175), 62.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(50, -170), 62.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(50, -165), 63.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(50, -160), 63.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(50, -155), 64.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(50, -150), 65.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(50, -145), 66.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(50, -140), 67.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(50, -135), 68.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(50, -130), 69.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(50, -125), 70.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(50, -120), 71.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(50, -115), 72.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(50, -110), 72.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(50, -105), 73.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(50, -100), 74.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(50, -95), 74.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(50, -90), 74.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(50, -85), 74.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(50, -80), 73.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(50, -75), 72.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(50, -70), 71.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(50, -65), 70.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(50, -60), 69.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(50, -55), 68.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(50, -50), 67.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(50, -45), 67.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(50, -40), 66.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(50, -35), 65.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(50, -30), 65.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(50, -25), 65.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(50, -20), 64.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(50, -15), 64.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(50, -10), 64.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(50, -5), 65.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(50, 0), 65.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(50, 5), 65.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(50, 10), 65.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(50, 15), 66.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(50, 20), 66.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(50, 25), 66.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(50, 30), 67.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(50, 35), 67.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(50, 40), 67.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(50, 45), 68.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(50, 50), 68.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(50, 55), 68.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(50, 60), 69.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(50, 65), 69.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(50, 70), 70.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(50, 75), 70.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(50, 80), 70.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(50, 85), 70.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(50, 90), 71.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(50, 95), 71.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(50, 100), 71.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(50, 105), 70.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(50, 110), 70.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(50, 115), 69.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(50, 120), 68.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(50, 125), 67.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(50, 130), 66.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(50, 135), 65.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(50, 140), 64.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(50, 145), 64.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(50, 150), 63.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(50, 155), 62.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(50, 160), 62.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(50, 165), 61.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(50, 170), 61.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(50, 175), 61.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(50, 180), 61.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(55, -180), 66.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(55, -175), 66.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(55, -170), 66.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(55, -165), 67.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(55, -160), 67.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(55, -155), 68.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(55, -150), 69.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(55, -145), 70.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(55, -140), 70.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(55, -135), 71.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(55, -130), 72.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(55, -125), 73.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(55, -120), 74.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(55, -115), 75.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(55, -110), 76.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(55, -105), 77.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(55, -100), 77.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(55, -95), 77.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(55, -90), 77.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(55, -85), 77.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(55, -80), 76.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(55, -75), 76.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(55, -70), 75.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(55, -65), 74.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(55, -60), 73.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(55, -55), 72.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(55, -50), 71.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(55, -45), 71.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(55, -40), 70.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(55, -35), 69.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(55, -30), 69.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(55, -25), 69.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(55, -20), 69.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(55, -15), 69.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(55, -10), 69.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(55, -5), 69.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(55, 0), 69.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(55, 5), 69.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(55, 10), 69.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(55, 15), 69.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(55, 20), 70.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(55, 25), 70.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(55, 30), 70.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(55, 35), 71.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(55, 40), 71.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(55, 45), 71.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(55, 50), 72.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(55, 55), 72.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(55, 60), 72.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(55, 65), 73.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(55, 70), 73.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(55, 75), 74.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(55, 80), 74.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(55, 85), 74.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(55, 90), 75.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(55, 95), 75.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(55, 100), 75.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(55, 105), 74.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(55, 110), 74.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(55, 115), 73.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(55, 120), 72.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(55, 125), 72.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(55, 130), 71.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(55, 135), 70.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(55, 140), 69.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(55, 145), 68.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(55, 150), 67.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(55, 155), 67.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(55, 160), 66.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(55, 165), 66.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(55, 170), 66.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(55, 175), 66.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(55, 180), 66.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(60, -180), 70.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(60, -175), 70.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(60, -170), 71.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(60, -165), 71.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(60, -160), 71.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(60, -155), 72.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(60, -150), 73.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(60, -145), 73.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(60, -140), 74.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(60, -135), 75.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(60, -130), 76.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(60, -125), 77.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(60, -120), 78.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(60, -115), 78.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(60, -110), 79.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(60, -105), 80.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(60, -100), 80.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(60, -95), 80.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(60, -90), 80.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(60, -85), 80.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(60, -80), 79.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(60, -75), 79.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(60, -70), 78.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(60, -65), 77.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(60, -60), 76.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(60, -55), 76.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(60, -50), 75.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(60, -45), 74.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(60, -40), 74.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(60, -35), 73.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(60, -30), 73.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(60, -25), 72.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(60, -20), 72.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(60, -15), 72.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(60, -10), 72.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(60, -5), 72.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(60, 0), 72.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(60, 5), 72.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(60, 10), 72.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(60, 15), 73.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(60, 20), 73.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(60, 25), 73.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(60, 30), 73.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(60, 35), 74.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(60, 40), 74.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(60, 45), 74.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(60, 50), 75.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(60, 55), 75.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(60, 60), 76.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(60, 65), 76.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(60, 70), 77.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(60, 75), 77.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(60, 80), 78.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(60, 85), 78.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(60, 90), 78.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(60, 95), 78.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(60, 100), 78.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(60, 105), 78.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(60, 110), 78.0, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(60, 115), 77.4, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(60, 120), 76.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(60, 125), 75.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(60, 130), 75.1, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(60, 135), 74.3, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(60, 140), 73.5, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(60, 145), 72.8, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(60, 150), 72.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(60, 155), 71.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(60, 160), 71.2, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(60, 165), 70.9, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(60, 170), 70.7, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(60, 175), 70.6, 0.21 + 1.2); + EXPECT_NEAR(get_mag_inclination_degrees(60, 180), 70.6, 0.21 + 1.2); } TEST(GeoLookupTest, strength) { - EXPECT_NEAR(get_mag_strength_tesla(-50, -180) * 1e9, 58412.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-50, -175) * 1e9, 57264.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-50, -170) * 1e9, 56103.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-50, -165) * 1e9, 54938.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-50, -160) * 1e9, 53774.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-50, -155) * 1e9, 52615.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-50, -150) * 1e9, 51460.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-50, -145) * 1e9, 50302.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-50, -140) * 1e9, 49130.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-50, -135) * 1e9, 47928.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-50, -130) * 1e9, 46678.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-50, -125) * 1e9, 45362.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-50, -120) * 1e9, 43969.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-50, -115) * 1e9, 42492.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-50, -110) * 1e9, 40936.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-50, -105) * 1e9, 39313.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-50, -100) * 1e9, 37649.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-50, -95) * 1e9, 35977, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-50, -90) * 1e9, 34335.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-50, -85) * 1e9, 32769.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-50, -80) * 1e9, 31322, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-50, -75) * 1e9, 30032.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-50, -70) * 1e9, 28930.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-50, -65) * 1e9, 28028.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-50, -60) * 1e9, 27325.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-50, -55) * 1e9, 26800, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-50, -50) * 1e9, 26420.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-50, -45) * 1e9, 26145.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-50, -40) * 1e9, 25935.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-50, -35) * 1e9, 25757.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-50, -30) * 1e9, 25587.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-50, -25) * 1e9, 25415.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-50, -20) * 1e9, 25244.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-50, -15) * 1e9, 25088.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-50, -10) * 1e9, 24975.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-50, -5) * 1e9, 24941, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-50, 0) * 1e9, 25028.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-50, 5) * 1e9, 25286.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-50, 10) * 1e9, 25762.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-50, 15) * 1e9, 26497, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-50, 20) * 1e9, 27517.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-50, 25) * 1e9, 28834.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-50, 30) * 1e9, 30442.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-50, 35) * 1e9, 32317.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-50, 40) * 1e9, 34424.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-50, 45) * 1e9, 36719.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-50, 50) * 1e9, 39151.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-50, 55) * 1e9, 41670.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-50, 60) * 1e9, 44228.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-50, 65) * 1e9, 46780.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-50, 70) * 1e9, 49287.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-50, 75) * 1e9, 51715.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-50, 80) * 1e9, 54033.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-50, 85) * 1e9, 56209.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-50, 90) * 1e9, 58214.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-50, 95) * 1e9, 60019.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-50, 100) * 1e9, 61598.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-50, 105) * 1e9, 62932, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-50, 110) * 1e9, 64007.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-50, 115) * 1e9, 64822, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-50, 120) * 1e9, 65380.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-50, 125) * 1e9, 65694.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-50, 130) * 1e9, 65780.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-50, 135) * 1e9, 65658, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-50, 140) * 1e9, 65346.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-50, 145) * 1e9, 64865.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-50, 150) * 1e9, 64236.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-50, 155) * 1e9, 63477.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-50, 160) * 1e9, 62609.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-50, 165) * 1e9, 61650.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-50, 170) * 1e9, 60619.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-50, 175) * 1e9, 59535.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-50, 180) * 1e9, 58412.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-45, -180) * 1e9, 56255.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-45, -175) * 1e9, 55053.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-45, -170) * 1e9, 53842.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-45, -165) * 1e9, 52631.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-45, -160) * 1e9, 51427.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-45, -155) * 1e9, 50235.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-45, -150) * 1e9, 49054.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-45, -145) * 1e9, 47881.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-45, -140) * 1e9, 46706.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-45, -135) * 1e9, 45511.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-45, -130) * 1e9, 44277.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-45, -125) * 1e9, 42985.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-45, -120) * 1e9, 41617.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-45, -115) * 1e9, 40165.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-45, -110) * 1e9, 38628.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-45, -105) * 1e9, 37015.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-45, -100) * 1e9, 35349.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-45, -95) * 1e9, 33662.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-45, -90) * 1e9, 31999.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-45, -85) * 1e9, 30411.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-45, -80) * 1e9, 28952.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-45, -75) * 1e9, 27673.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-45, -70) * 1e9, 26614.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-45, -65) * 1e9, 25795.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-45, -60) * 1e9, 25212.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-45, -55) * 1e9, 24840.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-45, -50) * 1e9, 24631.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-45, -45) * 1e9, 24533.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-45, -40) * 1e9, 24491, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-45, -35) * 1e9, 24461.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-45, -30) * 1e9, 24415.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-45, -25) * 1e9, 24338.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-45, -20) * 1e9, 24231, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-45, -15) * 1e9, 24103.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-45, -10) * 1e9, 23980.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-45, -5) * 1e9, 23896.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-45, 0) * 1e9, 23902, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-45, 5) * 1e9, 24055, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-45, 10) * 1e9, 24420.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-45, 15) * 1e9, 25058.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-45, 20) * 1e9, 26014.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-45, 25) * 1e9, 27312.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-45, 30) * 1e9, 28950.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-45, 35) * 1e9, 30903, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-45, 40) * 1e9, 33124.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-45, 45) * 1e9, 35556.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-45, 50) * 1e9, 38133.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-45, 55) * 1e9, 40791.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-45, 60) * 1e9, 43467.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-45, 65) * 1e9, 46109.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-45, 70) * 1e9, 48675, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-45, 75) * 1e9, 51128.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-45, 80) * 1e9, 53442.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-45, 85) * 1e9, 55588.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-45, 90) * 1e9, 57539.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-45, 95) * 1e9, 59270.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-45, 100) * 1e9, 60758.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-45, 105) * 1e9, 61987.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-45, 110) * 1e9, 62950.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-45, 115) * 1e9, 63650.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-45, 120) * 1e9, 64098.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-45, 125) * 1e9, 64308.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-45, 130) * 1e9, 64301.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-45, 135) * 1e9, 64094.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-45, 140) * 1e9, 63707, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-45, 145) * 1e9, 63156.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-45, 150) * 1e9, 62461.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-45, 155) * 1e9, 61637.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-45, 160) * 1e9, 60704.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-45, 165) * 1e9, 59680.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-45, 170) * 1e9, 58584.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-45, 175) * 1e9, 57437.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-45, 180) * 1e9, 56255.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-40, -180) * 1e9, 53912.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-40, -175) * 1e9, 52682.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-40, -170) * 1e9, 51447.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-40, -165) * 1e9, 50214, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-40, -160) * 1e9, 48989.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-40, -155) * 1e9, 47779.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-40, -150) * 1e9, 46585.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-40, -145) * 1e9, 45407.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-40, -140) * 1e9, 44237.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-40, -135) * 1e9, 43061.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-40, -130) * 1e9, 41862, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-40, -125) * 1e9, 40618.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-40, -120) * 1e9, 39312.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-40, -115) * 1e9, 37932.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-40, -110) * 1e9, 36471.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-40, -105) * 1e9, 34932.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-40, -100) * 1e9, 33331.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-40, -95) * 1e9, 31697, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-40, -90) * 1e9, 30073.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-40, -85) * 1e9, 28517, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-40, -80) * 1e9, 27092.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-40, -75) * 1e9, 25862, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-40, -70) * 1e9, 24876.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-40, -65) * 1e9, 24161.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-40, -60) * 1e9, 23715.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-40, -55) * 1e9, 23502.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-40, -50) * 1e9, 23464.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-40, -45) * 1e9, 23536.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-40, -40) * 1e9, 23654.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-40, -35) * 1e9, 23772.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-40, -30) * 1e9, 23859.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-40, -25) * 1e9, 23901.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-40, -20) * 1e9, 23894.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-40, -15) * 1e9, 23844.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-40, -10) * 1e9, 23762.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-40, -5) * 1e9, 23677.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-40, 0) * 1e9, 23632, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-40, 5) * 1e9, 23689.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-40, 10) * 1e9, 23926.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-40, 15) * 1e9, 24425.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-40, 20) * 1e9, 25254.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-40, 25) * 1e9, 26456.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-40, 30) * 1e9, 28044.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-40, 35) * 1e9, 29993.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-40, 40) * 1e9, 32253.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-40, 45) * 1e9, 34754.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-40, 50) * 1e9, 37414.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-40, 55) * 1e9, 40151.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-40, 60) * 1e9, 42888.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-40, 65) * 1e9, 45561.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-40, 70) * 1e9, 48122.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-40, 75) * 1e9, 50537.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-40, 80) * 1e9, 52778.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-40, 85) * 1e9, 54824, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-40, 90) * 1e9, 56650.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-40, 95) * 1e9, 58236.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-40, 100) * 1e9, 59565.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-40, 105) * 1e9, 60630.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-40, 110) * 1e9, 61434.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-40, 115) * 1e9, 61988.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-40, 120) * 1e9, 62310.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-40, 125) * 1e9, 62419.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-40, 130) * 1e9, 62331.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-40, 135) * 1e9, 62064.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-40, 140) * 1e9, 61630, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-40, 145) * 1e9, 61042.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-40, 150) * 1e9, 60314.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-40, 155) * 1e9, 59459.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-40, 160) * 1e9, 58494.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-40, 165) * 1e9, 57437.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-40, 170) * 1e9, 56307.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-40, 175) * 1e9, 55126.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-40, 180) * 1e9, 53912.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-35, -180) * 1e9, 51412.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-35, -175) * 1e9, 50180.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-35, -170) * 1e9, 48945.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-35, -165) * 1e9, 47714.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-35, -160) * 1e9, 46491.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-35, -155) * 1e9, 45282.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-35, -150) * 1e9, 44090.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-35, -145) * 1e9, 42919.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-35, -140) * 1e9, 41765.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-35, -135) * 1e9, 40619, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-35, -130) * 1e9, 39466.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-35, -125) * 1e9, 38292, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-35, -120) * 1e9, 37077.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-35, -115) * 1e9, 35807.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-35, -110) * 1e9, 34469.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-35, -105) * 1e9, 33058.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-35, -100) * 1e9, 31580.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-35, -95) * 1e9, 30055.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-35, -90) * 1e9, 28527.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-35, -85) * 1e9, 27054.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-35, -80) * 1e9, 25707.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-35, -75) * 1e9, 24560.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-35, -70) * 1e9, 23671.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-35, -65) * 1e9, 23072.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-35, -60) * 1e9, 22758.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-35, -55) * 1e9, 22688.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-35, -50) * 1e9, 22796.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-35, -45) * 1e9, 23008.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-35, -40) * 1e9, 23260.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-35, -35) * 1e9, 23509.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-35, -30) * 1e9, 23729.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-35, -25) * 1e9, 23910, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-35, -20) * 1e9, 24046.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-35, -15) * 1e9, 24132.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-35, -10) * 1e9, 24165.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-35, -5) * 1e9, 24154.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-35, 0) * 1e9, 24126.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-35, 5) * 1e9, 24138.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-35, 10) * 1e9, 24272.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-35, 15) * 1e9, 24621.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-35, 20) * 1e9, 25279.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-35, 25) * 1e9, 26313.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-35, 30) * 1e9, 27758, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-35, 35) * 1e9, 29603.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-35, 40) * 1e9, 31803.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-35, 45) * 1e9, 34281.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-35, 50) * 1e9, 36942.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-35, 55) * 1e9, 39686.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-35, 60) * 1e9, 42419.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-35, 65) * 1e9, 45066.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-35, 70) * 1e9, 47571.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-35, 75) * 1e9, 49896.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-35, 80) * 1e9, 52016.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-35, 85) * 1e9, 53910, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-35, 90) * 1e9, 55557.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-35, 95) * 1e9, 56943, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-35, 100) * 1e9, 58059.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-35, 105) * 1e9, 58911.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-35, 110) * 1e9, 59518.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-35, 115) * 1e9, 59903.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-35, 120) * 1e9, 60092.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-35, 125) * 1e9, 60105.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-35, 130) * 1e9, 59954.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-35, 135) * 1e9, 59646.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-35, 140) * 1e9, 59188.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-35, 145) * 1e9, 58587.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-35, 150) * 1e9, 57852.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-35, 155) * 1e9, 56992.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-35, 160) * 1e9, 56022.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-35, 165) * 1e9, 54958.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-35, 170) * 1e9, 53820.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-35, 175) * 1e9, 52631.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-35, 180) * 1e9, 51412.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-30, -180) * 1e9, 48770.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-30, -175) * 1e9, 47562.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-30, -170) * 1e9, 46355, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-30, -165) * 1e9, 45152.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-30, -160) * 1e9, 43957.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-30, -155) * 1e9, 42774.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-30, -150) * 1e9, 41607.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-30, -145) * 1e9, 40462.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-30, -140) * 1e9, 39340.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-30, -135) * 1e9, 38239.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-30, -130) * 1e9, 37150.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-30, -125) * 1e9, 36061.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-30, -120) * 1e9, 34959.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-30, -115) * 1e9, 33826.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-30, -110) * 1e9, 32645.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-30, -105) * 1e9, 31400.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-30, -100) * 1e9, 30086.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-30, -95) * 1e9, 28718.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-30, -90) * 1e9, 27331.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-30, -85) * 1e9, 25985.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-30, -80) * 1e9, 24756.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-30, -75) * 1e9, 23721.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-30, -70) * 1e9, 22944.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-30, -65) * 1e9, 22458, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-30, -60) * 1e9, 22257.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-30, -55) * 1e9, 22299.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-30, -50) * 1e9, 22514.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-30, -45) * 1e9, 22828.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-30, -40) * 1e9, 23182.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-30, -35) * 1e9, 23541.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-30, -30) * 1e9, 23889.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-30, -25) * 1e9, 24223.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-30, -20) * 1e9, 24535, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-30, -15) * 1e9, 24808.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-30, -10) * 1e9, 25021.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-30, -5) * 1e9, 25157.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-30, 0) * 1e9, 25224.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-30, 5) * 1e9, 25261.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-30, 10) * 1e9, 25342, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-30, 15) * 1e9, 25565.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-30, 20) * 1e9, 26037, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-30, 25) * 1e9, 26850.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-30, 30) * 1e9, 28066.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-30, 35) * 1e9, 29703.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-30, 40) * 1e9, 31731.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-30, 45) * 1e9, 34077.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-30, 50) * 1e9, 36639.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-30, 55) * 1e9, 39303.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-30, 60) * 1e9, 41960.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-30, 65) * 1e9, 44522.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-30, 70) * 1e9, 46923.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-30, 75) * 1e9, 49121, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-30, 80) * 1e9, 51087.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-30, 85) * 1e9, 52798.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-30, 90) * 1e9, 54235.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-30, 95) * 1e9, 55386.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-30, 100) * 1e9, 56253.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-30, 105) * 1e9, 56861.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-30, 110) * 1e9, 57247.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-30, 115) * 1e9, 57452.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-30, 120) * 1e9, 57509.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-30, 125) * 1e9, 57436.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-30, 130) * 1e9, 57235.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-30, 135) * 1e9, 56904.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-30, 140) * 1e9, 56438.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-30, 145) * 1e9, 55838.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-30, 150) * 1e9, 55110.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-30, 155) * 1e9, 54264.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-30, 160) * 1e9, 53310, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-30, 165) * 1e9, 52262.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-30, 170) * 1e9, 51141.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-30, 175) * 1e9, 49969.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-30, 180) * 1e9, 48770.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-25, -180) * 1e9, 46014.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-25, -175) * 1e9, 44858, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-25, -170) * 1e9, 43707.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-25, -165) * 1e9, 42564.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-25, -160) * 1e9, 41428.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-25, -155) * 1e9, 40301.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-25, -150) * 1e9, 39190.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-25, -145) * 1e9, 38100.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-25, -140) * 1e9, 37038.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-25, -135) * 1e9, 36005.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-25, -130) * 1e9, 35000.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-25, -125) * 1e9, 34016.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-25, -120) * 1e9, 33043.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-25, -115) * 1e9, 32064.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-25, -110) * 1e9, 31058.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-25, -105) * 1e9, 30001.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-25, -100) * 1e9, 28878.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-25, -95) * 1e9, 27696.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-25, -90) * 1e9, 26486.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-25, -85) * 1e9, 25304.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-25, -80) * 1e9, 24224.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-25, -75) * 1e9, 23321.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-25, -70) * 1e9, 22658, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-25, -65) * 1e9, 22269.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-25, -60) * 1e9, 22152.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-25, -55) * 1e9, 22266.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-25, -50) * 1e9, 22546.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-25, -45) * 1e9, 22927.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-25, -40) * 1e9, 23357.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-25, -35) * 1e9, 23809.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-25, -30) * 1e9, 24278.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-25, -25) * 1e9, 24765.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-25, -20) * 1e9, 25262.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-25, -15) * 1e9, 25740.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-25, -10) * 1e9, 26161.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-25, -5) * 1e9, 26485.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-25, 0) * 1e9, 26696.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-25, 5) * 1e9, 26813.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-25, 10) * 1e9, 26896.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-25, 15) * 1e9, 27033.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-25, 20) * 1e9, 27334.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-25, 25) * 1e9, 27907.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-25, 30) * 1e9, 28841.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-25, 35) * 1e9, 30186.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-25, 40) * 1e9, 31941.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-25, 45) * 1e9, 34050.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-25, 50) * 1e9, 36411.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-25, 55) * 1e9, 38904.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-25, 60) * 1e9, 41407.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-25, 65) * 1e9, 43821.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-25, 70) * 1e9, 46072.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-25, 75) * 1e9, 48112.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-25, 80) * 1e9, 49905.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-25, 85) * 1e9, 51423.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-25, 90) * 1e9, 52639.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-25, 95) * 1e9, 53544.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-25, 100) * 1e9, 54152.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-25, 105) * 1e9, 54506.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-25, 110) * 1e9, 54667.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-25, 115) * 1e9, 54694.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-25, 120) * 1e9, 54628.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-25, 125) * 1e9, 54482.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-25, 130) * 1e9, 54246.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-25, 135) * 1e9, 53901.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-25, 140) * 1e9, 53434.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-25, 145) * 1e9, 52842.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-25, 150) * 1e9, 52130.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-25, 155) * 1e9, 51308.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-25, 160) * 1e9, 50386.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-25, 165) * 1e9, 49375.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-25, 170) * 1e9, 48294.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-25, 175) * 1e9, 47165.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-25, 180) * 1e9, 46014.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-20, -180) * 1e9, 43203.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-20, -175) * 1e9, 42129.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-20, -170) * 1e9, 41067, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-20, -165) * 1e9, 40015.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-20, -160) * 1e9, 38973.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-20, -155) * 1e9, 37939.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-20, -150) * 1e9, 36921, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-20, -145) * 1e9, 35924.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-20, -140) * 1e9, 34957.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-20, -135) * 1e9, 34025.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-20, -130) * 1e9, 33130.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-20, -125) * 1e9, 32272.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-20, -120) * 1e9, 31443.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-20, -115) * 1e9, 30629.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-20, -110) * 1e9, 29805.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-20, -105) * 1e9, 28943.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-20, -100) * 1e9, 28025, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-20, -95) * 1e9, 27048.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-20, -90) * 1e9, 26038.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-20, -85) * 1e9, 25044.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-20, -80) * 1e9, 24130.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-20, -75) * 1e9, 23364.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-20, -70) * 1e9, 22804.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-20, -65) * 1e9, 22485.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-20, -60) * 1e9, 22410.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-20, -55) * 1e9, 22551.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-20, -50) * 1e9, 22857.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-20, -45) * 1e9, 23273.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-20, -40) * 1e9, 23757.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-20, -35) * 1e9, 24289.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-20, -30) * 1e9, 24865.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-20, -25) * 1e9, 25487.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-20, -20) * 1e9, 26144, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-20, -15) * 1e9, 26801.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-20, -10) * 1e9, 27407.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-20, -5) * 1e9, 27908, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-20, 0) * 1e9, 28269.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-20, 5) * 1e9, 28491.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-20, 10) * 1e9, 28612.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-20, 15) * 1e9, 28705.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-20, 20) * 1e9, 28871.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-20, 25) * 1e9, 29221.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-20, 30) * 1e9, 29864.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-20, 35) * 1e9, 30881.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-20, 40) * 1e9, 32304.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-20, 45) * 1e9, 34099.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-20, 50) * 1e9, 36176.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-20, 55) * 1e9, 38415.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-20, 60) * 1e9, 40690.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-20, 65) * 1e9, 42895.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-20, 70) * 1e9, 44952.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-20, 75) * 1e9, 46807.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-20, 80) * 1e9, 48416.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-20, 85) * 1e9, 49739.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-20, 90) * 1e9, 50743.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-20, 95) * 1e9, 51416.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-20, 100) * 1e9, 51781.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-20, 105) * 1e9, 51900.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-20, 110) * 1e9, 51854.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-20, 115) * 1e9, 51722.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-20, 120) * 1e9, 51550.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-20, 125) * 1e9, 51344, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-20, 130) * 1e9, 51080.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-20, 135) * 1e9, 50726.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-20, 140) * 1e9, 50259.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-20, 145) * 1e9, 49675.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-20, 150) * 1e9, 48982.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-20, 155) * 1e9, 48191.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-20, 160) * 1e9, 47313.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-20, 165) * 1e9, 46357.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-20, 170) * 1e9, 45338.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-20, 175) * 1e9, 44279.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-20, 180) * 1e9, 43203.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-15, -180) * 1e9, 40446.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-15, -175) * 1e9, 39485.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-15, -170) * 1e9, 38542, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-15, -165) * 1e9, 37614.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-15, -160) * 1e9, 36699.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-15, -155) * 1e9, 35795.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-15, -150) * 1e9, 34907.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-15, -145) * 1e9, 34044.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-15, -140) * 1e9, 33212.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-15, -135) * 1e9, 32417.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-15, -130) * 1e9, 31665, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-15, -125) * 1e9, 30955.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-15, -120) * 1e9, 30285.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-15, -115) * 1e9, 29641.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-15, -110) * 1e9, 29000.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-15, -105) * 1e9, 28336, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-15, -100) * 1e9, 27624.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-15, -95) * 1e9, 26860.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-15, -90) * 1e9, 26060.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-15, -85) * 1e9, 25261.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-15, -80) * 1e9, 24513.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-15, -75) * 1e9, 23872.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-15, -70) * 1e9, 23389.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-15, -65) * 1e9, 23101.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-15, -60) * 1e9, 23020.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-15, -55) * 1e9, 23139, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-15, -50) * 1e9, 23426.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-15, -45) * 1e9, 23844.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-15, -40) * 1e9, 24357.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-15, -35) * 1e9, 24946.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-15, -30) * 1e9, 25601.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-15, -25) * 1e9, 26318.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-15, -20) * 1e9, 27081.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-15, -15) * 1e9, 27853.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-15, -10) * 1e9, 28581, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-15, -5) * 1e9, 29205.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-15, 0) * 1e9, 29683.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-15, 5) * 1e9, 30000.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-15, 10) * 1e9, 30174.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-15, 15) * 1e9, 30258.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-15, 20) * 1e9, 30334.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-15, 25) * 1e9, 30510.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-15, 30) * 1e9, 30901.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-15, 35) * 1e9, 31610.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-15, 40) * 1e9, 32696, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-15, 45) * 1e9, 34148.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-15, 50) * 1e9, 35896.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-15, 55) * 1e9, 37825.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-15, 60) * 1e9, 39815.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-15, 65) * 1e9, 41760.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-15, 70) * 1e9, 43584.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-15, 75) * 1e9, 45229.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-15, 80) * 1e9, 46644.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-15, 85) * 1e9, 47780, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-15, 90) * 1e9, 48593.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-15, 95) * 1e9, 49067.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-15, 100) * 1e9, 49231.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-15, 105) * 1e9, 49157.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-15, 110) * 1e9, 48945.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-15, 115) * 1e9, 48685.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-15, 120) * 1e9, 48427.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-15, 125) * 1e9, 48170.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-15, 130) * 1e9, 47880.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-15, 135) * 1e9, 47514, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-15, 140) * 1e9, 47042.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-15, 145) * 1e9, 46463, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-15, 150) * 1e9, 45786.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-15, 155) * 1e9, 45030.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-15, 160) * 1e9, 44204, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-15, 165) * 1e9, 43317, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-15, 170) * 1e9, 42381.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-15, 175) * 1e9, 41417.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-15, 180) * 1e9, 40446.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-10, -180) * 1e9, 37897.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-10, -175) * 1e9, 37078.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-10, -170) * 1e9, 36281.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-10, -165) * 1e9, 35505.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-10, -160) * 1e9, 34745.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-10, -155) * 1e9, 34000.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-10, -150) * 1e9, 33277.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-10, -145) * 1e9, 32581.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-10, -140) * 1e9, 31921, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-10, -135) * 1e9, 31298.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-10, -130) * 1e9, 30718.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-10, -125) * 1e9, 30180.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-10, -120) * 1e9, 29682.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-10, -115) * 1e9, 29214.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-10, -110) * 1e9, 28757, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-10, -105) * 1e9, 28285.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-10, -100) * 1e9, 27777.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-10, -95) * 1e9, 27221.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-10, -90) * 1e9, 26623.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-10, -85) * 1e9, 26006, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-10, -80) * 1e9, 25403.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-10, -75) * 1e9, 24860, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-10, -70) * 1e9, 24418.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-10, -65) * 1e9, 24116.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-10, -60) * 1e9, 23980.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-10, -55) * 1e9, 24024.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-10, -50) * 1e9, 24243.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-10, -45) * 1e9, 24617.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-10, -40) * 1e9, 25120.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-10, -35) * 1e9, 25726.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-10, -30) * 1e9, 26415.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-10, -25) * 1e9, 27171.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-10, -20) * 1e9, 27970.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-10, -15) * 1e9, 28777.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-10, -10) * 1e9, 29545.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-10, -5) * 1e9, 30220.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-10, 0) * 1e9, 30761.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-10, 5) * 1e9, 31143.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-10, 10) * 1e9, 31369.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-10, 15) * 1e9, 31470.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-10, 20) * 1e9, 31509.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-10, 25) * 1e9, 31578.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-10, 30) * 1e9, 31792.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-10, 35) * 1e9, 32261.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-10, 40) * 1e9, 33058.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-10, 45) * 1e9, 34192.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-10, 50) * 1e9, 35608.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-10, 55) * 1e9, 37208, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-10, 60) * 1e9, 38882.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-10, 65) * 1e9, 40537.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-10, 70) * 1e9, 42100.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-10, 75) * 1e9, 43517.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-10, 80) * 1e9, 44733.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-10, 85) * 1e9, 45691.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-10, 90) * 1e9, 46341.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-10, 95) * 1e9, 46661.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-10, 100) * 1e9, 46681.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-10, 105) * 1e9, 46476.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-10, 110) * 1e9, 46152.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-10, 115) * 1e9, 45802.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-10, 120) * 1e9, 45475.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-10, 125) * 1e9, 45169.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-10, 130) * 1e9, 44843.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-10, 135) * 1e9, 44451.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-10, 140) * 1e9, 43963.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-10, 145) * 1e9, 43379.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-10, 150) * 1e9, 42716.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-10, 155) * 1e9, 41993, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-10, 160) * 1e9, 41223.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-10, 165) * 1e9, 40415.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-10, 170) * 1e9, 39581.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-10, 175) * 1e9, 38736.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-10, 180) * 1e9, 37897.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-5, -180) * 1e9, 35735.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-5, -175) * 1e9, 35079.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-5, -170) * 1e9, 34451.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-5, -165) * 1e9, 33844, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-5, -160) * 1e9, 33255.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-5, -155) * 1e9, 32688.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-5, -150) * 1e9, 32150.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-5, -145) * 1e9, 31647.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-5, -140) * 1e9, 31183.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-5, -135) * 1e9, 30760.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-5, -130) * 1e9, 30375.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-5, -125) * 1e9, 30028.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-5, -120) * 1e9, 29714.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-5, -115) * 1e9, 29427.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-5, -110) * 1e9, 29151.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-5, -105) * 1e9, 28866.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-5, -100) * 1e9, 28550.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-5, -95) * 1e9, 28184.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-5, -90) * 1e9, 27763.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-5, -85) * 1e9, 27295.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-5, -80) * 1e9, 26802.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-5, -75) * 1e9, 26317.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-5, -70) * 1e9, 25877.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-5, -65) * 1e9, 25522.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-5, -60) * 1e9, 25290.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-5, -55) * 1e9, 25213.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-5, -50) * 1e9, 25311.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-5, -45) * 1e9, 25587.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-5, -40) * 1e9, 26024.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-5, -35) * 1e9, 26590.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-5, -30) * 1e9, 27254.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-5, -25) * 1e9, 27983.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-5, -20) * 1e9, 28750.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-5, -15) * 1e9, 29520.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-5, -10) * 1e9, 30257.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-5, -5) * 1e9, 30918.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-5, 0) * 1e9, 31470, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-5, 5) * 1e9, 31885.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-5, 10) * 1e9, 32156.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-5, 15) * 1e9, 32296.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-5, 20) * 1e9, 32348.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-5, 25) * 1e9, 32388.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-5, 30) * 1e9, 32519.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-5, 35) * 1e9, 32844.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-5, 40) * 1e9, 33437, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-5, 45) * 1e9, 34314.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-5, 50) * 1e9, 35436.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-5, 55) * 1e9, 36724, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-5, 60) * 1e9, 38086.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-5, 65) * 1e9, 39446.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-5, 70) * 1e9, 40744.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-5, 75) * 1e9, 41927.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-5, 80) * 1e9, 42944, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-5, 85) * 1e9, 43735.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-5, 90) * 1e9, 44250.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-5, 95) * 1e9, 44463.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-5, 100) * 1e9, 44399.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-5, 105) * 1e9, 44128.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-5, 110) * 1e9, 43747.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-5, 115) * 1e9, 43342.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-5, 120) * 1e9, 42957.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-5, 125) * 1e9, 42591.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-5, 130) * 1e9, 42207.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-5, 135) * 1e9, 41765.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-5, 140) * 1e9, 41241.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-5, 145) * 1e9, 40639.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-5, 150) * 1e9, 39979.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-5, 155) * 1e9, 39284.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-5, 160) * 1e9, 38570.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-5, 165) * 1e9, 37848.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-5, 170) * 1e9, 37127.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-5, 175) * 1e9, 36419.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(-5, 180) * 1e9, 35735.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(0, -180) * 1e9, 34118.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(0, -175) * 1e9, 33637, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(0, -170) * 1e9, 33183.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(0, -165) * 1e9, 32751.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(0, -160) * 1e9, 32339.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(0, -155) * 1e9, 31954.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(0, -150) * 1e9, 31606.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(0, -145) * 1e9, 31305.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(0, -140) * 1e9, 31051.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(0, -135) * 1e9, 30842, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(0, -130) * 1e9, 30668.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(0, -125) * 1e9, 30523.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(0, -120) * 1e9, 30403.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(0, -115) * 1e9, 30300.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(0, -110) * 1e9, 30205.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(0, -105) * 1e9, 30097.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(0, -100) * 1e9, 29953.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(0, -95) * 1e9, 29747.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(0, -90) * 1e9, 29464.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(0, -85) * 1e9, 29102.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(0, -80) * 1e9, 28674.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(0, -75) * 1e9, 28206.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(0, -70) * 1e9, 27734.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(0, -65) * 1e9, 27298.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(0, -60) * 1e9, 26943.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(0, -55) * 1e9, 26714.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(0, -50) * 1e9, 26653.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(0, -45) * 1e9, 26780.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(0, -40) * 1e9, 27091.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(0, -35) * 1e9, 27554.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(0, -30) * 1e9, 28129.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(0, -25) * 1e9, 28774.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(0, -20) * 1e9, 29454.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(0, -15) * 1e9, 30140.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(0, -10) * 1e9, 30802.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(0, -5) * 1e9, 31412.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(0, 0) * 1e9, 31943.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(0, 5) * 1e9, 32371.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(0, 10) * 1e9, 32682.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(0, 15) * 1e9, 32878.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(0, 20) * 1e9, 32988.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(0, 25) * 1e9, 33071.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(0, 30) * 1e9, 33210.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(0, 35) * 1e9, 33493.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(0, 40) * 1e9, 33978.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(0, 45) * 1e9, 34681.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(0, 50) * 1e9, 35571.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(0, 55) * 1e9, 36591.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(0, 60) * 1e9, 37675.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(0, 65) * 1e9, 38765.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(0, 70) * 1e9, 39814.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(0, 75) * 1e9, 40777.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(0, 80) * 1e9, 41606.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(0, 85) * 1e9, 42247.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(0, 90) * 1e9, 42653.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(0, 95) * 1e9, 42799.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(0, 100) * 1e9, 42702.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(0, 105) * 1e9, 42417.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(0, 110) * 1e9, 42021.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(0, 115) * 1e9, 41583.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(0, 120) * 1e9, 41139.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(0, 125) * 1e9, 40691.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(0, 130) * 1e9, 40218.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(0, 135) * 1e9, 39693.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(0, 140) * 1e9, 39105.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(0, 145) * 1e9, 38463.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(0, 150) * 1e9, 37791.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(0, 155) * 1e9, 37112.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(0, 160) * 1e9, 36447, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(0, 165) * 1e9, 35806.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(0, 170) * 1e9, 35201.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(0, 175) * 1e9, 34638.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(0, 180) * 1e9, 34118.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(5, -180) * 1e9, 33142.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(5, -175) * 1e9, 32827, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(5, -170) * 1e9, 32541.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(5, -165) * 1e9, 32276.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(5, -160) * 1e9, 32032.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(5, -155) * 1e9, 31821.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(5, -150) * 1e9, 31659.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(5, -145) * 1e9, 31556.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(5, -140) * 1e9, 31512.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(5, -135) * 1e9, 31519.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(5, -130) * 1e9, 31561.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(5, -125) * 1e9, 31625.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(5, -120) * 1e9, 31704, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(5, -115) * 1e9, 31789.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(5, -110) * 1e9, 31870.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(5, -105) * 1e9, 31927.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(5, -100) * 1e9, 31931.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(5, -95) * 1e9, 31852.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(5, -90) * 1e9, 31666.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(5, -85) * 1e9, 31365.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(5, -80) * 1e9, 30959.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(5, -75) * 1e9, 30472.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(5, -70) * 1e9, 29941.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(5, -65) * 1e9, 29406.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(5, -60) * 1e9, 28917.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(5, -55) * 1e9, 28529.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(5, -50) * 1e9, 28295, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(5, -45) * 1e9, 28247.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(5, -40) * 1e9, 28391.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(5, -35) * 1e9, 28703.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(5, -30) * 1e9, 29141, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(5, -25) * 1e9, 29659.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(5, -20) * 1e9, 30223.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(5, -15) * 1e9, 30804.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(5, -10) * 1e9, 31381.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(5, -5) * 1e9, 31933.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(5, 0) * 1e9, 32439, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(5, 5) * 1e9, 32875.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(5, 10) * 1e9, 33226.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(5, 15) * 1e9, 33491.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(5, 20) * 1e9, 33690, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(5, 25) * 1e9, 33867.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(5, 30) * 1e9, 34086.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(5, 35) * 1e9, 34407.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(5, 40) * 1e9, 34868.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(5, 45) * 1e9, 35474.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(5, 50) * 1e9, 36202.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(5, 55) * 1e9, 37015.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(5, 60) * 1e9, 37873.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(5, 65) * 1e9, 38740.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(5, 70) * 1e9, 39580.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(5, 75) * 1e9, 40357.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(5, 80) * 1e9, 41027.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(5, 85) * 1e9, 41543, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(5, 90) * 1e9, 41865.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(5, 95) * 1e9, 41973.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(5, 100) * 1e9, 41876.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(5, 105) * 1e9, 41608.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(5, 110) * 1e9, 41219.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(5, 115) * 1e9, 40753.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(5, 120) * 1e9, 40238.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(5, 125) * 1e9, 39683.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(5, 130) * 1e9, 39085.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(5, 135) * 1e9, 38440.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(5, 140) * 1e9, 37753.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(5, 145) * 1e9, 37042.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(5, 150) * 1e9, 36332.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(5, 155) * 1e9, 35648.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(5, 160) * 1e9, 35012.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(5, 165) * 1e9, 34438.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(5, 170) * 1e9, 33936.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(5, 175) * 1e9, 33506.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(5, 180) * 1e9, 33142.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(10, -180) * 1e9, 32824.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(10, -175) * 1e9, 32648.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(10, -170) * 1e9, 32509.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(10, -165) * 1e9, 32392.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(10, -160) * 1e9, 32300.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(10, -155) * 1e9, 32249.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(10, -150) * 1e9, 32259.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(10, -145) * 1e9, 32342.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(10, -140) * 1e9, 32499.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(10, -135) * 1e9, 32715, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(10, -130) * 1e9, 32968.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(10, -125) * 1e9, 33240.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(10, -120) * 1e9, 33517.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(10, -115) * 1e9, 33789.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(10, -110) * 1e9, 34040.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(10, -105) * 1e9, 34249.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(10, -100) * 1e9, 34380.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(10, -95) * 1e9, 34399.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(10, -90) * 1e9, 34276.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(10, -85) * 1e9, 34002.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(10, -80) * 1e9, 33585.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(10, -75) * 1e9, 33052.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(10, -70) * 1e9, 32443.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(10, -65) * 1e9, 31802.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(10, -60) * 1e9, 31185.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(10, -55) * 1e9, 30650.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(10, -50) * 1e9, 30254.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(10, -45) * 1e9, 30038.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(10, -40) * 1e9, 30011.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(10, -35) * 1e9, 30156.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(10, -30) * 1e9, 30436.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(10, -25) * 1e9, 30812.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(10, -20) * 1e9, 31252, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(10, -15) * 1e9, 31732.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(10, -10) * 1e9, 32237.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(10, -5) * 1e9, 32746.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(10, 0) * 1e9, 33238.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(10, 5) * 1e9, 33690.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(10, 10) * 1e9, 34085.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(10, 15) * 1e9, 34423.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(10, 20) * 1e9, 34721.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(10, 25) * 1e9, 35015.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(10, 30) * 1e9, 35347.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(10, 35) * 1e9, 35750.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(10, 40) * 1e9, 36238.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(10, 45) * 1e9, 36804.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(10, 50) * 1e9, 37431.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(10, 55) * 1e9, 38100.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(10, 60) * 1e9, 38795.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(10, 65) * 1e9, 39498.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(10, 70) * 1e9, 40186.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(10, 75) * 1e9, 40826.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(10, 80) * 1e9, 41380.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(10, 85) * 1e9, 41808.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(10, 90) * 1e9, 42077.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(10, 95) * 1e9, 42171.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(10, 100) * 1e9, 42090, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(10, 105) * 1e9, 41847.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(10, 110) * 1e9, 41466.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(10, 115) * 1e9, 40966, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(10, 120) * 1e9, 40365.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(10, 125) * 1e9, 39681.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(10, 130) * 1e9, 38930.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(10, 135) * 1e9, 38132, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(10, 140) * 1e9, 37311.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(10, 145) * 1e9, 36497.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(10, 150) * 1e9, 35717, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(10, 155) * 1e9, 34997.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(10, 160) * 1e9, 34359.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(10, 165) * 1e9, 33820.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(10, 170) * 1e9, 33389.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(10, 175) * 1e9, 33063, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(10, 180) * 1e9, 32824.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(15, -180) * 1e9, 33126.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(15, -175) * 1e9, 33049.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(15, -170) * 1e9, 33022.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(15, -165) * 1e9, 33028.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(15, -160) * 1e9, 33069, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(15, -155) * 1e9, 33161.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(15, -150) * 1e9, 33328.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(15, -145) * 1e9, 33583.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(15, -140) * 1e9, 33924.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(15, -135) * 1e9, 34332.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(15, -130) * 1e9, 34783.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(15, -125) * 1e9, 35252.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(15, -120) * 1e9, 35720, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(15, -115) * 1e9, 36169.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(15, -110) * 1e9, 36581.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(15, -105) * 1e9, 36927.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(15, -100) * 1e9, 37168.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(15, -95) * 1e9, 37264.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(15, -90) * 1e9, 37185.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(15, -85) * 1e9, 36918, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(15, -80) * 1e9, 36474, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(15, -75) * 1e9, 35883.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(15, -70) * 1e9, 35189.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(15, -65) * 1e9, 34446.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(15, -60) * 1e9, 33713.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(15, -55) * 1e9, 33055.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(15, -50) * 1e9, 32529, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(15, -45) * 1e9, 32173.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(15, -40) * 1e9, 32001.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(15, -35) * 1e9, 31996.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(15, -30) * 1e9, 32130.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(15, -25) * 1e9, 32371.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(15, -20) * 1e9, 32698.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(15, -15) * 1e9, 33093.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(15, -10) * 1e9, 33544.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(15, -5) * 1e9, 34029.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(15, 0) * 1e9, 34523.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(15, 5) * 1e9, 34998.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(15, 10) * 1e9, 35437.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(15, 15) * 1e9, 35842.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(15, 20) * 1e9, 36230.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(15, 25) * 1e9, 36631.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(15, 30) * 1e9, 37070.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(15, 35) * 1e9, 37558.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(15, 40) * 1e9, 38090.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(15, 45) * 1e9, 38650.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(15, 50) * 1e9, 39223.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(15, 55) * 1e9, 39805.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(15, 60) * 1e9, 40398.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(15, 65) * 1e9, 41000.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(15, 70) * 1e9, 41597.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(15, 75) * 1e9, 42159.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(15, 80) * 1e9, 42651.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(15, 85) * 1e9, 43036.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(15, 90) * 1e9, 43287.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(15, 95) * 1e9, 43388.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(15, 100) * 1e9, 43330.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(15, 105) * 1e9, 43110.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(15, 110) * 1e9, 42727, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(15, 115) * 1e9, 42182.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(15, 120) * 1e9, 41488.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(15, 125) * 1e9, 40665, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(15, 130) * 1e9, 39747.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(15, 135) * 1e9, 38778.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(15, 140) * 1e9, 37800.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(15, 145) * 1e9, 36853.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(15, 150) * 1e9, 35970.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(15, 155) * 1e9, 35180.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(15, 160) * 1e9, 34504.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(15, 165) * 1e9, 33960.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(15, 170) * 1e9, 33555.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(15, 175) * 1e9, 33285, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(15, 180) * 1e9, 33126.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(20, -180) * 1e9, 33991.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(20, -175) * 1e9, 33966.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(20, -170) * 1e9, 34013, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(20, -165) * 1e9, 34113.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(20, -160) * 1e9, 34267.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(20, -155) * 1e9, 34489.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(20, -150) * 1e9, 34799.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(20, -145) * 1e9, 35208.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(20, -140) * 1e9, 35712.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(20, -135) * 1e9, 36291.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(20, -130) * 1e9, 36917.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(20, -125) * 1e9, 37560.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(20, -120) * 1e9, 38197.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(20, -115) * 1e9, 38805.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(20, -110) * 1e9, 39359.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(20, -105) * 1e9, 39825.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(20, -100) * 1e9, 40160.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(20, -95) * 1e9, 40322.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(20, -90) * 1e9, 40277.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(20, -85) * 1e9, 40013.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(20, -80) * 1e9, 39542.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(20, -75) * 1e9, 38897.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(20, -70) * 1e9, 38127.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(20, -65) * 1e9, 37294.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(20, -60) * 1e9, 36466.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(20, -55) * 1e9, 35711.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(20, -50) * 1e9, 35087.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(20, -45) * 1e9, 34629.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(20, -40) * 1e9, 34346.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(20, -35) * 1e9, 34224, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(20, -30) * 1e9, 34238.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(20, -25) * 1e9, 34368.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(20, -20) * 1e9, 34600.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(20, -15) * 1e9, 34926.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(20, -10) * 1e9, 35334.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(20, -5) * 1e9, 35804.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(20, 0) * 1e9, 36303.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(20, 5) * 1e9, 36801.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(20, 10) * 1e9, 37278.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(20, 15) * 1e9, 37734.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(20, 20) * 1e9, 38187.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(20, 25) * 1e9, 38663.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(20, 30) * 1e9, 39176.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(20, 35) * 1e9, 39725.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(20, 40) * 1e9, 40293.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(20, 45) * 1e9, 40859.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(20, 50) * 1e9, 41412.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(20, 55) * 1e9, 41957.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(20, 60) * 1e9, 42507.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(20, 65) * 1e9, 43068.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(20, 70) * 1e9, 43632.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(20, 75) * 1e9, 44174.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(20, 80) * 1e9, 44657, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(20, 85) * 1e9, 45046.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(20, 90) * 1e9, 45313.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(20, 95) * 1e9, 45440.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(20, 100) * 1e9, 45410.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(20, 105) * 1e9, 45207.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(20, 110) * 1e9, 44815.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(20, 115) * 1e9, 44223.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(20, 120) * 1e9, 43437.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(20, 125) * 1e9, 42484, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(20, 130) * 1e9, 41410, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(20, 135) * 1e9, 40273.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(20, 140) * 1e9, 39132.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(20, 145) * 1e9, 38040.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(20, 150) * 1e9, 37034.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(20, 155) * 1e9, 36147.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(20, 160) * 1e9, 35401, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(20, 165) * 1e9, 34811.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(20, 170) * 1e9, 34387.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(20, 175) * 1e9, 34121.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(20, 180) * 1e9, 33991.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(25, -180) * 1e9, 35368.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(25, -175) * 1e9, 35351.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(25, -170) * 1e9, 35436.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(25, -165) * 1e9, 35604.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(25, -160) * 1e9, 35852.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(25, -155) * 1e9, 36189.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(25, -150) * 1e9, 36628.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(25, -145) * 1e9, 37174.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(25, -140) * 1e9, 37819.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(25, -135) * 1e9, 38541.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(25, -130) * 1e9, 39309.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(25, -125) * 1e9, 40094.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(25, -120) * 1e9, 40867, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(25, -115) * 1e9, 41601.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(25, -110) * 1e9, 42268.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(25, -105) * 1e9, 42828.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(25, -100) * 1e9, 43238.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(25, -95) * 1e9, 43453.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(25, -90) * 1e9, 43440.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(25, -85) * 1e9, 43185, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(25, -80) * 1e9, 42698.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(25, -75) * 1e9, 42015.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(25, -70) * 1e9, 41189.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(25, -65) * 1e9, 40290.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(25, -60) * 1e9, 39391.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(25, -55) * 1e9, 38565.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(25, -50) * 1e9, 37868.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(25, -45) * 1e9, 37333.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(25, -40) * 1e9, 36966.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(25, -35) * 1e9, 36754.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(25, -30) * 1e9, 36676.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(25, -25) * 1e9, 36716.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(25, -20) * 1e9, 36870.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(25, -15) * 1e9, 37134.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(25, -10) * 1e9, 37501.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(25, -5) * 1e9, 37949.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(25, 0) * 1e9, 38444.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(25, 5) * 1e9, 38951.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(25, 10) * 1e9, 39447.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(25, 15) * 1e9, 39932.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(25, 20) * 1e9, 40420.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(25, 25) * 1e9, 40932.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(25, 30) * 1e9, 41480, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(25, 35) * 1e9, 42056, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(25, 40) * 1e9, 42642, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(25, 45) * 1e9, 43218.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(25, 50) * 1e9, 43778.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(25, 55) * 1e9, 44329.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(25, 60) * 1e9, 44887.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(25, 65) * 1e9, 45461.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(25, 70) * 1e9, 46045.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(25, 75) * 1e9, 46614, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(25, 80) * 1e9, 47131.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(25, 85) * 1e9, 47561.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(25, 90) * 1e9, 47872.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(25, 95) * 1e9, 48041.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(25, 100) * 1e9, 48043.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(25, 105) * 1e9, 47855.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(25, 110) * 1e9, 47451.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(25, 115) * 1e9, 46817, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(25, 120) * 1e9, 45956.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(25, 125) * 1e9, 44899, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(25, 130) * 1e9, 43698.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(25, 135) * 1e9, 42422.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(25, 140) * 1e9, 41140.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(25, 145) * 1e9, 39913.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(25, 150) * 1e9, 38786.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(25, 155) * 1e9, 37794.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(25, 160) * 1e9, 36960.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(25, 165) * 1e9, 36299.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(25, 170) * 1e9, 35819.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(25, 175) * 1e9, 35515.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(25, 180) * 1e9, 35368.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(30, -180) * 1e9, 37223.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(30, -175) * 1e9, 37184, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(30, -170) * 1e9, 37277.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(30, -165) * 1e9, 37489.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(30, -160) * 1e9, 37811.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(30, -155) * 1e9, 38246.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(30, -150) * 1e9, 38796.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(30, -145) * 1e9, 39458.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(30, -140) * 1e9, 40217.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(30, -135) * 1e9, 41049, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(30, -130) * 1e9, 41922, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(30, -125) * 1e9, 42805.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(30, -120) * 1e9, 43670.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(30, -115) * 1e9, 44487.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(30, -110) * 1e9, 45225.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(30, -105) * 1e9, 45844.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(30, -100) * 1e9, 46301.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(30, -95) * 1e9, 46552.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(30, -90) * 1e9, 46564.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(30, -85) * 1e9, 46322.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(30, -80) * 1e9, 45835.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(30, -75) * 1e9, 45138.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(30, -70) * 1e9, 44286.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(30, -65) * 1e9, 43350.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(30, -60) * 1e9, 42409.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(30, -55) * 1e9, 41533.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(30, -50) * 1e9, 40781.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(30, -45) * 1e9, 40183.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(30, -40) * 1e9, 39745.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(30, -35) * 1e9, 39455.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(30, -30) * 1e9, 39298.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(30, -25) * 1e9, 39262.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(30, -20) * 1e9, 39345.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(30, -15) * 1e9, 39548.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(30, -10) * 1e9, 39865.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(30, -5) * 1e9, 40274.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(30, 0) * 1e9, 40743.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(30, 5) * 1e9, 41236.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(30, 10) * 1e9, 41729.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(30, 15) * 1e9, 42216.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(30, 20) * 1e9, 42710.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(30, 25) * 1e9, 43225.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(30, 30) * 1e9, 43773.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(30, 35) * 1e9, 44349, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(30, 40) * 1e9, 44939.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(30, 45) * 1e9, 45530.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(30, 50) * 1e9, 46118.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(30, 55) * 1e9, 46710.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(30, 60) * 1e9, 47319.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(30, 65) * 1e9, 47950.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(30, 70) * 1e9, 48594.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(30, 75) * 1e9, 49225.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(30, 80) * 1e9, 49806.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(30, 85) * 1e9, 50299.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(30, 90) * 1e9, 50669.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(30, 95) * 1e9, 50885.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(30, 100) * 1e9, 50921, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(30, 105) * 1e9, 50745.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(30, 110) * 1e9, 50334, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(30, 115) * 1e9, 49671.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(30, 120) * 1e9, 48762.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(30, 125) * 1e9, 47639.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(30, 130) * 1e9, 46359, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(30, 135) * 1e9, 44992.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(30, 140) * 1e9, 43613.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(30, 145) * 1e9, 42288.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(30, 150) * 1e9, 41068.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(30, 155) * 1e9, 39987.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(30, 160) * 1e9, 39070.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(30, 165) * 1e9, 38333.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(30, 170) * 1e9, 37782, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(30, 175) * 1e9, 37416, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(30, 180) * 1e9, 37223.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(35, -180) * 1e9, 39524, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(35, -175) * 1e9, 39449.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(35, -170) * 1e9, 39535, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(35, -165) * 1e9, 39768.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(35, -160) * 1e9, 40142.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(35, -155) * 1e9, 40650.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(35, -150) * 1e9, 41285.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(35, -145) * 1e9, 42032.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(35, -140) * 1e9, 42870.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(35, -135) * 1e9, 43772, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(35, -130) * 1e9, 44705.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(35, -125) * 1e9, 45639.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(35, -120) * 1e9, 46545.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(35, -115) * 1e9, 47394.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(35, -110) * 1e9, 48155.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(35, -105) * 1e9, 48789.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(35, -100) * 1e9, 49257.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(35, -95) * 1e9, 49519, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(35, -90) * 1e9, 49542.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(35, -85) * 1e9, 49312.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(35, -80) * 1e9, 48838.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(35, -75) * 1e9, 48150.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(35, -70) * 1e9, 47302.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(35, -65) * 1e9, 46362.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(35, -60) * 1e9, 45406.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(35, -55) * 1e9, 44504.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(35, -50) * 1e9, 43710, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(35, -45) * 1e9, 43055.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(35, -40) * 1e9, 42550.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(35, -35) * 1e9, 42187.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(35, -30) * 1e9, 41954.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(35, -25) * 1e9, 41844.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(35, -20) * 1e9, 41857, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(35, -15) * 1e9, 41992.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(35, -10) * 1e9, 42244.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(35, -5) * 1e9, 42594.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(35, 0) * 1e9, 43011.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(35, 5) * 1e9, 43463.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(35, 10) * 1e9, 43927.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(35, 15) * 1e9, 44393.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(35, 20) * 1e9, 44868.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(35, 25) * 1e9, 45366.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(35, 30) * 1e9, 45895.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(35, 35) * 1e9, 46458.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(35, 40) * 1e9, 47050.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(35, 45) * 1e9, 47663.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(35, 50) * 1e9, 48297.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(35, 55) * 1e9, 48955.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(35, 60) * 1e9, 49643.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(35, 65) * 1e9, 50359.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(35, 70) * 1e9, 51087.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(35, 75) * 1e9, 51799.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(35, 80) * 1e9, 52455.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(35, 85) * 1e9, 53017.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(35, 90) * 1e9, 53445.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(35, 95) * 1e9, 53707.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(35, 100) * 1e9, 53770.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(35, 105) * 1e9, 53607.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(35, 110) * 1e9, 53194.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(35, 115) * 1e9, 52521.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(35, 120) * 1e9, 51597.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(35, 125) * 1e9, 50455.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(35, 130) * 1e9, 49151.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(35, 135) * 1e9, 47755.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(35, 140) * 1e9, 46341.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(35, 145) * 1e9, 44976, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(35, 150) * 1e9, 43709.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(35, 155) * 1e9, 42578.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(35, 160) * 1e9, 41607.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(35, 165) * 1e9, 40810.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(35, 170) * 1e9, 40197.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(35, 175) * 1e9, 39770, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(35, 180) * 1e9, 39524, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(40, -180) * 1e9, 42220.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(40, -175) * 1e9, 42114.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(40, -170) * 1e9, 42183.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(40, -165) * 1e9, 42421.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(40, -160) * 1e9, 42819.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(40, -155) * 1e9, 43365, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(40, -150) * 1e9, 44042.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(40, -145) * 1e9, 44830.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(40, -140) * 1e9, 45701.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(40, -135) * 1e9, 46624.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(40, -130) * 1e9, 47567.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(40, -125) * 1e9, 48500, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(40, -120) * 1e9, 49394.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(40, -115) * 1e9, 50223.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(40, -110) * 1e9, 50957.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(40, -105) * 1e9, 51562.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(40, -100) * 1e9, 52003.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(40, -95) * 1e9, 52245.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(40, -90) * 1e9, 52261.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(40, -85) * 1e9, 52039, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(40, -80) * 1e9, 51583.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(40, -75) * 1e9, 50923.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(40, -70) * 1e9, 50106.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(40, -65) * 1e9, 49192.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(40, -60) * 1e9, 48250.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(40, -55) * 1e9, 47344.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(40, -50) * 1e9, 46525, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(40, -45) * 1e9, 45824.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(40, -40) * 1e9, 45257.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(40, -35) * 1e9, 44822, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(40, -30) * 1e9, 44514.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(40, -25) * 1e9, 44329.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(40, -20) * 1e9, 44267.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(40, -15) * 1e9, 44326.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(40, -10) * 1e9, 44499.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(40, -5) * 1e9, 44771, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(40, 0) * 1e9, 45114.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(40, 5) * 1e9, 45502.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(40, 10) * 1e9, 45914.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(40, 15) * 1e9, 46340.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(40, 20) * 1e9, 46784, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(40, 25) * 1e9, 47254.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(40, 30) * 1e9, 47762, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(40, 35) * 1e9, 48314.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(40, 40) * 1e9, 48913.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(40, 45) * 1e9, 49557.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(40, 50) * 1e9, 50247.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(40, 55) * 1e9, 50983, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(40, 60) * 1e9, 51760.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(40, 65) * 1e9, 52568.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(40, 70) * 1e9, 53384.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(40, 75) * 1e9, 54176, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(40, 80) * 1e9, 54902.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(40, 85) * 1e9, 55523, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(40, 90) * 1e9, 55998.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(40, 95) * 1e9, 56293.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(40, 100) * 1e9, 56378, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(40, 105) * 1e9, 56226.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(40, 110) * 1e9, 55822.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(40, 115) * 1e9, 55161.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(40, 120) * 1e9, 54256.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(40, 125) * 1e9, 53143.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(40, 130) * 1e9, 51874.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(40, 135) * 1e9, 50516, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(40, 140) * 1e9, 49135.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(40, 145) * 1e9, 47794.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(40, 150) * 1e9, 46542.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(40, 155) * 1e9, 45415, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(40, 160) * 1e9, 44434.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(40, 165) * 1e9, 43617.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(40, 170) * 1e9, 42972.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(40, 175) * 1e9, 42505.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(40, 180) * 1e9, 42220.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(45, -180) * 1e9, 45209.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(45, -175) * 1e9, 45085.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(45, -170) * 1e9, 45137.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(45, -165) * 1e9, 45362.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(45, -160) * 1e9, 45750.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(45, -155) * 1e9, 46288.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(45, -150) * 1e9, 46956.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(45, -145) * 1e9, 47728.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(45, -140) * 1e9, 48573.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(45, -135) * 1e9, 49460.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(45, -130) * 1e9, 50358, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(45, -125) * 1e9, 51236.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(45, -120) * 1e9, 52068.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(45, -115) * 1e9, 52829.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(45, -110) * 1e9, 53492.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(45, -105) * 1e9, 54029.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(45, -100) * 1e9, 54410.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(45, -95) * 1e9, 54608.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(45, -90) * 1e9, 54600.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(45, -85) * 1e9, 54378.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(45, -80) * 1e9, 53946.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(45, -75) * 1e9, 53328.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(45, -70) * 1e9, 52563, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(45, -65) * 1e9, 51701.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(45, -60) * 1e9, 50801.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(45, -55) * 1e9, 49918.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(45, -50) * 1e9, 49096.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(45, -45) * 1e9, 48369.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(45, -40) * 1e9, 47753.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(45, -35) * 1e9, 47256.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(45, -30) * 1e9, 46879.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(45, -25) * 1e9, 46621.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(45, -20) * 1e9, 46481.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(45, -15) * 1e9, 46458.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(45, -10) * 1e9, 46543.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(45, -5) * 1e9, 46723.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(45, 0) * 1e9, 46979.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(45, 5) * 1e9, 47288.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(45, 10) * 1e9, 47635.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(45, 15) * 1e9, 48012.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(45, 20) * 1e9, 48418.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(45, 25) * 1e9, 48863.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(45, 30) * 1e9, 49356.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(45, 35) * 1e9, 49907.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(45, 40) * 1e9, 50523.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(45, 45) * 1e9, 51204.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(45, 50) * 1e9, 51951.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(45, 55) * 1e9, 52757.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(45, 60) * 1e9, 53613.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(45, 65) * 1e9, 54498.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(45, 70) * 1e9, 55384.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(45, 75) * 1e9, 56234.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(45, 80) * 1e9, 57009.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(45, 85) * 1e9, 57666.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(45, 90) * 1e9, 58169.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(45, 95) * 1e9, 58483.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(45, 100) * 1e9, 58582.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(45, 105) * 1e9, 58445.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(45, 110) * 1e9, 58064, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(45, 115) * 1e9, 57439.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(45, 120) * 1e9, 56591.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(45, 125) * 1e9, 55554.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(45, 130) * 1e9, 54376.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(45, 135) * 1e9, 53116.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(45, 140) * 1e9, 51833.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(45, 145) * 1e9, 50583.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(45, 150) * 1e9, 49408.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(45, 155) * 1e9, 48341.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(45, 160) * 1e9, 47405.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(45, 165) * 1e9, 46614.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(45, 170) * 1e9, 45979.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(45, 175) * 1e9, 45509, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(45, 180) * 1e9, 45209.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(50, -180) * 1e9, 48318.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(50, -175) * 1e9, 48190.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(50, -170) * 1e9, 48223.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(50, -165) * 1e9, 48415.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(50, -160) * 1e9, 48761, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(50, -155) * 1e9, 49244.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(50, -150) * 1e9, 49845.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(50, -145) * 1e9, 50540.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(50, -140) * 1e9, 51298.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(50, -135) * 1e9, 52089.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(50, -130) * 1e9, 52885.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(50, -125) * 1e9, 53658.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(50, -120) * 1e9, 54383.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(50, -115) * 1e9, 55036.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(50, -110) * 1e9, 55595.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(50, -105) * 1e9, 56036.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(50, -100) * 1e9, 56336.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(50, -95) * 1e9, 56474.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(50, -90) * 1e9, 56435, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(50, -85) * 1e9, 56211.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(50, -80) * 1e9, 55807.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(50, -75) * 1e9, 55243.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(50, -70) * 1e9, 54548.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(50, -65) * 1e9, 53762.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(50, -60) * 1e9, 52932, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(50, -55) * 1e9, 52100.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(50, -50) * 1e9, 51306.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(50, -45) * 1e9, 50580.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(50, -40) * 1e9, 49943.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(50, -35) * 1e9, 49406.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(50, -30) * 1e9, 48975.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(50, -25) * 1e9, 48653.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(50, -20) * 1e9, 48441.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(50, -15) * 1e9, 48337.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(50, -10) * 1e9, 48334.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(50, -5) * 1e9, 48422.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(50, 0) * 1e9, 48588.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(50, 5) * 1e9, 48816.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(50, 10) * 1e9, 49096.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(50, 15) * 1e9, 49422.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(50, 20) * 1e9, 49795.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(50, 25) * 1e9, 50221, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(50, 30) * 1e9, 50708.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(50, 35) * 1e9, 51267.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(50, 40) * 1e9, 51902.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(50, 45) * 1e9, 52616.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(50, 50) * 1e9, 53405.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(50, 55) * 1e9, 54259.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(50, 60) * 1e9, 55162.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(50, 65) * 1e9, 56088.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(50, 70) * 1e9, 57006.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(50, 75) * 1e9, 57879.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(50, 80) * 1e9, 58667.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(50, 85) * 1e9, 59331.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(50, 90) * 1e9, 59838.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(50, 95) * 1e9, 60156.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(50, 100) * 1e9, 60266.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(50, 105) * 1e9, 60152.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(50, 110) * 1e9, 59811.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(50, 115) * 1e9, 59253.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(50, 120) * 1e9, 58498.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(50, 125) * 1e9, 57579.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(50, 130) * 1e9, 56540.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(50, 135) * 1e9, 55430.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(50, 140) * 1e9, 54299.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(50, 145) * 1e9, 53193.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(50, 150) * 1e9, 52148.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(50, 155) * 1e9, 51194.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(50, 160) * 1e9, 50349.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(50, 165) * 1e9, 49629.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(50, 170) * 1e9, 49045.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(50, 175) * 1e9, 48605.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(50, 180) * 1e9, 48318.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(55, -180) * 1e9, 51309.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(55, -175) * 1e9, 51183.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(55, -170) * 1e9, 51192.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(55, -165) * 1e9, 51336.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(55, -160) * 1e9, 51607.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(55, -155) * 1e9, 51995.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(55, -150) * 1e9, 52482.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(55, -145) * 1e9, 53046.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(55, -140) * 1e9, 53664.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(55, -135) * 1e9, 54309.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(55, -130) * 1e9, 54957, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(55, -125) * 1e9, 55582.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(55, -120) * 1e9, 56164.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(55, -115) * 1e9, 56682.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(55, -110) * 1e9, 57116.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(55, -105) * 1e9, 57447.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(55, -100) * 1e9, 57657.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(55, -95) * 1e9, 57733, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(55, -90) * 1e9, 57662.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(55, -85) * 1e9, 57441, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(55, -80) * 1e9, 57074.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(55, -75) * 1e9, 56575.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(55, -70) * 1e9, 55966.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(55, -65) * 1e9, 55277.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(55, -60) * 1e9, 54541.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(55, -55) * 1e9, 53791.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(55, -50) * 1e9, 53060.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(55, -45) * 1e9, 52372.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(55, -40) * 1e9, 51749.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(55, -35) * 1e9, 51204.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(55, -30) * 1e9, 50748.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(55, -25) * 1e9, 50385.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(55, -20) * 1e9, 50119.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(55, -15) * 1e9, 49948.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(55, -10) * 1e9, 49870.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(55, -5) * 1e9, 49879, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(55, 0) * 1e9, 49965.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(55, 5) * 1e9, 50122.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(55, 10) * 1e9, 50343.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(55, 15) * 1e9, 50626.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(55, 20) * 1e9, 50970.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(55, 25) * 1e9, 51382.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(55, 30) * 1e9, 51867.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(55, 35) * 1e9, 52431.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(55, 40) * 1e9, 53077.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(55, 45) * 1e9, 53804.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(55, 50) * 1e9, 54605.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(55, 55) * 1e9, 55466.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(55, 60) * 1e9, 56369.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(55, 65) * 1e9, 57286.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(55, 70) * 1e9, 58186.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(55, 75) * 1e9, 59034.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(55, 80) * 1e9, 59795, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(55, 85) * 1e9, 60433.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(55, 90) * 1e9, 60920.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(55, 95) * 1e9, 61232.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(55, 100) * 1e9, 61352.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(55, 105) * 1e9, 61273.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(55, 110) * 1e9, 60995.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(55, 115) * 1e9, 60531.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(55, 120) * 1e9, 59902.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(55, 125) * 1e9, 59137.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(55, 130) * 1e9, 58273.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(55, 135) * 1e9, 57351, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(55, 140) * 1e9, 56409, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(55, 145) * 1e9, 55483.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(55, 150) * 1e9, 54605.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(55, 155) * 1e9, 53797.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(55, 160) * 1e9, 53078.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(55, 165) * 1e9, 52461, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(55, 170) * 1e9, 51954.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(55, 175) * 1e9, 51568.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(55, 180) * 1e9, 51309.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(60, -180) * 1e9, 53924.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(60, -175) * 1e9, 53799.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(60, -170) * 1e9, 53777.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(60, -165) * 1e9, 53858.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(60, -160) * 1e9, 54037.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(60, -155) * 1e9, 54304.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(60, -150) * 1e9, 54648.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(60, -145) * 1e9, 55052, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(60, -140) * 1e9, 55497.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(60, -135) * 1e9, 55965.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(60, -130) * 1e9, 56435.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(60, -125) * 1e9, 56889.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(60, -120) * 1e9, 57309.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(60, -115) * 1e9, 57677.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(60, -110) * 1e9, 57977.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(60, -105) * 1e9, 58195.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(60, -100) * 1e9, 58318.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(60, -95) * 1e9, 58336.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(60, -90) * 1e9, 58241.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(60, -85) * 1e9, 58031.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(60, -80) * 1e9, 57710.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(60, -75) * 1e9, 57286.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(60, -70) * 1e9, 56777, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(60, -65) * 1e9, 56200.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(60, -60) * 1e9, 55579.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(60, -55) * 1e9, 54939.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(60, -50) * 1e9, 54303.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(60, -45) * 1e9, 53692.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(60, -40) * 1e9, 53124, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(60, -35) * 1e9, 52612.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(60, -30) * 1e9, 52167.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(60, -25) * 1e9, 51798.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(60, -20) * 1e9, 51509.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(60, -15) * 1e9, 51301.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(60, -10) * 1e9, 51176.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(60, -5) * 1e9, 51130.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(60, 0) * 1e9, 51162, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(60, 5) * 1e9, 51267.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(60, 10) * 1e9, 51444.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(60, 15) * 1e9, 51692.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(60, 20) * 1e9, 52013, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(60, 25) * 1e9, 52408.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(60, 30) * 1e9, 52881.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(60, 35) * 1e9, 53433.8, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(60, 40) * 1e9, 54064.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(60, 45) * 1e9, 54769.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(60, 50) * 1e9, 55538.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(60, 55) * 1e9, 56356.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(60, 60) * 1e9, 57204.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(60, 65) * 1e9, 58056.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(60, 70) * 1e9, 58884.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(60, 75) * 1e9, 59660, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(60, 80) * 1e9, 60352.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(60, 85) * 1e9, 60933.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(60, 90) * 1e9, 61381.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(60, 95) * 1e9, 61677.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(60, 100) * 1e9, 61810.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(60, 105) * 1e9, 61777.2, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(60, 110) * 1e9, 61580.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(60, 115) * 1e9, 61232.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(60, 120) * 1e9, 60752.6, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(60, 125) * 1e9, 60164.3, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(60, 130) * 1e9, 59496.7, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(60, 135) * 1e9, 58780.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(60, 140) * 1e9, 58044.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(60, 145) * 1e9, 57317.1, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(60, 150) * 1e9, 56621.4, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(60, 155) * 1e9, 55976.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(60, 160) * 1e9, 55396.9, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(60, 165) * 1e9, 54894, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(60, 170) * 1e9, 54476.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(60, 175) * 1e9, 54151.5, 145 + 500); - EXPECT_NEAR(get_mag_strength_tesla(60, 180) * 1e9, 53924.4, 145 + 500); + EXPECT_NEAR(get_mag_strength_tesla(-50, -180) * 1e9, 58366, 145 + 584); + EXPECT_NEAR(get_mag_strength_tesla(-50, -175) * 1e9, 57212, 145 + 572); + EXPECT_NEAR(get_mag_strength_tesla(-50, -170) * 1e9, 56045, 145 + 560); + EXPECT_NEAR(get_mag_strength_tesla(-50, -165) * 1e9, 54873, 145 + 549); + EXPECT_NEAR(get_mag_strength_tesla(-50, -160) * 1e9, 53703, 145 + 537); + EXPECT_NEAR(get_mag_strength_tesla(-50, -155) * 1e9, 52538, 145 + 525); + EXPECT_NEAR(get_mag_strength_tesla(-50, -150) * 1e9, 51377, 145 + 514); + EXPECT_NEAR(get_mag_strength_tesla(-50, -145) * 1e9, 50215, 145 + 502); + EXPECT_NEAR(get_mag_strength_tesla(-50, -140) * 1e9, 49039, 145 + 490); + EXPECT_NEAR(get_mag_strength_tesla(-50, -135) * 1e9, 47834, 145 + 478); + EXPECT_NEAR(get_mag_strength_tesla(-50, -130) * 1e9, 46581, 145 + 466); + EXPECT_NEAR(get_mag_strength_tesla(-50, -125) * 1e9, 45263, 145 + 453); + EXPECT_NEAR(get_mag_strength_tesla(-50, -120) * 1e9, 43868, 145 + 439); + EXPECT_NEAR(get_mag_strength_tesla(-50, -115) * 1e9, 42390, 145 + 424); + EXPECT_NEAR(get_mag_strength_tesla(-50, -110) * 1e9, 40832, 145 + 408); + EXPECT_NEAR(get_mag_strength_tesla(-50, -105) * 1e9, 39210, 145 + 392); + EXPECT_NEAR(get_mag_strength_tesla(-50, -100) * 1e9, 37547, 145 + 375); + EXPECT_NEAR(get_mag_strength_tesla(-50, -95) * 1e9, 35876, 145 + 359); + EXPECT_NEAR(get_mag_strength_tesla(-50, -90) * 1e9, 34237, 145 + 342); + EXPECT_NEAR(get_mag_strength_tesla(-50, -85) * 1e9, 32675, 145 + 327); + EXPECT_NEAR(get_mag_strength_tesla(-50, -80) * 1e9, 31233, 145 + 312); + EXPECT_NEAR(get_mag_strength_tesla(-50, -75) * 1e9, 29950, 145 + 300); + EXPECT_NEAR(get_mag_strength_tesla(-50, -70) * 1e9, 28854, 145 + 289); + EXPECT_NEAR(get_mag_strength_tesla(-50, -65) * 1e9, 27960, 145 + 280); + EXPECT_NEAR(get_mag_strength_tesla(-50, -60) * 1e9, 27263, 145 + 273); + EXPECT_NEAR(get_mag_strength_tesla(-50, -55) * 1e9, 26744, 145 + 267); + EXPECT_NEAR(get_mag_strength_tesla(-50, -50) * 1e9, 26368, 145 + 264); + EXPECT_NEAR(get_mag_strength_tesla(-50, -45) * 1e9, 26095, 145 + 261); + EXPECT_NEAR(get_mag_strength_tesla(-50, -40) * 1e9, 25885, 145 + 259); + EXPECT_NEAR(get_mag_strength_tesla(-50, -35) * 1e9, 25704, 145 + 257); + EXPECT_NEAR(get_mag_strength_tesla(-50, -30) * 1e9, 25530, 145 + 255); + EXPECT_NEAR(get_mag_strength_tesla(-50, -25) * 1e9, 25353, 145 + 254); + EXPECT_NEAR(get_mag_strength_tesla(-50, -20) * 1e9, 25176, 145 + 252); + EXPECT_NEAR(get_mag_strength_tesla(-50, -15) * 1e9, 25017, 145 + 250); + EXPECT_NEAR(get_mag_strength_tesla(-50, -10) * 1e9, 24901, 145 + 249); + EXPECT_NEAR(get_mag_strength_tesla(-50, -5) * 1e9, 24866, 145 + 249); + EXPECT_NEAR(get_mag_strength_tesla(-50, 0) * 1e9, 24956, 145 + 250); + EXPECT_NEAR(get_mag_strength_tesla(-50, 5) * 1e9, 25221, 145 + 252); + EXPECT_NEAR(get_mag_strength_tesla(-50, 10) * 1e9, 25707, 145 + 257); + EXPECT_NEAR(get_mag_strength_tesla(-50, 15) * 1e9, 26455, 145 + 265); + EXPECT_NEAR(get_mag_strength_tesla(-50, 20) * 1e9, 27492, 145 + 275); + EXPECT_NEAR(get_mag_strength_tesla(-50, 25) * 1e9, 28827, 145 + 288); + EXPECT_NEAR(get_mag_strength_tesla(-50, 30) * 1e9, 30453, 145 + 305); + EXPECT_NEAR(get_mag_strength_tesla(-50, 35) * 1e9, 32345, 145 + 323); + EXPECT_NEAR(get_mag_strength_tesla(-50, 40) * 1e9, 34467, 145 + 345); + EXPECT_NEAR(get_mag_strength_tesla(-50, 45) * 1e9, 36775, 145 + 368); + EXPECT_NEAR(get_mag_strength_tesla(-50, 50) * 1e9, 39216, 145 + 392); + EXPECT_NEAR(get_mag_strength_tesla(-50, 55) * 1e9, 41742, 145 + 417); + EXPECT_NEAR(get_mag_strength_tesla(-50, 60) * 1e9, 44303, 145 + 443); + EXPECT_NEAR(get_mag_strength_tesla(-50, 65) * 1e9, 46856, 145 + 469); + EXPECT_NEAR(get_mag_strength_tesla(-50, 70) * 1e9, 49362, 145 + 494); + EXPECT_NEAR(get_mag_strength_tesla(-50, 75) * 1e9, 51788, 145 + 518); + EXPECT_NEAR(get_mag_strength_tesla(-50, 80) * 1e9, 54102, 145 + 541); + EXPECT_NEAR(get_mag_strength_tesla(-50, 85) * 1e9, 56274, 145 + 563); + EXPECT_NEAR(get_mag_strength_tesla(-50, 90) * 1e9, 58275, 145 + 583); + EXPECT_NEAR(get_mag_strength_tesla(-50, 95) * 1e9, 60075, 145 + 601); + EXPECT_NEAR(get_mag_strength_tesla(-50, 100) * 1e9, 61649, 145 + 616); + EXPECT_NEAR(get_mag_strength_tesla(-50, 105) * 1e9, 62978, 145 + 630); + EXPECT_NEAR(get_mag_strength_tesla(-50, 110) * 1e9, 64047, 145 + 640); + EXPECT_NEAR(get_mag_strength_tesla(-50, 115) * 1e9, 64856, 145 + 649); + EXPECT_NEAR(get_mag_strength_tesla(-50, 120) * 1e9, 65408, 145 + 654); + EXPECT_NEAR(get_mag_strength_tesla(-50, 125) * 1e9, 65716, 145 + 657); + EXPECT_NEAR(get_mag_strength_tesla(-50, 130) * 1e9, 65796, 145 + 658); + EXPECT_NEAR(get_mag_strength_tesla(-50, 135) * 1e9, 65667, 145 + 657); + EXPECT_NEAR(get_mag_strength_tesla(-50, 140) * 1e9, 65350, 145 + 654); + EXPECT_NEAR(get_mag_strength_tesla(-50, 145) * 1e9, 64864, 145 + 649); + EXPECT_NEAR(get_mag_strength_tesla(-50, 150) * 1e9, 64229, 145 + 642); + EXPECT_NEAR(get_mag_strength_tesla(-50, 155) * 1e9, 63464, 145 + 635); + EXPECT_NEAR(get_mag_strength_tesla(-50, 160) * 1e9, 62590, 145 + 626); + EXPECT_NEAR(get_mag_strength_tesla(-50, 165) * 1e9, 61624, 145 + 616); + EXPECT_NEAR(get_mag_strength_tesla(-50, 170) * 1e9, 60587, 145 + 606); + EXPECT_NEAR(get_mag_strength_tesla(-50, 175) * 1e9, 59496, 145 + 595); + EXPECT_NEAR(get_mag_strength_tesla(-50, 180) * 1e9, 58366, 145 + 584); + EXPECT_NEAR(get_mag_strength_tesla(-45, -180) * 1e9, 56216, 145 + 956); + EXPECT_NEAR(get_mag_strength_tesla(-45, -175) * 1e9, 55008, 145 + 935); + EXPECT_NEAR(get_mag_strength_tesla(-45, -170) * 1e9, 53791, 145 + 914); + EXPECT_NEAR(get_mag_strength_tesla(-45, -165) * 1e9, 52574, 145 + 894); + EXPECT_NEAR(get_mag_strength_tesla(-45, -160) * 1e9, 51364, 145 + 873); + EXPECT_NEAR(get_mag_strength_tesla(-45, -155) * 1e9, 50166, 145 + 853); + EXPECT_NEAR(get_mag_strength_tesla(-45, -150) * 1e9, 48980, 145 + 833); + EXPECT_NEAR(get_mag_strength_tesla(-45, -145) * 1e9, 47803, 145 + 813); + EXPECT_NEAR(get_mag_strength_tesla(-45, -140) * 1e9, 46624, 145 + 793); + EXPECT_NEAR(get_mag_strength_tesla(-45, -135) * 1e9, 45425, 145 + 772); + EXPECT_NEAR(get_mag_strength_tesla(-45, -130) * 1e9, 44189, 145 + 751); + EXPECT_NEAR(get_mag_strength_tesla(-45, -125) * 1e9, 42894, 145 + 729); + EXPECT_NEAR(get_mag_strength_tesla(-45, -120) * 1e9, 41524, 145 + 706); + EXPECT_NEAR(get_mag_strength_tesla(-45, -115) * 1e9, 40070, 145 + 681); + EXPECT_NEAR(get_mag_strength_tesla(-45, -110) * 1e9, 38532, 145 + 655); + EXPECT_NEAR(get_mag_strength_tesla(-45, -105) * 1e9, 36919, 145 + 628); + EXPECT_NEAR(get_mag_strength_tesla(-45, -100) * 1e9, 35253, 145 + 599); + EXPECT_NEAR(get_mag_strength_tesla(-45, -95) * 1e9, 33568, 145 + 571); + EXPECT_NEAR(get_mag_strength_tesla(-45, -90) * 1e9, 31908, 145 + 542); + EXPECT_NEAR(get_mag_strength_tesla(-45, -85) * 1e9, 30323, 145 + 515); + EXPECT_NEAR(get_mag_strength_tesla(-45, -80) * 1e9, 28870, 145 + 491); + EXPECT_NEAR(get_mag_strength_tesla(-45, -75) * 1e9, 27598, 145 + 469); + EXPECT_NEAR(get_mag_strength_tesla(-45, -70) * 1e9, 26546, 145 + 451); + EXPECT_NEAR(get_mag_strength_tesla(-45, -65) * 1e9, 25735, 145 + 437); + EXPECT_NEAR(get_mag_strength_tesla(-45, -60) * 1e9, 25160, 145 + 428); + EXPECT_NEAR(get_mag_strength_tesla(-45, -55) * 1e9, 24794, 145 + 421); + EXPECT_NEAR(get_mag_strength_tesla(-45, -50) * 1e9, 24590, 145 + 418); + EXPECT_NEAR(get_mag_strength_tesla(-45, -45) * 1e9, 24492, 145 + 416); + EXPECT_NEAR(get_mag_strength_tesla(-45, -40) * 1e9, 24448, 145 + 416); + EXPECT_NEAR(get_mag_strength_tesla(-45, -35) * 1e9, 24414, 145 + 415); + EXPECT_NEAR(get_mag_strength_tesla(-45, -30) * 1e9, 24362, 145 + 414); + EXPECT_NEAR(get_mag_strength_tesla(-45, -25) * 1e9, 24278, 145 + 413); + EXPECT_NEAR(get_mag_strength_tesla(-45, -20) * 1e9, 24163, 145 + 411); + EXPECT_NEAR(get_mag_strength_tesla(-45, -15) * 1e9, 24029, 145 + 408); + EXPECT_NEAR(get_mag_strength_tesla(-45, -10) * 1e9, 23900, 145 + 406); + EXPECT_NEAR(get_mag_strength_tesla(-45, -5) * 1e9, 23814, 145 + 405); + EXPECT_NEAR(get_mag_strength_tesla(-45, 0) * 1e9, 23820, 145 + 405); + EXPECT_NEAR(get_mag_strength_tesla(-45, 5) * 1e9, 23978, 145 + 408); + EXPECT_NEAR(get_mag_strength_tesla(-45, 10) * 1e9, 24354, 145 + 414); + EXPECT_NEAR(get_mag_strength_tesla(-45, 15) * 1e9, 25008, 145 + 425); + EXPECT_NEAR(get_mag_strength_tesla(-45, 20) * 1e9, 25984, 145 + 442); + EXPECT_NEAR(get_mag_strength_tesla(-45, 25) * 1e9, 27304, 145 + 464); + EXPECT_NEAR(get_mag_strength_tesla(-45, 30) * 1e9, 28965, 145 + 492); + EXPECT_NEAR(get_mag_strength_tesla(-45, 35) * 1e9, 30939, 145 + 526); + EXPECT_NEAR(get_mag_strength_tesla(-45, 40) * 1e9, 33179, 145 + 564); + EXPECT_NEAR(get_mag_strength_tesla(-45, 45) * 1e9, 35626, 145 + 606); + EXPECT_NEAR(get_mag_strength_tesla(-45, 50) * 1e9, 38215, 145 + 650); + EXPECT_NEAR(get_mag_strength_tesla(-45, 55) * 1e9, 40879, 145 + 695); + EXPECT_NEAR(get_mag_strength_tesla(-45, 60) * 1e9, 43558, 145 + 740); + EXPECT_NEAR(get_mag_strength_tesla(-45, 65) * 1e9, 46199, 145 + 785); + EXPECT_NEAR(get_mag_strength_tesla(-45, 70) * 1e9, 48760, 145 + 829); + EXPECT_NEAR(get_mag_strength_tesla(-45, 75) * 1e9, 51209, 145 + 871); + EXPECT_NEAR(get_mag_strength_tesla(-45, 80) * 1e9, 53516, 145 + 910); + EXPECT_NEAR(get_mag_strength_tesla(-45, 85) * 1e9, 55655, 145 + 946); + EXPECT_NEAR(get_mag_strength_tesla(-45, 90) * 1e9, 57601, 145 + 979); + EXPECT_NEAR(get_mag_strength_tesla(-45, 95) * 1e9, 59327, 145 + 1009); + EXPECT_NEAR(get_mag_strength_tesla(-45, 100) * 1e9, 60810, 145 + 1034); + EXPECT_NEAR(get_mag_strength_tesla(-45, 105) * 1e9, 62034, 145 + 1055); + EXPECT_NEAR(get_mag_strength_tesla(-45, 110) * 1e9, 62992, 145 + 1071); + EXPECT_NEAR(get_mag_strength_tesla(-45, 115) * 1e9, 63686, 145 + 1083); + EXPECT_NEAR(get_mag_strength_tesla(-45, 120) * 1e9, 64127, 145 + 1090); + EXPECT_NEAR(get_mag_strength_tesla(-45, 125) * 1e9, 64332, 145 + 1094); + EXPECT_NEAR(get_mag_strength_tesla(-45, 130) * 1e9, 64319, 145 + 1093); + EXPECT_NEAR(get_mag_strength_tesla(-45, 135) * 1e9, 64106, 145 + 1090); + EXPECT_NEAR(get_mag_strength_tesla(-45, 140) * 1e9, 63714, 145 + 1083); + EXPECT_NEAR(get_mag_strength_tesla(-45, 145) * 1e9, 63158, 145 + 1074); + EXPECT_NEAR(get_mag_strength_tesla(-45, 150) * 1e9, 62457, 145 + 1062); + EXPECT_NEAR(get_mag_strength_tesla(-45, 155) * 1e9, 61628, 145 + 1048); + EXPECT_NEAR(get_mag_strength_tesla(-45, 160) * 1e9, 60688, 145 + 1032); + EXPECT_NEAR(get_mag_strength_tesla(-45, 165) * 1e9, 59658, 145 + 1014); + EXPECT_NEAR(get_mag_strength_tesla(-45, 170) * 1e9, 58557, 145 + 995); + EXPECT_NEAR(get_mag_strength_tesla(-45, 175) * 1e9, 57404, 145 + 976); + EXPECT_NEAR(get_mag_strength_tesla(-45, 180) * 1e9, 56216, 145 + 956); + EXPECT_NEAR(get_mag_strength_tesla(-40, -180) * 1e9, 53880, 145 + 916); + EXPECT_NEAR(get_mag_strength_tesla(-40, -175) * 1e9, 52645, 145 + 895); + EXPECT_NEAR(get_mag_strength_tesla(-40, -170) * 1e9, 51403, 145 + 874); + EXPECT_NEAR(get_mag_strength_tesla(-40, -165) * 1e9, 50164, 145 + 853); + EXPECT_NEAR(get_mag_strength_tesla(-40, -160) * 1e9, 48933, 145 + 832); + EXPECT_NEAR(get_mag_strength_tesla(-40, -155) * 1e9, 47717, 145 + 811); + EXPECT_NEAR(get_mag_strength_tesla(-40, -150) * 1e9, 46519, 145 + 791); + EXPECT_NEAR(get_mag_strength_tesla(-40, -145) * 1e9, 45336, 145 + 771); + EXPECT_NEAR(get_mag_strength_tesla(-40, -140) * 1e9, 44163, 145 + 751); + EXPECT_NEAR(get_mag_strength_tesla(-40, -135) * 1e9, 42984, 145 + 731); + EXPECT_NEAR(get_mag_strength_tesla(-40, -130) * 1e9, 41781, 145 + 710); + EXPECT_NEAR(get_mag_strength_tesla(-40, -125) * 1e9, 40535, 145 + 689); + EXPECT_NEAR(get_mag_strength_tesla(-40, -120) * 1e9, 39228, 145 + 667); + EXPECT_NEAR(get_mag_strength_tesla(-40, -115) * 1e9, 37846, 145 + 643); + EXPECT_NEAR(get_mag_strength_tesla(-40, -110) * 1e9, 36383, 145 + 619); + EXPECT_NEAR(get_mag_strength_tesla(-40, -105) * 1e9, 34844, 145 + 592); + EXPECT_NEAR(get_mag_strength_tesla(-40, -100) * 1e9, 33243, 145 + 565); + EXPECT_NEAR(get_mag_strength_tesla(-40, -95) * 1e9, 31609, 145 + 537); + EXPECT_NEAR(get_mag_strength_tesla(-40, -90) * 1e9, 29988, 145 + 510); + EXPECT_NEAR(get_mag_strength_tesla(-40, -85) * 1e9, 28435, 145 + 483); + EXPECT_NEAR(get_mag_strength_tesla(-40, -80) * 1e9, 27015, 145 + 459); + EXPECT_NEAR(get_mag_strength_tesla(-40, -75) * 1e9, 25792, 145 + 438); + EXPECT_NEAR(get_mag_strength_tesla(-40, -70) * 1e9, 24815, 145 + 422); + EXPECT_NEAR(get_mag_strength_tesla(-40, -65) * 1e9, 24110, 145 + 410); + EXPECT_NEAR(get_mag_strength_tesla(-40, -60) * 1e9, 23672, 145 + 402); + EXPECT_NEAR(get_mag_strength_tesla(-40, -55) * 1e9, 23466, 145 + 399); + EXPECT_NEAR(get_mag_strength_tesla(-40, -50) * 1e9, 23432, 145 + 398); + EXPECT_NEAR(get_mag_strength_tesla(-40, -45) * 1e9, 23504, 145 + 400); + EXPECT_NEAR(get_mag_strength_tesla(-40, -40) * 1e9, 23620, 145 + 402); + EXPECT_NEAR(get_mag_strength_tesla(-40, -35) * 1e9, 23732, 145 + 403); + EXPECT_NEAR(get_mag_strength_tesla(-40, -30) * 1e9, 23812, 145 + 405); + EXPECT_NEAR(get_mag_strength_tesla(-40, -25) * 1e9, 23846, 145 + 405); + EXPECT_NEAR(get_mag_strength_tesla(-40, -20) * 1e9, 23831, 145 + 405); + EXPECT_NEAR(get_mag_strength_tesla(-40, -15) * 1e9, 23771, 145 + 404); + EXPECT_NEAR(get_mag_strength_tesla(-40, -10) * 1e9, 23682, 145 + 403); + EXPECT_NEAR(get_mag_strength_tesla(-40, -5) * 1e9, 23591, 145 + 401); + EXPECT_NEAR(get_mag_strength_tesla(-40, 0) * 1e9, 23542, 145 + 400); + EXPECT_NEAR(get_mag_strength_tesla(-40, 5) * 1e9, 23602, 145 + 401); + EXPECT_NEAR(get_mag_strength_tesla(-40, 10) * 1e9, 23849, 145 + 405); + EXPECT_NEAR(get_mag_strength_tesla(-40, 15) * 1e9, 24364, 145 + 414); + EXPECT_NEAR(get_mag_strength_tesla(-40, 20) * 1e9, 25215, 145 + 429); + EXPECT_NEAR(get_mag_strength_tesla(-40, 25) * 1e9, 26445, 145 + 450); + EXPECT_NEAR(get_mag_strength_tesla(-40, 30) * 1e9, 28060, 145 + 477); + EXPECT_NEAR(get_mag_strength_tesla(-40, 35) * 1e9, 30036, 145 + 511); + EXPECT_NEAR(get_mag_strength_tesla(-40, 40) * 1e9, 32319, 145 + 549); + EXPECT_NEAR(get_mag_strength_tesla(-40, 45) * 1e9, 34838, 145 + 592); + EXPECT_NEAR(get_mag_strength_tesla(-40, 50) * 1e9, 37511, 145 + 638); + EXPECT_NEAR(get_mag_strength_tesla(-40, 55) * 1e9, 40255, 145 + 684); + EXPECT_NEAR(get_mag_strength_tesla(-40, 60) * 1e9, 42993, 145 + 731); + EXPECT_NEAR(get_mag_strength_tesla(-40, 65) * 1e9, 45663, 145 + 776); + EXPECT_NEAR(get_mag_strength_tesla(-40, 70) * 1e9, 48218, 145 + 820); + EXPECT_NEAR(get_mag_strength_tesla(-40, 75) * 1e9, 50623, 145 + 861); + EXPECT_NEAR(get_mag_strength_tesla(-40, 80) * 1e9, 52855, 145 + 899); + EXPECT_NEAR(get_mag_strength_tesla(-40, 85) * 1e9, 54891, 145 + 933); + EXPECT_NEAR(get_mag_strength_tesla(-40, 90) * 1e9, 56710, 145 + 964); + EXPECT_NEAR(get_mag_strength_tesla(-40, 95) * 1e9, 58289, 145 + 991); + EXPECT_NEAR(get_mag_strength_tesla(-40, 100) * 1e9, 59613, 145 + 1013); + EXPECT_NEAR(get_mag_strength_tesla(-40, 105) * 1e9, 60674, 145 + 1031); + EXPECT_NEAR(get_mag_strength_tesla(-40, 110) * 1e9, 61473, 145 + 1045); + EXPECT_NEAR(get_mag_strength_tesla(-40, 115) * 1e9, 62022, 145 + 1054); + EXPECT_NEAR(get_mag_strength_tesla(-40, 120) * 1e9, 62339, 145 + 1060); + EXPECT_NEAR(get_mag_strength_tesla(-40, 125) * 1e9, 62442, 145 + 1062); + EXPECT_NEAR(get_mag_strength_tesla(-40, 130) * 1e9, 62350, 145 + 1060); + EXPECT_NEAR(get_mag_strength_tesla(-40, 135) * 1e9, 62078, 145 + 1055); + EXPECT_NEAR(get_mag_strength_tesla(-40, 140) * 1e9, 61638, 145 + 1048); + EXPECT_NEAR(get_mag_strength_tesla(-40, 145) * 1e9, 61046, 145 + 1038); + EXPECT_NEAR(get_mag_strength_tesla(-40, 150) * 1e9, 60312, 145 + 1025); + EXPECT_NEAR(get_mag_strength_tesla(-40, 155) * 1e9, 59452, 145 + 1011); + EXPECT_NEAR(get_mag_strength_tesla(-40, 160) * 1e9, 58482, 145 + 994); + EXPECT_NEAR(get_mag_strength_tesla(-40, 165) * 1e9, 57419, 145 + 976); + EXPECT_NEAR(get_mag_strength_tesla(-40, 170) * 1e9, 56285, 145 + 957); + EXPECT_NEAR(get_mag_strength_tesla(-40, 175) * 1e9, 55099, 145 + 937); + EXPECT_NEAR(get_mag_strength_tesla(-40, 180) * 1e9, 53880, 145 + 916); + EXPECT_NEAR(get_mag_strength_tesla(-35, -180) * 1e9, 51386, 145 + 874); + EXPECT_NEAR(get_mag_strength_tesla(-35, -175) * 1e9, 50148, 145 + 853); + EXPECT_NEAR(get_mag_strength_tesla(-35, -170) * 1e9, 48908, 145 + 831); + EXPECT_NEAR(get_mag_strength_tesla(-35, -165) * 1e9, 47670, 145 + 810); + EXPECT_NEAR(get_mag_strength_tesla(-35, -160) * 1e9, 46441, 145 + 790); + EXPECT_NEAR(get_mag_strength_tesla(-35, -155) * 1e9, 45226, 145 + 769); + EXPECT_NEAR(get_mag_strength_tesla(-35, -150) * 1e9, 44030, 145 + 749); + EXPECT_NEAR(get_mag_strength_tesla(-35, -145) * 1e9, 42855, 145 + 729); + EXPECT_NEAR(get_mag_strength_tesla(-35, -140) * 1e9, 41698, 145 + 709); + EXPECT_NEAR(get_mag_strength_tesla(-35, -135) * 1e9, 40549, 145 + 689); + EXPECT_NEAR(get_mag_strength_tesla(-35, -130) * 1e9, 39394, 145 + 670); + EXPECT_NEAR(get_mag_strength_tesla(-35, -125) * 1e9, 38217, 145 + 650); + EXPECT_NEAR(get_mag_strength_tesla(-35, -120) * 1e9, 37000, 145 + 629); + EXPECT_NEAR(get_mag_strength_tesla(-35, -115) * 1e9, 35729, 145 + 607); + EXPECT_NEAR(get_mag_strength_tesla(-35, -110) * 1e9, 34390, 145 + 585); + EXPECT_NEAR(get_mag_strength_tesla(-35, -105) * 1e9, 32978, 145 + 561); + EXPECT_NEAR(get_mag_strength_tesla(-35, -100) * 1e9, 31499, 145 + 535); + EXPECT_NEAR(get_mag_strength_tesla(-35, -95) * 1e9, 29975, 145 + 510); + EXPECT_NEAR(get_mag_strength_tesla(-35, -90) * 1e9, 28447, 145 + 484); + EXPECT_NEAR(get_mag_strength_tesla(-35, -85) * 1e9, 26977, 145 + 459); + EXPECT_NEAR(get_mag_strength_tesla(-35, -80) * 1e9, 25635, 145 + 436); + EXPECT_NEAR(get_mag_strength_tesla(-35, -75) * 1e9, 24495, 145 + 416); + EXPECT_NEAR(get_mag_strength_tesla(-35, -70) * 1e9, 23615, 145 + 401); + EXPECT_NEAR(get_mag_strength_tesla(-35, -65) * 1e9, 23026, 145 + 391); + EXPECT_NEAR(get_mag_strength_tesla(-35, -60) * 1e9, 22722, 145 + 386); + EXPECT_NEAR(get_mag_strength_tesla(-35, -55) * 1e9, 22660, 145 + 385); + EXPECT_NEAR(get_mag_strength_tesla(-35, -50) * 1e9, 22772, 145 + 387); + EXPECT_NEAR(get_mag_strength_tesla(-35, -45) * 1e9, 22985, 145 + 391); + EXPECT_NEAR(get_mag_strength_tesla(-35, -40) * 1e9, 23235, 145 + 395); + EXPECT_NEAR(get_mag_strength_tesla(-35, -35) * 1e9, 23478, 145 + 399); + EXPECT_NEAR(get_mag_strength_tesla(-35, -30) * 1e9, 23691, 145 + 403); + EXPECT_NEAR(get_mag_strength_tesla(-35, -25) * 1e9, 23864, 145 + 406); + EXPECT_NEAR(get_mag_strength_tesla(-35, -20) * 1e9, 23992, 145 + 408); + EXPECT_NEAR(get_mag_strength_tesla(-35, -15) * 1e9, 24068, 145 + 409); + EXPECT_NEAR(get_mag_strength_tesla(-35, -10) * 1e9, 24092, 145 + 410); + EXPECT_NEAR(get_mag_strength_tesla(-35, -5) * 1e9, 24071, 145 + 409); + EXPECT_NEAR(get_mag_strength_tesla(-35, 0) * 1e9, 24036, 145 + 409); + EXPECT_NEAR(get_mag_strength_tesla(-35, 5) * 1e9, 24046, 145 + 409); + EXPECT_NEAR(get_mag_strength_tesla(-35, 10) * 1e9, 24185, 145 + 411); + EXPECT_NEAR(get_mag_strength_tesla(-35, 15) * 1e9, 24550, 145 + 417); + EXPECT_NEAR(get_mag_strength_tesla(-35, 20) * 1e9, 25231, 145 + 429); + EXPECT_NEAR(get_mag_strength_tesla(-35, 25) * 1e9, 26295, 145 + 447); + EXPECT_NEAR(get_mag_strength_tesla(-35, 30) * 1e9, 27772, 145 + 472); + EXPECT_NEAR(get_mag_strength_tesla(-35, 35) * 1e9, 29648, 145 + 504); + EXPECT_NEAR(get_mag_strength_tesla(-35, 40) * 1e9, 31876, 145 + 542); + EXPECT_NEAR(get_mag_strength_tesla(-35, 45) * 1e9, 34375, 145 + 584); + EXPECT_NEAR(get_mag_strength_tesla(-35, 50) * 1e9, 37050, 145 + 630); + EXPECT_NEAR(get_mag_strength_tesla(-35, 55) * 1e9, 39801, 145 + 677); + EXPECT_NEAR(get_mag_strength_tesla(-35, 60) * 1e9, 42536, 145 + 723); + EXPECT_NEAR(get_mag_strength_tesla(-35, 65) * 1e9, 45178, 145 + 768); + EXPECT_NEAR(get_mag_strength_tesla(-35, 70) * 1e9, 47674, 145 + 810); + EXPECT_NEAR(get_mag_strength_tesla(-35, 75) * 1e9, 49987, 145 + 850); + EXPECT_NEAR(get_mag_strength_tesla(-35, 80) * 1e9, 52094, 145 + 886); + EXPECT_NEAR(get_mag_strength_tesla(-35, 85) * 1e9, 53976, 145 + 918); + EXPECT_NEAR(get_mag_strength_tesla(-35, 90) * 1e9, 55613, 145 + 945); + EXPECT_NEAR(get_mag_strength_tesla(-35, 95) * 1e9, 56990, 145 + 969); + EXPECT_NEAR(get_mag_strength_tesla(-35, 100) * 1e9, 58101, 145 + 988); + EXPECT_NEAR(get_mag_strength_tesla(-35, 105) * 1e9, 58949, 145 + 1002); + EXPECT_NEAR(get_mag_strength_tesla(-35, 110) * 1e9, 59552, 145 + 1012); + EXPECT_NEAR(get_mag_strength_tesla(-35, 115) * 1e9, 59934, 145 + 1019); + EXPECT_NEAR(get_mag_strength_tesla(-35, 120) * 1e9, 60119, 145 + 1022); + EXPECT_NEAR(get_mag_strength_tesla(-35, 125) * 1e9, 60127, 145 + 1022); + EXPECT_NEAR(get_mag_strength_tesla(-35, 130) * 1e9, 59972, 145 + 1020); + EXPECT_NEAR(get_mag_strength_tesla(-35, 135) * 1e9, 59660, 145 + 1014); + EXPECT_NEAR(get_mag_strength_tesla(-35, 140) * 1e9, 59198, 145 + 1006); + EXPECT_NEAR(get_mag_strength_tesla(-35, 145) * 1e9, 58593, 145 + 996); + EXPECT_NEAR(get_mag_strength_tesla(-35, 150) * 1e9, 57853, 145 + 983); + EXPECT_NEAR(get_mag_strength_tesla(-35, 155) * 1e9, 56988, 145 + 969); + EXPECT_NEAR(get_mag_strength_tesla(-35, 160) * 1e9, 56013, 145 + 952); + EXPECT_NEAR(get_mag_strength_tesla(-35, 165) * 1e9, 54945, 145 + 934); + EXPECT_NEAR(get_mag_strength_tesla(-35, 170) * 1e9, 53803, 145 + 915); + EXPECT_NEAR(get_mag_strength_tesla(-35, 175) * 1e9, 52610, 145 + 894); + EXPECT_NEAR(get_mag_strength_tesla(-35, 180) * 1e9, 51386, 145 + 874); + EXPECT_NEAR(get_mag_strength_tesla(-30, -180) * 1e9, 48750, 145 + 487); + EXPECT_NEAR(get_mag_strength_tesla(-30, -175) * 1e9, 47536, 145 + 475); + EXPECT_NEAR(get_mag_strength_tesla(-30, -170) * 1e9, 46322, 145 + 463); + EXPECT_NEAR(get_mag_strength_tesla(-30, -165) * 1e9, 45113, 145 + 451); + EXPECT_NEAR(get_mag_strength_tesla(-30, -160) * 1e9, 43912, 145 + 439); + EXPECT_NEAR(get_mag_strength_tesla(-30, -155) * 1e9, 42723, 145 + 427); + EXPECT_NEAR(get_mag_strength_tesla(-30, -150) * 1e9, 41552, 145 + 416); + EXPECT_NEAR(get_mag_strength_tesla(-30, -145) * 1e9, 40404, 145 + 404); + EXPECT_NEAR(get_mag_strength_tesla(-30, -140) * 1e9, 39280, 145 + 393); + EXPECT_NEAR(get_mag_strength_tesla(-30, -135) * 1e9, 38176, 145 + 382); + EXPECT_NEAR(get_mag_strength_tesla(-30, -130) * 1e9, 37085, 145 + 371); + EXPECT_NEAR(get_mag_strength_tesla(-30, -125) * 1e9, 35995, 145 + 360); + EXPECT_NEAR(get_mag_strength_tesla(-30, -120) * 1e9, 34891, 145 + 349); + EXPECT_NEAR(get_mag_strength_tesla(-30, -115) * 1e9, 33756, 145 + 338); + EXPECT_NEAR(get_mag_strength_tesla(-30, -110) * 1e9, 32574, 145 + 326); + EXPECT_NEAR(get_mag_strength_tesla(-30, -105) * 1e9, 31328, 145 + 313); + EXPECT_NEAR(get_mag_strength_tesla(-30, -100) * 1e9, 30012, 145 + 300); + EXPECT_NEAR(get_mag_strength_tesla(-30, -95) * 1e9, 28642, 145 + 286); + EXPECT_NEAR(get_mag_strength_tesla(-30, -90) * 1e9, 27255, 145 + 273); + EXPECT_NEAR(get_mag_strength_tesla(-30, -85) * 1e9, 25911, 145 + 259); + EXPECT_NEAR(get_mag_strength_tesla(-30, -80) * 1e9, 24686, 145 + 247); + EXPECT_NEAR(get_mag_strength_tesla(-30, -75) * 1e9, 23658, 145 + 237); + EXPECT_NEAR(get_mag_strength_tesla(-30, -70) * 1e9, 22890, 145 + 229); + EXPECT_NEAR(get_mag_strength_tesla(-30, -65) * 1e9, 22416, 145 + 224); + EXPECT_NEAR(get_mag_strength_tesla(-30, -60) * 1e9, 22227, 145 + 222); + EXPECT_NEAR(get_mag_strength_tesla(-30, -55) * 1e9, 22278, 145 + 223); + EXPECT_NEAR(get_mag_strength_tesla(-30, -50) * 1e9, 22498, 145 + 225); + EXPECT_NEAR(get_mag_strength_tesla(-30, -45) * 1e9, 22814, 145 + 228); + EXPECT_NEAR(get_mag_strength_tesla(-30, -40) * 1e9, 23167, 145 + 232); + EXPECT_NEAR(get_mag_strength_tesla(-30, -35) * 1e9, 23521, 145 + 235); + EXPECT_NEAR(get_mag_strength_tesla(-30, -30) * 1e9, 23864, 145 + 239); + EXPECT_NEAR(get_mag_strength_tesla(-30, -25) * 1e9, 24192, 145 + 242); + EXPECT_NEAR(get_mag_strength_tesla(-30, -20) * 1e9, 24496, 145 + 245); + EXPECT_NEAR(get_mag_strength_tesla(-30, -15) * 1e9, 24760, 145 + 248); + EXPECT_NEAR(get_mag_strength_tesla(-30, -10) * 1e9, 24962, 145 + 250); + EXPECT_NEAR(get_mag_strength_tesla(-30, -5) * 1e9, 25085, 145 + 251); + EXPECT_NEAR(get_mag_strength_tesla(-30, 0) * 1e9, 25140, 145 + 251); + EXPECT_NEAR(get_mag_strength_tesla(-30, 5) * 1e9, 25169, 145 + 252); + EXPECT_NEAR(get_mag_strength_tesla(-30, 10) * 1e9, 25250, 145 + 253); + EXPECT_NEAR(get_mag_strength_tesla(-30, 15) * 1e9, 25485, 145 + 255); + EXPECT_NEAR(get_mag_strength_tesla(-30, 20) * 1e9, 25978, 145 + 260); + EXPECT_NEAR(get_mag_strength_tesla(-30, 25) * 1e9, 26822, 145 + 268); + EXPECT_NEAR(get_mag_strength_tesla(-30, 30) * 1e9, 28072, 145 + 281); + EXPECT_NEAR(get_mag_strength_tesla(-30, 35) * 1e9, 29744, 145 + 297); + EXPECT_NEAR(get_mag_strength_tesla(-30, 40) * 1e9, 31802, 145 + 318); + EXPECT_NEAR(get_mag_strength_tesla(-30, 45) * 1e9, 34173, 145 + 342); + EXPECT_NEAR(get_mag_strength_tesla(-30, 50) * 1e9, 36752, 145 + 368); + EXPECT_NEAR(get_mag_strength_tesla(-30, 55) * 1e9, 39425, 145 + 394); + EXPECT_NEAR(get_mag_strength_tesla(-30, 60) * 1e9, 42084, 145 + 421); + EXPECT_NEAR(get_mag_strength_tesla(-30, 65) * 1e9, 44640, 145 + 446); + EXPECT_NEAR(get_mag_strength_tesla(-30, 70) * 1e9, 47031, 145 + 470); + EXPECT_NEAR(get_mag_strength_tesla(-30, 75) * 1e9, 49216, 145 + 492); + EXPECT_NEAR(get_mag_strength_tesla(-30, 80) * 1e9, 51166, 145 + 512); + EXPECT_NEAR(get_mag_strength_tesla(-30, 85) * 1e9, 52862, 145 + 529); + EXPECT_NEAR(get_mag_strength_tesla(-30, 90) * 1e9, 54286, 145 + 543); + EXPECT_NEAR(get_mag_strength_tesla(-30, 95) * 1e9, 55427, 145 + 554); + EXPECT_NEAR(get_mag_strength_tesla(-30, 100) * 1e9, 56288, 145 + 563); + EXPECT_NEAR(get_mag_strength_tesla(-30, 105) * 1e9, 56892, 145 + 569); + EXPECT_NEAR(get_mag_strength_tesla(-30, 110) * 1e9, 57275, 145 + 573); + EXPECT_NEAR(get_mag_strength_tesla(-30, 115) * 1e9, 57477, 145 + 575); + EXPECT_NEAR(get_mag_strength_tesla(-30, 120) * 1e9, 57531, 145 + 575); + EXPECT_NEAR(get_mag_strength_tesla(-30, 125) * 1e9, 57454, 145 + 575); + EXPECT_NEAR(get_mag_strength_tesla(-30, 130) * 1e9, 57252, 145 + 573); + EXPECT_NEAR(get_mag_strength_tesla(-30, 135) * 1e9, 56917, 145 + 569); + EXPECT_NEAR(get_mag_strength_tesla(-30, 140) * 1e9, 56448, 145 + 564); + EXPECT_NEAR(get_mag_strength_tesla(-30, 145) * 1e9, 55845, 145 + 558); + EXPECT_NEAR(get_mag_strength_tesla(-30, 150) * 1e9, 55114, 145 + 551); + EXPECT_NEAR(get_mag_strength_tesla(-30, 155) * 1e9, 54263, 145 + 543); + EXPECT_NEAR(get_mag_strength_tesla(-30, 160) * 1e9, 53305, 145 + 533); + EXPECT_NEAR(get_mag_strength_tesla(-30, 165) * 1e9, 52253, 145 + 523); + EXPECT_NEAR(get_mag_strength_tesla(-30, 170) * 1e9, 51128, 145 + 511); + EXPECT_NEAR(get_mag_strength_tesla(-30, 175) * 1e9, 49953, 145 + 500); + EXPECT_NEAR(get_mag_strength_tesla(-30, 180) * 1e9, 48750, 145 + 487); + EXPECT_NEAR(get_mag_strength_tesla(-25, -180) * 1e9, 45998, 145 + 460); + EXPECT_NEAR(get_mag_strength_tesla(-25, -175) * 1e9, 44836, 145 + 448); + EXPECT_NEAR(get_mag_strength_tesla(-25, -170) * 1e9, 43679, 145 + 437); + EXPECT_NEAR(get_mag_strength_tesla(-25, -165) * 1e9, 42529, 145 + 425); + EXPECT_NEAR(get_mag_strength_tesla(-25, -160) * 1e9, 41387, 145 + 414); + EXPECT_NEAR(get_mag_strength_tesla(-25, -155) * 1e9, 40255, 145 + 403); + EXPECT_NEAR(get_mag_strength_tesla(-25, -150) * 1e9, 39140, 145 + 391); + EXPECT_NEAR(get_mag_strength_tesla(-25, -145) * 1e9, 38048, 145 + 380); + EXPECT_NEAR(get_mag_strength_tesla(-25, -140) * 1e9, 36984, 145 + 370); + EXPECT_NEAR(get_mag_strength_tesla(-25, -135) * 1e9, 35950, 145 + 359); + EXPECT_NEAR(get_mag_strength_tesla(-25, -130) * 1e9, 34943, 145 + 349); + EXPECT_NEAR(get_mag_strength_tesla(-25, -125) * 1e9, 33957, 145 + 340); + EXPECT_NEAR(get_mag_strength_tesla(-25, -120) * 1e9, 32983, 145 + 330); + EXPECT_NEAR(get_mag_strength_tesla(-25, -115) * 1e9, 32003, 145 + 320); + EXPECT_NEAR(get_mag_strength_tesla(-25, -110) * 1e9, 30994, 145 + 310); + EXPECT_NEAR(get_mag_strength_tesla(-25, -105) * 1e9, 29935, 145 + 299); + EXPECT_NEAR(get_mag_strength_tesla(-25, -100) * 1e9, 28809, 145 + 288); + EXPECT_NEAR(get_mag_strength_tesla(-25, -95) * 1e9, 27624, 145 + 276); + EXPECT_NEAR(get_mag_strength_tesla(-25, -90) * 1e9, 26412, 145 + 264); + EXPECT_NEAR(get_mag_strength_tesla(-25, -85) * 1e9, 25230, 145 + 252); + EXPECT_NEAR(get_mag_strength_tesla(-25, -80) * 1e9, 24153, 145 + 242); + EXPECT_NEAR(get_mag_strength_tesla(-25, -75) * 1e9, 23257, 145 + 233); + EXPECT_NEAR(get_mag_strength_tesla(-25, -70) * 1e9, 22604, 145 + 226); + EXPECT_NEAR(get_mag_strength_tesla(-25, -65) * 1e9, 22229, 145 + 222); + EXPECT_NEAR(get_mag_strength_tesla(-25, -60) * 1e9, 22125, 145 + 221); + EXPECT_NEAR(get_mag_strength_tesla(-25, -55) * 1e9, 22250, 145 + 222); + EXPECT_NEAR(get_mag_strength_tesla(-25, -50) * 1e9, 22538, 145 + 225); + EXPECT_NEAR(get_mag_strength_tesla(-25, -45) * 1e9, 22923, 145 + 229); + EXPECT_NEAR(get_mag_strength_tesla(-25, -40) * 1e9, 23353, 145 + 234); + EXPECT_NEAR(get_mag_strength_tesla(-25, -35) * 1e9, 23803, 145 + 238); + EXPECT_NEAR(get_mag_strength_tesla(-25, -30) * 1e9, 24270, 145 + 243); + EXPECT_NEAR(get_mag_strength_tesla(-25, -25) * 1e9, 24753, 145 + 248); + EXPECT_NEAR(get_mag_strength_tesla(-25, -20) * 1e9, 25243, 145 + 252); + EXPECT_NEAR(get_mag_strength_tesla(-25, -15) * 1e9, 25713, 145 + 257); + EXPECT_NEAR(get_mag_strength_tesla(-25, -10) * 1e9, 26120, 145 + 261); + EXPECT_NEAR(get_mag_strength_tesla(-25, -5) * 1e9, 26428, 145 + 264); + EXPECT_NEAR(get_mag_strength_tesla(-25, 0) * 1e9, 26624, 145 + 266); + EXPECT_NEAR(get_mag_strength_tesla(-25, 5) * 1e9, 26729, 145 + 267); + EXPECT_NEAR(get_mag_strength_tesla(-25, 10) * 1e9, 26807, 145 + 268); + EXPECT_NEAR(get_mag_strength_tesla(-25, 15) * 1e9, 26950, 145 + 270); + EXPECT_NEAR(get_mag_strength_tesla(-25, 20) * 1e9, 27268, 145 + 273); + EXPECT_NEAR(get_mag_strength_tesla(-25, 25) * 1e9, 27868, 145 + 279); + EXPECT_NEAR(get_mag_strength_tesla(-25, 30) * 1e9, 28836, 145 + 288); + EXPECT_NEAR(get_mag_strength_tesla(-25, 35) * 1e9, 30216, 145 + 302); + EXPECT_NEAR(get_mag_strength_tesla(-25, 40) * 1e9, 32004, 145 + 320); + EXPECT_NEAR(get_mag_strength_tesla(-25, 45) * 1e9, 34140, 145 + 341); + EXPECT_NEAR(get_mag_strength_tesla(-25, 50) * 1e9, 36520, 145 + 365); + EXPECT_NEAR(get_mag_strength_tesla(-25, 55) * 1e9, 39024, 145 + 390); + EXPECT_NEAR(get_mag_strength_tesla(-25, 60) * 1e9, 41531, 145 + 415); + EXPECT_NEAR(get_mag_strength_tesla(-25, 65) * 1e9, 43941, 145 + 439); + EXPECT_NEAR(get_mag_strength_tesla(-25, 70) * 1e9, 46182, 145 + 462); + EXPECT_NEAR(get_mag_strength_tesla(-25, 75) * 1e9, 48208, 145 + 482); + EXPECT_NEAR(get_mag_strength_tesla(-25, 80) * 1e9, 49985, 145 + 500); + EXPECT_NEAR(get_mag_strength_tesla(-25, 85) * 1e9, 51484, 145 + 515); + EXPECT_NEAR(get_mag_strength_tesla(-25, 90) * 1e9, 52685, 145 + 527); + EXPECT_NEAR(get_mag_strength_tesla(-25, 95) * 1e9, 53579, 145 + 536); + EXPECT_NEAR(get_mag_strength_tesla(-25, 100) * 1e9, 54179, 145 + 542); + EXPECT_NEAR(get_mag_strength_tesla(-25, 105) * 1e9, 54529, 145 + 545); + EXPECT_NEAR(get_mag_strength_tesla(-25, 110) * 1e9, 54687, 145 + 547); + EXPECT_NEAR(get_mag_strength_tesla(-25, 115) * 1e9, 54713, 145 + 547); + EXPECT_NEAR(get_mag_strength_tesla(-25, 120) * 1e9, 54645, 145 + 546); + EXPECT_NEAR(get_mag_strength_tesla(-25, 125) * 1e9, 54497, 145 + 545); + EXPECT_NEAR(get_mag_strength_tesla(-25, 130) * 1e9, 54260, 145 + 543); + EXPECT_NEAR(get_mag_strength_tesla(-25, 135) * 1e9, 53914, 145 + 539); + EXPECT_NEAR(get_mag_strength_tesla(-25, 140) * 1e9, 53446, 145 + 534); + EXPECT_NEAR(get_mag_strength_tesla(-25, 145) * 1e9, 52851, 145 + 529); + EXPECT_NEAR(get_mag_strength_tesla(-25, 150) * 1e9, 52137, 145 + 521); + EXPECT_NEAR(get_mag_strength_tesla(-25, 155) * 1e9, 51311, 145 + 513); + EXPECT_NEAR(get_mag_strength_tesla(-25, 160) * 1e9, 50385, 145 + 504); + EXPECT_NEAR(get_mag_strength_tesla(-25, 165) * 1e9, 49372, 145 + 494); + EXPECT_NEAR(get_mag_strength_tesla(-25, 170) * 1e9, 48287, 145 + 483); + EXPECT_NEAR(get_mag_strength_tesla(-25, 175) * 1e9, 47155, 145 + 472); + EXPECT_NEAR(get_mag_strength_tesla(-25, 180) * 1e9, 45998, 145 + 460); + EXPECT_NEAR(get_mag_strength_tesla(-20, -180) * 1e9, 43192, 145 + 432); + EXPECT_NEAR(get_mag_strength_tesla(-20, -175) * 1e9, 42112, 145 + 421); + EXPECT_NEAR(get_mag_strength_tesla(-20, -170) * 1e9, 41042, 145 + 410); + EXPECT_NEAR(get_mag_strength_tesla(-20, -165) * 1e9, 39983, 145 + 400); + EXPECT_NEAR(get_mag_strength_tesla(-20, -160) * 1e9, 38935, 145 + 389); + EXPECT_NEAR(get_mag_strength_tesla(-20, -155) * 1e9, 37897, 145 + 379); + EXPECT_NEAR(get_mag_strength_tesla(-20, -150) * 1e9, 36875, 145 + 369); + EXPECT_NEAR(get_mag_strength_tesla(-20, -145) * 1e9, 35877, 145 + 359); + EXPECT_NEAR(get_mag_strength_tesla(-20, -140) * 1e9, 34909, 145 + 349); + EXPECT_NEAR(get_mag_strength_tesla(-20, -135) * 1e9, 33976, 145 + 340); + EXPECT_NEAR(get_mag_strength_tesla(-20, -130) * 1e9, 33080, 145 + 331); + EXPECT_NEAR(get_mag_strength_tesla(-20, -125) * 1e9, 32220, 145 + 322); + EXPECT_NEAR(get_mag_strength_tesla(-20, -120) * 1e9, 31390, 145 + 314); + EXPECT_NEAR(get_mag_strength_tesla(-20, -115) * 1e9, 30574, 145 + 306); + EXPECT_NEAR(get_mag_strength_tesla(-20, -110) * 1e9, 29747, 145 + 297); + EXPECT_NEAR(get_mag_strength_tesla(-20, -105) * 1e9, 28882, 145 + 289); + EXPECT_NEAR(get_mag_strength_tesla(-20, -100) * 1e9, 27959, 145 + 280); + EXPECT_NEAR(get_mag_strength_tesla(-20, -95) * 1e9, 26978, 145 + 270); + EXPECT_NEAR(get_mag_strength_tesla(-20, -90) * 1e9, 25964, 145 + 260); + EXPECT_NEAR(get_mag_strength_tesla(-20, -85) * 1e9, 24968, 145 + 250); + EXPECT_NEAR(get_mag_strength_tesla(-20, -80) * 1e9, 24057, 145 + 241); + EXPECT_NEAR(get_mag_strength_tesla(-20, -75) * 1e9, 23298, 145 + 233); + EXPECT_NEAR(get_mag_strength_tesla(-20, -70) * 1e9, 22748, 145 + 227); + EXPECT_NEAR(get_mag_strength_tesla(-20, -65) * 1e9, 22443, 145 + 224); + EXPECT_NEAR(get_mag_strength_tesla(-20, -60) * 1e9, 22384, 145 + 224); + EXPECT_NEAR(get_mag_strength_tesla(-20, -55) * 1e9, 22538, 145 + 225); + EXPECT_NEAR(get_mag_strength_tesla(-20, -50) * 1e9, 22855, 145 + 229); + EXPECT_NEAR(get_mag_strength_tesla(-20, -45) * 1e9, 23279, 145 + 233); + EXPECT_NEAR(get_mag_strength_tesla(-20, -40) * 1e9, 23766, 145 + 238); + EXPECT_NEAR(get_mag_strength_tesla(-20, -35) * 1e9, 24298, 145 + 243); + EXPECT_NEAR(get_mag_strength_tesla(-20, -30) * 1e9, 24873, 145 + 249); + EXPECT_NEAR(get_mag_strength_tesla(-20, -25) * 1e9, 25493, 145 + 255); + EXPECT_NEAR(get_mag_strength_tesla(-20, -20) * 1e9, 26145, 145 + 261); + EXPECT_NEAR(get_mag_strength_tesla(-20, -15) * 1e9, 26794, 145 + 268); + EXPECT_NEAR(get_mag_strength_tesla(-20, -10) * 1e9, 27386, 145 + 274); + EXPECT_NEAR(get_mag_strength_tesla(-20, -5) * 1e9, 27870, 145 + 279); + EXPECT_NEAR(get_mag_strength_tesla(-20, 0) * 1e9, 28213, 145 + 282); + EXPECT_NEAR(get_mag_strength_tesla(-20, 5) * 1e9, 28420, 145 + 284); + EXPECT_NEAR(get_mag_strength_tesla(-20, 10) * 1e9, 28532, 145 + 285); + EXPECT_NEAR(get_mag_strength_tesla(-20, 15) * 1e9, 28626, 145 + 286); + EXPECT_NEAR(get_mag_strength_tesla(-20, 20) * 1e9, 28803, 145 + 288); + EXPECT_NEAR(get_mag_strength_tesla(-20, 25) * 1e9, 29174, 145 + 292); + EXPECT_NEAR(get_mag_strength_tesla(-20, 30) * 1e9, 29846, 145 + 298); + EXPECT_NEAR(get_mag_strength_tesla(-20, 35) * 1e9, 30897, 145 + 309); + EXPECT_NEAR(get_mag_strength_tesla(-20, 40) * 1e9, 32352, 145 + 324); + EXPECT_NEAR(get_mag_strength_tesla(-20, 45) * 1e9, 34175, 145 + 342); + EXPECT_NEAR(get_mag_strength_tesla(-20, 50) * 1e9, 36274, 145 + 363); + EXPECT_NEAR(get_mag_strength_tesla(-20, 55) * 1e9, 38526, 145 + 385); + EXPECT_NEAR(get_mag_strength_tesla(-20, 60) * 1e9, 40807, 145 + 408); + EXPECT_NEAR(get_mag_strength_tesla(-20, 65) * 1e9, 43010, 145 + 430); + EXPECT_NEAR(get_mag_strength_tesla(-20, 70) * 1e9, 45060, 145 + 451); + EXPECT_NEAR(get_mag_strength_tesla(-20, 75) * 1e9, 46901, 145 + 469); + EXPECT_NEAR(get_mag_strength_tesla(-20, 80) * 1e9, 48493, 145 + 485); + EXPECT_NEAR(get_mag_strength_tesla(-20, 85) * 1e9, 49798, 145 + 498); + EXPECT_NEAR(get_mag_strength_tesla(-20, 90) * 1e9, 50785, 145 + 508); + EXPECT_NEAR(get_mag_strength_tesla(-20, 95) * 1e9, 51445, 145 + 514); + EXPECT_NEAR(get_mag_strength_tesla(-20, 100) * 1e9, 51802, 145 + 518); + EXPECT_NEAR(get_mag_strength_tesla(-20, 105) * 1e9, 51916, 145 + 519); + EXPECT_NEAR(get_mag_strength_tesla(-20, 110) * 1e9, 51868, 145 + 519); + EXPECT_NEAR(get_mag_strength_tesla(-20, 115) * 1e9, 51734, 145 + 517); + EXPECT_NEAR(get_mag_strength_tesla(-20, 120) * 1e9, 51561, 145 + 516); + EXPECT_NEAR(get_mag_strength_tesla(-20, 125) * 1e9, 51355, 145 + 514); + EXPECT_NEAR(get_mag_strength_tesla(-20, 130) * 1e9, 51092, 145 + 511); + EXPECT_NEAR(get_mag_strength_tesla(-20, 135) * 1e9, 50739, 145 + 507); + EXPECT_NEAR(get_mag_strength_tesla(-20, 140) * 1e9, 50273, 145 + 503); + EXPECT_NEAR(get_mag_strength_tesla(-20, 145) * 1e9, 49688, 145 + 497); + EXPECT_NEAR(get_mag_strength_tesla(-20, 150) * 1e9, 48992, 145 + 490); + EXPECT_NEAR(get_mag_strength_tesla(-20, 155) * 1e9, 48199, 145 + 482); + EXPECT_NEAR(get_mag_strength_tesla(-20, 160) * 1e9, 47318, 145 + 473); + EXPECT_NEAR(get_mag_strength_tesla(-20, 165) * 1e9, 46359, 145 + 464); + EXPECT_NEAR(get_mag_strength_tesla(-20, 170) * 1e9, 45337, 145 + 453); + EXPECT_NEAR(get_mag_strength_tesla(-20, 175) * 1e9, 44274, 145 + 443); + EXPECT_NEAR(get_mag_strength_tesla(-20, 180) * 1e9, 43192, 145 + 432); + EXPECT_NEAR(get_mag_strength_tesla(-15, -180) * 1e9, 40439, 145 + 404); + EXPECT_NEAR(get_mag_strength_tesla(-15, -175) * 1e9, 39471, 145 + 395); + EXPECT_NEAR(get_mag_strength_tesla(-15, -170) * 1e9, 38520, 145 + 385); + EXPECT_NEAR(get_mag_strength_tesla(-15, -165) * 1e9, 37585, 145 + 376); + EXPECT_NEAR(get_mag_strength_tesla(-15, -160) * 1e9, 36664, 145 + 367); + EXPECT_NEAR(get_mag_strength_tesla(-15, -155) * 1e9, 35756, 145 + 358); + EXPECT_NEAR(get_mag_strength_tesla(-15, -150) * 1e9, 34866, 145 + 349); + EXPECT_NEAR(get_mag_strength_tesla(-15, -145) * 1e9, 34002, 145 + 340); + EXPECT_NEAR(get_mag_strength_tesla(-15, -140) * 1e9, 33169, 145 + 332); + EXPECT_NEAR(get_mag_strength_tesla(-15, -135) * 1e9, 32374, 145 + 324); + EXPECT_NEAR(get_mag_strength_tesla(-15, -130) * 1e9, 31620, 145 + 316); + EXPECT_NEAR(get_mag_strength_tesla(-15, -125) * 1e9, 30910, 145 + 309); + EXPECT_NEAR(get_mag_strength_tesla(-15, -120) * 1e9, 30237, 145 + 302); + EXPECT_NEAR(get_mag_strength_tesla(-15, -115) * 1e9, 29590, 145 + 296); + EXPECT_NEAR(get_mag_strength_tesla(-15, -110) * 1e9, 28946, 145 + 289); + EXPECT_NEAR(get_mag_strength_tesla(-15, -105) * 1e9, 28276, 145 + 283); + EXPECT_NEAR(get_mag_strength_tesla(-15, -100) * 1e9, 27559, 145 + 276); + EXPECT_NEAR(get_mag_strength_tesla(-15, -95) * 1e9, 26790, 145 + 268); + EXPECT_NEAR(get_mag_strength_tesla(-15, -90) * 1e9, 25985, 145 + 260); + EXPECT_NEAR(get_mag_strength_tesla(-15, -85) * 1e9, 25184, 145 + 252); + EXPECT_NEAR(get_mag_strength_tesla(-15, -80) * 1e9, 24437, 145 + 244); + EXPECT_NEAR(get_mag_strength_tesla(-15, -75) * 1e9, 23802, 145 + 238); + EXPECT_NEAR(get_mag_strength_tesla(-15, -70) * 1e9, 23330, 145 + 233); + EXPECT_NEAR(get_mag_strength_tesla(-15, -65) * 1e9, 23055, 145 + 231); + EXPECT_NEAR(get_mag_strength_tesla(-15, -60) * 1e9, 22991, 145 + 230); + EXPECT_NEAR(get_mag_strength_tesla(-15, -55) * 1e9, 23126, 145 + 231); + EXPECT_NEAR(get_mag_strength_tesla(-15, -50) * 1e9, 23427, 145 + 234); + EXPECT_NEAR(get_mag_strength_tesla(-15, -45) * 1e9, 23856, 145 + 239); + EXPECT_NEAR(get_mag_strength_tesla(-15, -40) * 1e9, 24376, 145 + 244); + EXPECT_NEAR(get_mag_strength_tesla(-15, -35) * 1e9, 24967, 145 + 250); + EXPECT_NEAR(get_mag_strength_tesla(-15, -30) * 1e9, 25623, 145 + 256); + EXPECT_NEAR(get_mag_strength_tesla(-15, -25) * 1e9, 26339, 145 + 263); + EXPECT_NEAR(get_mag_strength_tesla(-15, -20) * 1e9, 27098, 145 + 271); + EXPECT_NEAR(get_mag_strength_tesla(-15, -15) * 1e9, 27863, 145 + 279); + EXPECT_NEAR(get_mag_strength_tesla(-15, -10) * 1e9, 28578, 145 + 286); + EXPECT_NEAR(get_mag_strength_tesla(-15, -5) * 1e9, 29186, 145 + 292); + EXPECT_NEAR(get_mag_strength_tesla(-15, 0) * 1e9, 29645, 145 + 296); + EXPECT_NEAR(get_mag_strength_tesla(-15, 5) * 1e9, 29945, 145 + 299); + EXPECT_NEAR(get_mag_strength_tesla(-15, 10) * 1e9, 30108, 145 + 301); + EXPECT_NEAR(get_mag_strength_tesla(-15, 15) * 1e9, 30188, 145 + 302); + EXPECT_NEAR(get_mag_strength_tesla(-15, 20) * 1e9, 30270, 145 + 303); + EXPECT_NEAR(get_mag_strength_tesla(-15, 25) * 1e9, 30460, 145 + 305); + EXPECT_NEAR(get_mag_strength_tesla(-15, 30) * 1e9, 30874, 145 + 309); + EXPECT_NEAR(get_mag_strength_tesla(-15, 35) * 1e9, 31612, 145 + 316); + EXPECT_NEAR(get_mag_strength_tesla(-15, 40) * 1e9, 32728, 145 + 327); + EXPECT_NEAR(get_mag_strength_tesla(-15, 45) * 1e9, 34208, 145 + 342); + EXPECT_NEAR(get_mag_strength_tesla(-15, 50) * 1e9, 35978, 145 + 360); + EXPECT_NEAR(get_mag_strength_tesla(-15, 55) * 1e9, 37922, 145 + 379); + EXPECT_NEAR(get_mag_strength_tesla(-15, 60) * 1e9, 39919, 145 + 399); + EXPECT_NEAR(get_mag_strength_tesla(-15, 65) * 1e9, 41865, 145 + 419); + EXPECT_NEAR(get_mag_strength_tesla(-15, 70) * 1e9, 43683, 145 + 437); + EXPECT_NEAR(get_mag_strength_tesla(-15, 75) * 1e9, 45317, 145 + 453); + EXPECT_NEAR(get_mag_strength_tesla(-15, 80) * 1e9, 46717, 145 + 467); + EXPECT_NEAR(get_mag_strength_tesla(-15, 85) * 1e9, 47835, 145 + 478); + EXPECT_NEAR(get_mag_strength_tesla(-15, 90) * 1e9, 48631, 145 + 486); + EXPECT_NEAR(get_mag_strength_tesla(-15, 95) * 1e9, 49092, 145 + 491); + EXPECT_NEAR(get_mag_strength_tesla(-15, 100) * 1e9, 49247, 145 + 492); + EXPECT_NEAR(get_mag_strength_tesla(-15, 105) * 1e9, 49168, 145 + 492); + EXPECT_NEAR(get_mag_strength_tesla(-15, 110) * 1e9, 48954, 145 + 490); + EXPECT_NEAR(get_mag_strength_tesla(-15, 115) * 1e9, 48693, 145 + 487); + EXPECT_NEAR(get_mag_strength_tesla(-15, 120) * 1e9, 48434, 145 + 484); + EXPECT_NEAR(get_mag_strength_tesla(-15, 125) * 1e9, 48179, 145 + 482); + EXPECT_NEAR(get_mag_strength_tesla(-15, 130) * 1e9, 47892, 145 + 479); + EXPECT_NEAR(get_mag_strength_tesla(-15, 135) * 1e9, 47528, 145 + 475); + EXPECT_NEAR(get_mag_strength_tesla(-15, 140) * 1e9, 47058, 145 + 471); + EXPECT_NEAR(get_mag_strength_tesla(-15, 145) * 1e9, 46479, 145 + 465); + EXPECT_NEAR(get_mag_strength_tesla(-15, 150) * 1e9, 45802, 145 + 458); + EXPECT_NEAR(get_mag_strength_tesla(-15, 155) * 1e9, 45042, 145 + 450); + EXPECT_NEAR(get_mag_strength_tesla(-15, 160) * 1e9, 44214, 145 + 442); + EXPECT_NEAR(get_mag_strength_tesla(-15, 165) * 1e9, 43324, 145 + 433); + EXPECT_NEAR(get_mag_strength_tesla(-15, 170) * 1e9, 42385, 145 + 424); + EXPECT_NEAR(get_mag_strength_tesla(-15, 175) * 1e9, 41416, 145 + 414); + EXPECT_NEAR(get_mag_strength_tesla(-15, 180) * 1e9, 40439, 145 + 404); + EXPECT_NEAR(get_mag_strength_tesla(-10, -180) * 1e9, 37892, 145 + 379); + EXPECT_NEAR(get_mag_strength_tesla(-10, -175) * 1e9, 37066, 145 + 371); + EXPECT_NEAR(get_mag_strength_tesla(-10, -170) * 1e9, 36263, 145 + 363); + EXPECT_NEAR(get_mag_strength_tesla(-10, -165) * 1e9, 35480, 145 + 355); + EXPECT_NEAR(get_mag_strength_tesla(-10, -160) * 1e9, 34714, 145 + 347); + EXPECT_NEAR(get_mag_strength_tesla(-10, -155) * 1e9, 33967, 145 + 340); + EXPECT_NEAR(get_mag_strength_tesla(-10, -150) * 1e9, 33241, 145 + 332); + EXPECT_NEAR(get_mag_strength_tesla(-10, -145) * 1e9, 32545, 145 + 325); + EXPECT_NEAR(get_mag_strength_tesla(-10, -140) * 1e9, 31883, 145 + 319); + EXPECT_NEAR(get_mag_strength_tesla(-10, -135) * 1e9, 31261, 145 + 313); + EXPECT_NEAR(get_mag_strength_tesla(-10, -130) * 1e9, 30679, 145 + 307); + EXPECT_NEAR(get_mag_strength_tesla(-10, -125) * 1e9, 30139, 145 + 301); + EXPECT_NEAR(get_mag_strength_tesla(-10, -120) * 1e9, 29639, 145 + 296); + EXPECT_NEAR(get_mag_strength_tesla(-10, -115) * 1e9, 29166, 145 + 292); + EXPECT_NEAR(get_mag_strength_tesla(-10, -110) * 1e9, 28704, 145 + 287); + EXPECT_NEAR(get_mag_strength_tesla(-10, -105) * 1e9, 28226, 145 + 282); + EXPECT_NEAR(get_mag_strength_tesla(-10, -100) * 1e9, 27711, 145 + 277); + EXPECT_NEAR(get_mag_strength_tesla(-10, -95) * 1e9, 27149, 145 + 271); + EXPECT_NEAR(get_mag_strength_tesla(-10, -90) * 1e9, 26546, 145 + 265); + EXPECT_NEAR(get_mag_strength_tesla(-10, -85) * 1e9, 25926, 145 + 259); + EXPECT_NEAR(get_mag_strength_tesla(-10, -80) * 1e9, 25324, 145 + 253); + EXPECT_NEAR(get_mag_strength_tesla(-10, -75) * 1e9, 24785, 145 + 248); + EXPECT_NEAR(get_mag_strength_tesla(-10, -70) * 1e9, 24352, 145 + 244); + EXPECT_NEAR(get_mag_strength_tesla(-10, -65) * 1e9, 24063, 145 + 241); + EXPECT_NEAR(get_mag_strength_tesla(-10, -60) * 1e9, 23944, 145 + 239); + EXPECT_NEAR(get_mag_strength_tesla(-10, -55) * 1e9, 24006, 145 + 240); + EXPECT_NEAR(get_mag_strength_tesla(-10, -50) * 1e9, 24242, 145 + 242); + EXPECT_NEAR(get_mag_strength_tesla(-10, -45) * 1e9, 24630, 145 + 246); + EXPECT_NEAR(get_mag_strength_tesla(-10, -40) * 1e9, 25144, 145 + 251); + EXPECT_NEAR(get_mag_strength_tesla(-10, -35) * 1e9, 25756, 145 + 258); + EXPECT_NEAR(get_mag_strength_tesla(-10, -30) * 1e9, 26447, 145 + 264); + EXPECT_NEAR(get_mag_strength_tesla(-10, -25) * 1e9, 27201, 145 + 272); + EXPECT_NEAR(get_mag_strength_tesla(-10, -20) * 1e9, 27997, 145 + 280); + EXPECT_NEAR(get_mag_strength_tesla(-10, -15) * 1e9, 28798, 145 + 288); + EXPECT_NEAR(get_mag_strength_tesla(-10, -10) * 1e9, 29555, 145 + 296); + EXPECT_NEAR(get_mag_strength_tesla(-10, -5) * 1e9, 30216, 145 + 302); + EXPECT_NEAR(get_mag_strength_tesla(-10, 0) * 1e9, 30740, 145 + 307); + EXPECT_NEAR(get_mag_strength_tesla(-10, 5) * 1e9, 31106, 145 + 311); + EXPECT_NEAR(get_mag_strength_tesla(-10, 10) * 1e9, 31320, 145 + 313); + EXPECT_NEAR(get_mag_strength_tesla(-10, 15) * 1e9, 31415, 145 + 314); + EXPECT_NEAR(get_mag_strength_tesla(-10, 20) * 1e9, 31454, 145 + 315); + EXPECT_NEAR(get_mag_strength_tesla(-10, 25) * 1e9, 31531, 145 + 315); + EXPECT_NEAR(get_mag_strength_tesla(-10, 30) * 1e9, 31762, 145 + 318); + EXPECT_NEAR(get_mag_strength_tesla(-10, 35) * 1e9, 32254, 145 + 323); + EXPECT_NEAR(get_mag_strength_tesla(-10, 40) * 1e9, 33077, 145 + 331); + EXPECT_NEAR(get_mag_strength_tesla(-10, 45) * 1e9, 34236, 145 + 342); + EXPECT_NEAR(get_mag_strength_tesla(-10, 50) * 1e9, 35673, 145 + 357); + EXPECT_NEAR(get_mag_strength_tesla(-10, 55) * 1e9, 37288, 145 + 373); + EXPECT_NEAR(get_mag_strength_tesla(-10, 60) * 1e9, 38971, 145 + 390); + EXPECT_NEAR(get_mag_strength_tesla(-10, 65) * 1e9, 40628, 145 + 406); + EXPECT_NEAR(get_mag_strength_tesla(-10, 70) * 1e9, 42189, 145 + 422); + EXPECT_NEAR(get_mag_strength_tesla(-10, 75) * 1e9, 43597, 145 + 436); + EXPECT_NEAR(get_mag_strength_tesla(-10, 80) * 1e9, 44800, 145 + 448); + EXPECT_NEAR(get_mag_strength_tesla(-10, 85) * 1e9, 45743, 145 + 457); + EXPECT_NEAR(get_mag_strength_tesla(-10, 90) * 1e9, 46377, 145 + 464); + EXPECT_NEAR(get_mag_strength_tesla(-10, 95) * 1e9, 46685, 145 + 467); + EXPECT_NEAR(get_mag_strength_tesla(-10, 100) * 1e9, 46695, 145 + 467); + EXPECT_NEAR(get_mag_strength_tesla(-10, 105) * 1e9, 46485, 145 + 465); + EXPECT_NEAR(get_mag_strength_tesla(-10, 110) * 1e9, 46158, 145 + 462); + EXPECT_NEAR(get_mag_strength_tesla(-10, 115) * 1e9, 45807, 145 + 458); + EXPECT_NEAR(get_mag_strength_tesla(-10, 120) * 1e9, 45482, 145 + 455); + EXPECT_NEAR(get_mag_strength_tesla(-10, 125) * 1e9, 45178, 145 + 452); + EXPECT_NEAR(get_mag_strength_tesla(-10, 130) * 1e9, 44855, 145 + 449); + EXPECT_NEAR(get_mag_strength_tesla(-10, 135) * 1e9, 44466, 145 + 445); + EXPECT_NEAR(get_mag_strength_tesla(-10, 140) * 1e9, 43982, 145 + 440); + EXPECT_NEAR(get_mag_strength_tesla(-10, 145) * 1e9, 43399, 145 + 434); + EXPECT_NEAR(get_mag_strength_tesla(-10, 150) * 1e9, 42735, 145 + 427); + EXPECT_NEAR(get_mag_strength_tesla(-10, 155) * 1e9, 42009, 145 + 420); + EXPECT_NEAR(get_mag_strength_tesla(-10, 160) * 1e9, 41237, 145 + 412); + EXPECT_NEAR(get_mag_strength_tesla(-10, 165) * 1e9, 40426, 145 + 404); + EXPECT_NEAR(get_mag_strength_tesla(-10, 170) * 1e9, 39588, 145 + 396); + EXPECT_NEAR(get_mag_strength_tesla(-10, 175) * 1e9, 38737, 145 + 387); + EXPECT_NEAR(get_mag_strength_tesla(-10, 180) * 1e9, 37892, 145 + 379); + EXPECT_NEAR(get_mag_strength_tesla(-5, -180) * 1e9, 35732, 145 + 357); + EXPECT_NEAR(get_mag_strength_tesla(-5, -175) * 1e9, 35070, 145 + 351); + EXPECT_NEAR(get_mag_strength_tesla(-5, -170) * 1e9, 34435, 145 + 344); + EXPECT_NEAR(get_mag_strength_tesla(-5, -165) * 1e9, 33822, 145 + 338); + EXPECT_NEAR(get_mag_strength_tesla(-5, -160) * 1e9, 33230, 145 + 332); + EXPECT_NEAR(get_mag_strength_tesla(-5, -155) * 1e9, 32660, 145 + 327); + EXPECT_NEAR(get_mag_strength_tesla(-5, -150) * 1e9, 32119, 145 + 321); + EXPECT_NEAR(get_mag_strength_tesla(-5, -145) * 1e9, 31615, 145 + 316); + EXPECT_NEAR(get_mag_strength_tesla(-5, -140) * 1e9, 31150, 145 + 312); + EXPECT_NEAR(get_mag_strength_tesla(-5, -135) * 1e9, 30726, 145 + 307); + EXPECT_NEAR(get_mag_strength_tesla(-5, -130) * 1e9, 30340, 145 + 303); + EXPECT_NEAR(get_mag_strength_tesla(-5, -125) * 1e9, 29990, 145 + 300); + EXPECT_NEAR(get_mag_strength_tesla(-5, -120) * 1e9, 29672, 145 + 297); + EXPECT_NEAR(get_mag_strength_tesla(-5, -115) * 1e9, 29380, 145 + 294); + EXPECT_NEAR(get_mag_strength_tesla(-5, -110) * 1e9, 29098, 145 + 291); + EXPECT_NEAR(get_mag_strength_tesla(-5, -105) * 1e9, 28806, 145 + 288); + EXPECT_NEAR(get_mag_strength_tesla(-5, -100) * 1e9, 28482, 145 + 285); + EXPECT_NEAR(get_mag_strength_tesla(-5, -95) * 1e9, 28109, 145 + 281); + EXPECT_NEAR(get_mag_strength_tesla(-5, -90) * 1e9, 27682, 145 + 277); + EXPECT_NEAR(get_mag_strength_tesla(-5, -85) * 1e9, 27211, 145 + 272); + EXPECT_NEAR(get_mag_strength_tesla(-5, -80) * 1e9, 26718, 145 + 267); + EXPECT_NEAR(get_mag_strength_tesla(-5, -75) * 1e9, 26236, 145 + 262); + EXPECT_NEAR(get_mag_strength_tesla(-5, -70) * 1e9, 25804, 145 + 258); + EXPECT_NEAR(get_mag_strength_tesla(-5, -65) * 1e9, 25461, 145 + 255); + EXPECT_NEAR(get_mag_strength_tesla(-5, -60) * 1e9, 25244, 145 + 252); + EXPECT_NEAR(get_mag_strength_tesla(-5, -55) * 1e9, 25185, 145 + 252); + EXPECT_NEAR(get_mag_strength_tesla(-5, -50) * 1e9, 25302, 145 + 253); + EXPECT_NEAR(get_mag_strength_tesla(-5, -45) * 1e9, 25596, 145 + 256); + EXPECT_NEAR(get_mag_strength_tesla(-5, -40) * 1e9, 26045, 145 + 260); + EXPECT_NEAR(get_mag_strength_tesla(-5, -35) * 1e9, 26620, 145 + 266); + EXPECT_NEAR(get_mag_strength_tesla(-5, -30) * 1e9, 27287, 145 + 273); + EXPECT_NEAR(get_mag_strength_tesla(-5, -25) * 1e9, 28017, 145 + 280); + EXPECT_NEAR(get_mag_strength_tesla(-5, -20) * 1e9, 28781, 145 + 288); + EXPECT_NEAR(get_mag_strength_tesla(-5, -15) * 1e9, 29546, 145 + 295); + EXPECT_NEAR(get_mag_strength_tesla(-5, -10) * 1e9, 30274, 145 + 303); + EXPECT_NEAR(get_mag_strength_tesla(-5, -5) * 1e9, 30924, 145 + 309); + EXPECT_NEAR(get_mag_strength_tesla(-5, 0) * 1e9, 31462, 145 + 315); + EXPECT_NEAR(get_mag_strength_tesla(-5, 5) * 1e9, 31865, 145 + 319); + EXPECT_NEAR(get_mag_strength_tesla(-5, 10) * 1e9, 32125, 145 + 321); + EXPECT_NEAR(get_mag_strength_tesla(-5, 15) * 1e9, 32257, 145 + 323); + EXPECT_NEAR(get_mag_strength_tesla(-5, 20) * 1e9, 32306, 145 + 323); + EXPECT_NEAR(get_mag_strength_tesla(-5, 25) * 1e9, 32350, 145 + 324); + EXPECT_NEAR(get_mag_strength_tesla(-5, 30) * 1e9, 32492, 145 + 325); + EXPECT_NEAR(get_mag_strength_tesla(-5, 35) * 1e9, 32834, 145 + 328); + EXPECT_NEAR(get_mag_strength_tesla(-5, 40) * 1e9, 33448, 145 + 334); + EXPECT_NEAR(get_mag_strength_tesla(-5, 45) * 1e9, 34348, 145 + 343); + EXPECT_NEAR(get_mag_strength_tesla(-5, 50) * 1e9, 35489, 145 + 355); + EXPECT_NEAR(get_mag_strength_tesla(-5, 55) * 1e9, 36790, 145 + 368); + EXPECT_NEAR(get_mag_strength_tesla(-5, 60) * 1e9, 38162, 145 + 382); + EXPECT_NEAR(get_mag_strength_tesla(-5, 65) * 1e9, 39526, 145 + 395); + EXPECT_NEAR(get_mag_strength_tesla(-5, 70) * 1e9, 40822, 145 + 408); + EXPECT_NEAR(get_mag_strength_tesla(-5, 75) * 1e9, 42000, 145 + 420); + EXPECT_NEAR(get_mag_strength_tesla(-5, 80) * 1e9, 43007, 145 + 430); + EXPECT_NEAR(get_mag_strength_tesla(-5, 85) * 1e9, 43786, 145 + 438); + EXPECT_NEAR(get_mag_strength_tesla(-5, 90) * 1e9, 44287, 145 + 443); + EXPECT_NEAR(get_mag_strength_tesla(-5, 95) * 1e9, 44489, 145 + 445); + EXPECT_NEAR(get_mag_strength_tesla(-5, 100) * 1e9, 44416, 145 + 444); + EXPECT_NEAR(get_mag_strength_tesla(-5, 105) * 1e9, 44139, 145 + 441); + EXPECT_NEAR(get_mag_strength_tesla(-5, 110) * 1e9, 43755, 145 + 438); + EXPECT_NEAR(get_mag_strength_tesla(-5, 115) * 1e9, 43349, 145 + 433); + EXPECT_NEAR(get_mag_strength_tesla(-5, 120) * 1e9, 42965, 145 + 430); + EXPECT_NEAR(get_mag_strength_tesla(-5, 125) * 1e9, 42600, 145 + 426); + EXPECT_NEAR(get_mag_strength_tesla(-5, 130) * 1e9, 42220, 145 + 422); + EXPECT_NEAR(get_mag_strength_tesla(-5, 135) * 1e9, 41782, 145 + 418); + EXPECT_NEAR(get_mag_strength_tesla(-5, 140) * 1e9, 41261, 145 + 413); + EXPECT_NEAR(get_mag_strength_tesla(-5, 145) * 1e9, 40661, 145 + 407); + EXPECT_NEAR(get_mag_strength_tesla(-5, 150) * 1e9, 40000, 145 + 400); + EXPECT_NEAR(get_mag_strength_tesla(-5, 155) * 1e9, 39303, 145 + 393); + EXPECT_NEAR(get_mag_strength_tesla(-5, 160) * 1e9, 38586, 145 + 386); + EXPECT_NEAR(get_mag_strength_tesla(-5, 165) * 1e9, 37860, 145 + 379); + EXPECT_NEAR(get_mag_strength_tesla(-5, 170) * 1e9, 37135, 145 + 371); + EXPECT_NEAR(get_mag_strength_tesla(-5, 175) * 1e9, 36422, 145 + 364); + EXPECT_NEAR(get_mag_strength_tesla(-5, 180) * 1e9, 35732, 145 + 357); + EXPECT_NEAR(get_mag_strength_tesla(0, -180) * 1e9, 34116, 145 + 341); + EXPECT_NEAR(get_mag_strength_tesla(0, -175) * 1e9, 33629, 145 + 336); + EXPECT_NEAR(get_mag_strength_tesla(0, -170) * 1e9, 33171, 145 + 332); + EXPECT_NEAR(get_mag_strength_tesla(0, -165) * 1e9, 32734, 145 + 327); + EXPECT_NEAR(get_mag_strength_tesla(0, -160) * 1e9, 32317, 145 + 323); + EXPECT_NEAR(get_mag_strength_tesla(0, -155) * 1e9, 31929, 145 + 319); + EXPECT_NEAR(get_mag_strength_tesla(0, -150) * 1e9, 31579, 145 + 316); + EXPECT_NEAR(get_mag_strength_tesla(0, -145) * 1e9, 31276, 145 + 313); + EXPECT_NEAR(get_mag_strength_tesla(0, -140) * 1e9, 31021, 145 + 310); + EXPECT_NEAR(get_mag_strength_tesla(0, -135) * 1e9, 30810, 145 + 308); + EXPECT_NEAR(get_mag_strength_tesla(0, -130) * 1e9, 30634, 145 + 306); + EXPECT_NEAR(get_mag_strength_tesla(0, -125) * 1e9, 30486, 145 + 305); + EXPECT_NEAR(get_mag_strength_tesla(0, -120) * 1e9, 30361, 145 + 304); + EXPECT_NEAR(get_mag_strength_tesla(0, -115) * 1e9, 30252, 145 + 303); + EXPECT_NEAR(get_mag_strength_tesla(0, -110) * 1e9, 30148, 145 + 301); + EXPECT_NEAR(get_mag_strength_tesla(0, -105) * 1e9, 30032, 145 + 300); + EXPECT_NEAR(get_mag_strength_tesla(0, -100) * 1e9, 29880, 145 + 299); + EXPECT_NEAR(get_mag_strength_tesla(0, -95) * 1e9, 29667, 145 + 297); + EXPECT_NEAR(get_mag_strength_tesla(0, -90) * 1e9, 29380, 145 + 294); + EXPECT_NEAR(get_mag_strength_tesla(0, -85) * 1e9, 29014, 145 + 290); + EXPECT_NEAR(get_mag_strength_tesla(0, -80) * 1e9, 28585, 145 + 286); + EXPECT_NEAR(get_mag_strength_tesla(0, -75) * 1e9, 28120, 145 + 281); + EXPECT_NEAR(get_mag_strength_tesla(0, -70) * 1e9, 27653, 145 + 277); + EXPECT_NEAR(get_mag_strength_tesla(0, -65) * 1e9, 27227, 145 + 272); + EXPECT_NEAR(get_mag_strength_tesla(0, -60) * 1e9, 26885, 145 + 269); + EXPECT_NEAR(get_mag_strength_tesla(0, -55) * 1e9, 26673, 145 + 267); + EXPECT_NEAR(get_mag_strength_tesla(0, -50) * 1e9, 26631, 145 + 266); + EXPECT_NEAR(get_mag_strength_tesla(0, -45) * 1e9, 26777, 145 + 268); + EXPECT_NEAR(get_mag_strength_tesla(0, -40) * 1e9, 27103, 145 + 271); + EXPECT_NEAR(get_mag_strength_tesla(0, -35) * 1e9, 27577, 145 + 276); + EXPECT_NEAR(get_mag_strength_tesla(0, -30) * 1e9, 28158, 145 + 282); + EXPECT_NEAR(get_mag_strength_tesla(0, -25) * 1e9, 28805, 145 + 288); + EXPECT_NEAR(get_mag_strength_tesla(0, -20) * 1e9, 29484, 145 + 295); + EXPECT_NEAR(get_mag_strength_tesla(0, -15) * 1e9, 30166, 145 + 302); + EXPECT_NEAR(get_mag_strength_tesla(0, -10) * 1e9, 30821, 145 + 308); + EXPECT_NEAR(get_mag_strength_tesla(0, -5) * 1e9, 31424, 145 + 314); + EXPECT_NEAR(get_mag_strength_tesla(0, 0) * 1e9, 31945, 145 + 319); + EXPECT_NEAR(get_mag_strength_tesla(0, 5) * 1e9, 32364, 145 + 324); + EXPECT_NEAR(get_mag_strength_tesla(0, 10) * 1e9, 32667, 145 + 327); + EXPECT_NEAR(get_mag_strength_tesla(0, 15) * 1e9, 32856, 145 + 329); + EXPECT_NEAR(get_mag_strength_tesla(0, 20) * 1e9, 32962, 145 + 330); + EXPECT_NEAR(get_mag_strength_tesla(0, 25) * 1e9, 33046, 145 + 330); + EXPECT_NEAR(get_mag_strength_tesla(0, 30) * 1e9, 33193, 145 + 332); + EXPECT_NEAR(get_mag_strength_tesla(0, 35) * 1e9, 33488, 145 + 335); + EXPECT_NEAR(get_mag_strength_tesla(0, 40) * 1e9, 33990, 145 + 340); + EXPECT_NEAR(get_mag_strength_tesla(0, 45) * 1e9, 34710, 145 + 347); + EXPECT_NEAR(get_mag_strength_tesla(0, 50) * 1e9, 35616, 145 + 356); + EXPECT_NEAR(get_mag_strength_tesla(0, 55) * 1e9, 36649, 145 + 366); + EXPECT_NEAR(get_mag_strength_tesla(0, 60) * 1e9, 37741, 145 + 377); + EXPECT_NEAR(get_mag_strength_tesla(0, 65) * 1e9, 38836, 145 + 388); + EXPECT_NEAR(get_mag_strength_tesla(0, 70) * 1e9, 39886, 145 + 399); + EXPECT_NEAR(get_mag_strength_tesla(0, 75) * 1e9, 40846, 145 + 408); + EXPECT_NEAR(get_mag_strength_tesla(0, 80) * 1e9, 41668, 145 + 417); + EXPECT_NEAR(get_mag_strength_tesla(0, 85) * 1e9, 42300, 145 + 423); + EXPECT_NEAR(get_mag_strength_tesla(0, 90) * 1e9, 42694, 145 + 427); + EXPECT_NEAR(get_mag_strength_tesla(0, 95) * 1e9, 42830, 145 + 428); + EXPECT_NEAR(get_mag_strength_tesla(0, 100) * 1e9, 42725, 145 + 427); + EXPECT_NEAR(get_mag_strength_tesla(0, 105) * 1e9, 42435, 145 + 424); + EXPECT_NEAR(get_mag_strength_tesla(0, 110) * 1e9, 42036, 145 + 420); + EXPECT_NEAR(get_mag_strength_tesla(0, 115) * 1e9, 41595, 145 + 416); + EXPECT_NEAR(get_mag_strength_tesla(0, 120) * 1e9, 41151, 145 + 412); + EXPECT_NEAR(get_mag_strength_tesla(0, 125) * 1e9, 40705, 145 + 407); + EXPECT_NEAR(get_mag_strength_tesla(0, 130) * 1e9, 40234, 145 + 402); + EXPECT_NEAR(get_mag_strength_tesla(0, 135) * 1e9, 39712, 145 + 397); + EXPECT_NEAR(get_mag_strength_tesla(0, 140) * 1e9, 39126, 145 + 391); + EXPECT_NEAR(get_mag_strength_tesla(0, 145) * 1e9, 38485, 145 + 385); + EXPECT_NEAR(get_mag_strength_tesla(0, 150) * 1e9, 37812, 145 + 378); + EXPECT_NEAR(get_mag_strength_tesla(0, 155) * 1e9, 37131, 145 + 371); + EXPECT_NEAR(get_mag_strength_tesla(0, 160) * 1e9, 36462, 145 + 365); + EXPECT_NEAR(get_mag_strength_tesla(0, 165) * 1e9, 35819, 145 + 358); + EXPECT_NEAR(get_mag_strength_tesla(0, 170) * 1e9, 35209, 145 + 352); + EXPECT_NEAR(get_mag_strength_tesla(0, 175) * 1e9, 34641, 145 + 346); + EXPECT_NEAR(get_mag_strength_tesla(0, 180) * 1e9, 34116, 145 + 341); + EXPECT_NEAR(get_mag_strength_tesla(5, -180) * 1e9, 33140, 145 + 331); + EXPECT_NEAR(get_mag_strength_tesla(5, -175) * 1e9, 32820, 145 + 328); + EXPECT_NEAR(get_mag_strength_tesla(5, -170) * 1e9, 32531, 145 + 325); + EXPECT_NEAR(get_mag_strength_tesla(5, -165) * 1e9, 32261, 145 + 323); + EXPECT_NEAR(get_mag_strength_tesla(5, -160) * 1e9, 32013, 145 + 320); + EXPECT_NEAR(get_mag_strength_tesla(5, -155) * 1e9, 31798, 145 + 318); + EXPECT_NEAR(get_mag_strength_tesla(5, -150) * 1e9, 31633, 145 + 316); + EXPECT_NEAR(get_mag_strength_tesla(5, -145) * 1e9, 31528, 145 + 315); + EXPECT_NEAR(get_mag_strength_tesla(5, -140) * 1e9, 31482, 145 + 315); + EXPECT_NEAR(get_mag_strength_tesla(5, -135) * 1e9, 31487, 145 + 315); + EXPECT_NEAR(get_mag_strength_tesla(5, -130) * 1e9, 31526, 145 + 315); + EXPECT_NEAR(get_mag_strength_tesla(5, -125) * 1e9, 31586, 145 + 316); + EXPECT_NEAR(get_mag_strength_tesla(5, -120) * 1e9, 31658, 145 + 317); + EXPECT_NEAR(get_mag_strength_tesla(5, -115) * 1e9, 31736, 145 + 317); + EXPECT_NEAR(get_mag_strength_tesla(5, -110) * 1e9, 31808, 145 + 318); + EXPECT_NEAR(get_mag_strength_tesla(5, -105) * 1e9, 31856, 145 + 319); + EXPECT_NEAR(get_mag_strength_tesla(5, -100) * 1e9, 31852, 145 + 319); + EXPECT_NEAR(get_mag_strength_tesla(5, -95) * 1e9, 31767, 145 + 318); + EXPECT_NEAR(get_mag_strength_tesla(5, -90) * 1e9, 31576, 145 + 316); + EXPECT_NEAR(get_mag_strength_tesla(5, -85) * 1e9, 31272, 145 + 313); + EXPECT_NEAR(get_mag_strength_tesla(5, -80) * 1e9, 30865, 145 + 309); + EXPECT_NEAR(get_mag_strength_tesla(5, -75) * 1e9, 30380, 145 + 304); + EXPECT_NEAR(get_mag_strength_tesla(5, -70) * 1e9, 29852, 145 + 299); + EXPECT_NEAR(get_mag_strength_tesla(5, -65) * 1e9, 29325, 145 + 293); + EXPECT_NEAR(get_mag_strength_tesla(5, -60) * 1e9, 28847, 145 + 288); + EXPECT_NEAR(get_mag_strength_tesla(5, -55) * 1e9, 28475, 145 + 285); + EXPECT_NEAR(get_mag_strength_tesla(5, -50) * 1e9, 28258, 145 + 283); + EXPECT_NEAR(get_mag_strength_tesla(5, -45) * 1e9, 28229, 145 + 282); + EXPECT_NEAR(get_mag_strength_tesla(5, -40) * 1e9, 28390, 145 + 284); + EXPECT_NEAR(get_mag_strength_tesla(5, -35) * 1e9, 28715, 145 + 287); + EXPECT_NEAR(get_mag_strength_tesla(5, -30) * 1e9, 29161, 145 + 292); + EXPECT_NEAR(get_mag_strength_tesla(5, -25) * 1e9, 29683, 145 + 297); + EXPECT_NEAR(get_mag_strength_tesla(5, -20) * 1e9, 30247, 145 + 302); + EXPECT_NEAR(get_mag_strength_tesla(5, -15) * 1e9, 30827, 145 + 308); + EXPECT_NEAR(get_mag_strength_tesla(5, -10) * 1e9, 31401, 145 + 314); + EXPECT_NEAR(get_mag_strength_tesla(5, -5) * 1e9, 31949, 145 + 319); + EXPECT_NEAR(get_mag_strength_tesla(5, 0) * 1e9, 32449, 145 + 324); + EXPECT_NEAR(get_mag_strength_tesla(5, 5) * 1e9, 32879, 145 + 329); + EXPECT_NEAR(get_mag_strength_tesla(5, 10) * 1e9, 33225, 145 + 332); + EXPECT_NEAR(get_mag_strength_tesla(5, 15) * 1e9, 33485, 145 + 335); + EXPECT_NEAR(get_mag_strength_tesla(5, 20) * 1e9, 33681, 145 + 337); + EXPECT_NEAR(get_mag_strength_tesla(5, 25) * 1e9, 33859, 145 + 339); + EXPECT_NEAR(get_mag_strength_tesla(5, 30) * 1e9, 34083, 145 + 341); + EXPECT_NEAR(get_mag_strength_tesla(5, 35) * 1e9, 34414, 145 + 344); + EXPECT_NEAR(get_mag_strength_tesla(5, 40) * 1e9, 34886, 145 + 349); + EXPECT_NEAR(get_mag_strength_tesla(5, 45) * 1e9, 35505, 145 + 355); + EXPECT_NEAR(get_mag_strength_tesla(5, 50) * 1e9, 36246, 145 + 362); + EXPECT_NEAR(get_mag_strength_tesla(5, 55) * 1e9, 37069, 145 + 371); + EXPECT_NEAR(get_mag_strength_tesla(5, 60) * 1e9, 37936, 145 + 379); + EXPECT_NEAR(get_mag_strength_tesla(5, 65) * 1e9, 38808, 145 + 388); + EXPECT_NEAR(get_mag_strength_tesla(5, 70) * 1e9, 39652, 145 + 397); + EXPECT_NEAR(get_mag_strength_tesla(5, 75) * 1e9, 40428, 145 + 404); + EXPECT_NEAR(get_mag_strength_tesla(5, 80) * 1e9, 41093, 145 + 411); + EXPECT_NEAR(get_mag_strength_tesla(5, 85) * 1e9, 41602, 145 + 416); + EXPECT_NEAR(get_mag_strength_tesla(5, 90) * 1e9, 41915, 145 + 419); + EXPECT_NEAR(get_mag_strength_tesla(5, 95) * 1e9, 42015, 145 + 420); + EXPECT_NEAR(get_mag_strength_tesla(5, 100) * 1e9, 41910, 145 + 419); + EXPECT_NEAR(get_mag_strength_tesla(5, 105) * 1e9, 41636, 145 + 416); + EXPECT_NEAR(get_mag_strength_tesla(5, 110) * 1e9, 41243, 145 + 412); + EXPECT_NEAR(get_mag_strength_tesla(5, 115) * 1e9, 40774, 145 + 408); + EXPECT_NEAR(get_mag_strength_tesla(5, 120) * 1e9, 40257, 145 + 403); + EXPECT_NEAR(get_mag_strength_tesla(5, 125) * 1e9, 39702, 145 + 397); + EXPECT_NEAR(get_mag_strength_tesla(5, 130) * 1e9, 39105, 145 + 391); + EXPECT_NEAR(get_mag_strength_tesla(5, 135) * 1e9, 38460, 145 + 385); + EXPECT_NEAR(get_mag_strength_tesla(5, 140) * 1e9, 37774, 145 + 378); + EXPECT_NEAR(get_mag_strength_tesla(5, 145) * 1e9, 37063, 145 + 371); + EXPECT_NEAR(get_mag_strength_tesla(5, 150) * 1e9, 36352, 145 + 364); + EXPECT_NEAR(get_mag_strength_tesla(5, 155) * 1e9, 35666, 145 + 357); + EXPECT_NEAR(get_mag_strength_tesla(5, 160) * 1e9, 35027, 145 + 350); + EXPECT_NEAR(get_mag_strength_tesla(5, 165) * 1e9, 34449, 145 + 344); + EXPECT_NEAR(get_mag_strength_tesla(5, 170) * 1e9, 33943, 145 + 339); + EXPECT_NEAR(get_mag_strength_tesla(5, 175) * 1e9, 33509, 145 + 335); + EXPECT_NEAR(get_mag_strength_tesla(5, 180) * 1e9, 33140, 145 + 331); + EXPECT_NEAR(get_mag_strength_tesla(10, -180) * 1e9, 32822, 145 + 328); + EXPECT_NEAR(get_mag_strength_tesla(10, -175) * 1e9, 32642, 145 + 326); + EXPECT_NEAR(get_mag_strength_tesla(10, -170) * 1e9, 32498, 145 + 325); + EXPECT_NEAR(get_mag_strength_tesla(10, -165) * 1e9, 32377, 145 + 324); + EXPECT_NEAR(get_mag_strength_tesla(10, -160) * 1e9, 32280, 145 + 323); + EXPECT_NEAR(get_mag_strength_tesla(10, -155) * 1e9, 32225, 145 + 322); + EXPECT_NEAR(get_mag_strength_tesla(10, -150) * 1e9, 32231, 145 + 322); + EXPECT_NEAR(get_mag_strength_tesla(10, -145) * 1e9, 32312, 145 + 323); + EXPECT_NEAR(get_mag_strength_tesla(10, -140) * 1e9, 32466, 145 + 325); + EXPECT_NEAR(get_mag_strength_tesla(10, -135) * 1e9, 32678, 145 + 327); + EXPECT_NEAR(get_mag_strength_tesla(10, -130) * 1e9, 32928, 145 + 329); + EXPECT_NEAR(get_mag_strength_tesla(10, -125) * 1e9, 33195, 145 + 332); + EXPECT_NEAR(get_mag_strength_tesla(10, -120) * 1e9, 33466, 145 + 335); + EXPECT_NEAR(get_mag_strength_tesla(10, -115) * 1e9, 33729, 145 + 337); + EXPECT_NEAR(get_mag_strength_tesla(10, -110) * 1e9, 33971, 145 + 340); + EXPECT_NEAR(get_mag_strength_tesla(10, -105) * 1e9, 34170, 145 + 342); + EXPECT_NEAR(get_mag_strength_tesla(10, -100) * 1e9, 34294, 145 + 343); + EXPECT_NEAR(get_mag_strength_tesla(10, -95) * 1e9, 34306, 145 + 343); + EXPECT_NEAR(get_mag_strength_tesla(10, -90) * 1e9, 34179, 145 + 342); + EXPECT_NEAR(get_mag_strength_tesla(10, -85) * 1e9, 33902, 145 + 339); + EXPECT_NEAR(get_mag_strength_tesla(10, -80) * 1e9, 33485, 145 + 335); + EXPECT_NEAR(get_mag_strength_tesla(10, -75) * 1e9, 32953, 145 + 330); + EXPECT_NEAR(get_mag_strength_tesla(10, -70) * 1e9, 32346, 145 + 323); + EXPECT_NEAR(get_mag_strength_tesla(10, -65) * 1e9, 31712, 145 + 317); + EXPECT_NEAR(get_mag_strength_tesla(10, -60) * 1e9, 31104, 145 + 311); + EXPECT_NEAR(get_mag_strength_tesla(10, -55) * 1e9, 30583, 145 + 306); + EXPECT_NEAR(get_mag_strength_tesla(10, -50) * 1e9, 30204, 145 + 302); + EXPECT_NEAR(get_mag_strength_tesla(10, -45) * 1e9, 30006, 145 + 300); + EXPECT_NEAR(get_mag_strength_tesla(10, -40) * 1e9, 29996, 145 + 300); + EXPECT_NEAR(get_mag_strength_tesla(10, -35) * 1e9, 30155, 145 + 302); + EXPECT_NEAR(get_mag_strength_tesla(10, -30) * 1e9, 30445, 145 + 304); + EXPECT_NEAR(get_mag_strength_tesla(10, -25) * 1e9, 30827, 145 + 308); + EXPECT_NEAR(get_mag_strength_tesla(10, -20) * 1e9, 31269, 145 + 313); + EXPECT_NEAR(get_mag_strength_tesla(10, -15) * 1e9, 31752, 145 + 318); + EXPECT_NEAR(get_mag_strength_tesla(10, -10) * 1e9, 32256, 145 + 323); + EXPECT_NEAR(get_mag_strength_tesla(10, -5) * 1e9, 32764, 145 + 328); + EXPECT_NEAR(get_mag_strength_tesla(10, 0) * 1e9, 33254, 145 + 333); + EXPECT_NEAR(get_mag_strength_tesla(10, 5) * 1e9, 33703, 145 + 337); + EXPECT_NEAR(get_mag_strength_tesla(10, 10) * 1e9, 34096, 145 + 341); + EXPECT_NEAR(get_mag_strength_tesla(10, 15) * 1e9, 34431, 145 + 344); + EXPECT_NEAR(get_mag_strength_tesla(10, 20) * 1e9, 34728, 145 + 347); + EXPECT_NEAR(get_mag_strength_tesla(10, 25) * 1e9, 35023, 145 + 350); + EXPECT_NEAR(get_mag_strength_tesla(10, 30) * 1e9, 35360, 145 + 354); + EXPECT_NEAR(get_mag_strength_tesla(10, 35) * 1e9, 35770, 145 + 358); + EXPECT_NEAR(get_mag_strength_tesla(10, 40) * 1e9, 36267, 145 + 363); + EXPECT_NEAR(get_mag_strength_tesla(10, 45) * 1e9, 36842, 145 + 368); + EXPECT_NEAR(get_mag_strength_tesla(10, 50) * 1e9, 37478, 145 + 375); + EXPECT_NEAR(get_mag_strength_tesla(10, 55) * 1e9, 38156, 145 + 382); + EXPECT_NEAR(get_mag_strength_tesla(10, 60) * 1e9, 38858, 145 + 389); + EXPECT_NEAR(get_mag_strength_tesla(10, 65) * 1e9, 39568, 145 + 396); + EXPECT_NEAR(get_mag_strength_tesla(10, 70) * 1e9, 40260, 145 + 403); + EXPECT_NEAR(get_mag_strength_tesla(10, 75) * 1e9, 40903, 145 + 409); + EXPECT_NEAR(get_mag_strength_tesla(10, 80) * 1e9, 41455, 145 + 415); + EXPECT_NEAR(get_mag_strength_tesla(10, 85) * 1e9, 41877, 145 + 419); + EXPECT_NEAR(get_mag_strength_tesla(10, 90) * 1e9, 42139, 145 + 421); + EXPECT_NEAR(get_mag_strength_tesla(10, 95) * 1e9, 42225, 145 + 422); + EXPECT_NEAR(get_mag_strength_tesla(10, 100) * 1e9, 42136, 145 + 421); + EXPECT_NEAR(get_mag_strength_tesla(10, 105) * 1e9, 41888, 145 + 419); + EXPECT_NEAR(get_mag_strength_tesla(10, 110) * 1e9, 41501, 145 + 415); + EXPECT_NEAR(get_mag_strength_tesla(10, 115) * 1e9, 40997, 145 + 410); + EXPECT_NEAR(get_mag_strength_tesla(10, 120) * 1e9, 40393, 145 + 404); + EXPECT_NEAR(get_mag_strength_tesla(10, 125) * 1e9, 39706, 145 + 397); + EXPECT_NEAR(get_mag_strength_tesla(10, 130) * 1e9, 38953, 145 + 390); + EXPECT_NEAR(get_mag_strength_tesla(10, 135) * 1e9, 38154, 145 + 382); + EXPECT_NEAR(get_mag_strength_tesla(10, 140) * 1e9, 37333, 145 + 373); + EXPECT_NEAR(get_mag_strength_tesla(10, 145) * 1e9, 36518, 145 + 365); + EXPECT_NEAR(get_mag_strength_tesla(10, 150) * 1e9, 35736, 145 + 357); + EXPECT_NEAR(get_mag_strength_tesla(10, 155) * 1e9, 35014, 145 + 350); + EXPECT_NEAR(get_mag_strength_tesla(10, 160) * 1e9, 34373, 145 + 344); + EXPECT_NEAR(get_mag_strength_tesla(10, 165) * 1e9, 33830, 145 + 338); + EXPECT_NEAR(get_mag_strength_tesla(10, 170) * 1e9, 33395, 145 + 334); + EXPECT_NEAR(get_mag_strength_tesla(10, 175) * 1e9, 33064, 145 + 331); + EXPECT_NEAR(get_mag_strength_tesla(10, 180) * 1e9, 32822, 145 + 328); + EXPECT_NEAR(get_mag_strength_tesla(15, -180) * 1e9, 33124, 145 + 331); + EXPECT_NEAR(get_mag_strength_tesla(15, -175) * 1e9, 33042, 145 + 330); + EXPECT_NEAR(get_mag_strength_tesla(15, -170) * 1e9, 33010, 145 + 330); + EXPECT_NEAR(get_mag_strength_tesla(15, -165) * 1e9, 33010, 145 + 330); + EXPECT_NEAR(get_mag_strength_tesla(15, -160) * 1e9, 33046, 145 + 330); + EXPECT_NEAR(get_mag_strength_tesla(15, -155) * 1e9, 33134, 145 + 331); + EXPECT_NEAR(get_mag_strength_tesla(15, -150) * 1e9, 33296, 145 + 333); + EXPECT_NEAR(get_mag_strength_tesla(15, -145) * 1e9, 33547, 145 + 335); + EXPECT_NEAR(get_mag_strength_tesla(15, -140) * 1e9, 33883, 145 + 339); + EXPECT_NEAR(get_mag_strength_tesla(15, -135) * 1e9, 34288, 145 + 343); + EXPECT_NEAR(get_mag_strength_tesla(15, -130) * 1e9, 34735, 145 + 347); + EXPECT_NEAR(get_mag_strength_tesla(15, -125) * 1e9, 35198, 145 + 352); + EXPECT_NEAR(get_mag_strength_tesla(15, -120) * 1e9, 35659, 145 + 357); + EXPECT_NEAR(get_mag_strength_tesla(15, -115) * 1e9, 36100, 145 + 361); + EXPECT_NEAR(get_mag_strength_tesla(15, -110) * 1e9, 36503, 145 + 365); + EXPECT_NEAR(get_mag_strength_tesla(15, -105) * 1e9, 36840, 145 + 368); + EXPECT_NEAR(get_mag_strength_tesla(15, -100) * 1e9, 37074, 145 + 371); + EXPECT_NEAR(get_mag_strength_tesla(15, -95) * 1e9, 37164, 145 + 372); + EXPECT_NEAR(get_mag_strength_tesla(15, -90) * 1e9, 37081, 145 + 371); + EXPECT_NEAR(get_mag_strength_tesla(15, -85) * 1e9, 36812, 145 + 368); + EXPECT_NEAR(get_mag_strength_tesla(15, -80) * 1e9, 36367, 145 + 364); + EXPECT_NEAR(get_mag_strength_tesla(15, -75) * 1e9, 35776, 145 + 358); + EXPECT_NEAR(get_mag_strength_tesla(15, -70) * 1e9, 35086, 145 + 351); + EXPECT_NEAR(get_mag_strength_tesla(15, -65) * 1e9, 34348, 145 + 343); + EXPECT_NEAR(get_mag_strength_tesla(15, -60) * 1e9, 33624, 145 + 336); + EXPECT_NEAR(get_mag_strength_tesla(15, -55) * 1e9, 32979, 145 + 330); + EXPECT_NEAR(get_mag_strength_tesla(15, -50) * 1e9, 32468, 145 + 325); + EXPECT_NEAR(get_mag_strength_tesla(15, -45) * 1e9, 32130, 145 + 321); + EXPECT_NEAR(get_mag_strength_tesla(15, -40) * 1e9, 31974, 145 + 320); + EXPECT_NEAR(get_mag_strength_tesla(15, -35) * 1e9, 31983, 145 + 320); + EXPECT_NEAR(get_mag_strength_tesla(15, -30) * 1e9, 32128, 145 + 321); + EXPECT_NEAR(get_mag_strength_tesla(15, -25) * 1e9, 32377, 145 + 324); + EXPECT_NEAR(get_mag_strength_tesla(15, -20) * 1e9, 32709, 145 + 327); + EXPECT_NEAR(get_mag_strength_tesla(15, -15) * 1e9, 33109, 145 + 331); + EXPECT_NEAR(get_mag_strength_tesla(15, -10) * 1e9, 33562, 145 + 336); + EXPECT_NEAR(get_mag_strength_tesla(15, -5) * 1e9, 34050, 145 + 340); + EXPECT_NEAR(get_mag_strength_tesla(15, 0) * 1e9, 34544, 145 + 345); + EXPECT_NEAR(get_mag_strength_tesla(15, 5) * 1e9, 35019, 145 + 350); + EXPECT_NEAR(get_mag_strength_tesla(15, 10) * 1e9, 35458, 145 + 355); + EXPECT_NEAR(get_mag_strength_tesla(15, 15) * 1e9, 35862, 145 + 359); + EXPECT_NEAR(get_mag_strength_tesla(15, 20) * 1e9, 36252, 145 + 363); + EXPECT_NEAR(get_mag_strength_tesla(15, 25) * 1e9, 36655, 145 + 367); + EXPECT_NEAR(get_mag_strength_tesla(15, 30) * 1e9, 37098, 145 + 371); + EXPECT_NEAR(get_mag_strength_tesla(15, 35) * 1e9, 37593, 145 + 376); + EXPECT_NEAR(get_mag_strength_tesla(15, 40) * 1e9, 38131, 145 + 381); + EXPECT_NEAR(get_mag_strength_tesla(15, 45) * 1e9, 38696, 145 + 387); + EXPECT_NEAR(get_mag_strength_tesla(15, 50) * 1e9, 39276, 145 + 393); + EXPECT_NEAR(get_mag_strength_tesla(15, 55) * 1e9, 39864, 145 + 399); + EXPECT_NEAR(get_mag_strength_tesla(15, 60) * 1e9, 40465, 145 + 405); + EXPECT_NEAR(get_mag_strength_tesla(15, 65) * 1e9, 41074, 145 + 411); + EXPECT_NEAR(get_mag_strength_tesla(15, 70) * 1e9, 41677, 145 + 417); + EXPECT_NEAR(get_mag_strength_tesla(15, 75) * 1e9, 42243, 145 + 422); + EXPECT_NEAR(get_mag_strength_tesla(15, 80) * 1e9, 42735, 145 + 427); + EXPECT_NEAR(get_mag_strength_tesla(15, 85) * 1e9, 43117, 145 + 431); + EXPECT_NEAR(get_mag_strength_tesla(15, 90) * 1e9, 43362, 145 + 434); + EXPECT_NEAR(get_mag_strength_tesla(15, 95) * 1e9, 43456, 145 + 435); + EXPECT_NEAR(get_mag_strength_tesla(15, 100) * 1e9, 43390, 145 + 434); + EXPECT_NEAR(get_mag_strength_tesla(15, 105) * 1e9, 43163, 145 + 432); + EXPECT_NEAR(get_mag_strength_tesla(15, 110) * 1e9, 42773, 145 + 428); + EXPECT_NEAR(get_mag_strength_tesla(15, 115) * 1e9, 42224, 145 + 422); + EXPECT_NEAR(get_mag_strength_tesla(15, 120) * 1e9, 41524, 145 + 415); + EXPECT_NEAR(get_mag_strength_tesla(15, 125) * 1e9, 40697, 145 + 407); + EXPECT_NEAR(get_mag_strength_tesla(15, 130) * 1e9, 39776, 145 + 398); + EXPECT_NEAR(get_mag_strength_tesla(15, 135) * 1e9, 38804, 145 + 388); + EXPECT_NEAR(get_mag_strength_tesla(15, 140) * 1e9, 37824, 145 + 378); + EXPECT_NEAR(get_mag_strength_tesla(15, 145) * 1e9, 36874, 145 + 369); + EXPECT_NEAR(get_mag_strength_tesla(15, 150) * 1e9, 35990, 145 + 360); + EXPECT_NEAR(get_mag_strength_tesla(15, 155) * 1e9, 35197, 145 + 352); + EXPECT_NEAR(get_mag_strength_tesla(15, 160) * 1e9, 34518, 145 + 345); + EXPECT_NEAR(get_mag_strength_tesla(15, 165) * 1e9, 33970, 145 + 340); + EXPECT_NEAR(get_mag_strength_tesla(15, 170) * 1e9, 33561, 145 + 336); + EXPECT_NEAR(get_mag_strength_tesla(15, 175) * 1e9, 33286, 145 + 333); + EXPECT_NEAR(get_mag_strength_tesla(15, 180) * 1e9, 33124, 145 + 331); + EXPECT_NEAR(get_mag_strength_tesla(20, -180) * 1e9, 33988, 145 + 340); + EXPECT_NEAR(get_mag_strength_tesla(20, -175) * 1e9, 33956, 145 + 340); + EXPECT_NEAR(get_mag_strength_tesla(20, -170) * 1e9, 33997, 145 + 340); + EXPECT_NEAR(get_mag_strength_tesla(20, -165) * 1e9, 34091, 145 + 341); + EXPECT_NEAR(get_mag_strength_tesla(20, -160) * 1e9, 34239, 145 + 342); + EXPECT_NEAR(get_mag_strength_tesla(20, -155) * 1e9, 34455, 145 + 345); + EXPECT_NEAR(get_mag_strength_tesla(20, -150) * 1e9, 34759, 145 + 348); + EXPECT_NEAR(get_mag_strength_tesla(20, -145) * 1e9, 35163, 145 + 352); + EXPECT_NEAR(get_mag_strength_tesla(20, -140) * 1e9, 35662, 145 + 357); + EXPECT_NEAR(get_mag_strength_tesla(20, -135) * 1e9, 36237, 145 + 362); + EXPECT_NEAR(get_mag_strength_tesla(20, -130) * 1e9, 36857, 145 + 369); + EXPECT_NEAR(get_mag_strength_tesla(20, -125) * 1e9, 37495, 145 + 375); + EXPECT_NEAR(get_mag_strength_tesla(20, -120) * 1e9, 38125, 145 + 381); + EXPECT_NEAR(get_mag_strength_tesla(20, -115) * 1e9, 38725, 145 + 387); + EXPECT_NEAR(get_mag_strength_tesla(20, -110) * 1e9, 39271, 145 + 393); + EXPECT_NEAR(get_mag_strength_tesla(20, -105) * 1e9, 39729, 145 + 397); + EXPECT_NEAR(get_mag_strength_tesla(20, -100) * 1e9, 40058, 145 + 401); + EXPECT_NEAR(get_mag_strength_tesla(20, -95) * 1e9, 40214, 145 + 402); + EXPECT_NEAR(get_mag_strength_tesla(20, -90) * 1e9, 40166, 145 + 402); + EXPECT_NEAR(get_mag_strength_tesla(20, -85) * 1e9, 39900, 145 + 399); + EXPECT_NEAR(get_mag_strength_tesla(20, -80) * 1e9, 39429, 145 + 394); + EXPECT_NEAR(get_mag_strength_tesla(20, -75) * 1e9, 38784, 145 + 388); + EXPECT_NEAR(get_mag_strength_tesla(20, -70) * 1e9, 38017, 145 + 380); + EXPECT_NEAR(get_mag_strength_tesla(20, -65) * 1e9, 37190, 145 + 372); + EXPECT_NEAR(get_mag_strength_tesla(20, -60) * 1e9, 36372, 145 + 364); + EXPECT_NEAR(get_mag_strength_tesla(20, -55) * 1e9, 35630, 145 + 356); + EXPECT_NEAR(get_mag_strength_tesla(20, -50) * 1e9, 35021, 145 + 350); + EXPECT_NEAR(get_mag_strength_tesla(20, -45) * 1e9, 34579, 145 + 346); + EXPECT_NEAR(get_mag_strength_tesla(20, -40) * 1e9, 34311, 145 + 343); + EXPECT_NEAR(get_mag_strength_tesla(20, -35) * 1e9, 34203, 145 + 342); + EXPECT_NEAR(get_mag_strength_tesla(20, -30) * 1e9, 34229, 145 + 342); + EXPECT_NEAR(get_mag_strength_tesla(20, -25) * 1e9, 34368, 145 + 344); + EXPECT_NEAR(get_mag_strength_tesla(20, -20) * 1e9, 34607, 145 + 346); + EXPECT_NEAR(get_mag_strength_tesla(20, -15) * 1e9, 34939, 145 + 349); + EXPECT_NEAR(get_mag_strength_tesla(20, -10) * 1e9, 35353, 145 + 354); + EXPECT_NEAR(get_mag_strength_tesla(20, -5) * 1e9, 35828, 145 + 358); + EXPECT_NEAR(get_mag_strength_tesla(20, 0) * 1e9, 36330, 145 + 363); + EXPECT_NEAR(get_mag_strength_tesla(20, 5) * 1e9, 36830, 145 + 368); + EXPECT_NEAR(get_mag_strength_tesla(20, 10) * 1e9, 37308, 145 + 373); + EXPECT_NEAR(get_mag_strength_tesla(20, 15) * 1e9, 37765, 145 + 378); + EXPECT_NEAR(get_mag_strength_tesla(20, 20) * 1e9, 38221, 145 + 382); + EXPECT_NEAR(get_mag_strength_tesla(20, 25) * 1e9, 38701, 145 + 387); + EXPECT_NEAR(get_mag_strength_tesla(20, 30) * 1e9, 39219, 145 + 392); + EXPECT_NEAR(get_mag_strength_tesla(20, 35) * 1e9, 39773, 145 + 398); + EXPECT_NEAR(get_mag_strength_tesla(20, 40) * 1e9, 40345, 145 + 403); + EXPECT_NEAR(get_mag_strength_tesla(20, 45) * 1e9, 40914, 145 + 409); + EXPECT_NEAR(get_mag_strength_tesla(20, 50) * 1e9, 41472, 145 + 415); + EXPECT_NEAR(get_mag_strength_tesla(20, 55) * 1e9, 42022, 145 + 420); + EXPECT_NEAR(get_mag_strength_tesla(20, 60) * 1e9, 42578, 145 + 426); + EXPECT_NEAR(get_mag_strength_tesla(20, 65) * 1e9, 43147, 145 + 431); + EXPECT_NEAR(get_mag_strength_tesla(20, 70) * 1e9, 43718, 145 + 437); + EXPECT_NEAR(get_mag_strength_tesla(20, 75) * 1e9, 44265, 145 + 443); + EXPECT_NEAR(get_mag_strength_tesla(20, 80) * 1e9, 44750, 145 + 447); + EXPECT_NEAR(get_mag_strength_tesla(20, 85) * 1e9, 45137, 145 + 451); + EXPECT_NEAR(get_mag_strength_tesla(20, 90) * 1e9, 45400, 145 + 454); + EXPECT_NEAR(get_mag_strength_tesla(20, 95) * 1e9, 45520, 145 + 455); + EXPECT_NEAR(get_mag_strength_tesla(20, 100) * 1e9, 45482, 145 + 455); + EXPECT_NEAR(get_mag_strength_tesla(20, 105) * 1e9, 45271, 145 + 453); + EXPECT_NEAR(get_mag_strength_tesla(20, 110) * 1e9, 44871, 145 + 449); + EXPECT_NEAR(get_mag_strength_tesla(20, 115) * 1e9, 44273, 145 + 443); + EXPECT_NEAR(get_mag_strength_tesla(20, 120) * 1e9, 43481, 145 + 435); + EXPECT_NEAR(get_mag_strength_tesla(20, 125) * 1e9, 42522, 145 + 425); + EXPECT_NEAR(get_mag_strength_tesla(20, 130) * 1e9, 41444, 145 + 414); + EXPECT_NEAR(get_mag_strength_tesla(20, 135) * 1e9, 40303, 145 + 403); + EXPECT_NEAR(get_mag_strength_tesla(20, 140) * 1e9, 39159, 145 + 392); + EXPECT_NEAR(get_mag_strength_tesla(20, 145) * 1e9, 38063, 145 + 381); + EXPECT_NEAR(get_mag_strength_tesla(20, 150) * 1e9, 37056, 145 + 371); + EXPECT_NEAR(get_mag_strength_tesla(20, 155) * 1e9, 36166, 145 + 362); + EXPECT_NEAR(get_mag_strength_tesla(20, 160) * 1e9, 35416, 145 + 354); + EXPECT_NEAR(get_mag_strength_tesla(20, 165) * 1e9, 34823, 145 + 348); + EXPECT_NEAR(get_mag_strength_tesla(20, 170) * 1e9, 34394, 145 + 344); + EXPECT_NEAR(get_mag_strength_tesla(20, 175) * 1e9, 34123, 145 + 341); + EXPECT_NEAR(get_mag_strength_tesla(20, 180) * 1e9, 33988, 145 + 340); + EXPECT_NEAR(get_mag_strength_tesla(25, -180) * 1e9, 35364, 145 + 354); + EXPECT_NEAR(get_mag_strength_tesla(25, -175) * 1e9, 35340, 145 + 353); + EXPECT_NEAR(get_mag_strength_tesla(25, -170) * 1e9, 35416, 145 + 354); + EXPECT_NEAR(get_mag_strength_tesla(25, -165) * 1e9, 35577, 145 + 356); + EXPECT_NEAR(get_mag_strength_tesla(25, -160) * 1e9, 35817, 145 + 358); + EXPECT_NEAR(get_mag_strength_tesla(25, -155) * 1e9, 36148, 145 + 361); + EXPECT_NEAR(get_mag_strength_tesla(25, -150) * 1e9, 36580, 145 + 366); + EXPECT_NEAR(get_mag_strength_tesla(25, -145) * 1e9, 37120, 145 + 371); + EXPECT_NEAR(get_mag_strength_tesla(25, -140) * 1e9, 37759, 145 + 378); + EXPECT_NEAR(get_mag_strength_tesla(25, -135) * 1e9, 38475, 145 + 385); + EXPECT_NEAR(get_mag_strength_tesla(25, -130) * 1e9, 39238, 145 + 392); + EXPECT_NEAR(get_mag_strength_tesla(25, -125) * 1e9, 40016, 145 + 400); + EXPECT_NEAR(get_mag_strength_tesla(25, -120) * 1e9, 40783, 145 + 408); + EXPECT_NEAR(get_mag_strength_tesla(25, -115) * 1e9, 41510, 145 + 415); + EXPECT_NEAR(get_mag_strength_tesla(25, -110) * 1e9, 42170, 145 + 422); + EXPECT_NEAR(get_mag_strength_tesla(25, -105) * 1e9, 42724, 145 + 427); + EXPECT_NEAR(get_mag_strength_tesla(25, -100) * 1e9, 43128, 145 + 431); + EXPECT_NEAR(get_mag_strength_tesla(25, -95) * 1e9, 43339, 145 + 433); + EXPECT_NEAR(get_mag_strength_tesla(25, -90) * 1e9, 43323, 145 + 433); + EXPECT_NEAR(get_mag_strength_tesla(25, -85) * 1e9, 43066, 145 + 431); + EXPECT_NEAR(get_mag_strength_tesla(25, -80) * 1e9, 42579, 145 + 426); + EXPECT_NEAR(get_mag_strength_tesla(25, -75) * 1e9, 41897, 145 + 419); + EXPECT_NEAR(get_mag_strength_tesla(25, -70) * 1e9, 41076, 145 + 411); + EXPECT_NEAR(get_mag_strength_tesla(25, -65) * 1e9, 40183, 145 + 402); + EXPECT_NEAR(get_mag_strength_tesla(25, -60) * 1e9, 39295, 145 + 393); + EXPECT_NEAR(get_mag_strength_tesla(25, -55) * 1e9, 38482, 145 + 385); + EXPECT_NEAR(get_mag_strength_tesla(25, -50) * 1e9, 37800, 145 + 378); + EXPECT_NEAR(get_mag_strength_tesla(25, -45) * 1e9, 37281, 145 + 373); + EXPECT_NEAR(get_mag_strength_tesla(25, -40) * 1e9, 36929, 145 + 369); + EXPECT_NEAR(get_mag_strength_tesla(25, -35) * 1e9, 36730, 145 + 367); + EXPECT_NEAR(get_mag_strength_tesla(25, -30) * 1e9, 36663, 145 + 367); + EXPECT_NEAR(get_mag_strength_tesla(25, -25) * 1e9, 36713, 145 + 367); + EXPECT_NEAR(get_mag_strength_tesla(25, -20) * 1e9, 36875, 145 + 369); + EXPECT_NEAR(get_mag_strength_tesla(25, -15) * 1e9, 37148, 145 + 371); + EXPECT_NEAR(get_mag_strength_tesla(25, -10) * 1e9, 37522, 145 + 375); + EXPECT_NEAR(get_mag_strength_tesla(25, -5) * 1e9, 37976, 145 + 380); + EXPECT_NEAR(get_mag_strength_tesla(25, 0) * 1e9, 38476, 145 + 385); + EXPECT_NEAR(get_mag_strength_tesla(25, 5) * 1e9, 38986, 145 + 390); + EXPECT_NEAR(get_mag_strength_tesla(25, 10) * 1e9, 39486, 145 + 395); + EXPECT_NEAR(get_mag_strength_tesla(25, 15) * 1e9, 39974, 145 + 400); + EXPECT_NEAR(get_mag_strength_tesla(25, 20) * 1e9, 40466, 145 + 405); + EXPECT_NEAR(get_mag_strength_tesla(25, 25) * 1e9, 40983, 145 + 410); + EXPECT_NEAR(get_mag_strength_tesla(25, 30) * 1e9, 41535, 145 + 415); + EXPECT_NEAR(get_mag_strength_tesla(25, 35) * 1e9, 42115, 145 + 421); + EXPECT_NEAR(get_mag_strength_tesla(25, 40) * 1e9, 42704, 145 + 427); + EXPECT_NEAR(get_mag_strength_tesla(25, 45) * 1e9, 43282, 145 + 433); + EXPECT_NEAR(get_mag_strength_tesla(25, 50) * 1e9, 43844, 145 + 438); + EXPECT_NEAR(get_mag_strength_tesla(25, 55) * 1e9, 44399, 145 + 444); + EXPECT_NEAR(get_mag_strength_tesla(25, 60) * 1e9, 44962, 145 + 450); + EXPECT_NEAR(get_mag_strength_tesla(25, 65) * 1e9, 45544, 145 + 455); + EXPECT_NEAR(get_mag_strength_tesla(25, 70) * 1e9, 46135, 145 + 461); + EXPECT_NEAR(get_mag_strength_tesla(25, 75) * 1e9, 46710, 145 + 467); + EXPECT_NEAR(get_mag_strength_tesla(25, 80) * 1e9, 47231, 145 + 472); + EXPECT_NEAR(get_mag_strength_tesla(25, 85) * 1e9, 47660, 145 + 477); + EXPECT_NEAR(get_mag_strength_tesla(25, 90) * 1e9, 47968, 145 + 480); + EXPECT_NEAR(get_mag_strength_tesla(25, 95) * 1e9, 48130, 145 + 481); + EXPECT_NEAR(get_mag_strength_tesla(25, 100) * 1e9, 48124, 145 + 481); + EXPECT_NEAR(get_mag_strength_tesla(25, 105) * 1e9, 47926, 145 + 479); + EXPECT_NEAR(get_mag_strength_tesla(25, 110) * 1e9, 47514, 145 + 475); + EXPECT_NEAR(get_mag_strength_tesla(25, 115) * 1e9, 46873, 145 + 469); + EXPECT_NEAR(get_mag_strength_tesla(25, 120) * 1e9, 46005, 145 + 460); + EXPECT_NEAR(get_mag_strength_tesla(25, 125) * 1e9, 44942, 145 + 449); + EXPECT_NEAR(get_mag_strength_tesla(25, 130) * 1e9, 43736, 145 + 437); + EXPECT_NEAR(get_mag_strength_tesla(25, 135) * 1e9, 42455, 145 + 425); + EXPECT_NEAR(get_mag_strength_tesla(25, 140) * 1e9, 41170, 145 + 412); + EXPECT_NEAR(get_mag_strength_tesla(25, 145) * 1e9, 39940, 145 + 399); + EXPECT_NEAR(get_mag_strength_tesla(25, 150) * 1e9, 38811, 145 + 388); + EXPECT_NEAR(get_mag_strength_tesla(25, 155) * 1e9, 37817, 145 + 378); + EXPECT_NEAR(get_mag_strength_tesla(25, 160) * 1e9, 36979, 145 + 370); + EXPECT_NEAR(get_mag_strength_tesla(25, 165) * 1e9, 36314, 145 + 363); + EXPECT_NEAR(get_mag_strength_tesla(25, 170) * 1e9, 35829, 145 + 358); + EXPECT_NEAR(get_mag_strength_tesla(25, 175) * 1e9, 35518, 145 + 355); + EXPECT_NEAR(get_mag_strength_tesla(25, 180) * 1e9, 35364, 145 + 354); + EXPECT_NEAR(get_mag_strength_tesla(30, -180) * 1e9, 37218, 145 + 372); + EXPECT_NEAR(get_mag_strength_tesla(30, -175) * 1e9, 37170, 145 + 372); + EXPECT_NEAR(get_mag_strength_tesla(30, -170) * 1e9, 37254, 145 + 373); + EXPECT_NEAR(get_mag_strength_tesla(30, -165) * 1e9, 37456, 145 + 375); + EXPECT_NEAR(get_mag_strength_tesla(30, -160) * 1e9, 37770, 145 + 378); + EXPECT_NEAR(get_mag_strength_tesla(30, -155) * 1e9, 38196, 145 + 382); + EXPECT_NEAR(get_mag_strength_tesla(30, -150) * 1e9, 38739, 145 + 387); + EXPECT_NEAR(get_mag_strength_tesla(30, -145) * 1e9, 39394, 145 + 394); + EXPECT_NEAR(get_mag_strength_tesla(30, -140) * 1e9, 40146, 145 + 401); + EXPECT_NEAR(get_mag_strength_tesla(30, -135) * 1e9, 40971, 145 + 410); + EXPECT_NEAR(get_mag_strength_tesla(30, -130) * 1e9, 41838, 145 + 418); + EXPECT_NEAR(get_mag_strength_tesla(30, -125) * 1e9, 42716, 145 + 427); + EXPECT_NEAR(get_mag_strength_tesla(30, -120) * 1e9, 43575, 145 + 436); + EXPECT_NEAR(get_mag_strength_tesla(30, -115) * 1e9, 44386, 145 + 444); + EXPECT_NEAR(get_mag_strength_tesla(30, -110) * 1e9, 45119, 145 + 451); + EXPECT_NEAR(get_mag_strength_tesla(30, -105) * 1e9, 45733, 145 + 457); + EXPECT_NEAR(get_mag_strength_tesla(30, -100) * 1e9, 46186, 145 + 462); + EXPECT_NEAR(get_mag_strength_tesla(30, -95) * 1e9, 46433, 145 + 464); + EXPECT_NEAR(get_mag_strength_tesla(30, -90) * 1e9, 46443, 145 + 464); + EXPECT_NEAR(get_mag_strength_tesla(30, -85) * 1e9, 46200, 145 + 462); + EXPECT_NEAR(get_mag_strength_tesla(30, -80) * 1e9, 45713, 145 + 457); + EXPECT_NEAR(get_mag_strength_tesla(30, -75) * 1e9, 45019, 145 + 450); + EXPECT_NEAR(get_mag_strength_tesla(30, -70) * 1e9, 44172, 145 + 442); + EXPECT_NEAR(get_mag_strength_tesla(30, -65) * 1e9, 43245, 145 + 432); + EXPECT_NEAR(get_mag_strength_tesla(30, -60) * 1e9, 42314, 145 + 423); + EXPECT_NEAR(get_mag_strength_tesla(30, -55) * 1e9, 41453, 145 + 415); + EXPECT_NEAR(get_mag_strength_tesla(30, -50) * 1e9, 40715, 145 + 407); + EXPECT_NEAR(get_mag_strength_tesla(30, -45) * 1e9, 40132, 145 + 401); + EXPECT_NEAR(get_mag_strength_tesla(30, -40) * 1e9, 39708, 145 + 397); + EXPECT_NEAR(get_mag_strength_tesla(30, -35) * 1e9, 39431, 145 + 394); + EXPECT_NEAR(get_mag_strength_tesla(30, -30) * 1e9, 39284, 145 + 393); + EXPECT_NEAR(get_mag_strength_tesla(30, -25) * 1e9, 39258, 145 + 393); + EXPECT_NEAR(get_mag_strength_tesla(30, -20) * 1e9, 39351, 145 + 394); + EXPECT_NEAR(get_mag_strength_tesla(30, -15) * 1e9, 39563, 145 + 396); + EXPECT_NEAR(get_mag_strength_tesla(30, -10) * 1e9, 39888, 145 + 399); + EXPECT_NEAR(get_mag_strength_tesla(30, -5) * 1e9, 40305, 145 + 403); + EXPECT_NEAR(get_mag_strength_tesla(30, 0) * 1e9, 40780, 145 + 408); + EXPECT_NEAR(get_mag_strength_tesla(30, 5) * 1e9, 41278, 145 + 413); + EXPECT_NEAR(get_mag_strength_tesla(30, 10) * 1e9, 41775, 145 + 418); + EXPECT_NEAR(get_mag_strength_tesla(30, 15) * 1e9, 42267, 145 + 423); + EXPECT_NEAR(get_mag_strength_tesla(30, 20) * 1e9, 42765, 145 + 428); + EXPECT_NEAR(get_mag_strength_tesla(30, 25) * 1e9, 43286, 145 + 433); + EXPECT_NEAR(get_mag_strength_tesla(30, 30) * 1e9, 43838, 145 + 438); + EXPECT_NEAR(get_mag_strength_tesla(30, 35) * 1e9, 44418, 145 + 444); + EXPECT_NEAR(get_mag_strength_tesla(30, 40) * 1e9, 45010, 145 + 450); + EXPECT_NEAR(get_mag_strength_tesla(30, 45) * 1e9, 45602, 145 + 456); + EXPECT_NEAR(get_mag_strength_tesla(30, 50) * 1e9, 46190, 145 + 462); + EXPECT_NEAR(get_mag_strength_tesla(30, 55) * 1e9, 46785, 145 + 468); + EXPECT_NEAR(get_mag_strength_tesla(30, 60) * 1e9, 47398, 145 + 474); + EXPECT_NEAR(get_mag_strength_tesla(30, 65) * 1e9, 48036, 145 + 480); + EXPECT_NEAR(get_mag_strength_tesla(30, 70) * 1e9, 48687, 145 + 487); + EXPECT_NEAR(get_mag_strength_tesla(30, 75) * 1e9, 49325, 145 + 493); + EXPECT_NEAR(get_mag_strength_tesla(30, 80) * 1e9, 49910, 145 + 499); + EXPECT_NEAR(get_mag_strength_tesla(30, 85) * 1e9, 50403, 145 + 504); + EXPECT_NEAR(get_mag_strength_tesla(30, 90) * 1e9, 50769, 145 + 508); + EXPECT_NEAR(get_mag_strength_tesla(30, 95) * 1e9, 50979, 145 + 510); + EXPECT_NEAR(get_mag_strength_tesla(30, 100) * 1e9, 51005, 145 + 510); + EXPECT_NEAR(get_mag_strength_tesla(30, 105) * 1e9, 50821, 145 + 508); + EXPECT_NEAR(get_mag_strength_tesla(30, 110) * 1e9, 50400, 145 + 504); + EXPECT_NEAR(get_mag_strength_tesla(30, 115) * 1e9, 49729, 145 + 497); + EXPECT_NEAR(get_mag_strength_tesla(30, 120) * 1e9, 48813, 145 + 488); + EXPECT_NEAR(get_mag_strength_tesla(30, 125) * 1e9, 47684, 145 + 477); + EXPECT_NEAR(get_mag_strength_tesla(30, 130) * 1e9, 46398, 145 + 464); + EXPECT_NEAR(get_mag_strength_tesla(30, 135) * 1e9, 45028, 145 + 450); + EXPECT_NEAR(get_mag_strength_tesla(30, 140) * 1e9, 43646, 145 + 436); + EXPECT_NEAR(get_mag_strength_tesla(30, 145) * 1e9, 42319, 145 + 423); + EXPECT_NEAR(get_mag_strength_tesla(30, 150) * 1e9, 41096, 145 + 411); + EXPECT_NEAR(get_mag_strength_tesla(30, 155) * 1e9, 40013, 145 + 400); + EXPECT_NEAR(get_mag_strength_tesla(30, 160) * 1e9, 39093, 145 + 391); + EXPECT_NEAR(get_mag_strength_tesla(30, 165) * 1e9, 38351, 145 + 384); + EXPECT_NEAR(get_mag_strength_tesla(30, 170) * 1e9, 37794, 145 + 378); + EXPECT_NEAR(get_mag_strength_tesla(30, 175) * 1e9, 37420, 145 + 374); + EXPECT_NEAR(get_mag_strength_tesla(30, 180) * 1e9, 37218, 145 + 372); + EXPECT_NEAR(get_mag_strength_tesla(35, -180) * 1e9, 39520, 145 + 395); + EXPECT_NEAR(get_mag_strength_tesla(35, -175) * 1e9, 39434, 145 + 394); + EXPECT_NEAR(get_mag_strength_tesla(35, -170) * 1e9, 39508, 145 + 395); + EXPECT_NEAR(get_mag_strength_tesla(35, -165) * 1e9, 39731, 145 + 397); + EXPECT_NEAR(get_mag_strength_tesla(35, -160) * 1e9, 40095, 145 + 401); + EXPECT_NEAR(get_mag_strength_tesla(35, -155) * 1e9, 40594, 145 + 406); + EXPECT_NEAR(get_mag_strength_tesla(35, -150) * 1e9, 41220, 145 + 412); + EXPECT_NEAR(get_mag_strength_tesla(35, -145) * 1e9, 41959, 145 + 420); + EXPECT_NEAR(get_mag_strength_tesla(35, -140) * 1e9, 42790, 145 + 428); + EXPECT_NEAR(get_mag_strength_tesla(35, -135) * 1e9, 43684, 145 + 437); + EXPECT_NEAR(get_mag_strength_tesla(35, -130) * 1e9, 44612, 145 + 446); + EXPECT_NEAR(get_mag_strength_tesla(35, -125) * 1e9, 45540, 145 + 455); + EXPECT_NEAR(get_mag_strength_tesla(35, -120) * 1e9, 46441, 145 + 464); + EXPECT_NEAR(get_mag_strength_tesla(35, -115) * 1e9, 47286, 145 + 473); + EXPECT_NEAR(get_mag_strength_tesla(35, -110) * 1e9, 48042, 145 + 480); + EXPECT_NEAR(get_mag_strength_tesla(35, -105) * 1e9, 48674, 145 + 487); + EXPECT_NEAR(get_mag_strength_tesla(35, -100) * 1e9, 49139, 145 + 491); + EXPECT_NEAR(get_mag_strength_tesla(35, -95) * 1e9, 49398, 145 + 494); + EXPECT_NEAR(get_mag_strength_tesla(35, -90) * 1e9, 49420, 145 + 494); + EXPECT_NEAR(get_mag_strength_tesla(35, -85) * 1e9, 49191, 145 + 492); + EXPECT_NEAR(get_mag_strength_tesla(35, -80) * 1e9, 48718, 145 + 487); + EXPECT_NEAR(get_mag_strength_tesla(35, -75) * 1e9, 48034, 145 + 480); + EXPECT_NEAR(get_mag_strength_tesla(35, -70) * 1e9, 47193, 145 + 472); + EXPECT_NEAR(get_mag_strength_tesla(35, -65) * 1e9, 46262, 145 + 463); + EXPECT_NEAR(get_mag_strength_tesla(35, -60) * 1e9, 45318, 145 + 453); + EXPECT_NEAR(get_mag_strength_tesla(35, -55) * 1e9, 44429, 145 + 444); + EXPECT_NEAR(get_mag_strength_tesla(35, -50) * 1e9, 43649, 145 + 436); + EXPECT_NEAR(get_mag_strength_tesla(35, -45) * 1e9, 43008, 145 + 430); + EXPECT_NEAR(get_mag_strength_tesla(35, -40) * 1e9, 42516, 145 + 425); + EXPECT_NEAR(get_mag_strength_tesla(35, -35) * 1e9, 42164, 145 + 422); + EXPECT_NEAR(get_mag_strength_tesla(35, -30) * 1e9, 41942, 145 + 419); + EXPECT_NEAR(get_mag_strength_tesla(35, -25) * 1e9, 41842, 145 + 418); + EXPECT_NEAR(get_mag_strength_tesla(35, -20) * 1e9, 41864, 145 + 419); + EXPECT_NEAR(get_mag_strength_tesla(35, -15) * 1e9, 42009, 145 + 420); + EXPECT_NEAR(get_mag_strength_tesla(35, -10) * 1e9, 42271, 145 + 423); + EXPECT_NEAR(get_mag_strength_tesla(35, -5) * 1e9, 42629, 145 + 426); + EXPECT_NEAR(get_mag_strength_tesla(35, 0) * 1e9, 43053, 145 + 431); + EXPECT_NEAR(get_mag_strength_tesla(35, 5) * 1e9, 43512, 145 + 435); + EXPECT_NEAR(get_mag_strength_tesla(35, 10) * 1e9, 43980, 145 + 440); + EXPECT_NEAR(get_mag_strength_tesla(35, 15) * 1e9, 44451, 145 + 445); + EXPECT_NEAR(get_mag_strength_tesla(35, 20) * 1e9, 44932, 145 + 449); + EXPECT_NEAR(get_mag_strength_tesla(35, 25) * 1e9, 45434, 145 + 454); + EXPECT_NEAR(get_mag_strength_tesla(35, 30) * 1e9, 45968, 145 + 460); + EXPECT_NEAR(get_mag_strength_tesla(35, 35) * 1e9, 46534, 145 + 465); + EXPECT_NEAR(get_mag_strength_tesla(35, 40) * 1e9, 47127, 145 + 471); + EXPECT_NEAR(get_mag_strength_tesla(35, 45) * 1e9, 47741, 145 + 477); + EXPECT_NEAR(get_mag_strength_tesla(35, 50) * 1e9, 48374, 145 + 484); + EXPECT_NEAR(get_mag_strength_tesla(35, 55) * 1e9, 49034, 145 + 490); + EXPECT_NEAR(get_mag_strength_tesla(35, 60) * 1e9, 49725, 145 + 497); + EXPECT_NEAR(get_mag_strength_tesla(35, 65) * 1e9, 50447, 145 + 504); + EXPECT_NEAR(get_mag_strength_tesla(35, 70) * 1e9, 51182, 145 + 512); + EXPECT_NEAR(get_mag_strength_tesla(35, 75) * 1e9, 51900, 145 + 519); + EXPECT_NEAR(get_mag_strength_tesla(35, 80) * 1e9, 52560, 145 + 526); + EXPECT_NEAR(get_mag_strength_tesla(35, 85) * 1e9, 53122, 145 + 531); + EXPECT_NEAR(get_mag_strength_tesla(35, 90) * 1e9, 53546, 145 + 535); + EXPECT_NEAR(get_mag_strength_tesla(35, 95) * 1e9, 53800, 145 + 538); + EXPECT_NEAR(get_mag_strength_tesla(35, 100) * 1e9, 53855, 145 + 539); + EXPECT_NEAR(get_mag_strength_tesla(35, 105) * 1e9, 53681, 145 + 537); + EXPECT_NEAR(get_mag_strength_tesla(35, 110) * 1e9, 53259, 145 + 533); + EXPECT_NEAR(get_mag_strength_tesla(35, 115) * 1e9, 52577, 145 + 526); + EXPECT_NEAR(get_mag_strength_tesla(35, 120) * 1e9, 51646, 145 + 516); + EXPECT_NEAR(get_mag_strength_tesla(35, 125) * 1e9, 50498, 145 + 505); + EXPECT_NEAR(get_mag_strength_tesla(35, 130) * 1e9, 49190, 145 + 492); + EXPECT_NEAR(get_mag_strength_tesla(35, 135) * 1e9, 47791, 145 + 478); + EXPECT_NEAR(get_mag_strength_tesla(35, 140) * 1e9, 46376, 145 + 464); + EXPECT_NEAR(get_mag_strength_tesla(35, 145) * 1e9, 45008, 145 + 450); + EXPECT_NEAR(get_mag_strength_tesla(35, 150) * 1e9, 43741, 145 + 437); + EXPECT_NEAR(get_mag_strength_tesla(35, 155) * 1e9, 42608, 145 + 426); + EXPECT_NEAR(get_mag_strength_tesla(35, 160) * 1e9, 41634, 145 + 416); + EXPECT_NEAR(get_mag_strength_tesla(35, 165) * 1e9, 40832, 145 + 408); + EXPECT_NEAR(get_mag_strength_tesla(35, 170) * 1e9, 40212, 145 + 402); + EXPECT_NEAR(get_mag_strength_tesla(35, 175) * 1e9, 39776, 145 + 398); + EXPECT_NEAR(get_mag_strength_tesla(35, 180) * 1e9, 39520, 145 + 395); + EXPECT_NEAR(get_mag_strength_tesla(40, -180) * 1e9, 42217, 145 + 422); + EXPECT_NEAR(get_mag_strength_tesla(40, -175) * 1e9, 42099, 145 + 421); + EXPECT_NEAR(get_mag_strength_tesla(40, -170) * 1e9, 42155, 145 + 422); + EXPECT_NEAR(get_mag_strength_tesla(40, -165) * 1e9, 42380, 145 + 424); + EXPECT_NEAR(get_mag_strength_tesla(40, -160) * 1e9, 42766, 145 + 428); + EXPECT_NEAR(get_mag_strength_tesla(40, -155) * 1e9, 43302, 145 + 433); + EXPECT_NEAR(get_mag_strength_tesla(40, -150) * 1e9, 43970, 145 + 440); + EXPECT_NEAR(get_mag_strength_tesla(40, -145) * 1e9, 44749, 145 + 447); + EXPECT_NEAR(get_mag_strength_tesla(40, -140) * 1e9, 45613, 145 + 456); + EXPECT_NEAR(get_mag_strength_tesla(40, -135) * 1e9, 46529, 145 + 465); + EXPECT_NEAR(get_mag_strength_tesla(40, -130) * 1e9, 47466, 145 + 475); + EXPECT_NEAR(get_mag_strength_tesla(40, -125) * 1e9, 48394, 145 + 484); + EXPECT_NEAR(get_mag_strength_tesla(40, -120) * 1e9, 49285, 145 + 493); + EXPECT_NEAR(get_mag_strength_tesla(40, -115) * 1e9, 50111, 145 + 501); + EXPECT_NEAR(get_mag_strength_tesla(40, -110) * 1e9, 50842, 145 + 508); + EXPECT_NEAR(get_mag_strength_tesla(40, -105) * 1e9, 51446, 145 + 514); + EXPECT_NEAR(get_mag_strength_tesla(40, -100) * 1e9, 51886, 145 + 519); + EXPECT_NEAR(get_mag_strength_tesla(40, -95) * 1e9, 52128, 145 + 521); + EXPECT_NEAR(get_mag_strength_tesla(40, -90) * 1e9, 52144, 145 + 521); + EXPECT_NEAR(get_mag_strength_tesla(40, -85) * 1e9, 51923, 145 + 519); + EXPECT_NEAR(get_mag_strength_tesla(40, -80) * 1e9, 51471, 145 + 515); + EXPECT_NEAR(get_mag_strength_tesla(40, -75) * 1e9, 50816, 145 + 508); + EXPECT_NEAR(get_mag_strength_tesla(40, -70) * 1e9, 50006, 145 + 500); + EXPECT_NEAR(get_mag_strength_tesla(40, -65) * 1e9, 49102, 145 + 491); + EXPECT_NEAR(get_mag_strength_tesla(40, -60) * 1e9, 48171, 145 + 482); + EXPECT_NEAR(get_mag_strength_tesla(40, -55) * 1e9, 47277, 145 + 473); + EXPECT_NEAR(get_mag_strength_tesla(40, -50) * 1e9, 46471, 145 + 465); + EXPECT_NEAR(get_mag_strength_tesla(40, -45) * 1e9, 45783, 145 + 458); + EXPECT_NEAR(get_mag_strength_tesla(40, -40) * 1e9, 45227, 145 + 452); + EXPECT_NEAR(get_mag_strength_tesla(40, -35) * 1e9, 44802, 145 + 448); + EXPECT_NEAR(get_mag_strength_tesla(40, -30) * 1e9, 44504, 145 + 445); + EXPECT_NEAR(get_mag_strength_tesla(40, -25) * 1e9, 44330, 145 + 443); + EXPECT_NEAR(get_mag_strength_tesla(40, -20) * 1e9, 44277, 145 + 443); + EXPECT_NEAR(get_mag_strength_tesla(40, -15) * 1e9, 44346, 145 + 443); + EXPECT_NEAR(get_mag_strength_tesla(40, -10) * 1e9, 44529, 145 + 445); + EXPECT_NEAR(get_mag_strength_tesla(40, -5) * 1e9, 44809, 145 + 448); + EXPECT_NEAR(get_mag_strength_tesla(40, 0) * 1e9, 45160, 145 + 452); + EXPECT_NEAR(get_mag_strength_tesla(40, 5) * 1e9, 45554, 145 + 456); + EXPECT_NEAR(get_mag_strength_tesla(40, 10) * 1e9, 45972, 145 + 460); + EXPECT_NEAR(get_mag_strength_tesla(40, 15) * 1e9, 46403, 145 + 464); + EXPECT_NEAR(get_mag_strength_tesla(40, 20) * 1e9, 46851, 145 + 469); + EXPECT_NEAR(get_mag_strength_tesla(40, 25) * 1e9, 47326, 145 + 473); + EXPECT_NEAR(get_mag_strength_tesla(40, 30) * 1e9, 47838, 145 + 478); + EXPECT_NEAR(get_mag_strength_tesla(40, 35) * 1e9, 48394, 145 + 484); + EXPECT_NEAR(get_mag_strength_tesla(40, 40) * 1e9, 48994, 145 + 490); + EXPECT_NEAR(get_mag_strength_tesla(40, 45) * 1e9, 49638, 145 + 496); + EXPECT_NEAR(get_mag_strength_tesla(40, 50) * 1e9, 50329, 145 + 503); + EXPECT_NEAR(get_mag_strength_tesla(40, 55) * 1e9, 51065, 145 + 511); + EXPECT_NEAR(get_mag_strength_tesla(40, 60) * 1e9, 51846, 145 + 518); + EXPECT_NEAR(get_mag_strength_tesla(40, 65) * 1e9, 52658, 145 + 527); + EXPECT_NEAR(get_mag_strength_tesla(40, 70) * 1e9, 53480, 145 + 535); + EXPECT_NEAR(get_mag_strength_tesla(40, 75) * 1e9, 54276, 145 + 543); + EXPECT_NEAR(get_mag_strength_tesla(40, 80) * 1e9, 55004, 145 + 550); + EXPECT_NEAR(get_mag_strength_tesla(40, 85) * 1e9, 55624, 145 + 556); + EXPECT_NEAR(get_mag_strength_tesla(40, 90) * 1e9, 56094, 145 + 561); + EXPECT_NEAR(get_mag_strength_tesla(40, 95) * 1e9, 56381, 145 + 564); + EXPECT_NEAR(get_mag_strength_tesla(40, 100) * 1e9, 56456, 145 + 565); + EXPECT_NEAR(get_mag_strength_tesla(40, 105) * 1e9, 56294, 145 + 563); + EXPECT_NEAR(get_mag_strength_tesla(40, 110) * 1e9, 55880, 145 + 559); + EXPECT_NEAR(get_mag_strength_tesla(40, 115) * 1e9, 55210, 145 + 552); + EXPECT_NEAR(get_mag_strength_tesla(40, 120) * 1e9, 54298, 145 + 543); + EXPECT_NEAR(get_mag_strength_tesla(40, 125) * 1e9, 53180, 145 + 532); + EXPECT_NEAR(get_mag_strength_tesla(40, 130) * 1e9, 51909, 145 + 519); + EXPECT_NEAR(get_mag_strength_tesla(40, 135) * 1e9, 50549, 145 + 505); + EXPECT_NEAR(get_mag_strength_tesla(40, 140) * 1e9, 49169, 145 + 492); + EXPECT_NEAR(get_mag_strength_tesla(40, 145) * 1e9, 47829, 145 + 478); + EXPECT_NEAR(get_mag_strength_tesla(40, 150) * 1e9, 46578, 145 + 466); + EXPECT_NEAR(get_mag_strength_tesla(40, 155) * 1e9, 45449, 145 + 454); + EXPECT_NEAR(get_mag_strength_tesla(40, 160) * 1e9, 44466, 145 + 445); + EXPECT_NEAR(get_mag_strength_tesla(40, 165) * 1e9, 43644, 145 + 436); + EXPECT_NEAR(get_mag_strength_tesla(40, 170) * 1e9, 42991, 145 + 430); + EXPECT_NEAR(get_mag_strength_tesla(40, 175) * 1e9, 42515, 145 + 425); + EXPECT_NEAR(get_mag_strength_tesla(40, 180) * 1e9, 42217, 145 + 422); + EXPECT_NEAR(get_mag_strength_tesla(45, -180) * 1e9, 45209, 145 + 452); + EXPECT_NEAR(get_mag_strength_tesla(45, -175) * 1e9, 45071, 145 + 451); + EXPECT_NEAR(get_mag_strength_tesla(45, -170) * 1e9, 45108, 145 + 451); + EXPECT_NEAR(get_mag_strength_tesla(45, -165) * 1e9, 45318, 145 + 453); + EXPECT_NEAR(get_mag_strength_tesla(45, -160) * 1e9, 45694, 145 + 457); + EXPECT_NEAR(get_mag_strength_tesla(45, -155) * 1e9, 46220, 145 + 462); + EXPECT_NEAR(get_mag_strength_tesla(45, -150) * 1e9, 46878, 145 + 469); + EXPECT_NEAR(get_mag_strength_tesla(45, -145) * 1e9, 47641, 145 + 476); + EXPECT_NEAR(get_mag_strength_tesla(45, -140) * 1e9, 48478, 145 + 485); + EXPECT_NEAR(get_mag_strength_tesla(45, -135) * 1e9, 49359, 145 + 494); + EXPECT_NEAR(get_mag_strength_tesla(45, -130) * 1e9, 50252, 145 + 503); + EXPECT_NEAR(get_mag_strength_tesla(45, -125) * 1e9, 51126, 145 + 511); + EXPECT_NEAR(get_mag_strength_tesla(45, -120) * 1e9, 51956, 145 + 520); + EXPECT_NEAR(get_mag_strength_tesla(45, -115) * 1e9, 52716, 145 + 527); + EXPECT_NEAR(get_mag_strength_tesla(45, -110) * 1e9, 53379, 145 + 534); + EXPECT_NEAR(get_mag_strength_tesla(45, -105) * 1e9, 53916, 145 + 539); + EXPECT_NEAR(get_mag_strength_tesla(45, -100) * 1e9, 54299, 145 + 543); + EXPECT_NEAR(get_mag_strength_tesla(45, -95) * 1e9, 54498, 145 + 545); + EXPECT_NEAR(get_mag_strength_tesla(45, -90) * 1e9, 54493, 145 + 545); + EXPECT_NEAR(get_mag_strength_tesla(45, -85) * 1e9, 54274, 145 + 543); + EXPECT_NEAR(get_mag_strength_tesla(45, -80) * 1e9, 53847, 145 + 538); + EXPECT_NEAR(get_mag_strength_tesla(45, -75) * 1e9, 53234, 145 + 532); + EXPECT_NEAR(get_mag_strength_tesla(45, -70) * 1e9, 52476, 145 + 525); + EXPECT_NEAR(get_mag_strength_tesla(45, -65) * 1e9, 51624, 145 + 516); + EXPECT_NEAR(get_mag_strength_tesla(45, -60) * 1e9, 50734, 145 + 507); + EXPECT_NEAR(get_mag_strength_tesla(45, -55) * 1e9, 49862, 145 + 499); + EXPECT_NEAR(get_mag_strength_tesla(45, -50) * 1e9, 49051, 145 + 491); + EXPECT_NEAR(get_mag_strength_tesla(45, -45) * 1e9, 48334, 145 + 483); + EXPECT_NEAR(get_mag_strength_tesla(45, -40) * 1e9, 47729, 145 + 477); + EXPECT_NEAR(get_mag_strength_tesla(45, -35) * 1e9, 47242, 145 + 472); + EXPECT_NEAR(get_mag_strength_tesla(45, -30) * 1e9, 46874, 145 + 469); + EXPECT_NEAR(get_mag_strength_tesla(45, -25) * 1e9, 46625, 145 + 466); + EXPECT_NEAR(get_mag_strength_tesla(45, -20) * 1e9, 46495, 145 + 465); + EXPECT_NEAR(get_mag_strength_tesla(45, -15) * 1e9, 46480, 145 + 465); + EXPECT_NEAR(get_mag_strength_tesla(45, -10) * 1e9, 46575, 145 + 466); + EXPECT_NEAR(get_mag_strength_tesla(45, -5) * 1e9, 46763, 145 + 468); + EXPECT_NEAR(get_mag_strength_tesla(45, 0) * 1e9, 47026, 145 + 470); + EXPECT_NEAR(get_mag_strength_tesla(45, 5) * 1e9, 47342, 145 + 473); + EXPECT_NEAR(get_mag_strength_tesla(45, 10) * 1e9, 47694, 145 + 477); + EXPECT_NEAR(get_mag_strength_tesla(45, 15) * 1e9, 48076, 145 + 481); + EXPECT_NEAR(get_mag_strength_tesla(45, 20) * 1e9, 48487, 145 + 485); + EXPECT_NEAR(get_mag_strength_tesla(45, 25) * 1e9, 48936, 145 + 489); + EXPECT_NEAR(get_mag_strength_tesla(45, 30) * 1e9, 49434, 145 + 494); + EXPECT_NEAR(get_mag_strength_tesla(45, 35) * 1e9, 49988, 145 + 500); + EXPECT_NEAR(get_mag_strength_tesla(45, 40) * 1e9, 50605, 145 + 506); + EXPECT_NEAR(get_mag_strength_tesla(45, 45) * 1e9, 51287, 145 + 513); + EXPECT_NEAR(get_mag_strength_tesla(45, 50) * 1e9, 52035, 145 + 520); + EXPECT_NEAR(get_mag_strength_tesla(45, 55) * 1e9, 52843, 145 + 528); + EXPECT_NEAR(get_mag_strength_tesla(45, 60) * 1e9, 53701, 145 + 537); + EXPECT_NEAR(get_mag_strength_tesla(45, 65) * 1e9, 54590, 145 + 546); + EXPECT_NEAR(get_mag_strength_tesla(45, 70) * 1e9, 55479, 145 + 555); + EXPECT_NEAR(get_mag_strength_tesla(45, 75) * 1e9, 56332, 145 + 563); + EXPECT_NEAR(get_mag_strength_tesla(45, 80) * 1e9, 57106, 145 + 571); + EXPECT_NEAR(get_mag_strength_tesla(45, 85) * 1e9, 57760, 145 + 578); + EXPECT_NEAR(get_mag_strength_tesla(45, 90) * 1e9, 58256, 145 + 583); + EXPECT_NEAR(get_mag_strength_tesla(45, 95) * 1e9, 58561, 145 + 586); + EXPECT_NEAR(get_mag_strength_tesla(45, 100) * 1e9, 58649, 145 + 586); + EXPECT_NEAR(get_mag_strength_tesla(45, 105) * 1e9, 58502, 145 + 585); + EXPECT_NEAR(get_mag_strength_tesla(45, 110) * 1e9, 58110, 145 + 581); + EXPECT_NEAR(get_mag_strength_tesla(45, 115) * 1e9, 57478, 145 + 575); + EXPECT_NEAR(get_mag_strength_tesla(45, 120) * 1e9, 56624, 145 + 566); + EXPECT_NEAR(get_mag_strength_tesla(45, 125) * 1e9, 55584, 145 + 556); + EXPECT_NEAR(get_mag_strength_tesla(45, 130) * 1e9, 54405, 145 + 544); + EXPECT_NEAR(get_mag_strength_tesla(45, 135) * 1e9, 53147, 145 + 531); + EXPECT_NEAR(get_mag_strength_tesla(45, 140) * 1e9, 51867, 145 + 519); + EXPECT_NEAR(get_mag_strength_tesla(45, 145) * 1e9, 50619, 145 + 506); + EXPECT_NEAR(get_mag_strength_tesla(45, 150) * 1e9, 49447, 145 + 494); + EXPECT_NEAR(get_mag_strength_tesla(45, 155) * 1e9, 48380, 145 + 484); + EXPECT_NEAR(get_mag_strength_tesla(45, 160) * 1e9, 47442, 145 + 474); + EXPECT_NEAR(get_mag_strength_tesla(45, 165) * 1e9, 46646, 145 + 466); + EXPECT_NEAR(get_mag_strength_tesla(45, 170) * 1e9, 46003, 145 + 460); + EXPECT_NEAR(get_mag_strength_tesla(45, 175) * 1e9, 45522, 145 + 455); + EXPECT_NEAR(get_mag_strength_tesla(45, 180) * 1e9, 45209, 145 + 452); + EXPECT_NEAR(get_mag_strength_tesla(50, -180) * 1e9, 48321, 145 + 483); + EXPECT_NEAR(get_mag_strength_tesla(50, -175) * 1e9, 48177, 145 + 482); + EXPECT_NEAR(get_mag_strength_tesla(50, -170) * 1e9, 48194, 145 + 482); + EXPECT_NEAR(get_mag_strength_tesla(50, -165) * 1e9, 48370, 145 + 484); + EXPECT_NEAR(get_mag_strength_tesla(50, -160) * 1e9, 48701, 145 + 487); + EXPECT_NEAR(get_mag_strength_tesla(50, -155) * 1e9, 49171, 145 + 492); + EXPECT_NEAR(get_mag_strength_tesla(50, -150) * 1e9, 49762, 145 + 498); + EXPECT_NEAR(get_mag_strength_tesla(50, -145) * 1e9, 50447, 145 + 504); + EXPECT_NEAR(get_mag_strength_tesla(50, -140) * 1e9, 51198, 145 + 512); + EXPECT_NEAR(get_mag_strength_tesla(50, -135) * 1e9, 51984, 145 + 520); + EXPECT_NEAR(get_mag_strength_tesla(50, -130) * 1e9, 52776, 145 + 528); + EXPECT_NEAR(get_mag_strength_tesla(50, -125) * 1e9, 53547, 145 + 535); + EXPECT_NEAR(get_mag_strength_tesla(50, -120) * 1e9, 54272, 145 + 543); + EXPECT_NEAR(get_mag_strength_tesla(50, -115) * 1e9, 54926, 145 + 549); + EXPECT_NEAR(get_mag_strength_tesla(50, -110) * 1e9, 55487, 145 + 555); + EXPECT_NEAR(get_mag_strength_tesla(50, -105) * 1e9, 55931, 145 + 559); + EXPECT_NEAR(get_mag_strength_tesla(50, -100) * 1e9, 56234, 145 + 562); + EXPECT_NEAR(get_mag_strength_tesla(50, -95) * 1e9, 56376, 145 + 564); + EXPECT_NEAR(get_mag_strength_tesla(50, -90) * 1e9, 56341, 145 + 563); + EXPECT_NEAR(get_mag_strength_tesla(50, -85) * 1e9, 56122, 145 + 561); + EXPECT_NEAR(get_mag_strength_tesla(50, -80) * 1e9, 55724, 145 + 557); + EXPECT_NEAR(get_mag_strength_tesla(50, -75) * 1e9, 55166, 145 + 552); + EXPECT_NEAR(get_mag_strength_tesla(50, -70) * 1e9, 54478, 145 + 545); + EXPECT_NEAR(get_mag_strength_tesla(50, -65) * 1e9, 53701, 145 + 537); + EXPECT_NEAR(get_mag_strength_tesla(50, -60) * 1e9, 52879, 145 + 529); + EXPECT_NEAR(get_mag_strength_tesla(50, -55) * 1e9, 52056, 145 + 521); + EXPECT_NEAR(get_mag_strength_tesla(50, -50) * 1e9, 51272, 145 + 513); + EXPECT_NEAR(get_mag_strength_tesla(50, -45) * 1e9, 50555, 145 + 506); + EXPECT_NEAR(get_mag_strength_tesla(50, -40) * 1e9, 49926, 145 + 499); + EXPECT_NEAR(get_mag_strength_tesla(50, -35) * 1e9, 49398, 145 + 494); + EXPECT_NEAR(get_mag_strength_tesla(50, -30) * 1e9, 48975, 145 + 490); + EXPECT_NEAR(get_mag_strength_tesla(50, -25) * 1e9, 48662, 145 + 487); + EXPECT_NEAR(get_mag_strength_tesla(50, -20) * 1e9, 48458, 145 + 485); + EXPECT_NEAR(get_mag_strength_tesla(50, -15) * 1e9, 48362, 145 + 484); + EXPECT_NEAR(get_mag_strength_tesla(50, -10) * 1e9, 48367, 145 + 484); + EXPECT_NEAR(get_mag_strength_tesla(50, -5) * 1e9, 48463, 145 + 485); + EXPECT_NEAR(get_mag_strength_tesla(50, 0) * 1e9, 48634, 145 + 486); + EXPECT_NEAR(get_mag_strength_tesla(50, 5) * 1e9, 48868, 145 + 489); + EXPECT_NEAR(get_mag_strength_tesla(50, 10) * 1e9, 49154, 145 + 492); + EXPECT_NEAR(get_mag_strength_tesla(50, 15) * 1e9, 49484, 145 + 495); + EXPECT_NEAR(get_mag_strength_tesla(50, 20) * 1e9, 49862, 145 + 499); + EXPECT_NEAR(get_mag_strength_tesla(50, 25) * 1e9, 50292, 145 + 503); + EXPECT_NEAR(get_mag_strength_tesla(50, 30) * 1e9, 50783, 145 + 508); + EXPECT_NEAR(get_mag_strength_tesla(50, 35) * 1e9, 51345, 145 + 513); + EXPECT_NEAR(get_mag_strength_tesla(50, 40) * 1e9, 51983, 145 + 520); + EXPECT_NEAR(get_mag_strength_tesla(50, 45) * 1e9, 52699, 145 + 527); + EXPECT_NEAR(get_mag_strength_tesla(50, 50) * 1e9, 53490, 145 + 535); + EXPECT_NEAR(get_mag_strength_tesla(50, 55) * 1e9, 54346, 145 + 543); + EXPECT_NEAR(get_mag_strength_tesla(50, 60) * 1e9, 55251, 145 + 553); + EXPECT_NEAR(get_mag_strength_tesla(50, 65) * 1e9, 56179, 145 + 562); + EXPECT_NEAR(get_mag_strength_tesla(50, 70) * 1e9, 57098, 145 + 571); + EXPECT_NEAR(get_mag_strength_tesla(50, 75) * 1e9, 57970, 145 + 580); + EXPECT_NEAR(get_mag_strength_tesla(50, 80) * 1e9, 58755, 145 + 588); + EXPECT_NEAR(get_mag_strength_tesla(50, 85) * 1e9, 59414, 145 + 594); + EXPECT_NEAR(get_mag_strength_tesla(50, 90) * 1e9, 59913, 145 + 599); + EXPECT_NEAR(get_mag_strength_tesla(50, 95) * 1e9, 60222, 145 + 602); + EXPECT_NEAR(get_mag_strength_tesla(50, 100) * 1e9, 60320, 145 + 603); + EXPECT_NEAR(get_mag_strength_tesla(50, 105) * 1e9, 60196, 145 + 602); + EXPECT_NEAR(get_mag_strength_tesla(50, 110) * 1e9, 59846, 145 + 598); + EXPECT_NEAR(get_mag_strength_tesla(50, 115) * 1e9, 59281, 145 + 593); + EXPECT_NEAR(get_mag_strength_tesla(50, 120) * 1e9, 58522, 145 + 585); + EXPECT_NEAR(get_mag_strength_tesla(50, 125) * 1e9, 57602, 145 + 576); + EXPECT_NEAR(get_mag_strength_tesla(50, 130) * 1e9, 56565, 145 + 566); + EXPECT_NEAR(get_mag_strength_tesla(50, 135) * 1e9, 55459, 145 + 555); + EXPECT_NEAR(get_mag_strength_tesla(50, 140) * 1e9, 54334, 145 + 543); + EXPECT_NEAR(get_mag_strength_tesla(50, 145) * 1e9, 53232, 145 + 532); + EXPECT_NEAR(get_mag_strength_tesla(50, 150) * 1e9, 52191, 145 + 522); + EXPECT_NEAR(get_mag_strength_tesla(50, 155) * 1e9, 51238, 145 + 512); + EXPECT_NEAR(get_mag_strength_tesla(50, 160) * 1e9, 50392, 145 + 504); + EXPECT_NEAR(get_mag_strength_tesla(50, 165) * 1e9, 49667, 145 + 497); + EXPECT_NEAR(get_mag_strength_tesla(50, 170) * 1e9, 49074, 145 + 491); + EXPECT_NEAR(get_mag_strength_tesla(50, 175) * 1e9, 48622, 145 + 486); + EXPECT_NEAR(get_mag_strength_tesla(50, 180) * 1e9, 48321, 145 + 483); + EXPECT_NEAR(get_mag_strength_tesla(55, -180) * 1e9, 51314, 145 + 513); + EXPECT_NEAR(get_mag_strength_tesla(55, -175) * 1e9, 51171, 145 + 512); + EXPECT_NEAR(get_mag_strength_tesla(55, -170) * 1e9, 51163, 145 + 512); + EXPECT_NEAR(get_mag_strength_tesla(55, -165) * 1e9, 51290, 145 + 513); + EXPECT_NEAR(get_mag_strength_tesla(55, -160) * 1e9, 51546, 145 + 515); + EXPECT_NEAR(get_mag_strength_tesla(55, -155) * 1e9, 51920, 145 + 519); + EXPECT_NEAR(get_mag_strength_tesla(55, -150) * 1e9, 52396, 145 + 524); + EXPECT_NEAR(get_mag_strength_tesla(55, -145) * 1e9, 52951, 145 + 530); + EXPECT_NEAR(get_mag_strength_tesla(55, -140) * 1e9, 53562, 145 + 536); + EXPECT_NEAR(get_mag_strength_tesla(55, -135) * 1e9, 54203, 145 + 542); + EXPECT_NEAR(get_mag_strength_tesla(55, -130) * 1e9, 54848, 145 + 548); + EXPECT_NEAR(get_mag_strength_tesla(55, -125) * 1e9, 55474, 145 + 555); + EXPECT_NEAR(get_mag_strength_tesla(55, -120) * 1e9, 56058, 145 + 561); + EXPECT_NEAR(get_mag_strength_tesla(55, -115) * 1e9, 56578, 145 + 566); + EXPECT_NEAR(get_mag_strength_tesla(55, -110) * 1e9, 57016, 145 + 570); + EXPECT_NEAR(get_mag_strength_tesla(55, -105) * 1e9, 57352, 145 + 574); + EXPECT_NEAR(get_mag_strength_tesla(55, -100) * 1e9, 57568, 145 + 576); + EXPECT_NEAR(get_mag_strength_tesla(55, -95) * 1e9, 57648, 145 + 576); + EXPECT_NEAR(get_mag_strength_tesla(55, -90) * 1e9, 57583, 145 + 576); + EXPECT_NEAR(get_mag_strength_tesla(55, -85) * 1e9, 57368, 145 + 574); + EXPECT_NEAR(get_mag_strength_tesla(55, -80) * 1e9, 57008, 145 + 570); + EXPECT_NEAR(get_mag_strength_tesla(55, -75) * 1e9, 56515, 145 + 565); + EXPECT_NEAR(get_mag_strength_tesla(55, -70) * 1e9, 55914, 145 + 559); + EXPECT_NEAR(get_mag_strength_tesla(55, -65) * 1e9, 55232, 145 + 552); + EXPECT_NEAR(get_mag_strength_tesla(55, -60) * 1e9, 54503, 145 + 545); + EXPECT_NEAR(get_mag_strength_tesla(55, -55) * 1e9, 53761, 145 + 538); + EXPECT_NEAR(get_mag_strength_tesla(55, -50) * 1e9, 53037, 145 + 530); + EXPECT_NEAR(get_mag_strength_tesla(55, -45) * 1e9, 52357, 145 + 524); + EXPECT_NEAR(get_mag_strength_tesla(55, -40) * 1e9, 51741, 145 + 517); + EXPECT_NEAR(get_mag_strength_tesla(55, -35) * 1e9, 51204, 145 + 512); + EXPECT_NEAR(get_mag_strength_tesla(55, -30) * 1e9, 50754, 145 + 508); + EXPECT_NEAR(get_mag_strength_tesla(55, -25) * 1e9, 50399, 145 + 504); + EXPECT_NEAR(get_mag_strength_tesla(55, -20) * 1e9, 50139, 145 + 501); + EXPECT_NEAR(get_mag_strength_tesla(55, -15) * 1e9, 49976, 145 + 500); + EXPECT_NEAR(get_mag_strength_tesla(55, -10) * 1e9, 49904, 145 + 499); + EXPECT_NEAR(get_mag_strength_tesla(55, -5) * 1e9, 49918, 145 + 499); + EXPECT_NEAR(get_mag_strength_tesla(55, 0) * 1e9, 50011, 145 + 500); + EXPECT_NEAR(get_mag_strength_tesla(55, 5) * 1e9, 50172, 145 + 502); + EXPECT_NEAR(get_mag_strength_tesla(55, 10) * 1e9, 50398, 145 + 504); + EXPECT_NEAR(get_mag_strength_tesla(55, 15) * 1e9, 50685, 145 + 507); + EXPECT_NEAR(get_mag_strength_tesla(55, 20) * 1e9, 51034, 145 + 510); + EXPECT_NEAR(get_mag_strength_tesla(55, 25) * 1e9, 51450, 145 + 514); + EXPECT_NEAR(get_mag_strength_tesla(55, 30) * 1e9, 51939, 145 + 519); + EXPECT_NEAR(get_mag_strength_tesla(55, 35) * 1e9, 52506, 145 + 525); + EXPECT_NEAR(get_mag_strength_tesla(55, 40) * 1e9, 53155, 145 + 532); + EXPECT_NEAR(get_mag_strength_tesla(55, 45) * 1e9, 53885, 145 + 539); + EXPECT_NEAR(get_mag_strength_tesla(55, 50) * 1e9, 54688, 145 + 547); + EXPECT_NEAR(get_mag_strength_tesla(55, 55) * 1e9, 55552, 145 + 556); + EXPECT_NEAR(get_mag_strength_tesla(55, 60) * 1e9, 56456, 145 + 565); + EXPECT_NEAR(get_mag_strength_tesla(55, 65) * 1e9, 57373, 145 + 574); + EXPECT_NEAR(get_mag_strength_tesla(55, 70) * 1e9, 58272, 145 + 583); + EXPECT_NEAR(get_mag_strength_tesla(55, 75) * 1e9, 59117, 145 + 591); + EXPECT_NEAR(get_mag_strength_tesla(55, 80) * 1e9, 59872, 145 + 599); + EXPECT_NEAR(get_mag_strength_tesla(55, 85) * 1e9, 60504, 145 + 605); + EXPECT_NEAR(get_mag_strength_tesla(55, 90) * 1e9, 60983, 145 + 610); + EXPECT_NEAR(get_mag_strength_tesla(55, 95) * 1e9, 61285, 145 + 613); + EXPECT_NEAR(get_mag_strength_tesla(55, 100) * 1e9, 61395, 145 + 614); + EXPECT_NEAR(get_mag_strength_tesla(55, 105) * 1e9, 61306, 145 + 613); + EXPECT_NEAR(get_mag_strength_tesla(55, 110) * 1e9, 61022, 145 + 610); + EXPECT_NEAR(get_mag_strength_tesla(55, 115) * 1e9, 60553, 145 + 606); + EXPECT_NEAR(get_mag_strength_tesla(55, 120) * 1e9, 59921, 145 + 599); + EXPECT_NEAR(get_mag_strength_tesla(55, 125) * 1e9, 59158, 145 + 592); + EXPECT_NEAR(get_mag_strength_tesla(55, 130) * 1e9, 58298, 145 + 583); + EXPECT_NEAR(get_mag_strength_tesla(55, 135) * 1e9, 57380, 145 + 574); + EXPECT_NEAR(get_mag_strength_tesla(55, 140) * 1e9, 56444, 145 + 564); + EXPECT_NEAR(get_mag_strength_tesla(55, 145) * 1e9, 55525, 145 + 555); + EXPECT_NEAR(get_mag_strength_tesla(55, 150) * 1e9, 54651, 145 + 547); + EXPECT_NEAR(get_mag_strength_tesla(55, 155) * 1e9, 53845, 145 + 538); + EXPECT_NEAR(get_mag_strength_tesla(55, 160) * 1e9, 53124, 145 + 531); + EXPECT_NEAR(get_mag_strength_tesla(55, 165) * 1e9, 52501, 145 + 525); + EXPECT_NEAR(get_mag_strength_tesla(55, 170) * 1e9, 51986, 145 + 520); + EXPECT_NEAR(get_mag_strength_tesla(55, 175) * 1e9, 51588, 145 + 516); + EXPECT_NEAR(get_mag_strength_tesla(55, 180) * 1e9, 51314, 145 + 513); + EXPECT_NEAR(get_mag_strength_tesla(60, -180) * 1e9, 53929, 145 + 539); + EXPECT_NEAR(get_mag_strength_tesla(60, -175) * 1e9, 53787, 145 + 538); + EXPECT_NEAR(get_mag_strength_tesla(60, -170) * 1e9, 53749, 145 + 537); + EXPECT_NEAR(get_mag_strength_tesla(60, -165) * 1e9, 53814, 145 + 538); + EXPECT_NEAR(get_mag_strength_tesla(60, -160) * 1e9, 53978, 145 + 540); + EXPECT_NEAR(get_mag_strength_tesla(60, -155) * 1e9, 54232, 145 + 542); + EXPECT_NEAR(get_mag_strength_tesla(60, -150) * 1e9, 54564, 145 + 546); + EXPECT_NEAR(get_mag_strength_tesla(60, -145) * 1e9, 54959, 145 + 550); + EXPECT_NEAR(get_mag_strength_tesla(60, -140) * 1e9, 55398, 145 + 554); + EXPECT_NEAR(get_mag_strength_tesla(60, -135) * 1e9, 55863, 145 + 559); + EXPECT_NEAR(get_mag_strength_tesla(60, -130) * 1e9, 56332, 145 + 563); + EXPECT_NEAR(get_mag_strength_tesla(60, -125) * 1e9, 56788, 145 + 568); + EXPECT_NEAR(get_mag_strength_tesla(60, -120) * 1e9, 57210, 145 + 572); + EXPECT_NEAR(get_mag_strength_tesla(60, -115) * 1e9, 57582, 145 + 576); + EXPECT_NEAR(get_mag_strength_tesla(60, -110) * 1e9, 57888, 145 + 579); + EXPECT_NEAR(get_mag_strength_tesla(60, -105) * 1e9, 58112, 145 + 581); + EXPECT_NEAR(get_mag_strength_tesla(60, -100) * 1e9, 58242, 145 + 582); + EXPECT_NEAR(get_mag_strength_tesla(60, -95) * 1e9, 58266, 145 + 583); + EXPECT_NEAR(get_mag_strength_tesla(60, -90) * 1e9, 58178, 145 + 582); + EXPECT_NEAR(get_mag_strength_tesla(60, -85) * 1e9, 57975, 145 + 580); + EXPECT_NEAR(get_mag_strength_tesla(60, -80) * 1e9, 57660, 145 + 577); + EXPECT_NEAR(get_mag_strength_tesla(60, -75) * 1e9, 57244, 145 + 572); + EXPECT_NEAR(get_mag_strength_tesla(60, -70) * 1e9, 56741, 145 + 567); + EXPECT_NEAR(get_mag_strength_tesla(60, -65) * 1e9, 56171, 145 + 562); + EXPECT_NEAR(get_mag_strength_tesla(60, -60) * 1e9, 55557, 145 + 556); + EXPECT_NEAR(get_mag_strength_tesla(60, -55) * 1e9, 54923, 145 + 549); + EXPECT_NEAR(get_mag_strength_tesla(60, -50) * 1e9, 54293, 145 + 543); + EXPECT_NEAR(get_mag_strength_tesla(60, -45) * 1e9, 53688, 145 + 537); + EXPECT_NEAR(get_mag_strength_tesla(60, -40) * 1e9, 53125, 145 + 531); + EXPECT_NEAR(get_mag_strength_tesla(60, -35) * 1e9, 52620, 145 + 526); + EXPECT_NEAR(get_mag_strength_tesla(60, -30) * 1e9, 52181, 145 + 522); + EXPECT_NEAR(get_mag_strength_tesla(60, -25) * 1e9, 51818, 145 + 518); + EXPECT_NEAR(get_mag_strength_tesla(60, -20) * 1e9, 51534, 145 + 515); + EXPECT_NEAR(get_mag_strength_tesla(60, -15) * 1e9, 51332, 145 + 513); + EXPECT_NEAR(get_mag_strength_tesla(60, -10) * 1e9, 51211, 145 + 512); + EXPECT_NEAR(get_mag_strength_tesla(60, -5) * 1e9, 51170, 145 + 512); + EXPECT_NEAR(get_mag_strength_tesla(60, 0) * 1e9, 51206, 145 + 512); + EXPECT_NEAR(get_mag_strength_tesla(60, 5) * 1e9, 51316, 145 + 513); + EXPECT_NEAR(get_mag_strength_tesla(60, 10) * 1e9, 51496, 145 + 515); + EXPECT_NEAR(get_mag_strength_tesla(60, 15) * 1e9, 51748, 145 + 517); + EXPECT_NEAR(get_mag_strength_tesla(60, 20) * 1e9, 52073, 145 + 521); + EXPECT_NEAR(get_mag_strength_tesla(60, 25) * 1e9, 52472, 145 + 525); + EXPECT_NEAR(get_mag_strength_tesla(60, 30) * 1e9, 52949, 145 + 529); + EXPECT_NEAR(get_mag_strength_tesla(60, 35) * 1e9, 53505, 145 + 535); + EXPECT_NEAR(get_mag_strength_tesla(60, 40) * 1e9, 54139, 145 + 541); + EXPECT_NEAR(get_mag_strength_tesla(60, 45) * 1e9, 54846, 145 + 548); + EXPECT_NEAR(get_mag_strength_tesla(60, 50) * 1e9, 55617, 145 + 556); + EXPECT_NEAR(get_mag_strength_tesla(60, 55) * 1e9, 56437, 145 + 564); + EXPECT_NEAR(get_mag_strength_tesla(60, 60) * 1e9, 57284, 145 + 573); + EXPECT_NEAR(get_mag_strength_tesla(60, 65) * 1e9, 58136, 145 + 581); + EXPECT_NEAR(get_mag_strength_tesla(60, 70) * 1e9, 58961, 145 + 590); + EXPECT_NEAR(get_mag_strength_tesla(60, 75) * 1e9, 59732, 145 + 597); + EXPECT_NEAR(get_mag_strength_tesla(60, 80) * 1e9, 60419, 145 + 604); + EXPECT_NEAR(get_mag_strength_tesla(60, 85) * 1e9, 60993, 145 + 610); + EXPECT_NEAR(get_mag_strength_tesla(60, 90) * 1e9, 61433, 145 + 614); + EXPECT_NEAR(get_mag_strength_tesla(60, 95) * 1e9, 61720, 145 + 617); + EXPECT_NEAR(get_mag_strength_tesla(60, 100) * 1e9, 61846, 145 + 618); + EXPECT_NEAR(get_mag_strength_tesla(60, 105) * 1e9, 61805, 145 + 618); + EXPECT_NEAR(get_mag_strength_tesla(60, 110) * 1e9, 61603, 145 + 616); + EXPECT_NEAR(get_mag_strength_tesla(60, 115) * 1e9, 61253, 145 + 613); + EXPECT_NEAR(get_mag_strength_tesla(60, 120) * 1e9, 60772, 145 + 608); + EXPECT_NEAR(get_mag_strength_tesla(60, 125) * 1e9, 60186, 145 + 602); + EXPECT_NEAR(get_mag_strength_tesla(60, 130) * 1e9, 59523, 145 + 595); + EXPECT_NEAR(get_mag_strength_tesla(60, 135) * 1e9, 58812, 145 + 588); + EXPECT_NEAR(get_mag_strength_tesla(60, 140) * 1e9, 58082, 145 + 581); + EXPECT_NEAR(get_mag_strength_tesla(60, 145) * 1e9, 57360, 145 + 574); + EXPECT_NEAR(get_mag_strength_tesla(60, 150) * 1e9, 56668, 145 + 567); + EXPECT_NEAR(get_mag_strength_tesla(60, 155) * 1e9, 56024, 145 + 560); + EXPECT_NEAR(get_mag_strength_tesla(60, 160) * 1e9, 55442, 145 + 554); + EXPECT_NEAR(get_mag_strength_tesla(60, 165) * 1e9, 54934, 145 + 549); + EXPECT_NEAR(get_mag_strength_tesla(60, 170) * 1e9, 54507, 145 + 545); + EXPECT_NEAR(get_mag_strength_tesla(60, 175) * 1e9, 54170, 145 + 542); + EXPECT_NEAR(get_mag_strength_tesla(60, 180) * 1e9, 53929, 145 + 539); } diff --git a/src/modules/airspeed_selector/AirspeedValidator.cpp b/src/modules/airspeed_selector/AirspeedValidator.cpp index 3358340b7e16..acdc88ef2219 100644 --- a/src/modules/airspeed_selector/AirspeedValidator.cpp +++ b/src/modules/airspeed_selector/AirspeedValidator.cpp @@ -50,16 +50,18 @@ AirspeedValidator::update_airspeed_validator(const airspeed_validator_update_dat // get indicated airspeed from input data (raw airspeed) _IAS = input_data.airspeed_indicated_raw; - update_CAS_scale_validated(input_data.lpos_valid, input_data.ground_velocity, input_data.airspeed_true_raw); + update_CAS_scale_validated(input_data.gnss_valid, input_data.ground_velocity, input_data.airspeed_true_raw); update_CAS_scale_applied(); update_CAS_TAS(input_data.air_pressure_pa, input_data.air_temperature_celsius); - update_wind_estimator(input_data.timestamp, input_data.airspeed_true_raw, input_data.lpos_valid, + update_wind_estimator(input_data.timestamp, input_data.airspeed_true_raw, input_data.gnss_valid, input_data.ground_velocity, input_data.lpos_evh, input_data.lpos_evv, input_data.q_att); update_in_fixed_wing_flight(input_data.in_fixed_wing_flight); check_airspeed_data_stuck(input_data.timestamp); check_load_factor(input_data.accel_z); - check_airspeed_innovation(input_data.timestamp, input_data.vel_test_ratio, input_data.mag_test_ratio, - input_data.ground_velocity, input_data.lpos_valid); + check_airspeed_innovation(input_data.timestamp, input_data.vel_test_ratio, input_data.hdg_test_ratio, + input_data.ground_velocity, input_data.gnss_valid); + check_first_principle(input_data.timestamp, input_data.fixed_wing_tecs_throttle, + input_data.fixed_wing_tecs_throttle_trim, input_data.tecs_timestamp, input_data.q_att); update_airspeed_valid_status(input_data.timestamp); } @@ -71,12 +73,12 @@ AirspeedValidator::reset_airspeed_to_invalid(const uint64_t timestamp) } void -AirspeedValidator::update_wind_estimator(const uint64_t time_now_usec, float airspeed_true_raw, bool lpos_valid, +AirspeedValidator::update_wind_estimator(const uint64_t time_now_usec, float airspeed_true_raw, bool gnss_valid, const matrix::Vector3f &vI, float lpos_evh, float lpos_evv, const Quatf &q_att) { _wind_estimator.update(time_now_usec); - if (lpos_valid && _in_fixed_wing_flight) { + if (gnss_valid && _in_fixed_wing_flight) { // airspeed fusion (with raw TAS) const float hor_vel_variance = lpos_evh * lpos_evh; @@ -109,9 +111,9 @@ AirspeedValidator::get_wind_estimator_states(uint64_t timestamp) } void -AirspeedValidator::update_CAS_scale_validated(bool lpos_valid, const matrix::Vector3f &vI, float airspeed_true_raw) +AirspeedValidator::update_CAS_scale_validated(bool gnss_valid, const matrix::Vector3f &vI, float airspeed_true_raw) { - if (!_in_fixed_wing_flight || !lpos_valid) { + if (!_in_fixed_wing_flight || !gnss_valid) { return; } @@ -136,11 +138,11 @@ AirspeedValidator::update_CAS_scale_validated(bool lpos_valid, const matrix::Vec TAS_sum += _scale_check_TAS(i); } - const float TAS_to_grounspeed_error_current = ground_speed_sum - TAS_sum * _CAS_scale_validated; - const float TAS_to_grounspeed_error_new = ground_speed_sum - TAS_sum * _wind_estimator.get_tas_scale(); + const float TAS_to_groundspeed_error_current = ground_speed_sum - TAS_sum * _CAS_scale_validated; + const float TAS_to_groundspeed_error_new = ground_speed_sum - TAS_sum * _wind_estimator.get_tas_scale(); // check passes if the average airspeed with the scale applied is closer to groundspeed than without - if (fabsf(TAS_to_grounspeed_error_new) < fabsf(TAS_to_grounspeed_error_current)) { + if (fabsf(TAS_to_groundspeed_error_new) < fabsf(TAS_to_groundspeed_error_current)) { // constrain the scale update to max 0.05 at a time const float new_scale_constrained = math::constrain(_wind_estimator.get_tas_scale(), _CAS_scale_validated - 0.05f, @@ -212,7 +214,7 @@ AirspeedValidator::check_airspeed_data_stuck(uint64_t time_now) void AirspeedValidator::check_airspeed_innovation(uint64_t time_now, float estimator_status_vel_test_ratio, - float estimator_status_mag_test_ratio, const matrix::Vector3f &vI, bool lpos_valid) + float estimator_status_hdg_test_ratio, const matrix::Vector3f &vI, bool gnss_valid) { // Check normalised innovation levels with requirement for continuous data and use of hysteresis // to prevent false triggering. @@ -222,17 +224,14 @@ AirspeedValidator::check_airspeed_innovation(uint64_t time_now, float estimator_ } // reset states if check is disabled, we are not flying or wind estimator was just initialized/reset - if (!_innovation_check_enabled || !_in_fixed_wing_flight || (time_now - _time_wind_estimator_initialized) < 5_s - || _tas_innov_integ_threshold <= 0.f) { + if (!_innovation_check_enabled || !_in_fixed_wing_flight || (time_now - _time_wind_estimator_initialized) < 5_s) { _innovations_check_failed = false; - _time_last_tas_pass = time_now; - _apsd_innov_integ_state = 0.f; + _aspd_innov_integ_state = 0.f; - } else if (!lpos_valid || estimator_status_vel_test_ratio > 1.f || estimator_status_mag_test_ratio > 1.f) { + } else if (!gnss_valid || estimator_status_vel_test_ratio > 1.f || estimator_status_hdg_test_ratio > 1.f) { //nav velocity data is likely not good //don't run the test but don't reset the check if it had previously failed when nav velocity data was still likely good - _time_last_tas_pass = time_now; - _apsd_innov_integ_state = 0.f; + _aspd_innov_integ_state = 0.f; } else { // nav velocity data is likely good so airspeed innovations are able to be used @@ -242,18 +241,14 @@ AirspeedValidator::check_airspeed_innovation(uint64_t time_now, float estimator_ const float tas_innov = fabsf(_TAS - air_vel.norm()); if (tas_innov > _tas_innov_threshold) { - _apsd_innov_integ_state += dt_s * (tas_innov - _tas_innov_threshold); // integrate exceedance + _aspd_innov_integ_state += dt_s * (tas_innov - _tas_innov_threshold); // integrate exceedance } else { // reset integrator used to trigger and record pass if integrator check is disabled - _apsd_innov_integ_state = 0.f; + _aspd_innov_integ_state = 0.f; } - if (_tas_innov_integ_threshold > 0.f && _apsd_innov_integ_state < _tas_innov_integ_threshold) { - _time_last_tas_pass = time_now; - } - - _innovations_check_failed = (time_now - _time_last_tas_pass) > TAS_INNOV_FAIL_DELAY; + _innovations_check_failed = _aspd_innov_integ_state > _tas_innov_integ_threshold; } _time_last_aspd_innov_check = time_now; @@ -284,16 +279,76 @@ AirspeedValidator::check_load_factor(float accel_z) } } +void +AirspeedValidator::check_first_principle(const uint64_t timestamp, const float throttle_fw, const float throttle_trim, + const uint64_t tecs_timestamp, const Quatf &att_q) +{ + if (! _first_principle_check_enabled) { + _first_principle_check_failed = false; + _time_last_first_principle_check_passing = timestamp; + return; + } + + const float pitch = matrix::Eulerf(att_q).theta(); + const hrt_abstime tecs_dt = timestamp - tecs_timestamp; // return if TECS data is old (TECS not running) + + if (!_in_fixed_wing_flight || tecs_dt > 500_ms || !PX4_ISFINITE(_IAS) || !PX4_ISFINITE(throttle_fw) + || !PX4_ISFINITE(throttle_trim) || !PX4_ISFINITE(pitch)) { + // do not do anything in that case + return; + } + + const float dt = static_cast(timestamp - _time_last_first_principle_check) / 1_s; + _time_last_first_principle_check = timestamp; + + // update filters + if (dt < FLT_EPSILON || dt > 1.f) { + // reset if dt is too large + _IAS_derivative.reset(0.f); + _throttle_filtered.reset(throttle_fw); + _pitch_filtered.reset(pitch); + _time_last_first_principle_check_passing = timestamp; + + } else { + // update filters, with different time constant + _IAS_derivative.setParameters(dt, 5.f); + _throttle_filtered.setParameters(dt, 0.5f); + _pitch_filtered.setParameters(dt, 1.5f); + + _IAS_derivative.update(_IAS); + _throttle_filtered.update(throttle_fw); + _pitch_filtered.update(pitch); + } + + // declare high throttle if more than 5% above trim + const float high_throttle_threshold = math::min(throttle_trim + kHighThrottleDelta, _param_throttle_max); + const bool high_throttle = _throttle_filtered.getState() > high_throttle_threshold; + const bool pitching_down = _pitch_filtered.getState() < _param_psp_off; + + // check if the airspeed derivative is too low given the throttle and pitch + const bool check_failing = _IAS_derivative.getState() < kIASDerivateThreshold && high_throttle && pitching_down; + + if (!check_failing) { + _time_last_first_principle_check_passing = timestamp; + _first_principle_check_failed = false; + } + + if (timestamp - _time_last_first_principle_check_passing > _aspd_fp_t_window * 1_s) { + // only update the test_failed flag once the timeout since first principle check failing is over + _first_principle_check_failed = check_failing; + } +} void AirspeedValidator::update_airspeed_valid_status(const uint64_t timestamp) { - if (_data_stuck_test_failed || _innovations_check_failed || _load_factor_check_failed) { + if (_data_stuck_test_failed || _innovations_check_failed || _load_factor_check_failed + || _first_principle_check_failed) { // at least one check (data stuck, innovation or load factor) failed, so record timestamp _time_checks_failed = timestamp; } else if (! _data_stuck_test_failed && !_innovations_check_failed - && !_load_factor_check_failed) { + && !_load_factor_check_failed && !_first_principle_check_failed) { // all checks(data stuck, innovation and load factor) must pass to declare airspeed good _time_checks_passed = timestamp; } diff --git a/src/modules/airspeed_selector/AirspeedValidator.hpp b/src/modules/airspeed_selector/AirspeedValidator.hpp index c0b6db0377b4..74f5747989f6 100644 --- a/src/modules/airspeed_selector/AirspeedValidator.hpp +++ b/src/modules/airspeed_selector/AirspeedValidator.hpp @@ -41,6 +41,8 @@ #include #include #include +#include +#include using matrix::Dcmf; @@ -56,7 +58,7 @@ struct airspeed_validator_update_data { float airspeed_true_raw; uint64_t airspeed_timestamp; matrix::Vector3f ground_velocity; - bool lpos_valid; + bool gnss_valid; float lpos_evh; float lpos_evv; matrix::Quatf q_att; @@ -64,8 +66,11 @@ struct airspeed_validator_update_data { float air_temperature_celsius; float accel_z; float vel_test_ratio; - float mag_test_ratio; + float hdg_test_ratio; bool in_fixed_wing_flight; + float fixed_wing_tecs_throttle; + float fixed_wing_tecs_throttle_trim; + uint64_t tecs_timestamp; }; class AirspeedValidator @@ -83,6 +88,9 @@ class AirspeedValidator float get_TAS() { return _TAS; } bool get_airspeed_valid() { return _airspeed_valid; } float get_CAS_scale_validated() {return _CAS_scale_validated;} + float get_airspeed_derivative() { return _IAS_derivative.getState(); } + float get_throttle_filtered() { return _throttle_filtered.getState(); } + float get_pitch_filtered() { return _pitch_filtered.getState(); } airspeed_wind_s get_wind_estimator_states(uint64_t timestamp); @@ -118,6 +126,10 @@ class AirspeedValidator void set_enable_data_stuck_check(bool enable) { _data_stuck_check_enabled = enable; } void set_enable_innovation_check(bool enable) { _innovation_check_enabled = enable; } void set_enable_load_factor_check(bool enable) { _load_factor_check_enabled = enable; } + void set_enable_first_principle_check(bool enable) { _first_principle_check_enabled = enable; } + void set_psp_off_param(float psp_off_param) { _param_psp_off = psp_off_param; } + void set_throttle_max_param(float throttle_max_param) { _param_throttle_max = throttle_max_param; } + void set_fp_t_window(float t_window) { _aspd_fp_t_window = t_window; } private: @@ -127,10 +139,17 @@ class AirspeedValidator bool _data_stuck_check_enabled{false}; bool _innovation_check_enabled{false}; bool _load_factor_check_enabled{false}; + bool _first_principle_check_enabled{false}; // airspeed scale validity check static constexpr int SCALE_CHECK_SAMPLES = 12; ///< take samples from 12 segments (every 360/12=30°) + static constexpr float kHighThrottleDelta = + 0.05f; ///< throttle delta above trim throttle required to consider throttle high + static constexpr float kIASDerivateThreshold = + 0.1f; ///< threshold for IAS derivative to detect airspeed failure. Failure is + // detected if in a high throttle and low pitch situation and the filtered IAS derivative is below this threshold + // general states bool _in_fixed_wing_flight{false}; ///< variable to bypass innovation and load factor checks float _IAS{0.0f}; ///< indicated airsped in m/s @@ -150,9 +169,7 @@ class AirspeedValidator float _tas_innov_threshold{1.0}; ///< innovation error threshold for triggering innovation check failure float _tas_innov_integ_threshold{-1.0}; ///< integrator innovation error threshold for triggering innovation check failure uint64_t _time_last_aspd_innov_check{0}; ///< time airspeed innovation was last checked (uSec) - uint64_t _time_last_tas_pass{0}; ///< last time innovation checks passed - float _apsd_innov_integ_state{0.0f}; ///< integral of excess normalised airspeed innovation (sec) - static constexpr uint64_t TAS_INNOV_FAIL_DELAY{1_s}; ///< time required for innovation levels to pass or fail (usec) + float _aspd_innov_integ_state{0.0f}; ///< integral of excess normalised airspeed innovation (sec) uint64_t _time_wind_estimator_initialized{0}; ///< time last time wind estimator was initialized (uSec) // states of load factor check @@ -160,10 +177,21 @@ class AirspeedValidator float _airspeed_stall{8.0f}; ///< stall speed of aircraft used for load factor check float _load_factor_ratio{0.5f}; ///< ratio of maximum load factor predicted by stall speed to measured load factor + // first principle check + bool _first_principle_check_failed{false}; ///< first principle check has detected failure + float _aspd_fp_t_window{0.f}; ///< time window for first principle check + FilteredDerivative _IAS_derivative; ///< indicated airspeed derivative for first principle check + AlphaFilter _throttle_filtered; ///< filtered throttle for first principle check + AlphaFilter _pitch_filtered; ///< filtered pitch for first principle check + hrt_abstime _time_last_first_principle_check{0}; ///< time airspeed first principle was last checked (uSec) + hrt_abstime _time_last_first_principle_check_passing{0}; ///< time airspeed first principle was last passing (uSec) + float _param_psp_off{0.0f}; ///< parameter pitch in level flight [rad] + float _param_throttle_max{0.0f}; ///< parameter maximum throttle value + // states of airspeed valid declaration bool _airspeed_valid{true}; ///< airspeed valid (pitot or groundspeed-windspeed) - int _checks_fail_delay{3}; ///< delay for airspeed invalid declaration after single check failure (Sec) - int _checks_clear_delay{-1}; ///< delay for airspeed valid declaration after all checks passed again (Sec) + float _checks_fail_delay{2.f}; ///< delay for airspeed invalid declaration after single check failure (Sec) + float _checks_clear_delay{-1.f}; ///< delay for airspeed valid declaration after all checks passed again (Sec) uint64_t _time_checks_passed{0}; ///< time the checks have last passed (uSec) uint64_t _time_checks_failed{0}; ///< time the checks have last not passed (uSec) @@ -177,16 +205,18 @@ class AirspeedValidator void update_in_fixed_wing_flight(bool in_fixed_wing_flight) { _in_fixed_wing_flight = in_fixed_wing_flight; } - void update_wind_estimator(const uint64_t timestamp, float airspeed_true_raw, bool lpos_valid, + void update_wind_estimator(const uint64_t timestamp, float airspeed_true_raw, bool gnss_valid, const matrix::Vector3f &vI, float lpos_evh, float lpos_evv, const Quatf &q_att); - void update_CAS_scale_validated(bool lpos_valid, const matrix::Vector3f &vI, float airspeed_true_raw); + void update_CAS_scale_validated(bool gnss_valid, const matrix::Vector3f &vI, float airspeed_true_raw); void update_CAS_scale_applied(); void update_CAS_TAS(float air_pressure_pa, float air_temperature_celsius); void check_airspeed_data_stuck(uint64_t timestamp); void check_airspeed_innovation(uint64_t timestamp, float estimator_status_vel_test_ratio, - float estimator_status_mag_test_ratio, const matrix::Vector3f &vI, bool lpos_valid); + float estimator_status_hdg_test_ratio, const matrix::Vector3f &vI, bool gnss_valid); void check_load_factor(float accel_z); + void check_first_principle(const uint64_t timestamp, const float throttle, const float throttle_trim, + const uint64_t tecs_timestamp, const Quatf &att_q); void update_airspeed_valid_status(const uint64_t timestamp); void reset(); void reset_CAS_scale_check(); diff --git a/src/modules/airspeed_selector/airspeed_selector_main.cpp b/src/modules/airspeed_selector/airspeed_selector_main.cpp index 2cd37691f008..1880d5ab3c4d 100644 --- a/src/modules/airspeed_selector/airspeed_selector_main.cpp +++ b/src/modules/airspeed_selector/airspeed_selector_main.cpp @@ -57,6 +57,7 @@ #include #include #include +#include #include #include #include @@ -112,6 +113,7 @@ class AirspeedModule : public ModuleBase, public ModuleParams, uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s}; + uORB::Subscription _tecs_status_sub{ORB_ID(tecs_status)}; uORB::Subscription _estimator_selector_status_sub{ORB_ID(estimator_selector_status)}; uORB::Subscription _estimator_status_sub{ORB_ID(estimator_status)}; uORB::Subscription _vehicle_acceleration_sub{ORB_ID(vehicle_acceleration)}; @@ -125,6 +127,7 @@ class AirspeedModule : public ModuleBase, public ModuleParams, uORB::SubscriptionMultiArray _airspeed_subs{ORB_ID::airspeed}; + tecs_status_s _tecs_status {}; estimator_status_s _estimator_status {}; vehicle_acceleration_s _accel {}; vehicle_air_data_s _vehicle_air_data {}; @@ -146,7 +149,7 @@ class AirspeedModule : public ModuleBase, public ModuleParams, int _valid_airspeed_index{-2}; /**< index of currently chosen (valid) airspeed sensor */ int _prev_airspeed_index{-2}; /**< previously chosen airspeed sensor index */ bool _initialized{false}; /**< module initialized*/ - bool _vehicle_local_position_valid{false}; /**< local position (from GPS) valid */ + bool _gnss_lpos_valid{false}; /**< local position (from GNSS) valid */ bool _in_takeoff_situation{true}; /**< in takeoff situation (defined as not yet stall speed reached) */ float _ground_minus_wind_TAS{NAN}; /**< true airspeed from groundspeed minus windspeed */ float _ground_minus_wind_CAS{NAN}; /**< calibrated airspeed from groundspeed minus windspeed */ @@ -162,9 +165,16 @@ class AirspeedModule : public ModuleBase, public ModuleParams, CHECK_TYPE_ONLY_DATA_MISSING_BIT = (1 << 0), CHECK_TYPE_DATA_STUCK_BIT = (1 << 1), CHECK_TYPE_INNOVATION_BIT = (1 << 2), - CHECK_TYPE_LOAD_FACTOR_BIT = (1 << 3) + CHECK_TYPE_LOAD_FACTOR_BIT = (1 << 3), + CHECK_TYPE_FIRST_PRINCIPLE_BIT = (1 << 4) }; + + param_t _param_handle_pitch_sp_offset{PARAM_INVALID}; + float _param_pitch_sp_offset{0.0f}; + param_t _param_handle_fw_thr_max{PARAM_INVALID}; + float _param_fw_thr_max{0.0f}; + DEFINE_PARAMETERS( (ParamFloat) _param_aspd_wind_nsd, (ParamFloat) _param_aspd_scale_nsd, @@ -182,11 +192,15 @@ class AirspeedModule : public ModuleBase, public ModuleParams, (ParamFloat) _tas_innov_threshold, /**< innovation check threshold */ (ParamFloat) _tas_innov_integ_threshold, /**< innovation check integrator threshold */ - (ParamInt) _checks_fail_delay, /**< delay to declare airspeed invalid */ - (ParamInt) _checks_clear_delay, /**< delay to declare airspeed valid again */ + (ParamFloat) _checks_fail_delay, /**< delay to declare airspeed invalid */ + (ParamFloat) _checks_clear_delay, /**< delay to declare airspeed valid again */ + + (ParamFloat) _param_wind_sigma_max_synth_tas, + (ParamFloat) _aspd_fp_t_window, + // external parameters (ParamFloat) _param_fw_airspd_stall, - (ParamFloat) _param_wind_sigma_max_synth_tas + (ParamFloat) _param_fw_airspd_trim ) void init(); /**< initialization of the airspeed validator instances */ @@ -203,6 +217,8 @@ AirspeedModule::AirspeedModule(): ModuleParams(nullptr), ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::nav_and_controllers) { + _param_handle_pitch_sp_offset = param_find("FW_PSP_OFF"); + _param_handle_fw_thr_max = param_find("FW_THR_MAX"); // initialise parameters update_params(); @@ -347,14 +363,17 @@ AirspeedModule::Run() struct airspeed_validator_update_data input_data = {}; input_data.timestamp = _time_now_usec; input_data.ground_velocity = vI; - input_data.lpos_valid = _vehicle_local_position_valid; + input_data.gnss_valid = _gnss_lpos_valid; input_data.lpos_evh = _vehicle_local_position.evh; input_data.lpos_evv = _vehicle_local_position.evv; input_data.q_att = _q_att; input_data.air_pressure_pa = _vehicle_air_data.baro_pressure_pa; input_data.accel_z = _accel.xyz[2]; input_data.vel_test_ratio = _estimator_status.vel_test_ratio; - input_data.mag_test_ratio = _estimator_status.mag_test_ratio; + input_data.hdg_test_ratio = _estimator_status.hdg_test_ratio; + input_data.tecs_timestamp = _tecs_status.timestamp; + input_data.fixed_wing_tecs_throttle = _tecs_status.throttle_sp; + input_data.fixed_wing_tecs_throttle_trim = _tecs_status.throttle_trim; // iterate through all airspeed sensors, poll new data from them and update their validators for (int i = 0; i < _number_of_airspeed_sensors; i++) { @@ -442,6 +461,14 @@ void AirspeedModule::update_params() { updateParams(); + if (_param_handle_pitch_sp_offset != PARAM_INVALID) { + param_get(_param_handle_pitch_sp_offset, &_param_pitch_sp_offset); + } + + if (_param_handle_fw_thr_max != PARAM_INVALID) { + param_get(_param_handle_fw_thr_max, &_param_fw_thr_max); + } + _param_airspeed_scale[0] = _param_airspeed_scale_1.get(); _param_airspeed_scale[1] = _param_airspeed_scale_2.get(); _param_airspeed_scale[2] = _param_airspeed_scale_3.get(); @@ -476,6 +503,11 @@ void AirspeedModule::update_params() CheckTypeBits::CHECK_TYPE_INNOVATION_BIT); _airspeed_validator[i].set_enable_load_factor_check(_param_airspeed_checks_on.get() & CheckTypeBits::CHECK_TYPE_LOAD_FACTOR_BIT); + _airspeed_validator[i].set_enable_first_principle_check(_param_airspeed_checks_on.get() & + CheckTypeBits::CHECK_TYPE_FIRST_PRINCIPLE_BIT); + _airspeed_validator[i].set_psp_off_param(math::radians(_param_pitch_sp_offset)); + _airspeed_validator[i].set_throttle_max_param(_param_fw_thr_max); + _airspeed_validator[i].set_fp_t_window(_aspd_fp_t_window.get()); } } @@ -501,6 +533,8 @@ void AirspeedModule::poll_topics() _vehicle_local_position_sub.update(&_vehicle_local_position); _position_setpoint_sub.update(&_position_setpoint); + _tecs_status_sub.update(&_tecs_status); + if (_vehicle_attitude_sub.updated()) { vehicle_attitude_s vehicle_attitude; _vehicle_attitude_sub.update(&vehicle_attitude); @@ -515,10 +549,10 @@ void AirspeedModule::poll_topics() } } - _vehicle_local_position_valid = (_time_now_usec - _vehicle_local_position.timestamp < 1_s) - && (_vehicle_local_position.timestamp > 0) - && _vehicle_local_position.v_xy_valid - && !_vehicle_local_position.dead_reckoning; + _gnss_lpos_valid = (_time_now_usec - _vehicle_local_position.timestamp < 1_s) + && (_vehicle_local_position.timestamp > 0) + && _vehicle_local_position.v_xy_valid + && _estimator_status.control_mode_flags & (1 << estimator_status_s::CS_GPS); } void AirspeedModule::update_wind_estimator_sideslip() @@ -526,7 +560,7 @@ void AirspeedModule::update_wind_estimator_sideslip() // update wind and airspeed estimator _wind_estimator_sideslip.update(_time_now_usec); - if (_vehicle_local_position_valid + if (_gnss_lpos_valid && _vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING && !_vehicle_land_detected.landed) { Vector3f vI(_vehicle_local_position.vx, _vehicle_local_position.vy, _vehicle_local_position.vz); @@ -600,12 +634,11 @@ void AirspeedModule::select_airspeed_and_publish() } // check if airspeed based on ground-wind speed is valid and can be published - if (_param_airspeed_primary_index.get() > airspeed_index::DISABLED_INDEX && - (_valid_airspeed_index < airspeed_index::FIRST_SENSOR_INDEX - || _param_airspeed_primary_index.get() == airspeed_index::GROUND_MINUS_WIND_INDEX)) { + if (_valid_airspeed_index < airspeed_index::FIRST_SENSOR_INDEX + || _param_airspeed_primary_index.get() == airspeed_index::GROUND_MINUS_WIND_INDEX) { - // _vehicle_local_position_valid determines if ground-wind estimate is valid - if (_vehicle_local_position_valid && + // _gnss_lpos_valid determines if ground-wind estimate is valid + if (_gnss_lpos_valid && (_param_airspeed_fallback_gw.get() || _param_airspeed_primary_index.get() == airspeed_index::GROUND_MINUS_WIND_INDEX)) { _valid_airspeed_index = airspeed_index::GROUND_MINUS_WIND_INDEX; @@ -662,6 +695,11 @@ void AirspeedModule::select_airspeed_and_publish() airspeed_validated.airspeed_sensor_measurement_valid = false; airspeed_validated.selected_airspeed_index = _valid_airspeed_index; + airspeed_validated.airspeed_derivative_filtered = _airspeed_validator[_valid_airspeed_index - + 1].get_airspeed_derivative(); + airspeed_validated.throttle_filtered = _airspeed_validator[_valid_airspeed_index - 1].get_throttle_filtered(); + airspeed_validated.pitch_filtered = _airspeed_validator[_valid_airspeed_index - 1].get_pitch_filtered(); + switch (_valid_airspeed_index) { case airspeed_index::DISABLED_INDEX: break; diff --git a/src/modules/airspeed_selector/airspeed_selector_params.c b/src/modules/airspeed_selector/airspeed_selector_params.c index cdbeeb21629e..0462fbbc34f3 100644 --- a/src/modules/airspeed_selector/airspeed_selector_params.c +++ b/src/modules/airspeed_selector/airspeed_selector_params.c @@ -1,6 +1,6 @@ /** - * Airspeed Selector: Wind estimator wind process noise noise spectral density + * Wind estimator wind process noise spectral density * * Wind process noise of the internal wind estimator(s) of the airspeed selector. * When unaided, the wind estimate uncertainty (1-sigma, in m/s) increases by this amount every second. @@ -11,10 +11,10 @@ * @decimal 2 * @group Airspeed Validator */ -PARAM_DEFINE_FLOAT(ASPD_WIND_NSD, 1.e-2f); +PARAM_DEFINE_FLOAT(ASPD_WIND_NSD, 1.e-1f); /** - * Airspeed Selector: Wind estimator true airspeed scale process noise spectral density + * Wind estimator true airspeed scale process noise spectral density * * Airspeed scale process noise of the internal wind estimator(s) of the airspeed selector. * When unaided, the scale uncertainty (1-sigma, unitless) increases by this amount every second. @@ -28,7 +28,7 @@ PARAM_DEFINE_FLOAT(ASPD_WIND_NSD, 1.e-2f); PARAM_DEFINE_FLOAT(ASPD_SCALE_NSD, 1.e-4f); /** - * Airspeed Selector: Wind estimator true airspeed measurement noise + * Wind estimator true airspeed measurement noise * * True airspeed measurement noise of the internal wind estimator(s) of the airspeed selector. * @@ -41,7 +41,7 @@ PARAM_DEFINE_FLOAT(ASPD_SCALE_NSD, 1.e-4f); PARAM_DEFINE_FLOAT(ASPD_TAS_NOISE, 1.4f); /** - * Airspeed Selector: Wind estimator sideslip measurement noise + * Wind estimator sideslip measurement noise * * Sideslip measurement noise of the internal wind estimator(s) of the airspeed selector. * @@ -51,10 +51,10 @@ PARAM_DEFINE_FLOAT(ASPD_TAS_NOISE, 1.4f); * @decimal 3 * @group Airspeed Validator */ -PARAM_DEFINE_FLOAT(ASPD_BETA_NOISE, 0.3f); +PARAM_DEFINE_FLOAT(ASPD_BETA_NOISE, 0.15f); /** - * Airspeed Selector: Gate size for true airspeed fusion + * Gate size for true airspeed fusion * * Sets the number of standard deviations used by the innovation consistency test. * @@ -63,10 +63,10 @@ PARAM_DEFINE_FLOAT(ASPD_BETA_NOISE, 0.3f); * @unit SD * @group Airspeed Validator */ -PARAM_DEFINE_INT32(ASPD_TAS_GATE, 3); +PARAM_DEFINE_INT32(ASPD_TAS_GATE, 4); /** - * Airspeed Selector: Gate size for sideslip angle fusion + * Gate size for sideslip angle fusion * * Sets the number of standard deviations used by the innovation consistency test. * @@ -132,7 +132,6 @@ PARAM_DEFINE_FLOAT(ASPD_SCALE_3, 1.0f); /** * Index or primary airspeed measurement source * - * @value -1 Disabled * @value 0 Groundspeed minus windspeed * @value 1 First airspeed sensor * @value 2 Second airspeed sensor @@ -148,14 +147,14 @@ PARAM_DEFINE_INT32(ASPD_PRIMARY, 1); * Enable checks on airspeed sensors * * Controls which checks are run to check airspeed data for validity. Only applied if ASPD_PRIMARY > 0. - * Note that the data missing check is enabled if any of the options is set. * * @min 0 - * @max 15 + * @max 31 * @bit 0 Only data missing check (triggers if more than 1s no data) * @bit 1 Data stuck (triggers if data is exactly constant for 2s in FW mode) * @bit 2 Innovation check (see ASPD_FS_INNOV) * @bit 3 Load factor check (triggers if measurement is below stall speed) + * @bit 4 First principle check (airspeed change vs. throttle and pitch) * @group Airspeed Validator */ PARAM_DEFINE_INT32(ASPD_DO_CHECKS, 7); @@ -210,10 +209,10 @@ PARAM_DEFINE_FLOAT(ASPD_FS_INTEG, 10.f); * * @unit s * @group Airspeed Validator - * @min 1 - * @max 10 + * @min 0.0 + * @decimal 1 */ -PARAM_DEFINE_INT32(ASPD_FS_T_STOP, 2); +PARAM_DEFINE_FLOAT(ASPD_FS_T_STOP, 1.f); /** * Airspeed failsafe start delay @@ -223,16 +222,16 @@ PARAM_DEFINE_INT32(ASPD_FS_T_STOP, 2); * * @unit s * @group Airspeed Validator - * @min -1 - * @max 1000 + * @min -1.0 + * @decimal 1 */ -PARAM_DEFINE_INT32(ASPD_FS_T_START, -1); +PARAM_DEFINE_FLOAT(ASPD_FS_T_START, -1.f); /** * Horizontal wind uncertainty threshold for synthetic airspeed. * * The synthetic airspeed estimate (from groundspeed and heading) will be declared valid - * as soon and as long the horizontal wind uncertainty drops below this value. + * as soon and as long the horizontal wind uncertainty is below this value. * * @unit m/s * @min 0.001 @@ -241,3 +240,19 @@ PARAM_DEFINE_INT32(ASPD_FS_T_START, -1); * @group Airspeed Validator */ PARAM_DEFINE_FLOAT(ASPD_WERR_THR, 0.55f); + +/** + * First principle airspeed check time window + * + * Window for comparing airspeed change to throttle and pitch change. + * Triggers when the airspeed change within this window is negative while throttle increases + * and the vehicle pitches down. + * Is meant to catch degrading airspeed blockages as can happen when flying through icing conditions. + * Relies on FW_THR_TRIM being set accurately. + * + * @unit s + * @min 0 + * @decimal 1 + * @group Airspeed Validator + */ +PARAM_DEFINE_FLOAT(ASPD_FP_T_WINDOW, 2.0f); diff --git a/src/modules/attitude_estimator_q/CMakeLists.txt b/src/modules/attitude_estimator_q/CMakeLists.txt index df9084fe2036..b72540872127 100644 --- a/src/modules/attitude_estimator_q/CMakeLists.txt +++ b/src/modules/attitude_estimator_q/CMakeLists.txt @@ -41,4 +41,3 @@ px4_add_module( DEPENDS world_magnetic_model ) - diff --git a/src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp b/src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp index 89ff1042791a..f6b645397a3d 100644 --- a/src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp +++ b/src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp @@ -180,6 +180,14 @@ AttitudeEstimatorQ::AttitudeEstimatorQ() : bool AttitudeEstimatorQ::init() { + uORB::SubscriptionData vehicle_attitude_sub{ORB_ID(vehicle_attitude)}; + vehicle_attitude_sub.update(); + + if (vehicle_attitude_sub.advertised() && (hrt_elapsed_time(&vehicle_attitude_sub.get().timestamp) < 1_s)) { + PX4_ERR("init failed, vehicle_attitude already advertised"); + return false; + } + if (!_sensors_sub.registerCallback()) { PX4_ERR("callback registration failed"); return false; @@ -219,7 +227,8 @@ void AttitudeEstimatorQ::update_gps_position() if (_vehicle_gps_position_sub.update(&gps)) { if (_param_att_mag_decl_a.get() && (gps.eph < 20.0f)) { // set magnetic declination automatically - update_mag_declination(get_mag_declination_radians(gps.lat, gps.lon)); + float mag_decl_deg = get_mag_declination_degrees(gps.latitude_deg, gps.longitude_deg); + update_mag_declination(math::radians(mag_decl_deg)); } } } diff --git a/src/modules/attitude_estimator_q/attitude_estimator_q_params.c b/src/modules/attitude_estimator_q/attitude_estimator_q_params.c index 0cea30cda217..b9a3dc752d72 100644 --- a/src/modules/attitude_estimator_q/attitude_estimator_q_params.c +++ b/src/modules/attitude_estimator_q/attitude_estimator_q_params.c @@ -39,6 +39,16 @@ * @author Anton Babushkin */ +/** + * standalone attitude estimator enable (unsupported) + * + * Enable standalone quaternion based attitude estimator. + * + * @group Attitude Q estimator + * @boolean + */ +PARAM_DEFINE_INT32(ATT_EN, 0); + /** * Complimentary filter accelerometer weight * @@ -122,7 +132,7 @@ PARAM_DEFINE_INT32(ATT_EXT_HDG_M, 0); * @group Attitude Q estimator * @boolean */ -PARAM_DEFINE_INT32(ATT_ACC_COMP, 1); +PARAM_DEFINE_INT32(ATT_ACC_COMP, 0); /** * Gyro bias limit diff --git a/src/modules/battery_status/module.yaml b/src/modules/battery_status/module.yaml index 91359c2947b8..85b7bb2eccd1 100644 --- a/src/modules/battery_status/module.yaml +++ b/src/modules/battery_status/module.yaml @@ -60,4 +60,4 @@ parameters: reboot_required: true num_instances: *max_num_config_instances instance_start: 1 - default: [-1, -1] \ No newline at end of file + default: [-1, -1] diff --git a/src/modules/camera_feedback/CameraFeedback.cpp b/src/modules/camera_feedback/CameraFeedback.cpp index 35ac09296dc2..a4c89f59715a 100644 --- a/src/modules/camera_feedback/CameraFeedback.cpp +++ b/src/modules/camera_feedback/CameraFeedback.cpp @@ -194,6 +194,25 @@ CameraFeedback::print_usage(const char *reason) R"DESCR_STR( ### Description +The camera_feedback module publishes `CameraCapture` UORB topics when image capture has been triggered. + +If camera capture is enabled, then trigger information from the camera capture pin is published; +otherwise trigger information at the point the camera was commanded to trigger is published +(from the `camera_trigger` module). + +The `CAMERA_IMAGE_CAPTURED` message is then emitted (by streaming code) following `CameraCapture` updates. +`CameraCapture` topics are also logged and can be used for geotagging. + +### Implementation + +`CameraTrigger` topics are published by the `camera_trigger` module (`feedback` field set `false`) +when image capture is triggered, and may also be published by the `camera_capture` driver +(with `feedback` field set `true`) if the camera capture pin is activated. + +The `camera_feedback` module subscribes to `CameraTrigger`. +It discards topics from the `camera_trigger` module if camera capture is enabled. +For the topics that are not discarded it creates a `CameraCapture` topic with the timestamp information +from the `CameraTrigger` and position information from the vehicle. )DESCR_STR"); diff --git a/src/modules/commander/Arming/ArmStateMachine/ArmStateMachine.cpp b/src/modules/commander/Arming/ArmStateMachine/ArmStateMachine.cpp deleted file mode 100644 index af86b8b4ee0b..000000000000 --- a/src/modules/commander/Arming/ArmStateMachine/ArmStateMachine.cpp +++ /dev/null @@ -1,174 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2022 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -#include "ArmStateMachine.hpp" - -#include - -constexpr bool -ArmStateMachine::arming_transitions[vehicle_status_s::ARMING_STATE_MAX][vehicle_status_s::ARMING_STATE_MAX]; - -transition_result_t ArmStateMachine::arming_state_transition(vehicle_status_s &status, - const arming_state_t new_arming_state, actuator_armed_s &armed, HealthAndArmingChecks &checks, - const bool fRunPreArmChecks, orb_advert_t *mavlink_log_pub, arm_disarm_reason_t calling_reason) -{ - // Double check that our static arrays are still valid - static_assert(vehicle_status_s::ARMING_STATE_INIT == 0, "ARMING_STATE_INIT == 0"); - static_assert(vehicle_status_s::ARMING_STATE_IN_AIR_RESTORE == vehicle_status_s::ARMING_STATE_MAX - 1, - "ARMING_STATE_IN_AIR_RESTORE == ARMING_STATE_MAX - 1"); - - transition_result_t ret = TRANSITION_DENIED; - bool feedback_provided = false; - - /* only check transition if the new state is actually different from the current one */ - if (new_arming_state == _arm_state) { - ret = TRANSITION_NOT_CHANGED; - - } else { - // Check that we have a valid state transition - bool valid_transition = arming_transitions[new_arming_state][_arm_state]; - - // Preflight check - if (valid_transition - && (new_arming_state == vehicle_status_s::ARMING_STATE_ARMED) - && fRunPreArmChecks - && !(status.hil_state == vehicle_status_s::HIL_STATE_ON) - && (_arm_state != vehicle_status_s::ARMING_STATE_IN_AIR_RESTORE)) { - - checks.update(); - - if (!checks.canArm(status.nav_state)) { - feedback_provided = true; // Preflight checks report error messages - valid_transition = false; - } - } - - if (status.hil_state == vehicle_status_s::HIL_STATE_ON) { - /* enforce lockdown in HIL */ - armed.lockdown = true; - - /* recover from a prearm fail */ - if (_arm_state == vehicle_status_s::ARMING_STATE_STANDBY_ERROR) { - _arm_state = vehicle_status_s::ARMING_STATE_STANDBY; - } - - // HIL can always go to standby - if (new_arming_state == vehicle_status_s::ARMING_STATE_STANDBY) { - valid_transition = true; - } - } - - // Finish up the state transition - if (valid_transition) { - ret = TRANSITION_CHANGED; - - // Record arm/disarm reason - if (isArmed() && (new_arming_state != vehicle_status_s::ARMING_STATE_ARMED)) { // disarm transition - status.latest_disarming_reason = (uint8_t)calling_reason; - - } else if (!isArmed() && (new_arming_state == vehicle_status_s::ARMING_STATE_ARMED)) { // arm transition - status.latest_arming_reason = (uint8_t)calling_reason; - } - - // Switch state - _arm_state = new_arming_state; - - if (isArmed()) { - status.armed_time = hrt_absolute_time(); - - } else { - status.armed_time = 0; - } - } - } - - if (ret == TRANSITION_DENIED) { - /* print to MAVLink and console if we didn't provide any feedback yet */ - if (!feedback_provided) { - // FIXME: this catch-all does not provide helpful information to the user - mavlink_log_critical(mavlink_log_pub, "Transition denied: %s to %s\t", - getArmStateName(_arm_state), getArmStateName(new_arming_state)); - events::send( - events::ID("commander_transition_denied"), events::Log::Critical, - "Arming state transition denied: {1} to {2}", - getArmStateEvent(_arm_state), getArmStateEvent(new_arming_state)); - } - } - - return ret; -} - -const char *ArmStateMachine::getArmStateName(uint8_t arming_state) -{ - switch (arming_state) { - - case vehicle_status_s::ARMING_STATE_INIT: return "Init"; - - case vehicle_status_s::ARMING_STATE_STANDBY: return "Standby"; - - case vehicle_status_s::ARMING_STATE_ARMED: return "Armed"; - - case vehicle_status_s::ARMING_STATE_STANDBY_ERROR: return "Standby error"; - - case vehicle_status_s::ARMING_STATE_SHUTDOWN: return "Shutdown"; - - case vehicle_status_s::ARMING_STATE_IN_AIR_RESTORE: return "In-air restore"; - - default: return "Unknown"; - } - - static_assert(vehicle_status_s::ARMING_STATE_MAX - 1 == vehicle_status_s::ARMING_STATE_IN_AIR_RESTORE, - "enum def mismatch"); -} - -events::px4::enums::arming_state_t ArmStateMachine::getArmStateEvent(uint8_t arming_state) -{ - switch (arming_state) { - case vehicle_status_s::ARMING_STATE_INIT: return events::px4::enums::arming_state_t::init; - - case vehicle_status_s::ARMING_STATE_STANDBY: return events::px4::enums::arming_state_t::standby; - - case vehicle_status_s::ARMING_STATE_ARMED: return events::px4::enums::arming_state_t::armed; - - case vehicle_status_s::ARMING_STATE_STANDBY_ERROR: return events::px4::enums::arming_state_t::standby_error; - - case vehicle_status_s::ARMING_STATE_SHUTDOWN: return events::px4::enums::arming_state_t::shutdown; - - case vehicle_status_s::ARMING_STATE_IN_AIR_RESTORE: return events::px4::enums::arming_state_t::inair_restore; - } - - static_assert(vehicle_status_s::ARMING_STATE_MAX - 1 == (int)events::px4::enums::arming_state_t::inair_restore, - "enum def mismatch"); - - return events::px4::enums::arming_state_t::init; -} diff --git a/src/modules/commander/Arming/ArmStateMachine/ArmStateMachine.hpp b/src/modules/commander/Arming/ArmStateMachine/ArmStateMachine.hpp deleted file mode 100644 index e52c634b18cc..000000000000 --- a/src/modules/commander/Arming/ArmStateMachine/ArmStateMachine.hpp +++ /dev/null @@ -1,95 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2022 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -#pragma once - -#include "../../HealthAndArmingChecks/HealthAndArmingChecks.hpp" -#include -#include -#include -#include -#include - -typedef enum { - TRANSITION_DENIED = -1, - TRANSITION_NOT_CHANGED = 0, - TRANSITION_CHANGED -} transition_result_t; - -using arm_disarm_reason_t = events::px4::enums::arm_disarm_reason_t; - -class ArmStateMachine -{ -public: - ArmStateMachine() = default; - ~ArmStateMachine() = default; - - void forceArmState(uint8_t new_arm_state) { _arm_state = new_arm_state; } - - transition_result_t - arming_state_transition(vehicle_status_s &status, const arming_state_t new_arming_state, - actuator_armed_s &armed, HealthAndArmingChecks &checks, const bool fRunPreArmChecks, - orb_advert_t *mavlink_log_pub, arm_disarm_reason_t calling_reason); - - // Getters - uint8_t getArmState() const { return _arm_state; } - - bool isInit() const { return (_arm_state == vehicle_status_s::ARMING_STATE_INIT); } - bool isStandby() const { return (_arm_state == vehicle_status_s::ARMING_STATE_STANDBY); } - bool isArmed() const { return (_arm_state == vehicle_status_s::ARMING_STATE_ARMED); } - bool isShutdown() const { return (_arm_state == vehicle_status_s::ARMING_STATE_SHUTDOWN); } - - static const char *getArmStateName(uint8_t arming_state); - const char *getArmStateName() const { return getArmStateName(_arm_state); } - -private: - static inline events::px4::enums::arming_state_t getArmStateEvent(uint8_t arming_state); - - uint8_t _arm_state{vehicle_status_s::ARMING_STATE_INIT}; - - // This array defines the arming state transitions. The rows are the new state, and the columns - // are the current state. Using new state and current state you can index into the array which - // will be true for a valid transition or false for a invalid transition. In some cases even - // though the transition is marked as true additional checks must be made. See arming_state_transition - // code for those checks. - static constexpr bool arming_transitions[vehicle_status_s::ARMING_STATE_MAX][vehicle_status_s::ARMING_STATE_MAX] - = { - // INIT, STANDBY, ARMED, STANDBY_ERROR, SHUTDOWN, IN_AIR_RESTORE - { /* vehicle_status_s::ARMING_STATE_INIT */ true, true, false, true, false, false }, - { /* vehicle_status_s::ARMING_STATE_STANDBY */ true, true, true, false, false, false }, - { /* vehicle_status_s::ARMING_STATE_ARMED */ false, true, true, false, false, true }, - { /* vehicle_status_s::ARMING_STATE_STANDBY_ERROR */ true, true, true, true, false, false }, - { /* vehicle_status_s::ARMING_STATE_SHUTDOWN */ true, true, false, true, true, true }, - { /* vehicle_status_s::ARMING_STATE_IN_AIR_RESTORE */ false, false, false, false, false, false }, // NYI - }; -}; diff --git a/src/modules/commander/Arming/ArmStateMachine/ArmStateMachineTest.cpp b/src/modules/commander/Arming/ArmStateMachine/ArmStateMachineTest.cpp deleted file mode 100644 index f141f2ddcf53..000000000000 --- a/src/modules/commander/Arming/ArmStateMachine/ArmStateMachineTest.cpp +++ /dev/null @@ -1,273 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2022 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -#include -#include "ArmStateMachine.hpp" - -TEST(ArmStateMachineTest, ArmingStateTransitionTest) -{ - ArmStateMachine arm_state_machine; - - // These are the critical values from vehicle_status_s and actuator_armed_s which must be primed - // to simulate machine state prior to testing an arming state transition. This structure is also - // use to represent the expected machine state after the transition has been requested. - typedef struct { - arming_state_t arming_state; // vehicle_status_s.arming_state - bool armed; // actuator_armed_s.armed - } ArmingTransitionVolatileState_t; - - // This structure represents a test case for arming_state_transition. It contains the machine - // state prior to transition, the requested state to transition to and finally the expected - // machine state after transition. - typedef struct { - const char *assertMsg; // Text to show when test case fails - ArmingTransitionVolatileState_t current_state; // Machine state prior to transition - hil_state_t hil_state; // Current vehicle_status_s.hil_state - bool safety_button_available; // Current safety_s.safety_button_available - bool safety_off; // Current safety_s.safety_off - arming_state_t requested_state; // Requested arming state to transition to - ArmingTransitionVolatileState_t expected_state; // Expected machine state after transition - transition_result_t expected_transition_result; // Expected result from arming_state_transition - } ArmingTransitionTest_t; - - // We use these defines so that our test cases are more readable - static constexpr bool ATT_ARMED = true; - static constexpr bool ATT_DISARMED = false; - static constexpr bool ATT_SAFETY_AVAILABLE = true; - static constexpr bool ATT_SAFETY_NOT_AVAILABLE = true; - static constexpr bool ATT_SAFETY_OFF = true; - static constexpr bool ATT_SAFETY_ON = false; - - // These are test cases for arming_state_transition - static const ArmingTransitionTest_t rgArmingTransitionTests[] = { - // TRANSITION_NOT_CHANGED tests - - { - "no transition: identical states", - { vehicle_status_s::ARMING_STATE_INIT, ATT_DISARMED}, vehicle_status_s::HIL_STATE_OFF, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON, - vehicle_status_s::ARMING_STATE_INIT, - { vehicle_status_s::ARMING_STATE_INIT, ATT_DISARMED}, TRANSITION_NOT_CHANGED - }, - - // TRANSITION_CHANGED tests - - // Check all basic valid transitions, these don't require special state in vehicle_status_t or safety_s - - { - "transition: init to standby", - { vehicle_status_s::ARMING_STATE_INIT, ATT_DISARMED}, vehicle_status_s::HIL_STATE_OFF, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON, - vehicle_status_s::ARMING_STATE_STANDBY, - { vehicle_status_s::ARMING_STATE_STANDBY, ATT_DISARMED}, TRANSITION_CHANGED - }, - - { - "transition: init to standby error", - { vehicle_status_s::ARMING_STATE_INIT, ATT_DISARMED}, vehicle_status_s::HIL_STATE_OFF, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON, - vehicle_status_s::ARMING_STATE_STANDBY_ERROR, - { vehicle_status_s::ARMING_STATE_STANDBY_ERROR, ATT_DISARMED}, TRANSITION_CHANGED - }, - - { - "transition: init to reboot", - { vehicle_status_s::ARMING_STATE_INIT, ATT_DISARMED}, vehicle_status_s::HIL_STATE_OFF, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON, - vehicle_status_s::ARMING_STATE_SHUTDOWN, - { vehicle_status_s::ARMING_STATE_SHUTDOWN, ATT_DISARMED}, TRANSITION_CHANGED - }, - - { - "transition: standby to init", - { vehicle_status_s::ARMING_STATE_STANDBY, ATT_DISARMED}, vehicle_status_s::HIL_STATE_OFF, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON, - vehicle_status_s::ARMING_STATE_INIT, - { vehicle_status_s::ARMING_STATE_INIT, ATT_DISARMED}, TRANSITION_CHANGED - }, - - { - "transition: standby to standby error", - { vehicle_status_s::ARMING_STATE_STANDBY, ATT_DISARMED}, vehicle_status_s::HIL_STATE_OFF, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON, - vehicle_status_s::ARMING_STATE_STANDBY_ERROR, - { vehicle_status_s::ARMING_STATE_STANDBY_ERROR, ATT_DISARMED}, TRANSITION_CHANGED - }, - - { - "transition: standby to reboot", - { vehicle_status_s::ARMING_STATE_STANDBY, ATT_DISARMED}, vehicle_status_s::HIL_STATE_OFF, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON, - vehicle_status_s::ARMING_STATE_SHUTDOWN, - { vehicle_status_s::ARMING_STATE_SHUTDOWN, ATT_DISARMED}, TRANSITION_CHANGED - }, - - { - "transition: armed to standby", - { vehicle_status_s::ARMING_STATE_ARMED, ATT_ARMED}, vehicle_status_s::HIL_STATE_OFF, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON, - vehicle_status_s::ARMING_STATE_STANDBY, - { vehicle_status_s::ARMING_STATE_STANDBY, ATT_DISARMED}, TRANSITION_CHANGED - }, - - { - "transition: standby error to reboot", - { vehicle_status_s::ARMING_STATE_STANDBY_ERROR, ATT_DISARMED}, vehicle_status_s::HIL_STATE_OFF, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON, - vehicle_status_s::ARMING_STATE_SHUTDOWN, - { vehicle_status_s::ARMING_STATE_SHUTDOWN, ATT_DISARMED}, TRANSITION_CHANGED - }, - - { - "transition: in air restore to armed", - { vehicle_status_s::ARMING_STATE_IN_AIR_RESTORE, ATT_DISARMED}, vehicle_status_s::HIL_STATE_OFF, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON, - vehicle_status_s::ARMING_STATE_ARMED, - { vehicle_status_s::ARMING_STATE_ARMED, ATT_ARMED}, TRANSITION_CHANGED - }, - - { - "transition: in air restore to reboot", - { vehicle_status_s::ARMING_STATE_IN_AIR_RESTORE, ATT_DISARMED}, vehicle_status_s::HIL_STATE_OFF, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON, - vehicle_status_s::ARMING_STATE_SHUTDOWN, - { vehicle_status_s::ARMING_STATE_SHUTDOWN, ATT_DISARMED}, TRANSITION_CHANGED - }, - - // hil on tests, standby error to standby not normally allowed - - { - "transition: standby error to standby, hil on", - { vehicle_status_s::ARMING_STATE_STANDBY_ERROR, ATT_DISARMED}, vehicle_status_s::HIL_STATE_ON, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON, - vehicle_status_s::ARMING_STATE_STANDBY, - { vehicle_status_s::ARMING_STATE_STANDBY, ATT_DISARMED}, TRANSITION_CHANGED - }, - - // Safety button arming tests - - { - "transition: standby to armed, no safety button", - { vehicle_status_s::ARMING_STATE_STANDBY, ATT_DISARMED}, vehicle_status_s::HIL_STATE_ON, ATT_SAFETY_NOT_AVAILABLE, ATT_SAFETY_OFF, - vehicle_status_s::ARMING_STATE_ARMED, - { vehicle_status_s::ARMING_STATE_ARMED, ATT_ARMED}, TRANSITION_CHANGED - }, - - { - "transition: standby to armed, safety button off", - { vehicle_status_s::ARMING_STATE_STANDBY, ATT_DISARMED}, vehicle_status_s::HIL_STATE_ON, ATT_SAFETY_AVAILABLE, ATT_SAFETY_OFF, - vehicle_status_s::ARMING_STATE_ARMED, - { vehicle_status_s::ARMING_STATE_ARMED, ATT_ARMED}, TRANSITION_CHANGED - }, - - // TRANSITION_DENIED tests - - // Check some important basic invalid transitions, these don't require special state in vehicle_status_t or safety_s - - { - "no transition: init to armed", - { vehicle_status_s::ARMING_STATE_INIT, ATT_DISARMED}, vehicle_status_s::HIL_STATE_OFF, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON, - vehicle_status_s::ARMING_STATE_ARMED, - { vehicle_status_s::ARMING_STATE_INIT, ATT_DISARMED}, TRANSITION_DENIED - }, - - { - "no transition: armed to init", - { vehicle_status_s::ARMING_STATE_ARMED, ATT_ARMED}, vehicle_status_s::HIL_STATE_OFF, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON, - vehicle_status_s::ARMING_STATE_INIT, - { vehicle_status_s::ARMING_STATE_ARMED, ATT_ARMED}, TRANSITION_DENIED - }, - - { - "no transition: armed to reboot", - { vehicle_status_s::ARMING_STATE_ARMED, ATT_ARMED}, vehicle_status_s::HIL_STATE_OFF, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON, - vehicle_status_s::ARMING_STATE_SHUTDOWN, - { vehicle_status_s::ARMING_STATE_ARMED, ATT_ARMED}, TRANSITION_DENIED - }, - - { - "no transition: standby error to armed", - { vehicle_status_s::ARMING_STATE_STANDBY_ERROR, ATT_DISARMED}, vehicle_status_s::HIL_STATE_OFF, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON, - vehicle_status_s::ARMING_STATE_ARMED, - { vehicle_status_s::ARMING_STATE_STANDBY_ERROR, ATT_DISARMED}, TRANSITION_DENIED - }, - - { - "no transition: standby error to standby", - { vehicle_status_s::ARMING_STATE_STANDBY_ERROR, ATT_DISARMED}, vehicle_status_s::HIL_STATE_OFF, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON, - vehicle_status_s::ARMING_STATE_STANDBY, - { vehicle_status_s::ARMING_STATE_STANDBY_ERROR, ATT_DISARMED}, TRANSITION_DENIED - }, - - { - "no transition: reboot to armed", - { vehicle_status_s::ARMING_STATE_SHUTDOWN, ATT_DISARMED}, vehicle_status_s::HIL_STATE_OFF, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON, - vehicle_status_s::ARMING_STATE_ARMED, - { vehicle_status_s::ARMING_STATE_SHUTDOWN, ATT_DISARMED}, TRANSITION_DENIED - }, - - { - "no transition: in air restore to standby", - { vehicle_status_s::ARMING_STATE_IN_AIR_RESTORE, ATT_DISARMED}, vehicle_status_s::HIL_STATE_OFF, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON, - vehicle_status_s::ARMING_STATE_STANDBY, - { vehicle_status_s::ARMING_STATE_IN_AIR_RESTORE, ATT_DISARMED}, TRANSITION_DENIED - }, - - // Safety button arming tests - - { - "no transition: init to armed, safety button on", - { vehicle_status_s::ARMING_STATE_STANDBY, ATT_DISARMED}, vehicle_status_s::HIL_STATE_OFF, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON, - vehicle_status_s::ARMING_STATE_ARMED, - { vehicle_status_s::ARMING_STATE_STANDBY, ATT_DISARMED}, TRANSITION_DENIED - }, - }; - - struct vehicle_status_s status {}; - struct actuator_armed_s armed {}; - - size_t cArmingTransitionTests = sizeof(rgArmingTransitionTests) / sizeof(rgArmingTransitionTests[0]); - - for (size_t i = 0; i < cArmingTransitionTests; i++) { - const ArmingTransitionTest_t *test = &rgArmingTransitionTests[i]; - - // Setup initial machine state - arm_state_machine.forceArmState(test->current_state.arming_state); - status.hil_state = test->hil_state; - - HealthAndArmingChecks health_and_arming_checks(nullptr, status); - - // Attempt transition - transition_result_t result = arm_state_machine.arming_state_transition( - status, - test->requested_state, - armed, - health_and_arming_checks, - true /* enable pre-arm checks */, - nullptr /* no mavlink_log_pub */, - arm_disarm_reason_t::unit_test); - - // Validate result of transition - EXPECT_EQ(result, test->expected_transition_result) << test->assertMsg; - EXPECT_EQ(arm_state_machine.getArmState(), test->expected_state.arming_state) << test->assertMsg; - EXPECT_EQ(arm_state_machine.isArmed(), test->expected_state.armed) << test->assertMsg; - } -} diff --git a/src/modules/commander/Arming/ArmStateMachine/CMakeLists.txt b/src/modules/commander/Arming/ArmStateMachine/CMakeLists.txt deleted file mode 100644 index e9f9c542323f..000000000000 --- a/src/modules/commander/Arming/ArmStateMachine/CMakeLists.txt +++ /dev/null @@ -1,44 +0,0 @@ -############################################################################ -# -# Copyright (c) 2022 PX4 Development Team. All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# 1. Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# 2. Redistributions in binary form must reproduce the above copyright -# notice, this list of conditions and the following disclaimer in -# the documentation and/or other materials provided with the -# distribution. -# 3. Neither the name PX4 nor the names of its contributors may be -# used to endorse or promote products derived from this software -# without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS -# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED -# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. -# -############################################################################ - - -px4_add_library(ArmStateMachine - ArmStateMachine.cpp -) -target_include_directories(ArmStateMachine PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}) -target_link_libraries(ArmStateMachine PUBLIC health_and_arming_checks) - -px4_add_functional_gtest(SRC ArmStateMachineTest.cpp - LINKLIBS ArmStateMachine health_and_arming_checks hysteresis sensor_calibration ArmAuthorization mode_util - ) - diff --git a/src/modules/commander/Arming/CMakeLists.txt b/src/modules/commander/Arming/CMakeLists.txt index 37aa7473d93c..067278f60aa2 100644 --- a/src/modules/commander/Arming/CMakeLists.txt +++ b/src/modules/commander/Arming/CMakeLists.txt @@ -32,4 +32,3 @@ ############################################################################ add_subdirectory(ArmAuthorization) -add_subdirectory(ArmStateMachine) diff --git a/src/modules/commander/CMakeLists.txt b/src/modules/commander/CMakeLists.txt index fdc5e949b1bf..5dc2a11a7c16 100644 --- a/src/modules/commander/CMakeLists.txt +++ b/src/modules/commander/CMakeLists.txt @@ -1,6 +1,6 @@ ############################################################################ # -# Copyright (c) 2015 PX4 Development Team. All rights reserved. +# Copyright (c) 2015-2023 PX4 Development Team. All rights reserved. # # Redistribution and use in source and binary forms, with or without # modification, are permitted provided that the following conditions @@ -31,11 +31,12 @@ # ############################################################################ +add_subdirectory(Arming) +add_subdirectory(failsafe) add_subdirectory(failure_detector) add_subdirectory(HealthAndArmingChecks) -add_subdirectory(failsafe) -add_subdirectory(Arming) add_subdirectory(ModeUtil) +add_subdirectory(MulticopterThrowLaunch) px4_add_module( MODULE modules__commander @@ -52,25 +53,30 @@ px4_add_module( factory_calibration_storage.cpp gyro_calibration.cpp HomePosition.cpp - UserModeIntention.cpp + ModeManagement.cpp level_calibration.cpp lm_fit.cpp mag_calibration.cpp rc_calibration.cpp Safety.cpp + UserModeIntention.cpp worker_thread.cpp + MODULE_CONFIG + module.yaml DEPENDS + ArmAuthorization circuit_breaker + failsafe failure_detector geo health_and_arming_checks hysteresis - ArmAuthorization - ArmStateMachine + mode_util + MulticopterThrowLaunch sensor_calibration world_magnetic_model - mode_util - failsafe + atmosphere ) px4_add_unit_gtest(SRC mag_calibration_test.cpp LINKLIBS modules__commander) +px4_add_functional_gtest(SRC ModeManagementTest.cpp LINKLIBS modules__commander) diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp index 4c317f6bdac5..fe0b89e8b2f4 100644 --- a/src/modules/commander/Commander.cpp +++ b/src/modules/commander/Commander.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2013-2022 PX4 Development Team. All rights reserved. + * Copyright (c) 2013-2023 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -48,6 +48,8 @@ #include "px4_custom_mode.h" #include "ModeUtil/control_mode.hpp" #include "ModeUtil/conversions.hpp" +#include +#include /* PX4 headers */ #include @@ -374,6 +376,10 @@ int Commander::custom_command(int argc, char *argv[]) } else if (!strcmp(argv[1], "posctl")) { send_vehicle_command(vehicle_command_s::VEHICLE_CMD_DO_SET_MODE, 1, PX4_CUSTOM_MAIN_MODE_POSCTL); + } else if (!strcmp(argv[1], "position:slow")) { + send_vehicle_command(vehicle_command_s::VEHICLE_CMD_DO_SET_MODE, 1, PX4_CUSTOM_MAIN_MODE_POSCTL, + PX4_CUSTOM_SUB_MODE_POSCTL_SLOW); + } else if (!strcmp(argv[1], "auto:mission")) { send_vehicle_command(vehicle_command_s::VEHICLE_CMD_DO_SET_MODE, 1, PX4_CUSTOM_MAIN_MODE_AUTO, PX4_CUSTOM_SUB_MODE_AUTO_MISSION); @@ -407,6 +413,10 @@ int Commander::custom_command(int argc, char *argv[]) send_vehicle_command(vehicle_command_s::VEHICLE_CMD_DO_SET_MODE, 1, PX4_CUSTOM_MAIN_MODE_AUTO, PX4_CUSTOM_SUB_MODE_AUTO_PRECLAND); + } else if (!strcmp(argv[1], "ext1")) { + send_vehicle_command(vehicle_command_s::VEHICLE_CMD_DO_SET_MODE, 1, PX4_CUSTOM_MAIN_MODE_AUTO, + PX4_CUSTOM_SUB_MODE_EXTERNAL1); + } else { PX4_ERR("argument %s unsupported.", argv[1]); } @@ -473,10 +483,11 @@ int Commander::custom_command(int argc, char *argv[]) int Commander::print_status() { - PX4_INFO("Arm state: %s", _arm_state_machine.getArmStateName()); + PX4_INFO("%s", isArmed() ? "Armed" : "Disarmed"); PX4_INFO("navigation mode: %s", mode_util::nav_state_names[_vehicle_status.nav_state]); - PX4_INFO("user intended navigation mode: %s", mode_util::nav_state_names[_user_mode_intention.get()]); + PX4_INFO("user intended navigation mode: %s", mode_util::nav_state_names[_vehicle_status.nav_state_user_intention]); PX4_INFO("in failsafe: %s", _failsafe.inFailsafe() ? "yes" : "no"); + _mode_management.printStatus(); perf_print_counter(_loop_perf); perf_print_counter(_preflight_check_perf); return 0; @@ -487,13 +498,6 @@ extern "C" __EXPORT int commander_main(int argc, char *argv[]) return Commander::main(argc, argv); } -bool Commander::shutdownIfAllowed() -{ - return TRANSITION_DENIED != _arm_state_machine.arming_state_transition(_vehicle_status, - vehicle_status_s::ARMING_STATE_SHUTDOWN, _actuator_armed, _health_and_arming_checks, - false /* fRunPreArmChecks */, &_mavlink_log_pub, arm_disarm_reason_t::shutdown); -} - static constexpr const char *arm_disarm_reason_str(arm_disarm_reason_t calling_reason) { switch (calling_reason) { @@ -533,20 +537,37 @@ static constexpr const char *arm_disarm_reason_str(arm_disarm_reason_t calling_r transition_result_t Commander::arm(arm_disarm_reason_t calling_reason, bool run_preflight_checks) { - // allow a grace period for re-arming: preflight checks don't need to pass during that time, for example for accidential in-air disarming + if (isArmed()) { + return TRANSITION_NOT_CHANGED; + } + + if (_vehicle_status.calibration_enabled + || _vehicle_status.rc_calibration_in_progress + || _actuator_armed.in_esc_calibration_mode) { + + mavlink_log_critical(&_mavlink_log_pub, "Arming denied: calibrating\t"); + events::send(events::ID("commander_arm_denied_calibrating"), {events::Log::Critical, events::LogInternal::Info}, + "Arming denied: calibrating"); + tune_negative(true); + return TRANSITION_DENIED; + } + + // allow a grace period for re-arming: preflight checks don't need to pass during that time, for example for accidental in-air disarming if (calling_reason == arm_disarm_reason_t::rc_switch - && (hrt_elapsed_time(&_last_disarmed_timestamp) < 5_s)) { + && ((_last_disarmed_timestamp != 0) && (hrt_elapsed_time(&_last_disarmed_timestamp) < 5_s))) { + run_preflight_checks = false; } - if (run_preflight_checks && !_arm_state_machine.isArmed()) { + if (run_preflight_checks) { if (_vehicle_control_mode.flag_control_manual_enabled) { + if (_vehicle_control_mode.flag_control_climb_rate_enabled && !_failsafe_flags.manual_control_signal_lost && _is_throttle_above_center) { + mavlink_log_critical(&_mavlink_log_pub, "Arming denied: throttle above center\t"); - events::send(events::ID("commander_arm_denied_throttle_center"), - {events::Log::Critical, events::LogInternal::Info}, - "Arming denied: throttle above center"); + events::send(events::ID("commander_arm_denied_throttle_center"), {events::Log::Critical, events::LogInternal::Info}, + "Arming denied: throttle above center"); tune_negative(true); return TRANSITION_DENIED; } @@ -554,10 +575,10 @@ transition_result_t Commander::arm(arm_disarm_reason_t calling_reason, bool run_ if (!_vehicle_control_mode.flag_control_climb_rate_enabled && !_failsafe_flags.manual_control_signal_lost && !_is_throttle_low && _vehicle_status.vehicle_type != vehicle_status_s::VEHICLE_TYPE_ROVER) { + mavlink_log_critical(&_mavlink_log_pub, "Arming denied: high throttle\t"); - events::send(events::ID("commander_arm_denied_throttle_high"), - {events::Log::Critical, events::LogInternal::Info}, - "Arming denied: high throttle"); + events::send(events::ID("commander_arm_denied_throttle_high"), {events::Log::Critical, events::LogInternal::Info}, + "Arming denied: high throttle"); tune_negative(true); return TRANSITION_DENIED; } @@ -565,35 +586,48 @@ transition_result_t Commander::arm(arm_disarm_reason_t calling_reason, bool run_ } else if (calling_reason == arm_disarm_reason_t::rc_stick || calling_reason == arm_disarm_reason_t::rc_switch || calling_reason == arm_disarm_reason_t::rc_button) { + mavlink_log_critical(&_mavlink_log_pub, "Arming denied: switch to manual mode first\t"); - events::send(events::ID("commander_arm_denied_not_manual"), - {events::Log::Critical, events::LogInternal::Info}, - "Arming denied: switch to manual mode first"); + events::send(events::ID("commander_arm_denied_not_manual"), {events::Log::Critical, events::LogInternal::Info}, + "Arming denied: switch to manual mode first"); tune_negative(true); return TRANSITION_DENIED; } - } - transition_result_t arming_res = _arm_state_machine.arming_state_transition(_vehicle_status, - vehicle_status_s::ARMING_STATE_ARMED, _actuator_armed, _health_and_arming_checks, run_preflight_checks, - &_mavlink_log_pub, calling_reason); + _health_and_arming_checks.update(); - if (arming_res == TRANSITION_CHANGED) { - mavlink_log_info(&_mavlink_log_pub, "Armed by %s\t", arm_disarm_reason_str(calling_reason)); - events::send(events::ID("commander_armed_by"), events::Log::Info, - "Armed by {1}", calling_reason); + if (!_health_and_arming_checks.canArm(_vehicle_status.nav_state)) { + tune_negative(true); + mavlink_log_critical(&_mavlink_log_pub, "Arming denied: Resolve system health failures first\t"); + events::send(events::ID("commander_arm_denied_resolve_failures"), {events::Log::Critical, events::LogInternal::Info}, + "Arming denied: Resolve system health failures first"); + return TRANSITION_DENIED; + } + } - _status_changed = true; + _vehicle_status.armed_time = hrt_absolute_time(); + _vehicle_status.arming_state = vehicle_status_s::ARMING_STATE_ARMED; + _vehicle_status.latest_arming_reason = (uint8_t)calling_reason; - } else if (arming_res == TRANSITION_DENIED) { - tune_negative(true); + mavlink_log_info(&_mavlink_log_pub, "Armed by %s\t", arm_disarm_reason_str(calling_reason)); + events::send(events::ID("commander_armed_by"), events::Log::Info, + "Armed by {1}", calling_reason); + + if (_param_com_home_en.get()) { + _home_position.setHomePosition(); } - return arming_res; + _status_changed = true; + + return TRANSITION_CHANGED; } transition_result_t Commander::disarm(arm_disarm_reason_t calling_reason, bool forced) { + if (!isArmed()) { + return TRANSITION_NOT_CHANGED; + } + if (!forced) { const bool landed = (_vehicle_land_detected.landed || _vehicle_land_detected.maybe_landed || is_ground_vehicle(_vehicle_status)); @@ -604,38 +638,45 @@ transition_result_t Commander::disarm(arm_disarm_reason_t calling_reason, bool f || (calling_reason == arm_disarm_reason_t::rc_switch) || (calling_reason == arm_disarm_reason_t::rc_button); - if (!landed && !(mc_manual_thrust_mode && commanded_by_rc)) { + if (!landed && !(mc_manual_thrust_mode && commanded_by_rc && _param_com_disarm_man.get())) { if (calling_reason != arm_disarm_reason_t::rc_stick) { - mavlink_log_critical(&_mavlink_log_pub, "Disarming denied! Not landed\t"); - events::send(events::ID("commander_disarming_denied_not_landed"), + mavlink_log_critical(&_mavlink_log_pub, "Disarming denied: not landed\t"); + events::send(events::ID("commander_disarm_denied_not_landed"), {events::Log::Critical, events::LogInternal::Info}, - "Disarming denied, not landed"); + "Disarming denied: not landed"); } return TRANSITION_DENIED; } } - transition_result_t arming_res = _arm_state_machine.arming_state_transition(_vehicle_status, - vehicle_status_s::ARMING_STATE_STANDBY, _actuator_armed, _health_and_arming_checks, false, - &_mavlink_log_pub, calling_reason); + _vehicle_status.armed_time = 0; + _vehicle_status.arming_state = vehicle_status_s::ARMING_STATE_DISARMED; + _vehicle_status.latest_disarming_reason = (uint8_t)calling_reason; + _vehicle_status.takeoff_time = 0; - if (arming_res == TRANSITION_CHANGED) { - mavlink_log_info(&_mavlink_log_pub, "Disarmed by %s\t", arm_disarm_reason_str(calling_reason)); - events::send(events::ID("commander_disarmed_by"), events::Log::Info, - "Disarmed by {1}", calling_reason); + _have_taken_off_since_arming = false; - if (_param_com_force_safety.get()) { - _safety.activateSafety(); - } + _last_disarmed_timestamp = hrt_absolute_time(); - _status_changed = true; + _user_mode_intention.onDisarm(); - } else if (arming_res == TRANSITION_DENIED) { - tune_negative(true); + mavlink_log_info(&_mavlink_log_pub, "Disarmed by %s\t", arm_disarm_reason_str(calling_reason)); + events::send(events::ID("commander_disarmed_by"), events::Log::Info, + "Disarmed by {1}", calling_reason); + + if (_param_com_force_safety.get()) { + _safety.activateSafety(); } - return arming_res; + // update flight uuid + const int32_t flight_uuid = _param_com_flight_uuid.get() + 1; + _param_com_flight_uuid.set(flight_uuid); + _param_com_flight_uuid.commit_no_notification(); + + _status_changed = true; + + return TRANSITION_CHANGED; } Commander::Commander() : @@ -643,29 +684,37 @@ Commander::Commander() : { _vehicle_land_detected.landed = true; + _vehicle_status.arming_state = vehicle_status_s::ARMING_STATE_DISARMED; _vehicle_status.system_id = 1; _vehicle_status.component_id = 1; - _vehicle_status.system_type = 0; _vehicle_status.vehicle_type = vehicle_status_s::VEHICLE_TYPE_UNKNOWN; - _vehicle_status.nav_state = _user_mode_intention.get(); _vehicle_status.nav_state_user_intention = _user_mode_intention.get(); _vehicle_status.nav_state_timestamp = hrt_absolute_time(); - - /* mark all signals lost as long as they haven't been found */ _vehicle_status.gcs_connection_lost = true; - _vehicle_status.power_input_valid = true; // default for vtol is rotary wing _vtol_vehicle_status.vehicle_vtol_state = vtol_vehicle_status_s::VEHICLE_VTOL_STATE_MC; - _param_mav_comp_id = param_find("MAV_COMP_ID"); - _param_mav_sys_id = param_find("MAV_SYS_ID"); + param_t param_mav_comp_id = param_find("MAV_COMP_ID"); + param_t param_mav_sys_id = param_find("MAV_SYS_ID"); _param_mav_type = param_find("MAV_TYPE"); _param_rc_map_fltmode = param_find("RC_MAP_FLTMODE"); + int32_t value_int32 = 0; + + // MAV_SYS_ID => vehicle_status.system_id + if ((param_mav_sys_id != PARAM_INVALID) && (param_get(param_mav_sys_id, &value_int32) == PX4_OK)) { + _vehicle_status.system_id = value_int32; + } + + // MAV_COMP_ID => vehicle_status.component_id + if ((param_mav_comp_id != PARAM_INVALID) && (param_get(param_mav_comp_id, &value_int32) == PX4_OK)) { + _vehicle_status.component_id = value_int32; + } + updateParameters(); } @@ -696,18 +745,21 @@ Commander::handle_command(const vehicle_command_s &cmd) // to not require navigator and command to receive / process // the data at the exact same time. - // Check if a mode switch had been requested - if ((((uint32_t)cmd.param2) & 1) > 0) { - if (_user_mode_intention.change(vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER)) { + const uint32_t change_mode_flags = uint32_t(cmd.param2); + const bool mode_switch_not_requested = (change_mode_flags & 1) == 0; + const bool unsupported_bits_set = (change_mode_flags & ~1) != 0; + + if (mode_switch_not_requested || unsupported_bits_set) { + answer_command(cmd, vehicle_command_ack_s::VEHICLE_CMD_RESULT_UNSUPPORTED); + + } else { + if (_user_mode_intention.change(vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER, getSourceFromCommand(cmd))) { cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED; } else { printRejectMode(vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER); cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED; } - - } else { - cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED; } } break; @@ -747,7 +799,16 @@ Commander::handle_command(const vehicle_command_s &cmd) desired_nav_state = vehicle_status_s::NAVIGATION_STATE_ALTCTL; } else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_POSCTL) { - desired_nav_state = vehicle_status_s::NAVIGATION_STATE_POSCTL; + switch (custom_sub_mode) { + default: + case PX4_CUSTOM_SUB_MODE_POSCTL_POSCTL: + desired_nav_state = vehicle_status_s::NAVIGATION_STATE_POSCTL; + break; + + case PX4_CUSTOM_SUB_MODE_POSCTL_SLOW: + desired_nav_state = vehicle_status_s::NAVIGATION_STATE_POSITION_SLOW; + break; + } } else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_AUTO) { if (custom_sub_mode > 0) { @@ -781,6 +842,10 @@ Commander::handle_command(const vehicle_command_s &cmd) desired_nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_PRECLAND; break; + case PX4_CUSTOM_SUB_MODE_EXTERNAL1...PX4_CUSTOM_SUB_MODE_EXTERNAL8: + desired_nav_state = vehicle_status_s::NAVIGATION_STATE_EXTERNAL1 + (custom_sub_mode - PX4_CUSTOM_SUB_MODE_EXTERNAL1); + break; + default: main_ret = TRANSITION_DENIED; mavlink_log_critical(&_mavlink_log_pub, "Unsupported auto mode\t"); @@ -822,7 +887,7 @@ Commander::handle_command(const vehicle_command_s &cmd) } if (desired_nav_state != vehicle_status_s::NAVIGATION_STATE_MAX) { - if (_user_mode_intention.change(desired_nav_state)) { + if (_user_mode_intention.change(desired_nav_state, getSourceFromCommand(cmd))) { main_ret = TRANSITION_CHANGED; } else { @@ -843,6 +908,18 @@ Commander::handle_command(const vehicle_command_s &cmd) } break; + case vehicle_command_s::VEHICLE_CMD_SET_NAV_STATE: { // Used from ROS + uint8_t desired_nav_state = (uint8_t)(cmd.param1 + 0.5f); + + if (_user_mode_intention.change(desired_nav_state, getSourceFromCommand(cmd))) { + cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED; + + } else { + cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED; + } + } + break; + case vehicle_command_s::VEHICLE_CMD_COMPONENT_ARM_DISARM: { // Adhere to MAVLink specs, but base on knowledge that these fundamentally encode ints @@ -858,16 +935,6 @@ Commander::handle_command(const vehicle_command_s &cmd) } else { // Arm is forced (checks skipped) when param2 is set to a magic number. const bool forced = (static_cast(lroundf(cmd.param2)) == 21196); - const bool cmd_from_io = (static_cast(roundf(cmd.param3)) == 1234); - - // Flick to in-air restore first if this comes from an onboard system and from IO - if (!forced && cmd_from_io - && (cmd.source_system == _vehicle_status.system_id) - && (cmd.source_component == _vehicle_status.component_id) - && (arming_action == vehicle_command_s::ARMING_ACTION_ARM)) { - // TODO: replace with a proper allowed transition - _arm_state_machine.forceArmState(vehicle_status_s::ARMING_STATE_IN_AIR_RESTORE); - } transition_result_t arming_res = TRANSITION_DENIED; arm_disarm_reason_t arm_disarm_reason = cmd.from_external ? arm_disarm_reason_t::command_external : @@ -886,47 +953,26 @@ Commander::handle_command(const vehicle_command_s &cmd) } else { cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED; - - /* update home position on arming if at least 500 ms from commander start spent to avoid setting home on in-air restart */ - if ((arming_action == vehicle_command_s::ARMING_ACTION_ARM) && (arming_res == TRANSITION_CHANGED) - && (hrt_absolute_time() > (_boot_timestamp + INAIR_RESTART_HOLDOFF_INTERVAL)) - && (_param_com_home_en.get())) { - _home_position.setHomePosition(); - } } } } break; case vehicle_command_s::VEHICLE_CMD_DO_FLIGHTTERMINATION: { - if (cmd.param1 > 1.5f) { - // Test termination command triggers lockdown but not actual termination. - if (!_lockdown_triggered) { - _actuator_armed.lockdown = true; - _lockdown_triggered = true; - PX4_WARN("forcing lockdown (motors off)"); - } + cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_DENIED; - } else if (cmd.param1 > 0.5f) { + if (cmd.param1 > 0.5f) { // Trigger real termination. - if (!_flight_termination_triggered) { - _actuator_armed.force_failsafe = true; - _flight_termination_triggered = true; - PX4_WARN("forcing failsafe (termination)"); - send_parachute_command(); - } + if (!isArmed()) { + cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_DENIED; - } else { - _actuator_armed.force_failsafe = false; - _actuator_armed.lockdown = false; - - _lockdown_triggered = false; - _flight_termination_triggered = false; + } else if (_user_mode_intention.change(vehicle_status_s::NAVIGATION_STATE_TERMINATION)) { + cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED; - PX4_WARN("disabling failsafe and lockdown"); + } else { + cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED; + } } - - cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED; } break; @@ -974,7 +1020,7 @@ Commander::handle_command(const vehicle_command_s &cmd) case vehicle_command_s::VEHICLE_CMD_NAV_RETURN_TO_LAUNCH: { /* switch to RTL which ends the mission */ - if (_user_mode_intention.change(vehicle_status_s::NAVIGATION_STATE_AUTO_RTL)) { + if (_user_mode_intention.change(vehicle_status_s::NAVIGATION_STATE_AUTO_RTL, getSourceFromCommand(cmd))) { mavlink_log_info(&_mavlink_log_pub, "Returning to launch\t"); events::send(events::ID("commander_rtl"), events::Log::Info, "Returning to launch"); cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED; @@ -988,7 +1034,7 @@ Commander::handle_command(const vehicle_command_s &cmd) case vehicle_command_s::VEHICLE_CMD_NAV_TAKEOFF: { /* ok, home set, use it to take off */ - if (_user_mode_intention.change(vehicle_status_s::NAVIGATION_STATE_AUTO_TAKEOFF)) { + if (_user_mode_intention.change(vehicle_status_s::NAVIGATION_STATE_AUTO_TAKEOFF, getSourceFromCommand(cmd))) { cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED; } else { @@ -999,9 +1045,10 @@ Commander::handle_command(const vehicle_command_s &cmd) break; case vehicle_command_s::VEHICLE_CMD_NAV_VTOL_TAKEOFF: +#if CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF /* ok, home set, use it to take off */ - if (_user_mode_intention.change(vehicle_status_s::NAVIGATION_STATE_AUTO_VTOL_TAKEOFF)) { + if (_user_mode_intention.change(vehicle_status_s::NAVIGATION_STATE_AUTO_VTOL_TAKEOFF, getSourceFromCommand(cmd))) { cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED; } else { @@ -1009,10 +1056,13 @@ Commander::handle_command(const vehicle_command_s &cmd) cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED; } +#else + cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_UNSUPPORTED; +#endif // CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF break; case vehicle_command_s::VEHICLE_CMD_NAV_LAND: { - if (_user_mode_intention.change(vehicle_status_s::NAVIGATION_STATE_AUTO_LAND)) { + if (_user_mode_intention.change(vehicle_status_s::NAVIGATION_STATE_AUTO_LAND, getSourceFromCommand(cmd))) { mavlink_log_info(&_mavlink_log_pub, "Landing at current position\t"); events::send(events::ID("commander_landing_current_pos"), events::Log::Info, "Landing at current position"); @@ -1026,7 +1076,7 @@ Commander::handle_command(const vehicle_command_s &cmd) break; case vehicle_command_s::VEHICLE_CMD_NAV_PRECLAND: { - if (_user_mode_intention.change(vehicle_status_s::NAVIGATION_STATE_AUTO_PRECLAND)) { + if (_user_mode_intention.change(vehicle_status_s::NAVIGATION_STATE_AUTO_PRECLAND, getSourceFromCommand(cmd))) { mavlink_log_info(&_mavlink_log_pub, "Precision landing\t"); events::send(events::ID("commander_landing_prec_land"), events::Log::Info, "Landing using precision landing"); @@ -1050,7 +1100,7 @@ Commander::handle_command(const vehicle_command_s &cmd) if (PX4_ISFINITE(cmd.param1) && (cmd.param1 >= -1) && (cmd.param1 < _mission_result_sub.get().seq_total)) { // switch to AUTO_MISSION and ARM - if (_user_mode_intention.change(vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION) + if (_user_mode_intention.change(vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION, getSourceFromCommand(cmd)) && (TRANSITION_DENIED != arm(arm_disarm_reason_t::mission_start))) { cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED; @@ -1071,7 +1121,7 @@ Commander::handle_command(const vehicle_command_s &cmd) case vehicle_command_s::VEHICLE_CMD_CONTROL_HIGH_LATENCY: { // if no high latency telemetry exists send a failed acknowledge - if (_high_latency_datalink_heartbeat > _boot_timestamp) { + if (_high_latency_datalink_timestamp < _boot_timestamp) { cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_FAILED; mavlink_log_critical(&_mavlink_log_pub, "Control high latency failed! Telemetry unavailable\t"); events::send(events::ID("commander_ctrl_high_latency_failed"), {events::Log::Critical, events::LogInternal::Info}, @@ -1080,40 +1130,76 @@ Commander::handle_command(const vehicle_command_s &cmd) } break; - case vehicle_command_s::VEHICLE_CMD_DO_ORBIT: + case vehicle_command_s::VEHICLE_CMD_DO_ORBIT: { - transition_result_t main_ret; + transition_result_t main_ret; - if (_vehicle_status.in_transition_mode) { - main_ret = TRANSITION_DENIED; + if (_vehicle_status.in_transition_mode) { + main_ret = TRANSITION_DENIED; - } else if (_vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING) { - // for fixed wings the behavior of orbit is the same as loiter - if (_user_mode_intention.change(vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER)) { - main_ret = TRANSITION_CHANGED; + } else if (_vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING) { + // for fixed wings the behavior of orbit is the same as loiter + if (_user_mode_intention.change(vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER, getSourceFromCommand(cmd))) { + main_ret = TRANSITION_CHANGED; + + } else { + main_ret = TRANSITION_DENIED; + } } else { - main_ret = TRANSITION_DENIED; + // Switch to orbit state and let the orbit task handle the command further + if (_user_mode_intention.change(vehicle_status_s::NAVIGATION_STATE_ORBIT, getSourceFromCommand(cmd))) { + main_ret = TRANSITION_CHANGED; + + } else { + main_ret = TRANSITION_DENIED; + } } - } else { - // Switch to orbit state and let the orbit task handle the command further - if (_user_mode_intention.change(vehicle_status_s::NAVIGATION_STATE_ORBIT)) { - main_ret = TRANSITION_CHANGED; + if (main_ret != TRANSITION_DENIED) { + cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED; } else { - main_ret = TRANSITION_DENIED; + cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED; + mavlink_log_critical(&_mavlink_log_pub, "Orbit command rejected"); } } + break; - if (main_ret != TRANSITION_DENIED) { - cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED; + case vehicle_command_s::VEHICLE_CMD_DO_FIGUREEIGHT: { +#ifdef CONFIG_FIGURE_OF_EIGHT - } else { - cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED; - mavlink_log_critical(&_mavlink_log_pub, "Orbit command rejected"); - } + if (!((_vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING) || (_vehicle_status.is_vtol))) { + cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_UNSUPPORTED; + mavlink_log_critical(&_mavlink_log_pub, "Figure 8 command only available for fixed wing and vtol vehicles."); + break; + } + + transition_result_t main_ret = TRANSITION_DENIED; + + if ((_vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING) && + (!_vehicle_status.in_transition_mode)) { + if (_user_mode_intention.change(vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER)) { + main_ret = TRANSITION_CHANGED; + + } else { + main_ret = TRANSITION_DENIED; + } + } + + if (main_ret != TRANSITION_DENIED) { + cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED; + + } else { + cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED; + mavlink_log_critical(&_mavlink_log_pub, "Figure 8 command rejected, Only available in fixed wing mode."); + } +#else + cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_UNSUPPORTED; + mavlink_log_critical(&_mavlink_log_pub, "Figure 8 command not supported."); +#endif // CONFIG_FIGURE_OF_EIGHT + } break; case vehicle_command_s::VEHICLE_CMD_ACTUATOR_TEST: @@ -1130,7 +1216,7 @@ Commander::handle_command(const vehicle_command_s &cmd) #if defined(CONFIG_BOARDCTL_RESET) - } else if ((param1 == 1) && shutdownIfAllowed() && (px4_reboot_request(false, 400_ms) == 0)) { + } else if ((param1 == 1) && !isArmed() && (px4_reboot_request(REBOOT_REQUEST, 400_ms) == 0)) { // 1: Reboot autopilot answer_command(cmd, vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED); @@ -1140,7 +1226,7 @@ Commander::handle_command(const vehicle_command_s &cmd) #if defined(BOARD_HAS_POWER_CONTROL) - } else if ((param1 == 2) && shutdownIfAllowed() && (px4_shutdown_request(400_ms) == 0)) { + } else if ((param1 == 2) && !isArmed() && (px4_shutdown_request(400_ms) == 0)) { // 2: Shutdown autopilot answer_command(cmd, vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED); @@ -1150,7 +1236,7 @@ Commander::handle_command(const vehicle_command_s &cmd) #if defined(CONFIG_BOARDCTL_RESET) - } else if ((param1 == 3) && shutdownIfAllowed() && (px4_reboot_request(true, 400_ms) == 0)) { + } else if ((param1 == 3) && !isArmed() && (px4_reboot_request(REBOOT_TO_BOOTLOADER, 400_ms) == 0)) { // 3: Reboot autopilot and keep it in the bootloader until upgraded. answer_command(cmd, vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED); @@ -1167,25 +1253,13 @@ Commander::handle_command(const vehicle_command_s &cmd) case vehicle_command_s::VEHICLE_CMD_PREFLIGHT_CALIBRATION: { - if (_arm_state_machine.isArmed() || _arm_state_machine.isShutdown() || _worker_thread.isBusy()) { + if (isArmed() || _worker_thread.isBusy()) { // reject if armed or shutting down answer_command(cmd, vehicle_command_ack_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED); } else { - /* try to go to INIT/PREFLIGHT arming state */ - if (TRANSITION_DENIED == _arm_state_machine.arming_state_transition(_vehicle_status, - vehicle_status_s::ARMING_STATE_INIT, _actuator_armed, _health_and_arming_checks, - false /* fRunPreArmChecks */, &_mavlink_log_pub, - (cmd.from_external ? arm_disarm_reason_t::command_external : arm_disarm_reason_t::command_internal)) - ) { - - answer_command(cmd, vehicle_command_ack_s::VEHICLE_CMD_RESULT_DENIED); - break; - - } - if ((int)(cmd.param1) == 1) { /* gyro calibration */ answer_command(cmd, vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED); @@ -1292,7 +1366,7 @@ Commander::handle_command(const vehicle_command_s &cmd) case vehicle_command_s::VEHICLE_CMD_FIXED_MAG_CAL_YAW: { // Magnetometer quick calibration using world magnetic model and known heading - if (_arm_state_machine.isArmed() || _arm_state_machine.isShutdown() || _worker_thread.isBusy()) { + if (isArmed() || _worker_thread.isBusy()) { // reject if armed or shutting down answer_command(cmd, vehicle_command_ack_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED); @@ -1327,7 +1401,7 @@ Commander::handle_command(const vehicle_command_s &cmd) case vehicle_command_s::VEHICLE_CMD_PREFLIGHT_STORAGE: { - if (_arm_state_machine.isArmed() || _arm_state_machine.isShutdown() || _worker_thread.isBusy()) { + if (isArmed() || _worker_thread.isBusy()) { // reject if armed or shutting down answer_command(cmd, vehicle_command_ack_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED); @@ -1359,11 +1433,33 @@ Commander::handle_command(const vehicle_command_s &cmd) break; } + case vehicle_command_s::VEHICLE_CMD_DO_SET_STANDARD_MODE: { + mode_util::StandardMode standard_mode = (mode_util::StandardMode) roundf(cmd.param1); + uint8_t nav_state = mode_util::getNavStateFromStandardMode(standard_mode); + + if (nav_state == vehicle_status_s::NAVIGATION_STATE_MAX) { + answer_command(cmd, vehicle_command_ack_s::VEHICLE_CMD_RESULT_FAILED); + + } else { + if (_user_mode_intention.change(nav_state, getSourceFromCommand(cmd))) { + answer_command(cmd, vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED); + + } else { + answer_command(cmd, vehicle_command_ack_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED); + } + } + } + break; + case vehicle_command_s::VEHICLE_CMD_RUN_PREARM_CHECKS: _health_and_arming_checks.update(true); answer_command(cmd, vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED); break; + case vehicle_command_s::VEHICLE_CMD_DO_SET_ACTUATOR: + answer_command(cmd, vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED); + break; + case vehicle_command_s::VEHICLE_CMD_START_RX_PAIR: case vehicle_command_s::VEHICLE_CMD_CUSTOM_0: case vehicle_command_s::VEHICLE_CMD_CUSTOM_1: @@ -1400,7 +1496,6 @@ Commander::handle_command(const vehicle_command_s &cmd) case vehicle_command_s::VEHICLE_CMD_DO_GIMBAL_MANAGER_PITCHYAW: case vehicle_command_s::VEHICLE_CMD_DO_GIMBAL_MANAGER_CONFIGURE: case vehicle_command_s::VEHICLE_CMD_CONFIGURE_ACTUATOR: - case vehicle_command_s::VEHICLE_CMD_DO_SET_ACTUATOR: case vehicle_command_s::VEHICLE_CMD_REQUEST_MESSAGE: case vehicle_command_s::VEHICLE_CMD_DO_WINCH: case vehicle_command_s::VEHICLE_CMD_DO_GRIPPER: @@ -1422,9 +1517,46 @@ Commander::handle_command(const vehicle_command_s &cmd) return true; } +ModeChangeSource Commander::getSourceFromCommand(const vehicle_command_s &cmd) +{ + return cmd.source_component >= vehicle_command_s::COMPONENT_MODE_EXECUTOR_START ? ModeChangeSource::ModeExecutor : + ModeChangeSource::User; +} + +void Commander::handleCommandsFromModeExecutors() +{ + if (_vehicle_command_mode_executor_sub.updated()) { + const unsigned last_generation = _vehicle_command_mode_executor_sub.get_last_generation(); + vehicle_command_s cmd; + + if (_vehicle_command_mode_executor_sub.copy(&cmd)) { + if (_vehicle_command_mode_executor_sub.get_last_generation() != last_generation + 1) { + PX4_ERR("vehicle_command from executor lost, generation %u -> %u", last_generation, + _vehicle_command_mode_executor_sub.get_last_generation()); + } + + // For commands from mode executors, we check if it is in charge and then publish it on the official + // command topic + const int mode_executor_in_charge = _mode_management.modeExecutorInCharge(); + + // source_system is set to the mode executor + if (cmd.source_component == vehicle_command_s::COMPONENT_MODE_EXECUTOR_START + mode_executor_in_charge) { + cmd.source_system = _vehicle_status.system_id; + cmd.timestamp = hrt_absolute_time(); + _vehicle_command_pub.publish(cmd); + + } else { + cmd.source_system = _vehicle_status.system_id; + answer_command(cmd, vehicle_command_ack_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED); + PX4_WARN("Got cmd from executor %i not in charge (in charge: %i)", cmd.source_system, mode_executor_in_charge); + } + } + } +} + unsigned Commander::handleCommandActuatorTest(const vehicle_command_s &cmd) { - if (_arm_state_machine.isArmed() || (_safety.isButtonAvailable() && !_safety.isSafetyOff())) { + if (isArmed() || (_safety.isButtonAvailable() && !_safety.isSafetyOff())) { return vehicle_command_ack_s::VEHICLE_CMD_RESULT_DENIED; } @@ -1504,7 +1636,7 @@ void Commander::executeActionRequest(const action_request_s &action_request) case action_request_s::ACTION_ARM: arm(arm_disarm_reason); break; case action_request_s::ACTION_TOGGLE_ARMING: - if (_arm_state_machine.isArmed()) { + if (isArmed()) { disarm(arm_disarm_reason); } else { @@ -1514,9 +1646,9 @@ void Commander::executeActionRequest(const action_request_s &action_request) break; case action_request_s::ACTION_UNKILL: - if (arm_disarm_reason == arm_disarm_reason_t::rc_switch && _actuator_armed.manual_lockdown) { - mavlink_log_info(&_mavlink_log_pub, "Kill-switch disengaged\t"); - events::send(events::ID("commander_kill_sw_disengaged"), events::Log::Info, "Kill-switch disengaged"); + if (_actuator_armed.manual_lockdown) { + mavlink_log_info(&_mavlink_log_pub, "Kill disengaged\t"); + events::send(events::ID("commander_kill_sw_disengaged"), events::Log::Info, "Kill disengaged"); _status_changed = true; _actuator_armed.manual_lockdown = false; } @@ -1524,8 +1656,8 @@ void Commander::executeActionRequest(const action_request_s &action_request) break; case action_request_s::ACTION_KILL: - if (arm_disarm_reason == arm_disarm_reason_t::rc_switch && !_actuator_armed.manual_lockdown) { - const char kill_switch_string[] = "Kill-switch engaged\t"; + if (!_actuator_armed.manual_lockdown) { + const char kill_switch_string[] = "Kill engaged\t"; events::LogLevels log_levels{events::Log::Info}; if (_vehicle_land_detected.landed) { @@ -1536,18 +1668,17 @@ void Commander::executeActionRequest(const action_request_s &action_request) log_levels.external = events::Log::Critical; } - events::send(events::ID("commander_kill_sw_engaged"), log_levels, "Kill-switch engaged"); + events::send(events::ID("commander_kill_sw_engaged"), log_levels, "Kill engaged"); _status_changed = true; _actuator_armed.manual_lockdown = true; - send_parachute_command(); } break; case action_request_s::ACTION_SWITCH_MODE: - if (!_user_mode_intention.change(action_request.mode, true)) { + if (!_user_mode_intention.change(action_request.mode, ModeChangeSource::User, true)) { printRejectMode(action_request.mode); } @@ -1563,22 +1694,11 @@ void Commander::updateParameters() int32_t value_int32 = 0; - // MAV_SYS_ID => vehicle_status.system_id - if ((_param_mav_sys_id != PARAM_INVALID) && (param_get(_param_mav_sys_id, &value_int32) == PX4_OK)) { - _vehicle_status.system_id = value_int32; - } - - // MAV_COMP_ID => vehicle_status.component_id - if ((_param_mav_comp_id != PARAM_INVALID) && (param_get(_param_mav_comp_id, &value_int32) == PX4_OK)) { - _vehicle_status.component_id = value_int32; - } - // MAV_TYPE -> vehicle_status.system_type if ((_param_mav_type != PARAM_INVALID) && (param_get(_param_mav_type, &value_int32) == PX4_OK)) { _vehicle_status.system_type = value_int32; } - _vehicle_status.avoidance_system_required = _param_com_obs_avoid.get(); _auto_disarm_killed.set_hysteresis_time_from(false, _param_com_kill_disarm.get() * 1_s); @@ -1672,22 +1792,16 @@ void Commander::run() safetyButtonUpdate(); + _multicopter_throw_launch.update(isArmed()); + vtolStatusUpdate(); - _home_position.update(_param_com_home_en.get(), !_arm_state_machine.isArmed() && _vehicle_land_detected.landed); + _home_position.update(_param_com_home_en.get(), !isArmed() && _vehicle_land_detected.landed); handleAutoDisarm(); battery_status_check(); - /* If in INIT state, try to proceed to STANDBY state */ - if (!_vehicle_status.calibration_enabled && _arm_state_machine.isInit()) { - - _arm_state_machine.arming_state_transition(_vehicle_status, - vehicle_status_s::ARMING_STATE_STANDBY, _actuator_armed, _health_and_arming_checks, - true /* fRunPreArmChecks */, &_mavlink_log_pub, arm_disarm_reason_t::transition_to_standby); - } - checkForMissionUpdate(); manualControlCheck(); @@ -1703,6 +1817,8 @@ void Commander::run() _status_changed = true; } + modeManagementUpdate(); + const hrt_abstime now = hrt_absolute_time(); const bool nav_state_or_failsafe_changed = handleModeIntentionAndFailsafe(); @@ -1725,6 +1841,8 @@ void Commander::run() } // handle commands last, as the system needs to be updated to handle them + handleCommandsFromModeExecutors(); + if (_vehicle_command_sub.updated()) { // got command const unsigned last_generation = _vehicle_command_sub.get_last_generation(); @@ -1754,40 +1872,31 @@ void Commander::run() } } - // check for arming state changes - if (_was_armed != _arm_state_machine.isArmed()) { - _status_changed = true; - } - - if (!_was_armed && _arm_state_machine.isArmed() && !_vehicle_land_detected.landed) { - _have_taken_off_since_arming = true; - } - - if (_was_armed && !_arm_state_machine.isArmed()) { - const int32_t flight_uuid = _param_flight_uuid.get() + 1; - _param_flight_uuid.set(flight_uuid); - _param_flight_uuid.commit_no_notification(); - - _last_disarmed_timestamp = hrt_absolute_time(); - - _user_mode_intention.onDisarm(); - _vehicle_status.takeoff_time = 0; - } - - if (!_arm_state_machine.isArmed()) { - /* Reset the flag if disarmed. */ - _have_taken_off_since_arming = false; - } - + // update actuator_armed + _actuator_armed.armed = isArmed(); _actuator_armed.prearmed = getPrearmState(); + _actuator_armed.ready_to_arm = _vehicle_status.pre_flight_checks_pass || isArmed(); + _actuator_armed.lockdown = ((_vehicle_status.nav_state == _vehicle_status.NAVIGATION_STATE_TERMINATION) + || (_vehicle_status.hil_state == vehicle_status_s::HIL_STATE_ON) + || _multicopter_throw_launch.isThrowLaunchInProgress()); + // _actuator_armed.manual_lockdown // action_request_s::ACTION_KILL + _actuator_armed.force_failsafe = (_vehicle_status.nav_state == _vehicle_status.NAVIGATION_STATE_TERMINATION); + // _actuator_armed.in_esc_calibration_mode // VEHICLE_CMD_PREFLIGHT_CALIBRATION + + // if force_failsafe or manual_lockdown activated send parachute command + if ((!actuator_armed_prev.force_failsafe && _actuator_armed.force_failsafe) + || (!actuator_armed_prev.manual_lockdown && _actuator_armed.manual_lockdown) + ) { + if (isArmed()) { + send_parachute_command(); + } + } // publish states (armed, control_mode, vehicle_status, failure_detector_status) at 2 Hz or immediately when changed if ((now >= _vehicle_status.timestamp + 500_ms) || _status_changed || nav_state_or_failsafe_changed || !(_actuator_armed == actuator_armed_prev)) { // publish actuator_armed first (used by output modules) - _actuator_armed.armed = _arm_state_machine.isArmed(); - _actuator_armed.ready_to_arm = _arm_state_machine.isArmed() || _arm_state_machine.isStandby(); _actuator_armed.timestamp = hrt_absolute_time(); _actuator_armed_pub.publish(_actuator_armed); @@ -1795,7 +1904,7 @@ void Commander::run() updateControlMode(); // vehicle_status publish (after prearm/preflight updates above) - _vehicle_status.arming_state = _arm_state_machine.getArmState(); + _mode_management.getModeStatus(_vehicle_status.valid_nav_states_mask, _vehicle_status.can_set_nav_states_mask); _vehicle_status.timestamp = hrt_absolute_time(); _vehicle_status_pub.publish(_vehicle_status); @@ -1822,11 +1931,9 @@ void Commander::run() _status_changed = false; - _was_armed = _arm_state_machine.isArmed(); - arm_auth_update(hrt_absolute_time(), params_updated); - px4_indicate_external_reset_lockout(LockoutComponent::Commander, _arm_state_machine.isArmed()); + px4_indicate_external_reset_lockout(LockoutComponent::Commander, isArmed()); perf_end(_loop_perf); @@ -1848,19 +1955,19 @@ void Commander::checkForMissionUpdate() if (_mission_result_sub.updated()) { const mission_result_s &mission_result = _mission_result_sub.get(); - const auto prev_mission_instance_count = mission_result.instance_count; + const auto prev_mission_mission_id = mission_result.mission_id; _mission_result_sub.update(); // if mission_result is valid for the current mission const bool mission_result_ok = (mission_result.timestamp > _boot_timestamp) - && (mission_result.instance_count > 0); + && (mission_result.mission_id > 0); bool auto_mission_available = mission_result_ok && mission_result.valid; if (mission_result_ok) { /* Only evaluate mission state if home is set */ if (!_failsafe_flags.home_position_invalid && - (prev_mission_instance_count != mission_result.instance_count)) { + (prev_mission_mission_id != mission_result.mission_id)) { if (!auto_mission_available) { /* the mission is invalid */ @@ -1877,14 +1984,15 @@ void Commander::checkForMissionUpdate() } } - if (_arm_state_machine.isArmed() && !_vehicle_land_detected.landed + if (isArmed() && !_vehicle_land_detected.landed && (mission_result.timestamp >= _vehicle_status.nav_state_timestamp) - && mission_result.finished) { + && mission_result.finished + && _mode_management.modeExecutorInCharge() == ModeExecutors::AUTOPILOT_EXECUTOR_ID) { if (_vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_TAKEOFF || _vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_VTOL_TAKEOFF) { // Transition mode to loiter or auto-mission after takeoff is completed. - if ((_param_takeoff_finished_action.get() == 1) && auto_mission_available) { + if ((_param_com_takeoff_act.get() == 1) && auto_mission_available) { _user_mode_intention.change(vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION); } else { @@ -1901,6 +2009,10 @@ void Commander::checkForMissionUpdate() bool Commander::getPrearmState() const { + if (_vehicle_status.calibration_enabled) { + return false; + } + switch ((PrearmedMode)_param_com_prearm_mode.get()) { case PrearmedMode::DISABLED: /* skip prearmed state */ @@ -1936,7 +2048,7 @@ void Commander::handlePowerButtonState() if (_power_button_state_sub.copy(&button_state)) { if (button_state.event == power_button_state_s::PWR_BUTTON_STATE_REQUEST_SHUTDOWN) { - if (shutdownIfAllowed() && (px4_shutdown_request() == 0)) { + if (!isArmed() && (px4_shutdown_request() == 0)) { while (1) { px4_usleep(1); } } } @@ -1973,7 +2085,7 @@ void Commander::landDetectorUpdate() _vehicle_land_detected_sub.copy(&_vehicle_land_detected); // Only take actions if armed - if (_arm_state_machine.isArmed()) { + if (isArmed()) { if (!was_landed && _vehicle_land_detected.landed) { mavlink_log_info(&_mavlink_log_pub, "Landing detected\t"); events::send(events::ID("commander_landing_detected"), events::Log::Info, "Landing detected"); @@ -1987,9 +2099,8 @@ void Commander::landDetectorUpdate() // automatically set or update home position if (_param_com_home_en.get()) { - // set the home position when taking off, but only if we were previously disarmed - // and at least 500 ms from commander start spent to avoid setting home on in-air restart - if (!_vehicle_land_detected.landed && (hrt_elapsed_time(&_boot_timestamp) > INAIR_RESTART_HOLDOFF_INTERVAL)) { + // set the home position when taking off + if (!_vehicle_land_detected.landed) { if (was_landed) { _home_position.setHomePosition(); @@ -2060,7 +2171,7 @@ void Commander::vtolStatusUpdate() void Commander::updateTunes() { // play arming and battery warning tunes - if (!_arm_tune_played && _arm_state_machine.isArmed()) { + if (!_arm_tune_played && isArmed()) { /* play tune when armed */ set_tune(tune_control_s::TUNE_ID_ARMING_WARNING); @@ -2069,6 +2180,7 @@ void Commander::updateTunes() } else if (!_vehicle_status.usb_connected && (_vehicle_status.hil_state != vehicle_status_s::HIL_STATE_ON) && (_battery_warning == battery_status_s::BATTERY_WARNING_CRITICAL)) { + /* play tune on battery critical */ set_tune(tune_control_s::TUNE_ID_BATTERY_WARNING_FAST); @@ -2077,15 +2189,18 @@ void Commander::updateTunes() /* play tune on battery warning */ set_tune(tune_control_s::TUNE_ID_BATTERY_WARNING_SLOW); - } else if (_vehicle_status.failsafe && _arm_state_machine.isArmed()) { + } else if (_vehicle_status.failsafe && isArmed()) { tune_failsafe(true); + } else if (_multicopter_throw_launch.isReadyToThrow()) { + set_tune(tune_control_s::TUNE_ID_ARMING_WARNING); + } else { set_tune(tune_control_s::TUNE_ID_STOP); } /* reset arm_tune_played when disarmed */ - if (!_arm_state_machine.isArmed()) { + if (!isArmed()) { // Notify the user that it is safe to approach the vehicle if (_arm_tune_played) { @@ -2119,24 +2234,26 @@ void Commander::checkWorkerThread() void Commander::handleAutoDisarm() { // Auto disarm when landed or kill switch engaged - if (_arm_state_machine.isArmed()) { + if (isArmed()) { // Check for auto-disarm on landing or pre-flight - if (_param_com_disarm_land.get() > 0 || _param_com_disarm_preflight.get() > 0) { + if (_param_com_disarm_land.get() > 0 || _param_com_disarm_prflt.get() > 0) { const bool landed_amid_mission = (_vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION) && !_mission_result_sub.get().finished; + const bool auto_disarm_land_enabled = _param_com_disarm_land.get() > 0 && !landed_amid_mission + && !_config_overrides.disable_auto_disarm; - if (_param_com_disarm_land.get() > 0 && _have_taken_off_since_arming && !landed_amid_mission) { + if (auto_disarm_land_enabled && _have_taken_off_since_arming) { _auto_disarm_landed.set_hysteresis_time_from(false, _param_com_disarm_land.get() * 1_s); _auto_disarm_landed.set_state_and_update(_vehicle_land_detected.landed, hrt_absolute_time()); - } else if (_param_com_disarm_preflight.get() > 0 && !_have_taken_off_since_arming) { - _auto_disarm_landed.set_hysteresis_time_from(false, _param_com_disarm_preflight.get() * 1_s); + } else if (_param_com_disarm_prflt.get() > 0 && !_have_taken_off_since_arming) { + _auto_disarm_landed.set_hysteresis_time_from(false, _param_com_disarm_prflt.get() * 1_s); _auto_disarm_landed.set_state_and_update(true, hrt_absolute_time()); } - if (_auto_disarm_landed.get_state()) { + if (_auto_disarm_landed.get_state() && !_multicopter_throw_launch.isThrowLaunchInProgress()) { if (_have_taken_off_since_arming) { disarm(arm_disarm_reason_t::auto_disarm_land); @@ -2155,6 +2272,9 @@ void Commander::handleAutoDisarm() auto_disarm |= _actuator_armed.lockdown; } + //don't disarm if throw launch is in progress + auto_disarm &= !_multicopter_throw_launch.isThrowLaunchInProgress(); + _auto_disarm_killed.set_state_and_update(auto_disarm, hrt_absolute_time()); if (_auto_disarm_killed.get_state()) { @@ -2176,9 +2296,10 @@ bool Commander::handleModeIntentionAndFailsafe() { const uint8_t prev_nav_state = _vehicle_status.nav_state; const FailsafeBase::Action prev_failsafe_action = _failsafe.selectedAction(); + const uint8_t prev_failsafe_defer_state = _vehicle_status.failsafe_defer_state; FailsafeBase::State state{}; - state.armed = _arm_state_machine.isArmed(); + state.armed = isArmed(); state.vtol_in_transition_mode = _vehicle_status.in_transition_mode; state.mission_finished = _mission_result_sub.get().finished; state.user_intended_mode = _user_mode_intention.get(); @@ -2195,13 +2316,16 @@ bool Commander::handleModeIntentionAndFailsafe() // Force intended mode if changed by the failsafe state machine if (state.user_intended_mode != updated_user_intented_mode) { - _user_mode_intention.change(updated_user_intented_mode, false, true); + _user_mode_intention.change(updated_user_intented_mode, ModeChangeSource::User, false, true); _user_mode_intention.getHadModeChangeAndClear(); } // Handle failsafe action - _vehicle_status.nav_state_user_intention = _user_mode_intention.get(); - _vehicle_status.nav_state = FailsafeBase::modeFromAction(_failsafe.selectedAction(), _user_mode_intention.get()); + _vehicle_status.nav_state_user_intention = _mode_management.getNavStateReplacementIfValid(_user_mode_intention.get(), + false); + _vehicle_status.nav_state = _mode_management.getNavStateReplacementIfValid(FailsafeBase::modeFromAction( + _failsafe.selectedAction(), _user_mode_intention.get())); + _vehicle_status.executor_in_charge = _mode_management.modeExecutorInCharge(); // Set this in sync with nav_state switch (_failsafe.selectedAction()) { case FailsafeBase::Action::Disarm: @@ -2210,13 +2334,6 @@ bool Commander::handleModeIntentionAndFailsafe() case FailsafeBase::Action::Terminate: _vehicle_status.nav_state = _vehicle_status.NAVIGATION_STATE_TERMINATION; - _actuator_armed.force_failsafe = true; - - if (!_flight_termination_triggered) { - _flight_termination_triggered = true; - send_parachute_command(); - } - break; default: @@ -2230,7 +2347,24 @@ bool Commander::handleModeIntentionAndFailsafe() _vehicle_status.nav_state_timestamp = hrt_absolute_time(); } - return prev_nav_state != _vehicle_status.nav_state || prev_failsafe_action != _failsafe.selectedAction(); + _mode_management.updateActiveConfigOverrides(_vehicle_status.nav_state, _config_overrides); + + // Apply failsafe deferring & get the current state + _failsafe.deferFailsafes(_config_overrides.defer_failsafes, _config_overrides.defer_failsafes_timeout_s); + + if (_failsafe.failsafeDeferred()) { + _vehicle_status.failsafe_defer_state = vehicle_status_s::FAILSAFE_DEFER_STATE_WOULD_FAILSAFE; + + } else if (_failsafe.getDeferFailsafes()) { + _vehicle_status.failsafe_defer_state = vehicle_status_s::FAILSAFE_DEFER_STATE_ENABLED; + + } else { + _vehicle_status.failsafe_defer_state = vehicle_status_s::FAILSAFE_DEFER_STATE_DISABLED; + } + + return prev_nav_state != _vehicle_status.nav_state || + prev_failsafe_action != _failsafe.selectedAction() || + prev_failsafe_defer_state != _vehicle_status.failsafe_defer_state; } void Commander::checkAndInformReadyForTakeoff() @@ -2250,6 +2384,21 @@ void Commander::checkAndInformReadyForTakeoff() #endif // CONFIG_ARCH_BOARD_PX4_SITL } +void Commander::modeManagementUpdate() +{ + ModeManagement::UpdateRequest mode_management_update{}; + _mode_management.update(isArmed(), _vehicle_status.nav_state_user_intention, + _failsafe.selectedAction() > FailsafeBase::Action::Warn, mode_management_update); + + if (!isArmed() && mode_management_update.change_user_intended_nav_state) { + _user_mode_intention.change(mode_management_update.user_intended_nav_state); + } + + if (mode_management_update.control_setpoint_update) { + _status_changed = true; + } +} + void Commander::control_status_leds(bool changed, const uint8_t battery_warning) { switch (blink_msg_state()) { @@ -2274,7 +2423,14 @@ void Commander::control_status_leds(bool changed, const uint8_t battery_warning) if (_cpuload_sub.copy(&cpuload)) { const float cpuload_percent = cpuload.load * 100.f; - bool overload = (cpuload_percent > _param_com_cpu_max.get()) || (cpuload.ram_usage > 0.99f); + bool overload = false; + + // Only check CPU load if it hasn't been disabled + if (!(_param_com_cpu_max.get() < FLT_EPSILON)) { + overload = (cpuload_percent > _param_com_cpu_max.get()); + } + + overload = overload || (cpuload.ram_usage > 0.99f); if (_overload_start == 0 && overload) { _overload_start = time_now_us; @@ -2293,14 +2449,18 @@ void Commander::control_status_leds(bool changed, const uint8_t battery_warning) uint8_t led_color = led_control_s::COLOR_WHITE; bool set_normal_color = false; - uint64_t overload_warn_delay = _arm_state_machine.isArmed() ? 1_ms : 250_ms; + uint64_t overload_warn_delay = isArmed() ? 1_ms : 250_ms; // set mode if (overload && (time_now_us >= _overload_start + overload_warn_delay)) { led_mode = led_control_s::MODE_BLINK_FAST; led_color = led_control_s::COLOR_PURPLE; - } else if (_arm_state_machine.isArmed()) { + } else if (_multicopter_throw_launch.isReadyToThrow()) { + led_mode = led_control_s::MODE_BLINK_FAST; + led_color = led_control_s::COLOR_YELLOW; + + } else if (isArmed()) { led_mode = led_control_s::MODE_ON; set_normal_color = true; @@ -2308,18 +2468,9 @@ void Commander::control_status_leds(bool changed, const uint8_t battery_warning) led_mode = led_control_s::MODE_BLINK_FAST; led_color = led_control_s::COLOR_RED; - } else if (_arm_state_machine.isStandby()) { + } else { led_mode = led_control_s::MODE_BREATHE; set_normal_color = true; - - } else if (_arm_state_machine.isInit()) { - // if in init status it should not be in the error state - led_mode = led_control_s::MODE_OFF; - - } else { - // STANDBY_ERROR and other states - led_mode = led_control_s::MODE_BLINK_NORMAL; - led_color = led_control_s::COLOR_RED; } if (set_normal_color) { @@ -2352,7 +2503,7 @@ void Commander::control_status_leds(bool changed, const uint8_t battery_warning) #if !defined(CONFIG_ARCH_LEDS) && defined(BOARD_HAS_CONTROL_STATUS_LEDS) - if (_arm_state_machine.isArmed()) { + if (isArmed()) { if (_vehicle_status.failsafe) { BOARD_ARMED_LED_OFF(); @@ -2368,7 +2519,7 @@ void Commander::control_status_leds(bool changed, const uint8_t battery_warning) BOARD_ARMED_LED_ON(); } - } else if (_arm_state_machine.isStandby()) { + } else if (_vehicle_status.pre_flight_checks_pass) { BOARD_ARMED_LED_OFF(); // ready to arm, blink at 1Hz @@ -2404,8 +2555,19 @@ void Commander::control_status_leds(bool changed, const uint8_t battery_warning) void Commander::updateControlMode() { _vehicle_control_mode = {}; - mode_util::getVehicleControlMode(_arm_state_machine.isArmed(), _vehicle_status.nav_state, + + mode_util::getVehicleControlMode(_vehicle_status.nav_state, _vehicle_status.vehicle_type, _offboard_control_mode_sub.get(), _vehicle_control_mode); + _mode_management.updateControlMode(_vehicle_status.nav_state, _vehicle_control_mode); + + _vehicle_control_mode.flag_armed = isArmed(); + _vehicle_control_mode.flag_multicopter_position_control_enabled = + (_vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) + && (_vehicle_control_mode.flag_control_altitude_enabled + || _vehicle_control_mode.flag_control_climb_rate_enabled + || _vehicle_control_mode.flag_control_position_enabled + || _vehicle_control_mode.flag_control_velocity_enabled + || _vehicle_control_mode.flag_control_acceleration_enabled); _vehicle_control_mode.timestamp = hrt_absolute_time(); _vehicle_control_mode_pub.publish(_vehicle_control_mode); } @@ -2426,7 +2588,7 @@ void Commander::printRejectMode(uint8_t nav_state) /* only buzz if armed, because else we're driving people nuts indoors they really need to look at the leds as well. */ - tune_negative(_arm_state_machine.isArmed()); + tune_negative(isArmed()); _last_print_mode_reject_time = hrt_absolute_time(); } @@ -2473,7 +2635,7 @@ int Commander::task_spawn(int argc, char *argv[]) _task_id = px4_task_spawn_cmd("commander", SCHED_DEFAULT, SCHED_PRIORITY_DEFAULT + 40, - 3250, + PX4_STACK_ADJUSTED(3250), (px4_main_t)&run_trampoline, (char *const *)argv); @@ -2511,6 +2673,28 @@ void Commander::enable_hil() void Commander::dataLinkCheck() { + // high latency data link + iridiumsbd_status_s iridium_status; + + if (_iridiumsbd_status_sub.update(&iridium_status)) { + _high_latency_datalink_timestamp = iridium_status.last_at_ok_timestamp; + + if (_vehicle_status.high_latency_data_link_lost && + (_high_latency_datalink_timestamp > _high_latency_datalink_lost) && + (_high_latency_datalink_regained == 0) + ) { + _high_latency_datalink_regained = _high_latency_datalink_timestamp; + } + + if (_vehicle_status.high_latency_data_link_lost && + (_high_latency_datalink_regained != 0) && + (hrt_elapsed_time(&_high_latency_datalink_regained) > (_param_com_hldl_reg_t.get() * 1_s)) + ) { + _vehicle_status.high_latency_data_link_lost = false; + _status_changed = true; + } + } + for (auto &telemetry_status : _telemetry_status_subs) { telemetry_status_s telemetry; @@ -2524,16 +2708,18 @@ void Commander::dataLinkCheck() break; case telemetry_status_s::LINK_TYPE_IRIDIUM: { - iridiumsbd_status_s iridium_status; - if (_iridiumsbd_status_sub.update(&iridium_status)) { - _high_latency_datalink_heartbeat = iridium_status.last_heartbeat; + if ((_high_latency_datalink_timestamp > 0) && + (hrt_elapsed_time(&_high_latency_datalink_timestamp) > (_param_com_hldl_loss_t.get() * 1_s))) { + + _high_latency_datalink_lost = _high_latency_datalink_timestamp; + _high_latency_datalink_regained = 0; - if (_vehicle_status.high_latency_data_link_lost) { - if (hrt_elapsed_time(&_high_latency_datalink_lost) > (_param_com_hldl_reg_t.get() * 1_s)) { - _vehicle_status.high_latency_data_link_lost = false; - _status_changed = true; - } + if (!_vehicle_status.high_latency_data_link_lost) { + _vehicle_status.high_latency_data_link_lost = true; + mavlink_log_critical(&_mavlink_log_pub, "High latency data link lost\t"); + events::send(events::ID("commander_high_latency_lost"), events::Log::Critical, "High latency data link lost"); + _status_changed = true; } } @@ -2675,19 +2861,6 @@ void Commander::dataLinkCheck() _vehicle_status.avoidance_system_valid = false; } } - - // high latency data link loss failsafe - if (_high_latency_datalink_heartbeat > 0 - && hrt_elapsed_time(&_high_latency_datalink_heartbeat) > (_param_com_hldl_loss_t.get() * 1_s)) { - _high_latency_datalink_lost = hrt_absolute_time(); - - if (!_vehicle_status.high_latency_data_link_lost) { - _vehicle_status.high_latency_data_link_lost = true; - mavlink_log_critical(&_mavlink_log_pub, "High latency data link lost\t"); - events::send(events::ID("commander_high_latency_lost"), events::Log::Critical, "High latency data link lost"); - _status_changed = true; - } - } } void Commander::battery_status_check() @@ -2698,7 +2871,7 @@ void Commander::battery_status_check() if (_failsafe_flags.battery_warning == battery_status_s::BATTERY_WARNING_EMERGENCY) { #if defined(BOARD_HAS_POWER_CONTROL) - if (shutdownIfAllowed() && (px4_shutdown_request(60_s) == 0)) { + if (!isArmed() && (px4_shutdown_request(60_s) == 0)) { mavlink_log_critical(&_mavlink_log_pub, "Dangerously low battery! Shutting system down in 60 seconds\t"); events::send(events::ID("commander_low_bat_shutdown"), {events::Log::Emergency, events::LogInternal::Warning}, "Dangerously low battery! Shutting system down"); @@ -2731,7 +2904,7 @@ void Commander::manualControlCheck() _is_throttle_above_center = (manual_control_setpoint.throttle > 0.2f); _is_throttle_low = (manual_control_setpoint.throttle < -0.8f); - if (_arm_state_machine.isArmed()) { + if (isArmed()) { // Abort autonomous mode and switch to position mode if sticks are moved significantly // but only if actually in air. if (manual_control_setpoint.sticks_moving @@ -2755,7 +2928,7 @@ void Commander::manualControlCheck() if (override_enabled) { // If no failsafe is active, directly change the mode, otherwise pass the request to the failsafe state machine if (_failsafe.selectedAction() <= FailsafeBase::Action::Warn) { - if (_user_mode_intention.change(vehicle_status_s::NAVIGATION_STATE_POSCTL, true)) { + if (_user_mode_intention.change(vehicle_status_s::NAVIGATION_STATE_POSCTL, ModeChangeSource::User, true)) { tune_positive(true); mavlink_log_info(&_mavlink_log_pub, "Pilot took over using sticks\t"); events::send(events::ID("commander_rc_override"), events::Log::Info, "Pilot took over using sticks"); @@ -2772,7 +2945,7 @@ void Commander::manualControlCheck() // if there's never been a mode change force position control as initial state if (!_user_mode_intention.everHadModeChange() && (is_mavlink || !_mode_switch_mapped)) { - _user_mode_intention.change(vehicle_status_s::NAVIGATION_STATE_POSCTL, false, true); + _user_mode_intention.change(vehicle_status_s::NAVIGATION_STATE_POSCTL, ModeChangeSource::User, false, true); } } } @@ -2794,10 +2967,9 @@ void Commander::send_parachute_command() vcmd.command = vehicle_command_s::VEHICLE_CMD_DO_PARACHUTE; vcmd.param1 = static_cast(vehicle_command_s::PARACHUTE_ACTION_RELEASE); - uORB::SubscriptionData vehicle_status_sub{ORB_ID(vehicle_status)}; - vcmd.source_system = vehicle_status_sub.get().system_id; - vcmd.target_system = vehicle_status_sub.get().system_id; - vcmd.source_component = vehicle_status_sub.get().component_id; + vcmd.source_system = _vehicle_status.system_id; + vcmd.target_system = _vehicle_status.system_id; + vcmd.source_component = _vehicle_status.component_id; vcmd.target_component = 161; // MAV_COMP_ID_PARACHUTE uORB::Publication vcmd_pub{ORB_ID(vehicle_command)}; @@ -2835,7 +3007,7 @@ The commander module contains the state machine for mode switching and failsafe PRINT_MODULE_USAGE_COMMAND("land"); PRINT_MODULE_USAGE_COMMAND_DESCR("transition", "VTOL transition"); PRINT_MODULE_USAGE_COMMAND_DESCR("mode", "Change flight mode"); - PRINT_MODULE_USAGE_ARG("manual|acro|offboard|stabilized|altctl|posctl|auto:mission|auto:loiter|auto:rtl|auto:takeoff|auto:land|auto:precland", + PRINT_MODULE_USAGE_ARG("manual|acro|offboard|stabilized|altctl|posctl|position:slow|auto:mission|auto:loiter|auto:rtl|auto:takeoff|auto:land|auto:precland|ext1", "Flight mode", false); PRINT_MODULE_USAGE_COMMAND("pair"); PRINT_MODULE_USAGE_COMMAND("lockdown"); diff --git a/src/modules/commander/Commander.hpp b/src/modules/commander/Commander.hpp index 3678b9ea9d77..6dddf0777f4d 100644 --- a/src/modules/commander/Commander.hpp +++ b/src/modules/commander/Commander.hpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2017-2022 PX4 Development Team. All rights reserved. + * Copyright (c) 2017-2023 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -34,14 +34,15 @@ #pragma once /* Helper classes */ -#include "Arming/ArmStateMachine/ArmStateMachine.hpp" -#include "failure_detector/FailureDetector.hpp" #include "failsafe/failsafe.h" -#include "Safety.hpp" -#include "worker_thread.hpp" +#include "failure_detector/FailureDetector.hpp" #include "HealthAndArmingChecks/HealthAndArmingChecks.hpp" #include "HomePosition.hpp" +#include "ModeManagement.hpp" +#include "MulticopterThrowLaunch/MulticopterThrowLaunch.hpp" +#include "Safety.hpp" #include "UserModeIntention.hpp" +#include "worker_thread.hpp" #include #include @@ -81,12 +82,19 @@ #include #include #include -#include #include using math::constrain; using systemlib::Hysteresis; +typedef enum { + TRANSITION_DENIED = -1, + TRANSITION_NOT_CHANGED = 0, + TRANSITION_CHANGED +} transition_result_t; + +using arm_disarm_reason_t = events::px4::enums::arm_disarm_reason_t; + using namespace time_literals; class Commander : public ModuleBase, public ModuleParams @@ -116,6 +124,9 @@ class Commander : public ModuleBase, public ModuleParams void enable_hil(); private: + bool isArmed() const { return (_vehicle_status.arming_state == vehicle_status_s::ARMING_STATE_ARMED); } + static ModeChangeSource getSourceFromCommand(const vehicle_command_s &cmd); + void answer_command(const vehicle_command_s &cmd, uint8_t result); transition_result_t arm(arm_disarm_reason_t calling_reason, bool run_preflight_checks = true); @@ -153,8 +164,6 @@ class Commander : public ModuleBase, public ModuleParams void updateControlMode(); - bool shutdownIfAllowed(); - void send_parachute_command(); void checkForMissionUpdate(); @@ -167,6 +176,10 @@ class Commander : public ModuleBase, public ModuleParams void safetyButtonUpdate(); + bool isThrowLaunchInProgress() const; + + void throwLaunchUpdate(); + void vtolStatusUpdate(); void updateTunes(); @@ -183,6 +196,10 @@ class Commander : public ModuleBase, public ModuleParams void checkAndInformReadyForTakeoff(); + void handleCommandsFromModeExecutors(); + + void modeManagementUpdate(); + enum class PrearmedMode { DISABLED = 0, SAFETY_BUTTON = 1, @@ -196,21 +213,26 @@ class Commander : public ModuleBase, public ModuleParams /* Decouple update interval and hysteresis counters, all depends on intervals */ static constexpr uint64_t COMMANDER_MONITORING_INTERVAL{10_ms}; - static constexpr uint64_t INAIR_RESTART_HOLDOFF_INTERVAL{500_ms}; vehicle_status_s _vehicle_status{}; - ArmStateMachine _arm_state_machine{}; Failsafe _failsafe_instance{this}; FailsafeBase &_failsafe{_failsafe_instance}; FailureDetector _failure_detector{this}; HealthAndArmingChecks _health_and_arming_checks{this, _vehicle_status}; + MulticopterThrowLaunch _multicopter_throw_launch{this}; Safety _safety{}; - UserModeIntention _user_mode_intention{this, _vehicle_status, _health_and_arming_checks}; WorkerThread _worker_thread{}; + ModeManagement _mode_management{ +#ifndef CONSTRAINED_FLASH + _health_and_arming_checks.externalChecks() +#endif + }; + UserModeIntention _user_mode_intention {this, _vehicle_status, _health_and_arming_checks, &_mode_management}; const failsafe_flags_s &_failsafe_flags{_health_and_arming_checks.failsafeFlags()}; HomePosition _home_position{_failsafe_flags}; + config_overrides_s _config_overrides{}; Hysteresis _auto_disarm_landed{false}; @@ -224,8 +246,9 @@ class Commander : public ModuleBase, public ModuleParams hrt_abstime _last_print_mode_reject_time{0}; ///< To remember when last notification was sent - hrt_abstime _high_latency_datalink_heartbeat{0}; + hrt_abstime _high_latency_datalink_timestamp{0}; hrt_abstime _high_latency_datalink_lost{0}; + hrt_abstime _high_latency_datalink_regained{0}; hrt_abstime _boot_timestamp{0}; hrt_abstime _last_disarmed_timestamp{0}; @@ -242,9 +265,6 @@ class Commander : public ModuleBase, public ModuleParams bool _failsafe_user_override_request{false}; ///< override request due to stick movements - bool _flight_termination_triggered{false}; - bool _lockdown_triggered{false}; - bool _open_drone_id_system_lost{true}; bool _avoidance_system_lost{false}; bool _onboard_controller_lost{false}; @@ -257,7 +277,6 @@ class Commander : public ModuleBase, public ModuleParams bool _is_throttle_low{false}; bool _arm_tune_played{false}; - bool _was_armed{false}; bool _have_taken_off_since_arming{false}; bool _status_changed{true}; @@ -275,6 +294,7 @@ class Commander : public ModuleBase, public ModuleParams uORB::Subscription _manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)}; uORB::Subscription _system_power_sub{ORB_ID(system_power)}; uORB::Subscription _vehicle_command_sub{ORB_ID(vehicle_command)}; + uORB::Subscription _vehicle_command_mode_executor_sub{ORB_ID(vehicle_command_mode_executor)}; uORB::Subscription _vehicle_land_detected_sub{ORB_ID(vehicle_land_detected)}; uORB::Subscription _vtol_vehicle_status_sub{ORB_ID(vtol_vehicle_status)}; @@ -294,6 +314,7 @@ class Commander : public ModuleBase, public ModuleParams uORB::Publication _actuator_test_pub{ORB_ID(actuator_test)}; uORB::Publication _failure_detector_status_pub{ORB_ID(failure_detector_status)}; uORB::Publication _vehicle_command_ack_pub{ORB_ID(vehicle_command_ack)}; + uORB::Publication _vehicle_command_pub{ORB_ID(vehicle_command)}; uORB::Publication _vehicle_control_mode_pub{ORB_ID(vehicle_control_mode)}; uORB::Publication _vehicle_status_pub{ORB_ID(vehicle_status)}; @@ -303,15 +324,14 @@ class Commander : public ModuleBase, public ModuleParams perf_counter_t _preflight_check_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": preflight check")}; // optional parameters - param_t _param_mav_comp_id{PARAM_INVALID}; - param_t _param_mav_sys_id{PARAM_INVALID}; param_t _param_mav_type{PARAM_INVALID}; param_t _param_rc_map_fltmode{PARAM_INVALID}; DEFINE_PARAMETERS( (ParamFloat) _param_com_disarm_land, - (ParamFloat) _param_com_disarm_preflight, + (ParamFloat) _param_com_disarm_prflt, + (ParamBool) _param_com_disarm_man, (ParamInt) _param_com_dl_loss_t, (ParamInt) _param_com_hldl_loss_t, (ParamInt) _param_com_hldl_reg_t, @@ -325,8 +345,8 @@ class Commander : public ModuleBase, public ModuleParams (ParamFloat) _param_com_obc_loss_t, (ParamInt) _param_com_prearm_mode, (ParamInt) _param_com_rc_override, - (ParamInt) _param_flight_uuid, - (ParamInt) _param_takeoff_finished_action, + (ParamInt) _param_com_flight_uuid, + (ParamInt) _param_com_takeoff_act, (ParamFloat) _param_com_cpu_max ) }; diff --git a/src/modules/commander/HealthAndArmingChecks/CMakeLists.txt b/src/modules/commander/HealthAndArmingChecks/CMakeLists.txt index fb5bcc802532..7265e042b4c0 100644 --- a/src/modules/commander/HealthAndArmingChecks/CMakeLists.txt +++ b/src/modules/commander/HealthAndArmingChecks/CMakeLists.txt @@ -34,33 +34,40 @@ px4_add_library(health_and_arming_checks Common.cpp HealthAndArmingChecks.cpp - checks/systemCheck.cpp - checks/magnetometerCheck.cpp + checks/accelerometerCheck.cpp - checks/gyroCheck.cpp - checks/baroCheck.cpp - checks/imuConsistencyCheck.cpp checks/airspeedCheck.cpp + checks/armPermissionCheck.cpp + checks/baroCheck.cpp + checks/batteryCheck.cpp + checks/cpuResourceCheck.cpp checks/distanceSensorChecks.cpp checks/escCheck.cpp - checks/rcCalibrationCheck.cpp - checks/powerCheck.cpp checks/estimatorCheck.cpp checks/failureDetectorCheck.cpp - checks/manualControlCheck.cpp - checks/modeCheck.cpp - checks/cpuResourceCheck.cpp - checks/sdcardCheck.cpp - checks/parachuteCheck.cpp - checks/batteryCheck.cpp - checks/windCheck.cpp + checks/flightTimeCheck.cpp checks/geofenceCheck.cpp + checks/gyroCheck.cpp checks/homePositionCheck.cpp - checks/flightTimeCheck.cpp + checks/imuConsistencyCheck.cpp + checks/loggerCheck.cpp + checks/magnetometerCheck.cpp + checks/manualControlCheck.cpp checks/missionCheck.cpp + checks/modeCheck.cpp + checks/navigatorCheck.cpp + checks/offboardCheck.cpp + checks/openDroneIDCheck.cpp + checks/parachuteCheck.cpp + checks/powerCheck.cpp checks/rcAndDataLinkCheck.cpp + checks/rcCalibrationCheck.cpp + checks/sdcardCheck.cpp + checks/systemCheck.cpp checks/vtolCheck.cpp - checks/offboardCheck.cpp + checks/windCheck.cpp + + checks/externalChecks.cpp ) add_dependencies(health_and_arming_checks mode_util) diff --git a/src/modules/commander/HealthAndArmingChecks/Common.cpp b/src/modules/commander/HealthAndArmingChecks/Common.cpp index ad9943e21fc3..796427180fee 100644 --- a/src/modules/commander/HealthAndArmingChecks/Common.cpp +++ b/src/modules/commander/HealthAndArmingChecks/Common.cpp @@ -87,6 +87,30 @@ Report::EventBufferHeader *Report::addEventToBuffer(uint32_t event_id, const eve return header; } +bool Report::addExternalEvent(const event_s &event, NavModes modes) +{ + unsigned args_size = sizeof(event.arguments); + + // trim 0's + while (args_size > 0 && event.arguments[args_size - 1] == '\0') { + --args_size; + } + + unsigned total_size = sizeof(EventBufferHeader) + args_size; + + if (total_size > sizeof(_event_buffer) - _next_buffer_idx) { + _buffer_overflowed = true; + return false; + } + + events::LogLevels log_levels{events::externalLogLevel(event.log_levels), events::internalLogLevel((event.log_levels))}; + memcpy(_event_buffer + _next_buffer_idx + sizeof(EventBufferHeader), &event.arguments, args_size); + addEventToBuffer(event.id, log_levels, (uint32_t)modes, args_size); + return true; +} + + + NavModes Report::reportedModes(NavModes required_modes) { // Make sure optional checks are still shown in the UI @@ -260,7 +284,7 @@ bool Report::report(bool is_armed, bool force) // send all events int offset = 0; - events::EventType event; + event_s event; for (int i = 0; i < max_num_events && offset < _next_buffer_idx; ++i) { EventBufferHeader *header = (EventBufferHeader *)(_event_buffer + offset); diff --git a/src/modules/commander/HealthAndArmingChecks/Common.hpp b/src/modules/commander/HealthAndArmingChecks/Common.hpp index b0fb2b5dd85d..da7c5c296509 100644 --- a/src/modules/commander/HealthAndArmingChecks/Common.hpp +++ b/src/modules/commander/HealthAndArmingChecks/Common.hpp @@ -249,8 +249,8 @@ class Report void clearArmingBits(NavModes modes); /** - * Clear can_run bits for certain modes. This will prevent mode switching and trigger failsafe if the - * mode is being run. + * Clear can_run bits for certain modes. This will prevent mode switching. + * For failsafe use the mode requirements instead, which then will clear the can_run bits. * @param modes affected modes */ void clearCanRunBits(NavModes modes); @@ -259,6 +259,8 @@ class Report const ArmingCheckResults &armingCheckResults() const { return _results[_current_result].arming_checks; } bool modePreventsArming(uint8_t nav_state) const { return _failsafe_flags.mode_req_prevent_arming & (1u << nav_state); } + + bool addExternalEvent(const event_s &event, NavModes modes); private: /** @@ -307,6 +309,7 @@ class Report NavModes getModeGroup(uint8_t nav_state) const; friend class HealthAndArmingChecks; + friend class ExternalChecks; FRIEND_TEST(ReporterTest, basic_no_checks); FRIEND_TEST(ReporterTest, basic_fail_all_modes); FRIEND_TEST(ReporterTest, arming_checks_mode_category); @@ -373,7 +376,7 @@ bool Report::addEvent(uint32_t event_id, const events::LogLevels &log_levels, co Args... args) { constexpr unsigned args_size = events::util::sizeofArguments(modes, args...); - static_assert(args_size <= sizeof(events::EventType::arguments), "Too many arguments"); + static_assert(args_size <= sizeof(event_s::arguments), "Too many arguments"); unsigned total_size = sizeof(EventBufferHeader) + args_size; if (total_size > sizeof(_event_buffer) - _next_buffer_idx) { diff --git a/src/modules/commander/HealthAndArmingChecks/HealthAndArmingChecks.hpp b/src/modules/commander/HealthAndArmingChecks/HealthAndArmingChecks.hpp index c094c65ebb25..fdf38f5d5d77 100644 --- a/src/modules/commander/HealthAndArmingChecks/HealthAndArmingChecks.hpp +++ b/src/modules/commander/HealthAndArmingChecks/HealthAndArmingChecks.hpp @@ -42,14 +42,17 @@ #include "checks/accelerometerCheck.hpp" #include "checks/airspeedCheck.hpp" +#include "checks/armPermissionCheck.hpp" #include "checks/baroCheck.hpp" #include "checks/cpuResourceCheck.hpp" #include "checks/distanceSensorChecks.hpp" #include "checks/escCheck.hpp" #include "checks/estimatorCheck.hpp" #include "checks/failureDetectorCheck.hpp" +#include "checks/navigatorCheck.hpp" #include "checks/gyroCheck.hpp" #include "checks/imuConsistencyCheck.hpp" +#include "checks/loggerCheck.hpp" #include "checks/magnetometerCheck.hpp" #include "checks/manualControlCheck.hpp" #include "checks/homePositionCheck.hpp" @@ -67,6 +70,8 @@ #include "checks/rcAndDataLinkCheck.hpp" #include "checks/vtolCheck.hpp" #include "checks/offboardCheck.hpp" +#include "checks/openDroneIDCheck.hpp" +#include "checks/externalChecks.hpp" class HealthAndArmingChecks : public ModuleParams { @@ -99,6 +104,10 @@ class HealthAndArmingChecks : public ModuleParams const failsafe_flags_s &failsafeFlags() const { return _failsafe_flags; } +#ifndef CONSTRAINED_FLASH + ExternalChecks &externalChecks() { return _external_checks; } +#endif + protected: void updateParams() override; private: @@ -114,18 +123,22 @@ class HealthAndArmingChecks : public ModuleParams // all checks AccelerometerChecks _accelerometer_checks; AirspeedChecks _airspeed_checks; + ArmPermissionChecks _arm_permission_checks; BaroChecks _baro_checks; CpuResourceChecks _cpu_resource_checks; DistanceSensorChecks _distance_sensor_checks; EscChecks _esc_checks; EstimatorChecks _estimator_checks; FailureDetectorChecks _failure_detector_checks; + NavigatorChecks _navigator_checks; GyroChecks _gyro_checks; ImuConsistencyChecks _imu_consistency_checks; + LoggerChecks _logger_checks; MagnetometerChecks _magnetometer_checks; ManualControlChecks _manual_control_checks; HomePositionChecks _home_position_checks; ModeChecks _mode_checks; + OpenDroneIDChecks _open_drone_id_checks; ParachuteChecks _parachute_checks; PowerChecks _power_checks; RcCalibrationChecks _rc_calibration_checks; @@ -139,24 +152,34 @@ class HealthAndArmingChecks : public ModuleParams RcAndDataLinkChecks _rc_and_data_link_checks; VtolChecks _vtol_checks; OffboardChecks _offboard_checks; - - HealthAndArmingCheckBase *_checks[30] = { +#ifndef CONSTRAINED_FLASH + ExternalChecks _external_checks; +#endif + + HealthAndArmingCheckBase *_checks[40] = { +#ifndef CONSTRAINED_FLASH + &_external_checks, +#endif &_accelerometer_checks, &_airspeed_checks, + &_arm_permission_checks, &_baro_checks, &_cpu_resource_checks, &_distance_sensor_checks, &_esc_checks, &_estimator_checks, &_failure_detector_checks, + &_navigator_checks, &_gyro_checks, &_imu_consistency_checks, + &_logger_checks, &_magnetometer_checks, &_manual_control_checks, &_home_position_checks, &_mission_checks, &_offboard_checks, // must be after _estimator_checks - &_mode_checks, // must be after _estimator_checks, _home_position_checks, _mission_checks, _offboard_checks + &_mode_checks, // must be after _estimator_checks, _home_position_checks, _mission_checks, _offboard_checks, _external_checks + &_open_drone_id_checks, &_parachute_checks, &_power_checks, &_rc_calibration_checks, @@ -170,4 +193,3 @@ class HealthAndArmingChecks : public ModuleParams &_vtol_checks, }; }; - diff --git a/src/modules/commander/HealthAndArmingChecks/HealthAndArmingChecksTest.cpp b/src/modules/commander/HealthAndArmingChecks/HealthAndArmingChecksTest.cpp index bc919080bf56..c06886320563 100644 --- a/src/modules/commander/HealthAndArmingChecks/HealthAndArmingChecksTest.cpp +++ b/src/modules/commander/HealthAndArmingChecks/HealthAndArmingChecksTest.cpp @@ -55,7 +55,7 @@ class ReporterTest : public ::testing::Test void SetUp() override { // ensure topic exists, otherwise we might lose first queued events - orb_advertise_queue(ORB_ID(event), nullptr, event_s::ORB_QUEUE_LENGTH); + orb_advertise(ORB_ID(event), nullptr); } }; @@ -285,4 +285,3 @@ TEST_F(ReporterTest, reporting_multiple) } } } - diff --git a/src/modules/commander/HealthAndArmingChecks/checks/airspeedCheck.cpp b/src/modules/commander/HealthAndArmingChecks/checks/airspeedCheck.cpp index 2d65182c19fd..a9af3ff0542d 100644 --- a/src/modules/commander/HealthAndArmingChecks/checks/airspeedCheck.cpp +++ b/src/modules/commander/HealthAndArmingChecks/checks/airspeedCheck.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2019 PX4 Development Team. All rights reserved. + * Copyright (c) 2019-2023 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -37,24 +37,20 @@ using namespace time_literals; AirspeedChecks::AirspeedChecks() - : _param_fw_arsp_mode_handle(param_find("FW_ARSP_MODE")), _param_fw_airspd_max_handle(param_find("FW_AIRSPD_MAX")) + : _param_fw_airspd_max_handle(param_find("FW_AIRSPD_MAX")) { } void AirspeedChecks::checkAndReport(const Context &context, Report &reporter) { - if (circuit_breaker_enabled_by_val(_param_cbrk_airspd_chk.get(), CBRK_AIRSPD_CHK_KEY) || + if (_param_sys_has_num_aspd.get() <= 0 || (context.status().vehicle_type != vehicle_status_s::VEHICLE_TYPE_FIXED_WING && !context.status().is_vtol)) { return; } - int32_t airspeed_mode = 0; - param_get(_param_fw_arsp_mode_handle, &airspeed_mode); - const bool optional = (airspeed_mode == 1); - airspeed_validated_s airspeed_validated; - if (_airspeed_validated_sub.copy(&airspeed_validated) && hrt_elapsed_time(&airspeed_validated.timestamp) < 1_s) { + if (_airspeed_validated_sub.copy(&airspeed_validated) && hrt_elapsed_time(&airspeed_validated.timestamp) < 2_s) { reporter.setIsPresent(health_component_t::differential_pressure); @@ -79,8 +75,7 @@ void AirspeedChecks::checkAndReport(const Context &context, Report &reporter) } } - if (!context.isArmed() && _param_com_arm_arsp_en.get() - && fabsf(airspeed_validated.calibrated_airspeed_m_s) > arming_max_airspeed_allowed) { + if (!context.isArmed() && fabsf(airspeed_validated.calibrated_airspeed_m_s) > arming_max_airspeed_allowed) { /* EVENT * @description * Current airspeed reading too high. Check if wind is below maximum airspeed and redo airspeed @@ -89,7 +84,7 @@ void AirspeedChecks::checkAndReport(const Context &context, Report &reporter) * * Measured: {1:.1m/s}, limit: {2:.1m/s}. * - * This check can be configured via COM_ARM_ARSP_EN and FW_AIRSPD_MAX parameter. + * This check can be configured via FW_AIRSPD_MAX parameter. * */ reporter.armingCheckFailure(NavModes::None, health_component_t::differential_pressure, @@ -101,13 +96,13 @@ void AirspeedChecks::checkAndReport(const Context &context, Report &reporter) } } - } else if (!optional) { + } else { /* EVENT * @description * * Most likely the airspeed selector module is not running. - * This check can be configured via CBRK_AIRSPD_CHK parameter. + * This check can be configured via SYS_HAS_NUM_ASPD parameter. * */ reporter.healthFailure(NavModes::All, health_component_t::differential_pressure, diff --git a/src/modules/commander/HealthAndArmingChecks/checks/airspeedCheck.hpp b/src/modules/commander/HealthAndArmingChecks/checks/airspeedCheck.hpp index 59aa82bc5200..9b369c73f82a 100644 --- a/src/modules/commander/HealthAndArmingChecks/checks/airspeedCheck.hpp +++ b/src/modules/commander/HealthAndArmingChecks/checks/airspeedCheck.hpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2022 PX4 Development Team. All rights reserved. + * Copyright (c) 2022-2023 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -49,11 +49,9 @@ class AirspeedChecks : public HealthAndArmingCheckBase private: uORB::Subscription _airspeed_validated_sub{ORB_ID(airspeed_validated)}; - const param_t _param_fw_arsp_mode_handle; const param_t _param_fw_airspd_max_handle; DEFINE_PARAMETERS_CUSTOM_PARENT(HealthAndArmingCheckBase, - (ParamInt) _param_cbrk_airspd_chk, - (ParamBool) _param_com_arm_arsp_en + (ParamInt) _param_sys_has_num_aspd ) }; diff --git a/src/modules/commander/HealthAndArmingChecks/checks/armPermissionCheck.cpp b/src/modules/commander/HealthAndArmingChecks/checks/armPermissionCheck.cpp new file mode 100644 index 000000000000..d25cff98d59c --- /dev/null +++ b/src/modules/commander/HealthAndArmingChecks/checks/armPermissionCheck.cpp @@ -0,0 +1,55 @@ +/**************************************************************************** + * + * Copyright (c) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include "armPermissionCheck.hpp" + +void ArmPermissionChecks::checkAndReport(const Context &context, Report &reporter) +{ + if (_param_com_armable.get() < 1) { + /* EVENT + * @description + * Vehicle is in safety configuration and denies arming. + * + * + * This check can be configured via COM_ARMABLE parameter. + * + */ + reporter.armingCheckFailure(NavModes::All, health_component_t::system, + events::ID("check_armable_configuration"), + events::Log::Error, "Vehicle is in safety configuration"); + + if (reporter.mavlink_log_pub()) { + mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: Vehicle is in safety configuration"); + } + } +} diff --git a/src/modules/commander/HealthAndArmingChecks/checks/armPermissionCheck.hpp b/src/modules/commander/HealthAndArmingChecks/checks/armPermissionCheck.hpp new file mode 100644 index 000000000000..3e64e2c177d5 --- /dev/null +++ b/src/modules/commander/HealthAndArmingChecks/checks/armPermissionCheck.hpp @@ -0,0 +1,50 @@ +/**************************************************************************** + * + * Copyright (c) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#pragma once + +#include "../Common.hpp" + +class ArmPermissionChecks : public HealthAndArmingCheckBase +{ +public: + ArmPermissionChecks() = default; + ~ArmPermissionChecks() = default; + + void checkAndReport(const Context &context, Report &reporter) override; + +private: + DEFINE_PARAMETERS_CUSTOM_PARENT(HealthAndArmingCheckBase, + (ParamInt) _param_com_armable + ) +}; diff --git a/src/modules/commander/HealthAndArmingChecks/checks/batteryCheck.cpp b/src/modules/commander/HealthAndArmingChecks/checks/batteryCheck.cpp index 6f617f272829..5e96c39633fe 100644 --- a/src/modules/commander/HealthAndArmingChecks/checks/batteryCheck.cpp +++ b/src/modules/commander/HealthAndArmingChecks/checks/batteryCheck.cpp @@ -32,6 +32,7 @@ ****************************************************************************/ #include "batteryCheck.hpp" +#include #include @@ -52,7 +53,7 @@ static constexpr const char *battery_fault_reason_str(battery_fault_reason_t bat case battery_fault_reason_t::over_current: return "over current"; - case battery_fault_reason_t::fault_temperature: return "critical temperature"; + case battery_fault_reason_t::over_temperature: return "over temperature"; case battery_fault_reason_t::under_temperature: return "under temperature"; @@ -64,42 +65,31 @@ static constexpr const char *battery_fault_reason_str(battery_fault_reason_t bat case battery_fault_reason_t::hardware_fault: return "hardware fault"; - case battery_fault_reason_t::over_temperature: return "near temperature limit"; + case battery_fault_reason_t::failed_to_arm: return "failed to arm"; } return ""; }; - -using battery_mode_t = events::px4::enums::battery_mode_t; -static_assert(battery_status_s::BATTERY_MODE_COUNT == (static_cast(battery_mode_t::_max) + 1) - , "Battery mode flags mismatch!"); -static constexpr const char *battery_mode_str(battery_mode_t battery_mode) +void BatteryChecks::checkAndReport(const Context &context, Report &reporter) { - switch (battery_mode) { - case battery_mode_t::autodischarging: return "auto discharging"; - - case battery_mode_t::hotswap: return "hot-swap"; - - default: return "unknown"; + if (circuit_breaker_enabled_by_val(_param_cbrk_supply_chk.get(), CBRK_SUPPLY_CHK_KEY)) { + return; } -} - -void BatteryChecks::checkAndReport(const Context &context, Report &reporter) -{ - int battery_required_count = 0; bool battery_has_fault = false; // There are possibly multiple batteries, and we can't know which ones serve which purpose. So the safest // option is to check if ANY of them have a warning, and specifically find which one has the most // urgent warning. uint8_t worst_warning = battery_status_s::BATTERY_WARNING_NONE; + float worst_battery_remaining = 1.f; // To make sure that all connected batteries are being regularly reported, we check which one has the // oldest timestamp. hrt_abstime oldest_update = hrt_absolute_time(); float worst_battery_time_s{NAN}; int num_connected_batteries{0}; + bool is_required_battery_missing{false}; for (auto &battery_sub : _battery_status_subs) { int index = battery_sub.get_instance(); @@ -109,42 +99,36 @@ void BatteryChecks::checkAndReport(const Context &context, Report &reporter) continue; } - if (battery.is_required) { - battery_required_count++; + if (battery.is_required && !battery.connected) { + is_required_battery_missing = true; + /* EVENT + * @description + * Make sure all required batteries are connected. + */ + reporter.healthFailure(NavModes::All, health_component_t::battery, events::ID("check_battery_missing"), + events::Log::Error, "Battery {1} missing", index + 1); + + if (reporter.mavlink_log_pub()) { + mavlink_log_critical(reporter.mavlink_log_pub(), "Battery %i missing\t", index + 1); + } } if (!_last_armed && context.isArmed()) { _battery_connected_at_arming[index] = battery.connected; } - if (context.isArmed()) { + if (context.isArmed() && !battery.connected && _battery_connected_at_arming[index]) { // If disconnected after arming + /* EVENT + */ + reporter.healthFailure(NavModes::All, health_component_t::battery, events::ID("check_battery_disconnected"), + events::Log::Emergency, "Battery {1} disconnected", index + 1); - if (!battery.connected && _battery_connected_at_arming[index]) { // If disconnected after arming - /* EVENT - */ - reporter.healthFailure(NavModes::All, health_component_t::battery, events::ID("check_battery_disconnected"), - events::Log::Emergency, "Battery {1} disconnected", index + 1); - - if (reporter.mavlink_log_pub()) { - mavlink_log_critical(reporter.mavlink_log_pub(), "Battery %i disconnected\t", index + 1); - } - - // trigger a battery failsafe action if a battery disconnects in flight - worst_warning = battery_status_s::BATTERY_WARNING_CRITICAL; + if (reporter.mavlink_log_pub()) { + mavlink_log_critical(reporter.mavlink_log_pub(), "Battery %i disconnected\t", index + 1); } - if (battery.mode != 0) { - /* EVENT - */ - reporter.healthFailure(NavModes::All, health_component_t::battery, - events::ID("check_battery_mode"), - events::Log::Critical, "Battery {1} mode: {2}", index + 1, static_cast(battery.mode)); - - if (reporter.mavlink_log_pub()) { - mavlink_log_critical(reporter.mavlink_log_pub(), "Battery %d is in %s mode!\t", index + 1, - battery_mode_str(static_cast(battery.mode))); - } - } + // trigger a battery failsafe action if a battery disconnects in flight + worst_warning = battery_status_s::BATTERY_WARNING_CRITICAL; } if (battery.connected) { @@ -154,6 +138,10 @@ void BatteryChecks::checkAndReport(const Context &context, Report &reporter) worst_warning = battery.warning; } + if (battery.remaining < worst_battery_remaining) { + worst_battery_remaining = battery.remaining; + } + if (battery.timestamp < oldest_update) { oldest_update = battery.timestamp; } @@ -170,11 +158,10 @@ void BatteryChecks::checkAndReport(const Context &context, Report &reporter) /* EVENT * @description * The battery reported a failure which might be dangerous to fly with. - * Manufacturer error code: {4} */ - reporter.healthFailure + reporter.healthFailure (NavModes::All, health_component_t::battery, events::ID("check_battery_fault"), {events::Log::Emergency, events::LogInternal::Warning}, - "Battery {1}: {2}. {3}", index + 1, static_cast(fault_index), action, battery.custom_faults); + "Battery {1}: {2}. {3}", index + 1, static_cast(fault_index), action); if (reporter.mavlink_log_pub()) { mavlink_log_emergency(reporter.mavlink_log_pub(), "Battery %d: %s. %s \t", index + 1, @@ -195,6 +182,7 @@ void BatteryChecks::checkAndReport(const Context &context, Report &reporter) } if (context.isArmed()) { + // if armed, only allow increase of battery warning severity if (worst_warning > reporter.failsafeFlags().battery_warning) { reporter.failsafeFlags().battery_warning = worst_warning; } @@ -205,18 +193,42 @@ void BatteryChecks::checkAndReport(const Context &context, Report &reporter) if (reporter.failsafeFlags().battery_warning > battery_status_s::BATTERY_WARNING_NONE && reporter.failsafeFlags().battery_warning < battery_status_s::BATTERY_WARNING_FAILED) { - bool critical_or_higher = reporter.failsafeFlags().battery_warning >= battery_status_s::BATTERY_WARNING_CRITICAL; + const bool critical_or_higher = reporter.failsafeFlags().battery_warning >= battery_status_s::BATTERY_WARNING_CRITICAL; NavModes affected_modes = critical_or_higher ? NavModes::All : NavModes::None; events::LogLevel log_level = critical_or_higher ? events::Log::Critical : events::Log::Warning; /* EVENT + * @description + * The battery state of charge of the worst battery is below the warning threshold. + * + * + * This check can be configured via BAT_LOW_THR, BAT_CRIT_THR and BAT_EMERGEN_THR parameters. + * */ reporter.armingCheckFailure(affected_modes, health_component_t::battery, events::ID("check_battery_low"), log_level, "Low battery"); if (reporter.mavlink_log_pub()) { - mavlink_log_emergency(reporter.mavlink_log_pub(), "Preflight Fail: low battery\t"); + mavlink_log_emergency(reporter.mavlink_log_pub(), "Low battery level\t"); } + } else if (!context.isArmed() && _param_arm_battery_level_min.get() > FLT_EPSILON + && worst_battery_remaining < _param_arm_battery_level_min.get()) { + // if not armed, additionally check if the battery is below the separately configurable preflight threshold + /* EVENT + * @description + * The battery state of charge of the worst battery is below the preflight threshold. + * + * + * This check can be configured via COM_ARM_BAT_MIN parameter. + * + */ + reporter.armingCheckFailure(NavModes::All, health_component_t::battery, events::ID("check_battery_preflight_low"), + events::Log::Critical, + "Low battery"); + + if (reporter.mavlink_log_pub()) { + mavlink_log_emergency(reporter.mavlink_log_pub(), "Low battery level\t"); + } } rtlEstimateCheck(context, reporter, worst_battery_time_s); @@ -224,16 +236,17 @@ void BatteryChecks::checkAndReport(const Context &context, Report &reporter) reporter.failsafeFlags().battery_unhealthy = // All connected batteries are regularly being published hrt_elapsed_time(&oldest_update) > 5_s - // There is at least one connected battery (in any slot) - || num_connected_batteries < battery_required_count + // There is a required battery that's missing + || is_required_battery_missing // No currently-connected batteries have any fault || battery_has_fault || reporter.failsafeFlags().battery_warning == battery_status_s::BATTERY_WARNING_FAILED; - if (reporter.failsafeFlags().battery_unhealthy && !battery_has_fault) { // faults are reported above already + if (reporter.failsafeFlags().battery_unhealthy + && !is_required_battery_missing && !battery_has_fault) { // missing batteries and faults are reported above already /* EVENT * @description - * Make sure all batteries are connected and operational. + * Make sure all batteries are operational. */ reporter.healthFailure(NavModes::All, health_component_t::battery, events::ID("check_battery_unhealthy"), events::Log::Error, "Battery unhealthy"); @@ -255,12 +268,16 @@ void BatteryChecks::rtlEstimateCheck(const Context &context, Report &reporter, f rtl_time_estimate_s rtl_time_estimate; // Compare estimate of RTL time to estimate of remaining flight time + // add hysteresis: if already in the condition, only get out of it if the remaining flight time is significantly higher again + const float hysteresis_factor = reporter.failsafeFlags().battery_low_remaining_time ? 1.1f : 1.0f; + reporter.failsafeFlags().battery_low_remaining_time = _rtl_time_estimate_sub.copy(&rtl_time_estimate) - && (hrt_absolute_time() - rtl_time_estimate.timestamp) < 2_s + && (hrt_absolute_time() - rtl_time_estimate.timestamp) < 3_s && rtl_time_estimate.valid && context.isArmed() && PX4_ISFINITE(worst_battery_time_s) - && rtl_time_estimate.safe_time_estimate >= worst_battery_time_s; + && rtl_time_estimate.safe_time_estimate * hysteresis_factor >= worst_battery_time_s; + if (reporter.failsafeFlags().battery_low_remaining_time) { /* EVENT diff --git a/src/modules/commander/HealthAndArmingChecks/checks/batteryCheck.hpp b/src/modules/commander/HealthAndArmingChecks/checks/batteryCheck.hpp index 2d5330f5aee4..64cf1ed5e6ce 100644 --- a/src/modules/commander/HealthAndArmingChecks/checks/batteryCheck.hpp +++ b/src/modules/commander/HealthAndArmingChecks/checks/batteryCheck.hpp @@ -56,4 +56,8 @@ class BatteryChecks : public HealthAndArmingCheckBase bool _last_armed{false}; bool _battery_connected_at_arming[battery_status_s::MAX_INSTANCES] {}; + DEFINE_PARAMETERS_CUSTOM_PARENT(HealthAndArmingCheckBase, + (ParamFloat) _param_arm_battery_level_min, + (ParamInt) _param_cbrk_supply_chk + ) }; diff --git a/src/modules/commander/HealthAndArmingChecks/checks/cpuResourceCheck.cpp b/src/modules/commander/HealthAndArmingChecks/checks/cpuResourceCheck.cpp index 2413bfeda5b5..b433e47ba428 100644 --- a/src/modules/commander/HealthAndArmingChecks/checks/cpuResourceCheck.cpp +++ b/src/modules/commander/HealthAndArmingChecks/checks/cpuResourceCheck.cpp @@ -35,9 +35,18 @@ using namespace time_literals; +CpuResourceChecks::CpuResourceChecks() +{ + _high_cpu_load_hysteresis.set_hysteresis_time_from(false, 2_s); + _high_cpu_load_hysteresis.set_hysteresis_time_from(true, 2_s); +} + void CpuResourceChecks::checkAndReport(const Context &context, Report &reporter) { - if (_param_com_cpu_max.get() < FLT_EPSILON) { + const bool cpu_load_check_enabled = _param_com_cpu_max.get() > FLT_EPSILON; + const bool ram_usage_check_enabled = _param_com_ram_max.get() > FLT_EPSILON; + + if (!cpu_load_check_enabled && !ram_usage_check_enabled) { return; } @@ -48,22 +57,24 @@ void CpuResourceChecks::checkAndReport(const Context &context, Report &reporter) /* EVENT * @description * - * If the system does not provide any CPU load information, use the parameter COM_CPU_MAX - * to disable the check. + * If the system does not provide any CPU and RAM load information, use the parameters COM_CPU_MAX + * and COM_RAM_MAX to disable the checks. * */ reporter.healthFailure(NavModes::All, health_component_t::system, events::ID("check_missing_cpuload"), - events::Log::Error, "No CPU load information"); + events::Log::Error, "No CPU and RAM load information"); if (reporter.mavlink_log_pub()) { - mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: No CPU load information"); + mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: No CPU and RAM load information"); } } else { const float cpuload_percent = cpuload.load * 100.f; + const bool high_cpu_load = cpuload_percent > _param_com_cpu_max.get(); + _high_cpu_load_hysteresis.set_state_and_update(high_cpu_load, hrt_absolute_time()); - if (cpuload_percent > _param_com_cpu_max.get()) { - + // fail check if CPU load is above the threshold for 2 seconds + if (cpu_load_check_enabled && _high_cpu_load_hysteresis.get_state()) { /* EVENT * @description * The CPU load can be reduced for example by disabling unused modules (e.g. mavlink instances) or reducing the gyro update @@ -80,5 +91,26 @@ void CpuResourceChecks::checkAndReport(const Context &context, Report &reporter) mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: CPU load too high: %3.1f%%", (double)cpuload_percent); } } + + const float ram_usage_percent = cpuload.ram_usage * 100.f; + const bool high_ram_usage = ram_usage_percent > _param_com_ram_max.get(); + + if (ram_usage_check_enabled && high_ram_usage) { + /* EVENT + * @description + * The RAM usage can be reduced for example by disabling unused modules (e.g. mavlink instances). + * + * + * The threshold can be adjusted via COM_RAM_MAX parameter. + * + */ + reporter.healthFailure(NavModes::All, health_component_t::system, events::ID("check_ram_usage_too_high"), + events::Log::Error, "RAM usage too high: {1:.1}%", ram_usage_percent); + + if (reporter.mavlink_log_pub()) { + mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: RAM usage too high: %3.1f%%", + (double)ram_usage_percent); + } + } } } diff --git a/src/modules/commander/HealthAndArmingChecks/checks/cpuResourceCheck.hpp b/src/modules/commander/HealthAndArmingChecks/checks/cpuResourceCheck.hpp index c2582d171f55..d95c03d2908d 100644 --- a/src/modules/commander/HealthAndArmingChecks/checks/cpuResourceCheck.hpp +++ b/src/modules/commander/HealthAndArmingChecks/checks/cpuResourceCheck.hpp @@ -35,13 +35,15 @@ #include "../Common.hpp" +#include + #include #include class CpuResourceChecks : public HealthAndArmingCheckBase { public: - CpuResourceChecks() = default; + CpuResourceChecks(); ~CpuResourceChecks() = default; void checkAndReport(const Context &context, Report &reporter) override; @@ -49,7 +51,10 @@ class CpuResourceChecks : public HealthAndArmingCheckBase private: uORB::Subscription _cpuload_sub{ORB_ID(cpuload)}; + systemlib::Hysteresis _high_cpu_load_hysteresis{false}; + DEFINE_PARAMETERS_CUSTOM_PARENT(HealthAndArmingCheckBase, - (ParamFloat) _param_com_cpu_max + (ParamFloat) _param_com_cpu_max, + (ParamFloat) _param_com_ram_max ) }; diff --git a/src/modules/commander/HealthAndArmingChecks/checks/escCheck.cpp b/src/modules/commander/HealthAndArmingChecks/checks/escCheck.cpp index cd7d716b31c8..9554c57a4f62 100644 --- a/src/modules/commander/HealthAndArmingChecks/checks/escCheck.cpp +++ b/src/modules/commander/HealthAndArmingChecks/checks/escCheck.cpp @@ -183,4 +183,3 @@ void EscChecks::checkEscStatus(const Context &context, Report &reporter, const e } } } - diff --git a/src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.cpp b/src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.cpp index 883fec172415..2b7c45318301 100644 --- a/src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.cpp +++ b/src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.cpp @@ -63,6 +63,7 @@ void EstimatorChecks::checkAndReport(const Context &context, Report &reporter) bool pre_flt_fail_innov_heading = false; bool pre_flt_fail_innov_vel_horiz = false; + bool pre_flt_fail_innov_pos_horiz = false; bool missing_data = false; const NavModes required_groups = (NavModes)reporter.failsafeFlags().mode_req_attitude; @@ -90,6 +91,7 @@ void EstimatorChecks::checkAndReport(const Context &context, Report &reporter) if (_estimator_status_sub.copy(&estimator_status)) { pre_flt_fail_innov_heading = estimator_status.pre_flt_fail_innov_heading; pre_flt_fail_innov_vel_horiz = estimator_status.pre_flt_fail_innov_vel_horiz; + pre_flt_fail_innov_pos_horiz = estimator_status.pre_flt_fail_innov_pos_horiz; checkEstimatorStatus(context, reporter, estimator_status, required_groups); checkEstimatorStatusFlags(context, reporter, estimator_status, lpos); @@ -99,7 +101,14 @@ void EstimatorChecks::checkAndReport(const Context &context, Report &reporter) } } - if (missing_data && _param_sys_mc_est_group.get() == 2) { + param_t param_ekf2_en_handle = param_find_no_notification("EKF2_EN"); + int32_t param_ekf2_en = 0; + + if (param_ekf2_en_handle != PARAM_INVALID) { + param_get(param_ekf2_en_handle, ¶m_ekf2_en); + } + + if (missing_data && (param_ekf2_en == 1)) { /* EVENT */ reporter.armingCheckFailure(required_groups, health_component_t::local_position_estimate, @@ -116,8 +125,9 @@ void EstimatorChecks::checkAndReport(const Context &context, Report &reporter) } // set mode requirements - setModeRequirementFlags(context, pre_flt_fail_innov_heading, pre_flt_fail_innov_vel_horiz, lpos, vehicle_gps_position, - reporter.failsafeFlags()); + setModeRequirementFlags(context, pre_flt_fail_innov_heading, pre_flt_fail_innov_vel_horiz, pre_flt_fail_innov_pos_horiz, + lpos, vehicle_gps_position, + reporter.failsafeFlags(), reporter); lowPositionAccuracy(context, reporter, lpos); @@ -159,6 +169,17 @@ void EstimatorChecks::checkEstimatorStatus(const Context &context, Report &repor mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: vertical velocity unstable"); } + } else if (!context.isArmed() && estimator_status.pre_flt_fail_innov_pos_horiz) { + /* EVENT + */ + reporter.armingCheckFailure(required_groups, health_component_t::local_position_estimate, + events::ID("check_estimator_hor_pos_not_stable"), + events::Log::Error, "Horizontal position unstable"); + + if (reporter.mavlink_log_pub()) { + mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: horizontal position unstable"); + } + } else if (!context.isArmed() && estimator_status.pre_flt_fail_innov_height) { /* EVENT */ @@ -184,94 +205,23 @@ void EstimatorChecks::checkEstimatorStatus(const Context &context, Report &repor /* EVENT * @description * + * Measured strength: {1:.3}, expected: {2:.3} ± EKF2_MAG_CHK_STR + * Measured inclination: {3:.3}, expected: {4:.3} ± EKF2_MAG_CHK_INC * This check can be configured via COM_ARM_MAG_STR and EKF2_MAG_CHECK parameters. * */ - reporter.armingCheckFailure(required_groups_mag, health_component_t::local_position_estimate, - events::ID("check_estimator_mag_interference"), - events::Log::Warning, "Strong magnetic interference"); + reporter.armingCheckFailure(required_groups_mag, + health_component_t::local_position_estimate, + events::ID("check_estimator_mag_interference"), + events::Log::Warning, "Strong magnetic interference", + estimator_status.mag_strength_gs, estimator_status.mag_strength_ref_gs, + estimator_status.mag_inclination_deg, estimator_status.mag_inclination_ref_deg); if (reporter.mavlink_log_pub()) { mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: Strong magnetic interference"); } } - // check vertical position innovation test ratio - if (!context.isArmed() && (estimator_status.hgt_test_ratio > _param_com_arm_ekf_hgt.get())) { - /* EVENT - * @description - * - * Test ratio: {1:.3}, limit: {2:.3}. - * - * This check can be configured via COM_ARM_EKF_HGT parameter. - * - */ - reporter.armingCheckFailure(required_groups, health_component_t::local_position_estimate, - events::ID("check_estimator_hgt_est_err"), - events::Log::Error, "Height estimate error", estimator_status.hgt_test_ratio, _param_com_arm_ekf_hgt.get()); - - if (reporter.mavlink_log_pub()) { - mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: height estimate error"); - } - } - - // check velocity innovation test ratio - if (!context.isArmed() && (estimator_status.vel_test_ratio > _param_com_arm_ekf_vel.get())) { - /* EVENT - * @description - * - * Test ratio: {1:.3}, limit: {2:.3}. - * - * This check can be configured via COM_ARM_EKF_VEL parameter. - * - */ - reporter.armingCheckFailure(required_groups, health_component_t::local_position_estimate, - events::ID("check_estimator_vel_est_err"), - events::Log::Error, "Velocity estimate error", estimator_status.vel_test_ratio, _param_com_arm_ekf_vel.get()); - - if (reporter.mavlink_log_pub()) { - mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: velocity estimate error"); - } - } - - // check horizontal position innovation test ratio - if (!context.isArmed() && (estimator_status.pos_test_ratio > _param_com_arm_ekf_pos.get())) { - /* EVENT - * @description - * - * Test ratio: {1:.3}, limit: {2:.3}. - * - * This check can be configured via COM_ARM_EKF_POS parameter. - * - */ - reporter.armingCheckFailure(required_groups, health_component_t::local_position_estimate, - events::ID("check_estimator_pos_est_err"), - events::Log::Error, "Position estimate error", estimator_status.pos_test_ratio, _param_com_arm_ekf_pos.get()); - - if (reporter.mavlink_log_pub()) { - mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: position estimate error"); - } - } - - // check magnetometer innovation test ratio - if (!context.isArmed() && (estimator_status.mag_test_ratio > _param_com_arm_ekf_yaw.get())) { - /* EVENT - * @description - * - * Test ratio: {1:.3}, limit: {2:.3}. - * - * This check can be configured via COM_ARM_EKF_YAW parameter. - * - */ - reporter.armingCheckFailure(required_groups, health_component_t::local_position_estimate, - events::ID("check_estimator_yaw_est_err"), - events::Log::Error, "Yaw estimate error", estimator_status.mag_test_ratio, _param_com_arm_ekf_yaw.get()); - - if (reporter.mavlink_log_pub()) { - mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: Yaw estimate error"); - } - } - // If GPS aiding is required, declare fault condition if the required GPS quality checks are failing if (_param_sys_has_gps.get()) { const bool ekf_gps_fusion = estimator_status.control_mode_flags & (1 << estimator_status_s::CS_GPS); @@ -288,7 +238,9 @@ void EstimatorChecks::checkEstimatorStatus(const Context &context, Report &repor mavlink_log_warning(reporter.mavlink_log_pub(), "GNSS data fusion stopped\t"); } - events::send(events::ID("check_estimator_gnss_fusion_stopped"), {events::Log::Error, events::LogInternal::Info}, + // only report this failure as critical if not already in a local position invalid state + events::Log log_level = reporter.failsafeFlags().local_position_invalid ? events::Log::Info : events::Log::Error; + events::send(events::ID("check_estimator_gnss_fusion_stopped"), {log_level, events::LogInternal::Info}, "GNSS data fusion stopped"); } else if (!_gps_was_fused && ekf_gps_fusion) { @@ -304,6 +256,22 @@ void EstimatorChecks::checkEstimatorStatus(const Context &context, Report &repor _gps_was_fused = ekf_gps_fusion; + if (estimator_status.gps_check_fail_flags & (1 << estimator_status_s::GPS_CHECK_FAIL_SPOOFED)) { + if (!_gnss_spoofed) { + _gnss_spoofed = true; + + if (reporter.mavlink_log_pub()) { + mavlink_log_critical(reporter.mavlink_log_pub(), "GNSS signal spoofed\t"); + } + + events::send(events::ID("check_estimator_gnss_warning_spoofing"), {events::Log::Alert, events::LogInternal::Info}, + "GNSS signal spoofed"); + } + + } else { + _gnss_spoofed = false; + } + if (!context.isArmed() && ekf_gps_check_fail) { NavModes required_groups_gps = required_groups; events::Log log_level = events::Log::Error; @@ -436,6 +404,18 @@ void EstimatorChecks::checkEstimatorStatus(const Context &context, Report &repor events::ID("check_estimator_gps_vert_speed_drift_too_high"), log_level, "GPS Vertical Speed Drift too high"); + } else if (estimator_status.gps_check_fail_flags & (1 << estimator_status_s::GPS_CHECK_FAIL_SPOOFED)) { + message = "Preflight%s: GPS signal spoofed"; + /* EVENT + * @description + * + * This check can be configured via EKF2_GPS_CHECK parameter. + * + */ + reporter.armingCheckFailure(required_groups_gps, health_component_t::gps, + events::ID("check_estimator_gps_spoofed"), + log_level, "GPS signal spoofed"); + } else { if (!ekf_gps_fusion) { // Likely cause unknown @@ -553,19 +533,6 @@ void EstimatorChecks::checkEstimatorStatusFlags(const Context &context, Report & estimator_status_flags_s estimator_status_flags; if (_estimator_status_flags_sub.copy(&estimator_status_flags)) { - - bool dead_reckoning = estimator_status_flags.cs_wind_dead_reckoning - || estimator_status_flags.cs_inertial_dead_reckoning; - - if (!dead_reckoning) { - // position requirements (update if not dead reckoning) - bool gps = estimator_status_flags.cs_gps; - bool optical_flow = estimator_status_flags.cs_opt_flow; - bool vision_position = estimator_status_flags.cs_ev_pos; - - _position_reliant_on_optical_flow = !gps && optical_flow && !vision_position; - } - // Check for a magnetometer fault and notify the user if (estimator_status_flags.cs_mag_fault) { /* EVENT @@ -581,7 +548,7 @@ void EstimatorChecks::checkEstimatorStatusFlags(const Context &context, Report & } } - if (estimator_status_flags.cs_gps_yaw_fault) { + if (estimator_status_flags.cs_gnss_yaw_fault) { /* EVENT * @description * Land now @@ -725,8 +692,9 @@ void EstimatorChecks::lowPositionAccuracy(const Context &context, Report &report } void EstimatorChecks::setModeRequirementFlags(const Context &context, bool pre_flt_fail_innov_heading, - bool pre_flt_fail_innov_vel_horiz, - const vehicle_local_position_s &lpos, const sensor_gps_s &vehicle_gps_position, failsafe_flags_s &failsafe_flags) + bool pre_flt_fail_innov_vel_horiz, bool pre_flt_fail_innov_pos_horiz, + const vehicle_local_position_s &lpos, const sensor_gps_s &vehicle_gps_position, failsafe_flags_s &failsafe_flags, + Report &reporter) { // The following flags correspond to mode requirements, and are reported in the corresponding mode checks vehicle_global_position_s gpos; @@ -739,20 +707,13 @@ void EstimatorChecks::setModeRequirementFlags(const Context &context, bool pre_f // run position and velocity accuracy checks // Check if quality checking of position accuracy and consistency is to be performed - float lpos_eph_threshold_relaxed = _param_com_pos_fs_eph.get(); - - // Set the allowable position uncertainty based on combination of flight and estimator state - // When we are in a operator demanded position control mode and are solely reliant on optical flow, - // do not check position error because it will gradually increase throughout flight and the operator will compensate for the drift - if (_position_reliant_on_optical_flow) { - lpos_eph_threshold_relaxed = INFINITY; - } + const float lpos_eph_threshold = (_param_com_pos_fs_eph.get() < 0) ? INFINITY : _param_com_pos_fs_eph.get(); bool xy_valid = lpos.xy_valid && !_nav_test_failed; bool v_xy_valid = lpos.v_xy_valid && !_nav_test_failed; if (!context.isArmed()) { - if (pre_flt_fail_innov_heading || pre_flt_fail_innov_vel_horiz) { + if (pre_flt_fail_innov_heading || pre_flt_fail_innov_pos_horiz) { xy_valid = false; } @@ -762,13 +723,58 @@ void EstimatorChecks::setModeRequirementFlags(const Context &context, bool pre_f } failsafe_flags.global_position_invalid = - !checkPosVelValidity(now, xy_valid, gpos.eph, _param_com_pos_fs_eph.get(), gpos.timestamp, + !checkPosVelValidity(now, xy_valid, gpos.eph, lpos_eph_threshold, gpos.timestamp, _last_gpos_fail_time_us, !failsafe_flags.global_position_invalid); + // Additional warning if the system is about to enter position-loss failsafe after dead-reckoning period + const float eph_critical = 2.5f * lpos_eph_threshold; // threshold used to trigger the navigation failsafe + const float gpos_critical_warning_thrld = math::max(0.9f * eph_critical, math::max(eph_critical - 10.f, 0.f)); + + estimator_status_flags_s estimator_status_flags; + + if (_estimator_status_flags_sub.copy(&estimator_status_flags)) { + + // only do the following if the estimator status flags are recent (less than 5 seconds old) + if (now - estimator_status_flags.timestamp < 5_s) { + const bool dead_reckoning = estimator_status_flags.cs_inertial_dead_reckoning + || estimator_status_flags.cs_wind_dead_reckoning; + + if (!failsafe_flags.global_position_invalid + && !_nav_failure_imminent_warned + && gpos.eph > gpos_critical_warning_thrld + && dead_reckoning) { + /* EVENT + * @description + * Switch to manual mode recommended. + * + * + * This warning is triggered when the position error estimate is 90% of (or only 10m below) COM_POS_FS_EPH parameter. + * + */ + events::send(events::ID("check_estimator_position_failure_imminent"), {events::Log::Error, events::LogInternal::Info}, + "Estimated position error is approaching the failsafe threshold"); + + if (reporter.mavlink_log_pub()) { + mavlink_log_critical(reporter.mavlink_log_pub(), + "Estimated position error is approaching the failsafe threshold\t"); + } + + _nav_failure_imminent_warned = true; + + } else if (!dead_reckoning) { + _nav_failure_imminent_warned = false; + } + } + } + failsafe_flags.local_position_invalid = - !checkPosVelValidity(now, xy_valid, lpos.eph, _param_com_pos_fs_eph.get(), lpos.timestamp, + !checkPosVelValidity(now, xy_valid, lpos.eph, lpos_eph_threshold, lpos.timestamp, _last_lpos_fail_time_us, !failsafe_flags.local_position_invalid); + + // In some modes we assume that the operator will compensate for the drift so we do not need to check the position error + const float lpos_eph_threshold_relaxed = INFINITY; + failsafe_flags.local_position_invalid_relaxed = !checkPosVelValidity(now, xy_valid, lpos.eph, lpos_eph_threshold_relaxed, lpos.timestamp, _last_lpos_relaxed_fail_time_us, !failsafe_flags.local_position_invalid_relaxed); @@ -855,4 +861,3 @@ bool EstimatorChecks::checkPosVelValidity(const hrt_abstime &now, const bool dat return valid; } - diff --git a/src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.hpp b/src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.hpp index 4dd45cd70eb4..4f61df88670f 100644 --- a/src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.hpp +++ b/src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.hpp @@ -64,12 +64,13 @@ class EstimatorChecks : public HealthAndArmingCheckBase void checkSensorBias(const Context &context, Report &reporter, NavModes required_groups); void checkEstimatorStatusFlags(const Context &context, Report &reporter, const estimator_status_s &estimator_status, const vehicle_local_position_s &lpos); - void checkGps(const Context &context, Report &reporter, const sensor_gps_s &vehicle_gps_position) const; void lowPositionAccuracy(const Context &context, Report &reporter, const vehicle_local_position_s &lpos) const; - void setModeRequirementFlags(const Context &context, bool pre_flt_fail_innov_heading, bool pre_flt_fail_innov_vel_horiz, + + void setModeRequirementFlags(const Context &context, bool pre_flt_fail_innov_heading, + bool pre_flt_fail_innov_vel_horiz, bool pre_flt_fail_innov_pos_horiz, const vehicle_local_position_s &lpos, const sensor_gps_s &vehicle_gps_position, - failsafe_flags_s &failsafe_flags); + failsafe_flags_s &failsafe_flags, Report &reporter); bool checkPosVelValidity(const hrt_abstime &now, const bool data_valid, const float data_accuracy, const float required_accuracy, @@ -99,18 +100,14 @@ class EstimatorChecks : public HealthAndArmingCheckBase bool _nav_test_passed{false}; ///< true if the post takeoff navigation test has passed bool _nav_test_failed{false}; ///< true if the post takeoff navigation test has failed - bool _position_reliant_on_optical_flow{false}; - bool _gps_was_fused{false}; + bool _gnss_spoofed{false}; + + bool _nav_failure_imminent_warned{false}; DEFINE_PARAMETERS_CUSTOM_PARENT(HealthAndArmingCheckBase, - (ParamInt) _param_sys_mc_est_group, (ParamInt) _param_sens_imu_mode, (ParamInt) _param_com_arm_mag_str, - (ParamFloat) _param_com_arm_ekf_hgt, - (ParamFloat) _param_com_arm_ekf_vel, - (ParamFloat) _param_com_arm_ekf_pos, - (ParamFloat) _param_com_arm_ekf_yaw, (ParamBool) _param_com_arm_wo_gps, (ParamBool) _param_sys_has_gps, (ParamFloat) _param_com_pos_fs_eph, diff --git a/src/modules/commander/HealthAndArmingChecks/checks/externalChecks.cpp b/src/modules/commander/HealthAndArmingChecks/checks/externalChecks.cpp new file mode 100644 index 000000000000..8ef3c5cfa966 --- /dev/null +++ b/src/modules/commander/HealthAndArmingChecks/checks/externalChecks.cpp @@ -0,0 +1,339 @@ +/**************************************************************************** + * + * Copyright (c) 2022 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include "externalChecks.hpp" + +static void setOrClearRequirementBits(bool requirement_set, int8_t nav_state, int8_t replaces_nav_state, uint32_t &bits) +{ + if (requirement_set) { + bits |= 1u << nav_state; + } + + if (replaces_nav_state != -1) { + if (requirement_set) { + bits |= 1u << replaces_nav_state; + + } else { + bits &= ~(1u << replaces_nav_state); + } + } +} + +int ExternalChecks::addRegistration(int8_t nav_mode_id, int8_t replaces_nav_state) +{ + int free_registration_index = -1; + + for (int i = 0; i < MAX_NUM_REGISTRATIONS; ++i) { + if (!registrationValid(i)) { + free_registration_index = i; + break; + } + } + + if (free_registration_index != -1) { + _active_registrations_mask |= 1 << free_registration_index; + _registrations[free_registration_index].nav_mode_id = nav_mode_id; + _registrations[free_registration_index].replaces_nav_state = replaces_nav_state; + _registrations[free_registration_index].waiting_for_first_response = true; + _registrations[free_registration_index].num_no_response = 0; + _registrations[free_registration_index].unresponsive = false; + _registrations[free_registration_index].total_num_unresponsive = 0; + + if (!_registrations[free_registration_index].reply) { + _registrations[free_registration_index].reply = new arming_check_reply_s(); + } + } + + return free_registration_index; +} + +bool ExternalChecks::removeRegistration(int registration_id, int8_t nav_mode_id) +{ + if (registration_id < 0 || registration_id >= MAX_NUM_REGISTRATIONS) { + return false; + } + + if (registrationValid(registration_id)) { + if (_registrations[registration_id].nav_mode_id == nav_mode_id) { + _active_registrations_mask &= ~(1u << registration_id); + return true; + } + } + + PX4_ERR("trying to remove inactive external check"); + return false; +} + +bool ExternalChecks::isUnresponsive(int registration_id) +{ + if (registration_id < 0 || registration_id >= MAX_NUM_REGISTRATIONS) { + return false; + } + + if (registrationValid(registration_id)) { + return _registrations[registration_id].unresponsive; + } + + return false; +} + + +void ExternalChecks::checkAndReport(const Context &context, Report &reporter) +{ + checkNonRegisteredModes(context, reporter); + + if (_active_registrations_mask == 0) { + return; + } + + NavModes unresponsive_modes{NavModes::None}; + + for (int reg_idx = 0; reg_idx < MAX_NUM_REGISTRATIONS; ++reg_idx) { + if (!registrationValid(reg_idx) || !_registrations[reg_idx].reply) { + continue; + } + + arming_check_reply_s &reply = *_registrations[reg_idx].reply; + + int8_t nav_mode_id = _registrations[reply.registration_id].nav_mode_id; + + if (_registrations[reply.registration_id].unresponsive) { + + if (nav_mode_id != -1) { + unresponsive_modes = unresponsive_modes | reporter.getModeGroup(nav_mode_id); + setOrClearRequirementBits(true, nav_mode_id, -1, reporter.failsafeFlags().mode_req_other); + } + + } else { + NavModes modes; + + // We distinguish between two cases: + // - external navigation mode: in that case we set the single arming can_run bit for the mode + // - generic external arming check: set all arming bits + if (nav_mode_id == -1) { + modes = NavModes::All; + + } else { + modes = reporter.getModeGroup(nav_mode_id); + + int8_t replaces_nav_state = _registrations[reply.registration_id].replaces_nav_state; + + if (replaces_nav_state != -1) { + modes = modes | reporter.getModeGroup(replaces_nav_state); + // Also clear the arming bits for the replaced mode, as the user intention is always set to the + // replaced mode. + // We only have to clear the bits, as for the internal/replaced mode, the bits are not cleared yet. + } + + if (!reply.can_arm_and_run) { + setOrClearRequirementBits(true, nav_mode_id, replaces_nav_state, reporter.failsafeFlags().mode_req_other); + } + + // Mode requirements + // A replacement mode will also replace the mode requirements of the internal/replaced mode + setOrClearRequirementBits(reply.mode_req_angular_velocity, nav_mode_id, replaces_nav_state, + reporter.failsafeFlags().mode_req_angular_velocity); + setOrClearRequirementBits(reply.mode_req_attitude, nav_mode_id, replaces_nav_state, + reporter.failsafeFlags().mode_req_attitude); + setOrClearRequirementBits(reply.mode_req_local_alt, nav_mode_id, replaces_nav_state, + reporter.failsafeFlags().mode_req_local_alt); + setOrClearRequirementBits(reply.mode_req_local_position, nav_mode_id, replaces_nav_state, + reporter.failsafeFlags().mode_req_local_position); + setOrClearRequirementBits(reply.mode_req_local_position_relaxed, nav_mode_id, replaces_nav_state, + reporter.failsafeFlags().mode_req_local_position_relaxed); + setOrClearRequirementBits(reply.mode_req_global_position, nav_mode_id, replaces_nav_state, + reporter.failsafeFlags().mode_req_global_position); + setOrClearRequirementBits(reply.mode_req_mission, nav_mode_id, replaces_nav_state, + reporter.failsafeFlags().mode_req_mission); + setOrClearRequirementBits(reply.mode_req_home_position, nav_mode_id, replaces_nav_state, + reporter.failsafeFlags().mode_req_home_position); + setOrClearRequirementBits(reply.mode_req_prevent_arming, nav_mode_id, replaces_nav_state, + reporter.failsafeFlags().mode_req_prevent_arming); + setOrClearRequirementBits(reply.mode_req_manual_control, nav_mode_id, replaces_nav_state, + reporter.failsafeFlags().mode_req_manual_control); + } + + if (!reply.can_arm_and_run) { + reporter.clearArmingBits(modes); + } + + if (reply.health_component_index > 0) { + reporter.setHealth((health_component_t)(1ull << reply.health_component_index), + reply.health_component_is_present, reply.health_component_warning, + reply.health_component_error); + } + + for (int i = 0; i < reply.num_events; ++i) { + // set the modes, which is the first argument + memcpy(reply.events[i].arguments, &modes, sizeof(modes)); + + reporter.addExternalEvent(reply.events[i], modes); + } + } + } + + if (unresponsive_modes != NavModes::None) { + /* EVENT + * @description + * The application running the mode might have crashed or the CPU load is too high. + */ + reporter.armingCheckFailure(unresponsive_modes, health_component_t::system, + events::ID("check_external_modes_unresponsive"), + events::Log::Critical, "Mode is unresponsive"); + } + +} + +void ExternalChecks::update() +{ + if (_active_registrations_mask == 0) { + return; + } + + const hrt_abstime now = hrt_absolute_time(); + + // Check for incoming replies + arming_check_reply_s reply; + int max_num_updates = arming_check_reply_s::ORB_QUEUE_LENGTH; + + while (_arming_check_reply_sub.update(&reply) && --max_num_updates >= 0) { + if (reply.registration_id < MAX_NUM_REGISTRATIONS && registrationValid(reply.registration_id) + && _current_request_id == reply.request_id) { + _reply_received_mask |= 1u << reply.registration_id; + _registrations[reply.registration_id].num_no_response = 0; + _registrations[reply.registration_id].waiting_for_first_response = false; + + // Prevent toggling between unresponsive & responsive state + if (_registrations[reply.registration_id].total_num_unresponsive <= 3) { + _registrations[reply.registration_id].unresponsive = false; + } + + if (_registrations[reply.registration_id].reply) { + *_registrations[reply.registration_id].reply = reply; + } + +// PX4_DEBUG("Registration id=%i: %i events", reply.registration_id, reply.num_events); + } + } + + if (_last_update > 0) { + if (_reply_received_mask == _active_registrations_mask) { // Got all responses + // Nothing to do + } else if (now > _last_update + REQUEST_TIMEOUT && !_had_timeout) { // Timeout + _had_timeout = true; + unsigned no_reply = _active_registrations_mask & ~_reply_received_mask; + + for (int i = 0; i < MAX_NUM_REGISTRATIONS; ++i) { + if ((1u << i) & no_reply) { + const int max_num_no_reply = + _registrations[i].waiting_for_first_response ? NUM_NO_REPLY_UNTIL_UNRESPONSIVE_INIT : NUM_NO_REPLY_UNTIL_UNRESPONSIVE; + + if (!_registrations[i].unresponsive && ++_registrations[i].num_no_response > max_num_no_reply) { + // Clear immediately if not a mode + if (_registrations[i].nav_mode_id == -1) { + removeRegistration(i, -1); + PX4_WARN("No response from %i, removing", i); + + } else { + _registrations[i].unresponsive = true; + + if (_registrations[i].total_num_unresponsive < 100) { + ++_registrations[i].total_num_unresponsive; + } + + PX4_WARN("No response from %i, flagging unresponsive", i); + } + } + } + } + } + } + + // Start a new request? + if (now > _last_update + UPDATE_INTERVAL) { + _reply_received_mask = 0; + _last_update = now; + _had_timeout = false; + + // Request the state from all registered components + arming_check_request_s request{}; + request.request_id = ++_current_request_id; + request.timestamp = hrt_absolute_time(); + _arming_check_request_pub.publish(request); + } +} + +void ExternalChecks::setExternalNavStates(uint8_t first_external_nav_state, uint8_t last_external_nav_state) +{ + _first_external_nav_state = first_external_nav_state; + _last_external_nav_state = last_external_nav_state; +} + +void ExternalChecks::checkNonRegisteredModes(const Context &context, Report &reporter) const +{ + // Clear the arming bits for all non-registered external modes. + // But only report if one of them is selected, so we don't need to generate the extra event in most cases. + bool report_mode_not_available = false; + + for (uint8_t external_nav_state = _first_external_nav_state; external_nav_state <= _last_external_nav_state; + ++external_nav_state) { + bool found = false; + + for (int reg_idx = 0; reg_idx < MAX_NUM_REGISTRATIONS; ++reg_idx) { + if (registrationValid(reg_idx) && _registrations[reg_idx].nav_mode_id == external_nav_state) { + found = true; + break; + } + } + + if (!found) { + if (external_nav_state == context.status().nav_state_user_intention) { + report_mode_not_available = true; + } + + reporter.clearArmingBits(reporter.getModeGroup(external_nav_state)); + setOrClearRequirementBits(true, external_nav_state, -1, reporter.failsafeFlags().mode_req_other); + } + } + + if (report_mode_not_available) { + /* EVENT + * @description + * The application running the mode is not started. + */ + reporter.armingCheckFailure(reporter.getModeGroup(context.status().nav_state_user_intention), + health_component_t::system, + events::ID("check_external_modes_unavailable"), + events::Log::Error, "Mode is not registered"); + } +} diff --git a/src/modules/commander/HealthAndArmingChecks/checks/externalChecks.hpp b/src/modules/commander/HealthAndArmingChecks/checks/externalChecks.hpp new file mode 100644 index 000000000000..7129e4620361 --- /dev/null +++ b/src/modules/commander/HealthAndArmingChecks/checks/externalChecks.hpp @@ -0,0 +1,112 @@ +/**************************************************************************** + * + * Copyright (c) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#pragma once + +#include "../Common.hpp" +#include +#include +#include +#include + +static_assert((1ull << arming_check_reply_s::HEALTH_COMPONENT_INDEX_AVOIDANCE) == (uint64_t) + health_component_t::avoidance, "enum definition missmatch"); + +class ExternalChecks : public HealthAndArmingCheckBase +{ +public: + static constexpr int MAX_NUM_REGISTRATIONS = 8; + + ExternalChecks() = default; + ~ExternalChecks() = default; + + void setExternalNavStates(uint8_t first_external_nav_state, uint8_t last_external_nav_state); + + void checkAndReport(const Context &context, Report &reporter) override; + + bool hasFreeRegistrations() const { return _active_registrations_mask != (1u << MAX_NUM_REGISTRATIONS) - 1; } + /** + * Add registration + * @param nav_mode_id associated mode, -1 if none + * @param replaces_nav_state replaced mode, -1 if none + * @return registration id, or -1 + */ + int addRegistration(int8_t nav_mode_id, int8_t replaces_nav_state); + bool removeRegistration(int registration_id, int8_t nav_mode_id); + void update(); + + bool isUnresponsive(int registration_id); + +private: + static constexpr hrt_abstime REQUEST_TIMEOUT = 50_ms; + static constexpr hrt_abstime UPDATE_INTERVAL = 300_ms; + static_assert(REQUEST_TIMEOUT < UPDATE_INTERVAL, "keep timeout < update interval"); + static constexpr int NUM_NO_REPLY_UNTIL_UNRESPONSIVE = 3; ///< Mode timeout = this value * UPDATE_INTERVAL + /// Timeout directly after registering (in some cases ROS can take a while until the subscription gets the first + /// sample, around 800ms was observed) + static constexpr int NUM_NO_REPLY_UNTIL_UNRESPONSIVE_INIT = 10; + + void checkNonRegisteredModes(const Context &context, Report &reporter) const; + + bool registrationValid(int reg_idx) const { return ((1u << reg_idx) & _active_registrations_mask) != 0; } + + struct Registration { + ~Registration() { delete reply; } + + int8_t nav_mode_id{-1}; ///< associated mode, -1 if none + int8_t replaces_nav_state{-1}; + + bool waiting_for_first_response{true}; + uint8_t num_no_response{0}; + bool unresponsive{false}; + uint8_t total_num_unresponsive{0}; + arming_check_reply_s *reply{nullptr}; + }; + + unsigned _active_registrations_mask{0}; + Registration _registrations[MAX_NUM_REGISTRATIONS] {}; + + uint8_t _first_external_nav_state = vehicle_status_s::NAVIGATION_STATE_MAX; + uint8_t _last_external_nav_state = vehicle_status_s::NAVIGATION_STATE_MAX; + + // Current requests (async updates) + hrt_abstime _last_update{0}; + unsigned _reply_received_mask{0}; + bool _had_timeout{false}; + + uint8_t _current_request_id{0}; + + uORB::Subscription _arming_check_reply_sub{ORB_ID(arming_check_reply)}; + + uORB::Publication _arming_check_request_pub{ORB_ID(arming_check_request)}; +}; diff --git a/src/modules/commander/HealthAndArmingChecks/checks/flightTimeCheck.cpp b/src/modules/commander/HealthAndArmingChecks/checks/flightTimeCheck.cpp index d5e122935d1a..adb8a02d7e00 100644 --- a/src/modules/commander/HealthAndArmingChecks/checks/flightTimeCheck.cpp +++ b/src/modules/commander/HealthAndArmingChecks/checks/flightTimeCheck.cpp @@ -38,6 +38,11 @@ void FlightTimeChecks::checkAndReport(const Context &context, Report &reporter) if (_param_com_flt_time_max.get() > FLT_EPSILON && context.status().takeoff_time != 0 && (hrt_absolute_time() - context.status().takeoff_time) > (1_s * _param_com_flt_time_max.get())) { reporter.failsafeFlags().flight_time_limit_exceeded = true; + + if (reporter.mavlink_log_pub()) { + mavlink_log_critical(reporter.mavlink_log_pub(), "Maximum flight time reached\t"); + } + /* EVENT * @description * @@ -48,10 +53,6 @@ void FlightTimeChecks::checkAndReport(const Context &context, Report &reporter) events::ID("check_flight_time_limit"), events::Log::Error, "Maximum flight time reached"); - if (reporter.mavlink_log_pub()) { - mavlink_log_critical(reporter.mavlink_log_pub(), "Maximum flight time reached\t"); - } - } else { reporter.failsafeFlags().flight_time_limit_exceeded = false; } diff --git a/src/modules/commander/HealthAndArmingChecks/checks/geofenceCheck.cpp b/src/modules/commander/HealthAndArmingChecks/checks/geofenceCheck.cpp index ecb3324ab82b..a51985620286 100644 --- a/src/modules/commander/HealthAndArmingChecks/checks/geofenceCheck.cpp +++ b/src/modules/commander/HealthAndArmingChecks/checks/geofenceCheck.cpp @@ -41,26 +41,64 @@ void GeofenceChecks::checkAndReport(const Context &context, Report &reporter) geofence_result = {}; } - reporter.failsafeFlags().primary_geofence_breached = geofence_result.primary_geofence_breached; + const bool any_geofence_triggered = geofence_result.geofence_max_dist_triggered || + geofence_result.geofence_max_alt_triggered || + geofence_result.geofence_custom_fence_triggered; - if (geofence_result.primary_geofence_action != 0 && reporter.failsafeFlags().primary_geofence_breached) { - /* EVENT - * @description - * - * This check can be configured via GF_ACTION parameter. - * - */ - reporter.armingCheckFailure(NavModes::All, health_component_t::system, - events::ID("check_gf_violation"), - events::Log::Error, "Geofence violation: {1}", - (events::px4::enums::geofence_violation_reason_t)geofence_result.geofence_violation_reason); + reporter.failsafeFlags().geofence_breached = any_geofence_triggered; - if (reporter.mavlink_log_pub()) { - mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: Geofence violation"); + if (geofence_result.geofence_action != geofence_result_s::GF_ACTION_NONE && any_geofence_triggered) { + + if (geofence_result.geofence_max_dist_triggered) { + /* EVENT + * @description + * + * This check can be configured via GF_ACTION and GF_MAX_HOR_DIST parameters. + * + */ + reporter.armingCheckFailure(NavModes::All, health_component_t::system, + events::ID("check_gf_violation_max_hor_dist"), + events::Log::Error, "Geofence violation: exceeding maximum distance to Home"); + + if (reporter.mavlink_log_pub()) { + mavlink_log_critical(reporter.mavlink_log_pub(), "Geofence violation: exceeding maximum distance to Home"); + } + } + + if (geofence_result.geofence_max_alt_triggered) { + /* EVENT + * @description + * + * This check can be configured via GF_ACTION and GF_MAX_VER_DIST parameters. + * + */ + reporter.armingCheckFailure(NavModes::All, health_component_t::system, + events::ID("check_gf_violation_max_alt"), + events::Log::Error, "Geofence violation: exceeding maximum altitude above Home"); + + if (reporter.mavlink_log_pub()) { + mavlink_log_critical(reporter.mavlink_log_pub(), "Geofence violation: exceeding maximum altitude above Home"); + } + } + + if (geofence_result.geofence_custom_fence_triggered) { + /* EVENT + * @description + * + * This check can be configured via GF_ACTION parameter. + * + */ + reporter.armingCheckFailure(NavModes::All, health_component_t::system, + events::ID("check_gf_violation_custom_gf"), + events::Log::Error, "Geofence violation: approaching or outside geofence"); + + if (reporter.mavlink_log_pub()) { + mavlink_log_critical(reporter.mavlink_log_pub(), "Geofence violation: approaching or outside geofence"); + } } } - if (geofence_result.primary_geofence_action == geofence_result_s::GF_ACTION_RTL + if (geofence_result.geofence_action == geofence_result_s::GF_ACTION_RTL && reporter.failsafeFlags().home_position_invalid) { /* EVENT * @description diff --git a/src/modules/commander/HealthAndArmingChecks/checks/imuConsistencyCheck.cpp b/src/modules/commander/HealthAndArmingChecks/checks/imuConsistencyCheck.cpp index ca292d7b14da..ce6e8d4412ff 100644 --- a/src/modules/commander/HealthAndArmingChecks/checks/imuConsistencyCheck.cpp +++ b/src/modules/commander/HealthAndArmingChecks/checks/imuConsistencyCheck.cpp @@ -48,13 +48,7 @@ void ImuConsistencyChecks::checkAndReport(const Context &context, Report &report const float accel_inconsistency_m_s_s = imu.accel_inconsistency_m_s_s[i]; - NavModes required_groups = NavModes::None; - if (accel_inconsistency_m_s_s > _param_com_arm_imu_acc.get()) { - required_groups = NavModes::All; - } - - if (accel_inconsistency_m_s_s > _param_com_arm_imu_acc.get() * 0.8f) { /* EVENT * @description * Check the calibration. @@ -66,7 +60,7 @@ void ImuConsistencyChecks::checkAndReport(const Context &context, Report &report * This check can be configured via COM_ARM_IMU_ACC parameter. * */ - reporter.armingCheckFailure(required_groups, health_component_t::accel, + reporter.armingCheckFailure(NavModes::All, health_component_t::accel, events::ID("check_imu_accel_inconsistent"), events::Log::Warning, "Accel {1} inconsistent", i, accel_inconsistency_m_s_s, _param_com_arm_imu_acc.get()); @@ -85,13 +79,7 @@ void ImuConsistencyChecks::checkAndReport(const Context &context, Report &report const float gyro_inconsistency_rad_s = imu.gyro_inconsistency_rad_s[i]; - NavModes required_groups = NavModes::None; - if (gyro_inconsistency_rad_s > _param_com_arm_imu_gyr.get()) { - required_groups = NavModes::All; - } - - if (gyro_inconsistency_rad_s > _param_com_arm_imu_gyr.get() * 0.5f) { /* EVENT * @description * Check the calibration. @@ -103,7 +91,7 @@ void ImuConsistencyChecks::checkAndReport(const Context &context, Report &report * This check can be configured via COM_ARM_IMU_GYR parameter. * */ - reporter.armingCheckFailure(required_groups, health_component_t::gyro, + reporter.armingCheckFailure(NavModes::All, health_component_t::gyro, events::ID("check_imu_gyro_inconsistent"), events::Log::Warning, "Gyro {1} inconsistent", i, gyro_inconsistency_rad_s, _param_com_arm_imu_gyr.get()); diff --git a/src/modules/commander/HealthAndArmingChecks/checks/loggerCheck.cpp b/src/modules/commander/HealthAndArmingChecks/checks/loggerCheck.cpp new file mode 100644 index 000000000000..85bd8909ae3c --- /dev/null +++ b/src/modules/commander/HealthAndArmingChecks/checks/loggerCheck.cpp @@ -0,0 +1,60 @@ +/**************************************************************************** + * + * Copyright (c) 2024 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include "loggerCheck.hpp" + +using namespace time_literals; + +LoggerChecks::LoggerChecks() + : _param_sdlog_mode_handle(param_find("SDLOG_MODE")) +{ + param_get(_param_sdlog_mode_handle, &_sdlog_mode); +} + +void LoggerChecks::checkAndReport(const Context &context, Report &reporter) +{ + bool active = false; + + if (_sdlog_mode >= 0) { + if (_logger_status_sub.advertised()) { + logger_status_s status; + _logger_status_sub.copy(&status); + + if (hrt_elapsed_time(&status.timestamp) < 3_s && status.is_logging) { + active = true; + } + } + } + + reporter.setHealth(health_component_t::logging, active, false, false); +} diff --git a/src/modules/commander/HealthAndArmingChecks/checks/loggerCheck.hpp b/src/modules/commander/HealthAndArmingChecks/checks/loggerCheck.hpp new file mode 100644 index 000000000000..bcc161efcab9 --- /dev/null +++ b/src/modules/commander/HealthAndArmingChecks/checks/loggerCheck.hpp @@ -0,0 +1,54 @@ +/**************************************************************************** + * + * Copyright (c) 2024 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#pragma once + +#include "../Common.hpp" + +#include +#include +#include + +class LoggerChecks : public HealthAndArmingCheckBase +{ +public: + LoggerChecks(); + ~LoggerChecks() = default; + + void checkAndReport(const Context &context, Report &reporter) override; + +private: + uORB::Subscription _logger_status_sub{ORB_ID::logger_status}; + const param_t _param_sdlog_mode_handle; + int32_t _sdlog_mode = -1; +}; diff --git a/src/modules/commander/HealthAndArmingChecks/checks/magnetometerCheck.cpp b/src/modules/commander/HealthAndArmingChecks/checks/magnetometerCheck.cpp index 117a23a2b8d8..6716a8e06ad2 100644 --- a/src/modules/commander/HealthAndArmingChecks/checks/magnetometerCheck.cpp +++ b/src/modules/commander/HealthAndArmingChecks/checks/magnetometerCheck.cpp @@ -50,10 +50,6 @@ void MagnetometerChecks::checkAndReport(const Context &context, Report &reporter bool is_mag_fault = false; const bool is_required = instance == 0 || isMagRequired(instance, is_mag_fault); - if (!is_required) { - continue; - } - const bool exists = _sensor_mag_sub[instance].advertised(); bool is_valid = false; bool is_calibration_valid = false; @@ -83,6 +79,11 @@ void MagnetometerChecks::checkAndReport(const Context &context, Report &reporter reporter.setIsPresent(health_component_t::magnetometer); } + // Do not raise errors if a mag is not required + if (!is_required) { + continue; + } + const bool is_sensor_ok = is_valid && is_calibration_valid && !is_mag_fault; if (!is_sensor_ok) { diff --git a/src/modules/commander/HealthAndArmingChecks/checks/missionCheck.cpp b/src/modules/commander/HealthAndArmingChecks/checks/missionCheck.cpp index fd94fdbf5805..05648c5ce09d 100644 --- a/src/modules/commander/HealthAndArmingChecks/checks/missionCheck.cpp +++ b/src/modules/commander/HealthAndArmingChecks/checks/missionCheck.cpp @@ -56,6 +56,6 @@ void MissionChecks::checkAndReport(const Context &context, Report &reporter) } // This is a mode requirement, no need to report - reporter.failsafeFlags().auto_mission_missing = mission_result.instance_count <= 0; + reporter.failsafeFlags().auto_mission_missing = mission_result.mission_id <= 0; } } diff --git a/src/modules/commander/HealthAndArmingChecks/checks/modeCheck.cpp b/src/modules/commander/HealthAndArmingChecks/checks/modeCheck.cpp index 598531a0da9b..8e3c0e3a5a49 100644 --- a/src/modules/commander/HealthAndArmingChecks/checks/modeCheck.cpp +++ b/src/modules/commander/HealthAndArmingChecks/checks/modeCheck.cpp @@ -58,7 +58,7 @@ void ModeChecks::checkAndReport(const Context &context, Report &reporter) * @description * Wait until the estimator initialized */ - reporter.armingCheckFailure((NavModes)reporter.failsafeFlags().mode_req_attitude, health_component_t::system, + reporter.armingCheckFailure((NavModes)reporter.failsafeFlags().mode_req_attitude, health_component_t::attitude_estimate, events::ID("check_modes_attitude"), events::Log::Critical, "No valid attitude estimate"); reporter.clearCanRunBits((NavModes)reporter.failsafeFlags().mode_req_attitude); @@ -78,7 +78,7 @@ void ModeChecks::checkAndReport(const Context &context, Report &reporter) if (local_position_modes != NavModes::None) { /* EVENT */ - reporter.armingCheckFailure(local_position_modes, health_component_t::system, + reporter.armingCheckFailure(local_position_modes, health_component_t::local_position_estimate, events::ID("check_modes_local_pos"), events::Log::Error, "No valid local position estimate"); reporter.clearCanRunBits(local_position_modes); @@ -87,7 +87,8 @@ void ModeChecks::checkAndReport(const Context &context, Report &reporter) if (reporter.failsafeFlags().global_position_invalid && reporter.failsafeFlags().mode_req_global_position != 0) { /* EVENT */ - reporter.armingCheckFailure((NavModes)reporter.failsafeFlags().mode_req_global_position, health_component_t::system, + reporter.armingCheckFailure((NavModes)reporter.failsafeFlags().mode_req_global_position, + health_component_t::global_position_estimate, events::ID("check_modes_global_pos"), events::Log::Error, "No valid global position estimate"); reporter.clearCanRunBits((NavModes)reporter.failsafeFlags().mode_req_global_position); diff --git a/src/modules/commander/HealthAndArmingChecks/checks/navigatorCheck.cpp b/src/modules/commander/HealthAndArmingChecks/checks/navigatorCheck.cpp new file mode 100644 index 000000000000..2a0245bb1fbd --- /dev/null +++ b/src/modules/commander/HealthAndArmingChecks/checks/navigatorCheck.cpp @@ -0,0 +1,58 @@ +/**************************************************************************** + * + * Copyright (c) 2024 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include "navigatorCheck.hpp" + +void NavigatorChecks::checkAndReport(const Context &context, Report &reporter) +{ + navigator_status_s status; + + if (!_navigator_status_sub.copy(&status)) { + status = {}; + } + + if (context.status().nav_state == status.nav_state) { + + reporter.failsafeFlags().navigator_failure = (status.failure != navigator_status_s::FAILURE_NONE); + + if (status.failure == navigator_status_s::FAILURE_HAGL) { + /* EVENT + */ + reporter.armingCheckFailure(NavModes::All, + health_component_t::system, + events::ID("check_navigator_failure_hagl"), + events::Log::Error, + "Waypoint above maximum height"); + } + } +} diff --git a/src/modules/commander/HealthAndArmingChecks/checks/navigatorCheck.hpp b/src/modules/commander/HealthAndArmingChecks/checks/navigatorCheck.hpp new file mode 100644 index 000000000000..48c6965deaf8 --- /dev/null +++ b/src/modules/commander/HealthAndArmingChecks/checks/navigatorCheck.hpp @@ -0,0 +1,51 @@ +/**************************************************************************** + * + * Copyright (c) 2024 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#pragma once + +#include "../Common.hpp" +#include +#include + + +class NavigatorChecks : public HealthAndArmingCheckBase +{ +public: + NavigatorChecks() = default; + ~NavigatorChecks() = default; + + void checkAndReport(const Context &context, Report &reporter) override; + +private: + uORB::Subscription _navigator_status_sub{ORB_ID(navigator_status)}; +}; diff --git a/src/modules/commander/HealthAndArmingChecks/checks/offboardCheck.cpp b/src/modules/commander/HealthAndArmingChecks/checks/offboardCheck.cpp index c4d2583e7b69..c2e2fb15988b 100644 --- a/src/modules/commander/HealthAndArmingChecks/checks/offboardCheck.cpp +++ b/src/modules/commander/HealthAndArmingChecks/checks/offboardCheck.cpp @@ -48,7 +48,7 @@ void OffboardChecks::checkAndReport(const Context &context, Report &reporter) bool offboard_available = (offboard_control_mode.position || offboard_control_mode.velocity || offboard_control_mode.acceleration || offboard_control_mode.attitude || offboard_control_mode.body_rate - || offboard_control_mode.actuator) && data_is_recent; + || offboard_control_mode.thrust_and_torque || offboard_control_mode.direct_actuator) && data_is_recent; if (offboard_control_mode.position && reporter.failsafeFlags().local_position_invalid) { offboard_available = false; diff --git a/src/modules/commander/HealthAndArmingChecks/checks/openDroneIDCheck.cpp b/src/modules/commander/HealthAndArmingChecks/checks/openDroneIDCheck.cpp new file mode 100644 index 000000000000..bb4847a2c5a3 --- /dev/null +++ b/src/modules/commander/HealthAndArmingChecks/checks/openDroneIDCheck.cpp @@ -0,0 +1,86 @@ +/**************************************************************************** + * + * Copyright (c) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include "openDroneIDCheck.hpp" + + +void OpenDroneIDChecks::checkAndReport(const Context &context, Report &reporter) +{ + // Check to see if the check has been disabled + if (!_param_com_arm_odid.get()) { + return; + } + + NavModes affected_modes{NavModes::None}; + + if (_param_com_arm_odid.get() == 2) { + // disallow arming without the Open Drone ID system + affected_modes = NavModes::All; + } + + if (!context.status().open_drone_id_system_present) { + /* EVENT + * @description + * Open Drone ID system failed to report. Make sure it is setup and installed properly. + * + * + * This check can be configured via COM_ARM_ODID parameter. + * + */ + reporter.armingCheckFailure(affected_modes, health_component_t::open_drone_id, + events::ID("check_open_drone_id_missing"), + events::Log::Error, "Open Drone ID system missing"); + + if (reporter.mavlink_log_pub()) { + mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: Open Drone ID system missing"); + } + + } else if (!context.status().open_drone_id_system_healthy) { + /* EVENT + * @description + * Open Drone ID system reported being unhealthy. + * + * + * This check can be configured via COM_ARM_ODID parameter. + * + */ + reporter.armingCheckFailure(affected_modes, health_component_t::open_drone_id, + events::ID("check_open_drone_id_unhealthy"), + events::Log::Error, "Open Drone ID system not ready"); + + if (reporter.mavlink_log_pub()) { + mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: Open Drone ID system not ready"); + } + + } +} diff --git a/src/modules/commander/HealthAndArmingChecks/checks/openDroneIDCheck.hpp b/src/modules/commander/HealthAndArmingChecks/checks/openDroneIDCheck.hpp new file mode 100644 index 000000000000..ba9da50663c3 --- /dev/null +++ b/src/modules/commander/HealthAndArmingChecks/checks/openDroneIDCheck.hpp @@ -0,0 +1,50 @@ +/**************************************************************************** + * + * Copyright (c) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#pragma once + +#include "../Common.hpp" + +class OpenDroneIDChecks : public HealthAndArmingCheckBase +{ +public: + OpenDroneIDChecks() = default; + ~OpenDroneIDChecks() = default; + + void checkAndReport(const Context &context, Report &reporter) override; + +private: + DEFINE_PARAMETERS_CUSTOM_PARENT(HealthAndArmingCheckBase, + (ParamInt) _param_com_arm_odid + ) +}; diff --git a/src/modules/commander/HealthAndArmingChecks/checks/powerCheck.cpp b/src/modules/commander/HealthAndArmingChecks/checks/powerCheck.cpp index 8b40191c4212..69afd1c12cce 100644 --- a/src/modules/commander/HealthAndArmingChecks/checks/powerCheck.cpp +++ b/src/modules/commander/HealthAndArmingChecks/checks/powerCheck.cpp @@ -74,16 +74,10 @@ void PowerChecks::checkAndReport(const Context &context, Report &reporter) if (!system_power.usb_connected) { float avionics_power_rail_voltage = system_power.voltage5v_v; - const float low_error_threshold = 4.5f; - const float low_warning_threshold = 4.8f; - const float high_warning_threshold = 5.4f; + const float low_error_threshold = 4.7f; + const float high_error_threshold = 5.4f; - if (avionics_power_rail_voltage < low_warning_threshold) { - NavModes affected_groups = NavModes::None; - - if (avionics_power_rail_voltage < low_error_threshold) { - affected_groups = NavModes::All; - } + if (avionics_power_rail_voltage < low_error_threshold) { /* EVENT * @description @@ -93,16 +87,16 @@ void PowerChecks::checkAndReport(const Context &context, Report &reporter) * This check can be configured via CBRK_SUPPLY_CHK parameter. * */ - reporter.healthFailure(affected_groups, health_component_t::system, + reporter.healthFailure(NavModes::All, health_component_t::system, events::ID("check_avionics_power_low"), - events::Log::Error, "Avionics Power low: {1:.2} Volt", avionics_power_rail_voltage, low_warning_threshold); + events::Log::Error, "Avionics Power low: {1:.2} Volt", avionics_power_rail_voltage, low_error_threshold); if (reporter.mavlink_log_pub()) { mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: Avionics Power low: %6.2f Volt", (double)avionics_power_rail_voltage); } - } else if (avionics_power_rail_voltage > high_warning_threshold) { + } else if (avionics_power_rail_voltage > high_error_threshold) { /* EVENT * @description * Check the voltage supply to the FMU, it must be below {2:.2} Volt. @@ -113,7 +107,7 @@ void PowerChecks::checkAndReport(const Context &context, Report &reporter) */ reporter.healthFailure(NavModes::All, health_component_t::system, events::ID("check_avionics_power_high"), - events::Log::Error, "Avionics Power high: {1:.2} Volt", avionics_power_rail_voltage, high_warning_threshold); + events::Log::Error, "Avionics Power high: {1:.2} Volt", avionics_power_rail_voltage, high_error_threshold); if (reporter.mavlink_log_pub()) { mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: Avionics Power high: %6.2f Volt", @@ -142,6 +136,36 @@ void PowerChecks::checkAndReport(const Context &context, Report &reporter) power_module_count, _param_com_power_count.get()); } } + + // Overcurrent detection + if (system_power.hipower_5v_oc) { + /* EVENT + * @description + * Check the power supply + */ + reporter.healthFailure(NavModes::All, health_component_t::system, + events::ID("check_power_oc_hipower"), + events::Log::Error, "Overcurrent detected for the hipower 5V supply"); + } + + if (system_power.periph_5v_oc) { + /* EVENT + * @description + * Check the power supply + */ + reporter.healthFailure(NavModes::All, health_component_t::system, + events::ID("check_power_oc_periph"), + events::Log::Error, "Overcurrent detected for the peripheral 5V supply"); + } + + if (system_power.hipower_5v_oc || system_power.periph_5v_oc) { + if (context.isArmed() && !_overcurrent_warning_sent) { + _overcurrent_warning_sent = true; + events::send(events::ID("check_power_oc_report"), + events::Log::Error, + "5V overcurrent detected, landing advised"); + } + } } } else { diff --git a/src/modules/commander/HealthAndArmingChecks/checks/powerCheck.hpp b/src/modules/commander/HealthAndArmingChecks/checks/powerCheck.hpp index 72ed92839101..b81fadaee062 100644 --- a/src/modules/commander/HealthAndArmingChecks/checks/powerCheck.hpp +++ b/src/modules/commander/HealthAndArmingChecks/checks/powerCheck.hpp @@ -48,6 +48,7 @@ class PowerChecks : public HealthAndArmingCheckBase private: uORB::Subscription _system_power_sub{ORB_ID(system_power)}; + bool _overcurrent_warning_sent{false}; DEFINE_PARAMETERS_CUSTOM_PARENT(HealthAndArmingCheckBase, (ParamInt) _param_cbrk_supply_chk, diff --git a/src/modules/commander/HealthAndArmingChecks/checks/rcAndDataLinkCheck.cpp b/src/modules/commander/HealthAndArmingChecks/checks/rcAndDataLinkCheck.cpp index 660a792f857a..9f09c2a645e4 100644 --- a/src/modules/commander/HealthAndArmingChecks/checks/rcAndDataLinkCheck.cpp +++ b/src/modules/commander/HealthAndArmingChecks/checks/rcAndDataLinkCheck.cpp @@ -51,7 +51,7 @@ void RcAndDataLinkChecks::checkAndReport(const Context &context, Report &reporte if (!reporter.failsafeFlags().manual_control_signal_lost && _last_valid_manual_control_setpoint > 0) { - events::send(events::ID("commander_rc_lost"), {events::Log::Critical, events::LogInternal::Info}, + events::send(events::ID("commander_rc_lost"), {events::Log::Info, events::LogInternal::Info}, "Manual control lost"); } diff --git a/src/modules/commander/HealthAndArmingChecks/checks/rcCalibrationCheck.cpp b/src/modules/commander/HealthAndArmingChecks/checks/rcCalibrationCheck.cpp index 90f210ed6661..e41d3c065355 100644 --- a/src/modules/commander/HealthAndArmingChecks/checks/rcCalibrationCheck.cpp +++ b/src/modules/commander/HealthAndArmingChecks/checks/rcCalibrationCheck.cpp @@ -53,16 +53,16 @@ RcCalibrationChecks::RcCalibrationChecks() char nbuf[20]; for (unsigned i = 0; i < input_rc_s::RC_INPUT_MAX_CHANNELS; i++) { - sprintf(nbuf, "RC%d_MIN", i + 1); + snprintf(nbuf, sizeof(nbuf), "RC%d_MIN", i + 1); _param_handles[i].min = param_find(nbuf); - sprintf(nbuf, "RC%d_TRIM", i + 1); + snprintf(nbuf, sizeof(nbuf), "RC%d_TRIM", i + 1); _param_handles[i].trim = param_find(nbuf); - sprintf(nbuf, "RC%d_MAX", i + 1); + snprintf(nbuf, sizeof(nbuf), "RC%d_MAX", i + 1); _param_handles[i].max = param_find(nbuf); - sprintf(nbuf, "RC%d_DZ", i + 1); + snprintf(nbuf, sizeof(nbuf), "RC%d_DZ", i + 1); _param_handles[i].dz = param_find(nbuf); } diff --git a/src/modules/commander/HealthAndArmingChecks/checks/sdcardCheck.cpp b/src/modules/commander/HealthAndArmingChecks/checks/sdcardCheck.cpp index 1136c3f282f0..89ba247ed27b 100644 --- a/src/modules/commander/HealthAndArmingChecks/checks/sdcardCheck.cpp +++ b/src/modules/commander/HealthAndArmingChecks/checks/sdcardCheck.cpp @@ -122,7 +122,7 @@ void SdCardChecks::checkAndReport(const Context &context, Report &reporter) events::Log::Error, "Crash dumps present on SD card"); if (reporter.mavlink_log_pub()) { - mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: Crash dumps present on SD, vehicle needs service"); + mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: Crash dumps present on SD"); } } diff --git a/src/modules/commander/HealthAndArmingChecks/checks/windCheck.cpp b/src/modules/commander/HealthAndArmingChecks/checks/windCheck.cpp index fd77a752674f..50dad032dc6f 100644 --- a/src/modules/commander/HealthAndArmingChecks/checks/windCheck.cpp +++ b/src/modules/commander/HealthAndArmingChecks/checks/windCheck.cpp @@ -48,22 +48,35 @@ void WindChecks::checkAndReport(const Context &context, Report &reporter) // publish a warning if it's the first since in air or 60s have passed since the last warning const bool warning_timeout_passed = _last_wind_warning == 0 || now - _last_wind_warning > 60_s; + const bool wind_limit_exceeded = _param_com_wind_max.get() > FLT_EPSILON && wind.longerThan(_param_com_wind_max.get()); + reporter.failsafeFlags().wind_limit_exceeded = false; // reset, will be set below if needed - reporter.failsafeFlags().wind_limit_exceeded = _param_com_wind_max.get() > FLT_EPSILON - && wind.longerThan(_param_com_wind_max.get()); + if (_param_com_wind_max_act.get() > 1 && wind_limit_exceeded) { - if (reporter.failsafeFlags().wind_limit_exceeded) { + // only set failsafe flag if the high wind failsafe action is higher than warning + reporter.failsafeFlags().wind_limit_exceeded = true; /* EVENT * @description * - * This check can be configured via COM_WIND_MAX parameter. + * This check can be configured via COM_WIND_MAX and COM_WIND_MAX_ACT parameters. * */ reporter.armingCheckFailure(NavModes::All, health_component_t::system, events::ID("check_wind_too_high"), events::Log::Warning, "Wind speed is above limit ({1:.1m/s})", wind.norm()); + } else if (_param_com_wind_max_act.get() == 1 // warning only + && wind_limit_exceeded + && warning_timeout_passed + && context.status().nav_state != vehicle_status_s::NAVIGATION_STATE_AUTO_RTL + && context.status().nav_state != vehicle_status_s::NAVIGATION_STATE_AUTO_LAND) { + + events::send(events::ID("check_above_wind_limits_warning"), + {events::Log::Warning, events::LogInternal::Warning}, + "Wind speed above limit ({1:.1m/s}), landing advised", wind.norm()); + _last_wind_warning = now; + } else if (_param_com_wind_warn.get() > FLT_EPSILON && wind.longerThan(_param_com_wind_warn.get()) && warning_timeout_passed diff --git a/src/modules/commander/HealthAndArmingChecks/checks/windCheck.hpp b/src/modules/commander/HealthAndArmingChecks/checks/windCheck.hpp index e59c0c309ffa..e8c995e8eb68 100644 --- a/src/modules/commander/HealthAndArmingChecks/checks/windCheck.hpp +++ b/src/modules/commander/HealthAndArmingChecks/checks/windCheck.hpp @@ -52,7 +52,7 @@ class WindChecks : public HealthAndArmingCheckBase DEFINE_PARAMETERS_CUSTOM_PARENT(HealthAndArmingCheckBase, (ParamFloat) _param_com_wind_max, - (ParamFloat) _param_com_wind_warn - + (ParamFloat) _param_com_wind_warn, + (ParamInt) _param_com_wind_max_act ) }; diff --git a/src/modules/commander/HomePosition.cpp b/src/modules/commander/HomePosition.cpp index 0f9766bebbae..4aa341dbcf1c 100644 --- a/src/modules/commander/HomePosition.cpp +++ b/src/modules/commander/HomePosition.cpp @@ -34,6 +34,8 @@ #include "HomePosition.hpp" +#include + #include #include "commander_helper.h" @@ -83,7 +85,8 @@ bool HomePosition::hasMovedFromCurrentHomeLocation() } } - return (home_dist_xy > eph * 2.f) || (home_dist_z > epv * 2.f); + return (home_dist_xy > fmaxf(eph * 2.f, kMinHomePositionChangeEPH)) + || (home_dist_z > fmaxf(epv * 2.f, kMinHomePositionChangeEPV)); } bool HomePosition::setHomePosition(bool force) @@ -129,6 +132,7 @@ bool HomePosition::setHomePosition(bool force) if (updated) { home.timestamp = hrt_absolute_time(); home.manual_home = false; + home.update_count = _home_position_pub.get().update_count + 1U; updated = _home_position_pub.update(home); } @@ -152,10 +156,10 @@ void HomePosition::fillLocalHomePos(home_position_s &home, float x, float y, flo void HomePosition::fillGlobalHomePos(home_position_s &home, const vehicle_global_position_s &gpos) { - fillGlobalHomePos(home, gpos.lat, gpos.lon, gpos.alt); + fillGlobalHomePos(home, gpos.lat, gpos.lon, (double)gpos.alt); } -void HomePosition::fillGlobalHomePos(home_position_s &home, double lat, double lon, float alt) +void HomePosition::fillGlobalHomePos(home_position_s &home, double lat, double lon, double alt) { home.lat = lat; home.lon = lon; @@ -189,10 +193,11 @@ void HomePosition::setInAirHomePosition() ref_pos.reproject(home.x - lpos.x, home.y - lpos.y, home_lat, home_lon); const float home_alt = gpos.alt + home.z; - fillGlobalHomePos(home, home_lat, home_lon, home_alt); + fillGlobalHomePos(home, home_lat, home_lon, (double)home_alt); setHomePosValid(); home.timestamp = hrt_absolute_time(); + home.update_count++; _home_position_pub.update(); } else if (!_failsafe_flags.local_position_invalid && _gps_position_for_home_valid) { @@ -206,11 +211,12 @@ void HomePosition::setInAirHomePosition() double home_lon; ref_pos.reproject(home.x - lpos.x, home.y - lpos.y, home_lat, home_lon); - const float home_alt = _gps_alt + home.z; - fillGlobalHomePos(home, home_lat, home_lon, home_alt); + const double home_alt = _gps_alt + (double)home.z; + fillGlobalHomePos(home, home_lat, home_lon, (double)home_alt); setHomePosValid(); home.timestamp = hrt_absolute_time(); + home.update_count++; _home_position_pub.update(); } @@ -230,6 +236,7 @@ void HomePosition::setInAirHomePosition() fillLocalHomePos(home, home_x, home_y, home_z, NAN); home.timestamp = hrt_absolute_time(); + home.update_count++; _home_position_pub.update(); } @@ -268,6 +275,7 @@ bool HomePosition::setManually(double lat, double lon, float alt, float yaw) home.yaw = yaw; home.timestamp = hrt_absolute_time(); + home.update_count++; _home_position_pub.update(); setHomePosValid(); return true; @@ -304,9 +312,9 @@ void HomePosition::update(bool set_automatically, bool check_if_changed) sensor_gps_s vehicle_gps_position; _vehicle_gps_position_sub.copy(&vehicle_gps_position); - _gps_lat = static_cast(vehicle_gps_position.lat) * 1e-7; - _gps_lon = static_cast(vehicle_gps_position.lon) * 1e-7; - _gps_alt = static_cast(vehicle_gps_position.alt) * 1e-3f; + _gps_lat = vehicle_gps_position.latitude_deg; + _gps_lon = vehicle_gps_position.longitude_deg; + _gps_alt = vehicle_gps_position.altitude_msl_m; _gps_eph = vehicle_gps_position.eph; _gps_epv = vehicle_gps_position.epv; diff --git a/src/modules/commander/HomePosition.hpp b/src/modules/commander/HomePosition.hpp index 8456ddb6b826..07d6b1a63239 100644 --- a/src/modules/commander/HomePosition.hpp +++ b/src/modules/commander/HomePosition.hpp @@ -45,6 +45,8 @@ static constexpr int kHomePositionGPSRequiredFixType = 2; static constexpr float kHomePositionGPSRequiredEPH = 5.f; static constexpr float kHomePositionGPSRequiredEPV = 10.f; static constexpr float kHomePositionGPSRequiredEVH = 1.f; +static constexpr float kMinHomePositionChangeEPH = 1.f; +static constexpr float kMinHomePositionChangeEPV = 1.5f; class HomePosition { @@ -68,7 +70,7 @@ class HomePosition static void fillLocalHomePos(home_position_s &home, const vehicle_local_position_s &lpos); static void fillLocalHomePos(home_position_s &home, float x, float y, float z, float heading); static void fillGlobalHomePos(home_position_s &home, const vehicle_global_position_s &gpos); - static void fillGlobalHomePos(home_position_s &home, double lat, double lon, float alt); + static void fillGlobalHomePos(home_position_s &home, double lat, double lon, double alt); uORB::Subscription _vehicle_gps_position_sub{ORB_ID(vehicle_gps_position)}; @@ -83,7 +85,7 @@ class HomePosition bool _gps_position_for_home_valid{false}; double _gps_lat{0}; double _gps_lon{0}; - float _gps_alt{0.f}; + double _gps_alt{0}; float _gps_eph{0.f}; float _gps_epv{0.f}; }; diff --git a/src/modules/commander/ModeManagement.cpp b/src/modules/commander/ModeManagement.cpp new file mode 100644 index 000000000000..14ba7ba28fa3 --- /dev/null +++ b/src/modules/commander/ModeManagement.cpp @@ -0,0 +1,639 @@ +/**************************************************************************** + * + * Copyright (c) 2022 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#ifndef CONSTRAINED_FLASH + +#include "ModeManagement.hpp" + +#include + +bool ModeExecutors::hasFreeExecutors() const +{ + for (int i = 0; i < MAX_NUM; ++i) { + if (!_mode_executors[i].valid) { + return true; + } + } + + return false; +} + +int ModeExecutors::addExecutor(const ModeExecutors::ModeExecutor &executor) +{ + for (int i = 0; i < MAX_NUM; ++i) { + if (!_mode_executors[i].valid) { + _mode_executors[i] = executor; + _mode_executors[i].valid = true; + return i + FIRST_EXECUTOR_ID; + } + } + + PX4_ERR("logic error"); + return -1; +} + +void ModeExecutors::removeExecutor(int id) +{ + if (valid(id)) { + _mode_executors[id - FIRST_EXECUTOR_ID].valid = false; + } +} + +void ModeExecutors::printStatus(int executor_in_charge) const +{ + for (int i = 0; i < MAX_NUM; ++i) { + if (_mode_executors[i].valid) { + int executor_id = i + FIRST_EXECUTOR_ID; + PX4_INFO("Mode Executor %i: owned nav_state: %i, in charge: %s", executor_id, _mode_executors[i].owned_nav_state, + executor_id == executor_in_charge ? "yes" : "no"); + + } + } +} + +bool Modes::hasFreeExternalModes() const +{ + for (int i = 0; i < MAX_NUM; ++i) { + if (!_modes[i].valid) { + return true; + } + } + + return false; +} + +uint8_t Modes::addExternalMode(const Modes::Mode &mode) +{ + int32_t mode_name_hash = (int32_t)events::util::hash_32_fnv1a_const(mode.name); + + if (mode_name_hash == 0) { // 0 is reserved for unused indexes + mode_name_hash = 1; + } + + // Try to find the index with matching hash (if mode was already registered before), + // so that the same mode always gets the same index (required for RC switch mode assignment) + int first_unused_idx = -1; + int first_invalid_idx = -1; + int matching_idx = -1; + + for (int i = 0; i < MAX_NUM; ++i) { + char hash_param_name[20]; + snprintf(hash_param_name, sizeof(hash_param_name), "COM_MODE%d_HASH", i); + const param_t handle = param_find(hash_param_name); + int32_t current_hash{}; + + if (handle != PARAM_INVALID && param_get(handle, ¤t_hash) == 0) { + if (!_modes[i].valid && current_hash == 0 && first_unused_idx == -1) { + first_unused_idx = i; + } + + if (current_hash == mode_name_hash) { + matching_idx = i; + } + + if (!_modes[i].valid && first_invalid_idx == -1) { + first_invalid_idx = i; + } + } + } + + bool need_to_update_param = false; + int new_mode_idx = -1; + + if (matching_idx != -1) { + // If we found a match, try to use it but check for hash collisions or duplicate mode name + if (_modes[matching_idx].valid) { + // This can happen when restarting modes while armed + PX4_WARN("Mode '%s' already registered (as '%s')", mode.name, _modes[matching_idx].name); + + if (first_unused_idx != -1) { + new_mode_idx = first_unused_idx; + // Do not update the hash + + } else { + // Need to overwrite a hash. Reset it as we can't store duplicate hashes anyway + new_mode_idx = first_invalid_idx; + need_to_update_param = true; + mode_name_hash = 0; + } + + } else { + new_mode_idx = matching_idx; + } + + } else if (first_unused_idx != -1) { + // Mode registers the first time and there's still unused indexes + need_to_update_param = true; + new_mode_idx = first_unused_idx; + + } else { + // Mode registers the first time but all indexes are used so we need to overwrite one + need_to_update_param = true; + new_mode_idx = first_invalid_idx; + } + + if (new_mode_idx != -1 && !_modes[new_mode_idx].valid) { + if (need_to_update_param) { + char hash_param_name[20]; + snprintf(hash_param_name, sizeof(hash_param_name), "COM_MODE%d_HASH", new_mode_idx); + const param_t handle = param_find(hash_param_name); + + if (handle != PARAM_INVALID) { + param_set_no_notification(handle, &mode_name_hash); + } + } + + _modes[new_mode_idx] = mode; + _modes[new_mode_idx].valid = true; + return new_mode_idx + FIRST_EXTERNAL_NAV_STATE; + } + + PX4_ERR("logic error"); + return -1; +} + +bool Modes::removeExternalMode(uint8_t nav_state, const char *name) +{ + if (valid(nav_state) && strncmp(name, _modes[nav_state - FIRST_EXTERNAL_NAV_STATE].name, sizeof(Mode::name)) == 0) { + _modes[nav_state - FIRST_EXTERNAL_NAV_STATE].valid = false; + return true; + } + + PX4_ERR("trying to remove invalid mode %s", name); + return false; +} + +void Modes::printStatus() const +{ + for (int i = Modes::FIRST_EXTERNAL_NAV_STATE; i <= Modes::LAST_EXTERNAL_NAV_STATE; ++i) { + if (valid(i)) { + const Modes::Mode &cur_mode = mode(i); + PX4_INFO("External Mode %i: nav_state: %i, name: %s", i - vehicle_status_s::NAVIGATION_STATE_EXTERNAL1 + 1, i, + cur_mode.name); + + if (cur_mode.replaces_nav_state != Mode::REPLACES_NAV_STATE_NONE + && cur_mode.replaces_nav_state < vehicle_status_s::NAVIGATION_STATE_MAX) { + PX4_INFO(" Replaces mode: %s", mode_util::nav_state_names[cur_mode.replaces_nav_state]); + } + } + } +} + +ModeManagement::ModeManagement(ExternalChecks &external_checks) + : _external_checks(external_checks) +{ + _external_checks.setExternalNavStates(Modes::FIRST_EXTERNAL_NAV_STATE, Modes::LAST_EXTERNAL_NAV_STATE); +} + +void ModeManagement::checkNewRegistrations(UpdateRequest &update_request) +{ + register_ext_component_request_s request; + int max_updates = 5; + + while (!update_request.change_user_intended_nav_state && _register_ext_component_request_sub.update(&request) + && --max_updates >= 0) { + request.name[sizeof(request.name) - 1] = '\0'; + PX4_DEBUG("got registration request: %s %llu, arming: %i mode: %i executor: %i", request.name, request.request_id, + request.register_arming_check, request.register_mode, request.register_mode_executor); + register_ext_component_reply_s reply{}; + reply.mode_executor_id = -1; + reply.mode_id = -1; + reply.arming_check_id = -1; + static_assert(sizeof(request.name) == sizeof(reply.name), "size mismatch"); + memcpy(reply.name, request.name, sizeof(request.name)); + reply.request_id = request.request_id; + reply.px4_ros2_api_version = register_ext_component_request_s::LATEST_PX4_ROS2_API_VERSION; + + // validate + bool request_valid = true; + + if (request.register_mode_executor && !request.register_mode) { + request_valid = false; + } + + if (request.register_mode && !request.register_arming_check) { + request_valid = false; + } + + reply.success = false; + + if (request_valid) { + // check free space + reply.success = true; + + if (request.register_arming_check && !_external_checks.hasFreeRegistrations()) { + PX4_WARN("No free slots for arming checks"); + reply.success = false; + } + + if (request.register_mode) { + if (!_modes.hasFreeExternalModes()) { + PX4_WARN("No free slots for modes"); + reply.success = false; + + } else if (request.enable_replace_internal_mode) { + // Check if another one already replaces the same mode + for (int i = Modes::FIRST_EXTERNAL_NAV_STATE; i <= Modes::LAST_EXTERNAL_NAV_STATE; ++i) { + if (_modes.valid(i)) { + const Modes::Mode &cur_mode = _modes.mode(i); + + if (cur_mode.replaces_nav_state == request.replace_internal_mode) { + // TODO: we could add priorities and allow the highest priority to do the replacement + PX4_ERR("Trying to replace an already replaced mode (%i)", request.replace_internal_mode); + reply.success = false; + } + } + } + } + } + + if (request.register_mode_executor && !_mode_executors.hasFreeExecutors()) { + PX4_WARN("No free slots for executors"); + reply.success = false; + } + + // register component(s) + if (reply.success) { + int nav_mode_id = -1; + + if (request.register_mode) { + Modes::Mode mode{}; + strncpy(mode.name, request.name, sizeof(mode.name)); + + if (request.enable_replace_internal_mode) { + mode.replaces_nav_state = request.replace_internal_mode; + } + + nav_mode_id = _modes.addExternalMode(mode); + reply.mode_id = nav_mode_id; + } + + if (request.register_mode_executor) { + ModeExecutors::ModeExecutor executor{}; + executor.owned_nav_state = nav_mode_id; + int registration_id = _mode_executors.addExecutor(executor); + + if (nav_mode_id != -1) { + _modes.mode(nav_mode_id).mode_executor_registration_id = registration_id; + } + + reply.mode_executor_id = registration_id; + } + + if (request.register_arming_check) { + int8_t replace_nav_state = request.enable_replace_internal_mode ? request.replace_internal_mode : -1; + int registration_id = _external_checks.addRegistration(nav_mode_id, replace_nav_state); + + if (nav_mode_id != -1) { + _modes.mode(nav_mode_id).arming_check_registration_id = registration_id; + } + + reply.arming_check_id = registration_id; + } + + // Activate the mode? + if (request.register_mode_executor && request.activate_mode_immediately && nav_mode_id != -1) { + update_request.change_user_intended_nav_state = true; + update_request.user_intended_nav_state = nav_mode_id; + } + } + } + + reply.timestamp = hrt_absolute_time(); + _register_ext_component_reply_pub.publish(reply); + } +} + +void ModeManagement::checkUnregistrations(uint8_t user_intended_nav_state, UpdateRequest &update_request) +{ + unregister_ext_component_s request; + int max_updates = 5; + + while (!update_request.change_user_intended_nav_state && _unregister_ext_component_sub.update(&request) + && --max_updates >= 0) { + request.name[sizeof(request.name) - 1] = '\0'; + PX4_DEBUG("got unregistration request: %s arming: %i mode: %i executor: %i", request.name, + (int)request.arming_check_id, (int)request.mode_id, (int)request.mode_executor_id); + + if (request.arming_check_id != -1) { + _external_checks.removeRegistration(request.arming_check_id, request.mode_id); + } + + if (request.mode_id != -1) { + if (_modes.removeExternalMode(request.mode_id, request.name)) { + removeModeExecutor(request.mode_executor_id); + // else: if the mode was already removed (due to a timeout), the executor was also removed already + } + + // If the removed mode is currently active, switch to Hold + if (user_intended_nav_state == request.mode_id) { + update_request.change_user_intended_nav_state = true; + update_request.user_intended_nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER; + } + } + } +} + +void ModeManagement::update(bool armed, uint8_t user_intended_nav_state, bool failsafe_action_active, + UpdateRequest &update_request) +{ + _failsafe_action_active = failsafe_action_active; + _external_checks.update(); + + bool allow_update_while_armed = false; +#if defined(CONFIG_ARCH_BOARD_PX4_SITL) + // For simulation, allow registering modes while armed for developer convenience + allow_update_while_armed = true; +#endif + + if (armed && !allow_update_while_armed) { + // Reject registration requests + register_ext_component_request_s request; + + if (_register_ext_component_request_sub.update(&request)) { + PX4_ERR("Not accepting registration requests while armed"); + register_ext_component_reply_s reply{}; + reply.success = false; + static_assert(sizeof(request.name) == sizeof(reply.name), "size mismatch"); + memcpy(reply.name, request.name, sizeof(request.name)); + reply.request_id = request.request_id; + reply.px4_ros2_api_version = register_ext_component_request_s::LATEST_PX4_ROS2_API_VERSION; + reply.timestamp = hrt_absolute_time(); + _register_ext_component_reply_pub.publish(reply); + } + + } else { + // Check for unresponsive modes + for (int i = Modes::FIRST_EXTERNAL_NAV_STATE; i <= Modes::LAST_EXTERNAL_NAV_STATE; ++i) { + if (_modes.valid(i)) { + const Modes::Mode &mode = _modes.mode(i); + + // Remove only if not currently selected + if (user_intended_nav_state != i && _external_checks.isUnresponsive(mode.arming_check_registration_id)) { + PX4_DEBUG("Removing unresponsive mode %i", i); + _external_checks.removeRegistration(mode.arming_check_registration_id, i); + removeModeExecutor(mode.mode_executor_registration_id); + _modes.removeExternalMode(i, mode.name); + } + } + } + + // As we're disarmed we can use the user intended mode, as no failsafe will be active + checkNewRegistrations(update_request); + checkUnregistrations(user_intended_nav_state, update_request); + } + + update_request.control_setpoint_update = checkConfigControlSetpointUpdates(); + checkConfigOverrides(); +} + +void ModeManagement::onUserIntendedNavStateChange(ModeChangeSource source, uint8_t user_intended_nav_state) +{ + // Update mode executor in charge + int mode_executor_for_intended_nav_state = -1; + + if (_modes.valid(user_intended_nav_state)) { + mode_executor_for_intended_nav_state = _modes.mode(user_intended_nav_state).mode_executor_registration_id; + } + + if (mode_executor_for_intended_nav_state == -1) { + // Not an owned mode: check source + if (source == ModeChangeSource::User) { + // Give control to the pilot + _mode_executor_in_charge = ModeExecutors::AUTOPILOT_EXECUTOR_ID; + } + + } else { + // Switched into an owned mode: put executor in charge + _mode_executor_in_charge = mode_executor_for_intended_nav_state; + } +} + +uint8_t ModeManagement::getNavStateReplacementIfValid(uint8_t nav_state, bool report_error) +{ + for (int i = Modes::FIRST_EXTERNAL_NAV_STATE; i <= Modes::LAST_EXTERNAL_NAV_STATE; ++i) { + if (_modes.valid(i)) { + Modes::Mode &mode = _modes.mode(i); + + if (mode.replaces_nav_state == nav_state) { + if (_external_checks.isUnresponsive(mode.arming_check_registration_id)) { + if (!mode.unresponsive_reported && report_error) { + mode.unresponsive_reported = true; + events::send(events::ID("commander_mode_fallback_internal"), events::Log::Critical, + "External mode is unresponsive, falling back to internal"); + } + + return nav_state; + + } else { + return i; + } + } + } + } + + return nav_state; +} + +uint8_t ModeManagement::getReplacedModeIfAny(uint8_t nav_state) +{ + if (_modes.valid(nav_state)) { + const Modes::Mode &mode = _modes.mode(nav_state); + + if (mode.replaces_nav_state != Modes::Mode::REPLACES_NAV_STATE_NONE) { + return mode.replaces_nav_state; + } + } + + return nav_state; +} + +void ModeManagement::removeModeExecutor(int mode_executor_id) +{ + if (mode_executor_id == -1) { + return; + } + + if (_mode_executor_in_charge == mode_executor_id) { + _mode_executor_in_charge = ModeExecutors::AUTOPILOT_EXECUTOR_ID; + } + + _mode_executors.removeExecutor(mode_executor_id); +} + +int ModeManagement::modeExecutorInCharge() const +{ + if (_failsafe_action_active) { + return ModeExecutors::AUTOPILOT_EXECUTOR_ID; + } + + return _mode_executor_in_charge; +} + +bool ModeManagement::updateControlMode(uint8_t nav_state, vehicle_control_mode_s &control_mode) const +{ + bool ret = false; + + if (nav_state >= Modes::FIRST_EXTERNAL_NAV_STATE && nav_state <= Modes::LAST_EXTERNAL_NAV_STATE) { + if (_modes.valid(nav_state)) { + control_mode = _modes.mode(nav_state).config_control_setpoint; + ret = true; + + } else { + Modes::Mode::setControlModeDefaults(control_mode); + } + } + + return ret; +} + +void ModeManagement::printStatus() const +{ + _modes.printStatus(); + _mode_executors.printStatus(modeExecutorInCharge()); +} + +void ModeManagement::updateActiveConfigOverrides(uint8_t nav_state, config_overrides_s &overrides_in_out) +{ + config_overrides_s current_overrides; + + if (_modes.valid(nav_state)) { + current_overrides = _modes.mode(nav_state).overrides; + + } else { + current_overrides = {}; + } + + // Apply the overrides from executors on top (executors take precedence) + const int executor_in_charge = modeExecutorInCharge(); + + if (_mode_executors.valid(executor_in_charge)) { + const config_overrides_s &executor_overrides = _mode_executors.executor(executor_in_charge).overrides; + + if (executor_overrides.disable_auto_disarm) { + current_overrides.disable_auto_disarm = true; + } + + if (executor_overrides.defer_failsafes) { + current_overrides.defer_failsafes = true; + current_overrides.defer_failsafes_timeout_s = executor_overrides.defer_failsafes_timeout_s; + } + } + + // Publish if changed or at low rate + current_overrides.timestamp = overrides_in_out.timestamp; + + if (memcmp(&overrides_in_out, ¤t_overrides, sizeof(current_overrides)) != 0 + || hrt_elapsed_time(¤t_overrides.timestamp) > 500_ms) { + current_overrides.timestamp = hrt_absolute_time(); + _config_overrides_pub.publish(current_overrides); + overrides_in_out = current_overrides; + } +} + +bool ModeManagement::checkConfigControlSetpointUpdates() +{ + bool had_update = false; + vehicle_control_mode_s config_control_setpoint; + int max_updates = 5; + + while (_config_control_setpoints_sub.update(&config_control_setpoint) && --max_updates >= 0) { + if (_modes.valid(config_control_setpoint.source_id)) { + _modes.mode(config_control_setpoint.source_id).config_control_setpoint = config_control_setpoint; + had_update = true; + + } else { + if (!_invalid_mode_printed) { + PX4_ERR("Control sp config request for invalid mode: %i", config_control_setpoint.source_id); + _invalid_mode_printed = true; + } + } + } + + return had_update; +} + +void ModeManagement::checkConfigOverrides() +{ + config_overrides_s override_request; + int max_updates = config_overrides_s::ORB_QUEUE_LENGTH; + + while (_config_overrides_request_sub.update(&override_request) && --max_updates >= 0) { + switch (override_request.source_type) { + case config_overrides_s::SOURCE_TYPE_MODE_EXECUTOR: + if (_mode_executors.valid(override_request.source_id)) { + ModeExecutors::ModeExecutor &executor = _mode_executors.executor(override_request.source_id); + memcpy(&executor.overrides, &override_request, sizeof(executor.overrides)); + static_assert(sizeof(executor.overrides) == sizeof(override_request), "size mismatch"); + } + + break; + + case config_overrides_s::SOURCE_TYPE_MODE: + if (_modes.valid(override_request.source_id)) { + Modes::Mode &mode = _modes.mode(override_request.source_id); + memcpy(&mode.overrides, &override_request, sizeof(mode.overrides)); + } + + break; + } + } +} + +void ModeManagement::getModeStatus(uint32_t &valid_nav_state_mask, uint32_t &can_set_nav_state_mask) const +{ + valid_nav_state_mask = mode_util::getValidNavStates(); + can_set_nav_state_mask = valid_nav_state_mask & ~(1u << vehicle_status_s::NAVIGATION_STATE_TERMINATION); + + // Add external modes + for (int i = Modes::FIRST_EXTERNAL_NAV_STATE; i <= Modes::LAST_EXTERNAL_NAV_STATE; ++i) { + if (_modes.valid(i)) { + valid_nav_state_mask |= 1u << i; + can_set_nav_state_mask |= 1u << i; + const Modes::Mode &cur_mode = _modes.mode(i); + + if (cur_mode.replaces_nav_state != Modes::Mode::REPLACES_NAV_STATE_NONE) { + // Hide the internal mode if it's replaced + can_set_nav_state_mask &= ~(1u << cur_mode.replaces_nav_state); + } + + } else { + // Still set the mode as valid but not as selectable. This is because an external mode could still + // be selected via RC when not yet running, so we make sure to display some mode label indicating it's not + // available. + valid_nav_state_mask |= 1u << i; + } + } +} + +#endif /* CONSTRAINED_FLASH */ diff --git a/src/modules/commander/ModeManagement.hpp b/src/modules/commander/ModeManagement.hpp new file mode 100644 index 000000000000..2a9c5c533f85 --- /dev/null +++ b/src/modules/commander/ModeManagement.hpp @@ -0,0 +1,225 @@ +/**************************************************************************** + * + * Copyright (c) 2022 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#pragma once + +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include "UserModeIntention.hpp" +#include "HealthAndArmingChecks/checks/externalChecks.hpp" + +class ModeExecutors +{ +public: + static constexpr int AUTOPILOT_EXECUTOR_ID = 0; + static constexpr int FIRST_EXECUTOR_ID = 1; + static constexpr int MAX_NUM = 5; + + struct ModeExecutor { + config_overrides_s overrides{}; + uint8_t owned_nav_state{}; + bool valid{false}; + }; + + void printStatus(int executor_in_charge) const; + + bool valid(int id) const { return id >= FIRST_EXECUTOR_ID && id < FIRST_EXECUTOR_ID + MAX_NUM && _mode_executors[id - FIRST_EXECUTOR_ID].valid; } + const ModeExecutor &executor(int id) const { return _mode_executors[id - FIRST_EXECUTOR_ID]; } + ModeExecutor &executor(int id) { return _mode_executors[id - FIRST_EXECUTOR_ID]; } + + bool hasFreeExecutors() const; + int addExecutor(const ModeExecutor &executor); + void removeExecutor(int id); +private: + ModeExecutor _mode_executors[MAX_NUM] {}; +}; + +class Modes +{ +public: + static constexpr uint8_t FIRST_EXTERNAL_NAV_STATE = vehicle_status_s::NAVIGATION_STATE_EXTERNAL1; + static constexpr uint8_t LAST_EXTERNAL_NAV_STATE = vehicle_status_s::NAVIGATION_STATE_EXTERNAL8; + static constexpr int MAX_NUM = LAST_EXTERNAL_NAV_STATE - FIRST_EXTERNAL_NAV_STATE + 1; + + struct Mode { + Mode() + { + // Set defaults for control mode + setControlModeDefaults(config_control_setpoint); + } + static void setControlModeDefaults(vehicle_control_mode_s &config_control_setpoint_) + { + config_control_setpoint_.flag_control_position_enabled = true; + config_control_setpoint_.flag_control_velocity_enabled = true; + config_control_setpoint_.flag_control_altitude_enabled = true; + config_control_setpoint_.flag_control_climb_rate_enabled = true; + config_control_setpoint_.flag_control_acceleration_enabled = true; + config_control_setpoint_.flag_control_attitude_enabled = true; + config_control_setpoint_.flag_control_rates_enabled = true; + config_control_setpoint_.flag_control_allocation_enabled = true; + } + + static constexpr uint8_t REPLACES_NAV_STATE_NONE = 0xff; + + char name[sizeof(register_ext_component_request_s::name)] {}; + bool valid{false}; + uint8_t replaces_nav_state{REPLACES_NAV_STATE_NONE}; + bool unresponsive_reported{false}; + int arming_check_registration_id{-1}; + int mode_executor_registration_id{-1}; + config_overrides_s overrides{}; + vehicle_control_mode_s config_control_setpoint{}; + }; + + void printStatus() const; + + bool valid(uint8_t nav_state) const { return nav_state >= FIRST_EXTERNAL_NAV_STATE && nav_state <= LAST_EXTERNAL_NAV_STATE && _modes[nav_state - FIRST_EXTERNAL_NAV_STATE].valid; } + Mode &mode(uint8_t nav_state) { return _modes[nav_state - FIRST_EXTERNAL_NAV_STATE]; } + const Mode &mode(uint8_t nav_state) const { return _modes[nav_state - FIRST_EXTERNAL_NAV_STATE]; } + + bool hasFreeExternalModes() const; + uint8_t addExternalMode(const Mode &mode); + bool removeExternalMode(uint8_t nav_state, const char *name); + +private: + Mode _modes[MAX_NUM] {}; +}; + + +#ifndef CONSTRAINED_FLASH + +class ModeManagement : public ModeChangeHandler +{ +public: + ModeManagement(ExternalChecks &external_checks); + ~ModeManagement() = default; + + struct UpdateRequest { + bool change_user_intended_nav_state{false}; + uint8_t user_intended_nav_state{}; + bool control_setpoint_update{false}; + }; + + void update(bool armed, uint8_t user_intended_nav_state, bool failsafe_action_active, UpdateRequest &update_request); + + /** + * Mode executor ID for who is currently in charge (and can send commands etc). + * This is ModeExecutors::AUTOPILOT_EXECUTOR_ID if no executor is in charge currently. + */ + int modeExecutorInCharge() const; + + void onUserIntendedNavStateChange(ModeChangeSource source, uint8_t user_intended_nav_state) override; + uint8_t getReplacedModeIfAny(uint8_t nav_state) override; + + uint8_t getNavStateReplacementIfValid(uint8_t nav_state, bool report_error = true); + + bool updateControlMode(uint8_t nav_state, vehicle_control_mode_s &control_mode) const; + + void printStatus() const; + + void getModeStatus(uint32_t &valid_nav_state_mask, uint32_t &can_set_nav_state_mask) const; + + void updateActiveConfigOverrides(uint8_t nav_state, config_overrides_s &overrides_in_out); + +private: + bool checkConfigControlSetpointUpdates(); + void checkNewRegistrations(UpdateRequest &update_request); + void checkUnregistrations(uint8_t user_intended_nav_state, UpdateRequest &update_request); + void checkConfigOverrides(); + + void removeModeExecutor(int mode_executor_id); + + uORB::Subscription _config_control_setpoints_sub{ORB_ID(config_control_setpoints)}; + uORB::Subscription _register_ext_component_request_sub{ORB_ID(register_ext_component_request)}; + uORB::Subscription _unregister_ext_component_sub{ORB_ID(unregister_ext_component)}; + uORB::Publication _register_ext_component_reply_pub{ORB_ID(register_ext_component_reply)}; + uORB::Publication _config_overrides_pub{ORB_ID(config_overrides)}; + uORB::Subscription _config_overrides_request_sub{ORB_ID(config_overrides_request)}; + + ExternalChecks &_external_checks; + ModeExecutors _mode_executors; + Modes _modes; + + bool _failsafe_action_active{false}; + int _mode_executor_in_charge{ModeExecutors::AUTOPILOT_EXECUTOR_ID}; + + bool _invalid_mode_printed{false}; +}; + +#else /* CONSTRAINED_FLASH */ + +class ModeManagement : public ModeChangeHandler +{ +public: + ModeManagement() = default; + ~ModeManagement() = default; + + struct UpdateRequest { + bool change_user_intended_nav_state{false}; + uint8_t user_intended_nav_state{}; + bool control_setpoint_update{false}; + }; + + void update(bool armed, uint8_t user_intended_nav_state, bool failsafe_action_active, UpdateRequest &update_request) {} + + int modeExecutorInCharge() const { return ModeExecutors::AUTOPILOT_EXECUTOR_ID; } + + void onUserIntendedNavStateChange(ModeChangeSource source, uint8_t user_intended_nav_state) override {} + uint8_t getReplacedModeIfAny(uint8_t nav_state) override { return nav_state; } + + uint8_t getNavStateReplacementIfValid(uint8_t nav_state, bool report_error = true) { return nav_state; } + + bool updateControlMode(uint8_t nav_state, vehicle_control_mode_s &control_mode) const { return false; } + + void printStatus() const {} + + void getModeStatus(uint32_t &valid_nav_state_mask, uint32_t &can_set_nav_state_mask) const + { + valid_nav_state_mask = mode_util::getValidNavStates(); + can_set_nav_state_mask = valid_nav_state_mask & ~(1u << vehicle_status_s::NAVIGATION_STATE_TERMINATION); + } + + void updateActiveConfigOverrides(uint8_t nav_state, config_overrides_s &overrides_in_out) { } + +private: +}; + +#endif /* CONSTRAINED_FLASH */ diff --git a/src/modules/commander/ModeManagementTest.cpp b/src/modules/commander/ModeManagementTest.cpp new file mode 100644 index 000000000000..a84c625137c5 --- /dev/null +++ b/src/modules/commander/ModeManagementTest.cpp @@ -0,0 +1,101 @@ +/**************************************************************************** + * + * Copyright (C) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include +#include "ModeManagement.hpp" + +static bool modeValid(uint8_t mode) +{ + return mode >= Modes::FIRST_EXTERNAL_NAV_STATE && mode <= Modes::LAST_EXTERNAL_NAV_STATE; +} + +static int32_t readHash(int idx) +{ + char buffer[20]; + snprintf(buffer, sizeof(buffer), "COM_MODE%u_HASH", idx); + param_t param = param_find(buffer); + int32_t value{}; + param_get(param, &value); + return value; +} + +TEST(ModeManagementTest, Hashes) +{ + param_control_autosave(false); + + // Reset parameters + for (int i = 0; i < Modes::MAX_NUM; ++i) { + char buffer[20]; + snprintf(buffer, sizeof(buffer), "COM_MODE%u_HASH", i); + param_t param = param_find(buffer); + param_reset(param); + } + + // Add full set of modes, which stores the hashes + Modes modes; + Modes::Mode mode; + + for (int i = 0; i < Modes::MAX_NUM; ++i) { + snprintf(mode.name, sizeof(mode.name), "mode %i", i); + EXPECT_EQ(modes.addExternalMode(mode), Modes::FIRST_EXTERNAL_NAV_STATE + i); + EXPECT_EQ(readHash(i), events::util::hash_32_fnv1a_const(mode.name)); + } + + EXPECT_FALSE(modes.hasFreeExternalModes()); + + // Remove all modes, except last + for (int i = 0; i < Modes::MAX_NUM - 1; ++i) { + snprintf(mode.name, sizeof(mode.name), "mode %i", i); + EXPECT_TRUE(modes.removeExternalMode(Modes::FIRST_EXTERNAL_NAV_STATE + i, mode.name)); + } + + // Add some mode, ensure it gets the same index + const int mode_to_add_idx = 3; + snprintf(mode.name, sizeof(mode.name), "mode %i", mode_to_add_idx); + EXPECT_EQ(modes.addExternalMode(mode), Modes::FIRST_EXTERNAL_NAV_STATE + mode_to_add_idx); + + // Try to add another one with the same name: should succeed, with the hash of the added index reset + uint8_t added_mode_nav_state = modes.addExternalMode(mode); + EXPECT_EQ(readHash(added_mode_nav_state - Modes::FIRST_EXTERNAL_NAV_STATE), 0); + + // 3 Modes are used now. Add N-3 new ones which must overwrite previous hashes + for (int i = 0; i < Modes::MAX_NUM - 3; ++i) { + snprintf(mode.name, sizeof(mode.name), "new mode %i", i); + added_mode_nav_state = modes.addExternalMode(mode); + EXPECT_TRUE(modeValid(added_mode_nav_state)); + EXPECT_EQ(readHash(added_mode_nav_state - Modes::FIRST_EXTERNAL_NAV_STATE), + events::util::hash_32_fnv1a_const(mode.name)); + } + + EXPECT_FALSE(modes.hasFreeExternalModes()); +} diff --git a/src/modules/commander/ModeUtil/CMakeLists.txt b/src/modules/commander/ModeUtil/CMakeLists.txt index 8713e53f6bb8..98708bba2699 100644 --- a/src/modules/commander/ModeUtil/CMakeLists.txt +++ b/src/modules/commander/ModeUtil/CMakeLists.txt @@ -36,4 +36,3 @@ add_library(mode_util mode_requirements.cpp ) add_dependencies(mode_util uorb_headers prebuild_targets) - diff --git a/src/modules/commander/ModeUtil/control_mode.cpp b/src/modules/commander/ModeUtil/control_mode.cpp index 0a07c2989d95..fbebc7b93d8b 100644 --- a/src/modules/commander/ModeUtil/control_mode.cpp +++ b/src/modules/commander/ModeUtil/control_mode.cpp @@ -42,41 +42,45 @@ static bool stabilization_required(uint8_t vehicle_type) return vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING; } -void getVehicleControlMode(bool armed, uint8_t nav_state, uint8_t vehicle_type, +void getVehicleControlMode(uint8_t nav_state, uint8_t vehicle_type, const offboard_control_mode_s &offboard_control_mode, vehicle_control_mode_s &vehicle_control_mode) { - vehicle_control_mode.flag_armed = armed; switch (nav_state) { case vehicle_status_s::NAVIGATION_STATE_MANUAL: vehicle_control_mode.flag_control_manual_enabled = true; - vehicle_control_mode.flag_control_rates_enabled = stabilization_required(vehicle_type); vehicle_control_mode.flag_control_attitude_enabled = stabilization_required(vehicle_type); + vehicle_control_mode.flag_control_rates_enabled = stabilization_required(vehicle_type); + vehicle_control_mode.flag_control_allocation_enabled = true; break; case vehicle_status_s::NAVIGATION_STATE_STAB: vehicle_control_mode.flag_control_manual_enabled = true; - vehicle_control_mode.flag_control_rates_enabled = true; vehicle_control_mode.flag_control_attitude_enabled = true; + vehicle_control_mode.flag_control_rates_enabled = true; + vehicle_control_mode.flag_control_allocation_enabled = true; break; case vehicle_status_s::NAVIGATION_STATE_ALTCTL: vehicle_control_mode.flag_control_manual_enabled = true; - vehicle_control_mode.flag_control_rates_enabled = true; - vehicle_control_mode.flag_control_attitude_enabled = true; vehicle_control_mode.flag_control_altitude_enabled = true; vehicle_control_mode.flag_control_climb_rate_enabled = true; + vehicle_control_mode.flag_control_attitude_enabled = true; + vehicle_control_mode.flag_control_rates_enabled = true; + vehicle_control_mode.flag_control_allocation_enabled = true; break; case vehicle_status_s::NAVIGATION_STATE_POSCTL: + case vehicle_status_s::NAVIGATION_STATE_POSITION_SLOW: vehicle_control_mode.flag_control_manual_enabled = true; - vehicle_control_mode.flag_control_rates_enabled = true; - vehicle_control_mode.flag_control_attitude_enabled = true; - vehicle_control_mode.flag_control_altitude_enabled = true; - vehicle_control_mode.flag_control_climb_rate_enabled = true; vehicle_control_mode.flag_control_position_enabled = true; vehicle_control_mode.flag_control_velocity_enabled = true; + vehicle_control_mode.flag_control_altitude_enabled = true; + vehicle_control_mode.flag_control_climb_rate_enabled = true; + vehicle_control_mode.flag_control_attitude_enabled = true; + vehicle_control_mode.flag_control_rates_enabled = true; + vehicle_control_mode.flag_control_allocation_enabled = true; break; case vehicle_status_s::NAVIGATION_STATE_AUTO_RTL: @@ -87,24 +91,27 @@ void getVehicleControlMode(bool armed, uint8_t nav_state, uint8_t vehicle_type, case vehicle_status_s::NAVIGATION_STATE_AUTO_TAKEOFF: case vehicle_status_s::NAVIGATION_STATE_AUTO_VTOL_TAKEOFF: vehicle_control_mode.flag_control_auto_enabled = true; - vehicle_control_mode.flag_control_rates_enabled = true; - vehicle_control_mode.flag_control_attitude_enabled = true; - vehicle_control_mode.flag_control_altitude_enabled = true; - vehicle_control_mode.flag_control_climb_rate_enabled = true; vehicle_control_mode.flag_control_position_enabled = true; vehicle_control_mode.flag_control_velocity_enabled = true; + vehicle_control_mode.flag_control_altitude_enabled = true; + vehicle_control_mode.flag_control_climb_rate_enabled = true; + vehicle_control_mode.flag_control_attitude_enabled = true; + vehicle_control_mode.flag_control_rates_enabled = true; + vehicle_control_mode.flag_control_allocation_enabled = true; break; case vehicle_status_s::NAVIGATION_STATE_ACRO: vehicle_control_mode.flag_control_manual_enabled = true; vehicle_control_mode.flag_control_rates_enabled = true; + vehicle_control_mode.flag_control_allocation_enabled = true; break; case vehicle_status_s::NAVIGATION_STATE_DESCEND: vehicle_control_mode.flag_control_auto_enabled = true; - vehicle_control_mode.flag_control_rates_enabled = true; - vehicle_control_mode.flag_control_attitude_enabled = true; vehicle_control_mode.flag_control_climb_rate_enabled = true; + vehicle_control_mode.flag_control_attitude_enabled = true; + vehicle_control_mode.flag_control_rates_enabled = true; + vehicle_control_mode.flag_control_allocation_enabled = true; break; case vehicle_status_s::NAVIGATION_STATE_TERMINATION: @@ -121,28 +128,36 @@ void getVehicleControlMode(bool armed, uint8_t nav_state, uint8_t vehicle_type, vehicle_control_mode.flag_control_altitude_enabled = true; vehicle_control_mode.flag_control_climb_rate_enabled = true; vehicle_control_mode.flag_control_acceleration_enabled = true; - vehicle_control_mode.flag_control_rates_enabled = true; vehicle_control_mode.flag_control_attitude_enabled = true; + vehicle_control_mode.flag_control_rates_enabled = true; + vehicle_control_mode.flag_control_allocation_enabled = true; } else if (offboard_control_mode.velocity) { vehicle_control_mode.flag_control_velocity_enabled = true; vehicle_control_mode.flag_control_altitude_enabled = true; vehicle_control_mode.flag_control_climb_rate_enabled = true; vehicle_control_mode.flag_control_acceleration_enabled = true; - vehicle_control_mode.flag_control_rates_enabled = true; vehicle_control_mode.flag_control_attitude_enabled = true; + vehicle_control_mode.flag_control_rates_enabled = true; + vehicle_control_mode.flag_control_allocation_enabled = true; } else if (offboard_control_mode.acceleration) { vehicle_control_mode.flag_control_acceleration_enabled = true; - vehicle_control_mode.flag_control_rates_enabled = true; vehicle_control_mode.flag_control_attitude_enabled = true; + vehicle_control_mode.flag_control_rates_enabled = true; + vehicle_control_mode.flag_control_allocation_enabled = true; } else if (offboard_control_mode.attitude) { - vehicle_control_mode.flag_control_rates_enabled = true; vehicle_control_mode.flag_control_attitude_enabled = true; + vehicle_control_mode.flag_control_rates_enabled = true; + vehicle_control_mode.flag_control_allocation_enabled = true; } else if (offboard_control_mode.body_rate) { vehicle_control_mode.flag_control_rates_enabled = true; + vehicle_control_mode.flag_control_allocation_enabled = true; + + } else if (offboard_control_mode.thrust_and_torque) { + vehicle_control_mode.flag_control_allocation_enabled = true; } break; @@ -154,25 +169,20 @@ void getVehicleControlMode(bool armed, uint8_t nav_state, uint8_t vehicle_type, case vehicle_status_s::NAVIGATION_STATE_ORBIT: vehicle_control_mode.flag_control_manual_enabled = false; vehicle_control_mode.flag_control_auto_enabled = false; - vehicle_control_mode.flag_control_rates_enabled = true; - vehicle_control_mode.flag_control_attitude_enabled = true; - vehicle_control_mode.flag_control_altitude_enabled = true; - vehicle_control_mode.flag_control_climb_rate_enabled = true; vehicle_control_mode.flag_control_position_enabled = true; vehicle_control_mode.flag_control_velocity_enabled = true; + vehicle_control_mode.flag_control_altitude_enabled = true; + vehicle_control_mode.flag_control_climb_rate_enabled = true; + vehicle_control_mode.flag_control_attitude_enabled = true; + vehicle_control_mode.flag_control_rates_enabled = true; + vehicle_control_mode.flag_control_allocation_enabled = true; break; + // vehicle_status_s::NAVIGATION_STATE_EXTERNALx: handled in ModeManagement default: break; } - vehicle_control_mode.flag_multicopter_position_control_enabled = - (vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) - && (vehicle_control_mode.flag_control_altitude_enabled - || vehicle_control_mode.flag_control_climb_rate_enabled - || vehicle_control_mode.flag_control_position_enabled - || vehicle_control_mode.flag_control_velocity_enabled - || vehicle_control_mode.flag_control_acceleration_enabled); } } // namespace mode_util diff --git a/src/modules/commander/ModeUtil/control_mode.hpp b/src/modules/commander/ModeUtil/control_mode.hpp index 9b2375424e96..46e10fbb372e 100644 --- a/src/modules/commander/ModeUtil/control_mode.hpp +++ b/src/modules/commander/ModeUtil/control_mode.hpp @@ -41,7 +41,7 @@ namespace mode_util { -void getVehicleControlMode(bool armed, uint8_t nav_state, uint8_t vehicle_type, +void getVehicleControlMode(uint8_t nav_state, uint8_t vehicle_type, const offboard_control_mode_s &offboard_control_mode, vehicle_control_mode_s &vehicle_control_mode); diff --git a/src/modules/commander/ModeUtil/conversions.hpp b/src/modules/commander/ModeUtil/conversions.hpp index 5f9928c856e1..045db4570fa9 100644 --- a/src/modules/commander/ModeUtil/conversions.hpp +++ b/src/modules/commander/ModeUtil/conversions.hpp @@ -58,6 +58,8 @@ static inline navigation_mode_t navigation_mode(uint8_t nav_state) case vehicle_status_s::NAVIGATION_STATE_AUTO_RTL: return navigation_mode_t::auto_rtl; + case vehicle_status_s::NAVIGATION_STATE_POSITION_SLOW: return navigation_mode_t::position_slow; + case vehicle_status_s::NAVIGATION_STATE_ACRO: return navigation_mode_t::acro; case vehicle_status_s::NAVIGATION_STATE_OFFBOARD: return navigation_mode_t::offboard; @@ -75,36 +77,27 @@ static inline navigation_mode_t navigation_mode(uint8_t nav_state) case vehicle_status_s::NAVIGATION_STATE_ORBIT: return navigation_mode_t::orbit; case vehicle_status_s::NAVIGATION_STATE_AUTO_VTOL_TAKEOFF: return navigation_mode_t::auto_vtol_takeoff; + + case vehicle_status_s::NAVIGATION_STATE_EXTERNAL1: return navigation_mode_t::external1; + + case vehicle_status_s::NAVIGATION_STATE_EXTERNAL2: return navigation_mode_t::external2; + + case vehicle_status_s::NAVIGATION_STATE_EXTERNAL3: return navigation_mode_t::external3; + + case vehicle_status_s::NAVIGATION_STATE_EXTERNAL4: return navigation_mode_t::external4; + + case vehicle_status_s::NAVIGATION_STATE_EXTERNAL5: return navigation_mode_t::external5; + + case vehicle_status_s::NAVIGATION_STATE_EXTERNAL6: return navigation_mode_t::external6; + + case vehicle_status_s::NAVIGATION_STATE_EXTERNAL7: return navigation_mode_t::external7; + + case vehicle_status_s::NAVIGATION_STATE_EXTERNAL8: return navigation_mode_t::external8; } - static_assert(vehicle_status_s::NAVIGATION_STATE_MAX == 23, "code requires update"); + static_assert(vehicle_status_s::NAVIGATION_STATE_MAX == 31, "update navigation mode map"); return navigation_mode_t::unknown; } -const char *const nav_state_names[vehicle_status_s::NAVIGATION_STATE_MAX] = { - "MANUAL", - "ALTCTL", - "POSCTL", - "AUTO_MISSION", - "AUTO_LOITER", - "AUTO_RTL", - "6: unallocated", - "7: unallocated", - "AUTO_LANDENGFAIL", - "9: unallocated", - "ACRO", - "11: UNUSED", - "DESCEND", - "TERMINATION", - "OFFBOARD", - "STAB", - "16: UNUSED2", - "AUTO_TAKEOFF", - "AUTO_LAND", - "AUTO_FOLLOW_TARGET", - "AUTO_PRECLAND", - "ORBIT" -}; - } // namespace mode_util diff --git a/src/modules/commander/ModeUtil/mode_requirements.cpp b/src/modules/commander/ModeUtil/mode_requirements.cpp index 1fc08417d5b6..32eb5b1e8116 100644 --- a/src/modules/commander/ModeUtil/mode_requirements.cpp +++ b/src/modules/commander/ModeUtil/mode_requirements.cpp @@ -75,9 +75,12 @@ void getModeRequirements(uint8_t vehicle_type, failsafe_flags_s &flags) setRequirement(vehicle_status_s::NAVIGATION_STATE_POSCTL, flags.mode_req_local_position_relaxed); setRequirement(vehicle_status_s::NAVIGATION_STATE_POSCTL, flags.mode_req_manual_control); - if (vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING) { - setRequirement(vehicle_status_s::NAVIGATION_STATE_POSCTL, flags.mode_req_global_position); - } + // NAVIGATION_STATE_POSITION_SLOW + setRequirement(vehicle_status_s::NAVIGATION_STATE_POSITION_SLOW, flags.mode_req_angular_velocity); + setRequirement(vehicle_status_s::NAVIGATION_STATE_POSITION_SLOW, flags.mode_req_attitude); + setRequirement(vehicle_status_s::NAVIGATION_STATE_POSITION_SLOW, flags.mode_req_local_alt); + setRequirement(vehicle_status_s::NAVIGATION_STATE_POSITION_SLOW, flags.mode_req_local_position_relaxed); + setRequirement(vehicle_status_s::NAVIGATION_STATE_POSITION_SLOW, flags.mode_req_manual_control); // NAVIGATION_STATE_AUTO_MISSION setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION, flags.mode_req_angular_velocity); @@ -170,8 +173,9 @@ void getModeRequirements(uint8_t vehicle_type, failsafe_flags_s &flags) setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_VTOL_TAKEOFF, flags.mode_req_local_position); setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_VTOL_TAKEOFF, flags.mode_req_local_alt); + // NAVIGATION_STATE_EXTERNALx: handled outside - static_assert(vehicle_status_s::NAVIGATION_STATE_MAX == 23, "update mode requirements"); + static_assert(vehicle_status_s::NAVIGATION_STATE_MAX == 31, "update mode requirements"); } } // namespace mode_util diff --git a/src/modules/commander/MulticopterThrowLaunch/CMakeLists.txt b/src/modules/commander/MulticopterThrowLaunch/CMakeLists.txt new file mode 100644 index 000000000000..c2316b66c22e --- /dev/null +++ b/src/modules/commander/MulticopterThrowLaunch/CMakeLists.txt @@ -0,0 +1,36 @@ +############################################################################ +# +# Copyright (c) 2023 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +px4_add_library(MulticopterThrowLaunch + MulticopterThrowLaunch.cpp +) diff --git a/src/modules/commander/MulticopterThrowLaunch/MulticopterThrowLaunch.cpp b/src/modules/commander/MulticopterThrowLaunch/MulticopterThrowLaunch.cpp new file mode 100644 index 000000000000..2915e5683e4e --- /dev/null +++ b/src/modules/commander/MulticopterThrowLaunch/MulticopterThrowLaunch.cpp @@ -0,0 +1,92 @@ +/**************************************************************************** + * + * Copyright (c) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include "MulticopterThrowLaunch.hpp" +#include + +MulticopterThrowLaunch::MulticopterThrowLaunch(ModuleParams *parent) : + ModuleParams(parent) +{} + +void MulticopterThrowLaunch::update(const bool armed) +{ + if (_param_com_throw_en.get()) { + if (_vehicle_local_position_sub.updated()) { + vehicle_local_position_s vehicle_local_position{}; + + if (_vehicle_local_position_sub.copy(&vehicle_local_position)) { + _last_velocity = matrix::Vector3f(vehicle_local_position.vx, vehicle_local_position.vy, vehicle_local_position.vz); + } + } + + if (!armed && _throw_launch_state != ThrowLaunchState::IDLE) { + events::send(events::ID("mc_throw_launch_not_ready"), events::Log::Critical, "Disarmed, don't throw"); + _throw_launch_state = ThrowLaunchState::IDLE; + } + + switch (_throw_launch_state) { + case ThrowLaunchState::IDLE: + if (armed) { + events::send(events::ID("mc_throw_launch_ready"), events::Log::Critical, "Ready for throw launch"); + _throw_launch_state = ThrowLaunchState::ARMED; + } + + break; + + case ThrowLaunchState::ARMED: + if (_last_velocity.longerThan(_param_com_throw_min_speed.get())) { + PX4_INFO("Throw detected, motors will start once falling"); + _throw_launch_state = ThrowLaunchState::UNSAFE; + } + + break; + + case ThrowLaunchState::UNSAFE: + if (_last_velocity(2) > 0.f) { + PX4_INFO("Throw and fall detected, starting motors"); + _throw_launch_state = ThrowLaunchState::FLYING; + } + + break; + + case ThrowLaunchState::DISABLED: + case ThrowLaunchState::FLYING: + // Nothing to do + break; + } + + } else if (_throw_launch_state != ThrowLaunchState::DISABLED) { + // make sure everything is reset when the throw launch is disabled + _throw_launch_state = ThrowLaunchState::DISABLED; + } +} diff --git a/src/modules/commander/MulticopterThrowLaunch/MulticopterThrowLaunch.hpp b/src/modules/commander/MulticopterThrowLaunch/MulticopterThrowLaunch.hpp new file mode 100644 index 000000000000..cfcfe3fea313 --- /dev/null +++ b/src/modules/commander/MulticopterThrowLaunch/MulticopterThrowLaunch.hpp @@ -0,0 +1,91 @@ +/**************************************************************************** + * + * Copyright (c) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file MulticopterThrowLaunch.hpp + * + * Changes to manage a takeoff of a multicopter by manually throwing it into the air. + * + * @author Michał Barciś + */ + +#pragma once + +#include +#include + +#include +#include + +class MulticopterThrowLaunch : public ModuleParams +{ +public: + explicit MulticopterThrowLaunch(ModuleParams *parent); + ~MulticopterThrowLaunch() override = default; + + /** + * @return false if feature disabled or already flying + */ + bool isThrowLaunchInProgress() const + { + return _throw_launch_state != ThrowLaunchState::DISABLED + && _throw_launch_state != ThrowLaunchState::FLYING; + } + + bool isReadyToThrow() const { return _throw_launch_state == ThrowLaunchState::ARMED; } + + /** + * Main update of the state + * @param armed true if vehicle is armed + */ + void update(const bool armed); + + enum class ThrowLaunchState { + DISABLED = 0, + IDLE = 1, + ARMED = 2, + UNSAFE = 3, + FLYING = 4 + }; + +private: + uORB::Subscription _vehicle_local_position_sub{ORB_ID(vehicle_local_position)}; + + ThrowLaunchState _throw_launch_state{ThrowLaunchState::DISABLED}; + matrix::Vector3f _last_velocity{}; + + DEFINE_PARAMETERS( + (ParamBool) _param_com_throw_en, + (ParamFloat) _param_com_throw_min_speed + ); +}; diff --git a/src/modules/commander/UserModeIntention.cpp b/src/modules/commander/UserModeIntention.cpp index 62ab871fe878..02b4a7f3f7e1 100644 --- a/src/modules/commander/UserModeIntention.cpp +++ b/src/modules/commander/UserModeIntention.cpp @@ -35,14 +35,22 @@ #include "UserModeIntention.hpp" UserModeIntention::UserModeIntention(ModuleParams *parent, const vehicle_status_s &vehicle_status, - const HealthAndArmingChecks &health_and_arming_checks) - : ModuleParams(parent), _vehicle_status(vehicle_status), _health_and_arming_checks(health_and_arming_checks) + const HealthAndArmingChecks &health_and_arming_checks, ModeChangeHandler *handler) + : ModuleParams(parent), _vehicle_status(vehicle_status), _health_and_arming_checks(health_and_arming_checks), + _handler(handler) { } -bool UserModeIntention::change(uint8_t user_intended_nav_state, bool allow_fallback, bool force) +bool UserModeIntention::change(uint8_t user_intended_nav_state, ModeChangeSource source, bool allow_fallback, + bool force) { _ever_had_mode_change = true; + _had_mode_change = true; + + if (_handler) { + // If a replacement mode is selected, select the internal one instead. The replacement will be selected after. + user_intended_nav_state = _handler->getReplacedModeIfAny(user_intended_nav_state); + } // Always allow mode change while disarmed bool always_allow = force || !isArmed(); @@ -61,13 +69,23 @@ bool UserModeIntention::change(uint8_t user_intended_nav_state, bool allow_fallb } } + // never allow to change out of termination state + allow_change &= _vehicle_status.nav_state != vehicle_status_s::NAVIGATION_STATE_TERMINATION; + if (allow_change) { _had_mode_change = true; _user_intented_nav_state = user_intended_nav_state; - if (!_health_and_arming_checks.modePreventsArming(user_intended_nav_state)) { + // Special case termination state: even though this mode prevents arming, + // still don't switch out of it after disarm and thus store it in _nav_state_after_disarming. + if (!_health_and_arming_checks.modePreventsArming(user_intended_nav_state) + || user_intended_nav_state == vehicle_status_s::NAVIGATION_STATE_TERMINATION) { _nav_state_after_disarming = user_intended_nav_state; } + + if (_handler) { + _handler->onUserIntendedNavStateChange(source, user_intended_nav_state); + } } return allow_change; diff --git a/src/modules/commander/UserModeIntention.hpp b/src/modules/commander/UserModeIntention.hpp index 3c18a6ff7399..1292c953173a 100644 --- a/src/modules/commander/UserModeIntention.hpp +++ b/src/modules/commander/UserModeIntention.hpp @@ -37,21 +37,42 @@ #include "HealthAndArmingChecks/HealthAndArmingChecks.hpp" #include +enum class ModeChangeSource { + User, ///< RC or MAVLink + ModeExecutor, +}; + +class ModeChangeHandler +{ +public: + virtual void onUserIntendedNavStateChange(ModeChangeSource source, uint8_t user_intended_nav_state) = 0; + + /** + * Get the replaced (internal) mode for a given (external) mode + * @param nav_state + * @return nav_state or the mode that nav_state replaces + */ + virtual uint8_t getReplacedModeIfAny(uint8_t nav_state) = 0; +}; + + class UserModeIntention : ModuleParams { public: UserModeIntention(ModuleParams *parent, const vehicle_status_s &vehicle_status, - const HealthAndArmingChecks &health_and_arming_checks); + const HealthAndArmingChecks &health_and_arming_checks, ModeChangeHandler *handler); ~UserModeIntention() = default; /** * Change the user intended mode * @param user_intended_nav_state new mode + * @param source calling reason * @param allow_fallback allow to fallback to a lower mode if current mode cannot run * @param force always set if true * @return true if successfully set (also if unchanged) */ - bool change(uint8_t user_intended_nav_state, bool allow_fallback = false, bool force = false); + bool change(uint8_t user_intended_nav_state, ModeChangeSource source = ModeChangeSource::User, + bool allow_fallback = false, bool force = false); uint8_t get() const { return _user_intented_nav_state; } @@ -72,6 +93,7 @@ class UserModeIntention : ModuleParams const vehicle_status_s &_vehicle_status; const HealthAndArmingChecks &_health_and_arming_checks; + ModeChangeHandler *const _handler{nullptr}; uint8_t _user_intented_nav_state{vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER}; ///< Current user intended mode uint8_t _nav_state_after_disarming{vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER}; ///< Mode that is switched into after landing/disarming diff --git a/src/modules/commander/airspeed_calibration.cpp b/src/modules/commander/airspeed_calibration.cpp index 6321c457e24d..e644e7723a23 100644 --- a/src/modules/commander/airspeed_calibration.cpp +++ b/src/modules/commander/airspeed_calibration.cpp @@ -180,7 +180,7 @@ int do_airspeed_calibration(orb_advert_t *mavlink_log_pub) /* save */ calibration_log_info(mavlink_log_pub, CAL_QGC_PROGRESS_MSG, 0); - param_save_default(); + param_save_default(true); feedback_calibration_failed(mavlink_log_pub); return PX4_ERROR; diff --git a/src/modules/commander/baro_calibration.cpp b/src/modules/commander/baro_calibration.cpp index 4d69f37311eb..ab5267d2d6b4 100644 --- a/src/modules/commander/baro_calibration.cpp +++ b/src/modules/commander/baro_calibration.cpp @@ -48,7 +48,7 @@ #include #include #include -#include +#include #include #include #include @@ -60,37 +60,12 @@ using namespace matrix; using namespace time_literals; +using namespace atmosphere; static constexpr char sensor_name[] {"baro"}; static constexpr int MAX_SENSOR_COUNT = 4; -static float PressureToAltitude(float pressure_pa, float temperature) -{ - // calculate altitude using the hypsometric equation - static constexpr float T1 = 15.f - CONSTANTS_ABSOLUTE_NULL_CELSIUS; // temperature at base height in Kelvin - static constexpr float a = -6.5f / 1000.f; // temperature gradient in degrees per metre - - // current pressure at MSL in kPa (QNH in hPa) - const float p1 = 1013.25f * 0.1f; - - // measured pressure in kPa - const float p = pressure_pa * 0.001f; - - /* - * Solve: - * - * / -(aR / g) \ - * | (p / p1) . T1 | - T1 - * \ / - * h = ------------------------------- + h1 - * a - */ - float altitude = (((powf((p / p1), (-(a * CONSTANTS_AIR_GAS_CONST) / CONSTANTS_ONE_G))) * T1) - T1) / a; - - return altitude; -} - int do_baro_calibration(orb_advert_t *mavlink_log_pub) { calibration_log_info(mavlink_log_pub, CAL_QGC_STARTED_MSG, sensor_name); @@ -136,7 +111,7 @@ int do_baro_calibration(orb_advert_t *mavlink_log_pub) if ((hrt_elapsed_time(&sensor_gps.timestamp) < 1_s) && (sensor_gps.fix_type >= 2) && (sensor_gps.epv < 100)) { - float alt = sensor_gps.alt * 0.001f; + float alt = (float)sensor_gps.altitude_msl_m; if (PX4_ISFINITE(gps_altitude_sum)) { gps_altitude_sum += alt; @@ -172,7 +147,7 @@ int do_baro_calibration(orb_advert_t *mavlink_log_pub) const float pressure_pa = data_sum[instance] / data_sum_count[instance]; const float temperature = temperature_sum[instance] / data_sum_count[instance]; - float pressure_altitude = PressureToAltitude(pressure_pa, temperature); + float pressure_altitude = getAltitudeFromPressure(pressure_pa, temperature); // Use GPS altitude as a reference to compute the baro bias measurement const float baro_bias = pressure_altitude - gps_altitude; @@ -189,7 +164,7 @@ int do_baro_calibration(orb_advert_t *mavlink_log_pub) // perform a binary search while (front <= last) { middle = front + (last - front) / 2; - float altitude_calibrated = PressureToAltitude(pressure_pa - middle, temperature); + float altitude_calibrated = getAltitudeFromPressure(pressure_pa - middle, temperature); if (altitude_calibrated > altitude + 0.1f) { last = middle; diff --git a/src/modules/commander/commander_helper.cpp b/src/modules/commander/commander_helper.cpp index f642541fb74b..48c93982495a 100644 --- a/src/modules/commander/commander_helper.cpp +++ b/src/modules/commander/commander_helper.cpp @@ -153,7 +153,7 @@ int buzzer_init() tune_durations[tune_control_s::TUNE_ID_BATTERY_WARNING_SLOW] = 800000; tune_durations[tune_control_s::TUNE_ID_SINGLE_BEEP] = 300000; - tune_control_pub = orb_advertise_queue(ORB_ID(tune_control), &tune_control, tune_control_s::ORB_QUEUE_LENGTH); + tune_control_pub = orb_advertise(ORB_ID(tune_control), &tune_control); return PX4_OK; } @@ -330,7 +330,7 @@ int led_init() led_control.mode = led_control_s::MODE_OFF; led_control.priority = 0; led_control.timestamp = hrt_absolute_time(); - led_control_pub = orb_advertise_queue(ORB_ID(led_control), &led_control, led_control_s::ORB_QUEUE_LENGTH); + led_control_pub = orb_advertise(ORB_ID(led_control), &led_control); /* first open normal LEDs */ fd_leds = px4_open(LED0_DEVICE_PATH, O_RDWR); diff --git a/src/modules/commander/commander_params.c b/src/modules/commander/commander_params.c index 784a953f2de8..a462c8ae898c 100644 --- a/src/modules/commander/commander_params.c +++ b/src/modules/commander/commander_params.c @@ -45,13 +45,11 @@ * Roll trim * * The trim value is the actuator control value the system needs - * for straight and level flight. It can be calibrated by - * flying manually straight and level using the RC trims and - * copying them using the GCS. + * for straight and level flight. * * @group Radio Calibration - * @min -0.25 - * @max 0.25 + * @min -0.5 + * @max 0.5 * @decimal 2 * @increment 0.01 */ @@ -61,13 +59,11 @@ PARAM_DEFINE_FLOAT(TRIM_ROLL, 0.0f); * Pitch trim * * The trim value is the actuator control value the system needs - * for straight and level flight. It can be calibrated by - * flying manually straight and level using the RC trims and - * copying them using the GCS. + * for straight and level flight. * * @group Radio Calibration - * @min -0.25 - * @max 0.25 + * @min -0.5 + * @max 0.5 * @decimal 2 * @increment 0.01 */ @@ -77,13 +73,11 @@ PARAM_DEFINE_FLOAT(TRIM_PITCH, 0.0f); * Yaw trim * * The trim value is the actuator control value the system needs - * for straight and level flight. It can be calibrated by - * flying manually straight and level using the RC trims and - * copying them using the GCS. + * for straight and level flight. * * @group Radio Calibration - * @min -0.25 - * @max 0.25 + * @min -0.5 + * @max 0.5 * @decimal 2 * @increment 0.01 */ @@ -129,9 +123,10 @@ PARAM_DEFINE_INT32(COM_HLDL_LOSS_T, 120); PARAM_DEFINE_INT32(COM_HLDL_REG_T, 0); /** - * RC loss time threshold + * Manual control loss timeout * - * After this amount of seconds without RC connection it's considered lost and not used anymore + * The time in seconds without a new setpoint from RC or Joystick, after which the connection is considered lost. + * This must be kept short as the vehicle will use the last supplied setpoint until the timeout triggers. * * @group Commander * @unit s @@ -232,8 +227,6 @@ PARAM_DEFINE_FLOAT(COM_DISARM_PRFLT, 10.0f); /** * Allow arming without GPS * - * The default allows the vehicle to arm without GPS signal. - * * @group Commander * @value 0 Require GPS lock to arm * @value 1 Allow arming without GPS @@ -252,6 +245,19 @@ PARAM_DEFINE_INT32(COM_ARM_WO_GPS, 1); */ PARAM_DEFINE_INT32(COM_ARM_SWISBTN, 0); +/** + * Allow disarming via switch/stick/button on multicopters in manual thrust modes + * + * 0: Disallow disarming when not landed + * 1: Allow disarming in multicopter flight in modes where + * the thrust is directly controlled by thr throttle stick + * e.g. Stabilized, Acro + * + * @group Commander + * @boolean + */ +PARAM_DEFINE_INT32(COM_DISARM_MAN, 1); + /** * Battery failsafe mode * @@ -270,8 +276,8 @@ PARAM_DEFINE_INT32(COM_LOW_BAT_ACT, 0); * * Before entering failsafe (RTL, Land, Hold), wait COM_FAIL_ACT_T seconds in Hold mode * for the user to realize. - * During that time the user cannot take over control. - * Afterwards the configured failsafe action is triggered and the user may take over. + * During that time the user cannot take over control via the stick override feature (see COM_RC_OVERRIDE). + * Afterwards the configured failsafe action is triggered and the user may use stick override. * * A zero value disables the delay and the user cannot take over via stick movements (switching modes is still allowed). * @@ -352,194 +358,6 @@ PARAM_DEFINE_INT32(COM_OBL_RC_ACT, 0); */ PARAM_DEFINE_FLOAT(COM_OBC_LOSS_T, 5.0f); -/** - * First flightmode slot (1000-1160) - * - * If the main switch channel is in this range the - * selected flight mode will be applied. - * - * @value -1 Unassigned - * @value 0 Manual - * @value 1 Altitude - * @value 2 Position - * @value 3 Mission - * @value 4 Hold - * @value 10 Takeoff - * @value 11 Land - * @value 5 Return - * @value 6 Acro - * @value 7 Offboard - * @value 8 Stabilized - * @value 12 Follow Me - * @value 13 Precision Land - * @group Commander - */ -PARAM_DEFINE_INT32(COM_FLTMODE1, -1); - -/** - * Second flightmode slot (1160-1320) - * - * If the main switch channel is in this range the - * selected flight mode will be applied. - * - * @value -1 Unassigned - * @value 0 Manual - * @value 1 Altitude - * @value 2 Position - * @value 3 Mission - * @value 4 Hold - * @value 10 Takeoff - * @value 11 Land - * @value 5 Return - * @value 6 Acro - * @value 7 Offboard - * @value 8 Stabilized - * @value 12 Follow Me - * @value 13 Precision Land - * @group Commander - */ -PARAM_DEFINE_INT32(COM_FLTMODE2, -1); - -/** - * Third flightmode slot (1320-1480) - * - * If the main switch channel is in this range the - * selected flight mode will be applied. - * - * @value -1 Unassigned - * @value 0 Manual - * @value 1 Altitude - * @value 2 Position - * @value 3 Mission - * @value 4 Hold - * @value 10 Takeoff - * @value 11 Land - * @value 5 Return - * @value 6 Acro - * @value 7 Offboard - * @value 8 Stabilized - * @value 12 Follow Me - * @value 13 Precision Land - * @group Commander - */ -PARAM_DEFINE_INT32(COM_FLTMODE3, -1); - -/** - * Fourth flightmode slot (1480-1640) - * - * If the main switch channel is in this range the - * selected flight mode will be applied. - * - * @value -1 Unassigned - * @value 0 Manual - * @value 1 Altitude - * @value 2 Position - * @value 3 Mission - * @value 4 Hold - * @value 10 Takeoff - * @value 11 Land - * @value 5 Return - * @value 6 Acro - * @value 7 Offboard - * @value 8 Stabilized - * @value 12 Follow Me - * @value 13 Precision Land - * @group Commander - */ -PARAM_DEFINE_INT32(COM_FLTMODE4, -1); - -/** - * Fifth flightmode slot (1640-1800) - * - * If the main switch channel is in this range the - * selected flight mode will be applied. - * - * @value -1 Unassigned - * @value 0 Manual - * @value 1 Altitude - * @value 2 Position - * @value 3 Mission - * @value 4 Hold - * @value 10 Takeoff - * @value 11 Land - * @value 5 Return - * @value 6 Acro - * @value 7 Offboard - * @value 8 Stabilized - * @value 12 Follow Me - * @value 13 Precision Land - * @group Commander - */ -PARAM_DEFINE_INT32(COM_FLTMODE5, -1); - -/** - * Sixth flightmode slot (1800-2000) - * - * If the main switch channel is in this range the - * selected flight mode will be applied. - * - * @value -1 Unassigned - * @value 0 Manual - * @value 1 Altitude - * @value 2 Position - * @value 3 Mission - * @value 4 Hold - * @value 10 Takeoff - * @value 11 Land - * @value 5 Return - * @value 6 Acro - * @value 7 Offboard - * @value 8 Stabilized - * @value 12 Follow Me - * @value 13 Precision Land - * @group Commander - */ -PARAM_DEFINE_INT32(COM_FLTMODE6, -1); - -/** - * Maximum EKF position innovation test ratio that will allow arming - * - * @group Commander - * @min 0.1 - * @max 1.0 - * @decimal 2 - * @increment 0.05 - */ -PARAM_DEFINE_FLOAT(COM_ARM_EKF_POS, 0.5f); - -/** - * Maximum EKF velocity innovation test ratio that will allow arming - * - * @group Commander - * @min 0.1 - * @max 1.0 - * @decimal 2 - * @increment 0.05 - */ -PARAM_DEFINE_FLOAT(COM_ARM_EKF_VEL, 0.5f); - -/** - * Maximum EKF height innovation test ratio that will allow arming - * - * @group Commander - * @min 0.1 - * @max 1.0 - * @decimal 2 - * @increment 0.05 - */ -PARAM_DEFINE_FLOAT(COM_ARM_EKF_HGT, 1.0f); - -/** - * Maximum EKF yaw innovation test ratio that will allow arming - * - * @group Commander - * @min 0.1 - * @max 1.0 - * @decimal 2 - * @increment 0.05 - */ -PARAM_DEFINE_FLOAT(COM_ARM_EKF_YAW, 0.5f); - /** * Maximum accelerometer inconsistency between IMU units that will allow arming * @@ -598,9 +416,6 @@ PARAM_DEFINE_INT32(COM_ARM_MAG_STR, 2); * if position is unavailable Altitude mode. * Note: Only has an effect on multicopters, and VTOLs in multicopter mode. * - * This parameter is not considered in case of a GPS failure (Descend flight mode), where stick - * override is always enabled. - * * @min 0 * @max 3 * @bit 0 Enable override during auto modes (except for in critical battery reaction) @@ -719,8 +534,11 @@ PARAM_DEFINE_INT32(COM_POS_FS_DELAY, 1); * If the previous position error was below this threshold, there is an additional * factor of 2.5 applied (threshold for invalidation 2.5 times the one for validation). * + * Set to -1 to disable. + * * @unit m - * @min 0 + * @min -1 + * @max 400 * @decimal 1 * @group Commander */ @@ -904,10 +722,10 @@ PARAM_DEFINE_INT32(COM_PREARM_MODE, 0); PARAM_DEFINE_INT32(COM_FORCE_SAFETY, 0); /** - * Enable Motor Testing + * Enable Actuator Testing * - * If set, enables the motor test interface via MAVLink (DO_MOTOR_TEST), that - * allows spinning the motors for testing purposes. + * If set, enables the actuator test interface via MAVLink (ACTUATOR_TEST), that + * allows spinning the motors and moving the servos for testing purposes. * * @boolean * @group Commander @@ -926,7 +744,9 @@ PARAM_DEFINE_INT32(COM_MOT_TEST_EN, 1); PARAM_DEFINE_FLOAT(COM_KILL_DISARM, 5.0f); /** - * Maximum allowed CPU load to still arm + * Maximum allowed CPU load to still arm. + * + * The check fails if the CPU load is above this threshold for 2s. * * A negative value disables the check. * @@ -938,6 +758,21 @@ PARAM_DEFINE_FLOAT(COM_KILL_DISARM, 5.0f); */ PARAM_DEFINE_FLOAT(COM_CPU_MAX, 95.0f); +/** + * Maximum allowed RAM usage to pass checks + * + * The check fails if the RAM usage is above this threshold. + * + * A negative value disables the check. + * + * @group Commander + * @unit % + * @min -1 + * @max 100 + * @increment 1 + */ +PARAM_DEFINE_FLOAT(COM_RAM_MAX, 95.0f); + /** * Required number of redundant power modules * @@ -966,18 +801,6 @@ PARAM_DEFINE_INT32(COM_POWER_COUNT, 1); */ PARAM_DEFINE_FLOAT(COM_LKDOWN_TKO, 3.0f); -/** -* Enable preflight check for maximal allowed airspeed when arming. -* -* Deny arming if the current airspeed measurement is greater than half the cruise airspeed (FW_AIRSPD_TRIM). -* Excessive airspeed measurements on ground are either caused by wind or bad airspeed calibration. -* -* @group Commander -* @value 0 Disabled -* @value 1 Enabled -*/ -PARAM_DEFINE_INT32(COM_ARM_ARSP_EN, 1); - /** * Enable FMU SD card detection check * @@ -1003,6 +826,20 @@ PARAM_DEFINE_INT32(COM_ARM_SDCARD, 1); */ PARAM_DEFINE_INT32(COM_ARM_HFLT_CHK, 1); +/** + * Enable Drone ID system detection and health check + * + * This check detects if the Open Drone ID system is missing. + * Depending on the value of the parameter, the check can be + * disabled, warn only or deny arming. + * + * @group Commander + * @value 0 Disabled + * @value 1 Warning only + * @value 2 Enforce Open Drone ID system presence + */ +PARAM_DEFINE_INT32(COM_ARM_ODID, 0); + /** * Enforced delay between arming and further navigation * @@ -1057,14 +894,10 @@ PARAM_DEFINE_FLOAT(COM_WIND_WARN, -1.f); PARAM_DEFINE_INT32(COM_FLT_TIME_MAX, -1); /** - * Wind speed RTL threshold + * High wind speed failsafe threshold * - * Wind speed threshold above which an automatic return to launch is triggered. - * It is not possible to resume the mission or switch to any auto mode other than - * RTL or Land if this threshold is exceeded. Taking over in any manual - * mode is still possible. - * - * Set to -1 to disable. + * Wind speed threshold above which an automatic failsafe action is triggered. + * Failsafe action can be specified with COM_WIND_MAX_ACT. * * @min -1 * @decimal 1 @@ -1074,6 +907,27 @@ PARAM_DEFINE_INT32(COM_FLT_TIME_MAX, -1); */ PARAM_DEFINE_FLOAT(COM_WIND_MAX, -1.f); +/** + * High wind failsafe mode + * + * Action the system takes when a wind speed above the specified threshold is detected. + * See COM_WIND_MAX to set the failsafe threshold. + * If enabled, it is not possible to resume the mission or switch to any auto mode other than + * RTL or Land if this threshold is exceeded. Taking over in any manual + * mode is still possible. + * + * @group Commander + * + * @value 0 None + * @value 1 Warning + * @value 2 Hold + * @value 3 Return + * @value 4 Terminate + * @value 5 Land + * @increment 1 + */ +PARAM_DEFINE_INT32(COM_WIND_MAX_ACT, 0); + /** * EPH threshold for RTL * @@ -1085,8 +939,79 @@ PARAM_DEFINE_FLOAT(COM_WIND_MAX, -1.f); * * Set to -1 to disable. * - * @group Commander * @min -1 + * @max 1000 + * @group Commander * @unit m */ PARAM_DEFINE_FLOAT(COM_POS_LOW_EPH, -1.0f); + +/** + * Flag to allow arming + * + * Set 0 to prevent accidental use of the vehicle e.g. for safety or maintenance reasons. + * + * @boolean + * @value 0 Disallow arming + * @value 1 Allow arming + * @group Commander + */ +PARAM_DEFINE_INT32(COM_ARMABLE, 1); + +/** + * Minimum battery level for arming + * + * Additional battery level check that only allows arming if the state of charge of the emptiest + * connected battery is above this value. + * + * A value of 0 disables the check. + * + * @unit norm + * @min 0 + * @max 0.9 + * @decimal 2 + * @increment 0.01 + * @group Commander + */ +PARAM_DEFINE_FLOAT(COM_ARM_BAT_MIN, 0.f); + +/** + * Enable throw-start + * + * Allows to start the vehicle by throwing it into the air. + * + * @group Commander + * @boolean + */ +PARAM_DEFINE_INT32(COM_THROW_EN, 0); + +/** + * Minimum speed for the throw start + * + * When the throw launch is enabled, the drone will only arm after this speed is exceeded before detecting + * the freefall. This is a safety feature to ensure the drone does not turn on after accidental drop or + * a rapid movement before the throw. + * + * Set to 0 to disable. + * + * @group Commander + * @min 0 + * @decimal 1 + * @increment 0.1 + * @unit m/s + */ +PARAM_DEFINE_FLOAT(COM_THROW_SPEED, 5); + +/** + * Remaining flight time low failsafe + * + * Action the system takes when the remaining flight time is below + * the estimated time it takes to reach the RTL destination. + * + * @group Commander + * @value 0 None + * @value 1 Warning + * @value 3 Return + * @increment 1 + */ +PARAM_DEFINE_INT32(COM_FLTT_LOW_ACT, 3); diff --git a/src/modules/commander/esc_calibration.cpp b/src/modules/commander/esc_calibration.cpp index e2e8e99b4cfc..3e78578dff1e 100644 --- a/src/modules/commander/esc_calibration.cpp +++ b/src/modules/commander/esc_calibration.cpp @@ -58,18 +58,19 @@ using namespace time_literals; bool check_battery_disconnected(orb_advert_t *mavlink_log_pub) { - uORB::SubscriptionData batt_sub{ORB_ID(battery_status)}; - const battery_status_s &battery = batt_sub.get(); - batt_sub.update(); + uORB::SubscriptionData battery_status_sub{ORB_ID(battery_status)}; + battery_status_sub.update(); - if (battery.timestamp == 0) { - calibration_log_critical(mavlink_log_pub, CAL_QGC_FAILED_MSG, "battery unavailable"); + const bool recent_battery_measurement = hrt_absolute_time() < (battery_status_sub.get().timestamp + 1_s); + + if (!recent_battery_measurement) { + // We have to send this message for now because "battery unavailable" gets ignored by QGC + calibration_log_critical(mavlink_log_pub, CAL_QGC_FAILED_MSG, "Disconnect battery and try again"); return false; } - // Make sure battery is disconnected - // battery is not connected if the connected flag is not set and we have a recent battery measurement - if (!battery.connected && (hrt_elapsed_time(&battery.timestamp) < 500_ms)) { + // Make sure battery is reported to be disconnected + if (recent_battery_measurement && !battery_status_sub.get().connected) { return true; } @@ -93,66 +94,80 @@ static void set_motor_actuators(uORB::Publication &publisher, f int do_esc_calibration(orb_advert_t *mavlink_log_pub) { - calibration_log_info(mavlink_log_pub, CAL_QGC_STARTED_MSG, "esc"); + // 1 Initialization + bool calibration_failed = false; - int return_code = PX4_OK; uORB::Publication actuator_test_pub{ORB_ID(actuator_test)}; // since we publish multiple at once, make sure the output driver subscribes before we publish actuator_test_pub.advertise(); - px4_usleep(10000); - // set motors to high + uORB::SubscriptionData battery_status_sub{ORB_ID(battery_status)}; + battery_status_sub.update(); + const bool battery_connected_before_calibration = battery_status_sub.get().connected; + const float current_before_calibration = battery_status_sub.get().current_a; + + calibration_log_info(mavlink_log_pub, CAL_QGC_STARTED_MSG, "esc"); + + px4_usleep(10_ms); + + // 2 Set motors to high set_motor_actuators(actuator_test_pub, 1.f, false); calibration_log_info(mavlink_log_pub, "[cal] Connect battery now"); - - uORB::SubscriptionData batt_sub{ORB_ID(battery_status)}; - const battery_status_s &battery = batt_sub.get(); - batt_sub.update(); - bool batt_connected = battery.connected; hrt_abstime timeout_start = hrt_absolute_time(); + // 3 Wait for user to connect power while (true) { - // We are either waiting for the user to connect the battery. Or we are waiting to let the PWM - // sit high. - static constexpr hrt_abstime battery_connect_wait_timeout{20_s}; - static constexpr hrt_abstime pwm_high_timeout{3_s}; - hrt_abstime timeout_wait = batt_connected ? pwm_high_timeout : battery_connect_wait_timeout; - - if (hrt_elapsed_time(&timeout_start) > timeout_wait) { - if (!batt_connected) { - calibration_log_critical(mavlink_log_pub, CAL_QGC_FAILED_MSG, "Timeout waiting for battery"); - return_code = PX4_ERROR; - } - - // PWM was high long enough + hrt_abstime now = hrt_absolute_time(); + battery_status_sub.update(); + + if (now > (timeout_start + 1_s) && (battery_status_sub.get().current_a > current_before_calibration + 1.f)) { + // Safety termination, current rises immediately, user didn't unplug power before + calibration_failed = true; break; } - if (!batt_connected) { - if (batt_sub.update()) { - if (battery.connected) { - // Battery is connected, signal to user and start waiting again - batt_connected = true; - timeout_start = hrt_absolute_time(); - calibration_log_info(mavlink_log_pub, "[cal] Battery connected"); - } - } + if (!battery_connected_before_calibration && battery_status_sub.get().connected) { + // Battery connection detected we can go to the next step immediately + break; } - px4_usleep(50000); + if (now > (timeout_start + 6_s)) { + // Timeout, we continue since maybe the battery cannot be detected properly + // If we abort here and the ESCs are infact connected and started calibrating + // they will measure the disarmed value as the lower limit instead of the fixed 1000us + break; + } + + px4_usleep(50_ms); } - if (return_code == PX4_OK) { - // set motors to low + // 4 Wait for ESCs to measure high signal + if (!calibration_failed) { + calibration_log_info(mavlink_log_pub, "[cal] Battery connected"); + px4_usleep(3_s); + } + + // 5 Set motors to low + if (!calibration_failed) { set_motor_actuators(actuator_test_pub, 0.f, false); - px4_usleep(4000000); + } - // release control - set_motor_actuators(actuator_test_pub, 0.f, true); + // 6 Wait for ESCs to measure low signal + if (!calibration_failed) { + px4_usleep(5_s); + } + + // 7 release control + set_motor_actuators(actuator_test_pub, 0.f, true); + // 8 Report + if (calibration_failed) { + calibration_log_critical(mavlink_log_pub, CAL_QGC_FAILED_MSG, "Timeout waiting for battery"); + return PX4_ERROR; + + } else { calibration_log_info(mavlink_log_pub, CAL_QGC_DONE_MSG, "esc"); + return PX4_OK; } - - return return_code; } diff --git a/src/modules/commander/factory_calibration_storage.cpp b/src/modules/commander/factory_calibration_storage.cpp index 143202f735d7..698d842cf568 100644 --- a/src/modules/commander/factory_calibration_storage.cpp +++ b/src/modules/commander/factory_calibration_storage.cpp @@ -43,18 +43,53 @@ static const char *CALIBRATION_STORAGE = "/fs/mtd_caldata"; +enum class FactoryCalibrationMode : uint32_t { + Disabled = 0, + AllSensors, + AllSensorsExceptMag, +}; + +static bool ends_with(const char *str, const char *suffix) +{ + if (!str || !suffix) { + return false; + } + + size_t len_str = strlen(str); + size_t len_suffix = strlen(suffix); + + if (len_suffix > len_str) { + return false; + } + + return strncmp(str + len_str - len_suffix, suffix, len_suffix) == 0; +} + +static FactoryCalibrationMode factory_calibration_mode{FactoryCalibrationMode::Disabled}; + static bool filter_calibration_params(param_t handle) { const char *name = param_name(handle); + + if (factory_calibration_mode == FactoryCalibrationMode::AllSensorsExceptMag) { + if (strncmp(name, "CAL_MAG", 7) == 0) { + return false; + } + } + // filter all non-calibration params - return (strncmp(name, "CAL_", 4) == 0 && strncmp(name, "CAL_MAG_SIDES", 13) != 0) || strncmp(name, "TC_", 3) == 0; + return (strncmp(name, "CAL_", 4) == 0 + && strcmp(name, "CAL_MAG_SIDES") != 0 + && !ends_with(name, "_PRIO")) + || strncmp(name, "TC_", 3) == 0; } FactoryCalibrationStorage::FactoryCalibrationStorage() { int32_t param = 0; param_get(param_find("SYS_FAC_CAL_MODE"), ¶m); - _enabled = param == 1; + _enabled = param >= 1; + factory_calibration_mode = (FactoryCalibrationMode)param; } int FactoryCalibrationStorage::open() @@ -95,4 +130,3 @@ void FactoryCalibrationStorage::cleanup() param_control_autosave(true); } } - diff --git a/src/modules/commander/failsafe/failsafe.cpp b/src/modules/commander/failsafe/failsafe.cpp index 2f79e92cffbd..f868d6740835 100644 --- a/src/modules/commander/failsafe/failsafe.cpp +++ b/src/modules/commander/failsafe/failsafe.cpp @@ -60,6 +60,7 @@ FailsafeBase::ActionOptions Failsafe::fromNavDllOrRclActParam(int param_value) case gcs_connection_loss_failsafe_mode::Land_mode: options.action = Action::Land; + options.clear_condition = ClearCondition::OnModeChangeOrDisarm; break; case gcs_connection_loss_failsafe_mode::Terminate: @@ -113,6 +114,7 @@ FailsafeBase::ActionOptions Failsafe::fromGfActParam(int param_value) case geofence_violation_action::Land_mode: options.action = Action::Land; + options.clear_condition = ClearCondition::OnModeChangeOrDisarm; break; default: @@ -323,6 +325,79 @@ FailsafeBase::Action Failsafe::fromOffboardLossActParam(int param_value, uint8_t return action; } +FailsafeBase::ActionOptions Failsafe::fromHighWindLimitActParam(int param_value) +{ + ActionOptions options{}; + + switch (command_after_high_wind_failsafe(param_value)) { + case command_after_high_wind_failsafe::None: + options.action = Action::None; + break; + + case command_after_high_wind_failsafe::Warning: + options.action = Action::Warn; + break; + + case command_after_high_wind_failsafe::Hold_mode: + options.allow_user_takeover = UserTakeoverAllowed::AlwaysModeSwitchOnly; // ensure the user can escape again + options.action = Action::Hold; + options.clear_condition = ClearCondition::OnModeChangeOrDisarm; + break; + + case command_after_high_wind_failsafe::Return_mode: + options.action = Action::RTL; + options.clear_condition = ClearCondition::OnModeChangeOrDisarm; + break; + + case command_after_high_wind_failsafe::Terminate: + options.allow_user_takeover = UserTakeoverAllowed::Never; + options.action = Action::Terminate; + options.clear_condition = ClearCondition::Never; + break; + + case command_after_high_wind_failsafe::Land_mode: + options.action = Action::Land; + options.clear_condition = ClearCondition::OnModeChangeOrDisarm; + break; + + default: + options.action = Action::Warn; + break; + } + + return options; +} + +FailsafeBase::ActionOptions Failsafe::fromRemainingFlightTimeLowActParam(int param_value) +{ + ActionOptions options{}; + + options.allow_user_takeover = UserTakeoverAllowed::Auto; + options.cause = Cause::RemainingFlightTimeLow; + + switch (command_after_remaining_flight_time_low(param_value)) { + case command_after_remaining_flight_time_low::None: + options.action = Action::None; + break; + + case command_after_remaining_flight_time_low::Warning: + options.action = Action::Warn; + break; + + case command_after_remaining_flight_time_low::Return_mode: + options.action = Action::RTL; + options.clear_condition = ClearCondition::OnModeChangeOrDisarm; + break; + + default: + options.action = Action::None; + break; + + } + + return options; +} + void Failsafe::checkStateAndMode(const hrt_abstime &time_us, const State &state, const failsafe_flags_s &status_flags) { @@ -354,7 +429,7 @@ void Failsafe::checkStateAndMode(const hrt_abstime &time_us, const State &state, const bool rc_loss_ignored = rc_loss_ignored_mission || rc_loss_ignored_loiter || rc_loss_ignored_offboard || rc_loss_ignored_takeoff || ignore_link_failsafe || _manual_control_lost_at_arming; - if (_param_com_rc_in_mode.get() != int32_t(offboard_loss_failsafe_mode::Land_mode) && !rc_loss_ignored) { + if (_param_com_rc_in_mode.get() != int32_t(RcInMode::StickInputDisabled) && !rc_loss_ignored) { CHECK_FAILSAFE(status_flags, manual_control_signal_lost, fromNavDllOrRclActParam(_param_nav_rcl_act.get()).causedBy(Cause::ManualControlLoss)); } @@ -382,7 +457,7 @@ void Failsafe::checkStateAndMode(const hrt_abstime &time_us, const State &state, // If manual control loss and GCS connection loss are disabled and we lose both command links and the mission finished, // trigger RTL to avoid losing the vehicle - if ((_param_com_rc_in_mode.get() == int32_t(offboard_loss_failsafe_mode::Land_mode) || rc_loss_ignored_mission) + if ((_param_com_rc_in_mode.get() == int32_t(RcInMode::StickInputDisabled) || rc_loss_ignored_mission) && _param_nav_dll_act.get() == int32_t(gcs_connection_loss_failsafe_mode::Disabled) && state.mission_finished) { _last_state_mission_control_lost = checkFailsafe(_caller_id_mission_control_lost, _last_state_mission_control_lost, @@ -390,9 +465,8 @@ void Failsafe::checkStateAndMode(const hrt_abstime &time_us, const State &state, } } - CHECK_FAILSAFE(status_flags, wind_limit_exceeded, - ActionOptions(Action::RTL).clearOn(ClearCondition::OnModeChangeOrDisarm).cannotBeDeferred()); + ActionOptions(fromHighWindLimitActParam(_param_com_wind_max_act.get()).cannotBeDeferred())); CHECK_FAILSAFE(status_flags, flight_time_limit_exceeded, ActionOptions(Action::RTL).cannotBeDeferred()); // trigger RTL if low position accurancy is detected @@ -401,12 +475,32 @@ void Failsafe::checkStateAndMode(const hrt_abstime &time_us, const State &state, CHECK_FAILSAFE(status_flags, local_position_accuracy_low, ActionOptions(Action::RTL)); } - CHECK_FAILSAFE(status_flags, primary_geofence_breached, fromGfActParam(_param_gf_action.get()).cannotBeDeferred()); + if (state.user_intended_mode == vehicle_status_s::NAVIGATION_STATE_AUTO_TAKEOFF || + state.user_intended_mode == vehicle_status_s::NAVIGATION_STATE_AUTO_RTL) { + CHECK_FAILSAFE(status_flags, navigator_failure, + ActionOptions(Action::Land).clearOn(ClearCondition::OnModeChangeOrDisarm)); + + } else { + CHECK_FAILSAFE(status_flags, navigator_failure, + ActionOptions(Action::Hold).clearOn(ClearCondition::OnModeChangeOrDisarm)); + } + + CHECK_FAILSAFE(status_flags, geofence_breached, fromGfActParam(_param_gf_action.get()).cannotBeDeferred()); + + // Battery flight time remaining failsafe + CHECK_FAILSAFE(status_flags, battery_low_remaining_time, + ActionOptions(fromRemainingFlightTimeLowActParam(_param_com_fltt_low_act.get()))); - // Battery - CHECK_FAILSAFE(status_flags, battery_low_remaining_time, ActionOptions(Action::RTL).causedBy(Cause::BatteryLow)); - CHECK_FAILSAFE(status_flags, battery_unhealthy, Action::Warn); + if ((_armed_time != 0) + && (time_us < _armed_time + static_cast(_param_com_spoolup_time.get() * 1_s)) + ) { + CHECK_FAILSAFE(status_flags, battery_unhealthy, ActionOptions(Action::Disarm).cannotBeDeferred()); + + } else { + CHECK_FAILSAFE(status_flags, battery_unhealthy, Action::Warn); + } + // Battery low failsafe switch (status_flags.battery_warning) { case battery_status_s::BATTERY_WARNING_LOW: _last_state_battery_warning_low = checkFailsafe(_caller_id_battery_warning_low, _last_state_battery_warning_low, @@ -430,18 +524,19 @@ void Failsafe::checkStateAndMode(const hrt_abstime &time_us, const State &state, } - // Failure detector + // Handle fails during spoolup just after arming if ((_armed_time != 0) && (time_us < _armed_time + static_cast(_param_com_spoolup_time.get() * 1_s)) ) { CHECK_FAILSAFE(status_flags, fd_esc_arming_failure, ActionOptions(Action::Disarm).cannotBeDeferred()); + CHECK_FAILSAFE(status_flags, battery_unhealthy, ActionOptions(Action::Disarm).cannotBeDeferred()); } + // Handle fails during the early takeoff phase if ((_armed_time != 0) && (time_us < _armed_time + static_cast((_param_com_lkdown_tko.get() + _param_com_spoolup_time.get()) * 1_s)) ) { - // This handles the case where something fails during the early takeoff phase CHECK_FAILSAFE(status_flags, fd_critical_failure, ActionOptions(Action::Disarm).cannotBeDeferred()); } else if (!circuit_breaker_enabled_by_val(_param_cbrk_flightterm.get(), CBRK_FLIGHTTERM_KEY)) { diff --git a/src/modules/commander/failsafe/failsafe.h b/src/modules/commander/failsafe/failsafe.h index 9cbb7d576481..1c1b8bd86562 100644 --- a/src/modules/commander/failsafe/failsafe.h +++ b/src/modules/commander/failsafe/failsafe.h @@ -123,6 +123,30 @@ class Failsafe : public FailsafeBase Hold_mode = 2, }; + // COM_RC_IN_MODE parameter values + enum class RcInMode : int32_t { + RcTransmitterOnly = 0, // RC Transmitter only + JoystickOnly = 1, // Joystick only + RcAndJoystickWithFallback = 2, // RC And Joystick with fallback + RcOrJoystickKeepFirst = 3, // RC or Joystick keep first + StickInputDisabled = 4 // input disabled + }; + + enum class command_after_high_wind_failsafe : int32_t { + None = 0, + Warning = 1, + Hold_mode = 2, + Return_mode = 3, + Terminate = 4, + Land_mode = 5 + }; + + enum class command_after_remaining_flight_time_low : int32_t { + None = 0, + Warning = 1, + Return_mode = 3 + }; + static ActionOptions fromNavDllOrRclActParam(int param_value); static ActionOptions fromGfActParam(int param_value); @@ -131,6 +155,8 @@ class Failsafe : public FailsafeBase static ActionOptions fromBatteryWarningActParam(int param_value, uint8_t battery_warning); static ActionOptions fromQuadchuteActParam(int param_value); static Action fromOffboardLossActParam(int param_value, uint8_t &user_intended_mode); + static ActionOptions fromHighWindLimitActParam(int param_value); + static ActionOptions fromRemainingFlightTimeLowActParam(int param_value); const int _caller_id_mode_fallback{genCallerId()}; bool _last_state_mode_fallback{false}; @@ -162,8 +188,9 @@ class Failsafe : public FailsafeBase (ParamInt) _param_com_actuator_failure_act, (ParamInt) _param_com_low_bat_act, (ParamInt) _param_com_obl_rc_act, - (ParamInt) _param_com_qc_act + (ParamInt) _param_com_qc_act, + (ParamInt) _param_com_wind_max_act, + (ParamInt) _param_com_fltt_low_act ); }; - diff --git a/src/modules/commander/failsafe/framework.cpp b/src/modules/commander/failsafe/framework.cpp index 88123548a76d..729205ebe89e 100644 --- a/src/modules/commander/failsafe/framework.cpp +++ b/src/modules/commander/failsafe/framework.cpp @@ -195,7 +195,7 @@ void FailsafeBase::notifyUser(uint8_t user_intended_mode, Action action, Action events::send( events::ID("commander_failsafe_enter_generic_hold"), {events::Log::Critical, events::LogInternal::Warning}, - "Failsafe activated, triggering {2} in {3} seconds", mavlink_mode, failsafe_action, + "Failsafe activated: switching to {2} in {3} seconds", mavlink_mode, failsafe_action, (uint16_t) delay_s); } else { @@ -204,11 +204,11 @@ void FailsafeBase::notifyUser(uint8_t user_intended_mode, Action action, Action events::send( events::ID("commander_failsafe_enter_hold"), {events::Log::Critical, events::LogInternal::Warning}, - "Failsafe activated due to {4}, triggering {2} in {3} seconds", mavlink_mode, failsafe_action, + "{4}: switching to {2} in {3} seconds", mavlink_mode, failsafe_action, (uint16_t) delay_s, failsafe_cause); } - mavlink_log_critical(&_mavlink_log_pub, "Failsafe activated, entering Hold for %i seconds\t", delay_s); + mavlink_log_critical(&_mavlink_log_pub, "Failsafe activated: entering Hold for %i seconds\t", delay_s); } else { // no delay failsafe_action_t failsafe_action = (failsafe_action_t)action; @@ -222,7 +222,17 @@ void FailsafeBase::notifyUser(uint8_t user_intended_mode, Action action, Action events::send( events::ID("commander_failsafe_enter_generic_warn"), {events::Log::Warning, events::LogInternal::Warning}, - "Failsafe warning triggered", mavlink_mode); + "Failsafe warning:", mavlink_mode); + + } else if (action == Action::Descend || action == Action::FallbackAltCtrl || action == Action::FallbackStab) { + /* EVENT + * @description Failsafe actions that disengage the autopilot (remove position control) + * @type append_health_and_arming_messages + */ + events::send( + events::ID("commander_failsafe_enter_autopilot_disengaged"), + {events::Log::Critical, events::LogInternal::Warning}, + "Failsafe activated: Autopilot disengaged, switching to {2}", mavlink_mode, failsafe_action); } else { /* EVENT @@ -231,7 +241,7 @@ void FailsafeBase::notifyUser(uint8_t user_intended_mode, Action action, Action events::send( events::ID("commander_failsafe_enter_generic"), {events::Log::Critical, events::LogInternal::Warning}, - "Failsafe activated, triggering {2}", mavlink_mode, failsafe_action); + "Failsafe activated: switching to {2}", mavlink_mode, failsafe_action); } } else { @@ -250,6 +260,11 @@ void FailsafeBase::notifyUser(uint8_t user_intended_mode, Action action, Action events::send(events::ID("commander_failsafe_enter_crit_low_bat_warn"), {events::Log::Emergency, events::LogInternal::Info}, "Emergency battery level, land immediately"); + } else if (cause == Cause::RemainingFlightTimeLow) { + events::send(events::ID("commander_failsafe_enter_low_flight_time_warn"), + {events::Log::Warning, events::LogInternal::Info}, + "Low remaining flight time, return advised"); + } else { /* EVENT * @description No action is triggered. @@ -257,7 +272,7 @@ void FailsafeBase::notifyUser(uint8_t user_intended_mode, Action action, Action events::send( events::ID("commander_failsafe_enter_warn"), {events::Log::Warning, events::LogInternal::Warning}, - "Failsafe warning triggered due to {2}", mavlink_mode, failsafe_cause); + "Failsafe warning: {2}", mavlink_mode, failsafe_cause); } @@ -267,7 +282,7 @@ void FailsafeBase::notifyUser(uint8_t user_intended_mode, Action action, Action events::send( events::ID("commander_failsafe_enter"), {events::Log::Critical, events::LogInternal::Warning}, - "Failsafe activated due to {3}, triggering {2}", mavlink_mode, failsafe_action, failsafe_cause); + "{3}: switching to {2}", mavlink_mode, failsafe_action, failsafe_cause); } } @@ -462,7 +477,7 @@ void FailsafeBase::getSelectedAction(const State &state, const failsafe_flags_s // Check if we should enter delayed Hold if (_current_delay > 0 && !_user_takeover_active && allow_user_takeover <= UserTakeoverAllowed::AlwaysModeSwitchOnly - && selected_action != Action::Disarm && selected_action != Action::Terminate) { + && selected_action != Action::Disarm && selected_action != Action::Terminate && selected_action != Action::Hold) { returned_state.delayed_action = selected_action; selected_action = Action::Hold; allow_user_takeover = UserTakeoverAllowed::AlwaysModeSwitchOnly; @@ -512,6 +527,8 @@ void FailsafeBase::getSelectedAction(const State &state, const failsafe_flags_s break; } + returned_state.cause = Cause::Generic; + // fallthrough case Action::FallbackAltCtrl: if (modeCanRun(status_flags, vehicle_status_s::NAVIGATION_STATE_ALTCTL)) { @@ -519,6 +536,8 @@ void FailsafeBase::getSelectedAction(const State &state, const failsafe_flags_s break; } + returned_state.cause = Cause::Generic; + // fallthrough case Action::FallbackStab: if (modeCanRun(status_flags, vehicle_status_s::NAVIGATION_STATE_STAB)) { @@ -526,6 +545,8 @@ void FailsafeBase::getSelectedAction(const State &state, const failsafe_flags_s break; } // else: fall through here as well. If stabilized isn't available, we most certainly end up in Terminate + returned_state.cause = Cause::Generic; + // fallthrough case Action::Hold: if (modeCanRun(status_flags, vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER)) { @@ -533,6 +554,8 @@ void FailsafeBase::getSelectedAction(const State &state, const failsafe_flags_s break; } + returned_state.cause = Cause::Generic; + // fallthrough case Action::RTL: if (modeCanRun(status_flags, vehicle_status_s::NAVIGATION_STATE_AUTO_RTL)) { @@ -540,6 +563,8 @@ void FailsafeBase::getSelectedAction(const State &state, const failsafe_flags_s break; } + returned_state.cause = Cause::Generic; + // fallthrough case Action::Land: if (modeCanRun(status_flags, vehicle_status_s::NAVIGATION_STATE_AUTO_LAND)) { @@ -547,6 +572,8 @@ void FailsafeBase::getSelectedAction(const State &state, const failsafe_flags_s break; } + returned_state.cause = Cause::Generic; + // fallthrough case Action::Descend: if (modeCanRun(status_flags, vehicle_status_s::NAVIGATION_STATE_DESCEND)) { @@ -554,6 +581,8 @@ void FailsafeBase::getSelectedAction(const State &state, const failsafe_flags_s break; } + returned_state.cause = Cause::Generic; + // fallthrough case Action::Terminate: selected_action = Action::Terminate; diff --git a/src/modules/commander/failsafe/framework.h b/src/modules/commander/failsafe/framework.h index 2d7b36ee7a59..4cd3ac5202c5 100644 --- a/src/modules/commander/failsafe/framework.h +++ b/src/modules/commander/failsafe/framework.h @@ -83,6 +83,7 @@ class FailsafeBase: public ModuleParams BatteryLow, BatteryCritical, BatteryEmergency, + RemainingFlightTimeLow, Count }; @@ -146,7 +147,7 @@ class FailsafeBase: public ModuleParams bool rc_sticks_takeover_request, const failsafe_flags_s &status_flags); - bool inFailsafe() const { return _selected_action != Action::None; } + bool inFailsafe() const { return (_selected_action != Action::None && _selected_action != Action::Warn); } Action selectedAction() const { return _selected_action; } @@ -282,4 +283,3 @@ class FailsafeBase: public ModuleParams ); }; - diff --git a/src/modules/commander/failsafe/parse_flags_from_msg.py b/src/modules/commander/failsafe/parse_flags_from_msg.py index 6b1ddf24b95d..487a14e049f7 100755 --- a/src/modules/commander/failsafe/parse_flags_from_msg.py +++ b/src/modules/commander/failsafe/parse_flags_from_msg.py @@ -137,4 +137,3 @@ def __init__(self, group_name): html_template_content = html_template_content.replace(html_tag, html_conditions) with open(html_output_file, 'w') as file: file.write(html_template_content) - diff --git a/src/modules/commander/lm_fit.cpp b/src/modules/commander/lm_fit.cpp index 39eb571a794e..866fa6f07192 100644 --- a/src/modules/commander/lm_fit.cpp +++ b/src/modules/commander/lm_fit.cpp @@ -353,4 +353,3 @@ int lm_mag_fit(const float x[], const float y[], const float z[], unsigned int s return 1; } - diff --git a/src/modules/commander/mag_calibration.cpp b/src/modules/commander/mag_calibration.cpp index fcb35ca78242..4121549bd2ac 100644 --- a/src/modules/commander/mag_calibration.cpp +++ b/src/modules/commander/mag_calibration.cpp @@ -237,11 +237,8 @@ static float get_sphere_radius() if (gps_sub.copy(&gps)) { if (hrt_elapsed_time(&gps.timestamp) < 100_s && (gps.fix_type >= 2) && (gps.eph < 1000)) { - const double lat = gps.lat / 1.e7; - const double lon = gps.lon / 1.e7; - // magnetic field data returned by the geo library using the current GPS position - return get_mag_strength_gauss(lat, lon); + return get_mag_strength_gauss(gps.latitude_deg, gps.longitude_deg); } } } @@ -771,6 +768,10 @@ calibrate_return mag_calibrate_all(orb_advert_t *mavlink_log_pub, int32_t cal_ma // FALLTHROUGH case ROTATION_PITCH_180_YAW_270: // skip 27, same as 10 ROTATION_ROLL_180_YAW_90 + + // FALLTHROUGH + case ROTATION_CUSTOM: // Skip, as we currently don't support detecting arbitrary euler angle orientation + MSE[r] = FLT_MAX; break; @@ -831,6 +832,11 @@ calibrate_return mag_calibrate_all(orb_advert_t *mavlink_log_pub, int32_t cal_ma worker_data.calibration[cur_mag].device_id(), worker_data.calibration[cur_mag].rotation_enum()); continue; + case ROTATION_CUSTOM: + PX4_INFO("[cal] External Mag: %d (%" PRIu32 "), not setting rotation enum since it's specified by Euler Angle", + cur_mag, worker_data.calibration[cur_mag].device_id()); + continue; // Continue to the next mag loop + default: break; } @@ -945,13 +951,14 @@ calibrate_return mag_calibrate_all(orb_advert_t *mavlink_log_pub, int32_t cal_ma return result; } -int do_mag_calibration_quick(orb_advert_t *mavlink_log_pub, float heading_radians, float latitude, float longitude) +int do_mag_calibration_quick(orb_advert_t *mavlink_log_pub, float heading_radians, + float latitude_deg, float longitude_deg) { // magnetometer quick calibration // if GPS available use world magnetic model to zero mag offsets bool mag_earth_available = false; - if (PX4_ISFINITE(latitude) && PX4_ISFINITE(longitude)) { + if (PX4_ISFINITE(latitude_deg) && PX4_ISFINITE(longitude_deg)) { mag_earth_available = true; } else { @@ -960,8 +967,8 @@ int do_mag_calibration_quick(orb_advert_t *mavlink_log_pub, float heading_radian if (vehicle_gps_position_sub.copy(&gps)) { if ((gps.timestamp != 0) && (gps.eph < 1000)) { - latitude = gps.lat / 1.e7f; - longitude = gps.lon / 1.e7f; + latitude_deg = (float)gps.latitude_deg; + longitude_deg = (float)gps.longitude_deg; mag_earth_available = true; } } @@ -972,14 +979,13 @@ int do_mag_calibration_quick(orb_advert_t *mavlink_log_pub, float heading_radian return PX4_ERROR; } else { - // magnetic field data returned by the geo library using the current GPS position - const float mag_declination_gps = get_mag_declination_radians(latitude, longitude); - const float mag_inclination_gps = get_mag_inclination_radians(latitude, longitude); - const float mag_strength_gps = get_mag_strength_gauss(latitude, longitude); + const float declination_rad = math::radians(get_mag_declination_degrees(latitude_deg, longitude_deg)); + const float inclination_rad = math::radians(get_mag_inclination_degrees(latitude_deg, longitude_deg)); + const float field_strength_gauss = get_mag_strength_gauss(latitude_deg, longitude_deg); - const Vector3f mag_earth_pred = Dcmf(Eulerf(0, -mag_inclination_gps, mag_declination_gps)) * Vector3f(mag_strength_gps, - 0, 0); + const Vector3f mag_earth_pred = Dcmf(Eulerf(0, -inclination_rad, declination_rad)) + * Vector3f(field_strength_gauss, 0, 0); uORB::Subscription vehicle_attitude_sub{ORB_ID(vehicle_attitude)}; vehicle_attitude_s attitude{}; @@ -997,8 +1003,8 @@ int do_mag_calibration_quick(orb_advert_t *mavlink_log_pub, float heading_radian return PX4_ERROR; } - calibration_log_critical(mavlink_log_pub, "Assuming vehicle is facing heading %.1f degrees", - (double)math::radians(heading_radians)); + calibration_log_info(mavlink_log_pub, "Assuming vehicle is facing heading %.1f degrees", + (double)math::degrees(heading_radians)); matrix::Eulerf euler{matrix::Quatf{attitude.q}}; euler(2) = heading_radians; diff --git a/src/modules/commander/module.yaml b/src/modules/commander/module.yaml new file mode 100644 index 000000000000..d2113d935955 --- /dev/null +++ b/src/modules/commander/module.yaml @@ -0,0 +1,51 @@ +module_name: Commander +parameters: + - group: Commander + definitions: + COM_MODE${i}_HASH: + description: + short: External mode identifier ${i} + long: | + This parameter is automatically set to identify external modes. It ensures that modes + get assigned to the same index independent from their startup order, + which is required when mapping an external mode to an RC switch. + type: int32 + num_instances: 8 # Max 8 modes (NAVIGATION_STATE_EXTERNAL8) + default: 0 + volatile: true + category: System + + COM_FLTMODE${i}: + description: + short: Mode slot ${i} + long: | + If the main switch channel is in this range the + selected flight mode will be applied. + type: enum + values: + -1: Unassigned + 0: Manual + 1: Altitude + 2: Position + 9: Position Slow + 3: Mission + 4: Hold + 10: Takeoff + 11: Land + 5: Return + 6: Acro + 7: Offboard + 8: Stabilized + 12: Follow Me + 13: Precision Land + 100: External Mode 1 + 101: External Mode 2 + 102: External Mode 3 + 103: External Mode 4 + 104: External Mode 5 + 105: External Mode 6 + 106: External Mode 7 + 107: External Mode 8 + instance_start: 1 + num_instances: 6 + default: -1 diff --git a/src/modules/commander/px4_custom_mode.h b/src/modules/commander/px4_custom_mode.h index b3d43652dd7b..e4936982ff1b 100644 --- a/src/modules/commander/px4_custom_mode.h +++ b/src/modules/commander/px4_custom_mode.h @@ -50,7 +50,8 @@ enum PX4_CUSTOM_MAIN_MODE { PX4_CUSTOM_MAIN_MODE_OFFBOARD, PX4_CUSTOM_MAIN_MODE_STABILIZED, PX4_CUSTOM_MAIN_MODE_RATTITUDE_LEGACY, - PX4_CUSTOM_MAIN_MODE_SIMPLE /* unused, but reserved for future use */ + PX4_CUSTOM_MAIN_MODE_SIMPLE, /* unused, but reserved for future use */ + PX4_CUSTOM_MAIN_MODE_TERMINATION }; enum PX4_CUSTOM_SUB_MODE_AUTO { @@ -63,12 +64,21 @@ enum PX4_CUSTOM_SUB_MODE_AUTO { PX4_CUSTOM_SUB_MODE_AUTO_RESERVED_DO_NOT_USE, // was PX4_CUSTOM_SUB_MODE_AUTO_RTGS, deleted 2020-03-05 PX4_CUSTOM_SUB_MODE_AUTO_FOLLOW_TARGET, PX4_CUSTOM_SUB_MODE_AUTO_PRECLAND, - PX4_CUSTOM_SUB_MODE_AUTO_VTOL_TAKEOFF + PX4_CUSTOM_SUB_MODE_AUTO_VTOL_TAKEOFF, + PX4_CUSTOM_SUB_MODE_EXTERNAL1, + PX4_CUSTOM_SUB_MODE_EXTERNAL2, + PX4_CUSTOM_SUB_MODE_EXTERNAL3, + PX4_CUSTOM_SUB_MODE_EXTERNAL4, + PX4_CUSTOM_SUB_MODE_EXTERNAL5, + PX4_CUSTOM_SUB_MODE_EXTERNAL6, + PX4_CUSTOM_SUB_MODE_EXTERNAL7, + PX4_CUSTOM_SUB_MODE_EXTERNAL8, }; enum PX4_CUSTOM_SUB_MODE_POSCTL { PX4_CUSTOM_SUB_MODE_POSCTL_POSCTL = 0, - PX4_CUSTOM_SUB_MODE_POSCTL_ORBIT + PX4_CUSTOM_SUB_MODE_POSCTL_ORBIT, + PX4_CUSTOM_SUB_MODE_POSCTL_SLOW }; union px4_custom_mode { @@ -106,6 +116,11 @@ static inline union px4_custom_mode get_px4_custom_mode(uint8_t nav_state) custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_POSCTL; break; + case vehicle_status_s::NAVIGATION_STATE_POSITION_SLOW: + custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_POSCTL; + custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_POSCTL_SLOW; + break; + case vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION: custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_AUTO; custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_MISSION; @@ -131,7 +146,7 @@ static inline union px4_custom_mode get_px4_custom_mode(uint8_t nav_state) break; case vehicle_status_s::NAVIGATION_STATE_TERMINATION: - custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_MANUAL; + custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_TERMINATION; break; case vehicle_status_s::NAVIGATION_STATE_OFFBOARD: @@ -171,10 +186,49 @@ static inline union px4_custom_mode get_px4_custom_mode(uint8_t nav_state) custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_AUTO; custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_VTOL_TAKEOFF; break; + + case vehicle_status_s::NAVIGATION_STATE_EXTERNAL1: + custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_AUTO; + custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_EXTERNAL1; + break; + + case vehicle_status_s::NAVIGATION_STATE_EXTERNAL2: + custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_AUTO; + custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_EXTERNAL2; + break; + + case vehicle_status_s::NAVIGATION_STATE_EXTERNAL3: + custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_AUTO; + custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_EXTERNAL3; + break; + + case vehicle_status_s::NAVIGATION_STATE_EXTERNAL4: + custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_AUTO; + custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_EXTERNAL4; + break; + + case vehicle_status_s::NAVIGATION_STATE_EXTERNAL5: + custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_AUTO; + custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_EXTERNAL5; + break; + + case vehicle_status_s::NAVIGATION_STATE_EXTERNAL6: + custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_AUTO; + custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_EXTERNAL6; + break; + + case vehicle_status_s::NAVIGATION_STATE_EXTERNAL7: + custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_AUTO; + custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_EXTERNAL7; + break; + + case vehicle_status_s::NAVIGATION_STATE_EXTERNAL8: + custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_AUTO; + custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_EXTERNAL8; + break; } return custom_mode; } #endif /* DEFINE_GET_PX4_CUSTOM_MODE */ - diff --git a/src/modules/commander/worker_thread.cpp b/src/modules/commander/worker_thread.cpp index 501c483e914a..9859da498b3e 100644 --- a/src/modules/commander/worker_thread.cpp +++ b/src/modules/commander/worker_thread.cpp @@ -158,7 +158,7 @@ void WorkerThread::threadEntry() break; case Request::ParamSaveDefault: - _ret_value = param_save_default(); + _ret_value = param_save_default(true); if (_ret_value != 0) { mavlink_log_critical(&_mavlink_log_pub, "Error saving settings\t"); @@ -175,9 +175,9 @@ void WorkerThread::threadEntry() case Request::ParamResetSensorFactory: { const char *reset_cal[] = { "CAL_ACC*", "CAL_GYRO*", "CAL_MAG*" }; param_reset_specific(reset_cal, sizeof(reset_cal) / sizeof(reset_cal[0])); - _ret_value = param_save_default(); + _ret_value = param_save_default(true); #if defined(CONFIG_BOARDCTL_RESET) - px4_reboot_request(false, 400_ms); + px4_reboot_request(REBOOT_REQUEST, 400_ms); #endif // CONFIG_BOARDCTL_RESET break; } diff --git a/src/modules/commander/worker_thread.hpp b/src/modules/commander/worker_thread.hpp index 5194c6758d71..ae271c398829 100644 --- a/src/modules/commander/worker_thread.hpp +++ b/src/modules/commander/worker_thread.hpp @@ -100,4 +100,3 @@ class WorkerThread float _longitude; }; - diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectiveness.cpp b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectiveness.cpp index e8b2b3bea679..901c469746e6 100644 --- a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectiveness.cpp +++ b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectiveness.cpp @@ -84,3 +84,21 @@ int ActuatorEffectiveness::Configuration::totalNumActuators() const return total_count; } + +void ActuatorEffectiveness::stopMaskedMotorsWithZeroThrust(uint32_t stoppable_motors_mask, ActuatorVector &actuator_sp) +{ + for (int actuator_idx = 0; actuator_idx < NUM_ACTUATORS; actuator_idx++) { + const uint32_t motor_mask = (1u << actuator_idx); + + if (stoppable_motors_mask & motor_mask) { + + // Stop motor if its setpoint is below 2%. This value was determined empirically (RC stick inaccuracy) + if (fabsf(actuator_sp(actuator_idx)) < .02f) { + _stopped_motors_mask |= motor_mask; + + } else { + _stopped_motors_mask &= ~motor_mask; + } + } + } +} diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectiveness.hpp b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectiveness.hpp index 1317011850a0..0ddd4988f335 100644 --- a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectiveness.hpp +++ b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectiveness.hpp @@ -203,7 +203,7 @@ class ActuatorEffectiveness /** * Get a bitmask of motors to be stopped */ - virtual uint32_t getStoppedMotors() const { return 0; } + virtual uint32_t getStoppedMotors() const { return _stopped_motors_mask; } /** * Fill in the unallocated torque and thrust, customized by effectiveness type. @@ -211,6 +211,15 @@ class ActuatorEffectiveness */ virtual void getUnallocatedControl(int matrix_index, control_allocator_status_s &status) {} + /** + * Stops motors which are masked by stoppable_motors_mask and whose demanded thrust is zero + * + * @param stoppable_motors_mask mask of motors that should be stopped if there's no thrust demand + * @param actuator_sp outcome of the allocation to determine if the motor should be stopped + */ + virtual void stopMaskedMotorsWithZeroThrust(uint32_t stoppable_motors_mask, ActuatorVector &actuator_sp); + protected: - FlightPhase _flight_phase{FlightPhase::HOVER_FLIGHT}; ///< Current flight phase + FlightPhase _flight_phase{FlightPhase::HOVER_FLIGHT}; + uint32_t _stopped_motors_mask{0}; }; diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessCustom.cpp b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessCustom.cpp index ca991b542424..ead2043682c0 100644 --- a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessCustom.cpp +++ b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessCustom.cpp @@ -48,9 +48,10 @@ ActuatorEffectivenessCustom::getEffectivenessMatrix(Configuration &configuration return false; } - // motors + // Motors _motors.enablePropellerTorque(false); const bool motors_added_successfully = _motors.addActuators(configuration); + _motors_mask = _motors.getMotors(); // Torque const bool torque_added_successfully = _torque.addActuators(configuration); @@ -58,3 +59,9 @@ ActuatorEffectivenessCustom::getEffectivenessMatrix(Configuration &configuration return (motors_added_successfully && torque_added_successfully); } +void ActuatorEffectivenessCustom::updateSetpoint(const matrix::Vector &control_sp, + int matrix_index, ActuatorVector &actuator_sp, const matrix::Vector &actuator_min, + const matrix::Vector &actuator_max) +{ + stopMaskedMotorsWithZeroThrust(_motors_mask, actuator_sp); +} diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessCustom.hpp b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessCustom.hpp index e06278f08ffe..0cc1390bd272 100644 --- a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessCustom.hpp +++ b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessCustom.hpp @@ -45,9 +45,15 @@ class ActuatorEffectivenessCustom : public ModuleParams, public ActuatorEffectiv bool getEffectivenessMatrix(Configuration &configuration, EffectivenessUpdateReason external_update) override; + void updateSetpoint(const matrix::Vector &control_sp, int matrix_index, + ActuatorVector &actuator_sp, const matrix::Vector &actuator_min, + const matrix::Vector &actuator_max) override; + const char *name() const override { return "Custom"; } protected: ActuatorEffectivenessRotors _motors; ActuatorEffectivenessControlSurfaces _torque; + + uint32_t _motors_mask{}; }; diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessFixedWing.cpp b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessFixedWing.cpp index 8e152183c8f6..c7c2bba7d709 100644 --- a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessFixedWing.cpp +++ b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessFixedWing.cpp @@ -53,6 +53,7 @@ ActuatorEffectivenessFixedWing::getEffectivenessMatrix(Configuration &configurat // Motors _rotors.enablePropellerTorque(false); const bool rotors_added_successfully = _rotors.addActuators(configuration); + _forwards_motors_mask = _rotors.getForwardsMotors(); // Control Surfaces _first_control_surface_idx = configuration.num_actuators_matrix[0]; @@ -61,6 +62,13 @@ ActuatorEffectivenessFixedWing::getEffectivenessMatrix(Configuration &configurat return (rotors_added_successfully && surfaces_added_successfully); } +void ActuatorEffectivenessFixedWing::updateSetpoint(const matrix::Vector &control_sp, + int matrix_index, ActuatorVector &actuator_sp, const matrix::Vector &actuator_min, + const matrix::Vector &actuator_max) +{ + stopMaskedMotorsWithZeroThrust(_forwards_motors_mask, actuator_sp); +} + void ActuatorEffectivenessFixedWing::allocateAuxilaryControls(const float dt, int matrix_index, ActuatorVector &actuator_sp) { diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessFixedWing.hpp b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessFixedWing.hpp index 6195946866d3..5b4b7785b251 100644 --- a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessFixedWing.hpp +++ b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessFixedWing.hpp @@ -51,6 +51,10 @@ class ActuatorEffectivenessFixedWing : public ModuleParams, public ActuatorEffec void allocateAuxilaryControls(const float dt, int matrix_index, ActuatorVector &actuator_sp) override; + void updateSetpoint(const matrix::Vector &control_sp, int matrix_index, + ActuatorVector &actuator_sp, const matrix::Vector &actuator_min, + const matrix::Vector &actuator_max) override; + private: ActuatorEffectivenessRotors _rotors; ActuatorEffectivenessControlSurfaces _control_surfaces; @@ -59,4 +63,6 @@ class ActuatorEffectivenessFixedWing : public ModuleParams, public ActuatorEffec uORB::Subscription _spoilers_setpoint_sub{ORB_ID(spoilers_setpoint)}; int _first_control_surface_idx{0}; ///< applies to matrix 1 + + uint32_t _forwards_motors_mask{}; }; diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessHelicopter.cpp b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessHelicopter.cpp index 9faae22ca434..f403424b678c 100644 --- a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessHelicopter.cpp +++ b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessHelicopter.cpp @@ -37,8 +37,8 @@ using namespace matrix; using namespace time_literals; -ActuatorEffectivenessHelicopter::ActuatorEffectivenessHelicopter(ModuleParams *parent) - : ModuleParams(parent) +ActuatorEffectivenessHelicopter::ActuatorEffectivenessHelicopter(ModuleParams *parent, ActuatorType tail_actuator_type) + : ModuleParams(parent), _tail_actuator_type(tail_actuator_type) { for (int i = 0; i < NUM_SWASH_PLATE_SERVOS_MAX; ++i) { char buffer[17]; @@ -104,8 +104,7 @@ void ActuatorEffectivenessHelicopter::updateParams() _geometry.yaw_sign = (yaw_ccw == 1) ? -1.f : 1.f; } -bool -ActuatorEffectivenessHelicopter::getEffectivenessMatrix(Configuration &configuration, +bool ActuatorEffectivenessHelicopter::getEffectivenessMatrix(Configuration &configuration, EffectivenessUpdateReason external_update) { if (external_update == EffectivenessUpdateReason::NO_EXTERNAL_UPDATE) { @@ -115,8 +114,8 @@ ActuatorEffectivenessHelicopter::getEffectivenessMatrix(Configuration &configura // As the allocation is non-linear, we use updateSetpoint() instead of the matrix configuration.addActuator(ActuatorType::MOTORS, Vector3f{}, Vector3f{}); - // Tail (yaw) motor - configuration.addActuator(ActuatorType::MOTORS, Vector3f{}, Vector3f{}); + // Tail (yaw) (either ESC or Servo) + configuration.addActuator(_tail_actuator_type, Vector3f{}, Vector3f{}); // N swash plate servos _first_swash_plate_servo_index = configuration.num_actuators_matrix[0]; @@ -221,7 +220,6 @@ void ActuatorEffectivenessHelicopter::setSaturationFlag(float coeff, bool &posit void ActuatorEffectivenessHelicopter::getUnallocatedControl(int matrix_index, control_allocator_status_s &status) { - // Note: the values '-1', '1' and '0' are just to indicate a negative, // positive or no saturation to the rate controller. The actual magnitude is not used. if (_saturation_flags.roll_pos) { @@ -229,6 +227,9 @@ void ActuatorEffectivenessHelicopter::getUnallocatedControl(int matrix_index, co } else if (_saturation_flags.roll_neg) { status.unallocated_torque[0] = -1.f; + + } else { + status.unallocated_torque[0] = 0.f; } if (_saturation_flags.pitch_pos) { @@ -236,6 +237,9 @@ void ActuatorEffectivenessHelicopter::getUnallocatedControl(int matrix_index, co } else if (_saturation_flags.pitch_neg) { status.unallocated_torque[1] = -1.f; + + } else { + status.unallocated_torque[1] = 0.f; } if (_saturation_flags.yaw_pos) { @@ -243,6 +247,9 @@ void ActuatorEffectivenessHelicopter::getUnallocatedControl(int matrix_index, co } else if (_saturation_flags.yaw_neg) { status.unallocated_torque[2] = -1.f; + + } else { + status.unallocated_torque[2] = 0.f; } if (_saturation_flags.thrust_pos) { @@ -250,5 +257,8 @@ void ActuatorEffectivenessHelicopter::getUnallocatedControl(int matrix_index, co } else if (_saturation_flags.thrust_neg) { status.unallocated_thrust[2] = -1.f; + + } else { + status.unallocated_thrust[2] = 0.f; } } diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessHelicopter.hpp b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessHelicopter.hpp index fc66e0044a1a..439e0f4ab9ce 100644 --- a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessHelicopter.hpp +++ b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessHelicopter.hpp @@ -66,7 +66,7 @@ class ActuatorEffectivenessHelicopter : public ModuleParams, public ActuatorEffe float spoolup_time; }; - ActuatorEffectivenessHelicopter(ModuleParams *parent); + ActuatorEffectivenessHelicopter(ModuleParams *parent, ActuatorType tail_actuator_type); virtual ~ActuatorEffectivenessHelicopter() = default; bool getEffectivenessMatrix(Configuration &configuration, EffectivenessUpdateReason external_update) override; @@ -129,4 +129,6 @@ class ActuatorEffectivenessHelicopter : public ModuleParams, public ActuatorEffe uORB::Subscription _manual_control_switches_sub{ORB_ID(manual_control_switches)}; bool _main_motor_engaged{true}; + + const ActuatorType _tail_actuator_type; }; diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessHelicopterCoaxial.cpp b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessHelicopterCoaxial.cpp new file mode 100644 index 000000000000..0c06f5963f08 --- /dev/null +++ b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessHelicopterCoaxial.cpp @@ -0,0 +1,222 @@ +/**************************************************************************** + * + * Copyright (c) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include "ActuatorEffectivenessHelicopterCoaxial.hpp" +#include + +using namespace matrix; +using namespace time_literals; + +ActuatorEffectivenessHelicopterCoaxial::ActuatorEffectivenessHelicopterCoaxial(ModuleParams *parent) + : ModuleParams(parent) +{ + for (int i = 0; i < NUM_SWASH_PLATE_SERVOS_MAX; ++i) { + char buffer[17]; + snprintf(buffer, sizeof(buffer), "CA_SP0_ANG%u", i); + _param_handles.swash_plate_servos[i].angle = param_find(buffer); + snprintf(buffer, sizeof(buffer), "CA_SP0_ARM_L%u", i); + _param_handles.swash_plate_servos[i].arm_length = param_find(buffer); + snprintf(buffer, sizeof(buffer), "CA_SV_CS%u_TRIM", i); + _param_handles.swash_plate_servos[i].trim = param_find(buffer); + } + + _param_handles.num_swash_plate_servos = param_find("CA_SP0_COUNT"); + _param_handles.spoolup_time = param_find("COM_SPOOLUP_TIME"); + + updateParams(); +} + +void ActuatorEffectivenessHelicopterCoaxial::updateParams() +{ + ModuleParams::updateParams(); + + int32_t count = 0; + + if (param_get(_param_handles.num_swash_plate_servos, &count) != 0) { + PX4_ERR("param_get failed"); + return; + } + + _geometry.num_swash_plate_servos = math::constrain((int)count, 2, NUM_SWASH_PLATE_SERVOS_MAX); + + for (int i = 0; i < _geometry.num_swash_plate_servos; ++i) { + float angle_deg{}; + param_get(_param_handles.swash_plate_servos[i].angle, &angle_deg); + _geometry.swash_plate_servos[i].angle = math::radians(angle_deg); + param_get(_param_handles.swash_plate_servos[i].arm_length, &_geometry.swash_plate_servos[i].arm_length); + param_get(_param_handles.swash_plate_servos[i].trim, &_geometry.swash_plate_servos[i].trim); + } + + param_get(_param_handles.spoolup_time, &_geometry.spoolup_time); +} + +bool ActuatorEffectivenessHelicopterCoaxial::getEffectivenessMatrix(Configuration &configuration, + EffectivenessUpdateReason external_update) +{ + if (external_update == EffectivenessUpdateReason::NO_EXTERNAL_UPDATE) { + return false; + } + + // As the allocation is non-linear, we use updateSetpoint() instead of the matrix + configuration.addActuator(ActuatorType::MOTORS, Vector3f{}, Vector3f{}); // Clockwise rotor + configuration.addActuator(ActuatorType::MOTORS, Vector3f{}, Vector3f{}); // Counter-clockwise rotor + + // N swash plate servos + _first_swash_plate_servo_index = configuration.num_actuators_matrix[0]; + + for (int i = 0; i < _geometry.num_swash_plate_servos; ++i) { + configuration.addActuator(ActuatorType::SERVOS, Vector3f{}, Vector3f{}); + configuration.trim[configuration.selected_matrix](i) = _geometry.swash_plate_servos[i].trim; + } + + return true; +} + +void ActuatorEffectivenessHelicopterCoaxial::updateSetpoint(const matrix::Vector &control_sp, + int matrix_index, ActuatorVector &actuator_sp, const matrix::Vector &actuator_min, + const matrix::Vector &actuator_max) +{ + _saturation_flags = {}; + + // throttle/collective pitch curve + const float throttle = -control_sp(ControlAxis::THRUST_Z) * throttleSpoolupProgress(); + const float yaw = control_sp(ControlAxis::YAW); + + // actuator mapping + actuator_sp(0) = throttle - yaw; // Clockwise + actuator_sp(1) = throttle + yaw; // Counter-clockwise + + // Saturation check for yaw + if ((actuator_sp(0) < actuator_min(0)) || (actuator_sp(1) > actuator_max(1))) { + setSaturationFlag(1.f, _saturation_flags.yaw_neg, _saturation_flags.yaw_pos); + + } else if ((actuator_sp(0) > actuator_max(0)) || (actuator_sp(1) < actuator_min(1))) { + setSaturationFlag(1.f, _saturation_flags.yaw_pos, _saturation_flags.yaw_neg); + } + + for (int i = 0; i < _geometry.num_swash_plate_servos; i++) { + float roll_coeff = sinf(_geometry.swash_plate_servos[i].angle) * _geometry.swash_plate_servos[i].arm_length; + float pitch_coeff = cosf(_geometry.swash_plate_servos[i].angle) * _geometry.swash_plate_servos[i].arm_length; + actuator_sp(_first_swash_plate_servo_index + i) = + + control_sp(ControlAxis::PITCH) * pitch_coeff + - control_sp(ControlAxis::ROLL) * roll_coeff + + _geometry.swash_plate_servos[i].trim; + + // Saturation check for roll & pitch + if (actuator_sp(_first_swash_plate_servo_index + i) < actuator_min(_first_swash_plate_servo_index + i)) { + setSaturationFlag(roll_coeff, _saturation_flags.roll_pos, _saturation_flags.roll_neg); + setSaturationFlag(pitch_coeff, _saturation_flags.pitch_neg, _saturation_flags.pitch_pos); + + } else if (actuator_sp(_first_swash_plate_servo_index + i) > actuator_max(_first_swash_plate_servo_index + i)) { + setSaturationFlag(roll_coeff, _saturation_flags.roll_neg, _saturation_flags.roll_pos); + setSaturationFlag(pitch_coeff, _saturation_flags.pitch_pos, _saturation_flags.pitch_neg); + } + } +} + +float ActuatorEffectivenessHelicopterCoaxial::throttleSpoolupProgress() +{ + vehicle_status_s vehicle_status; + + if (_vehicle_status_sub.update(&vehicle_status)) { + _armed = vehicle_status.arming_state == vehicle_status_s::ARMING_STATE_ARMED; + _armed_time = vehicle_status.armed_time; + } + + const float time_since_arming = (hrt_absolute_time() - _armed_time) / 1e6f; + const float spoolup_progress = time_since_arming / _geometry.spoolup_time; + + if (_armed && spoolup_progress < 1.f) { + return spoolup_progress; + } + + return 1.f; +} + + +void ActuatorEffectivenessHelicopterCoaxial::setSaturationFlag(float coeff, bool &positive_flag, bool &negative_flag) +{ + if (coeff > 0.f) { + // A positive change in given axis will increase saturation + positive_flag = true; + + } else if (coeff < 0.f) { + // A negative change in given axis will increase saturation + negative_flag = true; + } +} + +void ActuatorEffectivenessHelicopterCoaxial::getUnallocatedControl(int matrix_index, control_allocator_status_s &status) +{ + // Note: the values '-1', '1' and '0' are just to indicate a negative, + // positive or no saturation to the rate controller. The actual magnitude is not used. + if (_saturation_flags.roll_pos) { + status.unallocated_torque[0] = 1.f; + + } else if (_saturation_flags.roll_neg) { + status.unallocated_torque[0] = -1.f; + + } else { + status.unallocated_torque[0] = 0.f; + } + + if (_saturation_flags.pitch_pos) { + status.unallocated_torque[1] = 1.f; + + } else if (_saturation_flags.pitch_neg) { + status.unallocated_torque[1] = -1.f; + + } else { + status.unallocated_torque[1] = 0.f; + } + + if (_saturation_flags.yaw_pos) { + status.unallocated_torque[2] = 1.f; + + } else if (_saturation_flags.yaw_neg) { + status.unallocated_torque[2] = -1.f; + + } else { + status.unallocated_torque[2] = 0.f; + } + + if (_saturation_flags.thrust_pos) { + status.unallocated_thrust[2] = 1.f; + + } else if (_saturation_flags.thrust_neg) { + status.unallocated_thrust[2] = -1.f; + + } else { + status.unallocated_thrust[2] = 0.f; + } +} diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessHelicopterCoaxial.hpp b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessHelicopterCoaxial.hpp new file mode 100644 index 000000000000..d5316bf498c8 --- /dev/null +++ b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessHelicopterCoaxial.hpp @@ -0,0 +1,117 @@ +/**************************************************************************** + * + * Copyright (c) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#pragma once + +#include "ActuatorEffectiveness.hpp" + +#include + +#include +#include +#include + +class ActuatorEffectivenessHelicopterCoaxial : public ModuleParams, public ActuatorEffectiveness +{ +public: + + static constexpr int NUM_SWASH_PLATE_SERVOS_MAX = 4; + + struct SwashPlateGeometry { + float angle; + float arm_length; + float trim; + }; + + struct Geometry { + SwashPlateGeometry swash_plate_servos[NUM_SWASH_PLATE_SERVOS_MAX]; + int num_swash_plate_servos{0}; + float spoolup_time; + }; + + ActuatorEffectivenessHelicopterCoaxial(ModuleParams *parent); + virtual ~ActuatorEffectivenessHelicopterCoaxial() = default; + + bool getEffectivenessMatrix(Configuration &configuration, EffectivenessUpdateReason external_update) override; + + const char *name() const override { return "Helicopter"; } + + + const Geometry &geometry() const { return _geometry; } + + void updateSetpoint(const matrix::Vector &control_sp, int matrix_index, + ActuatorVector &actuator_sp, const matrix::Vector &actuator_min, + const matrix::Vector &actuator_max) override; + + void getUnallocatedControl(int matrix_index, control_allocator_status_s &status) override; +private: + float throttleSpoolupProgress(); + + void updateParams() override; + + struct SaturationFlags { + bool roll_pos; + bool roll_neg; + bool pitch_pos; + bool pitch_neg; + bool yaw_pos; + bool yaw_neg; + bool thrust_pos; + bool thrust_neg; + }; + static void setSaturationFlag(float coeff, bool &positive_flag, bool &negative_flag); + + struct ParamHandlesSwashPlate { + param_t angle; + param_t arm_length; + param_t trim; + }; + struct ParamHandles { + ParamHandlesSwashPlate swash_plate_servos[NUM_SWASH_PLATE_SERVOS_MAX]; + param_t num_swash_plate_servos; + param_t spoolup_time; + }; + ParamHandles _param_handles{}; + + Geometry _geometry{}; + + int _first_swash_plate_servo_index{}; + SaturationFlags _saturation_flags; + + // Throttle spoolup state + uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)}; + bool _armed{false}; + uint64_t _armed_time{0}; + + uORB::Subscription _manual_control_switches_sub{ORB_ID(manual_control_switches)}; +}; diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessHelicopterTest.cpp b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessHelicopterTest.cpp index c0f29f5a207d..29ca1f1117fd 100644 --- a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessHelicopterTest.cpp +++ b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessHelicopterTest.cpp @@ -52,7 +52,7 @@ TEST(ActuatorEffectivenessHelicopterTest, ThrottleCurve) param_set(param, &values[i]); } - ActuatorEffectivenessHelicopter helicopter(nullptr); + ActuatorEffectivenessHelicopter helicopter(nullptr, ActuatorType::MOTORS); // run getEffectivenessMatrix with empty configuration to correctly initialize _first_swash_plate_servo_index ActuatorEffectiveness::Configuration configuration{}; EffectivenessUpdateReason external_update = EffectivenessUpdateReason::MOTOR_ACTIVATION_UPDATE; diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessMCTilt.cpp b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessMCTilt.cpp index 41005d38a717..a8effa8cb315 100644 --- a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessMCTilt.cpp +++ b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessMCTilt.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2021 PX4 Development Team. All rights reserved. + * Copyright (c) 2021-2023 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -55,7 +55,7 @@ ActuatorEffectivenessMCTilt::getEffectivenessMatrix(Configuration &configuration const bool rotors_added_successfully = _mc_rotors.addActuators(configuration); // Tilts - int first_tilt_idx = configuration.num_actuators_matrix[0]; + _first_tilt_idx = configuration.num_actuators_matrix[0]; _tilts.updateTorqueSign(_mc_rotors.geometry()); const bool tilts_added_successfully = _tilts.addActuators(configuration); @@ -69,7 +69,7 @@ ActuatorEffectivenessMCTilt::getEffectivenessMatrix(Configuration &configuration if (delta_angle > FLT_EPSILON) { float trim = -1.f - 2.f * _tilts.config(i).min_angle / delta_angle; - _tilt_offsets(first_tilt_idx + i) = trim; + _tilt_offsets(_first_tilt_idx + i) = trim; } } @@ -82,4 +82,49 @@ void ActuatorEffectivenessMCTilt::updateSetpoint(const matrix::Vector FLT_EPSILON) { + + if (yaw_saturated_positive && actuator_sp(i + _first_tilt_idx) < actuator_max(i + _first_tilt_idx) - FLT_EPSILON) { + yaw_saturated_positive = false; + } + + if (yaw_saturated_negative && actuator_sp(i + _first_tilt_idx) > actuator_min(i + _first_tilt_idx) + FLT_EPSILON) { + yaw_saturated_negative = false; + } + + } else if (_tilts.getYawTorqueOfTilt(i) < -FLT_EPSILON) { + if (yaw_saturated_negative && actuator_sp(i + _first_tilt_idx) < actuator_max(i + _first_tilt_idx) - FLT_EPSILON) { + yaw_saturated_negative = false; + } + + if (yaw_saturated_positive && actuator_sp(i + _first_tilt_idx) > actuator_min(i + _first_tilt_idx) + FLT_EPSILON) { + yaw_saturated_positive = false; + } + } + } + + _yaw_tilt_saturation_flags.tilt_yaw_neg = yaw_saturated_negative; + _yaw_tilt_saturation_flags.tilt_yaw_pos = yaw_saturated_positive; +} + +void ActuatorEffectivenessMCTilt::getUnallocatedControl(int matrix_index, control_allocator_status_s &status) +{ + // Note: the values '-1', '1' and '0' are just to indicate a negative, + // positive or no saturation to the rate controller. The actual magnitude is not used. + if (_yaw_tilt_saturation_flags.tilt_yaw_pos) { + status.unallocated_torque[2] = 1.f; + + } else if (_yaw_tilt_saturation_flags.tilt_yaw_neg) { + status.unallocated_torque[2] = -1.f; + + } else { + status.unallocated_torque[2] = 0.f; + } } diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessMCTilt.hpp b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessMCTilt.hpp index 15c12957ed17..848c8b8853d3 100644 --- a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessMCTilt.hpp +++ b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessMCTilt.hpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2021 PX4 Development Team. All rights reserved. + * Copyright (c) 2021-2023 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -61,8 +61,18 @@ class ActuatorEffectivenessMCTilt : public ModuleParams, public ActuatorEffectiv const char *name() const override { return "MC Tilt"; } + void getUnallocatedControl(int matrix_index, control_allocator_status_s &status) override; + protected: ActuatorVector _tilt_offsets; ActuatorEffectivenessRotors _mc_rotors; ActuatorEffectivenessTilts _tilts; + int _first_tilt_idx{0}; + + struct YawTiltSaturationFlags { + bool tilt_yaw_pos; + bool tilt_yaw_neg; + }; + + YawTiltSaturationFlags _yaw_tilt_saturation_flags{}; }; diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessRotors.cpp b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessRotors.cpp index 1cf88c67b663..5164acff05e3 100644 --- a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessRotors.cpp +++ b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessRotors.cpp @@ -79,8 +79,6 @@ ActuatorEffectivenessRotors::ActuatorEffectivenessRotors(ModuleParams *parent, A } } - _count_handle = param_find("CA_ROTOR_COUNT"); - updateParams(); } @@ -88,14 +86,7 @@ void ActuatorEffectivenessRotors::updateParams() { ModuleParams::updateParams(); - int32_t count = 0; - - if (param_get(_count_handle, &count) != 0) { - PX4_ERR("param_get failed"); - return; - } - - _geometry.num_rotors = math::min(NUM_ROTORS_MAX, (int)count); + _geometry.num_rotors = math::min(NUM_ROTORS_MAX, static_cast(_param_ca_rotor_count.get())); for (int i = 0; i < _geometry.num_rotors; ++i) { Vector3f &position = _geometry.rotors[i].position; @@ -265,6 +256,17 @@ Vector3f ActuatorEffectivenessRotors::tiltedAxis(float tilt_angle, float tilt_di return Dcmf{Eulerf{0.f, -tilt_angle, tilt_direction}} * axis; } +uint32_t ActuatorEffectivenessRotors::getMotors() const +{ + uint32_t motors = 0; + + for (int i = 0; i < _geometry.num_rotors; ++i) { + motors |= 1u << i; + } + + return motors; +} + uint32_t ActuatorEffectivenessRotors::getUpwardsMotors() const { uint32_t upwards_motors = 0; @@ -280,6 +282,21 @@ uint32_t ActuatorEffectivenessRotors::getUpwardsMotors() const return upwards_motors; } +uint32_t ActuatorEffectivenessRotors::getForwardsMotors() const +{ + uint32_t forward_motors = 0; + + for (int i = 0; i < _geometry.num_rotors; ++i) { + const Vector3f &axis = _geometry.rotors[i].axis; + + if (axis(0) > 0.5f && fabsf(axis(1)) < 0.1f && fabsf(axis(2)) < 0.1f) { + forward_motors |= 1u << i; + } + } + + return forward_motors; +} + bool ActuatorEffectivenessRotors::getEffectivenessMatrix(Configuration &configuration, EffectivenessUpdateReason external_update) diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessRotors.hpp b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessRotors.hpp index 8b6436cef13e..3844df4c8481 100644 --- a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessRotors.hpp +++ b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessRotors.hpp @@ -126,7 +126,9 @@ class ActuatorEffectivenessRotors : public ModuleParams, public ActuatorEffectiv void enableThreeDimensionalThrust(bool enable) { _geometry.three_dimensional_thrust_disabled = !enable; } + uint32_t getMotors() const; uint32_t getUpwardsMotors() const; + uint32_t getForwardsMotors() const; private: void updateParams() override; @@ -145,7 +147,10 @@ class ActuatorEffectivenessRotors : public ModuleParams, public ActuatorEffectiv param_t tilt_index; }; ParamHandles _param_handles[NUM_ROTORS_MAX]; - param_t _count_handle; Geometry _geometry{}; + + DEFINE_PARAMETERS( + (ParamInt) _param_ca_rotor_count + ) }; diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessRoverAckermann.cpp b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessRoverAckermann.cpp index 37b3acb5e0fe..94f5db16f36b 100644 --- a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessRoverAckermann.cpp +++ b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessRoverAckermann.cpp @@ -45,7 +45,14 @@ ActuatorEffectivenessRoverAckermann::getEffectivenessMatrix(Configuration &confi } configuration.addActuator(ActuatorType::MOTORS, Vector3f{}, Vector3f{1.f, 0.f, 0.f}); + _motors_mask = 1u << 0; configuration.addActuator(ActuatorType::SERVOS, Vector3f{0.f, 0.f, 1.f}, Vector3f{}); return true; } +void ActuatorEffectivenessRoverAckermann::updateSetpoint(const matrix::Vector &control_sp, + int matrix_index, ActuatorVector &actuator_sp, const matrix::Vector &actuator_min, + const matrix::Vector &actuator_max) +{ + stopMaskedMotorsWithZeroThrust(_motors_mask, actuator_sp); +} diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessRoverAckermann.hpp b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessRoverAckermann.hpp index c59ffc87412a..294e453ec664 100644 --- a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessRoverAckermann.hpp +++ b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessRoverAckermann.hpp @@ -43,6 +43,11 @@ class ActuatorEffectivenessRoverAckermann : public ActuatorEffectiveness bool getEffectivenessMatrix(Configuration &configuration, EffectivenessUpdateReason external_update) override; + void updateSetpoint(const matrix::Vector &control_sp, int matrix_index, + ActuatorVector &actuator_sp, const matrix::Vector &actuator_min, + const matrix::Vector &actuator_max) override; + const char *name() const override { return "Rover (Ackermann)"; } private: + uint32_t _motors_mask{}; }; diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessRoverDifferential.cpp b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessRoverDifferential.cpp deleted file mode 100644 index e9bc32477e9a..000000000000 --- a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessRoverDifferential.cpp +++ /dev/null @@ -1,51 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2021 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -#include "ActuatorEffectivenessRoverDifferential.hpp" -#include - -using namespace matrix; - -bool -ActuatorEffectivenessRoverDifferential::getEffectivenessMatrix(Configuration &configuration, - EffectivenessUpdateReason external_update) -{ - if (external_update == EffectivenessUpdateReason::NO_EXTERNAL_UPDATE) { - return false; - } - - configuration.addActuator(ActuatorType::MOTORS, Vector3f{0.f, 0.f, 0.5f}, Vector3f{0.5f, 0.f, 0.f}); - configuration.addActuator(ActuatorType::MOTORS, Vector3f{0.f, 0.f, -0.5f}, Vector3f{0.5f, 0.f, 0.f}); - return true; -} - diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessRoverDifferential.hpp b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessRoverDifferential.hpp deleted file mode 100644 index 6dde6b2bbd5c..000000000000 --- a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessRoverDifferential.hpp +++ /dev/null @@ -1,48 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2021 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -#pragma once - -#include "ActuatorEffectiveness.hpp" - -class ActuatorEffectivenessRoverDifferential: public ActuatorEffectiveness -{ -public: - ActuatorEffectivenessRoverDifferential() = default; - virtual ~ActuatorEffectivenessRoverDifferential() = default; - - bool getEffectivenessMatrix(Configuration &configuration, EffectivenessUpdateReason external_update) override; - - const char *name() const override { return "Rover (Differential)"; } -private: -}; diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessStandardVTOL.cpp b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessStandardVTOL.cpp index 8d7fed69392c..79853c7518c5 100644 --- a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessStandardVTOL.cpp +++ b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessStandardVTOL.cpp @@ -53,7 +53,8 @@ ActuatorEffectivenessStandardVTOL::getEffectivenessMatrix(Configuration &configu configuration.selected_matrix = 0; _rotors.enablePropellerTorqueNonUpwards(false); const bool mc_rotors_added_successfully = _rotors.addActuators(configuration); - _mc_motors_mask = _rotors.getUpwardsMotors(); + _upwards_motors_mask = _rotors.getUpwardsMotors(); + _forwards_motors_mask = _rotors.getForwardsMotors(); // Control Surfaces configuration.selected_matrix = 1; @@ -83,6 +84,15 @@ void ActuatorEffectivenessStandardVTOL::allocateAuxilaryControls(const float dt, } } +void ActuatorEffectivenessStandardVTOL::updateSetpoint(const matrix::Vector &control_sp, + int matrix_index, ActuatorVector &actuator_sp, const matrix::Vector &actuator_min, + const matrix::Vector &actuator_max) +{ + if (matrix_index == 0) { + stopMaskedMotorsWithZeroThrust(_forwards_motors_mask, actuator_sp); + } +} + void ActuatorEffectivenessStandardVTOL::setFlightPhase(const FlightPhase &flight_phase) { if (_flight_phase == flight_phase) { @@ -94,13 +104,13 @@ void ActuatorEffectivenessStandardVTOL::setFlightPhase(const FlightPhase &flight // update stopped motors switch (flight_phase) { case FlightPhase::FORWARD_FLIGHT: - _stopped_motors = _mc_motors_mask; + _stopped_motors_mask |= _upwards_motors_mask; break; case FlightPhase::HOVER_FLIGHT: case FlightPhase::TRANSITION_FF_TO_HF: case FlightPhase::TRANSITION_HF_TO_FF: - _stopped_motors = 0; + _stopped_motors_mask &= ~_upwards_motors_mask; break; } } diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessStandardVTOL.hpp b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessStandardVTOL.hpp index e49edc61767c..0e5d1bfa44a7 100644 --- a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessStandardVTOL.hpp +++ b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessStandardVTOL.hpp @@ -75,20 +75,21 @@ class ActuatorEffectivenessStandardVTOL : public ModuleParams, public ActuatorEf void allocateAuxilaryControls(const float dt, int matrix_index, ActuatorVector &actuator_sp) override; - void setFlightPhase(const FlightPhase &flight_phase) override; + void updateSetpoint(const matrix::Vector &control_sp, int matrix_index, + ActuatorVector &actuator_sp, const matrix::Vector &actuator_min, + const matrix::Vector &actuator_max) override; - uint32_t getStoppedMotors() const override { return _stopped_motors; } + void setFlightPhase(const FlightPhase &flight_phase) override; private: ActuatorEffectivenessRotors _rotors; ActuatorEffectivenessControlSurfaces _control_surfaces; - uint32_t _mc_motors_mask{}; ///< mc motors (stopped during forward flight) - uint32_t _stopped_motors{}; ///< currently stopped motors + uint32_t _upwards_motors_mask{}; + uint32_t _forwards_motors_mask{}; int _first_control_surface_idx{0}; ///< applies to matrix 1 uORB::Subscription _flaps_setpoint_sub{ORB_ID(flaps_setpoint)}; uORB::Subscription _spoilers_setpoint_sub{ORB_ID(spoilers_setpoint)}; - }; diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessTailsitterVTOL.cpp b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessTailsitterVTOL.cpp index 139dc36612b5..aad6d4391b20 100644 --- a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessTailsitterVTOL.cpp +++ b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessTailsitterVTOL.cpp @@ -86,7 +86,15 @@ void ActuatorEffectivenessTailsitterVTOL::allocateAuxilaryControls(const float d _control_surfaces.applySpoilers(spoilers_setpoint.normalized_setpoint, _first_control_surface_idx, dt, actuator_sp); } } +} +void ActuatorEffectivenessTailsitterVTOL::updateSetpoint(const matrix::Vector &control_sp, + int matrix_index, ActuatorVector &actuator_sp, const matrix::Vector &actuator_min, + const matrix::Vector &actuator_max) +{ + if (matrix_index == 0) { + stopMaskedMotorsWithZeroThrust(_forwards_motors_mask, actuator_sp); + } } void ActuatorEffectivenessTailsitterVTOL::setFlightPhase(const FlightPhase &flight_phase) @@ -97,16 +105,17 @@ void ActuatorEffectivenessTailsitterVTOL::setFlightPhase(const FlightPhase &flig ActuatorEffectiveness::setFlightPhase(flight_phase); - // update stopped motors //TODO: add option to switch off certain motors in FW + // update stopped motors switch (flight_phase) { case FlightPhase::FORWARD_FLIGHT: - _stopped_motors = 0; + _forwards_motors_mask = _mc_rotors.getUpwardsMotors(); // allocation frame they stay upwards break; case FlightPhase::HOVER_FLIGHT: case FlightPhase::TRANSITION_FF_TO_HF: case FlightPhase::TRANSITION_HF_TO_FF: - _stopped_motors = 0; + _forwards_motors_mask = 0; + _stopped_motors_mask = 0; break; } } diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessTailsitterVTOL.hpp b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessTailsitterVTOL.hpp index f5a8ddb460e0..604f05f9e0b8 100644 --- a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessTailsitterVTOL.hpp +++ b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessTailsitterVTOL.hpp @@ -72,16 +72,20 @@ class ActuatorEffectivenessTailsitterVTOL : public ModuleParams, public Actuator void allocateAuxilaryControls(const float dt, int matrix_index, ActuatorVector &actuator_sp) override; + void updateSetpoint(const matrix::Vector &control_sp, int matrix_index, + ActuatorVector &actuator_sp, const matrix::Vector &actuator_min, + const matrix::Vector &actuator_max) override; + + void setFlightPhase(const FlightPhase &flight_phase) override; const char *name() const override { return "VTOL Tailsitter"; } - uint32_t getStoppedMotors() const override { return _stopped_motors; } protected: ActuatorEffectivenessRotors _mc_rotors; ActuatorEffectivenessControlSurfaces _control_surfaces; - uint32_t _stopped_motors{}; ///< currently stopped motors + uint32_t _forwards_motors_mask{}; int _first_control_surface_idx{0}; ///< applies to matrix 1 diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessTiltrotorVTOL.cpp b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessTiltrotorVTOL.cpp index 84695a9bb28b..5fe261b27fb0 100644 --- a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessTiltrotorVTOL.cpp +++ b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessTiltrotorVTOL.cpp @@ -48,8 +48,19 @@ ActuatorEffectivenessTiltrotorVTOL::ActuatorEffectivenessTiltrotorVTOL(ModulePar _mc_rotors(this, ActuatorEffectivenessRotors::AxisConfiguration::Configurable, true), _control_surfaces(this), _tilts(this) { + _param_handles.com_spoolup_time = param_find("COM_SPOOLUP_TIME"); + + updateParams(); setFlightPhase(FlightPhase::HOVER_FLIGHT); } + +void ActuatorEffectivenessTiltrotorVTOL::updateParams() +{ + ModuleParams::updateParams(); + + param_get(_param_handles.com_spoolup_time, &_param_spoolup_time); +} + bool ActuatorEffectivenessTiltrotorVTOL::getEffectivenessMatrix(Configuration &configuration, EffectivenessUpdateReason external_update) @@ -68,10 +79,11 @@ ActuatorEffectivenessTiltrotorVTOL::getEffectivenessMatrix(Configuration &config // scales are tilt-invariant. Note: configuration updates are only possible when disarmed. const float collective_tilt_control_applied = (external_update == EffectivenessUpdateReason::CONFIGURATION_UPDATE) ? -1.f : _last_collective_tilt_control; - _nontilted_motors = _mc_rotors.updateAxisFromTilts(_tilts, collective_tilt_control_applied) - << configuration.num_actuators[(int)ActuatorType::MOTORS]; + _untiltable_motors = _mc_rotors.updateAxisFromTilts(_tilts, collective_tilt_control_applied) + << configuration.num_actuators[(int)ActuatorType::MOTORS]; const bool mc_rotors_added_successfully = _mc_rotors.addActuators(configuration); + _motors = _mc_rotors.getMotors(); // Control Surfaces configuration.selected_matrix = 1; @@ -118,7 +130,6 @@ void ActuatorEffectivenessTiltrotorVTOL::updateSetpoint(const matrix::Vector FLT_EPSILON) { + + if (yaw_saturated_positive && actuator_sp(i + _first_tilt_idx) < actuator_max(i + _first_tilt_idx) - FLT_EPSILON) { + yaw_saturated_positive = false; + } + + if (yaw_saturated_negative && actuator_sp(i + _first_tilt_idx) > actuator_min(i + _first_tilt_idx) + FLT_EPSILON) { + yaw_saturated_negative = false; + } + + } else if (_tilts.getYawTorqueOfTilt(i) < -FLT_EPSILON) { + if (yaw_saturated_negative && actuator_sp(i + _first_tilt_idx) < actuator_max(i + _first_tilt_idx) - FLT_EPSILON) { + yaw_saturated_negative = false; + } + + if (yaw_saturated_positive && actuator_sp(i + _first_tilt_idx) > actuator_min(i + _first_tilt_idx) + FLT_EPSILON) { + yaw_saturated_positive = false; + } } } + _yaw_tilt_saturation_flags.tilt_yaw_neg = yaw_saturated_negative; + _yaw_tilt_saturation_flags.tilt_yaw_pos = yaw_saturated_positive; + // in FW directly use throttle sp if (_flight_phase == FlightPhase::FORWARD_FLIGHT) { - for (int i = 0; i < _first_tilt_idx; ++i) { actuator_sp(i) = tiltrotor_extra_controls.collective_thrust_normalized_setpoint; } } } - } - - // Set yaw saturation flag in case of yaw through tilt. As in this case the yaw actuation is decoupled from - // the other axes (for now neglecting the case of 0 collective thrust), we set the saturation flags - // directly if the (normalized) yaw torque setpoint is outside of range (-1, 1). - if (matrix_index == 0 && _tilts.hasYawControl()) { - _yaw_tilt_saturation_flags.tilt_yaw_neg = false; - _yaw_tilt_saturation_flags.tilt_yaw_pos = false; - if (control_sp(2) < -1.f) { - _yaw_tilt_saturation_flags.tilt_yaw_neg = true; - - } else if (control_sp(2) > 1.f) { - _yaw_tilt_saturation_flags.tilt_yaw_pos = true; + if (_flight_phase == FlightPhase::FORWARD_FLIGHT) { + stopMaskedMotorsWithZeroThrust(_motors & ~_untiltable_motors, actuator_sp); } } } @@ -180,13 +224,13 @@ void ActuatorEffectivenessTiltrotorVTOL::setFlightPhase(const FlightPhase &fligh // update stopped motors switch (flight_phase) { case FlightPhase::FORWARD_FLIGHT: - _stopped_motors = _nontilted_motors; + _stopped_motors_mask |= _untiltable_motors; break; case FlightPhase::HOVER_FLIGHT: case FlightPhase::TRANSITION_FF_TO_HF: case FlightPhase::TRANSITION_HF_TO_FF: - _stopped_motors = 0; + _stopped_motors_mask = 0; break; } } @@ -210,3 +254,15 @@ void ActuatorEffectivenessTiltrotorVTOL::getUnallocatedControl(int matrix_index, status.unallocated_torque[2] = 0.f; } } + +bool ActuatorEffectivenessTiltrotorVTOL::throttleSpoolupFinished() +{ + vehicle_status_s vehicle_status; + + if (_vehicle_status_sub.update(&vehicle_status)) { + _armed = vehicle_status.arming_state == vehicle_status_s::ARMING_STATE_ARMED; + _armed_time = vehicle_status.armed_time; + } + + return _armed && hrt_elapsed_time(&_armed_time) > _param_spoolup_time * 1_s; +} diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessTiltrotorVTOL.hpp b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessTiltrotorVTOL.hpp index 33d0df486da6..310d937064dc 100644 --- a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessTiltrotorVTOL.hpp +++ b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessTiltrotorVTOL.hpp @@ -46,9 +46,11 @@ #include "ActuatorEffectivenessControlSurfaces.hpp" #include "ActuatorEffectivenessTilts.hpp" +#include + #include #include - +#include #include class ActuatorEffectivenessTiltrotorVTOL : public ModuleParams, public ActuatorEffectiveness @@ -84,8 +86,6 @@ class ActuatorEffectivenessTiltrotorVTOL : public ModuleParams, public ActuatorE const char *name() const override { return "VTOL Tiltrotor"; } - uint32_t getStoppedMotors() const override { return _stopped_motors; } - void getUnallocatedControl(int matrix_index, control_allocator_status_s &status) override; protected: @@ -94,8 +94,8 @@ class ActuatorEffectivenessTiltrotorVTOL : public ModuleParams, public ActuatorE ActuatorEffectivenessControlSurfaces _control_surfaces; ActuatorEffectivenessTilts _tilts; - uint32_t _nontilted_motors{}; ///< motors that are not tiltable - uint32_t _stopped_motors{}; ///< currently stopped motors + uint32_t _motors{}; + uint32_t _untiltable_motors{}; int _first_control_surface_idx{0}; ///< applies to matrix 1 int _first_tilt_idx{0}; ///< applies to matrix 0 @@ -113,4 +113,22 @@ class ActuatorEffectivenessTiltrotorVTOL : public ModuleParams, public ActuatorE YawTiltSaturationFlags _yaw_tilt_saturation_flags{}; uORB::Subscription _tiltrotor_extra_controls_sub{ORB_ID(tiltrotor_extra_controls)}; + +private: + + void updateParams() override; + + struct ParamHandles { + param_t com_spoolup_time; + }; + + ParamHandles _param_handles{}; + + float _param_spoolup_time{1.f}; + + // Tilt handling during motor spoolup: leave the tilts in their disarmed position unitil 1s after arming + bool throttleSpoolupFinished(); + uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)}; + bool _armed{false}; + uint64_t _armed_time{0}; }; diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessTilts.hpp b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessTilts.hpp index a6f1733c1058..d885a091552b 100644 --- a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessTilts.hpp +++ b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessTilts.hpp @@ -79,6 +79,8 @@ class ActuatorEffectivenessTilts : public ModuleParams, public ActuatorEffective bool hasYawControl() const; + float getYawTorqueOfTilt(int tilt_index) const { return _torque[tilt_index](2); } + private: void updateParams() override; diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessUUV.cpp b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessUUV.cpp new file mode 100644 index 000000000000..e4c861a9d0b0 --- /dev/null +++ b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessUUV.cpp @@ -0,0 +1,63 @@ +/**************************************************************************** + * + * Copyright (c) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include "ActuatorEffectivenessUUV.hpp" + +using namespace matrix; + +ActuatorEffectivenessUUV::ActuatorEffectivenessUUV(ModuleParams *parent) + : ModuleParams(parent), + _rotors(this) +{ +} + +bool ActuatorEffectivenessUUV::getEffectivenessMatrix(Configuration &configuration, + EffectivenessUpdateReason external_update) +{ + if (external_update == EffectivenessUpdateReason::NO_EXTERNAL_UPDATE) { + return false; + } + + // Motors + const bool rotors_added_successfully = _rotors.addActuators(configuration); + _motors_mask = _rotors.getMotors(); + + return rotors_added_successfully; +} + +void ActuatorEffectivenessUUV::updateSetpoint(const matrix::Vector &control_sp, + int matrix_index, ActuatorVector &actuator_sp, const matrix::Vector &actuator_min, + const matrix::Vector &actuator_max) +{ + stopMaskedMotorsWithZeroThrust(_motors_mask, actuator_sp); +} diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessUUV.hpp b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessUUV.hpp new file mode 100644 index 000000000000..57e86f943653 --- /dev/null +++ b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessUUV.hpp @@ -0,0 +1,67 @@ +/**************************************************************************** + * + * Copyright (c) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#pragma once + +#include "ActuatorEffectiveness.hpp" +#include "ActuatorEffectivenessRotors.hpp" + +class ActuatorEffectivenessUUV : public ModuleParams, public ActuatorEffectiveness +{ +public: + ActuatorEffectivenessUUV(ModuleParams *parent); + virtual ~ActuatorEffectivenessUUV() = default; + + bool getEffectivenessMatrix(Configuration &configuration, EffectivenessUpdateReason external_update) override; + + void getDesiredAllocationMethod(AllocationMethod allocation_method_out[MAX_NUM_MATRICES]) const override + { + allocation_method_out[0] = AllocationMethod::SEQUENTIAL_DESATURATION; + } + + void getNormalizeRPY(bool normalize[MAX_NUM_MATRICES]) const override + { + normalize[0] = true; + } + + void updateSetpoint(const matrix::Vector &control_sp, int matrix_index, + ActuatorVector &actuator_sp, const matrix::Vector &actuator_min, + const matrix::Vector &actuator_max) override; + + const char *name() const override { return "UUV"; } + +protected: + ActuatorEffectivenessRotors _rotors; + + uint32_t _motors_mask{}; +}; diff --git a/src/modules/control_allocator/ActuatorEffectiveness/CMakeLists.txt b/src/modules/control_allocator/ActuatorEffectiveness/CMakeLists.txt index 31e338de822c..2406b81bf80b 100644 --- a/src/modules/control_allocator/ActuatorEffectiveness/CMakeLists.txt +++ b/src/modules/control_allocator/ActuatorEffectiveness/CMakeLists.txt @@ -34,6 +34,8 @@ px4_add_library(ActuatorEffectiveness ActuatorEffectiveness.cpp ActuatorEffectiveness.hpp + ActuatorEffectivenessUUV.cpp + ActuatorEffectivenessUUV.hpp ActuatorEffectivenessControlSurfaces.cpp ActuatorEffectivenessControlSurfaces.hpp ActuatorEffectivenessCustom.cpp @@ -42,6 +44,8 @@ px4_add_library(ActuatorEffectiveness ActuatorEffectivenessFixedWing.hpp ActuatorEffectivenessHelicopter.cpp ActuatorEffectivenessHelicopter.hpp + ActuatorEffectivenessHelicopterCoaxial.cpp + ActuatorEffectivenessHelicopterCoaxial.hpp ActuatorEffectivenessMCTilt.cpp ActuatorEffectivenessMCTilt.hpp ActuatorEffectivenessMultirotor.cpp @@ -58,8 +62,6 @@ px4_add_library(ActuatorEffectiveness ActuatorEffectivenessTailsitterVTOL.hpp ActuatorEffectivenessRoverAckermann.hpp ActuatorEffectivenessRoverAckermann.cpp - ActuatorEffectivenessRoverDifferential.hpp - ActuatorEffectivenessRoverDifferential.cpp ) target_compile_options(ActuatorEffectiveness PRIVATE ${MAX_CUSTOM_OPT_LEVEL}) diff --git a/src/modules/control_allocator/ControlAllocation/CMakeLists.txt b/src/modules/control_allocator/ControlAllocation/CMakeLists.txt index ecf5f0d2e447..4da638aac8cb 100644 --- a/src/modules/control_allocator/ControlAllocation/CMakeLists.txt +++ b/src/modules/control_allocator/ControlAllocation/CMakeLists.txt @@ -44,3 +44,4 @@ target_include_directories(ControlAllocation PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}) target_link_libraries(ControlAllocation PRIVATE mathlib) px4_add_unit_gtest(SRC ControlAllocationPseudoInverseTest.cpp LINKLIBS ControlAllocation) +px4_add_functional_gtest(SRC ControlAllocationSequentialDesaturationTest.cpp LINKLIBS ControlAllocation ActuatorEffectiveness) diff --git a/src/modules/control_allocator/ControlAllocation/ControlAllocation.hpp b/src/modules/control_allocator/ControlAllocation/ControlAllocation.hpp index 55b5a870fa09..c60784a03c2c 100644 --- a/src/modules/control_allocator/ControlAllocation/ControlAllocation.hpp +++ b/src/modules/control_allocator/ControlAllocation/ControlAllocation.hpp @@ -131,9 +131,9 @@ class ControlAllocation void setControlSetpoint(const matrix::Vector &control) { _control_sp = control; } /** - * Set the desired control vector + * Get the desired control vector * - * @param Control vector + * @return Control vector */ const matrix::Vector &getControlSetpoint() const { return _control_sp; } diff --git a/src/modules/control_allocator/ControlAllocation/ControlAllocationSequentialDesaturationTest.cpp b/src/modules/control_allocator/ControlAllocation/ControlAllocationSequentialDesaturationTest.cpp new file mode 100644 index 000000000000..60392330c939 --- /dev/null +++ b/src/modules/control_allocator/ControlAllocation/ControlAllocationSequentialDesaturationTest.cpp @@ -0,0 +1,385 @@ +/**************************************************************************** + * + * Copyright (C) 2024 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file ControlAllocationSequentialDesaturationTest.cpp + * + * Tests for Control Allocation Sequential Desaturation Algorithms + * + */ + +#include +#include +#include <../ActuatorEffectiveness/ActuatorEffectivenessRotors.hpp> + +using namespace matrix; + +namespace +{ + +// Makes and returns a Geometry object for a "standard" quad-x quadcopter. +ActuatorEffectivenessRotors::Geometry make_quad_x_geometry() +{ + ActuatorEffectivenessRotors::Geometry geometry = {}; + geometry.rotors[0].position(0) = 1.0f; + geometry.rotors[0].position(1) = 1.0f; + geometry.rotors[0].position(2) = 0.0f; + geometry.rotors[0].axis(0) = 0.0f; + geometry.rotors[0].axis(1) = 0.0f; + geometry.rotors[0].axis(2) = -1.0f; + geometry.rotors[0].thrust_coef = 1.0f; + geometry.rotors[0].moment_ratio = 0.05f; + + geometry.rotors[1].position(0) = -1.0f; + geometry.rotors[1].position(1) = -1.0f; + geometry.rotors[1].position(2) = 0.0f; + geometry.rotors[1].axis(0) = 0.0f; + geometry.rotors[1].axis(1) = 0.0f; + geometry.rotors[1].axis(2) = -1.0f; + geometry.rotors[1].thrust_coef = 1.0f; + geometry.rotors[1].moment_ratio = 0.05f; + + geometry.rotors[2].position(0) = 1.0f; + geometry.rotors[2].position(1) = -1.0f; + geometry.rotors[2].position(2) = 0.0f; + geometry.rotors[2].axis(0) = 0.0f; + geometry.rotors[2].axis(1) = 0.0f; + geometry.rotors[2].axis(2) = -1.0f; + geometry.rotors[2].thrust_coef = 1.0f; + geometry.rotors[2].moment_ratio = -0.05f; + + geometry.rotors[3].position(0) = -1.0f; + geometry.rotors[3].position(1) = 1.0f; + geometry.rotors[3].position(2) = 0.0f; + geometry.rotors[3].axis(0) = 0.0f; + geometry.rotors[3].axis(1) = 0.0f; + geometry.rotors[3].axis(2) = -1.0f; + geometry.rotors[3].thrust_coef = 1.0f; + geometry.rotors[3].moment_ratio = -0.05f; + + geometry.num_rotors = 4; + + return geometry; +} + +// Returns an effective matrix for a sample quad-copter configuration. +ActuatorEffectiveness::EffectivenessMatrix make_quad_x_effectiveness() +{ + ActuatorEffectiveness::EffectivenessMatrix effectiveness; + effectiveness.setZero(); + const auto geometry = make_quad_x_geometry(); + ActuatorEffectivenessRotors::computeEffectivenessMatrix(geometry, effectiveness); + return effectiveness; +} + +// Configures a ControlAllocationSequentialDesaturation object for a sample quad-copter. +void setup_quad_allocator(ControlAllocationSequentialDesaturation &allocator) +{ + const auto effectiveness = make_quad_x_effectiveness(); + matrix::Vector actuator_trim; + matrix::Vector linearization_point; + constexpr bool UPDATE_NORMALIZATION_SCALE{false}; + allocator.setEffectivenessMatrix( + effectiveness, + actuator_trim, + linearization_point, + ActuatorEffectiveness::NUM_ACTUATORS, + UPDATE_NORMALIZATION_SCALE + ); +} + +static constexpr float EXPECT_NEAR_TOL{1e-4f}; + +} // namespace + +// This tests that yaw-only control setpoint at zero actuator setpoint results in zero actuator +// allocation. +TEST(ControlAllocationSequentialDesaturationTest, AirmodeDisabledOnlyYaw) +{ + ControlAllocationSequentialDesaturation allocator; + setup_quad_allocator(allocator); + matrix::Vector control_sp; + control_sp(ControlAllocation::ControlAxis::ROLL) = 0.f; + control_sp(ControlAllocation::ControlAxis::PITCH) = 0.f; + control_sp(ControlAllocation::ControlAxis::YAW) = 1.f; + control_sp(ControlAllocation::ControlAxis::THRUST_X) = 0.f; + control_sp(ControlAllocation::ControlAxis::THRUST_Y) = 0.f; + control_sp(ControlAllocation::ControlAxis::THRUST_Z) = 0.f; + allocator.setControlSetpoint(control_sp); + + // Since MC_AIRMODE was not set explicitly, assume airmode is disabled. + allocator.allocate(); + + const auto &actuator_sp = allocator.getActuatorSetpoint(); + matrix::Vector zero; + EXPECT_EQ(actuator_sp, zero); +} + +// This tests that a control setpoint for z-thrust returns the desired actuator setpoint. +// Each motor should have an actuator setpoint that when summed together should be equal to +// control setpoint. +TEST(ControlAllocationSequentialDesaturationTest, AirmodeDisabledThrustZ) +{ + ControlAllocationSequentialDesaturation allocator; + setup_quad_allocator(allocator); + matrix::Vector control_sp; + // Negative, because +z is "downward". + constexpr float THRUST_Z_TOTAL{-0.75f}; + control_sp(ControlAllocation::ControlAxis::ROLL) = 0.f; + control_sp(ControlAllocation::ControlAxis::PITCH) = 0.f; + control_sp(ControlAllocation::ControlAxis::YAW) = 0.f; + control_sp(ControlAllocation::ControlAxis::THRUST_X) = 0.f; + control_sp(ControlAllocation::ControlAxis::THRUST_Y) = 0.f; + control_sp(ControlAllocation::ControlAxis::THRUST_Z) = THRUST_Z_TOTAL; + allocator.setControlSetpoint(control_sp); + + // Since MC_AIRMODE was not set explicitly, assume airmode is disabled. + allocator.allocate(); + + const auto &actuator_sp = allocator.getActuatorSetpoint(); + constexpr int MOTOR_COUNT{4}; + constexpr float THRUST_Z_PER_MOTOR{-THRUST_Z_TOTAL / MOTOR_COUNT}; + + for (int i{0}; i < MOTOR_COUNT; ++i) { + EXPECT_NEAR(actuator_sp(i), THRUST_Z_PER_MOTOR, EXPECT_NEAR_TOL); + } + + for (int i{MOTOR_COUNT}; i < ActuatorEffectiveness::NUM_ACTUATORS; ++i) { + EXPECT_NEAR(actuator_sp(i), 0.f, EXPECT_NEAR_TOL); + } +} + +// This tests that a control setpoint for z-thrust + yaw returns the desired actuator setpoint. +// This test does not saturate the yaw response. +TEST(ControlAllocationSequentialDesaturationTest, AirmodeDisabledThrustAndYaw) +{ + ControlAllocationSequentialDesaturation allocator; + setup_quad_allocator(allocator); + matrix::Vector control_sp; + // Negative, because +z is "downward". + constexpr float THRUST_Z_TOTAL{-0.75f}; + // This is low enough to not saturate the motors. + constexpr float YAW_CONTROL_SP{0.02f}; + control_sp(ControlAllocation::ControlAxis::ROLL) = 0.f; + control_sp(ControlAllocation::ControlAxis::PITCH) = 0.f; + control_sp(ControlAllocation::ControlAxis::YAW) = YAW_CONTROL_SP; + control_sp(ControlAllocation::ControlAxis::THRUST_X) = 0.f; + control_sp(ControlAllocation::ControlAxis::THRUST_Y) = 0.f; + control_sp(ControlAllocation::ControlAxis::THRUST_Z) = THRUST_Z_TOTAL; + allocator.setControlSetpoint(control_sp); + + // Since MC_AIRMODE was not set explicitly, assume airmode is disabled. + allocator.allocate(); + + const auto &actuator_sp = allocator.getActuatorSetpoint(); + // This value is based off of the effectiveness matrix. If the effectiveness matrix is changed, + // this will need to be changed. + constexpr float YAW_EFFECTIVENESS_FACTOR{5.f}; + constexpr float YAW_DIFF_PER_MOTOR{YAW_CONTROL_SP * YAW_EFFECTIVENESS_FACTOR}; + // At yaw condition, there will be 2 different actuator values. + constexpr int MOTOR_COUNT{4}; + constexpr float HIGH_THRUST_Z_PER_MOTOR{-THRUST_Z_TOTAL / MOTOR_COUNT + YAW_DIFF_PER_MOTOR}; + constexpr float LOW_THRUST_Z_PER_MOTOR{-THRUST_Z_TOTAL / MOTOR_COUNT - YAW_DIFF_PER_MOTOR}; + + for (int i{0}; i < MOTOR_COUNT / 2; ++i) { + EXPECT_NEAR(actuator_sp(i), HIGH_THRUST_Z_PER_MOTOR, EXPECT_NEAR_TOL); + } + + for (int i{MOTOR_COUNT / 2}; i < MOTOR_COUNT; ++i) { + EXPECT_NEAR(actuator_sp(i), LOW_THRUST_Z_PER_MOTOR, EXPECT_NEAR_TOL); + } + + for (int i{MOTOR_COUNT}; i < ActuatorEffectiveness::NUM_ACTUATORS; ++i) { + EXPECT_NEAR(actuator_sp(i), 0.f, EXPECT_NEAR_TOL); + } +} + +// This tests that a control setpoint for z-thrust + yaw returns the desired actuator setpoint. +// This test saturates the yaw response, but does not reduce total thrust. +TEST(ControlAllocationSequentialDesaturationTest, AirmodeDisabledThrustAndSaturatedYaw) +{ + ControlAllocationSequentialDesaturation allocator; + setup_quad_allocator(allocator); + matrix::Vector control_sp; + // Negative, because +z is "downward". + constexpr float THRUST_Z_TOTAL{-0.75f}; + // This is arbitrarily high to trigger strongest possible (saturated) yaw response. + constexpr float YAW_CONTROL_SP{0.25f}; + control_sp(ControlAllocation::ControlAxis::ROLL) = 0.f; + control_sp(ControlAllocation::ControlAxis::PITCH) = 0.f; + control_sp(ControlAllocation::ControlAxis::YAW) = YAW_CONTROL_SP; + control_sp(ControlAllocation::ControlAxis::THRUST_X) = 0.f; + control_sp(ControlAllocation::ControlAxis::THRUST_Y) = 0.f; + control_sp(ControlAllocation::ControlAxis::THRUST_Z) = THRUST_Z_TOTAL; + allocator.setControlSetpoint(control_sp); + + // Since MC_AIRMODE was not set explicitly, assume airmode is disabled. + allocator.allocate(); + + const auto &actuator_sp = allocator.getActuatorSetpoint(); + // At max yaw, only 2 motors will carry all of the thrust. + constexpr int YAW_MOTORS{2}; + constexpr float THRUST_Z_PER_MOTOR{-THRUST_Z_TOTAL / YAW_MOTORS}; + + for (int i{0}; i < YAW_MOTORS; ++i) { + EXPECT_NEAR(actuator_sp(i), THRUST_Z_PER_MOTOR, EXPECT_NEAR_TOL); + } + + for (int i{YAW_MOTORS}; i < ActuatorEffectiveness::NUM_ACTUATORS; ++i) { + EXPECT_NEAR(actuator_sp(i), 0.f, EXPECT_NEAR_TOL); + } +} + +// This tests that a control setpoint for z-thrust + pitch returns the desired actuator setpoint. +// This test does not saturate the pitch response. +TEST(ControlAllocationSequentialDesaturationTest, AirmodeDisabledThrustAndPitch) +{ + ControlAllocationSequentialDesaturation allocator; + setup_quad_allocator(allocator); + matrix::Vector control_sp; + // Negative, because +z is "downward". + constexpr float THRUST_Z_TOTAL{-0.75f}; + // This is low enough to not saturate the motors. + constexpr float PITCH_CONTROL_SP{0.1f}; + control_sp(ControlAllocation::ControlAxis::ROLL) = 0.f; + control_sp(ControlAllocation::ControlAxis::PITCH) = PITCH_CONTROL_SP; + control_sp(ControlAllocation::ControlAxis::YAW) = 0.f; + control_sp(ControlAllocation::ControlAxis::THRUST_X) = 0.f; + control_sp(ControlAllocation::ControlAxis::THRUST_Y) = 0.f; + control_sp(ControlAllocation::ControlAxis::THRUST_Z) = THRUST_Z_TOTAL; + allocator.setControlSetpoint(control_sp); + + // Since MC_AIRMODE was not set explicitly, assume airmode is disabled. + allocator.allocate(); + + const auto &actuator_sp = allocator.getActuatorSetpoint(); + // This value is based off of the effectiveness matrix. If the effectiveness matrix is changed, + // this will need to be changed. + constexpr int MOTOR_COUNT{4}; + constexpr float PITCH_DIFF_PER_MOTOR{PITCH_CONTROL_SP / MOTOR_COUNT}; + // At control set point, there will be 2 different actuator values. + constexpr float HIGH_THRUST_Z_PER_MOTOR{-THRUST_Z_TOTAL / MOTOR_COUNT + PITCH_DIFF_PER_MOTOR}; + constexpr float LOW_THRUST_Z_PER_MOTOR{-THRUST_Z_TOTAL / MOTOR_COUNT - PITCH_DIFF_PER_MOTOR}; + EXPECT_NEAR(actuator_sp(0), HIGH_THRUST_Z_PER_MOTOR, EXPECT_NEAR_TOL); + EXPECT_NEAR(actuator_sp(1), LOW_THRUST_Z_PER_MOTOR, EXPECT_NEAR_TOL); + EXPECT_NEAR(actuator_sp(2), HIGH_THRUST_Z_PER_MOTOR, EXPECT_NEAR_TOL); + EXPECT_NEAR(actuator_sp(3), LOW_THRUST_Z_PER_MOTOR, EXPECT_NEAR_TOL); + + for (int i{MOTOR_COUNT}; i < ActuatorEffectiveness::NUM_ACTUATORS; ++i) { + EXPECT_NEAR(actuator_sp(i), 0.f, EXPECT_NEAR_TOL); + } +} + +// This tests that a control setpoint for z-thrust + yaw returns the desired actuator setpoint. +// This test saturates yaw and demonstrates reduction of thrust for yaw. +TEST(ControlAllocationSequentialDesaturationTest, AirmodeDisabledReducedThrustAndYaw) +{ + ControlAllocationSequentialDesaturation allocator; + setup_quad_allocator(allocator); + matrix::Vector control_sp; + // Negative, because +z is "downward". + constexpr float DESIRED_THRUST_Z_PER_MOTOR{0.8f}; + constexpr int MOTOR_COUNT{4}; + constexpr float THRUST_Z_TOTAL{-DESIRED_THRUST_Z_PER_MOTOR * MOTOR_COUNT}; + // This is arbitrarily high to trigger strongest possible (saturated) yaw response. + constexpr float YAW_CONTROL_SP{1.f}; + control_sp(ControlAllocation::ControlAxis::ROLL) = 0.f; + control_sp(ControlAllocation::ControlAxis::PITCH) = 0.f; + control_sp(ControlAllocation::ControlAxis::YAW) = YAW_CONTROL_SP; + control_sp(ControlAllocation::ControlAxis::THRUST_X) = 0.f; + control_sp(ControlAllocation::ControlAxis::THRUST_Y) = 0.f; + control_sp(ControlAllocation::ControlAxis::THRUST_Z) = THRUST_Z_TOTAL; + allocator.setControlSetpoint(control_sp); + + // Since MC_AIRMODE was not set explicitly, assume airmode is disabled. + allocator.allocate(); + + const auto &actuator_sp = allocator.getActuatorSetpoint(); + // In the case of yaw saturation, thrust per motor will be reduced by the hard-coded + // magic-number yaw margin of 0.15f. + constexpr float YAW_MARGIN{0.15f}; // get this from a centralized source when available. + constexpr float YAW_DIFF_PER_MOTOR{1.0f + YAW_MARGIN - DESIRED_THRUST_Z_PER_MOTOR}; + // At control set point, there will be 2 different actuator values. + constexpr float HIGH_THRUST_Z_PER_MOTOR{DESIRED_THRUST_Z_PER_MOTOR + YAW_DIFF_PER_MOTOR - YAW_MARGIN}; + constexpr float LOW_THRUST_Z_PER_MOTOR{DESIRED_THRUST_Z_PER_MOTOR - YAW_DIFF_PER_MOTOR - YAW_MARGIN}; + EXPECT_NEAR(actuator_sp(0), HIGH_THRUST_Z_PER_MOTOR, EXPECT_NEAR_TOL); + EXPECT_NEAR(actuator_sp(1), HIGH_THRUST_Z_PER_MOTOR, EXPECT_NEAR_TOL); + EXPECT_NEAR(actuator_sp(2), LOW_THRUST_Z_PER_MOTOR, EXPECT_NEAR_TOL); + EXPECT_NEAR(actuator_sp(3), LOW_THRUST_Z_PER_MOTOR, EXPECT_NEAR_TOL); + + for (int i{MOTOR_COUNT}; i < ActuatorEffectiveness::NUM_ACTUATORS; ++i) { + EXPECT_NEAR(actuator_sp(i), 0.f, EXPECT_NEAR_TOL); + } +} + +// This tests that a control setpoint for z-thrust + pitch returns the desired actuator setpoint. +// This test saturates the pitch response such that thrust is reduced to (partially) compensate. +TEST(ControlAllocationSequentialDesaturationTest, AirmodeDisabledReducedThrustAndPitch) +{ + ControlAllocationSequentialDesaturation allocator; + setup_quad_allocator(allocator); + matrix::Vector control_sp; + // Negative, because +z is "downward". + constexpr float THRUST_Z_TOTAL{-0.75f * 4.f}; + // This is high enough to saturate the pitch control. + constexpr float PITCH_CONTROL_SP{2.f}; + control_sp(ControlAllocation::ControlAxis::ROLL) = 0.f; + control_sp(ControlAllocation::ControlAxis::PITCH) = PITCH_CONTROL_SP; + control_sp(ControlAllocation::ControlAxis::YAW) = 0.f; + control_sp(ControlAllocation::ControlAxis::THRUST_X) = 0.f; + control_sp(ControlAllocation::ControlAxis::THRUST_Y) = 0.f; + control_sp(ControlAllocation::ControlAxis::THRUST_Z) = THRUST_Z_TOTAL; + allocator.setControlSetpoint(control_sp); + + // Since MC_AIRMODE was not set explicitly, assume airmode is disabled. + allocator.allocate(); + + const auto &actuator_sp = allocator.getActuatorSetpoint(); + constexpr int MOTOR_COUNT{4}; + // The maximum actuator value is + // THRUST_Z_TOTAL / MOTOR_COUNT + PITCH_CONTROL_SP / MOTOR_COUNT. + // The amount over 1 is the amount that each motor is reduced by. + // At control set point, there will be 2 different actuator values. + constexpr float OVERAGE_PER_MOTOR{-THRUST_Z_TOTAL / MOTOR_COUNT + PITCH_CONTROL_SP / MOTOR_COUNT - 1}; + EXPECT_TRUE(OVERAGE_PER_MOTOR > 0.f); + constexpr float HIGH_THRUST_Z_PER_MOTOR{-THRUST_Z_TOTAL / MOTOR_COUNT + PITCH_CONTROL_SP / MOTOR_COUNT - OVERAGE_PER_MOTOR}; + constexpr float LOW_THRUST_Z_PER_MOTOR{-THRUST_Z_TOTAL / MOTOR_COUNT - PITCH_CONTROL_SP / MOTOR_COUNT - OVERAGE_PER_MOTOR}; + EXPECT_NEAR(actuator_sp(0), HIGH_THRUST_Z_PER_MOTOR, EXPECT_NEAR_TOL); + EXPECT_NEAR(actuator_sp(1), LOW_THRUST_Z_PER_MOTOR, EXPECT_NEAR_TOL); + EXPECT_NEAR(actuator_sp(2), HIGH_THRUST_Z_PER_MOTOR, EXPECT_NEAR_TOL); + EXPECT_NEAR(actuator_sp(3), LOW_THRUST_Z_PER_MOTOR, EXPECT_NEAR_TOL); + + for (int i{MOTOR_COUNT}; i < ActuatorEffectiveness::NUM_ACTUATORS; ++i) { + EXPECT_NEAR(actuator_sp(i), 0.f, EXPECT_NEAR_TOL); + } +} diff --git a/src/modules/control_allocator/ControlAllocator.cpp b/src/modules/control_allocator/ControlAllocator.cpp index 2b419ab78201..48363eeb1e38 100644 --- a/src/modules/control_allocator/ControlAllocator.cpp +++ b/src/modules/control_allocator/ControlAllocator.cpp @@ -239,7 +239,7 @@ ControlAllocator::update_effectiveness_source() break; case EffectivenessSource::ROVER_DIFFERENTIAL: - tmp = new ActuatorEffectivenessRoverDifferential(); + // rover_differential_control does allocation and publishes directly to actuator_motors topic break; case EffectivenessSource::FIXED_WING: @@ -247,7 +247,7 @@ ControlAllocator::update_effectiveness_source() break; case EffectivenessSource::MOTORS_6DOF: // just a different UI from MULTIROTOR - tmp = new ActuatorEffectivenessRotors(this); + tmp = new ActuatorEffectivenessUUV(this); break; case EffectivenessSource::MULTIROTOR_WITH_TILT: @@ -258,8 +258,16 @@ ControlAllocator::update_effectiveness_source() tmp = new ActuatorEffectivenessCustom(this); break; - case EffectivenessSource::HELICOPTER: - tmp = new ActuatorEffectivenessHelicopter(this); + case EffectivenessSource::HELICOPTER_TAIL_ESC: + tmp = new ActuatorEffectivenessHelicopter(this, ActuatorType::MOTORS); + break; + + case EffectivenessSource::HELICOPTER_TAIL_SERVO: + tmp = new ActuatorEffectivenessHelicopter(this, ActuatorType::SERVOS); + break; + + case EffectivenessSource::HELICOPTER_COAXIAL: + tmp = new ActuatorEffectivenessHelicopterCoaxial(this); break; default: @@ -355,6 +363,14 @@ ControlAllocator::Run() } } + { + vehicle_control_mode_s vehicle_control_mode; + + if (_vehicle_control_mode_sub.update(&vehicle_control_mode)) { + _publish_controls = vehicle_control_mode.flag_control_allocation_enabled; + } + } + // Guard against too small (< 0.2ms) and too large (> 20ms) dt's. const hrt_abstime now = hrt_absolute_time(); const float dt = math::constrain(((now - _last_run) / 1e6f), 0.0002f, 0.02f); @@ -377,7 +393,7 @@ ControlAllocator::Run() if (_vehicle_thrust_setpoint_sub.update(&vehicle_thrust_setpoint)) { _thrust_sp = matrix::Vector3f(vehicle_thrust_setpoint.xyz); - if (dt > 5_ms) { + if (dt > 0.005f) { do_update = true; _timestamp_sample = vehicle_thrust_setpoint.timestamp_sample; } @@ -637,6 +653,10 @@ ControlAllocator::publish_control_allocator_status(int matrix_index) void ControlAllocator::publish_actuator_controls() { + if (!_publish_controls) { + return; + } + actuator_motors_s actuator_motors; actuator_motors.timestamp = hrt_absolute_time(); actuator_motors.timestamp_sample = _timestamp_sample; diff --git a/src/modules/control_allocator/ControlAllocator.hpp b/src/modules/control_allocator/ControlAllocator.hpp index 0281aa925e2c..303316f1ef52 100644 --- a/src/modules/control_allocator/ControlAllocator.hpp +++ b/src/modules/control_allocator/ControlAllocator.hpp @@ -47,11 +47,12 @@ #include #include #include -#include #include #include #include +#include #include +#include #include #include @@ -72,6 +73,7 @@ #include #include #include +#include #include #include #include @@ -153,7 +155,9 @@ class ControlAllocator : public ModuleBase, public ModuleParam MOTORS_6DOF = 7, MULTIROTOR_WITH_TILT = 8, CUSTOM = 9, - HELICOPTER = 10, + HELICOPTER_TAIL_ESC = 10, + HELICOPTER_TAIL_SERVO = 11, + HELICOPTER_COAXIAL = 12, }; enum class FailureMode { @@ -184,10 +188,12 @@ class ControlAllocator : public ModuleBase, public ModuleParam uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s}; uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)}; + uORB::Subscription _vehicle_control_mode_sub{ORB_ID(vehicle_control_mode)}; uORB::Subscription _failure_detector_status_sub{ORB_ID(failure_detector_status)}; matrix::Vector3f _torque_sp; matrix::Vector3f _thrust_sp; + bool _publish_controls{true}; // Reflects motor failures that are currently handled, not motor failures that are reported. // For example, the system might report two motor failures, but only the first one is handled by CA diff --git a/src/modules/control_allocator/module.yaml b/src/modules/control_allocator/module.yaml index e48570dc2ba2..8683d7477d95 100644 --- a/src/modules/control_allocator/module.yaml +++ b/src/modules/control_allocator/module.yaml @@ -27,7 +27,9 @@ parameters: 7: Motors (6DOF) 8: Multirotor with Tilt 9: Custom - 10: Helicopter + 10: Helicopter (tail ESC) + 11: Helicopter (tail Servo) + 12: Helicopter (Coaxial) default: 0 CA_METHOD: @@ -123,7 +125,7 @@ parameters: default: 0 CA_ROTOR${i}_PX: description: - short: Position of rotor ${i} along X body axis + short: Position of rotor ${i} along X body axis relative to center of gravity type: float decimal: 2 increment: 0.1 @@ -134,7 +136,7 @@ parameters: default: 0.0 CA_ROTOR${i}_PY: description: - short: Position of rotor ${i} along Y body axis + short: Position of rotor ${i} along Y body axis relative to center of gravity type: float decimal: 2 increment: 0.1 @@ -145,7 +147,7 @@ parameters: default: 0.0 CA_ROTOR${i}_PZ: description: - short: Position of rotor ${i} along Z body axis + short: Position of rotor ${i} along Z body axis relative to center of gravity type: float decimal: 2 increment: 0.1 @@ -415,6 +417,7 @@ parameters: short: Number of swash plates servos type: enum values: + 2: '2' 3: '3' 4: '4' default: 3 @@ -958,10 +961,10 @@ mixer: actuators: - actuator_type: 'motor' instances: - - name: 'Left Motor' - position: [ 0, -1., 0 ] - name: 'Right Motor' position: [ 0, 1., 0 ] + - name: 'Left Motor' + position: [ 0, -1., 0 ] 7: # Motors (6DOF) actuators: @@ -1058,7 +1061,7 @@ mixer: advanced: true identifier: 'servo-scale-spoiler' - 10: # Helicopter + 10: # Helicopter (tail ESC) actuators: - actuator_type: 'motor' count: 1 @@ -1078,6 +1081,8 @@ mixer: - name: 'CA_SV_CS${i}_TRIM' label: 'Trim' parameters: + - label: 'Collective pitch offset to align least amount of rotor drag' + name: CA_HELI_YAW_CP_O - label: 'Yaw compensation scale based on collective pitch' name: CA_HELI_YAW_CP_S - label: 'Yaw compensation scale based on throttle' @@ -1087,3 +1092,51 @@ mixer: - label: 'Throttle spoolup time' name: COM_SPOOLUP_TIME + 11: # Helicopter (tail Servo) + actuators: + - actuator_type: 'motor' + count: 1 + item_label_prefix: ['Rotor'] + - actuator_type: 'servo' + item_label_prefix: ['Yaw tail Servo'] + count: 1 + - actuator_type: 'servo' + group_label: 'Swash plate servos' + count: 'CA_SP0_COUNT' + per_item_parameters: + extra: + - name: 'CA_SP0_ANG${i}' + label: 'Angle' + - name: 'CA_SP0_ARM_L${i}' + label: 'Arm Length (relative)' + - name: 'CA_SV_CS${i}_TRIM' + label: 'Trim' + parameters: + - label: 'Yaw compensation scale based on collective pitch' + name: CA_HELI_YAW_CP_S + - label: 'Yaw compensation scale based on throttle' + name: CA_HELI_YAW_TH_S + - label: 'Main rotor turns counter-clockwise' + name: CA_HELI_YAW_CCW + - label: 'Throttle spoolup time' + name: COM_SPOOLUP_TIME + + 12: # Helicopter (Coaxial) + actuators: + - actuator_type: 'motor' + count: 2 + item_label_prefix: ['Clockwise Rotor', 'Counter-clockwise Rotor'] + - actuator_type: 'servo' + group_label: 'Swash plate servos' + count: 'CA_SP0_COUNT' + per_item_parameters: + extra: + - name: 'CA_SP0_ANG${i}' + label: 'Angle' + - name: 'CA_SP0_ARM_L${i}' + label: 'Arm Length (relative)' + - name: 'CA_SV_CS${i}_TRIM' + label: 'Trim' + parameters: + - label: 'Throttle spoolup time' + name: COM_SPOOLUP_TIME diff --git a/src/modules/dataman/dataman.cpp b/src/modules/dataman/dataman.cpp index f74cec5cb60a..b1c1a057e14a 100644 --- a/src/modules/dataman/dataman.cpp +++ b/src/modules/dataman/dataman.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2013-2021 PX4 Development Team. All rights reserved. + * Copyright (c) 2013-2023 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -52,13 +52,18 @@ #include #include +#include +#include +#include +#include + #include "dataman.h" __BEGIN_DECLS __EXPORT int dataman_main(int argc, char *argv[]); __END_DECLS -static constexpr int TASK_STACK_SIZE = 1320; +static constexpr int TASK_STACK_SIZE = 1420; /* Private File based Operations */ static ssize_t _file_write(dm_item_t item, unsigned index, const void *buf, size_t count); @@ -117,74 +122,29 @@ static struct { bool silence = false; } dm_operations_data; -/** Types of function calls supported by the worker task */ -typedef enum { - dm_write_func = 0, - dm_read_func, - dm_clear_func, - dm_number_of_funcs -} dm_function_t; - -/** Work task work item */ -typedef struct { - sq_entry_t link; /**< list linkage */ - px4_sem_t wait_sem; - unsigned char first; - unsigned char func; - ssize_t result; - union { - struct { - dm_item_t item; - unsigned index; - const void *buf; - size_t count; - } write_params; - struct { - dm_item_t item; - unsigned index; - void *buf; - size_t count; - } read_params; - struct { - dm_item_t item; - } clear_params; - }; -} work_q_item_t; - -const size_t k_work_item_allocation_chunk_size = 8; - /* Usage statistics */ -static unsigned g_func_counts[dm_number_of_funcs]; - -/* table of maximum number of instances for each item type */ -static const unsigned g_per_item_max_index[DM_KEY_NUM_KEYS] = { - DM_KEY_SAFE_POINTS_MAX, - DM_KEY_FENCE_POINTS_MAX, - DM_KEY_WAYPOINTS_OFFBOARD_0_MAX, - DM_KEY_WAYPOINTS_OFFBOARD_1_MAX, - DM_KEY_MISSION_STATE_MAX, - DM_KEY_COMPAT_MAX -}; +static unsigned g_func_counts[DM_NUMBER_OF_FUNCS]; #define DM_SECTOR_HDR_SIZE 4 /* data manager per item header overhead */ -/* Table of the len of each item type */ -static constexpr size_t g_per_item_size[DM_KEY_NUM_KEYS] = { - sizeof(struct mission_safe_point_s) + DM_SECTOR_HDR_SIZE, - sizeof(struct mission_fence_point_s) + DM_SECTOR_HDR_SIZE, - sizeof(struct mission_item_s) + DM_SECTOR_HDR_SIZE, - sizeof(struct mission_item_s) + DM_SECTOR_HDR_SIZE, - sizeof(struct mission_s) + DM_SECTOR_HDR_SIZE, - sizeof(struct dataman_compat_s) + DM_SECTOR_HDR_SIZE +/* Table of the len of each item type including HDR size */ +static constexpr size_t g_per_item_size_with_hdr[DM_KEY_NUM_KEYS] = { + g_per_item_size[DM_KEY_SAFE_POINTS_0] + DM_SECTOR_HDR_SIZE, + g_per_item_size[DM_KEY_SAFE_POINTS_1] + DM_SECTOR_HDR_SIZE, + g_per_item_size[DM_KEY_SAFE_POINTS_STATE] + DM_SECTOR_HDR_SIZE, + g_per_item_size[DM_KEY_FENCE_POINTS_0] + DM_SECTOR_HDR_SIZE, + g_per_item_size[DM_KEY_FENCE_POINTS_1] + DM_SECTOR_HDR_SIZE, + g_per_item_size[DM_KEY_FENCE_POINTS_STATE] + DM_SECTOR_HDR_SIZE, + g_per_item_size[DM_KEY_WAYPOINTS_OFFBOARD_0] + DM_SECTOR_HDR_SIZE, + g_per_item_size[DM_KEY_WAYPOINTS_OFFBOARD_1] + DM_SECTOR_HDR_SIZE, + g_per_item_size[DM_KEY_MISSION_STATE] + DM_SECTOR_HDR_SIZE, + g_per_item_size[DM_KEY_COMPAT] + DM_SECTOR_HDR_SIZE }; /* Table of offset for index 0 of each item type */ static unsigned int g_key_offsets[DM_KEY_NUM_KEYS]; -/* Item type lock mutexes */ -static px4_sem_t *g_item_locks[DM_KEY_NUM_KEYS]; -static px4_sem_t g_sys_state_mutex_mission; -static px4_sem_t g_sys_state_mutex_fence; +static uint8_t dataman_clients_count = 1; static perf_counter_t _dm_read_perf{nullptr}; static perf_counter_t _dm_write_perf{nullptr}; @@ -200,160 +160,12 @@ static enum { BACKEND_LAST } backend = BACKEND_NONE; -/* The data manager work queues */ - -typedef struct { - sq_queue_t q; /* Nuttx queue */ - px4_sem_t mutex; /* Mutual exclusion on work queue adds and deletes */ - unsigned size; /* Current size of queue */ - unsigned max_size; /* Maximum queue size reached */ -} work_q_t; - -static work_q_t g_free_q; /* queue of free work items. So that we don't always need to call malloc and free*/ -static work_q_t g_work_q; /* pending work items. To be consumed by worker thread */ - -static px4_sem_t g_work_queued_sema; /* To notify worker thread a work item has been queued */ static px4_sem_t g_init_sema; static bool g_task_should_exit; /**< if true, dataman task should exit */ -static void init_q(work_q_t *q) -{ - sq_init(&(q->q)); /* Initialize the NuttX queue structure */ - px4_sem_init(&(q->mutex), 1, 1); /* Queue is initially unlocked */ - q->size = q->max_size = 0; /* Queue is initially empty */ -} - -static inline void -destroy_q(work_q_t *q) -{ - px4_sem_destroy(&(q->mutex)); /* Destroy the queue lock */ -} - -static inline void -lock_queue(work_q_t *q) -{ - px4_sem_wait(&(q->mutex)); /* Acquire the queue lock */ -} - -static inline void -unlock_queue(work_q_t *q) -{ - px4_sem_post(&(q->mutex)); /* Release the queue lock */ -} - -static work_q_item_t * -create_work_item() -{ - work_q_item_t *item; - - /* Try to reuse item from free item queue */ - lock_queue(&g_free_q); - - if ((item = (work_q_item_t *)sq_remfirst(&(g_free_q.q)))) { - g_free_q.size--; - } - - unlock_queue(&g_free_q); - - /* If we there weren't any free items then obtain memory for a new ones */ - if (item == nullptr) { - item = (work_q_item_t *)malloc(k_work_item_allocation_chunk_size * sizeof(work_q_item_t)); - - if (item) { - item->first = 1; - lock_queue(&g_free_q); - - for (size_t i = 1; i < k_work_item_allocation_chunk_size; i++) { - (item + i)->first = 0; - sq_addfirst(&(item + i)->link, &(g_free_q.q)); - } - - /* Update the queue size and potentially the maximum queue size */ - g_free_q.size += k_work_item_allocation_chunk_size - 1; - - if (g_free_q.size > g_free_q.max_size) { - g_free_q.max_size = g_free_q.size; - } - - unlock_queue(&g_free_q); - } - } - - /* If we got one then lock the item*/ - if (item) { - px4_sem_init(&item->wait_sem, 1, 0); /* Caller will wait on this... initially locked */ - - /* item->wait_sem use case is a signal */ - - px4_sem_setprotocol(&item->wait_sem, SEM_PRIO_NONE); - } - - /* return the item pointer, or nullptr if all failed */ - return item; -} - /* Work queue management functions */ -static inline void -destroy_work_item(work_q_item_t *item) -{ - px4_sem_destroy(&item->wait_sem); /* Destroy the item lock */ - /* Return the item to the free item queue for later reuse */ - lock_queue(&g_free_q); - sq_addfirst(&item->link, &(g_free_q.q)); - - /* Update the queue size and potentially the maximum queue size */ - if (++g_free_q.size > g_free_q.max_size) { - g_free_q.max_size = g_free_q.size; - } - - unlock_queue(&g_free_q); -} - -static inline work_q_item_t * -dequeue_work_item() -{ - work_q_item_t *work; - - /* retrieve the 1st item on the work queue */ - lock_queue(&g_work_q); - - if ((work = (work_q_item_t *)sq_remfirst(&g_work_q.q))) { - g_work_q.size--; - } - - unlock_queue(&g_work_q); - return work; -} - -static int -enqueue_work_item_and_wait_for_result(work_q_item_t *item) -{ - /* put the work item at the end of the work queue */ - lock_queue(&g_work_q); - sq_addlast(&item->link, &(g_work_q.q)); - - /* Adjust the queue size and potentially the maximum queue size */ - if (++g_work_q.size > g_work_q.max_size) { - g_work_q.max_size = g_work_q.size; - } - - unlock_queue(&g_work_q); - - /* tell the work thread that work is available */ - px4_sem_post(&g_work_queued_sema); - - /* wait for the result */ - px4_sem_wait(&item->wait_sem); - - int result = item->result; - - destroy_work_item(item); - - return result; -} - static bool is_running() { return dm_operations_data.running; @@ -375,7 +187,7 @@ calculate_offset(dm_item_t item, unsigned index) } /* Calculate and return the item index based on type and index */ - return g_key_offsets[item] + (index * g_per_item_size[item]); + return g_key_offsets[item] + (index * g_per_item_size_with_hdr[item]); } /* Each data item is stored as follows @@ -392,6 +204,10 @@ calculate_offset(dm_item_t item, unsigned index) /* write to the data manager RAM buffer */ static ssize_t _ram_write(dm_item_t item, unsigned index, const void *buf, size_t count) { + if (item >= DM_KEY_NUM_KEYS) { + return -1; + } + /* Get the offset for this item */ int offset = calculate_offset(item, index); @@ -401,7 +217,7 @@ static ssize_t _ram_write(dm_item_t item, unsigned index, const void *buf, size_ } /* Make sure caller has not given us more data than we can handle */ - if (count > (g_per_item_size[item] - DM_SECTOR_HDR_SIZE)) { + if (count > (g_per_item_size_with_hdr[item] - DM_SECTOR_HDR_SIZE)) { return -E2BIG; } @@ -429,7 +245,11 @@ static ssize_t _ram_write(dm_item_t item, unsigned index, const void *buf, size_ static ssize_t _file_write(dm_item_t item, unsigned index, const void *buf, size_t count) { - unsigned char buffer[g_per_item_size[item]]; + if (item >= DM_KEY_NUM_KEYS) { + return -1; + } + + unsigned char buffer[g_per_item_size_with_hdr[item]]; /* Get the offset for this item */ const int offset = calculate_offset(item, index); @@ -440,7 +260,7 @@ _file_write(dm_item_t item, unsigned index, const void *buf, size_t count) } /* Make sure caller has not given us more data than we can handle */ - if (count > (g_per_item_size[item] - DM_SECTOR_HDR_SIZE)) { + if (count > (g_per_item_size_with_hdr[item] - DM_SECTOR_HDR_SIZE)) { return -E2BIG; } @@ -502,6 +322,10 @@ _file_write(dm_item_t item, unsigned index, const void *buf, size_t count) /* Retrieve from the data manager RAM buffer*/ static ssize_t _ram_read(dm_item_t item, unsigned index, void *buf, size_t count) { + if (item >= DM_KEY_NUM_KEYS) { + return -1; + } + /* Get the offset for this item */ int offset = calculate_offset(item, index); @@ -511,7 +335,7 @@ static ssize_t _ram_read(dm_item_t item, unsigned index, void *buf, size_t count } /* Make sure the caller hasn't asked for more data than we can handle */ - if (count > (g_per_item_size[item] - DM_SECTOR_HDR_SIZE)) { + if (count > (g_per_item_size_with_hdr[item] - DM_SECTOR_HDR_SIZE)) { return -E2BIG; } @@ -546,7 +370,7 @@ _file_read(dm_item_t item, unsigned index, void *buf, size_t count) return -1; } - unsigned char buffer[g_per_item_size[item]]; + unsigned char buffer[g_per_item_size_with_hdr[item]]; /* Get the offset for this item */ int offset = calculate_offset(item, index); @@ -557,7 +381,7 @@ _file_read(dm_item_t item, unsigned index, void *buf, size_t count) } /* Make sure the caller hasn't asked for more data than we can handle */ - if (count > (g_per_item_size[item] - DM_SECTOR_HDR_SIZE)) { + if (count > (g_per_item_size_with_hdr[item] - DM_SECTOR_HDR_SIZE)) { return -E2BIG; } @@ -610,6 +434,9 @@ _file_read(dm_item_t item, unsigned index, void *buf, size_t count) /* Looks good, copy it to the caller's buffer */ memcpy(buf, buffer + DM_SECTOR_HDR_SIZE, buffer[0]); + + } else { + memset(buf, 0, count); } /* Return the number of bytes of caller data read */ @@ -618,8 +445,9 @@ _file_read(dm_item_t item, unsigned index, void *buf, size_t count) static int _ram_clear(dm_item_t item) { - int i; - int result = 0; + if (item >= DM_KEY_NUM_KEYS) { + return -1; + } /* Get the offset of 1st item of this type */ int offset = calculate_offset(item, 0); @@ -629,8 +457,10 @@ static int _ram_clear(dm_item_t item) return -1; } + int result = 0; + /* Clear all items of this type */ - for (i = 0; (unsigned)i < g_per_item_max_index[item]; i++) { + for (int i = 0; (unsigned)i < g_per_item_max_index[item]; i++) { uint8_t *buf = &dm_operations_data.ram.data[offset]; if (buf > dm_operations_data.ram.data_end) { @@ -639,7 +469,7 @@ static int _ram_clear(dm_item_t item) } buf[0] = 0; - offset += g_per_item_size[item]; + offset += g_per_item_size_with_hdr[item]; } return result; @@ -648,7 +478,9 @@ static int _ram_clear(dm_item_t item) static int _file_clear(dm_item_t item) { - int i, result = 0; + if (item >= DM_KEY_NUM_KEYS) { + return -1; + } /* Get the offset of 1st item of this type */ int offset = calculate_offset(item, 0); @@ -658,8 +490,10 @@ _file_clear(dm_item_t item) return -1; } + int result = 0; + /* Clear all items of this type */ - for (i = 0; (unsigned)i < g_per_item_max_index[item]; i++) { + for (int i = 0; (unsigned)i < g_per_item_max_index[item]; i++) { char buf[1]; if (lseek(dm_operations_data.file.fd, offset, SEEK_SET) != offset) { @@ -687,7 +521,7 @@ _file_clear(dm_item_t item) } } - offset += g_per_item_size[item]; + offset += g_per_item_size_with_hdr[item]; } /* Make sure data is actually written to physical media */ @@ -698,30 +532,7 @@ _file_clear(dm_item_t item) static int _file_initialize(unsigned max_offset) { - /* See if the data manage file exists and is a multiple of the sector size */ - dm_operations_data.file.fd = open(k_data_manager_device_path, O_RDONLY | O_BINARY); - - if (dm_operations_data.file.fd >= 0) { - // Read the mission state and check the hash - struct dataman_compat_s compat_state; - dm_operations_data.silence = true; - int ret = g_dm_ops->read(DM_KEY_COMPAT, 0, &compat_state, sizeof(compat_state)); - dm_operations_data.silence = false; - - bool incompat = true; - - if (ret == sizeof(compat_state)) { - if (compat_state.key == DM_COMPAT_KEY) { - incompat = false; - } - } - - close(dm_operations_data.file.fd); - - if (incompat) { - unlink(k_data_manager_device_path); - } - } + const bool file_existed = (access(k_data_manager_device_path, F_OK) == 0); /* Open or create the data manager file */ dm_operations_data.file.fd = open(k_data_manager_device_path, O_RDWR | O_CREAT | O_BINARY, PX4_O_MODE_666); @@ -739,16 +550,46 @@ _file_initialize(unsigned max_offset) return -1; } - /* Write current compat info */ - struct dataman_compat_s compat_state; - compat_state.key = DM_COMPAT_KEY; - int ret = g_dm_ops->write(DM_KEY_COMPAT, 0, &compat_state, sizeof(compat_state)); + dataman_compat_s compat_state{}; + + dm_operations_data.silence = true; + + g_dm_ops->read(DM_KEY_COMPAT, 0, &compat_state, sizeof(compat_state)); + + dm_operations_data.silence = false; + + if (!file_existed || (compat_state.key != DM_COMPAT_KEY)) { + + /* Write current compat info */ + compat_state.key = DM_COMPAT_KEY; + int ret = g_dm_ops->write(DM_KEY_COMPAT, 0, &compat_state, sizeof(compat_state)); + + if (ret != sizeof(compat_state)) { + PX4_ERR("Failed writing compat: %d", ret); + } + + for (uint32_t item = DM_KEY_SAFE_POINTS_0; item <= DM_KEY_MISSION_STATE; ++item) { + g_dm_ops->clear((dm_item_t)item); + } + + mission_s mission{}; + mission.timestamp = hrt_absolute_time(); + mission.mission_dataman_id = DM_KEY_WAYPOINTS_OFFBOARD_0; + mission.count = 0; + mission.current_seq = 0; + mission.mission_id = 0u; + mission.geofence_id = 0u; + mission.safe_points_id = 0u; - if (ret != sizeof(compat_state)) { - PX4_ERR("Failed writing compat: %d", ret); + mission_stats_entry_s stats; + stats.num_items = 0; + stats.opaque_id = 0; + + g_dm_ops->write(DM_KEY_MISSION_STATE, 0, reinterpret_cast(&mission), sizeof(mission_s)); + g_dm_ops->write(DM_KEY_FENCE_POINTS_STATE, 0, reinterpret_cast(&stats), sizeof(mission_stats_entry_s)); + g_dm_ops->write(DM_KEY_SAFE_POINTS_STATE, 0, reinterpret_cast(&stats), sizeof(mission_stats_entry_s)); } - fsync(dm_operations_data.file.fd); dm_operations_data.running = true; return 0; @@ -787,156 +628,6 @@ _ram_shutdown() dm_operations_data.running = false; } -/** Write to the data manager file */ -__EXPORT ssize_t -dm_write(dm_item_t item, unsigned index, const void *buf, size_t count) -{ - work_q_item_t *work; - - /* Make sure data manager has been started and is not shutting down */ - if (!is_running() || g_task_should_exit) { - return -1; - } - - perf_begin(_dm_write_perf); - - /* get a work item and queue up a write request */ - if ((work = create_work_item()) == nullptr) { - PX4_ERR("dm_write create_work_item failed"); - perf_end(_dm_write_perf); - return -1; - } - - work->func = dm_write_func; - work->write_params.item = item; - work->write_params.index = index; - work->write_params.buf = buf; - work->write_params.count = count; - - /* Enqueue the item on the work queue and wait for the worker thread to complete processing it */ - ssize_t ret = (ssize_t)enqueue_work_item_and_wait_for_result(work); - perf_end(_dm_write_perf); - return ret; -} - -/** Retrieve from the data manager file */ -__EXPORT ssize_t -dm_read(dm_item_t item, unsigned index, void *buf, size_t count) -{ - work_q_item_t *work; - - /* Make sure data manager has been started and is not shutting down */ - if (!is_running() || g_task_should_exit) { - return -1; - } - - perf_begin(_dm_read_perf); - - /* get a work item and queue up a read request */ - if ((work = create_work_item()) == nullptr) { - PX4_ERR("dm_read create_work_item failed"); - perf_end(_dm_read_perf); - return -1; - } - - work->func = dm_read_func; - work->read_params.item = item; - work->read_params.index = index; - work->read_params.buf = buf; - work->read_params.count = count; - - /* Enqueue the item on the work queue and wait for the worker thread to complete processing it */ - ssize_t ret = (ssize_t)enqueue_work_item_and_wait_for_result(work); - perf_end(_dm_read_perf); - return ret; -} - -/** Clear a data Item */ -__EXPORT int -dm_clear(dm_item_t item) -{ - work_q_item_t *work; - - /* Make sure data manager has been started and is not shutting down */ - if (!is_running() || g_task_should_exit) { - return -1; - } - - /* get a work item and queue up a clear request */ - if ((work = create_work_item()) == nullptr) { - PX4_ERR("dm_clear create_work_item failed"); - return -1; - } - - work->func = dm_clear_func; - work->clear_params.item = item; - - /* Enqueue the item on the work queue and wait for the worker thread to complete processing it */ - return enqueue_work_item_and_wait_for_result(work); -} - -__EXPORT int -dm_lock(dm_item_t item) -{ - /* Make sure data manager has been started and is not shutting down */ - if (!is_running() || g_task_should_exit) { - errno = EINVAL; - return -1; - } - - if (item >= DM_KEY_NUM_KEYS) { - errno = EINVAL; - return -1; - } - - if (g_item_locks[item]) { - return px4_sem_wait(g_item_locks[item]); - } - - errno = EINVAL; - return -1; -} - -__EXPORT int -dm_trylock(dm_item_t item) -{ - /* Make sure data manager has been started and is not shutting down */ - if (!is_running() || g_task_should_exit) { - errno = EINVAL; - return -1; - } - - if (item >= DM_KEY_NUM_KEYS) { - errno = EINVAL; - return -1; - } - - if (g_item_locks[item]) { - return px4_sem_trywait(g_item_locks[item]); - } - - errno = EINVAL; - return -1; -} - -/** Unlock a data Item */ -__EXPORT void -dm_unlock(dm_item_t item) -{ - /* Make sure data manager has been started and is not shutting down */ - if (!is_running() || g_task_should_exit) { - return; - } - - if (item >= DM_KEY_NUM_KEYS) { - return; - } - - if (g_item_locks[item]) { - px4_sem_post(g_item_locks[item]); - } -} - static int task_main(int argc, char *argv[]) { @@ -955,43 +646,28 @@ task_main(int argc, char *argv[]) return -1; } - work_q_item_t *work; - /* Initialize global variables */ g_key_offsets[0] = 0; for (int i = 0; i < ((int)DM_KEY_NUM_KEYS - 1); i++) { - g_key_offsets[i + 1] = g_key_offsets[i] + (g_per_item_max_index[i] * g_per_item_size[i]); + g_key_offsets[i + 1] = g_key_offsets[i] + (g_per_item_max_index[i] * g_per_item_size_with_hdr[i]); } unsigned max_offset = g_key_offsets[DM_KEY_NUM_KEYS - 1] + (g_per_item_max_index[DM_KEY_NUM_KEYS - 1] * - g_per_item_size[DM_KEY_NUM_KEYS - 1]); + g_per_item_size_with_hdr[DM_KEY_NUM_KEYS - 1]); - for (unsigned i = 0; i < dm_number_of_funcs; i++) { + for (unsigned i = 0; i < DM_NUMBER_OF_FUNCS; i++) { g_func_counts[i] = 0; } - /* Initialize the item type locks, for now only DM_KEY_MISSION_STATE & DM_KEY_FENCE_POINTS supports locking */ - px4_sem_init(&g_sys_state_mutex_mission, 1, 1); /* Initially unlocked */ - px4_sem_init(&g_sys_state_mutex_fence, 1, 1); /* Initially unlocked */ - - for (unsigned i = 0; i < DM_KEY_NUM_KEYS; i++) { - g_item_locks[i] = nullptr; - } - - g_item_locks[DM_KEY_MISSION_STATE] = &g_sys_state_mutex_mission; - g_item_locks[DM_KEY_FENCE_POINTS] = &g_sys_state_mutex_fence; - g_task_should_exit = false; - init_q(&g_work_q); - init_q(&g_free_q); - - px4_sem_init(&g_work_queued_sema, 1, 0); - - /* g_work_queued_sema use case is a signal */ + uORB::Publication dataman_response_pub{ORB_ID(dataman_response)}; + const int dataman_request_sub = orb_subscribe(ORB_ID(dataman_request)); - px4_sem_setprotocol(&g_work_queued_sema, SEM_PRIO_NONE); + if (dataman_request_sub < 0) { + PX4_ERR("Failed to subscribe (%i)", errno); + } _dm_read_perf = perf_alloc(PC_ELAPSED, MODULE_NAME": read"); _dm_write_perf = perf_alloc(PC_ELAPSED, MODULE_NAME": write"); @@ -1017,47 +693,109 @@ task_main(int argc, char *argv[]) break; } + px4_pollfd_struct_t fds; + fds.fd = dataman_request_sub; + fds.events = POLLIN; + /* Tell startup that the worker thread has completed its initialization */ px4_sem_post(&g_init_sema); /* Start the endless loop, waiting for then processing work requests */ while (true) { - /* do we need to exit ??? */ - if (!g_task_should_exit) { - /* wait for work */ - g_dm_ops->wait(&g_work_queued_sema); - } + ret = px4_poll(&fds, 1, 1000); - /* Empty the work queue */ - while ((work = dequeue_work_item())) { + if (ret > 0) { - /* handle each work item with the appropriate handler */ - switch (work->func) { - case dm_write_func: - g_func_counts[dm_write_func]++; - work->result = - g_dm_ops->write(work->write_params.item, work->write_params.index, work->write_params.buf, work->write_params.count); - break; + bool updated = false; + orb_check(dataman_request_sub, &updated); - case dm_read_func: - g_func_counts[dm_read_func]++; - work->result = - g_dm_ops->read(work->read_params.item, work->read_params.index, work->read_params.buf, work->read_params.count); - break; + if (updated) { - case dm_clear_func: - g_func_counts[dm_clear_func]++; - work->result = g_dm_ops->clear(work->clear_params.item); - break; + dataman_request_s request; + orb_copy(ORB_ID(dataman_request), dataman_request_sub, &request); - default: /* should never happen */ - work->result = -1; - break; - } + dataman_response_s response{}; + response.client_id = request.client_id; + response.request_type = request.request_type; + response.item = request.item; + response.index = request.index; + response.status = dataman_response_s::STATUS_FAILURE_NO_DATA; + + ssize_t result; + + switch (request.request_type) { + + case DM_GET_ID: + if (dataman_clients_count < UINT8_MAX) { + response.client_id = dataman_clients_count++; + /* Send the timestamp of the request over the data buffer so that the "dataman client" + * can distinguish whether the request was made by it. */ + memcpy(response.data, &request.timestamp, sizeof(hrt_abstime)); + + } else { + PX4_ERR("Max Dataman clients reached!"); + } + + break; + + case DM_WRITE: + + g_func_counts[DM_WRITE]++; + perf_begin(_dm_write_perf); + result = g_dm_ops->write(static_cast(request.item), request.index, + &(request.data), request.data_length); + perf_end(_dm_write_perf); - /* Inform the caller that work is done */ - px4_sem_post(&work->wait_sem); + if (result > 0) { + response.status = dataman_response_s::STATUS_SUCCESS; + + } else { + response.status = dataman_response_s::STATUS_FAILURE_WRITE_FAILED; + } + + break; + + case DM_READ: + + g_func_counts[DM_READ]++; + perf_begin(_dm_read_perf); + result = g_dm_ops->read(static_cast(request.item), request.index, + &(response.data), request.data_length); + + perf_end(_dm_read_perf); + + if (result >= 0) { + response.status = dataman_response_s::STATUS_SUCCESS; + + } else { + response.status = dataman_response_s::STATUS_FAILURE_READ_FAILED; + } + + break; + + case DM_CLEAR: + + g_func_counts[DM_CLEAR]++; + result = g_dm_ops->clear(static_cast(request.item)); + + if (result == 0) { + response.status = dataman_response_s::STATUS_SUCCESS; + + } else { + response.status = dataman_response_s::STATUS_FAILURE_CLEAR_FAILED; + } + + break; + + default: + break; + + } + + response.timestamp = hrt_absolute_time(); + dataman_response_pub.publish(response); + } } /* time to go???? */ @@ -1066,26 +804,12 @@ task_main(int argc, char *argv[]) } } - g_dm_ops->shutdown(); - - /* The work queue is now empty, empty the free queue */ - for (;;) { - if ((work = (work_q_item_t *)sq_remfirst(&(g_free_q.q))) == nullptr) { - break; - } + orb_unsubscribe(dataman_request_sub); - if (work->first) { - free(work); - } - } + g_dm_ops->shutdown(); end: backend = BACKEND_NONE; - destroy_q(&g_work_q); - destroy_q(&g_free_q); - px4_sem_destroy(&g_work_queued_sema); - px4_sem_destroy(&g_sys_state_mutex_mission); - px4_sem_destroy(&g_sys_state_mutex_fence); perf_free(_dm_read_perf); _dm_read_perf = nullptr; @@ -1099,8 +823,6 @@ task_main(int argc, char *argv[]) static int start() { - int task; - px4_sem_init(&g_init_sema, 1, 0); /* g_init_sema use case is a signal */ @@ -1108,9 +830,9 @@ start() px4_sem_setprotocol(&g_init_sema, SEM_PRIO_NONE); /* start the worker thread with low priority for disk IO */ - if ((task = px4_task_spawn_cmd("dataman", SCHED_DEFAULT, SCHED_PRIORITY_DEFAULT - 10, - PX4_STACK_ADJUSTED(TASK_STACK_SIZE), task_main, - nullptr)) < 0) { + if (px4_task_spawn_cmd("dataman", SCHED_DEFAULT, SCHED_PRIORITY_DEFAULT - 10, + PX4_STACK_ADJUSTED(TASK_STACK_SIZE), task_main, + nullptr) < 0) { px4_sem_destroy(&g_init_sema); PX4_ERR("task start failed"); return -1; @@ -1127,10 +849,10 @@ static void status() { /* display usage statistics */ - PX4_INFO("Writes %u", g_func_counts[dm_write_func]); - PX4_INFO("Reads %u", g_func_counts[dm_read_func]); - PX4_INFO("Clears %u", g_func_counts[dm_clear_func]); - PX4_INFO("Max Q lengths work %u, free %u", g_work_q.max_size, g_free_q.max_size); + PX4_INFO("Writes %u", g_func_counts[DM_WRITE]); + PX4_INFO("Reads %u", g_func_counts[DM_READ]); + PX4_INFO("Clears %u", g_func_counts[DM_CLEAR]); + perf_print_counter(_dm_read_perf); perf_print_counter(_dm_write_perf); } @@ -1140,7 +862,6 @@ stop() { /* Tell the worker task to shut down */ g_task_should_exit = true; - px4_sem_post(&g_work_queued_sema); } static void @@ -1158,13 +879,7 @@ It is used to store structured data of different types: mission waypoints, missi Each type has a specific type and a fixed maximum amount of storage items, so that fast random access is possible. ### Implementation -Reading and writing a single item is always atomic. If multiple items need to be read/modified atomically, there is -an additional lock per item type via `dm_lock`. - -**DM_KEY_FENCE_POINTS** and **DM_KEY_SAFE_POINTS** items: the first data element is a `mission_stats_entry_s` struct, -which stores the number of items for these types. These items are always updated atomically in one transaction (from -the mavlink mission manager). During that time, navigator will try to acquire the geofence item lock, fail, and will not -check for geofence violations. +Reading and writing a single item is always atomic. )DESCR_STR"); @@ -1274,3 +989,11 @@ dataman_main(int argc, char *argv[]) return 0; } + +static_assert(sizeof(dataman_request_s::data) == sizeof(dataman_response_s::data), "request and response data are not the same size"); +static_assert(sizeof(dataman_response_s::data) >= MISSION_SAFE_POINT_SIZE, "mission_item_s can't fit in the response data"); +static_assert(sizeof(dataman_response_s::data) >= MISSION_FENCE_POINT_SIZE, "mission_fance_point_s can't fit in the response data"); +static_assert(sizeof(dataman_response_s::data) >= MISSION_ITEM_SIZE, "mission_item_s can't fit in the response data"); +static_assert(sizeof(dataman_response_s::data) >= MISSION_SIZE, "mission_s can't fit in the response data"); +static_assert(sizeof(dataman_response_s::data) >= DATAMAN_COMPAT_SIZE, "dataman_compat_s can't fit in the response data"); +static_assert(sizeof(dataman_response_s::data) >= sizeof(hrt_abstime), "hrt_abstime can't fit in the response data"); diff --git a/src/modules/dataman/dataman.h b/src/modules/dataman/dataman.h index bcc5b2984a8e..c8cdb05af061 100644 --- a/src/modules/dataman/dataman.h +++ b/src/modules/dataman/dataman.h @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved. + * Copyright (c) 2013-2023 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -42,35 +42,48 @@ #include #include -#ifdef __cplusplus -extern "C" { -#endif - /** Types of items that the data manager can store */ typedef enum { - DM_KEY_SAFE_POINTS = 0, /* Safe points coordinates, safe point 0 is home point */ - DM_KEY_FENCE_POINTS, /* Fence vertex coordinates */ - DM_KEY_WAYPOINTS_OFFBOARD_0, /* Mission way point coordinates sent over mavlink */ - DM_KEY_WAYPOINTS_OFFBOARD_1, /* (alternate between 0 and 1) */ - DM_KEY_MISSION_STATE, /* Persistent mission state */ + DM_KEY_SAFE_POINTS_0 = 0, ///< Safe points storage 0 + DM_KEY_SAFE_POINTS_1, ///< Safe points storage 1 (alternate between 0 and 1) + DM_KEY_SAFE_POINTS_STATE, ///< Persistent safe point state + DM_KEY_FENCE_POINTS_0, ///< Fence vertex storage 0 + DM_KEY_FENCE_POINTS_1, ///< Fence vertex storage 1 (alternate between 0 and 1) + DM_KEY_FENCE_POINTS_STATE, ///< Persistent fence vertex state + DM_KEY_WAYPOINTS_OFFBOARD_0, ///< Mission way point coordinates sent over mavlink + DM_KEY_WAYPOINTS_OFFBOARD_1, ///< (alternate between 0 and 1) + DM_KEY_MISSION_STATE, ///< Persistent mission state DM_KEY_COMPAT, - DM_KEY_NUM_KEYS /* Total number of item types defined */ + DM_KEY_NUM_KEYS ///< Total number of item types defined } dm_item_t; +/** Types of function calls supported by the worker task */ +typedef enum { + DM_GET_ID = 0, ///< Get dataman client ID + DM_WRITE, ///< Write index for given item + DM_READ, ///< Read index for given item + DM_CLEAR, ///< Clear all index for given item + DM_NUMBER_OF_FUNCS +} dm_function_t; + +/** The maximum number of instances for each item type */ #if defined(MEMORY_CONSTRAINED_SYSTEM) enum { DM_KEY_SAFE_POINTS_MAX = 8, + DM_KEY_SAFE_POINTS_STATE_MAX = 1, DM_KEY_FENCE_POINTS_MAX = 16, + DM_KEY_FENCE_POINTS_STATE_MAX = 1, DM_KEY_WAYPOINTS_OFFBOARD_0_MAX = NUM_MISSIONS_SUPPORTED, DM_KEY_WAYPOINTS_OFFBOARD_1_MAX = NUM_MISSIONS_SUPPORTED, DM_KEY_MISSION_STATE_MAX = 1, DM_KEY_COMPAT_MAX = 1 }; #else -/** The maximum number of instances for each item type */ enum { - DM_KEY_SAFE_POINTS_MAX = 8, + DM_KEY_SAFE_POINTS_MAX = 32, + DM_KEY_SAFE_POINTS_STATE_MAX = 1, DM_KEY_FENCE_POINTS_MAX = 64, + DM_KEY_FENCE_POINTS_STATE_MAX = 1, DM_KEY_WAYPOINTS_OFFBOARD_0_MAX = NUM_MISSIONS_SUPPORTED, DM_KEY_WAYPOINTS_OFFBOARD_1_MAX = NUM_MISSIONS_SUPPORTED, DM_KEY_MISSION_STATE_MAX = 1, @@ -78,68 +91,50 @@ enum { }; #endif +/* table of maximum number of instances for each item type */ +static const unsigned g_per_item_max_index[DM_KEY_NUM_KEYS] = { + DM_KEY_SAFE_POINTS_MAX, + DM_KEY_SAFE_POINTS_MAX, + DM_KEY_SAFE_POINTS_STATE_MAX, + DM_KEY_FENCE_POINTS_MAX, + DM_KEY_FENCE_POINTS_MAX, + DM_KEY_FENCE_POINTS_STATE_MAX, + DM_KEY_WAYPOINTS_OFFBOARD_0_MAX, + DM_KEY_WAYPOINTS_OFFBOARD_1_MAX, + DM_KEY_MISSION_STATE_MAX, + DM_KEY_COMPAT_MAX +}; + struct dataman_compat_s { uint64_t key; }; +constexpr uint32_t MISSION_SAFE_POINT_SIZE = sizeof(struct mission_item_s); +constexpr uint32_t MISSION_SAFE_POINT_STATE_SIZE = sizeof(struct mission_stats_entry_s); +constexpr uint32_t MISSION_FENCE_POINT_SIZE = sizeof(struct mission_fence_point_s); +constexpr uint32_t MISSION_FENCE_POINT_STATE_SIZE = sizeof(struct mission_stats_entry_s); +constexpr uint32_t MISSION_ITEM_SIZE = sizeof(struct mission_item_s); +constexpr uint32_t MISSION_SIZE = sizeof(struct mission_s); +constexpr uint32_t DATAMAN_COMPAT_SIZE = sizeof(struct dataman_compat_s); + +/** The table of the size of each item type */ +static constexpr size_t g_per_item_size[DM_KEY_NUM_KEYS] = { + MISSION_SAFE_POINT_SIZE, + MISSION_SAFE_POINT_SIZE, + MISSION_SAFE_POINT_STATE_SIZE, + MISSION_FENCE_POINT_SIZE, + MISSION_FENCE_POINT_SIZE, + MISSION_FENCE_POINT_STATE_SIZE, + MISSION_ITEM_SIZE, + MISSION_ITEM_SIZE, + MISSION_SIZE, + DATAMAN_COMPAT_SIZE +}; + /* increment this define whenever a binary incompatible change is performed */ -#define DM_COMPAT_VERSION 2ULL +#define DM_COMPAT_VERSION 5ULL #define DM_COMPAT_KEY ((DM_COMPAT_VERSION << 32) + (sizeof(struct mission_item_s) << 24) + \ (sizeof(struct mission_s) << 16) + (sizeof(struct mission_stats_entry_s) << 12) + \ - (sizeof(struct mission_fence_point_s) << 8) + (sizeof(struct mission_safe_point_s) << 4) + \ + (sizeof(struct mission_fence_point_s) << 8) + (sizeof(struct mission_item_s) << 4) + \ sizeof(struct dataman_compat_s)) - -/** Retrieve from the data manager store */ -__EXPORT ssize_t -dm_read( - dm_item_t item, /* The item type to retrieve */ - unsigned index, /* The index of the item */ - void *buffer, /* Pointer to caller data buffer */ - size_t buflen /* Length in bytes of data to retrieve */ -); - -/** write to the data manager store */ -__EXPORT ssize_t -dm_write( - dm_item_t item, /* The item type to store */ - unsigned index, /* The index of the item */ - const void *buffer, /* Pointer to caller data buffer */ - size_t buflen /* Length in bytes of data to retrieve */ -); - -/** - * Lock all items of a type. Can be used for atomic updates of multiple items (single items are always updated - * atomically). - * Note that this lock is independent from dm_read & dm_write calls. - * @return 0 on success and lock taken, -1 on error (lock not taken, errno set) - */ -__EXPORT int -dm_lock( - dm_item_t item /* The item type to lock */ -); - -/** - * Try to lock all items of a type (@see sem_trywait()). - * @return 0 if lock is taken, -1 otherwise (on error or if already locked. errno is set accordingly) - */ -__EXPORT int -dm_trylock( - dm_item_t item /* The item type to lock */ -); - -/** Unlock all items of a type */ -__EXPORT void -dm_unlock( - dm_item_t item /* The item type to unlock */ -); - -/** Erase all items of this type */ -__EXPORT int -dm_clear( - dm_item_t item /* The item type to clear */ -); - -#ifdef __cplusplus -} -#endif diff --git a/src/modules/ekf2/CMakeLists.txt b/src/modules/ekf2/CMakeLists.txt index 9b7a6e493f85..62e6f2910330 100644 --- a/src/modules/ekf2/CMakeLists.txt +++ b/src/modules/ekf2/CMakeLists.txt @@ -31,113 +31,209 @@ # ############################################################################# -add_subdirectory(Utility) +option(EKF2_SYMFORCE_GEN "ekf2 generate symforce output" OFF) # Symforce code generation TODO:fixme -# execute_process( -# COMMAND ${PYTHON_EXECUTABLE} -m symforce.symbolic -# RESULT_VARIABLE PYTHON_SYMFORCE_EXIT_CODE -# OUTPUT_QUIET -# ) -# if(${PYTHON_SYMFORCE_EXIT_CODE} EQUAL 0) - -# set(EKF_DERIVATION_DIR ${CMAKE_CURRENT_SOURCE_DIR}/EKF/python/ekf_derivation) - -# set(EKF_GENERATED_SRC_FILES -# ${EKF_DERIVATION_DIR}/generated/compute_airspeed_h_and_k.h -# ${EKF_DERIVATION_DIR}/generated/compute_airspeed_innov_and_innov_var.h -# ${EKF_DERIVATION_DIR}/generated/compute_sideslip_h_and_k.h -# ${EKF_DERIVATION_DIR}/generated/compute_sideslip_innov_and_innov_var.h -# ${EKF_DERIVATION_DIR}/generated/covariance_prediction.h -# ) - -# add_custom_command( -# OUTPUT ${EKF_GENERATED_SRC_FILES} -# COMMAND ${PYTHON_EXECUTABLE} derivation.py -# DEPENDS -# ${EKF_DERIVATION_DIR}/derivation.py -# ${EKF_DERIVATION_DIR}/derivation_utils.py - -# WORKING_DIRECTORY ${EKF_DERIVATION_DIR} -# COMMENT "Symforce code generation" -# USES_TERMINAL -# ) - -# add_custom_target(ekf2_symforce_generate DEPENDS ${EKF_GENERATED_SRC_FILES}) -# endif() +execute_process( + COMMAND ${PYTHON_EXECUTABLE} -m symforce.symbolic + RESULT_VARIABLE PYTHON_SYMFORCE_EXIT_CODE + OUTPUT_QUIET +) + +# for now only provide symforce target helper if derivation.py generation isn't default +if((NOT CONFIG_EKF2_MAGNETOMETER) OR (NOT CONFIG_EKF2_WIND)) + set(EKF2_SYMFORCE_GEN ON) +endif() + +set(EKF_DERIVATION_SRC_DIR ${CMAKE_CURRENT_SOURCE_DIR}/EKF/python/ekf_derivation) + +set(EKF_GENERATED_FILES ${EKF_DERIVATION_SRC_DIR}/generated/state.h) +set(EKF_GENERATED_DERIVATION_INCLUDE_PATH "${EKF_DERIVATION_SRC_DIR}/..") + +if(EKF2_SYMFORCE_GEN AND (${PYTHON_SYMFORCE_EXIT_CODE} EQUAL 0)) + + # regenerate default in tree + add_custom_command( + OUTPUT + ${EKF_DERIVATION_SRC_DIR}/generated/predict_covariance.h + ${EKF_DERIVATION_SRC_DIR}/generated/state.h + COMMAND + ${PYTHON_EXECUTABLE} ${EKF_DERIVATION_SRC_DIR}/derivation.py + DEPENDS + ${EKF_DERIVATION_SRC_DIR}/derivation.py + ${EKF_DERIVATION_SRC_DIR}/utils/derivation_utils.py + + WORKING_DIRECTORY ${EKF_DERIVATION_SRC_DIR} + COMMENT "Symforce code generation (default)" + USES_TERMINAL + ) + + # generate to build directory + set(EKF_DERIVATION_DST_DIR ${CMAKE_CURRENT_BINARY_DIR}/ekf_derivation) + file(MAKE_DIRECTORY ${EKF_DERIVATION_DST_DIR}) + + set(EKF_GENERATED_FILES ${EKF_DERIVATION_DST_DIR}/generated/state.h) + set(EKF_GENERATED_DERIVATION_INCLUDE_PATH ${CMAKE_CURRENT_BINARY_DIR}) + + set(SYMFORCE_ARGS) + if(NOT CONFIG_EKF2_MAGNETOMETER) + message(STATUS "ekf2: symforce disabling mag") + list(APPEND SYMFORCE_ARGS "--disable_mag") + endif() + + if(NOT CONFIG_EKF2_WIND) + message(STATUS "ekf2: symforce disabling wind") + list(APPEND SYMFORCE_ARGS "--disable_wind") + endif() + + add_custom_command( + OUTPUT + ${EKF_DERIVATION_DST_DIR}/generated/predict_covariance.h + ${EKF_DERIVATION_DST_DIR}/generated/state.h + COMMAND + ${PYTHON_EXECUTABLE} ${EKF_DERIVATION_SRC_DIR}/derivation.py ${SYMFORCE_ARGS} + DEPENDS + ${EKF_DERIVATION_SRC_DIR}/derivation.py + ${EKF_DERIVATION_SRC_DIR}/utils/derivation_utils.py + + WORKING_DIRECTORY ${EKF_DERIVATION_DST_DIR} + COMMENT "Symforce code generation" + USES_TERMINAL + ) + + + + add_custom_target(ekf2_symforce_generate + DEPENDS + ${EKF_DERIVATION_SRC_DIR}/generated/predict_covariance.h + ${EKF_DERIVATION_DST_DIR}/generated/predict_covariance.h + ) +endif() + +set(EKF_MODULE_PARAMS) +set(EKF_LIBS) set(EKF_SRCS) list(APPEND EKF_SRCS - EKF/baro_height_control.cpp - EKF/bias_estimator.cpp EKF/control.cpp EKF/covariance.cpp EKF/ekf.cpp EKF/ekf_helper.cpp - EKF/EKFGSF_yaw.cpp EKF/estimator_interface.cpp - EKF/fake_height_control.cpp - EKF/fake_pos_control.cpp - EKF/gnss_height_control.cpp - EKF/gps_checks.cpp - EKF/gps_control.cpp - EKF/gravity_fusion.cpp EKF/height_control.cpp - EKF/imu_down_sampler.cpp - EKF/mag_control.cpp - EKF/mag_fusion.cpp - EKF/output_predictor.cpp - EKF/vel_pos_fusion.cpp - EKF/zero_innovation_heading_update.cpp - EKF/zero_velocity_update.cpp + EKF/velocity_fusion.cpp + EKF/position_fusion.cpp + EKF/yaw_fusion.cpp + + EKF/imu_down_sampler/imu_down_sampler.cpp + + EKF/aid_sources/fake_height_control.cpp + EKF/aid_sources/fake_pos_control.cpp + EKF/aid_sources/ZeroGyroUpdate.cpp + EKF/aid_sources/ZeroVelocityUpdate.cpp + EKF/aid_sources/zero_innovation_heading_update.cpp ) if(CONFIG_EKF2_AIRSPEED) - list(APPEND EKF_SRCS EKF/airspeed_fusion.cpp) + list(APPEND EKF_SRCS EKF/aid_sources/airspeed/airspeed_fusion.cpp) + list(APPEND EKF_MODULE_PARAMS params_airspeed.yaml) +endif() + +if(CONFIG_EKF2_AUX_GLOBAL_POSITION) + list(APPEND EKF_SRCS EKF/aid_sources/aux_global_position/aux_global_position.cpp) + list(APPEND EKF_MODULE_PARAMS params_aux_global_position.yaml) endif() if(CONFIG_EKF2_AUXVEL) - list(APPEND EKF_SRCS EKF/auxvel_fusion.cpp) + list(APPEND EKF_SRCS EKF/aid_sources/auxvel/auxvel_fusion.cpp) + list(APPEND EKF_MODULE_PARAMS params_aux_velocity.yaml) +endif() + +if(CONFIG_EKF2_BAROMETER) + list(APPEND EKF_SRCS EKF/aid_sources/barometer/baro_height_control.cpp) + list(APPEND EKF_MODULE_PARAMS params_barometer.yaml) endif() if(CONFIG_EKF2_DRAG_FUSION) - list(APPEND EKF_SRCS EKF/drag_fusion.cpp) + list(APPEND EKF_SRCS EKF/aid_sources/drag/drag_fusion.cpp) + list(APPEND EKF_MODULE_PARAMS params_drag.yaml) endif() if(CONFIG_EKF2_EXTERNAL_VISION) list(APPEND EKF_SRCS - EKF/ev_control.cpp - EKF/ev_height_control.cpp - EKF/ev_pos_control.cpp - EKF/ev_vel_control.cpp - EKF/ev_yaw_control.cpp + EKF/aid_sources/external_vision/ev_control.cpp + EKF/aid_sources/external_vision/ev_height_control.cpp + EKF/aid_sources/external_vision/ev_pos_control.cpp + EKF/aid_sources/external_vision/ev_vel_control.cpp + EKF/aid_sources/external_vision/ev_yaw_control.cpp + ) + list(APPEND EKF_MODULE_PARAMS params_external_vision.yaml) +endif() + +if(CONFIG_EKF2_GNSS) + list(APPEND EKF_SRCS + EKF/aid_sources/gnss/gnss_height_control.cpp + EKF/aid_sources/gnss/gps_checks.cpp + EKF/aid_sources/gnss/gps_control.cpp ) + + if(CONFIG_EKF2_GNSS_YAW) + list(APPEND EKF_SRCS EKF/aid_sources/gnss/gnss_yaw_control.cpp) + endif() + + list(APPEND EKF_LIBS yaw_estimator) + + list(APPEND EKF_MODULE_PARAMS params_gnss.yaml) endif() -if(CONFIG_EKF2_GNSS_YAW) - list(APPEND EKF_SRCS EKF/gps_yaw_fusion.cpp) +if(CONFIG_EKF2_GRAVITY_FUSION) + list(APPEND EKF_SRCS EKF/aid_sources/gravity/gravity_fusion.cpp) + list(APPEND EKF_MODULE_PARAMS params_gravity.yaml) +endif() + +if(CONFIG_EKF2_MAGNETOMETER) + list(APPEND EKF_SRCS + EKF/aid_sources/magnetometer/mag_control.cpp + EKF/aid_sources/magnetometer/mag_fusion.cpp + ) + list(APPEND EKF_MODULE_PARAMS params_magnetometer.yaml) endif() if(CONFIG_EKF2_OPTICAL_FLOW) list(APPEND EKF_SRCS - EKF/optical_flow_control.cpp - EKF/optflow_fusion.cpp + EKF/aid_sources/optical_flow/optical_flow_control.cpp + EKF/aid_sources/optical_flow/optical_flow_fusion.cpp ) + list(APPEND EKF_MODULE_PARAMS params_optical_flow.yaml) endif() if(CONFIG_EKF2_RANGE_FINDER) list(APPEND EKF_SRCS - EKF/range_finder_consistency_check.cpp - EKF/range_height_control.cpp - EKF/sensor_range_finder.cpp - EKF/terrain_estimator.cpp + EKF/aid_sources/range_finder/range_finder_consistency_check.cpp + EKF/aid_sources/range_finder/range_height_control.cpp + EKF/aid_sources/range_finder/range_height_fusion.cpp + EKF/aid_sources/range_finder/sensor_range_finder.cpp ) + list(APPEND EKF_MODULE_PARAMS params_range_finder.yaml) endif() if(CONFIG_EKF2_SIDESLIP) - list(APPEND EKF_SRCS EKF/sideslip_fusion.cpp) + list(APPEND EKF_SRCS EKF/aid_sources/sideslip/sideslip_fusion.cpp) + list(APPEND EKF_MODULE_PARAMS params_sideslip.yaml) +endif() + +if(CONFIG_EKF2_TERRAIN) + list(APPEND EKF_SRCS EKF/terrain_control.cpp) + list(APPEND EKF_MODULE_PARAMS params_terrain.yaml) endif() +if(CONFIG_EKF2_WIND) + list(APPEND EKF_SRCS EKF/wind.cpp) + list(APPEND EKF_MODULE_PARAMS params_wind.yaml) +endif () + +add_subdirectory(EKF) + px4_add_module( MODULE modules__ekf2 MAIN ekf2 @@ -148,6 +244,8 @@ px4_add_module( #-O0 INCLUDES EKF + EKF/aid_sources + ${EKF_GENERATED_DERIVATION_INCLUDE_PATH} PRIORITY "SCHED_PRIORITY_MAX - 18" # max priority below high priority WQ threads STACK_MAX @@ -160,17 +258,30 @@ px4_add_module( EKF2Selector.cpp EKF2Selector.hpp + ${EKF_GENERATED_FILES} + + MODULE_CONFIG + module.yaml + params_gyro_bias.yaml + params_accel_bias.yaml + params_multi.yaml + params_volatile.yaml + params_selector.yaml + ${EKF_MODULE_PARAMS} + DEPENDS geo hysteresis perf - EKF2Utility px4_work_queue world_magnetic_model + + ${EKF_LIBS} + bias_estimator + output_predictor UNITY_BUILD ) if(BUILD_TESTING) - add_subdirectory(EKF) add_subdirectory(test) endif() diff --git a/src/modules/ekf2/EKF/CMakeLists.txt b/src/modules/ekf2/EKF/CMakeLists.txt index 50cfd236fddc..954123b250f5 100644 --- a/src/modules/ekf2/EKF/CMakeLists.txt +++ b/src/modules/ekf2/EKF/CMakeLists.txt @@ -1,6 +1,6 @@ ############################################################################ # -# Copyright (c) 2015-2018 ECL Development Team. All rights reserved. +# Copyright (c) 2015-2023 PX4 Development Team. All rights reserved. # # Redistribution and use in source and binary forms, with or without # modification, are permitted provided that the following conditions @@ -12,7 +12,7 @@ # notice, this list of conditions and the following disclaimer in # the documentation and/or other materials provided with the # distribution. -# 3. Neither the name ECL nor the names of its contributors may be +# 3. Neither the name PX4 nor the names of its contributors may be # used to endorse or promote products derived from this software # without specific prior written permission. # @@ -31,82 +31,132 @@ # ############################################################################ +add_subdirectory(bias_estimator) +add_subdirectory(output_predictor) + +set(EKF_LIBS) set(EKF_SRCS) list(APPEND EKF_SRCS - baro_height_control.cpp - bias_estimator.cpp control.cpp covariance.cpp ekf.cpp ekf_helper.cpp - EKFGSF_yaw.cpp estimator_interface.cpp - fake_height_control.cpp - fake_pos_control.cpp - gnss_height_control.cpp - gps_checks.cpp - gps_control.cpp - gravity_fusion.cpp height_control.cpp - imu_down_sampler.cpp - mag_control.cpp - mag_fusion.cpp - output_predictor.cpp - vel_pos_fusion.cpp - zero_innovation_heading_update.cpp - zero_velocity_update.cpp + velocity_fusion.cpp + position_fusion.cpp + yaw_fusion.cpp + + imu_down_sampler/imu_down_sampler.cpp + + aid_sources/fake_height_control.cpp + aid_sources/fake_pos_control.cpp + aid_sources/ZeroGyroUpdate.cpp + aid_sources/ZeroVelocityUpdate.cpp + aid_sources/zero_innovation_heading_update.cpp ) if(CONFIG_EKF2_AIRSPEED) - list(APPEND EKF_SRCS airspeed_fusion.cpp) + list(APPEND EKF_SRCS aid_sources/airspeed/airspeed_fusion.cpp) +endif() + +if(CONFIG_EKF2_AUX_GLOBAL_POSITION) + list(APPEND EKF_SRCS aid_sources/aux_global_position/aux_global_position.cpp) endif() if(CONFIG_EKF2_AUXVEL) - list(APPEND EKF_SRCS auxvel_fusion.cpp) + list(APPEND EKF_SRCS aid_sources/auxvel/auxvel_fusion.cpp) +endif() + +if(CONFIG_EKF2_BAROMETER) + list(APPEND EKF_SRCS + aid_sources/barometer/baro_height_control.cpp + ) endif() if(CONFIG_EKF2_DRAG_FUSION) - list(APPEND EKF_SRCS drag_fusion.cpp) + list(APPEND EKF_SRCS aid_sources/drag/drag_fusion.cpp) endif() if(CONFIG_EKF2_EXTERNAL_VISION) list(APPEND EKF_SRCS - ev_control.cpp - ev_height_control.cpp - ev_pos_control.cpp - ev_vel_control.cpp - ev_yaw_control.cpp + aid_sources/external_vision/ev_control.cpp + aid_sources/external_vision/ev_height_control.cpp + aid_sources/external_vision/ev_pos_control.cpp + aid_sources/external_vision/ev_vel_control.cpp + aid_sources/external_vision/ev_yaw_control.cpp ) endif() -if(CONFIG_EKF2_GNSS_YAW) - list(APPEND EKF_SRCS gps_yaw_fusion.cpp) +if(CONFIG_EKF2_GNSS) + list(APPEND EKF_SRCS + aid_sources/gnss/gnss_height_control.cpp + aid_sources/gnss/gps_checks.cpp + aid_sources/gnss/gps_control.cpp + ) + + if(CONFIG_EKF2_GNSS_YAW) + list(APPEND EKF_SRCS aid_sources/gnss/gnss_yaw_control.cpp) + endif() + + add_subdirectory(yaw_estimator) + list(APPEND EKF_LIBS yaw_estimator) +endif() + +if(CONFIG_EKF2_GRAVITY_FUSION) + list(APPEND EKF_SRCS aid_sources/gravity/gravity_fusion.cpp) +endif() + +if(CONFIG_EKF2_MAGNETOMETER) + list(APPEND EKF_SRCS + aid_sources/magnetometer/mag_control.cpp + aid_sources/magnetometer/mag_fusion.cpp + ) endif() if(CONFIG_EKF2_OPTICAL_FLOW) list(APPEND EKF_SRCS - optical_flow_control.cpp - optflow_fusion.cpp + aid_sources/optical_flow/optical_flow_control.cpp + aid_sources/optical_flow/optical_flow_fusion.cpp ) endif() if(CONFIG_EKF2_RANGE_FINDER) list(APPEND EKF_SRCS - range_finder_consistency_check.cpp - range_height_control.cpp - sensor_range_finder.cpp - terrain_estimator.cpp + aid_sources/range_finder/range_finder_consistency_check.cpp + aid_sources/range_finder/range_height_control.cpp + aid_sources/range_finder/range_height_fusion.cpp + aid_sources/range_finder/sensor_range_finder.cpp ) endif() if(CONFIG_EKF2_SIDESLIP) - list(APPEND EKF_SRCS sideslip_fusion.cpp) + list(APPEND EKF_SRCS aid_sources/sideslip/sideslip_fusion.cpp) endif() +if(CONFIG_EKF2_TERRAIN) + list(APPEND EKF_SRCS terrain_control.cpp) +endif() + +if(CONFIG_EKF2_WIND) + list(APPEND EKF_SRCS wind.cpp) +endif () + +include_directories(${CMAKE_CURRENT_SOURCE_DIR}) add_library(ecl_EKF ${EKF_SRCS} ) add_dependencies(ecl_EKF prebuild_targets) -target_link_libraries(ecl_EKF PRIVATE geo world_magnetic_model) +target_include_directories(ecl_EKF PUBLIC ${EKF_GENERATED_DERIVATION_INCLUDE_PATH}) + +target_link_libraries(ecl_EKF + PRIVATE + bias_estimator + geo + output_predictor + world_magnetic_model + ${EKF_LIBS} +) + target_compile_options(ecl_EKF PRIVATE -fno-associative-math) diff --git a/src/modules/ekf2/EKF/EKFGSF_yaw.cpp b/src/modules/ekf2/EKF/EKFGSF_yaw.cpp deleted file mode 100644 index 9311e62c2003..000000000000 --- a/src/modules/ekf2/EKF/EKFGSF_yaw.cpp +++ /dev/null @@ -1,469 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2020-2022 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -#include "EKFGSF_yaw.h" -#include - -#include "python/ekf_derivation/generated/yaw_est_predict_covariance.h" -#include "python/ekf_derivation/generated/yaw_est_compute_measurement_update.h" - -EKFGSF_yaw::EKFGSF_yaw() -{ - initialiseEKFGSF(); -} - -void EKFGSF_yaw::update(const imuSample &imu_sample, - bool run_EKF, // set to true when flying or movement is suitable for yaw estimation - const Vector3f &imu_gyro_bias) // estimated rate gyro bias (rad/sec) -{ - // to reduce effect of vibration, filter using an LPF whose time constant is 1/10 of the AHRS tilt correction time constant - const float filter_coef = fminf(10.f * imu_sample.delta_vel_dt * _tilt_gain, 1.f); - const Vector3f accel = imu_sample.delta_vel / fmaxf(imu_sample.delta_vel_dt, 0.001f); - _ahrs_accel = _ahrs_accel * (1.f - filter_coef) + accel * filter_coef; - - // Initialise states first time - if (!_ahrs_ekf_gsf_tilt_aligned) { - // check for excessive acceleration to reduce likelihood of large initial roll/pitch errors - // due to vehicle movement - const float accel_norm_sq = accel.norm_squared(); - const float upper_accel_limit = CONSTANTS_ONE_G * 1.1f; - const float lower_accel_limit = CONSTANTS_ONE_G * 0.9f; - const bool ok_to_align = (accel_norm_sq > sq(lower_accel_limit)) && (accel_norm_sq < sq(upper_accel_limit)); - - if (ok_to_align) { - ahrsAlignTilt(imu_sample.delta_vel); - _ahrs_ekf_gsf_tilt_aligned = true; - } - - return; - } - - // calculate common values used by the AHRS complementary filter models - _ahrs_accel_norm = _ahrs_accel.norm(); - - // AHRS prediction cycle for each model - this always runs - _ahrs_accel_fusion_gain = ahrsCalcAccelGain(); - - for (uint8_t model_index = 0; model_index < N_MODELS_EKFGSF; model_index ++) { - predictEKF(model_index, imu_sample.delta_ang, imu_sample.delta_ang_dt, imu_sample.delta_vel, imu_sample.delta_vel_dt); - } - - // The 3-state EKF models only run when flying to avoid corrupted estimates due to operator handling and GPS interference - if (run_EKF && _vel_data_updated) { - if (!_ekf_gsf_vel_fuse_started) { - initialiseEKFGSF(_vel_NE, _vel_accuracy); - - // Initialise to gyro bias estimate from main filter because there could be a large - // uncorrected rate gyro bias error about the gravity vector - ahrsAlignYaw(imu_gyro_bias); - - _ekf_gsf_vel_fuse_started = true; - - } else { - bool bad_update = false; - - for (uint8_t model_index = 0; model_index < N_MODELS_EKFGSF; model_index ++) { - // subsequent measurements are fused as direct state observations - if (!updateEKF(model_index, _vel_NE, _vel_accuracy)) { - bad_update = true; - } - } - - if (!bad_update) { - float total_weight = 0.0f; - // calculate weighting for each model assuming a normal distribution - const float min_weight = 1e-5f; - uint8_t n_weight_clips = 0; - - for (uint8_t model_index = 0; model_index < N_MODELS_EKFGSF; model_index ++) { - _model_weights(model_index) = gaussianDensity(model_index) * _model_weights(model_index); - - if (_model_weights(model_index) < min_weight) { - n_weight_clips++; - _model_weights(model_index) = min_weight; - } - - total_weight += _model_weights(model_index); - } - - // normalise the weighting function - if (n_weight_clips < N_MODELS_EKFGSF) { - _model_weights /= total_weight; - - } else { - // all weights have collapsed due to excessive innovation variances so reset filters - initialiseEKFGSF(_vel_NE, _vel_accuracy); - } - } - } - - } else if (_ekf_gsf_vel_fuse_started && !run_EKF) { - // wait to fly again - _ekf_gsf_vel_fuse_started = false; - } - - // Calculate a composite yaw vector as a weighted average of the states for each model. - // To avoid issues with angle wrapping, the yaw state is converted to a vector with length - // equal to the weighting value before it is summed. - Vector2f yaw_vector; - - for (uint8_t model_index = 0; model_index < N_MODELS_EKFGSF; model_index ++) { - yaw_vector(0) += _model_weights(model_index) * cosf(_ekf_gsf[model_index].X(2)); - yaw_vector(1) += _model_weights(model_index) * sinf(_ekf_gsf[model_index].X(2)); - } - - _gsf_yaw = atan2f(yaw_vector(1), yaw_vector(0)); - - // calculate a composite variance for the yaw state from a weighted average of the variance for each model - // models with larger innovations are weighted less - _gsf_yaw_variance = 0.0f; - - for (uint8_t model_index = 0; model_index < N_MODELS_EKFGSF; model_index ++) { - const float yaw_delta = wrap_pi(_ekf_gsf[model_index].X(2) - _gsf_yaw); - _gsf_yaw_variance += _model_weights(model_index) * (_ekf_gsf[model_index].P(2, 2) + yaw_delta * yaw_delta); - } - - // prevent the same velocity data being used more than once - _vel_data_updated = false; -} - -void EKFGSF_yaw::ahrsPredict(const uint8_t model_index, const Vector3f &delta_ang, const float delta_ang_dt) -{ - // generate attitude solution using simple complementary filter for the selected model - const Vector3f ang_rate = delta_ang / fmaxf(delta_ang_dt, 0.001f) - _ahrs_ekf_gsf[model_index].gyro_bias; - - const Dcmf R_to_body = _ahrs_ekf_gsf[model_index].R.transpose(); - const Vector3f gravity_direction_bf = R_to_body.col(2); - - // Perform angular rate correction using accel data and reduce correction as accel magnitude moves away from 1 g (reduces drift when vehicle picked up and moved). - // During fixed wing flight, compensate for centripetal acceleration assuming coordinated turns and X axis forward - Vector3f tilt_correction; - - if (_ahrs_accel_fusion_gain > 0.0f) { - - Vector3f accel = _ahrs_accel; - - if (PX4_ISFINITE(_true_airspeed) && (_true_airspeed > FLT_EPSILON)) { - // Calculate body frame centripetal acceleration with assumption X axis is aligned with the airspeed vector - // Use cross product of body rate and body frame airspeed vector - const Vector3f centripetal_accel_bf = Vector3f(0.0f, _true_airspeed * ang_rate(2), - _true_airspeed * ang_rate(1)); - - // correct measured accel for centripetal acceleration - accel -= centripetal_accel_bf; - } - - tilt_correction = (gravity_direction_bf % accel) * _ahrs_accel_fusion_gain / _ahrs_accel_norm; - } - - // Gyro bias estimation - constexpr float gyro_bias_limit = 0.05f; - const float spin_rate = ang_rate.length(); - - if (spin_rate < math::radians(10.f)) { - _ahrs_ekf_gsf[model_index].gyro_bias -= tilt_correction * (_gyro_bias_gain * delta_ang_dt); - _ahrs_ekf_gsf[model_index].gyro_bias = matrix::constrain(_ahrs_ekf_gsf[model_index].gyro_bias, -gyro_bias_limit, - gyro_bias_limit); - } - - // delta angle from previous to current frame - const Vector3f delta_angle_corrected = delta_ang + (tilt_correction - _ahrs_ekf_gsf[model_index].gyro_bias) * - delta_ang_dt; - - // Apply delta angle to rotation matrix - _ahrs_ekf_gsf[model_index].R = ahrsPredictRotMat(_ahrs_ekf_gsf[model_index].R, delta_angle_corrected); -} - -void EKFGSF_yaw::ahrsAlignTilt(const Vector3f &delta_vel) -{ - // Rotation matrix is constructed directly from acceleration measurement and will be the same for - // all models so only need to calculate it once. Assumptions are: - // 1) Yaw angle is zero - yaw is aligned later for each model when velocity fusion commences. - // 2) The vehicle is not accelerating so all of the measured acceleration is due to gravity. - - // Calculate earth frame Down axis unit vector rotated into body frame - const Vector3f down_in_bf = -delta_vel.normalized(); - - // Calculate earth frame North axis unit vector rotated into body frame, orthogonal to 'down_in_bf' - const Vector3f i_vec_bf(1.f, 0.f, 0.f); - Vector3f north_in_bf = i_vec_bf - down_in_bf * (i_vec_bf.dot(down_in_bf)); - north_in_bf.normalize(); - - // Calculate earth frame East axis unit vector rotated into body frame, orthogonal to 'down_in_bf' and 'north_in_bf' - const Vector3f east_in_bf = down_in_bf % north_in_bf; - - // Each column in a rotation matrix from earth frame to body frame represents the projection of the - // corresponding earth frame unit vector rotated into the body frame, eg 'north_in_bf' would be the first column. - // We need the rotation matrix from body frame to earth frame so the earth frame unit vectors rotated into body - // frame are copied into corresponding rows instead. - Dcmf R; - R.setRow(0, north_in_bf); - R.setRow(1, east_in_bf); - R.setRow(2, down_in_bf); - - for (uint8_t model_index = 0; model_index < N_MODELS_EKFGSF; model_index++) { - _ahrs_ekf_gsf[model_index].R = R; - } -} - -void EKFGSF_yaw::ahrsAlignYaw(const Vector3f &imu_gyro_bias) -{ - // Align yaw angle for each model - for (uint8_t model_index = 0; model_index < N_MODELS_EKFGSF; model_index++) { - Dcmf &R = _ahrs_ekf_gsf[model_index].R; - const float yaw = wrap_pi(_ekf_gsf[model_index].X(2)); - R = updateYawInRotMat(yaw, R); - - _ahrs_ekf_gsf[model_index].aligned = true; - - _ahrs_ekf_gsf[model_index].gyro_bias = imu_gyro_bias; - } -} - -void EKFGSF_yaw::predictEKF(const uint8_t model_index, const Vector3f &delta_ang, const float delta_ang_dt, - const Vector3f &delta_vel, const float delta_vel_dt) -{ - // generate an attitude reference using IMU data - ahrsPredict(model_index, delta_ang, delta_ang_dt); - - // we don't start running the EKF part of the algorithm until there are regular velocity observations - if (!_ekf_gsf_vel_fuse_started) { - return; - } - - // Calculate the yaw state using a projection onto the horizontal that avoids gimbal lock - _ekf_gsf[model_index].X(2) = getEulerYaw(_ahrs_ekf_gsf[model_index].R); - - // calculate delta velocity in a horizontal front-right frame - const Vector3f del_vel_NED = _ahrs_ekf_gsf[model_index].R * delta_vel; - const float cos_yaw = cosf(_ekf_gsf[model_index].X(2)); - const float sin_yaw = sinf(_ekf_gsf[model_index].X(2)); - const float dvx = del_vel_NED(0) * cos_yaw + del_vel_NED(1) * sin_yaw; - const float dvy = - del_vel_NED(0) * sin_yaw + del_vel_NED(1) * cos_yaw; - - // Use fixed values for delta velocity and delta angle process noise variances - const float d_vel_var = sq(_accel_noise * delta_vel_dt); - const float d_ang_var = sq(_gyro_noise * delta_ang_dt); - - sym::YawEstPredictCovariance(_ekf_gsf[model_index].X, _ekf_gsf[model_index].P, Vector2f(dvx, dvy), d_vel_var, d_ang_var, &_ekf_gsf[model_index].P); - - // covariance matrix is symmetrical, so copy upper half to lower half - _ekf_gsf[model_index].P(1, 0) = _ekf_gsf[model_index].P(0, 1); - _ekf_gsf[model_index].P(2, 0) = _ekf_gsf[model_index].P(0, 2); - _ekf_gsf[model_index].P(2, 1) = _ekf_gsf[model_index].P(1, 2); - - // constrain variances - const float min_var = 1e-6f; - - for (unsigned index = 0; index < 3; index++) { - _ekf_gsf[model_index].P(index, index) = fmaxf(_ekf_gsf[model_index].P(index, index), min_var); - } - - // sum delta velocities in earth frame: - _ekf_gsf[model_index].X(0) += del_vel_NED(0); - _ekf_gsf[model_index].X(1) += del_vel_NED(1); -} - -// Update EKF states and covariance for specified model index using velocity measurement -bool EKFGSF_yaw::updateEKF(const uint8_t model_index, const Vector2f &vel_NE, const float vel_accuracy) -{ - // set observation variance from accuracy estimate supplied by GPS and apply a sanity check minimum - const float vel_obs_var = sq(fmaxf(vel_accuracy, 0.01f)); - - // calculate velocity observation innovations - _ekf_gsf[model_index].innov(0) = _ekf_gsf[model_index].X(0) - vel_NE(0); - _ekf_gsf[model_index].innov(1) = _ekf_gsf[model_index].X(1) - vel_NE(1); - - matrix::Matrix K; - matrix::SquareMatrix P_new; - - sym::YawEstComputeMeasurementUpdate(_ekf_gsf[model_index].P, - vel_obs_var, - FLT_EPSILON, - &_ekf_gsf[model_index].S_inverse, - &_ekf_gsf[model_index].S_det_inverse, - &K, - &P_new); - - _ekf_gsf[model_index].P = P_new; - - // copy upper to lower diagonal - _ekf_gsf[model_index].P(1, 0) = _ekf_gsf[model_index].P(0, 1); - _ekf_gsf[model_index].P(2, 0) = _ekf_gsf[model_index].P(0, 2); - _ekf_gsf[model_index].P(2, 1) = _ekf_gsf[model_index].P(1, 2); - - // constrain variances - const float min_var = 1e-6f; - - for (unsigned index = 0; index < 3; index++) { - _ekf_gsf[model_index].P(index, index) = fmaxf(_ekf_gsf[model_index].P(index, index), min_var); - } - - // test ratio = transpose(innovation) * inverse(innovation variance) * innovation = [1x2] * [2,2] * [2,1] = [1,1] - const float test_ratio = _ekf_gsf[model_index].innov * (_ekf_gsf[model_index].S_inverse * _ekf_gsf[model_index].innov); - - // Perform a chi-square innovation consistency test and calculate a compression scale factor - // that limits the magnitude of innovations to 5-sigma - // If the test ratio is greater than 25 (5 Sigma) then reduce the length of the innovation vector to clip it at 5-Sigma - // This protects from large measurement spikes - const float innov_comp_scale_factor = test_ratio > 25.f ? sqrtf(25.0f / test_ratio) : 1.f; - - // Correct the state vector and capture the change in yaw angle - const float oldYaw = _ekf_gsf[model_index].X(2); - - _ekf_gsf[model_index].X -= (K * _ekf_gsf[model_index].innov) * innov_comp_scale_factor; - - const float yawDelta = _ekf_gsf[model_index].X(2) - oldYaw; - - // apply the change in yaw angle to the AHRS - // take advantage of sparseness in the yaw rotation matrix - const float cosYaw = cosf(yawDelta); - const float sinYaw = sinf(yawDelta); - const float R_prev00 = _ahrs_ekf_gsf[model_index].R(0, 0); - const float R_prev01 = _ahrs_ekf_gsf[model_index].R(0, 1); - const float R_prev02 = _ahrs_ekf_gsf[model_index].R(0, 2); - - _ahrs_ekf_gsf[model_index].R(0, 0) = R_prev00 * cosYaw - _ahrs_ekf_gsf[model_index].R(1, 0) * sinYaw; - _ahrs_ekf_gsf[model_index].R(0, 1) = R_prev01 * cosYaw - _ahrs_ekf_gsf[model_index].R(1, 1) * sinYaw; - _ahrs_ekf_gsf[model_index].R(0, 2) = R_prev02 * cosYaw - _ahrs_ekf_gsf[model_index].R(1, 2) * sinYaw; - _ahrs_ekf_gsf[model_index].R(1, 0) = R_prev00 * sinYaw + _ahrs_ekf_gsf[model_index].R(1, 0) * cosYaw; - _ahrs_ekf_gsf[model_index].R(1, 1) = R_prev01 * sinYaw + _ahrs_ekf_gsf[model_index].R(1, 1) * cosYaw; - _ahrs_ekf_gsf[model_index].R(1, 2) = R_prev02 * sinYaw + _ahrs_ekf_gsf[model_index].R(1, 2) * cosYaw; - - return true; -} - -void EKFGSF_yaw::initialiseEKFGSF(const Vector2f &vel_NE, const float vel_accuracy) -{ - _gsf_yaw = 0.0f; - _ekf_gsf_vel_fuse_started = false; - _gsf_yaw_variance = sq(M_PI_F / 2.f); - _model_weights.setAll(1.0f / (float)N_MODELS_EKFGSF); // All filter models start with the same weight - - memset(&_ekf_gsf, 0, sizeof(_ekf_gsf)); - const float yaw_increment = 2.0f * M_PI_F / (float)N_MODELS_EKFGSF; - - for (uint8_t model_index = 0; model_index < N_MODELS_EKFGSF; model_index++) { - // evenly space initial yaw estimates in the region between +-Pi - _ekf_gsf[model_index].X(2) = -M_PI_F + (0.5f * yaw_increment) + ((float)model_index * yaw_increment); - - // take velocity states and corresponding variance from last measurement - _ekf_gsf[model_index].X(0) = vel_NE(0); - _ekf_gsf[model_index].X(1) = vel_NE(1); - _ekf_gsf[model_index].P(0, 0) = sq(fmaxf(vel_accuracy, 0.01f)); - _ekf_gsf[model_index].P(1, 1) = _ekf_gsf[model_index].P(0, 0); - - // use half yaw interval for yaw uncertainty - _ekf_gsf[model_index].P(2, 2) = sq(0.5f * yaw_increment); - } -} - -float EKFGSF_yaw::gaussianDensity(const uint8_t model_index) const -{ - // calculate transpose(innovation) * inv(S) * innovation - const float normDist = _ekf_gsf[model_index].innov.dot(_ekf_gsf[model_index].S_inverse * _ekf_gsf[model_index].innov); - - return (1.f / (2.f * M_PI_F)) * sqrtf(_ekf_gsf[model_index].S_det_inverse) * expf(-0.5f * normDist); -} - -bool EKFGSF_yaw::getLogData(float *yaw_composite, float *yaw_variance, float yaw[N_MODELS_EKFGSF], - float innov_VN[N_MODELS_EKFGSF], float innov_VE[N_MODELS_EKFGSF], float weight[N_MODELS_EKFGSF]) const -{ - if (_ekf_gsf_vel_fuse_started) { - *yaw_composite = _gsf_yaw; - *yaw_variance = _gsf_yaw_variance; - - for (uint8_t model_index = 0; model_index < N_MODELS_EKFGSF; model_index++) { - yaw[model_index] = _ekf_gsf[model_index].X(2); - innov_VN[model_index] = _ekf_gsf[model_index].innov(0); - innov_VE[model_index] = _ekf_gsf[model_index].innov(1); - weight[model_index] = _model_weights(model_index); - } - - return true; - } - - return false; -} - -float EKFGSF_yaw::ahrsCalcAccelGain() const -{ - // Calculate the acceleration fusion gain using a continuous function that is unity at 1g and zero - // at the min and max g value. Allow for more acceleration when flying as a fixed wing vehicle using centripetal - // acceleration correction as higher and more sustained g will be experienced. - // Use a quadratic instead of linear function to prevent vibration around 1g reducing the tilt correction effectiveness. - // see https://www.desmos.com/calculator/dbqbxvnwfg - - float attenuation = 2.f; - const bool centripetal_accel_compensation_enabled = PX4_ISFINITE(_true_airspeed) && (_true_airspeed > FLT_EPSILON); - - if (centripetal_accel_compensation_enabled && (_ahrs_accel_norm > CONSTANTS_ONE_G)) { - attenuation = 1.f; - } - - const float delta_accel_g = (_ahrs_accel_norm - CONSTANTS_ONE_G) / CONSTANTS_ONE_G; - return _tilt_gain * sq(1.f - math::min(attenuation * fabsf(delta_accel_g), 1.f)); -} - -Matrix3f EKFGSF_yaw::ahrsPredictRotMat(const Matrix3f &R, const Vector3f &g) -{ - Matrix3f ret = R; - ret(0, 0) += R(0, 1) * g(2) - R(0, 2) * g(1); - ret(0, 1) += R(0, 2) * g(0) - R(0, 0) * g(2); - ret(0, 2) += R(0, 0) * g(1) - R(0, 1) * g(0); - ret(1, 0) += R(1, 1) * g(2) - R(1, 2) * g(1); - ret(1, 1) += R(1, 2) * g(0) - R(1, 0) * g(2); - ret(1, 2) += R(1, 0) * g(1) - R(1, 1) * g(0); - ret(2, 0) += R(2, 1) * g(2) - R(2, 2) * g(1); - ret(2, 1) += R(2, 2) * g(0) - R(2, 0) * g(2); - ret(2, 2) += R(2, 0) * g(1) - R(2, 1) * g(0); - - // Renormalise rows - for (uint8_t r = 0; r < 3; r++) { - const float rowLengthSq = ret.row(r).norm_squared(); - - if (rowLengthSq > FLT_EPSILON) { - // Use linear approximation for inverse sqrt taking advantage of the row length being close to 1.0 - const float rowLengthInv = 1.5f - 0.5f * rowLengthSq; - ret.row(r) *= rowLengthInv; - } - } - - return ret; -} - -void EKFGSF_yaw::setVelocity(const Vector2f &velocity, float accuracy) -{ - _vel_NE = velocity; - _vel_accuracy = accuracy; - _vel_data_updated = true; -} diff --git a/src/modules/ekf2/EKF/EKFGSF_yaw.h b/src/modules/ekf2/EKF/EKFGSF_yaw.h deleted file mode 100644 index f31f4303308d..000000000000 --- a/src/modules/ekf2/EKF/EKFGSF_yaw.h +++ /dev/null @@ -1,160 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2020-2022 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -#ifndef EKF_EKFGSF_YAW_H -#define EKF_EKFGSF_YAW_H - -#include -#include -#include - -#include "common.h" -#include "utils.hpp" - -using matrix::AxisAnglef; -using matrix::Dcmf; -using matrix::Eulerf; -using matrix::Matrix3f; -using matrix::Quatf; -using matrix::Vector2f; -using matrix::Vector3f; -using matrix::wrap_pi; - -static constexpr uint8_t N_MODELS_EKFGSF = 5; - -using namespace estimator; - -class EKFGSF_yaw -{ -public: - EKFGSF_yaw(); - - // Update Filter States - this should be called whenever new IMU data is available - void update(const imuSample &imu_sample, - bool run_EKF, // set to true when flying or movement is suitable for yaw estimation - const Vector3f &imu_gyro_bias); // estimated rate gyro bias (rad/sec) - - void setVelocity(const Vector2f &velocity, // NE velocity measurement (m/s) - float accuracy); // 1-sigma accuracy of velocity measurement (m/s) - - - void setTrueAirspeed(float true_airspeed) { _true_airspeed = true_airspeed; } - - // get solution data for logging - bool getLogData(float *yaw_composite, - float *yaw_composite_variance, - float yaw[N_MODELS_EKFGSF], - float innov_VN[N_MODELS_EKFGSF], - float innov_VE[N_MODELS_EKFGSF], - float weight[N_MODELS_EKFGSF]) const; - - bool isActive() const { return _ekf_gsf_vel_fuse_started; } - - float getYaw() const { return _gsf_yaw; } - float getYawVar() const { return _gsf_yaw_variance; } - -private: - - // Parameters - these could be made tuneable - const float _gyro_noise{1.0e-1f}; // yaw rate noise used for covariance prediction (rad/sec) - const float _accel_noise{2.0f}; // horizontal accel noise used for covariance prediction (m/sec**2) - const float _tilt_gain{0.2f}; // gain from tilt error to gyro correction for complementary filter (1/sec) - const float _gyro_bias_gain{0.04f}; // gain applied to integral of gyro correction for complementary filter (1/sec) - - // Declarations used by the bank of N_MODELS_EKFGSF AHRS complementary filters - float _true_airspeed{NAN}; // true airspeed used for centripetal accel compensation (m/s) - - struct { - Dcmf R{matrix::eye()}; // matrix that rotates a vector from body to earth frame - Vector3f gyro_bias{}; // gyro bias learned and used by the quaternion calculation - bool aligned{false}; // true when AHRS has been aligned - } _ahrs_ekf_gsf[N_MODELS_EKFGSF] {}; - - bool _ahrs_ekf_gsf_tilt_aligned{false}; // true the initial tilt alignment has been calculated - float _ahrs_accel_fusion_gain{0.f}; // gain from accel vector tilt error to rate gyro correction used by AHRS calculation - Vector3f _ahrs_accel{0.f, 0.f, 0.f}; // low pass filtered body frame specific force vector used by AHRS calculation (m/s/s) - float _ahrs_accel_norm{0.f}; // length of _ahrs_accel specific force vector used by AHRS calculation (m/s/s) - - // calculate the gain from gravity vector misalingment to tilt correction to be used by all AHRS filters - float ahrsCalcAccelGain() const; - - // update specified AHRS rotation matrix using IMU and optionally true airspeed data - void ahrsPredict(const uint8_t model_index, const Vector3f &delta_ang, const float delta_ang_dt); - - // align all AHRS roll and pitch orientations using IMU delta velocity vector - void ahrsAlignTilt(const Vector3f &delta_vel); - - // align all AHRS yaw orientations to initial values - void ahrsAlignYaw(const Vector3f &imu_gyro_bias = {}); - - // Efficient propagation of a delta angle in body frame applied to the body to earth frame rotation matrix - Matrix3f ahrsPredictRotMat(const Matrix3f &R, const Vector3f &g); - - // Declarations used by a bank of N_MODELS_EKFGSF EKFs - - struct _ekf_gsf_struct { - matrix::Vector3f X{}; // Vel North (m/s), Vel East (m/s), yaw (rad)s - matrix::SquareMatrix P{}; // covariance matrix - matrix::SquareMatrix S_inverse{}; // inverse of the innovation covariance matrix - float S_det_inverse{}; // inverse of the innovation covariance matrix determinant - matrix::Vector2f innov{}; // Velocity N,E innovation (m/s) - } _ekf_gsf[N_MODELS_EKFGSF] {}; - - bool _vel_data_updated{}; // true when velocity data has been updated - Vector2f _vel_NE{}; // NE velocity observations (m/s) - float _vel_accuracy{}; // 1-sigma accuracy of velocity observations (m/s) - bool _ekf_gsf_vel_fuse_started{}; // true when the EKF's have started fusing velocity data and the prediction and update processing is active - - // initialise states and covariance data for the GSF and EKF filters - void initialiseEKFGSF(const Vector2f &vel_NE = {}, const float vel_accuracy = 0.f); - - // predict state and covariance for the specified EKF using inertial data - void predictEKF(const uint8_t model_index, const Vector3f &delta_ang, const float delta_ang_dt, - const Vector3f &delta_vel, const float delta_vel_dt); - - // update state and covariance for the specified EKF using a NE velocity measurement - // return false if update failed - bool updateEKF(const uint8_t model_index, const Vector2f &vel_NE, const float vel_accuracy); - - inline float sq(float x) const { return x * x; }; - - // Declarations used by the Gaussian Sum Filter (GSF) that combines the individual EKF yaw estimates - - matrix::Vector _model_weights{}; - float _gsf_yaw{}; // yaw estimate (rad) - float _gsf_yaw_variance{}; // variance of yaw estimate (rad^2) - - // return the probability of the state estimate for the specified EKF assuming a gaussian error distribution - float gaussianDensity(const uint8_t model_index) const; -}; -#endif // !EKF_EKFGSF_YAW_H diff --git a/src/modules/ekf2/EKF/RingBuffer.h b/src/modules/ekf2/EKF/RingBuffer.h index aeb4471ad586..2e4ff02bb3ee 100644 --- a/src/modules/ekf2/EKF/RingBuffer.h +++ b/src/modules/ekf2/EKF/RingBuffer.h @@ -153,6 +153,7 @@ class RingBuffer return false; } + int get_used_size() const { return sizeof(*this) + sizeof(data_type) * entries(); } int get_total_size() const { return sizeof(*this) + sizeof(data_type) * _size; } int entries() const diff --git a/src/modules/ekf2/EKF/aid_sources/EstimatorAidSource.hpp b/src/modules/ekf2/EKF/aid_sources/EstimatorAidSource.hpp new file mode 100644 index 000000000000..6d6c9e8ec233 --- /dev/null +++ b/src/modules/ekf2/EKF/aid_sources/EstimatorAidSource.hpp @@ -0,0 +1,64 @@ +/**************************************************************************** + * + * Copyright (c) 2015-2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#ifndef EKF_ESTIMATOR_AID_SOURCE_HPP +#define EKF_ESTIMATOR_AID_SOURCE_HPP + +#include + +#include + +// forward declarations +class Ekf; + +namespace estimator +{ +struct imuSample; +}; + +class EstimatorAidSource +{ +public: + EstimatorAidSource() = default; + virtual ~EstimatorAidSource() = default; + + virtual bool update(Ekf &ekf, const estimator::imuSample &imu_delayed) = 0; + + virtual void reset() = 0; + +private: + + +}; + +#endif // !EKF_ESTIMATOR_AID_SOURCE_HPP diff --git a/src/modules/ekf2/EKF/aid_sources/ZeroGyroUpdate.cpp b/src/modules/ekf2/EKF/aid_sources/ZeroGyroUpdate.cpp new file mode 100644 index 000000000000..b9eea136042f --- /dev/null +++ b/src/modules/ekf2/EKF/aid_sources/ZeroGyroUpdate.cpp @@ -0,0 +1,86 @@ +/**************************************************************************** + * + * Copyright (c) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include "ZeroGyroUpdate.hpp" + +#include "../ekf.h" + +ZeroGyroUpdate::ZeroGyroUpdate() +{ + reset(); +} + +void ZeroGyroUpdate::reset() +{ + _zgup_delta_ang.setZero(); + _zgup_delta_ang_dt = 0.f; +} + +bool ZeroGyroUpdate::update(Ekf &ekf, const estimator::imuSample &imu_delayed) +{ + // When at rest, fuse the gyro data as a direct observation of the gyro bias + if (ekf.control_status_flags().vehicle_at_rest) { + // Downsample gyro data to run the fusion at a lower rate + _zgup_delta_ang += imu_delayed.delta_ang; + _zgup_delta_ang_dt += imu_delayed.delta_ang_dt; + + static constexpr float zgup_dt = 0.2f; + const bool zero_gyro_update_data_ready = _zgup_delta_ang_dt >= zgup_dt; + + if (zero_gyro_update_data_ready) { + + Vector3f gyro_bias = _zgup_delta_ang / _zgup_delta_ang_dt; + + const float obs_var = sq(math::constrain(ekf.getGyroNoise(), 0.f, 1.f)); + + for (unsigned i = 0; i < 3; i++) { + const float innovation = ekf.state().gyro_bias(i) - gyro_bias(i); + const float innov_var = ekf.getGyroBiasVariance()(i) + obs_var; + ekf.fuseDirectStateMeasurement(innovation, innov_var, obs_var, State::gyro_bias.idx + i); + } + + // Reset the integrators + _zgup_delta_ang.setZero(); + _zgup_delta_ang_dt = 0.f; + + return true; + } + + } else if (ekf.control_status_prev_flags().vehicle_at_rest) { + // Reset the integrators + _zgup_delta_ang.setZero(); + _zgup_delta_ang_dt = 0.f; + } + + return false; +} diff --git a/src/modules/ekf2/EKF/aid_sources/ZeroGyroUpdate.hpp b/src/modules/ekf2/EKF/aid_sources/ZeroGyroUpdate.hpp new file mode 100644 index 000000000000..1ad488e539ad --- /dev/null +++ b/src/modules/ekf2/EKF/aid_sources/ZeroGyroUpdate.hpp @@ -0,0 +1,54 @@ +/**************************************************************************** + * + * Copyright (c) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#ifndef EKF_ZERO_GYRO_UPDATE_HPP +#define EKF_ZERO_GYRO_UPDATE_HPP + +#include "EstimatorAidSource.hpp" + +class ZeroGyroUpdate : public EstimatorAidSource +{ +public: + ZeroGyroUpdate(); + virtual ~ZeroGyroUpdate() = default; + + void reset() override; + bool update(Ekf &ekf, const estimator::imuSample &imu_delayed) override; + +private: + + matrix::Vector3f _zgup_delta_ang{}; + float _zgup_delta_ang_dt{0.f}; +}; + +#endif // !EKF_ZERO_GYRO_UPDATE_HPP diff --git a/src/modules/ekf2/EKF/aid_sources/ZeroVelocityUpdate.cpp b/src/modules/ekf2/EKF/aid_sources/ZeroVelocityUpdate.cpp new file mode 100644 index 000000000000..052e37312c02 --- /dev/null +++ b/src/modules/ekf2/EKF/aid_sources/ZeroVelocityUpdate.cpp @@ -0,0 +1,79 @@ +/**************************************************************************** + * + * Copyright (c) 2022-2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include "ZeroVelocityUpdate.hpp" + +#include "../ekf.h" + +ZeroVelocityUpdate::ZeroVelocityUpdate() +{ + reset(); +} + +void ZeroVelocityUpdate::reset() +{ + _time_last_fuse = 0; +} + +bool ZeroVelocityUpdate::update(Ekf &ekf, const estimator::imuSample &imu_delayed) +{ + // Fuse zero velocity at a limited rate (every 200 milliseconds) + const bool zero_velocity_update_data_ready = (_time_last_fuse + 200'000 < imu_delayed.time_us); + + if (zero_velocity_update_data_ready) { + const bool continuing_conditions_passing = ekf.control_status_flags().vehicle_at_rest + && ekf.control_status_prev_flags().vehicle_at_rest + && (!ekf.isVerticalVelocityAidingActive() + || !ekf.control_status_flags().tilt_align); // otherwise the filter is "too rigid" to follow a position drift + + if (continuing_conditions_passing) { + Vector3f vel_obs{0.f, 0.f, 0.f}; + + // Set a low variance initially for faster leveling and higher + // later to let the states follow the measurements + const float obs_var = ekf.control_status_flags().tilt_align ? sq(0.2f) : sq(0.001f); + Vector3f innov_var = ekf.getVelocityVariance() + obs_var; + + for (unsigned i = 0; i < 3; i++) { + const float innovation = ekf.state().vel(i) - vel_obs(i); + ekf.fuseDirectStateMeasurement(innovation, innov_var(i), obs_var, State::vel.idx + i); + } + + _time_last_fuse = imu_delayed.time_us; + + return true; + } + } + + return false; +} diff --git a/src/modules/ekf2/EKF/aid_sources/ZeroVelocityUpdate.hpp b/src/modules/ekf2/EKF/aid_sources/ZeroVelocityUpdate.hpp new file mode 100644 index 000000000000..a591d9dc96f1 --- /dev/null +++ b/src/modules/ekf2/EKF/aid_sources/ZeroVelocityUpdate.hpp @@ -0,0 +1,56 @@ +/**************************************************************************** + * + * Copyright (c) 2022-2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#ifndef EKF_ZERO_VELOCITY_UPDATE_HPP +#define EKF_ZERO_VELOCITY_UPDATE_HPP + +#include "EstimatorAidSource.hpp" + +class ZeroVelocityUpdate : public EstimatorAidSource +{ +public: + ZeroVelocityUpdate(); + virtual ~ZeroVelocityUpdate() = default; + + void reset() override; + bool update(Ekf &ekf, const estimator::imuSample &imu_delayed) override; + + const auto &time_last_fuse() const { return _time_last_fuse; } + +private: + + uint64_t _time_last_fuse{0}; ///< last time of zero velocity update (uSec) + +}; + +#endif // !EKF_ZERO_VELOCITY_UPDATE_HPP diff --git a/src/modules/ekf2/EKF/aid_sources/airspeed/airspeed_fusion.cpp b/src/modules/ekf2/EKF/aid_sources/airspeed/airspeed_fusion.cpp new file mode 100644 index 000000000000..5cfb1210795d --- /dev/null +++ b/src/modules/ekf2/EKF/aid_sources/airspeed/airspeed_fusion.cpp @@ -0,0 +1,276 @@ +/**************************************************************************** + * + * Copyright (c) 2015-2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file airspeed_fusion.cpp + * airspeed fusion methods. + * equations generated using EKF/python/ekf_derivation/main.py + * + * @author Carl Olsson + * @author Roman Bast + * @author Paul Riseborough + * + */ + +#include "ekf.h" + +#include +#include +#include + +#include + +void Ekf::controlAirDataFusion(const imuSample &imu_delayed) +{ + // control activation and initialisation/reset of wind states required for airspeed fusion + + // If both airspeed and sideslip fusion have timed out and we are not using a drag observation model then we no longer have valid wind estimates + const bool airspeed_timed_out = isTimedOut(_aid_src_airspeed.time_last_fuse, (uint64_t)10e6); + const bool sideslip_timed_out = isTimedOut(_aid_src_sideslip.time_last_fuse, (uint64_t)10e6); + + if (_control_status.flags.fake_pos || (airspeed_timed_out && sideslip_timed_out && (_params.drag_ctrl == 0))) { + _control_status.flags.wind = false; + } + + if (_control_status.flags.wind && _external_wind_init) { + _external_wind_init = false; + } + +#if defined(CONFIG_EKF2_GNSS) + + // clear yaw estimator airspeed (updated later with true airspeed if airspeed fusion is active) + if (_control_status.flags.fixed_wing) { + if (_control_status.flags.in_air && !_control_status.flags.vehicle_at_rest) { + if (!_control_status.flags.fuse_aspd) { + _yawEstimator.setTrueAirspeed(_params.EKFGSF_tas_default); + } + + } else { + _yawEstimator.setTrueAirspeed(0.f); + } + } + +#endif // CONFIG_EKF2_GNSS + + if (_params.arsp_thr <= 0.f) { + stopAirspeedFusion(); + return; + } + + if (_airspeed_buffer && _airspeed_buffer->pop_first_older_than(imu_delayed.time_us, &_airspeed_sample_delayed)) { + + const airspeedSample &airspeed_sample = _airspeed_sample_delayed; + + updateAirspeed(airspeed_sample, _aid_src_airspeed); + + _innov_check_fail_status.flags.reject_airspeed = + _aid_src_airspeed.innovation_rejected; // TODO: remove this redundant flag + + const bool continuing_conditions_passing = _control_status.flags.in_air + && _control_status.flags.fixed_wing + && !_control_status.flags.fake_pos; + + const bool is_airspeed_significant = airspeed_sample.true_airspeed > _params.arsp_thr; + const bool is_airspeed_consistent = (_aid_src_airspeed.test_ratio > 0.f && _aid_src_airspeed.test_ratio < 1.f); + const bool starting_conditions_passing = continuing_conditions_passing + && is_airspeed_significant + && (is_airspeed_consistent || !_control_status.flags.wind || _control_status.flags.inertial_dead_reckoning); + + if (_control_status.flags.fuse_aspd) { + if (continuing_conditions_passing) { + if (is_airspeed_significant) { + fuseAirspeed(airspeed_sample, _aid_src_airspeed); + } + +#if defined(CONFIG_EKF2_GNSS) + _yawEstimator.setTrueAirspeed(airspeed_sample.true_airspeed); +#endif // CONFIG_EKF2_GNSS + + const bool is_fusion_failing = isTimedOut(_aid_src_airspeed.time_last_fuse, (uint64_t)10e6); + + if (is_fusion_failing) { + stopAirspeedFusion(); + } + + } else { + stopAirspeedFusion(); + } + + } else if (starting_conditions_passing) { + ECL_INFO("starting airspeed fusion"); + + if (_control_status.flags.inertial_dead_reckoning && !is_airspeed_consistent) { + resetVelUsingAirspeed(airspeed_sample); + + } else if (!_external_wind_init + && (!_control_status.flags.wind + || getWindVelocityVariance().longerThan(sq(_params.initial_wind_uncertainty)))) { + resetWindUsingAirspeed(airspeed_sample); + _aid_src_airspeed.time_last_fuse = _time_delayed_us; + } + + _control_status.flags.wind = true; + _control_status.flags.fuse_aspd = true; + } + + } else if (_control_status.flags.fuse_aspd && !isRecent(_airspeed_sample_delayed.time_us, (uint64_t)1e6)) { + ECL_WARN("Airspeed data stopped"); + stopAirspeedFusion(); + } +} + +void Ekf::updateAirspeed(const airspeedSample &airspeed_sample, estimator_aid_source1d_s &aid_src) const +{ + // Variance for true airspeed measurement - (m/sec)^2 + const float R = sq(math::constrain(_params.eas_noise, 0.5f, 5.0f) * + math::constrain(airspeed_sample.eas2tas, 0.9f, 10.0f)); + + float innov = 0.f; + float innov_var = 0.f; + sym::ComputeAirspeedInnovAndInnovVar(_state.vector(), P, airspeed_sample.true_airspeed, R, FLT_EPSILON, + &innov, &innov_var); + + updateAidSourceStatus(aid_src, + airspeed_sample.time_us, // sample timestamp + airspeed_sample.true_airspeed, // observation + R, // observation variance + innov, // innovation + innov_var, // innovation variance + math::max(_params.tas_innov_gate, 1.f)); // innovation gate +} + +void Ekf::fuseAirspeed(const airspeedSample &airspeed_sample, estimator_aid_source1d_s &aid_src) +{ + if (aid_src.innovation_rejected) { + return; + } + + // determine if we need the airspeed fusion to correct states other than wind + const bool update_wind_only = !_control_status.flags.wind_dead_reckoning; + + const float innov_var = aid_src.innovation_variance; + + if (innov_var < aid_src.observation_variance || innov_var < FLT_EPSILON) { + // Reset the estimator covariance matrix + // if we are getting aiding from other sources, warn and reset the wind states and covariances only + const char *action_string = nullptr; + + if (update_wind_only) { + resetWindUsingAirspeed(airspeed_sample); + action_string = "wind"; + + } else { + initialiseCovariance(); + _state.wind_vel.setZero(); + action_string = "full"; + } + + ECL_ERR("airspeed badly conditioned - %s covariance reset", action_string); + + _fault_status.flags.bad_airspeed = true; + + return; + } + + _fault_status.flags.bad_airspeed = false; + + VectorState H; // Observation jacobian + VectorState K; // Kalman gain vector + + sym::ComputeAirspeedHAndK(_state.vector(), P, innov_var, FLT_EPSILON, &H, &K); + + if (update_wind_only) { + const Vector2f K_wind = K.slice(State::wind_vel.idx, 0); + K.setZero(); + K.slice(State::wind_vel.idx, 0) = K_wind; + } + + const bool is_fused = measurementUpdate(K, H, aid_src.observation_variance, aid_src.innovation); + + aid_src.fused = is_fused; + _fault_status.flags.bad_airspeed = !is_fused; + + if (is_fused) { + aid_src.time_last_fuse = _time_delayed_us; + + if (!update_wind_only) { + _time_last_hor_vel_fuse = _time_delayed_us; + } + } +} + +void Ekf::stopAirspeedFusion() +{ + if (_control_status.flags.fuse_aspd) { + ECL_INFO("stopping airspeed fusion"); + _control_status.flags.fuse_aspd = false; + +#if defined(CONFIG_EKF2_GNSS) + _yawEstimator.setTrueAirspeed(NAN); +#endif // CONFIG_EKF2_GNSS + } +} + +void Ekf::resetWindUsingAirspeed(const airspeedSample &airspeed_sample) +{ + constexpr float sideslip_var = sq(math::radians(15.0f)); + + const float euler_yaw = getEulerYaw(_R_to_earth); + const float airspeed_var = sq(math::constrain(_params.eas_noise, 0.5f, 5.0f) + * math::constrain(airspeed_sample.eas2tas, 0.9f, 10.0f)); + + matrix::SquareMatrix P_wind; + sym::ComputeWindInitAndCovFromAirspeed(_state.vel, euler_yaw, airspeed_sample.true_airspeed, getVelocityVariance(), + getYawVar(), sideslip_var, airspeed_var, &_state.wind_vel, &P_wind); + + resetStateCovariance(P_wind); + + ECL_INFO("reset wind using airspeed to (%.3f, %.3f)", (double)_state.wind_vel(0), (double)_state.wind_vel(1)); + + resetAidSourceStatusZeroInnovation(_aid_src_airspeed); +} + +void Ekf::resetVelUsingAirspeed(const airspeedSample &airspeed_sample) +{ + const float euler_yaw = getEulerYaw(_R_to_earth); + + // Estimate velocity using zero sideslip assumption and airspeed measurement + Vector2f horizontal_velocity; + horizontal_velocity(0) = _state.wind_vel(0) + airspeed_sample.true_airspeed * cosf(euler_yaw); + horizontal_velocity(1) = _state.wind_vel(1) + airspeed_sample.true_airspeed * sinf(euler_yaw); + + float vel_var = NAN; // Do not reset the velocity variance as wind variance estimate is most likely not correct + resetHorizontalVelocityTo(horizontal_velocity, vel_var); + + _aid_src_airspeed.time_last_fuse = _time_delayed_us; +} diff --git a/src/modules/ekf2/EKF/aid_sources/aux_global_position/aux_global_position.cpp b/src/modules/ekf2/EKF/aid_sources/aux_global_position/aux_global_position.cpp new file mode 100644 index 000000000000..6efd4fabe66b --- /dev/null +++ b/src/modules/ekf2/EKF/aid_sources/aux_global_position/aux_global_position.cpp @@ -0,0 +1,165 @@ +/**************************************************************************** + * + * Copyright (c) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include "ekf.h" + +#include "aid_sources/aux_global_position/aux_global_position.hpp" + +#if defined(CONFIG_EKF2_AUX_GLOBAL_POSITION) && defined(MODULE_NAME) + +void AuxGlobalPosition::update(Ekf &ekf, const estimator::imuSample &imu_delayed) +{ + +#if defined(MODULE_NAME) + + if (_aux_global_position_sub.updated()) { + + vehicle_global_position_s aux_global_position{}; + _aux_global_position_sub.copy(&aux_global_position); + + const int64_t time_us = aux_global_position.timestamp_sample - static_cast(_param_ekf2_agp_delay.get() * 1000); + + AuxGlobalPositionSample sample{}; + sample.time_us = time_us; + sample.latitude = aux_global_position.lat; + sample.longitude = aux_global_position.lon; + sample.altitude_amsl = aux_global_position.alt; + sample.eph = aux_global_position.eph; + sample.epv = aux_global_position.epv; + sample.lat_lon_reset_counter = aux_global_position.lat_lon_reset_counter; + + _aux_global_position_buffer.push(sample); + + _time_last_buffer_push = imu_delayed.time_us; + } + +#endif // MODULE_NAME + + AuxGlobalPositionSample sample; + + if (_aux_global_position_buffer.pop_first_older_than(imu_delayed.time_us, &sample)) { + + if (!(_param_ekf2_agp_ctrl.get() & static_cast(Ctrl::HPOS))) { + return; + } + + estimator_aid_source2d_s aid_src{}; + Vector2f position; + + if (ekf.global_origin_valid()) { + position = ekf.global_origin().project(sample.latitude, sample.longitude); + //const float hgt = ekf.getEkfGlobalOriginAltitude() - (float)sample.altitude; + // relax the upper observation noise limit which prevents bad measurements perturbing the position estimate + float pos_noise = math::max(sample.eph, _param_ekf2_agp_noise.get(), 0.01f); + const float pos_var = sq(pos_noise); + const Vector2f pos_obs_var(pos_var, pos_var); + + ekf.updateAidSourceStatus(aid_src, + sample.time_us, // sample timestamp + position, // observation + pos_obs_var, // observation variance + Vector2f(ekf.state().pos) - position, // innovation + Vector2f(ekf.getPositionVariance()) + pos_obs_var, // innovation variance + math::max(_param_ekf2_agp_gate.get(), 1.f)); // innovation gate + } + + const bool starting_conditions = PX4_ISFINITE(sample.latitude) && PX4_ISFINITE(sample.longitude) + && ekf.control_status_flags().yaw_align; + const bool continuing_conditions = starting_conditions + && ekf.global_origin_valid(); + + switch (_state) { + case State::stopped: + + /* FALLTHROUGH */ + case State::starting: + if (starting_conditions) { + _state = State::starting; + + if (ekf.global_origin_valid()) { + ekf.enableControlStatusAuxGpos(); + _reset_counters.lat_lon = sample.lat_lon_reset_counter; + _state = State::active; + + } else { + // Try to initialize using measurement + if (ekf.setEkfGlobalOrigin(sample.latitude, sample.longitude, sample.altitude_amsl, sample.eph, sample.epv)) { + ekf.enableControlStatusAuxGpos(); + _reset_counters.lat_lon = sample.lat_lon_reset_counter; + _state = State::active; + } + } + } + + break; + + case State::active: + if (continuing_conditions) { + ekf.fuseHorizontalPosition(aid_src); + + if (isTimedOut(aid_src.time_last_fuse, imu_delayed.time_us, ekf._params.no_aid_timeout_max) + || (_reset_counters.lat_lon != sample.lat_lon_reset_counter)) { + + ekf.resetHorizontalPositionTo(Vector2f(aid_src.observation), Vector2f(aid_src.observation_variance)); + + ekf.resetAidSourceStatusZeroInnovation(aid_src); + + _reset_counters.lat_lon = sample.lat_lon_reset_counter; + } + + } else { + ekf.disableControlStatusAuxGpos(); + _state = State::stopped; + } + + break; + + default: + break; + } + +#if defined(MODULE_NAME) + aid_src.timestamp = hrt_absolute_time(); + _estimator_aid_src_aux_global_position_pub.publish(aid_src); + + _test_ratio_filtered = math::max(fabsf(aid_src.test_ratio_filtered[0]), fabsf(aid_src.test_ratio_filtered[1])); +#endif // MODULE_NAME + + } else if ((_state != State::stopped) && isTimedOut(_time_last_buffer_push, imu_delayed.time_us, (uint64_t)5e6)) { + ekf.disableControlStatusAuxGpos(); + _state = State::stopped; + ECL_WARN("Aux global position data stopped"); + } +} + +#endif // CONFIG_EKF2_AUX_GLOBAL_POSITION diff --git a/src/modules/ekf2/EKF/aid_sources/aux_global_position/aux_global_position.hpp b/src/modules/ekf2/EKF/aid_sources/aux_global_position/aux_global_position.hpp new file mode 100644 index 000000000000..e5bc78026a68 --- /dev/null +++ b/src/modules/ekf2/EKF/aid_sources/aux_global_position/aux_global_position.hpp @@ -0,0 +1,134 @@ +/**************************************************************************** + * + * Copyright (c) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#ifndef EKF_AUX_GLOBAL_POSITION_HPP +#define EKF_AUX_GLOBAL_POSITION_HPP + +// interface? +// - ModuleParams +// - Base class EKF +// - bool update(imu) +// how to get delay? +// WelfordMean for init? +// WelfordMean for rate + +#include "../../common.h" +#include "../../RingBuffer.h" + +#if defined(CONFIG_EKF2_AUX_GLOBAL_POSITION) && defined(MODULE_NAME) + +#if defined(MODULE_NAME) +# include +# include +# include +# include +# include +#endif // MODULE_NAME + +class Ekf; + +class AuxGlobalPosition : public ModuleParams +{ +public: + AuxGlobalPosition() : ModuleParams(nullptr) + { + _estimator_aid_src_aux_global_position_pub.advertise(); + } + + ~AuxGlobalPosition() = default; + + void update(Ekf &ekf, const estimator::imuSample &imu_delayed); + + void updateParameters() + { + updateParams(); + } + + float test_ratio_filtered() const { return _test_ratio_filtered; } + +private: + bool isTimedOut(uint64_t last_sensor_timestamp, uint64_t time_delayed_us, uint64_t timeout_period) const + { + return (last_sensor_timestamp == 0) || (last_sensor_timestamp + timeout_period < time_delayed_us); + } + + struct AuxGlobalPositionSample { + uint64_t time_us{}; ///< timestamp of the measurement (uSec) + double latitude{}; + double longitude{}; + float altitude_amsl{}; + float eph{}; + float epv{}; + uint8_t lat_lon_reset_counter{}; + }; + + RingBuffer _aux_global_position_buffer{20}; // TODO: size with _obs_buffer_length and actual publication rate + uint64_t _time_last_buffer_push{0}; + + enum class Ctrl : uint8_t { + HPOS = (1 << 0), + VPOS = (1 << 1) + }; + + enum class State { + stopped, + starting, + active, + }; + + State _state{State::stopped}; + + float _test_ratio_filtered{INFINITY}; + +#if defined(MODULE_NAME) + struct reset_counters_s { + uint8_t lat_lon{}; + }; + reset_counters_s _reset_counters{}; + + uORB::PublicationMulti _estimator_aid_src_aux_global_position_pub{ORB_ID(estimator_aid_src_aux_global_position)}; + uORB::Subscription _aux_global_position_sub{ORB_ID(aux_global_position)}; + + DEFINE_PARAMETERS( + (ParamInt) _param_ekf2_agp_ctrl, + (ParamFloat) _param_ekf2_agp_delay, + (ParamFloat) _param_ekf2_agp_noise, + (ParamFloat) _param_ekf2_agp_gate + ) + +#endif // MODULE_NAME +}; + +#endif // CONFIG_EKF2_AUX_GLOBAL_POSITION + +#endif // !EKF_AUX_GLOBAL_POSITION_HPP diff --git a/src/modules/ekf2/EKF/aid_sources/auxvel/auxvel_fusion.cpp b/src/modules/ekf2/EKF/aid_sources/auxvel/auxvel_fusion.cpp new file mode 100644 index 000000000000..6531c5c65a07 --- /dev/null +++ b/src/modules/ekf2/EKF/aid_sources/auxvel/auxvel_fusion.cpp @@ -0,0 +1,62 @@ +/**************************************************************************** + * + * Copyright (c) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include "ekf.h" + +void Ekf::controlAuxVelFusion(const imuSample &imu_sample) +{ + if (_auxvel_buffer) { + auxVelSample sample; + + if (_auxvel_buffer->pop_first_older_than(imu_sample.time_us, &sample)) { + + updateAidSourceStatus(_aid_src_aux_vel, + sample.time_us, // sample timestamp + sample.vel, // observation + sample.velVar, // observation variance + Vector2f(_state.vel.xy()) - sample.vel, // innovation + Vector2f(getStateVariance()) + sample.velVar, // innovation variance + math::max(_params.auxvel_gate, 1.f)); // innovation gate + + if (isHorizontalAidingActive()) { + fuseHorizontalVelocity(_aid_src_aux_vel); + } + } + } +} + +void Ekf::stopAuxVelFusion() +{ + ECL_INFO("stopping aux vel fusion"); + //_control_status.flags.aux_vel = false; +} diff --git a/src/modules/ekf2/EKF/aid_sources/barometer/baro_height_control.cpp b/src/modules/ekf2/EKF/aid_sources/barometer/baro_height_control.cpp new file mode 100644 index 000000000000..dc6d36bcb5c7 --- /dev/null +++ b/src/modules/ekf2/EKF/aid_sources/barometer/baro_height_control.cpp @@ -0,0 +1,237 @@ +/**************************************************************************** + * + * Copyright (c) 2022 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file baro_height_control.cpp + * Control functions for ekf barometric height fusion + */ + +#include "ekf.h" + +void Ekf::controlBaroHeightFusion(const imuSample &imu_sample) +{ + static constexpr const char *HGT_SRC_NAME = "baro"; + + auto &aid_src = _aid_src_baro_hgt; + HeightBiasEstimator &bias_est = _baro_b_est; + + bias_est.predict(_dt_ekf_avg); + + baroSample baro_sample; + + if (_baro_buffer && _baro_buffer->pop_first_older_than(imu_sample.time_us, &baro_sample)) { + +#if defined(CONFIG_EKF2_BARO_COMPENSATION) + const float measurement = compensateBaroForDynamicPressure(imu_sample, baro_sample.hgt); +#else + const float measurement = baro_sample.hgt; +#endif + + const float measurement_var = sq(_params.baro_noise); + + const bool measurement_valid = PX4_ISFINITE(measurement) && PX4_ISFINITE(measurement_var); + + if (measurement_valid) { + if ((_baro_counter == 0) || baro_sample.reset) { + _baro_lpf.reset(measurement); + _baro_counter = 1; + + } else { + _baro_lpf.update(measurement); + _baro_counter++; + } + + if (_baro_counter <= _obs_buffer_length) { + // Initialize the pressure offset (included in the baro bias) + bias_est.setBias(_state.pos(2) + _baro_lpf.getState()); + } + } + + // vertical position innovation - baro measurement has opposite sign to earth z axis + updateVerticalPositionAidStatus(aid_src, + baro_sample.time_us, + -(measurement - bias_est.getBias()), // observation + measurement_var + bias_est.getBiasVar(), // observation variance + math::max(_params.baro_innov_gate, 1.f)); // innovation gate + + // Compensate for positive static pressure transients (negative vertical position innovations) + // caused by rotor wash ground interaction by applying a temporary deadzone to baro innovations. + if (_control_status.flags.gnd_effect && (_params.gnd_effect_deadzone > 0.f)) { + + const float deadzone_start = 0.0f; + const float deadzone_end = deadzone_start + _params.gnd_effect_deadzone; + + if (aid_src.innovation < -deadzone_start) { + if (aid_src.innovation <= -deadzone_end) { + aid_src.innovation += deadzone_end; + + } else { + aid_src.innovation = -deadzone_start; + } + } + } + + // update the bias estimator before updating the main filter but after + // using its current state to compute the vertical position innovation + if (measurement_valid) { + bias_est.setMaxStateNoise(sqrtf(measurement_var)); + bias_est.setProcessNoiseSpectralDensity(_params.baro_bias_nsd); + bias_est.fuseBias(measurement - (-_state.pos(2)), measurement_var + P(State::pos.idx + 2, State::pos.idx + 2)); + } + + // determine if we should use height aiding + const bool continuing_conditions_passing = (_params.baro_ctrl == 1) + && measurement_valid + && (_baro_counter > _obs_buffer_length) + && !_baro_hgt_faulty; + + const bool starting_conditions_passing = continuing_conditions_passing + && isNewestSampleRecent(_time_last_baro_buffer_push, 2 * BARO_MAX_INTERVAL); + + if (_control_status.flags.baro_hgt) { + + if (continuing_conditions_passing) { + + fuseVerticalPosition(aid_src); + + const bool is_fusion_failing = isTimedOut(aid_src.time_last_fuse, _params.hgt_fusion_timeout_max); + + if (isHeightResetRequired() && (_height_sensor_ref == HeightSensor::BARO)) { + // All height sources are failing + ECL_WARN("%s height fusion reset required, all height sources failing", HGT_SRC_NAME); + + _information_events.flags.reset_hgt_to_baro = true; + resetVerticalPositionTo(-(_baro_lpf.getState() - bias_est.getBias()), measurement_var); + bias_est.setBias(_state.pos(2) + _baro_lpf.getState()); + + // reset vertical velocity if no valid sources available + if (!isVerticalVelocityAidingActive()) { + resetVerticalVelocityToZero(); + } + + aid_src.time_last_fuse = imu_sample.time_us; + + } else if (is_fusion_failing) { + ECL_WARN("stopping %s height fusion, fusion failing", HGT_SRC_NAME); + stopBaroHgtFusion(); + + if (isRecent(_time_last_hgt_fuse, _params.hgt_fusion_timeout_max)) { + // Some other height source is still working + _baro_hgt_faulty = true; + } + } + + } else { + ECL_WARN("stopping %s height fusion, continuing conditions failing", HGT_SRC_NAME); + stopBaroHgtFusion(); + } + + } else { + if (starting_conditions_passing) { + if (_params.height_sensor_ref == static_cast(HeightSensor::BARO)) { + ECL_INFO("starting %s height fusion, resetting height", HGT_SRC_NAME); + _height_sensor_ref = HeightSensor::BARO; + + _information_events.flags.reset_hgt_to_baro = true; + resetVerticalPositionTo(-(_baro_lpf.getState() - bias_est.getBias()), measurement_var); + bias_est.setBias(_state.pos(2) + _baro_lpf.getState()); + + } else { + ECL_INFO("starting %s height fusion", HGT_SRC_NAME); + bias_est.setBias(_state.pos(2) + _baro_lpf.getState()); + } + + aid_src.time_last_fuse = imu_sample.time_us; + bias_est.setFusionActive(); + _control_status.flags.baro_hgt = true; + } + } + + } else if (_control_status.flags.baro_hgt + && !isNewestSampleRecent(_time_last_baro_buffer_push, 2 * BARO_MAX_INTERVAL)) { + // No data anymore. Stop until it comes back. + ECL_WARN("stopping %s height fusion, no data", HGT_SRC_NAME); + stopBaroHgtFusion(); + } +} + +void Ekf::stopBaroHgtFusion() +{ + if (_control_status.flags.baro_hgt) { + + if (_height_sensor_ref == HeightSensor::BARO) { + _height_sensor_ref = HeightSensor::UNKNOWN; + } + + _baro_b_est.setFusionInactive(); + + _control_status.flags.baro_hgt = false; + } +} + +#if defined(CONFIG_EKF2_BARO_COMPENSATION) +float Ekf::compensateBaroForDynamicPressure(const imuSample &imu_sample, const float baro_alt_uncompensated) const +{ + if (_control_status.flags.wind && local_position_is_valid()) { + // calculate static pressure error = Pmeas - Ptruth + // model position error sensitivity as a body fixed ellipse with a different scale in the positive and + // negative X and Y directions. Used to correct baro data for positional errors + + // Calculate airspeed in body frame + const Vector3f angular_velocity = (imu_sample.delta_ang / imu_sample.delta_ang_dt) - _state.gyro_bias; + const Vector3f vel_imu_rel_body_ned = _R_to_earth * (angular_velocity % _params.imu_pos_body); + const Vector3f velocity_earth = _state.vel - vel_imu_rel_body_ned; + + const Vector3f wind_velocity_earth(_state.wind_vel(0), _state.wind_vel(1), 0.0f); + + const Vector3f airspeed_earth = velocity_earth - wind_velocity_earth; + + const Vector3f airspeed_body = _state.quat_nominal.rotateVectorInverse(airspeed_earth); + + const Vector3f K_pstatic_coef( + airspeed_body(0) >= 0.f ? _params.static_pressure_coef_xp : _params.static_pressure_coef_xn, + airspeed_body(1) >= 0.f ? _params.static_pressure_coef_yp : _params.static_pressure_coef_yn, + _params.static_pressure_coef_z); + + const Vector3f airspeed_squared = matrix::min(airspeed_body.emult(airspeed_body), sq(_params.max_correction_airspeed)); + + const float pstatic_err = 0.5f * _air_density * (airspeed_squared.dot(K_pstatic_coef)); + + // correct baro measurement using pressure error estimate and assuming sea level gravity + return baro_alt_uncompensated + pstatic_err / (_air_density * CONSTANTS_ONE_G); + } + + // otherwise return the uncorrected baro measurement + return baro_alt_uncompensated; +} +#endif // CONFIG_EKF2_BARO_COMPENSATION diff --git a/src/modules/ekf2/EKF/aid_sources/drag/drag_fusion.cpp b/src/modules/ekf2/EKF/aid_sources/drag/drag_fusion.cpp new file mode 100644 index 000000000000..41c7dc2f12c8 --- /dev/null +++ b/src/modules/ekf2/EKF/aid_sources/drag/drag_fusion.cpp @@ -0,0 +1,185 @@ +/**************************************************************************** + * + * Copyright (c) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file drag_fusion.cpp + * Body frame drag fusion methods used for multi-rotor wind estimation. + */ + +#include "ekf.h" +#include +#include + +#include +#include + +void Ekf::controlDragFusion(const imuSample &imu_delayed) +{ + if ((_params.drag_ctrl > 0) && _drag_buffer) { + + if (!_control_status.flags.wind && !_control_status.flags.fake_pos && _control_status.flags.in_air) { + _control_status.flags.wind = true; + + if (!_external_wind_init) { + resetWindCov(); + } + } + + dragSample drag_sample; + + if (_drag_buffer->pop_first_older_than(imu_delayed.time_us, &drag_sample)) { + fuseDrag(drag_sample); + } + } +} + +void Ekf::fuseDrag(const dragSample &drag_sample) +{ + const float R_ACC = fmaxf(_params.drag_noise, 0.5f); // observation noise variance in specific force drag (m/sec**2)**2 + const float rho = fmaxf(_air_density, 0.1f); // air density (kg/m**3) + + // correct rotor momentum drag for increase in required rotor mass flow with altitude + // obtained from momentum disc theory + const float mcoef_corrrected = fmaxf(_params.mcoef * sqrtf(rho / atmosphere::kAirDensitySeaLevelStandardAtmos), 0.f); + + // drag model parameters + const bool using_bcoef_x = _params.bcoef_x > 1.0f; + const bool using_bcoef_y = _params.bcoef_y > 1.0f; + const bool using_mcoef = _params.mcoef > 0.001f; + + if (!using_bcoef_x && !using_bcoef_y && !using_mcoef) { + return; + } + + // calculate relative wind velocity in earth frame and rotate into body frame + const Vector3f rel_wind_earth(_state.vel(0) - _state.wind_vel(0), + _state.vel(1) - _state.wind_vel(1), + _state.vel(2)); + const Vector3f rel_wind_body = _state.quat_nominal.rotateVectorInverse(rel_wind_earth); + const float rel_wind_speed = rel_wind_body.norm(); + const auto state_vector_prev = _state.vector(); + + Vector2f bcoef_inv{0.f, 0.f}; + + if (using_bcoef_x) { + bcoef_inv(0) = 1.f / _params.bcoef_x; + } + + if (using_bcoef_y) { + bcoef_inv(1) = 1.f / _params.bcoef_y; + } + + if (using_bcoef_x && using_bcoef_y) { + + // Interpolate between the X and Y bluff body drag coefficients using current relative velocity + // This creates an elliptic drag distribution around the XY plane + bcoef_inv(0) = Vector2f(bcoef_inv.emult(rel_wind_body.xy()) / rel_wind_body.xy().norm()).norm(); + bcoef_inv(1) = bcoef_inv(0); + } + + bool fused[] {false, false}; + + Vector2f observation{}; + Vector2f observation_variance{R_ACC, R_ACC}; + Vector2f innovation{}; + Vector2f innovation_variance{}; + + // Apply an innovation consistency check with a 5 Sigma threshold + const float innov_gate = 5.f; + + VectorState H; + + // perform sequential fusion of XY specific forces + for (uint8_t axis_index = 0; axis_index < 2; axis_index++) { + // measured drag acceleration corrected for sensor bias + const float mea_acc = drag_sample.accelXY(axis_index) - _state.accel_bias(axis_index); + + // Drag is modelled as an arbitrary combination of bluff body drag that proportional to + // equivalent airspeed squared, and rotor momentum drag that is proportional to true airspeed + // parallel to the rotor disc and mass flow through the rotor disc. + const float pred_acc = -0.5f * bcoef_inv(axis_index) * rho * rel_wind_body(axis_index) * rel_wind_speed + - rel_wind_body(axis_index) * mcoef_corrrected; + + observation(axis_index) = mea_acc; + innovation(axis_index) = pred_acc - mea_acc; + + if (axis_index == 0) { + sym::ComputeDragXInnovVarAndH(state_vector_prev, P, rho, bcoef_inv(axis_index), mcoef_corrrected, R_ACC, FLT_EPSILON, + &innovation_variance(axis_index), &H); + + if (!using_bcoef_x && !using_mcoef) { + continue; + } + + } else if (axis_index == 1) { + sym::ComputeDragYInnovVarAndH(state_vector_prev, P, rho, bcoef_inv(axis_index), mcoef_corrrected, R_ACC, FLT_EPSILON, + &innovation_variance(axis_index), &H); + + if (!using_bcoef_y && !using_mcoef) { + continue; + } + } + + if (innovation_variance(axis_index) < R_ACC) { + // calculation is badly conditioned + break; + } + + const float test_ratio = sq(innovation(axis_index)) / (sq(innov_gate) * innovation_variance(axis_index)); + + if (_control_status.flags.in_air && _control_status.flags.wind && !_control_status.flags.fake_pos + && PX4_ISFINITE(innovation_variance(axis_index)) && PX4_ISFINITE(innovation(axis_index)) + && (test_ratio < 1.f) + ) { + + VectorState K = P * H / innovation_variance(axis_index); + + if (measurementUpdate(K, H, R_ACC, innovation(axis_index))) { + fused[axis_index] = true; + } + } + } + + updateAidSourceStatus(_aid_src_drag, + drag_sample.time_us, // sample timestamp + observation, // observation + observation_variance, // observation variance + innovation, // innovation + innovation_variance, // innovation variance + innov_gate); // innovation gate + + if (fused[0] && fused[1]) { + _aid_src_drag.fused = true; + _aid_src_drag.time_last_fuse = _time_delayed_us; + } +} diff --git a/src/modules/ekf2/EKF/aid_sources/external_vision/ev_control.cpp b/src/modules/ekf2/EKF/aid_sources/external_vision/ev_control.cpp new file mode 100644 index 000000000000..68022677ba64 --- /dev/null +++ b/src/modules/ekf2/EKF/aid_sources/external_vision/ev_control.cpp @@ -0,0 +1,106 @@ +/**************************************************************************** + * + * Copyright (c) 2022 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file ev_control.cpp + * Control functions for ekf external vision control + */ + +#include "ekf.h" + +void Ekf::controlExternalVisionFusion(const imuSample &imu_sample) +{ + _ev_pos_b_est.predict(_dt_ekf_avg); + _ev_hgt_b_est.predict(_dt_ekf_avg); + + // Check for new external vision data + extVisionSample ev_sample; + + if (_ext_vision_buffer && _ext_vision_buffer->pop_first_older_than(imu_sample.time_us, &ev_sample)) { + + bool ev_reset = (ev_sample.reset_counter != _ev_sample_prev.reset_counter); + + // determine if we should use the horizontal position observations + bool quality_sufficient = (_params.ev_quality_minimum <= 0) || (ev_sample.quality >= _params.ev_quality_minimum); + + const bool starting_conditions_passing = quality_sufficient + && ((ev_sample.time_us - _ev_sample_prev.time_us) < EV_MAX_INTERVAL) + && ((_params.ev_quality_minimum <= 0) + || (_ev_sample_prev.quality >= _params.ev_quality_minimum)) // previous quality sufficient + && ((_params.ev_quality_minimum <= 0) + || (_ext_vision_buffer->get_newest().quality >= _params.ev_quality_minimum)) // newest quality sufficient + && isNewestSampleRecent(_time_last_ext_vision_buffer_push, EV_MAX_INTERVAL); + + updateEvAttitudeErrorFilter(ev_sample, ev_reset); + controlEvYawFusion(imu_sample, ev_sample, starting_conditions_passing, ev_reset, quality_sufficient, _aid_src_ev_yaw); + controlEvVelFusion(imu_sample, ev_sample, starting_conditions_passing, ev_reset, quality_sufficient, _aid_src_ev_vel); + controlEvPosFusion(imu_sample, ev_sample, starting_conditions_passing, ev_reset, quality_sufficient, _aid_src_ev_pos); + controlEvHeightFusion(imu_sample, ev_sample, starting_conditions_passing, ev_reset, quality_sufficient, + _aid_src_ev_hgt); + + if (quality_sufficient) { + _ev_sample_prev = ev_sample; + } + + } else if ((_control_status.flags.ev_pos || _control_status.flags.ev_vel || _control_status.flags.ev_yaw + || _control_status.flags.ev_hgt) + && isTimedOut(_ev_sample_prev.time_us, 2 * EV_MAX_INTERVAL)) { + + // Turn off EV fusion mode if no data has been received + stopEvPosFusion(); + stopEvVelFusion(); + stopEvYawFusion(); + stopEvHgtFusion(); + + _ev_q_error_initialized = false; + + ECL_WARN("vision data stopped"); + } +} + +void Ekf::updateEvAttitudeErrorFilter(extVisionSample &ev_sample, bool ev_reset) +{ + const Quatf q_error((_state.quat_nominal * ev_sample.quat.inversed()).normalized()); + + if (!q_error.isAllFinite()) { + return; + } + + if (!_ev_q_error_initialized || ev_reset) { + _ev_q_error_filt.reset(q_error); + _ev_q_error_initialized = true; + + } else { + _ev_q_error_filt.update(q_error); + } +} diff --git a/src/modules/ekf2/EKF/ev_height_control.cpp b/src/modules/ekf2/EKF/aid_sources/external_vision/ev_height_control.cpp similarity index 77% rename from src/modules/ekf2/EKF/ev_height_control.cpp rename to src/modules/ekf2/EKF/aid_sources/external_vision/ev_height_control.cpp index aefd7e1681ee..440c0fe7acf6 100644 --- a/src/modules/ekf2/EKF/ev_height_control.cpp +++ b/src/modules/ekf2/EKF/aid_sources/external_vision/ev_height_control.cpp @@ -38,14 +38,15 @@ #include "ekf.h" -void Ekf::controlEvHeightFusion(const extVisionSample &ev_sample, const bool common_starting_conditions_passing, - const bool ev_reset, const bool quality_sufficient, estimator_aid_source1d_s &aid_src) +void Ekf::controlEvHeightFusion(const imuSample &imu_sample, const extVisionSample &ev_sample, + const bool common_starting_conditions_passing, const bool ev_reset, const bool quality_sufficient, + estimator_aid_source1d_s &aid_src) { static constexpr const char *AID_SRC_NAME = "EV height"; HeightBiasEstimator &bias_est = _ev_hgt_b_est; - bias_est.predict(_dt_ekf_avg); + // bias_est.predict(_dt_ekf_avg) called by controlExternalVisionFusion() // correct position for offset relative to IMU const Vector3f pos_offset_body = _params.ev_pos_body - _params.imu_pos_body; @@ -56,10 +57,9 @@ void Ekf::controlEvHeightFusion(const extVisionSample &ev_sample, const bool com Matrix3f pos_cov{matrix::diag(ev_sample.position_var)}; // rotate EV to the EKF reference frame unless we're operating entirely in vision frame - // TODO: only necessary if there's a roll/pitch offset between VIO and EKF if (!(_control_status.flags.ev_yaw && _control_status.flags.ev_pos)) { - const Quatf q_error((_state.quat_nominal * ev_sample.quat.inversed()).normalized()); + const Quatf q_error(_ev_q_error_filt.getState()); if (q_error.isAllFinite()) { const Dcmf R_ev_to_ekf(q_error); @@ -77,25 +77,29 @@ void Ekf::controlEvHeightFusion(const extVisionSample &ev_sample, const bool com const float measurement = pos(2) - pos_offset_earth(2); float measurement_var = math::max(pos_cov(2, 2), sq(_params.ev_pos_noise), sq(0.01f)); +#if defined(CONFIG_EKF2_GNSS) + // increase minimum variance if GPS active if (_control_status.flags.gps_hgt) { measurement_var = math::max(measurement_var, sq(_params.gps_pos_noise)); } +#endif // CONFIG_EKF2_GNSS + const bool measurement_valid = PX4_ISFINITE(measurement) && PX4_ISFINITE(measurement_var); - updateVerticalPositionAidSrcStatus(ev_sample.time_us, - measurement - bias_est.getBias(), - measurement_var + bias_est.getBiasVar(), - math::max(_params.ev_pos_innov_gate, 1.f), - aid_src); + updateVerticalPositionAidStatus(aid_src, + ev_sample.time_us, + measurement - bias_est.getBias(), // observation + measurement_var + bias_est.getBiasVar(), // observation variance + math::max(_params.ev_pos_innov_gate, 1.f)); // innovation gate // update the bias estimator before updating the main filter but after // using its current state to compute the vertical position innovation if (measurement_valid && quality_sufficient) { bias_est.setMaxStateNoise(sqrtf(measurement_var)); bias_est.setProcessNoiseSpectralDensity(_params.ev_hgt_bias_nsd); - bias_est.fuseBias(measurement - _state.pos(2), measurement_var + P(9, 9)); + bias_est.fuseBias(measurement - _state.pos(2), measurement_var + P(State::pos.idx + 2, State::pos.idx + 2)); } const bool continuing_conditions_passing = (_params.ev_ctrl & static_cast(EvCtrl::VPOS)) @@ -105,10 +109,7 @@ void Ekf::controlEvHeightFusion(const extVisionSample &ev_sample, const bool com && continuing_conditions_passing; if (_control_status.flags.ev_hgt) { - aid_src.fusion_enabled = true; - if (continuing_conditions_passing) { - if (ev_reset) { if (quality_sufficient) { @@ -141,40 +142,13 @@ void Ekf::controlEvHeightFusion(const extVisionSample &ev_sample, const bool com const bool is_fusion_failing = isTimedOut(aid_src.time_last_fuse, _params.hgt_fusion_timeout_max); - if (isHeightResetRequired() && quality_sufficient) { + if (isHeightResetRequired() && quality_sufficient && (_height_sensor_ref == HeightSensor::EV)) { // All height sources are failing ECL_WARN("%s fusion reset required, all height sources failing", AID_SRC_NAME); _information_events.flags.reset_hgt_to_ev = true; resetVerticalPositionTo(measurement - bias_est.getBias(), measurement_var); bias_est.setBias(-_state.pos(2) + measurement); - // reset vertical velocity - if (ev_sample.vel.isAllFinite() && (_params.ev_ctrl & static_cast(EvCtrl::VEL))) { - - // correct velocity for offset relative to IMU - const Vector3f vel_offset_body = _ang_rate_delayed_raw % pos_offset_body; - const Vector3f vel_offset_earth = _R_to_earth * vel_offset_body; - - switch (ev_sample.vel_frame) { - case VelocityFrame::LOCAL_FRAME_NED: - case VelocityFrame::LOCAL_FRAME_FRD: { - const Vector3f reset_vel = ev_sample.vel - vel_offset_earth; - resetVerticalVelocityTo(reset_vel(2), math::max(ev_sample.velocity_var(2), sq(_params.ev_vel_noise))); - } - break; - - case VelocityFrame::BODY_FRAME_FRD: { - const Vector3f reset_vel = _R_to_earth * (ev_sample.vel - vel_offset_body); - const Matrix3f reset_vel_cov = _R_to_earth * matrix::diag(ev_sample.velocity_var) * _R_to_earth.transpose(); - resetVerticalVelocityTo(reset_vel(2), math::max(reset_vel_cov(2, 2), sq(_params.ev_vel_noise))); - } - break; - } - - } else { - resetVerticalVelocityToZero(); - } - aid_src.time_last_fuse = _time_delayed_us; } else if (is_fusion_failing) { @@ -193,7 +167,7 @@ void Ekf::controlEvHeightFusion(const extVisionSample &ev_sample, const bool com } else { if (starting_conditions_passing) { // activate fusion, only reset if necessary - if (_params.height_sensor_ref == HeightSensor::EV) { + if (_params.height_sensor_ref == static_cast(HeightSensor::EV)) { ECL_INFO("starting %s fusion, resetting state", AID_SRC_NAME); _information_events.flags.reset_hgt_to_ev = true; resetVerticalPositionTo(measurement, measurement_var); @@ -222,7 +196,6 @@ void Ekf::stopEvHgtFusion() } _ev_hgt_b_est.setFusionInactive(); - resetEstimatorAidStatus(_aid_src_ev_hgt); _control_status.flags.ev_hgt = false; } diff --git a/src/modules/ekf2/EKF/ev_pos_control.cpp b/src/modules/ekf2/EKF/aid_sources/external_vision/ev_pos_control.cpp similarity index 88% rename from src/modules/ekf2/EKF/ev_pos_control.cpp rename to src/modules/ekf2/EKF/aid_sources/external_vision/ev_pos_control.cpp index 980a48867266..590a289da394 100644 --- a/src/modules/ekf2/EKF/ev_pos_control.cpp +++ b/src/modules/ekf2/EKF/aid_sources/external_vision/ev_pos_control.cpp @@ -41,8 +41,9 @@ static constexpr const char *EV_AID_SRC_NAME = "EV position"; -void Ekf::controlEvPosFusion(const extVisionSample &ev_sample, const bool common_starting_conditions_passing, - const bool ev_reset, const bool quality_sufficient, estimator_aid_source2d_s &aid_src) +void Ekf::controlEvPosFusion(const imuSample &imu_sample, const extVisionSample &ev_sample, + const bool common_starting_conditions_passing, const bool ev_reset, const bool quality_sufficient, + estimator_aid_source2d_s &aid_src) { const bool yaw_alignment_changed = (!_control_status_prev.flags.ev_yaw && _control_status.flags.ev_yaw) || (_control_status_prev.flags.yaw_align != _control_status.flags.yaw_align); @@ -95,8 +96,7 @@ void Ekf::controlEvPosFusion(const extVisionSample &ev_sample, const bool common } else { // rotate EV to the EKF reference frame - const Quatf q_error((_state.quat_nominal * ev_sample.quat.inversed()).normalized()); - const Dcmf R_ev_to_ekf = Dcmf(q_error); + const Dcmf R_ev_to_ekf = Dcmf(_ev_q_error_filt.getState()); pos = R_ev_to_ekf * ev_sample.pos - pos_offset_earth; pos_cov = R_ev_to_ekf * matrix::diag(ev_sample.position_var) * R_ev_to_ekf.transpose(); @@ -126,6 +126,8 @@ void Ekf::controlEvPosFusion(const extVisionSample &ev_sample, const bool common break; } +#if defined(CONFIG_EKF2_GNSS) + // increase minimum variance if GPS active (position reference) if (_control_status.flags.gps) { for (int i = 0; i < 2; i++) { @@ -133,6 +135,8 @@ void Ekf::controlEvPosFusion(const extVisionSample &ev_sample, const bool common } } +#endif // CONFIG_EKF2_GNSS + const Vector2f measurement{pos(0), pos(1)}; const Vector2f measurement_var{ @@ -154,18 +158,24 @@ void Ekf::controlEvPosFusion(const extVisionSample &ev_sample, const bool common } } - updateHorizontalPositionAidSrcStatus(ev_sample.time_us, - measurement - _ev_pos_b_est.getBias(), // observation - measurement_var + _ev_pos_b_est.getBiasVar(), // observation variance - math::max(_params.ev_pos_innov_gate, 1.f), // innovation gate - aid_src); + const Vector2f position = measurement - _ev_pos_b_est.getBias(); + const Vector2f pos_obs_var = measurement_var + _ev_pos_b_est.getBiasVar(); + + updateAidSourceStatus(aid_src, + ev_sample.time_us, // sample timestamp + position, // observation + pos_obs_var, // observation variance + Vector2f(_state.pos) - position, // innovation + Vector2f(getStateVariance()) + pos_obs_var, // innovation variance + math::max(_params.ev_pos_innov_gate, 1.f)); // innovation gate // update the bias estimator before updating the main filter but after // using its current state to compute the vertical position innovation if (measurement_valid && quality_sufficient) { _ev_pos_b_est.setMaxStateNoise(Vector2f(sqrtf(measurement_var(0)), sqrtf(measurement_var(1)))); _ev_pos_b_est.setProcessNoiseSpectralDensity(_params.ev_hgt_bias_nsd); // TODO - _ev_pos_b_est.fuseBias(measurement - Vector2f(_state.pos.xy()), measurement_var + Vector2f(P(7, 7), P(8, 8))); + _ev_pos_b_est.fuseBias(measurement - Vector2f(_state.pos.xy()), + measurement_var + Vector2f(getStateVariance())); } if (!measurement_valid) { @@ -176,7 +186,6 @@ void Ekf::controlEvPosFusion(const extVisionSample &ev_sample, const bool common && continuing_conditions_passing; if (_control_status.flags.ev_pos) { - aid_src.fusion_enabled = true; if (continuing_conditions_passing) { const bool bias_estimator_change = (bias_fusion_was_active != _ev_pos_b_est.fusionActive()); @@ -197,7 +206,8 @@ void Ekf::controlEvPosFusion(const extVisionSample &ev_sample, const bool common } } -void Ekf::startEvPosFusion(const Vector2f &measurement, const Vector2f &measurement_var, estimator_aid_source2d_s &aid_src) +void Ekf::startEvPosFusion(const Vector2f &measurement, const Vector2f &measurement_var, + estimator_aid_source2d_s &aid_src) { // activate fusion // TODO: (_params.position_sensor_ref == PositionSensor::EV) @@ -221,7 +231,8 @@ void Ekf::startEvPosFusion(const Vector2f &measurement, const Vector2f &measurem _control_status.flags.ev_pos = true; } -void Ekf::updateEvPosFusion(const Vector2f &measurement, const Vector2f &measurement_var, bool quality_sufficient, bool reset, estimator_aid_source2d_s &aid_src) +void Ekf::updateEvPosFusion(const Vector2f &measurement, const Vector2f &measurement_var, bool quality_sufficient, + bool reset, estimator_aid_source2d_s &aid_src) { if (reset) { @@ -297,8 +308,6 @@ void Ekf::updateEvPosFusion(const Vector2f &measurement, const Vector2f &measure void Ekf::stopEvPosFusion() { if (_control_status.flags.ev_pos) { - resetEstimatorAidStatus(_aid_src_ev_pos); - _control_status.flags.ev_pos = false; } } diff --git a/src/modules/ekf2/EKF/aid_sources/external_vision/ev_vel_control.cpp b/src/modules/ekf2/EKF/aid_sources/external_vision/ev_vel_control.cpp new file mode 100644 index 000000000000..b94f24f45e9f --- /dev/null +++ b/src/modules/ekf2/EKF/aid_sources/external_vision/ev_vel_control.cpp @@ -0,0 +1,347 @@ +/**************************************************************************** + * + * Copyright (c) 2022 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file ev_vel_control.cpp + * Control functions for ekf external vision velocity fusion + */ + +#include "ekf.h" +#include +#include +#include + +void Ekf::controlEvVelFusion(const imuSample &imu_sample, const extVisionSample &ev_sample, + const bool common_starting_conditions_passing, const bool ev_reset, const bool quality_sufficient, + estimator_aid_source3d_s &aid_src) +{ + static constexpr const char *AID_SRC_NAME = "EV velocity"; + + const bool yaw_alignment_changed = (!_control_status_prev.flags.ev_yaw && _control_status.flags.ev_yaw) + || (_control_status_prev.flags.yaw_align != _control_status.flags.yaw_align); + + // determine if we should use EV velocity aiding + bool continuing_conditions_passing = (_params.ev_ctrl & static_cast(EvCtrl::VEL)) + && _control_status.flags.tilt_align + && ev_sample.vel.isAllFinite(); + + // correct velocity for offset relative to IMU + const Vector3f angular_velocity = imu_sample.delta_ang / imu_sample.delta_ang_dt - _state.gyro_bias; + const Vector3f pos_offset_body = _params.ev_pos_body - _params.imu_pos_body; + const Vector3f vel_offset_body = angular_velocity % pos_offset_body; + const Vector3f vel_offset_earth = _R_to_earth * vel_offset_body; + + // rotate measurement into correct earth frame if required + Vector3f measurement{}; + Vector3f measurement_var{}; + + float minimum_variance = math::max(sq(0.01f), sq(_params.ev_vel_noise)); + + switch (ev_sample.vel_frame) { + case VelocityFrame::LOCAL_FRAME_NED: + if (_control_status.flags.yaw_align) { + measurement = ev_sample.vel - vel_offset_earth; + measurement_var = ev_sample.velocity_var; + + } else { + continuing_conditions_passing = false; + } + + break; + + case VelocityFrame::LOCAL_FRAME_FRD: + if (_control_status.flags.ev_yaw) { + // using EV frame + measurement = ev_sample.vel - vel_offset_earth; + measurement_var = ev_sample.velocity_var; + + } else { + // rotate EV to the EKF reference frame + const Dcmf R_ev_to_ekf = Dcmf(_ev_q_error_filt.getState()); + + measurement = R_ev_to_ekf * ev_sample.vel - vel_offset_earth; + measurement_var = matrix::SquareMatrix3f(R_ev_to_ekf * matrix::diag(ev_sample.velocity_var) * + R_ev_to_ekf.transpose()).diag(); + minimum_variance = math::max(minimum_variance, ev_sample.orientation_var.max()); + } + + break; + + case VelocityFrame::BODY_FRAME_FRD: { + + // currently it is assumed that the orientation of the EV frame and the body frame are the same + measurement = ev_sample.vel - vel_offset_body; + measurement_var = ev_sample.velocity_var; + break; + } + + default: + continuing_conditions_passing = false; + break; + } + +#if defined(CONFIG_EKF2_GNSS) + + // increase minimum variance if GPS active (position reference) + if (_control_status.flags.gps) { + for (int i = 0; i < 2; i++) { + measurement_var(i) = math::max(measurement_var(i), sq(_params.gps_vel_noise)); + } + } + +#endif // CONFIG_EKF2_GNSS + + measurement_var = Vector3f{ + math::max(measurement_var(0), minimum_variance), + math::max(measurement_var(1), minimum_variance), + math::max(measurement_var(2), minimum_variance) + }; + continuing_conditions_passing &= measurement.isAllFinite() && measurement_var.isAllFinite(); + + if (ev_sample.vel_frame == VelocityFrame::BODY_FRAME_FRD) { + const Vector3f measurement_var_ekf_frame = rotateVarianceToEkf(measurement_var); + const Vector3f measurement_ekf_frame = _R_to_earth * measurement; + const uint64_t t = aid_src.timestamp_sample; + updateAidSourceStatus(aid_src, + ev_sample.time_us, // sample timestamp + measurement_ekf_frame, // observation + measurement_var_ekf_frame, // observation variance + _state.vel - measurement_ekf_frame, // innovation + getVelocityVariance() + measurement_var_ekf_frame, // innovation variance + math::max(_params.ev_vel_innov_gate, 1.f)); // innovation gate + aid_src.timestamp_sample = t; + measurement.copyTo(aid_src.observation); + measurement_var.copyTo(aid_src.observation_variance); + + } else { + updateAidSourceStatus(aid_src, + ev_sample.time_us, // sample timestamp + measurement, // observation + measurement_var, // observation variance + _state.vel - measurement, // innovation + getVelocityVariance() + measurement_var, // innovation variance + math::max(_params.ev_vel_innov_gate, 1.f)); // innovation gate + } + + + const bool starting_conditions_passing = common_starting_conditions_passing + && continuing_conditions_passing + && ((Vector3f(aid_src.test_ratio).max() < 0.1f) || !isHorizontalAidingActive()); + + if (_control_status.flags.ev_vel) { + if (continuing_conditions_passing) { + if ((ev_reset && isOnlyActiveSourceOfHorizontalAiding(_control_status.flags.ev_vel)) || yaw_alignment_changed) { + if (quality_sufficient) { + ECL_INFO("reset to %s", AID_SRC_NAME); + _information_events.flags.reset_vel_to_vision = true; + resetVelocityToEV(measurement, measurement_var, ev_sample.vel_frame); + resetAidSourceStatusZeroInnovation(aid_src); + + } else { + // EV has reset, but quality isn't sufficient + // we have no choice but to stop EV and try to resume once quality is acceptable + stopEvVelFusion(); + return; + } + + } else if (quality_sufficient) { + fuseEvVelocity(aid_src, ev_sample); + + } else { + aid_src.innovation_rejected = true; + } + + const bool is_fusion_failing = isTimedOut(aid_src.time_last_fuse, _params.no_aid_timeout_max); // 1 second + + if (is_fusion_failing) { + + if ((_nb_ev_vel_reset_available > 0) && quality_sufficient) { + // Data seems good, attempt a reset + _information_events.flags.reset_vel_to_vision = true; + ECL_WARN("%s fusion failing, resetting", AID_SRC_NAME); + resetVelocityToEV(measurement, measurement_var, ev_sample.vel_frame); + resetAidSourceStatusZeroInnovation(aid_src); + + if (_control_status.flags.in_air) { + _nb_ev_vel_reset_available--; + } + + } else { + // differ warning message based on whether the starting conditions are passing + if (starting_conditions_passing) { + // Data seems good, but previous reset did not fix the issue + // something else must be wrong, declare the sensor faulty and stop the fusion + //_control_status.flags.ev_vel_fault = true; + ECL_WARN("stopping %s fusion, starting conditions failing", AID_SRC_NAME); + + } else { + // A reset did not fix the issue but all the starting checks are not passing + // This could be a temporary issue, stop the fusion without declaring the sensor faulty + ECL_WARN("stopping %s, fusion failing", AID_SRC_NAME); + } + + stopEvVelFusion(); + } + + } else if (isHeightResetRequired()) { + // reset vertical velocity if height is failing + if (ev_sample.vel_frame == VelocityFrame::BODY_FRAME_FRD) { + const Vector3f measurement_ekf_frame = _R_to_earth * measurement; + const Vector3f measurement_var_ekf_frame = rotateVarianceToEkf(measurement_var); + resetVerticalVelocityTo(measurement_ekf_frame(2), measurement_var_ekf_frame(2)); + + } else { + resetVerticalVelocityTo(measurement(2), measurement_var(2)); + } + } + + } else { + // Stop fusion but do not declare it faulty + ECL_WARN("stopping %s fusion, continuing conditions failing", AID_SRC_NAME); + stopEvVelFusion(); + } + + } else { + if (starting_conditions_passing) { + // activate fusion, only reset if necessary + if (!isHorizontalAidingActive() || yaw_alignment_changed) { + ECL_INFO("starting %s fusion, resetting velocity to (%.3f, %.3f, %.3f)", AID_SRC_NAME, + (double)measurement(0), (double)measurement(1), (double)measurement(2)); + _information_events.flags.reset_vel_to_vision = true; + resetVelocityToEV(measurement, measurement_var, ev_sample.vel_frame); + resetAidSourceStatusZeroInnovation(aid_src); + + _control_status.flags.ev_vel = true; + + } else if (fuseEvVelocity(aid_src, ev_sample)) { + ECL_INFO("starting %s fusion", AID_SRC_NAME); + _control_status.flags.ev_vel = true; + } + + if (_control_status.flags.ev_vel) { + _nb_ev_vel_reset_available = 5; + _information_events.flags.starting_vision_vel_fusion = true; + } + } + } +} + +bool Ekf::fuseEvVelocity(estimator_aid_source3d_s &aid_src, const extVisionSample &ev_sample) +{ + if (ev_sample.vel_frame == VelocityFrame::BODY_FRAME_FRD) { + + VectorState H; + estimator_aid_source1d_s current_aid_src; + const auto state_vector = _state.vector(); + + for (uint8_t index = 0; index <= 2; index++) { + current_aid_src.timestamp_sample = aid_src.timestamp_sample; + + if (index == 0) { + sym::ComputeEvBodyVelHx(state_vector, &H); + + } else if (index == 1) { + sym::ComputeEvBodyVelHy(state_vector, &H); + + } else { + sym::ComputeEvBodyVelHz(state_vector, &H); + } + + const float innov_var = (H.T() * P * H)(0, 0) + aid_src.observation_variance[index]; + const float innov = (_R_to_earth.transpose() * _state.vel - Vector3f(aid_src.observation))(index, 0); + + updateAidSourceStatus(current_aid_src, + ev_sample.time_us, // sample timestamp + aid_src.observation[index], // observation + aid_src.observation_variance[index], // observation variance + innov, // innovation + innov_var, // innovation variance + math::max(_params.ev_vel_innov_gate, 1.f)); // innovation gate + + if (!current_aid_src.innovation_rejected) { + fuseBodyVelocity(current_aid_src, current_aid_src.innovation_variance, H); + + } + + aid_src.innovation[index] = current_aid_src.innovation; + aid_src.innovation_variance[index] = current_aid_src.innovation_variance; + aid_src.test_ratio[index] = current_aid_src.test_ratio; + aid_src.fused = current_aid_src.fused; + aid_src.innovation_rejected |= current_aid_src.innovation_rejected; + + if (aid_src.fused) { + aid_src.time_last_fuse = _time_delayed_us; + } + + } + + if (aid_src.fused) { + _time_last_hor_vel_fuse = _time_delayed_us; + _time_last_ver_vel_fuse = _time_delayed_us; + } + + aid_src.timestamp_sample = current_aid_src.timestamp_sample; + return !aid_src.innovation_rejected; + + } else { + return fuseVelocity(aid_src); + } +} + +void Ekf::stopEvVelFusion() +{ + if (_control_status.flags.ev_vel) { + + _control_status.flags.ev_vel = false; + } +} + +void Ekf::resetVelocityToEV(const Vector3f &measurement, const Vector3f &measurement_var, + const VelocityFrame &vel_frame) +{ + if (vel_frame == VelocityFrame::BODY_FRAME_FRD) { + const Vector3f measurement_var_ekf_frame = rotateVarianceToEkf(measurement_var); + resetVelocityTo(_R_to_earth * measurement, measurement_var_ekf_frame); + + } else { + resetVelocityTo(measurement, measurement_var); + } + +} + +Vector3f Ekf::rotateVarianceToEkf(const Vector3f &measurement_var) +{ + // rotate the covariance matrix into the EKF frame + const matrix::SquareMatrix R_cov = _R_to_earth * matrix::diag(measurement_var) * _R_to_earth.transpose(); + return R_cov.diag(); +} diff --git a/src/modules/ekf2/EKF/ev_yaw_control.cpp b/src/modules/ekf2/EKF/aid_sources/external_vision/ev_yaw_control.cpp similarity index 78% rename from src/modules/ekf2/EKF/ev_yaw_control.cpp rename to src/modules/ekf2/EKF/aid_sources/external_vision/ev_yaw_control.cpp index e7f1d3c6436d..ad15c4f6bb33 100644 --- a/src/modules/ekf2/EKF/ev_yaw_control.cpp +++ b/src/modules/ekf2/EKF/aid_sources/external_vision/ev_yaw_control.cpp @@ -38,21 +38,37 @@ #include "ekf.h" -void Ekf::controlEvYawFusion(const extVisionSample &ev_sample, const bool common_starting_conditions_passing, - const bool ev_reset, const bool quality_sufficient, estimator_aid_source1d_s &aid_src) +void Ekf::controlEvYawFusion(const imuSample &imu_sample, const extVisionSample &ev_sample, + const bool common_starting_conditions_passing, const bool ev_reset, const bool quality_sufficient, + estimator_aid_source1d_s &aid_src) { static constexpr const char *AID_SRC_NAME = "EV yaw"; - resetEstimatorAidStatus(aid_src); - aid_src.timestamp_sample = ev_sample.time_us; - aid_src.observation = getEulerYaw(ev_sample.quat); - aid_src.observation_variance = math::max(ev_sample.orientation_var(2), _params.ev_att_noise, sq(0.01f)); - aid_src.innovation = wrap_pi(getEulerYaw(_R_to_earth) - aid_src.observation); + float obs = getEulerYaw(ev_sample.quat); + float obs_var = math::max(ev_sample.orientation_var(2), _params.ev_att_noise, sq(0.01f)); + + float innov = wrap_pi(getEulerYaw(_R_to_earth) - obs); + float innov_var = 0.f; + + VectorState H_YAW; + computeYawInnovVarAndH(obs_var, innov_var, H_YAW); + + updateAidSourceStatus(aid_src, + ev_sample.time_us, // sample timestamp + obs, // observation + obs_var, // observation variance + innov, // innovation + innov_var, // innovation variance + math::max(_params.heading_innov_gate, 1.f)); // innovation gate + + if (ev_reset) { + _control_status.flags.ev_yaw_fault = false; + } // determine if we should use EV yaw aiding bool continuing_conditions_passing = (_params.ev_ctrl & static_cast(EvCtrl::YAW)) && _control_status.flags.tilt_align - && !_inhibit_ev_yaw_use + && !_control_status.flags.ev_yaw_fault && PX4_ISFINITE(aid_src.observation) && PX4_ISFINITE(aid_src.observation_variance); @@ -61,10 +77,6 @@ void Ekf::controlEvYawFusion(const extVisionSample &ev_sample, const bool common && (ev_sample.pos_frame != PositionFrame::LOCAL_FRAME_NED) ) { continuing_conditions_passing = false; - - // use delta yaw for innovation logging - aid_src.innovation = wrap_pi(wrap_pi(getEulerYaw(_R_to_earth) - _ev_yaw_pred_prev) - - wrap_pi(getEulerYaw(ev_sample.quat) - getEulerYaw(_ev_sample_prev.quat))); } const bool starting_conditions_passing = common_starting_conditions_passing @@ -72,8 +84,6 @@ void Ekf::controlEvYawFusion(const extVisionSample &ev_sample, const bool common && isTimedOut(aid_src.time_last_fuse, (uint32_t)1e6); if (_control_status.flags.ev_yaw) { - aid_src.fusion_enabled = true; - if (continuing_conditions_passing) { if (ev_reset) { @@ -92,7 +102,7 @@ void Ekf::controlEvYawFusion(const extVisionSample &ev_sample, const bool common } } else if (quality_sufficient) { - fuseYaw(aid_src.innovation, aid_src.observation_variance, aid_src); + fuseYaw(aid_src, H_YAW); } else { aid_src.innovation_rejected = true; @@ -139,25 +149,28 @@ void Ekf::controlEvYawFusion(const extVisionSample &ev_sample, const bool common if (ev_sample.pos_frame == PositionFrame::LOCAL_FRAME_NED) { if (_control_status.flags.yaw_align) { - ECL_INFO("starting %s fusion", AID_SRC_NAME); + + if (fuseYaw(aid_src, H_YAW)) { + ECL_INFO("starting %s fusion", AID_SRC_NAME); + _information_events.flags.starting_vision_yaw_fusion = true; + + _control_status.flags.ev_yaw = true; + } } else { // reset yaw to EV and set yaw_align ECL_INFO("starting %s fusion, resetting state", AID_SRC_NAME); + _information_events.flags.starting_vision_yaw_fusion = true; + resetQuatStateYaw(aid_src.observation, aid_src.observation_variance); _control_status.flags.yaw_align = true; - } + _control_status.flags.ev_yaw = true; - aid_src.time_last_fuse = _time_delayed_us; - _information_events.flags.starting_vision_yaw_fusion = true; - _control_status.flags.ev_yaw = true; + aid_src.time_last_fuse = _time_delayed_us; + } } else if (ev_sample.pos_frame == PositionFrame::LOCAL_FRAME_FRD) { - // turn on fusion of external vision yaw measurements and disable all other heading fusion - stopMagFusion(); - stopGpsYawFusion(); - stopGpsFusion(); - + // turn on fusion of external vision yaw measurements ECL_INFO("starting %s fusion, resetting state", AID_SRC_NAME); // reset yaw to EV @@ -179,10 +192,11 @@ void Ekf::controlEvYawFusion(const extVisionSample &ev_sample, const bool common void Ekf::stopEvYawFusion() { #if defined(CONFIG_EKF2_EXTERNAL_VISION) + if (_control_status.flags.ev_yaw) { - resetEstimatorAidStatus(_aid_src_ev_yaw); _control_status.flags.ev_yaw = false; } + #endif // CONFIG_EKF2_EXTERNAL_VISION } diff --git a/src/modules/ekf2/EKF/fake_height_control.cpp b/src/modules/ekf2/EKF/aid_sources/fake_height_control.cpp similarity index 89% rename from src/modules/ekf2/EKF/fake_height_control.cpp rename to src/modules/ekf2/EKF/aid_sources/fake_height_control.cpp index ef8c3180810a..d9635c8e4aa6 100644 --- a/src/modules/ekf2/EKF/fake_height_control.cpp +++ b/src/modules/ekf2/EKF/aid_sources/fake_height_control.cpp @@ -51,8 +51,7 @@ void Ekf::controlFakeHgtFusion() const float obs_var = sq(_params.pos_noaid_noise); const float innov_gate = 3.f; - updateVerticalPositionAidSrcStatus(_time_delayed_us, _last_known_pos(2), obs_var, innov_gate, aid_src); - + updateVerticalPositionAidStatus(aid_src, _time_delayed_us, _last_known_pos(2), obs_var, innov_gate); const bool continuing_conditions_passing = !isVerticalAidingActive(); const bool starting_conditions_passing = continuing_conditions_passing @@ -63,9 +62,15 @@ void Ekf::controlFakeHgtFusion() if (continuing_conditions_passing) { // always protect against extreme values that could result in a NaN - aid_src.fusion_enabled = aid_src.test_ratio < sq(100.0f / innov_gate); - - fuseVerticalPosition(aid_src); + if (aid_src.test_ratio < sq(100.0f / innov_gate)) { + if (!aid_src.innovation_rejected + && fuseDirectStateMeasurement(aid_src.innovation, aid_src.innovation_variance, aid_src.observation_variance, + State::pos.idx + 2) + ) { + aid_src.fused = true; + aid_src.time_last_fuse = _time_delayed_us; + } + } const bool is_fusion_failing = isTimedOut(aid_src.time_last_fuse, (uint64_t)4e5); @@ -113,7 +118,5 @@ void Ekf::stopFakeHgtFusion() if (_control_status.flags.fake_hgt) { ECL_INFO("stop fake height fusion"); _control_status.flags.fake_hgt = false; - - resetEstimatorAidStatus(_aid_src_fake_hgt); } } diff --git a/src/modules/ekf2/EKF/aid_sources/fake_pos_control.cpp b/src/modules/ekf2/EKF/aid_sources/fake_pos_control.cpp new file mode 100644 index 000000000000..b87e14654fb2 --- /dev/null +++ b/src/modules/ekf2/EKF/aid_sources/fake_pos_control.cpp @@ -0,0 +1,143 @@ +/**************************************************************************** + * + * Copyright (c) 2022 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file fake_pos_control.cpp + * Control functions for ekf fake position fusion + */ + +#include "ekf.h" + +void Ekf::controlFakePosFusion() +{ + auto &aid_src = _aid_src_fake_pos; + + // If we aren't doing any aiding, fake position measurements at the last known position to constrain drift + // During initial tilt alignment, fake position is used to perform a "quasi-stationary" leveling of the EKF + const bool fake_pos_data_ready = !isHorizontalAidingActive() + && isTimedOut(aid_src.time_last_fuse, (uint64_t)2e5); // Fuse fake position at a limited rate + + if (fake_pos_data_ready) { + + Vector2f obs_var; + + if (_control_status.flags.in_air && _control_status.flags.tilt_align) { + obs_var(0) = obs_var(1) = sq(fmaxf(_params.pos_noaid_noise, 1.f)); + + } else if (!_control_status.flags.in_air && _control_status.flags.vehicle_at_rest) { + // Accelerate tilt fine alignment by fusing more + // aggressively when the vehicle is at rest + obs_var(0) = obs_var(1) = sq(0.01f); + + } else { + obs_var(0) = obs_var(1) = sq(0.5f); + } + + const Vector2f position(_last_known_pos); + + const float innov_gate = 3.f; + + updateAidSourceStatus(aid_src, + _time_delayed_us, + position, // observation + obs_var, // observation variance + Vector2f(_state.pos) - position, // innovation + Vector2f(getStateVariance()) + obs_var, // innovation variance + innov_gate); // innovation gate + + const bool enable_valid_fake_pos = _control_status.flags.constant_pos || _control_status.flags.vehicle_at_rest; + const bool enable_fake_pos = !enable_valid_fake_pos + && (getTiltVariance() > sq(math::radians(3.f))) + && !(_params.imu_ctrl & static_cast(ImuCtrl::GravityVector)) + && _horizontal_deadreckon_time_exceeded; + + _control_status.flags.fake_pos = runFakePosStateMachine(enable_fake_pos, _control_status.flags.fake_pos, aid_src); + _control_status.flags.valid_fake_pos = runFakePosStateMachine(enable_valid_fake_pos, + _control_status.flags.valid_fake_pos, aid_src); + + } else if ((_control_status.flags.fake_pos || _control_status.flags.valid_fake_pos) && isHorizontalAidingActive()) { + ECL_INFO("stop fake position fusion"); + _control_status.flags.fake_pos = false; + _control_status.flags.valid_fake_pos = false; + } +} + +void Ekf::resetFakePosFusion() +{ + ECL_INFO("reset fake position fusion"); + _last_known_pos.xy() = _state.pos.xy(); + + resetHorizontalPositionToLastKnown(); + resetHorizontalVelocityToZero(); + + _aid_src_fake_pos.time_last_fuse = _time_delayed_us; +} + +bool Ekf::runFakePosStateMachine(const bool enable_conditions_passing, bool status_flag, + estimator_aid_source2d_s &aid_src) +{ + if (status_flag) { + if (enable_conditions_passing) { + if (!aid_src.innovation_rejected + && fuseDirectStateMeasurement(aid_src.innovation[0], aid_src.innovation_variance[0], aid_src.observation_variance[0], + State::pos.idx + 0) + && fuseDirectStateMeasurement(aid_src.innovation[1], aid_src.innovation_variance[1], aid_src.observation_variance[1], + State::pos.idx + 1) + ) { + aid_src.fused = true; + aid_src.time_last_fuse = _time_delayed_us; + } + + const bool is_fusion_failing = isTimedOut(aid_src.time_last_fuse, (uint64_t)4e5); + + if (is_fusion_failing) { + ECL_WARN("fake position fusion failing, resetting"); + resetFakePosFusion(); + } + + } else { + ECL_INFO("stop fake position fusion"); + status_flag = false; + } + + } else { + if (enable_conditions_passing) { + ECL_INFO("start fake position fusion"); + status_flag = true; + + resetFakePosFusion(); + } + } + + return status_flag; +} diff --git a/src/modules/ekf2/EKF/gnss_height_control.cpp b/src/modules/ekf2/EKF/aid_sources/gnss/gnss_height_control.cpp similarity index 79% rename from src/modules/ekf2/EKF/gnss_height_control.cpp rename to src/modules/ekf2/EKF/aid_sources/gnss/gnss_height_control.cpp index 56b75a054bb8..91a8685cebae 100644 --- a/src/modules/ekf2/EKF/gnss_height_control.cpp +++ b/src/modules/ekf2/EKF/aid_sources/gnss/gnss_height_control.cpp @@ -38,7 +38,7 @@ #include "ekf.h" -void Ekf::controlGnssHeightFusion(const gpsSample &gps_sample) +void Ekf::controlGnssHeightFusion(const gnssSample &gps_sample) { static constexpr const char *HGT_SRC_NAME = "GNSS"; @@ -60,69 +60,54 @@ void Ekf::controlGnssHeightFusion(const gpsSample &gps_sample) } } - const float measurement = gps_sample.hgt - getEkfGlobalOriginAltitude(); - const float measurement_var = sq(noise); + const Vector3f pos_offset_body = _params.gps_pos_body - _params.imu_pos_body; + const Vector3f pos_offset_earth = _R_to_earth * pos_offset_body; + const float gnss_alt = _gps_sample_delayed.alt + pos_offset_earth(2); - const float innov_gate = math::max(_params.gps_pos_innov_gate, 1.f); + const float measurement = gnss_alt - getEkfGlobalOriginAltitude(); + const float measurement_var = sq(noise); const bool measurement_valid = PX4_ISFINITE(measurement) && PX4_ISFINITE(measurement_var); // GNSS position, vertical position GNSS measurement has opposite sign to earth z axis - updateVerticalPositionAidSrcStatus(gps_sample.time_us, - -(measurement - bias_est.getBias()), - measurement_var + bias_est.getBiasVar(), - innov_gate, - aid_src); - - const bool gps_checks_passing = isTimedOut(_last_gps_fail_us, (uint64_t)5e6); - const bool gps_checks_failing = isTimedOut(_last_gps_pass_us, (uint64_t)5e6); + updateVerticalPositionAidStatus(aid_src, + gps_sample.time_us, + -(measurement - bias_est.getBias()), + measurement_var + bias_est.getBiasVar(), + math::max(_params.gps_pos_innov_gate, 1.f)); // update the bias estimator before updating the main filter but after // using its current state to compute the vertical position innovation - if (measurement_valid && gps_checks_passing && !gps_checks_failing) { + if (measurement_valid) { bias_est.setMaxStateNoise(sqrtf(measurement_var)); bias_est.setProcessNoiseSpectralDensity(_params.gps_hgt_bias_nsd); - bias_est.fuseBias(measurement - (-_state.pos(2)), measurement_var + P(9, 9)); + bias_est.fuseBias(measurement - (-_state.pos(2)), measurement_var + P(State::pos.idx + 2, State::pos.idx + 2)); } // determine if we should use height aiding - const bool continuing_conditions_passing = (_params.gnss_ctrl & GnssCtrl::VPOS) + const bool continuing_conditions_passing = (_params.gnss_ctrl & static_cast(GnssCtrl::VPOS)) && measurement_valid && _NED_origin_initialised && _gps_checks_passed; const bool starting_conditions_passing = continuing_conditions_passing - && isNewestSampleRecent(_time_last_gps_buffer_push, 2 * GNSS_MAX_INTERVAL) - && _gps_checks_passed - && gps_checks_passing - && !gps_checks_failing; + && isNewestSampleRecent(_time_last_gps_buffer_push, 2 * GNSS_MAX_INTERVAL); if (_control_status.flags.gps_hgt) { - aid_src.fusion_enabled = true; - if (continuing_conditions_passing) { fuseVerticalPosition(aid_src); const bool is_fusion_failing = isTimedOut(aid_src.time_last_fuse, _params.hgt_fusion_timeout_max); - if (isHeightResetRequired()) { + if (isHeightResetRequired() && (_height_sensor_ref == HeightSensor::GNSS)) { // All height sources are failing ECL_WARN("%s height fusion reset required, all height sources failing", HGT_SRC_NAME); _information_events.flags.reset_hgt_to_gps = true; - resetVerticalPositionTo(-(measurement - bias_est.getBias()), measurement_var); + resetVerticalPositionTo(aid_src.observation, measurement_var); bias_est.setBias(_state.pos(2) + measurement); - // reset vertical velocity - if (PX4_ISFINITE(gps_sample.vel(2)) && (_params.gnss_ctrl & GnssCtrl::VEL)) { - // use 1.5 as a typical ratio of vacc/hacc - resetVerticalVelocityTo(gps_sample.vel(2), sq(math::max(1.5f * gps_sample.sacc, _params.gps_vel_noise))); - - } else { - resetVerticalVelocityToZero(); - } - aid_src.time_last_fuse = _time_delayed_us; } else if (is_fusion_failing) { @@ -138,12 +123,13 @@ void Ekf::controlGnssHeightFusion(const gpsSample &gps_sample) } else { if (starting_conditions_passing) { - if (_params.height_sensor_ref == HeightSensor::GNSS) { + if (_params.height_sensor_ref == static_cast(HeightSensor::GNSS)) { ECL_INFO("starting %s height fusion, resetting height", HGT_SRC_NAME); _height_sensor_ref = HeightSensor::GNSS; _information_events.flags.reset_hgt_to_gps = true; resetVerticalPositionTo(-measurement, measurement_var); + _gpos_origin_epv = 0.f; // The uncertainty of the global origin is now contained in the local position uncertainty bias_est.reset(); } else { @@ -174,7 +160,6 @@ void Ekf::stopGpsHgtFusion() } _gps_hgt_b_est.setFusionInactive(); - resetEstimatorAidStatus(_aid_src_gnss_hgt); _control_status.flags.gps_hgt = false; } diff --git a/src/modules/ekf2/EKF/aid_sources/gnss/gnss_yaw_control.cpp b/src/modules/ekf2/EKF/aid_sources/gnss/gnss_yaw_control.cpp new file mode 100644 index 000000000000..456691635a00 --- /dev/null +++ b/src/modules/ekf2/EKF/aid_sources/gnss/gnss_yaw_control.cpp @@ -0,0 +1,246 @@ +/**************************************************************************** + * + * Copyright (c) 2018-2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file gnss_yaw_control.cpp + * Definition of functions required to use yaw obtained from GNSS dual antenna measurements. + * Equations generated using src/modules/ekf2/EKF/python/ekf_derivation/derivation.py + * + */ + +#include "ekf.h" + +#include +#include + +#include + +void Ekf::controlGnssYawFusion(const gnssSample &gnss_sample) +{ + if (!(_params.gnss_ctrl & static_cast(GnssCtrl::YAW)) + || _control_status.flags.gnss_yaw_fault) { + + stopGnssYawFusion(); + return; + } + + const bool is_new_data_available = PX4_ISFINITE(gnss_sample.yaw); + + if (is_new_data_available) { + + updateGnssYaw(gnss_sample); + + const bool continuing_conditions_passing = _control_status.flags.tilt_align; + + const bool is_gnss_yaw_data_intermittent = !isNewestSampleRecent(_time_last_gnss_yaw_buffer_push, + 2 * GNSS_YAW_MAX_INTERVAL); + + const bool starting_conditions_passing = continuing_conditions_passing + && _gps_checks_passed + && !is_gnss_yaw_data_intermittent + && !_gps_intermittent; + + if (_control_status.flags.gnss_yaw) { + if (continuing_conditions_passing) { + + fuseGnssYaw(gnss_sample.yaw_offset); + + const bool is_fusion_failing = isTimedOut(_aid_src_gnss_yaw.time_last_fuse, _params.reset_timeout_max); + + if (is_fusion_failing) { + stopGnssYawFusion(); + + // Before takeoff, we do not want to continue to rely on the current heading + // if we had to stop the fusion + if (!_control_status.flags.in_air) { + ECL_INFO("clearing yaw alignment"); + _control_status.flags.yaw_align = false; + } + } + + } else { + // Stop GNSS yaw fusion but do not declare it faulty + stopGnssYawFusion(); + } + + } else { + if (starting_conditions_passing) { + // Try to activate GNSS yaw fusion + const bool not_using_ne_aiding = !_control_status.flags.gps && !_control_status.flags.aux_gpos; + + if (!_control_status.flags.in_air + || !_control_status.flags.yaw_align + || not_using_ne_aiding) { + + // Reset before starting the fusion + if (resetYawToGnss(gnss_sample.yaw, gnss_sample.yaw_offset)) { + + resetAidSourceStatusZeroInnovation(_aid_src_gnss_yaw); + + _control_status.flags.gnss_yaw = true; + _control_status.flags.yaw_align = true; + } + + } else if (!_aid_src_gnss_yaw.innovation_rejected) { + // Do not force a reset but wait for the consistency check to pass + _control_status.flags.gnss_yaw = true; + fuseGnssYaw(gnss_sample.yaw_offset); + } + + if (_control_status.flags.gnss_yaw) { + ECL_INFO("starting GNSS yaw fusion"); + } + } + } + + } else if (_control_status.flags.gnss_yaw + && !isNewestSampleRecent(_time_last_gnss_yaw_buffer_push, _params.reset_timeout_max)) { + + // No yaw data in the message anymore. Stop until it comes back. + stopGnssYawFusion(); + } +} + +void Ekf::updateGnssYaw(const gnssSample &gnss_sample) +{ + // calculate the observed yaw angle of antenna array, converting a from body to antenna yaw measurement + const float measured_hdg = wrap_pi(gnss_sample.yaw + gnss_sample.yaw_offset); + + const float yaw_acc = PX4_ISFINITE(gnss_sample.yaw_acc) ? gnss_sample.yaw_acc : 0.f; + const float R_YAW = sq(fmaxf(yaw_acc, _params.gnss_heading_noise)); + + float heading_pred; + float heading_innov_var; + + VectorState H; + sym::ComputeGnssYawPredInnovVarAndH(_state.vector(), P, gnss_sample.yaw_offset, R_YAW, FLT_EPSILON, + &heading_pred, &heading_innov_var, &H); + + updateAidSourceStatus(_aid_src_gnss_yaw, + gnss_sample.time_us, // sample timestamp + measured_hdg, // observation + R_YAW, // observation variance + wrap_pi(heading_pred - measured_hdg), // innovation + heading_innov_var, // innovation variance + math::max(_params.heading_innov_gate, 1.f)); // innovation gate +} + +void Ekf::fuseGnssYaw(float antenna_yaw_offset) +{ + auto &aid_src = _aid_src_gnss_yaw; + + if (aid_src.innovation_rejected) { + _innov_check_fail_status.flags.reject_yaw = true; + return; + } + + if (!PX4_ISFINITE(antenna_yaw_offset)) { + antenna_yaw_offset = 0.f; + } + + float heading_pred; + float heading_innov_var; + VectorState H; + + // Note: we recompute innov and innov_var because it doesn't cost much more than just computing H + // making a separate function just for H uses more flash space without reducing CPU load significantly + sym::ComputeGnssYawPredInnovVarAndH(_state.vector(), P, antenna_yaw_offset, aid_src.observation_variance, FLT_EPSILON, + &heading_pred, &heading_innov_var, &H); + + // check if the innovation variance calculation is badly conditioned + if (aid_src.innovation_variance < aid_src.observation_variance) { + // the innovation variance contribution from the state covariances is negative which means the covariance matrix is badly conditioned + _fault_status.flags.bad_hdg = true; + + // we reinitialise the covariance matrix and abort this fusion step + initialiseCovariance(); + ECL_ERR("GNSS yaw numerical error - covariance reset"); + stopGnssYawFusion(); + return; + } + + _fault_status.flags.bad_hdg = false; + _innov_check_fail_status.flags.reject_yaw = false; + + if ((fabsf(aid_src.test_ratio_filtered) > 0.2f) + && !_control_status.flags.in_air && isTimedOut(aid_src.time_last_fuse, (uint64_t)1e6) + ) { + // A constant large signed test ratio is a sign of wrong gyro bias + // Reset the yaw gyro variance to converge faster and avoid + // being stuck on a previous bad estimate + resetGyroBiasZCov(); + } + + // calculate the Kalman gains + // only calculate gains for states we are using + VectorState Kfusion = P * H / aid_src.innovation_variance; + + const bool is_fused = measurementUpdate(Kfusion, H, aid_src.observation_variance, aid_src.innovation); + _fault_status.flags.bad_hdg = !is_fused; + aid_src.fused = is_fused; + + if (is_fused) { + _time_last_heading_fuse = _time_delayed_us; + aid_src.time_last_fuse = _time_delayed_us; + } +} + +bool Ekf::resetYawToGnss(const float gnss_yaw, const float gnss_yaw_offset) +{ + // define the predicted antenna array vector and rotate into earth frame + const Vector3f ant_vec_bf = {cosf(gnss_yaw_offset), sinf(gnss_yaw_offset), 0.0f}; + const Vector3f ant_vec_ef = _R_to_earth * ant_vec_bf; + + // check if antenna array vector is within 30 degrees of vertical and therefore unable to provide a reliable heading + if (fabsf(ant_vec_ef(2)) > cosf(math::radians(30.0f))) { + return false; + } + + // GNSS yaw measurement is already compensated for antenna offset in the driver + const float measured_yaw = gnss_yaw; + + const float yaw_variance = sq(fmaxf(_params.gnss_heading_noise, 1.e-2f)); + resetQuatStateYaw(measured_yaw, yaw_variance); + + return true; +} + +void Ekf::stopGnssYawFusion() +{ + if (_control_status.flags.gnss_yaw) { + + _control_status.flags.gnss_yaw = false; + + ECL_INFO("stopping GNSS yaw fusion"); + } +} diff --git a/src/modules/ekf2/EKF/aid_sources/gnss/gps_checks.cpp b/src/modules/ekf2/EKF/aid_sources/gnss/gps_checks.cpp new file mode 100644 index 000000000000..94fa6f04f381 --- /dev/null +++ b/src/modules/ekf2/EKF/aid_sources/gnss/gps_checks.cpp @@ -0,0 +1,242 @@ +/**************************************************************************** + * + * Copyright (c) 2015-2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file gps_checks.cpp + * Perform pre-flight and in-flight GPS quality checks + * + * @author Paul Riseborough + * + */ + +#include "ekf.h" + +#if defined(CONFIG_EKF2_MAGNETOMETER) +# include +#endif // CONFIG_EKF2_MAGNETOMETER + +#include + +// GPS pre-flight check bit locations +#define MASK_GPS_NSATS (1<<0) +#define MASK_GPS_PDOP (1<<1) +#define MASK_GPS_HACC (1<<2) +#define MASK_GPS_VACC (1<<3) +#define MASK_GPS_SACC (1<<4) +#define MASK_GPS_HDRIFT (1<<5) +#define MASK_GPS_VDRIFT (1<<6) +#define MASK_GPS_HSPD (1<<7) +#define MASK_GPS_VSPD (1<<8) +#define MASK_GPS_SPOOFED (1<<9) + +void Ekf::collect_gps(const gnssSample &gps) +{ + if (_filter_initialised && !_NED_origin_initialised && _gps_checks_passed) { + // If we have good GPS data set the origin's WGS-84 position to the last gps fix + const double lat = gps.lat; + const double lon = gps.lon; + + if (!_pos_ref.isInitialized()) { + _pos_ref.initReference(lat, lon, gps.time_us); + + // if we are already doing aiding, correct for the change in position since the EKF started navigating + if (isHorizontalAidingActive()) { + double est_lat; + double est_lon; + _pos_ref.reproject(-_state.pos(0), -_state.pos(1), est_lat, est_lon); + _pos_ref.initReference(est_lat, est_lon, gps.time_us); + } + } + + // Take the current GPS height and subtract the filter height above origin to estimate the GPS height of the origin + if (!PX4_ISFINITE(_gps_alt_ref)) { + _gps_alt_ref = gps.alt + _state.pos(2); + } + + _NED_origin_initialised = true; + + // save the horizontal and vertical position uncertainty of the origin + _gpos_origin_eph = gps.hacc; + _gpos_origin_epv = gps.vacc; + + _information_events.flags.gps_checks_passed = true; + ECL_INFO("GPS checks passed"); + } + + if ((isTimedOut(_wmm_gps_time_last_checked, 1e6)) || (_wmm_gps_time_last_set == 0)) { + // a rough 2D fix is sufficient to lookup declination + const bool gps_rough_2d_fix = (gps.fix_type >= 2) && (gps.hacc < 1000); + + if (gps_rough_2d_fix && (_gps_checks_passed || !_NED_origin_initialised)) { + updateWmm(gps.lat, gps.lon); + _earth_rate_NED = calcEarthRateNED((float)math::radians(gps.lat)); + } + + _wmm_gps_time_last_checked = _time_delayed_us; + } +} + +bool Ekf::runGnssChecks(const gnssSample &gps) +{ + _gps_check_fail_status.flags.spoofed = gps.spoofed; + + // Check the fix type + _gps_check_fail_status.flags.fix = (gps.fix_type < 3); + + // Check the number of satellites + _gps_check_fail_status.flags.nsats = (gps.nsats < _params.req_nsats); + + // Check the position dilution of precision + _gps_check_fail_status.flags.pdop = (gps.pdop > _params.req_pdop); + + // Check the reported horizontal and vertical position accuracy + _gps_check_fail_status.flags.hacc = (gps.hacc > _params.req_hacc); + _gps_check_fail_status.flags.vacc = (gps.vacc > _params.req_vacc); + + // Check the reported speed accuracy + _gps_check_fail_status.flags.sacc = (gps.sacc > _params.req_sacc); + + // Calculate time lapsed since last update, limit to prevent numerical errors and calculate a lowpass filter coefficient + constexpr float filt_time_const = 10.0f; + const float dt = math::constrain(float(int64_t(gps.time_us) - int64_t(_gps_pos_prev.getProjectionReferenceTimestamp())) + * 1e-6f, 0.001f, filt_time_const); + const float filter_coef = dt / filt_time_const; + + // The following checks are only valid when the vehicle is at rest + const double lat = gps.lat; + const double lon = gps.lon; + + if (!_control_status.flags.in_air && _control_status.flags.vehicle_at_rest) { + // Calculate position movement since last measurement + float delta_pos_n = 0.0f; + float delta_pos_e = 0.0f; + + // calculate position movement since last GPS fix + if (_gps_pos_prev.getProjectionReferenceTimestamp() > 0) { + _gps_pos_prev.project(lat, lon, delta_pos_n, delta_pos_e); + + } else { + // no previous position has been set + _gps_pos_prev.initReference(lat, lon, gps.time_us); + _gps_alt_prev = gps.alt; + } + + // Calculate the horizontal and vertical drift velocity components and limit to 10x the threshold + const Vector3f vel_limit(_params.req_hdrift, _params.req_hdrift, _params.req_vdrift); + Vector3f pos_derived(delta_pos_n, delta_pos_e, (_gps_alt_prev - gps.alt)); + pos_derived = matrix::constrain(pos_derived / dt, -10.0f * vel_limit, 10.0f * vel_limit); + + // Apply a low pass filter + _gps_pos_deriv_filt = pos_derived * filter_coef + _gps_pos_deriv_filt * (1.0f - filter_coef); + + // hdrift: calculate the horizontal drift speed and fail if too high + _gps_horizontal_position_drift_rate_m_s = Vector2f(_gps_pos_deriv_filt.xy()).norm(); + _gps_check_fail_status.flags.hdrift = (_gps_horizontal_position_drift_rate_m_s > _params.req_hdrift); + + // vdrift: fail if the vertical drift speed is too high + _gps_vertical_position_drift_rate_m_s = fabsf(_gps_pos_deriv_filt(2)); + _gps_check_fail_status.flags.vdrift = (_gps_vertical_position_drift_rate_m_s > _params.req_vdrift); + + // hspeed: check the magnitude of the filtered horizontal GNSS velocity + const Vector2f gps_velNE = matrix::constrain(Vector2f(gps.vel.xy()), + -10.0f * _params.req_hdrift, + 10.0f * _params.req_hdrift); + _gps_velNE_filt = gps_velNE * filter_coef + _gps_velNE_filt * (1.0f - filter_coef); + _gps_filtered_horizontal_velocity_m_s = _gps_velNE_filt.norm(); + _gps_check_fail_status.flags.hspeed = (_gps_filtered_horizontal_velocity_m_s > _params.req_hdrift); + + // vspeed: check the magnitude of the filtered vertical GNSS velocity + const float gnss_vz_limit = 10.f * _params.req_vdrift; + const float gnss_vz = math::constrain(gps.vel(2), -gnss_vz_limit, gnss_vz_limit); + _gps_vel_d_filt = gnss_vz * filter_coef + _gps_vel_d_filt * (1.f - filter_coef); + + _gps_check_fail_status.flags.vspeed = (fabsf(_gps_vel_d_filt) > _params.req_vdrift); + + } else if (_control_status.flags.in_air) { + // These checks are always declared as passed when flying + // If on ground and moving, the last result before movement commenced is kept + _gps_check_fail_status.flags.hdrift = false; + _gps_check_fail_status.flags.vdrift = false; + _gps_check_fail_status.flags.hspeed = false; + _gps_check_fail_status.flags.vspeed = false; + + resetGpsDriftCheckFilters(); + + } else { + // This is the case where the vehicle is on ground and IMU movement is blocking the drift calculation + resetGpsDriftCheckFilters(); + } + + // save GPS fix for next time + _gps_pos_prev.initReference(lat, lon, gps.time_us); + _gps_alt_prev = gps.alt; + + // assume failed first time through + if (_last_gps_fail_us == 0) { + _last_gps_fail_us = _time_delayed_us; + } + + // if any user selected checks have failed, record the fail time + if ( + _gps_check_fail_status.flags.fix || + (_gps_check_fail_status.flags.nsats && (_params.gps_check_mask & MASK_GPS_NSATS)) || + (_gps_check_fail_status.flags.pdop && (_params.gps_check_mask & MASK_GPS_PDOP)) || + (_gps_check_fail_status.flags.hacc && (_params.gps_check_mask & MASK_GPS_HACC)) || + (_gps_check_fail_status.flags.vacc && (_params.gps_check_mask & MASK_GPS_VACC)) || + (_gps_check_fail_status.flags.sacc && (_params.gps_check_mask & MASK_GPS_SACC)) || + (_gps_check_fail_status.flags.hdrift && (_params.gps_check_mask & MASK_GPS_HDRIFT)) || + (_gps_check_fail_status.flags.vdrift && (_params.gps_check_mask & MASK_GPS_VDRIFT)) || + (_gps_check_fail_status.flags.hspeed && (_params.gps_check_mask & MASK_GPS_HSPD)) || + (_gps_check_fail_status.flags.vspeed && (_params.gps_check_mask & MASK_GPS_VSPD)) || + (_gps_check_fail_status.flags.spoofed && (_params.gps_check_mask & MASK_GPS_SPOOFED)) + ) { + _last_gps_fail_us = _time_delayed_us; + return false; + + } else { + _last_gps_pass_us = _time_delayed_us; + return true; + } +} + +void Ekf::resetGpsDriftCheckFilters() +{ + _gps_velNE_filt.setZero(); + _gps_vel_d_filt = 0.f; + + _gps_pos_deriv_filt.setZero(); + + _gps_horizontal_position_drift_rate_m_s = NAN; + _gps_vertical_position_drift_rate_m_s = NAN; + _gps_filtered_horizontal_velocity_m_s = NAN; +} diff --git a/src/modules/ekf2/EKF/aid_sources/gnss/gps_control.cpp b/src/modules/ekf2/EKF/aid_sources/gnss/gps_control.cpp new file mode 100644 index 000000000000..7bfb2e283107 --- /dev/null +++ b/src/modules/ekf2/EKF/aid_sources/gnss/gps_control.cpp @@ -0,0 +1,428 @@ +/**************************************************************************** + * + * Copyright (c) 2021-2022 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file gps_control.cpp + * Control functions for ekf GNSS fusion + */ + +#include "ekf.h" +#include + +void Ekf::controlGpsFusion(const imuSample &imu_delayed) +{ + if (!_gps_buffer || (_params.gnss_ctrl == 0)) { + stopGpsFusion(); + return; + } + + if (!gyro_bias_inhibited()) { + _yawEstimator.setGyroBias(getGyroBias(), _control_status.flags.vehicle_at_rest); + } + + // run EKF-GSF yaw estimator once per imu_delayed update + _yawEstimator.predict(imu_delayed.delta_ang, imu_delayed.delta_ang_dt, + imu_delayed.delta_vel, imu_delayed.delta_vel_dt, + (_control_status.flags.in_air && !_control_status.flags.vehicle_at_rest)); + + _gps_intermittent = !isNewestSampleRecent(_time_last_gps_buffer_push, 2 * GNSS_MAX_INTERVAL); + + // check for arrival of new sensor data at the fusion time horizon + _gps_data_ready = _gps_buffer->pop_first_older_than(imu_delayed.time_us, &_gps_sample_delayed); + + if (_gps_data_ready) { + const gnssSample &gnss_sample = _gps_sample_delayed; + + if (runGnssChecks(gnss_sample) + && isTimedOut(_last_gps_fail_us, max((uint64_t)1e6, (uint64_t)_min_gps_health_time_us / 10))) { + if (isTimedOut(_last_gps_fail_us, (uint64_t)_min_gps_health_time_us)) { + // First time checks are passing, latching. + _gps_checks_passed = true; + } + + collect_gps(gnss_sample); + + } else { + // Skip this sample + _gps_data_ready = false; + + if (_control_status.flags.gps && isTimedOut(_last_gps_pass_us, _params.reset_timeout_max)) { + stopGpsFusion(); + ECL_WARN("GPS quality poor - stopping use"); + } + } + + if (_pos_ref.isInitialized()) { + updateGnssPos(gnss_sample, _aid_src_gnss_pos); + } + + updateGnssVel(imu_delayed, gnss_sample, _aid_src_gnss_vel); + + } else if (_control_status.flags.gps) { + if (!isNewestSampleRecent(_time_last_gps_buffer_push, _params.reset_timeout_max)) { + stopGpsFusion(); + ECL_WARN("GPS data stopped"); + } + } + + if (_gps_data_ready) { +#if defined(CONFIG_EKF2_GNSS_YAW) + const gnssSample &gnss_sample = _gps_sample_delayed; + controlGnssYawFusion(gnss_sample); +#endif // CONFIG_EKF2_GNSS_YAW + + controlGnssYawEstimator(_aid_src_gnss_vel); + + const bool gnss_vel_enabled = (_params.gnss_ctrl & static_cast(GnssCtrl::VEL)); + const bool gnss_pos_enabled = (_params.gnss_ctrl & static_cast(GnssCtrl::HPOS)); + + const bool continuing_conditions_passing = (gnss_vel_enabled || gnss_pos_enabled) + && _control_status.flags.tilt_align + && _control_status.flags.yaw_align + && _NED_origin_initialised; + const bool starting_conditions_passing = continuing_conditions_passing && _gps_checks_passed; + + if (_control_status.flags.gps) { + if (continuing_conditions_passing) { + if (gnss_vel_enabled) { + fuseVelocity(_aid_src_gnss_vel); + } + + if (gnss_pos_enabled) { + fuseHorizontalPosition(_aid_src_gnss_pos); + } + + bool do_vel_pos_reset = shouldResetGpsFusion(); + + if (_control_status.flags.in_air + && isYawFailure() + && isTimedOut(_time_last_hor_vel_fuse, _params.EKFGSF_reset_delay) + && (_time_last_hor_vel_fuse > _time_last_on_ground_us)) { + do_vel_pos_reset = tryYawEmergencyReset(); + } + + if (do_vel_pos_reset) { + ECL_WARN("GPS fusion timeout, resetting"); + } + + if (gnss_vel_enabled) { + if (do_vel_pos_reset) { + resetVelocityToGnss(_aid_src_gnss_vel); + + } else if (isHeightResetRequired()) { + // reset vertical velocity if height is failing + resetVerticalVelocityTo(_aid_src_gnss_vel.observation[2], _aid_src_gnss_vel.observation_variance[2]); + } + } + + if (gnss_pos_enabled && do_vel_pos_reset) { + resetHorizontalPositionToGnss(_aid_src_gnss_pos); + } + + } else { + stopGpsFusion(); + } + + } else { + if (starting_conditions_passing) { + ECL_INFO("starting GPS fusion"); + _information_events.flags.starting_gps_fusion = true; + + // when already using another velocity source velocity reset is not necessary + if (!isHorizontalAidingActive() + || isTimedOut(_time_last_hor_vel_fuse, _params.reset_timeout_max) + || !_control_status_prev.flags.yaw_align + ) { + // reset velocity + if (gnss_vel_enabled) { + resetVelocityToGnss(_aid_src_gnss_vel); + } + } + + if (gnss_pos_enabled) { + resetHorizontalPositionToGnss(_aid_src_gnss_pos); + } + + _control_status.flags.gps = true; + } + } + } +} + +void Ekf::updateGnssVel(const imuSample &imu_sample, const gnssSample &gnss_sample, estimator_aid_source3d_s &aid_src) +{ + // correct velocity for offset relative to IMU + const Vector3f pos_offset_body = _params.gps_pos_body - _params.imu_pos_body; + + const Vector3f angular_velocity = imu_sample.delta_ang / imu_sample.delta_ang_dt - _state.gyro_bias; + const Vector3f vel_offset_body = angular_velocity % pos_offset_body; + const Vector3f vel_offset_earth = _R_to_earth * vel_offset_body; + const Vector3f velocity = gnss_sample.vel - vel_offset_earth; + + const float vel_var = sq(math::max(gnss_sample.sacc, _params.gps_vel_noise, 0.01f)); + const Vector3f vel_obs_var(vel_var, vel_var, vel_var * sq(1.5f)); + + const float innovation_gate = math::max(_params.gps_vel_innov_gate, 1.f); + + updateAidSourceStatus(aid_src, + gnss_sample.time_us, // sample timestamp + velocity, // observation + vel_obs_var, // observation variance + _state.vel - velocity, // innovation + getVelocityVariance() + vel_obs_var, // innovation variance + innovation_gate); // innovation gate + + // vz special case if there is bad vertical acceleration data, then don't reject measurement if GNSS reports velocity accuracy is acceptable, + // but limit innovation to prevent spikes that could destabilise the filter + if (aid_src.innovation_rejected && _fault_status.flags.bad_acc_vertical && (gnss_sample.sacc < _params.req_sacc)) { + const float innov_limit = innovation_gate * sqrtf(aid_src.innovation_variance[2]); + aid_src.innovation[2] = math::constrain(aid_src.innovation[2], -innov_limit, innov_limit); + aid_src.innovation_rejected = false; + } +} + +void Ekf::updateGnssPos(const gnssSample &gnss_sample, estimator_aid_source2d_s &aid_src) +{ + // correct position and height for offset relative to IMU + const Vector3f pos_offset_body = _params.gps_pos_body - _params.imu_pos_body; + const Vector3f pos_offset_earth = _R_to_earth * pos_offset_body; + const Vector2f position = _pos_ref.project(gnss_sample.lat, gnss_sample.lon) - pos_offset_earth.xy(); + + // relax the upper observation noise limit which prevents bad GPS perturbing the position estimate + float pos_noise = math::max(gnss_sample.hacc, _params.gps_pos_noise); + + if (!isOtherSourceOfHorizontalAidingThan(_control_status.flags.gps)) { + // if we are not using another source of aiding, then we are reliant on the GPS + // observations to constrain attitude errors and must limit the observation noise value. + if (pos_noise > _params.pos_noaid_noise) { + pos_noise = _params.pos_noaid_noise; + } + } + + const float pos_var = math::max(sq(pos_noise), sq(0.01f)); + const Vector2f pos_obs_var(pos_var, pos_var); + + updateAidSourceStatus(aid_src, + gnss_sample.time_us, // sample timestamp + position, // observation + pos_obs_var, // observation variance + Vector2f(_state.pos) - position, // innovation + Vector2f(getStateVariance()) + pos_obs_var, // innovation variance + math::max(_params.gps_pos_innov_gate, 1.f)); // innovation gate +} + +void Ekf::controlGnssYawEstimator(estimator_aid_source3d_s &aid_src_vel) +{ + // update yaw estimator velocity (basic sanity check on GNSS velocity data) + const float vel_var = aid_src_vel.observation_variance[0]; + const Vector2f vel_xy(aid_src_vel.observation); + + if ((vel_var > 0.f) + && (vel_var < _params.req_sacc) + && vel_xy.isAllFinite()) { + + _yawEstimator.fuseVelocity(vel_xy, vel_var, _control_status.flags.in_air); + + // Try to align yaw using estimate if available + if (((_params.gnss_ctrl & static_cast(GnssCtrl::VEL)) + || (_params.gnss_ctrl & static_cast(GnssCtrl::HPOS))) + && !_control_status.flags.yaw_align + && _control_status.flags.tilt_align) { + if (resetYawToEKFGSF()) { + ECL_INFO("GPS yaw aligned using IMU"); + } + } + } +} + +bool Ekf::tryYawEmergencyReset() +{ + bool success = false; + + /* A rapid reset to the yaw emergency estimate is performed if horizontal velocity innovation checks continuously + * fails while the difference between the yaw emergency estimator and the yaw estimate is large. + * This enables recovery from a bad yaw estimate. A reset is not performed if the fault condition was + * present before flight to prevent triggering due to GPS glitches or other sensor errors. + */ + if (resetYawToEKFGSF()) { + ECL_WARN("GPS emergency yaw reset"); + + if (_control_status.flags.mag_hdg || _control_status.flags.mag_3D) { + // stop using the magnetometer in the main EKF otherwise its fusion could drag the yaw around + // and cause another navigation failure + _control_status.flags.mag_fault = true; + } + +#if defined(CONFIG_EKF2_GNSS_YAW) + + if (_control_status.flags.gnss_yaw) { + _control_status.flags.gnss_yaw_fault = true; + } + +#endif // CONFIG_EKF2_GNSS_YAW + +#if defined(CONFIG_EKF2_EXTERNAL_VISION) + + if (_control_status.flags.ev_yaw) { + _control_status.flags.ev_yaw_fault = true; + } + +#endif // CONFIG_EKF2_EXTERNAL_VISION + + success = true; + } + + return success; +} + +void Ekf::resetVelocityToGnss(estimator_aid_source3d_s &aid_src) +{ + _information_events.flags.reset_vel_to_gps = true; + resetVelocityTo(Vector3f(aid_src.observation), Vector3f(aid_src.observation_variance)); + + resetAidSourceStatusZeroInnovation(aid_src); +} + +void Ekf::resetHorizontalPositionToGnss(estimator_aid_source2d_s &aid_src) +{ + _information_events.flags.reset_pos_to_gps = true; + resetHorizontalPositionTo(Vector2f(aid_src.observation), Vector2f(aid_src.observation_variance)); + _gpos_origin_eph = 0.f; // The uncertainty of the global origin is now contained in the local position uncertainty + + resetAidSourceStatusZeroInnovation(aid_src); +} + +bool Ekf::shouldResetGpsFusion() const +{ + /* We are relying on aiding to constrain drift so after a specified time + * with no aiding we need to do something + */ + bool has_horizontal_aiding_timed_out = isTimedOut(_time_last_hor_pos_fuse, _params.reset_timeout_max) + && isTimedOut(_time_last_hor_vel_fuse, _params.reset_timeout_max); + +#if defined(CONFIG_EKF2_OPTICAL_FLOW) + + if (has_horizontal_aiding_timed_out) { + // horizontal aiding hasn't timed out if optical flow still active + if (_control_status.flags.opt_flow && isRecent(_aid_src_optical_flow.time_last_fuse, _params.reset_timeout_max)) { + has_horizontal_aiding_timed_out = false; + } + } + +#endif // CONFIG_EKF2_OPTICAL_FLOW + + const bool is_reset_required = has_horizontal_aiding_timed_out + || (isTimedOut(_time_last_hor_pos_fuse, 2 * _params.reset_timeout_max) + && (_params.gnss_ctrl & static_cast(GnssCtrl::HPOS))); + + const bool is_inflight_nav_failure = _control_status.flags.in_air + && isTimedOut(_time_last_hor_vel_fuse, _params.reset_timeout_max) + && isTimedOut(_time_last_hor_pos_fuse, _params.reset_timeout_max) + && (_time_last_hor_vel_fuse > _time_last_on_ground_us) + && (_time_last_hor_pos_fuse > _time_last_on_ground_us); + + return (is_reset_required || is_inflight_nav_failure); +} + +void Ekf::stopGpsFusion() +{ + if (_control_status.flags.gps) { + ECL_INFO("stopping GPS position and velocity fusion"); + + _last_gps_fail_us = 0; + _last_gps_pass_us = 0; + + _control_status.flags.gps = false; + } + + stopGpsHgtFusion(); +#if defined(CONFIG_EKF2_GNSS_YAW) + stopGnssYawFusion(); +#endif // CONFIG_EKF2_GNSS_YAW + + _yawEstimator.reset(); +} + +bool Ekf::isYawEmergencyEstimateAvailable() const +{ + // don't allow reet using the EKF-GSF estimate until the filter has started fusing velocity + // data and the yaw estimate has converged + if (!_yawEstimator.isActive()) { + return false; + } + + return _yawEstimator.getYawVar() < sq(_params.EKFGSF_yaw_err_max); +} + +bool Ekf::isYawFailure() const +{ + if (!isYawEmergencyEstimateAvailable()) { + return false; + } + + const float euler_yaw = getEulerYaw(_R_to_earth); + const float yaw_error = wrap_pi(euler_yaw - _yawEstimator.getYaw()); + + return fabsf(yaw_error) > math::radians(25.f); +} + +bool Ekf::resetYawToEKFGSF() +{ + if (!isYawEmergencyEstimateAvailable()) { + return false; + } + + // don't allow reset if there's just been a yaw reset + const bool yaw_alignment_changed = (_control_status_prev.flags.yaw_align != _control_status.flags.yaw_align); + const bool quat_reset = (_state_reset_status.reset_count.quat != _state_reset_count_prev.quat); + + if (yaw_alignment_changed || quat_reset) { + return false; + } + + ECL_INFO("yaw estimator reset heading %.3f -> %.3f rad", + (double)getEulerYaw(_R_to_earth), (double)_yawEstimator.getYaw()); + + resetQuatStateYaw(_yawEstimator.getYaw(), _yawEstimator.getYawVar()); + + _control_status.flags.yaw_align = true; + _information_events.flags.yaw_aligned_to_imu_gps = true; + + return true; +} + +bool Ekf::getDataEKFGSF(float *yaw_composite, float *yaw_variance, float yaw[N_MODELS_EKFGSF], + float innov_VN[N_MODELS_EKFGSF], float innov_VE[N_MODELS_EKFGSF], float weight[N_MODELS_EKFGSF]) +{ + return _yawEstimator.getLogData(yaw_composite, yaw_variance, yaw, innov_VN, innov_VE, weight); +} diff --git a/src/modules/ekf2/EKF/aid_sources/gravity/gravity_fusion.cpp b/src/modules/ekf2/EKF/aid_sources/gravity/gravity_fusion.cpp new file mode 100644 index 000000000000..e6961ed17c31 --- /dev/null +++ b/src/modules/ekf2/EKF/aid_sources/gravity/gravity_fusion.cpp @@ -0,0 +1,120 @@ +/**************************************************************************** + * + * Copyright (c) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file gravity_fusion.cpp + * Fuse observations from the gravity vector to constrain roll + * and pitch (a la complementary filter). + * + * @author Daniel M. Sahu + */ + +#include "ekf.h" +#include +#include +#include + +#include + +void Ekf::controlGravityFusion(const imuSample &imu) +{ + // get raw accelerometer reading at delayed horizon and expected measurement noise (gaussian) + const Vector3f measurement = Vector3f(imu.delta_vel / imu.delta_vel_dt - _state.accel_bias).unit(); + const float measurement_var = math::max(sq(_params.gravity_noise), sq(0.01f)); + + const float upper_accel_limit = CONSTANTS_ONE_G * 1.1f; + const float lower_accel_limit = CONSTANTS_ONE_G * 0.9f; + const bool accel_lpf_norm_good = (_accel_magnitude_filt > lower_accel_limit) + && (_accel_magnitude_filt < upper_accel_limit); + + // fuse gravity observation if our overall acceleration isn't too big + _control_status.flags.gravity_vector = (_params.imu_ctrl & static_cast(ImuCtrl::GravityVector)) + && (accel_lpf_norm_good || _control_status.flags.vehicle_at_rest) + && !isHorizontalAidingActive(); + + // calculate kalman gains and innovation variances + Vector3f innovation = _state.quat_nominal.rotateVectorInverse(Vector3f(0.f, 0.f, -1.f)) - measurement; + Vector3f innovation_variance; + const auto state_vector = _state.vector(); + VectorState H; + sym::ComputeGravityXyzInnovVarAndHx(state_vector, P, measurement_var, &innovation_variance, &H); + + // fill estimator aid source status + updateAidSourceStatus(_aid_src_gravity, + imu.time_us, // sample timestamp + measurement, // observation + Vector3f{measurement_var, measurement_var, measurement_var}, // observation variance + innovation, // innovation + innovation_variance, // innovation variance + 0.25f); // innovation gate + + bool fused[3] {false, false, false}; + + // update the states and covariance using sequential fusion + for (uint8_t index = 0; index <= 2; index++) { + // Calculate Kalman gains and observation jacobians + if (index == 0) { + // everything was already computed above + + } else if (index == 1) { + // recalculate innovation variance because state covariances have changed due to previous fusion (linearise using the same initial state for all axes) + sym::ComputeGravityYInnovVarAndH(state_vector, P, measurement_var, &_aid_src_gravity.innovation_variance[index], &H); + + // recalculate innovation using the updated state + _aid_src_gravity.innovation[index] = _state.quat_nominal.rotateVectorInverse(Vector3f(0.f, 0.f, + -1.f))(index) - measurement(index); + + } else if (index == 2) { + // recalculate innovation variance because state covariances have changed due to previous fusion (linearise using the same initial state for all axes) + sym::ComputeGravityZInnovVarAndH(state_vector, P, measurement_var, &_aid_src_gravity.innovation_variance[index], &H); + + // recalculate innovation using the updated state + _aid_src_gravity.innovation[index] = _state.quat_nominal.rotateVectorInverse(Vector3f(0.f, 0.f, + -1.f))(index) - measurement(index); + } + + VectorState K = P * H / _aid_src_gravity.innovation_variance[index]; + + const bool accel_clipping = imu.delta_vel_clipping[0] || imu.delta_vel_clipping[1] || imu.delta_vel_clipping[2]; + + if (_control_status.flags.gravity_vector && !_aid_src_gravity.innovation_rejected && !accel_clipping) { + fused[index] = measurementUpdate(K, H, _aid_src_gravity.observation_variance[index], + _aid_src_gravity.innovation[index]); + } + } + + if (fused[0] && fused[1] && fused[2]) { + _aid_src_gravity.fused = true; + _aid_src_gravity.time_last_fuse = imu.time_us; + } +} diff --git a/src/modules/ekf2/EKF/aid_sources/magnetometer/mag_control.cpp b/src/modules/ekf2/EKF/aid_sources/magnetometer/mag_control.cpp new file mode 100644 index 000000000000..0e42006b249d --- /dev/null +++ b/src/modules/ekf2/EKF/aid_sources/magnetometer/mag_control.cpp @@ -0,0 +1,561 @@ +/**************************************************************************** + * + * Copyright (c) 2019-2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file mag_control.cpp + * Control functions for ekf magnetic field fusion + */ + +#include "ekf.h" +#include + +#include + +void Ekf::controlMagFusion(const imuSample &imu_sample) +{ + static constexpr const char *AID_SRC_NAME = "mag"; + estimator_aid_source3d_s &aid_src = _aid_src_mag; + + // reset the flight alignment flag so that the mag fields will be + // re-initialised next time we achieve flight altitude + if (!_control_status_prev.flags.in_air && _control_status.flags.in_air) { + _control_status.flags.mag_aligned_in_flight = false; + } + + if (_params.mag_fusion_type == MagFuseType::NONE) { + stopMagFusion(); + return; + } + + magSample mag_sample; + + if (_mag_buffer && _mag_buffer->pop_first_older_than(imu_sample.time_us, &mag_sample)) { + + if (mag_sample.reset || (_mag_counter == 0)) { + // sensor or calibration has changed, reset low pass filter + _control_status.flags.mag_fault = false; + + _state.mag_B.zero(); + resetMagCov(); + + _mag_lpf.reset(mag_sample.mag); + _mag_counter = 1; + + } else { + _mag_lpf.update(mag_sample.mag); + _mag_counter++; + } + + // if enabled, use knowledge of theoretical magnetic field vector to calculate a synthetic magnetomter Z component value. + // this is useful if there is a lot of interference on the sensor measurement. + if (_params.synthesize_mag_z && (_params.mag_declination_source & GeoDeclinationMask::USE_GEO_DECL) + && (PX4_ISFINITE(_mag_inclination_gps) && PX4_ISFINITE(_mag_declination_gps) && PX4_ISFINITE(_mag_strength_gps)) + ) { + const Vector3f mag_earth_pred = Dcmf(Eulerf(0, -_mag_inclination_gps, _mag_declination_gps)) + * Vector3f(_mag_strength_gps, 0, 0); + + mag_sample.mag(2) = calculate_synthetic_mag_z_measurement(mag_sample.mag, mag_earth_pred); + + _control_status.flags.synthetic_mag_z = true; + + } else { + _control_status.flags.synthetic_mag_z = false; + } + + // reset flags + _fault_status.flags.bad_mag_x = false; + _fault_status.flags.bad_mag_y = false; + _fault_status.flags.bad_mag_z = false; + + // XYZ Measurement uncertainty. Need to consider timing errors for fast rotations + const float R_MAG = math::max(sq(_params.mag_noise), sq(0.01f)); + + // calculate intermediate variables used for X axis innovation variance, observation Jacobians and Kalman gains + Vector3f mag_innov; + Vector3f innov_var; + + // Observation jacobian and Kalman gain vectors + VectorState H; + sym::ComputeMagInnovInnovVarAndHx(_state.vector(), P, mag_sample.mag, R_MAG, FLT_EPSILON, &mag_innov, &innov_var, &H); + + updateAidSourceStatus(aid_src, + mag_sample.time_us, // sample timestamp + mag_sample.mag, // observation + Vector3f(R_MAG, R_MAG, R_MAG), // observation variance + mag_innov, // innovation + innov_var, // innovation variance + math::max(_params.mag_innov_gate, 1.f)); // innovation gate + + // Perform an innovation consistency check and report the result + _innov_check_fail_status.flags.reject_mag_x = (aid_src.test_ratio[0] > 1.f); + _innov_check_fail_status.flags.reject_mag_y = (aid_src.test_ratio[1] > 1.f); + _innov_check_fail_status.flags.reject_mag_z = (aid_src.test_ratio[2] > 1.f); + + // determine if we should use mag fusion + bool continuing_conditions_passing = ((_params.mag_fusion_type == MagFuseType::INIT) + || (_params.mag_fusion_type == MagFuseType::AUTO) + || (_params.mag_fusion_type == MagFuseType::HEADING)) + && _control_status.flags.tilt_align + && (_control_status.flags.yaw_align || (!_control_status.flags.ev_yaw && !_control_status.flags.yaw_align)) + && mag_sample.mag.longerThan(0.f) + && mag_sample.mag.isAllFinite(); + + const bool starting_conditions_passing = continuing_conditions_passing + && checkMagField(mag_sample.mag) + && (_mag_counter > 3) // wait until we have more than a few samples through the filter + && (_control_status.flags.yaw_align == _control_status_prev.flags.yaw_align) // no yaw alignment change this frame + && (_state_reset_status.reset_count.quat == + _state_reset_count_prev.quat) // don't allow starting on same frame as yaw reset + && isNewestSampleRecent(_time_last_mag_buffer_push, MAG_MAX_INTERVAL); + + checkMagHeadingConsistency(mag_sample); + + // WMM update can occur on the last epoch, just after mag fusion + const bool wmm_updated = (_wmm_gps_time_last_set >= aid_src.time_last_fuse); + const bool using_ne_aiding = _control_status.flags.gps || _control_status.flags.aux_gpos; + + + { + const bool mag_consistent_or_no_ne_aiding = _control_status.flags.mag_heading_consistent || !using_ne_aiding; + const bool common_conditions_passing = _control_status.flags.mag + && ((_control_status.flags.yaw_align && mag_consistent_or_no_ne_aiding) + || (!_control_status.flags.ev_yaw && !_control_status.flags.yaw_align)) + && !_control_status.flags.mag_fault + && !_control_status.flags.mag_field_disturbed + && !_control_status.flags.ev_yaw + && !_control_status.flags.gnss_yaw; + + _control_status.flags.mag_3D = common_conditions_passing + && (_params.mag_fusion_type == MagFuseType::AUTO) + && _control_status.flags.mag_aligned_in_flight; + + _control_status.flags.mag_hdg = common_conditions_passing + && ((_params.mag_fusion_type == MagFuseType::HEADING) + || (_params.mag_fusion_type == MagFuseType::AUTO && !_control_status.flags.mag_3D)); + } + + // TODO: allow clearing mag_fault if mag_3d is good? + + if (_control_status.flags.mag_3D && !_control_status_prev.flags.mag_3D) { + ECL_INFO("starting mag 3D fusion"); + + } else if (!_control_status.flags.mag_3D && _control_status_prev.flags.mag_3D) { + ECL_INFO("stopping mag 3D fusion"); + } + + // if we are using 3-axis magnetometer fusion, but without external NE aiding, + // then the declination must be fused as an observation to prevent long term heading drift + const bool no_ne_aiding_or_pre_takeoff = !using_ne_aiding || !_control_status.flags.in_air; + _control_status.flags.mag_dec = _control_status.flags.mag && no_ne_aiding_or_pre_takeoff; + + if (_control_status.flags.mag) { + + if (continuing_conditions_passing && _control_status.flags.yaw_align) { + + if (mag_sample.reset || checkHaglYawResetReq() || (wmm_updated && no_ne_aiding_or_pre_takeoff)) { + ECL_INFO("reset to %s", AID_SRC_NAME); + resetMagStates(_mag_lpf.getState(), _control_status.flags.mag_hdg || _control_status.flags.mag_3D); + aid_src.time_last_fuse = imu_sample.time_us; + + } else { + // The normal sequence is to fuse the magnetometer data first before fusing + // declination angle at a higher uncertainty to allow some learning of + // declination angle over time. + const bool update_all_states = _control_status.flags.mag_3D || _control_status.flags.mag_hdg; + const bool update_tilt = _control_status.flags.mag_3D; + fuseMag(mag_sample.mag, R_MAG, H, aid_src, update_all_states, update_tilt); + + // the innovation variance contribution from the state covariances is negative which means the covariance matrix is badly conditioned + if (update_all_states && update_tilt) { + _fault_status.flags.bad_mag_x = (aid_src.innovation_variance[0] < aid_src.observation_variance[0]); + _fault_status.flags.bad_mag_y = (aid_src.innovation_variance[1] < aid_src.observation_variance[1]); + _fault_status.flags.bad_mag_z = (aid_src.innovation_variance[2] < aid_src.observation_variance[2]); + } + + if (_control_status.flags.mag_dec) { + fuseDeclination(0.5f); + } + } + + const bool is_fusion_failing = isTimedOut(aid_src.time_last_fuse, _params.reset_timeout_max); + + if (is_fusion_failing) { + if (no_ne_aiding_or_pre_takeoff) { + ECL_WARN("%s fusion failing, resetting", AID_SRC_NAME); + resetMagStates(_mag_lpf.getState(), _control_status.flags.mag_hdg || _control_status.flags.mag_3D); + aid_src.time_last_fuse = imu_sample.time_us; + + } else { + ECL_WARN("stopping %s, fusion failing", AID_SRC_NAME); + stopMagFusion(); + } + } + + } else { + // Stop fusion but do not declare it faulty + ECL_DEBUG("stopping %s fusion, continuing conditions no longer passing", AID_SRC_NAME); + stopMagFusion(); + } + + } else { + if (starting_conditions_passing) { + + // activate fusion, reset mag states and initialize variance if first init or in flight reset + if (!_control_status.flags.yaw_align + || wmm_updated + || !_state.mag_I.longerThan(0.f) + || (getStateVariance().min() < kMagVarianceMin) + || (getStateVariance().min() < kMagVarianceMin) + ) { + ECL_INFO("starting %s fusion, resetting states", AID_SRC_NAME); + + bool reset_heading = !_control_status.flags.yaw_align; + + resetMagStates(_mag_lpf.getState(), reset_heading); + aid_src.time_last_fuse = imu_sample.time_us; + + if (reset_heading) { + _control_status.flags.yaw_align = true; + resetAidSourceStatusZeroInnovation(aid_src); + } + + _control_status.flags.mag = true; + + } else { + if (fuseMag(mag_sample.mag, R_MAG, H, aid_src)) { + ECL_INFO("starting %s fusion", AID_SRC_NAME); + _control_status.flags.mag = true; + } + } + } + } + + } else if (!isNewestSampleRecent(_time_last_mag_buffer_push, 2 * MAG_MAX_INTERVAL)) { + // No data anymore. Stop until it comes back. + stopMagFusion(); + } +} + +void Ekf::stopMagFusion() +{ + if (_control_status.flags.mag) { + ECL_INFO("stopping mag fusion"); + + if (_control_status.flags.yaw_align && (_control_status.flags.mag_3D || _control_status.flags.mag_hdg)) { + // reset yaw alignment from mag unless using GNSS aiding + const bool using_ne_aiding = _control_status.flags.gps || _control_status.flags.aux_gpos; + + if (!using_ne_aiding) { + _control_status.flags.yaw_align = false; + } + } + + _control_status.flags.mag = false; + _control_status.flags.mag_dec = false; + + if (_control_status.flags.mag_3D) { + ECL_INFO("stopping mag 3D fusion"); + _control_status.flags.mag_3D = false; + } + + if (_control_status.flags.mag_hdg) { + ECL_INFO("stopping mag heading fusion"); + _control_status.flags.mag_hdg = false; + _fault_status.flags.bad_hdg = false; + } + + _control_status.flags.mag_aligned_in_flight = false; + + _fault_status.flags.bad_mag_x = false; + _fault_status.flags.bad_mag_y = false; + _fault_status.flags.bad_mag_z = false; + + _fault_status.flags.bad_mag_decl = false; + } +} + +bool Ekf::checkHaglYawResetReq() const +{ +#if defined(CONFIG_EKF2_TERRAIN) + + // We need to reset the yaw angle after climbing away from the ground to enable + // recovery from ground level magnetic interference. + if (_control_status.flags.in_air && _control_status.flags.yaw_align && !_control_status.flags.mag_aligned_in_flight) { + // Check if height has increased sufficiently to be away from ground magnetic anomalies + // and request a yaw reset if not already requested. + static constexpr float mag_anomalies_max_hagl = 1.5f; + const bool above_mag_anomalies = (getTerrainVPos() - _state.pos(2)) > mag_anomalies_max_hagl; + return above_mag_anomalies; + } + +#endif // CONFIG_EKF2_TERRAIN + + return false; +} + +void Ekf::resetMagStates(const Vector3f &mag, bool reset_heading) +{ + // reinit mag states + const Vector3f mag_I_before_reset = _state.mag_I; + const Vector3f mag_B_before_reset = _state.mag_B; + + // reset covariances to default + resetMagCov(); + + // if world magnetic model (inclination, declination, strength) available then use it to reset mag states + if (PX4_ISFINITE(_mag_inclination_gps) && PX4_ISFINITE(_mag_declination_gps) && PX4_ISFINITE(_mag_strength_gps)) { + + // use expected earth field to reset states + const Vector3f mag_earth_pred = Dcmf(Eulerf(0, -_mag_inclination_gps, _mag_declination_gps)) + * Vector3f(_mag_strength_gps, 0, 0); + + // mag_B: reset + if (!reset_heading && _control_status.flags.yaw_align) { + // mag_B: reset using WMM + const Dcmf R_to_body = quatToInverseRotMat(_state.quat_nominal); + _state.mag_B = mag - (R_to_body * mag_earth_pred); + + } else { + _state.mag_B.zero(); + } + + // mag_I: reset, skipped if no change in state and variance good + _state.mag_I = mag_earth_pred; + + if (reset_heading) { + resetMagHeading(mag); + } + + } else { + // mag_B: reset + _state.mag_B.zero(); + + // Use the magnetometer measurement to reset the field states + if (reset_heading) { + resetMagHeading(mag); + } + + // mag_I: use the last magnetometer measurements to reset the field states + _state.mag_I = _R_to_earth * mag; + } + + if (!mag_I_before_reset.longerThan(0.f)) { + ECL_INFO("initializing mag I [%.3f, %.3f, %.3f], mag B [%.3f, %.3f, %.3f]", + (double)_state.mag_I(0), (double)_state.mag_I(1), (double)_state.mag_I(2), + (double)_state.mag_B(0), (double)_state.mag_B(1), (double)_state.mag_B(2) + ); + + } else { + ECL_INFO("resetting mag I [%.3f, %.3f, %.3f] -> [%.3f, %.3f, %.3f]", + (double)mag_I_before_reset(0), (double)mag_I_before_reset(1), (double)mag_I_before_reset(2), + (double)_state.mag_I(0), (double)_state.mag_I(1), (double)_state.mag_I(2) + ); + + if (mag_B_before_reset.longerThan(0.f) || _state.mag_B.longerThan(0.f)) { + ECL_INFO("resetting mag B [%.3f, %.3f, %.3f] -> [%.3f, %.3f, %.3f]", + (double)mag_B_before_reset(0), (double)mag_B_before_reset(1), (double)mag_B_before_reset(2), + (double)_state.mag_B(0), (double)_state.mag_B(1), (double)_state.mag_B(2) + ); + } + } + + // record the start time for the magnetic field alignment + if (_control_status.flags.in_air) { + _control_status.flags.mag_aligned_in_flight = true; + _flt_mag_align_start_time = _time_delayed_us; + } +} + +void Ekf::checkMagHeadingConsistency(const magSample &mag_sample) +{ + // use mag bias if variance good + Vector3f mag_bias{0.f, 0.f, 0.f}; + const Vector3f mag_bias_var = getMagBiasVariance(); + + if ((mag_bias_var.min() > 0.f) && (mag_bias_var.max() <= sq(_params.mag_noise))) { + mag_bias = _state.mag_B; + } + + // calculate mag heading + // Rotate the measurements into earth frame using the zero yaw angle + const Dcmf R_to_earth = updateYawInRotMat(0.f, _R_to_earth); + + // the angle of the projection onto the horizontal gives the yaw angle + // calculate the yaw innovation and wrap to the interval between +-pi + const Vector3f mag_earth_pred = R_to_earth * (mag_sample.mag - mag_bias); + const float declination = getMagDeclination(); + const float measured_hdg = -atan2f(mag_earth_pred(1), mag_earth_pred(0)) + declination; + + if (_control_status.flags.yaw_align) { + const float innovation = wrap_pi(getEulerYaw(_R_to_earth) - measured_hdg); + _mag_heading_innov_lpf.update(innovation); + + } else { + _mag_heading_innov_lpf.reset(0.f); + } + + if (fabsf(_mag_heading_innov_lpf.getState()) < _params.mag_heading_noise) { + // Check if there has been enough change in horizontal velocity to make yaw observable + const bool using_ne_aiding = _control_status.flags.gps || _control_status.flags.aux_gpos; + + if (using_ne_aiding && (_accel_lpf_NE.norm() > _params.mag_acc_gate)) { + // yaw angle must be observable to consider consistency + _control_status.flags.mag_heading_consistent = true; + } + + } else { + _control_status.flags.mag_heading_consistent = false; + } +} + +bool Ekf::checkMagField(const Vector3f &mag_sample) +{ + _control_status.flags.mag_field_disturbed = false; + + if (_params.mag_check == 0) { + // skip all checks + return true; + } + + bool is_check_failing = false; + _mag_strength = mag_sample.length(); + + if (_params.mag_check & static_cast(MagCheckMask::STRENGTH)) { + if (PX4_ISFINITE(_mag_strength_gps)) { + if (!isMeasuredMatchingExpected(_mag_strength, _mag_strength_gps, _params.mag_check_strength_tolerance_gs)) { + _control_status.flags.mag_field_disturbed = true; + is_check_failing = true; + } + + } else if (_params.mag_check & static_cast(MagCheckMask::FORCE_WMM)) { + is_check_failing = true; + + } else { + constexpr float average_earth_mag_field_strength = 0.45f; // Gauss + constexpr float average_earth_mag_gate_size = 0.40f; // +/- Gauss + + if (!isMeasuredMatchingExpected(mag_sample.length(), average_earth_mag_field_strength, average_earth_mag_gate_size)) { + _control_status.flags.mag_field_disturbed = true; + is_check_failing = true; + } + } + } + + const Vector3f mag_earth = _R_to_earth * mag_sample; + _mag_inclination = asinf(mag_earth(2) / fmaxf(mag_earth.norm(), 1e-4f)); + + if (_params.mag_check & static_cast(MagCheckMask::INCLINATION)) { + if (PX4_ISFINITE(_mag_inclination_gps)) { + const float inc_tol_rad = radians(_params.mag_check_inclination_tolerance_deg); + const float inc_error_rad = wrap_pi(_mag_inclination - _mag_inclination_gps); + + if (fabsf(inc_error_rad) > inc_tol_rad) { + _control_status.flags.mag_field_disturbed = true; + is_check_failing = true; + } + + } else if (_params.mag_check & static_cast(MagCheckMask::FORCE_WMM)) { + is_check_failing = true; + + } else { + // No check possible when the global position is unknown + // TODO: add parameter to remember the inclination between boots + } + } + + if (is_check_failing || (_time_last_mag_check_failing == 0)) { + _time_last_mag_check_failing = _time_delayed_us; + } + + return ((_time_delayed_us - _time_last_mag_check_failing) > (uint64_t)_min_mag_health_time_us); +} + +bool Ekf::isMeasuredMatchingExpected(const float measured, const float expected, const float gate) +{ + return (measured >= expected - gate) + && (measured <= expected + gate); +} + +void Ekf::resetMagHeading(const Vector3f &mag) +{ + // use mag bias if variance good (unless configured for HEADING only) + Vector3f mag_bias{0.f, 0.f, 0.f}; + const Vector3f mag_bias_var = getMagBiasVariance(); + + if ((mag_bias_var.min() > 0.f) && (mag_bias_var.max() <= sq(_params.mag_noise))) { + mag_bias = _state.mag_B; + } + + // calculate mag heading + // rotate the magnetometer measurements into earth frame using a zero yaw angle + const Dcmf R_to_earth = updateYawInRotMat(0.f, _R_to_earth); + + // the angle of the projection onto the horizontal gives the yaw angle + const Vector3f mag_earth_pred = R_to_earth * (mag - mag_bias); + + // calculate the observed yaw angle and yaw variance + const float declination = getMagDeclination(); + float yaw_new = -atan2f(mag_earth_pred(1), mag_earth_pred(0)) + declination; + float yaw_new_variance = math::max(sq(_params.mag_heading_noise), sq(0.01f)); + + ECL_INFO("reset mag heading %.3f -> %.3f rad (bias:[%.3f, %.3f, %.3f], declination:%.1f)", + (double)getEulerYaw(_R_to_earth), (double)yaw_new, + (double)mag_bias(0), (double)mag_bias(1), (double)mag_bias(2), + (double)declination); + + // update quaternion states and corresponding covarainces + resetQuatStateYaw(yaw_new, yaw_new_variance); + + _time_last_heading_fuse = _time_delayed_us; + + _mag_heading_innov_lpf.reset(0.f); + _control_status.flags.mag_heading_consistent = true; +} + +float Ekf::getMagDeclination() +{ + // set source of magnetic declination for internal use + if (_control_status.flags.mag_aligned_in_flight) { + // Use value consistent with earth field state + return atan2f(_state.mag_I(1), _state.mag_I(0)); + + } else if (_params.mag_declination_source & GeoDeclinationMask::USE_GEO_DECL) { + // use parameter value until GPS is available, then use value returned by geo library + if (PX4_ISFINITE(_mag_declination_gps)) { + return _mag_declination_gps; + } + } + + // otherwise use the parameter value + return math::radians(_params.mag_declination_deg); +} diff --git a/src/modules/ekf2/EKF/aid_sources/magnetometer/mag_fusion.cpp b/src/modules/ekf2/EKF/aid_sources/magnetometer/mag_fusion.cpp new file mode 100644 index 000000000000..acd16578c54f --- /dev/null +++ b/src/modules/ekf2/EKF/aid_sources/magnetometer/mag_fusion.cpp @@ -0,0 +1,210 @@ +/**************************************************************************** + * + * Copyright (c) 2015-2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file heading_fusion.cpp + * Magnetometer fusion methods. + * Equations generated using EKF/python/ekf_derivation/main.py + * + * @author Roman Bast + * @author Paul Riseborough + * + */ + +#include "ekf.h" + +#include +#include + +#include + +#include + +bool Ekf::fuseMag(const Vector3f &mag, const float R_MAG, VectorState &H, estimator_aid_source3d_s &aid_src, + bool update_all_states, bool update_tilt) +{ + // if any axis failed, abort the mag fusion + if (aid_src.innovation_rejected) { + return false; + } + + const auto state_vector = _state.vector(); + + bool fused[3] {false, false, false}; + + // update the states and covariance using sequential fusion of the magnetometer components + for (uint8_t index = 0; index <= 2; index++) { + // Calculate Kalman gains and observation jacobians + if (index == 0) { + // everything was already computed + + } else if (index == 1) { + // recalculate innovation variance because state covariances have changed due to previous fusion (linearise using the same initial state for all axes) + sym::ComputeMagYInnovVarAndH(state_vector, P, R_MAG, FLT_EPSILON, &aid_src.innovation_variance[index], &H); + + // recalculate innovation using the updated state + aid_src.innovation[index] = _state.quat_nominal.rotateVectorInverse(_state.mag_I)(index) + _state.mag_B(index) - mag( + index); + + } else if (index == 2) { + // we do not fuse synthesized magnetomter measurements when doing 3D fusion + if (_control_status.flags.synthetic_mag_z) { + fused[2] = true; + continue; + } + + // recalculate innovation variance because state covariances have changed due to previous fusion (linearise using the same initial state for all axes) + sym::ComputeMagZInnovVarAndH(state_vector, P, R_MAG, FLT_EPSILON, &aid_src.innovation_variance[index], &H); + + // recalculate innovation using the updated state + aid_src.innovation[index] = _state.quat_nominal.rotateVectorInverse(_state.mag_I)(index) + _state.mag_B(index) - mag( + index); + } + + if (aid_src.innovation_variance[index] < R_MAG) { + ECL_ERR("mag numerical error covariance reset"); + + // we need to re-initialise covariances and abort this fusion step + if (update_all_states) { + resetQuatCov(_params.mag_heading_noise); + } + + resetMagCov(); + + return false; + } + + VectorState Kfusion = P * H / aid_src.innovation_variance[index]; + + if (update_all_states) { + if (!update_tilt) { + Kfusion(State::quat_nominal.idx + 0) = 0.f; + Kfusion(State::quat_nominal.idx + 1) = 0.f; + } + + } else { + // zero non-mag Kalman gains if not updating all states + + // copy mag_I and mag_B Kalman gains + const Vector3f K_mag_I = Kfusion.slice(State::mag_I.idx, 0); + const Vector3f K_mag_B = Kfusion.slice(State::mag_B.idx, 0); + + // zero all Kalman gains, then restore mag + Kfusion.setZero(); + Kfusion.slice(State::mag_I.idx, 0) = K_mag_I; + Kfusion.slice(State::mag_B.idx, 0) = K_mag_B; + } + + if (measurementUpdate(Kfusion, H, aid_src.observation_variance[index], aid_src.innovation[index])) { + fused[index] = true; + } + } + + if (update_all_states) { + _fault_status.flags.bad_mag_x = !fused[0]; + _fault_status.flags.bad_mag_y = !fused[1]; + _fault_status.flags.bad_mag_z = !fused[2]; + } + + if (fused[0] && fused[1] && fused[2]) { + aid_src.fused = true; + aid_src.time_last_fuse = _time_delayed_us; + + if (update_all_states) { + _time_last_heading_fuse = _time_delayed_us; + } + + return true; + } + + return false; +} + +bool Ekf::fuseDeclination(float decl_sigma) +{ + float decl_measurement = NAN; + + if ((_params.mag_declination_source & GeoDeclinationMask::USE_GEO_DECL) + && PX4_ISFINITE(_mag_declination_gps) + ) { + decl_measurement = _mag_declination_gps; + + } else if ((_params.mag_declination_source & GeoDeclinationMask::SAVE_GEO_DECL) + && PX4_ISFINITE(_params.mag_declination_deg) && (fabsf(_params.mag_declination_deg) > 0.f) + ) { + decl_measurement = math::radians(_params.mag_declination_deg); + } + + if (PX4_ISFINITE(decl_measurement)) { + + // observation variance (rad**2) + const float R_DECL = sq(decl_sigma); + + VectorState H; + float decl_pred; + float innovation_variance; + + sym::ComputeMagDeclinationPredInnovVarAndH(_state.vector(), P, R_DECL, FLT_EPSILON, &decl_pred, &innovation_variance, + &H); + + const float innovation = wrap_pi(decl_pred - decl_measurement); + + if (innovation_variance < R_DECL) { + // variance calculation is badly conditioned + return false; + } + + // Calculate the Kalman gains + VectorState Kfusion = P * H / innovation_variance; + + const bool is_fused = measurementUpdate(Kfusion, H, R_DECL, innovation); + + _fault_status.flags.bad_mag_decl = !is_fused; + + return is_fused; + } + + return false; +} + +float Ekf::calculate_synthetic_mag_z_measurement(const Vector3f &mag_meas, const Vector3f &mag_earth_predicted) +{ + // theoretical magnitude of the magnetometer Z component value given X and Y sensor measurement and our knowledge + // of the earth magnetic field vector at the current location + const float mag_z_abs = sqrtf(math::max(sq(mag_earth_predicted.length()) - sq(mag_meas(0)) - sq(mag_meas(1)), 0.0f)); + + // calculate sign of synthetic magnetomter Z component based on the sign of the predicted magnetometer Z component + const float mag_z_body_pred = mag_earth_predicted.dot(_R_to_earth.col(2)); + + return (mag_z_body_pred < 0) ? -mag_z_abs : mag_z_abs; +} diff --git a/src/modules/ekf2/EKF/aid_sources/optical_flow/optical_flow_control.cpp b/src/modules/ekf2/EKF/aid_sources/optical_flow/optical_flow_control.cpp new file mode 100644 index 000000000000..95db812faeb5 --- /dev/null +++ b/src/modules/ekf2/EKF/aid_sources/optical_flow/optical_flow_control.cpp @@ -0,0 +1,284 @@ +/**************************************************************************** + * + * Copyright (c) 2022 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file optical_flow_control.cpp + * Control functions for optical flow fusion + */ + +#include "ekf.h" + +#include + +void Ekf::controlOpticalFlowFusion(const imuSample &imu_delayed) +{ + if (!_flow_buffer || (_params.flow_ctrl != 1)) { + stopFlowFusion(); + return; + } + + VectorState H; + + // New optical flow data is available and is ready to be fused when the midpoint of the sample falls behind the fusion time horizon + if (_flow_buffer->pop_first_older_than(imu_delayed.time_us, &_flow_sample_delayed)) { + + // flow gyro has opposite sign convention + _ref_body_rate = -(imu_delayed.delta_ang / imu_delayed.delta_ang_dt - getGyroBias()); + + // ensure valid flow sample gyro rate before proceeding + switch (static_cast(_params.flow_gyro_src)) { + default: + + /* FALLTHROUGH */ + case FlowGyroSource::Auto: + if (!PX4_ISFINITE(_flow_sample_delayed.gyro_rate(0)) || !PX4_ISFINITE(_flow_sample_delayed.gyro_rate(1))) { + _flow_sample_delayed.gyro_rate = _ref_body_rate; + } + + if (!PX4_ISFINITE(_flow_sample_delayed.gyro_rate(2))) { + // Some flow modules only provide X ind Y angular rates. If this is the case, complete the vector with our own Z gyro + _flow_sample_delayed.gyro_rate(2) = _ref_body_rate(2); + } + + break; + + case FlowGyroSource::Internal: + _flow_sample_delayed.gyro_rate = _ref_body_rate; + break; + } + + const flowSample &flow_sample = _flow_sample_delayed; + + const int32_t min_quality = _control_status.flags.in_air + ? _params.flow_qual_min + : _params.flow_qual_min_gnd; + + const bool is_quality_good = (flow_sample.quality >= min_quality); + + bool is_tilt_good = true; + +#if defined(CONFIG_EKF2_RANGE_FINDER) + is_tilt_good = (_R_to_earth(2, 2) > _params.range_cos_max_tilt); +#endif // CONFIG_EKF2_RANGE_FINDER + + calcOptFlowBodyRateComp(flow_sample); + + // calculate optical LOS rates using optical flow rates that have had the body angular rate contribution removed + // correct for gyro bias errors in the data used to do the motion compensation + // Note the sign convention used: A positive LOS rate is a RH rotation of the scene about that axis. + const Vector3f flow_gyro_corrected = flow_sample.gyro_rate - _flow_gyro_bias; + const Vector2f flow_compensated = flow_sample.flow_rate - flow_gyro_corrected.xy(); + + // calculate the optical flow observation variance + const float R_LOS = calcOptFlowMeasVar(flow_sample); + + const float epsilon = 1e-3f; + Vector2f innov_var; + sym::ComputeFlowXyInnovVarAndHx(_state.vector(), P, R_LOS, epsilon, &innov_var, &H); + + // run the innovation consistency check and record result + updateAidSourceStatus(_aid_src_optical_flow, + flow_sample.time_us, // sample timestamp + flow_compensated, // observation + Vector2f{R_LOS, R_LOS}, // observation variance + predictFlow(flow_gyro_corrected) - flow_compensated, // innovation + innov_var, // innovation variance + math::max(_params.flow_innov_gate, 1.f)); // innovation gate + + // logging + _flow_rate_compensated = flow_compensated; + + // compute the velocities in body and local frames from corrected optical flow measurement for logging only + const float range = predictFlowRange(); + _flow_vel_body(0) = -flow_compensated(1) * range; + _flow_vel_body(1) = flow_compensated(0) * range; + _flow_vel_ne = Vector2f(_R_to_earth * Vector3f(_flow_vel_body(0), _flow_vel_body(1), 0.f)); + + + // Check if we are in-air and require optical flow to control position drift + bool is_flow_required = _control_status.flags.in_air + && (_control_status.flags.inertial_dead_reckoning // is doing inertial dead-reckoning so must constrain drift urgently + || isOnlyActiveSourceOfHorizontalAiding(_control_status.flags.opt_flow)); + + const bool is_within_sensor_dist = (getHagl() >= _flow_min_distance) && (getHagl() <= _flow_max_distance); + + const bool is_magnitude_good = flow_sample.flow_rate.isAllFinite() + && !flow_sample.flow_rate.longerThan(_flow_max_rate) + && !flow_compensated.longerThan(_flow_max_rate); + + const bool continuing_conditions_passing = (_params.flow_ctrl == 1) + && _control_status.flags.tilt_align + && is_within_sensor_dist; + + const bool starting_conditions_passing = continuing_conditions_passing + && is_quality_good + && is_magnitude_good + && is_tilt_good + && (isTerrainEstimateValid() || isHorizontalAidingActive()) + && isTimedOut(_aid_src_optical_flow.time_last_fuse, (uint64_t)2e6); // Prevent rapid switching + + // If the height is relative to the ground, terrain height cannot be observed. + _control_status.flags.opt_flow_terrain = _control_status.flags.opt_flow && !(_height_sensor_ref == HeightSensor::RANGE); + + if (_control_status.flags.opt_flow) { + if (continuing_conditions_passing) { + + if (is_quality_good && is_magnitude_good && is_tilt_good) { + fuseOptFlow(H, _control_status.flags.opt_flow_terrain); + } + + // handle the case when we have optical flow, are reliant on it, but have not been using it for an extended period + if (isTimedOut(_aid_src_optical_flow.time_last_fuse, _params.no_aid_timeout_max)) { + if (is_flow_required && is_quality_good && is_magnitude_good) { + resetFlowFusion(); + + if (_control_status.flags.opt_flow_terrain && !isTerrainEstimateValid()) { + resetTerrainToFlow(); + } + + } else { + stopFlowFusion(); + } + } + + } else { + stopFlowFusion(); + } + + } else { + if (starting_conditions_passing) { + // If the height is relative to the ground, terrain height cannot be observed. + _control_status.flags.opt_flow_terrain = (_height_sensor_ref != HeightSensor::RANGE); + + if (isHorizontalAidingActive()) { + if (fuseOptFlow(H, _control_status.flags.opt_flow_terrain)) { + ECL_INFO("starting optical flow"); + _control_status.flags.opt_flow = true; + + } else if (_control_status.flags.opt_flow_terrain && !_control_status.flags.rng_terrain) { + ECL_INFO("starting optical flow, resetting terrain"); + resetTerrainToFlow(); + _control_status.flags.opt_flow = true; + } + + } else { + if (isTerrainEstimateValid() || (_height_sensor_ref == HeightSensor::RANGE)) { + ECL_INFO("starting optical flow, resetting"); + resetFlowFusion(); + _control_status.flags.opt_flow = true; + + } else if (_control_status.flags.opt_flow_terrain) { + ECL_INFO("starting optical flow, resetting terrain"); + resetTerrainToFlow(); + _control_status.flags.opt_flow = true; + } + } + + _control_status.flags.opt_flow_terrain = _control_status.flags.opt_flow && !(_height_sensor_ref == HeightSensor::RANGE); + } + } + + } else if (_control_status.flags.opt_flow && isTimedOut(_flow_sample_delayed.time_us, _params.reset_timeout_max)) { + stopFlowFusion(); + } +} + +void Ekf::resetFlowFusion() +{ + ECL_INFO("reset velocity to flow"); + _information_events.flags.reset_vel_to_flow = true; + + const float flow_vel_var = sq(predictFlowRange()) * calcOptFlowMeasVar(_flow_sample_delayed); + resetHorizontalVelocityTo(_flow_vel_ne, flow_vel_var); + + // reset position, estimate is relative to initial position in this mode, so we start with zero error + if (!_control_status.flags.in_air) { + ECL_INFO("reset position to zero"); + resetHorizontalPositionTo(Vector2f(0.f, 0.f), 0.f); + } + + resetAidSourceStatusZeroInnovation(_aid_src_optical_flow); + + _innov_check_fail_status.flags.reject_optflow_X = false; + _innov_check_fail_status.flags.reject_optflow_Y = false; +} + +void Ekf::resetTerrainToFlow() +{ + ECL_INFO("reset hagl to flow"); + + // TODO: use the flow data + const float new_terrain = fmaxf(0.0f, _state.pos(2)); + const float delta_terrain = new_terrain - _state.terrain; + _state.terrain = new_terrain; + P.uncorrelateCovarianceSetVariance(State::terrain.idx, 100.f); + + resetAidSourceStatusZeroInnovation(_aid_src_optical_flow); + + _innov_check_fail_status.flags.reject_optflow_X = false; + _innov_check_fail_status.flags.reject_optflow_Y = false; + + + // record the state change + if (_state_reset_status.reset_count.hagl == _state_reset_count_prev.hagl) { + _state_reset_status.hagl_change = delta_terrain; + + } else { + // there's already a reset this update, accumulate total delta + _state_reset_status.hagl_change += delta_terrain; + } + + _state_reset_status.reset_count.hagl++; +} + +void Ekf::stopFlowFusion() +{ + if (_control_status.flags.opt_flow) { + ECL_INFO("stopping optical flow fusion"); + _control_status.flags.opt_flow = false; + _control_status.flags.opt_flow_terrain = false; + + _fault_status.flags.bad_optflow_X = false; + _fault_status.flags.bad_optflow_Y = false; + + _innov_check_fail_status.flags.reject_optflow_X = false; + _innov_check_fail_status.flags.reject_optflow_Y = false; + } +} + +void Ekf::calcOptFlowBodyRateComp(const flowSample &flow_sample) +{ + // calculate the bias estimate using a combined LPF and spike filter + _flow_gyro_bias = 0.99f * _flow_gyro_bias + + 0.01f * matrix::constrain(flow_sample.gyro_rate - _ref_body_rate, -0.1f, 0.1f); +} diff --git a/src/modules/ekf2/EKF/aid_sources/optical_flow/optical_flow_fusion.cpp b/src/modules/ekf2/EKF/aid_sources/optical_flow/optical_flow_fusion.cpp new file mode 100644 index 000000000000..e95df3dbc2d1 --- /dev/null +++ b/src/modules/ekf2/EKF/aid_sources/optical_flow/optical_flow_fusion.cpp @@ -0,0 +1,178 @@ +/**************************************************************************** + * + * Copyright (c) 2015-2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file optflow_fusion.cpp + */ + +#include "ekf.h" + +#include +#include +#include +#include + +bool Ekf::fuseOptFlow(VectorState &H, const bool update_terrain) +{ + const auto state_vector = _state.vector(); + + _innov_check_fail_status.flags.reject_optflow_X = (_aid_src_optical_flow.test_ratio[0] > 1.f); + _innov_check_fail_status.flags.reject_optflow_Y = (_aid_src_optical_flow.test_ratio[1] > 1.f); + + // if either axis fails we abort the fusion + if (_aid_src_optical_flow.innovation_rejected) { + return false; + } + + bool fused[2] {false, false}; + + // fuse observation axes sequentially + for (uint8_t index = 0; index <= 1; index++) { + + if (_aid_src_optical_flow.innovation_variance[index] < _aid_src_optical_flow.observation_variance[index]) { + // we need to reinitialise the covariance matrix and abort this fusion step + ECL_ERR("Opt flow error - covariance reset"); + initialiseCovariance(); + return false; + } + + if (index == 0) { + // everything was already computed above + + } else if (index == 1) { + // recalculate innovation variance because state covariances have changed due to previous fusion (linearise using the same initial state for all axes) + const float R_LOS = _aid_src_optical_flow.observation_variance[1]; + const float epsilon = 1e-3f; + sym::ComputeFlowYInnovVarAndH(state_vector, P, R_LOS, epsilon, &_aid_src_optical_flow.innovation_variance[1], &H); + + // recalculate the innovation using the updated state + const Vector3f flow_gyro_corrected = _flow_sample_delayed.gyro_rate - _flow_gyro_bias; + _aid_src_optical_flow.innovation[1] = predictFlow(flow_gyro_corrected)(1) - _aid_src_optical_flow.observation[1]; + } + + VectorState Kfusion = P * H / _aid_src_optical_flow.innovation_variance[index]; + + if (!update_terrain) { + Kfusion(State::terrain.idx) = 0.f; + } + + if (measurementUpdate(Kfusion, H, _aid_src_optical_flow.observation_variance[index], + _aid_src_optical_flow.innovation[index])) { + fused[index] = true; + } + } + + _fault_status.flags.bad_optflow_X = !fused[0]; + _fault_status.flags.bad_optflow_Y = !fused[1]; + + if (fused[0] && fused[1]) { + _aid_src_optical_flow.time_last_fuse = _time_delayed_us; + _aid_src_optical_flow.fused = true; + + _time_last_hor_vel_fuse = _time_delayed_us; + + if (update_terrain) { + _time_last_terrain_fuse = _time_delayed_us; + } + + return true; + } + + return false; +} + +float Ekf::predictFlowRange() const +{ + // calculate the sensor position relative to the IMU + const Vector3f pos_offset_body = _params.flow_pos_body - _params.imu_pos_body; + + // calculate the sensor position relative to the IMU in earth frame + const Vector3f pos_offset_earth = _R_to_earth * pos_offset_body; + + // calculate the height above the ground of the optical flow camera. Since earth frame is NED + // a positive offset in earth frame leads to a smaller height above the ground. + const float height_above_gnd_est = getHagl() - pos_offset_earth(2); + + // calculate range from focal point to centre of image + float flow_range = height_above_gnd_est / _R_to_earth(2, 2); // absolute distance to the frame region in view + + // avoid the flow prediction singularity at range = 0 + if (fabsf(flow_range) < FLT_EPSILON) { + flow_range = signNoZero(flow_range) * FLT_EPSILON; + } + + return flow_range; +} + +Vector2f Ekf::predictFlow(const Vector3f &flow_gyro) const +{ + // calculate the sensor position relative to the IMU + const Vector3f pos_offset_body = _params.flow_pos_body - _params.imu_pos_body; + + // calculate the velocity of the sensor relative to the imu in body frame + // Note: flow gyro is the negative of the body angular velocity, thus use minus sign + const Vector3f vel_rel_imu_body = -flow_gyro % pos_offset_body; + + // calculate the velocity of the sensor in the earth frame + const Vector3f vel_rel_earth = _state.vel + _R_to_earth * vel_rel_imu_body; + + // rotate into body frame + const Vector2f vel_body = _state.quat_nominal.rotateVectorInverse(vel_rel_earth).xy(); + + // calculate range from focal point to centre of image + const float range = predictFlowRange(); + + return Vector2f(vel_body(1) / range, -vel_body(0) / range); +} + +float Ekf::calcOptFlowMeasVar(const flowSample &flow_sample) const +{ + // calculate the observation noise variance - scaling noise linearly across flow quality range + const float R_LOS_best = fmaxf(_params.flow_noise, 0.05f); + const float R_LOS_worst = fmaxf(_params.flow_noise_qual_min, 0.05f); + + // calculate a weighting that varies between 1 when flow quality is best and 0 when flow quality is worst + float weighting = (255.f - (float)_params.flow_qual_min); + + if (weighting >= 1.f) { + weighting = math::constrain((float)(flow_sample.quality - _params.flow_qual_min) / weighting, 0.f, 1.f); + + } else { + weighting = 0.0f; + } + + // take the weighted average of the observation noise for the best and wort flow quality + const float R_LOS = sq(R_LOS_best * weighting + R_LOS_worst * (1.f - weighting)); + + return R_LOS; +} diff --git a/src/modules/ekf2/EKF/Sensor.hpp b/src/modules/ekf2/EKF/aid_sources/range_finder/Sensor.hpp similarity index 93% rename from src/modules/ekf2/EKF/Sensor.hpp rename to src/modules/ekf2/EKF/aid_sources/range_finder/Sensor.hpp index 5f18340c7792..8134418fabf2 100644 --- a/src/modules/ekf2/EKF/Sensor.hpp +++ b/src/modules/ekf2/EKF/aid_sources/range_finder/Sensor.hpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2020 Estimation and Control Library (ECL). All rights reserved. + * Copyright (c) 2020-2023 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -12,7 +12,7 @@ * notice, this list of conditions and the following disclaimer in * the documentation and/or other materials provided with the * distribution. - * 3. Neither the name ECL nor the names of its contributors may be + * 3. Neither the name PX4 nor the names of its contributors may be * used to endorse or promote products derived from this software * without specific prior written permission. * @@ -42,7 +42,7 @@ #ifndef EKF_SENSOR_HPP #define EKF_SENSOR_HPP -#include "common.h" +#include namespace estimator { diff --git a/src/modules/ekf2/EKF/range_finder_consistency_check.cpp b/src/modules/ekf2/EKF/aid_sources/range_finder/range_finder_consistency_check.cpp similarity index 78% rename from src/modules/ekf2/EKF/range_finder_consistency_check.cpp rename to src/modules/ekf2/EKF/aid_sources/range_finder/range_finder_consistency_check.cpp index 0d8daee7dea9..918ab523c0d6 100644 --- a/src/modules/ekf2/EKF/range_finder_consistency_check.cpp +++ b/src/modules/ekf2/EKF/aid_sources/range_finder/range_finder_consistency_check.cpp @@ -35,10 +35,15 @@ * @file range_finder_consistency_check.cpp */ -#include "range_finder_consistency_check.hpp" +#include -void RangeFinderConsistencyCheck::update(float dist_bottom, float dist_bottom_var, float vz, float vz_var, uint64_t time_us) +void RangeFinderConsistencyCheck::update(float dist_bottom, float dist_bottom_var, float vz, float vz_var, + bool horizontal_motion, uint64_t time_us) { + if (horizontal_motion) { + _time_last_horizontal_motion = time_us; + } + const float dt = static_cast(time_us - _time_last_update_us) * 1e-6f; if ((_time_last_update_us == 0) @@ -51,7 +56,8 @@ void RangeFinderConsistencyCheck::update(float dist_bottom, float dist_bottom_va const float vel_bottom = (dist_bottom - _dist_bottom_prev) / dt; _innov = -vel_bottom - vz; // vel_bottom is +up while vz is +down - const float var = 2.f * dist_bottom_var / (dt * dt); // Variance of the time derivative of a random variable: var(dz/dt) = 2*var(z) / dt^2 + // Variance of the time derivative of a random variable: var(dz/dt) = 2*var(z) / dt^2 + const float var = 2.f * dist_bottom_var / (dt * dt); _innov_var = var + vz_var; const float normalized_innov_sq = (_innov * _innov) / _innov_var; @@ -68,12 +74,21 @@ void RangeFinderConsistencyCheck::update(float dist_bottom, float dist_bottom_va void RangeFinderConsistencyCheck::updateConsistency(float vz, uint64_t time_us) { + if (fabsf(vz) < _min_vz_for_valid_consistency) { + // We can only check consistency if there is vertical motion + return; + } + if (fabsf(_signed_test_ratio_lpf.getState()) >= 1.f) { - _is_kinematically_consistent = false; - _time_last_inconsistent_us = time_us; + if ((time_us - _time_last_horizontal_motion) > _signed_test_ratio_tau) { + _is_kinematically_consistent = false; + _time_last_inconsistent_us = time_us; + } } else { - if (fabsf(vz) > _min_vz_for_valid_consistency && _test_ratio < 1.f && ((time_us - _time_last_inconsistent_us) > _consistency_hyst_time_us)) { + if ((_test_ratio < 1.f) + && ((time_us - _time_last_inconsistent_us) > _consistency_hyst_time_us) + ) { _is_kinematically_consistent = true; } } diff --git a/src/modules/ekf2/EKF/range_finder_consistency_check.hpp b/src/modules/ekf2/EKF/aid_sources/range_finder/range_finder_consistency_check.hpp similarity index 92% rename from src/modules/ekf2/EKF/range_finder_consistency_check.hpp rename to src/modules/ekf2/EKF/aid_sources/range_finder/range_finder_consistency_check.hpp index 1498a4aa6cce..d031e12d975b 100644 --- a/src/modules/ekf2/EKF/range_finder_consistency_check.hpp +++ b/src/modules/ekf2/EKF/aid_sources/range_finder/range_finder_consistency_check.hpp @@ -37,7 +37,8 @@ * using the estimated velocity as a reference in order to detect sensor faults */ -#pragma once +#ifndef EKF_RANGE_FINDER_CONSISTENCY_CHECK_HPP +#define EKF_RANGE_FINDER_CONSISTENCY_CHECK_HPP #include @@ -47,7 +48,7 @@ class RangeFinderConsistencyCheck final RangeFinderConsistencyCheck() = default; ~RangeFinderConsistencyCheck() = default; - void update(float dist_bottom, float dist_bottom_var, float vz, float vz_var, uint64_t time_us); + void update(float dist_bottom, float dist_bottom_var, float vz, float vz_var, bool horizontal_motion, uint64_t time_us); void setGate(float gate) { _gate = gate; } @@ -71,9 +72,12 @@ class RangeFinderConsistencyCheck final bool _is_kinematically_consistent{true}; uint64_t _time_last_inconsistent_us{}; + uint64_t _time_last_horizontal_motion{}; static constexpr float _signed_test_ratio_tau = 2.f; static constexpr float _min_vz_for_valid_consistency = .5f; static constexpr uint64_t _consistency_hyst_time_us = 1e6; }; + +#endif // !EKF_RANGE_FINDER_CONSISTENCY_CHECK_HPP diff --git a/src/modules/ekf2/EKF/aid_sources/range_finder/range_height_control.cpp b/src/modules/ekf2/EKF/aid_sources/range_finder/range_height_control.cpp new file mode 100644 index 000000000000..0aafe8a1b00d --- /dev/null +++ b/src/modules/ekf2/EKF/aid_sources/range_finder/range_height_control.cpp @@ -0,0 +1,336 @@ +/**************************************************************************** + * + * Copyright (c) 2022 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file range_height_control.cpp + * Control functions for ekf range finder height fusion + */ + +#include "ekf.h" +#include "ekf_derivation/generated/compute_hagl_innov_var.h" + +void Ekf::controlRangeHaglFusion(const imuSample &imu_sample) +{ + static constexpr const char *HGT_SRC_NAME = "RNG"; + + bool rng_data_ready = false; + + if (_range_buffer) { + // Get range data from buffer and check validity + rng_data_ready = _range_buffer->pop_first_older_than(imu_sample.time_us, _range_sensor.getSampleAddress()); + _range_sensor.setDataReadiness(rng_data_ready); + + // update range sensor angle parameters in case they have changed + _range_sensor.setPitchOffset(_params.rng_sens_pitch); + _range_sensor.setCosMaxTilt(_params.range_cos_max_tilt); + _range_sensor.setQualityHysteresis(_params.range_valid_quality_s); + + _range_sensor.runChecks(imu_sample.time_us, _R_to_earth); + + if (_range_sensor.isDataHealthy()) { + // correct the range data for position offset relative to the IMU + const Vector3f pos_offset_body = _params.rng_pos_body - _params.imu_pos_body; + const Vector3f pos_offset_earth = _R_to_earth * pos_offset_body; + _range_sensor.setRange(_range_sensor.getRange() + pos_offset_earth(2) / _range_sensor.getCosTilt()); + + if (_control_status.flags.in_air) { + const bool horizontal_motion = _control_status.flags.fixed_wing + || (sq(_state.vel(0)) + sq(_state.vel(1)) > fmaxf(P.trace<2>(State::vel.idx), 0.1f)); + + const float dist_dependant_var = sq(_params.range_noise_scaler * _range_sensor.getDistBottom()); + const float var = sq(_params.range_noise) + dist_dependant_var; + + _rng_consistency_check.setGate(_params.range_kin_consistency_gate); + _rng_consistency_check.update(_range_sensor.getDistBottom(), math::max(var, 0.001f), _state.vel(2), + P(State::vel.idx + 2, State::vel.idx + 2), horizontal_motion, imu_sample.time_us); + } + + } else { + // If we are supposed to be using range finder data as the primary height sensor, have bad range measurements + // and are on the ground, then synthesise a measurement at the expected on ground value + if (!_control_status.flags.in_air + && _range_sensor.isRegularlySendingData() + && _range_sensor.isDataReady()) { + + _range_sensor.setRange(_params.rng_gnd_clearance); + _range_sensor.setValidity(true); // bypass the checks + } + } + + _control_status.flags.rng_kin_consistent = _rng_consistency_check.isKinematicallyConsistent(); + + } else { + return; + } + + auto &aid_src = _aid_src_rng_hgt; + + if (rng_data_ready && _range_sensor.getSampleAddress()) { + + updateRangeHagl(aid_src); + const bool measurement_valid = PX4_ISFINITE(aid_src.observation) && PX4_ISFINITE(aid_src.observation_variance); + + const bool continuing_conditions_passing = ((_params.rng_ctrl == static_cast(RngCtrl::ENABLED)) + || (_params.rng_ctrl == static_cast(RngCtrl::CONDITIONAL))) + && _control_status.flags.tilt_align + && measurement_valid + && _range_sensor.isDataHealthy() + && _rng_consistency_check.isKinematicallyConsistent(); + + const bool starting_conditions_passing = continuing_conditions_passing + && isNewestSampleRecent(_time_last_range_buffer_push, 2 * estimator::sensor::RNG_MAX_INTERVAL) + && _range_sensor.isRegularlySendingData(); + + + const bool do_conditional_range_aid = (_control_status.flags.rng_terrain || _control_status.flags.rng_hgt) + && (_params.rng_ctrl == static_cast(RngCtrl::CONDITIONAL)) + && isConditionalRangeAidSuitable(); + + const bool do_range_aid = (_control_status.flags.rng_terrain || _control_status.flags.rng_hgt) + && (_params.rng_ctrl == static_cast(RngCtrl::ENABLED)); + + if (_control_status.flags.rng_hgt) { + if (!(do_conditional_range_aid || do_range_aid)) { + ECL_INFO("stopping %s fusion", HGT_SRC_NAME); + stopRngHgtFusion(); + } + + } else { + if (_params.height_sensor_ref == static_cast(HeightSensor::RANGE)) { + if (do_conditional_range_aid) { + // Range finder is used while hovering to stabilize the height estimate. Don't reset but use it as height reference. + ECL_INFO("starting conditional %s height fusion", HGT_SRC_NAME); + _height_sensor_ref = HeightSensor::RANGE; + + _control_status.flags.rng_hgt = true; + stopRngTerrFusion(); + + if (!_control_status.flags.opt_flow_terrain && aid_src.innovation_rejected) { + resetTerrainToRng(aid_src); + } + + } else if (do_range_aid) { + // Range finder is the primary height source, the ground is now the datum used + // to compute the local vertical position + ECL_INFO("starting %s height fusion, resetting height", HGT_SRC_NAME); + _height_sensor_ref = HeightSensor::RANGE; + + _information_events.flags.reset_hgt_to_rng = true; + resetVerticalPositionTo(-aid_src.observation, aid_src.observation_variance); + _state.terrain = 0.f; + _control_status.flags.rng_hgt = true; + stopRngTerrFusion(); + + aid_src.time_last_fuse = imu_sample.time_us; + } + + } else { + if (do_conditional_range_aid || do_range_aid) { + ECL_INFO("starting %s height fusion", HGT_SRC_NAME); + _control_status.flags.rng_hgt = true; + + if (!_control_status.flags.opt_flow_terrain && aid_src.innovation_rejected) { + resetTerrainToRng(aid_src); + } + } + } + } + + if (_control_status.flags.rng_hgt || _control_status.flags.rng_terrain) { + if (continuing_conditions_passing) { + + fuseHaglRng(aid_src, _control_status.flags.rng_hgt, _control_status.flags.rng_terrain); + + const bool is_fusion_failing = isTimedOut(aid_src.time_last_fuse, _params.hgt_fusion_timeout_max); + + if (isHeightResetRequired() && _control_status.flags.rng_hgt && (_height_sensor_ref == HeightSensor::RANGE)) { + // All height sources are failing + ECL_WARN("%s height fusion reset required, all height sources failing", HGT_SRC_NAME); + + _information_events.flags.reset_hgt_to_rng = true; + resetVerticalPositionTo(-(aid_src.observation - _state.terrain)); + + // reset vertical velocity if no valid sources available + if (!isVerticalVelocityAidingActive()) { + resetVerticalVelocityToZero(); + } + + aid_src.time_last_fuse = imu_sample.time_us; + + } else if (is_fusion_failing) { + // Some other height source is still working + if (_control_status.flags.opt_flow_terrain && isTerrainEstimateValid()) { + ECL_WARN("stopping %s fusion, fusion failing", HGT_SRC_NAME); + stopRngHgtFusion(); + stopRngTerrFusion(); + + } else { + resetTerrainToRng(aid_src); + } + } + + } else { + ECL_WARN("stopping %s fusion, continuing conditions failing", HGT_SRC_NAME); + stopRngHgtFusion(); + stopRngTerrFusion(); + } + + } else { + if (starting_conditions_passing) { + if (_control_status.flags.opt_flow_terrain) { + if (!aid_src.innovation_rejected) { + _control_status.flags.rng_terrain = true; + fuseHaglRng(aid_src, _control_status.flags.rng_hgt, _control_status.flags.rng_terrain); + } + + } else { + if (aid_src.innovation_rejected) { + resetTerrainToRng(aid_src); + } + + _control_status.flags.rng_terrain = true; + } + } + } + + } else if ((_control_status.flags.rng_hgt || _control_status.flags.rng_terrain) + && !isNewestSampleRecent(_time_last_range_buffer_push, 2 * estimator::sensor::RNG_MAX_INTERVAL)) { + // No data anymore. Stop until it comes back. + ECL_WARN("stopping %s fusion, no data", HGT_SRC_NAME); + stopRngHgtFusion(); + stopRngTerrFusion(); + } +} + +void Ekf::updateRangeHagl(estimator_aid_source1d_s &aid_src) +{ + const float measurement = math::max(_range_sensor.getDistBottom(), _params.rng_gnd_clearance); + const float measurement_variance = getRngVar(); + + float innovation_variance; + sym::ComputeHaglInnovVar(P, measurement_variance, &innovation_variance); + + const float innov_gate = math::max(_params.range_innov_gate, 1.f); + updateAidSourceStatus(aid_src, + _range_sensor.getSampleAddress()->time_us, // sample timestamp + measurement, // observation + measurement_variance, // observation variance + getHagl() - measurement, // innovation + innovation_variance, // innovation variance + innov_gate); // innovation gate + + // z special case if there is bad vertical acceleration data, then don't reject measurement, + // but limit innovation to prevent spikes that could destabilise the filter + if (_fault_status.flags.bad_acc_vertical && aid_src.innovation_rejected) { + const float innov_limit = innov_gate * sqrtf(aid_src.innovation_variance); + aid_src.innovation = math::constrain(aid_src.innovation, -innov_limit, innov_limit); + aid_src.innovation_rejected = false; + } +} + +float Ekf::getRngVar() const +{ + return fmaxf( + P(State::pos.idx + 2, State::pos.idx + 2) + + sq(_params.range_noise) + + sq(_params.range_noise_scaler * _range_sensor.getRange()), + 0.f); +} + +void Ekf::resetTerrainToRng(estimator_aid_source1d_s &aid_src) +{ + const float new_terrain = _state.pos(2) + aid_src.observation; + const float delta_terrain = new_terrain - _state.terrain; + + _state.terrain = new_terrain; + P.uncorrelateCovarianceSetVariance(State::terrain.idx, aid_src.observation_variance); + + // record the state change + if (_state_reset_status.reset_count.hagl == _state_reset_count_prev.hagl) { + _state_reset_status.hagl_change = delta_terrain; + + } else { + // there's already a reset this update, accumulate total delta + _state_reset_status.hagl_change += delta_terrain; + } + + _state_reset_status.reset_count.hagl++; + + + aid_src.time_last_fuse = _time_delayed_us; +} + +bool Ekf::isConditionalRangeAidSuitable() +{ + // check if we can use range finder measurements to estimate height, use hysteresis to avoid rapid switching + // Note that the 0.7 coefficients and the innovation check are arbitrary values but work well in practice + float range_hagl_max = _params.max_hagl_for_range_aid; + float max_vel_xy = _params.max_vel_for_range_aid; + + const float hagl_test_ratio = _aid_src_rng_hgt.test_ratio; + + bool is_hagl_stable = (hagl_test_ratio < 1.f); + + if (!_control_status.flags.rng_hgt) { + range_hagl_max = 0.7f * _params.max_hagl_for_range_aid; + max_vel_xy = 0.7f * _params.max_vel_for_range_aid; + is_hagl_stable = (hagl_test_ratio < 0.01f); + } + + const bool is_in_range = (getHagl() < range_hagl_max); + + bool is_below_max_speed = true; + + if (isHorizontalAidingActive()) { + is_below_max_speed = !_state.vel.xy().longerThan(max_vel_xy); + } + + return is_in_range && is_hagl_stable && is_below_max_speed; +} + +void Ekf::stopRngHgtFusion() +{ + if (_control_status.flags.rng_hgt) { + + if (_height_sensor_ref == HeightSensor::RANGE) { + _height_sensor_ref = HeightSensor::UNKNOWN; + } + + _control_status.flags.rng_hgt = false; + } +} + +void Ekf::stopRngTerrFusion() +{ + _control_status.flags.rng_terrain = false; +} diff --git a/src/modules/ekf2/EKF/aid_sources/range_finder/range_height_fusion.cpp b/src/modules/ekf2/EKF/aid_sources/range_finder/range_height_fusion.cpp new file mode 100644 index 000000000000..c2fd63672003 --- /dev/null +++ b/src/modules/ekf2/EKF/aid_sources/range_finder/range_height_fusion.cpp @@ -0,0 +1,74 @@ +/**************************************************************************** + * + * Copyright (c) 2024 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include "ekf.h" +#include "ekf_derivation/generated/compute_hagl_h.h" + +bool Ekf::fuseHaglRng(estimator_aid_source1d_s &aid_src, bool update_height, bool update_terrain) +{ + if (aid_src.innovation_rejected) { + _innov_check_fail_status.flags.reject_hagl = true; + return false; + } + + VectorState H; + + sym::ComputeHaglH(&H); + + // calculate the Kalman gain + VectorState K = P * H / aid_src.innovation_variance; + + if (!update_terrain) { + K(State::terrain.idx) = 0.f; + } + + if (!update_height) { + const float k_terrain = K(State::terrain.idx); + K.zero(); + K(State::terrain.idx) = k_terrain; + } + + measurementUpdate(K, H, aid_src.observation_variance, aid_src.innovation); + + // record last successful fusion event + _innov_check_fail_status.flags.reject_hagl = false; + + aid_src.time_last_fuse = _time_delayed_us; + aid_src.fused = true; + + if (update_terrain) { + _time_last_terrain_fuse = _time_delayed_us; + } + + return true; +} diff --git a/src/modules/ekf2/EKF/sensor_range_finder.cpp b/src/modules/ekf2/EKF/aid_sources/range_finder/sensor_range_finder.cpp similarity index 90% rename from src/modules/ekf2/EKF/sensor_range_finder.cpp rename to src/modules/ekf2/EKF/aid_sources/range_finder/sensor_range_finder.cpp index 94d3b891ea50..359d10ca5242 100644 --- a/src/modules/ekf2/EKF/sensor_range_finder.cpp +++ b/src/modules/ekf2/EKF/aid_sources/range_finder/sensor_range_finder.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2020 Estimation and Control Library (ECL). All rights reserved. + * Copyright (c) 2020-2023 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -12,7 +12,7 @@ * notice, this list of conditions and the following disclaimer in * the documentation and/or other materials provided with the * distribution. - * 3. Neither the name ECL nor the names of its contributors may be + * 3. Neither the name PX4 nor the names of its contributors may be * used to endorse or promote products derived from this software * without specific prior written permission. * @@ -38,20 +38,22 @@ * */ -#include "sensor_range_finder.hpp" +#include + +#include namespace estimator { namespace sensor { -void SensorRangeFinder::runChecks(const uint64_t current_time_us, const Dcmf &R_to_earth) +void SensorRangeFinder::runChecks(const uint64_t current_time_us, const matrix::Dcmf &R_to_earth) { updateSensorToEarthRotation(R_to_earth); updateValidity(current_time_us); } -void SensorRangeFinder::updateSensorToEarthRotation(const Dcmf &R_to_earth) +void SensorRangeFinder::updateSensorToEarthRotation(const matrix::Dcmf &R_to_earth) { // calculate 2,2 element of rotation matrix from sensor frame to earth frame // this is required for use of range finder and flow data @@ -114,6 +116,12 @@ inline bool SensorRangeFinder::isDataInRange() const void SensorRangeFinder::updateStuckCheck() { + if (!isStuckDetectorEnabled()) { + // Stuck detector disabled + _is_stuck = false; + return; + } + // Check for "stuck" range finder measurements when range was not valid for certain period // This handles a failure mode observed with some lidar sensors if (((_sample.time_us - _time_last_valid_us) > (uint64_t)10e6)) { diff --git a/src/modules/ekf2/EKF/sensor_range_finder.hpp b/src/modules/ekf2/EKF/aid_sources/range_finder/sensor_range_finder.hpp similarity index 90% rename from src/modules/ekf2/EKF/sensor_range_finder.hpp rename to src/modules/ekf2/EKF/aid_sources/range_finder/sensor_range_finder.hpp index 94ed284613e9..f3c59be54135 100644 --- a/src/modules/ekf2/EKF/sensor_range_finder.hpp +++ b/src/modules/ekf2/EKF/aid_sources/range_finder/sensor_range_finder.hpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2020 Estimation and Control Library (ECL). All rights reserved. + * Copyright (c) 2020-2023 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -12,7 +12,7 @@ * notice, this list of conditions and the following disclaimer in * the documentation and/or other materials provided with the * distribution. - * 3. Neither the name ECL nor the names of its contributors may be + * 3. Neither the name PX4 nor the names of its contributors may be * used to endorse or promote products derived from this software * without specific prior written permission. * @@ -42,6 +42,7 @@ #define EKF_SENSOR_RANGE_FINDER_HPP #include "Sensor.hpp" + #include namespace estimator @@ -49,6 +50,15 @@ namespace estimator namespace sensor { +struct rangeSample { + uint64_t time_us{}; ///< timestamp of the measurement (uSec) + float rng{}; ///< range (distance to ground) measurement (m) + int8_t quality{}; ///< Signal quality in percent (0...100%), where 0 = invalid signal, 100 = perfect signal, and -1 = unknown signal quality. +}; + +static constexpr uint64_t RNG_MAX_INTERVAL = + 200e3; ///< Maximum allowable time interval between range finder measurements (uSec) + class SensorRangeFinder : public Sensor { public: @@ -60,6 +70,7 @@ class SensorRangeFinder : public Sensor bool isDataHealthy() const override { return _is_sample_ready && _is_sample_valid; } bool isDataReady() const { return _is_sample_ready; } bool isRegularlySendingData() const override { return _is_regularly_sending_data; } + bool isStuckDetectorEnabled() const { return _stuck_threshold > 0.f; } void setSample(const rangeSample &sample) { @@ -131,7 +142,7 @@ class SensorRangeFinder : public Sensor * Stuck check */ bool _is_stuck{}; - float _stuck_threshold{0.1f}; ///< minimum variation in range finder reading required to declare a range finder 'unstuck' when readings recommence after being out of range (m) + float _stuck_threshold{0.1f}; ///< minimum variation in range finder reading required to declare a range finder 'unstuck' when readings recommence after being out of range (m), set to zero to disable float _stuck_min_val{}; ///< minimum value for new rng measurement when being stuck float _stuck_max_val{}; ///< maximum value for new rng measurement when being stuck diff --git a/src/modules/ekf2/EKF/aid_sources/sideslip/sideslip_fusion.cpp b/src/modules/ekf2/EKF/aid_sources/sideslip/sideslip_fusion.cpp new file mode 100644 index 000000000000..193af436f329 --- /dev/null +++ b/src/modules/ekf2/EKF/aid_sources/sideslip/sideslip_fusion.cpp @@ -0,0 +1,151 @@ +/**************************************************************************** + * + * Copyright (c) 2015-2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file sideslip_fusion.cpp + * sideslip fusion methods. + * equations generated using EKF/python/ekf_derivation/main.py + * + * @author Carl Olsson + * @author Paul Riseborough + * + */ + +#include "ekf.h" +#include +#include + +#include + +void Ekf::controlBetaFusion(const imuSample &imu_delayed) +{ + _control_status.flags.fuse_beta = _params.beta_fusion_enabled + && _control_status.flags.fixed_wing + && _control_status.flags.in_air + && !_control_status.flags.fake_pos; + + if (_control_status.flags.fuse_beta) { + + // Perform synthetic sideslip fusion at regular intervals when in-air and sideslip fusion had been enabled externally: + const bool beta_fusion_time_triggered = isTimedOut(_aid_src_sideslip.time_last_fuse, _params.beta_avg_ft_us); + + if (beta_fusion_time_triggered) { + + updateSideslip(_aid_src_sideslip); + _innov_check_fail_status.flags.reject_sideslip = _aid_src_sideslip.innovation_rejected; + + if (fuseSideslip(_aid_src_sideslip)) { + _control_status.flags.wind = true; + + } else if (!_external_wind_init && !_control_status.flags.wind) { + resetWindCov(); + } + } + } +} + +void Ekf::updateSideslip(estimator_aid_source1d_s &aid_src) const +{ + float observation = 0.f; + const float R = math::max(sq(_params.beta_noise), sq(0.01f)); // observation noise variance + const float epsilon = 1e-3f; + float innov; + float innov_var; + sym::ComputeSideslipInnovAndInnovVar(_state.vector(), P, R, epsilon, &innov, &innov_var); + + updateAidSourceStatus(aid_src, + _time_delayed_us, // sample timestamp + observation, // observation + R, // observation variance + innov, // innovation + innov_var, // innovation variance + math::max(_params.beta_innov_gate, 1.f)); // innovation gate +} + +bool Ekf::fuseSideslip(estimator_aid_source1d_s &sideslip) +{ + if (sideslip.innovation_rejected) { + return false; + } + + // determine if we need the sideslip fusion to correct states other than wind + bool update_wind_only = !_control_status.flags.wind_dead_reckoning; + + // Reset covariance and states if the calculation is badly conditioned + if ((sideslip.innovation_variance < sideslip.observation_variance) + || (sideslip.innovation_variance < FLT_EPSILON)) { + _fault_status.flags.bad_sideslip = true; + + // if we are getting aiding from other sources, warn and reset the wind states and covariances only + const char *action_string = nullptr; + + if (update_wind_only) { + resetWindCov(); + action_string = "wind"; + + } else { + initialiseCovariance(); + _state.wind_vel.setZero(); + action_string = "full"; + } + + ECL_ERR("sideslip badly conditioned - %s covariance reset", action_string); + + return false; + } + + _fault_status.flags.bad_sideslip = false; + + const float epsilon = 1e-3f; + VectorState H; // Observation jacobian + VectorState K; // Kalman gain vector + + sym::ComputeSideslipHAndK(_state.vector(), P, sideslip.innovation_variance, epsilon, &H, &K); + + if (update_wind_only) { + const Vector2f K_wind = K.slice(State::wind_vel.idx, 0); + K.setZero(); + K.slice(State::wind_vel.idx, 0) = K_wind; + } + + const bool is_fused = measurementUpdate(K, H, sideslip.observation_variance, sideslip.innovation); + + sideslip.fused = is_fused; + _fault_status.flags.bad_sideslip = !is_fused; + + if (is_fused) { + sideslip.time_last_fuse = _time_delayed_us; + } + + return is_fused; +} diff --git a/src/modules/ekf2/EKF/aid_sources/zero_innovation_heading_update.cpp b/src/modules/ekf2/EKF/aid_sources/zero_innovation_heading_update.cpp new file mode 100644 index 000000000000..fded4cfbcc13 --- /dev/null +++ b/src/modules/ekf2/EKF/aid_sources/zero_innovation_heading_update.cpp @@ -0,0 +1,69 @@ +/**************************************************************************** + * + * Copyright (c) 2022 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file zero_innovation_heading_update.cpp + * Control function for ekf heading update when at rest or no other heading source available + */ + +#include "ekf.h" + +void Ekf::controlZeroInnovationHeadingUpdate() +{ + const bool yaw_aiding = _control_status.flags.mag_hdg || _control_status.flags.mag_3D + || _control_status.flags.ev_yaw || _control_status.flags.gnss_yaw; + + // fuse zero innovation at a limited rate if the yaw variance is too large + if (!yaw_aiding + && isTimedOut(_time_last_heading_fuse, (uint64_t)200'000)) { + + // Use an observation variance larger than usual but small enough + // to constrain the yaw variance just below the threshold + const float obs_var = _control_status.flags.tilt_align ? 0.25f : 0.001f; + + estimator_aid_source1d_s aid_src_status{}; + aid_src_status.observation = getEulerYaw(_state.quat_nominal); + aid_src_status.observation_variance = obs_var; + aid_src_status.innovation = 0.f; + + VectorState H_YAW; + + computeYawInnovVarAndH(obs_var, aid_src_status.innovation_variance, H_YAW); + + if (!_control_status.flags.tilt_align + || (aid_src_status.innovation_variance - obs_var) > sq(_params.mag_heading_noise)) { + // The yaw variance is too large, fuse fake measurement + fuseYaw(aid_src_status, H_YAW); + } + } +} diff --git a/src/modules/ekf2/EKF/airspeed_fusion.cpp b/src/modules/ekf2/EKF/airspeed_fusion.cpp deleted file mode 100644 index 62afda74471a..000000000000 --- a/src/modules/ekf2/EKF/airspeed_fusion.cpp +++ /dev/null @@ -1,272 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2015 Estimation and Control Library (ECL). All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name ECL nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file airspeed_fusion.cpp - * airspeed fusion methods. - * equations generated using EKF/python/ekf_derivation/main.py - * - * @author Carl Olsson - * @author Roman Bast - * @author Paul Riseborough - * - */ - -#include "ekf.h" - -#include "python/ekf_derivation/generated/compute_airspeed_h_and_k.h" -#include "python/ekf_derivation/generated/compute_airspeed_innov_and_innov_var.h" - -#include - -void Ekf::controlAirDataFusion(const imuSample &imu_delayed) -{ - // control activation and initialisation/reset of wind states required for airspeed fusion - - // If both airspeed and sideslip fusion have timed out and we are not using a drag observation model then we no longer have valid wind estimates - const bool airspeed_timed_out = isTimedOut(_aid_src_airspeed.time_last_fuse, (uint64_t)10e6); - const bool sideslip_timed_out = isTimedOut(_aid_src_sideslip.time_last_fuse, (uint64_t)10e6); - - if (_control_status.flags.fake_pos || (airspeed_timed_out && sideslip_timed_out && (_params.drag_ctrl == 0))) { - _control_status.flags.wind = false; - } - - // clear yaw estimator airspeed (updated later with true airspeed if airspeed fusion is active) - if (_control_status.flags.fixed_wing) { - if (_control_status.flags.in_air && !_control_status.flags.vehicle_at_rest) { - if (!_control_status.flags.fuse_aspd) { - _yawEstimator.setTrueAirspeed(_params.EKFGSF_tas_default); - } - - } else { - _yawEstimator.setTrueAirspeed(0.f); - } - } - - if (_params.arsp_thr <= 0.f) { - stopAirspeedFusion(); - return; - } - - if (_airspeed_buffer && _airspeed_buffer->pop_first_older_than(imu_delayed.time_us, &_airspeed_sample_delayed)) { - - const airspeedSample &airspeed_sample = _airspeed_sample_delayed; - - updateAirspeed(airspeed_sample, _aid_src_airspeed); - - _innov_check_fail_status.flags.reject_airspeed = _aid_src_airspeed.innovation_rejected; // TODO: remove this redundant flag - - const bool continuing_conditions_passing = _control_status.flags.in_air && _control_status.flags.fixed_wing && !_control_status.flags.fake_pos; - const bool is_airspeed_significant = airspeed_sample.true_airspeed > _params.arsp_thr; - const bool is_airspeed_consistent = (_aid_src_airspeed.test_ratio > 0.f && _aid_src_airspeed.test_ratio < 1.f); - const bool starting_conditions_passing = continuing_conditions_passing && is_airspeed_significant - && (is_airspeed_consistent || !_control_status.flags.wind); // if wind isn't already estimated, the states are reset when starting airspeed fusion - - if (_control_status.flags.fuse_aspd) { - if (continuing_conditions_passing) { - if (is_airspeed_significant) { - fuseAirspeed(airspeed_sample, _aid_src_airspeed); - } - - _yawEstimator.setTrueAirspeed(airspeed_sample.true_airspeed); - - const bool is_fusion_failing = isTimedOut(_aid_src_airspeed.time_last_fuse, (uint64_t)10e6); - - if (is_fusion_failing) { - stopAirspeedFusion(); - } - - } else { - stopAirspeedFusion(); - } - - } else if (starting_conditions_passing) { - ECL_INFO("starting airspeed fusion"); - - // If starting wind state estimation, reset the wind states and covariances before fusing any data - // Also catch the case where sideslip fusion enabled wind estimation recently and didn't converge yet. - const Vector2f wind_var_xy = getWindVelocityVariance(); - - if (!_control_status.flags.wind || (wind_var_xy(0) + wind_var_xy(1) > sq(_params.initial_wind_uncertainty))) { - // activate the wind states - _control_status.flags.wind = true; - // reset the wind speed states and corresponding covariances - resetWindUsingAirspeed(airspeed_sample); - } - - _control_status.flags.fuse_aspd = true; - } - - } else if (_control_status.flags.fuse_aspd && !isRecent(_airspeed_sample_delayed.time_us, (uint64_t)1e6)) { - ECL_WARN("Airspeed data stopped"); - stopAirspeedFusion(); - } -} - -void Ekf::updateAirspeed(const airspeedSample &airspeed_sample, estimator_aid_source1d_s &aid_src) const -{ - // reset flags - resetEstimatorAidStatus(aid_src); - - // Variance for true airspeed measurement - (m/sec)^2 - const float R = sq(math::constrain(_params.eas_noise, 0.5f, 5.0f) * - math::constrain(airspeed_sample.eas2tas, 0.9f, 10.0f)); - - float innov = 0.f; - float innov_var = 0.f; - sym::ComputeAirspeedInnovAndInnovVar(getStateAtFusionHorizonAsVector(), P, airspeed_sample.true_airspeed, R, FLT_EPSILON, &innov, &innov_var); - - aid_src.observation = airspeed_sample.true_airspeed; - aid_src.observation_variance = R; - aid_src.innovation = innov; - aid_src.innovation_variance = innov_var; - - aid_src.fusion_enabled = _control_status.flags.fuse_aspd; - - aid_src.timestamp_sample = airspeed_sample.time_us; - - const float innov_gate = fmaxf(_params.tas_innov_gate, 1.f); - setEstimatorAidStatusTestRatio(aid_src, innov_gate); -} - -void Ekf::fuseAirspeed(const airspeedSample &airspeed_sample, estimator_aid_source1d_s &aid_src) -{ - if (aid_src.innovation_rejected) { - return; - } - - // determine if we need the airspeed fusion to correct states other than wind - const bool update_wind_only = !_control_status.flags.wind_dead_reckoning; - - const float innov_var = aid_src.innovation_variance; - - if (innov_var < aid_src.observation_variance || innov_var < FLT_EPSILON) { - // Reset the estimator covariance matrix - // if we are getting aiding from other sources, warn and reset the wind states and covariances only - const char *action_string = nullptr; - - if (update_wind_only) { - resetWindUsingAirspeed(airspeed_sample); - action_string = "wind"; - - } else { - initialiseCovariance(); - _state.wind_vel.setZero(); - action_string = "full"; - } - - ECL_ERR("airspeed badly conditioned - %s covariance reset", action_string); - - _fault_status.flags.bad_airspeed = true; - - return; - } - - _fault_status.flags.bad_airspeed = false; - - Vector24f H; // Observation jacobian - Vector24f K; // Kalman gain vector - - sym::ComputeAirspeedHAndK(getStateAtFusionHorizonAsVector(), P, innov_var, FLT_EPSILON, &H, &K); - - if (update_wind_only) { - for (unsigned row = 0; row <= 21; row++) { - K(row) = 0.f; - } - } - - const bool is_fused = measurementUpdate(K, aid_src.innovation_variance, aid_src.innovation); - - aid_src.fused = is_fused; - _fault_status.flags.bad_airspeed = !is_fused; - - if (is_fused) { - aid_src.time_last_fuse = _time_delayed_us; - } -} - -void Ekf::stopAirspeedFusion() -{ - if (_control_status.flags.fuse_aspd) { - ECL_INFO("stopping airspeed fusion"); - resetEstimatorAidStatus(_aid_src_airspeed); - _yawEstimator.setTrueAirspeed(NAN); - _control_status.flags.fuse_aspd = false; - } -} - -void Ekf::resetWindUsingAirspeed(const airspeedSample &airspeed_sample) -{ - const float euler_yaw = getEulerYaw(_R_to_earth); - - // estimate wind using zero sideslip assumption and airspeed measurement if airspeed available - _state.wind_vel(0) = _state.vel(0) - airspeed_sample.true_airspeed * cosf(euler_yaw); - _state.wind_vel(1) = _state.vel(1) - airspeed_sample.true_airspeed * sinf(euler_yaw); - - ECL_INFO("reset wind using airspeed to (%.3f, %.3f)", (double)_state.wind_vel(0), (double)_state.wind_vel(1)); - - resetWindCovarianceUsingAirspeed(airspeed_sample); - - _aid_src_airspeed.time_last_fuse = _time_delayed_us; -} - -void Ekf::resetWindCovarianceUsingAirspeed(const airspeedSample &airspeed_sample) -{ - // Derived using EKF/matlab/scripts/Inertial Nav EKF/wind_cov.py - // TODO: explicitly include the sideslip angle in the derivation - const float euler_yaw = getEulerYaw(_R_to_earth); - const float R_TAS = sq(math::constrain(_params.eas_noise, 0.5f, 5.0f) * math::constrain(airspeed_sample.eas2tas, 0.9f, 10.0f)); - constexpr float initial_sideslip_uncertainty = math::radians(15.0f); - const float initial_wind_var_body_y = sq(airspeed_sample.true_airspeed * sinf(initial_sideslip_uncertainty)); - constexpr float R_yaw = sq(math::radians(10.0f)); - - const float cos_yaw = cosf(euler_yaw); - const float sin_yaw = sinf(euler_yaw); - - // rotate wind velocity into earth frame aligned with vehicle yaw - const float Wx = _state.wind_vel(0) * cos_yaw + _state.wind_vel(1) * sin_yaw; - const float Wy = -_state.wind_vel(0) * sin_yaw + _state.wind_vel(1) * cos_yaw; - - // it is safer to remove all existing correlations to other states at this time - P.uncorrelateCovarianceSetVariance<2>(22, 0.0f); - - P(22, 22) = R_TAS * sq(cos_yaw) + R_yaw * sq(-Wx * sin_yaw - Wy * cos_yaw) + initial_wind_var_body_y * sq(sin_yaw); - P(22, 23) = R_TAS * sin_yaw * cos_yaw + R_yaw * (-Wx * sin_yaw - Wy * cos_yaw) * (Wx * cos_yaw - Wy * sin_yaw) - - initial_wind_var_body_y * sin_yaw * cos_yaw; - P(23, 22) = P(22, 23); - P(23, 23) = R_TAS * sq(sin_yaw) + R_yaw * sq(Wx * cos_yaw - Wy * sin_yaw) + initial_wind_var_body_y * sq(cos_yaw); - - // Now add the variance due to uncertainty in vehicle velocity that was used to calculate the initial wind speed - P(22, 22) += P(4, 4); - P(23, 23) += P(5, 5); -} diff --git a/src/modules/ekf2/EKF/auxvel_fusion.cpp b/src/modules/ekf2/EKF/auxvel_fusion.cpp deleted file mode 100644 index 680f40cc7de0..000000000000 --- a/src/modules/ekf2/EKF/auxvel_fusion.cpp +++ /dev/null @@ -1,60 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2023 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -#include "ekf.h" - -void Ekf::controlAuxVelFusion() -{ - if (_auxvel_buffer) { - auxVelSample auxvel_sample_delayed; - - if (_auxvel_buffer->pop_first_older_than(_time_delayed_us, &auxvel_sample_delayed)) { - - resetEstimatorAidStatus(_aid_src_aux_vel); - - updateVelocityAidSrcStatus(auxvel_sample_delayed.time_us, auxvel_sample_delayed.vel, auxvel_sample_delayed.velVar, fmaxf(_params.auxvel_gate, 1.f), _aid_src_aux_vel); - - if (isHorizontalAidingActive()) { - _aid_src_aux_vel.fusion_enabled = true; - fuseVelocity(_aid_src_aux_vel); - } - } - } -} - -void Ekf::stopAuxVelFusion() -{ - ECL_INFO("stopping aux vel fusion"); - //_control_status.flags.aux_vel = false; - resetEstimatorAidStatus(_aid_src_aux_vel); -} diff --git a/src/modules/ekf2/EKF/baro_height_control.cpp b/src/modules/ekf2/EKF/baro_height_control.cpp deleted file mode 100644 index fb649d5c5f2c..000000000000 --- a/src/modules/ekf2/EKF/baro_height_control.cpp +++ /dev/null @@ -1,194 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2022 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file baro_height_control.cpp - * Control functions for ekf barometric height fusion - */ - -#include "ekf.h" - -void Ekf::controlBaroHeightFusion() -{ - static constexpr const char *HGT_SRC_NAME = "baro"; - - auto &aid_src = _aid_src_baro_hgt; - HeightBiasEstimator &bias_est = _baro_b_est; - - bias_est.predict(_dt_ekf_avg); - - baroSample baro_sample; - - if (_baro_buffer && _baro_buffer->pop_first_older_than(_time_delayed_us, &baro_sample)) { - - const float measurement = compensateBaroForDynamicPressure(baro_sample.hgt); - const float measurement_var = sq(_params.baro_noise); - - const float innov_gate = fmaxf(_params.baro_innov_gate, 1.f); - - const bool measurement_valid = PX4_ISFINITE(measurement) && PX4_ISFINITE(measurement_var); - - if (measurement_valid) { - if ((_baro_counter == 0) || baro_sample.reset) { - _baro_lpf.reset(measurement); - _baro_counter = 1; - - } else { - _baro_lpf.update(measurement); - _baro_counter++; - } - - if (_baro_counter <= _obs_buffer_length) { - // Initialize the pressure offset (included in the baro bias) - bias_est.setBias(_state.pos(2) + _baro_lpf.getState()); - } - } - - // vertical position innovation - baro measurement has opposite sign to earth z axis - updateVerticalPositionAidSrcStatus(baro_sample.time_us, - -(measurement - bias_est.getBias()), - measurement_var + bias_est.getBiasVar(), - innov_gate, - aid_src); - - // Compensate for positive static pressure transients (negative vertical position innovations) - // caused by rotor wash ground interaction by applying a temporary deadzone to baro innovations. - if (_control_status.flags.gnd_effect && (_params.gnd_effect_deadzone > 0.f)) { - - const float deadzone_start = 0.0f; - const float deadzone_end = deadzone_start + _params.gnd_effect_deadzone; - - if (aid_src.innovation < -deadzone_start) { - if (aid_src.innovation <= -deadzone_end) { - aid_src.innovation += deadzone_end; - - } else { - aid_src.innovation = -deadzone_start; - } - } - } - - // update the bias estimator before updating the main filter but after - // using its current state to compute the vertical position innovation - if (measurement_valid) { - bias_est.setMaxStateNoise(sqrtf(measurement_var)); - bias_est.setProcessNoiseSpectralDensity(_params.baro_bias_nsd); - bias_est.fuseBias(measurement - (-_state.pos(2)), measurement_var + P(9, 9)); - } - - // determine if we should use height aiding - const bool continuing_conditions_passing = (_params.baro_ctrl == 1) - && measurement_valid - && (_baro_counter > _obs_buffer_length) - && !_baro_hgt_faulty; - - const bool starting_conditions_passing = continuing_conditions_passing - && isNewestSampleRecent(_time_last_baro_buffer_push, 2 * BARO_MAX_INTERVAL); - - if (_control_status.flags.baro_hgt) { - aid_src.fusion_enabled = true; - - if (continuing_conditions_passing) { - - fuseVerticalPosition(aid_src); - - const bool is_fusion_failing = isTimedOut(aid_src.time_last_fuse, _params.hgt_fusion_timeout_max); - - if (isHeightResetRequired()) { - // All height sources are failing - ECL_WARN("%s height fusion reset required, all height sources failing", HGT_SRC_NAME); - - _information_events.flags.reset_hgt_to_baro = true; - resetVerticalPositionTo(-(_baro_lpf.getState() - bias_est.getBias()), measurement_var); - bias_est.setBias(_state.pos(2) + _baro_lpf.getState()); - - // reset vertical velocity - resetVerticalVelocityToZero(); - - aid_src.time_last_fuse = _time_delayed_us; - - } else if (is_fusion_failing) { - // Some other height source is still working - ECL_WARN("stopping %s height fusion, fusion failing", HGT_SRC_NAME); - stopBaroHgtFusion(); - _baro_hgt_faulty = true; - } - - } else { - ECL_WARN("stopping %s height fusion, continuing conditions failing", HGT_SRC_NAME); - stopBaroHgtFusion(); - } - - } else { - if (starting_conditions_passing) { - if (_params.height_sensor_ref == HeightSensor::BARO) { - ECL_INFO("starting %s height fusion, resetting height", HGT_SRC_NAME); - _height_sensor_ref = HeightSensor::BARO; - - _information_events.flags.reset_hgt_to_baro = true; - resetVerticalPositionTo(-(_baro_lpf.getState() - bias_est.getBias()), measurement_var); - bias_est.setBias(_state.pos(2) + _baro_lpf.getState()); - - } else { - ECL_INFO("starting %s height fusion", HGT_SRC_NAME); - bias_est.setBias(_state.pos(2) + _baro_lpf.getState()); - } - - aid_src.time_last_fuse = _time_delayed_us; - bias_est.setFusionActive(); - _control_status.flags.baro_hgt = true; - } - } - - } else if (_control_status.flags.baro_hgt - && !isNewestSampleRecent(_time_last_baro_buffer_push, 2 * BARO_MAX_INTERVAL)) { - // No data anymore. Stop until it comes back. - ECL_WARN("stopping %s height fusion, no data", HGT_SRC_NAME); - stopBaroHgtFusion(); - } -} - -void Ekf::stopBaroHgtFusion() -{ - if (_control_status.flags.baro_hgt) { - - if (_height_sensor_ref == HeightSensor::BARO) { - _height_sensor_ref = HeightSensor::UNKNOWN; - } - - _baro_b_est.setFusionInactive(); - resetEstimatorAidStatus(_aid_src_baro_hgt); - - _control_status.flags.baro_hgt = false; - } -} diff --git a/src/modules/ekf2/EKF/bias_estimator/CMakeLists.txt b/src/modules/ekf2/EKF/bias_estimator/CMakeLists.txt new file mode 100644 index 000000000000..b2346919e15a --- /dev/null +++ b/src/modules/ekf2/EKF/bias_estimator/CMakeLists.txt @@ -0,0 +1,41 @@ +############################################################################ +# +# Copyright (c) 2024 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +add_library(bias_estimator + bias_estimator.cpp + bias_estimator.hpp + height_bias_estimator.hpp + position_bias_estimator.hpp +) + +add_dependencies(bias_estimator prebuild_targets) diff --git a/src/modules/ekf2/EKF/bias_estimator.cpp b/src/modules/ekf2/EKF/bias_estimator/bias_estimator.cpp similarity index 100% rename from src/modules/ekf2/EKF/bias_estimator.cpp rename to src/modules/ekf2/EKF/bias_estimator/bias_estimator.cpp diff --git a/src/modules/ekf2/EKF/bias_estimator.hpp b/src/modules/ekf2/EKF/bias_estimator/bias_estimator.hpp similarity index 98% rename from src/modules/ekf2/EKF/bias_estimator.hpp rename to src/modules/ekf2/EKF/bias_estimator/bias_estimator.hpp index 53f82dc03c60..d810fc1d073b 100644 --- a/src/modules/ekf2/EKF/bias_estimator.hpp +++ b/src/modules/ekf2/EKF/bias_estimator/bias_estimator.hpp @@ -47,7 +47,8 @@ * @author Mathieu Bresciani */ -#pragma once +#ifndef EKF_BIAS_ESTIMATOR_HPP +#define EKF_BIAS_ESTIMATOR_HPP #include #include @@ -133,3 +134,5 @@ class BiasEstimator static constexpr float _innov_sequence_monitnoring_time_constant{10.f}; ///< in seconds static constexpr float _process_var_boost_gain{1.0e3f}; }; + +#endif // !EKF_BIAS_ESTIMATOR_HPP diff --git a/src/modules/ekf2/EKF/height_bias_estimator.hpp b/src/modules/ekf2/EKF/bias_estimator/height_bias_estimator.hpp similarity index 90% rename from src/modules/ekf2/EKF/height_bias_estimator.hpp rename to src/modules/ekf2/EKF/bias_estimator/height_bias_estimator.hpp index 9082842b9e5e..9fe1ee7dacfc 100644 --- a/src/modules/ekf2/EKF/height_bias_estimator.hpp +++ b/src/modules/ekf2/EKF/bias_estimator/height_bias_estimator.hpp @@ -35,14 +35,16 @@ * @file height_bias_estimator.hpp */ -#pragma once +#ifndef EKF_HEIGHT_BIAS_ESTIMATOR_HPP +#define EKF_HEIGHT_BIAS_ESTIMATOR_HPP #include "bias_estimator.hpp" +#include "../common.h" class HeightBiasEstimator: public BiasEstimator { public: - HeightBiasEstimator(uint8_t sensor, const uint8_t &sensor_ref): + HeightBiasEstimator(HeightSensor sensor, const HeightSensor &sensor_ref): BiasEstimator(0.f, 0.f), _sensor(sensor), _sensor_ref(sensor_ref) @@ -67,8 +69,10 @@ class HeightBiasEstimator: public BiasEstimator } private: - const uint8_t _sensor; - const uint8_t &_sensor_ref; + const HeightSensor _sensor; + const HeightSensor &_sensor_ref; bool _is_sensor_fusion_active{false}; // TODO: replace by const ref and remove setter when migrating _control_status.flags from union to bool }; + +#endif // !EKF_HEIGHT_BIAS_ESTIMATOR_HPP diff --git a/src/modules/ekf2/EKF/position_bias_estimator.hpp b/src/modules/ekf2/EKF/bias_estimator/position_bias_estimator.hpp similarity index 93% rename from src/modules/ekf2/EKF/position_bias_estimator.hpp rename to src/modules/ekf2/EKF/bias_estimator/position_bias_estimator.hpp index ddcbe144ce52..629bb538a143 100644 --- a/src/modules/ekf2/EKF/position_bias_estimator.hpp +++ b/src/modules/ekf2/EKF/bias_estimator/position_bias_estimator.hpp @@ -35,14 +35,15 @@ * @file position_bias_estimator.hpp */ -#pragma once +#ifndef EKF_POSITION_BIAS_ESTIMATOR_HPP +#define EKF_POSITION_BIAS_ESTIMATOR_HPP #include "bias_estimator.hpp" class PositionBiasEstimator { public: - PositionBiasEstimator(uint8_t sensor, const uint8_t &sensor_ref): + PositionBiasEstimator(PositionSensor sensor, const PositionSensor &sensor_ref): _sensor(sensor), _sensor_ref(sensor_ref) {} @@ -106,8 +107,10 @@ class PositionBiasEstimator private: BiasEstimator _bias[2] {}; - const uint8_t _sensor; - const uint8_t &_sensor_ref; + const PositionSensor _sensor; + const PositionSensor &_sensor_ref; bool _is_sensor_fusion_active{false}; // TODO: replace by const ref and remove setter when migrating _control_status.flags from union to bool }; + +#endif // !EKF_POSITION_BIAS_ESTIMATOR_HPP diff --git a/src/modules/ekf2/EKF/common.h b/src/modules/ekf2/EKF/common.h index b9fef6e6fa56..13c2767f754b 100644 --- a/src/modules/ekf2/EKF/common.h +++ b/src/modules/ekf2/EKF/common.h @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2015 Estimation and Control Library (ECL). All rights reserved. + * Copyright (c) 2015-2023 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -12,7 +12,7 @@ * notice, this list of conditions and the following disclaimer in * the documentation and/or other materials provided with the * distribution. - * 3. Neither the name ECL nor the names of its contributors may be + * 3. Neither the name PX4 nor the names of its contributors may be * used to endorse or promote products derived from this software * without specific prior written permission. * @@ -66,19 +66,26 @@ using math::Utilities::sq; using math::Utilities::updateYawInRotMat; // maximum sensor intervals in usec -static constexpr uint64_t BARO_MAX_INTERVAL = 200e3; ///< Maximum allowable time interval between pressure altitude measurements (uSec) -static constexpr uint64_t EV_MAX_INTERVAL = 200e3; ///< Maximum allowable time interval between external vision system measurements (uSec) -static constexpr uint64_t GNSS_MAX_INTERVAL = 500e3; ///< Maximum allowable time interval between GNSS measurements (uSec) -static constexpr uint64_t GNSS_YAW_MAX_INTERVAL = 1500e3; ///< Maximum allowable time interval between GNSS yaw measurements (uSec) -static constexpr uint64_t RNG_MAX_INTERVAL = 200e3; ///< Maximum allowable time interval between range finder measurements (uSec) -static constexpr uint64_t MAG_MAX_INTERVAL = 500e3; ///< Maximum allowable time interval between magnetic field measurements (uSec) +static constexpr uint64_t BARO_MAX_INTERVAL = + 200e3; ///< Maximum allowable time interval between pressure altitude measurements (uSec) +static constexpr uint64_t EV_MAX_INTERVAL = + 200e3; ///< Maximum allowable time interval between external vision system measurements (uSec) +static constexpr uint64_t GNSS_MAX_INTERVAL = + 500e3; ///< Maximum allowable time interval between GNSS measurements (uSec) +static constexpr uint64_t GNSS_YAW_MAX_INTERVAL = + 1500e3; ///< Maximum allowable time interval between GNSS yaw measurements (uSec) +static constexpr uint64_t MAG_MAX_INTERVAL = + 500e3; ///< Maximum allowable time interval between magnetic field measurements (uSec) // bad accelerometer detection and mitigation -static constexpr uint64_t BADACC_PROBATION = 10e6; ///< Period of time that accel data declared bad must continuously pass checks to be declared good again (uSec) -static constexpr float BADACC_BIAS_PNOISE = 4.9f; ///< The delta velocity process noise is set to this when accel data is declared bad (m/sec**2) +static constexpr uint64_t BADACC_PROBATION = + 10e6; ///< Period of time that accel data declared bad must continuously pass checks to be declared good again (uSec) +static constexpr float BADACC_BIAS_PNOISE = + 4.9f; ///< The delta velocity process noise is set to this when accel data is declared bad (m/sec**2) // ground effect compensation -static constexpr uint64_t GNDEFFECT_TIMEOUT = 10e6; ///< Maximum period of time that ground effect protection will be active after it was last turned on (uSec) +static constexpr uint64_t GNDEFFECT_TIMEOUT = + 10e6; ///< Maximum period of time that ground effect protection will be active after it was last turned on (uSec) enum class PositionFrame : uint8_t { LOCAL_FRAME_NED = 0, @@ -91,31 +98,30 @@ enum class VelocityFrame : uint8_t { BODY_FRAME_FRD = 2 }; +#if defined(CONFIG_EKF2_MAGNETOMETER) enum GeoDeclinationMask : uint8_t { // Bit locations for mag_declination_source - USE_GEO_DECL = (1<<0), ///< set to true to use the declination from the geo library when the GPS position becomes available, set to false to always use the EKF2_MAG_DECL value - SAVE_GEO_DECL = (1<<1), ///< set to true to set the EKF2_MAG_DECL parameter to the value returned by the geo library - FUSE_DECL = (1<<2) ///< set to true if the declination is always fused as an observation to constrain drift when 3-axis fusion is performed + USE_GEO_DECL = (1 << 0), ///< set to true to use the declination from the geo library when the GPS position becomes available, set to false to always use the EKF2_MAG_DECL value + SAVE_GEO_DECL = (1 << 1) ///< set to true to set the EKF2_MAG_DECL parameter to the value returned by the geo library }; enum MagFuseType : uint8_t { // Integer definitions for mag_fusion_type AUTO = 0, ///< The selection of either heading or 3D magnetometer fusion will be automatic HEADING = 1, ///< Simple yaw angle fusion will always be used. This is less accurate, but less affected by earth field distortions. It should not be used for pitch angles outside the range from -60 to +60 deg - MAG_3D = 2, ///< Magnetometer 3-axis fusion will always be used. This is more accurate, but more affected by localised earth field distortions - UNUSED = 3, ///< Not implemented - INDOOR = 4, ///< The same as option 0, but magnetometer or yaw fusion will not be used unless earth frame external aiding (GPS or External Vision) is being used. This prevents inconsistent magnetic fields associated with indoor operation degrading state estimates. - NONE = 5 ///< Do not use magnetometer under any circumstance.. + NONE = 5, ///< Do not use magnetometer under any circumstance. + INIT = 6 ///< Use the mag for heading initialization only. }; +#endif // CONFIG_EKF2_MAGNETOMETER -#if defined(CONFIG_EKF2_RANGE_FINDER) -enum TerrainFusionMask : uint8_t { +#if defined(CONFIG_EKF2_TERRAIN) +enum class TerrainFusionMask : uint8_t { TerrainFuseRangeFinder = (1 << 0), TerrainFuseOpticalFlow = (1 << 1) }; -#endif // CONFIG_EKF2_RANGE_FINDER +#endif // CONFIG_EKF2_TERRAIN -enum HeightSensor : uint8_t { +enum class HeightSensor : uint8_t { BARO = 0, GNSS = 1, RANGE = 2, @@ -130,48 +136,40 @@ enum class PositionSensor : uint8_t { }; enum class ImuCtrl : uint8_t { - GyroBias = (1<<0), - AccelBias = (1<<1), - GravityVector = (1<<2), + GyroBias = (1 << 0), + AccelBias = (1 << 1), + GravityVector = (1 << 2), }; -enum GnssCtrl : uint8_t { - HPOS = (1<<0), - VPOS = (1<<1), - VEL = (1<<2), - YAW = (1<<3) +enum class GnssCtrl : uint8_t { + HPOS = (1 << 0), + VPOS = (1 << 1), + VEL = (1 << 2), + YAW = (1 << 3) }; -enum RngCtrl : uint8_t { +enum class RngCtrl : uint8_t { DISABLED = 0, CONDITIONAL = 1, ENABLED = 2 }; enum class EvCtrl : uint8_t { - HPOS = (1<<0), - VPOS = (1<<1), - VEL = (1<<2), - YAW = (1<<3) + HPOS = (1 << 0), + VPOS = (1 << 1), + VEL = (1 << 2), + YAW = (1 << 3) }; -struct gpsMessage { - uint64_t time_usec{}; - int32_t lat{}; ///< Latitude in 1E-7 degrees - int32_t lon{}; ///< Longitude in 1E-7 degrees - int32_t alt{}; ///< Altitude in 1E-3 meters (millimeters) above MSL - float yaw{}; ///< yaw angle. NaN if not set (used for dual antenna GPS), (rad, [-PI, PI]) - float yaw_offset{}; ///< Heading/Yaw offset for dual antenna GPS - refer to description for GPS_YAW_OFFSET - float yaw_accuracy{}; ///< yaw measurement accuracy (rad, [0, 2PI]) - uint8_t fix_type{}; ///< 0-1: no fix, 2: 2D fix, 3: 3D fix, 4: RTCM code differential, 5: Real-Time Kinematic - float eph{}; ///< GPS horizontal position accuracy in m - float epv{}; ///< GPS vertical position accuracy in m - float sacc{}; ///< GPS speed accuracy in m/s - float vel_m_s{}; ///< GPS ground speed (m/sec) - Vector3f vel_ned{}; ///< GPS ground speed NED - bool vel_ned_valid{}; ///< GPS ground speed is valid - uint8_t nsats{}; ///< number of satellites used - float pdop{}; ///< position dilution of precision +enum class MagCheckMask : uint8_t { + STRENGTH = (1 << 0), + INCLINATION = (1 << 1), + FORCE_WMM = (1 << 2) +}; + +enum class FlowGyroSource : uint8_t { + Auto = 0, + Internal = 1 }; struct imuSample { @@ -183,16 +181,22 @@ struct imuSample { bool delta_vel_clipping[3] {}; ///< true (per axis) if this sample contained any accelerometer clipping }; -struct gpsSample { - uint64_t time_us{}; ///< timestamp of the measurement (uSec) - Vector2f pos{}; ///< NE earth frame gps horizontal position measurement (m) - float hgt{}; ///< gps height measurement (m) - Vector3f vel{}; ///< NED earth frame gps velocity measurement (m/sec) - float yaw{}; ///< yaw angle. NaN if not set (used for dual antenna GPS), (rad, [-PI, PI]) - float hacc{}; ///< 1-std horizontal position error (m) - float vacc{}; ///< 1-std vertical position error (m) - float sacc{}; ///< 1-std speed error (m/sec) - float yaw_acc{}; ///< 1-std yaw error (rad) +struct gnssSample { + uint64_t time_us{}; ///< timestamp of the measurement (uSec) + double lat{}; ///< latitude (degrees) + double lon{}; ///< longitude (degrees) + float alt{}; ///< GNSS altitude above MSL (m) + Vector3f vel{}; ///< NED earth frame GNSS velocity measurement (m/sec) + float hacc{}; ///< 1-std horizontal position error (m) + float vacc{}; ///< 1-std vertical position error (m) + float sacc{}; ///< 1-std speed error (m/sec) + uint8_t fix_type{}; ///< 0-1: no fix, 2: 2D fix, 3: 3D fix, 4: RTCM code differential, 5: Real-Time + uint8_t nsats{}; ///< number of satellites used + float pdop{}; ///< position dilution of precision + float yaw{}; ///< yaw angle. NaN if not set (used for dual antenna GPS), (rad, [-PI, PI]) + float yaw_acc{}; ///< 1-std yaw error (rad) + float yaw_offset{}; ///< Heading/Yaw offset for dual antenna GPS - refer to description for GPS_YAW_OFFSET + bool spoofed{}; ///< true if GNSS data is spoofed }; struct magSample { @@ -207,12 +211,6 @@ struct baroSample { bool reset{false}; }; -struct rangeSample { - uint64_t time_us{}; ///< timestamp of the measurement (uSec) - float rng{}; ///< range (distance to ground) measurement (m) - int8_t quality{}; ///< Signal quality in percent (0...100%), where 0 = invalid signal, 100 = perfect signal, and -1 = unknown signal quality. -}; - struct airspeedSample { uint64_t time_us{}; ///< timestamp of the measurement (uSec) float true_airspeed{}; ///< true airspeed measurement (m/sec) @@ -220,11 +218,10 @@ struct airspeedSample { }; struct flowSample { - uint64_t time_us{}; ///< timestamp of the integration period leading edge (uSec) - Vector2f flow_xy_rad{}; ///< measured delta angle of the image about the X and Y body axes (rad), RH rotation is positive - Vector3f gyro_xyz{}; ///< measured delta angle of the inertial frame about the body axes obtained from rate gyro measurements (rad), RH rotation is positive - float dt{}; ///< amount of integration time (sec) - uint8_t quality{}; ///< quality indicator between 0 and 255 + uint64_t time_us{}; ///< timestamp of the integration period midpoint (uSec) + Vector2f flow_rate{}; ///< measured angular rate of the image about the X and Y body axes (rad/s), RH rotation is positive + Vector3f gyro_rate{}; ///< measured angular rate of the inertial frame about the body axes obtained from rate gyro measurements (rad/s), RH rotation is positive + uint8_t quality{}; ///< quality indicator between 0 and 255 }; #if defined(CONFIG_EKF2_EXTERNAL_VISION) @@ -264,17 +261,7 @@ struct systemFlagUpdate { bool in_air{true}; bool is_fixed_wing{false}; bool gnd_effect{false}; -}; - -struct stateSample { - Quatf quat_nominal{}; ///< quaternion defining the rotation from body to earth frame - Vector3f vel{}; ///< NED velocity in earth frame in m/s - Vector3f pos{}; ///< NED position in earth frame in m - Vector3f delta_ang_bias{}; ///< delta angle bias estimate in rad - Vector3f delta_vel_bias{}; ///< delta velocity bias estimate in m/s - Vector3f mag_I{}; ///< NED earth magnetic field in gauss - Vector3f mag_B{}; ///< magnetometer bias estimate in body frame in gauss - Vector2f wind_vel{}; ///< horizontal wind velocity in earth frame in m/s + bool constant_pos{false}; }; struct parameters { @@ -284,17 +271,10 @@ struct parameters { int32_t imu_ctrl{static_cast(ImuCtrl::GyroBias) | static_cast(ImuCtrl::AccelBias)}; // measurement source control - int32_t height_sensor_ref{HeightSensor::BARO}; + int32_t height_sensor_ref{static_cast(HeightSensor::BARO)}; int32_t position_sensor_ref{static_cast(PositionSensor::GNSS)}; - int32_t baro_ctrl{1}; - int32_t gnss_ctrl{GnssCtrl::HPOS | GnssCtrl::VEL}; - - int32_t sensor_interval_max_ms{10}; ///< maximum time of arrival difference between non IMU sensor updates. Sets the size of the observation buffers. (mSec) - // measurement time delays - float mag_delay_ms{0.0f}; ///< magnetometer measurement delay relative to the IMU (mSec) - float baro_delay_ms{0.0f}; ///< barometer height measurement delay relative to the IMU (mSec) - float gps_delay_ms{110.0f}; ///< GPS measurement delay relative to the IMU (mSec) + float delay_max_ms{110.f}; ///< maximum time delay of all the aiding sensors. Sets the size of the observation buffers. (mSec) // input noise float gyro_noise{1.5e-2f}; ///< IMU angular rate noise used for covariance prediction (rad/sec) @@ -303,45 +283,102 @@ struct parameters { // process noise float gyro_bias_p_noise{1.0e-3f}; ///< process noise for IMU rate gyro bias prediction (rad/sec**2) float accel_bias_p_noise{1.0e-2f}; ///< process noise for IMU accelerometer bias prediction (m/sec**3) - float mage_p_noise{1.0e-3f}; ///< process noise for earth magnetic field prediction (Gauss/sec) - float magb_p_noise{1.0e-4f}; ///< process noise for body magnetic field prediction (Gauss/sec) + +#if defined(CONFIG_EKF2_WIND) + const float initial_wind_uncertainty {1.0f}; ///< 1-sigma initial uncertainty in wind velocity (m/sec) float wind_vel_nsd{1.0e-2f}; ///< process noise spectral density for wind velocity prediction (m/sec**2/sqrt(Hz)) const float wind_vel_nsd_scaler{0.5f}; ///< scaling of wind process noise with vertical velocity +#endif // CONFIG_EKF2_WIND // initialization errors float switch_on_gyro_bias{0.1f}; ///< 1-sigma gyro bias uncertainty at switch on (rad/sec) float switch_on_accel_bias{0.2f}; ///< 1-sigma accelerometer bias uncertainty at switch on (m/sec**2) float initial_tilt_err{0.1f}; ///< 1-sigma tilt error after initial alignment using gravity vector (rad) - const float initial_wind_uncertainty{1.0f}; ///< 1-sigma initial uncertainty in wind velocity (m/sec) + +#if defined(CONFIG_EKF2_BAROMETER) + int32_t baro_ctrl {1}; + float baro_delay_ms{0.0f}; ///< barometer height measurement delay relative to the IMU (mSec) + float baro_noise{2.0f}; ///< observation noise for barometric height fusion (m) + float baro_bias_nsd{0.13f}; ///< process noise for barometric height bias estimation (m/s/sqrt(Hz)) + float baro_innov_gate{5.0f}; ///< barometric and GPS height innovation consistency gate size (STD) + + float gnd_effect_deadzone{5.0f}; ///< Size of deadzone applied to negative baro innovations when ground effect compensation is active (m) + float gnd_effect_max_hgt{0.5f}; ///< Height above ground at which baro ground effect becomes insignificant (m) + +# if defined(CONFIG_EKF2_BARO_COMPENSATION) + // static barometer pressure position error coefficient along body axes + float static_pressure_coef_xp{0.0f}; // (-) + float static_pressure_coef_xn{0.0f}; // (-) + float static_pressure_coef_yp{0.0f}; // (-) + float static_pressure_coef_yn{0.0f}; // (-) + float static_pressure_coef_z{0.0f}; // (-) + + // upper limit on airspeed used for correction (m/s**2) + float max_correction_airspeed{20.0f}; +# endif // CONFIG_EKF2_BARO_COMPENSATION +#endif // CONFIG_EKF2_BAROMETER + +#if defined(CONFIG_EKF2_GNSS) + int32_t gnss_ctrl {static_cast(GnssCtrl::HPOS) | static_cast(GnssCtrl::VEL)}; + float gps_delay_ms{110.0f}; ///< GPS measurement delay relative to the IMU (mSec) + + Vector3f gps_pos_body{}; ///< xyz position of the GPS antenna in body frame (m) // position and velocity fusion float gps_vel_noise{0.5f}; ///< minimum allowed observation noise for gps velocity fusion (m/sec) float gps_pos_noise{0.5f}; ///< minimum allowed observation noise for gps position fusion (m) float gps_hgt_bias_nsd{0.13f}; ///< process noise for gnss height bias estimation (m/s/sqrt(Hz)) - float pos_noaid_noise{10.0f}; ///< observation noise for non-aiding position fusion (m) - float baro_noise{2.0f}; ///< observation noise for barometric height fusion (m) - float baro_bias_nsd{0.13f}; ///< process noise for barometric height bias estimation (m/s/sqrt(Hz)) - float baro_innov_gate{5.0f}; ///< barometric and GPS height innovation consistency gate size (STD) float gps_pos_innov_gate{5.0f}; ///< GPS horizontal position innovation consistency gate size (STD) float gps_vel_innov_gate{5.0f}; ///< GPS velocity innovation consistency gate size (STD) - float gnd_effect_deadzone{5.0f}; ///< Size of deadzone applied to negative baro innovations when ground effect compensation is active (m) - float gnd_effect_max_hgt{0.5f}; ///< Height above ground at which baro ground effect becomes insignificant (m) - // magnetometer fusion + // these parameters control the strictness of GPS quality checks used to determine if the GPS is + // good enough to set a local origin and commence aiding + int32_t gps_check_mask{21}; ///< bitmask used to control which GPS quality checks are used + float req_hacc{5.0f}; ///< maximum acceptable horizontal position error (m) + float req_vacc{8.0f}; ///< maximum acceptable vertical position error (m) + float req_sacc{1.0f}; ///< maximum acceptable speed error (m/s) + int32_t req_nsats{6}; ///< minimum acceptable satellite count + float req_pdop{2.0f}; ///< maximum acceptable position dilution of precision + float req_hdrift{0.3f}; ///< maximum acceptable horizontal drift speed (m/s) + float req_vdrift{0.5f}; ///< maximum acceptable vertical drift speed (m/s) + +# if defined(CONFIG_EKF2_GNSS_YAW) + // GNSS heading fusion + float gnss_heading_noise{0.1f}; ///< measurement noise standard deviation used for GNSS heading fusion (rad) +# endif // CONFIG_EKF2_GNSS_YAW + + // Parameters used to control when yaw is reset to the EKF-GSF yaw estimator value + float EKFGSF_tas_default{15.0f}; ///< default airspeed value assumed during fixed wing flight if no airspeed measurement available (m/s) + const unsigned EKFGSF_reset_delay{1000000}; ///< Number of uSec of bad innovations on main filter in immediate post-takeoff phase before yaw is reset to EKF-GSF value + const float EKFGSF_yaw_err_max{0.262f}; ///< Composite yaw 1-sigma uncertainty threshold used to check for convergence (rad) + +#endif // CONFIG_EKF2_GNSS + + float pos_noaid_noise{10.0f}; ///< observation noise for non-aiding position fusion (m) + + float heading_innov_gate{2.6f}; ///< heading fusion innovation consistency gate size (STD) float mag_heading_noise{3.0e-1f}; ///< measurement noise used for simple heading fusion (rad) - float mag_noise{5.0e-2f}; ///< measurement noise used for 3-axis magnetoemeter fusion (Gauss) + +#if defined(CONFIG_EKF2_MAGNETOMETER) + float mag_delay_ms {0.0f}; ///< magnetometer measurement delay relative to the IMU (mSec) + + float mage_p_noise{1.0e-3f}; ///< process noise for earth magnetic field prediction (Gauss/sec) + float magb_p_noise{1.0e-4f}; ///< process noise for body magnetic field prediction (Gauss/sec) + + // magnetometer fusion + float mag_noise{5.0e-2f}; ///< measurement noise used for 3-axis magnetometer fusion (Gauss) float mag_declination_deg{0.0f}; ///< magnetic declination (degrees) - float heading_innov_gate{2.6f}; ///< heading fusion innovation consistency gate size (STD) float mag_innov_gate{3.0f}; ///< magnetometer fusion innovation consistency gate size (STD) - int32_t mag_declination_source{7}; ///< bitmask used to control the handling of declination data + int32_t mag_declination_source{3}; ///< bitmask used to control the handling of declination data int32_t mag_fusion_type{0}; ///< integer used to specify the type of magnetometer fusion used float mag_acc_gate{0.5f}; ///< when in auto select mode, heading fusion will be used when manoeuvre accel is lower than this (m/sec**2) - float mag_yaw_rate_gate{0.20f}; ///< yaw rate threshold used by mode select logic (rad/sec) -#if defined(CONFIG_EKF2_GNSS_YAW) - // GNSS heading fusion - float gps_heading_noise{0.1f}; ///< measurement noise standard deviation used for GNSS heading fusion (rad) -#endif // CONFIG_EKF2_GNSS_YAW + // compute synthetic magnetomter Z value if possible + int32_t synthesize_mag_z{0}; + int32_t mag_check{0}; + float mag_check_strength_tolerance_gs{0.2f}; + float mag_check_inclination_tolerance_deg{20.f}; +#endif // CONFIG_EKF2_MAGNETOMETER #if defined(CONFIG_EKF2_AIRSPEED) // airspeed fusion @@ -359,21 +396,25 @@ struct parameters { const float beta_avg_ft_us{150000.0f}; ///< The average time between synthetic sideslip measurements (uSec) #endif // CONFIG_EKF2_SIDESLIP +#if defined(CONFIG_EKF2_TERRAIN) + float terrain_p_noise {5.0f}; ///< process noise for terrain offset (m/sec) + float terrain_gradient{0.5f}; ///< gradient of terrain used to estimate process noise due to changing position (m/m) + const float terrain_timeout{10.f}; ///< maximum time for invalid bottom distance measurements before resetting terrain estimate (s) +#endif // CONFIG_EKF2_TERRAIN + +#if defined(CONFIG_EKF2_TERRAIN) || defined(CONFIG_EKF2_OPTICAL_FLOW) || defined(CONFIG_EKF2_RANGE_FINDER) + float rng_gnd_clearance {0.1f}; ///< minimum valid value for range when on ground (m) +#endif // CONFIG_EKF2_TERRAIN || CONFIG_EKF2_OPTICAL_FLOW || CONFIG_EKF2_RANGE_FINDER + #if defined(CONFIG_EKF2_RANGE_FINDER) // range finder fusion - int32_t rng_ctrl{RngCtrl::CONDITIONAL}; - - int32_t terrain_fusion_mode{TerrainFusionMask::TerrainFuseRangeFinder | - TerrainFusionMask::TerrainFuseOpticalFlow}; ///< aiding source(s) selection bitmask for the terrain estimator + int32_t rng_ctrl{static_cast(RngCtrl::CONDITIONAL)}; float range_delay_ms{5.0f}; ///< range finder measurement delay relative to the IMU (mSec) float range_noise{0.1f}; ///< observation noise for range finder measurements (m) float range_innov_gate{5.0f}; ///< range finder fusion innovation consistency gate size (STD) - float rng_hgt_bias_nsd{0.13f}; ///< process noise for range height bias estimation (m/s/sqrt(Hz)) - float rng_gnd_clearance{0.1f}; ///< minimum valid value for range when on ground (m) float rng_sens_pitch{0.0f}; ///< Pitch offset of the range sensor (rad). Sensor points out along Z axis when offset is zero. Positive rotation is RH about Y axis. float range_noise_scaler{0.0f}; ///< scaling from range measurement to noise (m/m) - const float vehicle_variance_scaler{0.0f}; ///< gain applied to vehicle height variance used in calculation of height above ground observation variance float max_hagl_for_range_aid{5.0f}; ///< maximum height above ground for which we allow to use the range finder as height source (if rng_control == 1) float max_vel_for_range_aid{1.0f}; ///< maximum ground velocity for which we allow to use the range finder as height source (if rng_control == 1) float range_aid_innov_gate{1.0f}; ///< gate size used for innovation consistency checks for range aid fusion @@ -382,11 +423,6 @@ struct parameters { float range_kin_consistency_gate{1.0f}; ///< gate size used by the range finder kinematic consistency check Vector3f rng_pos_body{}; ///< xyz position of range sensor in body frame (m) - - float terrain_p_noise{5.0f}; ///< process noise for terrain offset (m/sec) - float terrain_gradient{0.5f}; ///< gradient of terrain used to estimate process noise due to changing position (m/m) - const float terrain_timeout{10.f}; ///< maximum time for invalid bottom distance measurements before resetting terrain estimate (s) - #endif // CONFIG_EKF2_RANGE_FINDER #if defined(CONFIG_EKF2_EXTERNAL_VISION) @@ -405,36 +441,28 @@ struct parameters { Vector3f ev_pos_body{}; ///< xyz position of VI-sensor focal point in body frame (m) #endif // CONFIG_EKF2_EXTERNAL_VISION +#if defined(CONFIG_EKF2_GRAVITY_FUSION) // gravity fusion float gravity_noise{1.0f}; ///< accelerometer measurement gaussian noise (m/s**2) +#endif // CONFIG_EKF2_GRAVITY_FUSION #if defined(CONFIG_EKF2_OPTICAL_FLOW) - int32_t flow_ctrl{0}; + int32_t flow_ctrl {0}; + int32_t flow_gyro_src {static_cast(FlowGyroSource::Auto)}; float flow_delay_ms{5.0f}; ///< optical flow measurement delay relative to the IMU (mSec) - this is to the middle of the optical flow integration interval // optical flow fusion float flow_noise{0.15f}; ///< observation noise for optical flow LOS rate measurements (rad/sec) float flow_noise_qual_min{0.5f}; ///< observation noise for optical flow LOS rate measurements when flow sensor quality is at the minimum useable (rad/sec) int32_t flow_qual_min{1}; ///< minimum acceptable quality integer from the flow sensor + int32_t flow_qual_min_gnd{0}; ///< minimum acceptable quality integer from the flow sensor when on ground float flow_innov_gate{3.0f}; ///< optical flow fusion innovation consistency gate size (STD) Vector3f flow_pos_body{}; ///< xyz position of range sensor focal point in body frame (m) #endif // CONFIG_EKF2_OPTICAL_FLOW - // these parameters control the strictness of GPS quality checks used to determine if the GPS is - // good enough to set a local origin and commence aiding - int32_t gps_check_mask{21}; ///< bitmask used to control which GPS quality checks are used - float req_hacc{5.0f}; ///< maximum acceptable horizontal position error (m) - float req_vacc{8.0f}; ///< maximum acceptable vertical position error (m) - float req_sacc{1.0f}; ///< maximum acceptable speed error (m/s) - int32_t req_nsats{6}; ///< minimum acceptable satellite count - float req_pdop{2.0f}; ///< maximum acceptable position dilution of precision - float req_hdrift{0.3f}; ///< maximum acceptable horizontal drift speed (m/s) - float req_vdrift{0.5f}; ///< maximum acceptable vertical drift speed (m/s) - // XYZ offset of sensors in body axes (m) Vector3f imu_pos_body{}; ///< xyz position of IMU in body frame (m) - Vector3f gps_pos_body{}; ///< xyz position of the GPS antenna in body frame (m) // accel bias learning control float acc_bias_lim{0.4f}; ///< maximum accel bias magnitude (m/sec**2) @@ -450,18 +478,6 @@ struct parameters { int32_t valid_timeout_max{5'000'000}; ///< amount of time spent inertial dead reckoning before the estimator reports the state estimates as invalid (uSec) -#if defined(CONFIG_EKF2_BARO_COMPENSATION) - // static barometer pressure position error coefficient along body axes - float static_pressure_coef_xp{0.0f}; // (-) - float static_pressure_coef_xn{0.0f}; // (-) - float static_pressure_coef_yp{0.0f}; // (-) - float static_pressure_coef_yn{0.0f}; // (-) - float static_pressure_coef_z{0.0f}; // (-) - - // upper limit on airspeed used for correction (m/s**2) - float max_correction_airspeed {20.0f}; -#endif // CONFIG_EKF2_BARO_COMPENSATION - #if defined(CONFIG_EKF2_DRAG_FUSION) // multi-rotor drag specific force fusion int32_t drag_ctrl{0}; @@ -483,14 +499,6 @@ struct parameters { const float auxvel_gate{5.0f}; ///< velocity fusion innovation consistency gate size (STD) #endif // CONFIG_EKF2_AUXVEL - // compute synthetic magnetomter Z value if possible - int32_t synthesize_mag_z{0}; - int32_t check_mag_strength{0}; - - // Parameters used to control when yaw is reset to the EKF-GSF yaw estimator value - float EKFGSF_tas_default{15.0f}; ///< default airspeed value assumed during fixed wing flight if no airspeed measurement available (m/s) - const unsigned EKFGSF_reset_delay{1000000}; ///< Number of uSec of bad innovations on main filter in immediate post-takeoff phase before yaw is reset to EKF-GSF value - const float EKFGSF_yaw_err_max{0.262f}; ///< Composite yaw 1-sigma uncertainty threshold used to check for convergence (rad) }; union fault_status_u { @@ -501,18 +509,13 @@ union fault_status_u { bool bad_hdg : 1; ///< 3 - true if the fusion of the heading angle has encountered a numerical error bool bad_mag_decl : 1; ///< 4 - true if the fusion of the magnetic declination has encountered a numerical error bool bad_airspeed : 1; ///< 5 - true if fusion of the airspeed has encountered a numerical error - bool bad_sideslip : 1; ///< 6 - true if fusion of the synthetic sideslip constraint has encountered a numerical error +bool bad_sideslip : + 1; ///< 6 - true if fusion of the synthetic sideslip constraint has encountered a numerical error bool bad_optflow_X : 1; ///< 7 - true if fusion of the optical flow X axis has encountered a numerical error bool bad_optflow_Y : 1; ///< 8 - true if fusion of the optical flow Y axis has encountered a numerical error - bool bad_vel_N : 1; ///< 9 - true if fusion of the North velocity has encountered a numerical error - bool bad_vel_E : 1; ///< 10 - true if fusion of the East velocity has encountered a numerical error - bool bad_vel_D : 1; ///< 11 - true if fusion of the Down velocity has encountered a numerical error - bool bad_pos_N : 1; ///< 12 - true if fusion of the North position has encountered a numerical error - bool bad_pos_E : 1; ///< 13 - true if fusion of the East position has encountered a numerical error - bool bad_pos_D : 1; ///< 14 - true if fusion of the Down position has encountered a numerical error - bool bad_acc_bias : 1; ///< 15 - true if bad delta velocity bias estimates have been detected - bool bad_acc_vertical : 1; ///< 16 - true if bad vertical accelerometer data has been detected - bool bad_acc_clipping : 1; ///< 17 - true if delta velocity data contains clipping (asymmetric railing) + bool bad_acc_bias : 1; ///< 9 - true if bad delta velocity bias estimates have been detected + bool bad_acc_vertical : 1; ///< 10 - true if bad vertical accelerometer data has been detected + bool bad_acc_clipping : 1; ///< 11 - true if delta velocity data contains clipping (asymmetric railing) } flags; uint32_t value; }; @@ -530,7 +533,7 @@ union innovation_fault_status_u { bool reject_yaw : 1; ///< 7 - true if the yaw observation has been rejected bool reject_airspeed : 1; ///< 8 - true if the airspeed observation has been rejected bool reject_sideslip : 1; ///< 9 - true if the synthetic sideslip observation has been rejected - bool reject_hagl : 1; ///< 10 - true if the height above ground observation has been rejected + bool reject_hagl : 1; ///< 10 - unused bool reject_optflow_X : 1; ///< 11 - true if the X optical flow observation has been rejected bool reject_optflow_Y : 1; ///< 12 - true if the Y optical flow observation has been rejected } flags; @@ -550,6 +553,7 @@ union gps_check_fail_status_u { uint16_t vdrift : 1; ///< 7 - true if vertical drift is excessive (can only be used when stationary on ground) uint16_t hspeed : 1; ///< 8 - true if horizontal speed is excessive (can only be used when stationary on ground) uint16_t vspeed : 1; ///< 9 - true if vertical speed error is excessive + uint16_t spoofed: 1; ///< 10 - true if the GNSS data is spoofed } flags; uint16_t value; }; @@ -567,7 +571,8 @@ union filter_control_status_u { uint64_t in_air : 1; ///< 7 - true when the vehicle is airborne uint64_t wind : 1; ///< 8 - true when wind velocity is being estimated uint64_t baro_hgt : 1; ///< 9 - true when baro height is being fused as a primary height reference - uint64_t rng_hgt : 1; ///< 10 - true when range finder height is being fused as a primary height reference +uint64_t rng_hgt : + 1; ///< 10 - true when range finder height is being fused as a primary height reference uint64_t gps_hgt : 1; ///< 11 - true when GPS height is being fused as a primary height reference uint64_t ev_pos : 1; ///< 12 - true when local position data fusion from external vision is intended uint64_t ev_yaw : 1; ///< 13 - true when yaw data from external vision measurements fusion is intended @@ -575,55 +580,47 @@ union filter_control_status_u { uint64_t fuse_beta : 1; ///< 15 - true when synthetic sideslip measurements are being fused uint64_t mag_field_disturbed : 1; ///< 16 - true when the mag field does not match the expected strength uint64_t fixed_wing : 1; ///< 17 - true when the vehicle is operating as a fixed wing vehicle - uint64_t mag_fault : 1; ///< 18 - true when the magnetometer has been declared faulty and is no longer being used +uint64_t mag_fault : + 1; ///< 18 - true when the magnetometer has been declared faulty and is no longer being used uint64_t fuse_aspd : 1; ///< 19 - true when airspeed measurements are being fused - uint64_t gnd_effect : 1; ///< 20 - true when protection from ground effect induced static pressure rise is active - uint64_t rng_stuck : 1; ///< 21 - true when rng data wasn't ready for more than 10s and new rng values haven't changed enough - uint64_t gps_yaw : 1; ///< 22 - true when yaw (not ground course) data fusion from a GPS receiver is intended +uint64_t gnd_effect : + 1; ///< 20 - true when protection from ground effect induced static pressure rise is active +uint64_t rng_stuck : + 1; ///< 21 - true when rng data wasn't ready for more than 10s and new rng values haven't changed enough +uint64_t gnss_yaw : + 1; ///< 22 - true when yaw (not ground course) data fusion from a GPS receiver is intended uint64_t mag_aligned_in_flight : 1; ///< 23 - true when the in-flight mag field alignment has been completed - uint64_t ev_vel : 1; ///< 24 - true when local frame velocity data fusion from external vision measurements is intended - uint64_t synthetic_mag_z : 1; ///< 25 - true when we are using a synthesized measurement for the magnetometer Z component +uint64_t ev_vel : + 1; ///< 24 - true when local frame velocity data fusion from external vision measurements is intended +uint64_t synthetic_mag_z : + 1; ///< 25 - true when we are using a synthesized measurement for the magnetometer Z component uint64_t vehicle_at_rest : 1; ///< 26 - true when the vehicle is at rest - uint64_t gps_yaw_fault : 1; ///< 27 - true when the GNSS heading has been declared faulty and is no longer being used - uint64_t rng_fault : 1; ///< 28 - true when the range finder has been declared faulty and is no longer being used - uint64_t inertial_dead_reckoning : 1; ///< 29 - true if we are no longer fusing measurements that constrain horizontal velocity drift +uint64_t gnss_yaw_fault : + 1; ///< 27 - true when the GNSS heading has been declared faulty and is no longer being used +uint64_t rng_fault : + 1; ///< 28 - true when the range finder has been declared faulty and is no longer being used +uint64_t inertial_dead_reckoning : + 1; ///< 29 - true if we are no longer fusing measurements that constrain horizontal velocity drift uint64_t wind_dead_reckoning : 1; ///< 30 - true if we are navigationg reliant on wind relative measurements uint64_t rng_kin_consistent : 1; ///< 31 - true when the range finder kinematic consistency check is passing uint64_t fake_pos : 1; ///< 32 - true when fake position measurements are being fused uint64_t fake_hgt : 1; ///< 33 - true when fake height measurements are being fused uint64_t gravity_vector : 1; ///< 34 - true when gravity vector measurements are being fused - } flags; - uint64_t value; -}; - -// Mavlink bitmask containing state of estimator solution -union ekf_solution_status_u { - struct { - uint16_t attitude : 1; ///< 0 - True if the attitude estimate is good - uint16_t velocity_horiz : 1; ///< 1 - True if the horizontal velocity estimate is good - uint16_t velocity_vert : 1; ///< 2 - True if the vertical velocity estimate is good - uint16_t pos_horiz_rel : 1; ///< 3 - True if the horizontal position (relative) estimate is good - uint16_t pos_horiz_abs : 1; ///< 4 - True if the horizontal position (absolute) estimate is good - uint16_t pos_vert_abs : 1; ///< 5 - True if the vertical position (absolute) estimate is good - uint16_t pos_vert_agl : 1; ///< 6 - True if the vertical position (above ground) estimate is good - uint16_t const_pos_mode : 1; ///< 7 - True if the EKF is in a constant position mode and is not using external measurements (eg GPS or optical flow) - uint16_t pred_pos_horiz_rel : 1; ///< 8 - True if the EKF has sufficient data to enter a mode that will provide a (relative) position estimate - uint16_t pred_pos_horiz_abs : 1; ///< 9 - True if the EKF has sufficient data to enter a mode that will provide a (absolute) position estimate - uint16_t gps_glitch : 1; ///< 10 - True if the EKF has detected a GPS glitch - uint16_t accel_error : 1; ///< 11 - True if the EKF has detected bad accelerometer data - } flags; - uint16_t value; -}; +uint64_t mag : + 1; ///< 35 - true if 3-axis magnetometer measurement fusion (mag states only) is intended +uint64_t ev_yaw_fault : + 1; ///< 36 - true when the EV heading has been declared faulty and is no longer being used +uint64_t mag_heading_consistent : + 1; ///< 37 - true when the heading obtained from mag data is declared consistent with the filter + uint64_t aux_gpos : 1; ///< 38 - true if auxiliary global position measurement fusion is intended + uint64_t rng_terrain : 1; ///< 39 - true if we are fusing range finder data for terrain + uint64_t opt_flow_terrain : 1; ///< 40 - true if we are fusing flow data for terrain + uint64_t valid_fake_pos : 1; ///< 41 - true if a valid constant position is being fused + uint64_t constant_pos : 1; ///< 42 - true if the vehicle is at a constant position -#if defined(CONFIG_EKF2_RANGE_FINDER) -union terrain_fusion_status_u { - struct { - bool range_finder : 1; ///< 0 - true if we are fusing range finder data - bool flow : 1; ///< 1 - true if we are fusing flow data } flags; - uint8_t value; + uint64_t value; }; -#endif // CONFIG_EKF2_RANGE_FINDER // define structure used to communicate information events union information_event_status_u { @@ -636,34 +633,23 @@ union information_event_status_u { bool reset_pos_to_last_known : 1; ///< 5 - true when the position states are reset to the last known position bool reset_pos_to_gps : 1; ///< 6 - true when the position states are reset to the gps measurement bool reset_pos_to_vision : 1; ///< 7 - true when the position states are reset to the vision system measurement - bool starting_gps_fusion : 1; ///< 8 - true when the filter starts using gps measurements to correct the state estimates - bool starting_vision_pos_fusion : 1; ///< 9 - true when the filter starts using vision system position measurements to correct the state estimates - bool starting_vision_vel_fusion : 1; ///< 10 - true when the filter starts using vision system velocity measurements to correct the state estimates - bool starting_vision_yaw_fusion : 1; ///< 11 - true when the filter starts using vision system yaw measurements to correct the state estimates - bool yaw_aligned_to_imu_gps : 1; ///< 12 - true when the filter resets the yaw to an estimate derived from IMU and GPS data +bool starting_gps_fusion : + 1; ///< 8 - true when the filter starts using gps measurements to correct the state estimates +bool starting_vision_pos_fusion : + 1; ///< 9 - true when the filter starts using vision system position measurements to correct the state estimates +bool starting_vision_vel_fusion : + 1; ///< 10 - true when the filter starts using vision system velocity measurements to correct the state estimates +bool starting_vision_yaw_fusion : + 1; ///< 11 - true when the filter starts using vision system yaw measurements to correct the state estimates +bool yaw_aligned_to_imu_gps : + 1; ///< 12 - true when the filter resets the yaw to an estimate derived from IMU and GPS data bool reset_hgt_to_baro : 1; ///< 13 - true when the vertical position state is reset to the baro measurement bool reset_hgt_to_gps : 1; ///< 14 - true when the vertical position state is reset to the gps measurement bool reset_hgt_to_rng : 1; ///< 15 - true when the vertical position state is reset to the rng measurement bool reset_hgt_to_ev : 1; ///< 16 - true when the vertical position state is reset to the ev measurement - } flags; - uint32_t value; -}; - -// define structure used to communicate information events -union warning_event_status_u { - struct { - bool gps_quality_poor : 1; ///< 0 - true when the gps is failing quality checks - bool gps_fusion_timout : 1; ///< 1 - true when the gps data has not been used to correct the state estimates for a significant time period - bool gps_data_stopped : 1; ///< 2 - true when the gps data has stopped for a significant time period - bool gps_data_stopped_using_alternate : 1; ///< 3 - true when the gps data has stopped for a significant time period but the filter is able to use other sources of data to maintain navigation - bool height_sensor_timeout : 1; ///< 4 - true when the height sensor has not been used to correct the state estimates for a significant time period - bool stopping_navigation : 1; ///< 5 - true when the filter has insufficient data to estimate velocity and position and is falling back to an attitude, height and height rate mode of operation - bool invalid_accel_bias_cov_reset : 1; ///< 6 - true when the filter has detected bad acceerometer bias state estimates and has reset the corresponding covariance matrix elements - bool bad_yaw_using_gps_course : 1; ///< 7 - true when the filter has detected an invalid yaw estimate and has reset the yaw angle to the GPS ground course - bool stopping_mag_use : 1; ///< 8 - true when the filter has detected bad magnetometer data and is stopping further use of the magnetometer data - bool vision_data_stopped : 1; ///< 9 - true when the vision system data has stopped for a significant time period - bool emergency_yaw_reset_mag_stopped : 1; ///< 10 - true when the filter has detected bad magnetometer data, has reset the yaw to anothter source of data and has stopped further use of the magnetometer data - bool emergency_yaw_reset_gps_yaw_stopped: 1; ///< 11 - true when the filter has detected bad GNSS yaw data, has reset the yaw to anothter source of data and has stopped further use of the GNSS yaw data +bool reset_pos_to_ext_obs : + 1; ///< 17 - true when horizontal position was reset to an external observation while deadreckoning + bool reset_wind_to_ext_obs : 1; ///< 18 - true when wind states were reset to an external observation } flags; uint32_t value; }; diff --git a/src/modules/ekf2/EKF/control.cpp b/src/modules/ekf2/EKF/control.cpp index 20ff1dcde3cf..ceefc01f6fd1 100644 --- a/src/modules/ekf2/EKF/control.cpp +++ b/src/modules/ekf2/EKF/control.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2015-2020 Estimation and Control Library (ECL). All rights reserved. + * Copyright (c) 2015-2023 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -12,7 +12,7 @@ * notice, this list of conditions and the following disclaimer in * the documentation and/or other materials provided with the * distribution. - * 3. Neither the name ECL nor the names of its contributors may be + * 3. Neither the name PX4 nor the names of its contributors may be * used to endorse or promote products derived from this software * without specific prior written permission. * @@ -62,21 +62,21 @@ void Ekf::controlFusionModes(const imuSample &imu_delayed) if (system_flags_delayed.gnd_effect) { set_gnd_effect(); } + + set_constant_pos(system_flags_delayed.constant_pos); } } // monitor the tilt alignment if (!_control_status.flags.tilt_align) { // whilst we are aligning the tilt, monitor the variances - const Vector3f angle_err_var_vec = calcRotVecVariances(); - - // Once the tilt variances have reduced to equivalent of 3deg uncertainty + // Once the tilt variances have reduced to equivalent of 3 deg uncertainty // and declare the tilt alignment complete - if ((angle_err_var_vec(0) + angle_err_var_vec(1)) < sq(math::radians(3.0f))) { + if (getTiltVariance() < sq(math::radians(3.f))) { _control_status.flags.tilt_align = true; // send alignment status message to the console - const char *height_source = nullptr; + const char *height_source = "unknown"; if (_control_status.flags.baro_hgt) { height_source = "baro"; @@ -89,27 +89,35 @@ void Ekf::controlFusionModes(const imuSample &imu_delayed) } else if (_control_status.flags.rng_hgt) { height_source = "rng"; - - } else { - height_source = "unknown"; - } - if (height_source) { - ECL_INFO("%llu: EKF aligned, (%s hgt, IMU buf: %i, OBS buf: %i)", - (unsigned long long)imu_delayed.time_us, height_source, (int)_imu_buffer_length, (int)_obs_buffer_length); - } + ECL_INFO("%llu: EKF aligned, (%s hgt, IMU buf: %i, OBS buf: %i)", + (unsigned long long)imu_delayed.time_us, height_source, (int)_imu_buffer_length, (int)_obs_buffer_length); + + ECL_DEBUG("tilt aligned, roll: %.3f, pitch %.3f, yaw: %.3f", + (double)matrix::Eulerf(_state.quat_nominal).phi(), + (double)matrix::Eulerf(_state.quat_nominal).theta(), + (double)matrix::Eulerf(_state.quat_nominal).psi() + ); } } +#if defined(CONFIG_EKF2_MAGNETOMETER) // control use of observations for aiding - controlMagFusion(); + controlMagFusion(imu_delayed); +#endif // CONFIG_EKF2_MAGNETOMETER #if defined(CONFIG_EKF2_OPTICAL_FLOW) controlOpticalFlowFusion(imu_delayed); #endif // CONFIG_EKF2_OPTICAL_FLOW +#if defined(CONFIG_EKF2_GNSS) controlGpsFusion(imu_delayed); +#endif // CONFIG_EKF2_GNSS + +#if defined(CONFIG_EKF2_AUX_GLOBAL_POSITION) && defined(MODULE_NAME) + _aux_global_position.update(*this, imu_delayed); +#endif // CONFIG_EKF2_AUX_GLOBAL_POSITION #if defined(CONFIG_EKF2_AIRSPEED) controlAirDataFusion(imu_delayed); @@ -120,25 +128,36 @@ void Ekf::controlFusionModes(const imuSample &imu_delayed) #endif // CONFIG_EKF2_SIDESLIP #if defined(CONFIG_EKF2_DRAG_FUSION) - controlDragFusion(); + controlDragFusion(imu_delayed); #endif // CONFIG_EKF2_DRAG_FUSION controlHeightFusion(imu_delayed); + +#if defined(CONFIG_EKF2_GRAVITY_FUSION) controlGravityFusion(imu_delayed); +#endif // CONFIG_EKF2_GRAVITY_FUSION #if defined(CONFIG_EKF2_EXTERNAL_VISION) // Additional data odometry data from an external estimator can be fused. - controlExternalVisionFusion(); + controlExternalVisionFusion(imu_delayed); #endif // CONFIG_EKF2_EXTERNAL_VISION #if defined(CONFIG_EKF2_AUXVEL) // Additional horizontal velocity data from an auxiliary sensor can be fused - controlAuxVelFusion(); + controlAuxVelFusion(imu_delayed); #endif // CONFIG_EKF2_AUXVEL + // +#if defined(CONFIG_EKF2_TERRAIN) + controlTerrainFakeFusion(); +#endif // CONFIG_EKF2_TERRAIN controlZeroInnovationHeadingUpdate(); - controlZeroVelocityUpdate(); + _zero_velocity_update.update(*this, imu_delayed); + + if (_params.imu_ctrl & static_cast(ImuCtrl::GyroBias)) { + _zero_gyro_update.update(*this, imu_delayed); + } // Fake position measurement for constraining drift when no other velocity or position measurements controlFakePosFusion(); diff --git a/src/modules/ekf2/EKF/covariance.cpp b/src/modules/ekf2/EKF/covariance.cpp index b6726fdf6b13..787d1636e2ab 100644 --- a/src/modules/ekf2/EKF/covariance.cpp +++ b/src/modules/ekf2/EKF/covariance.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2015 Estimation and Control Library (ECL). All rights reserved. + * Copyright (c) 2015-2023 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -12,7 +12,7 @@ * notice, this list of conditions and the following disclaimer in * the documentation and/or other materials provided with the * distribution. - * 3. Neither the name ECL nor the names of its contributors may be + * 3. Neither the name PX4 nor the names of its contributors may be * used to endorse or promote products derived from this software * without specific prior written permission. * @@ -42,8 +42,7 @@ */ #include "ekf.h" -#include "python/ekf_derivation/generated/predict_covariance.h" -#include "utils.hpp" +#include #include #include @@ -54,568 +53,298 @@ void Ekf::initialiseCovariance() { P.zero(); - _delta_angle_bias_var_accum.setZero(); - _delta_vel_bias_var_accum.setZero(); - - const float dt = _dt_ekf_avg; - - resetQuatCov(); + resetQuatCov(0.f); // Start with no initial uncertainty to improve fine leveling through zero vel/pos fusion // velocity - P(4,4) = sq(fmaxf(_params.gps_vel_noise, 0.01f)); - P(5,5) = P(4,4); - P(6,6) = sq(1.5f) * P(4,4); +#if defined(CONFIG_EKF2_GNSS) + const float vel_var = sq(fmaxf(_params.gps_vel_noise, 0.01f)); +#else + const float vel_var = sq(0.5f); +#endif + P.uncorrelateCovarianceSetVariance(State::vel.idx, Vector3f(vel_var, vel_var, sq(1.5f) * vel_var)); // position - P(7,7) = sq(fmaxf(_params.gps_pos_noise, 0.01f)); - P(8,8) = P(7,7); - P(9,9) = sq(fmaxf(_params.baro_noise, 0.01f)); +#if defined(CONFIG_EKF2_BAROMETER) + float z_pos_var = sq(fmaxf(_params.baro_noise, 0.01f)); +#else + float z_pos_var = sq(1.f); +#endif // CONFIG_EKF2_BAROMETER + +#if defined(CONFIG_EKF2_GNSS) + const float xy_pos_var = sq(fmaxf(_params.gps_pos_noise, 0.01f)); if (_control_status.flags.gps_hgt) { - P(9,9) = sq(fmaxf(1.5f * _params.gps_pos_noise, 0.01f)); + z_pos_var = sq(fmaxf(1.5f * _params.gps_pos_noise, 0.01f)); } +#else + const float xy_pos_var = sq(fmaxf(_params.pos_noaid_noise, 0.01f)); +#endif + #if defined(CONFIG_EKF2_RANGE_FINDER) + if (_control_status.flags.rng_hgt) { - P(9,9) = sq(fmaxf(_params.range_noise, 0.01f)); + z_pos_var = sq(fmaxf(_params.range_noise, 0.01f)); } + #endif // CONFIG_EKF2_RANGE_FINDER - // gyro bias - _prev_delta_ang_bias_var(0) = P(10,10) = sq(_params.switch_on_gyro_bias * dt); - _prev_delta_ang_bias_var(1) = P(11,11) = P(10,10); - _prev_delta_ang_bias_var(2) = P(12,12) = P(10,10); + P.uncorrelateCovarianceSetVariance(State::pos.idx, Vector3f(xy_pos_var, xy_pos_var, z_pos_var)); - // accel bias - _prev_dvel_bias_var(0) = P(13,13) = sq(_params.switch_on_accel_bias * dt); - _prev_dvel_bias_var(1) = P(14,14) = P(13,13); - _prev_dvel_bias_var(2) = P(15,15) = P(13,13); + resetGyroBiasCov(); + resetAccelBiasCov(); + +#if defined(CONFIG_EKF2_MAGNETOMETER) resetMagCov(); +#endif // CONFIG_EKF2_MAGNETOMETER - // wind - P(22,22) = sq(_params.initial_wind_uncertainty); - P(23,23) = P(22,22); +#if defined(CONFIG_EKF2_WIND) + resetWindCov(); +#endif // CONFIG_EKF2_WIND +#if defined(CONFIG_EKF2_TERRAIN) + // use the ground clearance value as our uncertainty + P.uncorrelateCovarianceSetVariance(State::terrain.idx, sq(_params.rng_gnd_clearance)); +#endif // CONFIG_EKF2_TERRAIN } void Ekf::predictCovariance(const imuSample &imu_delayed) { - // Use average update interval to reduce accumulated covariance prediction errors due to small single frame dt values - const float dt = _dt_ekf_avg; - const float dt_inv = 1.f / dt; - - // convert rate of change of rate gyro bias (rad/s**2) as specified by the parameter to an expected change in delta angle (rad) since the last update - const float d_ang_bias_sig = dt * dt * math::constrain(_params.gyro_bias_p_noise, 0.0f, 1.0f); - - // convert rate of change of accelerometer bias (m/s**3) as specified by the parameter to an expected change in delta velocity (m/s) since the last update - const float d_vel_bias_sig = dt * dt * math::constrain(_params.accel_bias_p_noise, 0.0f, 1.0f); - - // inhibit learning of imu accel bias if the manoeuvre levels are too high to protect against the effect of sensor nonlinearities or bad accel data is detected - // xy accel bias learning is also disabled on ground as those states are poorly observable when perpendicular to the gravity vector - const float alpha = math::constrain((dt / _params.acc_bias_learn_tc), 0.0f, 1.0f); - const float beta = 1.0f - alpha; - _ang_rate_magnitude_filt = fmaxf(dt_inv * imu_delayed.delta_ang.norm(), beta * _ang_rate_magnitude_filt); - _accel_magnitude_filt = fmaxf(dt_inv * imu_delayed.delta_vel.norm(), beta * _accel_magnitude_filt); - _accel_vec_filt = alpha * dt_inv * imu_delayed.delta_vel + beta * _accel_vec_filt; - - const bool is_manoeuvre_level_high = _ang_rate_magnitude_filt > _params.acc_bias_learn_gyr_lim - || _accel_magnitude_filt > _params.acc_bias_learn_acc_lim; - - // gyro bias inhibit - const bool do_inhibit_all_gyro_axes = !(_params.imu_ctrl & static_cast(ImuCtrl::GyroBias)); - - for (unsigned stateIndex = 10; stateIndex <= 12; stateIndex++) { - const unsigned index = stateIndex - 10; - - bool is_bias_observable = true; + // predict the covariance + const float dt = 0.5f * (imu_delayed.delta_vel_dt + imu_delayed.delta_ang_dt); - // TODO: gyro bias conditions + // gyro noise variance + float gyro_noise = _params.gyro_noise; + const float gyro_var = sq(gyro_noise); - const bool do_inhibit_axis = do_inhibit_all_gyro_axes || !is_bias_observable; + // accel noise variance + float accel_noise = _params.accel_noise; + Vector3f accel_var; - if (do_inhibit_axis) { - // store the bias state variances to be reinstated later - if (!_gyro_bias_inhibit[index]) { - _prev_delta_ang_bias_var(index) = P(stateIndex, stateIndex); - _gyro_bias_inhibit[index] = true; - } + for (unsigned i = 0; i < 3; i++) { + if (_fault_status.flags.bad_acc_vertical || imu_delayed.delta_vel_clipping[i]) { + // Increase accelerometer process noise if bad accel data is detected + accel_var(i) = sq(BADACC_BIAS_PNOISE); } else { - if (_gyro_bias_inhibit[index]) { - // reinstate the bias state variances - P(stateIndex, stateIndex) = _prev_delta_ang_bias_var(index); - _gyro_bias_inhibit[index] = false; - } + accel_var(i) = sq(accel_noise); } } - // accel bias inhibit - const bool do_inhibit_all_accel_axes = !(_params.imu_ctrl & static_cast(ImuCtrl::AccelBias)) - || is_manoeuvre_level_high - || _fault_status.flags.bad_acc_vertical; - - for (unsigned stateIndex = 13; stateIndex <= 15; stateIndex++) { - const unsigned index = stateIndex - 13; - - bool is_bias_observable = true; - - if (_control_status.flags.vehicle_at_rest) { - is_bias_observable = true; - - } else if (_control_status.flags.fake_hgt) { - is_bias_observable = false; + // calculate variances and upper diagonal covariances for quaternion, velocity, position and gyro bias states + P = sym::PredictCovariance(_state.vector(), P, + imu_delayed.delta_vel / imu_delayed.delta_vel_dt, accel_var, + imu_delayed.delta_ang / imu_delayed.delta_ang_dt, gyro_var, + dt); - } else if (_control_status.flags.fake_pos) { - // when using fake position (but not fake height) only consider an accel bias observable if aligned with the gravity vector - is_bias_observable = (fabsf(_R_to_earth(2, index)) > 0.966f); // cos 15 degrees ~= 0.966 - } + // Construct the process noise variance diagonal for those states with a stationary process model + // These are kinematic states and their error growth is controlled separately by the IMU noise variances - const bool do_inhibit_axis = do_inhibit_all_accel_axes || imu_delayed.delta_vel_clipping[index] || !is_bias_observable; + // gyro bias: add process noise + { + const float gyro_bias_sig = dt * _params.gyro_bias_p_noise; + const float gyro_bias_process_noise = sq(gyro_bias_sig); - if (do_inhibit_axis) { - // store the bias state variances to be reinstated later - if (!_accel_bias_inhibit[index]) { - _prev_dvel_bias_var(index) = P(stateIndex, stateIndex); - _accel_bias_inhibit[index] = true; - } + for (unsigned index = 0; index < State::gyro_bias.dof; index++) { + const unsigned i = State::gyro_bias.idx + index; - } else { - if (_accel_bias_inhibit[index]) { - // reinstate the bias state variances - P(stateIndex, stateIndex) = _prev_dvel_bias_var(index); - _accel_bias_inhibit[index] = false; + if (P(i, i) < gyro_var) { + P(i, i) += gyro_bias_process_noise; } } } - // Don't continue to grow the earth field variances if they are becoming too large or we are not doing 3-axis fusion as this can make the covariance matrix badly conditioned - float mag_I_sig; - - if (_control_status.flags.mag_3D && (P(16, 16) + P(17, 17) + P(18, 18)) < 0.1f) { - mag_I_sig = dt * math::constrain(_params.mage_p_noise, 0.0f, 1.0f); - - } else { - mag_I_sig = 0.0f; - } + // accel bias: add process noise + { + const float accel_bias_sig = dt * _params.accel_bias_p_noise; + const float accel_bias_process_noise = sq(accel_bias_sig); - // Don't continue to grow the body field variances if they is becoming too large or we are not doing 3-axis fusion as this can make the covariance matrix badly conditioned - float mag_B_sig; + for (unsigned index = 0; index < State::accel_bias.dof; index++) { + const unsigned i = State::accel_bias.idx + index; - if (_control_status.flags.mag_3D && (P(19, 19) + P(20, 20) + P(21, 21)) < 0.1f) { - mag_B_sig = dt * math::constrain(_params.magb_p_noise, 0.0f, 1.0f); - - } else { - mag_B_sig = 0.0f; + if (P(i, i) < accel_var(index)) { + P(i, i) += accel_bias_process_noise; + } + } } - float wind_vel_nsd_scaled; - // Calculate low pass filtered height rate - float alpha_height_rate_lpf = 0.1f * dt; // 10 seconds time constant - _height_rate_lpf = _height_rate_lpf * (1.0f - alpha_height_rate_lpf) + _state.vel(2) * alpha_height_rate_lpf; +#if defined(CONFIG_EKF2_MAGNETOMETER) + // mag_I: add process noise + float mag_I_sig = dt * _params.mage_p_noise; + float mag_I_process_noise = sq(mag_I_sig); - // Don't continue to grow wind velocity state variances if they are becoming too large or we are not using wind velocity states as this can make the covariance matrix badly conditioned - if (_control_status.flags.wind && (P(22,22) + P(23,23)) < sq(_params.initial_wind_uncertainty)) { - wind_vel_nsd_scaled = math::constrain(_params.wind_vel_nsd, 0.0f, 1.0f) * (1.0f + _params.wind_vel_nsd_scaler * fabsf(_height_rate_lpf)); + for (unsigned index = 0; index < State::mag_I.dof; index++) { + const unsigned i = State::mag_I.idx + index; - } else { - wind_vel_nsd_scaled = 0.0f; + if (P(i, i) < sq(_params.mag_noise)) { + P(i, i) += mag_I_process_noise; + } } - // compute noise variance for stationary processes - Vector24f process_noise; - - // Construct the process noise variance diagonal for those states with a stationary process model - // These are kinematic states and their error growth is controlled separately by the IMU noise variances - - // delta angle bias states - process_noise.slice<3, 1>(10, 0) = sq(d_ang_bias_sig); - // delta_velocity bias states - process_noise.slice<3, 1>(13, 0) = sq(d_vel_bias_sig); - // earth frame magnetic field states - process_noise.slice<3, 1>(16, 0) = sq(mag_I_sig); - // body frame magnetic field states - process_noise.slice<3, 1>(19, 0) = sq(mag_B_sig); - // wind velocity states - process_noise.slice<2, 1>(22, 0) = sq(wind_vel_nsd_scaled) * dt; - - // assign IMU noise variances - // inputs to the system are 3 delta angles and 3 delta velocities - float gyro_noise = math::constrain(_params.gyro_noise, 0.0f, 1.0f); - const float d_ang_var = sq(dt * gyro_noise); + // mag_B: add process noise + float mag_B_sig = dt * _params.magb_p_noise; + float mag_B_process_noise = sq(mag_B_sig); - float accel_noise = math::constrain(_params.accel_noise, 0.0f, 1.0f); + for (unsigned index = 0; index < State::mag_B.dof; index++) { + const unsigned i = State::mag_B.idx + index; - Vector3f d_vel_var; - - for (int i = 0; i <= 2; i++) { - if (_fault_status.flags.bad_acc_vertical || imu_delayed.delta_vel_clipping[i]) { - // Increase accelerometer process noise if bad accel data is detected - d_vel_var(i) = sq(dt * BADACC_BIAS_PNOISE); - - } else { - d_vel_var(i) = sq(dt * accel_noise); + if (P(i, i) < sq(_params.mag_noise)) { + P(i, i) += mag_B_process_noise; } } - // predict the covariance - SquareMatrix24f nextP; - - // calculate variances and upper diagonal covariances for quaternion, velocity, position and gyro bias states - sym::PredictCovariance(getStateAtFusionHorizonAsVector(), P, imu_delayed.delta_vel, d_vel_var, imu_delayed.delta_ang, d_ang_var, dt, &nextP); - - // process noise contribution for delta angle states can be very small compared to - // the variances, therefore use algorithm to minimise numerical error - for (unsigned i = 10; i <= 12; i++) { - const int index = i - 10; +#endif // CONFIG_EKF2_MAGNETOMETER - if (!_gyro_bias_inhibit[index]) { - // add process noise that is not from the IMU - // process noise contribution for delta velocity states can be very small compared to - // the variances, therefore use algorithm to minimise numerical error - nextP(i, i) = kahanSummation(nextP(i, i), process_noise(i), _delta_angle_bias_var_accum(index)); - } else { - nextP.uncorrelateCovarianceSetVariance<1>(i, _prev_delta_ang_bias_var(index)); - _delta_angle_bias_var_accum(index) = 0.f; - } - } +#if defined(CONFIG_EKF2_WIND) - for (int i = 13; i <= 15; i++) { - const int index = i - 13; + // wind vel: add process noise + float wind_vel_nsd_scaled = _params.wind_vel_nsd * (1.f + _params.wind_vel_nsd_scaler * fabsf(_height_rate_lpf)); + float wind_vel_process_noise = sq(wind_vel_nsd_scaled) * dt; - if (!_accel_bias_inhibit[index]) { - // add process noise that is not from the IMU - // process noise contribution for delta velocity states can be very small compared to - // the variances, therefore use algorithm to minimise numerical error - nextP(i, i) = kahanSummation(nextP(i, i), process_noise(i), _delta_vel_bias_var_accum(index)); + for (unsigned index = 0; index < State::wind_vel.dof; index++) { + const unsigned i = State::wind_vel.idx + index; - } else { - nextP.uncorrelateCovarianceSetVariance<1>(i, _prev_dvel_bias_var(index)); - _delta_vel_bias_var_accum(index) = 0.f; + if (P(i, i) < sq(_params.initial_wind_uncertainty)) { + P(i, i) += wind_vel_process_noise; } } - // add process noise that is not from the IMU - for (unsigned i = 16; i <= 23; i++) { - nextP(i, i) += process_noise(i); - } +#endif // CONFIG_EKF2_WIND - // stop position covariance growth if our total position variance reaches 100m - // this can happen if we lose gps for some time - if ((P(7, 7) + P(8, 8)) > 1e4f) { - for (uint8_t i = 7; i <= 8; i++) { - for (uint8_t j = 0; j < _k_num_states; j++) { - nextP(i, j) = P(i, j); - nextP(j, i) = P(j, i); - } - } - } +#if defined(CONFIG_EKF2_TERRAIN) - // covariance matrix is symmetrical, so copy upper half to lower half - for (unsigned row = 0; row <= 15; row++) { - for (unsigned column = 0 ; column < row; column++) { - P(row, column) = P(column, row) = nextP(column, row); - } + if (_height_sensor_ref != HeightSensor::RANGE) { + // predict the state variance growth where the state is the vertical position of the terrain underneath the vehicle + // process noise due to errors in vehicle height estimate + float terrain_process_noise = sq(imu_delayed.delta_vel_dt * _params.terrain_p_noise); - P(row, row) = nextP(row, row); + // process noise due to terrain gradient + terrain_process_noise += sq(imu_delayed.delta_vel_dt * _params.terrain_gradient) * (sq(_state.vel(0)) + sq(_state.vel( + 1))); + P(State::terrain.idx, State::terrain.idx) += terrain_process_noise; } - if (_control_status.flags.mag_3D) { - for (unsigned row = 16; row <= 21; row++) { - for (unsigned column = 0 ; column < row; column++) { - P(row, column) = P(column, row) = nextP(column, row); - } - - P(row, row) = nextP(row, row); - } - } +#endif // CONFIG_EKF2_TERRAIN - if (_control_status.flags.wind) { - for (unsigned row = 22; row <= 23; row++) { - for (unsigned column = 0 ; column < row; column++) { - P(row, column) = P(column, row) = nextP(column, row); - } - - P(row, row) = nextP(row, row); + // covariance matrix is symmetrical, so copy upper half to lower half + for (unsigned row = 0; row < State::size; row++) { + for (unsigned column = 0; column < row; column++) { + P(row, column) = P(column, row); } } - // fix gross errors in the covariance matrix and ensure rows and - // columns for un-used states are zero - fixCovarianceErrors(false); - + constrainStateVariances(); } -void Ekf::fixCovarianceErrors(bool force_symmetry) +void Ekf::constrainStateVariances() { // NOTE: This limiting is a last resort and should not be relied on // TODO: Split covariance prediction into separate F*P*transpose(F) and Q contributions // and set corresponding entries in Q to zero when states exceed 50% of the limit // Covariance diagonal limits. Use same values for states which // belong to the same group (e.g. vel_x, vel_y, vel_z) - float P_lim[8] = {}; - P_lim[0] = 1.0f; // quaternion max var - P_lim[1] = 1e6f; // velocity max var - P_lim[2] = 1e6f; // position max var - P_lim[3] = 1.0f; // gyro bias max var - P_lim[4] = 1.0f; // delta velocity z bias max var - P_lim[5] = 1.0f; // earth mag field max var - P_lim[6] = 1.0f; // body mag field max var - P_lim[7] = 1e6f; // wind max var - - for (int i = 0; i <= 3; i++) { - // quaternion states - P(i, i) = math::constrain(P(i, i), 0.0f, P_lim[0]); - } - - for (int i = 4; i <= 6; i++) { - // NED velocity states - P(i, i) = math::constrain(P(i, i), 1e-6f, P_lim[1]); - } - - for (int i = 7; i <= 9; i++) { - // NED position states - P(i, i) = math::constrain(P(i, i), 1e-6f, P_lim[2]); - } - - for (int i = 10; i <= 12; i++) { - // gyro bias states - P(i, i) = math::constrain(P(i, i), 0.0f, P_lim[3]); - } - - // force symmetry on the quaternion, velocity and position state covariances - if (force_symmetry) { - P.makeRowColSymmetric<13>(0); - } - - // the following states are optional and are deactivated when not required - // by ensuring the corresponding covariance matrix values are kept at zero - - // accelerometer bias states - if (!_accel_bias_inhibit[0] || !_accel_bias_inhibit[1] || !_accel_bias_inhibit[2]) { - // Find the maximum delta velocity bias state variance and request a covariance reset if any variance is below the safe minimum - const float minSafeStateVar = 1e-9f; - float maxStateVar = minSafeStateVar; - bool resetRequired = false; - - for (uint8_t stateIndex = 13; stateIndex <= 15; stateIndex++) { - if (_accel_bias_inhibit[stateIndex - 13]) { - // Skip the check for the inhibited axis - continue; - } - - if (P(stateIndex, stateIndex) > maxStateVar) { - maxStateVar = P(stateIndex, stateIndex); - - } else if (P(stateIndex, stateIndex) < minSafeStateVar) { - resetRequired = true; - } - } - - // To ensure stability of the covariance matrix operations, the ratio of a max and min variance must - // not exceed 100 and the minimum variance must not fall below the target minimum - // Also limit variance to a maximum equivalent to a 0.1g uncertainty - const float minStateVarTarget = 5E-8f; - float minAllowedStateVar = fmaxf(0.01f * maxStateVar, minStateVarTarget); - - for (uint8_t stateIndex = 13; stateIndex <= 15; stateIndex++) { - if (_accel_bias_inhibit[stateIndex - 13]) { - // Skip the check for the inhibited axis - continue; - } - - P(stateIndex, stateIndex) = math::constrain(P(stateIndex, stateIndex), minAllowedStateVar, - sq(0.1f * CONSTANTS_ONE_G * _dt_ekf_avg)); - } - - // If any one axis has fallen below the safe minimum, all delta velocity covariance terms must be reset to zero - if (resetRequired) { - P.uncorrelateCovariance<3>(13); - } - - // Run additional checks to see if the delta velocity bias has hit limits in a direction that is clearly wrong - // calculate accel bias term aligned with the gravity vector - const float dVel_bias_lim = 0.9f * _params.acc_bias_lim * _dt_ekf_avg; - const float down_dvel_bias = _state.delta_vel_bias.dot(Vector3f(_R_to_earth.row(2))); - - // check that the vertical component of accel bias is consistent with both the vertical position and velocity innovation - bool bad_acc_bias = false; - if (fabsf(down_dvel_bias) > dVel_bias_lim) { - - bool bad_vz_gps = _control_status.flags.gps && (down_dvel_bias * _aid_src_gnss_vel.innovation[2] < 0.0f); -#if defined(CONFIG_EKF2_EXTERNAL_VISION) - bool bad_vz_ev = _control_status.flags.ev_vel && (down_dvel_bias * _aid_src_ev_vel.innovation[2] < 0.0f); -#else - bool bad_vz_ev = false; -#endif // CONFIG_EKF2_EXTERNAL_VISION - - if (bad_vz_gps || bad_vz_ev) { - bool bad_z_baro = _control_status.flags.baro_hgt && (down_dvel_bias * _aid_src_baro_hgt.innovation < 0.0f); - bool bad_z_gps = _control_status.flags.gps_hgt && (down_dvel_bias * _aid_src_gnss_hgt.innovation < 0.0f); - -#if defined(CONFIG_EKF2_RANGE_FINDER) - bool bad_z_rng = _control_status.flags.rng_hgt && (down_dvel_bias * _aid_src_rng_hgt.innovation < 0.0f); -#else - bool bad_z_rng = false; -#endif // CONFIG_EKF2_RANGE_FINDER -#if defined(CONFIG_EKF2_EXTERNAL_VISION) - bool bad_z_ev = _control_status.flags.ev_hgt && (down_dvel_bias * _aid_src_ev_hgt.innovation < 0.0f); -#else - bool bad_z_ev = false; -#endif // CONFIG_EKF2_EXTERNAL_VISION + constrainStateVar(State::quat_nominal, 1e-9f, 1.f); + constrainStateVar(State::vel, 1e-6f, 1e6f); + constrainStateVar(State::pos, 1e-6f, 1e6f); + constrainStateVarLimitRatio(State::gyro_bias, kGyroBiasVarianceMin, 1.f); + constrainStateVarLimitRatio(State::accel_bias, kAccelBiasVarianceMin, 1.f); - if (bad_z_baro || bad_z_gps || bad_z_rng || bad_z_ev) { - bad_acc_bias = true; - } - } - } - - // record the pass/fail - if (!bad_acc_bias) { - _fault_status.flags.bad_acc_bias = false; - _time_acc_bias_check = _time_delayed_us; - - } else { - _fault_status.flags.bad_acc_bias = true; - } - - // if we have failed for 7 seconds continuously, reset the accel bias covariances to fix bad conditioning of - // the covariance matrix but preserve the variances (diagonals) to allow bias learning to continue - if (isTimedOut(_time_acc_bias_check, (uint64_t)7e6)) { - - P.uncorrelateCovariance<3>(13); - - _time_acc_bias_check = _time_delayed_us; - _fault_status.flags.bad_acc_bias = false; - _warning_events.flags.invalid_accel_bias_cov_reset = true; - ECL_WARN("invalid accel bias - covariance reset"); - - } else if (force_symmetry) { - // ensure the covariance values are symmetrical - P.makeRowColSymmetric<3>(13); - } +#if defined(CONFIG_EKF2_MAGNETOMETER) + if (_control_status.flags.mag) { + constrainStateVarLimitRatio(State::mag_I, kMagVarianceMin, 1.f); + constrainStateVarLimitRatio(State::mag_B, kMagVarianceMin, 1.f); } - // magnetic field states - if (!_control_status.flags.mag_3D) { - zeroMagCov(); - - } else { - // constrain variances - for (int i = 16; i <= 18; i++) { - P(i, i) = math::constrain(P(i, i), 0.0f, P_lim[5]); - } - - for (int i = 19; i <= 21; i++) { - P(i, i) = math::constrain(P(i, i), 0.0f, P_lim[6]); - } +#endif // CONFIG_EKF2_MAGNETOMETER - // force symmetry - if (force_symmetry) { - P.makeRowColSymmetric<3>(16); - P.makeRowColSymmetric<3>(19); - } +#if defined(CONFIG_EKF2_WIND) + if (_control_status.flags.wind) { + constrainStateVarLimitRatio(State::wind_vel, 1e-6f, 1e6f); } - // wind velocity states - if (!_control_status.flags.wind) { - P.uncorrelateCovarianceSetVariance<2>(22, 0.0f); +#endif // CONFIG_EKF2_WIND - } else { - // constrain variances - for (int i = 22; i <= 23; i++) { - P(i, i) = math::constrain(P(i, i), 0.0f, P_lim[7]); - } +#if defined(CONFIG_EKF2_TERRAIN) + constrainStateVarLimitRatio(State::terrain, 0.f, 1e4f); +#endif // CONFIG_EKF2_TERRAIN +} - // force symmetry - if (force_symmetry) { - P.makeRowColSymmetric<2>(22); - } +void Ekf::constrainStateVar(const IdxDof &state, float min, float max) +{ + for (unsigned i = state.idx; i < (state.idx + state.dof); i++) { + P(i, i) = math::constrain(P(i, i), min, max); } } -// if the covariance correction will result in a negative variance, then -// the covariance matrix is unhealthy and must be corrected -bool Ekf::checkAndFixCovarianceUpdate(const SquareMatrix24f &KHP) +void Ekf::constrainStateVarLimitRatio(const IdxDof &state, float min, float max, float max_ratio) { - bool healthy = true; + // the ratio of a max and min variance must not exceed max_ratio + float state_var_max = 0.f; - for (int i = 0; i < _k_num_states; i++) { - if (P(i, i) < KHP(i, i)) { - P.uncorrelateCovarianceSetVariance<1>(i, 0.0f); - healthy = false; + for (unsigned i = state.idx; i < (state.idx + state.dof); i++) { + if (P(i, i) > state_var_max) { + state_var_max = P(i, i); } } - return healthy; -} + float limited_max = math::constrain(state_var_max, min, max); + float limited_min = math::constrain(limited_max / max_ratio, min, max); -void Ekf::resetMagRelatedCovariances() -{ - resetQuatCov(); - resetMagCov(); + for (unsigned i = state.idx; i < (state.idx + state.dof); i++) { + P(i, i) = math::constrain(P(i, i), limited_min, limited_max); + } } -void Ekf::resetQuatCov() +void Ekf::resetQuatCov(const float yaw_noise) { - zeroQuatCov(); - - // define the initial angle uncertainty as variances for a rotation vector - Vector3f rot_vec_var; - rot_vec_var.setAll(sq(_params.initial_tilt_err)); - - initialiseQuatCovariances(rot_vec_var); + const float tilt_var = sq(math::max(_params.initial_tilt_err, 0.01f)); + float yaw_var = sq(0.01f); // update the yaw angle variance using the variance of the measurement - if (_params.mag_fusion_type <= MagFuseType::MAG_3D) { + if (PX4_ISFINITE(yaw_noise)) { // using magnetic heading tuning parameter - increaseQuatYawErrVariance(sq(fmaxf(_params.mag_heading_noise, 1.0e-2f))); + yaw_var = sq(yaw_noise); } + + resetQuatCov(Vector3f(tilt_var, tilt_var, yaw_var)); } -void Ekf::zeroQuatCov() +void Ekf::resetQuatCov(const Vector3f &rot_var_ned) { - P.uncorrelateCovarianceSetVariance<2>(0, 0.0f); - P.uncorrelateCovarianceSetVariance<2>(2, 0.0f); + P.uncorrelateCovarianceSetVariance(State::quat_nominal.idx, rot_var_ned); } -void Ekf::resetMagCov() +void Ekf::resetGyroBiasCov() { - // reset the corresponding rows and columns in the covariance matrix and - // set the variances on the magnetic field states to the measurement variance - clearMagCov(); - - P.uncorrelateCovarianceSetVariance<3>(16, sq(_params.mag_noise)); - P.uncorrelateCovarianceSetVariance<3>(19, sq(_params.mag_noise)); - - if (!_control_status.flags.mag_3D) { - // save covariance data for re-use when auto-switching between heading and 3-axis fusion - // if already in 3-axis fusion mode, the covariances are automatically saved when switching out - // of this mode - saveMagCovData(); - } + // Zero the corresponding covariances and set + // variances to the values use for initial alignment + P.uncorrelateCovarianceSetVariance(State::gyro_bias.idx, sq(_params.switch_on_gyro_bias)); } -void Ekf::clearMagCov() +void Ekf::resetGyroBiasZCov() { - zeroMagCov(); - _mag_decl_cov_reset = false; + P.uncorrelateCovarianceSetVariance<1>(State::gyro_bias.idx + 2, sq(_params.switch_on_gyro_bias)); } -void Ekf::zeroMagCov() +void Ekf::resetAccelBiasCov() { - P.uncorrelateCovarianceSetVariance<3>(16, 0.0f); - P.uncorrelateCovarianceSetVariance<3>(19, 0.0f); + // Zero the corresponding covariances and set + // variances to the values use for initial alignment + P.uncorrelateCovarianceSetVariance(State::accel_bias.idx, sq(_params.switch_on_accel_bias)); } -void Ekf::resetZDeltaAngBiasCov() +#if defined(CONFIG_EKF2_MAGNETOMETER) +void Ekf::resetMagCov() { - const float init_delta_ang_bias_var = sq(_params.switch_on_gyro_bias * _dt_ekf_avg); + ECL_INFO("reset mag covariance"); - P.uncorrelateCovarianceSetVariance<1>(12, init_delta_ang_bias_var); + P.uncorrelateCovarianceSetVariance(State::mag_I.idx, sq(_params.mag_noise)); + P.uncorrelateCovarianceSetVariance(State::mag_B.idx, sq(_params.mag_noise)); } +#endif // CONFIG_EKF2_MAGNETOMETER diff --git a/src/modules/ekf2/EKF/drag_fusion.cpp b/src/modules/ekf2/EKF/drag_fusion.cpp deleted file mode 100644 index ca15715b7c87..000000000000 --- a/src/modules/ekf2/EKF/drag_fusion.cpp +++ /dev/null @@ -1,150 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2023 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file drag_fusion.cpp - * Body frame drag fusion methods used for multi-rotor wind estimation. - */ - -#include "ekf.h" -#include "python/ekf_derivation/generated/compute_drag_x_innov_var_and_k.h" -#include "python/ekf_derivation/generated/compute_drag_y_innov_var_and_k.h" - -#include - -void Ekf::controlDragFusion() -{ - if ((_params.drag_ctrl > 0) && _drag_buffer && - !_control_status.flags.fake_pos && _control_status.flags.in_air) { - - if (!_control_status.flags.wind) { - // reset the wind states and covariances when starting drag accel fusion - _control_status.flags.wind = true; - resetWindToZero(); - } - - dragSample drag_sample; - - if (_drag_buffer->pop_first_older_than(_time_delayed_us, &drag_sample)) { - fuseDrag(drag_sample); - } - } -} - -void Ekf::fuseDrag(const dragSample &drag_sample) -{ - const float R_ACC = fmaxf(_params.drag_noise, 0.5f); // observation noise variance in specific force drag (m/sec**2)**2 - const float rho = fmaxf(_air_density, 0.1f); // air density (kg/m**3) - - // correct rotor momentum drag for increase in required rotor mass flow with altitude - // obtained from momentum disc theory - const float mcoef_corrrected = fmaxf(_params.mcoef * sqrtf(rho / CONSTANTS_AIR_DENSITY_SEA_LEVEL_15C), 0.f); - - // drag model parameters - const bool using_bcoef_x = _params.bcoef_x > 1.0f; - const bool using_bcoef_y = _params.bcoef_y > 1.0f; - const bool using_mcoef = _params.mcoef > 0.001f; - - if (!using_bcoef_x && !using_bcoef_y && !using_mcoef) { - return; - } - - // calculate relative wind velocity in earth frame and rotate into body frame - const Vector3f rel_wind_earth(_state.vel(0) - _state.wind_vel(0), - _state.vel(1) - _state.wind_vel(1), - _state.vel(2)); - const Vector3f rel_wind_body = _state.quat_nominal.rotateVectorInverse(rel_wind_earth); - const float rel_wind_speed = rel_wind_body.norm(); - const Vector24f state_vector_prev = getStateAtFusionHorizonAsVector(); - - Vector2f bcoef_inv; - - if (using_bcoef_x) { - bcoef_inv(0) = 1.0f / _params.bcoef_x; - } - - if (using_bcoef_y) { - bcoef_inv(1) = 1.0f / _params.bcoef_y; - } - - if (using_bcoef_x && using_bcoef_y) { - - // Interpolate between the X and Y bluff body drag coefficients using current relative velocity - // This creates an elliptic drag distribution around the XY plane - bcoef_inv(0) = Vector2f(bcoef_inv.emult(rel_wind_body.xy()) / rel_wind_body.xy().norm()).norm(); - bcoef_inv(1) = bcoef_inv(0); - } - - Vector24f Kfusion; - - // perform sequential fusion of XY specific forces - for (uint8_t axis_index = 0; axis_index < 2; axis_index++) { - // measured drag acceleration corrected for sensor bias - const float mea_acc = drag_sample.accelXY(axis_index) - _state.delta_vel_bias(axis_index) / _dt_ekf_avg; - - // Drag is modelled as an arbitrary combination of bluff body drag that proportional to - // equivalent airspeed squared, and rotor momentum drag that is proportional to true airspeed - // parallel to the rotor disc and mass flow through the rotor disc. - - if (axis_index == 0) { - if (!using_bcoef_x && !using_mcoef) { - continue; - } - - sym::ComputeDragXInnovVarAndK(state_vector_prev, P, rho, bcoef_inv(axis_index), mcoef_corrrected, R_ACC, FLT_EPSILON, &_drag_innov_var(axis_index), &Kfusion); - - } else if (axis_index == 1) { - if (!using_bcoef_y && !using_mcoef) { - continue; - } - - sym::ComputeDragYInnovVarAndK(state_vector_prev, P, rho, bcoef_inv(axis_index), mcoef_corrrected, R_ACC, FLT_EPSILON, &_drag_innov_var(axis_index), &Kfusion); - } - - if (_drag_innov_var(axis_index) < R_ACC) { - // calculation is badly conditioned - return; - } - - const float pred_acc = -0.5f * bcoef_inv(axis_index) * rho * rel_wind_body(axis_index) * rel_wind_speed - rel_wind_body(axis_index) * mcoef_corrrected; - - // Apply an innovation consistency check with a 5 Sigma threshold - _drag_innov(axis_index) = pred_acc - mea_acc; - _drag_test_ratio(axis_index) = sq(_drag_innov(axis_index)) / (sq(5.0f) * _drag_innov_var(axis_index)); - - // if the innovation consistency check fails then don't fuse the sample - if (_drag_test_ratio(axis_index) <= 1.0f) { - measurementUpdate(Kfusion, _drag_innov_var(axis_index), _drag_innov(axis_index)); - } - } -} diff --git a/src/modules/ekf2/EKF/ekf.cpp b/src/modules/ekf2/EKF/ekf.cpp index f078a53690ee..9f6a0ab40b66 100644 --- a/src/modules/ekf2/EKF/ekf.cpp +++ b/src/modules/ekf2/EKF/ekf.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2015 Estimation and Control Library (ECL). All rights reserved. + * Copyright (c) 2015-2023 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -12,7 +12,7 @@ * notice, this list of conditions and the following disclaimer in * the documentation and/or other materials provided with the * distribution. - * 3. Neither the name ECL nor the names of its contributors may be + * 3. Neither the name PX4 nor the names of its contributors may be * used to endorse or promote products derived from this software * without specific prior written permission. * @@ -45,23 +45,37 @@ bool Ekf::init(uint64_t timestamp) { - bool ret = initialise_interface(timestamp); - reset(); - return ret; + if (!_initialised) { + _initialised = initialise_interface(timestamp); + reset(); + } + + return _initialised; } void Ekf::reset() { ECL_INFO("reset"); + _state.quat_nominal.setIdentity(); _state.vel.setZero(); _state.pos.setZero(); - _state.delta_ang_bias.setZero(); - _state.delta_vel_bias.setZero(); + _state.gyro_bias.setZero(); + _state.accel_bias.setZero(); + +#if defined(CONFIG_EKF2_MAGNETOMETER) _state.mag_I.setZero(); _state.mag_B.setZero(); +#endif // CONFIG_EKF2_MAGNETOMETER + +#if defined(CONFIG_EKF2_WIND) _state.wind_vel.setZero(); - _state.quat_nominal.setIdentity(); +#endif // CONFIG_EKF2_WIND + // +#if defined(CONFIG_EKF2_TERRAIN) + // assume a ground clearance + _state.terrain = _state.pos(2) + _params.rng_gnd_clearance; +#endif // CONFIG_EKF2_TERRAIN #if defined(CONFIG_EKF2_RANGE_FINDER) _range_sensor.setPitchOffset(_params.rng_sens_pitch); @@ -75,14 +89,14 @@ void Ekf::reset() _control_status.flags.in_air = true; _control_status_prev.flags.in_air = true; - _ang_rate_delayed_raw.zero(); - _fault_status.value = 0; _innov_check_fail_status.value = 0; - _prev_dvel_bias_var.zero(); - +#if defined(CONFIG_EKF2_GNSS) resetGpsDriftCheckFilters(); + _gps_checks_passed = false; +#endif // CONFIG_EKF2_GNSS + _gps_alt_ref = NAN; _output_predictor.reset(); @@ -96,63 +110,30 @@ void Ekf::reset() _time_last_hor_vel_fuse = 0; _time_last_ver_vel_fuse = 0; _time_last_heading_fuse = 0; - _time_last_zero_velocity_fuse = 0; + _time_last_terrain_fuse = 0; _last_known_pos.setZero(); _time_acc_bias_check = 0; - _gps_checks_passed = false; - _gps_alt_ref = NAN; - +#if defined(CONFIG_EKF2_BAROMETER) _baro_counter = 0; +#endif // CONFIG_EKF2_BAROMETER + +#if defined(CONFIG_EKF2_MAGNETOMETER) _mag_counter = 0; +#endif // CONFIG_EKF2_MAGNETOMETER _time_bad_vert_accel = 0; _time_good_vert_accel = 0; - _clip_counter = 0; - - resetEstimatorAidStatus(_aid_src_baro_hgt); -#if defined(CONFIG_EKF2_AIRSPEED) - resetEstimatorAidStatus(_aid_src_airspeed); -#endif // CONFIG_EKF2_AIRSPEED -#if defined(CONFIG_EKF2_SIDESLIP) - resetEstimatorAidStatus(_aid_src_sideslip); -#endif // CONFIG_EKF2_SIDESLIP - resetEstimatorAidStatus(_aid_src_fake_pos); - resetEstimatorAidStatus(_aid_src_fake_hgt); - -#if defined(CONFIG_EKF2_EXTERNAL_VISION) - resetEstimatorAidStatus(_aid_src_ev_hgt); - resetEstimatorAidStatus(_aid_src_ev_pos); - resetEstimatorAidStatus(_aid_src_ev_vel); - resetEstimatorAidStatus(_aid_src_ev_yaw); -#endif // CONFIG_EKF2_EXTERNAL_VISION - - resetEstimatorAidStatus(_aid_src_gnss_hgt); - resetEstimatorAidStatus(_aid_src_gnss_pos); - resetEstimatorAidStatus(_aid_src_gnss_vel); - -#if defined(CONFIG_EKF2_GNSS_YAW) - resetEstimatorAidStatus(_aid_src_gnss_yaw); -#endif // CONFIG_EKF2_GNSS_YAW - - resetEstimatorAidStatus(_aid_src_mag_heading); - resetEstimatorAidStatus(_aid_src_mag); - -#if defined(CONFIG_EKF2_AUXVEL) - resetEstimatorAidStatus(_aid_src_aux_vel); -#endif // CONFIG_EKF2_AUXVEL + for (auto &clip_count : _clip_counter) { + clip_count = 0; + } -#if defined(CONFIG_EKF2_OPTICAL_FLOW) - resetEstimatorAidStatus(_aid_src_optical_flow); - resetEstimatorAidStatus(_aid_src_terrain_optical_flow); -#endif // CONFIG_EKF2_OPTICAL_FLOW + _zero_velocity_update.reset(); -#if defined(CONFIG_EKF2_RANGE_FINDER) - resetEstimatorAidStatus(_aid_src_rng_hgt); -#endif // CONFIG_EKF2_RANGE_FINDER + updateParameters(); } bool Ekf::update() @@ -173,6 +154,14 @@ bool Ekf::update() // TODO: explicitly pop at desired time horizon const imuSample imu_sample_delayed = _imu_buffer.get_oldest(); + // calculate an average filter update time + // filter and limit input between -50% and +100% of nominal value + float input = 0.5f * (imu_sample_delayed.delta_vel_dt + imu_sample_delayed.delta_ang_dt); + float filter_update_s = 1e-6f * _params.filter_update_interval_us; + _dt_ekf_avg = 0.99f * _dt_ekf_avg + 0.01f * math::constrain(input, 0.5f * filter_update_s, 2.f * filter_update_s); + + updateIMUBiasInhibit(imu_sample_delayed); + // perform state and covariance prediction for the main filter predictCovariance(imu_sample_delayed); predictState(imu_sample_delayed); @@ -180,13 +169,8 @@ bool Ekf::update() // control fusion of observation data controlFusionModes(imu_sample_delayed); -#if defined(CONFIG_EKF2_RANGE_FINDER) - // run a separate filter for terrain estimation - runTerrainEstimator(imu_sample_delayed); -#endif // CONFIG_EKF2_RANGE_FINDER - - _output_predictor.correctOutputStates(imu_sample_delayed.time_us, getGyroBias(), getAccelBias(), - _state.quat_nominal, _state.vel, _state.pos); + _output_predictor.correctOutputStates(imu_sample_delayed.time_us, _state.quat_nominal, _state.vel, _state.pos, + _state.gyro_bias, _state.accel_bias); return true; } @@ -221,11 +205,6 @@ bool Ekf::initialiseFilter() // initialise the state covariance matrix now we have starting values for all the states initialiseCovariance(); -#if defined(CONFIG_EKF2_RANGE_FINDER) - // Initialise the terrain estimator - initHagl(); -#endif // CONFIG_EKF2_RANGE_FINDER - // reset the output predictor state history to match the EKF initial values _output_predictor.alignOutputFilter(_state.quat_nominal, _state.vel, _state.pos); @@ -282,22 +261,9 @@ void Ekf::predictState(const imuSample &imu_delayed) // predict position states via trapezoidal integration of velocity _state.pos += (vel_last + _state.vel) * imu_delayed.delta_vel_dt * 0.5f; - constrainStates(); - - // calculate an average filter update time - float input = 0.5f * (imu_delayed.delta_vel_dt + imu_delayed.delta_ang_dt); - - // filter and limit input between -50% and +100% of nominal value - const float filter_update_s = 1e-6f * _params.filter_update_interval_us; - input = math::constrain(input, 0.5f * filter_update_s, 2.f * filter_update_s); - _dt_ekf_avg = 0.99f * _dt_ekf_avg + 0.01f * input; - - // some calculations elsewhere in code require a raw angular rate vector so calculate here to avoid duplication - // protect against possible small timesteps resulting from timing slip on previous frame that can drive spikes into the rate - // due to insufficient averaging - if (imu_delayed.delta_ang_dt > 0.25f * _dt_ekf_avg) { - _ang_rate_delayed_raw = imu_delayed.delta_ang / imu_delayed.delta_ang_dt; - } + // constrain states + _state.vel = matrix::constrain(_state.vel, -1000.f, 1000.f); + _state.pos = matrix::constrain(_state.pos, -1.e6f, 1.e6f); // calculate a filtered horizontal acceleration with a 1 sec time constant @@ -305,11 +271,227 @@ void Ekf::predictState(const imuSample &imu_delayed) const float alpha = 1.0f - imu_delayed.delta_vel_dt; _accel_lpf_NE = _accel_lpf_NE * alpha + corrected_delta_vel_ef.xy(); - // calculate a yaw change about the earth frame vertical - const float spin_del_ang_D = corrected_delta_ang.dot(Vector3f(_R_to_earth.row(2))); - _yaw_delta_ef += spin_del_ang_D; + // Calculate low pass filtered height rate + float alpha_height_rate_lpf = 0.1f * imu_delayed.delta_vel_dt; // 10 seconds time constant + _height_rate_lpf = _height_rate_lpf * (1.0f - alpha_height_rate_lpf) + _state.vel(2) * alpha_height_rate_lpf; +} + +bool Ekf::resetGlobalPosToExternalObservation(double lat_deg, double lon_deg, float accuracy, + uint64_t timestamp_observation) +{ + if (!_pos_ref.isInitialized()) { + ECL_WARN("unable to reset global position, position reference not initialized"); + return false; + } + + Vector2f pos_corrected = _pos_ref.project(lat_deg, lon_deg); + + // apply a first order correction using velocity at the delayed time horizon and the delta time + if ((timestamp_observation > 0) && (isHorizontalAidingActive() || !_horizontal_deadreckon_time_exceeded)) { + + timestamp_observation = math::min(_time_latest_us, timestamp_observation); + + float diff_us = 0.f; + + if (_time_delayed_us >= timestamp_observation) { + diff_us = static_cast(_time_delayed_us - timestamp_observation); + + } else { + diff_us = -static_cast(timestamp_observation - _time_delayed_us); + } + + const float dt_s = diff_us * 1e-6f; + pos_corrected += _state.vel.xy() * dt_s; + } + + const float obs_var = math::max(sq(accuracy), sq(0.01f)); + + const Vector2f innov = Vector2f(_state.pos.xy()) - pos_corrected; + const Vector2f innov_var = Vector2f(getStateVariance()) + obs_var; + + const float sq_gate = sq(5.f); // magic hardcoded gate + const Vector2f test_ratio{sq(innov(0)) / (sq_gate * innov_var(0)), + sq(innov(1)) / (sq_gate * innov_var(1))}; + + const bool innov_rejected = (test_ratio.max() > 1.f); + + if (!_control_status.flags.in_air || (accuracy > 0.f && accuracy < 1.f) || innov_rejected) { + // when on ground or accuracy chosen to be very low, we hard reset position + // this allows the user to still send hard resets at any time + ECL_INFO("reset position to external observation"); + _information_events.flags.reset_pos_to_ext_obs = true; + + resetHorizontalPositionTo(pos_corrected, obs_var); + _last_known_pos.xy() = _state.pos.xy(); + return true; + + } else { + if (fuseDirectStateMeasurement(innov(0), innov_var(0), obs_var, State::pos.idx + 0) + && fuseDirectStateMeasurement(innov(1), innov_var(1), obs_var, State::pos.idx + 1) + ) { + ECL_INFO("fused external observation as position measurement"); + _state_reset_status.reset_count.posNE++; + _time_last_hor_pos_fuse = _time_delayed_us; + _last_known_pos.xy() = _state.pos.xy(); + return true; + } + } + + return false; +} + +void Ekf::updateParameters() +{ + _params.gyro_noise = math::constrain(_params.gyro_noise, 0.f, 1.f); + _params.accel_noise = math::constrain(_params.accel_noise, 0.f, 1.f); + + _params.gyro_bias_p_noise = math::constrain(_params.gyro_bias_p_noise, 0.f, 1.f); + _params.accel_bias_p_noise = math::constrain(_params.accel_bias_p_noise, 0.f, 1.f); + +#if defined(CONFIG_EKF2_MAGNETOMETER) + _params.mage_p_noise = math::constrain(_params.mage_p_noise, 0.f, 1.f); + _params.magb_p_noise = math::constrain(_params.magb_p_noise, 0.f, 1.f); +#endif // CONFIG_EKF2_MAGNETOMETER + +#if defined(CONFIG_EKF2_WIND) + _params.wind_vel_nsd = math::constrain(_params.wind_vel_nsd, 0.f, 1.f); +#endif // CONFIG_EKF2_WIND + +#if defined(CONFIG_EKF2_AUX_GLOBAL_POSITION) && defined(MODULE_NAME) + _aux_global_position.updateParameters(); +#endif // CONFIG_EKF2_AUX_GLOBAL_POSITION +} + +template +static void printRingBuffer(const char *name, RingBuffer *rb) +{ + if (rb) { + printf("%s: %d/%d entries (%d/%d Bytes) (%zu Bytes per entry)\n", + name, + rb->entries(), rb->get_length(), rb->get_used_size(), rb->get_total_size(), + sizeof(T)); + } +} + +void Ekf::print_status() +{ + printf("\nStates: (%.4f seconds ago)\n", (_time_latest_us - _time_delayed_us) * 1e-6); + printf("Orientation (%d-%d): [%.3f, %.3f, %.3f, %.3f] (Euler [%.1f, %.1f, %.1f] deg) var: [%.1e, %.1e, %.1e]\n", + State::quat_nominal.idx, State::quat_nominal.idx + State::quat_nominal.dof - 1, + (double)_state.quat_nominal(0), (double)_state.quat_nominal(1), (double)_state.quat_nominal(2), + (double)_state.quat_nominal(3), + (double)math::degrees(matrix::Eulerf(_state.quat_nominal).phi()), + (double)math::degrees(matrix::Eulerf(_state.quat_nominal).theta()), + (double)math::degrees(matrix::Eulerf(_state.quat_nominal).psi()), + (double)getStateVariance()(0), (double)getStateVariance()(1), + (double)getStateVariance()(2) + ); + + printf("Velocity (%d-%d): [%.3f, %.3f, %.3f] var: [%.1e, %.1e, %.1e]\n", + State::vel.idx, State::vel.idx + State::vel.dof - 1, + (double)_state.vel(0), (double)_state.vel(1), (double)_state.vel(2), + (double)getStateVariance()(0), (double)getStateVariance()(1), + (double)getStateVariance()(2) + ); + + printf("Position (%d-%d): [%.3f, %.3f, %.3f] var: [%.1e, %.1e, %.1e]\n", + State::pos.idx, State::pos.idx + State::pos.dof - 1, + (double)_state.pos(0), (double)_state.pos(1), (double)_state.pos(2), + (double)getStateVariance()(0), (double)getStateVariance()(1), + (double)getStateVariance()(2) + ); + + printf("Gyro Bias (%d-%d): [%.6f, %.6f, %.6f] var: [%.1e, %.1e, %.1e]\n", + State::gyro_bias.idx, State::gyro_bias.idx + State::gyro_bias.dof - 1, + (double)_state.gyro_bias(0), (double)_state.gyro_bias(1), (double)_state.gyro_bias(2), + (double)getStateVariance()(0), (double)getStateVariance()(1), + (double)getStateVariance()(2) + ); + + printf("Accel Bias (%d-%d): [%.6f, %.6f, %.6f] var: [%.1e, %.1e, %.1e]\n", + State::accel_bias.idx, State::accel_bias.idx + State::accel_bias.dof - 1, + (double)_state.accel_bias(0), (double)_state.accel_bias(1), (double)_state.accel_bias(2), + (double)getStateVariance()(0), (double)getStateVariance()(1), + (double)getStateVariance()(2) + ); + +#if defined(CONFIG_EKF2_MAGNETOMETER) + printf("Magnetic Field (%d-%d): [%.3f, %.3f, %.3f] var: [%.1e, %.1e, %.1e]\n", + State::mag_I.idx, State::mag_I.idx + State::mag_I.dof - 1, + (double)_state.mag_I(0), (double)_state.mag_I(1), (double)_state.mag_I(2), + (double)getStateVariance()(0), (double)getStateVariance()(1), + (double)getStateVariance()(2) + ); + + printf("Magnetic Bias (%d-%d): [%.3f, %.3f, %.3f] var: [%.1e, %.1e, %.1e]\n", + State::mag_B.idx, State::mag_B.idx + State::mag_B.dof - 1, + (double)_state.mag_B(0), (double)_state.mag_B(1), (double)_state.mag_B(2), + (double)getStateVariance()(0), (double)getStateVariance()(1), + (double)getStateVariance()(2) + ); +#endif // CONFIG_EKF2_MAGNETOMETER + +#if defined(CONFIG_EKF2_WIND) + printf("Wind velocity (%d-%d): [%.3f, %.3f] var: [%.1e, %.1e]\n", + State::wind_vel.idx, State::wind_vel.idx + State::wind_vel.dof - 1, + (double)_state.wind_vel(0), (double)_state.wind_vel(1), + (double)getStateVariance()(0), (double)getStateVariance()(1) + ); +#endif // CONFIG_EKF2_WIND + +#if defined(CONFIG_EKF2_TERRAIN) + printf("Terrain position (%d): %.3f var: %.1e\n", + State::terrain.idx, + (double)_state.terrain, + (double)getStateVariance()(0) + ); +#endif // CONFIG_EKF2_TERRAIN + + printf("\nP:\n"); + P.print(); + + printf("EKF average dt: %.6f seconds\n", (double)_dt_ekf_avg); + printf("minimum observation interval %d us\n", _min_obs_interval_us); + + printRingBuffer("IMU buffer", &_imu_buffer); + printRingBuffer("system flag buffer", _system_flag_buffer); + +#if defined(CONFIG_EKF2_AIRSPEED) + printRingBuffer("airspeed buffer", _airspeed_buffer); +#endif // CONFIG_EKF2_AIRSPEED + +#if defined(CONFIG_EKF2_AUXVEL) + printRingBuffer("aux vel buffer", _auxvel_buffer); +#endif // CONFIG_EKF2_AUXVEL + +#if defined(CONFIG_EKF2_BAROMETER) + printRingBuffer("baro buffer", _baro_buffer); +#endif // CONFIG_EKF2_BAROMETER + +#if defined(CONFIG_EKF2_DRAG_FUSION) + printRingBuffer("drag buffer", _drag_buffer); +#endif // CONFIG_EKF2_DRAG_FUSION + +#if defined(CONFIG_EKF2_EXTERNAL_VISION) + printRingBuffer("ext vision buffer", _ext_vision_buffer); +#endif // CONFIG_EKF2_EXTERNAL_VISION + +#if defined(CONFIG_EKF2_GNSS) + printRingBuffer("gps buffer", _gps_buffer); +#endif // CONFIG_EKF2_GNSS + +#if defined(CONFIG_EKF2_MAGNETOMETER) + printRingBuffer("mag buffer", _mag_buffer); +#endif // CONFIG_EKF2_MAGNETOMETER + +#if defined(CONFIG_EKF2_OPTICAL_FLOW) + printRingBuffer("flow buffer", _flow_buffer); +#endif // CONFIG_EKF2_OPTICAL_FLOW + +#if defined(CONFIG_EKF2_RANGE_FINDER) + printRingBuffer("range buffer", _range_buffer); +#endif // CONFIG_EKF2_RANGE_FINDER + - // Calculate filtered yaw rate to be used by the magnetometer fusion type selection logic - // Note fixed coefficients are used to save operations. The exact time constant is not important. - _yaw_rate_lpf_ef = 0.95f * _yaw_rate_lpf_ef + 0.05f * spin_del_ang_D / imu_delayed.delta_ang_dt; + _output_predictor.print_status(); } diff --git a/src/modules/ekf2/EKF/ekf.h b/src/modules/ekf2/EKF/ekf.h index db21a6b3f135..e6c182171aff 100644 --- a/src/modules/ekf2/EKF/ekf.h +++ b/src/modules/ekf2/EKF/ekf.h @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2015 Estimation and Control Library (ECL). All rights reserved. + * Copyright (c) 2015-2023 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -12,7 +12,7 @@ * notice, this list of conditions and the following disclaimer in * the documentation and/or other materials provided with the * distribution. - * 3. Neither the name ECL nor the names of its contributors may be + * 3. Neither the name PX4 nor the names of its contributors may be * used to endorse or promote products derived from this software * without specific prior written permission. * @@ -45,28 +45,34 @@ #include "estimator_interface.h" -#include "EKFGSF_yaw.h" -#include "bias_estimator.hpp" -#include "height_bias_estimator.hpp" -#include "position_bias_estimator.hpp" +#if defined(CONFIG_EKF2_GNSS) +# include "yaw_estimator/EKFGSF_yaw.h" +#endif // CONFIG_EKF2_GNSS + +#include "bias_estimator/bias_estimator.hpp" +#include "bias_estimator/height_bias_estimator.hpp" +#include "bias_estimator/position_bias_estimator.hpp" + +#include #include #include #include +#include "aid_sources/ZeroGyroUpdate.hpp" +#include "aid_sources/ZeroVelocityUpdate.hpp" + +#if defined(CONFIG_EKF2_AUX_GLOBAL_POSITION) +# include "aid_sources/aux_global_position/aux_global_position.hpp" +#endif // CONFIG_EKF2_AUX_GLOBAL_POSITION + enum class Likelihood { LOW, MEDIUM, HIGH }; class Ekf final : public EstimatorInterface { public: - static constexpr uint8_t _k_num_states{24}; ///< number of EKF states - - typedef matrix::Vector Vector24f; - typedef matrix::SquareMatrix SquareMatrix24f; - typedef matrix::SquareMatrix Matrix2f; - template - - using SparseVector24f = matrix::SparseVectorf<24, Idxs...>; + typedef matrix::Vector VectorState; + typedef matrix::SquareMatrix SquareMatrixState; Ekf() { @@ -78,226 +84,182 @@ class Ekf final : public EstimatorInterface // initialise variables to sane values (also interface class) bool init(uint64_t timestamp) override; + void print_status(); + // should be called every time new data is pushed into the filter bool update(); - void getGpsVelPosInnov(float hvel[2], float &vvel, float hpos[2], float &vpos) const; - void getGpsVelPosInnovVar(float hvel[2], float &vvel, float hpos[2], float &vpos) const; - void getGpsVelPosInnovRatio(float &hvel, float &vvel, float &hpos, float &vpos) const; + const StateSample &state() const { return _state; } -#if defined(CONFIG_EKF2_EXTERNAL_VISION) - void getEvVelPosInnov(float hvel[2], float &vvel, float hpos[2], float &vpos) const; - void getEvVelPosInnovVar(float hvel[2], float &vvel, float hpos[2], float &vpos) const; - void getEvVelPosInnovRatio(float &hvel, float &vvel, float &hpos, float &vpos) const; -#endif // CONFIG_EKF2_EXTERNAL_VISION - - void getBaroHgtInnov(float &baro_hgt_innov) const { baro_hgt_innov = _aid_src_baro_hgt.innovation; } - void getBaroHgtInnovVar(float &baro_hgt_innov_var) const { baro_hgt_innov_var = _aid_src_baro_hgt.innovation_variance; } - void getBaroHgtInnovRatio(float &baro_hgt_innov_ratio) const { baro_hgt_innov_ratio = _aid_src_baro_hgt.test_ratio; } - -#if defined(CONFIG_EKF2_RANGE_FINDER) - // range height - const BiasEstimator::status &getRngHgtBiasEstimatorStatus() const { return _rng_hgt_b_est.getStatus(); } - const auto &aid_src_rng_hgt() const { return _aid_src_rng_hgt; } - - void getRngHgtInnov(float &rng_hgt_innov) const { rng_hgt_innov = _aid_src_rng_hgt.innovation; } - void getRngHgtInnovVar(float &rng_hgt_innov_var) const { rng_hgt_innov_var = _aid_src_rng_hgt.innovation_variance; } - void getRngHgtInnovRatio(float &rng_hgt_innov_ratio) const { rng_hgt_innov_ratio = _aid_src_rng_hgt.test_ratio; } - - void getHaglInnov(float &hagl_innov) const { hagl_innov = _hagl_innov; } - void getHaglInnovVar(float &hagl_innov_var) const { hagl_innov_var = _hagl_innov_var; } - void getHaglInnovRatio(float &hagl_innov_ratio) const { hagl_innov_ratio = _hagl_test_ratio; } - - void getHaglRateInnov(float &hagl_rate_innov) const { hagl_rate_innov = _rng_consistency_check.getInnov(); } - void getHaglRateInnovVar(float &hagl_rate_innov_var) const { hagl_rate_innov_var = _rng_consistency_check.getInnovVar(); } - void getHaglRateInnovRatio(float &hagl_rate_innov_ratio) const { hagl_rate_innov_ratio = _rng_consistency_check.getSignedTestRatioLpf(); } +#if defined(CONFIG_EKF2_BAROMETER) + const auto &aid_src_baro_hgt() const { return _aid_src_baro_hgt; } + const BiasEstimator::status &getBaroBiasEstimatorStatus() const { return _baro_b_est.getStatus(); } +#endif // CONFIG_EKF2_BAROMETER +#if defined(CONFIG_EKF2_TERRAIN) // terrain estimate bool isTerrainEstimateValid() const; - uint8_t getTerrainEstimateSensorBitfield() const { return _hagl_sensor_status.value; } - // get the estimated terrain vertical position relative to the NED origin - float getTerrainVertPos() const { return _terrain_vpos; }; - - // get the number of times the vertical terrain position has been reset - uint8_t getTerrainVertPosResetCounter() const { return _terrain_vpos_reset_counter; }; + float getTerrainVertPos() const { return _state.terrain; }; + float getHagl() const { return _state.terrain - _state.pos(2); } // get the terrain variance - float get_terrain_var() const { return _terrain_var; } + float getTerrainVariance() const { return P(State::terrain.idx, State::terrain.idx); } + +#endif // CONFIG_EKF2_TERRAIN + +#if defined(CONFIG_EKF2_RANGE_FINDER) + // range height + const auto &aid_src_rng_hgt() const { return _aid_src_rng_hgt; } + + float getHaglRateInnov() const { return _rng_consistency_check.getInnov(); } + float getHaglRateInnovVar() const { return _rng_consistency_check.getInnovVar(); } + float getHaglRateInnovRatio() const { return _rng_consistency_check.getSignedTestRatioLpf(); } #endif // CONFIG_EKF2_RANGE_FINDER #if defined(CONFIG_EKF2_OPTICAL_FLOW) const auto &aid_src_optical_flow() const { return _aid_src_optical_flow; } - void getFlowInnov(float flow_innov[2]) const; - void getFlowInnovVar(float flow_innov_var[2]) const; - void getFlowInnovRatio(float &flow_innov_ratio) const { flow_innov_ratio = math::max(_aid_src_optical_flow.test_ratio[0], _aid_src_optical_flow.test_ratio[1]); } - const Vector2f &getFlowVelBody() const { return _flow_vel_body; } const Vector2f &getFlowVelNE() const { return _flow_vel_ne; } - const Vector2f &getFlowCompensated() const { return _flow_compensated_XY_rad; } - const Vector2f &getFlowUncompensated() const { return _flow_sample_delayed.flow_xy_rad; } + const Vector2f &getFlowCompensated() const { return _flow_rate_compensated; } + const Vector2f &getFlowUncompensated() const { return _flow_sample_delayed.flow_rate; } - const Vector3f getFlowGyro() const { return _flow_sample_delayed.gyro_xyz * (1.f / _flow_sample_delayed.dt); } - const Vector3f &getFlowGyroIntegral() const { return _flow_sample_delayed.gyro_xyz; } - - void getTerrainFlowInnov(float flow_innov[2]) const; - void getTerrainFlowInnovVar(float flow_innov_var[2]) const; - void getTerrainFlowInnovRatio(float &flow_innov_ratio) const { flow_innov_ratio = math::max(_aid_src_terrain_optical_flow.test_ratio[0], _aid_src_terrain_optical_flow.test_ratio[1]); } - - const auto &aid_src_terrain_optical_flow() const { return _aid_src_terrain_optical_flow; } + const Vector3f getFlowGyro() const { return _flow_sample_delayed.gyro_rate; } + const Vector3f &getFlowGyroBias() const { return _flow_gyro_bias; } + const Vector3f &getFlowRefBodyRate() const { return _ref_body_rate; } #endif // CONFIG_EKF2_OPTICAL_FLOW -#if defined(CONFIG_EKF2_AUXVEL) - void getAuxVelInnov(float aux_vel_innov[2]) const; - void getAuxVelInnovVar(float aux_vel_innov[2]) const; - void getAuxVelInnovRatio(float &aux_vel_innov_ratio) const { aux_vel_innov_ratio = math::max(_aid_src_aux_vel.test_ratio[0], _aid_src_aux_vel.test_ratio[1]); } -#endif // CONFIG_EKF2_AUXVEL - - void getHeadingInnov(float &heading_innov) const + float getHeadingInnov() const { - if (_control_status.flags.mag_hdg) { - heading_innov = _aid_src_mag_heading.innovation; - return; - } +#if defined(CONFIG_EKF2_MAGNETOMETER) - if (_control_status.flags.mag_3D) { - heading_innov = Vector3f(_aid_src_mag.innovation).max(); - return; + if (_control_status.flags.mag_hdg || _control_status.flags.mag_3D) { + return Vector3f(_aid_src_mag.innovation).max(); } +#endif // CONFIG_EKF2_MAGNETOMETER + #if defined(CONFIG_EKF2_GNSS_YAW) - if (_control_status.flags.gps_yaw) { - heading_innov = _aid_src_gnss_yaw.innovation; - return; + + if (_control_status.flags.gnss_yaw) { + return _aid_src_gnss_yaw.innovation; } + #endif // CONFIG_EKF2_GNSS_YAW #if defined(CONFIG_EKF2_EXTERNAL_VISION) + if (_control_status.flags.ev_yaw) { - heading_innov = _aid_src_ev_yaw.innovation; - return; + return _aid_src_ev_yaw.innovation; } + #endif // CONFIG_EKF2_EXTERNAL_VISION + + return 0.f; } - void getHeadingInnovVar(float &heading_innov_var) const + float getHeadingInnovVar() const { - if (_control_status.flags.mag_hdg) { - heading_innov_var = _aid_src_mag_heading.innovation_variance; - return; - } +#if defined(CONFIG_EKF2_MAGNETOMETER) - if (_control_status.flags.mag_3D) { - heading_innov_var = Vector3f(_aid_src_mag.innovation_variance).max(); - return; + if (_control_status.flags.mag_hdg || _control_status.flags.mag_3D) { + return Vector3f(_aid_src_mag.innovation_variance).max(); } +#endif // CONFIG_EKF2_MAGNETOMETER + #if defined(CONFIG_EKF2_GNSS_YAW) - if (_control_status.flags.gps_yaw) { - heading_innov_var = _aid_src_gnss_yaw.innovation_variance; - return; + + if (_control_status.flags.gnss_yaw) { + return _aid_src_gnss_yaw.innovation_variance; } + #endif // CONFIG_EKF2_GNSS_YAW #if defined(CONFIG_EKF2_EXTERNAL_VISION) + if (_control_status.flags.ev_yaw) { - heading_innov_var = _aid_src_ev_yaw.innovation_variance; - return; + return _aid_src_ev_yaw.innovation_variance; } + #endif // CONFIG_EKF2_EXTERNAL_VISION + + return 0.f; } - void getHeadingInnovRatio(float &heading_innov_ratio) const + float getHeadingInnovRatio() const { - if (_control_status.flags.mag_hdg) { - heading_innov_ratio = _aid_src_mag_heading.test_ratio; - return; - } +#if defined(CONFIG_EKF2_MAGNETOMETER) - if (_control_status.flags.mag_3D) { - heading_innov_ratio = Vector3f(_aid_src_mag.test_ratio).max(); - return; + if (_control_status.flags.mag_hdg || _control_status.flags.mag_3D) { + return Vector3f(_aid_src_mag.test_ratio).max(); } +#endif // CONFIG_EKF2_MAGNETOMETER + #if defined(CONFIG_EKF2_GNSS_YAW) - if (_control_status.flags.gps_yaw) { - heading_innov_ratio = _aid_src_gnss_yaw.test_ratio; - return; + + if (_control_status.flags.gnss_yaw) { + return _aid_src_gnss_yaw.test_ratio; } + #endif // CONFIG_EKF2_GNSS_YAW #if defined(CONFIG_EKF2_EXTERNAL_VISION) + if (_control_status.flags.ev_yaw) { - heading_innov_ratio = _aid_src_ev_yaw.test_ratio; - return; + return _aid_src_ev_yaw.test_ratio; } + #endif // CONFIG_EKF2_EXTERNAL_VISION - } - void getMagInnov(float mag_innov[3]) const { memcpy(mag_innov, _aid_src_mag.innovation, sizeof(_aid_src_mag.innovation)); } - void getMagInnovVar(float mag_innov_var[3]) const { memcpy(mag_innov_var, _aid_src_mag.innovation_variance, sizeof(_aid_src_mag.innovation_variance)); } - void getMagInnovRatio(float &mag_innov_ratio) const { mag_innov_ratio = Vector3f(_aid_src_mag.test_ratio).max(); } + return 0.f; + } #if defined(CONFIG_EKF2_DRAG_FUSION) - void getDragInnov(float drag_innov[2]) const { _drag_innov.copyTo(drag_innov); } - void getDragInnovVar(float drag_innov_var[2]) const { _drag_innov_var.copyTo(drag_innov_var); } - void getDragInnovRatio(float drag_innov_ratio[2]) const { _drag_test_ratio.copyTo(drag_innov_ratio); } + const auto &aid_src_drag() const { return _aid_src_drag; } #endif // CONFIG_EKF2_DRAG_FUSION -#if defined(CONFIG_EKF2_AIRSPEED) - void getAirspeedInnov(float &airspeed_innov) const { airspeed_innov = _aid_src_airspeed.innovation; } - void getAirspeedInnovVar(float &airspeed_innov_var) const { airspeed_innov_var = _aid_src_airspeed.innovation_variance; } - void getAirspeedInnovRatio(float &airspeed_innov_ratio) const { airspeed_innov_ratio = _aid_src_airspeed.test_ratio; } -#endif // CONFIG_EKF2_AIRSPEED - -#if defined(CONFIG_EKF2_SIDESLIP) - void getBetaInnov(float &beta_innov) const { beta_innov = _aid_src_sideslip.innovation; } - void getBetaInnovVar(float &beta_innov_var) const { beta_innov_var = _aid_src_sideslip.innovation_variance; } - void getBetaInnovRatio(float &beta_innov_ratio) const { beta_innov_ratio = _aid_src_sideslip.test_ratio; } -#endif // CONFIG_EKF2_SIDESLIP - - void getGravityInnov(float grav_innov[3]) const { memcpy(grav_innov, _aid_src_gravity.innovation, sizeof(_aid_src_gravity.innovation)); } - void getGravityInnovVar(float grav_innov_var[3]) const { memcpy(grav_innov_var, _aid_src_gravity.innovation_variance, sizeof(_aid_src_gravity.innovation_variance)); } - void getGravityInnovRatio(float &grav_innov_ratio) const { grav_innov_ratio = Vector3f(_aid_src_gravity.test_ratio).max(); } - - // get the state vector at the delayed time horizon - matrix::Vector getStateAtFusionHorizonAsVector() const; +#if defined(CONFIG_EKF2_GRAVITY_FUSION) + const auto &aid_src_gravity() const { return _aid_src_gravity; } +#endif // CONFIG_EKF2_GRAVITY_FUSION +#if defined(CONFIG_EKF2_WIND) // get the wind velocity in m/s const Vector2f &getWindVelocity() const { return _state.wind_vel; }; + Vector2f getWindVelocityVariance() const { return getStateVariance(); } +#endif // CONFIG_EKF2_WIND + + template + matrix::VectorgetStateVariance() const { return P.slice(S.idx, S.idx).diag(); } // calling getStateCovariance().diag() uses more flash space - // get the wind velocity var - Vector2f getWindVelocityVariance() const { return P.slice<2, 2>(22, 22).diag(); } + template + matrix::SquareMatrixgetStateCovariance() const { return P.slice(S.idx, S.idx); } // get the full covariance matrix - const matrix::SquareMatrix &covariances() const { return P; } + const matrix::SquareMatrix &covariances() const { return P; } + float stateCovariance(unsigned r, unsigned c) const { return P(r, c); } // get the diagonal elements of the covariance matrix - matrix::Vector covariances_diagonal() const { return P.diag(); } + matrix::Vector covariances_diagonal() const { return P.diag(); } - // get the orientation (quaterion) covariances - matrix::SquareMatrix orientation_covariances() const { return P.slice<4, 4>(0, 0); } + matrix::Vector3f getRotVarBody() const; + matrix::Vector3f getRotVarNed() const; + float getYawVar() const; + float getTiltVariance() const; - // get the linear velocity covariances - matrix::SquareMatrix velocity_covariances() const { return P.slice<3, 3>(4, 4); } + Vector3f getVelocityVariance() const { return getStateVariance(); }; - // get the position covariances - matrix::SquareMatrix position_covariances() const { return P.slice<3, 3>(7, 7); } - - // ask estimator for sensor data collection decision and do any preprocessing if required, returns true if not defined - bool collect_gps(const gpsMessage &gps) override; + Vector3f getPositionVariance() const { return getStateVariance(); } // get the ekf WGS-84 origin position and height and the system time it was last set // return true if the origin is valid bool getEkfGlobalOrigin(uint64_t &origin_time, double &latitude, double &longitude, float &origin_alt) const; - bool setEkfGlobalOrigin(const double latitude, const double longitude, const float altitude); - - float getEkfGlobalOriginAltitude() const { return PX4_ISFINITE(_gps_alt_ref) ? _gps_alt_ref : 0.f; } - bool setEkfGlobalOriginAltitude(const float altitude); - + bool setEkfGlobalOrigin(double latitude, double longitude, float altitude, float eph = 0.f, float epv = 0.f); + void updateWmm(double lat, double lon); // get the 1-sigma horizontal and vertical position uncertainty of the ekf WGS-84 position void get_ekf_gpos_accuracy(float *ekf_eph, float *ekf_epv) const; @@ -308,25 +270,18 @@ class Ekf final : public EstimatorInterface // get the 1-sigma horizontal and vertical velocity uncertainty void get_ekf_vel_accuracy(float *ekf_evh, float *ekf_evv) const; - // get the vehicle control limits required by the estimator to keep within sensor limitations + // Returns the following vehicle control limits required by the estimator to keep within sensor limitations. + // vxy_max : Maximum ground relative horizontal speed (meters/sec). NaN when limiting is not needed. + // vz_max : Maximum ground relative vertical speed (meters/sec). NaN when limiting is not needed. + // hagl_min : Minimum height above ground (meters). NaN when limiting is not needed. + // hagl_max : Maximum height above ground (meters). NaN when limiting is not needed. void get_ekf_ctrl_limits(float *vxy_max, float *vz_max, float *hagl_min, float *hagl_max) const; - // Reset all IMU bias states and covariances to initial alignment values. - void resetImuBias(); void resetGyroBias(); - void resetAccelBias(); - - Vector3f getVelocityVariance() const { return P.slice<3, 3>(4, 4).diag(); }; - - Vector3f getPositionVariance() const { return P.slice<3, 3>(7, 7).diag(); } + void resetGyroBiasCov(); - // First argument returns GPS drift metrics in the following array locations - // 0 : Horizontal position drift rate (m/s) - // 1 : Vertical position drift rate (m/s) - // 2 : Filtered horizontal velocity (m/s) - // Second argument returns true when IMU movement is blocking the drift calculation - // Function returns true if the metrics have been updated and not returned previously by this function - bool get_gps_drift_metrics(float drift[3], bool *blocked); + void resetAccelBias(); + void resetAccelBiasCov(); // return true if the global position estimate is valid // return true if the origin is set we are not doing unconstrained free inertial navigation @@ -339,50 +294,54 @@ class Ekf final : public EstimatorInterface // return true if the local position estimate is valid bool local_position_is_valid() const { - return (!_horizontal_deadreckon_time_exceeded && !_control_status.flags.fake_pos); + return !_horizontal_deadreckon_time_exceeded; } bool isLocalVerticalPositionValid() const { - return !_vertical_position_deadreckon_time_exceeded && !_control_status.flags.fake_hgt; + return !_vertical_position_deadreckon_time_exceeded; } bool isLocalVerticalVelocityValid() const { - return !_vertical_velocity_deadreckon_time_exceeded && !_control_status.flags.fake_hgt; + return !_vertical_velocity_deadreckon_time_exceeded; } bool isYawFinalAlignComplete() const { +#if defined(CONFIG_EKF2_MAGNETOMETER) const bool is_using_mag = (_control_status.flags.mag_3D || _control_status.flags.mag_hdg); const bool is_mag_alignment_in_flight_complete = is_using_mag && _control_status.flags.mag_aligned_in_flight && ((_time_delayed_us - _flt_mag_align_start_time) > (uint64_t)1e6); return _control_status.flags.yaw_align && (is_mag_alignment_in_flight_complete || !is_using_mag); +#else + return _control_status.flags.yaw_align; +#endif } - // gyro bias (states 10, 11, 12) - Vector3f getGyroBias() const { return _state.delta_ang_bias / _dt_ekf_avg; } // get the gyroscope bias in rad/s - Vector3f getGyroBiasVariance() const { return Vector3f{P(10, 10), P(11, 11), P(12, 12)} / sq(_dt_ekf_avg); } // get the gyroscope bias variance in rad/s + // fuse single direct state measurement (eg NED velocity, NED position, mag earth field, etc) + bool fuseDirectStateMeasurement(const float innov, const float innov_var, const float R, const int state_index); + + // gyro bias + const Vector3f &getGyroBias() const { return _state.gyro_bias; } // get the gyroscope bias in rad/s + Vector3f getGyroBiasVariance() const { return getStateVariance(); } // get the gyroscope bias variance in rad/s float getGyroBiasLimit() const { return _params.gyro_bias_lim; } + float getGyroNoise() const { return _params.gyro_noise; } - // accel bias (states 13, 14, 15) - Vector3f getAccelBias() const { return _state.delta_vel_bias / _dt_ekf_avg; } // get the accelerometer bias in m/s**2 - Vector3f getAccelBiasVariance() const { return Vector3f{P(13, 13), P(14, 14), P(15, 15)} / sq(_dt_ekf_avg); } // get the accelerometer bias variance in m/s**2 + // accel bias + const Vector3f &getAccelBias() const { return _state.accel_bias; } // get the accelerometer bias in m/s**2 + Vector3f getAccelBiasVariance() const { return getStateVariance(); } // get the accelerometer bias variance in m/s**2 float getAccelBiasLimit() const { return _params.acc_bias_lim; } - // mag bias (states 19, 20, 21) - const Vector3f &getMagBias() const { return _state.mag_B; } - Vector3f getMagBiasVariance() const - { - if (_control_status.flags.mag_3D) { - return Vector3f{P(19, 19), P(20, 20), P(21, 21)}; - } +#if defined(CONFIG_EKF2_MAGNETOMETER) + const Vector3f &getMagEarthField() const { return _state.mag_I; } - return _saved_mag_bf_variance; - } + const Vector3f &getMagBias() const { return _state.mag_B; } + Vector3f getMagBiasVariance() const { return getStateVariance(); } // get the mag bias variance in Gauss float getMagBiasLimit() const { return 0.5f; } // 0.5 Gauss +#endif // CONFIG_EKF2_MAGNETOMETER bool accel_bias_inhibited() const { return _accel_bias_inhibit[0] || _accel_bias_inhibit[1] || _accel_bias_inhibit[2]; } bool gyro_bias_inhibited() const { return _gyro_bias_inhibit[0] || _gyro_bias_inhibit[1] || _gyro_bias_inhibit[2]; } @@ -397,6 +356,13 @@ class Ekf final : public EstimatorInterface *counter = _state_reset_status.reset_count.posD; } + uint8_t get_hagl_reset_count() const { return _state_reset_status.reset_count.hagl; } + void get_hagl_reset(float *delta, uint8_t *counter) const + { + *delta = _state_reset_status.hagl_change; + *counter = _state_reset_status.reset_count.hagl; + } + // return the amount the local vertical velocity changed in the last reset and the number of reset events uint8_t get_velD_reset_count() const { return _state_reset_status.reset_count.velD; } void get_velD_reset(float *delta, uint8_t *counter) const @@ -429,45 +395,23 @@ class Ekf final : public EstimatorInterface *counter = _state_reset_status.reset_count.quat; } - // get EKF innovation consistency check status information comprising of: - // status - a bitmask integer containing the pass/fail status for each EKF measurement innovation consistency check - // Innovation Test Ratios - these are the ratio of the innovation to the acceptance threshold. - // A value > 1 indicates that the sensor measurement has exceeded the maximum acceptable level and has been rejected by the EKF - // Where a measurement type is a vector quantity, eg magnetometer, GPS position, etc, the maximum value is returned. - void get_innovation_test_status(uint16_t &status, float &mag, float &vel, float &pos, float &hgt, float &tas, - float &hagl, float &beta) const; - - // return a bitmask integer that describes which state estimates can be used for flight control - void get_ekf_soln_status(uint16_t *status) const; - - // rotate quaternion covariances into variances for an equivalent rotation vector - Vector3f calcRotVecVariances() const; - - // set minimum continuous period without GPS fail required to mark a healthy GPS status - void set_min_required_gps_health_time(uint32_t time_us) { _min_gps_health_time_us = time_us; } - - const gps_check_fail_status_u &gps_check_fail_status() const { return _gps_check_fail_status; } - const decltype(gps_check_fail_status_u::flags) &gps_check_fail_status_flags() const { return _gps_check_fail_status.flags; } + float getHeadingInnovationTestRatio() const; - bool gps_checks_passed() const { return _gps_checks_passed; }; + float getHorizontalVelocityInnovationTestRatio() const; + float getVerticalVelocityInnovationTestRatio() const; - // get solution data from the EKF-GSF emergency yaw estimator - // returns false when data is not available - bool getDataEKFGSF(float *yaw_composite, float *yaw_variance, float yaw[N_MODELS_EKFGSF], - float innov_VN[N_MODELS_EKFGSF], float innov_VE[N_MODELS_EKFGSF], float weight[N_MODELS_EKFGSF]); + float getHorizontalPositionInnovationTestRatio() const; + float getVerticalPositionInnovationTestRatio() const; - // Returns true if the output of the yaw emergency estimator can be used for a reset - bool isYawEmergencyEstimateAvailable() const; + float getAirspeedInnovationTestRatio() const; + float getSyntheticSideslipInnovationTestRatio() const; - uint8_t getHeightSensorRef() const { return _height_sensor_ref; } - const BiasEstimator::status &getBaroBiasEstimatorStatus() const { return _baro_b_est.getStatus(); } - const BiasEstimator::status &getGpsHgtBiasEstimatorStatus() const { return _gps_hgt_b_est.getStatus(); } + float getHeightAboveGroundInnovationTestRatio() const; -#if defined(CONFIG_EKF2_EXTERNAL_VISION) - const BiasEstimator::status &getEvHgtBiasEstimatorStatus() const { return _ev_hgt_b_est.getStatus(); } + // return a bitmask integer that describes which state estimates are valid + uint16_t get_ekf_soln_status() const; - const BiasEstimator::status &getEvPosBiasEstimatorStatus(int i) const { return _ev_pos_b_est.getStatus(i); } -#endif // CONFIG_EKF2_EXTERNAL_VISION + HeightSensor getHeightSensorRef() const { return _height_sensor_ref; } #if defined(CONFIG_EKF2_AIRSPEED) const auto &aid_src_airspeed() const { return _aid_src_airspeed; } @@ -477,8 +421,6 @@ class Ekf final : public EstimatorInterface const auto &aid_src_sideslip() const { return _aid_src_sideslip; } #endif // CONFIG_EKF2_SIDESLIP - const auto &aid_src_baro_hgt() const { return _aid_src_baro_hgt; } - const auto &aid_src_fake_hgt() const { return _aid_src_fake_hgt; } const auto &aid_src_fake_pos() const { return _aid_src_fake_pos; } @@ -487,25 +429,120 @@ class Ekf final : public EstimatorInterface const auto &aid_src_ev_pos() const { return _aid_src_ev_pos; } const auto &aid_src_ev_vel() const { return _aid_src_ev_vel; } const auto &aid_src_ev_yaw() const { return _aid_src_ev_yaw; } + + const BiasEstimator::status &getEvHgtBiasEstimatorStatus() const { return _ev_hgt_b_est.getStatus(); } + const BiasEstimator::status &getEvPosBiasEstimatorStatus(int i) const { return _ev_pos_b_est.getStatus(i); } #endif // CONFIG_EKF2_EXTERNAL_VISION +#if defined(CONFIG_EKF2_GNSS) + void collect_gps(const gnssSample &gps); + + // set minimum continuous period without GPS fail required to mark a healthy GPS status + void set_min_required_gps_health_time(uint32_t time_us) { _min_gps_health_time_us = time_us; } + + const gps_check_fail_status_u &gps_check_fail_status() const { return _gps_check_fail_status; } + const decltype(gps_check_fail_status_u::flags) &gps_check_fail_status_flags() const { return _gps_check_fail_status.flags; } + + bool gps_checks_passed() const { return _gps_checks_passed; }; + + const BiasEstimator::status &getGpsHgtBiasEstimatorStatus() const { return _gps_hgt_b_est.getStatus(); } + const auto &aid_src_gnss_hgt() const { return _aid_src_gnss_hgt; } const auto &aid_src_gnss_pos() const { return _aid_src_gnss_pos; } const auto &aid_src_gnss_vel() const { return _aid_src_gnss_vel; } -#if defined(CONFIG_EKF2_GNSS_YAW) +# if defined(CONFIG_EKF2_GNSS_YAW) const auto &aid_src_gnss_yaw() const { return _aid_src_gnss_yaw; } -#endif // CONFIG_EKF2_GNSS_YAW +# endif // CONFIG_EKF2_GNSS_YAW - const auto &aid_src_mag_heading() const { return _aid_src_mag_heading; } - const auto &aid_src_mag() const { return _aid_src_mag; } + // Returns true if the output of the yaw emergency estimator can be used for a reset + bool isYawEmergencyEstimateAvailable() const; - const auto &aid_src_gravity() const { return _aid_src_gravity; } + // get solution data from the EKF-GSF emergency yaw estimator + // returns false when data is not available + bool getDataEKFGSF(float *yaw_composite, float *yaw_variance, float yaw[N_MODELS_EKFGSF], + float innov_VN[N_MODELS_EKFGSF], float innov_VE[N_MODELS_EKFGSF], float weight[N_MODELS_EKFGSF]); + +#endif // CONFIG_EKF2_GNSS + +#if defined(CONFIG_EKF2_MAGNETOMETER) + const auto &aid_src_mag() const { return _aid_src_mag; } +#endif // CONFIG_EKF2_MAGNETOMETER #if defined(CONFIG_EKF2_AUXVEL) const auto &aid_src_aux_vel() const { return _aid_src_aux_vel; } #endif // CONFIG_EKF2_AUXVEL + bool measurementUpdate(VectorState &K, const VectorState &H, const float R, const float innovation) + { + clearInhibitedStateKalmanGains(K); + +#if false + // Matrix implementation of the Joseph stabilized covariance update + // This is extremely expensive to compute. Use for debugging purposes only. + auto A = matrix::eye(); + A -= K.multiplyByTranspose(H); + P = A * P; + P = P.multiplyByTranspose(A); + + const VectorState KR = K * R; + P += KR.multiplyByTranspose(K); +#else + // Efficient implementation of the Joseph stabilized covariance update + // Based on "G. J. Bierman. Factorization Methods for Discrete Sequential Estimation. Academic Press, Dover Publications, New York, 1977, 2006" + // P = (I - K * H) * P * (I - K * H).T + K * R * K.T + // = P_temp * (I - H.T * K.T) + K * R * K.T + // = P_temp - P_temp * H.T * K.T + K * R * K.T + + // Step 1: conventional update + // Compute P_temp and store it in P to avoid allocating more memory + // P is symmetric, so PH == H.T * P.T == H.T * P. Taking the row is faster as matrices are row-major + VectorState PH = P * H; // H is stored as a column vector. H is in fact H.T + + for (unsigned i = 0; i < State::size; i++) { + for (unsigned j = 0; j < State::size; j++) { + P(i, j) -= K(i) * PH(j); // P is now not symmetrical if K is not optimal (e.g.: some gains have been zeroed) + } + } + + // Step 2: stabilized update + PH = P * H; // H is stored as a column vector. H is in fact H.T + + for (unsigned i = 0; i < State::size; i++) { + for (unsigned j = 0; j <= i; j++) { + P(i, j) = P(i, j) - PH(i) * K(j) + K(i) * R * K(j); + P(j, i) = P(i, j); + } + } + +#endif + + constrainStateVariances(); + + // apply the state corrections + fuse(K, innovation); + return true; + } + + bool resetGlobalPosToExternalObservation(double lat_deg, double lon_deg, float accuracy, + uint64_t timestamp_observation); + + /** + * @brief Resets the wind states to an external observation + * + * @param wind_speed The wind speed in m/s + * @param wind_direction The azimuth (from true north) to where the wind is heading in radians + * @param wind_speed_accuracy The 1 sigma accuracy of the wind speed estimate in m/s + * @param wind_direction_accuracy The 1 sigma accuracy of the wind direction estimate in radians + */ + void resetWindToExternalObservation(float wind_speed, float wind_direction, float wind_speed_accuracy, + float wind_direction_accuracy); + bool _external_wind_init{false}; + + void updateParameters(); + + friend class AuxGlobalPosition; + private: // set the internal states and status to their default value @@ -518,12 +555,21 @@ class Ekf final : public EstimatorInterface void updateHorizontalDeadReckoningstatus(); void updateVerticalDeadReckoningStatus(); + static constexpr float kGyroBiasVarianceMin{1e-9f}; + static constexpr float kAccelBiasVarianceMin{1e-9f}; + +#if defined(CONFIG_EKF2_MAGNETOMETER) + static constexpr float kMagVarianceMin = 1e-6f; +#endif // CONFIG_EKF2_MAGNETOMETER + + struct StateResetCounts { uint8_t velNE{0}; ///< number of horizontal position reset events (allow to wrap if count exceeds 255) uint8_t velD{0}; ///< number of vertical velocity reset events (allow to wrap if count exceeds 255) uint8_t posNE{0}; ///< number of horizontal position reset events (allow to wrap if count exceeds 255) uint8_t posD{0}; ///< number of vertical position reset events (allow to wrap if count exceeds 255) uint8_t quat{0}; ///< number of quaternion reset events (allow to wrap if count exceeds 255) + uint8_t hagl{0}; ///< number of height above ground level reset events (allow to wrap if count exceeds 255) }; struct StateResets { @@ -532,6 +578,7 @@ class Ekf final : public EstimatorInterface Vector2f posNE_change; ///< North, East position change due to last reset (m) float posD_change; ///< Down position change due to last reset (m) Quatf quat_change; ///< quaternion delta due to last reset - multiply pre-reset quaternion by this to get post-reset quaternion + float hagl_change; ///< Height above ground level change due to last reset (m) StateResetCounts reset_count{}; }; @@ -539,15 +586,10 @@ class Ekf final : public EstimatorInterface StateResets _state_reset_status{}; ///< reset event monitoring structure containing velocity, position, height and yaw reset information StateResetCounts _state_reset_count_prev{}; - Vector3f _ang_rate_delayed_raw{}; ///< uncorrected angular rate vector at fusion time horizon (rad/sec) - - stateSample _state{}; ///< state struct of the ekf running at the delayed time horizon + StateSample _state{}; ///< state struct of the ekf running at the delayed time horizon bool _filter_initialised{false}; ///< true when the EKF sttes and covariances been initialised - // booleans true when fresh sensor data is available at the fusion time horizon - bool _gps_data_ready{false}; ///< true when new GPS data has fallen behind the fusion time horizon and is available to be fused - uint64_t _time_last_horizontal_aiding{0}; ///< amount of time we have been doing inertial only deadreckoning (uSec) uint64_t _time_last_v_pos_aiding{0}; uint64_t _time_last_v_vel_aiding{0}; @@ -557,7 +599,7 @@ class Ekf final : public EstimatorInterface uint64_t _time_last_hor_vel_fuse{0}; ///< time the last fusion of horizontal velocity measurements was performed (uSec) uint64_t _time_last_ver_vel_fuse{0}; ///< time the last fusion of verticalvelocity measurements was performed (uSec) uint64_t _time_last_heading_fuse{0}; - uint64_t _time_last_zero_velocity_fuse{0}; ///< last time of zero velocity update (uSec) + uint64_t _time_last_terrain_fuse{0}; Vector3f _last_known_pos{}; ///< last known local position vector (m) @@ -567,166 +609,135 @@ class Ekf final : public EstimatorInterface Dcmf _R_to_earth{}; ///< transformation matrix from body frame to earth frame from last EKF prediction - // used by magnetometer fusion mode selection Vector2f _accel_lpf_NE{}; ///< Low pass filtered horizontal earth frame acceleration (m/sec**2) - float _yaw_delta_ef{0.0f}; ///< Recent change in yaw angle measured about the earth frame D axis (rad) - float _yaw_rate_lpf_ef{0.0f}; ///< Filtered angular rate about earth frame D axis (rad/sec) - bool _mag_bias_observable{false}; ///< true when there is enough rotation to make magnetometer bias errors observable - bool _yaw_angle_observable{false}; ///< true when there is enough horizontal acceleration to make yaw observable - uint64_t _time_yaw_started{0}; ///< last system time in usec that a yaw rotation manoeuvre was detected - uint64_t _mag_use_not_inhibit_us{0}; ///< last system time in usec before magnetometer use was inhibited - float _last_static_yaw{NAN}; ///< last yaw angle recorded when on ground motion checks were passing (rad) - - bool _mag_yaw_reset_req{false}; ///< true when a reset of the yaw using the magnetometer data has been requested - bool _mag_decl_cov_reset{false}; ///< true after the fuseDeclination() function has been used to modify the earth field covariances after a magnetic field reset event. - bool _synthetic_mag_z_active{false}; ///< true if we are generating synthetic magnetometer Z measurements - - SquareMatrix24f P{}; ///< state covariance matrix + float _height_rate_lpf{0.0f}; - Vector3f _delta_angle_bias_var_accum{}; ///< kahan summation algorithm accumulator for delta angle bias variance - Vector3f _delta_vel_bias_var_accum{}; ///< kahan summation algorithm accumulator for delta velocity bias variance + SquareMatrixState P{}; ///< state covariance matrix #if defined(CONFIG_EKF2_DRAG_FUSION) - Vector2f _drag_innov{}; ///< multirotor drag measurement innovation (m/sec**2) - Vector2f _drag_innov_var{}; ///< multirotor drag measurement innovation variance ((m/sec**2)**2) + estimator_aid_source2d_s _aid_src_drag {}; #endif // CONFIG_EKF2_DRAG_FUSION -#if defined(CONFIG_EKF2_RANGE_FINDER) - estimator_aid_source1d_s _aid_src_rng_hgt{}; - - HeightBiasEstimator _rng_hgt_b_est{HeightSensor::RANGE, _height_sensor_ref}; - - float _hagl_innov{0.0f}; ///< innovation of the last height above terrain measurement (m) - float _hagl_innov_var{0.0f}; ///< innovation variance for the last height above terrain measurement (m**2) - float _hagl_test_ratio{}; // height above terrain measurement innovation consistency check ratio - - uint64_t _time_last_healthy_rng_data{0}; - +#if defined(CONFIG_EKF2_TERRAIN) // Terrain height state estimation - float _terrain_vpos{0.0f}; ///< estimated vertical position of the terrain underneath the vehicle in local NED frame (m) - float _terrain_var{1e4f}; ///< variance of terrain position estimate (m**2) - uint8_t _terrain_vpos_reset_counter{0}; ///< number of times _terrain_vpos has been reset - uint64_t _time_last_hagl_fuse{0}; ///< last system time that a range sample was fused by the terrain estimator - terrain_fusion_status_u _hagl_sensor_status{}; ///< Struct indicating type of sensor used to estimate height above ground - float _last_on_ground_posD{0.0f}; ///< last vertical position when the in_air status was false (m) +#endif // CONFIG_EKF2_TERRAIN + +#if defined(CONFIG_EKF2_RANGE_FINDER) + estimator_aid_source1d_s _aid_src_rng_hgt {}; #endif // CONFIG_EKF2_RANGE_FINDER #if defined(CONFIG_EKF2_OPTICAL_FLOW) - estimator_aid_source2d_s _aid_src_optical_flow{}; - estimator_aid_source2d_s _aid_src_terrain_optical_flow{}; + estimator_aid_source2d_s _aid_src_optical_flow {}; // optical flow processing Vector3f _flow_gyro_bias{}; ///< bias errors in optical flow sensor rate gyro outputs (rad/sec) Vector2f _flow_vel_body{}; ///< velocity from corrected flow measurement (body frame)(m/s) Vector2f _flow_vel_ne{}; ///< velocity from corrected flow measurement (local frame) (m/s) - Vector3f _imu_del_ang_of{}; ///< bias corrected delta angle measurements accumulated across the same time frame as the optical flow rates (rad) - - float _delta_time_of{0.0f}; ///< time in sec that _imu_del_ang_of was accumulated over (sec) - uint64_t _time_bad_motion_us{0}; ///< last system time that on-ground motion exceeded limits (uSec) - uint64_t _time_good_motion_us{0}; ///< last system time that on-ground motion was within limits (uSec) - Vector2f _flow_compensated_XY_rad{}; ///< measured delta angle of the image about the X and Y body axes after removal of body rotation (rad), RH rotation is positive + Vector3f _ref_body_rate{}; - bool _flow_data_ready{false}; ///< true when the leading edge of the optical flow integration period has fallen behind the fusion time horizon - uint64_t _time_last_flow_terrain_fuse{0}; ///< time the last fusion of optical flow measurements for terrain estimation were performed (uSec) + Vector2f _flow_rate_compensated{}; ///< measured angular rate of the image about the X and Y body axes after removal of body rotation (rad/s), RH rotation is positive #endif // CONFIG_EKF2_OPTICAL_FLOW - estimator_aid_source1d_s _aid_src_baro_hgt{}; #if defined(CONFIG_EKF2_AIRSPEED) - estimator_aid_source1d_s _aid_src_airspeed{}; + estimator_aid_source1d_s _aid_src_airspeed {}; #endif // CONFIG_EKF2_AIRSPEED #if defined(CONFIG_EKF2_SIDESLIP) - estimator_aid_source1d_s _aid_src_sideslip{}; + estimator_aid_source1d_s _aid_src_sideslip {}; #endif // CONFIG_EKF2_SIDESLIP estimator_aid_source2d_s _aid_src_fake_pos{}; estimator_aid_source1d_s _aid_src_fake_hgt{}; #if defined(CONFIG_EKF2_EXTERNAL_VISION) - estimator_aid_source1d_s _aid_src_ev_hgt{}; + estimator_aid_source1d_s _aid_src_ev_hgt {}; estimator_aid_source2d_s _aid_src_ev_pos{}; estimator_aid_source3d_s _aid_src_ev_vel{}; estimator_aid_source1d_s _aid_src_ev_yaw{}; - float _ev_yaw_pred_prev{}; ///< previous value of yaw state used by odometry fusion (m) - uint8_t _nb_ev_pos_reset_available{0}; uint8_t _nb_ev_vel_reset_available{0}; uint8_t _nb_ev_yaw_reset_available{0}; #endif // CONFIG_EKF2_EXTERNAL_VISION - bool _inhibit_ev_yaw_use{false}; ///< true when the vision yaw data should not be used (e.g.: NE fusion requires true North) - - estimator_aid_source1d_s _aid_src_gnss_hgt{}; - estimator_aid_source2d_s _aid_src_gnss_pos{}; - estimator_aid_source3d_s _aid_src_gnss_vel{}; - -#if defined(CONFIG_EKF2_GNSS_YAW) - estimator_aid_source1d_s _aid_src_gnss_yaw{}; - uint8_t _nb_gps_yaw_reset_available{0}; ///< remaining number of resets allowed before switching to another aiding source -#endif // CONFIG_EKF2_GNSS_YAW - - estimator_aid_source1d_s _aid_src_mag_heading{}; - estimator_aid_source3d_s _aid_src_mag{}; - estimator_aid_source3d_s _aid_src_gravity{}; - -#if defined(CONFIG_EKF2_AUXVEL) - estimator_aid_source2d_s _aid_src_aux_vel{}; -#endif // CONFIG_EKF2_AUXVEL +#if defined(CONFIG_EKF2_GNSS) + bool _gps_data_ready {false}; ///< true when new GPS data has fallen behind the fusion time horizon and is available to be fused // variables used for the GPS quality checks Vector3f _gps_pos_deriv_filt{}; ///< GPS NED position derivative (m/sec) Vector2f _gps_velNE_filt{}; ///< filtered GPS North and East velocity (m/sec) - float _gps_velD_diff_filt{0.0f}; ///< GPS filtered Down velocity (m/sec) + float _gps_vel_d_filt{0.0f}; ///< GNSS filtered Down velocity (m/sec) uint64_t _last_gps_fail_us{0}; ///< last system time in usec that the GPS failed it's checks uint64_t _last_gps_pass_us{0}; ///< last system time in usec that the GPS passed it's checks - float _gps_error_norm{1.0f}; ///< normalised gps error uint32_t _min_gps_health_time_us{10000000}; ///< GPS is marked as healthy only after this amount of time bool _gps_checks_passed{false}; ///> true when all active GPS checks have passed - // Variables used to publish the WGS-84 location of the EKF local NED origin - float _gps_alt_ref{NAN}; ///< WGS-84 height (m) + gps_check_fail_status_u _gps_check_fail_status{}; + // height sensor status + bool _gps_intermittent{true}; ///< true if data into the buffer is intermittent + + HeightBiasEstimator _gps_hgt_b_est{HeightSensor::GNSS, _height_sensor_ref}; + + estimator_aid_source1d_s _aid_src_gnss_hgt{}; + estimator_aid_source2d_s _aid_src_gnss_pos{}; + estimator_aid_source3d_s _aid_src_gnss_vel{}; + +# if defined(CONFIG_EKF2_GNSS_YAW) + estimator_aid_source1d_s _aid_src_gnss_yaw {}; +# endif // CONFIG_EKF2_GNSS_YAW +#endif // CONFIG_EKF2_GNSS + +#if defined(CONFIG_EKF2_GRAVITY_FUSION) + estimator_aid_source3d_s _aid_src_gravity {}; +#endif // CONFIG_EKF2_GRAVITY_FUSION + +#if defined(CONFIG_EKF2_AUXVEL) + estimator_aid_source2d_s _aid_src_aux_vel {}; +#endif // CONFIG_EKF2_AUXVEL // Variables used by the initial filter alignment bool _is_first_imu_sample{true}; - uint32_t _baro_counter{0}; ///< number of baro samples read during initialisation - uint32_t _mag_counter{0}; ///< number of magnetometer samples read during initialisation AlphaFilter _accel_lpf{0.1f}; ///< filtered accelerometer measurement used to align tilt (m/s/s) AlphaFilter _gyro_lpf{0.1f}; ///< filtered gyro measurement used for alignment excessive movement check (rad/sec) +#if defined(CONFIG_EKF2_BAROMETER) + estimator_aid_source1d_s _aid_src_baro_hgt {}; + // Variables used to perform in flight resets and switch between height sources - AlphaFilter _mag_lpf{0.1f}; ///< filtered magnetometer measurement for instant reset (Gauss) AlphaFilter _baro_lpf{0.1f}; ///< filtered barometric height measurement (m) + uint32_t _baro_counter{0}; ///< number of baro samples read during initialisation + + HeightBiasEstimator _baro_b_est{HeightSensor::BARO, _height_sensor_ref}; + + bool _baro_hgt_faulty{false}; ///< true if baro data have been declared faulty TODO: move to fault flags +#endif // CONFIG_EKF2_BAROMETER + +#if defined(CONFIG_EKF2_MAGNETOMETER) + // used by magnetometer fusion mode selection + AlphaFilter _mag_heading_innov_lpf{0.1f}; + uint32_t _min_mag_health_time_us{1'000'000}; ///< magnetometer is marked as healthy only after this amount of time + + estimator_aid_source3d_s _aid_src_mag{}; + + AlphaFilter _mag_lpf{0.1f}; ///< filtered magnetometer measurement for instant reset (Gauss) + uint32_t _mag_counter{0}; ///< number of magnetometer samples read during initialisation // Variables used to control activation of post takeoff functionality uint64_t _flt_mag_align_start_time{0}; ///< time that inflight magnetic field alignment started (uSec) - uint64_t _time_last_mov_3d_mag_suitable{0}; ///< last system time that sufficient movement to use 3-axis magnetometer fusion was detected (uSec) - Vector3f _saved_mag_bf_variance {}; ///< magnetic field state variances that have been saved for use at the next initialisation (Gauss**2) - Matrix2f _saved_mag_ef_ne_covmat{}; ///< NE magnetic field state covariance sub-matrix saved for use at the next initialisation (Gauss**2) - float _saved_mag_ef_d_variance{}; ///< D magnetic field state variance saved for use at the next initialisation (Gauss**2) - - gps_check_fail_status_u _gps_check_fail_status{}; + uint64_t _time_last_mag_check_failing{0}; +#endif // CONFIG_EKF2_MAGNETOMETER // variables used to inhibit accel bias learning bool _accel_bias_inhibit[3] {}; ///< true when the accel bias learning is being inhibited for the specified axis bool _gyro_bias_inhibit[3] {}; ///< true when the gyro bias learning is being inhibited for the specified axis - Vector3f _accel_vec_filt{}; ///< acceleration vector after application of a low pass filter (m/sec**2) float _accel_magnitude_filt{0.0f}; ///< acceleration magnitude after application of a decaying envelope filter (rad/sec) float _ang_rate_magnitude_filt{0.0f}; ///< angular rate magnitude after application of a decaying envelope filter (rad/sec) - Vector3f _prev_delta_ang_bias_var{}; ///< saved delta angle XYZ bias variances (rad/sec) - Vector3f _prev_dvel_bias_var{}; ///< saved delta velocity XYZ bias variances (m/sec)**2 - - // height sensor status - bool _baro_hgt_faulty{false}; ///< true if baro data have been declared faulty TODO: move to fault flags - bool _gps_intermittent{true}; ///< true if data into the buffer is intermittent // imu fault status uint64_t _time_bad_vert_accel{0}; ///< last time a bad vertical accel was detected (uSec) uint64_t _time_good_vert_accel{0}; ///< last time a good vertical accel was detected (uSec) - uint16_t _clip_counter{0}; ///< counter that increments when clipping ad decrements when not - - float _height_rate_lpf{0.0f}; + uint16_t _clip_counter[3]; ///< counter per axis that increments when clipping ad decrements when not // initialise filter states of both the delayed ekf and the real time complementary filter bool initialiseFilter(void); @@ -740,37 +751,29 @@ class Ekf final : public EstimatorInterface // predict ekf covariance void predictCovariance(const imuSample &imu_delayed); - // ekf sequential fusion of magnetometer measurements - bool fuseMag(const Vector3f &mag, estimator_aid_source3d_s &aid_src_mag, bool update_all_states = true); + template + void resetStateCovariance(const matrix::SquareMatrix &cov) + { + P.uncorrelateCovarianceSetVariance(S.idx, 0.0f); + P.slice(S.idx, S.idx) = cov; + } // update quaternion states and covariances using an innovation, observation variance and Jacobian vector - bool fuseYaw(float innovation, float variance, estimator_aid_source1d_s &aid_src_status); - bool fuseYaw(float innovation, float variance, estimator_aid_source1d_s &aid_src_status, const Vector24f &H_YAW); - void computeYawInnovVarAndH(float variance, float &innovation_variance, Vector24f &H_YAW) const; - -#if defined(CONFIG_EKF2_GNSS_YAW) - void controlGpsYawFusion(const gpsSample &gps_sample, bool gps_checks_passing, bool gps_checks_failing); - - // fuse the yaw angle obtained from a dual antenna GPS unit - void fuseGpsYaw(); - - // reset the quaternions states using the yaw angle obtained from a dual antenna GPS unit - // return true if the reset was successful - bool resetYawToGps(const float gnss_yaw); - - void updateGpsYaw(const gpsSample &gps_sample); + bool fuseYaw(estimator_aid_source1d_s &aid_src_status, const VectorState &H_YAW); + void computeYawInnovVarAndH(float variance, float &innovation_variance, VectorState &H_YAW) const; - void startGpsYawFusion(const gpsSample &gps_sample); + void updateIMUBiasInhibit(const imuSample &imu_delayed); -#endif // CONFIG_EKF2_GNSS_YAW - void stopGpsYawFusion(); +#if defined(CONFIG_EKF2_MAGNETOMETER) + // ekf sequential fusion of magnetometer measurements + bool fuseMag(const Vector3f &mag, const float R_MAG, VectorState &H, estimator_aid_source3d_s &aid_src, + bool update_all_states = false, bool update_tilt = false); // fuse magnetometer declination measurement // argument passed in is the declination uncertainty in radians bool fuseDeclination(float decl_sigma); - // apply sensible limits to the declination and length of the NE mag field states estimates - void limitDeclination(); +#endif // CONFIG_EKF2_MAGNETOMETER #if defined(CONFIG_EKF2_AIRSPEED) // control fusion of air data observations @@ -783,9 +786,7 @@ class Ekf final : public EstimatorInterface // Reset the wind states using the current airspeed measurement, ground relative nav velocity, yaw angle and assumption of zero sideslip void resetWindUsingAirspeed(const airspeedSample &airspeed_sample); - - // perform a limited reset of the wind state covariances - void resetWindCovarianceUsingAirspeed(const airspeedSample &airspeed_sample); + void resetVelUsingAirspeed(const airspeedSample &airspeed_sample); #endif // CONFIG_EKF2_AIRSPEED #if defined(CONFIG_EKF2_SIDESLIP) @@ -794,20 +795,17 @@ class Ekf final : public EstimatorInterface // fuse synthetic zero sideslip measurement void updateSideslip(estimator_aid_source1d_s &_aid_src_sideslip) const; - void fuseSideslip(estimator_aid_source1d_s &_aid_src_sideslip); + bool fuseSideslip(estimator_aid_source1d_s &_aid_src_sideslip); #endif // CONFIG_EKF2_SIDESLIP #if defined(CONFIG_EKF2_DRAG_FUSION) // control fusion of multi-rotor drag specific force observations - void controlDragFusion(); + void controlDragFusion(const imuSample &imu_delayed); // fuse body frame drag specific forces for multi-rotor wind estimation void fuseDrag(const dragSample &drag_sample); #endif // CONFIG_EKF2_DRAG_FUSION - // fuse single velocity and position measurement - bool fuseVelPosHeight(const float innov, const float innov_var, const int obs_index); - void resetVelocityTo(const Vector3f &vel, const Vector3f &new_vel_var); void resetHorizontalVelocityTo(const Vector2f &new_horz_vel, const Vector2f &new_horz_vel_var); @@ -816,11 +814,15 @@ class Ekf final : public EstimatorInterface void resetHorizontalVelocityToZero(); void resetVerticalVelocityTo(float new_vert_vel, float new_vert_vel_var); + + void resetHorizontalPositionToLastKnown(); void resetHorizontalPositionTo(const Vector2f &new_horz_pos, const Vector2f &new_horz_pos_var); void resetHorizontalPositionTo(const Vector2f &new_horz_pos, const float pos_var = NAN) { resetHorizontalPositionTo(new_horz_pos, Vector2f(pos_var, pos_var)); } + void resetWindTo(const Vector2f &wind, const Vector2f &wind_var); + bool isHeightResetRequired() const; void resetVerticalPositionTo(float new_vert_pos, float new_vert_pos_var = NAN); @@ -828,214 +830,236 @@ class Ekf final : public EstimatorInterface void resetVerticalVelocityToZero(); // horizontal and vertical position aid source - void updateHorizontalPositionAidSrcStatus(const uint64_t &time_us, const Vector2f &obs, const Vector2f &obs_var, const float innov_gate, estimator_aid_source2d_s &aid_src) const; - void updateVerticalPositionAidSrcStatus(const uint64_t &time_us, const float obs, const float obs_var, const float innov_gate, estimator_aid_source1d_s &aid_src) const; - - // 2d & 3d velocity aid source - void updateVelocityAidSrcStatus(const uint64_t &time_us, const Vector2f &obs, const Vector2f &obs_var, const float innov_gate, estimator_aid_source2d_s &aid_src) const; - void updateVelocityAidSrcStatus(const uint64_t &time_us, const Vector3f &obs, const Vector3f &obs_var, const float innov_gate, estimator_aid_source3d_s &aid_src) const; + void updateVerticalPositionAidStatus(estimator_aid_source1d_s &aid_src, const uint64_t &time_us, + const float observation, const float observation_variance, const float innovation_gate = 1.f) const; // horizontal and vertical position fusion - void fuseHorizontalPosition(estimator_aid_source2d_s &pos_aid_src); - void fuseVerticalPosition(estimator_aid_source1d_s &hgt_aid_src); + bool fuseHorizontalPosition(estimator_aid_source2d_s &pos_aid_src); + bool fuseVerticalPosition(estimator_aid_source1d_s &hgt_aid_src); // 2d & 3d velocity fusion - void fuseVelocity(estimator_aid_source2d_s &vel_aid_src); - void fuseVelocity(estimator_aid_source3d_s &vel_aid_src); + bool fuseHorizontalVelocity(estimator_aid_source2d_s &vel_aid_src); + bool fuseVelocity(estimator_aid_source3d_s &vel_aid_src); + +#if defined(CONFIG_EKF2_TERRAIN) + void initTerrain(); + float getTerrainVPos() const { return isTerrainEstimateValid() ? _state.terrain : _last_on_ground_posD; } + void controlTerrainFakeFusion(); + +# if defined(CONFIG_EKF2_RANGE_FINDER) + // update the terrain vertical position estimate using a height above ground measurement from the range finder + bool fuseHaglRng(estimator_aid_source1d_s &aid_src, bool update_height, bool update_terrain); + void updateRangeHagl(estimator_aid_source1d_s &aid_src); + void resetTerrainToRng(estimator_aid_source1d_s &aid_src); + float getRngVar() const; +# endif // CONFIG_EKF2_RANGE_FINDER + +# if defined(CONFIG_EKF2_OPTICAL_FLOW) + void resetTerrainToFlow(); +# endif // CONFIG_EKF2_OPTICAL_FLOW + +#endif // CONFIG_EKF2_TERRAIN #if defined(CONFIG_EKF2_RANGE_FINDER) // range height - void controlRangeHeightFusion(); + void controlRangeHaglFusion(const imuSample &imu_delayed); bool isConditionalRangeAidSuitable(); void stopRngHgtFusion(); - - // terrain vertical position estimator - void initHagl(); - void runTerrainEstimator(const imuSample &imu_delayed); - void predictHagl(const imuSample &imu_delayed); - - float getTerrainVPos() const { return isTerrainEstimateValid() ? _terrain_vpos : _last_on_ground_posD; } - - // update the terrain vertical position estimate using a height above ground measurement from the range finder - void controlHaglRngFusion(); - void fuseHaglRng(); - void startHaglRngFusion(); - void resetHaglRngIfNeeded(); - void resetHaglRng(); - void stopHaglRngFusion(); - float getRngVar(); - - void controlHaglFakeFusion(); + void stopRngTerrFusion(); #endif // CONFIG_EKF2_RANGE_FINDER #if defined(CONFIG_EKF2_OPTICAL_FLOW) // control fusion of optical flow observations void controlOpticalFlowFusion(const imuSample &imu_delayed); + void resetFlowFusion(); void stopFlowFusion(); void updateOnGroundMotionForOpticalFlowChecks(); void resetOnGroundMotionForOpticalFlowChecks(); - // calculate the measurement variance for the optical flow sensor - float calcOptFlowMeasVar(const flowSample &flow_sample); + // calculate the measurement variance for the optical flow sensor (rad/sec)^2 + float calcOptFlowMeasVar(const flowSample &flow_sample) const; // calculate optical flow body angular rate compensation - // returns false if bias corrected body rate data is unavailable - bool calcOptFlowBodyRateComp(); + void calcOptFlowBodyRateComp(const flowSample &flow_sample); + + float predictFlowRange() const; + Vector2f predictFlow(const Vector3f &flow_gyro) const; // fuse optical flow line of sight rate measurements - void updateOptFlow(estimator_aid_source2d_s &aid_src); - void fuseOptFlow(); - float predictFlowRange(); - Vector2f predictFlowVelBody(); - - // update the terrain vertical position estimate using an optical flow measurement - void controlHaglFlowFusion(); - void startHaglFlowFusion(); - void resetHaglFlow(); - void stopHaglFlowFusion(); - void fuseFlowForTerrain(estimator_aid_source2d_s &flow); -#endif // CONFIG_EKF2_OPTICAL_FLOW + bool fuseOptFlow(VectorState &H, bool update_terrain); - // reset the heading and magnetic field states using the declination and magnetometer measurements - // return true if successful - bool resetMagHeading(); +#endif // CONFIG_EKF2_OPTICAL_FLOW +#if defined(CONFIG_EKF2_MAGNETOMETER) // Return the magnetic declination in radians to be used by the alignment and fusion processing float getMagDeclination(); +#endif // CONFIG_EKF2_MAGNETOMETER - void clearInhibitedStateKalmanGains(Vector24f &K) const + void clearInhibitedStateKalmanGains(VectorState &K) const { - // gyro bias: states 10, 11, 12 - for (unsigned i = 0; i < 3; i++) { + for (unsigned i = 0; i < State::gyro_bias.dof; i++) { if (_gyro_bias_inhibit[i]) { - K(10 + i) = 0.f; + K(State::gyro_bias.idx + i) = 0.f; } } - // accel bias: states 13, 14, 15 - for (unsigned i = 0; i < 3; i++) { + for (unsigned i = 0; i < State::accel_bias.dof; i++) { if (_accel_bias_inhibit[i]) { - K(13 + i) = 0.f; + K(State::accel_bias.idx + i) = 0.f; } } - // mag I: states 16, 17, 18 - if (!_control_status.flags.mag_3D) { - K(16) = 0.f; - K(17) = 0.f; - K(18) = 0.f; - } - - // mag B: states 19, 20, 21 - if (!_control_status.flags.mag_3D) { - K(19) = 0.f; - K(20) = 0.f; - K(21) = 0.f; - } +#if defined(CONFIG_EKF2_MAGNETOMETER) - // wind: states 22, 23 - if (!_control_status.flags.wind) { - K(22) = 0.f; - K(23) = 0.f; + if (!_control_status.flags.mag) { + for (unsigned i = 0; i < State::mag_I.dof; i++) { + K(State::mag_I.idx + i) = 0.f; + } } - } - - bool measurementUpdate(Vector24f &K, float innovation_variance, float innovation) - { - clearInhibitedStateKalmanGains(K); - - const Vector24f KS = K * innovation_variance; - SquareMatrix24f KHP; - for (unsigned row = 0; row < _k_num_states; row++) { - for (unsigned col = 0; col < _k_num_states; col++) { - // Instad of literally computing KHP, use an equvalent - // equation involving less mathematical operations - KHP(row, col) = KS(row) * K(col); + if (!_control_status.flags.mag) { + for (unsigned i = 0; i < State::mag_B.dof; i++) { + K(State::mag_B.idx + i) = 0.f; } } - const bool is_healthy = checkAndFixCovarianceUpdate(KHP); +#endif // CONFIG_EKF2_MAGNETOMETER - if (is_healthy) { - // apply the covariance corrections - P -= KHP; +#if defined(CONFIG_EKF2_WIND) - fixCovarianceErrors(true); - - // apply the state corrections - fuse(K, innovation); + if (!_control_status.flags.wind) { + for (unsigned i = 0; i < State::wind_vel.dof; i++) { + K(State::wind_vel.idx + i) = 0.f; + } } - return is_healthy; +#endif // CONFIG_EKF2_WIND } - // if the covariance correction will result in a negative variance, then - // the covariance matrix is unhealthy and must be corrected - bool checkAndFixCovarianceUpdate(const SquareMatrix24f &KHP); - // limit the diagonal of the covariance matrix - // force symmetry when the argument is true - void fixCovarianceErrors(bool force_symmetry); + void constrainStateVariances(); - // constrain the ekf states - void constrainStates(); + void constrainStateVar(const IdxDof &state, float min, float max); + void constrainStateVarLimitRatio(const IdxDof &state, float min, float max, float max_ratio = 1.e6f); // generic function which will perform a fusion step given a kalman gain K // and a scalar innovation value - void fuse(const Vector24f &K, float innovation); - - float compensateBaroForDynamicPressure(float baro_alt_uncompensated) const; + void fuse(const VectorState &K, float innovation); // calculate the earth rotation vector from a given latitude Vector3f calcEarthRateNED(float lat_rad) const; - // return true id the GPS quality is good enough to set an origin and start aiding - bool gps_is_good(const gpsMessage &gps); - // Control the filter fusion modes void controlFusionModes(const imuSample &imu_delayed); #if defined(CONFIG_EKF2_EXTERNAL_VISION) // control fusion of external vision observations - void controlExternalVisionFusion(); - void controlEvHeightFusion(const extVisionSample &ev_sample, const bool common_starting_conditions_passing, const bool ev_reset, const bool quality_sufficient, estimator_aid_source1d_s &aid_src); - void controlEvPosFusion(const extVisionSample &ev_sample, const bool common_starting_conditions_passing, const bool ev_reset, const bool quality_sufficient, estimator_aid_source2d_s &aid_src); - void controlEvVelFusion(const extVisionSample &ev_sample, const bool common_starting_conditions_passing, const bool ev_reset, const bool quality_sufficient, estimator_aid_source3d_s &aid_src); - void controlEvYawFusion(const extVisionSample &ev_sample, const bool common_starting_conditions_passing, const bool ev_reset, const bool quality_sufficient, estimator_aid_source1d_s &aid_src); + void controlExternalVisionFusion(const imuSample &imu_sample); + void updateEvAttitudeErrorFilter(extVisionSample &ev_sample, bool ev_reset); + void controlEvHeightFusion(const imuSample &imu_sample, const extVisionSample &ev_sample, + const bool common_starting_conditions_passing, const bool ev_reset, const bool quality_sufficient, + estimator_aid_source1d_s &aid_src); + void controlEvPosFusion(const imuSample &imu_sample, const extVisionSample &ev_sample, + const bool common_starting_conditions_passing, const bool ev_reset, const bool quality_sufficient, + estimator_aid_source2d_s &aid_src); + void controlEvVelFusion(const imuSample &imu_sample, const extVisionSample &ev_sample, + const bool common_starting_conditions_passing, const bool ev_reset, const bool quality_sufficient, + estimator_aid_source3d_s &aid_src); + void controlEvYawFusion(const imuSample &imu_sample, const extVisionSample &ev_sample, + const bool common_starting_conditions_passing, const bool ev_reset, const bool quality_sufficient, + estimator_aid_source1d_s &aid_src); + void resetVelocityToEV(const Vector3f &measurement, const Vector3f &measurement_var, const VelocityFrame &vel_frame); + Vector3f rotateVarianceToEkf(const Vector3f &measurement_var); void startEvPosFusion(const Vector2f &measurement, const Vector2f &measurement_var, estimator_aid_source2d_s &aid_src); - void updateEvPosFusion(const Vector2f &measurement, const Vector2f &measurement_var, bool quality_sufficient, bool reset, estimator_aid_source2d_s &aid_src); + void updateEvPosFusion(const Vector2f &measurement, const Vector2f &measurement_var, bool quality_sufficient, + bool reset, estimator_aid_source2d_s &aid_src); void stopEvPosFusion(); void stopEvHgtFusion(); void stopEvVelFusion(); void stopEvYawFusion(); + bool fuseEvVelocity(estimator_aid_source3d_s &aid_src, const extVisionSample &ev_sample); + void fuseBodyVelocity(estimator_aid_source1d_s &aid_src, float &innov_var, VectorState &H) + { + VectorState Kfusion = P * H / innov_var; + aid_src.fused = measurementUpdate(Kfusion, H, aid_src.observation_variance, aid_src.innovation); + } #endif // CONFIG_EKF2_EXTERNAL_VISION +#if defined(CONFIG_EKF2_GNSS) // control fusion of GPS observations void controlGpsFusion(const imuSample &imu_delayed); + void stopGpsFusion(); + void updateGnssVel(const imuSample &imu_sample, const gnssSample &gnss_sample, estimator_aid_source3d_s &aid_src); + void updateGnssPos(const gnssSample &gnss_sample, estimator_aid_source2d_s &aid_src); + void controlGnssYawEstimator(estimator_aid_source3d_s &aid_src_vel); + bool tryYawEmergencyReset(); + void resetVelocityToGnss(estimator_aid_source3d_s &aid_src); + void resetHorizontalPositionToGnss(estimator_aid_source2d_s &aid_src); bool shouldResetGpsFusion() const; + + /* + * Return true if the GPS solution quality is adequate. + * Checks are activated using the EKF2_GPS_CHECK bitmask parameter + * Checks are adjusted using the EKF2_REQ_* parameters + */ + bool runGnssChecks(const gnssSample &gps); + + void controlGnssHeightFusion(const gnssSample &gps_sample); + void stopGpsHgtFusion(); + + void resetGpsDriftCheckFilters(); + +# if defined(CONFIG_EKF2_GNSS_YAW) + void controlGnssYawFusion(const gnssSample &gps_sample); + void stopGnssYawFusion(); + + // fuse the yaw angle obtained from a dual antenna GPS unit + void fuseGnssYaw(float antenna_yaw_offset); + + // reset the quaternions states using the yaw angle obtained from a dual antenna GPS unit + // return true if the reset was successful + bool resetYawToGnss(float gnss_yaw, float gnss_yaw_offset); + + void updateGnssYaw(const gnssSample &gps_sample); + +# endif // CONFIG_EKF2_GNSS_YAW + + // Declarations used to control use of the EKF-GSF yaw estimator bool isYawFailure() const; + // Resets the main Nav EKf yaw to the estimator from the EKF-GSF yaw estimator + // Returns true if the reset was successful + bool resetYawToEKFGSF(); + + // yaw estimator instance + EKFGSF_yaw _yawEstimator{}; + +#endif // CONFIG_EKF2_GNSS + +#if defined(CONFIG_EKF2_MAGNETOMETER) // control fusion of magnetometer observations - void controlMagFusion(); + void controlMagFusion(const imuSample &imu_sample); + + bool checkHaglYawResetReq() const; - bool magReset(); + void resetMagHeading(const Vector3f &mag); + void resetMagStates(const Vector3f &mag, bool reset_heading = true); bool haglYawResetReq(); - void selectMagAuto(); - void check3DMagFusionSuitability(); - void checkYawAngleObservability(); - void checkMagBiasObservability(); - bool canUse3DMagFusion() const; + void checkMagHeadingConsistency(const magSample &mag_sample); - void checkMagDeclRequired(); - bool shouldInhibitMag() const; - bool magFieldStrengthDisturbed(const Vector3f &mag) const; + bool checkMagField(const Vector3f &mag); static bool isMeasuredMatchingExpected(float measured, float expected, float gate); - void runMagAndMagDeclFusions(const Vector3f &mag); - void run3DMagAndDeclFusions(const Vector3f &mag); + + void stopMagFusion(); + + // calculate a synthetic value for the magnetometer Z component, given the 3D magnetomter + // sensor measurement + float calculate_synthetic_mag_z_measurement(const Vector3f &mag_meas, const Vector3f &mag_earth_predicted); + +#endif // CONFIG_EKF2_MAGNETOMETER // control fusion of fake position observations to constrain drift void controlFakePosFusion(); @@ -1045,72 +1069,52 @@ class Ekf final : public EstimatorInterface void resetHeightToLastKnown(); void stopFakeHgtFusion(); - void controlZeroVelocityUpdate(); - void controlZeroInnovationHeadingUpdate(); #if defined(CONFIG_EKF2_AUXVEL) // control fusion of auxiliary velocity observations - void controlAuxVelFusion(); + void controlAuxVelFusion(const imuSample &imu_sample); void stopAuxVelFusion(); #endif // CONFIG_EKF2_AUXVEL + void checkVerticalAccelerationBias(const imuSample &imu_delayed); void checkVerticalAccelerationHealth(const imuSample &imu_delayed); Likelihood estimateInertialNavFallingLikelihood() const; // control for combined height fusion mode (implemented for switching between baro and range height) void controlHeightFusion(const imuSample &imu_delayed); void checkHeightSensorRefFallback(); - void controlBaroHeightFusion(); - void controlGnssHeightFusion(const gpsSample &gps_sample); - - void stopMagFusion(); - void stopMag3DFusion(); - void stopMagHdgFusion(); - void startMagHdgFusion(); - void startMag3DFusion(); +#if defined(CONFIG_EKF2_BAROMETER) + void controlBaroHeightFusion(const imuSample &imu_sample); void stopBaroHgtFusion(); - void stopGpsHgtFusion(); void updateGroundEffect(); +# if defined(CONFIG_EKF2_BARO_COMPENSATION) + float compensateBaroForDynamicPressure(const imuSample &imu_sample, float baro_alt_uncompensated) const; +# endif // CONFIG_EKF2_BARO_COMPENSATION + +#endif // CONFIG_EKF2_BAROMETER + +#if defined(CONFIG_EKF2_GRAVITY_FUSION) // gravity fusion: heuristically enable / disable gravity fusion void controlGravityFusion(const imuSample &imu_delayed); +#endif // CONFIG_EKF2_GRAVITY_FUSION - // initialise the quaternion covariances using rotation vector variances - // do not call before quaternion states are initialised - void initialiseQuatCovariances(Vector3f &rot_vec_var); - - // perform a limited reset of the magnetic field related state covariances - void resetMagRelatedCovariances(); + void resetQuatCov(const float yaw_noise = NAN); + void resetQuatCov(const Vector3f &rot_var_ned); - void resetQuatCov(); - void zeroQuatCov(); +#if defined(CONFIG_EKF2_MAGNETOMETER) void resetMagCov(); +#endif // CONFIG_EKF2_MAGNETOMETER - // perform a reset of the wind states and related covariances - void resetWind(); +#if defined(CONFIG_EKF2_WIND) + void resetWindCov(); void resetWindToZero(); +#endif // CONFIG_EKF2_WIND - // Increase the yaw error variance of the quaternions - // Argument is additional yaw variance in rad**2 - void increaseQuatYawErrVariance(float yaw_variance); - - // load and save mag field state covariance data for re-use - void loadMagCovData(); - void saveMagCovData(); - void clearMagCov(); - void zeroMagCov(); - - void resetZDeltaAngBiasCov(); - - // uncorrelate quaternion states from other states - void uncorrelateQuatFromOtherStates(); - - // calculate a synthetic value for the magnetometer Z component, given the 3D magnetomter - // sensor measurement - float calculate_synthetic_mag_z_measurement(const Vector3f &mag_meas, const Vector3f &mag_earth_predicted); + void resetGyroBiasZCov(); bool isTimedOut(uint64_t last_sensor_timestamp, uint64_t timeout_period) const { @@ -1127,128 +1131,226 @@ class Ekf final : public EstimatorInterface return (sensor_timestamp != 0) && (sensor_timestamp + acceptance_interval > _time_latest_us); } - void stopGpsFusion(); - void stopGpsPosFusion(); - void stopGpsVelFusion(); - void resetFakePosFusion(); - void stopFakePosFusion(); - - void setVelPosStatus(const int index, const bool healthy); + bool runFakePosStateMachine(bool enable_condition_passing, bool status_flag, estimator_aid_source2d_s &aid_src); // reset the quaternion states and covariances to the new yaw value, preserving the roll and pitch // yaw : Euler yaw angle (rad) // yaw_variance : yaw error variance (rad^2) void resetQuatStateYaw(float yaw, float yaw_variance); - // Declarations used to control use of the EKF-GSF yaw estimator - - // yaw estimator instance - EKFGSF_yaw _yawEstimator{}; - - uint8_t _height_sensor_ref{HeightSensor::UNKNOWN}; - uint8_t _position_sensor_ref{static_cast(PositionSensor::GNSS)}; - - HeightBiasEstimator _baro_b_est{HeightSensor::BARO, _height_sensor_ref}; - HeightBiasEstimator _gps_hgt_b_est{HeightSensor::GNSS, _height_sensor_ref}; + HeightSensor _height_sensor_ref{HeightSensor::UNKNOWN}; + PositionSensor _position_sensor_ref{PositionSensor::GNSS}; #if defined(CONFIG_EKF2_EXTERNAL_VISION) - HeightBiasEstimator _ev_hgt_b_est{HeightSensor::EV, _height_sensor_ref}; - PositionBiasEstimator _ev_pos_b_est{static_cast(PositionSensor::EV), _position_sensor_ref}; + HeightBiasEstimator _ev_hgt_b_est {HeightSensor::EV, _height_sensor_ref}; + PositionBiasEstimator _ev_pos_b_est{PositionSensor::EV, _position_sensor_ref}; + AlphaFilter _ev_q_error_filt{0.001f}; + bool _ev_q_error_initialized{false}; #endif // CONFIG_EKF2_EXTERNAL_VISION - // Resets the main Nav EKf yaw to the estimator from the EKF-GSF yaw estimator - // Resets the horizontal velocity and position to the default navigation sensor - // Returns true if the reset was successful - bool resetYawToEKFGSF(); + // state was reset to aid source, keep observation and update all other fields appropriately (zero innovation, etc) + void resetAidSourceStatusZeroInnovation(estimator_aid_source1d_s &status) const + { + status.time_last_fuse = _time_delayed_us; - void resetGpsDriftCheckFilters(); + status.innovation = 0.f; + status.innovation_filtered = 0.f; + status.innovation_variance = status.observation_variance; + + status.test_ratio = 0.f; + status.test_ratio_filtered = 0.f; + + status.innovation_rejected = false; + status.fused = true; + } - void resetEstimatorAidStatus(estimator_aid_source1d_s &status) const + // helper used for populating and filtering estimator aid source struct for logging + void updateAidSourceStatus(estimator_aid_source1d_s &status, const uint64_t ×tamp_sample, + const float &observation, const float &observation_variance, + const float &innovation, const float &innovation_variance, + float innovation_gate = 1.f) const { - // only bother resetting if timestamp_sample is set - if (status.timestamp_sample != 0) { - status.timestamp_sample = 0; + bool innovation_rejected = false; - // preserve status.time_last_fuse + const float test_ratio = sq(innovation) / (sq(innovation_gate) * innovation_variance); - status.observation = 0; - status.observation_variance = 0; + if ((status.timestamp_sample > 0) && (timestamp_sample > status.timestamp_sample)) { - status.innovation = 0; - status.innovation_variance = 0; - status.test_ratio = INFINITY; + const float dt_s = math::constrain((timestamp_sample - status.timestamp_sample) * 1e-6f, 0.001f, 1.f); - status.fusion_enabled = false; - status.innovation_rejected = true; - status.fused = false; - } - } + static constexpr float tau = 0.5f; + const float alpha = math::constrain(dt_s / (dt_s + tau), 0.f, 1.f); - template - void resetEstimatorAidStatus(T &status) const - { - // only bother resetting if timestamp_sample is set - if (status.timestamp_sample != 0) { - status.timestamp_sample = 0; + // test_ratio_filtered + if (PX4_ISFINITE(status.test_ratio_filtered)) { + status.test_ratio_filtered += alpha * (matrix::sign(innovation) * test_ratio - status.test_ratio_filtered); + + } else { + // otherwise, init the filtered test ratio + status.test_ratio_filtered = test_ratio; + } - // preserve status.time_last_fuse + // innovation_filtered + if (PX4_ISFINITE(status.innovation_filtered)) { + status.innovation_filtered += alpha * (innovation - status.innovation_filtered); - for (size_t i = 0; i < (sizeof(status.observation) / sizeof(status.observation[0])); i++) { - status.observation[i] = 0; - status.observation_variance[i] = 0; + } else { + // otherwise, init the filtered innovation + status.innovation_filtered = innovation; + } + + + // limit extremes in filtered values + static constexpr float kNormalizedInnovationLimit = 2.f; + static constexpr float kTestRatioLimit = sq(kNormalizedInnovationLimit); + + if (test_ratio > kTestRatioLimit) { + + status.test_ratio_filtered = math::constrain(status.test_ratio_filtered, -kTestRatioLimit, kTestRatioLimit); - status.innovation[i] = 0; - status.innovation_variance[i] = 0; - status.test_ratio[i] = INFINITY; + const float innov_limit = kNormalizedInnovationLimit * innovation_gate * sqrtf(innovation_variance); + status.innovation_filtered = math::constrain(status.innovation_filtered, -innov_limit, innov_limit); } - status.fusion_enabled = false; - status.innovation_rejected = true; - status.fused = false; + } else { + // invalid timestamp_sample, reset + status.test_ratio_filtered = test_ratio; + status.innovation_filtered = innovation; + } + + status.test_ratio = test_ratio; + + status.observation = observation; + status.observation_variance = observation_variance; + + status.innovation = innovation; + status.innovation_variance = innovation_variance; + + if ((test_ratio > 1.f) + || !PX4_ISFINITE(test_ratio) + || !PX4_ISFINITE(status.innovation) + || !PX4_ISFINITE(status.innovation_variance) + ) { + innovation_rejected = true; } + + status.timestamp_sample = timestamp_sample; + + // if any of the innovations are rejected, then the overall innovation is rejected + status.innovation_rejected = innovation_rejected; + + // reset + status.fused = false; } - void setEstimatorAidStatusTestRatio(estimator_aid_source1d_s &status, float innovation_gate) const + // state was reset to aid source, keep observation and update all other fields appropriately (zero innovation, etc) + template + void resetAidSourceStatusZeroInnovation(T &status) const { - if (PX4_ISFINITE(status.innovation) - && PX4_ISFINITE(status.innovation_variance) - && (status.innovation_variance > 0.f) - ) { - status.test_ratio = sq(status.innovation) / (sq(innovation_gate) * status.innovation_variance); - status.innovation_rejected = (status.test_ratio > 1.f); + status.time_last_fuse = _time_delayed_us; - } else { - status.test_ratio = INFINITY; - status.innovation_rejected = true; + for (size_t i = 0; i < (sizeof(status.observation) / sizeof(status.observation[0])); i++) { + status.innovation[i] = 0.f; + status.innovation_filtered[i] = 0.f; + status.innovation_variance[i] = status.observation_variance[i]; + + status.test_ratio[i] = 0.f; + status.test_ratio_filtered[i] = 0.f; } + + status.innovation_rejected = false; + status.fused = true; } - template - void setEstimatorAidStatusTestRatio(T &status, float innovation_gate) const + // helper used for populating and filtering estimator aid source struct for logging + template + void updateAidSourceStatus(T &status, const uint64_t ×tamp_sample, + const S &observation, const S &observation_variance, + const S &innovation, const S &innovation_variance, + float innovation_gate = 1.f) const { bool innovation_rejected = false; - for (size_t i = 0; i < (sizeof(status.test_ratio) / sizeof(status.test_ratio[0])); i++) { - if (PX4_ISFINITE(status.innovation[i]) - && PX4_ISFINITE(status.innovation_variance[i]) - && (status.innovation_variance[i] > 0.f) - ) { - status.test_ratio[i] = sq(status.innovation[i]) / (sq(innovation_gate) * status.innovation_variance[i]); + const float dt_s = math::constrain((timestamp_sample - status.timestamp_sample) * 1e-6f, 0.001f, 1.f); + + static constexpr float tau = 0.5f; + const float alpha = math::constrain(dt_s / (dt_s + tau), 0.f, 1.f); + + for (size_t i = 0; i < (sizeof(status.observation) / sizeof(status.observation[0])); i++) { + + const float test_ratio = sq(innovation(i)) / (sq(innovation_gate) * innovation_variance(i)); + + if ((status.timestamp_sample > 0) && (timestamp_sample > status.timestamp_sample)) { + + // test_ratio_filtered + if (PX4_ISFINITE(status.test_ratio_filtered[i])) { + status.test_ratio_filtered[i] += alpha * (matrix::sign(innovation(i)) * test_ratio - status.test_ratio_filtered[i]); + + } else { + // otherwise, init the filtered test ratio + status.test_ratio_filtered[i] = test_ratio; + } + + // innovation_filtered + if (PX4_ISFINITE(status.innovation_filtered[i])) { + status.innovation_filtered[i] += alpha * (innovation(i) - status.innovation_filtered[i]); + + } else { + // otherwise, init the filtered innovation + status.innovation_filtered[i] = innovation(i); + } + + // limit extremes in filtered values + static constexpr float kNormalizedInnovationLimit = 2.f; + static constexpr float kTestRatioLimit = sq(kNormalizedInnovationLimit); - if (status.test_ratio[i] > 1.f) { - innovation_rejected = true; + if (test_ratio > kTestRatioLimit) { + + status.test_ratio_filtered[i] = math::constrain(status.test_ratio_filtered[i], -kTestRatioLimit, kTestRatioLimit); + + const float innov_limit = kNormalizedInnovationLimit * innovation_gate * sqrtf(innovation_variance(i)); + status.innovation_filtered[i] = math::constrain(status.innovation_filtered[i], -innov_limit, innov_limit); } } else { - status.test_ratio[i] = INFINITY; + // invalid timestamp_sample, reset + status.test_ratio_filtered[i] = test_ratio; + status.innovation_filtered[i] = innovation(i); + } + + status.test_ratio[i] = test_ratio; + + status.observation[i] = observation(i); + status.observation_variance[i] = observation_variance(i); + + status.innovation[i] = innovation(i); + status.innovation_variance[i] = innovation_variance(i); + + if ((test_ratio > 1.f) + || !PX4_ISFINITE(test_ratio) + || !PX4_ISFINITE(status.innovation[i]) + || !PX4_ISFINITE(status.innovation_variance[i]) + ) { innovation_rejected = true; } } + status.timestamp_sample = timestamp_sample; + // if any of the innovations are rejected, then the overall innovation is rejected status.innovation_rejected = innovation_rejected; + + // reset + status.fused = false; } + + ZeroGyroUpdate _zero_gyro_update{}; + ZeroVelocityUpdate _zero_velocity_update{}; + +#if defined(CONFIG_EKF2_AUX_GLOBAL_POSITION) && defined(MODULE_NAME) + AuxGlobalPosition _aux_global_position {}; +#endif // CONFIG_EKF2_AUX_GLOBAL_POSITION }; #endif // !EKF_EKF_H diff --git a/src/modules/ekf2/EKF/ekf_helper.cpp b/src/modules/ekf2/EKF/ekf_helper.cpp index 9e89016abb60..9df8fe1da239 100644 --- a/src/modules/ekf2/EKF/ekf_helper.cpp +++ b/src/modules/ekf2/EKF/ekf_helper.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2015 Estimation and Control Library (ECL). All rights reserved. + * Copyright (c) 2015-2023 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -12,7 +12,7 @@ * notice, this list of conditions and the following disclaimer in * the documentation and/or other materials provided with the * distribution. - * 3. Neither the name ECL nor the names of its contributors may be + * 3. Neither the name PX4 nor the names of its contributors may be * used to endorse or promote products derived from this software * without specific prior written permission. * @@ -42,123 +42,9 @@ #include "ekf.h" #include +#include #include -void Ekf::resetHorizontalVelocityToZero() -{ - _information_events.flags.reset_vel_to_zero = true; - ECL_INFO("reset velocity to zero"); - // Used when falling back to non-aiding mode of operation - resetHorizontalVelocityTo(Vector2f{0.f, 0.f}, 25.f); -} - -void Ekf::resetVelocityTo(const Vector3f &new_vel, const Vector3f &new_vel_var) -{ - resetHorizontalVelocityTo(Vector2f(new_vel), Vector2f(new_vel_var(0), new_vel_var(1))); - resetVerticalVelocityTo(new_vel(2), new_vel_var(2)); -} - -void Ekf::resetHorizontalVelocityTo(const Vector2f &new_horz_vel, const Vector2f &new_horz_vel_var) -{ - const Vector2f delta_horz_vel = new_horz_vel - Vector2f(_state.vel); - _state.vel.xy() = new_horz_vel; - - if (PX4_ISFINITE(new_horz_vel_var(0))) { - P.uncorrelateCovarianceSetVariance<1>(4, math::max(sq(0.01f), new_horz_vel_var(0))); - } - - if (PX4_ISFINITE(new_horz_vel_var(1))) { - P.uncorrelateCovarianceSetVariance<1>(5, math::max(sq(0.01f), new_horz_vel_var(1))); - } - - _output_predictor.resetHorizontalVelocityTo(delta_horz_vel); - - // record the state change - if (_state_reset_status.reset_count.velNE == _state_reset_count_prev.velNE) { - _state_reset_status.velNE_change = delta_horz_vel; - - } else { - // there's already a reset this update, accumulate total delta - _state_reset_status.velNE_change += delta_horz_vel; - } - - _state_reset_status.reset_count.velNE++; - - // Reset the timout timer - _time_last_hor_vel_fuse = _time_delayed_us; -} - -void Ekf::resetVerticalVelocityTo(float new_vert_vel, float new_vert_vel_var) -{ - const float delta_vert_vel = new_vert_vel - _state.vel(2); - _state.vel(2) = new_vert_vel; - - if (PX4_ISFINITE(new_vert_vel_var)) { - P.uncorrelateCovarianceSetVariance<1>(6, math::max(sq(0.01f), new_vert_vel_var)); - } - - _output_predictor.resetVerticalVelocityTo(delta_vert_vel); - - // record the state change - if (_state_reset_status.reset_count.velD == _state_reset_count_prev.velD) { - _state_reset_status.velD_change = delta_vert_vel; - - } else { - // there's already a reset this update, accumulate total delta - _state_reset_status.velD_change += delta_vert_vel; - } - - _state_reset_status.reset_count.velD++; - - // Reset the timout timer - _time_last_ver_vel_fuse = _time_delayed_us; -} - -void Ekf::resetHorizontalPositionToLastKnown() -{ - ECL_INFO("reset position to last known (%.3f, %.3f)", (double)_last_known_pos(0), (double)_last_known_pos(1)); - - _information_events.flags.reset_pos_to_last_known = true; - - // Used when falling back to non-aiding mode of operation - resetHorizontalPositionTo(_last_known_pos.xy(), sq(_params.pos_noaid_noise)); -} - -void Ekf::resetHorizontalPositionTo(const Vector2f &new_horz_pos, const Vector2f &new_horz_pos_var) -{ - const Vector2f delta_horz_pos{new_horz_pos - Vector2f{_state.pos}}; - _state.pos.xy() = new_horz_pos; - - if (PX4_ISFINITE(new_horz_pos_var(0))) { - P.uncorrelateCovarianceSetVariance<1>(7, math::max(sq(0.01f), new_horz_pos_var(0))); - } - - if (PX4_ISFINITE(new_horz_pos_var(1))) { - P.uncorrelateCovarianceSetVariance<1>(8, math::max(sq(0.01f), new_horz_pos_var(1))); - } - - _output_predictor.resetHorizontalPositionTo(delta_horz_pos); - - // record the state change - if (_state_reset_status.reset_count.posNE == _state_reset_count_prev.posNE) { - _state_reset_status.posNE_change = delta_horz_pos; - - } else { - // there's already a reset this update, accumulate total delta - _state_reset_status.posNE_change += delta_horz_pos; - } - - _state_reset_status.reset_count.posNE++; - -#if defined(CONFIG_EKF2_EXTERNAL_VISION) - _ev_pos_b_est.setBias(_ev_pos_b_est.getBias() - _state_reset_status.posNE_change); -#endif // CONFIG_EKF2_EXTERNAL_VISION - //_gps_pos_b_est.setBias(_gps_pos_b_est.getBias() + _state_reset_status.posNE_change); - - // Reset the timout timer - _time_last_hor_pos_fuse = _time_delayed_us; -} - bool Ekf::isHeightResetRequired() const { // check if height is continuously failing because of accel errors @@ -170,108 +56,6 @@ bool Ekf::isHeightResetRequired() const return (continuous_bad_accel_hgt || hgt_fusion_timeout); } -void Ekf::resetVerticalPositionTo(const float new_vert_pos, float new_vert_pos_var) -{ - const float old_vert_pos = _state.pos(2); - _state.pos(2) = new_vert_pos; - - if (PX4_ISFINITE(new_vert_pos_var)) { - // the state variance is the same as the observation - P.uncorrelateCovarianceSetVariance<1>(9, math::max(sq(0.01f), new_vert_pos_var)); - } - - const float delta_z = new_vert_pos - old_vert_pos; - - // apply the change in height / height rate to our newest height / height rate estimate - // which have already been taken out from the output buffer - _output_predictor.resetVerticalPositionTo(new_vert_pos, delta_z); - - // record the state change - if (_state_reset_status.reset_count.posD == _state_reset_count_prev.posD) { - _state_reset_status.posD_change = delta_z; - - } else { - // there's already a reset this update, accumulate total delta - _state_reset_status.posD_change += delta_z; - } - - _state_reset_status.reset_count.posD++; - - _baro_b_est.setBias(_baro_b_est.getBias() + delta_z); -#if defined(CONFIG_EKF2_EXTERNAL_VISION) - _ev_hgt_b_est.setBias(_ev_hgt_b_est.getBias() - delta_z); -#endif // CONFIG_EKF2_EXTERNAL_VISION - _gps_hgt_b_est.setBias(_gps_hgt_b_est.getBias() + delta_z); -#if defined(CONFIG_EKF2_RANGE_FINDER) - _rng_hgt_b_est.setBias(_rng_hgt_b_est.getBias() + delta_z); -#endif // CONFIG_EKF2_RANGE_FINDER - - // Reset the timout timer - _time_last_hgt_fuse = _time_delayed_us; -} - -void Ekf::resetVerticalVelocityToZero() -{ - // we don't know what the vertical velocity is, so set it to zero - // Set the variance to a value large enough to allow the state to converge quickly - // that does not destabilise the filter - resetVerticalVelocityTo(0.0f, 10.f); -} - -void Ekf::constrainStates() -{ - _state.quat_nominal = matrix::constrain(_state.quat_nominal, -1.0f, 1.0f); - _state.vel = matrix::constrain(_state.vel, -1000.0f, 1000.0f); - _state.pos = matrix::constrain(_state.pos, -1.e6f, 1.e6f); - - const float delta_ang_bias_limit = getGyroBiasLimit() * _dt_ekf_avg; - _state.delta_ang_bias = matrix::constrain(_state.delta_ang_bias, -delta_ang_bias_limit, delta_ang_bias_limit); - - const float delta_vel_bias_limit = getAccelBiasLimit() * _dt_ekf_avg; - _state.delta_vel_bias = matrix::constrain(_state.delta_vel_bias, -delta_vel_bias_limit, delta_vel_bias_limit); - - _state.mag_I = matrix::constrain(_state.mag_I, -1.0f, 1.0f); - _state.mag_B = matrix::constrain(_state.mag_B, -getMagBiasLimit(), getMagBiasLimit()); - _state.wind_vel = matrix::constrain(_state.wind_vel, -100.0f, 100.0f); -} - -float Ekf::compensateBaroForDynamicPressure(const float baro_alt_uncompensated) const -{ -#if defined(CONFIG_EKF2_BARO_COMPENSATION) - if (_control_status.flags.wind && local_position_is_valid()) { - // calculate static pressure error = Pmeas - Ptruth - // model position error sensitivity as a body fixed ellipse with a different scale in the positive and - // negative X and Y directions. Used to correct baro data for positional errors - - // Calculate airspeed in body frame - const Vector3f vel_imu_rel_body_ned = _R_to_earth * (_ang_rate_delayed_raw % _params.imu_pos_body); - const Vector3f velocity_earth = _state.vel - vel_imu_rel_body_ned; - - const Vector3f wind_velocity_earth(_state.wind_vel(0), _state.wind_vel(1), 0.0f); - - const Vector3f airspeed_earth = velocity_earth - wind_velocity_earth; - - const Vector3f airspeed_body = _state.quat_nominal.rotateVectorInverse(airspeed_earth); - - const Vector3f K_pstatic_coef( - airspeed_body(0) >= 0.f ? _params.static_pressure_coef_xp : _params.static_pressure_coef_xn, - airspeed_body(1) >= 0.f ? _params.static_pressure_coef_yp : _params.static_pressure_coef_yn, - _params.static_pressure_coef_z); - - const Vector3f airspeed_squared = matrix::min(airspeed_body.emult(airspeed_body), sq(_params.max_correction_airspeed)); - - const float pstatic_err = 0.5f * _air_density * (airspeed_squared.dot(K_pstatic_coef)); - - // correct baro measurement using pressure error estimate and assuming sea level gravity - return baro_alt_uncompensated + pstatic_err / (_air_density * CONSTANTS_ONE_G); - } -#endif // CONFIG_EKF2_BARO_COMPENSATION - - // otherwise return the uncorrected baro measurement - return baro_alt_uncompensated; -} - -// calculate the earth rotation vector Vector3f Ekf::calcEarthRateNED(float lat_rad) const { return Vector3f(CONSTANTS_EARTH_SPIN_RATE * cosf(lat_rad), @@ -279,125 +63,6 @@ Vector3f Ekf::calcEarthRateNED(float lat_rad) const -CONSTANTS_EARTH_SPIN_RATE * sinf(lat_rad)); } -void Ekf::getGpsVelPosInnov(float hvel[2], float &vvel, float hpos[2], float &vpos) const -{ - hvel[0] = _aid_src_gnss_vel.innovation[0]; - hvel[1] = _aid_src_gnss_vel.innovation[1]; - vvel = _aid_src_gnss_vel.innovation[2]; - - hpos[0] = _aid_src_gnss_pos.innovation[0]; - hpos[1] = _aid_src_gnss_pos.innovation[1]; - vpos = _aid_src_gnss_hgt.innovation; -} - -void Ekf::getGpsVelPosInnovVar(float hvel[2], float &vvel, float hpos[2], float &vpos) const -{ - hvel[0] = _aid_src_gnss_vel.innovation_variance[0]; - hvel[1] = _aid_src_gnss_vel.innovation_variance[1]; - vvel = _aid_src_gnss_vel.innovation_variance[2]; - - hpos[0] = _aid_src_gnss_pos.innovation_variance[0]; - hpos[1] = _aid_src_gnss_pos.innovation_variance[1]; - vpos = _aid_src_gnss_hgt.innovation_variance; -} - -void Ekf::getGpsVelPosInnovRatio(float &hvel, float &vvel, float &hpos, float &vpos) const -{ - hvel = fmaxf(_aid_src_gnss_vel.test_ratio[0], _aid_src_gnss_vel.test_ratio[1]); - vvel = _aid_src_gnss_vel.test_ratio[2]; - - hpos = fmaxf(_aid_src_gnss_pos.test_ratio[0], _aid_src_gnss_pos.test_ratio[1]); - vpos = _aid_src_gnss_hgt.test_ratio; -} - -#if defined(CONFIG_EKF2_EXTERNAL_VISION) -void Ekf::getEvVelPosInnov(float hvel[2], float &vvel, float hpos[2], float &vpos) const -{ - hvel[0] = _aid_src_ev_vel.innovation[0]; - hvel[1] = _aid_src_ev_vel.innovation[1]; - vvel = _aid_src_ev_vel.innovation[2]; - - hpos[0] = _aid_src_ev_pos.innovation[0]; - hpos[1] = _aid_src_ev_pos.innovation[1]; - vpos = _aid_src_ev_hgt.innovation; -} - -void Ekf::getEvVelPosInnovVar(float hvel[2], float &vvel, float hpos[2], float &vpos) const -{ - hvel[0] = _aid_src_ev_vel.innovation_variance[0]; - hvel[1] = _aid_src_ev_vel.innovation_variance[1]; - vvel = _aid_src_ev_vel.innovation_variance[2]; - - hpos[0] = _aid_src_ev_pos.innovation_variance[0]; - hpos[1] = _aid_src_ev_pos.innovation_variance[1]; - vpos = _aid_src_ev_hgt.innovation_variance; -} - -void Ekf::getEvVelPosInnovRatio(float &hvel, float &vvel, float &hpos, float &vpos) const -{ - hvel = fmaxf(_aid_src_ev_vel.test_ratio[0], _aid_src_ev_vel.test_ratio[1]); - vvel = _aid_src_ev_vel.test_ratio[2]; - - hpos = fmaxf(_aid_src_ev_pos.test_ratio[0], _aid_src_ev_pos.test_ratio[1]); - vpos = _aid_src_ev_hgt.test_ratio; -} -#endif // CONFIG_EKF2_EXTERNAL_VISION - -#if defined(CONFIG_EKF2_AUXVEL) -void Ekf::getAuxVelInnov(float aux_vel_innov[2]) const -{ - aux_vel_innov[0] = _aid_src_aux_vel.innovation[0]; - aux_vel_innov[1] = _aid_src_aux_vel.innovation[1]; -} - -void Ekf::getAuxVelInnovVar(float aux_vel_innov_var[2]) const -{ - aux_vel_innov_var[0] = _aid_src_aux_vel.innovation_variance[0]; - aux_vel_innov_var[1] = _aid_src_aux_vel.innovation_variance[1]; -} -#endif // CONFIG_EKF2_AUXVEL - -#if defined(CONFIG_EKF2_OPTICAL_FLOW) -void Ekf::getFlowInnov(float flow_innov[2]) const -{ - flow_innov[0] = _aid_src_optical_flow.innovation[0]; - flow_innov[1] = _aid_src_optical_flow.innovation[1]; -} - -void Ekf::getFlowInnovVar(float flow_innov_var[2]) const -{ - flow_innov_var[0] = _aid_src_optical_flow.innovation_variance[0]; - flow_innov_var[1] = _aid_src_optical_flow.innovation_variance[1]; -} - -void Ekf::getTerrainFlowInnov(float flow_innov[2]) const -{ - flow_innov[0] = _aid_src_terrain_optical_flow.innovation[0]; - flow_innov[1] = _aid_src_terrain_optical_flow.innovation[1]; -} - -void Ekf::getTerrainFlowInnovVar(float flow_innov_var[2]) const -{ - flow_innov_var[0] = _aid_src_terrain_optical_flow.innovation_variance[0]; - flow_innov_var[1] = _aid_src_terrain_optical_flow.innovation_variance[1]; -} -#endif // CONFIG_EKF2_OPTICAL_FLOW - -// get the state vector at the delayed time horizon -matrix::Vector Ekf::getStateAtFusionHorizonAsVector() const -{ - matrix::Vector state; - state.slice<4, 1>(0, 0) = _state.quat_nominal; - state.slice<3, 1>(4, 0) = _state.vel; - state.slice<3, 1>(7, 0) = _state.pos; - state.slice<3, 1>(10, 0) = _state.delta_ang_bias; - state.slice<3, 1>(13, 0) = _state.delta_vel_bias; - state.slice<3, 1>(16, 0) = _state.mag_I; - state.slice<3, 1>(19, 0) = _state.mag_B; - state.slice<2, 1>(22, 0) = _state.wind_vel; - return state; -} - bool Ekf::getEkfGlobalOrigin(uint64_t &origin_time, double &latitude, double &longitude, float &origin_alt) const { origin_time = _pos_ref.getProjectionReferenceTimestamp(); @@ -407,13 +72,14 @@ bool Ekf::getEkfGlobalOrigin(uint64_t &origin_time, double &latitude, double &lo return _NED_origin_initialised; } -bool Ekf::setEkfGlobalOrigin(const double latitude, const double longitude, const float altitude) +bool Ekf::setEkfGlobalOrigin(const double latitude, const double longitude, const float altitude, const float eph, + const float epv) { // sanity check valid latitude/longitude and altitude anywhere between the Mariana Trench and edge of Space if (PX4_ISFINITE(latitude) && (abs(latitude) <= 90) - && PX4_ISFINITE(longitude) && (abs(longitude) <= 180) - && PX4_ISFINITE(altitude) && (altitude > -12'000.f) && (altitude < 100'000.f) - ) { + && PX4_ISFINITE(longitude) && (abs(longitude) <= 180) + && PX4_ISFINITE(altitude) && (altitude > -12'000.f) && (altitude < 100'000.f) + ) { bool current_pos_available = false; double current_lat = static_cast(NAN); double current_lon = static_cast(NAN); @@ -424,34 +90,39 @@ bool Ekf::setEkfGlobalOrigin(const double latitude, const double longitude, cons current_pos_available = true; } - const float gps_alt_ref_prev = getEkfGlobalOriginAltitude(); + const float gps_alt_ref_prev = _gps_alt_ref; // reinitialize map projection to latitude, longitude, altitude, and reset position _pos_ref.initReference(latitude, longitude, _time_delayed_us); _gps_alt_ref = altitude; - // minimum change in position or height that triggers a reset - static constexpr float MIN_RESET_DIST_M = 0.01f; + updateWmm(current_lat, current_lon); + + _gpos_origin_eph = eph; + _gpos_origin_epv = epv; + + _NED_origin_initialised = true; if (current_pos_available) { - // reset horizontal position + // reset horizontal position if we already have a global origin Vector2f position = _pos_ref.project(current_lat, current_lon); - - if (Vector2f(position - Vector2f(_state.pos)).longerThan(MIN_RESET_DIST_M)) { - resetHorizontalPositionTo(position); - } + resetHorizontalPositionTo(position); } - // reset vertical position (if there's any change) - if (fabsf(altitude - gps_alt_ref_prev) > MIN_RESET_DIST_M) { + if (PX4_ISFINITE(gps_alt_ref_prev) && isVerticalPositionAidingActive()) { // determine current z - float current_alt = -_state.pos(2) + gps_alt_ref_prev; - + const float z_prev = _state.pos(2); + const float current_alt = -z_prev + gps_alt_ref_prev; +#if defined(CONFIG_EKF2_GNSS) const float gps_hgt_bias = _gps_hgt_b_est.getBias(); +#endif // CONFIG_EKF2_GNSS resetVerticalPositionTo(_gps_alt_ref - current_alt); - - // preserve GPS height bias + ECL_DEBUG("EKF global origin updated, resetting vertical position %.1fm -> %.1fm", (double)z_prev, + (double)_state.pos(2)); +#if defined(CONFIG_EKF2_GNSS) + // adjust existing GPS height bias _gps_hgt_b_est.setBias(gps_hgt_bias); +#endif // CONFIG_EKF2_GNSS } return true; @@ -460,62 +131,96 @@ bool Ekf::setEkfGlobalOrigin(const double latitude, const double longitude, cons return false; } -// get the 1-sigma horizontal and vertical position uncertainty of the ekf WGS-84 position -void Ekf::get_ekf_gpos_accuracy(float *ekf_eph, float *ekf_epv) const +void Ekf::updateWmm(const double lat, const double lon) { - // report absolute accuracy taking into account the uncertainty in location of the origin - // If not aiding, return 0 for horizontal position estimate as no estimate is available - // TODO - allow for baro drift in vertical position error - float hpos_err = sqrtf(P(7, 7) + P(8, 8) + sq(_gps_origin_eph)); +#if defined(CONFIG_EKF2_MAGNETOMETER) - // If we are dead-reckoning, use the innovations as a conservative alternate measure of the horizontal position error - // The reason is that complete rejection of measurements is often caused by heading misalignment or inertial sensing errors - // and using state variances for accuracy reporting is overly optimistic in these situations - if (_control_status.flags.inertial_dead_reckoning) { - if (_control_status.flags.gps) { - hpos_err = math::max(hpos_err, Vector2f(_aid_src_gnss_pos.innovation).norm()); + // set the magnetic field data returned by the geo library using the current GPS position + const float mag_declination_gps = math::radians(get_mag_declination_degrees(lat, lon)); + const float mag_inclination_gps = math::radians(get_mag_inclination_degrees(lat, lon)); + const float mag_strength_gps = get_mag_strength_gauss(lat, lon); + + if (PX4_ISFINITE(mag_declination_gps) && PX4_ISFINITE(mag_inclination_gps) && PX4_ISFINITE(mag_strength_gps)) { + + const bool mag_declination_changed = (fabsf(mag_declination_gps - _mag_declination_gps) > math::radians(1.f)); + const bool mag_inclination_changed = (fabsf(mag_inclination_gps - _mag_inclination_gps) > math::radians(1.f)); + + if ((_wmm_gps_time_last_set == 0) + || !PX4_ISFINITE(_mag_declination_gps) + || !PX4_ISFINITE(_mag_inclination_gps) + || !PX4_ISFINITE(_mag_strength_gps) + || mag_declination_changed + || mag_inclination_changed + ) { + _mag_declination_gps = mag_declination_gps; + _mag_inclination_gps = mag_inclination_gps; + _mag_strength_gps = mag_strength_gps; + + _wmm_gps_time_last_set = _time_delayed_us; } + } -#if defined(CONFIG_EKF2_EXTERNAL_VISION) - if (_control_status.flags.ev_pos) { - hpos_err = math::max(hpos_err, Vector2f(_aid_src_ev_pos.innovation).norm()); +#endif // CONFIG_EKF2_MAGNETOMETER +} + + +void Ekf::get_ekf_gpos_accuracy(float *ekf_eph, float *ekf_epv) const +{ + float eph = INFINITY; + float epv = INFINITY; + + if (global_origin_valid()) { + // report absolute accuracy taking into account the uncertainty in location of the origin + eph = sqrtf(P.trace<2>(State::pos.idx + 0) + sq(_gpos_origin_eph)); + epv = sqrtf(P.trace<1>(State::pos.idx + 2) + sq(_gpos_origin_epv)); + + if (_horizontal_deadreckon_time_exceeded) { + float lpos_eph = 0.f; + float lpos_epv = 0.f; + get_ekf_lpos_accuracy(&lpos_eph, &lpos_epv); + + eph = math::max(eph, lpos_eph); + epv = math::max(epv, lpos_epv); } -#endif // CONFIG_EKF2_EXTERNAL_VISION } - *ekf_eph = hpos_err; - *ekf_epv = sqrtf(P(9, 9) + sq(_gps_origin_epv)); + *ekf_eph = eph; + *ekf_epv = epv; } -// get the 1-sigma horizontal and vertical position uncertainty of the ekf local position void Ekf::get_ekf_lpos_accuracy(float *ekf_eph, float *ekf_epv) const { // TODO - allow for baro drift in vertical position error - float hpos_err = sqrtf(P(7, 7) + P(8, 8)); + float hpos_err = sqrtf(P.trace<2>(State::pos.idx)); // If we are dead-reckoning for too long, use the innovations as a conservative alternate measure of the horizontal position error // The reason is that complete rejection of measurements is often caused by heading misalignment or inertial sensing errors // and using state variances for accuracy reporting is overly optimistic in these situations if (_horizontal_deadreckon_time_exceeded) { +#if defined(CONFIG_EKF2_GNSS) + if (_control_status.flags.gps) { hpos_err = math::max(hpos_err, Vector2f(_aid_src_gnss_pos.innovation).norm()); } +#endif // CONFIG_EKF2_GNSS + #if defined(CONFIG_EKF2_EXTERNAL_VISION) + if (_control_status.flags.ev_pos) { hpos_err = math::max(hpos_err, Vector2f(_aid_src_ev_pos.innovation).norm()); } + #endif // CONFIG_EKF2_EXTERNAL_VISION } *ekf_eph = hpos_err; - *ekf_epv = sqrtf(P(9, 9)); + *ekf_epv = sqrtf(P(State::pos.idx + 2, State::pos.idx + 2)); } -// get the 1-sigma horizontal and vertical velocity uncertainty void Ekf::get_ekf_vel_accuracy(float *ekf_evh, float *ekf_evv) const { - float hvel_err = sqrtf(P(4, 4) + P(5, 5)); + float hvel_err = sqrtf(P.trace<2>(State::vel.idx)); // If we are dead-reckoning for too long, use the innovations as a conservative alternate measure of the horizontal velocity error // The reason is that complete rejection of measurements is often caused by heading misalignment or inertial sensing errors @@ -524,17 +229,24 @@ void Ekf::get_ekf_vel_accuracy(float *ekf_evh, float *ekf_evv) const float vel_err_conservative = 0.0f; #if defined(CONFIG_EKF2_OPTICAL_FLOW) + if (_control_status.flags.opt_flow) { float gndclearance = math::max(_params.rng_gnd_clearance, 0.1f); - vel_err_conservative = math::max((_terrain_vpos - _state.pos(2)), gndclearance) * Vector2f(_aid_src_optical_flow.innovation).norm(); + vel_err_conservative = math::max(getHagl(), gndclearance) * Vector2f(_aid_src_optical_flow.innovation).norm(); } + #endif // CONFIG_EKF2_OPTICAL_FLOW +#if defined(CONFIG_EKF2_GNSS) + if (_control_status.flags.gps) { vel_err_conservative = math::max(vel_err_conservative, Vector2f(_aid_src_gnss_pos.innovation).norm()); } +#endif // CONFIG_EKF2_GNSS + #if defined(CONFIG_EKF2_EXTERNAL_VISION) + if (_control_status.flags.ev_pos) { vel_err_conservative = math::max(vel_err_conservative, Vector2f(_aid_src_ev_pos.innovation).norm()); } @@ -542,22 +254,16 @@ void Ekf::get_ekf_vel_accuracy(float *ekf_evh, float *ekf_evv) const if (_control_status.flags.ev_vel) { vel_err_conservative = math::max(vel_err_conservative, Vector2f(_aid_src_ev_vel.innovation).norm()); } + #endif // CONFIG_EKF2_EXTERNAL_VISION hvel_err = math::max(hvel_err, vel_err_conservative); } *ekf_evh = hvel_err; - *ekf_evv = sqrtf(P(6, 6)); + *ekf_evv = sqrtf(P(State::vel.idx + 2, State::vel.idx + 2)); } -/* -Returns the following vehicle control limits required by the estimator to keep within sensor limitations. -vxy_max : Maximum ground relative horizontal speed (meters/sec). NaN when limiting is not needed. -vz_max : Maximum ground relative vertical speed (meters/sec). NaN when limiting is not needed. -hagl_min : Minimum height above ground (meters). NaN when limiting is not needed. -hagl_max : Maximum height above ground (meters). NaN when limiting is not needed. -*/ void Ekf::get_ekf_ctrl_limits(float *vxy_max, float *vz_max, float *hagl_min, float *hagl_max) const { // Do not require limiting by default @@ -570,8 +276,8 @@ void Ekf::get_ekf_ctrl_limits(float *vxy_max, float *vz_max, float *hagl_min, fl // Calculate range finder limits const float rangefinder_hagl_min = _range_sensor.getValidMinVal(); - // Allow use of 75% of rangefinder maximum range to allow for angular motion - const float rangefinder_hagl_max = 0.75f * _range_sensor.getValidMaxVal(); + // Allow use of 90% of rangefinder maximum range to allow for angular motion + const float rangefinder_hagl_max = 0.9f * _range_sensor.getValidMaxVal(); // TODO : calculate visual odometry limits const bool relying_on_rangefinder = isOnlyActiveSourceOfVerticalPositionAiding(_control_status.flags.rng_hgt); @@ -581,18 +287,25 @@ void Ekf::get_ekf_ctrl_limits(float *vxy_max, float *vz_max, float *hagl_min, fl *hagl_min = rangefinder_hagl_min; *hagl_max = rangefinder_hagl_max; } -#endif // CONFIG_EKF2_RANGE_FINDER -#if defined(CONFIG_EKF2_OPTICAL_FLOW) +# if defined(CONFIG_EKF2_OPTICAL_FLOW) // Keep within flow AND range sensor limits when exclusively using optical flow const bool relying_on_optical_flow = isOnlyActiveSourceOfHorizontalAiding(_control_status.flags.opt_flow); if (relying_on_optical_flow) { // Calculate optical flow limits - const float flow_hagl_min = fmaxf(rangefinder_hagl_min, _flow_min_distance); - const float flow_hagl_max = fminf(rangefinder_hagl_max, _flow_max_distance); + float flow_hagl_min = _flow_min_distance; + float flow_hagl_max = _flow_max_distance; + + // only limit optical flow height is dependent on range finder or terrain estimate invalid (precaution) + if ((!_control_status.flags.opt_flow_terrain && _control_status.flags.rng_terrain) + || !isTerrainEstimateValid() + ) { + flow_hagl_min = math::max(flow_hagl_min, rangefinder_hagl_min); + flow_hagl_max = math::min(flow_hagl_max, rangefinder_hagl_max); + } - const float flow_constrained_height = math::constrain(_terrain_vpos - _state.pos(2), flow_hagl_min, flow_hagl_max); + const float flow_constrained_height = math::constrain(getHagl(), flow_hagl_min, flow_hagl_max); // Allow ground relative velocity to use 50% of available flow sensor range to allow for angular motion const float flow_vxy_max = 0.5f * _flow_max_rate * flow_constrained_height; @@ -601,212 +314,406 @@ void Ekf::get_ekf_ctrl_limits(float *vxy_max, float *vz_max, float *hagl_min, fl *hagl_min = flow_hagl_min; *hagl_max = flow_hagl_max; } -#endif // CONFIG_EKF2_OPTICAL_FLOW -} -void Ekf::resetImuBias() -{ - resetGyroBias(); - resetAccelBias(); +# endif // CONFIG_EKF2_OPTICAL_FLOW + +#endif // CONFIG_EKF2_RANGE_FINDER } void Ekf::resetGyroBias() { - // Zero the delta angle and delta velocity bias states - _state.delta_ang_bias.zero(); + // Zero the gyro bias states + _state.gyro_bias.zero(); - // Zero the corresponding covariances and set - // variances to the values use for initial alignment - P.uncorrelateCovarianceSetVariance<3>(10, sq(_params.switch_on_gyro_bias * _dt_ekf_avg)); + resetGyroBiasCov(); } void Ekf::resetAccelBias() { - // Zero the delta angle and delta velocity bias states - _state.delta_vel_bias.zero(); + // Zero the accel bias states + _state.accel_bias.zero(); - // Zero the corresponding covariances and set - // variances to the values use for initial alignment - P.uncorrelateCovarianceSetVariance<3>(13, sq(_params.switch_on_accel_bias * _dt_ekf_avg)); - - // Set previous frame values - _prev_dvel_bias_var = P.slice<3, 3>(13, 13).diag(); + resetAccelBiasCov(); } -// get EKF innovation consistency check status information comprising of: -// status - a bitmask integer containing the pass/fail status for each EKF measurement innovation consistency check -// Innovation Test Ratios - these are the ratio of the innovation to the acceptance threshold. -// A value > 1 indicates that the sensor measurement has exceeded the maximum acceptable level and has been rejected by the EKF -// Where a measurement type is a vector quantity, eg magnetometer, GPS position, etc, the maximum value is returned. -void Ekf::get_innovation_test_status(uint16_t &status, float &mag, float &vel, float &pos, float &hgt, float &tas, - float &hagl, float &beta) const +float Ekf::getHeadingInnovationTestRatio() const { - // return the integer bitmask containing the consistency check pass/fail status - status = _innov_check_fail_status.value; + // return the largest heading innovation test ratio + float test_ratio = -1.f; - // return the largest magnetometer innovation test ratio - mag = 0.f; +#if defined(CONFIG_EKF2_MAGNETOMETER) - if (_control_status.flags.mag_hdg) { - mag = math::max(mag, sqrtf(_aid_src_mag_heading.test_ratio)); + if (_control_status.flags.mag_hdg || _control_status.flags.mag_3D) { + for (auto &test_ratio_filtered : _aid_src_mag.test_ratio_filtered) { + test_ratio = math::max(test_ratio, fabsf(test_ratio_filtered)); + } } - if (_control_status.flags.mag_3D) { - mag = math::max(mag, sqrtf(Vector3f(_aid_src_mag.test_ratio).max())); - } +#endif // CONFIG_EKF2_MAGNETOMETER #if defined(CONFIG_EKF2_GNSS_YAW) - if (_control_status.flags.gps_yaw) { - mag = math::max(mag, sqrtf(_aid_src_gnss_yaw.test_ratio)); + + if (_control_status.flags.gnss_yaw) { + test_ratio = math::max(test_ratio, fabsf(_aid_src_gnss_yaw.test_ratio_filtered)); } + #endif // CONFIG_EKF2_GNSS_YAW #if defined(CONFIG_EKF2_EXTERNAL_VISION) + if (_control_status.flags.ev_yaw) { - mag = math::max(mag, sqrtf(_aid_src_ev_yaw.test_ratio)); + test_ratio = math::max(test_ratio, fabsf(_aid_src_ev_yaw.test_ratio_filtered)); } + #endif // CONFIG_EKF2_EXTERNAL_VISION - // return the largest velocity and position innovation test ratio - vel = NAN; - pos = NAN; + if (PX4_ISFINITE(test_ratio) && (test_ratio >= 0.f)) { + return sqrtf(test_ratio); + } - if (_control_status.flags.gps) { - float gps_vel = sqrtf(Vector3f(_aid_src_gnss_vel.test_ratio).max()); - vel = math::max(gps_vel, FLT_MIN); + return NAN; +} + +float Ekf::getHorizontalVelocityInnovationTestRatio() const +{ + // return the largest velocity innovation test ratio + float test_ratio = -1.f; - float gps_pos = sqrtf(Vector2f(_aid_src_gnss_pos.test_ratio).max()); - pos = math::max(gps_pos, FLT_MIN); +#if defined(CONFIG_EKF2_GNSS) + + if (_control_status.flags.gps) { + for (int i = 0; i < 2; i++) { // only xy + test_ratio = math::max(test_ratio, fabsf(_aid_src_gnss_vel.test_ratio_filtered[i])); + } } +#endif // CONFIG_EKF2_GNSS + #if defined(CONFIG_EKF2_EXTERNAL_VISION) + if (_control_status.flags.ev_vel) { - float ev_vel = sqrtf(Vector3f(_aid_src_ev_vel.test_ratio).max()); - vel = math::max(vel, ev_vel, FLT_MIN); + for (int i = 0; i < 2; i++) { // only xy + test_ratio = math::max(test_ratio, fabsf(_aid_src_ev_vel.test_ratio_filtered[i])); + } } - if (_control_status.flags.ev_pos) { - float ev_pos = sqrtf(Vector2f(_aid_src_ev_pos.test_ratio).max()); - pos = math::max(pos, ev_pos, FLT_MIN); - } #endif // CONFIG_EKF2_EXTERNAL_VISION #if defined(CONFIG_EKF2_OPTICAL_FLOW) + if (isOnlyActiveSourceOfHorizontalAiding(_control_status.flags.opt_flow)) { - float of_vel = sqrtf(Vector2f(_aid_src_optical_flow.test_ratio).max()); - vel = math::max(of_vel, FLT_MIN); + for (auto &test_ratio_filtered : _aid_src_optical_flow.test_ratio_filtered) { + test_ratio = math::max(test_ratio, fabsf(test_ratio_filtered)); + } } + #endif // CONFIG_EKF2_OPTICAL_FLOW + if (PX4_ISFINITE(test_ratio) && (test_ratio >= 0.f)) { + return sqrtf(test_ratio); + } + + return NAN; +} + +float Ekf::getVerticalVelocityInnovationTestRatio() const +{ + // return the largest velocity innovation test ratio + float test_ratio = -1.f; + +#if defined(CONFIG_EKF2_GNSS) + + if (_control_status.flags.gps) { + test_ratio = math::max(test_ratio, fabsf(_aid_src_gnss_vel.test_ratio_filtered[2])); + } + +#endif // CONFIG_EKF2_GNSS + +#if defined(CONFIG_EKF2_EXTERNAL_VISION) + + if (_control_status.flags.ev_vel) { + test_ratio = math::max(test_ratio, fabsf(_aid_src_ev_vel.test_ratio_filtered[2])); + } + +#endif // CONFIG_EKF2_EXTERNAL_VISION + + if (PX4_ISFINITE(test_ratio) && (test_ratio >= 0.f)) { + return sqrtf(test_ratio); + } + + return NAN; +} + +float Ekf::getHorizontalPositionInnovationTestRatio() const +{ + // return the largest position innovation test ratio + float test_ratio = -1.f; + +#if defined(CONFIG_EKF2_GNSS) + + if (_control_status.flags.gps) { + for (auto &test_ratio_filtered : _aid_src_gnss_pos.test_ratio_filtered) { + test_ratio = math::max(test_ratio, fabsf(test_ratio_filtered)); + } + } + +#endif // CONFIG_EKF2_GNSS + +#if defined(CONFIG_EKF2_EXTERNAL_VISION) + + if (_control_status.flags.ev_pos) { + for (auto &test_ratio_filtered : _aid_src_ev_pos.test_ratio_filtered) { + test_ratio = math::max(test_ratio, fabsf(test_ratio_filtered)); + } + } + +#endif // CONFIG_EKF2_EXTERNAL_VISION + +#if defined(CONFIG_EKF2_AUX_GLOBAL_POSITION) && defined(MODULE_NAME) + + if (_control_status.flags.aux_gpos) { + test_ratio = math::max(test_ratio, fabsf(_aux_global_position.test_ratio_filtered())); + } + +#endif // CONFIG_EKF2_AUX_GLOBAL_POSITION + + if (PX4_ISFINITE(test_ratio) && (test_ratio >= 0.f)) { + return sqrtf(test_ratio); + } + + return NAN; +} + +float Ekf::getVerticalPositionInnovationTestRatio() const +{ // return the combined vertical position innovation test ratio float hgt_sum = 0.f; int n_hgt_sources = 0; +#if defined(CONFIG_EKF2_BAROMETER) + if (_control_status.flags.baro_hgt) { - hgt_sum += sqrtf(_aid_src_baro_hgt.test_ratio); + hgt_sum += sqrtf(fabsf(_aid_src_baro_hgt.test_ratio_filtered)); n_hgt_sources++; } +#endif // CONFIG_EKF2_BAROMETER + +#if defined(CONFIG_EKF2_GNSS) + if (_control_status.flags.gps_hgt) { - hgt_sum += sqrtf(_aid_src_gnss_hgt.test_ratio); + hgt_sum += sqrtf(fabsf(_aid_src_gnss_hgt.test_ratio_filtered)); n_hgt_sources++; } +#endif // CONFIG_EKF2_GNSS + #if defined(CONFIG_EKF2_RANGE_FINDER) + if (_control_status.flags.rng_hgt) { - hgt_sum += sqrtf(_aid_src_rng_hgt.test_ratio); + hgt_sum += sqrtf(fabsf(_aid_src_rng_hgt.test_ratio_filtered)); n_hgt_sources++; } + #endif // CONFIG_EKF2_RANGE_FINDER #if defined(CONFIG_EKF2_EXTERNAL_VISION) + if (_control_status.flags.ev_hgt) { - hgt_sum += sqrtf(_aid_src_ev_hgt.test_ratio); + hgt_sum += sqrtf(fabsf(_aid_src_ev_hgt.test_ratio_filtered)); n_hgt_sources++; } + #endif // CONFIG_EKF2_EXTERNAL_VISION if (n_hgt_sources > 0) { - hgt = math::max(hgt_sum / static_cast(n_hgt_sources), FLT_MIN); - - } else { - hgt = NAN; + return math::max(hgt_sum / static_cast(n_hgt_sources), FLT_MIN); } + return NAN; +} + +float Ekf::getAirspeedInnovationTestRatio() const +{ #if defined(CONFIG_EKF2_AIRSPEED) - // return the airspeed fusion innovation test ratio - tas = sqrtf(_aid_src_airspeed.test_ratio); + + if (_control_status.flags.fuse_aspd) { + // return the airspeed fusion innovation test ratio + return sqrtf(fabsf(_aid_src_airspeed.test_ratio_filtered)); + } + #endif // CONFIG_EKF2_AIRSPEED -#if defined(CONFIG_EKF2_RANGE_FINDER) - // return the terrain height innovation test ratio - hagl = sqrtf(_hagl_test_ratio); -#endif // CONFIG_EKF2_RANGE_FINDER + return NAN; +} +float Ekf::getSyntheticSideslipInnovationTestRatio() const +{ #if defined(CONFIG_EKF2_SIDESLIP) - // return the synthetic sideslip innovation test ratio - beta = sqrtf(_aid_src_sideslip.test_ratio); + + if (_control_status.flags.fuse_beta) { + // return the synthetic sideslip innovation test ratio + return sqrtf(fabsf(_aid_src_sideslip.test_ratio_filtered)); + } + #endif // CONFIG_EKF2_SIDESLIP + + return NAN; } -// return a bitmask integer that describes which state estimates are valid -void Ekf::get_ekf_soln_status(uint16_t *status) const +float Ekf::getHeightAboveGroundInnovationTestRatio() const { - ekf_solution_status_u soln_status{}; - // TODO: Is this accurate enough? - soln_status.flags.attitude = _control_status.flags.tilt_align && _control_status.flags.yaw_align && (_fault_status.value == 0); - soln_status.flags.velocity_horiz = (isHorizontalAidingActive() || (_control_status.flags.fuse_beta && _control_status.flags.fuse_aspd)) && (_fault_status.value == 0); - soln_status.flags.velocity_vert = (_control_status.flags.baro_hgt || _control_status.flags.ev_hgt || _control_status.flags.gps_hgt || _control_status.flags.rng_hgt) && (_fault_status.value == 0); - soln_status.flags.pos_horiz_rel = (_control_status.flags.gps || _control_status.flags.ev_pos || _control_status.flags.opt_flow) && (_fault_status.value == 0); - soln_status.flags.pos_horiz_abs = (_control_status.flags.gps || _control_status.flags.ev_pos) && (_fault_status.value == 0); - soln_status.flags.pos_vert_abs = soln_status.flags.velocity_vert; -#if defined(CONFIG_EKF2_RANGE_FINDER) - soln_status.flags.pos_vert_agl = isTerrainEstimateValid(); -#endif // CONFIG_EKF2_RANGE_FINDER - soln_status.flags.const_pos_mode = !soln_status.flags.velocity_horiz; - soln_status.flags.pred_pos_horiz_rel = soln_status.flags.pos_horiz_rel; - soln_status.flags.pred_pos_horiz_abs = soln_status.flags.pos_horiz_abs; + // return the combined HAGL innovation test ratio + float hagl_sum = 0.f; + int n_hagl_sources = 0; - bool mag_innov_good = true; +#if defined(CONFIG_EKF2_TERRAIN) - if (_control_status.flags.mag_hdg) { - if (_aid_src_mag_heading.test_ratio < 1.f) { - mag_innov_good = false; - } +# if defined(CONFIG_EKF2_OPTICAL_FLOW) - } else if (_control_status.flags.mag_3D) { - if (Vector3f(_aid_src_mag.test_ratio).max() < 1.f) { - mag_innov_good = false; - } + if (_control_status.flags.opt_flow_terrain) { + hagl_sum += sqrtf(math::max(fabsf(_aid_src_optical_flow.test_ratio_filtered[0]), + _aid_src_optical_flow.test_ratio_filtered[1])); + n_hagl_sources++; } +# endif // CONFIG_EKF2_OPTICAL_FLOW + +# if defined(CONFIG_EKF2_RANGE_FINDER) + + if (_control_status.flags.rng_terrain) { + hagl_sum += sqrtf(fabsf(_aid_src_rng_hgt.test_ratio_filtered)); + n_hagl_sources++; + } + +# endif // CONFIG_EKF2_RANGE_FINDER + +#endif // CONFIG_EKF2_TERRAIN + + if (n_hagl_sources > 0) { + return math::max(hagl_sum / static_cast(n_hagl_sources), FLT_MIN); + } + + return NAN; +} + +uint16_t Ekf::get_ekf_soln_status() const +{ + // LEGACY Mavlink bitmask containing state of estimator solution (see Mavlink ESTIMATOR_STATUS_FLAGS) + union ekf_solution_status_u { + struct { + uint16_t attitude : 1; + uint16_t velocity_horiz : 1; + uint16_t velocity_vert : 1; + uint16_t pos_horiz_rel : 1; + uint16_t pos_horiz_abs : 1; + uint16_t pos_vert_abs : 1; + uint16_t pos_vert_agl : 1; + uint16_t const_pos_mode : 1; + uint16_t pred_pos_horiz_rel : 1; + uint16_t pred_pos_horiz_abs : 1; + uint16_t gps_glitch : 1; + uint16_t accel_error : 1; + } flags; + uint16_t value; + } soln_status{}; + + // 1 ESTIMATOR_ATTITUDE True if the attitude estimate is good + soln_status.flags.attitude = attitude_valid(); + + // 2 ESTIMATOR_VELOCITY_HORIZ True if the horizontal velocity estimate is good + soln_status.flags.velocity_horiz = local_position_is_valid(); + + // 4 ESTIMATOR_VELOCITY_VERT True if the vertical velocity estimate is good + soln_status.flags.velocity_vert = isLocalVerticalVelocityValid() || isLocalVerticalPositionValid(); + + // 8 ESTIMATOR_POS_HORIZ_REL True if the horizontal position (relative) estimate is good + soln_status.flags.pos_horiz_rel = local_position_is_valid(); + + // 16 ESTIMATOR_POS_HORIZ_ABS True if the horizontal position (absolute) estimate is good + soln_status.flags.pos_horiz_abs = global_position_is_valid(); + + // 32 ESTIMATOR_POS_VERT_ABS True if the vertical position (absolute) estimate is good + soln_status.flags.pos_vert_abs = isVerticalAidingActive(); + + // 64 ESTIMATOR_POS_VERT_AGL True if the vertical position (above ground) estimate is good +#if defined(CONFIG_EKF2_TERRAIN) + soln_status.flags.pos_vert_agl = isTerrainEstimateValid(); +#endif // CONFIG_EKF2_TERRAIN + + // 128 ESTIMATOR_CONST_POS_MODE True if the EKF is in a constant position mode and is not using external measurements (eg GPS or optical flow) + soln_status.flags.const_pos_mode = _control_status.flags.fake_pos || _control_status.flags.valid_fake_pos + || _control_status.flags.vehicle_at_rest; + + // 256 ESTIMATOR_PRED_POS_HORIZ_REL True if the EKF has sufficient data to enter a mode that will provide a (relative) position estimate + soln_status.flags.pred_pos_horiz_rel = isHorizontalAidingActive(); + + // 512 ESTIMATOR_PRED_POS_HORIZ_ABS True if the EKF has sufficient data to enter a mode that will provide a (absolute) position estimate + soln_status.flags.pred_pos_horiz_abs = _control_status.flags.gps || _control_status.flags.aux_gpos; + + // 1024 ESTIMATOR_GPS_GLITCH True if the EKF has detected a GPS glitch +#if defined(CONFIG_EKF2_GNSS) const bool gps_vel_innov_bad = Vector3f(_aid_src_gnss_vel.test_ratio).max() > 1.f; const bool gps_pos_innov_bad = Vector2f(_aid_src_gnss_pos.test_ratio).max() > 1.f; + soln_status.flags.gps_glitch = (gps_vel_innov_bad || gps_pos_innov_bad); +#endif // CONFIG_EKF2_GNSS + + // 2048 ESTIMATOR_ACCEL_ERROR True if the EKF has detected bad accelerometer data + soln_status.flags.accel_error = _fault_status.flags.bad_acc_vertical || _fault_status.flags.bad_acc_clipping; - soln_status.flags.gps_glitch = (gps_vel_innov_bad || gps_pos_innov_bad) && mag_innov_good; - soln_status.flags.accel_error = _fault_status.flags.bad_acc_vertical; - *status = soln_status.value; + return soln_status.value; } -void Ekf::fuse(const Vector24f &K, float innovation) +void Ekf::fuse(const VectorState &K, float innovation) { - _state.quat_nominal -= K.slice<4, 1>(0, 0) * innovation; + // quat_nominal + Quatf delta_quat(matrix::AxisAnglef(K.slice(State::quat_nominal.idx, + 0) * (-1.f * innovation))); + _state.quat_nominal = delta_quat * _state.quat_nominal; _state.quat_nominal.normalize(); _R_to_earth = Dcmf(_state.quat_nominal); - _state.vel -= K.slice<3, 1>(4, 0) * innovation; - _state.pos -= K.slice<3, 1>(7, 0) * innovation; - _state.delta_ang_bias -= K.slice<3, 1>(10, 0) * innovation; - _state.delta_vel_bias -= K.slice<3, 1>(13, 0) * innovation; - _state.mag_I -= K.slice<3, 1>(16, 0) * innovation; - _state.mag_B -= K.slice<3, 1>(19, 0) * innovation; - _state.wind_vel -= K.slice<2, 1>(22, 0) * innovation; -} + // vel + _state.vel = matrix::constrain(_state.vel - K.slice(State::vel.idx, 0) * innovation, -1.e3f, 1.e3f); -void Ekf::uncorrelateQuatFromOtherStates() -{ - P.slice<_k_num_states - 4, 4>(4, 0) = 0.f; - P.slice<4, _k_num_states - 4>(0, 4) = 0.f; + // pos + _state.pos = matrix::constrain(_state.pos - K.slice(State::pos.idx, 0) * innovation, -1.e6f, 1.e6f); + + // gyro_bias + _state.gyro_bias = matrix::constrain(_state.gyro_bias - K.slice(State::gyro_bias.idx, + 0) * innovation, + -getGyroBiasLimit(), getGyroBiasLimit()); + + // accel_bias + _state.accel_bias = matrix::constrain(_state.accel_bias - K.slice(State::accel_bias.idx, + 0) * innovation, + -getAccelBiasLimit(), getAccelBiasLimit()); + +#if defined(CONFIG_EKF2_MAGNETOMETER) + + // mag_I, mag_B + if (_control_status.flags.mag) { + _state.mag_I = matrix::constrain(_state.mag_I - K.slice(State::mag_I.idx, 0) * innovation, -1.f, + 1.f); + _state.mag_B = matrix::constrain(_state.mag_B - K.slice(State::mag_B.idx, 0) * innovation, + -getMagBiasLimit(), getMagBiasLimit()); + } + +#endif // CONFIG_EKF2_MAGNETOMETER + +#if defined(CONFIG_EKF2_WIND) + + // wind_vel + if (_control_status.flags.wind) { + _state.wind_vel = matrix::constrain(_state.wind_vel - K.slice(State::wind_vel.idx, + 0) * innovation, -1.e2f, 1.e2f); + } + +#endif // CONFIG_EKF2_WIND + +#if defined(CONFIG_EKF2_TERRAIN) + _state.terrain = math::constrain(_state.terrain - K(State::terrain.idx) * innovation, -1e4f, 1e4f); +#endif // CONFIG_EKF2_TERRAIN } void Ekf::updateDeadReckoningStatus() @@ -817,44 +724,102 @@ void Ekf::updateDeadReckoningStatus() void Ekf::updateHorizontalDeadReckoningstatus() { - const bool velPosAiding = (_control_status.flags.gps || _control_status.flags.ev_pos || _control_status.flags.ev_vel) - && (isRecent(_time_last_hor_pos_fuse, _params.no_aid_timeout_max) - || isRecent(_time_last_hor_vel_fuse, _params.no_aid_timeout_max)); + bool inertial_dead_reckoning = true; + bool aiding_expected_in_air = false; + + // velocity aiding active + if ((_control_status.flags.gps || _control_status.flags.ev_vel) + && isRecent(_time_last_hor_vel_fuse, _params.no_aid_timeout_max) + ) { + inertial_dead_reckoning = false; + } + + // position aiding active + if ((_control_status.flags.gps || _control_status.flags.ev_pos || _control_status.flags.aux_gpos) + && isRecent(_time_last_hor_pos_fuse, _params.no_aid_timeout_max) + ) { + inertial_dead_reckoning = false; + } - bool optFlowAiding = false; #if defined(CONFIG_EKF2_OPTICAL_FLOW) - optFlowAiding = _control_status.flags.opt_flow && isRecent(_aid_src_optical_flow.time_last_fuse, _params.no_aid_timeout_max); -#endif // CONFIG_EKF2_OPTICAL_FLOW - bool airDataAiding = false; + // optical flow active + if (_control_status.flags.opt_flow + && isRecent(_aid_src_optical_flow.time_last_fuse, _params.no_aid_timeout_max) + ) { + inertial_dead_reckoning = false; + + } else { + if (!_control_status.flags.in_air && (_params.flow_ctrl == 1) + && isRecent(_aid_src_optical_flow.timestamp_sample, _params.no_aid_timeout_max) + ) { + // currently landed, but optical flow aiding should be possible once in air + aiding_expected_in_air = true; + } + } + +#endif // CONFIG_EKF2_OPTICAL_FLOW #if defined(CONFIG_EKF2_AIRSPEED) - airDataAiding = _control_status.flags.wind && - isRecent(_aid_src_airspeed.time_last_fuse, _params.no_aid_timeout_max) && - isRecent(_aid_src_sideslip.time_last_fuse, _params.no_aid_timeout_max); - _control_status.flags.wind_dead_reckoning = !velPosAiding && !optFlowAiding && airDataAiding; -#else - _control_status.flags.wind_dead_reckoning = false; + // air data aiding active + if ((_control_status.flags.fuse_aspd && isRecent(_aid_src_airspeed.time_last_fuse, _params.no_aid_timeout_max)) + && (_control_status.flags.fuse_beta && isRecent(_aid_src_sideslip.time_last_fuse, _params.no_aid_timeout_max)) + ) { + // wind_dead_reckoning: no other aiding but air data + _control_status.flags.wind_dead_reckoning = inertial_dead_reckoning; + + // air data aiding is active, we're not inertial dead reckoning + inertial_dead_reckoning = false; + + } else { + _control_status.flags.wind_dead_reckoning = false; + + if (!_control_status.flags.in_air && _control_status.flags.fixed_wing + && (_params.beta_fusion_enabled == 1) + && (_params.arsp_thr > 0.f) && isRecent(_aid_src_airspeed.timestamp_sample, _params.no_aid_timeout_max) + ) { + // currently landed, but air data aiding should be possible once in air + aiding_expected_in_air = true; + } + } + #endif // CONFIG_EKF2_AIRSPEED - _control_status.flags.inertial_dead_reckoning = !velPosAiding && !optFlowAiding && !airDataAiding; + // zero velocity update + if (isRecent(_zero_velocity_update.time_last_fuse(), _params.no_aid_timeout_max)) { + // only respect as a valid aiding source now if we expect to have another valid source once in air + if (aiding_expected_in_air) { + inertial_dead_reckoning = false; + } + } + + if (_control_status.flags.valid_fake_pos && isRecent(_aid_src_fake_pos.time_last_fuse, _params.no_aid_timeout_max)) { + // only respect as a valid aiding source now if we expect to have another valid source once in air + if (aiding_expected_in_air) { + inertial_dead_reckoning = false; + } + } + + if (inertial_dead_reckoning) { + if (isTimedOut(_time_last_horizontal_aiding, (uint64_t)_params.valid_timeout_max)) { + // deadreckon time exceeded + if (!_horizontal_deadreckon_time_exceeded) { + ECL_WARN("horizontal dead reckon time exceeded"); + _horizontal_deadreckon_time_exceeded = true; + } + } - if (!_control_status.flags.inertial_dead_reckoning) { + } else { if (_time_delayed_us > _params.no_aid_timeout_max) { _time_last_horizontal_aiding = _time_delayed_us - _params.no_aid_timeout_max; } - } - // report if we have been deadreckoning for too long, initial state is deadreckoning until aiding is present - bool deadreckon_time_exceeded = isTimedOut(_time_last_horizontal_aiding, (uint64_t)_params.valid_timeout_max); + _horizontal_deadreckon_time_exceeded = false; - if (!_horizontal_deadreckon_time_exceeded && deadreckon_time_exceeded) { - // deadreckon time now exceeded - ECL_WARN("dead reckon time exceeded"); } - _horizontal_deadreckon_time_exceeded = deadreckon_time_exceeded; + _control_status.flags.inertial_dead_reckoning = inertial_dead_reckoning; } void Ekf::updateVerticalDeadReckoningStatus() @@ -878,368 +843,171 @@ void Ekf::updateVerticalDeadReckoningStatus() } } -// calculate the variances for the rotation vector equivalent -Vector3f Ekf::calcRotVecVariances() const +Vector3f Ekf::getRotVarBody() const { - Vector3f rot_var_vec; - float q0, q1, q2, q3; - - if (_state.quat_nominal(0) >= 0.0f) { - q0 = _state.quat_nominal(0); - q1 = _state.quat_nominal(1); - q2 = _state.quat_nominal(2); - q3 = _state.quat_nominal(3); - - } else { - q0 = -_state.quat_nominal(0); - q1 = -_state.quat_nominal(1); - q2 = -_state.quat_nominal(2); - q3 = -_state.quat_nominal(3); - } - float t2 = q0*q0; - float t3 = acosf(q0); - float t4 = -t2+1.0f; - float t5 = t2-1.0f; - if ((t4 > 1e-9f) && (t5 < -1e-9f)) { - float t6 = 1.0f/t5; - float t7 = q1*t6*2.0f; - float t8 = 1.0f/powf(t4,1.5f); - float t9 = q0*q1*t3*t8*2.0f; - float t10 = t7+t9; - float t11 = 1.0f/sqrtf(t4); - float t12 = q2*t6*2.0f; - float t13 = q0*q2*t3*t8*2.0f; - float t14 = t12+t13; - float t15 = q3*t6*2.0f; - float t16 = q0*q3*t3*t8*2.0f; - float t17 = t15+t16; - rot_var_vec(0) = t10*(P(0,0)*t10+P(1,0)*t3*t11*2.0f)+t3*t11*(P(0,1)*t10+P(1,1)*t3*t11*2.0f)*2.0f; - rot_var_vec(1) = t14*(P(0,0)*t14+P(2,0)*t3*t11*2.0f)+t3*t11*(P(0,2)*t14+P(2,2)*t3*t11*2.0f)*2.0f; - rot_var_vec(2) = t17*(P(0,0)*t17+P(3,0)*t3*t11*2.0f)+t3*t11*(P(0,3)*t17+P(3,3)*t3*t11*2.0f)*2.0f; - } else { - rot_var_vec = 4.0f * P.slice<3,3>(1,1).diag(); - } - - return rot_var_vec; + const matrix::SquareMatrix3f rot_cov_body = getStateCovariance(); + return matrix::SquareMatrix3f(_R_to_earth.T() * rot_cov_body * _R_to_earth).diag(); } -// initialise the quaternion covariances using rotation vector variances -// do not call before quaternion states are initialised -void Ekf::initialiseQuatCovariances(Vector3f &rot_vec_var) +Vector3f Ekf::getRotVarNed() const { - // calculate an equivalent rotation vector from the quaternion - float q0,q1,q2,q3; - if (_state.quat_nominal(0) >= 0.0f) { - q0 = _state.quat_nominal(0); - q1 = _state.quat_nominal(1); - q2 = _state.quat_nominal(2); - q3 = _state.quat_nominal(3); + const matrix::SquareMatrix3f rot_cov_ned = getStateCovariance(); + return rot_cov_ned.diag(); +} - } else { - q0 = -_state.quat_nominal(0); - q1 = -_state.quat_nominal(1); - q2 = -_state.quat_nominal(2); - q3 = -_state.quat_nominal(3); - } - float delta = 2.0f*acosf(q0); - float scaler = (delta/sinf(delta*0.5f)); - float rotX = scaler*q1; - float rotY = scaler*q2; - float rotZ = scaler*q3; - - // autocode generated using matlab symbolic toolbox - float t2 = rotX*rotX; - float t4 = rotY*rotY; - float t5 = rotZ*rotZ; - float t6 = t2+t4+t5; - if (t6 > 1e-9f) { - float t7 = sqrtf(t6); - float t8 = t7*0.5f; - float t3 = sinf(t8); - float t9 = t3*t3; - float t10 = 1.0f/t6; - float t11 = 1.0f/sqrtf(t6); - float t12 = cosf(t8); - float t13 = 1.0f/powf(t6,1.5f); - float t14 = t3*t11; - float t15 = rotX*rotY*t3*t13; - float t16 = rotX*rotZ*t3*t13; - float t17 = rotY*rotZ*t3*t13; - float t18 = t2*t10*t12*0.5f; - float t27 = t2*t3*t13; - float t19 = t14+t18-t27; - float t23 = rotX*rotY*t10*t12*0.5f; - float t28 = t15-t23; - float t20 = rotY*rot_vec_var(1)*t3*t11*t28*0.5f; - float t25 = rotX*rotZ*t10*t12*0.5f; - float t31 = t16-t25; - float t21 = rotZ*rot_vec_var(2)*t3*t11*t31*0.5f; - float t22 = t20+t21-rotX*rot_vec_var(0)*t3*t11*t19*0.5f; - float t24 = t15-t23; - float t26 = t16-t25; - float t29 = t4*t10*t12*0.5f; - float t34 = t3*t4*t13; - float t30 = t14+t29-t34; - float t32 = t5*t10*t12*0.5f; - float t40 = t3*t5*t13; - float t33 = t14+t32-t40; - float t36 = rotY*rotZ*t10*t12*0.5f; - float t39 = t17-t36; - float t35 = rotZ*rot_vec_var(2)*t3*t11*t39*0.5f; - float t37 = t15-t23; - float t38 = t17-t36; - float t41 = rot_vec_var(0)*(t15-t23)*(t16-t25); - float t42 = t41-rot_vec_var(1)*t30*t39-rot_vec_var(2)*t33*t39; - float t43 = t16-t25; - float t44 = t17-t36; - - // zero all the quaternion covariances - P.uncorrelateCovarianceSetVariance<2>(0, 0.0f); - P.uncorrelateCovarianceSetVariance<2>(2, 0.0f); - - - // Update the quaternion internal covariances using auto-code generated using matlab symbolic toolbox - P(0,0) = rot_vec_var(0)*t2*t9*t10*0.25f+rot_vec_var(1)*t4*t9*t10*0.25f+rot_vec_var(2)*t5*t9*t10*0.25f; - P(0,1) = t22; - P(0,2) = t35+rotX*rot_vec_var(0)*t3*t11*(t15-rotX*rotY*t10*t12*0.5f)*0.5f-rotY*rot_vec_var(1)*t3*t11*t30*0.5f; - P(0,3) = rotX*rot_vec_var(0)*t3*t11*(t16-rotX*rotZ*t10*t12*0.5f)*0.5f+rotY*rot_vec_var(1)*t3*t11*(t17-rotY*rotZ*t10*t12*0.5f)*0.5f-rotZ*rot_vec_var(2)*t3*t11*t33*0.5f; - P(1,0) = t22; - P(1,1) = rot_vec_var(0)*(t19*t19)+rot_vec_var(1)*(t24*t24)+rot_vec_var(2)*(t26*t26); - P(1,2) = rot_vec_var(2)*(t16-t25)*(t17-rotY*rotZ*t10*t12*0.5f)-rot_vec_var(0)*t19*t28-rot_vec_var(1)*t28*t30; - P(1,3) = rot_vec_var(1)*(t15-t23)*(t17-rotY*rotZ*t10*t12*0.5f)-rot_vec_var(0)*t19*t31-rot_vec_var(2)*t31*t33; - P(2,0) = t35-rotY*rot_vec_var(1)*t3*t11*t30*0.5f+rotX*rot_vec_var(0)*t3*t11*(t15-t23)*0.5f; - P(2,1) = rot_vec_var(2)*(t16-t25)*(t17-t36)-rot_vec_var(0)*t19*t28-rot_vec_var(1)*t28*t30; - P(2,2) = rot_vec_var(1)*(t30*t30)+rot_vec_var(0)*(t37*t37)+rot_vec_var(2)*(t38*t38); - P(2,3) = t42; - P(3,0) = rotZ*rot_vec_var(2)*t3*t11*t33*(-0.5f)+rotX*rot_vec_var(0)*t3*t11*(t16-t25)*0.5f+rotY*rot_vec_var(1)*t3*t11*(t17-t36)*0.5f; - P(3,1) = rot_vec_var(1)*(t15-t23)*(t17-t36)-rot_vec_var(0)*t19*t31-rot_vec_var(2)*t31*t33; - P(3,2) = t42; - P(3,3) = rot_vec_var(2)*(t33*t33)+rot_vec_var(0)*(t43*t43)+rot_vec_var(1)*(t44*t44); +float Ekf::getYawVar() const +{ + return getRotVarNed()(2); +} - } else { - // the equations are badly conditioned so use a small angle approximation - P.uncorrelateCovarianceSetVariance<1>(0, 0.0f); - P.uncorrelateCovarianceSetVariance<3>(1, 0.25f * rot_vec_var); - } +float Ekf::getTiltVariance() const +{ + const Vector3f rot_var_ned = getRotVarNed(); + return rot_var_ned(0) + rot_var_ned(1); } +#if defined(CONFIG_EKF2_BAROMETER) void Ekf::updateGroundEffect() { if (_control_status.flags.in_air && !_control_status.flags.fixed_wing) { -#if defined(CONFIG_EKF2_RANGE_FINDER) +#if defined(CONFIG_EKF2_TERRAIN) + if (isTerrainEstimateValid()) { // automatically set ground effect if terrain is valid - float height = _terrain_vpos - _state.pos(2); + float height = getHagl(); _control_status.flags.gnd_effect = (height < _params.gnd_effect_max_hgt); } else -#endif // CONFIG_EKF2_RANGE_FINDER - if (_control_status.flags.gnd_effect) { - // Turn off ground effect compensation if it times out - if (isTimedOut(_time_last_gnd_effect_on, GNDEFFECT_TIMEOUT)) { - _control_status.flags.gnd_effect = false; +#endif // CONFIG_EKF2_TERRAIN + if (_control_status.flags.gnd_effect) { + // Turn off ground effect compensation if it times out + if (isTimedOut(_time_last_gnd_effect_on, GNDEFFECT_TIMEOUT)) { + _control_status.flags.gnd_effect = false; + } } - } } else { _control_status.flags.gnd_effect = false; } } +#endif // CONFIG_EKF2_BAROMETER -// Increase the yaw error variance of the quaternions -// Argument is additional yaw variance in rad**2 -void Ekf::increaseQuatYawErrVariance(float yaw_variance) -{ - // See DeriveYawResetEquations.m for derivation which produces code fragments in C_code4.txt file - // The auto-code was cleaned up and had terms multiplied by zero removed to give the following: - - // Intermediate variables - float SG[3]; - SG[0] = sq(_state.quat_nominal(0)) - sq(_state.quat_nominal(1)) - sq(_state.quat_nominal(2)) + sq(_state.quat_nominal(3)); - SG[1] = 2*_state.quat_nominal(0)*_state.quat_nominal(2) - 2*_state.quat_nominal(1)*_state.quat_nominal(3); - SG[2] = 2*_state.quat_nominal(0)*_state.quat_nominal(1) + 2*_state.quat_nominal(2)*_state.quat_nominal(3); - - float SQ[4]; - SQ[0] = 0.5f * ((_state.quat_nominal(1)*SG[0]) - (_state.quat_nominal(0)*SG[2]) + (_state.quat_nominal(3)*SG[1])); - SQ[1] = 0.5f * ((_state.quat_nominal(0)*SG[1]) - (_state.quat_nominal(2)*SG[0]) + (_state.quat_nominal(3)*SG[2])); - SQ[2] = 0.5f * ((_state.quat_nominal(3)*SG[0]) - (_state.quat_nominal(1)*SG[1]) + (_state.quat_nominal(2)*SG[2])); - SQ[3] = 0.5f * ((_state.quat_nominal(0)*SG[0]) + (_state.quat_nominal(1)*SG[2]) + (_state.quat_nominal(2)*SG[1])); - - // Limit yaw variance increase to prevent a badly conditioned covariance matrix - yaw_variance = fminf(yaw_variance, 1.0e-2f); - - // Add covariances for additonal yaw uncertainty to existing covariances. - // This assumes that the additional yaw error is uncorrrelated to existing errors - P(0,0) += yaw_variance*sq(SQ[2]); - P(0,1) += yaw_variance*SQ[1]*SQ[2]; - P(1,1) += yaw_variance*sq(SQ[1]); - P(0,2) += yaw_variance*SQ[0]*SQ[2]; - P(1,2) += yaw_variance*SQ[0]*SQ[1]; - P(2,2) += yaw_variance*sq(SQ[0]); - P(0,3) -= yaw_variance*SQ[2]*SQ[3]; - P(1,3) -= yaw_variance*SQ[1]*SQ[3]; - P(2,3) -= yaw_variance*SQ[0]*SQ[3]; - P(3,3) += yaw_variance*sq(SQ[3]); - P(1,0) += yaw_variance*SQ[1]*SQ[2]; - P(2,0) += yaw_variance*SQ[0]*SQ[2]; - P(2,1) += yaw_variance*SQ[0]*SQ[1]; - P(3,0) -= yaw_variance*SQ[2]*SQ[3]; - P(3,1) -= yaw_variance*SQ[1]*SQ[3]; - P(3,2) -= yaw_variance*SQ[0]*SQ[3]; -} - -// save covariance data for re-use when auto-switching between heading and 3-axis fusion -void Ekf::saveMagCovData() -{ - // save variances for XYZ body axis field - _saved_mag_bf_variance(0) = P(19, 19); - _saved_mag_bf_variance(1) = P(20, 20); - _saved_mag_bf_variance(2) = P(21, 21); - - // save the NE axis covariance sub-matrix - _saved_mag_ef_ne_covmat = P.slice<2, 2>(16, 16); - - // save variance for the D earth axis - _saved_mag_ef_d_variance = P(18, 18); -} - -void Ekf::loadMagCovData() -{ - // re-instate variances for the XYZ body axis field - P(19, 19) = _saved_mag_bf_variance(0); - P(20, 20) = _saved_mag_bf_variance(1); - P(21, 21) = _saved_mag_bf_variance(2); - - // re-instate the NE axis covariance sub-matrix - P.slice<2, 2>(16, 16) = _saved_mag_ef_ne_covmat; - - // re-instate the D earth axis variance - P(18, 18) = _saved_mag_ef_d_variance; -} -void Ekf::resetQuatStateYaw(float yaw, float yaw_variance) +void Ekf::updateIMUBiasInhibit(const imuSample &imu_delayed) { - // save a copy of the quaternion state for later use in calculating the amount of reset change - const Quatf quat_before_reset = _state.quat_nominal; + // inhibit learning of imu accel bias if the manoeuvre levels are too high to protect against the effect of sensor nonlinearities or bad accel data is detected + // xy accel bias learning is also disabled on ground as those states are poorly observable when perpendicular to the gravity vector + { + const Vector3f gyro_corrected = imu_delayed.delta_ang / imu_delayed.delta_ang_dt - _state.gyro_bias; - // update transformation matrix from body to world frame using the current estimate - // update the rotation matrix using the new yaw value - _R_to_earth = updateYawInRotMat(yaw, Dcmf(_state.quat_nominal)); + const float alpha = math::constrain((imu_delayed.delta_ang_dt / _params.acc_bias_learn_tc), 0.f, 1.f); + const float beta = 1.f - alpha; - // calculate the amount that the quaternion has changed by - const Quatf quat_after_reset(_R_to_earth); - const Quatf q_error((quat_after_reset * quat_before_reset.inversed()).normalized()); - - // update quaternion states - _state.quat_nominal = quat_after_reset; - uncorrelateQuatFromOtherStates(); - - // update the yaw angle variance - if (yaw_variance > FLT_EPSILON) { - increaseQuatYawErrVariance(yaw_variance); + _ang_rate_magnitude_filt = fmaxf(gyro_corrected.norm(), beta * _ang_rate_magnitude_filt); } - // add the reset amount to the output observer buffered data - _output_predictor.resetQuaternion(q_error); + { + const Vector3f accel_corrected = imu_delayed.delta_vel / imu_delayed.delta_vel_dt - _state.accel_bias; - // record the state change - if (_state_reset_status.reset_count.quat == _state_reset_count_prev.quat) { - _state_reset_status.quat_change = q_error; + const float alpha = math::constrain((imu_delayed.delta_vel_dt / _params.acc_bias_learn_tc), 0.f, 1.f); + const float beta = 1.f - alpha; - } else { - // there's already a reset this update, accumulate total delta - _state_reset_status.quat_change = q_error * _state_reset_status.quat_change; - _state_reset_status.quat_change.normalize(); + _accel_magnitude_filt = fmaxf(accel_corrected.norm(), beta * _accel_magnitude_filt); } - _state_reset_status.reset_count.quat++; - _time_last_heading_fuse = _time_delayed_us; + const bool is_manoeuvre_level_high = (_ang_rate_magnitude_filt > _params.acc_bias_learn_gyr_lim) + || (_accel_magnitude_filt > _params.acc_bias_learn_acc_lim); - _last_static_yaw = NAN; -} -// Resets the main Nav EKf yaw to the estimator from the EKF-GSF yaw estimator -// Resets the horizontal velocity and position to the default navigation sensor -// Returns true if the reset was successful -bool Ekf::resetYawToEKFGSF() -{ - if (!isYawEmergencyEstimateAvailable()) { - return false; + // gyro bias inhibit + const bool do_inhibit_all_gyro_axes = !(_params.imu_ctrl & static_cast(ImuCtrl::GyroBias)); + + for (unsigned index = 0; index < State::gyro_bias.dof; index++) { + bool is_bias_observable = true; // TODO: gyro bias conditions + _gyro_bias_inhibit[index] = do_inhibit_all_gyro_axes || !is_bias_observable; } - resetQuatStateYaw(_yawEstimator.getYaw(), _yawEstimator.getYawVar()); + // accel bias inhibit + const bool do_inhibit_all_accel_axes = !(_params.imu_ctrl & static_cast(ImuCtrl::AccelBias)) + || is_manoeuvre_level_high + || _fault_status.flags.bad_acc_vertical; - // record a magnetic field alignment event to prevent possibility of the EKF trying to reset the yaw to the mag later in flight - _flt_mag_align_start_time = _time_delayed_us; - _control_status.flags.yaw_align = true; + for (unsigned index = 0; index < State::accel_bias.dof; index++) { + bool is_bias_observable = true; - if (_control_status.flags.mag_hdg || _control_status.flags.mag_3D) { - // stop using the magnetometer in the main EKF otherwise it's fusion could drag the yaw around - // and cause another navigation failure - _control_status.flags.mag_fault = true; - _warning_events.flags.emergency_yaw_reset_mag_stopped = true; + if (_control_status.flags.vehicle_at_rest) { + is_bias_observable = true; - } else if (_control_status.flags.gps_yaw) { - _control_status.flags.gps_yaw_fault = true; - _warning_events.flags.emergency_yaw_reset_gps_yaw_stopped = true; + } else if (_control_status.flags.fake_hgt) { + is_bias_observable = false; - } -#if defined(CONFIG_EKF2_EXTERNAL_VISION) - if (_control_status.flags.ev_yaw) { - _inhibit_ev_yaw_use = true; - } -#endif // CONFIG_EKF2_EXTERNAL_VISION + } else if (_control_status.flags.fake_pos) { + // when using fake position (but not fake height) only consider an accel bias observable if aligned with the gravity vector + is_bias_observable = (fabsf(_R_to_earth(2, index)) > 0.966f); // cos 15 degrees ~= 0.966 + } - return true; + _accel_bias_inhibit[index] = do_inhibit_all_accel_axes || imu_delayed.delta_vel_clipping[index] || !is_bias_observable; + } } -bool Ekf::isYawEmergencyEstimateAvailable() const +bool Ekf::fuseDirectStateMeasurement(const float innov, const float innov_var, const float R, const int state_index) { - // don't allow reet using the EKF-GSF estimate until the filter has started fusing velocity - // data and the yaw estimate has converged - if (!_yawEstimator.isActive()) { - return false; + VectorState K; // Kalman gain vector for any single observation - sequential fusion is used. + + // calculate kalman gain K = PHS, where S = 1/innovation variance + for (int row = 0; row < State::size; row++) { + K(row) = P(row, state_index) / innov_var; } - return _yawEstimator.getYawVar() < sq(_params.EKFGSF_yaw_err_max); -} + clearInhibitedStateKalmanGains(K); -bool Ekf::getDataEKFGSF(float *yaw_composite, float *yaw_variance, float yaw[N_MODELS_EKFGSF], - float innov_VN[N_MODELS_EKFGSF], float innov_VE[N_MODELS_EKFGSF], float weight[N_MODELS_EKFGSF]) -{ - return _yawEstimator.getLogData(yaw_composite, yaw_variance, yaw, innov_VN, innov_VE, weight); -} +#if false + // Matrix implementation of the Joseph stabilized covariance update + // This is extremely expensive to compute. Use for debugging purposes only. + auto A = matrix::eye(); + VectorState H; + H(state_index) = 1.f; + A -= K.multiplyByTranspose(H); + P = A * P; + P = P.multiplyByTranspose(A); -void Ekf::resetGpsDriftCheckFilters() -{ - _gps_velNE_filt.setZero(); - _gps_pos_deriv_filt.setZero(); + const VectorState KR = K * R; + P += KR.multiplyByTranspose(K); +#else + // Efficient implementation of the Joseph stabilized covariance update + // Based on "G. J. Bierman. Factorization Methods for Discrete Sequential Estimation. Academic Press, Dover Publications, New York, 1977, 2006" + // P = (I - K * H) * P * (I - K * H).T + K * R * K.T + // = P_temp * (I - H.T * K.T) + K * R * K.T + // = P_temp - P_temp * H.T * K.T + K * R * K.T + + // Step 1: conventional update + // Compute P_temp and store it in P to avoid allocating more memory + // P is symmetric, so PH == H.T * P.T == H.T * P. Taking the row is faster as matrices are row-major + VectorState PH = P.row(state_index); + + for (unsigned i = 0; i < State::size; i++) { + for (unsigned j = 0; j < State::size; j++) { + P(i, j) -= K(i) * PH(j); // P is now not symmetric if K is not optimal (e.g.: some gains have been zeroed) + } + } - _gps_horizontal_position_drift_rate_m_s = NAN; - _gps_vertical_position_drift_rate_m_s = NAN; - _gps_filtered_horizontal_velocity_m_s = NAN; -} + // Step 2: stabilized update + // P (or "P_temp") is not symmetric so we must take the column + PH = P.col(state_index); -void Ekf::resetWind() -{ -#if defined(CONFIG_EKF2_AIRSPEED) - if (_control_status.flags.fuse_aspd && isRecent(_airspeed_sample_delayed.time_us, 1e6)) { - resetWindUsingAirspeed(_airspeed_sample_delayed); - return; + for (unsigned i = 0; i < State::size; i++) { + for (unsigned j = 0; j <= i; j++) { + P(i, j) = P(i, j) - PH(i) * K(j) + K(i) * R * K(j); + P(j, i) = P(i, j); + } } -#endif // CONFIG_EKF2_AIRSPEED - - resetWindToZero(); -} -void Ekf::resetWindToZero() -{ - ECL_INFO("reset wind to zero"); +#endif - // If we don't have an airspeed measurement, then assume the wind is zero - _state.wind_vel.setZero(); + constrainStateVariances(); - // start with a small initial uncertainty to improve the initial estimate - P.uncorrelateCovarianceSetVariance<2>(22, _params.initial_wind_uncertainty); + // apply the state corrections + fuse(K, innov); + return true; } diff --git a/src/modules/ekf2/EKF/estimator_interface.cpp b/src/modules/ekf2/EKF/estimator_interface.cpp index 095525158688..f7a6c70dec39 100644 --- a/src/modules/ekf2/EKF/estimator_interface.cpp +++ b/src/modules/ekf2/EKF/estimator_interface.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2013 Estimation and Control Library (ECL). All rights reserved. + * Copyright (c) 2015-2023 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -12,7 +12,7 @@ * notice, this list of conditions and the following disclaimer in * the documentation and/or other materials provided with the * distribution. - * 3. Neither the name ECL nor the names of its contributors may be + * 3. Neither the name PX4 nor the names of its contributors may be * used to endorse or promote products derived from this software * without specific prior written permission. * @@ -46,9 +46,15 @@ EstimatorInterface::~EstimatorInterface() { +#if defined(CONFIG_EKF2_GNSS) delete _gps_buffer; +#endif // CONFIG_EKF2_GNSS +#if defined(CONFIG_EKF2_MAGNETOMETER) delete _mag_buffer; +#endif // CONFIG_EKF2_MAGNETOMETER +#if defined(CONFIG_EKF2_BAROMETER) delete _baro_buffer; +#endif // CONFIG_EKF2_BAROMETER #if defined(CONFIG_EKF2_RANGE_FINDER) delete _range_buffer; #endif // CONFIG_EKF2_RANGE_FINDER @@ -80,14 +86,25 @@ void EstimatorInterface::setIMUData(const imuSample &imu_sample) _time_latest_us = imu_sample.time_us; // the output observer always runs - _output_predictor.calculateOutputStates(imu_sample.time_us, imu_sample.delta_ang, imu_sample.delta_ang_dt, imu_sample.delta_vel, imu_sample.delta_vel_dt); + _output_predictor.calculateOutputStates(imu_sample.time_us, imu_sample.delta_ang, imu_sample.delta_ang_dt, + imu_sample.delta_vel, imu_sample.delta_vel_dt); // accumulate and down-sample imu data and push to the buffer when new downsampled data becomes available if (_imu_down_sampler.update(imu_sample)) { _imu_updated = true; - _imu_buffer.push(_imu_down_sampler.getDownSampledImuAndTriggerReset()); + imuSample imu_downsampled = _imu_down_sampler.getDownSampledImuAndTriggerReset(); + + // as a precaution constrain the integration delta time to prevent numerical problems + const float filter_update_period_s = _params.filter_update_interval_us * 1e-6f; + const float imu_min_dt = 0.5f * filter_update_period_s; + const float imu_max_dt = 2.0f * filter_update_period_s; + + imu_downsampled.delta_ang_dt = math::constrain(imu_downsampled.delta_ang_dt, imu_min_dt, imu_max_dt); + imu_downsampled.delta_vel_dt = math::constrain(imu_downsampled.delta_vel_dt, imu_min_dt, imu_max_dt); + + _imu_buffer.push(imu_downsampled); // get the oldest data from the buffer _time_delayed_us = _imu_buffer.get_oldest().time_us; @@ -102,6 +119,7 @@ void EstimatorInterface::setIMUData(const imuSample &imu_sample) #endif // CONFIG_EKF2_DRAG_FUSION } +#if defined(CONFIG_EKF2_MAGNETOMETER) void EstimatorInterface::setMagData(const magSample &mag_sample) { if (!_initialised) { @@ -134,11 +152,14 @@ void EstimatorInterface::setMagData(const magSample &mag_sample) _time_last_mag_buffer_push = _time_latest_us; } else { - ECL_WARN("mag data too fast %" PRIi64 " < %" PRIu64 " + %d", time_us, _mag_buffer->get_newest().time_us, _min_obs_interval_us); + ECL_WARN("mag data too fast %" PRIi64 " < %" PRIu64 " + %d", time_us, _mag_buffer->get_newest().time_us, + _min_obs_interval_us); } } +#endif // CONFIG_EKF2_MAGNETOMETER -void EstimatorInterface::setGpsData(const gpsMessage &gps) +#if defined(CONFIG_EKF2_GNSS) +void EstimatorInterface::setGpsData(const gnssSample &gnss_sample) { if (!_initialised) { return; @@ -146,7 +167,7 @@ void EstimatorInterface::setGpsData(const gpsMessage &gps) // Allocate the required buffer size if not previously done if (_gps_buffer == nullptr) { - _gps_buffer = new RingBuffer(_obs_buffer_length); + _gps_buffer = new RingBuffer(_obs_buffer_length); if (_gps_buffer == nullptr || !_gps_buffer->valid()) { delete _gps_buffer; @@ -156,67 +177,35 @@ void EstimatorInterface::setGpsData(const gpsMessage &gps) } } - const int64_t time_us = gps.time_usec + const int64_t time_us = gnss_sample.time_us - static_cast(_params.gps_delay_ms * 1000) - static_cast(_dt_ekf_avg * 5e5f); // seconds to microseconds divided by 2 if (time_us >= static_cast(_gps_buffer->get_newest().time_us + _min_obs_interval_us)) { - if (!gps.vel_ned_valid || (gps.fix_type == 0)) { - return; - } - - gpsSample gps_sample_new; + gnssSample gnss_sample_new(gnss_sample); - gps_sample_new.time_us = time_us; + gnss_sample_new.time_us = time_us; - gps_sample_new.vel = gps.vel_ned; - - gps_sample_new.sacc = gps.sacc; - gps_sample_new.hacc = gps.eph; - gps_sample_new.vacc = gps.epv; - - gps_sample_new.hgt = (float)gps.alt * 1e-3f; + _gps_buffer->push(gnss_sample_new); + _time_last_gps_buffer_push = _time_latest_us; #if defined(CONFIG_EKF2_GNSS_YAW) - if (PX4_ISFINITE(gps.yaw)) { - _time_last_gps_yaw_buffer_push = _time_latest_us; - gps_sample_new.yaw = gps.yaw; - gps_sample_new.yaw_acc = PX4_ISFINITE(gps.yaw_accuracy) ? gps.yaw_accuracy : 0.f; - - } else { - gps_sample_new.yaw = NAN; - gps_sample_new.yaw_acc = 0.f; - } - - if (PX4_ISFINITE(gps.yaw_offset)) { - _gps_yaw_offset = gps.yaw_offset; - - } else { - _gps_yaw_offset = 0.0f; + if (PX4_ISFINITE(gnss_sample.yaw)) { + _time_last_gnss_yaw_buffer_push = _time_latest_us; } #endif // CONFIG_EKF2_GNSS_YAW - // Only calculate the relative position if the WGS-84 location of the origin is set - if (collect_gps(gps)) { - gps_sample_new.pos = _pos_ref.project((gps.lat / 1.0e7), (gps.lon / 1.0e7)); - - } else { - gps_sample_new.pos(0) = 0.0f; - gps_sample_new.pos(1) = 0.0f; - } - - _gps_buffer->push(gps_sample_new); - _time_last_gps_buffer_push = _time_latest_us; - - } else { - ECL_WARN("GPS data too fast %" PRIi64 " < %" PRIu64 " + %d", time_us, _gps_buffer->get_newest().time_us, _min_obs_interval_us); + ECL_WARN("GPS data too fast %" PRIi64 " < %" PRIu64 " + %d", time_us, _gps_buffer->get_newest().time_us, + _min_obs_interval_us); } } +#endif // CONFIG_EKF2_GNSS +#if defined(CONFIG_EKF2_BAROMETER) void EstimatorInterface::setBaroData(const baroSample &baro_sample) { if (!_initialised) { @@ -249,9 +238,11 @@ void EstimatorInterface::setBaroData(const baroSample &baro_sample) _time_last_baro_buffer_push = _time_latest_us; } else { - ECL_WARN("baro data too fast %" PRIi64 " < %" PRIu64 " + %d", time_us, _baro_buffer->get_newest().time_us, _min_obs_interval_us); + ECL_WARN("baro data too fast %" PRIi64 " < %" PRIu64 " + %d", time_us, _baro_buffer->get_newest().time_us, + _min_obs_interval_us); } } +#endif // CONFIG_EKF2_BAROMETER #if defined(CONFIG_EKF2_AIRSPEED) void EstimatorInterface::setAirspeedData(const airspeedSample &airspeed_sample) @@ -285,13 +276,14 @@ void EstimatorInterface::setAirspeedData(const airspeedSample &airspeed_sample) _airspeed_buffer->push(airspeed_sample_new); } else { - ECL_WARN("airspeed data too fast %" PRIi64 " < %" PRIu64 " + %d", time_us, _airspeed_buffer->get_newest().time_us, _min_obs_interval_us); + ECL_WARN("airspeed data too fast %" PRIi64 " < %" PRIu64 " + %d", time_us, _airspeed_buffer->get_newest().time_us, + _min_obs_interval_us); } } #endif // CONFIG_EKF2_AIRSPEED #if defined(CONFIG_EKF2_RANGE_FINDER) -void EstimatorInterface::setRangeData(const rangeSample &range_sample) +void EstimatorInterface::setRangeData(const sensor::rangeSample &range_sample) { if (!_initialised) { return; @@ -299,7 +291,7 @@ void EstimatorInterface::setRangeData(const rangeSample &range_sample) // Allocate the required buffer size if not previously done if (_range_buffer == nullptr) { - _range_buffer = new RingBuffer(_obs_buffer_length); + _range_buffer = new RingBuffer(_obs_buffer_length); if (_range_buffer == nullptr || !_range_buffer->valid()) { delete _range_buffer; @@ -316,14 +308,15 @@ void EstimatorInterface::setRangeData(const rangeSample &range_sample) // limit data rate to prevent data being lost if (time_us >= static_cast(_range_buffer->get_newest().time_us + _min_obs_interval_us)) { - rangeSample range_sample_new{range_sample}; + sensor::rangeSample range_sample_new{range_sample}; range_sample_new.time_us = time_us; _range_buffer->push(range_sample_new); _time_last_range_buffer_push = _time_latest_us; } else { - ECL_WARN("range data too fast %" PRIi64 " < %" PRIu64 " + %d", time_us, _range_buffer->get_newest().time_us, _min_obs_interval_us); + ECL_WARN("range data too fast %" PRIi64 " < %" PRIu64 " + %d", time_us, _range_buffer->get_newest().time_us, + _min_obs_interval_us); } } #endif // CONFIG_EKF2_RANGE_FINDER @@ -360,7 +353,8 @@ void EstimatorInterface::setOpticalFlowData(const flowSample &flow) _flow_buffer->push(optflow_sample_new); } else { - ECL_WARN("optical flow data too fast %" PRIi64 " < %" PRIu64 " + %d", time_us, _flow_buffer->get_newest().time_us, _min_obs_interval_us); + ECL_WARN("optical flow data too fast %" PRIi64 " < %" PRIu64 " + %d", time_us, _flow_buffer->get_newest().time_us, + _min_obs_interval_us); } } #endif // CONFIG_EKF2_OPTICAL_FLOW @@ -399,7 +393,8 @@ void EstimatorInterface::setExtVisionData(const extVisionSample &evdata) _time_last_ext_vision_buffer_push = _time_latest_us; } else { - ECL_WARN("EV data too fast %" PRIi64 " < %" PRIu64 " + %d", time_us, _ext_vision_buffer->get_newest().time_us, _min_obs_interval_us); + ECL_WARN("EV data too fast %" PRIi64 " < %" PRIu64 " + %d", time_us, _ext_vision_buffer->get_newest().time_us, + _min_obs_interval_us); } } #endif // CONFIG_EKF2_EXTERNAL_VISION @@ -436,7 +431,8 @@ void EstimatorInterface::setAuxVelData(const auxVelSample &auxvel_sample) _auxvel_buffer->push(auxvel_sample_new); } else { - ECL_WARN("aux velocity data too fast %" PRIi64 " < %" PRIu64 " + %d", time_us, _auxvel_buffer->get_newest().time_us, _min_obs_interval_us); + ECL_WARN("aux velocity data too fast %" PRIi64 " < %" PRIu64 " + %d", time_us, _auxvel_buffer->get_newest().time_us, + _min_obs_interval_us); } } #endif // CONFIG_EKF2_AUXVEL @@ -471,7 +467,8 @@ void EstimatorInterface::setSystemFlagData(const systemFlagUpdate &system_flags) _system_flag_buffer->push(system_flags_new); } else { - ECL_WARN("system flag update too fast %" PRIi64 " < %" PRIu64 " + %d", time_us, _system_flag_buffer->get_newest().time_us, _min_obs_interval_us); + ECL_DEBUG("system flag update too fast %" PRIi64 " < %" PRIu64 " + %d", time_us, + _system_flag_buffer->get_newest().time_us, _min_obs_interval_us); } } @@ -494,6 +491,17 @@ void EstimatorInterface::setDragData(const imuSample &imu) } } + // don't use any accel samples that are clipping + if (imu.delta_vel_clipping[0] || imu.delta_vel_clipping[1] || imu.delta_vel_clipping[2]) { + // reset accumulators + _drag_sample_count = 0; + _drag_down_sampled.accelXY.zero(); + _drag_down_sampled.time_us = 0; + _drag_sample_time_dt = 0.0f; + + return; + } + _drag_sample_count++; // note acceleration is accumulated as a delta velocity _drag_down_sampled.accelXY(0) += imu.delta_vel(0); @@ -530,65 +538,15 @@ void EstimatorInterface::setDragData(const imuSample &imu) bool EstimatorInterface::initialise_interface(uint64_t timestamp) { - // find the maximum time delay the buffers are required to handle - - // it's reasonable to assume that aux velocity device has low delay. TODO: check the delay only if the aux device is used - float max_time_delay_ms = _params.sensor_interval_max_ms; - - // aux vel -#if defined(CONFIG_EKF2_AUXVEL) - max_time_delay_ms = math::max(_params.auxvel_delay_ms, max_time_delay_ms); -#endif // CONFIG_EKF2_AUXVEL - - // using baro - if (_params.baro_ctrl > 0) { - max_time_delay_ms = math::max(_params.baro_delay_ms, max_time_delay_ms); - } - -#if defined(CONFIG_EKF2_AIRSPEED) - // using airspeed - if (_params.arsp_thr > FLT_EPSILON) { - max_time_delay_ms = math::max(_params.airspeed_delay_ms, max_time_delay_ms); - } -#endif // CONFIG_EKF2_AIRSPEED - - // mag mode - if (_params.mag_fusion_type != MagFuseType::NONE) { - max_time_delay_ms = math::max(_params.mag_delay_ms, max_time_delay_ms); - } - -#if defined(CONFIG_EKF2_RANGE_FINDER) - // using range finder - if ((_params.rng_ctrl != RngCtrl::DISABLED)) { - max_time_delay_ms = math::max(_params.range_delay_ms, max_time_delay_ms); - } -#endif // CONFIG_EKF2_RANGE_FINDER - - if (_params.gnss_ctrl > 0) { - max_time_delay_ms = math::max(_params.gps_delay_ms, max_time_delay_ms); - } - -#if defined(CONFIG_EKF2_OPTICAL_FLOW) - if (_params.flow_ctrl > 0) { - max_time_delay_ms = math::max(_params.flow_delay_ms, max_time_delay_ms); - } -#endif // CONFIG_EKF2_OPTICAL_FLOW - -#if defined(CONFIG_EKF2_EXTERNAL_VISION) - if (_params.ev_ctrl > 0) { - max_time_delay_ms = math::max(_params.ev_delay_ms, max_time_delay_ms); - } -#endif // CONFIG_EKF2_EXTERNAL_VISION - const float filter_update_period_ms = _params.filter_update_interval_us / 1000.f; // calculate the IMU buffer length required to accomodate the maximum delay with some allowance for jitter - _imu_buffer_length = math::max(2, (int)ceilf(max_time_delay_ms / filter_update_period_ms)); + _imu_buffer_length = math::max(2, (int)ceilf(_params.delay_max_ms / filter_update_period_ms)); // set the observation buffer length to handle the minimum time of arrival between observations in combination // with the worst case delay from current time to ekf fusion time // allow for worst case 50% extension of the ekf fusion time horizon delay due to timing jitter - const float ekf_delay_ms = max_time_delay_ms * 1.5f; + const float ekf_delay_ms = _params.delay_max_ms * 1.5f; _obs_buffer_length = roundf(ekf_delay_ms / filter_update_period_ms); // limit to be no longer than the IMU buffer (we can't process data faster than the EKF prediction rate) @@ -627,6 +585,7 @@ int EstimatorInterface::getNumberOfActiveHorizontalAidingSources() const + int(_control_status.flags.opt_flow) + int(_control_status.flags.ev_pos) + int(_control_status.flags.ev_vel) + + int(_control_status.flags.aux_gpos) // Combined airspeed and sideslip fusion allows sustained wind relative dead reckoning // and so is treated as a single aiding source. + int(_control_status.flags.fuse_aspd && _control_status.flags.fuse_beta); @@ -683,56 +642,3 @@ void EstimatorInterface::printBufferAllocationFailed(const char *buffer_name) ECL_ERR("%s buffer allocation failed", buffer_name); } } - -void EstimatorInterface::print_status() -{ - printf("EKF average dt: %.6f seconds\n", (double)_dt_ekf_avg); - - printf("IMU buffer: %d (%d Bytes)\n", _imu_buffer.get_length(), _imu_buffer.get_total_size()); - - printf("minimum observation interval %d us\n", _min_obs_interval_us); - - if (_gps_buffer) { - printf("gps buffer: %d/%d (%d Bytes)\n", _gps_buffer->entries(), _gps_buffer->get_length(), _gps_buffer->get_total_size()); - } - - if (_mag_buffer) { - printf("mag buffer: %d/%d (%d Bytes)\n", _mag_buffer->entries(), _mag_buffer->get_length(), _mag_buffer->get_total_size()); - } - - if (_baro_buffer) { - printf("baro buffer: %d/%d (%d Bytes)\n", _baro_buffer->entries(), _baro_buffer->get_length(), _baro_buffer->get_total_size()); - } - -#if defined(CONFIG_EKF2_RANGE_FINDER) - if (_range_buffer) { - printf("range buffer: %d/%d (%d Bytes)\n", _range_buffer->entries(), _range_buffer->get_length(), _range_buffer->get_total_size()); - } -#endif // CONFIG_EKF2_RANGE_FINDER - -#if defined(CONFIG_EKF2_AIRSPEED) - if (_airspeed_buffer) { - printf("airspeed buffer: %d/%d (%d Bytes)\n", _airspeed_buffer->entries(), _airspeed_buffer->get_length(), _airspeed_buffer->get_total_size()); - } -#endif // CONFIG_EKF2_AIRSPEED - -#if defined(CONFIG_EKF2_OPTICAL_FLOW) - if (_flow_buffer) { - printf("flow buffer: %d/%d (%d Bytes)\n", _flow_buffer->entries(), _flow_buffer->get_length(), _flow_buffer->get_total_size()); - } -#endif // CONFIG_EKF2_OPTICAL_FLOW - -#if defined(CONFIG_EKF2_EXTERNAL_VISION) - if (_ext_vision_buffer) { - printf("vision buffer: %d/%d (%d Bytes)\n", _ext_vision_buffer->entries(), _ext_vision_buffer->get_length(), _ext_vision_buffer->get_total_size()); - } -#endif // CONFIG_EKF2_EXTERNAL_VISION - -#if defined(CONFIG_EKF2_DRAG_FUSION) - if (_drag_buffer) { - printf("drag buffer: %d/%d (%d Bytes)\n", _drag_buffer->entries(), _drag_buffer->get_length(), _drag_buffer->get_total_size()); - } -#endif // CONFIG_EKF2_DRAG_FUSION - - _output_predictor.print_status(); -} diff --git a/src/modules/ekf2/EKF/estimator_interface.h b/src/modules/ekf2/EKF/estimator_interface.h index 7126f57c8bb3..57e6fc06b029 100644 --- a/src/modules/ekf2/EKF/estimator_interface.h +++ b/src/modules/ekf2/EKF/estimator_interface.h @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2015-2020 Estimation and Control Library (ECL). All rights reserved. + * Copyright (c) 2015-2023 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -12,7 +12,7 @@ * notice, this list of conditions and the following disclaimer in * the documentation and/or other materials provided with the * distribution. - * 3. Neither the name ECL nor the names of its contributors may be + * 3. Neither the name PX4 nor the names of its contributors may be * used to endorse or promote products derived from this software * without specific prior written permission. * @@ -63,16 +63,15 @@ #include "common.h" #include "RingBuffer.h" -#include "imu_down_sampler.hpp" -#include "utils.hpp" -#include "output_predictor.h" +#include "imu_down_sampler/imu_down_sampler.hpp" +#include "output_predictor/output_predictor.h" #if defined(CONFIG_EKF2_RANGE_FINDER) -# include "range_finder_consistency_check.hpp" -# include "sensor_range_finder.hpp" +# include "aid_sources/range_finder/range_finder_consistency_check.hpp" +# include "aid_sources/range_finder/sensor_range_finder.hpp" #endif // CONFIG_EKF2_RANGE_FINDER -#include +#include #include #include #include @@ -82,23 +81,33 @@ using namespace estimator; class EstimatorInterface { public: - // ask estimator for sensor data collection decision and do any preprocessing if required, returns true if not defined - virtual bool collect_gps(const gpsMessage &gps) = 0; - void setIMUData(const imuSample &imu_sample); - void setMagData(const magSample &mag_sample); +#if defined(CONFIG_EKF2_GNSS) + void setGpsData(const gnssSample &gnss_sample); + + const gnssSample &get_gps_sample_delayed() const { return _gps_sample_delayed; } + + float gps_horizontal_position_drift_rate_m_s() const { return _gps_horizontal_position_drift_rate_m_s; } + float gps_vertical_position_drift_rate_m_s() const { return _gps_vertical_position_drift_rate_m_s; } + float gps_filtered_horizontal_velocity_m_s() const { return _gps_filtered_horizontal_velocity_m_s; } - void setGpsData(const gpsMessage &gps); +#endif // CONFIG_EKF2_GNSS +#if defined(CONFIG_EKF2_MAGNETOMETER) + void setMagData(const magSample &mag_sample); +#endif // CONFIG_EKF2_MAGNETOMETER + +#if defined(CONFIG_EKF2_BAROMETER) void setBaroData(const baroSample &baro_sample); +#endif // CONFIG_EKF2_BAROMETER #if defined(CONFIG_EKF2_AIRSPEED) void setAirspeedData(const airspeedSample &airspeed_sample); #endif // CONFIG_EKF2_AIRSPEED #if defined(CONFIG_EKF2_RANGE_FINDER) - void setRangeData(const rangeSample &range_sample); + void setRangeData(const estimator::sensor::rangeSample &range_sample); // set sensor limitations reported by the rangefinder void set_rangefinder_limits(float min_distance, float max_distance) @@ -106,11 +115,11 @@ class EstimatorInterface _range_sensor.setLimits(min_distance, max_distance); } - const rangeSample &get_rng_sample_delayed() { return *(_range_sensor.getSampleAddress()); } + const estimator::sensor::rangeSample &get_rng_sample_delayed() { return *(_range_sensor.getSampleAddress()); } #endif // CONFIG_EKF2_RANGE_FINDER #if defined(CONFIG_EKF2_OPTICAL_FLOW) - // if optical flow sensor gyro delta angles are not available, set gyro_xyz vector fields to NaN and the EKF will use its internal delta angle data instead + // if optical flow sensor gyro delta angles are not available, set gyro_rate vector fields to NaN and the EKF will use its internal gyro data instead void setOpticalFlowData(const flowSample &flow); // set sensor limitations reported by the optical flow sensor @@ -141,16 +150,36 @@ class EstimatorInterface void set_in_air_status(bool in_air) { if (!in_air) { + if (_control_status.flags.in_air) { + ECL_DEBUG("no longer in air"); + } + _time_last_on_ground_us = _time_delayed_us; } else { + if (!_control_status.flags.in_air) { + ECL_DEBUG("in air"); + } + _time_last_in_air = _time_delayed_us; } _control_status.flags.in_air = in_air; } - void set_vehicle_at_rest(bool at_rest) { _control_status.flags.vehicle_at_rest = at_rest; } + void set_vehicle_at_rest(bool at_rest) + { + if (!_control_status.flags.vehicle_at_rest && at_rest) { + ECL_DEBUG("at rest"); + + } else if (_control_status.flags.vehicle_at_rest && !at_rest) { + ECL_DEBUG("no longer at rest"); + } + + _control_status.flags.vehicle_at_rest = at_rest; + } + + void set_constant_pos(bool constant_pos) { _control_status.flags.constant_pos = constant_pos; } // return true if the attitude is usable bool attitude_valid() const { return _control_status.flags.tilt_align; } @@ -207,19 +236,21 @@ class EstimatorInterface int getNumberOfActiveVerticalVelocityAidingSources() const; const matrix::Quatf &getQuaternion() const { return _output_predictor.getQuaternion(); } + float getUnaidedYaw() const { return _output_predictor.getUnaidedYaw(); } Vector3f getVelocity() const { return _output_predictor.getVelocity(); } const Vector3f &getVelocityDerivative() const { return _output_predictor.getVelocityDerivative(); } float getVerticalPositionDerivative() const { return _output_predictor.getVerticalPositionDerivative(); } Vector3f getPosition() const { return _output_predictor.getPosition(); } const Vector3f &getOutputTrackingError() const { return _output_predictor.getOutputTrackingError(); } +#if defined(CONFIG_EKF2_MAGNETOMETER) // Get the value of magnetic declination in degrees to be saved for use at the next startup // Returns true when the declination can be saved // At the next startup, set param.mag_declination_deg to the value saved - bool get_mag_decl_deg(float *val) const + bool get_mag_decl_deg(float &val) const { if (_NED_origin_initialised && (_params.mag_declination_source & GeoDeclinationMask::SAVE_GEO_DECL)) { - *val = math::degrees(_mag_declination_gps); + val = math::degrees(_mag_declination_gps); return true; } else { @@ -227,6 +258,26 @@ class EstimatorInterface } } + bool get_mag_inc_deg(float &val) const + { + if (_NED_origin_initialised) { + val = math::degrees(_mag_inclination_gps); + return true; + + } else { + return false; + } + } + + void get_mag_checks(float &inc_deg, float &inc_ref_deg, float &strength_gs, float &strength_ref_gs) const + { + inc_deg = math::degrees(_mag_inclination); + inc_ref_deg = math::degrees(_mag_inclination_gps); + strength_gs = _mag_strength; + strength_ref_gs = _mag_strength_gps; + } +#endif // CONFIG_EKF2_MAGNETOMETER + // get EKF mode status const filter_control_status_u &control_status() const { return _control_status; } const decltype(filter_control_status_u::flags) &control_status_flags() const { return _control_status.flags; } @@ -234,6 +285,9 @@ class EstimatorInterface const filter_control_status_u &control_status_prev() const { return _control_status_prev; } const decltype(filter_control_status_u::flags) &control_status_prev_flags() const { return _control_status_prev.flags; } + void enableControlStatusAuxGpos() { _control_status.flags.aux_gpos = true; } + void disableControlStatusAuxGpos() { _control_status.flags.aux_gpos = false; } + // get EKF internal fault status const fault_status_u &fault_status() const { return _fault_status; } const decltype(fault_status_u::flags) &fault_status_flags() const { return _fault_status.flags; } @@ -241,10 +295,6 @@ class EstimatorInterface const innovation_fault_status_u &innov_check_fail_status() const { return _innov_check_fail_status; } const decltype(innovation_fault_status_u::flags) &innov_check_fail_status_flags() const { return _innov_check_fail_status.flags; } - const warning_event_status_u &warning_event_status() const { return _warning_events; } - const decltype(warning_event_status_u::flags) &warning_event_flags() const { return _warning_events.flags; } - void clear_warning_events() { _warning_events.value = 0; } - const information_event_status_u &information_event_status() const { return _information_events; } const decltype(information_event_status_u::flags) &information_event_flags() const { return _information_events.flags; } void clear_information_events() { _information_events.value = 0; } @@ -256,16 +306,9 @@ class EstimatorInterface const imuSample &get_imu_sample_delayed() const { return _imu_buffer.get_oldest(); } const uint64_t &time_delayed_us() const { return _time_delayed_us; } - const gpsSample &get_gps_sample_delayed() const { return _gps_sample_delayed; } - const bool &global_origin_valid() const { return _NED_origin_initialised; } const MapProjection &global_origin() const { return _pos_ref; } - - void print_status(); - - float gps_horizontal_position_drift_rate_m_s() const { return _gps_horizontal_position_drift_rate_m_s; } - float gps_vertical_position_drift_rate_m_s() const { return _gps_vertical_position_drift_rate_m_s; } - float gps_filtered_horizontal_velocity_m_s() const { return _gps_filtered_horizontal_velocity_m_s; } + float getEkfGlobalOriginAltitude() const { return PX4_ISFINITE(_gps_alt_ref) ? _gps_alt_ref : 0.f; } OutputPredictor &output_predictor() { return _output_predictor; }; @@ -302,20 +345,16 @@ class EstimatorInterface OutputPredictor _output_predictor{}; - // measurement samples capturing measurements on the delayed time horizon - gpsSample _gps_sample_delayed{}; - - #if defined(CONFIG_EKF2_AIRSPEED) - airspeedSample _airspeed_sample_delayed{}; + airspeedSample _airspeed_sample_delayed {}; #endif // CONFIG_EKF2_AIRSPEED #if defined(CONFIG_EKF2_EXTERNAL_VISION) - extVisionSample _ev_sample_prev{}; + extVisionSample _ev_sample_prev {}; #endif // CONFIG_EKF2_EXTERNAL_VISION #if defined(CONFIG_EKF2_RANGE_FINDER) - RingBuffer *_range_buffer{nullptr}; + RingBuffer *_range_buffer {nullptr}; uint64_t _time_last_range_buffer_push{0}; sensor::SensorRangeFinder _range_sensor{}; @@ -323,7 +362,7 @@ class EstimatorInterface #endif // CONFIG_EKF2_RANGE_FINDER #if defined(CONFIG_EKF2_OPTICAL_FLOW) - RingBuffer *_flow_buffer{nullptr}; + RingBuffer *_flow_buffer {nullptr}; flowSample _flow_sample_delayed{}; @@ -333,28 +372,40 @@ class EstimatorInterface float _flow_max_distance{10.f}; ///< maximum distance that the optical flow sensor can operate at (m) #endif // CONFIG_EKF2_OPTICAL_FLOW - float _air_density{CONSTANTS_AIR_DENSITY_SEA_LEVEL_15C}; // air density (kg/m**3) + float _air_density{atmosphere::kAirDensitySeaLevelStandardAtmos}; // air density (kg/m**3) bool _imu_updated{false}; // true if the ekf should update (completed downsampling process) bool _initialised{false}; // true if the ekf interface instance (data buffering) is initialized + // Variables used to publish the WGS-84 location of the EKF local NED origin bool _NED_origin_initialised{false}; - float _gps_origin_eph{0.0f}; // horizontal position uncertainty of the GPS origin - float _gps_origin_epv{0.0f}; // vertical position uncertainty of the GPS origin MapProjection _pos_ref{}; // Contains WGS-84 position latitude and longitude of the EKF origin + float _gps_alt_ref{NAN}; ///< WGS-84 height (m) + float _gpos_origin_eph{0.0f}; // horizontal position uncertainty of the global origin + float _gpos_origin_epv{0.0f}; // vertical position uncertainty of the global origin + +#if defined(CONFIG_EKF2_GNSS) + RingBuffer *_gps_buffer {nullptr}; + uint64_t _time_last_gps_buffer_push{0}; + + gnssSample _gps_sample_delayed{}; + + float _gps_horizontal_position_drift_rate_m_s{NAN}; // Horizontal position drift rate (m/s) + float _gps_vertical_position_drift_rate_m_s{NAN}; // Vertical position drift rate (m/s) + float _gps_filtered_horizontal_velocity_m_s{NAN}; // Filtered horizontal velocity (m/s) + MapProjection _gps_pos_prev{}; // Contains WGS-84 position latitude and longitude of the previous GPS message float _gps_alt_prev{0.0f}; // height from the previous GPS message (m) -#if defined(CONFIG_EKF2_GNSS_YAW) - float _gps_yaw_offset{0.0f}; // Yaw offset angle for dual GPS antennas used for yaw estimation (radians). + +# if defined(CONFIG_EKF2_GNSS_YAW) // innovation consistency check monitoring ratios - AlphaFilter _gnss_yaw_signed_test_ratio_lpf{0.1f}; // average signed test ratio used to detect a bias in the state - uint64_t _time_last_gps_yaw_buffer_push{0}; -#endif // CONFIG_EKF2_GNSS_YAW + uint64_t _time_last_gnss_yaw_buffer_push{0}; +# endif // CONFIG_EKF2_GNSS_YAW +#endif // CONFIG_EKF2_GNSS #if defined(CONFIG_EKF2_DRAG_FUSION) - RingBuffer *_drag_buffer{nullptr}; + RingBuffer *_drag_buffer {nullptr}; dragSample _drag_down_sampled{}; // down sampled drag specific force data (filter prediction rate -> observation rate) - Vector2f _drag_test_ratio{}; // drag innovation consistency check ratio #endif // CONFIG_EKF2_DRAG_FUSION innovation_fault_status_u _innov_check_fail_status{}; @@ -363,10 +414,6 @@ class EstimatorInterface bool _vertical_position_deadreckon_time_exceeded{true}; bool _vertical_velocity_deadreckon_time_exceeded{true}; - float _gps_horizontal_position_drift_rate_m_s{NAN}; // Horizontal position drift rate (m/s) - float _gps_vertical_position_drift_rate_m_s{NAN}; // Vertical position drift rate (m/s) - float _gps_filtered_horizontal_velocity_m_s{NAN}; // Filtered horizontal velocity (m/s) - uint64_t _time_last_on_ground_us{0}; ///< last time we were on the ground (uSec) uint64_t _time_last_in_air{0}; ///< last time we were in air (uSec) @@ -374,26 +421,28 @@ class EstimatorInterface static constexpr uint8_t kBufferLengthDefault = 12; RingBuffer _imu_buffer{kBufferLengthDefault}; - RingBuffer *_gps_buffer{nullptr}; - RingBuffer *_mag_buffer{nullptr}; - RingBuffer *_baro_buffer{nullptr}; +#if defined(CONFIG_EKF2_MAGNETOMETER) + RingBuffer *_mag_buffer {nullptr}; + uint64_t _time_last_mag_buffer_push{0}; +#endif // CONFIG_EKF2_MAGNETOMETER #if defined(CONFIG_EKF2_AIRSPEED) - RingBuffer *_airspeed_buffer{nullptr}; + RingBuffer *_airspeed_buffer {nullptr}; #endif // CONFIG_EKF2_AIRSPEED #if defined(CONFIG_EKF2_EXTERNAL_VISION) - RingBuffer *_ext_vision_buffer{nullptr}; + RingBuffer *_ext_vision_buffer {nullptr}; uint64_t _time_last_ext_vision_buffer_push{0}; #endif // CONFIG_EKF2_EXTERNAL_VISION #if defined(CONFIG_EKF2_AUXVEL) - RingBuffer *_auxvel_buffer{nullptr}; + RingBuffer *_auxvel_buffer {nullptr}; #endif // CONFIG_EKF2_AUXVEL - RingBuffer *_system_flag_buffer{nullptr}; + RingBuffer *_system_flag_buffer {nullptr}; - uint64_t _time_last_gps_buffer_push{0}; - uint64_t _time_last_mag_buffer_push{0}; +#if defined(CONFIG_EKF2_BAROMETER) + RingBuffer *_baro_buffer {nullptr}; uint64_t _time_last_baro_buffer_push{0}; +#endif // CONFIG_EKF2_BAROMETER uint64_t _time_last_gnd_effect_on{0}; @@ -402,10 +451,18 @@ class EstimatorInterface // allocate data buffers and initialize interface variables bool initialise_interface(uint64_t timestamp); - float _mag_declination_gps{NAN}; // magnetic declination returned by the geo library using the last valid GPS position (rad) + uint64_t _wmm_gps_time_last_checked{0}; // time WMM last checked + uint64_t _wmm_gps_time_last_set{0}; // time WMM last set + +#if defined(CONFIG_EKF2_MAGNETOMETER) + float _mag_declination_gps {NAN}; // magnetic declination returned by the geo library using the last valid GPS position (rad) float _mag_inclination_gps{NAN}; // magnetic inclination returned by the geo library using the last valid GPS position (rad) float _mag_strength_gps{NAN}; // magnetic strength returned by the geo library using the last valid GPS position (T) + float _mag_inclination{NAN}; + float _mag_strength{NAN}; +#endif // CONFIG_EKF2_MAGNETOMETER + // this is the current status of the filter control modes filter_control_status_u _control_status{}; @@ -414,10 +471,9 @@ class EstimatorInterface // these are used to record single frame events for external monitoring and should NOT be used for // state logic becasue they will be cleared externally after being read. - warning_event_status_u _warning_events{}; information_event_status_u _information_events{}; -private: + unsigned _min_obs_interval_us{0}; // minimum time interval between observations that will guarantee data is not lost (usec) #if defined(CONFIG_EKF2_DRAG_FUSION) void setDragData(const imuSample &imu); @@ -430,7 +486,5 @@ class EstimatorInterface void printBufferAllocationFailed(const char *buffer_name); ImuDownSampler _imu_down_sampler{_params.filter_update_interval_us}; - - unsigned _min_obs_interval_us{0}; // minimum time interval between observations that will guarantee data is not lost (usec) }; #endif // !EKF_ESTIMATOR_INTERFACE_H diff --git a/src/modules/ekf2/EKF/ev_control.cpp b/src/modules/ekf2/EKF/ev_control.cpp deleted file mode 100644 index da27f1192458..000000000000 --- a/src/modules/ekf2/EKF/ev_control.cpp +++ /dev/null @@ -1,86 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2022 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file ev_control.cpp - * Control functions for ekf external vision control - */ - -#include "ekf.h" - -void Ekf::controlExternalVisionFusion() -{ - _ev_pos_b_est.predict(_dt_ekf_avg); - - // Check for new external vision data - extVisionSample ev_sample; - - if (_ext_vision_buffer && _ext_vision_buffer->pop_first_older_than(_time_delayed_us, &ev_sample)) { - - bool ev_reset = (ev_sample.reset_counter != _ev_sample_prev.reset_counter); - - // determine if we should use the horizontal position observations - bool quality_sufficient = (_params.ev_quality_minimum <= 0) || (ev_sample.quality >= _params.ev_quality_minimum); - - const bool starting_conditions_passing = quality_sufficient - && ((ev_sample.time_us - _ev_sample_prev.time_us) < EV_MAX_INTERVAL) - && ((_params.ev_quality_minimum <= 0) || (_ev_sample_prev.quality >= _params.ev_quality_minimum)) // previous quality sufficient - && ((_params.ev_quality_minimum <= 0) || (_ext_vision_buffer->get_newest().quality >= _params.ev_quality_minimum)) // newest quality sufficient - && isNewestSampleRecent(_time_last_ext_vision_buffer_push, EV_MAX_INTERVAL); - - controlEvYawFusion(ev_sample, starting_conditions_passing, ev_reset, quality_sufficient, _aid_src_ev_yaw); - controlEvVelFusion(ev_sample, starting_conditions_passing, ev_reset, quality_sufficient, _aid_src_ev_vel); - controlEvPosFusion(ev_sample, starting_conditions_passing, ev_reset, quality_sufficient, _aid_src_ev_pos); - controlEvHeightFusion(ev_sample, starting_conditions_passing, ev_reset, quality_sufficient, _aid_src_ev_hgt); - - if (quality_sufficient) { - _ev_sample_prev = ev_sample; - } - - // record corresponding yaw state for future EV delta heading innovation (logging only) - _ev_yaw_pred_prev = getEulerYaw(_state.quat_nominal); - - } else if ((_control_status.flags.ev_pos || _control_status.flags.ev_vel || _control_status.flags.ev_yaw - || _control_status.flags.ev_hgt) - && isTimedOut(_ev_sample_prev.time_us, 2 * EV_MAX_INTERVAL)) { - - // Turn off EV fusion mode if no data has been received - stopEvPosFusion(); - stopEvVelFusion(); - stopEvYawFusion(); - stopEvHgtFusion(); - - _warning_events.flags.vision_data_stopped = true; - ECL_WARN("vision data stopped"); - } -} diff --git a/src/modules/ekf2/EKF/ev_vel_control.cpp b/src/modules/ekf2/EKF/ev_vel_control.cpp deleted file mode 100644 index 807948ef27af..000000000000 --- a/src/modules/ekf2/EKF/ev_vel_control.cpp +++ /dev/null @@ -1,232 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2022 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file ev_vel_control.cpp - * Control functions for ekf external vision velocity fusion - */ - -#include "ekf.h" - -void Ekf::controlEvVelFusion(const extVisionSample &ev_sample, const bool common_starting_conditions_passing, - const bool ev_reset, const bool quality_sufficient, estimator_aid_source3d_s &aid_src) -{ - static constexpr const char *AID_SRC_NAME = "EV velocity"; - - const bool yaw_alignment_changed = (!_control_status_prev.flags.ev_yaw && _control_status.flags.ev_yaw) - || (_control_status_prev.flags.yaw_align != _control_status.flags.yaw_align); - - // determine if we should use EV velocity aiding - bool continuing_conditions_passing = (_params.ev_ctrl & static_cast(EvCtrl::VEL)) - && _control_status.flags.tilt_align - && ev_sample.vel.isAllFinite(); - - // correct velocity for offset relative to IMU - const Vector3f pos_offset_body = _params.ev_pos_body - _params.imu_pos_body; - const Vector3f vel_offset_body = _ang_rate_delayed_raw % pos_offset_body; - const Vector3f vel_offset_earth = _R_to_earth * vel_offset_body; - - // rotate measurement into correct earth frame if required - Vector3f vel{NAN, NAN, NAN}; - Matrix3f vel_cov{}; - - switch (ev_sample.vel_frame) { - case VelocityFrame::LOCAL_FRAME_NED: - if (_control_status.flags.yaw_align) { - vel = ev_sample.vel - vel_offset_earth; - vel_cov = matrix::diag(ev_sample.velocity_var); - - } else { - continuing_conditions_passing = false; - } - - break; - - case VelocityFrame::LOCAL_FRAME_FRD: - if (_control_status.flags.ev_yaw) { - // using EV frame - vel = ev_sample.vel - vel_offset_earth; - vel_cov = matrix::diag(ev_sample.velocity_var); - - } else { - // rotate EV to the EKF reference frame - const Quatf q_error((_state.quat_nominal * ev_sample.quat.inversed()).normalized()); - const Dcmf R_ev_to_ekf = Dcmf(q_error); - - vel = R_ev_to_ekf * ev_sample.vel - vel_offset_earth; - vel_cov = R_ev_to_ekf * matrix::diag(ev_sample.velocity_var) * R_ev_to_ekf.transpose(); - - // increase minimum variance to include EV orientation variance - // TODO: do this properly - const float orientation_var_max = ev_sample.orientation_var.max(); - - for (int i = 0; i < 2; i++) { - vel_cov(i, i) = math::max(vel_cov(i, i), orientation_var_max); - } - } - - break; - - case VelocityFrame::BODY_FRAME_FRD: - vel = _R_to_earth * (ev_sample.vel - vel_offset_body); - vel_cov = _R_to_earth * matrix::diag(ev_sample.velocity_var) * _R_to_earth.transpose(); - break; - - default: - continuing_conditions_passing = false; - break; - } - - // increase minimum variance if GPS active (position reference) - if (_control_status.flags.gps) { - for (int i = 0; i < 2; i++) { - vel_cov(i, i) = math::max(vel_cov(i, i), sq(_params.gps_vel_noise)); - } - } - - const Vector3f measurement{vel}; - - const Vector3f measurement_var{ - math::max(vel_cov(0, 0), sq(_params.ev_vel_noise), sq(0.01f)), - math::max(vel_cov(1, 1), sq(_params.ev_vel_noise), sq(0.01f)), - math::max(vel_cov(2, 2), sq(_params.ev_vel_noise), sq(0.01f)) - }; - - const bool measurement_valid = measurement.isAllFinite() && measurement_var.isAllFinite(); - - updateVelocityAidSrcStatus(ev_sample.time_us, - measurement, // observation - measurement_var, // observation variance - math::max(_params.ev_vel_innov_gate, 1.f), // innovation gate - aid_src); - - if (!measurement_valid) { - continuing_conditions_passing = false; - } - - const bool starting_conditions_passing = common_starting_conditions_passing - && continuing_conditions_passing - && ((Vector3f(aid_src.test_ratio).max() < 0.1f) || !isHorizontalAidingActive()); - - if (_control_status.flags.ev_vel) { - aid_src.fusion_enabled = true; - - if (continuing_conditions_passing) { - - if ((ev_reset && isOnlyActiveSourceOfHorizontalAiding(_control_status.flags.ev_vel)) || yaw_alignment_changed) { - - if (quality_sufficient) { - ECL_INFO("reset to %s", AID_SRC_NAME); - _information_events.flags.reset_vel_to_vision = true; - resetVelocityTo(measurement, measurement_var); - aid_src.time_last_fuse = _time_delayed_us; - - } else { - // EV has reset, but quality isn't sufficient - // we have no choice but to stop EV and try to resume once quality is acceptable - stopEvVelFusion(); - return; - } - - } else if (quality_sufficient) { - fuseVelocity(aid_src); - - } else { - aid_src.innovation_rejected = true; - } - - const bool is_fusion_failing = isTimedOut(aid_src.time_last_fuse, _params.no_aid_timeout_max); // 1 second - - if (is_fusion_failing) { - - if ((_nb_ev_vel_reset_available > 0) && quality_sufficient) { - // Data seems good, attempt a reset - _information_events.flags.reset_vel_to_vision = true; - ECL_WARN("%s fusion failing, resetting", AID_SRC_NAME); - resetVelocityTo(measurement, measurement_var); - aid_src.time_last_fuse = _time_delayed_us; - - if (_control_status.flags.in_air) { - _nb_ev_vel_reset_available--; - } - - } else if (starting_conditions_passing) { - // Data seems good, but previous reset did not fix the issue - // something else must be wrong, declare the sensor faulty and stop the fusion - //_control_status.flags.ev_vel_fault = true; - ECL_WARN("stopping %s fusion, starting conditions failing", AID_SRC_NAME); - stopEvVelFusion(); - - } else { - // A reset did not fix the issue but all the starting checks are not passing - // This could be a temporary issue, stop the fusion without declaring the sensor faulty - ECL_WARN("stopping %s, fusion failing", AID_SRC_NAME); - stopEvVelFusion(); - } - } - - } else { - // Stop fusion but do not declare it faulty - ECL_WARN("stopping %s fusion, continuing conditions failing", AID_SRC_NAME); - stopEvVelFusion(); - } - - } else { - if (starting_conditions_passing) { - // activate fusion, only reset if necessary - if (!isHorizontalAidingActive() || yaw_alignment_changed) { - ECL_INFO("starting %s fusion, resetting velocity to (%.3f, %.3f, %.3f)", AID_SRC_NAME, (double)measurement(0), (double)measurement(1), (double)measurement(2)); - _information_events.flags.reset_vel_to_vision = true; - resetVelocityTo(measurement, measurement_var); - - } else { - ECL_INFO("starting %s fusion", AID_SRC_NAME); - } - - aid_src.time_last_fuse = _time_delayed_us; - - _nb_ev_vel_reset_available = 5; - _information_events.flags.starting_vision_vel_fusion = true; - _control_status.flags.ev_vel = true; - } - } -} - -void Ekf::stopEvVelFusion() -{ - if (_control_status.flags.ev_vel) { - resetEstimatorAidStatus(_aid_src_ev_vel); - - _control_status.flags.ev_vel = false; - } -} diff --git a/src/modules/ekf2/EKF/fake_pos_control.cpp b/src/modules/ekf2/EKF/fake_pos_control.cpp deleted file mode 100644 index afe33b5fec4a..000000000000 --- a/src/modules/ekf2/EKF/fake_pos_control.cpp +++ /dev/null @@ -1,132 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2022 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file fake_pos_control.cpp - * Control functions for ekf fake position fusion - */ - -#include "ekf.h" - -void Ekf::controlFakePosFusion() -{ - auto &aid_src = _aid_src_fake_pos; - - // If we aren't doing any aiding, fake position measurements at the last known position to constrain drift - // During intial tilt aligment, fake position is used to perform a "quasi-stationary" leveling of the EKF - const bool fake_pos_data_ready = !isHorizontalAidingActive() - && isTimedOut(aid_src.time_last_fuse, (uint64_t)2e5); // Fuse fake position at a limited rate - - if (fake_pos_data_ready) { - - Vector2f obs_var; - - if (_control_status.flags.in_air && _control_status.flags.tilt_align) { - obs_var(0) = obs_var(1) = sq(fmaxf(_params.pos_noaid_noise, _params.gps_pos_noise)); - - } else if (!_control_status.flags.in_air && _control_status.flags.vehicle_at_rest) { - // Accelerate tilt fine alignment by fusing more - // aggressively when the vehicle is at rest - obs_var(0) = obs_var(1) = sq(0.01f); - - } else { - obs_var(0) = obs_var(1) = sq(0.5f); - } - - const float innov_gate = 3.f; - - updateHorizontalPositionAidSrcStatus(_time_delayed_us, Vector2f(_last_known_pos), obs_var, innov_gate, aid_src); - - - const bool continuing_conditions_passing = !isHorizontalAidingActive(); - const bool starting_conditions_passing = continuing_conditions_passing - && _horizontal_deadreckon_time_exceeded; - - if (_control_status.flags.fake_pos) { - if (continuing_conditions_passing) { - - // always protect against extreme values that could result in a NaN - aid_src.fusion_enabled = (aid_src.test_ratio[0] < sq(100.0f / innov_gate)) - && (aid_src.test_ratio[1] < sq(100.0f / innov_gate)); - - fuseHorizontalPosition(aid_src); - - const bool is_fusion_failing = isTimedOut(aid_src.time_last_fuse, (uint64_t)4e5); - - if (is_fusion_failing) { - resetFakePosFusion(); - } - - } else { - stopFakePosFusion(); - } - - } else { - if (starting_conditions_passing) { - ECL_INFO("start fake position fusion"); - _control_status.flags.fake_pos = true; - resetFakePosFusion(); - - if (_control_status.flags.tilt_align) { - // The fake position fusion is not started for initial alignement - _warning_events.flags.stopping_navigation = true; - ECL_WARN("stopping navigation"); - } - } - } - - } else if (_control_status.flags.fake_pos && isHorizontalAidingActive()) { - stopFakePosFusion(); - } -} - -void Ekf::resetFakePosFusion() -{ - ECL_INFO("reset fake position fusion"); - _last_known_pos.xy() = _state.pos.xy(); - - resetHorizontalPositionToLastKnown(); - resetHorizontalVelocityToZero(); - - _aid_src_fake_pos.time_last_fuse = _time_delayed_us; -} - -void Ekf::stopFakePosFusion() -{ - if (_control_status.flags.fake_pos) { - ECL_INFO("stop fake position fusion"); - _control_status.flags.fake_pos = false; - - resetEstimatorAidStatus(_aid_src_fake_pos); - } -} diff --git a/src/modules/ekf2/EKF/gps_checks.cpp b/src/modules/ekf2/EKF/gps_checks.cpp deleted file mode 100644 index 61d854632977..000000000000 --- a/src/modules/ekf2/EKF/gps_checks.cpp +++ /dev/null @@ -1,266 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2013 Estimation and Control Library (ECL). All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name ECL nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file gps_checks.cpp - * Perform pre-flight and in-flight GPS quality checks - * - * @author Paul Riseborough - * - */ - -#include "ekf.h" - -#include -#include - -// GPS pre-flight check bit locations -#define MASK_GPS_NSATS (1<<0) -#define MASK_GPS_PDOP (1<<1) -#define MASK_GPS_HACC (1<<2) -#define MASK_GPS_VACC (1<<3) -#define MASK_GPS_SACC (1<<4) -#define MASK_GPS_HDRIFT (1<<5) -#define MASK_GPS_VDRIFT (1<<6) -#define MASK_GPS_HSPD (1<<7) -#define MASK_GPS_VSPD (1<<8) - -bool Ekf::collect_gps(const gpsMessage &gps) -{ - // Run GPS checks always - _gps_checks_passed = gps_is_good(gps); - - if (_filter_initialised && !_NED_origin_initialised && _gps_checks_passed) { - // If we have good GPS data set the origin's WGS-84 position to the last gps fix - const double lat = gps.lat * 1.0e-7; - const double lon = gps.lon * 1.0e-7; - - if (!_pos_ref.isInitialized()) { - _pos_ref.initReference(lat, lon, gps.time_usec); - - // if we are already doing aiding, correct for the change in position since the EKF started navigating - if (isHorizontalAidingActive()) { - double est_lat; - double est_lon; - _pos_ref.reproject(-_state.pos(0), -_state.pos(1), est_lat, est_lon); - _pos_ref.initReference(est_lat, est_lon, gps.time_usec); - } - } - - // Take the current GPS height and subtract the filter height above origin to estimate the GPS height of the origin - if (!PX4_ISFINITE(_gps_alt_ref)) { - _gps_alt_ref = 1e-3f * (float)gps.alt + _state.pos(2); - } - - _NED_origin_initialised = true; - - _earth_rate_NED = calcEarthRateNED((float)math::radians(_pos_ref.getProjectionReferenceLat())); - - const bool declination_was_valid = PX4_ISFINITE(_mag_declination_gps); - - // set the magnetic field data returned by the geo library using the current GPS position - _mag_declination_gps = get_mag_declination_radians(lat, lon); - _mag_inclination_gps = get_mag_inclination_radians(lat, lon); - _mag_strength_gps = get_mag_strength_gauss(lat, lon); - - // request a reset of the yaw using the new declination - if ((_params.mag_fusion_type != MagFuseType::NONE) - && !declination_was_valid) { - _mag_yaw_reset_req = true; - } - - // save the horizontal and vertical position uncertainty of the origin - _gps_origin_eph = gps.eph; - _gps_origin_epv = gps.epv; - - _information_events.flags.gps_checks_passed = true; - ECL_INFO("GPS checks passed"); - - } else if (!_NED_origin_initialised) { - // a rough 2D fix is still sufficient to lookup declination - if ((gps.fix_type >= 2) && (gps.eph < 1000)) { - - const bool declination_was_valid = PX4_ISFINITE(_mag_declination_gps); - - // If we have good GPS data set the origin's WGS-84 position to the last gps fix - const double lat = gps.lat * 1.0e-7; - const double lon = gps.lon * 1.0e-7; - - // set the magnetic field data returned by the geo library using the current GPS position - _mag_declination_gps = get_mag_declination_radians(lat, lon); - _mag_inclination_gps = get_mag_inclination_radians(lat, lon); - _mag_strength_gps = get_mag_strength_gauss(lat, lon); - - // request mag yaw reset if there's a mag declination for the first time - if (_params.mag_fusion_type != MagFuseType::NONE) { - if (!declination_was_valid && PX4_ISFINITE(_mag_declination_gps)) { - _mag_yaw_reset_req = true; - } - } - - _earth_rate_NED = calcEarthRateNED((float)math::radians(lat)); - } - } - - // start collecting GPS if there is a 3D fix and the NED origin has been set - return _NED_origin_initialised && (gps.fix_type >= 3); -} - -/* - * Return true if the GPS solution quality is adequate to set an origin for the EKF - * and start GPS aiding. - * All activated checks must pass for 10 seconds. - * Checks are activated using the EKF2_GPS_CHECK bitmask parameter - * Checks are adjusted using the EKF2_REQ_* parameters -*/ -bool Ekf::gps_is_good(const gpsMessage &gps) -{ - // Check the fix type - _gps_check_fail_status.flags.fix = (gps.fix_type < 3); - - // Check the number of satellites - _gps_check_fail_status.flags.nsats = (gps.nsats < _params.req_nsats); - - // Check the position dilution of precision - _gps_check_fail_status.flags.pdop = (gps.pdop > _params.req_pdop); - - // Check the reported horizontal and vertical position accuracy - _gps_check_fail_status.flags.hacc = (gps.eph > _params.req_hacc); - _gps_check_fail_status.flags.vacc = (gps.epv > _params.req_vacc); - - // Check the reported speed accuracy - _gps_check_fail_status.flags.sacc = (gps.sacc > _params.req_sacc); - - // check if GPS quality is degraded - _gps_error_norm = fmaxf((gps.eph / _params.req_hacc), (gps.epv / _params.req_vacc)); - _gps_error_norm = fmaxf(_gps_error_norm, (gps.sacc / _params.req_sacc)); - - // Calculate time lapsed since last update, limit to prevent numerical errors and calculate a lowpass filter coefficient - constexpr float filt_time_const = 10.0f; - const float dt = math::constrain(float(int64_t(gps.time_usec) - int64_t(_gps_pos_prev.getProjectionReferenceTimestamp())) * 1e-6f, 0.001f, filt_time_const); - const float filter_coef = dt / filt_time_const; - - // The following checks are only valid when the vehicle is at rest - const double lat = gps.lat * 1.0e-7; - const double lon = gps.lon * 1.0e-7; - - if (!_control_status.flags.in_air && _control_status.flags.vehicle_at_rest) { - // Calculate position movement since last measurement - float delta_pos_n = 0.0f; - float delta_pos_e = 0.0f; - - // calculate position movement since last GPS fix - if (_gps_pos_prev.getProjectionReferenceTimestamp() > 0) { - _gps_pos_prev.project(lat, lon, delta_pos_n, delta_pos_e); - - } else { - // no previous position has been set - _gps_pos_prev.initReference(lat, lon, gps.time_usec); - _gps_alt_prev = 1e-3f * (float)gps.alt; - } - - // Calculate the horizontal and vertical drift velocity components and limit to 10x the threshold - const Vector3f vel_limit(_params.req_hdrift, _params.req_hdrift, _params.req_vdrift); - Vector3f pos_derived(delta_pos_n, delta_pos_e, (_gps_alt_prev - 1e-3f * (float)gps.alt)); - pos_derived = matrix::constrain(pos_derived / dt, -10.0f * vel_limit, 10.0f * vel_limit); - - // Apply a low pass filter - _gps_pos_deriv_filt = pos_derived * filter_coef + _gps_pos_deriv_filt * (1.0f - filter_coef); - - // Calculate the horizontal drift speed and fail if too high - _gps_horizontal_position_drift_rate_m_s = Vector2f(_gps_pos_deriv_filt.xy()).norm(); - _gps_check_fail_status.flags.hdrift = (_gps_horizontal_position_drift_rate_m_s > _params.req_hdrift); - - // Fail if the vertical drift speed is too high - _gps_vertical_position_drift_rate_m_s = fabsf(_gps_pos_deriv_filt(2)); - _gps_check_fail_status.flags.vdrift = (_gps_vertical_position_drift_rate_m_s > _params.req_vdrift); - - // Check the magnitude of the filtered horizontal GPS velocity - const Vector2f gps_velNE = matrix::constrain(Vector2f(gps.vel_ned.xy()), - -10.0f * _params.req_hdrift, - 10.0f * _params.req_hdrift); - _gps_velNE_filt = gps_velNE * filter_coef + _gps_velNE_filt * (1.0f - filter_coef); - _gps_filtered_horizontal_velocity_m_s = _gps_velNE_filt.norm(); - _gps_check_fail_status.flags.hspeed = (_gps_filtered_horizontal_velocity_m_s > _params.req_hdrift); - - } else if (_control_status.flags.in_air) { - // These checks are always declared as passed when flying - // If on ground and moving, the last result before movement commenced is kept - _gps_check_fail_status.flags.hdrift = false; - _gps_check_fail_status.flags.vdrift = false; - _gps_check_fail_status.flags.hspeed = false; - - resetGpsDriftCheckFilters(); - - } else { - // This is the case where the vehicle is on ground and IMU movement is blocking the drift calculation - resetGpsDriftCheckFilters(); - } - - // save GPS fix for next time - _gps_pos_prev.initReference(lat, lon, gps.time_usec); - _gps_alt_prev = 1e-3f * (float)gps.alt; - - // Check the filtered difference between GPS and EKF vertical velocity - const float vz_diff_limit = 10.0f * _params.req_vdrift; - const float vertVel = math::constrain(gps.vel_ned(2) - _state.vel(2), -vz_diff_limit, vz_diff_limit); - _gps_velD_diff_filt = vertVel * filter_coef + _gps_velD_diff_filt * (1.0f - filter_coef); - _gps_check_fail_status.flags.vspeed = (fabsf(_gps_velD_diff_filt) > _params.req_vdrift); - - // assume failed first time through - if (_last_gps_fail_us == 0) { - _last_gps_fail_us = _time_delayed_us; - } - - // if any user selected checks have failed, record the fail time - if ( - _gps_check_fail_status.flags.fix || - (_gps_check_fail_status.flags.nsats && (_params.gps_check_mask & MASK_GPS_NSATS)) || - (_gps_check_fail_status.flags.pdop && (_params.gps_check_mask & MASK_GPS_PDOP)) || - (_gps_check_fail_status.flags.hacc && (_params.gps_check_mask & MASK_GPS_HACC)) || - (_gps_check_fail_status.flags.vacc && (_params.gps_check_mask & MASK_GPS_VACC)) || - (_gps_check_fail_status.flags.sacc && (_params.gps_check_mask & MASK_GPS_SACC)) || - (_gps_check_fail_status.flags.hdrift && (_params.gps_check_mask & MASK_GPS_HDRIFT)) || - (_gps_check_fail_status.flags.vdrift && (_params.gps_check_mask & MASK_GPS_VDRIFT)) || - (_gps_check_fail_status.flags.hspeed && (_params.gps_check_mask & MASK_GPS_HSPD)) || - (_gps_check_fail_status.flags.vspeed && (_params.gps_check_mask & MASK_GPS_VSPD)) - ) { - _last_gps_fail_us = _time_delayed_us; - - } else { - _last_gps_pass_us = _time_delayed_us; - } - - // continuous period without fail of x seconds required to return a healthy status - return isTimedOut(_last_gps_fail_us, (uint64_t)_min_gps_health_time_us); -} diff --git a/src/modules/ekf2/EKF/gps_control.cpp b/src/modules/ekf2/EKF/gps_control.cpp deleted file mode 100644 index 9848ad6b0bb8..000000000000 --- a/src/modules/ekf2/EKF/gps_control.cpp +++ /dev/null @@ -1,464 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2021-2022 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file gps_control.cpp - * Control functions for ekf GNSS fusion - */ - -#include "ekf.h" -#include - -void Ekf::controlGpsFusion(const imuSample &imu_delayed) -{ - if (!_gps_buffer || !((_params.gnss_ctrl & GnssCtrl::HPOS) || (_params.gnss_ctrl & GnssCtrl::VEL))) { - stopGpsFusion(); - return; - } - - _gps_intermittent = !isNewestSampleRecent(_time_last_gps_buffer_push, 2 * GNSS_MAX_INTERVAL); - - // check for arrival of new sensor data at the fusion time horizon - _gps_data_ready = _gps_buffer->pop_first_older_than(imu_delayed.time_us, &_gps_sample_delayed); - - if (_gps_data_ready) { - // correct velocity for offset relative to IMU - const Vector3f pos_offset_body = _params.gps_pos_body - _params.imu_pos_body; - const Vector3f vel_offset_body = _ang_rate_delayed_raw % pos_offset_body; - const Vector3f vel_offset_earth = _R_to_earth * vel_offset_body; - _gps_sample_delayed.vel -= vel_offset_earth; - - // correct position and height for offset relative to IMU - const Vector3f pos_offset_earth = _R_to_earth * pos_offset_body; - _gps_sample_delayed.pos -= pos_offset_earth.xy(); - _gps_sample_delayed.hgt += pos_offset_earth(2); - - // update GSF yaw estimator velocity (basic sanity check on GNSS velocity data) - if ((_gps_sample_delayed.sacc > 0.f) && (_gps_sample_delayed.sacc < _params.req_sacc) - && _gps_sample_delayed.vel.isAllFinite() - ) { - _yawEstimator.setVelocity(_gps_sample_delayed.vel.xy(), math::max(_gps_sample_delayed.sacc, _params.gps_vel_noise)); - } - } - - // run EKF-GSF yaw estimator once per imu_delayed update after all main EKF data samples available - _yawEstimator.update(imu_delayed, _control_status.flags.in_air, getGyroBias()); - - // Check for new GPS data that has fallen behind the fusion time horizon - if (_gps_data_ready) { - - const gpsSample &gps_sample{_gps_sample_delayed}; - - const bool gps_checks_passing = isTimedOut(_last_gps_fail_us, (uint64_t)5e6); - const bool gps_checks_failing = isTimedOut(_last_gps_pass_us, (uint64_t)5e6); - -#if defined(CONFIG_EKF2_GNSS_YAW) - controlGpsYawFusion(gps_sample, gps_checks_passing, gps_checks_failing); -#endif // CONFIG_EKF2_GNSS_YAW - - // GNSS velocity - const Vector3f velocity{gps_sample.vel}; - const float vel_var = sq(math::max(gps_sample.sacc, _params.gps_vel_noise)); - const Vector3f vel_obs_var(vel_var, vel_var, vel_var * sq(1.5f)); - updateVelocityAidSrcStatus(gps_sample.time_us, - velocity, // observation - vel_obs_var, // observation variance - math::max(_params.gps_vel_innov_gate, 1.f), // innovation gate - _aid_src_gnss_vel); - _aid_src_gnss_vel.fusion_enabled = (_params.gnss_ctrl & GnssCtrl::VEL); - - // GNSS position - const Vector2f position{gps_sample.pos}; - // relax the upper observation noise limit which prevents bad GPS perturbing the position estimate - float pos_noise = math::max(gps_sample.hacc, _params.gps_pos_noise); - - if (!isOtherSourceOfHorizontalAidingThan(_control_status.flags.gps)) { - // if we are not using another source of aiding, then we are reliant on the GPS - // observations to constrain attitude errors and must limit the observation noise value. - if (pos_noise > _params.pos_noaid_noise) { - pos_noise = _params.pos_noaid_noise; - } - } - - const float pos_var = sq(pos_noise); - const Vector2f pos_obs_var(pos_var, pos_var); - updateHorizontalPositionAidSrcStatus(gps_sample.time_us, - position, // observation - pos_obs_var, // observation variance - math::max(_params.gps_pos_innov_gate, 1.f), // innovation gate - _aid_src_gnss_pos); - _aid_src_gnss_pos.fusion_enabled = (_params.gnss_ctrl & GnssCtrl::HPOS); - -#if defined(CONFIG_EKF2_EXTERNAL_VISION) - // if GPS is otherwise ready to go, but yaw_align is blocked by EV give mag a chance to start - if (_control_status.flags.tilt_align && _NED_origin_initialised - && gps_checks_passing && !gps_checks_failing) { - - if (!_control_status.flags.yaw_align) { - if (_control_status.flags.ev_yaw && !_control_status.flags.yaw_align) { - - // give mag a chance to start and yaw align if currently blocked by EV yaw - const bool mag_enabled = (_params.mag_fusion_type <= MagFuseType::MAG_3D); - const bool mag_available = (_mag_counter != 0); - - if (mag_enabled && mag_available - && !_control_status.flags.mag_field_disturbed - && !_control_status.flags.mag_fault) { - - stopEvYawFusion(); - } - } - } - } -#endif // CONFIG_EKF2_EXTERNAL_VISION - - // Determine if we should use GPS aiding for velocity and horizontal position - // To start using GPS we need angular alignment completed, the local NED origin set and GPS data that has not failed checks recently - const bool mandatory_conditions_passing = ((_params.gnss_ctrl & GnssCtrl::HPOS) || (_params.gnss_ctrl & GnssCtrl::VEL)) - && _control_status.flags.tilt_align - && _control_status.flags.yaw_align - && _NED_origin_initialised; - - const bool continuing_conditions_passing = mandatory_conditions_passing && !gps_checks_failing; - const bool starting_conditions_passing = continuing_conditions_passing && gps_checks_passing; - - if (_control_status.flags.gps) { - if (mandatory_conditions_passing) { - if (continuing_conditions_passing - || !isOtherSourceOfHorizontalAidingThan(_control_status.flags.gps)) { - - fuseVelocity(_aid_src_gnss_vel); - fuseHorizontalPosition(_aid_src_gnss_pos); - - bool do_vel_pos_reset = shouldResetGpsFusion(); - - if (isYawFailure() - && _control_status.flags.in_air - && isTimedOut(_time_last_hor_vel_fuse, _params.EKFGSF_reset_delay) - && (_time_last_hor_vel_fuse > _time_last_on_ground_us)) { - /* A rapid reset to the yaw emergency estimate is performed if horizontal velocity innovation checks continuously - * fails while the difference between the yaw emergency estimator and the yas estimate is large. - * This enables recovery from a bad yaw estimate. A reset is not performed if the fault condition was - * present before flight to prevent triggering due to GPS glitches or other sensor errors. - */ - if (resetYawToEKFGSF()) { - ECL_WARN("GPS emergency yaw reset"); - do_vel_pos_reset = true; - } - } - - if (do_vel_pos_reset) { - ECL_WARN("GPS fusion timeout, resetting velocity and position"); - - // reset velocity - _information_events.flags.reset_vel_to_gps = true; - resetVelocityTo(velocity, vel_obs_var); - _aid_src_gnss_vel.time_last_fuse = _time_delayed_us; - - // reset position - _information_events.flags.reset_pos_to_gps = true; - resetHorizontalPositionTo(position, pos_obs_var); - _aid_src_gnss_pos.time_last_fuse = _time_delayed_us; - } - - } else { - stopGpsFusion(); - _warning_events.flags.gps_quality_poor = true; - ECL_WARN("GPS quality poor - stopping use"); - } - - } else { // mandatory conditions are not passing - stopGpsFusion(); - } - - } else { - if (starting_conditions_passing) { -#if defined(CONFIG_EKF2_EXTERNAL_VISION) - // Do not use external vision for yaw if using GPS because yaw needs to be - // defined relative to an NED reference frame - if (_control_status.flags.ev_yaw) { - // Stop the vision for yaw fusion and do not allow it to start again - stopEvYawFusion(); - _inhibit_ev_yaw_use = true; - } -#endif // CONFIG_EKF2_EXTERNAL_VISION - - ECL_INFO("starting GPS fusion"); - _information_events.flags.starting_gps_fusion = true; - - // when already using another velocity source velocity reset is not necessary - if (!isHorizontalAidingActive() - || isTimedOut(_time_last_hor_vel_fuse, _params.reset_timeout_max) - || !_control_status_prev.flags.yaw_align - ) { - // reset velocity - _information_events.flags.reset_vel_to_gps = true; - resetVelocityTo(velocity, vel_obs_var); - _aid_src_gnss_vel.time_last_fuse = _time_delayed_us; - } - - // reset position - _information_events.flags.reset_pos_to_gps = true; - resetHorizontalPositionTo(position, pos_obs_var); - _aid_src_gnss_pos.time_last_fuse = _time_delayed_us; - - _control_status.flags.gps = true; - - } else if (gps_checks_passing && !_control_status.flags.yaw_align && (_params.mag_fusion_type == MagFuseType::NONE)) { - // If no mag is used, align using the yaw estimator (if available) - if (resetYawToEKFGSF()) { - _information_events.flags.yaw_aligned_to_imu_gps = true; - ECL_INFO("GPS yaw aligned using IMU, resetting vel and pos"); - - // reset velocity - _information_events.flags.reset_vel_to_gps = true; - resetVelocityTo(velocity, vel_obs_var); - _aid_src_gnss_vel.time_last_fuse = _time_delayed_us; - - // reset position - _information_events.flags.reset_pos_to_gps = true; - resetHorizontalPositionTo(position, pos_obs_var); - _aid_src_gnss_pos.time_last_fuse = _time_delayed_us; - } - } - } - - } else if (_control_status.flags.gps && !isNewestSampleRecent(_time_last_gps_buffer_push, (uint64_t)10e6)) { - stopGpsFusion(); - _warning_events.flags.gps_data_stopped = true; - ECL_WARN("GPS data stopped"); - - } else if (_control_status.flags.gps && !isNewestSampleRecent(_time_last_gps_buffer_push, (uint64_t)1e6) - && isOtherSourceOfHorizontalAidingThan(_control_status.flags.gps)) { - - // Handle the case where we are fusing another position source along GPS, - // stop waiting for GPS after 1 s of lost signal - stopGpsFusion(); - _warning_events.flags.gps_data_stopped_using_alternate = true; - ECL_WARN("GPS data stopped, using only EV, OF or air data"); - } -} - -bool Ekf::shouldResetGpsFusion() const -{ - /* We are relying on aiding to constrain drift so after a specified time - * with no aiding we need to do something - */ - bool has_horizontal_aiding_timed_out = isTimedOut(_time_last_hor_pos_fuse, _params.reset_timeout_max) - && isTimedOut(_time_last_hor_vel_fuse, _params.reset_timeout_max); - -#if defined(CONFIG_EKF2_OPTICAL_FLOW) - - if (has_horizontal_aiding_timed_out) { - // horizontal aiding hasn't timed out if optical flow still active - if (_control_status.flags.opt_flow && isRecent(_aid_src_optical_flow.time_last_fuse, _params.reset_timeout_max)) { - has_horizontal_aiding_timed_out = false; - } - } - -#endif // CONFIG_EKF2_OPTICAL_FLOW - - const bool is_reset_required = has_horizontal_aiding_timed_out - || isTimedOut(_time_last_hor_pos_fuse, 2 * _params.reset_timeout_max); - - const bool is_inflight_nav_failure = _control_status.flags.in_air - && isTimedOut(_time_last_hor_vel_fuse, _params.reset_timeout_max) - && isTimedOut(_time_last_hor_pos_fuse, _params.reset_timeout_max) - && (_time_last_hor_vel_fuse > _time_last_on_ground_us) - && (_time_last_hor_pos_fuse > _time_last_on_ground_us); - - return (is_reset_required || is_inflight_nav_failure); -} - -bool Ekf::isYawFailure() const -{ - if (!isYawEmergencyEstimateAvailable()) { - return false; - } - - const float euler_yaw = getEulerYaw(_R_to_earth); - const float yaw_error = wrap_pi(euler_yaw - _yawEstimator.getYaw()); - - return fabsf(yaw_error) > math::radians(25.f); -} - -#if defined(CONFIG_EKF2_GNSS_YAW) -void Ekf::controlGpsYawFusion(const gpsSample &gps_sample, bool gps_checks_passing, bool gps_checks_failing) -{ - if (!(_params.gnss_ctrl & GnssCtrl::YAW) - || _control_status.flags.gps_yaw_fault) { - - stopGpsYawFusion(); - return; - } - - updateGpsYaw(gps_sample); - - const bool is_new_data_available = PX4_ISFINITE(gps_sample.yaw); - - if (is_new_data_available) { - - const bool continuing_conditions_passing = !gps_checks_failing; - - const bool is_gps_yaw_data_intermittent = !isNewestSampleRecent(_time_last_gps_yaw_buffer_push, - 2 * GNSS_YAW_MAX_INTERVAL); - - const bool starting_conditions_passing = continuing_conditions_passing - && _control_status.flags.tilt_align - && gps_checks_passing - && !is_gps_yaw_data_intermittent - && !_gps_intermittent; - - if (_control_status.flags.gps_yaw) { - - if (continuing_conditions_passing) { - - fuseGpsYaw(); - - const bool is_fusion_failing = isTimedOut(_aid_src_gnss_yaw.time_last_fuse, _params.reset_timeout_max); - - if (is_fusion_failing) { - if (_nb_gps_yaw_reset_available > 0) { - // Data seems good, attempt a reset - resetYawToGps(gps_sample.yaw); - - if (_control_status.flags.in_air) { - _nb_gps_yaw_reset_available--; - } - - } else if (starting_conditions_passing) { - // Data seems good, but previous reset did not fix the issue - // something else must be wrong, declare the sensor faulty and stop the fusion - _control_status.flags.gps_yaw_fault = true; - stopGpsYawFusion(); - - } else { - // A reset did not fix the issue but all the starting checks are not passing - // This could be a temporary issue, stop the fusion without declaring the sensor faulty - stopGpsYawFusion(); - } - - // TODO: should we give a new reset credit when the fusion does not fail for some time? - } - - } else { - // Stop GPS yaw fusion but do not declare it faulty - stopGpsYawFusion(); - } - - } else { - if (starting_conditions_passing) { - // Try to activate GPS yaw fusion - startGpsYawFusion(gps_sample); - - if (_control_status.flags.gps_yaw) { - _nb_gps_yaw_reset_available = 1; - } - } - } - - } else if (_control_status.flags.gps_yaw - && !isNewestSampleRecent(_time_last_gps_yaw_buffer_push, _params.reset_timeout_max)) { - - // No yaw data in the message anymore. Stop until it comes back. - stopGpsYawFusion(); - } - - // Before takeoff, we do not want to continue to rely on the current heading - // if we had to stop the fusion - if (!_control_status.flags.in_air - && !_control_status.flags.gps_yaw - && _control_status_prev.flags.gps_yaw) { - _control_status.flags.yaw_align = false; - } -} - -void Ekf::startGpsYawFusion(const gpsSample &gps_sample) -{ - if (!_control_status.flags.gps_yaw && resetYawToGps(gps_sample.yaw)) { - ECL_INFO("starting GPS yaw fusion"); - _control_status.flags.yaw_align = true; - _control_status.flags.mag_dec = false; - - stopMagHdgFusion(); - stopMag3DFusion(); - _control_status.flags.gps_yaw = true; - } -} -#endif // CONFIG_EKF2_GNSS_YAW - -void Ekf::stopGpsYawFusion() -{ -#if defined(CONFIG_EKF2_GNSS_YAW) - if (_control_status.flags.gps_yaw) { - ECL_INFO("stopping GPS yaw fusion"); - _control_status.flags.gps_yaw = false; - resetEstimatorAidStatus(_aid_src_gnss_yaw); - } -#endif // CONFIG_EKF2_GNSS_YAW -} - -void Ekf::stopGpsFusion() -{ - if (_control_status.flags.gps) { - stopGpsPosFusion(); - stopGpsVelFusion(); - - _control_status.flags.gps = false; - } - - if (_control_status.flags.gps_yaw) { - stopGpsYawFusion(); - } - - // We do not need to know the true North anymore - // EV yaw can start again - _inhibit_ev_yaw_use = false; -} - -void Ekf::stopGpsPosFusion() -{ - if (_control_status.flags.gps) { - ECL_INFO("stopping GPS position fusion"); - _control_status.flags.gps = false; - - resetEstimatorAidStatus(_aid_src_gnss_pos); - } -} - -void Ekf::stopGpsVelFusion() -{ - ECL_INFO("stopping GPS velocity fusion"); - - resetEstimatorAidStatus(_aid_src_gnss_vel); -} diff --git a/src/modules/ekf2/EKF/gps_yaw_fusion.cpp b/src/modules/ekf2/EKF/gps_yaw_fusion.cpp deleted file mode 100644 index 7ddfb391eec6..000000000000 --- a/src/modules/ekf2/EKF/gps_yaw_fusion.cpp +++ /dev/null @@ -1,167 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2018 Estimation and Control Library (ECL). All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name ECL nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file gps_yaw_fusion.cpp - * Definition of functions required to use yaw obtained from GPS dual antenna measurements. - * Equations generated using EKF/python/ekf_derivation/main.py - * - * @author Paul Riseborough - * - */ - -#include "ekf.h" -#include "python/ekf_derivation/generated/compute_gnss_yaw_pred_innov_var_and_h.h" - -#include -#include - -void Ekf::updateGpsYaw(const gpsSample &gps_sample) -{ - if (PX4_ISFINITE(gps_sample.yaw)) { - - auto &gnss_yaw = _aid_src_gnss_yaw; - resetEstimatorAidStatus(gnss_yaw); - - // initially populate for estimator_aid_src_gnss_yaw logging - - // calculate the observed yaw angle of antenna array, converting a from body to antenna yaw measurement - const float measured_hdg = wrap_pi(gps_sample.yaw + _gps_yaw_offset); - - const float R_YAW = sq(fmaxf(gps_sample.yaw_acc, _params.gps_heading_noise)); - - float heading_pred; - float heading_innov_var; - - { - Vector24f H; - sym::ComputeGnssYawPredInnovVarAndH(getStateAtFusionHorizonAsVector(), P, _gps_yaw_offset, R_YAW, FLT_EPSILON, &heading_pred, &heading_innov_var, &H); - } - - gnss_yaw.observation = measured_hdg; - gnss_yaw.observation_variance = R_YAW; - gnss_yaw.innovation = wrap_pi(heading_pred - measured_hdg); - gnss_yaw.innovation_variance = heading_innov_var; - - gnss_yaw.fusion_enabled = _control_status.flags.gps_yaw; - - gnss_yaw.timestamp_sample = gps_sample.time_us; - - const float innov_gate = math::max(_params.heading_innov_gate, 1.0f); - setEstimatorAidStatusTestRatio(gnss_yaw, innov_gate); - } -} - -void Ekf::fuseGpsYaw() -{ - auto &gnss_yaw = _aid_src_gnss_yaw; - - if (gnss_yaw.innovation_rejected) { - _innov_check_fail_status.flags.reject_yaw = true; - return; - } - - Vector24f H; - - { - float heading_pred; - float heading_innov_var; - - // Note: we recompute innov and innov_var because it doesn't cost much more than just computing H - // making a separate function just for H uses more flash space without reducing CPU load significantly - sym::ComputeGnssYawPredInnovVarAndH(getStateAtFusionHorizonAsVector(), P, _gps_yaw_offset, gnss_yaw.observation_variance, FLT_EPSILON, &heading_pred, &heading_innov_var, &H); - } - - const SparseVector24f<0,1,2,3> Hfusion(H); - - // check if the innovation variance calculation is badly conditioned - if (gnss_yaw.innovation_variance < gnss_yaw.observation_variance) { - // the innovation variance contribution from the state covariances is negative which means the covariance matrix is badly conditioned - _fault_status.flags.bad_hdg = true; - - // we reinitialise the covariance matrix and abort this fusion step - initialiseCovariance(); - ECL_ERR("GPS yaw numerical error - covariance reset"); - return; - } - - _fault_status.flags.bad_hdg = false; - _innov_check_fail_status.flags.reject_yaw = false; - - _gnss_yaw_signed_test_ratio_lpf.update(matrix::sign(gnss_yaw.innovation) * gnss_yaw.test_ratio); - - if ((fabsf(_gnss_yaw_signed_test_ratio_lpf.getState()) > 0.2f) - && !_control_status.flags.in_air && isTimedOut(gnss_yaw.time_last_fuse, (uint64_t)1e6)) { - - // A constant large signed test ratio is a sign of wrong gyro bias - // Reset the yaw gyro variance to converge faster and avoid - // being stuck on a previous bad estimate - resetZDeltaAngBiasCov(); - } - - // calculate the Kalman gains - // only calculate gains for states we are using - Vector24f Kfusion = P * Hfusion / gnss_yaw.innovation_variance; - - const bool is_fused = measurementUpdate(Kfusion, gnss_yaw.innovation_variance, gnss_yaw.innovation); - _fault_status.flags.bad_hdg = !is_fused; - gnss_yaw.fused = is_fused; - - if (is_fused) { - _time_last_heading_fuse = _time_delayed_us; - gnss_yaw.time_last_fuse = _time_delayed_us; - } -} - -bool Ekf::resetYawToGps(const float gnss_yaw) -{ - // define the predicted antenna array vector and rotate into earth frame - const Vector3f ant_vec_bf = {cosf(_gps_yaw_offset), sinf(_gps_yaw_offset), 0.0f}; - const Vector3f ant_vec_ef = _R_to_earth * ant_vec_bf; - - // check if antenna array vector is within 30 degrees of vertical and therefore unable to provide a reliable heading - if (fabsf(ant_vec_ef(2)) > cosf(math::radians(30.0f))) { - return false; - } - - // GPS yaw measurement is alreday compensated for antenna offset in the driver - const float measured_yaw = gnss_yaw; - - const float yaw_variance = sq(fmaxf(_params.gps_heading_noise, 1.e-2f)); - resetQuatStateYaw(measured_yaw, yaw_variance); - - _aid_src_gnss_yaw.time_last_fuse = _time_delayed_us; - _gnss_yaw_signed_test_ratio_lpf.reset(0.f); - - return true; -} diff --git a/src/modules/ekf2/EKF/gravity_fusion.cpp b/src/modules/ekf2/EKF/gravity_fusion.cpp deleted file mode 100644 index 8a09b72f7999..000000000000 --- a/src/modules/ekf2/EKF/gravity_fusion.cpp +++ /dev/null @@ -1,95 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2023 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name ECL nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file gravity_fusion.cpp - * Fuse observations from the gravity vector to constrain roll - * and pitch (a la complementary filter). - * - * @author Daniel M. Sahu - */ - -#include "ekf.h" -#include "python/ekf_derivation/generated/compute_gravity_innov_var_and_k_and_h.h" - -#include - -void Ekf::controlGravityFusion(const imuSample &imu) -{ - // fuse gravity observation if our overall acceleration isn't too big - const float gravity_scale = _accel_vec_filt.norm() / CONSTANTS_ONE_G; - - _control_status.flags.gravity_vector = (_params.imu_ctrl & static_cast(ImuCtrl::GravityVector)) - && (((gravity_scale >= 0.9f && gravity_scale <= 1.1f)) || _control_status.flags.vehicle_at_rest) - && !isHorizontalAidingActive(); - - // get raw accelerometer reading at delayed horizon and expected measurement noise (gaussian) - const Vector3f measurement = imu.delta_vel / imu.delta_vel_dt - getAccelBias(); - const float measurement_var = sq(_params.gravity_noise); - - // calculate kalman gains and innovation variances - Vector3f innovation; // innovation of the last gravity fusion observation (m/s**2) - Vector3f innovation_variance; - Vector24f Kx, Ky, Kz; // Kalman gain vectors - sym::ComputeGravityInnovVarAndKAndH( - getStateAtFusionHorizonAsVector(), P, measurement, measurement_var, FLT_EPSILON, - &innovation, &innovation_variance, &Kx, &Ky, &Kz); - - // fill estimator aid source status - resetEstimatorAidStatus(_aid_src_gravity); - _aid_src_gravity.timestamp_sample = imu.time_us; - measurement.copyTo(_aid_src_gravity.observation); - - for (auto &var : _aid_src_gravity.observation_variance) { - var = measurement_var; - } - - innovation.copyTo(_aid_src_gravity.innovation); - innovation_variance.copyTo(_aid_src_gravity.innovation_variance); - - float innovation_gate = 1.f; - setEstimatorAidStatusTestRatio(_aid_src_gravity, innovation_gate); - - _aid_src_gravity.fusion_enabled = _control_status.flags.gravity_vector; - - if (_aid_src_gravity.fusion_enabled && !_aid_src_gravity.innovation_rejected) { - // perform fusion for each axis - _aid_src_gravity.fused = measurementUpdate(Kx, innovation_variance(0), innovation(0)) - && measurementUpdate(Ky, innovation_variance(1), innovation(1)) - && measurementUpdate(Kz, innovation_variance(2), innovation(2)); - - if (_aid_src_gravity.fused) { - _aid_src_gravity.time_last_fuse = imu.time_us; - } - } -} diff --git a/src/modules/ekf2/EKF/height_control.cpp b/src/modules/ekf2/EKF/height_control.cpp index c9cfff5a3b3f..4db232ca051f 100644 --- a/src/modules/ekf2/EKF/height_control.cpp +++ b/src/modules/ekf2/EKF/height_control.cpp @@ -39,14 +39,21 @@ void Ekf::controlHeightFusion(const imuSample &imu_delayed) { + checkVerticalAccelerationBias(imu_delayed); checkVerticalAccelerationHealth(imu_delayed); +#if defined(CONFIG_EKF2_BAROMETER) updateGroundEffect(); - controlBaroHeightFusion(); + controlBaroHeightFusion(imu_delayed); +#endif // CONFIG_EKF2_BAROMETER + +#if defined(CONFIG_EKF2_GNSS) controlGnssHeightFusion(_gps_sample_delayed); +#endif // CONFIG_EKF2_GNSS + #if defined(CONFIG_EKF2_RANGE_FINDER) - controlRangeHeightFusion(); + controlRangeHaglFusion(imu_delayed); #endif // CONFIG_EKF2_RANGE_FINDER checkHeightSensorRefFallback(); @@ -61,7 +68,7 @@ void Ekf::checkHeightSensorRefFallback() HeightSensor fallback_list[4]; - switch (_params.height_sensor_ref) { + switch (static_cast(_params.height_sensor_ref)) { default: /* FALLTHROUGH */ @@ -113,6 +120,106 @@ void Ekf::checkHeightSensorRefFallback() } } +void Ekf::checkVerticalAccelerationBias(const imuSample &imu_delayed) +{ + // Run additional checks to see if the delta velocity bias has hit limits in a direction that is clearly wrong + // calculate accel bias term aligned with the gravity vector + const float dVel_bias_lim = 0.9f * _params.acc_bias_lim * _dt_ekf_avg; + const Vector3f delta_vel_bias = _state.accel_bias * _dt_ekf_avg; + const float down_dvel_bias = delta_vel_bias.dot(Vector3f(_R_to_earth.row(2))); + + // check that the vertical component of accel bias is consistent with both the vertical position and velocity innovation + bool bad_acc_bias = false; + + if (fabsf(down_dvel_bias) > dVel_bias_lim) { + + bool bad_vz = false; + +#if defined(CONFIG_EKF2_EXTERNAL_VISION) + + if (_control_status.flags.ev_hgt) { + if (down_dvel_bias * _aid_src_ev_vel.innovation[2] < 0.f) { + bad_vz = true; + } + } + +#endif // CONFIG_EKF2_EXTERNAL_VISION + +#if defined(CONFIG_EKF2_GNSS) + + if (_control_status.flags.gps) { + if (down_dvel_bias * _aid_src_gnss_vel.innovation[2] < 0.f) { + bad_vz = true; + } + } + +#endif // CONFIG_EKF2_GNSS + + if (bad_vz) { +#if defined(CONFIG_EKF2_BAROMETER) + + if (_control_status.flags.baro_hgt) { + if (down_dvel_bias * _aid_src_baro_hgt.innovation < 0.f) { + bad_acc_bias = true; + } + } + +#endif // CONFIG_EKF2_BAROMETER + +#if defined(CONFIG_EKF2_EXTERNAL_VISION) + + if (_control_status.flags.ev_hgt) { + if (down_dvel_bias * _aid_src_ev_hgt.innovation < 0.f) { + bad_acc_bias = true; + } + } + +#endif // CONFIG_EKF2_EXTERNAL_VISION + +#if defined(CONFIG_EKF2_GNSS) + + if (_control_status.flags.gps_hgt) { + if (down_dvel_bias * _aid_src_gnss_hgt.innovation < 0.f) { + bad_acc_bias = true; + } + } + +#endif // CONFIG_EKF2_GNSS + +#if defined(CONFIG_EKF2_RANGE_FINDER) + + if (_control_status.flags.rng_hgt) { + if (down_dvel_bias * _aid_src_rng_hgt.innovation < 0.f) { + bad_acc_bias = true; + } + } + +#endif // CONFIG_EKF2_RANGE_FINDER + } + } + + // record the pass/fail + if (!bad_acc_bias) { + _fault_status.flags.bad_acc_bias = false; + _time_acc_bias_check = _time_delayed_us; + + } else { + _fault_status.flags.bad_acc_bias = true; + } + + // if we have failed for 7 seconds continuously, reset the accel bias covariances to fix bad conditioning of + // the covariance matrix but preserve the variances (diagonals) to allow bias learning to continue + if (_fault_status.flags.bad_acc_bias && isTimedOut(_time_acc_bias_check, (uint64_t)7e6)) { + + resetAccelBiasCov(); + + _time_acc_bias_check = imu_delayed.time_us; + + _fault_status.flags.bad_acc_bias = false; + ECL_WARN("invalid accel bias - covariance reset"); + } +} + void Ekf::checkVerticalAccelerationHealth(const imuSample &imu_delayed) { // Check for IMU accelerometer vibration induced clipping as evidenced by the vertical @@ -122,22 +229,32 @@ void Ekf::checkVerticalAccelerationHealth(const imuSample &imu_delayed) Likelihood inertial_nav_falling_likelihood = estimateInertialNavFallingLikelihood(); - // Check for more than 50% clipping affected IMU samples within the past 1 second - const uint16_t clip_count_limit = 1.f / _dt_ekf_avg; - const bool is_clipping = imu_delayed.delta_vel_clipping[0] || - imu_delayed.delta_vel_clipping[1] || - imu_delayed.delta_vel_clipping[2]; + const uint16_t kClipCountLimit = 1.f / _dt_ekf_avg; + + bool acc_clip_warning[3] {}; + bool acc_clip_critical[3] {}; - if (is_clipping && _clip_counter < clip_count_limit) { - _clip_counter++; + for (int axis = 0; axis < 3; axis++) { + if (imu_delayed.delta_vel_clipping[axis] && (_clip_counter[axis] < kClipCountLimit)) { + _clip_counter[axis]++; - } else if (_clip_counter > 0) { - _clip_counter--; + } else if (_clip_counter[axis] > 0) { + _clip_counter[axis]--; + } + + // warning if more than 50% clipping affected IMU samples within the past 1 second + acc_clip_warning[axis] = _clip_counter[axis] >= kClipCountLimit / 2; + acc_clip_critical[axis] = _clip_counter[axis] >= kClipCountLimit; } - _fault_status.flags.bad_acc_clipping = _clip_counter > clip_count_limit / 2; + // bad_acc_clipping if ALL axes are reporting warning or if ANY axis is critical + const bool all_axis_warning = (acc_clip_warning[0] && acc_clip_warning[1] && acc_clip_warning[2]); + const bool any_axis_critical = (acc_clip_critical[0] || acc_clip_critical[1] || acc_clip_critical[2]); - const bool is_clipping_frequently = _clip_counter > 0; + _fault_status.flags.bad_acc_clipping = all_axis_warning || any_axis_critical; + + // if Z axis is warning or any other axis critical + const bool is_clipping_frequently = acc_clip_warning[2] || _fault_status.flags.bad_acc_clipping; // Do not require evidence of clipping if the likelihood of having the INS falling is high const bool bad_vert_accel = (is_clipping_frequently && (inertial_nav_falling_likelihood == Likelihood::MEDIUM)) @@ -175,10 +292,16 @@ Likelihood Ekf::estimateInertialNavFallingLikelihood() const bool failed_lim{false}; } checks[6] {}; +#if defined(CONFIG_EKF2_BAROMETER) + if (_control_status.flags.baro_hgt) { checks[0] = {ReferenceType::PRESSURE, _aid_src_baro_hgt.innovation, _aid_src_baro_hgt.innovation_variance}; } +#endif // CONFIG_EKF2_BAROMETER + +#if defined(CONFIG_EKF2_GNSS) + if (_control_status.flags.gps_hgt) { checks[1] = {ReferenceType::GNSS, _aid_src_gnss_hgt.innovation, _aid_src_gnss_hgt.innovation_variance}; } @@ -187,13 +310,19 @@ Likelihood Ekf::estimateInertialNavFallingLikelihood() const checks[2] = {ReferenceType::GNSS, _aid_src_gnss_vel.innovation[2], _aid_src_gnss_vel.innovation_variance[2]}; } +#endif // CONFIG_EKF2_GNSS + #if defined(CONFIG_EKF2_RANGE_FINDER) + if (_control_status.flags.rng_hgt) { - checks[3] = {ReferenceType::GROUND, _aid_src_rng_hgt.innovation, _aid_src_rng_hgt.innovation_variance}; + // Range is a distance to ground measurement, not a direct height observation and has an opposite sign + checks[3] = {ReferenceType::GROUND, -_aid_src_rng_hgt.innovation, _aid_src_rng_hgt.innovation_variance}; } + #endif // CONFIG_EKF2_RANGE_FINDER #if defined(CONFIG_EKF2_EXTERNAL_VISION) + if (_control_status.flags.ev_hgt) { checks[4] = {ReferenceType::GROUND, _aid_src_ev_hgt.innovation, _aid_src_ev_hgt.innovation_variance}; } @@ -201,6 +330,7 @@ Likelihood Ekf::estimateInertialNavFallingLikelihood() const if (_control_status.flags.ev_vel) { checks[5] = {ReferenceType::GROUND, _aid_src_ev_vel.innovation[2], _aid_src_ev_vel.innovation_variance[2]}; } + #endif // CONFIG_EKF2_EXTERNAL_VISION // Compute the check based on innovation ratio for all the sources diff --git a/src/modules/ekf2/EKF/imu_down_sampler.cpp b/src/modules/ekf2/EKF/imu_down_sampler/imu_down_sampler.cpp similarity index 98% rename from src/modules/ekf2/EKF/imu_down_sampler.cpp rename to src/modules/ekf2/EKF/imu_down_sampler/imu_down_sampler.cpp index 02f43a12f54c..0054f917f3b4 100644 --- a/src/modules/ekf2/EKF/imu_down_sampler.cpp +++ b/src/modules/ekf2/EKF/imu_down_sampler/imu_down_sampler.cpp @@ -1,4 +1,4 @@ -#include "imu_down_sampler.hpp" +#include "imu_down_sampler/imu_down_sampler.hpp" #include diff --git a/src/modules/ekf2/EKF/imu_down_sampler.hpp b/src/modules/ekf2/EKF/imu_down_sampler/imu_down_sampler.hpp similarity index 93% rename from src/modules/ekf2/EKF/imu_down_sampler.hpp rename to src/modules/ekf2/EKF/imu_down_sampler/imu_down_sampler.hpp index ec0d8a100856..8f0c4211bedf 100644 --- a/src/modules/ekf2/EKF/imu_down_sampler.hpp +++ b/src/modules/ekf2/EKF/imu_down_sampler/imu_down_sampler.hpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2019 Estimation and Control Library (ECL). All rights reserved. + * Copyright (c) 2019-2023 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -12,7 +12,7 @@ * notice, this list of conditions and the following disclaimer in * the documentation and/or other materials provided with the * distribution. - * 3. Neither the name ECL nor the names of its contributors may be + * 3. Neither the name PX4 nor the names of its contributors may be * used to endorse or promote products derived from this software * without specific prior written permission. * @@ -41,7 +41,7 @@ #include #include -#include "common.h" +#include "../common.h" using namespace estimator; diff --git a/src/modules/ekf2/EKF/mag_control.cpp b/src/modules/ekf2/EKF/mag_control.cpp deleted file mode 100644 index 47d892737f59..000000000000 --- a/src/modules/ekf2/EKF/mag_control.cpp +++ /dev/null @@ -1,606 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2019 Estimation and Control Library (ECL). All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name ECL nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file mag_control.cpp - * Control functions for ekf magnetic field fusion - */ - -#include "ekf.h" -#include - -void Ekf::controlMagFusion() -{ - bool mag_data_ready = false; - - magSample mag_sample; - - if (_mag_buffer) { - mag_data_ready = _mag_buffer->pop_first_older_than(_time_delayed_us, &mag_sample); - - if (mag_data_ready) { - - // sensor or calibration has changed, clear any mag bias and reset low pass filter - if (mag_sample.reset || (_mag_counter == 0)) { - // Zero the magnetometer bias states - _state.mag_B.zero(); - - // Zero the corresponding covariances and set - // variances to the values use for initial alignment - P.uncorrelateCovarianceSetVariance<3>(19, sq(_params.mag_noise)); - - // reset any saved covariance data for re-use when auto-switching between heading and 3-axis fusion - _saved_mag_bf_variance.zero(); - - _control_status.flags.mag_fault = false; - - _mag_lpf.reset(mag_sample.mag); - _mag_counter = 1; - - } else { - _mag_lpf.update(mag_sample.mag); - _mag_counter++; - } - - // if enabled, use knowledge of theoretical magnetic field vector to calculate a synthetic magnetomter Z component value. - // this is useful if there is a lot of interference on the sensor measurement. - if (_params.synthesize_mag_z && (_params.mag_declination_source & GeoDeclinationMask::USE_GEO_DECL) - && (_NED_origin_initialised || PX4_ISFINITE(_mag_declination_gps)) - ) { - const Vector3f mag_earth_pred = Dcmf(Eulerf(0, -_mag_inclination_gps, _mag_declination_gps)) * Vector3f(_mag_strength_gps, 0, 0); - mag_sample.mag(2) = calculate_synthetic_mag_z_measurement(mag_sample.mag, mag_earth_pred); - _control_status.flags.synthetic_mag_z = true; - - } else { - _control_status.flags.synthetic_mag_z = false; - } - - _control_status.flags.mag_field_disturbed = magFieldStrengthDisturbed(mag_sample.mag); - - - // compute mag heading innovation (for estimator_aid_src_mag_heading logging) - const Vector3f mag_observation = mag_sample.mag - _state.mag_B; - const Dcmf R_to_earth = updateYawInRotMat(0.f, _R_to_earth); - const Vector3f mag_earth_pred = R_to_earth * mag_observation; - - resetEstimatorAidStatus(_aid_src_mag_heading); - _aid_src_mag_heading.timestamp_sample = mag_sample.time_us; - _aid_src_mag_heading.observation = -atan2f(mag_earth_pred(1), mag_earth_pred(0)) + getMagDeclination(); - _aid_src_mag_heading.innovation = wrap_pi(getEulerYaw(_R_to_earth) - _aid_src_mag_heading.observation); - - // compute magnetometer innovations (for estimator_aid_src_mag logging) - // rotate magnetometer earth field state into body frame - const Vector3f mag_I_body = _state.quat_nominal.rotateVectorInverse(_state.mag_I); - const Vector3f mag_innov = mag_I_body - mag_observation; - - resetEstimatorAidStatus(_aid_src_mag); - _aid_src_mag.timestamp_sample = mag_sample.time_us; - mag_observation.copyTo(_aid_src_mag.observation); - mag_innov.copyTo(_aid_src_mag.innovation); - - } else if (!isNewestSampleRecent(_time_last_mag_buffer_push, 2 * MAG_MAX_INTERVAL)) { - // No data anymore. Stop until it comes back. - stopMagFusion(); - } - } - - // If we are on ground, reset the flight alignment flag so that the mag fields will be - // re-initialised next time we achieve flight altitude - if (!_control_status.flags.in_air) { - _control_status.flags.mag_aligned_in_flight = false; - } - - if (mag_data_ready && !_control_status.flags.tilt_align && !_control_status.flags.yaw_align) { - // calculate the initial magnetic field and yaw alignment - // but do not mark the yaw alignement complete as it needs to be - // reset once the leveling phase is done - if (_params.mag_fusion_type <= MagFuseType::MAG_3D) { - if ((_mag_counter > 1) && isTimedOut(_aid_src_mag_heading.time_last_fuse, (uint64_t)100'000)) { - // rotate the magnetometer measurements into earth frame using a zero yaw angle - // the angle of the projection onto the horizontal gives the yaw angle - const Vector3f mag_earth_pred = updateYawInRotMat(0.f, _R_to_earth) * _mag_lpf.getState(); - const float yaw_new = -atan2f(mag_earth_pred(1), mag_earth_pred(0)) + getMagDeclination(); - - const float yaw_prev = getEulerYaw(_R_to_earth); - - if (fabsf(yaw_new - yaw_prev) > math::radians(1.f)) { - - ECL_INFO("mag heading init %.3f -> %.3f rad (declination %.1f)", (double)yaw_prev, (double)yaw_new, (double)getMagDeclination()); - - // update the rotation matrix using the new yaw value - _R_to_earth = updateYawInRotMat(yaw_new, Dcmf(_state.quat_nominal)); - _state.quat_nominal = _R_to_earth; - - // reset the output predictor state history to match the EKF initial values - _output_predictor.alignOutputFilter(_state.quat_nominal, _state.vel, _state.pos); - - // set the earth magnetic field states using the updated rotation - _state.mag_I = _R_to_earth * _mag_lpf.getState(); - _state.mag_B.zero(); - - _aid_src_mag_heading.time_last_fuse = _time_delayed_us; - _time_last_heading_fuse = _time_delayed_us; - - _last_static_yaw = NAN; - } - } - } - - return; - } - - if (_params.mag_fusion_type >= MagFuseType::NONE - || _control_status.flags.mag_fault - || !_control_status.flags.tilt_align) { - - stopMagFusion(); - return; - } - - _mag_yaw_reset_req |= !_control_status.flags.yaw_align; - - if (mag_data_ready && !_control_status.flags.ev_yaw && !_control_status.flags.gps_yaw) { - - if (shouldInhibitMag()) { - if (uint32_t(_time_delayed_us - _mag_use_not_inhibit_us) > (uint32_t)5e6) { - // If magnetometer use has been inhibited continuously then stop the fusion - stopMagFusion(); - } - - return; - - } else { - _mag_use_not_inhibit_us = _time_delayed_us; - } - - const bool mag_enabled_previously = _control_status_prev.flags.mag_hdg || _control_status_prev.flags.mag_3D; - - // Determine if we should use simple magnetic heading fusion which works better when - // there are large external disturbances or the more accurate 3-axis fusion - switch (_params.mag_fusion_type) { - default: - // FALLTHROUGH - case MagFuseType::AUTO: - selectMagAuto(); - break; - - case MagFuseType::INDOOR: - - /* fallthrough */ - case MagFuseType::HEADING: - startMagHdgFusion(); - break; - - case MagFuseType::MAG_3D: - startMag3DFusion(); - break; - } - - if (_control_status.flags.mag_hdg || _control_status.flags.mag_3D) { - - if (_mag_yaw_reset_req || !_control_status.flags.yaw_align || mag_sample.reset || !mag_enabled_previously || haglYawResetReq()) { - - if (magReset()) { - _mag_yaw_reset_req = false; - - } else { - // mag reset failed, try again next time - _mag_yaw_reset_req = true; - } - } - } - - if (!_control_status.flags.yaw_align) { - // Having the yaw aligned is mandatory to continue - return; - } - - checkMagDeclRequired(); - - runMagAndMagDeclFusions(mag_sample.mag); - } -} - -bool Ekf::haglYawResetReq() -{ - // We need to reset the yaw angle after climbing away from the ground to enable - // recovery from ground level magnetic interference. - if (_control_status.flags.in_air && _control_status.flags.yaw_align && !_control_status.flags.mag_aligned_in_flight) { - // Check if height has increased sufficiently to be away from ground magnetic anomalies - // and request a yaw reset if not already requested. -#if defined(CONFIG_EKF2_RANGE_FINDER) - static constexpr float mag_anomalies_max_hagl = 1.5f; - const bool above_mag_anomalies = (getTerrainVPos() - _state.pos(2)) > mag_anomalies_max_hagl; - return above_mag_anomalies; -#else - return true; -#endif // CONFIG_EKF2_RANGE_FINDER - } - - return false; -} - -bool Ekf::magReset() -{ - // prevent a reset being performed more than once on the same frame - if ((_flt_mag_align_start_time == _time_delayed_us) - || (_control_status_prev.flags.yaw_align != _control_status.flags.yaw_align)) { - return false; - } - - bool has_realigned_yaw = false; - - // use yaw estimator if available - if (_control_status.flags.gps && isYawEmergencyEstimateAvailable() - && (_mag_counter > 1) // mag LPF available - ) { - - resetQuatStateYaw(_yawEstimator.getYaw(), _yawEstimator.getYawVar()); - - _information_events.flags.yaw_aligned_to_imu_gps = true; - - // if world magnetic model (inclination, declination, strength) available then use it to reset mag states - if (PX4_ISFINITE(_mag_inclination_gps) && PX4_ISFINITE(_mag_declination_gps) && PX4_ISFINITE(_mag_strength_gps)) { - // use predicted earth field to reset states - const Vector3f mag_earth_pred = Dcmf(Eulerf(0, -_mag_inclination_gps, _mag_declination_gps)) * Vector3f(_mag_strength_gps, 0, 0); - _state.mag_I = mag_earth_pred; - - const Dcmf R_to_body = quatToInverseRotMat(_state.quat_nominal); - _state.mag_B = _mag_lpf.getState() - (R_to_body * mag_earth_pred); - - } else { - // Use the last magnetometer measurements to reset the field states - // calculate initial earth magnetic field states - _state.mag_I = _R_to_earth * _mag_lpf.getState(); - _state.mag_B.zero(); - } - - ECL_DEBUG("resetting mag I: [%.3f, %.3f, %.3f], B: [%.3f, %.3f, %.3f]", - (double)_state.mag_I(0), (double)_state.mag_I(1), (double)_state.mag_I(2), - (double)_state.mag_B(0), (double)_state.mag_B(1), (double)_state.mag_B(2) - ); - - resetMagCov(); - - has_realigned_yaw = true; - } - - if (!has_realigned_yaw) { - has_realigned_yaw = resetMagHeading(); - } - - if (has_realigned_yaw) { - _control_status.flags.yaw_align = true; - - if (_control_status.flags.in_air) { - _control_status.flags.mag_aligned_in_flight = true; - - // record the time for the magnetic field alignment event - _flt_mag_align_start_time = _time_delayed_us; - } - - return true; - } - - return false; -} - -void Ekf::selectMagAuto() -{ - check3DMagFusionSuitability(); - canUse3DMagFusion() ? startMag3DFusion() : startMagHdgFusion(); -} - -void Ekf::check3DMagFusionSuitability() -{ - checkYawAngleObservability(); - checkMagBiasObservability(); - - if (_mag_bias_observable || _yaw_angle_observable) { - _time_last_mov_3d_mag_suitable = _time_delayed_us; - } -} - -void Ekf::checkYawAngleObservability() -{ - if (_control_status.flags.gps) { - // Check if there has been enough change in horizontal velocity to make yaw observable - // Apply hysteresis to check to avoid rapid toggling - if (_yaw_angle_observable) { - _yaw_angle_observable = _accel_lpf_NE.norm() > _params.mag_acc_gate; - - } else { - _yaw_angle_observable = _accel_lpf_NE.norm() > _params.mag_acc_gate * 2.f; - } - - } else { - _yaw_angle_observable = false; - } -} - -void Ekf::checkMagBiasObservability() -{ - // check if there is enough yaw rotation to make the mag bias states observable - if (!_mag_bias_observable && (fabsf(_yaw_rate_lpf_ef) > _params.mag_yaw_rate_gate)) { - // initial yaw motion is detected - _mag_bias_observable = true; - - } else if (_mag_bias_observable) { - // require sustained yaw motion of 50% the initial yaw rate threshold - const float yaw_dt = 1e-6f * (float)(_time_delayed_us - _time_yaw_started); - const float min_yaw_change_req = 0.5f * _params.mag_yaw_rate_gate * yaw_dt; - _mag_bias_observable = fabsf(_yaw_delta_ef) > min_yaw_change_req; - } - - _yaw_delta_ef = 0.0f; - _time_yaw_started = _time_delayed_us; -} - -bool Ekf::canUse3DMagFusion() const -{ - // Use of 3D fusion requires an in-air heading alignment but it should not - // be used when the heading and mag biases are not observable for more than 2 seconds - return _control_status.flags.mag_aligned_in_flight - && ((_time_delayed_us - _time_last_mov_3d_mag_suitable) < (uint64_t)2e6); -} - -void Ekf::checkMagDeclRequired() -{ - // if we are using 3-axis magnetometer fusion, but without external NE aiding, - // then the declination must be fused as an observation to prevent long term heading drift - // fusing declination when gps aiding is available is optional, but recommended to prevent - // problem if the vehicle is static for extended periods of time - const bool user_selected = (_params.mag_declination_source & GeoDeclinationMask::FUSE_DECL); - const bool not_using_ne_aiding = !_control_status.flags.gps; - _control_status.flags.mag_dec = (_control_status.flags.mag_3D && (not_using_ne_aiding || user_selected)); -} - -bool Ekf::shouldInhibitMag() const -{ - // If the user has selected auto protection against indoor magnetic field errors, only use the magnetometer - // if a yaw angle relative to true North is required for navigation. If no GPS or other earth frame aiding - // is available, assume that we are operating indoors and the magnetometer should not be used. - // Also inhibit mag fusion when a strong magnetic field interference is detected or the user - // has explicitly stopped magnetometer use. - const bool user_selected = (_params.mag_fusion_type == MagFuseType::INDOOR); - - const bool heading_not_required_for_navigation = !_control_status.flags.gps; - - return (user_selected && heading_not_required_for_navigation) || _control_status.flags.mag_field_disturbed; -} - -bool Ekf::magFieldStrengthDisturbed(const Vector3f &mag_sample) const -{ - if (_params.check_mag_strength - && ((_params.mag_fusion_type <= MagFuseType::MAG_3D) || (_params.mag_fusion_type == MagFuseType::INDOOR && _control_status.flags.gps))) { - - if (PX4_ISFINITE(_mag_strength_gps)) { - constexpr float wmm_gate_size = 0.2f; // +/- Gauss - return !isMeasuredMatchingExpected(mag_sample.length(), _mag_strength_gps, wmm_gate_size); - - } else { - constexpr float average_earth_mag_field_strength = 0.45f; // Gauss - constexpr float average_earth_mag_gate_size = 0.40f; // +/- Gauss - return !isMeasuredMatchingExpected(mag_sample.length(), average_earth_mag_field_strength, average_earth_mag_gate_size); - } - } - - return false; -} - -bool Ekf::isMeasuredMatchingExpected(const float measured, const float expected, const float gate) -{ - return (measured >= expected - gate) - && (measured <= expected + gate); -} - -void Ekf::runMagAndMagDeclFusions(const Vector3f &mag) -{ - if (_control_status.flags.mag_3D) { - run3DMagAndDeclFusions(mag); - - } else if (_control_status.flags.mag_hdg) { - // Rotate the measurements into earth frame using the zero yaw angle - Dcmf R_to_earth = updateYawInRotMat(0.f, _R_to_earth); - - Vector3f mag_earth_pred = R_to_earth * (mag - _state.mag_B); - - // the angle of the projection onto the horizontal gives the yaw angle - // calculate the yaw innovation and wrap to the interval between +-pi - float measured_hdg = -atan2f(mag_earth_pred(1), mag_earth_pred(0)) + getMagDeclination(); - - float innovation = wrap_pi(getEulerYaw(_R_to_earth) - measured_hdg); - float obs_var = fmaxf(sq(_params.mag_heading_noise), 1.e-4f); - - _aid_src_mag_heading.fusion_enabled = _control_status.flags.mag_hdg; - - fuseYaw(innovation, obs_var, _aid_src_mag_heading); - } -} - -void Ekf::run3DMagAndDeclFusions(const Vector3f &mag) -{ - // sanity check mag_B before they are used to constrain heading drift - const Vector3f mag_bias_var = P.slice<3, 3>(19, 19).diag(); - const bool mag_bias_var_good = (mag_bias_var.min() > 0.f) && (mag_bias_var.max() < sq(0.02f)); - - const bool update_all_states = _control_status.flags.mag_aligned_in_flight && mag_bias_var_good; - - if (!_mag_decl_cov_reset) { - // After any magnetic field covariance reset event the earth field state - // covariances need to be corrected to incorporate knowledge of the declination - // before fusing magnetometer data to prevent rapid rotation of the earth field - // states for the first few observations. - fuseDeclination(0.02f); - _mag_decl_cov_reset = true; - fuseMag(mag, _aid_src_mag, update_all_states); - - } else { - // The normal sequence is to fuse the magnetometer data first before fusing - // declination angle at a higher uncertainty to allow some learning of - // declination angle over time. - fuseMag(mag, _aid_src_mag, update_all_states); - - if (_control_status.flags.mag_dec) { - fuseDeclination(0.5f); - } - } -} - -bool Ekf::resetMagHeading() -{ - // prevent a reset being performed more than once on the same frame - if ((_flt_mag_align_start_time == _time_delayed_us) || (_control_status_prev.flags.yaw_align != _control_status.flags.yaw_align)) { - return false; - } - - const Vector3f mag_init = _mag_lpf.getState(); - - const bool mag_available = (_mag_counter > 1) && !magFieldStrengthDisturbed(mag_init); - - // low pass filtered mag required - if (!mag_available) { - return false; - } - - const bool heading_required_for_navigation = _control_status.flags.gps; - - if ((_params.mag_fusion_type <= MagFuseType::MAG_3D) || ((_params.mag_fusion_type == MagFuseType::INDOOR) && heading_required_for_navigation)) { - - // rotate the magnetometer measurements into earth frame using a zero yaw angle - const Dcmf R_to_earth = updateYawInRotMat(0.f, _R_to_earth); - - // the angle of the projection onto the horizontal gives the yaw angle - const Vector3f mag_earth_pred = R_to_earth * mag_init; - - // calculate the observed yaw angle and yaw variance - float yaw_new = -atan2f(mag_earth_pred(1), mag_earth_pred(0)) + getMagDeclination(); - float yaw_new_variance = sq(fmaxf(_params.mag_heading_noise, 1.e-2f)); - - ECL_INFO("reset mag heading %.3f -> %.3f rad (declination %.1f)", (double)getEulerYaw(_R_to_earth), (double)yaw_new, (double)getMagDeclination()); - - // update quaternion states and corresponding covarainces - resetQuatStateYaw(yaw_new, yaw_new_variance); - - // set the earth magnetic field states using the updated rotation - _state.mag_I = _R_to_earth * mag_init; - - resetMagCov(); - - // record the time for the magnetic field alignment event - _flt_mag_align_start_time = _time_delayed_us; - - return true; - } - - return false; -} - -float Ekf::getMagDeclination() -{ - // set source of magnetic declination for internal use - if (_control_status.flags.mag_aligned_in_flight) { - // Use value consistent with earth field state - return atan2f(_state.mag_I(1), _state.mag_I(0)); - - } else if (_params.mag_declination_source & GeoDeclinationMask::USE_GEO_DECL) { - // use parameter value until GPS is available, then use value returned by geo library - if (_NED_origin_initialised || PX4_ISFINITE(_mag_declination_gps)) { - return _mag_declination_gps; - - } else { - return math::radians(_params.mag_declination_deg); - } - - } else { - // always use the parameter value - return math::radians(_params.mag_declination_deg); - } -} - -void Ekf::stopMagFusion() -{ - if (_control_status.flags.mag_hdg || _control_status.flags.mag_3D) { - ECL_INFO("stopping all mag fusion"); - stopMag3DFusion(); - stopMagHdgFusion(); - clearMagCov(); - } -} - -void Ekf::stopMag3DFusion() -{ - // save covariance data for re-use if currently doing 3-axis fusion - if (_control_status.flags.mag_3D) { - saveMagCovData(); - - _control_status.flags.mag_3D = false; - _control_status.flags.mag_dec = false; - - _fault_status.flags.bad_mag_x = false; - _fault_status.flags.bad_mag_y = false; - _fault_status.flags.bad_mag_z = false; - - _fault_status.flags.bad_mag_decl = false; - } -} - -void Ekf::stopMagHdgFusion() -{ - if (_control_status.flags.mag_hdg) { - _control_status.flags.mag_hdg = false; - - _fault_status.flags.bad_hdg = false; - } -} - -void Ekf::startMagHdgFusion() -{ - if (!_control_status.flags.mag_hdg) { - stopMag3DFusion(); - ECL_INFO("starting mag heading fusion"); - _control_status.flags.mag_hdg = true; - } -} - -void Ekf::startMag3DFusion() -{ - if (!_control_status.flags.mag_3D) { - - stopMagHdgFusion(); - - zeroMagCov(); - loadMagCovData(); - _control_status.flags.mag_3D = true; - } -} diff --git a/src/modules/ekf2/EKF/mag_fusion.cpp b/src/modules/ekf2/EKF/mag_fusion.cpp deleted file mode 100644 index 3a8b97836d94..000000000000 --- a/src/modules/ekf2/EKF/mag_fusion.cpp +++ /dev/null @@ -1,435 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2015 Estimation and Control Library (ECL). All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name ECL nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file heading_fusion.cpp - * Magnetometer fusion methods. - * Equations generated using EKF/python/ekf_derivation/main.py - * - * @author Roman Bast - * @author Paul Riseborough - * - */ - -#include "ekf.h" -#include "python/ekf_derivation/generated/compute_mag_innov_innov_var_and_hx.h" -#include "python/ekf_derivation/generated/compute_mag_y_innov_var_and_h.h" -#include "python/ekf_derivation/generated/compute_mag_z_innov_var_and_h.h" -#include "python/ekf_derivation/generated/compute_yaw_321_innov_var_and_h.h" -#include "python/ekf_derivation/generated/compute_yaw_312_innov_var_and_h.h" -#include "python/ekf_derivation/generated/compute_mag_declination_pred_innov_var_and_h.h" - -#include - -bool Ekf::fuseMag(const Vector3f &mag, estimator_aid_source3d_s &aid_src_mag, bool update_all_states) -{ - // XYZ Measurement uncertainty. Need to consider timing errors for fast rotations - const float R_MAG = sq(fmaxf(_params.mag_noise, 0.0f)); - - // calculate intermediate variables used for X axis innovation variance, observation Jacobians and Kalman gains - const char* numerical_error_covariance_reset_string = "numerical error - covariance reset"; - Vector3f mag_innov; - Vector3f innov_var; - - // Observation jacobian and Kalman gain vectors - SparseVector24f<0,1,2,3,16,17,18,19,20,21> Hfusion; - Vector24f H; - const Vector24f state_vector = getStateAtFusionHorizonAsVector(); - sym::ComputeMagInnovInnovVarAndHx(state_vector, P, mag, R_MAG, FLT_EPSILON, &mag_innov, &innov_var, &H); - Hfusion = H; - - innov_var.copyTo(aid_src_mag.innovation_variance); - - if (aid_src_mag.innovation_variance[0] < R_MAG) { - // the innovation variance contribution from the state covariances is negative which means the covariance matrix is badly conditioned - _fault_status.flags.bad_mag_x = true; - - // we need to re-initialise covariances and abort this fusion step - resetMagRelatedCovariances(); - ECL_ERR("magX %s", numerical_error_covariance_reset_string); - return false; - } - - _fault_status.flags.bad_mag_x = false; - - // check innovation variances for being badly conditioned - if (aid_src_mag.innovation_variance[1] < R_MAG) { - // the innovation variance contribution from the state covariances is negtive which means the covariance matrix is badly conditioned - _fault_status.flags.bad_mag_y = true; - - // we need to re-initialise covariances and abort this fusion step - resetMagRelatedCovariances(); - ECL_ERR("magY %s", numerical_error_covariance_reset_string); - return false; - } - - _fault_status.flags.bad_mag_y = false; - - if (aid_src_mag.innovation_variance[2] < R_MAG) { - // the innovation variance contribution from the state covariances is negative which means the covariance matrix is badly conditioned - _fault_status.flags.bad_mag_z = true; - - // we need to re-initialise covariances and abort this fusion step - resetMagRelatedCovariances(); - ECL_ERR("magZ %s", numerical_error_covariance_reset_string); - return false; - } - - _fault_status.flags.bad_mag_z = false; - - // do not use the synthesized measurement for the magnetomter Z component for 3D fusion - if (_control_status.flags.synthetic_mag_z) { - mag_innov(2) = 0.0f; - } - - for (int i = 0; i < 3; i++) { - aid_src_mag.observation[i] = mag(i) - _state.mag_B(i); - aid_src_mag.observation_variance[i] = R_MAG; - aid_src_mag.innovation[i] = mag_innov(i); - } - - aid_src_mag.fusion_enabled = _control_status.flags.mag_3D && update_all_states; - - // do not use the synthesized measurement for the magnetomter Z component for 3D fusion - if (_control_status.flags.synthetic_mag_z) { - aid_src_mag.innovation[2] = 0.0f; - } - - const float innov_gate = math::max(_params.mag_innov_gate, 1.f); - setEstimatorAidStatusTestRatio(aid_src_mag, innov_gate); - - // Perform an innovation consistency check and report the result - _innov_check_fail_status.flags.reject_mag_x = (aid_src_mag.test_ratio[0] > 1.f); - _innov_check_fail_status.flags.reject_mag_y = (aid_src_mag.test_ratio[1] > 1.f); - _innov_check_fail_status.flags.reject_mag_z = (aid_src_mag.test_ratio[2] > 1.f); - - // if any axis fails, abort the mag fusion - if (aid_src_mag.innovation_rejected) { - return false; - } - - bool fused[3] {false, false, false}; - - // update the states and covariance using sequential fusion of the magnetometer components - for (uint8_t index = 0; index <= 2; index++) { - // Calculate Kalman gains and observation jacobians - if (index == 0) { - // everything was already computed above - - } else if (index == 1) { - // recalculate innovation variance because state covariances have changed due to previous fusion (linearise using the same initial state for all axes) - sym::ComputeMagYInnovVarAndH(state_vector, P, R_MAG, FLT_EPSILON, &aid_src_mag.innovation_variance[index], &H); - Hfusion = H; - - // recalculate innovation using the updated state - aid_src_mag.innovation[index] = _state.quat_nominal.rotateVectorInverse(_state.mag_I)(index) + _state.mag_B(index) - mag(index); - - if (aid_src_mag.innovation_variance[index] < R_MAG) { - // the innovation variance contribution from the state covariances is negative which means the covariance matrix is badly conditioned - _fault_status.flags.bad_mag_y = true; - - // we need to re-initialise covariances and abort this fusion step - resetMagRelatedCovariances(); - ECL_ERR("magY %s", numerical_error_covariance_reset_string); - return false; - } - - } else if (index == 2) { - // we do not fuse synthesized magnetomter measurements when doing 3D fusion - if (_control_status.flags.synthetic_mag_z) { - continue; - } - - // recalculate innovation variance because state covariances have changed due to previous fusion (linearise using the same initial state for all axes) - sym::ComputeMagZInnovVarAndH(state_vector, P, R_MAG, FLT_EPSILON, &aid_src_mag.innovation_variance[index], &H); - Hfusion = H; - - // recalculate innovation using the updated state - aid_src_mag.innovation[index] = _state.quat_nominal.rotateVectorInverse(_state.mag_I)(index) + _state.mag_B(index) - mag(index); - - if (aid_src_mag.innovation_variance[index] < R_MAG) { - // the innovation variance contribution from the state covariances is negative which means the covariance matrix is badly conditioned - _fault_status.flags.bad_mag_z = true; - - // we need to re-initialise covariances and abort this fusion step - resetMagRelatedCovariances(); - ECL_ERR("magZ %s", numerical_error_covariance_reset_string); - return false; - } - } - - Vector24f Kfusion = P * Hfusion / aid_src_mag.innovation_variance[index]; - - if (!update_all_states) { - for (unsigned row = 0; row <= 15; row++) { - Kfusion(row) = 0.f; - } - - for (unsigned row = 22; row <= 23; row++) { - Kfusion(row) = 0.f; - } - } - - if (measurementUpdate(Kfusion, aid_src_mag.innovation_variance[index], aid_src_mag.innovation[index])) { - fused[index] = true; - limitDeclination(); - - } else { - fused[index] = false; - } - } - - _fault_status.flags.bad_mag_x = !fused[0]; - _fault_status.flags.bad_mag_y = !fused[1]; - _fault_status.flags.bad_mag_z = !fused[2]; - - if (fused[0] && fused[1] && fused[2]) { - aid_src_mag.fused = true; - aid_src_mag.time_last_fuse = _time_delayed_us; - return true; - } - - aid_src_mag.fused = false; - return false; -} - -// update quaternion states and covariances using the yaw innovation and yaw observation variance -bool Ekf::fuseYaw(const float innovation, const float variance, estimator_aid_source1d_s& aid_src_status) -{ - Vector24f H_YAW; - computeYawInnovVarAndH(variance, aid_src_status.innovation_variance, H_YAW); - - return fuseYaw(innovation, variance, aid_src_status, H_YAW); -} - -bool Ekf::fuseYaw(const float innovation, const float variance, estimator_aid_source1d_s& aid_src_status, const Vector24f &H_YAW) -{ - aid_src_status.innovation = innovation; - - float heading_innov_var_inv = 0.f; - - // check if the innovation variance calculation is badly conditioned - if (aid_src_status.innovation_variance >= variance) { - // the innovation variance contribution from the state covariances is not negative, no fault - _fault_status.flags.bad_hdg = false; - heading_innov_var_inv = 1.f / aid_src_status.innovation_variance; - - } else { - // the innovation variance contribution from the state covariances is negative which means the covariance matrix is badly conditioned - _fault_status.flags.bad_hdg = true; - - // we reinitialise the covariance matrix and abort this fusion step - initialiseCovariance(); - ECL_ERR("yaw fusion numerical error - covariance reset"); - return false; - } - - // calculate the Kalman gains - // only calculate gains for states we are using - Vector24f Kfusion; - - for (uint8_t row = 0; row < _k_num_states; row++) { - for (uint8_t col = 0; col <= 3; col++) { - Kfusion(row) += P(row, col) * H_YAW(col); - } - - Kfusion(row) *= heading_innov_var_inv; - } - - // define the innovation gate size - float gate_sigma = math::max(_params.heading_innov_gate, 1.f); - - // innovation test ratio - setEstimatorAidStatusTestRatio(aid_src_status, gate_sigma); - - // set the magnetometer unhealthy if the test fails - if (aid_src_status.innovation_rejected) { - _innov_check_fail_status.flags.reject_yaw = true; - - // if we are in air we don't want to fuse the measurement - // we allow to use it when on the ground because the large innovation could be caused - // by interference or a large initial gyro bias - if (!_control_status.flags.in_air - && isTimedOut(_time_last_in_air, (uint64_t)5e6) - && isTimedOut(aid_src_status.time_last_fuse, (uint64_t)1e6) - ) { - // constrain the innovation to the maximum set by the gate - // we need to delay this forced fusion to avoid starting it - // immediately after touchdown, when the drone is still armed - float gate_limit = sqrtf((sq(gate_sigma) * aid_src_status.innovation_variance)); - aid_src_status.innovation = math::constrain(aid_src_status.innovation, -gate_limit, gate_limit); - - // also reset the yaw gyro variance to converge faster and avoid - // being stuck on a previous bad estimate - resetZDeltaAngBiasCov(); - - } else { - return false; - } - - } else { - _innov_check_fail_status.flags.reject_yaw = false; - } - - if (measurementUpdate(Kfusion, aid_src_status.innovation_variance, aid_src_status.innovation)) { - - _time_last_heading_fuse = _time_delayed_us; - - aid_src_status.time_last_fuse = _time_delayed_us; - aid_src_status.fused = true; - - _fault_status.flags.bad_hdg = false; - - return true; - } - - // otherwise - aid_src_status.fused = false; - _fault_status.flags.bad_hdg = true; - return false; -} - -void Ekf::computeYawInnovVarAndH(float variance, float &innovation_variance, Vector24f &H_YAW) const -{ - if (shouldUse321RotationSequence(_R_to_earth)) { - sym::ComputeYaw321InnovVarAndH(getStateAtFusionHorizonAsVector(), P, variance, FLT_EPSILON, &innovation_variance, &H_YAW); - - } else { - sym::ComputeYaw312InnovVarAndH(getStateAtFusionHorizonAsVector(), P, variance, FLT_EPSILON, &innovation_variance, &H_YAW); - } -} - -bool Ekf::fuseDeclination(float decl_sigma) -{ - // observation variance (rad**2) - const float R_DECL = sq(decl_sigma); - - Vector24f H; - float decl_pred; - float innovation_variance; - - sym::ComputeMagDeclinationPredInnovVarAndH(getStateAtFusionHorizonAsVector(), P, R_DECL, FLT_EPSILON, &decl_pred, &innovation_variance, &H); - - const float innovation = wrap_pi(decl_pred - getMagDeclination()); - - if (innovation_variance < R_DECL) { - // variance calculation is badly conditioned - return false; - } - - SparseVector24f<16,17> Hfusion(H); - - // Calculate the Kalman gains - Vector24f Kfusion = P * Hfusion / innovation_variance; - - const bool is_fused = measurementUpdate(Kfusion, innovation_variance, innovation); - - _fault_status.flags.bad_mag_decl = !is_fused; - - if (is_fused) { - limitDeclination(); - } - - return is_fused; -} - -void Ekf::limitDeclination() -{ - // get a reference value for the earth field declinaton and minimum plausible horizontal field strength - // set to 50% of the horizontal strength from geo tables if location is known - float decl_reference; - float h_field_min = 0.001f; - - if (_params.mag_declination_source & GeoDeclinationMask::USE_GEO_DECL) { - // use parameter value until GPS is available, then use value returned by geo library - if (_NED_origin_initialised || PX4_ISFINITE(_mag_declination_gps)) { - decl_reference = _mag_declination_gps; - h_field_min = fmaxf(h_field_min, 0.5f * _mag_strength_gps * cosf(_mag_inclination_gps)); - - } else { - decl_reference = math::radians(_params.mag_declination_deg); - } - - } else { - // always use the parameter value - decl_reference = math::radians(_params.mag_declination_deg); - } - - // do not allow the horizontal field length to collapse - this will make the declination fusion badly conditioned - // and can result in a reversal of the NE field states which the filter cannot recover from - // apply a circular limit - float h_field = sqrtf(_state.mag_I(0) * _state.mag_I(0) + _state.mag_I(1) * _state.mag_I(1)); - - if (h_field < h_field_min) { - if (h_field > 0.001f * h_field_min) { - const float h_scaler = h_field_min / h_field; - _state.mag_I(0) *= h_scaler; - _state.mag_I(1) *= h_scaler; - - } else { - // too small to scale radially so set to expected value - const float mag_declination = getMagDeclination(); - _state.mag_I(0) = 2.0f * h_field_min * cosf(mag_declination); - _state.mag_I(1) = 2.0f * h_field_min * sinf(mag_declination); - } - - h_field = h_field_min; - } - - // do not allow the declination estimate to vary too much relative to the reference value - constexpr float decl_tolerance = 0.5f; - const float decl_max = decl_reference + decl_tolerance; - const float decl_min = decl_reference - decl_tolerance; - const float decl_estimate = atan2f(_state.mag_I(1), _state.mag_I(0)); - - if (decl_estimate > decl_max) { - _state.mag_I(0) = h_field * cosf(decl_max); - _state.mag_I(1) = h_field * sinf(decl_max); - - } else if (decl_estimate < decl_min) { - _state.mag_I(0) = h_field * cosf(decl_min); - _state.mag_I(1) = h_field * sinf(decl_min); - } -} - -float Ekf::calculate_synthetic_mag_z_measurement(const Vector3f &mag_meas, const Vector3f &mag_earth_predicted) -{ - // theoretical magnitude of the magnetometer Z component value given X and Y sensor measurement and our knowledge - // of the earth magnetic field vector at the current location - const float mag_z_abs = sqrtf(math::max(sq(mag_earth_predicted.length()) - sq(mag_meas(0)) - sq(mag_meas(1)), 0.0f)); - - // calculate sign of synthetic magnetomter Z component based on the sign of the predicted magnetometer Z component - const float mag_z_body_pred = mag_earth_predicted.dot(_R_to_earth.col(2)); - - return (mag_z_body_pred < 0) ? -mag_z_abs : mag_z_abs; -} diff --git a/src/modules/ekf2/EKF/optflow_fusion.cpp b/src/modules/ekf2/EKF/optflow_fusion.cpp deleted file mode 100644 index a061e2c7f121..000000000000 --- a/src/modules/ekf2/EKF/optflow_fusion.cpp +++ /dev/null @@ -1,260 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2015 Estimation and Control Library (ECL). All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name ECL nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file vel_pos_fusion.cpp - * Function for fusing gps and baro measurements/ - * equations generated using EKF/python/ekf_derivation/main.py - * - * @author Paul Riseborough - * @author Siddharth Bharat Purohit - * - */ - -#include "ekf.h" - -#include -#include -#include "python/ekf_derivation/generated/compute_flow_xy_innov_var_and_hx.h" -#include "python/ekf_derivation/generated/compute_flow_y_innov_var_and_h.h" -#include "utils.hpp" - -void Ekf::updateOptFlow(estimator_aid_source2d_s &aid_src) -{ - resetEstimatorAidStatus(aid_src); - aid_src.timestamp_sample = _flow_sample_delayed.time_us; - - const Vector2f vel_body = predictFlowVelBody(); - const float range = predictFlowRange(); - - // calculate optical LOS rates using optical flow rates that have had the body angular rate contribution removed - // correct for gyro bias errors in the data used to do the motion compensation - // Note the sign convention used: A positive LOS rate is a RH rotation of the scene about that axis. - const Vector2f opt_flow_rate = _flow_compensated_XY_rad / _flow_sample_delayed.dt; - - // compute the velocities in body and local frames from corrected optical flow measurement for logging only - _flow_vel_body(0) = -opt_flow_rate(1) * range; - _flow_vel_body(1) = opt_flow_rate(0) * range; - _flow_vel_ne = Vector2f(_R_to_earth * Vector3f(_flow_vel_body(0), _flow_vel_body(1), 0.f)); - - aid_src.observation[0] = opt_flow_rate(0); // flow around the X axis - aid_src.observation[1] = opt_flow_rate(1); // flow around the Y axis - - aid_src.innovation[0] = (vel_body(1) / range) - aid_src.observation[0]; - aid_src.innovation[1] = (-vel_body(0) / range) - aid_src.observation[1]; - - // calculate the optical flow observation variance - const float R_LOS = calcOptFlowMeasVar(_flow_sample_delayed); - aid_src.observation_variance[0] = R_LOS; - aid_src.observation_variance[1] = R_LOS; -} - -void Ekf::fuseOptFlow() -{ - _aid_src_optical_flow.fusion_enabled = true; - - const float R_LOS = _aid_src_optical_flow.observation_variance[0]; - - // calculate the height above the ground of the optical flow camera. Since earth frame is NED - // a positive offset in earth frame leads to a smaller height above the ground. - float range = predictFlowRange(); - - const Vector24f state_vector = getStateAtFusionHorizonAsVector(); - - Vector2f innov_var; - Vector24f H; - sym::ComputeFlowXyInnovVarAndHx(state_vector, P, range, R_LOS, FLT_EPSILON, &innov_var, &H); - innov_var.copyTo(_aid_src_optical_flow.innovation_variance); - - if ((_aid_src_optical_flow.innovation_variance[0] < R_LOS) - || (_aid_src_optical_flow.innovation_variance[1] < R_LOS)) { - // we need to reinitialise the covariance matrix and abort this fusion step - ECL_ERR("Opt flow error - covariance reset"); - initialiseCovariance(); - return; - } - - // run the innovation consistency check and record result - setEstimatorAidStatusTestRatio(_aid_src_optical_flow, math::max(_params.flow_innov_gate, 1.f)); - - _innov_check_fail_status.flags.reject_optflow_X = (_aid_src_optical_flow.test_ratio[0] > 1.f); - _innov_check_fail_status.flags.reject_optflow_Y = (_aid_src_optical_flow.test_ratio[1] > 1.f); - - // if either axis fails we abort the fusion - if (_aid_src_optical_flow.innovation_rejected) { - return; - } - - bool fused[2] {false, false}; - - // fuse observation axes sequentially - for (uint8_t index = 0; index <= 1; index++) { - if (index == 0) { - // everything was already computed above - - } else if (index == 1) { - // recalculate innovation variance because state covariances have changed due to previous fusion (linearise using the same initial state for all axes) - sym::ComputeFlowYInnovVarAndH(state_vector, P, range, R_LOS, FLT_EPSILON, &_aid_src_optical_flow.innovation_variance[1], &H); - - // recalculate the innovation using the updated state - const Vector2f vel_body = predictFlowVelBody(); - range = predictFlowRange(); - _aid_src_optical_flow.innovation[1] = (-vel_body(0) / range) - _aid_src_optical_flow.observation[1]; - - if (_aid_src_optical_flow.innovation_variance[1] < R_LOS) { - // we need to reinitialise the covariance matrix and abort this fusion step - ECL_ERR("Opt flow error - covariance reset"); - initialiseCovariance(); - return; - } - } - - SparseVector24f<0,1,2,3,4,5,6> Hfusion(H); - Vector24f Kfusion = P * Hfusion / _aid_src_optical_flow.innovation_variance[index]; - - if (measurementUpdate(Kfusion, _aid_src_optical_flow.innovation_variance[index], _aid_src_optical_flow.innovation[index])) { - fused[index] = true; - } - } - - _fault_status.flags.bad_optflow_X = !fused[0]; - _fault_status.flags.bad_optflow_Y = !fused[1]; - - if (fused[0] && fused[1]) { - _aid_src_optical_flow.time_last_fuse = _time_delayed_us; - _aid_src_optical_flow.fused = true; - } -} - -float Ekf::predictFlowRange() -{ - // calculate the sensor position relative to the IMU - const Vector3f pos_offset_body = _params.flow_pos_body - _params.imu_pos_body; - - // calculate the sensor position relative to the IMU in earth frame - const Vector3f pos_offset_earth = _R_to_earth * pos_offset_body; - - // calculate the height above the ground of the optical flow camera. Since earth frame is NED - // a positive offset in earth frame leads to a smaller height above the ground. - const float height_above_gnd_est = math::max(_terrain_vpos - _state.pos(2) - pos_offset_earth(2), fmaxf(_params.rng_gnd_clearance, 0.01f)); - - // calculate range from focal point to centre of image - return height_above_gnd_est / _R_to_earth(2, 2); // absolute distance to the frame region in view -} - -Vector2f Ekf::predictFlowVelBody() -{ - // calculate the sensor position relative to the IMU - const Vector3f pos_offset_body = _params.flow_pos_body - _params.imu_pos_body; - - // calculate the velocity of the sensor relative to the imu in body frame - // Note: _flow_sample_delayed.gyro_xyz is the negative of the body angular velocity, thus use minus sign - const Vector3f vel_rel_imu_body = Vector3f(-_flow_sample_delayed.gyro_xyz / _flow_sample_delayed.dt) % pos_offset_body; - - // calculate the velocity of the sensor in the earth frame - const Vector3f vel_rel_earth = _state.vel + _R_to_earth * vel_rel_imu_body; - - // rotate into body frame - return _state.quat_nominal.rotateVectorInverse(vel_rel_earth).xy(); -} - - -// calculate optical flow body angular rate compensation -// returns false if bias corrected body rate data is unavailable -bool Ekf::calcOptFlowBodyRateComp() -{ - bool is_body_rate_comp_available = false; - const bool use_flow_sensor_gyro = _flow_sample_delayed.gyro_xyz.isAllFinite(); - - if (use_flow_sensor_gyro) { - - // if accumulation time differences are not excessive and accumulation time is adequate - // compare the optical flow and and navigation rate data and calculate a bias error - if ((_delta_time_of > FLT_EPSILON) - && (_flow_sample_delayed.dt > FLT_EPSILON) - && (fabsf(_delta_time_of - _flow_sample_delayed.dt) < 0.1f)) { - - const Vector3f reference_body_rate(_imu_del_ang_of * (1.0f / _delta_time_of)); - - const Vector3f measured_body_rate(_flow_sample_delayed.gyro_xyz * (1.0f / _flow_sample_delayed.dt)); - - // calculate the bias estimate using a combined LPF and spike filter - _flow_gyro_bias = _flow_gyro_bias * 0.99f + matrix::constrain(measured_body_rate - reference_body_rate, -0.1f, 0.1f) * 0.01f; - - // apply gyro bias - _flow_sample_delayed.gyro_xyz -= (_flow_gyro_bias * _flow_sample_delayed.dt); - - is_body_rate_comp_available = true; - } - - } else { - // Use the EKF gyro data if optical flow sensor gyro data is not available - // for clarification of the sign see definition of flowSample and imuSample in common.h - if ((_delta_time_of > FLT_EPSILON) - && (_flow_sample_delayed.dt > FLT_EPSILON)) { - - _flow_sample_delayed.gyro_xyz = -_imu_del_ang_of / _delta_time_of * _flow_sample_delayed.dt; - _flow_gyro_bias.zero(); - - is_body_rate_comp_available = true; - } - } - - // reset the accumulators - _imu_del_ang_of.setZero(); - _delta_time_of = 0.0f; - return is_body_rate_comp_available; -} - -// calculate the measurement variance for the optical flow sensor (rad/sec)^2 -float Ekf::calcOptFlowMeasVar(const flowSample &flow_sample) -{ - // calculate the observation noise variance - scaling noise linearly across flow quality range - const float R_LOS_best = fmaxf(_params.flow_noise, 0.05f); - const float R_LOS_worst = fmaxf(_params.flow_noise_qual_min, 0.05f); - - // calculate a weighting that varies between 1 when flow quality is best and 0 when flow quality is worst - float weighting = (255.f - (float)_params.flow_qual_min); - - if (weighting >= 1.f) { - weighting = math::constrain((float)(flow_sample.quality - _params.flow_qual_min) / weighting, 0.f, 1.f); - - } else { - weighting = 0.0f; - } - - // take the weighted average of the observation noise for the best and wort flow quality - const float R_LOS = sq(R_LOS_best * weighting + R_LOS_worst * (1.f - weighting)); - - return R_LOS; -} diff --git a/src/modules/ekf2/EKF/optical_flow_control.cpp b/src/modules/ekf2/EKF/optical_flow_control.cpp deleted file mode 100644 index ae77e228cf48..000000000000 --- a/src/modules/ekf2/EKF/optical_flow_control.cpp +++ /dev/null @@ -1,270 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2022 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file optical_flow_control.cpp - * Control functions for optical flow fusion - */ - -#include "ekf.h" - -void Ekf::controlOpticalFlowFusion(const imuSample &imu_delayed) -{ - if (_flow_buffer) { - // We don't fuse flow data immediately because we have to wait for the mid integration point to fall behind the fusion time horizon. - // This means we stop looking for new data until the old data has been fused, unless we are not fusing optical flow, - // in this case we need to empty the buffer - if (!_flow_data_ready || (!_control_status.flags.opt_flow && !_hagl_sensor_status.flags.flow)) { - _flow_data_ready = _flow_buffer->pop_first_older_than(imu_delayed.time_us, &_flow_sample_delayed); - } - } - - // Check if on ground motion is un-suitable for use of optical flow - if (!_control_status.flags.in_air) { - updateOnGroundMotionForOpticalFlowChecks(); - - } else { - resetOnGroundMotionForOpticalFlowChecks(); - } - - // Accumulate autopilot gyro data across the same time interval as the flow sensor - const Vector3f delta_angle(imu_delayed.delta_ang - (getGyroBias() * imu_delayed.delta_ang_dt)); - if (_delta_time_of < 0.1f) { - _imu_del_ang_of += delta_angle; - _delta_time_of += imu_delayed.delta_ang_dt; - - } else { - // reset the accumulators if the time interval is too large - _imu_del_ang_of = delta_angle; - _delta_time_of = imu_delayed.delta_ang_dt; - } - - if (_flow_data_ready) { - const bool is_quality_good = (_flow_sample_delayed.quality >= _params.flow_qual_min); - const bool is_magnitude_good = !_flow_sample_delayed.flow_xy_rad.longerThan(_flow_sample_delayed.dt * _flow_max_rate); - const bool is_tilt_good = (_R_to_earth(2, 2) > _params.range_cos_max_tilt); - - const float delta_time_min = fmaxf(0.7f * _delta_time_of, 0.001f); - const float delta_time_max = fminf(1.3f * _delta_time_of, 0.2f); - bool is_delta_time_good = _flow_sample_delayed.dt >= delta_time_min && _flow_sample_delayed.dt <= delta_time_max; - - if (!is_delta_time_good && (_flow_sample_delayed.dt > FLT_EPSILON)) { - - if (fabsf(imu_delayed.delta_ang_dt - _flow_sample_delayed.dt) < 0.1f) { - // reset accumulators to current IMU - _imu_del_ang_of = delta_angle; - _delta_time_of = imu_delayed.delta_ang_dt; - - is_delta_time_good = true; - } - - if (is_quality_good && !is_delta_time_good) { - ECL_DEBUG("Optical flow: bad delta time: OF dt %.6f s (min: %.3f, max: %.3f), IMU dt %.6f s", - (double)_flow_sample_delayed.dt, (double)delta_time_min, (double)delta_time_max, - (double)imu_delayed.delta_ang_dt); - } - } - - const bool is_body_rate_comp_available = calcOptFlowBodyRateComp(); - - // don't allow invalid flow gyro_xyz to propagate - if (!_flow_sample_delayed.gyro_xyz.isAllFinite()) { - _flow_sample_delayed.gyro_xyz.zero(); - } - - if (is_quality_good - && is_magnitude_good - && is_tilt_good - && is_body_rate_comp_available - && is_delta_time_good) { - // compensate for body motion to give a LOS rate - _flow_compensated_XY_rad = _flow_sample_delayed.flow_xy_rad - _flow_sample_delayed.gyro_xyz.xy(); - - } else if (!_control_status.flags.in_air) { - - if (!is_delta_time_good) { - // handle special case of SITL and PX4Flow where dt is forced to - // zero when the quaity is 0 - _flow_sample_delayed.dt = delta_time_min; - } - - // when on the ground with poor flow quality, - // assume zero ground relative velocity and LOS rate - _flow_compensated_XY_rad.setZero(); - - } else { - // don't use this flow data and wait for the next data to arrive - _flow_data_ready = false; - _flow_compensated_XY_rad.setZero(); - } - - updateOptFlow(_aid_src_optical_flow); - - } else { - _flow_compensated_XY_rad.setZero(); - } - - // New optical flow data is available and is ready to be fused when the midpoint of the sample falls behind the fusion time horizon - if (_flow_data_ready) { - - // Inhibit flow use if motion is un-suitable or we have good quality GPS - // Apply hysteresis to prevent rapid mode switching - const float gps_err_norm_lim = _control_status.flags.opt_flow ? 0.7f : 1.0f; - - // Check if we are in-air and require optical flow to control position drift - const bool is_flow_required = _control_status.flags.in_air - && (_control_status.flags.inertial_dead_reckoning // is doing inertial dead-reckoning so must constrain drift urgently - || isOnlyActiveSourceOfHorizontalAiding(_control_status.flags.opt_flow) - || (_control_status.flags.gps && (_gps_error_norm > gps_err_norm_lim))); // is using GPS, but GPS is bad - - // inhibit use of optical flow if motion is unsuitable and we are not reliant on it for flight navigation - const bool preflight_motion_not_ok = !_control_status.flags.in_air - && ((_time_delayed_us > (_time_good_motion_us + (uint64_t)1E5)) - || (_time_delayed_us < (_time_bad_motion_us + (uint64_t)5E6))); - const bool flight_condition_not_ok = _control_status.flags.in_air && !isTerrainEstimateValid(); - - const bool inhibit_flow_use = ((preflight_motion_not_ok || flight_condition_not_ok) && !is_flow_required) - || !_control_status.flags.tilt_align; - - // Handle cases where we are using optical flow but we should not use it anymore - if (_control_status.flags.opt_flow) { - if (!(_params.flow_ctrl == 1) - || inhibit_flow_use) { - - stopFlowFusion(); - return; - } - } - - // optical flow fusion mode selection logic - if ((_params.flow_ctrl == 1) // optical flow has been selected by the user - && !_control_status.flags.opt_flow // we are not yet using flow data - && !inhibit_flow_use) { - - // set the flag and reset the fusion timeout - ECL_INFO("starting optical flow fusion"); - - // if we are not using GPS or external vision aiding, then the velocity and position states and covariances need to be set - if (!isHorizontalAidingActive()) { - ECL_INFO("reset velocity to flow"); - _information_events.flags.reset_vel_to_flow = true; - resetHorizontalVelocityTo(_flow_vel_ne, calcOptFlowMeasVar(_flow_sample_delayed)); - - // reset position, estimate is relative to initial position in this mode, so we start with zero error - if (!_control_status.flags.in_air) { - ECL_INFO("reset position to zero"); - resetHorizontalPositionTo(Vector2f(0.f, 0.f), 0.f); - _last_known_pos.xy() = _state.pos.xy(); - - } else { - _information_events.flags.reset_pos_to_last_known = true; - ECL_INFO("reset position to last known (%.3f, %.3f)", (double)_last_known_pos(0), (double)_last_known_pos(1)); - resetHorizontalPositionTo(_last_known_pos.xy(), 0.f); - } - } - - _aid_src_optical_flow.time_last_fuse = _time_delayed_us; - _control_status.flags.opt_flow = true; - - return; - } - - if (_control_status.flags.opt_flow) { - // Wait until the midpoint of the flow sample has fallen behind the fusion time horizon - if (_time_delayed_us > (_flow_sample_delayed.time_us - uint32_t(1e6f * _flow_sample_delayed.dt) / 2)) { - // Fuse optical flow LOS rate observations into the main filter only if height above ground has been updated recently - // but use a relaxed time criteria to enable it to coast through bad range finder data - if (isRecent(_time_last_hagl_fuse, (uint64_t)10e6)) { - fuseOptFlow(); - _last_known_pos.xy() = _state.pos.xy(); - } - - _flow_data_ready = false; - } - - // handle the case when we have optical flow, are reliant on it, but have not been using it for an extended period - if (isTimedOut(_aid_src_optical_flow.time_last_fuse, _params.no_aid_timeout_max) - && !isOtherSourceOfHorizontalAidingThan(_control_status.flags.opt_flow)) { - - ECL_INFO("reset velocity to flow"); - _information_events.flags.reset_vel_to_flow = true; - resetHorizontalVelocityTo(_flow_vel_ne, calcOptFlowMeasVar(_flow_sample_delayed)); - - // reset position, estimate is relative to initial position in this mode, so we start with zero error - ECL_INFO("reset position to last known (%.3f, %.3f)", (double)_last_known_pos(0), (double)_last_known_pos(1)); - _information_events.flags.reset_pos_to_last_known = true; - resetHorizontalPositionTo(_last_known_pos.xy(), 0.f); - - _aid_src_optical_flow.time_last_fuse = _time_delayed_us; - } - } - - } else if (_control_status.flags.opt_flow && !isRecent(_flow_sample_delayed.time_us, (uint64_t)10e6)) { - - stopFlowFusion(); - } -} - -void Ekf::updateOnGroundMotionForOpticalFlowChecks() -{ - // When on ground check if the vehicle is being shaken or moved in a way that could cause a loss of navigation - const float accel_norm = _accel_vec_filt.norm(); - - const bool motion_is_excessive = ((accel_norm > (CONSTANTS_ONE_G * 1.5f)) // upper g limit - || (accel_norm < (CONSTANTS_ONE_G * 0.5f)) // lower g limit - || (_ang_rate_magnitude_filt > _flow_max_rate) // angular rate exceeds flow sensor limit - || (_R_to_earth(2, 2) < cosf(math::radians(30.0f)))); // tilted excessively - - if (motion_is_excessive) { - _time_bad_motion_us = _time_delayed_us; - - } else { - _time_good_motion_us = _time_delayed_us; - } -} - -void Ekf::resetOnGroundMotionForOpticalFlowChecks() -{ - _time_bad_motion_us = 0; - _time_good_motion_us = _time_delayed_us; -} - -void Ekf::stopFlowFusion() -{ - if (_control_status.flags.opt_flow) { - ECL_INFO("stopping optical flow fusion"); - _control_status.flags.opt_flow = false; - - resetEstimatorAidStatus(_aid_src_optical_flow); - } -} diff --git a/src/modules/ekf2/EKF/output_predictor/CMakeLists.txt b/src/modules/ekf2/EKF/output_predictor/CMakeLists.txt new file mode 100644 index 000000000000..701a5cb13f65 --- /dev/null +++ b/src/modules/ekf2/EKF/output_predictor/CMakeLists.txt @@ -0,0 +1,39 @@ +############################################################################ +# +# Copyright (c) 2024 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +add_library(output_predictor + output_predictor.cpp + output_predictor.h +) + +add_dependencies(output_predictor prebuild_targets) diff --git a/src/modules/ekf2/EKF/output_predictor.cpp b/src/modules/ekf2/EKF/output_predictor/output_predictor.cpp similarity index 88% rename from src/modules/ekf2/EKF/output_predictor.cpp rename to src/modules/ekf2/EKF/output_predictor/output_predictor.cpp index bdb8077ea05a..d16e20a79095 100644 --- a/src/modules/ekf2/EKF/output_predictor.cpp +++ b/src/modules/ekf2/EKF/output_predictor/output_predictor.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2022 PX4. All rights reserved. + * Copyright (c) 2022-2024 PX4. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -41,16 +41,32 @@ using matrix::Vector3f; void OutputPredictor::print_status() { - printf("output predictor: IMU dt: %.4f, EKF dt: %.4f\n", (double)_dt_update_states_avg, (double)_dt_correct_states_avg); + printf("[output predictor] IMU dt: %.6f, EKF dt: %.6f\n", + (double)_dt_update_states_avg, (double)_dt_correct_states_avg); - printf("output predictor: tracking error, angular: %.6f rad, velocity: %.3f m/s, position: %.3f m\n", + const matrix::Quatf q_att = _output_buffer.get_newest().quat_nominal; + const matrix::Eulerf euler = q_att; + + printf("[output predictor] orientation: [%.4f, %.4f, %.4f, %.4f] (Euler [%.3f, %.3f, %.3f])\n", + (double)q_att(0), (double)q_att(1), (double)q_att(2), (double)q_att(3), + (double)euler.phi(), (double)euler.theta(), (double)euler.psi()); + + printf("[output predictor] velocity: [%.3f, %.3f, %.3f]\n", + (double)_output_buffer.get_newest().vel(0), (double)_output_buffer.get_newest().vel(1), + (double)_output_buffer.get_newest().vel(2)); + + printf("[output predictor] position: [%.3f, %.3f, %.3f]\n", + (double)_output_buffer.get_newest().pos(0), (double)_output_buffer.get_newest().pos(1), + (double)_output_buffer.get_newest().pos(2)); + + printf("[output predictor] tracking error, angular: %.6f rad, velocity: %.4f m/s, position: %.4f m\n", (double)_output_tracking_error(0), (double)_output_tracking_error(1), (double)_output_tracking_error(2)); - printf("output buffer: %d/%d (%d Bytes)\n", _output_buffer.entries(), _output_buffer.get_length(), - _output_buffer.get_total_size()); + printf("[output predictor] output buffer: %d/%d (%d Bytes)\n", + _output_buffer.entries(), _output_buffer.get_length(), _output_buffer.get_total_size()); - printf("output vert buffer: %d/%d (%d Bytes)\n", _output_vert_buffer.entries(), _output_vert_buffer.get_length(), - _output_vert_buffer.get_total_size()); + printf("[output predictor] output vert buffer: %d/%d (%d Bytes)\n", + _output_vert_buffer.entries(), _output_vert_buffer.get_length(), _output_vert_buffer.get_total_size()); } void OutputPredictor::alignOutputFilter(const Quatf &quat_state, const Vector3f &vel_state, const Vector3f &pos_state) @@ -237,11 +253,16 @@ void OutputPredictor::calculateOutputStates(const uint64_t time_us, const Vector // rotate the relative velocity into earth frame _vel_imu_rel_body_ned = _R_to_earth_now * vel_imu_rel_body; } + + // update auxiliary yaw estimate + const Vector3f unbiased_delta_angle = delta_angle - delta_angle_bias_scaled; + const float spin_del_ang_D = unbiased_delta_angle.dot(Vector3f(_R_to_earth_now.row(2))); + _unaided_yaw = matrix::wrap_pi(_unaided_yaw + spin_del_ang_D); } void OutputPredictor::correctOutputStates(const uint64_t time_delayed_us, - const matrix::Vector3f &gyro_bias, const matrix::Vector3f &accel_bias, - const Quatf &quat_state, const Vector3f &vel_state, const Vector3f &pos_state) + const Quatf &quat_state, const Vector3f &vel_state, const Vector3f &pos_state, const matrix::Vector3f &gyro_bias, + const matrix::Vector3f &accel_bias) { // calculate an average filter update time if (_time_last_correct_states_us != 0) { @@ -345,7 +366,8 @@ void OutputPredictor::applyCorrectionToVerticalOutputBuffer(float vert_vel_corre next_state.vert_vel += vert_vel_correction; // position is propagated forward using the corrected velocity and a trapezoidal integrator - next_state.vert_vel_integ = current_state.vert_vel_integ + (current_state.vert_vel + next_state.vert_vel) * 0.5f * next_state.dt; + next_state.vert_vel_integ = current_state.vert_vel_integ + (current_state.vert_vel + next_state.vert_vel) * 0.5f * + next_state.dt; // advance the index index = (index + 1) % size; diff --git a/src/modules/ekf2/EKF/output_predictor.h b/src/modules/ekf2/EKF/output_predictor/output_predictor.h similarity index 96% rename from src/modules/ekf2/EKF/output_predictor.h rename to src/modules/ekf2/EKF/output_predictor/output_predictor.h index 5eb3b44e2fab..07248f3dce72 100644 --- a/src/modules/ekf2/EKF/output_predictor.h +++ b/src/modules/ekf2/EKF/output_predictor/output_predictor.h @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2022 PX4. All rights reserved. + * Copyright (c) 2022-2024 PX4. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -36,8 +36,7 @@ #include -#include "common.h" -#include "RingBuffer.h" +#include "../RingBuffer.h" #include @@ -68,8 +67,8 @@ class OutputPredictor const matrix::Vector3f &delta_velocity, const float delta_velocity_dt); void correctOutputStates(const uint64_t time_delayed_us, - const matrix::Vector3f &gyro_bias, const matrix::Vector3f &accel_bias, - const matrix::Quatf &quat_state, const matrix::Vector3f &vel_state, const matrix::Vector3f &pos_state); + const matrix::Quatf &quat_state, const matrix::Vector3f &vel_state, const matrix::Vector3f &pos_state, + const matrix::Vector3f &gyro_bias, const matrix::Vector3f &accel_bias); void resetQuaternion(const matrix::Quatf &quat_change); @@ -95,6 +94,9 @@ class OutputPredictor const matrix::Quatf &getQuaternion() const { return _output_new.quat_nominal; } + // get a yaw value solely based on bias-removed gyro integration + float getUnaidedYaw() const { return _unaided_yaw; } + // get the velocity of the body frame origin in local NED earth frame matrix::Vector3f getVelocity() const { return _output_new.vel - _vel_imu_rel_body_ned; } @@ -185,6 +187,8 @@ class OutputPredictor matrix::Vector3f _imu_pos_body{}; ///< xyz position of IMU in body frame (m) + float _unaided_yaw{}; + // output complementary filter tuning float _vel_tau{0.25f}; ///< velocity state correction time constant (1/sec) float _pos_tau{0.25f}; ///< position state correction time constant (1/sec) diff --git a/src/modules/ekf2/EKF/position_fusion.cpp b/src/modules/ekf2/EKF/position_fusion.cpp new file mode 100644 index 000000000000..cf8e7de04b33 --- /dev/null +++ b/src/modules/ekf2/EKF/position_fusion.cpp @@ -0,0 +1,194 @@ +/**************************************************************************** + * + * Copyright (c) 2015-2024 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include "ekf.h" + +void Ekf::updateVerticalPositionAidStatus(estimator_aid_source1d_s &aid_src, const uint64_t &time_us, + const float observation, const float observation_variance, const float innovation_gate) const +{ + float innovation = _state.pos(2) - observation; + float innovation_variance = getStateVariance()(2) + observation_variance; + + updateAidSourceStatus(aid_src, time_us, + observation, observation_variance, + innovation, innovation_variance, + innovation_gate); + + // z special case if there is bad vertical acceleration data, then don't reject measurement, + // but limit innovation to prevent spikes that could destabilise the filter + if (_fault_status.flags.bad_acc_vertical && aid_src.innovation_rejected) { + const float innov_limit = innovation_gate * sqrtf(aid_src.innovation_variance); + aid_src.innovation = math::constrain(aid_src.innovation, -innov_limit, innov_limit); + aid_src.innovation_rejected = false; + } +} + +bool Ekf::fuseHorizontalPosition(estimator_aid_source2d_s &aid_src) +{ + // x & y + if (!aid_src.innovation_rejected + && fuseDirectStateMeasurement(aid_src.innovation[0], aid_src.innovation_variance[0], aid_src.observation_variance[0], + State::pos.idx + 0) + && fuseDirectStateMeasurement(aid_src.innovation[1], aid_src.innovation_variance[1], aid_src.observation_variance[1], + State::pos.idx + 1) + ) { + aid_src.fused = true; + aid_src.time_last_fuse = _time_delayed_us; + + _time_last_hor_pos_fuse = _time_delayed_us; + + } else { + aid_src.fused = false; + } + + return aid_src.fused; +} + +bool Ekf::fuseVerticalPosition(estimator_aid_source1d_s &aid_src) +{ + // z + if (!aid_src.innovation_rejected + && fuseDirectStateMeasurement(aid_src.innovation, aid_src.innovation_variance, aid_src.observation_variance, + State::pos.idx + 2) + ) { + aid_src.fused = true; + aid_src.time_last_fuse = _time_delayed_us; + + _time_last_hgt_fuse = _time_delayed_us; + + } else { + aid_src.fused = false; + } + + return aid_src.fused; +} + +void Ekf::resetHorizontalPositionTo(const Vector2f &new_horz_pos, const Vector2f &new_horz_pos_var) +{ + const Vector2f delta_horz_pos{new_horz_pos - Vector2f{_state.pos}}; + _state.pos.xy() = new_horz_pos; + + if (PX4_ISFINITE(new_horz_pos_var(0))) { + P.uncorrelateCovarianceSetVariance<1>(State::pos.idx, math::max(sq(0.01f), new_horz_pos_var(0))); + } + + if (PX4_ISFINITE(new_horz_pos_var(1))) { + P.uncorrelateCovarianceSetVariance<1>(State::pos.idx + 1, math::max(sq(0.01f), new_horz_pos_var(1))); + } + + _output_predictor.resetHorizontalPositionTo(delta_horz_pos); + + // record the state change + if (_state_reset_status.reset_count.posNE == _state_reset_count_prev.posNE) { + _state_reset_status.posNE_change = delta_horz_pos; + + } else { + // there's already a reset this update, accumulate total delta + _state_reset_status.posNE_change += delta_horz_pos; + } + + _state_reset_status.reset_count.posNE++; + +#if defined(CONFIG_EKF2_EXTERNAL_VISION) + _ev_pos_b_est.setBias(_ev_pos_b_est.getBias() - _state_reset_status.posNE_change); +#endif // CONFIG_EKF2_EXTERNAL_VISION + //_gps_pos_b_est.setBias(_gps_pos_b_est.getBias() + _state_reset_status.posNE_change); + + // Reset the timout timer + _time_last_hor_pos_fuse = _time_delayed_us; +} + +void Ekf::resetVerticalPositionTo(const float new_vert_pos, float new_vert_pos_var) +{ + const float old_vert_pos = _state.pos(2); + _state.pos(2) = new_vert_pos; + + if (PX4_ISFINITE(new_vert_pos_var)) { + // the state variance is the same as the observation + P.uncorrelateCovarianceSetVariance<1>(State::pos.idx + 2, math::max(sq(0.01f), new_vert_pos_var)); + } + + const float delta_z = new_vert_pos - old_vert_pos; + + // apply the change in height / height rate to our newest height / height rate estimate + // which have already been taken out from the output buffer + _output_predictor.resetVerticalPositionTo(new_vert_pos, delta_z); + + // record the state change + if (_state_reset_status.reset_count.posD == _state_reset_count_prev.posD) { + _state_reset_status.posD_change = delta_z; + + } else { + // there's already a reset this update, accumulate total delta + _state_reset_status.posD_change += delta_z; + } + + _state_reset_status.reset_count.posD++; + +#if defined(CONFIG_EKF2_BAROMETER) + _baro_b_est.setBias(_baro_b_est.getBias() + delta_z); +#endif // CONFIG_EKF2_BAROMETER +#if defined(CONFIG_EKF2_EXTERNAL_VISION) + _ev_hgt_b_est.setBias(_ev_hgt_b_est.getBias() - delta_z); +#endif // CONFIG_EKF2_EXTERNAL_VISION +#if defined(CONFIG_EKF2_GNSS) + _gps_hgt_b_est.setBias(_gps_hgt_b_est.getBias() + delta_z); +#endif // CONFIG_EKF2_GNSS + +#if defined(CONFIG_EKF2_TERRAIN) + _state.terrain += delta_z; + + // record the state change + if (_state_reset_status.reset_count.hagl == _state_reset_count_prev.hagl) { + _state_reset_status.hagl_change = delta_z; + + } else { + // there's already a reset this update, accumulate total delta + _state_reset_status.hagl_change += delta_z; + } + + _state_reset_status.reset_count.hagl++; +#endif // CONFIG_EKF2_TERRAIN + + // Reset the timout timer + _time_last_hgt_fuse = _time_delayed_us; +} + +void Ekf::resetHorizontalPositionToLastKnown() +{ + ECL_INFO("reset position to last known (%.3f, %.3f)", (double)_last_known_pos(0), (double)_last_known_pos(1)); + _information_events.flags.reset_pos_to_last_known = true; + + // Used when falling back to non-aiding mode of operation + resetHorizontalPositionTo(_last_known_pos.xy(), sq(_params.pos_noaid_noise)); +} diff --git a/src/modules/ekf2/EKF/python/ekf_derivation/derivation.py b/src/modules/ekf2/EKF/python/ekf_derivation/derivation.py index d4d094207dff..df08b048ee50 100755 --- a/src/modules/ekf2/EKF/python/ekf_derivation/derivation.py +++ b/src/modules/ekf2/EKF/python/ekf_derivation/derivation.py @@ -1,7 +1,7 @@ -#!/usr/bin/env python +#!/usr/bin/env python3 # -*- coding: utf-8 -*- """ - Copyright (c) 2022 PX4 Development Team + Copyright (c) 2022-2023 PX4 Development Team Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: @@ -31,132 +31,311 @@ File: derivation.py Description: + Derivation of an error-state EKF based on + Sola, Joan. "Quaternion kinematics for the error-state Kalman filter." arXiv preprint arXiv:1711.02508 (2017). + The derivation is directly done in discrete-time as this allows us to define the desired type of discretization + for each element while defining the equations (easier than a continuous-time derivation followed by a block-wise discretization). """ -import symforce.symbolic as sf -from derivation_utils import * - -class State: - qw = 0 - qx = 1 - qy = 2 - qz = 3 - vx = 4 - vy = 5 - vz = 6 - px = 7 - py = 8 - pz = 9 - d_ang_bx = 10 - d_ang_by = 11 - d_ang_bz = 12 - d_vel_bx = 13 - d_vel_by = 14 - d_vel_bz = 15 - ix = 16 - iy = 17 - iz = 18 - ibx = 19 - iby = 20 - ibz = 21 - wx = 22 - wy = 23 - n_states = 24 +import argparse -class VState(sf.Matrix): - SHAPE = (State.n_states, 1) +import symforce +symforce.set_epsilon_to_symbol() -class MState(sf.Matrix): - SHAPE = (State.n_states, State.n_states) +import symforce.symbolic as sf +from symforce import typing as T +from symforce import ops +from symforce.values import Values + +import sympy as sp +from utils.derivation_utils import * + +# Initialize parser +parser = argparse.ArgumentParser() + +parser.add_argument("--disable_mag", action='store_true', help="disable mag") +parser.add_argument("--disable_wind", action='store_true', help="disable wind") + +# Read arguments from command line +args = parser.parse_args() + +# The state vector is organized in an ordered dictionary +State = Values( + quat_nominal = sf.Rot3(), + vel = sf.V3(), + pos = sf.V3(), + gyro_bias = sf.V3(), + accel_bias = sf.V3(), + mag_I = sf.V3(), + mag_B = sf.V3(), + wind_vel = sf.V2(), + terrain = sf.V1() +) + +if args.disable_mag: + del State["mag_I"] + del State["mag_B"] + +if args.disable_wind: + del State["wind_vel"] + +class IdxDof(): + def __init__(self, idx, dof): + self.idx = idx + self.dof = dof + +def BuildTangentStateIndex(): + # Build a dictionary that can be used to access elements of vectors + # and matrices defined in the state tangent space (e.g.: P, K and H) + tangent_state_index = {} + idx = 0 + for key in State.keys_recursive(): + dof = State[key].tangent_dim() + tangent_state_index[key] = IdxDof(idx, dof) + idx += dof + return tangent_state_index + +tangent_idx = BuildTangentStateIndex() -def predict_covariance( - state: VState, - P: MState, - d_vel: sf.V3, - d_vel_var: sf.V3, - d_ang: sf.V3, - d_ang_var: sf.Scalar, - dt: sf.Scalar -): - g = sf.Symbol("g") # does not appear in the jacobians +class VState(sf.Matrix): + SHAPE = (State.storage_dim(), 1) - d_vel_b = sf.V3(state[State.d_vel_bx], state[State.d_vel_by], state[State.d_vel_bz]) - d_vel_true = d_vel - d_vel_b +class VTangent(sf.Matrix): + SHAPE = (State.tangent_dim(), 1) - d_ang_b = sf.V3(state[State.d_ang_bx], state[State.d_ang_by], state[State.d_ang_bz]) - d_ang_true = d_ang - d_ang_b +class MTangent(sf.Matrix): + SHAPE = (State.tangent_dim(), State.tangent_dim()) - q = sf.V4(state[State.qw], state[State.qx], state[State.qy], state[State.qz]) - R_to_earth = quat_to_rot_simplified(q) - v = sf.V3(state[State.vx], state[State.vy], state[State.vz]) - p = sf.V3(state[State.px], state[State.py], state[State.pz]) +def vstate_to_state(v: VState): + state = State.from_storage(v) + q_px4 = state["quat_nominal"].to_storage() + state["quat_nominal"] = sf.Rot3(sf.Quaternion(xyz=sf.V3(q_px4[1], q_px4[2], q_px4[3]), w=q_px4[0])) + return state - q_new = quat_mult(q, sf.V4(1, 0.5 * d_ang_true[0], 0.5 * d_ang_true[1], 0.5 * d_ang_true[2])) - v_new = v + R_to_earth * d_vel_true + sf.V3(0 ,0 ,g) * dt - p_new = p + v * dt +def predict_covariance( + state: VState, + P: MTangent, + accel: sf.V3, + accel_var: sf.V3, + gyro: sf.V3, + gyro_var: sf.Scalar, + dt: sf.Scalar +) -> MTangent: + + state = vstate_to_state(state) + g = sf.Symbol("g") # does not appear in the jacobians - # Predicted state vector at time t + dt - state_new = VState.block_matrix([[q_new], [v_new], [p_new], [sf.Matrix(state[State.d_ang_bx:State.n_states])]]) + state_error = Values( + theta = sf.V3.symbolic("delta_theta"), + vel = sf.V3.symbolic("delta_v"), + pos = sf.V3.symbolic("delta_p"), + gyro_bias = sf.V3.symbolic("delta_w_b"), + accel_bias = sf.V3.symbolic("delta_a_b"), + mag_I = sf.V3.symbolic("mag_I"), + mag_B = sf.V3.symbolic("mag_B"), + wind_vel = sf.V2.symbolic("wind_vel"), + terrain = sf.V1.symbolic("terrain") + ) + + if args.disable_mag: + del state_error["mag_I"] + del state_error["mag_B"] + + if args.disable_wind: + del state_error["wind_vel"] + + # True state kinematics + state_t = Values() + + for key in state.keys(): + if key == "quat_nominal": + # Create true quaternion using small angle approximation of the error rotation + state_t["quat_nominal"] = sf.Rot3(sf.Quaternion(xyz=(state_error["theta"] / 2), w=1)) * state["quat_nominal"] + else: + state_t[key] = state[key] + state_error[key] + + noise = Values( + accel = sf.V3.symbolic("a_n"), + gyro = sf.V3.symbolic("w_n"), + ) + + input_t = Values( + accel = accel - state_t["accel_bias"] - noise["accel"], + gyro = gyro - state_t["gyro_bias"] - noise["gyro"] + ) + + R_t = state_t["quat_nominal"] + state_t_pred = state_t.copy() + state_t_pred["quat_nominal"] = state_t["quat_nominal"] * sf.Rot3(sf.Quaternion(xyz=(input_t["gyro"] * dt / 2), w=1)) + state_t_pred["vel"] = state_t["vel"] + (R_t * input_t["accel"] + sf.V3(0, 0, g)) * dt + state_t_pred["pos"] = state_t["pos"] + state_t["vel"] * dt + + # Nominal state kinematics + input = Values( + accel = accel - state["accel_bias"], + gyro = gyro - state["gyro_bias"] + ) + + R = state["quat_nominal"] + state_pred = state.copy() + state_pred["quat_nominal"] = state["quat_nominal"] * sf.Rot3(sf.Quaternion(xyz=(input["gyro"] * dt / 2), w=1)) + state_pred["vel"] = state["vel"] + (R * input["accel"] + sf.V3(0, 0, g)) * dt + state_pred["pos"] = state["pos"] + state["vel"] * dt + + # Error state kinematics + state_error_pred = Values() + for key in state_error.keys(): + if key == "theta": + delta_q = sf.Quaternion.from_storage(state_t_pred["quat_nominal"].to_storage()) * sf.Quaternion.from_storage(state_pred["quat_nominal"].to_storage()).conj() + state_error_pred["theta"] = 2 * sf.V3(delta_q.x, delta_q.y, delta_q.z) # Use small angle approximation to obtain a simpler jacobian + else: + state_error_pred[key] = state_t_pred[key] - state_pred[key] + + # Simplify angular error state prediction + for i in range(state_error_pred["theta"].storage_dim()): + state_error_pred["theta"][i] = sp.expand(state_error_pred["theta"][i]).subs(dt**2, 0) # do not consider dt**2 effects in the derivation + q_est = sf.Quaternion.from_storage(state["quat_nominal"].to_storage()) + state_error_pred["theta"][i] = sp.factor(state_error_pred["theta"][i]).subs(q_est.w**2 + q_est.x**2 + q_est.y**2 + q_est.z**2, 1) # unit norm quaternion + + zero_state_error = {state_error[key]: state_error[key].zero() for key in state_error.keys()} + zero_noise = {noise[key]: noise[key].zero() for key in noise.keys()} # State propagation jacobian - A = state_new.jacobian(state) - G = state_new.jacobian(sf.V6.block_matrix([[d_vel], [d_ang]])) + A = VTangent(state_error_pred.to_storage()).jacobian(state_error).subs(zero_state_error).subs(zero_noise) + G = VTangent(state_error_pred.to_storage()).jacobian(noise).subs(zero_state_error).subs(zero_noise) # Covariance propagation - var_u = sf.Matrix.diag([d_vel_var[0], d_vel_var[1], d_vel_var[2], d_ang_var, d_ang_var, d_ang_var]) + var_u = sf.Matrix.diag([accel_var[0], accel_var[1], accel_var[2], gyro_var, gyro_var, gyro_var]) P_new = A * P * A.T + G * var_u * G.T - # Generate the equations for the lower triangular matrix and the diagonal only - # Since the matrix is symmetric, the upper triangle does not need to be derived + # Generate the equations for the upper triangular matrix and the diagonal only + # Since the matrix is symmetric, the lower triangle does not need to be derived # and can simply be copied in the implementation - for index in range(State.n_states): - for j in range(State.n_states): + for index in range(state.tangent_dim()): + for j in range(state.tangent_dim()): if index > j: P_new[index,j] = 0 return P_new +def jacobian_chain_rule(expr: sf.Scalar , state: State): + # First compute the jacobian in the parameter space + dh_dx = sf.V1(expr).jacobian(state, tangent_space=False) + + class MStorageTangent(sf.Matrix): + SHAPE = (State.storage_dim(), State.tangent_dim()) + + # Then compute the jarobian mapping infinitesimal elements of the parameter space to the error state + # Note that this jacobian only depends on the structure of the EKF + dx_derror = MStorageTangent() + q = sf.Quaternion.from_storage(state["quat_nominal"].to_storage()) + p = sf.Quaternion.symbolic('p') + + pq = p * q + qR = sf.M41(pq.to_storage()).jacobian(sf.M41(p.to_storage())) # Right quaternion product matrix + dx_derror[0:4, 0:3] = qR / 2 * sf.M43([[1, 0, 0], + [0, 1, 0], + [0, 0, 1], + [0, 0, 0]]) + + # The rest of the matrix is trivial + for i in range(4, State.storage_dim()): + for j in range(3, State.tangent_dim()): + if (i == j+1): + dx_derror[i, j] = 1 + + # Finally use the chain rule: dh/derror = dh/dx * dx/derror + H = dh_dx * dx_derror + return H + def compute_airspeed_innov_and_innov_var( state: VState, - P: MState, + P: MTangent, airspeed: sf.Scalar, R: sf.Scalar, epsilon: sf.Scalar ) -> (sf.Scalar, sf.Scalar): - vel_rel = sf.V3(state[State.vx] - state[State.wx], state[State.vy] - state[State.wy], state[State.vz]) + state = vstate_to_state(state) + wind = sf.V3(state["wind_vel"][0], state["wind_vel"][1], 0.0) + vel_rel = state["vel"] - wind airspeed_pred = vel_rel.norm(epsilon=epsilon) innov = airspeed_pred - airspeed - H = sf.V1(airspeed_pred).jacobian(state) + H = jacobian_chain_rule(airspeed_pred, state) innov_var = (H * P * H.T + R)[0,0] return (innov, innov_var) def compute_airspeed_h_and_k( state: VState, - P: MState, + P: MTangent, innov_var: sf.Scalar, epsilon: sf.Scalar -) -> (VState, VState): +) -> (VTangent, VTangent): - vel_rel = sf.V3(state[State.vx] - state[State.wx], state[State.vy] - state[State.wy], state[State.vz]) + state = vstate_to_state(state) + wind = sf.V3(state["wind_vel"][0], state["wind_vel"][1], 0.0) + vel_rel = state["vel"] - wind airspeed_pred = vel_rel.norm(epsilon=epsilon) - H = sf.V1(airspeed_pred).jacobian(state) + H = jacobian_chain_rule(airspeed_pred, state) K = P * H.T / sf.Max(innov_var, epsilon) return (H.T, K) +def compute_wind_init_and_cov_from_airspeed( + v_local: sf.V3, + heading: sf.Scalar, + airspeed: sf.Scalar, + v_var: sf.V3, + heading_var: sf.Scalar, + sideslip_var: sf.Scalar, + airspeed_var: sf.Scalar, +) -> (sf.V2, sf.M22): + + # Initialise wind states assuming horizontal flight + sideslip = sf.Symbol("beta") + wind = sf.V2(v_local[0] - airspeed * sf.cos(heading + sideslip), v_local[1] - airspeed * sf.sin(heading + sideslip)) + J = wind.jacobian([v_local[0], v_local[1], heading, sideslip, airspeed]) + + R = sf.M55() + R[0,0] = v_var[0] + R[1,1] = v_var[1] + R[2,2] = heading_var + R[3,3] = sideslip_var + R[4,4] = airspeed_var + + P = J * R * J.T + + # Assume zero sideslip + P = P.subs({sideslip: 0.0}) + wind = wind.subs({sideslip: 0.0}) + return (wind, P) + +def compute_wind_init_and_cov_from_wind_speed_and_direction( + wind_speed: sf.Scalar, + wind_direction: sf.Scalar, + wind_speed_var: sf.Scalar, + wind_direction_var: sf.Scalar +)-> (sf.V2, sf.V2): + wind = sf.V2(wind_speed * sf.cos(wind_direction), wind_speed * sf.sin(wind_direction)) + H = wind.jacobian([wind_speed, wind_direction]) + R = sf.Matrix.diag([wind_speed_var, wind_direction_var]) + + P = H * R * H.T + P_diag = sf.V2(P[0,0], P[1,1]) + return (wind, P_diag) + def predict_sideslip( - state: VState, + state: State, epsilon: sf.Scalar ) -> (sf.Scalar): - vel_rel = sf.V3(state[State.vx] - state[State.wx], state[State.vy] - state[State.wy], state[State.vz]) - q_att = sf.V4(state[State.qw], state[State.qx], state[State.qy], state[State.qz]) - relative_wind_body = quat_to_rot(q_att).T * vel_rel + wind = sf.V3(state["wind_vel"][0], state["wind_vel"][1], 0.0) + vel_rel = state["vel"] - wind + relative_wind_body = state["quat_nominal"].inverse() * vel_rel # Small angle approximation of side slip model # Protect division by zero using epsilon @@ -166,235 +345,251 @@ def predict_sideslip( def compute_sideslip_innov_and_innov_var( state: VState, - P: MState, + P: MTangent, R: sf.Scalar, epsilon: sf.Scalar ) -> (sf.Scalar, sf.Scalar, sf.Scalar): + state = vstate_to_state(state) sideslip_pred = predict_sideslip(state, epsilon); innov = sideslip_pred - 0.0 - H = sf.V1(sideslip_pred).jacobian(state) + H = jacobian_chain_rule(sideslip_pred, state) innov_var = (H * P * H.T + R)[0,0] return (innov, innov_var) def compute_sideslip_h_and_k( state: VState, - P: MState, + P: MTangent, innov_var: sf.Scalar, epsilon: sf.Scalar -) -> (VState, VState): +) -> (VTangent, VTangent): + state = vstate_to_state(state) sideslip_pred = predict_sideslip(state, epsilon); - H = sf.V1(sideslip_pred).jacobian(state) + H = jacobian_chain_rule(sideslip_pred, state) K = P * H.T / sf.Max(innov_var, epsilon) return (H.T, K) +def predict_vel_body( + state: VState +) -> (sf.V3): + vel = state["vel"] + R_to_body = state["quat_nominal"].inverse() + return R_to_body * vel + +def compute_ev_body_vel_hx( + state: VState, +) -> (VTangent): + + state = vstate_to_state(state) + meas_pred = predict_vel_body(state) + Hx = jacobian_chain_rule(meas_pred[0], state) + return (Hx.T) + +def compute_ev_body_vel_hy( + state: VState, +) -> (VTangent): + + state = vstate_to_state(state) + meas_pred = predict_vel_body(state)[1] + Hy = jacobian_chain_rule(meas_pred, state) + return (Hy.T) + +def compute_ev_body_vel_hz( + state: VState, +) -> (VTangent): + + state = vstate_to_state(state) + meas_pred = predict_vel_body(state)[2] + Hz = jacobian_chain_rule(meas_pred, state) + return (Hz.T) + def predict_mag_body(state) -> sf.V3: - q_att = sf.V4(state[State.qw], state[State.qx], state[State.qy], state[State.qz]) - mag_field_earth = sf.V3(state[State.ix], state[State.iy], state[State.iz]) - mag_bias_body = sf.V3(state[State.ibx], state[State.iby], state[State.ibz]) + mag_field_earth = state["mag_I"] + mag_bias_body = state["mag_B"] - mag_body = quat_to_rot(q_att).T * mag_field_earth + mag_bias_body + mag_body = state["quat_nominal"].inverse() * mag_field_earth + mag_bias_body return mag_body def compute_mag_innov_innov_var_and_hx( state: VState, - P: MState, + P: MTangent, meas: sf.V3, R: sf.Scalar, epsilon: sf.Scalar -) -> (sf.V3, sf.V3, VState): +) -> (sf.V3, sf.V3, VTangent): + state = vstate_to_state(state) meas_pred = predict_mag_body(state); innov = meas_pred - meas innov_var = sf.V3() - Hx = sf.V1(meas_pred[0]).jacobian(state) + Hx = jacobian_chain_rule(meas_pred[0], state) innov_var[0] = (Hx * P * Hx.T + R)[0,0] - Hy = sf.V1(meas_pred[1]).jacobian(state) + Hy = jacobian_chain_rule(meas_pred[1], state) innov_var[1] = (Hy * P * Hy.T + R)[0,0] - Hz = sf.V1(meas_pred[2]).jacobian(state) + Hz = jacobian_chain_rule(meas_pred[2], state) innov_var[2] = (Hz * P * Hz.T + R)[0,0] return (innov, innov_var, Hx.T) def compute_mag_y_innov_var_and_h( state: VState, - P: MState, + P: MTangent, R: sf.Scalar, epsilon: sf.Scalar -) -> (sf.Scalar, VState): +) -> (sf.Scalar, VTangent): + state = vstate_to_state(state) meas_pred = predict_mag_body(state); - H = sf.V1(meas_pred[1]).jacobian(state) + H = jacobian_chain_rule(meas_pred[1], state) innov_var = (H * P * H.T + R)[0,0] return (innov_var, H.T) def compute_mag_z_innov_var_and_h( state: VState, - P: MState, + P: MTangent, R: sf.Scalar, epsilon: sf.Scalar -) -> (sf.Scalar, VState): +) -> (sf.Scalar, VTangent): + state = vstate_to_state(state) meas_pred = predict_mag_body(state); - H = sf.V1(meas_pred[2]).jacobian(state) - innov_var = (H * P * H.T + R)[0,0] - - return (innov_var, H.T) - -def compute_yaw_321_innov_var_and_h( - state: VState, - P: MState, - R: sf.Scalar, - epsilon: sf.Scalar -) -> (sf.Scalar, VState): - - q_att = sf.V4(state[State.qw], state[State.qx], state[State.qy], state[State.qz]) - R_to_earth = quat_to_rot(q_att) - # Fix the singularity at pi/2 by inserting epsilon - meas_pred = sf.atan2(R_to_earth[1,0], R_to_earth[0,0], epsilon=epsilon) - - H = sf.V1(meas_pred).jacobian(state) - innov_var = (H * P * H.T + R)[0,0] - - return (innov_var, H.T) - -def compute_yaw_321_innov_var_and_h_alternate( - state: VState, - P: MState, - R: sf.Scalar, - epsilon: sf.Scalar -) -> (sf.Scalar, VState): - - q_att = sf.V4(state[State.qw], state[State.qx], state[State.qy], state[State.qz]) - R_to_earth = quat_to_rot(q_att) - # Alternate form that has a singularity at yaw 0 instead of pi/2 - meas_pred = sf.pi/2 - sf.atan2(R_to_earth[0,0], R_to_earth[1,0], epsilon=epsilon) - - H = sf.V1(meas_pred).jacobian(state) + H = jacobian_chain_rule(meas_pred[2], state) innov_var = (H * P * H.T + R)[0,0] return (innov_var, H.T) -def compute_yaw_312_innov_var_and_h( +def compute_yaw_innov_var_and_h( state: VState, - P: MState, - R: sf.Scalar, - epsilon: sf.Scalar -) -> (sf.Scalar, VState): + P: MTangent, + R: sf.Scalar +) -> (sf.Scalar, VTangent): - q_att = sf.V4(state[State.qw], state[State.qx], state[State.qy], state[State.qz]) - R_to_earth = quat_to_rot(q_att) - # Alternate form to be used when close to pitch +-pi/2 - meas_pred = sf.atan2(-R_to_earth[0,1], R_to_earth[1,1], epsilon=epsilon) + state = vstate_to_state(state) + q = sf.Quaternion.from_storage(state["quat_nominal"].to_storage()) + r = sf.Quaternion.symbolic('r') + delta_q = q * r.conj() # create a quaternion error of the measurement at the origin + delta_meas_pred = 2 * delta_q.z # Use small angle approximation to obtain a simpler jacobian - H = sf.V1(meas_pred).jacobian(state) - innov_var = (H * P * H.T + R)[0,0] - - return (innov_var, H.T) - -def compute_yaw_312_innov_var_and_h_alternate( - state: VState, - P: MState, - R: sf.Scalar, - epsilon: sf.Scalar -) -> (sf.Scalar, VState): - - q_att = sf.V4(state[State.qw], state[State.qx], state[State.qy], state[State.qz]) - R_to_earth = quat_to_rot(q_att) - # Alternate form to be used when close to pitch +-pi/2 - meas_pred = sf.pi/2 - sf.atan2(-R_to_earth[1,1], R_to_earth[0,1], epsilon=epsilon) + H = jacobian_chain_rule(delta_meas_pred, state) + H = H.subs({r.w: q.w, r.x: q.x, r.y: q.y, r.z: q.z}) # assume innovation is small - H = sf.V1(meas_pred).jacobian(state) + for i in range(State.tangent_dim()): + H[i] = sp.factor(H[i]).subs(q.w**2 + q.x**2 + q.y**2 + q.z**2, 1) # unit norm quaternion innov_var = (H * P * H.T + R)[0,0] return (innov_var, H.T) def compute_mag_declination_pred_innov_var_and_h( state: VState, - P: MState, + P: MTangent, R: sf.Scalar, epsilon: sf.Scalar -) -> (sf.Scalar, sf.Scalar, VState): +) -> (sf.Scalar, sf.Scalar, VTangent): - meas_pred = sf.atan2(state[State.iy], state[State.ix], epsilon=epsilon) + state = vstate_to_state(state) + meas_pred = sf.atan2(state["mag_I"][1], state["mag_I"][0], epsilon=epsilon) - H = sf.V1(meas_pred).jacobian(state) + H = jacobian_chain_rule(meas_pred, state) innov_var = (H * P * H.T + R)[0,0] return (meas_pred, innov_var, H.T) -def predict_opt_flow(state, distance, epsilon): - q_att = sf.V4(state[State.qw], state[State.qx], state[State.qy], state[State.qz]) - R_to_earth = quat_to_rot(q_att) - R_to_body = R_to_earth.T +def predict_hagl(state): + return state["terrain"][0] - state["pos"][2] + +def predict_opt_flow(state, epsilon): + R_to_body = state["quat_nominal"].inverse() # Calculate earth relative velocity in a non-rotating sensor frame - v = sf.V3(state[State.vx], state[State.vy], state[State.vz]) - rel_vel_sensor = R_to_body * v + rel_vel_sensor = R_to_body * state["vel"] # Divide by range to get predicted angular LOS rates relative to X and Y # axes. Note these are rates in a non-rotating sensor frame + hagl = predict_hagl(state) + hagl = add_epsilon_sign(hagl, hagl, epsilon) + R_to_earth = state["quat_nominal"].to_rotation_matrix() flow_pred = sf.V2() - flow_pred[0] = rel_vel_sensor[1] / distance - flow_pred[1] = -rel_vel_sensor[0] / distance - flow_pred = add_epsilon_sign(flow_pred, distance, epsilon) + flow_pred[0] = rel_vel_sensor[1] / hagl * R_to_earth[2, 2] + flow_pred[1] = -rel_vel_sensor[0] / hagl * R_to_earth[2, 2] return flow_pred - def compute_flow_xy_innov_var_and_hx( state: VState, - P: MState, - distance: sf.Scalar, + P: MTangent, R: sf.Scalar, epsilon: sf.Scalar -) -> (sf.V2, VState): - meas_pred = predict_opt_flow(state, distance, epsilon); +) -> (sf.V2, VTangent): + state = vstate_to_state(state) + meas_pred = predict_opt_flow(state, epsilon) innov_var = sf.V2() - Hx = sf.V1(meas_pred[0]).jacobian(state) + Hx = jacobian_chain_rule(meas_pred[0], state) innov_var[0] = (Hx * P * Hx.T + R)[0,0] - Hy = sf.V1(meas_pred[1]).jacobian(state) + Hy = jacobian_chain_rule(meas_pred[1], state) innov_var[1] = (Hy * P * Hy.T + R)[0,0] return (innov_var, Hx.T) def compute_flow_y_innov_var_and_h( state: VState, - P: MState, - distance: sf.Scalar, + P: MTangent, R: sf.Scalar, epsilon: sf.Scalar -) -> (sf.Scalar, VState): - meas_pred = predict_opt_flow(state, distance, epsilon); +) -> (sf.Scalar, VTangent): + state = vstate_to_state(state) + meas_pred = predict_opt_flow(state, epsilon) - Hy = sf.V1(meas_pred[1]).jacobian(state) + Hy = jacobian_chain_rule(meas_pred[1], state) innov_var = (Hy * P * Hy.T + R)[0,0] return (innov_var, Hy.T) +def compute_hagl_innov_var( + P: MTangent, + R: sf.Scalar, +) -> (sf.Scalar): + state = VState.symbolic("state") + state = vstate_to_state(state) + meas_pred = predict_hagl(state) + + H = jacobian_chain_rule(meas_pred, state) + innov_var = (H * P * H.T + R)[0,0] + + return (innov_var) + +def compute_hagl_h( +) -> (VTangent): + state = VState.symbolic("state") + state = vstate_to_state(state) + meas_pred = predict_hagl(state) + + H = jacobian_chain_rule(meas_pred, state) + + return (H.T) + def compute_gnss_yaw_pred_innov_var_and_h( state: VState, - P: MState, + P: MTangent, antenna_yaw_offset: sf.Scalar, R: sf.Scalar, epsilon: sf.Scalar -) -> (sf.Scalar, sf.Scalar, VState): +) -> (sf.Scalar, sf.Scalar, VTangent): - q_att = sf.V4(state[State.qw], state[State.qx], state[State.qy], state[State.qz]) - R_to_earth = quat_to_rot(q_att) + state = vstate_to_state(state) + R_to_earth = state["quat_nominal"] # define antenna vector in body frame ant_vec_bf = sf.V3(sf.cos(antenna_yaw_offset), sf.sin(antenna_yaw_offset), 0) @@ -405,121 +600,154 @@ def compute_gnss_yaw_pred_innov_var_and_h( # Calculate the yaw angle from the projection meas_pred = sf.atan2(ant_vec_ef[1], ant_vec_ef[0], epsilon=epsilon) - H = sf.V1(meas_pred).jacobian(state) + H = jacobian_chain_rule(meas_pred, state) innov_var = (H * P * H.T + R)[0,0] return (meas_pred, innov_var, H.T) def predict_drag( - state: VState, + state: State, rho: sf.Scalar, cd: sf.Scalar, cm: sf.Scalar, epsilon: sf.Scalar - ): - q_att = sf.V4(state[State.qw], state[State.qx], state[State.qy], state[State.qz]) - R_to_earth = quat_to_rot(q_att) - R_to_body = R_to_earth.T - - vel_rel = sf.V3(state[State.vx] - state[State.wx], - state[State.vy] - state[State.wy], - state[State.vz]) +) -> (sf.Scalar): + R_to_body = state["quat_nominal"].inverse() + + wind = sf.V3(state["wind_vel"][0], state["wind_vel"][1], 0.0) + vel_rel = state["vel"] - wind vel_rel_body = R_to_body * vel_rel + vel_rel_body_xy = sf.V2(vel_rel_body[0], vel_rel_body[1]) - bluff_body_drag = -0.5 * rho * cd * sf.V2(vel_rel_body) * vel_rel_body.norm(epsilon=epsilon) - momentum_drag = -cm * sf.V2(vel_rel_body) + bluff_body_drag = -0.5 * rho * cd * vel_rel_body_xy * vel_rel_body.norm(epsilon=epsilon) + momentum_drag = -cm * vel_rel_body_xy return bluff_body_drag + momentum_drag -def compute_drag_x_innov_var_and_k( +def compute_drag_x_innov_var_and_h( state: VState, - P: MState, + P: MTangent, rho: sf.Scalar, cd: sf.Scalar, cm: sf.Scalar, R: sf.Scalar, epsilon: sf.Scalar -) -> (sf.Scalar, sf.Scalar, VState): +) -> (sf.Scalar, VTangent): + state = vstate_to_state(state) meas_pred = predict_drag(state, rho, cd, cm, epsilon) - Hx = sf.V1(meas_pred[0]).jacobian(state) + Hx = jacobian_chain_rule(meas_pred[0], state) innov_var = (Hx * P * Hx.T + R)[0,0] - Ktotal = P * Hx.T / sf.Max(innov_var, epsilon) - K = VState() - K[State.wx] = Ktotal[State.wx] - K[State.wy] = Ktotal[State.wy] - return (innov_var, K) + return (innov_var, Hx.T) -def compute_drag_y_innov_var_and_k( +def compute_drag_y_innov_var_and_h( state: VState, - P: MState, + P: MTangent, rho: sf.Scalar, cd: sf.Scalar, cm: sf.Scalar, R: sf.Scalar, epsilon: sf.Scalar -) -> (sf.Scalar, sf.Scalar, VState): +) -> (sf.Scalar, VTangent): + state = vstate_to_state(state) meas_pred = predict_drag(state, rho, cd, cm, epsilon) - Hy = sf.V1(meas_pred[1]).jacobian(state) + Hy = jacobian_chain_rule(meas_pred[1], state) innov_var = (Hy * P * Hy.T + R)[0,0] - Ktotal = P * Hy.T / sf.Max(innov_var, epsilon) - K = VState() - K[State.wx] = Ktotal[State.wx] - K[State.wy] = Ktotal[State.wy] - - return (innov_var, K) -def compute_gravity_innov_var_and_k_and_h( - state: VState, - P: MState, - meas: sf.V3, - R: sf.Scalar, - epsilon: sf.Scalar -) -> (sf.V3, sf.V3, VState, VState, VState): + return (innov_var, Hy.T) +def predict_gravity_direction(state: State): # get transform from earth to body frame - q_att = sf.V4(state[State.qw], state[State.qx], state[State.qy], state[State.qz]) - R_to_body = quat_to_rot(q_att).T + R_to_body = state["quat_nominal"].inverse() # the innovation is the error between measured acceleration # and predicted (body frame), assuming no body acceleration - meas_pred = R_to_body * sf.Matrix([0,0,-9.80665]) - innov = meas_pred - 9.80665 * meas.normalized(epsilon=epsilon) + return R_to_body * sf.Matrix([0,0,-1]) + +def compute_gravity_xyz_innov_var_and_hx( + state: VState, + P: MTangent, + R: sf.Scalar +) -> (sf.V3, VTangent): + + state = vstate_to_state(state) + meas_pred = predict_gravity_direction(state) # initialize outputs innov_var = sf.V3() - K = [None] * 3 + H = [None] * 3 # calculate observation jacobian (H), kalman gain (K), and innovation variance (S) # for each axis for i in range(3): - H = sf.V1(meas_pred[i]).jacobian(state) - innov_var[i] = (H * P * H.T + R)[0,0] - K[i] = P * H.T / innov_var[i] + H[i] = jacobian_chain_rule(meas_pred[i], state) + innov_var[i] = (H[i] * P * H[i].T + R)[0,0] + + return (innov_var, H[0].T) + +def compute_gravity_y_innov_var_and_h( + state: VState, + P: MTangent, + R: sf.Scalar +) -> (sf.V3, VTangent, VTangent, VTangent): + + state = vstate_to_state(state) + meas_pred = predict_gravity_direction(state) - return (innov, innov_var, K[0], K[1], K[2]) + # calculate observation jacobian (H), kalman gain (K), and innovation variance (S) + H = jacobian_chain_rule(meas_pred[1], state) + innov_var = (H * P * H.T + R)[0,0] + + return (innov_var, H.T) + +def compute_gravity_z_innov_var_and_h( + state: VState, + P: MTangent, + R: sf.Scalar +) -> (sf.V3, VTangent, VTangent, VTangent): + + state = vstate_to_state(state) + meas_pred = predict_gravity_direction(state) + + # calculate observation jacobian (H), kalman gain (K), and innovation variance (S) + H = jacobian_chain_rule(meas_pred[2], state) + innov_var = (H * P * H.T + R)[0,0] + + return (innov_var, H.T) print("Derive EKF2 equations...") -generate_px4_function(compute_airspeed_innov_and_innov_var, output_names=["innov", "innov_var"]) -generate_px4_function(compute_airspeed_h_and_k, output_names=["H", "K"]) - -generate_px4_function(compute_sideslip_innov_and_innov_var, output_names=["innov", "innov_var"]) -generate_px4_function(compute_sideslip_h_and_k, output_names=["H", "K"]) -generate_px4_function(predict_covariance, output_names=["P_new"]) -generate_px4_function(compute_mag_innov_innov_var_and_hx, output_names=["innov", "innov_var", "Hx"]) -generate_px4_function(compute_mag_y_innov_var_and_h, output_names=["innov_var", "H"]) -generate_px4_function(compute_mag_z_innov_var_and_h, output_names=["innov_var", "H"]) -generate_px4_function(compute_yaw_321_innov_var_and_h, output_names=["innov_var", "H"]) -generate_px4_function(compute_yaw_321_innov_var_and_h_alternate, output_names=["innov_var", "H"]) -generate_px4_function(compute_yaw_312_innov_var_and_h, output_names=["innov_var", "H"]) -generate_px4_function(compute_yaw_312_innov_var_and_h_alternate, output_names=["innov_var", "H"]) -generate_px4_function(compute_mag_declination_pred_innov_var_and_h, output_names=["pred", "innov_var", "H"]) +generate_px4_function(predict_covariance, output_names=None) + +if not args.disable_mag: + generate_px4_function(compute_mag_declination_pred_innov_var_and_h, output_names=["pred", "innov_var", "H"]) + generate_px4_function(compute_mag_innov_innov_var_and_hx, output_names=["innov", "innov_var", "Hx"]) + generate_px4_function(compute_mag_y_innov_var_and_h, output_names=["innov_var", "H"]) + generate_px4_function(compute_mag_z_innov_var_and_h, output_names=["innov_var", "H"]) + +if not args.disable_wind: + generate_px4_function(compute_airspeed_h_and_k, output_names=["H", "K"]) + generate_px4_function(compute_airspeed_innov_and_innov_var, output_names=["innov", "innov_var"]) + generate_px4_function(compute_drag_x_innov_var_and_h, output_names=["innov_var", "Hx"]) + generate_px4_function(compute_drag_y_innov_var_and_h, output_names=["innov_var", "Hy"]) + generate_px4_function(compute_sideslip_h_and_k, output_names=["H", "K"]) + generate_px4_function(compute_sideslip_innov_and_innov_var, output_names=["innov", "innov_var"]) + generate_px4_function(compute_wind_init_and_cov_from_airspeed, output_names=["wind", "P_wind"]) + generate_px4_function(compute_wind_init_and_cov_from_wind_speed_and_direction, output_names=["wind", "P_wind"]) + +generate_px4_function(compute_yaw_innov_var_and_h, output_names=["innov_var", "H"]) generate_px4_function(compute_flow_xy_innov_var_and_hx, output_names=["innov_var", "H"]) generate_px4_function(compute_flow_y_innov_var_and_h, output_names=["innov_var", "H"]) +generate_px4_function(compute_hagl_innov_var, output_names=["innov_var"]) +generate_px4_function(compute_hagl_h, output_names=["H"]) generate_px4_function(compute_gnss_yaw_pred_innov_var_and_h, output_names=["meas_pred", "innov_var", "H"]) -generate_px4_function(compute_drag_x_innov_var_and_k, output_names=["innov_var", "K"]) -generate_px4_function(compute_drag_y_innov_var_and_k, output_names=["innov_var", "K"]) -generate_px4_function(compute_gravity_innov_var_and_k_and_h, output_names=["innov", "innov_var", "Kx", "Ky", "Kz"]) +generate_px4_function(compute_gravity_xyz_innov_var_and_hx, output_names=["innov_var", "Hx"]) +generate_px4_function(compute_gravity_y_innov_var_and_h, output_names=["innov_var", "Hy"]) +generate_px4_function(compute_gravity_z_innov_var_and_h, output_names=["innov_var", "Hz"]) +generate_px4_function(compute_ev_body_vel_hx, output_names=["H"]) +generate_px4_function(compute_ev_body_vel_hy, output_names=["H"]) +generate_px4_function(compute_ev_body_vel_hz, output_names=["H"]) + +generate_px4_state(State, tangent_idx) diff --git a/src/modules/ekf2/EKF/python/ekf_derivation/derivation_terrain_estimator.py b/src/modules/ekf2/EKF/python/ekf_derivation/derivation_terrain_estimator.py deleted file mode 100755 index 29f25041339a..000000000000 --- a/src/modules/ekf2/EKF/python/ekf_derivation/derivation_terrain_estimator.py +++ /dev/null @@ -1,91 +0,0 @@ -#!/usr/bin/env python -# -*- coding: utf-8 -*- -""" - Copyright (c) 2023 PX4 Development Team - Redistribution and use in source and binary forms, with or without - modification, are permitted provided that the following conditions - are met: - - 1. Redistributions of source code must retain the above copyright - notice, this list of conditions and the following disclaimer. - 2. Redistributions in binary form must reproduce the above copyright - notice, this list of conditions and the following disclaimer in - the documentation and/or other materials provided with the - distribution. - 3. Neither the name PX4 nor the names of its contributors may be - used to endorse or promote products derived from this software - without specific prior written permission. - - THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - POSSIBILITY OF SUCH DAMAGE. - -File: derivation_terrain_estimator.py -Description: -""" - -import symforce.symbolic as sf -from derivation_utils import * - -def predict_opt_flow( - terrain_vpos: sf.Scalar, - q_att: sf.V4, - v: sf.V3, - pos_z: sf.Scalar, - epsilon : sf.Scalar -): - R_to_earth = quat_to_rot(q_att) - flow_pred = sf.V2() - dist = - (pos_z - terrain_vpos) - dist = add_epsilon_sign(dist, dist, epsilon) - flow_pred[0] = -v[1] / dist * R_to_earth[2, 2] - flow_pred[1] = v[0] / dist * R_to_earth[2, 2] - return flow_pred - -def terr_est_compute_flow_xy_innov_var_and_hx( - terrain_vpos: sf.Scalar, - P: sf.Scalar, - q_att: sf.V4, - v: sf.V3, - pos_z: sf.Scalar, - R: sf.Scalar, - epsilon : sf.Scalar -): - flow_pred = predict_opt_flow(terrain_vpos, q_att, v, pos_z, epsilon) - Hx = sf.V1(flow_pred[0]).jacobian(terrain_vpos) - Hy = sf.V1(flow_pred[1]).jacobian(terrain_vpos) - - innov_var = sf.V2() - innov_var[0] = (Hx * P * Hx.T + R)[0,0] - innov_var[1] = (Hy * P * Hy.T + R)[0,0] - - return (innov_var, Hx[0, 0]) - -def terr_est_compute_flow_y_innov_var_and_h( - terrain_vpos: sf.Scalar, - P: sf.Scalar, - q_att: sf.V4, - v: sf.V3, - pos_z: sf.Scalar, - R: sf.Scalar, - epsilon : sf.Scalar -): - flow_pred = predict_opt_flow(terrain_vpos, q_att, v, pos_z, epsilon) - Hy = sf.V1(flow_pred[1]).jacobian(terrain_vpos) - - innov_var = (Hy * P * Hy.T + R)[0,0] - - return (innov_var, Hy[0, 0]) - -print("Derive terrain estimator equations...") -generate_px4_function(terr_est_compute_flow_xy_innov_var_and_hx, output_names=["innov_var", "H"]) -generate_px4_function(terr_est_compute_flow_y_innov_var_and_h, output_names=["innov_var", "H"]) diff --git a/src/modules/ekf2/EKF/python/ekf_derivation/derivation_utils.py b/src/modules/ekf2/EKF/python/ekf_derivation/derivation_utils.py deleted file mode 100644 index 963a139f5517..000000000000 --- a/src/modules/ekf2/EKF/python/ekf_derivation/derivation_utils.py +++ /dev/null @@ -1,127 +0,0 @@ -#!/usr/bin/env python -# -*- coding: utf-8 -*- -""" - Copyright (c) 2022 PX4 Development Team - Redistribution and use in source and binary forms, with or without - modification, are permitted provided that the following conditions - are met: - - 1. Redistributions of source code must retain the above copyright - notice, this list of conditions and the following disclaimer. - 2. Redistributions in binary form must reproduce the above copyright - notice, this list of conditions and the following disclaimer in - the documentation and/or other materials provided with the - distribution. - 3. Neither the name PX4 nor the names of its contributors may be - used to endorse or promote products derived from this software - without specific prior written permission. - - THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - POSSIBILITY OF SUCH DAMAGE. - -File: derivation_utils.py -Description: - Common functions used for the derivation of most estimators -""" - -import symforce.symbolic as sf - -import re - -# q: quaternion describing rotation from frame 1 to frame 2 -# returns a rotation matrix derived form q which describes the same -# rotation -def quat_to_rot(q): - q0 = q[0] - q1 = q[1] - q2 = q[2] - q3 = q[3] - - Rot = sf.M33([[q0**2 + q1**2 - q2**2 - q3**2, 2*(q1*q2 - q0*q3), 2*(q1*q3 + q0*q2)], - [2*(q1*q2 + q0*q3), q0**2 - q1**2 + q2**2 - q3**2, 2*(q2*q3 - q0*q1)], - [2*(q1*q3-q0*q2), 2*(q2*q3 + q0*q1), q0**2 - q1**2 - q2**2 + q3**2]]) - - return Rot - -def quat_to_rot_simplified(q): - q0 = q[0] - q1 = q[1] - q2 = q[2] - q3 = q[3] - - # Use the simplified formula for unit quaternion to rotation matrix - # as it produces a simpler and more stable EKF derivation given - # the additional constraint: q0^2 + q1^2 + q2^2 + q3^2 = 1 - Rot = sf.Matrix([[1 - 2*q2**2 - 2*q3**2, 2*(q1*q2 - q0*q3), 2*(q1*q3 + q0*q2)], - [2*(q1*q2 + q0*q3), 1 - 2*q1**2 - 2*q3**2, 2*(q2*q3 - q0*q1)], - [2*(q1*q3-q0*q2), 2*(q2*q3 + q0*q1), 1 - 2*q1**2 - 2*q2**2]]) - - return Rot - -def quat_mult(p,q): - r = sf.Matrix([p[0] * q[0] - p[1] * q[1] - p[2] * q[2] - p[3] * q[3], - p[0] * q[1] + p[1] * q[0] + p[2] * q[3] - p[3] * q[2], - p[0] * q[2] - p[1] * q[3] + p[2] * q[0] + p[3] * q[1], - p[0] * q[3] + p[1] * q[2] - p[2] * q[1] + p[3] * q[0]]) - - return r - -def sign_no_zero(x) -> sf.Scalar: - """ - Returns -1 if x is negative, 1 if x is positive, and 1 if x is zero - """ - return 2 * sf.Min(sf.sign(x), 0) + 1 - -def add_epsilon_sign(expr, var, eps): - # Avoids a singularity at 0 while keeping the derivative correct - return expr.subs(var, var + eps * sign_no_zero(var)) - -def generate_px4_function(function_name, output_names): - from symforce.codegen import Codegen, CppConfig - import os - import fileinput - - codegen = Codegen.function( - function_name, - output_names=output_names, - config=CppConfig()) - metadata = codegen.generate_function( - output_dir="generated", - skip_directory_nesting=True) - - for f in metadata.generated_files: - print(" |- {}".format(os.path.relpath(f, metadata.output_dir))) - - # Replace cstdlib and Eigen functions by PX4 equivalents - with fileinput.FileInput(os.path.abspath(metadata.generated_files[0]), inplace=True) as file: - for line in file: - line = line.replace("std::max", "math::max") - line = line.replace("std::min", "math::min") - line = line.replace("Eigen", "matrix") - line = line.replace("matrix/Dense", "matrix/math.hpp") - - # don't allow underscore + uppercase identifier naming (always reserved for any use) - line = re.sub(r'_([A-Z])', lambda x: '_' + x.group(1).lower(), line) - - print(line, end='') - -def generate_python_function(function_name, output_names): - from symforce.codegen import Codegen, PythonConfig - codegen = Codegen.function( - function_name, - output_names=output_names, - config=PythonConfig()) - - metadata = codegen.generate_function( - output_dir="generated", - skip_directory_nesting=True) diff --git a/src/modules/ekf2/EKF/python/ekf_derivation/derivation_yaw_estimator.py b/src/modules/ekf2/EKF/python/ekf_derivation/derivation_yaw_estimator.py deleted file mode 100644 index 1b0bdb9076eb..000000000000 --- a/src/modules/ekf2/EKF/python/ekf_derivation/derivation_yaw_estimator.py +++ /dev/null @@ -1,132 +0,0 @@ -#!/usr/bin/env python -# -*- coding: utf-8 -*- -""" - Copyright (c) 2022 PX4 Development Team - Redistribution and use in source and binary forms, with or without - modification, are permitted provided that the following conditions - are met: - - 1. Redistributions of source code must retain the above copyright - notice, this list of conditions and the following disclaimer. - 2. Redistributions in binary form must reproduce the above copyright - notice, this list of conditions and the following disclaimer in - the documentation and/or other materials provided with the - distribution. - 3. Neither the name PX4 nor the names of its contributors may be - used to endorse or promote products derived from this software - without specific prior written permission. - - THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - POSSIBILITY OF SUCH DAMAGE. - -File: derivation_yaw_estimator.py -Description: -""" - -import symforce.symbolic as sf -from derivation_utils import * - -class State: - vx = 0 - vy = 1 - yaw = 2 - n_states = 3 - -class VState(sf.Matrix): - SHAPE = (State.n_states, 1) - -class MState(sf.Matrix): - SHAPE = (State.n_states, State.n_states) - -def yaw_est_predict_covariance( - state: VState, - P: MState, - d_vel: sf.V2, - d_vel_var: sf.Scalar, - d_ang_var: sf.Scalar -): - d_ang = sf.Symbol("d_ang") # does not appear in the jacobians - - # derive the body to nav direction transformation matrix - Tbn = sf.Matrix([[sf.cos(state[State.yaw]) , -sf.sin(state[State.yaw])], - [sf.sin(state[State.yaw]) , sf.cos(state[State.yaw])]]) - - # attitude update equation - yaw_new = state[State.yaw] + d_ang - - # velocity update equations - v_new = sf.V2(state[State.vx], state[State.vy]) + Tbn * d_vel - - # Define vector of process equations - state_new = VState.block_matrix([[v_new], [sf.V1(yaw_new)]]) - - # Calculate state transition matrix - F = state_new.jacobian(state) - - # Derive the covariance prediction equations - # Error growth in the inertial solution is assumed to be driven by 'noise' in the delta angles and - # velocities, after bias effects have been removed. - - # derive the control(disturbance) influence matrix from IMU noise to state noise - G = state_new.jacobian(sf.V3.block_matrix([[d_vel], [sf.V1(d_ang)]])) - - # derive the state error matrix - var_u = sf.Matrix.diag([d_vel_var, d_vel_var, d_ang_var]) - - Q = G * var_u * G.T - - P_new = F * P * F.T + Q - - # Generate the equations for the upper triangular matrix and the diagonal only - # Since the matrix is symmetric, the lower triangle does not need to be derived - # and can simply be copied in the implementation - for index in range(State.n_states): - for j in range(State.n_states): - if index > j: - P_new[index,j] = 0 - - return P_new - -def yaw_est_compute_measurement_update( - P: MState, - vel_obs_var: sf.Scalar, - epsilon : sf.Scalar -): - H = sf.Matrix([[1,0,0], - [0,1,0]]) - - R = sf.Matrix([[vel_obs_var , 0], - [0 , vel_obs_var]]) - - S = H * P * H.T + R - S_det = S[0, 0] * S[1, 1] - S[1, 0] * S[0, 1] - S_det_inv = add_epsilon_sign(1 / S_det, S_det, epsilon) - - # Compute inverse using simple formula for 2x2 matrix and using protected division - S_inv = sf.M22([[S[1, 1], -S[0, 1]], [-S[1, 0], S[0, 0]]]) * S_det_inv - K = (P * H.T) * S_inv - P_new = P - K * H * P - - # Generate the equations for the upper triangular matrix and the diagonal only - # Since the matrix is symmetric, the lower triangle does not need to be derived - # and can simply be copied in the implementation - for index in range(State.n_states): - for j in range(State.n_states): - if index > j: - P_new[index,j] = 0 - - return (S_inv, S_det_inv, K, P_new) - -print("Derive yaw estimator equations...") -generate_px4_function(yaw_est_predict_covariance, output_names=["P_new"]) -generate_px4_function(yaw_est_compute_measurement_update, output_names=["S_inv", "S_det_inv", "K", "P_new"]) diff --git a/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_airspeed_h_and_k.h b/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_airspeed_h_and_k.h index 42d82b0e78dd..52bb16353d36 100644 --- a/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_airspeed_h_and_k.h +++ b/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_airspeed_h_and_k.h @@ -1,6 +1,6 @@ // ----------------------------------------------------------------------------- // This file was autogenerated by symforce from template: -// backends/cpp/templates/function/FUNCTION.h.jinja +// function/FUNCTION.h.jinja // Do NOT modify by hand. // ----------------------------------------------------------------------------- @@ -16,7 +16,7 @@ namespace sym { * Symbolic function: compute_airspeed_h_and_k * * Args: - * state: Matrix24_1 + * state: Matrix25_1 * P: Matrix24_24 * innov_var: Scalar * epsilon: Scalar @@ -26,7 +26,7 @@ namespace sym { * K: Matrix24_1 */ template -void ComputeAirspeedHAndK(const matrix::Matrix& state, +void ComputeAirspeedHAndK(const matrix::Matrix& state, const matrix::Matrix& P, const Scalar innov_var, const Scalar epsilon, matrix::Matrix* const H = nullptr, matrix::Matrix* const K = nullptr) { @@ -51,64 +51,64 @@ void ComputeAirspeedHAndK(const matrix::Matrix& state, _h.setZero(); - _h(4, 0) = _tmp3; - _h(5, 0) = _tmp4; - _h(6, 0) = _tmp5; - _h(22, 0) = -_tmp3; - _h(23, 0) = -_tmp4; + _h(3, 0) = _tmp3; + _h(4, 0) = _tmp4; + _h(5, 0) = _tmp5; + _h(21, 0) = -_tmp3; + _h(22, 0) = -_tmp4; } if (K != nullptr) { matrix::Matrix& _k = (*K); - _k(0, 0) = _tmp6 * (-P(0, 22) * _tmp3 - P(0, 23) * _tmp4 + P(0, 4) * _tmp3 + P(0, 5) * _tmp4 + - P(0, 6) * _tmp5); - _k(1, 0) = _tmp6 * (-P(1, 22) * _tmp3 - P(1, 23) * _tmp4 + P(1, 4) * _tmp3 + P(1, 5) * _tmp4 + - P(1, 6) * _tmp5); - _k(2, 0) = _tmp6 * (-P(2, 22) * _tmp3 - P(2, 23) * _tmp4 + P(2, 4) * _tmp3 + P(2, 5) * _tmp4 + - P(2, 6) * _tmp5); - _k(3, 0) = _tmp6 * (-P(3, 22) * _tmp3 - P(3, 23) * _tmp4 + P(3, 4) * _tmp3 + P(3, 5) * _tmp4 + - P(3, 6) * _tmp5); - _k(4, 0) = _tmp6 * (-P(4, 22) * _tmp3 - P(4, 23) * _tmp4 + P(4, 4) * _tmp3 + P(4, 5) * _tmp4 + - P(4, 6) * _tmp5); - _k(5, 0) = _tmp6 * (-P(5, 22) * _tmp3 - P(5, 23) * _tmp4 + P(5, 4) * _tmp3 + P(5, 5) * _tmp4 + - P(5, 6) * _tmp5); - _k(6, 0) = _tmp6 * (-P(6, 22) * _tmp3 - P(6, 23) * _tmp4 + P(6, 4) * _tmp3 + P(6, 5) * _tmp4 + - P(6, 6) * _tmp5); - _k(7, 0) = _tmp6 * (-P(7, 22) * _tmp3 - P(7, 23) * _tmp4 + P(7, 4) * _tmp3 + P(7, 5) * _tmp4 + - P(7, 6) * _tmp5); - _k(8, 0) = _tmp6 * (-P(8, 22) * _tmp3 - P(8, 23) * _tmp4 + P(8, 4) * _tmp3 + P(8, 5) * _tmp4 + - P(8, 6) * _tmp5); - _k(9, 0) = _tmp6 * (-P(9, 22) * _tmp3 - P(9, 23) * _tmp4 + P(9, 4) * _tmp3 + P(9, 5) * _tmp4 + - P(9, 6) * _tmp5); - _k(10, 0) = _tmp6 * (-P(10, 22) * _tmp3 - P(10, 23) * _tmp4 + P(10, 4) * _tmp3 + - P(10, 5) * _tmp4 + P(10, 6) * _tmp5); - _k(11, 0) = _tmp6 * (-P(11, 22) * _tmp3 - P(11, 23) * _tmp4 + P(11, 4) * _tmp3 + - P(11, 5) * _tmp4 + P(11, 6) * _tmp5); - _k(12, 0) = _tmp6 * (-P(12, 22) * _tmp3 - P(12, 23) * _tmp4 + P(12, 4) * _tmp3 + - P(12, 5) * _tmp4 + P(12, 6) * _tmp5); - _k(13, 0) = _tmp6 * (-P(13, 22) * _tmp3 - P(13, 23) * _tmp4 + P(13, 4) * _tmp3 + - P(13, 5) * _tmp4 + P(13, 6) * _tmp5); - _k(14, 0) = _tmp6 * (-P(14, 22) * _tmp3 - P(14, 23) * _tmp4 + P(14, 4) * _tmp3 + - P(14, 5) * _tmp4 + P(14, 6) * _tmp5); - _k(15, 0) = _tmp6 * (-P(15, 22) * _tmp3 - P(15, 23) * _tmp4 + P(15, 4) * _tmp3 + - P(15, 5) * _tmp4 + P(15, 6) * _tmp5); - _k(16, 0) = _tmp6 * (-P(16, 22) * _tmp3 - P(16, 23) * _tmp4 + P(16, 4) * _tmp3 + - P(16, 5) * _tmp4 + P(16, 6) * _tmp5); - _k(17, 0) = _tmp6 * (-P(17, 22) * _tmp3 - P(17, 23) * _tmp4 + P(17, 4) * _tmp3 + - P(17, 5) * _tmp4 + P(17, 6) * _tmp5); - _k(18, 0) = _tmp6 * (-P(18, 22) * _tmp3 - P(18, 23) * _tmp4 + P(18, 4) * _tmp3 + - P(18, 5) * _tmp4 + P(18, 6) * _tmp5); - _k(19, 0) = _tmp6 * (-P(19, 22) * _tmp3 - P(19, 23) * _tmp4 + P(19, 4) * _tmp3 + - P(19, 5) * _tmp4 + P(19, 6) * _tmp5); - _k(20, 0) = _tmp6 * (-P(20, 22) * _tmp3 - P(20, 23) * _tmp4 + P(20, 4) * _tmp3 + - P(20, 5) * _tmp4 + P(20, 6) * _tmp5); - _k(21, 0) = _tmp6 * (-P(21, 22) * _tmp3 - P(21, 23) * _tmp4 + P(21, 4) * _tmp3 + - P(21, 5) * _tmp4 + P(21, 6) * _tmp5); - _k(22, 0) = _tmp6 * (-P(22, 22) * _tmp3 - P(22, 23) * _tmp4 + P(22, 4) * _tmp3 + - P(22, 5) * _tmp4 + P(22, 6) * _tmp5); - _k(23, 0) = _tmp6 * (-P(23, 22) * _tmp3 - P(23, 23) * _tmp4 + P(23, 4) * _tmp3 + - P(23, 5) * _tmp4 + P(23, 6) * _tmp5); + _k(0, 0) = _tmp6 * (-P(0, 21) * _tmp3 - P(0, 22) * _tmp4 + P(0, 3) * _tmp3 + P(0, 4) * _tmp4 + + P(0, 5) * _tmp5); + _k(1, 0) = _tmp6 * (-P(1, 21) * _tmp3 - P(1, 22) * _tmp4 + P(1, 3) * _tmp3 + P(1, 4) * _tmp4 + + P(1, 5) * _tmp5); + _k(2, 0) = _tmp6 * (-P(2, 21) * _tmp3 - P(2, 22) * _tmp4 + P(2, 3) * _tmp3 + P(2, 4) * _tmp4 + + P(2, 5) * _tmp5); + _k(3, 0) = _tmp6 * (-P(3, 21) * _tmp3 - P(3, 22) * _tmp4 + P(3, 3) * _tmp3 + P(3, 4) * _tmp4 + + P(3, 5) * _tmp5); + _k(4, 0) = _tmp6 * (-P(4, 21) * _tmp3 - P(4, 22) * _tmp4 + P(4, 3) * _tmp3 + P(4, 4) * _tmp4 + + P(4, 5) * _tmp5); + _k(5, 0) = _tmp6 * (-P(5, 21) * _tmp3 - P(5, 22) * _tmp4 + P(5, 3) * _tmp3 + P(5, 4) * _tmp4 + + P(5, 5) * _tmp5); + _k(6, 0) = _tmp6 * (-P(6, 21) * _tmp3 - P(6, 22) * _tmp4 + P(6, 3) * _tmp3 + P(6, 4) * _tmp4 + + P(6, 5) * _tmp5); + _k(7, 0) = _tmp6 * (-P(7, 21) * _tmp3 - P(7, 22) * _tmp4 + P(7, 3) * _tmp3 + P(7, 4) * _tmp4 + + P(7, 5) * _tmp5); + _k(8, 0) = _tmp6 * (-P(8, 21) * _tmp3 - P(8, 22) * _tmp4 + P(8, 3) * _tmp3 + P(8, 4) * _tmp4 + + P(8, 5) * _tmp5); + _k(9, 0) = _tmp6 * (-P(9, 21) * _tmp3 - P(9, 22) * _tmp4 + P(9, 3) * _tmp3 + P(9, 4) * _tmp4 + + P(9, 5) * _tmp5); + _k(10, 0) = _tmp6 * (-P(10, 21) * _tmp3 - P(10, 22) * _tmp4 + P(10, 3) * _tmp3 + + P(10, 4) * _tmp4 + P(10, 5) * _tmp5); + _k(11, 0) = _tmp6 * (-P(11, 21) * _tmp3 - P(11, 22) * _tmp4 + P(11, 3) * _tmp3 + + P(11, 4) * _tmp4 + P(11, 5) * _tmp5); + _k(12, 0) = _tmp6 * (-P(12, 21) * _tmp3 - P(12, 22) * _tmp4 + P(12, 3) * _tmp3 + + P(12, 4) * _tmp4 + P(12, 5) * _tmp5); + _k(13, 0) = _tmp6 * (-P(13, 21) * _tmp3 - P(13, 22) * _tmp4 + P(13, 3) * _tmp3 + + P(13, 4) * _tmp4 + P(13, 5) * _tmp5); + _k(14, 0) = _tmp6 * (-P(14, 21) * _tmp3 - P(14, 22) * _tmp4 + P(14, 3) * _tmp3 + + P(14, 4) * _tmp4 + P(14, 5) * _tmp5); + _k(15, 0) = _tmp6 * (-P(15, 21) * _tmp3 - P(15, 22) * _tmp4 + P(15, 3) * _tmp3 + + P(15, 4) * _tmp4 + P(15, 5) * _tmp5); + _k(16, 0) = _tmp6 * (-P(16, 21) * _tmp3 - P(16, 22) * _tmp4 + P(16, 3) * _tmp3 + + P(16, 4) * _tmp4 + P(16, 5) * _tmp5); + _k(17, 0) = _tmp6 * (-P(17, 21) * _tmp3 - P(17, 22) * _tmp4 + P(17, 3) * _tmp3 + + P(17, 4) * _tmp4 + P(17, 5) * _tmp5); + _k(18, 0) = _tmp6 * (-P(18, 21) * _tmp3 - P(18, 22) * _tmp4 + P(18, 3) * _tmp3 + + P(18, 4) * _tmp4 + P(18, 5) * _tmp5); + _k(19, 0) = _tmp6 * (-P(19, 21) * _tmp3 - P(19, 22) * _tmp4 + P(19, 3) * _tmp3 + + P(19, 4) * _tmp4 + P(19, 5) * _tmp5); + _k(20, 0) = _tmp6 * (-P(20, 21) * _tmp3 - P(20, 22) * _tmp4 + P(20, 3) * _tmp3 + + P(20, 4) * _tmp4 + P(20, 5) * _tmp5); + _k(21, 0) = _tmp6 * (-P(21, 21) * _tmp3 - P(21, 22) * _tmp4 + P(21, 3) * _tmp3 + + P(21, 4) * _tmp4 + P(21, 5) * _tmp5); + _k(22, 0) = _tmp6 * (-P(22, 21) * _tmp3 - P(22, 22) * _tmp4 + P(22, 3) * _tmp3 + + P(22, 4) * _tmp4 + P(22, 5) * _tmp5); + _k(23, 0) = _tmp6 * (-P(23, 21) * _tmp3 - P(23, 22) * _tmp4 + P(23, 3) * _tmp3 + + P(23, 4) * _tmp4 + P(23, 5) * _tmp5); } } // NOLINT(readability/fn_size) diff --git a/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_airspeed_innov_and_innov_var.h b/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_airspeed_innov_and_innov_var.h index 4add44e02c0b..e97088d173cf 100644 --- a/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_airspeed_innov_and_innov_var.h +++ b/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_airspeed_innov_and_innov_var.h @@ -1,6 +1,6 @@ // ----------------------------------------------------------------------------- // This file was autogenerated by symforce from template: -// backends/cpp/templates/function/FUNCTION.h.jinja +// function/FUNCTION.h.jinja // Do NOT modify by hand. // ----------------------------------------------------------------------------- @@ -16,7 +16,7 @@ namespace sym { * Symbolic function: compute_airspeed_innov_and_innov_var * * Args: - * state: Matrix24_1 + * state: Matrix25_1 * P: Matrix24_24 * airspeed: Scalar * R: Scalar @@ -27,7 +27,7 @@ namespace sym { * innov_var: Scalar */ template -void ComputeAirspeedInnovAndInnovVar(const matrix::Matrix& state, +void ComputeAirspeedInnovAndInnovVar(const matrix::Matrix& state, const matrix::Matrix& P, const Scalar airspeed, const Scalar R, const Scalar epsilon, Scalar* const innov = nullptr, @@ -57,16 +57,16 @@ void ComputeAirspeedInnovAndInnovVar(const matrix::Matrix& state, Scalar& _innov_var = (*innov_var); _innov_var = R + - _tmp4 * (-P(22, 6) * _tmp5 - P(23, 6) * _tmp6 + P(4, 6) * _tmp5 + P(5, 6) * _tmp6 + - P(6, 6) * _tmp4) - - _tmp5 * (-P(22, 22) * _tmp5 - P(23, 22) * _tmp6 + P(4, 22) * _tmp5 + - P(5, 22) * _tmp6 + P(6, 22) * _tmp4) + - _tmp5 * (-P(22, 4) * _tmp5 - P(23, 4) * _tmp6 + P(4, 4) * _tmp5 + P(5, 4) * _tmp6 + - P(6, 4) * _tmp4) - - _tmp6 * (-P(22, 23) * _tmp5 - P(23, 23) * _tmp6 + P(4, 23) * _tmp5 + - P(5, 23) * _tmp6 + P(6, 23) * _tmp4) + - _tmp6 * (-P(22, 5) * _tmp5 - P(23, 5) * _tmp6 + P(4, 5) * _tmp5 + P(5, 5) * _tmp6 + - P(6, 5) * _tmp4); + _tmp4 * (-P(21, 5) * _tmp5 - P(22, 5) * _tmp6 + P(3, 5) * _tmp5 + P(4, 5) * _tmp6 + + P(5, 5) * _tmp4) - + _tmp5 * (-P(21, 21) * _tmp5 - P(22, 21) * _tmp6 + P(3, 21) * _tmp5 + + P(4, 21) * _tmp6 + P(5, 21) * _tmp4) + + _tmp5 * (-P(21, 3) * _tmp5 - P(22, 3) * _tmp6 + P(3, 3) * _tmp5 + P(4, 3) * _tmp6 + + P(5, 3) * _tmp4) - + _tmp6 * (-P(21, 22) * _tmp5 - P(22, 22) * _tmp6 + P(3, 22) * _tmp5 + + P(4, 22) * _tmp6 + P(5, 22) * _tmp4) + + _tmp6 * (-P(21, 4) * _tmp5 - P(22, 4) * _tmp6 + P(3, 4) * _tmp5 + P(4, 4) * _tmp6 + + P(5, 4) * _tmp4); } } // NOLINT(readability/fn_size) diff --git a/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_drag_x_innov_var_and_h.h b/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_drag_x_innov_var_and_h.h new file mode 100644 index 000000000000..6dba76add33f --- /dev/null +++ b/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_drag_x_innov_var_and_h.h @@ -0,0 +1,181 @@ +// ----------------------------------------------------------------------------- +// This file was autogenerated by symforce from template: +// function/FUNCTION.h.jinja +// Do NOT modify by hand. +// ----------------------------------------------------------------------------- + +#pragma once + +#include + +namespace sym { + +/** + * This function was autogenerated from a symbolic function. Do not modify by hand. + * + * Symbolic function: compute_drag_x_innov_var_and_h + * + * Args: + * state: Matrix25_1 + * P: Matrix24_24 + * rho: Scalar + * cd: Scalar + * cm: Scalar + * R: Scalar + * epsilon: Scalar + * + * Outputs: + * innov_var: Scalar + * Hx: Matrix24_1 + */ +template +void ComputeDragXInnovVarAndH(const matrix::Matrix& state, + const matrix::Matrix& P, const Scalar rho, + const Scalar cd, const Scalar cm, const Scalar R, + const Scalar epsilon, Scalar* const innov_var = nullptr, + matrix::Matrix* const Hx = nullptr) { + // Total ops: 357 + + // Input arrays + + // Intermediate terms (79) + const Scalar _tmp0 = 2 * state(0, 0); + const Scalar _tmp1 = _tmp0 * state(3, 0); + const Scalar _tmp2 = 2 * state(1, 0); + const Scalar _tmp3 = _tmp2 * state(2, 0); + const Scalar _tmp4 = _tmp1 + _tmp3; + const Scalar _tmp5 = _tmp4 * cm; + const Scalar _tmp6 = -2 * std::pow(state(3, 0), Scalar(2)); + const Scalar _tmp7 = -2 * std::pow(state(2, 0), Scalar(2)); + const Scalar _tmp8 = _tmp6 + _tmp7 + 1; + const Scalar _tmp9 = -state(22, 0) + state(4, 0); + const Scalar _tmp10 = -state(23, 0) + state(5, 0); + const Scalar _tmp11 = 2 * state(2, 0); + const Scalar _tmp12 = _tmp11 * state(0, 0); + const Scalar _tmp13 = _tmp2 * state(3, 0); + const Scalar _tmp14 = -_tmp12 + _tmp13; + const Scalar _tmp15 = _tmp10 * _tmp4 + _tmp14 * state(6, 0) + _tmp8 * _tmp9; + const Scalar _tmp16 = 2 * _tmp15; + const Scalar _tmp17 = _tmp16 * _tmp4; + const Scalar _tmp18 = _tmp11 * state(3, 0); + const Scalar _tmp19 = _tmp2 * state(0, 0); + const Scalar _tmp20 = _tmp18 - _tmp19; + const Scalar _tmp21 = _tmp12 + _tmp13; + const Scalar _tmp22 = 1 - 2 * std::pow(state(1, 0), Scalar(2)); + const Scalar _tmp23 = _tmp22 + _tmp7; + const Scalar _tmp24 = _tmp10 * _tmp20 + _tmp21 * _tmp9 + _tmp23 * state(6, 0); + const Scalar _tmp25 = 2 * _tmp24; + const Scalar _tmp26 = _tmp20 * _tmp25; + const Scalar _tmp27 = _tmp22 + _tmp6; + const Scalar _tmp28 = -_tmp1 + _tmp3; + const Scalar _tmp29 = _tmp18 + _tmp19; + const Scalar _tmp30 = _tmp10 * _tmp27 + _tmp28 * _tmp9 + _tmp29 * state(6, 0); + const Scalar _tmp31 = 2 * _tmp30; + const Scalar _tmp32 = _tmp27 * _tmp31; + const Scalar _tmp33 = std::sqrt(Scalar(std::pow(_tmp15, Scalar(2)) + std::pow(_tmp24, Scalar(2)) + + std::pow(_tmp30, Scalar(2)) + epsilon)); + const Scalar _tmp34 = cd * rho; + const Scalar _tmp35 = Scalar(0.25) * _tmp15 * _tmp34 / _tmp33; + const Scalar _tmp36 = Scalar(0.5) * _tmp33 * _tmp34; + const Scalar _tmp37 = _tmp36 * _tmp4; + const Scalar _tmp38 = -_tmp35 * (-_tmp17 - _tmp26 - _tmp32) + _tmp37 + _tmp5; + const Scalar _tmp39 = -_tmp35 * (_tmp17 + _tmp26 + _tmp32) - _tmp37 - _tmp5; + const Scalar _tmp40 = _tmp8 * cm; + const Scalar _tmp41 = _tmp16 * _tmp8; + const Scalar _tmp42 = _tmp21 * _tmp25; + const Scalar _tmp43 = _tmp28 * _tmp31; + const Scalar _tmp44 = _tmp36 * _tmp8; + const Scalar _tmp45 = -_tmp35 * (-_tmp41 - _tmp42 - _tmp43) + _tmp40 + _tmp44; + const Scalar _tmp46 = 2 * state(3, 0); + const Scalar _tmp47 = _tmp10 * _tmp46; + const Scalar _tmp48 = 2 * state(6, 0); + const Scalar _tmp49 = _tmp48 * state(2, 0); + const Scalar _tmp50 = _tmp47 - _tmp49; + const Scalar _tmp51 = _tmp10 * _tmp2; + const Scalar _tmp52 = _tmp11 * _tmp9; + const Scalar _tmp53 = _tmp46 * _tmp9; + const Scalar _tmp54 = _tmp2 * state(6, 0); + const Scalar _tmp55 = + -_tmp35 * (_tmp16 * _tmp50 + _tmp25 * (-_tmp51 + _tmp52) + _tmp31 * (-_tmp53 + _tmp54)) - + _tmp36 * _tmp50 - _tmp50 * cm; + const Scalar _tmp56 = (Scalar(1) / Scalar(2)) * _tmp55; + const Scalar _tmp57 = _tmp10 * _tmp11; + const Scalar _tmp58 = _tmp48 * state(3, 0); + const Scalar _tmp59 = _tmp57 + _tmp58; + const Scalar _tmp60 = _tmp0 * _tmp10; + const Scalar _tmp61 = 4 * state(6, 0); + const Scalar _tmp62 = 4 * _tmp10; + const Scalar _tmp63 = _tmp48 * state(0, 0); + const Scalar _tmp64 = + -_tmp35 * (_tmp16 * _tmp59 + _tmp25 * (_tmp53 - _tmp60 - _tmp61 * state(1, 0)) + + _tmp31 * (_tmp52 - _tmp62 * state(1, 0) + _tmp63)) - + _tmp36 * _tmp59 - _tmp59 * cm; + const Scalar _tmp65 = (Scalar(1) / Scalar(2)) * state(2, 0); + const Scalar _tmp66 = 4 * _tmp9; + const Scalar _tmp67 = _tmp54 + _tmp60 - _tmp66 * state(3, 0); + const Scalar _tmp68 = _tmp2 * _tmp9; + const Scalar _tmp69 = _tmp0 * _tmp9; + const Scalar _tmp70 = -Scalar(1) / Scalar(2) * _tmp35 * + (_tmp16 * _tmp67 + _tmp25 * (_tmp57 + _tmp68) + + _tmp31 * (_tmp49 - _tmp62 * state(3, 0) - _tmp69)) - + Scalar(1) / Scalar(2) * _tmp36 * _tmp67 - + Scalar(1) / Scalar(2) * _tmp67 * cm; + const Scalar _tmp71 = _tmp51 - _tmp63 - _tmp66 * state(2, 0); + const Scalar _tmp72 = -Scalar(1) / Scalar(2) * _tmp35 * + (_tmp16 * _tmp71 + _tmp25 * (_tmp47 - _tmp61 * state(2, 0) + _tmp69) + + _tmp31 * (_tmp58 + _tmp68)) - + Scalar(1) / Scalar(2) * _tmp36 * _tmp71 - + Scalar(1) / Scalar(2) * _tmp71 * cm; + const Scalar _tmp73 = + -_tmp56 * state(3, 0) - _tmp64 * _tmp65 + _tmp70 * state(0, 0) + _tmp72 * state(1, 0); + const Scalar _tmp74 = (Scalar(1) / Scalar(2)) * _tmp64; + const Scalar _tmp75 = + -_tmp55 * _tmp65 - _tmp70 * state(1, 0) + _tmp72 * state(0, 0) + _tmp74 * state(3, 0); + const Scalar _tmp76 = + -_tmp56 * state(1, 0) + _tmp70 * state(2, 0) - _tmp72 * state(3, 0) + _tmp74 * state(0, 0); + const Scalar _tmp77 = -_tmp35 * (_tmp41 + _tmp42 + _tmp43) - _tmp40 - _tmp44; + const Scalar _tmp78 = -_tmp14 * _tmp36 - _tmp14 * cm - + _tmp35 * (_tmp14 * _tmp16 + _tmp23 * _tmp25 + _tmp29 * _tmp31); + + // Output terms (2) + if (innov_var != nullptr) { + Scalar& _innov_var = (*innov_var); + + _innov_var = + R + + _tmp38 * (P(0, 22) * _tmp76 + P(1, 22) * _tmp75 + P(2, 22) * _tmp73 + P(21, 22) * _tmp45 + + P(22, 22) * _tmp38 + P(3, 22) * _tmp77 + P(4, 22) * _tmp39 + P(5, 22) * _tmp78) + + _tmp39 * (P(0, 4) * _tmp76 + P(1, 4) * _tmp75 + P(2, 4) * _tmp73 + P(21, 4) * _tmp45 + + P(22, 4) * _tmp38 + P(3, 4) * _tmp77 + P(4, 4) * _tmp39 + P(5, 4) * _tmp78) + + _tmp45 * (P(0, 21) * _tmp76 + P(1, 21) * _tmp75 + P(2, 21) * _tmp73 + P(21, 21) * _tmp45 + + P(22, 21) * _tmp38 + P(3, 21) * _tmp77 + P(4, 21) * _tmp39 + P(5, 21) * _tmp78) + + _tmp73 * (P(0, 2) * _tmp76 + P(1, 2) * _tmp75 + P(2, 2) * _tmp73 + P(21, 2) * _tmp45 + + P(22, 2) * _tmp38 + P(3, 2) * _tmp77 + P(4, 2) * _tmp39 + P(5, 2) * _tmp78) + + _tmp75 * (P(0, 1) * _tmp76 + P(1, 1) * _tmp75 + P(2, 1) * _tmp73 + P(21, 1) * _tmp45 + + P(22, 1) * _tmp38 + P(3, 1) * _tmp77 + P(4, 1) * _tmp39 + P(5, 1) * _tmp78) + + _tmp76 * (P(0, 0) * _tmp76 + P(1, 0) * _tmp75 + P(2, 0) * _tmp73 + P(21, 0) * _tmp45 + + P(22, 0) * _tmp38 + P(3, 0) * _tmp77 + P(4, 0) * _tmp39 + P(5, 0) * _tmp78) + + _tmp77 * (P(0, 3) * _tmp76 + P(1, 3) * _tmp75 + P(2, 3) * _tmp73 + P(21, 3) * _tmp45 + + P(22, 3) * _tmp38 + P(3, 3) * _tmp77 + P(4, 3) * _tmp39 + P(5, 3) * _tmp78) + + _tmp78 * (P(0, 5) * _tmp76 + P(1, 5) * _tmp75 + P(2, 5) * _tmp73 + P(21, 5) * _tmp45 + + P(22, 5) * _tmp38 + P(3, 5) * _tmp77 + P(4, 5) * _tmp39 + P(5, 5) * _tmp78); + } + + if (Hx != nullptr) { + matrix::Matrix& _hx = (*Hx); + + _hx.setZero(); + + _hx(0, 0) = _tmp76; + _hx(1, 0) = _tmp75; + _hx(2, 0) = _tmp73; + _hx(3, 0) = _tmp77; + _hx(4, 0) = _tmp39; + _hx(5, 0) = _tmp78; + _hx(21, 0) = _tmp45; + _hx(22, 0) = _tmp38; + } +} // NOLINT(readability/fn_size) + +// NOLINTNEXTLINE(readability/fn_size) +} // namespace sym diff --git a/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_drag_x_innov_var_and_k.h b/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_drag_x_innov_var_and_k.h deleted file mode 100644 index bcff0c6179ed..000000000000 --- a/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_drag_x_innov_var_and_k.h +++ /dev/null @@ -1,184 +0,0 @@ -// ----------------------------------------------------------------------------- -// This file was autogenerated by symforce from template: -// backends/cpp/templates/function/FUNCTION.h.jinja -// Do NOT modify by hand. -// ----------------------------------------------------------------------------- - -#pragma once - -#include - -namespace sym { - -/** - * This function was autogenerated from a symbolic function. Do not modify by hand. - * - * Symbolic function: compute_drag_x_innov_var_and_k - * - * Args: - * state: Matrix24_1 - * P: Matrix24_24 - * rho: Scalar - * cd: Scalar - * cm: Scalar - * R: Scalar - * epsilon: Scalar - * - * Outputs: - * innov_var: Scalar - * K: Matrix24_1 - */ -template -void ComputeDragXInnovVarAndK(const matrix::Matrix& state, - const matrix::Matrix& P, const Scalar rho, - const Scalar cd, const Scalar cm, const Scalar R, - const Scalar epsilon, Scalar* const innov_var = nullptr, - matrix::Matrix* const K = nullptr) { - // Total ops: 407 - - // Input arrays - - // Intermediate terms (76) - const Scalar _tmp0 = -state(23, 0) + state(5, 0); - const Scalar _tmp1 = 2 * _tmp0; - const Scalar _tmp2 = _tmp1 * state(1, 0); - const Scalar _tmp3 = -state(22, 0) + state(4, 0); - const Scalar _tmp4 = 2 * _tmp3; - const Scalar _tmp5 = _tmp4 * state(2, 0); - const Scalar _tmp6 = 2 * state(6, 0); - const Scalar _tmp7 = _tmp6 * state(0, 0); - const Scalar _tmp8 = _tmp2 - _tmp5 - _tmp7; - const Scalar _tmp9 = std::pow(state(2, 0), Scalar(2)); - const Scalar _tmp10 = -_tmp9; - const Scalar _tmp11 = std::pow(state(1, 0), Scalar(2)); - const Scalar _tmp12 = std::pow(state(3, 0), Scalar(2)); - const Scalar _tmp13 = std::pow(state(0, 0), Scalar(2)); - const Scalar _tmp14 = -_tmp12 + _tmp13; - const Scalar _tmp15 = _tmp10 + _tmp11 + _tmp14; - const Scalar _tmp16 = state(0, 0) * state(3, 0); - const Scalar _tmp17 = state(1, 0) * state(2, 0); - const Scalar _tmp18 = _tmp16 + _tmp17; - const Scalar _tmp19 = state(0, 0) * state(2, 0); - const Scalar _tmp20 = state(1, 0) * state(3, 0); - const Scalar _tmp21 = _tmp1 * _tmp18 + _tmp15 * _tmp3 + _tmp6 * (-_tmp19 + _tmp20); - const Scalar _tmp22 = state(2, 0) * state(3, 0); - const Scalar _tmp23 = state(0, 0) * state(1, 0); - const Scalar _tmp24 = _tmp22 - _tmp23; - const Scalar _tmp25 = _tmp19 + _tmp20; - const Scalar _tmp26 = -_tmp11; - const Scalar _tmp27 = _tmp10 + _tmp12 + _tmp13 + _tmp26; - const Scalar _tmp28 = _tmp1 * _tmp24 + _tmp25 * _tmp4 + _tmp27 * state(6, 0); - const Scalar _tmp29 = _tmp14 + _tmp26 + _tmp9; - const Scalar _tmp30 = -_tmp16 + _tmp17; - const Scalar _tmp31 = _tmp0 * _tmp29 + _tmp30 * _tmp4 + _tmp6 * (_tmp22 + _tmp23); - const Scalar _tmp32 = std::sqrt(Scalar(std::pow(_tmp21, Scalar(2)) + std::pow(_tmp28, Scalar(2)) + - std::pow(_tmp31, Scalar(2)) + epsilon)); - const Scalar _tmp33 = cd * rho; - const Scalar _tmp34 = _tmp32 * _tmp33; - const Scalar _tmp35 = Scalar(0.5) * _tmp34; - const Scalar _tmp36 = _tmp4 * state(0, 0); - const Scalar _tmp37 = _tmp1 * state(3, 0); - const Scalar _tmp38 = _tmp6 * state(2, 0); - const Scalar _tmp39 = _tmp36 + _tmp37 - _tmp38; - const Scalar _tmp40 = 2 * _tmp28; - const Scalar _tmp41 = _tmp1 * state(2, 0) + _tmp4 * state(1, 0) + _tmp6 * state(3, 0); - const Scalar _tmp42 = 2 * _tmp31; - const Scalar _tmp43 = 2 * _tmp21; - const Scalar _tmp44 = Scalar(0.25) * _tmp21 * _tmp33 / _tmp32; - const Scalar _tmp45 = - -_tmp35 * _tmp8 - _tmp44 * (_tmp39 * _tmp40 + _tmp41 * _tmp42 + _tmp43 * _tmp8) - _tmp8 * cm; - const Scalar _tmp46 = 2 * _tmp19; - const Scalar _tmp47 = 2 * _tmp20; - const Scalar _tmp48 = -_tmp46 + _tmp47; - const Scalar _tmp49 = 2 * _tmp22; - const Scalar _tmp50 = 2 * _tmp23; - const Scalar _tmp51 = -_tmp35 * _tmp48 - - _tmp44 * (_tmp27 * _tmp40 + _tmp42 * (_tmp49 + _tmp50) + _tmp43 * _tmp48) - - _tmp48 * cm; - const Scalar _tmp52 = -_tmp2 + _tmp5 + _tmp7; - const Scalar _tmp53 = _tmp4 * state(3, 0); - const Scalar _tmp54 = _tmp1 * state(0, 0); - const Scalar _tmp55 = _tmp6 * state(1, 0); - const Scalar _tmp56 = -_tmp53 + _tmp54 + _tmp55; - const Scalar _tmp57 = -_tmp35 * _tmp39 - _tmp39 * cm - - _tmp44 * (_tmp39 * _tmp43 + _tmp40 * _tmp52 + _tmp42 * _tmp56); - const Scalar _tmp58 = _tmp15 * cm; - const Scalar _tmp59 = _tmp15 * _tmp35; - const Scalar _tmp60 = _tmp15 * _tmp43; - const Scalar _tmp61 = 2 * _tmp16; - const Scalar _tmp62 = 2 * _tmp17; - const Scalar _tmp63 = - -_tmp44 * (_tmp40 * (_tmp46 + _tmp47) + _tmp42 * (-_tmp61 + _tmp62) + _tmp60) - _tmp58 - - _tmp59; - const Scalar _tmp64 = 4 * _tmp28; - const Scalar _tmp65 = _tmp29 * _tmp42; - const Scalar _tmp66 = Scalar(1.0) * _tmp18 * _tmp34 + 2 * _tmp18 * cm - - _tmp44 * (-4 * _tmp18 * _tmp21 - _tmp24 * _tmp64 - _tmp65); - const Scalar _tmp67 = - -_tmp35 * _tmp41 - _tmp41 * cm - - _tmp44 * (_tmp40 * (_tmp53 - _tmp54 - _tmp55) + _tmp41 * _tmp43 + _tmp42 * _tmp52); - const Scalar _tmp68 = _tmp61 + _tmp62; - const Scalar _tmp69 = -_tmp35 * _tmp68 - - _tmp44 * (_tmp40 * (_tmp49 - _tmp50) + _tmp43 * _tmp68 + _tmp65) - - _tmp68 * cm; - const Scalar _tmp70 = - -_tmp35 * _tmp56 - - _tmp44 * (_tmp40 * _tmp41 + _tmp42 * (-_tmp36 - _tmp37 + _tmp38) + _tmp43 * _tmp56) - - _tmp56 * cm; - const Scalar _tmp71 = - -_tmp44 * (-_tmp25 * _tmp64 - 4 * _tmp30 * _tmp31 - _tmp60) + _tmp58 + _tmp59; - const Scalar _tmp72 = P(23, 23) * _tmp66; - const Scalar _tmp73 = P(22, 22) * _tmp71; - const Scalar _tmp74 = R + - _tmp45 * (P(0, 2) * _tmp57 + P(1, 2) * _tmp67 + P(2, 2) * _tmp45 + - P(22, 2) * _tmp71 + P(23, 2) * _tmp66 + P(3, 2) * _tmp70 + - P(4, 2) * _tmp63 + P(5, 2) * _tmp69 + P(6, 2) * _tmp51) + - _tmp51 * (P(0, 6) * _tmp57 + P(1, 6) * _tmp67 + P(2, 6) * _tmp45 + - P(22, 6) * _tmp71 + P(23, 6) * _tmp66 + P(3, 6) * _tmp70 + - P(4, 6) * _tmp63 + P(5, 6) * _tmp69 + P(6, 6) * _tmp51) + - _tmp57 * (P(0, 0) * _tmp57 + P(1, 0) * _tmp67 + P(2, 0) * _tmp45 + - P(22, 0) * _tmp71 + P(23, 0) * _tmp66 + P(3, 0) * _tmp70 + - P(4, 0) * _tmp63 + P(5, 0) * _tmp69 + P(6, 0) * _tmp51) + - _tmp63 * (P(0, 4) * _tmp57 + P(1, 4) * _tmp67 + P(2, 4) * _tmp45 + - P(22, 4) * _tmp71 + P(23, 4) * _tmp66 + P(3, 4) * _tmp70 + - P(4, 4) * _tmp63 + P(5, 4) * _tmp69 + P(6, 4) * _tmp51) + - _tmp66 * (P(0, 23) * _tmp57 + P(1, 23) * _tmp67 + P(2, 23) * _tmp45 + - P(22, 23) * _tmp71 + P(3, 23) * _tmp70 + P(4, 23) * _tmp63 + - P(5, 23) * _tmp69 + P(6, 23) * _tmp51 + _tmp72) + - _tmp67 * (P(0, 1) * _tmp57 + P(1, 1) * _tmp67 + P(2, 1) * _tmp45 + - P(22, 1) * _tmp71 + P(23, 1) * _tmp66 + P(3, 1) * _tmp70 + - P(4, 1) * _tmp63 + P(5, 1) * _tmp69 + P(6, 1) * _tmp51) + - _tmp69 * (P(0, 5) * _tmp57 + P(1, 5) * _tmp67 + P(2, 5) * _tmp45 + - P(22, 5) * _tmp71 + P(23, 5) * _tmp66 + P(3, 5) * _tmp70 + - P(4, 5) * _tmp63 + P(5, 5) * _tmp69 + P(6, 5) * _tmp51) + - _tmp70 * (P(0, 3) * _tmp57 + P(1, 3) * _tmp67 + P(2, 3) * _tmp45 + - P(22, 3) * _tmp71 + P(23, 3) * _tmp66 + P(3, 3) * _tmp70 + - P(4, 3) * _tmp63 + P(5, 3) * _tmp69 + P(6, 3) * _tmp51) + - _tmp71 * (P(0, 22) * _tmp57 + P(1, 22) * _tmp67 + P(2, 22) * _tmp45 + - P(23, 22) * _tmp66 + P(3, 22) * _tmp70 + P(4, 22) * _tmp63 + - P(5, 22) * _tmp69 + P(6, 22) * _tmp51 + _tmp73); - const Scalar _tmp75 = Scalar(1.0) / (math::max(_tmp74, epsilon)); - - // Output terms (2) - if (innov_var != nullptr) { - Scalar& _innov_var = (*innov_var); - - _innov_var = _tmp74; - } - - if (K != nullptr) { - matrix::Matrix& _k = (*K); - - _k.setZero(); - - _k(22, 0) = _tmp75 * (P(22, 0) * _tmp57 + P(22, 1) * _tmp67 + P(22, 2) * _tmp45 + - P(22, 23) * _tmp66 + P(22, 3) * _tmp70 + P(22, 4) * _tmp63 + - P(22, 5) * _tmp69 + P(22, 6) * _tmp51 + _tmp73); - _k(23, 0) = _tmp75 * (P(23, 0) * _tmp57 + P(23, 1) * _tmp67 + P(23, 2) * _tmp45 + - P(23, 22) * _tmp71 + P(23, 3) * _tmp70 + P(23, 4) * _tmp63 + - P(23, 5) * _tmp69 + P(23, 6) * _tmp51 + _tmp72); - } -} // NOLINT(readability/fn_size) - -// NOLINTNEXTLINE(readability/fn_size) -} // namespace sym diff --git a/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_drag_y_innov_var_and_h.h b/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_drag_y_innov_var_and_h.h new file mode 100644 index 000000000000..a7bf92840c16 --- /dev/null +++ b/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_drag_y_innov_var_and_h.h @@ -0,0 +1,181 @@ +// ----------------------------------------------------------------------------- +// This file was autogenerated by symforce from template: +// function/FUNCTION.h.jinja +// Do NOT modify by hand. +// ----------------------------------------------------------------------------- + +#pragma once + +#include + +namespace sym { + +/** + * This function was autogenerated from a symbolic function. Do not modify by hand. + * + * Symbolic function: compute_drag_y_innov_var_and_h + * + * Args: + * state: Matrix25_1 + * P: Matrix24_24 + * rho: Scalar + * cd: Scalar + * cm: Scalar + * R: Scalar + * epsilon: Scalar + * + * Outputs: + * innov_var: Scalar + * Hy: Matrix24_1 + */ +template +void ComputeDragYInnovVarAndH(const matrix::Matrix& state, + const matrix::Matrix& P, const Scalar rho, + const Scalar cd, const Scalar cm, const Scalar R, + const Scalar epsilon, Scalar* const innov_var = nullptr, + matrix::Matrix* const Hy = nullptr) { + // Total ops: 360 + + // Input arrays + + // Intermediate terms (76) + const Scalar _tmp0 = 2 * state(0, 0); + const Scalar _tmp1 = _tmp0 * state(3, 0); + const Scalar _tmp2 = 2 * state(1, 0); + const Scalar _tmp3 = _tmp2 * state(2, 0); + const Scalar _tmp4 = -_tmp1 + _tmp3; + const Scalar _tmp5 = _tmp4 * cm; + const Scalar _tmp6 = -2 * std::pow(state(3, 0), Scalar(2)); + const Scalar _tmp7 = -2 * std::pow(state(2, 0), Scalar(2)); + const Scalar _tmp8 = _tmp6 + _tmp7 + 1; + const Scalar _tmp9 = -state(22, 0) + state(4, 0); + const Scalar _tmp10 = _tmp1 + _tmp3; + const Scalar _tmp11 = -state(23, 0) + state(5, 0); + const Scalar _tmp12 = _tmp0 * state(2, 0); + const Scalar _tmp13 = _tmp2 * state(3, 0); + const Scalar _tmp14 = -_tmp12 + _tmp13; + const Scalar _tmp15 = _tmp10 * _tmp11 + _tmp14 * state(6, 0) + _tmp8 * _tmp9; + const Scalar _tmp16 = 2 * state(3, 0); + const Scalar _tmp17 = _tmp16 * state(2, 0); + const Scalar _tmp18 = _tmp2 * state(0, 0); + const Scalar _tmp19 = _tmp17 - _tmp18; + const Scalar _tmp20 = _tmp12 + _tmp13; + const Scalar _tmp21 = 1 - 2 * std::pow(state(1, 0), Scalar(2)); + const Scalar _tmp22 = _tmp21 + _tmp7; + const Scalar _tmp23 = _tmp11 * _tmp19 + _tmp20 * _tmp9 + _tmp22 * state(6, 0); + const Scalar _tmp24 = _tmp21 + _tmp6; + const Scalar _tmp25 = _tmp17 + _tmp18; + const Scalar _tmp26 = _tmp11 * _tmp24 + _tmp25 * state(6, 0) + _tmp4 * _tmp9; + const Scalar _tmp27 = std::sqrt(Scalar(std::pow(_tmp15, Scalar(2)) + std::pow(_tmp23, Scalar(2)) + + std::pow(_tmp26, Scalar(2)) + epsilon)); + const Scalar _tmp28 = cd * rho; + const Scalar _tmp29 = Scalar(0.5) * _tmp27 * _tmp28; + const Scalar _tmp30 = _tmp29 * _tmp4; + const Scalar _tmp31 = 2 * _tmp15; + const Scalar _tmp32 = _tmp31 * _tmp8; + const Scalar _tmp33 = 2 * _tmp23; + const Scalar _tmp34 = _tmp20 * _tmp33; + const Scalar _tmp35 = 2 * _tmp26; + const Scalar _tmp36 = _tmp35 * _tmp4; + const Scalar _tmp37 = Scalar(0.25) * _tmp26 * _tmp28 / _tmp27; + const Scalar _tmp38 = _tmp30 - _tmp37 * (-_tmp32 - _tmp34 - _tmp36) + _tmp5; + const Scalar _tmp39 = -_tmp30 - _tmp37 * (_tmp32 + _tmp34 + _tmp36) - _tmp5; + const Scalar _tmp40 = _tmp24 * cm; + const Scalar _tmp41 = _tmp10 * _tmp31; + const Scalar _tmp42 = _tmp19 * _tmp33; + const Scalar _tmp43 = _tmp24 * _tmp35; + const Scalar _tmp44 = _tmp24 * _tmp29; + const Scalar _tmp45 = -_tmp37 * (_tmp41 + _tmp42 + _tmp43) - _tmp40 - _tmp44; + const Scalar _tmp46 = _tmp16 * _tmp9; + const Scalar _tmp47 = _tmp0 * _tmp11; + const Scalar _tmp48 = state(1, 0) * state(6, 0); + const Scalar _tmp49 = 2 * state(2, 0); + const Scalar _tmp50 = _tmp11 * _tmp49; + const Scalar _tmp51 = _tmp16 * state(6, 0); + const Scalar _tmp52 = 4 * _tmp11; + const Scalar _tmp53 = _tmp49 * _tmp9; + const Scalar _tmp54 = _tmp0 * state(6, 0); + const Scalar _tmp55 = -_tmp52 * state(1, 0) + _tmp53 + _tmp54; + const Scalar _tmp56 = + -Scalar(1) / Scalar(2) * _tmp29 * _tmp55 - + Scalar(1) / Scalar(2) * _tmp37 * + (_tmp31 * (_tmp50 + _tmp51) + _tmp33 * (_tmp46 - _tmp47 - 4 * _tmp48) + _tmp35 * _tmp55) - + Scalar(1) / Scalar(2) * _tmp55 * cm; + const Scalar _tmp57 = 2 * _tmp48; + const Scalar _tmp58 = -_tmp46 + _tmp57; + const Scalar _tmp59 = _tmp11 * _tmp2; + const Scalar _tmp60 = _tmp11 * _tmp16; + const Scalar _tmp61 = state(2, 0) * state(6, 0); + const Scalar _tmp62 = 2 * _tmp61; + const Scalar _tmp63 = + -Scalar(1) / Scalar(2) * _tmp29 * _tmp58 - + Scalar(1) / Scalar(2) * _tmp37 * + (_tmp31 * (_tmp60 - _tmp62) + _tmp33 * (_tmp53 - _tmp59) + _tmp35 * _tmp58) - + Scalar(1) / Scalar(2) * _tmp58 * cm; + const Scalar _tmp64 = _tmp2 * _tmp9; + const Scalar _tmp65 = _tmp51 + _tmp64; + const Scalar _tmp66 = _tmp0 * _tmp9; + const Scalar _tmp67 = 4 * _tmp9; + const Scalar _tmp68 = -Scalar(1) / Scalar(2) * _tmp29 * _tmp65 - + Scalar(1) / Scalar(2) * _tmp37 * + (_tmp31 * (-_tmp54 + _tmp59 - _tmp67 * state(2, 0)) + + _tmp33 * (_tmp60 - 4 * _tmp61 + _tmp66) + _tmp35 * _tmp65) - + Scalar(1) / Scalar(2) * _tmp65 * cm; + const Scalar _tmp69 = -_tmp52 * state(3, 0) + _tmp62 - _tmp66; + const Scalar _tmp70 = -Scalar(1) / Scalar(2) * _tmp29 * _tmp69 - + Scalar(1) / Scalar(2) * _tmp37 * + (_tmp31 * (_tmp47 + _tmp57 - _tmp67 * state(3, 0)) + + _tmp33 * (_tmp50 + _tmp64) + _tmp35 * _tmp69) - + Scalar(1) / Scalar(2) * _tmp69 * cm; + const Scalar _tmp71 = + -_tmp56 * state(2, 0) - _tmp63 * state(3, 0) + _tmp68 * state(1, 0) + _tmp70 * state(0, 0); + const Scalar _tmp72 = + _tmp56 * state(3, 0) - _tmp63 * state(2, 0) + _tmp68 * state(0, 0) - _tmp70 * state(1, 0); + const Scalar _tmp73 = + _tmp56 * state(0, 0) - _tmp63 * state(1, 0) - _tmp68 * state(3, 0) + _tmp70 * state(2, 0); + const Scalar _tmp74 = -_tmp37 * (-_tmp41 - _tmp42 - _tmp43) + _tmp40 + _tmp44; + const Scalar _tmp75 = -_tmp25 * _tmp29 - _tmp25 * cm - + _tmp37 * (_tmp14 * _tmp31 + _tmp22 * _tmp33 + _tmp25 * _tmp35); + + // Output terms (2) + if (innov_var != nullptr) { + Scalar& _innov_var = (*innov_var); + + _innov_var = + R + + _tmp38 * (P(0, 21) * _tmp73 + P(1, 21) * _tmp72 + P(2, 21) * _tmp71 + P(21, 21) * _tmp38 + + P(22, 21) * _tmp74 + P(3, 21) * _tmp39 + P(4, 21) * _tmp45 + P(5, 21) * _tmp75) + + _tmp39 * (P(0, 3) * _tmp73 + P(1, 3) * _tmp72 + P(2, 3) * _tmp71 + P(21, 3) * _tmp38 + + P(22, 3) * _tmp74 + P(3, 3) * _tmp39 + P(4, 3) * _tmp45 + P(5, 3) * _tmp75) + + _tmp45 * (P(0, 4) * _tmp73 + P(1, 4) * _tmp72 + P(2, 4) * _tmp71 + P(21, 4) * _tmp38 + + P(22, 4) * _tmp74 + P(3, 4) * _tmp39 + P(4, 4) * _tmp45 + P(5, 4) * _tmp75) + + _tmp71 * (P(0, 2) * _tmp73 + P(1, 2) * _tmp72 + P(2, 2) * _tmp71 + P(21, 2) * _tmp38 + + P(22, 2) * _tmp74 + P(3, 2) * _tmp39 + P(4, 2) * _tmp45 + P(5, 2) * _tmp75) + + _tmp72 * (P(0, 1) * _tmp73 + P(1, 1) * _tmp72 + P(2, 1) * _tmp71 + P(21, 1) * _tmp38 + + P(22, 1) * _tmp74 + P(3, 1) * _tmp39 + P(4, 1) * _tmp45 + P(5, 1) * _tmp75) + + _tmp73 * (P(0, 0) * _tmp73 + P(1, 0) * _tmp72 + P(2, 0) * _tmp71 + P(21, 0) * _tmp38 + + P(22, 0) * _tmp74 + P(3, 0) * _tmp39 + P(4, 0) * _tmp45 + P(5, 0) * _tmp75) + + _tmp74 * (P(0, 22) * _tmp73 + P(1, 22) * _tmp72 + P(2, 22) * _tmp71 + P(21, 22) * _tmp38 + + P(22, 22) * _tmp74 + P(3, 22) * _tmp39 + P(4, 22) * _tmp45 + P(5, 22) * _tmp75) + + _tmp75 * (P(0, 5) * _tmp73 + P(1, 5) * _tmp72 + P(2, 5) * _tmp71 + P(21, 5) * _tmp38 + + P(22, 5) * _tmp74 + P(3, 5) * _tmp39 + P(4, 5) * _tmp45 + P(5, 5) * _tmp75); + } + + if (Hy != nullptr) { + matrix::Matrix& _hy = (*Hy); + + _hy.setZero(); + + _hy(0, 0) = _tmp73; + _hy(1, 0) = _tmp72; + _hy(2, 0) = _tmp71; + _hy(3, 0) = _tmp39; + _hy(4, 0) = _tmp45; + _hy(5, 0) = _tmp75; + _hy(21, 0) = _tmp38; + _hy(22, 0) = _tmp74; + } +} // NOLINT(readability/fn_size) + +// NOLINTNEXTLINE(readability/fn_size) +} // namespace sym diff --git a/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_drag_y_innov_var_and_k.h b/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_drag_y_innov_var_and_k.h deleted file mode 100644 index 8cbabba2f240..000000000000 --- a/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_drag_y_innov_var_and_k.h +++ /dev/null @@ -1,185 +0,0 @@ -// ----------------------------------------------------------------------------- -// This file was autogenerated by symforce from template: -// backends/cpp/templates/function/FUNCTION.h.jinja -// Do NOT modify by hand. -// ----------------------------------------------------------------------------- - -#pragma once - -#include - -namespace sym { - -/** - * This function was autogenerated from a symbolic function. Do not modify by hand. - * - * Symbolic function: compute_drag_y_innov_var_and_k - * - * Args: - * state: Matrix24_1 - * P: Matrix24_24 - * rho: Scalar - * cd: Scalar - * cm: Scalar - * R: Scalar - * epsilon: Scalar - * - * Outputs: - * innov_var: Scalar - * K: Matrix24_1 - */ -template -void ComputeDragYInnovVarAndK(const matrix::Matrix& state, - const matrix::Matrix& P, const Scalar rho, - const Scalar cd, const Scalar cm, const Scalar R, - const Scalar epsilon, Scalar* const innov_var = nullptr, - matrix::Matrix* const K = nullptr) { - // Total ops: 407 - - // Input arrays - - // Intermediate terms (76) - const Scalar _tmp0 = -state(23, 0) + state(5, 0); - const Scalar _tmp1 = 2 * _tmp0; - const Scalar _tmp2 = _tmp1 * state(1, 0); - const Scalar _tmp3 = -state(22, 0) + state(4, 0); - const Scalar _tmp4 = 2 * _tmp3; - const Scalar _tmp5 = _tmp4 * state(2, 0); - const Scalar _tmp6 = 2 * state(6, 0); - const Scalar _tmp7 = _tmp6 * state(0, 0); - const Scalar _tmp8 = -_tmp2 + _tmp5 + _tmp7; - const Scalar _tmp9 = std::pow(state(3, 0), Scalar(2)); - const Scalar _tmp10 = -_tmp9; - const Scalar _tmp11 = std::pow(state(0, 0), Scalar(2)); - const Scalar _tmp12 = std::pow(state(2, 0), Scalar(2)); - const Scalar _tmp13 = -_tmp12; - const Scalar _tmp14 = std::pow(state(1, 0), Scalar(2)); - const Scalar _tmp15 = _tmp10 + _tmp11 + _tmp13 + _tmp14; - const Scalar _tmp16 = state(0, 0) * state(3, 0); - const Scalar _tmp17 = state(1, 0) * state(2, 0); - const Scalar _tmp18 = _tmp16 + _tmp17; - const Scalar _tmp19 = state(0, 0) * state(2, 0); - const Scalar _tmp20 = state(1, 0) * state(3, 0); - const Scalar _tmp21 = _tmp1 * _tmp18 + _tmp15 * _tmp3 + _tmp6 * (-_tmp19 + _tmp20); - const Scalar _tmp22 = state(2, 0) * state(3, 0); - const Scalar _tmp23 = state(0, 0) * state(1, 0); - const Scalar _tmp24 = _tmp22 - _tmp23; - const Scalar _tmp25 = _tmp19 + _tmp20; - const Scalar _tmp26 = _tmp11 - _tmp14; - const Scalar _tmp27 = _tmp13 + _tmp26 + _tmp9; - const Scalar _tmp28 = _tmp1 * _tmp24 + _tmp25 * _tmp4 + _tmp27 * state(6, 0); - const Scalar _tmp29 = _tmp10 + _tmp12 + _tmp26; - const Scalar _tmp30 = -_tmp16 + _tmp17; - const Scalar _tmp31 = _tmp0 * _tmp29 + _tmp30 * _tmp4 + _tmp6 * (_tmp22 + _tmp23); - const Scalar _tmp32 = std::sqrt(Scalar(std::pow(_tmp21, Scalar(2)) + std::pow(_tmp28, Scalar(2)) + - std::pow(_tmp31, Scalar(2)) + epsilon)); - const Scalar _tmp33 = cd * rho; - const Scalar _tmp34 = _tmp32 * _tmp33; - const Scalar _tmp35 = Scalar(0.5) * _tmp34; - const Scalar _tmp36 = _tmp4 * state(3, 0); - const Scalar _tmp37 = _tmp1 * state(0, 0); - const Scalar _tmp38 = _tmp6 * state(1, 0); - const Scalar _tmp39 = 2 * _tmp28; - const Scalar _tmp40 = 2 * _tmp31; - const Scalar _tmp41 = _tmp1 * state(2, 0) + _tmp4 * state(1, 0) + _tmp6 * state(3, 0); - const Scalar _tmp42 = 2 * _tmp21; - const Scalar _tmp43 = Scalar(0.25) * _tmp31 * _tmp33 / _tmp32; - const Scalar _tmp44 = - -_tmp35 * _tmp8 - - _tmp43 * (_tmp39 * (_tmp36 - _tmp37 - _tmp38) + _tmp40 * _tmp8 + _tmp41 * _tmp42) - - _tmp8 * cm; - const Scalar _tmp45 = -_tmp36 + _tmp37 + _tmp38; - const Scalar _tmp46 = _tmp4 * state(0, 0); - const Scalar _tmp47 = _tmp1 * state(3, 0); - const Scalar _tmp48 = _tmp6 * state(2, 0); - const Scalar _tmp49 = _tmp46 + _tmp47 - _tmp48; - const Scalar _tmp50 = -_tmp35 * _tmp45 - - _tmp43 * (_tmp39 * _tmp8 + _tmp40 * _tmp45 + _tmp42 * _tmp49) - _tmp45 * cm; - const Scalar _tmp51 = - -_tmp35 * _tmp41 - _tmp41 * cm - - _tmp43 * (_tmp39 * _tmp49 + _tmp40 * _tmp41 + _tmp42 * (_tmp2 - _tmp5 - _tmp7)); - const Scalar _tmp52 = -_tmp46 - _tmp47 + _tmp48; - const Scalar _tmp53 = -_tmp35 * _tmp52 - - _tmp43 * (_tmp39 * _tmp41 + _tmp40 * _tmp52 + _tmp42 * _tmp45) - - _tmp52 * cm; - const Scalar _tmp54 = _tmp29 * cm; - const Scalar _tmp55 = _tmp29 * _tmp35; - const Scalar _tmp56 = 4 * _tmp28; - const Scalar _tmp57 = _tmp29 * _tmp40; - const Scalar _tmp58 = - -_tmp43 * (-4 * _tmp18 * _tmp21 - _tmp24 * _tmp56 - _tmp57) + _tmp54 + _tmp55; - const Scalar _tmp59 = 2 * _tmp16; - const Scalar _tmp60 = 2 * _tmp17; - const Scalar _tmp61 = -_tmp59 + _tmp60; - const Scalar _tmp62 = _tmp15 * _tmp42; - const Scalar _tmp63 = 2 * _tmp19; - const Scalar _tmp64 = 2 * _tmp20; - const Scalar _tmp65 = -_tmp35 * _tmp61 - - _tmp43 * (_tmp39 * (_tmp63 + _tmp64) + _tmp40 * _tmp61 + _tmp62) - - _tmp61 * cm; - const Scalar _tmp66 = Scalar(1.0) * _tmp30 * _tmp34 + 2 * _tmp30 * cm - - _tmp43 * (-_tmp25 * _tmp56 - 4 * _tmp30 * _tmp31 - _tmp62); - const Scalar _tmp67 = 2 * _tmp22; - const Scalar _tmp68 = 2 * _tmp23; - const Scalar _tmp69 = _tmp67 + _tmp68; - const Scalar _tmp70 = -_tmp35 * _tmp69 - - _tmp43 * (_tmp27 * _tmp39 + _tmp40 * _tmp69 + _tmp42 * (-_tmp63 + _tmp64)) - - _tmp69 * cm; - const Scalar _tmp71 = - -_tmp43 * (_tmp39 * (_tmp67 - _tmp68) + _tmp42 * (_tmp59 + _tmp60) + _tmp57) - _tmp54 - - _tmp55; - const Scalar _tmp72 = P(22, 22) * _tmp66; - const Scalar _tmp73 = P(23, 23) * _tmp58; - const Scalar _tmp74 = R + - _tmp44 * (P(0, 1) * _tmp50 + P(1, 1) * _tmp44 + P(2, 1) * _tmp51 + - P(22, 1) * _tmp66 + P(23, 1) * _tmp58 + P(3, 1) * _tmp53 + - P(4, 1) * _tmp65 + P(5, 1) * _tmp71 + P(6, 1) * _tmp70) + - _tmp50 * (P(0, 0) * _tmp50 + P(1, 0) * _tmp44 + P(2, 0) * _tmp51 + - P(22, 0) * _tmp66 + P(23, 0) * _tmp58 + P(3, 0) * _tmp53 + - P(4, 0) * _tmp65 + P(5, 0) * _tmp71 + P(6, 0) * _tmp70) + - _tmp51 * (P(0, 2) * _tmp50 + P(1, 2) * _tmp44 + P(2, 2) * _tmp51 + - P(22, 2) * _tmp66 + P(23, 2) * _tmp58 + P(3, 2) * _tmp53 + - P(4, 2) * _tmp65 + P(5, 2) * _tmp71 + P(6, 2) * _tmp70) + - _tmp53 * (P(0, 3) * _tmp50 + P(1, 3) * _tmp44 + P(2, 3) * _tmp51 + - P(22, 3) * _tmp66 + P(23, 3) * _tmp58 + P(3, 3) * _tmp53 + - P(4, 3) * _tmp65 + P(5, 3) * _tmp71 + P(6, 3) * _tmp70) + - _tmp58 * (P(0, 23) * _tmp50 + P(1, 23) * _tmp44 + P(2, 23) * _tmp51 + - P(22, 23) * _tmp66 + P(3, 23) * _tmp53 + P(4, 23) * _tmp65 + - P(5, 23) * _tmp71 + P(6, 23) * _tmp70 + _tmp73) + - _tmp65 * (P(0, 4) * _tmp50 + P(1, 4) * _tmp44 + P(2, 4) * _tmp51 + - P(22, 4) * _tmp66 + P(23, 4) * _tmp58 + P(3, 4) * _tmp53 + - P(4, 4) * _tmp65 + P(5, 4) * _tmp71 + P(6, 4) * _tmp70) + - _tmp66 * (P(0, 22) * _tmp50 + P(1, 22) * _tmp44 + P(2, 22) * _tmp51 + - P(23, 22) * _tmp58 + P(3, 22) * _tmp53 + P(4, 22) * _tmp65 + - P(5, 22) * _tmp71 + P(6, 22) * _tmp70 + _tmp72) + - _tmp70 * (P(0, 6) * _tmp50 + P(1, 6) * _tmp44 + P(2, 6) * _tmp51 + - P(22, 6) * _tmp66 + P(23, 6) * _tmp58 + P(3, 6) * _tmp53 + - P(4, 6) * _tmp65 + P(5, 6) * _tmp71 + P(6, 6) * _tmp70) + - _tmp71 * (P(0, 5) * _tmp50 + P(1, 5) * _tmp44 + P(2, 5) * _tmp51 + - P(22, 5) * _tmp66 + P(23, 5) * _tmp58 + P(3, 5) * _tmp53 + - P(4, 5) * _tmp65 + P(5, 5) * _tmp71 + P(6, 5) * _tmp70); - const Scalar _tmp75 = Scalar(1.0) / (math::max(_tmp74, epsilon)); - - // Output terms (2) - if (innov_var != nullptr) { - Scalar& _innov_var = (*innov_var); - - _innov_var = _tmp74; - } - - if (K != nullptr) { - matrix::Matrix& _k = (*K); - - _k.setZero(); - - _k(22, 0) = _tmp75 * (P(22, 0) * _tmp50 + P(22, 1) * _tmp44 + P(22, 2) * _tmp51 + - P(22, 23) * _tmp58 + P(22, 3) * _tmp53 + P(22, 4) * _tmp65 + - P(22, 5) * _tmp71 + P(22, 6) * _tmp70 + _tmp72); - _k(23, 0) = _tmp75 * (P(23, 0) * _tmp50 + P(23, 1) * _tmp44 + P(23, 2) * _tmp51 + - P(23, 22) * _tmp66 + P(23, 3) * _tmp53 + P(23, 4) * _tmp65 + - P(23, 5) * _tmp71 + P(23, 6) * _tmp70 + _tmp73); - } -} // NOLINT(readability/fn_size) - -// NOLINTNEXTLINE(readability/fn_size) -} // namespace sym diff --git a/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_ev_body_vel_hx.h b/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_ev_body_vel_hx.h new file mode 100644 index 000000000000..72a2adf0f67a --- /dev/null +++ b/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_ev_body_vel_hx.h @@ -0,0 +1,63 @@ +// ----------------------------------------------------------------------------- +// This file was autogenerated by symforce from template: +// function/FUNCTION.h.jinja +// Do NOT modify by hand. +// ----------------------------------------------------------------------------- + +#pragma once + +#include + +namespace sym { + +/** + * This function was autogenerated from a symbolic function. Do not modify by hand. + * + * Symbolic function: compute_ev_body_vel_hx + * + * Args: + * state: Matrix25_1 + * + * Outputs: + * H: Matrix24_1 + */ +template +void ComputeEvBodyVelHx(const matrix::Matrix& state, + matrix::Matrix* const H = nullptr) { + // Total ops: 60 + + // Input arrays + + // Intermediate terms (13) + const Scalar _tmp0 = 2 * state(5, 0); + const Scalar _tmp1 = 2 * state(6, 0); + const Scalar _tmp2 = _tmp0 * state(3, 0) - _tmp1 * state(2, 0); + const Scalar _tmp3 = (Scalar(1) / Scalar(2)) * state(1, 0); + const Scalar _tmp4 = + (Scalar(1) / Scalar(2)) * _tmp0 * state(2, 0) + (Scalar(1) / Scalar(2)) * _tmp1 * state(3, 0); + const Scalar _tmp5 = 4 * state(4, 0); + const Scalar _tmp6 = 2 * state(1, 0); + const Scalar _tmp7 = _tmp0 * state(0, 0) - _tmp5 * state(3, 0) + _tmp6 * state(6, 0); + const Scalar _tmp8 = (Scalar(1) / Scalar(2)) * _tmp7; + const Scalar _tmp9 = 2 * state(0, 0); + const Scalar _tmp10 = _tmp0 * state(1, 0) - _tmp5 * state(2, 0) - _tmp9 * state(6, 0); + const Scalar _tmp11 = (Scalar(1) / Scalar(2)) * _tmp10; + const Scalar _tmp12 = (Scalar(1) / Scalar(2)) * _tmp2; + + // Output terms (1) + if (H != nullptr) { + matrix::Matrix& _h = (*H); + + _h.setZero(); + + _h(0, 0) = -_tmp11 * state(3, 0) - _tmp2 * _tmp3 + _tmp4 * state(0, 0) + _tmp8 * state(2, 0); + _h(1, 0) = _tmp11 * state(0, 0) - _tmp12 * state(2, 0) - _tmp3 * _tmp7 + _tmp4 * state(3, 0); + _h(2, 0) = _tmp10 * _tmp3 - _tmp12 * state(3, 0) - _tmp4 * state(2, 0) + _tmp8 * state(0, 0); + _h(3, 0) = -2 * std::pow(state(2, 0), Scalar(2)) - 2 * std::pow(state(3, 0), Scalar(2)) + 1; + _h(4, 0) = _tmp6 * state(2, 0) + _tmp9 * state(3, 0); + _h(5, 0) = _tmp6 * state(3, 0) - _tmp9 * state(2, 0); + } +} // NOLINT(readability/fn_size) + +// NOLINTNEXTLINE(readability/fn_size) +} // namespace sym diff --git a/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_ev_body_vel_hy.h b/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_ev_body_vel_hy.h new file mode 100644 index 000000000000..a4dd6f94d94c --- /dev/null +++ b/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_ev_body_vel_hy.h @@ -0,0 +1,67 @@ +// ----------------------------------------------------------------------------- +// This file was autogenerated by symforce from template: +// function/FUNCTION.h.jinja +// Do NOT modify by hand. +// ----------------------------------------------------------------------------- + +#pragma once + +#include + +namespace sym { + +/** + * This function was autogenerated from a symbolic function. Do not modify by hand. + * + * Symbolic function: compute_ev_body_vel_hy + * + * Args: + * state: Matrix25_1 + * + * Outputs: + * H: Matrix24_1 + */ +template +void ComputeEvBodyVelHy(const matrix::Matrix& state, + matrix::Matrix* const H = nullptr) { + // Total ops: 64 + + // Input arrays + + // Intermediate terms (9) + const Scalar _tmp0 = 2 * state(4, 0); + const Scalar _tmp1 = 2 * state(1, 0); + const Scalar _tmp2 = + -Scalar(1) / Scalar(2) * _tmp0 * state(3, 0) + (Scalar(1) / Scalar(2)) * _tmp1 * state(6, 0); + const Scalar _tmp3 = 2 * state(3, 0); + const Scalar _tmp4 = + (Scalar(1) / Scalar(2)) * _tmp0 * state(1, 0) + (Scalar(1) / Scalar(2)) * _tmp3 * state(6, 0); + const Scalar _tmp5 = 4 * state(5, 0); + const Scalar _tmp6 = 2 * state(6, 0); + const Scalar _tmp7 = -Scalar(1) / Scalar(2) * _tmp0 * state(0, 0) - + Scalar(1) / Scalar(2) * _tmp5 * state(3, 0) + + (Scalar(1) / Scalar(2)) * _tmp6 * state(2, 0); + const Scalar _tmp8 = (Scalar(1) / Scalar(2)) * _tmp0 * state(2, 0) - + Scalar(1) / Scalar(2) * _tmp5 * state(1, 0) + + (Scalar(1) / Scalar(2)) * _tmp6 * state(0, 0); + + // Output terms (1) + if (H != nullptr) { + matrix::Matrix& _h = (*H); + + _h.setZero(); + + _h(0, 0) = + -_tmp2 * state(1, 0) - _tmp4 * state(3, 0) + _tmp7 * state(2, 0) + _tmp8 * state(0, 0); + _h(1, 0) = + -_tmp2 * state(2, 0) + _tmp4 * state(0, 0) - _tmp7 * state(1, 0) + _tmp8 * state(3, 0); + _h(2, 0) = + -_tmp2 * state(3, 0) + _tmp4 * state(1, 0) + _tmp7 * state(0, 0) - _tmp8 * state(2, 0); + _h(3, 0) = _tmp1 * state(2, 0) - _tmp3 * state(0, 0); + _h(4, 0) = -2 * std::pow(state(1, 0), Scalar(2)) - 2 * std::pow(state(3, 0), Scalar(2)) + 1; + _h(5, 0) = _tmp1 * state(0, 0) + _tmp3 * state(2, 0); + } +} // NOLINT(readability/fn_size) + +// NOLINTNEXTLINE(readability/fn_size) +} // namespace sym diff --git a/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_ev_body_vel_hz.h b/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_ev_body_vel_hz.h new file mode 100644 index 000000000000..395bb85b4a2e --- /dev/null +++ b/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_ev_body_vel_hz.h @@ -0,0 +1,63 @@ +// ----------------------------------------------------------------------------- +// This file was autogenerated by symforce from template: +// function/FUNCTION.h.jinja +// Do NOT modify by hand. +// ----------------------------------------------------------------------------- + +#pragma once + +#include + +namespace sym { + +/** + * This function was autogenerated from a symbolic function. Do not modify by hand. + * + * Symbolic function: compute_ev_body_vel_hz + * + * Args: + * state: Matrix25_1 + * + * Outputs: + * H: Matrix24_1 + */ +template +void ComputeEvBodyVelHz(const matrix::Matrix& state, + matrix::Matrix* const H = nullptr) { + // Total ops: 60 + + // Input arrays + + // Intermediate terms (13) + const Scalar _tmp0 = 2 * state(4, 0); + const Scalar _tmp1 = 2 * state(5, 0); + const Scalar _tmp2 = + (Scalar(1) / Scalar(2)) * _tmp0 * state(1, 0) + (Scalar(1) / Scalar(2)) * _tmp1 * state(2, 0); + const Scalar _tmp3 = _tmp0 * state(2, 0) - _tmp1 * state(1, 0); + const Scalar _tmp4 = (Scalar(1) / Scalar(2)) * _tmp3; + const Scalar _tmp5 = 4 * state(6, 0); + const Scalar _tmp6 = _tmp0 * state(3, 0) - _tmp1 * state(0, 0) - _tmp5 * state(1, 0); + const Scalar _tmp7 = (Scalar(1) / Scalar(2)) * _tmp6; + const Scalar _tmp8 = _tmp0 * state(0, 0) + _tmp1 * state(3, 0) - _tmp5 * state(2, 0); + const Scalar _tmp9 = (Scalar(1) / Scalar(2)) * state(3, 0); + const Scalar _tmp10 = (Scalar(1) / Scalar(2)) * _tmp8; + const Scalar _tmp11 = 2 * state(2, 0); + const Scalar _tmp12 = 2 * state(1, 0); + + // Output terms (1) + if (H != nullptr) { + matrix::Matrix& _h = (*H); + + _h.setZero(); + + _h(0, 0) = _tmp2 * state(2, 0) - _tmp4 * state(1, 0) + _tmp7 * state(0, 0) - _tmp8 * _tmp9; + _h(1, 0) = _tmp10 * state(0, 0) - _tmp2 * state(1, 0) - _tmp4 * state(2, 0) + _tmp6 * _tmp9; + _h(2, 0) = _tmp10 * state(1, 0) + _tmp2 * state(0, 0) - _tmp3 * _tmp9 - _tmp7 * state(2, 0); + _h(3, 0) = _tmp11 * state(0, 0) + _tmp12 * state(3, 0); + _h(4, 0) = _tmp11 * state(3, 0) - _tmp12 * state(0, 0); + _h(5, 0) = -2 * std::pow(state(1, 0), Scalar(2)) - 2 * std::pow(state(2, 0), Scalar(2)) + 1; + } +} // NOLINT(readability/fn_size) + +// NOLINTNEXTLINE(readability/fn_size) +} // namespace sym diff --git a/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_flow_xy_innov_var_and_hx.h b/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_flow_xy_innov_var_and_hx.h index 6ef629a65a62..75809345d968 100644 --- a/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_flow_xy_innov_var_and_hx.h +++ b/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_flow_xy_innov_var_and_hx.h @@ -1,6 +1,6 @@ // ----------------------------------------------------------------------------- // This file was autogenerated by symforce from template: -// backends/cpp/templates/function/FUNCTION.h.jinja +// function/FUNCTION.h.jinja // Do NOT modify by hand. // ----------------------------------------------------------------------------- @@ -16,9 +16,8 @@ namespace sym { * Symbolic function: compute_flow_xy_innov_var_and_hx * * Args: - * state: Matrix24_1 + * state: Matrix25_1 * P: Matrix24_24 - * distance: Scalar * R: Scalar * epsilon: Scalar * @@ -27,48 +26,87 @@ namespace sym { * H: Matrix24_1 */ template -void ComputeFlowXyInnovVarAndHx(const matrix::Matrix& state, - const matrix::Matrix& P, const Scalar distance, - const Scalar R, const Scalar epsilon, +void ComputeFlowXyInnovVarAndHx(const matrix::Matrix& state, + const matrix::Matrix& P, const Scalar R, + const Scalar epsilon, matrix::Matrix* const innov_var = nullptr, matrix::Matrix* const H = nullptr) { - // Total ops: 285 + // Total ops: 431 // Input arrays - // Intermediate terms (29) - const Scalar _tmp0 = std::pow(state(2, 0), Scalar(2)); - const Scalar _tmp1 = std::pow(state(1, 0), Scalar(2)); - const Scalar _tmp2 = std::pow(state(0, 0), Scalar(2)) - std::pow(state(3, 0), Scalar(2)); - const Scalar _tmp3 = - Scalar(1.0) / - (distance + epsilon * (2 * math::min(0, (((distance) > 0) - ((distance) < 0))) + 1)); - const Scalar _tmp4 = _tmp3 * (_tmp0 - _tmp1 + _tmp2); - const Scalar _tmp5 = 2 * state(3, 0); - const Scalar _tmp6 = _tmp5 * state(0, 0); - const Scalar _tmp7 = 2 * state(2, 0); - const Scalar _tmp8 = _tmp7 * state(1, 0); - const Scalar _tmp9 = _tmp3 * (-_tmp6 + _tmp8); - const Scalar _tmp10 = 2 * state(4, 0); - const Scalar _tmp11 = _tmp10 * state(0, 0); - const Scalar _tmp12 = 2 * state(5, 0); - const Scalar _tmp13 = _tmp12 * state(3, 0); - const Scalar _tmp14 = _tmp7 * state(6, 0); - const Scalar _tmp15 = _tmp3 * (-_tmp11 - _tmp13 + _tmp14); - const Scalar _tmp16 = 2 * state(1, 0); - const Scalar _tmp17 = - _tmp3 * (-_tmp10 * state(3, 0) + _tmp12 * state(0, 0) + _tmp16 * state(6, 0)); - const Scalar _tmp18 = _tmp7 * state(4, 0); - const Scalar _tmp19 = _tmp12 * state(1, 0); - const Scalar _tmp20 = 2 * state(0, 0) * state(6, 0); - const Scalar _tmp21 = _tmp3 * (_tmp18 - _tmp19 + _tmp20); - const Scalar _tmp22 = _tmp3 * (_tmp10 * state(1, 0) + _tmp5 * state(6, 0) + _tmp7 * state(5, 0)); - const Scalar _tmp23 = _tmp3 * (_tmp16 * state(0, 0) + _tmp7 * state(3, 0)); - const Scalar _tmp24 = _tmp3 * (-_tmp0 + _tmp1 + _tmp2); - const Scalar _tmp25 = _tmp3 * (_tmp6 + _tmp8); - const Scalar _tmp26 = _tmp3 * (_tmp16 * state(3, 0) - _tmp7 * state(0, 0)); - const Scalar _tmp27 = _tmp3 * (_tmp11 + _tmp13 - _tmp14); - const Scalar _tmp28 = _tmp3 * (-_tmp18 + _tmp19 - _tmp20); + // Intermediate terms (66) + const Scalar _tmp0 = state(2, 0) * state(4, 0); + const Scalar _tmp1 = state(1, 0) * state(5, 0); + const Scalar _tmp2 = 2 * state(6, 0); + const Scalar _tmp3 = _tmp2 * state(0, 0); + const Scalar _tmp4 = -2 * std::pow(state(2, 0), Scalar(2)); + const Scalar _tmp5 = 1 - 2 * std::pow(state(1, 0), Scalar(2)); + const Scalar _tmp6 = _tmp4 + _tmp5; + const Scalar _tmp7 = state(24, 0) - state(9, 0); + const Scalar _tmp8 = + _tmp7 + epsilon * (2 * math::min(0, (((_tmp7) > 0) - ((_tmp7) < 0))) + 1); + const Scalar _tmp9 = Scalar(1.0) / (_tmp8); + const Scalar _tmp10 = _tmp6 * _tmp9; + const Scalar _tmp11 = 2 * state(0, 0) * state(3, 0); + const Scalar _tmp12 = 2 * state(1, 0); + const Scalar _tmp13 = _tmp12 * state(2, 0); + const Scalar _tmp14 = -_tmp11 + _tmp13; + const Scalar _tmp15 = 2 * state(2, 0); + const Scalar _tmp16 = _tmp12 * state(0, 0) + _tmp15 * state(3, 0); + const Scalar _tmp17 = -2 * std::pow(state(3, 0), Scalar(2)); + const Scalar _tmp18 = _tmp17 + _tmp5; + const Scalar _tmp19 = _tmp14 * state(4, 0) + _tmp16 * state(6, 0) + _tmp18 * state(5, 0); + const Scalar _tmp20 = 4 * _tmp9; + const Scalar _tmp21 = _tmp19 * _tmp20; + const Scalar _tmp22 = _tmp10 * (2 * _tmp0 - 4 * _tmp1 + _tmp3) - _tmp21 * state(1, 0); + const Scalar _tmp23 = (Scalar(1) / Scalar(2)) * _tmp22; + const Scalar _tmp24 = 2 * state(4, 0); + const Scalar _tmp25 = 4 * state(3, 0); + const Scalar _tmp26 = _tmp2 * state(2, 0); + const Scalar _tmp27 = -_tmp24 * state(0, 0) - _tmp25 * state(5, 0) + _tmp26; + const Scalar _tmp28 = (Scalar(1) / Scalar(2)) * _tmp10; + const Scalar _tmp29 = _tmp28 * state(0, 0); + const Scalar _tmp30 = (Scalar(1) / Scalar(2)) * state(3, 0); + const Scalar _tmp31 = _tmp2 * state(1, 0); + const Scalar _tmp32 = _tmp10 * (-_tmp24 * state(3, 0) + _tmp31); + const Scalar _tmp33 = _tmp2 * state(3, 0); + const Scalar _tmp34 = _tmp10 * (_tmp24 * state(1, 0) + _tmp33) - _tmp21 * state(2, 0); + const Scalar _tmp35 = (Scalar(1) / Scalar(2)) * _tmp34; + const Scalar _tmp36 = + -_tmp23 * state(2, 0) + _tmp27 * _tmp29 - _tmp30 * _tmp32 + _tmp35 * state(1, 0); + const Scalar _tmp37 = _tmp10 * _tmp14; + const Scalar _tmp38 = _tmp28 * state(2, 0); + const Scalar _tmp39 = (Scalar(1) / Scalar(2)) * _tmp32; + const Scalar _tmp40 = + _tmp23 * state(0, 0) + _tmp27 * _tmp38 - _tmp30 * _tmp34 - _tmp39 * state(1, 0); + const Scalar _tmp41 = _tmp28 * state(1, 0); + const Scalar _tmp42 = + _tmp22 * _tmp30 - _tmp27 * _tmp41 + _tmp35 * state(0, 0) - _tmp39 * state(2, 0); + const Scalar _tmp43 = _tmp10 * _tmp18; + const Scalar _tmp44 = _tmp6 / std::pow(_tmp8, Scalar(2)); + const Scalar _tmp45 = _tmp19 * _tmp44; + const Scalar _tmp46 = _tmp10 * _tmp16; + const Scalar _tmp47 = _tmp12 * state(3, 0) - _tmp15 * state(0, 0); + const Scalar _tmp48 = _tmp10 * _tmp47; + const Scalar _tmp49 = _tmp11 + _tmp13; + const Scalar _tmp50 = _tmp10 * _tmp49; + const Scalar _tmp51 = _tmp17 + _tmp4 + 1; + const Scalar _tmp52 = _tmp10 * _tmp51; + const Scalar _tmp53 = _tmp47 * state(6, 0) + _tmp49 * state(5, 0) + _tmp51 * state(4, 0); + const Scalar _tmp54 = _tmp20 * _tmp53; + const Scalar _tmp55 = 2 * state(5, 0); + const Scalar _tmp56 = -_tmp10 * (_tmp33 + _tmp55 * state(2, 0)) + _tmp54 * state(1, 0); + const Scalar _tmp57 = -_tmp10 * (-4 * _tmp0 + 2 * _tmp1 - _tmp3) + _tmp54 * state(2, 0); + const Scalar _tmp58 = (Scalar(1) / Scalar(2)) * _tmp57; + const Scalar _tmp59 = -_tmp25 * state(4, 0) + _tmp31 + _tmp55 * state(0, 0); + const Scalar _tmp60 = -_tmp26 + _tmp55 * state(3, 0); + const Scalar _tmp61 = _tmp30 * _tmp56 + _tmp38 * _tmp60 + _tmp41 * _tmp59 + _tmp58 * state(0, 0); + const Scalar _tmp62 = (Scalar(1) / Scalar(2)) * _tmp56; + const Scalar _tmp63 = -_tmp30 * _tmp57 - _tmp38 * _tmp59 + _tmp41 * _tmp60 + _tmp62 * state(0, 0); + const Scalar _tmp64 = + _tmp10 * _tmp30 * _tmp60 - _tmp29 * _tmp59 + _tmp58 * state(1, 0) - _tmp62 * state(2, 0); + const Scalar _tmp65 = _tmp44 * _tmp53; // Output terms (2) if (innov_var != nullptr) { @@ -76,36 +114,40 @@ void ComputeFlowXyInnovVarAndHx(const matrix::Matrix& state, _innov_var(0, 0) = R + - _tmp15 * (P(0, 3) * _tmp17 + P(1, 3) * _tmp21 + P(2, 3) * _tmp22 + P(3, 3) * _tmp15 + - P(4, 3) * _tmp9 + P(5, 3) * _tmp4 + P(6, 3) * _tmp23) + - _tmp17 * (P(0, 0) * _tmp17 + P(1, 0) * _tmp21 + P(2, 0) * _tmp22 + P(3, 0) * _tmp15 + - P(4, 0) * _tmp9 + P(5, 0) * _tmp4 + P(6, 0) * _tmp23) + - _tmp21 * (P(0, 1) * _tmp17 + P(1, 1) * _tmp21 + P(2, 1) * _tmp22 + P(3, 1) * _tmp15 + - P(4, 1) * _tmp9 + P(5, 1) * _tmp4 + P(6, 1) * _tmp23) + - _tmp22 * (P(0, 2) * _tmp17 + P(1, 2) * _tmp21 + P(2, 2) * _tmp22 + P(3, 2) * _tmp15 + - P(4, 2) * _tmp9 + P(5, 2) * _tmp4 + P(6, 2) * _tmp23) + - _tmp23 * (P(0, 6) * _tmp17 + P(1, 6) * _tmp21 + P(2, 6) * _tmp22 + P(3, 6) * _tmp15 + - P(4, 6) * _tmp9 + P(5, 6) * _tmp4 + P(6, 6) * _tmp23) + - _tmp4 * (P(0, 5) * _tmp17 + P(1, 5) * _tmp21 + P(2, 5) * _tmp22 + P(3, 5) * _tmp15 + - P(4, 5) * _tmp9 + P(5, 5) * _tmp4 + P(6, 5) * _tmp23) + - _tmp9 * (P(0, 4) * _tmp17 + P(1, 4) * _tmp21 + P(2, 4) * _tmp22 + P(3, 4) * _tmp15 + - P(4, 4) * _tmp9 + P(5, 4) * _tmp4 + P(6, 4) * _tmp23); + _tmp36 * (P(0, 2) * _tmp40 + P(1, 2) * _tmp42 + P(2, 2) * _tmp36 - P(23, 2) * _tmp45 + + P(3, 2) * _tmp37 + P(4, 2) * _tmp43 + P(5, 2) * _tmp46 + P(8, 2) * _tmp45) + + _tmp37 * (P(0, 3) * _tmp40 + P(1, 3) * _tmp42 + P(2, 3) * _tmp36 - P(23, 3) * _tmp45 + + P(3, 3) * _tmp37 + P(4, 3) * _tmp43 + P(5, 3) * _tmp46 + P(8, 3) * _tmp45) + + _tmp40 * (P(0, 0) * _tmp40 + P(1, 0) * _tmp42 + P(2, 0) * _tmp36 - P(23, 0) * _tmp45 + + P(3, 0) * _tmp37 + P(4, 0) * _tmp43 + P(5, 0) * _tmp46 + P(8, 0) * _tmp45) + + _tmp42 * (P(0, 1) * _tmp40 + P(1, 1) * _tmp42 + P(2, 1) * _tmp36 - P(23, 1) * _tmp45 + + P(3, 1) * _tmp37 + P(4, 1) * _tmp43 + P(5, 1) * _tmp46 + P(8, 1) * _tmp45) + + _tmp43 * (P(0, 4) * _tmp40 + P(1, 4) * _tmp42 + P(2, 4) * _tmp36 - P(23, 4) * _tmp45 + + P(3, 4) * _tmp37 + P(4, 4) * _tmp43 + P(5, 4) * _tmp46 + P(8, 4) * _tmp45) - + _tmp45 * (P(0, 23) * _tmp40 + P(1, 23) * _tmp42 + P(2, 23) * _tmp36 - P(23, 23) * _tmp45 + + P(3, 23) * _tmp37 + P(4, 23) * _tmp43 + P(5, 23) * _tmp46 + P(8, 23) * _tmp45) + + _tmp45 * (P(0, 8) * _tmp40 + P(1, 8) * _tmp42 + P(2, 8) * _tmp36 - P(23, 8) * _tmp45 + + P(3, 8) * _tmp37 + P(4, 8) * _tmp43 + P(5, 8) * _tmp46 + P(8, 8) * _tmp45) + + _tmp46 * (P(0, 5) * _tmp40 + P(1, 5) * _tmp42 + P(2, 5) * _tmp36 - P(23, 5) * _tmp45 + + P(3, 5) * _tmp37 + P(4, 5) * _tmp43 + P(5, 5) * _tmp46 + P(8, 5) * _tmp45); _innov_var(1, 0) = R - - _tmp17 * (-P(0, 3) * _tmp27 - P(1, 3) * _tmp22 - P(2, 3) * _tmp28 - P(3, 3) * _tmp17 - - P(4, 3) * _tmp24 - P(5, 3) * _tmp25 - P(6, 3) * _tmp26) - - _tmp22 * (-P(0, 1) * _tmp27 - P(1, 1) * _tmp22 - P(2, 1) * _tmp28 - P(3, 1) * _tmp17 - - P(4, 1) * _tmp24 - P(5, 1) * _tmp25 - P(6, 1) * _tmp26) - - _tmp24 * (-P(0, 4) * _tmp27 - P(1, 4) * _tmp22 - P(2, 4) * _tmp28 - P(3, 4) * _tmp17 - - P(4, 4) * _tmp24 - P(5, 4) * _tmp25 - P(6, 4) * _tmp26) - - _tmp25 * (-P(0, 5) * _tmp27 - P(1, 5) * _tmp22 - P(2, 5) * _tmp28 - P(3, 5) * _tmp17 - - P(4, 5) * _tmp24 - P(5, 5) * _tmp25 - P(6, 5) * _tmp26) - - _tmp26 * (-P(0, 6) * _tmp27 - P(1, 6) * _tmp22 - P(2, 6) * _tmp28 - P(3, 6) * _tmp17 - - P(4, 6) * _tmp24 - P(5, 6) * _tmp25 - P(6, 6) * _tmp26) - - _tmp27 * (-P(0, 0) * _tmp27 - P(1, 0) * _tmp22 - P(2, 0) * _tmp28 - P(3, 0) * _tmp17 - - P(4, 0) * _tmp24 - P(5, 0) * _tmp25 - P(6, 0) * _tmp26) - - _tmp28 * (-P(0, 2) * _tmp27 - P(1, 2) * _tmp22 - P(2, 2) * _tmp28 - P(3, 2) * _tmp17 - - P(4, 2) * _tmp24 - P(5, 2) * _tmp25 - P(6, 2) * _tmp26); + _tmp48 * (P(0, 5) * _tmp63 + P(1, 5) * _tmp61 + P(2, 5) * _tmp64 + P(23, 5) * _tmp65 - + P(3, 5) * _tmp52 - P(4, 5) * _tmp50 - P(5, 5) * _tmp48 - P(8, 5) * _tmp65) - + _tmp50 * (P(0, 4) * _tmp63 + P(1, 4) * _tmp61 + P(2, 4) * _tmp64 + P(23, 4) * _tmp65 - + P(3, 4) * _tmp52 - P(4, 4) * _tmp50 - P(5, 4) * _tmp48 - P(8, 4) * _tmp65) - + _tmp52 * (P(0, 3) * _tmp63 + P(1, 3) * _tmp61 + P(2, 3) * _tmp64 + P(23, 3) * _tmp65 - + P(3, 3) * _tmp52 - P(4, 3) * _tmp50 - P(5, 3) * _tmp48 - P(8, 3) * _tmp65) + + _tmp61 * (P(0, 1) * _tmp63 + P(1, 1) * _tmp61 + P(2, 1) * _tmp64 + P(23, 1) * _tmp65 - + P(3, 1) * _tmp52 - P(4, 1) * _tmp50 - P(5, 1) * _tmp48 - P(8, 1) * _tmp65) + + _tmp63 * (P(0, 0) * _tmp63 + P(1, 0) * _tmp61 + P(2, 0) * _tmp64 + P(23, 0) * _tmp65 - + P(3, 0) * _tmp52 - P(4, 0) * _tmp50 - P(5, 0) * _tmp48 - P(8, 0) * _tmp65) + + _tmp64 * (P(0, 2) * _tmp63 + P(1, 2) * _tmp61 + P(2, 2) * _tmp64 + P(23, 2) * _tmp65 - + P(3, 2) * _tmp52 - P(4, 2) * _tmp50 - P(5, 2) * _tmp48 - P(8, 2) * _tmp65) + + _tmp65 * (P(0, 23) * _tmp63 + P(1, 23) * _tmp61 + P(2, 23) * _tmp64 + P(23, 23) * _tmp65 - + P(3, 23) * _tmp52 - P(4, 23) * _tmp50 - P(5, 23) * _tmp48 - P(8, 23) * _tmp65) - + _tmp65 * (P(0, 8) * _tmp63 + P(1, 8) * _tmp61 + P(2, 8) * _tmp64 + P(23, 8) * _tmp65 - + P(3, 8) * _tmp52 - P(4, 8) * _tmp50 - P(5, 8) * _tmp48 - P(8, 8) * _tmp65); } if (H != nullptr) { @@ -113,13 +155,14 @@ void ComputeFlowXyInnovVarAndHx(const matrix::Matrix& state, _h.setZero(); - _h(0, 0) = _tmp17; - _h(1, 0) = _tmp21; - _h(2, 0) = _tmp22; - _h(3, 0) = _tmp15; - _h(4, 0) = _tmp9; - _h(5, 0) = _tmp4; - _h(6, 0) = _tmp23; + _h(0, 0) = _tmp40; + _h(1, 0) = _tmp42; + _h(2, 0) = _tmp36; + _h(3, 0) = _tmp37; + _h(4, 0) = _tmp43; + _h(5, 0) = _tmp46; + _h(8, 0) = _tmp45; + _h(23, 0) = -_tmp45; } } // NOLINT(readability/fn_size) diff --git a/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_flow_y_innov_var_and_h.h b/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_flow_y_innov_var_and_h.h index c8ffe911b4d1..178f6d75e64f 100644 --- a/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_flow_y_innov_var_and_h.h +++ b/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_flow_y_innov_var_and_h.h @@ -1,6 +1,6 @@ // ----------------------------------------------------------------------------- // This file was autogenerated by symforce from template: -// backends/cpp/templates/function/FUNCTION.h.jinja +// function/FUNCTION.h.jinja // Do NOT modify by hand. // ----------------------------------------------------------------------------- @@ -16,9 +16,8 @@ namespace sym { * Symbolic function: compute_flow_y_innov_var_and_h * * Args: - * state: Matrix24_1 + * state: Matrix25_1 * P: Matrix24_24 - * distance: Scalar * R: Scalar * epsilon: Scalar * @@ -27,53 +26,75 @@ namespace sym { * H: Matrix24_1 */ template -void ComputeFlowYInnovVarAndH(const matrix::Matrix& state, - const matrix::Matrix& P, const Scalar distance, - const Scalar R, const Scalar epsilon, - Scalar* const innov_var = nullptr, +void ComputeFlowYInnovVarAndH(const matrix::Matrix& state, + const matrix::Matrix& P, const Scalar R, + const Scalar epsilon, Scalar* const innov_var = nullptr, matrix::Matrix* const H = nullptr) { - // Total ops: 171 + // Total ops: 232 // Input arrays - // Intermediate terms (13) - const Scalar _tmp0 = - Scalar(1.0) / - (distance + epsilon * (2 * math::min(0, (((distance) > 0) - ((distance) < 0))) + 1)); - const Scalar _tmp1 = - _tmp0 * (std::pow(state(0, 0), Scalar(2)) + std::pow(state(1, 0), Scalar(2)) - - std::pow(state(2, 0), Scalar(2)) - std::pow(state(3, 0), Scalar(2))); - const Scalar _tmp2 = 2 * state(0, 0); - const Scalar _tmp3 = 2 * state(1, 0); - const Scalar _tmp4 = _tmp0 * (_tmp2 * state(3, 0) + _tmp3 * state(2, 0)); - const Scalar _tmp5 = _tmp0 * (-_tmp2 * state(2, 0) + _tmp3 * state(3, 0)); - const Scalar _tmp6 = 2 * state(4, 0); - const Scalar _tmp7 = 2 * state(6, 0); - const Scalar _tmp8 = _tmp0 * (_tmp2 * state(5, 0) - _tmp6 * state(3, 0) + _tmp7 * state(1, 0)); - const Scalar _tmp9 = 2 * state(5, 0); - const Scalar _tmp10 = _tmp0 * (_tmp2 * state(4, 0) - _tmp7 * state(2, 0) + _tmp9 * state(3, 0)); - const Scalar _tmp11 = _tmp0 * (_tmp3 * state(4, 0) + _tmp7 * state(3, 0) + _tmp9 * state(2, 0)); - const Scalar _tmp12 = _tmp0 * (_tmp3 * state(5, 0) - _tmp6 * state(2, 0) - _tmp7 * state(0, 0)); + // Intermediate terms (28) + const Scalar _tmp0 = 2 * state(0, 0); + const Scalar _tmp1 = 2 * state(1, 0); + const Scalar _tmp2 = -_tmp0 * state(2, 0) + _tmp1 * state(3, 0); + const Scalar _tmp3 = 1 - 2 * std::pow(state(2, 0), Scalar(2)); + const Scalar _tmp4 = _tmp3 - 2 * std::pow(state(1, 0), Scalar(2)); + const Scalar _tmp5 = state(24, 0) - state(9, 0); + const Scalar _tmp6 = + _tmp5 + epsilon * (2 * math::min(0, (((_tmp5) > 0) - ((_tmp5) < 0))) + 1); + const Scalar _tmp7 = Scalar(1.0) / (_tmp6); + const Scalar _tmp8 = _tmp4 * _tmp7; + const Scalar _tmp9 = _tmp2 * _tmp8; + const Scalar _tmp10 = _tmp0 * state(3, 0) + _tmp1 * state(2, 0); + const Scalar _tmp11 = _tmp10 * _tmp8; + const Scalar _tmp12 = _tmp3 - 2 * std::pow(state(3, 0), Scalar(2)); + const Scalar _tmp13 = _tmp12 * _tmp8; + const Scalar _tmp14 = _tmp10 * state(5, 0) + _tmp12 * state(4, 0) + _tmp2 * state(6, 0); + const Scalar _tmp15 = 4 * _tmp14 * _tmp7; + const Scalar _tmp16 = 2 * state(5, 0); + const Scalar _tmp17 = 2 * state(6, 0); + const Scalar _tmp18 = + (Scalar(1) / Scalar(2)) * _tmp15 * state(1, 0) - + Scalar(1) / Scalar(2) * _tmp8 * (_tmp16 * state(2, 0) + _tmp17 * state(3, 0)); + const Scalar _tmp19 = 4 * state(4, 0); + const Scalar _tmp20 = (Scalar(1) / Scalar(2)) * _tmp15 * state(2, 0) - + Scalar(1) / Scalar(2) * _tmp8 * + (_tmp16 * state(1, 0) - _tmp17 * state(0, 0) - _tmp19 * state(2, 0)); + const Scalar _tmp21 = (Scalar(1) / Scalar(2)) * _tmp8; + const Scalar _tmp22 = + _tmp21 * (_tmp16 * state(0, 0) + _tmp17 * state(1, 0) - _tmp19 * state(3, 0)); + const Scalar _tmp23 = _tmp21 * (_tmp16 * state(3, 0) - _tmp17 * state(2, 0)); + const Scalar _tmp24 = + _tmp18 * state(3, 0) + _tmp20 * state(0, 0) + _tmp22 * state(1, 0) + _tmp23 * state(2, 0); + const Scalar _tmp25 = + _tmp18 * state(0, 0) - _tmp20 * state(3, 0) - _tmp22 * state(2, 0) + _tmp23 * state(1, 0); + const Scalar _tmp26 = + -_tmp18 * state(2, 0) + _tmp20 * state(1, 0) - _tmp22 * state(0, 0) + _tmp23 * state(3, 0); + const Scalar _tmp27 = _tmp14 * _tmp4 / std::pow(_tmp6, Scalar(2)); // Output terms (2) if (innov_var != nullptr) { Scalar& _innov_var = (*innov_var); - _innov_var = R - - _tmp1 * (-P(0, 4) * _tmp10 - P(1, 4) * _tmp11 - P(2, 4) * _tmp12 - - P(3, 4) * _tmp8 - P(4, 4) * _tmp1 - P(5, 4) * _tmp4 - P(6, 4) * _tmp5) - - _tmp10 * (-P(0, 0) * _tmp10 - P(1, 0) * _tmp11 - P(2, 0) * _tmp12 - - P(3, 0) * _tmp8 - P(4, 0) * _tmp1 - P(5, 0) * _tmp4 - P(6, 0) * _tmp5) - - _tmp11 * (-P(0, 1) * _tmp10 - P(1, 1) * _tmp11 - P(2, 1) * _tmp12 - - P(3, 1) * _tmp8 - P(4, 1) * _tmp1 - P(5, 1) * _tmp4 - P(6, 1) * _tmp5) - - _tmp12 * (-P(0, 2) * _tmp10 - P(1, 2) * _tmp11 - P(2, 2) * _tmp12 - - P(3, 2) * _tmp8 - P(4, 2) * _tmp1 - P(5, 2) * _tmp4 - P(6, 2) * _tmp5) - - _tmp4 * (-P(0, 5) * _tmp10 - P(1, 5) * _tmp11 - P(2, 5) * _tmp12 - - P(3, 5) * _tmp8 - P(4, 5) * _tmp1 - P(5, 5) * _tmp4 - P(6, 5) * _tmp5) - - _tmp5 * (-P(0, 6) * _tmp10 - P(1, 6) * _tmp11 - P(2, 6) * _tmp12 - - P(3, 6) * _tmp8 - P(4, 6) * _tmp1 - P(5, 6) * _tmp4 - P(6, 6) * _tmp5) - - _tmp8 * (-P(0, 3) * _tmp10 - P(1, 3) * _tmp11 - P(2, 3) * _tmp12 - - P(3, 3) * _tmp8 - P(4, 3) * _tmp1 - P(5, 3) * _tmp4 - P(6, 3) * _tmp5); + _innov_var = + R - + _tmp11 * (P(0, 4) * _tmp25 + P(1, 4) * _tmp24 + P(2, 4) * _tmp26 + P(23, 4) * _tmp27 - + P(3, 4) * _tmp13 - P(4, 4) * _tmp11 - P(5, 4) * _tmp9 - P(8, 4) * _tmp27) - + _tmp13 * (P(0, 3) * _tmp25 + P(1, 3) * _tmp24 + P(2, 3) * _tmp26 + P(23, 3) * _tmp27 - + P(3, 3) * _tmp13 - P(4, 3) * _tmp11 - P(5, 3) * _tmp9 - P(8, 3) * _tmp27) + + _tmp24 * (P(0, 1) * _tmp25 + P(1, 1) * _tmp24 + P(2, 1) * _tmp26 + P(23, 1) * _tmp27 - + P(3, 1) * _tmp13 - P(4, 1) * _tmp11 - P(5, 1) * _tmp9 - P(8, 1) * _tmp27) + + _tmp25 * (P(0, 0) * _tmp25 + P(1, 0) * _tmp24 + P(2, 0) * _tmp26 + P(23, 0) * _tmp27 - + P(3, 0) * _tmp13 - P(4, 0) * _tmp11 - P(5, 0) * _tmp9 - P(8, 0) * _tmp27) + + _tmp26 * (P(0, 2) * _tmp25 + P(1, 2) * _tmp24 + P(2, 2) * _tmp26 + P(23, 2) * _tmp27 - + P(3, 2) * _tmp13 - P(4, 2) * _tmp11 - P(5, 2) * _tmp9 - P(8, 2) * _tmp27) + + _tmp27 * (P(0, 23) * _tmp25 + P(1, 23) * _tmp24 + P(2, 23) * _tmp26 + P(23, 23) * _tmp27 - + P(3, 23) * _tmp13 - P(4, 23) * _tmp11 - P(5, 23) * _tmp9 - P(8, 23) * _tmp27) - + _tmp27 * (P(0, 8) * _tmp25 + P(1, 8) * _tmp24 + P(2, 8) * _tmp26 + P(23, 8) * _tmp27 - + P(3, 8) * _tmp13 - P(4, 8) * _tmp11 - P(5, 8) * _tmp9 - P(8, 8) * _tmp27) - + _tmp9 * (P(0, 5) * _tmp25 + P(1, 5) * _tmp24 + P(2, 5) * _tmp26 + P(23, 5) * _tmp27 - + P(3, 5) * _tmp13 - P(4, 5) * _tmp11 - P(5, 5) * _tmp9 - P(8, 5) * _tmp27); } if (H != nullptr) { @@ -81,13 +102,14 @@ void ComputeFlowYInnovVarAndH(const matrix::Matrix& state, _h.setZero(); - _h(0, 0) = -_tmp10; - _h(1, 0) = -_tmp11; - _h(2, 0) = -_tmp12; - _h(3, 0) = -_tmp8; - _h(4, 0) = -_tmp1; - _h(5, 0) = -_tmp4; - _h(6, 0) = -_tmp5; + _h(0, 0) = _tmp25; + _h(1, 0) = _tmp24; + _h(2, 0) = _tmp26; + _h(3, 0) = -_tmp13; + _h(4, 0) = -_tmp11; + _h(5, 0) = -_tmp9; + _h(8, 0) = -_tmp27; + _h(23, 0) = _tmp27; } } // NOLINT(readability/fn_size) diff --git a/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_gnss_yaw_pred_innov_var_and_h.h b/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_gnss_yaw_pred_innov_var_and_h.h index 9fd7866e543c..028d7aba5587 100644 --- a/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_gnss_yaw_pred_innov_var_and_h.h +++ b/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_gnss_yaw_pred_innov_var_and_h.h @@ -1,6 +1,6 @@ // ----------------------------------------------------------------------------- // This file was autogenerated by symforce from template: -// backends/cpp/templates/function/FUNCTION.h.jinja +// function/FUNCTION.h.jinja // Do NOT modify by hand. // ----------------------------------------------------------------------------- @@ -16,7 +16,7 @@ namespace sym { * Symbolic function: compute_gnss_yaw_pred_innov_var_and_h * * Args: - * state: Matrix24_1 + * state: Matrix25_1 * P: Matrix24_24 * antenna_yaw_offset: Scalar * R: Scalar @@ -28,59 +28,68 @@ namespace sym { * H: Matrix24_1 */ template -void ComputeGnssYawPredInnovVarAndH(const matrix::Matrix& state, +void ComputeGnssYawPredInnovVarAndH(const matrix::Matrix& state, const matrix::Matrix& P, const Scalar antenna_yaw_offset, const Scalar R, const Scalar epsilon, Scalar* const meas_pred = nullptr, Scalar* const innov_var = nullptr, matrix::Matrix* const H = nullptr) { - // Total ops: 101 + // Total ops: 114 // Input arrays - // Intermediate terms (26) - const Scalar _tmp0 = std::pow(state(2, 0), Scalar(2)); - const Scalar _tmp1 = std::pow(state(1, 0), Scalar(2)); - const Scalar _tmp2 = std::pow(state(0, 0), Scalar(2)) - std::pow(state(3, 0), Scalar(2)); - const Scalar _tmp3 = std::sin(antenna_yaw_offset); - const Scalar _tmp4 = state(0, 0) * state(3, 0); - const Scalar _tmp5 = state(1, 0) * state(2, 0); - const Scalar _tmp6 = std::cos(antenna_yaw_offset); - const Scalar _tmp7 = 2 * _tmp6; - const Scalar _tmp8 = _tmp3 * (_tmp0 - _tmp1 + _tmp2) + _tmp7 * (_tmp4 + _tmp5); - const Scalar _tmp9 = 2 * _tmp3; - const Scalar _tmp10 = _tmp6 * (-_tmp0 + _tmp1 + _tmp2) + _tmp9 * (-_tmp4 + _tmp5); - const Scalar _tmp11 = _tmp10 + epsilon * ((((_tmp10) > 0) - ((_tmp10) < 0)) + Scalar(0.5)); - const Scalar _tmp12 = _tmp7 * state(0, 0) - _tmp9 * state(3, 0); - const Scalar _tmp13 = Scalar(1.0) / (_tmp11); - const Scalar _tmp14 = _tmp7 * state(3, 0); - const Scalar _tmp15 = _tmp9 * state(0, 0); - const Scalar _tmp16 = std::pow(_tmp11, Scalar(2)); - const Scalar _tmp17 = _tmp8 / _tmp16; - const Scalar _tmp18 = _tmp16 / (_tmp16 + std::pow(_tmp8, Scalar(2))); - const Scalar _tmp19 = _tmp18 * (_tmp12 * _tmp13 - _tmp17 * (-_tmp14 - _tmp15)); - const Scalar _tmp20 = _tmp7 * state(1, 0) + _tmp9 * state(2, 0); - const Scalar _tmp21 = _tmp9 * state(1, 0); - const Scalar _tmp22 = _tmp7 * state(2, 0); - const Scalar _tmp23 = _tmp18 * (_tmp13 * (-_tmp21 + _tmp22) - _tmp17 * _tmp20); - const Scalar _tmp24 = _tmp18 * (-_tmp12 * _tmp17 + _tmp13 * (_tmp14 + _tmp15)); - const Scalar _tmp25 = _tmp18 * (_tmp13 * _tmp20 - _tmp17 * (_tmp21 - _tmp22)); + // Intermediate terms (29) + const Scalar _tmp0 = 1 - 2 * std::pow(state(3, 0), Scalar(2)); + const Scalar _tmp1 = std::sin(antenna_yaw_offset); + const Scalar _tmp2 = 2 * state(0, 0) * state(3, 0); + const Scalar _tmp3 = 2 * state(1, 0) * state(2, 0); + const Scalar _tmp4 = std::cos(antenna_yaw_offset); + const Scalar _tmp5 = + _tmp1 * (_tmp0 - 2 * std::pow(state(1, 0), Scalar(2))) + _tmp4 * (_tmp2 + _tmp3); + const Scalar _tmp6 = + _tmp1 * (-_tmp2 + _tmp3) + _tmp4 * (_tmp0 - 2 * std::pow(state(2, 0), Scalar(2))); + const Scalar _tmp7 = _tmp6 + epsilon * ((((_tmp6) > 0) - ((_tmp6) < 0)) + Scalar(0.5)); + const Scalar _tmp8 = 2 * _tmp1; + const Scalar _tmp9 = std::pow(_tmp7, Scalar(2)); + const Scalar _tmp10 = _tmp5 / _tmp9; + const Scalar _tmp11 = _tmp10 * _tmp8; + const Scalar _tmp12 = 4 * _tmp1; + const Scalar _tmp13 = 2 * _tmp4; + const Scalar _tmp14 = Scalar(1.0) / (_tmp7); + const Scalar _tmp15 = + -_tmp11 * state(2, 0) + _tmp14 * (-_tmp12 * state(1, 0) + _tmp13 * state(2, 0)); + const Scalar _tmp16 = (Scalar(1) / Scalar(2)) * _tmp9 / (std::pow(_tmp5, Scalar(2)) + _tmp9); + const Scalar _tmp17 = _tmp15 * _tmp16; + const Scalar _tmp18 = _tmp13 * _tmp14; + const Scalar _tmp19 = _tmp11 * state(3, 0) + _tmp18 * state(3, 0); + const Scalar _tmp20 = _tmp16 * _tmp19; + const Scalar _tmp21 = 4 * _tmp4; + const Scalar _tmp22 = -_tmp10 * (-_tmp21 * state(3, 0) - _tmp8 * state(0, 0)) + + _tmp14 * (-_tmp12 * state(3, 0) + _tmp13 * state(0, 0)); + const Scalar _tmp23 = _tmp16 * state(2, 0); + const Scalar _tmp24 = + _tmp16 * (-_tmp10 * (-_tmp21 * state(2, 0) + _tmp8 * state(1, 0)) + _tmp18 * state(1, 0)); + const Scalar _tmp25 = + _tmp17 * state(0, 0) - _tmp20 * state(1, 0) + _tmp22 * _tmp23 - _tmp24 * state(3, 0); + const Scalar _tmp26 = _tmp16 * _tmp22; + const Scalar _tmp27 = + _tmp17 * state(3, 0) - _tmp19 * _tmp23 + _tmp24 * state(0, 0) - _tmp26 * state(1, 0); + const Scalar _tmp28 = + -_tmp15 * _tmp23 - _tmp20 * state(3, 0) + _tmp24 * state(1, 0) + _tmp26 * state(0, 0); // Output terms (3) if (meas_pred != nullptr) { Scalar& _meas_pred = (*meas_pred); - _meas_pred = std::atan2(_tmp8, _tmp11); + _meas_pred = std::atan2(_tmp5, _tmp7); } if (innov_var != nullptr) { Scalar& _innov_var = (*innov_var); - _innov_var = - R + _tmp19 * (P(0, 3) * _tmp24 + P(1, 3) * _tmp23 + P(2, 3) * _tmp25 + P(3, 3) * _tmp19) + - _tmp23 * (P(0, 1) * _tmp24 + P(1, 1) * _tmp23 + P(2, 1) * _tmp25 + P(3, 1) * _tmp19) + - _tmp24 * (P(0, 0) * _tmp24 + P(1, 0) * _tmp23 + P(2, 0) * _tmp25 + P(3, 0) * _tmp19) + - _tmp25 * (P(0, 2) * _tmp24 + P(1, 2) * _tmp23 + P(2, 2) * _tmp25 + P(3, 2) * _tmp19); + _innov_var = R + _tmp25 * (P(0, 0) * _tmp25 + P(1, 0) * _tmp27 + P(2, 0) * _tmp28) + + _tmp27 * (P(0, 1) * _tmp25 + P(1, 1) * _tmp27 + P(2, 1) * _tmp28) + + _tmp28 * (P(0, 2) * _tmp25 + P(1, 2) * _tmp27 + P(2, 2) * _tmp28); } if (H != nullptr) { @@ -88,10 +97,9 @@ void ComputeGnssYawPredInnovVarAndH(const matrix::Matrix& state, _h.setZero(); - _h(0, 0) = _tmp24; - _h(1, 0) = _tmp23; - _h(2, 0) = _tmp25; - _h(3, 0) = _tmp19; + _h(0, 0) = _tmp25; + _h(1, 0) = _tmp27; + _h(2, 0) = _tmp28; } } // NOLINT(readability/fn_size) diff --git a/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_gravity_innov_var_and_k_and_h.h b/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_gravity_innov_var_and_k_and_h.h deleted file mode 100644 index 5ced3fdb1617..000000000000 --- a/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_gravity_innov_var_and_k_and_h.h +++ /dev/null @@ -1,276 +0,0 @@ -// ----------------------------------------------------------------------------- -// This file was autogenerated by symforce from template: -// function/FUNCTION.h.jinja -// Do NOT modify by hand. -// ----------------------------------------------------------------------------- - -#pragma once - -#include - -namespace sym { - -/** - * This function was autogenerated from a symbolic function. Do not modify by hand. - * - * Symbolic function: compute_gravity_innov_var_and_k_and_h - * - * Args: - * state: Matrix24_1 - * P: Matrix24_24 - * meas: Matrix31 - * R: Scalar - * epsilon: Scalar - * - * Outputs: - * innov: Matrix31 - * innov_var: Matrix31 - * Kx: Matrix24_1 - * Ky: Matrix24_1 - * Kz: Matrix24_1 - */ -template -void ComputeGravityInnovVarAndKAndH(const matrix::Matrix& state, - const matrix::Matrix& P, - const matrix::Matrix& meas, const Scalar R, - const Scalar epsilon, - matrix::Matrix* const innov = nullptr, - matrix::Matrix* const innov_var = nullptr, - matrix::Matrix* const Kx = nullptr, - matrix::Matrix* const Ky = nullptr, - matrix::Matrix* const Kz = nullptr) { - // Total ops: 736 - - // Input arrays - - // Intermediate terms (54) - const Scalar _tmp0 = - Scalar(9.8066499999999994) / - std::sqrt(Scalar(epsilon + std::pow(meas(0, 0), Scalar(2)) + std::pow(meas(1, 0), Scalar(2)) + - std::pow(meas(2, 0), Scalar(2)))); - const Scalar _tmp1 = Scalar(19.613299999999999) * state(1, 0); - const Scalar _tmp2 = -P(3, 0) * _tmp1; - const Scalar _tmp3 = Scalar(19.613299999999999) * state(2, 0); - const Scalar _tmp4 = P(0, 0) * _tmp3; - const Scalar _tmp5 = Scalar(19.613299999999999) * state(0, 0); - const Scalar _tmp6 = P(2, 0) * _tmp5; - const Scalar _tmp7 = Scalar(19.613299999999999) * state(3, 0); - const Scalar _tmp8 = P(3, 1) * _tmp1; - const Scalar _tmp9 = P(2, 1) * _tmp5; - const Scalar _tmp10 = -P(1, 1) * _tmp7; - const Scalar _tmp11 = P(0, 2) * _tmp3; - const Scalar _tmp12 = P(2, 2) * _tmp5; - const Scalar _tmp13 = -P(1, 2) * _tmp7; - const Scalar _tmp14 = -P(3, 3) * _tmp1; - const Scalar _tmp15 = P(0, 3) * _tmp3; - const Scalar _tmp16 = -P(1, 3) * _tmp7; - const Scalar _tmp17 = R - _tmp1 * (P(2, 3) * _tmp5 + _tmp14 + _tmp15 + _tmp16) + - _tmp3 * (-P(1, 0) * _tmp7 + _tmp2 + _tmp4 + _tmp6) + - _tmp5 * (-P(3, 2) * _tmp1 + _tmp11 + _tmp12 + _tmp13) - - _tmp7 * (P(0, 1) * _tmp3 + _tmp10 - _tmp8 + _tmp9); - const Scalar _tmp18 = P(3, 0) * _tmp3; - const Scalar _tmp19 = -P(0, 0) * _tmp1; - const Scalar _tmp20 = -P(1, 0) * _tmp5; - const Scalar _tmp21 = P(3, 2) * _tmp3; - const Scalar _tmp22 = -P(2, 2) * _tmp7; - const Scalar _tmp23 = P(1, 2) * _tmp5; - const Scalar _tmp24 = P(0, 1) * _tmp1; - const Scalar _tmp25 = -P(2, 1) * _tmp7; - const Scalar _tmp26 = -P(1, 1) * _tmp5; - const Scalar _tmp27 = -P(3, 3) * _tmp3; - const Scalar _tmp28 = -P(0, 3) * _tmp1; - const Scalar _tmp29 = -P(2, 3) * _tmp7; - const Scalar _tmp30 = R - _tmp1 * (-P(2, 0) * _tmp7 - _tmp18 + _tmp19 + _tmp20) - - _tmp3 * (-P(1, 3) * _tmp5 + _tmp27 + _tmp28 + _tmp29) - - _tmp5 * (-P(3, 1) * _tmp3 - _tmp24 + _tmp25 + _tmp26) - - _tmp7 * (-P(0, 2) * _tmp1 - _tmp21 + _tmp22 - _tmp23); - const Scalar _tmp31 = -P(0, 0) * _tmp5; - const Scalar _tmp32 = P(2, 0) * _tmp3; - const Scalar _tmp33 = P(1, 0) * _tmp1; - const Scalar _tmp34 = -P(3, 2) * _tmp7; - const Scalar _tmp35 = P(0, 2) * _tmp5; - const Scalar _tmp36 = P(2, 2) * _tmp3; - const Scalar _tmp37 = -P(3, 1) * _tmp7; - const Scalar _tmp38 = -P(0, 1) * _tmp5; - const Scalar _tmp39 = P(1, 1) * _tmp1; - const Scalar _tmp40 = -P(3, 3) * _tmp7; - const Scalar _tmp41 = P(2, 3) * _tmp3; - const Scalar _tmp42 = P(1, 3) * _tmp1; - const Scalar _tmp43 = R + _tmp1 * (P(2, 1) * _tmp3 + _tmp37 + _tmp38 + _tmp39) + - _tmp3 * (P(1, 2) * _tmp1 + _tmp34 - _tmp35 + _tmp36) - - _tmp5 * (-P(3, 0) * _tmp7 + _tmp31 + _tmp32 + _tmp33) - - _tmp7 * (-P(0, 3) * _tmp5 + _tmp40 + _tmp41 + _tmp42); - const Scalar _tmp44 = Scalar(1.0) / (_tmp17); - const Scalar _tmp45 = Scalar(19.613299999999999) * P(8, 3); - const Scalar _tmp46 = Scalar(19.613299999999999) * P(8, 0); - const Scalar _tmp47 = Scalar(19.613299999999999) * P(8, 2); - const Scalar _tmp48 = Scalar(19.613299999999999) * P(9, 3); - const Scalar _tmp49 = Scalar(19.613299999999999) * P(9, 2); - const Scalar _tmp50 = Scalar(19.613299999999999) * P(9, 0); - const Scalar _tmp51 = Scalar(1.0) / (_tmp30); - const Scalar _tmp52 = Scalar(19.613299999999999) * P(4, 0); - const Scalar _tmp53 = Scalar(1.0) / (_tmp43); - - // Output terms (5) - if (innov != nullptr) { - matrix::Matrix& _innov = (*innov); - - _innov(0, 0) = -_tmp0 * meas(0, 0) + Scalar(19.613299999999999) * state(0, 0) * state(2, 0) - - Scalar(19.613299999999999) * state(1, 0) * state(3, 0); - _innov(1, 0) = -_tmp0 * meas(1, 0) - Scalar(19.613299999999999) * state(0, 0) * state(1, 0) - - Scalar(19.613299999999999) * state(2, 0) * state(3, 0); - _innov(2, 0) = -_tmp0 * meas(2, 0) - - Scalar(9.8066499999999994) * std::pow(state(0, 0), Scalar(2)) + - Scalar(9.8066499999999994) * std::pow(state(1, 0), Scalar(2)) + - Scalar(9.8066499999999994) * std::pow(state(2, 0), Scalar(2)) - - Scalar(9.8066499999999994) * std::pow(state(3, 0), Scalar(2)); - } - - if (innov_var != nullptr) { - matrix::Matrix& _innov_var = (*innov_var); - - _innov_var(0, 0) = _tmp17; - _innov_var(1, 0) = _tmp30; - _innov_var(2, 0) = _tmp43; - } - - if (Kx != nullptr) { - matrix::Matrix& _kx = (*Kx); - - _kx(0, 0) = _tmp44 * (-P(0, 1) * _tmp7 + _tmp28 + _tmp35 + _tmp4); - _kx(1, 0) = _tmp44 * (P(1, 0) * _tmp3 + _tmp10 + _tmp23 - _tmp42); - _kx(2, 0) = _tmp44 * (-P(2, 3) * _tmp1 + _tmp12 + _tmp25 + _tmp32); - _kx(3, 0) = _tmp44 * (P(3, 2) * _tmp5 + _tmp14 + _tmp18 + _tmp37); - _kx(4, 0) = _tmp44 * (P(4, 0) * _tmp3 - P(4, 1) * _tmp7 + P(4, 2) * _tmp5 - P(4, 3) * _tmp1); - _kx(5, 0) = _tmp44 * (P(5, 0) * _tmp3 - P(5, 1) * _tmp7 + P(5, 2) * _tmp5 - P(5, 3) * _tmp1); - _kx(6, 0) = _tmp44 * (P(6, 0) * _tmp3 - P(6, 1) * _tmp7 + P(6, 2) * _tmp5 - P(6, 3) * _tmp1); - _kx(7, 0) = _tmp44 * (P(7, 0) * _tmp3 - P(7, 1) * _tmp7 + P(7, 2) * _tmp5 - P(7, 3) * _tmp1); - _kx(8, 0) = _tmp44 * (-P(8, 1) * _tmp7 - _tmp45 * state(1, 0) + _tmp46 * state(2, 0) + - _tmp47 * state(0, 0)); - _kx(9, 0) = _tmp44 * (-P(9, 1) * _tmp7 - _tmp48 * state(1, 0) + _tmp49 * state(0, 0) + - _tmp50 * state(2, 0)); - _kx(10, 0) = - _tmp44 * (P(10, 0) * _tmp3 - P(10, 1) * _tmp7 + P(10, 2) * _tmp5 - P(10, 3) * _tmp1); - _kx(11, 0) = - _tmp44 * (P(11, 0) * _tmp3 - P(11, 1) * _tmp7 + P(11, 2) * _tmp5 - P(11, 3) * _tmp1); - _kx(12, 0) = - _tmp44 * (P(12, 0) * _tmp3 - P(12, 1) * _tmp7 + P(12, 2) * _tmp5 - P(12, 3) * _tmp1); - _kx(13, 0) = - _tmp44 * (P(13, 0) * _tmp3 - P(13, 1) * _tmp7 + P(13, 2) * _tmp5 - P(13, 3) * _tmp1); - _kx(14, 0) = - _tmp44 * (P(14, 0) * _tmp3 - P(14, 1) * _tmp7 + P(14, 2) * _tmp5 - P(14, 3) * _tmp1); - _kx(15, 0) = - _tmp44 * (P(15, 0) * _tmp3 - P(15, 1) * _tmp7 + P(15, 2) * _tmp5 - P(15, 3) * _tmp1); - _kx(16, 0) = - _tmp44 * (P(16, 0) * _tmp3 - P(16, 1) * _tmp7 + P(16, 2) * _tmp5 - P(16, 3) * _tmp1); - _kx(17, 0) = - _tmp44 * (P(17, 0) * _tmp3 - P(17, 1) * _tmp7 + P(17, 2) * _tmp5 - P(17, 3) * _tmp1); - _kx(18, 0) = - _tmp44 * (P(18, 0) * _tmp3 - P(18, 1) * _tmp7 + P(18, 2) * _tmp5 - P(18, 3) * _tmp1); - _kx(19, 0) = - _tmp44 * (P(19, 0) * _tmp3 - P(19, 1) * _tmp7 + P(19, 2) * _tmp5 - P(19, 3) * _tmp1); - _kx(20, 0) = - _tmp44 * (P(20, 0) * _tmp3 - P(20, 1) * _tmp7 + P(20, 2) * _tmp5 - P(20, 3) * _tmp1); - _kx(21, 0) = - _tmp44 * (P(21, 0) * _tmp3 - P(21, 1) * _tmp7 + P(21, 2) * _tmp5 - P(21, 3) * _tmp1); - _kx(22, 0) = - _tmp44 * (P(22, 0) * _tmp3 - P(22, 1) * _tmp7 + P(22, 2) * _tmp5 - P(22, 3) * _tmp1); - _kx(23, 0) = - _tmp44 * (P(23, 0) * _tmp3 - P(23, 1) * _tmp7 + P(23, 2) * _tmp5 - P(23, 3) * _tmp1); - } - - if (Ky != nullptr) { - matrix::Matrix& _ky = (*Ky); - - _ky(0, 0) = _tmp51 * (-P(0, 2) * _tmp7 - _tmp15 + _tmp19 + _tmp38); - _ky(1, 0) = _tmp51 * (-P(1, 3) * _tmp3 + _tmp13 + _tmp26 - _tmp33); - _ky(2, 0) = _tmp51 * (-P(2, 0) * _tmp1 + _tmp22 - _tmp41 - _tmp9); - _ky(3, 0) = _tmp51 * (-P(3, 1) * _tmp5 + _tmp2 + _tmp27 + _tmp34); - _ky(4, 0) = - _tmp51 * (-P(4, 1) * _tmp5 - P(4, 2) * _tmp7 - P(4, 3) * _tmp3 - _tmp52 * state(1, 0)); - _ky(5, 0) = _tmp51 * (-P(5, 0) * _tmp1 - P(5, 1) * _tmp5 - P(5, 2) * _tmp7 - P(5, 3) * _tmp3); - _ky(6, 0) = _tmp51 * (-P(6, 0) * _tmp1 - P(6, 1) * _tmp5 - P(6, 2) * _tmp7 - P(6, 3) * _tmp3); - _ky(7, 0) = _tmp51 * (-P(7, 0) * _tmp1 - P(7, 1) * _tmp5 - P(7, 2) * _tmp7 - P(7, 3) * _tmp3); - _ky(8, 0) = - _tmp51 * (-P(8, 1) * _tmp5 - P(8, 2) * _tmp7 - _tmp45 * state(2, 0) - _tmp46 * state(1, 0)); - _ky(9, 0) = - _tmp51 * (-P(9, 1) * _tmp5 - P(9, 2) * _tmp7 - _tmp48 * state(2, 0) - _tmp50 * state(1, 0)); - _ky(10, 0) = - _tmp51 * (-P(10, 0) * _tmp1 - P(10, 1) * _tmp5 - P(10, 2) * _tmp7 - P(10, 3) * _tmp3); - _ky(11, 0) = - _tmp51 * (-P(11, 0) * _tmp1 - P(11, 1) * _tmp5 - P(11, 2) * _tmp7 - P(11, 3) * _tmp3); - _ky(12, 0) = - _tmp51 * (-P(12, 0) * _tmp1 - P(12, 1) * _tmp5 - P(12, 2) * _tmp7 - P(12, 3) * _tmp3); - _ky(13, 0) = - _tmp51 * (-P(13, 0) * _tmp1 - P(13, 1) * _tmp5 - P(13, 2) * _tmp7 - P(13, 3) * _tmp3); - _ky(14, 0) = - _tmp51 * (-P(14, 0) * _tmp1 - P(14, 1) * _tmp5 - P(14, 2) * _tmp7 - P(14, 3) * _tmp3); - _ky(15, 0) = - _tmp51 * (-P(15, 0) * _tmp1 - P(15, 1) * _tmp5 - P(15, 2) * _tmp7 - P(15, 3) * _tmp3); - _ky(16, 0) = - _tmp51 * (-P(16, 0) * _tmp1 - P(16, 1) * _tmp5 - P(16, 2) * _tmp7 - P(16, 3) * _tmp3); - _ky(17, 0) = - _tmp51 * (-P(17, 0) * _tmp1 - P(17, 1) * _tmp5 - P(17, 2) * _tmp7 - P(17, 3) * _tmp3); - _ky(18, 0) = - _tmp51 * (-P(18, 0) * _tmp1 - P(18, 1) * _tmp5 - P(18, 2) * _tmp7 - P(18, 3) * _tmp3); - _ky(19, 0) = - _tmp51 * (-P(19, 0) * _tmp1 - P(19, 1) * _tmp5 - P(19, 2) * _tmp7 - P(19, 3) * _tmp3); - _ky(20, 0) = - _tmp51 * (-P(20, 0) * _tmp1 - P(20, 1) * _tmp5 - P(20, 2) * _tmp7 - P(20, 3) * _tmp3); - _ky(21, 0) = - _tmp51 * (-P(21, 0) * _tmp1 - P(21, 1) * _tmp5 - P(21, 2) * _tmp7 - P(21, 3) * _tmp3); - _ky(22, 0) = - _tmp51 * (-P(22, 0) * _tmp1 - P(22, 1) * _tmp5 - P(22, 2) * _tmp7 - P(22, 3) * _tmp3); - _ky(23, 0) = - _tmp51 * (-P(23, 0) * _tmp1 - P(23, 1) * _tmp5 - P(23, 2) * _tmp7 - P(23, 3) * _tmp3); - } - - if (Kz != nullptr) { - matrix::Matrix& _kz = (*Kz); - - _kz(0, 0) = _tmp53 * (-P(0, 3) * _tmp7 + _tmp11 + _tmp24 + _tmp31); - _kz(1, 0) = _tmp53 * (P(1, 2) * _tmp3 + _tmp16 + _tmp20 + _tmp39); - _kz(2, 0) = _tmp53 * (P(2, 1) * _tmp1 + _tmp29 + _tmp36 - _tmp6); - _kz(3, 0) = _tmp53 * (-P(3, 0) * _tmp5 + _tmp21 + _tmp40 + _tmp8); - _kz(4, 0) = - _tmp53 * (P(4, 1) * _tmp1 + P(4, 2) * _tmp3 - P(4, 3) * _tmp7 - _tmp52 * state(0, 0)); - _kz(5, 0) = _tmp53 * (-P(5, 0) * _tmp5 + P(5, 1) * _tmp1 + P(5, 2) * _tmp3 - P(5, 3) * _tmp7); - _kz(6, 0) = _tmp53 * (-P(6, 0) * _tmp5 + P(6, 1) * _tmp1 + P(6, 2) * _tmp3 - P(6, 3) * _tmp7); - _kz(7, 0) = _tmp53 * (-P(7, 0) * _tmp5 + P(7, 1) * _tmp1 + P(7, 2) * _tmp3 - P(7, 3) * _tmp7); - _kz(8, 0) = - _tmp53 * (P(8, 1) * _tmp1 - P(8, 3) * _tmp7 - _tmp46 * state(0, 0) + _tmp47 * state(2, 0)); - _kz(9, 0) = - _tmp53 * (P(9, 1) * _tmp1 - P(9, 3) * _tmp7 + _tmp49 * state(2, 0) - _tmp50 * state(0, 0)); - _kz(10, 0) = - _tmp53 * (-P(10, 0) * _tmp5 + P(10, 1) * _tmp1 + P(10, 2) * _tmp3 - P(10, 3) * _tmp7); - _kz(11, 0) = - _tmp53 * (-P(11, 0) * _tmp5 + P(11, 1) * _tmp1 + P(11, 2) * _tmp3 - P(11, 3) * _tmp7); - _kz(12, 0) = - _tmp53 * (-P(12, 0) * _tmp5 + P(12, 1) * _tmp1 + P(12, 2) * _tmp3 - P(12, 3) * _tmp7); - _kz(13, 0) = - _tmp53 * (-P(13, 0) * _tmp5 + P(13, 1) * _tmp1 + P(13, 2) * _tmp3 - P(13, 3) * _tmp7); - _kz(14, 0) = - _tmp53 * (-P(14, 0) * _tmp5 + P(14, 1) * _tmp1 + P(14, 2) * _tmp3 - P(14, 3) * _tmp7); - _kz(15, 0) = - _tmp53 * (-P(15, 0) * _tmp5 + P(15, 1) * _tmp1 + P(15, 2) * _tmp3 - P(15, 3) * _tmp7); - _kz(16, 0) = - _tmp53 * (-P(16, 0) * _tmp5 + P(16, 1) * _tmp1 + P(16, 2) * _tmp3 - P(16, 3) * _tmp7); - _kz(17, 0) = - _tmp53 * (-P(17, 0) * _tmp5 + P(17, 1) * _tmp1 + P(17, 2) * _tmp3 - P(17, 3) * _tmp7); - _kz(18, 0) = - _tmp53 * (-P(18, 0) * _tmp5 + P(18, 1) * _tmp1 + P(18, 2) * _tmp3 - P(18, 3) * _tmp7); - _kz(19, 0) = - _tmp53 * (-P(19, 0) * _tmp5 + P(19, 1) * _tmp1 + P(19, 2) * _tmp3 - P(19, 3) * _tmp7); - _kz(20, 0) = - _tmp53 * (-P(20, 0) * _tmp5 + P(20, 1) * _tmp1 + P(20, 2) * _tmp3 - P(20, 3) * _tmp7); - _kz(21, 0) = - _tmp53 * (-P(21, 0) * _tmp5 + P(21, 1) * _tmp1 + P(21, 2) * _tmp3 - P(21, 3) * _tmp7); - _kz(22, 0) = - _tmp53 * (-P(22, 0) * _tmp5 + P(22, 1) * _tmp1 + P(22, 2) * _tmp3 - P(22, 3) * _tmp7); - _kz(23, 0) = - _tmp53 * (-P(23, 0) * _tmp5 + P(23, 1) * _tmp1 + P(23, 2) * _tmp3 - P(23, 3) * _tmp7); - } -} // NOLINT(readability/fn_size) - -// NOLINTNEXTLINE(readability/fn_size) -} // namespace sym diff --git a/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_gravity_xyz_innov_var_and_hx.h b/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_gravity_xyz_innov_var_and_hx.h new file mode 100644 index 000000000000..a8fc12fe93bd --- /dev/null +++ b/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_gravity_xyz_innov_var_and_hx.h @@ -0,0 +1,74 @@ +// ----------------------------------------------------------------------------- +// This file was autogenerated by symforce from template: +// function/FUNCTION.h.jinja +// Do NOT modify by hand. +// ----------------------------------------------------------------------------- + +#pragma once + +#include + +namespace sym { + +/** + * This function was autogenerated from a symbolic function. Do not modify by hand. + * + * Symbolic function: compute_gravity_xyz_innov_var_and_hx + * + * Args: + * state: Matrix25_1 + * P: Matrix24_24 + * R: Scalar + * + * Outputs: + * innov_var: Matrix31 + * Hx: Matrix24_1 + */ +template +void ComputeGravityXyzInnovVarAndHx(const matrix::Matrix& state, + const matrix::Matrix& P, const Scalar R, + matrix::Matrix* const innov_var = nullptr, + matrix::Matrix* const Hx = nullptr) { + // Total ops: 53 + + // Input arrays + + // Intermediate terms (13) + const Scalar _tmp0 = 2 * state(0, 0); + const Scalar _tmp1 = -_tmp0 * state(3, 0); + const Scalar _tmp2 = 2 * state(2, 0); + const Scalar _tmp3 = _tmp2 * state(1, 0); + const Scalar _tmp4 = _tmp1 - _tmp3; + const Scalar _tmp5 = std::pow(state(3, 0), Scalar(2)); + const Scalar _tmp6 = std::pow(state(0, 0), Scalar(2)); + const Scalar _tmp7 = std::pow(state(1, 0), Scalar(2)) - std::pow(state(2, 0), Scalar(2)); + const Scalar _tmp8 = -_tmp5 + _tmp6 + _tmp7; + const Scalar _tmp9 = _tmp1 + _tmp3; + const Scalar _tmp10 = _tmp5 - _tmp6 + _tmp7; + const Scalar _tmp11 = _tmp0 * state(1, 0) - _tmp2 * state(3, 0); + const Scalar _tmp12 = _tmp2 * state(0, 0) + 2 * state(1, 0) * state(3, 0); + + // Output terms (2) + if (innov_var != nullptr) { + matrix::Matrix& _innov_var = (*innov_var); + + _innov_var(0, 0) = R + _tmp4 * (P(0, 0) * _tmp4 + P(1, 0) * _tmp8) + + _tmp8 * (P(0, 1) * _tmp4 + P(1, 1) * _tmp8); + _innov_var(1, 0) = R + _tmp10 * (P(0, 0) * _tmp10 + P(1, 0) * _tmp9) + + _tmp9 * (P(0, 1) * _tmp10 + P(1, 1) * _tmp9); + _innov_var(2, 0) = R + _tmp11 * (P(0, 0) * _tmp11 + P(1, 0) * _tmp12) + + _tmp12 * (P(0, 1) * _tmp11 + P(1, 1) * _tmp12); + } + + if (Hx != nullptr) { + matrix::Matrix& _hx = (*Hx); + + _hx.setZero(); + + _hx(0, 0) = _tmp4; + _hx(1, 0) = _tmp8; + } +} // NOLINT(readability/fn_size) + +// NOLINTNEXTLINE(readability/fn_size) +} // namespace sym diff --git a/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_gravity_y_innov_var_and_h.h b/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_gravity_y_innov_var_and_h.h new file mode 100644 index 000000000000..b562373162f2 --- /dev/null +++ b/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_gravity_y_innov_var_and_h.h @@ -0,0 +1,60 @@ +// ----------------------------------------------------------------------------- +// This file was autogenerated by symforce from template: +// function/FUNCTION.h.jinja +// Do NOT modify by hand. +// ----------------------------------------------------------------------------- + +#pragma once + +#include + +namespace sym { + +/** + * This function was autogenerated from a symbolic function. Do not modify by hand. + * + * Symbolic function: compute_gravity_y_innov_var_and_h + * + * Args: + * state: Matrix25_1 + * P: Matrix24_24 + * R: Scalar + * + * Outputs: + * innov_var: Scalar + * Hy: Matrix24_1 + */ +template +void ComputeGravityYInnovVarAndH(const matrix::Matrix& state, + const matrix::Matrix& P, const Scalar R, + Scalar* const innov_var = nullptr, + matrix::Matrix* const Hy = nullptr) { + // Total ops: 22 + + // Input arrays + + // Intermediate terms (2) + const Scalar _tmp0 = -2 * state(0, 0) * state(3, 0) + 2 * state(1, 0) * state(2, 0); + const Scalar _tmp1 = -std::pow(state(0, 0), Scalar(2)) + std::pow(state(1, 0), Scalar(2)) - + std::pow(state(2, 0), Scalar(2)) + std::pow(state(3, 0), Scalar(2)); + + // Output terms (2) + if (innov_var != nullptr) { + Scalar& _innov_var = (*innov_var); + + _innov_var = R + _tmp0 * (P(0, 1) * _tmp1 + P(1, 1) * _tmp0) + + _tmp1 * (P(0, 0) * _tmp1 + P(1, 0) * _tmp0); + } + + if (Hy != nullptr) { + matrix::Matrix& _hy = (*Hy); + + _hy.setZero(); + + _hy(0, 0) = _tmp1; + _hy(1, 0) = _tmp0; + } +} // NOLINT(readability/fn_size) + +// NOLINTNEXTLINE(readability/fn_size) +} // namespace sym diff --git a/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_gravity_z_innov_var_and_h.h b/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_gravity_z_innov_var_and_h.h new file mode 100644 index 000000000000..e5495af10c77 --- /dev/null +++ b/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_gravity_z_innov_var_and_h.h @@ -0,0 +1,61 @@ +// ----------------------------------------------------------------------------- +// This file was autogenerated by symforce from template: +// function/FUNCTION.h.jinja +// Do NOT modify by hand. +// ----------------------------------------------------------------------------- + +#pragma once + +#include + +namespace sym { + +/** + * This function was autogenerated from a symbolic function. Do not modify by hand. + * + * Symbolic function: compute_gravity_z_innov_var_and_h + * + * Args: + * state: Matrix25_1 + * P: Matrix24_24 + * R: Scalar + * + * Outputs: + * innov_var: Scalar + * Hz: Matrix24_1 + */ +template +void ComputeGravityZInnovVarAndH(const matrix::Matrix& state, + const matrix::Matrix& P, const Scalar R, + Scalar* const innov_var = nullptr, + matrix::Matrix* const Hz = nullptr) { + // Total ops: 18 + + // Input arrays + + // Intermediate terms (4) + const Scalar _tmp0 = 2 * state(2, 0); + const Scalar _tmp1 = 2 * state(1, 0); + const Scalar _tmp2 = -_tmp0 * state(3, 0) + _tmp1 * state(0, 0); + const Scalar _tmp3 = _tmp0 * state(0, 0) + _tmp1 * state(3, 0); + + // Output terms (2) + if (innov_var != nullptr) { + Scalar& _innov_var = (*innov_var); + + _innov_var = R + _tmp2 * (P(0, 0) * _tmp2 + P(1, 0) * _tmp3) + + _tmp3 * (P(0, 1) * _tmp2 + P(1, 1) * _tmp3); + } + + if (Hz != nullptr) { + matrix::Matrix& _hz = (*Hz); + + _hz.setZero(); + + _hz(0, 0) = _tmp2; + _hz(1, 0) = _tmp3; + } +} // NOLINT(readability/fn_size) + +// NOLINTNEXTLINE(readability/fn_size) +} // namespace sym diff --git a/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_hagl_h.h b/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_hagl_h.h new file mode 100644 index 000000000000..2f66cebf47b7 --- /dev/null +++ b/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_hagl_h.h @@ -0,0 +1,43 @@ +// ----------------------------------------------------------------------------- +// This file was autogenerated by symforce from template: +// function/FUNCTION.h.jinja +// Do NOT modify by hand. +// ----------------------------------------------------------------------------- + +#pragma once + +#include + +namespace sym { + +/** + * This function was autogenerated from a symbolic function. Do not modify by hand. + * + * Symbolic function: compute_hagl_h + * + * Args: + * + * Outputs: + * H: Matrix24_1 + */ +template +void ComputeHaglH(matrix::Matrix* const H = nullptr) { + // Total ops: 0 + + // Input arrays + + // Intermediate terms (0) + + // Output terms (1) + if (H != nullptr) { + matrix::Matrix& _h = (*H); + + _h.setZero(); + + _h(8, 0) = -1; + _h(23, 0) = 1; + } +} // NOLINT(readability/fn_size) + +// NOLINTNEXTLINE(readability/fn_size) +} // namespace sym diff --git a/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_hagl_innov_var.h b/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_hagl_innov_var.h new file mode 100644 index 000000000000..fd50c97cf5d4 --- /dev/null +++ b/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_hagl_innov_var.h @@ -0,0 +1,43 @@ +// ----------------------------------------------------------------------------- +// This file was autogenerated by symforce from template: +// function/FUNCTION.h.jinja +// Do NOT modify by hand. +// ----------------------------------------------------------------------------- + +#pragma once + +#include + +namespace sym { + +/** + * This function was autogenerated from a symbolic function. Do not modify by hand. + * + * Symbolic function: compute_hagl_innov_var + * + * Args: + * P: Matrix24_24 + * R: Scalar + * + * Outputs: + * innov_var: Scalar + */ +template +void ComputeHaglInnovVar(const matrix::Matrix& P, const Scalar R, + Scalar* const innov_var = nullptr) { + // Total ops: 4 + + // Input arrays + + // Intermediate terms (0) + + // Output terms (1) + if (innov_var != nullptr) { + Scalar& _innov_var = (*innov_var); + + _innov_var = P(23, 23) - P(23, 8) - P(8, 23) + P(8, 8) + R; + } +} // NOLINT(readability/fn_size) + +// NOLINTNEXTLINE(readability/fn_size) +} // namespace sym diff --git a/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_mag_declination_pred_innov_var_and_h.h b/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_mag_declination_pred_innov_var_and_h.h index a68c1a521001..803bf45e875e 100644 --- a/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_mag_declination_pred_innov_var_and_h.h +++ b/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_mag_declination_pred_innov_var_and_h.h @@ -1,6 +1,6 @@ // ----------------------------------------------------------------------------- // This file was autogenerated by symforce from template: -// backends/cpp/templates/function/FUNCTION.h.jinja +// function/FUNCTION.h.jinja // Do NOT modify by hand. // ----------------------------------------------------------------------------- @@ -16,7 +16,7 @@ namespace sym { * Symbolic function: compute_mag_declination_pred_innov_var_and_h * * Args: - * state: Matrix24_1 + * state: Matrix25_1 * P: Matrix24_24 * R: Scalar * epsilon: Scalar @@ -27,7 +27,7 @@ namespace sym { * H: Matrix24_1 */ template -void ComputeMagDeclinationPredInnovVarAndH(const matrix::Matrix& state, +void ComputeMagDeclinationPredInnovVarAndH(const matrix::Matrix& state, const matrix::Matrix& P, const Scalar R, const Scalar epsilon, Scalar* const pred = nullptr, Scalar* const innov_var = nullptr, @@ -54,8 +54,8 @@ void ComputeMagDeclinationPredInnovVarAndH(const matrix::Matrix& if (innov_var != nullptr) { Scalar& _innov_var = (*innov_var); - _innov_var = R - _tmp2 * (-P(16, 16) * _tmp2 + P(17, 16) * _tmp3) + - _tmp3 * (-P(16, 17) * _tmp2 + P(17, 17) * _tmp3); + _innov_var = R - _tmp2 * (-P(15, 15) * _tmp2 + P(16, 15) * _tmp3) + + _tmp3 * (-P(15, 16) * _tmp2 + P(16, 16) * _tmp3); } if (H != nullptr) { @@ -63,8 +63,8 @@ void ComputeMagDeclinationPredInnovVarAndH(const matrix::Matrix& _h.setZero(); - _h(16, 0) = -_tmp2; - _h(17, 0) = _tmp3; + _h(15, 0) = -_tmp2; + _h(16, 0) = _tmp3; } } // NOLINT(readability/fn_size) diff --git a/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_mag_innov_innov_var_and_hx.h b/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_mag_innov_innov_var_and_hx.h index a838bb188618..4ff8368c4964 100644 --- a/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_mag_innov_innov_var_and_hx.h +++ b/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_mag_innov_innov_var_and_hx.h @@ -1,6 +1,6 @@ // ----------------------------------------------------------------------------- // This file was autogenerated by symforce from template: -// backends/cpp/templates/function/FUNCTION.h.jinja +// function/FUNCTION.h.jinja // Do NOT modify by hand. // ----------------------------------------------------------------------------- @@ -16,7 +16,7 @@ namespace sym { * Symbolic function: compute_mag_innov_innov_var_and_hx * * Args: - * state: Matrix24_1 + * state: Matrix25_1 * P: Matrix24_24 * meas: Matrix31 * R: Scalar @@ -28,76 +28,109 @@ namespace sym { * Hx: Matrix24_1 */ template -void ComputeMagInnovInnovVarAndHx(const matrix::Matrix& state, +void ComputeMagInnovInnovVarAndHx(const matrix::Matrix& state, const matrix::Matrix& P, const matrix::Matrix& meas, const Scalar R, const Scalar epsilon, matrix::Matrix* const innov = nullptr, matrix::Matrix* const innov_var = nullptr, matrix::Matrix* const Hx = nullptr) { - // Total ops: 470 + // Total ops: 461 + + // Unused inputs + (void)epsilon; // Input arrays - // Intermediate terms (48) - const Scalar _tmp0 = std::pow(state(2, 0), Scalar(2)); - const Scalar _tmp1 = -_tmp0; - const Scalar _tmp2 = std::pow(state(1, 0), Scalar(2)); - const Scalar _tmp3 = std::pow(state(3, 0), Scalar(2)); - const Scalar _tmp4 = std::pow(state(0, 0), Scalar(2)); - const Scalar _tmp5 = -_tmp3 + _tmp4; - const Scalar _tmp6 = _tmp1 + _tmp2 + _tmp5; - const Scalar _tmp7 = state(0, 0) * state(3, 0); - const Scalar _tmp8 = state(1, 0) * state(2, 0); - const Scalar _tmp9 = 2 * state(17, 0); - const Scalar _tmp10 = state(0, 0) * state(2, 0); - const Scalar _tmp11 = state(1, 0) * state(3, 0); - const Scalar _tmp12 = 2 * state(18, 0); - const Scalar _tmp13 = -_tmp2; - const Scalar _tmp14 = _tmp0 + _tmp13 + _tmp5; - const Scalar _tmp15 = state(2, 0) * state(3, 0); - const Scalar _tmp16 = state(0, 0) * state(1, 0); - const Scalar _tmp17 = 2 * state(16, 0); - const Scalar _tmp18 = _tmp1 + _tmp13 + _tmp3 + _tmp4; - const Scalar _tmp19 = _tmp9 * state(3, 0); - const Scalar _tmp20 = _tmp12 * state(2, 0); - const Scalar _tmp21 = 2 * state(0, 0); - const Scalar _tmp22 = _tmp21 * state(16, 0); - const Scalar _tmp23 = _tmp19 - _tmp20 + _tmp22; - const Scalar _tmp24 = _tmp12 * state(3, 0) + _tmp17 * state(1, 0) + _tmp9 * state(2, 0); - const Scalar _tmp25 = _tmp17 * state(3, 0); - const Scalar _tmp26 = _tmp12 * state(1, 0); - const Scalar _tmp27 = _tmp21 * state(17, 0); - const Scalar _tmp28 = -_tmp25 + _tmp26 + _tmp27; - const Scalar _tmp29 = _tmp17 * state(2, 0); - const Scalar _tmp30 = _tmp9 * state(1, 0); - const Scalar _tmp31 = _tmp12 * state(0, 0); - const Scalar _tmp32 = -_tmp29 + _tmp30 - _tmp31; - const Scalar _tmp33 = 2 * _tmp7; - const Scalar _tmp34 = 2 * _tmp8; - const Scalar _tmp35 = _tmp33 + _tmp34; - const Scalar _tmp36 = 2 * _tmp10; - const Scalar _tmp37 = 2 * _tmp11; - const Scalar _tmp38 = -_tmp36 + _tmp37; - const Scalar _tmp39 = _tmp29 - _tmp30 + _tmp31; - const Scalar _tmp40 = -_tmp19 + _tmp20 - _tmp22; - const Scalar _tmp41 = -_tmp33 + _tmp34; - const Scalar _tmp42 = 2 * _tmp15; - const Scalar _tmp43 = 2 * _tmp16; - const Scalar _tmp44 = _tmp42 + _tmp43; - const Scalar _tmp45 = _tmp25 - _tmp26 - _tmp27; - const Scalar _tmp46 = _tmp36 + _tmp37; - const Scalar _tmp47 = _tmp42 - _tmp43; + // Intermediate terms (68) + const Scalar _tmp0 = -2 * std::pow(state(3, 0), Scalar(2)); + const Scalar _tmp1 = 1 - 2 * std::pow(state(2, 0), Scalar(2)); + const Scalar _tmp2 = _tmp0 + _tmp1; + const Scalar _tmp3 = 2 * state(3, 0); + const Scalar _tmp4 = _tmp3 * state(0, 0); + const Scalar _tmp5 = 2 * state(2, 0); + const Scalar _tmp6 = _tmp5 * state(1, 0); + const Scalar _tmp7 = _tmp4 + _tmp6; + const Scalar _tmp8 = _tmp5 * state(0, 0); + const Scalar _tmp9 = 2 * state(1, 0); + const Scalar _tmp10 = _tmp9 * state(3, 0); + const Scalar _tmp11 = _tmp10 - _tmp8; + const Scalar _tmp12 = -2 * std::pow(state(1, 0), Scalar(2)); + const Scalar _tmp13 = _tmp0 + _tmp12 + 1; + const Scalar _tmp14 = _tmp5 * state(3, 0); + const Scalar _tmp15 = _tmp9 * state(0, 0); + const Scalar _tmp16 = _tmp14 + _tmp15; + const Scalar _tmp17 = -_tmp4 + _tmp6; + const Scalar _tmp18 = _tmp1 + _tmp12; + const Scalar _tmp19 = _tmp14 - _tmp15; + const Scalar _tmp20 = _tmp10 + _tmp8; + const Scalar _tmp21 = _tmp3 * state(18, 0); + const Scalar _tmp22 = _tmp5 * state(17, 0); + const Scalar _tmp23 = _tmp21 + _tmp22; + const Scalar _tmp24 = (Scalar(1) / Scalar(2)) * state(2, 0); + const Scalar _tmp25 = 2 * state(17, 0); + const Scalar _tmp26 = _tmp25 * state(3, 0); + const Scalar _tmp27 = _tmp5 * state(18, 0); + const Scalar _tmp28 = _tmp26 - _tmp27; + const Scalar _tmp29 = (Scalar(1) / Scalar(2)) * _tmp28; + const Scalar _tmp30 = 4 * state(2, 0); + const Scalar _tmp31 = _tmp9 * state(17, 0); + const Scalar _tmp32 = 2 * state(0, 0); + const Scalar _tmp33 = _tmp32 * state(18, 0); + const Scalar _tmp34 = -_tmp30 * state(16, 0) + _tmp31 - _tmp33; + const Scalar _tmp35 = (Scalar(1) / Scalar(2)) * state(1, 0); + const Scalar _tmp36 = _tmp9 * state(18, 0); + const Scalar _tmp37 = _tmp25 * state(0, 0); + const Scalar _tmp38 = (Scalar(1) / Scalar(2)) * _tmp36 + (Scalar(1) / Scalar(2)) * _tmp37 - + 2 * state(16, 0) * state(3, 0); + const Scalar _tmp39 = + -_tmp23 * _tmp24 - _tmp29 * state(3, 0) + _tmp34 * _tmp35 + _tmp38 * state(0, 0); + const Scalar _tmp40 = (Scalar(1) / Scalar(2)) * _tmp23; + const Scalar _tmp41 = (Scalar(1) / Scalar(2)) * state(0, 0); + const Scalar _tmp42 = + -_tmp24 * _tmp28 + _tmp34 * _tmp41 - _tmp38 * state(1, 0) + _tmp40 * state(3, 0); + const Scalar _tmp43 = (Scalar(1) / Scalar(2)) * state(3, 0); + const Scalar _tmp44 = + -_tmp29 * state(1, 0) - _tmp34 * _tmp43 + _tmp38 * state(2, 0) + _tmp40 * state(0, 0); + const Scalar _tmp45 = _tmp3 * state(16, 0); + const Scalar _tmp46 = _tmp36 - _tmp45; + const Scalar _tmp47 = (Scalar(1) / Scalar(2)) * _tmp46; + const Scalar _tmp48 = _tmp9 * state(16, 0); + const Scalar _tmp49 = (Scalar(1) / Scalar(2)) * _tmp21 + (Scalar(1) / Scalar(2)) * _tmp48; + const Scalar _tmp50 = _tmp5 * state(16, 0); + const Scalar _tmp51 = 4 * state(17, 0); + const Scalar _tmp52 = _tmp33 + _tmp50 - _tmp51 * state(1, 0); + const Scalar _tmp53 = _tmp32 * state(16, 0); + const Scalar _tmp54 = _tmp27 - _tmp51 * state(3, 0) - _tmp53; + const Scalar _tmp55 = + _tmp24 * _tmp54 + _tmp41 * _tmp52 - _tmp47 * state(1, 0) - _tmp49 * state(3, 0); + const Scalar _tmp56 = + -_tmp24 * _tmp52 + _tmp41 * _tmp54 - _tmp47 * state(3, 0) + _tmp49 * state(1, 0); + const Scalar _tmp57 = -_tmp24 * _tmp46 - _tmp35 * _tmp54 + _tmp43 * _tmp52 + _tmp49 * state(0, 0); + const Scalar _tmp58 = -_tmp31 + _tmp50; + const Scalar _tmp59 = (Scalar(1) / Scalar(2)) * _tmp58; + const Scalar _tmp60 = _tmp22 + _tmp48; + const Scalar _tmp61 = (Scalar(1) / Scalar(2)) * _tmp60; + const Scalar _tmp62 = _tmp26 - _tmp30 * state(18, 0) + _tmp53; + const Scalar _tmp63 = -Scalar(1) / Scalar(2) * _tmp37 + (Scalar(1) / Scalar(2)) * _tmp45 - + 2 * state(1, 0) * state(18, 0); + const Scalar _tmp64 = + _tmp35 * _tmp62 - _tmp59 * state(3, 0) + _tmp61 * state(0, 0) - _tmp63 * state(2, 0); + const Scalar _tmp65 = (Scalar(1) / Scalar(2)) * _tmp62; + const Scalar _tmp66 = + _tmp24 * _tmp60 - _tmp59 * state(1, 0) + _tmp63 * state(0, 0) - _tmp65 * state(3, 0); + const Scalar _tmp67 = + -_tmp24 * _tmp58 - _tmp61 * state(1, 0) + _tmp63 * state(3, 0) + _tmp65 * state(0, 0); // Output terms (3) if (innov != nullptr) { matrix::Matrix& _innov = (*innov); - _innov(0, 0) = _tmp12 * (-_tmp10 + _tmp11) + _tmp6 * state(16, 0) + _tmp9 * (_tmp7 + _tmp8) - + _innov(0, 0) = _tmp11 * state(18, 0) + _tmp2 * state(16, 0) + _tmp7 * state(17, 0) - meas(0, 0) + state(19, 0); - _innov(1, 0) = _tmp12 * (_tmp15 + _tmp16) + _tmp14 * state(17, 0) + _tmp17 * (-_tmp7 + _tmp8) - + _innov(1, 0) = _tmp13 * state(17, 0) + _tmp16 * state(18, 0) + _tmp17 * state(16, 0) - meas(1, 0) + state(20, 0); - _innov(2, 0) = _tmp17 * (_tmp10 + _tmp11) + _tmp18 * state(18, 0) + _tmp9 * (_tmp15 - _tmp16) - + _innov(2, 0) = _tmp18 * state(18, 0) + _tmp19 * state(17, 0) + _tmp20 * state(16, 0) - meas(2, 0) + state(21, 0); } @@ -105,56 +138,50 @@ void ComputeMagInnovInnovVarAndHx(const matrix::Matrix& state, matrix::Matrix& _innov_var = (*innov_var); _innov_var(0, 0) = - P(0, 19) * _tmp23 + P(1, 19) * _tmp24 + P(16, 19) * _tmp6 + P(17, 19) * _tmp35 + - P(18, 19) * _tmp38 + P(19, 19) + P(2, 19) * _tmp32 + P(3, 19) * _tmp28 + R + - _tmp23 * (P(0, 0) * _tmp23 + P(1, 0) * _tmp24 + P(16, 0) * _tmp6 + P(17, 0) * _tmp35 + - P(18, 0) * _tmp38 + P(19, 0) + P(2, 0) * _tmp32 + P(3, 0) * _tmp28) + - _tmp24 * (P(0, 1) * _tmp23 + P(1, 1) * _tmp24 + P(16, 1) * _tmp6 + P(17, 1) * _tmp35 + - P(18, 1) * _tmp38 + P(19, 1) + P(2, 1) * _tmp32 + P(3, 1) * _tmp28) + - _tmp28 * (P(0, 3) * _tmp23 + P(1, 3) * _tmp24 + P(16, 3) * _tmp6 + P(17, 3) * _tmp35 + - P(18, 3) * _tmp38 + P(19, 3) + P(2, 3) * _tmp32 + P(3, 3) * _tmp28) + - _tmp32 * (P(0, 2) * _tmp23 + P(1, 2) * _tmp24 + P(16, 2) * _tmp6 + P(17, 2) * _tmp35 + - P(18, 2) * _tmp38 + P(19, 2) + P(2, 2) * _tmp32 + P(3, 2) * _tmp28) + - _tmp35 * (P(0, 17) * _tmp23 + P(1, 17) * _tmp24 + P(16, 17) * _tmp6 + P(17, 17) * _tmp35 + - P(18, 17) * _tmp38 + P(19, 17) + P(2, 17) * _tmp32 + P(3, 17) * _tmp28) + - _tmp38 * (P(0, 18) * _tmp23 + P(1, 18) * _tmp24 + P(16, 18) * _tmp6 + P(17, 18) * _tmp35 + - P(18, 18) * _tmp38 + P(19, 18) + P(2, 18) * _tmp32 + P(3, 18) * _tmp28) + - _tmp6 * (P(0, 16) * _tmp23 + P(1, 16) * _tmp24 + P(16, 16) * _tmp6 + P(17, 16) * _tmp35 + - P(18, 16) * _tmp38 + P(19, 16) + P(2, 16) * _tmp32 + P(3, 16) * _tmp28); + P(0, 18) * _tmp44 + P(1, 18) * _tmp42 + P(15, 18) * _tmp2 + P(16, 18) * _tmp7 + + P(17, 18) * _tmp11 + P(18, 18) + P(2, 18) * _tmp39 + R + + _tmp11 * (P(0, 17) * _tmp44 + P(1, 17) * _tmp42 + P(15, 17) * _tmp2 + P(16, 17) * _tmp7 + + P(17, 17) * _tmp11 + P(18, 17) + P(2, 17) * _tmp39) + + _tmp2 * (P(0, 15) * _tmp44 + P(1, 15) * _tmp42 + P(15, 15) * _tmp2 + P(16, 15) * _tmp7 + + P(17, 15) * _tmp11 + P(18, 15) + P(2, 15) * _tmp39) + + _tmp39 * (P(0, 2) * _tmp44 + P(1, 2) * _tmp42 + P(15, 2) * _tmp2 + P(16, 2) * _tmp7 + + P(17, 2) * _tmp11 + P(18, 2) + P(2, 2) * _tmp39) + + _tmp42 * (P(0, 1) * _tmp44 + P(1, 1) * _tmp42 + P(15, 1) * _tmp2 + P(16, 1) * _tmp7 + + P(17, 1) * _tmp11 + P(18, 1) + P(2, 1) * _tmp39) + + _tmp44 * (P(0, 0) * _tmp44 + P(1, 0) * _tmp42 + P(15, 0) * _tmp2 + P(16, 0) * _tmp7 + + P(17, 0) * _tmp11 + P(18, 0) + P(2, 0) * _tmp39) + + _tmp7 * (P(0, 16) * _tmp44 + P(1, 16) * _tmp42 + P(15, 16) * _tmp2 + P(16, 16) * _tmp7 + + P(17, 16) * _tmp11 + P(18, 16) + P(2, 16) * _tmp39); _innov_var(1, 0) = - P(0, 20) * _tmp28 + P(1, 20) * _tmp39 + P(16, 20) * _tmp41 + P(17, 20) * _tmp14 + - P(18, 20) * _tmp44 + P(2, 20) * _tmp24 + P(20, 20) + P(3, 20) * _tmp40 + R + - _tmp14 * (P(0, 17) * _tmp28 + P(1, 17) * _tmp39 + P(16, 17) * _tmp41 + P(17, 17) * _tmp14 + - P(18, 17) * _tmp44 + P(2, 17) * _tmp24 + P(20, 17) + P(3, 17) * _tmp40) + - _tmp24 * (P(0, 2) * _tmp28 + P(1, 2) * _tmp39 + P(16, 2) * _tmp41 + P(17, 2) * _tmp14 + - P(18, 2) * _tmp44 + P(2, 2) * _tmp24 + P(20, 2) + P(3, 2) * _tmp40) + - _tmp28 * (P(0, 0) * _tmp28 + P(1, 0) * _tmp39 + P(16, 0) * _tmp41 + P(17, 0) * _tmp14 + - P(18, 0) * _tmp44 + P(2, 0) * _tmp24 + P(20, 0) + P(3, 0) * _tmp40) + - _tmp39 * (P(0, 1) * _tmp28 + P(1, 1) * _tmp39 + P(16, 1) * _tmp41 + P(17, 1) * _tmp14 + - P(18, 1) * _tmp44 + P(2, 1) * _tmp24 + P(20, 1) + P(3, 1) * _tmp40) + - _tmp40 * (P(0, 3) * _tmp28 + P(1, 3) * _tmp39 + P(16, 3) * _tmp41 + P(17, 3) * _tmp14 + - P(18, 3) * _tmp44 + P(2, 3) * _tmp24 + P(20, 3) + P(3, 3) * _tmp40) + - _tmp41 * (P(0, 16) * _tmp28 + P(1, 16) * _tmp39 + P(16, 16) * _tmp41 + P(17, 16) * _tmp14 + - P(18, 16) * _tmp44 + P(2, 16) * _tmp24 + P(20, 16) + P(3, 16) * _tmp40) + - _tmp44 * (P(0, 18) * _tmp28 + P(1, 18) * _tmp39 + P(16, 18) * _tmp41 + P(17, 18) * _tmp14 + - P(18, 18) * _tmp44 + P(2, 18) * _tmp24 + P(20, 18) + P(3, 18) * _tmp40); + P(0, 19) * _tmp55 + P(1, 19) * _tmp57 + P(15, 19) * _tmp17 + P(16, 19) * _tmp13 + + P(17, 19) * _tmp16 + P(19, 19) + P(2, 19) * _tmp56 + R + + _tmp13 * (P(0, 16) * _tmp55 + P(1, 16) * _tmp57 + P(15, 16) * _tmp17 + P(16, 16) * _tmp13 + + P(17, 16) * _tmp16 + P(19, 16) + P(2, 16) * _tmp56) + + _tmp16 * (P(0, 17) * _tmp55 + P(1, 17) * _tmp57 + P(15, 17) * _tmp17 + P(16, 17) * _tmp13 + + P(17, 17) * _tmp16 + P(19, 17) + P(2, 17) * _tmp56) + + _tmp17 * (P(0, 15) * _tmp55 + P(1, 15) * _tmp57 + P(15, 15) * _tmp17 + P(16, 15) * _tmp13 + + P(17, 15) * _tmp16 + P(19, 15) + P(2, 15) * _tmp56) + + _tmp55 * (P(0, 0) * _tmp55 + P(1, 0) * _tmp57 + P(15, 0) * _tmp17 + P(16, 0) * _tmp13 + + P(17, 0) * _tmp16 + P(19, 0) + P(2, 0) * _tmp56) + + _tmp56 * (P(0, 2) * _tmp55 + P(1, 2) * _tmp57 + P(15, 2) * _tmp17 + P(16, 2) * _tmp13 + + P(17, 2) * _tmp16 + P(19, 2) + P(2, 2) * _tmp56) + + _tmp57 * (P(0, 1) * _tmp55 + P(1, 1) * _tmp57 + P(15, 1) * _tmp17 + P(16, 1) * _tmp13 + + P(17, 1) * _tmp16 + P(19, 1) + P(2, 1) * _tmp56); _innov_var(2, 0) = - P(0, 21) * _tmp39 + P(1, 21) * _tmp45 + P(16, 21) * _tmp46 + P(17, 21) * _tmp47 + - P(18, 21) * _tmp18 + P(2, 21) * _tmp23 + P(21, 21) + P(3, 21) * _tmp24 + R + - _tmp18 * (P(0, 18) * _tmp39 + P(1, 18) * _tmp45 + P(16, 18) * _tmp46 + P(17, 18) * _tmp47 + - P(18, 18) * _tmp18 + P(2, 18) * _tmp23 + P(21, 18) + P(3, 18) * _tmp24) + - _tmp23 * (P(0, 2) * _tmp39 + P(1, 2) * _tmp45 + P(16, 2) * _tmp46 + P(17, 2) * _tmp47 + - P(18, 2) * _tmp18 + P(2, 2) * _tmp23 + P(21, 2) + P(3, 2) * _tmp24) + - _tmp24 * (P(0, 3) * _tmp39 + P(1, 3) * _tmp45 + P(16, 3) * _tmp46 + P(17, 3) * _tmp47 + - P(18, 3) * _tmp18 + P(2, 3) * _tmp23 + P(21, 3) + P(3, 3) * _tmp24) + - _tmp39 * (P(0, 0) * _tmp39 + P(1, 0) * _tmp45 + P(16, 0) * _tmp46 + P(17, 0) * _tmp47 + - P(18, 0) * _tmp18 + P(2, 0) * _tmp23 + P(21, 0) + P(3, 0) * _tmp24) + - _tmp45 * (P(0, 1) * _tmp39 + P(1, 1) * _tmp45 + P(16, 1) * _tmp46 + P(17, 1) * _tmp47 + - P(18, 1) * _tmp18 + P(2, 1) * _tmp23 + P(21, 1) + P(3, 1) * _tmp24) + - _tmp46 * (P(0, 16) * _tmp39 + P(1, 16) * _tmp45 + P(16, 16) * _tmp46 + P(17, 16) * _tmp47 + - P(18, 16) * _tmp18 + P(2, 16) * _tmp23 + P(21, 16) + P(3, 16) * _tmp24) + - _tmp47 * (P(0, 17) * _tmp39 + P(1, 17) * _tmp45 + P(16, 17) * _tmp46 + P(17, 17) * _tmp47 + - P(18, 17) * _tmp18 + P(2, 17) * _tmp23 + P(21, 17) + P(3, 17) * _tmp24); + P(0, 20) * _tmp66 + P(1, 20) * _tmp67 + P(15, 20) * _tmp20 + P(16, 20) * _tmp19 + + P(17, 20) * _tmp18 + P(2, 20) * _tmp64 + P(20, 20) + R + + _tmp18 * (P(0, 17) * _tmp66 + P(1, 17) * _tmp67 + P(15, 17) * _tmp20 + P(16, 17) * _tmp19 + + P(17, 17) * _tmp18 + P(2, 17) * _tmp64 + P(20, 17)) + + _tmp19 * (P(0, 16) * _tmp66 + P(1, 16) * _tmp67 + P(15, 16) * _tmp20 + P(16, 16) * _tmp19 + + P(17, 16) * _tmp18 + P(2, 16) * _tmp64 + P(20, 16)) + + _tmp20 * (P(0, 15) * _tmp66 + P(1, 15) * _tmp67 + P(15, 15) * _tmp20 + P(16, 15) * _tmp19 + + P(17, 15) * _tmp18 + P(2, 15) * _tmp64 + P(20, 15)) + + _tmp64 * (P(0, 2) * _tmp66 + P(1, 2) * _tmp67 + P(15, 2) * _tmp20 + P(16, 2) * _tmp19 + + P(17, 2) * _tmp18 + P(2, 2) * _tmp64 + P(20, 2)) + + _tmp66 * (P(0, 0) * _tmp66 + P(1, 0) * _tmp67 + P(15, 0) * _tmp20 + P(16, 0) * _tmp19 + + P(17, 0) * _tmp18 + P(2, 0) * _tmp64 + P(20, 0)) + + _tmp67 * (P(0, 1) * _tmp66 + P(1, 1) * _tmp67 + P(15, 1) * _tmp20 + P(16, 1) * _tmp19 + + P(17, 1) * _tmp18 + P(2, 1) * _tmp64 + P(20, 1)); } if (Hx != nullptr) { @@ -162,14 +189,13 @@ void ComputeMagInnovInnovVarAndHx(const matrix::Matrix& state, _hx.setZero(); - _hx(0, 0) = _tmp23; - _hx(1, 0) = _tmp24; - _hx(2, 0) = _tmp32; - _hx(3, 0) = _tmp28; - _hx(16, 0) = _tmp6; - _hx(17, 0) = _tmp35; - _hx(18, 0) = _tmp38; - _hx(19, 0) = 1; + _hx(0, 0) = _tmp44; + _hx(1, 0) = _tmp42; + _hx(2, 0) = _tmp39; + _hx(15, 0) = _tmp2; + _hx(16, 0) = _tmp7; + _hx(17, 0) = _tmp11; + _hx(18, 0) = 1; } } // NOLINT(readability/fn_size) diff --git a/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_mag_y_innov_var_and_h.h b/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_mag_y_innov_var_and_h.h index 083ae8d00661..697cd92a8243 100644 --- a/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_mag_y_innov_var_and_h.h +++ b/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_mag_y_innov_var_and_h.h @@ -1,6 +1,6 @@ // ----------------------------------------------------------------------------- // This file was autogenerated by symforce from template: -// backends/cpp/templates/function/FUNCTION.h.jinja +// function/FUNCTION.h.jinja // Do NOT modify by hand. // ----------------------------------------------------------------------------- @@ -16,7 +16,7 @@ namespace sym { * Symbolic function: compute_mag_y_innov_var_and_h * * Args: - * state: Matrix24_1 + * state: Matrix25_1 * P: Matrix24_24 * R: Scalar * epsilon: Scalar @@ -26,49 +26,62 @@ namespace sym { * H: Matrix24_1 */ template -void ComputeMagYInnovVarAndH(const matrix::Matrix& state, +void ComputeMagYInnovVarAndH(const matrix::Matrix& state, const matrix::Matrix& P, const Scalar R, const Scalar epsilon, Scalar* const innov_var = nullptr, matrix::Matrix* const H = nullptr) { - // Total ops: 164 + // Total ops: 159 + + // Unused inputs + (void)epsilon; // Input arrays - // Intermediate terms (11) - const Scalar _tmp0 = 2 * state(3, 0); + // Intermediate terms (18) + const Scalar _tmp0 = 2 * state(2, 0); const Scalar _tmp1 = 2 * state(1, 0); - const Scalar _tmp2 = 2 * state(0, 0); - const Scalar _tmp3 = -_tmp0 * state(16, 0) + _tmp1 * state(18, 0) + _tmp2 * state(17, 0); - const Scalar _tmp4 = 2 * state(2, 0); - const Scalar _tmp5 = -_tmp1 * state(17, 0) + _tmp2 * state(18, 0) + _tmp4 * state(16, 0); - const Scalar _tmp6 = -_tmp0 * state(17, 0) - _tmp2 * state(16, 0) + _tmp4 * state(18, 0); - const Scalar _tmp7 = _tmp0 * state(18, 0) + _tmp1 * state(16, 0) + _tmp4 * state(17, 0); - const Scalar _tmp8 = -_tmp0 * state(0, 0) + _tmp1 * state(2, 0); - const Scalar _tmp9 = _tmp0 * state(2, 0) + _tmp1 * state(0, 0); - const Scalar _tmp10 = std::pow(state(0, 0), Scalar(2)) - std::pow(state(1, 0), Scalar(2)) + - std::pow(state(2, 0), Scalar(2)) - std::pow(state(3, 0), Scalar(2)); + const Scalar _tmp2 = _tmp0 * state(3, 0) + _tmp1 * state(0, 0); + const Scalar _tmp3 = 2 * state(3, 0); + const Scalar _tmp4 = _tmp0 * state(1, 0) - _tmp3 * state(0, 0); + const Scalar _tmp5 = + -2 * std::pow(state(1, 0), Scalar(2)) - 2 * std::pow(state(3, 0), Scalar(2)) + 1; + const Scalar _tmp6 = _tmp1 * state(18, 0) - _tmp3 * state(16, 0); + const Scalar _tmp7 = (Scalar(1) / Scalar(2)) * _tmp6; + const Scalar _tmp8 = (Scalar(1) / Scalar(2)) * _tmp1 * state(16, 0) + + (Scalar(1) / Scalar(2)) * _tmp3 * state(18, 0); + const Scalar _tmp9 = 4 * state(17, 0); + const Scalar _tmp10 = 2 * state(0, 0); + const Scalar _tmp11 = _tmp0 * state(16, 0) + _tmp10 * state(18, 0) - _tmp9 * state(1, 0); + const Scalar _tmp12 = (Scalar(1) / Scalar(2)) * _tmp11; + const Scalar _tmp13 = (Scalar(1) / Scalar(2)) * _tmp0 * state(18, 0) - + Scalar(1) / Scalar(2) * _tmp10 * state(16, 0) - + Scalar(1) / Scalar(2) * _tmp9 * state(3, 0); + const Scalar _tmp14 = + _tmp12 * state(0, 0) + _tmp13 * state(2, 0) - _tmp7 * state(1, 0) - _tmp8 * state(3, 0); + const Scalar _tmp15 = (Scalar(1) / Scalar(2)) * state(2, 0); + const Scalar _tmp16 = + -_tmp11 * _tmp15 + _tmp13 * state(0, 0) - _tmp7 * state(3, 0) + _tmp8 * state(1, 0); + const Scalar _tmp17 = + _tmp12 * state(3, 0) - _tmp13 * state(1, 0) - _tmp15 * _tmp6 + _tmp8 * state(0, 0); // Output terms (2) if (innov_var != nullptr) { Scalar& _innov_var = (*innov_var); - _innov_var = - P(0, 20) * _tmp3 + P(1, 20) * _tmp5 + P(16, 20) * _tmp8 + P(17, 20) * _tmp10 + - P(18, 20) * _tmp9 + P(2, 20) * _tmp7 + P(20, 20) + P(3, 20) * _tmp6 + R + - _tmp10 * (P(0, 17) * _tmp3 + P(1, 17) * _tmp5 + P(16, 17) * _tmp8 + P(17, 17) * _tmp10 + - P(18, 17) * _tmp9 + P(2, 17) * _tmp7 + P(20, 17) + P(3, 17) * _tmp6) + - _tmp3 * (P(0, 0) * _tmp3 + P(1, 0) * _tmp5 + P(16, 0) * _tmp8 + P(17, 0) * _tmp10 + - P(18, 0) * _tmp9 + P(2, 0) * _tmp7 + P(20, 0) + P(3, 0) * _tmp6) + - _tmp5 * (P(0, 1) * _tmp3 + P(1, 1) * _tmp5 + P(16, 1) * _tmp8 + P(17, 1) * _tmp10 + - P(18, 1) * _tmp9 + P(2, 1) * _tmp7 + P(20, 1) + P(3, 1) * _tmp6) + - _tmp6 * (P(0, 3) * _tmp3 + P(1, 3) * _tmp5 + P(16, 3) * _tmp8 + P(17, 3) * _tmp10 + - P(18, 3) * _tmp9 + P(2, 3) * _tmp7 + P(20, 3) + P(3, 3) * _tmp6) + - _tmp7 * (P(0, 2) * _tmp3 + P(1, 2) * _tmp5 + P(16, 2) * _tmp8 + P(17, 2) * _tmp10 + - P(18, 2) * _tmp9 + P(2, 2) * _tmp7 + P(20, 2) + P(3, 2) * _tmp6) + - _tmp8 * (P(0, 16) * _tmp3 + P(1, 16) * _tmp5 + P(16, 16) * _tmp8 + P(17, 16) * _tmp10 + - P(18, 16) * _tmp9 + P(2, 16) * _tmp7 + P(20, 16) + P(3, 16) * _tmp6) + - _tmp9 * (P(0, 18) * _tmp3 + P(1, 18) * _tmp5 + P(16, 18) * _tmp8 + P(17, 18) * _tmp10 + - P(18, 18) * _tmp9 + P(2, 18) * _tmp7 + P(20, 18) + P(3, 18) * _tmp6); + _innov_var = P(0, 19) * _tmp14 + P(1, 19) * _tmp17 + P(15, 19) * _tmp4 + P(16, 19) * _tmp5 + + P(17, 19) * _tmp2 + P(19, 19) + P(2, 19) * _tmp16 + R + + _tmp14 * (P(0, 0) * _tmp14 + P(1, 0) * _tmp17 + P(15, 0) * _tmp4 + + P(16, 0) * _tmp5 + P(17, 0) * _tmp2 + P(19, 0) + P(2, 0) * _tmp16) + + _tmp16 * (P(0, 2) * _tmp14 + P(1, 2) * _tmp17 + P(15, 2) * _tmp4 + + P(16, 2) * _tmp5 + P(17, 2) * _tmp2 + P(19, 2) + P(2, 2) * _tmp16) + + _tmp17 * (P(0, 1) * _tmp14 + P(1, 1) * _tmp17 + P(15, 1) * _tmp4 + + P(16, 1) * _tmp5 + P(17, 1) * _tmp2 + P(19, 1) + P(2, 1) * _tmp16) + + _tmp2 * (P(0, 17) * _tmp14 + P(1, 17) * _tmp17 + P(15, 17) * _tmp4 + + P(16, 17) * _tmp5 + P(17, 17) * _tmp2 + P(19, 17) + P(2, 17) * _tmp16) + + _tmp4 * (P(0, 15) * _tmp14 + P(1, 15) * _tmp17 + P(15, 15) * _tmp4 + + P(16, 15) * _tmp5 + P(17, 15) * _tmp2 + P(19, 15) + P(2, 15) * _tmp16) + + _tmp5 * (P(0, 16) * _tmp14 + P(1, 16) * _tmp17 + P(15, 16) * _tmp4 + + P(16, 16) * _tmp5 + P(17, 16) * _tmp2 + P(19, 16) + P(2, 16) * _tmp16); } if (H != nullptr) { @@ -76,14 +89,13 @@ void ComputeMagYInnovVarAndH(const matrix::Matrix& state, _h.setZero(); - _h(0, 0) = _tmp3; - _h(1, 0) = _tmp5; - _h(2, 0) = _tmp7; - _h(3, 0) = _tmp6; - _h(16, 0) = _tmp8; - _h(17, 0) = _tmp10; - _h(18, 0) = _tmp9; - _h(20, 0) = 1; + _h(0, 0) = _tmp14; + _h(1, 0) = _tmp17; + _h(2, 0) = _tmp16; + _h(15, 0) = _tmp4; + _h(16, 0) = _tmp5; + _h(17, 0) = _tmp2; + _h(19, 0) = 1; } } // NOLINT(readability/fn_size) diff --git a/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_mag_z_innov_var_and_h.h b/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_mag_z_innov_var_and_h.h index 90c896b94664..1432222d4756 100644 --- a/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_mag_z_innov_var_and_h.h +++ b/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_mag_z_innov_var_and_h.h @@ -1,6 +1,6 @@ // ----------------------------------------------------------------------------- // This file was autogenerated by symforce from template: -// backends/cpp/templates/function/FUNCTION.h.jinja +// function/FUNCTION.h.jinja // Do NOT modify by hand. // ----------------------------------------------------------------------------- @@ -16,7 +16,7 @@ namespace sym { * Symbolic function: compute_mag_z_innov_var_and_h * * Args: - * state: Matrix24_1 + * state: Matrix25_1 * P: Matrix24_24 * R: Scalar * epsilon: Scalar @@ -26,49 +26,62 @@ namespace sym { * H: Matrix24_1 */ template -void ComputeMagZInnovVarAndH(const matrix::Matrix& state, +void ComputeMagZInnovVarAndH(const matrix::Matrix& state, const matrix::Matrix& P, const Scalar R, const Scalar epsilon, Scalar* const innov_var = nullptr, matrix::Matrix* const H = nullptr) { - // Total ops: 164 + // Total ops: 161 + + // Unused inputs + (void)epsilon; // Input arrays - // Intermediate terms (11) - const Scalar _tmp0 = 2 * state(2, 0); - const Scalar _tmp1 = 2 * state(1, 0); - const Scalar _tmp2 = 2 * state(0, 0); - const Scalar _tmp3 = _tmp0 * state(16, 0) - _tmp1 * state(17, 0) + _tmp2 * state(18, 0); - const Scalar _tmp4 = 2 * state(3, 0); - const Scalar _tmp5 = -_tmp1 * state(18, 0) - _tmp2 * state(17, 0) + _tmp4 * state(16, 0); - const Scalar _tmp6 = _tmp0 * state(17, 0) + _tmp1 * state(16, 0) + _tmp4 * state(18, 0); - const Scalar _tmp7 = -_tmp0 * state(18, 0) + _tmp2 * state(16, 0) + _tmp4 * state(17, 0); - const Scalar _tmp8 = _tmp0 * state(0, 0) + _tmp1 * state(3, 0); - const Scalar _tmp9 = _tmp0 * state(3, 0) - _tmp1 * state(0, 0); - const Scalar _tmp10 = std::pow(state(0, 0), Scalar(2)) - std::pow(state(1, 0), Scalar(2)) - - std::pow(state(2, 0), Scalar(2)) + std::pow(state(3, 0), Scalar(2)); + // Intermediate terms (15) + const Scalar _tmp0 = 2 * state(16, 0); + const Scalar _tmp1 = 2 * state(17, 0); + const Scalar _tmp2 = + (Scalar(1) / Scalar(2)) * _tmp0 * state(2, 0) - Scalar(1) / Scalar(2) * _tmp1 * state(1, 0); + const Scalar _tmp3 = 2 * state(1, 0); + const Scalar _tmp4 = (Scalar(1) / Scalar(2)) * _tmp1 * state(2, 0) + + (Scalar(1) / Scalar(2)) * _tmp3 * state(16, 0); + const Scalar _tmp5 = 4 * state(18, 0); + const Scalar _tmp6 = (Scalar(1) / Scalar(2)) * _tmp0 * state(0, 0) + + (Scalar(1) / Scalar(2)) * _tmp1 * state(3, 0) - + Scalar(1) / Scalar(2) * _tmp5 * state(2, 0); + const Scalar _tmp7 = (Scalar(1) / Scalar(2)) * _tmp0 * state(3, 0) - + Scalar(1) / Scalar(2) * _tmp1 * state(0, 0) - + Scalar(1) / Scalar(2) * _tmp5 * state(1, 0); + const Scalar _tmp8 = + -_tmp2 * state(3, 0) + _tmp4 * state(0, 0) + _tmp6 * state(1, 0) - _tmp7 * state(2, 0); + const Scalar _tmp9 = + -_tmp2 * state(1, 0) + _tmp4 * state(2, 0) - _tmp6 * state(3, 0) + _tmp7 * state(0, 0); + const Scalar _tmp10 = + -_tmp2 * state(2, 0) - _tmp4 * state(1, 0) + _tmp6 * state(0, 0) + _tmp7 * state(3, 0); + const Scalar _tmp11 = + -2 * std::pow(state(1, 0), Scalar(2)) - 2 * std::pow(state(2, 0), Scalar(2)) + 1; + const Scalar _tmp12 = 2 * state(2, 0); + const Scalar _tmp13 = _tmp12 * state(3, 0) - _tmp3 * state(0, 0); + const Scalar _tmp14 = _tmp12 * state(0, 0) + _tmp3 * state(3, 0); // Output terms (2) if (innov_var != nullptr) { Scalar& _innov_var = (*innov_var); - _innov_var = - P(0, 21) * _tmp3 + P(1, 21) * _tmp5 + P(16, 21) * _tmp8 + P(17, 21) * _tmp9 + - P(18, 21) * _tmp10 + P(2, 21) * _tmp7 + P(21, 21) + P(3, 21) * _tmp6 + R + - _tmp10 * (P(0, 18) * _tmp3 + P(1, 18) * _tmp5 + P(16, 18) * _tmp8 + P(17, 18) * _tmp9 + - P(18, 18) * _tmp10 + P(2, 18) * _tmp7 + P(21, 18) + P(3, 18) * _tmp6) + - _tmp3 * (P(0, 0) * _tmp3 + P(1, 0) * _tmp5 + P(16, 0) * _tmp8 + P(17, 0) * _tmp9 + - P(18, 0) * _tmp10 + P(2, 0) * _tmp7 + P(21, 0) + P(3, 0) * _tmp6) + - _tmp5 * (P(0, 1) * _tmp3 + P(1, 1) * _tmp5 + P(16, 1) * _tmp8 + P(17, 1) * _tmp9 + - P(18, 1) * _tmp10 + P(2, 1) * _tmp7 + P(21, 1) + P(3, 1) * _tmp6) + - _tmp6 * (P(0, 3) * _tmp3 + P(1, 3) * _tmp5 + P(16, 3) * _tmp8 + P(17, 3) * _tmp9 + - P(18, 3) * _tmp10 + P(2, 3) * _tmp7 + P(21, 3) + P(3, 3) * _tmp6) + - _tmp7 * (P(0, 2) * _tmp3 + P(1, 2) * _tmp5 + P(16, 2) * _tmp8 + P(17, 2) * _tmp9 + - P(18, 2) * _tmp10 + P(2, 2) * _tmp7 + P(21, 2) + P(3, 2) * _tmp6) + - _tmp8 * (P(0, 16) * _tmp3 + P(1, 16) * _tmp5 + P(16, 16) * _tmp8 + P(17, 16) * _tmp9 + - P(18, 16) * _tmp10 + P(2, 16) * _tmp7 + P(21, 16) + P(3, 16) * _tmp6) + - _tmp9 * (P(0, 17) * _tmp3 + P(1, 17) * _tmp5 + P(16, 17) * _tmp8 + P(17, 17) * _tmp9 + - P(18, 17) * _tmp10 + P(2, 17) * _tmp7 + P(21, 17) + P(3, 17) * _tmp6); + _innov_var = P(0, 20) * _tmp9 + P(1, 20) * _tmp10 + P(15, 20) * _tmp14 + P(16, 20) * _tmp13 + + P(17, 20) * _tmp11 + P(2, 20) * _tmp8 + P(20, 20) + R + + _tmp10 * (P(0, 1) * _tmp9 + P(1, 1) * _tmp10 + P(15, 1) * _tmp14 + + P(16, 1) * _tmp13 + P(17, 1) * _tmp11 + P(2, 1) * _tmp8 + P(20, 1)) + + _tmp11 * (P(0, 17) * _tmp9 + P(1, 17) * _tmp10 + P(15, 17) * _tmp14 + + P(16, 17) * _tmp13 + P(17, 17) * _tmp11 + P(2, 17) * _tmp8 + P(20, 17)) + + _tmp13 * (P(0, 16) * _tmp9 + P(1, 16) * _tmp10 + P(15, 16) * _tmp14 + + P(16, 16) * _tmp13 + P(17, 16) * _tmp11 + P(2, 16) * _tmp8 + P(20, 16)) + + _tmp14 * (P(0, 15) * _tmp9 + P(1, 15) * _tmp10 + P(15, 15) * _tmp14 + + P(16, 15) * _tmp13 + P(17, 15) * _tmp11 + P(2, 15) * _tmp8 + P(20, 15)) + + _tmp8 * (P(0, 2) * _tmp9 + P(1, 2) * _tmp10 + P(15, 2) * _tmp14 + + P(16, 2) * _tmp13 + P(17, 2) * _tmp11 + P(2, 2) * _tmp8 + P(20, 2)) + + _tmp9 * (P(0, 0) * _tmp9 + P(1, 0) * _tmp10 + P(15, 0) * _tmp14 + + P(16, 0) * _tmp13 + P(17, 0) * _tmp11 + P(2, 0) * _tmp8 + P(20, 0)); } if (H != nullptr) { @@ -76,14 +89,13 @@ void ComputeMagZInnovVarAndH(const matrix::Matrix& state, _h.setZero(); - _h(0, 0) = _tmp3; - _h(1, 0) = _tmp5; - _h(2, 0) = _tmp7; - _h(3, 0) = _tmp6; - _h(16, 0) = _tmp8; - _h(17, 0) = _tmp9; - _h(18, 0) = _tmp10; - _h(21, 0) = 1; + _h(0, 0) = _tmp9; + _h(1, 0) = _tmp10; + _h(2, 0) = _tmp8; + _h(15, 0) = _tmp14; + _h(16, 0) = _tmp13; + _h(17, 0) = _tmp11; + _h(20, 0) = 1; } } // NOLINT(readability/fn_size) diff --git a/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_sideslip_h_and_k.h b/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_sideslip_h_and_k.h index 2f00cb2b6eaf..002be9bbe8e9 100644 --- a/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_sideslip_h_and_k.h +++ b/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_sideslip_h_and_k.h @@ -1,6 +1,6 @@ // ----------------------------------------------------------------------------- // This file was autogenerated by symforce from template: -// backends/cpp/templates/function/FUNCTION.h.jinja +// function/FUNCTION.h.jinja // Do NOT modify by hand. // ----------------------------------------------------------------------------- @@ -16,7 +16,7 @@ namespace sym { * Symbolic function: compute_sideslip_h_and_k * * Args: - * state: Matrix24_1 + * state: Matrix25_1 * P: Matrix24_24 * innov_var: Scalar * epsilon: Scalar @@ -26,61 +26,70 @@ namespace sym { * K: Matrix24_1 */ template -void ComputeSideslipHAndK(const matrix::Matrix& state, +void ComputeSideslipHAndK(const matrix::Matrix& state, const matrix::Matrix& P, const Scalar innov_var, const Scalar epsilon, matrix::Matrix* const H = nullptr, matrix::Matrix* const K = nullptr) { - // Total ops: 539 + // Total ops: 513 // Input arrays - // Intermediate terms (44) - const Scalar _tmp0 = std::pow(state(2, 0), Scalar(2)); - const Scalar _tmp1 = std::pow(state(1, 0), Scalar(2)); - const Scalar _tmp2 = std::pow(state(0, 0), Scalar(2)) - std::pow(state(3, 0), Scalar(2)); - const Scalar _tmp3 = -_tmp0 + _tmp1 + _tmp2; - const Scalar _tmp4 = -state(22, 0) + state(4, 0); - const Scalar _tmp5 = state(0, 0) * state(3, 0); - const Scalar _tmp6 = state(1, 0) * state(2, 0); - const Scalar _tmp7 = _tmp5 + _tmp6; - const Scalar _tmp8 = -state(23, 0) + state(5, 0); - const Scalar _tmp9 = 2 * _tmp8; - const Scalar _tmp10 = state(0, 0) * state(2, 0); - const Scalar _tmp11 = state(1, 0) * state(3, 0); - const Scalar _tmp12 = 2 * state(6, 0); - const Scalar _tmp13 = _tmp12 * (-_tmp10 + _tmp11) + _tmp3 * _tmp4 + _tmp7 * _tmp9; - const Scalar _tmp14 = - _tmp13 + epsilon * (2 * math::min(0, (((_tmp13) > 0) - ((_tmp13) < 0))) + 1); - const Scalar _tmp15 = Scalar(1.0) / (_tmp14); - const Scalar _tmp16 = 2 * _tmp4; - const Scalar _tmp17 = _tmp12 * state(1, 0) - _tmp16 * state(3, 0) + _tmp9 * state(0, 0); - const Scalar _tmp18 = _tmp16 * state(0, 0); - const Scalar _tmp19 = _tmp9 * state(3, 0); - const Scalar _tmp20 = _tmp12 * state(2, 0); - const Scalar _tmp21 = _tmp0 - _tmp1 + _tmp2; - const Scalar _tmp22 = -2 * _tmp5 + 2 * _tmp6; - const Scalar _tmp23 = state(2, 0) * state(3, 0); - const Scalar _tmp24 = state(0, 0) * state(1, 0); - const Scalar _tmp25 = - (_tmp12 * (_tmp23 + _tmp24) + _tmp21 * _tmp8 + _tmp22 * _tmp4) / std::pow(_tmp14, Scalar(2)); - const Scalar _tmp26 = _tmp15 * _tmp17 - _tmp25 * (_tmp18 + _tmp19 - _tmp20); - const Scalar _tmp27 = _tmp9 * state(1, 0); - const Scalar _tmp28 = _tmp16 * state(2, 0); - const Scalar _tmp29 = _tmp12 * state(0, 0); - const Scalar _tmp30 = _tmp12 * state(3, 0) + _tmp16 * state(1, 0) + _tmp9 * state(2, 0); - const Scalar _tmp31 = _tmp15 * (-_tmp27 + _tmp28 + _tmp29) - _tmp25 * _tmp30; - const Scalar _tmp32 = _tmp15 * _tmp30 - _tmp25 * (_tmp27 - _tmp28 - _tmp29); - const Scalar _tmp33 = _tmp15 * (-_tmp18 - _tmp19 + _tmp20) - _tmp17 * _tmp25; - const Scalar _tmp34 = _tmp25 * _tmp3; - const Scalar _tmp35 = 2 * _tmp5; - const Scalar _tmp36 = 2 * _tmp6; - const Scalar _tmp37 = _tmp15 * (-_tmp35 + _tmp36) - _tmp34; - const Scalar _tmp38 = _tmp15 * _tmp21; - const Scalar _tmp39 = -_tmp25 * (_tmp35 + _tmp36) + _tmp38; - const Scalar _tmp40 = _tmp15 * (2 * _tmp23 + 2 * _tmp24) - _tmp25 * (-2 * _tmp10 + 2 * _tmp11); - const Scalar _tmp41 = -_tmp15 * _tmp22 + _tmp34; - const Scalar _tmp42 = 2 * _tmp25 * _tmp7 - _tmp38; - const Scalar _tmp43 = Scalar(1.0) / (math::max(epsilon, innov_var)); + // Intermediate terms (43) + const Scalar _tmp0 = -state(23, 0) + state(5, 0); + const Scalar _tmp1 = 2 * state(1, 0); + const Scalar _tmp2 = -state(22, 0) + state(4, 0); + const Scalar _tmp3 = 4 * _tmp2; + const Scalar _tmp4 = 2 * state(6, 0); + const Scalar _tmp5 = _tmp4 * state(0, 0); + const Scalar _tmp6 = 1 - 2 * std::pow(state(3, 0), Scalar(2)); + const Scalar _tmp7 = _tmp6 - 2 * std::pow(state(2, 0), Scalar(2)); + const Scalar _tmp8 = 2 * state(0, 0); + const Scalar _tmp9 = _tmp8 * state(3, 0); + const Scalar _tmp10 = 2 * state(2, 0); + const Scalar _tmp11 = _tmp10 * state(1, 0); + const Scalar _tmp12 = _tmp11 + _tmp9; + const Scalar _tmp13 = _tmp1 * state(3, 0) - _tmp10 * state(0, 0); + const Scalar _tmp14 = _tmp0 * _tmp12 + _tmp13 * state(6, 0) + _tmp2 * _tmp7; + const Scalar _tmp15 = + _tmp14 + epsilon * (2 * math::min(0, (((_tmp14) > 0) - ((_tmp14) < 0))) + 1); + const Scalar _tmp16 = _tmp6 - 2 * std::pow(state(1, 0), Scalar(2)); + const Scalar _tmp17 = _tmp11 - _tmp9; + const Scalar _tmp18 = _tmp10 * state(3, 0) + _tmp8 * state(1, 0); + const Scalar _tmp19 = + (_tmp0 * _tmp16 + _tmp17 * _tmp2 + _tmp18 * state(6, 0)) / std::pow(_tmp15, Scalar(2)); + const Scalar _tmp20 = _tmp4 * state(3, 0); + const Scalar _tmp21 = Scalar(1.0) / (_tmp15); + const Scalar _tmp22 = + -Scalar(1) / Scalar(2) * _tmp19 * (_tmp0 * _tmp1 - _tmp3 * state(2, 0) - _tmp5) + + (Scalar(1) / Scalar(2)) * _tmp21 * (_tmp1 * _tmp2 + _tmp20); + const Scalar _tmp23 = 4 * _tmp0; + const Scalar _tmp24 = + -Scalar(1) / Scalar(2) * _tmp19 * (_tmp0 * _tmp10 + _tmp20) + + (Scalar(1) / Scalar(2)) * _tmp21 * (_tmp10 * _tmp2 - _tmp23 * state(1, 0) + _tmp5); + const Scalar _tmp25 = 2 * state(3, 0); + const Scalar _tmp26 = _tmp4 * state(2, 0); + const Scalar _tmp27 = _tmp4 * state(1, 0); + const Scalar _tmp28 = -Scalar(1) / Scalar(2) * _tmp19 * (_tmp0 * _tmp25 - _tmp26) + + (Scalar(1) / Scalar(2)) * _tmp21 * (-_tmp2 * _tmp25 + _tmp27); + const Scalar _tmp29 = + -Scalar(1) / Scalar(2) * _tmp19 * (_tmp0 * _tmp8 + _tmp27 - _tmp3 * state(3, 0)) + + (Scalar(1) / Scalar(2)) * _tmp21 * (-_tmp2 * _tmp8 - _tmp23 * state(3, 0) + _tmp26); + const Scalar _tmp30 = + -_tmp22 * state(3, 0) + _tmp24 * state(0, 0) - _tmp28 * state(1, 0) + _tmp29 * state(2, 0); + const Scalar _tmp31 = + _tmp22 * state(0, 0) + _tmp24 * state(3, 0) - _tmp28 * state(2, 0) - _tmp29 * state(1, 0); + const Scalar _tmp32 = + _tmp22 * state(1, 0) - _tmp24 * state(2, 0) - _tmp28 * state(3, 0) + _tmp29 * state(0, 0); + const Scalar _tmp33 = _tmp19 * _tmp7; + const Scalar _tmp34 = _tmp17 * _tmp21; + const Scalar _tmp35 = -_tmp33 + _tmp34; + const Scalar _tmp36 = _tmp12 * _tmp19; + const Scalar _tmp37 = _tmp16 * _tmp21; + const Scalar _tmp38 = -_tmp36 + _tmp37; + const Scalar _tmp39 = -_tmp13 * _tmp19 + _tmp18 * _tmp21; + const Scalar _tmp40 = _tmp33 - _tmp34; + const Scalar _tmp41 = _tmp36 - _tmp37; + const Scalar _tmp42 = Scalar(1.0) / (math::max(epsilon, innov_var)); // Output terms (2) if (H != nullptr) { @@ -88,92 +97,91 @@ void ComputeSideslipHAndK(const matrix::Matrix& state, _h.setZero(); - _h(0, 0) = _tmp26; + _h(0, 0) = _tmp30; _h(1, 0) = _tmp31; _h(2, 0) = _tmp32; - _h(3, 0) = _tmp33; - _h(4, 0) = _tmp37; + _h(3, 0) = _tmp35; + _h(4, 0) = _tmp38; _h(5, 0) = _tmp39; - _h(6, 0) = _tmp40; + _h(21, 0) = _tmp40; _h(22, 0) = _tmp41; - _h(23, 0) = _tmp42; } if (K != nullptr) { matrix::Matrix& _k = (*K); - _k(0, 0) = _tmp43 * (P(0, 0) * _tmp26 + P(0, 1) * _tmp31 + P(0, 2) * _tmp32 + - P(0, 22) * _tmp41 + P(0, 23) * _tmp42 + P(0, 3) * _tmp33 + - P(0, 4) * _tmp37 + P(0, 5) * _tmp39 + P(0, 6) * _tmp40); - _k(1, 0) = _tmp43 * (P(1, 0) * _tmp26 + P(1, 1) * _tmp31 + P(1, 2) * _tmp32 + - P(1, 22) * _tmp41 + P(1, 23) * _tmp42 + P(1, 3) * _tmp33 + - P(1, 4) * _tmp37 + P(1, 5) * _tmp39 + P(1, 6) * _tmp40); - _k(2, 0) = _tmp43 * (P(2, 0) * _tmp26 + P(2, 1) * _tmp31 + P(2, 2) * _tmp32 + - P(2, 22) * _tmp41 + P(2, 23) * _tmp42 + P(2, 3) * _tmp33 + - P(2, 4) * _tmp37 + P(2, 5) * _tmp39 + P(2, 6) * _tmp40); - _k(3, 0) = _tmp43 * (P(3, 0) * _tmp26 + P(3, 1) * _tmp31 + P(3, 2) * _tmp32 + - P(3, 22) * _tmp41 + P(3, 23) * _tmp42 + P(3, 3) * _tmp33 + - P(3, 4) * _tmp37 + P(3, 5) * _tmp39 + P(3, 6) * _tmp40); - _k(4, 0) = _tmp43 * (P(4, 0) * _tmp26 + P(4, 1) * _tmp31 + P(4, 2) * _tmp32 + - P(4, 22) * _tmp41 + P(4, 23) * _tmp42 + P(4, 3) * _tmp33 + - P(4, 4) * _tmp37 + P(4, 5) * _tmp39 + P(4, 6) * _tmp40); - _k(5, 0) = _tmp43 * (P(5, 0) * _tmp26 + P(5, 1) * _tmp31 + P(5, 2) * _tmp32 + - P(5, 22) * _tmp41 + P(5, 23) * _tmp42 + P(5, 3) * _tmp33 + - P(5, 4) * _tmp37 + P(5, 5) * _tmp39 + P(5, 6) * _tmp40); - _k(6, 0) = _tmp43 * (P(6, 0) * _tmp26 + P(6, 1) * _tmp31 + P(6, 2) * _tmp32 + - P(6, 22) * _tmp41 + P(6, 23) * _tmp42 + P(6, 3) * _tmp33 + - P(6, 4) * _tmp37 + P(6, 5) * _tmp39 + P(6, 6) * _tmp40); - _k(7, 0) = _tmp43 * (P(7, 0) * _tmp26 + P(7, 1) * _tmp31 + P(7, 2) * _tmp32 + - P(7, 22) * _tmp41 + P(7, 23) * _tmp42 + P(7, 3) * _tmp33 + - P(7, 4) * _tmp37 + P(7, 5) * _tmp39 + P(7, 6) * _tmp40); - _k(8, 0) = _tmp43 * (P(8, 0) * _tmp26 + P(8, 1) * _tmp31 + P(8, 2) * _tmp32 + - P(8, 22) * _tmp41 + P(8, 23) * _tmp42 + P(8, 3) * _tmp33 + - P(8, 4) * _tmp37 + P(8, 5) * _tmp39 + P(8, 6) * _tmp40); - _k(9, 0) = _tmp43 * (P(9, 0) * _tmp26 + P(9, 1) * _tmp31 + P(9, 2) * _tmp32 + - P(9, 22) * _tmp41 + P(9, 23) * _tmp42 + P(9, 3) * _tmp33 + - P(9, 4) * _tmp37 + P(9, 5) * _tmp39 + P(9, 6) * _tmp40); - _k(10, 0) = _tmp43 * (P(10, 0) * _tmp26 + P(10, 1) * _tmp31 + P(10, 2) * _tmp32 + - P(10, 22) * _tmp41 + P(10, 23) * _tmp42 + P(10, 3) * _tmp33 + - P(10, 4) * _tmp37 + P(10, 5) * _tmp39 + P(10, 6) * _tmp40); - _k(11, 0) = _tmp43 * (P(11, 0) * _tmp26 + P(11, 1) * _tmp31 + P(11, 2) * _tmp32 + - P(11, 22) * _tmp41 + P(11, 23) * _tmp42 + P(11, 3) * _tmp33 + - P(11, 4) * _tmp37 + P(11, 5) * _tmp39 + P(11, 6) * _tmp40); - _k(12, 0) = _tmp43 * (P(12, 0) * _tmp26 + P(12, 1) * _tmp31 + P(12, 2) * _tmp32 + - P(12, 22) * _tmp41 + P(12, 23) * _tmp42 + P(12, 3) * _tmp33 + - P(12, 4) * _tmp37 + P(12, 5) * _tmp39 + P(12, 6) * _tmp40); - _k(13, 0) = _tmp43 * (P(13, 0) * _tmp26 + P(13, 1) * _tmp31 + P(13, 2) * _tmp32 + - P(13, 22) * _tmp41 + P(13, 23) * _tmp42 + P(13, 3) * _tmp33 + - P(13, 4) * _tmp37 + P(13, 5) * _tmp39 + P(13, 6) * _tmp40); - _k(14, 0) = _tmp43 * (P(14, 0) * _tmp26 + P(14, 1) * _tmp31 + P(14, 2) * _tmp32 + - P(14, 22) * _tmp41 + P(14, 23) * _tmp42 + P(14, 3) * _tmp33 + - P(14, 4) * _tmp37 + P(14, 5) * _tmp39 + P(14, 6) * _tmp40); - _k(15, 0) = _tmp43 * (P(15, 0) * _tmp26 + P(15, 1) * _tmp31 + P(15, 2) * _tmp32 + - P(15, 22) * _tmp41 + P(15, 23) * _tmp42 + P(15, 3) * _tmp33 + - P(15, 4) * _tmp37 + P(15, 5) * _tmp39 + P(15, 6) * _tmp40); - _k(16, 0) = _tmp43 * (P(16, 0) * _tmp26 + P(16, 1) * _tmp31 + P(16, 2) * _tmp32 + - P(16, 22) * _tmp41 + P(16, 23) * _tmp42 + P(16, 3) * _tmp33 + - P(16, 4) * _tmp37 + P(16, 5) * _tmp39 + P(16, 6) * _tmp40); - _k(17, 0) = _tmp43 * (P(17, 0) * _tmp26 + P(17, 1) * _tmp31 + P(17, 2) * _tmp32 + - P(17, 22) * _tmp41 + P(17, 23) * _tmp42 + P(17, 3) * _tmp33 + - P(17, 4) * _tmp37 + P(17, 5) * _tmp39 + P(17, 6) * _tmp40); - _k(18, 0) = _tmp43 * (P(18, 0) * _tmp26 + P(18, 1) * _tmp31 + P(18, 2) * _tmp32 + - P(18, 22) * _tmp41 + P(18, 23) * _tmp42 + P(18, 3) * _tmp33 + - P(18, 4) * _tmp37 + P(18, 5) * _tmp39 + P(18, 6) * _tmp40); - _k(19, 0) = _tmp43 * (P(19, 0) * _tmp26 + P(19, 1) * _tmp31 + P(19, 2) * _tmp32 + - P(19, 22) * _tmp41 + P(19, 23) * _tmp42 + P(19, 3) * _tmp33 + - P(19, 4) * _tmp37 + P(19, 5) * _tmp39 + P(19, 6) * _tmp40); - _k(20, 0) = _tmp43 * (P(20, 0) * _tmp26 + P(20, 1) * _tmp31 + P(20, 2) * _tmp32 + - P(20, 22) * _tmp41 + P(20, 23) * _tmp42 + P(20, 3) * _tmp33 + - P(20, 4) * _tmp37 + P(20, 5) * _tmp39 + P(20, 6) * _tmp40); - _k(21, 0) = _tmp43 * (P(21, 0) * _tmp26 + P(21, 1) * _tmp31 + P(21, 2) * _tmp32 + - P(21, 22) * _tmp41 + P(21, 23) * _tmp42 + P(21, 3) * _tmp33 + - P(21, 4) * _tmp37 + P(21, 5) * _tmp39 + P(21, 6) * _tmp40); - _k(22, 0) = _tmp43 * (P(22, 0) * _tmp26 + P(22, 1) * _tmp31 + P(22, 2) * _tmp32 + - P(22, 22) * _tmp41 + P(22, 23) * _tmp42 + P(22, 3) * _tmp33 + - P(22, 4) * _tmp37 + P(22, 5) * _tmp39 + P(22, 6) * _tmp40); - _k(23, 0) = _tmp43 * (P(23, 0) * _tmp26 + P(23, 1) * _tmp31 + P(23, 2) * _tmp32 + - P(23, 22) * _tmp41 + P(23, 23) * _tmp42 + P(23, 3) * _tmp33 + - P(23, 4) * _tmp37 + P(23, 5) * _tmp39 + P(23, 6) * _tmp40); + _k(0, 0) = + _tmp42 * (P(0, 0) * _tmp30 + P(0, 1) * _tmp31 + P(0, 2) * _tmp32 + P(0, 21) * _tmp40 + + P(0, 22) * _tmp41 + P(0, 3) * _tmp35 + P(0, 4) * _tmp38 + P(0, 5) * _tmp39); + _k(1, 0) = + _tmp42 * (P(1, 0) * _tmp30 + P(1, 1) * _tmp31 + P(1, 2) * _tmp32 + P(1, 21) * _tmp40 + + P(1, 22) * _tmp41 + P(1, 3) * _tmp35 + P(1, 4) * _tmp38 + P(1, 5) * _tmp39); + _k(2, 0) = + _tmp42 * (P(2, 0) * _tmp30 + P(2, 1) * _tmp31 + P(2, 2) * _tmp32 + P(2, 21) * _tmp40 + + P(2, 22) * _tmp41 + P(2, 3) * _tmp35 + P(2, 4) * _tmp38 + P(2, 5) * _tmp39); + _k(3, 0) = + _tmp42 * (P(3, 0) * _tmp30 + P(3, 1) * _tmp31 + P(3, 2) * _tmp32 + P(3, 21) * _tmp40 + + P(3, 22) * _tmp41 + P(3, 3) * _tmp35 + P(3, 4) * _tmp38 + P(3, 5) * _tmp39); + _k(4, 0) = + _tmp42 * (P(4, 0) * _tmp30 + P(4, 1) * _tmp31 + P(4, 2) * _tmp32 + P(4, 21) * _tmp40 + + P(4, 22) * _tmp41 + P(4, 3) * _tmp35 + P(4, 4) * _tmp38 + P(4, 5) * _tmp39); + _k(5, 0) = + _tmp42 * (P(5, 0) * _tmp30 + P(5, 1) * _tmp31 + P(5, 2) * _tmp32 + P(5, 21) * _tmp40 + + P(5, 22) * _tmp41 + P(5, 3) * _tmp35 + P(5, 4) * _tmp38 + P(5, 5) * _tmp39); + _k(6, 0) = + _tmp42 * (P(6, 0) * _tmp30 + P(6, 1) * _tmp31 + P(6, 2) * _tmp32 + P(6, 21) * _tmp40 + + P(6, 22) * _tmp41 + P(6, 3) * _tmp35 + P(6, 4) * _tmp38 + P(6, 5) * _tmp39); + _k(7, 0) = + _tmp42 * (P(7, 0) * _tmp30 + P(7, 1) * _tmp31 + P(7, 2) * _tmp32 + P(7, 21) * _tmp40 + + P(7, 22) * _tmp41 + P(7, 3) * _tmp35 + P(7, 4) * _tmp38 + P(7, 5) * _tmp39); + _k(8, 0) = + _tmp42 * (P(8, 0) * _tmp30 + P(8, 1) * _tmp31 + P(8, 2) * _tmp32 + P(8, 21) * _tmp40 + + P(8, 22) * _tmp41 + P(8, 3) * _tmp35 + P(8, 4) * _tmp38 + P(8, 5) * _tmp39); + _k(9, 0) = + _tmp42 * (P(9, 0) * _tmp30 + P(9, 1) * _tmp31 + P(9, 2) * _tmp32 + P(9, 21) * _tmp40 + + P(9, 22) * _tmp41 + P(9, 3) * _tmp35 + P(9, 4) * _tmp38 + P(9, 5) * _tmp39); + _k(10, 0) = + _tmp42 * (P(10, 0) * _tmp30 + P(10, 1) * _tmp31 + P(10, 2) * _tmp32 + P(10, 21) * _tmp40 + + P(10, 22) * _tmp41 + P(10, 3) * _tmp35 + P(10, 4) * _tmp38 + P(10, 5) * _tmp39); + _k(11, 0) = + _tmp42 * (P(11, 0) * _tmp30 + P(11, 1) * _tmp31 + P(11, 2) * _tmp32 + P(11, 21) * _tmp40 + + P(11, 22) * _tmp41 + P(11, 3) * _tmp35 + P(11, 4) * _tmp38 + P(11, 5) * _tmp39); + _k(12, 0) = + _tmp42 * (P(12, 0) * _tmp30 + P(12, 1) * _tmp31 + P(12, 2) * _tmp32 + P(12, 21) * _tmp40 + + P(12, 22) * _tmp41 + P(12, 3) * _tmp35 + P(12, 4) * _tmp38 + P(12, 5) * _tmp39); + _k(13, 0) = + _tmp42 * (P(13, 0) * _tmp30 + P(13, 1) * _tmp31 + P(13, 2) * _tmp32 + P(13, 21) * _tmp40 + + P(13, 22) * _tmp41 + P(13, 3) * _tmp35 + P(13, 4) * _tmp38 + P(13, 5) * _tmp39); + _k(14, 0) = + _tmp42 * (P(14, 0) * _tmp30 + P(14, 1) * _tmp31 + P(14, 2) * _tmp32 + P(14, 21) * _tmp40 + + P(14, 22) * _tmp41 + P(14, 3) * _tmp35 + P(14, 4) * _tmp38 + P(14, 5) * _tmp39); + _k(15, 0) = + _tmp42 * (P(15, 0) * _tmp30 + P(15, 1) * _tmp31 + P(15, 2) * _tmp32 + P(15, 21) * _tmp40 + + P(15, 22) * _tmp41 + P(15, 3) * _tmp35 + P(15, 4) * _tmp38 + P(15, 5) * _tmp39); + _k(16, 0) = + _tmp42 * (P(16, 0) * _tmp30 + P(16, 1) * _tmp31 + P(16, 2) * _tmp32 + P(16, 21) * _tmp40 + + P(16, 22) * _tmp41 + P(16, 3) * _tmp35 + P(16, 4) * _tmp38 + P(16, 5) * _tmp39); + _k(17, 0) = + _tmp42 * (P(17, 0) * _tmp30 + P(17, 1) * _tmp31 + P(17, 2) * _tmp32 + P(17, 21) * _tmp40 + + P(17, 22) * _tmp41 + P(17, 3) * _tmp35 + P(17, 4) * _tmp38 + P(17, 5) * _tmp39); + _k(18, 0) = + _tmp42 * (P(18, 0) * _tmp30 + P(18, 1) * _tmp31 + P(18, 2) * _tmp32 + P(18, 21) * _tmp40 + + P(18, 22) * _tmp41 + P(18, 3) * _tmp35 + P(18, 4) * _tmp38 + P(18, 5) * _tmp39); + _k(19, 0) = + _tmp42 * (P(19, 0) * _tmp30 + P(19, 1) * _tmp31 + P(19, 2) * _tmp32 + P(19, 21) * _tmp40 + + P(19, 22) * _tmp41 + P(19, 3) * _tmp35 + P(19, 4) * _tmp38 + P(19, 5) * _tmp39); + _k(20, 0) = + _tmp42 * (P(20, 0) * _tmp30 + P(20, 1) * _tmp31 + P(20, 2) * _tmp32 + P(20, 21) * _tmp40 + + P(20, 22) * _tmp41 + P(20, 3) * _tmp35 + P(20, 4) * _tmp38 + P(20, 5) * _tmp39); + _k(21, 0) = + _tmp42 * (P(21, 0) * _tmp30 + P(21, 1) * _tmp31 + P(21, 2) * _tmp32 + P(21, 21) * _tmp40 + + P(21, 22) * _tmp41 + P(21, 3) * _tmp35 + P(21, 4) * _tmp38 + P(21, 5) * _tmp39); + _k(22, 0) = + _tmp42 * (P(22, 0) * _tmp30 + P(22, 1) * _tmp31 + P(22, 2) * _tmp32 + P(22, 21) * _tmp40 + + P(22, 22) * _tmp41 + P(22, 3) * _tmp35 + P(22, 4) * _tmp38 + P(22, 5) * _tmp39); + _k(23, 0) = + _tmp42 * (P(23, 0) * _tmp30 + P(23, 1) * _tmp31 + P(23, 2) * _tmp32 + P(23, 21) * _tmp40 + + P(23, 22) * _tmp41 + P(23, 3) * _tmp35 + P(23, 4) * _tmp38 + P(23, 5) * _tmp39); } } // NOLINT(readability/fn_size) diff --git a/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_sideslip_innov_and_innov_var.h b/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_sideslip_innov_and_innov_var.h index 3d181c5c80b8..6918bddfc366 100644 --- a/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_sideslip_innov_and_innov_var.h +++ b/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_sideslip_innov_and_innov_var.h @@ -1,6 +1,6 @@ // ----------------------------------------------------------------------------- // This file was autogenerated by symforce from template: -// backends/cpp/templates/function/FUNCTION.h.jinja +// function/FUNCTION.h.jinja // Do NOT modify by hand. // ----------------------------------------------------------------------------- @@ -16,7 +16,7 @@ namespace sym { * Symbolic function: compute_sideslip_innov_and_innov_var * * Args: - * state: Matrix24_1 + * state: Matrix25_1 * P: Matrix24_24 * R: Scalar * epsilon: Scalar @@ -26,99 +26,97 @@ namespace sym { * innov_var: Scalar */ template -void ComputeSideslipInnovAndInnovVar(const matrix::Matrix& state, +void ComputeSideslipInnovAndInnovVar(const matrix::Matrix& state, const matrix::Matrix& P, const Scalar R, const Scalar epsilon, Scalar* const innov = nullptr, Scalar* const innov_var = nullptr) { - // Total ops: 276 + // Total ops: 265 // Input arrays - // Intermediate terms (44) - const Scalar _tmp0 = std::pow(state(2, 0), Scalar(2)); - const Scalar _tmp1 = std::pow(state(1, 0), Scalar(2)); - const Scalar _tmp2 = std::pow(state(0, 0), Scalar(2)) - std::pow(state(3, 0), Scalar(2)); - const Scalar _tmp3 = -_tmp0 + _tmp1 + _tmp2; - const Scalar _tmp4 = -state(22, 0) + state(4, 0); - const Scalar _tmp5 = state(0, 0) * state(3, 0); - const Scalar _tmp6 = state(1, 0) * state(2, 0); - const Scalar _tmp7 = _tmp5 + _tmp6; + // Intermediate terms (42) + const Scalar _tmp0 = 1 - 2 * std::pow(state(3, 0), Scalar(2)); + const Scalar _tmp1 = _tmp0 - 2 * std::pow(state(2, 0), Scalar(2)); + const Scalar _tmp2 = -state(22, 0) + state(4, 0); + const Scalar _tmp3 = 2 * state(0, 0); + const Scalar _tmp4 = _tmp3 * state(3, 0); + const Scalar _tmp5 = 2 * state(1, 0); + const Scalar _tmp6 = _tmp5 * state(2, 0); + const Scalar _tmp7 = _tmp4 + _tmp6; const Scalar _tmp8 = -state(23, 0) + state(5, 0); - const Scalar _tmp9 = 2 * _tmp8; - const Scalar _tmp10 = state(0, 0) * state(2, 0); - const Scalar _tmp11 = state(1, 0) * state(3, 0); - const Scalar _tmp12 = 2 * state(6, 0); - const Scalar _tmp13 = _tmp12 * (-_tmp10 + _tmp11) + _tmp3 * _tmp4 + _tmp7 * _tmp9; - const Scalar _tmp14 = - _tmp13 + epsilon * (2 * math::min(0, (((_tmp13) > 0) - ((_tmp13) < 0))) + 1); - const Scalar _tmp15 = Scalar(1.0) / (_tmp14); - const Scalar _tmp16 = _tmp0 - _tmp1 + _tmp2; - const Scalar _tmp17 = -_tmp5 + _tmp6; - const Scalar _tmp18 = 2 * _tmp4; - const Scalar _tmp19 = state(2, 0) * state(3, 0); - const Scalar _tmp20 = state(0, 0) * state(1, 0); - const Scalar _tmp21 = _tmp12 * (_tmp19 + _tmp20) + _tmp16 * _tmp8 + _tmp17 * _tmp18; - const Scalar _tmp22 = _tmp9 * state(1, 0); - const Scalar _tmp23 = _tmp18 * state(2, 0); - const Scalar _tmp24 = _tmp12 * state(0, 0); - const Scalar _tmp25 = _tmp12 * state(3, 0) + _tmp18 * state(1, 0) + _tmp9 * state(2, 0); - const Scalar _tmp26 = _tmp21 / std::pow(_tmp14, Scalar(2)); - const Scalar _tmp27 = _tmp15 * (-_tmp22 + _tmp23 + _tmp24) - _tmp25 * _tmp26; - const Scalar _tmp28 = _tmp15 * _tmp16; - const Scalar _tmp29 = 2 * _tmp5; - const Scalar _tmp30 = 2 * _tmp6; - const Scalar _tmp31 = -_tmp26 * (_tmp29 + _tmp30) + _tmp28; - const Scalar _tmp32 = _tmp12 * state(1, 0) - _tmp18 * state(3, 0) + _tmp9 * state(0, 0); - const Scalar _tmp33 = _tmp18 * state(0, 0); - const Scalar _tmp34 = _tmp9 * state(3, 0); - const Scalar _tmp35 = _tmp12 * state(2, 0); - const Scalar _tmp36 = _tmp15 * _tmp32 - _tmp26 * (_tmp33 + _tmp34 - _tmp35); - const Scalar _tmp37 = 2 * _tmp26 * _tmp7 - _tmp28; - const Scalar _tmp38 = _tmp26 * _tmp3; - const Scalar _tmp39 = -2 * _tmp15 * _tmp17 + _tmp38; - const Scalar _tmp40 = _tmp15 * _tmp25 - _tmp26 * (_tmp22 - _tmp23 - _tmp24); - const Scalar _tmp41 = _tmp15 * (-_tmp33 - _tmp34 + _tmp35) - _tmp26 * _tmp32; - const Scalar _tmp42 = _tmp15 * (2 * _tmp19 + 2 * _tmp20) - _tmp26 * (-2 * _tmp10 + 2 * _tmp11); - const Scalar _tmp43 = _tmp15 * (-_tmp29 + _tmp30) - _tmp38; + const Scalar _tmp9 = 2 * state(2, 0); + const Scalar _tmp10 = _tmp5 * state(3, 0) - _tmp9 * state(0, 0); + const Scalar _tmp11 = _tmp1 * _tmp2 + _tmp10 * state(6, 0) + _tmp7 * _tmp8; + const Scalar _tmp12 = + _tmp11 + epsilon * (2 * math::min(0, (((_tmp11) > 0) - ((_tmp11) < 0))) + 1); + const Scalar _tmp13 = Scalar(1.0) / (_tmp12); + const Scalar _tmp14 = _tmp0 - 2 * std::pow(state(1, 0), Scalar(2)); + const Scalar _tmp15 = -_tmp4 + _tmp6; + const Scalar _tmp16 = _tmp5 * state(0, 0) + _tmp9 * state(3, 0); + const Scalar _tmp17 = _tmp14 * _tmp8 + _tmp15 * _tmp2 + _tmp16 * state(6, 0); + const Scalar _tmp18 = _tmp17 / std::pow(_tmp12, Scalar(2)); + const Scalar _tmp19 = _tmp18 * _tmp7; + const Scalar _tmp20 = _tmp13 * _tmp14; + const Scalar _tmp21 = _tmp19 - _tmp20; + const Scalar _tmp22 = -_tmp10 * _tmp18 + _tmp13 * _tmp16; + const Scalar _tmp23 = _tmp1 * _tmp18; + const Scalar _tmp24 = _tmp13 * _tmp15; + const Scalar _tmp25 = -_tmp23 + _tmp24; + const Scalar _tmp26 = 2 * state(6, 0); + const Scalar _tmp27 = _tmp26 * state(0, 0); + const Scalar _tmp28 = _tmp26 * state(3, 0); + const Scalar _tmp29 = + (Scalar(1) / Scalar(2)) * _tmp13 * (_tmp2 * _tmp5 + _tmp28) - + Scalar(1) / Scalar(2) * _tmp18 * (-4 * _tmp2 * state(2, 0) - _tmp27 + _tmp5 * _tmp8); + const Scalar _tmp30 = + (Scalar(1) / Scalar(2)) * _tmp13 * (_tmp2 * _tmp9 + _tmp27 - 4 * _tmp8 * state(1, 0)) - + Scalar(1) / Scalar(2) * _tmp18 * (_tmp28 + _tmp8 * _tmp9); + const Scalar _tmp31 = 2 * state(3, 0); + const Scalar _tmp32 = _tmp26 * state(2, 0); + const Scalar _tmp33 = _tmp26 * state(1, 0); + const Scalar _tmp34 = (Scalar(1) / Scalar(2)) * _tmp13 * (-_tmp2 * _tmp31 + _tmp33) - + Scalar(1) / Scalar(2) * _tmp18 * (_tmp31 * _tmp8 - _tmp32); + const Scalar _tmp35 = 4 * state(3, 0); + const Scalar _tmp36 = + (Scalar(1) / Scalar(2)) * _tmp13 * (-_tmp2 * _tmp3 + _tmp32 - _tmp35 * _tmp8) - + Scalar(1) / Scalar(2) * _tmp18 * (-_tmp2 * _tmp35 + _tmp3 * _tmp8 + _tmp33); + const Scalar _tmp37 = + _tmp29 * state(1, 0) - _tmp30 * state(2, 0) - _tmp34 * state(3, 0) + _tmp36 * state(0, 0); + const Scalar _tmp38 = + -_tmp29 * state(3, 0) + _tmp30 * state(0, 0) - _tmp34 * state(1, 0) + _tmp36 * state(2, 0); + const Scalar _tmp39 = + _tmp29 * state(0, 0) + _tmp30 * state(3, 0) - _tmp34 * state(2, 0) - _tmp36 * state(1, 0); + const Scalar _tmp40 = _tmp23 - _tmp24; + const Scalar _tmp41 = -_tmp19 + _tmp20; // Output terms (2) if (innov != nullptr) { Scalar& _innov = (*innov); - _innov = _tmp15 * _tmp21; + _innov = _tmp13 * _tmp17; } if (innov_var != nullptr) { Scalar& _innov_var = (*innov_var); - _innov_var = R + - _tmp27 * (P(0, 1) * _tmp36 + P(1, 1) * _tmp27 + P(2, 1) * _tmp40 + - P(22, 1) * _tmp39 + P(23, 1) * _tmp37 + P(3, 1) * _tmp41 + - P(4, 1) * _tmp43 + P(5, 1) * _tmp31 + P(6, 1) * _tmp42) + - _tmp31 * (P(0, 5) * _tmp36 + P(1, 5) * _tmp27 + P(2, 5) * _tmp40 + - P(22, 5) * _tmp39 + P(23, 5) * _tmp37 + P(3, 5) * _tmp41 + - P(4, 5) * _tmp43 + P(5, 5) * _tmp31 + P(6, 5) * _tmp42) + - _tmp36 * (P(0, 0) * _tmp36 + P(1, 0) * _tmp27 + P(2, 0) * _tmp40 + - P(22, 0) * _tmp39 + P(23, 0) * _tmp37 + P(3, 0) * _tmp41 + - P(4, 0) * _tmp43 + P(5, 0) * _tmp31 + P(6, 0) * _tmp42) + - _tmp37 * (P(0, 23) * _tmp36 + P(1, 23) * _tmp27 + P(2, 23) * _tmp40 + - P(22, 23) * _tmp39 + P(23, 23) * _tmp37 + P(3, 23) * _tmp41 + - P(4, 23) * _tmp43 + P(5, 23) * _tmp31 + P(6, 23) * _tmp42) + - _tmp39 * (P(0, 22) * _tmp36 + P(1, 22) * _tmp27 + P(2, 22) * _tmp40 + - P(22, 22) * _tmp39 + P(23, 22) * _tmp37 + P(3, 22) * _tmp41 + - P(4, 22) * _tmp43 + P(5, 22) * _tmp31 + P(6, 22) * _tmp42) + - _tmp40 * (P(0, 2) * _tmp36 + P(1, 2) * _tmp27 + P(2, 2) * _tmp40 + - P(22, 2) * _tmp39 + P(23, 2) * _tmp37 + P(3, 2) * _tmp41 + - P(4, 2) * _tmp43 + P(5, 2) * _tmp31 + P(6, 2) * _tmp42) + - _tmp41 * (P(0, 3) * _tmp36 + P(1, 3) * _tmp27 + P(2, 3) * _tmp40 + - P(22, 3) * _tmp39 + P(23, 3) * _tmp37 + P(3, 3) * _tmp41 + - P(4, 3) * _tmp43 + P(5, 3) * _tmp31 + P(6, 3) * _tmp42) + - _tmp42 * (P(0, 6) * _tmp36 + P(1, 6) * _tmp27 + P(2, 6) * _tmp40 + - P(22, 6) * _tmp39 + P(23, 6) * _tmp37 + P(3, 6) * _tmp41 + - P(4, 6) * _tmp43 + P(5, 6) * _tmp31 + P(6, 6) * _tmp42) + - _tmp43 * (P(0, 4) * _tmp36 + P(1, 4) * _tmp27 + P(2, 4) * _tmp40 + - P(22, 4) * _tmp39 + P(23, 4) * _tmp37 + P(3, 4) * _tmp41 + - P(4, 4) * _tmp43 + P(5, 4) * _tmp31 + P(6, 4) * _tmp42); + _innov_var = + R + + _tmp21 * (P(0, 22) * _tmp38 + P(1, 22) * _tmp39 + P(2, 22) * _tmp37 + P(21, 22) * _tmp40 + + P(22, 22) * _tmp21 + P(3, 22) * _tmp25 + P(4, 22) * _tmp41 + P(5, 22) * _tmp22) + + _tmp22 * (P(0, 5) * _tmp38 + P(1, 5) * _tmp39 + P(2, 5) * _tmp37 + P(21, 5) * _tmp40 + + P(22, 5) * _tmp21 + P(3, 5) * _tmp25 + P(4, 5) * _tmp41 + P(5, 5) * _tmp22) + + _tmp25 * (P(0, 3) * _tmp38 + P(1, 3) * _tmp39 + P(2, 3) * _tmp37 + P(21, 3) * _tmp40 + + P(22, 3) * _tmp21 + P(3, 3) * _tmp25 + P(4, 3) * _tmp41 + P(5, 3) * _tmp22) + + _tmp37 * (P(0, 2) * _tmp38 + P(1, 2) * _tmp39 + P(2, 2) * _tmp37 + P(21, 2) * _tmp40 + + P(22, 2) * _tmp21 + P(3, 2) * _tmp25 + P(4, 2) * _tmp41 + P(5, 2) * _tmp22) + + _tmp38 * (P(0, 0) * _tmp38 + P(1, 0) * _tmp39 + P(2, 0) * _tmp37 + P(21, 0) * _tmp40 + + P(22, 0) * _tmp21 + P(3, 0) * _tmp25 + P(4, 0) * _tmp41 + P(5, 0) * _tmp22) + + _tmp39 * (P(0, 1) * _tmp38 + P(1, 1) * _tmp39 + P(2, 1) * _tmp37 + P(21, 1) * _tmp40 + + P(22, 1) * _tmp21 + P(3, 1) * _tmp25 + P(4, 1) * _tmp41 + P(5, 1) * _tmp22) + + _tmp40 * (P(0, 21) * _tmp38 + P(1, 21) * _tmp39 + P(2, 21) * _tmp37 + P(21, 21) * _tmp40 + + P(22, 21) * _tmp21 + P(3, 21) * _tmp25 + P(4, 21) * _tmp41 + P(5, 21) * _tmp22) + + _tmp41 * (P(0, 4) * _tmp38 + P(1, 4) * _tmp39 + P(2, 4) * _tmp37 + P(21, 4) * _tmp40 + + P(22, 4) * _tmp21 + P(3, 4) * _tmp25 + P(4, 4) * _tmp41 + P(5, 4) * _tmp22); } } // NOLINT(readability/fn_size) diff --git a/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_wind_init_and_cov_from_airspeed.h b/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_wind_init_and_cov_from_airspeed.h new file mode 100644 index 000000000000..95144609e6c5 --- /dev/null +++ b/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_wind_init_and_cov_from_airspeed.h @@ -0,0 +1,73 @@ +// ----------------------------------------------------------------------------- +// This file was autogenerated by symforce from template: +// function/FUNCTION.h.jinja +// Do NOT modify by hand. +// ----------------------------------------------------------------------------- + +#pragma once + +#include + +namespace sym { + +/** + * This function was autogenerated from a symbolic function. Do not modify by hand. + * + * Symbolic function: compute_wind_init_and_cov_from_airspeed + * + * Args: + * v_local: Matrix31 + * heading: Scalar + * airspeed: Scalar + * v_var: Matrix31 + * heading_var: Scalar + * sideslip_var: Scalar + * airspeed_var: Scalar + * + * Outputs: + * wind: Matrix21 + * P_wind: Matrix22 + */ +template +void ComputeWindInitAndCovFromAirspeed(const matrix::Matrix& v_local, + const Scalar heading, const Scalar airspeed, + const matrix::Matrix& v_var, + const Scalar heading_var, const Scalar sideslip_var, + const Scalar airspeed_var, + matrix::Matrix* const wind = nullptr, + matrix::Matrix* const P_wind = nullptr) { + // Total ops: 29 + + // Input arrays + + // Intermediate terms (9) + const Scalar _tmp0 = std::cos(heading); + const Scalar _tmp1 = std::sin(heading); + const Scalar _tmp2 = std::pow(_tmp1, Scalar(2)); + const Scalar _tmp3 = std::pow(airspeed, Scalar(2)); + const Scalar _tmp4 = _tmp3 * sideslip_var; + const Scalar _tmp5 = _tmp3 * heading_var; + const Scalar _tmp6 = std::pow(_tmp0, Scalar(2)); + const Scalar _tmp7 = _tmp0 * _tmp1; + const Scalar _tmp8 = -_tmp4 * _tmp7 - _tmp5 * _tmp7 + _tmp7 * airspeed_var; + + // Output terms (2) + if (wind != nullptr) { + matrix::Matrix& _wind = (*wind); + + _wind(0, 0) = -_tmp0 * airspeed + v_local(0, 0); + _wind(1, 0) = -_tmp1 * airspeed + v_local(1, 0); + } + + if (P_wind != nullptr) { + matrix::Matrix& _p_wind = (*P_wind); + + _p_wind(0, 0) = _tmp2 * _tmp4 + _tmp2 * _tmp5 + _tmp6 * airspeed_var + v_var(0, 0); + _p_wind(1, 0) = _tmp8; + _p_wind(0, 1) = _tmp8; + _p_wind(1, 1) = _tmp2 * airspeed_var + _tmp4 * _tmp6 + _tmp5 * _tmp6 + v_var(1, 0); + } +} // NOLINT(readability/fn_size) + +// NOLINTNEXTLINE(readability/fn_size) +} // namespace sym diff --git a/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_wind_init_and_cov_from_wind_speed_and_direction.h b/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_wind_init_and_cov_from_wind_speed_and_direction.h new file mode 100644 index 000000000000..d0af79dc7aec --- /dev/null +++ b/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_wind_init_and_cov_from_wind_speed_and_direction.h @@ -0,0 +1,61 @@ +// ----------------------------------------------------------------------------- +// This file was autogenerated by symforce from template: +// function/FUNCTION.h.jinja +// Do NOT modify by hand. +// ----------------------------------------------------------------------------- + +#pragma once + +#include + +namespace sym { + +/** + * This function was autogenerated from a symbolic function. Do not modify by hand. + * + * Symbolic function: compute_wind_init_and_cov_from_wind_speed_and_direction + * + * Args: + * wind_speed: Scalar + * wind_direction: Scalar + * wind_speed_var: Scalar + * wind_direction_var: Scalar + * + * Outputs: + * wind: Matrix21 + * P_wind: Matrix21 + */ +template +void ComputeWindInitAndCovFromWindSpeedAndDirection( + const Scalar wind_speed, const Scalar wind_direction, const Scalar wind_speed_var, + const Scalar wind_direction_var, matrix::Matrix* const wind = nullptr, + matrix::Matrix* const P_wind = nullptr) { + // Total ops: 14 + + // Input arrays + + // Intermediate terms (5) + const Scalar _tmp0 = std::cos(wind_direction); + const Scalar _tmp1 = std::sin(wind_direction); + const Scalar _tmp2 = std::pow(_tmp0, Scalar(2)); + const Scalar _tmp3 = std::pow(_tmp1, Scalar(2)); + const Scalar _tmp4 = wind_direction_var * std::pow(wind_speed, Scalar(2)); + + // Output terms (2) + if (wind != nullptr) { + matrix::Matrix& _wind = (*wind); + + _wind(0, 0) = _tmp0 * wind_speed; + _wind(1, 0) = _tmp1 * wind_speed; + } + + if (P_wind != nullptr) { + matrix::Matrix& _p_wind = (*P_wind); + + _p_wind(0, 0) = _tmp2 * wind_speed_var + _tmp3 * _tmp4; + _p_wind(1, 0) = _tmp2 * _tmp4 + _tmp3 * wind_speed_var; + } +} // NOLINT(readability/fn_size) + +// NOLINTNEXTLINE(readability/fn_size) +} // namespace sym diff --git a/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_yaw_312_innov_var_and_h.h b/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_yaw_312_innov_var_and_h.h deleted file mode 100644 index 30c08f9c25be..000000000000 --- a/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_yaw_312_innov_var_and_h.h +++ /dev/null @@ -1,75 +0,0 @@ -// ----------------------------------------------------------------------------- -// This file was autogenerated by symforce from template: -// backends/cpp/templates/function/FUNCTION.h.jinja -// Do NOT modify by hand. -// ----------------------------------------------------------------------------- - -#pragma once - -#include - -namespace sym { - -/** - * This function was autogenerated from a symbolic function. Do not modify by hand. - * - * Symbolic function: compute_yaw_312_innov_var_and_h - * - * Args: - * state: Matrix24_1 - * P: Matrix24_24 - * R: Scalar - * epsilon: Scalar - * - * Outputs: - * innov_var: Scalar - * H: Matrix24_1 - */ -template -void ComputeYaw312InnovVarAndH(const matrix::Matrix& state, - const matrix::Matrix& P, const Scalar R, - const Scalar epsilon, Scalar* const innov_var = nullptr, - matrix::Matrix* const H = nullptr) { - // Total ops: 75 - - // Input arrays - - // Intermediate terms (11) - const Scalar _tmp0 = -state(0, 0) * state(3, 0) + state(1, 0) * state(2, 0); - const Scalar _tmp1 = std::pow(state(0, 0), Scalar(2)) - std::pow(state(1, 0), Scalar(2)) + - std::pow(state(2, 0), Scalar(2)) - std::pow(state(3, 0), Scalar(2)); - const Scalar _tmp2 = _tmp1 + epsilon * ((((_tmp1) > 0) - ((_tmp1) < 0)) + Scalar(0.5)); - const Scalar _tmp3 = std::pow(_tmp2, Scalar(2)); - const Scalar _tmp4 = 4 * _tmp0 / _tmp3; - const Scalar _tmp5 = 2 / _tmp2; - const Scalar _tmp6 = _tmp3 / (4 * std::pow(_tmp0, Scalar(2)) + _tmp3); - const Scalar _tmp7 = _tmp6 * (-_tmp4 * state(1, 0) - _tmp5 * state(2, 0)); - const Scalar _tmp8 = _tmp6 * (_tmp4 * state(2, 0) - _tmp5 * state(1, 0)); - const Scalar _tmp9 = _tmp6 * (-_tmp4 * state(3, 0) + _tmp5 * state(0, 0)); - const Scalar _tmp10 = _tmp6 * (_tmp4 * state(0, 0) + _tmp5 * state(3, 0)); - - // Output terms (2) - if (innov_var != nullptr) { - Scalar& _innov_var = (*innov_var); - - _innov_var = R + - _tmp10 * (P(0, 0) * _tmp10 + P(1, 0) * _tmp7 + P(2, 0) * _tmp8 + P(3, 0) * _tmp9) + - _tmp7 * (P(0, 1) * _tmp10 + P(1, 1) * _tmp7 + P(2, 1) * _tmp8 + P(3, 1) * _tmp9) + - _tmp8 * (P(0, 2) * _tmp10 + P(1, 2) * _tmp7 + P(2, 2) * _tmp8 + P(3, 2) * _tmp9) + - _tmp9 * (P(0, 3) * _tmp10 + P(1, 3) * _tmp7 + P(2, 3) * _tmp8 + P(3, 3) * _tmp9); - } - - if (H != nullptr) { - matrix::Matrix& _h = (*H); - - _h.setZero(); - - _h(0, 0) = _tmp10; - _h(1, 0) = _tmp7; - _h(2, 0) = _tmp8; - _h(3, 0) = _tmp9; - } -} // NOLINT(readability/fn_size) - -// NOLINTNEXTLINE(readability/fn_size) -} // namespace sym diff --git a/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_yaw_312_innov_var_and_h_alternate.h b/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_yaw_312_innov_var_and_h_alternate.h deleted file mode 100644 index 862b67c7c459..000000000000 --- a/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_yaw_312_innov_var_and_h_alternate.h +++ /dev/null @@ -1,75 +0,0 @@ -// ----------------------------------------------------------------------------- -// This file was autogenerated by symforce from template: -// backends/cpp/templates/function/FUNCTION.h.jinja -// Do NOT modify by hand. -// ----------------------------------------------------------------------------- - -#pragma once - -#include - -namespace sym { - -/** - * This function was autogenerated from a symbolic function. Do not modify by hand. - * - * Symbolic function: compute_yaw_312_innov_var_and_h_alternate - * - * Args: - * state: Matrix24_1 - * P: Matrix24_24 - * R: Scalar - * epsilon: Scalar - * - * Outputs: - * innov_var: Scalar - * H: Matrix24_1 - */ -template -void ComputeYaw312InnovVarAndHAlternate(const matrix::Matrix& state, - const matrix::Matrix& P, const Scalar R, - const Scalar epsilon, Scalar* const innov_var = nullptr, - matrix::Matrix* const H = nullptr) { - // Total ops: 83 - - // Input arrays - - // Intermediate terms (11) - const Scalar _tmp0 = std::pow(state(0, 0), Scalar(2)) - std::pow(state(1, 0), Scalar(2)) + - std::pow(state(2, 0), Scalar(2)) - std::pow(state(3, 0), Scalar(2)); - const Scalar _tmp1 = -state(0, 0) * state(3, 0) + state(1, 0) * state(2, 0); - const Scalar _tmp2 = 2 * _tmp1 + epsilon * ((((_tmp1) > 0) - ((_tmp1) < 0)) + Scalar(0.5)); - const Scalar _tmp3 = std::pow(_tmp2, Scalar(2)); - const Scalar _tmp4 = 2 * _tmp0 / _tmp3; - const Scalar _tmp5 = 2 / _tmp2; - const Scalar _tmp6 = _tmp3 / (std::pow(_tmp0, Scalar(2)) + _tmp3); - const Scalar _tmp7 = _tmp6 * (_tmp4 * state(1, 0) - _tmp5 * state(2, 0)); - const Scalar _tmp8 = _tmp6 * (_tmp4 * state(2, 0) + _tmp5 * state(1, 0)); - const Scalar _tmp9 = _tmp6 * (-_tmp4 * state(0, 0) + _tmp5 * state(3, 0)); - const Scalar _tmp10 = _tmp6 * (-_tmp4 * state(3, 0) - _tmp5 * state(0, 0)); - - // Output terms (2) - if (innov_var != nullptr) { - Scalar& _innov_var = (*innov_var); - - _innov_var = - R - _tmp10 * (-P(0, 0) * _tmp10 - P(1, 0) * _tmp8 - P(2, 0) * _tmp7 - P(3, 0) * _tmp9) - - _tmp7 * (-P(0, 2) * _tmp10 - P(1, 2) * _tmp8 - P(2, 2) * _tmp7 - P(3, 2) * _tmp9) - - _tmp8 * (-P(0, 1) * _tmp10 - P(1, 1) * _tmp8 - P(2, 1) * _tmp7 - P(3, 1) * _tmp9) - - _tmp9 * (-P(0, 3) * _tmp10 - P(1, 3) * _tmp8 - P(2, 3) * _tmp7 - P(3, 3) * _tmp9); - } - - if (H != nullptr) { - matrix::Matrix& _h = (*H); - - _h.setZero(); - - _h(0, 0) = -_tmp10; - _h(1, 0) = -_tmp8; - _h(2, 0) = -_tmp7; - _h(3, 0) = -_tmp9; - } -} // NOLINT(readability/fn_size) - -// NOLINTNEXTLINE(readability/fn_size) -} // namespace sym diff --git a/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_yaw_321_innov_var_and_h.h b/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_yaw_321_innov_var_and_h.h deleted file mode 100644 index 066b5166da64..000000000000 --- a/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_yaw_321_innov_var_and_h.h +++ /dev/null @@ -1,75 +0,0 @@ -// ----------------------------------------------------------------------------- -// This file was autogenerated by symforce from template: -// backends/cpp/templates/function/FUNCTION.h.jinja -// Do NOT modify by hand. -// ----------------------------------------------------------------------------- - -#pragma once - -#include - -namespace sym { - -/** - * This function was autogenerated from a symbolic function. Do not modify by hand. - * - * Symbolic function: compute_yaw_321_innov_var_and_h - * - * Args: - * state: Matrix24_1 - * P: Matrix24_24 - * R: Scalar - * epsilon: Scalar - * - * Outputs: - * innov_var: Scalar - * H: Matrix24_1 - */ -template -void ComputeYaw321InnovVarAndH(const matrix::Matrix& state, - const matrix::Matrix& P, const Scalar R, - const Scalar epsilon, Scalar* const innov_var = nullptr, - matrix::Matrix* const H = nullptr) { - // Total ops: 74 - - // Input arrays - - // Intermediate terms (11) - const Scalar _tmp0 = state(0, 0) * state(3, 0) + state(1, 0) * state(2, 0); - const Scalar _tmp1 = std::pow(state(0, 0), Scalar(2)) + std::pow(state(1, 0), Scalar(2)) - - std::pow(state(2, 0), Scalar(2)) - std::pow(state(3, 0), Scalar(2)); - const Scalar _tmp2 = _tmp1 + epsilon * ((((_tmp1) > 0) - ((_tmp1) < 0)) + Scalar(0.5)); - const Scalar _tmp3 = std::pow(_tmp2, Scalar(2)); - const Scalar _tmp4 = 4 * _tmp0 / _tmp3; - const Scalar _tmp5 = 2 / _tmp2; - const Scalar _tmp6 = _tmp3 / (4 * std::pow(_tmp0, Scalar(2)) + _tmp3); - const Scalar _tmp7 = _tmp6 * (_tmp4 * state(2, 0) + _tmp5 * state(1, 0)); - const Scalar _tmp8 = _tmp6 * (-_tmp4 * state(1, 0) + _tmp5 * state(2, 0)); - const Scalar _tmp9 = _tmp6 * (-_tmp4 * state(0, 0) + _tmp5 * state(3, 0)); - const Scalar _tmp10 = _tmp6 * (_tmp4 * state(3, 0) + _tmp5 * state(0, 0)); - - // Output terms (2) - if (innov_var != nullptr) { - Scalar& _innov_var = (*innov_var); - - _innov_var = R + - _tmp10 * (P(0, 3) * _tmp9 + P(1, 3) * _tmp8 + P(2, 3) * _tmp7 + P(3, 3) * _tmp10) + - _tmp7 * (P(0, 2) * _tmp9 + P(1, 2) * _tmp8 + P(2, 2) * _tmp7 + P(3, 2) * _tmp10) + - _tmp8 * (P(0, 1) * _tmp9 + P(1, 1) * _tmp8 + P(2, 1) * _tmp7 + P(3, 1) * _tmp10) + - _tmp9 * (P(0, 0) * _tmp9 + P(1, 0) * _tmp8 + P(2, 0) * _tmp7 + P(3, 0) * _tmp10); - } - - if (H != nullptr) { - matrix::Matrix& _h = (*H); - - _h.setZero(); - - _h(0, 0) = _tmp9; - _h(1, 0) = _tmp8; - _h(2, 0) = _tmp7; - _h(3, 0) = _tmp10; - } -} // NOLINT(readability/fn_size) - -// NOLINTNEXTLINE(readability/fn_size) -} // namespace sym diff --git a/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_yaw_321_innov_var_and_h_alternate.h b/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_yaw_321_innov_var_and_h_alternate.h deleted file mode 100644 index d29921a7750e..000000000000 --- a/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_yaw_321_innov_var_and_h_alternate.h +++ /dev/null @@ -1,75 +0,0 @@ -// ----------------------------------------------------------------------------- -// This file was autogenerated by symforce from template: -// backends/cpp/templates/function/FUNCTION.h.jinja -// Do NOT modify by hand. -// ----------------------------------------------------------------------------- - -#pragma once - -#include - -namespace sym { - -/** - * This function was autogenerated from a symbolic function. Do not modify by hand. - * - * Symbolic function: compute_yaw_321_innov_var_and_h_alternate - * - * Args: - * state: Matrix24_1 - * P: Matrix24_24 - * R: Scalar - * epsilon: Scalar - * - * Outputs: - * innov_var: Scalar - * H: Matrix24_1 - */ -template -void ComputeYaw321InnovVarAndHAlternate(const matrix::Matrix& state, - const matrix::Matrix& P, const Scalar R, - const Scalar epsilon, Scalar* const innov_var = nullptr, - matrix::Matrix* const H = nullptr) { - // Total ops: 84 - - // Input arrays - - // Intermediate terms (11) - const Scalar _tmp0 = std::pow(state(0, 0), Scalar(2)) + std::pow(state(1, 0), Scalar(2)) - - std::pow(state(2, 0), Scalar(2)) - std::pow(state(3, 0), Scalar(2)); - const Scalar _tmp1 = state(0, 0) * state(3, 0) + state(1, 0) * state(2, 0); - const Scalar _tmp2 = 2 * _tmp1 + epsilon * ((((_tmp1) > 0) - ((_tmp1) < 0)) + Scalar(0.5)); - const Scalar _tmp3 = std::pow(_tmp2, Scalar(2)); - const Scalar _tmp4 = 2 * _tmp0 / _tmp3; - const Scalar _tmp5 = 2 / _tmp2; - const Scalar _tmp6 = _tmp3 / (std::pow(_tmp0, Scalar(2)) + _tmp3); - const Scalar _tmp7 = _tmp6 * (-_tmp4 * state(0, 0) - _tmp5 * state(3, 0)); - const Scalar _tmp8 = _tmp6 * (-_tmp4 * state(2, 0) + _tmp5 * state(1, 0)); - const Scalar _tmp9 = _tmp6 * (-_tmp4 * state(3, 0) + _tmp5 * state(0, 0)); - const Scalar _tmp10 = _tmp6 * (-_tmp4 * state(1, 0) - _tmp5 * state(2, 0)); - - // Output terms (2) - if (innov_var != nullptr) { - Scalar& _innov_var = (*innov_var); - - _innov_var = - R - _tmp10 * (-P(0, 2) * _tmp9 - P(1, 2) * _tmp8 - P(2, 2) * _tmp10 - P(3, 2) * _tmp7) - - _tmp7 * (-P(0, 3) * _tmp9 - P(1, 3) * _tmp8 - P(2, 3) * _tmp10 - P(3, 3) * _tmp7) - - _tmp8 * (-P(0, 1) * _tmp9 - P(1, 1) * _tmp8 - P(2, 1) * _tmp10 - P(3, 1) * _tmp7) - - _tmp9 * (-P(0, 0) * _tmp9 - P(1, 0) * _tmp8 - P(2, 0) * _tmp10 - P(3, 0) * _tmp7); - } - - if (H != nullptr) { - matrix::Matrix& _h = (*H); - - _h.setZero(); - - _h(0, 0) = -_tmp9; - _h(1, 0) = -_tmp8; - _h(2, 0) = -_tmp10; - _h(3, 0) = -_tmp7; - } -} // NOLINT(readability/fn_size) - -// NOLINTNEXTLINE(readability/fn_size) -} // namespace sym diff --git a/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_yaw_innov_var_and_h.h b/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_yaw_innov_var_and_h.h new file mode 100644 index 000000000000..41f21774336d --- /dev/null +++ b/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_yaw_innov_var_and_h.h @@ -0,0 +1,58 @@ +// ----------------------------------------------------------------------------- +// This file was autogenerated by symforce from template: +// function/FUNCTION.h.jinja +// Do NOT modify by hand. +// ----------------------------------------------------------------------------- + +#pragma once + +#include + +namespace sym { + +/** + * This function was autogenerated from a symbolic function. Do not modify by hand. + * + * Symbolic function: compute_yaw_innov_var_and_h + * + * Args: + * state: Matrix25_1 + * P: Matrix24_24 + * R: Scalar + * + * Outputs: + * innov_var: Scalar + * H: Matrix24_1 + */ +template +void ComputeYawInnovVarAndH(const matrix::Matrix& state, + const matrix::Matrix& P, const Scalar R, + Scalar* const innov_var = nullptr, + matrix::Matrix* const H = nullptr) { + // Total ops: 1 + + // Unused inputs + (void)state; + + // Input arrays + + // Intermediate terms (0) + + // Output terms (2) + if (innov_var != nullptr) { + Scalar& _innov_var = (*innov_var); + + _innov_var = P(2, 2) + R; + } + + if (H != nullptr) { + matrix::Matrix& _h = (*H); + + _h.setZero(); + + _h(2, 0) = 1; + } +} // NOLINT(readability/fn_size) + +// NOLINTNEXTLINE(readability/fn_size) +} // namespace sym diff --git a/src/modules/ekf2/EKF/python/ekf_derivation/generated/predict_covariance.h b/src/modules/ekf2/EKF/python/ekf_derivation/generated/predict_covariance.h index dfe663070b03..edf246a6bf60 100644 --- a/src/modules/ekf2/EKF/python/ekf_derivation/generated/predict_covariance.h +++ b/src/modules/ekf2/EKF/python/ekf_derivation/generated/predict_covariance.h @@ -1,6 +1,6 @@ // ----------------------------------------------------------------------------- // This file was autogenerated by symforce from template: -// backends/cpp/templates/function/FUNCTION.h.jinja +// function/FUNCTION.h.jinja // Do NOT modify by hand. // ----------------------------------------------------------------------------- @@ -16,1059 +16,628 @@ namespace sym { * Symbolic function: predict_covariance * * Args: - * state: Matrix24_1 + * state: Matrix25_1 * P: Matrix24_24 - * d_vel: Matrix31 - * d_vel_var: Matrix31 - * d_ang: Matrix31 - * d_ang_var: Scalar + * accel: Matrix31 + * accel_var: Matrix31 + * gyro: Matrix31 + * gyro_var: Scalar * dt: Scalar * * Outputs: - * P_new: Matrix24_24 + * res: Matrix24_24 */ template -void PredictCovariance(const matrix::Matrix& state, - const matrix::Matrix& P, - const matrix::Matrix& d_vel, - const matrix::Matrix& d_vel_var, - const matrix::Matrix& d_ang, const Scalar d_ang_var, - const Scalar dt, matrix::Matrix* const P_new = nullptr) { - // Total ops: 2887 +matrix::Matrix PredictCovariance(const matrix::Matrix& state, + const matrix::Matrix& P, + const matrix::Matrix& accel, + const matrix::Matrix& accel_var, + const matrix::Matrix& gyro, + const Scalar gyro_var, const Scalar dt) { + // Total ops: 1810 + + // Unused inputs + (void)gyro; // Input arrays - // Intermediate terms (171) - const Scalar _tmp0 = Scalar(0.5) * d_ang(2, 0); - const Scalar _tmp1 = Scalar(0.5) * state(12, 0); - const Scalar _tmp2 = -_tmp0 + _tmp1; - const Scalar _tmp3 = Scalar(0.5) * d_ang(1, 0); - const Scalar _tmp4 = Scalar(0.5) * state(11, 0); - const Scalar _tmp5 = -_tmp3 + _tmp4; - const Scalar _tmp6 = Scalar(0.5) * d_ang(0, 0); - const Scalar _tmp7 = Scalar(0.5) * state(10, 0); - const Scalar _tmp8 = -_tmp6 + _tmp7; - const Scalar _tmp9 = Scalar(0.5) * state(3, 0); - const Scalar _tmp10 = Scalar(0.5) * state(2, 0); - const Scalar _tmp11 = Scalar(0.5) * state(1, 0); - const Scalar _tmp12 = P(0, 11) + P(1, 11) * _tmp8 + P(10, 11) * _tmp11 + P(11, 11) * _tmp10 + - P(12, 11) * _tmp9 + P(2, 11) * _tmp5 + P(3, 11) * _tmp2; - const Scalar _tmp13 = P(0, 10) + P(1, 10) * _tmp8 + P(10, 10) * _tmp11 + P(11, 10) * _tmp10 + - P(12, 10) * _tmp9 + P(2, 10) * _tmp5 + P(3, 10) * _tmp2; - const Scalar _tmp14 = P(0, 12) + P(1, 12) * _tmp8 + P(10, 12) * _tmp11 + P(11, 12) * _tmp10 + - P(12, 12) * _tmp9 + P(2, 12) * _tmp5 + P(3, 12) * _tmp2; - const Scalar _tmp15 = P(0, 2) + P(1, 2) * _tmp8 + P(10, 2) * _tmp11 + P(11, 2) * _tmp10 + - P(12, 2) * _tmp9 + P(2, 2) * _tmp5 + P(3, 2) * _tmp2; - const Scalar _tmp16 = P(0, 3) + P(1, 3) * _tmp8 + P(10, 3) * _tmp11 + P(11, 3) * _tmp10 + - P(12, 3) * _tmp9 + P(2, 3) * _tmp5 + P(3, 3) * _tmp2; - const Scalar _tmp17 = P(0, 1) + P(1, 1) * _tmp8 + P(10, 1) * _tmp11 + P(11, 1) * _tmp10 + - P(12, 1) * _tmp9 + P(2, 1) * _tmp5 + P(3, 1) * _tmp2; - const Scalar _tmp18 = std::pow(state(3, 0), Scalar(2)); - const Scalar _tmp19 = Scalar(0.25) * d_ang_var; - const Scalar _tmp20 = _tmp18 * _tmp19; - const Scalar _tmp21 = P(0, 0) + P(1, 0) * _tmp8 + P(10, 0) * _tmp11 + P(11, 0) * _tmp10 + - P(12, 0) * _tmp9 + P(2, 0) * _tmp5 + P(3, 0) * _tmp2; - const Scalar _tmp22 = std::pow(state(2, 0), Scalar(2)); - const Scalar _tmp23 = _tmp19 * _tmp22; - const Scalar _tmp24 = std::pow(state(1, 0), Scalar(2)); - const Scalar _tmp25 = _tmp19 * _tmp24; - const Scalar _tmp26 = _tmp23 + _tmp25; - const Scalar _tmp27 = Scalar(0.5) * state(0, 0); - const Scalar _tmp28 = state(0, 0) * state(1, 0); - const Scalar _tmp29 = _tmp0 - _tmp1; - const Scalar _tmp30 = _tmp6 - _tmp7; - const Scalar _tmp31 = P(0, 12) * _tmp30 + P(1, 12) - P(10, 12) * _tmp27 + P(11, 12) * _tmp9 - - P(12, 12) * _tmp10 + P(2, 12) * _tmp29 + P(3, 12) * _tmp5; - const Scalar _tmp32 = P(0, 11) * _tmp30 + P(1, 11) - P(10, 11) * _tmp27 + P(11, 11) * _tmp9 - - P(12, 11) * _tmp10 + P(2, 11) * _tmp29 + P(3, 11) * _tmp5; - const Scalar _tmp33 = P(0, 10) * _tmp30 + P(1, 10) - P(10, 10) * _tmp27 + P(11, 10) * _tmp9 - - P(12, 10) * _tmp10 + P(2, 10) * _tmp29 + P(3, 10) * _tmp5; - const Scalar _tmp34 = P(0, 3) * _tmp30 + P(1, 3) - P(10, 3) * _tmp27 + P(11, 3) * _tmp9 - - P(12, 3) * _tmp10 + P(2, 3) * _tmp29 + P(3, 3) * _tmp5; - const Scalar _tmp35 = P(0, 2) * _tmp30 + P(1, 2) - P(10, 2) * _tmp27 + P(11, 2) * _tmp9 - - P(12, 2) * _tmp10 + P(2, 2) * _tmp29 + P(3, 2) * _tmp5; - const Scalar _tmp36 = P(0, 0) * _tmp30 + P(1, 0) - P(10, 0) * _tmp27 + P(11, 0) * _tmp9 - - P(12, 0) * _tmp10 + P(2, 0) * _tmp29 + P(3, 0) * _tmp5; - const Scalar _tmp37 = P(0, 1) * _tmp30 + P(1, 1) - P(10, 1) * _tmp27 + P(11, 1) * _tmp9 - - P(12, 1) * _tmp10 + P(2, 1) * _tmp29 + P(3, 1) * _tmp5; - const Scalar _tmp38 = _tmp19 * std::pow(state(0, 0), Scalar(2)); - const Scalar _tmp39 = _tmp20 + _tmp38; - const Scalar _tmp40 = state(0, 0) * state(2, 0); - const Scalar _tmp41 = _tmp3 - _tmp4; - const Scalar _tmp42 = state(1, 0) * state(2, 0); - const Scalar _tmp43 = P(0, 12) * _tmp41 + P(1, 12) * _tmp2 - P(10, 12) * _tmp9 - - P(11, 12) * _tmp27 + P(12, 12) * _tmp11 + P(2, 12) + P(3, 12) * _tmp30; - const Scalar _tmp44 = P(0, 11) * _tmp41 + P(1, 11) * _tmp2 - P(10, 11) * _tmp9 - - P(11, 11) * _tmp27 + P(12, 11) * _tmp11 + P(2, 11) + P(3, 11) * _tmp30; - const Scalar _tmp45 = P(0, 10) * _tmp41 + P(1, 10) * _tmp2 - P(10, 10) * _tmp9 - - P(11, 10) * _tmp27 + P(12, 10) * _tmp11 + P(2, 10) + P(3, 10) * _tmp30; - const Scalar _tmp46 = P(0, 0) * _tmp41 + P(1, 0) * _tmp2 - P(10, 0) * _tmp9 - P(11, 0) * _tmp27 + - P(12, 0) * _tmp11 + P(2, 0) + P(3, 0) * _tmp30; - const Scalar _tmp47 = P(0, 1) * _tmp41 + P(1, 1) * _tmp2 - P(10, 1) * _tmp9 - P(11, 1) * _tmp27 + - P(12, 1) * _tmp11 + P(2, 1) + P(3, 1) * _tmp30; - const Scalar _tmp48 = P(0, 3) * _tmp41 + P(1, 3) * _tmp2 - P(10, 3) * _tmp9 - P(11, 3) * _tmp27 + - P(12, 3) * _tmp11 + P(2, 3) + P(3, 3) * _tmp30; - const Scalar _tmp49 = P(0, 2) * _tmp41 + P(1, 2) * _tmp2 - P(10, 2) * _tmp9 - P(11, 2) * _tmp27 + - P(12, 2) * _tmp11 + P(2, 2) + P(3, 2) * _tmp30; - const Scalar _tmp50 = state(0, 0) * state(3, 0); - const Scalar _tmp51 = state(1, 0) * state(3, 0); - const Scalar _tmp52 = state(2, 0) * state(3, 0); - const Scalar _tmp53 = P(0, 12) * _tmp29 + P(1, 12) * _tmp41 + P(10, 12) * _tmp10 - - P(11, 12) * _tmp11 - P(12, 12) * _tmp27 + P(2, 12) * _tmp8 + P(3, 12); - const Scalar _tmp54 = P(0, 11) * _tmp29 + P(1, 11) * _tmp41 + P(10, 11) * _tmp10 - - P(11, 11) * _tmp11 - P(12, 11) * _tmp27 + P(2, 11) * _tmp8 + P(3, 11); - const Scalar _tmp55 = P(0, 10) * _tmp29 + P(1, 10) * _tmp41 + P(10, 10) * _tmp10 - - P(11, 10) * _tmp11 - P(12, 10) * _tmp27 + P(2, 10) * _tmp8 + P(3, 10); - const Scalar _tmp56 = P(0, 2) * _tmp29 + P(1, 2) * _tmp41 + P(10, 2) * _tmp10 - - P(11, 2) * _tmp11 - P(12, 2) * _tmp27 + P(2, 2) * _tmp8 + P(3, 2); - const Scalar _tmp57 = P(0, 0) * _tmp29 + P(1, 0) * _tmp41 + P(10, 0) * _tmp10 - - P(11, 0) * _tmp11 - P(12, 0) * _tmp27 + P(2, 0) * _tmp8 + P(3, 0); - const Scalar _tmp58 = P(0, 1) * _tmp29 + P(1, 1) * _tmp41 + P(10, 1) * _tmp10 - - P(11, 1) * _tmp11 - P(12, 1) * _tmp27 + P(2, 1) * _tmp8 + P(3, 1); - const Scalar _tmp59 = P(0, 3) * _tmp29 + P(1, 3) * _tmp41 + P(10, 3) * _tmp10 - - P(11, 3) * _tmp11 - P(12, 3) * _tmp27 + P(2, 3) * _tmp8 + P(3, 3); - const Scalar _tmp60 = d_vel(1, 0) - state(14, 0); - const Scalar _tmp61 = 2 * _tmp60; - const Scalar _tmp62 = _tmp61 * state(2, 0); - const Scalar _tmp63 = d_vel(2, 0) - state(15, 0); - const Scalar _tmp64 = 2 * _tmp63; - const Scalar _tmp65 = _tmp64 * state(3, 0); - const Scalar _tmp66 = _tmp62 + _tmp65; - const Scalar _tmp67 = _tmp64 * state(2, 0); - const Scalar _tmp68 = _tmp61 * state(3, 0); - const Scalar _tmp69 = _tmp67 - _tmp68; - const Scalar _tmp70 = _tmp64 * state(1, 0); - const Scalar _tmp71 = _tmp61 * state(0, 0); - const Scalar _tmp72 = d_vel(0, 0) - state(13, 0); - const Scalar _tmp73 = 4 * state(3, 0); - const Scalar _tmp74 = _tmp70 - _tmp71 - _tmp72 * _tmp73; - const Scalar _tmp75 = P(0, 15) + P(1, 15) * _tmp8 + P(10, 15) * _tmp11 + P(11, 15) * _tmp10 + - P(12, 15) * _tmp9 + P(2, 15) * _tmp5 + P(3, 15) * _tmp2; - const Scalar _tmp76 = 2 * _tmp40 + 2 * _tmp51; - const Scalar _tmp77 = P(0, 14) + P(1, 14) * _tmp8 + P(10, 14) * _tmp11 + P(11, 14) * _tmp10 + - P(12, 14) * _tmp9 + P(2, 14) * _tmp5 + P(3, 14) * _tmp2; - const Scalar _tmp78 = 2 * _tmp42 - 2 * _tmp50; - const Scalar _tmp79 = -2 * _tmp18; - const Scalar _tmp80 = -2 * _tmp22; - const Scalar _tmp81 = _tmp79 + _tmp80 + 1; - const Scalar _tmp82 = P(0, 13) + P(1, 13) * _tmp8 + P(10, 13) * _tmp11 + P(11, 13) * _tmp10 + - P(12, 13) * _tmp9 + P(2, 13) * _tmp5 + P(3, 13) * _tmp2; - const Scalar _tmp83 = _tmp61 * state(1, 0); - const Scalar _tmp84 = _tmp64 * state(0, 0); - const Scalar _tmp85 = 4 * state(2, 0); - const Scalar _tmp86 = -_tmp72 * _tmp85 + _tmp83 + _tmp84; - const Scalar _tmp87 = P(0, 4) + P(1, 4) * _tmp8 + P(10, 4) * _tmp11 + P(11, 4) * _tmp10 + - P(12, 4) * _tmp9 + P(2, 4) * _tmp5 + P(3, 4) * _tmp2; - const Scalar _tmp88 = P(0, 13) * _tmp30 + P(1, 13) - P(10, 13) * _tmp27 + P(11, 13) * _tmp9 - - P(12, 13) * _tmp10 + P(2, 13) * _tmp29 + P(3, 13) * _tmp5; - const Scalar _tmp89 = P(0, 15) * _tmp30 + P(1, 15) - P(10, 15) * _tmp27 + P(11, 15) * _tmp9 - - P(12, 15) * _tmp10 + P(2, 15) * _tmp29 + P(3, 15) * _tmp5; - const Scalar _tmp90 = P(0, 14) * _tmp30 + P(1, 14) - P(10, 14) * _tmp27 + P(11, 14) * _tmp9 - - P(12, 14) * _tmp10 + P(2, 14) * _tmp29 + P(3, 14) * _tmp5; - const Scalar _tmp91 = P(0, 4) * _tmp30 + P(1, 4) - P(10, 4) * _tmp27 + P(11, 4) * _tmp9 - - P(12, 4) * _tmp10 + P(2, 4) * _tmp29 + P(3, 4) * _tmp5; - const Scalar _tmp92 = P(0, 15) * _tmp41 + P(1, 15) * _tmp2 - P(10, 15) * _tmp9 - - P(11, 15) * _tmp27 + P(12, 15) * _tmp11 + P(2, 15) + P(3, 15) * _tmp30; - const Scalar _tmp93 = P(0, 14) * _tmp41 + P(1, 14) * _tmp2 - P(10, 14) * _tmp9 - - P(11, 14) * _tmp27 + P(12, 14) * _tmp11 + P(2, 14) + P(3, 14) * _tmp30; - const Scalar _tmp94 = P(0, 13) * _tmp41 + P(1, 13) * _tmp2 - P(10, 13) * _tmp9 - - P(11, 13) * _tmp27 + P(12, 13) * _tmp11 + P(2, 13) + P(3, 13) * _tmp30; - const Scalar _tmp95 = Scalar(0.5) * P(11, 4); - const Scalar _tmp96 = P(0, 4) * _tmp41 + P(1, 4) * _tmp2 - P(10, 4) * _tmp9 + P(12, 4) * _tmp11 + - P(2, 4) + P(3, 4) * _tmp30 - _tmp95 * state(0, 0); - const Scalar _tmp97 = P(0, 13) * _tmp29 + P(1, 13) * _tmp41 + P(10, 13) * _tmp10 - - P(11, 13) * _tmp11 - P(12, 13) * _tmp27 + P(2, 13) * _tmp8 + P(3, 13); - const Scalar _tmp98 = P(0, 14) * _tmp29 + P(1, 14) * _tmp41 + P(10, 14) * _tmp10 - - P(11, 14) * _tmp11 - P(12, 14) * _tmp27 + P(2, 14) * _tmp8 + P(3, 14); - const Scalar _tmp99 = P(0, 15) * _tmp29 + P(1, 15) * _tmp41 + P(10, 15) * _tmp10 - - P(11, 15) * _tmp11 - P(12, 15) * _tmp27 + P(2, 15) * _tmp8 + P(3, 15); - const Scalar _tmp100 = P(0, 4) * _tmp29 + P(1, 4) * _tmp41 + P(10, 4) * _tmp10 - - P(12, 4) * _tmp27 + P(2, 4) * _tmp8 + P(3, 4) - _tmp95 * state(1, 0); - const Scalar _tmp101 = P(0, 13) * _tmp69 + P(1, 13) * _tmp66 - P(13, 13) * _tmp81 - - P(14, 13) * _tmp78 - P(15, 13) * _tmp76 + P(2, 13) * _tmp86 + - P(3, 13) * _tmp74 + P(4, 13); - const Scalar _tmp102 = P(0, 14) * _tmp69 + P(1, 14) * _tmp66 - P(13, 14) * _tmp81 - - P(14, 14) * _tmp78 - P(15, 14) * _tmp76 + P(2, 14) * _tmp86 + - P(3, 14) * _tmp74 + P(4, 14); - const Scalar _tmp103 = P(0, 15) * _tmp69 + P(1, 15) * _tmp66 - P(13, 15) * _tmp81 - - P(14, 15) * _tmp78 - P(15, 15) * _tmp76 + P(2, 15) * _tmp86 + - P(3, 15) * _tmp74 + P(4, 15); - const Scalar _tmp104 = 2 * _tmp40; - const Scalar _tmp105 = 2 * _tmp51; - const Scalar _tmp106 = _tmp104 + _tmp105; - const Scalar _tmp107 = 2 * _tmp50; - const Scalar _tmp108 = 2 * _tmp42; - const Scalar _tmp109 = -_tmp107 + _tmp108; - const Scalar _tmp110 = P(0, 0) * _tmp69 + P(1, 0) * _tmp66 - P(13, 0) * _tmp81 - - P(14, 0) * _tmp78 - P(15, 0) * _tmp76 + P(2, 0) * _tmp86 + - P(3, 0) * _tmp74 + P(4, 0); - const Scalar _tmp111 = P(0, 1) * _tmp69 + P(1, 1) * _tmp66 - P(13, 1) * _tmp81 - - P(14, 1) * _tmp78 - P(15, 1) * _tmp76 + P(2, 1) * _tmp86 + - P(3, 1) * _tmp74 + P(4, 1); - const Scalar _tmp112 = P(0, 2) * _tmp69 + P(1, 2) * _tmp66 - P(13, 2) * _tmp81 - - P(14, 2) * _tmp78 - P(15, 2) * _tmp76 + P(2, 2) * _tmp86 + - P(3, 2) * _tmp74 + P(4, 2); - const Scalar _tmp113 = P(0, 3) * _tmp69 + P(1, 3) * _tmp66 - P(13, 3) * _tmp81 - - P(14, 3) * _tmp78 - P(15, 3) * _tmp76 + P(2, 3) * _tmp86 + - P(3, 3) * _tmp74 + P(4, 3); - const Scalar _tmp114 = P(0, 4) * _tmp69 + P(1, 4) * _tmp66 - P(13, 4) * _tmp81 - - P(14, 4) * _tmp78 - P(15, 4) * _tmp76 + P(2, 4) * _tmp86 + - P(3, 4) * _tmp74 + P(4, 4); - const Scalar _tmp115 = 2 * _tmp72; - const Scalar _tmp116 = _tmp115 * state(1, 0); - const Scalar _tmp117 = _tmp116 + _tmp65; - const Scalar _tmp118 = _tmp115 * state(3, 0); - const Scalar _tmp119 = _tmp118 - _tmp70; - const Scalar _tmp120 = _tmp115 * state(0, 0); - const Scalar _tmp121 = _tmp120 - _tmp60 * _tmp73 + _tmp67; - const Scalar _tmp122 = 2 * _tmp42 + 2 * _tmp50; - const Scalar _tmp123 = -2 * _tmp28 + 2 * _tmp52; - const Scalar _tmp124 = 1 - 2 * _tmp24; - const Scalar _tmp125 = _tmp124 + _tmp79; - const Scalar _tmp126 = 4 * state(1, 0); - const Scalar _tmp127 = _tmp115 * state(2, 0); - const Scalar _tmp128 = -_tmp126 * _tmp60 + _tmp127 - _tmp84; - const Scalar _tmp129 = P(0, 5) + P(1, 5) * _tmp8 + P(10, 5) * _tmp11 + P(11, 5) * _tmp10 + - P(12, 5) * _tmp9 + P(2, 5) * _tmp5 + P(3, 5) * _tmp2; - const Scalar _tmp130 = P(0, 5) * _tmp30 + P(1, 5) - P(10, 5) * _tmp27 + P(11, 5) * _tmp9 - - P(12, 5) * _tmp10 + P(2, 5) * _tmp29 + P(3, 5) * _tmp5; - const Scalar _tmp131 = Scalar(0.5) * P(11, 5); - const Scalar _tmp132 = P(0, 5) * _tmp41 + P(1, 5) * _tmp2 - P(10, 5) * _tmp9 + P(12, 5) * _tmp11 + - P(2, 5) + P(3, 5) * _tmp30 - _tmp131 * state(0, 0); - const Scalar _tmp133 = P(0, 5) * _tmp29 + P(1, 5) * _tmp41 + P(10, 5) * _tmp10 - - P(12, 5) * _tmp27 + P(2, 5) * _tmp8 + P(3, 5) - _tmp131 * state(1, 0); - const Scalar _tmp134 = _tmp107 + _tmp108; - const Scalar _tmp135 = _tmp81 * d_vel_var(0, 0); - const Scalar _tmp136 = 2 * _tmp52; - const Scalar _tmp137 = 2 * _tmp28; - const Scalar _tmp138 = _tmp136 - _tmp137; - const Scalar _tmp139 = _tmp138 * d_vel_var(2, 0); - const Scalar _tmp140 = P(0, 5) * _tmp69 + P(1, 5) * _tmp66 - P(13, 5) * _tmp81 - - P(14, 5) * _tmp78 - P(15, 5) * _tmp76 + P(2, 5) * _tmp86 + - P(3, 5) * _tmp74 + P(4, 5); - const Scalar _tmp141 = P(0, 3) * _tmp119 + P(1, 3) * _tmp128 - P(13, 3) * _tmp122 - - P(14, 3) * _tmp125 - P(15, 3) * _tmp123 + P(2, 3) * _tmp117 + - P(3, 3) * _tmp121 + P(5, 3); - const Scalar _tmp142 = P(0, 1) * _tmp119 + P(1, 1) * _tmp128 - P(13, 1) * _tmp122 - - P(14, 1) * _tmp125 - P(15, 1) * _tmp123 + P(2, 1) * _tmp117 + - P(3, 1) * _tmp121 + P(5, 1); - const Scalar _tmp143 = P(0, 13) * _tmp119 + P(1, 13) * _tmp128 - P(13, 13) * _tmp122 - - P(14, 13) * _tmp125 - P(15, 13) * _tmp123 + P(2, 13) * _tmp117 + - P(3, 13) * _tmp121 + P(5, 13); - const Scalar _tmp144 = P(0, 15) * _tmp119 + P(1, 15) * _tmp128 - P(13, 15) * _tmp122 - - P(14, 15) * _tmp125 - P(15, 15) * _tmp123 + P(2, 15) * _tmp117 + - P(3, 15) * _tmp121 + P(5, 15); - const Scalar _tmp145 = P(0, 14) * _tmp119 + P(1, 14) * _tmp128 - P(13, 14) * _tmp122 - - P(14, 14) * _tmp125 - P(15, 14) * _tmp123 + P(2, 14) * _tmp117 + - P(3, 14) * _tmp121 + P(5, 14); - const Scalar _tmp146 = P(0, 0) * _tmp119 + P(1, 0) * _tmp128 - P(13, 0) * _tmp122 - - P(14, 0) * _tmp125 - P(15, 0) * _tmp123 + P(2, 0) * _tmp117 + - P(3, 0) * _tmp121 + P(5, 0); - const Scalar _tmp147 = P(0, 2) * _tmp119 + P(1, 2) * _tmp128 - P(13, 2) * _tmp122 - - P(14, 2) * _tmp125 - P(15, 2) * _tmp123 + P(2, 2) * _tmp117 + - P(3, 2) * _tmp121 + P(5, 2); - const Scalar _tmp148 = P(0, 5) * _tmp119 + P(1, 5) * _tmp128 - P(13, 5) * _tmp122 - - P(14, 5) * _tmp125 - P(15, 5) * _tmp123 + P(2, 5) * _tmp117 + - P(3, 5) * _tmp121 + P(5, 5); - const Scalar _tmp149 = _tmp116 + _tmp62; - const Scalar _tmp150 = -_tmp127 + _tmp83; - const Scalar _tmp151 = -_tmp120 - _tmp63 * _tmp85 + _tmp68; - const Scalar _tmp152 = _tmp118 - _tmp126 * _tmp63 + _tmp71; - const Scalar _tmp153 = -2 * _tmp40 + 2 * _tmp51; - const Scalar _tmp154 = 2 * _tmp28 + 2 * _tmp52; - const Scalar _tmp155 = _tmp124 + _tmp80; - const Scalar _tmp156 = P(0, 6) + P(1, 6) * _tmp8 + P(10, 6) * _tmp11 + P(11, 6) * _tmp10 + - P(12, 6) * _tmp9 + P(2, 6) * _tmp5 + P(3, 6) * _tmp2; - const Scalar _tmp157 = P(0, 6) * _tmp30 + P(1, 6) - P(10, 6) * _tmp27 + P(11, 6) * _tmp9 - - P(12, 6) * _tmp10 + P(2, 6) * _tmp29 + P(3, 6) * _tmp5; - const Scalar _tmp158 = Scalar(0.5) * P(11, 6); - const Scalar _tmp159 = P(0, 6) * _tmp41 + P(1, 6) * _tmp2 - P(10, 6) * _tmp9 + P(12, 6) * _tmp11 + - P(2, 6) + P(3, 6) * _tmp30 - _tmp158 * state(0, 0); - const Scalar _tmp160 = P(0, 6) * _tmp29 + P(1, 6) * _tmp41 + P(10, 6) * _tmp10 - - P(12, 6) * _tmp27 + P(2, 6) * _tmp8 + P(3, 6) - _tmp158 * state(1, 0); - const Scalar _tmp161 = -_tmp104 + _tmp105; - const Scalar _tmp162 = _tmp136 + _tmp137; - const Scalar _tmp163 = _tmp162 * d_vel_var(1, 0); - const Scalar _tmp164 = P(0, 6) * _tmp69 + P(1, 6) * _tmp66 - P(13, 6) * _tmp81 - - P(14, 6) * _tmp78 - P(15, 6) * _tmp76 + P(2, 6) * _tmp86 + - P(3, 6) * _tmp74 + P(4, 6); - const Scalar _tmp165 = P(0, 6) * _tmp119 + P(1, 6) * _tmp128 - P(13, 6) * _tmp122 - - P(14, 6) * _tmp125 - P(15, 6) * _tmp123 + P(2, 6) * _tmp117 + - P(3, 6) * _tmp121 + P(5, 6); - const Scalar _tmp166 = P(0, 13) * _tmp150 + P(1, 13) * _tmp152 - P(13, 13) * _tmp153 - - P(14, 13) * _tmp154 - P(15, 13) * _tmp155 + P(2, 13) * _tmp151 + - P(3, 13) * _tmp149 + P(6, 13); - const Scalar _tmp167 = P(0, 14) * _tmp150 + P(1, 14) * _tmp152 - P(13, 14) * _tmp153 - - P(14, 14) * _tmp154 - P(15, 14) * _tmp155 + P(2, 14) * _tmp151 + - P(3, 14) * _tmp149 + P(6, 14); - const Scalar _tmp168 = P(0, 15) * _tmp150 + P(1, 15) * _tmp152 - P(13, 15) * _tmp153 - - P(14, 15) * _tmp154 - P(15, 15) * _tmp155 + P(2, 15) * _tmp151 + - P(3, 15) * _tmp149 + P(6, 15); - const Scalar _tmp169 = P(0, 6) * _tmp150 + P(1, 6) * _tmp152 - P(13, 6) * _tmp153 - - P(14, 6) * _tmp154 - P(15, 6) * _tmp155 + P(2, 6) * _tmp151 + - P(3, 6) * _tmp149 + P(6, 6); - const Scalar _tmp170 = Scalar(0.5) * P(11, 8); + // Intermediate terms (144) + const Scalar _tmp0 = 2 * state(1, 0); + const Scalar _tmp1 = _tmp0 * state(3, 0); + const Scalar _tmp2 = -_tmp1 * dt; + const Scalar _tmp3 = 2 * state(0, 0); + const Scalar _tmp4 = _tmp3 * state(2, 0); + const Scalar _tmp5 = _tmp4 * dt; + const Scalar _tmp6 = _tmp2 - _tmp5; + const Scalar _tmp7 = std::pow(state(3, 0), Scalar(2)); + const Scalar _tmp8 = _tmp7 * dt; + const Scalar _tmp9 = std::pow(state(0, 0), Scalar(2)); + const Scalar _tmp10 = -_tmp9 * dt; + const Scalar _tmp11 = std::pow(state(2, 0), Scalar(2)); + const Scalar _tmp12 = _tmp11 * dt; + const Scalar _tmp13 = std::pow(state(1, 0), Scalar(2)); + const Scalar _tmp14 = _tmp13 * dt; + const Scalar _tmp15 = _tmp10 + _tmp12 - _tmp14 + _tmp8; + const Scalar _tmp16 = _tmp13 + _tmp7; + const Scalar _tmp17 = _tmp11 + _tmp9; + const Scalar _tmp18 = _tmp16 + _tmp17; + const Scalar _tmp19 = _tmp0 * state(2, 0); + const Scalar _tmp20 = -_tmp19 * dt; + const Scalar _tmp21 = _tmp3 * state(3, 0); + const Scalar _tmp22 = _tmp21 * dt; + const Scalar _tmp23 = _tmp20 + _tmp22; + const Scalar _tmp24 = + P(0, 11) * _tmp18 + P(10, 11) * _tmp23 + P(11, 11) * _tmp6 + P(9, 11) * _tmp15; + const Scalar _tmp25 = + P(0, 10) * _tmp18 + P(10, 10) * _tmp23 + P(11, 10) * _tmp6 + P(9, 10) * _tmp15; + const Scalar _tmp26 = P(0, 0) * _tmp18 + P(10, 0) * _tmp23 + P(11, 0) * _tmp6 + P(9, 0) * _tmp15; + const Scalar _tmp27 = P(0, 9) * _tmp18 + P(10, 9) * _tmp23 + P(11, 9) * _tmp6 + P(9, 9) * _tmp15; + const Scalar _tmp28 = _tmp10 + _tmp14; + const Scalar _tmp29 = -_tmp12 + _tmp28 + _tmp8; + const Scalar _tmp30 = _tmp0 * state(0, 0); + const Scalar _tmp31 = _tmp30 * dt; + const Scalar _tmp32 = 2 * state(2, 0) * state(3, 0); + const Scalar _tmp33 = -_tmp32 * dt; + const Scalar _tmp34 = _tmp31 + _tmp33; + const Scalar _tmp35 = P(0, 1) * _tmp18 + P(10, 1) * _tmp23 + P(11, 1) * _tmp6 + P(9, 1) * _tmp15; + const Scalar _tmp36 = _tmp20 - _tmp22; + const Scalar _tmp37 = _tmp23 * gyro_var; + const Scalar _tmp38 = _tmp36 * gyro_var; + const Scalar _tmp39 = _tmp6 * gyro_var; + const Scalar _tmp40 = + P(1, 10) * _tmp18 + P(10, 10) * _tmp29 + P(11, 10) * _tmp34 + P(9, 10) * _tmp36; + const Scalar _tmp41 = + P(1, 11) * _tmp18 + P(10, 11) * _tmp29 + P(11, 11) * _tmp34 + P(9, 11) * _tmp36; + const Scalar _tmp42 = P(1, 9) * _tmp18 + P(10, 9) * _tmp29 + P(11, 9) * _tmp34 + P(9, 9) * _tmp36; + const Scalar _tmp43 = P(1, 1) * _tmp18 + P(10, 1) * _tmp29 + P(11, 1) * _tmp34 + P(9, 1) * _tmp36; + const Scalar _tmp44 = _tmp12 + _tmp28 - _tmp8; + const Scalar _tmp45 = -_tmp31 + _tmp33; + const Scalar _tmp46 = P(0, 2) * _tmp18 + P(10, 2) * _tmp23 + P(11, 2) * _tmp6 + P(9, 2) * _tmp15; + const Scalar _tmp47 = _tmp2 + _tmp5; + const Scalar _tmp48 = P(1, 2) * _tmp18 + P(10, 2) * _tmp29 + P(11, 2) * _tmp34 + P(9, 2) * _tmp36; + const Scalar _tmp49 = + P(10, 10) * _tmp45 + P(11, 10) * _tmp44 + P(2, 10) * _tmp18 + P(9, 10) * _tmp47; + const Scalar _tmp50 = + P(10, 11) * _tmp45 + P(11, 11) * _tmp44 + P(2, 11) * _tmp18 + P(9, 11) * _tmp47; + const Scalar _tmp51 = P(10, 2) * _tmp45 + P(11, 2) * _tmp44 + P(2, 2) * _tmp18 + P(9, 2) * _tmp47; + const Scalar _tmp52 = P(10, 9) * _tmp45 + P(11, 9) * _tmp44 + P(2, 9) * _tmp18 + P(9, 9) * _tmp47; + const Scalar _tmp53 = + P(0, 12) * _tmp18 + P(10, 12) * _tmp23 + P(11, 12) * _tmp6 + P(9, 12) * _tmp15; + const Scalar _tmp54 = -2 * _tmp7; + const Scalar _tmp55 = -2 * _tmp11; + const Scalar _tmp56 = _tmp54 + _tmp55 + 1; + const Scalar _tmp57 = _tmp56 * dt; + const Scalar _tmp58 = + P(0, 13) * _tmp18 + P(10, 13) * _tmp23 + P(11, 13) * _tmp6 + P(9, 13) * _tmp15; + const Scalar _tmp59 = -_tmp21; + const Scalar _tmp60 = _tmp19 + _tmp59; + const Scalar _tmp61 = _tmp60 * dt; + const Scalar _tmp62 = + P(0, 14) * _tmp18 + P(10, 14) * _tmp23 + P(11, 14) * _tmp6 + P(9, 14) * _tmp15; + const Scalar _tmp63 = _tmp1 + _tmp4; + const Scalar _tmp64 = _tmp63 * dt; + const Scalar _tmp65 = -_tmp4; + const Scalar _tmp66 = _tmp1 + _tmp65; + const Scalar _tmp67 = accel(0, 0) - state(13, 0); + const Scalar _tmp68 = -_tmp13; + const Scalar _tmp69 = _tmp68 + _tmp7; + const Scalar _tmp70 = -_tmp11; + const Scalar _tmp71 = _tmp70 + _tmp9; + const Scalar _tmp72 = accel(2, 0) - state(15, 0); + const Scalar _tmp73 = _tmp30 + _tmp32; + const Scalar _tmp74 = accel(1, 0) - state(14, 0); + const Scalar _tmp75 = dt * (_tmp66 * _tmp67 + _tmp72 * (_tmp69 + _tmp71) + _tmp73 * _tmp74); + const Scalar _tmp76 = -_tmp19; + const Scalar _tmp77 = -_tmp9; + const Scalar _tmp78 = -_tmp32; + const Scalar _tmp79 = dt * (_tmp67 * (_tmp59 + _tmp76) + _tmp72 * (_tmp30 + _tmp78) + + _tmp74 * (_tmp16 + _tmp70 + _tmp77)); + const Scalar _tmp80 = P(0, 3) * _tmp18 + P(10, 3) * _tmp23 + P(11, 3) * _tmp6 + P(9, 3) * _tmp15; + const Scalar _tmp81 = + P(1, 12) * _tmp18 + P(10, 12) * _tmp29 + P(11, 12) * _tmp34 + P(9, 12) * _tmp36; + const Scalar _tmp82 = + P(1, 13) * _tmp18 + P(10, 13) * _tmp29 + P(11, 13) * _tmp34 + P(9, 13) * _tmp36; + const Scalar _tmp83 = + P(1, 14) * _tmp18 + P(10, 14) * _tmp29 + P(11, 14) * _tmp34 + P(9, 14) * _tmp36; + const Scalar _tmp84 = P(1, 3) * _tmp18 + P(10, 3) * _tmp29 + P(11, 3) * _tmp34 + P(9, 3) * _tmp36; + const Scalar _tmp85 = + P(10, 12) * _tmp45 + P(11, 12) * _tmp44 + P(2, 12) * _tmp18 + P(9, 12) * _tmp47; + const Scalar _tmp86 = P(10, 1) * _tmp45 + P(11, 1) * _tmp44 + P(2, 1) * _tmp18 + P(9, 1) * _tmp47; + const Scalar _tmp87 = + P(10, 13) * _tmp45 + P(11, 13) * _tmp44 + P(2, 13) * _tmp18 + P(9, 13) * _tmp47; + const Scalar _tmp88 = + P(10, 14) * _tmp45 + P(11, 14) * _tmp44 + P(2, 14) * _tmp18 + P(9, 14) * _tmp47; + const Scalar _tmp89 = P(10, 3) * _tmp45 + P(11, 3) * _tmp44 + P(2, 3) * _tmp18 + P(9, 3) * _tmp47; + const Scalar _tmp90 = P(1, 12) * _tmp75 - P(12, 12) * _tmp57 - P(13, 12) * _tmp61 - + P(14, 12) * _tmp64 + P(2, 12) * _tmp79 + P(3, 12); + const Scalar _tmp91 = P(1, 1) * _tmp75 - P(12, 1) * _tmp57 - P(13, 1) * _tmp61 - + P(14, 1) * _tmp64 + P(2, 1) * _tmp79 + P(3, 1); + const Scalar _tmp92 = P(1, 2) * _tmp75 - P(12, 2) * _tmp57 - P(13, 2) * _tmp61 - + P(14, 2) * _tmp64 + P(2, 2) * _tmp79 + P(3, 2); + const Scalar _tmp93 = P(1, 13) * _tmp75 - P(12, 13) * _tmp57 - P(13, 13) * _tmp61 - + P(14, 13) * _tmp64 + P(2, 13) * _tmp79 + P(3, 13); + const Scalar _tmp94 = P(1, 14) * _tmp75 - P(12, 14) * _tmp57 - P(13, 14) * _tmp61 - + P(14, 14) * _tmp64 + P(2, 14) * _tmp79 + P(3, 14); + const Scalar _tmp95 = std::pow(dt, Scalar(2)); + const Scalar _tmp96 = _tmp95 * accel_var(0, 0); + const Scalar _tmp97 = _tmp95 * accel_var(1, 0); + const Scalar _tmp98 = _tmp95 * accel_var(2, 0); + const Scalar _tmp99 = P(1, 3) * _tmp75 - P(12, 3) * _tmp57 - P(13, 3) * _tmp61 - + P(14, 3) * _tmp64 + P(2, 3) * _tmp79 + P(3, 3); + const Scalar _tmp100 = 1 - 2 * _tmp13; + const Scalar _tmp101 = _tmp100 + _tmp54; + const Scalar _tmp102 = _tmp101 * dt; + const Scalar _tmp103 = -_tmp7; + const Scalar _tmp104 = _tmp103 + _tmp13; + const Scalar _tmp105 = dt * (_tmp60 * _tmp74 + _tmp63 * _tmp72 + _tmp67 * (_tmp104 + _tmp71)); + const Scalar _tmp106 = -_tmp30; + const Scalar _tmp107 = _tmp106 + _tmp32; + const Scalar _tmp108 = _tmp107 * dt; + const Scalar _tmp109 = _tmp19 + _tmp21; + const Scalar _tmp110 = _tmp109 * dt; + const Scalar _tmp111 = -_tmp1; + const Scalar _tmp112 = _tmp11 + _tmp77; + const Scalar _tmp113 = dt * (_tmp67 * (_tmp111 + _tmp4) + _tmp72 * (_tmp104 + _tmp112) + + _tmp74 * (_tmp106 + _tmp78)); + const Scalar _tmp114 = P(0, 4) * _tmp18 + P(10, 4) * _tmp23 + P(11, 4) * _tmp6 + P(9, 4) * _tmp15; + const Scalar _tmp115 = + P(1, 0) * _tmp18 + P(10, 0) * _tmp29 + P(11, 0) * _tmp34 + P(9, 0) * _tmp36; + const Scalar _tmp116 = + P(1, 4) * _tmp18 + P(10, 4) * _tmp29 + P(11, 4) * _tmp34 + P(9, 4) * _tmp36; + const Scalar _tmp117 = + P(10, 0) * _tmp45 + P(11, 0) * _tmp44 + P(2, 0) * _tmp18 + P(9, 0) * _tmp47; + const Scalar _tmp118 = + P(10, 4) * _tmp45 + P(11, 4) * _tmp44 + P(2, 4) * _tmp18 + P(9, 4) * _tmp47; + const Scalar _tmp119 = _tmp56 * _tmp96; + const Scalar _tmp120 = _tmp60 * _tmp97; + const Scalar _tmp121 = P(1, 0) * _tmp75 - P(12, 0) * _tmp57 - P(13, 0) * _tmp61 - + P(14, 0) * _tmp64 + P(2, 0) * _tmp79 + P(3, 0); + const Scalar _tmp122 = _tmp63 * _tmp98; + const Scalar _tmp123 = P(1, 4) * _tmp75 - P(12, 4) * _tmp57 - P(13, 4) * _tmp61 - + P(14, 4) * _tmp64 + P(2, 4) * _tmp79 + P(3, 4); + const Scalar _tmp124 = P(0, 0) * _tmp113 - P(12, 0) * _tmp110 - P(13, 0) * _tmp102 - + P(14, 0) * _tmp108 + P(2, 0) * _tmp105 + P(4, 0); + const Scalar _tmp125 = P(0, 13) * _tmp113 - P(12, 13) * _tmp110 - P(13, 13) * _tmp102 - + P(14, 13) * _tmp108 + P(2, 13) * _tmp105 + P(4, 13); + const Scalar _tmp126 = P(0, 14) * _tmp113 - P(12, 14) * _tmp110 - P(13, 14) * _tmp102 - + P(14, 14) * _tmp108 + P(2, 14) * _tmp105 + P(4, 14); + const Scalar _tmp127 = P(0, 12) * _tmp113 - P(12, 12) * _tmp110 - P(13, 12) * _tmp102 - + P(14, 12) * _tmp108 + P(2, 12) * _tmp105 + P(4, 12); + const Scalar _tmp128 = P(0, 4) * _tmp113 - P(12, 4) * _tmp110 - P(13, 4) * _tmp102 - + P(14, 4) * _tmp108 + P(2, 4) * _tmp105 + P(4, 4); + const Scalar _tmp129 = _tmp100 + _tmp55; + const Scalar _tmp130 = _tmp129 * dt; + const Scalar _tmp131 = + dt * (_tmp67 * (_tmp112 + _tmp69) + _tmp72 * (_tmp111 + _tmp65) + _tmp74 * (_tmp21 + _tmp76)); + const Scalar _tmp132 = _tmp73 * dt; + const Scalar _tmp133 = _tmp66 * dt; + const Scalar _tmp134 = + dt * (_tmp107 * _tmp72 + _tmp109 * _tmp67 + _tmp74 * (_tmp103 + _tmp17 + _tmp68)); + const Scalar _tmp135 = P(0, 5) * _tmp18 + P(10, 5) * _tmp23 + P(11, 5) * _tmp6 + P(9, 5) * _tmp15; + const Scalar _tmp136 = + P(1, 5) * _tmp18 + P(10, 5) * _tmp29 + P(11, 5) * _tmp34 + P(9, 5) * _tmp36; + const Scalar _tmp137 = + P(10, 5) * _tmp45 + P(11, 5) * _tmp44 + P(2, 5) * _tmp18 + P(9, 5) * _tmp47; + const Scalar _tmp138 = P(1, 5) * _tmp75 - P(12, 5) * _tmp57 - P(13, 5) * _tmp61 - + P(14, 5) * _tmp64 + P(2, 5) * _tmp79 + P(3, 5); + const Scalar _tmp139 = P(0, 5) * _tmp113 - P(12, 5) * _tmp110 - P(13, 5) * _tmp102 - + P(14, 5) * _tmp108 + P(2, 5) * _tmp105 + P(4, 5); + const Scalar _tmp140 = P(0, 14) * _tmp134 + P(1, 14) * _tmp131 - P(12, 14) * _tmp133 - + P(13, 14) * _tmp132 - P(14, 14) * _tmp130 + P(5, 14); + const Scalar _tmp141 = P(0, 13) * _tmp134 + P(1, 13) * _tmp131 - P(12, 13) * _tmp133 - + P(13, 13) * _tmp132 - P(14, 13) * _tmp130 + P(5, 13); + const Scalar _tmp142 = P(0, 12) * _tmp134 + P(1, 12) * _tmp131 - P(12, 12) * _tmp133 - + P(13, 12) * _tmp132 - P(14, 12) * _tmp130 + P(5, 12); + const Scalar _tmp143 = P(0, 5) * _tmp134 + P(1, 5) * _tmp131 - P(12, 5) * _tmp133 - + P(13, 5) * _tmp132 - P(14, 5) * _tmp130 + P(5, 5); // Output terms (1) - if (P_new != nullptr) { - matrix::Matrix& _p_new = (*P_new); + matrix::Matrix _res; + + _res.setZero(); + + _res(0, 0) = std::pow(_tmp15, Scalar(2)) * gyro_var + _tmp15 * _tmp27 + _tmp18 * _tmp26 + + std::pow(_tmp23, Scalar(2)) * gyro_var + _tmp23 * _tmp25 + _tmp24 * _tmp6 + + std::pow(_tmp6, Scalar(2)) * gyro_var; + _res(0, 1) = _tmp15 * _tmp38 + _tmp18 * _tmp35 + _tmp24 * _tmp34 + _tmp25 * _tmp29 + + _tmp27 * _tmp36 + _tmp29 * _tmp37 + _tmp34 * _tmp39; + _res(1, 1) = _tmp18 * _tmp43 + std::pow(_tmp29, Scalar(2)) * gyro_var + _tmp29 * _tmp40 + + std::pow(_tmp34, Scalar(2)) * gyro_var + _tmp34 * _tmp41 + + std::pow(_tmp36, Scalar(2)) * gyro_var + _tmp36 * _tmp42; + _res(0, 2) = _tmp15 * _tmp47 * gyro_var + _tmp18 * _tmp46 + _tmp24 * _tmp44 + _tmp25 * _tmp45 + + _tmp27 * _tmp47 + _tmp37 * _tmp45 + _tmp39 * _tmp44; + _res(1, 2) = _tmp18 * _tmp48 + _tmp29 * _tmp45 * gyro_var + _tmp34 * _tmp44 * gyro_var + + _tmp38 * _tmp47 + _tmp40 * _tmp45 + _tmp41 * _tmp44 + _tmp42 * _tmp47; + _res(2, 2) = _tmp18 * _tmp51 + std::pow(_tmp44, Scalar(2)) * gyro_var + _tmp44 * _tmp50 + + std::pow(_tmp45, Scalar(2)) * gyro_var + _tmp45 * _tmp49 + + std::pow(_tmp47, Scalar(2)) * gyro_var + _tmp47 * _tmp52; + _res(0, 3) = _tmp35 * _tmp75 + _tmp46 * _tmp79 - _tmp53 * _tmp57 - _tmp58 * _tmp61 - + _tmp62 * _tmp64 + _tmp80; + _res(1, 3) = _tmp43 * _tmp75 + _tmp48 * _tmp79 - _tmp57 * _tmp81 - _tmp61 * _tmp82 - + _tmp64 * _tmp83 + _tmp84; + _res(2, 3) = _tmp51 * _tmp79 - _tmp57 * _tmp85 - _tmp61 * _tmp87 - _tmp64 * _tmp88 + + _tmp75 * _tmp86 + _tmp89; + _res(3, 3) = std::pow(_tmp56, Scalar(2)) * _tmp96 - _tmp57 * _tmp90 + + std::pow(_tmp60, Scalar(2)) * _tmp97 - _tmp61 * _tmp93 + + std::pow(_tmp63, Scalar(2)) * _tmp98 - _tmp64 * _tmp94 + _tmp75 * _tmp91 + + _tmp79 * _tmp92 + _tmp99; + _res(0, 4) = -_tmp102 * _tmp58 + _tmp105 * _tmp46 - _tmp108 * _tmp62 - _tmp110 * _tmp53 + + _tmp113 * _tmp26 + _tmp114; + _res(1, 4) = -_tmp102 * _tmp82 + _tmp105 * _tmp48 - _tmp108 * _tmp83 - _tmp110 * _tmp81 + + _tmp113 * _tmp115 + _tmp116; + _res(2, 4) = -_tmp102 * _tmp87 + _tmp105 * _tmp51 - _tmp108 * _tmp88 - _tmp110 * _tmp85 + + _tmp113 * _tmp117 + _tmp118; + _res(3, 4) = _tmp101 * _tmp120 - _tmp102 * _tmp93 + _tmp105 * _tmp92 + _tmp107 * _tmp122 - + _tmp108 * _tmp94 + _tmp109 * _tmp119 - _tmp110 * _tmp90 + _tmp113 * _tmp121 + + _tmp123; + _res(4, 4) = std::pow(_tmp101, Scalar(2)) * _tmp97 - _tmp102 * _tmp125 + + _tmp105 * (P(0, 2) * _tmp113 - P(12, 2) * _tmp110 - P(13, 2) * _tmp102 - + P(14, 2) * _tmp108 + P(2, 2) * _tmp105 + P(4, 2)) + + std::pow(_tmp107, Scalar(2)) * _tmp98 - _tmp108 * _tmp126 + + std::pow(_tmp109, Scalar(2)) * _tmp96 - _tmp110 * _tmp127 + _tmp113 * _tmp124 + + _tmp128; + _res(0, 5) = -_tmp130 * _tmp62 + _tmp131 * _tmp35 - _tmp132 * _tmp58 - _tmp133 * _tmp53 + + _tmp134 * _tmp26 + _tmp135; + _res(1, 5) = _tmp115 * _tmp134 - _tmp130 * _tmp83 + _tmp131 * _tmp43 - _tmp132 * _tmp82 - + _tmp133 * _tmp81 + _tmp136; + _res(2, 5) = _tmp117 * _tmp134 - _tmp130 * _tmp88 + _tmp131 * _tmp86 - _tmp132 * _tmp87 - + _tmp133 * _tmp85 + _tmp137; + _res(3, 5) = _tmp119 * _tmp66 + _tmp120 * _tmp73 + _tmp121 * _tmp134 + _tmp122 * _tmp129 - + _tmp130 * _tmp94 + _tmp131 * _tmp91 - _tmp132 * _tmp93 - _tmp133 * _tmp90 + _tmp138; + _res(4, 5) = _tmp101 * _tmp73 * _tmp97 + _tmp107 * _tmp129 * _tmp98 + _tmp109 * _tmp66 * _tmp96 + + _tmp124 * _tmp134 - _tmp125 * _tmp132 - _tmp126 * _tmp130 - _tmp127 * _tmp133 + + _tmp131 * (P(0, 1) * _tmp113 - P(12, 1) * _tmp110 - P(13, 1) * _tmp102 - + P(14, 1) * _tmp108 + P(2, 1) * _tmp105 + P(4, 1)) + + _tmp139; + _res(5, 5) = std::pow(_tmp129, Scalar(2)) * _tmp98 - _tmp130 * _tmp140 + + _tmp131 * (P(0, 1) * _tmp134 + P(1, 1) * _tmp131 - P(12, 1) * _tmp133 - + P(13, 1) * _tmp132 - P(14, 1) * _tmp130 + P(5, 1)) - + _tmp132 * _tmp141 - _tmp133 * _tmp142 + + _tmp134 * (P(0, 0) * _tmp134 + P(1, 0) * _tmp131 - P(12, 0) * _tmp133 - + P(13, 0) * _tmp132 - P(14, 0) * _tmp130 + P(5, 0)) + + _tmp143 + std::pow(_tmp66, Scalar(2)) * _tmp96 + + std::pow(_tmp73, Scalar(2)) * _tmp97; + _res(0, 6) = + P(0, 6) * _tmp18 + P(10, 6) * _tmp23 + P(11, 6) * _tmp6 + P(9, 6) * _tmp15 + _tmp80 * dt; + _res(1, 6) = + P(1, 6) * _tmp18 + P(10, 6) * _tmp29 + P(11, 6) * _tmp34 + P(9, 6) * _tmp36 + _tmp84 * dt; + _res(2, 6) = + P(10, 6) * _tmp45 + P(11, 6) * _tmp44 + P(2, 6) * _tmp18 + P(9, 6) * _tmp47 + _tmp89 * dt; + _res(3, 6) = P(1, 6) * _tmp75 - P(12, 6) * _tmp57 - P(13, 6) * _tmp61 - P(14, 6) * _tmp64 + + P(2, 6) * _tmp79 + P(3, 6) + _tmp99 * dt; + _res(4, 6) = P(0, 6) * _tmp113 - P(12, 6) * _tmp110 - P(13, 6) * _tmp102 - P(14, 6) * _tmp108 + + P(2, 6) * _tmp105 + P(4, 6) + + dt * (P(0, 3) * _tmp113 - P(12, 3) * _tmp110 - P(13, 3) * _tmp102 - + P(14, 3) * _tmp108 + P(2, 3) * _tmp105 + P(4, 3)); + _res(5, 6) = P(0, 6) * _tmp134 + P(1, 6) * _tmp131 - P(12, 6) * _tmp133 - P(13, 6) * _tmp132 - + P(14, 6) * _tmp130 + P(5, 6) + + dt * (P(0, 3) * _tmp134 + P(1, 3) * _tmp131 - P(12, 3) * _tmp133 - + P(13, 3) * _tmp132 - P(14, 3) * _tmp130 + P(5, 3)); + _res(6, 6) = P(3, 6) * dt + P(6, 6) + dt * (P(3, 3) * dt + P(6, 3)); + _res(0, 7) = + P(0, 7) * _tmp18 + P(10, 7) * _tmp23 + P(11, 7) * _tmp6 + P(9, 7) * _tmp15 + _tmp114 * dt; + _res(1, 7) = + P(1, 7) * _tmp18 + P(10, 7) * _tmp29 + P(11, 7) * _tmp34 + P(9, 7) * _tmp36 + _tmp116 * dt; + _res(2, 7) = + P(10, 7) * _tmp45 + P(11, 7) * _tmp44 + P(2, 7) * _tmp18 + P(9, 7) * _tmp47 + _tmp118 * dt; + _res(3, 7) = P(1, 7) * _tmp75 - P(12, 7) * _tmp57 - P(13, 7) * _tmp61 - P(14, 7) * _tmp64 + + P(2, 7) * _tmp79 + P(3, 7) + _tmp123 * dt; + _res(4, 7) = P(0, 7) * _tmp113 - P(12, 7) * _tmp110 - P(13, 7) * _tmp102 - P(14, 7) * _tmp108 + + P(2, 7) * _tmp105 + P(4, 7) + _tmp128 * dt; + _res(5, 7) = P(0, 7) * _tmp134 + P(1, 7) * _tmp131 - P(12, 7) * _tmp133 - P(13, 7) * _tmp132 - + P(14, 7) * _tmp130 + P(5, 7) + + dt * (P(0, 4) * _tmp134 + P(1, 4) * _tmp131 - P(12, 4) * _tmp133 - + P(13, 4) * _tmp132 - P(14, 4) * _tmp130 + P(5, 4)); + _res(6, 7) = P(3, 7) * dt + P(6, 7) + dt * (P(3, 4) * dt + P(6, 4)); + _res(7, 7) = P(4, 7) * dt + P(7, 7) + dt * (P(4, 4) * dt + P(7, 4)); + _res(0, 8) = + P(0, 8) * _tmp18 + P(10, 8) * _tmp23 + P(11, 8) * _tmp6 + P(9, 8) * _tmp15 + _tmp135 * dt; + _res(1, 8) = + P(1, 8) * _tmp18 + P(10, 8) * _tmp29 + P(11, 8) * _tmp34 + P(9, 8) * _tmp36 + _tmp136 * dt; + _res(2, 8) = + P(10, 8) * _tmp45 + P(11, 8) * _tmp44 + P(2, 8) * _tmp18 + P(9, 8) * _tmp47 + _tmp137 * dt; + _res(3, 8) = P(1, 8) * _tmp75 - P(12, 8) * _tmp57 - P(13, 8) * _tmp61 - P(14, 8) * _tmp64 + + P(2, 8) * _tmp79 + P(3, 8) + _tmp138 * dt; + _res(4, 8) = P(0, 8) * _tmp113 - P(12, 8) * _tmp110 - P(13, 8) * _tmp102 - P(14, 8) * _tmp108 + + P(2, 8) * _tmp105 + P(4, 8) + _tmp139 * dt; + _res(5, 8) = P(0, 8) * _tmp134 + P(1, 8) * _tmp131 - P(12, 8) * _tmp133 - P(13, 8) * _tmp132 - + P(14, 8) * _tmp130 + P(5, 8) + _tmp143 * dt; + _res(6, 8) = P(3, 8) * dt + P(6, 8) + dt * (P(3, 5) * dt + P(6, 5)); + _res(7, 8) = P(4, 8) * dt + P(7, 8) + dt * (P(4, 5) * dt + P(7, 5)); + _res(8, 8) = P(5, 8) * dt + P(8, 8) + dt * (P(5, 5) * dt + P(8, 5)); + _res(0, 9) = _tmp27; + _res(1, 9) = _tmp42; + _res(2, 9) = _tmp52; + _res(3, 9) = P(1, 9) * _tmp75 - P(12, 9) * _tmp57 - P(13, 9) * _tmp61 - P(14, 9) * _tmp64 + + P(2, 9) * _tmp79 + P(3, 9); + _res(4, 9) = P(0, 9) * _tmp113 - P(12, 9) * _tmp110 - P(13, 9) * _tmp102 - P(14, 9) * _tmp108 + + P(2, 9) * _tmp105 + P(4, 9); + _res(5, 9) = P(0, 9) * _tmp134 + P(1, 9) * _tmp131 - P(12, 9) * _tmp133 - P(13, 9) * _tmp132 - + P(14, 9) * _tmp130 + P(5, 9); + _res(6, 9) = P(3, 9) * dt + P(6, 9); + _res(7, 9) = P(4, 9) * dt + P(7, 9); + _res(8, 9) = P(5, 9) * dt + P(8, 9); + _res(9, 9) = P(9, 9); + _res(0, 10) = _tmp25; + _res(1, 10) = _tmp40; + _res(2, 10) = _tmp49; + _res(3, 10) = P(1, 10) * _tmp75 - P(12, 10) * _tmp57 - P(13, 10) * _tmp61 - P(14, 10) * _tmp64 + + P(2, 10) * _tmp79 + P(3, 10); + _res(4, 10) = P(0, 10) * _tmp113 - P(12, 10) * _tmp110 - P(13, 10) * _tmp102 - + P(14, 10) * _tmp108 + P(2, 10) * _tmp105 + P(4, 10); + _res(5, 10) = P(0, 10) * _tmp134 + P(1, 10) * _tmp131 - P(12, 10) * _tmp133 - + P(13, 10) * _tmp132 - P(14, 10) * _tmp130 + P(5, 10); + _res(6, 10) = P(3, 10) * dt + P(6, 10); + _res(7, 10) = P(4, 10) * dt + P(7, 10); + _res(8, 10) = P(5, 10) * dt + P(8, 10); + _res(9, 10) = P(9, 10); + _res(10, 10) = P(10, 10); + _res(0, 11) = _tmp24; + _res(1, 11) = _tmp41; + _res(2, 11) = _tmp50; + _res(3, 11) = P(1, 11) * _tmp75 - P(12, 11) * _tmp57 - P(13, 11) * _tmp61 - P(14, 11) * _tmp64 + + P(2, 11) * _tmp79 + P(3, 11); + _res(4, 11) = P(0, 11) * _tmp113 - P(12, 11) * _tmp110 - P(13, 11) * _tmp102 - + P(14, 11) * _tmp108 + P(2, 11) * _tmp105 + P(4, 11); + _res(5, 11) = P(0, 11) * _tmp134 + P(1, 11) * _tmp131 - P(12, 11) * _tmp133 - + P(13, 11) * _tmp132 - P(14, 11) * _tmp130 + P(5, 11); + _res(6, 11) = P(3, 11) * dt + P(6, 11); + _res(7, 11) = P(4, 11) * dt + P(7, 11); + _res(8, 11) = P(5, 11) * dt + P(8, 11); + _res(9, 11) = P(9, 11); + _res(10, 11) = P(10, 11); + _res(11, 11) = P(11, 11); + _res(0, 12) = _tmp53; + _res(1, 12) = _tmp81; + _res(2, 12) = _tmp85; + _res(3, 12) = _tmp90; + _res(4, 12) = _tmp127; + _res(5, 12) = _tmp142; + _res(6, 12) = P(3, 12) * dt + P(6, 12); + _res(7, 12) = P(4, 12) * dt + P(7, 12); + _res(8, 12) = P(5, 12) * dt + P(8, 12); + _res(9, 12) = P(9, 12); + _res(10, 12) = P(10, 12); + _res(11, 12) = P(11, 12); + _res(12, 12) = P(12, 12); + _res(0, 13) = _tmp58; + _res(1, 13) = _tmp82; + _res(2, 13) = _tmp87; + _res(3, 13) = _tmp93; + _res(4, 13) = _tmp125; + _res(5, 13) = _tmp141; + _res(6, 13) = P(3, 13) * dt + P(6, 13); + _res(7, 13) = P(4, 13) * dt + P(7, 13); + _res(8, 13) = P(5, 13) * dt + P(8, 13); + _res(9, 13) = P(9, 13); + _res(10, 13) = P(10, 13); + _res(11, 13) = P(11, 13); + _res(12, 13) = P(12, 13); + _res(13, 13) = P(13, 13); + _res(0, 14) = _tmp62; + _res(1, 14) = _tmp83; + _res(2, 14) = _tmp88; + _res(3, 14) = _tmp94; + _res(4, 14) = _tmp126; + _res(5, 14) = _tmp140; + _res(6, 14) = P(3, 14) * dt + P(6, 14); + _res(7, 14) = P(4, 14) * dt + P(7, 14); + _res(8, 14) = P(5, 14) * dt + P(8, 14); + _res(9, 14) = P(9, 14); + _res(10, 14) = P(10, 14); + _res(11, 14) = P(11, 14); + _res(12, 14) = P(12, 14); + _res(13, 14) = P(13, 14); + _res(14, 14) = P(14, 14); + _res(0, 15) = P(0, 15) * _tmp18 + P(10, 15) * _tmp23 + P(11, 15) * _tmp6 + P(9, 15) * _tmp15; + _res(1, 15) = P(1, 15) * _tmp18 + P(10, 15) * _tmp29 + P(11, 15) * _tmp34 + P(9, 15) * _tmp36; + _res(2, 15) = P(10, 15) * _tmp45 + P(11, 15) * _tmp44 + P(2, 15) * _tmp18 + P(9, 15) * _tmp47; + _res(3, 15) = P(1, 15) * _tmp75 - P(12, 15) * _tmp57 - P(13, 15) * _tmp61 - P(14, 15) * _tmp64 + + P(2, 15) * _tmp79 + P(3, 15); + _res(4, 15) = P(0, 15) * _tmp113 - P(12, 15) * _tmp110 - P(13, 15) * _tmp102 - + P(14, 15) * _tmp108 + P(2, 15) * _tmp105 + P(4, 15); + _res(5, 15) = P(0, 15) * _tmp134 + P(1, 15) * _tmp131 - P(12, 15) * _tmp133 - + P(13, 15) * _tmp132 - P(14, 15) * _tmp130 + P(5, 15); + _res(6, 15) = P(3, 15) * dt + P(6, 15); + _res(7, 15) = P(4, 15) * dt + P(7, 15); + _res(8, 15) = P(5, 15) * dt + P(8, 15); + _res(9, 15) = P(9, 15); + _res(10, 15) = P(10, 15); + _res(11, 15) = P(11, 15); + _res(12, 15) = P(12, 15); + _res(13, 15) = P(13, 15); + _res(14, 15) = P(14, 15); + _res(15, 15) = P(15, 15); + _res(0, 16) = P(0, 16) * _tmp18 + P(10, 16) * _tmp23 + P(11, 16) * _tmp6 + P(9, 16) * _tmp15; + _res(1, 16) = P(1, 16) * _tmp18 + P(10, 16) * _tmp29 + P(11, 16) * _tmp34 + P(9, 16) * _tmp36; + _res(2, 16) = P(10, 16) * _tmp45 + P(11, 16) * _tmp44 + P(2, 16) * _tmp18 + P(9, 16) * _tmp47; + _res(3, 16) = P(1, 16) * _tmp75 - P(12, 16) * _tmp57 - P(13, 16) * _tmp61 - P(14, 16) * _tmp64 + + P(2, 16) * _tmp79 + P(3, 16); + _res(4, 16) = P(0, 16) * _tmp113 - P(12, 16) * _tmp110 - P(13, 16) * _tmp102 - + P(14, 16) * _tmp108 + P(2, 16) * _tmp105 + P(4, 16); + _res(5, 16) = P(0, 16) * _tmp134 + P(1, 16) * _tmp131 - P(12, 16) * _tmp133 - + P(13, 16) * _tmp132 - P(14, 16) * _tmp130 + P(5, 16); + _res(6, 16) = P(3, 16) * dt + P(6, 16); + _res(7, 16) = P(4, 16) * dt + P(7, 16); + _res(8, 16) = P(5, 16) * dt + P(8, 16); + _res(9, 16) = P(9, 16); + _res(10, 16) = P(10, 16); + _res(11, 16) = P(11, 16); + _res(12, 16) = P(12, 16); + _res(13, 16) = P(13, 16); + _res(14, 16) = P(14, 16); + _res(15, 16) = P(15, 16); + _res(16, 16) = P(16, 16); + _res(0, 17) = P(0, 17) * _tmp18 + P(10, 17) * _tmp23 + P(11, 17) * _tmp6 + P(9, 17) * _tmp15; + _res(1, 17) = P(1, 17) * _tmp18 + P(10, 17) * _tmp29 + P(11, 17) * _tmp34 + P(9, 17) * _tmp36; + _res(2, 17) = P(10, 17) * _tmp45 + P(11, 17) * _tmp44 + P(2, 17) * _tmp18 + P(9, 17) * _tmp47; + _res(3, 17) = P(1, 17) * _tmp75 - P(12, 17) * _tmp57 - P(13, 17) * _tmp61 - P(14, 17) * _tmp64 + + P(2, 17) * _tmp79 + P(3, 17); + _res(4, 17) = P(0, 17) * _tmp113 - P(12, 17) * _tmp110 - P(13, 17) * _tmp102 - + P(14, 17) * _tmp108 + P(2, 17) * _tmp105 + P(4, 17); + _res(5, 17) = P(0, 17) * _tmp134 + P(1, 17) * _tmp131 - P(12, 17) * _tmp133 - + P(13, 17) * _tmp132 - P(14, 17) * _tmp130 + P(5, 17); + _res(6, 17) = P(3, 17) * dt + P(6, 17); + _res(7, 17) = P(4, 17) * dt + P(7, 17); + _res(8, 17) = P(5, 17) * dt + P(8, 17); + _res(9, 17) = P(9, 17); + _res(10, 17) = P(10, 17); + _res(11, 17) = P(11, 17); + _res(12, 17) = P(12, 17); + _res(13, 17) = P(13, 17); + _res(14, 17) = P(14, 17); + _res(15, 17) = P(15, 17); + _res(16, 17) = P(16, 17); + _res(17, 17) = P(17, 17); + _res(0, 18) = P(0, 18) * _tmp18 + P(10, 18) * _tmp23 + P(11, 18) * _tmp6 + P(9, 18) * _tmp15; + _res(1, 18) = P(1, 18) * _tmp18 + P(10, 18) * _tmp29 + P(11, 18) * _tmp34 + P(9, 18) * _tmp36; + _res(2, 18) = P(10, 18) * _tmp45 + P(11, 18) * _tmp44 + P(2, 18) * _tmp18 + P(9, 18) * _tmp47; + _res(3, 18) = P(1, 18) * _tmp75 - P(12, 18) * _tmp57 - P(13, 18) * _tmp61 - P(14, 18) * _tmp64 + + P(2, 18) * _tmp79 + P(3, 18); + _res(4, 18) = P(0, 18) * _tmp113 - P(12, 18) * _tmp110 - P(13, 18) * _tmp102 - + P(14, 18) * _tmp108 + P(2, 18) * _tmp105 + P(4, 18); + _res(5, 18) = P(0, 18) * _tmp134 + P(1, 18) * _tmp131 - P(12, 18) * _tmp133 - + P(13, 18) * _tmp132 - P(14, 18) * _tmp130 + P(5, 18); + _res(6, 18) = P(3, 18) * dt + P(6, 18); + _res(7, 18) = P(4, 18) * dt + P(7, 18); + _res(8, 18) = P(5, 18) * dt + P(8, 18); + _res(9, 18) = P(9, 18); + _res(10, 18) = P(10, 18); + _res(11, 18) = P(11, 18); + _res(12, 18) = P(12, 18); + _res(13, 18) = P(13, 18); + _res(14, 18) = P(14, 18); + _res(15, 18) = P(15, 18); + _res(16, 18) = P(16, 18); + _res(17, 18) = P(17, 18); + _res(18, 18) = P(18, 18); + _res(0, 19) = P(0, 19) * _tmp18 + P(10, 19) * _tmp23 + P(11, 19) * _tmp6 + P(9, 19) * _tmp15; + _res(1, 19) = P(1, 19) * _tmp18 + P(10, 19) * _tmp29 + P(11, 19) * _tmp34 + P(9, 19) * _tmp36; + _res(2, 19) = P(10, 19) * _tmp45 + P(11, 19) * _tmp44 + P(2, 19) * _tmp18 + P(9, 19) * _tmp47; + _res(3, 19) = P(1, 19) * _tmp75 - P(12, 19) * _tmp57 - P(13, 19) * _tmp61 - P(14, 19) * _tmp64 + + P(2, 19) * _tmp79 + P(3, 19); + _res(4, 19) = P(0, 19) * _tmp113 - P(12, 19) * _tmp110 - P(13, 19) * _tmp102 - + P(14, 19) * _tmp108 + P(2, 19) * _tmp105 + P(4, 19); + _res(5, 19) = P(0, 19) * _tmp134 + P(1, 19) * _tmp131 - P(12, 19) * _tmp133 - + P(13, 19) * _tmp132 - P(14, 19) * _tmp130 + P(5, 19); + _res(6, 19) = P(3, 19) * dt + P(6, 19); + _res(7, 19) = P(4, 19) * dt + P(7, 19); + _res(8, 19) = P(5, 19) * dt + P(8, 19); + _res(9, 19) = P(9, 19); + _res(10, 19) = P(10, 19); + _res(11, 19) = P(11, 19); + _res(12, 19) = P(12, 19); + _res(13, 19) = P(13, 19); + _res(14, 19) = P(14, 19); + _res(15, 19) = P(15, 19); + _res(16, 19) = P(16, 19); + _res(17, 19) = P(17, 19); + _res(18, 19) = P(18, 19); + _res(19, 19) = P(19, 19); + _res(0, 20) = P(0, 20) * _tmp18 + P(10, 20) * _tmp23 + P(11, 20) * _tmp6 + P(9, 20) * _tmp15; + _res(1, 20) = P(1, 20) * _tmp18 + P(10, 20) * _tmp29 + P(11, 20) * _tmp34 + P(9, 20) * _tmp36; + _res(2, 20) = P(10, 20) * _tmp45 + P(11, 20) * _tmp44 + P(2, 20) * _tmp18 + P(9, 20) * _tmp47; + _res(3, 20) = P(1, 20) * _tmp75 - P(12, 20) * _tmp57 - P(13, 20) * _tmp61 - P(14, 20) * _tmp64 + + P(2, 20) * _tmp79 + P(3, 20); + _res(4, 20) = P(0, 20) * _tmp113 - P(12, 20) * _tmp110 - P(13, 20) * _tmp102 - + P(14, 20) * _tmp108 + P(2, 20) * _tmp105 + P(4, 20); + _res(5, 20) = P(0, 20) * _tmp134 + P(1, 20) * _tmp131 - P(12, 20) * _tmp133 - + P(13, 20) * _tmp132 - P(14, 20) * _tmp130 + P(5, 20); + _res(6, 20) = P(3, 20) * dt + P(6, 20); + _res(7, 20) = P(4, 20) * dt + P(7, 20); + _res(8, 20) = P(5, 20) * dt + P(8, 20); + _res(9, 20) = P(9, 20); + _res(10, 20) = P(10, 20); + _res(11, 20) = P(11, 20); + _res(12, 20) = P(12, 20); + _res(13, 20) = P(13, 20); + _res(14, 20) = P(14, 20); + _res(15, 20) = P(15, 20); + _res(16, 20) = P(16, 20); + _res(17, 20) = P(17, 20); + _res(18, 20) = P(18, 20); + _res(19, 20) = P(19, 20); + _res(20, 20) = P(20, 20); + _res(0, 21) = P(0, 21) * _tmp18 + P(10, 21) * _tmp23 + P(11, 21) * _tmp6 + P(9, 21) * _tmp15; + _res(1, 21) = P(1, 21) * _tmp18 + P(10, 21) * _tmp29 + P(11, 21) * _tmp34 + P(9, 21) * _tmp36; + _res(2, 21) = P(10, 21) * _tmp45 + P(11, 21) * _tmp44 + P(2, 21) * _tmp18 + P(9, 21) * _tmp47; + _res(3, 21) = P(1, 21) * _tmp75 - P(12, 21) * _tmp57 - P(13, 21) * _tmp61 - P(14, 21) * _tmp64 + + P(2, 21) * _tmp79 + P(3, 21); + _res(4, 21) = P(0, 21) * _tmp113 - P(12, 21) * _tmp110 - P(13, 21) * _tmp102 - + P(14, 21) * _tmp108 + P(2, 21) * _tmp105 + P(4, 21); + _res(5, 21) = P(0, 21) * _tmp134 + P(1, 21) * _tmp131 - P(12, 21) * _tmp133 - + P(13, 21) * _tmp132 - P(14, 21) * _tmp130 + P(5, 21); + _res(6, 21) = P(3, 21) * dt + P(6, 21); + _res(7, 21) = P(4, 21) * dt + P(7, 21); + _res(8, 21) = P(5, 21) * dt + P(8, 21); + _res(9, 21) = P(9, 21); + _res(10, 21) = P(10, 21); + _res(11, 21) = P(11, 21); + _res(12, 21) = P(12, 21); + _res(13, 21) = P(13, 21); + _res(14, 21) = P(14, 21); + _res(15, 21) = P(15, 21); + _res(16, 21) = P(16, 21); + _res(17, 21) = P(17, 21); + _res(18, 21) = P(18, 21); + _res(19, 21) = P(19, 21); + _res(20, 21) = P(20, 21); + _res(21, 21) = P(21, 21); + _res(0, 22) = P(0, 22) * _tmp18 + P(10, 22) * _tmp23 + P(11, 22) * _tmp6 + P(9, 22) * _tmp15; + _res(1, 22) = P(1, 22) * _tmp18 + P(10, 22) * _tmp29 + P(11, 22) * _tmp34 + P(9, 22) * _tmp36; + _res(2, 22) = P(10, 22) * _tmp45 + P(11, 22) * _tmp44 + P(2, 22) * _tmp18 + P(9, 22) * _tmp47; + _res(3, 22) = P(1, 22) * _tmp75 - P(12, 22) * _tmp57 - P(13, 22) * _tmp61 - P(14, 22) * _tmp64 + + P(2, 22) * _tmp79 + P(3, 22); + _res(4, 22) = P(0, 22) * _tmp113 - P(12, 22) * _tmp110 - P(13, 22) * _tmp102 - + P(14, 22) * _tmp108 + P(2, 22) * _tmp105 + P(4, 22); + _res(5, 22) = P(0, 22) * _tmp134 + P(1, 22) * _tmp131 - P(12, 22) * _tmp133 - + P(13, 22) * _tmp132 - P(14, 22) * _tmp130 + P(5, 22); + _res(6, 22) = P(3, 22) * dt + P(6, 22); + _res(7, 22) = P(4, 22) * dt + P(7, 22); + _res(8, 22) = P(5, 22) * dt + P(8, 22); + _res(9, 22) = P(9, 22); + _res(10, 22) = P(10, 22); + _res(11, 22) = P(11, 22); + _res(12, 22) = P(12, 22); + _res(13, 22) = P(13, 22); + _res(14, 22) = P(14, 22); + _res(15, 22) = P(15, 22); + _res(16, 22) = P(16, 22); + _res(17, 22) = P(17, 22); + _res(18, 22) = P(18, 22); + _res(19, 22) = P(19, 22); + _res(20, 22) = P(20, 22); + _res(21, 22) = P(21, 22); + _res(22, 22) = P(22, 22); + _res(0, 23) = P(0, 23) * _tmp18 + P(10, 23) * _tmp23 + P(11, 23) * _tmp6 + P(9, 23) * _tmp15; + _res(1, 23) = P(1, 23) * _tmp18 + P(10, 23) * _tmp29 + P(11, 23) * _tmp34 + P(9, 23) * _tmp36; + _res(2, 23) = P(10, 23) * _tmp45 + P(11, 23) * _tmp44 + P(2, 23) * _tmp18 + P(9, 23) * _tmp47; + _res(3, 23) = P(1, 23) * _tmp75 - P(12, 23) * _tmp57 - P(13, 23) * _tmp61 - P(14, 23) * _tmp64 + + P(2, 23) * _tmp79 + P(3, 23); + _res(4, 23) = P(0, 23) * _tmp113 - P(12, 23) * _tmp110 - P(13, 23) * _tmp102 - + P(14, 23) * _tmp108 + P(2, 23) * _tmp105 + P(4, 23); + _res(5, 23) = P(0, 23) * _tmp134 + P(1, 23) * _tmp131 - P(12, 23) * _tmp133 - + P(13, 23) * _tmp132 - P(14, 23) * _tmp130 + P(5, 23); + _res(6, 23) = P(3, 23) * dt + P(6, 23); + _res(7, 23) = P(4, 23) * dt + P(7, 23); + _res(8, 23) = P(5, 23) * dt + P(8, 23); + _res(9, 23) = P(9, 23); + _res(10, 23) = P(10, 23); + _res(11, 23) = P(11, 23); + _res(12, 23) = P(12, 23); + _res(13, 23) = P(13, 23); + _res(14, 23) = P(14, 23); + _res(15, 23) = P(15, 23); + _res(16, 23) = P(16, 23); + _res(17, 23) = P(17, 23); + _res(18, 23) = P(18, 23); + _res(19, 23) = P(19, 23); + _res(20, 23) = P(20, 23); + _res(21, 23) = P(21, 23); + _res(22, 23) = P(22, 23); + _res(23, 23) = P(23, 23); - _p_new(0, 0) = _tmp10 * _tmp12 + _tmp11 * _tmp13 + _tmp14 * _tmp9 + _tmp15 * _tmp5 + - _tmp16 * _tmp2 + _tmp17 * _tmp8 + _tmp20 + _tmp21 + _tmp26; - _p_new(1, 0) = 0; - _p_new(2, 0) = 0; - _p_new(3, 0) = 0; - _p_new(4, 0) = 0; - _p_new(5, 0) = 0; - _p_new(6, 0) = 0; - _p_new(7, 0) = 0; - _p_new(8, 0) = 0; - _p_new(9, 0) = 0; - _p_new(10, 0) = 0; - _p_new(11, 0) = 0; - _p_new(12, 0) = 0; - _p_new(13, 0) = 0; - _p_new(14, 0) = 0; - _p_new(15, 0) = 0; - _p_new(16, 0) = 0; - _p_new(17, 0) = 0; - _p_new(18, 0) = 0; - _p_new(19, 0) = 0; - _p_new(20, 0) = 0; - _p_new(21, 0) = 0; - _p_new(22, 0) = 0; - _p_new(23, 0) = 0; - _p_new(0, 1) = -_tmp10 * _tmp14 + _tmp12 * _tmp9 - _tmp13 * _tmp27 + _tmp15 * _tmp29 + - _tmp16 * _tmp5 + _tmp17 - _tmp19 * _tmp28 + _tmp21 * _tmp30; - _p_new(1, 1) = -_tmp10 * _tmp31 + _tmp23 - _tmp27 * _tmp33 + _tmp29 * _tmp35 + _tmp30 * _tmp36 + - _tmp32 * _tmp9 + _tmp34 * _tmp5 + _tmp37 + _tmp39; - _p_new(2, 1) = 0; - _p_new(3, 1) = 0; - _p_new(4, 1) = 0; - _p_new(5, 1) = 0; - _p_new(6, 1) = 0; - _p_new(7, 1) = 0; - _p_new(8, 1) = 0; - _p_new(9, 1) = 0; - _p_new(10, 1) = 0; - _p_new(11, 1) = 0; - _p_new(12, 1) = 0; - _p_new(13, 1) = 0; - _p_new(14, 1) = 0; - _p_new(15, 1) = 0; - _p_new(16, 1) = 0; - _p_new(17, 1) = 0; - _p_new(18, 1) = 0; - _p_new(19, 1) = 0; - _p_new(20, 1) = 0; - _p_new(21, 1) = 0; - _p_new(22, 1) = 0; - _p_new(23, 1) = 0; - _p_new(0, 2) = _tmp11 * _tmp14 - _tmp12 * _tmp27 - _tmp13 * _tmp9 + _tmp15 + _tmp16 * _tmp30 + - _tmp17 * _tmp2 - _tmp19 * _tmp40 + _tmp21 * _tmp41; - _p_new(1, 2) = _tmp11 * _tmp31 - _tmp19 * _tmp42 + _tmp2 * _tmp37 - _tmp27 * _tmp32 + - _tmp30 * _tmp34 - _tmp33 * _tmp9 + _tmp35 + _tmp36 * _tmp41; - _p_new(2, 2) = _tmp11 * _tmp43 + _tmp2 * _tmp47 + _tmp25 - _tmp27 * _tmp44 + _tmp30 * _tmp48 + - _tmp39 + _tmp41 * _tmp46 - _tmp45 * _tmp9 + _tmp49; - _p_new(3, 2) = 0; - _p_new(4, 2) = 0; - _p_new(5, 2) = 0; - _p_new(6, 2) = 0; - _p_new(7, 2) = 0; - _p_new(8, 2) = 0; - _p_new(9, 2) = 0; - _p_new(10, 2) = 0; - _p_new(11, 2) = 0; - _p_new(12, 2) = 0; - _p_new(13, 2) = 0; - _p_new(14, 2) = 0; - _p_new(15, 2) = 0; - _p_new(16, 2) = 0; - _p_new(17, 2) = 0; - _p_new(18, 2) = 0; - _p_new(19, 2) = 0; - _p_new(20, 2) = 0; - _p_new(21, 2) = 0; - _p_new(22, 2) = 0; - _p_new(23, 2) = 0; - _p_new(0, 3) = _tmp10 * _tmp13 - _tmp11 * _tmp12 - _tmp14 * _tmp27 + _tmp15 * _tmp8 + _tmp16 + - _tmp17 * _tmp41 - _tmp19 * _tmp50 + _tmp21 * _tmp29; - _p_new(1, 3) = _tmp10 * _tmp33 - _tmp11 * _tmp32 - _tmp19 * _tmp51 - _tmp27 * _tmp31 + - _tmp29 * _tmp36 + _tmp34 + _tmp35 * _tmp8 + _tmp37 * _tmp41; - _p_new(2, 3) = _tmp10 * _tmp45 - _tmp11 * _tmp44 - _tmp19 * _tmp52 - _tmp27 * _tmp43 + - _tmp29 * _tmp46 + _tmp41 * _tmp47 + _tmp48 + _tmp49 * _tmp8; - _p_new(3, 3) = _tmp10 * _tmp55 - _tmp11 * _tmp54 + _tmp26 - _tmp27 * _tmp53 + _tmp29 * _tmp57 + - _tmp38 + _tmp41 * _tmp58 + _tmp56 * _tmp8 + _tmp59; - _p_new(4, 3) = 0; - _p_new(5, 3) = 0; - _p_new(6, 3) = 0; - _p_new(7, 3) = 0; - _p_new(8, 3) = 0; - _p_new(9, 3) = 0; - _p_new(10, 3) = 0; - _p_new(11, 3) = 0; - _p_new(12, 3) = 0; - _p_new(13, 3) = 0; - _p_new(14, 3) = 0; - _p_new(15, 3) = 0; - _p_new(16, 3) = 0; - _p_new(17, 3) = 0; - _p_new(18, 3) = 0; - _p_new(19, 3) = 0; - _p_new(20, 3) = 0; - _p_new(21, 3) = 0; - _p_new(22, 3) = 0; - _p_new(23, 3) = 0; - _p_new(0, 4) = _tmp15 * _tmp86 + _tmp16 * _tmp74 + _tmp17 * _tmp66 + _tmp21 * _tmp69 - - _tmp75 * _tmp76 - _tmp77 * _tmp78 - _tmp81 * _tmp82 + _tmp87; - _p_new(1, 4) = _tmp34 * _tmp74 + _tmp35 * _tmp86 + _tmp36 * _tmp69 + _tmp37 * _tmp66 - - _tmp76 * _tmp89 - _tmp78 * _tmp90 - _tmp81 * _tmp88 + _tmp91; - _p_new(2, 4) = _tmp46 * _tmp69 + _tmp47 * _tmp66 + _tmp48 * _tmp74 + _tmp49 * _tmp86 - - _tmp76 * _tmp92 - _tmp78 * _tmp93 - _tmp81 * _tmp94 + _tmp96; - _p_new(3, 4) = _tmp100 + _tmp56 * _tmp86 + _tmp57 * _tmp69 + _tmp58 * _tmp66 + _tmp59 * _tmp74 - - _tmp76 * _tmp99 - _tmp78 * _tmp98 - _tmp81 * _tmp97; - _p_new(4, 4) = -_tmp101 * _tmp81 - _tmp102 * _tmp78 - _tmp103 * _tmp76 + - std::pow(_tmp106, Scalar(2)) * d_vel_var(2, 0) + - std::pow(_tmp109, Scalar(2)) * d_vel_var(1, 0) + _tmp110 * _tmp69 + - _tmp111 * _tmp66 + _tmp112 * _tmp86 + _tmp113 * _tmp74 + _tmp114 + - std::pow(_tmp81, Scalar(2)) * d_vel_var(0, 0); - _p_new(5, 4) = 0; - _p_new(6, 4) = 0; - _p_new(7, 4) = 0; - _p_new(8, 4) = 0; - _p_new(9, 4) = 0; - _p_new(10, 4) = 0; - _p_new(11, 4) = 0; - _p_new(12, 4) = 0; - _p_new(13, 4) = 0; - _p_new(14, 4) = 0; - _p_new(15, 4) = 0; - _p_new(16, 4) = 0; - _p_new(17, 4) = 0; - _p_new(18, 4) = 0; - _p_new(19, 4) = 0; - _p_new(20, 4) = 0; - _p_new(21, 4) = 0; - _p_new(22, 4) = 0; - _p_new(23, 4) = 0; - _p_new(0, 5) = _tmp117 * _tmp15 + _tmp119 * _tmp21 + _tmp121 * _tmp16 - _tmp122 * _tmp82 - - _tmp123 * _tmp75 - _tmp125 * _tmp77 + _tmp128 * _tmp17 + _tmp129; - _p_new(1, 5) = _tmp117 * _tmp35 + _tmp119 * _tmp36 + _tmp121 * _tmp34 - _tmp122 * _tmp88 - - _tmp123 * _tmp89 - _tmp125 * _tmp90 + _tmp128 * _tmp37 + _tmp130; - _p_new(2, 5) = _tmp117 * _tmp49 + _tmp119 * _tmp46 + _tmp121 * _tmp48 - _tmp122 * _tmp94 - - _tmp123 * _tmp92 - _tmp125 * _tmp93 + _tmp128 * _tmp47 + _tmp132; - _p_new(3, 5) = _tmp117 * _tmp56 + _tmp119 * _tmp57 + _tmp121 * _tmp59 - _tmp122 * _tmp97 - - _tmp123 * _tmp99 - _tmp125 * _tmp98 + _tmp128 * _tmp58 + _tmp133; - _p_new(4, 5) = -_tmp101 * _tmp122 - _tmp102 * _tmp125 - _tmp103 * _tmp123 + _tmp106 * _tmp139 + - _tmp109 * _tmp125 * d_vel_var(1, 0) + _tmp110 * _tmp119 + _tmp111 * _tmp128 + - _tmp112 * _tmp117 + _tmp113 * _tmp121 + _tmp134 * _tmp135 + _tmp140; - _p_new(5, 5) = _tmp117 * _tmp147 + _tmp119 * _tmp146 + _tmp121 * _tmp141 - _tmp122 * _tmp143 - - _tmp123 * _tmp144 + std::pow(_tmp125, Scalar(2)) * d_vel_var(1, 0) - - _tmp125 * _tmp145 + _tmp128 * _tmp142 + - std::pow(_tmp134, Scalar(2)) * d_vel_var(0, 0) + - std::pow(_tmp138, Scalar(2)) * d_vel_var(2, 0) + _tmp148; - _p_new(6, 5) = 0; - _p_new(7, 5) = 0; - _p_new(8, 5) = 0; - _p_new(9, 5) = 0; - _p_new(10, 5) = 0; - _p_new(11, 5) = 0; - _p_new(12, 5) = 0; - _p_new(13, 5) = 0; - _p_new(14, 5) = 0; - _p_new(15, 5) = 0; - _p_new(16, 5) = 0; - _p_new(17, 5) = 0; - _p_new(18, 5) = 0; - _p_new(19, 5) = 0; - _p_new(20, 5) = 0; - _p_new(21, 5) = 0; - _p_new(22, 5) = 0; - _p_new(23, 5) = 0; - _p_new(0, 6) = _tmp149 * _tmp16 + _tmp15 * _tmp151 + _tmp150 * _tmp21 + _tmp152 * _tmp17 - - _tmp153 * _tmp82 - _tmp154 * _tmp77 - _tmp155 * _tmp75 + _tmp156; - _p_new(1, 6) = _tmp149 * _tmp34 + _tmp150 * _tmp36 + _tmp151 * _tmp35 + _tmp152 * _tmp37 - - _tmp153 * _tmp88 - _tmp154 * _tmp90 - _tmp155 * _tmp89 + _tmp157; - _p_new(2, 6) = _tmp149 * _tmp48 + _tmp150 * _tmp46 + _tmp151 * _tmp49 + _tmp152 * _tmp47 - - _tmp153 * _tmp94 - _tmp154 * _tmp93 - _tmp155 * _tmp92 + _tmp159; - _p_new(3, 6) = _tmp149 * _tmp59 + _tmp150 * _tmp57 + _tmp151 * _tmp56 + _tmp152 * _tmp58 - - _tmp153 * _tmp97 - _tmp154 * _tmp98 - _tmp155 * _tmp99 + _tmp160; - _p_new(4, 6) = -_tmp101 * _tmp153 - _tmp102 * _tmp154 - _tmp103 * _tmp155 + - _tmp106 * _tmp155 * d_vel_var(2, 0) + _tmp109 * _tmp163 + _tmp110 * _tmp150 + - _tmp111 * _tmp152 + _tmp112 * _tmp151 + _tmp113 * _tmp149 + _tmp135 * _tmp161 + - _tmp164; - _p_new(5, 6) = _tmp125 * _tmp163 + _tmp134 * _tmp161 * d_vel_var(0, 0) + _tmp139 * _tmp155 + - _tmp141 * _tmp149 + _tmp142 * _tmp152 - _tmp143 * _tmp153 - _tmp144 * _tmp155 - - _tmp145 * _tmp154 + _tmp146 * _tmp150 + _tmp147 * _tmp151 + _tmp165; - _p_new(6, 6) = - _tmp149 * (P(0, 3) * _tmp150 + P(1, 3) * _tmp152 - P(13, 3) * _tmp153 - P(14, 3) * _tmp154 - - P(15, 3) * _tmp155 + P(2, 3) * _tmp151 + P(3, 3) * _tmp149 + P(6, 3)) + - _tmp150 * (P(0, 0) * _tmp150 + P(1, 0) * _tmp152 - P(13, 0) * _tmp153 - P(14, 0) * _tmp154 - - P(15, 0) * _tmp155 + P(2, 0) * _tmp151 + P(3, 0) * _tmp149 + P(6, 0)) + - _tmp151 * (P(0, 2) * _tmp150 + P(1, 2) * _tmp152 - P(13, 2) * _tmp153 - P(14, 2) * _tmp154 - - P(15, 2) * _tmp155 + P(2, 2) * _tmp151 + P(3, 2) * _tmp149 + P(6, 2)) + - _tmp152 * (P(0, 1) * _tmp150 + P(1, 1) * _tmp152 - P(13, 1) * _tmp153 - P(14, 1) * _tmp154 - - P(15, 1) * _tmp155 + P(2, 1) * _tmp151 + P(3, 1) * _tmp149 + P(6, 1)) - - _tmp153 * _tmp166 - _tmp154 * _tmp167 + std::pow(_tmp155, Scalar(2)) * d_vel_var(2, 0) - - _tmp155 * _tmp168 + std::pow(_tmp161, Scalar(2)) * d_vel_var(0, 0) + - std::pow(_tmp162, Scalar(2)) * d_vel_var(1, 0) + _tmp169; - _p_new(7, 6) = 0; - _p_new(8, 6) = 0; - _p_new(9, 6) = 0; - _p_new(10, 6) = 0; - _p_new(11, 6) = 0; - _p_new(12, 6) = 0; - _p_new(13, 6) = 0; - _p_new(14, 6) = 0; - _p_new(15, 6) = 0; - _p_new(16, 6) = 0; - _p_new(17, 6) = 0; - _p_new(18, 6) = 0; - _p_new(19, 6) = 0; - _p_new(20, 6) = 0; - _p_new(21, 6) = 0; - _p_new(22, 6) = 0; - _p_new(23, 6) = 0; - _p_new(0, 7) = P(0, 7) + P(1, 7) * _tmp8 + P(10, 7) * _tmp11 + P(11, 7) * _tmp10 + - P(12, 7) * _tmp9 + P(2, 7) * _tmp5 + P(3, 7) * _tmp2 + _tmp87 * dt; - _p_new(1, 7) = P(0, 7) * _tmp30 + P(1, 7) - P(10, 7) * _tmp27 + P(11, 7) * _tmp9 - - P(12, 7) * _tmp10 + P(2, 7) * _tmp29 + P(3, 7) * _tmp5 + _tmp91 * dt; - _p_new(2, 7) = P(0, 7) * _tmp41 + P(1, 7) * _tmp2 - P(10, 7) * _tmp9 - P(11, 7) * _tmp27 + - P(12, 7) * _tmp11 + P(2, 7) + P(3, 7) * _tmp30 + _tmp96 * dt; - _p_new(3, 7) = P(0, 7) * _tmp29 + P(1, 7) * _tmp41 + P(10, 7) * _tmp10 - P(11, 7) * _tmp11 - - P(12, 7) * _tmp27 + P(2, 7) * _tmp8 + P(3, 7) + _tmp100 * dt; - _p_new(4, 7) = P(0, 7) * _tmp69 + P(1, 7) * _tmp66 - P(13, 7) * _tmp81 - P(14, 7) * _tmp78 - - P(15, 7) * _tmp76 + P(2, 7) * _tmp86 + P(3, 7) * _tmp74 + P(4, 7) + _tmp114 * dt; - _p_new(5, 7) = - P(0, 7) * _tmp119 + P(1, 7) * _tmp128 - P(13, 7) * _tmp122 - P(14, 7) * _tmp125 - - P(15, 7) * _tmp123 + P(2, 7) * _tmp117 + P(3, 7) * _tmp121 + P(5, 7) + - dt * (P(0, 4) * _tmp119 + P(1, 4) * _tmp128 - P(13, 4) * _tmp122 - P(14, 4) * _tmp125 - - P(15, 4) * _tmp123 + P(2, 4) * _tmp117 + P(3, 4) * _tmp121 + P(5, 4)); - _p_new(6, 7) = - P(0, 7) * _tmp150 + P(1, 7) * _tmp152 - P(13, 7) * _tmp153 - P(14, 7) * _tmp154 - - P(15, 7) * _tmp155 + P(2, 7) * _tmp151 + P(3, 7) * _tmp149 + P(6, 7) + - dt * (P(0, 4) * _tmp150 + P(1, 4) * _tmp152 - P(13, 4) * _tmp153 - P(14, 4) * _tmp154 - - P(15, 4) * _tmp155 + P(2, 4) * _tmp151 + P(3, 4) * _tmp149 + P(6, 4)); - _p_new(7, 7) = P(4, 7) * dt + P(7, 7) + dt * (P(4, 4) * dt + P(7, 4)); - _p_new(8, 7) = 0; - _p_new(9, 7) = 0; - _p_new(10, 7) = 0; - _p_new(11, 7) = 0; - _p_new(12, 7) = 0; - _p_new(13, 7) = 0; - _p_new(14, 7) = 0; - _p_new(15, 7) = 0; - _p_new(16, 7) = 0; - _p_new(17, 7) = 0; - _p_new(18, 7) = 0; - _p_new(19, 7) = 0; - _p_new(20, 7) = 0; - _p_new(21, 7) = 0; - _p_new(22, 7) = 0; - _p_new(23, 7) = 0; - _p_new(0, 8) = P(0, 8) + P(1, 8) * _tmp8 + P(10, 8) * _tmp11 + P(11, 8) * _tmp10 + - P(12, 8) * _tmp9 + P(2, 8) * _tmp5 + P(3, 8) * _tmp2 + _tmp129 * dt; - _p_new(1, 8) = P(0, 8) * _tmp30 + P(1, 8) - P(10, 8) * _tmp27 + P(11, 8) * _tmp9 - - P(12, 8) * _tmp10 + P(2, 8) * _tmp29 + P(3, 8) * _tmp5 + _tmp130 * dt; - _p_new(2, 8) = P(0, 8) * _tmp41 + P(1, 8) * _tmp2 - P(10, 8) * _tmp9 + P(12, 8) * _tmp11 + - P(2, 8) + P(3, 8) * _tmp30 + _tmp132 * dt - _tmp170 * state(0, 0); - _p_new(3, 8) = P(0, 8) * _tmp29 + P(1, 8) * _tmp41 + P(10, 8) * _tmp10 - P(12, 8) * _tmp27 + - P(2, 8) * _tmp8 + P(3, 8) + _tmp133 * dt - _tmp170 * state(1, 0); - _p_new(4, 8) = P(0, 8) * _tmp69 + P(1, 8) * _tmp66 - P(13, 8) * _tmp81 - P(14, 8) * _tmp78 - - P(15, 8) * _tmp76 + P(2, 8) * _tmp86 + P(3, 8) * _tmp74 + P(4, 8) + _tmp140 * dt; - _p_new(5, 8) = P(0, 8) * _tmp119 + P(1, 8) * _tmp128 - P(13, 8) * _tmp122 - P(14, 8) * _tmp125 - - P(15, 8) * _tmp123 + P(2, 8) * _tmp117 + P(3, 8) * _tmp121 + P(5, 8) + - _tmp148 * dt; - _p_new(6, 8) = - P(0, 8) * _tmp150 + P(1, 8) * _tmp152 - P(13, 8) * _tmp153 - P(14, 8) * _tmp154 - - P(15, 8) * _tmp155 + P(2, 8) * _tmp151 + P(3, 8) * _tmp149 + P(6, 8) + - dt * (P(0, 5) * _tmp150 + P(1, 5) * _tmp152 - P(13, 5) * _tmp153 - P(14, 5) * _tmp154 - - P(15, 5) * _tmp155 + P(2, 5) * _tmp151 + P(3, 5) * _tmp149 + P(6, 5)); - _p_new(7, 8) = P(4, 8) * dt + P(7, 8) + dt * (P(4, 5) * dt + P(7, 5)); - _p_new(8, 8) = P(5, 8) * dt + P(8, 8) + dt * (P(5, 5) * dt + P(8, 5)); - _p_new(9, 8) = 0; - _p_new(10, 8) = 0; - _p_new(11, 8) = 0; - _p_new(12, 8) = 0; - _p_new(13, 8) = 0; - _p_new(14, 8) = 0; - _p_new(15, 8) = 0; - _p_new(16, 8) = 0; - _p_new(17, 8) = 0; - _p_new(18, 8) = 0; - _p_new(19, 8) = 0; - _p_new(20, 8) = 0; - _p_new(21, 8) = 0; - _p_new(22, 8) = 0; - _p_new(23, 8) = 0; - _p_new(0, 9) = P(0, 9) + P(1, 9) * _tmp8 + P(10, 9) * _tmp11 + P(11, 9) * _tmp10 + - P(12, 9) * _tmp9 + P(2, 9) * _tmp5 + P(3, 9) * _tmp2 + _tmp156 * dt; - _p_new(1, 9) = P(0, 9) * _tmp30 + P(1, 9) - P(10, 9) * _tmp27 + P(11, 9) * _tmp9 - - P(12, 9) * _tmp10 + P(2, 9) * _tmp29 + P(3, 9) * _tmp5 + _tmp157 * dt; - _p_new(2, 9) = P(0, 9) * _tmp41 + P(1, 9) * _tmp2 - P(10, 9) * _tmp9 - P(11, 9) * _tmp27 + - P(12, 9) * _tmp11 + P(2, 9) + P(3, 9) * _tmp30 + _tmp159 * dt; - _p_new(3, 9) = P(0, 9) * _tmp29 + P(1, 9) * _tmp41 + P(10, 9) * _tmp10 - P(11, 9) * _tmp11 - - P(12, 9) * _tmp27 + P(2, 9) * _tmp8 + P(3, 9) + _tmp160 * dt; - _p_new(4, 9) = P(0, 9) * _tmp69 + P(1, 9) * _tmp66 - P(13, 9) * _tmp81 - P(14, 9) * _tmp78 - - P(15, 9) * _tmp76 + P(2, 9) * _tmp86 + P(3, 9) * _tmp74 + P(4, 9) + _tmp164 * dt; - _p_new(5, 9) = P(0, 9) * _tmp119 + P(1, 9) * _tmp128 - P(13, 9) * _tmp122 - P(14, 9) * _tmp125 - - P(15, 9) * _tmp123 + P(2, 9) * _tmp117 + P(3, 9) * _tmp121 + P(5, 9) + - _tmp165 * dt; - _p_new(6, 9) = P(0, 9) * _tmp150 + P(1, 9) * _tmp152 - P(13, 9) * _tmp153 - P(14, 9) * _tmp154 - - P(15, 9) * _tmp155 + P(2, 9) * _tmp151 + P(3, 9) * _tmp149 + P(6, 9) + - _tmp169 * dt; - _p_new(7, 9) = P(4, 9) * dt + P(7, 9) + dt * (P(4, 6) * dt + P(7, 6)); - _p_new(8, 9) = P(5, 9) * dt + P(8, 9) + dt * (P(5, 6) * dt + P(8, 6)); - _p_new(9, 9) = P(6, 9) * dt + P(9, 9) + dt * (P(6, 6) * dt + P(9, 6)); - _p_new(10, 9) = 0; - _p_new(11, 9) = 0; - _p_new(12, 9) = 0; - _p_new(13, 9) = 0; - _p_new(14, 9) = 0; - _p_new(15, 9) = 0; - _p_new(16, 9) = 0; - _p_new(17, 9) = 0; - _p_new(18, 9) = 0; - _p_new(19, 9) = 0; - _p_new(20, 9) = 0; - _p_new(21, 9) = 0; - _p_new(22, 9) = 0; - _p_new(23, 9) = 0; - _p_new(0, 10) = _tmp13; - _p_new(1, 10) = _tmp33; - _p_new(2, 10) = _tmp45; - _p_new(3, 10) = _tmp55; - _p_new(4, 10) = P(0, 10) * _tmp69 + P(1, 10) * _tmp66 - P(13, 10) * _tmp81 - - P(14, 10) * _tmp78 - P(15, 10) * _tmp76 + P(2, 10) * _tmp86 + - P(3, 10) * _tmp74 + P(4, 10); - _p_new(5, 10) = P(0, 10) * _tmp119 + P(1, 10) * _tmp128 - P(13, 10) * _tmp122 - - P(14, 10) * _tmp125 - P(15, 10) * _tmp123 + P(2, 10) * _tmp117 + - P(3, 10) * _tmp121 + P(5, 10); - _p_new(6, 10) = P(0, 10) * _tmp150 + P(1, 10) * _tmp152 - P(13, 10) * _tmp153 - - P(14, 10) * _tmp154 - P(15, 10) * _tmp155 + P(2, 10) * _tmp151 + - P(3, 10) * _tmp149 + P(6, 10); - _p_new(7, 10) = P(4, 10) * dt + P(7, 10); - _p_new(8, 10) = P(5, 10) * dt + P(8, 10); - _p_new(9, 10) = P(6, 10) * dt + P(9, 10); - _p_new(10, 10) = P(10, 10); - _p_new(11, 10) = 0; - _p_new(12, 10) = 0; - _p_new(13, 10) = 0; - _p_new(14, 10) = 0; - _p_new(15, 10) = 0; - _p_new(16, 10) = 0; - _p_new(17, 10) = 0; - _p_new(18, 10) = 0; - _p_new(19, 10) = 0; - _p_new(20, 10) = 0; - _p_new(21, 10) = 0; - _p_new(22, 10) = 0; - _p_new(23, 10) = 0; - _p_new(0, 11) = _tmp12; - _p_new(1, 11) = _tmp32; - _p_new(2, 11) = _tmp44; - _p_new(3, 11) = _tmp54; - _p_new(4, 11) = P(0, 11) * _tmp69 + P(1, 11) * _tmp66 - P(13, 11) * _tmp81 - - P(14, 11) * _tmp78 - P(15, 11) * _tmp76 + P(2, 11) * _tmp86 + - P(3, 11) * _tmp74 + P(4, 11); - _p_new(5, 11) = P(0, 11) * _tmp119 + P(1, 11) * _tmp128 - P(13, 11) * _tmp122 - - P(14, 11) * _tmp125 - P(15, 11) * _tmp123 + P(2, 11) * _tmp117 + - P(3, 11) * _tmp121 + P(5, 11); - _p_new(6, 11) = P(0, 11) * _tmp150 + P(1, 11) * _tmp152 - P(13, 11) * _tmp153 - - P(14, 11) * _tmp154 - P(15, 11) * _tmp155 + P(2, 11) * _tmp151 + - P(3, 11) * _tmp149 + P(6, 11); - _p_new(7, 11) = P(4, 11) * dt + P(7, 11); - _p_new(8, 11) = P(5, 11) * dt + P(8, 11); - _p_new(9, 11) = P(6, 11) * dt + P(9, 11); - _p_new(10, 11) = P(10, 11); - _p_new(11, 11) = P(11, 11); - _p_new(12, 11) = 0; - _p_new(13, 11) = 0; - _p_new(14, 11) = 0; - _p_new(15, 11) = 0; - _p_new(16, 11) = 0; - _p_new(17, 11) = 0; - _p_new(18, 11) = 0; - _p_new(19, 11) = 0; - _p_new(20, 11) = 0; - _p_new(21, 11) = 0; - _p_new(22, 11) = 0; - _p_new(23, 11) = 0; - _p_new(0, 12) = _tmp14; - _p_new(1, 12) = _tmp31; - _p_new(2, 12) = _tmp43; - _p_new(3, 12) = _tmp53; - _p_new(4, 12) = P(0, 12) * _tmp69 + P(1, 12) * _tmp66 - P(13, 12) * _tmp81 - - P(14, 12) * _tmp78 - P(15, 12) * _tmp76 + P(2, 12) * _tmp86 + - P(3, 12) * _tmp74 + P(4, 12); - _p_new(5, 12) = P(0, 12) * _tmp119 + P(1, 12) * _tmp128 - P(13, 12) * _tmp122 - - P(14, 12) * _tmp125 - P(15, 12) * _tmp123 + P(2, 12) * _tmp117 + - P(3, 12) * _tmp121 + P(5, 12); - _p_new(6, 12) = P(0, 12) * _tmp150 + P(1, 12) * _tmp152 - P(13, 12) * _tmp153 - - P(14, 12) * _tmp154 - P(15, 12) * _tmp155 + P(2, 12) * _tmp151 + - P(3, 12) * _tmp149 + P(6, 12); - _p_new(7, 12) = P(4, 12) * dt + P(7, 12); - _p_new(8, 12) = P(5, 12) * dt + P(8, 12); - _p_new(9, 12) = P(6, 12) * dt + P(9, 12); - _p_new(10, 12) = P(10, 12); - _p_new(11, 12) = P(11, 12); - _p_new(12, 12) = P(12, 12); - _p_new(13, 12) = 0; - _p_new(14, 12) = 0; - _p_new(15, 12) = 0; - _p_new(16, 12) = 0; - _p_new(17, 12) = 0; - _p_new(18, 12) = 0; - _p_new(19, 12) = 0; - _p_new(20, 12) = 0; - _p_new(21, 12) = 0; - _p_new(22, 12) = 0; - _p_new(23, 12) = 0; - _p_new(0, 13) = _tmp82; - _p_new(1, 13) = _tmp88; - _p_new(2, 13) = _tmp94; - _p_new(3, 13) = _tmp97; - _p_new(4, 13) = _tmp101; - _p_new(5, 13) = _tmp143; - _p_new(6, 13) = _tmp166; - _p_new(7, 13) = P(4, 13) * dt + P(7, 13); - _p_new(8, 13) = P(5, 13) * dt + P(8, 13); - _p_new(9, 13) = P(6, 13) * dt + P(9, 13); - _p_new(10, 13) = P(10, 13); - _p_new(11, 13) = P(11, 13); - _p_new(12, 13) = P(12, 13); - _p_new(13, 13) = P(13, 13); - _p_new(14, 13) = 0; - _p_new(15, 13) = 0; - _p_new(16, 13) = 0; - _p_new(17, 13) = 0; - _p_new(18, 13) = 0; - _p_new(19, 13) = 0; - _p_new(20, 13) = 0; - _p_new(21, 13) = 0; - _p_new(22, 13) = 0; - _p_new(23, 13) = 0; - _p_new(0, 14) = _tmp77; - _p_new(1, 14) = _tmp90; - _p_new(2, 14) = _tmp93; - _p_new(3, 14) = _tmp98; - _p_new(4, 14) = _tmp102; - _p_new(5, 14) = _tmp145; - _p_new(6, 14) = _tmp167; - _p_new(7, 14) = P(4, 14) * dt + P(7, 14); - _p_new(8, 14) = P(5, 14) * dt + P(8, 14); - _p_new(9, 14) = P(6, 14) * dt + P(9, 14); - _p_new(10, 14) = P(10, 14); - _p_new(11, 14) = P(11, 14); - _p_new(12, 14) = P(12, 14); - _p_new(13, 14) = P(13, 14); - _p_new(14, 14) = P(14, 14); - _p_new(15, 14) = 0; - _p_new(16, 14) = 0; - _p_new(17, 14) = 0; - _p_new(18, 14) = 0; - _p_new(19, 14) = 0; - _p_new(20, 14) = 0; - _p_new(21, 14) = 0; - _p_new(22, 14) = 0; - _p_new(23, 14) = 0; - _p_new(0, 15) = _tmp75; - _p_new(1, 15) = _tmp89; - _p_new(2, 15) = _tmp92; - _p_new(3, 15) = _tmp99; - _p_new(4, 15) = _tmp103; - _p_new(5, 15) = _tmp144; - _p_new(6, 15) = _tmp168; - _p_new(7, 15) = P(4, 15) * dt + P(7, 15); - _p_new(8, 15) = P(5, 15) * dt + P(8, 15); - _p_new(9, 15) = P(6, 15) * dt + P(9, 15); - _p_new(10, 15) = P(10, 15); - _p_new(11, 15) = P(11, 15); - _p_new(12, 15) = P(12, 15); - _p_new(13, 15) = P(13, 15); - _p_new(14, 15) = P(14, 15); - _p_new(15, 15) = P(15, 15); - _p_new(16, 15) = 0; - _p_new(17, 15) = 0; - _p_new(18, 15) = 0; - _p_new(19, 15) = 0; - _p_new(20, 15) = 0; - _p_new(21, 15) = 0; - _p_new(22, 15) = 0; - _p_new(23, 15) = 0; - _p_new(0, 16) = P(0, 16) + P(1, 16) * _tmp8 + P(10, 16) * _tmp11 + P(11, 16) * _tmp10 + - P(12, 16) * _tmp9 + P(2, 16) * _tmp5 + P(3, 16) * _tmp2; - _p_new(1, 16) = P(0, 16) * _tmp30 + P(1, 16) - P(10, 16) * _tmp27 + P(11, 16) * _tmp9 - - P(12, 16) * _tmp10 + P(2, 16) * _tmp29 + P(3, 16) * _tmp5; - _p_new(2, 16) = P(0, 16) * _tmp41 + P(1, 16) * _tmp2 - P(10, 16) * _tmp9 - P(11, 16) * _tmp27 + - P(12, 16) * _tmp11 + P(2, 16) + P(3, 16) * _tmp30; - _p_new(3, 16) = P(0, 16) * _tmp29 + P(1, 16) * _tmp41 + P(10, 16) * _tmp10 - - P(11, 16) * _tmp11 - P(12, 16) * _tmp27 + P(2, 16) * _tmp8 + P(3, 16); - _p_new(4, 16) = P(0, 16) * _tmp69 + P(1, 16) * _tmp66 - P(13, 16) * _tmp81 - - P(14, 16) * _tmp78 - P(15, 16) * _tmp76 + P(2, 16) * _tmp86 + - P(3, 16) * _tmp74 + P(4, 16); - _p_new(5, 16) = P(0, 16) * _tmp119 + P(1, 16) * _tmp128 - P(13, 16) * _tmp122 - - P(14, 16) * _tmp125 - P(15, 16) * _tmp123 + P(2, 16) * _tmp117 + - P(3, 16) * _tmp121 + P(5, 16); - _p_new(6, 16) = P(0, 16) * _tmp150 + P(1, 16) * _tmp152 - P(13, 16) * _tmp153 - - P(14, 16) * _tmp154 - P(15, 16) * _tmp155 + P(2, 16) * _tmp151 + - P(3, 16) * _tmp149 + P(6, 16); - _p_new(7, 16) = P(4, 16) * dt + P(7, 16); - _p_new(8, 16) = P(5, 16) * dt + P(8, 16); - _p_new(9, 16) = P(6, 16) * dt + P(9, 16); - _p_new(10, 16) = P(10, 16); - _p_new(11, 16) = P(11, 16); - _p_new(12, 16) = P(12, 16); - _p_new(13, 16) = P(13, 16); - _p_new(14, 16) = P(14, 16); - _p_new(15, 16) = P(15, 16); - _p_new(16, 16) = P(16, 16); - _p_new(17, 16) = 0; - _p_new(18, 16) = 0; - _p_new(19, 16) = 0; - _p_new(20, 16) = 0; - _p_new(21, 16) = 0; - _p_new(22, 16) = 0; - _p_new(23, 16) = 0; - _p_new(0, 17) = P(0, 17) + P(1, 17) * _tmp8 + P(10, 17) * _tmp11 + P(11, 17) * _tmp10 + - P(12, 17) * _tmp9 + P(2, 17) * _tmp5 + P(3, 17) * _tmp2; - _p_new(1, 17) = P(0, 17) * _tmp30 + P(1, 17) - P(10, 17) * _tmp27 + P(11, 17) * _tmp9 - - P(12, 17) * _tmp10 + P(2, 17) * _tmp29 + P(3, 17) * _tmp5; - _p_new(2, 17) = P(0, 17) * _tmp41 + P(1, 17) * _tmp2 - P(10, 17) * _tmp9 - P(11, 17) * _tmp27 + - P(12, 17) * _tmp11 + P(2, 17) + P(3, 17) * _tmp30; - _p_new(3, 17) = P(0, 17) * _tmp29 + P(1, 17) * _tmp41 + P(10, 17) * _tmp10 - - P(11, 17) * _tmp11 - P(12, 17) * _tmp27 + P(2, 17) * _tmp8 + P(3, 17); - _p_new(4, 17) = P(0, 17) * _tmp69 + P(1, 17) * _tmp66 - P(13, 17) * _tmp81 - - P(14, 17) * _tmp78 - P(15, 17) * _tmp76 + P(2, 17) * _tmp86 + - P(3, 17) * _tmp74 + P(4, 17); - _p_new(5, 17) = P(0, 17) * _tmp119 + P(1, 17) * _tmp128 - P(13, 17) * _tmp122 - - P(14, 17) * _tmp125 - P(15, 17) * _tmp123 + P(2, 17) * _tmp117 + - P(3, 17) * _tmp121 + P(5, 17); - _p_new(6, 17) = P(0, 17) * _tmp150 + P(1, 17) * _tmp152 - P(13, 17) * _tmp153 - - P(14, 17) * _tmp154 - P(15, 17) * _tmp155 + P(2, 17) * _tmp151 + - P(3, 17) * _tmp149 + P(6, 17); - _p_new(7, 17) = P(4, 17) * dt + P(7, 17); - _p_new(8, 17) = P(5, 17) * dt + P(8, 17); - _p_new(9, 17) = P(6, 17) * dt + P(9, 17); - _p_new(10, 17) = P(10, 17); - _p_new(11, 17) = P(11, 17); - _p_new(12, 17) = P(12, 17); - _p_new(13, 17) = P(13, 17); - _p_new(14, 17) = P(14, 17); - _p_new(15, 17) = P(15, 17); - _p_new(16, 17) = P(16, 17); - _p_new(17, 17) = P(17, 17); - _p_new(18, 17) = 0; - _p_new(19, 17) = 0; - _p_new(20, 17) = 0; - _p_new(21, 17) = 0; - _p_new(22, 17) = 0; - _p_new(23, 17) = 0; - _p_new(0, 18) = P(0, 18) + P(1, 18) * _tmp8 + P(10, 18) * _tmp11 + P(11, 18) * _tmp10 + - P(12, 18) * _tmp9 + P(2, 18) * _tmp5 + P(3, 18) * _tmp2; - _p_new(1, 18) = P(0, 18) * _tmp30 + P(1, 18) - P(10, 18) * _tmp27 + P(11, 18) * _tmp9 - - P(12, 18) * _tmp10 + P(2, 18) * _tmp29 + P(3, 18) * _tmp5; - _p_new(2, 18) = P(0, 18) * _tmp41 + P(1, 18) * _tmp2 - P(10, 18) * _tmp9 - P(11, 18) * _tmp27 + - P(12, 18) * _tmp11 + P(2, 18) + P(3, 18) * _tmp30; - _p_new(3, 18) = P(0, 18) * _tmp29 + P(1, 18) * _tmp41 + P(10, 18) * _tmp10 - - P(11, 18) * _tmp11 - P(12, 18) * _tmp27 + P(2, 18) * _tmp8 + P(3, 18); - _p_new(4, 18) = P(0, 18) * _tmp69 + P(1, 18) * _tmp66 - P(13, 18) * _tmp81 - - P(14, 18) * _tmp78 - P(15, 18) * _tmp76 + P(2, 18) * _tmp86 + - P(3, 18) * _tmp74 + P(4, 18); - _p_new(5, 18) = P(0, 18) * _tmp119 + P(1, 18) * _tmp128 - P(13, 18) * _tmp122 - - P(14, 18) * _tmp125 - P(15, 18) * _tmp123 + P(2, 18) * _tmp117 + - P(3, 18) * _tmp121 + P(5, 18); - _p_new(6, 18) = P(0, 18) * _tmp150 + P(1, 18) * _tmp152 - P(13, 18) * _tmp153 - - P(14, 18) * _tmp154 - P(15, 18) * _tmp155 + P(2, 18) * _tmp151 + - P(3, 18) * _tmp149 + P(6, 18); - _p_new(7, 18) = P(4, 18) * dt + P(7, 18); - _p_new(8, 18) = P(5, 18) * dt + P(8, 18); - _p_new(9, 18) = P(6, 18) * dt + P(9, 18); - _p_new(10, 18) = P(10, 18); - _p_new(11, 18) = P(11, 18); - _p_new(12, 18) = P(12, 18); - _p_new(13, 18) = P(13, 18); - _p_new(14, 18) = P(14, 18); - _p_new(15, 18) = P(15, 18); - _p_new(16, 18) = P(16, 18); - _p_new(17, 18) = P(17, 18); - _p_new(18, 18) = P(18, 18); - _p_new(19, 18) = 0; - _p_new(20, 18) = 0; - _p_new(21, 18) = 0; - _p_new(22, 18) = 0; - _p_new(23, 18) = 0; - _p_new(0, 19) = P(0, 19) + P(1, 19) * _tmp8 + P(10, 19) * _tmp11 + P(11, 19) * _tmp10 + - P(12, 19) * _tmp9 + P(2, 19) * _tmp5 + P(3, 19) * _tmp2; - _p_new(1, 19) = P(0, 19) * _tmp30 + P(1, 19) - P(10, 19) * _tmp27 + P(11, 19) * _tmp9 - - P(12, 19) * _tmp10 + P(2, 19) * _tmp29 + P(3, 19) * _tmp5; - _p_new(2, 19) = P(0, 19) * _tmp41 + P(1, 19) * _tmp2 - P(10, 19) * _tmp9 - P(11, 19) * _tmp27 + - P(12, 19) * _tmp11 + P(2, 19) + P(3, 19) * _tmp30; - _p_new(3, 19) = P(0, 19) * _tmp29 + P(1, 19) * _tmp41 + P(10, 19) * _tmp10 - - P(11, 19) * _tmp11 - P(12, 19) * _tmp27 + P(2, 19) * _tmp8 + P(3, 19); - _p_new(4, 19) = P(0, 19) * _tmp69 + P(1, 19) * _tmp66 - P(13, 19) * _tmp81 - - P(14, 19) * _tmp78 - P(15, 19) * _tmp76 + P(2, 19) * _tmp86 + - P(3, 19) * _tmp74 + P(4, 19); - _p_new(5, 19) = P(0, 19) * _tmp119 + P(1, 19) * _tmp128 - P(13, 19) * _tmp122 - - P(14, 19) * _tmp125 - P(15, 19) * _tmp123 + P(2, 19) * _tmp117 + - P(3, 19) * _tmp121 + P(5, 19); - _p_new(6, 19) = P(0, 19) * _tmp150 + P(1, 19) * _tmp152 - P(13, 19) * _tmp153 - - P(14, 19) * _tmp154 - P(15, 19) * _tmp155 + P(2, 19) * _tmp151 + - P(3, 19) * _tmp149 + P(6, 19); - _p_new(7, 19) = P(4, 19) * dt + P(7, 19); - _p_new(8, 19) = P(5, 19) * dt + P(8, 19); - _p_new(9, 19) = P(6, 19) * dt + P(9, 19); - _p_new(10, 19) = P(10, 19); - _p_new(11, 19) = P(11, 19); - _p_new(12, 19) = P(12, 19); - _p_new(13, 19) = P(13, 19); - _p_new(14, 19) = P(14, 19); - _p_new(15, 19) = P(15, 19); - _p_new(16, 19) = P(16, 19); - _p_new(17, 19) = P(17, 19); - _p_new(18, 19) = P(18, 19); - _p_new(19, 19) = P(19, 19); - _p_new(20, 19) = 0; - _p_new(21, 19) = 0; - _p_new(22, 19) = 0; - _p_new(23, 19) = 0; - _p_new(0, 20) = P(0, 20) + P(1, 20) * _tmp8 + P(10, 20) * _tmp11 + P(11, 20) * _tmp10 + - P(12, 20) * _tmp9 + P(2, 20) * _tmp5 + P(3, 20) * _tmp2; - _p_new(1, 20) = P(0, 20) * _tmp30 + P(1, 20) - P(10, 20) * _tmp27 + P(11, 20) * _tmp9 - - P(12, 20) * _tmp10 + P(2, 20) * _tmp29 + P(3, 20) * _tmp5; - _p_new(2, 20) = P(0, 20) * _tmp41 + P(1, 20) * _tmp2 - P(10, 20) * _tmp9 - P(11, 20) * _tmp27 + - P(12, 20) * _tmp11 + P(2, 20) + P(3, 20) * _tmp30; - _p_new(3, 20) = P(0, 20) * _tmp29 + P(1, 20) * _tmp41 + P(10, 20) * _tmp10 - - P(11, 20) * _tmp11 - P(12, 20) * _tmp27 + P(2, 20) * _tmp8 + P(3, 20); - _p_new(4, 20) = P(0, 20) * _tmp69 + P(1, 20) * _tmp66 - P(13, 20) * _tmp81 - - P(14, 20) * _tmp78 - P(15, 20) * _tmp76 + P(2, 20) * _tmp86 + - P(3, 20) * _tmp74 + P(4, 20); - _p_new(5, 20) = P(0, 20) * _tmp119 + P(1, 20) * _tmp128 - P(13, 20) * _tmp122 - - P(14, 20) * _tmp125 - P(15, 20) * _tmp123 + P(2, 20) * _tmp117 + - P(3, 20) * _tmp121 + P(5, 20); - _p_new(6, 20) = P(0, 20) * _tmp150 + P(1, 20) * _tmp152 - P(13, 20) * _tmp153 - - P(14, 20) * _tmp154 - P(15, 20) * _tmp155 + P(2, 20) * _tmp151 + - P(3, 20) * _tmp149 + P(6, 20); - _p_new(7, 20) = P(4, 20) * dt + P(7, 20); - _p_new(8, 20) = P(5, 20) * dt + P(8, 20); - _p_new(9, 20) = P(6, 20) * dt + P(9, 20); - _p_new(10, 20) = P(10, 20); - _p_new(11, 20) = P(11, 20); - _p_new(12, 20) = P(12, 20); - _p_new(13, 20) = P(13, 20); - _p_new(14, 20) = P(14, 20); - _p_new(15, 20) = P(15, 20); - _p_new(16, 20) = P(16, 20); - _p_new(17, 20) = P(17, 20); - _p_new(18, 20) = P(18, 20); - _p_new(19, 20) = P(19, 20); - _p_new(20, 20) = P(20, 20); - _p_new(21, 20) = 0; - _p_new(22, 20) = 0; - _p_new(23, 20) = 0; - _p_new(0, 21) = P(0, 21) + P(1, 21) * _tmp8 + P(10, 21) * _tmp11 + P(11, 21) * _tmp10 + - P(12, 21) * _tmp9 + P(2, 21) * _tmp5 + P(3, 21) * _tmp2; - _p_new(1, 21) = P(0, 21) * _tmp30 + P(1, 21) - P(10, 21) * _tmp27 + P(11, 21) * _tmp9 - - P(12, 21) * _tmp10 + P(2, 21) * _tmp29 + P(3, 21) * _tmp5; - _p_new(2, 21) = P(0, 21) * _tmp41 + P(1, 21) * _tmp2 - P(10, 21) * _tmp9 - P(11, 21) * _tmp27 + - P(12, 21) * _tmp11 + P(2, 21) + P(3, 21) * _tmp30; - _p_new(3, 21) = P(0, 21) * _tmp29 + P(1, 21) * _tmp41 + P(10, 21) * _tmp10 - - P(11, 21) * _tmp11 - P(12, 21) * _tmp27 + P(2, 21) * _tmp8 + P(3, 21); - _p_new(4, 21) = P(0, 21) * _tmp69 + P(1, 21) * _tmp66 - P(13, 21) * _tmp81 - - P(14, 21) * _tmp78 - P(15, 21) * _tmp76 + P(2, 21) * _tmp86 + - P(3, 21) * _tmp74 + P(4, 21); - _p_new(5, 21) = P(0, 21) * _tmp119 + P(1, 21) * _tmp128 - P(13, 21) * _tmp122 - - P(14, 21) * _tmp125 - P(15, 21) * _tmp123 + P(2, 21) * _tmp117 + - P(3, 21) * _tmp121 + P(5, 21); - _p_new(6, 21) = P(0, 21) * _tmp150 + P(1, 21) * _tmp152 - P(13, 21) * _tmp153 - - P(14, 21) * _tmp154 - P(15, 21) * _tmp155 + P(2, 21) * _tmp151 + - P(3, 21) * _tmp149 + P(6, 21); - _p_new(7, 21) = P(4, 21) * dt + P(7, 21); - _p_new(8, 21) = P(5, 21) * dt + P(8, 21); - _p_new(9, 21) = P(6, 21) * dt + P(9, 21); - _p_new(10, 21) = P(10, 21); - _p_new(11, 21) = P(11, 21); - _p_new(12, 21) = P(12, 21); - _p_new(13, 21) = P(13, 21); - _p_new(14, 21) = P(14, 21); - _p_new(15, 21) = P(15, 21); - _p_new(16, 21) = P(16, 21); - _p_new(17, 21) = P(17, 21); - _p_new(18, 21) = P(18, 21); - _p_new(19, 21) = P(19, 21); - _p_new(20, 21) = P(20, 21); - _p_new(21, 21) = P(21, 21); - _p_new(22, 21) = 0; - _p_new(23, 21) = 0; - _p_new(0, 22) = P(0, 22) + P(1, 22) * _tmp8 + P(10, 22) * _tmp11 + P(11, 22) * _tmp10 + - P(12, 22) * _tmp9 + P(2, 22) * _tmp5 + P(3, 22) * _tmp2; - _p_new(1, 22) = P(0, 22) * _tmp30 + P(1, 22) - P(10, 22) * _tmp27 + P(11, 22) * _tmp9 - - P(12, 22) * _tmp10 + P(2, 22) * _tmp29 + P(3, 22) * _tmp5; - _p_new(2, 22) = P(0, 22) * _tmp41 + P(1, 22) * _tmp2 - P(10, 22) * _tmp9 - P(11, 22) * _tmp27 + - P(12, 22) * _tmp11 + P(2, 22) + P(3, 22) * _tmp30; - _p_new(3, 22) = P(0, 22) * _tmp29 + P(1, 22) * _tmp41 + P(10, 22) * _tmp10 - - P(11, 22) * _tmp11 - P(12, 22) * _tmp27 + P(2, 22) * _tmp8 + P(3, 22); - _p_new(4, 22) = P(0, 22) * _tmp69 + P(1, 22) * _tmp66 - P(13, 22) * _tmp81 - - P(14, 22) * _tmp78 - P(15, 22) * _tmp76 + P(2, 22) * _tmp86 + - P(3, 22) * _tmp74 + P(4, 22); - _p_new(5, 22) = P(0, 22) * _tmp119 + P(1, 22) * _tmp128 - P(13, 22) * _tmp122 - - P(14, 22) * _tmp125 - P(15, 22) * _tmp123 + P(2, 22) * _tmp117 + - P(3, 22) * _tmp121 + P(5, 22); - _p_new(6, 22) = P(0, 22) * _tmp150 + P(1, 22) * _tmp152 - P(13, 22) * _tmp153 - - P(14, 22) * _tmp154 - P(15, 22) * _tmp155 + P(2, 22) * _tmp151 + - P(3, 22) * _tmp149 + P(6, 22); - _p_new(7, 22) = P(4, 22) * dt + P(7, 22); - _p_new(8, 22) = P(5, 22) * dt + P(8, 22); - _p_new(9, 22) = P(6, 22) * dt + P(9, 22); - _p_new(10, 22) = P(10, 22); - _p_new(11, 22) = P(11, 22); - _p_new(12, 22) = P(12, 22); - _p_new(13, 22) = P(13, 22); - _p_new(14, 22) = P(14, 22); - _p_new(15, 22) = P(15, 22); - _p_new(16, 22) = P(16, 22); - _p_new(17, 22) = P(17, 22); - _p_new(18, 22) = P(18, 22); - _p_new(19, 22) = P(19, 22); - _p_new(20, 22) = P(20, 22); - _p_new(21, 22) = P(21, 22); - _p_new(22, 22) = P(22, 22); - _p_new(23, 22) = 0; - _p_new(0, 23) = P(0, 23) + P(1, 23) * _tmp8 + P(10, 23) * _tmp11 + P(11, 23) * _tmp10 + - P(12, 23) * _tmp9 + P(2, 23) * _tmp5 + P(3, 23) * _tmp2; - _p_new(1, 23) = P(0, 23) * _tmp30 + P(1, 23) - P(10, 23) * _tmp27 + P(11, 23) * _tmp9 - - P(12, 23) * _tmp10 + P(2, 23) * _tmp29 + P(3, 23) * _tmp5; - _p_new(2, 23) = P(0, 23) * _tmp41 + P(1, 23) * _tmp2 - P(10, 23) * _tmp9 - P(11, 23) * _tmp27 + - P(12, 23) * _tmp11 + P(2, 23) + P(3, 23) * _tmp30; - _p_new(3, 23) = P(0, 23) * _tmp29 + P(1, 23) * _tmp41 + P(10, 23) * _tmp10 - - P(11, 23) * _tmp11 - P(12, 23) * _tmp27 + P(2, 23) * _tmp8 + P(3, 23); - _p_new(4, 23) = P(0, 23) * _tmp69 + P(1, 23) * _tmp66 - P(13, 23) * _tmp81 - - P(14, 23) * _tmp78 - P(15, 23) * _tmp76 + P(2, 23) * _tmp86 + - P(3, 23) * _tmp74 + P(4, 23); - _p_new(5, 23) = P(0, 23) * _tmp119 + P(1, 23) * _tmp128 - P(13, 23) * _tmp122 - - P(14, 23) * _tmp125 - P(15, 23) * _tmp123 + P(2, 23) * _tmp117 + - P(3, 23) * _tmp121 + P(5, 23); - _p_new(6, 23) = P(0, 23) * _tmp150 + P(1, 23) * _tmp152 - P(13, 23) * _tmp153 - - P(14, 23) * _tmp154 - P(15, 23) * _tmp155 + P(2, 23) * _tmp151 + - P(3, 23) * _tmp149 + P(6, 23); - _p_new(7, 23) = P(4, 23) * dt + P(7, 23); - _p_new(8, 23) = P(5, 23) * dt + P(8, 23); - _p_new(9, 23) = P(6, 23) * dt + P(9, 23); - _p_new(10, 23) = P(10, 23); - _p_new(11, 23) = P(11, 23); - _p_new(12, 23) = P(12, 23); - _p_new(13, 23) = P(13, 23); - _p_new(14, 23) = P(14, 23); - _p_new(15, 23) = P(15, 23); - _p_new(16, 23) = P(16, 23); - _p_new(17, 23) = P(17, 23); - _p_new(18, 23) = P(18, 23); - _p_new(19, 23) = P(19, 23); - _p_new(20, 23) = P(20, 23); - _p_new(21, 23) = P(21, 23); - _p_new(22, 23) = P(22, 23); - _p_new(23, 23) = P(23, 23); - } + return _res; } // NOLINT(readability/fn_size) // NOLINTNEXTLINE(readability/fn_size) diff --git a/src/modules/ekf2/EKF/python/ekf_derivation/generated/state.h b/src/modules/ekf2/EKF/python/ekf_derivation/generated/state.h new file mode 100644 index 000000000000..c6e317b9a8ad --- /dev/null +++ b/src/modules/ekf2/EKF/python/ekf_derivation/generated/state.h @@ -0,0 +1,58 @@ +// -------------------------------------------------- +// This file was autogenerated, do NOT modify by hand +// -------------------------------------------------- + +#ifndef EKF_STATE_H +#define EKF_STATE_H + +#include + +namespace estimator +{ +struct StateSample { + matrix::Quaternion quat_nominal{}; + matrix::Vector3 vel{}; + matrix::Vector3 pos{}; + matrix::Vector3 gyro_bias{}; + matrix::Vector3 accel_bias{}; + matrix::Vector3 mag_I{}; + matrix::Vector3 mag_B{}; + matrix::Vector2 wind_vel{}; + float terrain{}; + + matrix::Vector Data() const { + matrix::Vector state; + state.slice<4, 1>(0, 0) = quat_nominal; + state.slice<3, 1>(4, 0) = vel; + state.slice<3, 1>(7, 0) = pos; + state.slice<3, 1>(10, 0) = gyro_bias; + state.slice<3, 1>(13, 0) = accel_bias; + state.slice<3, 1>(16, 0) = mag_I; + state.slice<3, 1>(19, 0) = mag_B; + state.slice<2, 1>(22, 0) = wind_vel; + state.slice<1, 1>(24, 0) = terrain; + return state; + }; + + const matrix::Vector& vector() const { + return *reinterpret_cast*>(const_cast(reinterpret_cast(&quat_nominal))); + }; + +}; +static_assert(sizeof(matrix::Vector) == sizeof(StateSample), "state vector doesn't match StateSample size"); + +struct IdxDof { unsigned idx; unsigned dof; }; +namespace State { + static constexpr IdxDof quat_nominal{0, 3}; + static constexpr IdxDof vel{3, 3}; + static constexpr IdxDof pos{6, 3}; + static constexpr IdxDof gyro_bias{9, 3}; + static constexpr IdxDof accel_bias{12, 3}; + static constexpr IdxDof mag_I{15, 3}; + static constexpr IdxDof mag_B{18, 3}; + static constexpr IdxDof wind_vel{21, 2}; + static constexpr IdxDof terrain{23, 1}; + static constexpr uint8_t size{24}; +}; +} +#endif // !EKF_STATE_H diff --git a/src/modules/ekf2/EKF/python/ekf_derivation/generated/terr_est_compute_flow_xy_innov_var_and_hx.h b/src/modules/ekf2/EKF/python/ekf_derivation/generated/terr_est_compute_flow_xy_innov_var_and_hx.h deleted file mode 100644 index b2af651030e9..000000000000 --- a/src/modules/ekf2/EKF/python/ekf_derivation/generated/terr_est_compute_flow_xy_innov_var_and_hx.h +++ /dev/null @@ -1,66 +0,0 @@ -// ----------------------------------------------------------------------------- -// This file was autogenerated by symforce from template: -// backends/cpp/templates/function/FUNCTION.h.jinja -// Do NOT modify by hand. -// ----------------------------------------------------------------------------- - -#pragma once - -#include - -namespace sym { - -/** - * This function was autogenerated from a symbolic function. Do not modify by hand. - * - * Symbolic function: terr_est_compute_flow_xy_innov_var_and_hx - * - * Args: - * terrain_vpos: Scalar - * P: Scalar - * q_att: Matrix41 - * v: Matrix31 - * pos_z: Scalar - * R: Scalar - * epsilon: Scalar - * - * Outputs: - * innov_var: Matrix21 - * H: Scalar - */ -template -void TerrEstComputeFlowXyInnovVarAndHx(const Scalar terrain_vpos, const Scalar P, - const matrix::Matrix& q_att, - const matrix::Matrix& v, const Scalar pos_z, - const Scalar R, const Scalar epsilon, - matrix::Matrix* const innov_var = nullptr, - Scalar* const H = nullptr) { - // Total ops: 28 - - // Input arrays - - // Intermediate terms (4) - const Scalar _tmp0 = std::pow(q_att(0, 0), Scalar(2)) - std::pow(q_att(1, 0), Scalar(2)) - - std::pow(q_att(2, 0), Scalar(2)) + std::pow(q_att(3, 0), Scalar(2)); - const Scalar _tmp1 = pos_z - terrain_vpos; - const Scalar _tmp2 = - -_tmp1 + epsilon * (2 * math::min(0, -(((_tmp1) > 0) - ((_tmp1) < 0))) + 1); - const Scalar _tmp3 = P * std::pow(_tmp0, Scalar(2)) / std::pow(_tmp2, Scalar(4)); - - // Output terms (2) - if (innov_var != nullptr) { - matrix::Matrix& _innov_var = (*innov_var); - - _innov_var(0, 0) = R + _tmp3 * std::pow(v(1, 0), Scalar(2)); - _innov_var(1, 0) = R + _tmp3 * std::pow(v(0, 0), Scalar(2)); - } - - if (H != nullptr) { - Scalar& _h = (*H); - - _h = _tmp0 * v(1, 0) / std::pow(_tmp2, Scalar(2)); - } -} // NOLINT(readability/fn_size) - -// NOLINTNEXTLINE(readability/fn_size) -} // namespace sym diff --git a/src/modules/ekf2/EKF/python/ekf_derivation/generated/terr_est_compute_flow_y_innov_var_and_h.h b/src/modules/ekf2/EKF/python/ekf_derivation/generated/terr_est_compute_flow_y_innov_var_and_h.h deleted file mode 100644 index 0bf7cb85f046..000000000000 --- a/src/modules/ekf2/EKF/python/ekf_derivation/generated/terr_est_compute_flow_y_innov_var_and_h.h +++ /dev/null @@ -1,65 +0,0 @@ -// ----------------------------------------------------------------------------- -// This file was autogenerated by symforce from template: -// backends/cpp/templates/function/FUNCTION.h.jinja -// Do NOT modify by hand. -// ----------------------------------------------------------------------------- - -#pragma once - -#include - -namespace sym { - -/** - * This function was autogenerated from a symbolic function. Do not modify by hand. - * - * Symbolic function: terr_est_compute_flow_y_innov_var_and_h - * - * Args: - * terrain_vpos: Scalar - * P: Scalar - * q_att: Matrix41 - * v: Matrix31 - * pos_z: Scalar - * R: Scalar - * epsilon: Scalar - * - * Outputs: - * innov_var: Scalar - * H: Scalar - */ -template -void TerrEstComputeFlowYInnovVarAndH(const Scalar terrain_vpos, const Scalar P, - const matrix::Matrix& q_att, - const matrix::Matrix& v, const Scalar pos_z, - const Scalar R, const Scalar epsilon, - Scalar* const innov_var = nullptr, Scalar* const H = nullptr) { - // Total ops: 26 - - // Input arrays - - // Intermediate terms (3) - const Scalar _tmp0 = std::pow(q_att(0, 0), Scalar(2)) - std::pow(q_att(1, 0), Scalar(2)) - - std::pow(q_att(2, 0), Scalar(2)) + std::pow(q_att(3, 0), Scalar(2)); - const Scalar _tmp1 = pos_z - terrain_vpos; - const Scalar _tmp2 = - -_tmp1 + epsilon * (2 * math::min(0, -(((_tmp1) > 0) - ((_tmp1) < 0))) + 1); - - // Output terms (2) - if (innov_var != nullptr) { - Scalar& _innov_var = (*innov_var); - - _innov_var = - P * std::pow(_tmp0, Scalar(2)) * std::pow(v(0, 0), Scalar(2)) / std::pow(_tmp2, Scalar(4)) + - R; - } - - if (H != nullptr) { - Scalar& _h = (*H); - - _h = -_tmp0 * v(0, 0) / std::pow(_tmp2, Scalar(2)); - } -} // NOLINT(readability/fn_size) - -// NOLINTNEXTLINE(readability/fn_size) -} // namespace sym diff --git a/src/modules/ekf2/EKF/python/ekf_derivation/generated/yaw_est_compute_measurement_update.h b/src/modules/ekf2/EKF/python/ekf_derivation/generated/yaw_est_compute_measurement_update.h deleted file mode 100644 index abd623876013..000000000000 --- a/src/modules/ekf2/EKF/python/ekf_derivation/generated/yaw_est_compute_measurement_update.h +++ /dev/null @@ -1,102 +0,0 @@ -// ----------------------------------------------------------------------------- -// This file was autogenerated by symforce from template: -// backends/cpp/templates/function/FUNCTION.h.jinja -// Do NOT modify by hand. -// ----------------------------------------------------------------------------- - -#pragma once - -#include - -namespace sym { - -/** - * This function was autogenerated from a symbolic function. Do not modify by hand. - * - * Symbolic function: yaw_est_compute_measurement_update - * - * Args: - * P: Matrix33 - * vel_obs_var: Scalar - * epsilon: Scalar - * - * Outputs: - * S_inv: Matrix22 - * S_det_inv: Scalar - * K: Matrix32 - * P_new: Matrix33 - */ -template -void YawEstComputeMeasurementUpdate(const matrix::Matrix& P, const Scalar vel_obs_var, - const Scalar epsilon, - matrix::Matrix* const S_inv = nullptr, - Scalar* const S_det_inv = nullptr, - matrix::Matrix* const K = nullptr, - matrix::Matrix* const P_new = nullptr) { - // Total ops: 60 - - // Input arrays - - // Intermediate terms (15) - const Scalar _tmp0 = P(1, 1) + vel_obs_var; - const Scalar _tmp1 = P(0, 0) + vel_obs_var; - const Scalar _tmp2 = -P(0, 1) * P(1, 0) + _tmp0 * _tmp1; - const Scalar _tmp3 = - Scalar(1.0) / - (_tmp2 + epsilon * (2 * math::min(0, (((_tmp2) > 0) - ((_tmp2) < 0))) + 1)); - const Scalar _tmp4 = _tmp0 * _tmp3; - const Scalar _tmp5 = P(1, 0) * _tmp3; - const Scalar _tmp6 = P(0, 1) * _tmp3; - const Scalar _tmp7 = _tmp1 * _tmp3; - const Scalar _tmp8 = -P(0, 1) * _tmp5; - const Scalar _tmp9 = P(0, 0) * _tmp4 + _tmp8; - const Scalar _tmp10 = -P(1, 1) * _tmp5 + _tmp0 * _tmp5; - const Scalar _tmp11 = P(2, 0) * _tmp4 - P(2, 1) * _tmp5; - const Scalar _tmp12 = -P(0, 0) * _tmp6 + _tmp1 * _tmp6; - const Scalar _tmp13 = P(1, 1) * _tmp7 + _tmp8; - const Scalar _tmp14 = -P(2, 0) * _tmp6 + P(2, 1) * _tmp7; - - // Output terms (4) - if (S_inv != nullptr) { - matrix::Matrix& _S_inv = (*S_inv); - - _S_inv(0, 0) = _tmp4; - _S_inv(1, 0) = -_tmp5; - _S_inv(0, 1) = -_tmp6; - _S_inv(1, 1) = _tmp7; - } - - if (S_det_inv != nullptr) { - Scalar& _S_det_inv = (*S_det_inv); - - _S_det_inv = _tmp3; - } - - if (K != nullptr) { - matrix::Matrix& _K = (*K); - - _K(0, 0) = _tmp9; - _K(1, 0) = _tmp10; - _K(2, 0) = _tmp11; - _K(0, 1) = _tmp12; - _K(1, 1) = _tmp13; - _K(2, 1) = _tmp14; - } - - if (P_new != nullptr) { - matrix::Matrix& _P_new = (*P_new); - - _P_new(0, 0) = -P(0, 0) * _tmp9 + P(0, 0) - P(1, 0) * _tmp12; - _P_new(1, 0) = 0; - _P_new(2, 0) = 0; - _P_new(0, 1) = -P(0, 1) * _tmp9 + P(0, 1) - P(1, 1) * _tmp12; - _P_new(1, 1) = -P(0, 1) * _tmp10 - P(1, 1) * _tmp13 + P(1, 1); - _P_new(2, 1) = 0; - _P_new(0, 2) = -P(0, 2) * _tmp9 + P(0, 2) - P(1, 2) * _tmp12; - _P_new(1, 2) = -P(0, 2) * _tmp10 - P(1, 2) * _tmp13 + P(1, 2); - _P_new(2, 2) = -P(0, 2) * _tmp11 - P(1, 2) * _tmp14 + P(2, 2); - } -} // NOLINT(readability/fn_size) - -// NOLINTNEXTLINE(readability/fn_size) -} // namespace sym diff --git a/src/modules/ekf2/EKF/python/ekf_derivation/generated/yaw_est_predict_covariance.h b/src/modules/ekf2/EKF/python/ekf_derivation/generated/yaw_est_predict_covariance.h deleted file mode 100644 index b2c4a3665ce2..000000000000 --- a/src/modules/ekf2/EKF/python/ekf_derivation/generated/yaw_est_predict_covariance.h +++ /dev/null @@ -1,65 +0,0 @@ -// ----------------------------------------------------------------------------- -// This file was autogenerated by symforce from template: -// backends/cpp/templates/function/FUNCTION.h.jinja -// Do NOT modify by hand. -// ----------------------------------------------------------------------------- - -#pragma once - -#include - -namespace sym { - -/** - * This function was autogenerated from a symbolic function. Do not modify by hand. - * - * Symbolic function: yaw_est_predict_covariance - * - * Args: - * state: Matrix31 - * P: Matrix33 - * d_vel: Matrix21 - * d_vel_var: Scalar - * d_ang_var: Scalar - * - * Outputs: - * P_new: Matrix33 - */ -template -void YawEstPredictCovariance(const matrix::Matrix& state, - const matrix::Matrix& P, - const matrix::Matrix& d_vel, const Scalar d_vel_var, - const Scalar d_ang_var, - matrix::Matrix* const P_new = nullptr) { - // Total ops: 33 - - // Input arrays - - // Intermediate terms (7) - const Scalar _tmp0 = std::cos(state(2, 0)); - const Scalar _tmp1 = std::sin(state(2, 0)); - const Scalar _tmp2 = -_tmp0 * d_vel(1, 0) - _tmp1 * d_vel(0, 0); - const Scalar _tmp3 = P(0, 2) + P(2, 2) * _tmp2; - const Scalar _tmp4 = - std::pow(_tmp0, Scalar(2)) * d_vel_var + std::pow(_tmp1, Scalar(2)) * d_vel_var; - const Scalar _tmp5 = _tmp0 * d_vel(0, 0) - _tmp1 * d_vel(1, 0); - const Scalar _tmp6 = P(1, 2) + P(2, 2) * _tmp5; - - // Output terms (1) - if (P_new != nullptr) { - matrix::Matrix& _P_new = (*P_new); - - _P_new(0, 0) = P(0, 0) + P(2, 0) * _tmp2 + _tmp2 * _tmp3 + _tmp4; - _P_new(1, 0) = 0; - _P_new(2, 0) = 0; - _P_new(0, 1) = P(0, 1) + P(2, 1) * _tmp2 + _tmp3 * _tmp5; - _P_new(1, 1) = P(1, 1) + P(2, 1) * _tmp5 + _tmp4 + _tmp5 * _tmp6; - _P_new(2, 1) = 0; - _P_new(0, 2) = _tmp3; - _P_new(1, 2) = _tmp6; - _P_new(2, 2) = P(2, 2) + d_ang_var; - } -} // NOLINT(readability/fn_size) - -// NOLINTNEXTLINE(readability/fn_size) -} // namespace sym diff --git a/src/modules/ekf2/EKF/python/ekf_derivation/utils/__init__.py b/src/modules/ekf2/EKF/python/ekf_derivation/utils/__init__.py new file mode 100644 index 000000000000..e69de29bb2d1 diff --git a/src/modules/ekf2/EKF/python/ekf_derivation/utils/derivation_utils.py b/src/modules/ekf2/EKF/python/ekf_derivation/utils/derivation_utils.py new file mode 100644 index 000000000000..faf431da7167 --- /dev/null +++ b/src/modules/ekf2/EKF/python/ekf_derivation/utils/derivation_utils.py @@ -0,0 +1,166 @@ +#!/usr/bin/env python +# -*- coding: utf-8 -*- +""" + Copyright (c) 2022-2023 PX4 Development Team + Redistribution and use in source and binary forms, with or without + modification, are permitted provided that the following conditions + are met: + + 1. Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + 2. Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in + the documentation and/or other materials provided with the + distribution. + 3. Neither the name PX4 nor the names of its contributors may be + used to endorse or promote products derived from this software + without specific prior written permission. + + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + POSSIBILITY OF SUCH DAMAGE. + +File: derivation_utils.py +Description: + Common functions used for the derivation of most estimators +""" + +import symforce.symbolic as sf + +import re + +def sign_no_zero(x) -> sf.Scalar: + """ + Returns -1 if x is negative, 1 if x is positive, and 1 if x is zero + """ + return 2 * sf.Min(sf.sign(x), 0) + 1 + +def add_epsilon_sign(expr, var, eps): + # Avoids a singularity at 0 while keeping the derivative correct + return expr.subs(var, var + eps * sign_no_zero(var)) + +def generate_px4_function(function_name, output_names): + from symforce.codegen import Codegen, CppConfig + import os + import fileinput + + codegen = Codegen.function( + function_name, + output_names=output_names, + config=CppConfig(zero_initialization_sparsity_threshold=1)) + metadata = codegen.generate_function( + output_dir="generated", + skip_directory_nesting=True) + + for f in metadata.generated_files: + print(" |- {}".format(os.path.relpath(f, metadata.output_dir))) + + # Replace cstdlib and Eigen functions by PX4 equivalents + with fileinput.FileInput(os.path.abspath(metadata.generated_files[0]), inplace=True) as file: + for line in file: + line = line.replace("std::max", "math::max") + line = line.replace("std::min", "math::min") + line = line.replace("Eigen", "matrix") + line = line.replace("matrix/Dense", "matrix/math.hpp") + + # don't allow underscore + uppercase identifier naming (always reserved for any use) + line = re.sub(r'_([A-Z])', lambda x: '_' + x.group(1).lower(), line) + + print(line, end='') + +def generate_python_function(function_name, output_names): + from symforce.codegen import Codegen, PythonConfig + codegen = Codegen.function( + function_name, + output_names=output_names, + config=PythonConfig()) + + metadata = codegen.generate_function( + output_dir="generated", + skip_directory_nesting=True) + +def build_state_struct(state, T="float"): + out = "struct StateSample {\n" + + def TypeFromLength(len): + if len == 1: + return f"{T}" + elif len == 2: + return f"matrix::Vector2<{T}>" + elif len == 3: + return f"matrix::Vector3<{T}>" + elif len == 4: + return f"matrix::Quaternion<{T}>" + else: + raise NotImplementedError + + for key, val in state.items(): + out += f"\t{TypeFromLength(val.storage_dim())} {key}{{}};\n" + + state_size = state.storage_dim() + out += f"\n\tmatrix::Vector<{T}, {state_size}> Data() const {{\n" \ + + f"\t\tmatrix::Vector<{T}, {state_size}> state;\n" + + index = state.index() + for key in index: + out += f"\t\tstate.slice<{index[key].storage_dim}, 1>({index[key].offset}, 0) = {key};\n" + + out += "\t\treturn state;\n" + out += "\t};\n" # Data + + # const ref vector access + first_field = next(iter(state)) + + out += f"\n\tconst matrix::Vector<{T}, {state_size}>& vector() const {{\n" \ + + f"\t\treturn *reinterpret_cast*>(const_cast(reinterpret_cast(&{first_field})));\n" \ + + f"\t}};\n\n" + + out += "};\n" # StateSample + + out += f"static_assert(sizeof(matrix::Vector<{T}, {state_size}>) == sizeof(StateSample), \"state vector doesn't match StateSample size\");\n" + + return out + +def build_tangent_state_struct(state, tangent_state_index): + out = "struct IdxDof { unsigned idx; unsigned dof; };\n" + + out += "namespace State {\n" + + start_index = 0 + for key in tangent_state_index.keys(): + out += f"\tstatic constexpr IdxDof {key}{{{tangent_state_index[key].idx}, {tangent_state_index[key].dof}}};\n" + + out += f"\tstatic constexpr uint8_t size{{{state.tangent_dim()}}};\n" + out += "};\n" # namespace State + return out + +def generate_px4_state(state, tangent_state_index): + print("Generate EKF tangent state definition") + filename = "state.h" + f = open(f"./generated/{filename}", "w") + header = ["// --------------------------------------------------\n", + "// This file was autogenerated, do NOT modify by hand\n", + "// --------------------------------------------------\n", + "\n#ifndef EKF_STATE_H", + "\n#define EKF_STATE_H\n\n", + "#include \n\n", + "namespace estimator\n{\n"] + f.writelines(header) + + f.write(build_state_struct(state)) + f.write("\n") + f.write(build_tangent_state_struct(state, tangent_state_index)) + + f.write("}\n") # namespace estimator + f.write("#endif // !EKF_STATE_H\n") + f.close() + print(f" |- {filename}") diff --git a/src/modules/ekf2/EKF/python/tuning_tools/baro_static_pressure_compensation/baro_static_pressure_compensation_tuning.py b/src/modules/ekf2/EKF/python/tuning_tools/baro_static_pressure_compensation/baro_static_pressure_compensation_tuning.py index 7ca6b8f733f5..f30c7cf4a7f1 100644 --- a/src/modules/ekf2/EKF/python/tuning_tools/baro_static_pressure_compensation/baro_static_pressure_compensation_tuning.py +++ b/src/modules/ekf2/EKF/python/tuning_tools/baro_static_pressure_compensation/baro_static_pressure_compensation_tuning.py @@ -44,7 +44,7 @@ import numpy as np import quaternion from scipy import optimize -from scipy.signal import detrend +from scipy.signal import sosfilt, butter def getAllData(logfile): log = ULog(logfile) @@ -59,30 +59,26 @@ def getAllData(logfile): baro = getData(log, 'vehicle_air_data', 'baro_alt_meter') t_baro = ms2s(getData(log, 'vehicle_air_data', 'timestamp')) - baro_bias = getData(log, 'estimator_baro_bias', 'bias') - t_baro_bias = ms2s(getData(log, 'estimator_baro_bias', 'timestamp')) - q = np.matrix([getData(log, 'vehicle_attitude', 'q[0]'), getData(log, 'vehicle_attitude', 'q[1]'), getData(log, 'vehicle_attitude', 'q[2]'), getData(log, 'vehicle_attitude', 'q[3]')]) t_q = ms2s(getData(log, 'vehicle_attitude', 'timestamp')) - gnss_h = getData(log, 'vehicle_gps_position', 'alt') * 1e-3 + gnss_h = getData(log, 'vehicle_gps_position', 'altitude_msl_m') t_gnss = ms2s(getData(log, 'vehicle_gps_position', 'timestamp')) - (t_aligned, v_body_aligned, baro_aligned, v_local_z_aligned, gnss_h_aligned, baro_bias_aligned) = alignData(t_local, v_local, dist_bottom, t_q, q, baro, t_baro, t_gnss, gnss_h, t_baro_bias, baro_bias) + (t_aligned, v_body_aligned, baro_aligned, v_local_z_aligned, gnss_h_aligned) = alignData(t_local, v_local, dist_bottom, t_q, q, baro, t_baro, t_gnss, gnss_h) t_aligned -= t_aligned[0] - return (t_aligned, v_body_aligned, baro_aligned, v_local_z_aligned, gnss_h_aligned, baro_bias_aligned) + return (t_aligned, v_body_aligned, baro_aligned, v_local_z_aligned, gnss_h_aligned) -def alignData(t_local, v_local, dist_bottom, t_q, q, baro, t_baro, t_gnss, gnss_h, t_baro_bias, baro_bias): +def alignData(t_local, v_local, dist_bottom, t_q, q, baro, t_baro, t_gnss, gnss_h): #TODO: use resample? len_q = len(t_q) len_l = len(t_local) len_g = len(t_gnss) - len_bb = len(t_baro_bias) i_q = 0 i_l = 0 i_g = 0 @@ -91,7 +87,6 @@ def alignData(t_local, v_local, dist_bottom, t_q, q, baro, t_baro, t_gnss, gnss_ baro_aligned = [] gnss_h_aligned = [] v_local_z_aligned = [] - baro_bias_aligned = [] t_aligned = [] for i_b in range(len(t_baro)): @@ -102,8 +97,6 @@ def alignData(t_local, v_local, dist_bottom, t_q, q, baro, t_baro, t_gnss, gnss_ i_q += 1 while t_gnss[i_g] < t and i_g < len_g-1: i_g += 1 - while t_baro_bias[i_bb] < t and i_bb < len_bb-1: - i_bb += 1 # Only use in air data if dist_bottom[i_l] < 1.0: @@ -118,10 +111,9 @@ def alignData(t_local, v_local, dist_bottom, t_q, q, baro, t_baro, t_gnss, gnss_ baro_aligned = np.append(baro_aligned, baro[i_b]) v_local_z_aligned = np.append(v_local_z_aligned, v_local[2, i_l]) gnss_h_aligned = np.append(gnss_h_aligned, gnss_h[i_g]) - baro_bias_aligned = np.append(baro_bias_aligned, baro_bias[i_bb]) t_aligned.append(t) - return (t_aligned, v_body_aligned, baro_aligned, v_local_z_aligned, gnss_h_aligned, baro_bias_aligned) + return (t_aligned, v_body_aligned, baro_aligned, v_local_z_aligned, gnss_h_aligned) def getData(log, topic_name, variable_name, instance=0): variable_data = np.array([]) @@ -158,16 +150,22 @@ def baroCorrection(x, v_body): return correction -def run(logfile): - (t, v_body, baro, v_local_z, gnss_h, baro_bias) = getAllData(logfile) +def run(logfile, w_hpf): + (t, v_body, baro, v_local_z, gnss_h) = getAllData(logfile) # x[0]: pcoef_xn / g # x[1]: pcoef_xp / g # x[2]: pcoef_yn / g # x[3]: pcoef_yp / g # x[4]: pcoef_z / g - baro -= baro_bias - baro_error = detrend(gnss_h - baro) + baro_error = (gnss_h - baro) + + # Remove low ferquency part of the signal as we're only interested in the short-term errors + baro_error -= baro_error[0] + + if (w_hpf > 0): + sos = butter(4, w_hpf, 'hp', fs=1/(t[1]-t[0]), output='sos') + baro_error = sosfilt(sos, baro_error) J = lambda x: np.sum(np.power(baro_error - baroCorrection(x, v_body), 2.0)) # cost function @@ -175,7 +173,7 @@ def run(logfile): res = optimize.minimize(J, x0, method='nelder-mead', options={'disp': True}) # Convert results to parameters - g = 9.81 + g = 9.80665 pcoef_xn = res.x[0] * g pcoef_xp = res.x[1] * g pcoef_yn = res.x[2] * g @@ -228,8 +226,10 @@ def run(logfile): # Provide parameter file path and name parser.add_argument('logfile', help='Full ulog file path, name and extension', type=str) + parser.add_argument('--hpf', help='Cuttoff frequency of high-pass filter on baro error (Hz)', type=float, default=-1) args = parser.parse_args() logfile = os.path.abspath(args.logfile) # Convert to absolute path + w_hpf = 2 * np.pi * args.hpf - run(logfile) + run(logfile, w_hpf) diff --git a/src/modules/ekf2/EKF/python/tuning_tools/baro_static_pressure_compensation/requirements.txt b/src/modules/ekf2/EKF/python/tuning_tools/baro_static_pressure_compensation/requirements.txt index 34ac465f488a..8e93d986692f 100644 --- a/src/modules/ekf2/EKF/python/tuning_tools/baro_static_pressure_compensation/requirements.txt +++ b/src/modules/ekf2/EKF/python/tuning_tools/baro_static_pressure_compensation/requirements.txt @@ -1,5 +1,6 @@ matplotlib==3.5.1 numpy==1.22.2 +numpy==1.21.5 +numpy_quaternion==2022.4.3 pyulog==0.9.0 -quaternion==3.5.2.post4 scipy==1.8.0 diff --git a/src/modules/ekf2/EKF/python/tuning_tools/gyro_integration.py b/src/modules/ekf2/EKF/python/tuning_tools/gyro_integration.py new file mode 100644 index 000000000000..457c1eb8e9bd --- /dev/null +++ b/src/modules/ekf2/EKF/python/tuning_tools/gyro_integration.py @@ -0,0 +1,158 @@ +#!/usr/bin/env python +# -*- coding: utf-8 -*- +""" + Copyright (c) 2024 PX4 Development Team + Redistribution and use in source and binary forms, with or without + modification, are permitted provided that the following conditions + are met: + + 1. Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + 2. Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in + the documentation and/or other materials provided with the + distribution. + 3. Neither the name PX4 nor the names of its contributors may be + used to endorse or promote products derived from this software + without specific prior written permission. + + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + POSSIBILITY OF SUCH DAMAGE. +""" + +import matplotlib.pylab as plt +from pyulog import ULog +from pyulog.px4 import PX4ULog +import numpy as np +import sym +import symforce.symbolic as sf + +def getAllData(logfile): + log = ULog(logfile) + + gyro = np.matrix([getData(log, 'sensor_combined', 'gyro_rad[0]'), + getData(log, 'sensor_combined', 'gyro_rad[1]'), + getData(log, 'sensor_combined', 'gyro_rad[2]')]) + t_gyro = getTimestampsSeconds(log, 'sensor_combined') + + t_gyro -= t_gyro[0] + + q = np.matrix([getData(log, 'vehicle_attitude', 'q[0]'), + getData(log, 'vehicle_attitude', 'q[1]'), + getData(log, 'vehicle_attitude', 'q[2]'), + getData(log, 'vehicle_attitude', 'q[3]')]) + t_q = getTimestampsSeconds(log, 'vehicle_attitude') + t_q -= t_q[0] + + return (t_gyro, gyro, t_q, q) + +def getData(log, topic_name, variable_name, instance=0): + variable_data = np.array([]) + for elem in log.data_list: + if elem.name == topic_name: + if instance == elem.multi_id: + variable_data = elem.data[variable_name] + break + + return variable_data + +def us2s(time_us): + return time_us * 1e-6 + +def getTimestampsSeconds(log, topic_name, instance=0): + return us2s(getData(log, topic_name, 'timestamp', instance)) + +def integrateAngularRate(t, angular_rate, rot_init=sym.Rot3()): + R = rot_init + roll = [] + pitch = [] + yaw = [] + t_prev = 0 + + for i in range(len(t)): + dt = t[i] - t_prev + R = R * sym.Rot3.from_tangent(angular_rate[:, i] * dt) + att = R.to_yaw_pitch_roll() + yaw = np.append(yaw, att[0]) + pitch = np.append(pitch, att[1]) + roll = np.append(roll, att[2]) + + t_prev = t[i] + + return (roll, pitch, yaw) + +def quat2RollPitchYaw(t, q): + roll = [] + pitch = [] + yaw = [] + + for i in range(len(t)): + vect = sf.V3(float(q[1, i]), float(q[2, i]), float(q[3, i])) + quat = sf.Quaternion(w=q[0, i], xyz=vect) + R = sf.Rot3(quat) + att = R.to_yaw_pitch_roll() + yaw = np.append(yaw, float(att[0].evalf())) + pitch = np.append(pitch, float(att[1].evalf())) + roll = np.append(roll, float(att[2].evalf())) + + return (roll, pitch, yaw) + + +def run(logfile): + (t, gyro, t_q, q) = getAllData(logfile) + + (roll, pitch, yaw) = quat2RollPitchYaw(t_q, q) + (roll_raw, pitch_raw, yaw_raw) = integrateAngularRate(t, gyro, rot_init=sym.Rot3.from_yaw_pitch_roll(yaw[0], pitch[0], roll[0])) + + # Plot data + plt.figure(1) + plt.suptitle(logfile.split('/')[-1]) + + ax1 = plt.subplot(3, 1, 1) + ax1.plot(t_q, np.rad2deg(roll), '-') + ax1.plot(t, np.rad2deg(roll_raw), '--') + ax1.set_ylabel("roll (deg)") + ax1.legend(["estimated", "integrated"]) + ax1.grid() + + ax2 = plt.subplot(3, 1, 2, sharex=ax1) + ax2.plot(t_q, np.rad2deg(pitch)) + ax2.plot(t, np.rad2deg(pitch_raw), '--') + ax2.set_ylabel("pitch (deg)") + ax2.legend(["estimated", "integrated"]) + ax2.grid() + + ax3 = plt.subplot(3, 1, 3, sharex=ax1) + ax3.plot(t_q, np.rad2deg(yaw)) + ax3.plot(t, np.rad2deg(yaw_raw), '--') + ax3.set_xlabel("time (s)") + ax3.set_ylabel("yaw (deg)") + ax3.legend(["estimated", "integrated"]) + ax3.grid() + plt.show() + +if __name__ == '__main__': + import os + import argparse + + script_path = os.path.split(os.path.realpath(__file__))[0] + + parser = argparse.ArgumentParser( + description='Integrate angular velocity to attitude and compare it with attitude estimate') + + parser.add_argument('logfile', help='Full ulog file path, name and extension', type=str) + args = parser.parse_args() + + logfile = os.path.abspath(args.logfile) + + run(logfile) diff --git a/src/modules/ekf2/EKF/python/tuning_tools/mc_wind_estimator/mc_wind_estimator_tuning.py b/src/modules/ekf2/EKF/python/tuning_tools/mc_wind_estimator/mc_wind_estimator_tuning.py index 61b746fb3886..c0047a00f3ed 100644 --- a/src/modules/ekf2/EKF/python/tuning_tools/mc_wind_estimator/mc_wind_estimator_tuning.py +++ b/src/modules/ekf2/EKF/python/tuning_tools/mc_wind_estimator/mc_wind_estimator_tuning.py @@ -45,14 +45,20 @@ import quaternion from scipy import optimize -def getAllData(logfile): +def getAllData(logfile, use_gnss): log = ULog(logfile) - v_local = np.matrix([getData(log, 'vehicle_local_position', 'vx'), - getData(log, 'vehicle_local_position', 'vy'), - getData(log, 'vehicle_local_position', 'vz')]) + if use_gnss: + v_local = np.array([getData(log, 'vehicle_gps_position', 'vel_n_m_s'), + getData(log, 'vehicle_gps_position', 'vel_e_m_s'), + getData(log, 'vehicle_gps_position', 'vel_d_m_s')]) + t_v_local = ms2s(getData(log, 'vehicle_gps_position', 'timestamp')) - t_v_local = ms2s(getData(log, 'vehicle_local_position', 'timestamp')) + else: + v_local = np.array([getData(log, 'vehicle_local_position', 'vx'), + getData(log, 'vehicle_local_position', 'vy'), + getData(log, 'vehicle_local_position', 'vz')]) + t_v_local = ms2s(getData(log, 'vehicle_local_position', 'timestamp')) accel = np.matrix([getData(log, 'sensor_combined', 'accelerometer_m_s2[0]'), getData(log, 'sensor_combined', 'accelerometer_m_s2[1]'), @@ -126,8 +132,8 @@ def getData(log, topic_name, variable_name, instance=0): def ms2s(time_ms): return time_ms * 1e-6 -def run(logfile): - (t, v_body, a_body) = getAllData(logfile) +def run(logfile, use_gnss): + (t, v_body, a_body) = getAllData(logfile, use_gnss) rho = 1.15 # air densitiy rho15 = 1.225 # air density at 15 degC @@ -197,8 +203,10 @@ def run(logfile): # Provide parameter file path and name parser.add_argument('logfile', help='Full ulog file path, name and extension', type=str) + parser.add_argument('--gnss', help='Use GNSS velocity instead of local velocity estimate', + action='store_true') args = parser.parse_args() logfile = os.path.abspath(args.logfile) # Convert to absolute path - run(logfile) + run(logfile, args.gnss) diff --git a/src/modules/ekf2/EKF/python/tuning_tools/mc_wind_estimator/readme.md b/src/modules/ekf2/EKF/python/tuning_tools/mc_wind_estimator/readme.md index 5fdb93dbc3e6..da0a63c9fb9b 100644 --- a/src/modules/ekf2/EKF/python/tuning_tools/mc_wind_estimator/readme.md +++ b/src/modules/ekf2/EKF/python/tuning_tools/mc_wind_estimator/readme.md @@ -34,6 +34,6 @@ param set EKF2_BCOEF_Y 62.1 param set EKF2_MCOEF 0.16 # EXPERIMENTAL -param set EKF2_DRAG_NOISE 0.31 +param set EKF2_DRAG_NOISE 0.31 ``` ![DeepinScreenshot_matplotlib_20220329100027](https://user-images.githubusercontent.com/14822839/160563024-efddd100-d7db-46f7-8676-cf4296e9f737.png) diff --git a/src/modules/ekf2/EKF/python/tuning_tools/mc_wind_estimator/requirements.txt b/src/modules/ekf2/EKF/python/tuning_tools/mc_wind_estimator/requirements.txt index 10d3fbc54990..42c95282314d 100644 --- a/src/modules/ekf2/EKF/python/tuning_tools/mc_wind_estimator/requirements.txt +++ b/src/modules/ekf2/EKF/python/tuning_tools/mc_wind_estimator/requirements.txt @@ -1,6 +1,6 @@ matplotlib==3.5.1 numpy==1.22.2 pyulog==0.9.0 -quaternion==3.5.2.post4 +numpy-quaternion==2023.0.4 scipy==1.8.0 sympy==1.10.1 diff --git a/src/modules/ekf2/EKF/python/wind_cov_init/derivation.py b/src/modules/ekf2/EKF/python/wind_cov_init/derivation.py deleted file mode 100644 index c79cfd1aed41..000000000000 --- a/src/modules/ekf2/EKF/python/wind_cov_init/derivation.py +++ /dev/null @@ -1,67 +0,0 @@ -#!/usr/bin/env python2 -# -*- coding: utf-8 -*- -""" -Created on Tue Oct 29 14:11:58 2019 - -@author: roman -""" - -from sympy import * - -################## Here are the variables you can change to see the effects on the cov matrix ########################### -yaw_init = 0.5 - -# ground speed in body frame (comes from ekf2) -groundspeed_body_x_init = 5 -groundspeed_body_y_init = 5 - -# true airspeed measured by pitot tube -V_init = 7 - -# heading variance -R_yaw_init = rad(15.0)**2 - -# sideslip variance -R_beta_init = rad(15.0)**2 - -# True airspeed measurement variance -R_tas_init = 1.4**2 - -######################################################################################################################### - -# define symbols: true airspeed, sidslip angle, -V, beta, yaw, groundspeed_body_x, groundspeed_body_y = symbols('V beta yaw vx_body vy_body') -R_tas, R_beta, R_yaw = symbols('R_tas R_beta R_yaw') - - -# body x/y component of relative wind vector ( V is what the airspeed sensor measures) -Vx = V * cos(beta) -Vy = V * sin(beta) - - -# wind in body frame -wind_body_x = groundspeed_body_x - Vx -wind_body_y = groundspeed_body_y - Vy - -# wind in earth frame -wind_n = cos(yaw) * wind_body_x - sin(yaw) * wind_body_y -wind_e = sin(yaw) * wind_body_x + cos(yaw) * wind_body_y -wind_earth = Matrix([wind_n, wind_e]) - -# jacobian of earth wind vector with respect to states with known uncertainties -G = wind_earth.jacobian([V, beta, yaw]) - -# initial covariance matrix -P = Matrix([[R_tas, 0, 0], [0, R_beta,0], [0,0,R_yaw]]) - -# earth wind covariance matrix, assume 0 sideslip angle -P_wind_earth = (G*P*G.T).subs([(beta, 0)]) - -P_wind_earth_numeric = P_wind_earth.subs([(V, V_init),(yaw, yaw_init), (R_tas, R_tas_init), (R_yaw, R_yaw_init), (R_beta, R_beta_init)]) -P_wind_earth_numeric = P_wind_earth_numeric.subs([(groundspeed_body_x, groundspeed_body_x_init), (groundspeed_body_y, groundspeed_body_y_init) ]) - - -print('P[22][22] = ' + str(P_wind_earth_numeric[0,0])) -print('P[22][23] = ' + str(P_wind_earth_numeric[0,1])) -print('P[23][22] = ' + str(P_wind_earth_numeric[1,0])) -print('P[23][23] = ' + str(P_wind_earth_numeric[1,1])) diff --git a/src/modules/ekf2/EKF/range_height_control.cpp b/src/modules/ekf2/EKF/range_height_control.cpp deleted file mode 100644 index 88a9cb719711..000000000000 --- a/src/modules/ekf2/EKF/range_height_control.cpp +++ /dev/null @@ -1,254 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2022 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file range_height_control.cpp - * Control functions for ekf range finder height fusion - */ - -#include "ekf.h" - -void Ekf::controlRangeHeightFusion() -{ - static constexpr const char *HGT_SRC_NAME = "RNG"; - - bool rng_data_ready = false; - - if (_range_buffer) { - // Get range data from buffer and check validity - rng_data_ready = _range_buffer->pop_first_older_than(_time_delayed_us, _range_sensor.getSampleAddress()); - _range_sensor.setDataReadiness(rng_data_ready); - - // update range sensor angle parameters in case they have changed - _range_sensor.setPitchOffset(_params.rng_sens_pitch); - _range_sensor.setCosMaxTilt(_params.range_cos_max_tilt); - _range_sensor.setQualityHysteresis(_params.range_valid_quality_s); - - _range_sensor.runChecks(_time_delayed_us, _R_to_earth); - - if (_range_sensor.isDataHealthy()) { - // correct the range data for position offset relative to the IMU - const Vector3f pos_offset_body = _params.rng_pos_body - _params.imu_pos_body; - const Vector3f pos_offset_earth = _R_to_earth * pos_offset_body; - _range_sensor.setRange(_range_sensor.getRange() + pos_offset_earth(2) / _range_sensor.getCosTilt()); - - // Run the kinematic consistency check when not moving horizontally - if (_control_status.flags.in_air && !_control_status.flags.fixed_wing - && (sq(_state.vel(0)) + sq(_state.vel(1)) < fmaxf(P(4, 4) + P(5, 5), 0.1f))) { - - const float dist_dependant_var = sq(_params.range_noise_scaler * _range_sensor.getDistBottom()); - const float var = sq(_params.range_noise) + dist_dependant_var; - - _rng_consistency_check.setGate(_params.range_kin_consistency_gate); - _rng_consistency_check.update(_range_sensor.getDistBottom(), math::max(var, 0.001f), _state.vel(2), P(6, 6), _time_delayed_us); - } - - } else { - // If we are supposed to be using range finder data as the primary height sensor, have bad range measurements - // and are on the ground, then synthesise a measurement at the expected on ground value - if (!_control_status.flags.in_air - && _range_sensor.isRegularlySendingData() - && _range_sensor.isDataReady()) { - - _range_sensor.setRange(_params.rng_gnd_clearance); - _range_sensor.setValidity(true); // bypass the checks - } - } - - _control_status.flags.rng_kin_consistent = _rng_consistency_check.isKinematicallyConsistent(); - - } else { - return; - } - - auto &aid_src = _aid_src_rng_hgt; - HeightBiasEstimator &bias_est = _rng_hgt_b_est; - - bias_est.predict(_dt_ekf_avg); - - if (rng_data_ready && _range_sensor.getSampleAddress()) { - - const float measurement = math::max(_range_sensor.getDistBottom(), _params.rng_gnd_clearance); - const float measurement_var = sq(_params.range_noise) + sq(_params.range_noise_scaler * _range_sensor.getDistBottom()); - - const float innov_gate = math::max(_params.range_innov_gate, 1.f); - - const bool measurement_valid = PX4_ISFINITE(measurement) && PX4_ISFINITE(measurement_var); - - // vertical position innovation - baro measurement has opposite sign to earth z axis - updateVerticalPositionAidSrcStatus(_range_sensor.getSampleAddress()->time_us, - -(measurement - bias_est.getBias()), - measurement_var + bias_est.getBiasVar(), - innov_gate, - aid_src); - - // update the bias estimator before updating the main filter but after - // using its current state to compute the vertical position innovation - if (measurement_valid && _range_sensor.isDataHealthy()) { - bias_est.setMaxStateNoise(sqrtf(measurement_var)); - bias_est.setProcessNoiseSpectralDensity(_params.rng_hgt_bias_nsd); - bias_est.fuseBias(measurement - (-_state.pos(2)), measurement_var + P(9, 9)); - } - - // determine if we should use height aiding - const bool do_conditional_range_aid = (_params.rng_ctrl == RngCtrl::CONDITIONAL) && isConditionalRangeAidSuitable(); - const bool continuing_conditions_passing = ((_params.rng_ctrl == RngCtrl::ENABLED) || do_conditional_range_aid) - && measurement_valid - && _range_sensor.isDataHealthy(); - - const bool starting_conditions_passing = continuing_conditions_passing - && isNewestSampleRecent(_time_last_range_buffer_push, 2 * RNG_MAX_INTERVAL) - && _range_sensor.isRegularlySendingData(); - - if (_control_status.flags.rng_hgt) { - aid_src.fusion_enabled = true; - - if (continuing_conditions_passing) { - - fuseVerticalPosition(aid_src); - - const bool is_fusion_failing = isTimedOut(aid_src.time_last_fuse, _params.hgt_fusion_timeout_max); - - if (isHeightResetRequired()) { - // All height sources are failing - ECL_WARN("%s height fusion reset required, all height sources failing", HGT_SRC_NAME); - - _information_events.flags.reset_hgt_to_rng = true; - resetVerticalPositionTo(-(measurement - bias_est.getBias())); - bias_est.setBias(_state.pos(2) + measurement); - - // reset vertical velocity - resetVerticalVelocityToZero(); - - aid_src.time_last_fuse = _time_delayed_us; - - } else if (is_fusion_failing) { - // Some other height source is still working - ECL_WARN("stopping %s height fusion, fusion failing", HGT_SRC_NAME); - stopRngHgtFusion(); - _control_status.flags.rng_fault = true; - _range_sensor.setFaulty(); - } - - } else { - ECL_WARN("stopping %s height fusion, continuing conditions failing", HGT_SRC_NAME); - stopRngHgtFusion(); - } - - } else { - if (starting_conditions_passing) { - if ((_params.height_sensor_ref == HeightSensor::RANGE) && (_params.rng_ctrl == RngCtrl::CONDITIONAL)) { - // Range finder is used while hovering to stabilize the height estimate. Don't reset but use it as height reference. - ECL_INFO("starting conditional %s height fusion", HGT_SRC_NAME); - _height_sensor_ref = HeightSensor::RANGE; - bias_est.setBias(_state.pos(2) + measurement); - - } else if ((_params.height_sensor_ref == HeightSensor::RANGE) && (_params.rng_ctrl != RngCtrl::CONDITIONAL)) { - // Range finder is the primary height source, the ground is now the datum used - // to compute the local vertical position - ECL_INFO("starting %s height fusion, resetting height", HGT_SRC_NAME); - _height_sensor_ref = HeightSensor::RANGE; - - _information_events.flags.reset_hgt_to_rng = true; - resetVerticalPositionTo(-measurement, measurement_var); - bias_est.reset(); - - } else { - ECL_INFO("starting %s height fusion", HGT_SRC_NAME); - bias_est.setBias(_state.pos(2) + measurement); - } - - aid_src.time_last_fuse = _time_delayed_us; - bias_est.setFusionActive(); - _control_status.flags.rng_hgt = true; - } - } - - } else if (_control_status.flags.rng_hgt - && !isNewestSampleRecent(_time_last_range_buffer_push, 2 * RNG_MAX_INTERVAL)) { - // No data anymore. Stop until it comes back. - ECL_WARN("stopping %s height fusion, no data", HGT_SRC_NAME); - stopRngHgtFusion(); - } -} - -bool Ekf::isConditionalRangeAidSuitable() -{ - if (_control_status.flags.in_air - && _range_sensor.isHealthy() - && isTerrainEstimateValid()) { - // check if we can use range finder measurements to estimate height, use hysteresis to avoid rapid switching - // Note that the 0.7 coefficients and the innovation check are arbitrary values but work well in practice - float range_hagl_max = _params.max_hagl_for_range_aid; - float max_vel_xy = _params.max_vel_for_range_aid; - - const float hagl_test_ratio = (_hagl_innov * _hagl_innov / (sq(_params.range_aid_innov_gate) * _hagl_innov_var)); - - bool is_hagl_stable = (hagl_test_ratio < 1.f); - - if (!_control_status.flags.rng_hgt) { - range_hagl_max = 0.7f * _params.max_hagl_for_range_aid; - max_vel_xy = 0.7f * _params.max_vel_for_range_aid; - is_hagl_stable = (hagl_test_ratio < 0.01f); - } - - const float range_hagl = _terrain_vpos - _state.pos(2); - - const bool is_in_range = (range_hagl < range_hagl_max); - - bool is_below_max_speed = true; - - if (isHorizontalAidingActive()) { - is_below_max_speed = !_state.vel.xy().longerThan(max_vel_xy); - } - - return is_in_range && is_hagl_stable && is_below_max_speed; - } - - return false; -} - -void Ekf::stopRngHgtFusion() -{ - if (_control_status.flags.rng_hgt) { - - if (_height_sensor_ref == HeightSensor::RANGE) { - _height_sensor_ref = HeightSensor::UNKNOWN; - } - - _rng_hgt_b_est.setFusionInactive(); - resetEstimatorAidStatus(_aid_src_rng_hgt); - - _control_status.flags.rng_hgt = false; - } -} diff --git a/src/modules/ekf2/EKF/sideslip_fusion.cpp b/src/modules/ekf2/EKF/sideslip_fusion.cpp deleted file mode 100644 index 47063d5f0f0b..000000000000 --- a/src/modules/ekf2/EKF/sideslip_fusion.cpp +++ /dev/null @@ -1,157 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2015 Estimation and Control Library (ECL). All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name ECL nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file sideslip_fusion.cpp - * sideslip fusion methods. - * equations generated using EKF/python/ekf_derivation/main.py - * - * @author Carl Olsson - * @author Paul Riseborough - * - */ - -#include "ekf.h" -#include "python/ekf_derivation/generated/compute_sideslip_innov_and_innov_var.h" -#include "python/ekf_derivation/generated/compute_sideslip_h_and_k.h" - -#include - -void Ekf::controlBetaFusion(const imuSample &imu_delayed) -{ - _control_status.flags.fuse_beta = _params.beta_fusion_enabled && _control_status.flags.fixed_wing - && _control_status.flags.in_air && !_control_status.flags.fake_pos; - - if (_control_status.flags.fuse_beta) { - - // Perform synthetic sideslip fusion at regular intervals when in-air and sideslip fusion had been enabled externally: - const bool beta_fusion_time_triggered = isTimedOut(_aid_src_sideslip.time_last_fuse, _params.beta_avg_ft_us); - - if (beta_fusion_time_triggered) { - - updateSideslip(_aid_src_sideslip); - _innov_check_fail_status.flags.reject_sideslip = _aid_src_sideslip.innovation_rejected; - - // If starting wind state estimation, reset the wind states and covariances before fusing any data - if (!_control_status.flags.wind) { - // activate the wind states - _control_status.flags.wind = true; - // reset the timeout timers to prevent repeated resets - _aid_src_sideslip.time_last_fuse = imu_delayed.time_us; - resetWindToZero(); - } - - if (Vector2f(Vector2f(_state.vel) - _state.wind_vel).longerThan(7.f)) { - fuseSideslip(_aid_src_sideslip); - } - } - } -} - -void Ekf::updateSideslip(estimator_aid_source1d_s &sideslip) const -{ - // reset flags - resetEstimatorAidStatus(sideslip); - - const float R = sq(_params.beta_noise); // observation noise variance - - float innov = 0.f; - float innov_var = 0.f; - sym::ComputeSideslipInnovAndInnovVar(getStateAtFusionHorizonAsVector(), P, R, FLT_EPSILON, &innov, &innov_var); - - sideslip.observation = 0.f; - sideslip.observation_variance = R; - sideslip.innovation = innov; - sideslip.innovation_variance = innov_var; - - sideslip.fusion_enabled = _control_status.flags.fuse_aspd; - - sideslip.timestamp_sample = _time_delayed_us; - - const float innov_gate = fmaxf(_params.beta_innov_gate, 1.f); - setEstimatorAidStatusTestRatio(sideslip, innov_gate); -} - -void Ekf::fuseSideslip(estimator_aid_source1d_s &sideslip) -{ - if (sideslip.innovation_rejected) { - return; - } - // determine if we need the sideslip fusion to correct states other than wind - bool update_wind_only = !_control_status.flags.wind_dead_reckoning; - - // Reset covariance and states if the calculation is badly conditioned - if ((sideslip.innovation_variance < sideslip.observation_variance) - || (sideslip.innovation_variance < FLT_EPSILON)) { - _fault_status.flags.bad_sideslip = true; - - // if we are getting aiding from other sources, warn and reset the wind states and covariances only - const char *action_string = nullptr; - - if (update_wind_only) { - resetWind(); - action_string = "wind"; - - } else { - initialiseCovariance(); - _state.wind_vel.setZero(); - action_string = "full"; - } - - ECL_ERR("sideslip badly conditioned - %s covariance reset", action_string); - - return; - } - - _fault_status.flags.bad_sideslip = false; - - Vector24f H; // Observation jacobian - Vector24f K; // Kalman gain vector - - sym::ComputeSideslipHAndK(getStateAtFusionHorizonAsVector(), P, sideslip.innovation_variance, FLT_EPSILON, &H, &K); - - if (update_wind_only) { - for (unsigned row = 0; row <= 21; row++) { - K(row) = 0.f; - } - } - - const bool is_fused = measurementUpdate(K, sideslip.innovation_variance, sideslip.innovation); - - sideslip.fused = is_fused; - _fault_status.flags.bad_sideslip = !is_fused; - - if (is_fused) { - sideslip.time_last_fuse = _time_delayed_us; - } -} diff --git a/src/modules/ekf2/EKF/terrain_control.cpp b/src/modules/ekf2/EKF/terrain_control.cpp new file mode 100644 index 000000000000..61356b1a41af --- /dev/null +++ b/src/modules/ekf2/EKF/terrain_control.cpp @@ -0,0 +1,102 @@ +/**************************************************************************** + * + * Copyright (c) 2015-2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file terrain_control.cpp + */ + +#include "ekf.h" +#include "ekf_derivation/generated/compute_hagl_innov_var.h" + +#include + +void Ekf::initTerrain() +{ + // assume a ground clearance + _state.terrain = _state.pos(2) + _params.rng_gnd_clearance; + + // use the ground clearance value as our uncertainty + P.uncorrelateCovarianceSetVariance(State::terrain.idx, sq(_params.rng_gnd_clearance)); +} + +void Ekf::controlTerrainFakeFusion() +{ + // If we are on ground, store the local position and time to use as a reference + if (!_control_status.flags.in_air) { + _last_on_ground_posD = _state.pos(2); + _control_status.flags.rng_fault = false; + + } else if (!_control_status_prev.flags.in_air) { + // Let the estimator run freely before arming for bench testing purposes, but reset on takeoff + // because when using optical flow measurements, it is safer to start with a small distance to ground + // as an overestimated distance leads to an overestimated velocity, causing a dangerous behavior. + initTerrain(); + } + + if (!_control_status.flags.in_air + && !_control_status.flags.rng_terrain + && !_control_status.flags.opt_flow_terrain) { + + bool recent_terrain_aiding = isRecent(_time_last_terrain_fuse, (uint64_t)1e6); + + if (_control_status.flags.vehicle_at_rest || !recent_terrain_aiding) { + initTerrain(); + } + } +} + +bool Ekf::isTerrainEstimateValid() const +{ + bool valid = false; + + if (_time_last_terrain_fuse != 0) { + // Assume being valid when the uncertainty is small compared to the height above ground + float hagl_var = INFINITY; + sym::ComputeHaglInnovVar(P, 0.f, &hagl_var); + + if (hagl_var < fmaxf(sq(0.1f * getHagl()), 0.2f)) { + valid = true; + } + } + +#if defined(CONFIG_EKF2_RANGE_FINDER) + + // Assume that the terrain estimate is always valid when direct observations are fused + if (_control_status.flags.rng_terrain && isRecent(_aid_src_rng_hgt.time_last_fuse, _params.hgt_fusion_timeout_max)) { + valid = true; + } + +#endif // CONFIG_EKF2_RANGE_FINDER + + return valid; +} diff --git a/src/modules/ekf2/EKF/terrain_estimator.cpp b/src/modules/ekf2/EKF/terrain_estimator.cpp deleted file mode 100644 index a44e6cf3a32c..000000000000 --- a/src/modules/ekf2/EKF/terrain_estimator.cpp +++ /dev/null @@ -1,432 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2015-2023 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file terrain_estimator.cpp - * Function for fusing rangefinder and optical flow measurements - * to estimate terrain vertical position - */ - -#include "ekf.h" -#include "python/ekf_derivation/generated/terr_est_compute_flow_xy_innov_var_and_hx.h" -#include "python/ekf_derivation/generated/terr_est_compute_flow_y_innov_var_and_h.h" - -#include - -void Ekf::initHagl() -{ -#if defined(CONFIG_EKF2_OPTICAL_FLOW) - stopHaglFlowFusion(); -#endif // CONFIG_EKF2_OPTICAL_FLOW - - stopHaglRngFusion(); - - // assume a ground clearance - _terrain_vpos = _state.pos(2) + _params.rng_gnd_clearance; - - // use the ground clearance value as our uncertainty - _terrain_var = sq(_params.rng_gnd_clearance); -} - -void Ekf::runTerrainEstimator(const imuSample &imu_delayed) -{ - // If we are on ground, store the local position and time to use as a reference - if (!_control_status.flags.in_air) { - _last_on_ground_posD = _state.pos(2); - _control_status.flags.rng_fault = false; - } - - predictHagl(imu_delayed); - - controlHaglRngFusion(); -#if defined(CONFIG_EKF2_OPTICAL_FLOW) - controlHaglFlowFusion(); -#endif // CONFIG_EKF2_OPTICAL_FLOW - controlHaglFakeFusion(); - - // constrain _terrain_vpos to be a minimum of _params.rng_gnd_clearance larger than _state.pos(2) - if (_terrain_vpos - _state.pos(2) < _params.rng_gnd_clearance) { - _terrain_vpos = _params.rng_gnd_clearance + _state.pos(2); - } -} - -void Ekf::predictHagl(const imuSample &imu_delayed) -{ - // predict the state variance growth where the state is the vertical position of the terrain underneath the vehicle - - // process noise due to errors in vehicle height estimate - _terrain_var += sq(imu_delayed.delta_vel_dt * _params.terrain_p_noise); - - // process noise due to terrain gradient - _terrain_var += sq(imu_delayed.delta_vel_dt * _params.terrain_gradient) - * (sq(_state.vel(0)) + sq(_state.vel(1))); - - // limit the variance to prevent it becoming badly conditioned - _terrain_var = math::constrain(_terrain_var, 0.0f, 1e4f); -} - -void Ekf::controlHaglRngFusion() -{ - if (!(_params.terrain_fusion_mode & TerrainFusionMask::TerrainFuseRangeFinder) - || _control_status.flags.rng_fault) { - - stopHaglRngFusion(); - return; - } - - if (_range_sensor.isDataHealthy()) { - const bool continuing_conditions_passing = _control_status.flags.in_air && _rng_consistency_check.isKinematicallyConsistent(); - //const bool continuing_conditions_passing = _control_status.flags.in_air && !_control_status.flags.rng_hgt; // TODO: should not be fused when using range height - const bool starting_conditions_passing = continuing_conditions_passing && _range_sensor.isRegularlySendingData() && (_rng_consistency_check.getTestRatio() < 1.f); - - _time_last_healthy_rng_data = _time_delayed_us; - - if (_hagl_sensor_status.flags.range_finder) { - if (continuing_conditions_passing) { - fuseHaglRng(); - - // We have been rejecting range data for too long - const uint64_t timeout = static_cast(_params.terrain_timeout * 1e6f); - const bool is_fusion_failing = isTimedOut(_time_last_hagl_fuse, timeout); - - if (is_fusion_failing) { - if (_range_sensor.getDistBottom() > 2.f * _params.rng_gnd_clearance) { - // Data seems good, attempt a reset - resetHaglRng(); - - } else if (starting_conditions_passing) { - // The sensor can probably not detect the ground properly - // declare the sensor faulty and stop the fusion - _control_status.flags.rng_fault = true; - _range_sensor.setFaulty(true); - stopHaglRngFusion(); - - } else { - // This could be a temporary issue, stop the fusion without declaring the sensor faulty - stopHaglRngFusion(); - } - } - - } else { - stopHaglRngFusion(); - } - - } else { - if (starting_conditions_passing) { - startHaglRngFusion(); - } - } - - } else if (_hagl_sensor_status.flags.range_finder && isTimedOut(_time_last_healthy_rng_data, _params.reset_timeout_max)) { - // No data anymore. Stop until it comes back. - stopHaglRngFusion(); - } -} - -void Ekf::startHaglRngFusion() -{ - _hagl_sensor_status.flags.range_finder = true; - resetHaglRngIfNeeded(); -} - -void Ekf::resetHaglRngIfNeeded() -{ - if (_hagl_sensor_status.flags.flow) { - const float meas_hagl = _range_sensor.getDistBottom(); - const float pred_hagl = _terrain_vpos - _state.pos(2); - const float hagl_innov = pred_hagl - meas_hagl; - const float obs_variance = getRngVar(); - - const float hagl_innov_var = fmaxf(_terrain_var + obs_variance, obs_variance); - - const float gate_size = fmaxf(_params.range_innov_gate, 1.0f); - const float hagl_test_ratio = sq(hagl_innov) / (sq(gate_size) * hagl_innov_var); - - // Reset the state to the measurement only if the test ratio is large, - // otherwise let it converge through the fusion - if (hagl_test_ratio > 0.2f) { - resetHaglRng(); - - } else { - fuseHaglRng(); - } - - } else { - resetHaglRng(); - } -} - -float Ekf::getRngVar() -{ - return fmaxf(P(9, 9) * _params.vehicle_variance_scaler, 0.0f) - + sq(_params.range_noise) - + sq(_params.range_noise_scaler * _range_sensor.getRange()); -} - -void Ekf::resetHaglRng() -{ - _terrain_vpos = _state.pos(2) + _range_sensor.getDistBottom(); - _terrain_var = getRngVar(); - _terrain_vpos_reset_counter++; - _time_last_hagl_fuse = _time_delayed_us; - _time_last_healthy_rng_data = 0; -} - -void Ekf::stopHaglRngFusion() -{ - if (_hagl_sensor_status.flags.range_finder) { - - _hagl_innov = 0.f; - _hagl_innov_var = 0.f; - _hagl_test_ratio = 0.f; - _innov_check_fail_status.flags.reject_hagl = false; - - _hagl_sensor_status.flags.range_finder = false; - } - - _time_last_healthy_rng_data = 0; -} - -void Ekf::fuseHaglRng() -{ - // get a height above ground measurement from the range finder assuming a flat earth - const float meas_hagl = _range_sensor.getDistBottom(); - - // predict the hagl from the vehicle position and terrain height - const float pred_hagl = _terrain_vpos - _state.pos(2); - - // calculate the innovation - _hagl_innov = pred_hagl - meas_hagl; - - // calculate the observation variance adding the variance of the vehicles own height uncertainty - const float obs_variance = getRngVar(); - - // calculate the innovation variance - limiting it to prevent a badly conditioned fusion - _hagl_innov_var = fmaxf(_terrain_var + obs_variance, obs_variance); - - // perform an innovation consistency check and only fuse data if it passes - const float gate_size = fmaxf(_params.range_innov_gate, 1.0f); - _hagl_test_ratio = sq(_hagl_innov) / (sq(gate_size) * _hagl_innov_var); - - if (_hagl_test_ratio <= 1.0f) { - // calculate the Kalman gain - const float gain = _terrain_var / _hagl_innov_var; - // correct the state - _terrain_vpos -= gain * _hagl_innov; - // correct the variance - _terrain_var = fmaxf(_terrain_var * (1.0f - gain), 0.0f); - // record last successful fusion event - _time_last_hagl_fuse = _time_delayed_us; - _innov_check_fail_status.flags.reject_hagl = false; - - } else { - _innov_check_fail_status.flags.reject_hagl = true; - } -} - -#if defined(CONFIG_EKF2_OPTICAL_FLOW) -void Ekf::controlHaglFlowFusion() -{ - if (!(_params.terrain_fusion_mode & TerrainFusionMask::TerrainFuseOpticalFlow)) { - stopHaglFlowFusion(); - return; - } - - if (_flow_data_ready) { - updateOptFlow(_aid_src_terrain_optical_flow); - - const bool continuing_conditions_passing = _control_status.flags.in_air - && !_control_status.flags.opt_flow - && _control_status.flags.gps - && isTimedOut(_time_last_hagl_fuse, 5e6f); // TODO: check for range_finder hagl aiding instead? - /* && !_hagl_sensor_status.flags.range_finder; */ - const bool starting_conditions_passing = continuing_conditions_passing; - - if (_hagl_sensor_status.flags.flow) { - if (continuing_conditions_passing) { - - // TODO: wait until the midpoint of the flow sample has fallen behind the fusion time horizon - fuseFlowForTerrain(_aid_src_terrain_optical_flow); - _flow_data_ready = false; - - // TODO: do something when failing continuously the innovation check - /* const bool is_fusion_failing = isTimedOut(_time_last_flow_terrain_fuse, _params.reset_timeout_max); */ - - /* if (is_fusion_failing) { */ - /* resetHaglFlow(); */ - /* } */ - - } else { - stopHaglFlowFusion(); - } - - } else { - if (starting_conditions_passing) { - startHaglFlowFusion(); - } - } - - } else if (_hagl_sensor_status.flags.flow - && (_time_delayed_us > _flow_sample_delayed.time_us + (uint64_t)5e6)) { - // No data anymore. Stop until it comes back. - stopHaglFlowFusion(); - } -} - -void Ekf::startHaglFlowFusion() -{ - _hagl_sensor_status.flags.flow = true; - // TODO: do a reset instead of trying to fuse the data? - fuseFlowForTerrain(_aid_src_terrain_optical_flow); - _flow_data_ready = false; -} - -void Ekf::stopHaglFlowFusion() -{ - if (_hagl_sensor_status.flags.flow) { - _hagl_sensor_status.flags.flow = false; - resetEstimatorAidStatus(_aid_src_terrain_optical_flow); - } -} - -void Ekf::resetHaglFlow() -{ - // TODO: use the flow data - _terrain_vpos = fmaxf(0.0f, _state.pos(2)); - _terrain_var = 100.0f; - _terrain_vpos_reset_counter++; -} - -void Ekf::fuseFlowForTerrain(estimator_aid_source2d_s &flow) -{ - flow.fusion_enabled = true; - - const float R_LOS = flow.observation_variance[0]; - - // calculate the height above the ground of the optical flow camera. Since earth frame is NED - // a positive offset in earth frame leads to a smaller height above the ground. - float range = predictFlowRange(); - - const float state = _terrain_vpos; // linearize both axes using the same state value - Vector2f innov_var; - float H; - sym::TerrEstComputeFlowXyInnovVarAndHx(state, _terrain_var, _state.quat_nominal, _state.vel, _state.pos(2), R_LOS, FLT_EPSILON, &innov_var, &H); - innov_var.copyTo(flow.innovation_variance); - - if ((flow.innovation_variance[0] < R_LOS) - || (flow.innovation_variance[1] < R_LOS)) { - // we need to reinitialise the covariance matrix and abort this fusion step - ECL_ERR("Opt flow error - covariance reset"); - _terrain_var = 100.0f; - return; - } - - // run the innovation consistency check and record result - setEstimatorAidStatusTestRatio(flow, math::max(_params.flow_innov_gate, 1.f)); - - _innov_check_fail_status.flags.reject_optflow_X = (flow.test_ratio[0] > 1.f); - _innov_check_fail_status.flags.reject_optflow_Y = (flow.test_ratio[1] > 1.f); - - // if either axis fails we abort the fusion - if (flow.innovation_rejected) { - return; - } - - // fuse observation axes sequentially - for (uint8_t index = 0; index <= 1; index++) { - if (index == 0) { - // everything was already computed above - - } else if (index == 1) { - // recalculate innovation variance because state covariances have changed due to previous fusion (linearise using the same initial state for all axes) - sym::TerrEstComputeFlowYInnovVarAndH(state, _terrain_var, _state.quat_nominal, _state.vel, _state.pos(2), R_LOS, FLT_EPSILON, &flow.innovation_variance[1], &H); - - // recalculate the innovation using the updated state - const Vector2f vel_body = predictFlowVelBody(); - range = predictFlowRange(); - flow.innovation[1] = (-vel_body(0) / range) - flow.observation[1]; - - if (flow.innovation_variance[1] < R_LOS) { - // we need to reinitialise the covariance matrix and abort this fusion step - ECL_ERR("Opt flow error - covariance reset"); - _terrain_var = 100.0f; - return; - } - } - - float Kfusion = _terrain_var * H / flow.innovation_variance[index]; - - _terrain_vpos += Kfusion * flow.innovation[0]; - // constrain terrain to minimum allowed value and predict height above ground - _terrain_vpos = fmaxf(_terrain_vpos, _params.rng_gnd_clearance + _state.pos(2)); - - // guard against negative variance - _terrain_var = fmaxf(_terrain_var - Kfusion * H * _terrain_var, sq(0.01f)); - } - - _fault_status.flags.bad_optflow_X = false; - _fault_status.flags.bad_optflow_Y = false; - - _time_last_flow_terrain_fuse = _time_delayed_us; - //_aid_src_optical_flow.time_last_fuse = _time_delayed_us; // TODO: separate aid source status for OF terrain? - _aid_src_optical_flow.fused = true; -} -#endif // CONFIG_EKF2_OPTICAL_FLOW - -void Ekf::controlHaglFakeFusion() -{ - if (!_control_status.flags.in_air - && !_hagl_sensor_status.flags.range_finder - && !_hagl_sensor_status.flags.flow) { - - initHagl(); - } -} - -bool Ekf::isTerrainEstimateValid() const -{ - // we have been fusing range finder measurements in the last 5 seconds - if (_hagl_sensor_status.flags.range_finder && isRecent(_time_last_hagl_fuse, (uint64_t)5e6)) { - return true; - } - -#if defined(CONFIG_EKF2_OPTICAL_FLOW) - // we have been fusing optical flow measurements for terrain estimation within the last 5 seconds - // this can only be the case if the main filter does not fuse optical flow - if (_hagl_sensor_status.flags.flow && isRecent(_time_last_flow_terrain_fuse, (uint64_t)5e6)) { - return true; - } -#endif // CONFIG_EKF2_OPTICAL_FLOW - - return false; -} diff --git a/src/modules/ekf2/EKF/utils.hpp b/src/modules/ekf2/EKF/utils.hpp deleted file mode 100644 index 4d911f6e20e5..000000000000 --- a/src/modules/ekf2/EKF/utils.hpp +++ /dev/null @@ -1,75 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2020-2022 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -#include - -#ifndef EKF_UTILS_HPP -#define EKF_UTILS_HPP - -// Use Kahan summation algorithm to get the sum of "sum_previous" and "input". -// This function relies on the caller to be responsible for keeping a copy of -// "accumulator" and passing this value at the next iteration. -// Ref: https://en.wikipedia.org/wiki/Kahan_summation_algorithm -inline float kahanSummation(float sum_previous, float input, float &accumulator) -{ - const float y = input - accumulator; - const float t = sum_previous + y; - accumulator = (t - sum_previous) - y; - return t; -} - -namespace ecl -{ -inline float powf(float x, int exp) -{ - float ret; - - if (exp > 0) { - ret = x; - - for (int count = 1; count < exp; count++) { - ret *= x; - } - - return ret; - - } else if (exp < 0) { - return 1.0f / ecl::powf(x, -exp); - } - - return 1.0f; -} - -} // namespace ecl - -#endif // EKF_UTILS_HPP diff --git a/src/modules/ekf2/EKF/vel_pos_fusion.cpp b/src/modules/ekf2/EKF/vel_pos_fusion.cpp deleted file mode 100644 index 17a57518b6c0..000000000000 --- a/src/modules/ekf2/EKF/vel_pos_fusion.cpp +++ /dev/null @@ -1,301 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2015 Estimation and Control Library (ECL). All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name ECL nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file vel_pos_fusion.cpp - * - * @author Roman Bast - * @author Siddharth Bharat Purohit - * @author Paul Riseborough - * - */ - -#include -#include "ekf.h" - -void Ekf::updateVelocityAidSrcStatus(const uint64_t &time_us, const Vector2f &obs, const Vector2f &obs_var, - const float innov_gate, estimator_aid_source2d_s &aid_src) const -{ - resetEstimatorAidStatus(aid_src); - - for (int i = 0; i < 2; i++) { - aid_src.observation[i] = obs(i); - aid_src.innovation[i] = _state.vel(i) - aid_src.observation[i]; - - aid_src.observation_variance[i] = math::max(sq(0.01f), obs_var(i)); - aid_src.innovation_variance[i] = P(4 + i, 4 + i) + aid_src.observation_variance[i]; - } - - setEstimatorAidStatusTestRatio(aid_src, innov_gate); - - aid_src.timestamp_sample = time_us; -} - -void Ekf::updateVelocityAidSrcStatus(const uint64_t &time_us, const Vector3f &obs, const Vector3f &obs_var, - const float innov_gate, estimator_aid_source3d_s &aid_src) const -{ - resetEstimatorAidStatus(aid_src); - - for (int i = 0; i < 3; i++) { - aid_src.observation[i] = obs(i); - aid_src.innovation[i] = _state.vel(i) - aid_src.observation[i]; - - aid_src.observation_variance[i] = math::max(sq(0.01f), obs_var(i)); - aid_src.innovation_variance[i] = P(4 + i, 4 + i) + aid_src.observation_variance[i]; - } - - setEstimatorAidStatusTestRatio(aid_src, innov_gate); - - // vz special case if there is bad vertical acceleration data, then don't reject measurement, - // but limit innovation to prevent spikes that could destabilise the filter - if (_fault_status.flags.bad_acc_vertical && aid_src.innovation_rejected) { - const float innov_limit = innov_gate * sqrtf(aid_src.innovation_variance[2]); - aid_src.innovation[2] = math::constrain(aid_src.innovation[2], -innov_limit, innov_limit); - aid_src.innovation_rejected = false; - } - - aid_src.timestamp_sample = time_us; -} - -void Ekf::updateVerticalPositionAidSrcStatus(const uint64_t &time_us, const float obs, const float obs_var, - const float innov_gate, estimator_aid_source1d_s &aid_src) const -{ - resetEstimatorAidStatus(aid_src); - - aid_src.observation = obs; - aid_src.innovation = _state.pos(2) - aid_src.observation; - - aid_src.observation_variance = math::max(sq(0.01f), obs_var); - aid_src.innovation_variance = P(9, 9) + aid_src.observation_variance; - - setEstimatorAidStatusTestRatio(aid_src, innov_gate); - - // z special case if there is bad vertical acceleration data, then don't reject measurement, - // but limit innovation to prevent spikes that could destabilise the filter - if (_fault_status.flags.bad_acc_vertical && aid_src.innovation_rejected) { - const float innov_limit = innov_gate * sqrtf(aid_src.innovation_variance); - aid_src.innovation = math::constrain(aid_src.innovation, -innov_limit, innov_limit); - aid_src.innovation_rejected = false; - } - - aid_src.timestamp_sample = time_us; -} - -void Ekf::updateHorizontalPositionAidSrcStatus(const uint64_t &time_us, const Vector2f &obs, const Vector2f &obs_var, - const float innov_gate, estimator_aid_source2d_s &aid_src) const -{ - resetEstimatorAidStatus(aid_src); - - for (int i = 0; i < 2; i++) { - aid_src.observation[i] = obs(i); - aid_src.innovation[i] = _state.pos(i) - aid_src.observation[i]; - - aid_src.observation_variance[i] = math::max(sq(0.01f), obs_var(i)); - aid_src.innovation_variance[i] = P(7 + i, 7 + i) + aid_src.observation_variance[i]; - } - - setEstimatorAidStatusTestRatio(aid_src, innov_gate); - - aid_src.timestamp_sample = time_us; -} - -void Ekf::fuseVelocity(estimator_aid_source2d_s &aid_src) -{ - if (aid_src.fusion_enabled && !aid_src.innovation_rejected) { - // vx, vy - if (fuseVelPosHeight(aid_src.innovation[0], aid_src.innovation_variance[0], 0) - && fuseVelPosHeight(aid_src.innovation[1], aid_src.innovation_variance[1], 1) - ) { - aid_src.fused = true; - aid_src.time_last_fuse = _time_delayed_us; - - } else { - aid_src.fused = false; - } - } -} - -void Ekf::fuseVelocity(estimator_aid_source3d_s &aid_src) -{ - if (aid_src.fusion_enabled && !aid_src.innovation_rejected) { - // vx, vy, vz - if (fuseVelPosHeight(aid_src.innovation[0], aid_src.innovation_variance[0], 0) - && fuseVelPosHeight(aid_src.innovation[1], aid_src.innovation_variance[1], 1) - && fuseVelPosHeight(aid_src.innovation[2], aid_src.innovation_variance[2], 2) - ) { - aid_src.fused = true; - aid_src.time_last_fuse = _time_delayed_us; - - } else { - aid_src.fused = false; - } - } -} - -void Ekf::fuseHorizontalPosition(estimator_aid_source2d_s &aid_src) -{ - // x & y - if (aid_src.fusion_enabled && !aid_src.innovation_rejected) { - if (fuseVelPosHeight(aid_src.innovation[0], aid_src.innovation_variance[0], 3) - && fuseVelPosHeight(aid_src.innovation[1], aid_src.innovation_variance[1], 4) - ) { - aid_src.fused = true; - aid_src.time_last_fuse = _time_delayed_us; - - } else { - aid_src.fused = false; - } - } -} - -void Ekf::fuseVerticalPosition(estimator_aid_source1d_s &aid_src) -{ - // z - if (aid_src.fusion_enabled && !aid_src.innovation_rejected) { - if (fuseVelPosHeight(aid_src.innovation, aid_src.innovation_variance, 5)) { - aid_src.fused = true; - aid_src.time_last_fuse = _time_delayed_us; - } - } -} - -// Helper function that fuses a single velocity or position measurement -bool Ekf::fuseVelPosHeight(const float innov, const float innov_var, const int obs_index) -{ - Vector24f Kfusion; // Kalman gain vector for any single observation - sequential fusion is used. - const unsigned state_index = obs_index + 4; // we start with vx and this is the 4. state - - // calculate kalman gain K = PHS, where S = 1/innovation variance - for (int row = 0; row < _k_num_states; row++) { - Kfusion(row) = P(row, state_index) / innov_var; - } - - clearInhibitedStateKalmanGains(Kfusion); - - SquareMatrix24f KHP; - - for (unsigned row = 0; row < _k_num_states; row++) { - for (unsigned column = 0; column < _k_num_states; column++) { - KHP(row, column) = Kfusion(row) * P(state_index, column); - } - } - - const bool healthy = checkAndFixCovarianceUpdate(KHP); - - setVelPosStatus(obs_index, healthy); - - if (healthy) { - // apply the covariance corrections - P -= KHP; - - fixCovarianceErrors(true); - - // apply the state corrections - fuse(Kfusion, innov); - - return true; - } - - return false; -} - -void Ekf::setVelPosStatus(const int index, const bool healthy) -{ - switch (index) { - case 0: - if (healthy) { - _fault_status.flags.bad_vel_N = false; - _time_last_hor_vel_fuse = _time_delayed_us; - - } else { - _fault_status.flags.bad_vel_N = true; - } - - break; - - case 1: - if (healthy) { - _fault_status.flags.bad_vel_E = false; - _time_last_hor_vel_fuse = _time_delayed_us; - - } else { - _fault_status.flags.bad_vel_E = true; - } - - break; - - case 2: - if (healthy) { - _fault_status.flags.bad_vel_D = false; - _time_last_ver_vel_fuse = _time_delayed_us; - - } else { - _fault_status.flags.bad_vel_D = true; - } - - break; - - case 3: - if (healthy) { - _fault_status.flags.bad_pos_N = false; - _time_last_hor_pos_fuse = _time_delayed_us; - - } else { - _fault_status.flags.bad_pos_N = true; - } - - break; - - case 4: - if (healthy) { - _fault_status.flags.bad_pos_E = false; - _time_last_hor_pos_fuse = _time_delayed_us; - - } else { - _fault_status.flags.bad_pos_E = true; - } - - break; - - case 5: - if (healthy) { - _fault_status.flags.bad_pos_D = false; - _time_last_hgt_fuse = _time_delayed_us; - - } else { - _fault_status.flags.bad_pos_D = true; - } - - break; - } -} diff --git a/src/modules/ekf2/EKF/velocity_fusion.cpp b/src/modules/ekf2/EKF/velocity_fusion.cpp new file mode 100644 index 000000000000..349a40092fd4 --- /dev/null +++ b/src/modules/ekf2/EKF/velocity_fusion.cpp @@ -0,0 +1,158 @@ +/**************************************************************************** + * + * Copyright (c) 2015-2024 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include "ekf.h" + +bool Ekf::fuseHorizontalVelocity(estimator_aid_source2d_s &aid_src) +{ + // vx, vy + if (!aid_src.innovation_rejected + && fuseDirectStateMeasurement(aid_src.innovation[0], aid_src.innovation_variance[0], aid_src.observation_variance[0], + State::vel.idx + 0) + && fuseDirectStateMeasurement(aid_src.innovation[1], aid_src.innovation_variance[1], aid_src.observation_variance[1], + State::vel.idx + 1) + ) { + aid_src.fused = true; + aid_src.time_last_fuse = _time_delayed_us; + + _time_last_hor_vel_fuse = _time_delayed_us; + + } else { + aid_src.fused = false; + } + + return aid_src.fused; +} + +bool Ekf::fuseVelocity(estimator_aid_source3d_s &aid_src) +{ + // vx, vy, vz + if (!aid_src.innovation_rejected + && fuseDirectStateMeasurement(aid_src.innovation[0], aid_src.innovation_variance[0], aid_src.observation_variance[0], + State::vel.idx + 0) + && fuseDirectStateMeasurement(aid_src.innovation[1], aid_src.innovation_variance[1], aid_src.observation_variance[1], + State::vel.idx + 1) + && fuseDirectStateMeasurement(aid_src.innovation[2], aid_src.innovation_variance[2], aid_src.observation_variance[2], + State::vel.idx + 2) + ) { + aid_src.fused = true; + aid_src.time_last_fuse = _time_delayed_us; + + _time_last_hor_vel_fuse = _time_delayed_us; + _time_last_ver_vel_fuse = _time_delayed_us; + + } else { + aid_src.fused = false; + } + + return aid_src.fused; +} + +void Ekf::resetHorizontalVelocityTo(const Vector2f &new_horz_vel, const Vector2f &new_horz_vel_var) +{ + const Vector2f delta_horz_vel = new_horz_vel - Vector2f(_state.vel); + _state.vel.xy() = new_horz_vel; + + if (PX4_ISFINITE(new_horz_vel_var(0))) { + P.uncorrelateCovarianceSetVariance<1>(State::vel.idx, math::max(sq(0.01f), new_horz_vel_var(0))); + } + + if (PX4_ISFINITE(new_horz_vel_var(1))) { + P.uncorrelateCovarianceSetVariance<1>(State::vel.idx + 1, math::max(sq(0.01f), new_horz_vel_var(1))); + } + + _output_predictor.resetHorizontalVelocityTo(delta_horz_vel); + + // record the state change + if (_state_reset_status.reset_count.velNE == _state_reset_count_prev.velNE) { + _state_reset_status.velNE_change = delta_horz_vel; + + } else { + // there's already a reset this update, accumulate total delta + _state_reset_status.velNE_change += delta_horz_vel; + } + + _state_reset_status.reset_count.velNE++; + + // Reset the timout timer + _time_last_hor_vel_fuse = _time_delayed_us; +} + +void Ekf::resetVerticalVelocityTo(float new_vert_vel, float new_vert_vel_var) +{ + const float delta_vert_vel = new_vert_vel - _state.vel(2); + _state.vel(2) = new_vert_vel; + + if (PX4_ISFINITE(new_vert_vel_var)) { + P.uncorrelateCovarianceSetVariance<1>(State::vel.idx + 2, math::max(sq(0.01f), new_vert_vel_var)); + } + + _output_predictor.resetVerticalVelocityTo(delta_vert_vel); + + // record the state change + if (_state_reset_status.reset_count.velD == _state_reset_count_prev.velD) { + _state_reset_status.velD_change = delta_vert_vel; + + } else { + // there's already a reset this update, accumulate total delta + _state_reset_status.velD_change += delta_vert_vel; + } + + _state_reset_status.reset_count.velD++; + + // Reset the timout timer + _time_last_ver_vel_fuse = _time_delayed_us; +} + +void Ekf::resetHorizontalVelocityToZero() +{ + ECL_INFO("reset velocity to zero"); + _information_events.flags.reset_vel_to_zero = true; + + // Used when falling back to non-aiding mode of operation + resetHorizontalVelocityTo(Vector2f{0.f, 0.f}, 25.f); +} + +void Ekf::resetVerticalVelocityToZero() +{ + // we don't know what the vertical velocity is, so set it to zero + // Set the variance to a value large enough to allow the state to converge quickly + // that does not destabilise the filter + resetVerticalVelocityTo(0.0f, 10.f); +} + +void Ekf::resetVelocityTo(const Vector3f &new_vel, const Vector3f &new_vel_var) +{ + resetHorizontalVelocityTo(Vector2f(new_vel), Vector2f(new_vel_var(0), new_vel_var(1))); + resetVerticalVelocityTo(new_vel(2), new_vel_var(2)); +} diff --git a/src/modules/ekf2/EKF/wind.cpp b/src/modules/ekf2/EKF/wind.cpp new file mode 100644 index 000000000000..ca3e8abc8b0b --- /dev/null +++ b/src/modules/ekf2/EKF/wind.cpp @@ -0,0 +1,92 @@ +/**************************************************************************** + * + * Copyright (c) 2024 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file wind.cpp + * Helper functions for wind states + */ + +#include "ekf.h" +#include + +void Ekf::resetWindToExternalObservation(float wind_speed, float wind_direction, float wind_speed_accuracy, + float wind_direction_accuracy) +{ + if (!_control_status.flags.in_air) { + + const float wind_speed_constrained = math::max(wind_speed, 0.0f); + const float wind_direction_var = sq(wind_direction_accuracy); + const float wind_speed_var = sq(wind_speed_accuracy); + + Vector2f wind; + Vector2f wind_var; + + sym::ComputeWindInitAndCovFromWindSpeedAndDirection(wind_speed_constrained, wind_direction, wind_speed_var, + wind_direction_var, &wind, &wind_var); + + ECL_INFO("reset wind states to external observation"); + _information_events.flags.reset_wind_to_ext_obs = true; + _external_wind_init = true; + + resetWindTo(wind, wind_var); + + } +} + +void Ekf::resetWindTo(const Vector2f &wind, const Vector2f &wind_var) +{ + _state.wind_vel = wind; + + if (PX4_ISFINITE(wind_var(0))) { + P.uncorrelateCovarianceSetVariance<1>(State::wind_vel.idx, + math::min(sq(_params.initial_wind_uncertainty), wind_var(0))); + } + + if (PX4_ISFINITE(wind_var(1))) { + P.uncorrelateCovarianceSetVariance<1>(State::wind_vel.idx + 1, + math::min(sq(_params.initial_wind_uncertainty), wind_var(1))); + } +} + +void Ekf::resetWindCov() +{ + // start with a small initial uncertainty to improve the initial estimate + P.uncorrelateCovarianceSetVariance(State::wind_vel.idx, sq(_params.initial_wind_uncertainty)); +} + +void Ekf::resetWindToZero() +{ + ECL_INFO("reset wind to zero"); + _state.wind_vel.setZero(); + resetWindCov(); +} diff --git a/src/modules/ekf2/EKF/yaw_estimator/CMakeLists.txt b/src/modules/ekf2/EKF/yaw_estimator/CMakeLists.txt new file mode 100644 index 000000000000..1f12a2ba0338 --- /dev/null +++ b/src/modules/ekf2/EKF/yaw_estimator/CMakeLists.txt @@ -0,0 +1,39 @@ +############################################################################ +# +# Copyright (c) 2024 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +add_library(yaw_estimator + EKFGSF_yaw.cpp + EKFGSF_yaw.h +) + +add_dependencies(yaw_estimator prebuild_targets) diff --git a/src/modules/ekf2/EKF/yaw_estimator/EKFGSF_yaw.cpp b/src/modules/ekf2/EKF/yaw_estimator/EKFGSF_yaw.cpp new file mode 100644 index 000000000000..7aad6620cee5 --- /dev/null +++ b/src/modules/ekf2/EKF/yaw_estimator/EKFGSF_yaw.cpp @@ -0,0 +1,492 @@ +/**************************************************************************** + * + * Copyright (c) 2020-2024 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include "EKFGSF_yaw.h" + +#include + +#include // CONSTANTS_ONE_G + +#include "derivation/generated/yaw_est_predict_covariance.h" +#include "derivation/generated/yaw_est_compute_measurement_update.h" + +using matrix::AxisAnglef; +using matrix::Dcmf; +using matrix::Eulerf; +using matrix::Matrix3f; +using matrix::Quatf; +using matrix::Vector2f; +using matrix::Vector3f; +using matrix::wrap_pi; +using math::Utilities::getEulerYaw; +using math::Utilities::updateYawInRotMat; + +EKFGSF_yaw::EKFGSF_yaw() +{ + reset(); +} + +void EKFGSF_yaw::reset() +{ + _ekf_gsf_vel_fuse_started = false; + + _gsf_yaw_variance = INFINITY; +} + +void EKFGSF_yaw::predict(const matrix::Vector3f &delta_ang, const float delta_ang_dt, const matrix::Vector3f &delta_vel, + const float delta_vel_dt, bool in_air) +{ + const Vector3f accel = delta_vel / delta_vel_dt; + + if (delta_vel_dt > 0.001f) { + // to reduce effect of vibration, filter using an LPF whose time constant is 1/10 of the AHRS tilt correction time constant + const float filter_coef = fminf(10.f * delta_vel_dt * _tilt_gain, 1.f); + _ahrs_accel = _ahrs_accel * (1.f - filter_coef) + accel * filter_coef; + + } else { + return; + } + + // Initialise states first time + if (!_ahrs_ekf_gsf_tilt_aligned) { + // check for excessive acceleration to reduce likelihood of large initial roll/pitch errors + // due to vehicle movement + const float accel_norm_sq = accel.norm_squared(); + const float accel_lpf_norm_sq = _ahrs_accel.norm_squared(); + + static constexpr float upper_accel_limit = CONSTANTS_ONE_G * 1.1f; + static constexpr float lower_accel_limit = CONSTANTS_ONE_G * 0.9f; + + const bool ok_to_align = (accel_norm_sq > sq(lower_accel_limit)) && (accel_norm_sq < sq(upper_accel_limit)) + && (accel_lpf_norm_sq > sq(lower_accel_limit)) && (accel_lpf_norm_sq < sq(upper_accel_limit)); + + if (ok_to_align) { + ahrsAlignTilt(delta_vel); + _ahrs_ekf_gsf_tilt_aligned = true; + + } else { + return; + } + } + + for (uint8_t model_index = 0; model_index < N_MODELS_EKFGSF; model_index ++) { + predictEKF(model_index, delta_ang, delta_ang_dt, delta_vel, delta_vel_dt, in_air); + } +} + +void EKFGSF_yaw::fuseVelocity(const Vector2f &vel_NE, const float vel_accuracy, const bool in_air) +{ + // we don't start running the EKF part of the algorithm until there are regular velocity observations + if (!_ekf_gsf_vel_fuse_started) { + + initialiseEKFGSF(vel_NE, vel_accuracy); + + ahrsAlignYaw(); + + // don't start until in air or velocity is not negligible + if (in_air || vel_NE.longerThan(vel_accuracy)) { + _ekf_gsf_vel_fuse_started = true; + } + + } else { + bool bad_update = false; + + for (uint8_t model_index = 0; model_index < N_MODELS_EKFGSF; model_index++) { + // subsequent measurements are fused as direct state observations + if (!updateEKF(model_index, vel_NE, vel_accuracy)) { + bad_update = true; + } + } + + if (!bad_update) { + float total_weight = 0.0f; + // calculate weighting for each model assuming a normal distribution + const float min_weight = 1e-5f; + uint8_t n_weight_clips = 0; + + for (uint8_t model_index = 0; model_index < N_MODELS_EKFGSF; model_index ++) { + _model_weights(model_index) = gaussianDensity(model_index) * _model_weights(model_index); + + if (_model_weights(model_index) < min_weight) { + n_weight_clips++; + _model_weights(model_index) = min_weight; + } + + total_weight += _model_weights(model_index); + } + + // normalise the weighting function + if (n_weight_clips < N_MODELS_EKFGSF) { + _model_weights /= total_weight; + + } else { + // all weights have collapsed due to excessive innovation variances so reset filters + reset(); + } + } + + // Calculate a composite yaw vector as a weighted average of the states for each model. + // To avoid issues with angle wrapping, the yaw state is converted to a vector with length + // equal to the weighting value before it is summed. + Vector2f yaw_vector; + + for (uint8_t model_index = 0; model_index < N_MODELS_EKFGSF; model_index ++) { + yaw_vector(0) += _model_weights(model_index) * cosf(_ekf_gsf[model_index].X(2)); + yaw_vector(1) += _model_weights(model_index) * sinf(_ekf_gsf[model_index].X(2)); + } + + _gsf_yaw = atan2f(yaw_vector(1), yaw_vector(0)); + + // calculate a composite variance for the yaw state from a weighted average of the variance for each model + // models with larger innovations are weighted less + _gsf_yaw_variance = 0.0f; + + for (uint8_t model_index = 0; model_index < N_MODELS_EKFGSF; model_index ++) { + const float yaw_delta = wrap_pi(_ekf_gsf[model_index].X(2) - _gsf_yaw); + _gsf_yaw_variance += _model_weights(model_index) * (_ekf_gsf[model_index].P(2, 2) + yaw_delta * yaw_delta); + } + } +} + +void EKFGSF_yaw::ahrsPredict(const uint8_t model_index, const Vector3f &delta_ang, const float delta_ang_dt) +{ + // generate attitude solution using simple complementary filter for the selected model + const Vector3f ang_rate = delta_ang / fmaxf(delta_ang_dt, 0.001f) - _ahrs_ekf_gsf[model_index].gyro_bias; + + const Dcmf R_to_body = _ahrs_ekf_gsf[model_index].R.transpose(); + const Vector3f gravity_direction_bf = R_to_body.col(2); + + const float ahrs_accel_norm = _ahrs_accel.norm(); + + // gain from accel vector tilt error to rate gyro correction used by AHRS calculation + const float ahrs_accel_fusion_gain = ahrsCalcAccelGain(); + + // Perform angular rate correction using accel data and reduce correction as accel magnitude moves away from 1 g (reduces drift when vehicle picked up and moved). + // During fixed wing flight, compensate for centripetal acceleration assuming coordinated turns and X axis forward + Vector3f tilt_correction{}; + + if (ahrs_accel_fusion_gain > 0.f) { + + Vector3f accel = _ahrs_accel; + + if (PX4_ISFINITE(_true_airspeed) && (_true_airspeed > FLT_EPSILON)) { + // Calculate body frame centripetal acceleration with assumption X axis is aligned with the airspeed vector + // Use cross product of body rate and body frame airspeed vector + const Vector3f centripetal_accel_bf = Vector3f(0.0f, _true_airspeed * ang_rate(2), - _true_airspeed * ang_rate(1)); + + // correct measured accel for centripetal acceleration + accel -= centripetal_accel_bf; + } + + tilt_correction = (gravity_direction_bf % accel) * ahrs_accel_fusion_gain / ahrs_accel_norm; + } + + // Gyro bias estimation + constexpr float gyro_bias_limit = 0.05f; + const float spin_rate = ang_rate.length(); + + if (spin_rate < math::radians(10.f)) { + _ahrs_ekf_gsf[model_index].gyro_bias -= tilt_correction * (_gyro_bias_gain * delta_ang_dt); + _ahrs_ekf_gsf[model_index].gyro_bias = matrix::constrain(_ahrs_ekf_gsf[model_index].gyro_bias, + -gyro_bias_limit, gyro_bias_limit); + } + + // delta angle from previous to current frame + const Vector3f delta_angle_corrected = delta_ang + + (tilt_correction - _ahrs_ekf_gsf[model_index].gyro_bias) * delta_ang_dt; + + // Apply delta angle to rotation matrix + _ahrs_ekf_gsf[model_index].R = ahrsPredictRotMat(_ahrs_ekf_gsf[model_index].R, delta_angle_corrected); +} + +void EKFGSF_yaw::ahrsAlignTilt(const Vector3f &delta_vel) +{ + // Rotation matrix is constructed directly from acceleration measurement and will be the same for + // all models so only need to calculate it once. Assumptions are: + // 1) Yaw angle is zero - yaw is aligned later for each model when velocity fusion commences. + // 2) The vehicle is not accelerating so all of the measured acceleration is due to gravity. + + // Calculate earth frame Down axis unit vector rotated into body frame + const Vector3f down_in_bf = -delta_vel.normalized(); + + // Calculate earth frame North axis unit vector rotated into body frame, orthogonal to 'down_in_bf' + const Vector3f i_vec_bf(1.f, 0.f, 0.f); + Vector3f north_in_bf = i_vec_bf - down_in_bf * (i_vec_bf.dot(down_in_bf)); + north_in_bf.normalize(); + + // Calculate earth frame East axis unit vector rotated into body frame, orthogonal to 'down_in_bf' and 'north_in_bf' + const Vector3f east_in_bf = down_in_bf % north_in_bf; + + // Each column in a rotation matrix from earth frame to body frame represents the projection of the + // corresponding earth frame unit vector rotated into the body frame, eg 'north_in_bf' would be the first column. + // We need the rotation matrix from body frame to earth frame so the earth frame unit vectors rotated into body + // frame are copied into corresponding rows instead. + Dcmf R; + R.setRow(0, north_in_bf); + R.setRow(1, east_in_bf); + R.setRow(2, down_in_bf); + + for (uint8_t model_index = 0; model_index < N_MODELS_EKFGSF; model_index++) { + _ahrs_ekf_gsf[model_index].R = R; + } +} + +void EKFGSF_yaw::ahrsAlignYaw() +{ + // Align yaw angle for each model + for (uint8_t model_index = 0; model_index < N_MODELS_EKFGSF; model_index++) { + + const float yaw = wrap_pi(_ekf_gsf[model_index].X(2)); + const Dcmf R = _ahrs_ekf_gsf[model_index].R; + _ahrs_ekf_gsf[model_index].R = updateYawInRotMat(yaw, R); + } +} + +void EKFGSF_yaw::predictEKF(const uint8_t model_index, const Vector3f &delta_ang, const float delta_ang_dt, + const Vector3f &delta_vel, const float delta_vel_dt, bool in_air) +{ + // generate an attitude reference using IMU data + ahrsPredict(model_index, delta_ang, delta_ang_dt); + + // we don't start running the EKF part of the algorithm until there are regular velocity observations + if (!_ekf_gsf_vel_fuse_started) { + return; + } + + // Calculate the yaw state using a projection onto the horizontal that avoids gimbal lock + _ekf_gsf[model_index].X(2) = getEulerYaw(_ahrs_ekf_gsf[model_index].R); + + // calculate delta velocity in a horizontal front-right frame + const Vector3f del_vel_NED = _ahrs_ekf_gsf[model_index].R * delta_vel; + const float cos_yaw = cosf(_ekf_gsf[model_index].X(2)); + const float sin_yaw = sinf(_ekf_gsf[model_index].X(2)); + const float dvx = del_vel_NED(0) * cos_yaw + del_vel_NED(1) * sin_yaw; + const float dvy = - del_vel_NED(0) * sin_yaw + del_vel_NED(1) * cos_yaw; + const float daz = Vector3f(_ahrs_ekf_gsf[model_index].R * delta_ang)(2); + + // delta velocity process noise double if we're not in air + const float accel_noise = in_air ? _accel_noise : 2.f * _accel_noise; + const float d_vel_var = sq(accel_noise * delta_vel_dt); + + // Use fixed values for delta angle process noise variances + const float d_ang_var = sq(_gyro_noise * delta_ang_dt); + + _ekf_gsf[model_index].P = sym::YawEstPredictCovariance(_ekf_gsf[model_index].X, _ekf_gsf[model_index].P, Vector2f(dvx, + dvy), d_vel_var, daz, d_ang_var); + + // covariance matrix is symmetrical, so copy upper half to lower half + _ekf_gsf[model_index].P(1, 0) = _ekf_gsf[model_index].P(0, 1); + _ekf_gsf[model_index].P(2, 0) = _ekf_gsf[model_index].P(0, 2); + _ekf_gsf[model_index].P(2, 1) = _ekf_gsf[model_index].P(1, 2); + + // constrain variances + const float min_var = 1e-6f; + + for (unsigned index = 0; index < 3; index++) { + _ekf_gsf[model_index].P(index, index) = fmaxf(_ekf_gsf[model_index].P(index, index), min_var); + } + + // sum delta velocities in earth frame: + _ekf_gsf[model_index].X(0) += del_vel_NED(0); + _ekf_gsf[model_index].X(1) += del_vel_NED(1); +} + +bool EKFGSF_yaw::updateEKF(const uint8_t model_index, const Vector2f &vel_NE, const float vel_accuracy) +{ + // set observation variance from accuracy estimate supplied by GPS and apply a sanity check minimum + const float vel_obs_var = sq(fmaxf(vel_accuracy, 0.01f)); + + // calculate velocity observation innovations + _ekf_gsf[model_index].innov(0) = _ekf_gsf[model_index].X(0) - vel_NE(0); + _ekf_gsf[model_index].innov(1) = _ekf_gsf[model_index].X(1) - vel_NE(1); + + matrix::Matrix K; + matrix::SquareMatrix P_new; + + sym::YawEstComputeMeasurementUpdate(_ekf_gsf[model_index].P, + vel_obs_var, + FLT_EPSILON, + &_ekf_gsf[model_index].S_inverse, + &_ekf_gsf[model_index].S_det_inverse, + &K, + &P_new); + + _ekf_gsf[model_index].P = P_new; + + // copy upper to lower diagonal + _ekf_gsf[model_index].P(1, 0) = _ekf_gsf[model_index].P(0, 1); + _ekf_gsf[model_index].P(2, 0) = _ekf_gsf[model_index].P(0, 2); + _ekf_gsf[model_index].P(2, 1) = _ekf_gsf[model_index].P(1, 2); + + // constrain variances + const float min_var = 1e-6f; + + for (unsigned index = 0; index < 3; index++) { + _ekf_gsf[model_index].P(index, index) = fmaxf(_ekf_gsf[model_index].P(index, index), min_var); + } + + // test ratio = transpose(innovation) * inverse(innovation variance) * innovation = [1x2] * [2,2] * [2,1] = [1,1] + const float test_ratio = _ekf_gsf[model_index].innov * (_ekf_gsf[model_index].S_inverse * _ekf_gsf[model_index].innov); + + // Perform a chi-square innovation consistency test and calculate a compression scale factor + // that limits the magnitude of innovations to 5-sigma + // If the test ratio is greater than 25 (5 Sigma) then reduce the length of the innovation vector to clip it at 5-Sigma + // This protects from large measurement spikes + const float innov_comp_scale_factor = test_ratio > 25.f ? sqrtf(25.0f / test_ratio) : 1.f; + + // Correct the state vector and capture the change in yaw angle + const float oldYaw = _ekf_gsf[model_index].X(2); + + _ekf_gsf[model_index].X -= (K * _ekf_gsf[model_index].innov) * innov_comp_scale_factor; + + const float yawDelta = _ekf_gsf[model_index].X(2) - oldYaw; + + // apply the change in yaw angle to the AHRS + // take advantage of sparseness in the yaw rotation matrix + const float cosYaw = cosf(yawDelta); + const float sinYaw = sinf(yawDelta); + const float R_prev00 = _ahrs_ekf_gsf[model_index].R(0, 0); + const float R_prev01 = _ahrs_ekf_gsf[model_index].R(0, 1); + const float R_prev02 = _ahrs_ekf_gsf[model_index].R(0, 2); + + _ahrs_ekf_gsf[model_index].R(0, 0) = R_prev00 * cosYaw - _ahrs_ekf_gsf[model_index].R(1, 0) * sinYaw; + _ahrs_ekf_gsf[model_index].R(0, 1) = R_prev01 * cosYaw - _ahrs_ekf_gsf[model_index].R(1, 1) * sinYaw; + _ahrs_ekf_gsf[model_index].R(0, 2) = R_prev02 * cosYaw - _ahrs_ekf_gsf[model_index].R(1, 2) * sinYaw; + _ahrs_ekf_gsf[model_index].R(1, 0) = R_prev00 * sinYaw + _ahrs_ekf_gsf[model_index].R(1, 0) * cosYaw; + _ahrs_ekf_gsf[model_index].R(1, 1) = R_prev01 * sinYaw + _ahrs_ekf_gsf[model_index].R(1, 1) * cosYaw; + _ahrs_ekf_gsf[model_index].R(1, 2) = R_prev02 * sinYaw + _ahrs_ekf_gsf[model_index].R(1, 2) * cosYaw; + + return true; +} + +void EKFGSF_yaw::initialiseEKFGSF(const Vector2f &vel_NE, const float vel_accuracy) +{ + _gsf_yaw = 0.0f; + _gsf_yaw_variance = sq(M_PI_F / 2.f); + _model_weights.setAll(1.0f / (float)N_MODELS_EKFGSF); // All filter models start with the same weight + + const float yaw_increment = 2.f * M_PI_F / (float)N_MODELS_EKFGSF; + + for (uint8_t model_index = 0; model_index < N_MODELS_EKFGSF; model_index++) { + _ekf_gsf[model_index] = {}; + + // evenly space initial yaw estimates in the region between +-Pi + _ekf_gsf[model_index].X(2) = -M_PI_F + (0.5f * yaw_increment) + ((float)model_index * yaw_increment); + + // take velocity states and corresponding variance from last measurement + _ekf_gsf[model_index].X(0) = vel_NE(0); + _ekf_gsf[model_index].X(1) = vel_NE(1); + + _ekf_gsf[model_index].P(0, 0) = sq(fmaxf(vel_accuracy, 0.01f)); + _ekf_gsf[model_index].P(1, 1) = _ekf_gsf[model_index].P(0, 0); + + // use half yaw interval for yaw uncertainty + _ekf_gsf[model_index].P(2, 2) = sq(0.5f * yaw_increment); + } +} + +float EKFGSF_yaw::gaussianDensity(const uint8_t model_index) const +{ + // calculate transpose(innovation) * inv(S) * innovation + const float normDist = _ekf_gsf[model_index].innov.dot(_ekf_gsf[model_index].S_inverse * _ekf_gsf[model_index].innov); + + return (1.f / (2.f * M_PI_F)) * sqrtf(_ekf_gsf[model_index].S_det_inverse) * expf(-0.5f * normDist); +} + +bool EKFGSF_yaw::getLogData(float *yaw_composite, float *yaw_variance, float yaw[N_MODELS_EKFGSF], + float innov_VN[N_MODELS_EKFGSF], float innov_VE[N_MODELS_EKFGSF], float weight[N_MODELS_EKFGSF]) const +{ + if (_ekf_gsf_vel_fuse_started) { + *yaw_composite = _gsf_yaw; + *yaw_variance = _gsf_yaw_variance; + + for (uint8_t model_index = 0; model_index < N_MODELS_EKFGSF; model_index++) { + yaw[model_index] = _ekf_gsf[model_index].X(2); + innov_VN[model_index] = _ekf_gsf[model_index].innov(0); + innov_VE[model_index] = _ekf_gsf[model_index].innov(1); + weight[model_index] = _model_weights(model_index); + } + + return true; + } + + return false; +} + +float EKFGSF_yaw::ahrsCalcAccelGain() const +{ + // Calculate the acceleration fusion gain using a continuous function that is unity at 1g and zero + // at the min and max g value. Allow for more acceleration when flying as a fixed wing vehicle using centripetal + // acceleration correction as higher and more sustained g will be experienced. + // Use a quadratic instead of linear function to prevent vibration around 1g reducing the tilt correction effectiveness. + // see https://www.desmos.com/calculator/dbqbxvnwfg + + float attenuation = 2.f; + const bool centripetal_accel_compensation_enabled = PX4_ISFINITE(_true_airspeed) && (_true_airspeed > FLT_EPSILON); + + const float ahrs_accel_norm = _ahrs_accel.norm(); + + if (centripetal_accel_compensation_enabled && (ahrs_accel_norm > CONSTANTS_ONE_G)) { + attenuation = 1.f; + } + + const float delta_accel_g = (ahrs_accel_norm - CONSTANTS_ONE_G) / CONSTANTS_ONE_G; + return _tilt_gain * sq(1.f - math::min(attenuation * fabsf(delta_accel_g), 1.f)); +} + +Matrix3f EKFGSF_yaw::ahrsPredictRotMat(const Matrix3f &R, const Vector3f &g) +{ + Matrix3f ret = R; + ret(0, 0) += R(0, 1) * g(2) - R(0, 2) * g(1); + ret(0, 1) += R(0, 2) * g(0) - R(0, 0) * g(2); + ret(0, 2) += R(0, 0) * g(1) - R(0, 1) * g(0); + ret(1, 0) += R(1, 1) * g(2) - R(1, 2) * g(1); + ret(1, 1) += R(1, 2) * g(0) - R(1, 0) * g(2); + ret(1, 2) += R(1, 0) * g(1) - R(1, 1) * g(0); + ret(2, 0) += R(2, 1) * g(2) - R(2, 2) * g(1); + ret(2, 1) += R(2, 2) * g(0) - R(2, 0) * g(2); + ret(2, 2) += R(2, 0) * g(1) - R(2, 1) * g(0); + + // Renormalise rows + for (uint8_t r = 0; r < 3; r++) { + const float rowLengthSq = ret.row(r).norm_squared(); + + if (rowLengthSq > FLT_EPSILON) { + // Use linear approximation for inverse sqrt taking advantage of the row length being close to 1.0 + const float rowLengthInv = 1.5f - 0.5f * rowLengthSq; + ret.row(r) *= rowLengthInv; + } + } + + return ret; +} diff --git a/src/modules/ekf2/EKF/yaw_estimator/EKFGSF_yaw.h b/src/modules/ekf2/EKF/yaw_estimator/EKFGSF_yaw.h new file mode 100644 index 000000000000..ec84ed06f925 --- /dev/null +++ b/src/modules/ekf2/EKF/yaw_estimator/EKFGSF_yaw.h @@ -0,0 +1,153 @@ +/**************************************************************************** + * + * Copyright (c) 2020-2024 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#ifndef EKF_EKFGSF_YAW_H +#define EKF_EKFGSF_YAW_H + +#include +#include + +static constexpr uint8_t N_MODELS_EKFGSF = 5; + +class EKFGSF_yaw +{ +public: + EKFGSF_yaw(); + + // Update Filter States - this should be called whenever new IMU data is available + void predict(const matrix::Vector3f &delta_ang, const float delta_ang_dt, + const matrix::Vector3f &delta_vel, const float delta_vel_dt, + bool in_air = false); + + // vel_NE: NE velocity measurement (m/s) + // vel_accuracy: 1-sigma accuracy of velocity measurement (m/s) + void fuseVelocity(const matrix::Vector2f &vel_NE, float vel_accuracy, bool in_air); + + void setTrueAirspeed(float true_airspeed) { _true_airspeed = true_airspeed; } + + void setGyroBias(const matrix::Vector3f &imu_gyro_bias, const bool force = false) + { + // Initialise to gyro bias estimate from main filter because there could be a large + // uncorrected rate gyro bias error about the gravity vector + if (!_ahrs_ekf_gsf_tilt_aligned || !_ekf_gsf_vel_fuse_started || force) { + // init gyro bias for each model + for (uint8_t model_index = 0; model_index < N_MODELS_EKFGSF; model_index++) { + _ahrs_ekf_gsf[model_index].gyro_bias = imu_gyro_bias; + } + } + } + + // get solution data for logging + bool getLogData(float *yaw_composite, + float *yaw_composite_variance, + float yaw[N_MODELS_EKFGSF], + float innov_VN[N_MODELS_EKFGSF], + float innov_VE[N_MODELS_EKFGSF], + float weight[N_MODELS_EKFGSF]) const; + + bool isActive() const { return _ekf_gsf_vel_fuse_started; } + + float getYaw() const { return _gsf_yaw; } + float getYawVar() const { return _gsf_yaw_variance; } + + void reset(); + +private: + + // Parameters - these could be made tuneable + const float _gyro_noise{1.0e-1f}; // yaw rate noise used for covariance prediction (rad/sec) + const float _accel_noise{2.0f}; // horizontal accel noise used for covariance prediction (m/sec**2) + const float _tilt_gain{0.2f}; // gain from tilt error to gyro correction for complementary filter (1/sec) + const float _gyro_bias_gain{0.04f}; // gain applied to integral of gyro correction for complementary filter (1/sec) + + // Declarations used by the bank of N_MODELS_EKFGSF AHRS complementary filters + float _true_airspeed{NAN}; // true airspeed used for centripetal accel compensation (m/s) + + struct { + matrix::Dcmf R{matrix::eye()}; // matrix that rotates a vector from body to earth frame + matrix::Vector3f gyro_bias{}; // gyro bias learned and used by the quaternion calculation + } _ahrs_ekf_gsf[N_MODELS_EKFGSF] {}; + + bool _ahrs_ekf_gsf_tilt_aligned{false}; // true the initial tilt alignment has been calculated + matrix::Vector3f _ahrs_accel{0.f, 0.f, 0.f}; // low pass filtered body frame specific force vector used by AHRS calculation (m/s/s) + + // calculate the gain from gravity vector misalingment to tilt correction to be used by all AHRS filters + float ahrsCalcAccelGain() const; + + // update specified AHRS rotation matrix using IMU and optionally true airspeed data + void ahrsPredict(const uint8_t model_index, const matrix::Vector3f &delta_ang, const float delta_ang_dt); + + // align all AHRS roll and pitch orientations using IMU delta velocity vector + void ahrsAlignTilt(const matrix::Vector3f &delta_vel); + + // align all AHRS yaw orientations to initial values + void ahrsAlignYaw(); + + // Efficient propagation of a delta angle in body frame applied to the body to earth frame rotation matrix + matrix::Matrix3f ahrsPredictRotMat(const matrix::Matrix3f &R, const matrix::Vector3f &g); + + // Declarations used by a bank of N_MODELS_EKFGSF EKFs + + struct { + matrix::Vector3f X{}; // Vel North (m/s), Vel East (m/s), yaw (rad)s + matrix::SquareMatrix P{}; // covariance matrix + matrix::SquareMatrix S_inverse{}; // inverse of the innovation covariance matrix + float S_det_inverse{}; // inverse of the innovation covariance matrix determinant + matrix::Vector2f innov{}; // Velocity N,E innovation (m/s) + } _ekf_gsf[N_MODELS_EKFGSF] {}; + + bool _ekf_gsf_vel_fuse_started{}; // true when the EKF's have started fusing velocity data and the prediction and update processing is active + + // initialise states and covariance data for the GSF and EKF filters + void initialiseEKFGSF(const matrix::Vector2f &vel_NE, const float vel_accuracy); + + // predict state and covariance for the specified EKF using inertial data + void predictEKF(const uint8_t model_index, const matrix::Vector3f &delta_ang, const float delta_ang_dt, + const matrix::Vector3f &delta_vel, const float delta_vel_dt, bool in_air = false); + + // update state and covariance for the specified EKF using a NE velocity measurement + // return false if update failed + bool updateEKF(const uint8_t model_index, const matrix::Vector2f &vel_NE, const float vel_accuracy); + + inline float sq(float x) const { return x * x; }; + + // Declarations used by the Gaussian Sum Filter (GSF) that combines the individual EKF yaw estimates + + matrix::Vector _model_weights{}; + float _gsf_yaw{}; // yaw estimate (rad) + float _gsf_yaw_variance{}; // variance of yaw estimate (rad^2) + + // return the probability of the state estimate for the specified EKF assuming a gaussian error distribution + float gaussianDensity(const uint8_t model_index) const; +}; +#endif // !EKF_EKFGSF_YAW_H diff --git a/src/modules/ekf2/EKF/yaw_estimator/derivation/derivation_yaw_estimator.py b/src/modules/ekf2/EKF/yaw_estimator/derivation/derivation_yaw_estimator.py new file mode 100755 index 000000000000..8f9e767931cb --- /dev/null +++ b/src/modules/ekf2/EKF/yaw_estimator/derivation/derivation_yaw_estimator.py @@ -0,0 +1,175 @@ +#!/usr/bin/env python3 +# -*- coding: utf-8 -*- +""" + Copyright (c) 2022-2024 PX4 Development Team + Redistribution and use in source and binary forms, with or without + modification, are permitted provided that the following conditions + are met: + + 1. Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + 2. Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in + the documentation and/or other materials provided with the + distribution. + 3. Neither the name PX4 nor the names of its contributors may be + used to endorse or promote products derived from this software + without specific prior written permission. + + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + POSSIBILITY OF SUCH DAMAGE. + +File: derivation_yaw_estimator.py +Description: +""" + +import symforce +symforce.set_epsilon_to_symbol() + +import symforce.symbolic as sf +from symforce.values import Values + +# generate_px4_function from derivation_utils in EKF/ekf_derivation/utils +import os, sys +derivation_utils_dir = os.path.dirname(os.path.abspath(__file__)) + "/../../python/ekf_derivation/utils" +sys.path.append(derivation_utils_dir) +import derivation_utils + +State = Values( + vel = sf.V2(), + R = sf.Rot2() # 2D rotation to handle angle wrap +) + +class VTangent(sf.Matrix): + SHAPE = (State.tangent_dim(), 1) + +class MTangent(sf.Matrix): + SHAPE = (State.tangent_dim(), State.tangent_dim()) + +def rot2_small_angle(angle: sf.V1): + # Approximation for small "delta angles" to avoid trigonometric functions + return sf.Rot2(sf.Complex(1, angle[0])) + +def yaw_est_predict_covariance( + state: VTangent, + P: MTangent, + d_vel: sf.V2, + d_vel_var: sf.Scalar, + d_ang: sf.Scalar, + d_ang_var: sf.Scalar, +): + state = State.from_tangent(state) + d_ang = sf.V1(d_ang) # cast to vector to gain group properties (e.g.: to_tangent) + + state_error = Values( + vel = sf.V2.symbolic("delta_vel"), + yaw = sf.V1.symbolic("delta_yaw") + ) + + # True state kinematics + state_t = Values( + vel = state["vel"] + state_error["vel"], + R = state["R"] * rot2_small_angle(state_error["yaw"]) + ) + + noise = Values( + d_vel = sf.V2.symbolic("a_n"), + d_ang = sf.V1.symbolic("w_n"), + ) + + input_t = Values( + d_vel = d_vel - noise["d_vel"], + d_ang = d_ang - noise["d_ang"] + ) + + state_t_pred = Values( + vel = state_t["vel"] + state_t["R"] * input_t["d_vel"], + R = state_t["R"] * rot2_small_angle(input_t["d_ang"]) + ) + + # Nominal state kinematics + state_pred = Values( + vel = state["vel"] + state["R"] * d_vel, + R = state["R"] * rot2_small_angle(d_ang) + ) + + # Error state kinematics + delta_rot = (state_pred["R"].inverse() * state_t_pred["R"]) + state_error_pred = Values( + vel = state_t_pred["vel"] - state_pred["vel"], + yaw = sf.simplify(delta_rot.z.imag) # small angle appriximation; use simplify to cancel R.T*R + ) + + zero_state_error = {state_error[key]: state_error[key].zero() for key in state_error.keys()} + zero_noise = {noise[key]: noise[key].zero() for key in noise.keys()} + + # Calculate state transition matrix + F = VTangent(state_error_pred.to_storage()).jacobian(state_error).subs(zero_state_error).subs(zero_noise) + + # Derive the covariance prediction equations + # Error growth in the inertial solution is assumed to be driven by 'noise' in the delta angles and + # velocities, after bias effects have been removed. + + # derive the control(disturbance) influence matrix from IMU noise to error-state noise + G = VTangent(state_error_pred.to_storage()).jacobian(noise).subs(zero_state_error).subs(zero_noise) + + # derive the state error matrix + var_u = sf.Matrix.diag([d_vel_var, d_vel_var, d_ang_var]) + + Q = G * var_u * G.T + + P_new = F * P * F.T + Q + + # Generate the equations for the upper triangular matrix and the diagonal only + # Since the matrix is symmetric, the lower triangle does not need to be derived + # and can simply be copied in the implementation + for index in range(State.tangent_dim()): + for j in range(State.tangent_dim()): + if index > j: + P_new[index,j] = 0 + + return P_new + +def yaw_est_compute_measurement_update( + P: MTangent, + vel_obs_var: sf.Scalar, + epsilon : sf.Scalar +): + H = sf.Matrix([[1,0,0], + [0,1,0]]) + + R = sf.Matrix([[vel_obs_var , 0], + [0 , vel_obs_var]]) + + S = H * P * H.T + R + S_det = S[0, 0] * S[1, 1] - S[1, 0] * S[0, 1] + S_det_inv = derivation_utils.add_epsilon_sign(1 / S_det, S_det, epsilon) + + # Compute inverse using simple formula for 2x2 matrix and using protected division + S_inv = sf.M22([[S[1, 1], -S[0, 1]], [-S[1, 0], S[0, 0]]]) * S_det_inv + K = (P * H.T) * S_inv + P_new = P - K * H * P + + # Generate the equations for the upper triangular matrix and the diagonal only + # Since the matrix is symmetric, the lower triangle does not need to be derived + # and can simply be copied in the implementation + for index in range(State.tangent_dim()): + for j in range(State.tangent_dim()): + if index > j: + P_new[index,j] = 0 + + return (S_inv, S_det_inv, K, P_new) + +print("Derive yaw estimator equations...") +derivation_utils.generate_px4_function(yaw_est_predict_covariance, output_names=None) +derivation_utils.generate_px4_function(yaw_est_compute_measurement_update, output_names=["S_inv", "S_det_inv", "K", "P_new"]) diff --git a/src/modules/ekf2/EKF/yaw_estimator/derivation/generated/yaw_est_compute_measurement_update.h b/src/modules/ekf2/EKF/yaw_estimator/derivation/generated/yaw_est_compute_measurement_update.h new file mode 100644 index 000000000000..a7c412def368 --- /dev/null +++ b/src/modules/ekf2/EKF/yaw_estimator/derivation/generated/yaw_est_compute_measurement_update.h @@ -0,0 +1,101 @@ +// ----------------------------------------------------------------------------- +// This file was autogenerated by symforce from template: +// function/FUNCTION.h.jinja +// Do NOT modify by hand. +// ----------------------------------------------------------------------------- + +#pragma once + +#include + +namespace sym { + +/** + * This function was autogenerated from a symbolic function. Do not modify by hand. + * + * Symbolic function: yaw_est_compute_measurement_update + * + * Args: + * P: Matrix33 + * vel_obs_var: Scalar + * epsilon: Scalar + * + * Outputs: + * S_inv: Matrix22 + * S_det_inv: Scalar + * K: Matrix32 + * P_new: Matrix33 + */ +template +void YawEstComputeMeasurementUpdate(const matrix::Matrix& P, const Scalar vel_obs_var, + const Scalar epsilon, + matrix::Matrix* const S_inv = nullptr, + Scalar* const S_det_inv = nullptr, + matrix::Matrix* const K = nullptr, + matrix::Matrix* const P_new = nullptr) { + // Total ops: 60 + + // Input arrays + + // Intermediate terms (15) + const Scalar _tmp0 = P(1, 1) + vel_obs_var; + const Scalar _tmp1 = P(0, 0) + vel_obs_var; + const Scalar _tmp2 = -P(0, 1) * P(1, 0) + _tmp0 * _tmp1; + const Scalar _tmp3 = + Scalar(1.0) / + (_tmp2 + epsilon * (2 * math::min(0, (((_tmp2) > 0) - ((_tmp2) < 0))) + 1)); + const Scalar _tmp4 = _tmp0 * _tmp3; + const Scalar _tmp5 = P(1, 0) * _tmp3; + const Scalar _tmp6 = P(0, 1) * _tmp3; + const Scalar _tmp7 = _tmp1 * _tmp3; + const Scalar _tmp8 = -P(0, 1) * _tmp5; + const Scalar _tmp9 = P(0, 0) * _tmp4 + _tmp8; + const Scalar _tmp10 = -P(1, 1) * _tmp5 + _tmp0 * _tmp5; + const Scalar _tmp11 = P(2, 0) * _tmp4 - P(2, 1) * _tmp5; + const Scalar _tmp12 = -P(0, 0) * _tmp6 + _tmp1 * _tmp6; + const Scalar _tmp13 = P(1, 1) * _tmp7 + _tmp8; + const Scalar _tmp14 = -P(2, 0) * _tmp6 + P(2, 1) * _tmp7; + + // Output terms (4) + if (S_inv != nullptr) { + matrix::Matrix& _s_inv = (*S_inv); + + _s_inv(0, 0) = _tmp4; + _s_inv(1, 0) = -_tmp5; + _s_inv(0, 1) = -_tmp6; + _s_inv(1, 1) = _tmp7; + } + + if (S_det_inv != nullptr) { + Scalar& _s_det_inv = (*S_det_inv); + + _s_det_inv = _tmp3; + } + + if (K != nullptr) { + matrix::Matrix& _k = (*K); + + _k(0, 0) = _tmp9; + _k(1, 0) = _tmp10; + _k(2, 0) = _tmp11; + _k(0, 1) = _tmp12; + _k(1, 1) = _tmp13; + _k(2, 1) = _tmp14; + } + + if (P_new != nullptr) { + matrix::Matrix& _p_new = (*P_new); + + _p_new.setZero(); + + _p_new(0, 0) = -P(0, 0) * _tmp9 + P(0, 0) - P(1, 0) * _tmp12; + _p_new(0, 1) = -P(0, 1) * _tmp9 + P(0, 1) - P(1, 1) * _tmp12; + _p_new(1, 1) = -P(0, 1) * _tmp10 - P(1, 1) * _tmp13 + P(1, 1); + _p_new(0, 2) = -P(0, 2) * _tmp9 + P(0, 2) - P(1, 2) * _tmp12; + _p_new(1, 2) = -P(0, 2) * _tmp10 - P(1, 2) * _tmp13 + P(1, 2); + _p_new(2, 2) = -P(0, 2) * _tmp11 - P(1, 2) * _tmp14 + P(2, 2); + } +} // NOLINT(readability/fn_size) + +// NOLINTNEXTLINE(readability/fn_size) +} // namespace sym diff --git a/src/modules/ekf2/EKF/yaw_estimator/derivation/generated/yaw_est_predict_covariance.h b/src/modules/ekf2/EKF/yaw_estimator/derivation/generated/yaw_est_predict_covariance.h new file mode 100644 index 000000000000..d3fefb61d848 --- /dev/null +++ b/src/modules/ekf2/EKF/yaw_estimator/derivation/generated/yaw_est_predict_covariance.h @@ -0,0 +1,66 @@ +// ----------------------------------------------------------------------------- +// This file was autogenerated by symforce from template: +// function/FUNCTION.h.jinja +// Do NOT modify by hand. +// ----------------------------------------------------------------------------- + +#pragma once + +#include + +namespace sym { + +/** + * This function was autogenerated from a symbolic function. Do not modify by hand. + * + * Symbolic function: yaw_est_predict_covariance + * + * Args: + * state: Matrix31 + * P: Matrix33 + * d_vel: Matrix21 + * d_vel_var: Scalar + * d_ang: Scalar + * d_ang_var: Scalar + * + * Outputs: + * res: Matrix33 + */ +template +matrix::Matrix YawEstPredictCovariance(const matrix::Matrix& state, + const matrix::Matrix& P, + const matrix::Matrix& d_vel, + const Scalar d_vel_var, const Scalar d_ang, + const Scalar d_ang_var) { + // Total ops: 39 + + // Input arrays + + // Intermediate terms (8) + const Scalar _tmp0 = std::cos(state(2, 0)); + const Scalar _tmp1 = std::sin(state(2, 0)); + const Scalar _tmp2 = -_tmp0 * d_vel(1, 0) - _tmp1 * d_vel(0, 0); + const Scalar _tmp3 = P(0, 2) + P(2, 2) * _tmp2; + const Scalar _tmp4 = + std::pow(_tmp0, Scalar(2)) * d_vel_var + std::pow(_tmp1, Scalar(2)) * d_vel_var; + const Scalar _tmp5 = _tmp0 * d_vel(0, 0) - _tmp1 * d_vel(1, 0); + const Scalar _tmp6 = P(1, 2) + P(2, 2) * _tmp5; + const Scalar _tmp7 = std::pow(d_ang, Scalar(2)) + 1; + + // Output terms (1) + matrix::Matrix _res; + + _res.setZero(); + + _res(0, 0) = P(0, 0) + P(2, 0) * _tmp2 + _tmp2 * _tmp3 + _tmp4; + _res(0, 1) = P(0, 1) + P(2, 1) * _tmp2 + _tmp3 * _tmp5; + _res(1, 1) = P(1, 1) + P(2, 1) * _tmp5 + _tmp4 + _tmp5 * _tmp6; + _res(0, 2) = _tmp3 * _tmp7; + _res(1, 2) = _tmp6 * _tmp7; + _res(2, 2) = P(2, 2) * std::pow(_tmp7, Scalar(2)) + d_ang_var; + + return _res; +} // NOLINT(readability/fn_size) + +// NOLINTNEXTLINE(readability/fn_size) +} // namespace sym diff --git a/src/modules/ekf2/EKF/yaw_fusion.cpp b/src/modules/ekf2/EKF/yaw_fusion.cpp new file mode 100644 index 000000000000..f87dcb8e41c2 --- /dev/null +++ b/src/modules/ekf2/EKF/yaw_fusion.cpp @@ -0,0 +1,170 @@ +/**************************************************************************** + * + * Copyright (c) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include "ekf.h" + +#include + +#include + +bool Ekf::fuseYaw(estimator_aid_source1d_s &aid_src_status, const VectorState &H_YAW) +{ + // check if the innovation variance calculation is badly conditioned + if (aid_src_status.innovation_variance >= aid_src_status.observation_variance) { + // the innovation variance contribution from the state covariances is not negative, no fault + _fault_status.flags.bad_hdg = false; + + } else { + // the innovation variance contribution from the state covariances is negative which means the covariance matrix is badly conditioned + _fault_status.flags.bad_hdg = true; + + // we reinitialise the covariance matrix and abort this fusion step + initialiseCovariance(); + ECL_ERR("yaw fusion numerical error - covariance reset"); + + return false; + } + + // calculate the Kalman gains + // only calculate gains for states we are using + VectorState Kfusion; + const float heading_innov_var_inv = 1.f / aid_src_status.innovation_variance; + + for (uint8_t row = 0; row < State::size; row++) { + for (uint8_t col = 0; col <= 3; col++) { + Kfusion(row) += P(row, col) * H_YAW(col); + } + + Kfusion(row) *= heading_innov_var_inv; + } + + // set the heading unhealthy if the test fails + if (aid_src_status.innovation_rejected) { + _innov_check_fail_status.flags.reject_yaw = true; + + // if we are in air we don't want to fuse the measurement + // we allow to use it when on the ground because the large innovation could be caused + // by interference or a large initial gyro bias + if (!_control_status.flags.in_air + && isTimedOut(_time_last_in_air, (uint64_t)5e6) + && isTimedOut(aid_src_status.time_last_fuse, (uint64_t)1e6) + ) { + // constrain the innovation to the maximum set by the gate + // we need to delay this forced fusion to avoid starting it + // immediately after touchdown, when the drone is still armed + const float gate_sigma = math::max(_params.heading_innov_gate, 1.f); + const float gate_limit = sqrtf((sq(gate_sigma) * aid_src_status.innovation_variance)); + aid_src_status.innovation = math::constrain(aid_src_status.innovation, -gate_limit, gate_limit); + + // also reset the yaw gyro variance to converge faster and avoid + // being stuck on a previous bad estimate + resetGyroBiasZCov(); + + } else { + return false; + } + + } else { + _innov_check_fail_status.flags.reject_yaw = false; + } + + if (measurementUpdate(Kfusion, H_YAW, aid_src_status.observation_variance, aid_src_status.innovation)) { + + _time_last_heading_fuse = _time_delayed_us; + + aid_src_status.time_last_fuse = _time_delayed_us; + aid_src_status.fused = true; + + _fault_status.flags.bad_hdg = false; + + return true; + } + + // otherwise + _fault_status.flags.bad_hdg = true; + return false; +} + +void Ekf::computeYawInnovVarAndH(float variance, float &innovation_variance, VectorState &H_YAW) const +{ + sym::ComputeYawInnovVarAndH(_state.vector(), P, variance, &innovation_variance, &H_YAW); +} + +void Ekf::resetQuatStateYaw(float yaw, float yaw_variance) +{ + // save a copy of the quaternion state for later use in calculating the amount of reset change + const Quatf quat_before_reset = _state.quat_nominal; + + // update the yaw angle variance + if (PX4_ISFINITE(yaw_variance) && (yaw_variance > FLT_EPSILON)) { + P.uncorrelateCovarianceSetVariance<1>(2, yaw_variance); + } + + // update transformation matrix from body to world frame using the current estimate + // update the rotation matrix using the new yaw value + _R_to_earth = updateYawInRotMat(yaw, Dcmf(_state.quat_nominal)); + + // calculate the amount that the quaternion has changed by + const Quatf quat_after_reset(_R_to_earth); + const Quatf q_error((quat_after_reset * quat_before_reset.inversed()).normalized()); + + // update quaternion states + _state.quat_nominal = quat_after_reset; + + // add the reset amount to the output observer buffered data + _output_predictor.resetQuaternion(q_error); + +#if defined(CONFIG_EKF2_EXTERNAL_VISION) + + // update EV attitude error filter + if (_ev_q_error_initialized) { + const Quatf ev_q_error_updated = (q_error * _ev_q_error_filt.getState()).normalized(); + _ev_q_error_filt.reset(ev_q_error_updated); + } + +#endif // CONFIG_EKF2_EXTERNAL_VISION + + // record the state change + if (_state_reset_status.reset_count.quat == _state_reset_count_prev.quat) { + _state_reset_status.quat_change = q_error; + + } else { + // there's already a reset this update, accumulate total delta + _state_reset_status.quat_change = q_error * _state_reset_status.quat_change; + _state_reset_status.quat_change.normalize(); + } + + _state_reset_status.reset_count.quat++; + + _time_last_heading_fuse = _time_delayed_us; +} diff --git a/src/modules/ekf2/EKF/zero_innovation_heading_update.cpp b/src/modules/ekf2/EKF/zero_innovation_heading_update.cpp deleted file mode 100644 index 1a12ad1e6e70..000000000000 --- a/src/modules/ekf2/EKF/zero_innovation_heading_update.cpp +++ /dev/null @@ -1,94 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2022 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file zero_innovation_heading_update.cpp - * Control function for ekf heading update when at rest or no other heading source available - */ - -#include "ekf.h" - -void Ekf::controlZeroInnovationHeadingUpdate() -{ - const bool yaw_aiding = _control_status.flags.mag_hdg || _control_status.flags.mag_3D - || _control_status.flags.ev_yaw || _control_status.flags.gps_yaw; - - if (!_control_status.flags.tilt_align) { - // fuse zero heading innovation during the leveling fine alignment step to keep the yaw variance low - float innovation = 0.f; - float obs_var = _control_status.flags.vehicle_at_rest ? 0.001f : 0.1f; - estimator_aid_source1d_s unused; - fuseYaw(innovation, obs_var, unused); - _time_last_heading_fuse = 0; - _last_static_yaw = NAN; - - } else if (_control_status.flags.vehicle_at_rest) { - // When at rest or no source of yaw aiding is active yaw fusion is run selectively to enable yaw gyro - // bias learning when stationary on ground and to prevent uncontrolled yaw variance growth - const float euler_yaw = getEulerYaw(_R_to_earth); - - if (PX4_ISFINITE(_last_static_yaw)) { - // fuse last static yaw at a limited rate (every 200 milliseconds) - if (!yaw_aiding && isTimedOut(_time_last_heading_fuse, (uint64_t)200'000)) { - float innovation = wrap_pi(euler_yaw - _last_static_yaw); - float obs_var = 0.01f; - estimator_aid_source1d_s unused; - fuseYaw(innovation, obs_var, unused); - } - - } else { - // record static yaw when transitioning to at rest - _last_static_yaw = euler_yaw; - } - - } else { - // vehicle moving and tilt alignment completed - - // fuse zero innovation at a limited rate if the yaw variance is too large - if (!yaw_aiding && isTimedOut(_time_last_heading_fuse, (uint64_t)200'000)) { - float obs_var = 0.25f; - estimator_aid_source1d_s aid_src_status; - Vector24f H_YAW; - - computeYawInnovVarAndH(obs_var, aid_src_status.innovation_variance, H_YAW); - - if ((aid_src_status.innovation_variance - obs_var) > sq(_params.mag_heading_noise)) { - // The yaw variance is too large, fuse fake measurement - float innovation = 0.f; - fuseYaw(innovation, obs_var, aid_src_status, H_YAW); - } - } - - _last_static_yaw = NAN; - } -} diff --git a/src/modules/ekf2/EKF/zero_velocity_update.cpp b/src/modules/ekf2/EKF/zero_velocity_update.cpp deleted file mode 100644 index 0897262ea3f0..000000000000 --- a/src/modules/ekf2/EKF/zero_velocity_update.cpp +++ /dev/null @@ -1,70 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2022 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file zero_velocity_update.cpp - * Control function for ekf zero velocity update - */ - -#include "ekf.h" - -void Ekf::controlZeroVelocityUpdate() -{ - // Fuse zero velocity at a limited rate (every 200 milliseconds) - const bool zero_velocity_update_data_ready = isTimedOut(_time_last_zero_velocity_fuse, (uint64_t)2e5); - - if (zero_velocity_update_data_ready) { - const bool continuing_conditions_passing = _control_status.flags.vehicle_at_rest - && _control_status_prev.flags.vehicle_at_rest - && !isVerticalVelocityAidingActive(); // otherwise the filter is "too rigid" to follow a position drift - - if (continuing_conditions_passing) { - Vector3f vel_obs{0, 0, 0}; - Vector3f innovation = _state.vel - vel_obs; - - // Set a low variance initially for faster leveling and higher - // later to let the states follow the measurements - const float obs_var = _control_status.flags.tilt_align ? sq(0.2f) : sq(0.001f); - Vector3f innov_var{ - P(4, 4) + obs_var, - P(5, 5) + obs_var, - P(6, 6) + obs_var}; - - fuseVelPosHeight(innovation(0), innov_var(0), 0); - fuseVelPosHeight(innovation(1), innov_var(1), 1); - fuseVelPosHeight(innovation(2), innov_var(2), 2); - - _time_last_zero_velocity_fuse = _time_delayed_us; - } - } -} diff --git a/src/modules/ekf2/EKF2.cpp b/src/modules/ekf2/EKF2.cpp index a9fad97550ab..bb986208de84 100644 --- a/src/modules/ekf2/EKF2.cpp +++ b/src/modules/ekf2/EKF2.cpp @@ -40,6 +40,9 @@ using matrix::Eulerf; using matrix::Quatf; using matrix::Vector3f; +static constexpr float kDefaultExternalPosAccuracy = 50.0f; // [m] +static constexpr float kMaxDelaySecondsExternalPosMeasurement = 15.0f; // [s] + pthread_mutex_t ekf2_module_mutex = PTHREAD_MUTEX_INITIALIZER; static px4::atomic _objects[EKF2_MAX_INSTANCES] {}; #if defined(CONFIG_EKF2_MULTI_INSTANCE) @@ -56,13 +59,13 @@ EKF2::EKF2(bool multi_mode, const px4::wq_config_t &config, bool replay_mode): _local_position_pub(multi_mode ? ORB_ID(estimator_local_position) : ORB_ID(vehicle_local_position)), _global_position_pub(multi_mode ? ORB_ID(estimator_global_position) : ORB_ID(vehicle_global_position)), _odometry_pub(multi_mode ? ORB_ID(estimator_odometry) : ORB_ID(vehicle_odometry)), +#if defined(CONFIG_EKF2_WIND) _wind_pub(multi_mode ? ORB_ID(estimator_wind) : ORB_ID(wind)), +#endif // CONFIG_EKF2_WIND _params(_ekf.getParamHandle()), _param_ekf2_predict_us(_params->filter_update_interval_us), + _param_ekf2_delay_max(_params->delay_max_ms), _param_ekf2_imu_ctrl(_params->imu_ctrl), - _param_ekf2_mag_delay(_params->mag_delay_ms), - _param_ekf2_baro_delay(_params->baro_delay_ms), - _param_ekf2_gps_delay(_params->gps_delay_ms), #if defined(CONFIG_EKF2_AUXVEL) _param_ekf2_avel_delay(_params->auxvel_delay_ms), #endif // CONFIG_EKF2_AUXVEL @@ -70,18 +73,46 @@ EKF2::EKF2(bool multi_mode, const px4::wq_config_t &config, bool replay_mode): _param_ekf2_acc_noise(_params->accel_noise), _param_ekf2_gyr_b_noise(_params->gyro_bias_p_noise), _param_ekf2_acc_b_noise(_params->accel_bias_p_noise), - _param_ekf2_mag_e_noise(_params->mage_p_noise), - _param_ekf2_mag_b_noise(_params->magb_p_noise), +#if defined(CONFIG_EKF2_WIND) _param_ekf2_wind_nsd(_params->wind_vel_nsd), +#endif // CONFIG_EKF2_WIND + _param_ekf2_noaid_noise(_params->pos_noaid_noise), +#if defined(CONFIG_EKF2_GNSS) + _param_ekf2_gps_ctrl(_params->gnss_ctrl), + _param_ekf2_gps_delay(_params->gps_delay_ms), + _param_ekf2_gps_pos_x(_params->gps_pos_body(0)), + _param_ekf2_gps_pos_y(_params->gps_pos_body(1)), + _param_ekf2_gps_pos_z(_params->gps_pos_body(2)), _param_ekf2_gps_v_noise(_params->gps_vel_noise), _param_ekf2_gps_p_noise(_params->gps_pos_noise), - _param_ekf2_noaid_noise(_params->pos_noaid_noise), + _param_ekf2_gps_p_gate(_params->gps_pos_innov_gate), + _param_ekf2_gps_v_gate(_params->gps_vel_innov_gate), + _param_ekf2_gps_check(_params->gps_check_mask), + _param_ekf2_req_eph(_params->req_hacc), + _param_ekf2_req_epv(_params->req_vacc), + _param_ekf2_req_sacc(_params->req_sacc), + _param_ekf2_req_nsats(_params->req_nsats), + _param_ekf2_req_pdop(_params->req_pdop), + _param_ekf2_req_hdrift(_params->req_hdrift), + _param_ekf2_req_vdrift(_params->req_vdrift), + _param_ekf2_gsf_tas_default(_params->EKFGSF_tas_default), +#endif // CONFIG_EKF2_GNSS +#if defined(CONFIG_EKF2_BAROMETER) + _param_ekf2_baro_ctrl(_params->baro_ctrl), + _param_ekf2_baro_delay(_params->baro_delay_ms), _param_ekf2_baro_noise(_params->baro_noise), _param_ekf2_baro_gate(_params->baro_innov_gate), _param_ekf2_gnd_eff_dz(_params->gnd_effect_deadzone), _param_ekf2_gnd_max_hgt(_params->gnd_effect_max_hgt), - _param_ekf2_gps_p_gate(_params->gps_pos_innov_gate), - _param_ekf2_gps_v_gate(_params->gps_vel_innov_gate), +# if defined(CONFIG_EKF2_BARO_COMPENSATION) + _param_ekf2_aspd_max(_params->max_correction_airspeed), + _param_ekf2_pcoef_xp(_params->static_pressure_coef_xp), + _param_ekf2_pcoef_xn(_params->static_pressure_coef_xn), + _param_ekf2_pcoef_yp(_params->static_pressure_coef_yp), + _param_ekf2_pcoef_yn(_params->static_pressure_coef_yn), + _param_ekf2_pcoef_z(_params->static_pressure_coef_z), +# endif // CONFIG_EKF2_BARO_COMPENSATION +#endif // CONFIG_EKF2_BAROMETER #if defined(CONFIG_EKF2_AIRSPEED) _param_ekf2_asp_delay(_params->airspeed_delay_ms), _param_ekf2_tas_gate(_params->tas_innov_gate), @@ -93,6 +124,10 @@ EKF2::EKF2(bool multi_mode, const px4::wq_config_t &config, bool replay_mode): _param_ekf2_beta_noise(_params->beta_noise), _param_ekf2_fuse_beta(_params->beta_fusion_enabled), #endif // CONFIG_EKF2_SIDESLIP +#if defined(CONFIG_EKF2_MAGNETOMETER) + _param_ekf2_mag_delay(_params->mag_delay_ms), + _param_ekf2_mag_e_noise(_params->mage_p_noise), + _param_ekf2_mag_b_noise(_params->magb_p_noise), _param_ekf2_head_noise(_params->mag_heading_noise), _param_ekf2_mag_noise(_params->mag_noise), _param_ekf2_mag_decl(_params->mag_declination_deg), @@ -101,26 +136,26 @@ EKF2::EKF2(bool multi_mode, const px4::wq_config_t &config, bool replay_mode): _param_ekf2_decl_type(_params->mag_declination_source), _param_ekf2_mag_type(_params->mag_fusion_type), _param_ekf2_mag_acclim(_params->mag_acc_gate), - _param_ekf2_mag_yawlim(_params->mag_yaw_rate_gate), - _param_ekf2_gps_check(_params->gps_check_mask), - _param_ekf2_req_eph(_params->req_hacc), - _param_ekf2_req_epv(_params->req_vacc), - _param_ekf2_req_sacc(_params->req_sacc), - _param_ekf2_req_nsats(_params->req_nsats), - _param_ekf2_req_pdop(_params->req_pdop), - _param_ekf2_req_hdrift(_params->req_hdrift), - _param_ekf2_req_vdrift(_params->req_vdrift), + _param_ekf2_mag_check(_params->mag_check), + _param_ekf2_mag_chk_str(_params->mag_check_strength_tolerance_gs), + _param_ekf2_mag_chk_inc(_params->mag_check_inclination_tolerance_deg), + _param_ekf2_synthetic_mag_z(_params->synthesize_mag_z), +#endif // CONFIG_EKF2_MAGNETOMETER _param_ekf2_hgt_ref(_params->height_sensor_ref), - _param_ekf2_baro_ctrl(_params->baro_ctrl), - _param_ekf2_gps_ctrl(_params->gnss_ctrl), _param_ekf2_noaid_tout(_params->valid_timeout_max), +#if defined(CONFIG_EKF2_TERRAIN) || defined(CONFIG_EKF2_OPTICAL_FLOW) || defined(CONFIG_EKF2_RANGE_FINDER) + _param_ekf2_min_rng(_params->rng_gnd_clearance), +#endif // CONFIG_EKF2_TERRAIN || CONFIG_EKF2_OPTICAL_FLOW || CONFIG_EKF2_RANGE_FINDER +#if defined(CONFIG_EKF2_TERRAIN) + _param_ekf2_terr_noise(_params->terrain_p_noise), + _param_ekf2_terr_grad(_params->terrain_gradient), +#endif // CONFIG_EKF2_TERRAIN #if defined(CONFIG_EKF2_RANGE_FINDER) _param_ekf2_rng_ctrl(_params->rng_ctrl), _param_ekf2_rng_delay(_params->range_delay_ms), _param_ekf2_rng_noise(_params->range_noise), _param_ekf2_rng_sfe(_params->range_noise_scaler), _param_ekf2_rng_gate(_params->range_innov_gate), - _param_ekf2_min_rng(_params->rng_gnd_clearance), _param_ekf2_rng_pitch(_params->rng_sens_pitch), _param_ekf2_rng_a_vmax(_params->max_vel_for_range_aid), _param_ekf2_rng_a_hmax(_params->max_hagl_for_range_aid), @@ -130,9 +165,6 @@ EKF2::EKF2(bool multi_mode, const px4::wq_config_t &config, bool replay_mode): _param_ekf2_rng_pos_x(_params->rng_pos_body(0)), _param_ekf2_rng_pos_y(_params->rng_pos_body(1)), _param_ekf2_rng_pos_z(_params->rng_pos_body(2)), - _param_ekf2_terr_mask(_params->terrain_fusion_mode), - _param_ekf2_terr_noise(_params->terrain_p_noise), - _param_ekf2_terr_grad(_params->terrain_gradient), #endif // CONFIG_EKF2_RANGE_FINDER #if defined(CONFIG_EKF2_EXTERNAL_VISION) _param_ekf2_ev_delay(_params->ev_delay_ms), @@ -147,24 +179,32 @@ EKF2::EKF2(bool multi_mode, const px4::wq_config_t &config, bool replay_mode): _param_ekf2_ev_pos_y(_params->ev_pos_body(1)), _param_ekf2_ev_pos_z(_params->ev_pos_body(2)), #endif // CONFIG_EKF2_EXTERNAL_VISION - _param_ekf2_grav_noise(_params->gravity_noise), #if defined(CONFIG_EKF2_OPTICAL_FLOW) _param_ekf2_of_ctrl(_params->flow_ctrl), + _param_ekf2_of_gyr_src(_params->flow_gyro_src), _param_ekf2_of_delay(_params->flow_delay_ms), _param_ekf2_of_n_min(_params->flow_noise), _param_ekf2_of_n_max(_params->flow_noise_qual_min), _param_ekf2_of_qmin(_params->flow_qual_min), + _param_ekf2_of_qmin_gnd(_params->flow_qual_min_gnd), _param_ekf2_of_gate(_params->flow_innov_gate), _param_ekf2_of_pos_x(_params->flow_pos_body(0)), _param_ekf2_of_pos_y(_params->flow_pos_body(1)), _param_ekf2_of_pos_z(_params->flow_pos_body(2)), #endif // CONFIG_EKF2_OPTICAL_FLOW +#if defined(CONFIG_EKF2_DRAG_FUSION) + _param_ekf2_drag_ctrl(_params->drag_ctrl), + _param_ekf2_drag_noise(_params->drag_noise), + _param_ekf2_bcoef_x(_params->bcoef_x), + _param_ekf2_bcoef_y(_params->bcoef_y), + _param_ekf2_mcoef(_params->mcoef), +#endif // CONFIG_EKF2_DRAG_FUSION +#if defined(CONFIG_EKF2_GRAVITY_FUSION) + _param_ekf2_grav_noise(_params->gravity_noise), +#endif // CONFIG_EKF2_GRAVITY_FUSION _param_ekf2_imu_pos_x(_params->imu_pos_body(0)), _param_ekf2_imu_pos_y(_params->imu_pos_body(1)), _param_ekf2_imu_pos_z(_params->imu_pos_body(2)), - _param_ekf2_gps_pos_x(_params->gps_pos_body(0)), - _param_ekf2_gps_pos_y(_params->gps_pos_body(1)), - _param_ekf2_gps_pos_z(_params->gps_pos_body(2)), _param_ekf2_gbias_init(_params->switch_on_gyro_bias), _param_ekf2_abias_init(_params->switch_on_accel_bias), _param_ekf2_angerr_init(_params->initial_tilt_err), @@ -172,150 +212,184 @@ EKF2::EKF2(bool multi_mode, const px4::wq_config_t &config, bool replay_mode): _param_ekf2_abl_acclim(_params->acc_bias_learn_acc_lim), _param_ekf2_abl_gyrlim(_params->acc_bias_learn_gyr_lim), _param_ekf2_abl_tau(_params->acc_bias_learn_tc), - _param_ekf2_gyr_b_lim(_params->gyro_bias_lim), -#if defined(CONFIG_EKF2_DRAG_FUSION) - _param_ekf2_drag_ctrl(_params->drag_ctrl), - _param_ekf2_drag_noise(_params->drag_noise), - _param_ekf2_bcoef_x(_params->bcoef_x), - _param_ekf2_bcoef_y(_params->bcoef_y), - _param_ekf2_mcoef(_params->mcoef), -#endif // CONFIG_EKF2_DRAG_FUSION -#if defined(CONFIG_EKF2_BARO_COMPENSATION) - _param_ekf2_aspd_max(_params->max_correction_airspeed), - _param_ekf2_pcoef_xp(_params->static_pressure_coef_xp), - _param_ekf2_pcoef_xn(_params->static_pressure_coef_xn), - _param_ekf2_pcoef_yp(_params->static_pressure_coef_yp), - _param_ekf2_pcoef_yn(_params->static_pressure_coef_yn), - _param_ekf2_pcoef_z(_params->static_pressure_coef_z), -#endif // CONFIG_EKF2_BARO_COMPENSATION - _param_ekf2_mag_check(_params->check_mag_strength), - _param_ekf2_synthetic_mag_z(_params->synthesize_mag_z), - _param_ekf2_gsf_tas_default(_params->EKFGSF_tas_default) + _param_ekf2_gyr_b_lim(_params->gyro_bias_lim) { - // advertise expected minimal topic set immediately to ensure logging - _attitude_pub.advertise(); - _local_position_pub.advertise(); - - _estimator_event_flags_pub.advertise(); - _estimator_innovation_test_ratios_pub.advertise(); - _estimator_innovation_variances_pub.advertise(); - _estimator_innovations_pub.advertise(); - _estimator_sensor_bias_pub.advertise(); - _estimator_states_pub.advertise(); - _estimator_status_flags_pub.advertise(); - _estimator_status_pub.advertise(); + AdvertiseTopics(); } EKF2::~EKF2() { - perf_free(_ecl_ekf_update_perf); - perf_free(_ecl_ekf_update_full_perf); + perf_free(_ekf_update_perf); perf_free(_msg_missed_imu_perf); - perf_free(_msg_missed_air_data_perf); -#if defined(CONFIG_EKF2_AIRSPEED) - perf_free(_msg_missed_airspeed_perf); -#endif // CONFIG_EKF2_AIRSPEED -#if defined(CONFIG_EKF2_RANGE_FINDER) - perf_free(_msg_missed_distance_sensor_perf); -#endif // CONFIG_EKF2_RANGE_FINDER - perf_free(_msg_missed_gps_perf); -#if defined(CONFIG_EKF2_AUXVEL) - perf_free(_msg_missed_landing_target_pose_perf); -#endif // CONFIG_EKF2_AUXVEL - perf_free(_msg_missed_magnetometer_perf); - perf_free(_msg_missed_odometry_perf); -#if defined(CONFIG_EKF2_OPTICAL_FLOW) - perf_free(_msg_missed_optical_flow_perf); -#endif // CONFIG_EKF2_OPTICAL_FLOW } -#if defined(CONFIG_EKF2_MULTI_INSTANCE) -bool EKF2::multi_init(int imu, int mag) +void EKF2::AdvertiseTopics() { - // advertise all topics to ensure consistent uORB instance numbering - _ekf2_timestamps_pub.advertise(); + // advertise expected minimal topic set immediately for logging + _attitude_pub.advertise(); + _local_position_pub.advertise(); _estimator_event_flags_pub.advertise(); - _estimator_innovation_test_ratios_pub.advertise(); - _estimator_innovation_variances_pub.advertise(); - _estimator_innovations_pub.advertise(); -#if defined(CONFIG_EKF2_OPTICAL_FLOW) - _estimator_optical_flow_vel_pub.advertise(); -#endif // CONFIG_EKF2_OPTICAL_FLOW _estimator_sensor_bias_pub.advertise(); - _estimator_states_pub.advertise(); - _estimator_status_flags_pub.advertise(); _estimator_status_pub.advertise(); - _yaw_est_pub.advertise(); + _estimator_status_flags_pub.advertise(); - // baro advertise - if (_param_ekf2_baro_ctrl.get()) { - _estimator_aid_src_baro_hgt_pub.advertise(); - _estimator_baro_bias_pub.advertise(); + if (_multi_mode) { + // only force advertise these in multi mode to ensure consistent uORB instance numbering + _global_position_pub.advertise(); + _odometry_pub.advertise(); + +#if defined(CONFIG_EKF2_WIND) + _wind_pub.advertise(); +#endif // CONFIG_EKF2_WIND } -#if defined(CONFIG_EKF2_EXTERNAL_VISION) +#if defined(CONFIG_EKF2_GNSS) - // EV advertise - if (_param_ekf2_ev_ctrl.get() & static_cast(EvCtrl::VPOS)) { - _estimator_aid_src_ev_hgt_pub.advertise(); - _estimator_ev_pos_bias_pub.advertise(); + if (_param_ekf2_gps_ctrl.get()) { + _estimator_gps_status_pub.advertise(); + _yaw_est_pub.advertise(); } - if (_param_ekf2_ev_ctrl.get() & static_cast(EvCtrl::HPOS)) { - _estimator_aid_src_ev_pos_pub.advertise(); - _estimator_ev_pos_bias_pub.advertise(); - } +#endif // CONFIG_EKF2_GNSS - if (_param_ekf2_ev_ctrl.get() & static_cast(EvCtrl::VEL)) { - _estimator_aid_src_ev_vel_pub.advertise(); - } + // verbose logging + if (_param_ekf2_log_verbose.get()) { + _estimator_innovation_test_ratios_pub.advertise(); + _estimator_innovation_variances_pub.advertise(); + _estimator_innovations_pub.advertise(); + _estimator_states_pub.advertise(); - if (_param_ekf2_ev_ctrl.get() & static_cast(EvCtrl::YAW)) { - _estimator_aid_src_ev_yaw_pub.advertise(); - } +#if defined(CONFIG_EKF2_AIRSPEED) + + if (_param_ekf2_arsp_thr.get() > 0.f) { + _estimator_aid_src_airspeed_pub.advertise(); + } + +#endif // CONFIG_EKF2_AIRSPEED + +#if defined(CONFIG_EKF2_BAROMETER) + + if (_param_ekf2_baro_ctrl.get()) { + _estimator_aid_src_baro_hgt_pub.advertise(); + _estimator_baro_bias_pub.advertise(); + } + +#endif // CONFIG_EKF2_BAROMETER + +#if defined(CONFIG_EKF2_DRAG_FUSION) + + if (_param_ekf2_drag_ctrl.get()) { + _estimator_aid_src_drag_pub.advertise(); + } + +#endif // CONFIG_EKF2_DRAG_FUSION + +#if defined(CONFIG_EKF2_EXTERNAL_VISION) + + if (_param_ekf2_ev_ctrl.get() & static_cast(EvCtrl::VPOS)) { + _estimator_aid_src_ev_hgt_pub.advertise(); + _estimator_ev_pos_bias_pub.advertise(); + } + + if (_param_ekf2_ev_ctrl.get() & static_cast(EvCtrl::HPOS)) { + _estimator_aid_src_ev_pos_pub.advertise(); + _estimator_ev_pos_bias_pub.advertise(); + } + + if (_param_ekf2_ev_ctrl.get() & static_cast(EvCtrl::VEL)) { + _estimator_aid_src_ev_vel_pub.advertise(); + } + + if (_param_ekf2_ev_ctrl.get() & static_cast(EvCtrl::YAW)) { + _estimator_aid_src_ev_yaw_pub.advertise(); + } #endif // CONFIG_EKF2_EXTERNAL_VISION - // GNSS advertise - if (_param_ekf2_gps_ctrl.get() & static_cast(GnssCtrl::VPOS)) { - _estimator_aid_src_gnss_hgt_pub.advertise(); - _estimator_gnss_hgt_bias_pub.advertise(); - } +#if defined(CONFIG_EKF2_GNSS) - if (_param_ekf2_gps_ctrl.get() & static_cast(GnssCtrl::HPOS)) { - _estimator_aid_src_gnss_pos_pub.advertise(); - _estimator_gps_status_pub.advertise(); - } + if (_param_ekf2_gps_ctrl.get()) { + if (_param_ekf2_gps_ctrl.get() & static_cast(GnssCtrl::VPOS)) { + _estimator_aid_src_gnss_hgt_pub.advertise(); + _estimator_gnss_hgt_bias_pub.advertise(); + } - if (_param_ekf2_gps_ctrl.get() & static_cast(GnssCtrl::VEL)) { - _estimator_aid_src_gnss_vel_pub.advertise(); - } + if (_param_ekf2_gps_ctrl.get() & static_cast(GnssCtrl::HPOS)) { + _estimator_aid_src_gnss_pos_pub.advertise(); + } -#if defined(CONFIG_EKF2_GNSS_YAW) + if (_param_ekf2_gps_ctrl.get() & static_cast(GnssCtrl::VEL)) { + _estimator_aid_src_gnss_vel_pub.advertise(); + } - if (_param_ekf2_gps_ctrl.get() & static_cast(GnssCtrl::YAW)) { - _estimator_aid_src_gnss_yaw_pub.advertise(); - } +# if defined(CONFIG_EKF2_GNSS_YAW) -#endif // CONFIG_EKF2_GNSS_YAW + if (_param_ekf2_gps_ctrl.get() & static_cast(GnssCtrl::YAW)) { + _estimator_aid_src_gnss_yaw_pub.advertise(); + } + +# endif // CONFIG_EKF2_GNSS_YAW + } + +#endif // CONFIG_EKF2_GNSS + +#if defined(CONFIG_EKF2_GRAVITY_FUSION) + + if (_param_ekf2_imu_ctrl.get() & static_cast(ImuCtrl::GravityVector)) { + _estimator_aid_src_gravity_pub.advertise(); + } + +#endif // CONFIG_EKF2_GRAVITY_FUSION + +#if defined(CONFIG_EKF2_MAGNETOMETER) + + if (_param_ekf2_mag_type.get() != MagFuseType::NONE) { + _estimator_aid_src_mag_pub.advertise(); + } + +#endif // CONFIG_EKF2_MAGNETOMETER + +#if defined(CONFIG_EKF2_OPTICAL_FLOW) + + if (_param_ekf2_of_ctrl.get()) { + _estimator_optical_flow_vel_pub.advertise(); + _estimator_aid_src_optical_flow_pub.advertise(); + } + +#endif // CONFIG_EKF2_OPTICAL_FLOW #if defined(CONFIG_EKF2_RANGE_FINDER) - // RNG advertise - if (_param_ekf2_rng_ctrl.get()) { - _estimator_aid_src_rng_hgt_pub.advertise(); - _estimator_rng_hgt_bias_pub.advertise(); - } + // RNG advertise + if (_param_ekf2_rng_ctrl.get()) { + _estimator_aid_src_rng_hgt_pub.advertise(); + } #endif // CONFIG_EKF2_RANGE_FINDER - _attitude_pub.advertise(); - _local_position_pub.advertise(); - _global_position_pub.advertise(); - _odometry_pub.advertise(); - _wind_pub.advertise(); +#if defined(CONFIG_EKF2_SIDESLIP) + + if (_param_ekf2_fuse_beta.get()) { + _estimator_aid_src_sideslip_pub.advertise(); + } - bool changed_instance = _vehicle_imu_sub.ChangeInstance(imu) && _magnetometer_sub.ChangeInstance(mag); +#endif // CONFIG_EKF2_SIDESLIP + + } // end verbose logging +} + +#if defined(CONFIG_EKF2_MULTI_INSTANCE) +bool EKF2::multi_init(int imu, int mag) +{ + bool changed_instance = _vehicle_imu_sub.ChangeInstance(imu); + +#if defined(CONFIG_EKF2_MAGNETOMETER) + + if (!_magnetometer_sub.ChangeInstance(mag)) { + changed_instance = false; + } + +#endif // CONFIG_EKF2_MAGNETOMETER const int status_instance = _estimator_states_pub.get_instance(); @@ -337,35 +411,20 @@ bool EKF2::multi_init(int imu, int mag) } #endif // CONFIG_EKF2_MULTI_INSTANCE -int EKF2::print_status() +int EKF2::print_status(bool verbose) { PX4_INFO_RAW("ekf2:%d EKF dt: %.4fs, attitude: %d, local position: %d, global position: %d\n", _instance, (double)_ekf.get_dt_ekf_avg(), _ekf.attitude_valid(), _ekf.local_position_is_valid(), _ekf.global_position_is_valid()); - perf_print_counter(_ecl_ekf_update_perf); - perf_print_counter(_ecl_ekf_update_full_perf); + perf_print_counter(_ekf_update_perf); perf_print_counter(_msg_missed_imu_perf); - perf_print_counter(_msg_missed_air_data_perf); -#if defined(CONFIG_EKF2_AIRSPEED) - perf_print_counter(_msg_missed_airspeed_perf); -#endif // CONFIG_EKF2_AIRSPEED -#if defined(CONFIG_EKF2_RANGE_FINDER) - perf_print_counter(_msg_missed_distance_sensor_perf); -#endif // CONFIG_EKF2_RANGE_FINDER - perf_print_counter(_msg_missed_gps_perf); -#if defined(CONFIG_EKF2_AUXVEL) - perf_print_counter(_msg_missed_landing_target_pose_perf); -#endif // CONFIG_EKF2_AUXVEL - perf_print_counter(_msg_missed_magnetometer_perf); - perf_print_counter(_msg_missed_odometry_perf); -#if defined(CONFIG_EKF2_OPTICAL_FLOW) - perf_print_counter(_msg_missed_optical_flow_perf); -#endif // CONFIG_EKF2_OPTICAL_FLOW -#if defined(DEBUG_BUILD) - _ekf.print_status(); -#endif // DEBUG_BUILD + if (verbose) { +#if defined(CONFIG_EKF2_VERBOSE_STATUS) + _ekf.print_status(); +#endif // CONFIG_EKF2_VERBOSE_STATUS + } return 0; } @@ -390,7 +449,12 @@ void EKF2::Run() VerifyParams(); + // force advertise topics immediately for logging (EKF2_LOG_VERBOSE, per aid source control) + AdvertiseTopics(); + +#if defined(CONFIG_EKF2_GNSS) _ekf.set_min_required_gps_health_time(_param_ekf2_req_gps_h.get() * 1_s); +#endif // CONFIG_EKF2_GNSS const matrix::Vector3f imu_pos_body(_param_ekf2_imu_pos_x.get(), _param_ekf2_imu_pos_y.get(), @@ -409,37 +473,7 @@ void EKF2::Run() #endif // CONFIG_EKF2_AIRSPEED - // if using baro ensure sensor interval minimum is sufficient to accommodate system averaged baro output - if (_params->baro_ctrl == 1) { - float sens_baro_rate = 0.f; - - if (param_get(param_find("SENS_BARO_RATE"), &sens_baro_rate) == PX4_OK) { - if (sens_baro_rate > 0) { - float interval_ms = roundf(1000.f / sens_baro_rate); - - if (PX4_ISFINITE(interval_ms) && (interval_ms > _params->sensor_interval_max_ms)) { - PX4_DEBUG("updating sensor_interval_max_ms %.3f -> %.3f", (double)_params->sensor_interval_max_ms, (double)interval_ms); - _params->sensor_interval_max_ms = interval_ms; - } - } - } - } - - // if using mag ensure sensor interval minimum is sufficient to accommodate system averaged mag output - if (_params->mag_fusion_type != MagFuseType::NONE) { - float sens_mag_rate = 0.f; - - if (param_get(param_find("SENS_MAG_RATE"), &sens_mag_rate) == PX4_OK) { - if (sens_mag_rate > 0) { - float interval_ms = roundf(1000.f / sens_mag_rate); - - if (PX4_ISFINITE(interval_ms) && (interval_ms > _params->sensor_interval_max_ms)) { - PX4_DEBUG("updating sensor_interval_max_ms %.3f -> %.3f", (double)_params->sensor_interval_max_ms, (double)interval_ms); - _params->sensor_interval_max_ms = interval_ms; - } - } - } - } + _ekf.updateParameters(); } if (!_callback_registered) { @@ -464,6 +498,12 @@ void EKF2::Run() vehicle_command_s vehicle_command; if (_vehicle_command_sub.update(&vehicle_command)) { + + vehicle_command_ack_s command_ack{}; + command_ack.command = vehicle_command.command; + command_ack.target_system = vehicle_command.source_system; + command_ack.target_component = vehicle_command.source_component; + if (vehicle_command.command == vehicle_command_s::VEHICLE_CMD_SET_GPS_GLOBAL_ORIGIN) { double latitude = vehicle_command.param5; double longitude = vehicle_command.param6; @@ -476,10 +516,62 @@ void EKF2::Run() PX4_INFO("%d - New NED origin (LLA): %3.10f, %3.10f, %4.3f\n", _instance, latitude, longitude, static_cast(altitude)); + command_ack.result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED; + } else { PX4_ERR("%d - Failed to set new NED origin (LLA): %3.10f, %3.10f, %4.3f\n", _instance, latitude, longitude, static_cast(altitude)); + + command_ack.result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_FAILED; + } + + command_ack.timestamp = hrt_absolute_time(); + _vehicle_command_ack_pub.publish(command_ack); + + } else if (vehicle_command.command == vehicle_command_s::VEHICLE_CMD_EXTERNAL_POSITION_ESTIMATE) { + + if ((_ekf.control_status_flags().wind_dead_reckoning || _ekf.control_status_flags().inertial_dead_reckoning + || (!_ekf.control_status_flags().in_air && !_ekf.control_status_flags().gps)) && PX4_ISFINITE(vehicle_command.param2) + && PX4_ISFINITE(vehicle_command.param5) && PX4_ISFINITE(vehicle_command.param6) + ) { + + const float measurement_delay_seconds = math::constrain(vehicle_command.param2, 0.0f, + kMaxDelaySecondsExternalPosMeasurement); + const uint64_t timestamp_observation = vehicle_command.timestamp - measurement_delay_seconds * 1_s; + + float accuracy = kDefaultExternalPosAccuracy; + + if (PX4_ISFINITE(vehicle_command.param3) && vehicle_command.param3 > FLT_EPSILON) { + accuracy = vehicle_command.param3; + } + + // TODO add check for lat and long validity + if (_ekf.resetGlobalPosToExternalObservation(vehicle_command.param5, vehicle_command.param6, + accuracy, timestamp_observation) + ) { + command_ack.result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED; + + } else { + command_ack.result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_FAILED; + } + + } else { + command_ack.result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED; // TODO: expand } + + command_ack.timestamp = hrt_absolute_time(); + _vehicle_command_ack_pub.publish(command_ack); + } + + if (vehicle_command.command == vehicle_command_s::VEHICLE_CMD_EXTERNAL_WIND_ESTIMATE) { +#if defined(CONFIG_EKF2_WIND) + // wind direction is given as azimuth where wind blows FROM + // PX4 backend expects direction where wind blows TO + const float wind_direction_rad = wrap_pi(math::radians(vehicle_command.param3) + M_PI_F); + const float wind_direction_accuracy_rad = math::radians(vehicle_command.param4); + _ekf.resetWindToExternalObservation(vehicle_command.param1, wind_direction_rad, vehicle_command.param2, + wind_direction_accuracy_rad); +#endif // CONFIG_EKF2_WIND } } } @@ -660,15 +752,21 @@ void EKF2::Run() #if defined(CONFIG_EKF2_AUXVEL) UpdateAuxVelSample(ekf2_timestamps); #endif // CONFIG_EKF2_AUXVEL +#if defined(CONFIG_EKF2_BAROMETER) UpdateBaroSample(ekf2_timestamps); +#endif // CONFIG_EKF2_BAROMETER #if defined(CONFIG_EKF2_EXTERNAL_VISION) UpdateExtVisionSample(ekf2_timestamps); #endif // CONFIG_EKF2_EXTERNAL_VISION #if defined(CONFIG_EKF2_OPTICAL_FLOW) UpdateFlowSample(ekf2_timestamps); #endif // CONFIG_EKF2_OPTICAL_FLOW +#if defined(CONFIG_EKF2_GNSS) UpdateGpsSample(ekf2_timestamps); +#endif // CONFIG_EKF2_GNSS +#if defined(CONFIG_EKF2_MAGNETOMETER) UpdateMagSample(ekf2_timestamps); +#endif // CONFIG_EKF2_MAGNETOMETER #if defined(CONFIG_EKF2_RANGE_FINDER) UpdateRangeSample(ekf2_timestamps); #endif // CONFIG_EKF2_RANGE_FINDER @@ -678,45 +776,57 @@ void EKF2::Run() const hrt_abstime ekf_update_start = hrt_absolute_time(); if (_ekf.update()) { - perf_set_elapsed(_ecl_ekf_update_full_perf, hrt_elapsed_time(&ekf_update_start)); + perf_set_elapsed(_ekf_update_perf, hrt_elapsed_time(&ekf_update_start)); PublishLocalPosition(now); PublishOdometry(now, imu_sample_new); PublishGlobalPosition(now); + PublishSensorBias(now); + +#if defined(CONFIG_EKF2_WIND) PublishWindEstimate(now); +#endif // CONFIG_EKF2_WIND // publish status/logging messages - PublishBaroBias(now); - PublishGnssHgtBias(now); -#if defined(CONFIG_EKF2_RANGE_FINDER) - PublishRngHgtBias(now); -#endif // CONFIG_EKF2_RANGE_FINDER + PublishEventFlags(now); + PublishStatus(now); + PublishStatusFlags(now); + + if (_param_ekf2_log_verbose.get()) { + PublishAidSourceStatus(now); + PublishInnovations(now); + PublishInnovationTestRatios(now); + PublishInnovationVariances(now); + PublishStates(now); + +#if defined(CONFIG_EKF2_BAROMETER) + PublishBaroBias(now); +#endif // CONFIG_EKF2_BAROMETER + #if defined(CONFIG_EKF2_EXTERNAL_VISION) - PublishEvPosBias(now); + PublishEvPosBias(now); #endif // CONFIG_EKF2_EXTERNAL_VISION - PublishEventFlags(now); + +#if defined(CONFIG_EKF2_GNSS) + PublishGnssHgtBias(now); +#endif // CONFIG_EKF2_GNSS + + } + +#if defined(CONFIG_EKF2_GNSS) PublishGpsStatus(now); - PublishInnovations(now); - PublishInnovationTestRatios(now); - PublishInnovationVariances(now); + PublishYawEstimatorStatus(now); +#endif // CONFIG_EKF2_GNSS + #if defined(CONFIG_EKF2_OPTICAL_FLOW) PublishOpticalFlowVel(now); #endif // CONFIG_EKF2_OPTICAL_FLOW - PublishStates(now); - PublishStatus(now); - PublishStatusFlags(now); - PublishYawEstimatorStatus(now); UpdateAccelCalibration(now); UpdateGyroCalibration(now); +#if defined(CONFIG_EKF2_MAGNETOMETER) UpdateMagCalibration(now); - PublishSensorBias(now); - - PublishAidSourceStatus(now); - - } else { - // ekf no update - perf_set_elapsed(_ecl_ekf_update_perf, hrt_elapsed_time(&ekf_update_start)); +#endif // CONFIG_EKF2_MAGNETOMETER } // publish ekf2_timestamps @@ -729,184 +839,103 @@ void EKF2::Run() void EKF2::VerifyParams() { - if ((_param_ekf2_aid_mask.get() & SensorFusionMask::DEPRECATED_USE_GPS) - || (_param_ekf2_aid_mask.get() & SensorFusionMask::DEPRECATED_USE_GPS_YAW)) { - _param_ekf2_aid_mask.set(_param_ekf2_aid_mask.get() & ~(SensorFusionMask::DEPRECATED_USE_GPS | - SensorFusionMask::DEPRECATED_USE_GPS_YAW)); - _param_ekf2_aid_mask.commit(); - mavlink_log_critical(&_mavlink_log_pub, "Use EKF2_GPS_CTRL instead\n"); - /* EVENT - * @description EKF2_AID_MASK is set to {1:.0}. - */ - events::send(events::ID("ekf2_aid_mask_gps"), events::Log::Warning, - "Use EKF2_GPS_CTRL instead", _param_ekf2_aid_mask.get()); - } +#if defined(CONFIG_EKF2_MAGNETOMETER) - if ((_param_ekf2_gps_ctrl.get() & GnssCtrl::VPOS) && !(_param_ekf2_gps_ctrl.get() & GnssCtrl::HPOS)) { - _param_ekf2_gps_ctrl.set(_param_ekf2_gps_ctrl.get() & ~GnssCtrl::VPOS); - _param_ekf2_gps_ctrl.commit(); - mavlink_log_critical(&_mavlink_log_pub, "GPS lon/lat is required for altitude fusion\n"); - /* EVENT - * @description EKF2_GPS_CTRL is set to {1:.0}. - */ - events::send(events::ID("ekf2_gps_ctrl_alt"), events::Log::Warning, - "GPS lon/lat is required for altitude fusion", _param_ekf2_gps_ctrl.get()); - } + // EKF2_MAG_TYPE obsolete options + if ((_param_ekf2_mag_type.get() != MagFuseType::AUTO) + && (_param_ekf2_mag_type.get() != MagFuseType::HEADING) + && (_param_ekf2_mag_type.get() != MagFuseType::NONE) + && (_param_ekf2_mag_type.get() != MagFuseType::INIT) + ) { - if ((_param_ekf2_hgt_ref.get() == HeightSensor::BARO) && (_param_ekf2_baro_ctrl.get() == 0)) { - _param_ekf2_baro_ctrl.set(1); - _param_ekf2_baro_ctrl.commit(); - mavlink_log_critical(&_mavlink_log_pub, "Baro enabled by EKF2_HGT_REF\n"); + mavlink_log_critical(&_mavlink_log_pub, "EKF2_MAG_TYPE invalid, resetting to default"); /* EVENT - * @description EKF2_BARO_CTRL is set to {1:.0}. + * @description EKF2_MAG_TYPE is set to {1:.0}. */ - events::send(events::ID("ekf2_hgt_ref_baro"), events::Log::Warning, - "Baro enabled by EKF2_HGT_REF", _param_ekf2_baro_ctrl.get()); - } + events::send(events::ID("ekf2_mag_type_invalid"), events::Log::Warning, + "EKF2_MAG_TYPE invalid, resetting to default", _param_ekf2_mag_type.get()); -#if defined(CONFIG_EKF2_RANGE_FINDER) - - if ((_param_ekf2_hgt_ref.get() == HeightSensor::RANGE) && (_param_ekf2_rng_ctrl.get() == RngCtrl::DISABLED)) { - _param_ekf2_rng_ctrl.set(1); - _param_ekf2_rng_ctrl.commit(); - mavlink_log_critical(&_mavlink_log_pub, "Range enabled by EKF2_HGT_REF\n"); - /* EVENT - * @description EKF2_RNG_CTRL is set to {1:.0}. - */ - events::send(events::ID("ekf2_hgt_ref_rng"), events::Log::Warning, - "Range enabled by EKF2_HGT_REF", _param_ekf2_rng_ctrl.get()); + _param_ekf2_mag_type.set(0); + _param_ekf2_mag_type.commit(); } -#endif // CONFIG_EKF2_RANGE_FINDER +#endif // CONFIG_EKF2_MAGNETOMETER - if ((_param_ekf2_hgt_ref.get() == HeightSensor::GNSS) && !(_param_ekf2_gps_ctrl.get() & GnssCtrl::VPOS)) { - _param_ekf2_gps_ctrl.set(_param_ekf2_gps_ctrl.get() | (GnssCtrl::VPOS | GnssCtrl::HPOS | GnssCtrl::VEL)); - _param_ekf2_gps_ctrl.commit(); - mavlink_log_critical(&_mavlink_log_pub, "GPS enabled by EKF2_HGT_REF\n"); - /* EVENT - * @description EKF2_GPS_CTRL is set to {1:.0}. - */ - events::send(events::ID("ekf2_hgt_ref_gps"), events::Log::Warning, - "GPS enabled by EKF2_HGT_REF", _param_ekf2_gps_ctrl.get()); - } + float delay_max = _param_ekf2_delay_max.get(); -#if defined(CONFIG_EKF2_EXTERNAL_VISION) +#if defined(CONFIG_EKF2_AUXVEL) - if ((_param_ekf2_hgt_ref.get() == HeightSensor::EV) - && !(_param_ekf2_ev_ctrl.get() & static_cast(EvCtrl::VPOS))) { - _param_ekf2_ev_ctrl.set(_param_ekf2_ev_ctrl.get() | static_cast(EvCtrl::VPOS)); - _param_ekf2_ev_ctrl.commit(); - mavlink_log_critical(&_mavlink_log_pub, "EV vertical position enabled by EKF2_HGT_REF\n"); - /* EVENT - * @description EKF2_EV_CTRL is set to {1:.0}. - */ - events::send(events::ID("ekf2_hgt_ref_ev"), events::Log::Warning, - "EV vertical position enabled by EKF2_HGT_REF", _param_ekf2_ev_ctrl.get()); + if (_param_ekf2_avel_delay.get() > delay_max) { + delay_max = _param_ekf2_avel_delay.get(); } - // EV EKF2_AID_MASK -> EKF2_EV_CTRL - if ((_param_ekf2_aid_mask.get() & SensorFusionMask::DEPRECATED_USE_EXT_VIS_VEL) - || (_param_ekf2_aid_mask.get() & SensorFusionMask::DEPRECATED_USE_EXT_VIS_POS) - || (_param_ekf2_aid_mask.get() & SensorFusionMask::DEPRECATED_USE_EXT_VIS_YAW) - ) { - - // EKF2_EV_CTRL set VEL bit - if ((_param_ekf2_aid_mask.get() & SensorFusionMask::DEPRECATED_USE_EXT_VIS_VEL)) { - _param_ekf2_ev_ctrl.set(_param_ekf2_ev_ctrl.get() | static_cast(EvCtrl::VEL)); - } +#endif // CONFIG_EKF2_AUXVEL - // EKF2_EV_CTRL set HPOS/VPOS bits - if ((_param_ekf2_aid_mask.get() & SensorFusionMask::DEPRECATED_USE_EXT_VIS_POS)) { - _param_ekf2_ev_ctrl.set(_param_ekf2_ev_ctrl.get() - | static_cast(EvCtrl::HPOS) | static_cast(EvCtrl::VPOS)); - } +#if defined(CONFIG_EKF2_BAROMETER) - // EKF2_EV_CTRL set YAW bit - if ((_param_ekf2_aid_mask.get() & SensorFusionMask::DEPRECATED_USE_EXT_VIS_YAW)) { - _param_ekf2_ev_ctrl.set(_param_ekf2_ev_ctrl.get() | static_cast(EvCtrl::YAW)); - } + if (_param_ekf2_baro_delay.get() > delay_max) { + delay_max = _param_ekf2_baro_delay.get(); + } - _param_ekf2_aid_mask.set(_param_ekf2_aid_mask.get() & ~(SensorFusionMask::DEPRECATED_USE_EXT_VIS_VEL)); - _param_ekf2_aid_mask.set(_param_ekf2_aid_mask.get() & ~(SensorFusionMask::DEPRECATED_USE_EXT_VIS_POS)); - _param_ekf2_aid_mask.set(_param_ekf2_aid_mask.get() & ~(SensorFusionMask::DEPRECATED_USE_EXT_VIS_YAW)); +#endif // CONFIG_EKF2_BAROMETER - _param_ekf2_ev_ctrl.commit(); - _param_ekf2_aid_mask.commit(); +#if defined(CONFIG_EKF2_AIRSPEED) - mavlink_log_critical(&_mavlink_log_pub, "EKF2 EV use EKF2_EV_CTRL instead of EKF2_AID_MASK\n"); - /* EVENT - * @description EKF2_AID_MASK is set to {1:.0}. - */ - events::send(events::ID("ekf2_aid_mask_ev"), events::Log::Warning, - "Use EKF2_EV_CTRL instead", _param_ekf2_aid_mask.get()); + if (_param_ekf2_asp_delay.get() > delay_max) { + delay_max = _param_ekf2_asp_delay.get(); } -#endif // CONFIG_EKF2_EXTERNAL_VISION +#endif // CONFIG_EKF2_AIRSPEED - // IMU EKF2_AID_MASK -> EKF2_IMU_CTRL (2023-01-31) - if (_param_ekf2_aid_mask.get() & SensorFusionMask::DEPRECATED_INHIBIT_ACC_BIAS) { +#if defined(CONFIG_EKF2_MAGNETOMETER) - // EKF2_IMU_CTRL set disable accel bias bit - _param_ekf2_imu_ctrl.set(_param_ekf2_imu_ctrl.get() & ~(static_cast(ImuCtrl::AccelBias))); + if (_param_ekf2_mag_delay.get() > delay_max) { + delay_max = _param_ekf2_mag_delay.get(); + } - // EKF2_AID_MASK clear inhibit accel bias bit - _param_ekf2_aid_mask.set(_param_ekf2_aid_mask.get() & ~(SensorFusionMask::DEPRECATED_INHIBIT_ACC_BIAS)); +#endif // CONFIG_EKF2_MAGNETOMETER - _param_ekf2_imu_ctrl.commit(); - _param_ekf2_aid_mask.commit(); +#if defined(CONFIG_EKF2_RANGE_FINDER) - mavlink_log_critical(&_mavlink_log_pub, "EKF2 IMU accel bias inhibit use EKF2_IMU_CTRL instead of EKF2_AID_MASK\n"); - /* EVENT - * @description EKF2_AID_MASK is set to {1:.0}. - */ - events::send(events::ID("ekf2_aid_mask_imu"), events::Log::Warning, - "Use EKF2_IMU_CTRL instead", _param_ekf2_aid_mask.get()); + if (_param_ekf2_rng_delay.get() > delay_max) { + delay_max = _param_ekf2_rng_delay.get(); } -#if defined(CONFIG_EKF2_DRAG_FUSION) - - if (_param_ekf2_aid_mask.get() & SensorFusionMask::DEPRECATED_USE_DRAG) { - // EKF2_DRAG_CTRL enable drag fusion - _param_ekf2_drag_ctrl.set(1); - - // EKF2_AID_MASK clear deprecated bits - _param_ekf2_aid_mask.set(_param_ekf2_aid_mask.get() & ~(SensorFusionMask::DEPRECATED_USE_DRAG)); +#endif // CONFIG_EKF2_RANGE_FINDER - _param_ekf2_drag_ctrl.commit(); - _param_ekf2_aid_mask.commit(); +#if defined(CONFIG_EKF2_GNSS) - mavlink_log_critical(&_mavlink_log_pub, "EKF2 drag fusion use EKF2_DRAG_CTRL instead of EKF2_AID_MASK\n"); - /* EVENT - * @description EKF2_AID_MASK is set to {1:.0}. - */ - events::send(events::ID("ekf2_aid_mask_drag"), events::Log::Warning, - "Use EKF2_DRAG_CTRL instead", _param_ekf2_aid_mask.get()); + if (_param_ekf2_gps_delay.get() > delay_max) { + delay_max = _param_ekf2_gps_delay.get(); } -#endif // CONFIG_EKF2_DRAG_FUSION +#endif // CONFIG_EKF2_GNSS #if defined(CONFIG_EKF2_OPTICAL_FLOW) - // IMU EKF2_AID_MASK -> EKF2_OF_CTRL (2023-04-26) - if (_param_ekf2_aid_mask.get() & SensorFusionMask::DEPRECATED_USE_OPT_FLOW) { - // EKF2_OF_CTRL enable flow fusion - _param_ekf2_of_ctrl.set(1); + if (_param_ekf2_of_delay.get() > delay_max) { + delay_max = _param_ekf2_of_delay.get(); + } + +#endif // CONFIG_EKF2_OPTICAL_FLOW - // EKF2_AID_MASK clear deprecated bit - _param_ekf2_aid_mask.set(_param_ekf2_aid_mask.get() & ~(SensorFusionMask::DEPRECATED_USE_OPT_FLOW)); +#if defined(CONFIG_EKF2_EXTERNAL_VISION) - _param_ekf2_of_ctrl.commit(); - _param_ekf2_aid_mask.commit(); + if (_param_ekf2_ev_delay.get() > delay_max) { + delay_max = _param_ekf2_ev_delay.get(); + } - mavlink_log_critical(&_mavlink_log_pub, "EKF2 optical flow use EKF2_OF_CTRL instead of EKF2_AID_MASK\n"); +#endif // CONFIG_EKF2_EXTERNAL_VISION + + if (delay_max > _param_ekf2_delay_max.get()) { /* EVENT - * @description EKF2_AID_MASK is set to {1:.0}. + * @description EKF2_DELAY_MAX({1}ms) is too small compared to the maximum sensor delay ({2}) */ - events::send(events::ID("ekf2_aid_mask_opt_flow"), events::Log::Warning, - "Use EKF2_OF_CTRL instead", _param_ekf2_aid_mask.get()); + events::send(events::ID("nf_delay_max_too_small"), events::Log::Warning, + "EKF2_DELAY_MAX increased to {2}ms, please reboot", _param_ekf2_delay_max.get(), + delay_max); + _param_ekf2_delay_max.commit_no_notification(delay_max); } - -#endif // CONFIG_EKF2_OPTICAL_FLOW } void EKF2::PublishAidSourceStatus(const hrt_abstime ×tamp) @@ -919,8 +948,15 @@ void EKF2::PublishAidSourceStatus(const hrt_abstime ×tamp) // sideslip PublishAidSourceStatus(_ekf.aid_src_sideslip(), _status_sideslip_pub_last, _estimator_aid_src_sideslip_pub); #endif // CONFIG_EKF2_SIDESLIP +#if defined(CONFIG_EKF2_BAROMETER) // baro height PublishAidSourceStatus(_ekf.aid_src_baro_hgt(), _status_baro_hgt_pub_last, _estimator_aid_src_baro_hgt_pub); +#endif // CONFIG_EKF2_BAROMETER + +#if defined(CONFIG_EKF2_DRAG_FUSION) + // drag + PublishAidSourceStatus(_ekf.aid_src_drag(), _status_drag_pub_last, _estimator_aid_src_drag_pub); +#endif // CONFIG_EKF2_DRAG_FUSION #if defined(CONFIG_EKF2_RANGE_FINDER) // RNG height @@ -939,22 +975,25 @@ void EKF2::PublishAidSourceStatus(const hrt_abstime ×tamp) PublishAidSourceStatus(_ekf.aid_src_ev_yaw(), _status_ev_yaw_pub_last, _estimator_aid_src_ev_yaw_pub); #endif // CONFIG_EKF2_EXTERNAL_VISION +#if defined(CONFIG_EKF2_GNSS) // GNSS hgt/pos/vel/yaw PublishAidSourceStatus(_ekf.aid_src_gnss_hgt(), _status_gnss_hgt_pub_last, _estimator_aid_src_gnss_hgt_pub); PublishAidSourceStatus(_ekf.aid_src_gnss_pos(), _status_gnss_pos_pub_last, _estimator_aid_src_gnss_pos_pub); PublishAidSourceStatus(_ekf.aid_src_gnss_vel(), _status_gnss_vel_pub_last, _estimator_aid_src_gnss_vel_pub); -#if defined(CONFIG_EKF2_GNSS_YAW) +# if defined(CONFIG_EKF2_GNSS_YAW) PublishAidSourceStatus(_ekf.aid_src_gnss_yaw(), _status_gnss_yaw_pub_last, _estimator_aid_src_gnss_yaw_pub); -#endif // CONFIG_EKF2_GNSS_YAW - - // mag heading - PublishAidSourceStatus(_ekf.aid_src_mag_heading(), _status_mag_heading_pub_last, _estimator_aid_src_mag_heading_pub); +# endif // CONFIG_EKF2_GNSS_YAW +#endif // CONFIG_EKF2_GNSS +#if defined(CONFIG_EKF2_MAGNETOMETER) // mag 3d PublishAidSourceStatus(_ekf.aid_src_mag(), _status_mag_pub_last, _estimator_aid_src_mag_pub); +#endif // CONFIG_EKF2_MAGNETOMETER +#if defined(CONFIG_EKF2_GRAVITY_FUSION) // gravity PublishAidSourceStatus(_ekf.aid_src_gravity(), _status_gravity_pub_last, _estimator_aid_src_gravity_pub); +#endif // CONFIG_EKF2_GRAVITY_FUSION #if defined(CONFIG_EKF2_AUXVEL) // aux velocity @@ -964,8 +1003,6 @@ void EKF2::PublishAidSourceStatus(const hrt_abstime ×tamp) #if defined(CONFIG_EKF2_OPTICAL_FLOW) // optical flow PublishAidSourceStatus(_ekf.aid_src_optical_flow(), _status_optical_flow_pub_last, _estimator_aid_src_optical_flow_pub); - PublishAidSourceStatus(_ekf.aid_src_terrain_optical_flow(), _status_terrain_optical_flow_pub_last, - _estimator_aid_src_terrain_optical_flow_pub); #endif // CONFIG_EKF2_OPTICAL_FLOW } @@ -989,6 +1026,7 @@ void EKF2::PublishAttitude(const hrt_abstime ×tamp) } } +#if defined(CONFIG_EKF2_BAROMETER) void EKF2::PublishBaroBias(const hrt_abstime ×tamp) { if (_ekf.aid_src_baro_hgt().timestamp_sample != 0) { @@ -1002,7 +1040,9 @@ void EKF2::PublishBaroBias(const hrt_abstime ×tamp) } } } +#endif // CONFIG_EKF2_BAROMETER +#if defined(CONFIG_EKF2_GNSS) void EKF2::PublishGnssHgtBias(const hrt_abstime ×tamp) { if (_ekf.get_gps_sample_delayed().time_us != 0) { @@ -1015,21 +1055,7 @@ void EKF2::PublishGnssHgtBias(const hrt_abstime ×tamp) } } } - -#if defined(CONFIG_EKF2_RANGE_FINDER) -void EKF2::PublishRngHgtBias(const hrt_abstime ×tamp) -{ - if (_ekf.get_rng_sample_delayed().time_us != 0) { - const BiasEstimator::status &status = _ekf.getRngHgtBiasEstimatorStatus(); - - if (fabsf(status.bias - _last_rng_hgt_bias_published) > 0.001f) { - _estimator_rng_hgt_bias_pub.publish(fillEstimatorBiasMsg(status, _ekf.get_rng_sample_delayed().time_us, timestamp)); - - _last_rng_hgt_bias_published = status.bias; - } - } -} -#endif // CONFIG_EKF2_RANGE_FINDER +#endif // CONFIG_EKF2_GNSS #if defined(CONFIG_EKF2_EXTERNAL_VISION) void EKF2::PublishEvPosBias(const hrt_abstime ×tamp) @@ -1057,7 +1083,7 @@ void EKF2::PublishEvPosBias(const hrt_abstime ×tamp) if ((bias_vec - _last_ev_bias_published).longerThan(0.01f)) { bias.timestamp_sample = _ekf.aid_src_ev_hgt().timestamp_sample; - bias.timestamp = hrt_absolute_time(); + bias.timestamp = _replay_mode ? timestamp : hrt_absolute_time(); _estimator_ev_pos_bias_pub.publish(bias); _last_ev_bias_published = Vector3f(bias.bias); @@ -1093,16 +1119,7 @@ void EKF2::PublishEventFlags(const hrt_abstime ×tamp) _filter_information_event_changes++; } - // warning events - uint32_t warning_events = _ekf.warning_event_status().value; - bool warning_event_updated = false; - - if (warning_events != 0) { - warning_event_updated = true; - _filter_warning_event_changes++; - } - - if (information_event_updated || warning_event_updated) { + if (information_event_updated) { estimator_event_flags_s event_flags{}; event_flags.timestamp_sample = _ekf.time_delayed_us(); @@ -1125,27 +1142,12 @@ void EKF2::PublishEventFlags(const hrt_abstime ×tamp) event_flags.reset_hgt_to_rng = _ekf.information_event_flags().reset_hgt_to_rng; event_flags.reset_hgt_to_ev = _ekf.information_event_flags().reset_hgt_to_ev; - event_flags.warning_event_changes = _filter_warning_event_changes; - event_flags.gps_quality_poor = _ekf.warning_event_flags().gps_quality_poor; - event_flags.gps_fusion_timout = _ekf.warning_event_flags().gps_fusion_timout; - event_flags.gps_data_stopped = _ekf.warning_event_flags().gps_data_stopped; - event_flags.gps_data_stopped_using_alternate = _ekf.warning_event_flags().gps_data_stopped_using_alternate; - event_flags.height_sensor_timeout = _ekf.warning_event_flags().height_sensor_timeout; - event_flags.stopping_navigation = _ekf.warning_event_flags().stopping_mag_use; - event_flags.invalid_accel_bias_cov_reset = _ekf.warning_event_flags().invalid_accel_bias_cov_reset; - event_flags.bad_yaw_using_gps_course = _ekf.warning_event_flags().bad_yaw_using_gps_course; - event_flags.stopping_mag_use = _ekf.warning_event_flags().stopping_mag_use; - event_flags.vision_data_stopped = _ekf.warning_event_flags().vision_data_stopped; - event_flags.emergency_yaw_reset_mag_stopped = _ekf.warning_event_flags().emergency_yaw_reset_mag_stopped; - event_flags.emergency_yaw_reset_gps_yaw_stopped = _ekf.warning_event_flags().emergency_yaw_reset_gps_yaw_stopped; - event_flags.timestamp = _replay_mode ? timestamp : hrt_absolute_time(); _estimator_event_flags_pub.update(event_flags); _last_event_flags_publish = event_flags.timestamp; _ekf.clear_information_events(); - _ekf.clear_warning_events(); } else if ((_last_event_flags_publish != 0) && (timestamp >= _last_event_flags_publish + 1_s)) { // continue publishing periodically @@ -1168,7 +1170,11 @@ void EKF2::PublishGlobalPosition(const hrt_abstime ×tamp) _ekf.global_origin().reproject(position(0), position(1), global_pos.lat, global_pos.lon); global_pos.alt = -position(2) + _ekf.getEkfGlobalOriginAltitude(); // Altitude AMSL in meters +#if defined(CONFIG_EKF2_GNSS) global_pos.alt_ellipsoid = filter_altitude_ellipsoid(global_pos.alt); +#else + global_pos.alt_ellipsoid = global_pos.alt; +#endif // delta_alt, alt_reset_counter // global altitude has opposite sign of local down position @@ -1189,7 +1195,7 @@ void EKF2::PublishGlobalPosition(const hrt_abstime ×tamp) global_pos.terrain_alt = NAN; global_pos.terrain_alt_valid = false; -#if defined(CONFIG_EKF2_RANGE_FINDER) +#if defined(CONFIG_EKF2_TERRAIN) if (_ekf.isTerrainEstimateValid()) { // Terrain altitude in m, WGS84 @@ -1197,7 +1203,10 @@ void EKF2::PublishGlobalPosition(const hrt_abstime ×tamp) global_pos.terrain_alt_valid = true; } -#endif // CONFIG_EKF2_RANGE_FINDER + float delta_hagl = 0.f; + _ekf.get_hagl_reset(&delta_hagl, &global_pos.terrain_reset_counter); + global_pos.delta_terrain = -delta_z; +#endif // CONFIG_EKF2_TERRAIN global_pos.dead_reckoning = _ekf.control_status_flags().inertial_dead_reckoning || _ekf.control_status_flags().wind_dead_reckoning; @@ -1207,6 +1216,7 @@ void EKF2::PublishGlobalPosition(const hrt_abstime ×tamp) } } +#if defined(CONFIG_EKF2_GNSS) void EKF2::PublishGpsStatus(const hrt_abstime ×tamp) { const hrt_abstime timestamp_sample = _ekf.get_gps_sample_delayed().time_us; @@ -1234,6 +1244,7 @@ void EKF2::PublishGpsStatus(const hrt_abstime ×tamp) estimator_gps_status.check_fail_max_vert_drift = _ekf.gps_check_fail_status_flags().vdrift; estimator_gps_status.check_fail_max_horz_spd_err = _ekf.gps_check_fail_status_flags().hspeed; estimator_gps_status.check_fail_max_vert_spd_err = _ekf.gps_check_fail_status_flags().vspeed; + estimator_gps_status.check_fail_spoofed_gps = _ekf.gps_check_fail_status_flags().spoofed; estimator_gps_status.timestamp = _replay_mode ? timestamp : hrt_absolute_time(); _estimator_gps_status_pub.publish(estimator_gps_status); @@ -1241,78 +1252,99 @@ void EKF2::PublishGpsStatus(const hrt_abstime ×tamp) _last_gps_status_published = timestamp_sample; } +#endif // CONFIG_EKF2_GNSS void EKF2::PublishInnovations(const hrt_abstime ×tamp) { // publish estimator innovation data estimator_innovations_s innovations{}; innovations.timestamp_sample = _ekf.time_delayed_us(); - _ekf.getGpsVelPosInnov(innovations.gps_hvel, innovations.gps_vvel, innovations.gps_hpos, innovations.gps_vpos); + +#if defined(CONFIG_EKF2_GNSS) + // GPS + innovations.gps_hvel[0] = _ekf.aid_src_gnss_vel().innovation[0]; + innovations.gps_hvel[1] = _ekf.aid_src_gnss_vel().innovation[1]; + innovations.gps_vvel = _ekf.aid_src_gnss_vel().innovation[2]; + innovations.gps_hpos[0] = _ekf.aid_src_gnss_pos().innovation[0]; + innovations.gps_hpos[1] = _ekf.aid_src_gnss_pos().innovation[1]; + innovations.gps_vpos = _ekf.aid_src_gnss_hgt().innovation; +#endif // CONFIG_EKF2_GNSS + #if defined(CONFIG_EKF2_EXTERNAL_VISION) - _ekf.getEvVelPosInnov(innovations.ev_hvel, innovations.ev_vvel, innovations.ev_hpos, innovations.ev_vpos); + // External Vision + innovations.ev_hvel[0] = _ekf.aid_src_ev_vel().innovation[0]; + innovations.ev_hvel[1] = _ekf.aid_src_ev_vel().innovation[1]; + innovations.ev_vvel = _ekf.aid_src_ev_vel().innovation[2]; + innovations.ev_hpos[0] = _ekf.aid_src_ev_pos().innovation[0]; + innovations.ev_hpos[1] = _ekf.aid_src_ev_pos().innovation[1]; + innovations.ev_vpos = _ekf.aid_src_ev_hgt().innovation; #endif // CONFIG_EKF2_EXTERNAL_VISION - _ekf.getBaroHgtInnov(innovations.baro_vpos); + + // Height sensors #if defined(CONFIG_EKF2_RANGE_FINDER) - _ekf.getRngHgtInnov(innovations.rng_vpos); + innovations.rng_vpos = _ekf.aid_src_rng_hgt().innovation; #endif // CONFIG_EKF2_RANGE_FINDER +#if defined(CONFIG_EKF2_BAROMETER) + innovations.baro_vpos = _ekf.aid_src_baro_hgt().innovation; +#endif // CONFIG_EKF2_BAROMETER + #if defined(CONFIG_EKF2_AUXVEL) - _ekf.getAuxVelInnov(innovations.aux_hvel); + // Auxiliary velocity + innovations.aux_hvel[0] = _ekf.aid_src_aux_vel().innovation[0]; + innovations.aux_hvel[1] = _ekf.aid_src_aux_vel().innovation[1]; #endif // CONFIG_EKF2_AUXVEL + #if defined(CONFIG_EKF2_OPTICAL_FLOW) - _ekf.getFlowInnov(innovations.flow); - _ekf.getTerrainFlowInnov(innovations.terr_flow); + // Optical flow + innovations.flow[0] = _ekf.aid_src_optical_flow().innovation[0]; + innovations.flow[1] = _ekf.aid_src_optical_flow().innovation[1]; #endif // CONFIG_EKF2_OPTICAL_FLOW - _ekf.getHeadingInnov(innovations.heading); - _ekf.getMagInnov(innovations.mag_field); + + // heading + innovations.heading = _ekf.getHeadingInnov(); + +#if defined(CONFIG_EKF2_MAGNETOMETER) + // mag_field + innovations.mag_field[0] = _ekf.aid_src_mag().innovation[0]; + innovations.mag_field[1] = _ekf.aid_src_mag().innovation[1]; + innovations.mag_field[2] = _ekf.aid_src_mag().innovation[2]; +#endif // CONFIG_EKF2_MAGNETOMETER + +#if defined(CONFIG_EKF2_GRAVITY_FUSION) + // gravity + innovations.gravity[0] = _ekf.aid_src_gravity().innovation[0]; + innovations.gravity[1] = _ekf.aid_src_gravity().innovation[1]; + innovations.gravity[2] = _ekf.aid_src_gravity().innovation[2]; +#endif // CONFIG_EKF2_GRAVITY_FUSION + #if defined(CONFIG_EKF2_DRAG_FUSION) - _ekf.getDragInnov(innovations.drag); + // drag + innovations.drag[0] = _ekf.aid_src_drag().innovation[0]; + innovations.drag[1] = _ekf.aid_src_drag().innovation[1]; #endif // CONFIG_EKF2_DRAG_FUSION + #if defined(CONFIG_EKF2_AIRSPEED) - _ekf.getAirspeedInnov(innovations.airspeed); + // airspeed + innovations.airspeed = _ekf.aid_src_airspeed().innovation; #endif // CONFIG_EKF2_AIRSPEED + #if defined(CONFIG_EKF2_SIDESLIP) - _ekf.getBetaInnov(innovations.beta); + // beta + innovations.beta = _ekf.aid_src_sideslip().innovation; #endif // CONFIG_EKF2_SIDESLIP -#if defined(CONFIG_EKF2_RANGE_FINDER) - _ekf.getHaglInnov(innovations.hagl); - _ekf.getHaglRateInnov(innovations.hagl_rate); -#endif // CONFIG_EKF2_RANGE_FINDER - _ekf.getGravityInnov(innovations.gravity); - // Not yet supported - innovations.aux_vvel = NAN; - - innovations.timestamp = _replay_mode ? timestamp : hrt_absolute_time(); - _estimator_innovations_pub.publish(innovations); - - // calculate noise filtered velocity innovations which are used for pre-flight checking - if (_ekf.control_status_prev_flags().in_air != _ekf.control_status_flags().in_air) { - // fully reset on takeoff or landing - _preflt_checker.reset(); - } - - if (!_ekf.control_status_flags().in_air) { - // TODO: move to run before publications - _preflt_checker.setUsingGpsAiding(_ekf.control_status_flags().gps); -#if defined(CONFIG_EKF2_OPTICAL_FLOW) - _preflt_checker.setUsingFlowAiding(_ekf.control_status_flags().opt_flow); -#endif // CONFIG_EKF2_OPTICAL_FLOW -#if defined(CONFIG_EKF2_EXTERNAL_VISION) - _preflt_checker.setUsingEvPosAiding(_ekf.control_status_flags().ev_pos); - _preflt_checker.setUsingEvVelAiding(_ekf.control_status_flags().ev_vel); - _preflt_checker.setUsingEvHgtAiding(_ekf.control_status_flags().ev_hgt); -#endif // CONFIG_EKF2_EXTERNAL_VISION +#if defined(CONFIG_EKF2_TERRAIN) && defined(CONFIG_EKF2_RANGE_FINDER) + // hagl + innovations.hagl = _ekf.aid_src_rng_hgt().innovation; +#endif // CONFIG_EKF2_TERRAIN && CONFIG_EKF2_RANGE_FINDER - _preflt_checker.setUsingBaroHgtAiding(_ekf.control_status_flags().baro_hgt); - _preflt_checker.setUsingGpsHgtAiding(_ekf.control_status_flags().gps_hgt); #if defined(CONFIG_EKF2_RANGE_FINDER) - _preflt_checker.setUsingRngHgtAiding(_ekf.control_status_flags().rng_hgt); + // hagl_rate + innovations.hagl_rate = _ekf.getHaglRateInnov(); #endif // CONFIG_EKF2_RANGE_FINDER - _preflt_checker.setVehicleCanObserveHeadingInFlight(_ekf.control_status_flags().fixed_wing); - - _preflt_checker.update(_ekf.get_dt_ekf_avg(), innovations); - } + innovations.timestamp = _replay_mode ? timestamp : hrt_absolute_time(); + _estimator_innovations_pub.publish(innovations); } void EKF2::PublishInnovationTestRatios(const hrt_abstime ×tamp) @@ -1320,40 +1352,89 @@ void EKF2::PublishInnovationTestRatios(const hrt_abstime ×tamp) // publish estimator innovation test ratio data estimator_innovations_s test_ratios{}; test_ratios.timestamp_sample = _ekf.time_delayed_us(); - _ekf.getGpsVelPosInnovRatio(test_ratios.gps_hvel[0], test_ratios.gps_vvel, test_ratios.gps_hpos[0], - test_ratios.gps_vpos); + +#if defined(CONFIG_EKF2_GNSS) + // GPS + test_ratios.gps_hvel[0] = _ekf.aid_src_gnss_vel().test_ratio[0]; + test_ratios.gps_hvel[1] = _ekf.aid_src_gnss_vel().test_ratio[1]; + test_ratios.gps_vvel = _ekf.aid_src_gnss_vel().test_ratio[2]; + test_ratios.gps_hpos[0] = _ekf.aid_src_gnss_pos().test_ratio[0]; + test_ratios.gps_hpos[1] = _ekf.aid_src_gnss_pos().test_ratio[1]; + test_ratios.gps_vpos = _ekf.aid_src_gnss_hgt().test_ratio; +#endif // CONFIG_EKF2_GNSS + #if defined(CONFIG_EKF2_EXTERNAL_VISION) - _ekf.getEvVelPosInnovRatio(test_ratios.ev_hvel[0], test_ratios.ev_vvel, test_ratios.ev_hpos[0], test_ratios.ev_vpos); + // External Vision + test_ratios.ev_hvel[0] = _ekf.aid_src_ev_vel().test_ratio[0]; + test_ratios.ev_hvel[1] = _ekf.aid_src_ev_vel().test_ratio[1]; + test_ratios.ev_vvel = _ekf.aid_src_ev_vel().test_ratio[2]; + test_ratios.ev_hpos[0] = _ekf.aid_src_ev_pos().test_ratio[0]; + test_ratios.ev_hpos[1] = _ekf.aid_src_ev_pos().test_ratio[1]; + test_ratios.ev_vpos = _ekf.aid_src_ev_hgt().test_ratio; #endif // CONFIG_EKF2_EXTERNAL_VISION - _ekf.getBaroHgtInnovRatio(test_ratios.baro_vpos); + + // Height sensors #if defined(CONFIG_EKF2_RANGE_FINDER) - _ekf.getRngHgtInnovRatio(test_ratios.rng_vpos); + test_ratios.rng_vpos = _ekf.aid_src_rng_hgt().test_ratio; #endif // CONFIG_EKF2_RANGE_FINDER +#if defined(CONFIG_EKF2_BAROMETER) + test_ratios.baro_vpos = _ekf.aid_src_baro_hgt().test_ratio; +#endif // CONFIG_EKF2_BAROMETER + #if defined(CONFIG_EKF2_AUXVEL) - _ekf.getAuxVelInnovRatio(test_ratios.aux_hvel[0]); + // Auxiliary velocity + test_ratios.aux_hvel[0] = _ekf.aid_src_aux_vel().test_ratio[0]; + test_ratios.aux_hvel[1] = _ekf.aid_src_aux_vel().test_ratio[1]; #endif // CONFIG_EKF2_AUXVEL + #if defined(CONFIG_EKF2_OPTICAL_FLOW) - _ekf.getFlowInnovRatio(test_ratios.flow[0]); - _ekf.getTerrainFlowInnovRatio(test_ratios.terr_flow[0]); + // Optical flow + test_ratios.flow[0] = _ekf.aid_src_optical_flow().test_ratio[0]; + test_ratios.flow[1] = _ekf.aid_src_optical_flow().test_ratio[1]; #endif // CONFIG_EKF2_OPTICAL_FLOW - _ekf.getHeadingInnovRatio(test_ratios.heading); - _ekf.getMagInnovRatio(test_ratios.mag_field[0]); + + // heading + test_ratios.heading = _ekf.getHeadingInnovRatio(); + +#if defined(CONFIG_EKF2_MAGNETOMETER) + // mag_field + test_ratios.mag_field[0] = _ekf.aid_src_mag().test_ratio[0]; + test_ratios.mag_field[1] = _ekf.aid_src_mag().test_ratio[1]; + test_ratios.mag_field[2] = _ekf.aid_src_mag().test_ratio[2]; +#endif // CONFIG_EKF2_MAGNETOMETER + +#if defined(CONFIG_EKF2_GRAVITY_FUSION) + // gravity + test_ratios.gravity[0] = _ekf.aid_src_gravity().test_ratio[0]; + test_ratios.gravity[1] = _ekf.aid_src_gravity().test_ratio[1]; + test_ratios.gravity[2] = _ekf.aid_src_gravity().test_ratio[2]; +#endif // CONFIG_EKF2_GRAVITY_FUSION + #if defined(CONFIG_EKF2_DRAG_FUSION) - _ekf.getDragInnovRatio(&test_ratios.drag[0]); + // drag + test_ratios.drag[0] = _ekf.aid_src_drag().test_ratio[0]; + test_ratios.drag[1] = _ekf.aid_src_drag().test_ratio[1]; #endif // CONFIG_EKF2_DRAG_FUSION + #if defined(CONFIG_EKF2_AIRSPEED) - _ekf.getAirspeedInnovRatio(test_ratios.airspeed); + // airspeed + test_ratios.airspeed = _ekf.aid_src_airspeed().test_ratio; #endif // CONFIG_EKF2_AIRSPEED + #if defined(CONFIG_EKF2_SIDESLIP) - _ekf.getBetaInnovRatio(test_ratios.beta); + // beta + test_ratios.beta = _ekf.aid_src_sideslip().test_ratio; #endif // CONFIG_EKF2_SIDESLIP + +#if defined(CONFIG_EKF2_TERRAIN) && defined(CONFIG_EKF2_RANGE_FINDER) + // hagl + test_ratios.hagl = _ekf.aid_src_rng_hgt().test_ratio; +#endif // CONFIG_EKF2_TERRAIN && CONFIG_EKF2_RANGE_FINDER + #if defined(CONFIG_EKF2_RANGE_FINDER) - _ekf.getHaglInnovRatio(test_ratios.hagl); - _ekf.getHaglRateInnovRatio(test_ratios.hagl_rate); + // hagl_rate + test_ratios.hagl_rate = _ekf.getHaglRateInnovRatio(); #endif // CONFIG_EKF2_RANGE_FINDER - _ekf.getGravityInnovRatio(test_ratios.gravity[0]); - // Not yet supported - test_ratios.aux_vvel = NAN; test_ratios.timestamp = _replay_mode ? timestamp : hrt_absolute_time(); _estimator_innovation_test_ratios_pub.publish(test_ratios); @@ -1364,39 +1445,89 @@ void EKF2::PublishInnovationVariances(const hrt_abstime ×tamp) // publish estimator innovation variance data estimator_innovations_s variances{}; variances.timestamp_sample = _ekf.time_delayed_us(); - _ekf.getGpsVelPosInnovVar(variances.gps_hvel, variances.gps_vvel, variances.gps_hpos, variances.gps_vpos); + +#if defined(CONFIG_EKF2_GNSS) + // GPS + variances.gps_hvel[0] = _ekf.aid_src_gnss_vel().innovation_variance[0]; + variances.gps_hvel[1] = _ekf.aid_src_gnss_vel().innovation_variance[1]; + variances.gps_vvel = _ekf.aid_src_gnss_vel().innovation_variance[2]; + variances.gps_hpos[0] = _ekf.aid_src_gnss_pos().innovation_variance[0]; + variances.gps_hpos[1] = _ekf.aid_src_gnss_pos().innovation_variance[1]; + variances.gps_vpos = _ekf.aid_src_gnss_hgt().innovation_variance; +#endif // CONFIG_EKF2_GNSS + #if defined(CONFIG_EKF2_EXTERNAL_VISION) - _ekf.getEvVelPosInnovVar(variances.ev_hvel, variances.ev_vvel, variances.ev_hpos, variances.ev_vpos); + // External Vision + variances.ev_hvel[0] = _ekf.aid_src_ev_vel().innovation_variance[0]; + variances.ev_hvel[1] = _ekf.aid_src_ev_vel().innovation_variance[1]; + variances.ev_vvel = _ekf.aid_src_ev_vel().innovation_variance[2]; + variances.ev_hpos[0] = _ekf.aid_src_ev_pos().innovation_variance[0]; + variances.ev_hpos[1] = _ekf.aid_src_ev_pos().innovation_variance[1]; + variances.ev_vpos = _ekf.aid_src_ev_hgt().innovation_variance; #endif // CONFIG_EKF2_EXTERNAL_VISION - _ekf.getBaroHgtInnovVar(variances.baro_vpos); + + // Height sensors #if defined(CONFIG_EKF2_RANGE_FINDER) - _ekf.getRngHgtInnovVar(variances.rng_vpos); + variances.rng_vpos = _ekf.aid_src_rng_hgt().innovation_variance; #endif // CONFIG_EKF2_RANGE_FINDER +#if defined(CONFIG_EKF2_BAROMETER) + variances.baro_vpos = _ekf.aid_src_baro_hgt().innovation_variance; +#endif // CONFIG_EKF2_BAROMETER + #if defined(CONFIG_EKF2_AUXVEL) - _ekf.getAuxVelInnovVar(variances.aux_hvel); + // Auxiliary velocity + variances.aux_hvel[0] = _ekf.aid_src_aux_vel().innovation_variance[0]; + variances.aux_hvel[1] = _ekf.aid_src_aux_vel().innovation_variance[1]; #endif // CONFIG_EKF2_AUXVEL + #if defined(CONFIG_EKF2_OPTICAL_FLOW) - _ekf.getFlowInnovVar(variances.flow); - _ekf.getTerrainFlowInnovVar(variances.terr_flow); + // Optical flow + variances.flow[0] = _ekf.aid_src_optical_flow().innovation_variance[0]; + variances.flow[1] = _ekf.aid_src_optical_flow().innovation_variance[1]; #endif // CONFIG_EKF2_OPTICAL_FLOW - _ekf.getHeadingInnovVar(variances.heading); - _ekf.getMagInnovVar(variances.mag_field); + + // heading + variances.heading = _ekf.getHeadingInnovVar(); + +#if defined(CONFIG_EKF2_MAGNETOMETER) + // mag_field + variances.mag_field[0] = _ekf.aid_src_mag().innovation_variance[0]; + variances.mag_field[1] = _ekf.aid_src_mag().innovation_variance[1]; + variances.mag_field[2] = _ekf.aid_src_mag().innovation_variance[2]; +#endif // CONFIG_EKF2_MAGNETOMETER + +#if defined(CONFIG_EKF2_GRAVITY_FUSION) + // gravity + variances.gravity[0] = _ekf.aid_src_gravity().innovation_variance[0]; + variances.gravity[1] = _ekf.aid_src_gravity().innovation_variance[1]; + variances.gravity[2] = _ekf.aid_src_gravity().innovation_variance[2]; +#endif // CONFIG_EKF2_GRAVITY_FUSION + #if defined(CONFIG_EKF2_DRAG_FUSION) - _ekf.getDragInnovVar(variances.drag); + // drag + variances.drag[0] = _ekf.aid_src_drag().innovation_variance[0]; + variances.drag[1] = _ekf.aid_src_drag().innovation_variance[1]; #endif // CONFIG_EKF2_DRAG_FUSION + #if defined(CONFIG_EKF2_AIRSPEED) - _ekf.getAirspeedInnovVar(variances.airspeed); + // airspeed + variances.airspeed = _ekf.aid_src_airspeed().innovation_variance; #endif // CONFIG_EKF2_AIRSPEED + #if defined(CONFIG_EKF2_SIDESLIP) - _ekf.getBetaInnovVar(variances.beta); + // beta + variances.beta = _ekf.aid_src_sideslip().innovation_variance; #endif // CONFIG_EKF2_SIDESLIP + +#if defined(CONFIG_EKF2_TERRAIN) && defined(CONFIG_EKF2_RANGE_FINDER) + // hagl + variances.hagl = _ekf.aid_src_rng_hgt().innovation_variance; +#endif // CONFIG_EKF2_TERRAIN && CONFIG_EKF2_RANGE_FINDER + #if defined(CONFIG_EKF2_RANGE_FINDER) - _ekf.getHaglInnovVar(variances.hagl); - _ekf.getHaglRateInnovVar(variances.hagl_rate); + // hagl_rate + variances.hagl_rate = _ekf.getHaglRateInnovVar(); #endif // CONFIG_EKF2_RANGE_FINDER - _ekf.getGravityInnovVar(variances.gravity); - // Not yet supported - variances.aux_vvel = NAN; variances.timestamp = _replay_mode ? timestamp : hrt_absolute_time(); _estimator_innovation_variances_pub.publish(variances); @@ -1458,16 +1589,30 @@ void EKF2::PublishLocalPosition(const hrt_abstime ×tamp) _ekf.get_quat_reset(&delta_q_reset(0), &lpos.heading_reset_counter); lpos.heading = Eulerf(_ekf.getQuaternion()).psi(); + lpos.unaided_heading = _ekf.getUnaidedYaw(); + lpos.heading_var = _ekf.getYawVar(); lpos.delta_heading = Eulerf(delta_q_reset).psi(); lpos.heading_good_for_control = _ekf.isYawFinalAlignComplete(); + lpos.tilt_var = _ekf.getTiltVariance(); -#if defined(CONFIG_EKF2_RANGE_FINDER) - // Distance to bottom surface (ground) in meters - // constrain the distance to ground to _rng_gnd_clearance - lpos.dist_bottom = math::max(_ekf.getTerrainVertPos() - lpos.z, _param_ekf2_min_rng.get()); +#if defined(CONFIG_EKF2_TERRAIN) + // Distance to bottom surface (ground) in meters, must be positive lpos.dist_bottom_valid = _ekf.isTerrainEstimateValid(); - lpos.dist_bottom_sensor_bitfield = _ekf.getTerrainEstimateSensorBitfield(); -#endif // CONFIG_EKF2_RANGE_FINDER + lpos.dist_bottom = math::max(_ekf.getHagl(), 0.f); + lpos.dist_bottom_var = _ekf.getTerrainVariance(); + _ekf.get_hagl_reset(&lpos.delta_dist_bottom, &lpos.dist_bottom_reset_counter); + + lpos.dist_bottom_sensor_bitfield = vehicle_local_position_s::DIST_BOTTOM_SENSOR_NONE; + + if (_ekf.control_status_flags().rng_terrain) { + lpos.dist_bottom_sensor_bitfield |= vehicle_local_position_s::DIST_BOTTOM_SENSOR_RANGE; + } + + if (_ekf.control_status_flags().opt_flow_terrain) { + lpos.dist_bottom_sensor_bitfield |= vehicle_local_position_s::DIST_BOTTOM_SENSOR_FLOW; + } + +#endif // CONFIG_EKF2_TERRAIN _ekf.get_ekf_lpos_accuracy(&lpos.eph, &lpos.epv); _ekf.get_ekf_vel_accuracy(&lpos.evh, &lpos.evv); @@ -1529,13 +1674,13 @@ void EKF2::PublishOdometry(const hrt_abstime ×tamp, const imuSample &imu_sa angular_velocity.copyTo(odom.angular_velocity); // velocity covariances - _ekf.velocity_covariances().diag().copyTo(odom.velocity_variance); + _ekf.getVelocityVariance().copyTo(odom.velocity_variance); // position covariances - _ekf.position_covariances().diag().copyTo(odom.position_variance); + _ekf.getPositionVariance().copyTo(odom.position_variance); // orientation covariance - _ekf.calcRotVecVariances().copyTo(odom.orientation_variance); + _ekf.getRotVarBody().copyTo(odom.orientation_variance); odom.reset_counter = _ekf.get_quat_reset_count() + _ekf.get_velNE_reset_count() + _ekf.get_velD_reset_count() @@ -1553,12 +1698,17 @@ void EKF2::PublishSensorBias(const hrt_abstime ×tamp) // estimator_sensor_bias const Vector3f gyro_bias{_ekf.getGyroBias()}; const Vector3f accel_bias{_ekf.getAccelBias()}; - const Vector3f mag_bias{_ekf.getMagBias()}; + +#if defined(CONFIG_EKF2_MAGNETOMETER) + const Vector3f mag_bias {_ekf.getMagBias()}; +#endif // CONFIG_EKF2_MAGNETOMETER // publish at ~1 Hz, or sooner if there's a change if ((gyro_bias - _last_gyro_bias_published).longerThan(0.001f) || (accel_bias - _last_accel_bias_published).longerThan(0.001f) +#if defined(CONFIG_EKF2_MAGNETOMETER) || (mag_bias - _last_mag_bias_published).longerThan(0.001f) +#endif // CONFIG_EKF2_MAGNETOMETER || (timestamp >= _last_sensor_bias_published + 1_s)) { estimator_sensor_bias_s bias{}; @@ -1566,35 +1716,45 @@ void EKF2::PublishSensorBias(const hrt_abstime ×tamp) // take device ids from sensor_selection_s if not using specific vehicle_imu_s if ((_device_id_gyro != 0) && (_param_ekf2_imu_ctrl.get() & static_cast(ImuCtrl::GyroBias))) { + const Vector3f bias_var{_ekf.getGyroBiasVariance()}; + bias.gyro_device_id = _device_id_gyro; gyro_bias.copyTo(bias.gyro_bias); bias.gyro_bias_limit = _ekf.getGyroBiasLimit(); - _ekf.getGyroBiasVariance().copyTo(bias.gyro_bias_variance); - bias.gyro_bias_valid = true; // TODO + bias_var.copyTo(bias.gyro_bias_variance); + bias.gyro_bias_valid = bias_var.longerThan(0.f) && !bias_var.longerThan(0.1f); bias.gyro_bias_stable = _gyro_cal.cal_available; _last_gyro_bias_published = gyro_bias; } if ((_device_id_accel != 0) && (_param_ekf2_imu_ctrl.get() & static_cast(ImuCtrl::AccelBias))) { + const Vector3f bias_var{_ekf.getAccelBiasVariance()}; + bias.accel_device_id = _device_id_accel; accel_bias.copyTo(bias.accel_bias); bias.accel_bias_limit = _ekf.getAccelBiasLimit(); - _ekf.getAccelBiasVariance().copyTo(bias.accel_bias_variance); - bias.accel_bias_valid = true; // TODO + bias_var.copyTo(bias.accel_bias_variance); + bias.accel_bias_valid = bias_var.longerThan(0.f) && !bias_var.longerThan(0.1f); bias.accel_bias_stable = _accel_cal.cal_available; _last_accel_bias_published = accel_bias; } +#if defined(CONFIG_EKF2_MAGNETOMETER) + if (_device_id_mag != 0) { + const Vector3f bias_var{_ekf.getMagBiasVariance()}; + bias.mag_device_id = _device_id_mag; mag_bias.copyTo(bias.mag_bias); bias.mag_bias_limit = _ekf.getMagBiasLimit(); - _ekf.getMagBiasVariance().copyTo(bias.mag_bias_variance); - bias.mag_bias_valid = true; // TODO + bias_var.copyTo(bias.mag_bias_variance); + bias.mag_bias_valid = bias_var.longerThan(0.f) && !bias_var.longerThan(0.1f); bias.mag_bias_stable = _mag_cal.cal_available; _last_mag_bias_published = mag_bias; } +#endif // CONFIG_EKF2_MAGNETOMETER + bias.timestamp = _replay_mode ? timestamp : hrt_absolute_time(); _estimator_sensor_bias_pub.publish(bias); @@ -1607,8 +1767,9 @@ void EKF2::PublishStates(const hrt_abstime ×tamp) // publish estimator states estimator_states_s states; states.timestamp_sample = _ekf.time_delayed_us(); - states.n_states = Ekf::_k_num_states; - _ekf.getStateAtFusionHorizonAsVector().copyTo(states.states); + const auto state_vector = _ekf.state().vector(); + state_vector.copyTo(states.states); + states.n_states = state_vector.size(); _ekf.covariances_diagonal().copyTo(states.covariances); states.timestamp = _replay_mode ? timestamp : hrt_absolute_time(); _estimator_states_pub.publish(states); @@ -1621,25 +1782,41 @@ void EKF2::PublishStatus(const hrt_abstime ×tamp) _ekf.getOutputTrackingError().copyTo(status.output_tracking_error); +#if defined(CONFIG_EKF2_GNSS) // only report enabled GPS check failures (the param indexes are shifted by 1 bit, because they don't include // the GPS Fix bit, which is always checked) status.gps_check_fail_flags = _ekf.gps_check_fail_status().value & (((uint16_t)_params->gps_check_mask << 1) | 1); +#endif // CONFIG_EKF2_GNSS status.control_mode_flags = _ekf.control_status().value; status.filter_fault_flags = _ekf.fault_status().value; - uint16_t innov_check_flags_temp = 0; - _ekf.get_innovation_test_status(innov_check_flags_temp, status.mag_test_ratio, - status.vel_test_ratio, status.pos_test_ratio, - status.hgt_test_ratio, status.tas_test_ratio, - status.hagl_test_ratio, status.beta_test_ratio); + // vel_test_ratio + float vel_xy_test_ratio = _ekf.getHorizontalVelocityInnovationTestRatio(); + float vel_z_test_ratio = _ekf.getVerticalVelocityInnovationTestRatio(); + + if (PX4_ISFINITE(vel_xy_test_ratio) && PX4_ISFINITE(vel_z_test_ratio)) { + status.vel_test_ratio = math::max(vel_xy_test_ratio, vel_z_test_ratio); + + } else if (PX4_ISFINITE(vel_xy_test_ratio)) { + status.vel_test_ratio = vel_xy_test_ratio; + + } else if (PX4_ISFINITE(vel_z_test_ratio)) { + status.vel_test_ratio = vel_z_test_ratio; + + } else { + status.vel_test_ratio = NAN; + } - // Bit mismatch between ecl and Firmware, combine the 2 first bits to preserve msg definition - // TODO: legacy use only, those flags are also in estimator_status_flags - status.innovation_check_flags = (innov_check_flags_temp >> 1) | (innov_check_flags_temp & 0x1); + status.hdg_test_ratio = _ekf.getHeadingInnovationTestRatio(); + status.pos_test_ratio = _ekf.getHorizontalPositionInnovationTestRatio(); + status.hgt_test_ratio = _ekf.getVerticalPositionInnovationTestRatio(); + status.tas_test_ratio = _ekf.getAirspeedInnovationTestRatio(); + status.hagl_test_ratio = _ekf.getHeightAboveGroundInnovationTestRatio(); + status.beta_test_ratio = _ekf.getSyntheticSideslipInnovationTestRatio(); _ekf.get_ekf_lpos_accuracy(&status.pos_horiz_accuracy, &status.pos_vert_accuracy); - _ekf.get_ekf_soln_status(&status.solution_status_flags); + status.solution_status_flags = _ekf.get_ekf_soln_status(); // reset counters status.reset_count_vel_ne = _ekf.state_reset_status().reset_count.velNE; @@ -1650,17 +1827,28 @@ void EKF2::PublishStatus(const hrt_abstime ×tamp) status.time_slip = _last_time_slip_us * 1e-6f; - status.pre_flt_fail_innov_heading = _preflt_checker.hasHeadingFailed(); - status.pre_flt_fail_innov_vel_horiz = _preflt_checker.hasHorizVelFailed(); - status.pre_flt_fail_innov_vel_vert = _preflt_checker.hasVertVelFailed(); - status.pre_flt_fail_innov_height = _preflt_checker.hasHeightFailed(); + static constexpr float kMinTestRatioPreflight = 0.5f; + status.pre_flt_fail_innov_heading = (kMinTestRatioPreflight < status.hdg_test_ratio); + status.pre_flt_fail_innov_height = (kMinTestRatioPreflight < status.hgt_test_ratio); + status.pre_flt_fail_innov_pos_horiz = (kMinTestRatioPreflight < status.pos_test_ratio); + status.pre_flt_fail_innov_vel_horiz = (kMinTestRatioPreflight < vel_xy_test_ratio); + status.pre_flt_fail_innov_vel_vert = (kMinTestRatioPreflight < vel_z_test_ratio); + status.pre_flt_fail_mag_field_disturbed = _ekf.control_status_flags().mag_field_disturbed; status.accel_device_id = _device_id_accel; +#if defined(CONFIG_EKF2_BAROMETER) status.baro_device_id = _device_id_baro; +#endif // CONFIG_EKF2_BAROMETER status.gyro_device_id = _device_id_gyro; + +#if defined(CONFIG_EKF2_MAGNETOMETER) status.mag_device_id = _device_id_mag; + _ekf.get_mag_checks(status.mag_inclination_deg, status.mag_inclination_ref_deg, status.mag_strength_gs, + status.mag_strength_ref_gs); +#endif // CONFIG_EKF2_MAGNETOMETER + status.timestamp = _replay_mode ? timestamp : hrt_absolute_time(); _estimator_status_pub.publish(status); } @@ -1718,12 +1906,12 @@ void EKF2::PublishStatusFlags(const hrt_abstime ×tamp) status_flags.cs_fuse_aspd = _ekf.control_status_flags().fuse_aspd; status_flags.cs_gnd_effect = _ekf.control_status_flags().gnd_effect; status_flags.cs_rng_stuck = _ekf.control_status_flags().rng_stuck; - status_flags.cs_gps_yaw = _ekf.control_status_flags().gps_yaw; + status_flags.cs_gnss_yaw = _ekf.control_status_flags().gnss_yaw; status_flags.cs_mag_aligned_in_flight = _ekf.control_status_flags().mag_aligned_in_flight; status_flags.cs_ev_vel = _ekf.control_status_flags().ev_vel; status_flags.cs_synthetic_mag_z = _ekf.control_status_flags().synthetic_mag_z; status_flags.cs_vehicle_at_rest = _ekf.control_status_flags().vehicle_at_rest; - status_flags.cs_gps_yaw_fault = _ekf.control_status_flags().gps_yaw_fault; + status_flags.cs_gnss_yaw_fault = _ekf.control_status_flags().gnss_yaw_fault; status_flags.cs_rng_fault = _ekf.control_status_flags().rng_fault; status_flags.cs_inertial_dead_reckoning = _ekf.control_status_flags().inertial_dead_reckoning; status_flags.cs_wind_dead_reckoning = _ekf.control_status_flags().wind_dead_reckoning; @@ -1731,6 +1919,14 @@ void EKF2::PublishStatusFlags(const hrt_abstime ×tamp) status_flags.cs_fake_pos = _ekf.control_status_flags().fake_pos; status_flags.cs_fake_hgt = _ekf.control_status_flags().fake_hgt; status_flags.cs_gravity_vector = _ekf.control_status_flags().gravity_vector; + status_flags.cs_mag = _ekf.control_status_flags().mag; + status_flags.cs_ev_yaw_fault = _ekf.control_status_flags().ev_yaw_fault; + status_flags.cs_mag_heading_consistent = _ekf.control_status_flags().mag_heading_consistent; + status_flags.cs_aux_gpos = _ekf.control_status_flags().aux_gpos; + status_flags.cs_rng_terrain = _ekf.control_status_flags().rng_terrain; + status_flags.cs_opt_flow_terrain = _ekf.control_status_flags().opt_flow_terrain; + status_flags.cs_valid_fake_pos = _ekf.control_status_flags().valid_fake_pos; + status_flags.cs_constant_pos = _ekf.control_status_flags().constant_pos; status_flags.fault_status_changes = _filter_fault_status_changes; status_flags.fs_bad_mag_x = _ekf.fault_status_flags().bad_mag_x; @@ -1742,12 +1938,6 @@ void EKF2::PublishStatusFlags(const hrt_abstime ×tamp) status_flags.fs_bad_sideslip = _ekf.fault_status_flags().bad_sideslip; status_flags.fs_bad_optflow_x = _ekf.fault_status_flags().bad_optflow_X; status_flags.fs_bad_optflow_y = _ekf.fault_status_flags().bad_optflow_Y; - status_flags.fs_bad_vel_n = _ekf.fault_status_flags().bad_vel_N; - status_flags.fs_bad_vel_e = _ekf.fault_status_flags().bad_vel_E; - status_flags.fs_bad_vel_d = _ekf.fault_status_flags().bad_vel_D; - status_flags.fs_bad_pos_n = _ekf.fault_status_flags().bad_pos_N; - status_flags.fs_bad_pos_e = _ekf.fault_status_flags().bad_pos_E; - status_flags.fs_bad_pos_d = _ekf.fault_status_flags().bad_pos_D; status_flags.fs_bad_acc_bias = _ekf.fault_status_flags().bad_acc_bias; status_flags.fs_bad_acc_vertical = _ekf.fault_status_flags().bad_acc_vertical; status_flags.fs_bad_acc_clipping = _ekf.fault_status_flags().bad_acc_clipping; @@ -1771,6 +1961,7 @@ void EKF2::PublishStatusFlags(const hrt_abstime ×tamp) } } +#if defined(CONFIG_EKF2_GNSS) void EKF2::PublishYawEstimatorStatus(const hrt_abstime ×tamp) { static_assert(sizeof(yaw_estimator_status_s::yaw) / sizeof(float) == N_MODELS_EKFGSF, @@ -1790,7 +1981,9 @@ void EKF2::PublishYawEstimatorStatus(const hrt_abstime ×tamp) _yaw_est_pub.publish(yaw_est_test_data); } } +#endif // CONFIG_EKF2_GNSS +#if defined(CONFIG_EKF2_WIND) void EKF2::PublishWindEstimate(const hrt_abstime ×tamp) { if (_ekf.get_wind_status()) { @@ -1802,12 +1995,12 @@ void EKF2::PublishWindEstimate(const hrt_abstime ×tamp) const Vector2f wind_vel_var = _ekf.getWindVelocityVariance(); #if defined(CONFIG_EKF2_AIRSPEED) - _ekf.getAirspeedInnov(wind.tas_innov); - _ekf.getAirspeedInnovVar(wind.tas_innov_var); + wind.tas_innov = _ekf.aid_src_airspeed().innovation; + wind.tas_innov_var = _ekf.aid_src_airspeed().innovation_variance; #endif // CONFIG_EKF2_AIRSPEED #if defined(CONFIG_EKF2_SIDESLIP) - _ekf.getBetaInnov(wind.beta_innov); - _ekf.getBetaInnovVar(wind.beta_innov_var); + wind.beta_innov = _ekf.aid_src_sideslip().innovation; + wind.beta_innov = _ekf.aid_src_sideslip().innovation_variance; #endif // CONFIG_EKF2_SIDESLIP wind.windspeed_north = wind_vel(0); @@ -1819,13 +2012,14 @@ void EKF2::PublishWindEstimate(const hrt_abstime ×tamp) _wind_pub.publish(wind); } } +#endif // CONFIG_EKF2_WIND #if defined(CONFIG_EKF2_OPTICAL_FLOW) void EKF2::PublishOpticalFlowVel(const hrt_abstime ×tamp) { const hrt_abstime timestamp_sample = _ekf.aid_src_optical_flow().timestamp_sample; - if ((timestamp_sample != 0) && (timestamp_sample > _status_optical_flow_pub_last)) { + if ((timestamp_sample != 0) && (timestamp_sample > _optical_flow_vel_pub_last)) { vehicle_optical_flow_vel_s flow_vel{}; flow_vel.timestamp_sample = _ekf.aid_src_optical_flow().timestamp_sample; @@ -1833,19 +2027,24 @@ void EKF2::PublishOpticalFlowVel(const hrt_abstime ×tamp) _ekf.getFlowVelBody().copyTo(flow_vel.vel_body); _ekf.getFlowVelNE().copyTo(flow_vel.vel_ne); - _ekf.getFlowUncompensated().copyTo(flow_vel.flow_uncompensated_integral); - _ekf.getFlowCompensated().copyTo(flow_vel.flow_compensated_integral); + _ekf.getFlowUncompensated().copyTo(flow_vel.flow_rate_uncompensated); + _ekf.getFlowCompensated().copyTo(flow_vel.flow_rate_compensated); _ekf.getFlowGyro().copyTo(flow_vel.gyro_rate); - _ekf.getFlowGyroIntegral().copyTo(flow_vel.gyro_rate_integral); + + _ekf.getFlowGyroBias().copyTo(flow_vel.gyro_bias); + _ekf.getFlowRefBodyRate().copyTo(flow_vel.ref_gyro); flow_vel.timestamp = _replay_mode ? timestamp : hrt_absolute_time(); _estimator_optical_flow_vel_pub.publish(flow_vel); + + _optical_flow_vel_pub_last = timestamp_sample; } } #endif // CONFIG_EKF2_OPTICAL_FLOW +#if defined(CONFIG_EKF2_GNSS) float EKF2::filter_altitude_ellipsoid(float amsl_hgt) { float height_diff = static_cast(_gps_alttitude_ellipsoid) * 1e-3f - amsl_hgt; @@ -1866,6 +2065,7 @@ float EKF2::filter_altitude_ellipsoid(float amsl_hgt) return amsl_hgt + _wgs84_hgt_offset; } +#endif // CONFIG_EKF2_GNSS #if defined(CONFIG_EKF2_AIRSPEED) void EKF2::UpdateAirspeedSample(ekf2_timestamps_s &ekf2_timestamps) @@ -1873,26 +2073,24 @@ void EKF2::UpdateAirspeedSample(ekf2_timestamps_s &ekf2_timestamps) // EKF airspeed sample // prefer ORB_ID(airspeed_validated) if available, otherwise fallback to raw airspeed ORB_ID(airspeed) if (_airspeed_validated_sub.updated()) { - const unsigned last_generation = _airspeed_validated_sub.get_last_generation(); airspeed_validated_s airspeed_validated; if (_airspeed_validated_sub.update(&airspeed_validated)) { - if (_msg_missed_airspeed_validated_perf == nullptr) { - _msg_missed_airspeed_validated_perf = perf_alloc(PC_COUNT, MODULE_NAME": airspeed validated messages missed"); - - } else if (_airspeed_validated_sub.get_last_generation() != last_generation + 1) { - perf_count(_msg_missed_airspeed_validated_perf); - } if (PX4_ISFINITE(airspeed_validated.true_airspeed_m_s) - && PX4_ISFINITE(airspeed_validated.calibrated_airspeed_m_s) - && (airspeed_validated.calibrated_airspeed_m_s > 0.f) && (airspeed_validated.selected_airspeed_index > 0) ) { + float cas2tas = 1.f; + + if (PX4_ISFINITE(airspeed_validated.calibrated_airspeed_m_s) + && (airspeed_validated.calibrated_airspeed_m_s > FLT_EPSILON)) { + cas2tas = airspeed_validated.true_airspeed_m_s / airspeed_validated.calibrated_airspeed_m_s; + } + airspeedSample airspeed_sample { .time_us = airspeed_validated.timestamp, .true_airspeed = airspeed_validated.true_airspeed_m_s, - .eas2tas = airspeed_validated.true_airspeed_m_s / airspeed_validated.calibrated_airspeed_m_s, + .eas2tas = cas2tas, }; _ekf.setAirspeedData(airspeed_sample); } @@ -1902,17 +2100,9 @@ void EKF2::UpdateAirspeedSample(ekf2_timestamps_s &ekf2_timestamps) } else if (((ekf2_timestamps.timestamp - _airspeed_validated_timestamp_last) > 3_s) && _airspeed_sub.updated()) { // use ORB_ID(airspeed) if ORB_ID(airspeed_validated) is unavailable - const unsigned last_generation = _airspeed_sub.get_last_generation(); airspeed_s airspeed; if (_airspeed_sub.update(&airspeed)) { - if (_msg_missed_airspeed_perf == nullptr) { - _msg_missed_airspeed_perf = perf_alloc(PC_COUNT, MODULE_NAME": airspeed messages missed"); - - } else if (_airspeed_sub.get_last_generation() != last_generation + 1) { - perf_count(_msg_missed_airspeed_perf); - } - // The airspeed measurement received via ORB_ID(airspeed) topic has not been corrected // for scale factor errors and requires the ASPD_SCALE correction to be applied. const float true_airspeed_m_s = airspeed.true_airspeed_m_s * _airspeed_scale_factor; @@ -1941,17 +2131,9 @@ void EKF2::UpdateAuxVelSample(ekf2_timestamps_s &ekf2_timestamps) { // EKF auxiliary velocity sample // - use the landing target pose estimate as another source of velocity data - const unsigned last_generation = _landing_target_pose_sub.get_last_generation(); landing_target_pose_s landing_target_pose; if (_landing_target_pose_sub.update(&landing_target_pose)) { - if (_msg_missed_landing_target_pose_perf == nullptr) { - _msg_missed_landing_target_pose_perf = perf_alloc(PC_COUNT, MODULE_NAME": landing_target_pose messages missed"); - - } else if (_landing_target_pose_sub.get_last_generation() != last_generation + 1) { - perf_count(_msg_missed_landing_target_pose_perf); - } - // we can only use the landing target if it has a fixed position and a valid velocity estimate if (landing_target_pose.is_static && landing_target_pose.rel_vel_valid) { // velocity of vehicle relative to target has opposite sign to target relative to vehicle @@ -1966,19 +2148,13 @@ void EKF2::UpdateAuxVelSample(ekf2_timestamps_s &ekf2_timestamps) } #endif // CONFIG_EKF2_AUXVEL +#if defined(CONFIG_EKF2_BAROMETER) void EKF2::UpdateBaroSample(ekf2_timestamps_s &ekf2_timestamps) { // EKF baro sample - const unsigned last_generation = _airdata_sub.get_last_generation(); vehicle_air_data_s airdata; if (_airdata_sub.update(&airdata)) { - if (_msg_missed_air_data_perf == nullptr) { - _msg_missed_air_data_perf = perf_alloc(PC_COUNT, MODULE_NAME": vehicle_air_data messages missed"); - - } else if (_airdata_sub.get_last_generation() != last_generation + 1) { - perf_count(_msg_missed_air_data_perf); - } bool reset = false; @@ -2009,23 +2185,17 @@ void EKF2::UpdateBaroSample(ekf2_timestamps_s &ekf2_timestamps) (int64_t)ekf2_timestamps.timestamp / 100); } } +#endif // CONFIG_EKF2_BAROMETER #if defined(CONFIG_EKF2_EXTERNAL_VISION) bool EKF2::UpdateExtVisionSample(ekf2_timestamps_s &ekf2_timestamps) { // EKF external vision sample bool new_ev_odom = false; - const unsigned last_generation = _ev_odom_sub.get_last_generation(); vehicle_odometry_s ev_odom; if (_ev_odom_sub.update(&ev_odom)) { - if (_msg_missed_odometry_perf == nullptr) { - _msg_missed_odometry_perf = perf_alloc(PC_COUNT, MODULE_NAME": vehicle_visual_odometry messages missed"); - - } else if (_ev_odom_sub.get_last_generation() != last_generation + 1) { - perf_count(_msg_missed_odometry_perf); - } extVisionSample ev_data{}; ev_data.pos.setNaN(); @@ -2171,28 +2341,34 @@ bool EKF2::UpdateFlowSample(ekf2_timestamps_s &ekf2_timestamps) { // EKF flow sample bool new_optical_flow = false; - const unsigned last_generation = _vehicle_optical_flow_sub.get_last_generation(); vehicle_optical_flow_s optical_flow; if (_vehicle_optical_flow_sub.update(&optical_flow)) { - if (_msg_missed_optical_flow_perf == nullptr) { - _msg_missed_optical_flow_perf = perf_alloc(PC_COUNT, MODULE_NAME": optical_flow messages missed"); - } else if (_vehicle_optical_flow_sub.get_last_generation() != last_generation + 1) { - perf_count(_msg_missed_optical_flow_perf); - } + const float dt = 1e-6f * (float)optical_flow.integration_timespan_us; + Vector2f flow_rate; + Vector3f gyro_rate; - flowSample flow { - .time_us = optical_flow.timestamp_sample, + if (dt > FLT_EPSILON) { // NOTE: the EKF uses the reverse sign convention to the flow sensor. EKF assumes positive LOS rate // is produced by a RH rotation of the image about the sensor axis. - .flow_xy_rad = Vector2f{-optical_flow.pixel_flow[0], -optical_flow.pixel_flow[1]}, - .gyro_xyz = Vector3f{-optical_flow.delta_angle[0], -optical_flow.delta_angle[1], -optical_flow.delta_angle[2]}, - .dt = 1e-6f * (float)optical_flow.integration_timespan_us, - .quality = optical_flow.quality, + flow_rate = Vector2f(-optical_flow.pixel_flow[0], -optical_flow.pixel_flow[1]) / dt; + gyro_rate = Vector3f(-optical_flow.delta_angle[0], -optical_flow.delta_angle[1], -optical_flow.delta_angle[2]) / dt; + + } else if (optical_flow.quality == 0) { + // handle special case of SITL and PX4Flow where dt is forced to zero when the quaity is 0 + flow_rate.zero(); + gyro_rate.zero(); + } + + flowSample flow { + .time_us = optical_flow.timestamp_sample - optical_flow.integration_timespan_us / 2, // correct timestamp to midpoint of integration interval as the data is converted to rates + .flow_rate = flow_rate, + .gyro_rate = gyro_rate, + .quality = optical_flow.quality }; - if (Vector2f(optical_flow.pixel_flow).isAllFinite() && flow.dt < 1) { + if (Vector2f(optical_flow.pixel_flow).isAllFinite() && optical_flow.integration_timespan_us < 1e6) { // Save sensor limits reported by the optical flow sensor _ekf.set_optical_flow_limits(optical_flow.max_flow_rate, optical_flow.min_ground_distance, @@ -2203,12 +2379,14 @@ bool EKF2::UpdateFlowSample(ekf2_timestamps_s &ekf2_timestamps) new_optical_flow = true; } +#if defined(CONFIG_EKF2_RANGE_FINDER) + // use optical_flow distance as range sample if distance_sensor unavailable if (PX4_ISFINITE(optical_flow.distance_m) && (ekf2_timestamps.timestamp > _last_range_sensor_update + 1_s)) { int8_t quality = static_cast(optical_flow.quality) / static_cast(UINT8_MAX) * 100.f; - rangeSample range_sample { + estimator::sensor::rangeSample range_sample { .time_us = optical_flow.timestamp_sample, .rng = optical_flow.distance_m, .quality = quality, @@ -2219,6 +2397,8 @@ bool EKF2::UpdateFlowSample(ekf2_timestamps_s &ekf2_timestamps) _ekf.set_rangefinder_limits(optical_flow.min_ground_distance, optical_flow.max_ground_distance); } +#endif // CONFIG_EKF2_RANGE_FINDER + ekf2_timestamps.optical_flow_timestamp_rel = (int16_t)((int64_t)optical_flow.timestamp / 100 - (int64_t)ekf2_timestamps.timestamp / 100); } @@ -2227,62 +2407,58 @@ bool EKF2::UpdateFlowSample(ekf2_timestamps_s &ekf2_timestamps) } #endif // CONFIG_EKF2_OPTICAL_FLOW +#if defined(CONFIG_EKF2_GNSS) void EKF2::UpdateGpsSample(ekf2_timestamps_s &ekf2_timestamps) { // EKF GPS message - const unsigned last_generation = _vehicle_gps_position_sub.get_last_generation(); sensor_gps_s vehicle_gps_position; if (_vehicle_gps_position_sub.update(&vehicle_gps_position)) { - if (_msg_missed_gps_perf == nullptr) { - _msg_missed_gps_perf = perf_alloc(PC_COUNT, MODULE_NAME": vehicle_gps_position messages missed"); - } else if (_vehicle_gps_position_sub.get_last_generation() != last_generation + 1) { - perf_count(_msg_missed_gps_perf); + Vector3f vel_ned; + + if (vehicle_gps_position.vel_ned_valid) { + vel_ned = Vector3f(vehicle_gps_position.vel_n_m_s, + vehicle_gps_position.vel_e_m_s, + vehicle_gps_position.vel_d_m_s); + + } else { + return; //TODO: change and set to NAN } - gpsMessage gps_msg{ - .time_usec = vehicle_gps_position.timestamp, - .lat = vehicle_gps_position.lat, - .lon = vehicle_gps_position.lon, - .alt = vehicle_gps_position.alt, - .yaw = vehicle_gps_position.heading, - .yaw_offset = vehicle_gps_position.heading_offset, - .yaw_accuracy = vehicle_gps_position.heading_accuracy, - .fix_type = vehicle_gps_position.fix_type, - .eph = vehicle_gps_position.eph, - .epv = vehicle_gps_position.epv, + gnssSample gnss_sample{ + .time_us = vehicle_gps_position.timestamp, + .lat = vehicle_gps_position.latitude_deg, + .lon = vehicle_gps_position.longitude_deg, + .alt = static_cast(vehicle_gps_position.altitude_msl_m), + .vel = vel_ned, + .hacc = vehicle_gps_position.eph, + .vacc = vehicle_gps_position.epv, .sacc = vehicle_gps_position.s_variance_m_s, - .vel_m_s = vehicle_gps_position.vel_m_s, - .vel_ned = Vector3f{ - vehicle_gps_position.vel_n_m_s, - vehicle_gps_position.vel_e_m_s, - vehicle_gps_position.vel_d_m_s - }, - .vel_ned_valid = vehicle_gps_position.vel_ned_valid, + .fix_type = vehicle_gps_position.fix_type, .nsats = vehicle_gps_position.satellites_used, .pdop = sqrtf(vehicle_gps_position.hdop *vehicle_gps_position.hdop + vehicle_gps_position.vdop * vehicle_gps_position.vdop), + .yaw = vehicle_gps_position.heading, //TODO: move to different message + .yaw_acc = vehicle_gps_position.heading_accuracy, + .yaw_offset = vehicle_gps_position.heading_offset, + .spoofed = vehicle_gps_position.spoofing_state == sensor_gps_s::SPOOFING_STATE_MULTIPLE, }; - _ekf.setGpsData(gps_msg); - _gps_time_usec = gps_msg.time_usec; - _gps_alttitude_ellipsoid = vehicle_gps_position.alt_ellipsoid; + _ekf.setGpsData(gnss_sample); + + _gps_time_usec = gnss_sample.time_us; + _gps_alttitude_ellipsoid = static_cast(round(vehicle_gps_position.altitude_ellipsoid_m * 1e3)); } } +#endif // CONFIG_EKF2_GNSS +#if defined(CONFIG_EKF2_MAGNETOMETER) void EKF2::UpdateMagSample(ekf2_timestamps_s &ekf2_timestamps) { - const unsigned last_generation = _magnetometer_sub.get_last_generation(); vehicle_magnetometer_s magnetometer; if (_magnetometer_sub.update(&magnetometer)) { - if (_msg_missed_magnetometer_perf == nullptr) { - _msg_missed_magnetometer_perf = perf_alloc(PC_COUNT, MODULE_NAME": vehicle_magnetometer messages missed"); - - } else if (_magnetometer_sub.get_last_generation() != last_generation + 1) { - perf_count(_msg_missed_magnetometer_perf); - } bool reset = false; @@ -2314,6 +2490,7 @@ void EKF2::UpdateMagSample(ekf2_timestamps_s &ekf2_timestamps) (int64_t)ekf2_timestamps.timestamp / 100); } } +#endif // CONFIG_EKF2_MAGNETOMETER #if defined(CONFIG_EKF2_RANGE_FINDER) void EKF2::UpdateRangeSample(ekf2_timestamps_s &ekf2_timestamps) @@ -2341,7 +2518,6 @@ void EKF2::UpdateRangeSample(ekf2_timestamps_s &ekf2_timestamps) _distance_sensor_selected = i; _last_range_sensor_update = distance_sensor.timestamp; - _distance_sensor_last_generation = _distance_sensor_subs[_distance_sensor_selected].get_last_generation() - 1; break; } } @@ -2351,19 +2527,8 @@ void EKF2::UpdateRangeSample(ekf2_timestamps_s &ekf2_timestamps) if (_distance_sensor_selected >= 0 && _distance_sensor_subs[_distance_sensor_selected].update(&distance_sensor)) { // EKF range sample - - if (_msg_missed_distance_sensor_perf == nullptr) { - _msg_missed_distance_sensor_perf = perf_alloc(PC_COUNT, MODULE_NAME": distance_sensor messages missed"); - - } else if (_distance_sensor_subs[_distance_sensor_selected].get_last_generation() != _distance_sensor_last_generation + - 1) { - perf_count(_msg_missed_distance_sensor_perf); - } - - _distance_sensor_last_generation = _distance_sensor_subs[_distance_sensor_selected].get_last_generation(); - if (distance_sensor.orientation == distance_sensor_s::ROTATION_DOWNWARD_FACING) { - rangeSample range_sample { + estimator::sensor::rangeSample range_sample { .time_us = distance_sensor.timestamp, .rng = distance_sensor.current_distance, .quality = distance_sensor.signal_quality, @@ -2429,6 +2594,15 @@ void EKF2::UpdateSystemFlagsSample(ekf2_timestamps_s &ekf2_timestamps) flags.gnd_effect = vehicle_land_detected.in_ground_effect; } + launch_detection_status_s launch_detection_status; + + if (_launch_detection_status_sub.copy(&launch_detection_status) + && (ekf2_timestamps.timestamp < launch_detection_status.timestamp + 3_s)) { + + flags.constant_pos = (launch_detection_status.launch_detection_state == + launch_detection_status_s::STATE_WAITING_FOR_LAUNCH); + } + _ekf.setSystemFlagData(flags); } } @@ -2454,10 +2628,12 @@ void EKF2::UpdateCalibration(const hrt_abstime ×tamp, InFlightCalibration & // consider bias estimates stable when all checks pass consistently and bias hasn't changed more than 10% of the limit const float bias_change_limit = 0.1f * bias_limit; - if ((cal.last_us != 0) && !(cal.bias - bias).longerThan(bias_change_limit)) { - cal.total_time_us += timestamp - cal.last_us; + if (!(cal.bias - bias).longerThan(bias_change_limit)) { + if (cal.last_us != 0) { + cal.total_time_us += timestamp - cal.last_us; + } - if (cal.total_time_us > 30_s) { + if (cal.total_time_us > 10_s) { cal.cal_available = true; } @@ -2490,8 +2666,7 @@ void EKF2::UpdateAccelCalibration(const hrt_abstime ×tamp) && (_ekf.fault_status().value == 0) && !_ekf.fault_status_flags().bad_acc_bias && !_ekf.fault_status_flags().bad_acc_clipping - && !_ekf.fault_status_flags().bad_acc_vertical - && !_ekf.warning_event_flags().invalid_accel_bias_cov_reset; + && !_ekf.fault_status_flags().bad_acc_vertical; const bool learning_valid = bias_valid && !_ekf.accel_bias_inhibited(); @@ -2512,23 +2687,25 @@ void EKF2::UpdateGyroCalibration(const hrt_abstime ×tamp) bias_valid, learning_valid); } +#if defined(CONFIG_EKF2_MAGNETOMETER) void EKF2::UpdateMagCalibration(const hrt_abstime ×tamp) { - const bool bias_valid = (_ekf.control_status_flags().mag_hdg || _ekf.control_status_flags().mag_3D) - && _ekf.control_status_flags().mag_aligned_in_flight - && !_ekf.control_status_flags().mag_fault - && !_ekf.control_status_flags().mag_field_disturbed; + const Vector3f mag_bias = _ekf.getMagBias(); + const Vector3f mag_bias_var = _ekf.getMagBiasVariance(); - const bool learning_valid = bias_valid && _ekf.control_status_flags().mag_3D; + const bool bias_valid = (_ekf.fault_status().value == 0) + && _ekf.control_status_flags().yaw_align + && mag_bias_var.longerThan(0.f) && !mag_bias_var.longerThan(0.02f); - UpdateCalibration(timestamp, _mag_cal, _ekf.getMagBias(), _ekf.getMagBiasVariance(), _ekf.getMagBiasLimit(), - bias_valid, learning_valid); + const bool learning_valid = bias_valid && _ekf.control_status_flags().mag; + + UpdateCalibration(timestamp, _mag_cal, mag_bias, mag_bias_var, _ekf.getMagBiasLimit(), bias_valid, learning_valid); // update stored declination value if (!_mag_decl_saved) { float declination_deg; - if (_ekf.get_mag_decl_deg(&declination_deg)) { + if (_ekf.get_mag_decl_deg(declination_deg)) { _param_ekf2_mag_decl.update(); if (PX4_ISFINITE(declination_deg) && (fabsf(declination_deg - _param_ekf2_mag_decl.get()) > 0.1f)) { @@ -2540,6 +2717,7 @@ void EKF2::UpdateMagCalibration(const hrt_abstime ×tamp) } } } +#endif // CONFIG_EKF2_MAGNETOMETER int EKF2::custom_command(int argc, char *argv[]) { @@ -2568,16 +2746,18 @@ int EKF2::task_spawn(int argc, char *argv[]) // ekf selector requires SENS_IMU_MODE = 0 multi_mode = true; - // IMUs (1 - 4 supported) + // IMUs (1 - MAX_NUM_IMUS supported) param_get(param_find("EKF2_MULTI_IMU"), &imu_instances); - if (imu_instances < 1 || imu_instances > 4) { - const int32_t imu_instances_limited = math::constrain(imu_instances, static_cast(1), static_cast(4)); + if (imu_instances < 1 || imu_instances > MAX_NUM_IMUS) { + const int32_t imu_instances_limited = math::constrain(imu_instances, static_cast(1), + static_cast(MAX_NUM_IMUS)); PX4_WARN("EKF2_MULTI_IMU limited %" PRId32 " -> %" PRId32, imu_instances, imu_instances_limited); param_set_no_notification(param_find("EKF2_MULTI_IMU"), &imu_instances_limited); imu_instances = imu_instances_limited; } +#if defined(CONFIG_EKF2_MAGNETOMETER) int32_t sens_mag_mode = 1; const param_t param_sens_mag_mode = param_find("SENS_MAG_MODE"); param_get(param_sens_mag_mode, &sens_mag_mode); @@ -2586,9 +2766,10 @@ int EKF2::task_spawn(int argc, char *argv[]) const param_t param_ekf2_mult_mag = param_find("EKF2_MULTI_MAG"); param_get(param_ekf2_mult_mag, &mag_instances); - // Mags (1 - 4 supported) - if (mag_instances > 4) { - const int32_t mag_instances_limited = math::constrain(mag_instances, static_cast(1), static_cast(4)); + // Mags (1 - MAX_NUM_MAGS supported) + if (mag_instances > MAX_NUM_MAGS) { + const int32_t mag_instances_limited = math::constrain(mag_instances, static_cast(1), + static_cast(MAX_NUM_MAGS)); PX4_WARN("EKF2_MULTI_MAG limited %" PRId32 " -> %" PRId32, mag_instances, mag_instances_limited); param_set_no_notification(param_ekf2_mult_mag, &mag_instances_limited); mag_instances = mag_instances_limited; @@ -2607,6 +2788,8 @@ int EKF2::task_spawn(int argc, char *argv[]) } else { mag_instances = 1; } + +#endif // CONFIG_EKF2_MAGNETOMETER } if (multi_mode && !replay_mode) { @@ -2732,7 +2915,11 @@ timestamps from the sensor topics. PRINT_MODULE_USAGE_NAME("ekf2", "estimator"); PRINT_MODULE_USAGE_COMMAND("start"); PRINT_MODULE_USAGE_PARAM_FLAG('r', "Enable replay mode", true); - PRINT_MODULE_USAGE_DEFAULT_COMMANDS(); + PRINT_MODULE_USAGE_COMMAND("stop"); + PRINT_MODULE_USAGE_COMMAND_DESCR("status", "print status info"); +#if defined(CONFIG_EKF2_VERBOSE_STATUS) + PRINT_MODULE_USAGE_ARG("-v", "verbose (print all states and full covariance matrix)", true); +#endif // CONFIG_EKF2_VERBOSE_STATUS #if defined(CONFIG_EKF2_MULTI_INSTANCE) PRINT_MODULE_USAGE_COMMAND_DESCR("select_instance", "Request switch to new estimator instance"); PRINT_MODULE_USAGE_ARG("", "Specify desired estimator instance", false); @@ -2792,10 +2979,18 @@ extern "C" __EXPORT int ekf2_main(int argc, char *argv[]) } #endif // CONFIG_EKF2_MULTI_INSTANCE + bool verbose_status = false; + +#if defined(CONFIG_EKF2_VERBOSE_STATUS) + if (argc > 2 && (strcmp(argv[2], "-v") == 0)) { + verbose_status = true; + } +#endif // CONFIG_EKF2_VERBOSE_STATUS + for (int i = 0; i < EKF2_MAX_INSTANCES; i++) { if (_objects[i].load()) { PX4_INFO_RAW("\n"); - _objects[i].load()->print_status(); + _objects[i].load()->print_status(verbose_status); } } diff --git a/src/modules/ekf2/EKF2.hpp b/src/modules/ekf2/EKF2.hpp index a40971e79fbe..867cf9ae5758 100644 --- a/src/modules/ekf2/EKF2.hpp +++ b/src/modules/ekf2/EKF2.hpp @@ -42,7 +42,6 @@ #define EKF2_HPP #include "EKF/ekf.h" -#include "Utility/PreFlightChecker.hpp" #include "EKF2Selector.hpp" @@ -68,27 +67,24 @@ #include #include #include -#include #include #include #include #include #include +#include #include #include #include -#include #include #include +#include #include -#include #include #include #include -#include #include #include -#include #include #if defined(CONFIG_EKF2_AIRSPEED) @@ -100,6 +96,19 @@ # include #endif // CONFIG_EKF2_AUXVEL +#if defined(CONFIG_EKF2_BAROMETER) +# include +#endif // CONFIG_EKF2_BAROMETER + +#if defined(CONFIG_EKF2_GNSS) +# include +# include +#endif // CONFIG_EKF2_GNSS + +#if defined(CONFIG_EKF2_MAGNETOMETER) +# include +#endif // CONFIG_EKF2_MAGNETOMETER + #if defined(CONFIG_EKF2_OPTICAL_FLOW) # include # include @@ -109,6 +118,10 @@ # include #endif // CONFIG_EKF2_RANGE_FINDER +#if defined(CONFIG_EKF2_WIND) +# include +#endif // CONFIG_EKF2_WIND + extern pthread_mutex_t ekf2_module_mutex; class EKF2 final : public ModuleParams, public px4::ScheduledWorkItem @@ -127,7 +140,7 @@ class EKF2 final : public ModuleParams, public px4::ScheduledWorkItem /** @see ModuleBase */ static int print_usage(const char *reason = nullptr); - int print_status(); + int print_status(bool verbose = false); bool should_exit() const { return _task_should_exit.load(); } @@ -144,31 +157,21 @@ class EKF2 final : public ModuleParams, public px4::ScheduledWorkItem int instance() const { return _instance; } private: - //TODO: remove after 1.14 release - enum SensorFusionMask : uint16_t { - // Bit locations for fusion_mode - DEPRECATED_USE_GPS = (1 << 0), ///< set to true to use GPS data (DEPRECATED, use gnss_ctrl) - DEPRECATED_USE_OPT_FLOW = (1 << 1), ///< set to true to use optical flow data - DEPRECATED_INHIBIT_ACC_BIAS = (1 << 2), ///< set to true to inhibit estimation of accelerometer delta velocity bias - DEPRECATED_USE_EXT_VIS_POS = (1 << 3), ///< set to true to use external vision position data - DEPRECATED_USE_EXT_VIS_YAW = (1 << 4), ///< set to true to use external vision quaternion data for yaw - DEPRECATED_USE_DRAG = (1 << 5), ///< set to true to use the multi-rotor drag model to estimate wind - DEPRECATED_ROTATE_EXT_VIS = (1 << 6), ///< set to true to if the EV observations are in a non NED reference frame and need to be rotated before being used - DEPRECATED_USE_GPS_YAW = (1 << 7), ///< set to true to use GPS yaw data if available (DEPRECATED, use gnss_ctrl) - DEPRECATED_USE_EXT_VIS_VEL = (1 << 8), ///< set to true to use external vision velocity data - }; static constexpr uint8_t MAX_NUM_IMUS = 4; static constexpr uint8_t MAX_NUM_MAGS = 4; void Run() override; + void AdvertiseTopics(); void VerifyParams(); void PublishAidSourceStatus(const hrt_abstime ×tamp); void PublishAttitude(const hrt_abstime ×tamp); + +#if defined(CONFIG_EKF2_BAROMETER) void PublishBaroBias(const hrt_abstime ×tamp); - void PublishGnssHgtBias(const hrt_abstime ×tamp); +#endif // CONFIG_EKF2_BAROMETER #if defined(CONFIG_EKF2_RANGE_FINDER) void PublishRngHgtBias(const hrt_abstime ×tamp); @@ -181,22 +184,18 @@ class EKF2 final : public ModuleParams, public px4::ScheduledWorkItem uint64_t timestamp, uint32_t device_id = 0); void PublishEventFlags(const hrt_abstime ×tamp); void PublishGlobalPosition(const hrt_abstime ×tamp); - void PublishGpsStatus(const hrt_abstime ×tamp); void PublishInnovations(const hrt_abstime ×tamp); void PublishInnovationTestRatios(const hrt_abstime ×tamp); void PublishInnovationVariances(const hrt_abstime ×tamp); void PublishLocalPosition(const hrt_abstime ×tamp); void PublishOdometry(const hrt_abstime ×tamp, const imuSample &imu_sample); - void PublishOdometryAligned(const hrt_abstime ×tamp, const vehicle_odometry_s &ev_odom); -#if defined(CONFIG_EKF2_OPTICAL_FLOW) - void PublishOpticalFlowVel(const hrt_abstime ×tamp); -#endif // CONFIG_EKF2_OPTICAL_FLOW void PublishSensorBias(const hrt_abstime ×tamp); void PublishStates(const hrt_abstime ×tamp); void PublishStatus(const hrt_abstime ×tamp); void PublishStatusFlags(const hrt_abstime ×tamp); +#if defined(CONFIG_EKF2_WIND) void PublishWindEstimate(const hrt_abstime ×tamp); - void PublishYawEstimatorStatus(const hrt_abstime ×tamp); +#endif // CONFIG_EKF2_WIND #if defined(CONFIG_EKF2_AIRSPEED) void UpdateAirspeedSample(ekf2_timestamps_s &ekf2_timestamps); @@ -204,18 +203,34 @@ class EKF2 final : public ModuleParams, public px4::ScheduledWorkItem #if defined(CONFIG_EKF2_AUXVEL) void UpdateAuxVelSample(ekf2_timestamps_s &ekf2_timestamps); #endif // CONFIG_EKF2_AUXVEL +#if defined(CONFIG_EKF2_BAROMETER) void UpdateBaroSample(ekf2_timestamps_s &ekf2_timestamps); +#endif // CONFIG_EKF2_BAROMETER #if defined(CONFIG_EKF2_EXTERNAL_VISION) bool UpdateExtVisionSample(ekf2_timestamps_s &ekf2_timestamps); #endif // CONFIG_EKF2_EXTERNAL_VISION +#if defined(CONFIG_EKF2_GNSS) + /* + * Calculate filtered WGS84 height from estimated AMSL height + */ + float filter_altitude_ellipsoid(float amsl_hgt); + + void PublishGpsStatus(const hrt_abstime ×tamp); + void PublishGnssHgtBias(const hrt_abstime ×tamp); + void PublishYawEstimatorStatus(const hrt_abstime ×tamp); + void UpdateGpsSample(ekf2_timestamps_s &ekf2_timestamps); +#endif // CONFIG_EKF2_GNSS #if defined(CONFIG_EKF2_OPTICAL_FLOW) bool UpdateFlowSample(ekf2_timestamps_s &ekf2_timestamps); + void PublishOpticalFlowVel(const hrt_abstime ×tamp); #endif // CONFIG_EKF2_OPTICAL_FLOW - void UpdateGpsSample(ekf2_timestamps_s &ekf2_timestamps); +#if defined(CONFIG_EKF2_MAGNETOMETER) void UpdateMagSample(ekf2_timestamps_s &ekf2_timestamps); +#endif // CONFIG_EKF2_MAGNETOMETER #if defined(CONFIG_EKF2_RANGE_FINDER) void UpdateRangeSample(ekf2_timestamps_s &ekf2_timestamps); #endif // CONFIG_EKF2_RANGE_FINDER + void UpdateSystemFlagsSample(ekf2_timestamps_s &ekf2_timestamps); // Used to check, save and use learned accel/gyro/mag biases @@ -230,7 +245,9 @@ class EKF2 final : public ModuleParams, public px4::ScheduledWorkItem const matrix::Vector3f &bias_variance, float bias_limit, bool bias_valid, bool learning_valid); void UpdateAccelCalibration(const hrt_abstime ×tamp); void UpdateGyroCalibration(const hrt_abstime ×tamp); +#if defined(CONFIG_EKF2_MAGNETOMETER) void UpdateMagCalibration(const hrt_abstime ×tamp); +#endif // CONFIG_EKF2_MAGNETOMETER // publish helper for estimator_aid_source topics template @@ -248,11 +265,6 @@ class EKF2 final : public ModuleParams, public px4::ScheduledWorkItem } } - /* - * Calculate filtered WGS84 height from estimated AMSL height - */ - float filter_altitude_ellipsoid(float amsl_hgt); - static constexpr float sq(float x) { return x * x; }; const bool _replay_mode{false}; ///< true when we use replay data from a log @@ -266,49 +278,43 @@ class EKF2 final : public ModuleParams, public px4::ScheduledWorkItem uint64_t _start_time_us = 0; ///< system time at EKF start (uSec) int64_t _last_time_slip_us = 0; ///< Last time slip (uSec) - perf_counter_t _ecl_ekf_update_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": ECL update")}; - perf_counter_t _ecl_ekf_update_full_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": ECL full update")}; + perf_counter_t _ekf_update_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": EKF update")}; perf_counter_t _msg_missed_imu_perf{perf_alloc(PC_COUNT, MODULE_NAME": IMU message missed")}; - perf_counter_t _msg_missed_air_data_perf{nullptr}; - perf_counter_t _msg_missed_gps_perf{nullptr}; - perf_counter_t _msg_missed_magnetometer_perf{nullptr}; - perf_counter_t _msg_missed_odometry_perf{nullptr}; - - // Used to control saving of mag declination to be used on next startup - bool _mag_decl_saved = false; ///< true when the magnetic declination has been saved InFlightCalibration _accel_cal{}; InFlightCalibration _gyro_cal{}; - InFlightCalibration _mag_cal{}; - - uint64_t _gps_time_usec{0}; - int32_t _gps_alttitude_ellipsoid{0}; ///< altitude in 1E-3 meters (millimeters) above ellipsoid - uint64_t _gps_alttitude_ellipsoid_previous_timestamp{0}; ///< storage for previous timestamp to compute dt - float _wgs84_hgt_offset = 0; ///< height offset between AMSL and WGS84 uint8_t _accel_calibration_count{0}; - uint8_t _baro_calibration_count{0}; uint8_t _gyro_calibration_count{0}; - uint8_t _mag_calibration_count{0}; uint32_t _device_id_accel{0}; - uint32_t _device_id_baro{0}; uint32_t _device_id_gyro{0}; - uint32_t _device_id_mag{0}; Vector3f _last_accel_bias_published{}; Vector3f _last_gyro_bias_published{}; - Vector3f _last_mag_bias_published{}; hrt_abstime _last_sensor_bias_published{0}; - hrt_abstime _last_gps_status_published{0}; - - hrt_abstime _status_baro_hgt_pub_last{0}; - hrt_abstime _status_rng_hgt_pub_last{0}; hrt_abstime _status_fake_hgt_pub_last{0}; hrt_abstime _status_fake_pos_pub_last{0}; +#if defined(CONFIG_EKF2_MAGNETOMETER) + uint32_t _device_id_mag {0}; + + // Used to control saving of mag declination to be used on next startup + bool _mag_decl_saved = false; ///< true when the magnetic declination has been saved + + InFlightCalibration _mag_cal{}; + uint8_t _mag_calibration_count{0}; + Vector3f _last_mag_bias_published{}; + + hrt_abstime _status_mag_pub_last{0}; + + uORB::Subscription _magnetometer_sub{ORB_ID(vehicle_magnetometer)}; + + uORB::PublicationMulti _estimator_aid_src_mag_pub{ORB_ID(estimator_aid_src_mag)}; +#endif // CONFIG_EKF2_MAGNETOMETER + #if defined(CONFIG_EKF2_EXTERNAL_VISION) uORB::PublicationMulti _estimator_aid_src_ev_hgt_pub {ORB_ID(estimator_aid_src_ev_hgt)}; uORB::PublicationMulti _estimator_aid_src_ev_pos_pub{ORB_ID(estimator_aid_src_ev_pos)}; @@ -326,41 +332,39 @@ class EKF2 final : public ModuleParams, public px4::ScheduledWorkItem uORB::PublicationMulti _estimator_ev_pos_bias_pub{ORB_ID(estimator_ev_pos_bias)}; #endif // CONFIG_EKF2_EXTERNAL_VISION - hrt_abstime _status_gnss_hgt_pub_last{0}; - hrt_abstime _status_gnss_pos_pub_last{0}; - hrt_abstime _status_gnss_vel_pub_last{0}; -#if defined(CONFIG_EKF2_GNSS_YAW) - hrt_abstime _status_gnss_yaw_pub_last {0}; -#endif // CONFIG_EKF2_GNSS_YAW - - hrt_abstime _status_mag_pub_last{0}; - hrt_abstime _status_mag_heading_pub_last{0}; - - hrt_abstime _status_gravity_pub_last{0}; - #if defined(CONFIG_EKF2_AUXVEL) uORB::Subscription _landing_target_pose_sub {ORB_ID(landing_target_pose)}; uORB::PublicationMulti _estimator_aid_src_aux_vel_pub{ORB_ID(estimator_aid_src_aux_vel)}; hrt_abstime _status_aux_vel_pub_last{0}; - - perf_counter_t _msg_missed_landing_target_pose_perf{nullptr}; #endif // CONFIG_EKF2_AUXVEL #if defined(CONFIG_EKF2_OPTICAL_FLOW) uORB::Subscription _vehicle_optical_flow_sub {ORB_ID(vehicle_optical_flow)}; uORB::PublicationMulti _estimator_optical_flow_vel_pub{ORB_ID(estimator_optical_flow_vel)}; - uORB::PublicationMulti _estimator_aid_src_optical_flow_pub{ORB_ID(estimator_aid_src_optical_flow)}; - uORB::PublicationMulti _estimator_aid_src_terrain_optical_flow_pub{ORB_ID(estimator_aid_src_terrain_optical_flow)}; + uORB::PublicationMulti _estimator_aid_src_optical_flow_pub{ORB_ID(estimator_aid_src_optical_flow)}; hrt_abstime _status_optical_flow_pub_last{0}; - hrt_abstime _status_terrain_optical_flow_pub_last{0}; - perf_counter_t _msg_missed_optical_flow_perf{nullptr}; + hrt_abstime _optical_flow_vel_pub_last{0}; #endif // CONFIG_EKF2_OPTICAL_FLOW +#if defined(CONFIG_EKF2_BAROMETER) + uint8_t _baro_calibration_count {0}; + uint32_t _device_id_baro{0}; + hrt_abstime _status_baro_hgt_pub_last{0}; + float _last_baro_bias_published{}; - float _last_gnss_hgt_bias_published{}; - float _last_rng_hgt_bias_published{}; + + uORB::Subscription _airdata_sub{ORB_ID(vehicle_air_data)}; + + uORB::PublicationMulti _estimator_baro_bias_pub{ORB_ID(estimator_baro_bias)}; + uORB::PublicationMulti _estimator_aid_src_baro_hgt_pub {ORB_ID(estimator_aid_src_baro_hgt)}; +#endif // CONFIG_EKF2_BAROMETER + +#if defined(CONFIG_EKF2_DRAG_FUSION) + uORB::PublicationMulti _estimator_aid_src_drag_pub {ORB_ID(estimator_aid_src_drag)}; + hrt_abstime _status_drag_pub_last{0}; +#endif // CONFIG_EKF2_DRAG_FUSION #if defined(CONFIG_EKF2_AIRSPEED) uORB::Subscription _airspeed_sub {ORB_ID(airspeed)}; @@ -371,9 +375,6 @@ class EKF2 final : public ModuleParams, public px4::ScheduledWorkItem uORB::PublicationMulti _estimator_aid_src_airspeed_pub {ORB_ID(estimator_aid_src_airspeed)}; hrt_abstime _status_airspeed_pub_last{0}; - - perf_counter_t _msg_missed_airspeed_perf{nullptr}; - perf_counter_t _msg_missed_airspeed_validated_perf{nullptr}; #endif // CONFIG_EKF2_AIRSPEED #if defined(CONFIG_EKF2_SIDESLIP) @@ -385,26 +386,25 @@ class EKF2 final : public ModuleParams, public px4::ScheduledWorkItem uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s}; - uORB::Subscription _airdata_sub{ORB_ID(vehicle_air_data)}; - uORB::Subscription _magnetometer_sub{ORB_ID(vehicle_magnetometer)}; uORB::Subscription _sensor_selection_sub{ORB_ID(sensor_selection)}; uORB::Subscription _status_sub{ORB_ID(vehicle_status)}; - uORB::Subscription _vehicle_command_sub{ORB_ID(vehicle_command)}; - uORB::Subscription _vehicle_gps_position_sub{ORB_ID(vehicle_gps_position)}; uORB::Subscription _vehicle_land_detected_sub{ORB_ID(vehicle_land_detected)}; + uORB::Subscription _launch_detection_status_sub{ORB_ID(launch_detection_status)}; + + uORB::Subscription _vehicle_command_sub{ORB_ID(vehicle_command)}; + uORB::Publication _vehicle_command_ack_pub{ORB_ID(vehicle_command_ack)}; uORB::SubscriptionCallbackWorkItem _sensor_combined_sub{this, ORB_ID(sensor_combined)}; uORB::SubscriptionCallbackWorkItem _vehicle_imu_sub{this, ORB_ID(vehicle_imu)}; #if defined(CONFIG_EKF2_RANGE_FINDER) - uORB::PublicationMulti _estimator_rng_hgt_bias_pub {ORB_ID(estimator_rng_hgt_bias)}; + hrt_abstime _status_rng_hgt_pub_last {0}; + uORB::PublicationMulti _estimator_aid_src_rng_hgt_pub{ORB_ID(estimator_aid_src_rng_hgt)}; uORB::SubscriptionMultiArray _distance_sensor_subs{ORB_ID::distance_sensor}; hrt_abstime _last_range_sensor_update{0}; int _distance_sensor_selected{-1}; // because we can have several distance sensor instances with different orientations - unsigned _distance_sensor_last_generation{0}; - perf_counter_t _msg_missed_distance_sensor_perf{nullptr}; #endif // CONFIG_EKF2_RANGE_FINDER bool _callback_registered{false}; @@ -419,14 +419,10 @@ class EKF2 final : public ModuleParams, public px4::ScheduledWorkItem uint32_t _filter_control_status_changes{0}; uint32_t _filter_fault_status_changes{0}; uint32_t _innov_check_fail_status_changes{0}; - uint32_t _filter_warning_event_changes{0}; uint32_t _filter_information_event_changes{0}; uORB::PublicationMulti _ekf2_timestamps_pub{ORB_ID(ekf2_timestamps)}; - uORB::PublicationMulti _estimator_baro_bias_pub{ORB_ID(estimator_baro_bias)}; - uORB::PublicationMulti _estimator_gnss_hgt_bias_pub{ORB_ID(estimator_gnss_hgt_bias)}; uORB::PublicationMultiData _estimator_event_flags_pub{ORB_ID(estimator_event_flags)}; - uORB::PublicationMulti _estimator_gps_status_pub{ORB_ID(estimator_gps_status)}; uORB::PublicationMulti _estimator_innovation_test_ratios_pub{ORB_ID(estimator_innovation_test_ratios)}; uORB::PublicationMulti _estimator_innovation_variances_pub{ORB_ID(estimator_innovation_variances)}; uORB::PublicationMulti _estimator_innovations_pub{ORB_ID(estimator_innovations)}; @@ -434,50 +430,65 @@ class EKF2 final : public ModuleParams, public px4::ScheduledWorkItem uORB::PublicationMulti _estimator_states_pub{ORB_ID(estimator_states)}; uORB::PublicationMulti _estimator_status_flags_pub{ORB_ID(estimator_status_flags)}; uORB::PublicationMulti _estimator_status_pub{ORB_ID(estimator_status)}; - uORB::PublicationMulti _yaw_est_pub{ORB_ID(yaw_estimator_status)}; - - uORB::PublicationMulti _estimator_aid_src_baro_hgt_pub {ORB_ID(estimator_aid_src_baro_hgt)}; uORB::PublicationMulti _estimator_aid_src_fake_hgt_pub{ORB_ID(estimator_aid_src_fake_hgt)}; uORB::PublicationMulti _estimator_aid_src_fake_pos_pub{ORB_ID(estimator_aid_src_fake_pos)}; - uORB::PublicationMulti _estimator_aid_src_gnss_hgt_pub{ORB_ID(estimator_aid_src_gnss_hgt)}; - uORB::PublicationMulti _estimator_aid_src_gnss_pos_pub{ORB_ID(estimator_aid_src_gnss_pos)}; - uORB::PublicationMulti _estimator_aid_src_gnss_vel_pub{ORB_ID(estimator_aid_src_gnss_vel)}; -#if defined(CONFIG_EKF2_GNSS_YAW) - uORB::PublicationMulti _estimator_aid_src_gnss_yaw_pub {ORB_ID(estimator_aid_src_gnss_yaw)}; -#endif // CONFIG_EKF2_GNSS_YAW - - uORB::PublicationMulti _estimator_aid_src_mag_heading_pub{ORB_ID(estimator_aid_src_mag_heading)}; - uORB::PublicationMulti _estimator_aid_src_mag_pub{ORB_ID(estimator_aid_src_mag)}; - - uORB::PublicationMulti _estimator_aid_src_gravity_pub{ORB_ID(estimator_aid_src_gravity)}; - // publications with topic dependent on multi-mode uORB::PublicationMulti _attitude_pub; uORB::PublicationMulti _local_position_pub; uORB::PublicationMulti _global_position_pub; uORB::PublicationMulti _odometry_pub; + +#if defined(CONFIG_EKF2_WIND) uORB::PublicationMulti _wind_pub; +#endif // CONFIG_EKF2_WIND + +#if defined(CONFIG_EKF2_GNSS) + uint64_t _gps_time_usec {0}; + int32_t _gps_alttitude_ellipsoid{0}; ///< altitude in 1E-3 meters (millimeters) above ellipsoid + uint64_t _gps_alttitude_ellipsoid_previous_timestamp{0}; ///< storage for previous timestamp to compute dt + float _wgs84_hgt_offset = 0; ///< height offset between AMSL and WGS84 + + hrt_abstime _last_gps_status_published{0}; + hrt_abstime _status_gnss_hgt_pub_last{0}; + hrt_abstime _status_gnss_pos_pub_last{0}; + hrt_abstime _status_gnss_vel_pub_last{0}; + + float _last_gnss_hgt_bias_published{}; + + uORB::Subscription _vehicle_gps_position_sub{ORB_ID(vehicle_gps_position)}; + + uORB::PublicationMulti _estimator_gnss_hgt_bias_pub{ORB_ID(estimator_gnss_hgt_bias)}; + uORB::PublicationMulti _estimator_gps_status_pub{ORB_ID(estimator_gps_status)}; + uORB::PublicationMulti _estimator_aid_src_gnss_hgt_pub{ORB_ID(estimator_aid_src_gnss_hgt)}; + uORB::PublicationMulti _estimator_aid_src_gnss_pos_pub{ORB_ID(estimator_aid_src_gnss_pos)}; + uORB::PublicationMulti _estimator_aid_src_gnss_vel_pub{ORB_ID(estimator_aid_src_gnss_vel)}; - PreFlightChecker _preflt_checker; + uORB::PublicationMulti _yaw_est_pub{ORB_ID(yaw_estimator_status)}; + +# if defined(CONFIG_EKF2_GNSS_YAW) + hrt_abstime _status_gnss_yaw_pub_last {0}; + uORB::PublicationMulti _estimator_aid_src_gnss_yaw_pub {ORB_ID(estimator_aid_src_gnss_yaw)}; +# endif // CONFIG_EKF2_GNSS_YAW +#endif // CONFIG_EKF2_GNSS + +#if defined(CONFIG_EKF2_GRAVITY_FUSION) + hrt_abstime _status_gravity_pub_last {0}; + uORB::PublicationMulti _estimator_aid_src_gravity_pub{ORB_ID(estimator_aid_src_gravity)}; +#endif // CONFIG_EKF2_GRAVITY_FUSION Ekf _ekf; parameters *_params; ///< pointer to ekf parameter struct (located in _ekf class instance) DEFINE_PARAMETERS( + (ParamBool) _param_ekf2_log_verbose, (ParamExtInt) _param_ekf2_predict_us, + (ParamExtFloat) _param_ekf2_delay_max, (ParamExtInt) _param_ekf2_imu_ctrl, - (ParamExtFloat) - _param_ekf2_mag_delay, ///< magnetometer measurement delay relative to the IMU (mSec) - (ParamExtFloat) - _param_ekf2_baro_delay, ///< barometer height measurement delay relative to the IMU (mSec) - (ParamExtFloat) - _param_ekf2_gps_delay, ///< GPS measurement delay relative to the IMU (mSec) - #if defined(CONFIG_EKF2_AUXVEL) (ParamExtFloat) _param_ekf2_avel_delay, ///< auxiliary velocity measurement delay relative to the IMU (mSec) @@ -493,31 +504,59 @@ class EKF2 final : public ModuleParams, public px4::ScheduledWorkItem _param_ekf2_gyr_b_noise, ///< process noise for IMU rate gyro bias prediction (rad/sec**2) (ParamExtFloat) _param_ekf2_acc_b_noise,///< process noise for IMU accelerometer bias prediction (m/sec**3) - (ParamExtFloat) - _param_ekf2_mag_e_noise, ///< process noise for earth magnetic field prediction (Gauss/sec) - (ParamExtFloat) - _param_ekf2_mag_b_noise, ///< process noise for body magnetic field prediction (Gauss/sec) - (ParamExtFloat) - _param_ekf2_wind_nsd, ///< process noise spectral density for wind velocity prediction (m/sec**2/sqrt(Hz)) - - (ParamExtFloat) - _param_ekf2_gps_v_noise, ///< minimum allowed observation noise for gps velocity fusion (m/sec) - (ParamExtFloat) - _param_ekf2_gps_p_noise, ///< minimum allowed observation noise for gps position fusion (m) - (ParamExtFloat) - _param_ekf2_noaid_noise, ///< observation noise for non-aiding position fusion (m) - (ParamExtFloat) - _param_ekf2_baro_noise, ///< observation noise for barometric height fusion (m) - (ParamExtFloat) - _param_ekf2_baro_gate, ///< barometric height innovation consistency gate size (STD) - (ParamExtFloat) - _param_ekf2_gnd_eff_dz, ///< barometric deadzone range for negative innovations (m) - (ParamExtFloat) - _param_ekf2_gnd_max_hgt, ///< maximum height above the ground level for expected negative baro innovations (m) - (ParamExtFloat) - _param_ekf2_gps_p_gate, ///< GPS horizontal position innovation consistency gate size (STD) - (ParamExtFloat) - _param_ekf2_gps_v_gate, ///< GPS velocity innovation consistency gate size (STD) + +#if defined(CONFIG_EKF2_WIND) + (ParamExtFloat) _param_ekf2_wind_nsd, +#endif // CONFIG_EKF2_WIND + + (ParamExtFloat) _param_ekf2_noaid_noise, + +#if defined(CONFIG_EKF2_GNSS) + (ParamExtInt) _param_ekf2_gps_ctrl, + (ParamExtFloat) _param_ekf2_gps_delay, + + (ParamExtFloat) _param_ekf2_gps_pos_x, + (ParamExtFloat) _param_ekf2_gps_pos_y, + (ParamExtFloat) _param_ekf2_gps_pos_z, + + (ParamExtFloat) _param_ekf2_gps_v_noise, + (ParamExtFloat) _param_ekf2_gps_p_noise, + + (ParamExtFloat) _param_ekf2_gps_p_gate, + (ParamExtFloat) _param_ekf2_gps_v_gate, + + (ParamExtInt) _param_ekf2_gps_check, + (ParamExtFloat) _param_ekf2_req_eph, + (ParamExtFloat) _param_ekf2_req_epv, + (ParamExtFloat) _param_ekf2_req_sacc, + (ParamExtInt) _param_ekf2_req_nsats, + (ParamExtFloat) _param_ekf2_req_pdop, + (ParamExtFloat) _param_ekf2_req_hdrift, + (ParamExtFloat) _param_ekf2_req_vdrift, + (ParamFloat) _param_ekf2_req_gps_h, + + // Used by EKF-GSF experimental yaw estimator + (ParamExtFloat) _param_ekf2_gsf_tas_default, +#endif // CONFIG_EKF2_GNSS + +#if defined(CONFIG_EKF2_BAROMETER) + (ParamExtInt) _param_ekf2_baro_ctrl,///< barometer control selection + (ParamExtFloat) _param_ekf2_baro_delay, + (ParamExtFloat) _param_ekf2_baro_noise, + (ParamExtFloat) _param_ekf2_baro_gate, + (ParamExtFloat) _param_ekf2_gnd_eff_dz, + (ParamExtFloat) _param_ekf2_gnd_max_hgt, + +# if defined(CONFIG_EKF2_BARO_COMPENSATION) + // Corrections for static pressure position error where Ps_error = Ps_meas - Ps_truth + (ParamExtFloat) _param_ekf2_aspd_max, + (ParamExtFloat) _param_ekf2_pcoef_xp, + (ParamExtFloat) _param_ekf2_pcoef_xn, + (ParamExtFloat) _param_ekf2_pcoef_yp, + (ParamExtFloat) _param_ekf2_pcoef_yn, + (ParamExtFloat) _param_ekf2_pcoef_z, +# endif // CONFIG_EKF2_BARO_COMPENSATION +#endif // CONFIG_EKF2_BAROMETER #if defined(CONFIG_EKF2_AIRSPEED) (ParamExtFloat) @@ -541,84 +580,52 @@ class EKF2 final : public ModuleParams, public px4::ScheduledWorkItem _param_ekf2_fuse_beta, ///< Controls synthetic sideslip fusion, 0 disables, 1 enables #endif // CONFIG_EKF2_SIDESLIP - // control of magnetometer fusion - (ParamExtFloat) - _param_ekf2_head_noise, ///< measurement noise used for simple heading fusion (rad) - (ParamExtFloat) - _param_ekf2_mag_noise, ///< measurement noise used for 3-axis magnetoemeter fusion (Gauss) - - (ParamExtFloat) _param_ekf2_mag_decl,///< magnetic declination (degrees) - (ParamExtFloat) - _param_ekf2_hdg_gate,///< heading fusion innovation consistency gate size (STD) - (ParamExtFloat) - _param_ekf2_mag_gate, ///< magnetometer fusion innovation consistency gate size (STD) - (ParamExtInt) - _param_ekf2_decl_type, ///< bitmask used to control the handling of declination data - (ParamExtInt) - _param_ekf2_mag_type, ///< integer used to specify the type of magnetometer fusion used - (ParamExtFloat) - _param_ekf2_mag_acclim, ///< integer used to specify the type of magnetometer fusion used - (ParamExtFloat) - _param_ekf2_mag_yawlim, ///< yaw rate threshold used by mode select logic (rad/sec) - - (ParamExtInt) - _param_ekf2_gps_check, ///< bitmask used to control which GPS quality checks are used - (ParamExtFloat) _param_ekf2_req_eph, ///< maximum acceptable horiz position error (m) - (ParamExtFloat) _param_ekf2_req_epv, ///< maximum acceptable vert position error (m) - (ParamExtFloat) _param_ekf2_req_sacc, ///< maximum acceptable speed error (m/s) - (ParamExtInt) _param_ekf2_req_nsats, ///< minimum acceptable satellite count - (ParamExtFloat) - _param_ekf2_req_pdop, ///< maximum acceptable position dilution of precision - (ParamExtFloat) - _param_ekf2_req_hdrift, ///< maximum acceptable horizontal drift speed (m/s) - (ParamExtFloat) _param_ekf2_req_vdrift, ///< maximum acceptable vertical drift speed (m/s) - - // measurement source control - (ParamInt) - _param_ekf2_aid_mask, ///< bitmasked integer that selects which of the GPS and optical flow aiding sources will be used +#if defined(CONFIG_EKF2_MAGNETOMETER) + (ParamExtFloat) _param_ekf2_mag_delay, + (ParamExtFloat) _param_ekf2_mag_e_noise, + (ParamExtFloat) _param_ekf2_mag_b_noise, + (ParamExtFloat) _param_ekf2_head_noise, + (ParamExtFloat) _param_ekf2_mag_noise, + (ParamExtFloat) _param_ekf2_mag_decl, + (ParamExtFloat) _param_ekf2_hdg_gate, + (ParamExtFloat) _param_ekf2_mag_gate, + (ParamExtInt) _param_ekf2_decl_type, + (ParamExtInt) _param_ekf2_mag_type, + (ParamExtFloat) _param_ekf2_mag_acclim, + (ParamExtInt) _param_ekf2_mag_check, + (ParamExtFloat) _param_ekf2_mag_chk_str, + (ParamExtFloat) _param_ekf2_mag_chk_inc, + (ParamExtInt) _param_ekf2_synthetic_mag_z, +#endif // CONFIG_EKF2_MAGNETOMETER + (ParamExtInt) _param_ekf2_hgt_ref, ///< selects the primary source for height data - (ParamExtInt) _param_ekf2_baro_ctrl,///< barometer control selection - (ParamExtInt) _param_ekf2_gps_ctrl, ///< GPS control selection (ParamExtInt) _param_ekf2_noaid_tout, ///< maximum lapsed time from last fusion of measurements that constrain drift before the EKF will report the horizontal nav solution invalid (uSec) +#if defined(CONFIG_EKF2_TERRAIN) || defined(CONFIG_EKF2_OPTICAL_FLOW) || defined(CONFIG_EKF2_RANGE_FINDER) + (ParamExtFloat) _param_ekf2_min_rng, +#endif // CONFIG_EKF2_TERRAIN || CONFIG_EKF2_OPTICAL_FLOW || CONFIG_EKF2_RANGE_FINDER +#if defined(CONFIG_EKF2_TERRAIN) + (ParamExtFloat) _param_ekf2_terr_noise, + (ParamExtFloat) _param_ekf2_terr_grad, +#endif // CONFIG_EKF2_TERRAIN #if defined(CONFIG_EKF2_RANGE_FINDER) // range finder fusion - (ParamExtInt) _param_ekf2_rng_ctrl, ///< range finder control selection - (ParamExtFloat) - _param_ekf2_rng_delay, ///< range finder measurement delay relative to the IMU (mSec) - (ParamExtFloat) - _param_ekf2_rng_noise, ///< observation noise for range finder measurements (m) - (ParamExtFloat) - _param_ekf2_rng_sfe, ///< scale factor from range to range noise (m/m) - (ParamExtFloat) - _param_ekf2_rng_gate, ///< range finder fusion innovation consistency gate size (STD) - (ParamExtFloat) - _param_ekf2_min_rng, ///< minimum valid value for range when on ground (m) - (ParamExtFloat) _param_ekf2_rng_pitch, ///< range sensor pitch offset (rad) - (ParamExtFloat) - _param_ekf2_rng_a_vmax, ///< maximum allowed horizontal velocity for range aid (m/s) - (ParamExtFloat) - _param_ekf2_rng_a_hmax, ///< maximum allowed absolute altitude (AGL) for range aid (m) - (ParamExtFloat) - _param_ekf2_rng_a_igate, ///< gate size used for innovation consistency checks for range aid fusion (STD) - (ParamExtFloat) - _param_ekf2_rng_qlty_t, ///< Minimum duration during which the reported range finder signal quality needs to be non-zero in order to be declared valid (s) - (ParamExtFloat) - _param_ekf2_rng_k_gate, ///< range finder kinematic consistency gate size (STD) - (ParamExtFloat) - _param_ekf2_rng_pos_x, ///< X position of range finder in body frame (m) - (ParamExtFloat) - _param_ekf2_rng_pos_y, ///< Y position of range finder in body frame (m) - (ParamExtFloat) - _param_ekf2_rng_pos_z, ///< Z position of range finder in body frame (m) - - (ParamExtInt) - _param_ekf2_terr_mask, ///< bitmasked integer that selects which of range finder and optical flow aiding sources will be used for terrain estimation - (ParamExtFloat) _param_ekf2_terr_noise, ///< process noise for terrain offset (m/sec) - (ParamExtFloat) - _param_ekf2_terr_grad, ///< gradient of terrain used to estimate process noise due to changing position (m/m) + (ParamExtInt) _param_ekf2_rng_ctrl, + (ParamExtFloat) _param_ekf2_rng_delay, + (ParamExtFloat) _param_ekf2_rng_noise, + (ParamExtFloat) _param_ekf2_rng_sfe, + (ParamExtFloat) _param_ekf2_rng_gate, + (ParamExtFloat) _param_ekf2_rng_pitch, + (ParamExtFloat) _param_ekf2_rng_a_vmax, + (ParamExtFloat) _param_ekf2_rng_a_hmax, + (ParamExtFloat) _param_ekf2_rng_a_igate, + (ParamExtFloat) _param_ekf2_rng_qlty_t, + (ParamExtFloat) _param_ekf2_rng_k_gate, + (ParamExtFloat) _param_ekf2_rng_pos_x, + (ParamExtFloat) _param_ekf2_rng_pos_y, + (ParamExtFloat) _param_ekf2_rng_pos_z, #endif // CONFIG_EKF2_RANGE_FINDER #if defined(CONFIG_EKF2_EXTERNAL_VISION) @@ -647,14 +654,12 @@ class EKF2 final : public ModuleParams, public px4::ScheduledWorkItem (ParamExtFloat) _param_ekf2_ev_pos_z, ///< Z position of VI sensor focal point in body frame (m) #endif // CONFIG_EKF2_EXTERNAL_VISION - - (ParamExtFloat) - _param_ekf2_grav_noise, ///< default accelerometer noise for gravity fusion measurements (m/s**2) - #if defined(CONFIG_EKF2_OPTICAL_FLOW) // optical flow fusion (ParamExtInt) _param_ekf2_of_ctrl, ///< optical flow fusion selection + (ParamExtInt) + _param_ekf2_of_gyr_src, (ParamExtFloat) _param_ekf2_of_delay, ///< optical flow measurement delay relative to the IMU (mSec) - this is to the middle of the optical flow integration interval (ParamExtFloat) @@ -662,7 +667,9 @@ class EKF2 final : public ModuleParams, public px4::ScheduledWorkItem (ParamExtFloat) _param_ekf2_of_n_max, ///< worst quality observation noise for optical flow LOS rate measurements (rad/sec) (ParamExtInt) - _param_ekf2_of_qmin, ///< minimum acceptable quality integer from the flow sensor + _param_ekf2_of_qmin, ///< minimum acceptable quality integer from the flow sensor when in air + (ParamExtInt) + _param_ekf2_of_qmin_gnd, ///< minimum acceptable quality integer from the flow sensor when on ground (ParamExtFloat) _param_ekf2_of_gate, ///< optical flow fusion innovation consistency gate size (STD) (ParamExtFloat) @@ -673,19 +680,24 @@ class EKF2 final : public ModuleParams, public px4::ScheduledWorkItem _param_ekf2_of_pos_z, ///< Z position of optical flow sensor focal point in body frame (m) #endif // CONFIG_EKF2_OPTICAL_FLOW +#if defined(CONFIG_EKF2_DRAG_FUSION) + (ParamExtInt) _param_ekf2_drag_ctrl, ///< drag fusion selection + // Multi-rotor drag specific force fusion + (ParamExtFloat) + _param_ekf2_drag_noise, ///< observation noise variance for drag specific force measurements (m/sec**2)**2 + (ParamExtFloat) _param_ekf2_bcoef_x, ///< ballistic coefficient along the X-axis (kg/m**2) + (ParamExtFloat) _param_ekf2_bcoef_y, ///< ballistic coefficient along the Y-axis (kg/m**2) + (ParamExtFloat) _param_ekf2_mcoef, ///< propeller momentum drag coefficient (1/s) +#endif // CONFIG_EKF2_DRAG_FUSION + +#if defined(CONFIG_EKF2_GRAVITY_FUSION) + (ParamExtFloat) _param_ekf2_grav_noise, +#endif // CONFIG_EKF2_GRAVITY_FUSION + // sensor positions in body frame (ParamExtFloat) _param_ekf2_imu_pos_x, ///< X position of IMU in body frame (m) (ParamExtFloat) _param_ekf2_imu_pos_y, ///< Y position of IMU in body frame (m) (ParamExtFloat) _param_ekf2_imu_pos_z, ///< Z position of IMU in body frame (m) - (ParamExtFloat) _param_ekf2_gps_pos_x, ///< X position of GPS antenna in body frame (m) - (ParamExtFloat) _param_ekf2_gps_pos_y, ///< Y position of GPS antenna in body frame (m) - (ParamExtFloat) _param_ekf2_gps_pos_z, ///< Z position of GPS antenna in body frame (m) - - // output predictor filter time constants - (ParamFloat) - _param_ekf2_tau_vel, ///< time constant used by the output velocity complementary filter (sec) - (ParamFloat) - _param_ekf2_tau_pos, ///< time constant used by the output position complementary filter (sec) // IMU switch on bias parameters (ParamExtFloat) @@ -706,42 +718,9 @@ class EKF2 final : public ModuleParams, public px4::ScheduledWorkItem (ParamExtFloat) _param_ekf2_gyr_b_lim, ///< Gyro bias learning limit (rad/s) -#if defined(CONFIG_EKF2_DRAG_FUSION) - (ParamExtInt) _param_ekf2_drag_ctrl, ///< drag fusion selection - // Multi-rotor drag specific force fusion - (ParamExtFloat) - _param_ekf2_drag_noise, ///< observation noise variance for drag specific force measurements (m/sec**2)**2 - (ParamExtFloat) _param_ekf2_bcoef_x, ///< ballistic coefficient along the X-axis (kg/m**2) - (ParamExtFloat) _param_ekf2_bcoef_y, ///< ballistic coefficient along the Y-axis (kg/m**2) - (ParamExtFloat) _param_ekf2_mcoef, ///< propeller momentum drag coefficient (1/s) -#endif // CONFIG_EKF2_DRAG_FUSION - -#if defined(CONFIG_EKF2_BARO_COMPENSATION) - // Corrections for static pressure position error where Ps_error = Ps_meas - Ps_truth - // Coef = Ps_error / Pdynamic, where Pdynamic = 1/2 * density * TAS**2 - (ParamExtFloat) - _param_ekf2_aspd_max, ///< upper limit on airspeed used for correction (m/s**2) - (ParamExtFloat) - _param_ekf2_pcoef_xp, ///< static pressure position error coefficient along the positive X body axis - (ParamExtFloat) - _param_ekf2_pcoef_xn, ///< static pressure position error coefficient along the negative X body axis - (ParamExtFloat) - _param_ekf2_pcoef_yp, ///< static pressure position error coefficient along the positive Y body axis - (ParamExtFloat) - _param_ekf2_pcoef_yn, ///< static pressure position error coefficient along the negative Y body axis - (ParamExtFloat) - _param_ekf2_pcoef_z, ///< static pressure position error coefficient along the Z body axis -#endif // CONFIG_EKF2_BARO_COMPENSATION - - (ParamFloat) _param_ekf2_req_gps_h, ///< Required GPS health time - (ParamExtInt) _param_ekf2_mag_check, ///< Mag field strength check - (ParamExtInt) - _param_ekf2_synthetic_mag_z, ///< Enables the use of a synthetic value for the Z axis of the magnetometer calculated from the 3D magnetic field vector at the location of the drone. - - // Used by EKF-GSF experimental yaw estimator - (ParamExtFloat) - _param_ekf2_gsf_tas_default ///< default value of true airspeed assumed during fixed wing operation - + // output predictor filter time constants + (ParamFloat) _param_ekf2_tau_vel, + (ParamFloat) _param_ekf2_tau_pos ) }; #endif // !EKF2_HPP diff --git a/src/modules/ekf2/EKF2Selector.cpp b/src/modules/ekf2/EKF2Selector.cpp index 99fb863eed96..f5f67e2cded9 100644 --- a/src/modules/ekf2/EKF2Selector.cpp +++ b/src/modules/ekf2/EKF2Selector.cpp @@ -479,18 +479,32 @@ void EKF2Selector::PublishVehicleLocalPosition() _delta_heading_reset = matrix::wrap_pi(local_position.heading - _local_position_last.heading); } + // HAGL (dist_bottom) reset + if (!instance_change + && (local_position.dist_bottom_reset_counter == _local_position_last.dist_bottom_reset_counter + 1)) { + ++_hagl_reset_counter; + _delta_hagl_reset = local_position.delta_dist_bottom; + + } else if (instance_change + || (local_position.dist_bottom_reset_counter != _local_position_last.dist_bottom_reset_counter)) { + ++_hagl_reset_counter; + _delta_hagl_reset = local_position.dist_bottom - _local_position_last.dist_bottom; + } + } else { _xy_reset_counter = local_position.xy_reset_counter; _z_reset_counter = local_position.z_reset_counter; _vxy_reset_counter = local_position.vxy_reset_counter; _vz_reset_counter = local_position.vz_reset_counter; _heading_reset_counter = local_position.heading_reset_counter; + _hagl_reset_counter = local_position.dist_bottom_reset_counter; _delta_xy_reset = Vector2f{local_position.delta_xy}; _delta_z_reset = local_position.delta_z; _delta_vxy_reset = Vector2f{local_position.delta_vxy}; _delta_vz_reset = local_position.delta_vz; _delta_heading_reset = local_position.delta_heading; + _delta_hagl_reset = local_position.delta_dist_bottom; } bool publish = true; @@ -513,6 +527,7 @@ void EKF2Selector::PublishVehicleLocalPosition() local_position.vxy_reset_counter = _vxy_reset_counter; local_position.vz_reset_counter = _vz_reset_counter; local_position.heading_reset_counter = _heading_reset_counter; + local_position.dist_bottom_reset_counter = _hagl_reset_counter; _delta_xy_reset.copyTo(local_position.delta_xy); local_position.delta_z = _delta_z_reset; @@ -612,6 +627,16 @@ void EKF2Selector::PublishVehicleGlobalPosition() _delta_alt_reset = global_position.delta_alt - _global_position_last.delta_alt; } + // terrain reset + if (!instance_change && (global_position.terrain_reset_counter == _global_position_last.terrain_reset_counter + 1)) { + ++_terrain_reset_counter; + _delta_terrain_reset = global_position.delta_terrain; + + } else if (instance_change || (global_position.terrain_reset_counter != _global_position_last.terrain_reset_counter)) { + ++_terrain_reset_counter; + _delta_terrain_reset = global_position.delta_terrain - _global_position_last.delta_terrain; + } + } else { _lat_lon_reset_counter = global_position.lat_lon_reset_counter; _alt_reset_counter = global_position.alt_reset_counter; diff --git a/src/modules/ekf2/EKF2Selector.hpp b/src/modules/ekf2/EKF2Selector.hpp index 6507233bd3e8..535af97e6d38 100644 --- a/src/modules/ekf2/EKF2Selector.hpp +++ b/src/modules/ekf2/EKF2Selector.hpp @@ -202,11 +202,14 @@ class EKF2Selector : public ModuleParams, public px4::ScheduledWorkItem matrix::Vector2f _delta_vxy_reset{}; float _delta_vz_reset{0.f}; float _delta_heading_reset{0}; + float _delta_hagl_reset{0.f}; + uint8_t _xy_reset_counter{0}; uint8_t _z_reset_counter{0}; uint8_t _vxy_reset_counter{0}; uint8_t _vz_reset_counter{0}; uint8_t _heading_reset_counter{0}; + uint8_t _hagl_reset_counter{0}; // vehicle_odometry vehicle_odometry_s _odometry_last{}; @@ -217,8 +220,11 @@ class EKF2Selector : public ModuleParams, public px4::ScheduledWorkItem double _delta_lat_reset{0}; double _delta_lon_reset{0}; float _delta_alt_reset{0.f}; + float _delta_terrain_reset{0.f}; + uint8_t _lat_lon_reset_counter{0}; uint8_t _alt_reset_counter{0}; + uint8_t _terrain_reset_counter{0}; // wind estimate wind_s _wind_last{}; diff --git a/src/modules/ekf2/Kconfig b/src/modules/ekf2/Kconfig index 6d2713036379..93f96a656c1e 100644 --- a/src/modules/ekf2/Kconfig +++ b/src/modules/ekf2/Kconfig @@ -4,6 +4,15 @@ menuconfig MODULES_EKF2 ---help--- Enable support for ekf2 +menuconfig EKF2_VERBOSE_STATUS +depends on MODULES_EKF2 + bool "verbose status output" + default n + depends on !BOARD_CONSTRAINED_MEMORY + depends on !BOARD_CONSTRAINED_FLASH + ---help--- + ekf2 status verbose output. + menuconfig EKF2_MULTI_INSTANCE depends on MODULES_EKF2 bool "multi-EKF support" @@ -18,9 +27,17 @@ depends on MODULES_EKF2 bool "airspeed fusion support" default y depends on EKF2_SIDESLIP + depends on EKF2_WIND ---help--- EKF2 airspeed fusion support. +menuconfig EKF2_AUX_GLOBAL_POSITION +depends on MODULES_EKF2 + bool "aux global position fusion support" + default n + ---help--- + EKF2 auxiliary global position fusion support. + menuconfig EKF2_AUXVEL depends on MODULES_EKF2 bool "aux velocity fusion support" @@ -28,10 +45,19 @@ depends on MODULES_EKF2 ---help--- EKF2 auxiliary velocity fusion support. +menuconfig EKF2_BAROMETER +depends on MODULES_EKF2 + bool "barometer support" + default y + ---help--- + EKF2 barometer support. + menuconfig EKF2_BARO_COMPENSATION depends on MODULES_EKF2 bool "barometer compensation support" default y + depends on EKF2_BAROMETER + depends on EKF2_WIND ---help--- EKF2 pressure compensation support. @@ -39,6 +65,7 @@ menuconfig EKF2_DRAG_FUSION depends on MODULES_EKF2 bool "drag fusion support" default y + depends on EKF2_WIND ---help--- EKF2 drag fusion support. @@ -49,18 +76,40 @@ depends on MODULES_EKF2 ---help--- EKF2 external vision (EV) fusion support. +menuconfig EKF2_GNSS +depends on MODULES_EKF2 + bool "GNSS fusion support" + default y + ---help--- + EKF2 GNSS fusion support. + menuconfig EKF2_GNSS_YAW depends on MODULES_EKF2 bool "GNSS yaw fusion support" default y + depends on EKF2_GNSS ---help--- EKF2 GNSS yaw fusion support. +menuconfig EKF2_GRAVITY_FUSION +depends on MODULES_EKF2 + bool "gravity fusion support" + default y + ---help--- + EKF2 gravity fusion support. + +menuconfig EKF2_MAGNETOMETER +depends on MODULES_EKF2 + bool "magnetometer support" + default y + ---help--- + EKF2 magnetometer support. + menuconfig EKF2_OPTICAL_FLOW depends on MODULES_EKF2 bool "optical flow fusion support" default y - depends on EKF2_RANGE_FINDER + select EKF2_TERRAIN ---help--- EKF2 optical flow fusion support. @@ -75,9 +124,25 @@ menuconfig EKF2_SIDESLIP depends on MODULES_EKF2 bool "sideslip fusion support" default y + depends on EKF2_WIND ---help--- EKF2 sideslip fusion support. +menuconfig EKF2_TERRAIN +depends on MODULES_EKF2 + bool "terrain estimator support" + default y + depends on EKF2_OPTICAL_FLOW || EKF2_RANGE_FINDER + ---help--- + EKF2 terrain estimator support. + +menuconfig EKF2_WIND +depends on MODULES_EKF2 + bool "wind estimation support" + default y + ---help--- + EKF2 wind estimation support. + menuconfig USER_EKF2 bool "ekf2 running as userspace module" default n diff --git a/src/modules/ekf2/Utility/CMakeLists.txt b/src/modules/ekf2/Utility/CMakeLists.txt deleted file mode 100644 index 7a635acebe7c..000000000000 --- a/src/modules/ekf2/Utility/CMakeLists.txt +++ /dev/null @@ -1,45 +0,0 @@ -############################################################################ -# -# Copyright (c) 2019 PX4 Development Team. All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# 1. Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# 2. Redistributions in binary form must reproduce the above copyright -# notice, this list of conditions and the following disclaimer in -# the documentation and/or other materials provided with the -# distribution. -# 3. Neither the name PX4 nor the names of its contributors may be -# used to endorse or promote products derived from this software -# without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS -# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED -# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. -# -############################################################################# - -px4_add_library(EKF2Utility - PreFlightChecker.cpp -) - -target_include_directories(EKF2Utility - PUBLIC - ${CMAKE_CURRENT_SOURCE_DIR} -) - -target_link_libraries(EKF2Utility PRIVATE mathlib) - -px4_add_unit_gtest(SRC PreFlightCheckerTest.cpp LINKLIBS EKF2Utility) diff --git a/src/modules/ekf2/Utility/InnovationLpf.hpp b/src/modules/ekf2/Utility/InnovationLpf.hpp deleted file mode 100644 index 89964b0d7161..000000000000 --- a/src/modules/ekf2/Utility/InnovationLpf.hpp +++ /dev/null @@ -1,79 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2019 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * First order "alpha" IIR digital filter with input saturation - */ - -#include - -class InnovationLpf final -{ -public: - InnovationLpf() = default; - ~InnovationLpf() = default; - - void reset(float val = 0.f) { _x = val; } - - /** - * Update the filter with a new value and returns the filtered state - * The new value is constained by the limit set in setSpikeLimit - * @param val new input - * @param alpha normalized weight of the new input - * @param spike_limit the amplitude of the saturation at the input of the filter - * @return filtered output - */ - float update(float val, float alpha, float spike_limit) - { - float val_constrained = math::constrain(val, -spike_limit, spike_limit); - float beta = 1.f - alpha; - - _x = beta * _x + alpha * val_constrained; - - return _x; - } - - /** - * Helper function to compute alpha from dt and the inverse of tau - * @param dt sampling time in seconds - * @param tau_inv inverse of the time constant of the filter - * @return alpha, the normalized weight of a new measurement - */ - static float computeAlphaFromDtAndTauInv(float dt, float tau_inv) - { - return math::constrain(dt * tau_inv, 0.f, 1.f); - } - -private: - float _x{}; ///< current state of the filter -}; diff --git a/src/modules/ekf2/Utility/PreFlightChecker.cpp b/src/modules/ekf2/Utility/PreFlightChecker.cpp deleted file mode 100644 index bf7b62f6aca6..000000000000 --- a/src/modules/ekf2/Utility/PreFlightChecker.cpp +++ /dev/null @@ -1,180 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2019 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file PreFlightCheckHelper.cpp - * Class handling the EKF2 innovation pre flight checks - */ - -#include "PreFlightChecker.hpp" - -void PreFlightChecker::update(const float dt, const estimator_innovations_s &innov) -{ - const float alpha = InnovationLpf::computeAlphaFromDtAndTauInv(dt, _innov_lpf_tau_inv); - - _has_heading_failed = preFlightCheckHeadingFailed(innov, alpha); - _has_horiz_vel_failed = preFlightCheckHorizVelFailed(innov, alpha); - _has_vert_vel_failed = preFlightCheckVertVelFailed(innov, alpha); - _has_height_failed = preFlightCheckHeightFailed(innov, alpha); -} - -bool PreFlightChecker::preFlightCheckHeadingFailed(const estimator_innovations_s &innov, const float alpha) -{ - const float heading_test_limit = selectHeadingTestLimit(); - const float heading_innov_spike_lim = 2.0f * heading_test_limit; - - const float heading_innov_lpf = _filter_heading_innov.update(innov.heading, alpha, heading_innov_spike_lim); - - return checkInnovFailed(heading_innov_lpf, innov.heading, heading_test_limit, heading_innov_spike_lim); -} - -float PreFlightChecker::selectHeadingTestLimit() -{ - // Select the max allowed heading innovaton depending on whether we are not aiding navigation using - // observations in the NE reference frame and if the vehicle can use GPS course to realign in flight (fixedwing sideslip fusion). - const bool is_ne_aiding = _is_using_gps_aiding || _is_using_ev_pos_aiding; - - return (is_ne_aiding && !_can_observe_heading_in_flight) - ? _nav_heading_innov_test_lim // more restrictive test limit - : _heading_innov_test_lim; // less restrictive test limit -} - -bool PreFlightChecker::preFlightCheckHorizVelFailed(const estimator_innovations_s &innov, const float alpha) -{ - bool has_failed = false; - - if (_is_using_gps_aiding || _is_using_ev_vel_aiding) { - const Vector2f vel_ne_innov = Vector2f(fmaxf(fabsf(innov.gps_hvel[0]), fabsf(innov.ev_hvel[0])), - fmaxf(fabsf(innov.gps_hvel[1]), fabsf(innov.ev_hvel[1]))); - Vector2f vel_ne_innov_lpf; - vel_ne_innov_lpf(0) = _filter_vel_n_innov.update(vel_ne_innov(0), alpha, _vel_innov_spike_lim); - vel_ne_innov_lpf(1) = _filter_vel_e_innov.update(vel_ne_innov(1), alpha, _vel_innov_spike_lim); - has_failed |= checkInnov2DFailed(vel_ne_innov_lpf, vel_ne_innov, _vel_innov_test_lim, _vel_innov_spike_lim); - } - -#if defined(CONFIG_EKF2_OPTICAL_FLOW) - - if (_is_using_flow_aiding) { - const Vector2f flow_innov = Vector2f(innov.flow); - Vector2f flow_innov_lpf; - flow_innov_lpf(0) = _filter_flow_x_innov.update(flow_innov(0), alpha, _flow_innov_spike_lim); - flow_innov_lpf(1) = _filter_flow_y_innov.update(flow_innov(1), alpha, _flow_innov_spike_lim); - has_failed |= checkInnov2DFailed(flow_innov_lpf, flow_innov, _flow_innov_test_lim, 5.f * _flow_innov_spike_lim); - } - -#endif // CONFIG_EKF2_OPTICAL_FLOW - return has_failed; -} - -bool PreFlightChecker::preFlightCheckVertVelFailed(const estimator_innovations_s &innov, const float alpha) -{ - const float vel_d_innov = fmaxf(fabsf(innov.gps_vvel), fabs(innov.ev_vvel)); // only temporary solution - const float vel_d_innov_lpf = _filter_vel_d_innov.update(vel_d_innov, alpha, _vel_innov_spike_lim); - return checkInnovFailed(vel_d_innov_lpf, vel_d_innov, _vel_innov_test_lim, _vel_innov_spike_lim); -} - -bool PreFlightChecker::preFlightCheckHeightFailed(const estimator_innovations_s &innov, const float alpha) -{ - bool has_failed = false; - - if (_is_using_baro_hgt_aiding) { - const float baro_hgt_innov_lpf = _filter_baro_hgt_innov.update(innov.baro_vpos, alpha, _hgt_innov_spike_lim); - has_failed |= checkInnovFailed(baro_hgt_innov_lpf, innov.baro_vpos, _hgt_innov_test_lim, _hgt_innov_spike_lim); - } - - if (_is_using_gps_hgt_aiding) { - const float gps_hgt_innov_lpf = _filter_gps_hgt_innov.update(innov.gps_vpos, alpha, _hgt_innov_spike_lim); - has_failed |= checkInnovFailed(gps_hgt_innov_lpf, innov.gps_vpos, _hgt_innov_test_lim, _hgt_innov_spike_lim); - } - -#if defined(CONFIG_EKF2_RANGE_FINDER) - - if (_is_using_rng_hgt_aiding) { - const float rng_hgt_innov_lpf = _filter_rng_hgt_innov.update(innov.rng_vpos, alpha, _hgt_innov_spike_lim); - has_failed |= checkInnovFailed(rng_hgt_innov_lpf, innov.rng_vpos, _hgt_innov_test_lim, _hgt_innov_spike_lim); - } - -#endif // CONFIG_EKF2_RANGE_FINDER - - if (_is_using_ev_hgt_aiding) { - const float ev_hgt_innov_lpf = _filter_ev_hgt_innov.update(innov.ev_vpos, alpha, _hgt_innov_spike_lim); - has_failed |= checkInnovFailed(ev_hgt_innov_lpf, innov.ev_vpos, _hgt_innov_test_lim, _hgt_innov_spike_lim); - } - - return has_failed; -} - -bool PreFlightChecker::checkInnovFailed(const float innov_lpf, const float innov, const float test_limit, - const float spike_limit) -{ - return fabsf(innov_lpf) > test_limit || fabsf(innov) > spike_limit; -} - -bool PreFlightChecker::checkInnov2DFailed(const Vector2f &innov_lpf, const Vector2f &innov, const float test_limit, - const float spike_limit) -{ - return innov_lpf.norm_squared() > sq(test_limit) - || innov.norm_squared() > sq(spike_limit); -} - -void PreFlightChecker::reset() -{ - _is_using_gps_aiding = false; - _is_using_ev_pos_aiding = false; - _is_using_ev_vel_aiding = false; - _is_using_baro_hgt_aiding = false; - _is_using_gps_hgt_aiding = false; - _is_using_ev_hgt_aiding = false; - _has_heading_failed = false; - _has_horiz_vel_failed = false; - _has_vert_vel_failed = false; - _has_height_failed = false; - _filter_vel_n_innov.reset(); - _filter_vel_e_innov.reset(); - _filter_vel_d_innov.reset(); - _filter_baro_hgt_innov.reset(); - _filter_gps_hgt_innov.reset(); - _filter_ev_hgt_innov.reset(); - _filter_heading_innov.reset(); - -#if defined(CONFIG_EKF2_RANGE_FINDER) - _is_using_rng_hgt_aiding = false; - _filter_rng_hgt_innov.reset(); -#endif // CONFIG_EKF2_RANGE_FINDER - -#if defined(CONFIG_EKF2_OPTICAL_FLOW) - _is_using_flow_aiding = false; - _filter_flow_x_innov.reset(); - _filter_flow_y_innov.reset(); -#endif // CONFIG_EKF2_OPTICAL_FLOW -} diff --git a/src/modules/ekf2/Utility/PreFlightChecker.hpp b/src/modules/ekf2/Utility/PreFlightChecker.hpp deleted file mode 100644 index 5e9af2c4a96f..000000000000 --- a/src/modules/ekf2/Utility/PreFlightChecker.hpp +++ /dev/null @@ -1,209 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2019 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file PreFlightChecker.hpp - * Class handling the EKF2 innovation pre flight checks - * - * First call the update(...) function and then get the results - * using the hasXxxFailed() getters - */ - -#ifndef EKF2_PREFLIGHTCHECKER_HPP -#define EKF2_PREFLIGHTCHECKER_HPP - -#include -#include - -#include - -#include "InnovationLpf.hpp" - -using matrix::Vector2f; - -class PreFlightChecker -{ -public: - PreFlightChecker() = default; - ~PreFlightChecker() = default; - - /* - * Reset all the internal states of the class to their default value - */ - void reset(); - - /* - * Update the internal states - * @param dt the sampling time - * @param innov the ekf2_innovation_s struct containing the current innovations - */ - void update(float dt, const estimator_innovations_s &innov); - - /* - * If set to true, the checker will use a less conservative heading innovation check - */ - void setVehicleCanObserveHeadingInFlight(bool val) { _can_observe_heading_in_flight = val; } - - void setUsingGpsAiding(bool val) { _is_using_gps_aiding = val; } -#if defined(CONFIG_EKF2_OPTICAL_FLOW) - void setUsingFlowAiding(bool val) { _is_using_flow_aiding = val; } -#endif // CONFIG_EKF2_OPTICAL_FLOW - void setUsingEvPosAiding(bool val) { _is_using_ev_pos_aiding = val; } - void setUsingEvVelAiding(bool val) { _is_using_ev_vel_aiding = val; } - - void setUsingBaroHgtAiding(bool val) { _is_using_baro_hgt_aiding = val; } - void setUsingGpsHgtAiding(bool val) { _is_using_gps_hgt_aiding = val; } -#if defined(CONFIG_EKF2_RANGE_FINDER) - void setUsingRngHgtAiding(bool val) { _is_using_rng_hgt_aiding = val; } -#endif // CONFIG_EKF2_RANGE_FINDER - void setUsingEvHgtAiding(bool val) { _is_using_ev_hgt_aiding = val; } - - bool hasHeadingFailed() const { return _has_heading_failed; } - bool hasHorizVelFailed() const { return _has_horiz_vel_failed; } - bool hasVertVelFailed() const { return _has_vert_vel_failed; } - bool hasHeightFailed() const { return _has_height_failed; } - - /* - * Overall state of the pre fligh checks - * @return true if any of the check failed - */ - bool hasFailed() const { return hasHorizFailed() || hasVertFailed(); } - - /* - * Horizontal checks overall result - * @return true if one of the horizontal checks failed - */ - bool hasHorizFailed() const { return _has_heading_failed || _has_horiz_vel_failed; } - - /* - * Vertical checks overall result - * @return true if one of the vertical checks failed - */ - bool hasVertFailed() const { return _has_vert_vel_failed || _has_height_failed; } - - /* - * Check if the innovation fails the test - * To pass the test, the following conditions should be true: - * innov_lpf <= test_limit - * innov <= spike_limit - * @param innov_lpf the low-pass filtered innovation - * @param innov the current unfiltered innovation - * @param test_limit the magnitude test limit for innov_lpf - * @param spike_limit the magnitude test limit for innov - * @return true if the check failed the test, false otherwise - */ - static bool checkInnovFailed(float innov_lpf, float innov, float test_limit, float spike_limit); - - /* - * Check if the a innovation of a 2D vector fails the test - * To pass the test, the following conditions should be true: - * innov_lpf <= test_limit - * innov <= spike_limit - * @param innov_lpf the low-pass filtered innovation - * @param innov the current unfiltered innovation - * @param test_limit the magnitude test limit for innov_lpf - * @param spike_limit the magnitude test limit for innov - * @return true if the check failed the test, false otherwise - */ - static bool checkInnov2DFailed(const Vector2f &innov_lpf, const Vector2f &innov, float test_limit, float spike_limit); - - static constexpr float sq(float var) { return var * var; } - -private: - bool preFlightCheckHeadingFailed(const estimator_innovations_s &innov, float alpha); - float selectHeadingTestLimit(); - - bool preFlightCheckHorizVelFailed(const estimator_innovations_s &innov, float alpha); - bool preFlightCheckVertVelFailed(const estimator_innovations_s &innov, float alpha); - bool preFlightCheckHeightFailed(const estimator_innovations_s &innov, float alpha); - - bool _has_heading_failed{}; - bool _has_horiz_vel_failed{}; - bool _has_vert_vel_failed{}; - bool _has_height_failed{}; - - bool _can_observe_heading_in_flight{}; - bool _is_using_gps_aiding{}; - bool _is_using_ev_pos_aiding{}; - bool _is_using_ev_vel_aiding{}; - - bool _is_using_baro_hgt_aiding{}; - bool _is_using_gps_hgt_aiding{}; - bool _is_using_ev_hgt_aiding{}; - - // Low-pass filters for innovation pre-flight checks - InnovationLpf _filter_vel_n_innov; ///< Preflight low pass filter N axis velocity innovations (m/sec) - InnovationLpf _filter_vel_e_innov; ///< Preflight low pass filter E axis velocity innovations (m/sec) - InnovationLpf _filter_vel_d_innov; ///< Preflight low pass filter D axis velocity innovations (m/sec) - InnovationLpf _filter_heading_innov; ///< Preflight low pass filter heading innovation magntitude (rad) - - // Preflight low pass filter height innovation (m) - InnovationLpf _filter_baro_hgt_innov; - InnovationLpf _filter_gps_hgt_innov; - InnovationLpf _filter_ev_hgt_innov; - -#if defined(CONFIG_EKF2_RANGE_FINDER) - bool _is_using_rng_hgt_aiding {}; - InnovationLpf _filter_rng_hgt_innov; -#endif // CONFIG_EKF2_RANGE_FINDER - -#if defined(CONFIG_EKF2_OPTICAL_FLOW) - bool _is_using_flow_aiding {}; - InnovationLpf _filter_flow_x_innov; ///< Preflight low pass filter optical flow innovation (rad) - InnovationLpf _filter_flow_y_innov; ///< Preflight low pass filter optical flow innovation (rad) - - // Maximum permissible flow innovation to pass pre-flight checks - static constexpr float _flow_innov_test_lim = 0.5f; - - // Preflight flow innovation spike limit (rad) - static constexpr float _flow_innov_spike_lim = 2.0f * _flow_innov_test_lim; -#endif // CONFIG_EKF2_OPTICAL_FLOW - - // Preflight low pass filter time constant inverse (1/sec) - static constexpr float _innov_lpf_tau_inv = 0.2f; - // Maximum permissible velocity innovation to pass pre-flight checks (m/sec) - static constexpr float _vel_innov_test_lim = 0.5f; - // Maximum permissible height innovation to pass pre-flight checks (m) - static constexpr float _hgt_innov_test_lim = 1.5f; - // Maximum permissible yaw innovation to pass pre-flight checks when aiding inertial nav using NE frame observations (rad) - static constexpr float _nav_heading_innov_test_lim = 0.25f; - // Maximum permissible yaw innovation to pass pre-flight checks when not aiding inertial nav using NE frame observations (rad) - static constexpr float _heading_innov_test_lim = 0.52f; - - // Preflight velocity innovation spike limit (m/sec) - static constexpr float _vel_innov_spike_lim = 2.0f * _vel_innov_test_lim; - // Preflight position innovation spike limit (m) - static constexpr float _hgt_innov_spike_lim = 2.0f * _hgt_innov_test_lim; - -}; -#endif // !EKF2_PREFLIGHTCHECKER_HPP diff --git a/src/modules/ekf2/Utility/PreFlightCheckerTest.cpp b/src/modules/ekf2/Utility/PreFlightCheckerTest.cpp deleted file mode 100644 index 16e1beddf5e8..000000000000 --- a/src/modules/ekf2/Utility/PreFlightCheckerTest.cpp +++ /dev/null @@ -1,97 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2019 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * Test code for PreFlightChecker class - * Run this test only using make tests TESTFILTER=PreFlightChecker - */ - -#include - -#include "PreFlightChecker.hpp" - -class PreFlightCheckerTest : public ::testing::Test -{ -}; - -TEST_F(PreFlightCheckerTest, testInnovFailed) -{ - const float test_limit = 1.0; ///< is the limit for innovation_lpf - const float spike_limit = 2.f * test_limit; ///< is the limit for innovation_lpf - const float innovations[9] = {0.0, 1.5, 2.5, -1.5, -2.5, 1.5, -1.5, -2.5, -2.5}; - const float innovations_lpf[9] = {0.0, 0.9, 0.9, -0.9, -0.9, 1.1, -1.1, -1.1, 1.1}; - const bool expected_result[9] = {false, false, true, false, true, true, true, true, true}; - - for (int i = 0; i < 9; i++) { - EXPECT_EQ(PreFlightChecker::checkInnovFailed(innovations_lpf[i], innovations[i], test_limit, spike_limit), - expected_result[i]); - } - - // Smaller test limit, all the checks should fail except the first - EXPECT_FALSE(PreFlightChecker::checkInnovFailed(innovations_lpf[0], innovations[0], 0.0, 0.0)); - - for (int i = 1; i < 9; i++) { - EXPECT_TRUE(PreFlightChecker::checkInnovFailed(innovations_lpf[i], innovations[i], 0.0, 0.0)); - } - - // Larger test limit, none of the checks should fail - for (int i = 0; i < 9; i++) { - EXPECT_FALSE(PreFlightChecker::checkInnovFailed(innovations_lpf[i], innovations[i], 2.0, 4.0)); - } -} - -TEST_F(PreFlightCheckerTest, testInnov2dFailed) -{ - const float test_limit = 1.0; - const float spike_limit = 2.0; - Vector2f innovations[4] = {{0.0, 0.0}, {0.0, 0.0}, {0.0, -2.5}, {1.5, -1.5}}; - Vector2f innovations_lpf[4] = {{0.0, 0.0}, {1.1, 0.0}, {0.5, 0.5}, {1.0, -1.0}}; - const bool expected_result[4] = {false, true, true, true}; - - for (int i = 0; i < 4; i++) { - EXPECT_EQ(PreFlightChecker::checkInnov2DFailed(innovations_lpf[i], innovations[i], test_limit, spike_limit), - expected_result[i]); - } - - // Smaller test limit, all the checks should fail except the first - EXPECT_FALSE(PreFlightChecker::checkInnov2DFailed(innovations[0], innovations_lpf[0], 0.0, 0.0)); - - for (int i = 1; i < 4; i++) { - EXPECT_TRUE(PreFlightChecker::checkInnov2DFailed(innovations_lpf[i], innovations[i], 0.0, 0.0)); - } - - // Larger test limit, none of the checks should fail - for (int i = 0; i < 4; i++) { - EXPECT_FALSE(PreFlightChecker::checkInnov2DFailed(innovations_lpf[i], innovations[i], 1.42, 2.84)); - } -} diff --git a/src/modules/ekf2/ekf2_params.c b/src/modules/ekf2/ekf2_params.c deleted file mode 100644 index cf4a49ff7574..000000000000 --- a/src/modules/ekf2/ekf2_params.c +++ /dev/null @@ -1,1532 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2015-2016 Estimation and Control Library (ECL). All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name ECL nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file ekf2_params.c - * Parameter definition for ekf2. - * - * @author Roman Bast - * - */ - -/** - * EKF prediction period - * - * EKF prediction period in microseconds. This should ideally be an integer multiple of the IMU time delta. - * Actual filter update will be an integer multiple of IMU update. - * - * @group EKF2 - * @min 1000 - * @max 20000 - * @unit us - */ -PARAM_DEFINE_INT32(EKF2_PREDICT_US, 10000); - -/** - * IMU control - * - * @group EKF2 - * @min 0 - * @max 7 - * @bit 0 Gyro Bias - * @bit 1 Accel Bias - * @bit 2 Gravity vector fusion - */ -PARAM_DEFINE_INT32(EKF2_IMU_CTRL, 3); - -/** - * Magnetometer measurement delay relative to IMU measurements - * - * @group EKF2 - * @min 0 - * @max 300 - * @unit ms - * @reboot_required true - * @decimal 1 - */ -PARAM_DEFINE_FLOAT(EKF2_MAG_DELAY, 0); - -/** - * Barometer measurement delay relative to IMU measurements - * - * @group EKF2 - * @min 0 - * @max 300 - * @unit ms - * @reboot_required true - * @decimal 1 - */ -PARAM_DEFINE_FLOAT(EKF2_BARO_DELAY, 0); - -/** - * GPS measurement delay relative to IMU measurements - * - * @group EKF2 - * @min 0 - * @max 300 - * @unit ms - * @reboot_required true - * @decimal 1 - */ -PARAM_DEFINE_FLOAT(EKF2_GPS_DELAY, 110); - -/** - * Optical flow measurement delay relative to IMU measurements - * - * Assumes measurement is timestamped at trailing edge of integration period - * - * @group EKF2 - * @min 0 - * @max 300 - * @unit ms - * @reboot_required true - * @decimal 1 - */ -PARAM_DEFINE_FLOAT(EKF2_OF_DELAY, 20); - -/** - * Range finder measurement delay relative to IMU measurements - * - * @group EKF2 - * @min 0 - * @max 300 - * @unit ms - * @reboot_required true - * @decimal 1 - */ -PARAM_DEFINE_FLOAT(EKF2_RNG_DELAY, 5); - -/** - * Airspeed measurement delay relative to IMU measurements - * - * @group EKF2 - * @min 0 - * @max 300 - * @unit ms - * @reboot_required true - * @decimal 1 - */ -PARAM_DEFINE_FLOAT(EKF2_ASP_DELAY, 100); - -/** - * Vision Position Estimator delay relative to IMU measurements - * - * @group EKF2 - * @min 0 - * @max 300 - * @unit ms - * @reboot_required true - * @decimal 1 - */ -PARAM_DEFINE_FLOAT(EKF2_EV_DELAY, 0); - -/** - * Auxiliary Velocity Estimate (e.g from a landing target) delay relative to IMU measurements - * - * @group EKF2 - * @min 0 - * @max 300 - * @unit ms - * @reboot_required true - * @decimal 1 - */ -PARAM_DEFINE_FLOAT(EKF2_AVEL_DELAY, 5); - -/** - * Integer bitmask controlling GPS checks. - * - * Set bits to 1 to enable checks. Checks enabled by the following bit positions - * 0 : Minimum required sat count set by EKF2_REQ_NSATS - * 1 : Maximum allowed PDOP set by EKF2_REQ_PDOP - * 2 : Maximum allowed horizontal position error set by EKF2_REQ_EPH - * 3 : Maximum allowed vertical position error set by EKF2_REQ_EPV - * 4 : Maximum allowed speed error set by EKF2_REQ_SACC - * 5 : Maximum allowed horizontal position rate set by EKF2_REQ_HDRIFT. This check will only run when the vehicle is on ground and stationary. - * 6 : Maximum allowed vertical position rate set by EKF2_REQ_VDRIFT. This check will only run when the vehicle is on ground and stationary. - * 7 : Maximum allowed horizontal speed set by EKF2_REQ_HDRIFT. This check will only run when the vehicle is on ground and stationary. - * 8 : Maximum allowed vertical velocity discrepancy set by EKF2_REQ_VDRIFT - * - * @group EKF2 - * @min 0 - * @max 511 - * @bit 0 Min sat count (EKF2_REQ_NSATS) - * @bit 1 Max PDOP (EKF2_REQ_PDOP) - * @bit 2 Max horizontal position error (EKF2_REQ_EPH) - * @bit 3 Max vertical position error (EKF2_REQ_EPV) - * @bit 4 Max speed error (EKF2_REQ_SACC) - * @bit 5 Max horizontal position rate (EKF2_REQ_HDRIFT) - * @bit 6 Max vertical position rate (EKF2_REQ_VDRIFT) - * @bit 7 Max horizontal speed (EKF2_REQ_HDRIFT) - * @bit 8 Max vertical velocity discrepancy (EKF2_REQ_VDRIFT) - */ -PARAM_DEFINE_INT32(EKF2_GPS_CHECK, 245); - -/** - * Required EPH to use GPS. - * - * @group EKF2 - * @min 2 - * @max 100 - * @unit m - * @decimal 1 - */ -PARAM_DEFINE_FLOAT(EKF2_REQ_EPH, 3.0f); - -/** - * Required EPV to use GPS. - * - * @group EKF2 - * @min 2 - * @max 100 - * @unit m - * @decimal 1 - */ -PARAM_DEFINE_FLOAT(EKF2_REQ_EPV, 5.0f); - -/** - * Required speed accuracy to use GPS. - * - * @group EKF2 - * @min 0.5 - * @max 5.0 - * @unit m/s - * @decimal 2 - */ -PARAM_DEFINE_FLOAT(EKF2_REQ_SACC, 0.5f); - -/** - * Required satellite count to use GPS. - * - * @group EKF2 - * @min 4 - * @max 12 - */ -PARAM_DEFINE_INT32(EKF2_REQ_NSATS, 6); - -/** - * Maximum PDOP to use GPS. - * - * @group EKF2 - * @min 1.5 - * @max 5.0 - * @decimal 1 - */ -PARAM_DEFINE_FLOAT(EKF2_REQ_PDOP, 2.5f); - -/** - * Maximum horizontal drift speed to use GPS. - * - * @group EKF2 - * @min 0.1 - * @max 1.0 - * @unit m/s - * @decimal 2 - */ -PARAM_DEFINE_FLOAT(EKF2_REQ_HDRIFT, 0.1f); - -/** - * Maximum vertical drift speed to use GPS. - * - * @group EKF2 - * @min 0.1 - * @max 1.5 - * @decimal 2 - * @unit m/s - */ -PARAM_DEFINE_FLOAT(EKF2_REQ_VDRIFT, 0.2f); - -/** - * Rate gyro noise for covariance prediction. - * - * @group EKF2 - * @min 0.0001 - * @max 0.1 - * @unit rad/s - * @decimal 4 - */ -PARAM_DEFINE_FLOAT(EKF2_GYR_NOISE, 1.5e-2f); - -/** - * Accelerometer noise for covariance prediction. - * - * @group EKF2 - * @min 0.01 - * @max 1.0 - * @unit m/s^2 - * @decimal 2 - */ -PARAM_DEFINE_FLOAT(EKF2_ACC_NOISE, 3.5e-1f); - -/** - * Process noise for IMU rate gyro bias prediction. - * - * @group EKF2 - * @min 0.0 - * @max 0.01 - * @unit rad/s^2 - * @decimal 6 - */ -PARAM_DEFINE_FLOAT(EKF2_GYR_B_NOISE, 1.0e-3f); - -/** - * Process noise for IMU accelerometer bias prediction. - * - * @group EKF2 - * @min 0.0 - * @max 0.01 - * @unit m/s^3 - * @decimal 6 - */ -PARAM_DEFINE_FLOAT(EKF2_ACC_B_NOISE, 3.0e-3f); - -/** - * Process noise for body magnetic field prediction. - * - * @group EKF2 - * @min 0.0 - * @max 0.1 - * @unit gauss/s - * @decimal 6 - */ -PARAM_DEFINE_FLOAT(EKF2_MAG_B_NOISE, 1.0e-4f); - -/** - * Process noise for earth magnetic field prediction. - * - * @group EKF2 - * @min 0.0 - * @max 0.1 - * @unit gauss/s - * @decimal 6 - */ -PARAM_DEFINE_FLOAT(EKF2_MAG_E_NOISE, 1.0e-3f); - -/** - * Process noise spectral density for wind velocity prediction. - * - * When unaided, the wind estimate uncertainty (1-sigma, in m/s) increases by this amount every second. - * - * @group EKF2 - * @min 0.0 - * @max 1.0 - * @unit m/s^2/sqrt(Hz) - * @decimal 3 - */ -PARAM_DEFINE_FLOAT(EKF2_WIND_NSD, 1.0e-2f); - -/** - * Measurement noise for gps horizontal velocity. - * - * @group EKF2 - * @min 0.01 - * @max 5.0 - * @unit m/s - * @decimal 2 - */ -PARAM_DEFINE_FLOAT(EKF2_GPS_V_NOISE, 0.3f); - -/** - * Measurement noise for gps position. - * - * @group EKF2 - * @min 0.01 - * @max 10.0 - * @unit m - * @decimal 2 - */ -PARAM_DEFINE_FLOAT(EKF2_GPS_P_NOISE, 0.5f); - -/** - * Measurement noise for non-aiding position hold. - * - * @group EKF2 - * @min 0.5 - * @max 50.0 - * @unit m - * @decimal 1 - */ -PARAM_DEFINE_FLOAT(EKF2_NOAID_NOISE, 10.0f); - -/** - * Measurement noise for barometric altitude. - * - * @group EKF2 - * @min 0.01 - * @max 15.0 - * @unit m - * @decimal 2 - */ -PARAM_DEFINE_FLOAT(EKF2_BARO_NOISE, 3.5f); - -/** - * Measurement noise for magnetic heading fusion. - * - * @group EKF2 - * @min 0.01 - * @max 1.0 - * @unit rad - * @decimal 2 - */ -PARAM_DEFINE_FLOAT(EKF2_HEAD_NOISE, 0.3f); - -/** - * Measurement noise for magnetometer 3-axis fusion. - * - * @group EKF2 - * @min 0.001 - * @max 1.0 - * @unit gauss - * @decimal 3 - */ -PARAM_DEFINE_FLOAT(EKF2_MAG_NOISE, 5.0e-2f); - -/** - * Measurement noise for airspeed fusion. - * - * @group EKF2 - * @min 0.5 - * @max 5.0 - * @unit m/s - * @decimal 1 - */ -PARAM_DEFINE_FLOAT(EKF2_EAS_NOISE, 1.4f); - -/** - * Gate size for synthetic sideslip fusion - * - * Sets the number of standard deviations used by the innovation consistency test. - * - * @group EKF2 - * @min 1.0 - * @unit SD - * @decimal 1 - */ -PARAM_DEFINE_FLOAT(EKF2_BETA_GATE, 5.0f); - -/** - * Noise for synthetic sideslip fusion. - * - * @group EKF2 - * @min 0.1 - * @max 1.0 - * @unit m/s - * @decimal 2 - */ -PARAM_DEFINE_FLOAT(EKF2_BETA_NOISE, 0.3f); - -/** - * Gate size for magnetic heading fusion - * - * Sets the number of standard deviations used by the innovation consistency test. - * - * @group EKF2 - * @min 1.0 - * @unit SD - * @decimal 1 - */ -PARAM_DEFINE_FLOAT(EKF2_HDG_GATE, 2.6f); - -/** - * Gate size for magnetometer XYZ component fusion - * - * Sets the number of standard deviations used by the innovation consistency test. - * - * @group EKF2 - * @min 1.0 - * @unit SD - * @decimal 1 - */ -PARAM_DEFINE_FLOAT(EKF2_MAG_GATE, 3.0f); - -/** - * Integer bitmask controlling handling of magnetic declination. - * - * Set bits in the following positions to enable functions. - * 0 : Set to true to use the declination from the geo_lookup library when the GPS position becomes available, set to false to always use the EKF2_MAG_DECL value. - * 1 : Set to true to save the EKF2_MAG_DECL parameter to the value returned by the EKF when the vehicle disarms. - * 2 : Set to true to always use the declination as an observation when 3-axis magnetometer fusion is being used. - * - * @group EKF2 - * @min 0 - * @max 7 - * @bit 0 use geo_lookup declination - * @bit 1 save EKF2_MAG_DECL on disarm - * @bit 2 use declination as an observation - * @reboot_required true - */ -PARAM_DEFINE_INT32(EKF2_DECL_TYPE, 7); - -/** - * Type of magnetometer fusion - * - * Integer controlling the type of magnetometer fusion used - magnetic heading or 3-component vector. - * The fusion of magnetometer data as a three component vector enables vehicle body fixed hard iron errors to be learned, but requires a stable earth field. - * If set to 'Automatic' magnetic heading fusion is used when on-ground and 3-axis magnetic field fusion in-flight with fallback to magnetic heading fusion if there is insufficient motion to make yaw or magnetic field states observable. - * If set to 'Magnetic heading' magnetic heading fusion is used at all times. - * If set to '3-axis' 3-axis field fusion is used at all times. - * If set to 'VTOL custom' the behaviour is the same as 'Automatic', but if fusing airspeed, magnetometer fusion is only allowed to modify the magnetic field states. This can be used by VTOL platforms with large magnetic field disturbances to prevent incorrect bias states being learned during forward flight operation which can adversely affect estimation accuracy after transition to hovering flight. - * If set to 'MC custom' the behaviour is the same as 'Automatic, but if there are no earth frame position or velocity observations being used, the magnetometer will not be used. This enables vehicles to operate with no GPS in environments where the magnetic field cannot be used to provide a heading reference. Prior to flight, the yaw angle is assumed to be constant if movement tests indicate that the vehicle is static. This allows the vehicle to be placed on the ground to learn the yaw gyro bias prior to flight. - * If set to 'None' the magnetometer will not be used under any circumstance. If no external source of yaw is available, it is possible to use post-takeoff horizontal movement combined with GPS velocity measurements to align the yaw angle with the timer required (depending on the amount of movement and GPS data quality). - * @group EKF2 - * @value 0 Automatic - * @value 1 Magnetic heading - * @value 2 3-axis - * @value 3 VTOL custom - * @value 4 MC custom - * @value 5 None - * @reboot_required true - */ -PARAM_DEFINE_INT32(EKF2_MAG_TYPE, 0); - -/** - * Horizontal acceleration threshold used by automatic selection of magnetometer fusion method. - * - * This parameter is used when the magnetometer fusion method is set automatically (EKF2_MAG_TYPE = 0). If the filtered horizontal acceleration is greater than this parameter value, then the EKF will use 3-axis magnetometer fusion. - * - * @group EKF2 - * @min 0.0 - * @max 5.0 - * @unit m/s^2 - * @decimal 2 - */ -PARAM_DEFINE_FLOAT(EKF2_MAG_ACCLIM, 0.5f); - -/** - * Yaw rate threshold used by automatic selection of magnetometer fusion method. - * - * This parameter is used when the magnetometer fusion method is set automatically (EKF2_MAG_TYPE = 0). If the filtered yaw rate is greater than this parameter value, then the EKF will use 3-axis magnetometer fusion. - * - * @group EKF2 - * @min 0.0 - * @max 1.0 - * @unit rad/s - * @decimal 2 - */ -PARAM_DEFINE_FLOAT(EKF2_MAG_YAWLIM, 0.20f); - -/** - * Gate size for barometric and GPS height fusion - * - * Sets the number of standard deviations used by the innovation consistency test. - * - * @group EKF2 - * @min 1.0 - * @unit SD - * @decimal 1 - */ -PARAM_DEFINE_FLOAT(EKF2_BARO_GATE, 5.0f); - -/** - * Baro deadzone range for height fusion - * - * Sets the value of deadzone applied to negative baro innovations. - * Deadzone is enabled when EKF2_GND_EFF_DZ > 0. - * - * @group EKF2 - * @min 0.0 - * @max 10.0 - * @unit m - * @decimal 1 - */ -PARAM_DEFINE_FLOAT(EKF2_GND_EFF_DZ, 4.0f); - -/** - * Height above ground level for ground effect zone - * - * Sets the maximum distance to the ground level where negative baro innovations are expected. - * - * @group EKF2 - * @min 0.0 - * @max 5.0 - * @unit m - * @decimal 1 - */ -PARAM_DEFINE_FLOAT(EKF2_GND_MAX_HGT, 0.5f); - -/** - * Gate size for GPS horizontal position fusion - * - * Sets the number of standard deviations used by the innovation consistency test. - * - * @group EKF2 - * @min 1.0 - * @unit SD - * @decimal 1 - */ -PARAM_DEFINE_FLOAT(EKF2_GPS_P_GATE, 5.0f); - -/** - * Gate size for GPS velocity fusion - * - * Sets the number of standard deviations used by the innovation consistency test. - * - * @group EKF2 - * @min 1.0 - * @unit SD - * @decimal 1 - */ -PARAM_DEFINE_FLOAT(EKF2_GPS_V_GATE, 5.0f); - -/** - * Gate size for TAS fusion - * - * Sets the number of standard deviations used by the innovation consistency test. - * - * @group EKF2 - * @min 1.0 - * @unit SD - * @decimal 1 - */ -PARAM_DEFINE_FLOAT(EKF2_TAS_GATE, 3.0f); - -/** - * Will be removed after v1.14 release - * - * Set bits in the following positions to enable: - * 0 : Deprecated, use EKF2_GPS_CTRL instead - * 1 : Deprecated. use EKF2_OF_CTRL instead - * 2 : Deprecated, use EKF2_IMU_CTRL instead - * 3 : Deprecated, use EKF2_EV_CTRL instead - * 4 : Deprecated, use EKF2_EV_CTRL instead - * 5 : Deprecated. use EKF2_DRAG_CTRL instead - * 6 : Deprecated, use EKF2_EV_CTRL instead - * 7 : Deprecated, use EKF2_GPS_CTRL instead - * 8 : Deprecated, use EKF2_EV_CTRL instead - * - * @group EKF2 - * @min 0 - * @max 511 - * @bit 0 unused - * @bit 1 unused - * @bit 2 unused - * @bit 3 unused - * @bit 4 unused - * @bit 5 unused - * @bit 6 unused - * @bit 7 unused - * @bit 8 unused - * @reboot_required true - */ -PARAM_DEFINE_INT32(EKF2_AID_MASK, 0); - -/** - * Determines the reference source of height data used by the EKF. - * - * When multiple height sources are enabled at the same time, the height estimate will - * always converge towards the reference height source selected by this parameter. - * - * The range sensor and vision options should only be used when for operation over a flat surface as the local NED origin will move up and down with ground level. - * - * @group EKF2 - * @value 0 Barometric pressure - * @value 1 GPS - * @value 2 Range sensor - * @value 3 Vision - * @reboot_required true - */ -PARAM_DEFINE_INT32(EKF2_HGT_REF, 1); - -/** - * Barometric sensor height aiding - * - * If this parameter is enabled then the estimator will make use of the barometric height measurements to estimate its height in addition to other - * height sources (if activated). - * - * @group EKF2 - * @boolean - */ -PARAM_DEFINE_INT32(EKF2_BARO_CTRL, 1); - -/** - * External vision (EV) sensor aiding - * - * Set bits in the following positions to enable: - * 0 : Horizontal position fusion - * 1 : Vertical position fusion - * 2 : 3D velocity fusion - * 3 : Yaw - * - * @group EKF2 - * @min 0 - * @max 15 - * @bit 0 Horizontal position - * @bit 1 Vertical position - * @bit 2 3D velocity - * @bit 3 Yaw - */ -PARAM_DEFINE_INT32(EKF2_EV_CTRL, 15); - -/** - * GNSS sensor aiding - * - * Set bits in the following positions to enable: - * 0 : Longitude and latitude fusion - * 1 : Altitude fusion - * 2 : 3D velocity fusion - * 3 : Dual antenna heading fusion - * - * @group EKF2 - * @min 0 - * @max 15 - * @bit 0 Lon/lat - * @bit 1 Altitude - * @bit 2 3D velocity - * @bit 3 Dual antenna heading - */ -PARAM_DEFINE_INT32(EKF2_GPS_CTRL, 7); - -/** - * Range sensor height aiding - * - * WARNING: Range finder measurements are less reliable and can experience unexpected errors. - * For these reasons, if accurate control of height relative to ground is required, it is recommended to use the MPC_ALT_MODE parameter instead, - * unless baro errors are severe enough to cause problems with landing and takeoff. - * - * To en-/disable range finder for terrain height estimation, use EKF2_TERR_MASK instead. - * - * If this parameter is enabled then the estimator will make use of the range finder measurements to estimate its height in addition to other - * height sources (if activated). Range sensor aiding can be enabled (i.e.: always use) or set in "conditional" mode. - * - * Conditional mode: This enables the range finder to be used during low speed (< EKF2_RNG_A_VMAX) and low altitude (< EKF2_RNG_A_HMAX) - * operation, eg takeoff and landing, where baro interference from rotor wash is excessive and can corrupt EKF state - * estimates. It is intended to be used where a vertical takeoff and landing is performed, and horizontal flight does - * not occur until above EKF2_RNG_A_HMAX. - * - * @group EKF2 - * @value 0 Disable range fusion - * @value 1 Enabled (conditional mode) - * @value 2 Enabled - */ -PARAM_DEFINE_INT32(EKF2_RNG_CTRL, 1); - -/** - * Integer bitmask controlling fusion sources of the terrain estimator - * - * Set bits in the following positions to enable: - * 0 : Set to true to use range finder data if available - * 1 : Set to true to use optical flow data if available - * - * @group EKF2 - * @min 0 - * @max 3 - * @bit 0 use range finder - * @bit 1 use optical flow - */ -PARAM_DEFINE_INT32(EKF2_TERR_MASK, 3); - -/** - * Maximum lapsed time from last fusion of measurements that constrain velocity drift before the EKF will report the horizontal nav solution as invalid. - * - * @group EKF2 - * @group EKF2 - * @min 500000 - * @max 10000000 - * @unit us - */ -PARAM_DEFINE_INT32(EKF2_NOAID_TOUT, 5000000); - -/** - * Measurement noise for range finder fusion - * - * @group EKF2 - * @min 0.01 - * @unit m - * @decimal 2 - */ -PARAM_DEFINE_FLOAT(EKF2_RNG_NOISE, 0.1f); - -/** - * Range finder range dependent noise scaler. - * - * Specifies the increase in range finder noise with range. - * - * @group EKF2 - * @min 0.0 - * @max 0.2 - * @unit m/m - */ -PARAM_DEFINE_FLOAT(EKF2_RNG_SFE, 0.05f); - -/** - * Gate size for range finder fusion - * - * Sets the number of standard deviations used by the innovation consistency test. - * - * @group EKF2 - * @min 1.0 - * @unit SD - * @decimal 1 - */ -PARAM_DEFINE_FLOAT(EKF2_RNG_GATE, 5.0f); - -/** - * Expected range finder reading when on ground. - * - * If the vehicle is on ground, is not moving as determined by the motion test and the range finder is returning invalid or no data, then an assumed range value of EKF2_MIN_RNG will be used by the terrain estimator so that a terrain height estimate is available at the start of flight in situations where the range finder may be inside its minimum measurements distance when on ground. - * - * @group EKF2 - * @min 0.01 - * @unit m - * @decimal 2 - */ -PARAM_DEFINE_FLOAT(EKF2_MIN_RNG, 0.1f); - -/** - * External vision (EV) noise mode - * - * If set to 0 (default) the measurement noise is taken from the vision message and the EV noise parameters are used as a lower bound. - * If set to 1 the observation noise is set from the parameters directly, - * - * @value 0 EV reported variance (parameter lower bound) - * @value 1 EV noise parameters - * @group EKF2 - */ -PARAM_DEFINE_INT32(EKF2_EV_NOISE_MD, 0); - -/** - * External vision (EV) minimum quality (optional) - * - * External vision will only be started and fused if the quality metric is above this threshold. - * The quality metric is a completely optional field provided by some VIO systems. - * - * @group EKF2 - * @min 0 - * @max 100 - * @decimal 1 - */ -PARAM_DEFINE_INT32(EKF2_EV_QMIN, 0); - -/** - * Measurement noise for vision position observations used to lower bound or replace the uncertainty included in the message - * - * @group EKF2 - * @min 0.01 - * @unit m - * @decimal 2 - */ -PARAM_DEFINE_FLOAT(EKF2_EVP_NOISE, 0.1f); - -/** - * Measurement noise for vision velocity observations used to lower bound or replace the uncertainty included in the message - * - * @group EKF2 - * @min 0.01 - * @unit m/s - * @decimal 2 -*/ -PARAM_DEFINE_FLOAT(EKF2_EVV_NOISE, 0.1f); - -/** - * Measurement noise for vision angle observations used to lower bound or replace the uncertainty included in the message - * - * @group EKF2 - * @min 0.05 - * @unit rad - * @decimal 2 - */ -PARAM_DEFINE_FLOAT(EKF2_EVA_NOISE, 0.1f); - -/** - * Accelerometer measurement noise for gravity based observations. - * - * @group EKF2 - * @min 0.1 - * @max 10.0 - * @unit m/s^2 - * @decimal 2 - */ -PARAM_DEFINE_FLOAT(EKF2_GRAV_NOISE, 1.0f); - -/** - * Optical flow aiding - * - * Enable optical flow fusion. - * - * @group EKF2 - * @boolean - */ -PARAM_DEFINE_INT32(EKF2_OF_CTRL, 0); - -/** - * Measurement noise for the optical flow sensor when it's reported quality metric is at the maximum - * - * @group EKF2 - * @min 0.05 - * @unit rad/s - * @decimal 2 - */ -PARAM_DEFINE_FLOAT(EKF2_OF_N_MIN, 0.15f); - -/** - * Measurement noise for the optical flow sensor. - * - * (when it's reported quality metric is at the minimum set by EKF2_OF_QMIN). - * The following condition must be met: EKF2_OF_N_MAXN >= EKF2_OF_N_MIN - * - * @group EKF2 - * @min 0.05 - * @unit rad/s - * @decimal 2 - */ -PARAM_DEFINE_FLOAT(EKF2_OF_N_MAX, 0.5f); - -/** - * Optical Flow data will only be used if the sensor reports a quality metric >= EKF2_OF_QMIN. - * - * @group EKF2 - * @min 0 - * @max 255 - */ -PARAM_DEFINE_INT32(EKF2_OF_QMIN, 1); - -/** - * Gate size for optical flow fusion - * - * Sets the number of standard deviations used by the innovation consistency test. - * - * @group EKF2 - * @min 1.0 - * @unit SD - * @decimal 1 - */ -PARAM_DEFINE_FLOAT(EKF2_OF_GATE, 3.0f); - -/** - * Terrain altitude process noise - accounts for instability in vehicle height estimate - * - * @group EKF2 - * @min 0.5 - * @unit m/s - * @decimal 1 - */ -PARAM_DEFINE_FLOAT(EKF2_TERR_NOISE, 5.0f); - -/** - * Magnitude of terrain gradient - * - * @group EKF2 - * @min 0.0 - * @unit m/m - * @decimal 2 - */ -PARAM_DEFINE_FLOAT(EKF2_TERR_GRAD, 0.5f); - -/** - * X position of IMU in body frame (forward axis with origin relative to vehicle centre of gravity) - * - * @group EKF2 - * @unit m - * @decimal 3 - */ -PARAM_DEFINE_FLOAT(EKF2_IMU_POS_X, 0.0f); - -/** - * Y position of IMU in body frame (right axis with origin relative to vehicle centre of gravity) - * - * @group EKF2 - * @unit m - * @decimal 3 - */ -PARAM_DEFINE_FLOAT(EKF2_IMU_POS_Y, 0.0f); - -/** - * Z position of IMU in body frame (down axis with origin relative to vehicle centre of gravity) - * - * @group EKF2 - * @unit m - * @decimal 3 - */ -PARAM_DEFINE_FLOAT(EKF2_IMU_POS_Z, 0.0f); - -/** - * X position of GPS antenna in body frame (forward axis with origin relative to vehicle centre of gravity) - * - * @group EKF2 - * @unit m - * @decimal 3 - */ -PARAM_DEFINE_FLOAT(EKF2_GPS_POS_X, 0.0f); - -/** - * Y position of GPS antenna in body frame (right axis with origin relative to vehicle centre of gravity) - * - * @group EKF2 - * @unit m - * @decimal 3 - */ -PARAM_DEFINE_FLOAT(EKF2_GPS_POS_Y, 0.0f); - -/** - * Z position of GPS antenna in body frame (down axis with origin relative to vehicle centre of gravity) - * - * @group EKF2 - * @unit m - * @decimal 3 - */ -PARAM_DEFINE_FLOAT(EKF2_GPS_POS_Z, 0.0f); - -/** - * X position of range finder origin in body frame (forward axis with origin relative to vehicle centre of gravity) - * - * @group EKF2 - * @unit m - * @decimal 3 - */ -PARAM_DEFINE_FLOAT(EKF2_RNG_POS_X, 0.0f); - -/** - * Y position of range finder origin in body frame (right axis with origin relative to vehicle centre of gravity) - * - * @group EKF2 - * @unit m - * @decimal 3 - */ -PARAM_DEFINE_FLOAT(EKF2_RNG_POS_Y, 0.0f); - -/** - * Z position of range finder origin in body frame (down axis with origin relative to vehicle centre of gravity) - * - * @group EKF2 - * @unit m - * @decimal 3 - */ -PARAM_DEFINE_FLOAT(EKF2_RNG_POS_Z, 0.0f); - -/** - * X position of optical flow focal point in body frame (forward axis with origin relative to vehicle centre of gravity) - * - * @group EKF2 - * @unit m - * @decimal 3 - */ -PARAM_DEFINE_FLOAT(EKF2_OF_POS_X, 0.0f); - -/** - * Y position of optical flow focal point in body frame (right axis with origin relative to vehicle centre of gravity) - * - * @group EKF2 - * @unit m - * @decimal 3 - */ -PARAM_DEFINE_FLOAT(EKF2_OF_POS_Y, 0.0f); - -/** - * Z position of optical flow focal point in body frame (down axis with origin relative to vehicle centre of gravity) - * - * @group EKF2 - * @unit m - * @decimal 3 - */ -PARAM_DEFINE_FLOAT(EKF2_OF_POS_Z, 0.0f); - -/** -* X position of VI sensor focal point in body frame (forward axis with origin relative to vehicle centre of gravity) - * - * @group EKF2 - * @unit m - * @decimal 3 - */ -PARAM_DEFINE_FLOAT(EKF2_EV_POS_X, 0.0f); - -/** - * Y position of VI sensor focal point in body frame (right axis with origin relative to vehicle centre of gravity) - * - * @group EKF2 - * @unit m - * @decimal 3 - */ -PARAM_DEFINE_FLOAT(EKF2_EV_POS_Y, 0.0f); - -/** - * Z position of VI sensor focal point in body frame (down axis with origin relative to vehicle centre of gravity) - * - * @group EKF2 - * @unit m - * @decimal 3 - */ -PARAM_DEFINE_FLOAT(EKF2_EV_POS_Z, 0.0f); - -/** -* Airspeed fusion threshold. -* -* A value of zero will deactivate airspeed fusion. Any other positive -* value will determine the minimum airspeed which will still be fused. Set to about 90% of the vehicles stall speed. -* Both airspeed fusion and sideslip fusion must be active for the EKF to continue navigating after loss of GPS. -* Use EKF2_FUSE_BETA to activate sideslip fusion. -* Note: side slip fusion is currently not supported for tailsitters. -* -* @group EKF2 -* @min 0.0 -* @unit m/s -* @decimal 1 -*/ -PARAM_DEFINE_FLOAT(EKF2_ARSP_THR, 0.0f); - -/** -* Boolean determining if synthetic sideslip measurements should fused. -* -* A value of 1 indicates that fusion is active -* Both sideslip fusion and airspeed fusion must be active for the EKF to continue navigating after loss of GPS. -* Use EKF2_ARSP_THR to activate airspeed fusion. -* -* @group EKF2 -* @boolean -*/ -PARAM_DEFINE_INT32(EKF2_FUSE_BETA, 0); - -/** - - * Time constant of the velocity output prediction and smoothing filter - * - * @group EKF2 - * @max 1.0 - * @unit s - * @decimal 2 - */ -PARAM_DEFINE_FLOAT(EKF2_TAU_VEL, 0.25f); - -/** - * Time constant of the position output prediction and smoothing filter. Controls how tightly the output track the EKF states. - * - * @group EKF2 - * @min 0.1 - * @max 1.0 - * @unit s - * @decimal 2 - */ -PARAM_DEFINE_FLOAT(EKF2_TAU_POS, 0.25f); - -/** - * 1-sigma IMU gyro switch-on bias - * - * @group EKF2 - * @min 0.0 - * @max 0.2 - * @unit rad/s - * @reboot_required true - * @decimal 2 - */ -PARAM_DEFINE_FLOAT(EKF2_GBIAS_INIT, 0.1f); - -/** - * 1-sigma IMU accelerometer switch-on bias - * - * @group EKF2 - * @min 0.0 - * @max 0.5 - * @unit m/s^2 - * @reboot_required true - * @decimal 2 - */ -PARAM_DEFINE_FLOAT(EKF2_ABIAS_INIT, 0.2f); - -/** - * 1-sigma tilt angle uncertainty after gravity vector alignment - * - * @group EKF2 - * @min 0.0 - * @max 0.5 - * @unit rad - * @reboot_required true - * @decimal 3 - */ -PARAM_DEFINE_FLOAT(EKF2_ANGERR_INIT, 0.1f); - -/** - * Range sensor pitch offset. - * - * @group EKF2 - * @min -0.75 - * @max 0.75 - * @unit rad - * @decimal 3 - */ -PARAM_DEFINE_FLOAT(EKF2_RNG_PITCH, 0.0f); - -/** - * Maximum horizontal velocity allowed for conditional range aid mode. - * - * If the vehicle horizontal speed exceeds this value then the estimator will not fuse range measurements - * to estimate its height. This only applies when conditional range aid mode is activated (EKF2_RNG_CTRL = 1). - * - * @group EKF2 - * @min 0.1 - * @max 2 - * @unit m/s - */ -PARAM_DEFINE_FLOAT(EKF2_RNG_A_VMAX, 1.0f); - -/** - * Maximum absolute altitude (height above ground level) allowed for conditional range aid mode. - * - * If the vehicle absolute altitude exceeds this value then the estimator will not fuse range measurements - * to estimate its height. This only applies when conditional range aid mode is activated (EKF2_RNG_CTRL = 1). - * - * @group EKF2 - * @min 1.0 - * @max 10.0 - * @unit m - */ -PARAM_DEFINE_FLOAT(EKF2_RNG_A_HMAX, 5.0f); - -/** - * Gate size used for innovation consistency checks for range aid fusion - * - * A lower value means HAGL needs to be more stable in order to use range finder for height estimation - * in range aid mode - * - * @group EKF2 - * @unit SD - * @min 0.1 - * @max 5.0 - */ -PARAM_DEFINE_FLOAT(EKF2_RNG_A_IGATE, 1.0f); - -/** - * Minimum duration during which the reported range finder signal quality needs to be non-zero in order to be declared valid (s) - * - * - * @group EKF2 - * @unit s - * @min 0.1 - * @max 5 -*/ -PARAM_DEFINE_FLOAT(EKF2_RNG_QLTY_T, 1.0f); - -/** - * Gate size used for range finder kinematic consistency check - * - * To be used, the time derivative of the distance sensor measurements projected on the vertical axis - * needs to be statistically consistent with the estimated vertical velocity of the drone. - * - * Decrease this value to make the filter more robust against range finder faulty data (stuck, reflections, ...). - * - * Note: tune the range finder noise parameters (EKF2_RNG_NOISE and EKF2_RNG_SFE) before tuning this gate. - * - * @group EKF2 - * @unit SD - * @min 0.1 - * @max 5.0 -*/ -PARAM_DEFINE_FLOAT(EKF2_RNG_K_GATE, 1.0f); - -/** - * Gate size for vision velocity estimate fusion - * - * Sets the number of standard deviations used by the innovation consistency test. - * - * @group EKF2 - * @min 1.0 - * @unit SD - * @decimal 1 -*/ -PARAM_DEFINE_FLOAT(EKF2_EVV_GATE, 3.0f); - -/** - * Gate size for vision position fusion - * - * Sets the number of standard deviations used by the innovation consistency test. - * @group EKF2 - * @min 1.0 - * @unit SD - * @decimal 1 -*/ -PARAM_DEFINE_FLOAT(EKF2_EVP_GATE, 5.0f); - -/** - * Multirotor wind estimation selection - * - * Activate wind speed estimation using specific-force measurements and - * a drag model defined by EKF2_BCOEF_[XY] and EKF2_MCOEF. - * - * Only use on vehicles that have their thrust aligned with the Z axis and - * no thrust in the XY plane. - * - * @group EKF2 - * @boolean - */ -PARAM_DEFINE_INT32(EKF2_DRAG_CTRL, 0); - -/** - * Specific drag force observation noise variance used by the multi-rotor specific drag force model. - * - * Increasing this makes the multi-rotor wind estimates adjust more slowly. - * - * @group EKF2 - * @min 0.5 - * @max 10.0 - * @unit (m/s^2)^2 - * @decimal 2 - */ -PARAM_DEFINE_FLOAT(EKF2_DRAG_NOISE, 2.5f); - -/** - * X-axis ballistic coefficient used for multi-rotor wind estimation. - * - * This parameter controls the prediction of drag produced by bluff body drag along the forward/reverse axis when flying a multi-copter which enables estimation of wind drift when enabled by the EKF2_DRAG_CTRL parameter. The drag produced by this effect scales with speed squared. The predicted drag from the rotors is specified separately by the EKF2_MCOEF parameter. - * Set this parameter to zero to turn off the bluff body drag model for this axis. - * - * @group EKF2 - * @min 0.0 - * @max 200.0 - * @unit kg/m^2 - * @decimal 1 - */ -PARAM_DEFINE_FLOAT(EKF2_BCOEF_X, 100.0f); - -/** - * Y-axis ballistic coefficient used for multi-rotor wind estimation. - * - * This parameter controls the prediction of drag produced by bluff body drag along the right/left axis when flying a multi-copter, which enables estimation of wind drift when enabled by the EKF2_DRAG_CTRL parameter. The drag produced by this effect scales with speed squared. The predicted drag from the rotors is specified separately by the EKF2_MCOEF parameter. - * Set this parameter to zero to turn off the bluff body drag model for this axis. - * - * @group EKF2 - * @min 0.0 - * @max 200.0 - * @unit kg/m^2 - * @decimal 1 - */ -PARAM_DEFINE_FLOAT(EKF2_BCOEF_Y, 100.0f); - -/** - * Propeller momentum drag coefficient used for multi-rotor wind estimation. - * - * This parameter controls the prediction of drag produced by the propellers when flying a multi-copter, which enables estimation of wind drift when enabled by the EKF2_DRAG_CTRL parameter. The drag produced by this effect scales with speed not speed squared and is produced because some of the air velocity normal to the propeller axis of rotation is lost when passing through the rotor disc. This changes the momentum of the flow which creates a drag reaction force. When comparing un-ducted propellers of the same diameter, the effect is roughly proportional to the area of the propeller blades when viewed side on and changes with propeller selection. Momentum drag is significantly higher for ducted rotors. To account for the drag produced by the body which scales with speed squared, see documentation for the EKF2_BCOEF_X and EKF2_BCOEF_Y parameters. - * Set this parameter to zero to turn off the momentum drag model for both axis. - * - * @group EKF2 - * @min 0 - * @max 1.0 - * @unit 1/s - * @decimal 2 - */ -PARAM_DEFINE_FLOAT(EKF2_MCOEF, 0.15f); - - -/** - * Upper limit on airspeed along individual axes used to correct baro for position error effects - * - * @group EKF2 - * @min 5.0 - * @max 50.0 - * @unit m/s - * @decimal 1 - */ -PARAM_DEFINE_FLOAT(EKF2_ASPD_MAX, 20.0f); - -/** - * Static pressure position error coefficient for the positive X axis - * - * This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the X body axis. - * If the baro height estimate rises during forward flight, then this will be a negative number. - * - * @group EKF2 - * @min -0.5 - * @max 0.5 - * @decimal 2 - */ -PARAM_DEFINE_FLOAT(EKF2_PCOEF_XP, 0.0f); - -/** - * Static pressure position error coefficient for the negative X axis. - * - * This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the X body axis. - * If the baro height estimate rises during backwards flight, then this will be a negative number. - * - * @group EKF2 - * @min -0.5 - * @max 0.5 - * @decimal 2 - */ -PARAM_DEFINE_FLOAT(EKF2_PCOEF_XN, 0.0f); - -/** - * Pressure position error coefficient for the positive Y axis. - * - * This is the ratio of static pressure error to dynamic pressure generated by a wind relative velocity along the positive Y (RH) body axis. - * If the baro height estimate rises during sideways flight to the right, then this will be a negative number. - * - * @group EKF2 - * @min -0.5 - * @max 0.5 - * @decimal 2 - */ -PARAM_DEFINE_FLOAT(EKF2_PCOEF_YP, 0.0f); - -/** - * Pressure position error coefficient for the negative Y axis. - * - * This is the ratio of static pressure error to dynamic pressure generated by a wind relative velocity along the negative Y (LH) body axis. - * If the baro height estimate rises during sideways flight to the left, then this will be a negative number. - * - * @group EKF2 - * @min -0.5 - * @max 0.5 - * @decimal 2 - */ -PARAM_DEFINE_FLOAT(EKF2_PCOEF_YN, 0.0f); - -/** - * Static pressure position error coefficient for the Z axis. - * - * This is the ratio of static pressure error to dynamic pressure generated by a wind relative velocity along the Z body axis. - * - * @group EKF2 - * @min -0.5 - * @max 0.5 - * @decimal 2 - */ -PARAM_DEFINE_FLOAT(EKF2_PCOEF_Z, 0.0f); - -/** - * Accelerometer bias learning limit. - * - * The ekf delta velocity bias states will be limited to within a range equivalent to +- of this value. - * - * @group EKF2 - * @min 0.0 - * @max 0.8 - * @unit m/s^2 - * @decimal 2 - */ -PARAM_DEFINE_FLOAT(EKF2_ABL_LIM, 0.4f); - -/** - * Maximum IMU accel magnitude that allows IMU bias learning. - * - * If the magnitude of the IMU accelerometer vector exceeds this value, the EKF delta velocity state estimation will be inhibited. - * This reduces the adverse effect of high manoeuvre accelerations and IMU nonlinerity and scale factor errors on the delta velocity bias estimates. - * - * @group EKF2 - * @min 20.0 - * @max 200.0 - * @unit m/s^2 - * @decimal 1 - */ -PARAM_DEFINE_FLOAT(EKF2_ABL_ACCLIM, 25.0f); - -/** - * Maximum IMU gyro angular rate magnitude that allows IMU bias learning. - * - * If the magnitude of the IMU angular rate vector exceeds this value, the EKF delta velocity state estimation will be inhibited. - * This reduces the adverse effect of rapid rotation rates and associated errors on the delta velocity bias estimates. - * - * @group EKF2 - * @min 2.0 - * @max 20.0 - * @unit rad/s - * @decimal 1 - */ -PARAM_DEFINE_FLOAT(EKF2_ABL_GYRLIM, 3.0f); - -/** - * Time constant used by acceleration and angular rate magnitude checks used to inhibit delta velocity bias learning. - * - * The vector magnitude of angular rate and acceleration used to check if learning should be inhibited has a peak hold filter applied to it with an exponential decay. - * This parameter controls the time constant of the decay. - * - * @group EKF2 - * @min 0.1 - * @max 1.0 - * @unit s - * @decimal 2 - */ -PARAM_DEFINE_FLOAT(EKF2_ABL_TAU, 0.5f); - -/** - * Gyro bias learning limit. - * - * The ekf delta angle bias states will be limited to within a range equivalent to +- of this value. - * - * @group EKF2 - * @min 0.0 - * @max 0.4 - * @unit rad/s - * @decimal 3 - */ -PARAM_DEFINE_FLOAT(EKF2_GYR_B_LIM, 0.15f); - -/** - * Required GPS health time on startup - * - * Minimum continuous period without GPS failure required to mark a healthy GPS status. - * It can be reduced to speed up initialization, but it's recommended to keep this unchanged for a vehicle. - * - * @group EKF2 - * @min 0.1 - * @decimal 1 - * @unit s - * @reboot_required true - */ -PARAM_DEFINE_FLOAT(EKF2_REQ_GPS_H, 10.0f); - -/** - * Magnetic field strength test selection - * - * When set, the EKF checks the strength of the magnetic field - * to decide whether the magnetometer data is valid. - * If GPS data is received, the magnetic field is compared to a World - * Magnetic Model (WMM), otherwise an average value is used. - * This check is useful to reject occasional hard iron disturbance. - * - * @group EKF2 - * @boolean - */ -PARAM_DEFINE_INT32(EKF2_MAG_CHECK, 1); - -/** - * Enable synthetic magnetometer Z component measurement. - * - * Use for vehicles where the measured body Z magnetic field is subject to strong magnetic interference. - * For magnetic heading fusion the magnetometer Z measurement will be replaced by a synthetic value calculated - * using the knowledge of the 3D magnetic field vector at the location of the drone. Therefore, this parameter - * will only have an effect if the global position of the drone is known. - * For 3D mag fusion the magnetometer Z measurement will simply be ignored instead of fusing the synthetic value. - * - * @group EKF2 - * @boolean -*/ -PARAM_DEFINE_INT32(EKF2_SYNT_MAG_Z, 0); - -/** - * Default value of true airspeed used in EKF-GSF AHRS calculation. - * - * If no airspeed measurements are available, the EKF-GSF AHRS calculation will assume this value of true airspeed when compensating for centripetal acceleration during turns. Set to zero to disable centripetal acceleration compensation during fixed wing flight modes. - * - * @group EKF2 - * @min 0.0 - * @unit m/s - * @max 100.0 - * @decimal 1 - */ -PARAM_DEFINE_FLOAT(EKF2_GSF_TAS, 15.0f); diff --git a/src/modules/ekf2/ekf2_params_multi.c b/src/modules/ekf2/ekf2_params_multi.c deleted file mode 100644 index cd06198dc161..000000000000 --- a/src/modules/ekf2/ekf2_params_multi.c +++ /dev/null @@ -1,58 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2020 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * Multi-EKF IMUs - * - * Maximum number of IMUs to use for Multi-EKF. Set 0 to disable. - * Requires SENS_IMU_MODE 0. - * - * @group EKF2 - * @reboot_required true - * @min 0 - * @max 4 - */ -PARAM_DEFINE_INT32(EKF2_MULTI_IMU, 0); - -/** - * Multi-EKF Magnetometers. - * - * Maximum number of magnetometers to use for Multi-EKF. Set 0 to disable. - * Requires SENS_MAG_MODE 0. - * - * @group EKF2 - * @reboot_required true - * @min 0 - * @max 4 - */ -PARAM_DEFINE_INT32(EKF2_MULTI_MAG, 0); diff --git a/src/modules/ekf2/ekf2_params_selector.c b/src/modules/ekf2/ekf2_params_selector.c deleted file mode 100644 index 43a630fe8fb3..000000000000 --- a/src/modules/ekf2/ekf2_params_selector.c +++ /dev/null @@ -1,81 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2020 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * Selector error reduce threshold - * - * EKF2 instances have to be better than the selected by at least this amount before their relative score can be reduced. - * - * @group EKF2 - */ -PARAM_DEFINE_FLOAT(EKF2_SEL_ERR_RED, 0.2f); - -/** - * Selector angular rate threshold - * - * EKF2 selector angular rate error threshold for comparing gyros. Angular rate vector differences larger than this will result in accumulated angular error. - * - * @group EKF2 - * @unit deg/s - */ -PARAM_DEFINE_FLOAT(EKF2_SEL_IMU_RAT, 7.0f); - -/** - * Selector angular threshold. - * - * EKF2 selector maximum accumulated angular error threshold for comparing gyros. Accumulated angular error larger than this will result in the sensor being declared faulty. - * - * @group EKF2 - * @unit deg - */ -PARAM_DEFINE_FLOAT(EKF2_SEL_IMU_ANG, 15.0f); - -/** - * Selector acceleration threshold - * - * EKF2 selector acceleration error threshold for comparing accelerometers. Acceleration vector differences larger than this will result in accumulated velocity error. - * - * @group EKF2 - * @unit m/s^2 - */ -PARAM_DEFINE_FLOAT(EKF2_SEL_IMU_ACC, 1.0f); - -/** - * Selector angular threshold. - * - * EKF2 selector maximum accumulated velocity threshold for comparing accelerometers. Accumulated velocity error larger than this will result in the sensor being declared faulty. - * - * @group EKF2 - * @unit m/s - */ -PARAM_DEFINE_FLOAT(EKF2_SEL_IMU_VEL, 2.0f); diff --git a/src/modules/ekf2/ekf2_params_volatile.c b/src/modules/ekf2/ekf2_params_volatile.c deleted file mode 100644 index 5b947a5cf818..000000000000 --- a/src/modules/ekf2/ekf2_params_volatile.c +++ /dev/null @@ -1,43 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2020 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * Magnetic declination - * - * @group EKF2 - * @volatile - * @category system - * @unit deg - * @decimal 1 - */ -PARAM_DEFINE_FLOAT(EKF2_MAG_DECL, 0); diff --git a/src/modules/ekf2/module.yaml b/src/modules/ekf2/module.yaml new file mode 100644 index 000000000000..da68460445a8 --- /dev/null +++ b/src/modules/ekf2/module.yaml @@ -0,0 +1,174 @@ +module_name: ekf2 +parameters: +- group: EKF2 + definitions: + EKF2_EN: + description: + short: EKF2 enable + type: boolean + default: 1 + EKF2_LOG_VERBOSE: + description: + short: Verbose logging + type: boolean + default: 1 + EKF2_PREDICT_US: + description: + short: EKF prediction period + long: EKF prediction period in microseconds. This should ideally be an integer + multiple of the IMU time delta. Actual filter update will be an integer + multiple of IMU update. + type: int32 + default: 10000 + min: 1000 + max: 20000 + unit: us + EKF2_DELAY_MAX: + description: + short: Maximum delay of all the aiding sensors + long: Defines the delay between the current time and the delayed-time horizon. + This value should be at least as large as the largest EKF2_XXX_DELAY parameter. + type: float + default: 200 + min: 0 + max: 1000 + unit: ms + reboot_required: true + decimal: 1 + EKF2_ANGERR_INIT: + description: + short: 1-sigma tilt angle uncertainty after gravity vector alignment + type: float + default: 0.1 + min: 0.0 + max: 0.5 + unit: rad + reboot_required: true + decimal: 3 + EKF2_HDG_GATE: + description: + short: Gate size for heading fusion + long: Sets the number of standard deviations used by the innovation consistency + test. + type: float + default: 2.6 + min: 1.0 + unit: SD + decimal: 1 + EKF2_HEAD_NOISE: + description: + short: Measurement noise for magnetic heading fusion + type: float + default: 0.3 + min: 0.01 + max: 1.0 + unit: rad + decimal: 2 + EKF2_NOAID_NOISE: + description: + short: Measurement noise for non-aiding position hold + type: float + default: 10.0 + min: 0.5 + max: 50.0 + unit: m + decimal: 1 + EKF2_NOAID_TOUT: + description: + short: Maximum inertial dead-reckoning time + long: Maximum lapsed time from last fusion of measurements that constrain + velocity drift before the EKF will report the horizontal nav solution as + invalid + type: int32 + default: 5000000 + min: 500000 + max: 10000000 + unit: us + EKF2_HGT_REF: + description: + short: Determines the reference source of height data used by the EKF + long: When multiple height sources are enabled at the same time, the height + estimate will always converge towards the reference height source selected + by this parameter. The range sensor and vision options should only be used + when for operation over a flat surface as the local NED origin will move + up and down with ground level. + type: enum + values: + 0: Barometric pressure + 1: GPS + 2: Range sensor + 3: Vision + default: 1 + reboot_required: true + EKF2_IMU_CTRL: + description: + short: IMU control + type: bitmask + bit: + 0: Gyro Bias + 1: Accel Bias + 2: Gravity vector fusion + default: 7 + min: 0 + max: 7 + EKF2_GYR_NOISE: + description: + short: Rate gyro noise for covariance prediction + type: float + default: 0.015 + min: 0.0001 + max: 0.1 + unit: rad/s + decimal: 4 + EKF2_ACC_NOISE: + description: + short: Accelerometer noise for covariance prediction + type: float + default: 0.35 + min: 0.01 + max: 1.0 + unit: m/s^2 + decimal: 2 + EKF2_IMU_POS_X: + description: + short: X position of IMU in body frame + long: Forward axis with origin relative to vehicle centre of gravity + type: float + default: 0.0 + unit: m + decimal: 3 + EKF2_IMU_POS_Y: + description: + short: Y position of IMU in body frame + long: Forward axis with origin relative to vehicle centre of gravity + type: float + default: 0.0 + unit: m + decimal: 3 + EKF2_IMU_POS_Z: + description: + short: Z position of IMU in body frame + long: Forward axis with origin relative to vehicle centre of gravity + type: float + default: 0.0 + unit: m + decimal: 3 + + EKF2_TAU_VEL: + description: + short: Time constant of the velocity output prediction and smoothing filter + type: float + default: 0.25 + max: 1.0 + unit: s + decimal: 2 + EKF2_TAU_POS: + description: + short: Output predictor position time constant + long: Controls how tightly the output track the EKF states + type: float + default: 0.25 + min: 0.1 + max: 1.0 + unit: s + decimal: 2 diff --git a/src/modules/ekf2/params_accel_bias.yaml b/src/modules/ekf2/params_accel_bias.yaml new file mode 100644 index 000000000000..22989ae9e1de --- /dev/null +++ b/src/modules/ekf2/params_accel_bias.yaml @@ -0,0 +1,72 @@ +module_name: ekf2 +parameters: +- group: EKF2 + definitions: + EKF2_ABIAS_INIT: + description: + short: 1-sigma IMU accelerometer switch-on bias + type: float + default: 0.2 + min: 0.0 + max: 0.5 + unit: m/s^2 + reboot_required: true + decimal: 2 + EKF2_ACC_B_NOISE: + description: + short: Process noise for IMU accelerometer bias prediction + type: float + default: 0.003 + min: 0.0 + max: 0.01 + unit: m/s^3 + decimal: 6 + EKF2_ABL_LIM: + description: + short: Accelerometer bias learning limit + long: The ekf accel bias states will be limited to within a range equivalent + to +- of this value. + type: float + default: 0.4 + min: 0.0 + max: 0.8 + unit: m/s^2 + decimal: 2 + EKF2_ABL_ACCLIM: + description: + short: Maximum IMU accel magnitude that allows IMU bias learning + long: If the magnitude of the IMU accelerometer vector exceeds this value, + the EKF accel bias state estimation will be inhibited. This reduces the + adverse effect of high manoeuvre accelerations and IMU nonlinerity and scale + factor errors on the accel bias estimates. + type: float + default: 25.0 + min: 20.0 + max: 200.0 + unit: m/s^2 + decimal: 1 + EKF2_ABL_GYRLIM: + description: + short: Maximum IMU gyro angular rate magnitude that allows IMU bias learning + long: If the magnitude of the IMU angular rate vector exceeds this value, + the EKF accel bias state estimation will be inhibited. This reduces the + adverse effect of rapid rotation rates and associated errors on the accel + bias estimates. + type: float + default: 3.0 + min: 2.0 + max: 20.0 + unit: rad/s + decimal: 1 + EKF2_ABL_TAU: + description: + short: Accel bias learning inhibit time constant + long: The vector magnitude of angular rate and acceleration used to check + if learning should be inhibited has a peak hold filter applied to it with + an exponential decay. This parameter controls the time constant of the decay. + type: float + default: 0.5 + min: 0.1 + max: 1.0 + unit: s + decimal: 2 diff --git a/src/modules/ekf2/params_airspeed.yaml b/src/modules/ekf2/params_airspeed.yaml new file mode 100644 index 000000000000..b9563336a47a --- /dev/null +++ b/src/modules/ekf2/params_airspeed.yaml @@ -0,0 +1,45 @@ +module_name: ekf2 +parameters: +- group: EKF2 + definitions: + EKF2_ARSP_THR: + description: + short: Airspeed fusion threshold + long: Airspeed data is fused for wind estimation if above this threshold. + Set to 0 to disable airspeed fusion. For reliable wind estimation both sideslip + (see EKF2_FUSE_BETA) and airspeed fusion should be enabled. Only applies + to fixed-wing vehicles (or VTOLs in fixed-wing mode). + type: float + default: 0.0 + min: 0.0 + unit: m/s + decimal: 1 + EKF2_ASP_DELAY: + description: + short: Airspeed measurement delay relative to IMU measurements + type: float + default: 100 + min: 0 + max: 300 + unit: ms + reboot_required: true + decimal: 1 + EKF2_TAS_GATE: + description: + short: Gate size for TAS fusion + long: Sets the number of standard deviations used by the innovation consistency + test. + type: float + default: 5.0 + min: 1.0 + unit: SD + decimal: 1 + EKF2_EAS_NOISE: + description: + short: Measurement noise for airspeed fusion + type: float + default: 1.4 + min: 0.5 + max: 5.0 + unit: m/s + decimal: 1 diff --git a/src/modules/ekf2/params_aux_global_position.yaml b/src/modules/ekf2/params_aux_global_position.yaml new file mode 100644 index 000000000000..77f348776b12 --- /dev/null +++ b/src/modules/ekf2/params_aux_global_position.yaml @@ -0,0 +1,45 @@ +module_name: ekf2 +parameters: +- group: EKF2 + definitions: + EKF2_AGP_CTRL: + description: + short: Aux global position (AGP) sensor aiding + long: 'Set bits in the following positions to enable: 0 : Horizontal position + fusion 1 : Vertical position fusion' + type: bitmask + bit: + 0: Horizontal position + 1: Vertical position + default: 0 + min: 0 + max: 3 + EKF2_AGP_DELAY: + description: + short: Aux global position estimator delay relative to IMU measurements + type: float + default: 0 + min: 0 + max: 300 + unit: ms + reboot_required: true + decimal: 1 + EKF2_AGP_NOISE: + description: + short: Measurement noise for aux global position measurements + long: Used to lower bound or replace the uncertainty included in the message + type: float + default: 0.9 + min: 0.01 + unit: m + decimal: 2 + EKF2_AGP_GATE: + description: + short: Gate size for aux global position fusion + long: Sets the number of standard deviations used by the innovation consistency + test. + type: float + default: 3.0 + min: 1.0 + unit: SD + decimal: 1 diff --git a/src/modules/ekf2/params_aux_velocity.yaml b/src/modules/ekf2/params_aux_velocity.yaml new file mode 100644 index 000000000000..93b38587c02b --- /dev/null +++ b/src/modules/ekf2/params_aux_velocity.yaml @@ -0,0 +1,14 @@ +module_name: ekf2 +parameters: +- group: EKF2 + definitions: + EKF2_AVEL_DELAY: + description: + short: Auxiliary Velocity Estimate delay relative to IMU measurements + type: float + default: 5 + min: 0 + max: 300 + unit: ms + reboot_required: true + decimal: 1 diff --git a/src/modules/ekf2/params_barometer.yaml b/src/modules/ekf2/params_barometer.yaml new file mode 100644 index 000000000000..cefa503039b7 --- /dev/null +++ b/src/modules/ekf2/params_barometer.yaml @@ -0,0 +1,130 @@ +module_name: ekf2 +parameters: +- group: EKF2 + definitions: + EKF2_BARO_CTRL: + description: + short: Barometric sensor height aiding + long: If this parameter is enabled then the estimator will make use of the + barometric height measurements to estimate its height in addition to other + height sources (if activated). + type: boolean + default: 1 + EKF2_BARO_DELAY: + description: + short: Barometer measurement delay relative to IMU measurements + type: float + default: 0 + min: 0 + max: 300 + unit: ms + reboot_required: true + decimal: 1 + EKF2_BARO_GATE: + description: + short: Gate size for barometric and GPS height fusion + long: Sets the number of standard deviations used by the innovation consistency + test. + type: float + default: 5.0 + min: 1.0 + unit: SD + decimal: 1 + EKF2_BARO_NOISE: + description: + short: Measurement noise for barometric altitude + type: float + default: 3.5 + min: 0.01 + max: 15.0 + unit: m + decimal: 2 + EKF2_GND_EFF_DZ: + description: + short: Baro deadzone range for height fusion + long: Sets the value of deadzone applied to negative baro innovations. Deadzone + is enabled when EKF2_GND_EFF_DZ > 0. + type: float + default: 4.0 + min: 0.0 + max: 10.0 + unit: m + decimal: 1 + EKF2_GND_MAX_HGT: + description: + short: Height above ground level for ground effect zone + long: Sets the maximum distance to the ground level where negative baro innovations + are expected. + type: float + default: 0.5 + min: 0.0 + max: 5.0 + unit: m + decimal: 1 + EKF2_PCOEF_XP: + description: + short: Static pressure position error coefficient for the positive X axis + long: This is the ratio of static pressure error to dynamic pressure generated + by a positive wind relative velocity along the X body axis. If the baro + height estimate rises during forward flight, then this will be a negative + number. + type: float + default: 0.0 + min: -0.5 + max: 0.5 + decimal: 2 + EKF2_PCOEF_XN: + description: + short: Static pressure position error coefficient for the negative X axis + long: This is the ratio of static pressure error to dynamic pressure generated + by a negative wind relative velocity along the X body axis. If the baro + height estimate rises during backwards flight, then this will be a negative + number. + type: float + default: 0.0 + min: -0.5 + max: 0.5 + decimal: 2 + EKF2_PCOEF_YP: + description: + short: Pressure position error coefficient for the positive Y axis + long: This is the ratio of static pressure error to dynamic pressure generated + by a wind relative velocity along the positive Y (RH) body axis. If the + baro height estimate rises during sideways flight to the right, then this + will be a negative number. + type: float + default: 0.0 + min: -0.5 + max: 0.5 + decimal: 2 + EKF2_PCOEF_YN: + description: + short: Pressure position error coefficient for the negative Y axis + long: This is the ratio of static pressure error to dynamic pressure generated + by a wind relative velocity along the negative Y (LH) body axis. If the + baro height estimate rises during sideways flight to the left, then this + will be a negative number. + type: float + default: 0.0 + min: -0.5 + max: 0.5 + decimal: 2 + EKF2_PCOEF_Z: + description: + short: Static pressure position error coefficient for the Z axis + long: This is the ratio of static pressure error to dynamic pressure generated + by a wind relative velocity along the Z body axis. + type: float + default: 0.0 + min: -0.5 + max: 0.5 + decimal: 2 + EKF2_ASPD_MAX: + description: + short: Maximum airspeed used for baro static pressure compensation + type: float + default: 20.0 + min: 5.0 + max: 50.0 + unit: m/s + decimal: 1 diff --git a/src/modules/ekf2/params_drag.yaml b/src/modules/ekf2/params_drag.yaml new file mode 100644 index 000000000000..79fa919ea8d6 --- /dev/null +++ b/src/modules/ekf2/params_drag.yaml @@ -0,0 +1,75 @@ +module_name: ekf2 +parameters: +- group: EKF2 + definitions: + EKF2_DRAG_CTRL: + description: + short: Multirotor wind estimation selection + long: Activate wind speed estimation using specific-force measurements and + a drag model defined by EKF2_BCOEF_[XY] and EKF2_MCOEF. Only use on vehicles + that have their thrust aligned with the Z axis and no thrust in the XY plane. + type: boolean + default: 0 + EKF2_DRAG_NOISE: + description: + short: Specific drag force observation noise variance + long: Used by the multi-rotor specific drag force model. + Increasing this makes the multi-rotor wind estimates adjust more slowly. + type: float + default: 2.5 + min: 0.5 + max: 10.0 + unit: (m/s^2)^2 + decimal: 2 + EKF2_BCOEF_X: + description: + short: X-axis ballistic coefficient used for multi-rotor wind estimation + long: This parameter controls the prediction of drag produced by bluff body + drag along the forward/reverse axis when flying a multi-copter which enables + estimation of wind drift when enabled by the EKF2_DRAG_CTRL parameter. The + drag produced by this effect scales with speed squared. The predicted drag + from the rotors is specified separately by the EKF2_MCOEF parameter. Set + this parameter to zero to turn off the bluff body drag model for this axis. + type: float + default: 100.0 + min: 0.0 + max: 200.0 + unit: kg/m^2 + decimal: 1 + EKF2_BCOEF_Y: + description: + short: Y-axis ballistic coefficient used for multi-rotor wind estimation + long: This parameter controls the prediction of drag produced by bluff body + drag along the right/left axis when flying a multi-copter, which enables + estimation of wind drift when enabled by the EKF2_DRAG_CTRL parameter. The + drag produced by this effect scales with speed squared. The predicted drag + from the rotors is specified separately by the EKF2_MCOEF parameter. Set + this parameter to zero to turn off the bluff body drag model for this axis. + type: float + default: 100.0 + min: 0.0 + max: 200.0 + unit: kg/m^2 + decimal: 1 + EKF2_MCOEF: + description: + short: Propeller momentum drag coefficient for multi-rotor wind estimation + long: This parameter controls the prediction of drag produced by the propellers + when flying a multi-copter, which enables estimation of wind drift when + enabled by the EKF2_DRAG_CTRL parameter. The drag produced by this effect + scales with speed not speed squared and is produced because some of the + air velocity normal to the propeller axis of rotation is lost when passing + through the rotor disc. This changes the momentum of the flow which creates + a drag reaction force. When comparing un-ducted propellers of the same diameter, + the effect is roughly proportional to the area of the propeller blades when + viewed side on and changes with propeller selection. Momentum drag is significantly + higher for ducted rotors. To account for the drag produced by the body which + scales with speed squared, see documentation for the EKF2_BCOEF_X and EKF2_BCOEF_Y + parameters. Set this parameter to zero to turn off the momentum drag model + for both axis. + type: float + default: 0.15 + min: 0 + max: 1.0 + unit: 1/s + decimal: 2 diff --git a/src/modules/ekf2/params_external_vision.yaml b/src/modules/ekf2/params_external_vision.yaml new file mode 100644 index 000000000000..e1f058176665 --- /dev/null +++ b/src/modules/ekf2/params_external_vision.yaml @@ -0,0 +1,121 @@ +module_name: ekf2 +parameters: +- group: EKF2 + definitions: + EKF2_EV_CTRL: + description: + short: External vision (EV) sensor aiding + long: 'Set bits in the following positions to enable: 0 : Horizontal position + fusion 1 : Vertical position fusion 2 : 3D velocity fusion 3 : Yaw' + type: bitmask + bit: + 0: Horizontal position + 1: Vertical position + 2: 3D velocity + 3: Yaw + default: 0 + min: 0 + max: 15 + EKF2_EV_DELAY: + description: + short: Vision Position Estimator delay relative to IMU measurements + type: float + default: 0 + min: 0 + max: 300 + unit: ms + reboot_required: true + decimal: 1 + EKF2_EV_NOISE_MD: + description: + short: External vision (EV) noise mode + long: If set to 0 (default) the measurement noise is taken from the vision + message and the EV noise parameters are used as a lower bound. If set to + 1 the observation noise is set from the parameters directly, + type: enum + values: + 0: EV reported variance (parameter lower bound) + 1: EV noise parameters + default: 0 + EKF2_EV_QMIN: + description: + short: External vision (EV) minimum quality (optional) + long: External vision will only be started and fused if the quality metric + is above this threshold. The quality metric is a completely optional field + provided by some VIO systems. + type: int32 + default: 0 + min: 0 + max: 100 + decimal: 1 + EKF2_EVA_NOISE: + description: + short: Measurement noise for vision angle measurements + long: Used to lower bound or replace the uncertainty included in the message + type: float + default: 0.1 + min: 0.05 + unit: rad + decimal: 2 + EKF2_EVP_GATE: + description: + short: Gate size for vision position fusion + long: Sets the number of standard deviations used by the innovation consistency + test. + type: float + default: 5.0 + min: 1.0 + unit: SD + decimal: 1 + EKF2_EVP_NOISE: + description: + short: Measurement noise for vision position measurements + long: Used to lower bound or replace the uncertainty included in the message + type: float + default: 0.1 + min: 0.01 + unit: m + decimal: 2 + EKF2_EVV_GATE: + description: + short: Gate size for vision velocity estimate fusion + long: Sets the number of standard deviations used by the innovation consistency + test. + type: float + default: 3.0 + min: 1.0 + unit: SD + decimal: 1 + EKF2_EVV_NOISE: + description: + short: Measurement noise for vision velocity measurements + long: Used to lower bound or replace the uncertainty included in the message + type: float + default: 0.1 + min: 0.01 + unit: m/s + decimal: 2 + EKF2_EV_POS_X: + description: + short: X position of VI sensor focal point in body frame + long: Forward axis with origin relative to vehicle centre of gravity + type: float + default: 0.0 + unit: m + decimal: 3 + EKF2_EV_POS_Y: + description: + short: Y position of VI sensor focal point in body frame + long: Forward axis with origin relative to vehicle centre of gravity + type: float + default: 0.0 + unit: m + decimal: 3 + EKF2_EV_POS_Z: + description: + short: Z position of VI sensor focal point in body frame + long: Forward axis with origin relative to vehicle centre of gravity + type: float + default: 0.0 + unit: m + decimal: 3 diff --git a/src/modules/ekf2/params_gnss.yaml b/src/modules/ekf2/params_gnss.yaml new file mode 100644 index 000000000000..55c530a125c9 --- /dev/null +++ b/src/modules/ekf2/params_gnss.yaml @@ -0,0 +1,196 @@ +module_name: ekf2 +parameters: +- group: EKF2 + definitions: + EKF2_GPS_CTRL: + description: + short: GNSS sensor aiding + long: 'Set bits in the following positions to enable: 0 : Longitude and latitude + fusion 1 : Altitude fusion 2 : 3D velocity fusion 3 : Dual antenna heading + fusion' + type: bitmask + bit: + 0: Lon/lat + 1: Altitude + 2: 3D velocity + 3: Dual antenna heading + default: 7 + min: 0 + max: 15 + EKF2_GPS_DELAY: + description: + short: GPS measurement delay relative to IMU measurements + type: float + default: 110 + min: 0 + max: 300 + unit: ms + reboot_required: true + decimal: 1 + EKF2_GPS_P_NOISE: + description: + short: Measurement noise for GNSS position + type: float + default: 0.5 + min: 0.01 + max: 10.0 + unit: m + decimal: 2 + EKF2_GPS_P_GATE: + description: + short: Gate size for GNSS position fusion + long: Sets the number of standard deviations used by the innovation consistency + test. + type: float + default: 5.0 + min: 1.0 + unit: SD + decimal: 1 + EKF2_GPS_V_GATE: + description: + short: Gate size for GNSS velocity fusion + long: Sets the number of standard deviations used by the innovation consistency + test. + type: float + default: 5.0 + min: 1.0 + unit: SD + decimal: 1 + EKF2_GPS_V_NOISE: + description: + short: Measurement noise for GNSS velocity + type: float + default: 0.3 + min: 0.01 + max: 5.0 + unit: m/s + decimal: 2 + EKF2_GPS_POS_X: + description: + short: X position of GPS antenna in body frame + long: Forward axis with origin relative to vehicle centre of gravity + type: float + default: 0.0 + unit: m + decimal: 3 + EKF2_GPS_POS_Y: + description: + short: Y position of GPS antenna in body frame + long: Forward axis with origin relative to vehicle centre of gravity + type: float + default: 0.0 + unit: m + decimal: 3 + EKF2_GPS_POS_Z: + description: + short: Z position of GPS antenna in body frame + long: Forward axis with origin relative to vehicle centre of gravity + type: float + default: 0.0 + unit: m + decimal: 3 + EKF2_GPS_CHECK: + description: + short: Integer bitmask controlling GPS checks + long: 'Each threshold value is defined by the parameter indicated next to the check. + Drift and offset checks only run when the vehicle is on ground and stationary.' + type: bitmask + bit: + 0: Sat count (EKF2_REQ_NSATS) + 1: PDOP (EKF2_REQ_PDOP) + 2: EPH (EKF2_REQ_EPH) + 3: EPV (EKF2_REQ_EPV) + 4: Speed accuracy (EKF2_REQ_SACC) + 5: Horizontal position drift (EKF2_REQ_HDRIFT) + 6: Vertical position drift (EKF2_REQ_VDRIFT) + 7: Horizontal speed offset (EKF2_REQ_HDRIFT) + 8: Vertical speed offset (EKF2_REQ_VDRIFT) + 9: Spoofing + default: 1023 + min: 0 + max: 1023 + EKF2_REQ_EPH: + description: + short: Required EPH to use GPS + type: float + default: 3.0 + min: 2 + max: 100 + unit: m + decimal: 1 + EKF2_REQ_EPV: + description: + short: Required EPV to use GPS + type: float + default: 5.0 + min: 2 + max: 100 + unit: m + decimal: 1 + EKF2_REQ_SACC: + description: + short: Required speed accuracy to use GPS + type: float + default: 0.5 + min: 0.5 + max: 5.0 + unit: m/s + decimal: 2 + EKF2_REQ_NSATS: + description: + short: Required satellite count to use GPS + type: int32 + default: 6 + min: 4 + max: 12 + EKF2_REQ_PDOP: + description: + short: Maximum PDOP to use GPS + type: float + default: 2.5 + min: 1.5 + max: 5.0 + decimal: 1 + EKF2_REQ_HDRIFT: + description: + short: Maximum horizontal drift speed to use GPS + type: float + default: 0.1 + min: 0.1 + max: 1.0 + unit: m/s + decimal: 2 + EKF2_REQ_VDRIFT: + description: + short: Maximum vertical drift speed to use GPS + type: float + default: 0.2 + min: 0.1 + max: 1.5 + decimal: 2 + unit: m/s + EKF2_REQ_GPS_H: + description: + short: Required GPS health time on startup + long: Minimum continuous period without GPS failure required to mark a healthy + GPS status. It can be reduced to speed up initialization, but it's recommended + to keep this unchanged for a vehicle. + type: float + default: 10.0 + min: 0.1 + decimal: 1 + unit: s + reboot_required: true + EKF2_GSF_TAS: + description: + short: Default value of true airspeed used in EKF-GSF AHRS calculation + long: If no airspeed measurements are available, the EKF-GSF AHRS calculation + will assume this value of true airspeed when compensating for centripetal + acceleration during turns. Set to zero to disable centripetal acceleration + compensation during fixed wing flight modes. + type: float + default: 15.0 + min: 0.0 + unit: m/s + max: 100.0 + decimal: 1 diff --git a/src/modules/ekf2/params_gravity.yaml b/src/modules/ekf2/params_gravity.yaml new file mode 100644 index 000000000000..916536c4c4ad --- /dev/null +++ b/src/modules/ekf2/params_gravity.yaml @@ -0,0 +1,13 @@ +module_name: ekf2 +parameters: +- group: EKF2 + definitions: + EKF2_GRAV_NOISE: + description: + short: Accelerometer measurement noise for gravity based observations + type: float + default: 1.0 + min: 0.1 + max: 10.0 + unit: g0 + decimal: 2 diff --git a/src/modules/ekf2/params_gyro_bias.yaml b/src/modules/ekf2/params_gyro_bias.yaml new file mode 100644 index 000000000000..dcb1f36b65f9 --- /dev/null +++ b/src/modules/ekf2/params_gyro_bias.yaml @@ -0,0 +1,34 @@ +module_name: ekf2 +parameters: +- group: EKF2 + definitions: + EKF2_GBIAS_INIT: + description: + short: 1-sigma IMU gyro switch-on bias + type: float + default: 0.1 + min: 0.0 + max: 0.2 + unit: rad/s + reboot_required: true + decimal: 2 + EKF2_GYR_B_NOISE: + description: + short: Process noise for IMU rate gyro bias prediction + type: float + default: 0.001 + min: 0.0 + max: 0.01 + unit: rad/s^2 + decimal: 6 + EKF2_GYR_B_LIM: + description: + short: Gyro bias learning limit + long: The ekf gyro bias states will be limited to within a range equivalent + to +- of this value. + type: float + default: 0.15 + min: 0.0 + max: 0.4 + unit: rad/s + decimal: 3 diff --git a/src/modules/ekf2/params_magnetometer.yaml b/src/modules/ekf2/params_magnetometer.yaml new file mode 100644 index 000000000000..1790d113db4b --- /dev/null +++ b/src/modules/ekf2/params_magnetometer.yaml @@ -0,0 +1,153 @@ +module_name: ekf2 +parameters: +- group: EKF2 + definitions: + EKF2_MAG_TYPE: + description: + short: Type of magnetometer fusion + long: Integer controlling the type of magnetometer fusion used - magnetic + heading or 3-component vector. The fusion of magnetometer data as a three + component vector enables vehicle body fixed hard iron errors to be learned, + but requires a stable earth field. If set to 'Automatic' magnetic heading + fusion is used when on-ground and 3-axis magnetic field fusion in-flight. + If set to 'Magnetic heading' magnetic heading fusion is used at all times. + If set to 'None' the magnetometer will not be used under any circumstance. + If no external source of yaw is available, it is possible to use post-takeoff + horizontal movement combined with GNSS velocity measurements to align the yaw angle. + If set to 'Init' the magnetometer is only used to initalize the heading. + type: enum + values: + 0: Automatic + 1: Magnetic heading + 5: None + 6: Init + default: 0 + reboot_required: true + EKF2_MAG_DELAY: + description: + short: Magnetometer measurement delay relative to IMU measurements + type: float + default: 0 + min: 0 + max: 300 + unit: ms + reboot_required: true + decimal: 1 + EKF2_MAG_GATE: + description: + short: Gate size for magnetometer XYZ component fusion + long: Sets the number of standard deviations used by the innovation consistency + test. + type: float + default: 3.0 + min: 1.0 + unit: SD + decimal: 1 + EKF2_MAG_NOISE: + description: + short: Measurement noise for magnetometer 3-axis fusion + type: float + default: 0.05 + min: 0.001 + max: 1.0 + unit: gauss + decimal: 3 + EKF2_MAG_B_NOISE: + description: + short: Process noise for body magnetic field prediction + type: float + default: 0.0001 + min: 0.0 + max: 0.1 + unit: gauss/s + decimal: 6 + EKF2_MAG_E_NOISE: + description: + short: Process noise for earth magnetic field prediction + type: float + default: 0.001 + min: 0.0 + max: 0.1 + unit: gauss/s + decimal: 6 + EKF2_DECL_TYPE: + description: + short: Integer bitmask controlling handling of magnetic declination + long: 'Set bits in the following positions to enable functions. 0 : Set to + true to use the declination from the geo_lookup library when the GPS position + becomes available, set to false to always use the EKF2_MAG_DECL value. 1 + : Set to true to save the EKF2_MAG_DECL parameter to the value returned + by the EKF when the vehicle disarms.' + type: bitmask + bit: + 0: use geo_lookup declination + 1: save EKF2_MAG_DECL on disarm + default: 3 + min: 0 + max: 3 + reboot_required: true + EKF2_MAG_ACCLIM: + description: + short: Horizontal acceleration threshold used for heading observability check + long: The heading is assumed to be observable when the body acceleration is + greater than this parameter when a global position/velocity aiding source + is active. + type: float + default: 0.5 + min: 0.0 + max: 5.0 + unit: m/s^2 + decimal: 2 + EKF2_MAG_CHECK: + description: + short: Magnetic field strength test selection + long: 'Bitmask to set which check is used to decide whether the magnetometer + data is valid. If GNSS data is received, the magnetic field is compared + to a World Magnetic Model (WMM), otherwise an average value is used. This + check is useful to reject occasional hard iron disturbance. Set bits to + 1 to enable checks. Checks enabled by the following bit positions 0 : Magnetic + field strength. Set tolerance using EKF2_MAG_CHK_STR 1 : Magnetic field + inclination. Set tolerance using EKF2_MAG_CHK_INC 2 : Wait for GNSS to find + the theoretical strength and inclination using the WMM' + type: bitmask + bit: + 0: Strength (EKF2_MAG_CHK_STR) + 1: Inclination (EKF2_MAG_CHK_INC) + 2: Wait for WMM + default: 1 + min: 0 + max: 7 + EKF2_MAG_CHK_STR: + description: + short: Magnetic field strength check tolerance + long: Maximum allowed deviation from the expected magnetic field strength + to pass the check. + type: float + default: 0.2 + min: 0.0 + max: 1.0 + unit: gauss + decimal: 2 + EKF2_MAG_CHK_INC: + description: + short: Magnetic field inclination check tolerance + long: Maximum allowed deviation from the expected magnetic field inclination + to pass the check. + type: float + default: 20.0 + min: 0.0 + max: 90.0 + unit: deg + decimal: 1 + EKF2_SYNT_MAG_Z: + description: + short: Enable synthetic magnetometer Z component measurement + long: Use for vehicles where the measured body Z magnetic field is subject + to strong magnetic interference. For magnetic heading fusion the magnetometer + Z measurement will be replaced by a synthetic value calculated using the + knowledge of the 3D magnetic field vector at the location of the drone. + Therefore, this parameter will only have an effect if the global position + of the drone is known. For 3D mag fusion the magnetometer Z measurement + will simply be ignored instead of fusing the synthetic value. + type: boolean + default: 0 diff --git a/src/modules/ekf2/params_multi.yaml b/src/modules/ekf2/params_multi.yaml new file mode 100644 index 000000000000..04280ce1489c --- /dev/null +++ b/src/modules/ekf2/params_multi.yaml @@ -0,0 +1,24 @@ +module_name: ekf2 +parameters: +- group: EKF2 + definitions: + EKF2_MULTI_IMU: + description: + short: Multi-EKF IMUs + long: Maximum number of IMUs to use for Multi-EKF. Set 0 to disable. Requires + SENS_IMU_MODE 0. + type: int32 + default: 0 + reboot_required: true + min: 0 + max: 4 + EKF2_MULTI_MAG: + description: + short: Multi-EKF Magnetometers + long: Maximum number of magnetometers to use for Multi-EKF. Set 0 to disable. + Requires SENS_MAG_MODE 0. + type: int32 + default: 0 + reboot_required: true + min: 0 + max: 4 diff --git a/src/modules/ekf2/params_optical_flow.yaml b/src/modules/ekf2/params_optical_flow.yaml new file mode 100644 index 000000000000..961b6a03dbb6 --- /dev/null +++ b/src/modules/ekf2/params_optical_flow.yaml @@ -0,0 +1,103 @@ +module_name: ekf2 +parameters: +- group: EKF2 + definitions: + EKF2_OF_CTRL: + description: + short: Optical flow aiding + long: Enable optical flow fusion. + type: boolean + default: 1 + EKF2_OF_DELAY: + description: + short: Optical flow measurement delay relative to IMU measurements + long: Assumes measurement is timestamped at trailing edge of integration period + type: float + default: 20 + min: 0 + max: 300 + unit: ms + reboot_required: true + decimal: 1 + EKF2_OF_GATE: + description: + short: Gate size for optical flow fusion + long: Sets the number of standard deviations used by the innovation consistency + test. + type: float + default: 3.0 + min: 1.0 + unit: SD + decimal: 1 + EKF2_OF_N_MIN: + description: + short: Optical flow minimum noise + long: Measurement noise for the optical flow sensor when it's reported quality + metric is at the maximum + type: float + default: 0.15 + min: 0.05 + unit: rad/s + decimal: 2 + EKF2_OF_N_MAX: + description: + short: Optical flow maximum noise + long: Measurement noise for the optical flow sensor when it's reported quality + metric is at the minimum + type: float + default: 0.5 + min: 0.05 + unit: rad/s + decimal: 2 + EKF2_OF_QMIN: + description: + short: In air optical flow minimum quality + long: Optical Flow data will only be used in air if the sensor reports a + quality metric >= EKF2_OF_QMIN + type: int32 + default: 1 + min: 0 + max: 255 + EKF2_OF_QMIN_GND: + description: + short: On ground optical flow minimum quality + long: Optical Flow data will only be used on the ground if the sensor reports + a quality metric >= EKF2_OF_QMIN_GND + type: int32 + default: 0 + min: 0 + max: 255 + EKF2_OF_GYR_SRC: + description: + short: Optical flow angular rate compensation source + long: 'Auto: use gyro from optical flow message if available, internal gyro otherwise. + Internal: always use internal gyro' + type: enum + values: + 0: Auto + 1: Internal + default: 0 + EKF2_OF_POS_X: + description: + short: X position of optical flow focal point in body frame + long: Forward axis with origin relative to vehicle centre of gravity + type: float + default: 0.0 + unit: m + decimal: 3 + EKF2_OF_POS_Y: + description: + short: Y position of optical flow focal point in body frame + long: Forward axis with origin relative to vehicle centre of gravity + type: float + default: 0.0 + unit: m + decimal: 3 + EKF2_OF_POS_Z: + description: + short: Z position of optical flow focal point in body frame + long: Forward axis with origin relative to vehicle centre of gravity + type: float + default: 0.0 + unit: m + decimal: 3 diff --git a/src/modules/ekf2/params_range_finder.yaml b/src/modules/ekf2/params_range_finder.yaml new file mode 100644 index 000000000000..5baa4fb26775 --- /dev/null +++ b/src/modules/ekf2/params_range_finder.yaml @@ -0,0 +1,152 @@ +module_name: ekf2 +parameters: +- group: EKF2 + definitions: + EKF2_RNG_CTRL: + description: + short: Range sensor height aiding + long: 'WARNING: Range finder measurements are less reliable and can experience + unexpected errors. For these reasons, if accurate control of height relative + to ground is required, it is recommended to use the MPC_ALT_MODE parameter + instead, unless baro errors are severe enough to cause problems with landing + and takeoff. If this parameter is enabled then the estimator + will make use of the range finder measurements to estimate its height in + addition to other height sources (if activated). Range sensor aiding can + be enabled (i.e.: always use) or set in "conditional" mode. Conditional + mode: This enables the range finder to be used during low speed (< EKF2_RNG_A_VMAX) + and low altitude (< EKF2_RNG_A_HMAX) operation, eg takeoff and landing, + where baro interference from rotor wash is excessive and can corrupt EKF + state estimates. It is intended to be used where a vertical takeoff and + landing is performed, and horizontal flight does not occur until above EKF2_RNG_A_HMAX.' + type: enum + values: + 0: Disable range fusion + 1: Enabled (conditional mode) + 2: Enabled + default: 1 + EKF2_RNG_DELAY: + description: + short: Range finder measurement delay relative to IMU measurements + type: float + default: 5 + min: 0 + max: 300 + unit: ms + reboot_required: true + decimal: 1 + EKF2_RNG_GATE: + description: + short: Gate size for range finder fusion + long: Sets the number of standard deviations used by the innovation consistency + test. + type: float + default: 5.0 + min: 1.0 + unit: SD + decimal: 1 + EKF2_RNG_NOISE: + description: + short: Measurement noise for range finder fusion + type: float + default: 0.1 + min: 0.01 + unit: m + decimal: 2 + EKF2_RNG_PITCH: + description: + short: Range sensor pitch offset + type: float + default: 0.0 + min: -0.75 + max: 0.75 + unit: rad + decimal: 3 + EKF2_RNG_A_VMAX: + description: + short: Maximum horizontal velocity allowed for conditional range aid mode + long: If the vehicle horizontal speed exceeds this value then the estimator + will not fuse range measurements to estimate its height. This only applies + when conditional range aid mode is activated (EKF2_RNG_CTRL = 1). + type: float + default: 1.0 + min: 0.1 + max: 2 + unit: m/s + EKF2_RNG_A_HMAX: + description: + short: Maximum height above ground allowed for conditional range aid mode + long: If the vehicle absolute altitude exceeds this value then the estimator + will not fuse range measurements to estimate its height. This only applies + when conditional range aid mode is activated (EKF2_RNG_CTRL = 1). + type: float + default: 5.0 + min: 1.0 + max: 10.0 + unit: m + EKF2_RNG_A_IGATE: + description: + short: Gate size used for innovation consistency checks for range aid fusion + long: A lower value means HAGL needs to be more stable in order to use range + finder for height estimation in range aid mode + type: float + default: 1.0 + unit: SD + min: 0.1 + max: 5.0 + EKF2_RNG_QLTY_T: + description: + short: Minumum range validity period + long: Minimum duration during which the reported range finder signal quality + needs to be non-zero in order to be declared valid (s) + type: float + default: 1.0 + unit: s + min: 0.1 + max: 5 + EKF2_RNG_K_GATE: + description: + short: Gate size used for range finder kinematic consistency check + long: 'To be used, the time derivative of the distance sensor measurements + projected on the vertical axis needs to be statistically consistent with + the estimated vertical velocity of the drone. Decrease this value to make + the filter more robust against range finder faulty data (stuck, reflections, + ...). Note: tune the range finder noise parameters (EKF2_RNG_NOISE and EKF2_RNG_SFE) + before tuning this gate.' + type: float + default: 1.0 + unit: SD + min: 0.1 + max: 5.0 + EKF2_RNG_SFE: + description: + short: Range finder range dependent noise scaler + long: Specifies the increase in range finder noise with range. + type: float + default: 0.05 + min: 0.0 + max: 0.2 + unit: m/m + EKF2_RNG_POS_X: + description: + short: X position of range finder origin in body frame + long: Forward axis with origin relative to vehicle centre of gravity + type: float + default: 0.0 + unit: m + decimal: 3 + EKF2_RNG_POS_Y: + description: + short: Y position of range finder origin in body frame + long: Forward axis with origin relative to vehicle centre of gravity + type: float + default: 0.0 + unit: m + decimal: 3 + EKF2_RNG_POS_Z: + description: + short: Z position of range finder origin in body frame + long: Forward axis with origin relative to vehicle centre of gravity + type: float + default: 0.0 + unit: m + decimal: 3 diff --git a/src/modules/ekf2/params_selector.yaml b/src/modules/ekf2/params_selector.yaml new file mode 100644 index 000000000000..d6b00eb3ff2c --- /dev/null +++ b/src/modules/ekf2/params_selector.yaml @@ -0,0 +1,47 @@ +module_name: ekf2 +parameters: +- group: EKF2 + definitions: + EKF2_SEL_ERR_RED: + description: + short: Selector error reduce threshold + long: EKF2 instances have to be better than the selected by at least this + amount before their relative score can be reduced. + type: float + default: 0.2 + EKF2_SEL_IMU_RAT: + description: + short: Selector angular rate threshold + long: EKF2 selector angular rate error threshold for comparing gyros. Angular + rate vector differences larger than this will result in accumulated angular + error. + type: float + default: 7.0 + unit: deg/s + EKF2_SEL_IMU_ANG: + description: + short: Selector angular threshold + long: EKF2 selector maximum accumulated angular error threshold for comparing + gyros. Accumulated angular error larger than this will result in the sensor + being declared faulty. + type: float + default: 15.0 + unit: deg + EKF2_SEL_IMU_ACC: + description: + short: Selector acceleration threshold + long: EKF2 selector acceleration error threshold for comparing accelerometers. + Acceleration vector differences larger than this will result in accumulated + velocity error. + type: float + default: 1.0 + unit: m/s^2 + EKF2_SEL_IMU_VEL: + description: + short: Selector angular threshold + long: EKF2 selector maximum accumulated velocity threshold for comparing accelerometers. + Accumulated velocity error larger than this will result in the sensor being + declared faulty. + type: float + default: 2.0 + unit: m/s diff --git a/src/modules/ekf2/params_sideslip.yaml b/src/modules/ekf2/params_sideslip.yaml new file mode 100644 index 000000000000..49d5467fccb7 --- /dev/null +++ b/src/modules/ekf2/params_sideslip.yaml @@ -0,0 +1,32 @@ +module_name: ekf2 +parameters: +- group: EKF2 + definitions: + EKF2_FUSE_BETA: + description: + short: Enable synthetic sideslip fusion + long: 'For reliable wind estimation both sideslip and airspeed fusion (see + EKF2_ARSP_THR) should be enabled. Only applies to fixed-wing vehicles (or + VTOLs in fixed-wing mode). Note: side slip fusion is currently not supported + for tailsitters.' + type: boolean + default: 0 + EKF2_BETA_GATE: + description: + short: Gate size for synthetic sideslip fusion + long: Sets the number of standard deviations used by the innovation consistency + test. + type: float + default: 5.0 + min: 1.0 + unit: SD + decimal: 1 + EKF2_BETA_NOISE: + description: + short: Noise for synthetic sideslip fusion + type: float + default: 0.3 + min: 0.1 + max: 1.0 + unit: m/s + decimal: 2 diff --git a/src/modules/ekf2/params_terrain.yaml b/src/modules/ekf2/params_terrain.yaml new file mode 100644 index 000000000000..5fc361c5cd65 --- /dev/null +++ b/src/modules/ekf2/params_terrain.yaml @@ -0,0 +1,34 @@ +module_name: ekf2 +parameters: +- group: EKF2 + definitions: + EKF2_TERR_NOISE: + description: + short: Terrain altitude process noise + type: float + default: 5.0 + min: 0.5 + unit: m/s + decimal: 1 + EKF2_TERR_GRAD: + description: + short: Magnitude of terrain gradient + type: float + default: 0.5 + min: 0.0 + unit: m/m + decimal: 2 + EKF2_MIN_RNG: + description: + short: Expected range finder reading when on ground + long: If the vehicle is on ground, is not moving as determined by the motion + test and the range finder is returning invalid or no data, then an assumed + range value of EKF2_MIN_RNG will be used by the terrain estimator so that + a terrain height estimate is available at the start of flight in situations + where the range finder may be inside its minimum measurements distance when + on ground. + type: float + default: 0.1 + min: 0.01 + unit: m + decimal: 2 diff --git a/src/modules/ekf2/params_volatile.yaml b/src/modules/ekf2/params_volatile.yaml new file mode 100644 index 000000000000..327ca770ae00 --- /dev/null +++ b/src/modules/ekf2/params_volatile.yaml @@ -0,0 +1,13 @@ +module_name: ekf2 +parameters: +- group: EKF2 + definitions: + EKF2_MAG_DECL: + description: + short: Magnetic declination + category: System + type: float + default: 0 + volatile: true + unit: deg + decimal: 1 diff --git a/src/modules/ekf2/params_wind.yaml b/src/modules/ekf2/params_wind.yaml new file mode 100644 index 000000000000..7e4f7578d024 --- /dev/null +++ b/src/modules/ekf2/params_wind.yaml @@ -0,0 +1,15 @@ +module_name: ekf2 +parameters: +- group: EKF2 + definitions: + EKF2_WIND_NSD: + description: + short: Process noise spectral density for wind velocity prediction + long: When unaided, the wind estimate uncertainty (1-sigma, in m/s) increases + by this amount every second. + type: float + default: 0.05 + min: 0.0 + max: 1.0 + unit: m/s^2/sqrt(Hz) + decimal: 3 diff --git a/src/modules/ekf2/test/CMakeLists.txt b/src/modules/ekf2/test/CMakeLists.txt index edb4782b6822..c1ecb992b99b 100644 --- a/src/modules/ekf2/test/CMakeLists.txt +++ b/src/modules/ekf2/test/CMakeLists.txt @@ -37,31 +37,28 @@ add_subdirectory(sensor_simulator) add_subdirectory(test_helper) px4_add_unit_gtest(SRC test_EKF_accelerometer.cpp LINKLIBS ecl_EKF ecl_sensor_sim) -px4_add_unit_gtest(SRC test_EKF_airspeed_fusion_generated.cpp LINKLIBS ecl_EKF ecl_test_helper) px4_add_unit_gtest(SRC test_EKF_airspeed.cpp LINKLIBS ecl_EKF ecl_sensor_sim) px4_add_unit_gtest(SRC test_EKF_basics.cpp LINKLIBS ecl_EKF ecl_sensor_sim) -px4_add_unit_gtest(SRC test_EKF_covariance_prediction_generated.cpp LINKLIBS ecl_EKF ecl_test_helper) px4_add_unit_gtest(SRC test_EKF_externalVision.cpp LINKLIBS ecl_EKF ecl_sensor_sim ecl_test_helper) +px4_add_unit_gtest(SRC test_EKF_fake_pos.cpp LINKLIBS ecl_EKF ecl_sensor_sim ecl_test_helper) px4_add_unit_gtest(SRC test_EKF_flow.cpp LINKLIBS ecl_EKF ecl_sensor_sim ecl_test_helper) -px4_add_unit_gtest(SRC test_EKF_opt_flow_fusion_generated.cpp LINKLIBS ecl_EKF ecl_test_helper) +px4_add_unit_gtest(SRC test_EKF_flow_generated.cpp LINKLIBS ecl_EKF ecl_sensor_sim ecl_test_helper) +px4_add_unit_gtest(SRC test_EKF_gyroscope.cpp LINKLIBS ecl_EKF ecl_sensor_sim) px4_add_unit_gtest(SRC test_EKF_fusionLogic.cpp LINKLIBS ecl_EKF ecl_sensor_sim ecl_test_helper) px4_add_unit_gtest(SRC test_EKF_gps.cpp LINKLIBS ecl_EKF ecl_sensor_sim ecl_test_helper) -px4_add_unit_gtest(SRC test_EKF_gps_yaw.cpp LINKLIBS ecl_EKF ecl_sensor_sim) +px4_add_unit_gtest(SRC test_EKF_gnss_yaw.cpp LINKLIBS ecl_EKF ecl_sensor_sim) px4_add_unit_gtest(SRC test_EKF_gnss_yaw_generated.cpp LINKLIBS ecl_EKF ecl_test_helper) px4_add_unit_gtest(SRC test_EKF_height_fusion.cpp LINKLIBS ecl_EKF ecl_sensor_sim ecl_test_helper) px4_add_unit_gtest(SRC test_EKF_imuSampling.cpp LINKLIBS ecl_EKF ecl_sensor_sim) px4_add_unit_gtest(SRC test_EKF_initialization.cpp LINKLIBS ecl_EKF ecl_sensor_sim) px4_add_unit_gtest(SRC test_EKF_mag.cpp LINKLIBS ecl_EKF ecl_sensor_sim) -px4_add_unit_gtest(SRC test_EKF_mag_3d_fusion_generated.cpp LINKLIBS ecl_EKF ecl_test_helper) px4_add_unit_gtest(SRC test_EKF_mag_declination_generated.cpp LINKLIBS ecl_EKF ecl_test_helper) px4_add_unit_gtest(SRC test_EKF_measurementSampling.cpp LINKLIBS ecl_EKF ecl_sensor_sim) px4_add_unit_gtest(SRC test_EKF_ringbuffer.cpp LINKLIBS ecl_EKF ecl_sensor_sim) -px4_add_unit_gtest(SRC test_EKF_sideslip_fusion_generated.cpp LINKLIBS ecl_EKF ecl_test_helper) -px4_add_unit_gtest(SRC test_EKF_terrain_estimator.cpp LINKLIBS ecl_EKF ecl_sensor_sim) +px4_add_unit_gtest(SRC test_EKF_terrain.cpp LINKLIBS ecl_EKF ecl_sensor_sim ecl_test_helper) px4_add_unit_gtest(SRC test_EKF_utils.cpp LINKLIBS ecl_EKF ecl_sensor_sim) px4_add_unit_gtest(SRC test_EKF_withReplayData.cpp LINKLIBS ecl_EKF ecl_sensor_sim) px4_add_unit_gtest(SRC test_EKF_yaw_estimator.cpp LINKLIBS ecl_EKF ecl_sensor_sim ecl_test_helper) -px4_add_unit_gtest(SRC test_EKF_yaw_estimator_generated.cpp LINKLIBS ecl_EKF ecl_test_helper) px4_add_unit_gtest(SRC test_EKF_yaw_fusion_generated.cpp LINKLIBS ecl_EKF ecl_test_helper) px4_add_unit_gtest(SRC test_SensorRangeFinder.cpp LINKLIBS ecl_EKF ecl_sensor_sim) px4_add_unit_gtest(SRC test_EKF_drag_fusion.cpp LINKLIBS ecl_EKF ecl_sensor_sim) diff --git a/src/modules/ekf2/test/change_indication/ekf_gsf_reset.csv b/src/modules/ekf2/test/change_indication/ekf_gsf_reset.csv index 4a47965592a3..357bfb7370d0 100644 --- a/src/modules/ekf2/test/change_indication/ekf_gsf_reset.csv +++ b/src/modules/ekf2/test/change_indication/ekf_gsf_reset.csv @@ -1,391 +1,391 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7],state[8],state[9],state[10],state[11],state[12],state[13],state[14],state[15],state[16],state[17],state[18],state[19],state[20],state[21],state[22],state[23],variance[0],variance[1],variance[2],variance[3],variance[4],variance[5],variance[6],variance[7],variance[8],variance[9],variance[10],variance[11],variance[12],variance[13],variance[14],variance[15],variance[16],variance[17],variance[18],variance[19],variance[20],variance[21],variance[22],variance[23] 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ECL Development Team. All rights reserved. +# Copyright (c) 2019-2023 PX4 Development Team. All rights reserved. # # Redistribution and use in source and binary forms, with or without # modification, are permitted provided that the following conditions @@ -12,7 +12,7 @@ # notice, this list of conditions and the following disclaimer in # the documentation and/or other materials provided with the # distribution. -# 3. Neither the name ECL nor the names of its contributors may be +# 3. Neither the name PX4 nor the names of its contributors may be # used to endorse or promote products derived from this software # without specific prior written permission. # diff --git a/src/modules/ekf2/test/sensor_simulator/airspeed.cpp b/src/modules/ekf2/test/sensor_simulator/airspeed.cpp index 520aca024ed3..67d89224d23f 100644 --- a/src/modules/ekf2/test/sensor_simulator/airspeed.cpp +++ b/src/modules/ekf2/test/sensor_simulator/airspeed.cpp @@ -15,13 +15,18 @@ Airspeed::~Airspeed() void Airspeed::send(uint64_t time) { - if (_true_airspeed_data > FLT_EPSILON && _indicated_airspeed_data > FLT_EPSILON) { - airspeedSample airspeed_sample; - airspeed_sample.time_us = time; - airspeed_sample.eas2tas = _true_airspeed_data / _indicated_airspeed_data; - airspeed_sample.true_airspeed = _true_airspeed_data; - _ekf->setAirspeedData(airspeed_sample); + float ias2tas = 1.f; + + if (PX4_ISFINITE(_indicated_airspeed_data) + && (_indicated_airspeed_data > FLT_EPSILON)) { + ias2tas = _true_airspeed_data / _indicated_airspeed_data; } + + airspeedSample airspeed_sample; + airspeed_sample.time_us = time; + airspeed_sample.eas2tas = ias2tas; + airspeed_sample.true_airspeed = _true_airspeed_data; + _ekf->setAirspeedData(airspeed_sample); } void Airspeed::setData(float true_airspeed, float indicated_airspeed) diff --git a/src/modules/ekf2/test/sensor_simulator/airspeed.h b/src/modules/ekf2/test/sensor_simulator/airspeed.h index 0ac4aa5c89ad..261aa4fefc2c 100644 --- a/src/modules/ekf2/test/sensor_simulator/airspeed.h +++ b/src/modules/ekf2/test/sensor_simulator/airspeed.h @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2019 ECL Development Team. All rights reserved. + * Copyright (c) 2019-2023 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions diff --git a/src/modules/ekf2/test/sensor_simulator/baro.h b/src/modules/ekf2/test/sensor_simulator/baro.h index 018e5d88e084..2847935d45ba 100644 --- a/src/modules/ekf2/test/sensor_simulator/baro.h +++ b/src/modules/ekf2/test/sensor_simulator/baro.h @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2019 ECL Development Team. All rights reserved. + * Copyright (c) 2019-2023 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions diff --git a/src/modules/ekf2/test/sensor_simulator/convertULogToSensorData.py b/src/modules/ekf2/test/sensor_simulator/convertULogToSensorData.py index 0e656a684a1d..1b3dd9dc0537 100644 --- a/src/modules/ekf2/test/sensor_simulator/convertULogToSensorData.py +++ b/src/modules/ekf2/test/sensor_simulator/convertULogToSensorData.py @@ -22,14 +22,14 @@ def getVioData(ulog: ULog) -> pd.DataFrame: def getOpticalFlowData(ulog: ULog) -> pd.DataFrame: - optical_flow = ulog.get_dataset("optical_flow").data + optical_flow = ulog.get_dataset("vehicle_optical_flow").data flow = pd.DataFrame({'timestamp': optical_flow['timestamp'], 'sensor' : 'flow', - 'pixel_flow_x_integral': optical_flow["pixel_flow_x_integral"], - 'pixel_flow_y_integral': optical_flow["pixel_flow_y_integral"], - 'gyro_x_rate_integral': optical_flow["gyro_x_rate_integral"], - 'gyro_y_rate_integral': optical_flow["gyro_y_rate_integral"], - 'gyro_z_rate_integral': optical_flow["gyro_z_rate_integral"], + 'pixel_flow_x': optical_flow["pixel_flow[0]"], + 'pixel_flow_y': optical_flow["pixel_flow[1]"], + 'delta_angle_x': optical_flow["delta_angle[0]"], + 'delta_angle_y': optical_flow["delta_angle[1]"], + 'delta_angle_z': optical_flow["delta_angle[2]"], 'quality': optical_flow["quality"] }) return flow diff --git a/src/modules/ekf2/test/sensor_simulator/ekf_logger.cpp b/src/modules/ekf2/test/sensor_simulator/ekf_logger.cpp index 713e27434528..d388e0787f46 100644 --- a/src/modules/ekf2/test/sensor_simulator/ekf_logger.cpp +++ b/src/modules/ekf2/test/sensor_simulator/ekf_logger.cpp @@ -52,17 +52,17 @@ void EkfLogger::writeState() _file << time; if (_state_logging_enabled) { - matrix::Vector state = _ekf->getStateAtFusionHorizonAsVector(); + auto state = _ekf->state().vector(); - for (int i = 0; i < 24; i++) { + for (unsigned i = 0; i < state.size(); i++) { _file << "," << std::setprecision(2) << state(i); } } if (_variance_logging_enabled) { - matrix::Vector variance = _ekf->covariances_diagonal(); + matrix::Vector variance = _ekf->covariances_diagonal(); - for (int i = 0; i < 24; i++) { + for (unsigned i = 0; i < State::size; i++) { _file << "," << variance(i); } } diff --git a/src/modules/ekf2/test/sensor_simulator/ekf_logger.h b/src/modules/ekf2/test/sensor_simulator/ekf_logger.h index 7a1c648d8930..748adcc75892 100644 --- a/src/modules/ekf2/test/sensor_simulator/ekf_logger.h +++ b/src/modules/ekf2/test/sensor_simulator/ekf_logger.h @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2019 ECL Development Team. All rights reserved. + * Copyright (c) 2019-2023 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions diff --git a/src/modules/ekf2/test/sensor_simulator/ekf_wrapper.cpp b/src/modules/ekf2/test/sensor_simulator/ekf_wrapper.cpp index adf31b1c1c4c..9fd62885e36b 100644 --- a/src/modules/ekf2/test/sensor_simulator/ekf_wrapper.cpp +++ b/src/modules/ekf2/test/sensor_simulator/ekf_wrapper.cpp @@ -12,7 +12,7 @@ EkfWrapper::~EkfWrapper() void EkfWrapper::setBaroHeightRef() { - _ekf_params->height_sensor_ref = HeightSensor::BARO; + _ekf_params->height_sensor_ref = static_cast(HeightSensor::BARO); } void EkfWrapper::enableBaroHeightFusion() @@ -32,17 +32,17 @@ bool EkfWrapper::isIntendingBaroHeightFusion() const void EkfWrapper::setGpsHeightRef() { - _ekf_params->height_sensor_ref = HeightSensor::GNSS; + _ekf_params->height_sensor_ref = static_cast(HeightSensor::GNSS); } void EkfWrapper::enableGpsHeightFusion() { - _ekf_params->gnss_ctrl |= GnssCtrl::VPOS; + _ekf_params->gnss_ctrl |= static_cast(GnssCtrl::VPOS); } void EkfWrapper::disableGpsHeightFusion() { - _ekf_params->gnss_ctrl &= ~GnssCtrl::VPOS; + _ekf_params->gnss_ctrl &= ~static_cast(GnssCtrl::VPOS); } bool EkfWrapper::isIntendingGpsHeightFusion() const @@ -52,17 +52,17 @@ bool EkfWrapper::isIntendingGpsHeightFusion() const void EkfWrapper::setRangeHeightRef() { - _ekf_params->height_sensor_ref = HeightSensor::RANGE; + _ekf_params->height_sensor_ref = static_cast(HeightSensor::RANGE); } void EkfWrapper::enableRangeHeightFusion() { - _ekf_params->rng_ctrl = RngCtrl::ENABLED; + _ekf_params->rng_ctrl = static_cast(RngCtrl::ENABLED); } void EkfWrapper::disableRangeHeightFusion() { - _ekf_params->rng_ctrl = RngCtrl::DISABLED; + _ekf_params->rng_ctrl = static_cast(RngCtrl::DISABLED); } bool EkfWrapper::isIntendingRangeHeightFusion() const @@ -72,7 +72,7 @@ bool EkfWrapper::isIntendingRangeHeightFusion() const void EkfWrapper::setExternalVisionHeightRef() { - _ekf_params->height_sensor_ref = HeightSensor::EV; + _ekf_params->height_sensor_ref = static_cast(HeightSensor::EV); } void EkfWrapper::enableExternalVisionHeightFusion() @@ -100,14 +100,19 @@ bool EkfWrapper::isIntendingBetaFusion() const return _ekf->control_status_flags().fuse_beta; } +bool EkfWrapper::isIntendingAirspeedFusion() const +{ + return _ekf->control_status_flags().fuse_aspd; +} + void EkfWrapper::enableGpsFusion() { - _ekf_params->gnss_ctrl |= GnssCtrl::HPOS | GnssCtrl::VEL; + _ekf_params->gnss_ctrl |= static_cast(GnssCtrl::HPOS) | static_cast(GnssCtrl::VEL); } void EkfWrapper::disableGpsFusion() { - _ekf_params->gnss_ctrl &= ~(GnssCtrl::HPOS | GnssCtrl::VEL); + _ekf_params->gnss_ctrl &= ~(static_cast(GnssCtrl::HPOS) | static_cast(GnssCtrl::VEL)); } bool EkfWrapper::isIntendingGpsFusion() const @@ -117,17 +122,17 @@ bool EkfWrapper::isIntendingGpsFusion() const void EkfWrapper::enableGpsHeadingFusion() { - _ekf_params->gnss_ctrl |= GnssCtrl::YAW; + _ekf_params->gnss_ctrl |= static_cast(GnssCtrl::YAW); } void EkfWrapper::disableGpsHeadingFusion() { - _ekf_params->gnss_ctrl &= ~GnssCtrl::YAW; + _ekf_params->gnss_ctrl &= ~static_cast(GnssCtrl::YAW); } bool EkfWrapper::isIntendingGpsHeadingFusion() const { - return _ekf->control_status_flags().gps_yaw; + return _ekf->control_status_flags().gnss_yaw; } void EkfWrapper::enableFlowFusion() @@ -205,6 +210,11 @@ bool EkfWrapper::isIntendingMag3DFusion() const return _ekf->control_status_flags().mag_3D; } +bool EkfWrapper::isMagHeadingConsistent() const +{ + return _ekf->control_status_flags().mag_heading_consistent; +} + void EkfWrapper::setMagFuseTypeNone() { _ekf_params->mag_fusion_type = MagFuseType::NONE; @@ -212,46 +222,32 @@ void EkfWrapper::setMagFuseTypeNone() void EkfWrapper::enableMagStrengthCheck() { - _ekf_params->check_mag_strength = 1; + _ekf_params->mag_check |= static_cast(MagCheckMask::STRENGTH); } -bool EkfWrapper::isWindVelocityEstimated() const +void EkfWrapper::enableMagInclinationCheck() { - return _ekf->control_status_flags().wind; + _ekf_params->mag_check |= static_cast(MagCheckMask::INCLINATION); } -void EkfWrapper::enableTerrainRngFusion() +void EkfWrapper::enableMagCheckForceWMM() { - _ekf_params->terrain_fusion_mode |= TerrainFusionMask::TerrainFuseRangeFinder; + _ekf_params->mag_check |= static_cast(MagCheckMask::FORCE_WMM); } -void EkfWrapper::disableTerrainRngFusion() +bool EkfWrapper::isWindVelocityEstimated() const { - _ekf_params->terrain_fusion_mode &= ~TerrainFusionMask::TerrainFuseRangeFinder; + return _ekf->control_status_flags().wind; } bool EkfWrapper::isIntendingTerrainRngFusion() const { - terrain_fusion_status_u terrain_status; - terrain_status.value = _ekf->getTerrainEstimateSensorBitfield(); - return terrain_status.flags.range_finder; -} - -void EkfWrapper::enableTerrainFlowFusion() -{ - _ekf_params->terrain_fusion_mode |= TerrainFusionMask::TerrainFuseOpticalFlow; -} - -void EkfWrapper::disableTerrainFlowFusion() -{ - _ekf_params->terrain_fusion_mode &= ~TerrainFusionMask::TerrainFuseOpticalFlow; + return _ekf->control_status_flags().rng_terrain; } bool EkfWrapper::isIntendingTerrainFlowFusion() const { - terrain_fusion_status_u terrain_status; - terrain_status.value = _ekf->getTerrainEstimateSensorBitfield(); - return terrain_status.flags.flow; + return _ekf->control_status_flags().opt_flow_terrain; } Eulerf EkfWrapper::getEulerAngles() const @@ -265,11 +261,6 @@ float EkfWrapper::getYawAngle() const return euler(2); } -matrix::Vector4f EkfWrapper::getQuaternionVariance() const -{ - return matrix::Vector4f(_ekf->orientation_covariances().diag()); -} - int EkfWrapper::getQuaternionResetCounter() const { float tmp[4]; @@ -278,11 +269,6 @@ int EkfWrapper::getQuaternionResetCounter() const return static_cast(counter); } -matrix::Vector3f EkfWrapper::getDeltaVelBiasVariance() const -{ - return _ekf->covariances_diagonal().slice<3, 1>(13, 0); -} - void EkfWrapper::enableDragFusion() { _ekf_params->drag_ctrl = 1; @@ -299,3 +285,18 @@ void EkfWrapper::setDragFusionParameters(const float &bcoef_x, const float &bcoe _ekf_params->bcoef_y = bcoef_y; _ekf_params->mcoef = mcoef; } + +float EkfWrapper::getMagHeadingNoise() const +{ + return _ekf_params->mag_heading_noise; +} + +void EkfWrapper::enableGyroBiasEstimation() +{ + _ekf_params->imu_ctrl |= static_cast(ImuCtrl::GyroBias); +} + +void EkfWrapper::disableGyroBiasEstimation() +{ + _ekf_params->imu_ctrl &= ~static_cast(ImuCtrl::GyroBias); +} diff --git a/src/modules/ekf2/test/sensor_simulator/ekf_wrapper.h b/src/modules/ekf2/test/sensor_simulator/ekf_wrapper.h index 73ea36816601..69b72475dca9 100644 --- a/src/modules/ekf2/test/sensor_simulator/ekf_wrapper.h +++ b/src/modules/ekf2/test/sensor_simulator/ekf_wrapper.h @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2019 ECL Development Team. All rights reserved. + * Copyright (c) 2019-2023 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -73,6 +73,8 @@ class EkfWrapper void disableBetaFusion(); bool isIntendingBetaFusion() const; + bool isIntendingAirspeedFusion() const; + void enableGpsFusion(); void disableGpsFusion(); bool isIntendingGpsFusion() const; @@ -100,30 +102,31 @@ class EkfWrapper bool isIntendingMagHeadingFusion() const; bool isIntendingMag3DFusion() const; + bool isMagHeadingConsistent() const; void setMagFuseTypeNone(); void enableMagStrengthCheck(); + void enableMagInclinationCheck(); + void enableMagCheckForceWMM(); bool isWindVelocityEstimated() const; - void enableTerrainRngFusion(); - void disableTerrainRngFusion(); bool isIntendingTerrainRngFusion() const; - void enableTerrainFlowFusion(); - void disableTerrainFlowFusion(); bool isIntendingTerrainFlowFusion() const; Eulerf getEulerAngles() const; float getYawAngle() const; - matrix::Vector4f getQuaternionVariance() const; int getQuaternionResetCounter() const; - matrix::Vector3f getDeltaVelBiasVariance() const; - void enableDragFusion(); void disableDragFusion(); void setDragFusionParameters(const float &bcoef_x, const float &bcoef_y, const float &mcoef); + float getMagHeadingNoise() const; + + void enableGyroBiasEstimation(); + void disableGyroBiasEstimation(); + private: std::shared_ptr _ekf; diff --git a/src/modules/ekf2/test/sensor_simulator/flow.cpp b/src/modules/ekf2/test/sensor_simulator/flow.cpp index 400cb66b7046..929a57a09685 100644 --- a/src/modules/ekf2/test/sensor_simulator/flow.cpp +++ b/src/modules/ekf2/test/sensor_simulator/flow.cpp @@ -28,9 +28,8 @@ void Flow::setData(const flowSample &flow) flowSample Flow::dataAtRest() { flowSample flow_at_rest; - flow_at_rest.dt = static_cast(_update_period) * 1e-6f; - flow_at_rest.flow_xy_rad = Vector2f{0.0f, 0.0f}; - flow_at_rest.gyro_xyz = Vector3f{0.0f, 0.0f, 0.0f}; + flow_at_rest.flow_rate = Vector2f{0.0f, 0.0f}; + flow_at_rest.gyro_rate = Vector3f{0.0f, 0.0f, 0.0f}; flow_at_rest.quality = 255; return flow_at_rest; } diff --git a/src/modules/ekf2/test/sensor_simulator/flow.h b/src/modules/ekf2/test/sensor_simulator/flow.h index 4820fedfd865..2c0cdf94fcca 100644 --- a/src/modules/ekf2/test/sensor_simulator/flow.h +++ b/src/modules/ekf2/test/sensor_simulator/flow.h @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2019 ECL Development Team. All rights reserved. + * Copyright (c) 2019-2023 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions diff --git a/src/modules/ekf2/test/sensor_simulator/gps.cpp b/src/modules/ekf2/test/sensor_simulator/gps.cpp index 2e4889c531bc..095edc48440f 100644 --- a/src/modules/ekf2/test/sensor_simulator/gps.cpp +++ b/src/modules/ekf2/test/sensor_simulator/gps.cpp @@ -15,9 +15,9 @@ Gps::~Gps() void Gps::send(const uint64_t time) { - const float dt = static_cast(time - _gps_data.time_usec) * 1e-6f; + const float dt = static_cast(time - _gps_data.time_us) * 1e-6f; - _gps_data.time_usec = time; + _gps_data.time_us = time; if (fabsf(_gps_pos_rate(0)) > FLT_EPSILON || fabsf(_gps_pos_rate(1)) > FLT_EPSILON) { stepHorizontalPositionByMeters(Vector2f(_gps_pos_rate) * dt); @@ -30,29 +30,29 @@ void Gps::send(const uint64_t time) _ekf->setGpsData(_gps_data); } -void Gps::setData(const gpsMessage &gps) +void Gps::setData(const gnssSample &gps) { _gps_data = gps; } -void Gps::setAltitude(const int32_t alt) +void Gps::setAltitude(const float alt) { _gps_data.alt = alt; } -void Gps::setLatitude(const int32_t lat) +void Gps::setLatitude(const double lat) { _gps_data.lat = lat; } -void Gps::setLongitude(const int32_t lon) +void Gps::setLongitude(const double lon) { _gps_data.lon = lon; } void Gps::setVelocity(const Vector3f &vel) { - _gps_data.vel_ned = vel; + _gps_data.vel = vel; } void Gps::setYaw(const float yaw) @@ -87,7 +87,7 @@ void Gps::setPositionRateNED(const Vector3f &rate) void Gps::stepHeightByMeters(const float hgt_change) { - _gps_data.alt += hgt_change * 1e3f; + _gps_data.alt += hgt_change; } void Gps::stepHorizontalPositionByMeters(const Vector2f hpos_change) @@ -98,32 +98,30 @@ void Gps::stepHorizontalPositionByMeters(const Vector2f hpos_change) double lat_new {0.0}; double lon_new {0.0}; - _ekf->global_origin().project(_gps_data.lat * 1e-7, _gps_data.lon * 1e-7, hposN_curr, hposE_curr); + _ekf->global_origin().project(_gps_data.lat, _gps_data.lon, hposN_curr, hposE_curr); Vector2f hpos_new = Vector2f{hposN_curr, hposE_curr} + hpos_change; _ekf->global_origin().reproject(hpos_new(0), hpos_new(1), lat_new, lon_new); - _gps_data.lon = static_cast(lon_new * 1e7); - _gps_data.lat = static_cast(lat_new * 1e7); + _gps_data.lon = lon_new; + _gps_data.lat = lat_new; } -gpsMessage Gps::getDefaultGpsData() +gnssSample Gps::getDefaultGpsData() { - gpsMessage gps_data{}; - gps_data.time_usec = 0; - gps_data.lat = 473566094; - gps_data.lon = 85190237; - gps_data.alt = 422056; + gnssSample gps_data{}; + gps_data.time_us = 0; + gps_data.lat = 47.3566094; + gps_data.lon = 8.5190237; + gps_data.alt = 422.056f; gps_data.yaw = NAN; gps_data.yaw_offset = 0.0f; gps_data.fix_type = 3; - gps_data.eph = 0.5f; - gps_data.epv = 0.8f; + gps_data.hacc = 0.5f; + gps_data.vacc = 0.8f; gps_data.sacc = 0.2f; - gps_data.vel_m_s = 0.0; - gps_data.vel_ned.setZero(); - gps_data.vel_ned_valid = 1; + gps_data.vel.setZero(); gps_data.nsats = 16; gps_data.pdop = 0.0f; diff --git a/src/modules/ekf2/test/sensor_simulator/gps.h b/src/modules/ekf2/test/sensor_simulator/gps.h index 1ecacb85a84d..e8ff206916f7 100644 --- a/src/modules/ekf2/test/sensor_simulator/gps.h +++ b/src/modules/ekf2/test/sensor_simulator/gps.h @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2019 ECL Development Team. All rights reserved. + * Copyright (c) 2019-2023 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -51,13 +51,13 @@ class Gps: public Sensor Gps(std::shared_ptr ekf); ~Gps(); - void setData(const gpsMessage &gps); + void setData(const gnssSample &gps); void stepHeightByMeters(const float hgt_change); void stepHorizontalPositionByMeters(const Vector2f hpos_change); void setPositionRateNED(const Vector3f &rate); - void setAltitude(const int32_t alt); - void setLatitude(const int32_t lat); - void setLongitude(const int32_t lon); + void setAltitude(const float alt); + void setLatitude(const double lat); + void setLongitude(const double lon); void setVelocity(const Vector3f &vel); void setYaw(const float yaw); void setYawOffset(const float yaw); @@ -65,12 +65,13 @@ class Gps: public Sensor void setNumberOfSatellites(const int num_satellites); void setPdop(const float pdop); - gpsMessage getDefaultGpsData(); + gnssSample getDefaultGpsData(); + const gnssSample &getData() const { return _gps_data; } private: void send(uint64_t time) override; - gpsMessage _gps_data{}; + gnssSample _gps_data{}; Vector3f _gps_pos_rate{}; }; diff --git a/src/modules/ekf2/test/sensor_simulator/imu.h b/src/modules/ekf2/test/sensor_simulator/imu.h index 18600c3eb73f..ccf6856edfab 100644 --- a/src/modules/ekf2/test/sensor_simulator/imu.h +++ b/src/modules/ekf2/test/sensor_simulator/imu.h @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2019 ECL Development Team. All rights reserved. + * Copyright (c) 2019-2023 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions diff --git a/src/modules/ekf2/test/sensor_simulator/mag.h b/src/modules/ekf2/test/sensor_simulator/mag.h index 5cfed8b892a9..202ba63fb9d8 100644 --- a/src/modules/ekf2/test/sensor_simulator/mag.h +++ b/src/modules/ekf2/test/sensor_simulator/mag.h @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2019 ECL Development Team. All rights reserved. + * Copyright (c) 2019-2023 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions diff --git a/src/modules/ekf2/test/sensor_simulator/range_finder.h b/src/modules/ekf2/test/sensor_simulator/range_finder.h index e41a923cb72f..c4910ed57c43 100644 --- a/src/modules/ekf2/test/sensor_simulator/range_finder.h +++ b/src/modules/ekf2/test/sensor_simulator/range_finder.h @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2019 ECL Development Team. All rights reserved. + * Copyright (c) 2019-2023 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -55,7 +55,7 @@ class RangeFinder: public Sensor void setLimits(float min_distance_m, float max_distance_m); private: - rangeSample _range_sample{}; + estimator::sensor::rangeSample _range_sample{}; float _min_distance{0.2f}; float _max_distance{20.0f}; diff --git a/src/modules/ekf2/test/sensor_simulator/sensor.h b/src/modules/ekf2/test/sensor_simulator/sensor.h index 271960eb47a7..317f922978f2 100644 --- a/src/modules/ekf2/test/sensor_simulator/sensor.h +++ b/src/modules/ekf2/test/sensor_simulator/sensor.h @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2019 ECL Development Team. All rights reserved. + * Copyright (c) 2019-2023 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions diff --git a/src/modules/ekf2/test/sensor_simulator/sensor_simulator.cpp b/src/modules/ekf2/test/sensor_simulator/sensor_simulator.cpp index b3d481b383fa..4e0592e3bc8d 100644 --- a/src/modules/ekf2/test/sensor_simulator/sensor_simulator.cpp +++ b/src/modules/ekf2/test/sensor_simulator/sensor_simulator.cpp @@ -15,6 +15,12 @@ SensorSimulator::SensorSimulator(std::shared_ptr ekf): setSensorRateToDefault(); setSensorDataToDefault(); startBasicSensor(); + + for (int i = 0; i < 3; i++) { + _trajectory[i].setMaxJerk(22.f); + _trajectory[i].setMaxAccel(8.f); + _trajectory[i].setMaxVel(6.f); + } } void SensorSimulator::loadSensorDataFromFile(std::string file_name) @@ -97,6 +103,14 @@ void SensorSimulator::loadSensorDataFromFile(std::string file_name) } sensor_sample.sensor_data[i] = std::stod(value_string); + + if (sensor_sample.sensor_type == sensor_info::measurement_t::GPS) { + if (i == 1 || i == 2) { + // GPS lat/lon was previously stored as a scaled integer + sensor_sample.sensor_data[i] = sensor_sample.sensor_data[i] * 1e-7; + } + } + i++; } @@ -126,7 +140,7 @@ void SensorSimulator::setSensorDataToDefault() _flow.setData(_flow.dataAtRest()); _gps.setData(_gps.getDefaultGpsData()); _imu.setData(Vector3f{0.0f, 0.0f, -CONSTANTS_ONE_G}, Vector3f{0.0f, 0.0f, 0.0f}); - _mag.setData(Vector3f{0.2f, 0.0f, 0.4f}); + _mag.setData(Vector3f{0.218f, 0.f, 0.43f}); _rng.setData(0.2f, 100); _vio.setData(_vio.dataAtRest()); } @@ -251,9 +265,9 @@ void SensorSimulator::setSingleReplaySample(const sensor_info &sample) _baro.setData((float) sample.sensor_data[0]); } else if (sample.sensor_type == sensor_info::measurement_t::GPS) { - _gps.setAltitude((int32_t) sample.sensor_data[0]); - _gps.setLatitude((int32_t) sample.sensor_data[1]); - _gps.setLongitude((int32_t) sample.sensor_data[2]); + _gps.setAltitude(sample.sensor_data[0]); + _gps.setLatitude(sample.sensor_data[1]); + _gps.setLongitude(sample.sensor_data[2]); _gps.setVelocity(Vector3f((float) sample.sensor_data[3], (float) sample.sensor_data[4], (float) sample.sensor_data[5])); @@ -266,11 +280,11 @@ void SensorSimulator::setSingleReplaySample(const sensor_info &sample) } else if (sample.sensor_type == sensor_info::measurement_t::FLOW) { flowSample flow_sample; - flow_sample.flow_xy_rad = Vector2f(sample.sensor_data[0], - sample.sensor_data[1]); - flow_sample.gyro_xyz = Vector3f(sample.sensor_data[2], - sample.sensor_data[3], - sample.sensor_data[4]); + flow_sample.flow_rate = Vector2f(sample.sensor_data[0], + sample.sensor_data[1]); + flow_sample.gyro_rate = Vector3f(sample.sensor_data[2], + sample.sensor_data[3], + sample.sensor_data[4]); flow_sample.quality = sample.sensor_data[5]; _flow.setData(flow_sample); @@ -352,7 +366,7 @@ void SensorSimulator::setSensorDataFromTrajectory() // Magnetometer if (_mag.isRunning()) { - const Vector3f world_mag_field = Vector3f{0.2f, 0.0f, 0.4f}; + const Vector3f world_mag_field = Vector3f{0.218f, 0.f, 0.43f}; const Vector3f mag_field_body = R_world_to_body * world_mag_field; _mag.setData(mag_field_body); } @@ -373,9 +387,9 @@ void SensorSimulator::setSensorDataFromTrajectory() if (_flow.isRunning()) { flowSample flow_sample = _flow.dataAtRest(); const Vector3f vel_body = R_world_to_body * vel_world; - flow_sample.flow_xy_rad = - Vector2f(vel_body(1) * flow_sample.dt / distance_to_ground, - -vel_body(0) * flow_sample.dt / distance_to_ground); + flow_sample.flow_rate = + Vector2f(vel_body(1) / distance_to_ground, + -vel_body(0) / distance_to_ground); _flow.setData(flow_sample); } @@ -389,20 +403,17 @@ void SensorSimulator::setSensorDataFromTrajectory() void SensorSimulator::setGpsLatitude(const double latitude) { - int32_t lat = static_cast(latitude * 1e7); - _gps.setLatitude(lat); + _gps.setLatitude(latitude); } void SensorSimulator::setGpsLongitude(const double longitude) { - int32_t lon = static_cast(longitude * 1e7); - _gps.setLongitude(lon); + _gps.setLongitude(longitude); } void SensorSimulator::setGpsAltitude(const float altitude) { - int32_t alt = static_cast(altitude * 1e3f); - _gps.setAltitude(alt); + _gps.setAltitude(altitude); } void SensorSimulator::setImuBias(Vector3f accel_bias, Vector3f gyro_bias) @@ -416,7 +427,10 @@ void SensorSimulator::simulateOrientation(Quatf orientation) _R_body_to_world = Dcmf(orientation); const Vector3f world_sensed_gravity = {0.0f, 0.0f, -CONSTANTS_ONE_G}; - const Vector3f world_mag_field = Vector3f{0.2f, 0.0f, 0.4f}; + + // The world mag field Y component is 0 as most unit tests assume no magnetic dectination + const Vector3f world_mag_field = Vector3f{0.218f, 0.f, 0.43f}; + const Vector3f sensed_gravity_body = _R_body_to_world.transpose() * world_sensed_gravity; const Vector3f body_mag_field = _R_body_to_world.transpose() * world_mag_field; diff --git a/src/modules/ekf2/test/sensor_simulator/sensor_simulator.h b/src/modules/ekf2/test/sensor_simulator/sensor_simulator.h index ce61f43ddff7..5d1f41abb401 100644 --- a/src/modules/ekf2/test/sensor_simulator/sensor_simulator.h +++ b/src/modules/ekf2/test/sensor_simulator/sensor_simulator.h @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2019 ECL Development Team. All rights reserved. + * Copyright (c) 2019-2023 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -146,7 +146,7 @@ class SensorSimulator bool _has_replay_data{false}; uint64_t _current_replay_data_index{0}; - uint64_t _time{0}; // microseconds + uint64_t _time{0}; // microseconds Dcmf _R_body_to_world{}; }; diff --git a/src/modules/ekf2/test/sensor_simulator/vio.h b/src/modules/ekf2/test/sensor_simulator/vio.h index 683341024bb9..28d98135fc1b 100644 --- a/src/modules/ekf2/test/sensor_simulator/vio.h +++ b/src/modules/ekf2/test/sensor_simulator/vio.h @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2019 ECL Development Team. All rights reserved. + * Copyright (c) 2019-2023 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions diff --git a/src/modules/ekf2/test/test_EKF_accelerometer.cpp b/src/modules/ekf2/test/test_EKF_accelerometer.cpp index 5d18429bc176..255f6597b3f5 100644 --- a/src/modules/ekf2/test/test_EKF_accelerometer.cpp +++ b/src/modules/ekf2/test/test_EKF_accelerometer.cpp @@ -95,7 +95,7 @@ TEST_F(EkfAccelerometerTest, biasEstimatePositive) const float biases[4] = {0.1f, 0.2f, 0.3f, 0.38f}; for (int i = 0; i < 4; i ++) { - testBias(biases[i], 10, 0.03f); + testBias(biases[i], 60, 0.03f); } } @@ -104,7 +104,7 @@ TEST_F(EkfAccelerometerTest, biasEstimateNegative) const float biases[4] = {-0.12f, -0.22f, -0.31, -0.4f}; for (int i = 0; i < 4; i ++) { - testBias(biases[i], 10, 0.03f); + testBias(biases[i], 60, 0.03f); } } diff --git a/src/modules/ekf2/test/test_EKF_airspeed.cpp b/src/modules/ekf2/test/test_EKF_airspeed.cpp index c92a3170ec1d..61865dfc7a9a 100644 --- a/src/modules/ekf2/test/test_EKF_airspeed.cpp +++ b/src/modules/ekf2/test/test_EKF_airspeed.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2019 ECL Development Team. All rights reserved. + * Copyright (c) 2019-2023 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -78,7 +78,6 @@ class EkfAirspeedTest : public ::testing::Test TEST_F(EkfAirspeedTest, testWindVelocityEstimation) { - const Vector3f simulated_velocity_earth(0.0f, 1.5f, 0.0f); const Vector2f airspeed_body(2.4f, 0.0f); _ekf_wrapper.enableExternalVisionVelocityFusion(); @@ -86,6 +85,9 @@ TEST_F(EkfAirspeedTest, testWindVelocityEstimation) _sensor_simulator._vio.setVelocityFrameToLocalNED(); _sensor_simulator.startExternalVision(); + // Let the EV fusion start first to reset the velocity estimate + _sensor_simulator.runSeconds(0.5); + _ekf->set_in_air_status(true); _ekf->set_vehicle_at_rest(false); _ekf->set_is_fixed_wing(true); @@ -166,3 +168,39 @@ TEST_F(EkfAirspeedTest, testResetWindUsingAirspeed) EXPECT_NEAR(vel_wind_earth(0), vel_wind_expected(0), 1.f); EXPECT_NEAR(vel_wind_earth(1), vel_wind_expected(1), 1.f); } + +TEST_F(EkfAirspeedTest, testAirspeedDeadReckoning) +{ + const Vector3f simulated_velocity_earth(-3.6f, 8.f, 0.0f); + const Vector2f airspeed_body(15.f, 0.0f); + _sensor_simulator.runSeconds(10); + + _ekf->set_in_air_status(true); + _ekf->set_vehicle_at_rest(false); + _ekf->set_is_fixed_wing(true); + + const double latitude_new = -15.0000005; + const double longitude_new = -115.0000005; + const float altitude_new = 1500.0; + + _ekf->setEkfGlobalOrigin(latitude_new, longitude_new, altitude_new); + _ekf->resetGlobalPosToExternalObservation(latitude_new, longitude_new, 50.f, 0); + + // Simulate the fact that the sideslip can start immediately, without + // waiting for a measurement sample. + _ekf_wrapper.enableBetaFusion(); + _sensor_simulator.runSeconds(1.f); + EXPECT_TRUE(_ekf_wrapper.isIntendingBetaFusion()); + + _sensor_simulator.startAirspeedSensor(); + _sensor_simulator._airspeed.setData(airspeed_body(0), airspeed_body(0)); + _sensor_simulator.runSeconds(1.f); + EXPECT_TRUE(_ekf_wrapper.isIntendingAirspeedFusion()); + + EXPECT_TRUE(_ekf_wrapper.isWindVelocityEstimated()); + const Vector3f vel = _ekf->getVelocity(); + EXPECT_NEAR(vel.norm(), airspeed_body.norm(), 1e-3f); + const Vector2f vel_wind_earth = _ekf->getWindVelocity(); + EXPECT_NEAR(vel_wind_earth(0), 0.f, .1f); + EXPECT_NEAR(vel_wind_earth(1), 0.f, .1f); +} diff --git a/src/modules/ekf2/test/test_EKF_airspeed_fusion_generated.cpp b/src/modules/ekf2/test/test_EKF_airspeed_fusion_generated.cpp deleted file mode 100644 index 9d4ac390126a..000000000000 --- a/src/modules/ekf2/test/test_EKF_airspeed_fusion_generated.cpp +++ /dev/null @@ -1,146 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2022 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -#include -#include "EKF/ekf.h" -#include "test_helper/comparison_helper.h" - -#include "../EKF/python/ekf_derivation/generated/compute_airspeed_innov_and_innov_var.h" -#include "../EKF/python/ekf_derivation/generated/compute_airspeed_h_and_k.h" - -using namespace matrix; - -TEST(AirspeedFusionGenerated, SympyVsSymforce) -{ - // Compare calculation of observation Jacobians and Kalman gains for sympy and symforce generated equations - const float R_TAS = sq(1.5f); - - const float vn = 9.0f; - const float ve = 12.0f; - const float vd = -1.5f; - - const float vwn = -4.0f; - const float vwe = 3.0f; - - SquareMatrix24f P = createRandomCovarianceMatrix24f(); - - // First calculate observationjacobians and Kalman gains using sympy generated equations - Vector24f Hfusion_sympy; - Vector24f Kfusion_sympy; - - { - // Intermediate variables - const float HK0 = vn - vwn; - const float HK1 = ve - vwe; - const float HK2 = ecl::powf(HK0, 2) + ecl::powf(HK1, 2) + ecl::powf(vd, 2); - const float v_tas_pred = sqrtf(HK2); // predicted airspeed - //const float HK3 = powf(HK2, -1.0F/2.0F); - // calculation can be badly conditioned for very low airspeed values so don't fuse this time - EXPECT_GT(v_tas_pred, 1.f); - const float HK3 = 1.0f / v_tas_pred; - const float HK4 = HK0 * HK3; - const float HK5 = HK1 * HK3; - const float HK6 = 1.0F / HK2; - const float HK7 = HK0 * P(4, 6) - HK0 * P(6, 22) + HK1 * P(5, 6) - HK1 * P(6, 23) + P(6, 6) * vd; - const float HK8 = HK1 * P(5, 23); - const float HK9 = HK0 * P(4, 5) - HK0 * P(5, 22) + HK1 * P(5, 5) - HK8 + P(5, 6) * vd; - const float HK10 = HK1 * HK6; - const float HK11 = HK0 * P(4, 22); - const float HK12 = HK0 * P(4, 4) - HK1 * P(4, 23) + HK1 * P(4, 5) - HK11 + P(4, 6) * vd; - const float HK13 = HK0 * HK6; - const float HK14 = -HK0 * P(22, 23) + HK0 * P(4, 23) - HK1 * P(23, 23) + HK8 + P(6, 23) * vd; - const float HK15 = -HK0 * P(22, 22) - HK1 * P(22, 23) + HK1 * P(5, 22) + HK11 + P(6, 22) * vd; - const float inn_var = (-HK10 * HK14 + HK10 * HK9 + HK12 * HK13 - HK13 * HK15 + HK6 * HK7 * vd + R_TAS); - const float HK16 = HK3 / inn_var; - - // Observation Jacobians - SparseVector24f<4, 5, 6, 22, 23> Hfusion; - Hfusion.at<4>() = HK4; - Hfusion.at<5>() = HK5; - Hfusion.at<6>() = HK3 * vd; - Hfusion.at<22>() = -HK4; - Hfusion.at<23>() = -HK5; - - Vector24f Kfusion; - - for (unsigned row = 0; row <= 3; row++) { - Kfusion(row) = HK16 * (HK0 * P(4, row) - HK0 * P(row, 22) + HK1 * P(5, row) - HK1 * P(row, 23) + P(6, row) * vd); - } - - Kfusion(4) = HK12 * HK16; - Kfusion(5) = HK16 * HK9; - Kfusion(6) = HK16 * HK7; - - for (unsigned row = 7; row <= 21; row++) { - Kfusion(row) = HK16 * (HK0 * P(4, row) - HK0 * P(row, 22) + HK1 * P(5, row) - HK1 * P(row, 23) + P(6, row) * vd); - } - - Kfusion(22) = HK15 * HK16; - Kfusion(23) = HK14 * HK16; - - // save output - Hfusion_sympy(4) = Hfusion.at<4>(); - Hfusion_sympy(5) = Hfusion.at<5>(); - Hfusion_sympy(6) = Hfusion.at<6>(); - Hfusion_sympy(22) = Hfusion.at<22>(); - Hfusion_sympy(23) = Hfusion.at<23>(); - Kfusion_sympy = Kfusion; - } - - // Then calculate observationjacobians and Kalman gains using symforce generated equations - Vector24f Hfusion_symforce; - Vector24f Kfusion_symforce; - - { - Vector24f state_vector{}; - state_vector(4) = vn; - state_vector(5) = ve; - state_vector(6) = vd; - state_vector(22) = vwn; - state_vector(23) = vwe; - - float innov; - float innov_var; - - sym::ComputeAirspeedInnovAndInnovVar(state_vector, P, 0.f, R_TAS, FLT_EPSILON, &innov, &innov_var); - sym::ComputeAirspeedHAndK(state_vector, P, innov_var, FLT_EPSILON, &Hfusion_symforce, &Kfusion_symforce); - } - - DiffRatioReport report = computeDiffRatioVector24f(Hfusion_sympy, Hfusion_symforce); - EXPECT_LT(report.max_diff_fraction, 1e-5f) << "Airspeed Hfusion max diff fraction = " << report.max_diff_fraction << - " location index = " << report.max_row << " sympy = " << report.max_v1 << " symforce = " << report.max_v2; - - report = computeDiffRatioVector24f(Kfusion_sympy, Kfusion_symforce); - EXPECT_LT(report.max_diff_fraction, 1e-5f) << "Airspeed Kfusion max diff fraction = " << report.max_diff_fraction << - " location index = " << report.max_row << " sympy = " << report.max_v1 << " symforce = " << report.max_v2; -} diff --git a/src/modules/ekf2/test/test_EKF_basics.cpp b/src/modules/ekf2/test/test_EKF_basics.cpp index d7b00f1b8dc6..e95443344235 100644 --- a/src/modules/ekf2/test/test_EKF_basics.cpp +++ b/src/modules/ekf2/test/test_EKF_basics.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2019-2020 ECL Development Team. All rights reserved. + * Copyright (c) 2019-2023 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -107,7 +107,8 @@ TEST_F(EkfBasicsTest, initialControlMode) EXPECT_EQ(0, (int) _ekf->control_status_flags().opt_flow); EXPECT_EQ(1, (int) _ekf->control_status_flags().mag_hdg); EXPECT_EQ(0, (int) _ekf->control_status_flags().mag_3D); - EXPECT_EQ(0, (int) _ekf->control_status_flags().mag_dec); + EXPECT_EQ(1, (int) _ekf->control_status_flags().mag); + EXPECT_EQ(1, (int) _ekf->control_status_flags().mag_dec); EXPECT_EQ(0, (int) _ekf->control_status_flags().in_air); EXPECT_EQ(0, (int) _ekf->control_status_flags().wind); EXPECT_EQ(1, (int) _ekf->control_status_flags().baro_hgt); @@ -122,7 +123,7 @@ TEST_F(EkfBasicsTest, initialControlMode) EXPECT_EQ(0, (int) _ekf->control_status_flags().mag_fault); EXPECT_EQ(0, (int) _ekf->control_status_flags().gnd_effect); EXPECT_EQ(0, (int) _ekf->control_status_flags().rng_stuck); - EXPECT_EQ(0, (int) _ekf->control_status_flags().gps_yaw); + EXPECT_EQ(0, (int) _ekf->control_status_flags().gnss_yaw); EXPECT_EQ(0, (int) _ekf->control_status_flags().mag_aligned_in_flight); EXPECT_EQ(0, (int) _ekf->control_status_flags().ev_vel); EXPECT_EQ(0, (int) _ekf->control_status_flags().synthetic_mag_z); @@ -161,7 +162,8 @@ TEST_F(EkfBasicsTest, gpsFusion) EXPECT_EQ(0, (int) _ekf->control_status_flags().opt_flow); EXPECT_EQ(1, (int) _ekf->control_status_flags().mag_hdg); EXPECT_EQ(0, (int) _ekf->control_status_flags().mag_3D); - EXPECT_EQ(0, (int) _ekf->control_status_flags().mag_dec); + EXPECT_EQ(1, (int) _ekf->control_status_flags().mag); + EXPECT_EQ(1, (int) _ekf->control_status_flags().mag_dec); EXPECT_EQ(0, (int) _ekf->control_status_flags().in_air); EXPECT_EQ(0, (int) _ekf->control_status_flags().wind); EXPECT_EQ(1, (int) _ekf->control_status_flags().baro_hgt); @@ -176,7 +178,7 @@ TEST_F(EkfBasicsTest, gpsFusion) EXPECT_EQ(0, (int) _ekf->control_status_flags().mag_fault); EXPECT_EQ(0, (int) _ekf->control_status_flags().gnd_effect); EXPECT_EQ(0, (int) _ekf->control_status_flags().rng_stuck); - EXPECT_EQ(0, (int) _ekf->control_status_flags().gps_yaw); + EXPECT_EQ(0, (int) _ekf->control_status_flags().gnss_yaw); EXPECT_EQ(0, (int) _ekf->control_status_flags().mag_aligned_in_flight); EXPECT_EQ(0, (int) _ekf->control_status_flags().ev_vel); EXPECT_EQ(0, (int) _ekf->control_status_flags().synthetic_mag_z); @@ -191,7 +193,7 @@ TEST_F(EkfBasicsTest, accelBiasEstimation) _sensor_simulator.startGps(); _sensor_simulator.setImuBias(accel_bias_sim, Vector3f(0.0f, 0.0f, 0.0f)); _ekf->set_min_required_gps_health_time(1e6); - _sensor_simulator.runSeconds(30); + _sensor_simulator.runSeconds(60); const Vector3f pos = _ekf->getPosition(); const Vector3f vel = _ekf->getVelocity(); @@ -245,22 +247,16 @@ TEST_F(EkfBasicsTest, reset_ekf_global_origin_gps_initialized) _sensor_simulator.runSeconds(1); - float hpos = 0.f; - float vpos = 0.f; - float hvel = 0.f; - float vvel = 0.f; - float baro_vpos = 0.f; - // After the change of origin, the pos and vel innovations should stay small - _ekf->getGpsVelPosInnovRatio(hvel, vvel, hpos, vpos); - _ekf->getBaroHgtInnovRatio(baro_vpos); + EXPECT_NEAR(_ekf->aid_src_gnss_pos().test_ratio[0], 0.f, 0.05f); + EXPECT_NEAR(_ekf->aid_src_gnss_pos().test_ratio[1], 0.f, 0.05f); + EXPECT_NEAR(_ekf->aid_src_gnss_hgt().test_ratio, 0.f, 0.05f); - EXPECT_NEAR(hpos, 0.f, 0.05f); - EXPECT_NEAR(vpos, 0.f, 0.05f); - EXPECT_NEAR(baro_vpos, 0.f, 0.05f); + EXPECT_NEAR(_ekf->aid_src_baro_hgt().test_ratio, 0.f, 0.05f); - EXPECT_NEAR(hvel, 0.f, 0.02f); - EXPECT_NEAR(vvel, 0.f, 0.02f); + EXPECT_NEAR(_ekf->aid_src_gnss_vel().test_ratio[0], 0.f, 0.02f); + EXPECT_NEAR(_ekf->aid_src_gnss_vel().test_ratio[1], 0.f, 0.02f); + EXPECT_NEAR(_ekf->aid_src_gnss_vel().test_ratio[2], 0.f, 0.02f); } TEST_F(EkfBasicsTest, reset_ekf_global_origin_gps_uninitialized) @@ -271,6 +267,8 @@ TEST_F(EkfBasicsTest, reset_ekf_global_origin_gps_uninitialized) EXPECT_DOUBLE_EQ(_longitude, _longitude_new); EXPECT_FLOAT_EQ(_altitude, _altitude_new); + EXPECT_FALSE(_ekf->global_origin_valid()); + _latitude_new = 45.0000005; _longitude_new = 111.0000005; _altitude_new = 1500.0; @@ -282,21 +280,79 @@ TEST_F(EkfBasicsTest, reset_ekf_global_origin_gps_uninitialized) EXPECT_DOUBLE_EQ(_longitude, _longitude_new); EXPECT_FLOAT_EQ(_altitude, _altitude_new); - _sensor_simulator.runSeconds(1); + // Global origin has been initialized but since there is no position aiding, the global + // position is still not valid + EXPECT_TRUE(_ekf->global_origin_valid()); + EXPECT_FALSE(_ekf->global_position_is_valid()); - float hpos = 0.f; - float vpos = 0.f; - float hvel = 0.f; - float vvel = 0.f; + _sensor_simulator.runSeconds(1); // After the change of origin, the pos and vel innovations should stay small - _ekf->getGpsVelPosInnovRatio(hvel, vvel, hpos, vpos); + EXPECT_NEAR(_ekf->aid_src_gnss_pos().test_ratio[0], 0.f, 0.05f); + EXPECT_NEAR(_ekf->aid_src_gnss_pos().test_ratio[1], 0.f, 0.05f); + EXPECT_NEAR(_ekf->aid_src_gnss_hgt().test_ratio, 0.f, 0.05f); + + EXPECT_NEAR(_ekf->aid_src_gnss_vel().test_ratio[0], 0.f, 0.02f); + EXPECT_NEAR(_ekf->aid_src_gnss_vel().test_ratio[1], 0.f, 0.02f); + EXPECT_NEAR(_ekf->aid_src_gnss_vel().test_ratio[2], 0.f, 0.02f); +} + +TEST_F(EkfBasicsTest, global_position_from_local_ev) +{ + // GIVEN: external vision (local) aiding + _ekf_wrapper.enableExternalVisionPositionFusion(); + _sensor_simulator._vio.setPositionFrameToLocalNED(); + _sensor_simulator.startExternalVision(); + + _sensor_simulator.runSeconds(1); + + // THEN; since there is no origin, only the local position can be valid + EXPECT_TRUE(_ekf->local_position_is_valid()); + EXPECT_FALSE(_ekf->global_origin_valid()); + EXPECT_FALSE(_ekf->global_position_is_valid()); + + _latitude_new = 45.0000005; + _longitude_new = 111.0000005; + _altitude_new = 1500.0; - EXPECT_NEAR(hpos, 0.f, 0.05f); - EXPECT_NEAR(vpos, 0.f, 0.05f); + // BUT WHEN: the global origin is set (manually) + _ekf->setEkfGlobalOrigin(_latitude_new, _longitude_new, _altitude_new); + + // THEN: local and global positions are valid + EXPECT_TRUE(_ekf->global_origin_valid()); + EXPECT_TRUE(_ekf->global_position_is_valid()); + EXPECT_TRUE(_ekf->local_position_is_valid()); +} + +TEST_F(EkfBasicsTest, global_position_from_opt_flow) +{ + // GIVEN: optical flow aiding + const float max_flow_rate = 5.f; + const float min_ground_distance = 0.f; + const float max_ground_distance = 50.f; + _ekf->set_optical_flow_limits(max_flow_rate, min_ground_distance, max_ground_distance); + _sensor_simulator.startFlow(); + _ekf_wrapper.enableFlowFusion(); + _sensor_simulator.startRangeFinder(); + + _sensor_simulator.runSeconds(1); + + // THEN; since there is no origin, only the local position can be valid + EXPECT_TRUE(_ekf->local_position_is_valid()); + EXPECT_FALSE(_ekf->global_origin_valid()); + EXPECT_FALSE(_ekf->global_position_is_valid()); + + _latitude_new = 45.0000005; + _longitude_new = 111.0000005; + _altitude_new = 1500.0; + + // BUT WHEN: the global origin is set (manually) + _ekf->setEkfGlobalOrigin(_latitude_new, _longitude_new, _altitude_new); - EXPECT_NEAR(hvel, 0.f, 0.02f); - EXPECT_NEAR(vvel, 0.f, 0.02f); + // THEN: local and global positions are valid + EXPECT_TRUE(_ekf->global_origin_valid()); + EXPECT_TRUE(_ekf->global_position_is_valid()); + EXPECT_TRUE(_ekf->local_position_is_valid()); } // TODO: Add sampling tests diff --git a/src/modules/ekf2/test/test_EKF_covariance_prediction_generated.cpp b/src/modules/ekf2/test/test_EKF_covariance_prediction_generated.cpp deleted file mode 100644 index 2cc0dcf7d06d..000000000000 --- a/src/modules/ekf2/test/test_EKF_covariance_prediction_generated.cpp +++ /dev/null @@ -1,816 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2022 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -#include -#include "EKF/ekf.h" -#include "test_helper/comparison_helper.h" - -#include "../EKF/python/ekf_derivation/generated/predict_covariance.h" - -using namespace matrix; - -TEST(CovariancePredictionGenerated, SympyVsSymforce) -{ - // Compare calculation of observation Jacobians and Kalman gains for sympy and symforce generated equations - const Quatf q(Eulerf(-M_PI_F / 2.f, M_PI_F / 3.f, M_PI_F * 4.f / 5.f)); - const float q0 = q(0); - const float q1 = q(1); - const float q2 = q(2); - const float q3 = q(3); - - const float dt = 0.01f; - - // up to 1 rad/sec of rate - const float dax = 2.0f * dt * ((float)randf() - 0.5f); - const float day = 2.0f * dt * ((float)randf() - 0.5f); - const float daz = 2.0f * dt * ((float)randf() - 0.5f); - - // up to 2g of accel - const float dvx = 2.0f * 20.0f * dt * ((float)randf() - 0.5f); - const float dvy = 2.0f * 20.0f * dt * ((float)randf() - 0.5f); - const float dvz = 2.0f * 20.0f * dt * ((float)randf() - 0.5f); - - // up to 0.1 rad/sec of gyro bias - const float dax_b = 2.0f * 0.1f * dt * ((float)randf() - 0.5f); - const float day_b = 2.0f * 0.1f * dt * ((float)randf() - 0.5f); - const float daz_b = 2.0f * 0.1f * dt * ((float)randf() - 0.5f); - - // up to 0.5 m/s/s of accel bias - const float dvx_b = 2.0f * 0.5f * dt * ((float)randf() - 0.5f); - const float dvy_b = 2.0f * 0.5f * dt * ((float)randf() - 0.5f); - const float dvz_b = 2.0f * 0.5f * dt * ((float)randf() - 0.5f); - - const float daxVar = sq(dt * 0.015f); - const float dayVar = daxVar; - const float dazVar = daxVar; - - const float dvxVar = sq(dt * 0.3f); - const float dvyVar = dvxVar; - const float dvzVar = dvxVar; - - SquareMatrix24f P = createRandomCovarianceMatrix24f(); - SquareMatrix24f nextP_sympy; - SquareMatrix24f nextP_symforce; - - { - SquareMatrix24f nextP; - // Equations for covariance matrix prediction, without process noise! - const float PS0 = (q1) * (q1); - const float PS1 = 0.25F * daxVar; - const float PS2 = (q2) * (q2); - const float PS3 = 0.25F * dayVar; - const float PS4 = (q3) * (q3); - const float PS5 = 0.25F * dazVar; - const float PS6 = 0.5F * q1; - const float PS7 = 0.5F * q2; - const float PS8 = P(10, 11) * PS7; - const float PS9 = 0.5F * q3; - const float PS10 = P(10, 12) * PS9; - const float PS11 = 0.5F * dax - 0.5F * dax_b; - const float PS12 = 0.5F * day - 0.5F * day_b; - const float PS13 = 0.5F * daz - 0.5F * daz_b; - const float PS14 = P(0, 10) - P(1, 10) * PS11 + P(10, 10) * PS6 - P(2, 10) * PS12 - P(3, 10) * PS13 + PS10 + PS8; - const float PS15 = P(10, 11) * PS6; - const float PS16 = P(11, 12) * PS9; - const float PS17 = P(0, 11) - P(1, 11) * PS11 + P(11, 11) * PS7 - P(2, 11) * PS12 - P(3, 11) * PS13 + PS15 + PS16; - const float PS18 = P(10, 12) * PS6; - const float PS19 = P(11, 12) * PS7; - const float PS20 = P(0, 12) - P(1, 12) * PS11 + P(12, 12) * PS9 - P(2, 12) * PS12 - P(3, 12) * PS13 + PS18 + PS19; - const float PS21 = P(1, 2) * PS12; - const float PS22 = -P(1, 3) * PS13; - const float PS23 = P(0, 1) - P(1, 1) * PS11 + P(1, 10) * PS6 + P(1, 11) * PS7 + P(1, 12) * PS9 - PS21 + PS22; - const float PS24 = -P(1, 2) * PS11; - const float PS25 = P(2, 3) * PS13; - const float PS26 = P(0, 2) + P(2, 10) * PS6 + P(2, 11) * PS7 + P(2, 12) * PS9 - P(2, 2) * PS12 + PS24 - PS25; - const float PS27 = P(1, 3) * PS11; - const float PS28 = -P(2, 3) * PS12; - const float PS29 = P(0, 3) + P(3, 10) * PS6 + P(3, 11) * PS7 + P(3, 12) * PS9 - P(3, 3) * PS13 - PS27 + PS28; - const float PS30 = P(0, 1) * PS11; - const float PS31 = P(0, 2) * PS12; - const float PS32 = P(0, 3) * PS13; - const float PS33 = P(0, 0) + P(0, 10) * PS6 + P(0, 11) * PS7 + P(0, 12) * PS9 - PS30 - PS31 - PS32; - const float PS34 = 0.5F * q0; - const float PS35 = q2 * q3; - const float PS36 = q0 * q1; - const float PS37 = q1 * q3; - const float PS38 = q0 * q2; - const float PS39 = q1 * q2; - const float PS40 = q0 * q3; - const float PS41 = 2 * PS2; - const float PS42 = 2 * PS4 - 1; - const float PS43 = PS41 + PS42; - const float PS44 = P(0, 13) - P(1, 13) * PS11 + P(10, 13) * PS6 + P(11, 13) * PS7 + P(12, 13) * PS9 - P(2, - 13) * PS12 - P(3, 13) * PS13; - const float PS45 = PS37 + PS38; - const float PS46 = P(0, 15) - P(1, 15) * PS11 + P(10, 15) * PS6 + P(11, 15) * PS7 + P(12, 15) * PS9 - P(2, - 15) * PS12 - P(3, 15) * PS13; - const float PS47 = 2 * PS46; - const float PS48 = dvy - dvy_b; - const float PS49 = PS48 * q0; - const float PS50 = dvz - dvz_b; - const float PS51 = PS50 * q1; - const float PS52 = dvx - dvx_b; - const float PS53 = PS52 * q3; - const float PS54 = PS49 - PS51 + 2 * PS53; - const float PS55 = 2 * PS29; - const float PS56 = -PS39 + PS40; - const float PS57 = P(0, 14) - P(1, 14) * PS11 + P(10, 14) * PS6 + P(11, 14) * PS7 + P(12, 14) * PS9 - P(2, - 14) * PS12 - P(3, 14) * PS13; - const float PS58 = 2 * PS57; - const float PS59 = PS48 * q2; - const float PS60 = PS50 * q3; - const float PS61 = PS59 + PS60; - const float PS62 = 2 * PS23; - const float PS63 = PS50 * q2; - const float PS64 = PS48 * q3; - const float PS65 = -PS64; - const float PS66 = PS63 + PS65; - const float PS67 = 2 * PS33; - const float PS68 = PS50 * q0; - const float PS69 = PS48 * q1; - const float PS70 = PS52 * q2; - const float PS71 = PS68 + PS69 - 2 * PS70; - const float PS72 = 2 * PS26; - const float PS73 = P(0, 4) - P(1, 4) * PS11 - P(2, 4) * PS12 - P(3, 4) * PS13 + P(4, 10) * PS6 + P(4, 11) * PS7 + P(4, - 12) * PS9; - const float PS74 = 2 * PS0; - const float PS75 = PS42 + PS74; - const float PS76 = PS39 + PS40; - const float PS77 = 2 * PS44; - const float PS78 = PS51 - PS53; - const float PS79 = -PS70; - const float PS80 = PS68 + 2 * PS69 + PS79; - const float PS81 = -PS35 + PS36; - const float PS82 = PS52 * q1; - const float PS83 = PS60 + PS82; - const float PS84 = PS52 * q0; - const float PS85 = PS63 - 2 * PS64 + PS84; - const float PS86 = P(0, 5) - P(1, 5) * PS11 - P(2, 5) * PS12 - P(3, 5) * PS13 + P(5, 10) * PS6 + P(5, 11) * PS7 + P(5, - 12) * PS9; - const float PS87 = PS41 + PS74 - 1; - const float PS88 = PS35 + PS36; - const float PS89 = 2 * PS63 + PS65 + PS84; - const float PS90 = -PS37 + PS38; - const float PS91 = PS59 + PS82; - const float PS92 = PS69 + PS79; - const float PS93 = PS49 - 2 * PS51 + PS53; - const float PS94 = P(0, 6) - P(1, 6) * PS11 - P(2, 6) * PS12 - P(3, 6) * PS13 + P(6, 10) * PS6 + P(6, 11) * PS7 + P(6, - 12) * PS9; - const float PS95 = (q0) * (q0); - const float PS96 = -P(10, 11) * PS34; - const float PS97 = P(0, 11) * PS11 + P(1, 11) + P(11, 11) * PS9 + P(2, 11) * PS13 - P(3, 11) * PS12 - PS19 + PS96; - const float PS98 = P(0, 2) * PS13; - const float PS99 = P(0, 3) * PS12; - const float PS100 = P(0, 0) * PS11 + P(0, 1) - P(0, 10) * PS34 + P(0, 11) * PS9 - P(0, 12) * PS7 + PS98 - PS99; - const float PS101 = P(0, 2) * PS11; - const float PS102 = P(1, 2) - P(2, 10) * PS34 + P(2, 11) * PS9 - P(2, 12) * PS7 + P(2, 2) * PS13 + PS101 + PS28; - const float PS103 = P(10, 11) * PS9; - const float PS104 = P(10, 12) * PS7; - const float PS105 = P(0, 10) * PS11 + P(1, 10) - P(10, 10) * PS34 + P(2, 10) * PS13 - P(3, 10) * PS12 + PS103 - PS104; - const float PS106 = -P(10, 12) * PS34; - const float PS107 = P(0, 12) * PS11 + P(1, 12) - P(12, 12) * PS7 + P(2, 12) * PS13 - P(3, 12) * PS12 + PS106 + PS16; - const float PS108 = P(0, 3) * PS11; - const float PS109 = P(1, 3) - P(3, 10) * PS34 + P(3, 11) * PS9 - P(3, 12) * PS7 - P(3, 3) * PS12 + PS108 + PS25; - const float PS110 = P(1, 2) * PS13; - const float PS111 = P(1, 3) * PS12; - const float PS112 = P(1, 1) - P(1, 10) * PS34 + P(1, 11) * PS9 - P(1, 12) * PS7 + PS110 - PS111 + PS30; - const float PS113 = P(0, 13) * PS11 + P(1, 13) - P(10, 13) * PS34 + P(11, 13) * PS9 - P(12, 13) * PS7 + P(2, - 13) * PS13 - P(3, 13) * PS12; - const float PS114 = P(0, 15) * PS11 + P(1, 15) - P(10, 15) * PS34 + P(11, 15) * PS9 - P(12, 15) * PS7 + P(2, - 15) * PS13 - P(3, 15) * PS12; - const float PS115 = 2 * PS114; - const float PS116 = 2 * PS109; - const float PS117 = P(0, 14) * PS11 + P(1, 14) - P(10, 14) * PS34 + P(11, 14) * PS9 - P(12, 14) * PS7 + P(2, - 14) * PS13 - P(3, 14) * PS12; - const float PS118 = 2 * PS117; - const float PS119 = 2 * PS112; - const float PS120 = 2 * PS100; - const float PS121 = 2 * PS102; - const float PS122 = P(0, 4) * PS11 + P(1, 4) + P(2, 4) * PS13 - P(3, 4) * PS12 - P(4, 10) * PS34 + P(4, 11) * PS9 - P(4, - 12) * PS7; - const float PS123 = 2 * PS113; - const float PS124 = P(0, 5) * PS11 + P(1, 5) + P(2, 5) * PS13 - P(3, 5) * PS12 - P(5, 10) * PS34 + P(5, 11) * PS9 - P(5, - 12) * PS7; - const float PS125 = P(0, 6) * PS11 + P(1, 6) + P(2, 6) * PS13 - P(3, 6) * PS12 - P(6, 10) * PS34 + P(6, 11) * PS9 - P(6, - 12) * PS7; - const float PS126 = -P(11, 12) * PS34; - const float PS127 = P(0, 12) * PS12 - P(1, 12) * PS13 + P(12, 12) * PS6 + P(2, 12) + P(3, 12) * PS11 - PS10 + PS126; - const float PS128 = P(2, 3) - P(3, 10) * PS9 - P(3, 11) * PS34 + P(3, 12) * PS6 + P(3, 3) * PS11 + PS22 + PS99; - const float PS129 = P(0, 1) * PS13; - const float PS130 = P(0, 0) * PS12 - P(0, 10) * PS9 - P(0, 11) * PS34 + P(0, 12) * PS6 + P(0, 2) + PS108 - PS129; - const float PS131 = P(11, 12) * PS6; - const float PS132 = P(0, 11) * PS12 - P(1, 11) * PS13 - P(11, 11) * PS34 + P(2, 11) + P(3, 11) * PS11 - PS103 + PS131; - const float PS133 = P(0, 10) * PS12 - P(1, 10) * PS13 - P(10, 10) * PS9 + P(2, 10) + P(3, 10) * PS11 + PS18 + PS96; - const float PS134 = P(0, 1) * PS12; - const float PS135 = -P(1, 1) * PS13 - P(1, 10) * PS9 - P(1, 11) * PS34 + P(1, 12) * PS6 + P(1, 2) + PS134 + PS27; - const float PS136 = P(2, 3) * PS11; - const float PS137 = -P(2, 10) * PS9 - P(2, 11) * PS34 + P(2, 12) * PS6 + P(2, 2) - PS110 + PS136 + PS31; - const float PS138 = P(0, 13) * PS12 - P(1, 13) * PS13 - P(10, 13) * PS9 - P(11, 13) * PS34 + P(12, 13) * PS6 + P(2, - 13) + P(3, 13) * PS11; - const float PS139 = P(0, 15) * PS12 - P(1, 15) * PS13 - P(10, 15) * PS9 - P(11, 15) * PS34 + P(12, 15) * PS6 + P(2, - 15) + P(3, 15) * PS11; - const float PS140 = 2 * PS139; - const float PS141 = 2 * PS128; - const float PS142 = P(0, 14) * PS12 - P(1, 14) * PS13 - P(10, 14) * PS9 - P(11, 14) * PS34 + P(12, 14) * PS6 + P(2, - 14) + P(3, 14) * PS11; - const float PS143 = 2 * PS142; - const float PS144 = 2 * PS135; - const float PS145 = 2 * PS130; - const float PS146 = 2 * PS137; - const float PS147 = P(0, 4) * PS12 - P(1, 4) * PS13 + P(2, 4) + P(3, 4) * PS11 - P(4, 10) * PS9 - P(4, 11) * PS34 + P(4, - 12) * PS6; - const float PS148 = 2 * PS138; - const float PS149 = P(0, 5) * PS12 - P(1, 5) * PS13 + P(2, 5) + P(3, 5) * PS11 - P(5, 10) * PS9 - P(5, 11) * PS34 + P(5, - 12) * PS6; - const float PS150 = P(0, 6) * PS12 - P(1, 6) * PS13 + P(2, 6) + P(3, 6) * PS11 - P(6, 10) * PS9 - P(6, 11) * PS34 + P(6, - 12) * PS6; - const float PS151 = P(0, 10) * PS13 + P(1, 10) * PS12 + P(10, 10) * PS7 - P(2, 10) * PS11 + P(3, 10) + PS106 - PS15; - const float PS152 = P(1, 1) * PS12 + P(1, 10) * PS7 - P(1, 11) * PS6 - P(1, 12) * PS34 + P(1, 3) + PS129 + PS24; - const float PS153 = P(0, 0) * PS13 + P(0, 10) * PS7 - P(0, 11) * PS6 - P(0, 12) * PS34 + P(0, 3) - PS101 + PS134; - const float PS154 = P(0, 12) * PS13 + P(1, 12) * PS12 - P(12, 12) * PS34 - P(2, 12) * PS11 + P(3, 12) + PS104 - PS131; - const float PS155 = P(0, 11) * PS13 + P(1, 11) * PS12 - P(11, 11) * PS6 - P(2, 11) * PS11 + P(3, 11) + PS126 + PS8; - const float PS156 = P(2, 10) * PS7 - P(2, 11) * PS6 - P(2, 12) * PS34 - P(2, 2) * PS11 + P(2, 3) + PS21 + PS98; - const float PS157 = P(3, 10) * PS7 - P(3, 11) * PS6 - P(3, 12) * PS34 + P(3, 3) + PS111 - PS136 + PS32; - const float PS158 = P(0, 13) * PS13 + P(1, 13) * PS12 + P(10, 13) * PS7 - P(11, 13) * PS6 - P(12, 13) * PS34 - P(2, - 13) * PS11 + P(3, 13); - const float PS159 = P(0, 15) * PS13 + P(1, 15) * PS12 + P(10, 15) * PS7 - P(11, 15) * PS6 - P(12, 15) * PS34 - P(2, - 15) * PS11 + P(3, 15); - const float PS160 = 2 * PS159; - const float PS161 = 2 * PS157; - const float PS162 = P(0, 14) * PS13 + P(1, 14) * PS12 + P(10, 14) * PS7 - P(11, 14) * PS6 - P(12, 14) * PS34 - P(2, - 14) * PS11 + P(3, 14); - const float PS163 = 2 * PS162; - const float PS164 = 2 * PS152; - const float PS165 = 2 * PS153; - const float PS166 = 2 * PS156; - const float PS167 = P(0, 4) * PS13 + P(1, 4) * PS12 - P(2, 4) * PS11 + P(3, 4) + P(4, 10) * PS7 - P(4, 11) * PS6 - P(4, - 12) * PS34; - const float PS168 = 2 * PS158; - const float PS169 = P(0, 5) * PS13 + P(1, 5) * PS12 - P(2, 5) * PS11 + P(3, 5) + P(5, 10) * PS7 - P(5, 11) * PS6 - P(5, - 12) * PS34; - const float PS170 = P(0, 6) * PS13 + P(1, 6) * PS12 - P(2, 6) * PS11 + P(3, 6) + P(6, 10) * PS7 - P(6, 11) * PS6 - P(6, - 12) * PS34; - const float PS171 = 2 * PS45; - const float PS172 = 2 * PS56; - const float PS173 = 2 * PS61; - const float PS174 = 2 * PS66; - const float PS175 = 2 * PS71; - const float PS176 = 2 * PS54; - const float PS177 = P(0, 13) * PS174 + P(1, 13) * PS173 + P(13, 13) * PS43 + P(13, 14) * PS172 - P(13, - 15) * PS171 + P(2, 13) * PS175 - P(3, 13) * PS176 + P(4, 13); - const float PS178 = P(0, 15) * PS174 + P(1, 15) * PS173 + P(13, 15) * PS43 + P(14, 15) * PS172 - P(15, - 15) * PS171 + P(2, 15) * PS175 - P(3, 15) * PS176 + P(4, 15); - const float PS179 = P(0, 3) * PS174 + P(1, 3) * PS173 + P(2, 3) * PS175 + P(3, 13) * PS43 + P(3, 14) * PS172 - P(3, - 15) * PS171 - P(3, 3) * PS176 + P(3, 4); - const float PS180 = P(0, 14) * PS174 + P(1, 14) * PS173 + P(13, 14) * PS43 + P(14, 14) * PS172 - P(14, - 15) * PS171 + P(2, 14) * PS175 - P(3, 14) * PS176 + P(4, 14); - const float PS181 = P(0, 1) * PS174 + P(1, 1) * PS173 + P(1, 13) * PS43 + P(1, 14) * PS172 - P(1, 15) * PS171 + P(1, - 2) * PS175 - P(1, 3) * PS176 + P(1, 4); - const float PS182 = P(0, 0) * PS174 + P(0, 1) * PS173 + P(0, 13) * PS43 + P(0, 14) * PS172 - P(0, 15) * PS171 + P(0, - 2) * PS175 - P(0, 3) * PS176 + P(0, 4); - const float PS183 = P(0, 2) * PS174 + P(1, 2) * PS173 + P(2, 13) * PS43 + P(2, 14) * PS172 - P(2, 15) * PS171 + P(2, - 2) * PS175 - P(2, 3) * PS176 + P(2, 4); - const float PS184 = 4 * dvyVar; - const float PS185 = 4 * dvzVar; - const float PS186 = P(0, 4) * PS174 + P(1, 4) * PS173 + P(2, 4) * PS175 - P(3, 4) * PS176 + P(4, 13) * PS43 + P(4, - 14) * PS172 - P(4, 15) * PS171 + P(4, 4); - const float PS187 = 2 * PS177; - const float PS188 = 2 * PS182; - const float PS189 = 2 * PS181; - const float PS190 = 2 * PS81; - const float PS191 = 2 * PS183; - const float PS192 = 2 * PS179; - const float PS193 = 2 * PS76; - const float PS194 = PS43 * dvxVar; - const float PS195 = PS75 * dvyVar; - const float PS196 = P(0, 5) * PS174 + P(1, 5) * PS173 + P(2, 5) * PS175 - P(3, 5) * PS176 + P(4, 5) + P(5, - 13) * PS43 + P(5, 14) * PS172 - P(5, 15) * PS171; - const float PS197 = 2 * PS88; - const float PS198 = PS87 * dvzVar; - const float PS199 = 2 * PS90; - const float PS200 = P(0, 6) * PS174 + P(1, 6) * PS173 + P(2, 6) * PS175 - P(3, 6) * PS176 + P(4, 6) + P(6, - 13) * PS43 + P(6, 14) * PS172 - P(6, 15) * PS171; - const float PS201 = 2 * PS83; - const float PS202 = 2 * PS78; - const float PS203 = 2 * PS85; - const float PS204 = 2 * PS80; - const float PS205 = -P(0, 14) * PS202 - P(1, 14) * PS204 - P(13, 14) * PS193 + P(14, 14) * PS75 + P(14, - 15) * PS190 + P(2, 14) * PS201 + P(3, 14) * PS203 + P(5, 14); - const float PS206 = -P(0, 13) * PS202 - P(1, 13) * PS204 - P(13, 13) * PS193 + P(13, 14) * PS75 + P(13, - 15) * PS190 + P(2, 13) * PS201 + P(3, 13) * PS203 + P(5, 13); - const float PS207 = -P(0, 0) * PS202 - P(0, 1) * PS204 - P(0, 13) * PS193 + P(0, 14) * PS75 + P(0, 15) * PS190 + P(0, - 2) * PS201 + P(0, 3) * PS203 + P(0, 5); - const float PS208 = -P(0, 1) * PS202 - P(1, 1) * PS204 - P(1, 13) * PS193 + P(1, 14) * PS75 + P(1, 15) * PS190 + P(1, - 2) * PS201 + P(1, 3) * PS203 + P(1, 5); - const float PS209 = -P(0, 15) * PS202 - P(1, 15) * PS204 - P(13, 15) * PS193 + P(14, 15) * PS75 + P(15, - 15) * PS190 + P(2, 15) * PS201 + P(3, 15) * PS203 + P(5, 15); - const float PS210 = -P(0, 2) * PS202 - P(1, 2) * PS204 - P(2, 13) * PS193 + P(2, 14) * PS75 + P(2, 15) * PS190 + P(2, - 2) * PS201 + P(2, 3) * PS203 + P(2, 5); - const float PS211 = -P(0, 3) * PS202 - P(1, 3) * PS204 + P(2, 3) * PS201 - P(3, 13) * PS193 + P(3, 14) * PS75 + P(3, - 15) * PS190 + P(3, 3) * PS203 + P(3, 5); - const float PS212 = 4 * dvxVar; - const float PS213 = -P(0, 5) * PS202 - P(1, 5) * PS204 + P(2, 5) * PS201 + P(3, 5) * PS203 - P(5, 13) * PS193 + P(5, - 14) * PS75 + P(5, 15) * PS190 + P(5, 5); - const float PS214 = 2 * PS89; - const float PS215 = 2 * PS91; - const float PS216 = 2 * PS92; - const float PS217 = 2 * PS93; - const float PS218 = -P(0, 6) * PS202 - P(1, 6) * PS204 + P(2, 6) * PS201 + P(3, 6) * PS203 + P(5, 6) - P(6, - 13) * PS193 + P(6, 14) * PS75 + P(6, 15) * PS190; - const float PS219 = P(0, 15) * PS216 + P(1, 15) * PS217 + P(13, 15) * PS199 - P(14, 15) * PS197 + P(15, - 15) * PS87 - P(2, 15) * PS214 + P(3, 15) * PS215 + P(6, 15); - const float PS220 = P(0, 14) * PS216 + P(1, 14) * PS217 + P(13, 14) * PS199 - P(14, 14) * PS197 + P(14, - 15) * PS87 - P(2, 14) * PS214 + P(3, 14) * PS215 + P(6, 14); - const float PS221 = P(0, 13) * PS216 + P(1, 13) * PS217 + P(13, 13) * PS199 - P(13, 14) * PS197 + P(13, - 15) * PS87 - P(2, 13) * PS214 + P(3, 13) * PS215 + P(6, 13); - const float PS222 = P(0, 6) * PS216 + P(1, 6) * PS217 - P(2, 6) * PS214 + P(3, 6) * PS215 + P(6, 13) * PS199 - P(6, - 14) * PS197 + P(6, 15) * PS87 + P(6, 6); - - - nextP(0, 0) = PS0 * PS1 - PS11 * PS23 - PS12 * PS26 - PS13 * PS29 + PS14 * PS6 + PS17 * PS7 + PS2 * PS3 + PS20 * PS9 + - PS33 + PS4 * PS5; - nextP(0, 1) = -PS1 * PS36 + PS11 * PS33 - PS12 * PS29 + PS13 * PS26 - PS14 * PS34 + PS17 * PS9 - PS20 * PS7 + PS23 + PS3 - * PS35 - PS35 * PS5; - nextP(1, 1) = PS1 * PS95 + PS100 * PS11 + PS102 * PS13 - PS105 * PS34 - PS107 * PS7 - PS109 * PS12 + PS112 + PS2 * PS5 + - PS3 * PS4 + PS9 * PS97; - nextP(0, 2) = -PS1 * PS37 + PS11 * PS29 + PS12 * PS33 - PS13 * PS23 - PS14 * PS9 - PS17 * PS34 + PS20 * PS6 + PS26 - PS3 - * PS38 + PS37 * PS5; - nextP(1, 2) = PS1 * PS40 + PS100 * PS12 + PS102 - PS105 * PS9 + PS107 * PS6 + PS109 * PS11 - PS112 * PS13 - PS3 * PS40 - - PS34 * PS97 - PS39 * PS5; - nextP(2, 2) = PS0 * PS5 + PS1 * PS4 + PS11 * PS128 + PS12 * PS130 + PS127 * PS6 - PS13 * PS135 - PS132 * PS34 - PS133 * - PS9 + PS137 + PS3 * PS95; - nextP(0, 3) = PS1 * PS39 - PS11 * PS26 + PS12 * PS23 + PS13 * PS33 + PS14 * PS7 - PS17 * PS6 - PS20 * PS34 + PS29 - PS3 - * PS39 - PS40 * PS5; - nextP(1, 3) = -PS1 * PS38 + PS100 * PS13 - PS102 * PS11 + PS105 * PS7 - PS107 * PS34 + PS109 + PS112 * PS12 - PS3 * PS37 - + PS38 * PS5 - PS6 * PS97; - nextP(2, 3) = -PS1 * PS35 - PS11 * PS137 + PS12 * PS135 - PS127 * PS34 + PS128 + PS13 * PS130 - PS132 * PS6 + PS133 * - PS7 + PS3 * PS36 - PS36 * PS5; - nextP(3, 3) = PS0 * PS3 + PS1 * PS2 - PS11 * PS156 + PS12 * PS152 + PS13 * PS153 + PS151 * PS7 - PS154 * PS34 - PS155 * - PS6 + PS157 + PS5 * PS95; - nextP(0, 4) = PS43 * PS44 - PS45 * PS47 - PS54 * PS55 + PS56 * PS58 + PS61 * PS62 + PS66 * PS67 + PS71 * PS72 + PS73; - nextP(1, 4) = PS113 * PS43 - PS115 * PS45 - PS116 * PS54 + PS118 * PS56 + PS119 * PS61 + PS120 * PS66 + PS121 * PS71 + - PS122; - nextP(2, 4) = PS138 * PS43 - PS140 * PS45 - PS141 * PS54 + PS143 * PS56 + PS144 * PS61 + PS145 * PS66 + PS146 * PS71 + - PS147; - nextP(3, 4) = PS158 * PS43 - PS160 * PS45 - PS161 * PS54 + PS163 * PS56 + PS164 * PS61 + PS165 * PS66 + PS166 * PS71 + - PS167; - nextP(4, 4) = -PS171 * PS178 + PS172 * PS180 + PS173 * PS181 + PS174 * PS182 + PS175 * PS183 - PS176 * PS179 + PS177 * - PS43 + PS184 * (PS56) * (PS56) + PS185 * (PS45) * (PS45) + PS186 + (PS43) * (PS43) * dvxVar; - nextP(0, 5) = PS47 * PS81 + PS55 * PS85 + PS57 * PS75 - PS62 * PS80 - PS67 * PS78 + PS72 * PS83 - PS76 * PS77 + PS86; - nextP(1, 5) = PS115 * PS81 + PS116 * PS85 + PS117 * PS75 - PS119 * PS80 - PS120 * PS78 + PS121 * PS83 - PS123 * PS76 + - PS124; - nextP(2, 5) = PS140 * PS81 + PS141 * PS85 + PS142 * PS75 - PS144 * PS80 - PS145 * PS78 + PS146 * PS83 - PS148 * PS76 + - PS149; - nextP(3, 5) = PS160 * PS81 + PS161 * PS85 + PS162 * PS75 - PS164 * PS80 - PS165 * PS78 + PS166 * PS83 - PS168 * PS76 + - PS169; - nextP(4, 5) = PS172 * PS195 + PS178 * PS190 + PS180 * PS75 - PS185 * PS45 * PS81 - PS187 * PS76 - PS188 * PS78 - PS189 * - PS80 + PS191 * PS83 + PS192 * PS85 - PS193 * PS194 + PS196; - nextP(5, 5) = PS185 * (PS81) * (PS81) + PS190 * PS209 - PS193 * PS206 + PS201 * PS210 - PS202 * PS207 + PS203 * PS211 - - PS204 * PS208 + PS205 * PS75 + PS212 * (PS76) * (PS76) + PS213 + (PS75) * (PS75) * dvyVar; - nextP(0, 6) = PS46 * PS87 + PS55 * PS91 - PS58 * PS88 + PS62 * PS93 + PS67 * PS92 - PS72 * PS89 + PS77 * PS90 + PS94; - nextP(1, 6) = PS114 * PS87 + PS116 * PS91 - PS118 * PS88 + PS119 * PS93 + PS120 * PS92 - PS121 * PS89 + PS123 * PS90 + - PS125; - nextP(2, 6) = PS139 * PS87 + PS141 * PS91 - PS143 * PS88 + PS144 * PS93 + PS145 * PS92 - PS146 * PS89 + PS148 * PS90 + - PS150; - nextP(3, 6) = PS159 * PS87 + PS161 * PS91 - PS163 * PS88 + PS164 * PS93 + PS165 * PS92 - PS166 * PS89 + PS168 * PS90 + - PS170; - nextP(4, 6) = -PS171 * PS198 + PS178 * PS87 - PS180 * PS197 - PS184 * PS56 * PS88 + PS187 * PS90 + PS188 * PS92 + PS189 - * PS93 - PS191 * PS89 + PS192 * PS91 + PS194 * PS199 + PS200; - nextP(5, 6) = PS190 * PS198 - PS195 * PS197 - PS197 * PS205 + PS199 * PS206 + PS207 * PS216 + PS208 * PS217 + PS209 * - PS87 - PS210 * PS214 + PS211 * PS215 - PS212 * PS76 * PS90 + PS218; - nextP(6, 6) = PS184 * (PS88) * (PS88) - PS197 * PS220 + PS199 * PS221 + PS212 * (PS90) * (PS90) - PS214 * (P(0, - 2) * PS216 + P(1, 2) * PS217 + P(2, 13) * PS199 - P(2, 14) * PS197 + P(2, 15) * PS87 - P(2, 2) * PS214 + P(2, - 3) * PS215 + P(2, 6)) + PS215 * (P(0, 3) * PS216 + P(1, 3) * PS217 - P(2, 3) * PS214 + P(3, 13) * PS199 - P(3, - 14) * PS197 + P(3, 15) * PS87 + P(3, 3) * PS215 + P(3, 6)) + PS216 * (P(0, 0) * PS216 + P(0, 1) * PS217 + P(0, - 13) * PS199 - P(0, 14) * PS197 + P(0, 15) * PS87 - P(0, 2) * PS214 + P(0, 3) * PS215 + P(0, 6)) + PS217 * (P(0, - 1) * PS216 + P(1, 1) * PS217 + P(1, 13) * PS199 - P(1, 14) * PS197 + P(1, 15) * PS87 - P(1, 2) * PS214 + P(1, - 3) * PS215 + P(1, 6)) + PS219 * PS87 + PS222 + (PS87) * (PS87) * dvzVar; - nextP(0, 7) = P(0, 7) - P(1, 7) * PS11 - P(2, 7) * PS12 - P(3, 7) * PS13 + P(7, 10) * PS6 + P(7, 11) * PS7 + P(7, - 12) * PS9 + PS73 * dt; - nextP(1, 7) = P(0, 7) * PS11 + P(1, 7) + P(2, 7) * PS13 - P(3, 7) * PS12 - P(7, 10) * PS34 + P(7, 11) * PS9 - P(7, - 12) * PS7 + PS122 * dt; - nextP(2, 7) = P(0, 7) * PS12 - P(1, 7) * PS13 + P(2, 7) + P(3, 7) * PS11 - P(7, 10) * PS9 - P(7, 11) * PS34 + P(7, - 12) * PS6 + PS147 * dt; - nextP(3, 7) = P(0, 7) * PS13 + P(1, 7) * PS12 - P(2, 7) * PS11 + P(3, 7) + P(7, 10) * PS7 - P(7, 11) * PS6 - P(7, - 12) * PS34 + PS167 * dt; - nextP(4, 7) = P(0, 7) * PS174 + P(1, 7) * PS173 + P(2, 7) * PS175 - P(3, 7) * PS176 + P(4, 7) + P(7, 13) * PS43 + P(7, - 14) * PS172 - P(7, 15) * PS171 + PS186 * dt; - nextP(5, 7) = -P(0, 7) * PS202 - P(1, 7) * PS204 + P(2, 7) * PS201 + P(3, 7) * PS203 + P(5, 7) - P(7, 13) * PS193 + P(7, - 14) * PS75 + P(7, 15) * PS190 + dt * (-P(0, 4) * PS202 - P(1, 4) * PS204 + P(2, 4) * PS201 + P(3, 4) * PS203 - P(4, - 13) * PS193 + P(4, 14) * PS75 + P(4, 15) * PS190 + P(4, 5)); - nextP(6, 7) = P(0, 7) * PS216 + P(1, 7) * PS217 - P(2, 7) * PS214 + P(3, 7) * PS215 + P(6, 7) + P(7, 13) * PS199 - P(7, - 14) * PS197 + P(7, 15) * PS87 + dt * (P(0, 4) * PS216 + P(1, 4) * PS217 - P(2, 4) * PS214 + P(3, 4) * PS215 + P(4, - 13) * PS199 - P(4, 14) * PS197 + P(4, 15) * PS87 + P(4, 6)); - nextP(7, 7) = P(4, 7) * dt + P(7, 7) + dt * (P(4, 4) * dt + P(4, 7)); - nextP(0, 8) = P(0, 8) - P(1, 8) * PS11 - P(2, 8) * PS12 - P(3, 8) * PS13 + P(8, 10) * PS6 + P(8, 11) * PS7 + P(8, - 12) * PS9 + PS86 * dt; - nextP(1, 8) = P(0, 8) * PS11 + P(1, 8) + P(2, 8) * PS13 - P(3, 8) * PS12 - P(8, 10) * PS34 + P(8, 11) * PS9 - P(8, - 12) * PS7 + PS124 * dt; - nextP(2, 8) = P(0, 8) * PS12 - P(1, 8) * PS13 + P(2, 8) + P(3, 8) * PS11 - P(8, 10) * PS9 - P(8, 11) * PS34 + P(8, - 12) * PS6 + PS149 * dt; - nextP(3, 8) = P(0, 8) * PS13 + P(1, 8) * PS12 - P(2, 8) * PS11 + P(3, 8) + P(8, 10) * PS7 - P(8, 11) * PS6 - P(8, - 12) * PS34 + PS169 * dt; - nextP(4, 8) = P(0, 8) * PS174 + P(1, 8) * PS173 + P(2, 8) * PS175 - P(3, 8) * PS176 + P(4, 8) + P(8, 13) * PS43 + P(8, - 14) * PS172 - P(8, 15) * PS171 + PS196 * dt; - nextP(5, 8) = -P(0, 8) * PS202 - P(1, 8) * PS204 + P(2, 8) * PS201 + P(3, 8) * PS203 + P(5, 8) - P(8, 13) * PS193 + P(8, - 14) * PS75 + P(8, 15) * PS190 + PS213 * dt; - nextP(6, 8) = P(0, 8) * PS216 + P(1, 8) * PS217 - P(2, 8) * PS214 + P(3, 8) * PS215 + P(6, 8) + P(8, 13) * PS199 - P(8, - 14) * PS197 + P(8, 15) * PS87 + dt * (P(0, 5) * PS216 + P(1, 5) * PS217 - P(2, 5) * PS214 + P(3, 5) * PS215 + P(5, - 13) * PS199 - P(5, 14) * PS197 + P(5, 15) * PS87 + P(5, 6)); - nextP(7, 8) = P(4, 8) * dt + P(7, 8) + dt * (P(4, 5) * dt + P(5, 7)); - nextP(8, 8) = P(5, 8) * dt + P(8, 8) + dt * (P(5, 5) * dt + P(5, 8)); - nextP(0, 9) = P(0, 9) - P(1, 9) * PS11 - P(2, 9) * PS12 - P(3, 9) * PS13 + P(9, 10) * PS6 + P(9, 11) * PS7 + P(9, - 12) * PS9 + PS94 * dt; - nextP(1, 9) = P(0, 9) * PS11 + P(1, 9) + P(2, 9) * PS13 - P(3, 9) * PS12 - P(9, 10) * PS34 + P(9, 11) * PS9 - P(9, - 12) * PS7 + PS125 * dt; - nextP(2, 9) = P(0, 9) * PS12 - P(1, 9) * PS13 + P(2, 9) + P(3, 9) * PS11 - P(9, 10) * PS9 - P(9, 11) * PS34 + P(9, - 12) * PS6 + PS150 * dt; - nextP(3, 9) = P(0, 9) * PS13 + P(1, 9) * PS12 - P(2, 9) * PS11 + P(3, 9) + P(9, 10) * PS7 - P(9, 11) * PS6 - P(9, - 12) * PS34 + PS170 * dt; - nextP(4, 9) = P(0, 9) * PS174 + P(1, 9) * PS173 + P(2, 9) * PS175 - P(3, 9) * PS176 + P(4, 9) + P(9, 13) * PS43 + P(9, - 14) * PS172 - P(9, 15) * PS171 + PS200 * dt; - nextP(5, 9) = -P(0, 9) * PS202 - P(1, 9) * PS204 + P(2, 9) * PS201 + P(3, 9) * PS203 + P(5, 9) - P(9, 13) * PS193 + P(9, - 14) * PS75 + P(9, 15) * PS190 + PS218 * dt; - nextP(6, 9) = P(0, 9) * PS216 + P(1, 9) * PS217 - P(2, 9) * PS214 + P(3, 9) * PS215 + P(6, 9) + P(9, 13) * PS199 - P(9, - 14) * PS197 + P(9, 15) * PS87 + PS222 * dt; - nextP(7, 9) = P(4, 9) * dt + P(7, 9) + dt * (P(4, 6) * dt + P(6, 7)); - nextP(8, 9) = P(5, 9) * dt + P(8, 9) + dt * (P(5, 6) * dt + P(6, 8)); - nextP(9, 9) = P(6, 9) * dt + P(9, 9) + dt * (P(6, 6) * dt + P(6, 9)); - nextP(0, 10) = PS14; - nextP(1, 10) = PS105; - nextP(2, 10) = PS133; - nextP(3, 10) = PS151; - nextP(4, 10) = P(0, 10) * PS174 + P(1, 10) * PS173 + P(10, 13) * PS43 + P(10, 14) * PS172 - P(10, 15) * PS171 + P(2, - 10) * PS175 - P(3, 10) * PS176 + P(4, 10); - nextP(5, 10) = -P(0, 10) * PS202 - P(1, 10) * PS204 - P(10, 13) * PS193 + P(10, 14) * PS75 + P(10, 15) * PS190 + P(2, - 10) * PS201 + P(3, 10) * PS203 + P(5, 10); - nextP(6, 10) = P(0, 10) * PS216 + P(1, 10) * PS217 + P(10, 13) * PS199 - P(10, 14) * PS197 + P(10, 15) * PS87 - P(2, - 10) * PS214 + P(3, 10) * PS215 + P(6, 10); - nextP(7, 10) = P(4, 10) * dt + P(7, 10); - nextP(8, 10) = P(5, 10) * dt + P(8, 10); - nextP(9, 10) = P(6, 10) * dt + P(9, 10); - nextP(10, 10) = P(10, 10); - nextP(0, 11) = PS17; - nextP(1, 11) = PS97; - nextP(2, 11) = PS132; - nextP(3, 11) = PS155; - nextP(4, 11) = P(0, 11) * PS174 + P(1, 11) * PS173 + P(11, 13) * PS43 + P(11, 14) * PS172 - P(11, 15) * PS171 + P(2, - 11) * PS175 - P(3, 11) * PS176 + P(4, 11); - nextP(5, 11) = -P(0, 11) * PS202 - P(1, 11) * PS204 - P(11, 13) * PS193 + P(11, 14) * PS75 + P(11, 15) * PS190 + P(2, - 11) * PS201 + P(3, 11) * PS203 + P(5, 11); - nextP(6, 11) = P(0, 11) * PS216 + P(1, 11) * PS217 + P(11, 13) * PS199 - P(11, 14) * PS197 + P(11, 15) * PS87 - P(2, - 11) * PS214 + P(3, 11) * PS215 + P(6, 11); - nextP(7, 11) = P(4, 11) * dt + P(7, 11); - nextP(8, 11) = P(5, 11) * dt + P(8, 11); - nextP(9, 11) = P(6, 11) * dt + P(9, 11); - nextP(10, 11) = P(10, 11); - nextP(11, 11) = P(11, 11); - nextP(0, 12) = PS20; - nextP(1, 12) = PS107; - nextP(2, 12) = PS127; - nextP(3, 12) = PS154; - nextP(4, 12) = P(0, 12) * PS174 + P(1, 12) * PS173 + P(12, 13) * PS43 + P(12, 14) * PS172 - P(12, 15) * PS171 + P(2, - 12) * PS175 - P(3, 12) * PS176 + P(4, 12); - nextP(5, 12) = -P(0, 12) * PS202 - P(1, 12) * PS204 - P(12, 13) * PS193 + P(12, 14) * PS75 + P(12, 15) * PS190 + P(2, - 12) * PS201 + P(3, 12) * PS203 + P(5, 12); - nextP(6, 12) = P(0, 12) * PS216 + P(1, 12) * PS217 + P(12, 13) * PS199 - P(12, 14) * PS197 + P(12, 15) * PS87 - P(2, - 12) * PS214 + P(3, 12) * PS215 + P(6, 12); - nextP(7, 12) = P(4, 12) * dt + P(7, 12); - nextP(8, 12) = P(5, 12) * dt + P(8, 12); - nextP(9, 12) = P(6, 12) * dt + P(9, 12); - nextP(10, 12) = P(10, 12); - nextP(11, 12) = P(11, 12); - nextP(12, 12) = P(12, 12); - nextP(0, 13) = PS44; - nextP(1, 13) = PS113; - nextP(2, 13) = PS138; - nextP(3, 13) = PS158; - nextP(4, 13) = PS177; - nextP(5, 13) = PS206; - nextP(6, 13) = PS221; - nextP(7, 13) = P(4, 13) * dt + P(7, 13); - nextP(8, 13) = P(5, 13) * dt + P(8, 13); - nextP(9, 13) = P(6, 13) * dt + P(9, 13); - nextP(10, 13) = P(10, 13); - nextP(11, 13) = P(11, 13); - nextP(12, 13) = P(12, 13); - nextP(13, 13) = P(13, 13); - nextP(0, 14) = PS57; - nextP(1, 14) = PS117; - nextP(2, 14) = PS142; - nextP(3, 14) = PS162; - nextP(4, 14) = PS180; - nextP(5, 14) = PS205; - nextP(6, 14) = PS220; - nextP(7, 14) = P(4, 14) * dt + P(7, 14); - nextP(8, 14) = P(5, 14) * dt + P(8, 14); - nextP(9, 14) = P(6, 14) * dt + P(9, 14); - nextP(10, 14) = P(10, 14); - nextP(11, 14) = P(11, 14); - nextP(12, 14) = P(12, 14); - nextP(13, 14) = P(13, 14); - nextP(14, 14) = P(14, 14); - nextP(0, 15) = PS46; - nextP(1, 15) = PS114; - nextP(2, 15) = PS139; - nextP(3, 15) = PS159; - nextP(4, 15) = PS178; - nextP(5, 15) = PS209; - nextP(6, 15) = PS219; - nextP(7, 15) = P(4, 15) * dt + P(7, 15); - nextP(8, 15) = P(5, 15) * dt + P(8, 15); - nextP(9, 15) = P(6, 15) * dt + P(9, 15); - nextP(10, 15) = P(10, 15); - nextP(11, 15) = P(11, 15); - nextP(12, 15) = P(12, 15); - nextP(13, 15) = P(13, 15); - nextP(14, 15) = P(14, 15); - nextP(15, 15) = P(15, 15); - nextP(0, 16) = P(0, 16) - P(1, 16) * PS11 + P(10, 16) * PS6 + P(11, 16) * PS7 + P(12, 16) * PS9 - P(2, 16) * PS12 - P(3, - 16) * PS13; - nextP(1, 16) = P(0, 16) * PS11 + P(1, 16) - P(10, 16) * PS34 + P(11, 16) * PS9 - P(12, 16) * PS7 + P(2, - 16) * PS13 - P(3, 16) * PS12; - nextP(2, 16) = P(0, 16) * PS12 - P(1, 16) * PS13 - P(10, 16) * PS9 - P(11, 16) * PS34 + P(12, 16) * PS6 + P(2, - 16) + P(3, 16) * PS11; - nextP(3, 16) = P(0, 16) * PS13 + P(1, 16) * PS12 + P(10, 16) * PS7 - P(11, 16) * PS6 - P(12, 16) * PS34 - P(2, - 16) * PS11 + P(3, 16); - nextP(4, 16) = P(0, 16) * PS174 + P(1, 16) * PS173 + P(13, 16) * PS43 + P(14, 16) * PS172 - P(15, 16) * PS171 + P(2, - 16) * PS175 - P(3, 16) * PS176 + P(4, 16); - nextP(5, 16) = -P(0, 16) * PS202 - P(1, 16) * PS204 - P(13, 16) * PS193 + P(14, 16) * PS75 + P(15, 16) * PS190 + P(2, - 16) * PS201 + P(3, 16) * PS203 + P(5, 16); - nextP(6, 16) = P(0, 16) * PS216 + P(1, 16) * PS217 + P(13, 16) * PS199 - P(14, 16) * PS197 + P(15, 16) * PS87 - P(2, - 16) * PS214 + P(3, 16) * PS215 + P(6, 16); - nextP(7, 16) = P(4, 16) * dt + P(7, 16); - nextP(8, 16) = P(5, 16) * dt + P(8, 16); - nextP(9, 16) = P(6, 16) * dt + P(9, 16); - nextP(10, 16) = P(10, 16); - nextP(11, 16) = P(11, 16); - nextP(12, 16) = P(12, 16); - nextP(13, 16) = P(13, 16); - nextP(14, 16) = P(14, 16); - nextP(15, 16) = P(15, 16); - nextP(16, 16) = P(16, 16); - nextP(0, 17) = P(0, 17) - P(1, 17) * PS11 + P(10, 17) * PS6 + P(11, 17) * PS7 + P(12, 17) * PS9 - P(2, 17) * PS12 - P(3, - 17) * PS13; - nextP(1, 17) = P(0, 17) * PS11 + P(1, 17) - P(10, 17) * PS34 + P(11, 17) * PS9 - P(12, 17) * PS7 + P(2, - 17) * PS13 - P(3, 17) * PS12; - nextP(2, 17) = P(0, 17) * PS12 - P(1, 17) * PS13 - P(10, 17) * PS9 - P(11, 17) * PS34 + P(12, 17) * PS6 + P(2, - 17) + P(3, 17) * PS11; - nextP(3, 17) = P(0, 17) * PS13 + P(1, 17) * PS12 + P(10, 17) * PS7 - P(11, 17) * PS6 - P(12, 17) * PS34 - P(2, - 17) * PS11 + P(3, 17); - nextP(4, 17) = P(0, 17) * PS174 + P(1, 17) * PS173 + P(13, 17) * PS43 + P(14, 17) * PS172 - P(15, 17) * PS171 + P(2, - 17) * PS175 - P(3, 17) * PS176 + P(4, 17); - nextP(5, 17) = -P(0, 17) * PS202 - P(1, 17) * PS204 - P(13, 17) * PS193 + P(14, 17) * PS75 + P(15, 17) * PS190 + P(2, - 17) * PS201 + P(3, 17) * PS203 + P(5, 17); - nextP(6, 17) = P(0, 17) * PS216 + P(1, 17) * PS217 + P(13, 17) * PS199 - P(14, 17) * PS197 + P(15, 17) * PS87 - P(2, - 17) * PS214 + P(3, 17) * PS215 + P(6, 17); - nextP(7, 17) = P(4, 17) * dt + P(7, 17); - nextP(8, 17) = P(5, 17) * dt + P(8, 17); - nextP(9, 17) = P(6, 17) * dt + P(9, 17); - nextP(10, 17) = P(10, 17); - nextP(11, 17) = P(11, 17); - nextP(12, 17) = P(12, 17); - nextP(13, 17) = P(13, 17); - nextP(14, 17) = P(14, 17); - nextP(15, 17) = P(15, 17); - nextP(16, 17) = P(16, 17); - nextP(17, 17) = P(17, 17); - nextP(0, 18) = P(0, 18) - P(1, 18) * PS11 + P(10, 18) * PS6 + P(11, 18) * PS7 + P(12, 18) * PS9 - P(2, 18) * PS12 - P(3, - 18) * PS13; - nextP(1, 18) = P(0, 18) * PS11 + P(1, 18) - P(10, 18) * PS34 + P(11, 18) * PS9 - P(12, 18) * PS7 + P(2, - 18) * PS13 - P(3, 18) * PS12; - nextP(2, 18) = P(0, 18) * PS12 - P(1, 18) * PS13 - P(10, 18) * PS9 - P(11, 18) * PS34 + P(12, 18) * PS6 + P(2, - 18) + P(3, 18) * PS11; - nextP(3, 18) = P(0, 18) * PS13 + P(1, 18) * PS12 + P(10, 18) * PS7 - P(11, 18) * PS6 - P(12, 18) * PS34 - P(2, - 18) * PS11 + P(3, 18); - nextP(4, 18) = P(0, 18) * PS174 + P(1, 18) * PS173 + P(13, 18) * PS43 + P(14, 18) * PS172 - P(15, 18) * PS171 + P(2, - 18) * PS175 - P(3, 18) * PS176 + P(4, 18); - nextP(5, 18) = -P(0, 18) * PS202 - P(1, 18) * PS204 - P(13, 18) * PS193 + P(14, 18) * PS75 + P(15, 18) * PS190 + P(2, - 18) * PS201 + P(3, 18) * PS203 + P(5, 18); - nextP(6, 18) = P(0, 18) * PS216 + P(1, 18) * PS217 + P(13, 18) * PS199 - P(14, 18) * PS197 + P(15, 18) * PS87 - P(2, - 18) * PS214 + P(3, 18) * PS215 + P(6, 18); - nextP(7, 18) = P(4, 18) * dt + P(7, 18); - nextP(8, 18) = P(5, 18) * dt + P(8, 18); - nextP(9, 18) = P(6, 18) * dt + P(9, 18); - nextP(10, 18) = P(10, 18); - nextP(11, 18) = P(11, 18); - nextP(12, 18) = P(12, 18); - nextP(13, 18) = P(13, 18); - nextP(14, 18) = P(14, 18); - nextP(15, 18) = P(15, 18); - nextP(16, 18) = P(16, 18); - nextP(17, 18) = P(17, 18); - nextP(18, 18) = P(18, 18); - nextP(0, 19) = P(0, 19) - P(1, 19) * PS11 + P(10, 19) * PS6 + P(11, 19) * PS7 + P(12, 19) * PS9 - P(2, 19) * PS12 - P(3, - 19) * PS13; - nextP(1, 19) = P(0, 19) * PS11 + P(1, 19) - P(10, 19) * PS34 + P(11, 19) * PS9 - P(12, 19) * PS7 + P(2, - 19) * PS13 - P(3, 19) * PS12; - nextP(2, 19) = P(0, 19) * PS12 - P(1, 19) * PS13 - P(10, 19) * PS9 - P(11, 19) * PS34 + P(12, 19) * PS6 + P(2, - 19) + P(3, 19) * PS11; - nextP(3, 19) = P(0, 19) * PS13 + P(1, 19) * PS12 + P(10, 19) * PS7 - P(11, 19) * PS6 - P(12, 19) * PS34 - P(2, - 19) * PS11 + P(3, 19); - nextP(4, 19) = P(0, 19) * PS174 + P(1, 19) * PS173 + P(13, 19) * PS43 + P(14, 19) * PS172 - P(15, 19) * PS171 + P(2, - 19) * PS175 - P(3, 19) * PS176 + P(4, 19); - nextP(5, 19) = -P(0, 19) * PS202 - P(1, 19) * PS204 - P(13, 19) * PS193 + P(14, 19) * PS75 + P(15, 19) * PS190 + P(2, - 19) * PS201 + P(3, 19) * PS203 + P(5, 19); - nextP(6, 19) = P(0, 19) * PS216 + P(1, 19) * PS217 + P(13, 19) * PS199 - P(14, 19) * PS197 + P(15, 19) * PS87 - P(2, - 19) * PS214 + P(3, 19) * PS215 + P(6, 19); - nextP(7, 19) = P(4, 19) * dt + P(7, 19); - nextP(8, 19) = P(5, 19) * dt + P(8, 19); - nextP(9, 19) = P(6, 19) * dt + P(9, 19); - nextP(10, 19) = P(10, 19); - nextP(11, 19) = P(11, 19); - nextP(12, 19) = P(12, 19); - nextP(13, 19) = P(13, 19); - nextP(14, 19) = P(14, 19); - nextP(15, 19) = P(15, 19); - nextP(16, 19) = P(16, 19); - nextP(17, 19) = P(17, 19); - nextP(18, 19) = P(18, 19); - nextP(19, 19) = P(19, 19); - nextP(0, 20) = P(0, 20) - P(1, 20) * PS11 + P(10, 20) * PS6 + P(11, 20) * PS7 + P(12, 20) * PS9 - P(2, 20) * PS12 - P(3, - 20) * PS13; - nextP(1, 20) = P(0, 20) * PS11 + P(1, 20) - P(10, 20) * PS34 + P(11, 20) * PS9 - P(12, 20) * PS7 + P(2, - 20) * PS13 - P(3, 20) * PS12; - nextP(2, 20) = P(0, 20) * PS12 - P(1, 20) * PS13 - P(10, 20) * PS9 - P(11, 20) * PS34 + P(12, 20) * PS6 + P(2, - 20) + P(3, 20) * PS11; - nextP(3, 20) = P(0, 20) * PS13 + P(1, 20) * PS12 + P(10, 20) * PS7 - P(11, 20) * PS6 - P(12, 20) * PS34 - P(2, - 20) * PS11 + P(3, 20); - nextP(4, 20) = P(0, 20) * PS174 + P(1, 20) * PS173 + P(13, 20) * PS43 + P(14, 20) * PS172 - P(15, 20) * PS171 + P(2, - 20) * PS175 - P(3, 20) * PS176 + P(4, 20); - nextP(5, 20) = -P(0, 20) * PS202 - P(1, 20) * PS204 - P(13, 20) * PS193 + P(14, 20) * PS75 + P(15, 20) * PS190 + P(2, - 20) * PS201 + P(3, 20) * PS203 + P(5, 20); - nextP(6, 20) = P(0, 20) * PS216 + P(1, 20) * PS217 + P(13, 20) * PS199 - P(14, 20) * PS197 + P(15, 20) * PS87 - P(2, - 20) * PS214 + P(3, 20) * PS215 + P(6, 20); - nextP(7, 20) = P(4, 20) * dt + P(7, 20); - nextP(8, 20) = P(5, 20) * dt + P(8, 20); - nextP(9, 20) = P(6, 20) * dt + P(9, 20); - nextP(10, 20) = P(10, 20); - nextP(11, 20) = P(11, 20); - nextP(12, 20) = P(12, 20); - nextP(13, 20) = P(13, 20); - nextP(14, 20) = P(14, 20); - nextP(15, 20) = P(15, 20); - nextP(16, 20) = P(16, 20); - nextP(17, 20) = P(17, 20); - nextP(18, 20) = P(18, 20); - nextP(19, 20) = P(19, 20); - nextP(20, 20) = P(20, 20); - nextP(0, 21) = P(0, 21) - P(1, 21) * PS11 + P(10, 21) * PS6 + P(11, 21) * PS7 + P(12, 21) * PS9 - P(2, 21) * PS12 - P(3, - 21) * PS13; - nextP(1, 21) = P(0, 21) * PS11 + P(1, 21) - P(10, 21) * PS34 + P(11, 21) * PS9 - P(12, 21) * PS7 + P(2, - 21) * PS13 - P(3, 21) * PS12; - nextP(2, 21) = P(0, 21) * PS12 - P(1, 21) * PS13 - P(10, 21) * PS9 - P(11, 21) * PS34 + P(12, 21) * PS6 + P(2, - 21) + P(3, 21) * PS11; - nextP(3, 21) = P(0, 21) * PS13 + P(1, 21) * PS12 + P(10, 21) * PS7 - P(11, 21) * PS6 - P(12, 21) * PS34 - P(2, - 21) * PS11 + P(3, 21); - nextP(4, 21) = P(0, 21) * PS174 + P(1, 21) * PS173 + P(13, 21) * PS43 + P(14, 21) * PS172 - P(15, 21) * PS171 + P(2, - 21) * PS175 - P(3, 21) * PS176 + P(4, 21); - nextP(5, 21) = -P(0, 21) * PS202 - P(1, 21) * PS204 - P(13, 21) * PS193 + P(14, 21) * PS75 + P(15, 21) * PS190 + P(2, - 21) * PS201 + P(3, 21) * PS203 + P(5, 21); - nextP(6, 21) = P(0, 21) * PS216 + P(1, 21) * PS217 + P(13, 21) * PS199 - P(14, 21) * PS197 + P(15, 21) * PS87 - P(2, - 21) * PS214 + P(3, 21) * PS215 + P(6, 21); - nextP(7, 21) = P(4, 21) * dt + P(7, 21); - nextP(8, 21) = P(5, 21) * dt + P(8, 21); - nextP(9, 21) = P(6, 21) * dt + P(9, 21); - nextP(10, 21) = P(10, 21); - nextP(11, 21) = P(11, 21); - nextP(12, 21) = P(12, 21); - nextP(13, 21) = P(13, 21); - nextP(14, 21) = P(14, 21); - nextP(15, 21) = P(15, 21); - nextP(16, 21) = P(16, 21); - nextP(17, 21) = P(17, 21); - nextP(18, 21) = P(18, 21); - nextP(19, 21) = P(19, 21); - nextP(20, 21) = P(20, 21); - nextP(21, 21) = P(21, 21); - nextP(0, 22) = P(0, 22) - P(1, 22) * PS11 + P(10, 22) * PS6 + P(11, 22) * PS7 + P(12, 22) * PS9 - P(2, 22) * PS12 - P(3, - 22) * PS13; - nextP(1, 22) = P(0, 22) * PS11 + P(1, 22) - P(10, 22) * PS34 + P(11, 22) * PS9 - P(12, 22) * PS7 + P(2, - 22) * PS13 - P(3, 22) * PS12; - nextP(2, 22) = P(0, 22) * PS12 - P(1, 22) * PS13 - P(10, 22) * PS9 - P(11, 22) * PS34 + P(12, 22) * PS6 + P(2, - 22) + P(3, 22) * PS11; - nextP(3, 22) = P(0, 22) * PS13 + P(1, 22) * PS12 + P(10, 22) * PS7 - P(11, 22) * PS6 - P(12, 22) * PS34 - P(2, - 22) * PS11 + P(3, 22); - nextP(4, 22) = P(0, 22) * PS174 + P(1, 22) * PS173 + P(13, 22) * PS43 + P(14, 22) * PS172 - P(15, 22) * PS171 + P(2, - 22) * PS175 - P(3, 22) * PS176 + P(4, 22); - nextP(5, 22) = -P(0, 22) * PS202 - P(1, 22) * PS204 - P(13, 22) * PS193 + P(14, 22) * PS75 + P(15, 22) * PS190 + P(2, - 22) * PS201 + P(3, 22) * PS203 + P(5, 22); - nextP(6, 22) = P(0, 22) * PS216 + P(1, 22) * PS217 + P(13, 22) * PS199 - P(14, 22) * PS197 + P(15, 22) * PS87 - P(2, - 22) * PS214 + P(3, 22) * PS215 + P(6, 22); - nextP(7, 22) = P(4, 22) * dt + P(7, 22); - nextP(8, 22) = P(5, 22) * dt + P(8, 22); - nextP(9, 22) = P(6, 22) * dt + P(9, 22); - nextP(10, 22) = P(10, 22); - nextP(11, 22) = P(11, 22); - nextP(12, 22) = P(12, 22); - nextP(13, 22) = P(13, 22); - nextP(14, 22) = P(14, 22); - nextP(15, 22) = P(15, 22); - nextP(16, 22) = P(16, 22); - nextP(17, 22) = P(17, 22); - nextP(18, 22) = P(18, 22); - nextP(19, 22) = P(19, 22); - nextP(20, 22) = P(20, 22); - nextP(21, 22) = P(21, 22); - nextP(22, 22) = P(22, 22); - nextP(0, 23) = P(0, 23) - P(1, 23) * PS11 + P(10, 23) * PS6 + P(11, 23) * PS7 + P(12, 23) * PS9 - P(2, 23) * PS12 - P(3, - 23) * PS13; - nextP(1, 23) = P(0, 23) * PS11 + P(1, 23) - P(10, 23) * PS34 + P(11, 23) * PS9 - P(12, 23) * PS7 + P(2, - 23) * PS13 - P(3, 23) * PS12; - nextP(2, 23) = P(0, 23) * PS12 - P(1, 23) * PS13 - P(10, 23) * PS9 - P(11, 23) * PS34 + P(12, 23) * PS6 + P(2, - 23) + P(3, 23) * PS11; - nextP(3, 23) = P(0, 23) * PS13 + P(1, 23) * PS12 + P(10, 23) * PS7 - P(11, 23) * PS6 - P(12, 23) * PS34 - P(2, - 23) * PS11 + P(3, 23); - nextP(4, 23) = P(0, 23) * PS174 + P(1, 23) * PS173 + P(13, 23) * PS43 + P(14, 23) * PS172 - P(15, 23) * PS171 + P(2, - 23) * PS175 - P(3, 23) * PS176 + P(4, 23); - nextP(5, 23) = -P(0, 23) * PS202 - P(1, 23) * PS204 - P(13, 23) * PS193 + P(14, 23) * PS75 + P(15, 23) * PS190 + P(2, - 23) * PS201 + P(3, 23) * PS203 + P(5, 23); - nextP(6, 23) = P(0, 23) * PS216 + P(1, 23) * PS217 + P(13, 23) * PS199 - P(14, 23) * PS197 + P(15, 23) * PS87 - P(2, - 23) * PS214 + P(3, 23) * PS215 + P(6, 23); - nextP(7, 23) = P(4, 23) * dt + P(7, 23); - nextP(8, 23) = P(5, 23) * dt + P(8, 23); - nextP(9, 23) = P(6, 23) * dt + P(9, 23); - nextP(10, 23) = P(10, 23); - nextP(11, 23) = P(11, 23); - nextP(12, 23) = P(12, 23); - nextP(13, 23) = P(13, 23); - nextP(14, 23) = P(14, 23); - nextP(15, 23) = P(15, 23); - nextP(16, 23) = P(16, 23); - nextP(17, 23) = P(17, 23); - nextP(18, 23) = P(18, 23); - nextP(19, 23) = P(19, 23); - nextP(20, 23) = P(20, 23); - nextP(21, 23) = P(21, 23); - nextP(22, 23) = P(22, 23); - nextP(23, 23) = P(23, 23); - - // save output - for (int col = 0; col <= 23; col++) { - for (int row = 0; row <= col; row++) { - nextP_sympy(row, col) = nextP(row, col); - } - } - } - - { - Vector24f state_vector{}; - state_vector(0) = q0; - state_vector(1) = q1; - state_vector(2) = q2; - state_vector(3) = q3; - state_vector(10) = dax_b; - state_vector(11) = day_b; - state_vector(12) = daz_b; - state_vector(13) = dvx_b; - state_vector(14) = dvy_b; - state_vector(15) = dvz_b; - - const Vector3f d_vel(dvx, dvy, dvz); - const Vector3f d_ang(dax, day, daz); - - EXPECT_FLOAT_EQ(daxVar, dayVar); - EXPECT_FLOAT_EQ(daxVar, dazVar); - - const float d_ang_var = daxVar; // derivation assumes same variance on all gyro axes - const Vector3f d_vel_var(dvxVar, dvyVar, dvzVar); - - sym::PredictCovariance(state_vector, P, d_vel, d_vel_var, d_ang, d_ang_var, dt, &nextP_symforce); - } - - DiffRatioReport report = computeDiffRatioSquareMatrix24f(nextP_sympy, nextP_symforce); - EXPECT_LT(report.max_diff_fraction, 2e-5f) << "Max diff fraction = " << report.max_diff_fraction << - " location index = " << report.max_row << " sympy = " << report.max_v1 << " symforce = " << report.max_v2; -} diff --git a/src/modules/ekf2/test/test_EKF_drag_fusion.cpp b/src/modules/ekf2/test/test_EKF_drag_fusion.cpp index 7e4bc4eda2ce..edd81e640c44 100644 --- a/src/modules/ekf2/test/test_EKF_drag_fusion.cpp +++ b/src/modules/ekf2/test/test_EKF_drag_fusion.cpp @@ -39,6 +39,7 @@ #include "EKF/ekf.h" #include "sensor_simulator/sensor_simulator.h" #include "sensor_simulator/ekf_wrapper.h" +#include class EkfDragFusionTest : public ::testing::Test { @@ -143,8 +144,10 @@ TEST_F(EkfDragFusionTest, testLateralMomentumDrag) predicted_accel(0) = CONSTANTS_ONE_G * sinf(pitch); predicted_accel(1) = - CONSTANTS_ONE_G * sinf(roll); Vector2f wind_speed = predicted_accel / mcoef; - EXPECT_NEAR(vel_wind_earth(0), wind_speed(0), fmaxf(1.0f, 0.1f * fabsf(wind_speed(0)))); - EXPECT_NEAR(vel_wind_earth(1), wind_speed(1), fmaxf(1.0f, 0.1f * fabsf(wind_speed(1)))); + // Note that the wind direction is stightly incorrect heading estimate due to a mismatch between + // the simulated mag field and assumed dectination from the WMM + EXPECT_NEAR(vel_wind_earth(0), wind_speed(0), fmaxf(1.0f, 0.15f * fabsf(wind_speed.norm()))); + EXPECT_NEAR(vel_wind_earth(1), wind_speed(1), fmaxf(1.0f, 0.15f * fabsf(wind_speed.norm()))); }; TEST_F(EkfDragFusionTest, testForwardBluffBodyDrag) @@ -179,7 +182,7 @@ TEST_F(EkfDragFusionTest, testForwardBluffBodyDrag) Vector2f predicted_accel(CONSTANTS_ONE_G * sinf(pitch), 0.0f); const float airspeed = sqrtf((2.0f * bcoef_x * predicted_accel.length()) / - CONSTANTS_AIR_DENSITY_SEA_LEVEL_15C); + atmosphere::kAirDensitySeaLevelStandardAtmos); Vector2f wind_speed(-airspeed, 0.0f); // The magnitude of error perpendicular to wind is equivalent to the error in the direction of wind @@ -219,7 +222,7 @@ TEST_F(EkfDragFusionTest, testLateralBluffBodyDrag) Vector2f predicted_accel(0.0f, - CONSTANTS_ONE_G * sinf(roll)); const float airspeed = sqrtf((2.0f * bcoef_y * predicted_accel.length()) / - CONSTANTS_AIR_DENSITY_SEA_LEVEL_15C); + atmosphere::kAirDensitySeaLevelStandardAtmos); Vector2f wind_speed(0.0f, -airspeed); // The magnitude of error perpendicular to wind is equivalent to the error in the of wind @@ -259,7 +262,7 @@ TEST_F(EkfDragFusionTest, testDiagonalBluffBodyDrag) Vector2f predicted_accel = quat_sim.rotateVectorInverse(Vector3f(0.f, 0.f, -CONSTANTS_ONE_G)).xy(); const float airspeed = sqrtf((2.0f * bcoef_y * predicted_accel.norm()) / - CONSTANTS_AIR_DENSITY_SEA_LEVEL_15C); + atmosphere::kAirDensitySeaLevelStandardAtmos); Vector2f wind_speed(airspeed * predicted_accel / predicted_accel.norm()); // The magnitude of error perpendicular to wind is equivalent to the error in the of wind diff --git a/src/modules/ekf2/test/test_EKF_externalVision.cpp b/src/modules/ekf2/test/test_EKF_externalVision.cpp index 3be67e2da70b..5b1439edd9f2 100644 --- a/src/modules/ekf2/test/test_EKF_externalVision.cpp +++ b/src/modules/ekf2/test/test_EKF_externalVision.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2019 ECL Development Team. All rights reserved. + * Copyright (c) 2019-2023 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -61,9 +61,8 @@ class EkfExternalVisionTest : public ::testing::Test // Setup the Ekf with synthetic measurements void SetUp() override { - // run briefly to init, then manually set in air and at rest (default for a real vehicle) + // Init, then manually set in air and at rest (default for a real vehicle) _ekf->init(0); - _sensor_simulator.runSeconds(0.1); _ekf->set_in_air_status(false); _ekf->set_vehicle_at_rest(true); } @@ -260,37 +259,24 @@ TEST_F(EkfExternalVisionTest, visionAlignment) TEST_F(EkfExternalVisionTest, velocityFrameBody) { - // GIVEN: Drone is turned 90 degrees - const Quatf quat_sim(Eulerf(0.0f, 0.0f, math::radians(90.0f))); - _sensor_simulator.simulateOrientation(quat_sim); + _ekf_wrapper.setMagFuseTypeNone(); _sensor_simulator.runSeconds(_tilt_align_time); - _ekf->set_vehicle_at_rest(false); - // Without any measurement x and y velocity variance are close - const Vector3f velVar_init = _ekf->getVelocityVariance(); - EXPECT_NEAR(velVar_init(0), velVar_init(1), 0.0001); - - // WHEN: measurement is given in BODY-FRAME and - // x variance is bigger than y variance - _sensor_simulator._vio.setVelocityFrameToBody(); + float yaw_var0 = _ekf->getYawVar(); const Vector3f vel_cov_body(2.0f, 0.01f, 0.01f); const Vector3f vel_body(1.0f, 0.0f, 0.0f); + _sensor_simulator._vio.setVelocityFrameToBody(); _sensor_simulator._vio.setVelocityVariance(vel_cov_body); _sensor_simulator._vio.setVelocity(vel_body); _ekf_wrapper.enableExternalVisionVelocityFusion(); _sensor_simulator.startExternalVision(); _sensor_simulator.runSeconds(4); - // THEN: As the drone is turned 90 degrees, velocity variance - // along local y axis is expected to be bigger - const Vector3f velVar_new = _ekf->getVelocityVariance(); - EXPECT_NEAR(velVar_new(1) / velVar_new(0), 70.f, 15.f); - - const Vector3f vel_earth_est = _ekf->getVelocity(); - EXPECT_NEAR(vel_earth_est(0), 0.0f, 0.1f); - EXPECT_NEAR(vel_earth_est(1), 1.0f, 0.1f); + const Vector3f vel_var = _ekf->getVelocityVariance(); + EXPECT_TRUE(yaw_var0 < _ekf->getYawVar()); + EXPECT_TRUE(vel_var(1) < vel_var(0)); } TEST_F(EkfExternalVisionTest, velocityFrameLocal) @@ -320,7 +306,7 @@ TEST_F(EkfExternalVisionTest, velocityFrameLocal) // THEN: Independently on drones heading, velocity variance // along local x axis is expected to be bigger const Vector3f velVar_new = _ekf->getVelocityVariance(); - EXPECT_NEAR(velVar_new(0) / velVar_new(1), 70.f, 15.f); + EXPECT_NEAR(velVar_new(0) / velVar_new(1), 30.f, 15.f); const Vector3f vel_earth_est = _ekf->getVelocity(); EXPECT_NEAR(vel_earth_est(0), 1.0f, 0.1f); diff --git a/src/modules/ekf2/test/test_EKF_fake_pos.cpp b/src/modules/ekf2/test/test_EKF_fake_pos.cpp new file mode 100644 index 000000000000..3cd755a3a56e --- /dev/null +++ b/src/modules/ekf2/test/test_EKF_fake_pos.cpp @@ -0,0 +1,121 @@ +/**************************************************************************** + * + * Copyright (c) 2024 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include +#include "EKF/ekf.h" +#include "sensor_simulator/sensor_simulator.h" +#include "sensor_simulator/ekf_wrapper.h" + + +class EkfFakePosTest : public ::testing::Test +{ +public: + + EkfFakePosTest(): ::testing::Test(), + _ekf{std::make_shared()}, + _sensor_simulator(_ekf), + _ekf_wrapper(_ekf), + _quat_sim(Eulerf(0.0f, 0.0f, math::radians(45.0f))) {}; + + std::shared_ptr _ekf; + SensorSimulator _sensor_simulator; + EkfWrapper _ekf_wrapper; + const Quatf _quat_sim; + + // Setup the Ekf with synthetic measurements + void SetUp() override + { + // run briefly to init, then manually set in air and at rest (default for a real vehicle) + _ekf->init(0); + _sensor_simulator.runSeconds(0.1); + _ekf->set_in_air_status(false); + _ekf->set_vehicle_at_rest(true); + + _sensor_simulator.simulateOrientation(_quat_sim); + _sensor_simulator.runSeconds(7); + } + + // Use this method to clean up any memory, network etc. after each test + void TearDown() override + { + } +}; + +TEST_F(EkfFakePosTest, testValidFakePos) +{ + _ekf->set_vehicle_at_rest(false); + _ekf->set_constant_pos(true); + _sensor_simulator.runSeconds(1); + + EXPECT_EQ(1, (int) _ekf->control_status_flags().constant_pos); + EXPECT_EQ(0, (int) _ekf->control_status_flags().fake_pos); + EXPECT_EQ(1, (int) _ekf->control_status_flags().valid_fake_pos); +} + +TEST_F(EkfFakePosTest, testFakePosStopGnss) +{ + _ekf->set_vehicle_at_rest(false); + _ekf->set_constant_pos(true); + _sensor_simulator.startGps(); + _sensor_simulator.runSeconds(12); + + EXPECT_TRUE(_ekf_wrapper.isIntendingGpsFusion()); + EXPECT_EQ(1, (int) _ekf->control_status_flags().constant_pos); + EXPECT_EQ(0, (int) _ekf->control_status_flags().fake_pos); + EXPECT_EQ(0, (int) _ekf->control_status_flags().valid_fake_pos); +} + +TEST_F(EkfFakePosTest, testValidFakePosValidLocalPos) +{ + _ekf->set_is_fixed_wing(true); + _sensor_simulator.startAirspeedSensor(); + _sensor_simulator._airspeed.setData(-0.01f, 0.f); // airspeed close to 0 + _ekf_wrapper.enableBetaFusion(); + + // WHEN: the vehicle is not as rest but is known to be at a constant position + _ekf->set_vehicle_at_rest(false); + _ekf->set_constant_pos(true); + _sensor_simulator.runSeconds(1); + + // THEN: the valid fake position is fused + EXPECT_EQ(1, (int) _ekf->control_status_flags().constant_pos); + EXPECT_EQ(0, (int) _ekf->control_status_flags().fake_pos); + EXPECT_EQ(1, (int) _ekf->control_status_flags().valid_fake_pos); + + // AND: since airspeed is expected to provide wind-relative dead-reckoning after takeoff + // the local position is considered valid + _sensor_simulator.runSeconds(60); + + EXPECT_EQ(1, (int) _ekf->control_status_flags().valid_fake_pos); + EXPECT_TRUE(_ekf->local_position_is_valid()); +} diff --git a/src/modules/ekf2/test/test_EKF_flow.cpp b/src/modules/ekf2/test/test_EKF_flow.cpp index 553a0af47c8b..787560ce1bf6 100644 --- a/src/modules/ekf2/test/test_EKF_flow.cpp +++ b/src/modules/ekf2/test/test_EKF_flow.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2019 ECL Development Team. All rights reserved. + * Copyright (c) 2019-2023 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -102,9 +102,9 @@ void EkfFlowTest::startZeroFlowFusion() void EkfFlowTest::setFlowFromHorizontalVelocityAndDistance(flowSample &flow_sample, const Vector2f &simulated_horz_velocity, float estimated_distance_to_ground) { - flow_sample.flow_xy_rad = - Vector2f(simulated_horz_velocity(1) * flow_sample.dt / estimated_distance_to_ground, - -simulated_horz_velocity(0) * flow_sample.dt / estimated_distance_to_ground); + flow_sample.flow_rate = + Vector2f(simulated_horz_velocity(1) / estimated_distance_to_ground, + -simulated_horz_velocity(0) / estimated_distance_to_ground); } TEST_F(EkfFlowTest, resetToFlowVelocityInAir) @@ -120,7 +120,7 @@ TEST_F(EkfFlowTest, resetToFlowVelocityInAir) _sensor_simulator.runSeconds(5.f); - const float estimated_distance_to_ground = _ekf->getTerrainVertPos(); + const float estimated_distance_to_ground = _ekf->getHagl(); EXPECT_FLOAT_EQ(estimated_distance_to_ground, simulated_distance_to_ground); reset_logging_checker.capturePreResetState(); @@ -133,16 +133,19 @@ TEST_F(EkfFlowTest, resetToFlowVelocityInAir) _ekf_wrapper.enableFlowFusion(); _sensor_simulator.startFlow(); - // Let it reset but not fuse more measurements. We actually need to send 2 - // samples to get a reset because the first one cannot be used as the gyro - // compensation needs to be accumulated between two samples. - _sensor_simulator.runTrajectorySeconds(0.14); + _sensor_simulator.runTrajectorySeconds(1); // THEN: estimated velocity should match simulated velocity const Vector3f estimated_velocity = _ekf->getVelocity(); + estimated_velocity.print(); + simulated_velocity.print(); EXPECT_TRUE(isEqual(estimated_velocity, simulated_velocity)) << "estimated vel = " << estimated_velocity(0) << ", " - << estimated_velocity(1); + << estimated_velocity(1) << "\n" + << "simulated vel = " << simulated_velocity(0) << ", " + << simulated_velocity(1); + + EXPECT_NEAR(simulated_distance_to_ground, _ekf->getHagl(), 0.1f); // AND: the reset in velocity should be saved correctly reset_logging_checker.capturePostResetState(); @@ -156,18 +159,18 @@ TEST_F(EkfFlowTest, resetToFlowVelocityOnGround) ResetLoggingChecker reset_logging_checker(_ekf); // WHEN: being on ground - const float estimated_distance_to_ground = _ekf->getTerrainVertPos(); + const float estimated_distance_to_ground = _ekf->getHagl(); EXPECT_LT(estimated_distance_to_ground, 0.3f); reset_logging_checker.capturePreResetState(); // WHEN: start fusing flow data flowSample flow_sample = _sensor_simulator._flow.dataAtRest(); - flow_sample.dt = 0.f; // some sensors force dt to zero when quality is low flow_sample.quality = 0; _sensor_simulator._flow.setData(flow_sample); _ekf_wrapper.enableFlowFusion(); _sensor_simulator.startFlow(); + _sensor_simulator.startRangeFinder(); _sensor_simulator.runSeconds(1.0); // THEN: estimated velocity should match simulated velocity @@ -175,11 +178,10 @@ TEST_F(EkfFlowTest, resetToFlowVelocityOnGround) EXPECT_TRUE(isEqual(estimated_horz_velocity, Vector2f(0.f, 0.f))) << estimated_horz_velocity(0) << ", " << estimated_horz_velocity(1); - // AND: the reset in velocity should be saved correctly + // AND: the horizontal velocity is reset to the flow value reset_logging_checker.capturePostResetState(); EXPECT_TRUE(reset_logging_checker.isHorizontalVelocityResetCounterIncreasedBy(1)); EXPECT_TRUE(reset_logging_checker.isVerticalVelocityResetCounterIncreasedBy(0)); - EXPECT_TRUE(reset_logging_checker.isVelocityDeltaLoggedCorrectly(1e-9f)); } TEST_F(EkfFlowTest, inAirConvergence) @@ -220,9 +222,9 @@ TEST_F(EkfFlowTest, inAirConvergence) // THEN: estimated velocity should converge to the simulated velocity // This takes a bit of time because the data is inconsistent with IMU measurements estimated_velocity = _ekf->getVelocity(); - EXPECT_NEAR(estimated_velocity(0), simulated_velocity(0), 0.05f) + EXPECT_NEAR(estimated_velocity(0), simulated_velocity(0), 0.01f) << "estimated vel = " << estimated_velocity(0); - EXPECT_NEAR(estimated_velocity(1), simulated_velocity(1), 0.05f) + EXPECT_NEAR(estimated_velocity(1), simulated_velocity(1), 0.01f) << estimated_velocity(1); } @@ -239,7 +241,7 @@ TEST_F(EkfFlowTest, yawMotionCorrectionWithAutopilotGyroData) _sensor_simulator.runSeconds(5.f); // AND WHEN: there is a pure yaw rotation - const Vector3f body_rate(0.f, 0.f, 3.14159f); + const Vector3f body_rate(0.f, 0.f, 2.9f); const Vector3f flow_offset(0.15, -0.05f, 0.2f); _ekf_wrapper.setFlowOffset(flow_offset); @@ -248,7 +250,7 @@ TEST_F(EkfFlowTest, yawMotionCorrectionWithAutopilotGyroData) setFlowFromHorizontalVelocityAndDistance(flow_sample, simulated_horz_velocity, simulated_distance_to_ground); // use autopilot gyro data - flow_sample.gyro_xyz.setAll(NAN); + flow_sample.gyro_rate.setAll(NAN); _sensor_simulator._flow.setData(flow_sample); _sensor_simulator._imu.setGyroData(body_rate); @@ -256,10 +258,11 @@ TEST_F(EkfFlowTest, yawMotionCorrectionWithAutopilotGyroData) // THEN: the flow due to the yaw rotation and the offsets is canceled // and the velocity estimate stays 0 + // FIXME: the estimate isn't perfect 0 mainly because the mag simulated measurement isn't rotating const Vector2f estimated_horz_velocity = Vector2f(_ekf->getVelocity()); - EXPECT_NEAR(estimated_horz_velocity(0), 0.f, 0.01f) + EXPECT_NEAR(estimated_horz_velocity(0), 0.f, 0.02f) << "estimated vel = " << estimated_horz_velocity(0); - EXPECT_NEAR(estimated_horz_velocity(1), 0.f, 0.01f) + EXPECT_NEAR(estimated_horz_velocity(1), 0.f, 0.02f) << "estimated vel = " << estimated_horz_velocity(1); } @@ -275,6 +278,48 @@ TEST_F(EkfFlowTest, yawMotionCorrectionWithFlowGyroData) _sensor_simulator.runSeconds(5.f); + // AND WHEN: there is a pure yaw rotation + const Vector3f body_rate(0.f, 0.f, 2.9f); + const Vector3f flow_offset(-0.15, 0.05f, 0.2f); + _ekf_wrapper.setFlowOffset(flow_offset); + + const Vector2f simulated_horz_velocity(body_rate % flow_offset); + flowSample flow_sample = _sensor_simulator._flow.dataAtRest(); + setFlowFromHorizontalVelocityAndDistance(flow_sample, simulated_horz_velocity, simulated_distance_to_ground); + + // use flow sensor gyro data + // for clarification of the sign, see definition of flowSample + flow_sample.gyro_rate = -body_rate; + + _sensor_simulator._flow.setData(flow_sample); + _sensor_simulator._imu.setGyroData(body_rate); + _sensor_simulator.runSeconds(10.f); + + // THEN: the flow due to the yaw rotation and the offsets is canceled + // and the velocity estimate stays 0 + // FIXME: the estimate isn't perfect 0 mainly because the mag simulated measurement isn't rotating + const Vector2f estimated_horz_velocity = Vector2f(_ekf->getVelocity()); + EXPECT_NEAR(estimated_horz_velocity(0), 0.f, 0.02f) + << "estimated vel = " << estimated_horz_velocity(0); + EXPECT_NEAR(estimated_horz_velocity(1), 0.f, 0.02f) + << "estimated vel = " << estimated_horz_velocity(1); + _ekf->state().vector().print(); + _ekf->covariances().print(); +} + +TEST_F(EkfFlowTest, yawMotionNoMagFusion) +{ + // WHEN: fusing range finder and optical flow data in air + const float simulated_distance_to_ground = 5.f; + startRangeFinderFusion(simulated_distance_to_ground); + startZeroFlowFusion(); + _ekf_wrapper.setMagFuseTypeNone(); + + _ekf->set_in_air_status(true); + _ekf->set_vehicle_at_rest(false); + + _sensor_simulator.runSeconds(5.f); + // AND WHEN: there is a pure yaw rotation const Vector3f body_rate(0.f, 0.f, 3.14159f); const Vector3f flow_offset(-0.15, 0.05f, 0.2f); @@ -286,7 +331,7 @@ TEST_F(EkfFlowTest, yawMotionCorrectionWithFlowGyroData) // use flow sensor gyro data // for clarification of the sign, see definition of flowSample - flow_sample.gyro_xyz = -body_rate * flow_sample.dt; + flow_sample.gyro_rate = -body_rate; _sensor_simulator._flow.setData(flow_sample); _sensor_simulator._imu.setGyroData(body_rate); @@ -299,4 +344,6 @@ TEST_F(EkfFlowTest, yawMotionCorrectionWithFlowGyroData) << "estimated vel = " << estimated_horz_velocity(0); EXPECT_NEAR(estimated_horz_velocity(1), 0.f, 0.01f) << "estimated vel = " << estimated_horz_velocity(1); + _ekf->state().vector().print(); + _ekf->covariances().print(); } diff --git a/src/modules/ekf2/test/test_EKF_flow_generated.cpp b/src/modules/ekf2/test/test_EKF_flow_generated.cpp new file mode 100644 index 000000000000..58a0eabdeb6a --- /dev/null +++ b/src/modules/ekf2/test/test_EKF_flow_generated.cpp @@ -0,0 +1,73 @@ +/**************************************************************************** + * + * Copyright (C) 2024 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include +#include +#include "EKF/ekf.h" +#include "test_helper/comparison_helper.h" + +#include "../EKF/python/ekf_derivation/generated/compute_flow_xy_innov_var_and_hx.h" +#include "../EKF/python/ekf_derivation/generated/compute_flow_y_innov_var_and_h.h" + +using namespace matrix; + +TEST(FlowGenerated, distBottom0xy) +{ + // GIVEN: 0 distance to the ground (singularity) + StateSample state{}; + state.quat_nominal = Quatf(); + + const float R = sq(radians(sq(0.5f))); + SquareMatrixState P = createRandomCovarianceMatrix(); + + VectorState H; + Vector2f innov_var; + sym::ComputeFlowXyInnovVarAndHx(state.vector(), P, R, FLT_EPSILON, &innov_var, &H); + EXPECT_GT(innov_var(0), 1e12); + EXPECT_GT(innov_var(1), 1e12); +} + +TEST(FlowGenerated, distBottom0y) +{ + // GIVEN: 0 distance to the ground (singularity) + StateSample state{}; + state.quat_nominal = Quatf(); + + const float R = sq(radians(sq(0.5f))); + SquareMatrixState P = createRandomCovarianceMatrix(); + + VectorState H; + float innov_var; + sym::ComputeFlowYInnovVarAndH(state.vector(), P, R, FLT_EPSILON, &innov_var, &H); + EXPECT_GT(innov_var, 1e12); +} diff --git a/src/modules/ekf2/test/test_EKF_fusionLogic.cpp b/src/modules/ekf2/test/test_EKF_fusionLogic.cpp index cfcc62d660fe..9367b86da33a 100644 --- a/src/modules/ekf2/test/test_EKF_fusionLogic.cpp +++ b/src/modules/ekf2/test/test_EKF_fusionLogic.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2019 ECL Development Team. All rights reserved. + * Copyright (c) 2019-2023 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -183,7 +183,7 @@ TEST_F(EkfFusionLogicTest, fallbackFromGpsToFlow) const float max_ground_distance = 50.f; _ekf->set_optical_flow_limits(max_flow_rate, min_ground_distance, max_ground_distance); _sensor_simulator.startFlow(); - _sensor_simulator.startFlow(); + _sensor_simulator.startRangeFinder(); _ekf_wrapper.enableFlowFusion(); _ekf->set_in_air_status(true); @@ -195,15 +195,15 @@ TEST_F(EkfFusionLogicTest, fallbackFromGpsToFlow) // WHEN: GPS data stops _sensor_simulator.stopGps(); - _sensor_simulator.runSeconds(2); + _sensor_simulator.runSeconds(10); - // THEN: immediately switch to flow only + // THEN: GNSS fusion stops after a timing out EXPECT_FALSE(_ekf_wrapper.isIntendingGpsFusion()); EXPECT_TRUE(_ekf_wrapper.isIntendingFlowFusion()); - // BUT WHEN: GPS starts again + // BUT WHEN: GPS starts after passing the checks again _sensor_simulator.startGps(); - _sensor_simulator.runSeconds(1); + _sensor_simulator.runSeconds(6); // THEN: use it again EXPECT_TRUE(_ekf_wrapper.isIntendingGpsFusion()); diff --git a/src/modules/ekf2/test/test_EKF_gnss_yaw.cpp b/src/modules/ekf2/test/test_EKF_gnss_yaw.cpp new file mode 100644 index 000000000000..93dd222375f9 --- /dev/null +++ b/src/modules/ekf2/test/test_EKF_gnss_yaw.cpp @@ -0,0 +1,342 @@ +/**************************************************************************** + * + * Copyright (c) 2020-2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * Test the gps yaw fusion + * @author Kamil Ritz + */ + +#include +#include "EKF/ekf.h" +#include "sensor_simulator/sensor_simulator.h" +#include "sensor_simulator/ekf_wrapper.h" +#include "test_helper/reset_logging_checker.h" + +class EkfGpsHeadingTest : public ::testing::Test +{ +public: + + EkfGpsHeadingTest(): ::testing::Test(), + _ekf{std::make_shared()}, + _sensor_simulator(_ekf), + _ekf_wrapper(_ekf) {}; + + std::shared_ptr _ekf; + SensorSimulator _sensor_simulator; + EkfWrapper _ekf_wrapper; + + void runConvergenceScenario(float yaw_offset_rad = 0.f, float antenna_offset_rad = 0.f); + void checkConvergence(float truth, float tolerance = FLT_EPSILON); + + // Setup the Ekf with synthetic measurements + void SetUp() override + { + // Init, then manually set in air and at rest (default for a real vehicle) + _ekf->init(0); + _ekf->set_in_air_status(false); + _ekf->set_vehicle_at_rest(true); + + _sensor_simulator.runSeconds(_init_duration_s); + _sensor_simulator._gps.setYaw(NAN); + _sensor_simulator.runSeconds(2); + _ekf_wrapper.enableGpsFusion(); + _ekf_wrapper.enableGpsHeadingFusion(); + _sensor_simulator.startGps(); + _sensor_simulator.runSeconds(11); + } + + const uint32_t _init_duration_s{4}; +}; + +void EkfGpsHeadingTest::runConvergenceScenario(float yaw_offset_rad, float antenna_offset_rad) +{ + // GIVEN: an initial GPS yaw, not aligned with the current one + // The yaw antenna offset has already been corrected in the driver + float gps_heading = matrix::wrap_pi(_ekf_wrapper.getYawAngle()); + + _sensor_simulator._gps.setYaw(gps_heading); // used to remove the correction to fuse the real measurement + _sensor_simulator._gps.setYawOffset(antenna_offset_rad); + + // WHEN: the GPS yaw fusion is activated + _ekf_wrapper.enableGpsHeadingFusion(); + _sensor_simulator.runSeconds(5); + + // THEN: the estimate is reset and stays close to the measurement + checkConvergence(gps_heading, 0.01f); +} + +void EkfGpsHeadingTest::checkConvergence(float truth, float tolerance_deg) +{ + const float yaw_est = _ekf_wrapper.getYawAngle(); + EXPECT_LT(fabsf(matrix::wrap_pi(yaw_est - truth)), math::radians(tolerance_deg)) + << "yaw est: " << math::degrees(yaw_est) << "gps yaw: " << math::degrees(truth); +} + +TEST_F(EkfGpsHeadingTest, fusionStartWithReset) +{ + // GIVEN:EKF that fuses GPS + + // WHEN: enabling GPS heading fusion and heading difference is bigger than 15 degrees + const float gps_heading = _ekf_wrapper.getYawAngle() + math::radians(20.f); + _sensor_simulator._gps.setYaw(gps_heading); + _ekf_wrapper.enableGpsHeadingFusion(); + const int initial_quat_reset_counter = _ekf_wrapper.getQuaternionResetCounter(); + _sensor_simulator.runSeconds(0.4); + + // THEN: GPS heading fusion should have started; + EXPECT_TRUE(_ekf_wrapper.isIntendingGpsHeadingFusion()); + + // AND: a reset to GPS heading is performed + EXPECT_EQ(_ekf_wrapper.getQuaternionResetCounter(), initial_quat_reset_counter + 1); + EXPECT_NEAR(_ekf_wrapper.getYawAngle(), gps_heading, 0.001); + + // WHEN: GPS heading is disabled + _sensor_simulator._gps.stop(); + _sensor_simulator.runSeconds(11); + + // THEN: after a while the fusion should be stopped + EXPECT_FALSE(_ekf_wrapper.isIntendingGpsHeadingFusion()); +} + +TEST_F(EkfGpsHeadingTest, yawConvergence) +{ + // GIVEN: an initial GPS yaw, not aligned with the current one + const float initial_yaw = math::radians(10.f); + float gps_heading = matrix::wrap_pi(_ekf_wrapper.getYawAngle() + initial_yaw); + + _sensor_simulator._gps.setYaw(gps_heading); + + // WHEN: the GPS yaw fusion is activated + _ekf_wrapper.enableGpsHeadingFusion(); + _sensor_simulator.runSeconds(5); + + // THEN: the estimate is reset and stays close to the measurement + checkConvergence(gps_heading, 0.05f); + + // AND WHEN: the the measurement changes + gps_heading += math::radians(2.f); + _sensor_simulator._gps.setYaw(gps_heading); + _sensor_simulator.runSeconds(20); + + // THEN: the estimate slowly converges to the new measurement + // Note that the process is slow, because the gyro did not detect any motion + checkConvergence(gps_heading, 0.5f); +} + +TEST_F(EkfGpsHeadingTest, yaw0) +{ + runConvergenceScenario(); +} + +TEST_F(EkfGpsHeadingTest, yaw60) +{ + const float yaw_offset_rad = math::radians(60.f); + const float antenna_offset_rad = math::radians(80.f); + runConvergenceScenario(yaw_offset_rad, antenna_offset_rad); +} + +TEST_F(EkfGpsHeadingTest, yaw180) +{ + const float yaw_offset_rad = math::radians(180.f); + const float antenna_offset_rad = math::radians(-20.f); + runConvergenceScenario(yaw_offset_rad, antenna_offset_rad); +} + +TEST_F(EkfGpsHeadingTest, yawMinus120) +{ + const float yaw_offset_rad = math::radians(120.f); + const float antenna_offset_rad = math::radians(-42.f); + runConvergenceScenario(yaw_offset_rad, antenna_offset_rad); +} + +TEST_F(EkfGpsHeadingTest, yawMinus30) +{ + const float yaw_offset_rad = math::radians(-30.f); + const float antenna_offset_rad = math::radians(10.f); + runConvergenceScenario(yaw_offset_rad, antenna_offset_rad); +} + +TEST_F(EkfGpsHeadingTest, fallBackToMag) +{ + // GIVEN: an initial GPS yaw, not aligned with the current one + // GPS yaw is expected to arrive a bit later, first feed some NANs + // to the filter + _sensor_simulator.runSeconds(6); + float gps_heading = matrix::wrap_pi(_ekf_wrapper.getYawAngle() + math::radians(10.f)); + _sensor_simulator._gps.setYaw(gps_heading); + + // WHEN: the GPS yaw fusion is activated + _sensor_simulator.runSeconds(1); + + // THEN: GPS heading fusion should have started, and mag + // fusion should be disabled + EXPECT_TRUE(_ekf_wrapper.isIntendingGpsHeadingFusion()); + EXPECT_FALSE(_ekf_wrapper.isIntendingMagHeadingFusion()); + EXPECT_FALSE(_ekf_wrapper.isIntendingMag3DFusion()); + + //const int initial_quat_reset_counter = _ekf_wrapper.getQuaternionResetCounter(); + + // BUT WHEN: the GPS yaw is suddenly invalid + gps_heading = NAN; + _sensor_simulator._gps.setYaw(gps_heading); + _sensor_simulator.runSeconds(7.5); + + // THEN: after a few seconds, the fusion should stop and + // the estimator should fall back to mag fusion + EXPECT_FALSE(_ekf_wrapper.isIntendingGpsHeadingFusion()); + EXPECT_TRUE(_ekf_wrapper.isIntendingMagHeadingFusion()); + //EXPECT_EQ(_ekf_wrapper.getQuaternionResetCounter(), initial_quat_reset_counter + 1); +} + +TEST_F(EkfGpsHeadingTest, fallBackToYawEmergencyEstimator) +{ + // GIVEN: an initial GPS yaw, not aligned with the current one (e.g.: wrong orientation of the antenna array) and no mag. + _ekf_wrapper.setMagFuseTypeNone(); + _sensor_simulator.runSeconds(6); + + float gps_heading = math::radians(90.f); + const float true_heading = math::radians(-20.f); + + _sensor_simulator._gps.setYaw(gps_heading); + _sensor_simulator.runSeconds(10); + + const Vector3f accel_frd{-1.0, -1.5f, 0.f}; + _sensor_simulator._imu.setAccelData(accel_frd + Vector3f(0.f, 0.f, -CONSTANTS_ONE_G)); + const float dt = 0.5f; + const Dcmf R_to_earth{Eulerf(0.f, 0.f, true_heading)}; + + // needed to record takeoff time + _ekf->set_in_air_status(false); + _ekf->set_in_air_status(true); + + // WHEN: The drone starts to accelerate + Vector3f simulated_velocity{}; + + for (int i = 0; i < 10; i++) { + _sensor_simulator.runSeconds(dt); + + const Vector3f accel_ned = R_to_earth * accel_frd; + + simulated_velocity += accel_ned * dt; + _sensor_simulator._gps.setVelocity(simulated_velocity); + } + + // THEN: the yaw emergency detects the yaw issue, + // the GNSS yaw aiding is stopped and the heading + // is reset to the emergency yaw estimate + EXPECT_FALSE(_ekf_wrapper.isIntendingGpsHeadingFusion()); + EXPECT_FALSE(_ekf_wrapper.isIntendingMagHeadingFusion()); + EXPECT_TRUE(_ekf_wrapper.isIntendingGpsFusion()); + + checkConvergence(true_heading, 5.f); +} + +TEST_F(EkfGpsHeadingTest, yawJmpOnGround) +{ + // GIVEN: the GPS yaw fusion activated + float gps_heading = _ekf_wrapper.getYawAngle(); + _sensor_simulator._gps.setYaw(gps_heading); + _sensor_simulator.runSeconds(1); + _ekf->set_in_air_status(false); + + // WHEN: the measurement suddenly changes + const int initial_quat_reset_counter = _ekf_wrapper.getQuaternionResetCounter(); + gps_heading = matrix::wrap_pi(_ekf_wrapper.getYawAngle() + math::radians(45.f)); + _sensor_simulator._gps.setYaw(gps_heading); + _sensor_simulator.runSeconds(8); + + // THEN: the fusion should stop, reset to mag + EXPECT_FALSE(_ekf_wrapper.isIntendingGpsHeadingFusion()); + EXPECT_TRUE(_ekf_wrapper.isIntendingMagHeadingFusion()); + EXPECT_EQ(_ekf_wrapper.getQuaternionResetCounter(), initial_quat_reset_counter + 1); + + // AND THEN: restart GNSS yaw fusion + _sensor_simulator.runSeconds(5); + EXPECT_TRUE(_ekf_wrapper.isIntendingGpsHeadingFusion()); + EXPECT_EQ(_ekf_wrapper.getQuaternionResetCounter(), initial_quat_reset_counter + 2); + EXPECT_LT(fabsf(matrix::wrap_pi(_ekf_wrapper.getYawAngle() - gps_heading)), math::radians(1.f)); +} + +TEST_F(EkfGpsHeadingTest, yawJumpInAir) +{ + // GIVEN: the GPS yaw fusion activated + float gps_heading = _ekf_wrapper.getYawAngle(); + _sensor_simulator._gps.setYaw(gps_heading + math::radians(90.f)); + _sensor_simulator.runSeconds(5); + _ekf->set_in_air_status(true); + + // WHEN: the measurement suddenly changes + const int initial_quat_reset_counter = _ekf_wrapper.getQuaternionResetCounter(); + gps_heading = matrix::wrap_pi(_ekf_wrapper.getYawAngle() + math::radians(180.f)); + _sensor_simulator._gps.setYaw(gps_heading); + _sensor_simulator.runSeconds(7.5); + + // THEN: the fusion should not reset as heading is still observable through GNSS vel/pos fusion + EXPECT_EQ(_ekf_wrapper.getQuaternionResetCounter(), initial_quat_reset_counter); + + // THEN: after a few seconds, the fusion should stop and + // the estimator doesn't fall back to mag fusion because it has + // been declared inconsistent with the filter states + EXPECT_FALSE(_ekf_wrapper.isIntendingGpsHeadingFusion()); + EXPECT_FALSE(_ekf_wrapper.isMagHeadingConsistent()); + EXPECT_FALSE(_ekf_wrapper.isIntendingMagHeadingFusion()); +} + +TEST_F(EkfGpsHeadingTest, stopOnGround) +{ + // GIVEN: the GPS yaw fusion activated and there is no mag data + _sensor_simulator._mag.stop(); + float gps_heading = _ekf_wrapper.getYawAngle(); + _sensor_simulator._gps.setYaw(gps_heading); + _sensor_simulator.runSeconds(5); + + // WHEN: the measurement stops + gps_heading = NAN; + _sensor_simulator._gps.setYaw(gps_heading); + _sensor_simulator.runSeconds(7.5); + + // THEN: the fusion should stop and the GPS pos/vel aiding + // should stop as well because the yaw is not aligned anymore + EXPECT_FALSE(_ekf_wrapper.isIntendingGpsHeadingFusion()); + //EXPECT_FALSE(_ekf_wrapper.isIntendingGpsFusion()); + + // AND IF: the mag fusion type is set to NONE + _ekf_wrapper.setMagFuseTypeNone(); + + // WHEN: running without yaw aiding + const float yaw_variance_before = _ekf->getYawVar(); + _sensor_simulator.runSeconds(20.0); + + // THEN: the yaw variance increases + EXPECT_GT(_ekf->getYawVar(), yaw_variance_before); +} diff --git a/src/modules/ekf2/test/test_EKF_gnss_yaw_generated.cpp b/src/modules/ekf2/test/test_EKF_gnss_yaw_generated.cpp index afada74b5bd4..4d0485f5f58e 100644 --- a/src/modules/ekf2/test/test_EKF_gnss_yaw_generated.cpp +++ b/src/modules/ekf2/test/test_EKF_gnss_yaw_generated.cpp @@ -39,150 +39,22 @@ using namespace matrix; -void sympyGnssYawInnovVarHAndK(float q0, float q1, float q2, float q3, const SquareMatrix24f &P, float yaw_offset, - float R_YAW, float &innov_var, Vector24f &Hfusion, Vector24f &Kfusion) -{ - // calculate intermediate variables - const float HK0 = sinf(yaw_offset); - const float HK1 = q0 * q3; - const float HK2 = q1 * q2; - const float HK3 = 2 * HK0 * (HK1 - HK2); - const float HK4 = cosf(yaw_offset); - const float HK5 = powf(q1, 2); - const float HK6 = powf(q2, 2); - const float HK7 = powf(q0, 2) - powf(q3, 2); - const float HK8 = HK4 * (HK5 - HK6 + HK7); - const float HK9 = HK3 - HK8; - - if (fabsf(HK9) < 1e-3f) { - return; - } - - const float HK10 = 1.0F / HK9; - const float HK11 = HK4 * q0; - const float HK12 = HK0 * q3; - const float HK13 = HK0 * (-HK5 + HK6 + HK7) + 2 * HK4 * (HK1 + HK2); - const float HK14 = HK10 * HK13; - const float HK15 = HK0 * q0 + HK4 * q3; - const float HK16 = HK10 * (HK14 * (HK11 - HK12) + HK15); - const float HK17 = powf(HK13, 2) / powf(HK9, 2) + 1; - - if (fabsf(HK17) < 1e-3f) { - return; - } - - const float HK18 = 2 / HK17; - // const float HK19 = 1.0F/(-HK3 + HK8); - const float HK19_inverse = -HK3 + HK8; - - if (fabsf(HK19_inverse) < 1e-6f) { - return; - } - - const float HK19 = 1.0F / HK19_inverse; - const float HK20 = HK4 * q1; - const float HK21 = HK0 * q2; - const float HK22 = HK13 * HK19; - const float HK23 = HK0 * q1 - HK4 * q2; - const float HK24 = HK19 * (HK22 * (HK20 + HK21) + HK23); - const float HK25 = HK19 * (-HK20 - HK21 + HK22 * HK23); - const float HK26 = HK10 * (-HK11 + HK12 + HK14 * HK15); - const float HK27 = -HK16 * P(0, 0) - HK24 * P(0, 1) - HK25 * P(0, 2) + HK26 * P(0, 3); - const float HK28 = -HK16 * P(0, 1) - HK24 * P(1, 1) - HK25 * P(1, 2) + HK26 * P(1, 3); - const float HK29 = 4 / powf(HK17, 2); - const float HK30 = -HK16 * P(0, 2) - HK24 * P(1, 2) - HK25 * P(2, 2) + HK26 * P(2, 3); - const float HK31 = -HK16 * P(0, 3) - HK24 * P(1, 3) - HK25 * P(2, 3) + HK26 * P(3, 3); - const float HK32 = HK18 / (-HK16 * HK27 * HK29 - HK24 * HK28 * HK29 - HK25 * HK29 * HK30 + HK26 * HK29 * HK31 + R_YAW); - innov_var = -HK16 * HK27 * HK29 - HK24 * HK28 * HK29 - HK25 * HK29 * HK30 + HK26 * HK29 * HK31 + R_YAW; - - // calculate observation jacobian - // Observation jacobian and Kalman gain vectors - SparseVector24f<0, 1, 2, 3> Hfusion_sparse; - Hfusion_sparse.at<0>() = -HK16 * HK18; - Hfusion_sparse.at<1>() = -HK18 * HK24; - Hfusion_sparse.at<2>() = -HK18 * HK25; - Hfusion_sparse.at<3>() = HK18 * HK26; - - for (unsigned i = 0; i < Hfusion_sparse.non_zeros(); i++) { - Hfusion(i) = Hfusion_sparse.atCompressedIndex(i); - } - - // calculate the Kalman gains - // only calculate gains for states we are using - Kfusion(0) = HK27 * HK32; - Kfusion(1) = HK28 * HK32; - Kfusion(2) = HK30 * HK32; - Kfusion(3) = HK31 * HK32; - - for (unsigned row = 4; row <= 23; row++) { - Kfusion(row) = HK32 * (-HK16 * P(0, row) - HK24 * P(1, row) - HK25 * P(2, row) + HK26 * P(3, row)); - } -} - -TEST(GnssYawFusionGenerated, SympyVsSymforce) -{ - const float R_YAW = sq(0.3f); - - const float yaw_offset = 1.5f; - - const Quatf q(Eulerf(M_PI_F / 2.f, M_PI_F / 3.f, M_PI_F)); - - Vector24f state_vector{}; - state_vector(0) = q(0); - state_vector(1) = q(1); - state_vector(2) = q(2); - state_vector(3) = q(3); - - SquareMatrix24f P = createRandomCovarianceMatrix24f(); - - float innov_var_sympy; - Vector24f H_sympy; - Vector24f K_sympy; - sympyGnssYawInnovVarHAndK(q(0), q(1), q(2), q(3), P, yaw_offset, R_YAW, innov_var_sympy, H_sympy, K_sympy); - - float meas_pred_symforce; - float innov_var_symforce; - Vector24f H_symforce; - sym::ComputeGnssYawPredInnovVarAndH(state_vector, P, yaw_offset, R_YAW, FLT_EPSILON, &meas_pred_symforce, - &innov_var_symforce, &H_symforce); - - // K isn't generated from symbolic anymore to save flash space - Vector24f K_symforce = P * H_symforce / innov_var_symforce; - - DiffRatioReport report = computeDiffRatioVector24f(H_sympy, H_symforce); - EXPECT_LT(report.max_diff_fraction, 1e-5f) << "H max diff fraction = " << - report.max_diff_fraction << - " location index = " << report.max_row << " sympy = " << report.max_v1 << " symforce = " << report.max_v2; - - report = computeDiffRatioVector24f(K_sympy, K_symforce); - EXPECT_LT(report.max_diff_fraction, 1e-5f) << "K max diff fraction = " << - report.max_diff_fraction << - " location index = " << report.max_row << " sympy = " << report.max_v1 << " symforce = " << report.max_v2; - - EXPECT_NEAR(innov_var_sympy, innov_var_symforce, 1e-5f); -} - TEST(GnssYawFusionGenerated, SingularityPitch90) { // GIVEN: a vertically oriented antenna (antenna vector aligned with the Forward axis) - const Quatf q(Eulerf(0.f, -M_PI_F / 2.f, 0.f)); + StateSample state{}; + state.quat_nominal = Eulerf(0.f, -M_PI_F / 2.f, 0.f); const float yaw_offset = M_PI_F; - Vector24f state_vector{}; - state_vector(0) = q(0); - state_vector(1) = q(1); - state_vector(2) = q(2); - state_vector(3) = q(3); - - SquareMatrix24f P = createRandomCovarianceMatrix24f(); + SquareMatrixState P = createRandomCovarianceMatrix(); const float R_YAW = sq(0.3f); float meas_pred; float innov_var; - Vector24f H; - sym::ComputeGnssYawPredInnovVarAndH(state_vector, P, yaw_offset, R_YAW, FLT_EPSILON, &meas_pred, + VectorState H; + sym::ComputeGnssYawPredInnovVarAndH(state.vector(), P, yaw_offset, R_YAW, FLT_EPSILON, &meas_pred, &innov_var, &H); - Vector24f K = P * H / innov_var; + VectorState K = P * H / innov_var; // THEN: the arctan is singular, the attitude isn't observable, so the innovation variance // is almost infinite and the Kalman gain goes to 0 @@ -193,24 +65,19 @@ TEST(GnssYawFusionGenerated, SingularityPitch90) TEST(GnssYawFusionGenerated, SingularityRoll90) { // GIVEN: a vertically oriented antenna (antenna vector aligned with the Right axis) - const Quatf q(Eulerf(-M_PI_F / 2.f, 0.f, 0.f)); + StateSample state{}; + state.quat_nominal = Eulerf(-M_PI_F / 2.f, 0.f, 0.f); const float yaw_offset = M_PI_F / 2.f; - Vector24f state_vector{}; - state_vector(0) = q(0); - state_vector(1) = q(1); - state_vector(2) = q(2); - state_vector(3) = q(3); - - SquareMatrix24f P = createRandomCovarianceMatrix24f(); + SquareMatrixState P = createRandomCovarianceMatrix(); const float R_YAW = sq(0.3f); float meas_pred; float innov_var; - Vector24f H; - sym::ComputeGnssYawPredInnovVarAndH(state_vector, P, yaw_offset, R_YAW, FLT_EPSILON, &meas_pred, + VectorState H; + sym::ComputeGnssYawPredInnovVarAndH(state.vector(), P, yaw_offset, R_YAW, FLT_EPSILON, &meas_pred, &innov_var, &H); - Vector24f K = P * H / innov_var; + VectorState K = P * H / innov_var; // THEN: the arctan is singular, the attitude isn't observable, so the innovation variance // is almost infinite and the Kalman gain goes to 0 diff --git a/src/modules/ekf2/test/test_EKF_gps.cpp b/src/modules/ekf2/test/test_EKF_gps.cpp index 9d0355fbfa3a..b03a8701d52a 100644 --- a/src/modules/ekf2/test/test_EKF_gps.cpp +++ b/src/modules/ekf2/test/test_EKF_gps.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2019 ECL Development Team. All rights reserved. + * Copyright (c) 2019-2023 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -79,15 +79,39 @@ class EkfGpsTest : public ::testing::Test TEST_F(EkfGpsTest, gpsTimeout) { // GIVEN:EKF that fuses GPS + EXPECT_TRUE(_ekf_wrapper.isIntendingGpsFusion()); - // WHEN: setting the PDOP to high + // WHEN: the number of satellites drops below the minimum _sensor_simulator._gps.setNumberOfSatellites(3); - // THEN: EKF should stop fusing GPS - _sensor_simulator.runSeconds(20); + // THEN: the GNSS fusion stops after some time + _sensor_simulator.runSeconds(8); + EXPECT_FALSE(_ekf_wrapper.isIntendingGpsFusion()); + + // BUT WHEN: the number of satellites is good again + _sensor_simulator._gps.setNumberOfSatellites(16); + + // THEN: the GNSS fusion restarts + _sensor_simulator.runSeconds(6); + EXPECT_TRUE(_ekf_wrapper.isIntendingGpsFusion()); +} - // TODO: this is not happening as expected +TEST_F(EkfGpsTest, gpsFixLoss) +{ + // GIVEN:EKF that fuses GPS EXPECT_TRUE(_ekf_wrapper.isIntendingGpsFusion()); + + // WHEN: the fix is loss + _sensor_simulator._gps.setFixType(0); + + // THEN: after dead-reconing for a couple of seconds, the local position gets invalidated + _sensor_simulator.runSeconds(6); + EXPECT_TRUE(_ekf->control_status_flags().inertial_dead_reckoning); + EXPECT_FALSE(_ekf->local_position_is_valid()); + + // The control logic takes a bit more time to deactivate the GNSS fusion completely + _sensor_simulator.runSeconds(5); + EXPECT_FALSE(_ekf_wrapper.isIntendingGpsFusion()); } TEST_F(EkfGpsTest, resetToGpsVelocity) @@ -112,6 +136,7 @@ TEST_F(EkfGpsTest, resetToGpsVelocity) _ekf->set_in_air_status(true); _ekf->set_vehicle_at_rest(false); + _sensor_simulator.runSeconds(1.2); // required to pass the checks _sensor_simulator.runMicroseconds(dt_us); // THEN: a reset to GPS velocity should be done @@ -142,7 +167,7 @@ TEST_F(EkfGpsTest, resetToGpsPosition) const Vector3f simulated_position_change(2.0f, -1.0f, 0.f); _sensor_simulator._gps.stepHorizontalPositionByMeters( Vector2f(simulated_position_change)); - _sensor_simulator.runMicroseconds(1e5); + _sensor_simulator.runSeconds(6); // THEN: a reset to the new GPS position should be done const Vector3f estimated_position = _ekf->getPosition(); @@ -156,6 +181,7 @@ TEST_F(EkfGpsTest, gpsHgtToBaroFallback) _sensor_simulator._flow.setData(_sensor_simulator._flow.dataAtRest()); _ekf_wrapper.enableFlowFusion(); _sensor_simulator.startFlow(); + _sensor_simulator.startRangeFinder(); _ekf_wrapper.enableGpsHeightFusion(); @@ -186,8 +212,7 @@ TEST_F(EkfGpsTest, altitudeDrift) _sensor_simulator.runSeconds(dt); } - float baro_innov; - _ekf->getBaroHgtInnov(baro_innov); + float baro_innov = _ekf->aid_src_baro_hgt().innovation; BiasEstimator::status status = _ekf->getBaroBiasEstimatorStatus(); printf("baro innov = %f\n", (double)baro_innov); diff --git a/src/modules/ekf2/test/test_EKF_gps_yaw.cpp b/src/modules/ekf2/test/test_EKF_gps_yaw.cpp deleted file mode 100644 index f166a9364727..000000000000 --- a/src/modules/ekf2/test/test_EKF_gps_yaw.cpp +++ /dev/null @@ -1,340 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2020 ECL Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * Test the gps yaw fusion - * @author Kamil Ritz - */ - -#include -#include "EKF/ekf.h" -#include "sensor_simulator/sensor_simulator.h" -#include "sensor_simulator/ekf_wrapper.h" -#include "test_helper/reset_logging_checker.h" - -class EkfGpsHeadingTest : public ::testing::Test -{ -public: - - EkfGpsHeadingTest(): ::testing::Test(), - _ekf{std::make_shared()}, - _sensor_simulator(_ekf), - _ekf_wrapper(_ekf) {}; - - std::shared_ptr _ekf; - SensorSimulator _sensor_simulator; - EkfWrapper _ekf_wrapper; - - void runConvergenceScenario(float yaw_offset_rad = 0.f, float antenna_offset_rad = 0.f); - void checkConvergence(float truth, float tolerance = FLT_EPSILON); - - // Setup the Ekf with synthetic measurements - void SetUp() override - { - // run briefly to init, then manually set in air and at rest (default for a real vehicle) - _ekf->init(0); - _sensor_simulator.runSeconds(0.1); - _ekf->set_in_air_status(false); - _ekf->set_vehicle_at_rest(true); - - _sensor_simulator.runSeconds(_init_duration_s); - _sensor_simulator._gps.setYaw(NAN); - _sensor_simulator.runSeconds(2); - _ekf_wrapper.enableGpsFusion(); - _ekf_wrapper.enableGpsHeadingFusion(); - _sensor_simulator.startGps(); - _sensor_simulator.runSeconds(11); - } - - const uint32_t _init_duration_s{4}; -}; - -void EkfGpsHeadingTest::runConvergenceScenario(float yaw_offset_rad, float antenna_offset_rad) -{ - // GIVEN: an initial GPS yaw, not aligned with the current one - float gps_heading = matrix::wrap_pi(_ekf_wrapper.getYawAngle() + yaw_offset_rad); - - _sensor_simulator._gps.setYaw(gps_heading); - _sensor_simulator._gps.setYawOffset(antenna_offset_rad); - - // WHEN: the GPS yaw fusion is activated - _ekf_wrapper.enableGpsHeadingFusion(); - _sensor_simulator.runSeconds(5); - - // THEN: the estimate is reset and stays close to the measurement - checkConvergence(gps_heading, 0.05f); -} - -void EkfGpsHeadingTest::checkConvergence(float truth, float tolerance_deg) -{ - const float yaw_est = _ekf_wrapper.getYawAngle(); - EXPECT_LT(fabsf(matrix::wrap_pi(yaw_est - truth)), math::radians(tolerance_deg)) - << "yaw est: " << math::degrees(yaw_est) << "gps yaw: " << math::degrees(truth); -} - -TEST_F(EkfGpsHeadingTest, fusionStartWithReset) -{ - // GIVEN:EKF that fuses GPS - - // WHEN: enabling GPS heading fusion and heading difference is bigger than 15 degrees - const float gps_heading = _ekf_wrapper.getYawAngle() + math::radians(20.f); - _sensor_simulator._gps.setYaw(gps_heading); - _ekf_wrapper.enableGpsHeadingFusion(); - const int initial_quat_reset_counter = _ekf_wrapper.getQuaternionResetCounter(); - _sensor_simulator.runSeconds(0.4); - - // THEN: GPS heading fusion should have started; - EXPECT_TRUE(_ekf_wrapper.isIntendingGpsHeadingFusion()); - - // AND: a reset to GPS heading is performed - EXPECT_EQ(_ekf_wrapper.getQuaternionResetCounter(), initial_quat_reset_counter + 1); - EXPECT_NEAR(_ekf_wrapper.getYawAngle(), gps_heading, 0.001); - - // WHEN: GPS heading is disabled - _sensor_simulator._gps.stop(); - _sensor_simulator.runSeconds(11); - - // THEN: after a while the fusion should be stopped - EXPECT_FALSE(_ekf_wrapper.isIntendingGpsHeadingFusion()); -} - -TEST_F(EkfGpsHeadingTest, yawConvergence) -{ - // GIVEN: an initial GPS yaw, not aligned with the current one - const float initial_yaw = math::radians(10.f); - float gps_heading = matrix::wrap_pi(_ekf_wrapper.getYawAngle() + initial_yaw); - - _sensor_simulator._gps.setYaw(gps_heading); - - // WHEN: the GPS yaw fusion is activated - _ekf_wrapper.enableGpsHeadingFusion(); - _sensor_simulator.runSeconds(5); - - // THEN: the estimate is reset and stays close to the measurement - checkConvergence(gps_heading, 0.05f); - - // AND WHEN: the the measurement changes - gps_heading += math::radians(2.f); - _sensor_simulator._gps.setYaw(gps_heading); - _sensor_simulator.runSeconds(20); - - // THEN: the estimate slowly converges to the new measurement - // Note that the process is slow, because the gyro did not detect any motion - checkConvergence(gps_heading, 0.5f); -} - -TEST_F(EkfGpsHeadingTest, yaw0) -{ - runConvergenceScenario(); -} - -TEST_F(EkfGpsHeadingTest, yaw60) -{ - const float yaw_offset_rad = math::radians(60.f); - const float antenna_offset_rad = math::radians(80.f); - runConvergenceScenario(yaw_offset_rad, antenna_offset_rad); -} - -TEST_F(EkfGpsHeadingTest, yaw180) -{ - const float yaw_offset_rad = math::radians(180.f); - const float antenna_offset_rad = math::radians(-20.f); - runConvergenceScenario(yaw_offset_rad, antenna_offset_rad); -} - -TEST_F(EkfGpsHeadingTest, yawMinus120) -{ - const float yaw_offset_rad = math::radians(120.f); - const float antenna_offset_rad = math::radians(-42.f); - runConvergenceScenario(yaw_offset_rad, antenna_offset_rad); -} - -TEST_F(EkfGpsHeadingTest, yawMinus30) -{ - const float yaw_offset_rad = math::radians(-30.f); - const float antenna_offset_rad = math::radians(10.f); - runConvergenceScenario(yaw_offset_rad, antenna_offset_rad); -} - -TEST_F(EkfGpsHeadingTest, fallBackToMag) -{ - // GIVEN: an initial GPS yaw, not aligned with the current one - // GPS yaw is expected to arrive a bit later, first feed some NANs - // to the filter - _sensor_simulator.runSeconds(6); - float gps_heading = matrix::wrap_pi(_ekf_wrapper.getYawAngle() + math::radians(10.f)); - _sensor_simulator._gps.setYaw(gps_heading); - - // WHEN: the GPS yaw fusion is activated - _sensor_simulator.runSeconds(1); - - // THEN: GPS heading fusion should have started, and mag - // fusion should be disabled - EXPECT_TRUE(_ekf_wrapper.isIntendingGpsHeadingFusion()); - EXPECT_FALSE(_ekf_wrapper.isIntendingMagHeadingFusion()); - EXPECT_FALSE(_ekf_wrapper.isIntendingMag3DFusion()); - - const int initial_quat_reset_counter = _ekf_wrapper.getQuaternionResetCounter(); - - // BUT WHEN: the GPS yaw is suddenly invalid - gps_heading = NAN; - _sensor_simulator._gps.setYaw(gps_heading); - _sensor_simulator.runSeconds(7.5); - - // THEN: after a few seconds, the fusion should stop and - // the estimator should fall back to mag fusion - EXPECT_FALSE(_ekf_wrapper.isIntendingGpsHeadingFusion()); - EXPECT_TRUE(_ekf_wrapper.isIntendingMagHeadingFusion()); - EXPECT_EQ(_ekf_wrapper.getQuaternionResetCounter(), initial_quat_reset_counter + 1); -} - -TEST_F(EkfGpsHeadingTest, fallBackToYawEmergencyEstimator) -{ - // GIVEN: an initial GPS yaw, not aligned with the current one (e.g.: wrong orientation of the antenna array) and no mag. - _ekf_wrapper.setMagFuseTypeNone(); - _sensor_simulator.runSeconds(6); - - float gps_heading = math::radians(90.f); - const float true_heading = math::radians(-20.f); - - _sensor_simulator._gps.setYaw(gps_heading); - _sensor_simulator.runSeconds(10); - - const Vector3f accel_frd{-1.0, -1.5f, 0.f}; - _sensor_simulator._imu.setAccelData(accel_frd + Vector3f(0.f, 0.f, -CONSTANTS_ONE_G)); - const float dt = 0.5f; - const Dcmf R_to_earth{Eulerf(0.f, 0.f, true_heading)}; - - // needed to record takeoff time - _ekf->set_in_air_status(false); - _ekf->set_in_air_status(true); - - // WHEN: The drone starts to accelerate - Vector3f simulated_velocity{}; - - for (int i = 0; i < 10; i++) { - _sensor_simulator.runSeconds(dt); - - const Vector3f accel_ned = R_to_earth * accel_frd; - - simulated_velocity += accel_ned * dt; - _sensor_simulator._gps.setVelocity(simulated_velocity); - } - - // THEN: the yaw emergency detects the yaw issue, - // the GNSS yaw aiding is stopped and the heading - // is reset to the emergency yaw estimate - EXPECT_FALSE(_ekf_wrapper.isIntendingGpsHeadingFusion()); - EXPECT_FALSE(_ekf_wrapper.isIntendingMagHeadingFusion()); - EXPECT_TRUE(_ekf_wrapper.isIntendingGpsFusion()); - - checkConvergence(true_heading, 5.f); -} - -TEST_F(EkfGpsHeadingTest, yawJmpOnGround) -{ - // GIVEN: the GPS yaw fusion activated - float gps_heading = _ekf_wrapper.getYawAngle(); - _sensor_simulator._gps.setYaw(gps_heading); - _sensor_simulator.runSeconds(1); - _ekf->set_in_air_status(false); - - // WHEN: the measurement suddenly changes - const int initial_quat_reset_counter = _ekf_wrapper.getQuaternionResetCounter(); - gps_heading = matrix::wrap_pi(_ekf_wrapper.getYawAngle() + math::radians(45.f)); - _sensor_simulator._gps.setYaw(gps_heading); - _sensor_simulator.runSeconds(8); - - // THEN: the fusion should reset - EXPECT_TRUE(_ekf_wrapper.isIntendingGpsHeadingFusion()); - EXPECT_EQ(_ekf_wrapper.getQuaternionResetCounter(), initial_quat_reset_counter + 1); - EXPECT_LT(fabsf(matrix::wrap_pi(_ekf_wrapper.getYawAngle() - gps_heading)), math::radians(1.f)); -} - -TEST_F(EkfGpsHeadingTest, yawJumpInAir) -{ - // GIVEN: the GPS yaw fusion activated - float gps_heading = _ekf_wrapper.getYawAngle(); - _sensor_simulator._gps.setYaw(gps_heading); - _sensor_simulator.runSeconds(5); - _ekf->set_in_air_status(true); - - // WHEN: the measurement suddenly changes - const int initial_quat_reset_counter = _ekf_wrapper.getQuaternionResetCounter(); - gps_heading = matrix::wrap_pi(_ekf_wrapper.getYawAngle() + math::radians(180.f)); - _sensor_simulator._gps.setYaw(gps_heading); - _sensor_simulator.runSeconds(7.5); - - // THEN: the fusion should reset - EXPECT_EQ(_ekf_wrapper.getQuaternionResetCounter(), initial_quat_reset_counter + 1); - - // BUT WHEN: the measurement jumps a 2nd time - gps_heading = matrix::wrap_pi(_ekf_wrapper.getYawAngle() + math::radians(180.f)); - _sensor_simulator._gps.setYaw(gps_heading); - _sensor_simulator.runSeconds(7.5); - - // THEN: after a few seconds, the fusion should stop and - // the estimator should fall back to mag fusion - EXPECT_FALSE(_ekf_wrapper.isIntendingGpsHeadingFusion()); - EXPECT_TRUE(_ekf_wrapper.isIntendingMagHeadingFusion()); -} - -TEST_F(EkfGpsHeadingTest, stopOnGround) -{ - // GIVEN: the GPS yaw fusion activated and there is no mag data - _sensor_simulator._mag.stop(); - float gps_heading = _ekf_wrapper.getYawAngle(); - _sensor_simulator._gps.setYaw(gps_heading); - _sensor_simulator.runSeconds(5); - - // WHEN: the measurement stops - gps_heading = NAN; - _sensor_simulator._gps.setYaw(gps_heading); - _sensor_simulator.runSeconds(7.5); - - // THEN: the fusion should stop and the GPS pos/vel aiding - // should stop as well because the yaw is not aligned anymore - EXPECT_FALSE(_ekf_wrapper.isIntendingGpsHeadingFusion()); - EXPECT_FALSE(_ekf_wrapper.isIntendingGpsFusion()); - - // AND IF: the mag fusion type is set to NONE - _ekf_wrapper.setMagFuseTypeNone(); - - // WHEN: running without yaw aiding - const matrix::Vector4f quat_variance_before = _ekf_wrapper.getQuaternionVariance(); - _sensor_simulator.runSeconds(20.0); - const matrix::Vector4f quat_variance_after = _ekf_wrapper.getQuaternionVariance(); - - // THEN: the yaw variance is constrained by fusing constant data - EXPECT_LT(quat_variance_after(3), quat_variance_before(3)); -} diff --git a/src/modules/ekf2/test/test_EKF_gyroscope.cpp b/src/modules/ekf2/test/test_EKF_gyroscope.cpp new file mode 100644 index 000000000000..8d3daac16957 --- /dev/null +++ b/src/modules/ekf2/test/test_EKF_gyroscope.cpp @@ -0,0 +1,115 @@ +/**************************************************************************** + * + * Copyright (c) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * Gyro-related tests (bias convergence, ...) + */ + +#include +#include "EKF/ekf.h" +#include "sensor_simulator/sensor_simulator.h" +#include "sensor_simulator/ekf_wrapper.h" +#include "test_helper/reset_logging_checker.h" + + +class EkfGyroscopeTest : public ::testing::Test +{ +public: + + EkfGyroscopeTest(): ::testing::Test(), + _ekf{std::make_shared()}, + _sensor_simulator(_ekf), + _ekf_wrapper(_ekf) {}; + + std::shared_ptr _ekf; + SensorSimulator _sensor_simulator; + EkfWrapper _ekf_wrapper; + + // Setup the Ekf with synthetic measurements + void SetUp() override + { + // Init, then manually set in air and at rest (default for a real vehicle) + _ekf->init(0); + _ekf->set_in_air_status(false); + _ekf->set_vehicle_at_rest(true); + } + + // Use this method to clean up any memory, network etc. after each test + void TearDown() override + { + } + + void testBias(const Vector3f &bias, float duration, const Vector3f &tolerance); +}; + +void EkfGyroscopeTest::testBias(const Vector3f &bias, float duration, const Vector3f &tolerance) +{ + _sensor_simulator._imu.setGyroData(bias); + _sensor_simulator.runSeconds(duration); + EXPECT_TRUE(_ekf->control_status_flags().vehicle_at_rest); + + const Vector3f estimated_bias = _ekf->getGyroBias(); + + for (int i = 0; i < 3; i++) { + EXPECT_NEAR(estimated_bias(i), bias(i), tolerance(i)) << "index " << i; + } +} + +TEST_F(EkfGyroscopeTest, biasEstimateZero) +{ + testBias(Vector3f(), 10, Vector3f()); +} + +TEST_F(EkfGyroscopeTest, biasEstimatePositive) +{ + // The estimate should track a slowly changing bias + const float biases[4] = {0.001f, 0.002f, 0.0035f, 0.005f}; + Vector3f bias; + + for (int i = 0; i < 4; i ++) { + bias.setAll(biases[i]); + // The Z gyro bias takes more time to converge as the Z rotation variance is higher + testBias(bias, 30, Vector3f(0.0008f, 0.0008f, 0.004f)); + } +} + +TEST_F(EkfGyroscopeTest, biasEstimateNegative) +{ + const float biases[4] = {-0.001f, -0.002f, -0.0035, -0.005f}; + Vector3f bias; + + for (int i = 0; i < 4; i ++) { + bias.setAll(biases[i]); + testBias(bias, 30, Vector3f(0.0008f, 0.0008f, 0.004f)); + } +} diff --git a/src/modules/ekf2/test/test_EKF_height_fusion.cpp b/src/modules/ekf2/test/test_EKF_height_fusion.cpp index a9d70bb1d920..b322a2818245 100644 --- a/src/modules/ekf2/test/test_EKF_height_fusion.cpp +++ b/src/modules/ekf2/test/test_EKF_height_fusion.cpp @@ -60,6 +60,7 @@ class EkfHeightFusionTest : public ::testing::Test { _ekf->init(0); _ekf_wrapper.disableBaroHeightFusion(); + _ekf_wrapper.disableRangeHeightFusion(); _sensor_simulator.runSeconds(0.1); _ekf->set_in_air_status(false); _ekf->set_vehicle_at_rest(true); @@ -111,7 +112,7 @@ TEST_F(EkfHeightFusionTest, baroRef) EXPECT_FALSE(_ekf_wrapper.isIntendingExternalVisionHeightFusion()); // AND WHEN: the baro data increases - const float baro_increment = 5.f; + const float baro_increment = 4.f; _sensor_simulator._baro.setData(_sensor_simulator._baro.getData() + baro_increment); _sensor_simulator.runSeconds(60); @@ -124,8 +125,8 @@ TEST_F(EkfHeightFusionTest, baroRef) const BiasEstimator::status &gps_status = _ekf->getGpsHgtBiasEstimatorStatus(); EXPECT_NEAR(gps_status.bias, -baro_increment, 0.2f); - const BiasEstimator::status &rng_status = _ekf->getRngHgtBiasEstimatorStatus(); - EXPECT_NEAR(rng_status.bias, -baro_increment, 1.2f); + const float terrain = _ekf->getTerrainVertPos(); + EXPECT_NEAR(terrain, -baro_increment, 1.2f); const BiasEstimator::status &ev_status = _ekf->getEvHgtBiasEstimatorStatus(); EXPECT_EQ(ev_status.bias, 0.f); @@ -150,8 +151,8 @@ TEST_F(EkfHeightFusionTest, baroRef) // the estimated height follows the GPS height EXPECT_NEAR(_ekf->getPosition()(2), -(baro_increment + gps_increment), 0.3f); // and the range finder bias is adjusted to follow the new reference - const BiasEstimator::status &rng_status_2 = _ekf->getRngHgtBiasEstimatorStatus(); - EXPECT_NEAR(rng_status_2.bias, -(baro_increment + gps_increment), 1.3f); + const float terrain2 = _ekf->getTerrainVertPos(); + EXPECT_NEAR(terrain2, -(baro_increment + gps_increment), 1.3f); } TEST_F(EkfHeightFusionTest, gpsRef) @@ -181,8 +182,8 @@ TEST_F(EkfHeightFusionTest, gpsRef) const BiasEstimator::status &baro_status = _ekf->getBaroBiasEstimatorStatus(); EXPECT_NEAR(baro_status.bias, baro_initial + baro_increment, 1.3f); - const BiasEstimator::status &rng_status = _ekf->getRngHgtBiasEstimatorStatus(); - EXPECT_NEAR(rng_status.bias, 0.f, 1.f); + const float terrain = _ekf->getTerrainVertPos(); + EXPECT_NEAR(terrain, 0.f, 1.1f); // TODO: why? // BUT WHEN: the GPS jumps by a lot const float gps_step = 100.f; @@ -198,13 +199,8 @@ TEST_F(EkfHeightFusionTest, gpsRef) EXPECT_NEAR(_ekf->getBaroBiasEstimatorStatus().bias, baro_initial + baro_increment - gps_step, 0.2f); // and the innovations are close to zero - float baro_innov = NAN; - _ekf->getBaroHgtInnov(baro_innov); - EXPECT_NEAR(baro_innov, 0.f, 0.2f); - - float rng_innov = NAN; - _ekf->getRngHgtInnov(rng_innov); - EXPECT_NEAR(rng_innov, 0.f, 0.2f); + EXPECT_NEAR(_ekf->aid_src_baro_hgt().innovation, 0.f, 0.2f); + EXPECT_NEAR(_ekf->aid_src_rng_hgt().innovation, 0.f, 0.2f); } TEST_F(EkfHeightFusionTest, baroRefFailOver) @@ -265,6 +261,93 @@ TEST_F(EkfHeightFusionTest, gpsRefFailOver) EXPECT_TRUE(_ekf->getHeightSensorRef() == HeightSensor::UNKNOWN); } +TEST_F(EkfHeightFusionTest, gpsRefAllHgtFailReset) +{ + // GIVEN: EKF that fuses GNSS (reference) and baro + _sensor_simulator.startBaro(); + _sensor_simulator.startGps(); + _ekf_wrapper.setGpsHeightRef(); + _ekf_wrapper.enableBaroHeightFusion(); + _ekf_wrapper.enableGpsHeightFusion(); + + _sensor_simulator.runSeconds(11); + EXPECT_TRUE(_ekf_wrapper.isIntendingGpsHeightFusion()); + EXPECT_TRUE(_ekf_wrapper.isIntendingBaroHeightFusion()); + EXPECT_TRUE(_ekf->getHeightSensorRef() == HeightSensor::GNSS); + + const Vector3f previous_position = _ekf->getPosition(); + + ResetLoggingChecker reset_logging_checker(_ekf); + reset_logging_checker.capturePreResetState(); + + // WHEN: + const float gnss_height_step = 10.f; + _sensor_simulator._gps.stepHeightByMeters(gnss_height_step); + + const float baro_height_step = 5.f; + _sensor_simulator._baro.setData(_sensor_simulator._baro.getData() + baro_height_step); + _sensor_simulator.runSeconds(15); + + // THEN: then the fusion of both sensors starts to fail and the height is reset to the + // reference sensor (GNSS) + EXPECT_TRUE(_ekf_wrapper.isIntendingGpsHeightFusion()); + EXPECT_TRUE(_ekf_wrapper.isIntendingBaroHeightFusion()); + + const Vector3f new_position = _ekf->getPosition(); + EXPECT_NEAR(new_position(2), previous_position(2) - gnss_height_step, 0.2f); + + // Also check the reset counters to make sure the reset logic triggered + reset_logging_checker.capturePostResetState(); + EXPECT_TRUE(reset_logging_checker.isVerticalVelocityResetCounterIncreasedBy(1)); + EXPECT_TRUE(reset_logging_checker.isVerticalPositionResetCounterIncreasedBy(1)); +} + +TEST_F(EkfHeightFusionTest, baroRefAllHgtFailReset) +{ + // GIVEN: EKF that fuses GNSS and baro (reference) + _sensor_simulator.startBaro(); + _sensor_simulator.startGps(); + _ekf_wrapper.setBaroHeightRef(); + _ekf_wrapper.enableBaroHeightFusion(); + _ekf_wrapper.enableGpsHeightFusion(); + + _sensor_simulator.runSeconds(11); + EXPECT_TRUE(_ekf_wrapper.isIntendingGpsHeightFusion()); + EXPECT_TRUE(_ekf_wrapper.isIntendingBaroHeightFusion()); + EXPECT_TRUE(_ekf->getHeightSensorRef() == HeightSensor::BARO); + + const Vector3f previous_position = _ekf->getPosition(); + + ResetLoggingChecker reset_logging_checker(_ekf); + reset_logging_checker.capturePreResetState(); + + // WHEN: + const float gnss_height_step = 10.f; + _sensor_simulator._gps.stepHeightByMeters(gnss_height_step); + + const float baro_height_step = 5.f; + _sensor_simulator._baro.setData(_sensor_simulator._baro.getData() + baro_height_step); + _sensor_simulator.runSeconds(20); + + // THEN: then the fusion of both sensors starts to fail and the height is reset to the + // reference sensor (baro) + EXPECT_TRUE(_ekf_wrapper.isIntendingGpsHeightFusion()); + EXPECT_TRUE(_ekf_wrapper.isIntendingBaroHeightFusion()); + + const Vector3f new_position = _ekf->getPosition(); + EXPECT_NEAR(new_position(2), previous_position(2) - baro_height_step, 0.2f); + + // Also check the reset counters to make sure the reset logic triggered + reset_logging_checker.capturePostResetState(); + + // The velocity does not reset as baro only provides height measurement + EXPECT_TRUE(reset_logging_checker.isVerticalVelocityResetCounterIncreasedBy(0)); + + // The height resets twice in a row as the baro innovation is not corrected after a height + // reset and triggers a new reset at the next iteration + EXPECT_TRUE(reset_logging_checker.isVerticalPositionResetCounterIncreasedBy(2)); +} + TEST_F(EkfHeightFusionTest, changeEkfOriginAlt) { _sensor_simulator.startBaro(); @@ -295,7 +378,7 @@ TEST_F(EkfHeightFusionTest, changeEkfOriginAlt) reset_logging_checker.capturePostResetState(); EXPECT_NEAR(_ekf->getBaroBiasEstimatorStatus().bias, _sensor_simulator._baro.getData() + alt_increment, 0.2f); - EXPECT_NEAR(_ekf->getRngHgtBiasEstimatorStatus().bias, alt_increment, 1.f); + EXPECT_NEAR(_ekf->getTerrainVertPos(), alt_increment, 1.f); EXPECT_TRUE(reset_logging_checker.isVerticalVelocityResetCounterIncreasedBy(0)); EXPECT_TRUE(reset_logging_checker.isVerticalPositionResetCounterIncreasedBy(1)); } diff --git a/src/modules/ekf2/test/test_EKF_imuSampling.cpp b/src/modules/ekf2/test/test_EKF_imuSampling.cpp index c037c2c44b8f..5ba380d2c079 100644 --- a/src/modules/ekf2/test/test_EKF_imuSampling.cpp +++ b/src/modules/ekf2/test/test_EKF_imuSampling.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2019 ECL Development Team. All rights reserved. + * Copyright (c) 2019-2023 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -34,7 +34,7 @@ #include #include #include "EKF/ekf.h" -#include "EKF/imu_down_sampler.hpp" +#include "EKF/imu_down_sampler/imu_down_sampler.hpp" class EkfImuSamplingTest : public ::testing::TestWithParam> { diff --git a/src/modules/ekf2/test/test_EKF_initialization.cpp b/src/modules/ekf2/test/test_EKF_initialization.cpp index 71b09cc3e742..fb1990f90b1f 100644 --- a/src/modules/ekf2/test/test_EKF_initialization.cpp +++ b/src/modules/ekf2/test/test_EKF_initialization.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2019 ECL Development Team. All rights reserved. + * Copyright (c) 2019-2023 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -50,12 +50,15 @@ class EkfInitializationTest : public ::testing::Test SensorSimulator _sensor_simulator; EkfWrapper _ekf_wrapper; - const float _init_tilt_period = 0.3f; // seconds + const float _init_tilt_period = 0.7f; // seconds - // GTests is calling this + // Setup the Ekf with synthetic measurements void SetUp() override { + // first init, then manually set in air and at rest (default for a real vehicle) _ekf->init(0); + _ekf->set_in_air_status(false); + _ekf->set_vehicle_at_rest(true); } // Use this method to clean up any memory, network etc. after each test @@ -66,28 +69,25 @@ class EkfInitializationTest : public ::testing::Test void initializedOrienationIsMatchingGroundTruth(Quatf true_quaternion) { const Quatf quat_est = _ekf->getQuaternion(); - const float precision = 0.0002f; // TODO: this is only required for the pitch90 test to pass - EXPECT_TRUE(matrix::isEqual(quat_est, true_quaternion, precision)) + EXPECT_TRUE(matrix::isEqual(quat_est, true_quaternion)) << "quat est = " << quat_est(0) << ", " << quat_est(1) << ", " << quat_est(2) << ", " << quat_est(3) << "\nquat true = " << true_quaternion(0) << ", " << true_quaternion(1) << ", " << true_quaternion(2) << ", " << true_quaternion(3); } - void validStateAfterOrientationInitialization() + void quaternionVarianceBigEnoughAfterOrientationInitialization(float quat_variance_limit = 0.00001f) { - quaternionVarianceBigEnoughAfterOrientationInitialization(); - velocityAndPositionCloseToZero(); - velocityAndPositionVarianceBigEnoughAfterOrientationInitialization(); + const matrix::Vector3f quat_variance = _ekf->getRotVarBody(); + EXPECT_TRUE(quat_variance(0) > quat_variance_limit) << "quat_variance(3): " << quat_variance(0); + EXPECT_TRUE(quat_variance(1) > quat_variance_limit) << "quat_variance(1): " << quat_variance(1); + EXPECT_TRUE(quat_variance(2) > quat_variance_limit) << "quat_variance(2): " << quat_variance(2); } - void quaternionVarianceBigEnoughAfterOrientationInitialization() + void yawVarianceBigEnoughAfterHeadingReset() { - const matrix::Vector4f quat_variance = _ekf_wrapper.getQuaternionVariance(); - const float quat_variance_limit = 0.0001f; - EXPECT_TRUE(quat_variance(1) > quat_variance_limit) << "quat_variance(1)" << quat_variance(1); - EXPECT_TRUE(quat_variance(2) > quat_variance_limit) << "quat_variance(2)" << quat_variance(2); - EXPECT_TRUE(quat_variance(3) > quat_variance_limit) << "quat_variance(3)" << quat_variance(3); + // The yaw variance is smaller than its reset value as we do not probe instantly after the reset + EXPECT_GT(sqrtf(_ekf->getYawVar()), _ekf_wrapper.getMagHeadingNoise() / 5.f); } void velocityAndPositionCloseToZero() @@ -101,32 +101,34 @@ class EkfInitializationTest : public ::testing::Test << "vel = " << vel(0) << ", " << vel(1) << ", " << vel(2); } - void velocityAndPositionVarianceBigEnoughAfterOrientationInitialization() + void velocityVarianceBigEnoughAfterOrientationInitialization(float vel_variance_limit) { - const Vector3f pos_var = _ekf->getPositionVariance(); const Vector3f vel_var = _ekf->getVelocityVariance(); - const float pos_variance_limit = 0.01f; // Fake fusion obs var when at rest - EXPECT_TRUE(pos_var(0) > pos_variance_limit) << "pos_var(0)" << pos_var(0); - EXPECT_TRUE(pos_var(1) > pos_variance_limit) << "pos_var(1)" << pos_var(1); - EXPECT_TRUE(pos_var(2) > pos_variance_limit) << "pos_var(2)" << pos_var(2); + EXPECT_TRUE(vel_var(0) > vel_variance_limit) << "vel_var(0): " << vel_var(0); + EXPECT_TRUE(vel_var(1) > vel_variance_limit) << "vel_var(1): " << vel_var(1); + EXPECT_TRUE(vel_var(2) > vel_variance_limit) << "vel_var(2): " << vel_var(2); + } + + void positionVarianceBigEnoughAfterOrientationInitialization(float pos_variance_limit) + { + const Vector3f pos_var = _ekf->getPositionVariance(); - const float vel_variance_limit = 0.0001f; // zero velocity update obs var when at rest - EXPECT_TRUE(vel_var(0) > vel_variance_limit) << "vel_var(0)" << vel_var(0); - EXPECT_TRUE(vel_var(1) > vel_variance_limit) << "vel_var(1)" << vel_var(1); - EXPECT_TRUE(vel_var(2) > vel_variance_limit) << "vel_var(2)" << vel_var(2); + EXPECT_TRUE(pos_var(0) > pos_variance_limit) << "pos_var(0): " << pos_var(0); + EXPECT_TRUE(pos_var(1) > pos_variance_limit) << "pos_var(1): " << pos_var(1); + EXPECT_TRUE(pos_var(2) > pos_variance_limit) << "pos_var(2): " << pos_var(2); } void learningCorrectAccelBias() { const Dcmf R_to_earth = Dcmf(_ekf->getQuaternion()); - const Vector3f dvel_bias_var = _ekf_wrapper.getDeltaVelBiasVariance(); + const Vector3f accel_bias_var = _ekf->getAccelBiasVariance(); const Vector3f accel_bias = _ekf->getAccelBias(); for (int i = 0; i < 3; i++) { if (fabsf(R_to_earth(2, i)) > 0.8f) { // Highly observable, the variance decreases - EXPECT_LT(dvel_bias_var(i), 4.0e-6f) << "axis " << i; + EXPECT_LT(accel_bias_var(i), 4.0e-2f) << "axis " << i; } EXPECT_LT(accel_bias(i), 4.0e-6f) << "axis " << i; @@ -144,8 +146,72 @@ TEST_F(EkfInitializationTest, initializeWithZeroTilt) _sensor_simulator.simulateOrientation(quat_sim); _sensor_simulator.runSeconds(_init_tilt_period); + EXPECT_TRUE(_ekf->control_status_flags().vehicle_at_rest); + EXPECT_FALSE(_ekf->control_status_flags().in_air); + + EXPECT_TRUE(_ekf->control_status_flags().tilt_align); + + initializedOrienationIsMatchingGroundTruth(quat_sim); + quaternionVarianceBigEnoughAfterOrientationInitialization(0.00001f); + + velocityAndPositionCloseToZero(); + + // Fake position fusion obs var when at rest sq(0.01f) + positionVarianceBigEnoughAfterOrientationInitialization(0.00001f); + velocityVarianceBigEnoughAfterOrientationInitialization(0.0001f); + + _sensor_simulator.runSeconds(1.f); + learningCorrectAccelBias(); +} + +TEST_F(EkfInitializationTest, initializeWithZeroTiltNotAtRest) +{ + const float pitch = math::radians(0.0f); + const float roll = math::radians(0.0f); + const Eulerf euler_angles_sim(roll, pitch, 0.0f); + const Quatf quat_sim(euler_angles_sim); + + _ekf->set_in_air_status(true); + _ekf->set_vehicle_at_rest(false); + _sensor_simulator.simulateOrientation(quat_sim); + //_sensor_simulator.runSeconds(_init_tilt_period); + _sensor_simulator.runSeconds(10); + + EXPECT_TRUE(_ekf->control_status_flags().tilt_align); + initializedOrienationIsMatchingGroundTruth(quat_sim); - validStateAfterOrientationInitialization(); + quaternionVarianceBigEnoughAfterOrientationInitialization(0.00001f); + + velocityAndPositionCloseToZero(); + + positionVarianceBigEnoughAfterOrientationInitialization(0.00001f); // Fake position fusion obs var when at rest sq(0.5f) + velocityVarianceBigEnoughAfterOrientationInitialization(0.0001f); + + _sensor_simulator.runSeconds(1.f); + learningCorrectAccelBias(); +} + +TEST_F(EkfInitializationTest, initializeWithTiltNoGyroBiasEstimate) +{ + const float pitch = math::radians(30.0f); + const float roll = math::radians(-20.0f); + const Eulerf euler_angles_sim(roll, pitch, 0.0f); + const Quatf quat_sim(euler_angles_sim); + + _ekf_wrapper.disableGyroBiasEstimation(); + _sensor_simulator.simulateOrientation(quat_sim); + + _sensor_simulator.runSeconds(_init_tilt_period); + + EXPECT_TRUE(_ekf->control_status_flags().tilt_align); + + initializedOrienationIsMatchingGroundTruth(quat_sim); + quaternionVarianceBigEnoughAfterOrientationInitialization(0.00001f); + + velocityAndPositionCloseToZero(); + + positionVarianceBigEnoughAfterOrientationInitialization(0.00001f); // Fake position fusion obs var when at rest sq(0.5f) + velocityVarianceBigEnoughAfterOrientationInitialization(0.0001f); _sensor_simulator.runSeconds(1.f); learningCorrectAccelBias(); @@ -169,12 +235,12 @@ TEST_F(EkfInitializationTest, gyroBias) if (fabsf(accel_bias(2)) > 0.3f) { // Print state covariance and correlation matrices for debugging - const matrix::SquareMatrix P = _ekf->covariances(); + const auto P = _ekf->covariances(); printf("State covariance:\n"); - for (int i = 0; i <= 15; i++) { - for (int j = 0; j <= 15; j++) { + for (int i = 0; i <= State::size; i++) { + for (int j = 0; j <= State::size; j++) { printf("%.3fe-9 ", ((double)P(i, j)) * 1e9); } @@ -184,10 +250,10 @@ TEST_F(EkfInitializationTest, gyroBias) printf("State correlation:\n"); printf("\t0\t1\t2\t3\t4\t5\t6\t7\t8\t9\t10\t11\t12\t13\t14\t15\n"); - for (uint8_t i = 0; i <= 15; i++) { + for (uint8_t i = 0; i <= State::size; i++) { printf("%d| ", i); - for (uint8_t j = 0; j <= 15; j++) { + for (uint8_t j = 0; j <= State::size; j++) { float corr = sqrtf(fabsf(P(i, i) * P(j, j))); if (corr > 0.0f) { @@ -222,8 +288,21 @@ TEST_F(EkfInitializationTest, initializeHeadingWithZeroTilt) _sensor_simulator.simulateOrientation(quat_sim); _sensor_simulator.runSeconds(_init_tilt_period); + EXPECT_TRUE(_ekf->control_status_flags().vehicle_at_rest); + EXPECT_FALSE(_ekf->control_status_flags().in_air); + + EXPECT_TRUE(_ekf->control_status_flags().tilt_align); + EXPECT_TRUE(_ekf->control_status_flags().yaw_align); + initializedOrienationIsMatchingGroundTruth(quat_sim); - validStateAfterOrientationInitialization(); + quaternionVarianceBigEnoughAfterOrientationInitialization(0.00001f); + yawVarianceBigEnoughAfterHeadingReset(); + + velocityAndPositionCloseToZero(); + + // Fake position fusion obs var when at rest sq(0.01f) + positionVarianceBigEnoughAfterOrientationInitialization(0.00001f); + velocityVarianceBigEnoughAfterOrientationInitialization(0.0001f); _sensor_simulator.runSeconds(1.f); learningCorrectAccelBias(); @@ -239,8 +318,45 @@ TEST_F(EkfInitializationTest, initializeWithTilt) _sensor_simulator.simulateOrientation(quat_sim); _sensor_simulator.runSeconds(_init_tilt_period); + EXPECT_TRUE(_ekf->control_status_flags().tilt_align); + EXPECT_TRUE(_ekf->control_status_flags().yaw_align); + initializedOrienationIsMatchingGroundTruth(quat_sim); - validStateAfterOrientationInitialization(); + quaternionVarianceBigEnoughAfterOrientationInitialization(0.00001f); + yawVarianceBigEnoughAfterHeadingReset(); + + velocityAndPositionCloseToZero(); + + // Fake position fusion obs var when at rest sq(0.01f) + positionVarianceBigEnoughAfterOrientationInitialization(0.00001f); + velocityVarianceBigEnoughAfterOrientationInitialization(0.0001f); + + _sensor_simulator.runSeconds(1.f); + learningCorrectAccelBias(); +} + +TEST_F(EkfInitializationTest, initializeWithTiltNotAtRest) +{ + const float pitch = math::radians(30.0f); + const float roll = math::radians(60.0f); + const Eulerf euler_angles_sim(roll, pitch, 0.0f); + const Quatf quat_sim(euler_angles_sim); + + _ekf->set_in_air_status(true); + _ekf->set_vehicle_at_rest(false); + _sensor_simulator.simulateOrientation(quat_sim); + //_sensor_simulator.runSeconds(_init_tilt_period); + _sensor_simulator.runSeconds(10); + + EXPECT_TRUE(_ekf->control_status_flags().tilt_align); + + initializedOrienationIsMatchingGroundTruth(quat_sim); + quaternionVarianceBigEnoughAfterOrientationInitialization(0.00001f); + + velocityAndPositionCloseToZero(); + + positionVarianceBigEnoughAfterOrientationInitialization(0.01f); + velocityVarianceBigEnoughAfterOrientationInitialization(0.0001f); _sensor_simulator.runSeconds(1.f); learningCorrectAccelBias(); @@ -253,13 +369,25 @@ TEST_F(EkfInitializationTest, initializeWithPitch90) const Eulerf euler_angles_sim(roll, pitch, 0.0f); const Quatf quat_sim(euler_angles_sim); + _ekf->set_in_air_status(false); + _ekf->set_vehicle_at_rest(true); _sensor_simulator.simulateOrientation(quat_sim); - _sensor_simulator.runSeconds(_init_tilt_period); + //_sensor_simulator.runSeconds(_init_tilt_period); + _sensor_simulator.runSeconds(10); + + EXPECT_TRUE(_ekf->control_status_flags().tilt_align); - initializedOrienationIsMatchingGroundTruth(quat_sim); // TODO: Quaternion Variance is smaller and vel x is larger // in this case than in the other cases - validStateAfterOrientationInitialization(); + + initializedOrienationIsMatchingGroundTruth(quat_sim); + quaternionVarianceBigEnoughAfterOrientationInitialization(0.00001f); + + velocityAndPositionCloseToZero(); + + // Fake position fusion obs var when at rest sq(0.01f) + positionVarianceBigEnoughAfterOrientationInitialization(0.00001f); + velocityVarianceBigEnoughAfterOrientationInitialization(0.0001f); _sensor_simulator.runSeconds(1.f); learningCorrectAccelBias(); @@ -272,11 +400,22 @@ TEST_F(EkfInitializationTest, initializeWithRoll90) const Eulerf euler_angles_sim(roll, pitch, 0.0f); const Quatf quat_sim(euler_angles_sim); + _ekf->set_in_air_status(false); + _ekf->set_vehicle_at_rest(true); _sensor_simulator.simulateOrientation(quat_sim); - _sensor_simulator.runSeconds(_init_tilt_period); + //_sensor_simulator.runSeconds(_init_tilt_period); + _sensor_simulator.runSeconds(10); + + EXPECT_TRUE(_ekf->control_status_flags().tilt_align); initializedOrienationIsMatchingGroundTruth(quat_sim); - validStateAfterOrientationInitialization(); + quaternionVarianceBigEnoughAfterOrientationInitialization(0.00001f); + + velocityAndPositionCloseToZero(); + + // Fake position fusion obs var when at rest sq(0.01f) + positionVarianceBigEnoughAfterOrientationInitialization(0.00001f); + velocityVarianceBigEnoughAfterOrientationInitialization(0.0001f); _sensor_simulator.runSeconds(1.f); learningCorrectAccelBias(); diff --git a/src/modules/ekf2/test/test_EKF_mag.cpp b/src/modules/ekf2/test/test_EKF_mag.cpp index 2add65b786cc..ca4f440c624d 100644 --- a/src/modules/ekf2/test/test_EKF_mag.cpp +++ b/src/modules/ekf2/test/test_EKF_mag.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2023 ECL Development Team. All rights reserved. + * Copyright (c) 2023 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -57,9 +57,8 @@ class EkfMagTest : public ::testing::Test // Setup the Ekf with synthetic measurements void SetUp() override { - // run briefly to init, then manually set in air and at rest (default for a real vehicle) + // Init, then manually set in air and at rest (default for a real vehicle) _ekf->init(0); - _sensor_simulator.runSeconds(0.1); _ekf->set_in_air_status(false); _ekf->set_vehicle_at_rest(true); } @@ -69,9 +68,12 @@ class EkfMagTest : public ::testing::Test TEST_F(EkfMagTest, fusionStartWithReset) { + _ekf->set_min_required_gps_health_time(5e6); // GIVEN: some meaningful mag data const float mag_heading = M_PI_F / 3.f; - const Vector3f mag_data(0.2f * cosf(mag_heading), -0.2f * sinf(mag_heading), 0.4f); + const float incl = 63.1f; + const Vector3f mag_data(0.2f * cosf(mag_heading), -0.2f * sinf(mag_heading), + 0.4f * sinf(incl) * sqrtf(0.2f * 0.2f + 0.4f * 0.4f)); _sensor_simulator._mag.setData(mag_data); const int initial_quat_reset_counter = _ekf_wrapper.getQuaternionResetCounter(); @@ -83,6 +85,24 @@ TEST_F(EkfMagTest, fusionStartWithReset) EXPECT_FALSE(_ekf_wrapper.isIntendingMag3DFusion()); EXPECT_EQ(_ekf_wrapper.getQuaternionResetCounter(), initial_quat_reset_counter + 1); + // AND WHEN: GNSS fusion starts + _ekf_wrapper.enableGpsFusion(); + _sensor_simulator.startGps(); + _sensor_simulator.runSeconds(6); + + // THEN: the earth mag field is reset to the WMM + EXPECT_EQ(_ekf_wrapper.getQuaternionResetCounter(), initial_quat_reset_counter + 2); + + Vector3f mag_earth = _ekf->getMagEarthField(); + float mag_decl = atan2f(mag_earth(1), mag_earth(0)); + float mag_decl_wmm_deg = 0.f; + _ekf->get_mag_decl_deg(mag_decl_wmm_deg); + EXPECT_NEAR(degrees(mag_decl), mag_decl_wmm_deg, 1e-5f); + + float mag_incl = asinf(mag_earth(2) / fmaxf(mag_earth.norm(), 1e-4f)); + float mag_incl_wmm_deg = 0.f; + _ekf->get_mag_inc_deg(mag_incl_wmm_deg); + EXPECT_NEAR(degrees(mag_incl), mag_incl_wmm_deg, 1e-5f); } TEST_F(EkfMagTest, noInitLargeStrength) @@ -127,3 +147,70 @@ TEST_F(EkfMagTest, suddenLargeStrength) EXPECT_FALSE(_ekf_wrapper.isIntendingMagHeadingFusion()); EXPECT_FALSE(_ekf_wrapper.isIntendingMag3DFusion()); } + +TEST_F(EkfMagTest, noInitLargeInclination) +{ + // GIVEN: a really large magnetic field + _ekf_wrapper.enableMagInclinationCheck(); + // To prevent an early pass of the inclination check, "force WMM" must be set + _ekf_wrapper.enableMagCheckForceWMM(); + _sensor_simulator.startGps(); + Vector3f mag_data(0.4f, 0.f, 0.f); + _sensor_simulator._mag.setData(mag_data); + + const int initial_quat_reset_counter = _ekf_wrapper.getQuaternionResetCounter(); + _sensor_simulator.runSeconds(_init_duration_s + 10.f); // live some extra time fo GNSS checks to pass + + // THEN: the fusion shouldn't start + EXPECT_FALSE(_ekf_wrapper.isIntendingMagHeadingFusion()); + EXPECT_FALSE(_ekf_wrapper.isIntendingMag3DFusion()); + EXPECT_EQ(0, (int) _ekf->control_status_flags().yaw_align); + EXPECT_EQ(_ekf_wrapper.getQuaternionResetCounter(), initial_quat_reset_counter); + + // BUT then: as soon as there is some meaningful data + const float mag_heading = -M_PI_F / 7.f; + mag_data = Vector3f(0.2f * cosf(mag_heading), -0.2f * sinf(mag_heading), 0.4f); + _sensor_simulator._mag.setData(mag_data); + + _sensor_simulator.runSeconds(2.f); + + float decl_deg = 0.f; + _ekf->get_mag_decl_deg(decl_deg); + + // THEN: the fusion initializes using the mag data and runs normally + EXPECT_NEAR(_ekf_wrapper.getYawAngle(), mag_heading + radians(decl_deg), radians(1.f)); + EXPECT_TRUE(_ekf_wrapper.isIntendingMagHeadingFusion()); + EXPECT_EQ(1, (int) _ekf->control_status_flags().yaw_align); + EXPECT_EQ(_ekf_wrapper.getQuaternionResetCounter(), initial_quat_reset_counter + 1); +} + +TEST_F(EkfMagTest, suddenInclinationChange) +{ + _ekf_wrapper.enableMagInclinationCheck(); + _ekf_wrapper.enableMagCheckForceWMM(); + _sensor_simulator.startGps(); + + // GIVEN: some meaningful mag data + const float mag_heading = -M_PI_F / 7.f; + Vector3f mag_data(0.2f * cosf(mag_heading), -0.2f * sinf(mag_heading), 0.4f); + _sensor_simulator._mag.setData(mag_data); + + _sensor_simulator.runSeconds(_init_duration_s + 10.f); + + float decl_deg = 0.f; + _ekf->get_mag_decl_deg(decl_deg); + + // THEN: the fusion initializes using the mag data and runs normally + EXPECT_NEAR(_ekf_wrapper.getYawAngle(), mag_heading + radians(decl_deg), radians(1.f)); + EXPECT_TRUE(_ekf_wrapper.isIntendingMagHeadingFusion()); + EXPECT_FALSE(_ekf_wrapper.isIntendingMag3DFusion()); + + // BUT WHEN: the mag field inclination suddenly changes + mag_data(2) = -mag_data(2); + _sensor_simulator._mag.setData(mag_data); + _sensor_simulator.runSeconds(6.f); + + // THEN: the mag fusion should stop after some time + EXPECT_FALSE(_ekf_wrapper.isIntendingMagHeadingFusion()); + EXPECT_FALSE(_ekf_wrapper.isIntendingMag3DFusion()); +} diff --git a/src/modules/ekf2/test/test_EKF_mag_3d_fusion_generated.cpp b/src/modules/ekf2/test/test_EKF_mag_3d_fusion_generated.cpp deleted file mode 100644 index d433807c799d..000000000000 --- a/src/modules/ekf2/test/test_EKF_mag_3d_fusion_generated.cpp +++ /dev/null @@ -1,366 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2022 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -#include -#include "EKF/ekf.h" -#include "test_helper/comparison_helper.h" - -#include "../EKF/python/ekf_derivation/generated/compute_mag_innov_innov_var_and_hx.h" -#include "../EKF/python/ekf_derivation/generated/compute_mag_y_innov_var_and_h.h" -#include "../EKF/python/ekf_derivation/generated/compute_mag_z_innov_var_and_h.h" - -using namespace matrix; - -void sympyMagXInnovVarHxAndKx(float q0, float q1, float q2, float q3, float magN, float magE, float magD, - const SquareMatrix24f &P, float R_MAG, float &innov_var, Vector24f &Kfusion, Vector24f &H) -{ - // common expressions used by sympy generated equations - // calculate intermediate variables used for X axis innovation variance, observation Jacobians and Kalman gainss - const float HKX0 = -magD * q2 + magE * q3 + magN * q0; - const float HKX1 = magD * q3 + magE * q2 + magN * q1; - const float HKX2 = magE * q1; - const float HKX3 = magD * q0; - const float HKX4 = magN * q2; - const float HKX5 = magD * q1 + magE * q0 - magN * q3; - const float HKX6 = powf(q0, 2) + powf(q1, 2) - powf(q2, 2) - powf(q3, 2); - const float HKX7 = q0 * q3 + q1 * q2; - const float HKX8 = q1 * q3; - const float HKX9 = q0 * q2; - const float HKX10 = 2 * HKX7; - const float HKX11 = -2 * HKX8 + 2 * HKX9; - const float HKX12 = 2 * HKX1; - const float HKX13 = 2 * HKX0; - const float HKX14 = -2 * HKX2 + 2 * HKX3 + 2 * HKX4; - const float HKX15 = 2 * HKX5; - const float HKX16 = HKX10 * P(0, 17) - HKX11 * P(0, 18) + HKX12 * P(0, 1) + HKX13 * P(0, 0) - HKX14 * P(0, - 2) + HKX15 * P(0, 3) + HKX6 * P(0, 16) + P(0, 19); - const float HKX17 = HKX10 * P(16, 17) - HKX11 * P(16, 18) + HKX12 * P(1, 16) + HKX13 * P(0, 16) - HKX14 * P(2, - 16) + HKX15 * P(3, 16) + HKX6 * P(16, 16) + P(16, 19); - const float HKX18 = HKX10 * P(17, 18) - HKX11 * P(18, 18) + HKX12 * P(1, 18) + HKX13 * P(0, 18) - HKX14 * P(2, - 18) + HKX15 * P(3, 18) + HKX6 * P(16, 18) + P(18, 19); - const float HKX19 = HKX10 * P(2, 17) - HKX11 * P(2, 18) + HKX12 * P(1, 2) + HKX13 * P(0, 2) - HKX14 * P(2, - 2) + HKX15 * P(2, 3) + HKX6 * P(2, 16) + P(2, 19); - const float HKX20 = HKX10 * P(17, 17) - HKX11 * P(17, 18) + HKX12 * P(1, 17) + HKX13 * P(0, 17) - HKX14 * P(2, - 17) + HKX15 * P(3, 17) + HKX6 * P(16, 17) + P(17, 19); - const float HKX21 = HKX10 * P(3, 17) - HKX11 * P(3, 18) + HKX12 * P(1, 3) + HKX13 * P(0, 3) - HKX14 * P(2, - 3) + HKX15 * P(3, 3) + HKX6 * P(3, 16) + P(3, 19); - const float HKX22 = HKX10 * P(1, 17) - HKX11 * P(1, 18) + HKX12 * P(1, 1) + HKX13 * P(0, 1) - HKX14 * P(1, - 2) + HKX15 * P(1, 3) + HKX6 * P(1, 16) + P(1, 19); - const float HKX23 = HKX10 * P(17, 19) - HKX11 * P(18, 19) + HKX12 * P(1, 19) + HKX13 * P(0, 19) - HKX14 * P(2, - 19) + HKX15 * P(3, 19) + HKX6 * P(16, 19) + P(19, 19); - const float HKX24 = 1.0F / (HKX10 * HKX20 - HKX11 * HKX18 + HKX12 * HKX22 + HKX13 * HKX16 - HKX14 * HKX19 + HKX15 * - HKX21 + HKX17 * HKX6 + HKX23 + R_MAG); - - innov_var = (HKX10 * HKX20 - HKX11 * HKX18 + HKX12 * HKX22 + HKX13 * HKX16 - HKX14 * HKX19 + HKX15 * HKX21 + HKX17 * - HKX6 + HKX23 + R_MAG); - - // Calculate X axis observation jacobians - float Hfusion[24] = {}; - Hfusion[0] = 2 * HKX0; - Hfusion[1] = 2 * HKX1; - Hfusion[2] = 2 * HKX2 - 2 * HKX3 - 2 * HKX4; - Hfusion[3] = 2 * HKX5; - Hfusion[16] = HKX6; - Hfusion[17] = 2 * HKX7; - Hfusion[18] = 2 * HKX8 - 2 * HKX9; - Hfusion[19] = 1; - - // Calculate X axis Kalman gains - if (true) { - Kfusion(0) = HKX16 * HKX24; - Kfusion(1) = HKX22 * HKX24; - Kfusion(2) = HKX19 * HKX24; - Kfusion(3) = HKX21 * HKX24; - - for (unsigned row = 4; row <= 15; row++) { - Kfusion(row) = HKX24 * (HKX10 * P(row, 17) - HKX11 * P(row, 18) + HKX12 * P(1, row) + HKX13 * P(0, row) - HKX14 * P(2, - row) + HKX15 * P(3, row) + HKX6 * P(row, 16) + P(row, 19)); - } - - for (unsigned row = 22; row <= 23; row++) { - Kfusion(row) = HKX24 * (HKX10 * P(17, row) - HKX11 * P(18, row) + HKX12 * P(1, row) + HKX13 * P(0, row) - HKX14 * P(2, - row) + HKX15 * P(3, row) + HKX6 * P(16, row) + P(19, row)); - } - } - - Kfusion(16) = HKX17 * HKX24; - Kfusion(17) = HKX20 * HKX24; - Kfusion(18) = HKX18 * HKX24; - Kfusion(19) = HKX23 * HKX24; - - for (unsigned row = 20; row <= 21; row++) { - Kfusion(row) = HKX24 * (HKX10 * P(17, row) - HKX11 * P(18, row) + HKX12 * P(1, row) + HKX13 * P(0, row) - HKX14 * P(2, - row) + HKX15 * P(3, row) + HKX6 * P(16, row) + P(19, row)); - } - - for (int row = 0; row < 24; row++) { - H(row) = Hfusion[row]; - } -} - -void sympyMagYInnovVarHyAndKy(float q0, float q1, float q2, float q3, float magN, float magE, float magD, - const SquareMatrix24f &P, float R_MAG, float &innov_var, Vector24f &Kfusion, Vector24f &H) -{ - const float HKY0 = magD * q1 + magE * q0 - magN * q3; - const float HKY1 = magD * q0 - magE * q1 + magN * q2; - const float HKY2 = magD * q3 + magE * q2 + magN * q1; - const float HKY3 = magD * q2; - const float HKY4 = magE * q3; - const float HKY5 = magN * q0; - const float HKY6 = q1 * q2; - const float HKY7 = q0 * q3; - const float HKY8 = powf(q0, 2) - powf(q1, 2) + powf(q2, 2) - powf(q3, 2); - const float HKY9 = q0 * q1 + q2 * q3; - const float HKY10 = 2 * HKY9; - const float HKY11 = -2 * HKY6 + 2 * HKY7; - const float HKY12 = 2 * HKY2; - const float HKY13 = 2 * HKY0; - const float HKY14 = 2 * HKY1; - const float HKY15 = -2 * HKY3 + 2 * HKY4 + 2 * HKY5; - const float HKY16 = HKY10 * P(0, 18) - HKY11 * P(0, 16) + HKY12 * P(0, 2) + HKY13 * P(0, 0) + HKY14 * P(0, - 1) - HKY15 * P(0, 3) + HKY8 * P(0, 17) + P(0, 20); - const float HKY17 = HKY10 * P(17, 18) - HKY11 * P(16, 17) + HKY12 * P(2, 17) + HKY13 * P(0, 17) + HKY14 * P(1, - 17) - HKY15 * P(3, 17) + HKY8 * P(17, 17) + P(17, 20); - const float HKY18 = HKY10 * P(16, 18) - HKY11 * P(16, 16) + HKY12 * P(2, 16) + HKY13 * P(0, 16) + HKY14 * P(1, - 16) - HKY15 * P(3, 16) + HKY8 * P(16, 17) + P(16, 20); - const float HKY19 = HKY10 * P(3, 18) - HKY11 * P(3, 16) + HKY12 * P(2, 3) + HKY13 * P(0, 3) + HKY14 * P(1, - 3) - HKY15 * P(3, 3) + HKY8 * P(3, 17) + P(3, 20); - const float HKY20 = HKY10 * P(18, 18) - HKY11 * P(16, 18) + HKY12 * P(2, 18) + HKY13 * P(0, 18) + HKY14 * P(1, - 18) - HKY15 * P(3, 18) + HKY8 * P(17, 18) + P(18, 20); - const float HKY21 = HKY10 * P(1, 18) - HKY11 * P(1, 16) + HKY12 * P(1, 2) + HKY13 * P(0, 1) + HKY14 * P(1, - 1) - HKY15 * P(1, 3) + HKY8 * P(1, 17) + P(1, 20); - const float HKY22 = HKY10 * P(2, 18) - HKY11 * P(2, 16) + HKY12 * P(2, 2) + HKY13 * P(0, 2) + HKY14 * P(1, - 2) - HKY15 * P(2, 3) + HKY8 * P(2, 17) + P(2, 20); - const float HKY23 = HKY10 * P(18, 20) - HKY11 * P(16, 20) + HKY12 * P(2, 20) + HKY13 * P(0, 20) + HKY14 * P(1, - 20) - HKY15 * P(3, 20) + HKY8 * P(17, 20) + P(20, 20); - innov_var = (HKY10 * HKY20 - HKY11 * HKY18 + HKY12 * HKY22 + HKY13 * HKY16 + HKY14 * HKY21 - HKY15 * HKY19 + HKY17 * - HKY8 + HKY23 + R_MAG); - const float HKY24 = 1.0F / innov_var; - - // Calculate Y axis observation jacobians - float Hfusion[24] = {}; - Hfusion[0] = 2 * HKY0; - Hfusion[1] = 2 * HKY1; - Hfusion[2] = 2 * HKY2; - Hfusion[3] = 2 * HKY3 - 2 * HKY4 - 2 * HKY5; - Hfusion[16] = 2 * HKY6 - 2 * HKY7; - Hfusion[17] = HKY8; - Hfusion[18] = 2 * HKY9; - Hfusion[20] = 1; - - // Calculate Y axis Kalman gains - if (true) { - Kfusion(0) = HKY16 * HKY24; - Kfusion(1) = HKY21 * HKY24; - Kfusion(2) = HKY22 * HKY24; - Kfusion(3) = HKY19 * HKY24; - - for (unsigned row = 4; row <= 15; row++) { - Kfusion(row) = HKY24 * (HKY10 * P(row, 18) - HKY11 * P(row, 16) + HKY12 * P(2, row) + HKY13 * P(0, row) + HKY14 * P(1, - row) - HKY15 * P(3, row) + HKY8 * P(row, 17) + P(row, 20)); - } - - for (unsigned row = 22; row <= 23; row++) { - Kfusion(row) = HKY24 * (HKY10 * P(18, row) - HKY11 * P(16, row) + HKY12 * P(2, row) + HKY13 * P(0, row) + HKY14 * P(1, - row) - HKY15 * P(3, row) + HKY8 * P(17, row) + P(20, row)); - } - } - - Kfusion(16) = HKY18 * HKY24; - Kfusion(17) = HKY17 * HKY24; - Kfusion(18) = HKY20 * HKY24; - Kfusion(19) = HKY24 * (HKY10 * P(18, 19) - HKY11 * P(16, 19) + HKY12 * P(2, 19) + HKY13 * P(0, 19) + HKY14 * P(1, - 19) - HKY15 * P(3, 19) + HKY8 * P(17, 19) + P(19, 20)); - Kfusion(20) = HKY23 * HKY24; - Kfusion(21) = HKY24 * (HKY10 * P(18, 21) - HKY11 * P(16, 21) + HKY12 * P(2, 21) + HKY13 * P(0, 21) + HKY14 * P(1, - 21) - HKY15 * P(3, 21) + HKY8 * P(17, 21) + P(20, 21)); - - // save output and repeat calculation using legacy matlab generated code - for (int row = 0; row < 24; row++) { - H(row) = Hfusion[row]; - } -} - -void sympyMagZInnovVarHzAndKz(float q0, float q1, float q2, float q3, float magN, float magE, float magD, - const SquareMatrix24f &P, float R_MAG, float &innov_var, Vector24f &Kfusion, Vector24f &H) -{ - const float HKZ0 = magD * q0 - magE * q1 + magN * q2; - const float HKZ1 = magN * q3; - const float HKZ2 = magD * q1; - const float HKZ3 = magE * q0; - const float HKZ4 = -magD * q2 + magE * q3 + magN * q0; - const float HKZ5 = magD * q3 + magE * q2 + magN * q1; - const float HKZ6 = q0 * q2 + q1 * q3; - const float HKZ7 = q2 * q3; - const float HKZ8 = q0 * q1; - const float HKZ9 = powf(q0, 2) - powf(q1, 2) - powf(q2, 2) + powf(q3, 2); - const float HKZ10 = 2 * HKZ6; - const float HKZ11 = -2 * HKZ7 + 2 * HKZ8; - const float HKZ12 = 2 * HKZ5; - const float HKZ13 = 2 * HKZ0; - const float HKZ14 = -2 * HKZ1 + 2 * HKZ2 + 2 * HKZ3; - const float HKZ15 = 2 * HKZ4; - const float HKZ16 = HKZ10 * P(0, 16) - HKZ11 * P(0, 17) + HKZ12 * P(0, 3) + HKZ13 * P(0, 0) - HKZ14 * P(0, - 1) + HKZ15 * P(0, 2) + HKZ9 * P(0, 18) + P(0, 21); - const float HKZ17 = HKZ10 * P(16, 18) - HKZ11 * P(17, 18) + HKZ12 * P(3, 18) + HKZ13 * P(0, 18) - HKZ14 * P(1, - 18) + HKZ15 * P(2, 18) + HKZ9 * P(18, 18) + P(18, 21); - const float HKZ18 = HKZ10 * P(16, 17) - HKZ11 * P(17, 17) + HKZ12 * P(3, 17) + HKZ13 * P(0, 17) - HKZ14 * P(1, - 17) + HKZ15 * P(2, 17) + HKZ9 * P(17, 18) + P(17, 21); - const float HKZ19 = HKZ10 * P(1, 16) - HKZ11 * P(1, 17) + HKZ12 * P(1, 3) + HKZ13 * P(0, 1) - HKZ14 * P(1, - 1) + HKZ15 * P(1, 2) + HKZ9 * P(1, 18) + P(1, 21); - const float HKZ20 = HKZ10 * P(16, 16) - HKZ11 * P(16, 17) + HKZ12 * P(3, 16) + HKZ13 * P(0, 16) - HKZ14 * P(1, - 16) + HKZ15 * P(2, 16) + HKZ9 * P(16, 18) + P(16, 21); - const float HKZ21 = HKZ10 * P(3, 16) - HKZ11 * P(3, 17) + HKZ12 * P(3, 3) + HKZ13 * P(0, 3) - HKZ14 * P(1, - 3) + HKZ15 * P(2, 3) + HKZ9 * P(3, 18) + P(3, 21); - const float HKZ22 = HKZ10 * P(2, 16) - HKZ11 * P(2, 17) + HKZ12 * P(2, 3) + HKZ13 * P(0, 2) - HKZ14 * P(1, - 2) + HKZ15 * P(2, 2) + HKZ9 * P(2, 18) + P(2, 21); - const float HKZ23 = HKZ10 * P(16, 21) - HKZ11 * P(17, 21) + HKZ12 * P(3, 21) + HKZ13 * P(0, 21) - HKZ14 * P(1, - 21) + HKZ15 * P(2, 21) + HKZ9 * P(18, 21) + P(21, 21); - innov_var = (HKZ10 * HKZ20 - HKZ11 * HKZ18 + HKZ12 * HKZ21 + HKZ13 * HKZ16 - HKZ14 * HKZ19 + HKZ15 * HKZ22 + HKZ17 * - HKZ9 + HKZ23 + R_MAG); - const float HKZ24 = 1.0F / innov_var; - - // calculate Z axis observation jacobians - float Hfusion[24] = {}; - Hfusion[0] = 2 * HKZ0; - Hfusion[1] = 2 * HKZ1 - 2 * HKZ2 - 2 * HKZ3; - Hfusion[2] = 2 * HKZ4; - Hfusion[3] = 2 * HKZ5; - Hfusion[16] = 2 * HKZ6; - Hfusion[17] = 2 * HKZ7 - 2 * HKZ8; - Hfusion[18] = HKZ9; - Hfusion[21] = 1; - - // Calculate Z axis Kalman gains - if (true) { - Kfusion(0) = HKZ16 * HKZ24; - Kfusion(1) = HKZ19 * HKZ24; - Kfusion(2) = HKZ22 * HKZ24; - Kfusion(3) = HKZ21 * HKZ24; - - for (unsigned row = 4; row <= 15; row++) { - Kfusion(row) = HKZ24 * (HKZ10 * P(row, 16) - HKZ11 * P(row, 17) + HKZ12 * P(3, row) + HKZ13 * P(0, row) - HKZ14 * P(1, - row) + HKZ15 * P(2, row) + HKZ9 * P(row, 18) + P(row, 21)); - } - - for (unsigned row = 22; row <= 23; row++) { - Kfusion(row) = HKZ24 * (HKZ10 * P(16, row) - HKZ11 * P(17, row) + HKZ12 * P(3, row) + HKZ13 * P(0, row) - HKZ14 * P(1, - row) + HKZ15 * P(2, row) + HKZ9 * P(18, row) + P(21, row)); - } - } - - Kfusion(16) = HKZ20 * HKZ24; - Kfusion(17) = HKZ18 * HKZ24; - Kfusion(18) = HKZ17 * HKZ24; - - for (unsigned row = 19; row <= 20; row++) { - Kfusion(row) = HKZ24 * (HKZ10 * P(16, row) - HKZ11 * P(17, row) + HKZ12 * P(3, row) + HKZ13 * P(0, row) - HKZ14 * P(1, - row) + HKZ15 * P(2, row) + HKZ9 * P(18, row) + P(row, 21)); - } - - Kfusion(21) = HKZ23 * HKZ24; - - // save output and repeat calculation using legacy matlab generated code - for (int row = 0; row < 24; row++) { - H(row) = Hfusion[row]; - } -} - -TEST(Mag3DFusionGenerated, SympyVsSymforce) -{ - // Compare calculation of observation Jacobians and Kalman gains for sympy and symforce generated equations - const Quatf q(Eulerf(-M_PI_F / 2.f, M_PI_F / 3.f, M_PI_F * 4.f / 5.f)); - const float q0 = q(0); - const float q1 = q(1); - const float q2 = q(2); - const float q3 = q(3); - - const float magN = 2.0f * ((float)randf() - 0.5f); - const float magE = 2.0f * ((float)randf() - 0.5f); - const float magD = 2.0f * ((float)randf() - 0.5f); - - Vector24f state_vector{}; - state_vector(0) = q0; - state_vector(1) = q1; - state_vector(2) = q2; - state_vector(3) = q3; - state_vector(16) = magN; - state_vector(17) = magE; - state_vector(18) = magD; - - const float R_MAG = sq(0.05f); - - SquareMatrix24f P = createRandomCovarianceMatrix24f(); - - Vector24f Hfusion_sympy; - Vector24f Kfusion_sympy; - float mag_innov_var_sympy; - - Vector24f Hfusion_symforce; - Vector24f Kfusion_symforce; - Vector3f mag_innov_var_symforce; - - for (int i = 0; i < 3; i++) { - if (i == 0) { - sympyMagXInnovVarHxAndKx(q0, q1, q2, q3, magN, magE, magD, P, R_MAG, mag_innov_var_sympy, Kfusion_sympy, Hfusion_sympy); - - Vector3f innov; - sym::ComputeMagInnovInnovVarAndHx(state_vector, P, Vector3f(), R_MAG, FLT_EPSILON, &innov, &mag_innov_var_symforce, - &Hfusion_symforce); - - } else if (i == 1) { - sympyMagYInnovVarHyAndKy(q0, q1, q2, q3, magN, magE, magD, P, R_MAG, mag_innov_var_sympy, Kfusion_sympy, Hfusion_sympy); - - sym::ComputeMagYInnovVarAndH(state_vector, P, R_MAG, FLT_EPSILON, &(mag_innov_var_symforce(i)), &Hfusion_symforce); - - } else { - sympyMagZInnovVarHzAndKz(q0, q1, q2, q3, magN, magE, magD, P, R_MAG, mag_innov_var_sympy, Kfusion_sympy, Hfusion_sympy); - - sym::ComputeMagZInnovVarAndH(state_vector, P, R_MAG, FLT_EPSILON, &(mag_innov_var_symforce(i)), &Hfusion_symforce); - } - - // K isn't generated from symbolic anymore to save flash space - Kfusion_symforce = P * Hfusion_symforce / mag_innov_var_symforce(i); - - DiffRatioReport report = computeDiffRatioVector24f(Hfusion_sympy, Hfusion_symforce); - EXPECT_LT(report.max_diff_fraction, 1e-5f) << "i = " << i << "Airspeed Hfusion max diff fraction = " << - report.max_diff_fraction << - " location index = " << report.max_row << " sympy = " << report.max_v1 << " symforce = " << report.max_v2; - - report = computeDiffRatioVector24f(Kfusion_sympy, Kfusion_symforce); - EXPECT_LT(report.max_diff_fraction, 1e-5f) << "i = " << i << "Airspeed Kfusion max diff fraction = " << - report.max_diff_fraction << - " location index = " << report.max_row << " sympy = " << report.max_v1 << " symforce = " << report.max_v2; - EXPECT_NEAR(mag_innov_var_sympy, mag_innov_var_symforce(i), 1e-5f) << "i = " << i; - } -} diff --git a/src/modules/ekf2/test/test_EKF_mag_declination_generated.cpp b/src/modules/ekf2/test/test_EKF_mag_declination_generated.cpp index 5751912be061..5bc15e84366f 100644 --- a/src/modules/ekf2/test/test_EKF_mag_declination_generated.cpp +++ b/src/modules/ekf2/test/test_EKF_mag_declination_generated.cpp @@ -36,25 +36,26 @@ #include "test_helper/comparison_helper.h" #include "../EKF/python/ekf_derivation/generated/compute_mag_declination_pred_innov_var_and_h.h" +#include "../EKF/python/ekf_derivation/generated/state.h" using namespace matrix; TEST(MagDeclinationGenerated, declination90deg) { // GIVEN: an estimated mag declination of 90 degrees - Vector24f state_vector{}; - state_vector(16) = 0.f; // North mag field - state_vector(17) = 0.2f; // East mag field + StateSample state{}; + state.mag_I(0) = 0.f; // North mag field + state.mag_I(1) = 0.2f; // East mag field const float R = sq(radians(sq(0.5f))); - SquareMatrix24f P = createRandomCovarianceMatrix24f(); + SquareMatrixState P = createRandomCovarianceMatrix(); - Vector24f H; + VectorState H; float decl_pred; float innov_var; const float decl = radians(90.f); - sym::ComputeMagDeclinationPredInnovVarAndH(state_vector, P, R, FLT_EPSILON, &decl_pred, &innov_var, &H); + sym::ComputeMagDeclinationPredInnovVarAndH(state.vector(), P, R, FLT_EPSILON, &decl_pred, &innov_var, &H); // THEN: Even at the singularity point, atan2 is still defined EXPECT_TRUE(innov_var < 5000.f && innov_var > R) << "innov_var = " << innov_var; @@ -64,123 +65,21 @@ TEST(MagDeclinationGenerated, declination90deg) TEST(MagDeclinationGenerated, declinationUndefined) { // GIVEN: an undefined declination - Vector24f state_vector{}; - state_vector(16) = 0.f; // North mag field - state_vector(17) = 0.f; // East mag field + StateSample state{}; + state.mag_I(0) = 0.f; // North mag field + state.mag_I(1) = 0.f; // East mag field const float R = sq(radians(sq(0.5f))); - SquareMatrix24f P = createRandomCovarianceMatrix24f(); + SquareMatrixState P = createRandomCovarianceMatrix(); - Vector24f H; + VectorState H; float decl_pred; float innov_var; const float decl = radians(0.f); - sym::ComputeMagDeclinationPredInnovVarAndH(state_vector, P, R, FLT_EPSILON, &decl_pred, &innov_var, &H); + sym::ComputeMagDeclinationPredInnovVarAndH(state.vector(), P, R, FLT_EPSILON, &decl_pred, &innov_var, &H); // THEN: the innovation variance is gigantic but finite EXPECT_TRUE(PX4_ISFINITE(innov_var) && innov_var > R && innov_var > 1e9f) << "innov_var = " << innov_var; EXPECT_LT(fabsf(wrap_pi(decl_pred - decl)), 1e-6f); } - -void sympyMagDeclInnovVarHAndK(float magN, float magE, const SquareMatrix24f &P, float R_DECL, - float &innovation_variance, Vector24f &H, Vector24f &Kfusion) -{ - const float h_field_min = 1e-3f; - const float magN_sq = sq(magN); - - if (magN_sq < sq(h_field_min)) { - printf("bad numerical conditioning\n"); - return; - } - - const float HK0 = 1.0F / magN_sq; - const float HK1 = HK0 * sq(magE) + 1.0F; - const float HK2 = 1.0F / HK1; - const float HK3 = 1.0F / magN; - const float HK4 = HK2 * HK3; - const float HK5 = HK3 * magE; - const float HK6 = HK5 * P(16, 17) - P(17, 17); - const float HK7 = 1.0F / sq(HK1); - const float HK8 = HK5 * P(16, 16) - P(16, 17); - innovation_variance = -HK0 * HK6 * HK7 + HK7 * HK8 * magE / (magN * magN_sq) + R_DECL; - float HK9; - - if (innovation_variance > R_DECL) { - HK9 = HK4 / innovation_variance; - - } else { - printf("bad numerical conditioning\n"); - return; - } - - // Calculate the observation Jacobian - // Note only 2 terms are non-zero which can be used in matrix operations for calculation of Kalman gains and covariance update to significantly reduce cost - float Hfusion[24] = {}; - Hfusion[16] = -HK0 * HK2 * magE; - Hfusion[17] = HK4; - - // Calculate the Kalman gains - for (unsigned row = 0; row <= 15; row++) { - Kfusion(row) = -HK9 * (HK5 * P(row, 16) - P(row, 17)); - } - - Kfusion(16) = -HK8 * HK9; - Kfusion(17) = -HK6 * HK9; - - for (unsigned row = 18; row <= 23; row++) { - Kfusion(row) = -HK9 * (HK5 * P(16, row) - P(17, row)); - } - - for (int row = 0; row < 24; row++) { - H(row) = Hfusion[row]; - } -} - -TEST(MagDeclinationGenerated, SympyVsSymforce) -{ - const float R_DECL = sq(0.3f); - const float mag_n = 0.08f; - const float mag_e = -0.06f; - - Vector24f state_vector{}; - state_vector(16) = mag_n; - state_vector(17) = mag_e; - - const float decl = M_PI_F; - - SquareMatrix24f P = createRandomCovarianceMatrix24f(); - - Vector24f H_sympy; - Vector24f H_symforce; - Vector24f K_sympy; - Vector24f K_symforce; - float innov_sympy; - float pred_symforce; - float innov_var_sympy; - float innov_var_symforce; - - sympyMagDeclInnovVarHAndK(mag_n, mag_e, P, R_DECL, innov_var_sympy, H_sympy, K_sympy); - innov_sympy = wrap_pi(std::atan2(mag_e, mag_n) - decl); - sym::ComputeMagDeclinationPredInnovVarAndH(state_vector, P, R_DECL, FLT_EPSILON, &pred_symforce, - &innov_var_symforce, &H_symforce); - const float innov_symforce = wrap_pi(pred_symforce - decl); - K_symforce = P * H_symforce / innov_var_symforce; - - EXPECT_NEAR(innov_sympy, innov_symforce, 1e-5f); - EXPECT_NEAR(innov_var_sympy, innov_var_symforce, 1e-2f); // Slightly different because of epsilon - - DiffRatioReport report = computeDiffRatioVector24f(H_sympy, H_symforce); - EXPECT_LT(report.max_diff_fraction, 2e-4f) - << "Max diff fraction = " << report.max_diff_fraction - << " location index = " << report.max_row - << " sympy = " << report.max_v1 - << " symforce = " << report.max_v2; - - report = computeDiffRatioVector24f(K_sympy, K_symforce); - EXPECT_LT(report.max_diff_fraction, 2e-4f) - << "Max diff fraction = " << report.max_diff_fraction - << " location index = " << report.max_row - << " sympy = " << report.max_v1 - << " symforce = " << report.max_v2; -} diff --git a/src/modules/ekf2/test/test_EKF_measurementSampling.cpp b/src/modules/ekf2/test/test_EKF_measurementSampling.cpp index a3e0e77186bb..367ae415344f 100644 --- a/src/modules/ekf2/test/test_EKF_measurementSampling.cpp +++ b/src/modules/ekf2/test/test_EKF_measurementSampling.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2019 ECL Development Team. All rights reserved. + * Copyright (c) 2019-2023 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions diff --git a/src/modules/ekf2/test/test_EKF_opt_flow_fusion_generated.cpp b/src/modules/ekf2/test/test_EKF_opt_flow_fusion_generated.cpp deleted file mode 100644 index 5afcd4490bc7..000000000000 --- a/src/modules/ekf2/test/test_EKF_opt_flow_fusion_generated.cpp +++ /dev/null @@ -1,312 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2022 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -#include -#include "EKF/ekf.h" -#include "test_helper/comparison_helper.h" - -#include "../EKF/python/ekf_derivation/generated/compute_flow_xy_innov_var_and_hx.h" -#include "../EKF/python/ekf_derivation/generated/compute_flow_y_innov_var_and_h.h" - -using namespace matrix; - -void sympyFlowInnovVarHAndK(float q0, float q1, float q2, float q3, float vn, float ve, float vd, float range, - const SquareMatrix24f &P, float R_LOS, Vector2f &innov_var, - Vector24f &Kfusion_x, Vector24f &Kfusion_y, Vector24f &H_x, Vector24f &H_y) -{ - const Dcmf Tbs; - - const float HK0 = -Tbs(1, 0) * q2 + Tbs(1, 1) * q1 + Tbs(1, 2) * q0; - const float HK1 = Tbs(1, 0) * q3 + Tbs(1, 1) * q0 - Tbs(1, 2) * q1; - const float HK2 = Tbs(1, 0) * q0 - Tbs(1, 1) * q3 + Tbs(1, 2) * q2; - const float HK3 = HK0 * vd + HK1 * ve + HK2 * vn; - const float HK4 = 1.0F / range; - const float HK5 = 2 * HK4; - const float HK6 = Tbs(1, 0) * q1 + Tbs(1, 1) * q2 + Tbs(1, 2) * q3; - const float HK7 = -HK0 * ve + HK1 * vd + HK6 * vn; - const float HK8 = HK0 * vn - HK2 * vd + HK6 * ve; - const float HK9 = -HK1 * vn + HK2 * ve + HK6 * vd; - const float HK10 = q0 * q2; - const float HK11 = q1 * q3; - const float HK12 = HK10 + HK11; - const float HK13 = 2 * Tbs(1, 2); - const float HK14 = q0 * q3; - const float HK15 = q1 * q2; - const float HK16 = HK14 - HK15; - const float HK17 = 2 * Tbs(1, 1); - const float HK18 = ecl::powf(q1, 2); - const float HK19 = ecl::powf(q2, 2); - const float HK20 = -HK19; - const float HK21 = ecl::powf(q0, 2); - const float HK22 = ecl::powf(q3, 2); - const float HK23 = HK21 - HK22; - const float HK24 = HK18 + HK20 + HK23; - const float HK25 = HK12 * HK13 - HK16 * HK17 + HK24 * Tbs(1, 0); - const float HK26 = HK14 + HK15; - const float HK27 = 2 * Tbs(1, 0); - const float HK28 = q0 * q1; - const float HK29 = q2 * q3; - const float HK30 = HK28 - HK29; - const float HK31 = -HK18; - const float HK32 = HK19 + HK23 + HK31; - const float HK33 = -HK13 * HK30 + HK26 * HK27 + HK32 * Tbs(1, 1); - const float HK34 = HK28 + HK29; - const float HK35 = HK10 - HK11; - const float HK36 = HK20 + HK21 + HK22 + HK31; - const float HK37 = HK17 * HK34 - HK27 * HK35 + HK36 * Tbs(1, 2); - const float HK38 = 2 * HK3; - const float HK39 = 2 * HK7; - const float HK40 = 2 * HK8; - const float HK41 = 2 * HK9; - const float HK42 = HK25 * P(0, 4) + HK33 * P(0, 5) + HK37 * P(0, 6) + HK38 * P(0, 0) + HK39 * P(0, 1) + HK40 * P(0, - 2) + HK41 * P(0, 3); - const float HK43 = ecl::powf(range, -2); - const float HK44 = HK25 * P(4, 6) + HK33 * P(5, 6) + HK37 * P(6, 6) + HK38 * P(0, 6) + HK39 * P(1, 6) + HK40 * P(2, - 6) + HK41 * P(3, 6); - const float HK45 = HK25 * P(4, 5) + HK33 * P(5, 5) + HK37 * P(5, 6) + HK38 * P(0, 5) + HK39 * P(1, 5) + HK40 * P(2, - 5) + HK41 * P(3, 5); - const float HK46 = HK25 * P(4, 4) + HK33 * P(4, 5) + HK37 * P(4, 6) + HK38 * P(0, 4) + HK39 * P(1, 4) + HK40 * P(2, - 4) + HK41 * P(3, 4); - const float HK47 = HK25 * P(2, 4) + HK33 * P(2, 5) + HK37 * P(2, 6) + HK38 * P(0, 2) + HK39 * P(1, 2) + HK40 * P(2, - 2) + HK41 * P(2, 3); - const float HK48 = HK25 * P(3, 4) + HK33 * P(3, 5) + HK37 * P(3, 6) + HK38 * P(0, 3) + HK39 * P(1, 3) + HK40 * P(2, - 3) + HK41 * P(3, 3); - const float HK49 = HK25 * P(1, 4) + HK33 * P(1, 5) + HK37 * P(1, 6) + HK38 * P(0, 1) + HK39 * P(1, 1) + HK40 * P(1, - 2) + HK41 * P(1, 3); - - const float HK51 = Tbs(0, 1) * q1; - const float HK52 = Tbs(0, 2) * q0; - const float HK53 = Tbs(0, 0) * q2; - const float HK54 = HK51 + HK52 - HK53; - const float HK55 = Tbs(0, 0) * q3; - const float HK56 = Tbs(0, 1) * q0; - const float HK57 = Tbs(0, 2) * q1; - const float HK58 = HK55 + HK56 - HK57; - const float HK59 = Tbs(0, 0) * q0; - const float HK60 = Tbs(0, 2) * q2; - const float HK61 = Tbs(0, 1) * q3; - const float HK62 = HK59 + HK60 - HK61; - const float HK63 = HK54 * vd + HK58 * ve + HK62 * vn; - const float HK64 = Tbs(0, 0) * q1 + Tbs(0, 1) * q2 + Tbs(0, 2) * q3; - const float HK65 = HK58 * vd + HK64 * vn; - const float HK66 = -HK54 * ve + HK65; - const float HK67 = HK54 * vn + HK64 * ve; - const float HK68 = -HK62 * vd + HK67; - const float HK69 = HK62 * ve + HK64 * vd; - const float HK70 = -HK58 * vn + HK69; - const float HK71 = 2 * Tbs(0, 1); - const float HK72 = 2 * Tbs(0, 2); - const float HK73 = HK12 * HK72 + HK24 * Tbs(0, 0); - const float HK74 = -HK16 * HK71 + HK73; - const float HK75 = 2 * Tbs(0, 0); - const float HK76 = HK26 * HK75 + HK32 * Tbs(0, 1); - const float HK77 = -HK30 * HK72 + HK76; - const float HK78 = HK34 * HK71 + HK36 * Tbs(0, 2); - const float HK79 = -HK35 * HK75 + HK78; - const float HK80 = 2 * HK63; - const float HK81 = 2 * HK65 + 2 * ve * (-HK51 - HK52 + HK53); - const float HK82 = 2 * HK67 + 2 * vd * (-HK59 - HK60 + HK61); - const float HK83 = 2 * HK69 + 2 * vn * (-HK55 - HK56 + HK57); - const float HK84 = HK71 * (-HK14 + HK15) + HK73; - const float HK85 = HK72 * (-HK28 + HK29) + HK76; - const float HK86 = HK75 * (-HK10 + HK11) + HK78; - const float HK87 = HK80 * P(0, 0) + HK81 * P(0, 1) + HK82 * P(0, 2) + HK83 * P(0, 3) + HK84 * P(0, 4) + HK85 * P(0, - 5) + HK86 * P(0, 6); - const float HK88 = HK80 * P(0, 6) + HK81 * P(1, 6) + HK82 * P(2, 6) + HK83 * P(3, 6) + HK84 * P(4, 6) + HK85 * P(5, - 6) + HK86 * P(6, 6); - const float HK89 = HK80 * P(0, 5) + HK81 * P(1, 5) + HK82 * P(2, 5) + HK83 * P(3, 5) + HK84 * P(4, 5) + HK85 * P(5, - 5) + HK86 * P(5, 6); - const float HK90 = HK80 * P(0, 4) + HK81 * P(1, 4) + HK82 * P(2, 4) + HK83 * P(3, 4) + HK84 * P(4, 4) + HK85 * P(4, - 5) + HK86 * P(4, 6); - const float HK91 = HK80 * P(0, 2) + HK81 * P(1, 2) + HK82 * P(2, 2) + HK83 * P(2, 3) + HK84 * P(2, 4) + HK85 * P(2, - 5) + HK86 * P(2, 6); - const float HK92 = 2 * HK43; - const float HK93 = HK80 * P(0, 3) + HK81 * P(1, 3) + HK82 * P(2, 3) + HK83 * P(3, 3) + HK84 * P(3, 4) + HK85 * P(3, - 5) + HK86 * P(3, 6); - const float HK94 = HK80 * P(0, 1) + HK81 * P(1, 1) + HK82 * P(1, 2) + HK83 * P(1, 3) + HK84 * P(1, 4) + HK85 * P(1, - 5) + HK86 * P(1, 6); - - // X-axis - innov_var(0) = (HK25 * HK43 * HK46 + HK33 * HK43 * HK45 + HK37 * HK43 * HK44 + HK38 * HK42 * HK43 + HK39 * HK43 * HK49 + - HK40 * HK43 * HK47 + HK41 * HK43 * HK48 + R_LOS); - - { - const float HK50 = HK4 / innov_var(0); - - // Observation Jacobians - axis 0 - SparseVector24f<0, 1, 2, 3, 4, 5, 6> Hfusion; - Hfusion.at<0>() = HK3 * HK5; - Hfusion.at<1>() = HK5 * HK7; - Hfusion.at<2>() = HK5 * HK8; - Hfusion.at<3>() = HK5 * HK9; - Hfusion.at<4>() = HK25 * HK4; - Hfusion.at<5>() = HK33 * HK4; - Hfusion.at<6>() = HK37 * HK4; - - // Kalman gains - axis 0 - Vector24f Kfusion; - Kfusion(0) = HK42 * HK50; - Kfusion(1) = HK49 * HK50; - Kfusion(2) = HK47 * HK50; - Kfusion(3) = HK48 * HK50; - Kfusion(4) = HK46 * HK50; - Kfusion(5) = HK45 * HK50; - Kfusion(6) = HK44 * HK50; - - for (unsigned row = 7; row <= 23; row++) { - Kfusion(row) = HK50 * (HK25 * P(4, row) + HK33 * P(5, row) + HK37 * P(6, row) + HK38 * P(0, row) + HK39 * P(1, - row) + HK40 * P(2, row) + HK41 * P(3, row)); - } - - // copy to arrays used for comparison - for (int row = 0; row < 7; row++) { - H_x(row) = Hfusion.atCompressedIndex(row); - } - - for (int row = 0; row < 24; row++) { - Kfusion_x(row) = Kfusion(row); - } - } - - // Y-axis - innov_var(1) = (HK43 * HK74 * HK90 + HK43 * HK77 * HK89 + HK43 * HK79 * HK88 + HK43 * HK80 * HK87 + HK66 * HK92 * HK94 + - HK68 * HK91 * HK92 + HK70 * HK92 * HK93 + R_LOS); - - { - const float HK95 = HK4 / innov_var(1); - - // Observation Jacobians - axis 1 - SparseVector24f<0, 1, 2, 3, 4, 5, 6> Hfusion; - Hfusion.at<0>() = -HK5 * HK63; - Hfusion.at<1>() = -HK5 * HK66; - Hfusion.at<2>() = -HK5 * HK68; - Hfusion.at<3>() = -HK5 * HK70; - Hfusion.at<4>() = -HK4 * HK74; - Hfusion.at<5>() = -HK4 * HK77; - Hfusion.at<6>() = -HK4 * HK79; - - // Kalman gains - axis 1 - Vector24f Kfusion; - Kfusion(0) = -HK87 * HK95; - Kfusion(1) = -HK94 * HK95; - Kfusion(2) = -HK91 * HK95; - Kfusion(3) = -HK93 * HK95; - Kfusion(4) = -HK90 * HK95; - Kfusion(5) = -HK89 * HK95; - Kfusion(6) = -HK88 * HK95; - - for (unsigned row = 7; row <= 23; row++) { - Kfusion(row) = -HK95 * (HK80 * P(0, row) + HK81 * P(1, row) + HK82 * P(2, row) + HK83 * P(3, row) + HK84 * P(4, - row) + HK85 * P(5, row) + HK86 * P(6, row)); - } - - // copy to arrays used for comparison - for (int row = 0; row < 7; row++) { - H_y(row) = Hfusion.atCompressedIndex(row); - } - - for (int row = 0; row < 24; row++) { - Kfusion_y(row) = Kfusion(row); - } - } -} - -TEST(OptFlowFusionGenerated, SympyVsSymforce) -{ - // Compare calculation of observation Jacobians and Kalman gains for sympy and symforce generated equations - const Quatf q(Eulerf(-M_PI_F / 2.f, M_PI_F / 3.f, M_PI_F * 4.f / 5.f)); - const float q0 = q(0); - const float q1 = q(1); - const float q2 = q(2); - const float q3 = q(3); - - const float vn = 10.0f * 2.0f * ((float)randf() - 0.5f); - const float ve = 10.0f * 2.0f * ((float)randf() - 0.5f); - const float vd = 2.0f * ((float)randf() - 0.5f); - - const float range = 5.0f; - - Vector24f state_vector{}; - state_vector(0) = q0; - state_vector(1) = q1; - state_vector(2) = q2; - state_vector(3) = q3; - state_vector(4) = vn; - state_vector(5) = ve; - state_vector(6) = vd; - - const float R_LOS = sq(0.15f); - - SquareMatrix24f P = createRandomCovarianceMatrix24f(); - - Vector24f Hfusion_sympy_x; - Vector24f Hfusion_sympy_y; - Vector24f Kfusion_sympy_x; - Vector24f Kfusion_sympy_y; - Vector2f innov_var_sympy; - - Vector24f Hfusion_symforce; - Vector24f Kfusion_symforce; - Vector2f innov_var_symforce; - - sympyFlowInnovVarHAndK(q0, q1, q2, q3, vn, ve, vd, range, P, R_LOS, innov_var_sympy, - Kfusion_sympy_x, Kfusion_sympy_y, Hfusion_sympy_x, Hfusion_sympy_y); - - for (int i = 0; i < 2; i++) { - Vector24f &Hfusion_sympy = Hfusion_sympy_x; - Vector24f &Kfusion_sympy = Kfusion_sympy_x; - - if (i == 0) { - sym::ComputeFlowXyInnovVarAndHx(state_vector, P, range, R_LOS, FLT_EPSILON, &innov_var_symforce, &Hfusion_symforce); - - } else { - Hfusion_sympy = Hfusion_sympy_y; - Kfusion_sympy = Kfusion_sympy_y; - sym::ComputeFlowYInnovVarAndH(state_vector, P, range, R_LOS, FLT_EPSILON, &innov_var_symforce(1), &Hfusion_symforce); - } - - // K isn't generated from symbolic anymore to save flash space - Kfusion_symforce = P * Hfusion_symforce / innov_var_symforce(i); - - DiffRatioReport report = computeDiffRatioVector24f(Hfusion_sympy, Hfusion_symforce); - EXPECT_LT(report.max_diff_fraction, 1e-5f) << "i = " << i << "Hfusion max diff fraction = " << - report.max_diff_fraction << - " location index = " << report.max_row << " sympy = " << report.max_v1 << " symforce = " << report.max_v2; - - report = computeDiffRatioVector24f(Kfusion_sympy, Kfusion_symforce); - EXPECT_LT(report.max_diff_fraction, 1e-5f) << "i = " << i << "Kfusion max diff fraction = " << - report.max_diff_fraction << - " location index = " << report.max_row << " sympy = " << report.max_v1 << " symforce = " << report.max_v2; - EXPECT_NEAR(innov_var_sympy(i), innov_var_symforce(i), 1e-5f) << "i = " << i; - } -} diff --git a/src/modules/ekf2/test/test_EKF_ringbuffer.cpp b/src/modules/ekf2/test/test_EKF_ringbuffer.cpp index 44cf3a2e4338..0338bea816d5 100644 --- a/src/modules/ekf2/test/test_EKF_ringbuffer.cpp +++ b/src/modules/ekf2/test/test_EKF_ringbuffer.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2019 ECL Development Team. All rights reserved. + * Copyright (c) 2019-2023 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions diff --git a/src/modules/ekf2/test/test_EKF_sideslip_fusion_generated.cpp b/src/modules/ekf2/test/test_EKF_sideslip_fusion_generated.cpp deleted file mode 100644 index 7f9ad81a3ece..000000000000 --- a/src/modules/ekf2/test/test_EKF_sideslip_fusion_generated.cpp +++ /dev/null @@ -1,218 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2022 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -#include -#include "EKF/ekf.h" -#include "test_helper/comparison_helper.h" - -#include "../EKF/python/ekf_derivation/generated/compute_sideslip_innov_and_innov_var.h" -#include "../EKF/python/ekf_derivation/generated/compute_sideslip_h_and_k.h" - -using namespace matrix; - -TEST(SideslipFusionGenerated, SympyVsSymforce) -{ - // Compare calculation of observation Jacobians and Kalman gains for sympy and symforce generated equations - const float R_BETA = sq(2.5f); - - const Quatf q(Eulerf(-M_PI_F / 2.f, M_PI_F / 3.f, M_PI_F * 4.f / 5.f)); - const float q0 = q(0); - const float q1 = q(1); - const float q2 = q(2); - const float q3 = q(3); - - const float vn = 9.0f; - const float ve = 12.0f; - const float vd = -1.5f; - - const float vwn = -4.0f; - const float vwe = 3.0f; - - SquareMatrix24f P = createRandomCovarianceMatrix24f(); - - // First calculate observationjacobians and Kalman gains using sympy generated equations - Vector24f Hfusion_sympy; - Vector24f Kfusion_sympy; - - { - // Intermediate Values - const float HK0 = vn - vwn; - const float HK1 = ve - vwe; - const float HK2 = HK0 * q0 + HK1 * q3 - q2 * vd; - const float HK3 = q0 * q2 - q1 * q3; - const float HK4 = 2 * vd; - const float HK5 = q0 * q3; - const float HK6 = q1 * q2; - const float HK7 = 2 * HK5 + 2 * HK6; - const float HK8 = ecl::powf(q0, 2); - const float HK9 = ecl::powf(q3, 2); - const float HK10 = HK8 - HK9; - const float HK11 = ecl::powf(q1, 2); - const float HK12 = ecl::powf(q2, 2); - const float HK13 = HK11 - HK12; - const float HK14 = HK10 + HK13; - const float HK15 = HK0 * HK14 + HK1 * HK7 - HK3 * HK4; - const float HK16 = 1.0F / HK15; - const float HK17 = q0 * q1 + q2 * q3; - const float HK18 = HK10 - HK11 + HK12; - const float HK19 = HK16 * (-2 * HK0 * (HK5 - HK6) + HK1 * HK18 + HK17 * HK4); - const float HK20 = -HK0 * q3 + HK1 * q0 + q1 * vd; - const float HK21 = -HK19 * HK2 + HK20; - const float HK22 = 2 * HK16; - const float HK23 = HK0 * q1 + HK1 * q2 + q3 * vd; - const float HK24 = HK0 * q2 - HK1 * q1 + q0 * vd; - const float HK25 = -HK19 * HK23 + HK24; - const float HK26 = HK19 * HK24 + HK23; - const float HK27 = HK19 * HK20 + HK2; - const float HK28 = HK14 * HK19 + 2 * HK5 - 2 * HK6; - const float HK29 = HK16 * HK28; - const float HK30 = HK19 * HK7; - const float HK31 = HK17 + HK19 * HK3; - const float HK32 = HK13 + HK30 - HK8 + HK9; - const float HK33 = 2 * HK31; - const float HK34 = 2 * HK26; - const float HK35 = 2 * HK25; - const float HK36 = 2 * HK27; - const float HK37 = 2 * HK21; - const float HK38 = HK28 * P(0, 22) - HK28 * P(0, 4) + HK32 * P(0, 23) - HK32 * P(0, 5) + HK33 * P(0, 6) + HK34 * P(0, - 2) + HK35 * P(0, 1) - HK36 * P(0, 3) + HK37 * P(0, 0); - const float HK39 = ecl::powf(HK15, -2); - const float HK40 = -HK28 * P(4, 6) + HK28 * P(6, 22) - HK32 * P(5, 6) + HK32 * P(6, 23) + HK33 * P(6, 6) + HK34 * P(2, - 6) + HK35 * P(1, 6) - HK36 * P(3, 6) + HK37 * P(0, 6); - const float HK41 = HK32 * P(5, 23); - const float HK42 = HK28 * P(22, 23) - HK28 * P(4, 23) + HK32 * P(23, 23) + HK33 * P(6, 23) + HK34 * P(2, - 23) + HK35 * P(1, 23) - HK36 * P(3, 23) + HK37 * P(0, 23) - HK41; - const float HK43 = HK32 * HK39; - const float HK44 = HK28 * P(4, 22); - const float HK45 = HK28 * P(22, 22) + HK32 * P(22, 23) - HK32 * P(5, 22) + HK33 * P(6, 22) + HK34 * P(2, - 22) + HK35 * P(1, 22) - HK36 * P(3, 22) + HK37 * P(0, 22) - HK44; - const float HK46 = HK28 * HK39; - const float HK47 = -HK28 * P(4, 5) + HK28 * P(5, 22) - HK32 * P(5, 5) + HK33 * P(5, 6) + HK34 * P(2, 5) + HK35 * P(1, - 5) - HK36 * P(3, 5) + HK37 * P(0, 5) + HK41; - const float HK48 = -HK28 * P(4, 4) + HK32 * P(4, 23) - HK32 * P(4, 5) + HK33 * P(4, 6) + HK34 * P(2, 4) + HK35 * P(1, - 4) - HK36 * P(3, 4) + HK37 * P(0, 4) + HK44; - const float HK49 = HK28 * P(2, 22) - HK28 * P(2, 4) + HK32 * P(2, 23) - HK32 * P(2, 5) + HK33 * P(2, 6) + HK34 * P(2, - 2) + HK35 * P(1, 2) - HK36 * P(2, 3) + HK37 * P(0, 2); - const float HK50 = HK28 * P(1, 22) - HK28 * P(1, 4) + HK32 * P(1, 23) - HK32 * P(1, 5) + HK33 * P(1, 6) + HK34 * P(1, - 2) + HK35 * P(1, 1) - HK36 * P(1, 3) + HK37 * P(0, 1); - const float HK51 = HK28 * P(3, 22) - HK28 * P(3, 4) + HK32 * P(3, 23) - HK32 * P(3, 5) + HK33 * P(3, 6) + HK34 * P(2, - 3) + HK35 * P(1, 3) - HK36 * P(3, 3) + HK37 * P(0, 3); - //const float HK52 = HK16/(HK33*HK39*HK40 + HK34*HK39*HK49 + HK35*HK39*HK50 - HK36*HK39*HK51 + HK37*HK38*HK39 + HK42*HK43 - HK43*HK47 + HK45*HK46 - HK46*HK48 + R_BETA); - - // innovation variance - float _beta_innov_var = (HK33 * HK39 * HK40 + HK34 * HK39 * HK49 + HK35 * HK39 * HK50 - HK36 * HK39 * HK51 + HK37 * HK38 - * - HK39 + HK42 * HK43 - HK43 * HK47 + HK45 * HK46 - HK46 * HK48 + R_BETA); - - const float HK52 = HK16 / _beta_innov_var; - - // Observation Jacobians - SparseVector24f<0, 1, 2, 3, 4, 5, 6, 22, 23> Hfusion; - Hfusion.at<0>() = HK21 * HK22; - Hfusion.at<1>() = HK22 * HK25; - Hfusion.at<2>() = HK22 * HK26; - Hfusion.at<3>() = -HK22 * HK27; - Hfusion.at<4>() = -HK29; - Hfusion.at<5>() = HK16 * (HK18 - HK30); - Hfusion.at<6>() = HK22 * HK31; - Hfusion.at<22>() = HK29; - Hfusion.at<23>() = HK16 * HK32; - - // Calculate Kalman gains - Vector24f Kfusion; - - bool update_wind_only = false; - - if (!update_wind_only) { - - Kfusion(0) = HK38 * HK52; - Kfusion(1) = HK50 * HK52; - Kfusion(2) = HK49 * HK52; - Kfusion(3) = HK51 * HK52; - Kfusion(4) = HK48 * HK52; - Kfusion(5) = HK47 * HK52; - Kfusion(6) = HK40 * HK52; - - for (unsigned row = 7; row <= 21; row++) { - Kfusion(row) = HK52 * (HK28 * P(row, 22) - HK28 * P(4, row) + HK32 * P(row, 23) - HK32 * P(5, row) + HK33 * P(6, - row) + HK34 * P(2, row) + HK35 * P(1, row) - HK36 * P(3, row) + HK37 * P(0, row)); - } - - } - - Kfusion(22) = HK45 * HK52; - Kfusion(23) = HK42 * HK52; - - Hfusion_sympy(0) = Hfusion.at<0>(); - Hfusion_sympy(1) = Hfusion.at<1>(); - Hfusion_sympy(2) = Hfusion.at<2>(); - Hfusion_sympy(3) = Hfusion.at<3>(); - Hfusion_sympy(4) = Hfusion.at<4>(); - Hfusion_sympy(5) = Hfusion.at<5>(); - Hfusion_sympy(6) = Hfusion.at<6>(); - Hfusion_sympy(22) = Hfusion.at<22>(); - Hfusion_sympy(23) = Hfusion.at<23>(); - Kfusion_sympy = Kfusion; - } - - // Then calculate observationjacobians and Kalman gains using symforce generated equations - Vector24f Hfusion_symforce; - Vector24f Kfusion_symforce; - - { - Vector24f state_vector{}; - state_vector(0) = q0; - state_vector(1) = q1; - state_vector(2) = q2; - state_vector(3) = q3; - state_vector(4) = vn; - state_vector(5) = ve; - state_vector(6) = vd; - state_vector(22) = vwn; - state_vector(23) = vwe; - - float innov; - float innov_var; - - sym::ComputeSideslipInnovAndInnovVar(state_vector, P, R_BETA, FLT_EPSILON, &innov, &innov_var); - sym::ComputeSideslipHAndK(state_vector, P, innov_var, FLT_EPSILON, &Hfusion_symforce, &Kfusion_symforce); - } - - DiffRatioReport report = computeDiffRatioVector24f(Hfusion_sympy, Hfusion_symforce); - EXPECT_LT(report.max_diff_fraction, 1e-5f) << "Hfusion max diff fraction = " << report.max_diff_fraction << - " location index = " << report.max_row << " sympy = " << report.max_v1 << " symforce = " << report.max_v2; - - report = computeDiffRatioVector24f(Kfusion_sympy, Kfusion_symforce); - EXPECT_LT(report.max_diff_fraction, 1e-5f) << "Kfusion max diff fraction = " << report.max_diff_fraction << - " location index = " << report.max_row << " sympy = " << report.max_v1 << " symforce = " << report.max_v2; -} diff --git a/src/modules/ekf2/test/test_EKF_terrain.cpp b/src/modules/ekf2/test/test_EKF_terrain.cpp new file mode 100644 index 000000000000..5549eb8030d0 --- /dev/null +++ b/src/modules/ekf2/test/test_EKF_terrain.cpp @@ -0,0 +1,216 @@ +/**************************************************************************** + * + * Copyright (c) 2020-2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * Test the terrain estimate + */ + +#include +#include "EKF/ekf.h" +#include "sensor_simulator/sensor_simulator.h" +#include "sensor_simulator/ekf_wrapper.h" +#include "test_helper/reset_logging_checker.h" + +class EkfTerrainTest : public ::testing::Test +{ +public: + + EkfTerrainTest(): ::testing::Test(), + _ekf{std::make_shared()}, + _sensor_simulator(_ekf), + _ekf_wrapper(_ekf) {}; + + std::shared_ptr _ekf; + SensorSimulator _sensor_simulator; + EkfWrapper _ekf_wrapper; + + // Setup the Ekf with synthetic measurements + void SetUp() override + { + // run briefly to init, then manually set in air and at rest (default for a real vehicle) + _ekf->init(0); + _sensor_simulator.runSeconds(0.1); + _ekf->set_in_air_status(false); + _ekf->set_vehicle_at_rest(true); + + _sensor_simulator.runSeconds(2); + } + + // Use this method to clean up any memory, network etc. after each test + void TearDown() override + { + } + + void runFlowAndRngScenario(const float rng_height, const float flow_height) + { + _sensor_simulator.startGps(); + + _ekf->set_min_required_gps_health_time(1e6); + _ekf->set_in_air_status(false); + _ekf->set_vehicle_at_rest(true); + + _ekf_wrapper.enableGpsFusion(); + _sensor_simulator.runSeconds(1.5); // Run to pass the GPS checks + EXPECT_TRUE(_ekf_wrapper.isIntendingGpsFusion()); + + const Vector3f simulated_velocity(0.5f, -1.0f, 0.f); + + // Configure GPS simulator data + _sensor_simulator._gps.setVelocity(simulated_velocity); + _sensor_simulator._gps.setPositionRateNED(simulated_velocity); + + // Configure range finder simulator data + _sensor_simulator._rng.setData(rng_height, 100); + _sensor_simulator._rng.setLimits(0.1f, 20.f); + _sensor_simulator.startRangeFinder(); + + // Configure optical flow simulator data + flowSample flow_sample = _sensor_simulator._flow.dataAtRest(); + flow_sample.flow_rate = + Vector2f(simulated_velocity(1) / flow_height, + -simulated_velocity(0) / flow_height); + _sensor_simulator._flow.setData(flow_sample); + const float max_flow_rate = 5.f; + const float min_ground_distance = 0.f; + const float max_ground_distance = 50.f; + _ekf->set_optical_flow_limits(max_flow_rate, min_ground_distance, max_ground_distance); + _sensor_simulator.startFlow(); + + _ekf->set_in_air_status(true); + _ekf->set_vehicle_at_rest(false); + + _sensor_simulator.runSeconds(10); + } +}; + +TEST_F(EkfTerrainTest, setFlowAndRangeTerrainFusion) +{ + // GIVEN: flow and range are enabled + _ekf_wrapper.enableFlowFusion(); + _ekf_wrapper.enableRangeHeightFusion(); + + // WHEN: simulate being 5m above ground + const float simulated_distance_to_ground = 1.f; + runFlowAndRngScenario(simulated_distance_to_ground, simulated_distance_to_ground); + + // THEN: both should start terrain aiding + EXPECT_TRUE(_ekf_wrapper.isIntendingTerrainRngFusion()); + EXPECT_TRUE(_ekf_wrapper.isIntendingTerrainFlowFusion()); + const float estimated_distance_to_ground = _ekf->getHagl(); + EXPECT_NEAR(estimated_distance_to_ground, simulated_distance_to_ground, 0.02); + + // WHEN: rng fusion is disabled + _ekf_wrapper.disableRangeHeightFusion(); + _sensor_simulator.runSeconds(5.1); + + // THEN: rng fusion should be disabled and flow fusion should take over + EXPECT_FALSE(_ekf_wrapper.isIntendingTerrainRngFusion()); + EXPECT_TRUE(_ekf_wrapper.isIntendingTerrainFlowFusion()); + + // WHEN: flow is now diabled + _ekf_wrapper.disableFlowFusion(); + _sensor_simulator.runSeconds(0.2); + + // THEN: flow is now also disabled + EXPECT_FALSE(_ekf_wrapper.isIntendingTerrainRngFusion()); + EXPECT_FALSE(_ekf_wrapper.isIntendingTerrainFlowFusion()); +} + +TEST_F(EkfTerrainTest, testFlowForTerrainFusion) +{ + // GIVEN: flow for terrain enabled but not range finder + _ekf_wrapper.enableFlowFusion(); + _ekf_wrapper.disableRangeHeightFusion(); + + // WHEN: the sensors do not agree + const float rng_height = 1.f; + const float flow_height = 8.f; + runFlowAndRngScenario(rng_height, flow_height); + + // THEN: the estimator should use flow for terrain and the estimated terrain height + // should converge to the simulated height + EXPECT_FALSE(_ekf_wrapper.isIntendingTerrainRngFusion()); + EXPECT_TRUE(_ekf_wrapper.isIntendingTerrainFlowFusion()); + EXPECT_TRUE(_ekf->isTerrainEstimateValid()); + + const float estimated_distance_to_ground = _ekf->getHagl(); + EXPECT_NEAR(estimated_distance_to_ground, flow_height, 0.9f); +} + +TEST_F(EkfTerrainTest, testRngForTerrainFusion) +{ + // GIVEN: rng for terrain but not flow + _ekf_wrapper.disableFlowFusion(); + _ekf_wrapper.enableRangeHeightFusion(); + + // WHEN: the sensors do not agree + const float rng_height = 1.f; + const float flow_height = 8.f; + runFlowAndRngScenario(rng_height, flow_height); + + // THEN: the estimator should use rng for terrain and the estimated terrain height + // should converge to the simulated height + EXPECT_TRUE(_ekf_wrapper.isIntendingTerrainRngFusion()); + EXPECT_FALSE(_ekf_wrapper.isIntendingTerrainFlowFusion()); + EXPECT_TRUE(_ekf->isTerrainEstimateValid()); + + const float estimated_distance_to_ground = _ekf->getHagl(); + EXPECT_NEAR(estimated_distance_to_ground, rng_height, 0.01f); +} + +TEST_F(EkfTerrainTest, testHeightReset) +{ + // GIVEN: rng for terrain but not flow + _ekf_wrapper.disableFlowFusion(); + _ekf_wrapper.enableRangeHeightFusion(); + + const float rng_height = 1.f; + const float flow_height = 1.f; + runFlowAndRngScenario(rng_height, flow_height); + + const float estimated_distance_to_ground = _ekf->getHagl(); + + ResetLoggingChecker reset_logging_checker(_ekf); + reset_logging_checker.capturePreResetState(); + + // WHEN: the baro height is suddenly changed to trigger a height reset + const float new_baro_height = _sensor_simulator._baro.getData() + 50.f; + _sensor_simulator._baro.setData(new_baro_height); + _sensor_simulator.stopGps(); // prevent from switching to GNSS height + _sensor_simulator.runSeconds(10); + + // THEN: a height reset occurred and the estimated distance to the ground remains constant + reset_logging_checker.capturePostResetState(); + EXPECT_TRUE(reset_logging_checker.isVerticalPositionResetCounterIncreasedBy(1)); + EXPECT_NEAR(estimated_distance_to_ground, _ekf->getHagl(), 1e-3f); +} diff --git a/src/modules/ekf2/test/test_EKF_terrain_estimator.cpp b/src/modules/ekf2/test/test_EKF_terrain_estimator.cpp deleted file mode 100644 index 4220d6559f8e..000000000000 --- a/src/modules/ekf2/test/test_EKF_terrain_estimator.cpp +++ /dev/null @@ -1,184 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2020 ECL Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * Test the terrain estimator - * @author Mathieu Bresciani - */ - -#include -#include "EKF/ekf.h" -#include "sensor_simulator/sensor_simulator.h" -#include "sensor_simulator/ekf_wrapper.h" - -class EkfTerrainTest : public ::testing::Test -{ -public: - - EkfTerrainTest(): ::testing::Test(), - _ekf{std::make_shared()}, - _sensor_simulator(_ekf), - _ekf_wrapper(_ekf) {}; - - std::shared_ptr _ekf; - SensorSimulator _sensor_simulator; - EkfWrapper _ekf_wrapper; - - // Setup the Ekf with synthetic measurements - void SetUp() override - { - // run briefly to init, then manually set in air and at rest (default for a real vehicle) - _ekf->init(0); - _sensor_simulator.runSeconds(0.1); - _ekf->set_in_air_status(false); - _ekf->set_vehicle_at_rest(true); - - _sensor_simulator.runSeconds(2); - } - - // Use this method to clean up any memory, network etc. after each test - void TearDown() override - { - } - - void runFlowAndRngScenario(const float rng_height, const float flow_height) - { - _sensor_simulator.startGps(); - - _ekf->set_min_required_gps_health_time(1e6); - _ekf->set_in_air_status(false); - _ekf->set_vehicle_at_rest(true); - - _ekf_wrapper.enableGpsFusion(); - _sensor_simulator.runSeconds(2); // Run to pass the GPS checks - _sensor_simulator.runSeconds(3.5); // And a bit more to start the GPS fusion TODO: this shouldn't be necessary - EXPECT_TRUE(_ekf_wrapper.isIntendingGpsFusion()); - - const Vector3f simulated_velocity(0.5f, -1.0f, 0.f); - - // Configure GPS simulator data - _sensor_simulator._gps.setVelocity(simulated_velocity); - _sensor_simulator._gps.setPositionRateNED(simulated_velocity); - - // Configure range finder simulator data - _sensor_simulator._rng.setData(rng_height, 100); - _sensor_simulator._rng.setLimits(0.1f, 20.f); - _sensor_simulator.startRangeFinder(); - - // Configure optical flow simulator data - flowSample flow_sample = _sensor_simulator._flow.dataAtRest(); - flow_sample.flow_xy_rad = - Vector2f(simulated_velocity(1) * flow_sample.dt / flow_height, - -simulated_velocity(0) * flow_sample.dt / flow_height); - _sensor_simulator._flow.setData(flow_sample); - const float max_flow_rate = 5.f; - const float min_ground_distance = 0.f; - const float max_ground_distance = 50.f; - _ekf->set_optical_flow_limits(max_flow_rate, min_ground_distance, max_ground_distance); - _sensor_simulator.startFlow(); - - _ekf->set_in_air_status(true); - _ekf->set_vehicle_at_rest(false); - - _sensor_simulator.runSeconds(10); - } -}; - -TEST_F(EkfTerrainTest, setFlowAndRangeTerrainFusion) -{ - // WHEN: simulate being 5m above ground - const float simulated_distance_to_ground = 1.f; - runFlowAndRngScenario(simulated_distance_to_ground, simulated_distance_to_ground); - - // THEN: By default, both rng and flow aiding are active - EXPECT_TRUE(_ekf_wrapper.isIntendingTerrainRngFusion()); - EXPECT_FALSE(_ekf_wrapper.isIntendingTerrainFlowFusion()); - const float estimated_distance_to_ground = _ekf->getTerrainVertPos(); - EXPECT_NEAR(estimated_distance_to_ground, simulated_distance_to_ground, 0.01); - - // WHEN: rng fusion is disabled - _ekf_wrapper.disableTerrainRngFusion(); - _sensor_simulator.runSeconds(5.1); - - // THEN: rng fusion should be disabled and flow fusion should take over - EXPECT_FALSE(_ekf_wrapper.isIntendingTerrainRngFusion()); - EXPECT_TRUE(_ekf_wrapper.isIntendingTerrainFlowFusion()); - - // WHEN: flow is now diabled - _ekf_wrapper.disableTerrainFlowFusion(); - _sensor_simulator.runSeconds(0.2); - - // THEN: flow is now also disabled - EXPECT_FALSE(_ekf_wrapper.isIntendingTerrainRngFusion()); - EXPECT_FALSE(_ekf_wrapper.isIntendingTerrainFlowFusion()); -} - -TEST_F(EkfTerrainTest, testFlowForTerrainFusion) -{ - // GIVEN: flow for terrain enabled but not range finder - _ekf_wrapper.enableTerrainFlowFusion(); - _ekf_wrapper.disableTerrainRngFusion(); - - // WHEN: the sensors do not agree - const float rng_height = 1.f; - const float flow_height = 5.f; - runFlowAndRngScenario(rng_height, flow_height); - - // THEN: the estimator should use flow for terrain and the estimated terrain height - // should converge to the simulated height - EXPECT_FALSE(_ekf_wrapper.isIntendingTerrainRngFusion()); - EXPECT_TRUE(_ekf_wrapper.isIntendingTerrainFlowFusion()); - - const float estimated_distance_to_ground = _ekf->getTerrainVertPos(); - EXPECT_NEAR(estimated_distance_to_ground, flow_height, 0.5f); -} - -TEST_F(EkfTerrainTest, testRngForTerrainFusion) -{ - // GIVEN: rng for terrain but not flow - _ekf_wrapper.disableTerrainFlowFusion(); - _ekf_wrapper.enableTerrainRngFusion(); - - // WHEN: the sensors do not agree - const float rng_height = 1.f; - const float flow_height = 5.f; - runFlowAndRngScenario(rng_height, flow_height); - - // THEN: the estimator should use rng for terrain and the estimated terrain height - // should converge to the simulated height - EXPECT_TRUE(_ekf_wrapper.isIntendingTerrainRngFusion()); - EXPECT_FALSE(_ekf_wrapper.isIntendingTerrainFlowFusion()); - - const float estimated_distance_to_ground = _ekf->getTerrainVertPos(); - EXPECT_NEAR(estimated_distance_to_ground, rng_height, 0.01f); -} diff --git a/src/modules/ekf2/test/test_EKF_utils.cpp b/src/modules/ekf2/test/test_EKF_utils.cpp index 77a99a35d4d0..056be5ecff65 100644 --- a/src/modules/ekf2/test/test_EKF_utils.cpp +++ b/src/modules/ekf2/test/test_EKF_utils.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2019 ECL Development Team. All rights reserved. + * Copyright (c) 2019-2023 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -42,8 +42,6 @@ #include #include -#include "EKF/utils.hpp" - TEST(eclPowfTest, compareToStandardImplementation) { std::vector exponents = {-3, -2, -1, -0, 0, 1, 2, 3}; @@ -51,7 +49,7 @@ TEST(eclPowfTest, compareToStandardImplementation) for (auto const exponent : exponents) { for (auto const basis : bases) { - EXPECT_EQ(ecl::powf(basis, exponent), + EXPECT_EQ(powf(basis, exponent), std::pow(basis, static_cast(exponent))); } } diff --git a/src/modules/ekf2/test/test_EKF_withReplayData.cpp b/src/modules/ekf2/test/test_EKF_withReplayData.cpp index b9ee8cea152c..b97637440a09 100644 --- a/src/modules/ekf2/test/test_EKF_withReplayData.cpp +++ b/src/modules/ekf2/test/test_EKF_withReplayData.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2019 ECL Development Team. All rights reserved. + * Copyright (c) 2019-2023 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions diff --git a/src/modules/ekf2/test/test_EKF_yaw_estimator.cpp b/src/modules/ekf2/test/test_EKF_yaw_estimator.cpp index 518f02a23359..a49cd5c66fc1 100644 --- a/src/modules/ekf2/test/test_EKF_yaw_estimator.cpp +++ b/src/modules/ekf2/test/test_EKF_yaw_estimator.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2021 ECL Development Team. All rights reserved. + * Copyright (c) 2021-2023 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -106,10 +106,10 @@ TEST_F(EKFYawEstimatorTest, inAirYawAlignment) EXPECT_NEAR(yaw_est, yaw, tolerance_rad); EXPECT_LT(yaw_est_var, tolerance_rad); - // 2 resets: 1 after IMU+GNSS yaw alignment and 1 when starting GNSS aiding + // 1 reset when starting GNSS aiding reset_logging_checker.capturePostResetState(); - EXPECT_TRUE(reset_logging_checker.isHorizontalVelocityResetCounterIncreasedBy(2)); - EXPECT_TRUE(reset_logging_checker.isHorizontalPositionResetCounterIncreasedBy(2)); + EXPECT_TRUE(reset_logging_checker.isHorizontalVelocityResetCounterIncreasedBy(1)); + EXPECT_TRUE(reset_logging_checker.isHorizontalPositionResetCounterIncreasedBy(1)); EXPECT_TRUE(_ekf->local_position_is_valid()); EXPECT_TRUE(_ekf->global_position_is_valid()); diff --git a/src/modules/ekf2/test/test_EKF_yaw_estimator_generated.cpp b/src/modules/ekf2/test/test_EKF_yaw_estimator_generated.cpp deleted file mode 100644 index 98537b1cba85..000000000000 --- a/src/modules/ekf2/test/test_EKF_yaw_estimator_generated.cpp +++ /dev/null @@ -1,230 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2022 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -#include -#include "EKF/ekf.h" -#include "test_helper/comparison_helper.h" - -#include "../EKF/python/ekf_derivation/generated/yaw_est_compute_measurement_update.h" -#include "../EKF/python/ekf_derivation/generated/yaw_est_predict_covariance.h" - -using namespace matrix; -typedef SquareMatrix SquareMatrix3f; - -SquareMatrix3f createRandomCovarianceMatrix3f() -{ - // Create a symmetric square matrix - SquareMatrix3f P; - - for (int col = 0; col <= 2; col++) { - for (int row = 0; row <= col; row++) { - if (row == col) { - P(row, col) = randf(); - - } else { - P(col, row) = P(row, col) = 2.0f * (randf() - 0.5f); - } - } - } - - // Make it positive definite - P = P.transpose() * P; - - return P; -} - -void sympyYawEstUpdate(const SquareMatrix3f &P, float velObsVar, SquareMatrix &S_inverse, - float &S_det_inverse, Matrix &K, SquareMatrix3f &P_new) -{ - const float P00 = P(0, 0); - const float P01 = P(0, 1); - const float P02 = P(0, 2); - const float P11 = P(1, 1); - const float P12 = P(1, 2); - const float P22 = P(2, 2); - - // optimized auto generated code from SymPy script src/lib/ecl/EKF/python/ekf_derivation/main.py - const float t0 = ecl::powf(P01, 2); - const float t1 = -t0; - const float t2 = P00 * P11 + P00 * velObsVar + P11 * velObsVar + t1 + ecl::powf(velObsVar, 2); - - if (fabsf(t2) < 1e-6f) { - return; - } - - const float t3 = 1.0F / t2; - const float t4 = P11 + velObsVar; - const float t5 = P01 * t3; - const float t6 = -t5; - const float t7 = P00 + velObsVar; - const float t8 = P00 * t4 + t1; - const float t9 = t5 * velObsVar; - const float t10 = P11 * t7; - const float t11 = t1 + t10; - const float t12 = P01 * P12; - const float t13 = P02 * t4; - const float t14 = P01 * P02; - const float t15 = P12 * t7; - const float t16 = t0 * velObsVar; - const float t17 = powf(t2, -2); - const float t18 = t4 * velObsVar + t8; - const float t19 = t17 * t18; - const float t20 = t17 * (t16 + t7 * t8); - const float t21 = t0 - t10; - const float t22 = t17 * t21; - const float t23 = t14 - t15; - const float t24 = P01 * t23; - const float t25 = t12 - t13; - const float t26 = t16 - t21 * t4; - const float t27 = t17 * t26; - const float t28 = t11 + t7 * velObsVar; - const float t30 = t17 * t28; - const float t31 = P01 * t25; - const float t32 = t23 * t4 + t31; - const float t33 = t17 * t32; - const float t35 = t24 + t25 * t7; - const float t36 = t17 * t35; - - S_det_inverse = t3; - - S_inverse(0, 0) = t3 * t4; - S_inverse(0, 1) = t6; - S_inverse(1, 1) = t3 * t7; - S_inverse(1, 0) = S_inverse(0, 1); - - K(0, 0) = t3 * t8; - K(1, 0) = t9; - K(2, 0) = t3 * (-t12 + t13); - K(0, 1) = t9; - K(1, 1) = t11 * t3; - K(2, 1) = t3 * (-t14 + t15); - - P_new(0, 0) = P00 - t16 * t19 - t20 * t8; - P_new(0, 1) = P01 * (t18 * t22 - t20 * velObsVar + 1); - P_new(1, 1) = P11 - t16 * t30 + t22 * t26; - P_new(0, 2) = P02 + t19 * t24 + t20 * t25; - P_new(1, 2) = P12 + t23 * t27 + t30 * t31; - P_new(2, 2) = P22 - t23 * t33 - t25 * t36; - P_new(1, 0) = P_new(0, 1); - P_new(2, 0) = P_new(0, 2); - P_new(2, 1) = P_new(1, 2); -} - -void sympyYawEstPrediction(const Vector3f &state, const SquareMatrix3f &P, const Vector2f &d_vel, float d_vel_var, - float d_ang_var, SquareMatrix3f &P_new) -{ - const float P00 = P(0, 0); - const float P01 = P(0, 1); - const float P02 = P(0, 2); - const float P11 = P(1, 1); - const float P12 = P(1, 2); - const float P22 = P(2, 2); - const float psi = state(2); - const float dvx = d_vel(0); - const float dvy = d_vel(1); - const float dvxVar = d_vel_var; - const float dvyVar = d_vel_var; - const float dazVar = d_ang_var; - - const float S0 = cosf(psi); - const float S1 = ecl::powf(S0, 2); - const float S2 = sinf(psi); - const float S3 = ecl::powf(S2, 2); - const float S4 = S0 * dvy + S2 * dvx; - const float S5 = P02 - P22 * S4; - const float S6 = S0 * dvx - S2 * dvy; - const float S7 = S0 * S2; - const float S8 = P01 + S7 * dvxVar - S7 * dvyVar; - const float S9 = P12 + P22 * S6; - - P_new(0, 0) = P00 - P02 * S4 + S1 * dvxVar + S3 * dvyVar - S4 * S5; - P_new(0, 1) = -P12 * S4 + S5 * S6 + S8; - P_new(1, 1) = P11 + P12 * S6 + S1 * dvyVar + S3 * dvxVar + S6 * S9; - P_new(0, 2) = S5; - P_new(1, 2) = S9; - P_new(2, 2) = P22 + dazVar; -} - -TEST(YawEstimatorGenerated, SympyVsSymforceUpdate) -{ - const float R = sq(0.1f); - - SquareMatrix P = createRandomCovarianceMatrix3f(); - - SquareMatrix innov_var_inv_sympy; - float innov_var_det_inv_sympy; - SquareMatrix3f P_new_sympy; - Matrix K_sympy; - sympyYawEstUpdate(P, R, innov_var_inv_sympy, innov_var_det_inv_sympy, K_sympy, P_new_sympy); - - SquareMatrix innov_var_inv_symforce; - float innov_var_det_inv_symforce; - SquareMatrix3f P_new_symforce; - Matrix K_symforce; - sym::YawEstComputeMeasurementUpdate(P, R, FLT_EPSILON, - &innov_var_inv_symforce, - &innov_var_det_inv_symforce, &K_symforce, &P_new_symforce); - // copy upper to lower diagonal - P_new_symforce(1, 0) = P_new_symforce(0, 1); - P_new_symforce(2, 0) = P_new_symforce(0, 2); - P_new_symforce(2, 1) = P_new_symforce(1, 2); - - EXPECT_FLOAT_EQ(innov_var_det_inv_sympy, innov_var_det_inv_symforce); - EXPECT_TRUE(isEqual(P_new_sympy, P_new_symforce)); - EXPECT_TRUE(isEqual(K_sympy, K_symforce)); - EXPECT_TRUE(isEqual(innov_var_inv_sympy, innov_var_inv_symforce)); -} - -TEST(YawEstimatorGenerated, SympyVsSymforcePrediction) -{ - const float dt = 0.01f; - const Vector2f d_vel = Vector2f(0.1f, -0.5f) * dt; - const float d_vel_var = sq(2.f * dt); - const float d_ang_var = sq(0.1f * dt); - - const Vector3f state(3.f, 10.f, M_PI_F / 2.f); - - SquareMatrix P = createRandomCovarianceMatrix3f(); - SquareMatrix P_new_symforce; - - sym::YawEstPredictCovariance(state, P, d_vel, d_vel_var, d_ang_var, &P_new_symforce); - - EXPECT_GT(P_new_symforce(0, 0), P(0, 0)); - EXPECT_GT(P_new_symforce(1, 1), P(1, 1)); - EXPECT_GT(P_new_symforce(2, 2), P(2, 2)); - - SquareMatrix P_new_sympy; - sympyYawEstPrediction(state, P, d_vel, d_vel_var, d_ang_var, P_new_sympy); - - EXPECT_TRUE(isEqual(P_new_sympy, P_new_symforce)); -} diff --git a/src/modules/ekf2/test/test_EKF_yaw_fusion_generated.cpp b/src/modules/ekf2/test/test_EKF_yaw_fusion_generated.cpp index ed8bc5806880..77d1f10687d4 100644 --- a/src/modules/ekf2/test/test_EKF_yaw_fusion_generated.cpp +++ b/src/modules/ekf2/test/test_EKF_yaw_fusion_generated.cpp @@ -35,263 +35,52 @@ #include "EKF/ekf.h" #include "test_helper/comparison_helper.h" -#include "../EKF/python/ekf_derivation/generated/compute_yaw_321_innov_var_and_h.h" -#include "../EKF/python/ekf_derivation/generated/compute_yaw_321_innov_var_and_h_alternate.h" -#include "../EKF/python/ekf_derivation/generated/compute_yaw_312_innov_var_and_h.h" -#include "../EKF/python/ekf_derivation/generated/compute_yaw_312_innov_var_and_h_alternate.h" +#include "../EKF/python/ekf_derivation/generated/compute_yaw_innov_var_and_h.h" using namespace matrix; -TEST(YawFusionGenerated, singularityYawEquivalence) +Vector3f getRotVarNed(const Quatf &q, const SquareMatrixState &P) { - // GIVEN: an attitude that should give a singularity when transforming the - // rotation matrix to Euler yaw - const Quatf q(Eulerf(M_PI_F, 0.f, M_PI_F)); - - Vector24f state_vector{}; - state_vector(0) = q(0); - state_vector(1) = q(1); - state_vector(2) = q(2); - state_vector(3) = q(3); - - const float R = sq(radians(10.f)); - SquareMatrix24f P = createRandomCovarianceMatrix24f(); - - Vector24f H_a; - Vector24f H_b; - float innov_var_a; - float innov_var_b; - - // WHEN: computing the innovation variance and H using two different - // alternate forms (one is singular at pi/2 and the other one at 0) - sym::ComputeYaw321InnovVarAndH(state_vector, P, R, FLT_EPSILON, &innov_var_a, &H_a); - sym::ComputeYaw321InnovVarAndHAlternate(state_vector, P, R, FLT_EPSILON, &innov_var_b, &H_b); - - // THEN: Even at the singularity point, the result is still correct, thanks to epsilon - EXPECT_TRUE(isEqual(H_a, H_b)); - EXPECT_NEAR(innov_var_a, innov_var_b, 1e-5f); - EXPECT_TRUE(innov_var_a < 50.f && innov_var_a > R) << "innov_var = " << innov_var_a; -} - -TEST(YawFusionGenerated, gimbalLock321vs312) -{ - // GIVEN: an attitude at gimbal lock position - const Quatf q(Eulerf(0.f, -M_PI_F / 2.f, M_PI_F)); - - Vector24f state_vector{}; - state_vector(0) = q(0); - state_vector(1) = q(1); - state_vector(2) = q(2); - state_vector(3) = q(3); - - const float R = sq(radians(10.f)); - SquareMatrix24f P = createRandomCovarianceMatrix24f(); - - Vector24f H_321; - Vector24f H_312; - float innov_var_321; - float innov_var_312; - sym::ComputeYaw321InnovVarAndH(state_vector, P, R, FLT_EPSILON, &innov_var_321, &H_321); - - sym::ComputeYaw312InnovVarAndH(state_vector, P, R, FLT_EPSILON, &innov_var_312, &H_312); - - // THEN: both computation are not equivalent, 321 is undefined but 312 is valid - EXPECT_FALSE(isEqual(H_321, H_312)); - EXPECT_GT(fabsf(innov_var_321 - innov_var_312), 1e6f); - EXPECT_TRUE(innov_var_312 < 50.f && innov_var_312 > R) << "innov_var = " << innov_var_312; + constexpr auto S = State::quat_nominal; + matrix::SquareMatrix3f rot_cov_ned = P.slice(S.idx, S.idx); + return rot_cov_ned.diag(); } TEST(YawFusionGenerated, positiveVarianceAllOrientations) { const float R = sq(radians(10.f)); - SquareMatrix24f P = createRandomCovarianceMatrix24f(); + SquareMatrixState P = createRandomCovarianceMatrix(); - Vector24f H; + VectorState H; float innov_var; - // GIVEN: all orientations (90 deg steps) - for (float yaw = 0.f; yaw < 2.f * M_PI_F; yaw += M_PI_F / 2.f) { - for (float pitch = 0.f; pitch < 2.f * M_PI_F; pitch += M_PI_F / 2.f) { - for (float roll = 0.f; roll < 2.f * M_PI_F; roll += M_PI_F / 2.f) { - const Quatf q(Eulerf(roll, pitch, yaw)); - Vector24f state_vector{}; - state_vector(0) = q(0); - state_vector(1) = q(1); - state_vector(2) = q(2); - state_vector(3) = q(3); + // GIVEN: all orientations + for (float yaw = 0.f; yaw < 2.f * M_PI_F; yaw += M_PI_F / 4.f) { + for (float pitch = 0.f; pitch < 2.f * M_PI_F; pitch += M_PI_F / 4.f) { + for (float roll = 0.f; roll < 2.f * M_PI_F; roll += M_PI_F / 4.f) { + StateSample state{}; + state.quat_nominal = Eulerf(roll, pitch, yaw); - if (shouldUse321RotationSequence(Dcmf(q))) { - sym::ComputeYaw321InnovVarAndH(state_vector, P, R, FLT_EPSILON, &innov_var, &H); - - } else { - sym::ComputeYaw312InnovVarAndH(state_vector, P, R, FLT_EPSILON, &innov_var, &H); - } + sym::ComputeYawInnovVarAndH(state.vector(), P, R, &innov_var, &H); // THEN: the innovation variance must be positive and finite - EXPECT_TRUE(innov_var < 50.f && innov_var > R) + EXPECT_TRUE(innov_var < 100.f && innov_var > R) << "yaw = " << degrees(yaw) << " pitch = " << degrees(pitch) << " roll = " << degrees(roll) << " innov_var = " << innov_var; - } - } - } -} - -void sympyYaw321A(float q0, float q1, float q2, float q3, const SquareMatrix24f &P, float R_YAW, Vector24f &H) -{ - // This first comparison is for the 321 sequence option A equations that have a singularity when - // yaw is at +- 90 deg - const float SA0 = 2 * q3; - const float SA1 = 2 * q2; - const float SA2 = SA0 * q0 + SA1 * q1; - const float SA3 = powf(q0, 2) + powf(q1, 2) - powf(q2, 2) - powf(q3, 2); - const float SA4 = powf(SA3, -2); - const float SA5 = 1.0F / (powf(SA2, 2) * SA4 + 1); - const float SA6 = 1.0F / SA3; - const float SA7 = SA2 * SA4; - const float SA8 = 2 * SA7; - const float SA9 = 2 * SA6; - - float H_YAW[4]; - H_YAW[0] = SA5 * (SA0 * SA6 - SA8 * q0); - H_YAW[1] = SA5 * (SA1 * SA6 - SA8 * q1); - H_YAW[2] = SA5 * (SA1 * SA7 + SA9 * q1); - H_YAW[3] = SA5 * (SA0 * SA7 + SA9 * q0); - for (int row = 0; row < 4; row++) { - H(row) = H_YAW[row]; - } -} - -void sympyYaw321B(float q0, float q1, float q2, float q3, const SquareMatrix24f &P, float R_YAW, Vector24f &H) -{ - // This second comparison for the 321 sequence option B equations that have a singularity when - // yaw is at 0 and +-180 deg - const float SB0 = 2 * q0; - const float SB1 = 2 * q1; - const float SB2 = SB0 * q3 + SB1 * q2; - const float SB3 = powf(SB2, -2); - const float SB4 = powf(q0, 2) + powf(q1, 2) - powf(q2, 2) - powf(q3, 2); - const float SB5 = 1.0F / (SB3 * powf(SB4, 2) + 1); - const float SB6 = 1.0F / SB2; - const float SB7 = SB3 * SB4; - const float SB8 = 2 * SB7; - const float SB9 = 2 * SB6; - - float H_YAW[4]; - H_YAW[0] = -SB5 * (SB0 * SB6 - SB8 * q3); - H_YAW[1] = -SB5 * (SB1 * SB6 - SB8 * q2); - H_YAW[2] = -SB5 * (-SB1 * SB7 - SB9 * q2); - H_YAW[3] = -SB5 * (-SB0 * SB7 - SB9 * q3); - - for (int row = 0; row < 4; row++) { - H(row) = H_YAW[row]; - } -} - -void sympyYaw312A(float q0, float q1, float q2, float q3, const SquareMatrix24f &P, float R_YAW, Vector24f &H) -{ - // This first comparison is for the 312 sequence option A equations that have a singularity when - // yaw is at +- 90 deg - const float SA0 = 2 * q3; - const float SA1 = 2 * q2; - const float SA2 = SA0 * q0 - SA1 * q1; - const float SA3 = powf(q0, 2) - powf(q1, 2) + powf(q2, 2) - powf(q3, 2); - const float SA4 = powf(SA3, -2); - const float SA5 = 1.0F / (powf(SA2, 2) * SA4 + 1); - const float SA6 = 1.0F / SA3; - const float SA7 = SA2 * SA4; - const float SA8 = 2 * SA7; - const float SA9 = 2 * SA6; - - float H_YAW[4]; - H_YAW[0] = SA5 * (SA0 * SA6 - SA8 * q0); - H_YAW[1] = SA5 * (-SA1 * SA6 + SA8 * q1); - H_YAW[2] = SA5 * (-SA1 * SA7 - SA9 * q1); - H_YAW[3] = SA5 * (SA0 * SA7 + SA9 * q0); - - for (int row = 0; row < 4; row++) { - H(row) = H_YAW[row]; - } -} - -void sympyYaw312B(float q0, float q1, float q2, float q3, const SquareMatrix24f &P, float R_YAW, Vector24f &H) -{ - // This second comparison for the 312 sequence option B equations that have a singularity when - // yaw is at 0 and +-180 deg - const float SB0 = 2 * q0; - const float SB1 = 2 * q1; - const float SB2 = -SB0 * q3 + SB1 * q2; - const float SB3 = powf(SB2, -2); - const float SB4 = -powf(q0, 2) + powf(q1, 2) - powf(q2, 2) + powf(q3, 2); - const float SB5 = 1.0F / (SB3 * powf(SB4, 2) + 1); - const float SB6 = 1.0F / SB2; - const float SB7 = SB3 * SB4; - const float SB8 = 2 * SB7; - const float SB9 = 2 * SB6; - - float H_YAW[4]; - H_YAW[0] = -SB5 * (-SB0 * SB6 + SB8 * q3); - H_YAW[1] = -SB5 * (SB1 * SB6 - SB8 * q2); - H_YAW[2] = -SB5 * (-SB1 * SB7 - SB9 * q2); - H_YAW[3] = -SB5 * (SB0 * SB7 + SB9 * q3); - - for (int row = 0; row < 4; row++) { - H(row) = H_YAW[row]; - } -} - -TEST(YawFusionGenerated, SympyVsSymforce) -{ - const float R = sq(radians(10.f)); - SquareMatrix24f P = createRandomCovarianceMatrix24f(); - - Vector24f Hfusion_sympy; - Vector24f Hfusion_symforce; - float innov_var; - - // GIVEN: all orientations (90 deg steps) - for (float yaw = 0.f; yaw < 2.f * M_PI_F; yaw += M_PI_F / 2.f) { - for (float pitch = 0.f; pitch < 2.f * M_PI_F; pitch += M_PI_F / 2.f) { - for (float roll = 0.f; roll < 2.f * M_PI_F; roll += M_PI_F / 2.f) { - const Quatf q(Eulerf(roll, pitch, yaw)); - Vector24f state_vector{}; - state_vector(0) = q(0); - state_vector(1) = q(1); - state_vector(2) = q(2); - state_vector(3) = q(3); - - if (shouldUse321RotationSequence(Dcmf(q))) { - sym::ComputeYaw321InnovVarAndH(state_vector, P, R, FLT_EPSILON, &innov_var, &Hfusion_symforce); - - if (fabsf(wrap_pi(yaw)) - (M_PI_F / 2.f) > (M_PI_F / 4.f)) { - sympyYaw321A(q(0), q(1), q(2), q(3), P, R, Hfusion_sympy); - - } else { - sympyYaw321B(q(0), q(1), q(2), q(3), P, R, Hfusion_sympy); - } - - } else { - sym::ComputeYaw312InnovVarAndH(state_vector, P, R, FLT_EPSILON, &innov_var, &Hfusion_symforce); - - if (fabsf(wrap_pi(yaw)) - (M_PI_F / 2.f) > (M_PI_F / 4.f)) { - sympyYaw312A(q(0), q(1), q(2), q(3), P, R, Hfusion_sympy); - - } else { - sympyYaw312B(q(0), q(1), q(2), q(3), P, R, Hfusion_sympy); - } - } - - const DiffRatioReport report = computeDiffRatioVector24f(Hfusion_sympy, Hfusion_symforce); - EXPECT_LT(report.max_diff_fraction, 1e-5f) - << "Max diff fraction = " << report.max_diff_fraction - << " location index = " << report.max_row - << " sympy = " << report.max_v1 - << " symforce = " << report.max_v2 - << " yaw = " << degrees(yaw) + // AND: it should be the same as the "true" innovation variance obtained by summing + // the Z rotation variance in NED and the measurement variance + const float innov_var_true = getRotVarNed(state.quat_nominal, P)(2) + R; + EXPECT_NEAR(innov_var, innov_var_true, 1e-5f) + << "yaw = " << degrees(yaw) << " pitch = " << degrees(pitch) - << " roll = " << degrees(roll); + << " roll = " << degrees(roll) + << " innov_var = " << innov_var + << " innov_var_true = " << innov_var_true; + + EXPECT_TRUE(H.isAllFinite()); } } } diff --git a/src/modules/ekf2/test/test_SensorRangeFinder.cpp b/src/modules/ekf2/test/test_SensorRangeFinder.cpp index 2e10f693578b..fc515a875768 100644 --- a/src/modules/ekf2/test/test_SensorRangeFinder.cpp +++ b/src/modules/ekf2/test/test_SensorRangeFinder.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2020 ECL Development Team. All rights reserved. + * Copyright (c) 2020-2023 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -34,10 +34,10 @@ #include #include #include "EKF/common.h" -#include "EKF/sensor_range_finder.hpp" +#include "EKF/aid_sources/range_finder/sensor_range_finder.hpp" #include -using estimator::rangeSample; +using estimator::sensor::rangeSample; using matrix::Dcmf; using matrix::Eulerf; using namespace estimator::sensor; @@ -240,8 +240,16 @@ TEST_F(SensorRangeFinderTest, rangeStuck) // THEN: the data should be marked as unhealthy // because the sensor is "stuck" - EXPECT_FALSE(_range_finder.isDataHealthy()); - EXPECT_FALSE(_range_finder.isHealthy()); + if (_range_finder.isStuckDetectorEnabled()) { + EXPECT_FALSE(_range_finder.isDataHealthy()); + EXPECT_FALSE(_range_finder.isHealthy()); + + } else { + // If stuck detector is disabled then the + // data should instantly be marked as healthy + EXPECT_TRUE(_range_finder.isDataHealthy()); + EXPECT_TRUE(_range_finder.isHealthy()); + } // BUT WHEN: we continue to send samples but with changing distance for (int i = 0; i < 2; i++) { diff --git a/src/modules/ekf2/test/test_helper/CMakeLists.txt b/src/modules/ekf2/test/test_helper/CMakeLists.txt index e5ac7d9a6243..21ebcbcddcf2 100644 --- a/src/modules/ekf2/test/test_helper/CMakeLists.txt +++ b/src/modules/ekf2/test/test_helper/CMakeLists.txt @@ -1,6 +1,6 @@ ############################################################################ # -# Copyright (c) 2019 ECL Development Team. All rights reserved. +# Copyright (c) 2019-2023 PX4 Development Team. All rights reserved. # # Redistribution and use in source and binary forms, with or without # modification, are permitted provided that the following conditions @@ -12,7 +12,7 @@ # notice, this list of conditions and the following disclaimer in # the documentation and/or other materials provided with the # distribution. -# 3. Neither the name ECL nor the names of its contributors may be +# 3. Neither the name PX4 nor the names of its contributors may be # used to endorse or promote products derived from this software # without specific prior written permission. # diff --git a/src/modules/ekf2/test/test_helper/comparison_helper.cpp b/src/modules/ekf2/test/test_helper/comparison_helper.cpp index 0d8ddcd74a5a..12e3091b19d5 100644 --- a/src/modules/ekf2/test/test_helper/comparison_helper.cpp +++ b/src/modules/ekf2/test/test_helper/comparison_helper.cpp @@ -38,12 +38,12 @@ float randf() return (float)rand() / (float)RAND_MAX; } -SquareMatrix24f createRandomCovarianceMatrix24f() +SquareMatrixState createRandomCovarianceMatrix() { // Create a symmetric square matrix - SquareMatrix24f P; + SquareMatrixState P; - for (int col = 0; col <= 23; col++) { + for (int col = 0; col < State::size; col++) { for (int row = 0; row <= col; row++) { if (row == col) { P(row, col) = randf(); @@ -59,61 +59,3 @@ SquareMatrix24f createRandomCovarianceMatrix24f() return P; } - -DiffRatioReport computeDiffRatioVector24f(const Vector24f &v1, const Vector24f &v2) -{ - DiffRatioReport report = {}; - - for (int row = 0; row < 24; row++) { - float diff_fraction; - - if (fabsf(v1(row)) > FLT_EPSILON) { - diff_fraction = fabsf(v2(row) - v1(row)) / fabsf(v1(row)); - - } else if (fabsf(v2(row)) > FLT_EPSILON) { - diff_fraction = fabsf(v2(row) - v1(row)) / fabsf(v2(row)); - - } else { - diff_fraction = 0.0f; - } - - if (diff_fraction > report.max_diff_fraction) { - report.max_diff_fraction = diff_fraction; - report.max_row = row; - report.max_v1 = v1(row); - report.max_v2 = v2(row); - } - } - - return report; -} - -DiffRatioReport computeDiffRatioSquareMatrix24f(const SquareMatrix24f &m1, const SquareMatrix24f &m2) -{ - DiffRatioReport report = {}; - - for (int row = 0; row < 24; row++) { - for (int col = 0; col < 24; col++) { - float diff_fraction; - - if (fabsf(m1(row, col)) > FLT_EPSILON) { - diff_fraction = fabsf(m2(row, col) - m1(row, col)) / fabsf(m1(row, col)); - - } else if (fabsf(m2(row, col)) > FLT_EPSILON) { - diff_fraction = fabsf(m2(row, col) - m1(row, col)) / fabsf(m2(row, col)); - - } else { - diff_fraction = 0.0f; - } - - if (diff_fraction > report.max_diff_fraction) { - report.max_diff_fraction = diff_fraction; - report.max_row = row; - report.max_v1 = m1(row, col); - report.max_v2 = m2(row, col); - } - } - } - - return report; -} diff --git a/src/modules/ekf2/test/test_helper/comparison_helper.h b/src/modules/ekf2/test/test_helper/comparison_helper.h index b66b9461c906..1ff2662992ee 100644 --- a/src/modules/ekf2/test/test_helper/comparison_helper.h +++ b/src/modules/ekf2/test/test_helper/comparison_helper.h @@ -36,24 +36,11 @@ #include "EKF/ekf.h" -typedef matrix::Vector Vector24f; -typedef matrix::SquareMatrix SquareMatrix24f; -template -using SparseVector24f = matrix::SparseVectorf<24, Idxs...>; - -struct DiffRatioReport { - float max_diff_fraction; - float max_row; - float max_v1; - float max_v2; -}; +typedef matrix::Vector VectorState; +typedef matrix::SquareMatrix SquareMatrixState; float randf(); // Create a symmetrical positive dfinite matrix with off diagonals between -1 and 1 and diagonals between 0 and 1 -SquareMatrix24f createRandomCovarianceMatrix24f(); - -// Find largest element-wise difference as a fraction of v1 or v2 -DiffRatioReport computeDiffRatioVector24f(const Vector24f &v1, const Vector24f &v2); -DiffRatioReport computeDiffRatioSquareMatrix24f(const SquareMatrix24f &m1, const SquareMatrix24f &m2); +SquareMatrixState createRandomCovarianceMatrix(); #endif diff --git a/src/modules/ekf2/test/test_helper/reset_logging_checker.h b/src/modules/ekf2/test/test_helper/reset_logging_checker.h index 965a63637195..c36f288c0148 100644 --- a/src/modules/ekf2/test/test_helper/reset_logging_checker.h +++ b/src/modules/ekf2/test/test_helper/reset_logging_checker.h @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2020 ECL Development Team. All rights reserved. + * Copyright (c) 2020-2023 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions diff --git a/src/modules/flight_mode_manager/CMakeLists.txt b/src/modules/flight_mode_manager/CMakeLists.txt index bee40bbc66d3..81ff6a7a334e 100644 --- a/src/modules/flight_mode_manager/CMakeLists.txt +++ b/src/modules/flight_mode_manager/CMakeLists.txt @@ -43,6 +43,7 @@ list(APPEND flight_tasks_all Descend Failsafe ManualAcceleration + ManualAccelerationSlow ManualAltitude ManualAltitudeSmoothVel ManualPosition diff --git a/src/modules/flight_mode_manager/FlightModeManager.cpp b/src/modules/flight_mode_manager/FlightModeManager.cpp index ea23d930576f..3d7072607358 100644 --- a/src/modules/flight_mode_manager/FlightModeManager.cpp +++ b/src/modules/flight_mode_manager/FlightModeManager.cpp @@ -103,7 +103,6 @@ void FlightModeManager::Run() const float dt = math::constrain(((time_stamp_now - _time_stamp_last_loop) / 1e6f), 0.0002f, 0.1f); _time_stamp_last_loop = time_stamp_now; - _home_position_sub.update(); _vehicle_control_mode_sub.update(); _vehicle_land_detected_sub.update(); _vehicle_status_sub.update(); @@ -137,7 +136,9 @@ void FlightModeManager::updateParams() void FlightModeManager::start_flight_task() { // Do not run any flight task for VTOLs in fixed-wing mode - if (_vehicle_status_sub.get().vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING) { + if ((_vehicle_status_sub.get().vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING) + || ((_vehicle_status_sub.get().nav_state >= vehicle_status_s::NAVIGATION_STATE_EXTERNAL1) + && (_vehicle_status_sub.get().nav_state <= vehicle_status_s::NAVIGATION_STATE_EXTERNAL8))) { switchTask(FlightTaskIndex::None); return; } @@ -195,6 +196,13 @@ void FlightModeManager::start_flight_task() } } + // position slow mode + if (_vehicle_status_sub.get().nav_state == vehicle_status_s::NAVIGATION_STATE_POSITION_SLOW) { + found_some_task = true; + FlightTaskError error = switchTask(FlightTaskIndex::ManualAccelerationSlow); + task_failure = error != FlightTaskError::NoError; + } + // Manual position control if ((_vehicle_status_sub.get().nav_state == vehicle_status_s::NAVIGATION_STATE_POSCTL) || task_failure) { found_some_task = true; @@ -328,9 +336,6 @@ void FlightModeManager::generateTrajectorySetpoint(const float dt, constraints = _current_task.task->getConstraints(); } - // limit altitude according to land detector - limitAltitude(setpoint, vehicle_local_position); - if (_takeoff_status_sub.updated()) { takeoff_status_s takeoff_status; @@ -364,25 +369,6 @@ void FlightModeManager::generateTrajectorySetpoint(const float dt, _old_landing_gear_position = landing_gear.landing_gear; } -void FlightModeManager::limitAltitude(trajectory_setpoint_s &setpoint, - const vehicle_local_position_s &vehicle_local_position) -{ - if (_param_lndmc_alt_max.get() < 0.0f || !_home_position_sub.get().valid_alt - || !vehicle_local_position.z_valid || !vehicle_local_position.v_z_valid) { - // there is no altitude limitation present or the required information not available - return; - } - - // maximum altitude == minimal z-value (NED) - const float min_z = _home_position_sub.get().z + (-_param_lndmc_alt_max.get()); - - if (vehicle_local_position.z < min_z) { - // above maximum altitude, only allow downwards flight == positive vz-setpoints (NED) - setpoint.position[2] = min_z; - setpoint.velocity[2] = math::max(setpoint.velocity[2], 0.f); - } -} - FlightTaskError FlightModeManager::switchTask(FlightTaskIndex new_task_index) { // switch to the running task, nothing to do diff --git a/src/modules/flight_mode_manager/FlightModeManager.hpp b/src/modules/flight_mode_manager/FlightModeManager.hpp index 1b7dab8642fe..d066b58294d2 100644 --- a/src/modules/flight_mode_manager/FlightModeManager.hpp +++ b/src/modules/flight_mode_manager/FlightModeManager.hpp @@ -50,6 +50,7 @@ #include #include #include +#include #include #include #include @@ -90,7 +91,6 @@ class FlightModeManager : public ModuleBase, public ModulePar void start_flight_task(); void handleCommand(); void generateTrajectorySetpoint(const float dt, const vehicle_local_position_s &vehicle_local_position); - void limitAltitude(trajectory_setpoint_s &setpoint, const vehicle_local_position_s &vehicle_local_position); /** * Switch to a specific task (for normal usage) @@ -143,7 +143,6 @@ class FlightModeManager : public ModuleBase, public ModulePar uORB::Subscription _takeoff_status_sub{ORB_ID(takeoff_status)}; uORB::Subscription _vehicle_attitude_setpoint_sub{ORB_ID(vehicle_attitude_setpoint)}; uORB::Subscription _vehicle_command_sub{ORB_ID(vehicle_command)}; - uORB::SubscriptionData _home_position_sub{ORB_ID(home_position)}; uORB::SubscriptionData _vehicle_control_mode_sub{ORB_ID(vehicle_control_mode)}; uORB::SubscriptionData _vehicle_land_detected_sub{ORB_ID(vehicle_land_detected)}; uORB::SubscriptionCallbackWorkItem _vehicle_local_position_sub{this, ORB_ID(vehicle_local_position)}; @@ -155,7 +154,6 @@ class FlightModeManager : public ModuleBase, public ModulePar uORB::Publication _vehicle_constraints_pub{ORB_ID(vehicle_constraints)}; DEFINE_PARAMETERS( - (ParamFloat) _param_lndmc_alt_max, (ParamInt) _param_mpc_pos_mode ); }; diff --git a/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp b/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp index 6c34aae7a363..b2bb5632b7bf 100644 --- a/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp +++ b/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp @@ -170,7 +170,8 @@ bool FlightTaskAuto::update() waypoints[2] = _position_setpoint; } - const bool should_wait_for_yaw_align = _param_mpc_yaw_mode.get() == 4 && !_yaw_sp_aligned; + const bool should_wait_for_yaw_align = _param_mpc_yaw_mode.get() == int32_t(yaw_mode::towards_waypoint_yaw_first) + && !_yaw_sp_aligned; const bool force_zero_velocity_setpoint = should_wait_for_yaw_align || _is_emergency_braking_active; _updateTrajConstraints(); PositionSmoothing::PositionSmoothingSetpoints smoothed_setpoints; @@ -221,8 +222,7 @@ void FlightTaskAuto::rcHelpModifyYaw(float &yaw_sp) { // Only set a yawrate setpoint if weather vane is not active or the yaw stick is out of its dead-zone if (!_weathervane.isActive() || fabsf(_sticks.getYawExpo()) > FLT_EPSILON) { - _stick_yaw.generateYawSetpoint(_yawspeed_setpoint, yaw_sp, _sticks.getYawExpo(), _yaw, _is_yaw_good_for_control, - _deltatime); + _stick_yaw.generateYawSetpoint(_yawspeed_setpoint, yaw_sp, _sticks.getYawExpo(), _yaw, _deltatime); // Hack to make sure the MPC_YAW_MODE 4 alignment doesn't stop the vehicle from descending when there's yaw input _yaw_sp_aligned = true; @@ -282,6 +282,12 @@ void FlightTaskAuto::_prepareLandSetpoints() sticks_xy.setZero(); } + // If ground distance estimate valid (distance sensor) during nudging then limit horizontal speed + if (PX4_ISFINITE(_dist_to_bottom)) { + // Below 50cm no horizontal speed, above allow per meter altitude 0.5m/s speed + max_speed = math::max(0.f, math::min(max_speed, (_dist_to_bottom - .5f) * .5f)); + } + _stick_acceleration_xy.setVelocityConstraint(max_speed); _stick_acceleration_xy.generateSetpoints(sticks_xy, _yaw, _land_heading, _position, _velocity_setpoint_feedback.xy(), _deltatime); @@ -446,7 +452,7 @@ bool FlightTaskAuto::_evaluateTriplets() _triplet_prev_wp(2) = -(_sub_triplet_setpoint.get().previous.alt - _reference_altitude); } else { - _triplet_prev_wp = _position; + _triplet_prev_wp = _triplet_target; } _prev_was_valid = _sub_triplet_setpoint.get().previous.valid; @@ -467,7 +473,7 @@ bool FlightTaskAuto::_evaluateTriplets() } // activation/deactivation of weather vane is based on parameter WV_EN and setting of navigator (allow_weather_vane) - _weathervane.setNavigatorForceDisabled(_sub_triplet_setpoint.get().current.disable_weather_vane); + _weathervane.setNavigatorForceDisabled(PX4_ISFINITE(_sub_triplet_setpoint.get().current.yaw)); // Calculate the current vehicle state and check if it has updated. State previous_state = _current_state; @@ -482,7 +488,7 @@ bool FlightTaskAuto::_evaluateTriplets() _obstacle_avoidance.updateAvoidanceDesiredWaypoints(_triplet_target, _yaw_setpoint, _yawspeed_setpoint, _triplet_next_wp, _sub_triplet_setpoint.get().next.yaw, - _sub_triplet_setpoint.get().next.yawspeed_valid ? _sub_triplet_setpoint.get().next.yawspeed : (float)NAN, + (float)NAN, _weathervane.isActive(), _sub_triplet_setpoint.get().current.type); _obstacle_avoidance.checkAvoidanceProgress( _position, _triplet_prev_wp, _target_acceptance_radius, Vector2f(_closest_pt)); @@ -510,13 +516,7 @@ bool FlightTaskAuto::_evaluateTriplets() _yaw_setpoint = NAN; _yawspeed_setpoint = 0.f; - } else if ((_type != WaypointType::takeoff || _sub_triplet_setpoint.get().current.disable_weather_vane) - && _sub_triplet_setpoint.get().current.yaw_valid) { - // Use the yaw computed in Navigator except during takeoff because - // Navigator is not handling the yaw reset properly. - // But: use if from Navigator during takeoff if disable_weather_vane is true, - // because we're then aligning to the transition waypoint. - // TODO: fix in navigator + } else if (PX4_ISFINITE(_sub_triplet_setpoint.get().current.yaw)) { _yaw_setpoint = _sub_triplet_setpoint.get().current.yaw; _yawspeed_setpoint = NAN; @@ -533,32 +533,37 @@ void FlightTaskAuto::_set_heading_from_mode() Vector2f v; // Vector that points towards desired location - switch (_param_mpc_yaw_mode.get()) { + switch (yaw_mode(_param_mpc_yaw_mode.get())) { - case 0: // Heading points towards the current waypoint. - case 4: // Same as 0 but yaw first and then go + case yaw_mode::towards_waypoint: // Heading points towards the current waypoint. + case yaw_mode::towards_waypoint_yaw_first: // Same as 0 but yaw first and then go v = Vector2f(_target) - Vector2f(_position); break; - case 1: // Heading points towards home. + case yaw_mode::towards_home: // Heading points towards home. if (_sub_home_position.get().valid_lpos) { v = Vector2f(&_sub_home_position.get().x) - Vector2f(_position); } break; - case 2: // Heading point away from home. + case yaw_mode::away_from_home: // Heading point away from home. if (_sub_home_position.get().valid_lpos) { v = Vector2f(_position) - Vector2f(&_sub_home_position.get().x); } break; - case 3: // Along trajectory. + case yaw_mode::along_trajectory: // Along trajectory. // The heading depends on the kind of setpoint generation. This needs to be implemented // in the subclasses where the velocity setpoints are generated. v.setAll(NAN); break; + + case yaw_mode::yaw_fixed: // Yaw fixed. + // Yaw is operated via manual control or MAVLINK messages. + break; + } if (v.isAllFinite()) { @@ -627,25 +632,27 @@ bool FlightTaskAuto::_evaluateGlobalReference() State FlightTaskAuto::_getCurrentState() { // Calculate the vehicle current state based on the Navigator triplets and the current position. - const Vector2f u_prev_to_target_xy = Vector2f(_triplet_target - _triplet_prev_wp).unit_or_zero(); - const Vector2f pos_to_target_xy = Vector2f(_triplet_target - _position); - const Vector2f prev_to_pos_xy = Vector2f(_position - _triplet_prev_wp); + const Vector3f u_prev_to_target = (_triplet_target - _triplet_prev_wp).unit_or_zero(); + const Vector3f prev_to_pos = _position - _triplet_prev_wp; + const Vector3f pos_to_target = _triplet_target - _position; // Calculate the closest point to the vehicle position on the line prev_wp - target - const Vector2f closest_pt_xy = Vector2f(_triplet_prev_wp) + u_prev_to_target_xy * (prev_to_pos_xy * - u_prev_to_target_xy); - _closest_pt = Vector3f(closest_pt_xy(0), closest_pt_xy(1), _triplet_target(2)); + _closest_pt = _triplet_prev_wp + u_prev_to_target * (prev_to_pos * u_prev_to_target); State return_state = State::none; - if (u_prev_to_target_xy * pos_to_target_xy < 0.0f) { + if (!u_prev_to_target.longerThan(FLT_EPSILON)) { + // Previous and target are the same point, so we better don't try to do any special line following + return_state = State::none; + + } else if (u_prev_to_target * pos_to_target < 0.0f) { // Target is behind return_state = State::target_behind; - } else if (u_prev_to_target_xy * prev_to_pos_xy < 0.0f && prev_to_pos_xy.longerThan(_target_acceptance_radius)) { + } else if (u_prev_to_target * prev_to_pos < 0.0f && prev_to_pos.longerThan(_target_acceptance_radius)) { // Previous is in front return_state = State::previous_infront; - } else if (Vector2f(_position - _closest_pt).longerThan(_target_acceptance_radius)) { + } else if ((_position - _closest_pt).longerThan(_target_acceptance_radius)) { // Vehicle too far from the track return_state = State::offtrack; @@ -801,14 +808,13 @@ void FlightTaskAuto::_updateTrajConstraints() // Update the constraints of the trajectories _position_smoothing.setMaxAccelerationXY(_param_mpc_acc_hor.get()); // TODO : Should be computed using heading _position_smoothing.setMaxVelocityXY(_param_mpc_xy_vel_max.get()); - float max_jerk = _param_mpc_jerk_auto.get(); - _position_smoothing.setMaxJerk({max_jerk, max_jerk, max_jerk}); // TODO : Should be computed using heading + _position_smoothing.setMaxJerk(_param_mpc_jerk_auto.get()); // TODO : Should be computed using heading if (_is_emergency_braking_active) { // When initializing with large velocity, allow 1g of // acceleration in 1s on all axes for fast braking - _position_smoothing.setMaxAcceleration({9.81f, 9.81f, 9.81f}); - _position_smoothing.setMaxJerk({9.81f, 9.81f, 9.81f}); + _position_smoothing.setMaxAcceleration({CONSTANTS_ONE_G, CONSTANTS_ONE_G, CONSTANTS_ONE_G}); + _position_smoothing.setMaxJerk(CONSTANTS_ONE_G); // If the current velocity is beyond the usual constraints, tell // the controller to exceptionally increase its saturations to avoid diff --git a/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.hpp b/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.hpp index fc671cd5e5d6..90a98cac23ad 100644 --- a/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.hpp +++ b/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.hpp @@ -81,6 +81,15 @@ enum class State { none /**< Vehicle is in normal tracking mode from triplet previous to triplet target */ }; +enum class yaw_mode : int32_t { + towards_waypoint = 0, + towards_home = 1, + away_from_home = 2, + along_trajectory = 3, + towards_waypoint_yaw_first = 4, + yaw_fixed = 5, +}; + class FlightTaskAuto : public FlightTask { public: diff --git a/src/modules/flight_mode_manager/tasks/AutoFollowTarget/FlightTaskAutoFollowTarget.hpp b/src/modules/flight_mode_manager/tasks/AutoFollowTarget/FlightTaskAutoFollowTarget.hpp index 23f4fdd0b771..1eb4ba855711 100644 --- a/src/modules/flight_mode_manager/tasks/AutoFollowTarget/FlightTaskAutoFollowTarget.hpp +++ b/src/modules/flight_mode_manager/tasks/AutoFollowTarget/FlightTaskAutoFollowTarget.hpp @@ -57,7 +57,6 @@ #include #include -#include #include // << Follow Target Behavior related constants >> diff --git a/src/modules/flight_mode_manager/tasks/Descend/FlightTaskDescend.cpp b/src/modules/flight_mode_manager/tasks/Descend/FlightTaskDescend.cpp index 3ebc78358137..85ba49ea0bf2 100644 --- a/src/modules/flight_mode_manager/tasks/Descend/FlightTaskDescend.cpp +++ b/src/modules/flight_mode_manager/tasks/Descend/FlightTaskDescend.cpp @@ -60,8 +60,7 @@ bool FlightTaskDescend::update() // Nudging if (_param_mpc_land_rc_help.get() && _sticks.checkAndUpdateStickInputs()) { - _stick_yaw.generateYawSetpoint(_yawspeed_setpoint, _yaw_setpoint, _sticks.getYawExpo(), _yaw, - _is_yaw_good_for_control, _deltatime); + _stick_yaw.generateYawSetpoint(_yawspeed_setpoint, _yaw_setpoint, _sticks.getYawExpo(), _yaw, _deltatime); _acceleration_setpoint.xy() = _stick_tilt_xy.generateAccelerationSetpoints(_sticks.getPitchRoll(), _deltatime, _yaw, _yaw_setpoint); diff --git a/src/modules/flight_mode_manager/tasks/FlightTask/FlightTask.cpp b/src/modules/flight_mode_manager/tasks/FlightTask/FlightTask.cpp index c4b964904637..55b587d270d9 100644 --- a/src/modules/flight_mode_manager/tasks/FlightTask/FlightTask.cpp +++ b/src/modules/flight_mode_manager/tasks/FlightTask/FlightTask.cpp @@ -63,6 +63,11 @@ void FlightTask::_checkEkfResetCounters() _reset_counters.z = _sub_vehicle_local_position.get().z_reset_counter; } + if (_sub_vehicle_local_position.get().dist_bottom_reset_counter != _reset_counters.hagl) { + _ekfResetHandlerHagl(_sub_vehicle_local_position.get().delta_dist_bottom); + _reset_counters.hagl = _sub_vehicle_local_position.get().dist_bottom_reset_counter; + } + if (_sub_vehicle_local_position.get().vz_reset_counter != _reset_counters.vz) { _ekfResetHandlerVelocityZ(_sub_vehicle_local_position.get().delta_vz); _reset_counters.vz = _sub_vehicle_local_position.get().vz_reset_counter; @@ -112,6 +117,7 @@ void FlightTask::_evaluateVehicleLocalPosition() // yaw _yaw = _sub_vehicle_local_position.get().heading; + _unaided_yaw = _sub_vehicle_local_position.get().unaided_heading; _is_yaw_good_for_control = _sub_vehicle_local_position.get().heading_good_for_control; // position @@ -137,7 +143,7 @@ void FlightTask::_evaluateVehicleLocalPosition() // distance to bottom if (_sub_vehicle_local_position.get().dist_bottom_valid && PX4_ISFINITE(_sub_vehicle_local_position.get().dist_bottom)) { - _dist_to_bottom = _sub_vehicle_local_position.get().dist_bottom; + _dist_to_bottom = _sub_vehicle_local_position.get().dist_bottom; } // global frame reference coordinates to enable conversions diff --git a/src/modules/flight_mode_manager/tasks/FlightTask/FlightTask.hpp b/src/modules/flight_mode_manager/tasks/FlightTask/FlightTask.hpp index 1df5351fb4b8..6ee861f3cda1 100644 --- a/src/modules/flight_mode_manager/tasks/FlightTask/FlightTask.hpp +++ b/src/modules/flight_mode_manager/tasks/FlightTask/FlightTask.hpp @@ -52,7 +52,6 @@ #include #include #include -#include #include #include @@ -62,6 +61,7 @@ struct ekf_reset_counters_s { uint8_t z; uint8_t vz; uint8_t heading; + uint8_t hagl; }; class FlightTask : public ModuleParams @@ -133,19 +133,12 @@ class FlightTask : public ModuleParams const landing_gear_s &getGear() { return _gear; } /** - * Get avoidance desired waypoint - * @return desired waypoints - */ - const vehicle_trajectory_waypoint_s &getAvoidanceWaypoint() { return _desired_waypoint; } - - /** - * All setpoints are set to NAN (uncontrolled). Timestampt zero. + * All setpoints are set to NAN (uncontrolled), timestamp to zero */ static const trajectory_setpoint_s empty_trajectory_setpoint; /** - * Empty constraints. - * All constraints are set to NAN. + * All constraints are set to NAN, timestamp to zero */ static const vehicle_constraints_s empty_constraints; @@ -199,6 +192,7 @@ class FlightTask : public ModuleParams virtual void _ekfResetHandlerPositionXY(const matrix::Vector2f &delta_xy) {}; virtual void _ekfResetHandlerVelocityXY(const matrix::Vector2f &delta_vxy) {}; virtual void _ekfResetHandlerPositionZ(float delta_z) {}; + virtual void _ekfResetHandlerHagl(float delta_hagl) {}; virtual void _ekfResetHandlerVelocityZ(float delta_vz) {}; virtual void _ekfResetHandlerHeading(float delta_psi) {}; @@ -219,6 +213,7 @@ class FlightTask : public ModuleParams matrix::Vector3f _velocity; /**< current vehicle velocity */ float _yaw{}; /**< current vehicle yaw heading */ + float _unaided_yaw{}; bool _is_yaw_good_for_control{}; /**< true if the yaw estimate can be used for yaw control */ float _dist_to_bottom{}; /**< current height above ground level if dist_bottom is valid */ float _dist_to_ground{}; /**< equals _dist_to_bottom if available, height above home otherwise */ @@ -251,12 +246,6 @@ class FlightTask : public ModuleParams landing_gear_s _gear{}; - /** - * Desired waypoints. - * Goals set by the FCU to be sent to the obstacle avoidance system. - */ - vehicle_trajectory_waypoint_s _desired_waypoint{}; - DEFINE_PARAMETERS_CUSTOM_PARENT(ModuleParams, (ParamFloat) _param_mpc_xy_vel_max, (ParamFloat) _param_mpc_z_vel_max_dn, diff --git a/src/modules/flight_mode_manager/tasks/ManualAcceleration/FlightTaskManualAcceleration.cpp b/src/modules/flight_mode_manager/tasks/ManualAcceleration/FlightTaskManualAcceleration.cpp index 219868f64b11..a1ea2b6b8050 100644 --- a/src/modules/flight_mode_manager/tasks/ManualAcceleration/FlightTaskManualAcceleration.cpp +++ b/src/modules/flight_mode_manager/tasks/ManualAcceleration/FlightTaskManualAcceleration.cpp @@ -61,9 +61,6 @@ bool FlightTaskManualAcceleration::update() { bool ret = FlightTaskManualAltitudeSmoothVel::update(); - _stick_yaw.generateYawSetpoint(_yawspeed_setpoint, _yaw_setpoint, _sticks.getYawExpo(), _yaw, _is_yaw_good_for_control, - _deltatime); - _stick_acceleration_xy.generateSetpoints(_sticks.getPitchRollExpo(), _yaw, _yaw_setpoint, _position, _velocity_setpoint_feedback.xy(), _deltatime); _stick_acceleration_xy.getSetpoints(_position_setpoint, _velocity_setpoint, _acceleration_setpoint); diff --git a/src/modules/flight_mode_manager/tasks/ManualAcceleration/FlightTaskManualAcceleration.hpp b/src/modules/flight_mode_manager/tasks/ManualAcceleration/FlightTaskManualAcceleration.hpp index d88f2d0bd676..0ae3d35bb63a 100644 --- a/src/modules/flight_mode_manager/tasks/ManualAcceleration/FlightTaskManualAcceleration.hpp +++ b/src/modules/flight_mode_manager/tasks/ManualAcceleration/FlightTaskManualAcceleration.hpp @@ -31,13 +31,6 @@ * ****************************************************************************/ -/** - * @file FlightTaskManualPosition.hpp - * - * Flight task for manual position controlled mode. - * - */ - #pragma once #include "FlightTaskManualAltitudeSmoothVel.hpp" @@ -53,12 +46,10 @@ class FlightTaskManualAcceleration : public FlightTaskManualAltitudeSmoothVel bool activate(const trajectory_setpoint_s &last_setpoint) override; bool update() override; -private: +protected: void _ekfResetHandlerPositionXY(const matrix::Vector2f &delta_xy) override; void _ekfResetHandlerVelocityXY(const matrix::Vector2f &delta_vxy) override; StickAccelerationXY _stick_acceleration_xy{this}; - StickYaw _stick_yaw{this}; - WeatherVane _weathervane{this}; /**< weathervane library, used to implement a yaw control law that turns the vehicle nose into the wind */ }; diff --git a/src/modules/flight_mode_manager/tasks/ManualAccelerationSlow/CMakeLists.txt b/src/modules/flight_mode_manager/tasks/ManualAccelerationSlow/CMakeLists.txt new file mode 100644 index 000000000000..b4107f21d4d3 --- /dev/null +++ b/src/modules/flight_mode_manager/tasks/ManualAccelerationSlow/CMakeLists.txt @@ -0,0 +1,39 @@ +############################################################################ +# +# Copyright (c) 2023 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +px4_add_library(FlightTaskManualAccelerationSlow + FlightTaskManualAccelerationSlow.cpp +) +target_include_directories(FlightTaskManualAccelerationSlow PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}) + +target_link_libraries(FlightTaskManualAccelerationSlow PUBLIC FlightTaskManualAcceleration FlightTaskUtility) diff --git a/src/modules/flight_mode_manager/tasks/ManualAccelerationSlow/FlightTaskManualAccelerationSlow.cpp b/src/modules/flight_mode_manager/tasks/ManualAccelerationSlow/FlightTaskManualAccelerationSlow.cpp new file mode 100644 index 000000000000..7b1c24f1ddbe --- /dev/null +++ b/src/modules/flight_mode_manager/tasks/ManualAccelerationSlow/FlightTaskManualAccelerationSlow.cpp @@ -0,0 +1,138 @@ +/**************************************************************************** + * + * Copyright (c) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file FlightTaskManualAccelerationSlow.cpp + */ + +#include "FlightTaskManualAccelerationSlow.hpp" +#include + +using namespace time_literals; + +bool FlightTaskManualAccelerationSlow::update() +{ + // Used to apply a configured default slowdown if neither MAVLink nor remote knob commands limits + bool velocity_horizontal_limited = false; + bool velocity_vertical_limited = false; + bool yaw_rate_limited = false; + + // Limits which can only slow down from the nominal configuration we initialize with here + // This is ensured by the executing classes + float velocity_horizontal = _param_mpc_vel_manual.get(); + float velocity_up = _param_mpc_z_vel_max_up.get(); + float velocity_down = _param_mpc_z_vel_max_dn.get(); + float yaw_rate = math::radians(_param_mpc_man_y_max.get()); + + // MAVLink commanded limits + if (_velocity_limits_sub.update(&_velocity_limits)) { + _velocity_limits_received_before = true; + } + + if (_velocity_limits_received_before) { + // message received once since mode was started + if (PX4_ISFINITE(_velocity_limits.horizontal_velocity)) { + velocity_horizontal = fmaxf(_velocity_limits.horizontal_velocity, _param_mc_slow_min_hvel.get()); + velocity_horizontal_limited = true; + } + + if (PX4_ISFINITE(_velocity_limits.vertical_velocity)) { + velocity_up = velocity_down = fmaxf(_velocity_limits.vertical_velocity, _param_mc_slow_min_vvel.get()); + velocity_vertical_limited = true; + } + + if (PX4_ISFINITE(_velocity_limits.yaw_rate)) { + yaw_rate = fmaxf(_velocity_limits.yaw_rate, math::radians(_param_mc_slow_min_yawr.get())); + yaw_rate_limited = true; + } + } + + // Remote knob commanded limits + if (_param_mc_slow_map_hvel.get() != 0) { + const float min_horizontal_velocity_scale = _param_mc_slow_min_hvel.get() / fmaxf(velocity_horizontal, FLT_EPSILON); + const float aux_input = getInputFromSanitizedAuxParameterIndex(_param_mc_slow_map_hvel.get()); + const float aux_based_scale = + math::interpolate(aux_input, -1.f, 1.f, min_horizontal_velocity_scale, 1.f); + velocity_horizontal *= aux_based_scale; + velocity_horizontal_limited = true; + } + + if (_param_mc_slow_map_vvel.get() != 0) { + const float min_up_speed_scale = _param_mc_slow_min_vvel.get() / fmaxf(velocity_up, FLT_EPSILON); + const float min_down_speed_scale = _param_mc_slow_min_vvel.get() / fmaxf(velocity_down, FLT_EPSILON); + const float aux_input = getInputFromSanitizedAuxParameterIndex(_param_mc_slow_map_vvel.get()); + const float up_aux_based_scale = + math::interpolate(aux_input, -1.f, 1.f, min_up_speed_scale, 1.f); + const float down_aux_based_scale = + math::interpolate(aux_input, -1.f, 1.f, min_down_speed_scale, 1.f); + velocity_up *= up_aux_based_scale; + velocity_down *= down_aux_based_scale; + velocity_vertical_limited = true; + } + + if (_param_mc_slow_map_yawr.get() != 0) { + const float min_yaw_rate_scale = math::radians(_param_mc_slow_min_yawr.get()) / fmaxf(yaw_rate, FLT_EPSILON); + const float aux_input = getInputFromSanitizedAuxParameterIndex(_param_mc_slow_map_yawr.get()); + const float aux_based_scale = + math::interpolate(aux_input, -1.f, 1.f, min_yaw_rate_scale, 1.f); + yaw_rate *= aux_based_scale; + yaw_rate_limited = true; + } + + // No input from remote and MAVLink -> use default slow mode limits + if (!velocity_horizontal_limited) { + velocity_horizontal = _param_mc_slow_def_hvel.get(); + } + + if (!velocity_vertical_limited) { + velocity_up = velocity_down = _param_mc_slow_def_vvel.get(); + } + + if (!yaw_rate_limited) { + yaw_rate = math::radians(_param_mc_slow_def_yawr.get()); + } + + // Interface to set resulting velocity limits + FlightTaskManualAcceleration::_stick_acceleration_xy.setVelocityConstraint(velocity_horizontal); + FlightTaskManualAltitude::_velocity_constraint_up = velocity_up; + FlightTaskManualAltitude::_velocity_constraint_down = velocity_down; + FlightTaskManualAcceleration::_stick_yaw.setYawspeedConstraint(yaw_rate); + + return FlightTaskManualAcceleration::update(); +} + +float FlightTaskManualAccelerationSlow::getInputFromSanitizedAuxParameterIndex(int parameter_value) +{ + const int sanitized_index = math::constrain(parameter_value - 1, 0, 5); + return _sticks.getAux()(sanitized_index); +} diff --git a/src/modules/flight_mode_manager/tasks/ManualAccelerationSlow/FlightTaskManualAccelerationSlow.hpp b/src/modules/flight_mode_manager/tasks/ManualAccelerationSlow/FlightTaskManualAccelerationSlow.hpp new file mode 100644 index 000000000000..b54d9b765d23 --- /dev/null +++ b/src/modules/flight_mode_manager/tasks/ManualAccelerationSlow/FlightTaskManualAccelerationSlow.hpp @@ -0,0 +1,88 @@ +/**************************************************************************** + * + * Copyright (c) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file FlightTaskManualAccelerationSlow.hpp + * + * Flight task for manual position mode with knobs for slower velocity and acceleration. + * + */ + +#pragma once + +#include "FlightTaskManualAcceleration.hpp" +#include "StickAccelerationXY.hpp" + +#include +#include +#include +#include +#include + +class FlightTaskManualAccelerationSlow : public FlightTaskManualAcceleration +{ +public: + FlightTaskManualAccelerationSlow() = default; + ~FlightTaskManualAccelerationSlow() = default; + bool update() override; + +private: + + /** + * Get the input from a sanitized parameter aux index + * @param parameter_value value of the parameter that specifies the AUX channel index to use + * @return input from that AUX channel [-1,1] + */ + float getInputFromSanitizedAuxParameterIndex(int parameter_value); + + bool _velocity_limits_received_before{false}; + + uORB::Subscription _velocity_limits_sub{ORB_ID(velocity_limits)}; + velocity_limits_s _velocity_limits{}; + + DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTaskManualAcceleration, + (ParamInt) _param_mc_slow_map_hvel, + (ParamInt) _param_mc_slow_map_vvel, + (ParamInt) _param_mc_slow_map_yawr, + (ParamFloat) _param_mc_slow_min_hvel, + (ParamFloat) _param_mc_slow_min_vvel, + (ParamFloat) _param_mc_slow_min_yawr, + (ParamFloat) _param_mc_slow_def_hvel, + (ParamFloat) _param_mc_slow_def_vvel, + (ParamFloat) _param_mc_slow_def_yawr, + (ParamFloat) _param_mpc_vel_manual, + (ParamFloat) _param_mpc_z_vel_max_up, + (ParamFloat) _param_mpc_z_vel_max_dn, + (ParamFloat) _param_mpc_man_y_max + ) +}; diff --git a/src/modules/flight_mode_manager/tasks/ManualAccelerationSlow/flight_task_acceleration_slow_params.c b/src/modules/flight_mode_manager/tasks/ManualAccelerationSlow/flight_task_acceleration_slow_params.c new file mode 100644 index 000000000000..4c643d87d876 --- /dev/null +++ b/src/modules/flight_mode_manager/tasks/ManualAccelerationSlow/flight_task_acceleration_slow_params.c @@ -0,0 +1,158 @@ +/**************************************************************************** + * + * Copyright (c) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * Manual input mapped to scale horizontal velocity in position slow mode + * + * @value 0 No rescaling + * @value 1 AUX1 + * @value 2 AUX2 + * @value 3 AUX3 + * @value 4 AUX4 + * @value 5 AUX5 + * @value 6 AUX6 + * @group Multicopter Position Slow Mode + */ +PARAM_DEFINE_INT32(MC_SLOW_MAP_HVEL, 0); + +/** + * Manual input mapped to scale vertical velocity in position slow mode + * + * @value 0 No rescaling + * @value 1 AUX1 + * @value 2 AUX2 + * @value 3 AUX3 + * @value 4 AUX4 + * @value 5 AUX5 + * @value 6 AUX6 + * @group Multicopter Position Slow Mode + */ +PARAM_DEFINE_INT32(MC_SLOW_MAP_VVEL, 0); + +/** + * Manual input mapped to scale yaw rate in position slow mode + * + * @value 0 No rescaling + * @value 1 AUX1 + * @value 2 AUX2 + * @value 3 AUX3 + * @value 4 AUX4 + * @value 5 AUX5 + * @value 6 AUX6 + * @group Multicopter Position Slow Mode + */ +PARAM_DEFINE_INT32(MC_SLOW_MAP_YAWR, 0); + +/** + * Horizontal velocity lower limit + * + * The lowest input maps and is clamped to this velocity. + * + * @unit m/s + * @min 0.1 + * @increment 0.1 + * @decimal 2 + * @group Multicopter Position Slow Mode + */ +PARAM_DEFINE_FLOAT(MC_SLOW_MIN_HVEL, .3f); + +/** + * Vertical velocity lower limit + * + * The lowest input maps and is clamped to this velocity. + * + * @unit m/s + * @min 0.1 + * @increment 0.1 + * @decimal 2 + * @group Multicopter Position Slow Mode + */ +PARAM_DEFINE_FLOAT(MC_SLOW_MIN_VVEL, .3f); + +/** + * Yaw rate lower limit + * + * The lowest input maps and is clamped to this rate. + * + * @unit deg/s + * @min 1 + * @increment 0.1 + * @decimal 0 + * @group Multicopter Position Slow Mode + */ +PARAM_DEFINE_FLOAT(MC_SLOW_MIN_YAWR, 3.f); + +/** + * Default horizontal velocity limit + * + * This value is used in slow mode if + * no aux channel is mapped and + * no limit is commanded through MAVLink. + * + * @unit m/s + * @min 0.1 + * @increment 0.1 + * @decimal 2 + * @group Multicopter Position Slow Mode + */ +PARAM_DEFINE_FLOAT(MC_SLOW_DEF_HVEL, 3.f); + +/** + * Default vertical velocity limit + * + * This value is used in slow mode if + * no aux channel is mapped and + * no limit is commanded through MAVLink. + * + * @unit m/s + * @min 0.1 + * @increment 0.1 + * @decimal 2 + * @group Multicopter Position Slow Mode + */ +PARAM_DEFINE_FLOAT(MC_SLOW_DEF_VVEL, 1.f); + +/** + * Default yaw rate limit + * + * This value is used in slow mode if + * no aux channel is mapped and + * no limit is commanded through MAVLink. + * + * @unit deg/s + * @min 1 + * @increment 0.1 + * @decimal 0 + * @group Multicopter Position Slow Mode + */ +PARAM_DEFINE_FLOAT(MC_SLOW_DEF_YAWR, 45.f); diff --git a/src/modules/flight_mode_manager/tasks/ManualAltitude/FlightTaskManualAltitude.cpp b/src/modules/flight_mode_manager/tasks/ManualAltitude/FlightTaskManualAltitude.cpp index 90d5dccb1feb..22eb458c81e2 100644 --- a/src/modules/flight_mode_manager/tasks/ManualAltitude/FlightTaskManualAltitude.cpp +++ b/src/modules/flight_mode_manager/tasks/ManualAltitude/FlightTaskManualAltitude.cpp @@ -64,6 +64,7 @@ bool FlightTaskManualAltitude::activate(const trajectory_setpoint_s &last_setpoi _acceleration_setpoint = Vector3f(0.f, 0.f, NAN); // altitude is controlled from position/velocity _position_setpoint(2) = _position(2); _velocity_setpoint(2) = 0.f; + _stick_yaw.reset(_yaw, _unaided_yaw); _setDefaultConstraints(); _updateConstraintsFromEstimator(); @@ -90,13 +91,10 @@ void FlightTaskManualAltitude::_updateConstraintsFromEstimator() void FlightTaskManualAltitude::_scaleSticks() { - // Use stick input with deadzone, exponential curve and first order lpf for yawspeed - _stick_yaw.generateYawSetpoint(_yawspeed_setpoint, _yaw_setpoint, _sticks.getYawExpo(), _yaw, - _is_yaw_good_for_control, _deltatime); - // Use sticks input with deadzone and exponential curve for vertical velocity - const float vel_max_z = (_sticks.getPosition()(2) > 0.0f) ? _param_mpc_z_vel_max_dn.get() : - _param_mpc_z_vel_max_up.get(); + const float vel_max_up = fminf(_param_mpc_z_vel_max_up.get(), _velocity_constraint_up); + const float vel_max_down = fminf(_param_mpc_z_vel_max_dn.get(), _velocity_constraint_down); + const float vel_max_z = (_sticks.getPosition()(2) > 0.0f) ? vel_max_down : vel_max_up; _velocity_setpoint(2) = vel_max_z * _sticks.getPositionExpo()(2); } @@ -127,7 +125,6 @@ void FlightTaskManualAltitude::_updateAltitudeLock() if (stick_input || too_fast || !PX4_ISFINITE(_dist_to_bottom)) { // Stop using distance to ground _terrain_hold = false; - _terrain_follow = false; // Adjust the setpoint to maintain the same height error to reduce control transients if (PX4_ISFINITE(_dist_to_ground_lock) && PX4_ISFINITE(_dist_to_bottom)) { @@ -144,7 +141,6 @@ void FlightTaskManualAltitude::_updateAltitudeLock() if (!stick_input && not_moving && PX4_ISFINITE(_dist_to_bottom)) { // Start using distance to ground _terrain_hold = true; - _terrain_follow = true; // Adjust the setpoint to maintain the same height error to reduce control transients if (PX4_ISFINITE(_position_setpoint(2))) { @@ -155,7 +151,7 @@ void FlightTaskManualAltitude::_updateAltitudeLock() } - if ((_param_mpc_alt_mode.get() == 1 || _terrain_follow) && PX4_ISFINITE(_dist_to_bottom)) { + if ((_param_mpc_alt_mode.get() == 1 || _terrain_hold) && PX4_ISFINITE(_dist_to_bottom)) { // terrain following _terrainFollowing(apply_brake, stopped); // respect maximum altitude @@ -273,51 +269,19 @@ void FlightTaskManualAltitude::_respectGroundSlowdown() } } -void FlightTaskManualAltitude::_updateHeadingSetpoints() -{ - if (_isYawInput() || !_is_yaw_good_for_control) { - _unlockYaw(); - - } else { - _lockYaw(); - } -} - -bool FlightTaskManualAltitude::_isYawInput() -{ - /* - * A threshold larger than FLT_EPSILON is required because the - * _yawspeed_setpoint comes from an IIR filter and takes too much - * time to reach zero. - */ - return fabsf(_yawspeed_setpoint) > 0.001f; -} - -void FlightTaskManualAltitude::_unlockYaw() -{ - // no fixed heading when rotating around yaw by stick - _yaw_setpoint = NAN; -} - -void FlightTaskManualAltitude::_lockYaw() -{ - // hold the current heading when no more rotation commanded - if (!PX4_ISFINITE(_yaw_setpoint)) { - _yaw_setpoint = _yaw; - } -} - void FlightTaskManualAltitude::_ekfResetHandlerHeading(float delta_psi) { // Only reset the yaw setpoint when the heading is locked if (PX4_ISFINITE(_yaw_setpoint)) { - _yaw_setpoint += delta_psi; + _yaw_setpoint = wrap_pi(_yaw_setpoint + delta_psi); } + + _stick_yaw.ekfResetHandler(delta_psi); } void FlightTaskManualAltitude::_updateSetpoints() { - _updateHeadingSetpoints(); // get yaw setpoint + _stick_yaw.generateYawSetpoint(_yawspeed_setpoint, _yaw_setpoint, _sticks.getYawExpo(), _yaw, _deltatime, _unaided_yaw); _acceleration_setpoint.xy() = _stick_tilt_xy.generateAccelerationSetpoints(_sticks.getPitchRoll(), _deltatime, _yaw, _yaw_setpoint); _updateAltitudeLock(); diff --git a/src/modules/flight_mode_manager/tasks/ManualAltitude/FlightTaskManualAltitude.hpp b/src/modules/flight_mode_manager/tasks/ManualAltitude/FlightTaskManualAltitude.hpp index 0b9fbe72a3fb..527e5ad6f753 100644 --- a/src/modules/flight_mode_manager/tasks/ManualAltitude/FlightTaskManualAltitude.hpp +++ b/src/modules/flight_mode_manager/tasks/ManualAltitude/FlightTaskManualAltitude.hpp @@ -40,7 +40,6 @@ #pragma once #include "FlightTask.hpp" -#include #include "Sticks.hpp" #include "StickTiltXY.hpp" #include "StickYaw.hpp" @@ -56,7 +55,6 @@ class FlightTaskManualAltitude : public FlightTask bool update() override; protected: - void _updateHeadingSetpoints(); /**< sets yaw or yaw speed */ void _ekfResetHandlerHeading(float delta_psi) override; /**< adjust heading setpoint in case of EKF reset event */ virtual void _updateSetpoints(); /**< updates all setpoints */ virtual void _scaleSticks(); /**< scales sticks to velocity in z */ @@ -75,6 +73,10 @@ class FlightTaskManualAltitude : public FlightTask StickYaw _stick_yaw{this}; bool _sticks_data_required = true; ///< let inherited task-class define if it depends on stick data + bool _terrain_hold{false}; /**< true when vehicle is controlling height above a static ground position */ + + float _velocity_constraint_up{INFINITY}; + float _velocity_constraint_down{INFINITY}; DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTask, (ParamFloat) _param_mpc_hold_max_z, @@ -89,10 +91,6 @@ class FlightTaskManualAltitude : public FlightTask _param_mpc_tko_speed /**< desired upwards speed when still close to the ground */ ) private: - bool _isYawInput(); - void _unlockYaw(); - void _lockYaw(); - /** * Terrain following. * During terrain following, the position setpoint is adjusted @@ -120,9 +118,9 @@ class FlightTaskManualAltitude : public FlightTask void setGearAccordingToSwitch(); + bool _updateYawCorrection(); + uint8_t _reset_counter = 0; /**< counter for estimator resets in z-direction */ - bool _terrain_follow{false}; /**< true when the vehicle is following the terrain height */ - bool _terrain_hold{false}; /**< true when vehicle is controlling height above a static ground position */ float _min_distance_to_ground{(float)(-INFINITY)}; /**< min distance to ground constraint */ float _max_distance_to_ground{(float)INFINITY}; /**< max distance to ground constraint */ diff --git a/src/modules/flight_mode_manager/tasks/ManualAltitudeSmoothVel/FlightTaskManualAltitudeSmoothVel.cpp b/src/modules/flight_mode_manager/tasks/ManualAltitudeSmoothVel/FlightTaskManualAltitudeSmoothVel.cpp index dd7ee8225ef6..2f6128508e2d 100644 --- a/src/modules/flight_mode_manager/tasks/ManualAltitudeSmoothVel/FlightTaskManualAltitudeSmoothVel.cpp +++ b/src/modules/flight_mode_manager/tasks/ManualAltitudeSmoothVel/FlightTaskManualAltitudeSmoothVel.cpp @@ -106,5 +106,15 @@ void FlightTaskManualAltitudeSmoothVel::_setOutputState() _jerk_setpoint(2) = _smoothing.getCurrentJerk(); _acceleration_setpoint(2) = _smoothing.getCurrentAcceleration(); _velocity_setpoint(2) = _smoothing.getCurrentVelocity(); - _position_setpoint(2) = _smoothing.getCurrentPosition(); + + if (!_terrain_hold) { + if (_terrain_hold_previous) { + // Reset position setpoint to current position when switching from terrain hold to non-terrain hold + _smoothing.setCurrentPosition(_position(2)); + } + + _position_setpoint(2) = _smoothing.getCurrentPosition(); + } + + _terrain_hold_previous = _terrain_hold; } diff --git a/src/modules/flight_mode_manager/tasks/ManualAltitudeSmoothVel/FlightTaskManualAltitudeSmoothVel.hpp b/src/modules/flight_mode_manager/tasks/ManualAltitudeSmoothVel/FlightTaskManualAltitudeSmoothVel.hpp index 45e013fb7c82..468388c031b9 100644 --- a/src/modules/flight_mode_manager/tasks/ManualAltitudeSmoothVel/FlightTaskManualAltitudeSmoothVel.hpp +++ b/src/modules/flight_mode_manager/tasks/ManualAltitudeSmoothVel/FlightTaskManualAltitudeSmoothVel.hpp @@ -67,4 +67,7 @@ class FlightTaskManualAltitudeSmoothVel : public FlightTaskManualAltitude (ParamFloat) _param_mpc_acc_up_max, (ParamFloat) _param_mpc_acc_down_max ) + +private: + bool _terrain_hold_previous{false}; /**< true when vehicle was controlling height above a static ground position in the previous iteration */ }; diff --git a/src/modules/flight_mode_manager/tasks/ManualPositionSmoothVel/FlightTaskManualPositionSmoothVel.cpp b/src/modules/flight_mode_manager/tasks/ManualPositionSmoothVel/FlightTaskManualPositionSmoothVel.cpp index 14527ba712d2..a89283e14619 100644 --- a/src/modules/flight_mode_manager/tasks/ManualPositionSmoothVel/FlightTaskManualPositionSmoothVel.cpp +++ b/src/modules/flight_mode_manager/tasks/ManualPositionSmoothVel/FlightTaskManualPositionSmoothVel.cpp @@ -171,5 +171,15 @@ void FlightTaskManualPositionSmoothVel::_setOutputStateZ() _jerk_setpoint(2) = _smoothing_z.getCurrentJerk(); _acceleration_setpoint(2) = _smoothing_z.getCurrentAcceleration(); _velocity_setpoint(2) = _smoothing_z.getCurrentVelocity(); - _position_setpoint(2) = _smoothing_z.getCurrentPosition(); + + if (!_terrain_hold) { + if (_terrain_hold_previous) { + // Reset position setpoint to current position when switching from terrain hold to non-terrain hold + _smoothing_z.setCurrentPosition(_position(2)); + } + + _position_setpoint(2) = _smoothing_z.getCurrentPosition(); + } + + _terrain_hold_previous = _terrain_hold; } diff --git a/src/modules/flight_mode_manager/tasks/ManualPositionSmoothVel/FlightTaskManualPositionSmoothVel.hpp b/src/modules/flight_mode_manager/tasks/ManualPositionSmoothVel/FlightTaskManualPositionSmoothVel.hpp index aa82261e9d30..c8fbdf42c95a 100644 --- a/src/modules/flight_mode_manager/tasks/ManualPositionSmoothVel/FlightTaskManualPositionSmoothVel.hpp +++ b/src/modules/flight_mode_manager/tasks/ManualPositionSmoothVel/FlightTaskManualPositionSmoothVel.hpp @@ -87,4 +87,6 @@ class FlightTaskManualPositionSmoothVel : public FlightTaskManualPosition ManualVelocitySmoothingXY _smoothing_xy; ///< Smoothing in x and y directions ManualVelocitySmoothingZ _smoothing_z; ///< Smoothing in z direction + + bool _terrain_hold_previous{false}; /**< true when vehicle was controlling height above a static ground position in the previous iteration */ }; diff --git a/src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.cpp b/src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.cpp index ea68b452fcaf..144c6c7ba158 100644 --- a/src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.cpp +++ b/src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.cpp @@ -90,7 +90,14 @@ bool FlightTaskOrbit::applyCommandParameters(const vehicle_command_s &command, b // commanded heading behaviour if (PX4_ISFINITE(command.param3)) { - _yaw_behaviour = command.param3; + if (static_cast(command.param3 + .5f) == vehicle_command_s::ORBIT_YAW_BEHAVIOUR_UNCHANGED) { + if (!_currently_orbiting) { // only change the yaw behaviour if we are not actively orbiting + _yaw_behaviour = _param_mc_orbit_yaw_mod.get(); + } + + } else { + _yaw_behaviour = command.param3; + } } // save current yaw estimate for ORBIT_YAW_BEHAVIOUR_HOLD_INITIAL_HEADING @@ -133,9 +140,11 @@ bool FlightTaskOrbit::sendTelemetry() orbit_status.yaw_behaviour = _yaw_behaviour; if (_geo_projection.isInitialized()) { + // While chainging altitude by stick _position_setpoint(2) is not set (NAN) + float local_altitude = PX4_ISFINITE(_position_setpoint(2)) ? _position_setpoint(2) : _position(2); // local -> global _geo_projection.reproject(_center(0), _center(1), orbit_status.x, orbit_status.y); - orbit_status.z = _global_local_alt0 - _position_setpoint(2); + orbit_status.z = _global_local_alt0 - local_altitude; } else { return false; // don't send the message if the transformation failed @@ -165,6 +174,7 @@ void FlightTaskOrbit::_sanitizeParams(float &radius, float &velocity) const bool FlightTaskOrbit::activate(const trajectory_setpoint_s &last_setpoint) { bool ret = FlightTaskManualAltitude::activate(last_setpoint); + _currently_orbiting = false; _orbit_radius = _radius_min; _orbit_velocity = 1.f; _center = _position; @@ -199,6 +209,7 @@ bool FlightTaskOrbit::activate(const trajectory_setpoint_s &last_setpoint) bool FlightTaskOrbit::update() { bool ret = true; + _currently_orbiting = true; _updateTrajectoryBoundaries(); _adjustParametersByStick(); @@ -245,8 +256,7 @@ void FlightTaskOrbit::_updateTrajectoryBoundaries() // Update the constraints of the trajectories _position_smoothing.setMaxAccelerationXY(_param_mpc_acc_hor.get()); // TODO : Should be computed using heading _position_smoothing.setMaxVelocityXY(_param_mpc_xy_vel_max.get()); - float max_jerk = _param_mpc_jerk_auto.get(); - _position_smoothing.setMaxJerk({max_jerk, max_jerk, max_jerk}); // TODO : Should be computed using heading + _position_smoothing.setMaxJerk(_param_mpc_jerk_auto.get()); // TODO : Should be computed using heading if (_velocity_setpoint(2) < 0.f) { // up _position_smoothing.setMaxVelocityZ(_param_mpc_z_v_auto_up.get()); diff --git a/src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.hpp b/src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.hpp index 187a47de4119..2c55bbc15ba7 100644 --- a/src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.hpp +++ b/src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.hpp @@ -124,6 +124,7 @@ class FlightTaskOrbit : public FlightTaskManualAltitudeSmoothVel /** yaw behaviour during the orbit flight according to MAVLink's ORBIT_YAW_BEHAVIOUR enum */ int _yaw_behaviour = orbit_status_s::ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TO_CIRCLE_CENTER; bool _started_clockwise{true}; + bool _currently_orbiting{false}; float _initial_heading = 0.f; /**< the heading of the drone when the orbit command was issued */ SlewRateYaw _slew_rate_yaw; @@ -132,6 +133,7 @@ class FlightTaskOrbit : public FlightTaskManualAltitudeSmoothVel DEFINE_PARAMETERS( (ParamFloat) _param_mc_orbit_rad_max, + (ParamInt) _param_mc_orbit_yaw_mod, (ParamFloat) _param_mpc_xy_cruise, /**< cruise speed for circle approach */ (ParamFloat) _param_mpc_yawrauto_max, (ParamFloat) _param_mpc_xy_traj_p, diff --git a/src/modules/flight_mode_manager/tasks/Orbit/flight_task_orbit_params.c b/src/modules/flight_mode_manager/tasks/Orbit/flight_task_orbit_params.c index 3e655c80e2ed..c8f66eb9f15d 100644 --- a/src/modules/flight_mode_manager/tasks/Orbit/flight_task_orbit_params.c +++ b/src/modules/flight_mode_manager/tasks/Orbit/flight_task_orbit_params.c @@ -39,6 +39,18 @@ * @max 10000.0 * @increment 0.5 * @decimal 1 - * @group FlightTaskOrbit + * @group Flight Task Orbit */ PARAM_DEFINE_FLOAT(MC_ORBIT_RAD_MAX, 1000.0f); + +/** + * Yaw behaviour during orbit flight. + * + * @value 0 Front to Circle Center + * @value 1 Hold Initial Heading + * @value 2 Uncontrolled + * @value 3 Hold Front Tangent to Circle + * @value 4 RC Controlled + * @group Flight Task Orbit + */ +PARAM_DEFINE_INT32(MC_ORBIT_YAW_MOD, 0); diff --git a/src/modules/flight_mode_manager/tasks/Utility/CMakeLists.txt b/src/modules/flight_mode_manager/tasks/Utility/CMakeLists.txt index 62b8e1217915..911da11d2682 100644 --- a/src/modules/flight_mode_manager/tasks/Utility/CMakeLists.txt +++ b/src/modules/flight_mode_manager/tasks/Utility/CMakeLists.txt @@ -40,3 +40,5 @@ px4_add_library(FlightTaskUtility target_link_libraries(FlightTaskUtility PUBLIC FlightTask hysteresis bezier SlewRate motion_planning mathlib) target_include_directories(FlightTaskUtility PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}) + +px4_add_functional_gtest(SRC StickTiltXYTest.cpp LINKLIBS FlightTaskUtility) diff --git a/src/modules/flight_mode_manager/tasks/Utility/Makefile b/src/modules/flight_mode_manager/tasks/Utility/Makefile deleted file mode 100644 index df018d73ab68..000000000000 --- a/src/modules/flight_mode_manager/tasks/Utility/Makefile +++ /dev/null @@ -1,12 +0,0 @@ - -.PHONY: all tests clean -all: test_velocity_smoothing - -test_velocity_smoothing: test_velocity_smoothing.cpp VelocitySmoothing.cpp - @g++ $^ -std=c++11 -I ../../../ -o $@ - -tests: test_velocity_smoothing - @echo "Test velocity smoothing" - -clean: - @rm test_velocity_smoothing diff --git a/src/modules/flight_mode_manager/tasks/Utility/StickAccelerationXY.cpp b/src/modules/flight_mode_manager/tasks/Utility/StickAccelerationXY.cpp index 7363685cfc60..c0fe9b315b67 100644 --- a/src/modules/flight_mode_manager/tasks/Utility/StickAccelerationXY.cpp +++ b/src/modules/flight_mode_manager/tasks/Utility/StickAccelerationXY.cpp @@ -73,10 +73,12 @@ void StickAccelerationXY::resetAcceleration(const matrix::Vector2f &acceleration void StickAccelerationXY::generateSetpoints(Vector2f stick_xy, const float yaw, const float yaw_sp, const Vector3f &pos, const matrix::Vector2f &vel_sp_feedback, const float dt) { - // maximum commanded acceleration and velocity - Vector2f acceleration_scale(_param_mpc_acc_hor.get(), _param_mpc_acc_hor.get()); + // maximum commanded velocity can be constrained dynamically const float velocity_sc = fminf(_param_mpc_vel_manual.get(), _velocity_constraint); Vector2f velocity_scale(velocity_sc, velocity_sc); + // maximum commanded acceleration is scaled down with velocity + const float acceleration_sc = _param_mpc_acc_hor.get() * (velocity_sc / _param_mpc_vel_manual.get()); + Vector2f acceleration_scale(acceleration_sc, acceleration_sc); acceleration_scale *= 2.f; // because of drag the average acceleration is half @@ -157,7 +159,13 @@ Vector2f StickAccelerationXY::calculateDrag(Vector2f drag_coefficient, const flo // increase drag with squareroot function when velocity is lower than 1m/s const Vector2f velocity_with_sqrt_boost = vel_sp.unit_or_zero() * math::sqrt_linear(vel_sp.norm()); - return drag_coefficient.emult(velocity_with_sqrt_boost); + + // only apply the drag increase below 1m/s when actually braking such that speeds below 1m/s + // are exactly reached but do so by blending it with the filter to avoid any discontinuity when switching + const float brake_scale = math::interpolate(_brake_boost_filter.getState(), 1.f, 2.f, 0.f, 1.f); + const Vector2f mixed_velocity = brake_scale * velocity_with_sqrt_boost + (1.f - brake_scale) * vel_sp; + + return drag_coefficient.emult(mixed_velocity); } void StickAccelerationXY::applyTiltLimit(Vector2f &acceleration) diff --git a/src/modules/flight_mode_manager/tasks/Utility/StickTiltXY.cpp b/src/modules/flight_mode_manager/tasks/Utility/StickTiltXY.cpp index 49c9b2f83cc0..642c4ef8a196 100644 --- a/src/modules/flight_mode_manager/tasks/Utility/StickTiltXY.cpp +++ b/src/modules/flight_mode_manager/tasks/Utility/StickTiltXY.cpp @@ -40,7 +40,18 @@ using namespace matrix; StickTiltXY::StickTiltXY(ModuleParams *parent) : ModuleParams(parent) -{} +{ + updateParams(); +} + +void StickTiltXY::updateParams() +{ + ModuleParams::updateParams(); + // Consider maximum tilt but only between [0.02,3]g sideways acceleration -> ~[1,71]° tilt + // Constrain tilt already because tanf(90+°) will give negative result + const float maximum_tilt = math::radians(math::constrain(_param_mpc_man_tilt_max.get(), 0.f, 89.f)); + _maximum_acceleration = math::constrain(tanf(maximum_tilt), .02f, 3.f) * CONSTANTS_ONE_G; +} Vector2f StickTiltXY::generateAccelerationSetpoints(Vector2f stick_xy, const float dt, const float yaw, const float yaw_setpoint) @@ -49,5 +60,5 @@ Vector2f StickTiltXY::generateAccelerationSetpoints(Vector2f stick_xy, const flo _man_input_filter.setParameters(dt, _param_mc_man_tilt_tau.get()); stick_xy = _man_input_filter.update(stick_xy); Sticks::rotateIntoHeadingFrameXY(stick_xy, yaw, yaw_setpoint); - return stick_xy * tanf(math::radians(_param_mpc_man_tilt_max.get())) * CONSTANTS_ONE_G; + return stick_xy * _maximum_acceleration; } diff --git a/src/modules/flight_mode_manager/tasks/Utility/StickTiltXY.hpp b/src/modules/flight_mode_manager/tasks/Utility/StickTiltXY.hpp index 38f42ed3849e..f5caea855066 100644 --- a/src/modules/flight_mode_manager/tasks/Utility/StickTiltXY.hpp +++ b/src/modules/flight_mode_manager/tasks/Utility/StickTiltXY.hpp @@ -63,6 +63,9 @@ class StickTiltXY : public ModuleParams matrix::Vector2f generateAccelerationSetpoints(matrix::Vector2f stick_xy, const float dt, const float yaw, const float yaw_setpoint); private: + void updateParams() override; + + float _maximum_acceleration{0.f}; AlphaFilter _man_input_filter; DEFINE_PARAMETERS( diff --git a/src/modules/flight_mode_manager/tasks/Utility/StickTiltXYTest.cpp b/src/modules/flight_mode_manager/tasks/Utility/StickTiltXYTest.cpp new file mode 100644 index 000000000000..0f7f88c3cc59 --- /dev/null +++ b/src/modules/flight_mode_manager/tasks/Utility/StickTiltXYTest.cpp @@ -0,0 +1,102 @@ +/**************************************************************************** + * + * Copyright (C) 2024 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include +#include "StickTiltXY.hpp" + +#include + +using namespace matrix; + +TEST(StickTiltXYTest, AllZeroCase) +{ + StickTiltXY stick_tilt_xy{nullptr}; + Vector2f acc_xy = stick_tilt_xy.generateAccelerationSetpoints(Vector2f(), 0.f, 0.f, 0.f); + EXPECT_EQ(acc_xy, Vector2f()); +} + +TEST(StickTiltXYTest, NormalRollPitchCases) +{ + // Disable autosaving parameters to avoid busy loop in param_set() + param_control_autosave(false); + + float value = 45.f; + param_set(param_find("MPC_MAN_TILT_MAX"), &value); + + StickTiltXY stick_tilt_xy{nullptr}; + // Pitch + Vector2f acc_xy = stick_tilt_xy.generateAccelerationSetpoints(Vector2f(1.f, 0.f), 1.f, 0.f, 0.f); + EXPECT_EQ(acc_xy, Vector2f(CONSTANTS_ONE_G, 0.f)); + acc_xy = stick_tilt_xy.generateAccelerationSetpoints(Vector2f(.5f, 0.f), 1.f, 0.f, 0.f); + EXPECT_EQ(acc_xy, Vector2f(CONSTANTS_ONE_G / 2.f, 0.f)); + acc_xy = stick_tilt_xy.generateAccelerationSetpoints(Vector2f(-.5f, 0.f), 1.f, 0.f, 0.f); + EXPECT_EQ(acc_xy, Vector2f(-CONSTANTS_ONE_G / 2.f, 0.f)); + acc_xy = stick_tilt_xy.generateAccelerationSetpoints(Vector2f(-1.f, 0.f), 1.f, 0.f, 0.f); + EXPECT_EQ(acc_xy, Vector2f(-CONSTANTS_ONE_G, 0.f)); + // Roll + acc_xy = stick_tilt_xy.generateAccelerationSetpoints(Vector2f(0.f, 1.f), 1.f, 0.f, 0.f); + EXPECT_EQ(acc_xy, Vector2f(0.f, CONSTANTS_ONE_G)); + acc_xy = stick_tilt_xy.generateAccelerationSetpoints(Vector2f(0.f, .5f), 1.f, 0.f, 0.f); + EXPECT_EQ(acc_xy, Vector2f(0.f, CONSTANTS_ONE_G / 2.f)); + acc_xy = stick_tilt_xy.generateAccelerationSetpoints(Vector2f(0.f, -.5f), 1.f, 0.f, 0.f); + EXPECT_EQ(acc_xy, Vector2f(0.f, -CONSTANTS_ONE_G / 2.f)); + acc_xy = stick_tilt_xy.generateAccelerationSetpoints(Vector2f(0.f, -1.f), 1.f, 0.f, 0.f); + EXPECT_EQ(acc_xy, Vector2f(0.f, -CONSTANTS_ONE_G)); + // Roll & Pitch + acc_xy = stick_tilt_xy.generateAccelerationSetpoints(Vector2f(1.f, 1.f), 1.f, 0.f, 0.f); + EXPECT_EQ(acc_xy, Vector2f(CONSTANTS_ONE_G / M_SQRT2_F, CONSTANTS_ONE_G / M_SQRT2_F)); + acc_xy = stick_tilt_xy.generateAccelerationSetpoints(Vector2f(1.f, -1.f), 1.f, 0.f, 0.f); + EXPECT_EQ(acc_xy, Vector2f(CONSTANTS_ONE_G / M_SQRT2_F, -CONSTANTS_ONE_G / M_SQRT2_F)); + acc_xy = stick_tilt_xy.generateAccelerationSetpoints(Vector2f(-1.f, 1.f), 1.f, 0.f, 0.f); + EXPECT_EQ(acc_xy, Vector2f(-CONSTANTS_ONE_G / M_SQRT2_F, CONSTANTS_ONE_G / M_SQRT2_F)); + acc_xy = stick_tilt_xy.generateAccelerationSetpoints(Vector2f(-1.f, -1.f), 1.f, 0.f, 0.f); + EXPECT_EQ(acc_xy, Vector2f(-CONSTANTS_ONE_G / M_SQRT2_F, -CONSTANTS_ONE_G / M_SQRT2_F)); +} + +TEST(StickTiltXYTest, 90degreeCase) +{ + // Disable autosaving parameters to avoid busy loop in param_set() + param_control_autosave(false); + + float value = 90.f; + param_set(param_find("MPC_MAN_TILT_MAX"), &value); + + StickTiltXY stick_tilt_xy{nullptr}; + // Pitch + // Zero input leads to zero output + Vector2f acc_xy = stick_tilt_xy.generateAccelerationSetpoints(Vector2f(), 1.f, 0.f, 0.f); + EXPECT_EQ(acc_xy, Vector2f()); + // Maximum input leads to the maximum of 3g sideways acceleration + acc_xy = stick_tilt_xy.generateAccelerationSetpoints(Vector2f(1.f, 0.f), 1.f, 0.f, 0.f); + EXPECT_EQ(acc_xy, Vector2f(3.f * CONSTANTS_ONE_G, 0.f)); +} diff --git a/src/modules/flight_mode_manager/tasks/Utility/StickYaw.cpp b/src/modules/flight_mode_manager/tasks/Utility/StickYaw.cpp index 8a2512279c5a..608e4443c330 100644 --- a/src/modules/flight_mode_manager/tasks/Utility/StickYaw.cpp +++ b/src/modules/flight_mode_manager/tasks/Utility/StickYaw.cpp @@ -35,23 +35,81 @@ #include +using matrix::wrap_pi; + StickYaw::StickYaw(ModuleParams *parent) : ModuleParams(parent) {} +void StickYaw::reset(const float yaw, const float unaided_yaw) +{ + if (PX4_ISFINITE(unaided_yaw)) { + _yaw_error_lpf.reset(wrap_pi(yaw - unaided_yaw)); + } +} + +void StickYaw::ekfResetHandler(const float delta_yaw) +{ + _yaw_error_lpf.reset(wrap_pi(_yaw_error_lpf.getState() + delta_yaw)); + _yaw_error_ref = wrap_pi(_yaw_error_ref + delta_yaw); +} + void StickYaw::generateYawSetpoint(float &yawspeed_setpoint, float &yaw_setpoint, const float stick_yaw, - const float yaw, const bool is_yaw_good_for_control, const float deltatime) + const float yaw, const float deltatime, const float unaided_yaw) { + _yaw_error_lpf.setParameters(deltatime, _kYawErrorTimeConstant); + const float yaw_correction_prev = _yaw_correction; + const bool reset_setpoint = updateYawCorrection(yaw, unaided_yaw); + + if (reset_setpoint) { + yaw_setpoint = NAN; + } + _yawspeed_filter.setParameters(deltatime, _param_mpc_man_y_tau.get()); - yawspeed_setpoint = _yawspeed_filter.update(stick_yaw * math::radians(_param_mpc_man_y_max.get())); - yaw_setpoint = updateYawLock(yaw, yawspeed_setpoint, yaw_setpoint, is_yaw_good_for_control); + const float yawspeed_scale = math::min(math::radians(_param_mpc_man_y_max.get()), _yawspeed_constraint); + yawspeed_setpoint = _yawspeed_filter.update(stick_yaw * yawspeed_scale); + yaw_setpoint = updateYawLock(yaw, yawspeed_setpoint, yaw_setpoint, yaw_correction_prev); +} + +bool StickYaw::updateYawCorrection(const float yaw, const float unaided_yaw) +{ + if (!PX4_ISFINITE(unaided_yaw)) { + _yaw_correction = 0.f; + return false; + } + + // Detect the convergence phase of the yaw estimate by monitoring its relative + // distance from an unaided yaw source. + const float yaw_error = wrap_pi(yaw - unaided_yaw); + + // Run it through a high-pass filter to detect transients + const float yaw_error_hpf = wrap_pi(yaw_error - _yaw_error_lpf.getState()); + _yaw_error_lpf.update(yaw_error); + + const bool was_converging = _yaw_estimate_converging; + _yaw_estimate_converging = fabsf(yaw_error_hpf) > _kYawErrorChangeThreshold; + + bool reset_setpoint = false; + + if (!_yaw_estimate_converging) { + _yaw_error_ref = yaw_error; + + if (was_converging) { + // Force a reset of the locking mechanism + reset_setpoint = true; + } + } + + _yaw_correction = wrap_pi(yaw_error - _yaw_error_ref); + + return reset_setpoint; } float StickYaw::updateYawLock(const float yaw, const float yawspeed_setpoint, const float yaw_setpoint, - const bool is_yaw_good_for_control) + const float yaw_correction_prev) const { // Yaw-lock depends on desired yawspeed input. If not locked, yaw_sp is set to NAN. - if ((fabsf(yawspeed_setpoint) > FLT_EPSILON) || !is_yaw_good_for_control) { + if (fabsf(yawspeed_setpoint) > FLT_EPSILON) { // no fixed heading when rotating around yaw by stick return NAN; @@ -61,7 +119,7 @@ float StickYaw::updateYawLock(const float yaw, const float yawspeed_setpoint, co return yaw; } else { - return yaw_setpoint; + return wrap_pi(yaw_setpoint - yaw_correction_prev + _yaw_correction); } } } diff --git a/src/modules/flight_mode_manager/tasks/Utility/StickYaw.hpp b/src/modules/flight_mode_manager/tasks/Utility/StickYaw.hpp index 8e9e4aea1e4f..f15b4dd574a3 100644 --- a/src/modules/flight_mode_manager/tasks/Utility/StickYaw.hpp +++ b/src/modules/flight_mode_manager/tasks/Utility/StickYaw.hpp @@ -48,12 +48,24 @@ class StickYaw : public ModuleParams StickYaw(ModuleParams *parent); ~StickYaw() = default; - void generateYawSetpoint(float &yawspeed_setpoint, float &yaw_setpoint, float stick_yaw, float yaw, - bool is_yaw_good_for_control, float deltatime); + void reset(float yaw, float unaided_yaw = NAN); + void ekfResetHandler(float delta_yaw); + void generateYawSetpoint(float &yawspeed_setpoint, float &yaw_setpoint, float stick_yaw, float yaw, float deltatime, + float unaided_yaw = NAN); + void setYawspeedConstraint(float yawspeed) { _yawspeed_constraint = yawspeed; }; private: AlphaFilter _yawspeed_filter; + float _yaw_error_ref{0.f}; + float _yaw_correction{0.f}; + bool _yaw_estimate_converging{false}; + AlphaFilter _yaw_error_lpf{0.01f}; ///< used to create a high-pass filter + static constexpr float _kYawErrorTimeConstant{1.f}; ///< time constant of the high-pass filter used to detect yaw convergence + static constexpr float _kYawErrorChangeThreshold{radians(1.f)}; ///< we consider the yaw estimate as "converging" when above this threshold + + bool updateYawCorrection(float yaw, float unaided_yaw); + /** * Lock yaw when not currently turning * When applying a yawspeed the vehicle is turning, when the speed is @@ -65,7 +77,9 @@ class StickYaw : public ModuleParams * @param yaw current yaw setpoint which then will be overwritten by the return value * @return yaw setpoint to execute to have a yaw lock at the correct moment in time */ - static float updateYawLock(float yaw, float yawspeed_setpoint, float yaw_setpoint, bool is_yaw_good_for_control); + float updateYawLock(float yaw, float yawspeed_setpoint, float yaw_setpoint, float yaw_correction_prev) const; + + float _yawspeed_constraint{INFINITY}; DEFINE_PARAMETERS( (ParamFloat) _param_mpc_man_y_max, ///< Maximum yaw speed with full stick deflection diff --git a/src/modules/flight_mode_manager/tasks/Utility/Sticks.cpp b/src/modules/flight_mode_manager/tasks/Utility/Sticks.cpp index 575da6e35305..fb5bc40673da 100644 --- a/src/modules/flight_mode_manager/tasks/Utility/Sticks.cpp +++ b/src/modules/flight_mode_manager/tasks/Utility/Sticks.cpp @@ -62,6 +62,13 @@ bool Sticks::checkAndUpdateStickInputs() _positions_expo(2) = math::expo_deadzone(_positions(2), _param_mpc_z_man_expo.get(), _param_mpc_hold_dz.get()); _positions_expo(3) = math::expo_deadzone(_positions(3), _param_mpc_yaw_expo.get(), _param_mpc_hold_dz.get()); + _aux_positions(0) = manual_control_setpoint.aux1; + _aux_positions(1) = manual_control_setpoint.aux2; + _aux_positions(2) = manual_control_setpoint.aux3; + _aux_positions(3) = manual_control_setpoint.aux4; + _aux_positions(4) = manual_control_setpoint.aux5; + _aux_positions(5) = manual_control_setpoint.aux6; + // valid stick inputs are required _input_available = manual_control_setpoint.valid && _positions.isAllFinite(); diff --git a/src/modules/flight_mode_manager/tasks/Utility/Sticks.hpp b/src/modules/flight_mode_manager/tasks/Utility/Sticks.hpp index 4b49134d19af..3ab13368e841 100644 --- a/src/modules/flight_mode_manager/tasks/Utility/Sticks.hpp +++ b/src/modules/flight_mode_manager/tasks/Utility/Sticks.hpp @@ -74,6 +74,8 @@ class Sticks : public ModuleParams const matrix::Vector2f getPitchRoll() { return _positions.slice<2, 1>(0, 0); } const matrix::Vector2f getPitchRollExpo() { return _positions_expo.slice<2, 1>(0, 0); } + const matrix::Vector &getAux() const { return _aux_positions; } + /** * Limit the the horizontal input from a square shaped joystick gimbal to a unit circle * @param v Vector containing x, y, z axis of the joystick gimbal. x, y get adjusted @@ -90,9 +92,11 @@ class Sticks : public ModuleParams private: bool _input_available{false}; - matrix::Vector4f _positions; ///< unmodified manual stick inputs + matrix::Vector4f _positions; ///< unmodified manual stick inputs that usually move vehicle in x, y, z and yaw direction matrix::Vector4f _positions_expo; ///< modified manual sticks using expo function + matrix::Vector _aux_positions; + uORB::Subscription _manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)}; uORB::Subscription _failsafe_flags_sub{ORB_ID(failsafe_flags)}; diff --git a/src/modules/fw_att_control/CMakeLists.txt b/src/modules/fw_att_control/CMakeLists.txt index a183dd8a95c9..75dd515ddbb8 100644 --- a/src/modules/fw_att_control/CMakeLists.txt +++ b/src/modules/fw_att_control/CMakeLists.txt @@ -38,11 +38,10 @@ px4_add_module( FixedwingAttitudeControl.cpp FixedwingAttitudeControl.hpp - ecl_controller.cpp - ecl_pitch_controller.cpp - ecl_roll_controller.cpp - ecl_wheel_controller.cpp - ecl_yaw_controller.cpp + fw_pitch_controller.cpp + fw_roll_controller.cpp + fw_wheel_controller.cpp + fw_yaw_controller.cpp DEPENDS px4_work_queue ) diff --git a/src/modules/fw_att_control/FixedwingAttitudeControl.cpp b/src/modules/fw_att_control/FixedwingAttitudeControl.cpp index 3f62b98fa9ff..988853fdeaaf 100644 --- a/src/modules/fw_att_control/FixedwingAttitudeControl.cpp +++ b/src/modules/fw_att_control/FixedwingAttitudeControl.cpp @@ -92,21 +92,20 @@ FixedwingAttitudeControl::vehicle_manual_poll(const float yaw_body) // Always copy the new manual setpoint, even if it wasn't updated, to fill the actuators with valid values if (_manual_control_setpoint_sub.copy(&_manual_control_setpoint)) { - if (!_vcontrol_mode.flag_control_climb_rate_enabled & _vcontrol_mode.flag_control_attitude_enabled) { + if (!_vcontrol_mode.flag_control_climb_rate_enabled && _vcontrol_mode.flag_control_attitude_enabled) { // STABILIZED mode generate the attitude setpoint from manual user inputs - _att_sp.roll_body = _manual_control_setpoint.roll * radians(_param_fw_man_r_max.get()); + const float roll_body = _manual_control_setpoint.roll * radians(_param_fw_man_r_max.get()); - _att_sp.pitch_body = -_manual_control_setpoint.pitch * radians(_param_fw_man_p_max.get()) - + radians(_param_fw_psp_off.get()); - _att_sp.pitch_body = constrain(_att_sp.pitch_body, - -radians(_param_fw_man_p_max.get()), radians(_param_fw_man_p_max.get())); + float pitch_body = -_manual_control_setpoint.pitch * radians(_param_fw_man_p_max.get()) + + radians(_param_fw_psp_off.get()); + pitch_body = constrain(pitch_body, + -radians(_param_fw_man_p_max.get()), radians(_param_fw_man_p_max.get())); - _att_sp.yaw_body = yaw_body; // yaw is not controlled, so set setpoint to current yaw _att_sp.thrust_body[0] = (_manual_control_setpoint.throttle + 1.f) * .5f; - Quatf q(Eulerf(_att_sp.roll_body, _att_sp.pitch_body, _att_sp.yaw_body)); + const Quatf q(Eulerf(roll_body, pitch_body, yaw_body)); q.copyTo(_att_sp.q_d); _att_sp.reset_integral = false; @@ -150,7 +149,7 @@ float FixedwingAttitudeControl::get_airspeed_constrained() // if no airspeed measurement is available out best guess is to use the trim airspeed float airspeed = _param_fw_airspd_trim.get(); - if ((_param_fw_arsp_mode.get() == 0) && airspeed_valid) { + if (_param_fw_use_airspd.get() && airspeed_valid) { /* prevent numerical drama by requiring 0.5 m/s minimal speed */ airspeed = math::max(0.5f, _airspeed_validated_sub.get().calibrated_airspeed_m_s); @@ -322,31 +321,25 @@ void FixedwingAttitudeControl::Run() } } - /* Prepare data for attitude controllers */ - ECL_ControlData control_input{}; - control_input.roll = euler_angles.phi(); - control_input.pitch = euler_angles.theta(); - control_input.yaw = euler_angles.psi(); - control_input.body_z_rate = angular_velocity.xyz[2]; - control_input.roll_setpoint = _att_sp.roll_body; - control_input.pitch_setpoint = _att_sp.pitch_body; - control_input.yaw_setpoint = _att_sp.yaw_body; - control_input.euler_pitch_rate_setpoint = _pitch_ctrl.get_euler_rate_setpoint(); - control_input.euler_yaw_rate_setpoint = _yaw_ctrl.get_euler_rate_setpoint(); - control_input.airspeed_constrained = get_airspeed_constrained(); - control_input.groundspeed = _groundspeed; - control_input.groundspeed_scaler = groundspeed_scale; - /* Run attitude controllers */ if (_vcontrol_mode.flag_control_attitude_enabled && _in_fw_or_transition_wo_tailsitter_transition) { - if (PX4_ISFINITE(_att_sp.roll_body) && PX4_ISFINITE(_att_sp.pitch_body)) { - _roll_ctrl.control_attitude(dt, control_input); - _pitch_ctrl.control_attitude(dt, control_input); - _yaw_ctrl.control_attitude(dt, control_input); + const Eulerf setpoint(Quatf(_att_sp.q_d)); + const float roll_body = setpoint.phi(); + const float pitch_body = setpoint.theta(); + + if (PX4_ISFINITE(roll_body) && PX4_ISFINITE(pitch_body)) { + + _roll_ctrl.control_roll(roll_body, _yaw_ctrl.get_euler_rate_setpoint(), euler_angles.phi(), + euler_angles.theta()); + _pitch_ctrl.control_pitch(pitch_body, _yaw_ctrl.get_euler_rate_setpoint(), euler_angles.phi(), + euler_angles.theta()); + _yaw_ctrl.control_yaw(roll_body, _pitch_ctrl.get_euler_rate_setpoint(), euler_angles.phi(), + euler_angles.theta(), get_airspeed_constrained()); if (wheel_control) { - _wheel_ctrl.control_attitude(dt, control_input); + Eulerf attitude_setpoint(Quatf(_att_sp.q_d)); + _wheel_ctrl.control_attitude(attitude_setpoint.psi(), euler_angles.psi()); } else { _wheel_ctrl.reset_integrator(); @@ -373,7 +366,7 @@ void FixedwingAttitudeControl::Run() /* add yaw rate setpoint from sticks in all attitude-controlled modes */ if (_vcontrol_mode.flag_control_manual_enabled) { - body_rates_setpoint(2) += math::constrain(_manual_control_setpoint.yaw * radians(_param_fw_y_rmax.get()), + body_rates_setpoint(2) += math::constrain(_manual_control_setpoint.yaw * radians(_param_man_yr_max.get()), -radians(_param_fw_y_rmax.get()), radians(_param_fw_y_rmax.get())); } @@ -404,8 +397,9 @@ void FixedwingAttitudeControl::Run() // XXX: yaw_sp_move_rate here is an abuse -- used to ferry manual yaw inputs from // position controller during auto modes _manual_control_setpoint.r gets passed // whenever nudging is enabled, otherwise zero - wheel_u = wheel_control ? _wheel_ctrl.control_bodyrate(dt, control_input) - + _att_sp.yaw_sp_move_rate : 0.f; + const float wheel_controller_output = _wheel_ctrl.control_bodyrate(dt, euler_angles.psi(), _groundspeed, + groundspeed_scale); + wheel_u = wheel_control ? wheel_controller_output + _att_sp.yaw_sp_move_rate : 0.f; } _landing_gear_wheel.normalized_wheel_setpoint = PX4_ISFINITE(wheel_u) ? wheel_u : 0.f; diff --git a/src/modules/fw_att_control/FixedwingAttitudeControl.hpp b/src/modules/fw_att_control/FixedwingAttitudeControl.hpp index eba981d62424..6c902878e1f6 100644 --- a/src/modules/fw_att_control/FixedwingAttitudeControl.hpp +++ b/src/modules/fw_att_control/FixedwingAttitudeControl.hpp @@ -34,10 +34,10 @@ #pragma once #include -#include "ecl_pitch_controller.h" -#include "ecl_roll_controller.h" -#include "ecl_wheel_controller.h" -#include "ecl_yaw_controller.h" +#include "fw_pitch_controller.h" +#include "fw_roll_controller.h" +#include "fw_wheel_controller.h" +#include "fw_yaw_controller.h" #include #include #include @@ -135,7 +135,7 @@ class FixedwingAttitudeControl final : public ModuleBase) _param_fw_airspd_min, (ParamFloat) _param_fw_airspd_stall, (ParamFloat) _param_fw_airspd_trim, - (ParamInt) _param_fw_arsp_mode, + (ParamBool) _param_fw_use_airspd, (ParamFloat) _param_fw_man_p_max, (ParamFloat) _param_fw_man_r_max, @@ -155,14 +155,15 @@ class FixedwingAttitudeControl final : public ModuleBase) _param_fw_wr_imax, (ParamFloat) _param_fw_wr_p, - (ParamFloat) _param_fw_y_rmax + (ParamFloat) _param_fw_y_rmax, + (ParamFloat) _param_man_yr_max ) - ECL_RollController _roll_ctrl; - ECL_PitchController _pitch_ctrl; - ECL_YawController _yaw_ctrl; - ECL_WheelController _wheel_ctrl; + RollController _roll_ctrl; + PitchController _pitch_ctrl; + YawController _yaw_ctrl; + WheelController _wheel_ctrl; void parameters_update(); void vehicle_manual_poll(const float yaw_body); diff --git a/src/modules/fw_att_control/ecl_controller.cpp b/src/modules/fw_att_control/ecl_controller.cpp deleted file mode 100644 index 50b6ff3340b1..000000000000 --- a/src/modules/fw_att_control/ecl_controller.cpp +++ /dev/null @@ -1,119 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2013 Estimation and Control Library (ECL). All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name ECL nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file ecl_controller.cpp - * Definition of base class for other controllers - * - * @author Lorenz Meier - * @author Thomas Gubler - * - * Acknowledgements: - * - * The control design is based on a design - * by Paul Riseborough and Andrew Tridgell, 2013, - * which in turn is based on initial work of - * Jonathan Challinger, 2012. - */ - -#include "ecl_controller.h" - -#include -#include - -ECL_Controller::ECL_Controller() : - _last_run(0), - _tc(0.1f), - _k_p(0.0f), - _k_i(0.0f), - _k_ff(0.0f), - _integrator_max(0.0f), - _max_rate(0.0f), - _last_output(0.0f), - _integrator(0.0f), - _euler_rate_setpoint(0.0f), - _body_rate_setpoint(0.0f) -{ -} - -void ECL_Controller::reset_integrator() -{ - _integrator = 0.0f; -} - -void ECL_Controller::set_time_constant(float time_constant) -{ - if (time_constant > 0.1f && time_constant < 3.0f) { - _tc = time_constant; - } -} - -void ECL_Controller::set_k_p(float k_p) -{ - _k_p = k_p; -} - -void ECL_Controller::set_k_i(float k_i) -{ - _k_i = k_i; -} - -void ECL_Controller::set_k_ff(float k_ff) -{ - _k_ff = k_ff; -} - -void ECL_Controller::set_integrator_max(float max) -{ - _integrator_max = max; -} - -void ECL_Controller::set_max_rate(float max_rate) -{ - _max_rate = max_rate; -} - -float ECL_Controller::get_euler_rate_setpoint() -{ - return _euler_rate_setpoint; -} - -float ECL_Controller::get_body_rate_setpoint() -{ - return _body_rate_setpoint; -} - -float ECL_Controller::get_integrator() -{ - return _integrator; -} diff --git a/src/modules/fw_att_control/ecl_controller.h b/src/modules/fw_att_control/ecl_controller.h deleted file mode 100644 index 0e58cfec5be1..000000000000 --- a/src/modules/fw_att_control/ecl_controller.h +++ /dev/null @@ -1,111 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2020-2022 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file ecl_controller.h - * Definition of base class for other controllers - * - * @author Lorenz Meier - * @author Thomas Gubler - * - * Acknowledgements: - * - * The control design is based on a design - * by Paul Riseborough and Andrew Tridgell, 2013, - * which in turn is based on initial work of - * Jonathan Challinger, 2012. - */ - -#pragma once - -#include -#include - -struct ECL_ControlData { - float roll; - float pitch; - float yaw; - float body_z_rate; - float roll_setpoint; - float pitch_setpoint; - float yaw_setpoint; - float euler_pitch_rate_setpoint; - float euler_yaw_rate_setpoint; - float airspeed_constrained; - float groundspeed; - float groundspeed_scaler; -}; - -class ECL_Controller -{ -public: - ECL_Controller(); - virtual ~ECL_Controller() = default; - - /** - * @brief Calculates both euler and body rate setpoints. Has different implementations for all body axes. - * - * @param dt Time step [s] - * @param ctrl_data Various control inputs (attitude, body rates, attitdue stepoints, euler rate setpoints, current speeed) - * @return Body rate setpoint [rad/s] - */ - virtual float control_attitude(const float dt, const ECL_ControlData &ctl_data) = 0; - - /* Setters */ - void set_time_constant(float time_constant); - void set_k_p(float k_p); - void set_k_i(float k_i); - void set_k_ff(float k_ff); - void set_integrator_max(float max); - void set_max_rate(float max_rate); - - /* Getters */ - float get_euler_rate_setpoint(); - float get_body_rate_setpoint(); - float get_integrator(); - - void reset_integrator(); - -protected: - uint64_t _last_run; - float _tc; - float _k_p; - float _k_i; - float _k_ff; - float _integrator_max; - float _max_rate; - float _last_output; - float _integrator; - float _euler_rate_setpoint; - float _body_rate_setpoint; -}; diff --git a/src/modules/fw_att_control/ecl_pitch_controller.cpp b/src/modules/fw_att_control/ecl_pitch_controller.cpp deleted file mode 100644 index 2518a4a5ff34..000000000000 --- a/src/modules/fw_att_control/ecl_pitch_controller.cpp +++ /dev/null @@ -1,69 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2013-2020 Estimation and Control Library (ECL). All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name ECL nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file ecl_pitch_controller.cpp - * Implementation of a simple orthogonal pitch PID controller. - * - * Authors and acknowledgements in header. - */ - -#include "ecl_pitch_controller.h" -#include -#include -#include - -float ECL_PitchController::control_attitude(const float dt, const ECL_ControlData &ctl_data) -{ - /* Do not calculate control signal with bad inputs */ - if (!(PX4_ISFINITE(ctl_data.pitch_setpoint) && - PX4_ISFINITE(ctl_data.roll) && - PX4_ISFINITE(ctl_data.pitch) && - PX4_ISFINITE(ctl_data.euler_yaw_rate_setpoint))) { - - return _body_rate_setpoint; - } - - /* Calculate the error */ - float pitch_error = ctl_data.pitch_setpoint - ctl_data.pitch; - - /* Apply P controller: rate setpoint from current error and time constant */ - _euler_rate_setpoint = pitch_error / _tc; - - /* Transform setpoint to body angular rates (jacobian) */ - const float pitch_body_rate_setpoint_raw = cosf(ctl_data.roll) * _euler_rate_setpoint + - cosf(ctl_data.pitch) * sinf(ctl_data.roll) * ctl_data.euler_yaw_rate_setpoint; - _body_rate_setpoint = math::constrain(pitch_body_rate_setpoint_raw, -_max_rate_neg, _max_rate); - - return _body_rate_setpoint; -} diff --git a/src/modules/fw_att_control/ecl_pitch_controller.h b/src/modules/fw_att_control/ecl_pitch_controller.h deleted file mode 100644 index 97cc9ecb8b73..000000000000 --- a/src/modules/fw_att_control/ecl_pitch_controller.h +++ /dev/null @@ -1,87 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2020-2022 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file ecl_pitch_controller.h - * Definition of a simple orthogonal pitch PID controller. - * - * @author Lorenz Meier - * @author Thomas Gubler - * - * Acknowledgements: - * - * The control design is based on a design - * by Paul Riseborough and Andrew Tridgell, 2013, - * which in turn is based on initial work of - * Jonathan Challinger, 2012. - */ - -#ifndef ECL_PITCH_CONTROLLER_H -#define ECL_PITCH_CONTROLLER_H - -#include - -#include "ecl_controller.h" - -class ECL_PitchController : - public ECL_Controller -{ -public: - ECL_PitchController() = default; - ~ECL_PitchController() = default; - - /** - * @brief Calculates both euler and body pitch rate setpoints. - * - * @param dt Time step [s] - * @param ctrl_data Various control inputs (attitude, body rates, attitdue stepoints, euler rate setpoints, current speeed) - * @return Pitch body rate setpoint [rad/s] - */ - float control_attitude(const float dt, const ECL_ControlData &ctl_data) override; - - /* Additional Setters */ - void set_max_rate_pos(float max_rate_pos) - { - _max_rate = max_rate_pos; - } - - void set_max_rate_neg(float max_rate_neg) - { - _max_rate_neg = max_rate_neg; - } - -protected: - float _max_rate_neg{0.0f}; -}; - -#endif // ECL_PITCH_CONTROLLER_H diff --git a/src/modules/fw_att_control/ecl_roll_controller.cpp b/src/modules/fw_att_control/ecl_roll_controller.cpp deleted file mode 100644 index d283389df0b4..000000000000 --- a/src/modules/fw_att_control/ecl_roll_controller.cpp +++ /dev/null @@ -1,69 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2013-2020 Estimation and Control Library (ECL). All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name ECL nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file ecl_roll_controller.cpp - * Implementation of a simple orthogonal roll PID controller. - * - * Authors and acknowledgements in header. - */ - -#include "ecl_roll_controller.h" -#include -#include -#include - -float ECL_RollController::control_attitude(const float dt, const ECL_ControlData &ctl_data) -{ - /* Do not calculate control signal with bad inputs */ - if (!(PX4_ISFINITE(ctl_data.roll_setpoint) && - PX4_ISFINITE(ctl_data.euler_yaw_rate_setpoint) && - PX4_ISFINITE(ctl_data.pitch) && - PX4_ISFINITE(ctl_data.roll))) { - - return _body_rate_setpoint; - } - - /* Calculate the error */ - float roll_error = ctl_data.roll_setpoint - ctl_data.roll; - - /* Apply P controller: rate setpoint from current error and time constant */ - _euler_rate_setpoint = roll_error / _tc; - - /* Transform setpoint to body angular rates (jacobian) */ - const float roll_body_rate_setpoint_raw = _euler_rate_setpoint - sinf(ctl_data.pitch) * - ctl_data.euler_yaw_rate_setpoint; - _body_rate_setpoint = math::constrain(roll_body_rate_setpoint_raw, -_max_rate, _max_rate); - - return _body_rate_setpoint; -} diff --git a/src/modules/fw_att_control/ecl_roll_controller.h b/src/modules/fw_att_control/ecl_roll_controller.h deleted file mode 100644 index 63cc905c3c46..000000000000 --- a/src/modules/fw_att_control/ecl_roll_controller.h +++ /dev/null @@ -1,71 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2020-2022 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file ecl_roll_controller.h - * Definition of a simple orthogonal roll PID controller. - * - * @author Lorenz Meier - * @author Thomas Gubler - * - * Acknowledgements: - * - * The control design is based on a design - * by Paul Riseborough and Andrew Tridgell, 2013, - * which in turn is based on initial work of - * Jonathan Challinger, 2012. - */ - -#ifndef ECL_ROLL_CONTROLLER_H -#define ECL_ROLL_CONTROLLER_H - -#include "ecl_controller.h" - -class ECL_RollController : - public ECL_Controller -{ -public: - ECL_RollController() = default; - ~ECL_RollController() = default; - - /** - * @brief Calculates both euler and body roll rate setpoints. - * - * @param dt Time step [s] - * @param ctrl_data Various control inputs (attitude, body rates, attitdue stepoints, euler rate setpoints, current speeed) - * @return Roll body rate setpoint [rad/s] - */ - float control_attitude(const float dt, const ECL_ControlData &ctl_data) override; -}; - -#endif // ECL_ROLL_CONTROLLER_H diff --git a/src/modules/fw_att_control/ecl_wheel_controller.cpp b/src/modules/fw_att_control/ecl_wheel_controller.cpp deleted file mode 100644 index 869aaa22caca..000000000000 --- a/src/modules/fw_att_control/ecl_wheel_controller.cpp +++ /dev/null @@ -1,120 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2013-2016 Estimation and Control Library (ECL). All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name ECL nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file ecl_wheel_controller.cpp - * Implementation of a simple PID wheel controller for heading tracking. - * - * Authors and acknowledgements in header. - */ - -#include "ecl_wheel_controller.h" -#include -#include -#include -#include - -using matrix::wrap_pi; - -float ECL_WheelController::control_bodyrate(const float dt, const ECL_ControlData &ctl_data) -{ - /* Do not calculate control signal with bad inputs */ - if (!(PX4_ISFINITE(ctl_data.body_z_rate) && - PX4_ISFINITE(ctl_data.groundspeed) && - PX4_ISFINITE(ctl_data.groundspeed_scaler))) { - - return math::constrain(_last_output, -1.0f, 1.0f); - } - - /* input conditioning */ - float min_speed = 1.0f; - - /* Calculate body angular rate error */ - const float rate_error = _body_rate_setpoint - ctl_data.body_z_rate; //body angular rate error - - if (_k_i > 0.0f && ctl_data.groundspeed > min_speed) { - - float id = rate_error * dt * ctl_data.groundspeed_scaler; - - /* - * anti-windup: do not allow integrator to increase if actuator is at limit - */ - if (_last_output < -1.0f) { - /* only allow motion to center: increase value */ - id = math::max(id, 0.0f); - - } else if (_last_output > 1.0f) { - /* only allow motion to center: decrease value */ - id = math::min(id, 0.0f); - } - - /* add and constrain */ - _integrator = math::constrain(_integrator + id * _k_i, -_integrator_max, _integrator_max); - } - - /* Apply PI rate controller and store non-limited output */ - _last_output = _body_rate_setpoint * _k_ff * ctl_data.groundspeed_scaler + - ctl_data.groundspeed_scaler * ctl_data.groundspeed_scaler * (rate_error * _k_p + _integrator); - - return math::constrain(_last_output, -1.0f, 1.0f); -} - -float ECL_WheelController::control_attitude(const float dt, const ECL_ControlData &ctl_data) -{ - /* Do not calculate control signal with bad inputs */ - if (!(PX4_ISFINITE(ctl_data.yaw_setpoint) && - PX4_ISFINITE(ctl_data.yaw))) { - - return _body_rate_setpoint; - } - - /* Calculate the error */ - float yaw_error = wrap_pi(ctl_data.yaw_setpoint - ctl_data.yaw); - - /* Apply P controller: rate setpoint from current error and time constant */ - _euler_rate_setpoint = yaw_error / _tc; - _body_rate_setpoint = _euler_rate_setpoint; // assume 0 pitch and roll angle, thus jacobian is simply identity matrix - - /* limit the rate */ - if (_max_rate > 0.01f) { - if (_body_rate_setpoint > 0.0f) { - _body_rate_setpoint = (_body_rate_setpoint > _max_rate) ? _max_rate : _body_rate_setpoint; - - } else { - _body_rate_setpoint = (_body_rate_setpoint < -_max_rate) ? -_max_rate : _body_rate_setpoint; - } - - } - - return _body_rate_setpoint; -} diff --git a/src/modules/fw_att_control/ecl_wheel_controller.h b/src/modules/fw_att_control/ecl_wheel_controller.h deleted file mode 100644 index dc77073d046a..000000000000 --- a/src/modules/fw_att_control/ecl_wheel_controller.h +++ /dev/null @@ -1,75 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2020-2022 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file ecl_wheel_controller.h - * Definition of a simple orthogonal coordinated turn yaw PID controller. - * - * @author Lorenz Meier - * @author Thomas Gubler - * @author Andreas Antener - * - * Acknowledgements: - * - * The control design is based on a design - * by Paul Riseborough and Andrew Tridgell, 2013, - * which in turn is based on initial work of - * Jonathan Challinger, 2012. - */ -#ifndef ECL_HEADING_CONTROLLER_H -#define ECL_HEADING_CONTROLLER_H - -#include "ecl_controller.h" - -class ECL_WheelController : - public ECL_Controller -{ -public: - ECL_WheelController() = default; - ~ECL_WheelController() = default; - - /** - * @brief Calculates wheel body rate setpoint. - * - * @param dt Time step [s] - * @param ctrl_data Various control inputs (attitude, body rates, attitdue stepoints, euler rate setpoints, current speeed) - * @return Wheel body rate setpoint [rad/s] - */ - float control_attitude(const float dt, const ECL_ControlData &ctl_data) override; - - float control_bodyrate(const float dt, const ECL_ControlData &ctl_data); - - float control_euler_rate(const float dt, const ECL_ControlData &ctl_data, float bodyrate_ff) { (void)ctl_data; return 0; } -}; - -#endif // ECL_HEADING_CONTROLLER_H diff --git a/src/modules/fw_att_control/ecl_yaw_controller.cpp b/src/modules/fw_att_control/ecl_yaw_controller.cpp deleted file mode 100644 index f49b1c9edd7e..000000000000 --- a/src/modules/fw_att_control/ecl_yaw_controller.cpp +++ /dev/null @@ -1,99 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2013-2020 Estimation and Control Library (ECL). All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name ECL nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file ecl_yaw_controller.cpp - * Implementation of a simple orthogonal coordinated turn yaw PID controller. - * - * Authors and acknowledgements in header. - */ - -#include "ecl_yaw_controller.h" -#include -#include -#include - -float ECL_YawController::control_attitude(const float dt, const ECL_ControlData &ctl_data) -{ - /* Do not calculate control signal with bad inputs */ - if (!(PX4_ISFINITE(ctl_data.roll) && - PX4_ISFINITE(ctl_data.pitch) && - PX4_ISFINITE(ctl_data.euler_pitch_rate_setpoint) && - PX4_ISFINITE(ctl_data.airspeed_constrained))) { - - return _body_rate_setpoint; - } - - float constrained_roll; - bool inverted = false; - - /* roll is used as feedforward term and inverted flight needs to be considered */ - if (fabsf(ctl_data.roll) < math::radians(90.0f)) { - /* not inverted, but numerically still potentially close to infinity */ - constrained_roll = math::constrain(ctl_data.roll, math::radians(-80.0f), math::radians(80.0f)); - - } else { - inverted = true; - - // inverted flight, constrain on the two extremes of -pi..+pi to avoid infinity - //note: the ranges are extended by 10 deg here to avoid numeric resolution effects - if (ctl_data.roll > 0.0f) { - /* right hemisphere */ - constrained_roll = math::constrain(ctl_data.roll, math::radians(100.0f), math::radians(180.0f)); - - } else { - /* left hemisphere */ - constrained_roll = math::constrain(ctl_data.roll, math::radians(-180.0f), math::radians(-100.0f)); - } - } - - constrained_roll = math::constrain(constrained_roll, -fabsf(ctl_data.roll_setpoint), fabsf(ctl_data.roll_setpoint)); - - - if (!inverted) { - /* Calculate desired yaw rate from coordinated turn constraint / (no side forces) */ - _euler_rate_setpoint = tanf(constrained_roll) * cosf(ctl_data.pitch) * CONSTANTS_ONE_G / ctl_data.airspeed_constrained; - - /* Transform setpoint to body angular rates (jacobian) */ - const float yaw_body_rate_setpoint_raw = -sinf(ctl_data.roll) * ctl_data.euler_pitch_rate_setpoint + - cosf(ctl_data.roll) * cosf(ctl_data.pitch) * _euler_rate_setpoint; - _body_rate_setpoint = math::constrain(yaw_body_rate_setpoint_raw, -_max_rate, _max_rate); - } - - if (!PX4_ISFINITE(_body_rate_setpoint)) { - PX4_WARN("yaw rate sepoint not finite"); - _body_rate_setpoint = 0.0f; - } - - return _body_rate_setpoint; -} diff --git a/src/modules/fw_att_control/ecl_yaw_controller.h b/src/modules/fw_att_control/ecl_yaw_controller.h deleted file mode 100644 index 08578ba08353..000000000000 --- a/src/modules/fw_att_control/ecl_yaw_controller.h +++ /dev/null @@ -1,72 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2020-2022 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file ecl_yaw_controller.h - * Definition of a simple orthogonal coordinated turn yaw PID controller. - * - * @author Lorenz Meier - * @author Thomas Gubler - * - * Acknowledgements: - * - * The control design is based on a design - * by Paul Riseborough and Andrew Tridgell, 2013, - * which in turn is based on initial work of - * Jonathan Challinger, 2012. - */ - -#ifndef ECL_YAW_CONTROLLER_H -#define ECL_YAW_CONTROLLER_H - -#include "ecl_controller.h" - -class ECL_YawController : - public ECL_Controller -{ -public: - ECL_YawController() = default; - ~ECL_YawController() = default; - - /** - * @brief Calculates both euler and body yaw rate setpoints. - * - * @param dt Time step [s] - * @param ctrl_data Various control inputs (attitude, body rates, attitdue stepoints, euler rate setpoints, current speeed) - * @return Yaw body rate setpoint [rad/s] - */ - float control_attitude(const float dt, const ECL_ControlData &ctl_data) override; - -}; - -#endif // ECL_YAW_CONTROLLER_H diff --git a/src/modules/fw_att_control/fw_att_control_params.c b/src/modules/fw_att_control/fw_att_control_params.c index d4c89c53f33c..554eac360c42 100644 --- a/src/modules/fw_att_control/fw_att_control_params.c +++ b/src/modules/fw_att_control/fw_att_control_params.c @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2013-2015 PX4 Development Team. All rights reserved. + * Copyright (c) 2013-2023 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -40,19 +40,11 @@ * @author Thomas Gubler */ -/* - * Controller parameters, accessible via MAVLink - * - */ - /** * Attitude Roll Time Constant * * This defines the latency between a roll step input and the achieved setpoint - * (inverse to a P gain). Half a second is a good start value and fits for - * most average systems. Smaller systems may require smaller values, but as - * this will wear out servos faster, the value should only be decreased as - * needed. + * (inverse to a P gain). Smaller systems may require smaller values. * * @unit s * @min 0.2 @@ -67,10 +59,7 @@ PARAM_DEFINE_FLOAT(FW_R_TC, 0.4f); * Attitude pitch time constant * * This defines the latency between a pitch step input and the achieved setpoint - * (inverse to a P gain). Half a second is a good start value and fits for - * most average systems. Smaller systems may require smaller values, but as - * this will wear out servos faster, the value should only be decreased as - * needed. + * (inverse to a P gain). Smaller systems may require smaller values. * * @unit s * @min 0.2 @@ -86,7 +75,7 @@ PARAM_DEFINE_FLOAT(FW_P_TC, 0.4f); * * @unit deg/s * @min 0.0 - * @max 90.0 + * @max 180 * @decimal 1 * @increment 0.5 * @group FW Attitude Control @@ -98,7 +87,7 @@ PARAM_DEFINE_FLOAT(FW_P_RMAX_POS, 60.0f); * * @unit deg/s * @min 0.0 - * @max 90.0 + * @max 180 * @decimal 1 * @increment 0.5 * @group FW Attitude Control @@ -110,7 +99,7 @@ PARAM_DEFINE_FLOAT(FW_P_RMAX_NEG, 60.0f); * * @unit deg/s * @min 0.0 - * @max 90.0 + * @max 180 * @decimal 1 * @increment 0.5 * @group FW Attitude Control @@ -122,7 +111,7 @@ PARAM_DEFINE_FLOAT(FW_R_RMAX, 70.0f); * * @unit deg/s * @min 0.0 - * @max 90.0 + * @max 180 * @decimal 1 * @increment 0.5 * @group FW Attitude Control @@ -140,7 +129,6 @@ PARAM_DEFINE_FLOAT(FW_Y_RMAX, 50.0f); */ PARAM_DEFINE_INT32(FW_W_EN, 0); - /** * Wheel steering rate proportional gain * @@ -149,7 +137,7 @@ PARAM_DEFINE_INT32(FW_W_EN, 0); * * @unit %/rad/s * @min 0.0 - * @max 1.0 + * @max 10 * @decimal 3 * @increment 0.005 * @group FW Attitude Control @@ -164,7 +152,7 @@ PARAM_DEFINE_FLOAT(FW_WR_P, 0.5f); * * @unit %/rad * @min 0.0 - * @max 0.5 + * @max 10 * @decimal 3 * @increment 0.005 * @group FW Attitude Control @@ -174,9 +162,6 @@ PARAM_DEFINE_FLOAT(FW_WR_I, 0.1f); /** * Wheel steering rate integrator limit * - * The portion of the integrator part in the control surface deflection is - * limited to this value - * * @min 0.0 * @max 1.0 * @decimal 2 @@ -203,11 +188,9 @@ PARAM_DEFINE_FLOAT(FW_W_RMAX, 30.0f); /** * Wheel steering rate feed forward * - * Direct feed forward from rate setpoint to control surface output - * * @unit %/rad/s * @min 0.0 - * @max 1.0 + * @max 10 * @decimal 2 * @increment 0.05 * @group FW Attitude Control @@ -234,8 +217,7 @@ PARAM_DEFINE_FLOAT(FW_PSP_OFF, 0.0f); * Maximum manually added yaw rate * * This is the maximally added yaw rate setpoint from the yaw stick in any attitude controlled flight mode. - * The controller already generates a yaw rate setpoint to coordinate a turn, and this value is added to it. - * This is an absolute value, which is applied symmetrically to the negative and positive side. + * It is added to the yaw rate setpoint generated by the controller for turn coordination. * * @unit deg/s * @min 0 @@ -248,7 +230,7 @@ PARAM_DEFINE_FLOAT(FW_MAN_YR_MAX, 30.f); /** * Maximum manual roll angle * - * Maximum manual roll angle setpoint (positive & negative) in manual attitude-only stabilized mode + * Applies to both directions in all manual modes with attitude stabilization * * @unit deg * @min 0.0 @@ -262,7 +244,7 @@ PARAM_DEFINE_FLOAT(FW_MAN_R_MAX, 45.0f); /** * Maximum manual pitch angle * - * Maximum manual pitch angle setpoint (positive & negative) in manual attitude-only stabilized mode + * Applies to both directions in all manual modes with attitude stabilization but without altitude control * * @unit deg * @min 0.0 diff --git a/src/modules/fw_att_control/fw_pitch_controller.cpp b/src/modules/fw_att_control/fw_pitch_controller.cpp new file mode 100644 index 000000000000..90ad9dce43de --- /dev/null +++ b/src/modules/fw_att_control/fw_pitch_controller.cpp @@ -0,0 +1,65 @@ +/**************************************************************************** + * + * Copyright (c) 2020-2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name ECL nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file fw_pitch_controller.cpp + * Implementation of a simple pitch P controller. + */ + +#include "fw_pitch_controller.h" +#include +#include +#include + +float PitchController::control_pitch(float pitch_setpoint, float euler_yaw_rate_setpoint, float roll, float pitch) +{ + /* Do not calculate control signal with bad inputs */ + if (!(PX4_ISFINITE(pitch_setpoint) && + PX4_ISFINITE(euler_yaw_rate_setpoint) && + PX4_ISFINITE(pitch) && + PX4_ISFINITE(roll))) { + + return _body_rate_setpoint; + } + + const float pitch_error = pitch_setpoint - pitch; + _euler_rate_setpoint = pitch_error / _tc; + + /* Transform setpoint to body angular rates (jacobian) */ + const float pitch_body_rate_setpoint_raw = cosf(roll) * _euler_rate_setpoint + + cosf(pitch) * sinf(roll) * euler_yaw_rate_setpoint; + + _body_rate_setpoint = math::constrain(pitch_body_rate_setpoint_raw, -_max_rate_neg, _max_rate_pos); + + return _body_rate_setpoint; +} diff --git a/src/modules/fw_att_control/fw_pitch_controller.h b/src/modules/fw_att_control/fw_pitch_controller.h new file mode 100644 index 000000000000..a71168f190dc --- /dev/null +++ b/src/modules/fw_att_control/fw_pitch_controller.h @@ -0,0 +1,74 @@ +/**************************************************************************** + * + * Copyright (c) 2020-2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file fw_pitch_controller.h + * Definition of a simple pitch P controller. + */ + +#ifndef FW_PITCH_CONTROLLER_H +#define FW_PITCH_CONTROLLER_H + +class PitchController +{ +public: + PitchController() = default; + ~PitchController() = default; + + /** + * @brief Calculates both euler and body pitch rate setpoints. + * + * @param pitch_setpoint pitch setpoint [rad] + * @param euler_yaw_rate_setpoint euler yaw rate setpoint [rad/s] + * @param roll estimated roll [rad] + * @param pitch estimated pitch [rad] + * @return Pitch body rate setpoint [rad/s] + */ + float control_pitch(float pitch_setpoint, float euler_yaw_rate_setpoint, float roll, float pitch); + + void set_time_constant(float time_constant) { _tc = time_constant; } + void set_max_rate_pos(float max_rate_pos) { _max_rate_pos = max_rate_pos; } + void set_max_rate_neg(float max_rate_neg) { _max_rate_neg = max_rate_neg; } + + float get_euler_rate_setpoint() { return _euler_rate_setpoint; } + float get_body_rate_setpoint() { return _body_rate_setpoint; } + +private: + float _tc; + float _max_rate_pos; + float _max_rate_neg; + float _euler_rate_setpoint; + float _body_rate_setpoint; +}; + +#endif // FW_PITCH_CONTROLLER_H diff --git a/src/modules/fw_att_control/fw_roll_controller.cpp b/src/modules/fw_att_control/fw_roll_controller.cpp new file mode 100644 index 000000000000..659adfa9c28a --- /dev/null +++ b/src/modules/fw_att_control/fw_roll_controller.cpp @@ -0,0 +1,64 @@ +/**************************************************************************** + * + * Copyright (c) 2020-2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name ECL nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file fw_roll_controller.cpp + * Implementation of a simple roll P controller. + */ + +#include "fw_roll_controller.h" +#include +#include +#include + +float RollController::control_roll(float roll_setpoint, float euler_yaw_rate_setpoint, float roll, float pitch) +{ + /* Do not calculate control signal with bad inputs */ + if (!(PX4_ISFINITE(roll_setpoint) && + PX4_ISFINITE(euler_yaw_rate_setpoint) && + PX4_ISFINITE(pitch) && + PX4_ISFINITE(roll))) { + + return _body_rate_setpoint; + } + + const float roll_error = roll_setpoint - roll; + _euler_rate_setpoint = roll_error / _tc; + + /* Transform setpoint to body angular rates (jacobian) */ + const float roll_body_rate_setpoint_raw = _euler_rate_setpoint - sinf(pitch) * + euler_yaw_rate_setpoint; + _body_rate_setpoint = math::constrain(roll_body_rate_setpoint_raw, -_max_rate, _max_rate); + + return _body_rate_setpoint; +} diff --git a/src/modules/fw_att_control/fw_roll_controller.h b/src/modules/fw_att_control/fw_roll_controller.h new file mode 100644 index 000000000000..a14277e3f0ff --- /dev/null +++ b/src/modules/fw_att_control/fw_roll_controller.h @@ -0,0 +1,72 @@ +/**************************************************************************** + * + * Copyright (c) 2020-2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file fw_roll_controller.h + * Definition of a simple roll P controller. + */ + +#ifndef FW_ROLL_CONTROLLER_H +#define FW_ROLL_CONTROLLER_H + +class RollController +{ +public: + RollController() = default; + ~RollController() = default; + + /** + * @brief Calculates both euler and body roll rate setpoints. + * + * @param roll_setpoint roll setpoint [rad] + * @param euler_yaw_rate_setpoint euler yaw rate setpoint [rad/s] + * @param roll estimated roll [rad] + * @param pitch estimated pitch [rad] + * @return Roll body rate setpoint [rad/s] + */ + float control_roll(float roll_setpoint, float euler_yaw_rate_setpoint, float roll, float pitch); + + void set_time_constant(float time_constant) { _tc = time_constant; } + void set_max_rate(float max_rate) { _max_rate = max_rate; } + + float get_euler_rate_setpoint() { return _euler_rate_setpoint; } + float get_body_rate_setpoint() { return _body_rate_setpoint; } + +private: + float _tc; + float _max_rate; + float _euler_rate_setpoint; + float _body_rate_setpoint; +}; + +#endif // FW_ROLL_CONTROLLER_H diff --git a/src/modules/fw_att_control/fw_wheel_controller.cpp b/src/modules/fw_att_control/fw_wheel_controller.cpp new file mode 100644 index 000000000000..e26d9a5d3868 --- /dev/null +++ b/src/modules/fw_att_control/fw_wheel_controller.cpp @@ -0,0 +1,106 @@ +/**************************************************************************** + * + * Copyright (c) 2020-2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name ECL nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file fw_wheel_controller.cpp + * Implementation of a simple PID wheel controller for heading tracking. + */ + +#include "fw_wheel_controller.h" +#include +#include +#include +#include + +using matrix::wrap_pi; + +float WheelController::control_bodyrate(float dt, float body_z_rate, float groundspeed, float groundspeed_scaler) +{ + /* Do not calculate control signal with bad inputs */ + if (!(PX4_ISFINITE(body_z_rate) && + PX4_ISFINITE(groundspeed) && + PX4_ISFINITE(groundspeed_scaler))) { + + return math::constrain(_last_output, -1.f, 1.f); + } + + const float rate_error = _body_rate_setpoint - body_z_rate; + + if (_k_i > 0.f && groundspeed > 1.f) { // only start integrating when above 1m/s + + float id = rate_error * dt * groundspeed_scaler; + + if (_last_output < -1.f) { + /* only allow motion to center: increase value */ + id = math::max(id, 0.f); + + } else if (_last_output > 1.f) { + /* only allow motion to center: decrease value */ + id = math::min(id, 0.f); + } + + _integrator = math::constrain(_integrator + id * _k_i, -_integrator_max, _integrator_max); + } + + /* Apply PI rate controller and store non-limited output */ + _last_output = _body_rate_setpoint * _k_ff * groundspeed_scaler + + groundspeed_scaler * groundspeed_scaler * (rate_error * _k_p + _integrator); + + return math::constrain(_last_output, -1.f, 1.f); +} + +float WheelController::control_attitude(float yaw_setpoint, float yaw) +{ + /* Do not calculate control signal with bad inputs */ + if (!(PX4_ISFINITE(yaw_setpoint) && + PX4_ISFINITE(yaw))) { + + return _body_rate_setpoint; + } + + const float yaw_error = wrap_pi(yaw_setpoint - yaw); + + _body_rate_setpoint = yaw_error / _tc; // assume 0 pitch and roll angle, thus jacobian is simply identity matrix + + if (_max_rate > 0.01f) { + if (_body_rate_setpoint > 0.f) { + _body_rate_setpoint = (_body_rate_setpoint > _max_rate) ? _max_rate : _body_rate_setpoint; + + } else { + _body_rate_setpoint = (_body_rate_setpoint < -_max_rate) ? -_max_rate : _body_rate_setpoint; + } + + } + + return _body_rate_setpoint; +} diff --git a/src/modules/fw_att_control/fw_wheel_controller.h b/src/modules/fw_att_control/fw_wheel_controller.h new file mode 100644 index 000000000000..94b684aa5766 --- /dev/null +++ b/src/modules/fw_att_control/fw_wheel_controller.h @@ -0,0 +1,79 @@ +/**************************************************************************** + * + * Copyright (c) 2020-2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file fw_wheel_controller.h + * Definition of a simple wheel controller. + */ +#ifndef FW_WHEEL_CONTROLLER_H +#define FW_WHEEL_CONTROLLER_H + +class WheelController +{ +public: + WheelController() = default; + ~WheelController() = default; + + /** + * @brief Calculates wheel body rate setpoint. + * + * @param yaw_setpoint yaw setpoint [rad] + * @param yaw estimated yaw [rad] + * @return Wheel body rate setpoint [rad/s] + */ + float control_attitude(float yaw_setpoint, float yaw); + + float control_bodyrate(float dt, float body_z_rate, float groundspeed, float groundspeed_scaler); + + void set_time_constant(float time_constant) { _tc = time_constant; } + void set_k_p(float k_p) { _k_p = k_p; } + void set_k_i(float k_i) { _k_i = k_i; } + void set_k_ff(float k_ff) { _k_ff = k_ff; } + void set_integrator_max(float max) { _integrator_max = max; } + void set_max_rate(float max_rate) { _max_rate = max_rate; } + + void reset_integrator() { _integrator = 0.f; } + +private: + float _tc; + float _k_p; + float _k_i; + float _k_ff; + float _integrator_max; + float _max_rate; + float _last_output; + float _integrator; + float _body_rate_setpoint; +}; + +#endif // FW_WHEEL_CONTROLLER_H diff --git a/src/modules/fw_att_control/fw_yaw_controller.cpp b/src/modules/fw_att_control/fw_yaw_controller.cpp new file mode 100644 index 000000000000..4f27e8a61023 --- /dev/null +++ b/src/modules/fw_att_control/fw_yaw_controller.cpp @@ -0,0 +1,98 @@ +/**************************************************************************** + * + * Copyright (c) 2020-2022 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name ECL nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file fw_yaw_controller.cpp + * Implementation of a simple coordinated turn yaw controller. + */ + +#include "fw_yaw_controller.h" +#include +#include +#include + +float YawController::control_yaw(float roll_setpoint, float euler_pitch_rate_setpoint, float roll, float pitch, + float airspeed) +{ + /* Do not calculate control signal with bad inputs */ + if (!(PX4_ISFINITE(roll_setpoint) && + PX4_ISFINITE(roll) && + PX4_ISFINITE(pitch) && + PX4_ISFINITE(euler_pitch_rate_setpoint) && + PX4_ISFINITE(airspeed))) { + + return _body_rate_setpoint; + } + + float constrained_roll; + bool inverted = false; + + /* roll is used as feedforward term and inverted flight needs to be considered */ + if (fabsf(roll) < math::radians(90.f)) { + /* not inverted, but numerically still potentially close to infinity */ + constrained_roll = math::constrain(roll, math::radians(-80.f), math::radians(80.f)); + + } else { + inverted = true; + + // inverted flight, constrain on the two extremes of -pi..+pi to avoid infinity + //note: the ranges are extended by 10 deg here to avoid numeric resolution effects + if (roll > 0.f) { + /* right hemisphere */ + constrained_roll = math::constrain(roll, math::radians(100.f), math::radians(180.f)); + + } else { + /* left hemisphere */ + constrained_roll = math::constrain(roll, math::radians(-180.f), math::radians(-100.f)); + } + } + + constrained_roll = math::constrain(constrained_roll, -fabsf(roll_setpoint), fabsf(roll_setpoint)); + + + if (!inverted) { + /* Calculate desired yaw rate from coordinated turn constraint / (no side forces) */ + _euler_rate_setpoint = tanf(constrained_roll) * cosf(pitch) * CONSTANTS_ONE_G / airspeed; + + /* Transform setpoint to body angular rates (jacobian) */ + const float yaw_body_rate_setpoint_raw = -sinf(roll) * euler_pitch_rate_setpoint + + cosf(roll) * cosf(pitch) * _euler_rate_setpoint; + _body_rate_setpoint = math::constrain(yaw_body_rate_setpoint_raw, -_max_rate, _max_rate); + } + + if (!PX4_ISFINITE(_body_rate_setpoint)) { + _body_rate_setpoint = 0.f; + } + + return _body_rate_setpoint; +} diff --git a/src/modules/fw_att_control/fw_yaw_controller.h b/src/modules/fw_att_control/fw_yaw_controller.h new file mode 100644 index 000000000000..7e97618a26e3 --- /dev/null +++ b/src/modules/fw_att_control/fw_yaw_controller.h @@ -0,0 +1,79 @@ +/**************************************************************************** + * + * Copyright (c) 2020-2022 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file fw_yaw_controller.h + * Definition of a simple coordinated turn controller. + * + * Acknowledgements: + * + * The control design is based on a design + * by Paul Riseborough and Andrew Tridgell, 2013, + * which in turn is based on initial work of + * Jonathan Challinger, 2012. + */ + +#ifndef FW_YAW_CONTROLLER_H +#define FW_YAW_CONTROLLER_H + +class YawController +{ +public: + YawController() = default; + ~YawController() = default; + + /** + * @brief Calculates both euler and body yaw rate setpoints for coordinated turn based on current attitude and airspeed + * + * @param roll_setpoint roll setpoint [rad] + * @param euler_pitch_rate_setpoint euler pitch rate setpoint [rad/s] + * @param roll estimated roll [rad] + * @param pitch estimated pitch [rad] + * @param airspeed airspeed [m/s] + * @return Roll body rate setpoint [rad/s] + */ + float control_yaw(float roll_setpoint, float euler_pitch_rate_setpoint, float roll, float pitch, + float airspeed); + + void set_max_rate(float max_rate) { _max_rate = max_rate; } + + float get_euler_rate_setpoint() { return _euler_rate_setpoint; } + float get_body_rate_setpoint() { return _body_rate_setpoint; } + +private: + float _max_rate; + float _euler_rate_setpoint; + float _body_rate_setpoint; +}; + +#endif // FW_YAW_CONTROLLER_H diff --git a/src/modules/fw_autotune_attitude_control/fw_autotune_attitude_control.cpp b/src/modules/fw_autotune_attitude_control/fw_autotune_attitude_control.cpp index ec274f28dac2..5e63924d3b57 100644 --- a/src/modules/fw_autotune_attitude_control/fw_autotune_attitude_control.cpp +++ b/src/modules/fw_autotune_attitude_control/fw_autotune_attitude_control.cpp @@ -75,6 +75,7 @@ bool FwAutotuneAttitudeControl::init() void FwAutotuneAttitudeControl::reset() { + _param_fw_at_start.reset(); } void FwAutotuneAttitudeControl::Run() @@ -180,7 +181,11 @@ void FwAutotuneAttitudeControl::Run() Vector3f kid = pid_design::computePidGmvc(num_design, den, _sample_interval_avg, 0.2f, 0.f, 0.4f); _kiff(0) = kid(0); _kiff(1) = kid(1); - _attitude_p = 8.f / (M_PI_F * (_kiff(2) + _kiff(0))); // Maximum control power at an attitude error of pi/8 + + // To compute the attitude gain, use the following empirical rule: + // "An error of 60 degrees should produce the maximum control output" + // or K_att * (K_rate + K_ff) * rad(60) = 1 + _attitude_p = math::constrain(1.f / (math::radians(60.f) * (_kiff(0) + _kiff(2))), 1.f, 5.f); const Vector &coeff_var = _sys_id.getVariances(); const Vector3f rate_sp = _sys_id.areFiltersInitialized() @@ -225,7 +230,7 @@ void FwAutotuneAttitudeControl::checkFilters() reset_filters = true; } - if (reset_filters) { + if (reset_filters || !_are_filters_initialized) { _are_filters_initialized = true; _filter_sample_rate = update_rate_hz; _sys_id.setLpfCutoffFrequency(_filter_sample_rate, _param_imu_gyro_cutoff.get()); @@ -615,22 +620,52 @@ void FwAutotuneAttitudeControl::saveGainsToParams() const Vector3f FwAutotuneAttitudeControl::getIdentificationSignal() { - if (_steps_counter > _max_steps) { - _signal_sign = (_signal_sign == 1) ? 0 : 1; - _steps_counter = 0; - if (_max_steps > 1) { - _max_steps--; - } else { - _max_steps = 5; + const hrt_abstime now = hrt_absolute_time(); + const float t = static_cast(now - _state_start_time) * 1e-6f; + float signal = 0.0f; + + switch (_param_fw_sysid_signal_type.get()) { + case static_cast(SignalType::kStep): { + if (_steps_counter > _max_steps) { + _signal_sign = (_signal_sign == 1) ? 0 : 1; + _steps_counter = 0; + + if (_max_steps > 1) { + _max_steps--; + + } else { + _max_steps = 5; + } + } + + _steps_counter++; + signal = float(_signal_sign); } - } + break; + + case static_cast(SignalType::kLinearSineSweep): { - _steps_counter++; + signal = signal_generator::getLinearSineSweep(_param_fw_at_sysid_f0.get(), + _param_fw_at_sysid_f1.get(), + _param_fw_sysid_time.get(), t); + } + break; + + case static_cast(SignalType::kLogSineSweep): { + signal = signal_generator::getLogSineSweep(_param_fw_at_sysid_f0.get(), _param_fw_at_sysid_f1.get(), + _param_fw_sysid_time.get(), t); + } + break; + + default: + signal = 0.f; + break; + } - const float signal = float(_signal_sign) * _param_fw_at_sysid_amp.get(); + signal *= _param_fw_at_sysid_amp.get(); Vector3f rate_sp{}; float signal_scaled = 0.f; @@ -638,19 +673,21 @@ const Vector3f FwAutotuneAttitudeControl::getIdentificationSignal() if (_state == state::roll || _state == state::test) { // Scale the signal such that the attitude controller is // able to cancel it completely at an attitude error of pi/8 - signal_scaled = signal * M_PI_F / (8.f * _param_fw_r_tc.get()); + signal_scaled = math::min(signal * M_PI_F / (8.f * _param_fw_r_tc.get()), math::radians(_param_fw_r_rmax.get())); rate_sp(0) = signal_scaled - _signal_filter.getState(); } if (_state == state::pitch || _state == state::test) { - signal_scaled = signal * M_PI_F / (8.f * _param_fw_p_tc.get()); + const float pitch_rate_max_deg = math::min(_param_fw_p_rmax_pos.get(), _param_fw_p_rmax_neg.get()); + signal_scaled = math::min(signal * M_PI_F / (8.f * _param_fw_p_tc.get()), math::radians(pitch_rate_max_deg)); rate_sp(1) = signal_scaled - _signal_filter.getState(); } if (_state == state::yaw) { // Do not send a signal that produces more than a full deflection of the rudder - signal_scaled = math::min(signal, 1.f / (_param_fw_yr_ff.get() + _param_fw_yr_p.get())); + signal_scaled = math::min(signal, 1.f / (_param_fw_yr_ff.get() + _param_fw_yr_p.get()), + math::radians(_param_fw_y_rmax.get())); rate_sp(2) = signal_scaled - _signal_filter.getState(); } diff --git a/src/modules/fw_autotune_attitude_control/fw_autotune_attitude_control.hpp b/src/modules/fw_autotune_attitude_control/fw_autotune_attitude_control.hpp index 213518ef7206..4350724eed43 100644 --- a/src/modules/fw_autotune_attitude_control/fw_autotune_attitude_control.hpp +++ b/src/modules/fw_autotune_attitude_control/fw_autotune_attitude_control.hpp @@ -44,6 +44,7 @@ #include #include #include +#include #include #include #include @@ -64,6 +65,12 @@ using namespace time_literals; +enum class SignalType : uint8_t { + kStep = 0, + kLinearSineSweep, + kLogSineSweep +}; + class FwAutotuneAttitudeControl : public ModuleBase, public ModuleParams, public px4::WorkItem { @@ -193,14 +200,23 @@ class FwAutotuneAttitudeControl : public ModuleBase, (ParamFloat) _param_fw_rr_p, (ParamFloat) _param_fw_rr_i, (ParamFloat) _param_fw_rr_ff, + (ParamFloat) _param_fw_r_rmax, (ParamFloat) _param_fw_r_tc, (ParamFloat) _param_fw_pr_p, (ParamFloat) _param_fw_pr_i, (ParamFloat) _param_fw_pr_ff, + (ParamFloat) _param_fw_p_rmax_pos, + (ParamFloat) _param_fw_p_rmax_neg, (ParamFloat) _param_fw_p_tc, (ParamFloat) _param_fw_yr_p, (ParamFloat) _param_fw_yr_i, - (ParamFloat) _param_fw_yr_ff + (ParamFloat) _param_fw_yr_ff, + (ParamFloat) _param_fw_y_rmax, + + (ParamFloat) _param_fw_at_sysid_f0, + (ParamFloat) _param_fw_at_sysid_f1, + (ParamFloat) _param_fw_sysid_time, + (ParamInt) _param_fw_sysid_signal_type ) static constexpr float _publishing_dt_s = 100e-3f; diff --git a/src/modules/fw_autotune_attitude_control/fw_autotune_attitude_control_params.c b/src/modules/fw_autotune_attitude_control/fw_autotune_attitude_control_params.c index 13609dbbb187..eb10036631b6 100644 --- a/src/modules/fw_autotune_attitude_control/fw_autotune_attitude_control_params.c +++ b/src/modules/fw_autotune_attitude_control/fw_autotune_attitude_control_params.c @@ -121,3 +121,54 @@ PARAM_DEFINE_INT32(FW_AT_AXES, 3); * @group Autotune */ PARAM_DEFINE_INT32(FW_AT_MAN_AUX, 0); + +/** + * Start frequency of the injected signal + * + * Can be set lower or higher than the end frequency + * + * @min 0.1 + * @max 30.0 + * @decimal 1 + * @unit Hz + * @group Autotune + */ +PARAM_DEFINE_FLOAT(FW_AT_SYSID_F0, 1.f); + +/** + * End frequency of the injected signal + * + * Can be set lower or higher than the start frequency + * + * @min 0.1 + * @max 30.0 + * @decimal 1 + * @unit Hz + * @group Autotune + */ +PARAM_DEFINE_FLOAT(FW_AT_SYSID_F1, 20.f); + +/** + * Maneuver time for each axis + * + * Duration of the input signal sent on each axis during system identification + * + * @min 5 + * @max 120 + * @decimal 0 + * @unit s + * @group Autotune + */ +PARAM_DEFINE_FLOAT(FW_AT_SYSID_TIME, 10.f); + +/** + * Input signal type + * + * Type of signal used during system identification to excite the system. + * + * @value 0 Step + * @value 1 Linear sine sweep + * @value 2 Logarithmic sine sweep + * @group Autotune + */ +PARAM_DEFINE_INT32(FW_AT_SYSID_TYPE, 0); diff --git a/src/modules/fw_pos_control/CMakeLists.txt b/src/modules/fw_pos_control/CMakeLists.txt index 4e63f0b5644c..9248e8d2df5a 100644 --- a/src/modules/fw_pos_control/CMakeLists.txt +++ b/src/modules/fw_pos_control/CMakeLists.txt @@ -34,6 +34,26 @@ add_subdirectory(launchdetection) add_subdirectory(runway_takeoff) +set(POSCONTROL_DEPENDENCIES + launchdetection + npfg + runway_takeoff + SlewRate + tecs + motion_planning + performance_model +) + +if(CONFIG_FIGURE_OF_EIGHT) + add_subdirectory(figure_eight) + set(POSCONTROL_DEPENDENCIES + ${POSCONTROL_DEPENDENCIES} + figure_eight + ) +endif() + + + px4_add_module( MODULE modules__fw_pos_control MAIN fw_pos_control @@ -41,10 +61,5 @@ px4_add_module( FixedwingPositionControl.cpp FixedwingPositionControl.hpp DEPENDS - launchdetection - npfg - runway_takeoff - SlewRate - tecs - motion_planning + ${POSCONTROL_DEPENDENCIES} ) diff --git a/src/modules/fw_pos_control/FixedwingPositionControl.cpp b/src/modules/fw_pos_control/FixedwingPositionControl.cpp index 33f65d2090dc..7858fe2c1c5f 100644 --- a/src/modules/fw_pos_control/FixedwingPositionControl.cpp +++ b/src/modules/fw_pos_control/FixedwingPositionControl.cpp @@ -55,10 +55,10 @@ FixedwingPositionControl::FixedwingPositionControl(bool vtol) : _loop_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": cycle")), _launchDetector(this), _runway_takeoff(this) +#ifdef CONFIG_FIGURE_OF_EIGHT + , _figure_eight(_npfg, _wind_vel, _eas2tas) +#endif // CONFIG_FIGURE_OF_EIGHT { - if (vtol) { - _param_handle_airspeed_trans = param_find("VT_ARSP_TRANS"); - } // limit to 50 Hz _local_pos_sub.set_interval_ms(20); @@ -76,6 +76,10 @@ FixedwingPositionControl::FixedwingPositionControl(bool vtol) : /* fetch initial parameter values */ parameters_update(); + + _roll_slew_rate.setSlewRate(radians(_param_fw_pn_r_slew_max.get())); + _roll_slew_rate.setForcedValue(0.f); + } FixedwingPositionControl::~FixedwingPositionControl() @@ -94,15 +98,14 @@ FixedwingPositionControl::init() return true; } -int +void FixedwingPositionControl::parameters_update() { updateParams(); - // VTOL parameter VT_ARSP_TRANS - if (_param_handle_airspeed_trans != PARAM_INVALID) { - param_get(_param_handle_airspeed_trans, &_param_airspeed_trans); - } + _performance_model.updateParameters(); + + _roll_slew_rate.setSlewRate(radians(_param_fw_pn_r_slew_max.get())); // NPFG parameters _npfg.setPeriod(_param_npfg_period.get()); @@ -117,25 +120,25 @@ FixedwingPositionControl::parameters_update() _npfg.setRollTimeConst(_param_npfg_roll_time_const.get()); _npfg.setSwitchDistanceMultiplier(_param_npfg_switch_distance_multiplier.get()); _npfg.setRollLimit(radians(_param_fw_r_lim.get())); - _npfg.setRollSlewRate(radians(_param_fw_pn_r_slew_max.get())); _npfg.setPeriodSafetyFactor(_param_npfg_period_safety_factor.get()); // TECS parameters - _tecs.set_max_climb_rate(_param_fw_t_clmb_max.get()); + _tecs.set_max_climb_rate(_performance_model.getMaximumClimbRate(_air_density)); _tecs.set_max_sink_rate(_param_fw_t_sink_max.get()); - _tecs.set_min_sink_rate(_param_fw_t_sink_min.get()); + _tecs.set_min_sink_rate(_performance_model.getMinimumSinkRate(_air_density)); _tecs.set_speed_weight(_param_fw_t_spdweight.get()); - _tecs.set_equivalent_airspeed_trim(_param_fw_airspd_trim.get()); - _tecs.set_equivalent_airspeed_min(_param_fw_airspd_min.get()); - _tecs.set_equivalent_airspeed_max(_param_fw_airspd_max.get()); - _tecs.set_throttle_damp(_param_fw_t_thr_damp.get()); - _tecs.set_integrator_gain_throttle(_param_fw_t_I_gain_thr.get()); + _tecs.set_equivalent_airspeed_trim(_performance_model.getCalibratedTrimAirspeed()); + _tecs.set_equivalent_airspeed_min(_performance_model.getMinimumCalibratedAirspeed()); + _tecs.set_equivalent_airspeed_max(_performance_model.getMaximumCalibratedAirspeed()); + _tecs.set_throttle_damp(_param_fw_t_thr_damping.get()); + _tecs.set_integrator_gain_throttle(_param_fw_t_thr_integ.get()); _tecs.set_integrator_gain_pitch(_param_fw_t_I_gain_pit.get()); _tecs.set_throttle_slewrate(_param_fw_thr_slew_max.get()); _tecs.set_vertical_accel_limit(_param_fw_t_vert_acc.get()); _tecs.set_roll_throttle_compensation(_param_fw_t_rll2thr.get()); _tecs.set_pitch_damping(_param_fw_t_ptch_damp.get()); _tecs.set_altitude_error_time_constant(_param_fw_t_h_error_tc.get()); + _tecs.set_fast_descend_altitude_error(_param_fw_t_fast_alt_err.get()); _tecs.set_altitude_rate_ff(_param_fw_t_hrate_ff.get()); _tecs.set_airspeed_error_time_constant(_param_fw_t_tas_error_tc.get()); _tecs.set_ste_rate_time_const(_param_ste_rate_time_const.get()); @@ -144,61 +147,7 @@ FixedwingPositionControl::parameters_update() _tecs.set_airspeed_rate_measurement_std_dev(_param_speed_rate_standard_dev.get()); _tecs.set_airspeed_filter_process_std_dev(_param_process_noise_standard_dev.get()); - int check_ret = PX4_OK; - - // sanity check parameters - if (_param_fw_airspd_max.get() < _param_fw_airspd_min.get()) { - /* EVENT - * @description - * - FW_AIRSPD_MAX: {1:.1} - * - FW_AIRSPD_MIN: {2:.1} - */ - events::send(events::ID("fixedwing_position_control_conf_invalid_airspeed"), events::Log::Error, - "Invalid configuration: Airspeed max smaller than min", - _param_fw_airspd_max.get(), _param_fw_airspd_min.get()); - check_ret = PX4_ERROR; - } - - if (_param_fw_airspd_max.get() < 5.0f || _param_fw_airspd_min.get() > 100.0f) { - /* EVENT - * @description - * - FW_AIRSPD_MAX: {1:.1} - * - FW_AIRSPD_MIN: {2:.1} - */ - events::send(events::ID("fixedwing_position_control_conf_invalid_airspeed_bounds"), events::Log::Error, - "Invalid configuration: Airspeed max \\< 5 m/s or min \\> 100 m/s", - _param_fw_airspd_max.get(), _param_fw_airspd_min.get()); - check_ret = PX4_ERROR; - } - - if (_param_fw_airspd_trim.get() < _param_fw_airspd_min.get() || - _param_fw_airspd_trim.get() > _param_fw_airspd_max.get()) { - /* EVENT - * @description - * - FW_AIRSPD_MAX: {1:.1} - * - FW_AIRSPD_MIN: {2:.1} - * - FW_AIRSPD_TRIM: {3:.1} - */ - events::send(events::ID("fixedwing_position_control_conf_invalid_trim_bounds"), - events::Log::Error, - "Invalid configuration: Airspeed trim out of min or max bounds", - _param_fw_airspd_max.get(), _param_fw_airspd_min.get(), _param_fw_airspd_trim.get()); - check_ret = PX4_ERROR; - } - - if (_param_fw_airspd_stall.get() > _param_fw_airspd_min.get()) { - /* EVENT - * @description - * - FW_AIRSPD_MIN: {1:.1} - * - FW_AIRSPD_STALL: {2:.1} - */ - events::send(events::ID("fixedwing_position_control_conf_invalid_stall"), events::Log::Error, - "Invalid configuration: FW_AIRSPD_STALL higher FW_AIRSPD_MIN", - _param_fw_airspd_min.get(), _param_fw_airspd_stall.get()); - check_ret = PX4_ERROR; - } - - return check_ret; + _performance_model.runSanityChecks(); } void @@ -258,20 +207,22 @@ FixedwingPositionControl::airspeed_poll() bool airspeed_valid = _airspeed_valid; airspeed_validated_s airspeed_validated; - if ((_param_fw_arsp_mode.get() == 0) && _airspeed_validated_sub.update(&airspeed_validated)) { + if (_param_fw_use_airspd.get() && _airspeed_validated_sub.update(&airspeed_validated)) { _eas2tas = 1.0f; //this is the default value, taken in case of invalid airspeed if (PX4_ISFINITE(airspeed_validated.calibrated_airspeed_m_s) - && PX4_ISFINITE(airspeed_validated.true_airspeed_m_s) - && (airspeed_validated.calibrated_airspeed_m_s > 0.0f)) { + && PX4_ISFINITE(airspeed_validated.true_airspeed_m_s)) { airspeed_valid = true; _time_airspeed_last_valid = airspeed_validated.timestamp; - _airspeed = airspeed_validated.calibrated_airspeed_m_s; + _airspeed_eas = airspeed_validated.calibrated_airspeed_m_s; _eas2tas = constrain(airspeed_validated.true_airspeed_m_s / airspeed_validated.calibrated_airspeed_m_s, 0.9f, 2.0f); + + } else { + airspeed_valid = false; } } else { @@ -374,24 +325,26 @@ FixedwingPositionControl::vehicle_attitude_poll() _body_velocity_x = body_velocity(0); // load factor due to banking - const float load_factor = 1.f / cosf(euler_angles(0)); - _tecs.set_load_factor(load_factor); + _tecs.set_load_factor(getLoadFactor()); } } float FixedwingPositionControl::get_manual_airspeed_setpoint() { - float altctrl_airspeed = _param_fw_airspd_trim.get(); + + float altctrl_airspeed = _performance_model.getCalibratedTrimAirspeed(); if (_param_fw_pos_stk_conf.get() & STICK_CONFIG_ENABLE_AIRSPEED_SP_MANUAL_BIT) { // neutral throttle corresponds to trim airspeed return math::interpolateNXY(_manual_control_setpoint_for_airspeed, {-1.f, 0.f, 1.f}, - {_param_fw_airspd_min.get(), _param_fw_airspd_trim.get(), _param_fw_airspd_max.get()}); + {_performance_model.getMinimumCalibratedAirspeed(getLoadFactor()), altctrl_airspeed, _performance_model.getMaximumCalibratedAirspeed()}); } else if (PX4_ISFINITE(_commanded_manual_airspeed_setpoint)) { - altctrl_airspeed = _commanded_manual_airspeed_setpoint; + altctrl_airspeed = constrain(_commanded_manual_airspeed_setpoint, + _performance_model.getMinimumCalibratedAirspeed(getLoadFactor()), + _performance_model.getMaximumCalibratedAirspeed()); } return altctrl_airspeed; @@ -399,14 +352,24 @@ FixedwingPositionControl::get_manual_airspeed_setpoint() float FixedwingPositionControl::adapt_airspeed_setpoint(const float control_interval, float calibrated_airspeed_setpoint, - float calibrated_min_airspeed, const Vector2f &ground_speed) + float calibrated_min_airspeed, const Vector2f &ground_speed, bool in_takeoff_situation) { + // --- airspeed *constraint adjustments --- + + // Aditional option to increase the min airspeed setpoint based on wind estimate for more stability in higher winds. + if (!in_takeoff_situation && _airspeed_valid && _wind_valid && _param_fw_wind_arsp_sc.get() > FLT_EPSILON) { + calibrated_min_airspeed = math::min(calibrated_min_airspeed + _param_fw_wind_arsp_sc.get() * + _wind_vel.length(), _performance_model.getMaximumCalibratedAirspeed()); + } + + // --- airspeed *setpoint adjustments --- + if (!PX4_ISFINITE(calibrated_airspeed_setpoint) || calibrated_airspeed_setpoint <= FLT_EPSILON) { - calibrated_airspeed_setpoint = _param_fw_airspd_trim.get(); + calibrated_airspeed_setpoint = _performance_model.getCalibratedTrimAirspeed(); } // Adapt cruise airspeed when otherwise the min groundspeed couldn't be maintained - if (!_wind_valid) { + if (!_wind_valid && !in_takeoff_situation) { /* * This error value ensures that a plane (as long as its throttle capability is * not exceeded) travels towards a waypoint (and is not pushed more and more away @@ -420,48 +383,30 @@ FixedwingPositionControl::adapt_airspeed_setpoint(const float control_interval, } } - float load_factor_from_bank_angle = 1.0f; + calibrated_airspeed_setpoint = constrain(calibrated_airspeed_setpoint, calibrated_min_airspeed, + _performance_model.getMaximumCalibratedAirspeed()); - if (PX4_ISFINITE(_att_sp.roll_body)) { - load_factor_from_bank_angle = 1.0f / cosf(_att_sp.roll_body); + // initialize the airspeed setpoint to the max(current airsped, min airspeed) + if (!PX4_ISFINITE(_airspeed_slew_rate_controller.getState()) + || !_tecs_is_running) { + _airspeed_slew_rate_controller.setForcedValue(math::max(calibrated_min_airspeed, _airspeed_eas)); } - float weight_ratio = 1.0f; - - if (_param_weight_base.get() > FLT_EPSILON && _param_weight_gross.get() > FLT_EPSILON) { - weight_ratio = math::constrain(_param_weight_gross.get() / _param_weight_base.get(), MIN_WEIGHT_RATIO, - MAX_WEIGHT_RATIO); + // reset the airspeed setpoint to the min airspeed if the min airspeed changes while in operation + if (_airspeed_slew_rate_controller.getState() < calibrated_min_airspeed) { + _airspeed_slew_rate_controller.setForcedValue(calibrated_min_airspeed); } - // Here we make sure that the set minimum airspeed is automatically adapted to the current load factor. - // The minimum airspeed is the controller limit (FW_AIRSPD_MIN, unless either in takeoff or landing) that should - // resemble the vehicles stall speed (CAS) with a 1g load plus some safety margin (as no controller tracks perfectly). - // Stall speed increases with the square root of the load factor: V_stall ~ sqrt(load_factor). - // The load_factor is composed of a term from the bank angle and a term from the weight ratio. - calibrated_min_airspeed *= sqrtf(load_factor_from_bank_angle * weight_ratio); - - // Aditional option to increase the min airspeed setpoint based on wind estimate for more stability in higher winds. - if (_airspeed_valid && _wind_valid && _param_fw_wind_arsp_sc.get() > FLT_EPSILON) { - calibrated_min_airspeed = math::min(calibrated_min_airspeed + _param_fw_wind_arsp_sc.get() * - _wind_vel.length(), _param_fw_airspd_max.get()); + if (control_interval > FLT_EPSILON) { + // constrain airspeed setpoint changes with slew rate of ASPD_SP_SLEW_RATE m/s/s + _airspeed_slew_rate_controller.update(calibrated_airspeed_setpoint, control_interval); } - calibrated_airspeed_setpoint = constrain(calibrated_airspeed_setpoint, calibrated_min_airspeed, - _param_fw_airspd_max.get()); - - // initialize to current airspeed setpoint, also if previous setpoint is out of bounds to not apply slew rate in that case - const bool slewed_airspeed_outside_of_limits = _airspeed_slew_rate_controller.getState() < calibrated_min_airspeed - || _airspeed_slew_rate_controller.getState() > _param_fw_airspd_max.get(); - - if (!PX4_ISFINITE(_airspeed_slew_rate_controller.getState()) || slewed_airspeed_outside_of_limits) { - _airspeed_slew_rate_controller.setForcedValue(calibrated_airspeed_setpoint); - - } else if (control_interval > FLT_EPSILON) { - // constrain airspeed setpoint changes with slew rate of ASPD_SP_SLEW_RATE m/s/s - calibrated_airspeed_setpoint = _airspeed_slew_rate_controller.update(calibrated_airspeed_setpoint, control_interval); + if (_airspeed_slew_rate_controller.getState() > _performance_model.getMaximumCalibratedAirspeed()) { + _airspeed_slew_rate_controller.setForcedValue(_performance_model.getMaximumCalibratedAirspeed()); } - return calibrated_airspeed_setpoint; + return _airspeed_slew_rate_controller.getState(); } void @@ -472,16 +417,6 @@ FixedwingPositionControl::tecs_status_publish(float alt_sp, float equivalent_air const TECS::DebugOutput &debug_output{_tecs.getStatus()}; - switch (_tecs.tecs_mode()) { - case TECS::ECL_TECS_MODE_NORMAL: - tecs_status.mode = tecs_status_s::TECS_MODE_NORMAL; - break; - - case TECS::ECL_TECS_MODE_UNDERSPEED: - tecs_status.mode = tecs_status_s::TECS_MODE_UNDERSPEED; - break; - } - tecs_status.altitude_sp = alt_sp; tecs_status.altitude_reference = debug_output.altitude_reference; tecs_status.height_rate_reference = debug_output.height_rate_reference; @@ -503,6 +438,7 @@ FixedwingPositionControl::tecs_status_publish(float alt_sp, float equivalent_air tecs_status.throttle_sp = _tecs.get_throttle_setpoint(); tecs_status.pitch_sp_rad = _tecs.get_pitch_setpoint(); tecs_status.throttle_trim = throttle_trim; + tecs_status.underspeed_ratio = _tecs.get_underspeed_ratio(); tecs_status.timestamp = hrt_absolute_time(); @@ -514,9 +450,6 @@ FixedwingPositionControl::status_publish() { position_controller_status_s pos_ctrl_status = {}; - pos_ctrl_status.nav_roll = _att_sp.roll_body; - pos_ctrl_status.nav_pitch = _att_sp.pitch_body; - npfg_status_s npfg_status = {}; npfg_status.wind_est_valid = _wind_valid; @@ -541,6 +474,7 @@ FixedwingPositionControl::status_publish() npfg_status.adapted_period = _npfg.getAdaptedPeriod(); npfg_status.p_gain = _npfg.getPGain(); npfg_status.time_const = _npfg.getTimeConst(); + npfg_status.can_run_factor = _npfg.canRun(_local_pos, _wind_valid); npfg_status.timestamp = hrt_absolute_time(); _npfg_status_pub.publish(npfg_status); @@ -570,6 +504,47 @@ FixedwingPositionControl::landing_status_publish() _pos_ctrl_landing_status_pub.publish(pos_ctrl_landing_status); } +float FixedwingPositionControl::getCorrectedNpfgRollSetpoint() +{ + // Scale the npfg output to zero if npfg is not certain for correct output + float new_roll_setpoint(_npfg.getRollSetpoint()); + const float can_run_factor(constrain(_npfg.canRun(_local_pos, _wind_valid), 0.f, 1.f)); + + hrt_abstime now{hrt_absolute_time()}; + + // Warn the user when the scale is less than 90% for at least 2 seconds (disable in transition) + + // If the npfg was not running before, reset the user warning variables. + if ((now - _time_since_last_npfg_call) > ROLL_WARNING_TIMEOUT) { + _need_report_npfg_uncertain_condition = true; + _time_since_first_reduced_roll = 0U; + } + + if (_vehicle_status.in_transition_mode || can_run_factor > ROLL_WARNING_CAN_RUN_THRESHOLD || _landed) { + // NPFG reports a good condition or we are in transition, reset the user warning variables. + _need_report_npfg_uncertain_condition = true; + _time_since_first_reduced_roll = 0U; + + } else if (_need_report_npfg_uncertain_condition) { + if (_time_since_first_reduced_roll == 0U) { + _time_since_first_reduced_roll = now; + } + + if ((now - _time_since_first_reduced_roll) > ROLL_WARNING_TIMEOUT) { + _need_report_npfg_uncertain_condition = false; + events::send(events::ID("npfg_roll_command_uncertain"), events::Log::Warning, + "Roll command reduced due to uncertain velocity/wind estimates!"); + } + + } else { + // Nothing to do, already reported. + } + + _time_since_last_npfg_call = now; + + return can_run_factor * (new_roll_setpoint); +} + void FixedwingPositionControl::updateLandingAbortStatus(const uint8_t new_abort_status) { @@ -690,7 +665,7 @@ void FixedwingPositionControl::updateManualTakeoffStatus() { if (!_completed_manual_takeoff) { - const bool at_controllable_airspeed = _airspeed > _param_fw_airspd_min.get() + const bool at_controllable_airspeed = _airspeed_eas > _performance_model.getMinimumCalibratedAirspeed(getLoadFactor()) || !_airspeed_valid; const bool is_hovering = _vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING && _control_mode.flag_armed; @@ -711,10 +686,32 @@ FixedwingPositionControl::set_control_mode_current(const hrt_abstime &now) _skipping_takeoff_detection = false; - if (((_control_mode.flag_control_auto_enabled && _control_mode.flag_control_position_enabled) || - _control_mode.flag_control_offboard_enabled) && _position_setpoint_current_valid) { + if (_control_mode.flag_control_offboard_enabled && _position_setpoint_current_valid + && _control_mode.flag_control_position_enabled) { + if (PX4_ISFINITE(_pos_sp_triplet.current.vx) && PX4_ISFINITE(_pos_sp_triplet.current.vy) + && PX4_ISFINITE(_pos_sp_triplet.current.vz)) { + // Offboard position with velocity setpoints + _control_mode_current = FW_POSCTRL_MODE_AUTO_PATH; + return; - if (_pos_sp_triplet.current.type == position_setpoint_s::SETPOINT_TYPE_TAKEOFF) { + } else { + // Offboard position setpoint only + _control_mode_current = FW_POSCTRL_MODE_AUTO; + return; + } + + } else if ((_control_mode.flag_control_auto_enabled && _control_mode.flag_control_position_enabled) + && (_position_setpoint_current_valid + || _pos_sp_triplet.current.type == position_setpoint_s::SETPOINT_TYPE_IDLE)) { + + // Enter this mode only if the current waypoint has valid 3D position setpoints or is of type IDLE. + // A setpoint of type IDLE can be published by Navigator without a valid position, and is handled here in FW_POSCTRL_MODE_AUTO. + const bool doing_backtransition = _vehicle_status.in_transition_mode && !_vehicle_status.in_transition_to_fw; + + if (doing_backtransition) { + _control_mode_current = FW_POSCTRL_MODE_TRANSITON; + + } else if (_pos_sp_triplet.current.type == position_setpoint_s::SETPOINT_TYPE_TAKEOFF) { if (_vehicle_status.is_vtol && _vehicle_status.in_transition_mode) { _control_mode_current = FW_POSCTRL_MODE_AUTO; @@ -735,21 +732,14 @@ FixedwingPositionControl::set_control_mode_current(const hrt_abstime &now) } else if (_pos_sp_triplet.current.type == position_setpoint_s::SETPOINT_TYPE_LAND) { - if (!_vehicle_status.in_transition_mode) { - - // Use _position_setpoint_previous_valid to determine if landing should be straight or circular. - // Straight landings are currently only possible in Missions, and there the previous WP - // is valid, and circular ones are used outside of Missions, as the land mode sets prev_valid=false. - if (_position_setpoint_previous_valid) { - _control_mode_current = FW_POSCTRL_MODE_AUTO_LANDING_STRAIGHT; - - } else { - _control_mode_current = FW_POSCTRL_MODE_AUTO_LANDING_CIRCULAR; - } + // Use _position_setpoint_previous_valid to determine if landing should be straight or circular. + // Straight landings are currently only possible in Missions, and there the previous WP + // is valid, and circular ones are used outside of Missions, as the land mode sets prev_valid=false. + if (_position_setpoint_previous_valid) { + _control_mode_current = FW_POSCTRL_MODE_AUTO_LANDING_STRAIGHT; } else { - // in this case we want the waypoint handled as a position setpoint -- a submode in control_auto() - _pos_sp_triplet.current.type = position_setpoint_s::SETPOINT_TYPE_POSITION; + _control_mode_current = FW_POSCTRL_MODE_AUTO_LANDING_CIRCULAR; } } else { @@ -797,8 +787,11 @@ FixedwingPositionControl::set_control_mode_current(const hrt_abstime &now) /* reset setpoints from other modes (auto) otherwise we won't * level out without new manual input */ - _att_sp.roll_body = _manual_control_setpoint.roll * radians(_param_fw_r_lim.get()); - _att_sp.yaw_body = _yaw; // yaw is not controlled, so set setpoint to current yaw + float roll_body = _manual_control_setpoint.roll * radians(_param_fw_r_lim.get()); + float yaw_body = _yaw; // yaw is not controlled, so set setpoint to current yaw + const Eulerf current_setpoint(Quatf(_att_sp.q_d)); + const Quatf setpoint(Eulerf(roll_body, current_setpoint.theta(), yaw_body)); + setpoint.copyTo(_att_sp.q_d); } _control_mode_current = FW_POSCTRL_MODE_MANUAL_POSITION; @@ -815,21 +808,11 @@ FixedwingPositionControl::set_control_mode_current(const hrt_abstime &now) void FixedwingPositionControl::update_in_air_states(const hrt_abstime now) { - /* save time when airplane is in air */ - if (!_was_in_air && !_landed) { - _was_in_air = true; - _time_went_in_air = now; - - _tecs.initialize(_current_altitude, -_local_pos.vz, _airspeed, _eas2tas); - } - /* reset flag when airplane landed */ if (_landed) { - _was_in_air = false; _completed_manual_takeoff = false; - - _tecs.initialize(_current_altitude, -_local_pos.vz, _airspeed, _eas2tas); } + } void @@ -874,21 +857,35 @@ FixedwingPositionControl::control_auto(const float control_interval, const Vecto position_setpoint_s current_sp = pos_sp_curr; move_position_setpoint_for_vtol_transition(current_sp); - const uint8_t position_sp_type = handle_setpoint_type(current_sp); + const uint8_t position_sp_type = handle_setpoint_type(current_sp, pos_sp_next); _position_sp_type = position_sp_type; if (position_sp_type == position_setpoint_s::SETPOINT_TYPE_LOITER || current_sp.type == position_setpoint_s::SETPOINT_TYPE_LOITER) { - publishOrbitStatus(current_sp); +#ifdef CONFIG_FIGURE_OF_EIGHT + + if (current_sp.loiter_pattern == position_setpoint_s::LOITER_TYPE_FIGUREEIGHT) { + publishFigureEightStatus(current_sp); + + } else +#endif // CONFIG_FIGURE_OF_EIGHT + { + publishOrbitStatus(current_sp); + } } switch (position_sp_type) { - case position_setpoint_s::SETPOINT_TYPE_IDLE: - _att_sp.thrust_body[0] = 0.0f; - _att_sp.roll_body = 0.0f; - _att_sp.pitch_body = radians(_param_fw_psp_off.get()); - break; + case position_setpoint_s::SETPOINT_TYPE_IDLE: { + _att_sp.thrust_body[0] = 0.0f; + const float roll_body = 0.0f; + const float pitch_body = radians(_param_fw_psp_off.get()); + const float yaw_body = 0.0f; + + const Quatf setpoint(Eulerf(roll_body, pitch_body, yaw_body)); + setpoint.copyTo(_att_sp.q_d); + break; + } case position_setpoint_s::SETPOINT_TYPE_POSITION: control_auto_position(control_interval, curr_pos, ground_speed, pos_sp_prev, current_sp); @@ -899,10 +896,31 @@ FixedwingPositionControl::control_auto(const float control_interval, const Vecto break; case position_setpoint_s::SETPOINT_TYPE_LOITER: - control_auto_loiter(control_interval, curr_pos, ground_speed, pos_sp_prev, current_sp, pos_sp_next); +#ifdef CONFIG_FIGURE_OF_EIGHT + if (current_sp.loiter_pattern == position_setpoint_s::LOITER_TYPE_FIGUREEIGHT) { + controlAutoFigureEight(control_interval, curr_pos, ground_speed, pos_sp_prev, current_sp); + + } else +#endif // CONFIG_FIGURE_OF_EIGHT + { + control_auto_loiter(control_interval, curr_pos, ground_speed, pos_sp_prev, current_sp, pos_sp_next); + + } + break; } +#ifdef CONFIG_FIGURE_OF_EIGHT + + /* reset loiter state */ + if ((position_sp_type != position_setpoint_s::SETPOINT_TYPE_LOITER) || + ((position_sp_type == position_setpoint_s::SETPOINT_TYPE_LOITER) && + (current_sp.loiter_pattern != position_setpoint_s::LOITER_TYPE_FIGUREEIGHT))) { + _figure_eight.resetPattern(); + } + +#endif // CONFIG_FIGURE_OF_EIGHT + /* Copy thrust output for publication, handle special cases */ if (position_sp_type == position_setpoint_s::SETPOINT_TYPE_IDLE) { @@ -913,9 +931,6 @@ FixedwingPositionControl::control_auto(const float control_interval, const Vecto _att_sp.thrust_body[0] = (_landed) ? min(_param_fw_thr_idle.get(), 1.f) : get_tecs_thrust(); } - /* Copy thrust and pitch values from tecs */ - _att_sp.pitch_body = get_tecs_pitch(); - if (!_vehicle_status.in_transition_to_fw) { publishLocalPositionSetpoint(current_sp); } @@ -928,7 +943,7 @@ FixedwingPositionControl::control_auto_fixed_bank_alt_hold(const float control_i tecs_update_pitch_throttle(control_interval, _current_altitude, - _param_fw_airspd_trim.get(), + _performance_model.getCalibratedTrimAirspeed(), radians(_param_fw_p_lim_min.get()), radians(_param_fw_p_lim_max.get()), _param_fw_thr_min.get(), @@ -936,8 +951,8 @@ FixedwingPositionControl::control_auto_fixed_bank_alt_hold(const float control_i _param_sinkrate_target.get(), _param_climbrate_target.get()); - _att_sp.roll_body = math::radians(_param_nav_gpsf_r.get()); // open loop loiter bank angle - _att_sp.yaw_body = 0.f; + const float roll_body = math::radians(_param_nav_gpsf_r.get()); // open loop loiter bank angle + const float yaw_body = 0.f; if (_landed) { _att_sp.thrust_body[0] = _param_fw_thr_min.get(); @@ -946,7 +961,9 @@ FixedwingPositionControl::control_auto_fixed_bank_alt_hold(const float control_i _att_sp.thrust_body[0] = min(get_tecs_thrust(), _param_fw_thr_max.get()); } - _att_sp.pitch_body = get_tecs_pitch(); + const float pitch_body = get_tecs_pitch(); + const Quatf attitude_setpoint(Eulerf(roll_body, pitch_body, yaw_body)); + attitude_setpoint.copyTo(_att_sp.q_d); } @@ -956,28 +973,32 @@ FixedwingPositionControl::control_auto_descend(const float control_interval) // Hard-code descend rate to 0.5m/s. This is a compromise to give the system to recover, // but not letting it drift too far away. const float descend_rate = -0.5f; + const bool disable_underspeed_handling = false; tecs_update_pitch_throttle(control_interval, _current_altitude, - _param_fw_airspd_trim.get(), + _performance_model.getCalibratedTrimAirspeed(), radians(_param_fw_p_lim_min.get()), radians(_param_fw_p_lim_max.get()), _param_fw_thr_min.get(), _param_fw_thr_max.get(), _param_sinkrate_target.get(), _param_climbrate_target.get(), - false, + disable_underspeed_handling, descend_rate); - _att_sp.roll_body = math::radians(_param_nav_gpsf_r.get()); // open loop loiter bank angle - _att_sp.yaw_body = 0.f; + const float roll_body = math::radians(_param_nav_gpsf_r.get()); // open loop loiter bank angle + const float yaw_body = 0.f; _att_sp.thrust_body[0] = (_landed) ? _param_fw_thr_min.get() : min(get_tecs_thrust(), _param_fw_thr_max.get()); - _att_sp.pitch_body = get_tecs_pitch(); + const float pitch_body = get_tecs_pitch(); + const Quatf attitude_setpoint(Eulerf(roll_body, pitch_body, yaw_body)); + attitude_setpoint.copyTo(_att_sp.q_d); } uint8_t -FixedwingPositionControl::handle_setpoint_type(const position_setpoint_s &pos_sp_curr) +FixedwingPositionControl::handle_setpoint_type(const position_setpoint_s &pos_sp_curr, + const position_setpoint_s &pos_sp_next) { uint8_t position_sp_type = pos_sp_curr.type; @@ -992,8 +1013,13 @@ FixedwingPositionControl::handle_setpoint_type(const position_setpoint_s &pos_sp const float acc_rad = _npfg.switchDistance(500.0f); - if (pos_sp_curr.type == position_setpoint_s::SETPOINT_TYPE_POSITION - || pos_sp_curr.type == position_setpoint_s::SETPOINT_TYPE_LOITER) { + const bool approaching_vtol_backtransition = _vehicle_status.is_vtol + && pos_sp_curr.type == position_setpoint_s::SETPOINT_TYPE_POSITION && _position_setpoint_current_valid + && pos_sp_next.type == position_setpoint_s::SETPOINT_TYPE_LAND && _position_setpoint_next_valid; + + + // check if we should switch to loiter but only if we are not expecting a backtransition to happen + if (pos_sp_curr.type == position_setpoint_s::SETPOINT_TYPE_POSITION && !approaching_vtol_backtransition) { float dist_xy = -1.f; float dist_z = -1.f; @@ -1003,17 +1029,15 @@ FixedwingPositionControl::handle_setpoint_type(const position_setpoint_s &pos_sp _current_latitude, _current_longitude, _current_altitude, &dist_xy, &dist_z); - if (pos_sp_curr.type == position_setpoint_s::SETPOINT_TYPE_POSITION) { - // Achieve position setpoint altitude via loiter when laterally close to WP. - // Detect if system has switchted into a Loiter before (check _position_sp_type), and in that - // case remove the dist_xy check (not switch out of Loiter until altitude is reached). - if ((!_vehicle_status.in_transition_mode) && (dist >= 0.f) - && (dist_z > _param_nav_fw_alt_rad.get()) - && (dist_xy < acc_rad || _position_sp_type == position_setpoint_s::SETPOINT_TYPE_LOITER)) { + // Achieve position setpoint altitude via loiter when laterally close to WP. + // Detect if system has switchted into a Loiter before (check _position_sp_type), and in that + // case remove the dist_xy check (not switch out of Loiter until altitude is reached). + if ((!_vehicle_status.in_transition_mode) && (dist >= 0.f) + && (dist_z > _param_nav_fw_alt_rad.get()) + && (dist_xy < acc_rad || _position_sp_type == position_setpoint_s::SETPOINT_TYPE_LOITER)) { - // SETPOINT_TYPE_POSITION -> SETPOINT_TYPE_LOITER - position_sp_type = position_setpoint_s::SETPOINT_TYPE_LOITER; - } + // SETPOINT_TYPE_POSITION -> SETPOINT_TYPE_LOITER + position_sp_type = position_setpoint_s::SETPOINT_TYPE_LOITER; } } @@ -1025,21 +1049,6 @@ FixedwingPositionControl::control_auto_position(const float control_interval, co const Vector2f &ground_speed, const position_setpoint_s &pos_sp_prev, const position_setpoint_s &pos_sp_curr) { const float acc_rad = _npfg.switchDistance(500.0f); - Vector2d curr_wp{0, 0}; - Vector2d prev_wp{0, 0}; - - /* current waypoint (the one currently heading for) */ - curr_wp = Vector2d(pos_sp_curr.lat, pos_sp_curr.lon); - - if (_position_setpoint_previous_valid && pos_sp_prev.type != position_setpoint_s::SETPOINT_TYPE_TAKEOFF) { - prev_wp(0) = pos_sp_prev.lat; - prev_wp(1) = pos_sp_prev.lon; - - } else { - // No valid previous waypoint, go along the line between aircraft and current waypoint - prev_wp = curr_pos; - } - float tecs_fw_thr_min; float tecs_fw_thr_max; @@ -1062,14 +1071,14 @@ FixedwingPositionControl::control_auto_position(const float control_interval, co ((pos_sp_prev.type == position_setpoint_s::SETPOINT_TYPE_POSITION) || (pos_sp_prev.type == position_setpoint_s::SETPOINT_TYPE_LOITER)) ) { - const float d_curr_prev = get_distance_to_next_waypoint((double)curr_wp(0), (double)curr_wp(1), - pos_sp_prev.lat, pos_sp_prev.lon); + const float d_curr_prev = get_distance_to_next_waypoint(pos_sp_curr.lat, pos_sp_curr.lon, pos_sp_prev.lat, + pos_sp_prev.lon); // Do not try to find a solution if the last waypoint is inside the acceptance radius of the current one if (d_curr_prev > math::max(acc_rad, fabsf(pos_sp_curr.loiter_radius))) { // Calculate distance to current waypoint - const float d_curr = get_distance_to_next_waypoint((double)curr_wp(0), (double)curr_wp(1), - _current_latitude, _current_longitude); + const float d_curr = get_distance_to_next_waypoint(pos_sp_curr.lat, pos_sp_curr.lon, _current_latitude, + _current_longitude); // Save distance to waypoint if it is the smallest ever achieved, however make sure that // _min_current_sp_distance_xy is never larger than the distance between the current and the previous wp @@ -1090,31 +1099,26 @@ FixedwingPositionControl::control_auto_position(const float control_interval, co } float target_airspeed = adapt_airspeed_setpoint(control_interval, pos_sp_curr.cruising_speed, - _param_fw_airspd_min.get(), ground_speed); + _performance_model.getMinimumCalibratedAirspeed(getLoadFactor()), ground_speed); Vector2f curr_pos_local{_local_pos.x, _local_pos.y}; - Vector2f curr_wp_local = _global_local_proj_ref.project(curr_wp(0), curr_wp(1)); - Vector2f prev_wp_local = _global_local_proj_ref.project(prev_wp(0), prev_wp(1)); + Vector2f curr_wp_local = _global_local_proj_ref.project(pos_sp_curr.lat, pos_sp_curr.lon); _npfg.setAirspeedNom(target_airspeed * _eas2tas); - _npfg.setAirspeedMax(_param_fw_airspd_max.get() * _eas2tas); + _npfg.setAirspeedMax(_performance_model.getMaximumCalibratedAirspeed() * _eas2tas); - if (_control_mode.flag_control_offboard_enabled && PX4_ISFINITE(pos_sp_curr.vx) && PX4_ISFINITE(pos_sp_curr.vy)) { - // Navigate directly on position setpoint and path tangent - matrix::Vector2f velocity_2d(pos_sp_curr.vx, pos_sp_curr.vy); - float curvature = PX4_ISFINITE(_pos_sp_triplet.current.loiter_radius) ? 1 / _pos_sp_triplet.current.loiter_radius : - 0.0f; - navigatePathTangent(curr_pos_local, curr_wp_local, velocity_2d.normalized(), ground_speed, - _wind_vel, curvature); + if (_position_setpoint_previous_valid && pos_sp_prev.type != position_setpoint_s::SETPOINT_TYPE_TAKEOFF) { + Vector2f prev_wp_local = _global_local_proj_ref.project(pos_sp_prev.lat, pos_sp_prev.lon); + navigateWaypoints(prev_wp_local, curr_wp_local, curr_pos_local, ground_speed, _wind_vel); } else { - navigateWaypoints(prev_wp_local, curr_wp_local, curr_pos_local, ground_speed, _wind_vel); + navigateWaypoint(curr_wp_local, curr_pos_local, ground_speed, _wind_vel); } - _att_sp.roll_body = _npfg.getRollSetpoint(); + float roll_body = getCorrectedNpfgRollSetpoint(); target_airspeed = _npfg.getAirspeedRef() / _eas2tas; - _att_sp.yaw_body = _yaw; // yaw is not controlled, so set setpoint to current yaw + float yaw_body = _yaw; // yaw is not controlled, so set setpoint to current yaw tecs_update_pitch_throttle(control_interval, position_sp_alt, @@ -1125,6 +1129,9 @@ FixedwingPositionControl::control_auto_position(const float control_interval, co tecs_fw_thr_max, _param_sinkrate_target.get(), _param_climbrate_target.get()); + const float pitch_body = get_tecs_pitch(); + const Quatf attitude_setpoint(Eulerf(roll_body, pitch_body, yaw_body)); + attitude_setpoint.copyTo(_att_sp.q_d); } void @@ -1154,16 +1161,17 @@ FixedwingPositionControl::control_auto_velocity(const float control_interval, co _target_bearing = wrap_pi(atan2f(target_velocity(1), target_velocity(0))); float target_airspeed = adapt_airspeed_setpoint(control_interval, pos_sp_curr.cruising_speed, - _param_fw_airspd_min.get(), ground_speed); + _performance_model.getMinimumCalibratedAirspeed(getLoadFactor()), ground_speed); Vector2f curr_pos_local{_local_pos.x, _local_pos.y}; _npfg.setAirspeedNom(target_airspeed * _eas2tas); - _npfg.setAirspeedMax(_param_fw_airspd_max.get() * _eas2tas); + _npfg.setAirspeedMax(_performance_model.getMaximumCalibratedAirspeed() * _eas2tas); navigateBearing(curr_pos_local, _target_bearing, ground_speed, _wind_vel); - _att_sp.roll_body = _npfg.getRollSetpoint(); + float roll_body = getCorrectedNpfgRollSetpoint(); target_airspeed = _npfg.getAirspeedRef() / _eas2tas; - _att_sp.yaw_body = _yaw; + float yaw_body = _yaw; + const bool disable_underspeed_handling = false; tecs_update_pitch_throttle(control_interval, position_sp_alt, @@ -1174,8 +1182,12 @@ FixedwingPositionControl::control_auto_velocity(const float control_interval, co tecs_fw_thr_max, _param_sinkrate_target.get(), _param_climbrate_target.get(), - tecs_status_s::TECS_MODE_NORMAL, + disable_underspeed_handling, pos_sp_curr.vz); + const float pitch_body = get_tecs_pitch(); + + const Quatf attitude_setpoint(Eulerf(roll_body, pitch_body, yaw_body)); + attitude_setpoint.copyTo(_att_sp.q_d); } void @@ -1239,24 +1251,26 @@ FixedwingPositionControl::control_auto_loiter(const float control_interval, cons // landing airspeed and potentially tighter altitude control) already such that we don't // have to do this switch (which can cause significant altitude errors) close to the ground. _tecs.set_altitude_error_time_constant(_param_fw_thrtc_sc.get() * _param_fw_t_h_error_tc.get()); - airspeed_sp = (_param_fw_lnd_airspd.get() > FLT_EPSILON) ? _param_fw_lnd_airspd.get() : _param_fw_airspd_min.get(); + airspeed_sp = (_param_fw_lnd_airspd.get() > FLT_EPSILON) ? _param_fw_lnd_airspd.get() : + _performance_model.getMinimumCalibratedAirspeed(getLoadFactor()); _flaps_setpoint = _param_fw_flaps_lnd_scl.get(); _spoilers_setpoint = _param_fw_spoilers_lnd.get(); _new_landing_gear_position = landing_gear_s::GEAR_DOWN; } - float target_airspeed = adapt_airspeed_setpoint(control_interval, airspeed_sp, _param_fw_airspd_min.get(), + float target_airspeed = adapt_airspeed_setpoint(control_interval, airspeed_sp, + _performance_model.getMinimumCalibratedAirspeed(getLoadFactor()), ground_speed); _npfg.setAirspeedNom(target_airspeed * _eas2tas); - _npfg.setAirspeedMax(_param_fw_airspd_max.get() * _eas2tas); + _npfg.setAirspeedMax(_performance_model.getMaximumCalibratedAirspeed() * _eas2tas); navigateLoiter(curr_wp_local, curr_pos_local, loiter_radius, pos_sp_curr.loiter_direction_counter_clockwise, ground_speed, _wind_vel); - _att_sp.roll_body = _npfg.getRollSetpoint(); + float roll_body = getCorrectedNpfgRollSetpoint(); target_airspeed = _npfg.getAirspeedRef() / _eas2tas; - _att_sp.yaw_body = _yaw; // yaw is not controlled, so set setpoint to current yaw + float yaw_body = _yaw; // yaw is not controlled, so set setpoint to current yaw float alt_sp = pos_sp_curr.alt; @@ -1267,7 +1281,7 @@ FixedwingPositionControl::control_auto_loiter(const float control_interval, cons } else { // continue straight until vehicle has sufficient altitude - _att_sp.roll_body = 0.0f; + roll_body = 0.0f; } _tecs.set_altitude_error_time_constant(_param_fw_thrtc_sc.get() * _param_fw_t_h_error_tc.get()); @@ -1282,6 +1296,145 @@ FixedwingPositionControl::control_auto_loiter(const float control_interval, cons tecs_fw_thr_max, _param_sinkrate_target.get(), _param_climbrate_target.get()); + + const float pitch_body = get_tecs_pitch(); + + const Quatf attitude_setpoint(Eulerf(roll_body, pitch_body, yaw_body)); + attitude_setpoint.copyTo(_att_sp.q_d); +} + +#ifdef CONFIG_FIGURE_OF_EIGHT +void +FixedwingPositionControl::controlAutoFigureEight(const float control_interval, const Vector2d &curr_pos, + const Vector2f &ground_speed, const position_setpoint_s &pos_sp_prev, const position_setpoint_s &pos_sp_curr) +{ + // airspeed settings + float target_airspeed = adapt_airspeed_setpoint(control_interval, pos_sp_curr.cruising_speed, + _performance_model.getMinimumCalibratedAirspeed(), ground_speed); + + // Lateral Control + + Vector2f curr_pos_local{_local_pos.x, _local_pos.y}; + + FigureEight::FigureEightPatternParameters params; + params.center_pos_local = _global_local_proj_ref.project(pos_sp_curr.lat, pos_sp_curr.lon); + params.loiter_direction_counter_clockwise = pos_sp_curr.loiter_direction_counter_clockwise; + params.loiter_minor_radius = pos_sp_curr.loiter_minor_radius; + params.loiter_orientation = pos_sp_curr.loiter_orientation; + params.loiter_radius = pos_sp_curr.loiter_radius; + + // Apply control + _figure_eight.updateSetpoint(curr_pos_local, ground_speed, params, target_airspeed); + float roll_body = _figure_eight.getRollSetpoint(); + target_airspeed = _figure_eight.getAirspeedSetpoint(); + _target_bearing = _figure_eight.getTargetBearing(); + _closest_point_on_path = _figure_eight.getClosestPoint(); + + // TECS + float tecs_fw_thr_min; + float tecs_fw_thr_max; + + if (pos_sp_curr.gliding_enabled) { + /* enable gliding with this waypoint */ + _tecs.set_speed_weight(2.0f); + tecs_fw_thr_min = 0.0; + tecs_fw_thr_max = 0.0; + + } else { + tecs_fw_thr_min = _param_fw_thr_min.get(); + tecs_fw_thr_max = _param_fw_thr_max.get(); + } + + tecs_update_pitch_throttle(control_interval, + pos_sp_curr.alt, + target_airspeed, + radians(_param_fw_p_lim_min.get()), + radians(_param_fw_p_lim_max.get()), + tecs_fw_thr_min, + tecs_fw_thr_max, + _param_sinkrate_target.get(), + _param_climbrate_target.get()); + + // Yaw + float yaw_body = _yaw; // yaw is not controlled, so set setpoint to current yaw + const float pitch_body = get_tecs_pitch(); + + const Quatf attitude_setpoint(Eulerf(roll_body, pitch_body, yaw_body)); + attitude_setpoint.copyTo(_att_sp.q_d); +} + +void FixedwingPositionControl::publishFigureEightStatus(const position_setpoint_s pos_sp) +{ + figure_eight_status_s figure_eight_status{}; + figure_eight_status.timestamp = hrt_absolute_time(); + figure_eight_status.major_radius = pos_sp.loiter_radius * (pos_sp.loiter_direction_counter_clockwise ? -1.f : 1.f); + figure_eight_status.minor_radius = pos_sp.loiter_minor_radius; + figure_eight_status.orientation = pos_sp.loiter_orientation; + figure_eight_status.frame = 5; //MAV_FRAME_GLOBAL_INT + figure_eight_status.x = static_cast(pos_sp.lat * 1e7); + figure_eight_status.y = static_cast(pos_sp.lon * 1e7); + figure_eight_status.z = pos_sp.alt; + + _figure_eight_status_pub.publish(figure_eight_status); +} +#endif // CONFIG_FIGURE_OF_EIGHT + +void +FixedwingPositionControl::control_auto_path(const float control_interval, const Vector2d &curr_pos, + const Vector2f &ground_speed, const position_setpoint_s &pos_sp_curr) +{ + + float tecs_fw_thr_min; + float tecs_fw_thr_max; + + if (pos_sp_curr.gliding_enabled) { + /* enable gliding with this waypoint */ + _tecs.set_speed_weight(2.0f); + tecs_fw_thr_min = 0.0; + tecs_fw_thr_max = 0.0; + + } else { + tecs_fw_thr_min = _param_fw_thr_min.get(); + tecs_fw_thr_max = _param_fw_thr_max.get(); + } + + // waypoint is a plain navigation waypoint + float target_airspeed = adapt_airspeed_setpoint(control_interval, pos_sp_curr.cruising_speed, + _performance_model.getMinimumCalibratedAirspeed(getLoadFactor()), ground_speed); + + Vector2f curr_pos_local{_local_pos.x, _local_pos.y}; + Vector2f curr_wp_local = _global_local_proj_ref.project(pos_sp_curr.lat, pos_sp_curr.lon); + + _npfg.setAirspeedNom(target_airspeed * _eas2tas); + _npfg.setAirspeedMax(_performance_model.getMaximumCalibratedAirspeed() * _eas2tas); + + // Navigate directly on position setpoint and path tangent + matrix::Vector2f velocity_2d(pos_sp_curr.vx, pos_sp_curr.vy); + const float curvature = PX4_ISFINITE(_pos_sp_triplet.current.loiter_radius) ? 1 / + _pos_sp_triplet.current.loiter_radius : + 0.0f; + navigatePathTangent(curr_pos_local, curr_wp_local, velocity_2d.normalized(), ground_speed, _wind_vel, curvature); + + float roll_body = getCorrectedNpfgRollSetpoint(); + target_airspeed = _npfg.getAirspeedRef() / _eas2tas; + + float yaw_body = _yaw; // yaw is not controlled, so set setpoint to current yaw + + tecs_update_pitch_throttle(control_interval, + pos_sp_curr.alt, + target_airspeed, + radians(_param_fw_p_lim_min.get()), + radians(_param_fw_p_lim_max.get()), + tecs_fw_thr_min, + tecs_fw_thr_max, + _param_sinkrate_target.get(), + _param_climbrate_target.get()); + + _att_sp.thrust_body[0] = min(get_tecs_thrust(), tecs_fw_thr_max); + const float pitch_body = get_tecs_pitch(); + + const Quatf attitude_setpoint(Eulerf(roll_body, pitch_body, yaw_body)); + attitude_setpoint.copyTo(_att_sp.q_d); } void @@ -1303,26 +1456,22 @@ FixedwingPositionControl::control_auto_takeoff(const hrt_abstime &now, const flo Vector2f local_2D_position{_local_pos.x, _local_pos.y}; const float takeoff_airspeed = (_param_fw_tko_airspd.get() > FLT_EPSILON) ? _param_fw_tko_airspd.get() : - _param_fw_airspd_min.get(); + _performance_model.getMinimumCalibratedAirspeed(getLoadFactor()); - float adjusted_min_airspeed = _param_fw_airspd_min.get(); + float adjusted_min_airspeed = _performance_model.getMinimumCalibratedAirspeed(getLoadFactor()); - if (takeoff_airspeed < _param_fw_airspd_min.get()) { + if (takeoff_airspeed < adjusted_min_airspeed) { // adjust underspeed detection bounds for takeoff airspeed _tecs.set_equivalent_airspeed_min(takeoff_airspeed); adjusted_min_airspeed = takeoff_airspeed; } - float target_airspeed = adapt_airspeed_setpoint(control_interval, takeoff_airspeed, adjusted_min_airspeed, - ground_speed); - if (_runway_takeoff.runwayTakeoffEnabled()) { if (!_runway_takeoff.isInitialized()) { _runway_takeoff.init(now, _yaw, global_position); - _takeoff_ground_alt = _current_altitude; - _launch_current_yaw = _yaw; + _airspeed_slew_rate_controller.setForcedValue(takeoff_airspeed); events::send(events::ID("fixedwing_position_control_takeoff"), events::Log::Info, "Takeoff on runway"); } @@ -1331,7 +1480,7 @@ FixedwingPositionControl::control_auto_takeoff(const hrt_abstime &now, const flo _runway_takeoff.forceSetFlyState(); } - _runway_takeoff.update(now, takeoff_airspeed, _airspeed, _current_altitude - _takeoff_ground_alt, + _runway_takeoff.update(now, takeoff_airspeed, _airspeed_eas, _current_altitude - _takeoff_ground_alt, clearance_altitude_amsl - _takeoff_ground_alt); // yaw control is disabled once in "taking off" state @@ -1353,19 +1502,25 @@ FixedwingPositionControl::control_auto_takeoff(const hrt_abstime &now, const flo const Vector2f takeoff_waypoint_local = _global_local_proj_ref.project(pos_sp_curr.lat, pos_sp_curr.lon); // by default set the takeoff bearing to the takeoff yaw, but override in a mission takeoff with bearing to takeoff WP - Vector2f takeoff_bearing_vector = {cosf(_launch_current_yaw), sinf(_launch_current_yaw)}; + float takeoff_bearing = _launch_current_yaw; if (_vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION) { // the bearing from runway start to the takeoff waypoint is followed until the clearance altitude is exceeded - takeoff_bearing_vector = calculateTakeoffBearingVector(start_pos_local, takeoff_waypoint_local); + const Vector2f takeoff_bearing_vector = takeoff_waypoint_local - start_pos_local; + + if (takeoff_bearing_vector.norm() > FLT_EPSILON) { + takeoff_bearing = atan2f(takeoff_bearing_vector(1), takeoff_bearing_vector(0)); + } } + float target_airspeed = adapt_airspeed_setpoint(control_interval, takeoff_airspeed, adjusted_min_airspeed, ground_speed, + true); + _npfg.setAirspeedNom(target_airspeed * _eas2tas); - _npfg.setAirspeedMax(_param_fw_airspd_max.get() * _eas2tas); - navigatePathTangent(local_2D_position, start_pos_local, takeoff_bearing_vector, ground_speed, - _wind_vel, 0.0f); + _npfg.setAirspeedMax(_performance_model.getMaximumCalibratedAirspeed() * _eas2tas); + navigateLine(start_pos_local, takeoff_bearing, local_2D_position, ground_speed, _wind_vel); - _att_sp.roll_body = _runway_takeoff.getRoll(_npfg.getRollSetpoint()); + float roll_body = _runway_takeoff.getRoll(getCorrectedNpfgRollSetpoint()); target_airspeed = _npfg.getAirspeedRef() / _eas2tas; @@ -1373,7 +1528,7 @@ FixedwingPositionControl::control_auto_takeoff(const hrt_abstime &now, const flo const float bearing = _npfg.getBearing(); // heading hold mode will override this bearing setpoint - _att_sp.yaw_body = _runway_takeoff.getYaw(bearing); + float yaw_body = _runway_takeoff.getYaw(bearing); // update tecs const float pitch_max = _runway_takeoff.getMaxPitch(math::radians(_param_fw_p_lim_max.get())); @@ -1388,6 +1543,8 @@ FixedwingPositionControl::control_auto_takeoff(const hrt_abstime &now, const flo _tecs.resetIntegrals(); } + const bool disable_underspeed_handling = true; + tecs_update_pitch_throttle(control_interval, altitude_setpoint_amsl, target_airspeed, @@ -1396,13 +1553,19 @@ FixedwingPositionControl::control_auto_takeoff(const hrt_abstime &now, const flo _param_fw_thr_min.get(), _param_fw_thr_max.get(), _param_sinkrate_target.get(), - _param_fw_t_clmb_max.get()); + _performance_model.getMaximumClimbRate(_air_density), + disable_underspeed_handling); - _tecs.set_equivalent_airspeed_min(_param_fw_airspd_min.get()); // reset after TECS calculation + _tecs.set_equivalent_airspeed_min(_performance_model.getMinimumCalibratedAirspeed()); // reset after TECS calculation - _att_sp.pitch_body = _runway_takeoff.getPitch(get_tecs_pitch()); + const float pitch_body = _runway_takeoff.getPitch(get_tecs_pitch()); _att_sp.thrust_body[0] = _runway_takeoff.getThrottle(_param_fw_thr_idle.get(), get_tecs_thrust()); + roll_body = constrainRollNearGround(roll_body, _current_altitude, _takeoff_ground_alt); + + const Quatf attitude_setpoint(Eulerf(roll_body, pitch_body, yaw_body)); + attitude_setpoint.copyTo(_att_sp.q_d); + _flaps_setpoint = _param_fw_flaps_to_scl.get(); // retract ladning gear once passed the climbout state @@ -1427,12 +1590,12 @@ FixedwingPositionControl::control_auto_takeoff(const hrt_abstime &now, const flo _launchDetector.forceSetFlyState(); } - if (!_launch_detected && _launchDetector.getLaunchDetected() > launch_detection_status_s::STATE_WAITING_FOR_LAUNCH - && _param_fw_laun_detcn_on.get()) { + if (!_launch_detected && _launchDetector.getLaunchDetected() > launch_detection_status_s::STATE_WAITING_FOR_LAUNCH) { _launch_detected = true; _launch_global_position = global_position; _takeoff_ground_alt = _current_altitude; _launch_current_yaw = _yaw; + _airspeed_slew_rate_controller.setForcedValue(takeoff_airspeed); } const Vector2f launch_local_position = _global_local_proj_ref.project(_launch_global_position(0), @@ -1440,28 +1603,34 @@ FixedwingPositionControl::control_auto_takeoff(const hrt_abstime &now, const flo const Vector2f takeoff_waypoint_local = _global_local_proj_ref.project(pos_sp_curr.lat, pos_sp_curr.lon); // by default set the takeoff bearing to the takeoff yaw, but override in a mission takeoff with bearing to takeoff WP - Vector2f takeoff_bearing_vector = {cosf(_launch_current_yaw), sinf(_launch_current_yaw)}; + float takeoff_bearing = _launch_current_yaw; if (_vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION) { // the bearing from launch to the takeoff waypoint is followed until the clearance altitude is exceeded - takeoff_bearing_vector = calculateTakeoffBearingVector(launch_local_position, takeoff_waypoint_local); + const Vector2f takeoff_bearing_vector = takeoff_waypoint_local - launch_local_position; + + if (takeoff_bearing_vector.norm() > FLT_EPSILON) { + takeoff_bearing = atan2f(takeoff_bearing_vector(1), takeoff_bearing_vector(0)); + } } /* Set control values depending on the detection state */ - if (_launchDetector.getLaunchDetected() > launch_detection_status_s::STATE_WAITING_FOR_LAUNCH - && _param_fw_laun_detcn_on.get()) { + if (_launchDetector.getLaunchDetected() > launch_detection_status_s::STATE_WAITING_FOR_LAUNCH) { /* Launch has been detected, hence we have to control the plane. */ + float target_airspeed = adapt_airspeed_setpoint(control_interval, takeoff_airspeed, adjusted_min_airspeed, ground_speed, + true); + _npfg.setAirspeedNom(target_airspeed * _eas2tas); - _npfg.setAirspeedMax(_param_fw_airspd_max.get() * _eas2tas); - navigatePathTangent(local_2D_position, launch_local_position, takeoff_bearing_vector, ground_speed, _wind_vel, - 0.0f); - _att_sp.roll_body = _npfg.getRollSetpoint(); + _npfg.setAirspeedMax(_performance_model.getMaximumCalibratedAirspeed() * _eas2tas); + navigateLine(launch_local_position, takeoff_bearing, local_2D_position, ground_speed, _wind_vel); + float roll_body = getCorrectedNpfgRollSetpoint(); target_airspeed = _npfg.getAirspeedRef() / _eas2tas; const float max_takeoff_throttle = (_launchDetector.getLaunchDetected() < launch_detection_status_s::STATE_FLYING) ? _param_fw_thr_idle.get() : _param_fw_thr_max.get(); + const bool disable_underspeed_handling = true; tecs_update_pitch_throttle(control_interval, altitude_setpoint_amsl, @@ -1471,27 +1640,38 @@ FixedwingPositionControl::control_auto_takeoff(const hrt_abstime &now, const flo _param_fw_thr_min.get(), max_takeoff_throttle, _param_sinkrate_target.get(), - _param_fw_t_clmb_max.get()); + _performance_model.getMaximumClimbRate(_air_density), + disable_underspeed_handling); if (_launchDetector.getLaunchDetected() < launch_detection_status_s::STATE_FLYING) { // explicitly set idle throttle until motors are enabled _att_sp.thrust_body[0] = _param_fw_thr_idle.get(); } else { - _att_sp.thrust_body[0] = (_landed) ? min(_param_fw_thr_idle.get(), 1.f) : get_tecs_thrust(); + _att_sp.thrust_body[0] = get_tecs_thrust(); } - _att_sp.pitch_body = get_tecs_pitch(); - _att_sp.yaw_body = _yaw; // yaw is not controlled, so set setpoint to current yaw + float pitch_body = get_tecs_pitch(); + float yaw_body = _yaw; // yaw is not controlled, so set setpoint to current yaw + + roll_body = constrainRollNearGround(roll_body, _current_altitude, _takeoff_ground_alt); + + Quatf attitude_setpoint(Eulerf(roll_body, pitch_body, yaw_body)); + attitude_setpoint.copyTo(_att_sp.q_d); } else { /* Tell the attitude controller to stop integrating while we are waiting for the launch */ _att_sp.reset_integral = true; /* Set default roll and pitch setpoints during detection phase */ - _att_sp.roll_body = 0.0f; + float roll_body = 0.0f; + float yaw_body = _yaw; _att_sp.thrust_body[0] = _param_fw_thr_idle.get(); - _att_sp.pitch_body = radians(_takeoff_pitch_min.get()); + float pitch_body = radians(_takeoff_pitch_min.get()); + roll_body = constrainRollNearGround(roll_body, _current_altitude, _takeoff_ground_alt); + Quatf attitude_setpoint(Eulerf(roll_body, pitch_body, yaw_body)); + attitude_setpoint.copyTo(_att_sp.q_d); + } launch_detection_status_s launch_detection_status; @@ -1500,7 +1680,7 @@ FixedwingPositionControl::control_auto_takeoff(const hrt_abstime &now, const flo _launch_detection_status_pub.publish(launch_detection_status); } - _att_sp.roll_body = constrainRollNearGround(_att_sp.roll_body, _current_altitude, _takeoff_ground_alt); + _flaps_setpoint = _param_fw_flaps_to_scl.get(); if (!_vehicle_status.in_transition_to_fw) { publishLocalPositionSetpoint(pos_sp_curr); @@ -1513,10 +1693,10 @@ FixedwingPositionControl::control_auto_landing_straight(const hrt_abstime &now, { // first handle non-position things like airspeed and tecs settings const float airspeed_land = (_param_fw_lnd_airspd.get() > FLT_EPSILON) ? _param_fw_lnd_airspd.get() : - _param_fw_airspd_min.get(); - float adjusted_min_airspeed = _param_fw_airspd_min.get(); + _performance_model.getMinimumCalibratedAirspeed(getLoadFactor()); + float adjusted_min_airspeed = _performance_model.getMinimumCalibratedAirspeed(getLoadFactor()); - if (airspeed_land < _param_fw_airspd_min.get()) { + if (airspeed_land < adjusted_min_airspeed) { // adjust underspeed detection bounds for landing airspeed _tecs.set_equivalent_airspeed_min(airspeed_land); adjusted_min_airspeed = airspeed_land; @@ -1602,13 +1782,13 @@ FixedwingPositionControl::control_auto_landing_straight(const hrt_abstime &now, const Vector2f local_approach_entrance = local_land_point - landing_approach_vector; _npfg.setAirspeedNom(target_airspeed * _eas2tas); - _npfg.setAirspeedMax(_param_fw_airspd_max.get() * _eas2tas); - navigateWaypoints(local_approach_entrance, local_land_point, local_position, ground_speed, _wind_vel); + _npfg.setAirspeedMax(_performance_model.getMaximumCalibratedAirspeed() * _eas2tas); + navigateLine(local_approach_entrance, local_land_point, local_position, ground_speed, _wind_vel); target_airspeed = _npfg.getAirspeedRef() / _eas2tas; - _att_sp.roll_body = _npfg.getRollSetpoint(); + float roll_body = getCorrectedNpfgRollSetpoint(); // use npfg's bearing to commanded course, controlled via yaw angle while on runway - _att_sp.yaw_body = _npfg.getBearing(); + float yaw_body = _npfg.getBearing(); /* longitudinal guidance */ @@ -1638,6 +1818,7 @@ FixedwingPositionControl::control_auto_landing_straight(const hrt_abstime &now, const float throttle_max = flare_ramp_interpolator_sqrt * _param_fw_thr_idle.get() + (1.0f - flare_ramp_interpolator_sqrt) * _param_fw_thr_max.get(); + const bool disable_underspeed_handling = true; tecs_update_pitch_throttle(control_interval, altitude_setpoint, @@ -1648,13 +1829,19 @@ FixedwingPositionControl::control_auto_landing_straight(const hrt_abstime &now, throttle_max, _param_sinkrate_target.get(), _param_climbrate_target.get(), - true, + disable_underspeed_handling, height_rate_setpoint); /* set the attitude and throttle commands */ // TECS has authority (though constrained) over pitch during flare, throttle is hard set to idle - _att_sp.pitch_body = get_tecs_pitch(); + float pitch_body = get_tecs_pitch(); + + roll_body = constrainRollNearGround(roll_body, _current_altitude, terrain_alt); + + + const Quatf attitude_setpoint(Eulerf(roll_body, pitch_body, yaw_body)); + attitude_setpoint.copyTo(_att_sp.q_d); // enable direct yaw control using rudder/wheel _att_sp.fw_control_yaw_wheel = true; @@ -1681,10 +1868,10 @@ FixedwingPositionControl::control_auto_landing_straight(const hrt_abstime &now, const Vector2f local_approach_entrance = local_land_point - landing_approach_vector; _npfg.setAirspeedNom(target_airspeed * _eas2tas); - _npfg.setAirspeedMax(_param_fw_airspd_max.get() * _eas2tas); - navigateWaypoints(local_approach_entrance, local_land_point, local_position, ground_speed, _wind_vel); + _npfg.setAirspeedMax(_performance_model.getMaximumCalibratedAirspeed() * _eas2tas); + navigateLine(local_approach_entrance, local_land_point, local_position, ground_speed, _wind_vel); target_airspeed = _npfg.getAirspeedRef() / _eas2tas; - _att_sp.roll_body = _npfg.getRollSetpoint(); + float roll_body = getCorrectedNpfgRollSetpoint(); /* longitudinal guidance */ @@ -1706,10 +1893,15 @@ FixedwingPositionControl::control_auto_landing_straight(const hrt_abstime &now, /* set the attitude and throttle commands */ - _att_sp.pitch_body = get_tecs_pitch(); + float pitch_body = get_tecs_pitch(); + + roll_body = constrainRollNearGround(roll_body, _current_altitude, terrain_alt); // yaw is not controlled in nominal flight - _att_sp.yaw_body = _yaw; + float yaw_body = _yaw; + + const Quatf attitude_setpoint(Eulerf(roll_body, pitch_body, yaw_body)); + attitude_setpoint.copyTo(_att_sp.q_d); // enable direct yaw control using rudder/wheel _att_sp.fw_control_yaw_wheel = false; @@ -1717,9 +1909,7 @@ FixedwingPositionControl::control_auto_landing_straight(const hrt_abstime &now, _att_sp.thrust_body[0] = (_landed) ? _param_fw_thr_idle.get() : get_tecs_thrust(); } - _tecs.set_equivalent_airspeed_min(_param_fw_airspd_min.get()); // reset after TECS calculation - - _att_sp.roll_body = constrainRollNearGround(_att_sp.roll_body, _current_altitude, terrain_alt); + _tecs.set_equivalent_airspeed_min(_performance_model.getMinimumCalibratedAirspeed()); // reset after TECS calculation _flaps_setpoint = _param_fw_flaps_lnd_scl.get(); _spoilers_setpoint = _param_fw_spoilers_lnd.get(); @@ -1740,10 +1930,10 @@ FixedwingPositionControl::control_auto_landing_circular(const hrt_abstime &now, { // first handle non-position things like airspeed and tecs settings const float airspeed_land = (_param_fw_lnd_airspd.get() > FLT_EPSILON) ? _param_fw_lnd_airspd.get() : - _param_fw_airspd_min.get(); - float adjusted_min_airspeed = _param_fw_airspd_min.get(); + _performance_model.getMinimumCalibratedAirspeed(getLoadFactor()); + float adjusted_min_airspeed = _performance_model.getMinimumCalibratedAirspeed(getLoadFactor()); - if (airspeed_land < _param_fw_airspd_min.get()) { + if (airspeed_land < adjusted_min_airspeed) { // adjust underspeed detection bounds for landing airspeed _tecs.set_equivalent_airspeed_min(airspeed_land); adjusted_min_airspeed = airspeed_land; @@ -1778,6 +1968,10 @@ FixedwingPositionControl::control_auto_landing_circular(const hrt_abstime &now, } // the terrain estimate (if enabled) is always used to determine the flaring altitude + float roll_body; + float yaw_body; + float pitch_body; + if ((_current_altitude < terrain_alt + flare_rel_alt) || _flare_states.flaring) { // flare and land with minimal speed @@ -1804,15 +1998,15 @@ FixedwingPositionControl::control_auto_landing_circular(const hrt_abstime &now, _npfg.setPeriod(ground_roll_npfg_period); _npfg.setAirspeedNom(target_airspeed * _eas2tas); - _npfg.setAirspeedMax(_param_fw_airspd_max.get() * _eas2tas); + _npfg.setAirspeedMax(_performance_model.getMaximumCalibratedAirspeed() * _eas2tas); navigateLoiter(local_landing_orbit_center, local_position, loiter_radius, pos_sp_curr.loiter_direction_counter_clockwise, ground_speed, _wind_vel); target_airspeed = _npfg.getAirspeedRef() / _eas2tas; - _att_sp.roll_body = _npfg.getRollSetpoint(); + roll_body = getCorrectedNpfgRollSetpoint(); - _att_sp.yaw_body = _yaw; // yaw is not controlled, so set setpoint to current yaw + yaw_body = _yaw; // yaw is not controlled, so set setpoint to current yaw /* longitudinal guidance */ @@ -1841,6 +2035,7 @@ FixedwingPositionControl::control_auto_landing_circular(const hrt_abstime &now, const float throttle_max = flare_ramp_interpolator_sqrt * _param_fw_thr_idle.get() + (1.0f - flare_ramp_interpolator_sqrt) * _param_fw_thr_max.get(); + const bool disable_underspeed_handling = true; tecs_update_pitch_throttle(control_interval, _current_altitude, // is not controlled, control descend rate @@ -1851,13 +2046,13 @@ FixedwingPositionControl::control_auto_landing_circular(const hrt_abstime &now, throttle_max, _param_sinkrate_target.get(), _param_climbrate_target.get(), - true, + disable_underspeed_handling, height_rate_setpoint); /* set the attitude and throttle commands */ // TECS has authority (though constrained) over pitch during flare, throttle is hard set to idle - _att_sp.pitch_body = get_tecs_pitch(); + pitch_body = get_tecs_pitch(); // enable direct yaw control using rudder/wheel _att_sp.fw_control_yaw_wheel = true; @@ -1881,13 +2076,13 @@ FixedwingPositionControl::control_auto_landing_circular(const hrt_abstime &now, /* lateral guidance */ _npfg.setAirspeedNom(target_airspeed * _eas2tas); - _npfg.setAirspeedMax(_param_fw_airspd_max.get() * _eas2tas); + _npfg.setAirspeedMax(_performance_model.getMaximumCalibratedAirspeed() * _eas2tas); navigateLoiter(local_landing_orbit_center, local_position, loiter_radius, pos_sp_curr.loiter_direction_counter_clockwise, ground_speed, _wind_vel); target_airspeed = _npfg.getAirspeedRef() / _eas2tas; - _att_sp.roll_body = _npfg.getRollSetpoint(); + roll_body = getCorrectedNpfgRollSetpoint(); /* longitudinal guidance */ @@ -1897,6 +2092,8 @@ FixedwingPositionControl::control_auto_landing_circular(const hrt_abstime &now, const float glide_slope_sink_rate = airspeed_land * glide_slope / sqrtf(glide_slope * glide_slope + 1.0f); const float desired_max_sinkrate = math::min(math::max(glide_slope_sink_rate, _param_sinkrate_target.get()), _param_fw_t_sink_max.get()); + const bool disable_underspeed_handling = false; + tecs_update_pitch_throttle(control_interval, _current_altitude, // is not controlled, control descend rate target_airspeed, @@ -1906,15 +2103,15 @@ FixedwingPositionControl::control_auto_landing_circular(const hrt_abstime &now, _param_fw_thr_max.get(), desired_max_sinkrate, _param_climbrate_target.get(), - false, + disable_underspeed_handling, -glide_slope_sink_rate); // heightrate = -sinkrate /* set the attitude and throttle commands */ - _att_sp.pitch_body = get_tecs_pitch(); + pitch_body = get_tecs_pitch(); // yaw is not controlled in nominal flight - _att_sp.yaw_body = _yaw; + yaw_body = _yaw; // enable direct yaw control using rudder/wheel _att_sp.fw_control_yaw_wheel = false; @@ -1922,9 +2119,13 @@ FixedwingPositionControl::control_auto_landing_circular(const hrt_abstime &now, _att_sp.thrust_body[0] = (_landed) ? _param_fw_thr_idle.get() : get_tecs_thrust(); } - _tecs.set_equivalent_airspeed_min(_param_fw_airspd_min.get()); // reset after TECS calculation + _tecs.set_equivalent_airspeed_min(_performance_model.getMinimumCalibratedAirspeed()); // reset after TECS calculation + + roll_body = constrainRollNearGround(roll_body, _current_altitude, terrain_alt); + + Quatf attitude_setpoint(Eulerf(roll_body, pitch_body, yaw_body)); + attitude_setpoint.copyTo(_att_sp.q_d); - _att_sp.roll_body = constrainRollNearGround(_att_sp.roll_body, _current_altitude, terrain_alt); _flaps_setpoint = _param_fw_flaps_lnd_scl.get(); _spoilers_setpoint = _param_fw_spoilers_lnd.get(); @@ -1944,7 +2145,7 @@ FixedwingPositionControl::control_manual_altitude(const float control_interval, updateManualTakeoffStatus(); const float calibrated_airspeed_sp = adapt_airspeed_setpoint(control_interval, get_manual_airspeed_setpoint(), - _param_fw_airspd_min.get(), ground_speed); + _performance_model.getMinimumCalibratedAirspeed(getLoadFactor()), ground_speed, !_completed_manual_takeoff); const float height_rate_sp = getManualHeightRateSetpoint(); // TECS may try to pitch down to gain airspeed if we underspeed, constrain the pitch when underspeeding if we are @@ -1959,6 +2160,8 @@ FixedwingPositionControl::control_manual_altitude(const float control_interval, throttle_max = 0.0f; } + const bool disable_underspeed_handling = false; + tecs_update_pitch_throttle(control_interval, _current_altitude, calibrated_airspeed_sp, @@ -1968,14 +2171,17 @@ FixedwingPositionControl::control_manual_altitude(const float control_interval, throttle_max, _param_sinkrate_target.get(), _param_climbrate_target.get(), - false, + disable_underspeed_handling, height_rate_sp); - _att_sp.roll_body = _manual_control_setpoint.roll * radians(_param_fw_r_lim.get()); - _att_sp.yaw_body = _yaw; // yaw is not controlled, so set setpoint to current yaw + float roll_body = _manual_control_setpoint.roll * radians(_param_fw_r_lim.get()); + float yaw_body = _yaw; // yaw is not controlled, so set setpoint to current yaw _att_sp.thrust_body[0] = min(get_tecs_thrust(), throttle_max); - _att_sp.pitch_body = get_tecs_pitch(); + const float pitch_body = get_tecs_pitch(); + + const Quatf attitude_setpoint(Eulerf(roll_body, pitch_body, yaw_body)); + attitude_setpoint.copyTo(_att_sp.q_d); } void @@ -1985,7 +2191,7 @@ FixedwingPositionControl::control_manual_position(const float control_interval, updateManualTakeoffStatus(); float calibrated_airspeed_sp = adapt_airspeed_setpoint(control_interval, get_manual_airspeed_setpoint(), - _param_fw_airspd_min.get(), ground_speed); + _performance_model.getMinimumCalibratedAirspeed(getLoadFactor()), ground_speed, !_completed_manual_takeoff); const float height_rate_sp = getManualHeightRateSetpoint(); // TECS may try to pitch down to gain airspeed if we underspeed, constrain the pitch when underspeeding if we are @@ -2000,7 +2206,17 @@ FixedwingPositionControl::control_manual_position(const float control_interval, throttle_max = 0.0f; } + if (_local_pos.xy_reset_counter != _xy_reset_counter) { + _time_last_xy_reset = _local_pos.timestamp; + } + + Eulerf current_setpoint(Quatf(_att_sp.q_d)); + float yaw_body = current_setpoint.psi(); + float roll_body = current_setpoint.phi(); + float pitch_body = current_setpoint.theta(); + /* heading control */ + // TODO: either make it course hold (easier) or a real heading hold (minus all the complexity here) if (fabsf(_manual_control_setpoint.roll) < HDG_HOLD_MAN_INPUT_THRESH && fabsf(_manual_control_setpoint.yaw) < HDG_HOLD_MAN_INPUT_THRESH) { @@ -2020,42 +2236,36 @@ FixedwingPositionControl::control_manual_position(const float control_interval, if (_yaw_lock_engaged) { - /* just switched back from non heading-hold to heading hold */ + Vector2f curr_pos_local{_local_pos.x, _local_pos.y}; + if (!_hdg_hold_enabled) { + // just switched back from non heading-hold to heading hold _hdg_hold_enabled = true; _hdg_hold_yaw = _yaw; - get_waypoint_heading_distance(_hdg_hold_yaw, _hdg_hold_prev_wp, _hdg_hold_curr_wp, true); + _hdg_hold_position = curr_pos_local; } - /* we have a valid heading hold position, are we too close? */ - const float dist = get_distance_to_next_waypoint(_current_latitude, _current_longitude, _hdg_hold_curr_wp.lat, - _hdg_hold_curr_wp.lon); - - if (dist < HDG_HOLD_REACHED_DIST) { - get_waypoint_heading_distance(_hdg_hold_yaw, _hdg_hold_prev_wp, _hdg_hold_curr_wp, false); + // if there's a reset-by-fusion, the ekf needs some time to converge, + // therefore we go into track holiding for 2 seconds + if (_local_pos.timestamp - _time_last_xy_reset < 2_s) { + _hdg_hold_position = curr_pos_local; } - Vector2d prev_wp{_hdg_hold_prev_wp.lat, _hdg_hold_prev_wp.lon}; - Vector2d curr_wp{_hdg_hold_curr_wp.lat, _hdg_hold_curr_wp.lon}; - - Vector2f curr_pos_local{_local_pos.x, _local_pos.y}; - Vector2f curr_wp_local = _global_local_proj_ref.project(curr_wp(0), curr_wp(1)); - Vector2f prev_wp_local = _global_local_proj_ref.project(prev_wp(0), - prev_wp(1)); - _npfg.setAirspeedNom(calibrated_airspeed_sp * _eas2tas); - _npfg.setAirspeedMax(_param_fw_airspd_max.get() * _eas2tas); - navigateWaypoints(prev_wp_local, curr_wp_local, curr_pos_local, ground_speed, _wind_vel); - _att_sp.roll_body = _npfg.getRollSetpoint(); + _npfg.setAirspeedMax(_performance_model.getMaximumCalibratedAirspeed() * _eas2tas); + navigateLine(_hdg_hold_position, _hdg_hold_yaw, curr_pos_local, ground_speed, _wind_vel); + roll_body = getCorrectedNpfgRollSetpoint(); calibrated_airspeed_sp = _npfg.getAirspeedRef() / _eas2tas; - _att_sp.yaw_body = _yaw; // yaw is not controlled, so set setpoint to current yaw + yaw_body = _yaw; // yaw is not controlled, so set setpoint to current yaw } } + const bool disable_underspeed_handling = false; + tecs_update_pitch_throttle(control_interval, - _current_altitude, + _current_altitude, // TODO: check if this is really what we want.. or if we want to lock the altitude. calibrated_airspeed_sp, min_pitch, radians(_param_fw_p_lim_max.get()), @@ -2063,7 +2273,7 @@ FixedwingPositionControl::control_manual_position(const float control_interval, throttle_max, _param_sinkrate_target.get(), _param_climbrate_target.get(), - false, + disable_underspeed_handling, height_rate_sp); if (!_yaw_lock_engaged || fabsf(_manual_control_setpoint.roll) >= HDG_HOLD_MAN_INPUT_THRESH || @@ -2072,23 +2282,59 @@ FixedwingPositionControl::control_manual_position(const float control_interval, _hdg_hold_enabled = false; _yaw_lock_engaged = false; - // do slew rate limiting on roll if enabled - float roll_sp_new = _manual_control_setpoint.roll * radians(_param_fw_r_lim.get()); - const float roll_rate_slew_rad = radians(_param_fw_pn_r_slew_max.get()); - - if (control_interval > 0.f && roll_rate_slew_rad > 0.f) { - roll_sp_new = constrain(roll_sp_new, _att_sp.roll_body - roll_rate_slew_rad * control_interval, - _att_sp.roll_body + roll_rate_slew_rad * control_interval); - } - - _att_sp.roll_body = roll_sp_new; - _att_sp.yaw_body = _yaw; // yaw is not controlled, so set setpoint to current yaw + roll_body = _manual_control_setpoint.roll * radians(_param_fw_r_lim.get()); + yaw_body = _yaw; // yaw is not controlled, so set setpoint to current yaw } _att_sp.thrust_body[0] = min(get_tecs_thrust(), throttle_max); - _att_sp.pitch_body = get_tecs_pitch(); + + pitch_body = get_tecs_pitch(); + + Quatf attitude_setpoint(Eulerf(roll_body, pitch_body, yaw_body)); + attitude_setpoint.copyTo(_att_sp.q_d); } +void FixedwingPositionControl::control_backtransition(const float control_interval, const Vector2f &ground_speed, + const position_setpoint_s &pos_sp_curr) +{ + float target_airspeed = adapt_airspeed_setpoint(control_interval, pos_sp_curr.cruising_speed, + _performance_model.getMinimumCalibratedAirspeed(getLoadFactor()), ground_speed); + + Vector2f curr_pos_local{_local_pos.x, _local_pos.y}; + Vector2f curr_wp_local = _global_local_proj_ref.project(pos_sp_curr.lat, pos_sp_curr.lon); + + _npfg.setAirspeedNom(target_airspeed * _eas2tas); + _npfg.setAirspeedMax(_performance_model.getMaximumCalibratedAirspeed() * _eas2tas); + + // Set the position where the backtransition started the first ime we pass through here. + // Will get reset if not in transition anymore. + if (!_lpos_where_backtrans_started.isAllFinite()) { + _lpos_where_backtrans_started = curr_pos_local; + } + + navigateLine(_lpos_where_backtrans_started, curr_wp_local, curr_pos_local, ground_speed, _wind_vel); + + float roll_body = getCorrectedNpfgRollSetpoint(); + target_airspeed = _npfg.getAirspeedRef() / _eas2tas; + + float yaw_body = _yaw; // yaw is not controlled, so set setpoint to current yaw + + tecs_update_pitch_throttle(control_interval, + pos_sp_curr.alt, + target_airspeed, + radians(_param_fw_p_lim_min.get()), + radians(_param_fw_p_lim_max.get()), + _param_fw_thr_min.get(), + _param_fw_thr_max.get(), + _param_sinkrate_target.get(), + _param_climbrate_target.get()); + + _att_sp.thrust_body[0] = (_landed) ? _param_fw_thr_min.get() : min(get_tecs_thrust(), _param_fw_thr_max.get()); + const float pitch_body = get_tecs_pitch(); + + const Quatf attitude_setpoint(Eulerf(roll_body, pitch_body, yaw_body)); + attitude_setpoint.copyTo(_att_sp.q_d); +} float FixedwingPositionControl::get_tecs_pitch() { @@ -2147,36 +2393,46 @@ FixedwingPositionControl::Run() _current_longitude = gpos.lon; } - _current_altitude = -_local_pos.z + _local_pos.ref_alt; // Altitude AMSL in meters + if (_local_pos.z_global && PX4_ISFINITE(_local_pos.ref_alt)) { + _reference_altitude = _local_pos.ref_alt; + + } else { + _reference_altitude = 0.f; + } + + _current_altitude = -_local_pos.z + _reference_altitude; // Altitude AMSL in meters // handle estimator reset events. we only adjust setpoins for manual modes if (_control_mode.flag_control_manual_enabled) { - if (_control_mode.flag_control_altitude_enabled && _local_pos.vz_reset_counter != _alt_reset_counter) { + if (_control_mode.flag_control_altitude_enabled && _local_pos.z_reset_counter != _z_reset_counter) { // make TECS accept step in altitude and demanded altitude _tecs.handle_alt_step(_current_altitude, -_local_pos.vz); } // adjust navigation waypoints in position control mode if (_control_mode.flag_control_altitude_enabled && _control_mode.flag_control_velocity_enabled - && _local_pos.vxy_reset_counter != _pos_reset_counter) { + && _local_pos.xy_reset_counter != _xy_reset_counter) { // reset heading hold flag, which will re-initialise position control _hdg_hold_enabled = false; } } - // update the reset counters in any case - _alt_reset_counter = _local_pos.vz_reset_counter; - _pos_reset_counter = _local_pos.vxy_reset_counter; - // Convert Local setpoints to global setpoints if (!_global_local_proj_ref.isInitialized() || (_global_local_proj_ref.getProjectionReferenceTimestamp() != _local_pos.ref_timestamp) - || (_local_pos.vxy_reset_counter != _pos_reset_counter)) { + || (_local_pos.xy_reset_counter != _xy_reset_counter)) { + + double reference_latitude = 0.; + double reference_longitude = 0.; - _global_local_proj_ref.initReference(_local_pos.ref_lat, _local_pos.ref_lon, + if (_local_pos.xy_global && PX4_ISFINITE(_local_pos.ref_lat) && PX4_ISFINITE(_local_pos.ref_lon)) { + reference_latitude = _local_pos.ref_lat; + reference_longitude = _local_pos.ref_lon; + } + + _global_local_proj_ref.initReference(reference_latitude, reference_longitude, _local_pos.ref_timestamp); - _global_local_alt0 = _local_pos.ref_alt; } if (_control_mode.flag_control_offboard_enabled) { @@ -2205,7 +2461,7 @@ FixedwingPositionControl::Run() _pos_sp_triplet.current.type = position_setpoint_s::SETPOINT_TYPE_POSITION; _pos_sp_triplet.current.lat = lat; _pos_sp_triplet.current.lon = lon; - _pos_sp_triplet.current.alt = _global_local_alt0 - trajectory_setpoint.position[2]; + _pos_sp_triplet.current.alt = _reference_altitude - trajectory_setpoint.position[2]; } } @@ -2266,6 +2522,8 @@ FixedwingPositionControl::Run() if (_vehicle_air_data_sub.update(&air_data)) { _air_density = PX4_ISFINITE(air_data.rho) ? air_data.rho : _air_density; + _tecs.set_max_climb_rate(_performance_model.getMaximumClimbRate(_air_density)); + _tecs.set_min_sink_rate(_performance_model.getMinimumSinkRate(_air_density)); } if (_vehicle_land_detected_sub.updated()) { @@ -2276,7 +2534,12 @@ FixedwingPositionControl::Run() } } - _vehicle_status_sub.update(&_vehicle_status); + if (_vehicle_status_sub.update(&_vehicle_status)) { + if (!_vehicle_status.in_transition_mode) { + // reset position of backtransition start if not in transition + _lpos_where_backtrans_started = Vector2f(NAN, NAN); + } + } Vector2d curr_pos(_current_latitude, _current_longitude); Vector2f ground_speed(_local_pos.vx, _local_pos.vy); @@ -2285,9 +2548,6 @@ FixedwingPositionControl::Run() update_in_air_states(_local_pos.timestamp); - // update lateral guidance timesteps for slewrates - _npfg.setDt(control_interval); - // restore nominal TECS parameters in case changed intermittently (e.g. in landing handling) _tecs.set_speed_weight(_param_fw_t_spdweight.get()); _tecs.set_altitude_error_time_constant(_param_fw_t_h_error_tc.get()); @@ -2301,6 +2561,9 @@ FixedwingPositionControl::Run() _flaps_setpoint = 0.f; _spoilers_setpoint = 0.f; + // reset flight phase estimate + _flight_phase_estimation_pub.get().flight_phase = flight_phase_estimation_s::FLIGHT_PHASE_UNKNOWN; + // by default we don't want yaw to be contoller directly with rudder _att_sp.fw_control_yaw_wheel = false; @@ -2347,6 +2610,11 @@ FixedwingPositionControl::Run() break; } + case FW_POSCTRL_MODE_AUTO_PATH: { + control_auto_path(control_interval, curr_pos, ground_speed, _pos_sp_triplet.current); + break; + } + case FW_POSCTRL_MODE_AUTO_TAKEOFF: { control_auto_takeoff(_local_pos.timestamp, control_interval, curr_pos, ground_speed, _pos_sp_triplet.current); break; @@ -2364,21 +2632,27 @@ FixedwingPositionControl::Run() case FW_POSCTRL_MODE_OTHER: { _att_sp.thrust_body[0] = min(_att_sp.thrust_body[0], _param_fw_thr_max.get()); - - _tecs.initialize(_current_altitude, -_local_pos.vz, _airspeed, _eas2tas); - break; } + case FW_POSCTRL_MODE_TRANSITON: { + control_backtransition(control_interval, ground_speed, _pos_sp_triplet.current); + break; + } } + if (_control_mode_current != FW_POSCTRL_MODE_OTHER) { + Eulerf attitude_setpoint(Quatf(_att_sp.q_d)); + float roll_body = attitude_setpoint.phi(); + float pitch_body = attitude_setpoint.theta(); + float yaw_body = attitude_setpoint.psi(); if (_control_mode.flag_control_manual_enabled) { - _att_sp.roll_body = constrain(_att_sp.roll_body, -radians(_param_fw_r_lim.get()), - radians(_param_fw_r_lim.get())); - _att_sp.pitch_body = constrain(_att_sp.pitch_body, radians(_param_fw_p_lim_min.get()), - radians(_param_fw_p_lim_max.get())); + roll_body = constrain(roll_body, -radians(_param_fw_r_lim.get()), + radians(_param_fw_r_lim.get())); + pitch_body = constrain(pitch_body, radians(_param_fw_p_lim_min.get()), + radians(_param_fw_p_lim_max.get())); } if (_control_mode.flag_control_position_enabled || @@ -2387,7 +2661,10 @@ FixedwingPositionControl::Run() _control_mode.flag_control_altitude_enabled || _control_mode.flag_control_climb_rate_enabled) { - const Quatf q(Eulerf(_att_sp.roll_body, _att_sp.pitch_body, _att_sp.yaw_body)); + // roll slew rate + roll_body = _roll_slew_rate.update(roll_body, control_interval); + + const Quatf q(Eulerf(roll_body, pitch_body, yaw_body)); q.copyTo(_att_sp.q_d); _att_sp.timestamp = hrt_absolute_time(); @@ -2400,8 +2677,15 @@ FixedwingPositionControl::Run() } } + + } else { + _roll_slew_rate.setForcedValue(_roll); } + // Publish estimate of level flight + _flight_phase_estimation_pub.get().timestamp = hrt_absolute_time(); + _flight_phase_estimation_pub.update(); + // if there's any change in landing gear setpoint publish it if (_new_landing_gear_position != old_landing_gear_position && _new_landing_gear_position != landing_gear_s::GEAR_KEEP) { @@ -2426,6 +2710,9 @@ FixedwingPositionControl::Run() _spoilers_setpoint_pub.publish(spoilers_setpoint); } + _z_reset_counter = _local_pos.z_reset_counter; + _xy_reset_counter = _local_pos.xy_reset_counter; + perf_end(_loop_perf); } } @@ -2460,120 +2747,29 @@ FixedwingPositionControl::reset_landing_state() } } -float FixedwingPositionControl::calculateTrimThrottle(float throttle_min, - float throttle_max, float airspeed_sp) -{ - float throttle_trim = - _param_fw_thr_trim.get(); // throttle required for level flight at trim airspeed, at sea level (standard atmosphere) - - // Drag modelling (parasite drag): calculate mapping airspeed-->throttle, assuming a linear relation with different gradients - // above and below trim. This is tunable thorugh FW_THR_ASPD_MIN and FW_THR_ASPD_MAX. - const float slope_below_trim = (_param_fw_thr_trim.get() - _param_fw_thr_aspd_min.get()) / - (_param_fw_airspd_trim.get() - _param_fw_airspd_min.get()); - const float slope_above_trim = (_param_fw_thr_aspd_max.get() - _param_fw_thr_trim.get()) / - (_param_fw_airspd_max.get() - _param_fw_airspd_trim.get()); - - if (PX4_ISFINITE(airspeed_sp) && PX4_ISFINITE(slope_below_trim) && _param_fw_thr_aspd_min.get() > FLT_EPSILON - && airspeed_sp < _param_fw_airspd_trim.get()) { - throttle_trim = _param_fw_thr_trim.get() - slope_below_trim * (_param_fw_airspd_trim.get() - airspeed_sp); - - } else if (PX4_ISFINITE(airspeed_sp) && PX4_ISFINITE(slope_above_trim) && _param_fw_thr_aspd_max.get() > FLT_EPSILON - && airspeed_sp > _param_fw_airspd_trim.get()) { - throttle_trim = _param_fw_thr_trim.get() + slope_above_trim * (airspeed_sp - _param_fw_airspd_trim.get()); - } - - float weight_ratio = 1.0f; - - if (_param_weight_base.get() > FLT_EPSILON && _param_weight_gross.get() > FLT_EPSILON) { - weight_ratio = math::constrain(_param_weight_gross.get() / _param_weight_base.get(), MIN_WEIGHT_RATIO, - MAX_WEIGHT_RATIO); - } - - float air_density_throttle_scale = 1.0f; - - if (PX4_ISFINITE(_air_density)) { - // scale throttle as a function of sqrt(rho0/rho) - const float eas2tas = sqrtf(CONSTANTS_AIR_DENSITY_SEA_LEVEL_15C / _air_density); - const float eas2tas_at_5000m_amsl = sqrtf(CONSTANTS_AIR_DENSITY_SEA_LEVEL_15C / AIR_DENSITY_STANDARD_ATMOS_5000_AMSL); - air_density_throttle_scale = constrain(eas2tas, 1.f, eas2tas_at_5000m_amsl); - } - - // compensate trim throttle for both weight and air density - return math::constrain(throttle_trim * sqrtf(weight_ratio) * air_density_throttle_scale, throttle_min, throttle_max); -} - void FixedwingPositionControl::tecs_update_pitch_throttle(const float control_interval, float alt_sp, float airspeed_sp, float pitch_min_rad, float pitch_max_rad, float throttle_min, float throttle_max, const float desired_max_sinkrate, const float desired_max_climbrate, bool disable_underspeed_detection, float hgt_rate_sp) { - _tecs_is_running = true; - // do not run TECS if vehicle is a VTOL and we are in rotary wing mode or in transition - // (it should also not run during VTOL blending because airspeed is too low still) - if (_vehicle_status.is_vtol) { - if (_vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING || _vehicle_status.in_transition_mode) { - _tecs_is_running = false; - } - - if (_vehicle_status.in_transition_mode) { - // we're in transition - _was_in_transition = true; - - // set this to transition airspeed to init tecs correctly - if (_param_fw_arsp_mode.get() == 1 && PX4_ISFINITE(_param_airspeed_trans)) { - // some vtols fly without airspeed sensor - _airspeed_after_transition = _param_airspeed_trans; - - } else { - _airspeed_after_transition = _airspeed; - } - - _airspeed_after_transition = constrain(_airspeed_after_transition, _param_fw_airspd_min.get(), - _param_fw_airspd_max.get()); - - } else if (_was_in_transition) { - // after transition we ramp up desired airspeed from the speed we had coming out of the transition - _airspeed_after_transition += control_interval * 2.0f; // increase 2m/s - - if (_airspeed_after_transition < airspeed_sp && _airspeed < airspeed_sp) { - airspeed_sp = max(_airspeed_after_transition, _airspeed); - - } else { - _was_in_transition = false; - _airspeed_after_transition = 0.0f; - } - } - } - - if (!_tecs_is_running) { - // next time we run TECS we should reinitialize states - _reinitialize_tecs = true; + if (_vehicle_status.is_vtol && (_vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING + || _vehicle_status.in_transition_mode)) { + _tecs_is_running = false; return; - } - // We need an altitude lock to calculate the TECS control - if (_local_pos.timestamp == 0) { - _reinitialize_tecs = true; + } else { + _tecs_is_running = true; } - if (_reinitialize_tecs) { - _tecs.initialize(_current_altitude, -_local_pos.vz, _airspeed, _eas2tas); - _reinitialize_tecs = false; - } + /* update TECS vehicle state estimates */ + const float throttle_trim_compensated = _performance_model.getTrimThrottle(throttle_min, + throttle_max, airspeed_sp, _air_density); /* No underspeed protection in landing mode */ _tecs.set_detect_underspeed_enabled(!disable_underspeed_detection); - if (_landed) { - _tecs.initialize(_current_altitude, -_local_pos.vz, _airspeed, _eas2tas); - } - - /* update TECS vehicle state estimates */ - const float throttle_trim_adjusted = calculateTrimThrottle(throttle_min, - throttle_max, airspeed_sp); - // HOTFIX: the airspeed rate estimate using acceleration in body-forward direction has shown to lead to high biases // when flying tight turns. It's in this case much safer to just set the estimated airspeed rate to 0. const float airspeed_rate_estimate = 0.f; @@ -2582,12 +2778,11 @@ FixedwingPositionControl::tecs_update_pitch_throttle(const float control_interva _current_altitude, alt_sp, airspeed_sp, - _airspeed, + _airspeed_eas, _eas2tas, throttle_min, throttle_max, - _param_fw_thr_trim.get(), - throttle_trim_adjusted, + throttle_trim_compensated, pitch_min_rad - radians(_param_fw_psp_off.get()), pitch_max_rad - radians(_param_fw_psp_off.get()), desired_max_climbrate, @@ -2596,7 +2791,29 @@ FixedwingPositionControl::tecs_update_pitch_throttle(const float control_interva -_local_pos.vz, hgt_rate_sp); - tecs_status_publish(alt_sp, airspeed_sp, airspeed_rate_estimate, throttle_trim_adjusted); + tecs_status_publish(alt_sp, airspeed_sp, airspeed_rate_estimate, throttle_trim_compensated); + + if (_tecs_is_running && !_vehicle_status.in_transition_mode + && (_vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING)) { + const TECS::DebugOutput &tecs_output{_tecs.getStatus()}; + + // Check level flight: the height rate setpoint is not set or set to 0 and we are close to the target altitude and target altitude is not moving + if ((fabsf(tecs_output.height_rate_reference) < MAX_ALT_REF_RATE_FOR_LEVEL_FLIGHT) && + fabsf(_current_altitude - tecs_output.altitude_reference) < _param_nav_fw_alt_rad.get()) { + _flight_phase_estimation_pub.get().flight_phase = flight_phase_estimation_s::FLIGHT_PHASE_LEVEL; + + } else if (((tecs_output.altitude_reference - _current_altitude) >= _param_nav_fw_alt_rad.get()) || + (tecs_output.height_rate_reference >= MAX_ALT_REF_RATE_FOR_LEVEL_FLIGHT)) { + _flight_phase_estimation_pub.get().flight_phase = flight_phase_estimation_s::FLIGHT_PHASE_CLIMB; + + } else if (((_current_altitude - tecs_output.altitude_reference) >= _param_nav_fw_alt_rad.get()) || + (tecs_output.height_rate_reference <= -MAX_ALT_REF_RATE_FOR_LEVEL_FLIGHT)) { + _flight_phase_estimation_pub.get().flight_phase = flight_phase_estimation_s::FLIGHT_PHASE_DESCEND; + + } else { + //We can't infer the flight phase , do nothing, estimation is reset at each step + } + } } float @@ -2616,27 +2833,6 @@ FixedwingPositionControl::constrainRollNearGround(const float roll_setpoint, con return math::constrain(roll_setpoint, -roll_wingtip_strike, roll_wingtip_strike); } -Vector2f -FixedwingPositionControl::calculateTakeoffBearingVector(const Vector2f &launch_position, - const Vector2f &takeoff_waypoint) const -{ - Vector2f takeoff_bearing_vector = takeoff_waypoint - launch_position; - - if (takeoff_bearing_vector.norm_squared() > FLT_EPSILON) { - takeoff_bearing_vector.normalize(); - - } else { - // TODO: a new bearing only based fixed-wing takeoff command / mission item will get rid of the need - // for this check - - // takeoff in the direction of the airframe - takeoff_bearing_vector(0) = cosf(_yaw); - takeoff_bearing_vector(1) = sinf(_yaw); - } - - return takeoff_bearing_vector; -} - void FixedwingPositionControl::initializeAutoLanding(const hrt_abstime &now, const position_setpoint_s &pos_sp_prev, const float land_point_altitude, const Vector2f &local_position, const Vector2f &local_land_point) @@ -2806,7 +3002,7 @@ void FixedwingPositionControl::publishLocalPositionSetpoint(const position_setpo local_position_setpoint.x = current_setpoint(0); local_position_setpoint.y = current_setpoint(1); - local_position_setpoint.z = _global_local_alt0 - current_waypoint.alt; + local_position_setpoint.z = _reference_altitude - current_waypoint.alt; local_position_setpoint.yaw = NAN; local_position_setpoint.yawspeed = NAN; local_position_setpoint.vx = NAN; @@ -2840,42 +3036,97 @@ void FixedwingPositionControl::publishOrbitStatus(const position_setpoint_s pos_ _orbit_status_pub.publish(orbit_status); } -void FixedwingPositionControl::navigateWaypoints(const Vector2f &waypoint_A, const Vector2f &waypoint_B, +void FixedwingPositionControl::navigateWaypoints(const Vector2f &start_waypoint, const Vector2f &end_waypoint, const Vector2f &vehicle_pos, const Vector2f &ground_vel, const Vector2f &wind_vel) { - // similar to logic found in ECL_L1_Pos_Controller method of same name - // BUT no arbitrary max approach angle, approach entirely determined by generated - // bearing vectors + const Vector2f start_waypoint_to_end_waypoint = end_waypoint - start_waypoint; + const Vector2f start_waypoint_to_vehicle = vehicle_pos - start_waypoint; + const Vector2f end_waypoint_to_vehicle = vehicle_pos - end_waypoint; + + if (start_waypoint_to_end_waypoint.norm() < FLT_EPSILON) { + // degenerate case: the waypoints are on top of each other, this should only happen when someone uses this + // method incorrectly. just as a safe guard, call the singular waypoint navigation method. + navigateWaypoint(end_waypoint, vehicle_pos, ground_vel, wind_vel); + return; + } + + if ((start_waypoint_to_end_waypoint.dot(start_waypoint_to_vehicle) < -FLT_EPSILON) + && (start_waypoint_to_vehicle.norm() > _npfg.switchDistance(500.0f))) { + // we are in front of the start waypoint, fly directly to it until we are within switch distance + navigateWaypoint(start_waypoint, vehicle_pos, ground_vel, wind_vel); + return; + } + + if (start_waypoint_to_end_waypoint.dot(end_waypoint_to_vehicle) > FLT_EPSILON) { + // we are beyond the end waypoint, fly back to it + // NOTE: this logic ideally never gets executed, as a waypoint switch should happen before passing the + // end waypoint. however this included here as a safety precaution if any navigator (module) switch condition + // is missed for any reason. in the future this logic should all be handled in one place in a dedicated + // flight mode state machine. + navigateWaypoint(end_waypoint, vehicle_pos, ground_vel, wind_vel); + return; + } + + // follow the line segment between the start and end waypoints + navigateLine(start_waypoint, end_waypoint, vehicle_pos, ground_vel, wind_vel); +} + +void FixedwingPositionControl::navigateWaypoint(const Vector2f &waypoint_pos, const Vector2f &vehicle_pos, + const Vector2f &ground_vel, const Vector2f &wind_vel) +{ + const Vector2f vehicle_to_waypoint = waypoint_pos - vehicle_pos; - Vector2f vector_A_to_B = waypoint_B - waypoint_A; - Vector2f vector_A_to_vehicle = vehicle_pos - waypoint_A; + if (vehicle_to_waypoint.norm() < FLT_EPSILON) { + // degenerate case: the vehicle is on top of the single waypoint. (can happen). maintain the last npfg command. + return; + } - if (vector_A_to_B.norm() < FLT_EPSILON) { - // the waypoints are on top of each other and should be considered as a - // single waypoint, fly directly to it - if (vector_A_to_vehicle.norm() > FLT_EPSILON) { - vector_A_to_B = -vector_A_to_vehicle; + const Vector2f unit_path_tangent = vehicle_to_waypoint.normalized(); + _closest_point_on_path = waypoint_pos; - } else { - // Fly to a point and on it. Stay to the current control. Do not update the npfg library to get last output. - return; - } + const float path_curvature = 0.f; + _npfg.guideToPath(vehicle_pos, ground_vel, wind_vel, unit_path_tangent, _closest_point_on_path, path_curvature); + // for logging - note we are abusing path tangent vs bearing definitions here. npfg interfaces need to be refined. + _target_bearing = atan2f(unit_path_tangent(1), unit_path_tangent(0)); +} - } else if ((vector_A_to_B.dot(vector_A_to_vehicle) < -FLT_EPSILON)) { - // we are in front of waypoint A, fly directly to it until we are within switch distance. +void FixedwingPositionControl::navigateLine(const Vector2f &point_on_line_1, const Vector2f &point_on_line_2, + const Vector2f &vehicle_pos, const Vector2f &ground_vel, const Vector2f &wind_vel) +{ + const Vector2f line_segment = point_on_line_2 - point_on_line_1; - if (vector_A_to_vehicle.norm() > _npfg.switchDistance(500.0f)) { - vector_A_to_B = -vector_A_to_vehicle; - } + if (line_segment.norm() <= FLT_EPSILON) { + // degenerate case: line segment has zero length. maintain the last npfg command. + return; } - // track the line segment - Vector2f unit_path_tangent{vector_A_to_B.normalized()}; + const Vector2f unit_path_tangent = line_segment.normalized(); + + const Vector2f point_1_to_vehicle = vehicle_pos - point_on_line_1; + _closest_point_on_path = point_on_line_1 + point_1_to_vehicle.dot(unit_path_tangent) * unit_path_tangent; + + const float path_curvature = 0.f; + _npfg.guideToPath(vehicle_pos, ground_vel, wind_vel, unit_path_tangent, _closest_point_on_path, path_curvature); + + // for logging - note we are abusing path tangent vs bearing definitions here. npfg interfaces need to be refined. _target_bearing = atan2f(unit_path_tangent(1), unit_path_tangent(0)); - _closest_point_on_path = waypoint_A + vector_A_to_vehicle.dot(unit_path_tangent) * unit_path_tangent; - _npfg.guideToPath(vehicle_pos, ground_vel, wind_vel, unit_path_tangent, waypoint_A, 0.0f); -} // navigateWaypoints +} + +void FixedwingPositionControl::navigateLine(const Vector2f &point_on_line, const float line_bearing, + const Vector2f &vehicle_pos, const Vector2f &ground_vel, const Vector2f &wind_vel) +{ + const Vector2f unit_path_tangent{cosf(line_bearing), sinf(line_bearing)}; + + const Vector2f point_on_line_to_vehicle = vehicle_pos - point_on_line; + _closest_point_on_path = point_on_line + point_on_line_to_vehicle.dot(unit_path_tangent) * unit_path_tangent; + + const float path_curvature = 0.f; + _npfg.guideToPath(vehicle_pos, ground_vel, wind_vel, unit_path_tangent, _closest_point_on_path, path_curvature); + + // for logging - note we are abusing path tangent vs bearing definitions here. npfg interfaces need to be refined. + _target_bearing = line_bearing; +} void FixedwingPositionControl::navigateLoiter(const Vector2f &loiter_center, const Vector2f &vehicle_pos, float radius, bool loiter_direction_counter_clockwise, const Vector2f &ground_vel, const Vector2f &wind_vel) @@ -2914,19 +3165,23 @@ void FixedwingPositionControl::navigateLoiter(const Vector2f &loiter_center, con _closest_point_on_path = unit_vec_center_to_closest_pt * radius + loiter_center; _npfg.guideToPath(vehicle_pos, ground_vel, wind_vel, unit_path_tangent, loiter_center + unit_vec_center_to_closest_pt * radius, path_curvature); -} // navigateLoiter - +} void FixedwingPositionControl::navigatePathTangent(const matrix::Vector2f &vehicle_pos, const matrix::Vector2f &position_setpoint, const matrix::Vector2f &tangent_setpoint, const matrix::Vector2f &ground_vel, const matrix::Vector2f &wind_vel, const float &curvature) { + if (tangent_setpoint.norm() <= FLT_EPSILON) { + // degenerate case: no direction. maintain the last npfg command. + return; + } + const Vector2f unit_path_tangent{tangent_setpoint.normalized()}; _target_bearing = atan2f(unit_path_tangent(1), unit_path_tangent(0)); _closest_point_on_path = position_setpoint; _npfg.guideToPath(vehicle_pos, ground_vel, wind_vel, tangent_setpoint.normalized(), position_setpoint, curvature); -} // navigatePathTangent +} void FixedwingPositionControl::navigateBearing(const matrix::Vector2f &vehicle_pos, float bearing, const Vector2f &ground_vel, const Vector2f &wind_vel) @@ -2936,7 +3191,7 @@ void FixedwingPositionControl::navigateBearing(const matrix::Vector2f &vehicle_p _target_bearing = atan2f(unit_path_tangent(1), unit_path_tangent(0)); _closest_point_on_path = vehicle_pos; _npfg.guideToPath(vehicle_pos, ground_vel, wind_vel, unit_path_tangent, vehicle_pos, 0.0f); -} // navigateBearing +} int FixedwingPositionControl::task_spawn(int argc, char *argv[]) { @@ -2994,6 +3249,20 @@ fw_pos_control is the fixed-wing position controller. return 0; } +float FixedwingPositionControl::getLoadFactor() +{ + float load_factor_from_bank_angle = 1.0f; + + float roll_body = Eulerf(Quatf(_att_sp.q_d)).phi(); + + if (PX4_ISFINITE(roll_body)) { + load_factor_from_bank_angle = 1.0f / math::max(cosf(roll_body), FLT_EPSILON); + } + + return load_factor_from_bank_angle; + +} + extern "C" __EXPORT int fw_pos_control_main(int argc, char *argv[]) { diff --git a/src/modules/fw_pos_control/FixedwingPositionControl.hpp b/src/modules/fw_pos_control/FixedwingPositionControl.hpp index fe4e6aa58061..84300ae1b409 100644 --- a/src/modules/fw_pos_control/FixedwingPositionControl.hpp +++ b/src/modules/fw_pos_control/FixedwingPositionControl.hpp @@ -49,11 +49,13 @@ #include "launchdetection/LaunchDetector.h" #include "runway_takeoff/RunwayTakeoff.h" +#include #include #include #include +#include #include #include #include @@ -70,6 +72,7 @@ #include #include #include +#include #include #include #include @@ -96,6 +99,12 @@ #include #include +#ifdef CONFIG_FIGURE_OF_EIGHT +#include "figure_eight/FigureEight.hpp" +#include + +#endif // CONFIG_FIGURE_OF_EIGHT + using namespace launchdetection; using namespace runwaytakeoff; using namespace time_literals; @@ -141,15 +150,6 @@ static constexpr float MIN_AUTO_TIMESTEP = 0.01f; // [s] maximum time step between auto control updates static constexpr float MAX_AUTO_TIMESTEP = 0.05f; -// [.] minimum ratio between the actual vehicle weight and the vehicle nominal weight (weight at which the performance limits are derived) -static constexpr float MIN_WEIGHT_RATIO = 0.5f; - -// [.] maximum ratio between the actual vehicle weight and the vehicle nominal weight (weight at which the performance limits are derived) -static constexpr float MAX_WEIGHT_RATIO = 2.0f; - -// air density of standard athmosphere at 5000m above mean sea level [kg/m^3] -static constexpr float AIR_DENSITY_STANDARD_ATMOS_5000_AMSL = 0.7363f; - // [rad] minimum pitch while airspeed has not yet reached a controllable value in manual position controlled takeoff modes static constexpr float MIN_PITCH_DURING_MANUAL_TAKEOFF = 0.0f; @@ -166,6 +166,16 @@ static constexpr float MANUAL_TOUCHDOWN_NUDGE_INPUT_DEADZONE = 0.15f; // [s] time interval after touchdown for ramping in runway clamping constraints (touchdown is assumed at FW_LND_TD_TIME after start of flare) static constexpr float POST_TOUCHDOWN_CLAMP_TIME = 0.5f; +// [m/s] maximum reference altitude rate threshhold +static constexpr float MAX_ALT_REF_RATE_FOR_LEVEL_FLIGHT = 0.1f; + +// [s] Timeout that has to pass in roll-constraining failsafe before warning is triggered +static constexpr uint64_t ROLL_WARNING_TIMEOUT = 2_s; + +// [-] Can-run threshold needed to trigger the roll-constraining failsafe warning +static constexpr float ROLL_WARNING_CAN_RUN_THRESHOLD = 0.9f; + + class FixedwingPositionControl final : public ModuleBase, public ModuleParams, public px4::WorkItem { @@ -213,9 +223,10 @@ class FixedwingPositionControl final : public ModuleBase _tecs_status_pub{ORB_ID(tecs_status)}; uORB::Publication _launch_detection_status_pub{ORB_ID(launch_detection_status)}; uORB::PublicationMulti _orbit_status_pub{ORB_ID(orbit_status)}; - uORB::Publication _landing_gear_pub{ORB_ID(landing_gear)}; + uORB::Publication _landing_gear_pub {ORB_ID(landing_gear)}; uORB::Publication _flaps_setpoint_pub{ORB_ID(flaps_setpoint)}; uORB::Publication _spoilers_setpoint_pub{ORB_ID(spoilers_setpoint)}; + uORB::PublicationData _flight_phase_estimation_pub{ORB_ID(flight_phase_estimation)}; manual_control_setpoint_s _manual_control_setpoint{}; position_setpoint_triplet_s _pos_sp_triplet{}; @@ -224,6 +235,8 @@ class FixedwingPositionControl final : public ModuleBase _figure_eight_status_pub {ORB_ID(figure_eight_status)}; + /** + * Vehicle control for the autonomous figure 8 mode. + * + * @param control_interval Time since last position control call [s] + * @param curr_pos the current 2D absolute position of the vehicle in [deg]. + * @param ground_speed the 2D ground speed of the vehicle in [m/s]. + * @param pos_sp_prev the previous position setpoint. + * @param pos_sp_curr the current position setpoint. + */ + void controlAutoFigureEight(const float control_interval, const Vector2d &curr_pos, const Vector2f &ground_speed, + const position_setpoint_s &pos_sp_prev, const position_setpoint_s &pos_sp_curr); + + void publishFigureEightStatus(const position_setpoint_s pos_sp); +#endif // CONFIG_FIGURE_OF_EIGHT + // Update our local parameter cache. - int parameters_update(); + void parameters_update(); // Update subscriptions void airspeed_poll(); @@ -447,6 +471,14 @@ class FixedwingPositionControl final : public ModuleBase _airspeed_slew_rate_controller; + SlewRate _roll_slew_rate; /** * @brief A wrapper function to call the TECS implementation @@ -732,15 +779,6 @@ class FixedwingPositionControl final : public ModuleBase) _param_fw_airspd_max, - (ParamFloat) _param_fw_airspd_min, - (ParamFloat) _param_fw_airspd_trim, - (ParamFloat) _param_fw_airspd_stall, - (ParamFloat) _param_fw_gnd_spd_min, (ParamFloat) _param_fw_pn_r_slew_max, @@ -885,18 +959,17 @@ class FixedwingPositionControl final : public ModuleBase) _param_fw_p_lim_max, (ParamFloat) _param_fw_p_lim_min, - (ParamFloat) _param_fw_t_clmb_max, (ParamFloat) _param_fw_t_hrate_ff, (ParamFloat) _param_fw_t_h_error_tc, - (ParamFloat) _param_fw_t_I_gain_thr, + (ParamFloat) _param_fw_t_fast_alt_err, + (ParamFloat) _param_fw_t_thr_integ, (ParamFloat) _param_fw_t_I_gain_pit, (ParamFloat) _param_fw_t_ptch_damp, (ParamFloat) _param_fw_t_rll2thr, (ParamFloat) _param_fw_t_sink_max, - (ParamFloat) _param_fw_t_sink_min, (ParamFloat) _param_fw_t_spdweight, (ParamFloat) _param_fw_t_tas_error_tc, - (ParamFloat) _param_fw_t_thr_damp, + (ParamFloat) _param_fw_t_thr_damping, (ParamFloat) _param_fw_t_vert_acc, (ParamFloat) _param_ste_rate_time_const, (ParamFloat) _param_seb_rate_ff, @@ -906,10 +979,6 @@ class FixedwingPositionControl final : public ModuleBase) _param_speed_rate_standard_dev, (ParamFloat) _param_process_noise_standard_dev, - (ParamFloat) _param_fw_thr_aspd_min, - (ParamFloat) _param_fw_thr_aspd_max, - - (ParamFloat) _param_fw_thr_trim, (ParamFloat) _param_fw_thr_idle, (ParamFloat) _param_fw_thr_max, (ParamFloat) _param_fw_thr_min, @@ -918,7 +987,6 @@ class FixedwingPositionControl final : public ModuleBase) _param_fw_flaps_lnd_scl, (ParamFloat) _param_fw_flaps_to_scl, (ParamFloat) _param_fw_spoilers_lnd, - (ParamFloat) _param_fw_spoilers_desc, (ParamInt) _param_fw_pos_stk_conf, @@ -926,7 +994,7 @@ class FixedwingPositionControl final : public ModuleBase) _param_nav_gpsf_r, // external parameters - (ParamInt) _param_fw_arsp_mode, + (ParamBool) _param_fw_use_airspd, (ParamFloat) _param_fw_psp_off, @@ -936,9 +1004,6 @@ class FixedwingPositionControl final : public ModuleBase) _param_nav_fw_alt_rad, - (ParamFloat) _param_weight_base, - (ParamFloat) _param_weight_gross, - (ParamFloat) _param_fw_wing_span, (ParamFloat) _param_fw_wing_height, diff --git a/src/modules/fw_pos_control/Kconfig b/src/modules/fw_pos_control/Kconfig index be700fb19107..d0bffb8dd861 100644 --- a/src/modules/fw_pos_control/Kconfig +++ b/src/modules/fw_pos_control/Kconfig @@ -10,3 +10,11 @@ menuconfig USER_FW_POS_CONTROL depends on BOARD_PROTECTED && MODULES_FW_POS_CONTROL ---help--- Put fw_pos_control in userspace memory + +menuconfig FIGURE_OF_EIGHT + bool "fw_pos_control figure of eight loiter support" + default n + depends on MODULES_FW_POS_CONTROL + ---help--- + Enable support for the figure of eight loitering pattern in fixed wing. + NOTE: Enable Mavlink development support to get feedback message. diff --git a/src/modules/fw_pos_control/figure_eight/CMakeLists.txt b/src/modules/fw_pos_control/figure_eight/CMakeLists.txt new file mode 100644 index 000000000000..df249c66c9dc --- /dev/null +++ b/src/modules/fw_pos_control/figure_eight/CMakeLists.txt @@ -0,0 +1,36 @@ +############################################################################ +# +# Copyright (c) 2022 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +px4_add_library(figure_eight + FigureEight.cpp +) diff --git a/src/modules/fw_pos_control/figure_eight/FigureEight.cpp b/src/modules/fw_pos_control/figure_eight/FigureEight.cpp new file mode 100644 index 000000000000..d0ce50a033ef --- /dev/null +++ b/src/modules/fw_pos_control/figure_eight/FigureEight.cpp @@ -0,0 +1,428 @@ +/**************************************************************************** + * + * Copyright (c) 2022 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ +/** + * @file FigureEight.cpp + * Helper class for fixed wing position controller when flying a figure 8 loiter pattern. + */ + +#include "FigureEight.hpp" + +#include "lib/geo/geo.h" +#include + +using namespace matrix; + +static constexpr float NORMALIZED_MAJOR_RADIUS{1.0f}; +static constexpr bool NORTH_CIRCLE_IS_COUNTER_CLOCKWISE{false}; +static constexpr bool SOUTH_CIRCLE_IS_COUNTER_CLOCKWISE{true}; +static constexpr float DEFAULT_MAJOR_TO_MINOR_AXIS_RATIO{2.5f}; +static constexpr float MINIMAL_FEASIBLE_MAJOR_TO_MINOR_AXIS_RATIO{2.0f}; + +FigureEight::FigureEight(NPFG &npfg, matrix::Vector2f &wind_vel, float &eas2tas) : + ModuleParams(nullptr), + _npfg(npfg), + _wind_vel(wind_vel), + _eas2tas(eas2tas) +{ + +} + +void FigureEight::resetPattern() +{ + // Set the current segment invalid + _current_segment = FigureEightSegment::SEGMENT_UNDEFINED; + _pos_passed_circle_center_along_major_axis = false; +} + +void FigureEight::updateSetpoint(const matrix::Vector2f &curr_pos_local, const matrix::Vector2f &ground_speed, + const FigureEightPatternParameters ¶meters, float target_airspeed) +{ + // Sanitize inputs + FigureEightPatternParameters valid_parameters{sanitizeParameters(parameters)}; + + // Calculate the figure eight pattern points. + FigureEightPatternPoints pattern_points; + calculateFigureEightPoints(pattern_points, valid_parameters); + + // Do the figure of eight initialization if needed. + initializePattern(curr_pos_local, ground_speed, valid_parameters, pattern_points); + + // Check if we need to switch to next segment + updateSegment(curr_pos_local, valid_parameters, pattern_points); + + // Apply control logic based on segment + applyControl(curr_pos_local, ground_speed, valid_parameters, target_airspeed, pattern_points); +} + +FigureEight::FigureEightPatternParameters FigureEight::sanitizeParameters(const FigureEightPatternParameters + ¶meters) +{ + FigureEightPatternParameters valid_parameters{parameters}; + + if (!PX4_ISFINITE(parameters.loiter_minor_radius)) { + valid_parameters.loiter_minor_radius = fabsf(_param_nav_loiter_rad.get()); + } + + if (!PX4_ISFINITE(parameters.loiter_radius)) { + valid_parameters.loiter_radius = DEFAULT_MAJOR_TO_MINOR_AXIS_RATIO * valid_parameters.loiter_minor_radius; + valid_parameters.loiter_direction_counter_clockwise = _param_nav_loiter_rad.get() < 0; + } + + valid_parameters.loiter_radius = math::max(valid_parameters.loiter_radius, + MINIMAL_FEASIBLE_MAJOR_TO_MINOR_AXIS_RATIO * valid_parameters.loiter_minor_radius); + + return valid_parameters; +} + +void FigureEight::initializePattern(const matrix::Vector2f &curr_pos_local, const matrix::Vector2f &ground_speed, + const FigureEightPatternParameters ¶meters, FigureEightPatternPoints pattern_points) +{ + // Initialize the currently active segment, if it hasn't been active yet, or the pattern has been changed. + if ((_current_segment == FigureEightSegment::SEGMENT_UNDEFINED) || (_active_parameters != parameters)) { + Vector2f center_to_pos_local; + calculatePositionToCenterNormalizedRotated(center_to_pos_local, curr_pos_local, parameters); + Vector2f ground_speed_rotated = Dcm2f(-calculateRotationAngle(parameters)) * ground_speed; + + Vector2f north_center_to_pos_local{center_to_pos_local - pattern_points.normalized_north_circle_offset}; + Vector2f south_center_to_pos_local{center_to_pos_local - pattern_points.normalized_south_circle_offset}; + const bool north_is_closer = north_center_to_pos_local.norm() < south_center_to_pos_local.norm(); + + // Get the normalized switch distance. + float switch_distance_normalized = _npfg.switchDistance(FLT_MAX) * NORMALIZED_MAJOR_RADIUS / parameters.loiter_radius; + + //Far away from current figure of eight. Fly towards closer circle + + if (center_to_pos_local.norm() > NORMALIZED_MAJOR_RADIUS + switch_distance_normalized) { + if (north_is_closer) { + _current_segment = FigureEightSegment::SEGMENT_CIRCLE_NORTH; + + } else { + _current_segment = FigureEightSegment::SEGMENT_CIRCLE_SOUTH; + } + + _pos_passed_circle_center_along_major_axis = true; + + } else { + if (north_is_closer) { + const bool is_circling_counter_clockwise{north_center_to_pos_local.cross(ground_speed_rotated) < 0.f}; + + if ((ground_speed_rotated(0) > 0.f) && (is_circling_counter_clockwise == NORTH_CIRCLE_IS_COUNTER_CLOCKWISE)) { + // Flying north and right rotation + _current_segment = FigureEightSegment::SEGMENT_CIRCLE_NORTH; + _pos_passed_circle_center_along_major_axis = true; + + } else { + // Flying to the entry of the south circle + _current_segment = FigureEightSegment::SEGMENT_POINT_SOUTHWEST; + _pos_passed_circle_center_along_major_axis = false; + } + + } else { + const bool is_circling_counter_clockwise{south_center_to_pos_local.cross(ground_speed_rotated) < 0.f}; + + if ((ground_speed_rotated(0) < 0.f) && (is_circling_counter_clockwise == SOUTH_CIRCLE_IS_COUNTER_CLOCKWISE)) { + // Flying south and right rotation + _current_segment = FigureEightSegment::SEGMENT_CIRCLE_SOUTH; + _pos_passed_circle_center_along_major_axis = true; + + } else { + // Flying to the entry of the north circle + _current_segment = FigureEightSegment::SEGMENT_POINT_NORTHWEST; + _pos_passed_circle_center_along_major_axis = false; + } + } + } + + _active_parameters = parameters; + } +} + +void FigureEight::calculateFigureEightPoints(FigureEightPatternPoints &pattern_points, + const FigureEightPatternParameters ¶meters) +{ + const float normalized_minor_radius = (parameters.loiter_minor_radius / parameters.loiter_radius) * + NORMALIZED_MAJOR_RADIUS; + const float cos_transition_angle = parameters.loiter_minor_radius / (parameters.loiter_radius - + parameters.loiter_minor_radius); + const float sin_transition_angle = sqrtf(1.0f - cos_transition_angle * cos_transition_angle); + pattern_points.normalized_north_circle_offset = Vector2f{NORMALIZED_MAJOR_RADIUS - normalized_minor_radius, 0.0f}; + pattern_points.normalized_north_entry_offset = Vector2f{NORMALIZED_MAJOR_RADIUS - ((normalized_minor_radius) * (1.0f + cos_transition_angle)), + -normalized_minor_radius * sin_transition_angle}; + pattern_points.normalized_north_exit_offset = Vector2f{NORMALIZED_MAJOR_RADIUS - ((normalized_minor_radius) * (1.0f + cos_transition_angle)), + normalized_minor_radius * sin_transition_angle}; + pattern_points.normalized_south_circle_offset = Vector2f{-NORMALIZED_MAJOR_RADIUS + normalized_minor_radius, 0.0f}; + pattern_points.normalized_south_entry_offset = Vector2f{-NORMALIZED_MAJOR_RADIUS + ((normalized_minor_radius) * (1.0f + cos_transition_angle)), + -normalized_minor_radius * sin_transition_angle}; + pattern_points.normalized_south_exit_offset = Vector2f{-NORMALIZED_MAJOR_RADIUS + ((normalized_minor_radius) * (1.0f + cos_transition_angle)), + normalized_minor_radius * sin_transition_angle}; +} + +void FigureEight::updateSegment(const matrix::Vector2f &curr_pos_local, const FigureEightPatternParameters ¶meters, + const FigureEightPatternPoints &pattern_points) +{ + Vector2f center_to_pos_local; + calculatePositionToCenterNormalizedRotated(center_to_pos_local, curr_pos_local, parameters); + + // Get the normalized switch distance. + float switch_distance_normalized = _npfg.switchDistance(FLT_MAX) * NORMALIZED_MAJOR_RADIUS / parameters.loiter_radius; + + // Update segment if segment exit condition has been reached + switch (_current_segment) { + case FigureEightSegment::SEGMENT_CIRCLE_NORTH: { + if (center_to_pos_local(0) > pattern_points.normalized_north_circle_offset(0)) { + _pos_passed_circle_center_along_major_axis = true; + } + + Vector2f vector_to_exit_normalized = pattern_points.normalized_north_exit_offset - center_to_pos_local; + + /* Exit condition: Switch distance away from north-east point of north circle and at least once was above the circle center. Failsafe action, if poor tracking, + - switch to next if the vehicle is on the east side and below the north exit point. */ + if (_pos_passed_circle_center_along_major_axis && + ((vector_to_exit_normalized.norm() < switch_distance_normalized) || + ((center_to_pos_local(0) < pattern_points.normalized_north_exit_offset(0)) && + (center_to_pos_local(1) > FLT_EPSILON) && + (center_to_pos_local.norm() < NORMALIZED_MAJOR_RADIUS)))) { + _current_segment = FigureEightSegment::SEGMENT_NORTHEAST_SOUTHWEST; + } + } + break; + + case FigureEightSegment::SEGMENT_POINT_SOUTHWEST: // fall through + case FigureEightSegment::SEGMENT_NORTHEAST_SOUTHWEST: { + _pos_passed_circle_center_along_major_axis = false; + Vector2f vector_to_exit_normalized = pattern_points.normalized_south_entry_offset - center_to_pos_local; + + /* Exit condition: Switch distance away from south-west point of south circle. Failsafe action, if poor tracking, + switch to next if the vehicle is on the west side and below entry point of the south circle or has left the radius. */ + if ((vector_to_exit_normalized.norm() < switch_distance_normalized) || + ((center_to_pos_local(0) < pattern_points.normalized_south_entry_offset(0)) && (center_to_pos_local(1) < FLT_EPSILON)) + || + (center_to_pos_local(0) < -NORMALIZED_MAJOR_RADIUS)) { + _current_segment = FigureEightSegment::SEGMENT_CIRCLE_SOUTH; + } + } + break; + + case FigureEightSegment::SEGMENT_CIRCLE_SOUTH: { + if (center_to_pos_local(0) < pattern_points.normalized_south_circle_offset(0)) { + _pos_passed_circle_center_along_major_axis = true; + } + + Vector2f vector_to_exit_normalized = pattern_points.normalized_south_exit_offset - center_to_pos_local; + + /* Exit condition: Switch distance away from south-east point of south circle and at least once was below the circle center. Failsafe action, if poor tracking, + - switch to next if the vehicle is on the east side and above the south exit point. */ + if (_pos_passed_circle_center_along_major_axis && + ((vector_to_exit_normalized.norm() < switch_distance_normalized) || + ((center_to_pos_local(0) > pattern_points.normalized_south_exit_offset(0)) && + (center_to_pos_local(1) > FLT_EPSILON) && + (center_to_pos_local.norm() < NORMALIZED_MAJOR_RADIUS)))) { + _current_segment = FigureEightSegment::SEGMENT_SOUTHEAST_NORTHWEST; + } + + } + break; + + case FigureEightSegment::SEGMENT_POINT_NORTHWEST: // Fall through + case FigureEightSegment::SEGMENT_SOUTHEAST_NORTHWEST: { + _pos_passed_circle_center_along_major_axis = false; + Vector2f vector_to_exit_normalized = pattern_points.normalized_north_entry_offset - center_to_pos_local; + + /* Exit condition: Switch distance away from north-west point of north circle. Failsafe action, if poor tracking, + switch to next if the vehicle is on the west side and above entry point of the north circle or has left the radius. */ + if ((vector_to_exit_normalized.norm() < switch_distance_normalized) || + ((center_to_pos_local(0) > pattern_points.normalized_north_entry_offset(0)) && (center_to_pos_local(1) < FLT_EPSILON)) + || + (center_to_pos_local(0) > NORMALIZED_MAJOR_RADIUS)) { + _current_segment = FigureEightSegment::SEGMENT_CIRCLE_NORTH; + } + } + break; + + case FigureEightSegment::SEGMENT_UNDEFINED: + default: + break; + } +} + +void FigureEight::applyControl(const matrix::Vector2f &curr_pos_local, const matrix::Vector2f &ground_speed, + const FigureEightPatternParameters ¶meters, float target_airspeed, + const FigureEightPatternPoints &pattern_points) +{ + Vector2f center_to_pos_local; + calculatePositionToCenterNormalizedRotated(center_to_pos_local, curr_pos_local, parameters); + + switch (_current_segment) { + case FigureEightSegment::SEGMENT_CIRCLE_NORTH: { + applyCircle(NORTH_CIRCLE_IS_COUNTER_CLOCKWISE, pattern_points.normalized_north_circle_offset, curr_pos_local, + ground_speed, parameters, target_airspeed); + } + break; + + case FigureEightSegment::SEGMENT_NORTHEAST_SOUTHWEST: { + // Follow path from north-east to south-west + applyLine(pattern_points.normalized_north_exit_offset, pattern_points.normalized_south_entry_offset, curr_pos_local, + ground_speed, parameters, target_airspeed); + } + break; + + case FigureEightSegment::SEGMENT_CIRCLE_SOUTH: { + applyCircle(SOUTH_CIRCLE_IS_COUNTER_CLOCKWISE, pattern_points.normalized_south_circle_offset, curr_pos_local, + ground_speed, parameters, target_airspeed); + } + break; + + case FigureEightSegment::SEGMENT_SOUTHEAST_NORTHWEST: { + // follow path from south-east to north-west + applyLine(pattern_points.normalized_south_exit_offset, pattern_points.normalized_north_entry_offset, curr_pos_local, + ground_speed, parameters, target_airspeed); + } + break; + + case FigureEightSegment::SEGMENT_POINT_SOUTHWEST: { + // Follow path from current position to south-west + applyLine(center_to_pos_local, pattern_points.normalized_south_entry_offset, curr_pos_local, + ground_speed, parameters, target_airspeed); + } + break; + + case FigureEightSegment::SEGMENT_POINT_NORTHWEST: { + // Follow path from current position to north-west + applyLine(center_to_pos_local, pattern_points.normalized_north_entry_offset, curr_pos_local, + ground_speed, parameters, target_airspeed); + } + break; + + case FigureEightSegment::SEGMENT_UNDEFINED: + default: + break; + } +} + +void FigureEight::calculatePositionToCenterNormalizedRotated(matrix::Vector2f ¢er_to_pos_local_normalized_rotated, + const matrix::Vector2f &curr_pos_local, const FigureEightPatternParameters ¶meters) const +{ + Vector2f center_to_pos_local = curr_pos_local - parameters.center_pos_local; + + // normalize position with respect to radius + Vector2f center_to_pos_local_normalized; + center_to_pos_local_normalized(0) = center_to_pos_local(0) * NORMALIZED_MAJOR_RADIUS / parameters.loiter_radius; + center_to_pos_local_normalized(1) = center_to_pos_local(1) * NORMALIZED_MAJOR_RADIUS / parameters.loiter_radius; + + // rotate position with respect to figure eight orientation and direction. + center_to_pos_local_normalized_rotated = Dcm2f(-calculateRotationAngle(parameters)) * center_to_pos_local_normalized; +} + +float FigureEight::calculateRotationAngle(const FigureEightPatternParameters ¶meters) const +{ + // rotate position with respect to figure eight orientation and direction. + float yaw_rotation = parameters.loiter_orientation; + + // figure eight pattern is symmetric, changing the direction is the same as a rotation by 180° around center + if (parameters.loiter_direction_counter_clockwise) { + yaw_rotation += M_PI_F; + } + + return yaw_rotation; +} + +void FigureEight::applyCircle(bool loiter_direction_counter_clockwise, const matrix::Vector2f &normalized_circle_offset, + const matrix::Vector2f &curr_pos_local, const matrix::Vector2f &ground_speed, + const FigureEightPatternParameters ¶meters, float target_airspeed) +{ + const float loiter_direction_multiplier = loiter_direction_counter_clockwise ? -1.f : 1.f; + + Vector2f circle_offset = normalized_circle_offset * (parameters.loiter_radius / NORMALIZED_MAJOR_RADIUS); + Vector2f circle_offset_rotated = Dcm2f(calculateRotationAngle(parameters)) * circle_offset; + Vector2f circle_center = parameters.center_pos_local + circle_offset_rotated; + + _npfg.setAirspeedNom(target_airspeed * _eas2tas); + _npfg.setAirspeedMax(_param_fw_airspd_max.get() * _eas2tas); + + const Vector2f vector_center_to_vehicle = curr_pos_local - circle_center; + const float dist_to_center = vector_center_to_vehicle.norm(); + + Vector2f unit_vec_center_to_closest_pt = vector_center_to_vehicle.normalized(); + + if (dist_to_center < 0.1f) { + // the logic breaks down at the circle center, employ some mitigation strategies + // until we exit this region + if (ground_speed.norm() < 0.1f) { + // arbitrarily set the point in the northern top of the circle + unit_vec_center_to_closest_pt = Vector2f{1.0f, 0.0f}; + + } else { + // set the point in the direction we are moving + unit_vec_center_to_closest_pt = ground_speed.normalized(); + } + } + + const Vector2f unit_path_tangent = loiter_direction_multiplier * Vector2f{-unit_vec_center_to_closest_pt(1), unit_vec_center_to_closest_pt(0)}; + + float path_curvature = loiter_direction_multiplier / parameters.loiter_minor_radius; + _target_bearing = atan2f(unit_path_tangent(1), unit_path_tangent(0)); + _closest_point_on_path = unit_vec_center_to_closest_pt * parameters.loiter_minor_radius + circle_center; + _npfg.guideToPath(curr_pos_local, ground_speed, _wind_vel, unit_path_tangent, + _closest_point_on_path, path_curvature); + + _roll_setpoint = _npfg.getRollSetpoint(); + _indicated_airspeed_setpoint = _npfg.getAirspeedRef() / _eas2tas; +} + +void FigureEight::applyLine(const matrix::Vector2f &normalized_line_start_offset, + const matrix::Vector2f &normalized_line_end_offset, const matrix::Vector2f &curr_pos_local, + const matrix::Vector2f &ground_speed, const FigureEightPatternParameters ¶meters, float target_airspeed) +{ + const Dcm2f rotation_matrix(calculateRotationAngle(parameters)); + + // Calculate start offset depending on radius + const Vector2f start_offset = normalized_line_start_offset * (parameters.loiter_radius / NORMALIZED_MAJOR_RADIUS); + const Vector2f start_offset_rotated = rotation_matrix * start_offset; + const Vector2f line_segment_start_position = parameters.center_pos_local + start_offset_rotated; + + const Vector2f end_offset = normalized_line_end_offset * (parameters.loiter_radius / NORMALIZED_MAJOR_RADIUS); + const Vector2f end_offset_rotated = rotation_matrix * end_offset; + const Vector2f line_segment_end_position = parameters.center_pos_local + end_offset_rotated; + + _npfg.setAirspeedNom(target_airspeed * _eas2tas); + _npfg.setAirspeedMax(_param_fw_airspd_max.get() * _eas2tas); + const Vector2f path_tangent = line_segment_end_position - line_segment_start_position; + const Vector2f unit_path_tangent = path_tangent.normalized(); + _target_bearing = atan2f(unit_path_tangent(1), unit_path_tangent(0)); + const Vector2f vector_A_to_vehicle = curr_pos_local - line_segment_start_position; + _closest_point_on_path = line_segment_start_position + vector_A_to_vehicle.dot(unit_path_tangent) * unit_path_tangent; + _npfg.guideToPath(curr_pos_local, ground_speed, _wind_vel, path_tangent.normalized(), line_segment_start_position, + 0.0f); + _roll_setpoint = _npfg.getRollSetpoint(); + _indicated_airspeed_setpoint = _npfg.getAirspeedRef() / _eas2tas; +} diff --git a/src/modules/fw_pos_control/figure_eight/FigureEight.hpp b/src/modules/fw_pos_control/figure_eight/FigureEight.hpp new file mode 100644 index 000000000000..b3c55c840b47 --- /dev/null +++ b/src/modules/fw_pos_control/figure_eight/FigureEight.hpp @@ -0,0 +1,305 @@ +/**************************************************************************** + * + * Copyright (c) 2022 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ +/** + * @file FigureEight.hpp + * Helper class for lateral fixed wing position controller when flying a figure 8 loiter pattern. + * + */ + +#ifndef FIGUREEIGHT_HPP_ +#define FIGUREEIGHT_HPP_ + +#include + +#include +#include +#include + +#include "lib/npfg/npfg.hpp" + +class FigureEight : public ModuleParams +{ +public: + /** + * @brief Figure eight pattern points strust + * + * Struct defining all relevant points for the figure eight pattern. + * + */ + struct FigureEightPatternPoints { + matrix::Vector2f normalized_north_circle_offset; + matrix::Vector2f normalized_north_entry_offset; + matrix::Vector2f normalized_north_exit_offset; + matrix::Vector2f normalized_south_circle_offset; + matrix::Vector2f normalized_south_entry_offset; + matrix::Vector2f normalized_south_exit_offset; + }; + struct FigureEightPatternParameters { + matrix::Vector2f center_pos_local; + float loiter_radius; + float loiter_minor_radius; + float loiter_orientation; + bool loiter_direction_counter_clockwise; + + bool operator!=(const FigureEightPatternParameters &other) const + { + return ((fabsf(center_pos_local(0) - other.center_pos_local(0)) > FLT_EPSILON) || + (fabsf(center_pos_local(1) - other.center_pos_local(1)) > FLT_EPSILON) || + (fabsf(loiter_radius - other.loiter_radius) > FLT_EPSILON) || + (fabsf(loiter_minor_radius - other.loiter_minor_radius) > FLT_EPSILON) || + (fabsf(loiter_orientation - other.loiter_orientation) > FLT_EPSILON) || + (loiter_direction_counter_clockwise != other.loiter_direction_counter_clockwise)); + }; + }; + + /** + * @brief Construct a new Figure Eight object + * + * @param[in] npfg is the reference to the parent npfg object. + * @param[in] wind_vel is the reference to the parent wind velocity [m/s]. + * @param[in] eas2tas is the reference to the parent indicated airspeed to true airspeed conversion. + */ + FigureEight(NPFG &npfg, matrix::Vector2f &wind_vel, float &eas2tas); + + /** + * @brief reset the figure eight pattern. + * + * Reset the figure eight pattern such that it can be properly initialized on a new figure eight pattern. + * + */ + void resetPattern(); + + /** + * @brief Update roll and airspeed setpoint. + * + * @param[in] curr_pos_local is the current local position of the vehicle in [m]. + * @param[in] ground_speed is the current ground speed of the vehicle in [m/s]. + * @param[in] parameters is the parameter set defining the figure eight shape. + * @param[in] target_airspeed is the current targeted indicated airspeed [m/s]. + */ + void updateSetpoint(const matrix::Vector2f &curr_pos_local, const matrix::Vector2f &ground_speed, + const FigureEightPatternParameters ¶meters, float target_airspeed); + /** + * @brief Get the roll setpoint + * + * @return the roll setpoint in [rad]. + */ + float getRollSetpoint() const {return _roll_setpoint;}; + /** + * @brief Get the indicated airspeed setpoint + * + * @return the indicated airspeed setpoint in [m/s]. + */ + float getAirspeedSetpoint() const {return _indicated_airspeed_setpoint;}; + /** + * @brief Get the target bearing of current point on figure of eight + * + * @return target bearing in [rad] + */ + float getTargetBearing() const {return _target_bearing;}; + /** + * @brief Get the closest point on the figure of eight + * + * @return Local coordinates of closes point on the figure of eight + */ + matrix::Vector2f getClosestPoint() const {return _closest_point_on_path;}; + + +private: + /** + * @brief + * + * @param[in] parameters are gotten the figure of eight parameters + * @return are the sanitized figure of eight parameters + */ + FigureEightPatternParameters sanitizeParameters(const FigureEightPatternParameters ¶meters); + + /** + * @brief Initialize the figure eight pattern. + * + * Initialize the figure eight pattern by determining the current active segment. + * + * @param[in] curr_pos_local is the current local position of the vehicle in [m]. + * @param[in] ground_speed is the current ground speed of the vehicle in [m/s]. + * @param[in] parameters is the parameter set defining the figure eight shape. + * @param[in] pattern_points are the figure of eight pattern points. + */ + void initializePattern(const matrix::Vector2f &curr_pos_local, const matrix::Vector2f &ground_speed, + const FigureEightPatternParameters ¶meters, FigureEightPatternPoints pattern_points); + + /** + * @brief Calculate figure eight pattern points + * + * @param[out] pattern_points is the output with the calculated points for the figure eight. + * @param[in] parameters is the parameter set defining the figure eight shape. + */ + void calculateFigureEightPoints(FigureEightPatternPoints &pattern_points, + const FigureEightPatternParameters ¶meters); + /** + * @brief Apply lateral control logic + * + * + * @param[in] curr_pos_local is the current local position of the vehicle in [m]. + * @param[in] ground_speed is the current ground speed of the vehicle in [m/s]. + * @param[in] parameters is the parameter set defining the figure eight shape. + * @param[in] target_airspeed is the current targeted indicated airspeed [m/s]. + * @param[in] pattern_points are the relevant points defining the figure eight pattern. + */ + void applyControl(const matrix::Vector2f &curr_pos_local, const matrix::Vector2f &ground_speed, + const FigureEightPatternParameters ¶meters, float target_airspeed, + const FigureEightPatternPoints &pattern_points); + /** + * @brief Update active segment. + * + * @param[in] curr_pos_local is the current local position of the vehicle in [m]. + * @param[in] parameters is the parameter set defining the figure eight shape. + * @param[in] pattern_points are the relevant points defining the figure eight pattern. + */ + void updateSegment(const matrix::Vector2f &curr_pos_local, const FigureEightPatternParameters ¶meters, + const FigureEightPatternPoints &pattern_points); + /** + * @brief calculate normalized and rotated relative vehicle position to pattern center. + * + * @param[out] center_to_pos_local_normalized_rotated is the calculated normalized and rotated relative vehicle position with respect to the pattern center. + * @param[in] curr_pos_local is the current local position of the vehicle in [m]. + * @param[in] parameters is the parameter set defining the figure eight shape. + */ + void calculatePositionToCenterNormalizedRotated(matrix::Vector2f ¢er_to_pos_local_normalized_rotated, + const matrix::Vector2f &curr_pos_local, const FigureEightPatternParameters ¶meters) const; + /** + * @brief Calculate rotation angle. + * + * @param[in] parameters is the parameter set defining the figure eight shape. + * + * @return is the rotation angle of the major axis compared to north in [rad]. + */ + float calculateRotationAngle(const FigureEightPatternParameters ¶meters) const; + /** + * @brief Apply circular lateral control + * + * @param[in] loiter_direction_counter_clockwise flag if the circle direction should be counter-clockwise. + * @param[in] normalized_circle_offset is the normalized position offset of the circle compared to the pattern center. + * @param[in] curr_pos_local is the current local position of the vehicle in [m]. + * @param[in] ground_speed is the current ground speed of the vehicle in [m/s]. + * @param[in] parameters is the parameter set defining the figure eight shape. + * @param[in] target_airspeed is the current targeted indicated airspeed [m/s]. + */ + void applyCircle(bool loiter_direction_counter_clockwise, const matrix::Vector2f &normalized_circle_offset, + const matrix::Vector2f &curr_pos_local, + const matrix::Vector2f &ground_speed, const FigureEightPatternParameters ¶meters, float target_airspeed); + /** + * @brief Apply path lateral control + * + * @param[in] normalized_line_start_offset is the normalized position offset of the start point of the path compared to the pattern center. + * @param[in] normalized_line_end_offset is the normalized position offset of the end point of the path compared to the pattern center. + * @param[in] curr_pos_local is the current local position of the vehicle in [m]. + * @param[in] ground_speed is the current ground speed of the vehicle in [m/s]. + * @param[in] parameters is the parameter set defining the figure eight shape. + * @param[in] target_airspeed is the current targeted indicated airspeed [m/s]. + */ + void applyLine(const matrix::Vector2f &normalized_line_start_offset, const matrix::Vector2f &normalized_line_end_offset, + const matrix::Vector2f &curr_pos_local, const matrix::Vector2f &ground_speed, + const FigureEightPatternParameters ¶meters, float target_airspeed); + +private: + /** + * @brief npfg lateral control object. + * + */ + NPFG &_npfg; + + /** + * @brief Wind velocity in [m/s]. + * + */ + const matrix::Vector2f &_wind_vel; + /** + * @brief Conversion factor from indicated to true airspeed. + * + */ + const float &_eas2tas; + /** + * @brief Roll setpoint in [rad]. + * + */ + float _roll_setpoint; + /** + * @brief Indicated airspeed setpoint in [m/s]. + * + */ + float _indicated_airspeed_setpoint; + /** + * @brief active figure eight position setpoint. + * + */ + FigureEightPatternParameters _active_parameters; + + /** + * @brief Target bearing in [rad]. + * + */ + float _target_bearing{0.0f}; + + /** + * @brief Closest point on figure of eight to track + * + */ + matrix::Vector2f _closest_point_on_path; + + enum class FigureEightSegment { + SEGMENT_UNDEFINED, + SEGMENT_CIRCLE_NORTH, + SEGMENT_NORTHEAST_SOUTHWEST, + SEGMENT_CIRCLE_SOUTH, + SEGMENT_SOUTHEAST_NORTHWEST, + SEGMENT_POINT_SOUTHWEST, + SEGMENT_POINT_NORTHWEST + }; + + /** + * @brief Current active segment of the figure eight pattern. + * + */ + FigureEightSegment _current_segment{FigureEightSegment::SEGMENT_UNDEFINED}; + /** + * @brief flag if vehicle position passed circle center along major axis when on circle segment. + * + */ + bool _pos_passed_circle_center_along_major_axis; + DEFINE_PARAMETERS( + (ParamFloat) _param_fw_airspd_max, + (ParamFloat) _param_nav_loiter_rad + ) +}; + +#endif // FIGUREEIGHT_HPP_ diff --git a/src/modules/fw_pos_control/fw_path_navigation_params.c b/src/modules/fw_pos_control/fw_path_navigation_params.c index feb955ba7c2b..ac2ab276af41 100644 --- a/src/modules/fw_pos_control/fw_path_navigation_params.c +++ b/src/modules/fw_pos_control/fw_path_navigation_params.c @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2013-2016 PX4 Development Team. All rights reserved. + * Copyright (c) 2013-2023 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -35,6 +35,7 @@ * Path navigation roll slew rate limit. * * The maximum change in roll angle setpoint per second. + * This limit is applied in all Auto modes, plus manual Position and Altitude modes. * * @unit deg/s * @min 0 @@ -177,19 +178,6 @@ PARAM_DEFINE_FLOAT(NPFG_SW_DST_MLT, 0.32f); */ PARAM_DEFINE_FLOAT(NPFG_PERIOD_SF, 1.5f); -/** - * Trim throttle - * - * This is the throttle setting required to achieve FW_AIRSPD_TRIM during level flight. - * - * @unit norm - * @min 0.0 - * @max 1.0 - * @decimal 2 - * @increment 0.01 - * @group FW TECS - */ -PARAM_DEFINE_FLOAT(FW_THR_TRIM, 0.6f); /** * Throttle max slew rate @@ -205,9 +193,9 @@ PARAM_DEFINE_FLOAT(FW_THR_TRIM, 0.6f); PARAM_DEFINE_FLOAT(FW_THR_SLEW_MAX, 0.0f); /** - * Minimum pitch angle + * Minimum pitch angle setpoint * - * The minimum pitch angle setpoint for a height-rate or altitude controlled mode. + * Applies in any altitude controlled flight mode. * * @unit deg * @min -60.0 @@ -219,9 +207,9 @@ PARAM_DEFINE_FLOAT(FW_THR_SLEW_MAX, 0.0f); PARAM_DEFINE_FLOAT(FW_P_LIM_MIN, -30.0f); /** - * Maximum pitch angle + * Maximum pitch angle setpoint * - * The maximum pitch angle setpoint setpoint for a height-rate or altitude controlled mode. + * Applies in any altitude controlled flight mode. * * @unit deg * @min 0.0 @@ -233,9 +221,9 @@ PARAM_DEFINE_FLOAT(FW_P_LIM_MIN, -30.0f); PARAM_DEFINE_FLOAT(FW_P_LIM_MAX, 30.0f); /** - * Maximum roll angle + * Maximum roll angle setpoint * - * The maximum roll angle setpoint for setpoint for a height-rate or altitude controlled mode. + * Applies in any altitude controlled flight mode. * * @unit deg * @min 35.0 @@ -249,9 +237,8 @@ PARAM_DEFINE_FLOAT(FW_R_LIM, 50.0f); /** * Throttle limit max * - * This is the maximum throttle % that can be used by the controller. - * For overpowered aircraft, this should be reduced to a value that - * provides sufficient thrust to climb at the maximum pitch angle PTCH_MAX. + * Applies in any altitude controlled flight mode. + * Should be set accordingly to achieve FW_T_CLMB_MAX. * * @unit norm * @min 0.0 @@ -265,14 +252,9 @@ PARAM_DEFINE_FLOAT(FW_THR_MAX, 1.0f); /** * Throttle limit min * - * This is the minimum throttle % that can be used by the controller. - * For electric aircraft this will normally be set to zero, but can be set - * to a small non-zero value if a folding prop is fitted to prevent the - * prop from folding and unfolding repeatedly in-flight or to provide - * some aerodynamic drag from a turning prop to improve the descent rate. - * - * For aircraft with internal combustion engine this parameter should be set - * for desired idle rpm. + * Applies in any altitude controlled flight mode. + * Usually set to 0 but can be increased to prevent the motor from stopping when + * descending, which can increase achievable descent rates. * * @unit norm * @min 0.0 @@ -286,13 +268,7 @@ PARAM_DEFINE_FLOAT(FW_THR_MIN, 0.0f); /** * Idle throttle * - * This is the minimum throttle while on the ground - * - * For aircraft with internal combustion engines, this parameter should be set - * above the desired idle rpm. For electric motors, idle should typically be set - * to zero. - * - * Note that in automatic modes, "landed" conditions will engage idle throttle. + * This is the minimum throttle while on the ground ("landed") in auto modes. * * @unit norm * @min 0.0 @@ -333,9 +309,9 @@ PARAM_DEFINE_FLOAT(FW_TKO_PITCH_MIN, 10.0f); /** * Takeoff Airspeed * - * The calibrated airspeed setpoint TECS will stabilize to during the takeoff climbout. + * The calibrated airspeed setpoint during the takeoff climbout. * - * If set <= 0.0, FW_AIRSPD_MIN will be set by default. + * If set <= 0, FW_AIRSPD_MIN will be set by default. * * @unit m/s * @min -1.0 @@ -359,7 +335,9 @@ PARAM_DEFINE_FLOAT(FW_TKO_AIRSPD, -1.0f); PARAM_DEFINE_FLOAT(FW_LND_FLALT, 0.5f); /** - * Use terrain estimation during landing. This is critical for detecting when to flare, and should be enabled if possible. + * Use terrain estimation during landing. + * + * This is critical for detecting when to flare, and should be enabled if possible. * * NOTE: terrain estimate is currently solely derived from a distance sensor. * @@ -380,12 +358,9 @@ PARAM_DEFINE_INT32(FW_LND_USETER, 1); /** * Early landing configuration deployment * - * When disabled, the landing configuration (flaps, landing airspeed, etc.) is only activated - * on the final approach to landing. When enabled, it is already activated when entering the - * final loiter-down (loiter-to-alt) waypoint before the landing approach. This shifts the (often large) - * altitude and airspeed errors caused by the configuration change away from the ground such that - * these are not so critical. It also gives the controller enough time to adapt to the new - * configuration such that the landing approach starts with a cleaner initial state. + * Allows to deploy the landing configuration (flaps, landing airspeed, etc.) already in + * the loiter-down waypoint before the final approach. + * Otherwise is enabled only in the final approach. * * @boolean * @@ -396,8 +371,7 @@ PARAM_DEFINE_INT32(FW_LND_EARLYCFG, 0); /** * Flare, minimum pitch * - * Minimum pitch during flare, a positive sign means nose up - * Applied once flaring is triggered + * Minimum pitch during landing flare. * * @unit deg * @min -5 @@ -411,8 +385,7 @@ PARAM_DEFINE_FLOAT(FW_LND_FL_PMIN, 2.5f); /** * Flare, maximum pitch * - * Maximum pitch during flare, a positive sign means nose up - * Applied once flaring is triggered + * Maximum pitch during landing flare. * * @unit deg * @min 0 @@ -428,7 +401,7 @@ PARAM_DEFINE_FLOAT(FW_LND_FL_PMAX, 15.0f); * * The calibrated airspeed setpoint during landing. * - * If set <= 0.0, landing airspeed = FW_AIRSPD_MIN by default. + * If set <= 0, landing airspeed = FW_AIRSPD_MIN by default. * * @unit m/s * @min -1.0 @@ -441,66 +414,27 @@ PARAM_DEFINE_FLOAT(FW_LND_AIRSPD, -1.f); /** * Altitude time constant factor for landing * - * Set this parameter to less than 1.0 to make TECS react faster to altitude errors during - * landing than during normal flight. During landing, the TECS - * altitude time constant (FW_T_ALT_TC) is multiplied by this value. + * During landing, the TECS altitude time constant (FW_T_ALT_TC) + * is multiplied by this value. * * @unit * @min 0.2 * @max 1.0 + * @decimal 1 * @increment 0.1 * @group FW Auto Landing */ PARAM_DEFINE_FLOAT(FW_LND_THRTC_SC, 1.0f); - - /* * TECS parameters * */ -/** - * Maximum climb rate - * - * This is the maximum climb rate that the aircraft can achieve with - * the throttle set to THR_MAX and the airspeed set to the - * trim value. For electric aircraft make sure this number can be - * achieved towards the end of flight when the battery voltage has reduced. - * - * @unit m/s - * @min 1.0 - * @max 15.0 - * @decimal 1 - * @increment 0.5 - * @group FW TECS - */ -PARAM_DEFINE_FLOAT(FW_T_CLMB_MAX, 5.0f); - -/** - * Minimum descent rate - * - * This is the sink rate of the aircraft with the throttle - * set to THR_MIN and flown at the same airspeed as used - * to measure FW_T_CLMB_MAX. - * - * @unit m/s - * @min 1.0 - * @max 5.0 - * @decimal 1 - * @increment 0.5 - * @group FW TECS - */ -PARAM_DEFINE_FLOAT(FW_T_SINK_MIN, 2.0f); - /** * Maximum descent rate * * This sets the maximum descent rate that the controller will use. - * If this value is too large, the aircraft can over-speed on descent. - * This should be set to a value that can be achieved without - * exceeding the lower pitch angle limit and without over-speeding - * the aircraft. * * @unit m/s * @min 1.0 @@ -515,41 +449,34 @@ PARAM_DEFINE_FLOAT(FW_T_SINK_MAX, 5.0f); * Throttle damping factor * * This is the damping gain for the throttle demand loop. - * Increase to add damping to correct for oscillations in speed and height. * * @min 0.0 - * @max 2.0 - * @decimal 2 - * @increment 0.1 + * @max 1.0 + * @decimal 3 + * @increment 0.01 * @group FW TECS */ -PARAM_DEFINE_FLOAT(FW_T_THR_DAMP, 0.1f); +PARAM_DEFINE_FLOAT(FW_T_THR_DAMPING, 0.05f); /** * Integrator gain throttle * - * This is the integrator gain on the throttle part of the control loop. - * Increasing this gain increases the speed at which speed - * and height offsets are trimmed out, but reduces damping and - * increases overshoot. Set this value to zero to completely - * disable all integrator action. + * Increase it to trim out speed and height offsets faster, + * with the downside of possible overshoots and oscillations. * * @min 0.0 - * @max 2.0 - * @decimal 2 - * @increment 0.05 + * @max 1.0 + * @decimal 3 + * @increment 0.005 * @group FW TECS */ -PARAM_DEFINE_FLOAT(FW_T_I_GAIN_THR, 0.1f); +PARAM_DEFINE_FLOAT(FW_T_THR_INTEG, 0.02f); /** * Integrator gain pitch * - * This is the integrator gain on the pitch part of the control loop. - * Increasing this gain increases the speed at which speed - * and height offsets are trimmed out, but reduces damping and - * increases overshoot. Set this value to zero to completely - * disable all integrator action. + * Increase it to trim out speed and height offsets faster, + * with the downside of possible overshoots and oscillations. * * @min 0.0 * @max 2.0 @@ -562,11 +489,9 @@ PARAM_DEFINE_FLOAT(FW_T_I_GAIN_PIT, 0.1f); /** * Maximum vertical acceleration * - * This is the maximum vertical acceleration (in m/s/s) + * This is the maximum vertical acceleration * either up or down that the controller will use to correct speed - * or height errors. The default value of 7 m/s/s (equivalent to +- 0.7 g) - * allows for reasonably aggressive pitch changes if required to recover - * from under-speed conditions. + * or height errors. * * @unit m/s^2 * @min 1.0 @@ -578,9 +503,9 @@ PARAM_DEFINE_FLOAT(FW_T_I_GAIN_PIT, 0.1f); PARAM_DEFINE_FLOAT(FW_T_VERT_ACC, 7.0f); /** - * Airspeed measurement standard deviation for airspeed filter. + * Airspeed measurement standard deviation * - * This is the measurement standard deviation for the airspeed used in the airspeed filter in TECS. + * For the airspeed filter in TECS. * * @unit m/s * @min 0.01 @@ -589,12 +514,12 @@ PARAM_DEFINE_FLOAT(FW_T_VERT_ACC, 7.0f); * @increment 0.1 * @group FW TECS */ -PARAM_DEFINE_FLOAT(FW_T_SPD_STD, 0.2f); +PARAM_DEFINE_FLOAT(FW_T_SPD_STD, 0.07f); /** - * Airspeed rate measurement standard deviation for airspeed filter. + * Airspeed rate measurement standard deviation * - * This is the measurement standard deviation for the airspeed rate used in the airspeed filter in TECS. + * For the airspeed filter in TECS. * * @unit m/s^2 * @min 0.01 @@ -606,12 +531,10 @@ PARAM_DEFINE_FLOAT(FW_T_SPD_STD, 0.2f); PARAM_DEFINE_FLOAT(FW_T_SPD_DEV_STD, 0.2f); /** - * Process noise standard deviation for the airspeed rate in the airspeed filter. + * Process noise standard deviation for the airspeed rate * - * This is the process noise standard deviation in the airspeed filter filter defining the noise in the - * airspeed rate for the constant airspeed rate model. This is used to define how much the airspeed and - * the airspeed rate are filtered. The smaller the value the more the measurements are smoothed with the - * drawback for delays. + * This is defining the noise in the airspeed rate for the constant airspeed rate model + * of the TECS airspeed filter. * * @unit m/s^2 * @min 0.01 @@ -626,14 +549,9 @@ PARAM_DEFINE_FLOAT(FW_T_SPD_PRC_STD, 0.2f); /** * Roll -> Throttle feedforward * - * Increasing this gain turn increases the amount of throttle that will - * be used to compensate for the additional drag created by turning. - * Ideally this should be set to approximately 10 x the extra sink rate - * in m/s created by a 45 degree bank turn. Increase this gain if - * the aircraft initially loses energy in turns and reduce if the - * aircraft initially gains energy in turns. Efficient high aspect-ratio - * aircraft (eg powered sailplanes) can use a lower value, whereas - * inefficient low aspect-ratio models (eg delta wings) can use a higher value. + * Is used to compensate for the additional drag created by turning. + * Increase this gain if the aircraft initially loses energy in turns + * and reduce if the aircraft initially gains energy in turns. * * @min 0.0 * @max 20.0 @@ -646,13 +564,11 @@ PARAM_DEFINE_FLOAT(FW_T_RLL2THR, 15.0f); /** * Speed <--> Altitude priority * - * This parameter adjusts the amount of weighting that the pitch control + * Adjusts the amount of weighting that the pitch control * applies to speed vs height errors. Setting it to 0.0 will cause the - * pitch control to control height and ignore speed errors. This will - * normally improve height accuracy but give larger airspeed errors. + * pitch control to control height and ignore speed errors. * Setting it to 2.0 will cause the pitch control loop to control speed - * and ignore height errors. This will normally reduce airspeed errors, - * but give larger height errors. The default value of 1.0 allows the pitch + * and ignore height errors. The default value of 1.0 allows the pitch * control to simultaneously control height and speed. * Set to 2 for gliders. * @@ -665,12 +581,7 @@ PARAM_DEFINE_FLOAT(FW_T_RLL2THR, 15.0f); PARAM_DEFINE_FLOAT(FW_T_SPDWEIGHT, 1.0f); /** - * Pitch damping factor - * - * This is the damping gain for the pitch demand loop. Increase to add - * damping to correct for oscillations in height. The default value of 0.0 - * will work well provided the pitch to servo controller has been tuned - * properly. + * Pitch damping gain * * @min 0.0 * @max 2.0 @@ -690,6 +601,18 @@ PARAM_DEFINE_FLOAT(FW_T_PTCH_DAMP, 0.1f); */ PARAM_DEFINE_FLOAT(FW_T_ALT_TC, 5.0f); +/** + * Fast descend: minimum altitude error + * + * Minimum altitude error needed to descend with max airspeed and minimal throttle. + * A negative value disables fast descend. + * + * @min -1.0 + * @decimal 0 + * @group FW TECS + */ +PARAM_DEFINE_FLOAT(FW_T_F_ALT_ERR, -1.0f); + /** * Height rate feed forward * @@ -727,9 +650,9 @@ PARAM_DEFINE_FLOAT(FW_T_TAS_TC, 5.0f); PARAM_DEFINE_FLOAT(FW_GND_SPD_MIN, 5.0f); /** - * RC stick configuration fixed-wing. + * Custom stick configuration * - * Set RC/joystick configuration for fixed-wing manual position and altitude controlled flight. + * Applies in manual Position and Altitude flight modes. * * @min 0 * @max 3 @@ -767,9 +690,8 @@ PARAM_DEFINE_FLOAT(FW_T_SEB_R_FF, 1.0f); /** * Default target climbrate. * - * The default rate at which the vehicle will climb in autonomous modes to achieve altitude setpoints. - * In manual modes this defines the maximum rate at which the altitude setpoint can be increased. - * + * In auto modes: default climb rate output by controller to achieve altitude setpoints. + * In manual modes: maximum climb rate setpoint. * * @unit m/s * @min 0.5 @@ -783,9 +705,8 @@ PARAM_DEFINE_FLOAT(FW_T_CLMB_R_SP, 3.0f); /** * Default target sinkrate. * - * - * The default rate at which the vehicle will sink in autonomous modes to achieve altitude setpoints. - * In manual modes this defines the maximum rate at which the altitude setpoint can be decreased. + * In auto modes: default sink rate output by controller to achieve altitude setpoints. + * In manual modes: maximum sink rate setpoint. * * @unit m/s * @min 0.5 @@ -799,7 +720,7 @@ PARAM_DEFINE_FLOAT(FW_T_SINK_R_SP, 2.0f); /** * GPS failure loiter time * - * The time in seconds the system should do open loop loiter and wait for GPS recovery + * The time the system should do open loop loiter and wait for GPS recovery * before it starts descending. Set to 0 to disable. Roll angle is set to FW_GPSF_R. * Does only apply for fixed-wing vehicles or VTOLs with NAV_FORCE_VT set to 0. * @@ -813,7 +734,7 @@ PARAM_DEFINE_INT32(FW_GPSF_LT, 30); /** * GPS failure fixed roll angle * - * Roll in degrees during the loiter after the vehicle has lost GPS in an auto mode (e.g. mission or loiter). + * Roll angle in GPS failure loiter mode. * * @unit deg * @min 0.0 @@ -824,32 +745,6 @@ PARAM_DEFINE_INT32(FW_GPSF_LT, 30); */ PARAM_DEFINE_FLOAT(FW_GPSF_R, 15.0f); -/** - * Vehicle base weight. - * - * This is the weight of the vehicle at which it's performance limits were derived. A zero or negative value - * disables trim throttle and minimum airspeed compensation based on weight. - * - * @unit kg - * @decimal 1 - * @increment 0.5 - * @group Mission - */ -PARAM_DEFINE_FLOAT(WEIGHT_BASE, -1.0f); - -/** - * Vehicle gross weight. - * - * This is the actual weight of the vehicle at any time. This value will differ from WEIGHT_BASE in case weight was added - * or removed from the base weight. Examples are the addition of payloads or larger batteries. A zero or negative value - * disables trim throttle and minimum airspeed compensation based on weight. - * - * @unit kg - * @decimal 1 - * @increment 0.1 - * @group Mission - */ -PARAM_DEFINE_FLOAT(WEIGHT_GROSS, -1.0f); /** * The aircraft's wing span (length from tip to tip). @@ -948,7 +843,7 @@ PARAM_DEFINE_FLOAT(FW_LND_TD_OFF, 3.0); * Approach path nudging: shifts the touchdown point laterally along with the entire approach path * * This is useful for manually adjusting the landing point in real time when map or GNSS errors cause an offset from the - * desired landing vector. Nuding is done with yaw stick, constrained to FW_LND_TD_OFF (in meters) and the direction is + * desired landing vector. Nudging is done with yaw stick, constrained to FW_LND_TD_OFF (in meters) and the direction is * relative to the vehicle heading (stick deflection to the right = land point moves to the right as seen by the vehicle). * * @min 0 @@ -987,9 +882,6 @@ PARAM_DEFINE_INT32(FW_LND_ABORT, 3); * Multiplying this factor with the current absolute wind estimate gives the airspeed offset * added to the minimum airspeed setpoint limit. This helps to make the * system more robust against disturbances (turbulence) in high wind. - * Only applies to AUTO flight mode. - * - * airspeed_min_adjusted = FW_AIRSPD_MIN + FW_WIND_ARSP_SC * wind.length() * * @min 0 * @decimal 2 @@ -999,10 +891,9 @@ PARAM_DEFINE_INT32(FW_LND_ABORT, 3); PARAM_DEFINE_FLOAT(FW_WIND_ARSP_SC, 0.f); /** - * FW Launch detection + * Fixed-wing launch detection * * Enables automatic launch detection based on measured acceleration. Use for hand- or catapult-launched vehicles. - * Only available for fixed-wing vehicles. * Not compatible with runway takeoff. * * @boolean @@ -1051,45 +942,3 @@ PARAM_DEFINE_FLOAT(FW_FLAPS_LND_SCL, 1.0f); * @group FW Attitude Control */ PARAM_DEFINE_FLOAT(FW_SPOILERS_LND, 0.f); - -/** - * Spoiler descend setting - * - * @unit norm - * @min 0.0 - * @max 1.0 - * @decimal 2 - * @increment 0.01 - * @group FW Attitude Control - */ -PARAM_DEFINE_FLOAT(FW_SPOILERS_DESC, 0.f); - -/** - * Throttle at min airspeed - * - * Required throttle for level flight at minimum airspeed FW_AIRSPD_MIN (sea level, standard atmosphere) - * - * Set to 0 to disable mapping of airspeed to trim throttle below FW_AIRSPD_TRIM. - * - * @min 0 - * @max 1 - * @decimal 2 - * @increment 0.01 - * @group FW TECS - */ -PARAM_DEFINE_FLOAT(FW_THR_ASPD_MIN, 0.f); - -/** - * Throttle at max airspeed - * - * Required throttle for level flight at maximum airspeed FW_AIRSPD_MAX (sea level, standard atmosphere) - * - * Set to 0 to disable mapping of airspeed to trim throttle. - * - * @min 0 - * @max 1 - * @decimal 2 - * @increment 0.01 - * @group FW TECS - */ -PARAM_DEFINE_FLOAT(FW_THR_ASPD_MAX, 0.f); diff --git a/src/modules/fw_pos_control/runway_takeoff/CMakeLists.txt b/src/modules/fw_pos_control/runway_takeoff/CMakeLists.txt index 8217b10f0f90..6e493574c733 100644 --- a/src/modules/fw_pos_control/runway_takeoff/CMakeLists.txt +++ b/src/modules/fw_pos_control/runway_takeoff/CMakeLists.txt @@ -33,4 +33,4 @@ px4_add_library(runway_takeoff RunwayTakeoff.cpp -) \ No newline at end of file +) diff --git a/src/modules/fw_rate_control/FixedwingRateControl.cpp b/src/modules/fw_rate_control/FixedwingRateControl.cpp index 5368ca563d15..1f2cff00d6cd 100644 --- a/src/modules/fw_rate_control/FixedwingRateControl.cpp +++ b/src/modules/fw_rate_control/FixedwingRateControl.cpp @@ -48,6 +48,8 @@ FixedwingRateControl::FixedwingRateControl(bool vtol) : _vehicle_thrust_setpoint_pub(vtol ? ORB_ID(vehicle_thrust_setpoint_virtual_fw) : ORB_ID(vehicle_thrust_setpoint)), _loop_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": cycle")) { + _handle_param_vt_fw_difthr_en = param_find("VT_FW_DIFTHR_EN"); + /* fetch initial parameter values */ parameters_update(); @@ -77,7 +79,7 @@ FixedwingRateControl::parameters_update() const Vector3f rate_i = Vector3f(_param_fw_rr_i.get(), _param_fw_pr_i.get(), _param_fw_yr_i.get()); const Vector3f rate_d = Vector3f(_param_fw_rr_d.get(), _param_fw_pr_d.get(), _param_fw_yr_d.get()); - _rate_control.setGains(rate_p, rate_i, rate_d); + _rate_control.setPidGains(rate_p, rate_i, rate_d); _rate_control.setIntegratorLimit( Vector3f(_param_fw_rr_imax.get(), _param_fw_pr_imax.get(), _param_fw_yr_imax.get())); @@ -86,6 +88,10 @@ FixedwingRateControl::parameters_update() // set FF gains to 0 as we add the FF control outside of the rate controller Vector3f(0.f, 0.f, 0.f)); + if (_handle_param_vt_fw_difthr_en != PARAM_INVALID) { + param_get(_handle_param_vt_fw_difthr_en, &_param_vt_fw_difthr_en); + } + return PX4_OK; } @@ -156,7 +162,7 @@ float FixedwingRateControl::get_airspeed_and_update_scaling() // if no airspeed measurement is available out best guess is to use the trim airspeed float airspeed = _param_fw_airspd_trim.get(); - if ((_param_fw_arsp_mode.get() == 0) && airspeed_valid) { + if (_param_fw_use_airspd.get() && airspeed_valid) { /* prevent numerical drama by requiring 0.5 m/s minimal speed */ airspeed = math::max(0.5f, _airspeed_validated_sub.get().calibrated_airspeed_m_s); @@ -278,51 +284,64 @@ void FixedwingRateControl::Run() _rate_control.resetIntegral(); } - // update saturation status from control allocation feedback - control_allocator_status_s control_allocator_status; - - if (_control_allocator_status_subs[_vehicle_status.is_vtol ? 1 : 0].update(&control_allocator_status)) { - Vector saturation_positive; - Vector saturation_negative; + // Update saturation status from control allocation feedback + // TODO: send the unallocated value directly for better anti-windup + Vector3 diffthr_enabled( + _param_vt_fw_difthr_en & static_cast(VTOLFixedWingDifferentialThrustEnabledBit::ROLL_BIT), + _param_vt_fw_difthr_en & static_cast(VTOLFixedWingDifferentialThrustEnabledBit::PITCH_BIT), + _param_vt_fw_difthr_en & static_cast(VTOLFixedWingDifferentialThrustEnabledBit::YAW_BIT) + ); + + if (_vehicle_status.is_vtol_tailsitter) { + // Swap roll and yaw + diffthr_enabled.swapRows(0, 2); + } - if (!control_allocator_status.torque_setpoint_achieved) { - for (size_t i = 0; i < 3; i++) { - if (control_allocator_status.unallocated_torque[i] > FLT_EPSILON) { - saturation_positive(i) = true; + // saturation handling for axis controlled by differential thrust (VTOL only) + control_allocator_status_s control_allocator_status; - } else if (control_allocator_status.unallocated_torque[i] < -FLT_EPSILON) { - saturation_negative(i) = true; - } + // Set saturation flags for VTOL differential thrust feature + // If differential thrust is enabled in an axis, assume it's the only torque authority and only update saturation using matrix 0 allocating the motors. + if (_control_allocator_status_subs[0].update(&control_allocator_status)) { + for (size_t i = 0; i < 3; i++) { + if (diffthr_enabled(i)) { + _rate_control.setPositiveSaturationFlag(i, control_allocator_status.unallocated_torque[i] > FLT_EPSILON); + _rate_control.setNegativeSaturationFlag(i, control_allocator_status.unallocated_torque[i] < -FLT_EPSILON); } } + } - // TODO: send the unallocated value directly for better anti-windup - _rate_control.setSaturationStatus(saturation_positive, saturation_negative); + // Set saturation flags for control surface controlled axes + if (_control_allocator_status_subs[_vehicle_status.is_vtol ? 1 : 0].update(&control_allocator_status)) { + for (size_t i = 0; i < 3; i++) { + if (!diffthr_enabled(i)) { + _rate_control.setPositiveSaturationFlag(i, control_allocator_status.unallocated_torque[i] > FLT_EPSILON); + _rate_control.setNegativeSaturationFlag(i, control_allocator_status.unallocated_torque[i] < -FLT_EPSILON); + } + } } /* bi-linear interpolation over airspeed for actuator trim scheduling */ - float trim_roll = _param_trim_roll.get(); - float trim_pitch = _param_trim_pitch.get(); - float trim_yaw = _param_trim_yaw.get(); + Vector3f trim(_param_trim_roll.get(), _param_trim_pitch.get(), _param_trim_yaw.get()); if (airspeed < _param_fw_airspd_trim.get()) { - trim_roll += interpolate(airspeed, _param_fw_airspd_min.get(), _param_fw_airspd_trim.get(), - _param_fw_dtrim_r_vmin.get(), - 0.0f); - trim_pitch += interpolate(airspeed, _param_fw_airspd_min.get(), _param_fw_airspd_trim.get(), - _param_fw_dtrim_p_vmin.get(), - 0.0f); - trim_yaw += interpolate(airspeed, _param_fw_airspd_min.get(), _param_fw_airspd_trim.get(), - _param_fw_dtrim_y_vmin.get(), - 0.0f); + trim(0) += interpolate(airspeed, _param_fw_airspd_min.get(), _param_fw_airspd_trim.get(), + _param_fw_dtrim_r_vmin.get(), + 0.0f); + trim(1) += interpolate(airspeed, _param_fw_airspd_min.get(), _param_fw_airspd_trim.get(), + _param_fw_dtrim_p_vmin.get(), + 0.0f); + trim(2) += interpolate(airspeed, _param_fw_airspd_min.get(), _param_fw_airspd_trim.get(), + _param_fw_dtrim_y_vmin.get(), + 0.0f); } else { - trim_roll += interpolate(airspeed, _param_fw_airspd_trim.get(), _param_fw_airspd_max.get(), 0.0f, - _param_fw_dtrim_r_vmax.get()); - trim_pitch += interpolate(airspeed, _param_fw_airspd_trim.get(), _param_fw_airspd_max.get(), 0.0f, - _param_fw_dtrim_p_vmax.get()); - trim_yaw += interpolate(airspeed, _param_fw_airspd_trim.get(), _param_fw_airspd_max.get(), 0.0f, - _param_fw_dtrim_y_vmax.get()); + trim(0) += interpolate(airspeed, _param_fw_airspd_trim.get(), _param_fw_airspd_max.get(), 0.0f, + _param_fw_dtrim_r_vmax.get()); + trim(1) += interpolate(airspeed, _param_fw_airspd_trim.get(), _param_fw_airspd_max.get(), 0.0f, + _param_fw_dtrim_p_vmax.get()); + trim(2) += interpolate(airspeed, _param_fw_airspd_trim.get(), _param_fw_airspd_max.get(), 0.0f, + _param_fw_dtrim_y_vmax.get()); } if (_vcontrol_mode.flag_control_rates_enabled) { @@ -335,25 +354,27 @@ void FixedwingRateControl::Run() body_rates_setpoint = Vector3f(-_rates_sp.yaw, _rates_sp.pitch, _rates_sp.roll); } - /* Run attitude RATE controllers which need the desired attitudes from above, add trim */ + // Run attitude RATE controllers which need the desired attitudes from above, add trim. const Vector3f angular_acceleration_setpoint = _rate_control.update(rates, body_rates_setpoint, angular_accel, dt, _landed); - float roll_feedforward = _param_fw_rr_ff.get() * _airspeed_scaling * body_rates_setpoint(0); - float roll_u = angular_acceleration_setpoint(0) * _airspeed_scaling * _airspeed_scaling + roll_feedforward; - _vehicle_torque_setpoint.xyz[0] = PX4_ISFINITE(roll_u) ? math::constrain(roll_u + trim_roll, -1.f, 1.f) : trim_roll; + const Vector3f gain_ff(_param_fw_rr_ff.get(), _param_fw_pr_ff.get(), _param_fw_yr_ff.get()); + const Vector3f feedforward = gain_ff.emult(body_rates_setpoint) * _airspeed_scaling; - float pitch_feedforward = _param_fw_pr_ff.get() * _airspeed_scaling * body_rates_setpoint(1); - float pitch_u = angular_acceleration_setpoint(1) * _airspeed_scaling * _airspeed_scaling + pitch_feedforward; - _vehicle_torque_setpoint.xyz[1] = PX4_ISFINITE(pitch_u) ? math::constrain(pitch_u + trim_pitch, -1.f, 1.f) : trim_pitch; + Vector3f control_u = angular_acceleration_setpoint * _airspeed_scaling * _airspeed_scaling + feedforward; - const float yaw_feedforward = _param_fw_yr_ff.get() * _airspeed_scaling * body_rates_setpoint(2); - float yaw_u = angular_acceleration_setpoint(2) * _airspeed_scaling * _airspeed_scaling + yaw_feedforward; + // Special case yaw in Acro: if the parameter FW_ACRO_YAW_CTL is not set then don't control yaw + if (!_vcontrol_mode.flag_control_attitude_enabled && !_param_fw_acro_yaw_en.get()) { + control_u(2) = _manual_control_setpoint.yaw * _param_fw_man_y_sc.get(); + _rate_control.resetIntegral(2); + } - _vehicle_torque_setpoint.xyz[2] = PX4_ISFINITE(yaw_u) ? math::constrain(yaw_u + trim_yaw, -1.f, 1.f) : trim_yaw; + if (control_u.isAllFinite()) { + matrix::constrain(control_u + trim, -1.f, 1.f).copyTo(_vehicle_torque_setpoint.xyz); - if (!PX4_ISFINITE(roll_u) || !PX4_ISFINITE(pitch_u) || !PX4_ISFINITE(yaw_u)) { + } else { _rate_control.resetIntegral(); + trim.copyTo(_vehicle_torque_setpoint.xyz); } /* throttle passed through if it is finite */ diff --git a/src/modules/fw_rate_control/FixedwingRateControl.hpp b/src/modules/fw_rate_control/FixedwingRateControl.hpp index 8a9a43627467..ec3b7e1c9ebd 100644 --- a/src/modules/fw_rate_control/FixedwingRateControl.hpp +++ b/src/modules/fw_rate_control/FixedwingRateControl.hpp @@ -144,16 +144,27 @@ class FixedwingRateControl final : public ModuleBase, publ bool _in_fw_or_transition_wo_tailsitter_transition{false}; // only run the FW attitude controller in these states + // enum for bitmask of VT_FW_DIFTHR_EN parameter options + enum class VTOLFixedWingDifferentialThrustEnabledBit : int32_t { + YAW_BIT = (1 << 0), + ROLL_BIT = (1 << 1), + PITCH_BIT = (1 << 2), + }; + + param_t _handle_param_vt_fw_difthr_en{PARAM_INVALID}; + int32_t _param_vt_fw_difthr_en{0}; + DEFINE_PARAMETERS( (ParamFloat) _param_fw_acro_x_max, (ParamFloat) _param_fw_acro_y_max, (ParamFloat) _param_fw_acro_z_max, + (ParamInt) _param_fw_acro_yaw_en, (ParamFloat) _param_fw_airspd_max, (ParamFloat) _param_fw_airspd_min, (ParamFloat) _param_fw_airspd_stall, (ParamFloat) _param_fw_airspd_trim, - (ParamInt) _param_fw_arsp_mode, + (ParamBool) _param_fw_use_airspd, (ParamInt) _param_fw_arsp_scale_en, diff --git a/src/modules/fw_rate_control/fw_rate_control_params.c b/src/modules/fw_rate_control/fw_rate_control_params.c index 2e0f6e274c79..8493f11c72ec 100644 --- a/src/modules/fw_rate_control/fw_rate_control_params.c +++ b/src/modules/fw_rate_control/fw_rate_control_params.c @@ -34,100 +34,32 @@ /** * @file fw_rate_control_params.c * - * Parameters defined by the fixed-wing attitude control task + * Parameters defined by the fixed-wing rate control task * * @author Lorenz Meier * @author Thomas Gubler */ -/* - * Controller parameters, accessible via MAVLink - * - */ - -/** - * Minimum Airspeed (CAS) - * - * The minimal airspeed (calibrated airspeed) the user is able to command. - * Further, if the airspeed falls below this value, the TECS controller will try to - * increase airspeed more aggressively. - * Has to be set according to the vehicle's stall speed (which should be set in FW_AIRSPD_STALL), - * with some margin between the stall speed and minimum airspeed. - * This value corresponds to the desired minimum speed with the default load factor (level flight, default weight), - * and is automatically adpated to the current load factor (calculated from roll setpoint and WEIGHT_GROSS/WEIGHT_BASE). - * - * @unit m/s - * @min 0.5 - * @max 40 - * @decimal 1 - * @increment 0.5 - * @group FW TECS - */ -PARAM_DEFINE_FLOAT(FW_AIRSPD_MIN, 10.0f); - /** - * Maximum Airspeed (CAS) + * Use airspeed for control * - * The maximal airspeed (calibrated airspeed) the user is able to command. + * If set to 1, the airspeed measurement data, if valid, is used in the following controllers: + * - Rate controller: output scaling + * - Attitude controller: coordinated turn controller + * - Position controller: airspeed setpoint tracking, takeoff logic + * - VTOL: transition logic * - * @unit m/s - * @min 0.5 - * @max 40 - * @decimal 1 - * @increment 0.5 - * @group FW TECS - */ -PARAM_DEFINE_FLOAT(FW_AIRSPD_MAX, 20.0f); - -/** - * Airspeed mode - * - * On vehicles without airspeed sensor this parameter can be used to - * enable flying without an airspeed reading - * - * @value 0 Use airspeed in controller - * @value 1 Do not use airspeed in controller - * @group FW Attitude Control - */ -PARAM_DEFINE_INT32(FW_ARSP_MODE, 0); - -/** - * Trim (Cruise) Airspeed - * - * The trim CAS (calibrated airspeed) of the vehicle. If an airspeed controller is active, - * this is the default airspeed setpoint that the controller will try to achieve. - * - * @unit m/s - * @min 0.5 - * @max 40 - * @decimal 1 - * @increment 0.5 - * @group FW TECS - */ -PARAM_DEFINE_FLOAT(FW_AIRSPD_TRIM, 15.0f); - -/** - * Stall Airspeed (CAS) - * - * The stall airspeed (calibrated airspeed) of the vehicle. - * It is used for airspeed sensor failure detection and for the control - * surface scaling airspeed limits. - * - * @unit m/s - * @min 0.5 - * @max 40 - * @decimal 1 - * @increment 0.5 - * @group FW TECS + * @boolean + * @group FW Rate Control */ -PARAM_DEFINE_FLOAT(FW_AIRSPD_STALL, 7.0f); +PARAM_DEFINE_INT32(FW_USE_AIRSPD, 1); /** * Pitch rate proportional gain. * * @unit %/rad/s * @min 0.0 - * @max 1.0 + * @max 10 * @decimal 3 * @increment 0.005 * @group FW Rate Control @@ -141,7 +73,7 @@ PARAM_DEFINE_FLOAT(FW_PR_P, 0.08f); * * @unit %/rad/s * @min 0.0 - * @max 1.0 + * @max 10 * @decimal 3 * @increment 0.005 * @group FW Rate Control @@ -151,12 +83,9 @@ PARAM_DEFINE_FLOAT(FW_PR_D, 0.f); /** * Pitch rate integrator gain. * - * This gain defines how much control response will result out of a steady - * state error. It trims any constant error. - * * @unit %/rad * @min 0.0 - * @max 0.5 + * @max 10 * @decimal 3 * @increment 0.005 * @group FW Rate Control @@ -166,9 +95,6 @@ PARAM_DEFINE_FLOAT(FW_PR_I, 0.1f); /** * Pitch rate integrator limit * - * The portion of the integrator part in the control surface deflection is - * limited to this value - * * @min 0.0 * @max 1.0 * @decimal 2 @@ -178,11 +104,11 @@ PARAM_DEFINE_FLOAT(FW_PR_I, 0.1f); PARAM_DEFINE_FLOAT(FW_PR_IMAX, 0.4f); /** - * Roll rate proportional Gain + * Roll rate proportional gain * * @unit %/rad/s * @min 0.0 - * @max 1.0 + * @max 10 * @decimal 3 * @increment 0.005 * @group FW Rate Control @@ -190,39 +116,31 @@ PARAM_DEFINE_FLOAT(FW_PR_IMAX, 0.4f); PARAM_DEFINE_FLOAT(FW_RR_P, 0.05f); /** - * Roll rate derivative Gain - * - * Roll rate differential gain. Small values help reduce fast oscillations. - * If value is too big oscillations will appear again. + * Roll rate derivative gain * * @unit %/rad/s * @min 0.0 - * @max 1.0 + * @max 10 * @decimal 3 * @increment 0.005 * @group FW Rate Control */ -PARAM_DEFINE_FLOAT(FW_RR_D, 0.00f); +PARAM_DEFINE_FLOAT(FW_RR_D, 0.0f); /** - * Roll rate integrator Gain - * - * This gain defines how much control response will result out of a steady - * state error. It trims any constant error. + * Roll rate integrator gain * * @unit %/rad * @min 0.0 - * @max 0.2 - * @decimal 3 - * @increment 0.005 + * @max 10 + * @decimal 2 + * @increment 0.01 * @group FW Rate Control */ PARAM_DEFINE_FLOAT(FW_RR_I, 0.1f); /** - * Roll integrator anti-windup - * - * The portion of the integrator part in the control surface deflection is limited to this value. + * Roll integrator limit * * @min 0.0 * @max 1.0 @@ -237,7 +155,7 @@ PARAM_DEFINE_FLOAT(FW_RR_IMAX, 0.2f); * * @unit %/rad/s * @min 0.0 - * @max 1.0 + * @max 10 * @decimal 3 * @increment 0.005 * @group FW Rate Control @@ -247,12 +165,9 @@ PARAM_DEFINE_FLOAT(FW_YR_P, 0.05f); /** * Yaw rate derivative gain * - * Yaw rate differential gain. Small values help reduce fast oscillations. - * If value is too big oscillations will appear again. - * * @unit %/rad/s * @min 0.0 - * @max 1.0 + * @max 10 * @decimal 3 * @increment 0.005 * @group FW Rate Control @@ -262,12 +177,9 @@ PARAM_DEFINE_FLOAT(FW_YR_D, 0.0f); /** * Yaw rate integrator gain * - * This gain defines how much control response will result out of a steady - * state error. It trims any constant error. - * * @unit %/rad * @min 0.0 - * @max 50.0 + * @max 10 * @decimal 1 * @increment 0.5 * @group FW Rate Control @@ -277,9 +189,6 @@ PARAM_DEFINE_FLOAT(FW_YR_I, 0.1f); /** * Yaw rate integrator limit * - * The portion of the integrator part in the control surface deflection is - * limited to this value - * * @min 0.0 * @max 1.0 * @decimal 2 @@ -291,9 +200,7 @@ PARAM_DEFINE_FLOAT(FW_YR_IMAX, 0.2f); /** * Roll rate feed forward * - * Direct feed forward from rate setpoint to control surface output. Use this - * to obtain a tigher response of the controller without introducing - * noise amplification. + * Direct feed forward from rate setpoint to control surface output. * * @unit %/rad/s * @min 0.0 @@ -333,12 +240,9 @@ PARAM_DEFINE_FLOAT(FW_PR_FF, 0.5f); PARAM_DEFINE_FLOAT(FW_YR_FF, 0.3f); /** - * Acro body x max rate. + * Acro body roll max rate setpoint * - * This is the rate the controller is trying to achieve if the user applies full roll - * stick input in acro mode. - * - * @min 45 + * @min 10 * @max 720 * @unit deg * @group FW Rate Control @@ -346,9 +250,9 @@ PARAM_DEFINE_FLOAT(FW_YR_FF, 0.3f); PARAM_DEFINE_FLOAT(FW_ACRO_X_MAX, 90); /** - * Acro body pitch max rate setpoint. + * Acro body pitch max rate setpoint * - * @min 45 + * @min 10 * @max 720 * @unit deg * @group FW Rate Control @@ -356,10 +260,10 @@ PARAM_DEFINE_FLOAT(FW_ACRO_X_MAX, 90); PARAM_DEFINE_FLOAT(FW_ACRO_Y_MAX, 90); /** - * Acro body yaw max rate setpoint. + * Acro body yaw max rate setpoint * * @min 10 - * @max 180 + * @max 720 * @unit deg * @group FW Rate Control */ @@ -397,8 +301,8 @@ PARAM_DEFINE_INT32(FW_ARSP_SCALE_EN, 1); * This increment is added to TRIM_ROLL when airspeed is FW_AIRSPD_MIN. * * @group FW Rate Control - * @min -0.25 - * @max 0.25 + * @min -0.5 + * @max 0.5 * @decimal 2 * @increment 0.01 */ @@ -410,8 +314,8 @@ PARAM_DEFINE_FLOAT(FW_DTRIM_R_VMIN, 0.0f); * This increment is added to TRIM_PITCH when airspeed is FW_AIRSPD_MIN. * * @group FW Rate Control - * @min -0.25 - * @max 0.25 + * @min -0.5 + * @max 0.5 * @decimal 2 * @increment 0.01 */ @@ -423,8 +327,8 @@ PARAM_DEFINE_FLOAT(FW_DTRIM_P_VMIN, 0.0f); * This increment is added to TRIM_YAW when airspeed is FW_AIRSPD_MIN. * * @group FW Rate Control - * @min -0.25 - * @max 0.25 + * @min -0.5 + * @max 0.5 * @decimal 2 * @increment 0.01 */ @@ -436,8 +340,8 @@ PARAM_DEFINE_FLOAT(FW_DTRIM_Y_VMIN, 0.0f); * This increment is added to TRIM_ROLL when airspeed is FW_AIRSPD_MAX. * * @group FW Rate Control - * @min -0.25 - * @max 0.25 + * @min -0.5 + * @max 0.5 * @decimal 2 * @increment 0.01 */ @@ -449,8 +353,8 @@ PARAM_DEFINE_FLOAT(FW_DTRIM_R_VMAX, 0.0f); * This increment is added to TRIM_PITCH when airspeed is FW_AIRSPD_MAX. * * @group FW Rate Control - * @min -0.25 - * @max 0.25 + * @min -0.5 + * @max 0.5 * @decimal 2 * @increment 0.01 */ @@ -462,8 +366,8 @@ PARAM_DEFINE_FLOAT(FW_DTRIM_P_VMAX, 0.0f); * This increment is added to TRIM_YAW when airspeed is FW_AIRSPD_MAX. * * @group FW Rate Control - * @min -0.25 - * @max 0.25 + * @min -0.5 + * @max 0.5 * @decimal 2 * @increment 0.01 */ @@ -480,7 +384,7 @@ PARAM_DEFINE_FLOAT(FW_DTRIM_Y_VMAX, 0.0f); * @max 1.0 * @decimal 2 * @increment 0.01 - * @group FW Attitude Control + * @group FW Rate Control */ PARAM_DEFINE_FLOAT(FW_MAN_R_SC, 1.0f); @@ -494,7 +398,7 @@ PARAM_DEFINE_FLOAT(FW_MAN_R_SC, 1.0f); * @min 0.0 * @decimal 2 * @increment 0.01 - * @group FW Attitude Control + * @group FW Rate Control */ PARAM_DEFINE_FLOAT(FW_MAN_P_SC, 1.0f); @@ -508,7 +412,7 @@ PARAM_DEFINE_FLOAT(FW_MAN_P_SC, 1.0f); * @min 0.0 * @decimal 2 * @increment 0.01 - * @group FW Attitude Control + * @group FW Rate Control */ PARAM_DEFINE_FLOAT(FW_MAN_Y_SC, 1.0f); @@ -522,7 +426,7 @@ PARAM_DEFINE_FLOAT(FW_MAN_Y_SC, 1.0f); * @min 0.0 * @decimal 1 * @increment 0.01 - * @group FW Attitude Control + * @group FW Rate Control */ PARAM_DEFINE_FLOAT(FW_RLL_TO_YAW_FF, 0.0f); @@ -534,6 +438,19 @@ PARAM_DEFINE_FLOAT(FW_RLL_TO_YAW_FF, 0.0f); * @value 0 Disabled * @value 1 Flaps channel * @value 2 Aux1 - * @group FW Attitude Control + * @group FW Rate Control */ PARAM_DEFINE_INT32(FW_SPOILERS_MAN, 0); + +/** + * Enable yaw rate controller in Acro + * + * If this parameter is set to 1, the yaw rate controller is enabled in Fixed-wing Acro mode. + * Otherwise the pilot commands directly the yaw actuator. + * It is disabled by default because an active yaw rate controller will fight against the + * natural turn coordination of the plane. + * + * @boolean + * @group FW Rate Control + */ +PARAM_DEFINE_INT32(FW_ACRO_YAW_EN, 0); diff --git a/src/modules/gimbal/CMakeLists.txt b/src/modules/gimbal/CMakeLists.txt index a99123b08903..859b519718fa 100644 --- a/src/modules/gimbal/CMakeLists.txt +++ b/src/modules/gimbal/CMakeLists.txt @@ -46,4 +46,3 @@ px4_add_module( DEPENDS geo ) - diff --git a/src/modules/gimbal/gimbal.cpp b/src/modules/gimbal/gimbal.cpp index c663d31cea1b..804f792fc65e 100644 --- a/src/modules/gimbal/gimbal.cpp +++ b/src/modules/gimbal/gimbal.cpp @@ -207,13 +207,6 @@ static int gimbal_thread_main(int argc, char *argv[]) update_params(param_handles, params); } - if (thread_data.last_input_active == -1) { - // Reset control as no one is active anymore, or yet. - thread_data.control_data.sysid_primary_control = 0; - thread_data.control_data.compid_primary_control = 0; - thread_data.control_data.device_compid = 0; - } - InputBase::UpdateResult update_result = InputBase::UpdateResult::NoUpdate; if (thread_data.input_objs_len > 0) { diff --git a/src/modules/gimbal/input_mavlink.cpp b/src/modules/gimbal/input_mavlink.cpp index 78cf6ae806f7..ebfde30d2a73 100644 --- a/src/modules/gimbal/input_mavlink.cpp +++ b/src/modules/gimbal/input_mavlink.cpp @@ -323,23 +323,28 @@ InputMavlinkCmdMount::_process_command(ControlData &control_data, const vehicle_ }; for (int i = 0; i < 3; ++i) { + switch (params[i]) { - if (params[i] == 0) { + case 0: control_data.type_data.angle.frames[i] = ControlData::TypeData::TypeAngle::Frame::AngleBodyFrame; + break; - } else if (params[i] == 1) { + case 1: control_data.type_data.angle.frames[i] = ControlData::TypeData::TypeAngle::Frame::AngularRate; + break; - } else if (params[i] == 2) { + case 2: control_data.type_data.angle.frames[i] = ControlData::TypeData::TypeAngle::Frame::AngleAbsoluteFrame; + break; - } else { + default: // Not supported, fallback to body angle. control_data.type_data.angle.frames[i] = ControlData::TypeData::TypeAngle::Frame::AngleBodyFrame; + break; } } @@ -513,7 +518,7 @@ InputMavlinkGimbalV2::update(unsigned int timeout_ms, ControlData &control_data, // We can't return early instead because we need to copy all topics that triggered poll. bool exit_loop = false; - UpdateResult update_result = already_active ? UpdateResult::UpdatedActive : UpdateResult::NoUpdate; + UpdateResult update_result = UpdateResult::NoUpdate; while (!exit_loop && poll_timeout >= 0) { @@ -745,23 +750,28 @@ InputMavlinkGimbalV2::_process_command(ControlData &control_data, const vehicle_ }; for (int i = 0; i < 3; ++i) { + switch (params[i]) { - if (params[i] == 0) { + case 0: control_data.type_data.angle.frames[i] = ControlData::TypeData::TypeAngle::Frame::AngleBodyFrame; + break; - } else if (params[i] == 1) { + case 1: control_data.type_data.angle.frames[i] = ControlData::TypeData::TypeAngle::Frame::AngularRate; + break; - } else if (params[i] == 2) { + case 2: control_data.type_data.angle.frames[i] = ControlData::TypeData::TypeAngle::Frame::AngleAbsoluteFrame; + break; - } else { + default: // Not supported, fallback to body angle. control_data.type_data.angle.frames[i] = ControlData::TypeData::TypeAngle::Frame::AngleBodyFrame; + break; } } @@ -775,19 +785,22 @@ InputMavlinkGimbalV2::_process_command(ControlData &control_data, const vehicle_ const int param_compid = roundf(vehicle_command.param2); uint8_t new_sysid_primary_control = [&]() { - if (param_sysid >= 0 && param_sysid < 256) { + switch (param_sysid) { + + case 0 ... 255: // Valid new sysid. return (uint8_t) param_sysid; - } else if (param_sysid == -1) { + case -1: // leave unchanged return control_data.sysid_primary_control; - } else if (param_sysid == -2) { + case -2: // set itself return (uint8_t) _parameters.mav_sysid; - } else if (param_sysid == -3) { + case -3: + // release control if in control if (control_data.sysid_primary_control == vehicle_command.source_system) { return (uint8_t) 0; @@ -796,26 +809,28 @@ InputMavlinkGimbalV2::_process_command(ControlData &control_data, const vehicle_ return control_data.sysid_primary_control; } - } else { + default: PX4_WARN("Unknown param1 value for DO_GIMBAL_MANAGER_CONFIGURE"); return control_data.sysid_primary_control; } }(); uint8_t new_compid_primary_control = [&]() { - if (param_compid >= 0 && param_compid < 256) { + switch (param_compid) { + case 0 ... 255: // Valid new compid. return (uint8_t) param_compid; - } else if (param_compid == -1) { + case -1: // leave unchanged return control_data.compid_primary_control; - } else if (param_compid == -2) { + case -2: // set itself return (uint8_t) _parameters.mav_compid; - } else if (param_compid == -3) { + case -3: + // release control if in control if (control_data.compid_primary_control == vehicle_command.source_component) { return (uint8_t) 0; @@ -824,7 +839,7 @@ InputMavlinkGimbalV2::_process_command(ControlData &control_data, const vehicle_ return control_data.compid_primary_control; } - } else { + default: PX4_WARN("Unknown param2 value for DO_GIMBAL_MANAGER_CONFIGURE"); return control_data.compid_primary_control; } @@ -841,7 +856,9 @@ InputMavlinkGimbalV2::_process_command(ControlData &control_data, const vehicle_ control_data.compid_primary_control = new_compid_primary_control; } - return UpdateResult::UpdatedActive; + // Just doing the configuration doesn't mean there is actually an update to use yet. + // After that we still need to have an actual setpoint. + return UpdateResult::NoUpdate; // TODO: support secondary control // TODO: support gimbal device id for multiple gimbals @@ -865,7 +882,7 @@ InputMavlinkGimbalV2::_process_command(ControlData &control_data, const vehicle_ _ack_vehicle_command(vehicle_command, vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED); - return UpdateResult::UpdatedActive; + return UpdateResult::UpdatedActiveOnce; } else { PX4_INFO("GIMBAL_MANAGER_PITCHYAW from %d/%d denied, in control: %d/%d", diff --git a/src/modules/gimbal/input_rc.cpp b/src/modules/gimbal/input_rc.cpp index c512cda254ee..c15f916ab9a4 100644 --- a/src/modules/gimbal/input_rc.cpp +++ b/src/modules/gimbal/input_rc.cpp @@ -120,9 +120,12 @@ InputRC::UpdateResult InputRC::_read_control_data_from_subscription(ControlData return false; }(); - if (already_active || major_movement) { + if (major_movement) { control_data.sysid_primary_control = _parameters.mav_sysid; control_data.compid_primary_control = _parameters.mav_compid; + } + + if (already_active || major_movement) { if (_parameters.mnt_rc_in_mode == 0) { // We scale manual input from roll -180..180, pitch -90..90, yaw, -180..180 degrees. diff --git a/src/modules/gimbal/output.cpp b/src/modules/gimbal/output.cpp index c43c3dfaa8d5..61486f3f7722 100644 --- a/src/modules/gimbal/output.cpp +++ b/src/modules/gimbal/output.cpp @@ -260,4 +260,3 @@ void OutputBase::set_stabilize(bool roll_stabilize, bool pitch_stabilize, bool y } } /* namespace gimbal */ - diff --git a/src/modules/gimbal/output_rc.cpp b/src/modules/gimbal/output_rc.cpp index a5878b3801aa..4b48349a4dfb 100644 --- a/src/modules/gimbal/output_rc.cpp +++ b/src/modules/gimbal/output_rc.cpp @@ -61,7 +61,8 @@ void OutputRC::update(const ControlData &control_data, bool new_setpoints, uint8 _stream_device_attitude_status(); - // If the output is RC, then it means we are also the gimbal device. gimbal_device_id = (uint8_t)_parameters.mnt_mav_compid_v1; + // If the output is RC, then we signal this by referring to compid 1. + gimbal_device_id = 1; // _angle_outputs are in radians, gimbal_controls are in [-1, 1] gimbal_controls_s gimbal_controls{}; diff --git a/src/modules/gyro_fft/CMSIS_5/CMSIS/Core/Include/cmsis_compiler.h b/src/modules/gyro_fft/CMSIS_5/CMSIS/Core/Include/cmsis_compiler.h index adbf296f15a4..ff806745a4c6 100644 --- a/src/modules/gyro_fft/CMSIS_5/CMSIS/Core/Include/cmsis_compiler.h +++ b/src/modules/gyro_fft/CMSIS_5/CMSIS/Core/Include/cmsis_compiler.h @@ -280,4 +280,3 @@ #endif /* __CMSIS_COMPILER_H */ - diff --git a/src/modules/gyro_fft/CMSIS_5/CMSIS/DSP/Include/arm_common_tables.h b/src/modules/gyro_fft/CMSIS_5/CMSIS/DSP/Include/arm_common_tables.h index 721b18dd2d43..6d6d432042c1 100644 --- a/src/modules/gyro_fft/CMSIS_5/CMSIS/DSP/Include/arm_common_tables.h +++ b/src/modules/gyro_fft/CMSIS_5/CMSIS/DSP/Include/arm_common_tables.h @@ -514,4 +514,3 @@ extern const unsigned char hwLUT[256]; #endif /* (defined(ARM_MATH_MVEI) || defined(ARM_MATH_HELIUM)) */ #endif /* ARM_COMMON_TABLES_H */ - diff --git a/src/modules/land_detector/CMakeLists.txt b/src/modules/land_detector/CMakeLists.txt index 632c90d5cf8d..6823df9f8b0f 100644 --- a/src/modules/land_detector/CMakeLists.txt +++ b/src/modules/land_detector/CMakeLists.txt @@ -45,4 +45,3 @@ px4_add_module( DEPENDS hysteresis ) - diff --git a/src/modules/land_detector/land_detector_params_mc.c b/src/modules/land_detector/land_detector_params_mc.c index b68b1255bffe..121b365bb55a 100644 --- a/src/modules/land_detector/land_detector_params_mc.c +++ b/src/modules/land_detector/land_detector_params_mc.c @@ -87,24 +87,6 @@ PARAM_DEFINE_FLOAT(LNDMC_XY_VEL_MAX, 1.5f); */ PARAM_DEFINE_FLOAT(LNDMC_ROT_MAX, 20.0f); -/** - * Maximum altitude for multicopters - * - * The system will obey this limit as a - * hard altitude limit. This setting will - * be consolidated with the GF_MAX_VER_DIST - * parameter. - * A negative value indicates no altitude limitation. - * - * @unit m - * @min -1 - * @max 10000 - * @decimal 2 - * @group Land Detector - * - */ -PARAM_DEFINE_FLOAT(LNDMC_ALT_MAX, -1.0f); - /** * Ground effect altitude for multicopters * diff --git a/src/modules/landing_target_estimator/CMakeLists.txt b/src/modules/landing_target_estimator/CMakeLists.txt index 146869aa3fe4..32308d3c9301 100644 --- a/src/modules/landing_target_estimator/CMakeLists.txt +++ b/src/modules/landing_target_estimator/CMakeLists.txt @@ -41,4 +41,3 @@ px4_add_module( KalmanFilter.cpp DEPENDS ) - diff --git a/src/modules/landing_target_estimator/LandingTargetEstimator.cpp b/src/modules/landing_target_estimator/LandingTargetEstimator.cpp index 3783c3d85245..5e09de57d71a 100644 --- a/src/modules/landing_target_estimator/LandingTargetEstimator.cpp +++ b/src/modules/landing_target_estimator/LandingTargetEstimator.cpp @@ -100,13 +100,13 @@ void LandingTargetEstimator::update() } } - if (!_new_sensorReport) { + if (!_new_irlockReport) { // nothing to do return; } // mark this sensor measurement as consumed - _new_sensorReport = false; + _new_irlockReport = false; if (!_estimator_initialized) { @@ -254,30 +254,7 @@ void LandingTargetEstimator::_update_topics() _target_position_report.rel_pos_x += _params.offset_x; _target_position_report.rel_pos_y += _params.offset_y; - _new_sensorReport = true; - - } else if (_uwbDistanceSub.update(&_uwbDistance)) { - if (!_vehicleAttitude_valid || !_vehicleLocalPosition_valid) { - // don't have the data needed for an update - PX4_INFO("Attitude: %d, Local pos: %d", _vehicleAttitude_valid, _vehicleLocalPosition_valid); - return; - } - - if (!matrix::Vector3f(_uwbDistance.position).isAllFinite()) { - PX4_WARN("Marker position reading invalid!"); - return; - } - - _new_sensorReport = true; - - // The coordinate system is NED (north-east-down) - // the uwb_distance msg contains the Position in NED, Vehicle relative to LP - // The coordinates "rel_pos_*" are the position of the landing point relative to the vehicle. - // To change POV we negate every Axis: - _target_position_report.timestamp = _uwbDistance.timestamp; - _target_position_report.rel_pos_x = -_uwbDistance.position[0]; - _target_position_report.rel_pos_y = -_uwbDistance.position[1]; - _target_position_report.rel_pos_z = -_uwbDistance.position[2]; + _new_irlockReport = true; } } diff --git a/src/modules/landing_target_estimator/LandingTargetEstimator.h b/src/modules/landing_target_estimator/LandingTargetEstimator.h index 521a1e37630d..5c781473298b 100644 --- a/src/modules/landing_target_estimator/LandingTargetEstimator.h +++ b/src/modules/landing_target_estimator/LandingTargetEstimator.h @@ -54,9 +54,6 @@ #include #include #include -#include -#include -#include #include #include #include @@ -153,14 +150,11 @@ class LandingTargetEstimator uORB::Subscription _attitudeSub{ORB_ID(vehicle_attitude)}; uORB::Subscription _vehicle_acceleration_sub{ORB_ID(vehicle_acceleration)}; uORB::Subscription _irlockReportSub{ORB_ID(irlock_report)}; - uORB::Subscription _uwbDistanceSub{ORB_ID(uwb_distance)}; vehicle_local_position_s _vehicleLocalPosition{}; vehicle_attitude_s _vehicleAttitude{}; vehicle_acceleration_s _vehicle_acceleration{}; irlock_report_s _irlockReport{}; - uwb_grid_s _uwbGrid{}; - uwb_distance_s _uwbDistance{}; // keep track of which topics we have received bool _vehicleLocalPosition_valid{false}; diff --git a/src/modules/landing_target_estimator/landing_target_estimator_params.c b/src/modules/landing_target_estimator/landing_target_estimator_params.c index 24ee9b772f32..92048efc3151 100644 --- a/src/modules/landing_target_estimator/landing_target_estimator_params.c +++ b/src/modules/landing_target_estimator/landing_target_estimator_params.c @@ -50,7 +50,7 @@ * * @min 0 * @max 1 - * @group Landing target Estimator + * @group Landing Target Estimator * @value 0 Moving * @value 1 Stationary */ @@ -66,7 +66,7 @@ PARAM_DEFINE_INT32(LTEST_MODE, 0); * @min 0.01 * @decimal 2 * - * @group Landing target Estimator + * @group Landing Target Estimator */ PARAM_DEFINE_FLOAT(LTEST_ACC_UNC, 10.0f); @@ -79,7 +79,7 @@ PARAM_DEFINE_FLOAT(LTEST_ACC_UNC, 10.0f); * @unit tan(rad)^2 * @decimal 4 * - * @group Landing target Estimator + * @group Landing Target Estimator */ PARAM_DEFINE_FLOAT(LTEST_MEAS_UNC, 0.005f); @@ -92,7 +92,7 @@ PARAM_DEFINE_FLOAT(LTEST_MEAS_UNC, 0.005f); * @min 0.001 * @decimal 3 * - * @group Landing target Estimator + * @group Landing Target Estimator */ PARAM_DEFINE_FLOAT(LTEST_POS_UNC_IN, 0.1f); @@ -105,7 +105,7 @@ PARAM_DEFINE_FLOAT(LTEST_POS_UNC_IN, 0.1f); * @min 0.001 * @decimal 3 * - * @group Landing target Estimator + * @group Landing Target Estimator */ PARAM_DEFINE_FLOAT(LTEST_VEL_UNC_IN, 0.1f); @@ -117,7 +117,7 @@ PARAM_DEFINE_FLOAT(LTEST_VEL_UNC_IN, 0.1f); * @min 0.01 * @decimal 3 * - * @group Landing target Estimator + * @group Landing Target Estimator */ PARAM_DEFINE_FLOAT(LTEST_SCALE_X, 1.0f); @@ -129,7 +129,7 @@ PARAM_DEFINE_FLOAT(LTEST_SCALE_X, 1.0f); * @min 0.01 * @decimal 3 * - * @group Landing target Estimator + * @group Landing Target Estimator */ PARAM_DEFINE_FLOAT(LTEST_SCALE_Y, 1.0f); diff --git a/src/modules/load_mon/LoadMon.cpp b/src/modules/load_mon/LoadMon.cpp index 80c54f482694..937d02c03e12 100644 --- a/src/modules/load_mon/LoadMon.cpp +++ b/src/modules/load_mon/LoadMon.cpp @@ -202,7 +202,7 @@ void LoadMon::cpuload() } } - fseek(_proc_fd, 0, SEEK_END); + fseek(_proc_fd, 0, SEEK_SET); if (parsedCount == 5) { int32_t kb_main_cached = kb_page_cache + kb_slab_reclaimable; @@ -229,6 +229,9 @@ void LoadMon::cpuload() struct mallinfo mem = mallinfo(); cpuload.ram_usage = (float)mem.uordblks / mem.arena; cpuload.load = 1.f - interval_idletime / interval; +#elif defined(__PX4_QURT) + cpuload.ram_usage = 0.0f; + cpuload.load = px4muorb_get_cpu_load() / 100.0f; #endif cpuload.timestamp = hrt_absolute_time(); diff --git a/src/modules/local_position_estimator/BlockLocalPositionEstimator.cpp b/src/modules/local_position_estimator/BlockLocalPositionEstimator.cpp index 508a5427549f..8517ff03b0eb 100644 --- a/src/modules/local_position_estimator/BlockLocalPositionEstimator.cpp +++ b/src/modules/local_position_estimator/BlockLocalPositionEstimator.cpp @@ -137,6 +137,14 @@ BlockLocalPositionEstimator::BlockLocalPositionEstimator() : bool BlockLocalPositionEstimator::init() { + uORB::SubscriptionData vehicle_local_position_sub{ORB_ID(vehicle_local_position)}; + vehicle_local_position_sub.update(); + + if (vehicle_local_position_sub.advertised() && (hrt_elapsed_time(&vehicle_local_position_sub.get().timestamp) < 1_s)) { + PX4_ERR("init failed, vehicle_local_position already advertised"); + return false; + } + if (!_sensors_sub.registerCallback()) { PX4_ERR("callback registration failed"); return false; @@ -600,7 +608,10 @@ void BlockLocalPositionEstimator::publishLocalPos() _pub_lpos.get().z = xLP(X_z); // down } - _pub_lpos.get().heading = matrix::Eulerf(matrix::Quatf(_sub_att.get().q)).psi(); + const float heading = matrix::Eulerf(matrix::Quatf(_sub_att.get().q)).psi(); + _pub_lpos.get().heading = heading; + _pub_lpos.get().heading_good_for_control = PX4_ISFINITE(heading); + _pub_lpos.get().unaided_heading = NAN; _pub_lpos.get().vx = xLP(X_vx); // north _pub_lpos.get().vy = xLP(X_vy); // east @@ -747,7 +758,6 @@ void BlockLocalPositionEstimator::publishEstimatorStatus() // replacing the hor wind cov with terrain altitude covariance _pub_est_states.get().covariances[22] = m_P(X_tz, X_tz); - _pub_est_states.get().covariances[23] = NAN; _pub_est_states.get().n_states = n_x; _pub_est_states.get().timestamp = hrt_absolute_time(); diff --git a/src/modules/local_position_estimator/params.c b/src/modules/local_position_estimator/params.c index da199ca24675..636f4289b04d 100644 --- a/src/modules/local_position_estimator/params.c +++ b/src/modules/local_position_estimator/params.c @@ -1,6 +1,12 @@ #include -// 16 is max name length +/** + * Local position estimator enable (unsupported) + * + * @group Local Position Estimator + * @boolean + */ +PARAM_DEFINE_INT32(LPE_EN, 0); /** * Optical flow z offset from center diff --git a/src/modules/local_position_estimator/sensors/gps.cpp b/src/modules/local_position_estimator/sensors/gps.cpp index acfef880979b..d3306e8d692a 100644 --- a/src/modules/local_position_estimator/sensors/gps.cpp +++ b/src/modules/local_position_estimator/sensors/gps.cpp @@ -92,9 +92,9 @@ int BlockLocalPositionEstimator::gpsMeasure(Vector &y) { // gps measurement y.setZero(); - y(0) = _sub_gps.get().lat * 1e-7; - y(1) = _sub_gps.get().lon * 1e-7; - y(2) = _sub_gps.get().alt * 1e-3; + y(0) = _sub_gps.get().latitude_deg; + y(1) = _sub_gps.get().longitude_deg; + y(2) = _sub_gps.get().altitude_msl_m; y(3) = (double)_sub_gps.get().vel_n_m_s; y(4) = (double)_sub_gps.get().vel_e_m_s; y(5) = (double)_sub_gps.get().vel_d_m_s; diff --git a/src/modules/logger/CMakeLists.txt b/src/modules/logger/CMakeLists.txt index ec07d9adae95..c75622e1d72f 100644 --- a/src/modules/logger/CMakeLists.txt +++ b/src/modules/logger/CMakeLists.txt @@ -35,6 +35,7 @@ px4_add_module( MODULE modules__logger MAIN logger PRIORITY "SCHED_PRIORITY_MAX-30" + STACK_MAIN 2500 COMPILE_FLAGS ${MAX_CUSTOM_OPT_LEVEL} -Wno-cast-align # TODO: fix and enable diff --git a/src/modules/logger/Kconfig b/src/modules/logger/Kconfig index db2c5a75460e..985fd3d56ed1 100644 --- a/src/modules/logger/Kconfig +++ b/src/modules/logger/Kconfig @@ -10,3 +10,11 @@ menuconfig USER_LOGGER depends on BOARD_PROTECTED && MODULES_LOGGER ---help--- Put logger in userspace memory + +menuconfig LOGGER_STACK_SIZE + int "stack size of logger task" + default 3700 + depends on MODULES_LOGGER + ---help--- + Stack size of the logger task. Some configurations require more stack + than the default. diff --git a/src/modules/logger/log_writer.cpp b/src/modules/logger/log_writer.cpp index 8511f9e92a3d..93a5eaa84769 100644 --- a/src/modules/logger/log_writer.cpp +++ b/src/modules/logger/log_writer.cpp @@ -123,11 +123,13 @@ bool LogWriter::is_started(LogType type, Backend query_backend) const return false; } -void LogWriter::start_log_file(LogType type, const char *filename) +bool LogWriter::start_log_file(LogType type, const char *filename) { if (_log_writer_file) { - _log_writer_file->start_log(type, filename); + return _log_writer_file->start_log(type, filename); } + + return false; } void LogWriter::stop_log_file(LogType type) @@ -195,5 +197,14 @@ void LogWriter::select_write_backend(Backend sel_backend) } } +bool LogWriter::had_file_write_error() const +{ + if (_log_writer_file) { + return _log_writer_file->had_write_error(); + } + + return false; +} + } } diff --git a/src/modules/logger/log_writer.h b/src/modules/logger/log_writer.h index 9635d22dadf0..32fdea46df06 100644 --- a/src/modules/logger/log_writer.h +++ b/src/modules/logger/log_writer.h @@ -65,10 +65,12 @@ class LogWriter /** stop all running threads and wait for them to exit */ void thread_stop(); - void start_log_file(LogType type, const char *filename); + bool start_log_file(LogType type, const char *filename); void stop_log_file(LogType type); + bool had_file_write_error() const; + void start_log_mavlink(); void stop_log_mavlink(); diff --git a/src/modules/logger/log_writer_file.cpp b/src/modules/logger/log_writer_file.cpp index 873da36d3ed9..2001baf2f61a 100644 --- a/src/modules/logger/log_writer_file.cpp +++ b/src/modules/logger/log_writer_file.cpp @@ -42,9 +42,11 @@ #include #include #include -#ifdef __PX4_NUTTX -#include -#endif /* __PX4_NUTTX */ + +#if defined(__PX4_NUTTX) +# include +# include +#endif // __PX4_NUTTX using namespace time_literals; @@ -60,11 +62,13 @@ LogWriterFile::LogWriterFile(size_t buffer_size) //We always write larger chunks (orb messages) to the buffer, so the buffer //needs to be larger than the minimum write chunk (300 is somewhat arbitrary) { - math::max(buffer_size, _min_write_chunk + 300), + buffer_size, + _min_write_chunk + 300, perf_alloc(PC_ELAPSED, "logger_sd_write"), perf_alloc(PC_ELAPSED, "logger_sd_fsync")}, { 300, // buffer size for the mission log (can be kept fairly small) + 1, perf_alloc(PC_ELAPSED, "logger_sd_write_mission"), perf_alloc(PC_ELAPSED, "logger_sd_fsync_mission")} } { @@ -211,7 +215,7 @@ bool LogWriterFile::init_logfile_encryption(const char *filename) #endif // PX4_CRYPTO -void LogWriterFile::start_log(LogType type, const char *filename) +bool LogWriterFile::start_log(LogType type, const char *filename) { // At this point we don't expect the file to be open, but it can happen for very fast consecutive stop & start // calls. In that case we wait for the thread to close the file first. @@ -243,7 +247,7 @@ void LogWriterFile::start_log(LogType type, const char *filename) if (!enc_init) { PX4_ERR("Failed to start encrypted logging"); _crypto.close(); - return; + return false; } #endif @@ -251,7 +255,10 @@ void LogWriterFile::start_log(LogType type, const char *filename) if (_buffers[(int)type].start_log(filename)) { PX4_INFO("Opened %s log file: %s", log_type_str(type), filename); notify(); + return true; } + + return false; } int LogWriterFile::hardfault_store_filename(const char *log_file) @@ -452,6 +459,7 @@ void LogWriterFile::run() } else { PX4_ERR("write failed (%i)", errno); + buffer._had_write_error.store(true); buffer._should_run = false; pthread_mutex_unlock(&_mtx); buffer.close_file(); @@ -586,9 +594,12 @@ const char *log_type_str(LogType type) return "unknown"; } -LogWriterFile::LogFileBuffer::LogFileBuffer(size_t log_buffer_size, perf_counter_t perf_write, - perf_counter_t perf_fsync) - : _buffer_size(log_buffer_size), _perf_write(perf_write), _perf_fsync(perf_fsync) +LogWriterFile::LogFileBuffer::LogFileBuffer(size_t log_buffer_desired_size, size_t log_buffer_min_size, + perf_counter_t perf_write, perf_counter_t perf_fsync) : + _buffer_size(log_buffer_desired_size), + _buffer_size_min(log_buffer_min_size), + _perf_write(perf_write), + _perf_fsync(perf_fsync) { } @@ -648,6 +659,7 @@ size_t LogWriterFile::LogFileBuffer::get_read_ptr(void **ptr, bool *is_part) bool LogWriterFile::LogFileBuffer::start_log(const char *filename) { _fd = ::open(filename, O_CREAT | O_WRONLY, PX4_O_MODE_666); + _had_write_error.store(false); if (_fd < 0) { PX4_ERR("Can't open log file %s, errno: %d", filename, errno); @@ -655,6 +667,25 @@ bool LogWriterFile::LogFileBuffer::start_log(const char *filename) } if (_buffer == nullptr) { + _buffer_size = math::max(_buffer_size, _buffer_size_min); + +#if defined(__PX4_NUTTX) + struct mallinfo alloc_info = mallinfo(); + + // reduced to largest available free chunk, but leave at least 1 kB available + static constexpr ssize_t one_kb = 1024; + const ssize_t reduced_buffer_size = math::max((alloc_info.mxordblk - one_kb) / one_kb * one_kb, + (ssize_t)_buffer_size_min); + + if ((reduced_buffer_size > 0) && ((ssize_t)_buffer_size > reduced_buffer_size)) { + PX4_WARN("requested buffer size %dB limited to available %dB (available plus 1 kB margin)", + _buffer_size, reduced_buffer_size); + + _buffer_size = reduced_buffer_size; + } + +#endif // __PX4_NUTTX + _buffer = (uint8_t *) px4_cache_aligned_alloc(_buffer_size); if (_buffer == nullptr) { diff --git a/src/modules/logger/log_writer_file.h b/src/modules/logger/log_writer_file.h index 218f1272581f..765487893809 100644 --- a/src/modules/logger/log_writer_file.h +++ b/src/modules/logger/log_writer_file.h @@ -79,7 +79,7 @@ class LogWriterFile void thread_stop(); - void start_log(LogType type, const char *filename); + bool start_log(LogType type, const char *filename); void stop_log(LogType type); @@ -132,6 +132,8 @@ class LogWriterFile return _need_reliable_transfer; } + bool had_write_error() const { return _buffers[(int)LogType::Full]._had_write_error.load(); } + pthread_t thread_id() const { return _thread; } #if defined(PX4_CRYPTO) @@ -167,7 +169,8 @@ class LogWriterFile class LogFileBuffer { public: - LogFileBuffer(size_t log_buffer_size, perf_counter_t perf_write, perf_counter_t perf_fsync); + LogFileBuffer(size_t log_buffer_desired_size, size_t log_buffer_min_size, + perf_counter_t perf_write, perf_counter_t perf_fsync); ~LogFileBuffer(); @@ -199,8 +202,10 @@ class LogWriterFile size_t count() const { return _count; } bool _should_run = false; + px4::atomic_bool _had_write_error{false}; private: - const size_t _buffer_size; + size_t _buffer_size; + const size_t _buffer_size_min; int _fd = -1; uint8_t *_buffer = nullptr; size_t _head = 0; ///< next position to write to diff --git a/src/modules/logger/logged_topics.cpp b/src/modules/logger/logged_topics.cpp index 31ea1bad68b2..5be39234e34f 100644 --- a/src/modules/logger/logged_topics.cpp +++ b/src/modules/logger/logged_topics.cpp @@ -53,8 +53,10 @@ void LoggedTopics::add_default_topics() add_optional_topic("autotune_attitude_control_status", 100); add_optional_topic("camera_capture"); add_optional_topic("camera_trigger"); + add_optional_topic("can_interface_status", 10); add_topic("cellular_status", 200); add_topic("commander_state"); + add_topic("config_overrides"); add_topic("cpuload"); add_optional_topic("external_ins_attitude"); add_optional_topic("external_ins_global_position"); @@ -66,6 +68,8 @@ void LoggedTopics::add_default_topics() add_optional_topic("follow_target_estimator", 200); add_optional_topic("follow_target_status", 400); add_optional_topic("flaps_setpoint", 1000); + add_optional_topic("flight_phase_estimation", 1000); + add_optional_topic("fuel_tank_status", 10); add_topic("gimbal_manager_set_attitude", 500); add_optional_topic("generator_status"); add_optional_topic("gps_dump"); @@ -87,16 +91,24 @@ void LoggedTopics::add_default_topics() add_topic("manual_control_switches"); add_topic("mission_result"); add_topic("navigator_mission_item"); + add_topic("navigator_status"); add_topic("npfg_status", 100); add_topic("offboard_control_mode", 100); add_topic("onboard_computer_status", 10); add_topic("parameter_update"); add_topic("position_controller_status", 500); add_topic("position_controller_landing_status", 100); + add_topic("goto_setpoint", 200); add_topic("position_setpoint_triplet", 200); add_optional_topic("px4io_status"); add_topic("radio_status"); + add_optional_topic("rover_ackermann_guidance_status", 100); + add_optional_topic("rover_ackermann_status", 100); + add_optional_topic("rover_differential_guidance_status", 100); + add_optional_topic("rover_differential_status", 100); add_topic("rtl_time_estimate", 1000); + add_topic("rtl_status", 2000); + add_optional_topic("sensor_airflow", 100); add_topic("sensor_combined"); add_optional_topic("sensor_correction"); add_optional_topic("sensor_gyro_fft", 50); @@ -119,7 +131,7 @@ void LoggedTopics::add_default_topics() add_topic("vehicle_constraints", 1000); add_topic("vehicle_control_mode"); add_topic("vehicle_global_position", 200); - add_topic("vehicle_gps_position", 500); + add_topic("vehicle_gps_position", 100); add_topic("vehicle_land_detected"); add_topic("vehicle_local_position", 100); add_topic("vehicle_local_position_setpoint", 100); @@ -137,70 +149,30 @@ void LoggedTopics::add_default_topics() add_optional_topic_multi("rate_ctrl_status", 200, 2); add_optional_topic_multi("sensor_hygrometer", 500, 4); add_optional_topic_multi("rpm", 200); + add_topic_multi("timesync_status", 1000, 3); add_optional_topic_multi("telemetry_status", 1000, 4); - // EKF multi topics (currently max 9 estimators) -#if CONSTRAINED_MEMORY - static constexpr uint8_t MAX_ESTIMATOR_INSTANCES = 1; -#else - static constexpr uint8_t MAX_ESTIMATOR_INSTANCES = 6; // artificially limited until PlotJuggler fixed - add_optional_topic("estimator_selector_status"); - add_optional_topic_multi("estimator_attitude", 500, MAX_ESTIMATOR_INSTANCES); - add_optional_topic_multi("estimator_global_position", 1000, MAX_ESTIMATOR_INSTANCES); - add_optional_topic_multi("estimator_local_position", 500, MAX_ESTIMATOR_INSTANCES); - add_optional_topic_multi("estimator_wind", 1000, MAX_ESTIMATOR_INSTANCES); -#endif - - // always add the first instance - add_topic("estimator_baro_bias", 500); - add_topic("estimator_gnss_hgt_bias", 500); - add_topic("estimator_rng_hgt_bias", 500); - add_topic("estimator_ev_pos_bias", 500); - add_topic("estimator_event_flags", 0); - add_topic("estimator_gps_status", 1000); - add_topic("estimator_innovation_test_ratios", 500); - add_topic("estimator_innovation_variances", 500); - add_topic("estimator_innovations", 500); - add_topic("estimator_optical_flow_vel", 200); - add_topic("estimator_sensor_bias", 0); - add_topic("estimator_states", 1000); - add_topic("estimator_status", 200); - add_topic("estimator_status_flags", 0); - add_topic("yaw_estimator_status", 1000); - - add_optional_topic_multi("estimator_baro_bias", 500, MAX_ESTIMATOR_INSTANCES); - add_optional_topic_multi("estimator_gnss_hgt_bias", 500, MAX_ESTIMATOR_INSTANCES); - add_optional_topic_multi("estimator_rng_hgt_bias", 500, MAX_ESTIMATOR_INSTANCES); - add_optional_topic_multi("estimator_ev_pos_bias", 500, MAX_ESTIMATOR_INSTANCES); - add_optional_topic_multi("estimator_event_flags", 0, MAX_ESTIMATOR_INSTANCES); - add_optional_topic_multi("estimator_gps_status", 1000, MAX_ESTIMATOR_INSTANCES); - add_optional_topic_multi("estimator_innovation_test_ratios", 500, MAX_ESTIMATOR_INSTANCES); - add_optional_topic_multi("estimator_innovation_variances", 500, MAX_ESTIMATOR_INSTANCES); - add_optional_topic_multi("estimator_innovations", 500, MAX_ESTIMATOR_INSTANCES); - add_optional_topic_multi("estimator_optical_flow_vel", 200, MAX_ESTIMATOR_INSTANCES); - add_optional_topic_multi("estimator_sensor_bias", 0, MAX_ESTIMATOR_INSTANCES); - add_optional_topic_multi("estimator_states", 1000, MAX_ESTIMATOR_INSTANCES); - add_optional_topic_multi("estimator_status", 200, MAX_ESTIMATOR_INSTANCES); - add_optional_topic_multi("estimator_status_flags", 0, MAX_ESTIMATOR_INSTANCES); - add_optional_topic_multi("yaw_estimator_status", 1000, MAX_ESTIMATOR_INSTANCES); - - // add_optional_topic_multi("estimator_aid_src_airspeed", 100, MAX_ESTIMATOR_INSTANCES); - // add_optional_topic_multi("estimator_aid_src_baro_hgt", 100, MAX_ESTIMATOR_INSTANCES); - // add_optional_topic_multi("estimator_aid_src_ev_pos", 100, MAX_ESTIMATOR_INSTANCES); - // add_optional_topic_multi("estimator_aid_src_ev_vel", 100, MAX_ESTIMATOR_INSTANCES); - // add_optional_topic_multi("estimator_aid_src_ev_yaw", 100, MAX_ESTIMATOR_INSTANCES); - // add_optional_topic_multi("estimator_aid_src_gravity", 100, MAX_ESTIMATOR_INSTANCES); - // add_optional_topic_multi("estimator_aid_src_rng_hgt", 100, MAX_ESTIMATOR_INSTANCES); - // add_optional_topic_multi("estimator_aid_src_fake_hgt", 100, MAX_ESTIMATOR_INSTANCES); - // add_optional_topic_multi("estimator_aid_src_fake_pos", 100, MAX_ESTIMATOR_INSTANCES); - // add_optional_topic_multi("estimator_aid_src_gnss_yaw", 100, MAX_ESTIMATOR_INSTANCES); - // add_optional_topic_multi("estimator_aid_src_gnss_vel", 100, MAX_ESTIMATOR_INSTANCES); - // add_optional_topic_multi("estimator_aid_src_gnss_pos", 100, MAX_ESTIMATOR_INSTANCES); - // add_optional_topic_multi("estimator_aid_src_mag_heading", 100, MAX_ESTIMATOR_INSTANCES); - // add_optional_topic_multi("estimator_aid_src_mag", 100, MAX_ESTIMATOR_INSTANCES); - // add_optional_topic_multi("estimator_aid_src_optical_flow", 100, MAX_ESTIMATOR_INSTANCES); - // add_optional_topic_multi("estimator_aid_src_terrain_optical_flow", 100, MAX_ESTIMATOR_INSTANCES); - // add_optional_topic_multi("estimator_aid_src_ev_yaw", 100, MAX_ESTIMATOR_INSTANCES); + // EKF multi topics + { + // optionally log all estimator* topics at minimal rate + const uint16_t kEKFVerboseIntervalMilliseconds = 500; // 2 Hz + const struct orb_metadata *const *topic_list = orb_get_topics(); + + for (size_t i = 0; i < orb_topics_count(); i++) { + if (strncmp(topic_list[i]->o_name, "estimator", 9) == 0) { + add_optional_topic_multi(topic_list[i]->o_name, kEKFVerboseIntervalMilliseconds); + } + } + } + + // important EKF topics (higher rate) + add_optional_topic("estimator_selector_status", 10); + add_optional_topic_multi("estimator_event_flags", 10); + add_optional_topic_multi("estimator_optical_flow_vel", 200); + add_optional_topic_multi("estimator_sensor_bias", 1000); + add_optional_topic_multi("estimator_status", 200); + add_optional_topic_multi("estimator_status_flags", 10); + add_optional_topic_multi("yaw_estimator_status", 1000); // log all raw sensors at minimal rate (at least 1 Hz) add_topic_multi("battery_status", 200, 2); @@ -218,6 +190,7 @@ void LoggedTopics::add_default_topics() add_topic_multi("vehicle_imu_status", 1000, 4); add_optional_topic_multi("vehicle_magnetometer", 500, 4); add_topic("vehicle_optical_flow", 500); + add_topic("aux_global_position", 500); //add_optional_topic("vehicle_optical_flow_vel", 100); add_optional_topic("pps_capture"); @@ -253,44 +226,23 @@ void LoggedTopics::add_default_topics() add_topic("vehicle_local_position_groundtruth", 20); // EKF replay - add_topic("estimator_baro_bias"); - add_topic("estimator_gnss_hgt_bias"); - add_topic("estimator_rng_hgt_bias"); - add_topic("estimator_ev_pos_bias"); - add_topic("estimator_event_flags"); - add_topic("estimator_gps_status"); - add_topic("estimator_innovation_test_ratios"); - add_topic("estimator_innovation_variances"); - add_topic("estimator_innovations"); - add_topic("estimator_optical_flow_vel"); - add_topic("estimator_sensor_bias"); - add_topic("estimator_states"); - add_topic("estimator_status"); - add_topic("estimator_status_flags"); + { + // optionally log all estimator* topics at minimal rate + const uint16_t kEKFVerboseIntervalMilliseconds = 10; // 100 Hz + const struct orb_metadata *const *topic_list = orb_get_topics(); + + for (size_t i = 0; i < orb_topics_count(); i++) { + if (strncmp(topic_list[i]->o_name, "estimator", 9) == 0) { + add_optional_topic_multi(topic_list[i]->o_name, kEKFVerboseIntervalMilliseconds); + } + } + } + add_topic("vehicle_attitude"); add_topic("vehicle_global_position"); add_topic("vehicle_local_position"); add_topic("wind"); - add_topic("yaw_estimator_status"); - - add_optional_topic_multi("estimator_aid_src_airspeed", 0, MAX_ESTIMATOR_INSTANCES); - add_optional_topic_multi("estimator_aid_src_baro_hgt", 0, MAX_ESTIMATOR_INSTANCES); - add_optional_topic_multi("estimator_aid_src_rng_hgt", 0, MAX_ESTIMATOR_INSTANCES); - add_optional_topic_multi("estimator_aid_src_fake_hgt", 0, MAX_ESTIMATOR_INSTANCES); - add_optional_topic_multi("estimator_aid_src_fake_pos", 0, MAX_ESTIMATOR_INSTANCES); - add_optional_topic_multi("estimator_aid_src_ev_hgt", 0, MAX_ESTIMATOR_INSTANCES); - add_optional_topic_multi("estimator_aid_src_ev_pos", 0, MAX_ESTIMATOR_INSTANCES); - add_optional_topic_multi("estimator_aid_src_ev_vel", 0, MAX_ESTIMATOR_INSTANCES); - add_optional_topic_multi("estimator_aid_src_ev_yaw", 0, MAX_ESTIMATOR_INSTANCES); - add_optional_topic_multi("estimator_aid_src_gnss_hgt", 0, MAX_ESTIMATOR_INSTANCES); - add_optional_topic_multi("estimator_aid_src_gnss_pos", 0, MAX_ESTIMATOR_INSTANCES); - add_optional_topic_multi("estimator_aid_src_gnss_vel", 0, MAX_ESTIMATOR_INSTANCES); - add_optional_topic_multi("estimator_aid_src_gnss_yaw", 0, MAX_ESTIMATOR_INSTANCES); - add_optional_topic_multi("estimator_aid_src_mag_heading", 0, MAX_ESTIMATOR_INSTANCES); - add_optional_topic_multi("estimator_aid_src_mag", 0, MAX_ESTIMATOR_INSTANCES); - add_optional_topic_multi("estimator_aid_src_optical_flow", 0, MAX_ESTIMATOR_INSTANCES); - add_optional_topic_multi("estimator_aid_src_terrain_optical_flow", 0, MAX_ESTIMATOR_INSTANCES); - add_optional_topic_multi("estimator_aid_src_sideslip", 0, MAX_ESTIMATOR_INSTANCES); + add_optional_topic_multi("yaw_estimator_status"); #endif /* CONFIG_ARCH_BOARD_PX4_SITL */ } @@ -299,16 +251,19 @@ void LoggedTopics::add_high_rate_topics() { // maximum rate to analyze fast maneuvers (e.g. for racing) add_topic("manual_control_setpoint"); - add_topic("rate_ctrl_status", 20); + add_topic_multi("rate_ctrl_status", 20, 2); add_topic("sensor_combined"); add_topic("vehicle_angular_velocity"); add_topic("vehicle_attitude"); add_topic("vehicle_attitude_setpoint"); add_topic("vehicle_rates_setpoint"); + add_topic("esc_status", 5); add_topic("actuator_motors"); - add_topic("vehicle_thrust_setpoint"); - add_topic("vehicle_torque_setpoint"); + add_topic("actuator_outputs_debug"); + add_topic("actuator_servos"); + add_topic_multi("vehicle_thrust_setpoint", 0, 2); + add_topic_multi("vehicle_torque_setpoint", 0, 2); } void LoggedTopics::add_debug_topics() @@ -330,7 +285,7 @@ void LoggedTopics::add_estimator_replay_topics() // current EKF2 subscriptions add_topic("airspeed"); - add_topic("optical_flow"); + add_topic("vehicle_optical_flow"); add_topic("sensor_combined"); add_topic("sensor_selection"); add_topic("vehicle_air_data"); @@ -339,21 +294,23 @@ void LoggedTopics::add_estimator_replay_topics() add_topic("vehicle_magnetometer"); add_topic("vehicle_status"); add_topic("vehicle_visual_odometry"); + add_topic("aux_global_position"); add_topic_multi("distance_sensor"); } void LoggedTopics::add_thermal_calibration_topics() { - add_topic_multi("sensor_accel", 100, 3); - add_topic_multi("sensor_baro", 100, 3); - add_topic_multi("sensor_gyro", 100, 3); + add_topic_multi("sensor_accel", 100, 4); + add_topic_multi("sensor_baro", 100, 4); + add_topic_multi("sensor_gyro", 100, 4); + add_topic_multi("sensor_mag", 100, 4); } void LoggedTopics::add_sensor_comparison_topics() { - add_topic_multi("sensor_accel", 100, 3); - add_topic_multi("sensor_baro", 100, 3); - add_topic_multi("sensor_gyro", 100, 3); + add_topic_multi("sensor_accel", 100, 4); + add_topic_multi("sensor_baro", 100, 4); + add_topic_multi("sensor_gyro", 100, 4); add_topic_multi("sensor_mag", 100, 4); } @@ -383,6 +340,8 @@ void LoggedTopics::add_system_identification_topics() add_topic("sensor_combined"); add_topic("vehicle_angular_velocity"); add_topic("vehicle_torque_setpoint"); + add_topic("vehicle_acceleration"); + add_topic("actuator_motors"); } void LoggedTopics::add_mavlink_tunnel() diff --git a/src/modules/logger/logged_topics.h b/src/modules/logger/logged_topics.h index 4a990d5ba766..de27574ce8ca 100644 --- a/src/modules/logger/logged_topics.h +++ b/src/modules/logger/logged_topics.h @@ -88,7 +88,7 @@ class LoggedTopics RequestedSubscription sub[MAX_TOPICS_NUM]; int count{0}; - uint8_t excluded_optional_topic_ids[MAX_EXCLUDED_OPTIONAL_TOPICS_NUM]; + orb_id_size_t excluded_optional_topic_ids[MAX_EXCLUDED_OPTIONAL_TOPICS_NUM]; int num_excluded_optional_topic_ids{0}; }; diff --git a/src/modules/logger/logger.cpp b/src/modules/logger/logger.cpp index d2a6b906d735..8d897a103a4d 100644 --- a/src/modules/logger/logger.cpp +++ b/src/modules/logger/logger.cpp @@ -44,12 +44,14 @@ #include #include +#include #include #include #include #include #include +#include #include #include #include @@ -67,6 +69,10 @@ //#define DBGPRINT //write status output every few seconds +static_assert(uORB::orb_untokenized_fields_max_length < sizeof(ulog_message_format_s::format) - + HEATSHRINK_DECODER_INPUT_BUFFER_SIZE(_), + "msg definition too long / buffer too short"); + #if defined(DBGPRINT) // needed for mallinfo #if defined(__PX4_POSIX) && !defined(__PX4_DARWIN) @@ -170,7 +176,7 @@ int Logger::task_spawn(int argc, char *argv[]) _task_id = px4_task_spawn_cmd("logger", SCHED_DEFAULT, SCHED_PRIORITY_LOG_CAPTURE, - PX4_STACK_ADJUSTED(3700), + PX4_STACK_ADJUSTED(CONFIG_LOGGER_STACK_SIZE), (px4_main_t)&run_trampoline, (char *const *)argv); @@ -887,6 +893,8 @@ void Logger::run() was_started = false; } + handle_file_write_error(); + update_params(); // wait for next loop iteration... @@ -1029,6 +1037,12 @@ void Logger::publish_logger_status() if (hrt_elapsed_time(&_logger_status_last) >= 1_s) { for (int i = 0; i < (int)LogType::Count; ++i) { + logger_status_s status = {}; + status.type = i; + status.backend = _writer.backend(); + status.num_messages = _num_subscriptions; + status.timestamp = hrt_absolute_time(); + const LogType log_type = static_cast(i); if (_writer.is_started(log_type)) { @@ -1038,19 +1052,16 @@ void Logger::publish_logger_status() const float kb_written = _writer.get_total_written_file(log_type) / 1024.0f; const float seconds = hrt_elapsed_time(&_statistics[i].start_time_file) * 1e-6f; - logger_status_s status; - status.type = i; - status.backend = _writer.backend(); + status.is_logging = true; status.total_written_kb = kb_written; status.write_rate_kb_s = kb_written / seconds; status.dropouts = _statistics[i].write_dropouts; status.message_gaps = _message_gaps; status.buffer_used_bytes = buffer_fill_count_file; status.buffer_size_bytes = _writer.get_buffer_size_file(log_type); - status.num_messages = _num_subscriptions; - status.timestamp = hrt_absolute_time(); - _logger_status_pub[i].publish(status); } + + _logger_status_pub[i].publish(status); } _logger_status_last = hrt_absolute_time(); @@ -1117,8 +1128,8 @@ bool Logger::start_stop_logging() if (_vehicle_status_sub.update(&vehicle_status)) { - desired_state = (vehicle_status.arming_state == vehicle_status_s::ARMING_STATE_ARMED) || (_prev_state - && _log_mode == LogMode::arm_until_shutdown); + desired_state = (vehicle_status.arming_state == vehicle_status_s::ARMING_STATE_ARMED) || + (_prev_file_log_start_state && _log_mode == LogMode::arm_until_shutdown); updated = true; } } @@ -1126,8 +1137,8 @@ bool Logger::start_stop_logging() desired_state = desired_state || _manually_logging_override; // only start/stop if this is a state transition - if (updated && _prev_state != desired_state) { - _prev_state = desired_state; + if (updated && _prev_file_log_start_state != desired_state) { + _prev_file_log_start_state = desired_state; if (desired_state) { if (_should_stop_file_log) { // happens on quick stop/start toggling @@ -1394,6 +1405,7 @@ void Logger::start_log_file(LogType type) } PX4_INFO("Start file log (type: %s)", log_type_str(type)); + _statistics[(int) type].start_time_file = 0; char file_name[LOG_DIR_LEN] = ""; @@ -1409,35 +1421,36 @@ void Logger::start_log_file(LogType type) _param_sdlog_crypto_exchange_key.get()); #endif - _writer.start_log_file(type, file_name); - _writer.select_write_backend(LogWriter::BackendFile); - _writer.set_need_reliable_transfer(true); + if (_writer.start_log_file(type, file_name)) { + _writer.select_write_backend(LogWriter::BackendFile); + _writer.set_need_reliable_transfer(true); - write_header(type); - write_version(type); - write_formats(type); + write_header(type); + write_version(type); + write_formats(type); + + if (type == LogType::Full) { + write_parameters(type); + write_parameter_defaults(type); + write_perf_data(PrintLoadReason::Preflight); + write_console_output(); + write_events_file(LogType::Full); + write_excluded_optional_topics(type); + } - if (type == LogType::Full) { - write_parameters(type); - write_parameter_defaults(type); - write_perf_data(PrintLoadReason::Preflight); - write_console_output(); - write_events_file(LogType::Full); - write_excluded_optional_topics(type); - } + write_all_add_logged_msg(type); + _writer.set_need_reliable_transfer(false); + _writer.unselect_write_backend(); + _writer.notify(); - write_all_add_logged_msg(type); - _writer.set_need_reliable_transfer(false); - _writer.unselect_write_backend(); - _writer.notify(); + if (type == LogType::Full) { + /* reset performance counters to get in-flight min and max values in post flight log */ + perf_reset_all(); + } - if (type == LogType::Full) { - /* reset performance counters to get in-flight min and max values in post flight log */ - perf_reset_all(); + _statistics[(int) type].start_time_file = hrt_absolute_time(); } - _statistics[(int)type].start_time_file = hrt_absolute_time(); - } void Logger::stop_log_file(LogType type) @@ -1513,6 +1526,19 @@ struct perf_callback_data_t { char *buffer; }; +void Logger::handle_file_write_error() +{ + // Check for write errors, but do not immediately retry + if (_writer.had_file_write_error() && !_writer.is_started(LogType::Full, LogWriter::BackendFile) + && _prev_file_log_start_state) { + if (_statistics[(int)LogType::Full].start_time_file != 0 + && hrt_absolute_time() > _statistics[(int)LogType::Full].start_time_file + 10_s) { + PX4_DEBUG("Restarting due to write failure"); + start_log_file(LogType::Full); + } + } +} + void Logger::perf_iterate_callback(perf_counter_t handle, void *user) { perf_callback_data_t *callback_data = (perf_callback_data_t *)user; @@ -1587,6 +1613,11 @@ void Logger::print_load_callback(void *user) void Logger::initialize_load_output(PrintLoadReason reason) { + // If already in progress, don't try to start again + if (_next_load_print != 0) { + return; + } + init_print_load(&_load); if (reason == PrintLoadReason::Watchdog) { @@ -1642,157 +1673,135 @@ void Logger::write_console_output() } -void Logger::write_format(LogType type, const orb_metadata &meta, WrittenFormats &written_formats, - ulog_message_format_s &msg, int subscription_index, int level) +void Logger::write_formats(LogType type) { - if (level > 3) { - // precaution: limit recursion level. If we land here it's either a bug or nested topic definitions. In the - // latter case, increase the maximum level. - PX4_ERR("max recursion level reached (%i)", level); - return; - } + _writer.lock(); - // check if we already wrote the format: either if at a previous _subscriptions index or in written_formats - for (const auto &written_format : written_formats) { - if (written_format == &meta) { - PX4_DEBUG("already added: %s", meta.o_name); - return; - } - } + // This is large and thus we need to be careful in terms of stack size requirements + ulog_message_format_s msg; - for (int i = 0; i < subscription_index; ++i) { - if (_subscriptions[i].get_topic() == &meta) { - PX4_DEBUG("already in _subscriptions: %s", meta.o_name); - return; - } + // Write all subscribed formats + int sub_count = _num_subscriptions; + + if (type == LogType::Mission) { + sub_count = _num_mission_subs; } - PX4_DEBUG("writing format for %s", meta.o_name); + // Keep a bitset of all required formats (nested definitions are added later on to the bitset) + px4::Bitset formats_to_write; - // Write the current format (we don't need to check if we already added it to written_formats) - int format_len = snprintf(msg.format, sizeof(msg.format), "%s:", meta.o_name); + for (int i = 0; i < sub_count; ++i) { + const LoggerSubscription &sub = _subscriptions[i]; - for (int format_idx = 0; meta.o_fields[format_idx] != 0;) { - const char *end_field = strchr(meta.o_fields + format_idx, ';'); + if (sub.get_topic()->o_id < formats_to_write.size()) { + formats_to_write.set(sub.get_topic()->o_id); - if (!end_field) { - PX4_ERR("Format error in %s", meta.o_fields); - return; + } else { + PX4_ERR("logic error"); } + } - const char *c_type = orb_get_c_type(meta.o_fields[format_idx]); + formats_to_write.set(_event_subscription.get_topic()->o_id); - if (c_type) { - format_len += snprintf(msg.format + format_len, sizeof(msg.format) - format_len, "%s", c_type); - ++format_idx; - } - int len = end_field - (meta.o_fields + format_idx) + 1; + static_assert(sizeof(msg.format) > uORB::orb_tokenized_fields_max_length, "uORB message definition too long"); + uORB::MessageFormatReader format_reader(msg.format, sizeof(msg.format)); + bool done = false; - if (len >= (int)sizeof(msg.format) - format_len) { - PX4_WARN("skip topic %s, format string is too large, max is %zu", meta.o_name, - sizeof(ulog_message_format_s::format)); - return; - } + while (!done) { + switch (format_reader.readMore()) { + case uORB::MessageFormatReader::State::FormatComplete: { + unsigned format_length = format_reader.formatLength(); + // Move the left-over (the part after the format if any) to the end of the buffer + const unsigned leftover_length = format_reader.moveLeftoverToBufferEnd(); - memcpy(msg.format + format_len, meta.o_fields + format_idx, len); - format_len += len; - format_idx += len; - } - - msg.format[format_len] = '\0'; - size_t msg_size = sizeof(msg) - sizeof(msg.format) + format_len; - msg.msg_size = msg_size - ULOG_MSG_HEADER_LEN; + bool needs_expansion = true; + int last_name_length = 0; + bool format_error = false; - write_message(type, &msg, msg_size); + for (const orb_id_size_t orb_id : format_reader.orbIDs()) { + if (orb_id >= formats_to_write.size() || !formats_to_write[orb_id]) { + continue; + } - if (level > 1 && !written_formats.push_back(&meta)) { - PX4_ERR("Array too small"); - } + // Make sure to write dependencies too + for (const orb_id_size_t orb_id_dep : format_reader.orbIDsDependencies()) { + formats_to_write.set(orb_id_dep); + } - // Now go through the fields and check for nested type usages. - // o_fields looks like this for example: " timestamp;[5] array;" - const char *fmt = meta.o_fields; + formats_to_write.set(orb_id, false); + const orb_metadata &meta = *get_orb_meta((ORB_ID) orb_id); - while (fmt && *fmt) { - // extract the type name - char type_name[64]; - const char *space = strchr(fmt, ' '); + PX4_DEBUG("writing format for %s", meta.o_name); - if (!space) { - PX4_ERR("invalid format %s", fmt); - break; - } + // Expand if needed (first time only) + if (needs_expansion) { + const int ret = uORB::MessageFormatReader::expandMessageFormat(msg.format, format_length, + sizeof(msg.format) - leftover_length); - const char *array_start = strchr(fmt, '['); // check for an array + if (ret < 0) { + PX4_ERR("Format %s error (too long?)", meta.o_name); + format_error = true; - int type_length; + } else { + format_length = ret; + } - if (array_start && array_start < space) { - type_length = array_start - fmt; + needs_expansion = false; + } - } else { - type_length = space - fmt; - } + // Prepend format name and ':' + const int name_length = strlen(meta.o_name) + 1; // + 1 for ':' - if (type_length >= (int)sizeof(type_name)) { - PX4_ERR("buf len too small"); - break; - } + if (format_length + name_length - last_name_length + 1 > sizeof(msg.format) - leftover_length) { + PX4_ERR("Format %s too long", meta.o_name); + format_error = true; + } - memcpy(type_name, fmt, type_length); - type_name[type_length] = '\0'; + if (format_error) { + break; + } - // ignore built-in types - if (orb_get_c_type(type_name[0]) == nullptr) { + if (last_name_length != name_length) { + memmove(msg.format + name_length, msg.format + last_name_length, + format_length + 1 - last_name_length); + msg.format[name_length - 1] = ':'; + format_length += name_length - last_name_length; + last_name_length = name_length; + } - // find orb meta for type - const orb_metadata *const *topics = orb_get_topics(); - const orb_metadata *found_topic = nullptr; + memcpy(msg.format, meta.o_name, name_length - 1); - for (size_t i = 0; i < orb_topics_count(); i++) { - if (strcmp(topics[i]->o_name, type_name) == 0) { - found_topic = topics[i]; + size_t msg_size = sizeof(msg) - sizeof(msg.format) + format_length; + msg.msg_size = msg_size - ULOG_MSG_HEADER_LEN; + write_message(type, &msg, msg_size); } - } - - if (found_topic) { - - write_format(type, *found_topic, written_formats, msg, subscription_index, level + 1); - } else { - PX4_ERR("No definition for topic %s found", fmt); + // Move left-over back + format_reader.clearFormatAndRestoreLeftover(); + break; } - } - - fmt = strchr(fmt, ';'); - - if (fmt) { ++fmt; } - } -} - -void Logger::write_formats(LogType type) -{ - _writer.lock(); + break; - // both of these are large and thus we need to be careful in terms of stack size requirements - ulog_message_format_s msg; - WrittenFormats written_formats; + case uORB::MessageFormatReader::State::Failure: + PX4_ERR("Failed to read formats"); + done = true; + break; - // write all subscribed formats - int sub_count = _num_subscriptions; + case uORB::MessageFormatReader::State::Complete: + done = true; + break; - if (type == LogType::Mission) { - sub_count = _num_mission_subs; + default: + break; + } } - for (int i = 0; i < sub_count; ++i) { - const LoggerSubscription &sub = _subscriptions[i]; - write_format(type, *sub.get_topic(), written_formats, msg, i); + if (formats_to_write.count() > 0) { + // Getting here is a bug. Maybe the ordering of nested formats is not as expected? + PX4_ERR("Not all formats written"); } - write_format(type, *_event_subscription.get_topic(), written_formats, msg, sub_count); - _writer.unlock(); } @@ -2075,12 +2084,6 @@ void Logger::write_version(LogType type) write_info(type, "sys_toolchain", px4_toolchain_name()); write_info(type, "sys_toolchain_ver", px4_toolchain_version()); - const char *ecl_version = px4_ecl_lib_version_string(); - - if (ecl_version && ecl_version[0]) { - write_info(type, "sys_lib_ecl_ver", ecl_version); - } - char revision = 'U'; const char *chip_name = nullptr; @@ -2092,7 +2095,8 @@ void Logger::write_version(LogType type) // data versioning: increase this on every larger data change (format/semantic) // 1: switch to FIFO drivers (disabled on-chip DLPF) - write_info(type, "ver_data_format", static_cast(1)); + // 2: changed lat/lon/alt* to double to accommodate RTK GPS centimeter level precision + write_info(type, "ver_data_format", static_cast(2)); #ifndef BOARD_HAS_NO_UUID diff --git a/src/modules/logger/logger.h b/src/modules/logger/logger.h index 65a9f1d179b3..44499c71b503 100644 --- a/src/modules/logger/logger.h +++ b/src/modules/logger/logger.h @@ -158,8 +158,8 @@ class Logger : public ModuleBase, public ModuleParams static constexpr int MAX_MISSION_TOPICS_NUM = 5; /**< Maximum number of mission topics */ static constexpr unsigned MAX_NO_LOGFILE = 999; /**< Maximum number of log files */ static constexpr const char *LOG_ROOT[(int)LogType::Count] = { - PX4_STORAGEDIR "/log", - PX4_STORAGEDIR "/mission_log" + CONFIG_BOARD_ROOT_PATH "/log", + CONFIG_BOARD_ROOT_PATH "/mission_log" }; struct LogFileName { @@ -236,11 +236,6 @@ class Logger : public ModuleBase, public ModuleParams */ void write_header(LogType type); - /// Array to store written formats for nested definitions (only) - using WrittenFormats = Array < const orb_metadata *, 20 >; - - void write_format(LogType type, const orb_metadata &meta, WrittenFormats &written_formats, ulog_message_format_s &msg, - int subscription_index, int level = 1); void write_formats(LogType type); /** @@ -315,6 +310,8 @@ class Logger : public ModuleBase, public ModuleParams void handle_vehicle_command_update(); void ack_vehicle_command(vehicle_command_s *cmd, uint32_t result); + void handle_file_write_error(); + /** * initialize the output for the process load, so that ~1 second later it will be written to the log */ @@ -346,7 +343,7 @@ class Logger : public ModuleBase, public ModuleParams LogFileName _file_name[(int)LogType::Count]; - bool _prev_state{false}; ///< previous state depending on logging mode (arming or aux1 state) + bool _prev_file_log_start_state{false}; ///< previous state depending on logging mode (arming or aux1 state) bool _manually_logging_override{false}; Statistics _statistics[(int)LogType::Count]; @@ -363,7 +360,7 @@ class Logger : public ModuleBase, public ModuleParams uint16_t _event_sequence_offset{0}; ///< event sequence offset to account for skipped (not logged) messages uint16_t _event_sequence_offset_mission{0}; - uint8_t _excluded_optional_topic_ids[LoggedTopics::MAX_EXCLUDED_OPTIONAL_TOPICS_NUM]; + orb_id_size_t _excluded_optional_topic_ids[LoggedTopics::MAX_EXCLUDED_OPTIONAL_TOPICS_NUM]; int _num_excluded_optional_topic_ids{0}; LogWriter _writer; diff --git a/src/modules/logger/messages.h b/src/modules/logger/messages.h index 02162d461b10..d676f5222c62 100644 --- a/src/modules/logger/messages.h +++ b/src/modules/logger/messages.h @@ -116,7 +116,7 @@ struct ulog_message_format_s { uint16_t msg_size; ///< size of message - ULOG_MSG_HEADER_LEN uint8_t msg_type = static_cast(ULogMessageType::FORMAT); - char format[1500]; + char format[1600]; }; /** diff --git a/src/modules/mag_bias_estimator/MagBiasEstimator.cpp b/src/modules/mag_bias_estimator/MagBiasEstimator.cpp index 4ef331a0710a..e386170a210c 100644 --- a/src/modules/mag_bias_estimator/MagBiasEstimator.cpp +++ b/src/modules/mag_bias_estimator/MagBiasEstimator.cpp @@ -157,10 +157,11 @@ void MagBiasEstimator::Run() bool updated = false; for (int mag_index = 0; mag_index < MAX_SENSOR_COUNT; mag_index++) { + int sensor_mag_updates = 0; sensor_mag_s sensor_mag; - while (_sensor_mag_subs[mag_index].update(&sensor_mag)) { - + while ((sensor_mag_updates < sensor_mag_s::ORB_QUEUE_LENGTH) && _sensor_mag_subs[mag_index].update(&sensor_mag)) { + sensor_mag_updates++; updated = true; // apply existing mag calibration diff --git a/src/modules/manual_control/CMakeLists.txt b/src/modules/manual_control/CMakeLists.txt index c96478afdf48..279d9e899341 100644 --- a/src/modules/manual_control/CMakeLists.txt +++ b/src/modules/manual_control/CMakeLists.txt @@ -32,7 +32,7 @@ ############################################################################ px4_add_module( - MODULE module__manual_control + MODULE modules__manual_control MAIN manual_control COMPILE_FLAGS SRCS @@ -42,7 +42,9 @@ px4_add_module( ManualControlSelector.hpp ManualControlSelector.cpp DEPENDS + hysteresis px4_work_queue ) -px4_add_unit_gtest(SRC ManualControlSelectorTest.cpp LINKLIBS module__manual_control) +px4_add_functional_gtest(SRC ManualControlTest.cpp LINKLIBS modules__manual_control) +px4_add_unit_gtest(SRC ManualControlSelectorTest.cpp LINKLIBS modules__manual_control) diff --git a/src/modules/manual_control/ManualControl.cpp b/src/modules/manual_control/ManualControl.cpp index c3b42c258e2c..7633a9d16363 100644 --- a/src/modules/manual_control/ManualControl.cpp +++ b/src/modules/manual_control/ManualControl.cpp @@ -41,6 +41,7 @@ ManualControl::ManualControl() : ModuleParams(nullptr), ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::hp_default) { + updateParams(); } ManualControl::~ManualControl() @@ -66,10 +67,21 @@ void ManualControl::Run() perf_begin(_loop_perf); perf_count(_loop_interval_perf); + processInput(hrt_absolute_time()); + + // reschedule to detect timeouts + ScheduleDelayed(200_ms); + + perf_end(_loop_perf); +} + +void ManualControl::processInput(hrt_abstime now) +{ if (_vehicle_status_sub.updated()) { vehicle_status_s vehicle_status; if (_vehicle_status_sub.copy(&vehicle_status)) { + _armed = (vehicle_status.arming_state == vehicle_status_s::ARMING_STATE_ARMED); _system_id = vehicle_status.system_id; _rotary_wing = (vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING); _vtol = vehicle_status.is_vtol; @@ -83,83 +95,25 @@ void ManualControl::Run() _parameter_update_sub.copy(¶m_update); updateParams(); - - _stick_arm_hysteresis.set_hysteresis_time_from(false, _param_com_rc_arm_hyst.get() * 1_ms); - _stick_disarm_hysteresis.set_hysteresis_time_from(false, _param_com_rc_arm_hyst.get() * 1_ms); - _button_hysteresis.set_hysteresis_time_from(false, _param_com_rc_arm_hyst.get() * 1_ms); - - _selector.setRcInMode(_param_com_rc_in_mode.get()); - _selector.setTimeout(_param_com_rc_loss_t.get() * 1_s); - - // MAN_ARM_GESTURE - if (_param_man_arm_gesture.get() == 1) { - // RC_MAP_ARM_SW & MAN_ARM_GESTURE: disable arm gesture if an arm switch is configured - param_t param_rc_map_arm_sw = param_find("RC_MAP_ARM_SW"); - - if (param_rc_map_arm_sw != PARAM_INVALID) { - int32_t rc_map_arm_sw = 0; - param_get(param_rc_map_arm_sw, &rc_map_arm_sw); - - if (rc_map_arm_sw > 0) { - _param_man_arm_gesture.set(0); // disable arm gesture - _param_man_arm_gesture.commit(); - - orb_advert_t mavlink_log_pub = nullptr; - mavlink_log_critical(&mavlink_log_pub, "Arm stick gesture disabled if arm switch in use\t") - /* EVENT - * @description MAN_ARM_GESTURE is now set to disable arm/disarm stick gesture. - */ - events::send(events::ID("rc_update_arm_stick_gesture_disabled_with_switch"), {events::Log::Info, events::LogInternal::Disabled}, - "Arm stick gesture disabled if arm switch in use"); - } - } - - // MC_AIRMODE & MAN_ARM_GESTURE: check for unsafe Airmode settings: yaw airmode requires disabling the stick arm gesture - if ((_param_man_arm_gesture.get() == 1) && (_rotary_wing || _vtol)) { - param_t param_mc_airmode = param_find("MC_AIRMODE"); - - if (param_mc_airmode != PARAM_INVALID) { - int32_t airmode = 0; - param_get(param_mc_airmode, &airmode); - - if (airmode == 2) { - airmode = 1; // change to roll/pitch airmode - param_set(param_mc_airmode, &airmode); - - orb_advert_t mavlink_log_pub = nullptr; - mavlink_log_critical(&mavlink_log_pub, "Yaw Airmode requires disabling the stick arm gesture\t") - /* EVENT - * @description MC_AIRMODE is now set to roll/pitch airmode. - */ - events::send(events::ID("commander_airmode_requires_no_arm_gesture"), {events::Log::Error, events::LogInternal::Disabled}, - "Yaw Airmode requires disabling the stick arm gesture"); - } - } - } - } } - const hrt_abstime now = hrt_absolute_time(); _selector.updateValidityOfChosenInput(now); for (int i = 0; i < MAX_MANUAL_INPUT_COUNT; i++) { manual_control_setpoint_s manual_control_input; - if (_manual_control_setpoint_subs[i].update(&manual_control_input)) { + if (_manual_control_input_subs[i].update(&manual_control_input)) { _selector.updateWithNewInputSample(now, manual_control_input, i); } } - manual_control_switches_s switches; - bool switches_updated = _manual_control_switches_sub.update(&switches); - if (_selector.setpoint().valid) { _published_invalid_once = false; processStickArming(_selector.setpoint()); // User override by stick - const float dt_s = (now - _last_time) / 1e6f; + const float dt_s = (now - _timestamp_last_loop) / 1e6f; const float minimum_stick_change = 0.01f * _param_com_rc_stick_ov.get(); _selector.setpoint().sticks_moving = (fabsf(_roll_diff.update(_selector.setpoint().roll, dt_s)) > minimum_stick_change) @@ -167,164 +121,229 @@ void ManualControl::Run() || (fabsf(_yaw_diff.update(_selector.setpoint().yaw, dt_s)) > minimum_stick_change) || (fabsf(_throttle_diff.update(_selector.setpoint().throttle, dt_s)) > minimum_stick_change); + _selector.setpoint().timestamp = now; + _manual_control_setpoint_pub.publish(_selector.setpoint()); + + // Attach scheduling to new samples of the chosen input + const int instance = _selector.instance(); + + if (instance != _previous_manual_control_input_instance) { + if ((0 <= _previous_manual_control_input_instance) + && (_previous_manual_control_input_instance < MAX_MANUAL_INPUT_COUNT)) { + _manual_control_input_subs[_previous_manual_control_input_instance].unregisterCallback(); + } + + if ((0 <= instance) && (instance < MAX_MANUAL_INPUT_COUNT)) { + _manual_control_input_subs[instance].registerCallback(); + } + + _previous_manual_control_input_instance = instance; + } + + _manual_control_switches_sub.registerCallback(); + + } else { + if (!_published_invalid_once) { + _published_invalid_once = true; + _manual_control_setpoint_pub.publish(_selector.setpoint()); + } + + _roll_diff.reset(); + _pitch_diff.reset(); + _yaw_diff.reset(); + _throttle_diff.reset(); + _stick_arm_hysteresis.set_state_and_update(false, now); + _stick_disarm_hysteresis.set_state_and_update(false, now); + _stick_kill_hysteresis.set_state_and_update(false, now); + _button_arm_hysteresis.set_state_and_update(false, now); + } + + processSwitches(now); + + _timestamp_last_loop = now; +} + +void ManualControl::processSwitches(hrt_abstime &now) +{ + manual_control_switches_s switches; + const bool switches_updated = _manual_control_switches_sub.update(&switches); + + // Only use switches if the currently valid source is RC as well + if (_selector.setpoint().valid + && _selector.setpoint().data_source == manual_control_setpoint_s::SOURCE_RC) { if (switches_updated) { - // Only use switches if current source is RC as well. - if (_selector.setpoint().data_source == manual_control_setpoint_s::SOURCE_RC) { - if (_previous_switches_initialized) { - if (switches.mode_slot != _previous_switches.mode_slot) { - evaluateModeSlot(switches.mode_slot); - } + if (_previous_switches_initialized) { + if (switches.mode_slot != _previous_switches.mode_slot) { + evaluateModeSlot(switches.mode_slot); + } - if (_param_com_arm_swisbtn.get()) { - // Arming button - const bool previous_button_hysteresis = _button_hysteresis.get_state(); - _button_hysteresis.set_state_and_update(switches.arm_switch == manual_control_switches_s::SWITCH_POS_ON, now); + if (_param_com_arm_swisbtn.get()) { + // Arming button + const bool previous_button_arm_hysteresis = _button_arm_hysteresis.get_state(); + _button_arm_hysteresis.set_state_and_update(switches.arm_switch == manual_control_switches_s::SWITCH_POS_ON, now); - if (!previous_button_hysteresis && _button_hysteresis.get_state()) { - sendActionRequest(action_request_s::ACTION_TOGGLE_ARMING, action_request_s::SOURCE_RC_BUTTON); - } + if (!previous_button_arm_hysteresis && _button_arm_hysteresis.get_state()) { + sendActionRequest(action_request_s::ACTION_TOGGLE_ARMING, action_request_s::SOURCE_RC_BUTTON); + } - } else { - // Arming switch - if (switches.arm_switch != _previous_switches.arm_switch) { - if (switches.arm_switch == manual_control_switches_s::SWITCH_POS_ON) { - sendActionRequest(action_request_s::ACTION_ARM, action_request_s::SOURCE_RC_SWITCH); + } else { + // Arming switch + if (switches.arm_switch != _previous_switches.arm_switch) { + if (switches.arm_switch == manual_control_switches_s::SWITCH_POS_ON) { + sendActionRequest(action_request_s::ACTION_ARM, action_request_s::SOURCE_RC_SWITCH); - } else if (switches.arm_switch == manual_control_switches_s::SWITCH_POS_OFF) { - sendActionRequest(action_request_s::ACTION_DISARM, action_request_s::SOURCE_RC_SWITCH); - } + } else if (switches.arm_switch == manual_control_switches_s::SWITCH_POS_OFF) { + sendActionRequest(action_request_s::ACTION_DISARM, action_request_s::SOURCE_RC_SWITCH); } } + } - if (switches.return_switch != _previous_switches.return_switch) { - if (switches.return_switch == manual_control_switches_s::SWITCH_POS_ON) { - sendActionRequest(action_request_s::ACTION_SWITCH_MODE, action_request_s::SOURCE_RC_SWITCH, - vehicle_status_s::NAVIGATION_STATE_AUTO_RTL); + if (switches.return_switch != _previous_switches.return_switch) { + if (switches.return_switch == manual_control_switches_s::SWITCH_POS_ON) { + sendActionRequest(action_request_s::ACTION_SWITCH_MODE, action_request_s::SOURCE_RC_SWITCH, + vehicle_status_s::NAVIGATION_STATE_AUTO_RTL); - } else if (switches.return_switch == manual_control_switches_s::SWITCH_POS_OFF) { - evaluateModeSlot(switches.mode_slot); - } + } else if (switches.return_switch == manual_control_switches_s::SWITCH_POS_OFF) { + evaluateModeSlot(switches.mode_slot); } + } - if (switches.loiter_switch != _previous_switches.loiter_switch) { - if (switches.loiter_switch == manual_control_switches_s::SWITCH_POS_ON) { - sendActionRequest(action_request_s::ACTION_SWITCH_MODE, action_request_s::SOURCE_RC_SWITCH, - vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER); + if (switches.loiter_switch != _previous_switches.loiter_switch) { + if (switches.loiter_switch == manual_control_switches_s::SWITCH_POS_ON) { + sendActionRequest(action_request_s::ACTION_SWITCH_MODE, action_request_s::SOURCE_RC_SWITCH, + vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER); - } else if (switches.loiter_switch == manual_control_switches_s::SWITCH_POS_OFF) { - evaluateModeSlot(switches.mode_slot); - } + } else if (switches.loiter_switch == manual_control_switches_s::SWITCH_POS_OFF) { + evaluateModeSlot(switches.mode_slot); } + } - if (switches.offboard_switch != _previous_switches.offboard_switch) { - if (switches.offboard_switch == manual_control_switches_s::SWITCH_POS_ON) { - sendActionRequest(action_request_s::ACTION_SWITCH_MODE, action_request_s::SOURCE_RC_SWITCH, - vehicle_status_s::NAVIGATION_STATE_OFFBOARD); + if (switches.offboard_switch != _previous_switches.offboard_switch) { + if (switches.offboard_switch == manual_control_switches_s::SWITCH_POS_ON) { + sendActionRequest(action_request_s::ACTION_SWITCH_MODE, action_request_s::SOURCE_RC_SWITCH, + vehicle_status_s::NAVIGATION_STATE_OFFBOARD); - } else if (switches.offboard_switch == manual_control_switches_s::SWITCH_POS_OFF) { - evaluateModeSlot(switches.mode_slot); - } + } else if (switches.offboard_switch == manual_control_switches_s::SWITCH_POS_OFF) { + evaluateModeSlot(switches.mode_slot); } + } - if (switches.kill_switch != _previous_switches.kill_switch) { - if (switches.kill_switch == manual_control_switches_s::SWITCH_POS_ON) { - sendActionRequest(action_request_s::ACTION_KILL, action_request_s::SOURCE_RC_SWITCH); + if (switches.kill_switch != _previous_switches.kill_switch) { + if (switches.kill_switch == manual_control_switches_s::SWITCH_POS_ON) { + sendActionRequest(action_request_s::ACTION_KILL, action_request_s::SOURCE_RC_SWITCH); - } else if (switches.kill_switch == manual_control_switches_s::SWITCH_POS_OFF) { - sendActionRequest(action_request_s::ACTION_UNKILL, action_request_s::SOURCE_RC_SWITCH); - } + } else if (switches.kill_switch == manual_control_switches_s::SWITCH_POS_OFF) { + sendActionRequest(action_request_s::ACTION_UNKILL, action_request_s::SOURCE_RC_SWITCH); } + } - if (switches.gear_switch != _previous_switches.gear_switch - && _previous_switches.gear_switch != manual_control_switches_s::SWITCH_POS_NONE) { + if (switches.gear_switch != _previous_switches.gear_switch + && _previous_switches.gear_switch != manual_control_switches_s::SWITCH_POS_NONE) { - if (switches.gear_switch == manual_control_switches_s::SWITCH_POS_ON) { - publishLandingGear(landing_gear_s::GEAR_UP); + if (switches.gear_switch == manual_control_switches_s::SWITCH_POS_ON) { + publishLandingGear(landing_gear_s::GEAR_UP); - } else if (switches.gear_switch == manual_control_switches_s::SWITCH_POS_OFF) { - publishLandingGear(landing_gear_s::GEAR_DOWN); - } + } else if (switches.gear_switch == manual_control_switches_s::SWITCH_POS_OFF) { + publishLandingGear(landing_gear_s::GEAR_DOWN); } + } - if (switches.transition_switch != _previous_switches.transition_switch) { - if (switches.transition_switch == manual_control_switches_s::SWITCH_POS_ON) { - sendActionRequest(action_request_s::ACTION_VTOL_TRANSITION_TO_FIXEDWING, action_request_s::SOURCE_RC_SWITCH); + if (switches.transition_switch != _previous_switches.transition_switch) { + if (switches.transition_switch == manual_control_switches_s::SWITCH_POS_ON) { + sendActionRequest(action_request_s::ACTION_VTOL_TRANSITION_TO_FIXEDWING, action_request_s::SOURCE_RC_SWITCH); - } else if (switches.transition_switch == manual_control_switches_s::SWITCH_POS_OFF) { - sendActionRequest(action_request_s::ACTION_VTOL_TRANSITION_TO_MULTICOPTER, action_request_s::SOURCE_RC_SWITCH); - } + } else if (switches.transition_switch == manual_control_switches_s::SWITCH_POS_OFF) { + sendActionRequest(action_request_s::ACTION_VTOL_TRANSITION_TO_MULTICOPTER, action_request_s::SOURCE_RC_SWITCH); } + } - if (switches.photo_switch != _previous_switches.photo_switch) { - if (switches.photo_switch == manual_control_switches_s::SWITCH_POS_ON) { - send_camera_mode_command(CameraMode::Image); - send_photo_command(); - } + if (switches.photo_switch != _previous_switches.photo_switch) { + if (switches.photo_switch == manual_control_switches_s::SWITCH_POS_ON) { + send_camera_mode_command(CameraMode::Image); + send_photo_command(); } + } - if (switches.video_switch != _previous_switches.video_switch) { - if (switches.video_switch == manual_control_switches_s::SWITCH_POS_ON) { - send_camera_mode_command(CameraMode::Video); - send_video_command(); - } + if (switches.video_switch != _previous_switches.video_switch) { + if (switches.video_switch == manual_control_switches_s::SWITCH_POS_ON) { + send_camera_mode_command(CameraMode::Video); + send_video_command(); } - - } else { - // Send an initial request to switch to the mode requested by RC - evaluateModeSlot(switches.mode_slot); } - _previous_switches_initialized = true; - _previous_switches = switches; - - } else { - _previous_switches_initialized = false; + } else if (!_armed) { + // Directly initialize mode using RC switch but only before arming + evaluateModeSlot(switches.mode_slot); } - } - _selector.setpoint().timestamp = now; - _manual_control_setpoint_pub.publish(_selector.setpoint()); + _previous_switches = switches; + _previous_switches_initialized = true; + } - // If it's valid, this should really be valid but better safe than sorry. - const int instance = _selector.instance(); + } else { + // Don't react on switch changes while RC was not in use + _previous_switches_initialized = false; + } +} - // Attach scheduling to new samples of the chosen input - if (instance != _previous_manual_control_input_instance) { - if ((0 <= _previous_manual_control_input_instance) - && (_previous_manual_control_input_instance < MAX_MANUAL_INPUT_COUNT)) { - _manual_control_setpoint_subs[_previous_manual_control_input_instance].unregisterCallback(); +void ManualControl::updateParams() +{ + ModuleParams::updateParams(); + + _stick_arm_hysteresis.set_hysteresis_time_from(false, _param_com_rc_arm_hyst.get() * 1_ms); + _stick_disarm_hysteresis.set_hysteresis_time_from(false, _param_com_rc_arm_hyst.get() * 1_ms); + _button_arm_hysteresis.set_hysteresis_time_from(false, _param_com_rc_arm_hyst.get() * 1_ms); + _stick_kill_hysteresis.set_hysteresis_time_from(false, _param_man_kill_gest_t.get() * 1_s); + + _selector.setRcInMode(_param_com_rc_in_mode.get()); + _selector.setTimeout(_param_com_rc_loss_t.get() * 1_s); + + // MAN_ARM_GESTURE + if (_param_man_arm_gesture.get() == 1) { + // RC_MAP_ARM_SW & MAN_ARM_GESTURE: disable arm gesture if an arm switch is configured + param_t param_rc_map_arm_sw = param_find("RC_MAP_ARM_SW"); + + if (param_rc_map_arm_sw != PARAM_INVALID) { + int32_t rc_map_arm_sw = 0; + param_get(param_rc_map_arm_sw, &rc_map_arm_sw); + + if (rc_map_arm_sw > 0) { + _param_man_arm_gesture.set(0); // disable arm gesture + _param_man_arm_gesture.commit(); + + orb_advert_t mavlink_log_pub = nullptr; + mavlink_log_critical(&mavlink_log_pub, "Arm stick gesture disabled if arm switch in use\t") + /* EVENT + * @description MAN_ARM_GESTURE is now set to disable arm/disarm stick gesture. + */ + events::send(events::ID("rc_update_arm_stick_gesture_disabled_with_switch"), {events::Log::Info, events::LogInternal::Disabled}, + "Arm stick gesture disabled if arm switch in use"); } + } - if ((0 <= instance) && (instance < MAX_MANUAL_INPUT_COUNT)) { - _manual_control_setpoint_subs[instance].registerCallback(); - } + // MC_AIRMODE & MAN_ARM_GESTURE: check for unsafe Airmode settings: yaw airmode requires disabling the stick arm gesture + if ((_param_man_arm_gesture.get() == 1) && (_rotary_wing || _vtol)) { + param_t param_mc_airmode = param_find("MC_AIRMODE"); - _previous_manual_control_input_instance = instance; - } + if (param_mc_airmode != PARAM_INVALID) { + int32_t airmode = 0; + param_get(param_mc_airmode, &airmode); - _manual_control_switches_sub.registerCallback(); + if (airmode == 2) { + airmode = 1; // change to roll/pitch airmode + param_set(param_mc_airmode, &airmode); - } else { - if (!_published_invalid_once) { - _published_invalid_once = true; - _manual_control_setpoint_pub.publish(_selector.setpoint()); + orb_advert_t mavlink_log_pub = nullptr; + mavlink_log_critical(&mavlink_log_pub, "Yaw Airmode requires disabling the stick arm gesture\t") + /* EVENT + * @description MC_AIRMODE is now set to roll/pitch airmode. + */ + events::send(events::ID("commander_airmode_requires_no_arm_gesture"), {events::Log::Error, events::LogInternal::Disabled}, + "Yaw Airmode requires disabling the stick arm gesture"); + } + } } - - _roll_diff.reset(); - _pitch_diff.reset(); - _yaw_diff.reset(); - _throttle_diff.reset(); - _stick_arm_hysteresis.set_state_and_update(false, now); - _stick_disarm_hysteresis.set_state_and_update(false, now); - _button_hysteresis.set_state_and_update(false, now); } - - _last_time = now; - - // reschedule timeout - ScheduleDelayed(200_ms); - - perf_end(_loop_perf); } void ManualControl::processStickArming(const manual_control_setpoint_s &input) @@ -349,6 +368,18 @@ void ManualControl::processStickArming(const manual_control_setpoint_s &input) if (_param_man_arm_gesture.get() && !previous_stick_disarm_hysteresis && _stick_disarm_hysteresis.get_state()) { sendActionRequest(action_request_s::ACTION_DISARM, action_request_s::SOURCE_RC_STICK_GESTURE); } + + // Kill gesture + if (_param_man_kill_gest_t.get() > 0.f) { + const bool right_stick_lower_right = (input.pitch < -0.9f) && (input.roll > 0.9f); + + const bool previous_stick_kill_hysteresis = _stick_kill_hysteresis.get_state(); + _stick_kill_hysteresis.set_state_and_update(left_stick_lower_left && right_stick_lower_right, input.timestamp); + + if (!previous_stick_kill_hysteresis && _stick_kill_hysteresis.get_state()) { + sendActionRequest(action_request_s::ACTION_KILL, action_request_s::SOURCE_RC_STICK_GESTURE); + } + } } void ManualControl::evaluateModeSlot(uint8_t mode_slot) @@ -522,6 +553,7 @@ Module consuming manual_control_inputs publishing one manual_control_setpoint. int8_t ManualControl::navStateFromParam(int32_t param_value) { + // See src/modules/commander/module.yaml COM_FLTMODE${i} switch(param_value) { case 0: return vehicle_status_s::NAVIGATION_STATE_MANUAL; case 1: return vehicle_status_s::NAVIGATION_STATE_ALTCTL; @@ -532,12 +564,22 @@ int8_t ManualControl::navStateFromParam(int32_t param_value) case 6: return vehicle_status_s::NAVIGATION_STATE_ACRO; case 7: return vehicle_status_s::NAVIGATION_STATE_OFFBOARD; case 8: return vehicle_status_s::NAVIGATION_STATE_STAB; + case 9: return vehicle_status_s::NAVIGATION_STATE_POSITION_SLOW; case 10: return vehicle_status_s::NAVIGATION_STATE_AUTO_TAKEOFF; case 11: return vehicle_status_s::NAVIGATION_STATE_AUTO_LAND; case 12: return vehicle_status_s::NAVIGATION_STATE_AUTO_FOLLOW_TARGET; case 13: return vehicle_status_s::NAVIGATION_STATE_AUTO_PRECLAND; case 14: return vehicle_status_s::NAVIGATION_STATE_ORBIT; case 15: return vehicle_status_s::NAVIGATION_STATE_AUTO_VTOL_TAKEOFF; + + case 100: return vehicle_status_s::NAVIGATION_STATE_EXTERNAL1; + case 101: return vehicle_status_s::NAVIGATION_STATE_EXTERNAL2; + case 102: return vehicle_status_s::NAVIGATION_STATE_EXTERNAL3; + case 103: return vehicle_status_s::NAVIGATION_STATE_EXTERNAL4; + case 104: return vehicle_status_s::NAVIGATION_STATE_EXTERNAL5; + case 105: return vehicle_status_s::NAVIGATION_STATE_EXTERNAL6; + case 106: return vehicle_status_s::NAVIGATION_STATE_EXTERNAL7; + case 107: return vehicle_status_s::NAVIGATION_STATE_EXTERNAL8; } return -1; } diff --git a/src/modules/manual_control/ManualControl.hpp b/src/modules/manual_control/ManualControl.hpp index d28166112e62..660a125665d5 100644 --- a/src/modules/manual_control/ManualControl.hpp +++ b/src/modules/manual_control/ManualControl.hpp @@ -74,21 +74,23 @@ class ManualControl : public ModuleBase, public ModuleParams, pub int print_status() override; +protected: + // protected for testing + void processInput(hrt_abstime now); + static int8_t navStateFromParam(int32_t param_value); + private: static constexpr int MAX_MANUAL_INPUT_COUNT = 3; void Run() override; + void updateParams() override; void processStickArming(const manual_control_setpoint_s &input); - - static int8_t navStateFromParam(int32_t param_value); + void processSwitches(hrt_abstime &now); void evaluateModeSlot(uint8_t mode_slot); void sendActionRequest(int8_t action, int8_t source, int8_t mode = 0); void publishLandingGear(int8_t action); - uORB::Publication _action_request_pub{ORB_ID(action_request)}; - uORB::Publication _landing_gear_pub{ORB_ID(landing_gear)}; - enum class CameraMode { Image = 0, Video = 1 @@ -97,44 +99,55 @@ class ManualControl : public ModuleBase, public ModuleParams, pub void send_photo_command(); void send_video_command(); - uORB::Publication _manual_control_setpoint_pub{ORB_ID(manual_control_setpoint)}; - - uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s}; - uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)}; - - int _previous_manual_control_input_instance{-1}; - uORB::SubscriptionCallbackWorkItem _manual_control_setpoint_subs[MAX_MANUAL_INPUT_COUNT] { + uORB::SubscriptionCallbackWorkItem _manual_control_input_subs[MAX_MANUAL_INPUT_COUNT] { {this, ORB_ID(manual_control_input), 0}, {this, ORB_ID(manual_control_input), 1}, {this, ORB_ID(manual_control_input), 2}, }; uORB::SubscriptionCallbackWorkItem _manual_control_switches_sub{this, ORB_ID(manual_control_switches)}; + uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s}; + uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)}; - systemlib::Hysteresis _stick_arm_hysteresis{false}; - systemlib::Hysteresis _stick_disarm_hysteresis{false}; - systemlib::Hysteresis _button_hysteresis{false}; + uORB::Publication _action_request_pub{ORB_ID(action_request)}; + uORB::Publication _landing_gear_pub{ORB_ID(landing_gear)}; + uORB::Publication _manual_control_setpoint_pub{ORB_ID(manual_control_setpoint)}; ManualControlSelector _selector; + + hrt_abstime _timestamp_last_loop{0}; + int _previous_manual_control_input_instance{-1}; + bool _previous_switches_initialized{false}; + manual_control_switches_s _previous_switches{}; bool _published_invalid_once{false}; + systemlib::Hysteresis _stick_arm_hysteresis{false}; + systemlib::Hysteresis _stick_disarm_hysteresis{false}; + systemlib::Hysteresis _stick_kill_hysteresis{false}; + systemlib::Hysteresis _button_arm_hysteresis{false}; + MovingDiff _roll_diff{}; MovingDiff _pitch_diff{}; MovingDiff _yaw_diff{}; MovingDiff _throttle_diff{}; - manual_control_switches_s _previous_switches{}; - bool _previous_switches_initialized{false}; - - hrt_abstime _last_time{0}; - perf_counter_t _loop_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": cycle")}; perf_counter_t _loop_interval_perf{perf_alloc(PC_INTERVAL, MODULE_NAME": interval")}; + // Camera control state TODO: hopefully there is a command soon to toggle without keeping state + unsigned _image_sequence{0}; + bool _video_recording{false}; + + bool _armed{false}; + uint8_t _system_id{1}; + bool _rotary_wing{false}; + bool _vtol{false}; + DEFINE_PARAMETERS( (ParamInt) _param_com_rc_in_mode, (ParamFloat) _param_com_rc_loss_t, (ParamFloat) _param_com_rc_stick_ov, (ParamBool) _param_man_arm_gesture, + (ParamFloat) _param_man_kill_gest_t, (ParamInt) _param_com_rc_arm_hyst, (ParamBool) _param_com_arm_swisbtn, (ParamInt) _param_fltmode_1, @@ -144,11 +157,4 @@ class ManualControl : public ModuleBase, public ModuleParams, pub (ParamInt) _param_fltmode_5, (ParamInt) _param_fltmode_6 ) - - unsigned _image_sequence {0}; - bool _video_recording {false}; // TODO: hopefully there is a command soon to toggle without keeping state - - uint8_t _system_id{1}; - bool _rotary_wing{false}; - bool _vtol{false}; }; diff --git a/src/modules/manual_control/ManualControlSelector.cpp b/src/modules/manual_control/ManualControlSelector.cpp index 34ff3c97503c..f498534f7299 100644 --- a/src/modules/manual_control/ManualControlSelector.cpp +++ b/src/modules/manual_control/ManualControlSelector.cpp @@ -46,7 +46,7 @@ void ManualControlSelector::updateWithNewInputSample(uint64_t now, const manual_ // First check if the chosen input got invalid, so it can get replaced updateValidityOfChosenInput(now); - const bool update_existing_input = _setpoint.valid && input.data_source == _setpoint.data_source; + const bool update_existing_input = _setpoint.valid && (input.data_source == _setpoint.data_source); const bool start_using_new_input = !_setpoint.valid; // Switch to new input if it's valid and we don't already have a valid one @@ -83,7 +83,7 @@ bool ManualControlSelector::isInputValid(const manual_control_setpoint_s &input, (input.data_source == _first_valid_source || _first_valid_source == manual_control_setpoint_s::SOURCE_UNKNOWN); - return sample_from_the_past && sample_newer_than_timeout + return sample_from_the_past && sample_newer_than_timeout && input.valid && (source_rc_matched || source_mavlink_matched || source_any_matched || source_first_matched); } diff --git a/src/modules/manual_control/ManualControlSelectorTest.cpp b/src/modules/manual_control/ManualControlSelectorTest.cpp index a6bd91cb65ea..8eef8f0b7b51 100644 --- a/src/modules/manual_control/ManualControlSelectorTest.cpp +++ b/src/modules/manual_control/ManualControlSelectorTest.cpp @@ -37,7 +37,43 @@ using namespace time_literals; -static constexpr uint64_t some_time = 12345678; +static constexpr uint64_t SOME_TIME = 12345678; +static constexpr uint8_t SOURCE_RC = manual_control_setpoint_s::SOURCE_RC; +static constexpr uint8_t SOURCE_MAVLINK_0 = manual_control_setpoint_s::SOURCE_MAVLINK_0; +static constexpr uint8_t SOURCE_MAVLINK_3 = manual_control_setpoint_s::SOURCE_MAVLINK_3; +static constexpr uint8_t SOURCE_MAVLINK_4 = manual_control_setpoint_s::SOURCE_MAVLINK_4; + +TEST(ManualControlSelector, RcInputInvalidValid) +{ + ManualControlSelector selector; + selector.setRcInMode(0); + selector.setTimeout(500_ms); + + uint64_t timestamp = SOME_TIME; + + // Now provide input with the correct source flagged invalid + manual_control_setpoint_s input {}; + input.data_source = SOURCE_RC; + input.valid = false; + input.timestamp_sample = timestamp; + + for (int i = 0; i < 2; i++) { + selector.updateWithNewInputSample(timestamp, input, 1); + EXPECT_FALSE(selector.setpoint().valid); + EXPECT_EQ(selector.setpoint().timestamp_sample, 0); + EXPECT_EQ(selector.instance(), -1); + EXPECT_EQ(selector.setpoint().data_source, 0); + timestamp += 100_ms; + input.timestamp_sample = timestamp; + } + + input.valid = true; + selector.updateWithNewInputSample(timestamp, input, 1); + EXPECT_TRUE(selector.setpoint().valid); + EXPECT_EQ(selector.setpoint().timestamp_sample, timestamp); + EXPECT_EQ(selector.instance(), 1); + EXPECT_EQ(selector.setpoint().data_source, SOURCE_RC); +} TEST(ManualControlSelector, RcInputContinuous) { @@ -45,11 +81,12 @@ TEST(ManualControlSelector, RcInputContinuous) selector.setRcInMode(0); selector.setTimeout(500_ms); - uint64_t timestamp = some_time; + uint64_t timestamp = SOME_TIME; // Now provide input with the correct source. manual_control_setpoint_s input {}; - input.data_source = manual_control_setpoint_s::SOURCE_RC; + input.data_source = SOURCE_RC; + input.valid = true; input.timestamp_sample = timestamp; for (int i = 0; i < 5; i++) { @@ -57,7 +94,7 @@ TEST(ManualControlSelector, RcInputContinuous) EXPECT_TRUE(selector.setpoint().valid); EXPECT_EQ(selector.setpoint().timestamp_sample, timestamp); EXPECT_EQ(selector.instance(), 1); - EXPECT_TRUE(selector.setpoint().data_source == manual_control_setpoint_s::SOURCE_RC); + EXPECT_EQ(selector.setpoint().data_source, SOURCE_RC); timestamp += 100_ms; input.timestamp_sample = timestamp; } @@ -66,13 +103,14 @@ TEST(ManualControlSelector, RcInputContinuous) TEST(ManualControlSelector, RcInputOnly) { ManualControlSelector selector; - selector.setRcInMode(0); + selector.setRcInMode(0); // Configure RC input only selector.setTimeout(500_ms); - uint64_t timestamp = some_time; + uint64_t timestamp = SOME_TIME; manual_control_setpoint_s input {}; - input.data_source = manual_control_setpoint_s::SOURCE_MAVLINK_0; + input.data_source = SOURCE_MAVLINK_0; + input.valid = true; input.timestamp_sample = timestamp; selector.updateWithNewInputSample(timestamp, input, 0); @@ -81,25 +119,26 @@ TEST(ManualControlSelector, RcInputOnly) timestamp += 100_ms; // Now provide input with the correct source. - input.data_source = manual_control_setpoint_s::SOURCE_RC; + input.data_source = SOURCE_RC; input.timestamp_sample = timestamp; selector.updateWithNewInputSample(timestamp, input, 1); EXPECT_TRUE(selector.setpoint().valid); - EXPECT_TRUE(selector.setpoint().data_source == manual_control_setpoint_s::SOURCE_RC); + EXPECT_EQ(selector.setpoint().data_source, SOURCE_RC); EXPECT_EQ(selector.instance(), 1); } TEST(ManualControlSelector, MavlinkInputOnly) { ManualControlSelector selector; - selector.setRcInMode(1); + selector.setRcInMode(1); // Configure MAVLink input only selector.setTimeout(500_ms); - uint64_t timestamp = some_time; + uint64_t timestamp = SOME_TIME; manual_control_setpoint_s input {}; - input.data_source = manual_control_setpoint_s::SOURCE_RC; + input.data_source = SOURCE_RC; + input.valid = true; input.timestamp_sample = timestamp; selector.updateWithNewInputSample(timestamp, input, 0); @@ -108,128 +147,131 @@ TEST(ManualControlSelector, MavlinkInputOnly) timestamp += 100_ms; // Now provide input with the correct source. - input.data_source = manual_control_setpoint_s::SOURCE_MAVLINK_3; + input.data_source = SOURCE_MAVLINK_3; input.timestamp_sample = timestamp; selector.updateWithNewInputSample(timestamp, input, 1); EXPECT_TRUE(selector.setpoint().valid); - EXPECT_TRUE(selector.setpoint().data_source == manual_control_setpoint_s::SOURCE_MAVLINK_3); + EXPECT_EQ(selector.setpoint().data_source, SOURCE_MAVLINK_3); EXPECT_EQ(selector.instance(), 1); timestamp += 100_ms; // But only the first MAVLink source wins, others are too late. - input.data_source = manual_control_setpoint_s::SOURCE_MAVLINK_4; + input.data_source = SOURCE_MAVLINK_4; input.timestamp_sample = timestamp; selector.updateWithNewInputSample(timestamp, input, 1); EXPECT_TRUE(selector.setpoint().valid); - EXPECT_TRUE(selector.setpoint().data_source == manual_control_setpoint_s::SOURCE_MAVLINK_3); + EXPECT_EQ(selector.setpoint().data_source, SOURCE_MAVLINK_3); EXPECT_EQ(selector.instance(), 1); } -TEST(ManualControlSelector, AutoInput) +TEST(ManualControlSelector, RcMavlinkInputFallback) { ManualControlSelector selector; - selector.setRcInMode(2); + selector.setRcInMode(2); // Configure fallback selector.setTimeout(500_ms); - uint64_t timestamp = some_time; + uint64_t timestamp = SOME_TIME; manual_control_setpoint_s input {}; - input.data_source = manual_control_setpoint_s::SOURCE_RC; + input.data_source = SOURCE_RC; + input.valid = true; input.timestamp_sample = timestamp; selector.updateWithNewInputSample(timestamp, input, 0); EXPECT_TRUE(selector.setpoint().valid); - EXPECT_TRUE(selector.setpoint().data_source == manual_control_setpoint_s::SOURCE_RC); + EXPECT_EQ(selector.setpoint().data_source, SOURCE_RC); EXPECT_EQ(selector.instance(), 0); timestamp += 100_ms; // Now provide input from MAVLink as well which should get ignored. - input.data_source = manual_control_setpoint_s::SOURCE_MAVLINK_0; + input.data_source = SOURCE_MAVLINK_0; input.timestamp_sample = timestamp; selector.updateWithNewInputSample(timestamp, input, 1); EXPECT_TRUE(selector.setpoint().valid); - EXPECT_TRUE(selector.setpoint().data_source == manual_control_setpoint_s::SOURCE_RC); + EXPECT_EQ(selector.setpoint().data_source, SOURCE_RC); EXPECT_EQ(selector.instance(), 0); timestamp += 500_ms; // Now we'll let RC time out, so it should switch to MAVLINK. - input.data_source = manual_control_setpoint_s::SOURCE_MAVLINK_0; + input.data_source = SOURCE_MAVLINK_0; input.timestamp_sample = timestamp; selector.updateWithNewInputSample(timestamp, input, 1); EXPECT_TRUE(selector.setpoint().valid); - EXPECT_TRUE(selector.setpoint().data_source == manual_control_setpoint_s::SOURCE_MAVLINK_0); + EXPECT_EQ(selector.setpoint().data_source, SOURCE_MAVLINK_0); EXPECT_EQ(selector.instance(), 1); } -TEST(ManualControlSelector, FirstInput) +TEST(ManualControlSelector, RcMavlinkInputKeepFirst) { ManualControlSelector selector; - selector.setRcInMode(3); + selector.setRcInMode(3); // Configure keep first input selector.setTimeout(500_ms); - uint64_t timestamp = some_time; + uint64_t timestamp = SOME_TIME; manual_control_setpoint_s input {}; - input.data_source = manual_control_setpoint_s::SOURCE_RC; + input.data_source = SOURCE_RC; + input.valid = true; input.timestamp_sample = timestamp; selector.updateWithNewInputSample(timestamp, input, 0); EXPECT_TRUE(selector.setpoint().valid); - EXPECT_TRUE(selector.setpoint().data_source == manual_control_setpoint_s::SOURCE_RC); + EXPECT_EQ(selector.setpoint().data_source, SOURCE_RC); EXPECT_EQ(selector.instance(), 0); timestamp += 100_ms; // Now provide input from MAVLink as well which should get ignored. - input.data_source = manual_control_setpoint_s::SOURCE_MAVLINK_0; + input.data_source = SOURCE_MAVLINK_0; input.timestamp_sample = timestamp; selector.updateWithNewInputSample(timestamp, input, 1); EXPECT_TRUE(selector.setpoint().valid); - EXPECT_TRUE(selector.setpoint().data_source == manual_control_setpoint_s::SOURCE_RC); + EXPECT_EQ(selector.setpoint().data_source, SOURCE_RC); EXPECT_EQ(selector.instance(), 0); timestamp += 500_ms; // Now we'll let RC time out, but it should NOT switch to MAVLINK because RC was first - input.data_source = manual_control_setpoint_s::SOURCE_MAVLINK_0; + input.data_source = SOURCE_MAVLINK_0; input.timestamp_sample = timestamp; selector.updateWithNewInputSample(timestamp, input, 1); EXPECT_FALSE(selector.setpoint().valid); - EXPECT_FALSE(selector.setpoint().data_source == manual_control_setpoint_s::SOURCE_MAVLINK_0); + EXPECT_NE(selector.setpoint().data_source, SOURCE_MAVLINK_0); EXPECT_EQ(selector.instance(), -1); timestamp += 100_ms; // Provide input from RC again and it should get accepted because it was the first. - input.data_source = manual_control_setpoint_s::SOURCE_RC; + input.data_source = SOURCE_RC; input.timestamp_sample = timestamp; selector.updateWithNewInputSample(timestamp, input, 0); EXPECT_TRUE(selector.setpoint().valid); - EXPECT_TRUE(selector.setpoint().data_source == manual_control_setpoint_s::SOURCE_RC); + EXPECT_EQ(selector.setpoint().data_source, SOURCE_RC); EXPECT_EQ(selector.instance(), 0); } TEST(ManualControlSelector, DisabledInput) { ManualControlSelector selector; - selector.setRcInMode(4); + selector.setRcInMode(4); // Configure disabled stick input selector.setTimeout(500_ms); - uint64_t timestamp = some_time; + uint64_t timestamp = SOME_TIME; manual_control_setpoint_s input {}; // Reject MAVLink stick input - input.data_source = manual_control_setpoint_s::SOURCE_MAVLINK_0; + input.data_source = SOURCE_MAVLINK_0; + input.valid = true; input.timestamp_sample = timestamp; selector.updateWithNewInputSample(timestamp, input, 0); @@ -239,7 +281,7 @@ TEST(ManualControlSelector, DisabledInput) timestamp += 100_ms; // Reject RC stick input - input.data_source = manual_control_setpoint_s::SOURCE_RC; + input.data_source = SOURCE_RC; input.timestamp_sample = timestamp; selector.updateWithNewInputSample(timestamp, input, 1); @@ -253,15 +295,16 @@ TEST(ManualControlSelector, RcTimeout) selector.setRcInMode(0); selector.setTimeout(500_ms); - uint64_t timestamp = some_time; + uint64_t timestamp = SOME_TIME; manual_control_setpoint_s input {}; - input.data_source = manual_control_setpoint_s::SOURCE_RC; + input.data_source = SOURCE_RC; + input.valid = true; input.timestamp_sample = timestamp; selector.updateWithNewInputSample(timestamp, input, 0); EXPECT_TRUE(selector.setpoint().valid); - EXPECT_TRUE(selector.setpoint().data_source == manual_control_setpoint_s::SOURCE_RC); + EXPECT_EQ(selector.setpoint().data_source, SOURCE_RC); EXPECT_EQ(selector.instance(), 0); timestamp += 600_ms; @@ -279,10 +322,11 @@ TEST(ManualControlSelector, RcOutdated) selector.setRcInMode(0); selector.setTimeout(500_ms); - uint64_t timestamp = some_time; + uint64_t timestamp = SOME_TIME; manual_control_setpoint_s input {}; - input.data_source = manual_control_setpoint_s::SOURCE_RC; + input.data_source = SOURCE_RC; + input.valid = true; input.timestamp_sample = timestamp - 600_ms; // First sample is already outdated selector.updateWithNewInputSample(timestamp, input, 0); diff --git a/src/modules/manual_control/ManualControlTest.cpp b/src/modules/manual_control/ManualControlTest.cpp new file mode 100644 index 000000000000..20591b48dcbd --- /dev/null +++ b/src/modules/manual_control/ManualControlTest.cpp @@ -0,0 +1,331 @@ +/**************************************************************************** + * + * Copyright (c) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#define MODULE_NAME "manual_control" + +#include +#include "ManualControl.hpp" + +static constexpr uint64_t SOME_TIME = 12345678; + +static constexpr uint8_t ACTION_KILL = action_request_s::ACTION_KILL; +static constexpr uint8_t ACTION_UNKILL = action_request_s::ACTION_UNKILL; +static constexpr uint8_t ACTION_VTOL_TRANSITION_TO_FIXEDWING = action_request_s::ACTION_VTOL_TRANSITION_TO_FIXEDWING; +static constexpr uint8_t ACTION_VTOL_TRANSITION_TO_MULTICOPTER = + action_request_s::ACTION_VTOL_TRANSITION_TO_MULTICOPTER; +static constexpr uint8_t ACTION_SWITCH_MODE = action_request_s::ACTION_SWITCH_MODE; + +static constexpr uint8_t NAVIGATION_STATE_MANUAL = vehicle_status_s::NAVIGATION_STATE_MANUAL; +static constexpr uint8_t NAVIGATION_STATE_ALTCTL = vehicle_status_s::NAVIGATION_STATE_ALTCTL; +static constexpr uint8_t NAVIGATION_STATE_POSCTL = vehicle_status_s::NAVIGATION_STATE_POSCTL; +static constexpr uint8_t NAVIGATION_STATE_AUTO_MISSION = vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION; +static constexpr uint8_t NAVIGATION_STATE_AUTO_LOITER = vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER; +static constexpr uint8_t NAVIGATION_STATE_ACRO = vehicle_status_s::NAVIGATION_STATE_ACRO; + +class TestManualControl : public ManualControl +{ +public: + void processInput(hrt_abstime now) { ManualControl::processInput(now); } + static int8_t navStateFromParam(int32_t param_value) { return ManualControl::navStateFromParam(param_value); } +}; + +class SwitchTest : public ::testing::Test +{ +public: + void SetUp() override + { + // Disable autosaving parameters to avoid busy loop in param_set() + param_control_autosave(false); + + // Set stick input timeout to half a second + const float com_rc_loss_t = .5f; + param_set(param_find("COM_RC_LOSS_T"), &com_rc_loss_t); + + int32_t mode = NAVIGATION_STATE_ACRO; + param_set(param_find("COM_FLTMODE1"), &mode); + mode = NAVIGATION_STATE_MANUAL; + param_set(param_find("COM_FLTMODE2"), &mode); + mode = NAVIGATION_STATE_ALTCTL; + param_set(param_find("COM_FLTMODE3"), &mode); + mode = NAVIGATION_STATE_POSCTL; + param_set(param_find("COM_FLTMODE4"), &mode); + mode = NAVIGATION_STATE_AUTO_LOITER; + param_set(param_find("COM_FLTMODE5"), &mode); + mode = NAVIGATION_STATE_AUTO_MISSION; + param_set(param_find("COM_FLTMODE6"), &mode); + } + + uORB::Publication _manual_control_switches_pub{ORB_ID(manual_control_switches)}; + uORB::Publication _manual_control_input_pub{ORB_ID(manual_control_input)}; + uORB::SubscriptionData _manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)}; + uORB::SubscriptionData _action_request_sub{ORB_ID(action_request)}; + + TestManualControl _manual_control; + hrt_abstime _timestamp{SOME_TIME}; +}; + + +TEST_F(SwitchTest, KillSwitch) +{ + // GIVEN: valid stick input from RC + _manual_control_input_pub.publish({.timestamp_sample = _timestamp, .valid = true, .data_source = manual_control_setpoint_s::SOURCE_RC}); + // and kill switch in off position + _manual_control_switches_pub.publish({.timestamp_sample = _timestamp, .kill_switch = manual_control_switches_s::SWITCH_POS_ON}); + _manual_control.processInput(_timestamp += 100_ms); + + // THEN: the stick input is published for use + EXPECT_TRUE(_manual_control_setpoint_sub.update()); + EXPECT_TRUE(_manual_control_setpoint_sub.get().valid); + // but there is no action requested + EXPECT_FALSE(_action_request_sub.update()); + + // WHEN: the kill switch is switched on + _manual_control_switches_pub.publish({.timestamp_sample = _timestamp, .kill_switch = manual_control_switches_s::SWITCH_POS_OFF}); + _manual_control.processInput(_timestamp += 100_ms); + + // THEN: a kill action request is published + EXPECT_TRUE(_action_request_sub.update()); + EXPECT_EQ(_action_request_sub.get().action, ACTION_UNKILL); + + // WHEN: the kill switch is switched off again + _manual_control_switches_pub.publish({.timestamp_sample = _timestamp, .kill_switch = manual_control_switches_s::SWITCH_POS_ON}); + _manual_control.processInput(_timestamp += 100_ms); + + // THEN: an unkill action request is published + EXPECT_TRUE(_action_request_sub.update()); + EXPECT_EQ(_action_request_sub.get().action, ACTION_KILL); +} + +TEST_F(SwitchTest, TransitionSwitch) +{ + // GIVEN: valid stick input from RC + _manual_control_input_pub.publish({.timestamp_sample = _timestamp, .valid = true, .data_source = manual_control_setpoint_s::SOURCE_RC}); + // and transition switch in off position + _manual_control_switches_pub.publish({.timestamp_sample = _timestamp, .transition_switch = manual_control_switches_s::SWITCH_POS_OFF}); + _manual_control.processInput(_timestamp += 100_ms); + + // THEN: the stick input is published for use + EXPECT_TRUE(_manual_control_setpoint_sub.update()); + EXPECT_TRUE(_manual_control_setpoint_sub.get().valid); + // but there is no action requested + EXPECT_FALSE(_action_request_sub.update()); + + // WHEN: the transition switch is switched on + _manual_control_switches_pub.publish({.timestamp_sample = _timestamp, .transition_switch = manual_control_switches_s::SWITCH_POS_ON}); + _manual_control.processInput(_timestamp += 100_ms); + + // THEN: a forward transition action request is published + EXPECT_TRUE(_action_request_sub.update()); + EXPECT_EQ(_action_request_sub.get().action, ACTION_VTOL_TRANSITION_TO_FIXEDWING); + + // WHEN: the kill switch is switched off again + _manual_control_switches_pub.publish({.timestamp_sample = _timestamp, .transition_switch = manual_control_switches_s::SWITCH_POS_OFF}); + _manual_control.processInput(_timestamp += 100_ms); + + // THEN: an backward transition action request is published + EXPECT_TRUE(_action_request_sub.update()); + EXPECT_EQ(_action_request_sub.get().action, ACTION_VTOL_TRANSITION_TO_MULTICOPTER); +} + +TEST_F(SwitchTest, TransitionSwitchStaysRcLoss) +{ + // GIVEN: valid stick input from the RC + _manual_control_input_pub.publish({.timestamp_sample = _timestamp, .valid = true, .data_source = manual_control_setpoint_s::SOURCE_RC}); + // and transition switch in off position + _manual_control_switches_pub.publish({.timestamp_sample = _timestamp, .transition_switch = manual_control_switches_s::SWITCH_POS_OFF}); + _manual_control.processInput(_timestamp += 100_ms); + + // THEN: the stick input is published for use + EXPECT_TRUE(_manual_control_setpoint_sub.update()); + EXPECT_TRUE(_manual_control_setpoint_sub.get().valid); + // but there is no action requested + EXPECT_FALSE(_action_request_sub.update()); + + // WHEN: RC signal times out + _manual_control.processInput(_timestamp += 1_s); + + // THEN: the stick input is invalidated + EXPECT_TRUE(_manual_control_setpoint_sub.update()); + EXPECT_FALSE(_manual_control_setpoint_sub.get().valid); + // and there is no action requested + EXPECT_FALSE(_action_request_sub.update()); + + // WHEN: RC signal comes back + _manual_control_input_pub.publish({.timestamp_sample = _timestamp, .valid = true, .data_source = manual_control_setpoint_s::SOURCE_RC}); + _manual_control.processInput(_timestamp += 100_ms); + + // THEN: the stick input is avaialble again + EXPECT_TRUE(_manual_control_setpoint_sub.update()); + EXPECT_TRUE(_manual_control_setpoint_sub.get().valid); + // but there is still no action requested + EXPECT_FALSE(_action_request_sub.update()); +} + +TEST_F(SwitchTest, TransitionSwitchChangesRcLoss) +{ + // GIVEN: valid stick input from the RC + _manual_control_input_pub.publish({.timestamp_sample = _timestamp, .valid = true, .data_source = manual_control_setpoint_s::SOURCE_RC}); + // and transition switch in off position + _manual_control_switches_pub.publish({.timestamp_sample = _timestamp, .transition_switch = manual_control_switches_s::SWITCH_POS_OFF}); + _manual_control.processInput(_timestamp += 100_ms); + + // THEN: the stick input is published for use + EXPECT_TRUE(_manual_control_setpoint_sub.update()); + EXPECT_TRUE(_manual_control_setpoint_sub.get().valid); + // but there is no action requested + EXPECT_FALSE(_action_request_sub.update()); + + // WHEN: RC signal times out + _manual_control.processInput(_timestamp += 1_s); + + // THEN: the stick input is invalidated + EXPECT_TRUE(_manual_control_setpoint_sub.update()); + EXPECT_FALSE(_manual_control_setpoint_sub.get().valid); + // and there is no action requested + EXPECT_FALSE(_action_request_sub.update()); + + // WHEN: RC signal comes back with the switch on + _manual_control_input_pub.publish({.timestamp_sample = _timestamp, .valid = true, .data_source = manual_control_setpoint_s::SOURCE_RC}); + _manual_control_switches_pub.publish({.timestamp_sample = _timestamp, .transition_switch = manual_control_switches_s::SWITCH_POS_ON}); + _manual_control.processInput(_timestamp += 100_ms); + + // THEN: the stick input is avaialble again + EXPECT_TRUE(_manual_control_setpoint_sub.update()); + EXPECT_TRUE(_manual_control_setpoint_sub.get().valid); + // but there is still no action requested + EXPECT_FALSE(_action_request_sub.update()); +} + +TEST_F(SwitchTest, ModeSwitch) +{ + // GIVEN: valid stick input from RC + _manual_control_input_pub.publish({.timestamp_sample = _timestamp, .valid = true, .data_source = manual_control_setpoint_s::SOURCE_RC}); + // and mode switch in position 1 + _manual_control_switches_pub.publish({.timestamp_sample = _timestamp, .mode_slot = manual_control_switches_s::MODE_SLOT_1}); + _manual_control.processInput(_timestamp += 10_ms); + + // THEN: the stick input is published for use + EXPECT_TRUE(_manual_control_setpoint_sub.update()); + EXPECT_TRUE(_manual_control_setpoint_sub.get().valid); + // and action requested to switch to mode 1 + EXPECT_TRUE(_action_request_sub.update()); + EXPECT_EQ(_action_request_sub.get().action, ACTION_SWITCH_MODE); + EXPECT_EQ(_action_request_sub.get().mode, TestManualControl::navStateFromParam(NAVIGATION_STATE_ACRO)); + + // WHEN: the mode switch is switched to 2 + _manual_control_switches_pub.publish({.timestamp_sample = _timestamp, .mode_slot = manual_control_switches_s::MODE_SLOT_2}); + _manual_control.processInput(_timestamp += 10_ms); + // THEN: action requested to switch to mode 2 + EXPECT_TRUE(_action_request_sub.update()); + EXPECT_EQ(_action_request_sub.get().action, ACTION_SWITCH_MODE); + EXPECT_EQ(_action_request_sub.get().mode, TestManualControl::navStateFromParam(NAVIGATION_STATE_MANUAL)); + + // WHEN: the mode switch is switched to 3 + _manual_control_switches_pub.publish({.timestamp_sample = _timestamp, .mode_slot = manual_control_switches_s::MODE_SLOT_3}); + _manual_control.processInput(_timestamp += 10_ms); + // THEN: action requested to switch to mode 3 + EXPECT_TRUE(_action_request_sub.update()); + EXPECT_EQ(_action_request_sub.get().action, ACTION_SWITCH_MODE); + EXPECT_EQ(_action_request_sub.get().mode, TestManualControl::navStateFromParam(NAVIGATION_STATE_ALTCTL)); + + // WHEN: the mode switch is switched to 4 + _manual_control_switches_pub.publish({.timestamp_sample = _timestamp, .mode_slot = manual_control_switches_s::MODE_SLOT_4}); + _manual_control.processInput(_timestamp += 10_ms); + // THEN: action requested to switch to mode 4 + EXPECT_TRUE(_action_request_sub.update()); + EXPECT_EQ(_action_request_sub.get().action, ACTION_SWITCH_MODE); + EXPECT_EQ(_action_request_sub.get().mode, TestManualControl::navStateFromParam(NAVIGATION_STATE_POSCTL)); + + // WHEN: the mode switch is switched to 5 + _manual_control_switches_pub.publish({.timestamp_sample = _timestamp, .mode_slot = manual_control_switches_s::MODE_SLOT_5}); + _manual_control.processInput(_timestamp += 10_ms); + // THEN: action requested to switch to mode 5 + EXPECT_TRUE(_action_request_sub.update()); + EXPECT_EQ(_action_request_sub.get().action, ACTION_SWITCH_MODE); + EXPECT_EQ(_action_request_sub.get().mode, TestManualControl::navStateFromParam(NAVIGATION_STATE_AUTO_LOITER)); + + // WHEN: the mode switch is switched to 6 + _manual_control_switches_pub.publish({.timestamp_sample = _timestamp, .mode_slot = manual_control_switches_s::MODE_SLOT_6}); + _manual_control.processInput(_timestamp += 10_ms); + // THEN: action requested to switch to mode 6 + EXPECT_TRUE(_action_request_sub.update()); + EXPECT_EQ(_action_request_sub.get().action, ACTION_SWITCH_MODE); + EXPECT_EQ(_action_request_sub.get().mode, TestManualControl::navStateFromParam(NAVIGATION_STATE_AUTO_MISSION)); +} + +TEST_F(SwitchTest, ModeSwitchInitialization) +{ + // GIVEN: the mode switch is already in position 1 but there's no valid RC stick input yet + _manual_control_switches_pub.publish({.timestamp_sample = _timestamp, .mode_slot = manual_control_switches_s::MODE_SLOT_1}); + _manual_control.processInput(_timestamp += 10_ms); + // THEN: there is no action requested + EXPECT_FALSE(_action_request_sub.update()); + + // GIVEN: new valid stick input from RC + _manual_control_input_pub.publish({.timestamp_sample = _timestamp, .valid = true, .data_source = manual_control_setpoint_s::SOURCE_RC}); + _manual_control.processInput(_timestamp += 10_ms); + // THEN: there is still no action requested because the switches were not updated yet + EXPECT_FALSE(_action_request_sub.update()); + + // GIVEN: switch update with the same positions + _manual_control_switches_pub.publish({.timestamp_sample = _timestamp, .mode_slot = manual_control_switches_s::MODE_SLOT_1}); + _manual_control.processInput(_timestamp += 10_ms); + // THEN: the mode switch is requested + EXPECT_TRUE(_action_request_sub.update()); + EXPECT_EQ(_action_request_sub.get().action, ACTION_SWITCH_MODE); + EXPECT_EQ(_action_request_sub.get().mode, TestManualControl::navStateFromParam(NAVIGATION_STATE_ACRO)); +} + +TEST_F(SwitchTest, ModeSwitchInitializationArmed) +{ + // GIVEN: vehicle is armed + uORB::Publication vehicle_status_pub{ORB_ID(vehicle_status)}; + vehicle_status_pub.publish({.arming_state = vehicle_status_s::ARMING_STATE_ARMED}); + + // GIVEN: valid stick input from RC + _manual_control_input_pub.publish({.timestamp_sample = _timestamp, .valid = true, .data_source = manual_control_setpoint_s::SOURCE_RC}); + // and mode switch in position 1 + _manual_control_switches_pub.publish({.timestamp_sample = _timestamp, .mode_slot = manual_control_switches_s::MODE_SLOT_1}); + _manual_control.processInput(_timestamp += 10_ms); + + // THEN: no action requested because the vehicle is flying + EXPECT_FALSE(_action_request_sub.update()); + + // GIVEN: the switch changes position + _manual_control_switches_pub.publish({.timestamp_sample = _timestamp, .mode_slot = manual_control_switches_s::MODE_SLOT_2}); + _manual_control.processInput(_timestamp += 10_ms); + // THEN: the mode switch is requested + EXPECT_TRUE(_action_request_sub.update()); + EXPECT_EQ(_action_request_sub.get().action, ACTION_SWITCH_MODE); + EXPECT_EQ(_action_request_sub.get().mode, TestManualControl::navStateFromParam(NAVIGATION_STATE_MANUAL)); +} diff --git a/src/modules/manual_control/manual_control_params.c b/src/modules/manual_control/manual_control_params.c index c17dc15ad78b..7fde0d6dd3ab 100644 --- a/src/modules/manual_control/manual_control_params.c +++ b/src/modules/manual_control/manual_control_params.c @@ -41,3 +41,20 @@ * @group Manual Control */ PARAM_DEFINE_INT32(MAN_ARM_GESTURE, 1); + +/** + * Trigger time for kill stick gesture + * + * The timeout for holding the left stick to the lower left + * and the right stick to the lower right at the same time until the gesture + * kills the actuators one-way. + * + * A negative value disables the feature. + * + * @group Manual Control + * @unit s + * @decimal 2 + * @min -1 + * @max 15 + */ +PARAM_DEFINE_FLOAT(MAN_KILL_GEST_T, -1.f); diff --git a/src/modules/mavlink/CMakeLists.txt b/src/modules/mavlink/CMakeLists.txt index 45f7737e6e03..f42dd6fa9b7b 100644 --- a/src/modules/mavlink/CMakeLists.txt +++ b/src/modules/mavlink/CMakeLists.txt @@ -1,6 +1,6 @@ ############################################################################ # -# Copyright (c) 2015-2021 PX4 Development Team. All rights reserved. +# Copyright (c) 2015-2023 PX4 Development Team. All rights reserved. # # Redistribution and use in source and binary forms, with or without # modification, are permitted provided that the following conditions @@ -44,8 +44,6 @@ add_custom_command( COMMAND ${PYTHON_EXECUTABLE} ${MAVLINK_GIT_DIR}/pymavlink/tools/mavgen.py --lang C --wire-protocol 2.0 - #--no-validate - #--strict-units --output ${MAVLINK_LIBRARY_DIR} ${MAVLINK_GIT_DIR}/message_definitions/v1.0/${MAVLINK_DIALECT_UAVIONIX}.xml > ${CMAKE_CURRENT_BINARY_DIR}/mavgen_${MAVLINK_DIALECT_UAVIONIX}.log DEPENDS @@ -64,8 +62,6 @@ add_custom_command( COMMAND ${PYTHON_EXECUTABLE} ${MAVLINK_GIT_DIR}/pymavlink/tools/mavgen.py --lang C --wire-protocol 2.0 - #--no-validate - #--strict-units --output ${MAVLINK_LIBRARY_DIR} ${MAVLINK_GIT_DIR}/message_definitions/v1.0/${CONFIG_MAVLINK_DIALECT}.xml > ${CMAKE_CURRENT_BINARY_DIR}/mavgen_${CONFIG_MAVLINK_DIALECT}.log DEPENDS @@ -131,6 +127,7 @@ px4_add_module( adsb airspeed component_general_json # for checksums.h + dataman_client drivers_accelerometer drivers_gyroscope drivers_magnetometer @@ -140,6 +137,7 @@ px4_add_module( mavlink_c timesync tunes + variable_length_ringbuffer version UNITY_BUILD ) diff --git a/src/modules/mavlink/mavlink b/src/modules/mavlink/mavlink index 18955a04c7c7..bb52e30d2b92 160000 --- a/src/modules/mavlink/mavlink +++ b/src/modules/mavlink/mavlink @@ -1 +1 @@ -Subproject commit 18955a04c7c7467e00ea42b704addb4a9c12b53a +Subproject commit bb52e30d2b924d5a250f2400144d33012271a19d diff --git a/src/modules/mavlink/mavlink_command_sender.cpp b/src/modules/mavlink/mavlink_command_sender.cpp index 6e95db946b1c..4ce6a078e351 100644 --- a/src/modules/mavlink/mavlink_command_sender.cpp +++ b/src/modules/mavlink/mavlink_command_sender.cpp @@ -68,7 +68,8 @@ MavlinkCommandSender::~MavlinkCommandSender() int MavlinkCommandSender::handle_vehicle_command(const vehicle_command_s &command, mavlink_channel_t channel) { // commands > uint16 are PX4 internal only - if (command.command >= vehicle_command_s::VEHICLE_CMD_PX4_INTERNAL_START) { + if (command.command >= vehicle_command_s::VEHICLE_CMD_PX4_INTERNAL_START + || command.source_component >= vehicle_command_s::COMPONENT_MODE_EXECUTOR_START) { return 0; } diff --git a/src/modules/mavlink/mavlink_events.cpp b/src/modules/mavlink/mavlink_events.cpp index c1596530d45e..135cf154d2e7 100644 --- a/src/modules/mavlink/mavlink_events.cpp +++ b/src/modules/mavlink/mavlink_events.cpp @@ -208,17 +208,18 @@ void SendProtocol::handle_request_event(const mavlink_message_t &msg) const void SendProtocol::send_event(const Event &event) const { - mavlink_event_t event_msg{}; - event_msg.event_time_boot_ms = event.timestamp_ms; - event_msg.destination_component = MAV_COMP_ID_ALL; - event_msg.destination_system = 0; - event_msg.id = event.id; - event_msg.sequence = event.sequence; - event_msg.log_levels = event.log_levels; - static_assert(sizeof(event_msg.arguments) >= sizeof(event.arguments), "MAVLink message arguments buffer too small"); - memcpy(&event_msg.arguments, event.arguments, sizeof(event.arguments)); - mavlink_msg_event_send_struct(_mavlink.get_channel(), &event_msg); - + if (_mavlink.get_mode() != Mavlink::MAVLINK_MODE_IRIDIUM) { + mavlink_event_t event_msg{}; + event_msg.event_time_boot_ms = event.timestamp_ms; + event_msg.destination_component = MAV_COMP_ID_ALL; + event_msg.destination_system = 0; + event_msg.id = event.id; + event_msg.sequence = event.sequence; + event_msg.log_levels = event.log_levels; + static_assert(sizeof(event_msg.arguments) >= sizeof(event.arguments), "MAVLink message arguments buffer too small"); + memcpy(&event_msg.arguments, event.arguments, sizeof(event.arguments)); + mavlink_msg_event_send_struct(_mavlink.get_channel(), &event_msg); + } } void SendProtocol::on_gcs_connected() @@ -228,8 +229,9 @@ void SendProtocol::on_gcs_connected() void SendProtocol::send_current_sequence(const hrt_abstime &now, bool force_reset) { - // only send if enough tx buffer space available - if (_mavlink.get_free_tx_buf() < MAVLINK_MSG_ID_CURRENT_EVENT_SEQUENCE_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) { + // only send if enough tx buffer space available or not MAVLINK_MODE_IRIDIUM + if (_mavlink.get_free_tx_buf() < MAVLINK_MSG_ID_CURRENT_EVENT_SEQUENCE_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES || + _mavlink.get_mode() == Mavlink::MAVLINK_MODE_IRIDIUM) { return; } diff --git a/src/modules/mavlink/mavlink_ftp.cpp b/src/modules/mavlink/mavlink_ftp.cpp index 9d078b16b090..058e9d95f1b3 100644 --- a/src/modules/mavlink/mavlink_ftp.cpp +++ b/src/modules/mavlink/mavlink_ftp.cpp @@ -45,17 +45,13 @@ #include "mavlink_ftp.h" #include "mavlink_tests/mavlink_ftp_test.h" -#ifndef MAVLINK_FTP_UNIT_TEST #include "mavlink_main.h" -#else -#include -#endif using namespace time_literals; constexpr const char MavlinkFTP::_root_dir[]; -MavlinkFTP::MavlinkFTP(Mavlink *mavlink) : +MavlinkFTP::MavlinkFTP(Mavlink &mavlink) : _mavlink(mavlink) { // initialize session @@ -96,7 +92,7 @@ MavlinkFTP::_getServerSystemId() return MavlinkFtpTest::serverSystemId; #else // Not unit testing, use the real thing - return _mavlink->get_system_id(); + return _mavlink.get_system_id(); #endif } @@ -108,7 +104,7 @@ MavlinkFTP::_getServerComponentId() return MavlinkFtpTest::serverComponentId; #else // Not unit testing, use the real thing - return _mavlink->get_component_id(); + return _mavlink.get_component_id(); #endif } @@ -120,7 +116,7 @@ MavlinkFTP::_getServerChannel() return MavlinkFtpTest::serverChannel; #else // Not unit testing, use the real thing - return _mavlink->get_channel(); + return _mavlink.get_channel(); #endif } @@ -180,7 +176,7 @@ MavlinkFTP::_process_request( #ifdef MAVLINK_FTP_UNIT_TEST _utRcvMsgFunc(last_reply, _worker_data); #else - mavlink_msg_file_transfer_protocol_send_struct(_mavlink->get_channel(), last_reply); + mavlink_msg_file_transfer_protocol_send_struct(_mavlink.get_channel(), last_reply); #endif return; } @@ -326,7 +322,7 @@ MavlinkFTP::_reply(mavlink_file_transfer_protocol_t *ftp_req) // we can simply resend the response. // we only keep small responses to reduce RAM usage and avoid large memcpy's. The larger responses are all data // retrievals without side-effects, meaning it's ok to reexecute them if a response gets lost - if (payload->size <= sizeof(uint32_t)) { + if (payload->size <= sizeof(uint32_t) && payload->data[0] != kErrNoSessionsAvailable) { _last_reply_valid = true; memcpy(_last_reply, ftp_req, sizeof(_last_reply)); } @@ -340,19 +336,31 @@ MavlinkFTP::_reply(mavlink_file_transfer_protocol_t *ftp_req) // Unit test hook is set, call that instead _utRcvMsgFunc(ftp_req, _worker_data); #else - mavlink_msg_file_transfer_protocol_send_struct(_mavlink->get_channel(), ftp_req); + mavlink_msg_file_transfer_protocol_send_struct(_mavlink.get_channel(), ftp_req); #endif } +void MavlinkFTP::_constructPath(char *dst, int dst_len, const char *path) const +{ + strncpy(dst, _root_dir, dst_len); + int root_dir_len = _root_dir_len; + + // If neither the root ends nor the given path starts with a '/', add a separating '/' in between + if (dst[0] != '\0' && dst[strlen(dst) - 1] != '/' && path[0] != '/') { + strncat(dst, "/", dst_len); + ++root_dir_len; + } + + strncpy(dst + root_dir_len, path, dst_len - root_dir_len); + // Ensure termination + dst[dst_len - 1] = '\0'; +} /// @brief Responds to a List command MavlinkFTP::ErrorCode MavlinkFTP::_workList(PayloadHeader *payload) { - strncpy(_work_buffer1, _root_dir, _work_buffer1_len); - strncpy(_work_buffer1 + _root_dir_len, _data_as_cstring(payload), _work_buffer1_len - _root_dir_len); - // ensure termination - _work_buffer1[_work_buffer1_len - 1] = '\0'; + _constructPath(_work_buffer1, _work_buffer1_len, _data_as_cstring(payload)); ErrorCode errorCode = kErrNone; unsigned offset = 0; @@ -502,12 +510,11 @@ MavlinkFTP::ErrorCode MavlinkFTP::_workOpen(PayloadHeader *payload, int oflag) { if (_session_info.fd >= 0) { - PX4_ERR("FTP: Open failed - out of sessions\n"); + PX4_ERR("FTP: Open failed - out of sessions"); return kErrNoSessionsAvailable; } - strncpy(_work_buffer1, _root_dir, _work_buffer1_len); - strncpy(_work_buffer1 + _root_dir_len, _data_as_cstring(payload), _work_buffer1_len - _root_dir_len); + _constructPath(_work_buffer1, _work_buffer1_len, _data_as_cstring(payload)); PX4_DEBUG("FTP: open '%s'", _work_buffer1); @@ -649,10 +656,7 @@ MavlinkFTP::_workWrite(PayloadHeader *payload) MavlinkFTP::ErrorCode MavlinkFTP::_workRemoveFile(PayloadHeader *payload) { - strncpy(_work_buffer1, _root_dir, _work_buffer1_len); - strncpy(_work_buffer1 + _root_dir_len, _data_as_cstring(payload), _work_buffer1_len - _root_dir_len); - // ensure termination - _work_buffer1[_work_buffer1_len - 1] = '\0'; + _constructPath(_work_buffer1, _work_buffer1_len, _data_as_cstring(payload)); if (!_validatePathIsWritable(_work_buffer1)) { return kErrFailFileProtected; @@ -675,10 +679,7 @@ MavlinkFTP::_workRemoveFile(PayloadHeader *payload) MavlinkFTP::ErrorCode MavlinkFTP::_workTruncateFile(PayloadHeader *payload) { - strncpy(_work_buffer1, _root_dir, _work_buffer1_len); - strncpy(_work_buffer1 + _root_dir_len, _data_as_cstring(payload), _work_buffer1_len - _root_dir_len); - // ensure termination - _work_buffer1[_work_buffer1_len - 1] = '\0'; + _constructPath(_work_buffer1, _work_buffer1_len, _data_as_cstring(payload)); payload->size = 0; if (!_validatePathIsWritable(_work_buffer1)) { @@ -833,19 +834,14 @@ MavlinkFTP::_workRename(PayloadHeader *payload) char *ptr = _data_as_cstring(payload); size_t oldpath_sz = strlen(ptr); - if (oldpath_sz == payload->size) { + if (oldpath_sz + 2 >= payload->size) { // no newpath errno = EINVAL; return kErrFailErrno; } - strncpy(_work_buffer1, _root_dir, _work_buffer1_len); - strncpy(_work_buffer1 + _root_dir_len, ptr, _work_buffer1_len - _root_dir_len); - _work_buffer1[_work_buffer1_len - 1] = '\0'; // ensure termination - - strncpy(_work_buffer2, _root_dir, _work_buffer2_len); - strncpy(_work_buffer2 + _root_dir_len, ptr + oldpath_sz + 1, _work_buffer2_len - _root_dir_len); - _work_buffer2[_work_buffer2_len - 1] = '\0'; // ensure termination + _constructPath(_work_buffer1, _work_buffer1_len, ptr); + _constructPath(_work_buffer2, _work_buffer2_len, ptr + oldpath_sz + 1); if (!_validatePathIsWritable(_work_buffer2)) { return kErrFailFileProtected; @@ -868,10 +864,7 @@ MavlinkFTP::_workRename(PayloadHeader *payload) MavlinkFTP::ErrorCode MavlinkFTP::_workRemoveDirectory(PayloadHeader *payload) { - strncpy(_work_buffer1, _root_dir, _work_buffer1_len); - strncpy(_work_buffer1 + _root_dir_len, _data_as_cstring(payload), _work_buffer1_len - _root_dir_len); - // ensure termination - _work_buffer1[_work_buffer1_len - 1] = '\0'; + _constructPath(_work_buffer1, _work_buffer1_len, _data_as_cstring(payload)); if (!_validatePathIsWritable(_work_buffer1)) { return kErrFailFileProtected; @@ -894,10 +887,7 @@ MavlinkFTP::_workRemoveDirectory(PayloadHeader *payload) MavlinkFTP::ErrorCode MavlinkFTP::_workCreateDirectory(PayloadHeader *payload) { - strncpy(_work_buffer1, _root_dir, _work_buffer1_len); - strncpy(_work_buffer1 + _root_dir_len, _data_as_cstring(payload), _work_buffer1_len - _root_dir_len); - // ensure termination - _work_buffer1[_work_buffer1_len - 1] = '\0'; + _constructPath(_work_buffer1, _work_buffer1_len, _data_as_cstring(payload)); if (!_validatePathIsWritable(_work_buffer1)) { return kErrFailFileProtected; @@ -922,10 +912,7 @@ MavlinkFTP::_workCalcFileCRC32(PayloadHeader *payload) { uint32_t checksum = 0; ssize_t bytes_read; - strncpy(_work_buffer2, _root_dir, _work_buffer2_len); - strncpy(_work_buffer2 + _root_dir_len, _data_as_cstring(payload), _work_buffer2_len - _root_dir_len); - // ensure termination - _work_buffer2[_work_buffer2_len - 1] = '\0'; + _constructPath(_work_buffer2, _work_buffer2_len, _data_as_cstring(payload)); int fd = ::open(_work_buffer2, O_RDONLY); @@ -1064,8 +1051,8 @@ void MavlinkFTP::send() #ifndef MAVLINK_FTP_UNIT_TEST // Skip send if not enough room - unsigned max_bytes_to_send = _mavlink->get_free_tx_buf(); - PX4_DEBUG("MavlinkFTP::send max_bytes_to_send(%u) get_free_tx_buf(%u)", max_bytes_to_send, _mavlink->get_free_tx_buf()); + unsigned max_bytes_to_send = _mavlink.get_free_tx_buf(); + PX4_DEBUG("MavlinkFTP::send max_bytes_to_send(%u) get_free_tx_buf(%u)", max_bytes_to_send, _mavlink.get_free_tx_buf()); if (max_bytes_to_send < get_size()) { return; @@ -1173,7 +1160,7 @@ bool MavlinkFTP::_validatePathIsWritable(const char *path) // Don't allow writes to system paths as they are in RAM // Ideally we'd canonicalize the path (with 'realpath'), but it might not exist, so realpath() would fail. // The next simpler thing is to check there's no reference to a parent dir. - if (strncmp(path, "/fs/microsd/", 12) != 0 || strstr(path, "/../") != nullptr) { + if (strncmp(path, CONFIG_BOARD_ROOT_PATH "/", 12) != 0 || strstr(path, "/../") != nullptr) { PX4_ERR("Disallowing write to %s", path); return false; } diff --git a/src/modules/mavlink/mavlink_ftp.h b/src/modules/mavlink/mavlink_ftp.h index 4372033043d0..d5b9ce294688 100644 --- a/src/modules/mavlink/mavlink_ftp.h +++ b/src/modules/mavlink/mavlink_ftp.h @@ -43,11 +43,7 @@ #include #include -#ifndef MAVLINK_FTP_UNIT_TEST #include "mavlink_bridge_header.h" -#else -#include -#endif class MavlinkFtpTest; class Mavlink; @@ -56,7 +52,7 @@ class Mavlink; class MavlinkFTP { public: - MavlinkFTP(Mavlink *mavlink); + MavlinkFTP(Mavlink &mavlink); ~MavlinkFTP(); /** @@ -155,6 +151,11 @@ class MavlinkFTP uint8_t _getServerComponentId(void); uint8_t _getServerChannel(void); + /** + * Construct local path by appending `path` to `_root_dir` and storing the result in `dst`. + */ + void _constructPath(char *dst, int dst_len, const char *path) const; + bool _validatePathIsWritable(const char *path); /** @@ -185,7 +186,7 @@ class MavlinkFTP ReceiveMessageFunc_t _utRcvMsgFunc{}; ///< Unit test override for mavlink message sending void *_worker_data{nullptr}; ///< Additional parameter to _utRcvMsgFunc; - Mavlink *_mavlink; + Mavlink &_mavlink; /* do not allow copying this class */ MavlinkFTP(const MavlinkFTP &); diff --git a/src/modules/mavlink/mavlink_log_handler.cpp b/src/modules/mavlink/mavlink_log_handler.cpp index 8ae5061b3fc9..1afa32382b19 100644 --- a/src/modules/mavlink/mavlink_log_handler.cpp +++ b/src/modules/mavlink/mavlink_log_handler.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2014-2021 PX4 Development Team. All rights reserved. + * Copyright (c) 2014-2024 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -31,558 +31,498 @@ * ****************************************************************************/ -/// @file mavlink_log_handler.h -/// @author px4dev, Gus Grubba - #include "mavlink_log_handler.h" #include "mavlink_main.h" +#include #include -#include -#include - -#define MOUNTPOINT PX4_STORAGEDIR -static const char *kLogRoot = MOUNTPOINT "/log"; -static const char *kLogData = MOUNTPOINT "/logdata.txt"; -static const char *kTmpData = MOUNTPOINT "/$log$.txt"; +static constexpr int MAX_BYTES_BURST = 256 * 1024; +static const char *kLogListFilePath = PX4_STORAGEDIR "/logdata.txt"; +static const char *kLogListFilePathTemp = PX4_STORAGEDIR "/$log$.txt"; +static const char *kLogDir = PX4_STORAGEDIR "/log"; #ifdef __PX4_NUTTX #define PX4LOG_REGULAR_FILE DTYPE_FILE #define PX4LOG_DIRECTORY DTYPE_DIRECTORY +#define PX4_MAX_FILEPATH CONFIG_PATH_MAX #else +#ifndef PATH_MAX +#define PATH_MAX 1024 // maximum on macOS +#endif #define PX4LOG_REGULAR_FILE DT_REG #define PX4LOG_DIRECTORY DT_DIR +#define PX4_MAX_FILEPATH PATH_MAX #endif -//#define MAVLINK_LOG_HANDLER_VERBOSE - -#ifdef MAVLINK_LOG_HANDLER_VERBOSE -#define PX4LOG_WARN(fmt, ...) warnx(fmt, ##__VA_ARGS__) -#else -#define PX4LOG_WARN(fmt, ...) -#endif +MavlinkLogHandler::MavlinkLogHandler(Mavlink &mavlink) + : _mavlink(mavlink) +{} -//------------------------------------------------------------------- -static bool -stat_file(const char *file, time_t *date = nullptr, uint32_t *size = nullptr) +MavlinkLogHandler::~MavlinkLogHandler() { - struct stat st; - - if (stat(file, &st) == 0) { - if (date) { *date = st.st_mtime; } + perf_free(_create_file_elapsed); + perf_free(_listing_elapsed); - if (size) { *size = st.st_size; } - - return true; + if (_current_entry.fp) { + fclose(_current_entry.fp); } - return false; + unlink(kLogListFilePath); + unlink(kLogListFilePathTemp); } -//------------------------------------------------------------------- -MavlinkLogHandler::MavlinkLogHandler(Mavlink *mavlink) - : _mavlink(mavlink) +void MavlinkLogHandler::send() { + switch (_state) { + case LogHandlerState::Idle: { + state_idle(); + break; + } -} -MavlinkLogHandler::~MavlinkLogHandler() -{ - _close_and_unlink_files(); + case LogHandlerState::Listing: { + state_listing(); + break; + } + + case LogHandlerState::SendingData: { + state_sending_data(); + break; + } + } } -//------------------------------------------------------------------- -void -MavlinkLogHandler::handle_message(const mavlink_message_t *msg) +void MavlinkLogHandler::handle_message(const mavlink_message_t *msg) { switch (msg->msgid) { case MAVLINK_MSG_ID_LOG_REQUEST_LIST: - _log_request_list(msg); + handle_log_request_list(msg); break; case MAVLINK_MSG_ID_LOG_REQUEST_DATA: - _log_request_data(msg); + handle_log_request_data(msg); break; - case MAVLINK_MSG_ID_LOG_ERASE: - _log_request_erase(msg); + case MAVLINK_MSG_ID_LOG_REQUEST_END: + handle_log_request_end(msg); break; - case MAVLINK_MSG_ID_LOG_REQUEST_END: - _log_request_end(msg); + case MAVLINK_MSG_ID_LOG_ERASE: + handle_log_erase(msg); break; } } -//------------------------------------------------------------------- -void -MavlinkLogHandler::send() +void MavlinkLogHandler::state_idle() { - //-- An arbitrary count of max bytes in one go (one of the two below but never both) -#define MAX_BYTES_SEND 256 * 1024 - size_t count = 0; - - //-- Log Entries - while (_current_status == LogHandlerState::Listing - && _mavlink->get_free_tx_buf() > MAVLINK_MSG_ID_LOG_ENTRY_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES - && count < MAX_BYTES_SEND) { - count += _log_send_listing(); - } - - //-- Log Data - while (_current_status == LogHandlerState::SendingData - && _mavlink->get_free_tx_buf() > MAVLINK_MSG_ID_LOG_DATA_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES - && count < MAX_BYTES_SEND) { - count += _log_send_data(); + if (_current_entry.fp && _file_send_finished) { + fclose(_current_entry.fp); + _current_entry.fp = nullptr; + + _current_entry.id = 0xffff; + _current_entry.time_utc = 0; + _current_entry.size_bytes = 0; + _current_entry.filepath[0] = 0; + _current_entry.offset = 0; + + _entry_request.id = 0xffff; + _entry_request.start_offset = 0; + _entry_request.byte_count = 0; } } -//------------------------------------------------------------------- -void -MavlinkLogHandler::_log_request_list(const mavlink_message_t *msg) +void MavlinkLogHandler::state_listing() { - mavlink_log_request_list_t request; - mavlink_msg_log_request_list_decode(msg, &request); - - //-- Check for re-requests (data loss) or new request - if (_current_status != LogHandlerState::Inactive) { - //-- Is this a new request? - if (request.start == 0) { - _current_status = LogHandlerState::Inactive; - _close_and_unlink_files(); - - } else { - _current_status = LogHandlerState::Idle; + static constexpr uint32_t MAVLINK_PACKET_SIZE = MAVLINK_NUM_NON_PAYLOAD_BYTES + MAVLINK_MSG_ID_LOG_ENTRY_LEN; - } + if (_mavlink.get_free_tx_buf() <= MAVLINK_PACKET_SIZE) { + return; } - if (_current_status == LogHandlerState::Inactive) { - //-- Prepare new request + DIR *dp = opendir(kLogDir); - _reset_list_helper(); - _init_list_helper(); - _current_status = LogHandlerState::Idle; - } - - if (_log_count) { - //-- Define (and clamp) range - _next_entry = request.start < _log_count ? request.start : - _log_count - 1; - _last_entry = request.end < _log_count ? request.end : - _log_count - 1; + if (!dp) { + PX4_DEBUG("No logs available"); + return; } - PX4LOG_WARN("\nMavlinkLogHandler::_log_request_list: start: %d last: %d count: %d", - _next_entry, - _last_entry, - _log_count); - //-- Enable streaming - _current_status = LogHandlerState::Listing; -} + FILE *fp = fopen(kLogListFilePath, "r"); -//------------------------------------------------------------------- -void -MavlinkLogHandler::_log_request_data(const mavlink_message_t *msg) -{ - //-- If we haven't listed, we can't do much - if (_current_status == LogHandlerState::Inactive) { - PX4LOG_WARN("MavlinkLogHandler::_log_request_data Log request with no list requested."); + if (!fp) { + PX4_DEBUG("Failed to open log list file"); + closedir(dp); return; } - mavlink_log_request_data_t request; - mavlink_msg_log_request_data_decode(msg, &request); + fseek(fp, _list_request.file_index, SEEK_SET); - //-- Does the requested log exist? - if (request.id >= _log_count) { - PX4LOG_WARN("MavlinkLogHandler::_log_request_data Requested log %" PRIu16 " but we only have %u.", request.id, - _log_count); - return; - } + size_t bytes_sent = 0; - //-- If we were sending log entries, stop it - _current_status = LogHandlerState::Idle; + char line[PX4_MAX_FILEPATH]; - if (_current_log_index != request.id) { - //-- Init send log dataset - _current_log_filename[0] = 0; - _current_log_index = request.id; - uint32_t time_utc = 0; + perf_begin(_listing_elapsed); - if (!_get_entry(_current_log_index, _current_log_size, time_utc, - _current_log_filename, sizeof(_current_log_filename))) { - PX4LOG_WARN("LogListHelper::get_entry failed."); - return; + while (fgets(line, sizeof(line), fp)) { + + if (_list_request.current_id < _list_request.first_id) { + _list_request.current_id++; + continue; } - _open_for_transmit(); - } + // We can send! + uint32_t size_bytes = 0; + uint32_t time_utc = 0; + char filepath[PX4_MAX_FILEPATH]; - _current_log_data_offset = request.ofs; + // If parsed lined successfully, send the entry + if (sscanf(line, "%" PRIu32 " %" PRIu32 " %s", &time_utc, &size_bytes, filepath) != 3) { + PX4_DEBUG("sscanf failed"); + continue; + } - if (_current_log_data_offset >= _current_log_size) { - _current_log_data_remaining = 0; + send_log_entry(time_utc, size_bytes); + bytes_sent += sizeof(mavlink_log_entry_t); + _list_request.current_id++; - } else { - _current_log_data_remaining = _current_log_size - request.ofs; + // Yield if we've exceed mavlink burst or buffer limit + if (_mavlink.get_free_tx_buf() <= MAVLINK_PACKET_SIZE || bytes_sent >= MAX_BYTES_BURST) { + _list_request.file_index = ftell(fp); + fclose(fp); + closedir(dp); + perf_end(_listing_elapsed); + return; + } } - if (_current_log_data_remaining > request.count) { - _current_log_data_remaining = request.count; - } + perf_end(_listing_elapsed); - //-- Enable streaming - _current_status = LogHandlerState::SendingData; -} + fclose(fp); + closedir(dp); -//------------------------------------------------------------------- -void -MavlinkLogHandler::_log_request_erase(const mavlink_message_t * /*msg*/) -{ - /* - mavlink_log_erase_t request; - mavlink_msg_log_erase_decode(msg, &request); - */ - _current_status = LogHandlerState::Inactive; - _close_and_unlink_files(); - - //-- Delete all logs - _delete_all(kLogRoot); + _list_request.current_id = 0; + _list_request.file_index = 0; + _state = LogHandlerState::Idle; } -//------------------------------------------------------------------- -void -MavlinkLogHandler::_log_request_end(const mavlink_message_t * /*msg*/) +void MavlinkLogHandler::state_sending_data() { - PX4LOG_WARN("MavlinkLogHandler::_log_request_end"); + static constexpr uint32_t MAVLINK_PACKET_SIZE = MAVLINK_NUM_NON_PAYLOAD_BYTES + MAVLINK_MSG_ID_LOG_DATA_LEN; + size_t bytes_sent = 0; - _current_status = LogHandlerState::Inactive; - _close_and_unlink_files(); -} + while (_mavlink.get_free_tx_buf() > MAVLINK_PACKET_SIZE && bytes_sent < MAX_BYTES_BURST) { -//------------------------------------------------------------------- -size_t -MavlinkLogHandler::_log_send_listing() -{ - mavlink_log_entry_t response; - uint32_t size, date; - _get_entry(_next_entry, size, date); - response.size = size; - response.time_utc = date; - response.id = _next_entry; - response.num_logs = _log_count; - response.last_log_num = _last_entry; - mavlink_msg_log_entry_send_struct(_mavlink->get_channel(), &response); - - //-- If we're done listing, flag it. - if (_next_entry == _last_entry) { - _current_status = LogHandlerState::Idle; - - } else { - _next_entry++; - } + // Only seek if we need to + long int offset = _current_entry.offset - ftell(_current_entry.fp); - PX4LOG_WARN("MavlinkLogHandler::_log_send_listing id: %" PRIu16 " count: %" PRIu16 " last: %" PRIu16 " size: %" PRIu32 - " date: %" PRIu32 " status: %" PRIu32, - response.id, - response.num_logs, - response.last_log_num, - response.size, - response.time_utc, - (uint32_t)_current_status); - return sizeof(response); -} + if (offset && fseek(_current_entry.fp, offset, SEEK_CUR)) { + fclose(_current_entry.fp); + _current_entry.fp = nullptr; + PX4_DEBUG("seek error"); + _state = LogHandlerState::Idle; + } -//------------------------------------------------------------------- -size_t -MavlinkLogHandler::_log_send_data() -{ - mavlink_log_data_t response; - memset(&response, 0, sizeof(response)); - uint32_t len = _current_log_data_remaining; + // Prepare mavlink message + mavlink_log_data_t msg; - if (len > sizeof(response.data)) { - len = sizeof(response.data); - } + if (_current_entry.offset >= _current_entry.size_bytes) { + PX4_DEBUG("Entry offset equal to file size"); + _state = LogHandlerState::Idle; + return; + } - size_t read_size = _get_log_data(len, response.data); - response.ofs = _current_log_data_offset; - response.id = _current_log_index; - response.count = read_size; - mavlink_msg_log_data_send_struct(_mavlink->get_channel(), &response); - _current_log_data_offset += read_size; - _current_log_data_remaining -= read_size; + size_t bytes_to_read = _current_entry.size_bytes - _current_entry.offset; - if (read_size < sizeof(response.data) || _current_log_data_remaining == 0) { - _current_status = LogHandlerState::Idle; - } + if (bytes_to_read > sizeof(msg.data)) { + bytes_to_read = sizeof(msg.data); + } - return sizeof(response); -} + msg.count = fread(msg.data, 1, bytes_to_read, _current_entry.fp); + msg.id = _current_entry.id; + msg.ofs = _current_entry.offset; -//------------------------------------------------------------------- -void MavlinkLogHandler::_close_and_unlink_files() -{ - if (_current_log_filep) { - ::fclose(_current_log_filep); - _reset_list_helper(); - } + mavlink_msg_log_data_send_struct(_mavlink.get_channel(), &msg); + + bytes_sent += MAVLINK_PACKET_SIZE; + _current_entry.offset += msg.count; - // Remove log data files (if any) - unlink(kLogData); - unlink(kTmpData); + bool chunk_finished = _current_entry.offset >= (_entry_request.byte_count + _entry_request.start_offset); + _file_send_finished = _current_entry.offset >= _current_entry.size_bytes; + + if (chunk_finished || _file_send_finished) { + _state = LogHandlerState::Idle; + return; + } + } } -//------------------------------------------------------------------- -bool -MavlinkLogHandler::_get_entry(int idx, uint32_t &size, uint32_t &date, char *filename, int filename_len) +void MavlinkLogHandler::handle_log_request_list(const mavlink_message_t *msg) { - //-- Find log file in log list file created during init() - size = 0; - date = 0; - bool result = false; - //-- Open list of log files - FILE *f = ::fopen(kLogData, "r"); - - if (f) { - //--- Find requested entry - char line[160]; - int count = 0; - - while (fgets(line, sizeof(line), f)) { - //-- Found our "index" - if (count++ == idx) { - char file[160]; - - if (sscanf(line, "%" PRIu32 " %" PRIu32 " %s", &date, &size, file) == 3) { - if (filename && filename_len > 0) { - strncpy(filename, file, filename_len); - filename[filename_len - 1] = 0; // ensure null-termination - } - - result = true; - break; - } - } - } + mavlink_log_request_list_t request; + mavlink_msg_log_request_list_decode(msg, &request); - fclose(f); + if (!create_log_list_file()) { + return; } - return result; + _list_request.first_id = request.start; + _list_request.last_id = request.end == 0xffff ? _num_logs : request.end; + _list_request.current_id = 0; + _list_request.file_index = 0; + _logs_listed = true; + _state = LogHandlerState::Listing; } -//------------------------------------------------------------------- -bool -MavlinkLogHandler::_open_for_transmit() +void MavlinkLogHandler::handle_log_request_data(const mavlink_message_t *msg) { - if (_current_log_filep) { - ::fclose(_current_log_filep); - _current_log_filep = nullptr; + if (!_logs_listed) { + PX4_DEBUG("Logs not yet listed"); + _state = LogHandlerState::Idle; + return; } - _current_log_filep = ::fopen(_current_log_filename, "rb"); + mavlink_log_request_data_t request; + mavlink_msg_log_request_data_decode(msg, &request); - if (!_current_log_filep) { - PX4LOG_WARN("MavlinkLogHandler::open_for_transmit Could not open %s", _current_log_filename); - return false; + if (request.id >= _num_logs) { + PX4_DEBUG("Requested log %" PRIu16 " but we only have %u", request.id, _num_logs); + _state = LogHandlerState::Idle; + return; } - return true; -} + // Handle switching to new request ID + if (request.id != _current_entry.id) { + // Close the old file + if (_current_entry.fp) { + fclose(_current_entry.fp); + _current_entry.fp = nullptr; + } -//------------------------------------------------------------------- -size_t -MavlinkLogHandler::_get_log_data(uint8_t len, uint8_t *buffer) -{ - if (!_current_log_filename[0]) { - return 0; - } + LogEntry entry = {}; - if (!_current_log_filep) { - PX4LOG_WARN("MavlinkLogHandler::get_log_data file not open %s", _current_log_filename); - return 0; - } + if (!log_entry_from_id(request.id, &entry)) { + PX4_DEBUG("Log file ID %u does not exist", request.id); + _state = LogHandlerState::Idle; + return; + } - long int offset = _current_log_data_offset - ftell(_current_log_filep); + entry.fp = fopen(entry.filepath, "rb"); + entry.offset = request.ofs; - if (offset && fseek(_current_log_filep, offset, SEEK_CUR)) { - fclose(_current_log_filep); - _current_log_filep = nullptr; - PX4LOG_WARN("MavlinkLogHandler::get_log_data Seek error in %s", _current_log_filename); - return 0; + if (!entry.fp) { + PX4_DEBUG("Failed to open file %s", entry.filepath); + return; + } + + _current_entry = entry; } - size_t result = fread(buffer, 1, len, _current_log_filep); - return result; -} + // Stop if offset request is larger than file + if (request.ofs >= _current_entry.size_bytes) { + PX4_DEBUG("Request offset %" PRIu32 "greater than file size %" PRIu32, request.ofs, + _current_entry.size_bytes); + _state = LogHandlerState::Idle; + return; + } + _entry_request.id = request.id; + _entry_request.start_offset = request.ofs; + _entry_request.byte_count = request.count; + // Set the offset of the current entry to the requested offset + _current_entry.offset = _entry_request.start_offset; + _file_send_finished = false; + _state = LogHandlerState::SendingData; +} -void -MavlinkLogHandler::_reset_list_helper() +void MavlinkLogHandler::handle_log_request_end(const mavlink_message_t *msg) { - _next_entry = 0; - _last_entry = 0; - _log_count = 0; - _current_log_index = UINT16_MAX; - _current_log_size = 0; - _current_log_data_offset = 0; - _current_log_data_remaining = 0; - _current_log_filep = nullptr; + _state = LogHandlerState::Idle; } -void -MavlinkLogHandler::_init_list_helper() +void MavlinkLogHandler::handle_log_erase(const mavlink_message_t *msg) { - /* + if (_current_entry.fp) { + fclose(_current_entry.fp); + _current_entry.fp = nullptr; + } - When this helper is created, it scans the log directory - and collects all log files found into one file for easy, - subsequent access. - */ + _state = LogHandlerState::Idle; + unlink(kLogListFilePath); + unlink(kLogListFilePathTemp); - _current_log_filename[0] = 0; + delete_all_logs(kLogDir); +} - // Remove old log data file (if any) - unlink(kLogData); - // Open log directory - DIR *dp = opendir(kLogRoot); +bool MavlinkLogHandler::create_log_list_file() +{ + perf_begin(_create_file_elapsed); - if (dp == nullptr) { - // No log directory. Nothing to do. - return; + // clean up old file + unlink(kLogListFilePath); + _num_logs = 0; + + DIR *dp = opendir(kLogDir); + + if (!dp) { + PX4_DEBUG("No logs available"); + return false; } - // Create work file - FILE *f = ::fopen(kTmpData, "w"); + FILE *temp_fp = fopen(kLogListFilePathTemp, "w"); - if (!f) { - PX4LOG_WARN("MavlinkLogHandler::init Error creating %s", kTmpData); + if (!temp_fp) { + PX4_DEBUG("Failed to create temp file"); closedir(dp); - return; + return false; } - // Scan directory and collect log files struct dirent *result = nullptr; - while ((result = readdir(dp))) { - if (result->d_type == PX4LOG_DIRECTORY) { - time_t tt = 0; - char log_path[128]; - int ret = snprintf(log_path, sizeof(log_path), "%s/%s", kLogRoot, result->d_name); - bool path_is_ok = (ret > 0) && (ret < (int)sizeof(log_path)); + // Iterate over the log/ directory which contains subdirectories formatted: yyyy-mm-dd + while (1) { + result = readdir(dp); - if (path_is_ok) { - if (_get_session_date(log_path, result->d_name, tt)) { - _scan_logs(f, log_path, tt); - } - } + if (!result) { + // Reached end of directory + break; + } + + if (result->d_type != PX4LOG_DIRECTORY) { + // Skip stray files + continue; + } + + // Skip the '.' and '..' entries + if (strcmp(result->d_name, ".") == 0 || strcmp(result->d_name, "..") == 0) { + continue; + } + + // Open up the sub directory + char dirpath[PX4_MAX_FILEPATH]; + int ret = snprintf(dirpath, sizeof(dirpath), "%s/%s", kLogDir, result->d_name); + + bool path_is_ok = (ret > 0) && (ret < (int)sizeof(dirpath)); + + if (!path_is_ok) { + PX4_DEBUG("Log subdir path error: %s", dirpath); + continue; } + + // Iterate over files inside the subdir and write them to the file + write_entries_to_file(temp_fp, dirpath); } + fclose(temp_fp); closedir(dp); - fclose(f); // Rename temp file to data file - if (rename(kTmpData, kLogData)) { - PX4LOG_WARN("MavlinkLogHandler::init Error renaming %s", kTmpData); - _log_count = 0; + if (rename(kLogListFilePathTemp, kLogListFilePath)) { + PX4_DEBUG("Failed to rename temp file"); + return false; } + + perf_end(_create_file_elapsed); + + return true; } -//------------------------------------------------------------------- -bool -MavlinkLogHandler::_get_session_date(const char *path, const char *dir, time_t &date) +void MavlinkLogHandler::write_entries_to_file(FILE *fp, const char *dir) { - if (strlen(dir) > 4) { - // Always try to get file time first - if (stat_file(path, &date)) { - // Try to prevent taking date if it's around 1970 (use the logic below instead) - if (date > 60 * 60 * 24) { - return true; - } + DIR *dp = opendir(dir); + struct dirent *result = nullptr; + + while (1) { + result = readdir(dp); + + if (!result) { + // Reached end of directory + break; } - // Convert "sess000" to 00:00 Jan 1 1970 (day per session) - if (strncmp(dir, "sess", 4) == 0) { - unsigned u; + if (result->d_type != PX4LOG_REGULAR_FILE) { + // Skip non files + continue; + } - if (sscanf(&dir[4], "%u", &u) == 1) { - date = u * 60 * 60 * 24; - return true; - } + char filepath[PX4_MAX_FILEPATH]; + int ret = snprintf(filepath, sizeof(filepath), "%s/%s", dir, result->d_name); + bool path_is_ok = (ret > 0) && (ret < (int)sizeof(filepath)); + + if (!path_is_ok) { + PX4_DEBUG("Log subdir path error: %s", filepath); + continue; + } + + struct stat filestat; + + if (stat(filepath, &filestat) != 0) { + PX4_DEBUG("stat() failed: %s", filepath); + continue; } + + // Write to file using format: + // [ time ] [ size_bytes ] [ filepath ] + fprintf(fp, "%u %u %s\n", unsigned(filestat.st_mtime), unsigned(filestat.st_size), filepath); + _num_logs++; } - return false; + closedir(dp); } -//------------------------------------------------------------------- -void -MavlinkLogHandler::_scan_logs(FILE *f, const char *dir, time_t &date) +void MavlinkLogHandler::send_log_entry(uint32_t time_utc, uint32_t size_bytes) { - DIR *dp = opendir(dir); + mavlink_log_entry_t msg; + msg.time_utc = time_utc; + msg.size = size_bytes; + msg.id = _list_request.current_id; + msg.num_logs = _num_logs; + msg.last_log_num = _list_request.last_id; + mavlink_msg_log_entry_send_struct(_mavlink.get_channel(), &msg); +} - if (dp) { - struct dirent *result = nullptr; - - while ((result = readdir(dp))) { - if (result->d_type == PX4LOG_REGULAR_FILE) { - time_t ldate = date; - uint32_t size = 0; - char log_file_path[128]; - int ret = snprintf(log_file_path, sizeof(log_file_path), "%s/%s", dir, result->d_name); - bool path_is_ok = (ret > 0) && (ret < (int)sizeof(log_file_path)); - - if (path_is_ok) { - if (_get_log_time_size(log_file_path, result->d_name, ldate, size)) { - //-- Write result->out to list file - fprintf(f, "%u %u %s\n", (unsigned)ldate, (unsigned)size, log_file_path); - _log_count++; - } - } - } - } +bool MavlinkLogHandler::log_entry_from_id(uint16_t log_id, LogEntry *entry) +{ + DIR *dp = opendir(kLogDir); + + if (!dp) { + PX4_INFO("No logs available"); + return false; + } + + FILE *fp = fopen(kLogListFilePath, "r"); + if (!fp) { + PX4_DEBUG("Failed to open %s", kLogListFilePath); closedir(dp); + return false; } -} -//------------------------------------------------------------------- -bool -MavlinkLogHandler::_get_log_time_size(const char *path, const char *file, time_t &date, uint32_t &size) -{ - if (file && file[0]) { - if (strstr(file, ".px4log") || strstr(file, ".ulg")) { - // Always try to get file time first - if (stat_file(path, &date, &size)) { - // Try to prevent taking date if it's around 1970 (use the logic below instead) - if (date > 60 * 60 * 24) { - return true; - } - } + bool found_entry = false; + uint16_t current_id = 0; + char line[PX4_MAX_FILEPATH]; - // Convert "log000" to 00:00 (minute per flight in session) - if (strncmp(file, "log", 3) == 0) { - unsigned u; + while (fgets(line, sizeof(line), fp)) { - if (sscanf(&file[3], "%u", &u) == 1) { - date += (u * 60); + if (current_id != log_id) { + current_id++; + continue; + } - if (stat_file(path, nullptr, &size)) { - return true; - } - } - } + if (sscanf(line, "%" PRIu32 " %" PRIu32 " %s", &(entry->time_utc), &(entry->size_bytes), entry->filepath) != 3) { + PX4_DEBUG("sscanf failed"); + continue; } + + entry->id = log_id; + found_entry = true; + break; } - return false; + fclose(fp); + closedir(dp); + + return found_entry; } -//------------------------------------------------------------------- -void -MavlinkLogHandler::_delete_all(const char *dir) +void MavlinkLogHandler::delete_all_logs(const char *dir) { //-- Open log directory DIR *dp = opendir(dir); @@ -600,27 +540,27 @@ MavlinkLogHandler::_delete_all(const char *dir) } if (result->d_type == PX4LOG_DIRECTORY && result->d_name[0] != '.') { - char log_path[128]; - int ret = snprintf(log_path, sizeof(log_path), "%s/%s", dir, result->d_name); - bool path_is_ok = (ret > 0) && (ret < (int)sizeof(log_path)); + char filepath[PX4_MAX_FILEPATH]; + int ret = snprintf(filepath, sizeof(filepath), "%s/%s", dir, result->d_name); + bool path_is_ok = (ret > 0) && (ret < (int)sizeof(filepath)); if (path_is_ok) { - _delete_all(log_path); //Recursive call. TODO: consider add protection + delete_all_logs(filepath); - if (rmdir(log_path)) { - PX4LOG_WARN("MavlinkLogHandler::delete_all Error removing %s", log_path); + if (rmdir(filepath)) { + PX4_DEBUG("Error removing %s", filepath); } } } if (result->d_type == PX4LOG_REGULAR_FILE) { - char log_path[128]; - int ret = snprintf(log_path, sizeof(log_path), "%s/%s", dir, result->d_name); - bool path_is_ok = (ret > 0) && (ret < (int)sizeof(log_path)); + char filepath[PX4_MAX_FILEPATH]; + int ret = snprintf(filepath, sizeof(filepath), "%s/%s", dir, result->d_name); + bool path_is_ok = (ret > 0) && (ret < (int)sizeof(filepath)); if (path_is_ok) { - if (unlink(log_path)) { - PX4LOG_WARN("MavlinkLogHandler::delete_all Error deleting %s", log_path); + if (unlink(filepath)) { + PX4_DEBUG("Error unlinking %s", filepath); } } } diff --git a/src/modules/mavlink/mavlink_log_handler.h b/src/modules/mavlink/mavlink_log_handler.h index 8993bf41004f..eb521a61ee4f 100644 --- a/src/modules/mavlink/mavlink_log_handler.h +++ b/src/modules/mavlink/mavlink_log_handler.h @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2014, 2020 PX4 Development Team. All rights reserved. + * Copyright (c) 2014-2024 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -33,76 +33,86 @@ #pragma once -/// @file mavlink_log_handler.h -/// @author px4dev, Gus Grubba - -#include -#include -#include -#include -#include -#include - +#include #include "mavlink_bridge_header.h" class Mavlink; -// MAVLink LOG_* Message Handler class MavlinkLogHandler { public: - MavlinkLogHandler(Mavlink *mavlink); + MavlinkLogHandler(Mavlink &mavlink); ~MavlinkLogHandler(); - // Handle possible LOG message + void send(); void handle_message(const mavlink_message_t *msg); - /** - * Handle sending of messages. Call this regularly at a fixed frequency. - * @param t current time - */ - void send(); +private: + struct LogEntry { + uint16_t id{0xffff}; + uint32_t time_utc{}; + uint32_t size_bytes{}; + FILE *fp{nullptr}; + char filepath[60]; + uint32_t offset{}; + }; - unsigned get_size(); + struct LogEntryRequest { + uint16_t id{0xffff}; + uint32_t start_offset{}; + uint32_t byte_count{}; + }; + + struct LogListRequest { + uint16_t first_id{0}; + uint16_t last_id{0}; + uint16_t current_id{0}; + int file_index{0}; + }; -private: enum class LogHandlerState { - Inactive, //There is no active action of log handler - Idle, //The log handler is not sending list/data, but list has been sent - Listing, //File list is being send - SendingData //File Data is being send + Idle, + Listing, + SendingData }; - void _log_message(const mavlink_message_t *msg); - void _log_request_list(const mavlink_message_t *msg); - void _log_request_data(const mavlink_message_t *msg); - void _log_request_erase(const mavlink_message_t *msg); - void _log_request_end(const mavlink_message_t *msg); - - void _reset_list_helper(); - void _init_list_helper(); - bool _get_session_date(const char *path, const char *dir, time_t &date); - void _scan_logs(FILE *f, const char *dir, time_t &date); - bool _get_log_time_size(const char *path, const char *file, time_t &date, uint32_t &size); - static void _delete_all(const char *dir); - bool _get_entry(int idx, uint32_t &size, uint32_t &date, char *filename = 0, int filename_len = 0); - bool _open_for_transmit(); - size_t _get_log_data(uint8_t len, uint8_t *buffer); - void _close_and_unlink_files(); - - size_t _log_send_listing(); - size_t _log_send_data(); - - LogHandlerState _current_status{LogHandlerState::Inactive}; - Mavlink *_mavlink; - - int _next_entry{0}; - int _last_entry{0}; - int _log_count{0}; - - uint16_t _current_log_index{UINT16_MAX}; - uint32_t _current_log_size{0}; - uint32_t _current_log_data_offset{0}; - uint32_t _current_log_data_remaining{0}; - FILE *_current_log_filep{nullptr}; - char _current_log_filename[128]; //TODO: consider to allocate on runtime + + // mavlink message handlers + void handle_log_request_list(const mavlink_message_t *msg); + void handle_log_request_data(const mavlink_message_t *msg); + void handle_log_request_end(const mavlink_message_t *msg); + void handle_log_erase(const mavlink_message_t *msg); + + // state functions + void state_idle(); + void state_listing(); + void state_sending_data(); + + // Log request list + bool create_log_list_file(); + void write_entries_to_file(FILE *f, const char *dir); + void send_log_entry(uint32_t size, uint32_t time_utc); + + // Log request data + bool log_entry_from_id(uint16_t log_id, LogEntry *entry); + + // Log erase + void delete_all_logs(const char *dir); + + +private: + LogHandlerState _state{LogHandlerState::Idle}; + Mavlink &_mavlink; + + // Log list + LogListRequest _list_request{}; + int _num_logs{0}; + bool _logs_listed{false}; + + // Log data + LogEntry _current_entry{}; + LogEntryRequest _entry_request{}; + bool _file_send_finished{}; + + perf_counter_t _create_file_elapsed{perf_alloc(PC_ELAPSED, MODULE_NAME": create file")}; + perf_counter_t _listing_elapsed{perf_alloc(PC_ELAPSED, MODULE_NAME": listing")}; }; diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp index 40f6cbf8191b..54e1a8549eeb 100644 --- a/src/modules/mavlink/mavlink_main.cpp +++ b/src/modules/mavlink/mavlink_main.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2012-2021 PX4 Development Team. All rights reserved. + * Copyright (c) 2012-2023 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -81,6 +81,7 @@ #define MAIN_LOOP_DELAY 10000 ///< 100 Hz @ 1000 bytes/s data rate static pthread_mutex_t mavlink_module_mutex = PTHREAD_MUTEX_INITIALIZER; +static pthread_mutex_t mavlink_event_buffer_mutex = PTHREAD_MUTEX_INITIALIZER; events::EventBuffer *Mavlink::_event_buffer = nullptr; Mavlink *mavlink_module_instances[MAVLINK_COMM_NUM_BUFFERS] {}; @@ -99,7 +100,7 @@ bool Mavlink::_boot_complete = false; Mavlink::Mavlink() : ModuleParams(nullptr), - _receiver(this) + _receiver(*this) { // initialise parameter cache mavlink_update_parameters(); @@ -123,13 +124,13 @@ Mavlink::Mavlink() : // ensure topic exists, otherwise we might lose first queued commands if (orb_exists(ORB_ID(vehicle_command), 0) == PX4_ERROR) { - orb_advertise_queue(ORB_ID(vehicle_command), nullptr, vehicle_command_s::ORB_QUEUE_LENGTH); + orb_advertise(ORB_ID(vehicle_command), nullptr); } _vehicle_command_sub.subscribe(); if (orb_exists(ORB_ID(event), 0) == PX4_ERROR) { - orb_advertise_queue(ORB_ID(event), nullptr, event_s::ORB_QUEUE_LENGTH); + orb_advertise(ORB_ID(event), nullptr); } _event_sub.subscribe(); @@ -178,6 +179,7 @@ Mavlink::~Mavlink() perf_free(_loop_perf); perf_free(_loop_interval_perf); perf_free(_send_byte_error_perf); + perf_free(_forwarding_error_perf); } void @@ -375,15 +377,21 @@ Mavlink::destroy_all_instances() } } - LockGuard lg{mavlink_module_mutex}; + { + LockGuard lg{mavlink_module_mutex}; - // we know all threads have exited, so it's safe to delete objects. - for (Mavlink *inst_to_del : mavlink_module_instances) { - delete inst_to_del; + // we know all threads have exited, so it's safe to delete objects. + for (Mavlink *inst_to_del : mavlink_module_instances) { + delete inst_to_del; + } } - delete _event_buffer; - _event_buffer = nullptr; + { + LockGuard lg{mavlink_event_buffer_mutex}; + + delete _event_buffer; + _event_buffer = nullptr; + } PX4_INFO("all instances stopped"); return OK; @@ -430,12 +438,12 @@ Mavlink::serial_instance_exists(const char *device_name, Mavlink *self) } bool -Mavlink::component_was_seen(int system_id, int component_id, Mavlink *self) +Mavlink::component_was_seen(int system_id, int component_id, Mavlink &self) { LockGuard lg{mavlink_module_mutex}; for (Mavlink *inst : mavlink_module_instances) { - if (inst && (inst != self) && (inst->_receiver.component_was_seen(system_id, component_id))) { + if (inst && (inst != &self) && (inst->_receiver.component_was_seen(system_id, component_id))) { return true; } } @@ -1022,6 +1030,9 @@ Mavlink::handle_message(const mavlink_message_t *msg) // Special case for gimbals that need to forward GIMBAL_DEVICE_ATTITUDE_STATUS. else if (msg->msgid == MAVLINK_MSG_ID_GIMBAL_DEVICE_ATTITUDE_STATUS) { Mavlink::forward_message(msg, this); + + } else if (msg->msgid == MAVLINK_MSG_ID_GIMBAL_DEVICE_INFORMATION) { + Mavlink::forward_message(msg, this); } } @@ -1046,10 +1057,9 @@ Mavlink::send_statustext_emergency(const char *string) bool Mavlink::send_autopilot_capabilities() { - uORB::Subscription status_sub{ORB_ID(vehicle_status)}; vehicle_status_s status; - if (status_sub.copy(&status)) { + if (_vehicle_status_sub.copy(&status)) { mavlink_autopilot_version_t msg{}; msg.capabilities = MAV_PROTOCOL_CAPABILITY_MISSION_FLOAT; @@ -1060,7 +1070,6 @@ Mavlink::send_autopilot_capabilities() msg.capabilities |= MAV_PROTOCOL_CAPABILITY_FTP; msg.capabilities |= MAV_PROTOCOL_CAPABILITY_SET_ATTITUDE_TARGET; msg.capabilities |= MAV_PROTOCOL_CAPABILITY_SET_POSITION_TARGET_LOCAL_NED; - msg.capabilities |= MAV_PROTOCOL_CAPABILITY_SET_ACTUATOR_TARGET; msg.capabilities |= MAV_PROTOCOL_CAPABILITY_FLIGHT_TERMINATION; msg.capabilities |= MAV_PROTOCOL_CAPABILITY_MAVLINK2; msg.capabilities |= MAV_PROTOCOL_CAPABILITY_MISSION_FENCE; @@ -1179,8 +1188,9 @@ Mavlink::configure_stream(const char *stream_name, const float rate) return OK; } - /* if we reach here, the stream list does not contain the stream */ -#if defined(CONSTRAINED_FLASH) // flash constrained target's don't include all streams + // if we reach here, the stream list does not contain the stream. + // flash constrained target's don't include all streams, and some are only available for the development dialect +#if defined(CONSTRAINED_FLASH) || !defined(MAVLINK_DEVELOPMENT_H) return PX4_OK; #else PX4_WARN("stream %s not found", stream_name); @@ -1218,117 +1228,16 @@ Mavlink::configure_stream_threadsafe(const char *stream_name, const float rate) } } -int -Mavlink::message_buffer_init(int size) -{ - _message_buffer.size = size; - _message_buffer.write_ptr = 0; - _message_buffer.read_ptr = 0; - _message_buffer.data = (char *)malloc(_message_buffer.size); - - int ret; - - if (_message_buffer.data == nullptr) { - ret = PX4_ERROR; - _message_buffer.size = 0; - - } else { - ret = OK; - } - - return ret; -} - -void -Mavlink::message_buffer_destroy() -{ - _message_buffer.size = 0; - _message_buffer.write_ptr = 0; - _message_buffer.read_ptr = 0; - free(_message_buffer.data); -} - -int -Mavlink::message_buffer_count() -{ - int n = _message_buffer.write_ptr - _message_buffer.read_ptr; - - if (n < 0) { - n += _message_buffer.size; - } - - return n; -} - -bool -Mavlink::message_buffer_write(const void *ptr, int size) -{ - // bytes available to write - int available = _message_buffer.read_ptr - _message_buffer.write_ptr - 1; - - if (available < 0) { - available += _message_buffer.size; - } - - if (size > available) { - // buffer overflow - return false; - } - - char *c = (char *) ptr; - int n = _message_buffer.size - _message_buffer.write_ptr; // bytes to end of the buffer - - if (n < size) { - // message goes over end of the buffer - memcpy(&(_message_buffer.data[_message_buffer.write_ptr]), c, n); - _message_buffer.write_ptr = 0; - - } else { - n = 0; - } - - // now: n = bytes already written - int p = size - n; // number of bytes to write - memcpy(&(_message_buffer.data[_message_buffer.write_ptr]), &(c[n]), p); - _message_buffer.write_ptr = (_message_buffer.write_ptr + p) % _message_buffer.size; - return true; -} - -int -Mavlink::message_buffer_get_ptr(void **ptr, bool *is_part) -{ - // bytes available to read - int available = _message_buffer.write_ptr - _message_buffer.read_ptr; - - if (available == 0) { - return 0; // buffer is empty - } - - int n = 0; - - if (available > 0) { - // read pointer is before write pointer, all available bytes can be read - n = available; - *is_part = false; - - } else { - // read pointer is after write pointer, read bytes from read_ptr to end of the buffer - n = _message_buffer.size - _message_buffer.read_ptr; - *is_part = _message_buffer.write_ptr > 0; - } - - *ptr = &(_message_buffer.data[_message_buffer.read_ptr]); - return n; -} - void Mavlink::pass_message(const mavlink_message_t *msg) { - /* size is 8 bytes plus variable payload */ + /* size is 12 bytes plus variable payload */ int size = MAVLINK_NUM_NON_PAYLOAD_BYTES + msg->len; - pthread_mutex_lock(&_message_buffer_mutex); - message_buffer_write(msg, size); - pthread_mutex_unlock(&_message_buffer_mutex); + LockGuard lg{_message_buffer_mutex}; + + if (!_message_buffer.push_back(reinterpret_cast(msg), size)) { + perf_count(_forwarding_error_perf); + } } MavlinkShell * @@ -1493,9 +1402,11 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream) configure_stream_local("ATTITUDE", 15.0f); configure_stream_local("ATTITUDE_QUATERNION", 10.0f); configure_stream_local("ATTITUDE_TARGET", 2.0f); + configure_stream_local("AVAILABLE_MODES", 0.3f); configure_stream_local("BATTERY_STATUS", 0.5f); configure_stream_local("CAMERA_IMAGE_CAPTURED", unlimited_rate); configure_stream_local("COLLISION", unlimited_rate); + configure_stream_local("CURRENT_MODE", 0.5f); configure_stream_local("DISTANCE_SENSOR", 0.5f); configure_stream_local("EFI_STATUS", 2.0f); configure_stream_local("ESC_INFO", 1.0f); @@ -1508,11 +1419,12 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream) configure_stream_local("GLOBAL_POSITION_INT", 5.0f); configure_stream_local("GPS2_RAW", 1.0f); configure_stream_local("GPS_GLOBAL_ORIGIN", 1.0f); - configure_stream_local("GPS_RAW_INT", 1.0f); + configure_stream_local("GPS_RAW_INT", 5.0f); configure_stream_local("GPS_STATUS", 1.0f); configure_stream_local("HOME_POSITION", 0.5f); configure_stream_local("HYGROMETER_SENSOR", 0.1f); configure_stream_local("LOCAL_POSITION_NED", 1.0f); + configure_stream_local("MOUNT_ORIENTATION", 10.0f); configure_stream_local("NAV_CONTROLLER_OUTPUT", 1.0f); configure_stream_local("OBSTACLE_DISTANCE", 1.0f); configure_stream_local("OPEN_DRONE_ID_LOCATION", 1.f); @@ -1527,7 +1439,6 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream) configure_stream_local("SERVO_OUTPUT_RAW_0", 1.0f); configure_stream_local("SYS_STATUS", 1.0f); configure_stream_local("TIME_ESTIMATE_TO_TARGET", 1.0f); - configure_stream_local("UTM_GLOBAL_POSITION", 0.5f); configure_stream_local("VFR_HUD", 4.0f); configure_stream_local("VIBRATION", 0.1f); configure_stream_local("WIND_COV", 0.5f); @@ -1538,6 +1449,12 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream) configure_stream_local("DEBUG_VECT", 1.0f); configure_stream_local("NAMED_VALUE_FLOAT", 1.0f); configure_stream_local("LINK_NODE_STATUS", 1.0f); +#if defined(MAVLINK_MSG_ID_FIGURE_EIGHT_EXECUTION_STATUS) + configure_stream_local("FIGURE_EIGHT_EXECUTION_STATUS", 5.0f); +#endif // MAVLINK_MSG_ID_FIGURE_EIGHT_EXECUTION_STATUS +#if defined(MAVLINK_MSG_ID_FUEL_STATUS) + configure_stream_local("FUEL_STATUS", 1.0f); +#endif // MAVLINK_MSG_ID_FUEL_STATUS #endif // !CONSTRAINED_FLASH break; @@ -1560,9 +1477,11 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream) configure_stream_local("ADSB_VEHICLE", unlimited_rate); configure_stream_local("ATTITUDE_QUATERNION", 50.0f); configure_stream_local("ATTITUDE_TARGET", 10.0f); + configure_stream_local("AVAILABLE_MODES", 0.3f); configure_stream_local("BATTERY_STATUS", 0.5f); configure_stream_local("CAMERA_IMAGE_CAPTURED", unlimited_rate); configure_stream_local("COLLISION", unlimited_rate); + configure_stream_local("CURRENT_MODE", 0.5f); configure_stream_local("EFI_STATUS", 2.0f); configure_stream_local("ESTIMATOR_STATUS", 1.0f); configure_stream_local("EXTENDED_SYS_STATE", 5.0f); @@ -1592,7 +1511,6 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream) configure_stream_local("SYSTEM_TIME", 1.0f); configure_stream_local("TIME_ESTIMATE_TO_TARGET", 1.0f); configure_stream_local("TRAJECTORY_REPRESENTATION_WAYPOINTS", 5.0f); - configure_stream_local("UTM_GLOBAL_POSITION", 1.0f); configure_stream_local("VFR_HUD", 10.0f); configure_stream_local("VIBRATION", 0.5f); configure_stream_local("WIND_COV", 10.0f); @@ -1603,6 +1521,12 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream) configure_stream_local("DEBUG_VECT", 10.0f); configure_stream_local("NAMED_VALUE_FLOAT", 10.0f); configure_stream_local("LINK_NODE_STATUS", 1.0f); +#if defined(MAVLINK_MSG_ID_FIGURE_EIGHT_EXECUTION_STATUS) + configure_stream_local("FIGURE_EIGHT_EXECUTION_STATUS", 5.0f); +#endif // MAVLINK_MSG_ID_FIGURE_EIGHT_EXECUTION_STATUS +#if defined(MAVLINK_MSG_ID_FUEL_STATUS) + configure_stream_local("FUEL_STATUS", 1.0f); +#endif // MAVLINK_MSG_ID_FUEL_STATUS #endif // !CONSTRAINED_FLASH break; @@ -1631,9 +1555,11 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream) configure_stream_local("ADSB_VEHICLE", unlimited_rate); configure_stream_local("ATTITUDE_TARGET", 2.0f); + configure_stream_local("AVAILABLE_MODES", 0.3f); configure_stream_local("BATTERY_STATUS", 0.5f); configure_stream_local("CAMERA_IMAGE_CAPTURED", unlimited_rate); configure_stream_local("COLLISION", unlimited_rate); + configure_stream_local("CURRENT_MODE", 0.5f); configure_stream_local("ESTIMATOR_STATUS", 1.0f); configure_stream_local("EXTENDED_SYS_STATE", 1.0f); configure_stream_local("GLOBAL_POSITION_INT", 5.0f); @@ -1653,7 +1579,6 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream) configure_stream_local("SERVO_OUTPUT_RAW_0", 1.0f); configure_stream_local("SYS_STATUS", 5.0f); configure_stream_local("TRAJECTORY_REPRESENTATION_WAYPOINTS", 5.0f); - configure_stream_local("UTM_GLOBAL_POSITION", 1.0f); configure_stream_local("VFR_HUD", 4.0f); configure_stream_local("VIBRATION", 0.5f); configure_stream_local("WIND_COV", 1.0f); @@ -1664,6 +1589,12 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream) configure_stream_local("DEBUG_VECT", 1.0f); configure_stream_local("NAMED_VALUE_FLOAT", 1.0f); configure_stream_local("LINK_NODE_STATUS", 1.0f); +#if defined(MAVLINK_MSG_ID_FIGURE_EIGHT_EXECUTION_STATUS) + configure_stream_local("FIGURE_EIGHT_EXECUTION_STATUS", 2.0f); +#endif // MAVLINK_MSG_ID_FIGURE_EIGHT_EXECUTION_STATUS +#if defined(MAVLINK_MSG_ID_FUEL_STATUS) + configure_stream_local("FUEL_STATUS", 1.0f); +#endif // MAVLINK_MSG_ID_FUEL_STATUS #endif // !CONSTRAINED_FLASH break; @@ -1710,9 +1641,11 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream) configure_stream_local("ATTITUDE", 50.0f); configure_stream_local("ATTITUDE_QUATERNION", 50.0f); configure_stream_local("ATTITUDE_TARGET", 8.0f); + configure_stream_local("AVAILABLE_MODES", 0.3f); configure_stream_local("BATTERY_STATUS", 0.5f); configure_stream_local("CAMERA_IMAGE_CAPTURED", unlimited_rate); configure_stream_local("COLLISION", unlimited_rate); + configure_stream_local("CURRENT_MODE", 0.5f); configure_stream_local("EFI_STATUS", 10.0f); configure_stream_local("ESC_INFO", 10.0f); configure_stream_local("ESC_STATUS", 10.0f); @@ -1723,6 +1656,8 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream) configure_stream_local("GPS_GLOBAL_ORIGIN", 1.0f); configure_stream_local("GPS_RAW_INT", unlimited_rate); configure_stream_local("GPS_STATUS", 1.0f); + configure_stream_local("GIMBAL_DEVICE_ATTITUDE_STATUS", 0.5f); + configure_stream_local("GIMBAL_MANAGER_STATUS", 0.5f); configure_stream_local("HIGHRES_IMU", 50.0f); configure_stream_local("HOME_POSITION", 0.5f); configure_stream_local("HYGROMETER_SENSOR", 1.0f); @@ -1741,12 +1676,12 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream) configure_stream_local("SCALED_IMU2", 25.0f); configure_stream_local("SCALED_IMU3", 25.0f); configure_stream_local("SCALED_PRESSURE", 1.0f); + configure_stream_local("SCALED_PRESSURE2", 1.0f); configure_stream_local("SERVO_OUTPUT_RAW_0", 20.0f); configure_stream_local("SERVO_OUTPUT_RAW_1", 20.0f); configure_stream_local("SYS_STATUS", 1.0f); configure_stream_local("SYSTEM_TIME", 1.0f); configure_stream_local("TIME_ESTIMATE_TO_TARGET", 1.0f); - configure_stream_local("UTM_GLOBAL_POSITION", 1.0f); configure_stream_local("VFR_HUD", 20.0f); configure_stream_local("VIBRATION", 2.5f); configure_stream_local("WIND_COV", 10.0f); @@ -1757,12 +1692,18 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream) configure_stream_local("DEBUG_VECT", 50.0f); configure_stream_local("NAMED_VALUE_FLOAT", 50.0f); configure_stream_local("LINK_NODE_STATUS", 1.0f); +#if defined(MAVLINK_MSG_ID_FIGURE_EIGHT_EXECUTION_STATUS) + configure_stream_local("FIGURE_EIGHT_EXECUTION_STATUS", 5.0f); +#endif // MAVLINK_MSG_ID_FIGURE_EIGHT_EXECUTION_STATUS +#if defined(MAVLINK_MSG_ID_FUEL_STATUS) + configure_stream_local("FUEL_STATUS", 2.0f); +#endif // MAVLINK_MSG_ID_FUEL_STATUS #endif // !CONSTRAINED_FLASH break; case MAVLINK_MODE_IRIDIUM: - configure_stream_local("HIGH_LATENCY2", 0.015f); + configure_stream_local("HIGH_LATENCY2", _high_latency_freq); break; case MAVLINK_MODE_MINIMAL: @@ -1802,8 +1743,11 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream) configure_stream_local("ADSB_VEHICLE", unlimited_rate); configure_stream_local("ATTITUDE_TARGET", 2.0f); + configure_stream_local("AVAILABLE_MODES", 0.3f); configure_stream_local("BATTERY_STATUS", 0.5f); + configure_stream_local("CAMERA_IMAGE_CAPTURED", unlimited_rate); configure_stream_local("COLLISION", unlimited_rate); + configure_stream_local("CURRENT_MODE", 0.5f); configure_stream_local("ESTIMATOR_STATUS", 1.0f); configure_stream_local("EXTENDED_SYS_STATE", 1.0f); configure_stream_local("GLOBAL_POSITION_INT", 10.0f); @@ -1819,12 +1763,12 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream) configure_stream_local("PING", 0.1f); configure_stream_local("POSITION_TARGET_GLOBAL_INT", 1.5f); configure_stream_local("POSITION_TARGET_LOCAL_NED", 1.5f); - configure_stream_local("RC_CHANNELS", 5.0f); + configure_stream_local("RC_CHANNELS", 20.0f); configure_stream_local("SERVO_OUTPUT_RAW_0", 1.0f); configure_stream_local("SYS_STATUS", 5.0f); + configure_stream_local("SYSTEM_TIME", 2.0f); configure_stream_local("TIME_ESTIMATE_TO_TARGET", 1.0f); configure_stream_local("TRAJECTORY_REPRESENTATION_WAYPOINTS", 5.0f); - configure_stream_local("UTM_GLOBAL_POSITION", 1.0f); configure_stream_local("VFR_HUD", 4.0f); configure_stream_local("VIBRATION", 0.5f); configure_stream_local("WIND_COV", 1.0f); @@ -1834,6 +1778,12 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream) configure_stream_local("DEBUG_FLOAT_ARRAY", 1.0f); configure_stream_local("DEBUG_VECT", 1.0f); configure_stream_local("NAMED_VALUE_FLOAT", 1.0f); +#if defined(MAVLINK_MSG_ID_FIGURE_EIGHT_EXECUTION_STATUS) + configure_stream_local("FIGURE_EIGHT_EXECUTION_STATUS", 5.0f); +#endif // MAVLINK_MSG_ID_FIGURE_EIGHT_EXECUTION_STATUS +#if defined(MAVLINK_MSG_ID_FUEL_STATUS) + configure_stream_local("FUEL_STATUS", 1.0f); +#endif // MAVLINK_MSG_ID_FUEL_STATUS #endif // !CONSTRAINED_FLASH break; @@ -1910,7 +1860,7 @@ Mavlink::task_main(int argc, char *argv[]) int temp_int_arg; #endif - while ((ch = px4_getopt(argc, argv, "b:r:d:n:u:o:m:t:c:fswxzZp", &myoptind, &myoptarg)) != EOF) { + while ((ch = px4_getopt(argc, argv, "b:r:d:n:u:o:m:t:c:F:fswxzZp", &myoptind, &myoptarg)) != EOF) { switch (ch) { case 'b': if (px4_get_parameter_value(myoptarg, _baudrate) != 0) { @@ -2030,10 +1980,6 @@ Mavlink::task_main(int argc, char *argv[]) break; #endif -// case 'e': -// _mavlink_link_termination_allowed = true; -// break; - case 'm': { int mode; @@ -2098,6 +2044,26 @@ Mavlink::task_main(int argc, char *argv[]) break; } + case 'F': { + float freq; + + if (px4_get_parameter_value(myoptarg, freq) != 0) { + PX4_ERR("iridium mode frequency parsing failed"); + err_flag = true; + + } else { + if (freq >= 0.f) { + _high_latency_freq = freq; + + } else { + PX4_ERR("Invalid value for iridium mode frequency."); + err_flag = true; + } + } + + break; + } + case 'f': _forwarding_on = true; break; @@ -2141,11 +2107,6 @@ Mavlink::task_main(int argc, char *argv[]) /* USB has no baudrate, but use a magic number for 'fast' */ _baudrate = 2000000; - - if (_mode == MAVLINK_MODE_COUNT) { - _mode = MAVLINK_MODE_CONFIG; - } - _ftp_on = true; _is_usb_uart = true; @@ -2211,7 +2172,7 @@ Mavlink::task_main(int argc, char *argv[]) return PX4_ERROR; } - /* initialize send mutex */ + pthread_mutex_init(&_message_buffer_mutex, nullptr); pthread_mutex_init(&_send_mutex, nullptr); pthread_mutex_init(&_radio_status_mutex, nullptr); @@ -2221,13 +2182,12 @@ Mavlink::task_main(int argc, char *argv[]) * make space for two messages plus off-by-one space as we use the empty element * marker ring buffer approach. */ - if (OK != message_buffer_init(2 * sizeof(mavlink_message_t) + 1)) { + LockGuard lg{_message_buffer_mutex}; + + if (!_message_buffer.allocate(2 * sizeof(mavlink_message_t) + 1)) { PX4_ERR("msg buf alloc fail"); return PX4_ERROR; } - - /* initialize message buffer mutex */ - pthread_mutex_init(&_message_buffer_mutex, nullptr); } /* Activate sending the data by default (for the IRIDIUM mode it will be disabled after the first round of packages is sent)*/ @@ -2271,11 +2231,24 @@ Mavlink::task_main(int argc, char *argv[]) /* open the UART device after setting the instance, as it might block */ if (get_protocol() == Protocol::SERIAL) { - _uart_fd = mavlink_open_uart(_baudrate, _device_name, _flow_control); - if (_uart_fd < 0) { - PX4_ERR("could not open %s", _device_name); - return PX4_ERROR; + // NOTE: we attempt to open the port multiple times due to sercon returning before + // the port is ready to be opened. This avoids needing to sleep() after sercon_main. + int attempts = 0; + static const int max_attempts = 3; + + while (_uart_fd < 0) { + _uart_fd = mavlink_open_uart(_baudrate, _device_name, _flow_control); + attempts++; + + if (_uart_fd < 0 && attempts < max_attempts) { + PX4_ERR("could not open %s, retrying", _device_name); + px4_usleep(1_s); + + } else if (_uart_fd < 0) { + PX4_ERR("failed to open %s after %d attempts, exiting!", _device_name, attempts); + return PX4_ERROR; + } } } @@ -2309,6 +2282,9 @@ Mavlink::task_main(int argc, char *argv[]) if (!should_transmit()) { check_requested_subscriptions(); + handleStatus(); + handleCommands(); + handleAndGetCurrentCommandAck(); continue; } @@ -2331,156 +2307,9 @@ Mavlink::task_main(int argc, char *argv[]) configure_sik_radio(); - if (_vehicle_status_sub.updated()) { - vehicle_status_s vehicle_status; - - if (_vehicle_status_sub.copy(&vehicle_status)) { - /* switch HIL mode if required */ - set_hil_enabled(vehicle_status.hil_state == vehicle_status_s::HIL_STATE_ON); - - if (_mode == MAVLINK_MODE_IRIDIUM) { - - if (_transmitting_enabled && vehicle_status.high_latency_data_link_lost && - !_transmitting_enabled_commanded && _first_heartbeat_sent) { - - _transmitting_enabled = false; - mavlink_log_info(&_mavlink_log_pub, "Disable transmitting with IRIDIUM mavlink on device %s\t", _device_name); - events::send(events::ID("mavlink_iridium_disable"), events::Log::Info, - "Disabling transmitting with IRIDIUM mavlink on instance {1}", _instance_id); - - } else if (!_transmitting_enabled && !vehicle_status.high_latency_data_link_lost) { - _transmitting_enabled = true; - mavlink_log_info(&_mavlink_log_pub, "Enable transmitting with IRIDIUM mavlink on device %s\t", _device_name); - events::send(events::ID("mavlink_iridium_enable"), events::Log::Info, - "Enabling transmitting with IRIDIUM mavlink on instance {1}", _instance_id); - } - } - } - } - - - // MAVLINK_MODE_IRIDIUM: handle VEHICLE_CMD_CONTROL_HIGH_LATENCY - if (_mode == MAVLINK_MODE_IRIDIUM) { - int vehicle_command_updates = 0; - - while (_vehicle_command_sub.updated() && (vehicle_command_updates < vehicle_command_s::ORB_QUEUE_LENGTH)) { - vehicle_command_updates++; - const unsigned last_generation = _vehicle_command_sub.get_last_generation(); - vehicle_command_s vehicle_cmd; - - if (_vehicle_command_sub.update(&vehicle_cmd)) { - if (_vehicle_command_sub.get_last_generation() != last_generation + 1) { - PX4_ERR("vehicle_command lost, generation %u -> %u", last_generation, _vehicle_command_sub.get_last_generation()); - } - - if ((vehicle_cmd.command == vehicle_command_s::VEHICLE_CMD_CONTROL_HIGH_LATENCY) && - _mode == MAVLINK_MODE_IRIDIUM) { - - if (vehicle_cmd.param1 > 0.5f) { - if (!_transmitting_enabled) { - mavlink_log_info(&_mavlink_log_pub, "Enable transmitting with IRIDIUM mavlink on device %s by command\t", - _device_name); - events::send(events::ID("mavlink_iridium_enable_cmd"), events::Log::Info, - "Enabling transmitting with IRIDIUM mavlink on instance {1} by command", _instance_id); - } - - _transmitting_enabled = true; - _transmitting_enabled_commanded = true; - - } else { - if (_transmitting_enabled) { - mavlink_log_info(&_mavlink_log_pub, "Disable transmitting with IRIDIUM mavlink on device %s by command\t", - _device_name); - events::send(events::ID("mavlink_iridium_disable_cmd"), events::Log::Info, - "Disabling transmitting with IRIDIUM mavlink on instance {1} by command", _instance_id); - } - - _transmitting_enabled = false; - _transmitting_enabled_commanded = false; - } - - // send positive command ack - vehicle_command_ack_s command_ack{}; - command_ack.command = vehicle_cmd.command; - command_ack.result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED; - command_ack.from_external = !vehicle_cmd.from_external; - command_ack.target_system = vehicle_cmd.source_system; - command_ack.target_component = vehicle_cmd.source_component; - command_ack.timestamp = vehicle_cmd.timestamp; - _vehicle_command_ack_pub.publish(command_ack); - } - } - } - } - - /* send command ACK */ - bool cmd_logging_start_acknowledgement = false; - bool cmd_logging_stop_acknowledgement = false; - - if (_vehicle_command_ack_sub.updated()) { - static constexpr size_t COMMAND_ACK_TOTAL_LEN = MAVLINK_MSG_ID_COMMAND_ACK_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES; - - while ((get_free_tx_buf() >= COMMAND_ACK_TOTAL_LEN) && _vehicle_command_ack_sub.updated()) { - vehicle_command_ack_s command_ack; - const unsigned last_generation = _vehicle_command_ack_sub.get_last_generation(); - - if (_vehicle_command_ack_sub.update(&command_ack)) { - if (_vehicle_command_ack_sub.get_last_generation() != last_generation + 1) { - PX4_ERR("vehicle_command_ack lost, generation %u -> %u", last_generation, - _vehicle_command_ack_sub.get_last_generation()); - } - - const bool is_target_known = _receiver.component_was_seen(command_ack.target_system, command_ack.target_component); - - if (!command_ack.from_external - && command_ack.command < vehicle_command_s::VEHICLE_CMD_PX4_INTERNAL_START - && is_target_known) { - - mavlink_command_ack_t msg{}; - msg.result = command_ack.result; - msg.command = command_ack.command; - msg.progress = command_ack.result_param1; - msg.result_param2 = command_ack.result_param2; - msg.target_system = command_ack.target_system; - msg.target_component = command_ack.target_component; - - mavlink_msg_command_ack_send_struct(get_channel(), &msg); - - if (command_ack.command == vehicle_command_s::VEHICLE_CMD_LOGGING_START) { - cmd_logging_start_acknowledgement = true; - - } else if (command_ack.command == vehicle_command_s::VEHICLE_CMD_LOGGING_STOP - && command_ack.result == vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED) { - cmd_logging_stop_acknowledgement = true; - } - } - } - } - } - - // For legacy gimbals using the mavlink gimbal v1 protocol, we need to send out commands. - // We don't care about acks for these though. - if (_gimbal_v1_command_sub.updated()) { - vehicle_command_s cmd; - _gimbal_v1_command_sub.copy(&cmd); - - // FIXME: filter for target system/component - - mavlink_command_long_t msg{}; - msg.param1 = cmd.param1; - msg.param2 = cmd.param2; - msg.param3 = cmd.param3; - msg.param4 = cmd.param4; - msg.param5 = cmd.param5; - msg.param6 = cmd.param6; - msg.param7 = cmd.param7; - msg.command = cmd.command; - msg.target_system = cmd.target_system; - msg.target_component = cmd.target_component; - msg.confirmation = 0; - - mavlink_msg_command_long_send_struct(get_channel(), &msg); - } + handleStatus(); + handleCommands(); + handleAndGetCurrentCommandAck(); /* check for shell output */ if (_mavlink_shell && _mavlink_shell->available() > 0) { @@ -2519,32 +2348,22 @@ Mavlink::task_main(int argc, char *argv[]) /* check for ulog streaming messages */ if (_mavlink_ulog) { - if (cmd_logging_stop_acknowledgement) { - _mavlink_ulog->stop(); - _mavlink_ulog = nullptr; + const int ret = _mavlink_ulog->handle_update(get_channel()); - } else { - if (cmd_logging_start_acknowledgement) { - _mavlink_ulog->start_ack_received(); + if (ret < 0) { // abort the streaming on error + if (ret != -1) { + PX4_WARN("mavlink ulog stream update failed, stopping (%i)", ret); } - int ret = _mavlink_ulog->handle_update(get_channel()); - - if (ret < 0) { //abort the streaming on error - if (ret != -1) { - PX4_WARN("mavlink ulog stream update failed, stopping (%i)", ret); - } - - _mavlink_ulog->stop(); - _mavlink_ulog = nullptr; - } + _mavlink_ulog->stop(); + _mavlink_ulog = nullptr; } } /* handle new events */ if (check_events()) { if (_event_sub.updated()) { - LockGuard lg{mavlink_module_mutex}; + LockGuard lg{mavlink_event_buffer_mutex}; event_s orb_event; @@ -2569,50 +2388,21 @@ Mavlink::task_main(int argc, char *argv[]) _events.update(t); - /* pass messages from other UARTs */ + /* pass messages from other instances */ if (get_forwarding_on()) { - bool is_part; - uint8_t *read_ptr; - uint8_t *write_ptr; - - pthread_mutex_lock(&_message_buffer_mutex); - int available = message_buffer_get_ptr((void **)&read_ptr, &is_part); - pthread_mutex_unlock(&_message_buffer_mutex); - - if (available > 0) { - // Reconstruct message from buffer - - mavlink_message_t msg; - write_ptr = (uint8_t *)&msg; - - // Pull a single message from the buffer - size_t read_count = available; - - if (read_count > sizeof(mavlink_message_t)) { - read_count = sizeof(mavlink_message_t); - } - - memcpy(write_ptr, read_ptr, read_count); - - // We hold the mutex until after we complete the second part of the buffer. If we don't - // we may end up breaking the empty slot overflow detection semantics when we mark the - // possibly partial read below. - pthread_mutex_lock(&_message_buffer_mutex); - - message_buffer_mark_read(read_count); - - /* write second part of buffer if there is some */ - if (is_part && read_count < sizeof(mavlink_message_t)) { - write_ptr += read_count; - available = message_buffer_get_ptr((void **)&read_ptr, &is_part); - read_count = sizeof(mavlink_message_t) - read_count; - memcpy(write_ptr, read_ptr, read_count); - message_buffer_mark_read(available); - } - - pthread_mutex_unlock(&_message_buffer_mutex); + mavlink_message_t msg; + size_t available_bytes; + { + // We only send one message at a time, not to put too much strain on a + // link from forwarded messages. + LockGuard lg{_message_buffer_mutex}; + available_bytes = _message_buffer.pop_front(reinterpret_cast(&msg), sizeof(msg)); + // We need to make sure to release the lock here before sending the + // bytes out via IP or UART which could potentially take longer. + } + if (available_bytes > 0) { resend_message(&msg); } } @@ -2662,11 +2452,6 @@ Mavlink::task_main(int argc, char *argv[]) _socket_fd = -1; } - if (get_forwarding_on()) { - message_buffer_destroy(); - pthread_mutex_destroy(&_message_buffer_mutex); - } - if (_mavlink_ulog) { _mavlink_ulog->stop(); _mavlink_ulog = nullptr; @@ -2674,6 +2459,7 @@ Mavlink::task_main(int argc, char *argv[]) pthread_mutex_destroy(&_send_mutex); pthread_mutex_destroy(&_radio_status_mutex); + pthread_mutex_destroy(&_message_buffer_mutex); PX4_INFO("exiting channel %i", (int)_channel); @@ -2682,6 +2468,177 @@ Mavlink::task_main(int argc, char *argv[]) return OK; } +void Mavlink::handleStatus() +{ + if (_vehicle_status_sub.updated()) { + vehicle_status_s vehicle_status; + + if (_vehicle_status_sub.copy(&vehicle_status)) { + /* switch HIL mode if required */ + set_hil_enabled(vehicle_status.hil_state == vehicle_status_s::HIL_STATE_ON); + + if (_mode == MAVLINK_MODE_IRIDIUM) { + + if (_transmitting_enabled && (!vehicle_status.gcs_connection_lost || (vehicle_status.high_latency_data_link_lost && + !_transmitting_enabled_commanded && _first_heartbeat_sent))) { + + _transmitting_enabled = false; + mavlink_log_info(&_mavlink_log_pub, "Disable transmitting with IRIDIUM mavlink on device %s\t", _device_name); + events::send(events::ID("mavlink_iridium_disable"), events::Log::Info, + "Disabling transmitting with IRIDIUM mavlink on instance {1}", _instance_id); + + } else if (!_transmitting_enabled && vehicle_status.gcs_connection_lost + && !vehicle_status.high_latency_data_link_lost) { + _transmitting_enabled = true; + mavlink_log_info(&_mavlink_log_pub, "Enable transmitting with IRIDIUM mavlink on device %s\t", _device_name); + events::send(events::ID("mavlink_iridium_enable"), events::Log::Info, + "Enabling transmitting with IRIDIUM mavlink on instance {1}", _instance_id); + } + } + } + } +} + +void Mavlink::handleCommands() +{ + if (_mode == MAVLINK_MODE_IRIDIUM) { + int vehicle_command_updates = 0; + + while (_vehicle_command_sub.updated() && (vehicle_command_updates < vehicle_command_s::ORB_QUEUE_LENGTH)) { + vehicle_command_updates++; + const unsigned last_generation = _vehicle_command_sub.get_last_generation(); + vehicle_command_s vehicle_cmd; + + if (_vehicle_command_sub.update(&vehicle_cmd)) { + if (_vehicle_command_sub.get_last_generation() != last_generation + 1) { + PX4_ERR("vehicle_command lost, generation %u -> %u", last_generation, _vehicle_command_sub.get_last_generation()); + } + + if ((vehicle_cmd.command == vehicle_command_s::VEHICLE_CMD_CONTROL_HIGH_LATENCY) && + _mode == MAVLINK_MODE_IRIDIUM) { + + if (vehicle_cmd.param1 > 0.5f) { + if (!_transmitting_enabled) { + mavlink_log_info(&_mavlink_log_pub, "Enable transmitting with IRIDIUM mavlink on device %s by command\t", + _device_name); + events::send(events::ID("mavlink_iridium_enable_cmd"), events::Log::Info, + "Enabling transmitting with IRIDIUM mavlink on instance {1} by command", _instance_id); + } + + _transmitting_enabled = true; + _transmitting_enabled_commanded = true; + + } else { + if (_transmitting_enabled) { + mavlink_log_info(&_mavlink_log_pub, "Disable transmitting with IRIDIUM mavlink on device %s by command\t", + _device_name); + events::send(events::ID("mavlink_iridium_disable_cmd"), events::Log::Info, + "Disabling transmitting with IRIDIUM mavlink on instance {1} by command", _instance_id); + } + + _transmitting_enabled = false; + _transmitting_enabled_commanded = false; + } + + // send positive command ack + vehicle_command_ack_s command_ack{}; + command_ack.command = vehicle_cmd.command; + command_ack.result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED; + command_ack.from_external = !vehicle_cmd.from_external; + command_ack.target_system = vehicle_cmd.source_system; + command_ack.target_component = vehicle_cmd.source_component; + command_ack.timestamp = vehicle_cmd.timestamp; + _vehicle_command_ack_pub.publish(command_ack); + } + } + } + } + + // For legacy gimbals using the mavlink gimbal v1 protocol, we need to send out commands. + // We don't care about acks for these though. + if (_gimbal_v1_command_sub.updated()) { + vehicle_command_s cmd; + _gimbal_v1_command_sub.copy(&cmd); + + // FIXME: filter for target system/component + + mavlink_command_long_t msg{}; + msg.param1 = cmd.param1; + msg.param2 = cmd.param2; + msg.param3 = cmd.param3; + msg.param4 = cmd.param4; + msg.param5 = cmd.param5; + msg.param6 = cmd.param6; + msg.param7 = cmd.param7; + msg.command = cmd.command; + msg.target_system = cmd.target_system; + msg.target_component = cmd.target_component; + msg.confirmation = 0; + + mavlink_msg_command_long_send_struct(get_channel(), &msg); + } +} + +void Mavlink::handleAndGetCurrentCommandAck() +{ + if (_vehicle_command_ack_sub.updated()) { + static constexpr size_t COMMAND_ACK_TOTAL_LEN = MAVLINK_MSG_ID_COMMAND_ACK_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES; + + while ((get_free_tx_buf() >= COMMAND_ACK_TOTAL_LEN) && _vehicle_command_ack_sub.updated()) { + vehicle_command_ack_s command_ack; + const unsigned last_generation = _vehicle_command_ack_sub.get_last_generation(); + + if (_vehicle_command_ack_sub.update(&command_ack)) { + if (_vehicle_command_ack_sub.get_last_generation() != last_generation + 1) { + PX4_ERR("vehicle_command_ack lost, generation %u -> %u", last_generation, + _vehicle_command_ack_sub.get_last_generation()); + } + + const bool is_target_known = _receiver.component_was_seen(command_ack.target_system, command_ack.target_component); + + if (!command_ack.from_external + && command_ack.command < vehicle_command_s::VEHICLE_CMD_PX4_INTERNAL_START + && is_target_known + && command_ack.target_component < vehicle_command_s::COMPONENT_MODE_EXECUTOR_START) { + + mavlink_command_ack_t msg{}; + msg.result = command_ack.result; + msg.command = command_ack.command; + msg.progress = command_ack.result_param1; + msg.result_param2 = command_ack.result_param2; + msg.target_system = command_ack.target_system; + msg.target_component = command_ack.target_component; + + // Handle logging acks before sending out the mavlink message to prevent a race condition + if (command_ack.command == vehicle_command_s::VEHICLE_CMD_LOGGING_START) { + if (_mavlink_ulog) { + _mavlink_ulog->start_ack_received(); + } + + } else if (command_ack.command == vehicle_command_s::VEHICLE_CMD_LOGGING_STOP + && command_ack.result == vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED) { + if (_mavlink_ulog) { + _mavlink_ulog->stop(); + _mavlink_ulog = nullptr; + } + } + + if (_mode == MAVLINK_MODE_IRIDIUM) { + if (command_ack.from_external) { + // for MAVLINK_MODE_IRIDIUM send only if external + mavlink_msg_command_ack_send_struct(get_channel(), &msg); + } + + } else { + mavlink_msg_command_ack_send_struct(get_channel(), &msg); + } + + } + } + } + } +} + void Mavlink::check_requested_subscriptions() { if (_subscribe_to_stream != nullptr) { @@ -2982,6 +2939,11 @@ Mavlink::display_status() _ftp_on ? "YES" : "NO", _transmitting_enabled ? "YES" : "NO"); printf("\tmode: %s\n", mavlink_mode_str(_mode)); + + if (_mode == MAVLINK_MODE_IRIDIUM) { + printf("\t iridium tx freq: %.3f\n", (double)(_high_latency_freq)); + } + printf("\tForwarding: %s\n", get_forwarding_on() ? "On" : "Off"); printf("\tMAVLink version: %" PRId32 "\n", _protocol_version); @@ -3362,6 +3324,7 @@ Start mavlink on UDP port 14556 and enable the HIGHRES_IMU message with 50Hz: #if defined(CONFIG_NET_IGMP) && defined(CONFIG_NET_ROUTE) PRINT_MODULE_USAGE_PARAM_STRING('c', nullptr, "Multicast address in the range [239.0.0.0,239.255.255.255]", "Multicast address (multicasting can be enabled via MAV_{i}_BROADCAST param)", true); #endif + PRINT_MODULE_USAGE_PARAM_FLOAT('F', 0.015, 0.0, 50.0, "Sets the transmission frequency for iridium mode", true); PRINT_MODULE_USAGE_PARAM_FLAG('f', "Enable message forwarding to other Mavlink instances", true); PRINT_MODULE_USAGE_PARAM_FLAG('w', "Wait to send, until first message received", true); PRINT_MODULE_USAGE_PARAM_FLAG('x', "Enable FTP", true); diff --git a/src/modules/mavlink/mavlink_main.h b/src/modules/mavlink/mavlink_main.h index 85c0361de3ad..d7a7307b3ebf 100644 --- a/src/modules/mavlink/mavlink_main.h +++ b/src/modules/mavlink/mavlink_main.h @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2012-2018 PX4 Development Team. All rights reserved. + * Copyright (c) 2012-2023 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -60,6 +60,7 @@ #include #include +#include #include #include #include @@ -171,7 +172,7 @@ class Mavlink final : public ModuleParams static bool serial_instance_exists(const char *device_name, Mavlink *self); - static bool component_was_seen(int system_id, int component_id, Mavlink *self = nullptr); + static bool component_was_seen(int system_id, int component_id, Mavlink &self); static void forward_message(const mavlink_message_t *msg, Mavlink *self); @@ -419,11 +420,6 @@ class Mavlink final : public ModuleParams bool get_wait_to_transmit() { return _wait_to_transmit; } bool should_transmit() { return (_transmitting_enabled && (!_wait_to_transmit || (_wait_to_transmit && _received_messages))); } - bool message_buffer_write(const void *ptr, int size); - - void lockMessageBufferMutex(void) { pthread_mutex_lock(&_message_buffer_mutex); } - void unlockMessageBufferMutex(void) { pthread_mutex_unlock(&_message_buffer_mutex); } - /** * Count transmitted bytes */ @@ -588,6 +584,7 @@ class Mavlink final : public ModuleParams int _baudrate{57600}; int _datarate{1000}; ///< data rate for normal streams (attitude, position, etc.) float _rate_mult{1.0f}; + float _high_latency_freq{0.015f}; ///< frequency of HIGH_LATENCY2 stream bool _radio_status_available{false}; bool _radio_status_critical{false}; @@ -600,8 +597,6 @@ class Mavlink final : public ModuleParams */ unsigned int _mavlink_param_queue_index{0}; - bool _mavlink_link_termination_allowed{false}; - char *_subscribe_to_stream{nullptr}; float _subscribe_to_stream_rate{0.0f}; ///< rate of stream to subscribe to (0=disable, -1=unlimited, -2=default) bool _udp_initialised{false}; @@ -651,16 +646,9 @@ class Mavlink final : public ModuleParams ping_statistics_s _ping_stats {}; - struct mavlink_message_buffer { - int write_ptr; - int read_ptr; - int size; - char *data; - }; + pthread_mutex_t _message_buffer_mutex{}; + VariableLengthRingbuffer _message_buffer{}; - mavlink_message_buffer _message_buffer {}; - - pthread_mutex_t _message_buffer_mutex {}; pthread_mutex_t _send_mutex {}; pthread_mutex_t _radio_status_mutex {}; @@ -682,6 +670,7 @@ class Mavlink final : public ModuleParams perf_counter_t _loop_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": tx run elapsed")}; /**< loop performance counter */ perf_counter_t _loop_interval_perf{perf_alloc(PC_INTERVAL, MODULE_NAME": tx run interval")}; /**< loop interval performance counter */ perf_counter_t _send_byte_error_perf{perf_alloc(PC_COUNT, MODULE_NAME": send_bytes error")}; /**< send bytes error count */ + perf_counter_t _forwarding_error_perf{perf_alloc(PC_COUNT, MODULE_NAME": forwarding error")}; /**< forwarding messages error count */ void mavlink_update_parameters(); @@ -711,24 +700,18 @@ class Mavlink final : public ModuleParams */ int configure_streams_to_default(const char *configure_single_stream = nullptr); - int message_buffer_init(int size); - - void message_buffer_destroy(); - - int message_buffer_count(); - - int message_buffer_is_empty() const { return (_message_buffer.read_ptr == _message_buffer.write_ptr); } - - int message_buffer_get_ptr(void **ptr, bool *is_part); - - void message_buffer_mark_read(int n) { _message_buffer.read_ptr = (_message_buffer.read_ptr + n) % _message_buffer.size; } - void pass_message(const mavlink_message_t *msg); void publish_telemetry_status(); void check_requested_subscriptions(); + void handleCommands(); + + void handleAndGetCurrentCommandAck(); + + void handleStatus(); + /** * Reconfigure a SiK radio if requested by MAV_SIK_RADIO_ID * diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index e172024879eb..638de9cce5f4 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -120,10 +120,22 @@ #include "streams/VFR_HUD.hpp" #include "streams/VIBRATION.hpp" #include "streams/WIND_COV.hpp" +#if defined(MAVLINK_MSG_ID_FIGURE_EIGHT_EXECUTION_STATUS) +#include "streams/FIGURE_EIGHT_EXECUTION_STATUS.hpp" +#endif // MAVLINK_MSG_ID_FIGURE_EIGHT_EXECUTION_STATUS +#if defined(MAVLINK_MSG_ID_FUEL_STATUS) +#include "streams/FUEL_STATUS.hpp" +#endif // MAVLINK_MSG_ID_FUEL_STATUS + +#ifdef MAVLINK_MSG_ID_AVAILABLE_MODES // Only defined if development.xml is used +#include "streams/AVAILABLE_MODES.hpp" +#include "streams/CURRENT_MODE.hpp" +#endif #if !defined(CONSTRAINED_FLASH) # include "streams/ADSB_VEHICLE.hpp" # include "streams/AUTOPILOT_STATE_FOR_GIMBAL_DEVICE.hpp" +# include "streams/BATTERY_INFO.hpp" # include "streams/DEBUG.hpp" # include "streams/DEBUG_FLOAT_ARRAY.hpp" # include "streams/DEBUG_VECT.hpp" @@ -131,6 +143,7 @@ # include "streams/GIMBAL_DEVICE_SET_ATTITUDE.hpp" # include "streams/GIMBAL_MANAGER_INFORMATION.hpp" # include "streams/GIMBAL_MANAGER_STATUS.hpp" +# include "streams/GIMBAL_DEVICE_INFORMATION.hpp" # include "streams/GPS2_RAW.hpp" # include "streams/HIGH_LATENCY2.hpp" # include "streams/LINK_NODE_STATUS.hpp" @@ -138,10 +151,8 @@ # include "streams/ODOMETRY.hpp" # include "streams/SCALED_PRESSURE2.hpp" # include "streams/SCALED_PRESSURE3.hpp" -# include "streams/SMART_BATTERY_INFO.hpp" # include "streams/UAVIONIX_ADSB_OUT_CFG.hpp" # include "streams/UAVIONIX_ADSB_OUT_DYNAMIC.hpp" -# include "streams/UTM_GLOBAL_POSITION.hpp" #endif // !CONSTRAINED_FLASH // ensure PX4 rotation enum and MAV_SENSOR_ROTATION align @@ -228,8 +239,13 @@ static_assert(MAV_SENSOR_ROTATION_ROLL_90_PITCH_68_YAW_293 == static_cast(ROTATION_PITCH_315), "Pitch: 315"); static_assert(MAV_SENSOR_ROTATION_ROLL_90_PITCH_315 == static_cast(ROTATION_ROLL_90_PITCH_315), "Roll: 90, Pitch: 315"); + +// Note: Update the number (41, as of writing) below to the number of 'normal' rotation enums in MAVLink spec: +// https://mavlink.io/en/messages/common.html#MAV_SENSOR_ORIENTATION static_assert(41 == ROTATION_MAX, "Keep MAV_SENSOR_ROTATION and PX4 Rotation in sync"); +static_assert(MAV_SENSOR_ROTATION_CUSTOM == static_cast(ROTATION_CUSTOM), "Custom Rotation"); + static const StreamListItem streams_list[] = { #if defined(HEARTBEAT_HPP) @@ -241,13 +257,13 @@ static const StreamListItem streams_list[] = { #if defined(COMMAND_LONG_HPP) create_stream_list_item(), #endif // COMMAND_LONG_HPP -#if defined(SYSTEM_TIME_HPP) +#if defined(SYS_STATUS_HPP) create_stream_list_item(), -#endif // SYSTEM_TIME_HPP +#endif // SYS_STATUS_HPP create_stream_list_item(), -#if defined(SMART_BATTERY_INFO_HPP) - create_stream_list_item(), -#endif // SMART_BATTERY_INFO_HPP +#if defined(BATTERY_INFO_HPP) + create_stream_list_item(), +#endif // BATTERY_INFO_HPP #if defined(HIGHRES_IMU_HPP) create_stream_list_item(), #endif // HIGHRES_IMU_HPP @@ -329,6 +345,9 @@ static const StreamListItem streams_list[] = { #if defined(GIMBAL_MANAGER_INFORMATION_HPP) create_stream_list_item(), #endif // GIMBAL_MANAGER_INFORMATION_HPP +#if defined(GIMBAL_DEVICE_INFORMATION_HPP) + create_stream_list_item(), +#endif // GIMBAL_DEVICE_INFORMATION_HPP #if defined(GIMBAL_MANAGER_STATUS_HPP) create_stream_list_item(), #endif // GIMBAL_MANAGER_STATUS_HPP @@ -402,9 +421,6 @@ static const StreamListItem streams_list[] = { #if defined(ADSB_VEHICLE_HPP) create_stream_list_item(), #endif // ADSB_VEHICLE_HPP -#if defined(UTM_GLOBAL_POSITION_HPP) - create_stream_list_item(), -#endif // UTM_GLOBAL_POSITION_HPP #if defined(COLLISION_HPP) create_stream_list_item(), #endif // COLLISION_HPP @@ -426,6 +442,9 @@ static const StreamListItem streams_list[] = { #if defined(ORBIT_EXECUTION_STATUS_HPP) create_stream_list_item(), #endif // ORBIT_EXECUTION_STATUS_HPP +#if defined(FIGURE_EIGHT_EXECUTION_STATUS_HPP) + create_stream_list_item(), +#endif // FIGURE_EIGHT_EXECUTION_STATUS_HPP #if defined(OBSTACLE_DISTANCE_HPP) create_stream_list_item(), #endif // OBSTACLE_DISTANCE_HPP @@ -453,6 +472,9 @@ static const StreamListItem streams_list[] = { #if defined(FLIGHT_INFORMATION_HPP) create_stream_list_item(), #endif // FLIGHT_INFORMATION_HPP +#if defined(FUEL_STATUS_HPP) + create_stream_list_item(), +#endif // FUEL_STATUS_HPP #if defined(GPS_STATUS_HPP) create_stream_list_item(), #endif // GPS_STATUS_HPP @@ -481,8 +503,14 @@ static const StreamListItem streams_list[] = { create_stream_list_item(), #endif // UAVIONIX_ADSB_OUT_CFG_HPP #if defined(UAVIONIX_ADSB_OUT_DYNAMIC_HPP) - create_stream_list_item() + create_stream_list_item(), #endif // UAVIONIX_ADSB_OUT_DYNAMIC_HPP +#if defined(AVAILABLE_MODES_HPP) + create_stream_list_item(), +#endif // AVAILABLE_MODES_HPP +#if defined(CURRENT_MODE_HPP) + create_stream_list_item(), +#endif // CURRENT_MODE_HPP }; const char *get_stream_name(const uint16_t msg_id) diff --git a/src/modules/mavlink/mavlink_messages.h b/src/modules/mavlink/mavlink_messages.h index cc246ecef143..de5dcdf9be9a 100644 --- a/src/modules/mavlink/mavlink_messages.h +++ b/src/modules/mavlink/mavlink_messages.h @@ -75,6 +75,4 @@ MavlinkStream *create_mavlink_stream(const char *stream_name, Mavlink *mavlink); MavlinkStream *create_mavlink_stream(const uint16_t msg_id, Mavlink *mavlink); -union px4_custom_mode get_px4_custom_mode(uint8_t nav_state); - #endif /* MAVLINK_MESSAGES_H_ */ diff --git a/src/modules/mavlink/mavlink_mission.cpp b/src/modules/mavlink/mavlink_mission.cpp index e89f0f1f42fd..1c5437270a1e 100644 --- a/src/modules/mavlink/mavlink_mission.cpp +++ b/src/modules/mavlink/mavlink_mission.cpp @@ -53,168 +53,163 @@ #include #include #include +#include using matrix::wrap_2pi; -dm_item_t MavlinkMissionManager::_dataman_id = DM_KEY_WAYPOINTS_OFFBOARD_0; +dm_item_t MavlinkMissionManager::_mission_dataman_id = DM_KEY_WAYPOINTS_OFFBOARD_0; +dm_item_t MavlinkMissionManager::_safepoint_dataman_id = DM_KEY_SAFE_POINTS_0; +dm_item_t MavlinkMissionManager::_fence_dataman_id = DM_KEY_FENCE_POINTS_0; bool MavlinkMissionManager::_dataman_init = false; uint16_t MavlinkMissionManager::_count[3] = { 0, 0, 0 }; +uint32_t MavlinkMissionManager::_crc32[3] = { 0, 0, 0 }; int32_t MavlinkMissionManager::_current_seq = 0; bool MavlinkMissionManager::_transfer_in_progress = false; constexpr uint16_t MavlinkMissionManager::MAX_COUNT[]; -uint16_t MavlinkMissionManager::_geofence_update_counter = 0; -uint16_t MavlinkMissionManager::_safepoint_update_counter = 0; - #define CHECK_SYSID_COMPID_MISSION(_msg) (_msg.target_system == mavlink_system.sysid && \ ((_msg.target_component == mavlink_system.compid) || \ (_msg.target_component == MAV_COMP_ID_MISSIONPLANNER) || \ (_msg.target_component == MAV_COMP_ID_ALL))) -MavlinkMissionManager::MavlinkMissionManager(Mavlink *mavlink) : +MavlinkMissionManager::MavlinkMissionManager(Mavlink &mavlink) : _mavlink(mavlink) -{ - init_offboard_mission(); -} - -void -MavlinkMissionManager::init_offboard_mission() { if (!_dataman_init) { _dataman_init = true; - /* lock MISSION_STATE item */ - int dm_lock_ret = dm_lock(DM_KEY_MISSION_STATE); - - if (dm_lock_ret != 0) { - PX4_ERR("DM_KEY_MISSION_STATE lock failed"); - } - mission_s mission_state; - int ret = dm_read(DM_KEY_MISSION_STATE, 0, &mission_state, sizeof(mission_s)); - - /* unlock MISSION_STATE item */ - if (dm_lock_ret == 0) { - dm_unlock(DM_KEY_MISSION_STATE); - } + bool success = _dataman_client.readSync(DM_KEY_MISSION_STATE, 0, reinterpret_cast(&mission_state), + sizeof(mission_s)); - if (ret > 0) { - _dataman_id = (dm_item_t)mission_state.dataman_id; - _count[MAV_MISSION_TYPE_MISSION] = mission_state.count; - _current_seq = mission_state.current_seq; + if (success) { + init_offboard_mission(mission_state); + load_geofence_stats(); + load_safepoint_stats(); - } else if (ret < 0) { - PX4_WARN("offboard mission init failed (%i)", ret); + } else { + PX4_WARN("offboard mission init failed"); } - load_geofence_stats(); - - load_safepoint_stats(); + update_active_mission(_mission_dataman_id, _count[MAV_MISSION_TYPE_MISSION], _current_seq, + _crc32[MAV_MISSION_TYPE_MISSION], false); } - _my_dataman_id = _dataman_id; + _my_mission_dataman_id = _mission_dataman_id; + _my_fence_dataman_id = _fence_dataman_id; + _my_safepoint_dataman_id = _safepoint_dataman_id; } -int +void +MavlinkMissionManager::init_offboard_mission(const mission_s &mission_state) +{ + _mission_dataman_id = (dm_item_t)mission_state.mission_dataman_id; + _my_mission_dataman_id = _mission_dataman_id; + _count[MAV_MISSION_TYPE_MISSION] = mission_state.count; + _crc32[MAV_MISSION_TYPE_MISSION] = mission_state.mission_id; + _current_seq = mission_state.current_seq; + _land_start_marker = mission_state.land_start_index; + _land_marker = mission_state.land_index; +} + +bool MavlinkMissionManager::load_geofence_stats() { mission_stats_entry_s stats; // initialize fence points count - int ret = dm_read(DM_KEY_FENCE_POINTS, 0, &stats, sizeof(mission_stats_entry_s)); + bool success = _dataman_client.readSync(DM_KEY_FENCE_POINTS_STATE, 0, reinterpret_cast(&stats), + sizeof(mission_stats_entry_s)); - if (ret == sizeof(mission_stats_entry_s)) { + if (success) { _count[MAV_MISSION_TYPE_FENCE] = stats.num_items; - _geofence_update_counter = stats.update_counter; + _crc32[MAV_MISSION_TYPE_FENCE] = stats.opaque_id; + _fence_dataman_id = static_cast(stats.dataman_id); + _my_fence_dataman_id = _fence_dataman_id; } - return ret; + return success; } -int +bool MavlinkMissionManager::load_safepoint_stats() { mission_stats_entry_s stats; // initialize safe points count - int ret = dm_read(DM_KEY_SAFE_POINTS, 0, &stats, sizeof(mission_stats_entry_s)); + bool success = _dataman_client.readSync(DM_KEY_SAFE_POINTS_STATE, 0, reinterpret_cast(&stats), + sizeof(mission_stats_entry_s)); - if (ret == sizeof(mission_stats_entry_s)) { + if (success) { _count[MAV_MISSION_TYPE_RALLY] = stats.num_items; + _crc32[MAV_MISSION_TYPE_RALLY] = stats.opaque_id; + _safepoint_dataman_id = static_cast(stats.dataman_id); + _my_safepoint_dataman_id = _safepoint_dataman_id; } - return ret; + return success; } /** * Publish mission topic to notify navigator about changes. */ -int -MavlinkMissionManager::update_active_mission(dm_item_t dataman_id, uint16_t count, int32_t seq) +void +MavlinkMissionManager::update_active_mission(dm_item_t mission_dataman_id, uint16_t count, int32_t seq, uint32_t crc32, + bool write_to_dataman) { - // We want to make sure the whole struct is initialized including padding before getting written by dataman. + /* update active mission state */ + _mission_dataman_id = mission_dataman_id; + _my_mission_dataman_id = _mission_dataman_id; + _count[MAV_MISSION_TYPE_MISSION] = count; + _crc32[MAV_MISSION_TYPE_MISSION] = crc32; + _current_seq = seq; + mission_s mission{}; mission.timestamp = hrt_absolute_time(); - mission.dataman_id = dataman_id; + mission.mission_dataman_id = mission_dataman_id; + mission.fence_dataman_id = _fence_dataman_id; + mission.safepoint_dataman_id = _safepoint_dataman_id; mission.count = count; mission.current_seq = seq; - - /* update mission state in dataman */ - - /* lock MISSION_STATE item */ - int dm_lock_ret = dm_lock(DM_KEY_MISSION_STATE); - - if (dm_lock_ret != 0) { - PX4_ERR("DM_KEY_MISSION_STATE lock failed"); - } - - int res = dm_write(DM_KEY_MISSION_STATE, 0, &mission, sizeof(mission_s)); - - /* unlock MISSION_STATE item */ - if (dm_lock_ret == 0) { - dm_unlock(DM_KEY_MISSION_STATE); - } - - if (res == sizeof(mission_s)) { - /* update active mission state */ - _dataman_id = dataman_id; - _count[MAV_MISSION_TYPE_MISSION] = count; - _current_seq = seq; - _my_dataman_id = _dataman_id; - - /* mission state saved successfully, publish offboard_mission topic */ - _offboard_mission_pub.publish(mission); - - return PX4_OK; - - } else { - PX4_ERR("WPM: can't save mission state"); - - if (_filesystem_errcount++ < FILESYSTEM_ERRCOUNT_NOTIFY_LIMIT) { - _mavlink->send_statustext_critical("Mission storage: Unable to write to microSD\t"); - events::send(events::ID("mavlink_mission_storage_write_failure"), events::Log::Critical, - "Mission: Unable to write to storage"); + mission.mission_id = _crc32[MAV_MISSION_TYPE_MISSION]; + mission.geofence_id = _crc32[MAV_MISSION_TYPE_FENCE]; + mission.safe_points_id = _crc32[MAV_MISSION_TYPE_RALLY]; + mission.land_start_index = _land_start_marker; + mission.land_index = _land_marker; + + if (write_to_dataman) { + bool success = _dataman_client.writeSync(DM_KEY_MISSION_STATE, 0, reinterpret_cast(&mission), + sizeof(mission_s)); + + if (!success) { + PX4_ERR("Can't update mission state in Dataman"); } - - return PX4_ERROR; } + + _offboard_mission_pub.publish(mission); } int -MavlinkMissionManager::update_geofence_count(unsigned count) +MavlinkMissionManager::update_geofence_count(dm_item_t fence_dataman_id, unsigned count, uint32_t crc32) { + _fence_dataman_id = fence_dataman_id; + _my_fence_dataman_id = fence_dataman_id; + mission_stats_entry_s stats; stats.num_items = count; - stats.update_counter = ++_geofence_update_counter; // this makes sure navigator will reload the fence data + stats.opaque_id = crc32; + stats.dataman_id = fence_dataman_id; /* update stats in dataman */ - int res = dm_write(DM_KEY_FENCE_POINTS, 0, &stats, sizeof(mission_stats_entry_s)); + bool success = _dataman_client.writeSync(DM_KEY_FENCE_POINTS_STATE, 0, reinterpret_cast(&stats), + sizeof(mission_stats_entry_s)); - if (res == sizeof(mission_stats_entry_s)) { + if (success) { _count[MAV_MISSION_TYPE_FENCE] = count; + _crc32[MAV_MISSION_TYPE_FENCE] = crc32; } else { if (_filesystem_errcount++ < FILESYSTEM_ERRCOUNT_NOTIFY_LIMIT) { - _mavlink->send_statustext_critical("Mission storage: Unable to write to microSD\t"); + _mavlink.send_statustext_critical("Mission storage: Unable to write to microSD\t"); events::send(events::ID("mavlink_mission_storage_write_failure2"), events::Log::Critical, "Mission: Unable to write to storage"); } @@ -222,26 +217,35 @@ MavlinkMissionManager::update_geofence_count(unsigned count) return PX4_ERROR; } + update_active_mission(_mission_dataman_id, _count[MAV_MISSION_TYPE_MISSION], _current_seq, + _crc32[MAV_MISSION_TYPE_MISSION], + false); return PX4_OK; } int -MavlinkMissionManager::update_safepoint_count(unsigned count) +MavlinkMissionManager::update_safepoint_count(dm_item_t safepoint_dataman_id, unsigned count, uint32_t crc32) { + _safepoint_dataman_id = safepoint_dataman_id; + _my_safepoint_dataman_id = safepoint_dataman_id; + mission_stats_entry_s stats; stats.num_items = count; - stats.update_counter = ++_safepoint_update_counter; + stats.opaque_id = crc32; + stats.dataman_id = safepoint_dataman_id; /* update stats in dataman */ - int res = dm_write(DM_KEY_SAFE_POINTS, 0, &stats, sizeof(mission_stats_entry_s)); + bool success = _dataman_client.writeSync(DM_KEY_SAFE_POINTS_STATE, 0, reinterpret_cast(&stats), + sizeof(mission_stats_entry_s)); - if (res == sizeof(mission_stats_entry_s)) { + if (success) { _count[MAV_MISSION_TYPE_RALLY] = count; + _crc32[MAV_MISSION_TYPE_RALLY] = crc32; } else { if (_filesystem_errcount++ < FILESYSTEM_ERRCOUNT_NOTIFY_LIMIT) { - _mavlink->send_statustext_critical("Mission storage: Unable to write to microSD\t"); + _mavlink.send_statustext_critical("Mission storage: Unable to write to microSD\t"); events::send(events::ID("mavlink_mission_storage_write_failure3"), events::Log::Critical, "Mission: Unable to write to storage"); } @@ -249,11 +253,14 @@ MavlinkMissionManager::update_safepoint_count(unsigned count) return PX4_ERROR; } + update_active_mission(_mission_dataman_id, _count[MAV_MISSION_TYPE_MISSION], _current_seq, + _crc32[MAV_MISSION_TYPE_MISSION], + false); return PX4_OK; } void -MavlinkMissionManager::send_mission_ack(uint8_t sysid, uint8_t compid, uint8_t type) +MavlinkMissionManager::send_mission_ack(uint8_t sysid, uint8_t compid, uint8_t type, uint32_t opaque_id) { mavlink_mission_ack_t wpa{}; @@ -261,8 +268,9 @@ MavlinkMissionManager::send_mission_ack(uint8_t sysid, uint8_t compid, uint8_t t wpa.target_component = compid; wpa.type = type; wpa.mission_type = _mission_type; + wpa.opaque_id = opaque_id; - mavlink_msg_mission_ack_send_struct(_mavlink->get_channel(), &wpa); + mavlink_msg_mission_ack_send_struct(_mavlink.get_channel(), &wpa); PX4_DEBUG("WPM: Send MISSION_ACK type %u to ID %u", wpa.type, wpa.target_system); } @@ -272,13 +280,18 @@ MavlinkMissionManager::send_mission_current(uint16_t seq) { mavlink_mission_current_t wpc{}; wpc.seq = seq; - mavlink_msg_mission_current_send_struct(_mavlink->get_channel(), &wpc); + wpc.total = _count[MAV_MISSION_TYPE_MISSION] > 0 ? _count[MAV_MISSION_TYPE_MISSION] : UINT16_MAX; + wpc.mission_id = _crc32[MAV_MISSION_TYPE_MISSION]; + wpc.fence_id = _crc32[MAV_MISSION_TYPE_FENCE]; + wpc.rally_points_id = _crc32[MAV_MISSION_TYPE_RALLY]; + mavlink_msg_mission_current_send_struct(_mavlink.get_channel(), &wpc); PX4_DEBUG("WPM: Send MISSION_CURRENT seq %d", seq); } void -MavlinkMissionManager::send_mission_count(uint8_t sysid, uint8_t compid, uint16_t count, MAV_MISSION_TYPE mission_type) +MavlinkMissionManager::send_mission_count(uint8_t sysid, uint8_t compid, uint16_t count, MAV_MISSION_TYPE mission_type, + uint32_t opaque_id) { _time_last_sent = hrt_absolute_time(); @@ -288,8 +301,9 @@ MavlinkMissionManager::send_mission_count(uint8_t sysid, uint8_t compid, uint16_ wpc.target_component = compid; wpc.count = count; wpc.mission_type = mission_type; + wpc.opaque_id = opaque_id; - mavlink_msg_mission_count_send_struct(_mavlink->get_channel(), &wpc); + mavlink_msg_mission_count_send_struct(_mavlink.get_channel(), &wpc); PX4_DEBUG("WPM: Send MISSION_COUNT %u to ID %u, mission type=%i", wpc.count, wpc.target_system, mission_type); } @@ -298,21 +312,20 @@ void MavlinkMissionManager::send_mission_item(uint8_t sysid, uint8_t compid, uint16_t seq) { mission_item_s mission_item{}; - int16_t bytes_read = 0; bool read_success = false; switch (_mission_type) { case MAV_MISSION_TYPE_MISSION: { - bytes_read = dm_read(_dataman_id, seq, &mission_item, sizeof(mission_item_s)); - read_success = (bytes_read == sizeof(mission_item_s)); + read_success = _dataman_client.readSync(_mission_dataman_id, seq, reinterpret_cast(&mission_item), + sizeof(mission_item_s)); } break; case MAV_MISSION_TYPE_FENCE: { // Read a geofence point mission_fence_point_s mission_fence_point; - bytes_read = dm_read(DM_KEY_FENCE_POINTS, seq + 1, &mission_fence_point, sizeof(mission_fence_point_s)); - read_success = (bytes_read == sizeof(mission_fence_point_s)); + read_success = _dataman_client.readSync(_fence_dataman_id, seq, + reinterpret_cast(&mission_fence_point), sizeof(mission_fence_point_s)); mission_item.nav_cmd = mission_fence_point.nav_cmd; mission_item.frame = mission_fence_point.frame; @@ -331,20 +344,13 @@ MavlinkMissionManager::send_mission_item(uint8_t sysid, uint8_t compid, uint16_t break; case MAV_MISSION_TYPE_RALLY: { // Read a safe point / rally point - mission_safe_point_s mission_safe_point; - bytes_read = dm_read(DM_KEY_SAFE_POINTS, seq + 1, &mission_safe_point, sizeof(mission_safe_point_s)); - read_success = (bytes_read == sizeof(mission_safe_point_s)); - - mission_item.nav_cmd = MAV_CMD_NAV_RALLY_POINT; - mission_item.frame = mission_safe_point.frame; - mission_item.lat = mission_safe_point.lat; - mission_item.lon = mission_safe_point.lon; - mission_item.altitude = mission_safe_point.alt; + read_success = _dataman_client.readSync(_safepoint_dataman_id, seq, reinterpret_cast(&mission_item), + sizeof(mission_item_s)); } break; default: - _mavlink->send_statustext_critical("Received unknown mission type, abort.\t"); + _mavlink.send_statustext_critical("Received unknown mission type, abort.\t"); events::send(events::ID("mavlink_mission_recv_unknown_mis_type"), events::Log::Error, "Received unknown mission type, abort"); break; @@ -362,7 +368,7 @@ MavlinkMissionManager::send_mission_item(uint8_t sysid, uint8_t compid, uint16_t wp.seq = seq; wp.current = (_current_seq == seq) ? 1 : 0; - mavlink_msg_mission_item_int_send_struct(_mavlink->get_channel(), &wp); + mavlink_msg_mission_item_int_send_struct(_mavlink.get_channel(), &wp); PX4_DEBUG("WPM: Send MISSION_ITEM_INT seq %u to ID %u", wp.seq, wp.target_system); @@ -375,7 +381,7 @@ MavlinkMissionManager::send_mission_item(uint8_t sysid, uint8_t compid, uint16_t wp.seq = seq; wp.current = (_current_seq == seq) ? 1 : 0; - mavlink_msg_mission_item_send_struct(_mavlink->get_channel(), &wp); + mavlink_msg_mission_item_send_struct(_mavlink.get_channel(), &wp); PX4_DEBUG("WPM: Send MISSION_ITEM seq %u to ID %u", wp.seq, wp.target_system); } @@ -384,17 +390,16 @@ MavlinkMissionManager::send_mission_item(uint8_t sysid, uint8_t compid, uint16_t send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_ERROR); if (_filesystem_errcount++ < FILESYSTEM_ERRCOUNT_NOTIFY_LIMIT) { - mavlink_log_critical(_mavlink->get_mavlink_log_pub(), - "Mission storage: Unable to read from storage, type: %" PRId8 " bytes read: %" PRId16 "\t", - (uint8_t)_mission_type, bytes_read); + mavlink_log_critical(_mavlink.get_mavlink_log_pub(), + "Mission storage: Unable to read from storage, type: %" PRId8 "\t", (uint8_t)_mission_type); /* EVENT - * @description Mission type: {1}. Number of bytes read: {2} + * @description Mission type: {1} */ - events::send(events::ID("mavlink_mission_storage_read_failure"), events::Log::Error, - "Mission: Unable to read from storage", _mission_type, bytes_read); + events::send(events::ID("mavlink_mission_storage_read_failure"), events::Log::Error, + "Mission: Unable to read from storage", _mission_type); } - PX4_DEBUG("WPM: Send MISSION_ITEM ERROR: could not read seq %u from dataman ID %i", seq, _dataman_id); + PX4_DEBUG("WPM: Send MISSION_ITEM ERROR: could not read seq %u from dataman ID %i", seq, _mission_dataman_id); } } @@ -420,6 +425,17 @@ MavlinkMissionManager::current_item_count() return _count[_mission_type]; } +uint32_t +MavlinkMissionManager::get_current_mission_type_crc() +{ + if (_mission_type >= sizeof(_crc32) / sizeof(_crc32[0])) { + PX4_ERR("WPM: _crc32 out of bounds (%u)", _mission_type); + return 0; + } + + return _crc32[_mission_type]; +} + void MavlinkMissionManager::send_mission_request(uint8_t sysid, uint8_t compid, uint16_t seq) { @@ -432,7 +448,7 @@ MavlinkMissionManager::send_mission_request(uint8_t sysid, uint8_t compid, uint1 wpr.target_component = compid; wpr.seq = seq; wpr.mission_type = _mission_type; - mavlink_msg_mission_request_int_send_struct(_mavlink->get_channel(), &wpr); + mavlink_msg_mission_request_int_send_struct(_mavlink.get_channel(), &wpr); PX4_DEBUG("WPM: Send MISSION_REQUEST_INT seq %u to ID %u", wpr.seq, wpr.target_system); @@ -444,13 +460,13 @@ MavlinkMissionManager::send_mission_request(uint8_t sysid, uint8_t compid, uint1 wpr.seq = seq; wpr.mission_type = _mission_type; - mavlink_msg_mission_request_send_struct(_mavlink->get_channel(), &wpr); + mavlink_msg_mission_request_send_struct(_mavlink.get_channel(), &wpr); PX4_DEBUG("WPM: Send MISSION_REQUEST seq %u to ID %u", wpr.seq, wpr.target_system); } } else { - _mavlink->send_statustext_critical("ERROR: Waypoint index exceeds list capacity\t"); + _mavlink.send_statustext_critical("ERROR: Waypoint index exceeds list capacity\t"); events::send(events::ID("mavlink_mission_wp_index_exceeds_list"), events::Log::Error, "Waypoint index eceeds list capacity (maximum: {1})", current_max_item_count()); @@ -465,7 +481,7 @@ MavlinkMissionManager::send_mission_item_reached(uint16_t seq) wp_reached.seq = seq; - mavlink_msg_mission_item_reached_send_struct(_mavlink->get_channel(), &wp_reached); + mavlink_msg_mission_item_reached_send_struct(_mavlink.get_channel(), &wp_reached); PX4_DEBUG("WPM: Send MISSION_ITEM_REACHED reached_seq %u", wp_reached.seq); } @@ -474,7 +490,7 @@ void MavlinkMissionManager::send() { // do not send anything over high latency communication - if (_mavlink->get_mode() == Mavlink::MAVLINK_MODE_IRIDIUM) { + if (_mavlink.get_mode() == Mavlink::MAVLINK_MODE_IRIDIUM) { return; } @@ -493,9 +509,9 @@ MavlinkMissionManager::send() send_mission_current(_current_seq); } else { - _mavlink->send_statustext_critical("ERROR: wp index out of bounds\t"); - events::send(events::ID("mavlink_mission_wp_index_out_of_bounds"), events::Log::Error, - "Waypoint index out of bounds ({1} \\< {2})", mission_result.seq_current, mission_result.seq_total); + _mavlink.send_statustext_critical("ERROR: wp index out of bounds\t"); + events::send(events::ID("mavlink_mission_wp_index_out_of_bounds"), events::Log::Error, + "Waypoint index out of bounds (current {1} \\>= total {2})", mission_result.seq_current, mission_result.seq_total); } } } @@ -525,10 +541,9 @@ MavlinkMissionManager::send() } } else if (_slow_rate_limiter.check(hrt_absolute_time())) { - if ((_count[MAV_MISSION_TYPE_MISSION] > 0) && (_current_seq >= 0)) { - - send_mission_current(_current_seq); + send_mission_current(_current_seq); + if ((_count[MAV_MISSION_TYPE_MISSION] > 0) && (_current_seq >= 0)) { // send the reached message another 10 times if (_last_reached >= 0 && (_reached_sent_count < 10)) { send_mission_item_reached((uint16_t)_last_reached); @@ -547,7 +562,7 @@ MavlinkMissionManager::send() } else if (_state != MAVLINK_WPM_STATE_IDLE && (_time_last_recv > 0) && hrt_elapsed_time(&_time_last_recv) > MAVLINK_MISSION_PROTOCOL_TIMEOUT_DEFAULT) { - _mavlink->send_statustext_critical("Operation timeout\t"); + _mavlink.send_statustext_critical("Operation timeout\t"); events::send(events::ID("mavlink_mission_op_timeout"), events::Log::Error, "Operation timeout, aborting transfer"); @@ -659,7 +674,7 @@ MavlinkMissionManager::handle_mission_ack(const mavlink_message_t *msg) } } else { - _mavlink->send_statustext_critical("REJ. WP CMD: partner id mismatch\t"); + _mavlink.send_statustext_critical("REJ. WP CMD: partner id mismatch\t"); events::send(events::ID("mavlink_mission_partner_id_mismatch"), events::Log::Error, "Rejecting waypoint command, component or system ID mismatch"); @@ -679,21 +694,12 @@ MavlinkMissionManager::handle_mission_set_current(const mavlink_message_t *msg) _time_last_recv = hrt_absolute_time(); if (wpc.seq < _count[MAV_MISSION_TYPE_MISSION]) { - if (update_active_mission(_dataman_id, _count[MAV_MISSION_TYPE_MISSION], wpc.seq) == PX4_OK) { - PX4_DEBUG("WPM: MISSION_SET_CURRENT seq=%d OK", wpc.seq); - - } else { - PX4_DEBUG("WPM: MISSION_SET_CURRENT seq=%d ERROR", wpc.seq); - - _mavlink->send_statustext_critical("WPM: WP CURR CMD: Error setting ID\t"); - events::send(events::ID("mavlink_mission_err_id"), events::Log::Error, - "Failed to write current mission ID to storage"); - } + update_active_mission(_mission_dataman_id, _count[MAV_MISSION_TYPE_MISSION], wpc.seq, _crc32[MAV_MISSION_TYPE_MISSION]); } else { PX4_ERR("WPM: MISSION_SET_CURRENT seq=%d ERROR: not in list", wpc.seq); - _mavlink->send_statustext_critical("WPM: WP CURR CMD: Not in list\t"); + _mavlink.send_statustext_critical("WPM: WP CURR CMD: Not in list\t"); events::send(events::ID("mavlink_mission_seq_out_of_bounds"), events::Log::Error, "New mission waypoint sequence out of bounds"); } @@ -701,7 +707,7 @@ MavlinkMissionManager::handle_mission_set_current(const mavlink_message_t *msg) } else { PX4_DEBUG("WPM: MISSION_SET_CURRENT ERROR: busy"); - _mavlink->send_statustext_critical("WPM: IGN WP CURR CMD: Busy\t"); + _mavlink.send_statustext_critical("WPM: IGN WP CURR CMD: Busy\t"); events::send(events::ID("mavlink_mission_state_busy"), events::Log::Error, "Mission manager currently busy, ignoring new waypoint index"); } @@ -757,12 +763,12 @@ MavlinkMissionManager::handle_mission_request_list(const mavlink_message_t *msg) PX4_DEBUG("WPM: MISSION_REQUEST_LIST OK nothing to send, mission is empty, mission type=%i", _mission_type); } - send_mission_count(msg->sysid, msg->compid, _transfer_count, _mission_type); + send_mission_count(msg->sysid, msg->compid, _transfer_count, _mission_type, get_current_mission_type_crc()); } else { PX4_DEBUG("WPM: MISSION_REQUEST_LIST ERROR: busy"); - _mavlink->send_statustext_info("Mission download request ignored, already active\t"); + _mavlink.send_statustext_info("Mission download request ignored, already active\t"); events::send(events::ID("mavlink_mission_req_ignored"), events::Log::Warning, "Mission download request ignored, already active"); } @@ -837,7 +843,7 @@ MavlinkMissionManager::handle_mission_request_both(const mavlink_message_t *msg) switch_to_idle_state(); send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_ERROR); - _mavlink->send_statustext_critical("WPM: REJ. CMD: Req. WP was unexpected\t"); + _mavlink.send_statustext_critical("WPM: REJ. CMD: Req. WP was unexpected\t"); events::send(events::ID("mavlink_mission_wp_unexpected"), events::Log::Error, "Unexpected waypoint index, aborting transfer"); return; @@ -854,7 +860,7 @@ MavlinkMissionManager::handle_mission_request_both(const mavlink_message_t *msg) switch_to_idle_state(); send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_ERROR); - _mavlink->send_statustext_critical("WPM: REJ. CMD: Req. WP was unexpected\t"); + _mavlink.send_statustext_critical("WPM: REJ. CMD: Req. WP was unexpected\t"); events::send(events::ID("mavlink_mission_wp_unexpected2"), events::Log::Error, "Unexpected waypoint index, aborting mission transfer"); } @@ -863,18 +869,18 @@ MavlinkMissionManager::handle_mission_request_both(const mavlink_message_t *msg) PX4_DEBUG("WPM: MISSION_ITEM_REQUEST(_INT) ERROR: no transfer"); // Silently ignore this as some OSDs have buggy mission protocol implementations - //_mavlink->send_statustext_critical("IGN MISSION_ITEM_REQUEST(_INT): No active transfer"); + //_mavlink.send_statustext_critical("IGN MISSION_ITEM_REQUEST(_INT): No active transfer"); } else { PX4_DEBUG("WPM: MISSION_ITEM_REQUEST(_INT) ERROR: busy (state %d).", _state); - _mavlink->send_statustext_critical("WPM: REJ. CMD: Busy\t"); + _mavlink.send_statustext_critical("WPM: REJ. CMD: Busy\t"); events::send(events::ID("mavlink_mission_mis_req_ignored_busy"), events::Log::Error, "Ignoring mission request, currently busy"); } } else { - _mavlink->send_statustext_critical("WPM: REJ. CMD: partner id mismatch\t"); + _mavlink.send_statustext_critical("WPM: REJ. CMD: partner id mismatch\t"); events::send(events::ID("mavlink_mission_partner_id_mismatch2"), events::Log::Error, "Rejecting mission request command, component or system ID mismatch"); @@ -901,6 +907,7 @@ MavlinkMissionManager::handle_mission_count(const mavlink_message_t *msg) _transfer_in_progress = true; _mission_type = (MAV_MISSION_TYPE)wpc.mission_type; + _transfer_current_crc32 = 0; if (wpc.count > current_max_item_count()) { PX4_DEBUG("WPM: MISSION_COUNT ERROR: too many waypoints (%d), supported: %d", wpc.count, current_max_item_count()); @@ -916,23 +923,27 @@ MavlinkMissionManager::handle_mission_count(const mavlink_message_t *msg) switch (_mission_type) { case MAV_MISSION_TYPE_MISSION: + _land_start_marker = -1; + _land_marker = -1; + /* alternate dataman ID anyway to let navigator know about changes */ - if (_dataman_id == DM_KEY_WAYPOINTS_OFFBOARD_0) { - update_active_mission(DM_KEY_WAYPOINTS_OFFBOARD_1, 0, 0); + if (_mission_dataman_id == DM_KEY_WAYPOINTS_OFFBOARD_0) { + update_active_mission(DM_KEY_WAYPOINTS_OFFBOARD_1, 0, 0, 0); } else { - update_active_mission(DM_KEY_WAYPOINTS_OFFBOARD_0, 0, 0); + update_active_mission(DM_KEY_WAYPOINTS_OFFBOARD_0, 0, 0, 0); } break; case MAV_MISSION_TYPE_FENCE: - update_geofence_count(0); + update_geofence_count(_fence_dataman_id == DM_KEY_FENCE_POINTS_0 ? DM_KEY_FENCE_POINTS_1 : DM_KEY_FENCE_POINTS_0, 0, 0); break; case MAV_MISSION_TYPE_RALLY: - update_safepoint_count(0); + update_safepoint_count(_safepoint_dataman_id == DM_KEY_SAFE_POINTS_0 ? DM_KEY_SAFE_POINTS_1 : DM_KEY_SAFE_POINTS_0, 0, + 0); break; default: @@ -947,29 +958,37 @@ MavlinkMissionManager::handle_mission_count(const mavlink_message_t *msg) PX4_DEBUG("WPM: MISSION_COUNT %u from ID %u, changing state to MAVLINK_WPM_STATE_GETLIST", wpc.count, msg->sysid); + switch (_mission_type) { + case MAV_MISSION_TYPE_MISSION: + _transfer_dataman_id = (_mission_dataman_id == DM_KEY_WAYPOINTS_OFFBOARD_0 ? DM_KEY_WAYPOINTS_OFFBOARD_1 : + DM_KEY_WAYPOINTS_OFFBOARD_0); // use inactive storage for transmission + break; + + case MAV_MISSION_TYPE_FENCE: + _transfer_dataman_id = (_fence_dataman_id == DM_KEY_FENCE_POINTS_0 ? DM_KEY_FENCE_POINTS_1 : + DM_KEY_FENCE_POINTS_0); // use inactive storage for transmission + break; + + case MAV_MISSION_TYPE_RALLY: + _transfer_dataman_id = (_safepoint_dataman_id == DM_KEY_SAFE_POINTS_0 ? DM_KEY_SAFE_POINTS_1 : + DM_KEY_SAFE_POINTS_0); // use inactive storage for transmission + break; + + default: + PX4_ERR("mission type %u not handled", _mission_type); + _transfer_in_progress = false; + send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_INVALID); + return; + } + _state = MAVLINK_WPM_STATE_GETLIST; _transfer_seq = 0; _transfer_partner_sysid = msg->sysid; _transfer_partner_compid = msg->compid; _transfer_count = wpc.count; - _transfer_dataman_id = (_dataman_id == DM_KEY_WAYPOINTS_OFFBOARD_0 ? DM_KEY_WAYPOINTS_OFFBOARD_1 : - DM_KEY_WAYPOINTS_OFFBOARD_0); // use inactive storage for transmission _transfer_current_seq = -1; - - if (_mission_type == MAV_MISSION_TYPE_FENCE) { - // We're about to write new geofence items, so take the lock. It will be released when - // switching back to idle - PX4_DEBUG("locking fence dataman items"); - - int ret = dm_lock(DM_KEY_FENCE_POINTS); - - if (ret == 0) { - _geofence_locked = true; - - } else { - PX4_ERR("locking failed (%i)", errno); - } - } + _transfer_land_start_marker = -1; + _transfer_land_marker = -1; } else if (_state == MAVLINK_WPM_STATE_GETLIST) { _time_last_recv = hrt_absolute_time(); @@ -981,7 +1000,7 @@ MavlinkMissionManager::handle_mission_count(const mavlink_message_t *msg) } else { PX4_DEBUG("WPM: MISSION_COUNT ERROR: busy, already receiving seq %u", _transfer_seq); - _mavlink->send_statustext_critical("WPM: REJ. CMD: Busy\t"); + _mavlink.send_statustext_critical("WPM: REJ. CMD: Busy\t"); events::send(events::ID("mavlink_mission_getlist_busy"), events::Log::Error, "Mission upload busy, already receiving waypoint"); @@ -992,7 +1011,7 @@ MavlinkMissionManager::handle_mission_count(const mavlink_message_t *msg) } else { PX4_DEBUG("WPM: MISSION_COUNT ERROR: busy, state %i", _state); - _mavlink->send_statustext_critical("WPM: IGN MISSION_COUNT: Busy\t"); + _mavlink.send_statustext_critical("WPM: IGN MISSION_COUNT: Busy\t"); events::send(events::ID("mavlink_mission_ignore_mis_count"), events::Log::Error, "Mission upload busy, ignoring MISSION_COUNT"); send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_ERROR); @@ -1006,15 +1025,6 @@ MavlinkMissionManager::handle_mission_count(const mavlink_message_t *msg) void MavlinkMissionManager::switch_to_idle_state() { - // when switching to idle, we *always* check if the lock was held and release it. - // This is to ensure we don't end up in a state where we forget to release it. - if (_geofence_locked) { - dm_unlock(DM_KEY_FENCE_POINTS); - _geofence_locked = false; - - PX4_DEBUG("unlocking geofence"); - } - _state = MAVLINK_WPM_STATE_IDLE; } @@ -1073,12 +1083,12 @@ MavlinkMissionManager::handle_mission_item_both(const mavlink_message_t *msg) if (_transfer_seq == wp.seq + 1) { // Assume this is a duplicate, where we already successfully got all mission items, // but the GCS did not receive the last ack and sent the same item again - send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_ACCEPTED); + send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_ACCEPTED, _transfer_current_crc32); } else { PX4_DEBUG("WPM: MISSION_ITEM ERROR: no transfer"); - _mavlink->send_statustext_critical("IGN MISSION_ITEM: No transfer\t"); + _mavlink.send_statustext_critical("IGN MISSION_ITEM: No transfer\t"); events::send(events::ID("mavlink_mission_no_transfer"), events::Log::Error, "Ignoring mission item, no transfer in progress"); send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_ERROR); @@ -1089,7 +1099,7 @@ MavlinkMissionManager::handle_mission_item_both(const mavlink_message_t *msg) } else { PX4_DEBUG("WPM: MISSION_ITEM ERROR: busy, state %i", _state); - _mavlink->send_statustext_critical("IGN MISSION_ITEM: Busy\t"); + _mavlink.send_statustext_critical("IGN MISSION_ITEM: Busy\t"); events::send(events::ID("mavlink_mission_mis_item_busy"), events::Log::Error, "Ignoring mission item, busy"); send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_ERROR); @@ -1103,7 +1113,7 @@ MavlinkMissionManager::handle_mission_item_both(const mavlink_message_t *msg) if (ret != PX4_OK) { PX4_DEBUG("WPM: MISSION_ITEM ERROR: seq %u invalid item", wp.seq); - _mavlink->send_statustext_critical("IGN MISSION_ITEM: Invalid item\t"); + _mavlink.send_statustext_critical("IGN MISSION_ITEM: Invalid item\t"); events::send(events::ID("mavlink_mission_mis_item_invalid"), events::Log::Error, "Ignoring mission item, invalid item"); @@ -1113,6 +1123,8 @@ MavlinkMissionManager::handle_mission_item_both(const mavlink_message_t *msg) return; } + _transfer_current_crc32 = crc32_for_mission_item(wp, _transfer_current_crc32); + bool write_failed = false; bool check_failed = false; @@ -1129,9 +1141,25 @@ MavlinkMissionManager::handle_mission_item_both(const mavlink_message_t *msg) check_failed = true; } else { - dm_item_t dm_item = _transfer_dataman_id; - write_failed = dm_write(dm_item, wp.seq, &mission_item, sizeof(struct mission_item_s)) != sizeof(struct mission_item_s); + write_failed = !_dataman_client.writeSync(_transfer_dataman_id, wp.seq, + reinterpret_cast(&mission_item), + sizeof(struct mission_item_s)); + + // Check for land start marker + if ((mission_item.nav_cmd == MAV_CMD_DO_LAND_START) && (_transfer_land_start_marker == -1)) { + _transfer_land_start_marker = wp.seq; + } + + // Check for land index + if (((mission_item.nav_cmd == MAV_CMD_NAV_VTOL_LAND) || (mission_item.nav_cmd == MAV_CMD_NAV_LAND)) + && (_transfer_land_marker == -1)) { + _transfer_land_marker = wp.seq; + + if (_transfer_land_start_marker == -1) { + _transfer_land_start_marker = _transfer_land_marker; + } + } if (!write_failed) { /* waypoint marked as current */ @@ -1157,7 +1185,6 @@ MavlinkMissionManager::handle_mission_item_both(const mavlink_message_t *msg) if (mission_item.vertex_count < 3) { // feasibility check PX4_ERR("Fence: too few vertices"); check_failed = true; - update_geofence_count(0); } } else { @@ -1167,26 +1194,21 @@ MavlinkMissionManager::handle_mission_item_both(const mavlink_message_t *msg) mission_fence_point.frame = mission_item.frame; if (!check_failed) { - write_failed = dm_write(DM_KEY_FENCE_POINTS, wp.seq + 1, &mission_fence_point, - sizeof(mission_fence_point_s)) != sizeof(mission_fence_point_s); + write_failed = !_dataman_client.writeSync(_transfer_dataman_id, wp.seq, + reinterpret_cast(&mission_fence_point), sizeof(mission_fence_point_s)); } } break; case MAV_MISSION_TYPE_RALLY: { // Write a safe point / rally point - mission_safe_point_s mission_safe_point; - mission_safe_point.lat = mission_item.lat; - mission_safe_point.lon = mission_item.lon; - mission_safe_point.alt = mission_item.altitude; - mission_safe_point.frame = mission_item.frame; - write_failed = dm_write(DM_KEY_SAFE_POINTS, wp.seq + 1, &mission_safe_point, - sizeof(mission_safe_point_s)) != sizeof(mission_safe_point_s); + write_failed = !_dataman_client.writeSync(_transfer_dataman_id, wp.seq, + reinterpret_cast(&mission_item), sizeof(mission_item_s), 2_s); } break; default: - _mavlink->send_statustext_critical("Received unknown mission type, abort.\t"); + _mavlink.send_statustext_critical("Received unknown mission type, abort.\t"); events::send(events::ID("mavlink_mission_unknown_mis_type"), events::Log::Error, "Received unknown mission type, abort"); break; @@ -1198,7 +1220,7 @@ MavlinkMissionManager::handle_mission_item_both(const mavlink_message_t *msg) send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_ERROR); if (write_failed) { - _mavlink->send_statustext_critical("Unable to write on micro SD\t"); + _mavlink.send_statustext_critical("Unable to write on micro SD\t"); events::send(events::ID("mavlink_mission_storage_failure"), events::Log::Error, "Mission: unable to write to storage"); } @@ -1226,15 +1248,32 @@ MavlinkMissionManager::handle_mission_item_both(const mavlink_message_t *msg) switch (_mission_type) { case MAV_MISSION_TYPE_MISSION: - ret = update_active_mission(_transfer_dataman_id, _transfer_count, _transfer_current_seq); + _land_start_marker = _transfer_land_start_marker; + _land_marker = _transfer_land_marker; + + // Only need to update if the mission actually changed + if (_transfer_current_crc32 != _crc32[MAV_MISSION_TYPE_MISSION]) { + update_active_mission(_transfer_dataman_id, _transfer_count, _transfer_current_seq, _transfer_current_crc32); + } + break; case MAV_MISSION_TYPE_FENCE: - ret = update_geofence_count(_transfer_count); + + // Only need to update if the mission actually changed + if (_transfer_current_crc32 != _crc32[MAV_MISSION_TYPE_FENCE]) { + ret = update_geofence_count(_transfer_dataman_id, _transfer_count, _transfer_current_crc32); + } + break; case MAV_MISSION_TYPE_RALLY: - ret = update_safepoint_count(_transfer_count); + + // Only need to update if the mission actually changed + if (_transfer_current_crc32 != _crc32[MAV_MISSION_TYPE_RALLY]) { + ret = update_safepoint_count(_transfer_dataman_id, _transfer_count, _transfer_current_crc32); + } + break; default: @@ -1247,7 +1286,7 @@ MavlinkMissionManager::handle_mission_item_both(const mavlink_message_t *msg) if (ret == PX4_OK) { - send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_ACCEPTED); + send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_ACCEPTED, _transfer_current_crc32); } else { send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_ERROR); @@ -1280,23 +1319,31 @@ MavlinkMissionManager::handle_mission_clear_all(const mavlink_message_t *msg) switch (wpca.mission_type) { case MAV_MISSION_TYPE_MISSION: - ret = update_active_mission(_dataman_id == DM_KEY_WAYPOINTS_OFFBOARD_0 ? DM_KEY_WAYPOINTS_OFFBOARD_1 : - DM_KEY_WAYPOINTS_OFFBOARD_0, 0, 0); + _land_start_marker = -1; + _land_marker = -1; + update_active_mission(_mission_dataman_id == DM_KEY_WAYPOINTS_OFFBOARD_0 ? DM_KEY_WAYPOINTS_OFFBOARD_1 : + DM_KEY_WAYPOINTS_OFFBOARD_0, 0, 0, 0); break; case MAV_MISSION_TYPE_FENCE: - ret = update_geofence_count(0); + ret = update_geofence_count(_fence_dataman_id == DM_KEY_FENCE_POINTS_0 ? DM_KEY_FENCE_POINTS_1 : DM_KEY_FENCE_POINTS_0, + 0, 0); break; case MAV_MISSION_TYPE_RALLY: - ret = update_safepoint_count(0); + ret = update_safepoint_count(_safepoint_dataman_id == DM_KEY_SAFE_POINTS_0 ? DM_KEY_SAFE_POINTS_1 : + DM_KEY_SAFE_POINTS_0, 0, 0); break; case MAV_MISSION_TYPE_ALL: - ret = update_active_mission(_dataman_id == DM_KEY_WAYPOINTS_OFFBOARD_0 ? DM_KEY_WAYPOINTS_OFFBOARD_1 : - DM_KEY_WAYPOINTS_OFFBOARD_0, 0, 0); - ret = update_geofence_count(0) || ret; - ret = update_safepoint_count(0) || ret; + _land_start_marker = -1; + _land_marker = -1; + update_active_mission(_mission_dataman_id == DM_KEY_WAYPOINTS_OFFBOARD_0 ? DM_KEY_WAYPOINTS_OFFBOARD_1 : + DM_KEY_WAYPOINTS_OFFBOARD_0, 0, 0, 0); + ret = update_geofence_count(_fence_dataman_id == DM_KEY_FENCE_POINTS_0 ? DM_KEY_FENCE_POINTS_1 : DM_KEY_FENCE_POINTS_0, + 0, 0); + ret = update_safepoint_count(_safepoint_dataman_id == DM_KEY_SAFE_POINTS_0 ? DM_KEY_SAFE_POINTS_1 : + DM_KEY_SAFE_POINTS_0, 0, 0) || ret; break; default: @@ -1314,7 +1361,7 @@ MavlinkMissionManager::handle_mission_clear_all(const mavlink_message_t *msg) } } else { - _mavlink->send_statustext_critical("WPM: IGN CLEAR CMD: Busy\t"); + _mavlink.send_statustext_critical("WPM: IGN CLEAR CMD: Busy\t"); events::send(events::ID("mavlink_mission_ignore_clear"), events::Log::Error, "Ignoring mission clear command, busy"); @@ -1587,6 +1634,7 @@ MavlinkMissionManager::format_mavlink_mission_item(const struct mission_item_s * mavlink_mission_item->frame = mission_item->frame; mavlink_mission_item->command = mission_item->nav_cmd; mavlink_mission_item->autocontinue = mission_item->autocontinue; + mavlink_mission_item->mission_type = _mission_type; /* default mappings for generic commands */ if (mission_item->frame == MAV_FRAME_MISSION) { @@ -1791,15 +1839,50 @@ void MavlinkMissionManager::copy_params_from_mavlink_to_mission_item(struct miss void MavlinkMissionManager::check_active_mission() { // do not send anything over high latency communication - if (_mavlink->get_mode() == Mavlink::MAVLINK_MODE_IRIDIUM) { + if (_mavlink.get_mode() == Mavlink::MAVLINK_MODE_IRIDIUM) { return; } - if (!(_my_dataman_id == _dataman_id)) { - PX4_DEBUG("WPM: New mission detected (possibly over different Mavlink instance) Updating"); + if (_mission_sub.updated()) { + _mission_sub.update(); + + if ((_mission_sub.get().geofence_id != _crc32[MAV_MISSION_TYPE_FENCE]) + || (_my_fence_dataman_id != (dm_item_t) _mission_sub.get().fence_dataman_id)) { + load_geofence_stats(); + } - _my_dataman_id = _dataman_id; - send_mission_count(_transfer_partner_sysid, _transfer_partner_compid, _count[MAV_MISSION_TYPE_MISSION], - MAV_MISSION_TYPE_MISSION); + if ((_mission_sub.get().safe_points_id != _crc32[MAV_MISSION_TYPE_RALLY]) + || (_my_safepoint_dataman_id != (dm_item_t) _mission_sub.get().safepoint_dataman_id)) { + load_safepoint_stats(); + } + + if ((_mission_sub.get().mission_id != _crc32[MAV_MISSION_TYPE_MISSION]) + || (_my_mission_dataman_id != (dm_item_t)_mission_sub.get().mission_dataman_id)) { + PX4_DEBUG("WPM: New mission detected (possibly over different Mavlink instance) Updating"); + init_offboard_mission(_mission_sub.get()); + send_mission_count(_transfer_partner_sysid, _transfer_partner_compid, _count[MAV_MISSION_TYPE_MISSION], + MAV_MISSION_TYPE_MISSION, _crc32[MAV_MISSION_TYPE_MISSION]); + } } } + +uint32_t MavlinkMissionManager::crc32_for_mission_item(const mavlink_mission_item_t &mission_item, uint32_t prev_crc32) +{ + union { + CrcMissionItem_t item; + uint8_t raw[sizeof(CrcMissionItem_t)]; + } u; + + u.item.frame = mission_item.frame; + u.item.command = mission_item.command; + u.item.autocontinue = mission_item.autocontinue; + u.item.params[0] = mission_item.param1; + u.item.params[1] = mission_item.param2; + u.item.params[2] = mission_item.param3; + u.item.params[3] = mission_item.param4; + u.item.params[4] = mission_item.x; + u.item.params[5] = mission_item.y; + u.item.params[6] = mission_item.z; + + return crc32part(u.raw, sizeof(u), prev_crc32); +} diff --git a/src/modules/mavlink/mavlink_mission.h b/src/modules/mavlink/mavlink_mission.h index 64f6607ef343..0b5c6e25d815 100644 --- a/src/modules/mavlink/mavlink_mission.h +++ b/src/modules/mavlink/mavlink_mission.h @@ -45,7 +45,7 @@ #pragma once -#include +#include #include #include #include @@ -77,7 +77,7 @@ class Mavlink; class MavlinkMissionManager { public: - explicit MavlinkMissionManager(Mavlink *mavlink); + explicit MavlinkMissionManager(Mavlink &mavlink); ~MavlinkMissionManager() = default; @@ -95,6 +95,8 @@ class MavlinkMissionManager enum MAVLINK_WPM_STATES _state {MAVLINK_WPM_STATE_IDLE}; ///< Current state enum MAV_MISSION_TYPE _mission_type {MAV_MISSION_TYPE_MISSION}; ///< mission type of current transmission (only one at a time possible) + DatamanClient _dataman_client{}; + uint64_t _time_last_recv{0}; uint64_t _time_last_sent{0}; @@ -104,46 +106,54 @@ class MavlinkMissionManager unsigned _filesystem_errcount{0}; ///< File system error count - static dm_item_t _dataman_id; ///< Global Dataman storage ID for active mission - dm_item_t _my_dataman_id{DM_KEY_WAYPOINTS_OFFBOARD_0}; ///< class Dataman storage ID + static dm_item_t _mission_dataman_id; ///< Global Dataman storage ID for active mission + static dm_item_t _safepoint_dataman_id; ///< Global dataman storage id for active safepoints + static dm_item_t _fence_dataman_id; ///< Global dataman storage id for active geofence + dm_item_t _my_mission_dataman_id{DM_KEY_WAYPOINTS_OFFBOARD_0}; ///< class Dataman storage ID for mission + dm_item_t _my_safepoint_dataman_id{DM_KEY_SAFE_POINTS_0}; ///< class Dataman storage ID for safepoints + dm_item_t _my_fence_dataman_id{DM_KEY_FENCE_POINTS_0}; ///< class Dataman storage ID for geofence static bool _dataman_init; ///< Dataman initialized static uint16_t _count[3]; ///< Count of items in (active) mission for each MAV_MISSION_TYPE + static uint32_t _crc32[3]; ///< Checksum of items in (active) mission for each MAV_MISSION_TYPE static int32_t _current_seq; ///< Current item sequence in active mission int32_t _last_reached{-1}; ///< Last reached waypoint in active mission (-1 means nothing reached) - dm_item_t _transfer_dataman_id{DM_KEY_WAYPOINTS_OFFBOARD_1}; ///< Dataman storage ID for current transmission + dm_item_t _transfer_dataman_id{DM_KEY_WAYPOINTS_OFFBOARD_1}; ///< Dataman storage ID for current transmission uint16_t _transfer_count{0}; ///< Items count in current transmission + uint32_t _transfer_current_crc32{0}; ///< Current CRC32 checksum of current transmission uint16_t _transfer_seq{0}; ///< Item sequence in current transmission int32_t _transfer_current_seq{-1}; ///< Current item ID for current transmission (-1 means not initialized) uint8_t _transfer_partner_sysid{0}; ///< Partner system ID for current transmission uint8_t _transfer_partner_compid{0}; ///< Partner component ID for current transmission + int32_t _transfer_land_start_marker{-1}; ///< index of land start mission item in current transmission (if unavailable, index of land mission item, -1 otherwise) + int32_t _transfer_land_marker{-1}; ///< index of land mission item in current transmission (-1 if unavailable) static bool _transfer_in_progress; ///< Global variable checking for current transmission uORB::Subscription _mission_result_sub{ORB_ID(mission_result)}; + uORB::SubscriptionData _mission_sub{ORB_ID(mission)}; uORB::Publication _offboard_mission_pub{ORB_ID(mission)}; - static uint16_t _geofence_update_counter; - static uint16_t _safepoint_update_counter; - bool _geofence_locked{false}; ///< if true, we currently hold the dm_lock for the geofence (transaction in progress) + int32_t _land_start_marker{-1}; ///< index of loaded land start mission item (if unavailable, index of land mission item, -1 otherwise) + int32_t _land_marker{-1}; ///< index of loaded land mission item (-1 if unavailable) - MavlinkRateLimiter _slow_rate_limiter{100 * 1000}; ///< Rate limit sending of the current WP sequence to 10 Hz + MavlinkRateLimiter _slow_rate_limiter{1000 * 1000}; ///< Rate limit sending of the current WP sequence to 1 Hz - Mavlink *_mavlink; + Mavlink &_mavlink; static constexpr unsigned int FILESYSTEM_ERRCOUNT_NOTIFY_LIMIT = 2; ///< Error count limit before stopping to report FS errors static constexpr uint16_t MAX_COUNT[] = { DM_KEY_WAYPOINTS_OFFBOARD_0_MAX, - DM_KEY_FENCE_POINTS_MAX - 1, - DM_KEY_SAFE_POINTS_MAX - 1 + DM_KEY_FENCE_POINTS_MAX, + DM_KEY_SAFE_POINTS_MAX }; /**< Maximum number of mission items for each type (fence & safe points use the first item for the stats) */ @@ -153,30 +163,34 @@ class MavlinkMissionManager /** get the number of item count for the current _mission_type */ uint16_t current_item_count(); + /** get the crc32 checksum for the current _mission_type */ + uint32_t get_current_mission_type_crc(); + /* do not allow top copying this class */ MavlinkMissionManager(MavlinkMissionManager &); MavlinkMissionManager &operator = (const MavlinkMissionManager &); - void init_offboard_mission(); + void init_offboard_mission(const mission_s &mission_state); - int update_active_mission(dm_item_t dataman_id, uint16_t count, int32_t seq); + void update_active_mission(dm_item_t mission_dataman_id, uint16_t count, int32_t seq, uint32_t crc32, + bool write_to_dataman = true); /** store the geofence count to dataman */ - int update_geofence_count(unsigned count); + int update_geofence_count(dm_item_t fence_dataman_id, unsigned count, uint32_t crc32); /** store the safepoint count to dataman */ - int update_safepoint_count(unsigned count); + int update_safepoint_count(dm_item_t safepoint_dataman_id, unsigned count, uint32_t crc32); /** load geofence stats from dataman */ - int load_geofence_stats(); + bool load_geofence_stats(); /** load safe point stats from dataman */ - int load_safepoint_stats(); + bool load_safepoint_stats(); /** * @brief Sends an waypoint ack message */ - void send_mission_ack(uint8_t sysid, uint8_t compid, uint8_t type); + void send_mission_ack(uint8_t sysid, uint8_t compid, uint8_t type, uint32_t opaque_id = 0U); /** * @brief Broadcasts the new target waypoint and directs the MAV to fly there @@ -189,7 +203,8 @@ class MavlinkMissionManager */ void send_mission_current(uint16_t seq); - void send_mission_count(uint8_t sysid, uint8_t compid, uint16_t count, MAV_MISSION_TYPE mission_type); + void send_mission_count(uint8_t sysid, uint8_t compid, uint16_t count, MAV_MISSION_TYPE mission_type, + uint32_t opaque_id); void send_mission_item(uint8_t sysid, uint8_t compid, uint16_t seq); @@ -260,4 +275,12 @@ class MavlinkMissionManager */ void copy_params_from_mavlink_to_mission_item(struct mission_item_s *mission_item, const mavlink_mission_item_t *mavlink_mission_item, int8_t start_idx = 1, int8_t end_idx = 7); + + /** + * Update crc calculation including new mission item + * @param[in] mission_item new mission item + * @param[in] prev_crc32 crc32 checksum of all previous mission item + * @return updated crc32 checksum of mission items + */ + static uint32_t crc32_for_mission_item(const mavlink_mission_item_t &mission_item, uint32_t prev_crc32); }; diff --git a/src/modules/mavlink/mavlink_parameters.cpp b/src/modules/mavlink/mavlink_parameters.cpp index c7332bff7bdc..2d8c47da823d 100644 --- a/src/modules/mavlink/mavlink_parameters.cpp +++ b/src/modules/mavlink/mavlink_parameters.cpp @@ -46,7 +46,7 @@ #include "mavlink_main.h" #include -MavlinkParametersManager::MavlinkParametersManager(Mavlink *mavlink) : +MavlinkParametersManager::MavlinkParametersManager(Mavlink &mavlink) : _mavlink(mavlink) { } @@ -111,7 +111,7 @@ MavlinkParametersManager::handle_message(const mavlink_message_t *msg) /* Whatever the value is, we're being told to stop sending */ if (strncmp(name, "_HASH_CHECK", sizeof(name)) == 0) { - if (_mavlink->hash_check_enabled()) { + if (_mavlink.hash_check_enabled()) { _send_all_index = -1; } @@ -189,7 +189,7 @@ MavlinkParametersManager::handle_message(const mavlink_message_t *msg) strncpy(param_value.param_id, HASH_PARAM, MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN); param_value.param_type = MAV_PARAM_TYPE_UINT32; memcpy(¶m_value.param_value, &hash, sizeof(hash)); - mavlink_msg_param_value_send_struct(_mavlink->get_channel(), ¶m_value); + mavlink_msg_param_value_send_struct(_mavlink.get_channel(), ¶m_value); } else { /* local name buffer to enforce null-terminated string */ @@ -249,7 +249,7 @@ MavlinkParametersManager::handle_message(const mavlink_message_t *msg) size_t i = map_rc.parameter_rc_channel_index; if (i >= sizeof(_rc_param_map.param_index) / sizeof(_rc_param_map.param_index[0])) { - mavlink_log_warning(_mavlink->get_mavlink_log_pub(), "parameter_rc_channel_index out of bounds\t"); + mavlink_log_warning(_mavlink.get_mavlink_log_pub(), "parameter_rc_channel_index out of bounds\t"); events::send(events::ID("mavlink_param_rc_chan_out_of_bounds"), events::Log::Warning, "parameter_rc_channel_index out of bounds"); break; @@ -292,10 +292,6 @@ MavlinkParametersManager::send() param_find("BAT_CRIT_THR"); param_find("BAT_EMERGEN_THR"); param_find("BAT_LOW_THR"); - param_find("BAT_N_CELLS"); // deprecated - param_find("BAT_V_CHARGED"); // deprecated - param_find("BAT_V_EMPTY"); // deprecated - param_find("BAT_V_LOAD_DROP"); // deprecated param_find("CAL_ACC0_ID"); param_find("CAL_GYRO0_ID"); param_find("CAL_MAG0_ID"); @@ -314,12 +310,15 @@ MavlinkParametersManager::send() param_find("TRIG_MODE"); param_find("UAVCAN_ENABLE"); + // parameter only used in startup script but should show on ground station + param_find("SYS_PARAM_VER"); + _first_send = true; } int max_num_to_send; - if (_mavlink->get_protocol() == Protocol::SERIAL && !_mavlink->is_usb_uart()) { + if (_mavlink.get_protocol() == Protocol::SERIAL && !_mavlink.is_usb_uart()) { max_num_to_send = 3; } else { @@ -330,7 +329,7 @@ MavlinkParametersManager::send() int i = 0; // Send while burst is not exceeded, we still have buffer space and still something to send - while ((i++ < max_num_to_send) && (_mavlink->get_free_tx_buf() >= get_size()) && !_mavlink->radio_status_critical() + while ((i++ < max_num_to_send) && (_mavlink.get_free_tx_buf() >= get_size()) && !_mavlink.radio_status_critical() && send_params()) {} } @@ -394,7 +393,7 @@ MavlinkParametersManager::send_untransmitted() break; } } - } while ((_mavlink->get_free_tx_buf() >= get_size()) && !_mavlink->radio_status_critical() + } while ((_mavlink.get_free_tx_buf() >= get_size()) && !_mavlink.radio_status_critical() && (_param_update_index < (int) param_count())); // Flag work as done once all params have been sent @@ -426,7 +425,7 @@ MavlinkParametersManager::send_one() strncpy(msg.param_id, HASH_PARAM, MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN); msg.param_type = MAV_PARAM_TYPE_UINT32; memcpy(&msg.param_value, &hash, sizeof(hash)); - mavlink_msg_param_value_send_struct(_mavlink->get_channel(), &msg); + mavlink_msg_param_value_send_struct(_mavlink.get_channel(), &msg); /* after this we should start sending all params */ _send_all_index = 0; @@ -468,7 +467,7 @@ MavlinkParametersManager::send_param(param_t param, int component_id) } /* no free TX buf to send this param */ - if (_mavlink->get_free_tx_buf() < MAVLINK_MSG_ID_PARAM_VALUE_LEN) { + if (_mavlink.get_free_tx_buf() < MAVLINK_MSG_ID_PARAM_VALUE_LEN) { return 1; } @@ -535,13 +534,13 @@ MavlinkParametersManager::send_param(param_t param, int component_id) /* default component ID */ if (component_id < 0) { - mavlink_msg_param_value_send_struct(_mavlink->get_channel(), &msg); + mavlink_msg_param_value_send_struct(_mavlink.get_channel(), &msg); } else { // Re-pack the message with a different component ID mavlink_message_t mavlink_packet; - mavlink_msg_param_value_encode_chan(mavlink_system.sysid, component_id, _mavlink->get_channel(), &mavlink_packet, &msg); - _mavlink_resend_uart(_mavlink->get_channel(), &mavlink_packet); + mavlink_msg_param_value_encode_chan(mavlink_system.sysid, component_id, _mavlink.get_channel(), &mavlink_packet, &msg); + _mavlink_resend_uart(_mavlink.get_channel(), &mavlink_packet); } return 0; @@ -595,9 +594,9 @@ bool MavlinkParametersManager::send_uavcan() // Re-pack the message with the UAVCAN node ID mavlink_message_t mavlink_packet{}; - mavlink_msg_param_value_encode_chan(mavlink_system.sysid, value.node_id, _mavlink->get_channel(), &mavlink_packet, + mavlink_msg_param_value_encode_chan(mavlink_system.sysid, value.node_id, _mavlink.get_channel(), &mavlink_packet, &msg); - _mavlink_resend_uart(_mavlink->get_channel(), &mavlink_packet); + _mavlink_resend_uart(_mavlink.get_channel(), &mavlink_packet); return true; } diff --git a/src/modules/mavlink/mavlink_parameters.h b/src/modules/mavlink/mavlink_parameters.h index bf8d48d78506..c1042d0e71b5 100644 --- a/src/modules/mavlink/mavlink_parameters.h +++ b/src/modules/mavlink/mavlink_parameters.h @@ -64,7 +64,7 @@ class Mavlink; class MavlinkParametersManager { public: - explicit MavlinkParametersManager(Mavlink *mavlink); + explicit MavlinkParametersManager(Mavlink &mavlink); ~MavlinkParametersManager() = default; /** @@ -159,7 +159,7 @@ class MavlinkParametersManager hrt_abstime _param_update_time{0}; int _param_update_index{0}; - Mavlink *_mavlink; + Mavlink &_mavlink; bool _first_send{false}; }; diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp index 96f34c6903c8..58d2c044ccd0 100644 --- a/src/modules/mavlink/mavlink_receiver.cpp +++ b/src/modules/mavlink/mavlink_receiver.cpp @@ -78,6 +78,16 @@ MavlinkReceiver::~MavlinkReceiver() #if !defined(CONSTRAINED_FLASH) delete[] _received_msg_stats; #endif // !CONSTRAINED_FLASH + + _distance_sensor_pub.unadvertise(); + _gps_inject_data_pub.unadvertise(); + _rc_pub.unadvertise(); + _manual_control_input_pub.unadvertise(); + _ping_pub.unadvertise(); + _radio_status_pub.unadvertise(); + _sensor_baro_pub.unadvertise(); + _sensor_gps_pub.unadvertise(); + _sensor_optical_flow_pub.unadvertise(); } static constexpr vehicle_odometry_s vehicle_odometry_empty { @@ -96,7 +106,7 @@ static constexpr vehicle_odometry_s vehicle_odometry_empty { .quality = 0 }; -MavlinkReceiver::MavlinkReceiver(Mavlink *parent) : +MavlinkReceiver::MavlinkReceiver(Mavlink &parent) : ModuleParams(nullptr), _mavlink(parent), _mavlink_ftp(parent), @@ -214,10 +224,6 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg) handle_message_adsb_vehicle(msg); break; - case MAVLINK_MSG_ID_UTM_GLOBAL_POSITION: - handle_message_utm_global_position(msg); - break; - case MAVLINK_MSG_ID_COLLISION: handle_message_collision(msg); break; @@ -280,6 +286,10 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg) handle_message_named_value_float(msg); break; + case MAVLINK_MSG_ID_NAMED_VALUE_INT: + handle_message_named_value_int(msg); + break; + case MAVLINK_MSG_ID_DEBUG: handle_message_debug(msg); break; @@ -313,6 +323,13 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg) handle_message_gimbal_device_attitude_status(msg); break; +#if defined(MAVLINK_MSG_ID_SET_VELOCITY_LIMITS) // For now only defined if development.xml is used + + case MAVLINK_MSG_ID_SET_VELOCITY_LIMITS: + handle_message_set_velocity_limits(msg); + break; +#endif + default: break; } @@ -327,7 +344,7 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg) * Accept HIL GPS messages if use_hil_gps flag is true. * This allows to provide fake gps measurements to the system. */ - if (_mavlink->get_hil_enabled()) { + if (_mavlink.get_hil_enabled()) { switch (msg->msgid) { case MAVLINK_MSG_ID_HIL_SENSOR: handle_message_hil_sensor(msg); @@ -347,7 +364,7 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg) } - if (_mavlink->get_hil_enabled() || (_mavlink->get_use_hil_gps() && msg->sysid == mavlink_system.sysid)) { + if (_mavlink.get_hil_enabled() || (_mavlink.get_use_hil_gps() && msg->sysid == mavlink_system.sysid)) { switch (msg->msgid) { case MAVLINK_MSG_ID_HIL_GPS: handle_message_hil_gps(msg); @@ -359,9 +376,62 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg) } - /* If we've received a valid message, mark the flag indicating so. - This is used in the '-w' command-line flag. */ - _mavlink->set_has_received_messages(true); + /* handle packet with mission manager */ + _mission_manager.handle_message(msg); + + /* handle packet with parameter component */ + if (_mavlink.boot_complete()) { + // make sure mavlink app has booted before we start processing parameter sync + _parameters_manager.handle_message(msg); + + } else { + if (hrt_elapsed_time(&_mavlink.get_first_start_time()) > 20_s) { + PX4_ERR("system boot did not complete in 20 seconds"); + _mavlink.set_boot_complete(); + } + } + + if (_mavlink.ftp_enabled()) { + /* handle packet with ftp component */ + _mavlink_ftp.handle_message(msg); + } + + /* handle packet with log component */ + _mavlink_log_handler.handle_message(msg); + + /* handle packet with timesync component */ + _mavlink_timesync.handle_message(msg); + + /* handle packet with parent object */ + _mavlink.handle_message(msg); +} + +void MavlinkReceiver::handle_messages_in_gimbal_mode(mavlink_message_t &msg) +{ + switch (msg.msgid) { + case MAVLINK_MSG_ID_HEARTBEAT: + handle_message_heartbeat(&msg); + break; + + case MAVLINK_MSG_ID_GIMBAL_MANAGER_SET_ATTITUDE: + handle_message_gimbal_manager_set_attitude(&msg); + break; + + case MAVLINK_MSG_ID_GIMBAL_MANAGER_SET_MANUAL_CONTROL: + handle_message_gimbal_manager_set_manual_control(&msg); + break; + + case MAVLINK_MSG_ID_GIMBAL_DEVICE_INFORMATION: + handle_message_gimbal_device_information(&msg); + break; + + case MAVLINK_MSG_ID_GIMBAL_DEVICE_ATTITUDE_STATUS: + handle_message_gimbal_device_attitude_status(&msg); + break; + } + + // Message forwarding + _mavlink.handle_message(&msg); } bool @@ -485,8 +555,8 @@ void MavlinkReceiver::handle_message_command_both(mavlink_message_t *msg, const if (!target_ok) { // Reject alien commands only if there is no forwarding or we've never seen target component before - if (!_mavlink->get_forwarding_on() - || !_mavlink->component_was_seen(cmd_mavlink.target_system, cmd_mavlink.target_component, _mavlink)) { + if (!_mavlink.get_forwarding_on() + || !_mavlink.component_was_seen(cmd_mavlink.target_system, cmd_mavlink.target_component, _mavlink)) { acknowledge(msg->sysid, msg->compid, cmd_mavlink.command, vehicle_command_ack_s::VEHICLE_CMD_RESULT_FAILED); } @@ -526,7 +596,7 @@ void MavlinkReceiver::handle_message_command_both(mavlink_message_t *msg, const vehicle_command.param5, vehicle_command.param6, vehicle_command.param7); } else if (cmd_mavlink.command == MAV_CMD_INJECT_FAILURE) { - if (_mavlink->failure_injection_enabled()) { + if (_mavlink.failure_injection_enabled()) { _cmd_pub.publish(vehicle_command); send_ack = false; @@ -652,19 +722,19 @@ void MavlinkReceiver::handle_message_command_both(mavlink_message_t *msg, const // check that we have enough bandwidth available: this is given by the configured logger topics // and rates. The 5000 is somewhat arbitrary, but makes sure that we cannot enable log streaming // on a radio link - if (_mavlink->get_data_rate() < 5000) { + if (_mavlink.get_data_rate() < 5000) { send_ack = true; result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_DENIED; - _mavlink->send_statustext_critical("Not enough bandwidth to enable log streaming\t"); + _mavlink.send_statustext_critical("Not enough bandwidth to enable log streaming\t"); events::send(events::ID("mavlink_log_not_enough_bw"), events::Log::Error, - "Not enough bandwidth to enable log streaming ({1} \\< 5000)", _mavlink->get_data_rate()); + "Not enough bandwidth to enable log streaming ({1} \\< 5000)", _mavlink.get_data_rate()); } else { // we already instanciate the streaming object, because at this point we know on which // mavlink channel streaming was requested. But in fact it's possible that the logger is // not even running. The main mavlink thread takes care of this by waiting for an ack // from the logger. - _mavlink->try_start_ulog_streaming(msg->sysid, msg->compid); + _mavlink.try_start_ulog_streaming(msg->sysid, msg->compid); } } @@ -684,7 +754,7 @@ uint8_t MavlinkReceiver::handle_request_message_command(uint16_t message_id, flo bool stream_found = false; bool message_sent = false; - for (const auto &stream : _mavlink->get_streams()) { + for (const auto &stream : _mavlink.get_streams()) { if (stream->get_id() == message_id) { stream_found = true; message_sent = stream->request_message(param2, param3, param4, param5, param6, param7); @@ -697,10 +767,10 @@ uint8_t MavlinkReceiver::handle_request_message_command(uint16_t message_id, flo const char *stream_name = get_stream_name(message_id); if (stream_name != nullptr) { - _mavlink->configure_stream_threadsafe(stream_name, 0.0f); + _mavlink.configure_stream_threadsafe(stream_name, 0.0f); // Now we try again to send it. - for (const auto &stream : _mavlink->get_streams()) { + for (const auto &stream : _mavlink.get_streams()) { if (stream->get_id() == message_id) { message_sent = stream->request_message(param2, param3, param4, param5, param6, param7); break; @@ -720,7 +790,7 @@ MavlinkReceiver::handle_message_command_ack(mavlink_message_t *msg) mavlink_command_ack_t ack; mavlink_msg_command_ack_decode(msg, &ack); - MavlinkCommandSender::instance().handle_mavlink_command_ack(ack, msg->sysid, msg->compid, _mavlink->get_channel()); + MavlinkCommandSender::instance().handle_mavlink_command_ack(ack, msg->sysid, msg->compid, _mavlink.get_channel()); vehicle_command_ack_s command_ack{}; @@ -751,7 +821,7 @@ MavlinkReceiver::handle_message_optical_flow_rad(mavlink_message_t *msg) device::Device::DeviceId device_id; device_id.devid_s.bus_type = device::Device::DeviceBusType::DeviceBusType_MAVLINK; - device_id.devid_s.bus = _mavlink->get_instance_id(); + device_id.devid_s.bus = _mavlink.get_instance_id(); device_id.devid_s.address = msg->sysid; device_id.devid_s.devtype = DRV_FLOW_DEVTYPE_MAVLINK; @@ -797,7 +867,7 @@ MavlinkReceiver::handle_message_hil_optical_flow(mavlink_message_t *msg) device::Device::DeviceId device_id; device_id.devid_s.bus_type = device::Device::DeviceBusType::DeviceBusType_MAVLINK; - device_id.devid_s.bus = _mavlink->get_instance_id(); + device_id.devid_s.bus = _mavlink.get_instance_id(); device_id.devid_s.address = msg->sysid; device_id.devid_s.devtype = DRV_FLOW_DEVTYPE_SIM; @@ -874,7 +944,7 @@ MavlinkReceiver::handle_message_distance_sensor(mavlink_message_t *msg) device::Device::DeviceId device_id; device_id.devid_s.bus_type = device::Device::DeviceBusType::DeviceBusType_MAVLINK; - device_id.devid_s.bus = _mavlink->get_instance_id(); + device_id.devid_s.bus = _mavlink.get_instance_id(); device_id.devid_s.address = msg->sysid; device_id.devid_s.devtype = DRV_DIST_DEVTYPE_MAVLINK; @@ -946,7 +1016,7 @@ MavlinkReceiver::handle_message_set_position_target_local_ned(mavlink_message_t mavlink_msg_set_position_target_local_ned_decode(msg, &target_local_ned); /* Only accept messages which are intended for this system */ - if (_mavlink->get_forward_externalsp() && + if (_mavlink.get_forward_externalsp() && (mavlink_system.sysid == target_local_ned.target_system || target_local_ned.target_system == 0) && (mavlink_system.compid == target_local_ned.target_component || target_local_ned.target_component == 0)) { @@ -1066,7 +1136,7 @@ MavlinkReceiver::handle_message_set_position_target_global_int(mavlink_message_t mavlink_msg_set_position_target_global_int_decode(msg, &target_global_int); /* Only accept messages which are intended for this system */ - if (_mavlink->get_forward_externalsp() && + if (_mavlink.get_forward_externalsp() && (mavlink_system.sysid == target_global_int.target_system || target_global_int.target_system == 0) && (mavlink_system.compid == target_global_int.target_component || target_global_int.target_component == 0)) { @@ -1182,13 +1252,13 @@ MavlinkReceiver::handle_message_set_gps_global_origin(mavlink_message_t *msg) mavlink_set_gps_global_origin_t gps_global_origin; mavlink_msg_set_gps_global_origin_decode(msg, &gps_global_origin); - if (gps_global_origin.target_system == _mavlink->get_system_id()) { + if (gps_global_origin.target_system == _mavlink.get_system_id()) { vehicle_command_s vcmd{}; vcmd.param5 = (double)gps_global_origin.latitude * 1.e-7; vcmd.param6 = (double)gps_global_origin.longitude * 1.e-7; vcmd.param7 = (float)gps_global_origin.altitude * 1.e-3f; vcmd.command = vehicle_command_s::VEHICLE_CMD_SET_GPS_GLOBAL_ORIGIN; - vcmd.target_system = _mavlink->get_system_id(); + vcmd.target_system = _mavlink.get_system_id(); vcmd.target_component = MAV_COMP_ID_ALL; vcmd.source_system = msg->sysid; vcmd.source_component = msg->compid; @@ -1201,6 +1271,21 @@ MavlinkReceiver::handle_message_set_gps_global_origin(mavlink_message_t *msg) handle_request_message_command(MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN); } +#if defined(MAVLINK_MSG_ID_SET_VELOCITY_LIMITS) // For now only defined if development.xml is used +void MavlinkReceiver::handle_message_set_velocity_limits(mavlink_message_t *msg) +{ + mavlink_set_velocity_limits_t mavlink_set_velocity_limits; + mavlink_msg_set_velocity_limits_decode(msg, &mavlink_set_velocity_limits); + + velocity_limits_s velocity_limits{}; + velocity_limits.horizontal_velocity = mavlink_set_velocity_limits.horizontal_speed_limit; + velocity_limits.vertical_velocity = mavlink_set_velocity_limits.vertical_speed_limit; + velocity_limits.yaw_rate = mavlink_set_velocity_limits.yaw_rate_limit; + velocity_limits.timestamp = hrt_absolute_time(); + _velocity_limits_pub.publish(velocity_limits); +} +#endif // MAVLINK_MSG_ID_SET_VELOCITY_LIMITS + void MavlinkReceiver::handle_message_vision_position_estimate(mavlink_message_t *msg) { @@ -1457,7 +1542,7 @@ void MavlinkReceiver::fill_thrust(float *thrust_body_array, uint8_t vehicle_type { // Fill correct field by checking frametype // TODO: add as needed - switch (_mavlink->get_system_type()) { + switch (_mavlink.get_system_type()) { case MAV_TYPE_GENERIC: break; @@ -1513,7 +1598,7 @@ MavlinkReceiver::handle_message_set_attitude_target(mavlink_message_t *msg) mavlink_msg_set_attitude_target_decode(msg, &attitude_target); /* Only accept messages which are intended for this system */ - if (_mavlink->get_forward_externalsp() && + if (_mavlink.get_forward_externalsp() && (mavlink_system.sysid == attitude_target.target_system || attitude_target.target_system == 0) && (mavlink_system.compid == attitude_target.target_component || attitude_target.target_component == 0)) { @@ -1541,11 +1626,6 @@ MavlinkReceiver::handle_message_set_attitude_target(mavlink_message_t *msg) const matrix::Quatf q{attitude_target.q}; q.copyTo(attitude_setpoint.q_d); - matrix::Eulerf euler{q}; - attitude_setpoint.roll_body = euler.phi(); - attitude_setpoint.pitch_body = euler.theta(); - attitude_setpoint.yaw_body = euler.psi(); - // TODO: review use case attitude_setpoint.yaw_sp_move_rate = (type_mask & ATTITUDE_TARGET_TYPEMASK_BODY_YAW_RATE_IGNORE) ? (float)NAN : attitude_target.body_yaw_rate; @@ -1602,7 +1682,7 @@ void MavlinkReceiver::handle_message_radio_status(mavlink_message_t *msg) { /* telemetry status supported only on first ORB_MULTI_MAX_INSTANCES mavlink channels */ - if (_mavlink->get_channel() < (mavlink_channel_t)ORB_MULTI_MAX_INSTANCES) { + if (_mavlink.get_channel() < (mavlink_channel_t)ORB_MULTI_MAX_INSTANCES) { mavlink_radio_status_t rstatus; mavlink_msg_radio_status_decode(msg, &rstatus); @@ -1617,7 +1697,7 @@ MavlinkReceiver::handle_message_radio_status(mavlink_message_t *msg) status.rxerrors = rstatus.rxerrors; status.fix = rstatus.fixed; - _mavlink->update_radio_status(status); + _mavlink.update_radio_status(status); _radio_status_pub.publish(status); } @@ -1634,7 +1714,7 @@ MavlinkReceiver::handle_message_ping(mavlink_message_t *msg) ping.target_system = msg->sysid; ping.target_component = msg->compid; - mavlink_msg_ping_send_struct(_mavlink->get_channel(), &ping); + mavlink_msg_ping_send_struct(_mavlink.get_channel(), &ping); } else if ((ping.target_system == mavlink_system.sysid) && (ping.target_component == @@ -1646,7 +1726,7 @@ MavlinkReceiver::handle_message_ping(mavlink_message_t *msg) float rtt_ms = (now - ping.time_usec) / 1000.0f; // Update ping statistics - struct Mavlink::ping_statistics_s &pstats = _mavlink->get_ping_statistics(); + struct Mavlink::ping_statistics_s &pstats = _mavlink.get_ping_statistics(); pstats.last_ping_time = now; @@ -1671,7 +1751,7 @@ MavlinkReceiver::handle_message_ping(mavlink_message_t *msg) pstats.min_rtt = pstats.min_rtt > 0.0f ? fminf(rtt_ms, pstats.min_rtt) : rtt_ms; /* Ping status is supported only on first ORB_MULTI_MAX_INSTANCES mavlink channels */ - if (_mavlink->get_channel() < (mavlink_channel_t)ORB_MULTI_MAX_INSTANCES) { + if (_mavlink.get_channel() < (mavlink_channel_t)ORB_MULTI_MAX_INSTANCES) { ping_s uorb_ping_msg{}; @@ -1713,9 +1793,7 @@ MavlinkReceiver::handle_message_battery_status(mavlink_message_t *msg) } battery_status.voltage_v = voltage_sum; - battery_status.voltage_filtered_v = voltage_sum; - battery_status.current_a = battery_status.current_filtered_a = (float)(battery_mavlink.current_battery) / 100.0f; - battery_status.current_filtered_a = battery_status.current_a; + battery_status.current_a = (float)(battery_mavlink.current_battery) / 100.0f; battery_status.remaining = (float)battery_mavlink.battery_remaining / 100.0f; battery_status.discharged_mah = (float)battery_mavlink.current_consumed; battery_status.cell_count = cell_count; @@ -1757,18 +1835,18 @@ MavlinkReceiver::handle_message_serial_control(mavlink_message_t *msg) return; } - MavlinkShell *shell = _mavlink->get_shell(); + MavlinkShell *shell = _mavlink.get_shell(); if (shell) { // we ignore the timeout, EXCLUSIVE & BLOCKING flags of the SERIAL_CONTROL message - if (serial_control_mavlink.count > 0) { + if (serial_control_mavlink.count > 0 && serial_control_mavlink.count <= sizeof(serial_control_mavlink.data)) { shell->setTargetID(msg->sysid, msg->compid); shell->write(serial_control_mavlink.data, serial_control_mavlink.count); } // if no response requested, assume the shell is no longer used if ((serial_control_mavlink.flags & SERIAL_CONTROL_FLAG_RESPOND) == 0) { - _mavlink->close_shell(); + _mavlink.close_shell(); } } } @@ -1779,7 +1857,7 @@ MavlinkReceiver::handle_message_logging_ack(mavlink_message_t *msg) mavlink_logging_ack_t logging_ack; mavlink_msg_logging_ack_decode(msg, &logging_ack); - MavlinkULog *ulog_streaming = _mavlink->get_ulog_streaming(); + MavlinkULog *ulog_streaming = _mavlink.get_ulog_streaming(); if (ulog_streaming) { ulog_streaming->handle_ack(logging_ack); @@ -1956,7 +2034,7 @@ MavlinkReceiver::handle_message_rc_channels_override(mavlink_message_t *msg) mavlink_msg_rc_channels_override_decode(msg, &man); // Check target - if (man.target_system != 0 && man.target_system != _mavlink->get_system_id()) { + if (man.target_system != 0 && man.target_system != _mavlink.get_system_id()) { return; } @@ -2043,7 +2121,7 @@ MavlinkReceiver::handle_message_manual_control(mavlink_message_t *msg) mavlink_msg_manual_control_decode(msg, &mavlink_manual_control); // Check target - if (mavlink_manual_control.target != 0 && mavlink_manual_control.target != _mavlink->get_system_id()) { + if (mavlink_manual_control.target != 0 && mavlink_manual_control.target != _mavlink.get_system_id()) { return; } @@ -2053,8 +2131,24 @@ MavlinkReceiver::handle_message_manual_control(mavlink_message_t *msg) // For backwards compatibility at the moment interpret throttle in range [0,1000] manual_control_setpoint.throttle = ((mavlink_manual_control.z / 1000.f) * 2.f) - 1.f; manual_control_setpoint.yaw = mavlink_manual_control.r / 1000.f; - manual_control_setpoint.data_source = manual_control_setpoint_s::SOURCE_MAVLINK_0 + _mavlink->get_instance_id(); + // Pass along the button states + manual_control_setpoint.buttons = mavlink_manual_control.buttons; + + if (mavlink_manual_control.enabled_extensions & (1u << 2)) { manual_control_setpoint.aux1 = mavlink_manual_control.aux1 / 1000.0f; } + + if (mavlink_manual_control.enabled_extensions & (1u << 3)) { manual_control_setpoint.aux2 = mavlink_manual_control.aux2 / 1000.0f; } + + if (mavlink_manual_control.enabled_extensions & (1u << 4)) { manual_control_setpoint.aux3 = mavlink_manual_control.aux3 / 1000.0f; } + + if (mavlink_manual_control.enabled_extensions & (1u << 5)) { manual_control_setpoint.aux4 = mavlink_manual_control.aux4 / 1000.0f; } + + if (mavlink_manual_control.enabled_extensions & (1u << 6)) { manual_control_setpoint.aux5 = mavlink_manual_control.aux5 / 1000.0f; } + + if (mavlink_manual_control.enabled_extensions & (1u << 7)) { manual_control_setpoint.aux6 = mavlink_manual_control.aux6 / 1000.0f; } + + manual_control_setpoint.data_source = manual_control_setpoint_s::SOURCE_MAVLINK_0 + _mavlink.get_instance_id(); manual_control_setpoint.timestamp = manual_control_setpoint.timestamp_sample = hrt_absolute_time(); + manual_control_setpoint.valid = true; _manual_control_input_pub.publish(manual_control_setpoint); } @@ -2062,7 +2156,7 @@ void MavlinkReceiver::handle_message_heartbeat(mavlink_message_t *msg) { /* telemetry status supported only on first TELEMETRY_STATUS_ORB_ID_NUM mavlink channels */ - if (_mavlink->get_channel() < (mavlink_channel_t)ORB_MULTI_MAX_INSTANCES) { + if (_mavlink.get_channel() < (mavlink_channel_t)ORB_MULTI_MAX_INSTANCES) { const hrt_abstime now = hrt_absolute_time(); @@ -2106,13 +2200,13 @@ MavlinkReceiver::handle_message_heartbeat(mavlink_message_t *msg) case MAV_TYPE_PARACHUTE: _heartbeat_type_parachute = now; - _mavlink->telemetry_status().parachute_system_healthy = + _mavlink.telemetry_status().parachute_system_healthy = (hb.system_status == MAV_STATE_STANDBY) || (hb.system_status == MAV_STATE_ACTIVE); break; case MAV_TYPE_ODID: _heartbeat_type_open_drone_id = now; - _mavlink->telemetry_status().open_drone_id_system_healthy = + _mavlink.telemetry_status().open_drone_id_system_healthy = (hb.system_status == MAV_STATE_STANDBY) || (hb.system_status == MAV_STATE_ACTIVE); break; @@ -2137,7 +2231,7 @@ MavlinkReceiver::handle_message_heartbeat(mavlink_message_t *msg) case MAV_COMP_ID_OBSTACLE_AVOIDANCE: _heartbeat_component_obstacle_avoidance = now; - _mavlink->telemetry_status().avoidance_system_healthy = (hb.system_status == MAV_STATE_ACTIVE); + _mavlink.telemetry_status().avoidance_system_healthy = (hb.system_status == MAV_STATE_ACTIVE); break; case MAV_COMP_ID_VISUAL_INERTIAL_ODOMETRY: @@ -2174,7 +2268,7 @@ MavlinkReceiver::set_message_interval(int msgId, float interval, int data_rate) } if (data_rate > 0) { - _mavlink->set_data_rate(data_rate); + _mavlink.set_data_rate(data_rate); } // configure_stream wants a rate (msgs/second), so convert here. @@ -2196,7 +2290,7 @@ MavlinkReceiver::set_message_interval(int msgId, float interval, int data_rate) const char *stream_name = get_stream_name(msgId); if (stream_name != nullptr) { - _mavlink->configure_stream_threadsafe(stream_name, rate); + _mavlink.configure_stream_threadsafe(stream_name, rate); found_id = true; } } @@ -2209,7 +2303,7 @@ MavlinkReceiver::get_message_interval(int msgId) { unsigned interval = 0; - for (const auto &stream : _mavlink->get_streams()) { + for (const auto &stream : _mavlink.get_streams()) { if (stream->get_id() == msgId) { interval = stream->get_interval(); break; @@ -2217,7 +2311,7 @@ MavlinkReceiver::get_message_interval(int msgId) } // send back this value... - mavlink_msg_message_interval_send(_mavlink->get_channel(), msgId, interval); + mavlink_msg_message_interval_send(_mavlink.get_channel(), msgId, interval); } void @@ -2313,7 +2407,6 @@ MavlinkReceiver::handle_message_hil_sensor(mavlink_message_t *msg) hil_battery_status.timestamp = timestamp; hil_battery_status.voltage_v = 16.0f; - hil_battery_status.voltage_filtered_v = 16.0f; hil_battery_status.current_a = 10.0f; hil_battery_status.discharged_mah = -1.0f; hil_battery_status.connected = true; @@ -2334,16 +2427,16 @@ MavlinkReceiver::handle_message_hil_gps(mavlink_message_t *msg) device::Device::DeviceId device_id; device_id.devid_s.bus_type = device::Device::DeviceBusType::DeviceBusType_MAVLINK; - device_id.devid_s.bus = _mavlink->get_instance_id(); + device_id.devid_s.bus = _mavlink.get_instance_id(); device_id.devid_s.address = msg->sysid; device_id.devid_s.devtype = DRV_GPS_DEVTYPE_SIM; gps.device_id = device_id.devid; - gps.lat = hil_gps.lat; - gps.lon = hil_gps.lon; - gps.alt = hil_gps.alt; - gps.alt_ellipsoid = hil_gps.alt; + gps.latitude_deg = hil_gps.lat * 1e-7; + gps.longitude_deg = hil_gps.lon * 1e-7; + gps.altitude_msl_m = hil_gps.alt * 1e-3; + gps.altitude_ellipsoid_m = hil_gps.alt * 1e-3; gps.s_variance_m_s = 0.25f; gps.c_variance_rad = 0.5f; @@ -2420,10 +2513,10 @@ MavlinkReceiver::handle_message_landing_target(mavlink_message_t *msg) } else if (landing_target.position_valid) { // We only support MAV_FRAME_LOCAL_NED. In this case, the frame was unsupported. - mavlink_log_critical(&_mavlink_log_pub, "landing target: coordinate frame %" PRIu8 " unsupported\t", + mavlink_log_critical(&_mavlink_log_pub, "Landing target: coordinate frame %" PRIu8 " unsupported\t", landing_target.frame); events::send(events::ID("mavlink_rcv_lnd_target_unsup_coord"), events::Log::Error, - "landing target: unsupported coordinate frame {1}", landing_target.frame); + "Landing target: unsupported coordinate frame {1}", landing_target.frame); } else { irlock_report_s irlock_report{}; @@ -2501,91 +2594,6 @@ MavlinkReceiver::handle_message_adsb_vehicle(mavlink_message_t *msg) _transponder_report_pub.publish(t); } -void -MavlinkReceiver::handle_message_utm_global_position(mavlink_message_t *msg) -{ - mavlink_utm_global_position_t utm_pos; - mavlink_msg_utm_global_position_decode(msg, &utm_pos); - - bool is_self_published = false; - - -#ifndef BOARD_HAS_NO_UUID - px4_guid_t px4_guid; - board_get_px4_guid(px4_guid); - is_self_published = sizeof(px4_guid) == sizeof(utm_pos.uas_id) - && memcmp(px4_guid, utm_pos.uas_id, sizeof(px4_guid_t)) == 0; -#else - - is_self_published = msg->sysid == _mavlink->get_system_id(); -#endif /* BOARD_HAS_NO_UUID */ - - - //Ignore selfpublished UTM messages - if (is_self_published) { - return; - } - - // Convert cm/s to m/s - float vx = utm_pos.vx / 100.0f; - float vy = utm_pos.vy / 100.0f; - float vz = utm_pos.vz / 100.0f; - - transponder_report_s t{}; - t.timestamp = hrt_absolute_time(); - mav_array_memcpy(t.uas_id, utm_pos.uas_id, PX4_GUID_BYTE_LENGTH); - t.icao_address = msg->sysid; - t.lat = utm_pos.lat * 1e-7; - t.lon = utm_pos.lon * 1e-7; - t.altitude = utm_pos.alt / 1000.0f; - t.altitude_type = ADSB_ALTITUDE_TYPE_GEOMETRIC; - // UTM_GLOBAL_POSIION uses NED (north, east, down) coordinates for velocity, in cm / s. - t.heading = atan2f(vy, vx); - t.hor_velocity = sqrtf(vy * vy + vx * vx); - t.ver_velocity = -vz; - // TODO: Callsign - // For now, set it to all 0s. This is a null-terminated string, so not explicitly giving it a null - // terminator could cause problems. - memset(&t.callsign[0], 0, sizeof(t.callsign)); - t.emitter_type = ADSB_EMITTER_TYPE_UAV; // TODO: Is this correct?x2? - - // The Mavlink docs do not specify what to do if tslc (time since last communication) is out of range of - // an 8-bit int, or if this is the first communication. - // Here, I assume that if this is the first communication, tslc = 0. - // If tslc > 255, then tslc = 255. - unsigned long time_passed = (t.timestamp - _last_utm_global_pos_com) / 1000000; - - if (_last_utm_global_pos_com == 0) { - time_passed = 0; - - } else if (time_passed > UINT8_MAX) { - time_passed = UINT8_MAX; - } - - t.tslc = (uint8_t) time_passed; - - t.flags = 0; - - if (utm_pos.flags & UTM_DATA_AVAIL_FLAGS_POSITION_AVAILABLE) { - t.flags |= transponder_report_s::PX4_ADSB_FLAGS_VALID_COORDS; - } - - if (utm_pos.flags & UTM_DATA_AVAIL_FLAGS_ALTITUDE_AVAILABLE) { - t.flags |= transponder_report_s::PX4_ADSB_FLAGS_VALID_ALTITUDE; - } - - if (utm_pos.flags & UTM_DATA_AVAIL_FLAGS_HORIZONTAL_VELO_AVAILABLE) { - t.flags |= transponder_report_s::PX4_ADSB_FLAGS_VALID_HEADING; - t.flags |= transponder_report_s::PX4_ADSB_FLAGS_VALID_VELOCITY; - } - - // Note: t.flags has deliberately NOT set VALID_CALLSIGN or VALID_SQUAWK, because UTM_GLOBAL_POSITION does not - // provide these. - _transponder_report_pub.publish(t); - - _last_utm_global_pos_com = t.timestamp; -} - void MavlinkReceiver::handle_message_collision(mavlink_message_t *msg) { @@ -2702,6 +2710,8 @@ MavlinkReceiver::handle_message_hil_state_quaternion(mavlink_message_t *msg) matrix::Eulerf euler{matrix::Quatf(hil_state.attitude_quaternion)}; hil_local_pos.heading = euler.psi(); + hil_local_pos.heading_good_for_control = PX4_ISFINITE(euler.psi()); + hil_local_pos.unaided_heading = NAN; hil_local_pos.xy_global = true; hil_local_pos.z_global = true; hil_local_pos.vxy_max = INFINITY; @@ -2750,7 +2760,6 @@ MavlinkReceiver::handle_message_hil_state_quaternion(mavlink_message_t *msg) { battery_status_s hil_battery_status{}; hil_battery_status.voltage_v = 11.1f; - hil_battery_status.voltage_filtered_v = 11.1f; hil_battery_status.current_a = 10.0f; hil_battery_status.discharged_mah = -1.0f; hil_battery_status.timestamp = hrt_absolute_time(); @@ -2776,6 +2785,22 @@ MavlinkReceiver::handle_message_named_value_float(mavlink_message_t *msg) _debug_key_value_pub.publish(debug_topic); } +void +MavlinkReceiver::handle_message_named_value_int(mavlink_message_t *msg) +{ + mavlink_named_value_int_t debug_msg; + mavlink_msg_named_value_int_decode(msg, &debug_msg); + + debug_key_value_s debug_topic{}; + + debug_topic.timestamp = hrt_absolute_time(); + memcpy(debug_topic.key, debug_msg.name, sizeof(debug_topic.key)); + debug_topic.key[sizeof(debug_topic.key) - 1] = '\0'; // enforce null termination + debug_topic.value = debug_msg.value; + + _debug_key_value_pub.publish(debug_topic); +} + void MavlinkReceiver::handle_message_debug(mavlink_message_t *msg) { @@ -2915,7 +2940,7 @@ void MavlinkReceiver::CheckHeartbeats(const hrt_abstime &t, bool force) } if ((t >= _last_heartbeat_check + (TIMEOUT / 2)) || force) { - telemetry_status_s &tstatus = _mavlink->telemetry_status(); + telemetry_status_s &tstatus = _mavlink.telemetry_status(); tstatus.heartbeat_type_antenna_tracker = (t <= TIMEOUT + _heartbeat_type_antenna_tracker); tstatus.heartbeat_type_gcs = (t <= TIMEOUT + _heartbeat_type_gcs); @@ -2935,14 +2960,14 @@ void MavlinkReceiver::CheckHeartbeats(const hrt_abstime &t, bool force) tstatus.heartbeat_component_udp_bridge = (t <= TIMEOUT + _heartbeat_component_udp_bridge); tstatus.heartbeat_component_uart_bridge = (t <= TIMEOUT + _heartbeat_component_uart_bridge); - _mavlink->telemetry_status_updated(); + _mavlink.telemetry_status_updated(); _last_heartbeat_check = t; } } void MavlinkReceiver::handle_message_request_event(mavlink_message_t *msg) { - _mavlink->get_events_protocol().handle_request_event(*msg); + _mavlink.get_events_protocol().handle_request_event(*msg); } void @@ -3065,7 +3090,7 @@ MavlinkReceiver::run() /* set thread name */ { char thread_name[17]; - snprintf(thread_name, sizeof(thread_name), "mavlink_rcv_if%d", _mavlink->get_instance_id()); + snprintf(thread_name, sizeof(thread_name), "mavlink_rcv_if%d", _mavlink.get_instance_id()); px4_prctl(PR_SET_NAME, thread_name, px4_getpid()); } @@ -3086,8 +3111,8 @@ MavlinkReceiver::run() struct pollfd fds[1] = {}; - if (_mavlink->get_protocol() == Protocol::SERIAL) { - fds[0].fd = _mavlink->get_uart_fd(); + if (_mavlink.get_protocol() == Protocol::SERIAL) { + fds[0].fd = _mavlink.get_uart_fd(); fds[0].events = POLLIN; } @@ -3095,8 +3120,8 @@ MavlinkReceiver::run() struct sockaddr_in srcaddr = {}; socklen_t addrlen = sizeof(srcaddr); - if (_mavlink->get_protocol() == Protocol::UDP) { - fds[0].fd = _mavlink->get_socket_fd(); + if (_mavlink.get_protocol() == Protocol::UDP) { + fds[0].fd = _mavlink.get_socket_fd(); fds[0].events = POLLIN; } @@ -3105,7 +3130,7 @@ MavlinkReceiver::run() ssize_t nread = 0; hrt_abstime last_send_update = 0; - while (!_mavlink->should_exit()) { + while (!_mavlink.should_exit()) { // check for parameter updates if (_parameter_update_sub.updated()) { @@ -3120,7 +3145,7 @@ MavlinkReceiver::run() int ret = poll(&fds[0], 1, timeout); if (ret > 0) { - if (_mavlink->get_protocol() == Protocol::SERIAL) { + if (_mavlink.get_protocol() == Protocol::SERIAL) { /* non-blocking read. read may return negative values */ nread = ::read(fds[0].fd, buf, sizeof(buf)); @@ -3131,21 +3156,21 @@ MavlinkReceiver::run() #if defined(MAVLINK_UDP) - else if (_mavlink->get_protocol() == Protocol::UDP) { + else if (_mavlink.get_protocol() == Protocol::UDP) { if (fds[0].revents & POLLIN) { - nread = recvfrom(_mavlink->get_socket_fd(), buf, sizeof(buf), 0, (struct sockaddr *)&srcaddr, &addrlen); + nread = recvfrom(_mavlink.get_socket_fd(), buf, sizeof(buf), 0, (struct sockaddr *)&srcaddr, &addrlen); } - struct sockaddr_in &srcaddr_last = _mavlink->get_client_source_address(); + struct sockaddr_in &srcaddr_last = _mavlink.get_client_source_address(); int localhost = (127 << 24) + 1; - if (!_mavlink->get_client_source_initialized()) { + if (!_mavlink.get_client_source_initialized()) { // set the address either if localhost or if 3 seconds have passed // this ensures that a GCS running on localhost can get a hold of // the system within the first N seconds - hrt_abstime stime = _mavlink->get_start_time(); + hrt_abstime stime = _mavlink.get_start_time(); if ((stime != 0 && (hrt_elapsed_time(&stime) > 3_s)) || (srcaddr_last.sin_addr.s_addr == htonl(localhost))) { @@ -3153,7 +3178,7 @@ MavlinkReceiver::run() srcaddr_last.sin_addr.s_addr = srcaddr.sin_addr.s_addr; srcaddr_last.sin_port = srcaddr.sin_port; - _mavlink->set_client_source_initialized(); + _mavlink.set_client_source_initialized(); PX4_INFO("partner IP: %s", inet_ntoa(srcaddr.sin_addr)); } @@ -3161,51 +3186,30 @@ MavlinkReceiver::run() } // only start accepting messages on UDP once we're sure who we talk to - if (_mavlink->get_protocol() != Protocol::UDP || _mavlink->get_client_source_initialized()) { + if (_mavlink.get_protocol() != Protocol::UDP || _mavlink.get_client_source_initialized()) { #endif // MAVLINK_UDP /* if read failed, this loop won't execute */ for (ssize_t i = 0; i < nread; i++) { - if (mavlink_parse_char(_mavlink->get_channel(), buf[i], &msg, &_status)) { + if (mavlink_parse_char(_mavlink.get_channel(), buf[i], &msg, &_status)) { /* check if we received version 2 and request a switch. */ - if (!(_mavlink->get_status()->flags & MAVLINK_STATUS_FLAG_IN_MAVLINK1)) { + if (!(_mavlink.get_status()->flags & MAVLINK_STATUS_FLAG_IN_MAVLINK1)) { /* this will only switch to proto version 2 if allowed in settings */ - _mavlink->set_proto_version(2); + _mavlink.set_proto_version(2); } - /* handle generic messages and commands */ - handle_message(&msg); - - /* handle packet with mission manager */ - _mission_manager.handle_message(&msg); - - /* handle packet with parameter component */ - if (_mavlink->boot_complete()) { - // make sure mavlink app has booted before we start processing parameter sync - _parameters_manager.handle_message(&msg); + switch (_mavlink.get_mode()) { + case Mavlink::MAVLINK_MODE::MAVLINK_MODE_GIMBAL: + handle_messages_in_gimbal_mode(msg); + break; - } else { - if (hrt_elapsed_time(&_mavlink->get_first_start_time()) > 20_s) { - PX4_ERR("system boot did not complete in 20 seconds"); - _mavlink->set_boot_complete(); - } + default: + handle_message(&msg); + break; } - if (_mavlink->ftp_enabled()) { - /* handle packet with ftp component */ - _mavlink_ftp.handle_message(&msg); - } - - /* handle packet with log component */ - _mavlink_log_handler.handle_message(&msg); - - /* handle packet with timesync component */ - _mavlink_timesync.handle_message(&msg); - - /* handle packet with parent object */ - _mavlink->handle_message(&msg); - + _mavlink.set_has_received_messages(true); // Received first message, unlock wait to transmit '-w' command-line flag update_rx_stats(msg); if (_message_statistics_enabled) { @@ -3216,9 +3220,9 @@ MavlinkReceiver::run() /* count received bytes (nread will be -1 on read error) */ if (nread > 0) { - _mavlink->count_rxbytes(nread); + _mavlink.count_rxbytes(nread); - telemetry_status_s &tstatus = _mavlink->telemetry_status(); + telemetry_status_s &tstatus = _mavlink.telemetry_status(); tstatus.rx_message_count = _total_received_counter; tstatus.rx_message_lost_count = _total_lost_counter; tstatus.rx_message_lost_rate = static_cast(_total_lost_counter) / static_cast(_total_received_counter); @@ -3256,9 +3260,11 @@ MavlinkReceiver::run() _mission_manager.check_active_mission(); _mission_manager.send(); - _parameters_manager.send(); + if (_mavlink.get_mode() != Mavlink::MAVLINK_MODE::MAVLINK_MODE_IRIDIUM) { + _parameters_manager.send(); + } - if (_mavlink->ftp_enabled()) { + if (_mavlink.ftp_enabled()) { _mavlink_ftp.send(); } diff --git a/src/modules/mavlink/mavlink_receiver.h b/src/modules/mavlink/mavlink_receiver.h index 77980f215aac..b95bdca59a72 100644 --- a/src/modules/mavlink/mavlink_receiver.h +++ b/src/modules/mavlink/mavlink_receiver.h @@ -110,6 +110,7 @@ #include #include #include +#include #if !defined(CONSTRAINED_FLASH) # include @@ -125,7 +126,7 @@ class Mavlink; class MavlinkReceiver : public ModuleParams { public: - MavlinkReceiver(Mavlink *parent); + MavlinkReceiver(Mavlink &parent); ~MavlinkReceiver() override; void start(); @@ -154,6 +155,7 @@ class MavlinkReceiver : public ModuleParams float param4 = 0.0f, float param5 = 0.0f, float param6 = 0.0f, float param7 = 0.0f); void handle_message(mavlink_message_t *msg); + void handle_messages_in_gimbal_mode(mavlink_message_t &msg); void handle_message_adsb_vehicle(mavlink_message_t *msg); void handle_message_att_pos_mocap(mavlink_message_t *msg); @@ -176,6 +178,7 @@ class MavlinkReceiver : public ModuleParams void handle_message_landing_target(mavlink_message_t *msg); void handle_message_logging_ack(mavlink_message_t *msg); void handle_message_manual_control(mavlink_message_t *msg); + void handle_message_named_value_int(mavlink_message_t *msg); void handle_message_obstacle_distance(mavlink_message_t *msg); void handle_message_odometry(mavlink_message_t *msg); void handle_message_onboard_computer_status(mavlink_message_t *msg); @@ -196,6 +199,9 @@ class MavlinkReceiver : public ModuleParams void handle_message_trajectory_representation_bezier(mavlink_message_t *msg); void handle_message_trajectory_representation_waypoints(mavlink_message_t *msg); void handle_message_utm_global_position(mavlink_message_t *msg); +#if defined(MAVLINK_MSG_ID_SET_VELOCITY_LIMITS) // For now only defined if development.xml is used + void handle_message_set_velocity_limits(mavlink_message_t *msg); +#endif void handle_message_vision_position_estimate(mavlink_message_t *msg); void handle_message_gimbal_manager_set_attitude(mavlink_message_t *msg); void handle_message_gimbal_manager_set_manual_control(mavlink_message_t *msg); @@ -241,7 +247,7 @@ class MavlinkReceiver : public ModuleParams */ void updateParams() override; - Mavlink *_mavlink; + Mavlink &_mavlink; MavlinkFTP _mavlink_ftp; MavlinkLogHandler _mavlink_log_handler; @@ -305,6 +311,7 @@ class MavlinkReceiver : public ModuleParams uORB::Publication _obstacle_distance_pub{ORB_ID(obstacle_distance)}; uORB::Publication _offboard_control_mode_pub{ORB_ID(offboard_control_mode)}; uORB::Publication _onboard_computer_status_pub{ORB_ID(onboard_computer_status)}; + uORB::Publication _velocity_limits_pub{ORB_ID(velocity_limits)}; uORB::Publication _generator_status_pub{ORB_ID(generator_status)}; uORB::Publication _attitude_pub{ORB_ID(vehicle_attitude)}; uORB::Publication _att_sp_pub{ORB_ID(vehicle_attitude_setpoint)}; @@ -335,7 +342,7 @@ class MavlinkReceiver : public ModuleParams uORB::PublicationMulti _radio_status_pub{ORB_ID(radio_status)}; uORB::PublicationMulti _sensor_baro_pub{ORB_ID(sensor_baro)}; uORB::PublicationMulti _sensor_gps_pub{ORB_ID(sensor_gps)}; - uORB::PublicationMulti _sensor_optical_flow_pub{ORB_ID(sensor_optical_flow)}; + uORB::PublicationMulti _sensor_optical_flow_pub{ORB_ID(sensor_optical_flow)}; // ORB publications (queue length > 1) uORB::Publication _transponder_report_pub{ORB_ID(transponder_report)}; diff --git a/src/modules/mavlink/mavlink_shell.cpp b/src/modules/mavlink/mavlink_shell.cpp index 4ff139d0d721..723c5357811d 100644 --- a/src/modules/mavlink/mavlink_shell.cpp +++ b/src/modules/mavlink/mavlink_shell.cpp @@ -121,8 +121,8 @@ int MavlinkShell::start() char r_in[32]; char r_out[32]; - sprintf(r_in, "%d", remote_in_fd); - sprintf(r_out, "%d", remote_out_fd); + snprintf(r_in, sizeof(r_in), "%d", remote_in_fd); + snprintf(r_out, sizeof(r_out), "%d", remote_out_fd); char *const argv[3] = {r_in, r_out, nullptr}; #else @@ -186,7 +186,13 @@ int MavlinkShell::shell_start_thread(int argc, char *argv[]) #ifdef __PX4_NUTTX dup2(1, 2); //redirect stderror to stdout - nsh_consolemain(0, NULL); + const int ret = nsh_consolemain(0, NULL); + + if (ret) { + PX4_ERR("Mavlink shell failed: %d%s", ret, (ret == -ENOMEM) ? " (out of memory)" : ""); + return ret; + } + #endif /* __PX4_NUTTX */ #ifdef __PX4_POSIX diff --git a/src/modules/mavlink/mavlink_tests/CMakeLists.txt b/src/modules/mavlink/mavlink_tests/CMakeLists.txt index cfc1bffe3695..a0c94819910b 100644 --- a/src/modules/mavlink/mavlink_tests/CMakeLists.txt +++ b/src/modules/mavlink/mavlink_tests/CMakeLists.txt @@ -36,8 +36,8 @@ px4_add_module( MAIN mavlink_tests STACK_MAIN 8192 INCLUDES - ${CMAKE_BINARY_DIR}/mavlink - ${CMAKE_BINARY_DIR}/mavlink/common + ${MAVLINK_LIBRARY_DIR} + ${MAVLINK_LIBRARY_DIR}/${CONFIG_MAVLINK_DIALECT} COMPILE_FLAGS -DMAVLINK_FTP_UNIT_TEST #-DMAVLINK_FTP_DEBUG diff --git a/src/modules/mavlink/mavlink_tests/mavlink_ftp_test.cpp b/src/modules/mavlink/mavlink_tests/mavlink_ftp_test.cpp index 574a5164ad16..2accd21c5411 100644 --- a/src/modules/mavlink/mavlink_tests/mavlink_ftp_test.cpp +++ b/src/modules/mavlink/mavlink_tests/mavlink_ftp_test.cpp @@ -43,7 +43,7 @@ #include "../mavlink_ftp.h" #ifdef __PX4_NUTTX -#define PX4_MAVLINK_TEST_DATA_DIR "/fs/microsd/ftp_unit_test_data" +#define PX4_MAVLINK_TEST_DATA_DIR CONFIG_BOARD_ROOT_PATH "/ftp_unit_test_data" #else #define PX4_MAVLINK_TEST_DATA_DIR "ftp_unit_test_data" #endif @@ -77,7 +77,7 @@ MavlinkFtpTest::MavlinkFtpTest() : void MavlinkFtpTest::_init() { _expected_seq_number = 0; - _ftp_server = new MavlinkFTP(nullptr); + _ftp_server = new MavlinkFTP(_mavlink); _ftp_server->set_unittest_worker(MavlinkFtpTest::receive_message_handler_generic, this); _create_test_files(); diff --git a/src/modules/mavlink/mavlink_tests/mavlink_ftp_test.h b/src/modules/mavlink/mavlink_tests/mavlink_ftp_test.h index b32ebd628422..46da67c5f1f9 100644 --- a/src/modules/mavlink/mavlink_tests/mavlink_ftp_test.h +++ b/src/modules/mavlink/mavlink_tests/mavlink_ftp_test.h @@ -37,12 +37,9 @@ #pragma once #include -#ifndef MAVLINK_FTP_UNIT_TEST #include "../mavlink_bridge_header.h" -#else -#include -#endif #include "../mavlink_ftp.h" +#include "../mavlink_main.h" class MavlinkFtpTest : public UnitTest { @@ -130,6 +127,7 @@ class MavlinkFtpTest : public UnitTest bool _receive_message_handler_burst(const mavlink_file_transfer_protocol_t *ftp_req, BurstInfo *burst_info); MavlinkFTP *_ftp_server; + Mavlink _mavlink; uint16_t _expected_seq_number; mavlink_file_transfer_protocol_t _reply_msg; diff --git a/src/modules/mavlink/mavlink_timesync.cpp b/src/modules/mavlink/mavlink_timesync.cpp index 7bbe8f8dfacd..410dd84512a6 100644 --- a/src/modules/mavlink/mavlink_timesync.cpp +++ b/src/modules/mavlink/mavlink_timesync.cpp @@ -43,7 +43,7 @@ #include -MavlinkTimesync::MavlinkTimesync(Mavlink *mavlink) : +MavlinkTimesync::MavlinkTimesync(Mavlink &mavlink) : _mavlink(mavlink) { } @@ -66,7 +66,7 @@ MavlinkTimesync::handle_message(const mavlink_message_t *msg) rsync.tc1 = now * 1000ULL; rsync.ts1 = tsync.ts1; - mavlink_msg_timesync_send_struct(_mavlink->get_channel(), &rsync); + mavlink_msg_timesync_send_struct(_mavlink.get_channel(), &rsync); return; diff --git a/src/modules/mavlink/mavlink_timesync.h b/src/modules/mavlink/mavlink_timesync.h index a3e8295ae09e..0cb32a229cc3 100644 --- a/src/modules/mavlink/mavlink_timesync.h +++ b/src/modules/mavlink/mavlink_timesync.h @@ -49,7 +49,7 @@ class Mavlink; class MavlinkTimesync { public: - explicit MavlinkTimesync(Mavlink *mavlink); + explicit MavlinkTimesync(Mavlink &mavlink); ~MavlinkTimesync() = default; void handle_message(const mavlink_message_t *msg); @@ -61,6 +61,6 @@ class MavlinkTimesync uint64_t sync_stamp(uint64_t usec) { return _timesync.sync_stamp(usec); } private: - Mavlink *const _mavlink; + Mavlink &_mavlink; Timesync _timesync{}; }; diff --git a/src/modules/mavlink/module.yaml b/src/modules/mavlink/module.yaml index dfa9a2da7ff3..6715b8b62ad7 100644 --- a/src/modules/mavlink/module.yaml +++ b/src/modules/mavlink/module.yaml @@ -32,6 +32,10 @@ serial_config: then set MAV_ARGS "${MAV_ARGS} -z" fi + if param compare MAV_${i}_MODE 6 + then + set MAV_ARGS "${MAV_ARGS} -F p:MAV_${i}_HL_FREQ" + fi mavlink start ${MAV_ARGS} -x port_config_param: name: MAV_${i}_CONFIG @@ -178,3 +182,21 @@ parameters: num_instances: *max_num_config_instances default: [2, 2, 2] reboot_required: true + + MAV_${i}_HL_FREQ: + description: + short: Configures the frequency of HIGH_LATENCY2 stream for instance ${i} + long: | + Positive real value that configures the transmission frequency of the + HIGH_LATENCY2 stream for instance ${i}, configured in iridium mode. + This parameter has no effect if the instance mode is different from iridium. + + type: float + decimal: 3 + increment: 0.001 + unit: Hz + min: 0.0 + max: 50.0 + num_instances: *max_num_config_instances + default: [0.015, 0.015, 0.015] + reboot_required: true diff --git a/src/modules/mavlink/streams/AVAILABLE_MODES.hpp b/src/modules/mavlink/streams/AVAILABLE_MODES.hpp new file mode 100644 index 000000000000..d19aeb46139d --- /dev/null +++ b/src/modules/mavlink/streams/AVAILABLE_MODES.hpp @@ -0,0 +1,239 @@ +/**************************************************************************** + * + * Copyright (c) 2022 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#ifndef AVAILABLE_MODES_HPP +#define AVAILABLE_MODES_HPP + +#include +#include +#include +#include + +class MavlinkStreamAvailableModes : public MavlinkStream +{ +public: + static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamAvailableModes(mavlink); } + + ~MavlinkStreamAvailableModes() { delete[] _external_mode_names; } + + static constexpr const char *get_name_static() { return "AVAILABLE_MODES"; } + static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_AVAILABLE_MODES; } + + const char *get_name() const override { return get_name_static(); } + uint16_t get_id() override { return get_id_static(); } + + unsigned get_size() override + { + return _had_dynamic_update ? MAVLINK_MSG_ID_AVAILABLE_MODES_MONITOR_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0; + } + +private: + static constexpr int MAX_NUM_EXTERNAL_MODES = vehicle_status_s::NAVIGATION_STATE_EXTERNAL8 - + vehicle_status_s::NAVIGATION_STATE_EXTERNAL1 + 1; + + explicit MavlinkStreamAvailableModes(Mavlink *mavlink) : MavlinkStream(mavlink) {} + + struct ExternalModeName { + char name[sizeof(register_ext_component_reply_s::name)] {}; + }; + ExternalModeName *_external_mode_names{nullptr}; + + uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)}; + uORB::Subscription _register_ext_component_reply_sub{ORB_ID(register_ext_component_reply)}; + + bool _had_dynamic_update{false}; + uint8_t _dynamic_update_seq{0}; + uint32_t _last_valid_nav_states_mask{0}; + uint32_t _last_can_set_nav_states_mask{0}; + + void send_single_mode(const vehicle_status_s &vehicle_status, int mode_index, int total_num_modes, uint8_t nav_state) + { + mavlink_available_modes_t available_modes{}; + available_modes.mode_index = mode_index; + available_modes.number_modes = total_num_modes; + px4_custom_mode custom_mode{get_px4_custom_mode(nav_state)}; + available_modes.custom_mode = custom_mode.data; + const bool cannot_be_selected = (vehicle_status.can_set_nav_states_mask & (1u << nav_state)) == 0; + + // Set the mode name if not a standard mode + available_modes.standard_mode = (uint8_t)mode_util::getStandardModeFromNavState(nav_state); + + if (mode_util::isAdvanced(nav_state)) { + available_modes.properties |= MAV_MODE_PROPERTY_ADVANCED; + } + + if (available_modes.standard_mode == MAV_STANDARD_MODE_NON_STANDARD) { + static_assert(sizeof(available_modes.mode_name) >= sizeof(ExternalModeName::name), "mode name too short"); + + // Is it an external mode? + unsigned external_mode_index = nav_state - vehicle_status_s::NAVIGATION_STATE_EXTERNAL1; + + if (nav_state >= vehicle_status_s::NAVIGATION_STATE_EXTERNAL1 && external_mode_index < MAX_NUM_EXTERNAL_MODES) { + if (cannot_be_selected) { + // If not selectable, it's not registered + strcpy(available_modes.mode_name, "(Mode not available)"); + + } else if (_external_mode_names) { + strncpy(available_modes.mode_name, _external_mode_names[external_mode_index].name, sizeof(available_modes.mode_name)); + available_modes.mode_name[sizeof(available_modes.mode_name) - 1] = '\0'; + } + + } else { // Internal + if (nav_state < sizeof(mode_util::nav_state_names) / sizeof(mode_util::nav_state_names[0])) { + strncpy(available_modes.mode_name, mode_util::nav_state_names[nav_state], sizeof(available_modes.mode_name)); + available_modes.mode_name[sizeof(available_modes.mode_name) - 1] = '\0'; + } + } + } + + if (cannot_be_selected) { + available_modes.properties |= MAV_MODE_PROPERTY_NOT_USER_SELECTABLE; + } + + mavlink_msg_available_modes_send_struct(_mavlink->get_channel(), &available_modes); + } + + bool request_message(float param2, float param3, float param4, + float param5, float param6, float param7) override + { + bool ret = false; + int mode_index = roundf(param2); + PX4_DEBUG("AVAILABLE_MODES request (%i)", mode_index); + + vehicle_status_s vehicle_status; + + if (!_vehicle_status_sub.copy(&vehicle_status)) { + return false; + } + + int total_num_modes = math::countSetBits(vehicle_status.valid_nav_states_mask); + + if (mode_index == 0) { // All + int cur_mode_index = 1; + + for (uint8_t nav_state = 0; nav_state < vehicle_status_s::NAVIGATION_STATE_MAX; ++nav_state) { + if ((1u << nav_state) & vehicle_status.valid_nav_states_mask) { + send_single_mode(vehicle_status, cur_mode_index, total_num_modes, nav_state); + ++cur_mode_index; + } + } + + ret = true; + + } else if (mode_index <= total_num_modes) { + // Find index + int cur_index = 0; + uint8_t nav_state = 0; + + for (; nav_state < vehicle_status_s::NAVIGATION_STATE_MAX; ++nav_state) { + if ((1u << nav_state) & vehicle_status.valid_nav_states_mask) { + if (++cur_index == mode_index) { + break; + } + } + } + + if (nav_state < vehicle_status_s::NAVIGATION_STATE_MAX) { + send_single_mode(vehicle_status, mode_index, total_num_modes, nav_state); + } + + ret = true; + } + + return ret; + } + + void update_data() override + { + // Keep track of externally registered modes + register_ext_component_reply_s reply; + bool dynamic_update = false; + + if (_register_ext_component_reply_sub.update(&reply)) { + if (reply.success && reply.mode_id != -1) { + if (!_external_mode_names) { + _external_mode_names = new ExternalModeName[MAX_NUM_EXTERNAL_MODES]; + } + + unsigned mode_index = reply.mode_id - vehicle_status_s::NAVIGATION_STATE_EXTERNAL1; + + if (_external_mode_names && mode_index < MAX_NUM_EXTERNAL_MODES) { + memcpy(_external_mode_names[mode_index].name, reply.name, sizeof(ExternalModeName::name)); + } + + dynamic_update = true; + } + } + + vehicle_status_s vehicle_status; + + if (_vehicle_status_sub.copy(&vehicle_status)) { + if (_last_valid_nav_states_mask == 0) { + _last_valid_nav_states_mask = vehicle_status.valid_nav_states_mask; + } + + if (_last_can_set_nav_states_mask == 0) { + _last_can_set_nav_states_mask = vehicle_status.can_set_nav_states_mask; + } + + if (vehicle_status.valid_nav_states_mask != _last_valid_nav_states_mask) { + dynamic_update = true; + _last_valid_nav_states_mask = vehicle_status.valid_nav_states_mask; + } + + if (vehicle_status.can_set_nav_states_mask != _last_can_set_nav_states_mask) { + dynamic_update = true; + _last_can_set_nav_states_mask = vehicle_status.can_set_nav_states_mask; + } + } + + if (dynamic_update) { + _had_dynamic_update = true; + ++_dynamic_update_seq; + } + } + + bool send() override + { + if (_had_dynamic_update) { + mavlink_available_modes_monitor_t monitor{}; + monitor.seq = _dynamic_update_seq; + mavlink_msg_available_modes_monitor_send_struct(_mavlink->get_channel(), &monitor); + return true; + } + + return false; + } +}; + +#endif // AVAILABLE_MODES_HPP diff --git a/src/modules/mavlink/streams/BATTERY_INFO.hpp b/src/modules/mavlink/streams/BATTERY_INFO.hpp new file mode 100644 index 000000000000..fd72acce45ed --- /dev/null +++ b/src/modules/mavlink/streams/BATTERY_INFO.hpp @@ -0,0 +1,122 @@ +/**************************************************************************** + * + * Copyright (c) 2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#ifndef BATTERY_INFO_HPP +#define BATTERY_INFO_HPP + +#include + +class MavlinkStreamBatteryInfo : public MavlinkStream +{ +public: + static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamBatteryInfo(mavlink); } + + static constexpr const char *get_name_static() { return "BATTERY_INFO"; } + static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_BATTERY_INFO; } + + const char *get_name() const override { return get_name_static(); } + uint16_t get_id() override { return get_id_static(); } + + unsigned get_size() override + { + static constexpr unsigned size_per_battery = MAVLINK_MSG_ID_BATTERY_INFO_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES; + return size_per_battery * _battery_status_subs.advertised_count(); + } + +private: + explicit MavlinkStreamBatteryInfo(Mavlink *mavlink) : MavlinkStream(mavlink) {} + + uORB::SubscriptionMultiArray _battery_status_subs{ORB_ID::battery_status}; + + bool send() override + { + bool updated = false; + + for (auto &battery_sub : _battery_status_subs) { + battery_status_s battery_status; + + if (battery_sub.update(&battery_status)) { + if (battery_status.serial_number == 0) { + // Required to emit + continue; + } + + mavlink_battery_info_t msg{}; + + msg.id = battery_status.id - 1; + msg.design_capacity = (float)(battery_status.capacity * 1000); + msg.full_charge_capacity = (float)(battery_status.state_of_health * battery_status.capacity * 1000.f) / 100.f; + msg.cycle_count = battery_status.cycle_count; + + if (battery_status.manufacture_date) { + uint16_t day = battery_status.manufacture_date % 32; + uint16_t month = (battery_status.manufacture_date >> 5) % 16; + uint16_t year = (80 + (battery_status.manufacture_date >> 9)); + uint16_t year2dig = year % 100; + + //Formatted as 'ddmmyyyy' (maxed 9 chars) + snprintf(msg.manufacture_date, sizeof(msg.manufacture_date), "%d%d%d", day, month, year); + //Formatted as 'dd/mm/yy-123456' (maxed 15 + 1 chars) + snprintf(msg.serial_number, sizeof(msg.serial_number), "%d/%d/%d-%d", day, month, year2dig, + battery_status.serial_number); + + } else { + + snprintf(msg.serial_number, sizeof(msg.serial_number), "%d", battery_status.serial_number); + } + + // Not supported by PX4 (not in battery_status uorb topic) + /* + msg.name = 0; // char[50] + msg.weight = 0; + msg.discharge_minimum_voltage = 0; + msg.charging_minimum_voltage = 0; + msg.resting_minimum_voltage = 0; + msg.charging_maximum_voltage = 0; + msg.charging_maximum_current = 0; + msg.discharge_maximum_current = 0; + msg.discharge_maximum_burst_current = 0; + msg.cells_in_series = 0; + msg.nominal_voltage = 0; + */ + + mavlink_msg_battery_info_send_struct(_mavlink->get_channel(), &msg); + updated = true; + } + } + + return updated; + } +}; + +#endif // BATTERY_INFO_HPP diff --git a/src/modules/mavlink/streams/BATTERY_STATUS.hpp b/src/modules/mavlink/streams/BATTERY_STATUS.hpp index 709eefb12dd4..633807a86e62 100644 --- a/src/modules/mavlink/streams/BATTERY_STATUS.hpp +++ b/src/modules/mavlink/streams/BATTERY_STATUS.hpp @@ -74,7 +74,7 @@ class MavlinkStreamBatteryStatus : public MavlinkStream bat_msg.type = MAV_BATTERY_TYPE_LIPO; bat_msg.current_consumed = (battery_status.connected) ? battery_status.discharged_mah : -1; bat_msg.energy_consumed = -1; - bat_msg.current_battery = (battery_status.connected) ? battery_status.current_filtered_a * 100 : -1; + bat_msg.current_battery = (battery_status.connected) ? battery_status.current_a * 100 : -1; bat_msg.battery_remaining = (battery_status.connected) ? roundf(battery_status.remaining * 100.f) : -1; // MAVLink extension: 0 is unsupported, in uORB it's NAN bat_msg.time_remaining = (battery_status.connected && (PX4_ISFINITE(battery_status.time_remaining_s))) ? @@ -114,20 +114,7 @@ class MavlinkStreamBatteryStatus : public MavlinkStream break; } - switch (battery_status.mode) { - case (battery_status_s::BATTERY_MODE_AUTO_DISCHARGING): - bat_msg.mode = MAV_BATTERY_MODE_AUTO_DISCHARGING; - break; - - case (battery_status_s::BATTERY_MODE_HOT_SWAP): - bat_msg.mode = MAV_BATTERY_MODE_HOT_SWAP; - break; - - default: - bat_msg.mode = MAV_BATTERY_MODE_UNKNOWN; - break; - } - + bat_msg.mode = MAV_BATTERY_MODE_UNKNOWN; bat_msg.fault_bitmask = battery_status.faults; // check if temperature valid @@ -142,16 +129,41 @@ class MavlinkStreamBatteryStatus : public MavlinkStream static constexpr int mavlink_cell_slots = (sizeof(bat_msg.voltages) / sizeof(bat_msg.voltages[0])); static constexpr int mavlink_cell_slots_extension = (sizeof(bat_msg.voltages_ext) / sizeof(bat_msg.voltages_ext[0])); - uint16_t cell_voltages[mavlink_cell_slots + mavlink_cell_slots_extension]; - for (auto &voltage : cell_voltages) { - voltage = UINT16_MAX; + // Fill defaults first, voltage fields 1-10 + for (int i = 0; i < mavlink_cell_slots; ++i) { + bat_msg.voltages[i] = UINT16_MAX; + } + + // And extensions fields 11-14: 0 if unused for backwards compatibility and 0 truncation. + for (int i = 0; i < mavlink_cell_slots_extension; ++i) { + bat_msg.voltages_ext[i] = 0; } if (battery_status.connected) { - // We don't know the cell count or we don't know the indpendent cell voltages so we report the total voltage in the first cell + // We don't know the cell count or we don't know the indpendent cell voltages, + // so we report the total voltage in the first cell, or cell(s) if the voltage + // doesn't "fit" in the UINT16. if (battery_status.cell_count == 0 || battery_status.voltage_cell_v[0] < 0.0001f) { - cell_voltages[0] = battery_status.voltage_filtered_v * 1000.f; + // If it doesn't fit, we have to split it into UINT16-1 chunks and the remaining + // voltage for the subsequent field. + // This won't work for voltages of more than 655 volts. + const int num_fields_required = static_cast(battery_status.voltage_v * 1000.f) / (UINT16_MAX - 1) + 1; + + if (num_fields_required <= mavlink_cell_slots) { + float remaining_voltage = battery_status.voltage_v * 1000.f; + + for (int i = 0; i < num_fields_required - 1; ++i) { + bat_msg.voltages[i] = UINT16_MAX - 1; + remaining_voltage -= UINT16_MAX - 1; + } + + bat_msg.voltages[num_fields_required - 1] = remaining_voltage; + + } else { + // Leave it default/unknown. We're out of spec. + } + } else { static constexpr int uorb_cell_slots = @@ -161,22 +173,17 @@ class MavlinkStreamBatteryStatus : public MavlinkStream uorb_cell_slots, mavlink_cell_slots + mavlink_cell_slots_extension); - for (int cell = 0; cell < cell_slots; cell++) { - cell_voltages[cell] = battery_status.voltage_cell_v[cell] * 1000.f; + for (int i = 0; i < cell_slots; ++i) { + if (i < mavlink_cell_slots) { + bat_msg.voltages[i] = battery_status.voltage_cell_v[i] * 1000.f; + + } else if ((i - mavlink_cell_slots) < mavlink_cell_slots_extension) { + bat_msg.voltages_ext[i - mavlink_cell_slots] = battery_status.voltage_cell_v[i] * 1000.f; + } } } } - // voltage fields 1-10 - for (int cell = 0; cell < mavlink_cell_slots; cell++) { - bat_msg.voltages[cell] = cell_voltages[cell]; - } - - // voltage fields 11-14 into the extension - for (int cell = 0; cell < mavlink_cell_slots_extension; cell++) { - bat_msg.voltages_ext[cell] = cell_voltages[mavlink_cell_slots + cell]; - } - mavlink_msg_battery_status_send_struct(_mavlink->get_channel(), &bat_msg); updated = true; } diff --git a/src/modules/mavlink/streams/CAMERA_TRIGGER.hpp b/src/modules/mavlink/streams/CAMERA_TRIGGER.hpp index e64a772d2d22..3d475932bf6b 100644 --- a/src/modules/mavlink/streams/CAMERA_TRIGGER.hpp +++ b/src/modules/mavlink/streams/CAMERA_TRIGGER.hpp @@ -72,6 +72,8 @@ class MavlinkStreamCameraTrigger : public MavlinkStream }; int _sequence {1}; + static constexpr uint8_t num_cameras = 6; // Mavlink has reserved component IDs for six cameras + bool send() override { camera_trigger_s camera_trigger; @@ -86,39 +88,41 @@ class MavlinkStreamCameraTrigger : public MavlinkStream _camera_status_sub.update(&_camera_status); - vehicle_command_s vcmd{}; - vcmd.timestamp = hrt_absolute_time(); - vcmd.param1 = 0.0f; // all cameras - vcmd.param2 = 0.0f; // duration 0 because only taking one picture - vcmd.param3 = 1.0f; // only take one - vcmd.param4 = (float)_sequence++; - vcmd.param5 = (double)NAN; - vcmd.param6 = (double)NAN; - vcmd.param7 = NAN; - vcmd.command = MAV_CMD_IMAGE_START_CAPTURE; - vcmd.target_system = mavlink_system.sysid; - vcmd.target_component = _camera_status.active_comp_id; - - MavlinkCommandSender::instance().handle_vehicle_command(vcmd, _mavlink->get_channel()); - - - // TODO: move this camera_trigger and publish as a vehicle_command - /* send MAV_CMD_DO_DIGICAM_CONTROL*/ - mavlink_command_long_t command_long_msg{}; - - command_long_msg.target_system = _camera_status.active_sys_id; - command_long_msg.target_component = _camera_status.active_comp_id; - command_long_msg.command = MAV_CMD_DO_DIGICAM_CONTROL; - command_long_msg.confirmation = 0; - command_long_msg.param1 = NAN; - command_long_msg.param2 = NAN; - command_long_msg.param3 = NAN; - command_long_msg.param4 = NAN; - command_long_msg.param5 = 1; // take 1 picture - command_long_msg.param6 = NAN; - command_long_msg.param7 = NAN; - - mavlink_msg_command_long_send_struct(_mavlink->get_channel(), &command_long_msg); + for (int i_camera = 0; i_camera < num_cameras; i_camera++) { + vehicle_command_s vcmd{}; + vcmd.timestamp = hrt_absolute_time(); + vcmd.param1 = 0.0f; // all cameras + vcmd.param2 = 0.0f; // duration 0 because only taking one picture + vcmd.param3 = 1.0f; // only take one + vcmd.param4 = (float)_sequence++; + vcmd.param5 = (double)NAN; + vcmd.param6 = (double)NAN; + vcmd.param7 = NAN; + vcmd.command = MAV_CMD_IMAGE_START_CAPTURE; + vcmd.target_system = mavlink_system.sysid; + vcmd.target_component = i_camera + MAV_COMP_ID_CAMERA; + + MavlinkCommandSender::instance().handle_vehicle_command(vcmd, _mavlink->get_channel()); + + + // TODO: move this camera_trigger and publish as a vehicle_command + /* send MAV_CMD_DO_DIGICAM_CONTROL*/ + mavlink_command_long_t command_long_msg{}; + + command_long_msg.target_system = _camera_status.active_sys_id; + command_long_msg.target_component = i_camera + MAV_COMP_ID_CAMERA; + command_long_msg.command = MAV_CMD_DO_DIGICAM_CONTROL; + command_long_msg.confirmation = 0; + command_long_msg.param1 = NAN; + command_long_msg.param2 = NAN; + command_long_msg.param3 = NAN; + command_long_msg.param4 = NAN; + command_long_msg.param5 = 1; // take 1 picture + command_long_msg.param6 = NAN; + command_long_msg.param7 = NAN; + + mavlink_msg_command_long_send_struct(_mavlink->get_channel(), &command_long_msg); + } return true; } diff --git a/src/modules/mavlink/streams/CURRENT_MODE.hpp b/src/modules/mavlink/streams/CURRENT_MODE.hpp new file mode 100644 index 000000000000..5527801670e4 --- /dev/null +++ b/src/modules/mavlink/streams/CURRENT_MODE.hpp @@ -0,0 +1,78 @@ +/**************************************************************************** + * + * Copyright (c) 2022 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#ifndef CURRENT_MODE_HPP +#define CURRENT_MODE_HPP + +#include +#include + +class MavlinkStreamCurrentMode : public MavlinkStream +{ +public: + static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamCurrentMode(mavlink); } + + static constexpr const char *get_name_static() { return "CURRENT_MODE"; } + static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_CURRENT_MODE; } + + const char *get_name() const override { return get_name_static(); } + uint16_t get_id() override { return get_id_static(); } + + unsigned get_size() override + { + return MAVLINK_MSG_ID_CURRENT_MODE_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES; + } + +private: + explicit MavlinkStreamCurrentMode(Mavlink *mavlink) : MavlinkStream(mavlink) {} + + uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)}; + + bool send() override + { + vehicle_status_s vehicle_status; + + if (_vehicle_status_sub.update(&vehicle_status)) { + mavlink_current_mode_t current_mode{}; + current_mode.custom_mode = get_px4_custom_mode(vehicle_status.nav_state).data; + current_mode.intended_custom_mode = get_px4_custom_mode(vehicle_status.nav_state_user_intention).data; + current_mode.standard_mode = (uint8_t) mode_util::getStandardModeFromNavState(vehicle_status.nav_state); + mavlink_msg_current_mode_send_struct(_mavlink->get_channel(), ¤t_mode); + return true; + } + + return false; + } +}; + +#endif // CURRENT_MODE_HPP diff --git a/src/modules/mavlink/streams/ESC_STATUS.hpp b/src/modules/mavlink/streams/ESC_STATUS.hpp index 1e8911577823..54c11cbd8ebb 100644 --- a/src/modules/mavlink/streams/ESC_STATUS.hpp +++ b/src/modules/mavlink/streams/ESC_STATUS.hpp @@ -75,10 +75,11 @@ class MavlinkStreamESCStatus : public MavlinkStream for (int batch_number = 0; batch_number < _number_of_batches; batch_number++) { msg.index = batch_number * batch_size; - for (int esc_index = 0; esc_index < batch_size ; esc_index++) { - msg.rpm[esc_index] = esc_status.esc[esc_index].esc_rpm; - msg.voltage[esc_index] = esc_status.esc[esc_index].esc_voltage; - msg.current[esc_index] = esc_status.esc[esc_index].esc_current; + for (int esc_index = 0; esc_index < batch_size + && msg.index + esc_index < esc_status_s::CONNECTED_ESC_MAX; esc_index++) { + msg.rpm[esc_index] = esc_status.esc[msg.index + esc_index].esc_rpm; + msg.voltage[esc_index] = esc_status.esc[msg.index + esc_index].esc_voltage; + msg.current[esc_index] = esc_status.esc[msg.index + esc_index].esc_current; } mavlink_msg_esc_status_send_struct(_mavlink->get_channel(), &msg); diff --git a/src/modules/mavlink/streams/ESTIMATOR_STATUS.hpp b/src/modules/mavlink/streams/ESTIMATOR_STATUS.hpp index 3764940c312e..0a27a90eb093 100644 --- a/src/modules/mavlink/streams/ESTIMATOR_STATUS.hpp +++ b/src/modules/mavlink/streams/ESTIMATOR_STATUS.hpp @@ -80,7 +80,7 @@ class MavlinkStreamEstimatorStatus : public MavlinkStream est_msg.vel_ratio = est.vel_test_ratio; est_msg.pos_horiz_ratio = est.pos_test_ratio; est_msg.pos_vert_ratio = est.hgt_test_ratio; - est_msg.mag_ratio = est.mag_test_ratio; + est_msg.mag_ratio = est.hdg_test_ratio; est_msg.hagl_ratio = est.hagl_test_ratio; est_msg.tas_ratio = est.tas_test_ratio; est_msg.pos_horiz_accuracy = est.pos_horiz_accuracy; diff --git a/src/modules/mavlink/streams/FIGURE_EIGHT_EXECUTION_STATUS.hpp b/src/modules/mavlink/streams/FIGURE_EIGHT_EXECUTION_STATUS.hpp new file mode 100644 index 000000000000..f0d33b2db9d1 --- /dev/null +++ b/src/modules/mavlink/streams/FIGURE_EIGHT_EXECUTION_STATUS.hpp @@ -0,0 +1,88 @@ +/**************************************************************************** + * + * Copyright (c) 2022 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#ifndef FIGURE_EIGHT_EXECUTION_STATUS_HPP +#define FIGURE_EIGHT_EXECUTION_STATUS_HPP + +#include +#include +#include + +class MavlinkStreamFigureEightStatus : public MavlinkStream +{ +public: + static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamFigureEightStatus(mavlink); } + + static constexpr const char *get_name_static() { return "FIGURE_EIGHT_EXECUTION_STATUS"; } + static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_FIGURE_EIGHT_EXECUTION_STATUS; } + + const char *get_name() const override { return get_name_static(); } + uint16_t get_id() override { return get_id_static(); } + + unsigned get_size() override + { + return _figure_eight_status_subs.advertised() ? MAVLINK_MSG_ID_FIGURE_EIGHT_EXECUTION_STATUS_LEN + + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0; + } + +private: + explicit MavlinkStreamFigureEightStatus(Mavlink *mavlink) : MavlinkStream(mavlink) {} + + uORB::Subscription _figure_eight_status_subs{ORB_ID::figure_eight_status}; + + bool send() override + { + figure_eight_status_s figure_eight_status; + + if ((_mavlink->get_free_tx_buf() >= get_size()) && _figure_eight_status_subs.update(&figure_eight_status)) { + mavlink_figure_eight_execution_status_t msg_figure_eight_execution_status{}; + + msg_figure_eight_execution_status.time_usec = figure_eight_status.timestamp; + msg_figure_eight_execution_status.major_radius = figure_eight_status.major_radius; + msg_figure_eight_execution_status.minor_radius = figure_eight_status.minor_radius; + msg_figure_eight_execution_status.frame = figure_eight_status.frame; + msg_figure_eight_execution_status.orientation = figure_eight_status.orientation; + msg_figure_eight_execution_status.x = figure_eight_status.x; + msg_figure_eight_execution_status.y = figure_eight_status.y; + msg_figure_eight_execution_status.z = figure_eight_status.z; + + mavlink_msg_figure_eight_execution_status_send_struct(_mavlink->get_channel(), &msg_figure_eight_execution_status); + + return true; + } + + return false; + } +}; + +#endif // FIGURE_EIGHT_EXECUTION_STATUS_HPP diff --git a/src/modules/mavlink/streams/FUEL_STATUS.hpp b/src/modules/mavlink/streams/FUEL_STATUS.hpp new file mode 100644 index 000000000000..350f9c9fc7dc --- /dev/null +++ b/src/modules/mavlink/streams/FUEL_STATUS.hpp @@ -0,0 +1,86 @@ +/**************************************************************************** + * + * Copyright (c) 2024 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#ifndef FUEL_STATUS_HPP +#define FUEL_STATUS_HPP + +#include + +class MavlinkStreamFuelStatus : public MavlinkStream +{ +public: + static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamFuelStatus(mavlink); } + + static constexpr const char *get_name_static() { return "FUEL_STATUS"; } + static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_FUEL_STATUS; } + + const char *get_name() const override { return MavlinkStreamFuelStatus::get_name_static(); } + uint16_t get_id() override { return get_id_static(); } + + unsigned get_size() override + { + return _fuel_tank_status_sub.advertised() ? MAVLINK_MSG_ID_FUEL_STATUS_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0; + } + +private: + explicit MavlinkStreamFuelStatus(Mavlink *mavlink) : MavlinkStream(mavlink) {} + + uORB::Subscription _fuel_tank_status_sub{ORB_ID(fuel_tank_status)}; + + bool send() override + { + fuel_tank_status_s fuel_status; + + if (_fuel_tank_status_sub.update(&fuel_status)) { + mavlink_fuel_status_t msg{}; + + msg.id = fuel_status.fuel_tank_id; + msg.maximum_fuel = fuel_status.maximum_fuel_capacity; + msg.consumed_fuel = fuel_status.consumed_fuel; + msg.remaining_fuel = fuel_status.remaining_fuel; + msg.percent_remaining = fuel_status.percent_remaining; + msg.flow_rate = fuel_status.fuel_consumption_rate; + msg.temperature = fuel_status.temperature; + msg.fuel_type = fuel_status.fuel_type; + + mavlink_msg_fuel_status_send_struct(_mavlink->get_channel(), &msg); + + return true; + } + + return false; + } + +}; + +#endif // FUEL_STATUS_HPP diff --git a/src/modules/mavlink/streams/GIMBAL_DEVICE_INFORMATION.hpp b/src/modules/mavlink/streams/GIMBAL_DEVICE_INFORMATION.hpp new file mode 100644 index 000000000000..d0aa42f9f06f --- /dev/null +++ b/src/modules/mavlink/streams/GIMBAL_DEVICE_INFORMATION.hpp @@ -0,0 +1,96 @@ +/**************************************************************************** + * + * Copyright (c) 2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#ifndef GIMBAL_DEVICE_INFORMATION_HPP +#define GIMBAL_DEVICE_INFORMATION_HPP + +#include + +class MavlinkStreamGimbalDeviceInformation : public MavlinkStream +{ +public: + static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamGimbalDeviceInformation(mavlink); } + + static constexpr const char *get_name_static() { return "GIMBAL_DEVICE_INFORMATION"; } + static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_GIMBAL_DEVICE_INFORMATION; } + + const char *get_name() const override { return get_name_static(); } + uint16_t get_id() override { return get_id_static(); } + + unsigned get_size() override + { + if (_gimbal_device_information_sub.advertised()) { + return MAVLINK_MSG_ID_GIMBAL_DEVICE_INFORMATION_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES; + } + + return 0; + } + +private: + explicit MavlinkStreamGimbalDeviceInformation(Mavlink *mavlink) : MavlinkStream(mavlink) {} + + uORB::Subscription _gimbal_device_information_sub{ORB_ID(gimbal_device_information)}; + + bool send() override + { + gimbal_device_information_s gimbal_device_information; + + if (_gimbal_device_information_sub.advertised() && _gimbal_device_information_sub.copy(&gimbal_device_information)) { + // send out gimbal_device_info with info from gimbal_device_information + mavlink_gimbal_device_information_t msg{}; + + msg.time_boot_ms = gimbal_device_information.timestamp / 1000; + memcpy(msg.vendor_name, gimbal_device_information.vendor_name, sizeof(gimbal_device_information.vendor_name)); + memcpy(msg.model_name, gimbal_device_information.model_name, sizeof(gimbal_device_information.model_name)); + memcpy(msg.custom_name, gimbal_device_information.custom_name, sizeof(gimbal_device_information.custom_name)); + msg.firmware_version = gimbal_device_information.firmware_version; + msg.hardware_version = gimbal_device_information.hardware_version; + msg.uid = gimbal_device_information.uid; + msg.cap_flags = gimbal_device_information.cap_flags; + msg.roll_min = gimbal_device_information.roll_min; + msg.roll_max = gimbal_device_information.roll_max; + msg.pitch_min = gimbal_device_information.pitch_min; + msg.pitch_max = gimbal_device_information.pitch_max; + msg.yaw_min = gimbal_device_information.yaw_min; + msg.yaw_max = gimbal_device_information.yaw_max; + + mavlink_msg_gimbal_device_information_send_struct(_mavlink->get_channel(), &msg); + + return true; + } + + return false; + } +}; + +#endif // GIMBAL_DEVICE_INFORMATION_HPP diff --git a/src/modules/mavlink/streams/GPS2_RAW.hpp b/src/modules/mavlink/streams/GPS2_RAW.hpp index eb77c8c3190d..ef91b95f2740 100644 --- a/src/modules/mavlink/streams/GPS2_RAW.hpp +++ b/src/modules/mavlink/streams/GPS2_RAW.hpp @@ -71,9 +71,9 @@ class MavlinkStreamGPS2Raw : public MavlinkStream msg.time_usec = gps.timestamp; msg.fix_type = gps.fix_type; - msg.lat = gps.lat; - msg.lon = gps.lon; - msg.alt = gps.alt; + msg.lat = static_cast(round(gps.latitude_deg * 1e7)); + msg.lon = static_cast(round(gps.longitude_deg * 1e7)); + msg.alt = static_cast(round(gps.altitude_msl_m * 1e3)); // convert [m] to [mm] msg.eph = gps.hdop * 100; // GPS HDOP horizontal dilution of position (unitless) msg.epv = gps.vdop * 100; // GPS VDOP vertical dilution of position (unitless) diff --git a/src/modules/mavlink/streams/GPS_RAW_INT.hpp b/src/modules/mavlink/streams/GPS_RAW_INT.hpp index f6887c73c992..ca2077d5a75c 100644 --- a/src/modules/mavlink/streams/GPS_RAW_INT.hpp +++ b/src/modules/mavlink/streams/GPS_RAW_INT.hpp @@ -70,9 +70,9 @@ class MavlinkStreamGPSRawInt : public MavlinkStream if (_sensor_gps_sub.update(&gps)) { msg.time_usec = gps.timestamp; msg.fix_type = gps.fix_type; - msg.lat = gps.lat; - msg.lon = gps.lon; - msg.alt = gps.alt; + msg.lat = static_cast(round(gps.latitude_deg * 1e7)); + msg.lon = static_cast(round(gps.longitude_deg * 1e7)); + msg.alt = static_cast(round(gps.altitude_msl_m * 1e3)); // convert [m] to [mm] msg.eph = gps.hdop * 100; // GPS HDOP horizontal dilution of position (unitless) msg.epv = gps.vdop * 100; // GPS VDOP vertical dilution of position (unitless) @@ -85,7 +85,7 @@ class MavlinkStreamGPSRawInt : public MavlinkStream msg.cog = math::degrees(matrix::wrap_2pi(gps.cog_rad)) * 1e2f; msg.satellites_visible = gps.satellites_used; - msg.alt_ellipsoid = gps.alt_ellipsoid; + msg.alt_ellipsoid = static_cast(round(gps.altitude_ellipsoid_m * 1e3)); // convert [m] to [mm] msg.h_acc = gps.eph * 1e3f; // position uncertainty in mm msg.v_acc = gps.epv * 1e3f; // altitude uncertainty in mm msg.vel_acc = gps.s_variance_m_s * 1e3f; // speed uncertainty in mm diff --git a/src/modules/mavlink/streams/HEARTBEAT.hpp b/src/modules/mavlink/streams/HEARTBEAT.hpp index 26d966a85ac5..c3448763600f 100644 --- a/src/modules/mavlink/streams/HEARTBEAT.hpp +++ b/src/modules/mavlink/streams/HEARTBEAT.hpp @@ -107,27 +107,23 @@ class MavlinkStreamHeartbeat : public MavlinkStream // uint8_t system_status (MAV_STATE) - System status flag. uint8_t system_status = MAV_STATE_UNINIT; - switch (vehicle_status.arming_state) { - case vehicle_status_s::ARMING_STATE_ARMED: + if (vehicle_status.arming_state == vehicle_status_s::ARMING_STATE_ARMED) { system_status = vehicle_status.failsafe ? MAV_STATE_CRITICAL : MAV_STATE_ACTIVE; - break; - case vehicle_status_s::ARMING_STATE_STANDBY: - system_status = MAV_STATE_STANDBY; - break; + } else if (vehicle_status.calibration_enabled || vehicle_status.rc_calibration_in_progress + || actuator_armed.in_esc_calibration_mode) { + system_status = MAV_STATE_CALIBRATING; - case vehicle_status_s::ARMING_STATE_SHUTDOWN: - system_status = MAV_STATE_POWEROFF; - break; + } else if (vehicle_status.pre_flight_checks_pass) { + system_status = MAV_STATE_STANDBY; } // system_status overrides - if (actuator_armed.force_failsafe || actuator_armed.lockdown || actuator_armed.manual_lockdown + if (actuator_armed.force_failsafe || (actuator_armed.lockdown + && vehicle_status.hil_state == vehicle_status_s::HIL_STATE_OFF) || actuator_armed.manual_lockdown || vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_TERMINATION) { - system_status = MAV_STATE_FLIGHT_TERMINATION; - } else if (vehicle_status.calibration_enabled) { - system_status = MAV_STATE_CALIBRATING; + system_status = MAV_STATE_FLIGHT_TERMINATION; } diff --git a/src/modules/mavlink/streams/HIGH_LATENCY2.hpp b/src/modules/mavlink/streams/HIGH_LATENCY2.hpp index c96d0b6cb9d1..6aca9f7d9837 100644 --- a/src/modules/mavlink/streams/HIGH_LATENCY2.hpp +++ b/src/modules/mavlink/streams/HIGH_LATENCY2.hpp @@ -53,6 +53,7 @@ #include #include #include +#include #include #include #include @@ -125,18 +126,21 @@ class MavlinkStreamHighLatency2 : public MavlinkStream updated |= _temperature.valid(); updated |= _throttle.valid(); updated |= _windspeed.valid(); - updated |= write_airspeed(&msg); - updated |= write_attitude_sp(&msg); - updated |= write_battery_status(&msg); - updated |= write_estimator_status(&msg); - updated |= write_fw_ctrl_status(&msg); - updated |= write_geofence_result(&msg); - updated |= write_global_position(&msg); - updated |= write_mission_result(&msg); - updated |= write_tecs_status(&msg); - updated |= write_vehicle_status(&msg); + updated |= write_attitude_setpoint_if_updated(&msg); + updated |= write_estimator_status_if_updated(&msg); + updated |= write_fw_ctrl_status_if_updated(&msg); + updated |= write_geofence_result_if_updated(&msg); + updated |= write_global_position_if_updated(&msg); + updated |= write_heading_if_updated(&msg); + updated |= write_mission_result_if_updated(&msg); updated |= write_failsafe_flags(&msg); - updated |= write_wind(&msg); + + // these topics are already updated in update_data() and thus we just copy them here + write_airspeed(&msg); + write_battery_status(&msg); + write_tecs_status(&msg); + write_vehicle_status(&msg); + write_wind(&msg); if (updated) { msg.timestamp = t / 1000; @@ -244,7 +248,7 @@ class MavlinkStreamHighLatency2 : public MavlinkStream { airspeed_s airspeed; - if (_airspeed_sub.update(&airspeed)) { + if (_airspeed_sub.copy(&airspeed)) { if (airspeed.confidence < 0.95f) { // the same threshold as for the commander msg->failure_flags |= HL_FAILURE_FLAG_DIFFERENTIAL_PRESSURE; } @@ -255,12 +259,14 @@ class MavlinkStreamHighLatency2 : public MavlinkStream return false; } - bool write_attitude_sp(mavlink_high_latency2_t *msg) + bool write_attitude_setpoint_if_updated(mavlink_high_latency2_t *msg) { vehicle_attitude_setpoint_s attitude_sp; if (_attitude_sp_sub.update(&attitude_sp)) { - msg->target_heading = static_cast(math::degrees(matrix::wrap_2pi(attitude_sp.yaw_body)) * 0.5f); + + msg->target_heading = static_cast(math::degrees(matrix::wrap_2pi(matrix::Eulerf(matrix::Quatf( + attitude_sp.q_d)).psi())) * 0.5f); return true; } @@ -274,7 +280,7 @@ class MavlinkStreamHighLatency2 : public MavlinkStream for (int i = 0; i < battery_status_s::MAX_INSTANCES; i++) { battery_status_s battery; - if (_batteries[i].subscription.update(&battery)) { + if (_batteries[i].subscription.copy(&battery)) { updated = true; _batteries[i].connected = battery.connected; @@ -287,11 +293,12 @@ class MavlinkStreamHighLatency2 : public MavlinkStream return updated; } - bool write_estimator_status(mavlink_high_latency2_t *msg) + bool write_estimator_status_if_updated(mavlink_high_latency2_t *msg) { // use primary estimator_status - if (_estimator_selector_status_sub.updated()) { - estimator_selector_status_s estimator_selector_status; + estimator_selector_status_s estimator_selector_status; + + if (_estimator_selector_status_sub.update(&estimator_selector_status)) { if (_estimator_selector_status_sub.copy(&estimator_selector_status)) { if (estimator_selector_status.primary_instance != _estimator_status_sub.get_instance()) { @@ -304,8 +311,7 @@ class MavlinkStreamHighLatency2 : public MavlinkStream if (_estimator_status_sub.update(&estimator_status)) { if (estimator_status.gps_check_fail_flags > 0 || - estimator_status.filter_fault_flags > 0 || - estimator_status.innovation_check_flags > 0) { + estimator_status.filter_fault_flags > 0) { msg->failure_flags |= HL_FAILURE_FLAG_ESTIMATOR; } @@ -320,7 +326,7 @@ class MavlinkStreamHighLatency2 : public MavlinkStream return false; } - bool write_fw_ctrl_status(mavlink_high_latency2_t *msg) + bool write_fw_ctrl_status_if_updated(mavlink_high_latency2_t *msg) { position_controller_status_s pos_ctrl_status; @@ -334,12 +340,13 @@ class MavlinkStreamHighLatency2 : public MavlinkStream return false; } - bool write_geofence_result(mavlink_high_latency2_t *msg) + bool write_geofence_result_if_updated(mavlink_high_latency2_t *msg) { geofence_result_s geofence; if (_geofence_sub.update(&geofence)) { - if (geofence.primary_geofence_breached) { + if (geofence.geofence_max_dist_triggered || geofence.geofence_max_alt_triggered + || geofence.geofence_custom_fence_triggered) { msg->failure_flags |= HL_FAILURE_FLAG_GEOFENCE; } @@ -349,12 +356,12 @@ class MavlinkStreamHighLatency2 : public MavlinkStream return false; } - bool write_global_position(mavlink_high_latency2_t *msg) + bool write_global_position_if_updated(mavlink_high_latency2_t *msg) { vehicle_global_position_s global_pos; vehicle_local_position_s local_pos; - if (_global_pos_sub.update(&global_pos) && _local_pos_sub.update(&local_pos)) { + if (_global_pos_sub.update(&global_pos) && _local_pos_sub.copy(&local_pos)) { msg->latitude = global_pos.lat * 1e7; msg->longitude = global_pos.lon * 1e7; @@ -369,7 +376,20 @@ class MavlinkStreamHighLatency2 : public MavlinkStream msg->altitude = altitude; - msg->heading = static_cast(math::degrees(matrix::wrap_2pi(local_pos.heading)) * 0.5f); + return true; + } + + return false; + } + + bool write_heading_if_updated(mavlink_high_latency2_t *msg) + { + vehicle_attitude_s attitude; + + if (_attitude_sub.update(&attitude)) { + + const matrix::Eulerf euler = matrix::Quatf(attitude.q); + msg->heading = static_cast(math::degrees(matrix::wrap_2pi(euler.psi())) * 0.5f); return true; } @@ -377,7 +397,7 @@ class MavlinkStreamHighLatency2 : public MavlinkStream return false; } - bool write_mission_result(mavlink_high_latency2_t *msg) + bool write_mission_result_if_updated(mavlink_high_latency2_t *msg) { mission_result_s mission_result; @@ -393,7 +413,7 @@ class MavlinkStreamHighLatency2 : public MavlinkStream { tecs_status_s tecs_status; - if (_tecs_status_sub.update(&tecs_status)) { + if (_tecs_status_sub.copy(&tecs_status)) { int16_t target_altitude; convert_limit_safe(tecs_status.altitude_sp, target_altitude); msg->target_altitude = target_altitude; @@ -408,7 +428,7 @@ class MavlinkStreamHighLatency2 : public MavlinkStream { vehicle_status_s status; - if (_status_sub.update(&status)) { + if (_status_sub.copy(&status)) { health_report_s health_report; if (_health_report_sub.copy(&health_report)) { @@ -475,7 +495,7 @@ class MavlinkStreamHighLatency2 : public MavlinkStream { wind_s wind; - if (_wind_sub.update(&wind)) { + if (_wind_sub.copy(&wind)) { msg->wind_heading = static_cast(math::degrees(matrix::wrap_2pi(atan2f(wind.windspeed_east, wind.windspeed_north))) * 0.5f); return true; @@ -624,6 +644,7 @@ class MavlinkStreamHighLatency2 : public MavlinkStream uORB::Subscription _vehicle_thrust_setpoint_0_sub{ORB_ID(vehicle_thrust_setpoint), 0}; uORB::Subscription _vehicle_thrust_setpoint_1_sub{ORB_ID(vehicle_thrust_setpoint), 1}; uORB::Subscription _airspeed_sub{ORB_ID(airspeed)}; + uORB::Subscription _attitude_sub{ORB_ID(vehicle_attitude)}; uORB::Subscription _attitude_sp_sub{ORB_ID(vehicle_attitude_setpoint)}; uORB::Subscription _estimator_selector_status_sub{ORB_ID(estimator_selector_status)}; uORB::Subscription _estimator_status_sub{ORB_ID(estimator_status)}; diff --git a/src/modules/mavlink/streams/MANUAL_CONTROL.hpp b/src/modules/mavlink/streams/MANUAL_CONTROL.hpp index 8be68fdc3fad..3feabf124d68 100644 --- a/src/modules/mavlink/streams/MANUAL_CONTROL.hpp +++ b/src/modules/mavlink/streams/MANUAL_CONTROL.hpp @@ -68,10 +68,10 @@ class MavlinkStreamManualControl : public MavlinkStream mavlink_manual_control_t msg{}; msg.target = mavlink_system.sysid; - msg.x = manual_control_setpoint.pitch * 1000; - msg.y = manual_control_setpoint.roll * 1000; - msg.z = manual_control_setpoint.throttle * 1000; - msg.r = manual_control_setpoint.yaw * 1000; + msg.x = manual_control_setpoint.pitch * 1000.f; + msg.y = manual_control_setpoint.roll * 1000.f; + msg.z = manual_control_setpoint.throttle * 1000.f; + msg.r = manual_control_setpoint.yaw * 1000.f; manual_control_switches_s manual_control_switches{}; @@ -84,6 +84,36 @@ class MavlinkStreamManualControl : public MavlinkStream msg.buttons |= (manual_control_switches.kill_switch << (shift * 6)); } + if (PX4_ISFINITE(manual_control_setpoint.aux1)) { + msg.enabled_extensions |= (1u << 2); + msg.aux1 = manual_control_setpoint.aux1 * 1000.f; + } + + if (PX4_ISFINITE(manual_control_setpoint.aux2)) { + msg.enabled_extensions |= (1u << 3); + msg.aux2 = manual_control_setpoint.aux2 * 1000.f; + } + + if (PX4_ISFINITE(manual_control_setpoint.aux3)) { + msg.enabled_extensions |= (1u << 4); + msg.aux3 = manual_control_setpoint.aux3 * 1000.f; + } + + if (PX4_ISFINITE(manual_control_setpoint.aux4)) { + msg.enabled_extensions |= (1u << 5); + msg.aux4 = manual_control_setpoint.aux4 * 1000.f; + } + + if (PX4_ISFINITE(manual_control_setpoint.aux5)) { + msg.enabled_extensions |= (1u << 6); + msg.aux5 = manual_control_setpoint.aux5 * 1000.f; + } + + if (PX4_ISFINITE(manual_control_setpoint.aux6)) { + msg.enabled_extensions |= (1u << 7); + msg.aux6 = manual_control_setpoint.aux6 * 1000.f; + } + mavlink_msg_manual_control_send_struct(_mavlink->get_channel(), &msg); return true; diff --git a/src/modules/mavlink/streams/OPEN_DRONE_ID_LOCATION.hpp b/src/modules/mavlink/streams/OPEN_DRONE_ID_LOCATION.hpp index f3586ae12655..3a519c5e909a 100644 --- a/src/modules/mavlink/streams/OPEN_DRONE_ID_LOCATION.hpp +++ b/src/modules/mavlink/streams/OPEN_DRONE_ID_LOCATION.hpp @@ -165,12 +165,12 @@ class MavlinkStreamOpenDroneIdLocation : public MavlinkStream } if (vehicle_gps_position.fix_type >= 2) { - msg.latitude = vehicle_gps_position.lat; - msg.longitude = vehicle_gps_position.lon; + msg.latitude = static_cast(round(vehicle_gps_position.latitude_deg * 1e7)); + msg.longitude = static_cast(round(vehicle_gps_position.longitude_deg * 1e7)); // altitude_geodetic if (vehicle_gps_position.fix_type >= 3) { - msg.altitude_geodetic = vehicle_gps_position.alt * 1e-3f; + msg.altitude_geodetic = static_cast(round(vehicle_gps_position.altitude_msl_m)); // [m] } // horizontal_accuracy diff --git a/src/modules/mavlink/streams/OPEN_DRONE_ID_SYSTEM.hpp b/src/modules/mavlink/streams/OPEN_DRONE_ID_SYSTEM.hpp index bcc7e0f1452e..9467df81e955 100644 --- a/src/modules/mavlink/streams/OPEN_DRONE_ID_SYSTEM.hpp +++ b/src/modules/mavlink/streams/OPEN_DRONE_ID_SYSTEM.hpp @@ -86,7 +86,8 @@ class MavlinkStreamOpenDroneIdSystem : public MavlinkStream msg.area_floor = -1000; msg.category_eu = MAV_ODID_CATEGORY_EU_UNDECLARED; msg.class_eu = MAV_ODID_CLASS_EU_UNDECLARED; - msg.operator_altitude_geo = home_position.alt; + float wgs84_amsl_offset = vehicle_gps_position.altitude_ellipsoid_m - vehicle_gps_position.altitude_msl_m; + msg.operator_altitude_geo = home_position.alt + wgs84_amsl_offset; // timestamp: 32 bit Unix Timestamp in seconds since 00:00:00 01/01/2019. static uint64_t utc_offset_s = 1'546'300'800; // UTC seconds since 00:00:00 01/01/2019 diff --git a/src/modules/mavlink/streams/SMART_BATTERY_INFO.hpp b/src/modules/mavlink/streams/SMART_BATTERY_INFO.hpp deleted file mode 100644 index 3476db3a02b2..000000000000 --- a/src/modules/mavlink/streams/SMART_BATTERY_INFO.hpp +++ /dev/null @@ -1,108 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2021 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -#ifndef SMART_BATTERY_INFO_HPP -#define SMART_BATTERY_INFO_HPP - -#include - -class MavlinkStreamSmartBatteryInfo : public MavlinkStream -{ -public: - static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamSmartBatteryInfo(mavlink); } - - static constexpr const char *get_name_static() { return "SMART_BATTERY_INFO"; } - static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_SMART_BATTERY_INFO; } - - const char *get_name() const override { return get_name_static(); } - uint16_t get_id() override { return get_id_static(); } - - unsigned get_size() override - { - static constexpr unsigned size_per_battery = MAVLINK_MSG_ID_SMART_BATTERY_INFO_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES; - return size_per_battery * _battery_status_subs.advertised_count(); - } - -private: - explicit MavlinkStreamSmartBatteryInfo(Mavlink *mavlink) : MavlinkStream(mavlink) {} - - uORB::SubscriptionMultiArray _battery_status_subs{ORB_ID::battery_status}; - - bool send() override - { - bool updated = false; - - for (auto &battery_sub : _battery_status_subs) { - battery_status_s battery_status; - - if (battery_sub.update(&battery_status)) { - if (battery_status.serial_number == 0) { - // This is not smart battery - continue; - } - - mavlink_smart_battery_info_t msg{}; - - msg.id = battery_status.id - 1; - msg.capacity_full_specification = battery_status.capacity; - msg.capacity_full = (int32_t)((float)(battery_status.state_of_health * battery_status.capacity) / 100.f); - msg.cycle_count = battery_status.cycle_count; - - if (battery_status.manufacture_date) { - uint16_t day = battery_status.manufacture_date % 32; - uint16_t month = (battery_status.manufacture_date >> 5) % 16; - uint16_t year = (80 + (battery_status.manufacture_date >> 9)) % 100; - - //Formatted as 'dd/mm/yy-123456' (maxed 15 + 1 chars) - snprintf(msg.serial_number, sizeof(msg.serial_number), "%d/%d/%d-%d", day, month, year, battery_status.serial_number); - - } else { - snprintf(msg.serial_number, sizeof(msg.serial_number), "%d", battery_status.serial_number); - } - - //msg.device_name = ?? - msg.weight = -1; - msg.discharge_minimum_voltage = -1; - msg.charging_minimum_voltage = -1; - msg.resting_minimum_voltage = -1; - - mavlink_msg_smart_battery_info_send_struct(_mavlink->get_channel(), &msg); - updated = true; - } - } - - return updated; - } -}; - -#endif // SMART_BATTERY_INFO_HPP diff --git a/src/modules/mavlink/streams/SYS_STATUS.hpp b/src/modules/mavlink/streams/SYS_STATUS.hpp index 6859ea7f4be1..c875eaceaae9 100644 --- a/src/modules/mavlink/streams/SYS_STATUS.hpp +++ b/src/modules/mavlink/streams/SYS_STATUS.hpp @@ -150,7 +150,12 @@ class MavlinkStreamSysStatus : public MavlinkStream fillOutComponent(health_report, MAV_SYS_STATUS_SENSOR_3D_MAG, health_component_t::magnetometer, msg); fillOutComponent(health_report, MAV_SYS_STATUS_SENSOR_GPS, health_component_t::gps, msg); fillOutComponent(health_report, MAV_SYS_STATUS_SENSOR_RC_RECEIVER, health_component_t::remote_control, msg); - fillOutComponent(health_report, MAV_SYS_STATUS_AHRS, health_component_t::local_position_estimate, msg); + fillOutComponent(health_report, MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION, health_component_t::attitude_estimate, + msg); + fillOutComponent(health_report, MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL, health_component_t::local_position_estimate, + msg); + fillOutComponent(health_report, MAV_SYS_STATUS_AHRS, health_component_t::attitude_estimate, msg); + fillOutComponent(health_report, MAV_SYS_STATUS_LOGGING, health_component_t::logging, msg); fillOutComponent(health_report, MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE, health_component_t::absolute_pressure, msg); fillOutComponent(health_report, MAV_SYS_STATUS_SENSOR_DIFFERENTIAL_PRESSURE, health_component_t::differential_pressure, msg); @@ -165,8 +170,8 @@ class MavlinkStreamSysStatus : public MavlinkStream const battery_status_s &lowest_battery = battery_status[lowest_battery_index]; if (lowest_battery.connected) { - msg.voltage_battery = lowest_battery.voltage_filtered_v * 1000.0f; - msg.current_battery = lowest_battery.current_filtered_a * 100.0f; + msg.voltage_battery = lowest_battery.voltage_v * 1000.0f; + msg.current_battery = lowest_battery.current_a * 100.0f; msg.battery_remaining = ceilf(lowest_battery.remaining * 100.0f); } else { diff --git a/src/modules/mavlink/streams/UAVIONIX_ADSB_OUT_DYNAMIC.hpp b/src/modules/mavlink/streams/UAVIONIX_ADSB_OUT_DYNAMIC.hpp index fdc8ae1ecc74..b75c1d7a605f 100644 --- a/src/modules/mavlink/streams/UAVIONIX_ADSB_OUT_DYNAMIC.hpp +++ b/src/modules/mavlink/streams/UAVIONIX_ADSB_OUT_DYNAMIC.hpp @@ -86,9 +86,9 @@ class MavlinkStreamUavionixADSBOutDynamic : public ModuleParams, public MavlinkS // Required update for dynamic message is 5 [Hz] mavlink_uavionix_adsb_out_dynamic_t dynamic_msg = { .utcTime = static_cast(vehicle_gps_position.time_utc_usec / 1000000ULL), - .gpsLat = vehicle_gps_position.lat, - .gpsLon = vehicle_gps_position.lon, - .gpsAlt = vehicle_gps_position.alt_ellipsoid, + .gpsLat = static_cast(round(vehicle_gps_position.latitude_deg * 1e7)), + .gpsLon = static_cast(round(vehicle_gps_position.longitude_deg * 1e7)), + .gpsAlt = static_cast(round(vehicle_gps_position.altitude_ellipsoid_m * 1e3)), // convert [m] to [mm] .baroAltMSL = static_cast(vehicle_air_data.baro_pressure_pa / 100.0f), // convert [Pa] to [mBar] .accuracyHor = static_cast(vehicle_gps_position.eph * 1000.0f), // convert [m] to [mm] .accuracyVert = static_cast(vehicle_gps_position.epv * 100.0f), // convert [m] to [cm] diff --git a/src/modules/mavlink/streams/UTM_GLOBAL_POSITION.hpp b/src/modules/mavlink/streams/UTM_GLOBAL_POSITION.hpp index 2cf17b69f2eb..b58852dbafa7 100644 --- a/src/modules/mavlink/streams/UTM_GLOBAL_POSITION.hpp +++ b/src/modules/mavlink/streams/UTM_GLOBAL_POSITION.hpp @@ -101,8 +101,8 @@ class MavlinkStreamUTMGlobalPosition : public MavlinkStream msg.lon = global_pos.lon * 1e7; msg.alt = global_pos.alt_ellipsoid * 1000.f; - msg.h_acc = global_pos.eph * 1000.f; - msg.v_acc = global_pos.epv * 1000.f; + msg.h_acc = math::min(global_pos.eph * 1000.0f, (float)UINT16_MAX); + msg.v_acc = math::min(global_pos.epv * 1000.0f, (float)UINT16_MAX); msg.flags |= UTM_DATA_AVAIL_FLAGS_POSITION_AVAILABLE; msg.flags |= UTM_DATA_AVAIL_FLAGS_ALTITUDE_AVAILABLE; diff --git a/src/modules/mavlink/streams/VFR_HUD.hpp b/src/modules/mavlink/streams/VFR_HUD.hpp index e09be516e104..bbdfe0d3c862 100644 --- a/src/modules/mavlink/streams/VFR_HUD.hpp +++ b/src/modules/mavlink/streams/VFR_HUD.hpp @@ -94,12 +94,18 @@ class MavlinkStreamVFRHUD : public MavlinkStream _vehicle_thrust_setpoint_0_sub.copy(&vehicle_thrust_setpoint_0); _vehicle_thrust_setpoint_1_sub.copy(&vehicle_thrust_setpoint_1); + const float thrust_magnitude_0 = sqrtf(vehicle_thrust_setpoint_0.xyz[0] * vehicle_thrust_setpoint_0.xyz[0] + + vehicle_thrust_setpoint_0.xyz[1] * vehicle_thrust_setpoint_0.xyz[1] + + vehicle_thrust_setpoint_0.xyz[2] * vehicle_thrust_setpoint_0.xyz[2]); + + const float thrust_magnitude_1 = sqrtf(vehicle_thrust_setpoint_1.xyz[0] * vehicle_thrust_setpoint_1.xyz[0] + + vehicle_thrust_setpoint_1.xyz[1] * vehicle_thrust_setpoint_1.xyz[1] + + vehicle_thrust_setpoint_1.xyz[2] * vehicle_thrust_setpoint_1.xyz[2]); + // VFR_HUD throttle should only be used for operator feedback. // VTOLs switch between vehicle_thrust_setpoint_0 and vehicle_thrust_setpoint_1. During transition there isn't a // a single throttle value, but this should still be a useful heuristic for operator awareness. - msg.throttle = 100 * math::max( - -vehicle_thrust_setpoint_0.xyz[2], - vehicle_thrust_setpoint_1.xyz[0]); + msg.throttle = 100.f * math::max(thrust_magnitude_0, thrust_magnitude_1); } else { msg.throttle = 0.0f; diff --git a/src/modules/mc_att_control/mc_att_control.hpp b/src/modules/mc_att_control/mc_att_control.hpp index ca4482d4876c..db1dcd3c1576 100644 --- a/src/modules/mc_att_control/mc_att_control.hpp +++ b/src/modules/mc_att_control/mc_att_control.hpp @@ -50,10 +50,12 @@ #include #include #include +#include #include #include #include #include +#include #include @@ -100,6 +102,7 @@ class MulticopterAttitudeControl : public ModuleBase uORB::Subscription _manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)}; uORB::Subscription _vehicle_attitude_setpoint_sub{ORB_ID(vehicle_attitude_setpoint)}; uORB::Subscription _vehicle_control_mode_sub{ORB_ID(vehicle_control_mode)}; + uORB::Subscription _vehicle_land_detected_sub{ORB_ID(vehicle_land_detected)}; uORB::Subscription _vehicle_local_position_sub{ORB_ID(vehicle_local_position)}; uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)}; @@ -118,12 +121,16 @@ class MulticopterAttitudeControl : public ModuleBase float _man_yaw_sp{0.f}; /**< current yaw setpoint in manual mode */ float _man_tilt_max; /**< maximum tilt allowed for manual flight [rad] */ + SlewRate _manual_throttle_minimum{0.f}; ///< 0 when landed and ramped to MPC_MANTHR_MIN in air + SlewRate _manual_throttle_maximum{0.f}; ///< 0 when disarmed ramped to 1 when spooled up AlphaFilter _man_roll_input_filter; AlphaFilter _man_pitch_input_filter; hrt_abstime _last_run{0}; hrt_abstime _last_attitude_setpoint{0}; + bool _spooled_up{false}; ///< used to make sure the vehicle cannot take off during the spoolup time + bool _landed{true}; bool _reset_yaw_sp{true}; bool _heading_good_for_control{true}; ///< initialized true to have heading lock when local position never published bool _vehicle_type_rotary_wing{true}; @@ -152,7 +159,8 @@ class MulticopterAttitudeControl : public ModuleBase (ParamFloat) _param_mpc_manthr_min, /**< minimum throttle for stabilized */ (ParamFloat) _param_mpc_thr_max, /**< maximum throttle for stabilized */ (ParamFloat) _param_mpc_thr_hover, /**< throttle at stationary hover */ - (ParamInt) _param_mpc_thr_curve /**< throttle curve behavior */ + (ParamInt) _param_mpc_thr_curve, /**< throttle curve behavior */ + + (ParamFloat) _param_com_spoolup_time ) }; - diff --git a/src/modules/mc_att_control/mc_att_control_main.cpp b/src/modules/mc_att_control/mc_att_control_main.cpp index 5925237219e8..f6cc5db43d88 100644 --- a/src/modules/mc_att_control/mc_att_control_main.cpp +++ b/src/modules/mc_att_control/mc_att_control_main.cpp @@ -60,8 +60,11 @@ MulticopterAttitudeControl::MulticopterAttitudeControl(bool vtol) : _loop_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": cycle")), _vtol(vtol) { - parameters_updated(); + // Rate of change 5% per second -> 1.6 seconds to ramp to default 8% MPC_MANTHR_MIN + _manual_throttle_minimum.setSlewRate(0.05f); + // Rate of change 50% per second -> 2 seconds to ramp to 100% + _manual_throttle_maximum.setSlewRate(0.5f); } MulticopterAttitudeControl::~MulticopterAttitudeControl() @@ -98,14 +101,21 @@ MulticopterAttitudeControl::parameters_updated() float MulticopterAttitudeControl::throttle_curve(float throttle_stick_input) { - // throttle_stick_input is in range [0, 1] + float thrust = 0.f; + switch (_param_mpc_thr_curve.get()) { case 1: // no rescaling to hover throttle - return math::interpolate(throttle_stick_input, 0.f, 1.f, _param_mpc_manthr_min.get(), _param_mpc_thr_max.get()); - - default: // 0 or other: rescale to hover throttle at 0.5 stick - return math::interpolateN(throttle_stick_input, {_param_mpc_manthr_min.get(), _param_mpc_thr_hover.get(), _param_mpc_thr_max.get()}); + thrust = math::interpolate(throttle_stick_input, -1.f, 1.f, + _manual_throttle_minimum.getState(), _param_mpc_thr_max.get()); + break; + + default: // 0 or other: rescale such that a centered throttle stick corresponds to hover throttle + thrust = math::interpolateNXY(throttle_stick_input, {-1.f, 0.f, 1.f}, + {_manual_throttle_minimum.getState(), _param_mpc_thr_hover.get(), _param_mpc_thr_max.get()}); + break; } + + return math::min(thrust, _manual_throttle_maximum.getState()); } void @@ -172,21 +182,10 @@ MulticopterAttitudeControl::generate_attitude_setpoint(const Quatf &q, float dt, q_sp.copyTo(attitude_setpoint.q_d); - // Transform to euler angles for logging only - const Eulerf euler_sp(q_sp); - attitude_setpoint.roll_body = euler_sp(0); - attitude_setpoint.pitch_body = euler_sp(1); - attitude_setpoint.yaw_body = euler_sp(2); + attitude_setpoint.thrust_body[2] = -throttle_curve(_manual_control_setpoint.throttle); - attitude_setpoint.thrust_body[2] = -throttle_curve((_manual_control_setpoint.throttle + 1.f) * .5f); attitude_setpoint.timestamp = hrt_absolute_time(); - _vehicle_attitude_setpoint_pub.publish(attitude_setpoint); - - // update attitude controller setpoint immediately - _attitude_control.setAttitudeSetpoint(q_sp, attitude_setpoint.yaw_sp_move_rate); - _thrust_setpoint_body = Vector3f(attitude_setpoint.thrust_body); - _last_attitude_setpoint = attitude_setpoint.timestamp; } void @@ -221,34 +220,6 @@ MulticopterAttitudeControl::Run() const Quatf q{v_att.q}; - // Check for new attitude setpoint - if (_vehicle_attitude_setpoint_sub.updated()) { - vehicle_attitude_setpoint_s vehicle_attitude_setpoint; - - if (_vehicle_attitude_setpoint_sub.copy(&vehicle_attitude_setpoint) - && (vehicle_attitude_setpoint.timestamp > _last_attitude_setpoint)) { - - _attitude_control.setAttitudeSetpoint(Quatf(vehicle_attitude_setpoint.q_d), vehicle_attitude_setpoint.yaw_sp_move_rate); - _thrust_setpoint_body = Vector3f(vehicle_attitude_setpoint.thrust_body); - _last_attitude_setpoint = vehicle_attitude_setpoint.timestamp; - } - } - - // Check for a heading reset - if (_quat_reset_counter != v_att.quat_reset_counter) { - const Quatf delta_q_reset(v_att.delta_q_reset); - - // for stabilized attitude generation only extract the heading change from the delta quaternion - _man_yaw_sp = wrap_pi(_man_yaw_sp + Eulerf(delta_q_reset).psi()); - - if (v_att.timestamp > _last_attitude_setpoint) { - // adapt existing attitude setpoint unless it was generated after the current attitude estimate - _attitude_control.adaptAttitudeSetpoint(delta_q_reset); - } - - _quat_reset_counter = v_att.quat_reset_counter; - } - /* check for updates in other topics */ _manual_control_setpoint_sub.update(&_manual_control_setpoint); _vehicle_control_mode_sub.update(&_vehicle_control_mode); @@ -262,6 +233,16 @@ MulticopterAttitudeControl::Run() _vtol_in_transition_mode = vehicle_status.in_transition_mode; _vtol_tailsitter = vehicle_status.is_vtol_tailsitter; + const bool armed = (vehicle_status.arming_state == vehicle_status_s::ARMING_STATE_ARMED); + _spooled_up = armed && hrt_elapsed_time(&vehicle_status.armed_time) > _param_com_spoolup_time.get() * 1_s; + } + } + + if (_vehicle_land_detected_sub.updated()) { + vehicle_land_detected_s vehicle_land_detected; + + if (_vehicle_land_detected_sub.copy(&vehicle_land_detected)) { + _landed = vehicle_land_detected.landed; } } @@ -280,7 +261,8 @@ MulticopterAttitudeControl::Run() // vehicle is a tailsitter in transition mode const bool is_tailsitter_transition = (_vtol_tailsitter && _vtol_in_transition_mode); - bool run_att_ctrl = _vehicle_control_mode.flag_control_attitude_enabled && (is_hovering || is_tailsitter_transition); + const bool run_att_ctrl = _vehicle_control_mode.flag_control_attitude_enabled && (is_hovering + || is_tailsitter_transition); if (run_att_ctrl) { @@ -298,6 +280,34 @@ MulticopterAttitudeControl::Run() _man_pitch_input_filter.reset(0.f); } + // Check for new attitude setpoint + if (_vehicle_attitude_setpoint_sub.updated()) { + vehicle_attitude_setpoint_s vehicle_attitude_setpoint; + + if (_vehicle_attitude_setpoint_sub.copy(&vehicle_attitude_setpoint) + && (vehicle_attitude_setpoint.timestamp > _last_attitude_setpoint)) { + + _attitude_control.setAttitudeSetpoint(Quatf(vehicle_attitude_setpoint.q_d), vehicle_attitude_setpoint.yaw_sp_move_rate); + _thrust_setpoint_body = Vector3f(vehicle_attitude_setpoint.thrust_body); + _last_attitude_setpoint = vehicle_attitude_setpoint.timestamp; + } + } + + // Check for a heading reset + if (_quat_reset_counter != v_att.quat_reset_counter) { + const Quatf delta_q_reset(v_att.delta_q_reset); + + // for stabilized attitude generation only extract the heading change from the delta quaternion + _man_yaw_sp = wrap_pi(_man_yaw_sp + Eulerf(delta_q_reset).psi()); + + if (v_att.timestamp > _last_attitude_setpoint) { + // adapt existing attitude setpoint unless it was generated after the current attitude estimate + _attitude_control.adaptAttitudeSetpoint(delta_q_reset); + } + + _quat_reset_counter = v_att.quat_reset_counter; + } + Vector3f rates_sp = _attitude_control.update(q); const hrt_abstime now = hrt_absolute_time(); @@ -324,6 +334,20 @@ MulticopterAttitudeControl::Run() _vehicle_rates_setpoint_pub.publish(rates_setpoint); } + if (_landed) { + _manual_throttle_minimum.update(0.f, dt); + + } else { + _manual_throttle_minimum.update(_param_mpc_manthr_min.get(), dt); + } + + if (_spooled_up) { + _manual_throttle_maximum.update(1.f, dt); + + } else { + _manual_throttle_maximum.setForcedValue(0.f); + } + // reset yaw setpoint during transitions, tailsitter.cpp generates // attitude setpoint for the transition _reset_yaw_sp = !attitude_setpoint_generated || !_heading_good_for_control || (_vtol && _vtol_in_transition_mode); diff --git a/src/modules/mc_autotune_attitude_control/mc_autotune_attitude_control.cpp b/src/modules/mc_autotune_attitude_control/mc_autotune_attitude_control.cpp index 749186ee8d04..3d2c0dab7fc2 100644 --- a/src/modules/mc_autotune_attitude_control/mc_autotune_attitude_control.cpp +++ b/src/modules/mc_autotune_attitude_control/mc_autotune_attitude_control.cpp @@ -68,6 +68,7 @@ bool McAutotuneAttitudeControl::init() void McAutotuneAttitudeControl::reset() { + _param_mc_at_start.reset(); } void McAutotuneAttitudeControl::Run() @@ -236,7 +237,7 @@ void McAutotuneAttitudeControl::checkFilters() reset_filters = true; } - if (reset_filters && !_are_filters_initialized) { + if (reset_filters || !_are_filters_initialized) { _filter_dt = _sample_interval_avg; const float filter_rate_hz = 1.f / _filter_dt; diff --git a/src/modules/mc_pos_control/CMakeLists.txt b/src/modules/mc_pos_control/CMakeLists.txt index 49f61ac967e9..0dea1c6147d7 100644 --- a/src/modules/mc_pos_control/CMakeLists.txt +++ b/src/modules/mc_pos_control/CMakeLists.txt @@ -31,6 +31,7 @@ # ############################################################################ +add_subdirectory(GotoControl) add_subdirectory(PositionControl) add_subdirectory(Takeoff) @@ -42,6 +43,7 @@ px4_add_module( MulticopterPositionControl.cpp MulticopterPositionControl.hpp DEPENDS + GotoControl PositionControl Takeoff controllib diff --git a/src/modules/mc_pos_control/GotoControl/CMakeLists.txt b/src/modules/mc_pos_control/GotoControl/CMakeLists.txt new file mode 100644 index 000000000000..12c7ce819482 --- /dev/null +++ b/src/modules/mc_pos_control/GotoControl/CMakeLists.txt @@ -0,0 +1,38 @@ +############################################################################ +# +# Copyright (c) 2023 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +px4_add_library(GotoControl + GotoControl.cpp + GotoControl.hpp +) +target_include_directories(GotoControl PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}) diff --git a/src/modules/mc_pos_control/GotoControl/GotoControl.cpp b/src/modules/mc_pos_control/GotoControl/GotoControl.cpp new file mode 100644 index 000000000000..2453997dcb15 --- /dev/null +++ b/src/modules/mc_pos_control/GotoControl/GotoControl.cpp @@ -0,0 +1,230 @@ +/**************************************************************************** + * + * Copyright (c) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file GotoControl.cpp + */ + +#include "GotoControl.hpp" + +#include +#include +#include + +using namespace time_literals; + +bool GotoControl::checkForSetpoint(const hrt_abstime &now, const bool enabled) +{ + _goto_setpoint_sub.update(); + const bool timestamp_initialized = _goto_setpoint_sub.get().timestamp != 0; + const bool no_timeout = now < (_goto_setpoint_sub.get().timestamp + 500_ms); + const bool need_to_run = timestamp_initialized && no_timeout && enabled; + + if (!need_to_run) { + _is_initialized = false; + } + + return need_to_run; +} + +void GotoControl::update(const float dt, const matrix::Vector3f &position, const float heading) +{ + if (!_is_initialized) { + resetPositionSmoother(position); + resetHeadingSmoother(heading); + _is_initialized = true; + } + + const goto_setpoint_s &goto_setpoint = _goto_setpoint_sub.get(); + + const Vector3f position_setpoint(_goto_setpoint_sub.get().position); + + if (!position_setpoint.isAllFinite()) { + // TODO: error messaging + _need_smoother_reset = true; + return; + } + + if (!position.isAllFinite()) { + // TODO: error messaging + _need_smoother_reset = true; + return; + } + + if (_need_smoother_reset) { + resetPositionSmoother(position); + } + + setPositionSmootherLimits(goto_setpoint); + + const Vector3f feedforward_velocity{}; + const bool force_zero_velocity_setpoint = false; + PositionSmoothing::PositionSmoothingSetpoints out_setpoints; + _position_smoothing.generateSetpoints(position, position_setpoint, feedforward_velocity, dt, + force_zero_velocity_setpoint, out_setpoints); + + trajectory_setpoint_s trajectory_setpoint{}; + out_setpoints.position.copyTo(trajectory_setpoint.position); + out_setpoints.velocity.copyTo(trajectory_setpoint.velocity); + out_setpoints.acceleration.copyTo(trajectory_setpoint.acceleration); + out_setpoints.jerk.copyTo(trajectory_setpoint.jerk); + + if (goto_setpoint.flag_control_heading && PX4_ISFINITE(goto_setpoint.heading) && PX4_ISFINITE(heading)) { + if (!_controlling_heading || _need_smoother_reset) { + resetHeadingSmoother(heading); + } + + setHeadingSmootherLimits(goto_setpoint); + _heading_smoothing.update(goto_setpoint.heading, dt); + + trajectory_setpoint.yaw = _heading_smoothing.getSmoothedHeading(); + trajectory_setpoint.yawspeed = _heading_smoothing.getSmoothedHeadingRate(); + + _controlling_heading = true; + + } else { + trajectory_setpoint.yaw = NAN; + trajectory_setpoint.yawspeed = NAN; + + _controlling_heading = false; + } + + _need_smoother_reset = false; + + trajectory_setpoint.timestamp = goto_setpoint.timestamp; + _trajectory_setpoint_pub.publish(trajectory_setpoint); + + vehicle_constraints_s vehicle_constraints{ + .timestamp = goto_setpoint.timestamp, + .speed_up = NAN, + .speed_down = NAN, + .want_takeoff = false + }; + _vehicle_constraints_pub.publish(vehicle_constraints); +} + +void GotoControl::resetPositionSmoother(const matrix::Vector3f &position) +{ + if (!position.isAllFinite()) { + // TODO: error messaging + _need_smoother_reset = true; + return; + } + + const Vector3f initial_acceleration{}; + const Vector3f initial_velocity{}; + _position_smoothing.reset(initial_acceleration, initial_velocity, position); + + _need_smoother_reset = false; +} + +void GotoControl::resetHeadingSmoother(const float heading) +{ + if (!PX4_ISFINITE(heading)) { + // TODO: error messaging + _controlling_heading = false; + return; + } + + const float initial_heading_rate{0.f}; + _heading_smoothing.reset(heading, initial_heading_rate); +} + +void GotoControl::setPositionSmootherLimits(const goto_setpoint_s &goto_setpoint) +{ + // Horizontal constraints + float max_horizontal_speed = _param_mpc_xy_cruise; + float max_horizontal_accel = _param_mpc_acc_hor; + + if (goto_setpoint.flag_set_max_horizontal_speed + && PX4_ISFINITE(goto_setpoint.max_horizontal_speed)) { + max_horizontal_speed = math::constrain(goto_setpoint.max_horizontal_speed, 0.f, + _param_mpc_xy_cruise); + + // linearly scale horizontal acceleration limit with horizontal speed limit to maintain smoothing dynamic + // only limit acceleration once within velocity constraints + if (!_position_smoothing.getCurrentVelocityXY().longerThan(max_horizontal_speed)) { + const float speed_scale = max_horizontal_speed / _param_mpc_xy_cruise; + max_horizontal_accel = math::constrain(_param_mpc_acc_hor * speed_scale, 0.f, _param_mpc_acc_hor); + } + } + + _position_smoothing.setCruiseSpeed(max_horizontal_speed); + _position_smoothing.setMaxAccelerationXY(max_horizontal_accel); + + // Vertical constraints + float vehicle_max_vertical_speed = _param_mpc_z_v_auto_dn; + float vehicle_max_vertical_accel = _param_mpc_acc_down_max; + + if (goto_setpoint.position[2] < _position_smoothing.getCurrentPositionZ()) { // goto higher -> more negative + vehicle_max_vertical_speed = _param_mpc_z_v_auto_up; + vehicle_max_vertical_accel = _param_mpc_acc_up_max; + } + + float max_vertical_speed = vehicle_max_vertical_speed; + float max_vertical_accel = vehicle_max_vertical_accel; + + if (goto_setpoint.flag_set_max_vertical_speed && PX4_ISFINITE(goto_setpoint.max_vertical_speed)) { + max_vertical_speed = math::constrain(goto_setpoint.max_vertical_speed, 0.f, vehicle_max_vertical_speed); + + // linearly scale vertical acceleration limit with vertical speed limit to maintain smoothing dynamic + // only limit acceleration once within velocity constraints + if (fabsf(_position_smoothing.getCurrentVelocityZ()) <= max_vertical_speed) { + const float speed_scale = max_vertical_speed / vehicle_max_vertical_speed; + max_vertical_accel = math::constrain(vehicle_max_vertical_accel * speed_scale, 0.f, vehicle_max_vertical_accel); + } + } + + _position_smoothing.setMaxVelocityZ(max_vertical_speed); + _position_smoothing.setMaxAccelerationZ(max_vertical_accel); +} + +void GotoControl::setHeadingSmootherLimits(const goto_setpoint_s &goto_setpoint) +{ + float max_heading_rate = _param_mpc_yawrauto_max; + float max_heading_accel = _param_mpc_yawrauto_acc; + + if (goto_setpoint.flag_set_max_heading_rate && PX4_ISFINITE(goto_setpoint.max_heading_rate)) { + max_heading_rate = math::constrain(goto_setpoint.max_heading_rate, 0.f, _param_mpc_yawrauto_max); + + // linearly scale heading acceleration limit with heading rate limit to maintain smoothing dynamic + // only limit acceleration once within velocity constraints + if (fabsf(_heading_smoothing.getSmoothedHeadingRate()) <= max_heading_rate) { + const float rate_scale = max_heading_rate / _param_mpc_yawrauto_max; + max_heading_accel = math::constrain(_param_mpc_yawrauto_acc * rate_scale, 0.f, _param_mpc_yawrauto_acc); + } + } + + _heading_smoothing.setMaxHeadingRate(max_heading_rate); + _heading_smoothing.setMaxHeadingAccel(max_heading_accel); +} diff --git a/src/modules/mc_pos_control/GotoControl/GotoControl.hpp b/src/modules/mc_pos_control/GotoControl/GotoControl.hpp new file mode 100644 index 000000000000..63158ee979ad --- /dev/null +++ b/src/modules/mc_pos_control/GotoControl/GotoControl.hpp @@ -0,0 +1,141 @@ +/**************************************************************************** + * + * Copyright (c) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file GotoControl.hpp + * + * A class which smooths position and heading references from "go-to" setpoints + * for planar multicopters. + * + * Be sure to set constraints with setGotoConstraints() before calling the update() method for the first time + */ + +#pragma once + +#include +#include +#include +#include + +#include +#include +#include +#include +#include + +class GotoControl +{ +public: + GotoControl() = default; + ~GotoControl() = default; + + bool checkForSetpoint(const hrt_abstime &now, const bool enabled); + + /** + * @brief resets the position smoother at the current position with zero velocity and acceleration. + * + * @param position [m] (NED) local vehicle position + */ + void resetPositionSmoother(const matrix::Vector3f &position); + + /** + * @brief resets the heading smoother at the current heading with zero heading rate and acceleration. + * + * @param heading [rad] (from North) vehicle heading + */ + void resetHeadingSmoother(const float heading); + + /** + * @brief updates the smoothers with the current setpoints and outputs the "trajectory setpoint" for lower level + * loops to track. + * + * @param[in] dt [s] time since last control update + * @param[in] position [m] (NED) local vehicle position + * @param[in] heading [rad] (from North) vehicle heading + * @param[in] goto_setpoint struct containing current go-to setpoints + * @param[out] trajectory_setpoint struct containing trajectory (tracking) setpoints + */ + void update(const float dt, const matrix::Vector3f &position, const float heading); + + // Setting all parameters from the outside saves 300bytes flash + void setParamMpcAccHor(const float param_mpc_acc_hor) { _param_mpc_acc_hor = param_mpc_acc_hor; } + void setParamMpcAccDownMax(const float param_mpc_acc_down_max) { _param_mpc_acc_down_max = param_mpc_acc_down_max; } + void setParamMpcAccUpMax(const float param_mpc_acc_up_max) { _param_mpc_acc_up_max = param_mpc_acc_up_max; } + void setParamMpcJerkAuto(const float param_mpc_jerk_auto) { _position_smoothing.setMaxJerk(param_mpc_jerk_auto); } + void setParamMpcXyCruise(const float param_mpc_xy_cruise) { _param_mpc_xy_cruise = param_mpc_xy_cruise; } + void setParamMpcXyErrMax(const float param_mpc_xy_err_max) { _position_smoothing.setMaxAllowedHorizontalError(param_mpc_xy_err_max); } + void setParamMpcXyVelMax(const float param_mpc_xy_vel_max) { _position_smoothing.setMaxVelocityXY(param_mpc_xy_vel_max); } + void setParamMpcYawrautoMax(const float param_mpc_yawrauto_max) { _param_mpc_yawrauto_max = param_mpc_yawrauto_max; } + void setParamMpcYawrautoAcc(const float param_mpc_yawrauto_acc) { _param_mpc_yawrauto_acc = param_mpc_yawrauto_acc; } + void setParamMpcZVAutoDn(const float param_mpc_z_v_auto_dn) { _param_mpc_z_v_auto_dn = param_mpc_z_v_auto_dn; } + void setParamMpcZVAutoUp(const float param_mpc_z_v_auto_up) { _param_mpc_z_v_auto_up = param_mpc_z_v_auto_up; } + +private: + /** + * @brief optionally sets dynamic translational speed limits with corresponding scale on acceleration + * + * @param goto_setpoint struct containing current go-to setpoints + */ + void setPositionSmootherLimits(const goto_setpoint_s &goto_setpoint); + + /** + * @brief optionally sets a dynamic heading rate limit with corresponding scale on heading acceleration + * + * @param goto_setpoint struct containing current go-to setpoints + */ + void setHeadingSmootherLimits(const goto_setpoint_s &goto_setpoint); + + uORB::SubscriptionData _goto_setpoint_sub{ORB_ID(goto_setpoint)}; + uORB::Publication _trajectory_setpoint_pub{ORB_ID(trajectory_setpoint)}; + uORB::Publication _vehicle_constraints_pub{ORB_ID(vehicle_constraints)}; + + PositionSmoothing _position_smoothing; + HeadingSmoothing _heading_smoothing; + + bool _is_initialized{false}; ///< true if smoothers were reset to current state + + // flags that the next update() requires a valid current vehicle position to reset the smoothers + bool _need_smoother_reset{true}; + + // flags if the last update() was controlling heading + bool _controlling_heading{false}; + + float _param_mpc_acc_hor{0.f}; + float _param_mpc_acc_down_max{0.f}; + float _param_mpc_acc_up_max{0.f}; + float _param_mpc_xy_cruise{0.f}; + float _param_mpc_yawrauto_max{0.f}; + float _param_mpc_yawrauto_acc{0.f}; + float _param_mpc_z_v_auto_dn{0.f}; + float _param_mpc_z_v_auto_up{0.f}; +}; diff --git a/src/modules/mc_pos_control/MulticopterPositionControl.cpp b/src/modules/mc_pos_control/MulticopterPositionControl.cpp index abc389f0829c..5f8e5f680b5e 100644 --- a/src/modules/mc_pos_control/MulticopterPositionControl.cpp +++ b/src/modules/mc_pos_control/MulticopterPositionControl.cpp @@ -42,14 +42,11 @@ using namespace matrix; MulticopterPositionControl::MulticopterPositionControl(bool vtol) : - SuperBlock(nullptr, "MPC"), ModuleParams(nullptr), ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::nav_and_controllers), - _vehicle_attitude_setpoint_pub(vtol ? ORB_ID(mc_virtual_attitude_setpoint) : ORB_ID(vehicle_attitude_setpoint)), - _vel_x_deriv(this, "VELD"), - _vel_y_deriv(this, "VELD"), - _vel_z_deriv(this, "VELD") + _vehicle_attitude_setpoint_pub(vtol ? ORB_ID(mc_virtual_attitude_setpoint) : ORB_ID(vehicle_attitude_setpoint)) { + _sample_interval_s.update(0.01f); // 100 Hz default parameters_update(true); _tilt_limit_slew_rate.setSlewRate(.2f); _takeoff_status_pub.advertise(); @@ -83,7 +80,42 @@ void MulticopterPositionControl::parameters_update(bool force) // update parameters from storage ModuleParams::updateParams(); - SuperBlock::updateParams(); + + float sample_freq_hz = 1.f / _sample_interval_s.mean(); + + // velocity notch filter + if ((_param_mpc_vel_nf_frq.get() > 0.f) && (_param_mpc_vel_nf_bw.get() > 0.f)) { + _vel_xy_notch_filter.setParameters(sample_freq_hz, _param_mpc_vel_nf_frq.get(), _param_mpc_vel_nf_bw.get()); + _vel_z_notch_filter.setParameters(sample_freq_hz, _param_mpc_vel_nf_frq.get(), _param_mpc_vel_nf_bw.get()); + + } else { + _vel_xy_notch_filter.disable(); + _vel_z_notch_filter.disable(); + } + + // velocity xy/z low pass filter + if (_param_mpc_vel_lp.get() > 0.f) { + _vel_xy_lp_filter.setCutoffFreq(sample_freq_hz, _param_mpc_vel_lp.get()); + _vel_z_lp_filter.setCutoffFreq(sample_freq_hz, _param_mpc_vel_lp.get()); + + } else { + // disable filtering + _vel_xy_lp_filter.setAlpha(1.f); + _vel_z_lp_filter.setAlpha(1.f); + } + + // velocity derivative xy/z low pass filter + if (_param_mpc_veld_lp.get() > 0.f) { + _vel_deriv_xy_lp_filter.setCutoffFreq(sample_freq_hz, _param_mpc_veld_lp.get()); + _vel_deriv_z_lp_filter.setCutoffFreq(sample_freq_hz, _param_mpc_veld_lp.get()); + + } else { + // disable filtering + _vel_deriv_xy_lp_filter.setAlpha(1.f); + _vel_deriv_z_lp_filter.setAlpha(1.f); + } + + int num_changed = 0; @@ -167,6 +199,18 @@ void MulticopterPositionControl::parameters_update(bool force) Vector3f(_param_mpc_xy_vel_i_acc.get(), _param_mpc_xy_vel_i_acc.get(), _param_mpc_z_vel_i_acc.get()), Vector3f(_param_mpc_xy_vel_d_acc.get(), _param_mpc_xy_vel_d_acc.get(), _param_mpc_z_vel_d_acc.get())); _control.setHorizontalThrustMargin(_param_mpc_thr_xy_marg.get()); + _control.decoupleHorizontalAndVecticalAcceleration(_param_mpc_acc_decouple.get()); + _goto_control.setParamMpcAccHor(_param_mpc_acc_hor.get()); + _goto_control.setParamMpcAccDownMax(_param_mpc_acc_down_max.get()); + _goto_control.setParamMpcAccUpMax(_param_mpc_acc_up_max.get()); + _goto_control.setParamMpcJerkAuto(_param_mpc_jerk_auto.get()); + _goto_control.setParamMpcXyCruise(_param_mpc_xy_cruise.get()); + _goto_control.setParamMpcXyErrMax(_param_mpc_xy_err_max.get()); + _goto_control.setParamMpcXyVelMax(_param_mpc_xy_vel_max.get()); + _goto_control.setParamMpcYawrautoMax(_param_mpc_yawrauto_max.get()); + _goto_control.setParamMpcYawrautoAcc(_param_mpc_yawrauto_acc.get()); + _goto_control.setParamMpcZVAutoDn(_param_mpc_z_v_auto_dn.get()); + _goto_control.setParamMpcZVAutoUp(_param_mpc_z_v_auto_up.get()); // Check that the design parameters are inside the absolute maximum constraints if (_param_mpc_xy_cruise.get() > _param_mpc_xy_vel_max.get()) { @@ -264,7 +308,7 @@ void MulticopterPositionControl::parameters_update(bool force) } PositionControlStates MulticopterPositionControl::set_vehicle_states(const vehicle_local_position_s - &vehicle_local_position) + &vehicle_local_position, const float dt_s) { PositionControlStates states; @@ -288,29 +332,42 @@ PositionControlStates MulticopterPositionControl::set_vehicle_states(const vehic const Vector2f velocity_xy(vehicle_local_position.vx, vehicle_local_position.vy); if (vehicle_local_position.v_xy_valid && velocity_xy.isAllFinite()) { - states.velocity.xy() = velocity_xy; - states.acceleration(0) = _vel_x_deriv.update(velocity_xy(0)); - states.acceleration(1) = _vel_y_deriv.update(velocity_xy(1)); + const Vector2f vel_xy_prev = _vel_xy_lp_filter.getState(); + + // vel xy notch filter, then low pass filter + states.velocity.xy() = _vel_xy_lp_filter.update(_vel_xy_notch_filter.apply(velocity_xy)); + + // vel xy derivative low pass filter + states.acceleration.xy() = _vel_deriv_xy_lp_filter.update((_vel_xy_lp_filter.getState() - vel_xy_prev) / dt_s); } else { states.velocity(0) = states.velocity(1) = NAN; states.acceleration(0) = states.acceleration(1) = NAN; - // reset derivatives to prevent acceleration spikes when regaining velocity - _vel_x_deriv.reset(); - _vel_y_deriv.reset(); + // reset filters to prevent acceleration spikes when regaining velocity + _vel_xy_lp_filter.reset({}); + _vel_xy_notch_filter.reset(); + _vel_deriv_xy_lp_filter.reset({}); } if (PX4_ISFINITE(vehicle_local_position.vz) && vehicle_local_position.v_z_valid) { - states.velocity(2) = vehicle_local_position.vz; - states.acceleration(2) = _vel_z_deriv.update(states.velocity(2)); + + const float vel_z_prev = _vel_z_lp_filter.getState(); + + // vel z notch filter, then low pass filter + states.velocity(2) = _vel_z_lp_filter.update(_vel_z_notch_filter.apply(vehicle_local_position.vz)); + + // vel z derivative low pass filter + states.acceleration(2) = _vel_deriv_z_lp_filter.update((_vel_z_lp_filter.getState() - vel_z_prev) / dt_s); } else { states.velocity(2) = NAN; states.acceleration(2) = NAN; - // reset derivative to prevent acceleration spikes when regaining velocity - _vel_z_deriv.reset(); + // reset filters to prevent acceleration spikes when regaining velocity + _vel_z_lp_filter.reset({}); + _vel_z_notch_filter.reset(); + _vel_deriv_z_lp_filter.reset({}); } states.yaw = vehicle_local_position.heading; @@ -339,8 +396,7 @@ void MulticopterPositionControl::Run() math::constrain(((vehicle_local_position.timestamp_sample - _time_stamp_last_loop) * 1e-6f), 0.002f, 0.04f); _time_stamp_last_loop = vehicle_local_position.timestamp_sample; - // set _dt in controllib Block for BlockDerivative - setDt(dt); + _sample_interval_s.update(dt); if (_vehicle_control_mode_sub.updated()) { const bool previous_position_control_enabled = _vehicle_control_mode.flag_multicopter_position_control_enabled; @@ -368,52 +424,17 @@ void MulticopterPositionControl::Run() } } - _trajectory_setpoint_sub.update(&_setpoint); - - // adjust existing (or older) setpoint with any EKF reset deltas - if ((_setpoint.timestamp != 0) && (_setpoint.timestamp < vehicle_local_position.timestamp)) { - if (vehicle_local_position.vxy_reset_counter != _vxy_reset_counter) { - _setpoint.velocity[0] += vehicle_local_position.delta_vxy[0]; - _setpoint.velocity[1] += vehicle_local_position.delta_vxy[1]; - } + PositionControlStates states{set_vehicle_states(vehicle_local_position, dt)}; - if (vehicle_local_position.vz_reset_counter != _vz_reset_counter) { - _setpoint.velocity[2] += vehicle_local_position.delta_vz; - } - - if (vehicle_local_position.xy_reset_counter != _xy_reset_counter) { - _setpoint.position[0] += vehicle_local_position.delta_xy[0]; - _setpoint.position[1] += vehicle_local_position.delta_xy[1]; - } - - if (vehicle_local_position.z_reset_counter != _z_reset_counter) { - _setpoint.position[2] += vehicle_local_position.delta_z; - } - - if (vehicle_local_position.heading_reset_counter != _heading_reset_counter) { - _setpoint.yaw = wrap_pi(_setpoint.yaw + vehicle_local_position.delta_heading); - } + // if a goto setpoint available this publishes a trajectory setpoint to go there + if (_goto_control.checkForSetpoint(vehicle_local_position.timestamp_sample, + _vehicle_control_mode.flag_multicopter_position_control_enabled)) { + _goto_control.update(dt, states.position, states.yaw); } - if (vehicle_local_position.vxy_reset_counter != _vxy_reset_counter) { - _vel_x_deriv.reset(); - _vel_y_deriv.reset(); - } - - if (vehicle_local_position.vz_reset_counter != _vz_reset_counter) { - _vel_z_deriv.reset(); - } - - // save latest reset counters - _vxy_reset_counter = vehicle_local_position.vxy_reset_counter; - _vz_reset_counter = vehicle_local_position.vz_reset_counter; - _xy_reset_counter = vehicle_local_position.xy_reset_counter; - _z_reset_counter = vehicle_local_position.z_reset_counter; - _heading_reset_counter = vehicle_local_position.heading_reset_counter; - - - PositionControlStates states{set_vehicle_states(vehicle_local_position)}; + _trajectory_setpoint_sub.update(&_setpoint); + adjustSetpointForEKFResets(vehicle_local_position, _setpoint); if (_vehicle_control_mode.flag_multicopter_position_control_enabled) { // set failsafe setpoint if there hasn't been a new @@ -466,10 +487,11 @@ void MulticopterPositionControl::Run() _vehicle_constraints.speed_down = _param_mpc_z_vel_max_dn.get(); } + bool skip_takeoff = _param_com_throw_en.get(); // handle smooth takeoff _takeoff.updateTakeoffState(_vehicle_control_mode.flag_armed, _vehicle_land_detected.landed, _vehicle_constraints.want_takeoff, - _vehicle_constraints.speed_up, false, vehicle_local_position.timestamp_sample); + _vehicle_constraints.speed_up, skip_takeoff, vehicle_local_position.timestamp_sample); const bool not_taken_off = (_takeoff.getTakeoffState() < TakeoffState::rampup); const bool flying = (_takeoff.getTakeoffState() >= TakeoffState::flight); @@ -632,6 +654,51 @@ trajectory_setpoint_s MulticopterPositionControl::generateFailsafeSetpoint(const return failsafe_setpoint; } +void MulticopterPositionControl::adjustSetpointForEKFResets(const vehicle_local_position_s &vehicle_local_position, + trajectory_setpoint_s &setpoint) +{ + if ((setpoint.timestamp != 0) && (setpoint.timestamp < vehicle_local_position.timestamp)) { + if (vehicle_local_position.vxy_reset_counter != _vxy_reset_counter) { + setpoint.velocity[0] += vehicle_local_position.delta_vxy[0]; + setpoint.velocity[1] += vehicle_local_position.delta_vxy[1]; + } + + if (vehicle_local_position.vz_reset_counter != _vz_reset_counter) { + setpoint.velocity[2] += vehicle_local_position.delta_vz; + } + + if (vehicle_local_position.xy_reset_counter != _xy_reset_counter) { + setpoint.position[0] += vehicle_local_position.delta_xy[0]; + setpoint.position[1] += vehicle_local_position.delta_xy[1]; + } + + if (vehicle_local_position.z_reset_counter != _z_reset_counter) { + setpoint.position[2] += vehicle_local_position.delta_z; + } + + if (vehicle_local_position.heading_reset_counter != _heading_reset_counter) { + setpoint.yaw = wrap_pi(setpoint.yaw + vehicle_local_position.delta_heading); + } + } + + if (vehicle_local_position.vxy_reset_counter != _vxy_reset_counter) { + _vel_xy_lp_filter.reset(_vel_xy_lp_filter.getState() + Vector2f(vehicle_local_position.delta_vxy)); + _vel_xy_notch_filter.reset(); + } + + if (vehicle_local_position.vz_reset_counter != _vz_reset_counter) { + _vel_z_lp_filter.reset(_vel_z_lp_filter.getState() + vehicle_local_position.delta_vz); + _vel_z_notch_filter.reset(); + } + + // save latest reset counters + _vxy_reset_counter = vehicle_local_position.vxy_reset_counter; + _vz_reset_counter = vehicle_local_position.vz_reset_counter; + _xy_reset_counter = vehicle_local_position.xy_reset_counter; + _z_reset_counter = vehicle_local_position.z_reset_counter; + _heading_reset_counter = vehicle_local_position.heading_reset_counter; +} + int MulticopterPositionControl::task_spawn(int argc, char *argv[]) { bool vtol = false; diff --git a/src/modules/mc_pos_control/MulticopterPositionControl.hpp b/src/modules/mc_pos_control/MulticopterPositionControl.hpp index 97c4fd2169ec..f7cd9bbbe09a 100644 --- a/src/modules/mc_pos_control/MulticopterPositionControl.hpp +++ b/src/modules/mc_pos_control/MulticopterPositionControl.hpp @@ -39,9 +39,12 @@ #include "PositionControl/PositionControl.hpp" #include "Takeoff/Takeoff.hpp" +#include "GotoControl/GotoControl.hpp" #include -#include +#include +#include +#include #include #include #include @@ -67,8 +70,8 @@ using namespace time_literals; -class MulticopterPositionControl : public ModuleBase, public control::SuperBlock, - public ModuleParams, public px4::ScheduledWorkItem +class MulticopterPositionControl : public ModuleBase, public ModuleParams, + public px4::ScheduledWorkItem { public: MulticopterPositionControl(bool vtol = false); @@ -145,9 +148,16 @@ class MulticopterPositionControl : public ModuleBase (ParamFloat) _param_mpc_tiltmax_air, (ParamFloat) _param_mpc_thr_hover, (ParamBool) _param_mpc_use_hte, + (ParamBool) _param_mpc_acc_decouple, + + (ParamFloat) _param_mpc_vel_lp, + (ParamFloat) _param_mpc_vel_nf_frq, + (ParamFloat) _param_mpc_vel_nf_bw, + (ParamFloat) _param_mpc_veld_lp, // Takeoff / Land (ParamFloat) _param_com_spoolup_time, /**< time to let motors spool up after arming */ + (ParamBool) _param_com_throw_en, /**< throw launch enabled */ (ParamFloat) _param_mpc_tko_ramp_t, /**< time constant for smooth takeoff ramp */ (ParamFloat) _param_mpc_tko_speed, (ParamFloat) _param_mpc_land_speed, @@ -175,14 +185,26 @@ class MulticopterPositionControl : public ModuleBase (ParamFloat) _param_mpc_man_y_tau, (ParamFloat) _param_mpc_xy_vel_all, - (ParamFloat) _param_mpc_z_vel_all + (ParamFloat) _param_mpc_z_vel_all, + + (ParamFloat) _param_mpc_xy_err_max, + (ParamFloat) _param_mpc_yawrauto_max, + (ParamFloat) _param_mpc_yawrauto_acc ); - control::BlockDerivative _vel_x_deriv; /**< velocity derivative in x */ - control::BlockDerivative _vel_y_deriv; /**< velocity derivative in y */ - control::BlockDerivative _vel_z_deriv; /**< velocity derivative in z */ + math::WelfordMean _sample_interval_s{}; + + AlphaFilter _vel_xy_lp_filter{}; + AlphaFilter _vel_z_lp_filter{}; + + math::NotchFilter _vel_xy_notch_filter{}; + math::NotchFilter _vel_z_notch_filter{}; - PositionControl _control; /**< class for core PID position control */ + AlphaFilter _vel_deriv_xy_lp_filter{}; + AlphaFilter _vel_deriv_z_lp_filter{}; + + GotoControl _goto_control; ///< class for handling smooth goto position setpoints + PositionControl _control; ///< class for core PID position control hrt_abstime _last_warn{0}; /**< timer when the last warn message was sent out */ @@ -216,7 +238,7 @@ class MulticopterPositionControl : public ModuleBase /** * Check for validity of positon/velocity states. */ - PositionControlStates set_vehicle_states(const vehicle_local_position_s &local_pos); + PositionControlStates set_vehicle_states(const vehicle_local_position_s &local_pos, const float dt_s); /** * Generate setpoint to bridge no executable setpoint being available. @@ -224,4 +246,13 @@ class MulticopterPositionControl : public ModuleBase * This should only happen briefly when transitioning and never during mode operation or by design. */ trajectory_setpoint_s generateFailsafeSetpoint(const hrt_abstime &now, const PositionControlStates &states, bool warn); + + /** + * @brief adjust existing (or older) setpoint with any EKF reset deltas and update the local counters + * + * @param[in] vehicle_local_position struct containing EKF reset deltas and counters + * @param[out] setpoint trajectory setpoint struct to be adjusted + */ + void adjustSetpointForEKFResets(const vehicle_local_position_s &vehicle_local_position, + trajectory_setpoint_s &setpoint); }; diff --git a/src/modules/mc_pos_control/PositionControl/ControlMath.cpp b/src/modules/mc_pos_control/PositionControl/ControlMath.cpp index c540baca19a1..3d1b1268c2cc 100644 --- a/src/modules/mc_pos_control/PositionControl/ControlMath.cpp +++ b/src/modules/mc_pos_control/PositionControl/ControlMath.cpp @@ -83,7 +83,7 @@ void bodyzToAttitude(Vector3f body_z, const float yaw_sp, vehicle_attitude_setpo Vector3f body_x = y_C % body_z; // keep nose to front while inverted upside down - if (body_z(2) < 0.0f) { + if (body_z(2) < 0.f) { body_x = -body_x; } @@ -91,7 +91,7 @@ void bodyzToAttitude(Vector3f body_z, const float yaw_sp, vehicle_attitude_setpo // desired thrust is in XY plane, set X downside to construct correct matrix, // but yaw component will not be used actually body_x.zero(); - body_x(2) = 1.0f; + body_x(2) = 1.f; } body_x.normalize(); @@ -111,12 +111,6 @@ void bodyzToAttitude(Vector3f body_z, const float yaw_sp, vehicle_attitude_setpo // copy quaternion setpoint to attitude setpoint topic const Quatf q_sp{R_sp}; q_sp.copyTo(att_sp.q_d); - - // calculate euler angles, for logging only, must not be used for control - const Eulerf euler{R_sp}; - att_sp.roll_body = euler.phi(); - att_sp.pitch_body = euler.theta(); - att_sp.yaw_body = euler.psi(); } Vector2f constrainXY(const Vector2f &v0, const Vector2f &v1, const float &max) @@ -201,7 +195,7 @@ bool cross_sphere_line(const Vector3f &sphere_c, const float sphere_r, // we have triangle CDX with known CD and CX = R, find DX float dx_len = sqrtf(sphere_r * sphere_r - cd_len * cd_len); - if ((sphere_c - line_b) * ab_norm > 0.0f) { + if ((sphere_c - line_b) * ab_norm > 0.f) { // target waypoint is already behind us res = line_b; @@ -218,12 +212,12 @@ bool cross_sphere_line(const Vector3f &sphere_c, const float sphere_r, res = d; // go directly to line // previous waypoint is still in front of us - if ((sphere_c - line_a) * ab_norm < 0.0f) { + if ((sphere_c - line_a) * ab_norm < 0.f) { res = line_a; } // target waypoint is already behind us - if ((sphere_c - line_b) * ab_norm > 0.0f) { + if ((sphere_c - line_b) * ab_norm > 0.f) { res = line_b; } diff --git a/src/modules/mc_pos_control/PositionControl/ControlMathTest.cpp b/src/modules/mc_pos_control/PositionControl/ControlMathTest.cpp index e9b6fba12fb4..ebb23d7ed14e 100644 --- a/src/modules/mc_pos_control/PositionControl/ControlMathTest.cpp +++ b/src/modules/mc_pos_control/PositionControl/ControlMathTest.cpp @@ -108,18 +108,20 @@ TEST(ControlMathTest, ThrottleAttitudeMapping) float yaw = 0.f; vehicle_attitude_setpoint_s att{}; thrustToAttitude(thr, yaw, att); - EXPECT_FLOAT_EQ(att.roll_body, 0.f); - EXPECT_FLOAT_EQ(att.pitch_body, 0.f); - EXPECT_FLOAT_EQ(att.yaw_body, 0.f); + EXPECT_FLOAT_EQ(att.q_d[0], 1.f); + EXPECT_FLOAT_EQ(att.q_d[1], 0.f); + EXPECT_FLOAT_EQ(att.q_d[2], 0.f); + EXPECT_FLOAT_EQ(att.q_d[3], 0.f); EXPECT_FLOAT_EQ(att.thrust_body[2], -1.f); /* expected: same as before but with 90 yaw * reason: only yaw changed */ yaw = M_PI_2_F; thrustToAttitude(thr, yaw, att); - EXPECT_FLOAT_EQ(att.roll_body, 0.f); - EXPECT_FLOAT_EQ(att.pitch_body, 0.f); - EXPECT_FLOAT_EQ(att.yaw_body, M_PI_2_F); + Eulerf euler_att(Quatf(att.q_d)); + EXPECT_FLOAT_EQ(euler_att.phi(), 0.f); + EXPECT_FLOAT_EQ(euler_att.theta(), 0.f); + EXPECT_FLOAT_EQ(euler_att.psi(), M_PI_2_F); EXPECT_FLOAT_EQ(att.thrust_body[2], -1.f); /* expected: same as before but roll 180 @@ -127,9 +129,10 @@ TEST(ControlMathTest, ThrottleAttitudeMapping) * order is: 1. roll, 2. pitch, 3. yaw */ thr = Vector3f(0.f, 0.f, 1.f); thrustToAttitude(thr, yaw, att); - EXPECT_FLOAT_EQ(att.roll_body, -M_PI_F); - EXPECT_FLOAT_EQ(att.pitch_body, 0.f); - EXPECT_FLOAT_EQ(att.yaw_body, M_PI_2_F); + Eulerf euler_att2(Quatf(att.q_d)); + EXPECT_FLOAT_EQ(std::abs(euler_att2.phi()), std::abs(M_PI_F)); + EXPECT_FLOAT_EQ(euler_att2.theta(), 0.f); + EXPECT_FLOAT_EQ(euler_att2.psi(), M_PI_2_F); EXPECT_FLOAT_EQ(att.thrust_body[2], -1.f); } diff --git a/src/modules/mc_pos_control/PositionControl/PositionControl.cpp b/src/modules/mc_pos_control/PositionControl/PositionControl.cpp index 8e58fa66d1fd..72ae5a4a3173 100644 --- a/src/modules/mc_pos_control/PositionControl/PositionControl.cpp +++ b/src/modules/mc_pos_control/PositionControl/PositionControl.cpp @@ -152,8 +152,8 @@ void PositionControl::_velocityControl(const float dt) _accelerationControl(); // Integrator anti-windup in vertical direction - if ((_thr_sp(2) >= -_lim_thr_min && vel_error(2) >= 0.0f) || - (_thr_sp(2) <= -_lim_thr_max && vel_error(2) <= 0.0f)) { + if ((_thr_sp(2) >= -_lim_thr_min && vel_error(2) >= 0.f) || + (_thr_sp(2) <= -_lim_thr_max && vel_error(2) <= 0.f)) { vel_error(2) = 0.f; } @@ -171,9 +171,9 @@ void PositionControl::_velocityControl(const float dt) // Determine how much horizontal thrust is left after prioritizing vertical control const float thrust_max_xy_squared = thrust_max_squared - math::sq(_thr_sp(2)); - float thrust_max_xy = 0; + float thrust_max_xy = 0.f; - if (thrust_max_xy_squared > 0) { + if (thrust_max_xy_squared > 0.f) { thrust_max_xy = sqrtf(thrust_max_xy_squared); } @@ -185,15 +185,15 @@ void PositionControl::_velocityControl(const float dt) // Use tracking Anti-Windup for horizontal direction: during saturation, the integrator is used to unsaturate the output // see Anti-Reset Windup for PID controllers, L.Rundqwist, 1990 const Vector2f acc_sp_xy_produced = Vector2f(_thr_sp) * (CONSTANTS_ONE_G / _hover_thrust); - const float arw_gain = 2.f / _gain_vel_p(0); // The produced acceleration can be greater or smaller than the desired acceleration due to the saturations and the actual vertical thrust (computed independently). // The ARW loop needs to run if the signal is saturated only. - const Vector2f acc_sp_xy = _acc_sp.xy(); - const Vector2f acc_limited_xy = (acc_sp_xy.norm_squared() > acc_sp_xy_produced.norm_squared()) - ? acc_sp_xy_produced - : acc_sp_xy; - vel_error.xy() = Vector2f(vel_error) - arw_gain * (acc_sp_xy - acc_limited_xy); + if (_acc_sp.xy().norm_squared() > acc_sp_xy_produced.norm_squared()) { + const float arw_gain = 2.f / _gain_vel_p(0); + const Vector2f acc_sp_xy = _acc_sp.xy(); + + vel_error.xy() = Vector2f(vel_error) - arw_gain * (acc_sp_xy - acc_sp_xy_produced); + } // Make sure integral doesn't get NAN ControlMath::setZeroIfNanVector3f(vel_error); @@ -204,13 +204,20 @@ void PositionControl::_velocityControl(const float dt) void PositionControl::_accelerationControl() { // Assume standard acceleration due to gravity in vertical direction for attitude generation - Vector3f body_z = Vector3f(-_acc_sp(0), -_acc_sp(1), CONSTANTS_ONE_G).normalized(); + float z_specific_force = -CONSTANTS_ONE_G; + + if (!_decouple_horizontal_and_vertical_acceleration) { + // Include vertical acceleration setpoint for better horizontal acceleration tracking + z_specific_force += _acc_sp(2); + } + + Vector3f body_z = Vector3f(-_acc_sp(0), -_acc_sp(1), -z_specific_force).normalized(); ControlMath::limitTilt(body_z, Vector3f(0, 0, 1), _lim_tilt); - // Scale thrust assuming hover thrust produces standard gravity - float collective_thrust = _acc_sp(2) * (_hover_thrust / CONSTANTS_ONE_G) - _hover_thrust; + // Convert to thrust assuming hover thrust produces standard gravity + const float thrust_ned_z = _acc_sp(2) * (_hover_thrust / CONSTANTS_ONE_G) - _hover_thrust; // Project thrust to planned body attitude - collective_thrust /= (Vector3f(0, 0, 1).dot(body_z)); - collective_thrust = math::min(collective_thrust, -_lim_thr_min); + const float cos_ned_body = (Vector3f(0, 0, 1).dot(body_z)); + const float collective_thrust = math::min(thrust_ned_z / cos_ned_body, -_lim_thr_min); _thr_sp = body_z * collective_thrust; } diff --git a/src/modules/mc_pos_control/PositionControl/PositionControl.hpp b/src/modules/mc_pos_control/PositionControl/PositionControl.hpp index 4eb909e1fa3e..85af876cd136 100644 --- a/src/modules/mc_pos_control/PositionControl/PositionControl.hpp +++ b/src/modules/mc_pos_control/PositionControl/PositionControl.hpp @@ -163,6 +163,11 @@ class PositionControl */ void resetIntegral() { _vel_int.setZero(); } + /** + * If set, the tilt setpoint is computed by assuming no vertical acceleration + */ + void decoupleHorizontalAndVecticalAcceleration(bool val) { _decouple_horizontal_and_vertical_acceleration = val; } + /** * Get the controllers output local position setpoint * These setpoints are the ones which were executed on including PID output and feed-forward. @@ -211,6 +216,7 @@ class PositionControl float _lim_tilt{}; ///< Maximum tilt from level the output attitude is allowed to have float _hover_thrust{}; ///< Thrust [HOVER_THRUST_MIN, HOVER_THRUST_MAX] with which the vehicle hovers not accelerating down or up with level orientation + bool _decouple_horizontal_and_vertical_acceleration{true}; ///< Ignore vertical acceleration setpoint to remove its effect on the tilt setpoint // States matrix::Vector3f _pos; /**< current position */ diff --git a/src/modules/mc_pos_control/PositionControl/PositionControlTest.cpp b/src/modules/mc_pos_control/PositionControl/PositionControlTest.cpp index 0e5a60619a44..9c1e72b1a5c8 100644 --- a/src/modules/mc_pos_control/PositionControl/PositionControlTest.cpp +++ b/src/modules/mc_pos_control/PositionControl/PositionControlTest.cpp @@ -56,9 +56,10 @@ TEST(PositionControlTest, EmptySetpoint) vehicle_attitude_setpoint_s attitude{}; position_control.getAttitudeSetpoint(attitude); - EXPECT_FLOAT_EQ(attitude.roll_body, 0.f); - EXPECT_FLOAT_EQ(attitude.pitch_body, 0.f); - EXPECT_FLOAT_EQ(attitude.yaw_body, 0.f); + Eulerf euler_att(Quatf(attitude.q_d)); + EXPECT_FLOAT_EQ(euler_att.phi(), 0.f); + EXPECT_FLOAT_EQ(euler_att.theta(), 0.f); + EXPECT_FLOAT_EQ(euler_att.psi(), 0.f); EXPECT_FLOAT_EQ(attitude.yaw_sp_move_rate, 0.f); EXPECT_EQ(Quatf(attitude.q_d), Quatf(1.f, 0.f, 0.f, 0.f)); EXPECT_EQ(Vector3f(attitude.thrust_body), Vector3f(0.f, 0.f, 0.f)); @@ -184,7 +185,8 @@ TEST_F(PositionControlBasicTest, PositionControlMaxThrustLimit) EXPECT_FLOAT_EQ(_attitude.thrust_body[2], -MAXIMUM_THRUST); // Then the horizontal margin results in a tilt with the ratio of: horizontal margin / maximum thrust - EXPECT_FLOAT_EQ(_attitude.roll_body, asin((HORIZONTAL_THRUST_MARGIN / sqrt(2.f)) / MAXIMUM_THRUST)); + Eulerf euler_att(Quatf(_attitude.q_d)); + EXPECT_FLOAT_EQ(euler_att.phi(), asin((HORIZONTAL_THRUST_MARGIN / sqrt(2.f)) / MAXIMUM_THRUST)); // TODO: add this line back once attitude setpoint generation strategy does not align body yaw with heading all the time anymore // EXPECT_FLOAT_EQ(_attitude.pitch_body, -asin((HORIZONTAL_THRUST_MARGIN / sqrt(2.f)) / MAXIMUM_THRUST)); } @@ -198,9 +200,10 @@ TEST_F(PositionControlBasicTest, PositionControlMinThrustLimit) EXPECT_FLOAT_EQ(thrust.length(), 0.1f); EXPECT_FLOAT_EQ(_attitude.thrust_body[2], -0.1f); + Eulerf euler_att(Quatf(_attitude.q_d)); - EXPECT_FLOAT_EQ(_attitude.roll_body, 0.f); - EXPECT_FLOAT_EQ(_attitude.pitch_body, -1.f); + EXPECT_FLOAT_EQ(euler_att.phi(), 0.f); + EXPECT_FLOAT_EQ(euler_att.theta(), -1.f); } TEST_F(PositionControlBasicTest, FailsafeInput) @@ -377,6 +380,7 @@ TEST_F(PositionControlBasicTest, IntegratorWindupWithInvalidSetpoint) EXPECT_TRUE(runController()); // THEN: the integral did not wind up and produce unexpected deviation - EXPECT_FLOAT_EQ(_attitude.roll_body, 0.f); - EXPECT_FLOAT_EQ(_attitude.pitch_body, 0.f); + Eulerf euler_att(Quatf(_attitude.q_d)); + EXPECT_FLOAT_EQ(euler_att.phi(), 0.f); + EXPECT_FLOAT_EQ(euler_att.theta(), 0.f); } diff --git a/src/modules/mc_pos_control/Takeoff/TakeoffTest.cpp b/src/modules/mc_pos_control/Takeoff/TakeoffTest.cpp index edfe9e8eb4e8..d718ef687bbe 100644 --- a/src/modules/mc_pos_control/Takeoff/TakeoffTest.cpp +++ b/src/modules/mc_pos_control/Takeoff/TakeoffTest.cpp @@ -46,7 +46,7 @@ TEST(TakeoffTest, RegularTakeoffRamp) { TakeoffHandling takeoff; takeoff.setSpoolupTime(1.f); - takeoff.setTakeoffRampTime(2.0); + takeoff.setTakeoffRampTime(2.f); takeoff.generateInitialRampValue(CONSTANTS_ONE_G / 0.5f); // disarmed, landed, don't want takeoff diff --git a/src/modules/mc_pos_control/mc_pos_control_params.c b/src/modules/mc_pos_control/mc_pos_control_params.c deleted file mode 100644 index 181ae47e5a1a..000000000000 --- a/src/modules/mc_pos_control/mc_pos_control_params.c +++ /dev/null @@ -1,898 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2013-2016 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file mc_pos_control_params.c - * Multicopter position controller parameters. - * - * @author Anton Babushkin - */ - -/** - * Minimum collective thrust in auto thrust control - * - * It's recommended to set it > 0 to avoid free fall with zero thrust. - * Note: Without airmode zero thrust leads to zero roll/pitch control authority. (see MC_AIRMODE) - * - * @unit norm - * @min 0.05 - * @max 1.0 - * @decimal 2 - * @increment 0.01 - * @group Multicopter Position Control - */ -PARAM_DEFINE_FLOAT(MPC_THR_MIN, 0.12f); - -/** - * Hover thrust - * - * Vertical thrust required to hover. - * This value is mapped to center stick for manual throttle control. - * With this value set to the thrust required to hover, transition - * from manual to Altitude or Position mode while hovering will occur with the - * throttle stick near center, which is then interpreted as (near) - * zero demand for vertical speed. - * - * This parameter is also important for the landing detection to work correctly. - * - * @unit norm - * @min 0.1 - * @max 0.8 - * @decimal 2 - * @increment 0.01 - * @group Multicopter Position Control - */ -PARAM_DEFINE_FLOAT(MPC_THR_HOVER, 0.5f); - -/** - * Hover thrust source selector - * - * Set false to use the fixed parameter MPC_THR_HOVER - * Set true to use the value computed by the hover thrust estimator - * - * @boolean - * @group Multicopter Position Control - */ -PARAM_DEFINE_INT32(MPC_USE_HTE, 1); - -/** - * Thrust curve in Manual Mode - * - * This parameter defines how the throttle stick input is mapped to commanded thrust - * in Manual/Stabilized flight mode. - * - * In case the default is used ('Rescale to hover thrust'), the stick input is linearly - * rescaled, such that a centered stick corresponds to the hover throttle (see MPC_THR_HOVER). - * - * Select 'No Rescale' to directly map the stick 1:1 to the output. This can be useful - * in case the hover thrust is very low and the default would lead to too much distortion - * (e.g. if hover thrust is set to 20%, 80% of the upper thrust range is squeezed into the - * upper half of the stick range). - * - * Note: In case MPC_THR_HOVER is set to 50%, the modes 0 and 1 are the same. - * - * @value 0 Rescale to hover thrust - * @value 1 No Rescale - * @group Multicopter Position Control - */ -PARAM_DEFINE_INT32(MPC_THR_CURVE, 0); - -/** - * Horizontal thrust margin - * - * Margin that is kept for horizontal control when prioritizing vertical thrust. - * To avoid completely starving horizontal control with high vertical error. - * - * @unit norm - * @min 0.0 - * @max 0.5 - * @decimal 2 - * @increment 0.01 - * @group Multicopter Position Control - */ -PARAM_DEFINE_FLOAT(MPC_THR_XY_MARG, 0.3f); - -/** - * Maximum thrust in auto thrust control - * - * Limit max allowed thrust - * - * @unit norm - * @min 0.0 - * @max 1.0 - * @decimal 2 - * @increment 0.01 - * @group Multicopter Position Control - */ -PARAM_DEFINE_FLOAT(MPC_THR_MAX, 1.0f); - -/** - * Minimum manual thrust - * - * Minimum vertical thrust. It's recommended to set it > 0 to avoid free fall with zero thrust. - * With MC_AIRMODE set to 1, this can safely be set to 0. - * - * @unit norm - * @min 0.0 - * @max 1.0 - * @decimal 2 - * @increment 0.01 - * @group Multicopter Position Control - */ -PARAM_DEFINE_FLOAT(MPC_MANTHR_MIN, 0.08f); - -/** - * Proportional gain for vertical position error - * - * @min 0.0 - * @max 1.5 - * @decimal 2 - * @group Multicopter Position Control - */ -PARAM_DEFINE_FLOAT(MPC_Z_P, 1.0f); - -/** - * Proportional gain for vertical velocity error - * - * defined as correction acceleration in m/s^2 per m/s velocity error - * - * @min 2.0 - * @max 15.0 - * @decimal 2 - * @group Multicopter Position Control - */ -PARAM_DEFINE_FLOAT(MPC_Z_VEL_P_ACC, 4.0f); - -/** - * Integral gain for vertical velocity error - * - * defined as correction acceleration in m/s^2 per m velocity integral - * - * Non zero value allows hovering thrust estimation on stabilized or autonomous takeoff. - * - * @min 0.2 - * @max 3.0 - * @decimal 3 - * @group Multicopter Position Control - */ -PARAM_DEFINE_FLOAT(MPC_Z_VEL_I_ACC, 2.0f); - -/** - * Differential gain for vertical velocity error - * - * defined as correction acceleration in m/s^2 per m/s^2 velocity derivative - * - * @min 0.0 - * @max 2.0 - * @decimal 3 - * @group Multicopter Position Control - */ -PARAM_DEFINE_FLOAT(MPC_Z_VEL_D_ACC, 0.0f); - -/** - * Automatic ascent velocity - * - * Ascent velocity in auto modes. - * For manual modes and offboard, see MPC_Z_VEL_MAX_UP - * - * @unit m/s - * @min 0.5 - * @max 8.0 - * @increment 0.1 - * @decimal 1 - * @group Multicopter Position Control - */ -PARAM_DEFINE_FLOAT(MPC_Z_V_AUTO_UP, 3.f); - -/** - * Maximum ascent velocity - * - * Ascent velocity in manual modes and offboard. - * For auto modes, see MPC_Z_V_AUTO_UP - * - * @unit m/s - * @min 0.5 - * @max 8.0 - * @increment 0.1 - * @decimal 1 - * @group Multicopter Position Control - */ -PARAM_DEFINE_FLOAT(MPC_Z_VEL_MAX_UP, 3.f); - -/** - * Automatic descent velocity - * - * Descent velocity in auto modes. - * For manual modes and offboard, see MPC_Z_VEL_MAX_DN - * - * @unit m/s - * @min 0.5 - * @max 4.0 - * @increment 0.1 - * @decimal 1 - * @group Multicopter Position Control - */ -PARAM_DEFINE_FLOAT(MPC_Z_V_AUTO_DN, 1.5f); - -/** - * Maximum descent velocity - * - * Descent velocity in manual modes and offboard. - * For auto modes, see MPC_Z_V_AUTO_DN - * - * @unit m/s - * @min 0.5 - * @max 4.0 - * @increment 0.1 - * @decimal 1 - * @group Multicopter Position Control - */ -PARAM_DEFINE_FLOAT(MPC_Z_VEL_MAX_DN, 1.5f); - -/** - * Proportional gain for horizontal position error - * - * @min 0.0 - * @max 2.0 - * @decimal 2 - * @group Multicopter Position Control - */ -PARAM_DEFINE_FLOAT(MPC_XY_P, 0.95f); - -/** - * Proportional gain for horizontal velocity error - * - * defined as correction acceleration in m/s^2 per m/s velocity error - * - * @min 1.2 - * @max 5.0 - * @decimal 2 - * @group Multicopter Position Control - */ -PARAM_DEFINE_FLOAT(MPC_XY_VEL_P_ACC, 1.8f); - -/** - * Integral gain for horizontal velocity error - * - * defined as correction acceleration in m/s^2 per m velocity integral - * Non-zero value allows to eliminate steady state errors in the presence of disturbances like wind. - * - * @min 0.0 - * @max 60.0 - * @decimal 3 - * @group Multicopter Position Control - */ -PARAM_DEFINE_FLOAT(MPC_XY_VEL_I_ACC, 0.4f); - -/** - * Differential gain for horizontal velocity error. Small values help reduce fast oscillations. If value is too big oscillations will appear again. - * - * defined as correction acceleration in m/s^2 per m/s^2 velocity derivative - * - * @min 0.1 - * @max 2.0 - * @decimal 3 - * @group Multicopter Position Control - */ -PARAM_DEFINE_FLOAT(MPC_XY_VEL_D_ACC, 0.2f); - -/** - * Default horizontal velocity in mission - * - * Horizontal velocity used when flying autonomously in e.g. Missions, RTL, Goto. - * - * @unit m/s - * @min 3.0 - * @max 20.0 - * @increment 1 - * @decimal 2 - * @group Multicopter Position Control - */ -PARAM_DEFINE_FLOAT(MPC_XY_CRUISE, 5.0f); - -/** - * Proportional gain for horizontal trajectory position error - * - * @min 0.1 - * @max 1.0 - * @decimal 1 - * @group Multicopter Position Control - */ -PARAM_DEFINE_FLOAT(MPC_XY_TRAJ_P, 0.5f); - -/** - * Maximum horizontal error allowed by the trajectory generator - * - * The integration speed of the trajectory setpoint is linearly - * reduced with the horizontal position tracking error. When the - * error is above this parameter, the integration of the - * trajectory is stopped to wait for the drone. - * - * This value can be adjusted depending on the tracking - * capabilities of the vehicle. - * - * @min 0.1 - * @max 10.0 - * @decimal 1 - * @group Multicopter Position Control - */ -PARAM_DEFINE_FLOAT(MPC_XY_ERR_MAX, 2.0f); - -/** - * Maximum horizontal velocity setpoint in Position mode - * - * If velocity setpoint larger than MPC_XY_VEL_MAX is set, then - * the setpoint will be capped to MPC_XY_VEL_MAX - * - * The maximum sideways and backward speed can be set differently - * using MPC_VEL_MAN_SIDE and MPC_VEL_MAN_BACK, respectively. - * - * @unit m/s - * @min 3.0 - * @max 20.0 - * @increment 1 - * @decimal 2 - * @group Multicopter Position Control - */ -PARAM_DEFINE_FLOAT(MPC_VEL_MANUAL, 10.0f); - -/** - * Maximum sideways velocity in Position mode - * - * If set to a negative value or larger than - * MPC_VEL_MANUAL then MPC_VEL_MANUAL is used. - * - * @unit m/s - * @min -1.0 - * @max 20.0 - * @increment 0.1 - * @decimal 2 - * @group Multicopter Position Control - */ -PARAM_DEFINE_FLOAT(MPC_VEL_MAN_SIDE, -1.0f); - -/** - * Maximum backward velocity in Position mode - * - * If set to a negative value or larger than - * MPC_VEL_MANUAL then MPC_VEL_MANUAL is used. - * - * @unit m/s - * @min -1.0 - * @max 20.0 - * @increment 0.1 - * @decimal 2 - * @group Multicopter Position Control - */ -PARAM_DEFINE_FLOAT(MPC_VEL_MAN_BACK, -1.0f); - -/** - * Maximum horizontal velocity - * - * Maximum horizontal velocity in AUTO mode. If higher speeds - * are commanded in a mission they will be capped to this velocity. - * - * @unit m/s - * @min 0.0 - * @max 20.0 - * @increment 1 - * @decimal 2 - * @group Multicopter Position Control - */ -PARAM_DEFINE_FLOAT(MPC_XY_VEL_MAX, 12.0f); - -/** - * Maximum tilt angle in air - * - * Limits maximum tilt in AUTO and POSCTRL modes during flight. - * - * @unit deg - * @min 20.0 - * @max 89.0 - * @decimal 1 - * @group Multicopter Position Control - */ -PARAM_DEFINE_FLOAT(MPC_TILTMAX_AIR, 45.0f); - -/** - * Maximum tilt during landing - * - * Limits maximum tilt angle on landing. - * - * @unit deg - * @min 10.0 - * @max 89.0 - * @decimal 1 - * @group Multicopter Position Control - */ -PARAM_DEFINE_FLOAT(MPC_TILTMAX_LND, 12.0f); - -/** - * Landing descend rate - * - * @unit m/s - * @min 0.6 - * @decimal 1 - * @group Multicopter Position Control - */ -PARAM_DEFINE_FLOAT(MPC_LAND_SPEED, 0.7f); - -/** - * Land crawl descend rate - * - * Used below MPC_LAND_ALT3 if distance sensor data is availabe. - * - * @unit m/s - * @min 0.1 - * @decimal 1 - * @group Multicopter Position Control - */ -PARAM_DEFINE_FLOAT(MPC_LAND_CRWL, 0.3f); - -/** - * Enable user assisted descent for autonomous land routine - * - * When enabled, descent speed will be: - * stick full up - 0 - * stick centered - MPC_LAND_SPEED - * stick full down - 2 * MPC_LAND_SPEED - * - * Additionally, the vehicle can be yawed and moved laterally using the other sticks. - * Manual override during auto modes has to be disabled to use this feature (see COM_RC_OVERRIDE). - * - * @min 0 - * @max 1 - * @value 0 Fixed descent speed of MPC_LAND_SPEED - * @value 1 User assisted descent speed - * @group Multicopter Position Control - */ -PARAM_DEFINE_INT32(MPC_LAND_RC_HELP, 0); - -/** - * User assisted landing radius - * - * When user assisted descent is enabled (see MPC_LAND_RC_HELP), - * this parameter controls the maximum position adjustment - * allowed from the original landing point. - * - * @unit m - * @min 0 - * @decimal 1 - * @group Multicopter Position Control - */ -PARAM_DEFINE_FLOAT(MPC_LAND_RADIUS, 1000.f); - -/** - * Takeoff climb rate - * - * @unit m/s - * @min 1 - * @max 5 - * @decimal 2 - * @group Multicopter Position Control - */ -PARAM_DEFINE_FLOAT(MPC_TKO_SPEED, 1.5f); - -/** - * Maximal tilt angle in manual or altitude mode - * - * @unit deg - * @min 0.0 - * @max 90.0 - * @decimal 1 - * @group Multicopter Position Control - */ -PARAM_DEFINE_FLOAT(MPC_MAN_TILT_MAX, 35.0f); - -/** - * Max manual yaw rate - * - * @unit deg/s - * @min 0.0 - * @max 400 - * @decimal 1 - * @group Multicopter Position Control - */ -PARAM_DEFINE_FLOAT(MPC_MAN_Y_MAX, 150.0f); - -/** - * Manual yaw rate input filter time constant - * - * Setting this parameter to 0 disables the filter - * - * @unit s - * @min 0.0 - * @max 5.0 - * @decimal 2 - * @group Multicopter Position Control - */ -PARAM_DEFINE_FLOAT(MPC_MAN_Y_TAU, 0.08f); - -/** - * Deadzone of sticks where position hold is enabled - * - * @min 0.0 - * @max 1.0 - * @decimal 2 - * @group Multicopter Position Control - */ -PARAM_DEFINE_FLOAT(MPC_HOLD_DZ, 0.1f); - -/** - * Maximum horizontal velocity for which position hold is enabled (use 0 to disable check) - * - * @unit m/s - * @min 0.0 - * @max 3.0 - * @decimal 2 - * @group Multicopter Position Control - */ -PARAM_DEFINE_FLOAT(MPC_HOLD_MAX_XY, 0.8f); - -/** - * Maximum vertical velocity for which position hold is enabled (use 0 to disable check) - * - * @unit m/s - * @min 0.0 - * @max 3.0 - * @decimal 2 - * @group Multicopter Position Control - */ -PARAM_DEFINE_FLOAT(MPC_HOLD_MAX_Z, 0.6f); - -/** - * Low pass filter cut freq. for numerical velocity derivative - * - * @unit Hz - * @min 0.0 - * @max 10 - * @decimal 2 - * @group Multicopter Position Control - */ -PARAM_DEFINE_FLOAT(MPC_VELD_LP, 5.0f); - -/** - * Maximum horizontal acceleration for auto mode and for manual mode - * - * MPC_POS_MODE - * 1 just deceleration - * 3 acceleration and deceleration - * 4 just acceleration - * - * @unit m/s^2 - * @min 2.0 - * @max 15.0 - * @increment 1 - * @decimal 2 - * @group Multicopter Position Control - */ -PARAM_DEFINE_FLOAT(MPC_ACC_HOR_MAX, 5.0f); - -/** - * Acceleration for auto and for manual - * - * Note: In manual, this parameter is only used in MPC_POS_MODE 4. - * - * @unit m/s^2 - * @min 2.0 - * @max 15.0 - * @increment 1 - * @decimal 2 - * @group Multicopter Position Control - */ - -PARAM_DEFINE_FLOAT(MPC_ACC_HOR, 3.0f); - -/** - * Maximum vertical acceleration in velocity controlled modes upward - * - * @unit m/s^2 - * @min 2.0 - * @max 15.0 - * @increment 1 - * @decimal 2 - * @group Multicopter Position Control - */ -PARAM_DEFINE_FLOAT(MPC_ACC_UP_MAX, 4.0f); - -/** - * Maximum vertical acceleration in velocity controlled modes down - * - * @unit m/s^2 - * @min 2.0 - * @max 15.0 - * @increment 1 - * @decimal 2 - * @group Multicopter Position Control - */ -PARAM_DEFINE_FLOAT(MPC_ACC_DOWN_MAX, 3.0f); - -/** - * Maximum jerk limit - * - * Limit the maximum jerk of the vehicle (how fast the acceleration can change). - * A lower value leads to smoother vehicle motions, but it also limits its - * agility (how fast it can change directions or break). - * - * Setting this to the maximum value essentially disables the limit. - * - * Note: This is only used when MPC_POS_MODE is set to a smoothing mode 3 or 4. - * - * @unit m/s^3 - * @min 0.5 - * @max 500.0 - * @increment 1 - * @decimal 2 - * @group Multicopter Position Control - */ -PARAM_DEFINE_FLOAT(MPC_JERK_MAX, 8.0f); - -/** - * Jerk limit in auto mode - * - * Limit the maximum jerk of the vehicle (how fast the acceleration can change). - * A lower value leads to smoother vehicle motions, but it also limits its - * agility. - * - * @unit m/s^3 - * @min 1.0 - * @max 80.0 - * @increment 1 - * @decimal 1 - * @group Multicopter Position Control - */ -PARAM_DEFINE_FLOAT(MPC_JERK_AUTO, 4.0f); - -/** - * Altitude control mode. - * - * Set to 0 to control height relative to the earth frame origin. This origin may move up and down in - * flight due to sensor drift. - * Set to 1 to control height relative to estimated distance to ground. The vehicle will move up and down - * with terrain height variation. Requires a distance to ground sensor. The height controller will - * revert to using height above origin if the distance to ground estimate becomes invalid as indicated - * by the local_position.distance_bottom_valid message being false. - * Set to 2 to control height relative to ground (requires a distance sensor) when stationary and relative - * to earth frame origin when moving horizontally. - * The speed threshold is controlled by the MPC_HOLD_MAX_XY parameter. - * - * @min 0 - * @max 2 - * @value 0 Altitude following - * @value 1 Terrain following - * @value 2 Terrain hold - * @group Multicopter Position Control - */ -PARAM_DEFINE_INT32(MPC_ALT_MODE, 0); - -/** - * Manual position control stick exponential curve sensitivity - * - * The higher the value the less sensitivity the stick has around zero - * while still reaching the maximum value with full stick deflection. - * - * 0 Purely linear input curve (default) - * 1 Purely cubic input curve - * - * @min 0 - * @max 1 - * @decimal 2 - * @group Multicopter Position Control - */ -PARAM_DEFINE_FLOAT(MPC_XY_MAN_EXPO, 0.6f); - -/** - * Manual control stick vertical exponential curve - * - * The higher the value the less sensitivity the stick has around zero - * while still reaching the maximum value with full stick deflection. - * - * 0 Purely linear input curve (default) - * 1 Purely cubic input curve - * - * @min 0 - * @max 1 - * @decimal 2 - * @group Multicopter Position Control - */ -PARAM_DEFINE_FLOAT(MPC_Z_MAN_EXPO, 0.6f); - -/** - * Manual control stick yaw rotation exponential curve - * - * The higher the value the less sensitivity the stick has around zero - * while still reaching the maximum value with full stick deflection. - * - * 0 Purely linear input curve (default) - * 1 Purely cubic input curve - * - * @min 0 - * @max 1 - * @decimal 2 - * @group Multicopter Position Control - */ -PARAM_DEFINE_FLOAT(MPC_YAW_EXPO, 0.6f); - -/** - * Max yaw rate in auto mode - * - * Limit the rate of change of the yaw setpoint in autonomous mode - * to avoid large control output and mixer saturation. - * - * @unit deg/s - * @min 0.0 - * @max 360.0 - * @decimal 1 - * @increment 5 - * @group Multicopter Attitude Control - */ -PARAM_DEFINE_FLOAT(MPC_YAWRAUTO_MAX, 45.0f); - -/** - * Altitude for 1. step of slow landing (descend) - * - * Below this altitude descending velocity gets limited to a value - * between "MPC_Z_VEL_MAX_DN" (or "MPC_Z_V_AUTO_DN") and "MPC_LAND_SPEED" - * Value needs to be higher than "MPC_LAND_ALT2" - * - * @unit m - * @min 0 - * @max 122 - * @decimal 1 - * @group Multicopter Position Control - */ -PARAM_DEFINE_FLOAT(MPC_LAND_ALT1, 10.0f); - -/** - * Altitude for 2. step of slow landing (landing) - * - * Below this altitude descending velocity gets - * limited to "MPC_LAND_SPEED" - * Value needs to be lower than "MPC_LAND_ALT1" - * - * @unit m - * @min 0 - * @max 122 - * @decimal 1 - * @group Multicopter Position Control - */ -PARAM_DEFINE_FLOAT(MPC_LAND_ALT2, 5.0f); - -/** - * Altitude for 3. step of slow landing - * - * Below this altitude descending velocity gets - * limited to "MPC_LAND_CRWL", if LIDAR available. - * No effect if LIDAR not available - * - * @unit m - * @min 0 - * @max 122 - * @decimal 1 - * @group Multicopter Position Control - */ -PARAM_DEFINE_FLOAT(MPC_LAND_ALT3, 1.0f); - -/** - * Position control smooth takeoff ramp time constant - * - * Increasing this value will make automatic and manual takeoff slower. - * If it's too slow the drone might scratch the ground and tip over. - * A time constant of 0 disables the ramp - * - * @min 0 - * @max 5 - * @group Multicopter Position Control - */ -PARAM_DEFINE_FLOAT(MPC_TKO_RAMP_T, 3.0f); - -/** - * Manual-Position control sub-mode - * - * The supported sub-modes are: - * 0 Simple position control where sticks map directly to velocity setpoints - * without smoothing. Useful for velocity control tuning. - * 3 Smooth position control with maximum acceleration and jerk limits based on - * jerk optimized trajectory generator (different algorithm than 1). - * 4 Smooth position control where sticks map to acceleration and there's a virtual brake drag - * - * @value 0 Simple position control - * @value 3 Smooth position control (Jerk optimized) - * @value 4 Acceleration based input - * @group Multicopter Position Control - */ -PARAM_DEFINE_INT32(MPC_POS_MODE, 4); - -/** - * Yaw mode. - * - * Specifies the heading in Auto. - * - * @min 0 - * @max 4 - * @value 0 towards waypoint - * @value 1 towards home - * @value 2 away from home - * @value 3 along trajectory - * @value 4 towards waypoint (yaw first) - * @group Mission - */ -PARAM_DEFINE_INT32(MPC_YAW_MODE, 0); - -/** - * Responsiveness - * - * Changes the overall responsiveness of the vehicle. - * The higher the value, the faster the vehicle will react. - * - * If set to a value greater than zero, other parameters are automatically set (such as - * the acceleration or jerk limits). - * If set to a negative value, the existing individual parameters are used. - * - * @min -1 - * @max 1 - * @decimal 2 - * @increment 0.05 - * @group Multicopter Position Control - */ -PARAM_DEFINE_FLOAT(SYS_VEHICLE_RESP, -0.4f); - -/** - * Overall Horizontal Velocity Limit - * - * If set to a value greater than zero, other parameters are automatically set (such as - * MPC_XY_VEL_MAX or MPC_VEL_MANUAL). - * If set to a negative value, the existing individual parameters are used. - * - * @min -20 - * @max 20 - * @decimal 1 - * @increment 1 - * @group Multicopter Position Control - */ -PARAM_DEFINE_FLOAT(MPC_XY_VEL_ALL, -10.0f); - -/** - * Overall Vertical Velocity Limit - * - * If set to a value greater than zero, other parameters are automatically set (such as - * MPC_Z_VEL_MAX_UP or MPC_LAND_SPEED). - * If set to a negative value, the existing individual parameters are used. - * - * @min -3 - * @max 8 - * @decimal 1 - * @increment 0.5 - * @group Multicopter Position Control - */ -PARAM_DEFINE_FLOAT(MPC_Z_VEL_ALL, -3.0f); diff --git a/src/modules/mc_pos_control/multicopter_altitude_mode_params.c b/src/modules/mc_pos_control/multicopter_altitude_mode_params.c new file mode 100644 index 000000000000..9174b1ef0d83 --- /dev/null +++ b/src/modules/mc_pos_control/multicopter_altitude_mode_params.c @@ -0,0 +1,119 @@ +/**************************************************************************** + * + * Copyright (c) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * Maximum upwards acceleration in climb rate controlled modes + * + * @unit m/s^2 + * @min 2 + * @max 15 + * @decimal 1 + * @increment 1 + * @group Multicopter Position Control + */ +PARAM_DEFINE_FLOAT(MPC_ACC_UP_MAX, 4.f); + +/** + * Maximum downwards acceleration in climb rate controlled modes + * + * @unit m/s^2 + * @min 2 + * @max 15 + * @decimal 1 + * @increment 1 + * @group Multicopter Position Control + */ +PARAM_DEFINE_FLOAT(MPC_ACC_DOWN_MAX, 3.f); + +/** + * Manual yaw rate input filter time constant + * + * Not used in Stabilized mode + * Setting this parameter to 0 disables the filter + * + * @unit s + * @min 0 + * @max 5 + * @decimal 2 + * @increment 0.01 + * @group Multicopter Position Control + */ +PARAM_DEFINE_FLOAT(MPC_MAN_Y_TAU, 0.08f); + +/** + * Altitude reference mode + * + * Set to 0 to control height relative to the earth frame origin. This origin may move up and down in + * flight due to sensor drift. + * Set to 1 to control height relative to estimated distance to ground. The vehicle will move up and down + * with terrain height variation. Requires a distance to ground sensor. The height controller will + * revert to using height above origin if the distance to ground estimate becomes invalid as indicated + * by the local_position.distance_bottom_valid message being false. + * Set to 2 to control height relative to ground (requires a distance sensor) when stationary and relative + * to earth frame origin when moving horizontally. + * The speed threshold is controlled by the MPC_HOLD_MAX_XY parameter. + * + * @min 0 + * @max 2 + * @value 0 Altitude following + * @value 1 Terrain following + * @value 2 Terrain hold + * @group Multicopter Position Control + */ +PARAM_DEFINE_INT32(MPC_ALT_MODE, 2); + +/** + * Maximum horizontal velocity for which position hold is enabled (use 0 to disable check) + * + * Only used with MPC_POS_MODE Direct velocity or MPC_ALT_MODE 2 + * + * @unit m/s + * @min 0 + * @max 3 + * @decimal 2 + * @group Multicopter Position Control + */ +PARAM_DEFINE_FLOAT(MPC_HOLD_MAX_XY, 0.8f); + +/** + * Maximum vertical velocity for which position hold is enabled (use 0 to disable check) + * + * Only used with MPC_ALT_MODE 1 + * + * @unit m/s + * @min 0 + * @max 3 + * @decimal 2 + * @group Multicopter Position Control + */ +PARAM_DEFINE_FLOAT(MPC_HOLD_MAX_Z, 0.6f); diff --git a/src/modules/mc_pos_control/multicopter_autonomous_params.c b/src/modules/mc_pos_control/multicopter_autonomous_params.c new file mode 100644 index 000000000000..e2e453d975ed --- /dev/null +++ b/src/modules/mc_pos_control/multicopter_autonomous_params.c @@ -0,0 +1,178 @@ +/**************************************************************************** + * + * Copyright (c) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * Default horizontal velocity in autonomous modes + * + * e.g. in Missions, RTL, Goto if the waypoint does not specify differently + * + * @unit m/s + * @min 3 + * @max 20 + * @decimal 0 + * @increment 1 + * @group Multicopter Position Control + */ +PARAM_DEFINE_FLOAT(MPC_XY_CRUISE, 5.f); + +/** + * Ascent velocity in autonomous modes + * + * For manually controlled modes and offboard see MPC_Z_VEL_MAX_UP + * + * @unit m/s + * @min 0.5 + * @max 8 + * @decimal 1 + * @increment 0.5 + * @group Multicopter Position Control + */ +PARAM_DEFINE_FLOAT(MPC_Z_V_AUTO_UP, 3.f); + +/** + * Descent velocity in autonomous modes + * + * For manual modes and offboard, see MPC_Z_VEL_MAX_DN + * + * @unit m/s + * @min 0.5 + * @max 4 + * @decimal 1 + * @increment 0.5 + * @group Multicopter Position Control + */ +PARAM_DEFINE_FLOAT(MPC_Z_V_AUTO_DN, 1.5f); + +/** + * Acceleration for autonomous and for manual modes + * + * When piloting manually, this parameter is only used in MPC_POS_MODE Acceleration based. + * + * @unit m/s^2 + * @min 2 + * @max 15 + * @decimal 1 + * @increment 1 + * @group Multicopter Position Control + */ +PARAM_DEFINE_FLOAT(MPC_ACC_HOR, 3.f); + +/** + * Jerk limit in autonomous modes + * + * Limit the maximum jerk of the vehicle (how fast the acceleration can change). + * A lower value leads to smoother vehicle motions but also limited agility. + * + * @unit m/s^3 + * @min 1 + * @max 80 + * @decimal 1 + * @increment 1 + * @group Multicopter Position Control + */ +PARAM_DEFINE_FLOAT(MPC_JERK_AUTO, 4.f); + +/** + * Proportional gain for horizontal trajectory position error + * + * @min 0.1 + * @max 1 + * @decimal 1 + * @increment 0.1 + * @group Multicopter Position Control + */ +PARAM_DEFINE_FLOAT(MPC_XY_TRAJ_P, 0.5f); + +/** + * Maximum horizontal error allowed by the trajectory generator + * + * The integration speed of the trajectory setpoint is linearly + * reduced with the horizontal position tracking error. When the + * error is above this parameter, the integration of the + * trajectory is stopped to wait for the drone. + * + * This value can be adjusted depending on the tracking + * capabilities of the vehicle. + * + * @min 0.1 + * @max 10 + * @decimal 1 + * @increment 1 + * @group Multicopter Position Control + */ +PARAM_DEFINE_FLOAT(MPC_XY_ERR_MAX, 2.f); + +/** + * Maximum yaw rate in autonomous modes + * + * Limits the rate of change of the yaw setpoint to avoid large + * control output and mixer saturation. + * + * @unit deg/s + * @min 5 + * @max 360 + * @decimal 0 + * @increment 5 + * @group Multicopter Attitude Control + */ +PARAM_DEFINE_FLOAT(MPC_YAWRAUTO_MAX, 45.f); + +/** + * Maximum yaw acceleration in autonomous modes + * + * Limits the acceleration of the yaw setpoint to avoid large + * control output and mixer saturation. + * + * @unit deg/s^2 + * @min 5 + * @max 360 + * @decimal 0 + * @increment 5 + * @group Multicopter Attitude Control + */ +PARAM_DEFINE_FLOAT(MPC_YAWRAUTO_ACC, 60.f); + +/** + * Heading behavior in autonomous modes + * + * @min 0 + * @max 4 + * @value 0 towards waypoint + * @value 1 towards home + * @value 2 away from home + * @value 3 along trajectory + * @value 4 towards waypoint (yaw first) + * @value 5 yaw fixed + * @group Mission + */ +PARAM_DEFINE_INT32(MPC_YAW_MODE, 0); diff --git a/src/modules/mc_pos_control/multicopter_nudging_params.c b/src/modules/mc_pos_control/multicopter_nudging_params.c new file mode 100644 index 000000000000..c431e88fd04c --- /dev/null +++ b/src/modules/mc_pos_control/multicopter_nudging_params.c @@ -0,0 +1,65 @@ +/**************************************************************************** + * + * Copyright (c) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * Enable nudging based on user input during autonomous land routine + * + * Using stick input the vehicle can be moved horizontally and yawed. + * The descend speed is amended: + * stick full up - 0 + * stick centered - MPC_LAND_SPEED + * stick full down - 2 * MPC_LAND_SPEED + * + * Manual override during auto modes has to be disabled to use this feature (see COM_RC_OVERRIDE). + * + * @min 0 + * @max 1 + * @value 0 Nudging disabled + * @value 1 Nudging enabled + * @group Multicopter Position Control + */ +PARAM_DEFINE_INT32(MPC_LAND_RC_HELP, 0); + +/** + * User assisted landing radius + * + * When nudging is enabled (see MPC_LAND_RC_HELP), this controls + * the maximum allowed horizontal displacement from the original landing point. + * + * @unit m + * @min 0 + * @decimal 0 + * @increment 1 + * @group Multicopter Position Control + */ +PARAM_DEFINE_FLOAT(MPC_LAND_RADIUS, 1000.f); diff --git a/src/modules/mc_pos_control/multicopter_position_control_gain_params.c b/src/modules/mc_pos_control/multicopter_position_control_gain_params.c new file mode 100644 index 000000000000..df36d1f733f9 --- /dev/null +++ b/src/modules/mc_pos_control/multicopter_position_control_gain_params.c @@ -0,0 +1,137 @@ +/**************************************************************************** + * + * Copyright (c) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * Proportional gain for vertical position error + * + * Defined as corrective velocity in m/s per m position error + * + * @min 0.1 + * @max 1.5 + * @decimal 2 + * @increment 0.1 + * @group Multicopter Position Control + */ +PARAM_DEFINE_FLOAT(MPC_Z_P, 1.f); + +/** + * Proportional gain for horizontal position error + * + * Defined as corrective velocity in m/s per m position error + * + * @min 0 + * @max 2 + * @decimal 2 + * @increment 0.1 + * @group Multicopter Position Control + */ +PARAM_DEFINE_FLOAT(MPC_XY_P, 0.95f); + +/** + * Proportional gain for vertical velocity error + * + * Defined as corrective acceleration in m/s^2 per m/s velocity error + * + * @min 2 + * @max 15 + * @decimal 2 + * @increment 0.1 + * @group Multicopter Position Control + */ +PARAM_DEFINE_FLOAT(MPC_Z_VEL_P_ACC, 4.f); + +/** + * Proportional gain for horizontal velocity error + * + * Defined as corrective acceleration in m/s^2 per m/s velocity error + * + * @min 1.2 + * @max 5 + * @decimal 2 + * @increment 0.1 + * @group Multicopter Position Control + */ +PARAM_DEFINE_FLOAT(MPC_XY_VEL_P_ACC, 1.8f); + +/** + * Integral gain for vertical velocity error + * + * Defined as corrective acceleration in m/s^2 per m velocity integral + * + * @min 0.2 + * @max 3 + * @decimal 2 + * @increment 0.1 + * @group Multicopter Position Control + */ +PARAM_DEFINE_FLOAT(MPC_Z_VEL_I_ACC, 2.f); + +/** + * Integral gain for horizontal velocity error + * + * Defined as correction acceleration in m/s^2 per m velocity integral + * Allows to eliminate steady state errors in disturbances like wind. + * + * @min 0 + * @max 60 + * @decimal 2 + * @increment 0.02 + * @group Multicopter Position Control + */ +PARAM_DEFINE_FLOAT(MPC_XY_VEL_I_ACC, 0.4f); + +/** + * Differential gain for vertical velocity error + * + * Defined as corrective acceleration in m/s^2 per m/s^2 velocity derivative + * + * @min 0 + * @max 2 + * @decimal 2 + * @increment 0.02 + * @group Multicopter Position Control + */ +PARAM_DEFINE_FLOAT(MPC_Z_VEL_D_ACC, 0.f); + +/** + * Differential gain for horizontal velocity error + * + * Defined as corrective acceleration in m/s^2 per m/s^2 velocity derivative + * + * @min 0.1 + * @max 2 + * @decimal 2 + * @increment 0.02 + * @group Multicopter Position Control + */ +PARAM_DEFINE_FLOAT(MPC_XY_VEL_D_ACC, 0.2f); diff --git a/src/modules/mc_pos_control/multicopter_position_control_limits_params.c b/src/modules/mc_pos_control/multicopter_position_control_limits_params.c new file mode 100644 index 000000000000..8307b82d7259 --- /dev/null +++ b/src/modules/mc_pos_control/multicopter_position_control_limits_params.c @@ -0,0 +1,152 @@ +/**************************************************************************** + * + * Copyright (c) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * Maximum horizontal velocity + * + * Absolute maximum for all velocity controlled modes. + * Any higher value is truncated. + * + * @unit m/s + * @min 0 + * @max 20 + * @decimal 1 + * @increment 1 + * @group Multicopter Position Control + */ +PARAM_DEFINE_FLOAT(MPC_XY_VEL_MAX, 12.f); + +/** + * Maximum ascent velocity + * + * Absolute maximum for all climb rate controlled modes. + * In manually piloted modes full stick deflection commands this velocity. + * + * For default autonomous velocity see MPC_Z_V_AUTO_UP + * + * @unit m/s + * @min 0.5 + * @max 8 + * @increment 0.1 + * @decimal 1 + * @group Multicopter Position Control + */ +PARAM_DEFINE_FLOAT(MPC_Z_VEL_MAX_UP, 3.f); + +/** + * Maximum descent velocity + * + * Absolute maximum for all climb rate controlled modes. + * In manually piloted modes full stick deflection commands this velocity. + * + * For default autonomous velocity see MPC_Z_V_AUTO_UP + * + * @unit m/s + * @min 0.5 + * @max 4 + * @increment 0.1 + * @decimal 1 + * @group Multicopter Position Control + */ +PARAM_DEFINE_FLOAT(MPC_Z_VEL_MAX_DN, 1.5f); + +/** + * Maximum tilt angle in air + * + * Absolute maximum for all velocity or acceleration controlled modes. + * Any higher value is truncated. + * + * @unit deg + * @min 20 + * @max 89 + * @decimal 0 + * @increment 1 + * @group Multicopter Position Control + */ +PARAM_DEFINE_FLOAT(MPC_TILTMAX_AIR, 45.f); + +/** + * Maximum tilt during inital takeoff ramp + * + * Tighter tilt limit during takeoff to avoid tip over. + * + * @unit deg + * @min 5 + * @max 89 + * @decimal 0 + * @increment 1 + * @group Multicopter Position Control + */ +PARAM_DEFINE_FLOAT(MPC_TILTMAX_LND, 12.f); + +/** + * Minimum collective thrust in climb rate controlled modes + * + * Too low thrust leads to loss of roll/pitch/yaw torque control authority. + * With airmode enabled this parameters can be set to 0 + * while still keeping torque authority (see MC_AIRMODE). + * + * @unit norm + * @min 0.05 + * @max 0.5 + * @decimal 2 + * @increment 0.01 + * @group Multicopter Position Control + */ +PARAM_DEFINE_FLOAT(MPC_THR_MIN, 0.12f); + +/** + * Maximum collective thrust in climb rate controlled modes + * + * Limit allowed thrust e.g. for indoor test of overpowered vehicle. + * + * @unit norm + * @min 0 + * @max 1 + * @decimal 2 + * @increment 0.05 + * @group Multicopter Position Control + */ +PARAM_DEFINE_FLOAT(MPC_THR_MAX, 1.f); + +/** + * Acceleration to tilt coupling + * + * Set to decouple tilt from vertical acceleration. + * This provides smoother flight but slightly worse tracking in position and auto modes. + * Unset if accurate position tracking during dynamic maneuvers is more important than a smooth flight. + * + * @boolean + * @group Multicopter Position Control + */ +PARAM_DEFINE_INT32(MPC_ACC_DECOUPLE, 1); diff --git a/src/modules/mc_pos_control/multicopter_position_control_params.c b/src/modules/mc_pos_control/multicopter_position_control_params.c new file mode 100644 index 000000000000..94435b1b3352 --- /dev/null +++ b/src/modules/mc_pos_control/multicopter_position_control_params.c @@ -0,0 +1,132 @@ +/**************************************************************************** + * + * Copyright (c) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * Vertical thrust required to hover + * + * Mapped to center throttle stick in Stabilized mode (see MPC_THR_CURVE). + * Used for initialization of the hover thrust estimator (see MPC_USE_HTE). + * The estimated hover thrust is used as base for zero vertical acceleration in altitude control. + * The hover thrust is important for land detection to work correctly. + * + * @unit norm + * @min 0.1 + * @max 0.8 + * @decimal 2 + * @increment 0.01 + * @group Multicopter Position Control + */ +PARAM_DEFINE_FLOAT(MPC_THR_HOVER, 0.5f); + +/** + * Hover thrust estimator + * + * Disable to use the fixed parameter MPC_THR_HOVER + * Enable to use the hover thrust estimator + * + * @boolean + * @group Multicopter Position Control + */ +PARAM_DEFINE_INT32(MPC_USE_HTE, 1); + +/** + * Horizontal thrust margin + * + * Margin that is kept for horizontal control when higher priority vertical thrust is saturated. + * To avoid completely starving horizontal control with high vertical error. + * + * @unit norm + * @min 0 + * @max 0.5 + * @decimal 2 + * @increment 0.01 + * @group Multicopter Position Control + */ +PARAM_DEFINE_FLOAT(MPC_THR_XY_MARG, 0.3f); + +/** + * Velocity low pass cutoff frequency + * + * A value of 0 disables the filter. + * + * @unit Hz + * @min 0 + * @max 50 + * @decimal 1 + * @increment 0.5 + * @group Multicopter Position Control + */ +PARAM_DEFINE_FLOAT(MPC_VEL_LP, 0.0f); + +/** + * Velocity notch filter frequency + * + * The center frequency for the 2nd order notch filter on the velocity. + * A value of 0 disables the filter. + * + * @unit Hz + * @min 0 + * @max 50 + * @decimal 1 + * @increment 0.5 + * @group Multicopter Position Control + */ +PARAM_DEFINE_FLOAT(MPC_VEL_NF_FRQ, 0.0f); + +/** + * Velocity notch filter bandwidth + * + * A value of 0 disables the filter. + * + * @unit Hz + * @min 0 + * @max 50 + * @decimal 1 + * @increment 0.5 + * @group Multicopter Position Control + */ +PARAM_DEFINE_FLOAT(MPC_VEL_NF_BW, 5.0f); + +/** + * Velocity derivative low pass cutoff frequency + * + * A value of 0 disables the filter. + * + * @unit Hz + * @min 0 + * @max 50 + * @decimal 1 + * @increment 0.5 + * @group Multicopter Position Control + */ +PARAM_DEFINE_FLOAT(MPC_VELD_LP, 5.0f); diff --git a/src/modules/mc_pos_control/multicopter_position_mode_params.c b/src/modules/mc_pos_control/multicopter_position_mode_params.c new file mode 100644 index 000000000000..a65ef4f5713d --- /dev/null +++ b/src/modules/mc_pos_control/multicopter_position_mode_params.c @@ -0,0 +1,201 @@ +/**************************************************************************** + * + * Copyright (c) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * Position/Altitude mode variant + * + * The supported sub-modes are: + * - "Direct velocity": + * Sticks directly map to velocity setpoints without smoothing. + * Also applies to vertical direction and Altitude mode. + * Useful for velocity control tuning. + * - "Smoothed velocity": + * Sticks map to velocity but with maximum acceleration and jerk limits based on + * jerk optimized trajectory generator (different algorithm than 1). + * - "Acceleration based": + * Sticks map to acceleration and there's a virtual brake drag + * + * @value 0 Direct velocity + * @value 3 Smoothed velocity + * @value 4 Acceleration based + * @group Multicopter Position Control + */ +PARAM_DEFINE_INT32(MPC_POS_MODE, 4); + +/** + * Maximum horizontal velocity setpoint in Position mode + * + * Must be smaller than MPC_XY_VEL_MAX. + * + * The maximum sideways and backward speed can be set differently + * using MPC_VEL_MAN_SIDE and MPC_VEL_MAN_BACK, respectively. + * + * @unit m/s + * @min 3 + * @max 20 + * @increment 1 + * @decimal 1 + * @group Multicopter Position Control + */ +PARAM_DEFINE_FLOAT(MPC_VEL_MANUAL, 10.f); + +/** + * Maximum sideways velocity in Position mode + * + * If set to a negative value or larger than + * MPC_VEL_MANUAL then MPC_VEL_MANUAL is used. + * + * @unit m/s + * @min -1 + * @max 20 + * @increment 1 + * @decimal 1 + * @group Multicopter Position Control + */ +PARAM_DEFINE_FLOAT(MPC_VEL_MAN_SIDE, -1.f); + +/** + * Maximum backward velocity in Position mode + * + * If set to a negative value or larger than + * MPC_VEL_MANUAL then MPC_VEL_MANUAL is used. + * + * @unit m/s + * @min -1 + * @max 20 + * @increment 1 + * @decimal 1 + * @group Multicopter Position Control + */ +PARAM_DEFINE_FLOAT(MPC_VEL_MAN_BACK, -1.f); + +/** + * Maximum horizontal acceleration + * + * MPC_POS_MODE + * 1 just deceleration + * 3 acceleration and deceleration + * 4 not used, use MPC_ACC_HOR instead + * + * @unit m/s^2 + * @min 2 + * @max 15 + * @increment 1 + * @decimal 2 + * @group Multicopter Position Control + */ +PARAM_DEFINE_FLOAT(MPC_ACC_HOR_MAX, 5.f); + +/** + * Maximum horizontal and vertical jerk in Position/Altitude mode + * + * Limit the maximum jerk of the vehicle (how fast the acceleration can change). + * A lower value leads to smoother motions but limits agility + * (how fast it can change directions or break). + * + * Setting this to the maximum value essentially disables the limit. + * + * Only used with smooth MPC_POS_MODE Smoothed velocity and Acceleration based. + * + * @unit m/s^3 + * @min 0.5 + * @max 500 + * @decimal 0 + * @increment 1 + * @group Multicopter Position Control + */ +PARAM_DEFINE_FLOAT(MPC_JERK_MAX, 8.f); + +/** + * Deadzone for sticks in manual piloted modes + * + * Does not apply to manual throttle and direct attitude piloting by stick. + * + * @min 0 + * @max 1 + * @decimal 2 + * @increment 0.01 + * @group Multicopter Position Control + */ +PARAM_DEFINE_FLOAT(MPC_HOLD_DZ, 0.1f); + +/** + * Manual position control stick exponential curve sensitivity + * + * The higher the value the less sensitivity the stick has around zero + * while still reaching the maximum value with full stick deflection. + * + * 0 Purely linear input curve + * 1 Purely cubic input curve + * + * @min 0 + * @max 1 + * @decimal 2 + * @increment 0.01 + * @group Multicopter Position Control + */ +PARAM_DEFINE_FLOAT(MPC_XY_MAN_EXPO, 0.6f); + +/** + * Manual control stick vertical exponential curve + * + * The higher the value the less sensitivity the stick has around zero + * while still reaching the maximum value with full stick deflection. + * + * 0 Purely linear input curve + * 1 Purely cubic input curve + * + * @min 0 + * @max 1 + * @decimal 2 + * @increment 0.01 + * @group Multicopter Position Control + */ +PARAM_DEFINE_FLOAT(MPC_Z_MAN_EXPO, 0.6f); + +/** + * Manual control stick yaw rotation exponential curve + * + * The higher the value the less sensitivity the stick has around zero + * while still reaching the maximum value with full stick deflection. + * + * 0 Purely linear input curve + * 1 Purely cubic input curve + * + * @min 0 + * @max 1 + * @decimal 2 + * @increment 0.01 + * @group Multicopter Position Control + */ +PARAM_DEFINE_FLOAT(MPC_YAW_EXPO, 0.6f); diff --git a/src/modules/mc_pos_control/multicopter_responsiveness_params.c b/src/modules/mc_pos_control/multicopter_responsiveness_params.c new file mode 100644 index 000000000000..e0097f6ca015 --- /dev/null +++ b/src/modules/mc_pos_control/multicopter_responsiveness_params.c @@ -0,0 +1,80 @@ +/**************************************************************************** + * + * Copyright (c) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * Responsiveness + * + * Changes the overall responsiveness of the vehicle. + * The higher the value, the faster the vehicle will react. + * + * If set to a value greater than zero, other parameters are automatically set (such as + * the acceleration or jerk limits). + * If set to a negative value, the existing individual parameters are used. + * + * @min -1 + * @max 1 + * @decimal 2 + * @increment 0.05 + * @group Multicopter Position Control + */ +PARAM_DEFINE_FLOAT(SYS_VEHICLE_RESP, -0.4f); + +/** + * Overall Horizontal Velocity Limit + * + * If set to a value greater than zero, other parameters are automatically set (such as + * MPC_XY_VEL_MAX or MPC_VEL_MANUAL). + * If set to a negative value, the existing individual parameters are used. + * + * @min -20 + * @max 20 + * @decimal 1 + * @increment 1 + * @group Multicopter Position Control + */ +PARAM_DEFINE_FLOAT(MPC_XY_VEL_ALL, -10.f); + +/** + * Overall Vertical Velocity Limit + * + * If set to a value greater than zero, other parameters are automatically set (such as + * MPC_Z_VEL_MAX_UP or MPC_LAND_SPEED). + * If set to a negative value, the existing individual parameters are used. + * + * @min -3 + * @max 8 + * @decimal 1 + * @increment 0.5 + * @group Multicopter Position Control + */ +PARAM_DEFINE_FLOAT(MPC_Z_VEL_ALL, -3.f); diff --git a/src/modules/mc_pos_control/multicopter_stabilized_mode_params.c b/src/modules/mc_pos_control/multicopter_stabilized_mode_params.c new file mode 100644 index 000000000000..481d9cce66f9 --- /dev/null +++ b/src/modules/mc_pos_control/multicopter_stabilized_mode_params.c @@ -0,0 +1,95 @@ +/**************************************************************************** + * + * Copyright (c) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * Maximal tilt angle in Stabilized or Altitude mode + * + * @unit deg + * @min 1 + * @max 70 + * @decimal 0 + * @increment 1 + * @group Multicopter Position Control + */ +PARAM_DEFINE_FLOAT(MPC_MAN_TILT_MAX, 35.f); + +/** + * Max manual yaw rate for Stabilized, Altitude, Position mode + * + * @unit deg/s + * @min 0 + * @max 400 + * @decimal 0 + * @increment 10 + * @group Multicopter Position Control + */ +PARAM_DEFINE_FLOAT(MPC_MAN_Y_MAX, 150.f); + +/** + * Minimum collective thrust in Stabilized mode + * + * The value is mapped to the lowest throttle stick position in Stabilized mode. + * + * Too low collective thrust leads to loss of roll/pitch/yaw torque control authority. + * Airmode is used to keep torque authority with zero thrust (see MC_AIRMODE). + * + * @unit norm + * @min 0 + * @max 1 + * @decimal 2 + * @increment 0.01 + * @group Multicopter Position Control + */ +PARAM_DEFINE_FLOAT(MPC_MANTHR_MIN, 0.08f); + +/** + * Thrust curve mapping in Stabilized Mode + * + * This parameter defines how the throttle stick input is mapped to collective thrust + * in Stabilized mode. + * + * In case the default is used ('Rescale to hover thrust'), the stick input is linearly + * rescaled, such that a centered stick corresponds to the hover throttle (see MPC_THR_HOVER). + * + * Select 'No Rescale' to directly map the stick 1:1 to the output. This can be useful + * in case the hover thrust is very low and the default would lead to too much distortion + * (e.g. if hover thrust is set to 20%, then 80% of the upper thrust range is squeezed into the + * upper half of the stick range). + * + * Note: In case MPC_THR_HOVER is set to 50%, the modes 0 and 1 are the same. + * + * @value 0 Rescale to hover thrust + * @value 1 No Rescale + * @group Multicopter Position Control + */ +PARAM_DEFINE_INT32(MPC_THR_CURVE, 0); diff --git a/src/modules/mc_pos_control/multicopter_takeoff_land_params.c b/src/modules/mc_pos_control/multicopter_takeoff_land_params.c new file mode 100644 index 000000000000..328a8531ad93 --- /dev/null +++ b/src/modules/mc_pos_control/multicopter_takeoff_land_params.c @@ -0,0 +1,124 @@ +/**************************************************************************** + * + * Copyright (c) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * Smooth takeoff ramp time constant + * + * Increasing this value will make climb rate controlled takeoff slower. + * If it's too slow the drone might scratch the ground and tip over. + * A time constant of 0 disables the ramp + * + * @unit s + * @min 0 + * @max 5 + * @group Multicopter Position Control + */ +PARAM_DEFINE_FLOAT(MPC_TKO_RAMP_T, 3.f); + +/** + * Takeoff climb rate + * + * @unit m/s + * @min 1 + * @max 5 + * @decimal 2 + * @group Multicopter Position Control + */ +PARAM_DEFINE_FLOAT(MPC_TKO_SPEED, 1.5f); + +/** + * Altitude for 1. step of slow landing (descend) + * + * Below this altitude descending velocity gets limited to a value + * between "MPC_Z_VEL_MAX_DN" (or "MPC_Z_V_AUTO_DN") and "MPC_LAND_SPEED" + * Value needs to be higher than "MPC_LAND_ALT2" + * + * @unit m + * @min 0 + * @max 122 + * @decimal 1 + * @group Multicopter Position Control + */ +PARAM_DEFINE_FLOAT(MPC_LAND_ALT1, 10.f); + +/** + * Altitude for 2. step of slow landing (landing) + * + * Below this altitude descending velocity gets + * limited to "MPC_LAND_SPEED" + * Value needs to be lower than "MPC_LAND_ALT1" + * + * @unit m + * @min 0 + * @max 122 + * @decimal 1 + * @group Multicopter Position Control + */ +PARAM_DEFINE_FLOAT(MPC_LAND_ALT2, 5.f); + +/** + * Altitude for 3. step of slow landing + * + * Below this altitude descending velocity gets + * limited to "MPC_LAND_CRWL", if LIDAR available. + * No effect if LIDAR not available + * + * @unit m + * @min 0 + * @max 122 + * @decimal 1 + * @group Multicopter Position Control + */ +PARAM_DEFINE_FLOAT(MPC_LAND_ALT3, 1.f); + +/** + * Landing descend rate + * + * @unit m/s + * @min 0.6 + * @decimal 1 + * @group Multicopter Position Control + */ +PARAM_DEFINE_FLOAT(MPC_LAND_SPEED, 0.7f); + +/** + * Land crawl descend rate + * + * Used below MPC_LAND_ALT3 if distance sensor data is availabe. + * + * @unit m/s + * @min 0.1 + * @decimal 1 + * @group Multicopter Position Control + */ +PARAM_DEFINE_FLOAT(MPC_LAND_CRWL, 0.3f); diff --git a/src/modules/mc_rate_control/MulticopterRateControl.cpp b/src/modules/mc_rate_control/MulticopterRateControl.cpp index d580dcf8ae41..e8a371d1e278 100644 --- a/src/modules/mc_rate_control/MulticopterRateControl.cpp +++ b/src/modules/mc_rate_control/MulticopterRateControl.cpp @@ -80,7 +80,7 @@ MulticopterRateControl::parameters_updated() // to the ideal (K * [1 + 1/sTi + sTd]) form const Vector3f rate_k = Vector3f(_param_mc_rollrate_k.get(), _param_mc_pitchrate_k.get(), _param_mc_yawrate_k.get()); - _rate_control.setGains( + _rate_control.setPidGains( rate_k.emult(Vector3f(_param_mc_rollrate_p.get(), _param_mc_pitchrate_p.get(), _param_mc_yawrate_p.get())), rate_k.emult(Vector3f(_param_mc_rollrate_i.get(), _param_mc_pitchrate_i.get(), _param_mc_yawrate_i.get())), rate_k.emult(Vector3f(_param_mc_rollrate_d.get(), _param_mc_pitchrate_d.get(), _param_mc_yawrate_d.get()))); diff --git a/src/modules/mc_rate_control/mc_acro_params.c b/src/modules/mc_rate_control/mc_acro_params.c new file mode 100644 index 000000000000..ef9d315d0c37 --- /dev/null +++ b/src/modules/mc_rate_control/mc_acro_params.c @@ -0,0 +1,142 @@ +/**************************************************************************** + * + * Copyright (c) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file mc_acro_params.c + * + * Parameters for Acro mode behavior + */ + +/** + * Acro mode maximum roll rate + * + * Full stick deflection leads to this rate. + * + * @unit deg/s + * @min 0.0 + * @max 1800.0 + * @decimal 1 + * @increment 5 + * @group Multicopter Acro Mode + */ +PARAM_DEFINE_FLOAT(MC_ACRO_R_MAX, 100.f); + +/** + * Acro mode maximum pitch rate + * + * Full stick deflection leads to this rate. + * + * @unit deg/s + * @min 0.0 + * @max 1800.0 + * @decimal 1 + * @increment 5 + * @group Multicopter Acro Mode + */ +PARAM_DEFINE_FLOAT(MC_ACRO_P_MAX, 100.f); + +/** + * Acro mode maximum yaw rate + * + * Full stick deflection leads to this rate. + * + * @unit deg/s + * @min 0.0 + * @max 1800.0 + * @decimal 1 + * @increment 5 + * @group Multicopter Acro Mode + */ +PARAM_DEFINE_FLOAT(MC_ACRO_Y_MAX, 100.f); + +/** + * Acro mode roll, pitch expo factor + * + * Exponential factor for tuning the input curve shape. + * + * 0 Purely linear input curve + * 1 Purely cubic input curve + * + * @min 0 + * @max 1 + * @decimal 2 + * @group Multicopter Acro Mode + */ +PARAM_DEFINE_FLOAT(MC_ACRO_EXPO, 0.f); + +/** + * Acro mode yaw expo factor + * + * Exponential factor for tuning the input curve shape. + * + * 0 Purely linear input curve + * 1 Purely cubic input curve + * + * @min 0 + * @max 1 + * @decimal 2 + * @group Multicopter Acro Mode + */ +PARAM_DEFINE_FLOAT(MC_ACRO_EXPO_Y, 0.f); + +/** + * Acro mode roll, pitch super expo factor + * + * "Superexponential" factor for refining the input curve shape tuned using MC_ACRO_EXPO. + * + * 0 Pure Expo function + * 0.7 reasonable shape enhancement for intuitive stick feel + * 0.95 very strong bent input curve only near maxima have effect + * + * @min 0 + * @max 0.95 + * @decimal 2 + * @group Multicopter Acro Mode + */ +PARAM_DEFINE_FLOAT(MC_ACRO_SUPEXPO, 0.f); + +/** + * Acro mode yaw super expo factor + * + * "Superexponential" factor for refining the input curve shape tuned using MC_ACRO_EXPO_Y. + * + * 0 Pure Expo function + * 0.7 reasonable shape enhancement for intuitive stick feel + * 0.95 very strong bent input curve only near maxima have effect + * + * @min 0 + * @max 0.95 + * @decimal 2 + * @group Multicopter Acro Mode + */ +PARAM_DEFINE_FLOAT(MC_ACRO_SUPEXPOY, 0.f); diff --git a/src/modules/mc_rate_control/mc_rate_control_params.c b/src/modules/mc_rate_control/mc_rate_control_params.c index 55e92f9be856..2571a70c1f40 100644 --- a/src/modules/mc_rate_control/mc_rate_control_params.c +++ b/src/modules/mc_rate_control/mc_rate_control_params.c @@ -33,10 +33,8 @@ /** * @file mc_rate_control_params.c - * Parameters for multicopter attitude controller. * - * @author Lorenz Meier - * @author Anton Babushkin + * Parameters for multicopter rate controller */ /** @@ -281,110 +279,6 @@ PARAM_DEFINE_FLOAT(MC_YAWRATE_FF, 0.0f); */ PARAM_DEFINE_FLOAT(MC_YAWRATE_K, 1.0f); -/** - * Max acro roll rate - * - * default: 2 turns per second - * - * @unit deg/s - * @min 0.0 - * @max 1800.0 - * @decimal 1 - * @increment 5 - * @group Multicopter Rate Control - */ -PARAM_DEFINE_FLOAT(MC_ACRO_R_MAX, 720.0f); - -/** - * Max acro pitch rate - * - * default: 2 turns per second - * - * @unit deg/s - * @min 0.0 - * @max 1800.0 - * @decimal 1 - * @increment 5 - * @group Multicopter Rate Control - */ -PARAM_DEFINE_FLOAT(MC_ACRO_P_MAX, 720.0f); - -/** - * Max acro yaw rate - * - * default 1.5 turns per second - * - * @unit deg/s - * @min 0.0 - * @max 1800.0 - * @decimal 1 - * @increment 5 - * @group Multicopter Rate Control - */ -PARAM_DEFINE_FLOAT(MC_ACRO_Y_MAX, 540.0f); - -/** - * Acro mode Expo factor for Roll and Pitch. - * - * Exponential factor for tuning the input curve shape. - * - * 0 Purely linear input curve - * 1 Purely cubic input curve - * - * @min 0 - * @max 1 - * @decimal 2 - * @group Multicopter Rate Control - */ -PARAM_DEFINE_FLOAT(MC_ACRO_EXPO, 0.69f); - -/** - * Acro mode Expo factor for Yaw. - * - * Exponential factor for tuning the input curve shape. - * - * 0 Purely linear input curve - * 1 Purely cubic input curve - * - * @min 0 - * @max 1 - * @decimal 2 - * @group Multicopter Rate Control - */ -PARAM_DEFINE_FLOAT(MC_ACRO_EXPO_Y, 0.69f); - -/** - * Acro mode SuperExpo factor for Roll and Pitch. - * - * SuperExpo factor for refining the input curve shape tuned using MC_ACRO_EXPO. - * - * 0 Pure Expo function - * 0.7 reasonable shape enhancement for intuitive stick feel - * 0.95 very strong bent input curve only near maxima have effect - * - * @min 0 - * @max 0.95 - * @decimal 2 - * @group Multicopter Rate Control - */ -PARAM_DEFINE_FLOAT(MC_ACRO_SUPEXPO, 0.7f); - -/** - * Acro mode SuperExpo factor for Yaw. - * - * SuperExpo factor for refining the input curve shape tuned using MC_ACRO_EXPO_Y. - * - * 0 Pure Expo function - * 0.7 reasonable shape enhancement for intuitive stick feel - * 0.95 very strong bent input curve only near maxima have effect - * - * @min 0 - * @max 0.95 - * @decimal 2 - * @group Multicopter Rate Control - */ -PARAM_DEFINE_FLOAT(MC_ACRO_SUPEXPOY, 0.7f); - /** * Battery power level scaler * diff --git a/src/modules/muorb/apps/CMakeLists.txt b/src/modules/muorb/apps/CMakeLists.txt index 55573cde3573..532ada62413b 100644 --- a/src/modules/muorb/apps/CMakeLists.txt +++ b/src/modules/muorb/apps/CMakeLists.txt @@ -39,6 +39,7 @@ px4_add_module( INCLUDES ../test ../aggregator + ${PX4_BOARD_DIR}/libfc-sensor-api/inc SRCS uORBAppsProtobufChannel.cpp muorb_main.cpp diff --git a/src/modules/muorb/apps/Kconfig b/src/modules/muorb/apps/Kconfig index 21969d591d13..f0afac8b6204 100644 --- a/src/modules/muorb/apps/Kconfig +++ b/src/modules/muorb/apps/Kconfig @@ -4,3 +4,11 @@ menuconfig MODULES_MUORB_APPS depends on PLATFORM_POSIX ---help--- Enable support for muorb apps + + + config MUORB_APPS_SYNC_TIMESTAMP + bool "Sync timestamp with external processor" + depends on MODULES_MUORB_APPS + default y + help + causes HRT timestamp to use an externally calculated offset for synchronization diff --git a/src/modules/muorb/apps/fc_sensor.h b/src/modules/muorb/apps/fc_sensor.h deleted file mode 100644 index 242a5a708baa..000000000000 --- a/src/modules/muorb/apps/fc_sensor.h +++ /dev/null @@ -1,69 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2022 ModalAI, Inc. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -#ifndef FC_SENSOR_H -#define FC_SENSOR_H - -#ifdef __cplusplus -extern "C" { -#endif - -#include -#include - -typedef void (*fc_receive_cb)(const char *topic, - const uint8_t *data, - uint32_t length_in_bytes); -typedef void (*fc_advertise_cb)(const char *topic); -typedef void (*fc_add_subscription_cb)(const char *topic); -typedef void (*fc_remove_subscription_cb)(const char *topic); - -typedef struct { - fc_receive_cb rx_callback; - fc_advertise_cb ad_callback; - fc_add_subscription_cb sub_callback; - fc_remove_subscription_cb remove_sub_callback; -} fc_callbacks; - -int fc_sensor_initialize(bool enable_debug_messages, fc_callbacks *callbacks); -int fc_sensor_advertise(const char *topic); -int fc_sensor_subscribe(const char *topic); -int fc_sensor_unsubscribe(const char *topic); -int fc_sensor_send_data(const char *topic, - const uint8_t *data, - uint32_t length_in_bytes); -#ifdef __cplusplus -} -#endif - -#endif // FC_SENSOR_H diff --git a/src/modules/muorb/apps/uORBAppsProtobufChannel.cpp b/src/modules/muorb/apps/uORBAppsProtobufChannel.cpp index 963416547981..8669d0650d6a 100644 --- a/src/modules/muorb/apps/uORBAppsProtobufChannel.cpp +++ b/src/modules/muorb/apps/uORBAppsProtobufChannel.cpp @@ -113,6 +113,11 @@ void uORB::AppsProtobufChannel::SubscribeCallback(const char *topic) test_flag = true; return; + } else if (strcmp(topic, "CPULOAD") == 0) { + // PX4_ERR("Got CPULOAD subscription"); + // This will happen when a newer PX4 version is talking to a + // SLPI image that doesn't support the CPULOAD request. If the + // SLPI image does support it then we wouldn't get this. } else if (_RxHandler) { pthread_mutex_lock(&_rx_mutex); _SlpiSubscriberCache[topic]++; diff --git a/src/modules/muorb/slpi/uORBProtobufChannel.cpp b/src/modules/muorb/slpi/uORBProtobufChannel.cpp index 64026bfa2fd8..d85fb65e488d 100644 --- a/src/modules/muorb/slpi/uORBProtobufChannel.cpp +++ b/src/modules/muorb/slpi/uORBProtobufChannel.cpp @@ -275,10 +275,10 @@ int px4muorb_orb_initialize(fc_func_ptrs *func_ptrs, int32_t clock_offset_us) uORB::Manager::get_instance()->set_uorb_communicator( uORB::ProtobufChannel::GetInstance()); - param_init(); - px4::WorkQueueManagerStart(); + param_init(); + uORB::ProtobufChannel::GetInstance()->RegisterSendHandler(muorb_func_ptrs.topic_data_func_ptr); // Configure the I2C driver function pointers @@ -385,8 +385,13 @@ int px4muorb_add_subscriber(const char *topic_name) uORBCommunicator::IChannelRxHandler *rxHandler = channel->GetRxHandler(); if (rxHandler) { - channel->AddRemoteSubscriber(topic_name); - // Pick a high message rate of 1000 Hz + if (channel->AddRemoteSubscriber(topic_name)) { + // Only process this subscription if it is the only one for the topic. + // Otherwise it will send some data from the queue and, most likely, + // mess up the queue on the remote side. + return 0; + } + return rxHandler->process_add_subscription(topic_name); } else { @@ -476,3 +481,32 @@ int px4muorb_send_topic_data(const char *topic_name, const uint8_t *data, return -1; } + + +float px4muorb_get_cpu_load(void) +{ + + // Default value to return if the SLPI code doesn't support + // queries for the CPU load + float cpu_load = 0.1f; + + uORB::ProtobufChannel *channel = uORB::ProtobufChannel::GetInstance(); + + if (channel) { + // The method to get the CPU load from the SLPI image is to send + // in the special code string to the add_subscription call. If it + // isn't supported the only return values can be 0 or -1. If it is + // supported then it will be some positive integer. + int16_t int_cpu_load = channel->add_subscription("CPULOAD", 0); + + if (int_cpu_load > 1) { + // Yay! CPU Load query is supported! + cpu_load = (float) int_cpu_load; + } + + } else { + PX4_ERR("Null channel pointer in %s", __FUNCTION__); + } + + return cpu_load; +} diff --git a/src/modules/muorb/slpi/uORBProtobufChannel.hpp b/src/modules/muorb/slpi/uORBProtobufChannel.hpp index ecd1d0278095..54ee99ed56c5 100644 --- a/src/modules/muorb/slpi/uORBProtobufChannel.hpp +++ b/src/modules/muorb/slpi/uORBProtobufChannel.hpp @@ -132,11 +132,13 @@ class uORB::ProtobufChannel : public uORBCommunicator::IChannel _Aggregator.RegisterSendHandler(func); } - void AddRemoteSubscriber(const std::string &messageName) + int AddRemoteSubscriber(const std::string &messageName) { + int currentRemoteSubscribers; pthread_mutex_lock(&_rx_mutex); - _AppsSubscriberCache[messageName]++; + currentRemoteSubscribers = _AppsSubscriberCache[messageName]++; pthread_mutex_unlock(&_rx_mutex); + return currentRemoteSubscribers; } void RemoveRemoteSubscriber(const std::string &messageName) @@ -214,6 +216,8 @@ extern "C" { int px4muorb_remove_subscriber(const char *name) __EXPORT; int px4muorb_send_topic_data(const char *name, const uint8_t *data, int data_len_in_bytes) __EXPORT; + + float px4muorb_get_cpu_load(void) __EXPORT; } #endif // _uORBProtobufChannel_hpp_ diff --git a/src/modules/navigator/CMakeLists.txt b/src/modules/navigator/CMakeLists.txt index 30725a05d097..c55cae3f07b9 100644 --- a/src/modules/navigator/CMakeLists.txt +++ b/src/modules/navigator/CMakeLists.txt @@ -34,26 +34,40 @@ add_subdirectory(GeofenceBreachAvoidance) add_subdirectory(MissionFeasibility) +set(NAVIGATOR_SOURCES + navigator_main.cpp + navigator_mode.cpp + mission_base.cpp + mission_block.cpp + mission.cpp + loiter.cpp + rtl.cpp + rtl_direct.cpp + rtl_direct_mission_land.cpp + rtl_mission_fast.cpp + rtl_mission_fast_reverse.cpp + takeoff.cpp + land.cpp + precland.cpp + mission_feasibility_checker.cpp + geofence.cpp) + +if(CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF) + set(NAVIGATOR_SOURCES + ${NAVIGATOR_SOURCES} + vtol_takeoff.cpp) +endif() + px4_add_module( MODULE modules__navigator MAIN navigator - SRCS - navigator_main.cpp - navigator_mode.cpp - mission_block.cpp - mission.cpp - loiter.cpp - rtl.cpp - takeoff.cpp - land.cpp - precland.cpp - mission_feasibility_checker.cpp - geofence.cpp - vtol_takeoff.cpp + SRCS ${NAVIGATOR_SOURCES} DEPENDS + dataman_client geo adsb geofence_breach_avoidance motion_planning mission_feasibility_checker + rtl_time_estimator ) diff --git a/src/modules/navigator/GeofenceBreachAvoidance/GeofenceBreachAvoidanceTest.cpp b/src/modules/navigator/GeofenceBreachAvoidance/GeofenceBreachAvoidanceTest.cpp index 84e1991b3469..4441a251662a 100644 --- a/src/modules/navigator/GeofenceBreachAvoidance/GeofenceBreachAvoidanceTest.cpp +++ b/src/modules/navigator/GeofenceBreachAvoidance/GeofenceBreachAvoidanceTest.cpp @@ -34,7 +34,6 @@ #include #include "geofence_breach_avoidance.h" #include "fake_geofence.hpp" -#include "dataman_mocks.hpp" #include using namespace matrix; @@ -88,7 +87,7 @@ TEST_F(GeofenceBreachAvoidanceTest, generateLoiterPointForFixedWing) Vector2d home_global(42.1, 8.2); MapProjection ref{home_global(0), home_global(1)}; - geofence_violation_type_u gf_violation; + geofence_violation_type_u gf_violation{}; gf_violation.flags.fence_violation = true; gf_avoidance.setHorizontalTestPointDistance(20.0f); @@ -148,7 +147,7 @@ TEST_F(GeofenceBreachAvoidanceTest, generateLoiterPointForMultirotor) value = 8; param_set(param, &value); - geofence_violation_type_u gf_violation; + geofence_violation_type_u gf_violation{}; gf_violation.flags.fence_violation = true; gf_avoidance.setHorizontalTestPointDistance(30.0f); @@ -198,7 +197,7 @@ TEST_F(GeofenceBreachAvoidanceTest, generateLoiterAltitudeForFixedWing) gf_avoidance.setVerticalTestPointDistance(vertical_test_point_dist); gf_avoidance.setCurrentPosition(0, 0, current_alt_amsl); // just care about altitude - geofence_violation_type_u gf_violation; + geofence_violation_type_u gf_violation{}; gf_violation.flags.max_altitude_exceeded = true; float loiter_alt = gf_avoidance.generateLoiterAltitudeForFixedWing(gf_violation); @@ -217,7 +216,7 @@ TEST_F(GeofenceBreachAvoidanceTest, generateLoiterAltitudeForMulticopter) GeofenceBreachAvoidance gf_avoidance(nullptr); const float climbrate = 10.0f; const float current_alt_amsl = 100.0f; - geofence_violation_type_u gf_violation; + geofence_violation_type_u gf_violation{}; gf_violation.flags.max_altitude_exceeded = true; gf_avoidance.setClimbRate(climbrate); @@ -242,7 +241,7 @@ TEST_F(GeofenceBreachAvoidanceTest, maxDistToHomeViolationMulticopter) FakeGeofence geo; Vector2d home_global(42.1, 8.2); MapProjection ref{home_global(0), home_global(1)}; - geofence_violation_type_u gf_violation; + geofence_violation_type_u gf_violation{}; gf_violation.flags.dist_to_home_exceeded = true; const float hor_vel = 8.0f; @@ -274,7 +273,7 @@ TEST_F(GeofenceBreachAvoidanceTest, maxDistToHomeViolationFixedWing) FakeGeofence geo; Vector2d home_global(42.1, 8.2); MapProjection ref{home_global(0), home_global(1)}; - geofence_violation_type_u gf_violation; + geofence_violation_type_u gf_violation{}; gf_violation.flags.dist_to_home_exceeded = true; const float test_point_distance = 30.0f; diff --git a/src/modules/navigator/GeofenceBreachAvoidance/dataman_mocks.hpp b/src/modules/navigator/GeofenceBreachAvoidance/dataman_mocks.hpp deleted file mode 100644 index 5811863889c0..000000000000 --- a/src/modules/navigator/GeofenceBreachAvoidance/dataman_mocks.hpp +++ /dev/null @@ -1,93 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2021 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ -/** - * @file dataman_mocks.h - * Provides a minimal dataman implementation to compile against for testing - * - * @author Roman Bapst - * @author Julian Kent - */ -#pragma once - -#include -extern "C" { - __EXPORT ssize_t - dm_read( - dm_item_t item, /* The item type to retrieve */ - unsigned index, /* The index of the item */ - void *buffer, /* Pointer to caller data buffer */ - size_t buflen /* Length in bytes of data to retrieve */ - ) {return 0;}; - - /** write to the data manager store */ - __EXPORT ssize_t - dm_write( - dm_item_t item, /* The item type to store */ - unsigned index, /* The index of the item */ - const void *buffer, /* Pointer to caller data buffer */ - size_t buflen /* Length in bytes of data to retrieve */ - ) {return 0;}; - - /** - * Lock all items of a type. Can be used for atomic updates of multiple items (single items are always updated - * atomically). - * Note that this lock is independent from dm_read & dm_write calls. - * @return 0 on success and lock taken, -1 on error (lock not taken, errno set) - */ - __EXPORT int - dm_lock( - dm_item_t item /* The item type to lock */ - ) {return 0;}; - - /** - * Try to lock all items of a type (@see sem_trywait()). - * @return 0 if lock is taken, -1 otherwise (on error or if already locked. errno is set accordingly) - */ - __EXPORT int - dm_trylock( - dm_item_t item /* The item type to lock */ - ) {return 0;}; - - /** Unlock all items of a type */ - __EXPORT void - dm_unlock( - dm_item_t item /* The item type to unlock */ - ) {}; - - /** Erase all items of this type */ - __EXPORT int - dm_clear( - dm_item_t item /* The item type to clear */ - ) {return 0;}; -} - diff --git a/src/modules/navigator/GeofenceBreachAvoidance/geofence_breach_avoidance.cpp b/src/modules/navigator/GeofenceBreachAvoidance/geofence_breach_avoidance.cpp index f84e24e74ba4..b8ee1f243542 100644 --- a/src/modules/navigator/GeofenceBreachAvoidance/geofence_breach_avoidance.cpp +++ b/src/modules/navigator/GeofenceBreachAvoidance/geofence_breach_avoidance.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2020 PX4 Development Team. All rights reserved. + * Copyright (c) 2020-2023 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -75,7 +75,6 @@ void GeofenceBreachAvoidance::setHomePosition(double lat, double lon, float alt) { _home_lat_lon(0) = lat; _home_lat_lon(1) = lon; - _home_alt_amsl = alt; } matrix::Vector2 GeofenceBreachAvoidance::waypointFromBearingAndDistance(matrix::Vector2 @@ -159,7 +158,7 @@ GeofenceBreachAvoidance::generateLoiterPointForMultirotor(geofence_violation_typ Vector2d test_point; // binary search for the distance from the drone to the geofence in the given direction - while (abs(current_max - current_min) > 0.5f) { + while (fabsf(current_max - current_min) > 0.5f) { test_point = waypointFromBearingAndDistance(_current_pos_lat_lon, _test_point_bearing, current_distance); if (!geofence->isInsidePolygonOrCircle(test_point(0), test_point(1), _current_alt_amsl)) { diff --git a/src/modules/navigator/GeofenceBreachAvoidance/geofence_breach_avoidance.h b/src/modules/navigator/GeofenceBreachAvoidance/geofence_breach_avoidance.h index 1a6c63ea20ee..86c2088aecc1 100644 --- a/src/modules/navigator/GeofenceBreachAvoidance/geofence_breach_avoidance.h +++ b/src/modules/navigator/GeofenceBreachAvoidance/geofence_breach_avoidance.h @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2020 PX4 Development Team. All rights reserved. + * Copyright (c) 2020-2023 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -39,7 +39,7 @@ class Geofence; -#define GEOFENCE_CHECK_INTERVAL_US 200000 +#define GEOFENCE_CHECK_INTERVAL_US 200000 // 0.2s union geofence_violation_type_u { struct { @@ -95,8 +95,6 @@ class GeofenceBreachAvoidance : public ModuleParams void setMaxHorDistHome(float dist) { _max_hor_dist_home = dist; } - void setMaxVerDistHome(float dist) { _max_ver_dist_home = dist; } - void updateParameters(); private: @@ -134,10 +132,8 @@ class GeofenceBreachAvoidance : public ModuleParams matrix::Vector2 _current_pos_lat_lon{}; matrix::Vector2 _home_lat_lon {}; - float _home_alt_amsl{0.0f}; float _max_hor_dist_home{0.0f}; - float _max_ver_dist_home{0.0f}; void updateMinHorDistToFenceMultirotor(); diff --git a/src/modules/navigator/Kconfig b/src/modules/navigator/Kconfig index 422748e04831..83e42cc594db 100644 --- a/src/modules/navigator/Kconfig +++ b/src/modules/navigator/Kconfig @@ -10,3 +10,12 @@ menuconfig USER_NAVIGATOR depends on BOARD_PROTECTED && MODULES_NAVIGATOR ---help--- Put navigator in userspace memory + +menuconfig MODE_NAVIGATOR_VTOL_TAKEOFF + bool "Include VTOL takeoff mode support" + default n + depends on MODULES_NAVIGATOR + ---help--- + Add VTOL takeoff mode to enable support for MAV_CMD_NAV_VTOL_TAKEOFF. + The VTOL takes off in MC mode and transition to FW. The mode ends with + an infinite loiter diff --git a/src/modules/navigator/MissionFeasibility/FeasibilityChecker.cpp b/src/modules/navigator/MissionFeasibility/FeasibilityChecker.cpp index 0f4086926a1b..c2b3a8119807 100644 --- a/src/modules/navigator/MissionFeasibility/FeasibilityChecker.cpp +++ b/src/modules/navigator/MissionFeasibility/FeasibilityChecker.cpp @@ -46,19 +46,10 @@ FeasibilityChecker::FeasibilityChecker() : void FeasibilityChecker::reset() { - - _is_landed = false; - _home_alt_msl = NAN; - _home_lat_lon = matrix::Vector2d((double)NAN, (double)NAN); - _current_position_lat_lon = matrix::Vector2d((double)NAN, (double)NAN); - _vehicle_type = VehicleType::RotaryWing; - _mission_validity_failed = false; _takeoff_failed = false; _land_pattern_validity_failed = false; - _distance_first_waypoint_failed = false; _distance_between_waypoints_failed = false; - _below_home_alt_failed = false; _fixed_wing_land_approach_failed = false; _takeoff_land_available_failed = false; @@ -87,10 +78,16 @@ void FeasibilityChecker::updateData() if (home.valid_hpos) { _home_lat_lon = matrix::Vector2d(home.lat, home.lon); + + } else { + _home_lat_lon = matrix::Vector2d((double)NAN, (double)NAN); } if (home.valid_alt) { _home_alt_msl = home.alt; + + } else { + _home_alt_msl = NAN; } } @@ -120,10 +117,10 @@ void FeasibilityChecker::updateData() _is_landed = land_detected.landed; } - if (_vehicle_global_position_sub.updated()) { - vehicle_global_position_s vehicle_global_position = {}; - _vehicle_global_position_sub.copy(&vehicle_global_position); - _current_position_lat_lon = matrix::Vector2d(vehicle_global_position.lat, vehicle_global_position.lon); + if (_rtl_status_sub.updated()) { + rtl_status_s rtl_status = {}; + _rtl_status_sub.copy(&rtl_status); + _has_vtol_approach = rtl_status.has_vtol_approach; } param_t handle = param_find("FW_LND_ANG"); @@ -195,17 +192,17 @@ void FeasibilityChecker::doCommonChecks(mission_item_s &mission_item, const int _distance_between_waypoints_failed = !checkDistancesBetweenWaypoints(mission_item); } - if (!_distance_first_waypoint_failed) { - _distance_first_waypoint_failed = !checkHorizontalDistanceToFirstWaypoint(mission_item); - } - - if (!_below_home_alt_failed) { - _below_home_alt_failed = !checkIfBelowHomeAltitude(mission_item, current_index); + if (!_first_waypoint_found) { + checkHorizontalDistanceToFirstWaypoint(mission_item); } if (!_takeoff_failed) { _takeoff_failed = !checkTakeoff(mission_item); } + + if (!_items_fit_to_vehicle_type_failed) { + _items_fit_to_vehicle_type_failed = !checkItemsFitToVehicleType(mission_item); + } } void FeasibilityChecker::doVtolChecks(mission_item_s &mission_item, const int current_index, const int last_index) @@ -376,7 +373,6 @@ bool FeasibilityChecker::checkTakeoff(mission_item_s &mission_item) mission_item.nav_cmd != NAV_CMD_SET_CAMERA_MODE && mission_item.nav_cmd != NAV_CMD_SET_CAMERA_ZOOM && mission_item.nav_cmd != NAV_CMD_SET_CAMERA_FOCUS && - mission_item.nav_cmd != NAV_CMD_SET_CAMERA_FOCUS && mission_item.nav_cmd != NAV_CMD_DO_VTOL_TRANSITION); } @@ -579,17 +575,22 @@ bool FeasibilityChecker::checkTakeoffLandAvailable() break; case 4: - result = _has_takeoff == _landing_valid; + result = hasMissionBothOrNeitherTakeoffAndLanding(); + + break; + + case 5: + if (_is_landed) { + result = hasMissionBothOrNeitherTakeoffAndLanding(); - if (!result && (_has_takeoff)) { - mavlink_log_critical(_mavlink_log_pub, "Mission rejected: Add Landing item or remove Takeoff.\t"); - events::send(events::ID("navigator_mis_add_land_or_rm_to"), {events::Log::Error, events::LogInternal::Info}, - "Mission rejected: Add Landing item or remove Takeoff"); + } else if (!_has_vtol_approach) { + result = _landing_valid; - } else if (!result && (_landing_valid)) { - mavlink_log_critical(_mavlink_log_pub, "Mission rejected: Add Takeoff item or remove Landing.\t"); - events::send(events::ID("navigator_mis_add_to_or_rm_land"), {events::Log::Error, events::LogInternal::Info}, - "Mission rejected: Add Takeoff item or remove Landing"); + if (!result) { + mavlink_log_critical(_mavlink_log_pub, "Mission rejected: Landing waypoint/pattern required."); + events::send(events::ID("feasibility_mis_in_air_landing_req"), {events::Log::Error, events::LogInternal::Info}, + "Mission rejected: Landing waypoint/pattern required"); + } } break; @@ -602,35 +603,53 @@ bool FeasibilityChecker::checkTakeoffLandAvailable() return result; } +bool FeasibilityChecker::hasMissionBothOrNeitherTakeoffAndLanding() +{ + bool result{_has_takeoff == _landing_valid}; + + if (!result && (_has_takeoff)) { + mavlink_log_critical(_mavlink_log_pub, "Mission rejected: Add Landing item or remove Takeoff.\t"); + events::send(events::ID("navigator_mis_add_land_or_rm_to"), {events::Log::Error, events::LogInternal::Info}, + "Mission rejected: Add Landing item or remove Takeoff"); + + } else if (!result && (_landing_valid)) { + mavlink_log_critical(_mavlink_log_pub, "Mission rejected: Add Takeoff item or remove Landing.\t"); + events::send(events::ID("navigator_mis_add_to_or_rm_land"), {events::Log::Error, events::LogInternal::Info}, + "Mission rejected: Add Takeoff item or remove Landing"); + } + + return result; +} bool FeasibilityChecker::checkHorizontalDistanceToFirstWaypoint(mission_item_s &mission_item) { if (_param_mis_dist_1wp > FLT_EPSILON && - (_current_position_lat_lon.isAllFinite()) && !_first_waypoint_found && + (_home_lat_lon.isAllFinite()) && MissionBlock::item_contains_position(mission_item)) { _first_waypoint_found = true; - float dist_to_1wp_from_current_pos = 1e6f; - - if (_current_position_lat_lon.isAllFinite()) { - dist_to_1wp_from_current_pos = get_distance_to_next_waypoint( - mission_item.lat, mission_item.lon, - _current_position_lat_lon(0), _current_position_lat_lon(1)); - } + const float dist_to_1wp_from_home_pos = get_distance_to_next_waypoint( + mission_item.lat, mission_item.lon, + _home_lat_lon(0), _home_lat_lon(1)); - if (dist_to_1wp_from_current_pos < _param_mis_dist_1wp) { + if (dist_to_1wp_from_home_pos < _param_mis_dist_1wp) { return true; } else { /* item is too far from current position */ mavlink_log_critical(_mavlink_log_pub, - "First waypoint too far away: %dm, %d max\t", - (int)dist_to_1wp_from_current_pos, (int)_param_mis_dist_1wp); - events::send(events::ID("navigator_mis_first_wp_too_far"), {events::Log::Error, events::LogInternal::Info}, - "First waypoint too far away: {1m} (maximum: {2m})", (uint32_t)dist_to_1wp_from_current_pos, - (uint32_t)_param_mis_dist_1wp); + "First waypoint far away from home: %dm. Correct mission loaded?\t", + (int)dist_to_1wp_from_home_pos); + /* EVENT + * @description + * + * This check can be configured via MIS_DIST_1WP parameter. + * + */ + events::send(events::ID("navigator_mis_first_wp_far"), {events::Log::Warning, events::LogInternal::Info}, + "First waypoint far away from Home: {1m} Correct mission loaded?", (uint32_t)dist_to_1wp_from_home_pos); return false; } @@ -679,18 +698,17 @@ bool FeasibilityChecker::checkDistancesBetweenWaypoints(const mission_item_s &mi return true; } -bool FeasibilityChecker::checkIfBelowHomeAltitude(const mission_item_s &mission_item, const int current_index) +bool FeasibilityChecker::checkItemsFitToVehicleType(const mission_item_s &mission_item) { - /* calculate the global waypoint altitude */ - float wp_alt = (mission_item.altitude_is_relative) ? mission_item.altitude + _home_alt_msl : mission_item.altitude; + if (_vehicle_type != VehicleType::Vtol && + (mission_item.nav_cmd == NAV_CMD_VTOL_TAKEOFF || mission_item.nav_cmd == NAV_CMD_VTOL_LAND + || mission_item.nav_cmd == NAV_CMD_DO_VTOL_TRANSITION)) { - if (PX4_ISFINITE(_home_alt_msl) && _home_alt_msl > wp_alt && MissionBlock::item_contains_position(mission_item)) { + mavlink_log_critical(_mavlink_log_pub, "Mission rejected: Mission contains VTOL items but vehicle is not a VTOL\t"); + events::send(events::ID("navigator_mis_vtol_items"), {events::Log::Error, events::LogInternal::Info}, + "Mission rejected: Mission contains VTOL items but vehicle is not a VTOL"); - - - mavlink_log_critical(_mavlink_log_pub, "Warning: Waypoint %d below home\t", current_index + 1); - events::send(events::ID("navigator_mis_wp_below_home"), {events::Log::Warning, events::LogInternal::Info}, - "Waypoint {1} below home", current_index + 1); + return false; } return true; diff --git a/src/modules/navigator/MissionFeasibility/FeasibilityChecker.hpp b/src/modules/navigator/MissionFeasibility/FeasibilityChecker.hpp index 48124daef0ad..d0905d363545 100644 --- a/src/modules/navigator/MissionFeasibility/FeasibilityChecker.hpp +++ b/src/modules/navigator/MissionFeasibility/FeasibilityChecker.hpp @@ -36,6 +36,7 @@ #include "../navigation.h" #include #include +#include #include #include #include @@ -77,11 +78,9 @@ class FeasibilityChecker : public ModuleParams bool someCheckFailed() { return _takeoff_failed || - _distance_first_waypoint_failed || _distance_between_waypoints_failed || _land_pattern_validity_failed || _fixed_wing_land_approach_failed || - _below_home_alt_failed || _mission_validity_failed || _takeoff_land_available_failed; } @@ -97,7 +96,7 @@ class FeasibilityChecker : public ModuleParams uORB::Subscription _home_pos_sub{ORB_ID(home_position)}; uORB::Subscription _status_sub{ORB_ID(vehicle_status)}; uORB::Subscription _land_detector_sub{ORB_ID(vehicle_land_detected)}; - uORB::Subscription _vehicle_global_position_sub{ORB_ID(vehicle_global_position)}; + uORB::Subscription _rtl_status_sub{ORB_ID(rtl_status)}; // parameters float _param_fw_lnd_ang{0.f}; @@ -107,19 +106,18 @@ class FeasibilityChecker : public ModuleParams bool _is_landed{false}; float _home_alt_msl{NAN}; + bool _has_vtol_approach{false}; matrix::Vector2d _home_lat_lon = matrix::Vector2d((double)NAN, (double)NAN); - matrix::Vector2d _current_position_lat_lon = matrix::Vector2d((double)NAN, (double)NAN); VehicleType _vehicle_type{VehicleType::RotaryWing}; // internal flags to keep track of which checks failed bool _mission_validity_failed{false}; bool _takeoff_failed{false}; bool _land_pattern_validity_failed{false}; - bool _distance_first_waypoint_failed{false}; bool _distance_between_waypoints_failed{false}; - bool _below_home_alt_failed{false}; bool _fixed_wing_land_approach_failed{false}; bool _takeoff_land_available_failed{false}; + bool _items_fit_to_vehicle_type_failed{false}; // internal checkTakeoff related variables bool _found_item_with_position{false}; @@ -163,6 +161,14 @@ class FeasibilityChecker : public ModuleParams */ bool checkTakeoff(mission_item_s &mission_item); + /** + * @brief Check if the mission items fit to the vehicle type + * + * @param mission_item The current mission item + * @return False if the check failed. + */ + bool checkItemsFitToVehicleType(const mission_item_s &mission_item); + /** * @brief Check validity of landing pattern (fixed wing & vtol) * @@ -189,15 +195,6 @@ class FeasibilityChecker : public ModuleParams */ bool checkDistancesBetweenWaypoints(const mission_item_s &mission_item); - /** - * @brief Check if any waypoint is below the home altitude. Issues warning only. - * - * @param mission_item The current mission item - * @param current_index The current mission index - * @return Always returns true, only issues warning. - */ - bool checkIfBelowHomeAltitude(const mission_item_s &mission_item, const int current_index); - /** * @brief Check fixed wing land approach (fixed wing only) * @@ -249,4 +246,8 @@ class FeasibilityChecker : public ModuleParams * @return False if the check failed. */ void doMulticopterChecks(mission_item_s &mission_item, const int current_index); + + // Helper functions + + bool hasMissionBothOrNeitherTakeoffAndLanding(); }; diff --git a/src/modules/navigator/MissionFeasibility/FeasibilityCheckerTest.cpp b/src/modules/navigator/MissionFeasibility/FeasibilityCheckerTest.cpp index fa5882690537..43662441488a 100644 --- a/src/modules/navigator/MissionFeasibility/FeasibilityCheckerTest.cpp +++ b/src/modules/navigator/MissionFeasibility/FeasibilityCheckerTest.cpp @@ -65,6 +65,18 @@ class TestFeasibilityChecker : public FeasibilityChecker orb_publish(ORB_ID(home_position), home_pub, &home); } + void publishInvalidHome() + { + home_position_s home = {}; + home.alt = 0.f; + home.valid_alt = false; + home.lat = 0.; + home.lon = 0.; + home.valid_hpos = false; + orb_advert_t home_pub = orb_advertise(ORB_ID(home_position), &home); + orb_publish(ORB_ID(home_position), home_pub, &home); + } + void publishCurrentPosition(double lat, double lon) { vehicle_global_position_s gpos = {}; @@ -122,6 +134,7 @@ TEST_F(FeasibilityCheckerTest, mission_item_validity) ASSERT_EQ(ret, false); checker.reset(); + checker.publishInvalidHome(); mission_item.nav_cmd = NAV_CMD_TAKEOFF; mission_item.altitude_is_relative = true; ret = checker.processNextItem(mission_item, 0, 5); @@ -157,9 +170,9 @@ TEST_F(FeasibilityCheckerTest, check_dist_first_waypoint) mission_item.lat = lat_new; mission_item.lon = lon_new; - // THEN: fail + // THEN: pass checker.processNextItem(mission_item, 0, 1); - ASSERT_EQ(checker.someCheckFailed(), true); + ASSERT_EQ(checker.someCheckFailed(), false); // BUT WHEN: valid current position fist WP 499m away from current checker.reset(); @@ -190,6 +203,7 @@ TEST_F(FeasibilityCheckerTest, check_below_home) // this is done to invalidate the home position checker.reset(); + checker.publishInvalidHome(); checker.publishLanded(true); checker.processNextItem(mission_item, 0, 1); diff --git a/src/modules/navigator/geofence.cpp b/src/modules/navigator/geofence.cpp index f131130b901d..00a1e3f94011 100644 --- a/src/modules/navigator/geofence.cpp +++ b/src/modules/navigator/geofence.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2013,2017 PX4 Development Team. All rights reserved. + * Copyright (c) 2013-2023 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -40,10 +40,12 @@ */ #include "geofence.h" #include "navigator.h" +#include "navigation.h" #include +#include -#include +#include #include #include #include @@ -51,17 +53,36 @@ #include "navigator.h" -#define GEOFENCE_RANGE_WARNING_LIMIT 5000000 +static uint32_t crc32_for_fence_point(const mission_fence_point_s &fence_point, uint32_t prev_crc32) +{ + union { + CrcMissionItem_t item; + uint8_t raw[sizeof(CrcMissionItem_t)]; + } u; + + u.item.frame = fence_point.frame; + u.item.command = fence_point.nav_cmd; + u.item.autocontinue = 0U; + u.item.params[0] = 0.f; + u.item.params[1] = 0.f; + u.item.params[2] = 0.f; + u.item.params[3] = 0.f; + u.item.params[4] = static_cast(fence_point.lat); + u.item.params[5] = static_cast(fence_point.lon); + u.item.params[6] = fence_point.alt; + + return crc32part(u.raw, sizeof(u), prev_crc32); +} Geofence::Geofence(Navigator *navigator) : ModuleParams(navigator), - _navigator(navigator), - _sub_airdata(ORB_ID(vehicle_air_data)) + _navigator(navigator) { - // we assume there's no concurrent fence update on startup if (_navigator != nullptr) { - _updateFence(); + updateFence(); } + + _geofence_status_pub.advertise(); } Geofence::~Geofence() @@ -71,42 +92,136 @@ Geofence::~Geofence() } } -void Geofence::updateFence() +void Geofence::run() { - // Note: be aware that when calling this, it can block for quite some time, the duration of a geofence transfer. - // However this is currently not used - if (dm_lock(DM_KEY_FENCE_POINTS) != 0) { - PX4_ERR("lock failed"); - return; + bool success; + + switch (_dataman_state) { + + case DatamanState::UpdateRequestWait: + + if (_initiate_fence_updated) { + _initiate_fence_updated = false; + _dataman_state = DatamanState::Read; + + geofence_status_s status{}; + status.timestamp = hrt_absolute_time(); + status.geofence_id = _opaque_id; + status.status = geofence_status_s::GF_STATUS_LOADING; + + _geofence_status_pub.publish(status); + + } + + break; + + case DatamanState::Read: + + _dataman_state = DatamanState::ReadWait; + success = _dataman_client.readAsync(DM_KEY_FENCE_POINTS_STATE, 0, reinterpret_cast(&_stats), + sizeof(mission_stats_entry_s)); + + if (!success) { + _error_state = DatamanState::Read; + _dataman_state = DatamanState::Error; + } + + break; + + case DatamanState::ReadWait: + + _dataman_client.update(); + + if (_dataman_client.lastOperationCompleted(success)) { + + if (!success) { + _error_state = DatamanState::ReadWait; + _dataman_state = DatamanState::Error; + + } else if (_opaque_id != _stats.opaque_id) { + + _opaque_id = _stats.opaque_id; + _fence_updated = false; + + _dataman_cache.invalidate(); + + if (_dataman_cache.size() != _stats.num_items) { + _dataman_cache.resize(_stats.num_items); + } + + for (int index = 0; index < _dataman_cache.size(); ++index) { + _dataman_cache.load(static_cast(_stats.dataman_id), index); + } + + _dataman_state = DatamanState::Load; + + } else { + _dataman_state = DatamanState::UpdateRequestWait; + _fence_updated = true; + + geofence_status_s status{}; + status.timestamp = hrt_absolute_time(); + status.geofence_id = _opaque_id; + status.status = geofence_status_s::GF_STATUS_READY; + + _geofence_status_pub.publish(status); + } + } + + break; + + case DatamanState::Load: + + _dataman_cache.update(); + + if (!_dataman_cache.isLoading()) { + _dataman_state = DatamanState::UpdateRequestWait; + _updateFence(); + _fence_updated = true; + + geofence_status_s status{}; + status.timestamp = hrt_absolute_time(); + status.geofence_id = _opaque_id; + status.status = geofence_status_s::GF_STATUS_READY; + + _geofence_status_pub.publish(status); + } + + break; + + case DatamanState::Error: + PX4_ERR("Geofence update failed! state: %" PRIu8, static_cast(_error_state)); + _dataman_state = DatamanState::UpdateRequestWait; + break; + + default: + break; + } +} - _updateFence(); - dm_unlock(DM_KEY_FENCE_POINTS); +void Geofence::updateFence() +{ + _initiate_fence_updated = true; } void Geofence::_updateFence() { - // initialize fence points count - mission_stats_entry_s stats; - int ret = dm_read(DM_KEY_FENCE_POINTS, 0, &stats, sizeof(mission_stats_entry_s)); - int num_fence_items = 0; - - if (ret == sizeof(mission_stats_entry_s)) { - num_fence_items = stats.num_items; - _update_counter = stats.update_counter; - } + mission_fence_point_s mission_fence_point; + bool is_circle_area = false; // iterate over all polygons and store their starting vertices _num_polygons = 0; - int current_seq = 1; + int current_seq = 0; - while (current_seq <= num_fence_items) { - mission_fence_point_s mission_fence_point; - bool is_circle_area = false; + while (current_seq < _dataman_cache.size()) { - if (dm_read(DM_KEY_FENCE_POINTS, current_seq, &mission_fence_point, sizeof(mission_fence_point_s)) != - sizeof(mission_fence_point_s)) { - PX4_ERR("dm_read failed"); + bool success = _dataman_cache.loadWait(static_cast(_stats.dataman_id), current_seq, + reinterpret_cast(&mission_fence_point), + sizeof(mission_fence_point_s)); + + if (!success) { + PX4_ERR("loadWait failed, seq: %i", current_seq); break; } @@ -162,7 +277,17 @@ void Geofence::_updateFence() current_seq += mission_fence_point.vertex_count; } - ++_num_polygons; + // check if requiremetns for Home location are met + const bool home_check_okay = checkHomeRequirementsForGeofence(polygon); + + // check if current position is inside the fence and vehicle is armed + const bool current_position_check_okay = checkCurrentPositionRequirementsForGeofence(polygon); + + // discard the polygon if at least one check fails by not incrementing the counter in that case + if (home_check_okay && current_position_check_okay) { + ++_num_polygons; + + } } break; @@ -172,105 +297,69 @@ void Geofence::_updateFence() ++current_seq; break; } - } - } -bool Geofence::checkAll(const struct vehicle_global_position_s &global_position) +bool Geofence::checkHomeRequirementsForGeofence(const PolygonInfo &polygon) { - return checkAll(global_position.lat, global_position.lon, global_position.alt); -} - -bool Geofence::checkAll(const struct vehicle_global_position_s &global_position, const float alt) -{ - return checkAll(global_position.lat, global_position.lon, alt); -} - -bool Geofence::checkAll(double lat, double lon, float altitude) -{ - bool inside_fence = isCloserThanMaxDistToHome(lat, lon, altitude); - - inside_fence = inside_fence && isBelowMaxAltitude(altitude); - - // to be inside the geofence both fences have to report being inside - // as they both report being inside when not enabled - inside_fence = inside_fence && isInsidePolygonOrCircle(lat, lon, altitude); + bool checks_pass = true; - if (inside_fence) { - _outside_counter = 0; - return inside_fence; - - } else { - _outside_counter++; + if (_navigator->home_global_position_valid()) { + checks_pass = checkPointAgainstPolygonCircle(polygon, _navigator->get_home_position()->lat, + _navigator->get_home_position()->lon, + _navigator->get_home_position()->alt); + } - if (_outside_counter > _param_gf_count.get()) { - return inside_fence; - } else { - return true; - } + if (!checks_pass) { + mavlink_log_critical(_navigator->get_mavlink_log_pub(), "Geofence invalid, doesn't contain Home position\t"); + events::send(events::ID("navigator_geofence_invalid_against_home"), {events::Log::Critical, events::LogInternal::Warning}, + "Geofence invalid, doesn't contain Home position"); } + + return checks_pass; } -bool Geofence::check(const vehicle_global_position_s &global_position, const sensor_gps_s &gps_position) +bool Geofence::checkCurrentPositionRequirementsForGeofence(const PolygonInfo &polygon) { - if (_param_gf_altmode.get() == Geofence::GF_ALT_MODE_WGS84) { - if (getSource() == Geofence::GF_SOURCE_GLOBALPOS) { - return checkAll(global_position); - - } else { - return checkAll(gps_position.lat * 1.0e-7, gps_position.lon * 1.0e-7, gps_position.alt * 1.0e-3); - } + bool checks_pass = true; - } else { - // get baro altitude - _sub_airdata.update(); - const float baro_altitude_amsl = _sub_airdata.get().baro_alt_meter; - - if (getSource() == Geofence::GF_SOURCE_GLOBALPOS) { - return checkAll(global_position, baro_altitude_amsl); + // do not allow upload of geofence if vehicle is flying and current geofence would be immediately violated + if (getGeofenceAction() != geofence_result_s::GF_ACTION_NONE && !_navigator->get_land_detected()->landed) { + checks_pass = checkPointAgainstPolygonCircle(polygon, _navigator->get_global_position()->lat, + _navigator->get_global_position()->lon, _navigator->get_global_position()->alt); + } - } else { - return checkAll(gps_position.lat * 1.0e-7, gps_position.lon * 1.0e-7, baro_altitude_amsl); - } + if (!checks_pass) { + mavlink_log_critical(_navigator->get_mavlink_log_pub(), "Geofence invalid, doesn't contain current vehicle position\t"); + events::send(events::ID("navigator_geofence_invalid_against_cur_pos"), {events::Log::Critical, events::LogInternal::Warning}, + "Geofence invalid, doesn't contain current vehicle position"); } + + return checks_pass; } -bool Geofence::check(const struct mission_item_s &mission_item) + +bool Geofence::checkPointAgainstAllGeofences(double lat, double lon, float altitude) { - return checkAll(mission_item.lat, mission_item.lon, mission_item.altitude); + const bool inside_fence = isCloserThanMaxDistToHome(lat, lon, altitude) && isBelowMaxAltitude(altitude) + && isInsidePolygonOrCircle(lat, lon, altitude); + return inside_fence; } bool Geofence::isCloserThanMaxDistToHome(double lat, double lon, float altitude) { bool inside_fence = true; - if (isHomeRequired() && _navigator->home_global_position_valid()) { - - const float max_horizontal_distance = _param_gf_max_hor_dist.get(); - - const double home_lat = _navigator->get_home_position()->lat; - const double home_lon = _navigator->get_home_position()->lon; - const float home_alt = _navigator->get_home_position()->alt; + if (_param_gf_max_hor_dist.get() > FLT_EPSILON && _navigator->home_global_position_valid()) { float dist_xy = -1.0f; float dist_z = -1.0f; - get_distance_to_point_global_wgs84(lat, lon, altitude, home_lat, home_lon, home_alt, &dist_xy, &dist_z); + get_distance_to_point_global_wgs84(lat, lon, altitude, _navigator->get_home_position()->lat, + _navigator->get_home_position()->lon, _navigator->get_home_position()->alt, &dist_xy, &dist_z); - if (max_horizontal_distance > FLT_EPSILON && (dist_xy > max_horizontal_distance)) { - if (hrt_elapsed_time(&_last_horizontal_range_warning) > GEOFENCE_RANGE_WARNING_LIMIT) { - mavlink_log_critical(_navigator->get_mavlink_log_pub(), "Maximum distance from home reached (%.5f)\t", - (double)max_horizontal_distance); - events::send(events::ID("navigator_geofence_max_dist_from_home"), {events::Log::Critical, events::LogInternal::Warning}, - "Geofence: maximum distance from home reached ({1:.0m})", - max_horizontal_distance); - _last_horizontal_range_warning = hrt_absolute_time(); - } - - inside_fence = false; - } + inside_fence = dist_xy < _param_gf_max_hor_dist.get(); } return inside_fence; @@ -280,25 +369,10 @@ bool Geofence::isBelowMaxAltitude(float altitude) { bool inside_fence = true; - if (isHomeRequired() && _navigator->home_alt_valid()) { - - const float max_vertical_distance = _param_gf_max_ver_dist.get(); - const float home_alt = _navigator->get_home_position()->alt; - - float dist_z = altitude - home_alt; + if (_param_gf_max_ver_dist.get() > FLT_EPSILON && _navigator->home_alt_valid()) { - if (max_vertical_distance > FLT_EPSILON && (dist_z > max_vertical_distance)) { - if (hrt_elapsed_time(&_last_vertical_range_warning) > GEOFENCE_RANGE_WARNING_LIMIT) { - mavlink_log_critical(_navigator->get_mavlink_log_pub(), "Maximum altitude above home reached (%.5f)\t", - (double)max_vertical_distance); - events::send(events::ID("navigator_geofence_max_alt_from_home"), {events::Log::Critical, events::LogInternal::Warning}, - "Geofence: maximum altitude above home reached ({1:.0m_v})", - max_vertical_distance); - _last_vertical_range_warning = hrt_absolute_time(); - } - - inside_fence = false; - } + const float dist_z = altitude - _navigator->get_home_position()->alt; + inside_fence = dist_z < _param_gf_max_ver_dist.get(); } return inside_fence; @@ -306,22 +380,7 @@ bool Geofence::isBelowMaxAltitude(float altitude) bool Geofence::isInsidePolygonOrCircle(double lat, double lon, float altitude) { - // the following uses dm_read, so first we try to lock all items. If that fails, it (most likely) means - // the data is currently being updated (via a mavlink geofence transfer), and we do not check for a violation now - if (dm_trylock(DM_KEY_FENCE_POINTS) != 0) { - return true; - } - - // we got the lock, now check if the fence data got updated - mission_stats_entry_s stats; - int ret = dm_read(DM_KEY_FENCE_POINTS, 0, &stats, sizeof(mission_stats_entry_s)); - - if (ret == sizeof(mission_stats_entry_s) && _update_counter != stats.update_counter) { - _updateFence(); - } - if (isEmpty()) { - dm_unlock(DM_KEY_FENCE_POINTS); /* Empty fence -> accept all points */ return true; } @@ -329,55 +388,46 @@ bool Geofence::isInsidePolygonOrCircle(double lat, double lon, float altitude) /* Vertical check */ if (_altitude_max > _altitude_min) { // only enable vertical check if configured properly if (altitude > _altitude_max || altitude < _altitude_min) { - dm_unlock(DM_KEY_FENCE_POINTS); return false; } } - /* Horizontal check: iterate all polygons & circles */ - bool outside_exclusion = true; - bool inside_inclusion = false; - bool had_inclusion_areas = false; + bool checksPass = true; for (int polygon_index = 0; polygon_index < _num_polygons; ++polygon_index) { - if (_polygons[polygon_index].fence_type == NAV_CMD_FENCE_CIRCLE_INCLUSION) { - bool inside = insideCircle(_polygons[polygon_index], lat, lon, altitude); - - if (inside) { - inside_inclusion = true; - } + checksPass &= checkPointAgainstPolygonCircle(_polygons[polygon_index], lat, lon, altitude); + } - had_inclusion_areas = true; + return checksPass; +} - } else if (_polygons[polygon_index].fence_type == NAV_CMD_FENCE_CIRCLE_EXCLUSION) { - bool inside = insideCircle(_polygons[polygon_index], lat, lon, altitude); +bool Geofence::checkPointAgainstPolygonCircle(const PolygonInfo &polygon, double lat, double lon, float altitude) +{ + bool checksPass = true; - if (inside) { - outside_exclusion = false; - } + switch (polygon.fence_type) { + case NAV_CMD_FENCE_CIRCLE_INCLUSION: + checksPass &= insideCircle(polygon, lat, lon, altitude); + break; - } else { // it's a polygon - bool inside = insidePolygon(_polygons[polygon_index], lat, lon, altitude); + case NAV_CMD_FENCE_CIRCLE_EXCLUSION: + checksPass &= !insideCircle(polygon, lat, lon, altitude); + break; - if (_polygons[polygon_index].fence_type == NAV_CMD_FENCE_POLYGON_VERTEX_INCLUSION) { - if (inside) { - inside_inclusion = true; - } + case NAV_CMD_FENCE_POLYGON_VERTEX_INCLUSION: + checksPass &= insidePolygon(polygon, lat, lon, altitude); + break; - had_inclusion_areas = true; + case NAV_CMD_FENCE_POLYGON_VERTEX_EXCLUSION: + checksPass &= !insidePolygon(polygon, lat, lon, altitude); + break; - } else { // exclusion - if (inside) { - outside_exclusion = false; - } - } - } + default: // unknown fence type + break; } - dm_unlock(DM_KEY_FENCE_POINTS); - - return (!had_inclusion_areas || inside_inclusion) && outside_exclusion; + return checksPass; } bool Geofence::insidePolygon(const PolygonInfo &polygon, double lat, double lon, float altitude) @@ -394,22 +444,34 @@ bool Geofence::insidePolygon(const PolygonInfo &polygon, double lat, double lon, bool c = false; for (unsigned i = 0, j = polygon.vertex_count - 1; i < polygon.vertex_count; j = i++) { - if (dm_read(DM_KEY_FENCE_POINTS, polygon.dataman_index + i, &temp_vertex_i, - sizeof(mission_fence_point_s)) != sizeof(mission_fence_point_s)) { + + dm_item_t fence_dataman_id{static_cast(_stats.dataman_id)}; + bool success = _dataman_cache.loadWait(fence_dataman_id, polygon.dataman_index + i, + reinterpret_cast(&temp_vertex_i), sizeof(mission_fence_point_s)); + + if (!success) { break; } - if (dm_read(DM_KEY_FENCE_POINTS, polygon.dataman_index + j, &temp_vertex_j, - sizeof(mission_fence_point_s)) != sizeof(mission_fence_point_s)) { + success = _dataman_cache.loadWait(fence_dataman_id, polygon.dataman_index + j, + reinterpret_cast(&temp_vertex_j), sizeof(mission_fence_point_s)); + + if (!success) { break; } - if (temp_vertex_i.frame != NAV_FRAME_GLOBAL && temp_vertex_i.frame != NAV_FRAME_GLOBAL_INT - && temp_vertex_i.frame != NAV_FRAME_GLOBAL_RELATIVE_ALT - && temp_vertex_i.frame != NAV_FRAME_GLOBAL_RELATIVE_ALT_INT) { + switch (temp_vertex_i.frame) { + case NAV_FRAME_GLOBAL: + case NAV_FRAME_GLOBAL_INT: + case NAV_FRAME_GLOBAL_RELATIVE_ALT: + case NAV_FRAME_GLOBAL_RELATIVE_ALT_INT: + break; + + default: // TODO: handle different frames PX4_ERR("Frame type %i not supported", (int)temp_vertex_i.frame); - break; + return c; + } if (((double)temp_vertex_i.lon >= lon) != ((double)temp_vertex_j.lon >= lon) && @@ -426,19 +488,26 @@ bool Geofence::insideCircle(const PolygonInfo &polygon, double lat, double lon, { mission_fence_point_s circle_point{}; + bool success = _dataman_cache.loadWait(static_cast(_stats.dataman_id), polygon.dataman_index, + reinterpret_cast(&circle_point), sizeof(mission_fence_point_s)); - if (dm_read(DM_KEY_FENCE_POINTS, polygon.dataman_index, &circle_point, - sizeof(mission_fence_point_s)) != sizeof(mission_fence_point_s)) { + if (!success) { PX4_ERR("dm_read failed"); return false; } - if (circle_point.frame != NAV_FRAME_GLOBAL && circle_point.frame != NAV_FRAME_GLOBAL_INT - && circle_point.frame != NAV_FRAME_GLOBAL_RELATIVE_ALT - && circle_point.frame != NAV_FRAME_GLOBAL_RELATIVE_ALT_INT) { + switch (circle_point.frame) { + case NAV_FRAME_GLOBAL: + case NAV_FRAME_GLOBAL_INT: + case NAV_FRAME_GLOBAL_RELATIVE_ALT: + case NAV_FRAME_GLOBAL_RELATIVE_ALT_INT: + break; + + default: // TODO: handle different frames PX4_ERR("Frame type %i not supported", (int)circle_point.frame); return false; + } if (!_projection_reference.isInitialized()) { @@ -468,8 +537,18 @@ Geofence::loadFromFile(const char *filename) const char commentChar = '#'; int ret_val = PX4_ERROR; - /* Make sure no data is left in the datamanager */ - clearDm(); + mission_stats_entry_s stat; + { + const bool success = _dataman_client.readAsync(DM_KEY_FENCE_POINTS_STATE, 0, reinterpret_cast(&stat), + sizeof(mission_stats_entry_s)); + + if (!success) { + PX4_ERR("Could not read fence dataman state"); + return PX4_ERROR; + } + } + + dm_item_t write_fence_dataman_id{static_cast(stat.dataman_id) == DM_KEY_FENCE_POINTS_0 ? DM_KEY_FENCE_POINTS_1 : DM_KEY_FENCE_POINTS_0}; /* open the mixer definition file */ fp = fopen(GEOFENCE_FILENAME, "r"); @@ -531,7 +610,10 @@ Geofence::loadFromFile(const char *filename) } } - if (dm_write(DM_KEY_FENCE_POINTS, pointCounter + 1, &vertex, sizeof(vertex)) != sizeof(vertex)) { + bool success = _dataman_client.writeSync(write_fence_dataman_id, pointCounter, reinterpret_cast(&vertex), + sizeof(vertex)); + + if (!success) { goto error; } @@ -555,26 +637,38 @@ Geofence::loadFromFile(const char *filename) if (gotVertical && pointCounter > 2) { mavlink_log_info(_navigator->get_mavlink_log_pub(), "Geofence imported\t"); events::send(events::ID("navigator_geofence_imported"), events::Log::Info, "Geofence imported"); - ret_val = PX4_OK; + ret_val = PX4_ERROR; + uint32_t crc32{0U}; /* do a second pass, now that we know the number of vertices */ - for (int seq = 1; seq <= pointCounter; ++seq) { + for (int seq = 0; seq < pointCounter; ++seq) { mission_fence_point_s mission_fence_point; - if (dm_read(DM_KEY_FENCE_POINTS, seq, &mission_fence_point, sizeof(mission_fence_point_s)) == - sizeof(mission_fence_point_s)) { + bool success = _dataman_client.readSync(write_fence_dataman_id, seq, reinterpret_cast(&mission_fence_point), + sizeof(mission_fence_point_s)); + + if (success) { mission_fence_point.vertex_count = pointCounter; - dm_write(DM_KEY_FENCE_POINTS, seq, &mission_fence_point, sizeof(mission_fence_point_s)); + crc32 = crc32_for_fence_point(mission_fence_point, crc32); + _dataman_client.writeSync(write_fence_dataman_id, seq, reinterpret_cast(&mission_fence_point), + sizeof(mission_fence_point_s)); } } mission_stats_entry_s stats; stats.num_items = pointCounter; - ret_val = dm_write(DM_KEY_FENCE_POINTS, 0, &stats, sizeof(mission_stats_entry_s)); + stats.opaque_id = crc32; + + bool success = _dataman_client.writeSync(DM_KEY_FENCE_POINTS_STATE, 0, reinterpret_cast(&stats), + sizeof(mission_stats_entry_s)); + + if (success) { + ret_val = PX4_OK; + } } else { mavlink_log_critical(_navigator->get_mavlink_log_pub(), "Geofence: import error\t"); - events::send(events::ID("navigator_geofence_import_failed"), events::Log::Error, "Geofence: import error"); + events::send(events::ID("navigator_geofence_import_failed"), events::Log::Critical, "Geofence: import error"); } updateFence(); @@ -584,13 +678,6 @@ Geofence::loadFromFile(const char *filename) return ret_val; } -int Geofence::clearDm() -{ - dm_clear(DM_KEY_FENCE_POINTS); - updateFence(); - return PX4_OK; -} - bool Geofence::isHomeRequired() { bool max_horizontal_enabled = (_param_gf_max_hor_dist.get() > FLT_EPSILON); @@ -608,24 +695,30 @@ void Geofence::printStatus() for (int i = 0; i < _num_polygons; ++i) { total_num_vertices += _polygons[i].vertex_count; - if (_polygons[i].fence_type == NAV_CMD_FENCE_POLYGON_VERTEX_INCLUSION) { + switch (_polygons[i].fence_type) { + case NAV_CMD_FENCE_POLYGON_VERTEX_INCLUSION: ++num_inclusion_polygons; - } + break; - if (_polygons[i].fence_type == NAV_CMD_FENCE_POLYGON_VERTEX_EXCLUSION) { + case NAV_CMD_FENCE_POLYGON_VERTEX_EXCLUSION: ++num_exclusion_polygons; - } + break; - if (_polygons[i].fence_type == NAV_CMD_FENCE_CIRCLE_INCLUSION) { + case NAV_CMD_FENCE_CIRCLE_INCLUSION: ++num_inclusion_circles; - } + break; - if (_polygons[i].fence_type == NAV_CMD_FENCE_CIRCLE_EXCLUSION) { + case NAV_CMD_FENCE_CIRCLE_EXCLUSION: ++num_exclusion_circles; + break; + + default: // unknown fence type + break; + } } - PX4_INFO("Geofence: %i inclusion, %i exclusion polygons, %i inclusion, %i exclusion circles, %i total vertices", + PX4_INFO("Geofence: %i inclusion, %i exclusion polygons, %i inclusion circles, %i exclusion circles, %i total vertices", num_inclusion_polygons, num_exclusion_polygons, num_inclusion_circles, num_exclusion_circles, total_num_vertices); } diff --git a/src/modules/navigator/geofence.h b/src/modules/navigator/geofence.h index b7386db83091..71d0a6bdf7ec 100644 --- a/src/modules/navigator/geofence.h +++ b/src/modules/navigator/geofence.h @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2013 PX4 Development Team. All rights reserved. + * Copyright (c) 2013-2023 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -42,16 +42,17 @@ #include +#include #include #include #include #include #include #include +#include #include #include #include -#include #define GEOFENCE_FILENAME PX4_STORAGEDIR"/etc/geofence.txt" @@ -65,54 +66,49 @@ class Geofence : public ModuleParams Geofence &operator=(const Geofence &) = delete; virtual ~Geofence(); - /* Altitude mode, corresponding to the param GF_ALTMODE */ - enum { - GF_ALT_MODE_WGS84 = 0, - GF_ALT_MODE_AMSL = 1 - }; - /* Source, corresponding to the param GF_SOURCE */ enum { GF_SOURCE_GLOBALPOS = 0, GF_SOURCE_GPS = 1 }; + /** + * @brief function to call regularly to do background work + */ + void run(); + /** * update the geofence from dataman. - * It's generally not necessary to call this as it will automatically update when the data is changed. */ void updateFence(); + /** - * Return whether the system obeys the geofence. + * Check if a 3D point passes the Geofence test. + * Checks max distance, max altitude, inside polygon or circle. + * In addition to checkPolygons(), this takes all additional parameters into account. * - * @return true: system is obeying fence, false: system is violating fence + * @return false for a geofence violation */ - bool check(const vehicle_global_position_s &global_position, const sensor_gps_s &gps_position); + bool checkPointAgainstAllGeofences(double lat, double lon, float altitude); /** - * Return whether a mission item obeys the geofence. + * @brief check if the horizontal distance to Home is greater than the maximum allowed distance * - * @return true: system is obeying fence, false: system is violating fence + * @return true if the horizontal distance to Home is smaller than the maximum allowed distance */ - bool check(const struct mission_item_s &mission_item); + bool isCloserThanMaxDistToHome(double lat, double lon, float altitude); + /** - * Check if a point passes the Geofence test. - * In addition to checkPolygons(), this takes all additional parameters into account. + * @brief check if the altitude above Home is greater than the maximum allowed altitude * - * @return false for a geofence violation + * @return true if the altitude above Home is smaller than the maximum allowed altitude */ - bool checkAll(double lat, double lon, float altitude); - - bool isCloserThanMaxDistToHome(double lat, double lon, float altitude); - bool isBelowMaxAltitude(float altitude); virtual bool isInsidePolygonOrCircle(double lat, double lon, float altitude); - int clearDm(); - bool valid(); /** @@ -136,13 +132,12 @@ class Geofence : public ModuleParams */ int loadFromFile(const char *filename); - bool isEmpty() { return _num_polygons == 0; } + bool isEmpty() { return (!_fence_updated || (_num_polygons == 0)); } int getSource() { return _param_gf_source.get(); } int getGeofenceAction() { return _param_gf_action.get(); } float getMaxHorDistanceHome() { return _param_gf_max_hor_dist.get(); } - float getMaxVerDistanceHome() { return _param_gf_max_ver_dist.get(); } bool getPredict() { return _param_gf_predict.get(); } bool isHomeRequired(); @@ -154,6 +149,14 @@ class Geofence : public ModuleParams private: + enum class DatamanState { + UpdateRequestWait, + Read, + ReadWait, + Load, + Error + }; + struct PolygonInfo { uint16_t fence_type; ///< one of MAV_CMD_NAV_FENCE_* (can also be a circular region) uint16_t dataman_index; @@ -166,8 +169,11 @@ class Geofence : public ModuleParams Navigator *_navigator{nullptr}; PolygonInfo *_polygons{nullptr}; - hrt_abstime _last_horizontal_range_warning{0}; - hrt_abstime _last_vertical_range_warning{0}; + mission_stats_entry_s _stats; + DatamanState _dataman_state{DatamanState::UpdateRequestWait}; + DatamanState _error_state{DatamanState::UpdateRequestWait}; + DatamanCache _dataman_cache{"geofence_dm_cache_miss", 0}; + DatamanClient &_dataman_client = _dataman_cache.client(); float _altitude_min{0.0f}; float _altitude_max{0.0f}; @@ -176,32 +182,17 @@ class Geofence : public ModuleParams MapProjection _projection_reference{}; ///< class to convert (lon, lat) to local [m] - uORB::SubscriptionData _sub_airdata; + uint32_t _opaque_id{0}; ///< dataman geofence id: if it does not match, the polygon data was updated + bool _fence_updated{true}; ///< flag indicating if fence are updated to dataman cache + bool _initiate_fence_updated{true}; ///< flag indicating if fence updated is needed - int _outside_counter{0}; - uint16_t _update_counter{0}; ///< dataman update counter: if it does not match, we polygon data was updated + uORB::Publication _geofence_status_pub{ORB_ID(geofence_status)}; /** - * implementation of updateFence(), but without locking + * implementation of updateFence() */ void _updateFence(); - /** - * Check if a point passes the Geofence test. - * This takes all polygons and minimum & maximum altitude into account - * - * The check passes if: (inside(polygon_inclusion_1) || inside(polygon_inclusion_2) || ... ) && - * !inside(polygon_exclusion_1) && !inside(polygon_exclusion_2) && ... - * && (altitude within [min, max]) - * or: no polygon configured - * @return result of the check above (false for a geofence violation) - */ - bool checkPolygons(double lat, double lon, float altitude); - - - - bool checkAll(const vehicle_global_position_s &global_position); - bool checkAll(const vehicle_global_position_s &global_position, float baro_altitude_amsl); /** * Check if a single point is within a polygon @@ -216,11 +207,28 @@ class Geofence : public ModuleParams */ bool insideCircle(const PolygonInfo &polygon, double lat, double lon, float altitude); + /** + * Check if a single point is within a polygon or circle + * @return true if within polygon or circle + */ + + bool checkPointAgainstPolygonCircle(const PolygonInfo &polygon, double lat, double lon, float altitude); + + /** + * Check polygon or circle geofence fullfills the requirements relative to Home. + * @return true if checks pass + */ + bool checkHomeRequirementsForGeofence(const PolygonInfo &polygon); + + /** + * Check polygon or circle geofence fullfills the requirements relative to the current vehicle position. + * @return true if checks pass + */ + bool checkCurrentPositionRequirementsForGeofence(const PolygonInfo &polygon); + DEFINE_PARAMETERS( (ParamInt) _param_gf_action, - (ParamInt) _param_gf_altmode, (ParamInt) _param_gf_source, - (ParamInt) _param_gf_count, (ParamFloat) _param_gf_max_hor_dist, (ParamFloat) _param_gf_max_ver_dist, (ParamBool) _param_gf_predict diff --git a/src/modules/navigator/geofence_params.c b/src/modules/navigator/geofence_params.c index 129aeb27747d..a775405282e5 100644 --- a/src/modules/navigator/geofence_params.c +++ b/src/modules/navigator/geofence_params.c @@ -61,19 +61,6 @@ */ PARAM_DEFINE_INT32(GF_ACTION, 2); -/** - * Geofence altitude mode - * - * Select which altitude (AMSL) source should be used for geofence calculations. - * - * @min 0 - * @max 1 - * @value 0 Autopilot estimator global position altitude (GPS) - * @value 1 Raw barometer altitude (assuming standard atmospheric pressure) - * @group Geofence - */ -PARAM_DEFINE_INT32(GF_ALTMODE, 0); - /** * Geofence source * @@ -90,21 +77,10 @@ PARAM_DEFINE_INT32(GF_ALTMODE, 0); PARAM_DEFINE_INT32(GF_SOURCE, 0); /** - * Geofence counter limit + * Max horizontal distance from Home * - * Set how many subsequent position measurements outside of the fence are needed before geofence violation is triggered - * - * @min -1 - * @max 10 - * @increment 1 - * @group Geofence - */ -PARAM_DEFINE_INT32(GF_COUNT, -1); - -/** - * Max horizontal distance in meters. - * - * Maximum horizontal distance in meters the vehicle can be from home before triggering a geofence action. Disabled if 0. + * Maximum horizontal distance in meters the vehicle can be from Home before triggering a geofence action. + * Disabled if 0. * * @unit m * @min 0 @@ -112,12 +88,13 @@ PARAM_DEFINE_INT32(GF_COUNT, -1); * @increment 1 * @group Geofence */ -PARAM_DEFINE_FLOAT(GF_MAX_HOR_DIST, 0); +PARAM_DEFINE_FLOAT(GF_MAX_HOR_DIST, 0.0f); /** - * Max vertical distance in meters. + * Max vertical distance from Home * - * Maximum vertical distance in meters the vehicle can be from home before triggering a geofence action. Disabled if 0. + * Maximum vertical distance in meters the vehicle can be from Home before triggering a geofence action. + * Disabled if 0. * * @unit m * @min 0 @@ -125,10 +102,12 @@ PARAM_DEFINE_FLOAT(GF_MAX_HOR_DIST, 0); * @increment 1 * @group Geofence */ -PARAM_DEFINE_FLOAT(GF_MAX_VER_DIST, 0); +PARAM_DEFINE_FLOAT(GF_MAX_VER_DIST, 0.0f); /** - * Use Pre-emptive geofence triggering + * [EXPERIMENTAL] Use Pre-emptive geofence triggering + * + * WARNING: This experimental feature may cause flyaways. Use at your own risk. * * Predict the motion of the vehicle and trigger the breach if it is determined that the current trajectory * would result in a breach happening before the vehicle can make evasive maneuvers. @@ -137,4 +116,4 @@ PARAM_DEFINE_FLOAT(GF_MAX_VER_DIST, 0); * @boolean * @group Geofence */ -PARAM_DEFINE_INT32(GF_PREDICT, 1); +PARAM_DEFINE_INT32(GF_PREDICT, 0); diff --git a/src/modules/navigator/land.cpp b/src/modules/navigator/land.cpp index d280c942c65a..0a2346154a46 100644 --- a/src/modules/navigator/land.cpp +++ b/src/modules/navigator/land.cpp @@ -42,7 +42,7 @@ #include "navigator.h" Land::Land(Navigator *navigator) : - MissionBlock(navigator) + MissionBlock(navigator, vehicle_status_s::NAVIGATION_STATE_AUTO_LAND) { } @@ -57,17 +57,25 @@ Land::on_activation() /* convert mission item to current setpoint */ struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet(); - pos_sp_triplet->previous.valid = false; - mission_apply_limitation(_mission_item); + + if (_navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) { + _navigator->calculate_breaking_stop(_mission_item.lat, _mission_item.lon); + } + mission_item_to_position_setpoint(_mission_item, &pos_sp_triplet->current); + pos_sp_triplet->previous.valid = false; pos_sp_triplet->next.valid = false; - _navigator->set_can_loiter_at_sp(false); - _navigator->set_position_setpoint_triplet_updated(); // reset cruising speed to default _navigator->reset_cruising_speed(); + + // set gimbal to neutral position (level with horizon) to reduce change of damage on landing + _navigator->acquire_gimbal_control(); + _navigator->set_gimbal_neutral(); + _navigator->release_gimbal_control(); + } void @@ -78,10 +86,8 @@ Land::on_active() _navigator->get_vstatus()->in_transition_mode) { struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet(); - // create a virtual wp 1m in front of the vehicle to track during the backtransition - waypoint_from_heading_and_distance(_navigator->get_global_position()->lat, _navigator->get_global_position()->lon, - _navigator->get_position_setpoint_triplet()->current.yaw, 1.f, - &pos_sp_triplet->current.lat, &pos_sp_triplet->current.lon); + // create a wp in front of the VTOL while in back-transition, based on MPC settings that will apply in MC phase afterwards + _navigator->calculate_breaking_stop(pos_sp_triplet->current.lat, pos_sp_triplet->current.lon); _navigator->set_position_setpoint_triplet_updated(); } @@ -90,7 +96,7 @@ Land::on_active() if (_navigator->get_land_detected()->landed) { _navigator->get_mission_result()->finished = true; _navigator->set_mission_result_updated(); - _navigator->mode_completed(vehicle_status_s::NAVIGATION_STATE_AUTO_LAND); + _navigator->mode_completed(getNavigatorStateId()); set_idle_item(&_mission_item); struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet(); diff --git a/src/modules/navigator/loiter.cpp b/src/modules/navigator/loiter.cpp index 655db702fa2c..db61030528c1 100644 --- a/src/modules/navigator/loiter.cpp +++ b/src/modules/navigator/loiter.cpp @@ -43,24 +43,20 @@ #include "navigator.h" Loiter::Loiter(Navigator *navigator) : - MissionBlock(navigator), + MissionBlock(navigator, vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER), ModuleParams(navigator) { } -void -Loiter::on_inactive() -{ - _loiter_pos_set = false; -} - void Loiter::on_activation() { - if (_navigator->get_reposition_triplet()->current.valid) { + if (_navigator->get_reposition_triplet()->current.valid + && hrt_elapsed_time(&_navigator->get_reposition_triplet()->current.timestamp) < 500_ms) { reposition(); } else { + // this is executed when the flight mode is switched to Hold manually, not through a reposition set_loiter_position(); } @@ -71,14 +67,10 @@ Loiter::on_activation() void Loiter::on_active() { - if (_navigator->get_reposition_triplet()->current.valid) { + if (_navigator->get_reposition_triplet()->current.valid + && hrt_elapsed_time(&_navigator->get_reposition_triplet()->current.timestamp) < 500_ms) { reposition(); } - - // reset the loiter position if we get disarmed - if (_navigator->get_vstatus()->arming_state != vehicle_status_s::ARMING_STATE_ARMED) { - _loiter_pos_set = false; - } } void @@ -90,46 +82,46 @@ Loiter::set_loiter_position() // Not setting loiter position if disarmed and landed, instead mark the current // setpoint as invalid and idle (both, just to be sure). - _navigator->set_can_loiter_at_sp(false); _navigator->get_position_setpoint_triplet()->current.type = position_setpoint_s::SETPOINT_TYPE_IDLE; _navigator->set_position_setpoint_triplet_updated(); - _loiter_pos_set = false; return; - } else if (_loiter_pos_set) { - // Already set, nothing to do. - return; } - _loiter_pos_set = true; - position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet(); if (_navigator->get_land_detected()->landed) { _mission_item.nav_cmd = NAV_CMD_IDLE; } else { - if (pos_sp_triplet->current.valid && pos_sp_triplet->current.type == position_setpoint_s::SETPOINT_TYPE_LOITER) { + // Check if we already loiter on a circle and are on the loiter pattern. + bool on_loiter{false}; + + if (pos_sp_triplet->current.valid && pos_sp_triplet->current.type == position_setpoint_s::SETPOINT_TYPE_LOITER + && pos_sp_triplet->current.loiter_pattern == position_setpoint_s::LOITER_TYPE_ORBIT) { + const float d_current = get_distance_to_next_waypoint(pos_sp_triplet->current.lat, pos_sp_triplet->current.lon, + _navigator->get_global_position()->lat, _navigator->get_global_position()->lon); + on_loiter = d_current <= (_navigator->get_acceptance_radius() + pos_sp_triplet->current.loiter_radius); + + } + + if (on_loiter) { setLoiterItemFromCurrentPositionSetpoint(&_mission_item); - } else { - if (_navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) { - setLoiterItemFromCurrentPositionWithBreaking(&_mission_item); + } else if (_navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) { + setLoiterItemFromCurrentPositionWithBreaking(&_mission_item); - } else { - setLoiterItemFromCurrentPosition(&_mission_item); - } + } else { + setLoiterItemFromCurrentPosition(&_mission_item); } } // convert mission item to current setpoint pos_sp_triplet->previous.valid = false; - mission_apply_limitation(_mission_item); mission_item_to_position_setpoint(_mission_item, &pos_sp_triplet->current); pos_sp_triplet->next.valid = false; - _navigator->set_can_loiter_at_sp(pos_sp_triplet->current.type == position_setpoint_s::SETPOINT_TYPE_LOITER); _navigator->set_position_setpoint_triplet_updated(); } @@ -155,7 +147,6 @@ Loiter::reposition() memcpy(&pos_sp_triplet->current, &rep->current, sizeof(rep->current)); pos_sp_triplet->next.valid = false; - _navigator->set_can_loiter_at_sp(pos_sp_triplet->current.type == position_setpoint_s::SETPOINT_TYPE_LOITER); _navigator->set_position_setpoint_triplet_updated(); // mark this as done diff --git a/src/modules/navigator/loiter.h b/src/modules/navigator/loiter.h index 9d2e84cda4f0..3af6265e1cd1 100644 --- a/src/modules/navigator/loiter.h +++ b/src/modules/navigator/loiter.h @@ -51,7 +51,6 @@ class Loiter : public MissionBlock, public ModuleParams Loiter(Navigator *navigator); ~Loiter() = default; - void on_inactive() override; void on_activation() override; void on_active() override; @@ -67,5 +66,4 @@ class Loiter : public MissionBlock, public ModuleParams */ void set_loiter_position(); - bool _loiter_pos_set{false}; }; diff --git a/src/modules/navigator/mission.cpp b/src/modules/navigator/mission.cpp index b7611dcd192d..ea7dae675217 100644 --- a/src/modules/navigator/mission.cpp +++ b/src/modules/navigator/mission.cpp @@ -50,7 +50,6 @@ #include #include -#include #include #include #include @@ -63,1875 +62,455 @@ using namespace time_literals; -Mission::Mission(Navigator *navigator) : - MissionBlock(navigator), - ModuleParams(navigator) -{ - mission_init(); -} +static constexpr int32_t DEFAULT_MISSION_CACHE_SIZE = 10; -void Mission::mission_init() +Mission::Mission(Navigator *navigator) : + MissionBase(navigator, DEFAULT_MISSION_CACHE_SIZE, vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION) { - // init mission state, do it here to allow navigator to use stored mission even if mavlink failed to start - mission_s mission{}; - - if (dm_read(DM_KEY_MISSION_STATE, 0, &mission, sizeof(mission_s)) == sizeof(mission_s)) { - if ((mission.timestamp != 0) - && (mission.dataman_id == DM_KEY_WAYPOINTS_OFFBOARD_0 || mission.dataman_id == DM_KEY_WAYPOINTS_OFFBOARD_1)) { - if (mission.count > 0) { - PX4_INFO("Mission #%" PRIu8 " loaded, %" PRIu16 " WPs", mission.dataman_id, mission.count); - } - - } else { - PX4_ERR("reading mission state failed"); - - // initialize mission state in dataman - mission.dataman_id = DM_KEY_WAYPOINTS_OFFBOARD_0; - mission.timestamp = hrt_absolute_time(); - dm_write(DM_KEY_MISSION_STATE, 0, &mission, sizeof(mission_s)); - } - } } void Mission::on_inactive() { - /* Without home a mission can't be valid yet anyway, let's wait. */ - if (!_navigator->home_global_position_valid()) { - return; - } - - if (_inited) { - if (_mission_sub.updated()) { - update_mission(); - - if (_mission_type == MISSION_TYPE_NONE && _mission.count > 0) { - _mission_type = MISSION_TYPE_MISSION; - } - } - - /* reset the current mission if needed */ - if (need_to_reset_mission()) { - reset_mission(_mission); - _navigator->reset_cruising_speed(); - _current_mission_index = 0; - _navigator->reset_vroi(); - set_current_mission_item(); - } - - } else { - - /* load missions from storage */ - mission_s mission_state = {}; - - dm_lock(DM_KEY_MISSION_STATE); - - /* read current state */ - int read_res = dm_read(DM_KEY_MISSION_STATE, 0, &mission_state, sizeof(mission_s)); - - dm_unlock(DM_KEY_MISSION_STATE); - - if (read_res == sizeof(mission_s)) { - _mission.dataman_id = mission_state.dataman_id; - _mission.count = mission_state.count; - _current_mission_index = mission_state.current_seq; - - // find and store landing start marker (if available) - find_mission_land_start(); - } - - /* On init let's check the mission, maybe there is already one available. */ - check_mission_valid(false); - - _inited = true; - } - - /* require takeoff after non-loiter or landing */ - if (!_navigator->get_can_loiter_at_sp() || _navigator->get_land_detected()->landed) { - _need_takeoff = true; - } - - /* reset so current mission item gets restarted if mission was paused */ - _work_item_type = WORK_ITEM_TYPE_DEFAULT; - - /* reset so MISSION_ITEM_REACHED isn't published */ - _navigator->get_mission_result()->seq_reached = -1; -} + _vehicle_status_sub.update(); -void -Mission::on_inactivation() -{ - // Disable camera trigger - vehicle_command_s cmd {}; - cmd.command = vehicle_command_s::VEHICLE_CMD_DO_TRIGGER_CONTROL; - // Pause trigger - cmd.param1 = -1.0f; - cmd.param3 = 1.0f; - _navigator->publish_vehicle_cmd(&cmd); - - _navigator->stop_capturing_images(); - _navigator->release_gimbal_control(); - - if (_navigator->get_precland()->is_activated()) { - _navigator->get_precland()->on_inactivation(); + if (_need_mission_save && _vehicle_status_sub.get().arming_state != vehicle_status_s::ARMING_STATE_ARMED) { + save_mission_state(); } - /* reset so current mission item gets restarted if mission was paused */ - _work_item_type = WORK_ITEM_TYPE_DEFAULT; + MissionBase::on_inactive(); } void Mission::on_activation() { - if (_mission_waypoints_changed) { - // do not set the closest mission item in the normal mission mode - if (_mission_execution_mode != mission_result_s::MISSION_EXECUTION_MODE_NORMAL) { - _current_mission_index = index_closest_mission_item(); - } - - _mission_waypoints_changed = false; - } - - // we already reset the mission items - _execution_mode_changed = false; + _need_mission_save = true; - set_mission_items(); + check_mission_valid(true); - // unpause triggering if it was paused - vehicle_command_s cmd = {}; - cmd.command = vehicle_command_s::VEHICLE_CMD_DO_TRIGGER_CONTROL; - // unpause trigger - cmd.param1 = -1.0f; - cmd.param3 = 0.0f; - _navigator->publish_vehicle_cmd(&cmd); - - // reset cruise speed - _navigator->reset_cruising_speed(); + MissionBase::on_activation(); } -void -Mission::on_active() +bool +Mission::isLanding() { - check_mission_valid(false); - - /* Check if stored mission plan has changed */ - const bool mission_sub_updated = _mission_sub.updated(); - - if (mission_sub_updated) { - _navigator->reset_triplets(); - update_mission(); - } + if (get_land_start_available()) { + static constexpr size_t max_num_next_items{1u}; + int32_t next_mission_items_index[max_num_next_items]; + size_t num_found_items; - /* mission is running (and we are armed), need reset after disarm */ - _need_mission_reset = true; + getNextPositionItems(_mission.land_start_index + 1, next_mission_items_index, num_found_items, max_num_next_items); - _mission_changed = false; + // vehicle is currently landing if + // mission valid, still flying, and in the landing portion of mission (past land start marker) + bool on_landing_stage = (num_found_items > 0U) && _mission.current_seq > next_mission_items_index[0U]; - /* reset mission items if needed */ - if (mission_sub_updated || _mission_waypoints_changed || _execution_mode_changed) { - if (_mission_waypoints_changed) { - // do not set the closest mission item in the normal mission mode - if (_mission_execution_mode != mission_result_s::MISSION_EXECUTION_MODE_NORMAL) { - _current_mission_index = index_closest_mission_item(); - } - - _mission_waypoints_changed = false; - } + // special case: if the land start index is at a LOITER_TO_ALT WP, then we're in the landing sequence already when the + // distance to the WP is below the loiter radius + acceptance. + if ((num_found_items > 0U) && _mission.current_seq == next_mission_items_index[0U] + && _mission_item.nav_cmd == NAV_CMD_LOITER_TO_ALT) { + const float d_current = get_distance_to_next_waypoint(_mission_item.lat, _mission_item.lon, + _navigator->get_global_position()->lat, _navigator->get_global_position()->lon); - _execution_mode_changed = false; - set_mission_items(); - } + // consider mission_item.loiter_radius invalid if NAN or 0, use default value in this case. + const float mission_item_loiter_radius_abs = (PX4_ISFINITE(_mission_item.loiter_radius) + && fabsf(_mission_item.loiter_radius) > FLT_EPSILON) ? fabsf(_mission_item.loiter_radius) : + _navigator->get_loiter_radius(); - /* lets check if we reached the current mission item */ - if (_mission_type != MISSION_TYPE_NONE && is_mission_item_reached_or_completed()) { - /* If we just completed a takeoff which was inserted before the right waypoint, - there is no need to report that we reached it because we didn't. */ - if (_work_item_type != WORK_ITEM_TYPE_TAKEOFF) { - set_mission_item_reached(); + on_landing_stage = d_current <= (_navigator->get_acceptance_radius() + mission_item_loiter_radius_abs); } - if (_mission_item.autocontinue) { - /* switch to next waypoint if 'autocontinue' flag set */ - advance_mission(); - set_mission_items(); - } + return _navigator->get_mission_result()->valid && on_landing_stage; } else { - /* if waypoint position reached allow loiter on the setpoint */ - if (_waypoint_position_reached && _mission_item.nav_cmd != NAV_CMD_IDLE) { - _navigator->set_can_loiter_at_sp(true); - } - } - - /* check if a cruise speed change has been commanded */ - if (_mission_type != MISSION_TYPE_NONE) { - cruising_speed_sp_update(); - } - - /* see if we need to update the current yaw heading */ - if (!_param_mis_mnt_yaw_ctl.get() - && (_navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) - && (_navigator->get_vroi().mode != vehicle_roi_s::ROI_NONE) - && !(_mission_item.nav_cmd == NAV_CMD_TAKEOFF - || _mission_item.nav_cmd == NAV_CMD_VTOL_TAKEOFF - || _mission_item.nav_cmd == NAV_CMD_DO_VTOL_TRANSITION - || _mission_item.nav_cmd == NAV_CMD_LAND - || _mission_item.nav_cmd == NAV_CMD_VTOL_LAND - || _work_item_type == WORK_ITEM_TYPE_ALIGN)) { - // Mount control is disabled If the vehicle is in ROI-mode, the vehicle - // needs to rotate such that ROI is in the field of view. - // ROI only makes sense for multicopters. - heading_sp_update(); - } - - // TODO: Add vtol heading update method if required. - // Question: Why does vtol ever have to update heading? - - /* check if landing needs to be aborted */ - if ((_mission_item.nav_cmd == NAV_CMD_LAND) - && (_navigator->abort_landing())) { - - do_abort_landing(); - } - - if (_work_item_type == WORK_ITEM_TYPE_PRECISION_LAND) { - _navigator->get_precland()->on_active(); - - } else if (_navigator->get_precland()->is_activated()) { - _navigator->get_precland()->on_inactivation(); + return false; } } bool Mission::set_current_mission_index(uint16_t index) { - if (index == _current_mission_index) { - return true; // nothing to do, so return true + if (index == _mission.current_seq) { + return true; + } - } else if (_navigator->get_mission_result()->valid && (index < _mission.count)) { + if (_navigator->get_mission_result()->valid && (index < _mission.count)) { + if (goToItem(index, true) != PX4_OK) { + // Keep the old mission index (it was not updated by the interface) and report back. + return false; + } - _current_mission_index = index; + _is_current_planned_mission_item_valid = true; - // a mission index is set manually which has the higher priority than the closest mission item - // as it is set by the user - _mission_waypoints_changed = false; + // we start from the first item so can reset the cache + if (_mission.current_seq == 0) { + resetItemCache(); + } // update mission items if already in active mission - if (_navigator->is_planned_mission()) { + if (isActive()) { // prevent following "previous - current" line - _navigator->get_position_setpoint_triplet()->previous.valid = false; - _navigator->get_position_setpoint_triplet()->current.valid = false; - _navigator->get_position_setpoint_triplet()->next.valid = false; + _navigator->reset_triplets(); + update_mission(); set_mission_items(); } + // User has actively set new index, reset. + _inactivation_index = -1; + return true; } return false; } -void -Mission::set_closest_item_as_current() +bool Mission::setNextMissionItem() { - _current_mission_index = index_closest_mission_item(); + return (goToNextItem(true) == PX4_OK); } -void -Mission::set_execution_mode(const uint8_t mode) +bool +Mission::do_need_move_to_takeoff() { - if (_mission_execution_mode != mode) { - _execution_mode_changed = true; - _navigator->get_mission_result()->execution_mode = mode; - - - switch (_mission_execution_mode) { - case mission_result_s::MISSION_EXECUTION_MODE_NORMAL: - case mission_result_s::MISSION_EXECUTION_MODE_FAST_FORWARD: - if (mode == mission_result_s::MISSION_EXECUTION_MODE_REVERSE) { - // command a transition if in vtol mc mode - if (_navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING && - _navigator->get_vstatus()->is_vtol && - !_navigator->get_land_detected()->landed) { - - set_vtol_transition_item(&_mission_item, vtol_vehicle_status_s::VEHICLE_VTOL_STATE_FW); - - position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet(); - pos_sp_triplet->previous = pos_sp_triplet->current; - // keep current setpoints (FW position controller generates wp to track during transition) - pos_sp_triplet->current.type = position_setpoint_s::SETPOINT_TYPE_POSITION; - publish_navigator_mission_item(); // for logging - _navigator->set_position_setpoint_triplet_updated(); - issue_command(_mission_item); - } - - if (_mission_type == MISSION_TYPE_NONE && _mission.count > 0) { - _mission_type = MISSION_TYPE_MISSION; - } - - if (_current_mission_index > _mission.count - 1) { - _current_mission_index = _mission.count - 1; - - } else if (_current_mission_index > 0) { - --_current_mission_index; - } - - _work_item_type = WORK_ITEM_TYPE_DEFAULT; - } - - break; - - case mission_result_s::MISSION_EXECUTION_MODE_REVERSE: - if ((mode == mission_result_s::MISSION_EXECUTION_MODE_NORMAL) || - (mode == mission_result_s::MISSION_EXECUTION_MODE_FAST_FORWARD)) { - // handle switch from reverse to forward mission - if (_current_mission_index < 0) { - _current_mission_index = 0; - - } else if (_current_mission_index < _mission.count - 1) { - ++_current_mission_index; - } - - _work_item_type = WORK_ITEM_TYPE_DEFAULT; - } - - break; + if (_vehicle_status_sub.get().vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING + && _mission_item.nav_cmd == NAV_CMD_VTOL_TAKEOFF) { - } + float d_current = get_distance_to_next_waypoint(_mission_item.lat, _mission_item.lon, + _global_pos_sub.get().lat, _global_pos_sub.get().lon); - _mission_execution_mode = mode; + return d_current > _navigator->get_acceptance_radius(); } + + return false; } -bool -Mission::find_mission_land_start() +void Mission::setActiveMissionItems() { - /* return true if a MAV_CMD_DO_LAND_START, NAV_CMD_VTOL_LAND or NAV_CMD_LAND is found and internally save the index - * return false if not found - */ + /* Get mission item that comes after current if available */ + static constexpr size_t max_num_next_items{2u}; + int32_t next_mission_items_index[max_num_next_items]; + size_t num_found_items; - const dm_item_t dm_current = (dm_item_t)_mission.dataman_id; - struct mission_item_s missionitem = {}; - struct mission_item_s missionitem_prev = {}; //to store mission item before currently checked on, needed to get pos of wp before NAV_CMD_DO_LAND_START + getNextPositionItems(_mission.current_seq + 1, next_mission_items_index, num_found_items, max_num_next_items); - _land_start_available = false; + mission_item_s next_mission_items[max_num_next_items]; + const dm_item_t mission_dataman_id = static_cast(_mission.mission_dataman_id); - bool found_land_start_marker = false; + for (size_t i = 0U; i < num_found_items; i++) { + mission_item_s next_mission_item; + bool success = _dataman_cache.loadWait(mission_dataman_id, next_mission_items_index[i], + reinterpret_cast(&next_mission_item), sizeof(next_mission_item), MAX_DATAMAN_LOAD_WAIT); - for (size_t i = 1; i < _mission.count; i++) { - const ssize_t len = sizeof(missionitem); - missionitem_prev = missionitem; // store the last mission item before reading a new one + if (success) { + next_mission_items[i] = next_mission_item; - if (dm_read(dm_current, i, &missionitem, len) != len) { - /* not supposed to happen unless the datamanager can't access the SD card, etc. */ - PX4_ERR("dataman read failure"); + } else { + num_found_items = i; break; } - - if (missionitem.nav_cmd == NAV_CMD_DO_LAND_START) { - found_land_start_marker = true; - } - - if (found_land_start_marker && !_land_start_available && item_contains_position(missionitem)) { - // use the position of any waypoint after the land start marker which specifies a position. - _landing_start_lat = missionitem.lat; - _landing_start_lon = missionitem.lon; - _landing_start_alt = missionitem.altitude_is_relative ? missionitem.altitude + - _navigator->get_home_position()->alt : missionitem.altitude; - _landing_loiter_radius = (PX4_ISFINITE(missionitem.loiter_radius) - && fabsf(missionitem.loiter_radius) > FLT_EPSILON) ? fabsf(missionitem.loiter_radius) : - _navigator->get_loiter_radius(); - _land_start_available = true; - _land_start_index = i; // set it to the first item containing a position after the land start marker was found - } - - if (((missionitem.nav_cmd == NAV_CMD_VTOL_LAND) && _navigator->get_vstatus()->is_vtol) || - (missionitem.nav_cmd == NAV_CMD_LAND)) { - - _landing_lat = missionitem.lat; - _landing_lon = missionitem.lon; - _landing_alt = missionitem.altitude_is_relative ? missionitem.altitude + _navigator->get_home_position()->alt : - missionitem.altitude; - - // don't have a valid land start yet, use the landing item itself then - if (!_land_start_available) { - _land_start_index = i; - _landing_start_lat = _landing_lat; - _landing_start_lon = _landing_lon; - _landing_start_alt = _landing_alt; - _land_start_available = true; - } - - } } - return _land_start_available; -} + /*********************************** handle mission item *********************************************/ + WorkItemType new_work_item_type = WorkItemType::WORK_ITEM_TYPE_DEFAULT; -bool -Mission::land_start() -{ - // if not currently landing, jump to do_land_start - if (_land_start_available) { - // check if we're currently already in mission mode and on landing part, then simply return true. - // note: it's not enough to check landing(), as that is not reset until set_current_mission_index(get_land_start_index()) - if (_navigator->on_mission_landing()) { - return true; + position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet(); + const position_setpoint_s current_setpoint_copy = pos_sp_triplet->current; + + /* Skip VTOL/FW Takeoff item if in air, fixed-wing and didn't start the takeoff already*/ + if ((_mission_item.nav_cmd == NAV_CMD_VTOL_TAKEOFF || _mission_item.nav_cmd == NAV_CMD_TAKEOFF) && + (_work_item_type == WorkItemType::WORK_ITEM_TYPE_DEFAULT) && + (_vehicle_status_sub.get().vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING) && + !_land_detected_sub.get().landed) { + if (setNextMissionItem()) { + if (!loadCurrentMissionItem()) { + setEndOfMissionItems(); + return; + } } else { - set_current_mission_index(get_land_start_index()); - return landing(); + setEndOfMissionItems(); + return; } } - return false; -} - -bool -Mission::landing() -{ - // vehicle is currently landing if - // mission valid, still flying, and in the landing portion of mission (past land start marker) - - const bool mission_valid = _navigator->get_mission_result()->valid; - bool on_landing_stage = _land_start_available && _current_mission_index > get_land_start_index(); - - // special case: if the land start index is at a LOITER_TO_ALT WP, then we're in the landing sequence already when the - // distance to the WP is below the loiter radius + acceptance. - if (_current_mission_index == get_land_start_index() && _mission_item.nav_cmd == NAV_CMD_LOITER_TO_ALT) { - const float d_current = get_distance_to_next_waypoint(_mission_item.lat, _mission_item.lon, - _navigator->get_global_position()->lat, _navigator->get_global_position()->lon); - - // consider mission_item.loiter_radius invalid if NAN or 0, use default value in this case. - const float mission_item_loiter_radius_abs = (PX4_ISFINITE(_mission_item.loiter_radius) - && fabsf(_mission_item.loiter_radius) > FLT_EPSILON) ? fabsf(_mission_item.loiter_radius) : - _navigator->get_loiter_radius(); - - on_landing_stage = d_current <= (_navigator->get_acceptance_radius() + mission_item_loiter_radius_abs); - } - - return mission_valid && on_landing_stage; -} - -void -Mission::update_mission() -{ + if (item_contains_position(_mission_item)) { - bool failed = true; + handleTakeoff(new_work_item_type, next_mission_items, num_found_items); - /* Reset vehicle_roi - * Missions that do not explicitly configure ROI would not override - * an existing ROI setting from previous missions */ - _navigator->reset_vroi(); + handleLanding(new_work_item_type, next_mission_items, num_found_items); - const mission_s old_mission = _mission; + // TODO Precision land needs to be refactored: https://github.com/PX4/Firmware/issues/14320 + if (new_work_item_type != WorkItemType::WORK_ITEM_TYPE_PRECISION_LAND) { + mission_item_to_position_setpoint(_mission_item, &pos_sp_triplet->current); + } - if (_mission_sub.copy(&_mission)) { - /* determine current index */ - if (_mission.current_seq >= 0 && _mission.current_seq < (int)_mission.count) { - _current_mission_index = _mission.current_seq; + // Allow a rotary wing vehicle to decelerate before reaching a wp with a hold time or a timeout + // This is done by setting the position triplet's next position's valid flag to false, + // which makes the FlightTask disregard the next position + // TODO: Setting the next waypoint's validity flag to handle braking / correct waypoint behavior + // seems hacky, handle this more properly. + const bool brake_for_hold = _vehicle_status_sub.get().vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING + && (get_time_inside(_mission_item) > FLT_EPSILON || item_has_timeout(_mission_item)); - } else { - /* if less items available, reset to first item */ - if (_current_mission_index >= (int)_mission.count) { - _current_mission_index = 0; + if (_mission_item.autocontinue && !brake_for_hold) { + /* try to process next mission item */ + if (num_found_items >= 1u) { + /* got next mission item, update setpoint triplet */ + mission_item_to_position_setpoint(next_mission_items[0u], &pos_sp_triplet->next); - } else if (_current_mission_index < 0) { - /* if not initialized, set it to 0 */ - _current_mission_index = 0; + } else { + /* next mission item is not available */ + pos_sp_triplet->next.valid = false; } - /* otherwise, just leave it */ + } else { + /* vehicle will be paused on current waypoint, don't set next item */ + pos_sp_triplet->next.valid = false; } - check_mission_valid(true); - - failed = !_navigator->get_mission_result()->valid; - - if (!failed) { - /* reset mission failure if we have an updated valid mission */ - _navigator->get_mission_result()->failure = false; - - /* reset sequence info as well */ - _navigator->get_mission_result()->seq_reached = -1; - _navigator->get_mission_result()->seq_total = _mission.count; + } else if (item_contains_gate(_mission_item)) { + // The mission item is a gate, let's check if the next item in the list provides + // a position to go towards. - /* reset work item if new mission has been accepted */ - _work_item_type = WORK_ITEM_TYPE_DEFAULT; - _mission_changed = true; + if (num_found_items > 0u) { + // We have a position, convert it to the setpoint and update setpoint triplet + mission_item_to_position_setpoint(next_mission_items[0u], &pos_sp_triplet->current); } - /* check if the mission waypoints changed while the vehicle is in air - * TODO add a flag to mission_s which actually tracks if the position of the waypoint changed */ - if (((_mission.count != old_mission.count) || - (_mission.dataman_id != old_mission.dataman_id)) && - !_navigator->get_land_detected()->landed) { - _mission_waypoints_changed = true; + if (num_found_items >= 2u) { + /* got next mission item, update setpoint triplet */ + mission_item_to_position_setpoint(next_mission_items[1u], &pos_sp_triplet->next); + + } else { + pos_sp_triplet->next.valid = false; } } else { - PX4_ERR("mission update failed"); + handleVtolTransition(new_work_item_type, next_mission_items, num_found_items); } - if (failed) { - // only warn if the check failed on merit - if ((int)_mission.count > 0) { - PX4_WARN("mission check failed"); - } - - // reset the mission - _mission.count = 0; - _mission.current_seq = 0; - _current_mission_index = 0; + // Only set the previous position item if the current one really changed + if ((_work_item_type != WorkItemType::WORK_ITEM_TYPE_MOVE_TO_LAND) && + !position_setpoint_equal(&pos_sp_triplet->current, ¤t_setpoint_copy)) { + pos_sp_triplet->previous = current_setpoint_copy; } - // find and store landing start marker (if available) - find_mission_land_start(); + issue_command(_mission_item); - set_current_mission_item(); -} + /* set current work item type */ + _work_item_type = new_work_item_type; + reset_mission_item_reached(); -void -Mission::advance_mission() -{ - /* do not advance mission item if we're processing sub mission work items */ - if (_work_item_type != WORK_ITEM_TYPE_DEFAULT) { - return; + if (_mission_type == MissionType::MISSION_TYPE_MISSION) { + set_mission_result(); } - switch (_mission_type) { - case MISSION_TYPE_MISSION: - switch (_mission_execution_mode) { - case mission_result_s::MISSION_EXECUTION_MODE_NORMAL: - case mission_result_s::MISSION_EXECUTION_MODE_FAST_FORWARD: { - _current_mission_index++; - break; - } - - case mission_result_s::MISSION_EXECUTION_MODE_REVERSE: { - // find next position item in reverse order - dm_item_t dm_current = (dm_item_t)(_mission.dataman_id); - - for (int32_t i = _current_mission_index - 1; i >= 0; i--) { - struct mission_item_s missionitem = {}; - const ssize_t len = sizeof(missionitem); - - if (dm_read(dm_current, i, &missionitem, len) != len) { - /* not supposed to happen unless the datamanager can't access the SD card, etc. */ - PX4_ERR("dataman read failure"); - break; - } - - if (item_contains_position(missionitem)) { - _current_mission_index = i; - return; - } - } - - // finished flying back the mission - _current_mission_index = -1; - break; - } - - default: - _current_mission_index++; - } - - break; - - case MISSION_TYPE_NONE: - default: - break; - } + publish_navigator_mission_item(); // for logging + _navigator->set_position_setpoint_triplet_updated(); } -void -Mission::set_mission_items() +void Mission::handleTakeoff(WorkItemType &new_work_item_type, mission_item_s next_mission_items[], + size_t &num_found_items) { - /* the home dist check provides user feedback, so we initialize it to this */ - bool user_feedback_done = false; + position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet(); - /* mission item that comes after current if available */ - struct mission_item_s mission_item_next_position; - struct mission_item_s mission_item_after_next_position; - bool has_next_position_item = false; - bool has_after_next_position_item = false; + /* do climb before going to setpoint if needed and not already executing climb */ + /* in fixed-wing this whole block will be ignored and a takeoff item is always propagated */ + if (PX4_ISFINITE(_mission_init_climb_altitude_amsl) && + _work_item_type == WorkItemType::WORK_ITEM_TYPE_DEFAULT) { - work_item_type new_work_item_type = WORK_ITEM_TYPE_DEFAULT; + new_work_item_type = WorkItemType::WORK_ITEM_TYPE_CLIMB; - if (prepare_mission_items(&_mission_item, &mission_item_next_position, &has_next_position_item, - &mission_item_after_next_position, &has_after_next_position_item)) { - /* if mission type changed, notify */ - if (_mission_type != MISSION_TYPE_MISSION) { - mavlink_log_info(_navigator->get_mavlink_log_pub(), - _mission_execution_mode == mission_result_s::MISSION_EXECUTION_MODE_REVERSE ? "Executing Reverse Mission\t" : - "Executing Mission\t"); + /* use current mission item as next position item */ + num_found_items = 1u; + next_mission_items[0u] = _mission_item; + next_mission_items[0u].nav_cmd = NAV_CMD_WAYPOINT; - if (_mission_execution_mode == mission_result_s::MISSION_EXECUTION_MODE_REVERSE) { - events::send(events::ID("mission_execute_rev"), events::Log::Info, "Executing Reverse Mission"); + mavlink_log_info(_navigator->get_mavlink_log_pub(), "Climb to %.1f meters above home\t", + (double)(_mission_init_climb_altitude_amsl - _navigator->get_home_position()->alt)); + events::send(events::ID("mission_climb_before_start"), events::Log::Info, + "Climb to {1:.1m_v} above home", _mission_init_climb_altitude_amsl - _navigator->get_home_position()->alt); - } else { - events::send(events::ID("mission_execute"), events::Log::Info, "Executing Mission"); - } + if (_land_detected_sub.get().landed) { + _mission_item.nav_cmd = NAV_CMD_TAKEOFF; - user_feedback_done = true; + } else { + _mission_item.nav_cmd = NAV_CMD_LOITER_TO_ALT; } - _mission_type = MISSION_TYPE_MISSION; - - } else { - if (_mission_type != MISSION_TYPE_NONE) { - - if (_navigator->get_land_detected()->landed) { - mavlink_log_info(_navigator->get_mavlink_log_pub(), - _mission_execution_mode == mission_result_s::MISSION_EXECUTION_MODE_REVERSE ? "Reverse Mission finished, landed\t" : - "Mission finished, landed\t"); - - if (_mission_execution_mode == mission_result_s::MISSION_EXECUTION_MODE_REVERSE) { - events::send(events::ID("mission_finished_rev"), events::Log::Info, "Reverse Mission finished, landed"); + _mission_item.lat = _global_pos_sub.get().lat; + _mission_item.lon = _global_pos_sub.get().lon; + _mission_item.yaw = NAN; // FlightTaskAuto handles yaw directly + _mission_item.altitude = _mission_init_climb_altitude_amsl; + _mission_item.altitude_is_relative = false; + _mission_item.autocontinue = true; + _mission_item.time_inside = 0.0f; - } else { - events::send(events::ID("mission_finished"), events::Log::Info, "Mission finished, landed"); - } - - } else { - /* https://en.wikipedia.org/wiki/Loiter_(aeronautics) */ - mavlink_log_info(_navigator->get_mavlink_log_pub(), - _mission_execution_mode == mission_result_s::MISSION_EXECUTION_MODE_REVERSE ? "Reverse Mission finished, loitering\t" : - "Mission finished, loitering\t"); - - if (_mission_execution_mode == mission_result_s::MISSION_EXECUTION_MODE_REVERSE) { - events::send(events::ID("mission_finished_rev_loiter"), events::Log::Info, "Reverse Mission finished, loitering"); - - } else { - events::send(events::ID("mission_finished_loiter"), events::Log::Info, "Mission finished, loitering"); - } - - /* use last setpoint for loiter */ - _navigator->set_can_loiter_at_sp(true); - } + _mission_init_climb_altitude_amsl = NAN; - user_feedback_done = true; - } + } else if (_mission_item.nav_cmd == NAV_CMD_TAKEOFF + && _work_item_type == WorkItemType::WORK_ITEM_TYPE_DEFAULT + && _vehicle_status_sub.get().vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) { - _mission_type = MISSION_TYPE_NONE; + /* if there is no need to do a takeoff but we have a takeoff item, treat is as waypoint */ + _mission_item.nav_cmd = NAV_CMD_WAYPOINT; + /* ignore yaw here, otherwise it might yaw before heading_sp_update takes over */ + _mission_item.yaw = NAN; - position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet(); + } else if (_mission_item.nav_cmd == NAV_CMD_VTOL_TAKEOFF + && _work_item_type == WorkItemType::WORK_ITEM_TYPE_DEFAULT) { + // if the vehicle is already in fixed wing mode then the current mission item + // will be accepted immediately and the work items will be skipped + new_work_item_type = WorkItemType::WORK_ITEM_TYPE_CLIMB; - if (_navigator->get_land_detected()->landed) { - _mission_item.nav_cmd = NAV_CMD_IDLE; - } else { - if (pos_sp_triplet->current.valid && pos_sp_triplet->current.type == position_setpoint_s::SETPOINT_TYPE_LOITER) { - setLoiterItemFromCurrentPositionSetpoint(&_mission_item); + /* ignore yaw here, otherwise it might yaw before heading_sp_update takes over */ + _mission_item.yaw = NAN; + } - } else { - setLoiterItemFromCurrentPosition(&_mission_item); - } + /* if we just did a normal takeoff navigate to the actual waypoint now */ + if (_mission_item.nav_cmd == NAV_CMD_TAKEOFF && + _work_item_type == WorkItemType::WORK_ITEM_TYPE_CLIMB) { - } + _mission_item.nav_cmd = NAV_CMD_WAYPOINT; + /* ignore yaw here, otherwise it might yaw before heading_sp_update takes over */ + _mission_item.yaw = NAN; + } - /* update position setpoint triplet */ - pos_sp_triplet->previous.valid = false; - mission_apply_limitation(_mission_item); - mission_item_to_position_setpoint(_mission_item, &pos_sp_triplet->current); - pos_sp_triplet->next.valid = false; + /* if we just did a VTOL takeoff, prepare transition */ + if (_mission_item.nav_cmd == NAV_CMD_VTOL_TAKEOFF && + _work_item_type == WorkItemType::WORK_ITEM_TYPE_CLIMB && + _vehicle_status_sub.get().vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING && + !_land_detected_sub.get().landed) { - /* reuse setpoint for LOITER only if it's not IDLE */ - _navigator->set_can_loiter_at_sp(pos_sp_triplet->current.type == position_setpoint_s::SETPOINT_TYPE_LOITER); + /* set yaw setpoint to heading of VTOL_TAKEOFF wp against current position */ + _mission_item.yaw = get_bearing_to_next_waypoint( + _global_pos_sub.get().lat, _global_pos_sub.get().lon, + _mission_item.lat, _mission_item.lon); - // set mission finished - _navigator->get_mission_result()->finished = true; - _navigator->set_mission_result_updated(); - _navigator->mode_completed(vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION); + _mission_item.force_heading = true; - if (!user_feedback_done) { - /* only tell users that we got no mission if there has not been any - * better, more specific feedback yet - * https://en.wikipedia.org/wiki/Loiter_(aeronautics) - */ + new_work_item_type = WorkItemType::WORK_ITEM_TYPE_ALIGN_HEADING; - if (_navigator->get_land_detected()->landed) { - /* landed, refusing to take off without a mission */ - mavlink_log_critical(_navigator->get_mavlink_log_pub(), "No valid mission available, refusing takeoff\t"); - events::send(events::ID("mission_not_valid_refuse"), {events::Log::Error, events::LogInternal::Disabled}, - "No valid mission available, refusing takeoff"); + /* set position setpoint to current while aligning */ + _mission_item.lat = _global_pos_sub.get().lat; + _mission_item.lon = _global_pos_sub.get().lon; + } - } else { - mavlink_log_critical(_navigator->get_mavlink_log_pub(), "No valid mission available, loitering\t"); - events::send(events::ID("mission_not_valid_loiter"), {events::Log::Error, events::LogInternal::Disabled}, - "No valid mission available, loitering"); - } + /* heading is aligned now, prepare transition */ + if (_mission_item.nav_cmd == NAV_CMD_VTOL_TAKEOFF && + _work_item_type == WorkItemType::WORK_ITEM_TYPE_ALIGN_HEADING && + _vehicle_status_sub.get().vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING && + !_land_detected_sub.get().landed) { - user_feedback_done = true; + /* check if the vtol_takeoff waypoint is on top of us */ + if (do_need_move_to_takeoff()) { + new_work_item_type = WorkItemType::WORK_ITEM_TYPE_TRANSITION_AFTER_TAKEOFF; } - publish_navigator_mission_item(); // for logging - _navigator->set_position_setpoint_triplet_updated(); + set_vtol_transition_item(&_mission_item, vtol_vehicle_status_s::VEHICLE_VTOL_STATE_FW); + _mission_item.yaw = NAN; - return; + // keep current setpoints (FW position controller generates wp to track during transition) + pos_sp_triplet->current.type = position_setpoint_s::SETPOINT_TYPE_POSITION; } - /*********************************** handle mission item *********************************************/ - - /* handle mission items depending on the mode */ - - const position_setpoint_s current_setpoint_copy = _navigator->get_position_setpoint_triplet()->current; - - if (item_contains_position(_mission_item)) { - switch (_mission_execution_mode) { - case mission_result_s::MISSION_EXECUTION_MODE_NORMAL: - case mission_result_s::MISSION_EXECUTION_MODE_FAST_FORWARD: { - /* force vtol land */ - if (_navigator->force_vtol() && _mission_item.nav_cmd == NAV_CMD_LAND) { - _mission_item.nav_cmd = NAV_CMD_VTOL_LAND; - } + /* takeoff completed and transitioned, move to takeoff wp as fixed wing */ + if (_mission_item.nav_cmd == NAV_CMD_VTOL_TAKEOFF + && _work_item_type == WorkItemType::WORK_ITEM_TYPE_TRANSITION_AFTER_TAKEOFF) { - position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet(); - - /* do takeoff before going to setpoint if needed and not already in takeoff */ - /* in fixed-wing this whole block will be ignored and a takeoff item is always propagated */ - if (do_need_vertical_takeoff() && - _work_item_type == WORK_ITEM_TYPE_DEFAULT && - new_work_item_type == WORK_ITEM_TYPE_DEFAULT) { - - new_work_item_type = WORK_ITEM_TYPE_TAKEOFF; - - /* use current mission item as next position item */ - mission_item_next_position = _mission_item; - mission_item_next_position.nav_cmd = NAV_CMD_WAYPOINT; - has_next_position_item = true; - - float takeoff_alt = calculate_takeoff_altitude(&_mission_item); - - mavlink_log_info(_navigator->get_mavlink_log_pub(), "Takeoff to %.1f meters above home\t", - (double)(takeoff_alt - _navigator->get_home_position()->alt)); - events::send(events::ID("mission_takeoff_to"), events::Log::Info, - "Takeoff to {1:.1m_v} above home", takeoff_alt - _navigator->get_home_position()->alt); - - _mission_item.nav_cmd = NAV_CMD_TAKEOFF; - _mission_item.lat = _navigator->get_global_position()->lat; - _mission_item.lon = _navigator->get_global_position()->lon; - /* hold heading for takeoff items */ - _mission_item.yaw = _navigator->get_local_position()->heading; - _mission_item.altitude = takeoff_alt; - _mission_item.altitude_is_relative = false; - _mission_item.autocontinue = true; - _mission_item.time_inside = 0.0f; - - } else if (_mission_item.nav_cmd == NAV_CMD_TAKEOFF - && _work_item_type == WORK_ITEM_TYPE_DEFAULT - && new_work_item_type == WORK_ITEM_TYPE_DEFAULT - && _navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) { - - /* if there is no need to do a takeoff but we have a takeoff item, treat is as waypoint */ - _mission_item.nav_cmd = NAV_CMD_WAYPOINT; - /* ignore yaw here, otherwise it might yaw before heading_sp_update takes over */ - _mission_item.yaw = NAN; - - } else if (_mission_item.nav_cmd == NAV_CMD_VTOL_TAKEOFF - && _work_item_type == WORK_ITEM_TYPE_DEFAULT - && new_work_item_type == WORK_ITEM_TYPE_DEFAULT) { - // if the vehicle is already in fixed wing mode then the current mission item - // will be accepted immediately and the work items will be skipped - _work_item_type = WORK_ITEM_TYPE_TAKEOFF; - - - /* ignore yaw here, otherwise it might yaw before heading_sp_update takes over */ - _mission_item.yaw = NAN; - } + new_work_item_type = WorkItemType::WORK_ITEM_TYPE_DEFAULT; + _mission_item.nav_cmd = NAV_CMD_WAYPOINT; + _mission_item.autocontinue = true; + _mission_item.time_inside = 0.0f; + } +} - /* if we just did a normal takeoff navigate to the actual waypoint now */ - if (_mission_item.nav_cmd == NAV_CMD_TAKEOFF && - _work_item_type == WORK_ITEM_TYPE_TAKEOFF && - new_work_item_type == WORK_ITEM_TYPE_DEFAULT) { +void Mission::handleVtolTransition(WorkItemType &new_work_item_type, mission_item_s next_mission_items[], + size_t &num_found_items) +{ + position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet(); - _mission_item.nav_cmd = NAV_CMD_WAYPOINT; - /* ignore yaw here, otherwise it might yaw before heading_sp_update takes over */ - _mission_item.yaw = NAN; - } + /* turn towards next waypoint before MC to FW transition */ + if (_mission_item.nav_cmd == NAV_CMD_DO_VTOL_TRANSITION + && _work_item_type == WorkItemType::WORK_ITEM_TYPE_DEFAULT + && new_work_item_type == WorkItemType::WORK_ITEM_TYPE_DEFAULT + && _vehicle_status_sub.get().vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING + && !_land_detected_sub.get().landed + && (num_found_items > 0u)) { - /* if we just did a VTOL takeoff, prepare transition */ - if (_mission_item.nav_cmd == NAV_CMD_VTOL_TAKEOFF && - _work_item_type == WORK_ITEM_TYPE_TAKEOFF && - new_work_item_type == WORK_ITEM_TYPE_DEFAULT && - _navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING && - !_navigator->get_land_detected()->landed) { + new_work_item_type = WorkItemType::WORK_ITEM_TYPE_ALIGN_HEADING; - /* disable weathervane before front transition for allowing yaw to align */ - pos_sp_triplet->current.disable_weather_vane = true; + set_align_mission_item(&_mission_item, &next_mission_items[0u]); - /* set yaw setpoint to heading of VTOL_TAKEOFF wp against current position */ - _mission_item.yaw = get_bearing_to_next_waypoint( - _navigator->get_global_position()->lat, _navigator->get_global_position()->lon, - _mission_item.lat, _mission_item.lon); + /* set position setpoint to target during the transition */ + mission_item_to_position_setpoint(next_mission_items[0u], &pos_sp_triplet->current); + } - _mission_item.force_heading = true; + /* yaw is aligned now */ + if (_work_item_type == WorkItemType::WORK_ITEM_TYPE_ALIGN_HEADING && + new_work_item_type == WorkItemType::WORK_ITEM_TYPE_DEFAULT) { - new_work_item_type = WORK_ITEM_TYPE_ALIGN; + new_work_item_type = WorkItemType::WORK_ITEM_TYPE_DEFAULT; - /* set position setpoint to current while aligning */ - _mission_item.lat = _navigator->get_global_position()->lat; - _mission_item.lon = _navigator->get_global_position()->lon; - } + pos_sp_triplet->previous = pos_sp_triplet->current; + // keep current setpoints (FW position controller generates wp to track during transition) + pos_sp_triplet->current.type = position_setpoint_s::SETPOINT_TYPE_POSITION; + } +} - /* heading is aligned now, prepare transition */ - if (_mission_item.nav_cmd == NAV_CMD_VTOL_TAKEOFF && - _work_item_type == WORK_ITEM_TYPE_ALIGN && - _navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING && - !_navigator->get_land_detected()->landed) { +void +Mission::save_mission_state() +{ + if (_vehicle_status_sub.get().arming_state == vehicle_status_s::ARMING_STATE_ARMED) { + // Save only while disarmed, as this is a blocking operation + _need_mission_save = true; + return; + } - /* re-enable weather vane again after alignment */ - pos_sp_triplet->current.disable_weather_vane = false; + _need_mission_save = false; + mission_s mission_state = {}; - /* check if the vtol_takeoff waypoint is on top of us */ - if (do_need_move_to_takeoff()) { - new_work_item_type = WORK_ITEM_TYPE_TRANSITION_AFTER_TAKEOFF; - } + /* read current state */ + bool success = _dataman_client.readSync(DM_KEY_MISSION_STATE, 0, reinterpret_cast(&mission_state), + sizeof(mission_s)); - set_vtol_transition_item(&_mission_item, vtol_vehicle_status_s::VEHICLE_VTOL_STATE_FW); - _mission_item.yaw = _navigator->get_local_position()->heading; + if (success) { + /* data read successfully, check dataman ID and items count */ + if (mission_state.mission_dataman_id == _mission.mission_dataman_id && mission_state.count == _mission.count + && mission_state.mission_id == _mission.mission_id) { + /* navigator may modify only sequence, write modified state only if it changed */ + if (mission_state.current_seq != _mission.current_seq) { + mission_state = _mission; - // keep current setpoints (FW position controller generates wp to track during transition) - pos_sp_triplet->current.type = position_setpoint_s::SETPOINT_TYPE_POSITION; - } + success = _dataman_client.writeSync(DM_KEY_MISSION_STATE, 0, reinterpret_cast(&mission_state), + sizeof(mission_s)); - /* takeoff completed and transitioned, move to takeoff wp as fixed wing */ - if (_mission_item.nav_cmd == NAV_CMD_VTOL_TAKEOFF - && _work_item_type == WORK_ITEM_TYPE_TRANSITION_AFTER_TAKEOFF - && new_work_item_type == WORK_ITEM_TYPE_DEFAULT) { + if (!success) { - new_work_item_type = WORK_ITEM_TYPE_DEFAULT; - _mission_item.nav_cmd = NAV_CMD_WAYPOINT; - _mission_item.autocontinue = true; - _mission_item.time_inside = 0.0f; + PX4_ERR("Can't save mission state"); } + } + } - /* move to land wp as fixed wing */ - if (_mission_item.nav_cmd == NAV_CMD_VTOL_LAND - && (_work_item_type == WORK_ITEM_TYPE_DEFAULT || _work_item_type == WORK_ITEM_TYPE_TRANSITION_AFTER_TAKEOFF) - && new_work_item_type == WORK_ITEM_TYPE_DEFAULT - && !_navigator->get_land_detected()->landed) { + } else { + /* invalid data, this must not happen and indicates error in mission publisher */ + mission_state = _mission; - new_work_item_type = WORK_ITEM_TYPE_MOVE_TO_LAND; + mavlink_log_critical(_navigator->get_mavlink_log_pub(), "Invalid mission state.\t"); + /* EVENT + * @description No mission or storage failure + */ + events::send(events::ID("mission_invalid_mission_state"), events::Log::Error, "Invalid mission state"); - /* use current mission item as next position item */ - mission_item_next_position = _mission_item; - has_next_position_item = true; + /* write modified state only if changed */ + success = _dataman_client.writeSync(DM_KEY_MISSION_STATE, 0, reinterpret_cast(&mission_state), + sizeof(mission_s)); - float altitude = _navigator->get_global_position()->alt; - - if (pos_sp_triplet->current.valid && pos_sp_triplet->current.type == position_setpoint_s::SETPOINT_TYPE_POSITION) { - altitude = pos_sp_triplet->current.alt; - } - - _mission_item.altitude = altitude; - _mission_item.altitude_is_relative = false; - _mission_item.nav_cmd = NAV_CMD_WAYPOINT; - _mission_item.autocontinue = true; - _mission_item.time_inside = 0.0f; - _mission_item.vtol_back_transition = true; - } - - /* transition to MC */ - if (_mission_item.nav_cmd == NAV_CMD_VTOL_LAND - && _work_item_type == WORK_ITEM_TYPE_MOVE_TO_LAND - && new_work_item_type == WORK_ITEM_TYPE_DEFAULT - && _navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING - && !_navigator->get_land_detected()->landed) { - - set_vtol_transition_item(&_mission_item, vtol_vehicle_status_s::VEHICLE_VTOL_STATE_MC); - _mission_item.altitude = _navigator->get_global_position()->alt; - _mission_item.altitude_is_relative = false; - - new_work_item_type = WORK_ITEM_TYPE_MOVE_TO_LAND_AFTER_TRANSITION; - - // make previous setpoint invalid, such that there will be no prev-current line following - // if the vehicle drifted off the path during back-transition it should just go straight to the landing point - pos_sp_triplet->previous.valid = false; - } - - /* move to landing waypoint before descent if necessary */ - if (do_need_move_to_land() && - (_work_item_type == WORK_ITEM_TYPE_DEFAULT || - _work_item_type == WORK_ITEM_TYPE_MOVE_TO_LAND_AFTER_TRANSITION) && - new_work_item_type == WORK_ITEM_TYPE_DEFAULT) { - - new_work_item_type = WORK_ITEM_TYPE_MOVE_TO_LAND; - - /* use current mission item as next position item */ - mission_item_next_position = _mission_item; - has_next_position_item = true; - - /* - * Ignoring waypoint altitude: - * Set altitude to the same as we have now to prevent descending too fast into - * the ground. Actual landing will descend anyway until it touches down. - * XXX: We might want to change that at some point if it is clear to the user - * what the altitude means on this waypoint type. - */ - float altitude = _navigator->get_global_position()->alt; - - if (pos_sp_triplet->current.valid - && pos_sp_triplet->current.type == position_setpoint_s::SETPOINT_TYPE_POSITION) { - altitude = pos_sp_triplet->current.alt; - } - - _mission_item.altitude = altitude; - _mission_item.altitude_is_relative = false; - _mission_item.nav_cmd = NAV_CMD_WAYPOINT; - _mission_item.autocontinue = true; - _mission_item.time_inside = 0.0f; - - // make previous setpoint invalid, such that there will be no prev-current line following. - // if the vehicle drifted off the path during back-transition it should just go straight to the landing point - pos_sp_triplet->previous.valid = false; - - } else if (_mission_item.nav_cmd == NAV_CMD_LAND && _work_item_type == WORK_ITEM_TYPE_DEFAULT) { - if (_mission_item.land_precision > 0 && _mission_item.land_precision < 3) { - new_work_item_type = WORK_ITEM_TYPE_PRECISION_LAND; - - if (_mission_item.land_precision == 1) { - _navigator->get_precland()->set_mode(PrecLandMode::Opportunistic); - - } else { //_mission_item.land_precision == 2 - _navigator->get_precland()->set_mode(PrecLandMode::Required); - } - - _navigator->get_precland()->on_activation(); - - } - } - - /* we just moved to the landing waypoint, now descend */ - if (_work_item_type == WORK_ITEM_TYPE_MOVE_TO_LAND && - new_work_item_type == WORK_ITEM_TYPE_DEFAULT) { - - if (_mission_item.land_precision > 0 && _mission_item.land_precision < 3) { - new_work_item_type = WORK_ITEM_TYPE_PRECISION_LAND; - - if (_mission_item.land_precision == 1) { - _navigator->get_precland()->set_mode(PrecLandMode::Opportunistic); - - } else { //_mission_item.land_precision == 2 - _navigator->get_precland()->set_mode(PrecLandMode::Required); - } - - _navigator->get_precland()->on_activation(); - - } - - } - - /* ignore yaw for landing items */ - /* XXX: if specified heading for landing is desired we could add another step before the descent - * that aligns the vehicle first */ - if (_mission_item.nav_cmd == NAV_CMD_LAND || _mission_item.nav_cmd == NAV_CMD_VTOL_LAND) { - _mission_item.yaw = NAN; - } - - - // for fast forward convert certain types to simple waypoint - // XXX: add other types which should be ignored in fast forward - if (_mission_execution_mode == mission_result_s::MISSION_EXECUTION_MODE_FAST_FORWARD && - ((_mission_item.nav_cmd == NAV_CMD_LOITER_UNLIMITED) || - (_mission_item.nav_cmd == NAV_CMD_LOITER_TIME_LIMIT))) { - _mission_item.nav_cmd = NAV_CMD_WAYPOINT; - _mission_item.autocontinue = true; - _mission_item.time_inside = 0.0f; - } - - break; - } - - case mission_result_s::MISSION_EXECUTION_MODE_REVERSE: { - if (item_contains_position(_mission_item)) { - // convert mission item to a simple waypoint - _mission_item.nav_cmd = NAV_CMD_WAYPOINT; - _mission_item.autocontinue = true; - _mission_item.time_inside = 0.0f; - - } else { - mavlink_log_critical(_navigator->get_mavlink_log_pub(), - "MissionReverse: Got a non-position mission item, ignoring it\t"); - events::send(events::ID("mission_ignore_non_position_item"), events::Log::Info, - "MissionReverse: Got a non-position mission item, ignoring it"); - } - - break; - } - } - - } else { - /* handle non-position mission items such as commands */ - switch (_mission_execution_mode) { - case mission_result_s::MISSION_EXECUTION_MODE_NORMAL: - case mission_result_s::MISSION_EXECUTION_MODE_FAST_FORWARD: { - position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet(); - - /* turn towards next waypoint before MC to FW transition */ - if (_mission_item.nav_cmd == NAV_CMD_DO_VTOL_TRANSITION - && _work_item_type == WORK_ITEM_TYPE_DEFAULT - && new_work_item_type == WORK_ITEM_TYPE_DEFAULT - && _navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING - && !_navigator->get_land_detected()->landed - && has_next_position_item) { - - /* disable weathervane before front transition for allowing yaw to align */ - pos_sp_triplet->current.disable_weather_vane = true; - - new_work_item_type = WORK_ITEM_TYPE_ALIGN; - - set_align_mission_item(&_mission_item, &mission_item_next_position); - - /* set position setpoint to target during the transition */ - mission_apply_limitation(_mission_item); - mission_item_to_position_setpoint(mission_item_next_position, &pos_sp_triplet->current); - } - - /* yaw is aligned now */ - if (_work_item_type == WORK_ITEM_TYPE_ALIGN && - new_work_item_type == WORK_ITEM_TYPE_DEFAULT) { - - new_work_item_type = WORK_ITEM_TYPE_DEFAULT; - - /* re-enable weather vane again after alignment */ - pos_sp_triplet->current.disable_weather_vane = false; - - pos_sp_triplet->previous = pos_sp_triplet->current; - // keep current setpoints (FW position controller generates wp to track during transition) - pos_sp_triplet->current.type = position_setpoint_s::SETPOINT_TYPE_POSITION; - } - - // ignore certain commands in mission fast forward - if ((_mission_execution_mode == mission_result_s::MISSION_EXECUTION_MODE_FAST_FORWARD) && - (_mission_item.nav_cmd == NAV_CMD_DELAY)) { - _mission_item.autocontinue = true; - _mission_item.time_inside = 0.0f; - } - - break; - } - - case mission_result_s::MISSION_EXECUTION_MODE_REVERSE: { - // nothing to do, all commands are ignored - break; - } - } - - if (_mission_item.nav_cmd == NAV_CMD_CONDITION_GATE) { - _mission_item.autocontinue = true; - _mission_item.time_inside = 0; - } - } - - /*********************************** set setpoints and check next *********************************************/ - // The logic in this section establishes the tracking between the current waypoint - // which we are approaching and the next waypoint, which will tell us in which direction - // we will change our trajectory right after reaching it. - - // Because actions, gates and jump labels can be interleaved with waypoints, - // we are searching around the current mission item in the list to find the closest - // gate and the closest waypoint. We then store them separately. - - position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet(); - - // Check if the mission item is a gate along the current trajectory - if (item_contains_gate(_mission_item)) { - - // The mission item is a gate, let's check if the next item in the list provides - // a position to go towards. - - // TODO Precision land needs to be refactored: https://github.com/PX4/Firmware/issues/14320 - if (has_next_position_item) { - // We have a position, convert it to the setpoint and update setpoint triplet - mission_apply_limitation(mission_item_next_position); - mission_item_to_position_setpoint(mission_item_next_position, &pos_sp_triplet->current); - } - - // ELSE: The current position setpoint stays unchanged. - - } else { - // The mission item is not a gate, set the current position setpoint from mission item (is protected against non-position items) - // TODO Precision land needs to be refactored: https://github.com/PX4/Firmware/issues/14320 - if (new_work_item_type != WORK_ITEM_TYPE_PRECISION_LAND) { - mission_apply_limitation(_mission_item); - mission_item_to_position_setpoint(_mission_item, &pos_sp_triplet->current); - } - - // ELSE: The current position setpoint stays unchanged. - } - - // Only set the previous position item if the current one really changed - // TODO Precision land needs to be refactored: https://github.com/PX4/Firmware/issues/14320 - if ((_work_item_type != WORK_ITEM_TYPE_MOVE_TO_LAND) && - !position_setpoint_equal(&pos_sp_triplet->current, ¤t_setpoint_copy)) { - pos_sp_triplet->previous = current_setpoint_copy; - } - - /* issue command if ready (will do nothing for position mission items) */ - issue_command(_mission_item); - - /* set current work item type */ - _work_item_type = new_work_item_type; - - /* require takeoff after landing or idle */ - if (pos_sp_triplet->current.type == position_setpoint_s::SETPOINT_TYPE_LAND - || pos_sp_triplet->current.type == position_setpoint_s::SETPOINT_TYPE_IDLE) { - - _need_takeoff = true; - } - - _navigator->set_can_loiter_at_sp(false); - reset_mission_item_reached(); - - if (_mission_type == MISSION_TYPE_MISSION) { - set_current_mission_item(); - } - - // If the mission item under evaluation contains a gate, we need to check if we have a next position item so - // the controller can fly the correct line between the current and next setpoint - if (item_contains_gate(_mission_item)) { - if (has_after_next_position_item) { - /* got next mission item, update setpoint triplet */ - mission_apply_limitation(mission_item_next_position); - mission_item_to_position_setpoint(mission_item_next_position, &pos_sp_triplet->next); - - } else { - pos_sp_triplet->next.valid = false; - } - - } else { - // Allow a rotary wing vehicle to decelerate before reaching a wp with a hold time or a timeout - // This is done by setting the position triplet's next position's valid flag to false, - // which makes the FlightTask disregard the next position - // TODO: Setting the next waypoint's validity flag to handle braking / correct waypoint behavior - // seems hacky, handle this more properly. - const bool brake_for_hold = _navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING - && (get_time_inside(_mission_item) > FLT_EPSILON || item_has_timeout(_mission_item)); - - if (_mission_item.autocontinue && !brake_for_hold) { - /* try to process next mission item */ - if (has_next_position_item) { - /* got next mission item, update setpoint triplet */ - mission_item_to_position_setpoint(mission_item_next_position, &pos_sp_triplet->next); - - } else { - /* next mission item is not available */ - pos_sp_triplet->next.valid = false; - } - - } else { - /* vehicle will be paused on current waypoint, don't set next item */ - pos_sp_triplet->next.valid = false; - } - } - - publish_navigator_mission_item(); // for logging - _navigator->set_position_setpoint_triplet_updated(); -} - -bool -Mission::do_need_vertical_takeoff() -{ - if (_navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) { - - float takeoff_alt = calculate_takeoff_altitude(&_mission_item); - - if (_navigator->get_land_detected()->landed) { - /* force takeoff if landed (additional protection) */ - _need_takeoff = true; - - } else if (_navigator->get_global_position()->alt > takeoff_alt - _navigator->get_altitude_acceptance_radius()) { - /* if in-air and already above takeoff height, don't do takeoff */ - _need_takeoff = false; - - } else if (_navigator->get_global_position()->alt <= takeoff_alt - _navigator->get_altitude_acceptance_radius() - && (_mission_item.nav_cmd == NAV_CMD_TAKEOFF - || _mission_item.nav_cmd == NAV_CMD_VTOL_TAKEOFF)) { - /* if in-air but below takeoff height and we have a takeoff item */ - _need_takeoff = true; - } - - /* check if current mission item is one that requires takeoff before */ - if (_need_takeoff && ( - _mission_item.nav_cmd == NAV_CMD_TAKEOFF || - _mission_item.nav_cmd == NAV_CMD_WAYPOINT || - _mission_item.nav_cmd == NAV_CMD_VTOL_TAKEOFF || - _mission_item.nav_cmd == NAV_CMD_LOITER_TIME_LIMIT || - _mission_item.nav_cmd == NAV_CMD_LOITER_UNLIMITED)) { - - _need_takeoff = false; - return true; - } - } - - return false; -} - -bool -Mission::do_need_move_to_land() -{ - if (_navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING - && (_mission_item.nav_cmd == NAV_CMD_LAND || _mission_item.nav_cmd == NAV_CMD_VTOL_LAND)) { - - float d_current = get_distance_to_next_waypoint(_mission_item.lat, _mission_item.lon, - _navigator->get_global_position()->lat, _navigator->get_global_position()->lon); - - return d_current > _navigator->get_acceptance_radius(); - } - - return false; -} - -bool -Mission::do_need_move_to_takeoff() -{ - if (_navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING - && _mission_item.nav_cmd == NAV_CMD_VTOL_TAKEOFF) { - - float d_current = get_distance_to_next_waypoint(_mission_item.lat, _mission_item.lon, - _navigator->get_global_position()->lat, _navigator->get_global_position()->lon); - - return d_current > _navigator->get_acceptance_radius(); - } - - return false; -} - -void -Mission::copy_position_if_valid(struct mission_item_s *mission_item, struct position_setpoint_s *setpoint) -{ - if (setpoint->valid && setpoint->type == position_setpoint_s::SETPOINT_TYPE_POSITION) { - mission_item->lat = setpoint->lat; - mission_item->lon = setpoint->lon; - mission_item->altitude = setpoint->alt; - - } else { - mission_item->lat = _navigator->get_global_position()->lat; - mission_item->lon = _navigator->get_global_position()->lon; - mission_item->altitude = _navigator->get_global_position()->alt; - } - - mission_item->altitude_is_relative = false; -} - -void -Mission::set_align_mission_item(struct mission_item_s *mission_item, struct mission_item_s *mission_item_next) -{ - mission_item->nav_cmd = NAV_CMD_WAYPOINT; - copy_position_if_valid(mission_item, &(_navigator->get_position_setpoint_triplet()->current)); - mission_item->altitude_is_relative = false; - mission_item->autocontinue = true; - mission_item->time_inside = 0.0f; - mission_item->yaw = get_bearing_to_next_waypoint( - _navigator->get_global_position()->lat, _navigator->get_global_position()->lon, - mission_item_next->lat, mission_item_next->lon); - mission_item->force_heading = true; -} - -float -Mission::calculate_takeoff_altitude(struct mission_item_s *mission_item) -{ - /* calculate takeoff altitude */ - float takeoff_alt = get_absolute_altitude_for_item(*mission_item); - - /* takeoff to at least MIS_TAKEOFF_ALT above home/ground, even if first waypoint is lower */ - if (_navigator->get_land_detected()->landed) { - takeoff_alt = fmaxf(takeoff_alt, _navigator->get_global_position()->alt + _navigator->get_takeoff_min_alt()); - - } else { - takeoff_alt = fmaxf(takeoff_alt, _navigator->get_home_position()->alt + _navigator->get_takeoff_min_alt()); - } - - return takeoff_alt; -} - -void -Mission::heading_sp_update() -{ - struct position_setpoint_triplet_s *pos_sp_triplet = - _navigator->get_position_setpoint_triplet(); - - // Only update if current triplet is valid - if (pos_sp_triplet->current.valid) { - - double point_from_latlon[2] = { _navigator->get_global_position()->lat, - _navigator->get_global_position()->lon - }; - double point_to_latlon[2] = { _navigator->get_global_position()->lat, - _navigator->get_global_position()->lon - }; - float yaw_offset = 0.0f; - - // Depending on ROI-mode, update heading - switch (_navigator->get_vroi().mode) { - case vehicle_roi_s::ROI_LOCATION: { - // ROI is a fixed location. Vehicle needs to point towards that location - point_to_latlon[0] = _navigator->get_vroi().lat; - point_to_latlon[1] = _navigator->get_vroi().lon; - // No yaw offset required - yaw_offset = 0.0f; - break; - } - - case vehicle_roi_s::ROI_WPNEXT: { - // ROI is current waypoint. Vehcile needs to point towards current waypoint - point_to_latlon[0] = pos_sp_triplet->current.lat; - point_to_latlon[1] = pos_sp_triplet->current.lon; - // Add the gimbal's yaw offset - yaw_offset = _navigator->get_vroi().yaw_offset; - break; - } - - case vehicle_roi_s::ROI_NONE: - case vehicle_roi_s::ROI_WPINDEX: - case vehicle_roi_s::ROI_TARGET: - case vehicle_roi_s::ROI_ENUM_END: - default: { - return; - } - } - - // Get desired heading and update it. - // However, only update if distance to desired heading is - // larger than acceptance radius to prevent excessive yawing - float d_current = get_distance_to_next_waypoint(point_from_latlon[0], - point_from_latlon[1], point_to_latlon[0], point_to_latlon[1]); - - if (d_current > _navigator->get_acceptance_radius()) { - float yaw = matrix::wrap_pi( - get_bearing_to_next_waypoint(point_from_latlon[0], - point_from_latlon[1], point_to_latlon[0], - point_to_latlon[1]) + yaw_offset); - - _mission_item.yaw = yaw; - pos_sp_triplet->current.yaw = _mission_item.yaw; - pos_sp_triplet->current.yaw_valid = true; - - } else { - if (!pos_sp_triplet->current.yaw_valid) { - _mission_item.yaw = _navigator->get_local_position()->heading; - pos_sp_triplet->current.yaw = _mission_item.yaw; - pos_sp_triplet->current.yaw_valid = true; - } - } - - // we set yaw directly so we can run this in parallel to the FOH update - publish_navigator_mission_item(); - _navigator->set_position_setpoint_triplet_updated(); - } -} - -void -Mission::cruising_speed_sp_update() -{ - struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet(); - - const float cruising_speed = _navigator->get_cruising_speed(); - - /* Don't change setpoint if the current waypoint is not valid */ - if (!pos_sp_triplet->current.valid || - fabsf(pos_sp_triplet->current.cruising_speed - cruising_speed) < FLT_EPSILON) { - return; - } - - pos_sp_triplet->current.cruising_speed = cruising_speed; - - publish_navigator_mission_item(); - _navigator->set_position_setpoint_triplet_updated(); -} - -void -Mission::do_abort_landing() -{ - // Abort FW landing, loiter above landing site in at least MIS_LND_ABRT_ALT - - if (_mission_item.nav_cmd != NAV_CMD_LAND) { - return; - } - - const float alt_landing = get_absolute_altitude_for_item(_mission_item); - const float alt_sp = math::max(alt_landing + _navigator->get_landing_abort_min_alt(), - _navigator->get_global_position()->alt); - - // turn current landing waypoint into an indefinite loiter - _mission_item.nav_cmd = NAV_CMD_LOITER_UNLIMITED; - _mission_item.altitude_is_relative = false; - _mission_item.altitude = alt_sp; - _mission_item.loiter_radius = _navigator->get_loiter_radius(); - _mission_item.acceptance_radius = _navigator->get_acceptance_radius(); - _mission_item.autocontinue = false; - _mission_item.origin = ORIGIN_ONBOARD; - - mission_apply_limitation(_mission_item); - mission_item_to_position_setpoint(_mission_item, &_navigator->get_position_setpoint_triplet()->current); - - // XXX: this is a hack to invalidate the "next" position setpoint for the fixed-wing position controller during - // the landing abort hold. otherwise, the "next" setpoint would still register as a "LAND" point, and trigger - // the early landing configuration (flaps and landing airspeed) during the hold. - _navigator->get_position_setpoint_triplet()->next.lat = (double)NAN; - _navigator->get_position_setpoint_triplet()->next.lon = (double)NAN; - _navigator->get_position_setpoint_triplet()->next.alt = NAN; - - publish_navigator_mission_item(); // for logging - _navigator->set_position_setpoint_triplet_updated(); - - mavlink_log_info(_navigator->get_mavlink_log_pub(), "Holding at %d m above landing waypoint.\t", - (int)(alt_sp - alt_landing)); - events::send(events::ID("mission_holding_above_landing"), events::Log::Info, - "Holding at {1:.0m_v} above landing waypoint", alt_sp - alt_landing); - - // reset mission index to start of landing - if (_land_start_available) { - _current_mission_index = get_land_start_index(); - - } else { - // move mission index back (landing approach point) - _current_mission_index -= 1; - } - - // send reposition cmd to get out of mission - vehicle_command_s vcmd = {}; - - vcmd.command = vehicle_command_s::VEHICLE_CMD_DO_REPOSITION; - vcmd.param1 = -1; - vcmd.param2 = 1; - vcmd.param5 = _mission_item.lat; - vcmd.param6 = _mission_item.lon; - vcmd.param7 = alt_sp; - - _navigator->publish_vehicle_cmd(&vcmd); -} - -bool -Mission::prepare_mission_items(struct mission_item_s *mission_item, - struct mission_item_s *next_position_mission_item, bool *has_next_position_item, - struct mission_item_s *after_next_position_mission_item, bool *has_after_next_position_item) -{ - *has_next_position_item = false; - bool first_res = false; - int offset = 1; - - if (_mission_execution_mode == mission_result_s::MISSION_EXECUTION_MODE_REVERSE) { - offset = -1; - } - - if (read_mission_item(0, mission_item)) { - - first_res = true; - - /* trying to find next position mission item */ - while (read_mission_item(offset, next_position_mission_item)) { - if (_mission_execution_mode == mission_result_s::MISSION_EXECUTION_MODE_REVERSE) { - offset--; - - } else { - offset++; - } - - if (item_contains_position(*next_position_mission_item)) { - *has_next_position_item = true; - break; - } - } - - if (_mission_execution_mode != mission_result_s::MISSION_EXECUTION_MODE_REVERSE && - after_next_position_mission_item && has_after_next_position_item) { - /* trying to find next next position mission item */ - while (read_mission_item(offset, after_next_position_mission_item)) { - offset++; - - if (item_contains_position(*after_next_position_mission_item)) { - *has_after_next_position_item = true; - break; - } - } - } - } - - return first_res; -} - -bool -Mission::read_mission_item(int offset, struct mission_item_s *mission_item) -{ - /* select mission */ - const int current_index = _current_mission_index; - int index_to_read = current_index + offset; - - int *mission_index_ptr = (offset == 0) ? (int *) &_current_mission_index : &index_to_read; - const dm_item_t dm_item = (dm_item_t)_mission.dataman_id; - - /* do not work on empty missions */ - if (_mission.count == 0) { - return false; - } - - /* Repeat this several times in case there are several DO JUMPS that we need to follow along, however, after - * 10 iterations we have to assume that the DO JUMPS are probably cycling and give up. */ - for (int i = 0; i < 10; i++) { - if (*mission_index_ptr < 0 || *mission_index_ptr >= (int)_mission.count) { - /* mission item index out of bounds - if they are equal, we just reached the end */ - if ((*mission_index_ptr != (int)_mission.count) && (*mission_index_ptr != -1)) { - mavlink_log_critical(_navigator->get_mavlink_log_pub(), - "Mission item index out of bound, index: %d, max: %" PRIu16 ".\t", - *mission_index_ptr, _mission.count); - events::send(events::ID("mission_index_out_of_bound"), events::Log::Error, - "Mission item index out of bound, index: {1}, max: {2}", *mission_index_ptr, _mission.count); - } - - return false; - } - - const ssize_t len = sizeof(struct mission_item_s); - - /* read mission item to temp storage first to not overwrite current mission item if data damaged */ - struct mission_item_s mission_item_tmp; - - /* read mission item from datamanager */ - if (dm_read(dm_item, *mission_index_ptr, &mission_item_tmp, len) != len) { - /* not supposed to happen unless the datamanager can't access the SD card, etc. */ - mavlink_log_critical(_navigator->get_mavlink_log_pub(), "Waypoint could not be read.\t"); - events::send(events::ID("mission_failed_to_read_wp"), events::Log::Error, - "Waypoint {1} could not be read from storage", *mission_index_ptr); - return false; - } - - /* check for DO_JUMP item, and whether it hasn't not already been repeated enough times */ - if (mission_item_tmp.nav_cmd == NAV_CMD_DO_JUMP) { - const bool execute_jumps = _mission_execution_mode == mission_result_s::MISSION_EXECUTION_MODE_NORMAL; - - /* do DO_JUMP as many times as requested if not in reverse mode */ - if ((mission_item_tmp.do_jump_current_count < mission_item_tmp.do_jump_repeat_count) && execute_jumps) { - - /* only raise the repeat count if this is for the current mission item - * but not for the read ahead mission item */ - if (offset == 0) { - (mission_item_tmp.do_jump_current_count)++; - - /* save repeat count */ - if (dm_write(dm_item, *mission_index_ptr, &mission_item_tmp, len) != len) { - /* not supposed to happen unless the datamanager can't access the dataman */ - mavlink_log_critical(_navigator->get_mavlink_log_pub(), "DO JUMP waypoint could not be written.\t"); - events::send(events::ID("mission_failed_to_write_do_jump"), events::Log::Error, - "DO JUMP waypoint could not be written"); - return false; - } - - report_do_jump_mission_changed(*mission_index_ptr, mission_item_tmp.do_jump_repeat_count); - } - - /* set new mission item index and repeat - * we don't have to validate here, if it's invalid, we should realize this later .*/ - *mission_index_ptr = mission_item_tmp.do_jump_mission_index; - - } else { - if (offset == 0 && execute_jumps) { - mavlink_log_info(_navigator->get_mavlink_log_pub(), "DO JUMP repetitions completed.\t"); - events::send(events::ID("mission_do_jump_rep_completed"), events::Log::Info, - "DO JUMP repetitions completed"); - } - - /* no more DO_JUMPS, therefore just try to continue with next mission item */ - if (_mission_execution_mode == mission_result_s::MISSION_EXECUTION_MODE_REVERSE) { - (*mission_index_ptr)--; - - } else { - (*mission_index_ptr)++; - } - } - - } else { - /* if it's not a DO_JUMP, then we were successful */ - memcpy(mission_item, &mission_item_tmp, sizeof(struct mission_item_s)); - return true; - } - } - - /* we have given up, we don't want to cycle forever */ - mavlink_log_critical(_navigator->get_mavlink_log_pub(), "DO JUMP is cycling, giving up.\t"); - events::send(events::ID("mission_do_jump_cycle"), events::Log::Error, "DO JUMP is cycling, giving up"); - return false; -} - -void -Mission::save_mission_state() -{ - mission_s mission_state = {}; - - /* lock MISSION_STATE item */ - int dm_lock_ret = dm_lock(DM_KEY_MISSION_STATE); - - if (dm_lock_ret != 0) { - PX4_ERR("DM_KEY_MISSION_STATE lock failed"); - } - - /* read current state */ - int read_res = dm_read(DM_KEY_MISSION_STATE, 0, &mission_state, sizeof(mission_s)); - - if (read_res == sizeof(mission_s)) { - /* data read successfully, check dataman ID and items count */ - if (mission_state.dataman_id == _mission.dataman_id && mission_state.count == _mission.count) { - /* navigator may modify only sequence, write modified state only if it changed */ - if (mission_state.current_seq != _current_mission_index) { - mission_state.current_seq = _current_mission_index; - mission_state.timestamp = hrt_absolute_time(); - - if (dm_write(DM_KEY_MISSION_STATE, 0, &mission_state, sizeof(mission_s)) != sizeof(mission_s)) { - - PX4_ERR("Can't save mission state"); - } - } - } - - } else { - /* invalid data, this must not happen and indicates error in mission publisher */ - mission_state.timestamp = hrt_absolute_time(); - mission_state.dataman_id = _mission.dataman_id; - mission_state.count = _mission.count; - mission_state.current_seq = _current_mission_index; - - mavlink_log_critical(_navigator->get_mavlink_log_pub(), "Invalid mission state.\t"); - /* EVENT - * @description No mission or storage failure - */ - events::send(events::ID("mission_invalid_mission_state"), events::Log::Error, "Invalid mission state"); - - /* write modified state only if changed */ - if (dm_write(DM_KEY_MISSION_STATE, 0, &mission_state, sizeof(mission_s)) != sizeof(mission_s)) { + if (!success) { PX4_ERR("Can't save mission state"); } } - - /* unlock MISSION_STATE item */ - if (dm_lock_ret == 0) { - dm_unlock(DM_KEY_MISSION_STATE); - } -} - -void -Mission::report_do_jump_mission_changed(int index, int do_jumps_remaining) -{ - /* inform about the change */ - _navigator->get_mission_result()->item_do_jump_changed = true; - _navigator->get_mission_result()->item_changed_index = index; - _navigator->get_mission_result()->item_do_jump_remaining = do_jumps_remaining; - - _navigator->set_mission_result_updated(); -} - -void -Mission::set_mission_item_reached() -{ - _navigator->get_mission_result()->seq_reached = _current_mission_index; - _navigator->set_mission_result_updated(); - reset_mission_item_reached(); -} - -void -Mission::set_current_mission_item() -{ - _navigator->get_mission_result()->finished = false; - _navigator->get_mission_result()->seq_current = _current_mission_index; - - _navigator->set_mission_result_updated(); - - save_mission_state(); -} - -void -Mission::check_mission_valid(bool force) -{ - if ((!_home_inited && _navigator->home_global_position_valid()) || force) { - - MissionFeasibilityChecker _missionFeasibilityChecker(_navigator); - - _navigator->get_mission_result()->valid = - _missionFeasibilityChecker.checkMissionFeasible(_mission); - - _navigator->get_mission_result()->seq_total = _mission.count; - _navigator->increment_mission_instance_count(); - _navigator->set_mission_result_updated(); - _home_inited = _navigator->home_global_position_valid(); - - // find and store landing start marker (if available) - find_mission_land_start(); - } -} - -void -Mission::reset_mission(struct mission_s &mission) -{ - dm_lock(DM_KEY_MISSION_STATE); - - if (dm_read(DM_KEY_MISSION_STATE, 0, &mission, sizeof(mission_s)) == sizeof(mission_s)) { - if (mission.dataman_id == DM_KEY_WAYPOINTS_OFFBOARD_0 || mission.dataman_id == DM_KEY_WAYPOINTS_OFFBOARD_1) { - /* set current item to 0 */ - mission.current_seq = 0; - - /* reset jump counters */ - if (mission.count > 0) { - const dm_item_t dm_current = (dm_item_t)mission.dataman_id; - - for (unsigned index = 0; index < mission.count; index++) { - struct mission_item_s item; - const ssize_t len = sizeof(struct mission_item_s); - - if (dm_read(dm_current, index, &item, len) != len) { - PX4_WARN("could not read mission item during reset"); - break; - } - - if (item.nav_cmd == NAV_CMD_DO_JUMP) { - item.do_jump_current_count = 0; - - if (dm_write(dm_current, index, &item, len) != len) { - PX4_WARN("could not save mission item during reset"); - break; - } - } - } - } - - } else { - mavlink_log_critical(_navigator->get_mavlink_log_pub(), "Could not read mission.\t"); - events::send(events::ID("mission_cannot_read_mission"), events::Log::Error, "Could not read mission"); - - /* initialize mission state in dataman */ - mission.timestamp = hrt_absolute_time(); - mission.dataman_id = DM_KEY_WAYPOINTS_OFFBOARD_0; - mission.count = 0; - mission.current_seq = 0; - } - - dm_write(DM_KEY_MISSION_STATE, 0, &mission, sizeof(mission_s)); - } - - dm_unlock(DM_KEY_MISSION_STATE); -} - -bool -Mission::need_to_reset_mission() -{ - /* reset mission state when disarmed */ - if (_navigator->get_vstatus()->arming_state != vehicle_status_s::ARMING_STATE_ARMED && _need_mission_reset) { - _need_mission_reset = false; - return true; - } - - return false; -} - -int32_t -Mission::index_closest_mission_item() const -{ - int32_t min_dist_index(0); - float min_dist(FLT_MAX), dist_xy(FLT_MAX), dist_z(FLT_MAX); - - dm_item_t dm_current = (dm_item_t)(_mission.dataman_id); - - for (size_t i = 0; i < _mission.count; i++) { - struct mission_item_s missionitem = {}; - const ssize_t len = sizeof(missionitem); - - if (dm_read(dm_current, i, &missionitem, len) != len) { - /* not supposed to happen unless the datamanager can't access the SD card, etc. */ - PX4_ERR("dataman read failure"); - break; - } - - if (item_contains_position(missionitem)) { - // do not consider land waypoints for a fw - if (!((missionitem.nav_cmd == NAV_CMD_LAND) && - (_navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING) && - (!_navigator->get_vstatus()->is_vtol))) { - float dist = get_distance_to_point_global_wgs84(missionitem.lat, missionitem.lon, - get_absolute_altitude_for_item(missionitem), - _navigator->get_global_position()->lat, - _navigator->get_global_position()->lon, - _navigator->get_global_position()->alt, - &dist_xy, &dist_z); - - if (dist < min_dist) { - min_dist = dist; - min_dist_index = i; - } - } - } - } - - // for mission reverse also consider the home position - if (_mission_execution_mode == mission_result_s::MISSION_EXECUTION_MODE_REVERSE) { - float dist = get_distance_to_point_global_wgs84( - _navigator->get_home_position()->lat, - _navigator->get_home_position()->lon, - _navigator->get_home_position()->alt, - _navigator->get_global_position()->lat, - _navigator->get_global_position()->lon, - _navigator->get_global_position()->alt, - &dist_xy, &dist_z); - - if (dist < min_dist) { - min_dist = dist; - min_dist_index = -1; - } - } - - return min_dist_index; -} - -bool Mission::position_setpoint_equal(const position_setpoint_s *p1, const position_setpoint_s *p2) const -{ - return ((p1->valid == p2->valid) && - (p1->type == p2->type) && - (fabsf(p1->vx - p2->vx) < FLT_EPSILON) && - (fabsf(p1->vy - p2->vy) < FLT_EPSILON) && - (fabsf(p1->vz - p2->vz) < FLT_EPSILON) && - (fabs(p1->lat - p2->lat) < DBL_EPSILON) && - (fabs(p1->lon - p2->lon) < DBL_EPSILON) && - (fabsf(p1->alt - p2->alt) < FLT_EPSILON) && - ((fabsf(p1->yaw - p2->yaw) < FLT_EPSILON) || (!PX4_ISFINITE(p1->yaw) && !PX4_ISFINITE(p2->yaw))) && - (p1->yaw_valid == p2->yaw_valid) && - (fabsf(p1->yawspeed - p2->yawspeed) < FLT_EPSILON) && - (p1->yawspeed_valid == p2->yawspeed_valid) && - (fabsf(p1->loiter_radius - p2->loiter_radius) < FLT_EPSILON) && - (p1->loiter_direction_counter_clockwise == p2->loiter_direction_counter_clockwise) && - (fabsf(p1->acceptance_radius - p2->acceptance_radius) < FLT_EPSILON) && - (fabsf(p1->cruising_speed - p2->cruising_speed) < FLT_EPSILON) && - ((fabsf(p1->cruising_throttle - p2->cruising_throttle) < FLT_EPSILON) || (!PX4_ISFINITE(p1->cruising_throttle) - && !PX4_ISFINITE(p2->cruising_throttle)))); - -} - -void Mission::publish_navigator_mission_item() -{ - navigator_mission_item_s navigator_mission_item{}; - - navigator_mission_item.instance_count = _navigator->mission_instance_count(); - navigator_mission_item.sequence_current = _current_mission_index; - navigator_mission_item.nav_cmd = _mission_item.nav_cmd; - navigator_mission_item.latitude = _mission_item.lat; - navigator_mission_item.longitude = _mission_item.lon; - navigator_mission_item.altitude = _mission_item.altitude; - - navigator_mission_item.time_inside = get_time_inside(_mission_item); - navigator_mission_item.acceptance_radius = _mission_item.acceptance_radius; - navigator_mission_item.loiter_radius = _mission_item.loiter_radius; - navigator_mission_item.yaw = _mission_item.yaw; - - navigator_mission_item.frame = _mission_item.frame; - navigator_mission_item.frame = _mission_item.origin; - - navigator_mission_item.loiter_exit_xtrack = _mission_item.loiter_exit_xtrack; - navigator_mission_item.force_heading = _mission_item.force_heading; - navigator_mission_item.altitude_is_relative = _mission_item.altitude_is_relative; - navigator_mission_item.autocontinue = _mission_item.autocontinue; - navigator_mission_item.vtol_back_transition = _mission_item.vtol_back_transition; - - navigator_mission_item.timestamp = hrt_absolute_time(); - - _navigator_mission_item_pub.publish(navigator_mission_item); } diff --git a/src/modules/navigator/mission.h b/src/modules/navigator/mission.h index 0cdddae4fbe1..7299e065e584 100644 --- a/src/modules/navigator/mission.h +++ b/src/modules/navigator/mission.h @@ -46,249 +46,54 @@ #pragma once -#include "mission_block.h" -#include "mission_feasibility_checker.h" -#include "navigator_mode.h" +#include -#include - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include +#include "mission_base.h" +#include "navigation.h" class Navigator; -class Mission : public MissionBlock, public ModuleParams +class Mission : public MissionBase { public: Mission(Navigator *navigator); - ~Mission() override = default; + ~Mission() = default; - void on_inactive() override; - void on_inactivation() override; - void on_activation() override; - void on_active() override; + virtual void on_inactive() override; + virtual void on_activation() override; bool set_current_mission_index(uint16_t index); - bool land_start(); - bool landing(); - - uint16_t get_land_start_index() const { return _land_start_index; } - bool get_land_start_available() const { return _land_start_available; } - bool get_mission_finished() const { return _mission_type == MISSION_TYPE_NONE; } - bool get_mission_changed() const { return _mission_changed ; } - bool get_mission_waypoints_changed() const { return _mission_waypoints_changed ; } - double get_landing_start_lat() { return _landing_start_lat; } - double get_landing_start_lon() { return _landing_start_lon; } - float get_landing_start_alt() { return _landing_start_alt; } - - double get_landing_lat() { return _landing_lat; } - double get_landing_lon() { return _landing_lon; } - float get_landing_alt() { return _landing_alt; } - float get_landing_loiter_rad() { return _landing_loiter_radius; } + uint16_t get_land_start_index() const { return _mission.land_start_index; } + bool get_land_start_available() const { return hasMissionLandStart(); } - void set_closest_item_as_current(); + bool isLanding(); - /** - * Set a new mission mode and handle the switching between the different modes - * - * For a list of the different modes refer to mission_result.msg - */ - void set_execution_mode(const uint8_t mode); private: - void mission_init(); - - /** - * Update mission topic - */ - void update_mission(); - - /** - * Move on to next mission item or switch to loiter - */ - void advance_mission(); - - /** - * @brief Configures mission items in current setting - * - * Configure the mission items depending on current mission item index and settings such - * as terrain following, etc. - */ - void set_mission_items(); - - /** - * Returns true if we need to do a takeoff at the current state - */ - bool do_need_vertical_takeoff(); - - /** - * Returns true if we need to move to waypoint location before starting descent - */ - bool do_need_move_to_land(); + bool setNextMissionItem() override; /** * Returns true if we need to move to waypoint location after vtol takeoff */ bool do_need_move_to_takeoff(); - /** - * Copies position from setpoint if valid, otherwise copies current position - */ - void copy_position_if_valid(struct mission_item_s *mission_item, struct position_setpoint_s *setpoint); - - /** - * Create mission item to align towards next waypoint - */ - void set_align_mission_item(struct mission_item_s *mission_item, struct mission_item_s *mission_item_next); - /** * Calculate takeoff height for mission item considering ground clearance */ float calculate_takeoff_altitude(struct mission_item_s *mission_item); - /** - * Updates the heading of the vehicle. Rotary wings only. - */ - void heading_sp_update(); - - /** - * Update the cruising speed setpoint. - */ - void cruising_speed_sp_update(); - - /** - * Abort landing - */ - void do_abort_landing(); - - /** - * Read the current and the next mission item. The next mission item read is the - * next mission item that contains a position. - * - * @return true if current mission item available - */ - bool prepare_mission_items(mission_item_s *mission_item, - mission_item_s *next_position_mission_item, bool *has_next_position_item, - mission_item_s *next_next_position_mission_item = nullptr, bool *has_next_next_position_item = nullptr); - - /** - * Read current (offset == 0) or a specific (offset > 0) mission item - * from the dataman and watch out for DO_JUMPS - * - * @return true if successful - */ - bool read_mission_item(int offset, struct mission_item_s *mission_item); - /** * Save current mission state to dataman */ void save_mission_state(); - /** - * Inform about a changed mission item after a DO_JUMP - */ - void report_do_jump_mission_changed(int index, int do_jumps_remaining); - - /** - * Set a mission item as reached - */ - void set_mission_item_reached(); - - /** - * Set the current mission item - */ - void set_current_mission_item(); - - /** - * Check whether a mission is ready to go - */ - void check_mission_valid(bool force); - - /** - * Reset mission - */ - void reset_mission(struct mission_s &mission); - - /** - * Returns true if we need to reset the mission (call this only when inactive) - */ - bool need_to_reset_mission(); - - /** - * Find and store the index of the landing sequence (DO_LAND_START) - */ - bool find_mission_land_start(); - - /** - * Return the index of the closest mission item to the current global position. - */ - int32_t index_closest_mission_item() const; - - bool position_setpoint_equal(const position_setpoint_s *p1, const position_setpoint_s *p2) const; - - void publish_navigator_mission_item(); - - DEFINE_PARAMETERS( - (ParamFloat) _param_mis_dist_1wp, - (ParamInt) _param_mis_mnt_yaw_ctl - ) - - uORB::Publication _navigator_mission_item_pub{ORB_ID::navigator_mission_item}; - - uORB::Subscription _mission_sub{ORB_ID(mission)}; /**< mission subscription */ - mission_s _mission {}; - - int32_t _current_mission_index{-1}; - - // track location of planned mission landing - bool _land_start_available{false}; - uint16_t _land_start_index{UINT16_MAX}; /**< index of DO_LAND_START, INVALID_DO_LAND_START if no planned landing */ - double _landing_start_lat{0.0}; - double _landing_start_lon{0.0}; - float _landing_start_alt{0.0f}; - - double _landing_lat{0.0}; - double _landing_lon{0.0}; - float _landing_alt{0.0f}; - - float _landing_loiter_radius{0.f}; - - bool _need_takeoff{true}; /**< if true, then takeoff must be performed before going to the first waypoint (if needed) */ - - enum { - MISSION_TYPE_NONE, - MISSION_TYPE_MISSION - } _mission_type{MISSION_TYPE_NONE}; + void setActiveMissionItems() override; - bool _inited{false}; - bool _home_inited{false}; - bool _need_mission_reset{false}; - bool _mission_waypoints_changed{false}; - bool _mission_changed{false}; /** < true if the mission changed since the mission mode was active */ + void handleTakeoff(WorkItemType &new_work_item_type, mission_item_s next_mission_items[], size_t &num_found_items); - // Work Item corresponds to the sub-mode set on the "MAV_CMD_DO_SET_MODE" MAVLink message - enum work_item_type { - WORK_ITEM_TYPE_DEFAULT, /**< default mission item */ - WORK_ITEM_TYPE_TAKEOFF, /**< takeoff before moving to waypoint */ - WORK_ITEM_TYPE_MOVE_TO_LAND, /**< move to land waypoint before descent */ - WORK_ITEM_TYPE_ALIGN, /**< align for next waypoint */ - WORK_ITEM_TYPE_TRANSITION_AFTER_TAKEOFF, - WORK_ITEM_TYPE_MOVE_TO_LAND_AFTER_TRANSITION, - WORK_ITEM_TYPE_PRECISION_LAND - } _work_item_type{WORK_ITEM_TYPE_DEFAULT}; /**< current type of work to do (sub mission item) */ + void handleVtolTransition(WorkItemType &new_work_item_type, mission_item_s next_mission_items[], + size_t &num_found_items); - uint8_t _mission_execution_mode{mission_result_s::MISSION_EXECUTION_MODE_NORMAL}; /**< the current mode of how the mission is executed,look at mission_result.msg for the definition */ - bool _execution_mode_changed{false}; + bool _need_mission_save{false}; }; diff --git a/src/modules/navigator/mission_base.cpp b/src/modules/navigator/mission_base.cpp new file mode 100644 index 000000000000..cee250095be1 --- /dev/null +++ b/src/modules/navigator/mission_base.cpp @@ -0,0 +1,1434 @@ +/**************************************************************************** + * + * Copyright (c) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ +/** + * @file mission_base.cpp + * + * Mission base mode class that can be used for modes interacting with a mission. + * + */ + +#include + +#include "mission_base.h" + +#include "px4_platform_common/defines.h" + +#include "mission_feasibility_checker.h" +#include "navigator.h" + +MissionBase::MissionBase(Navigator *navigator, int32_t dataman_cache_size_signed, uint8_t navigator_state_id) : + MissionBlock(navigator, navigator_state_id), + ModuleParams(navigator), + _dataman_cache_size_signed(dataman_cache_size_signed) +{ + _dataman_cache.resize(abs(dataman_cache_size_signed)); + + // Reset _mission here, and listen on changes on the uorb topic instead of initialize from dataman. + _mission.mission_dataman_id = DM_KEY_WAYPOINTS_OFFBOARD_0; + _mission.fence_dataman_id = DM_KEY_FENCE_POINTS_0; + _mission.safepoint_dataman_id = DM_KEY_SAFE_POINTS_0; + _mission.count = 0; + _mission.current_seq = 0; + _mission.land_start_index = -1; + _mission.land_index = -1; + _mission.mission_id = 0; + _mission.geofence_id = 0; + _mission.safe_points_id = 0; + + _mission_pub.advertise(); +} + +void +MissionBase::updateDatamanCache() +{ + if ((_mission.count > 0) && (_mission.current_seq != _load_mission_index)) { + + const int32_t start_index = math::constrain(_mission.current_seq, INT32_C(0), int32_t(_mission.count) - 1); + const int32_t end_index = math::constrain(start_index + _dataman_cache_size_signed, INT32_C(0), + int32_t(_mission.count) - 1); + + for (int32_t index = start_index; index != end_index; index += math::signNoZero(_dataman_cache_size_signed)) { + + _dataman_cache.load(static_cast(_mission.mission_dataman_id), index); + } + + _load_mission_index = _mission.current_seq; + } + + _dataman_cache.update(); +} + +void MissionBase::updateMavlinkMission() +{ + if (_mission_sub.updated()) { + mission_s new_mission; + _mission_sub.update(&new_mission); + + const bool mission_items_changed = (new_mission.mission_id != _mission.mission_id); + const bool mission_data_changed = checkMissionDataChanged(new_mission); + + if (new_mission.current_seq < 0) { + new_mission.current_seq = math::constrain(_mission.current_seq, INT32_C(0), + static_cast(new_mission.count) - 1); + } + + if (new_mission.geofence_id != _mission.geofence_id) { + // New geofence data, need to check mission again. + _mission_checked = false; + } + + _mission = new_mission; + + /* Relevant mission items updated externally*/ + if (mission_data_changed) { + + onMissionUpdate(mission_items_changed); + } + + _is_current_planned_mission_item_valid = isMissionValid(); + } +} + +void MissionBase::onMissionUpdate(bool has_mission_items_changed) +{ + if (has_mission_items_changed) { + _dataman_cache.invalidate(); + _load_mission_index = -1; + + if (canRunMissionFeasibility()) { + _mission_checked = true; + check_mission_valid(); + + } else { + _mission_checked = false; + } + } + + if (isActive()) { + _mission_has_been_activated = true; + _navigator->reset_triplets(); + update_mission(); + set_mission_items(); + + } else { + if (has_mission_items_changed) { + _mission_has_been_activated = false; + } + } + + // reset as when we update mission we don't want to proceed at previous index + _inactivation_index = -1; +} + +void +MissionBase::on_inactive() +{ + _land_detected_sub.update(); + _vehicle_status_sub.update(); + _global_pos_sub.update(); + _geofence_status_sub.update(); + + parameters_update(); + + updateMavlinkMission(); + + /* Check the mission */ + if (!_mission_checked && canRunMissionFeasibility()) { + _mission_checked = true; + check_mission_valid(); + _is_current_planned_mission_item_valid = isMissionValid(); + } + + if (_vehicle_status_sub.get().arming_state != vehicle_status_s::ARMING_STATE_ARMED) { + _system_disarmed_while_inactive = true; + } +} + +void +MissionBase::on_inactivation() +{ + _navigator->disable_camera_trigger(); + + _navigator->stop_capturing_images(); + _navigator->set_gimbal_neutral(); // point forward + _navigator->release_gimbal_control(); + + if (_navigator->get_precland()->is_activated()) { + _navigator->get_precland()->on_inactivation(); + } + + /* reset so current mission item gets restarted if mission was paused */ + _work_item_type = WorkItemType::WORK_ITEM_TYPE_DEFAULT; + + /* reset so MISSION_ITEM_REACHED isn't published */ + _navigator->get_mission_result()->seq_reached = -1; + + _mission_type = MissionType::MISSION_TYPE_NONE; + + _inactivation_index = _mission.current_seq; +} + +void +MissionBase::on_activation() +{ + /* reset the current mission to the start sequence if needed.*/ + checkMissionRestart(); + + _mission_has_been_activated = true; + _system_disarmed_while_inactive = false; + + update_mission(); + + // reset the cache and fill it with the items up to the previous item. The cache contains + // commands that are valid for the whole mission, not just a single waypoint. + if (_mission.current_seq > 0) { + resetItemCache(); + updateCachedItemsUpToIndex(_mission.current_seq - 1); + } + + int32_t resume_index = _inactivation_index > 0 ? _inactivation_index : 0; + + if (_inactivation_index > 0 && cameraWasTriggering()) { + size_t num_found_items{0U}; + getPreviousPositionItems(_inactivation_index - 1, &resume_index, num_found_items, 1U); + + if (num_found_items == 1U) { + // The mission we are resuming had camera triggering enabled. In order to not lose any images + // we restart the mission at the previous position item. + // We will replay the cached commands once we reach the previous position item and have yaw aligned. + setMissionIndex(resume_index); + + _align_heading_necessary = true; + } + } + + checkClimbRequired(_mission.current_seq); + set_mission_items(); + + _mission_activation_index = _mission.current_seq; + _inactivation_index = -1; // reset + + // reset cruise speed + _navigator->reset_cruising_speed(); +} + +void +MissionBase::on_active() +{ + _land_detected_sub.update(); + _vehicle_status_sub.update(); + _global_pos_sub.update(); + _geofence_status_sub.update(); + + parameters_update(); + + updateMavlinkMission(); + updateDatamanCache(); + updateMissionAltAfterHomeChanged(); + + /* Check the mission */ + if (!_mission_checked && canRunMissionFeasibility()) { + _mission_checked = true; + check_mission_valid(); + _is_current_planned_mission_item_valid = isMissionValid(); + update_mission(); + set_mission_items(); + } + + // check if heading alignment is necessary, and add it to the current mission item if necessary + if (_align_heading_necessary && is_mission_item_reached_or_completed()) { + + // add yaw alignment requirement on the current mission item + int32_t next_mission_item_index; + size_t num_found_items{0U}; + getNextPositionItems(_mission.current_seq + 1, &next_mission_item_index, num_found_items, 1U); + + if (num_found_items == 1U && !PX4_ISFINITE(_mission_item.yaw)) { + mission_item_s next_position_mission_item; + const dm_item_t mission_dataman_id = static_cast(_mission.mission_dataman_id); + bool success = _dataman_cache.loadWait(mission_dataman_id, next_mission_item_index, + reinterpret_cast(&next_position_mission_item), sizeof(next_position_mission_item), MAX_DATAMAN_LOAD_WAIT); + + if (success) { + _mission_item.yaw = matrix::wrap_pi(get_bearing_to_next_waypoint(_mission_item.lat, _mission_item.lon, + next_position_mission_item.lat, next_position_mission_item.lon)); + _mission_item.force_heading = true; // note: doesn't have effect in fixed-wing mode + } + } + + mission_item_to_position_setpoint(_mission_item, &_navigator->get_position_setpoint_triplet()->current); + + reset_mission_item_reached(); + + _navigator->set_position_setpoint_triplet_updated(); + _align_heading_necessary = false; + } + + // Replay camera mode commands immediately upon mission resume + if (haveCachedCameraModeItems()) { + replayCachedCameraModeItems(); + } + + + // Replay cached mission commands once the last mission waypoint is re-reached after the mission interruption. + // Each replay function also clears the cached items afterwards + if (_mission.current_seq > _mission_activation_index) { + // replay gimbal commands + if (haveCachedGimbalItems()) { + replayCachedGimbalItems(); + } + + // replay trigger commands + if (cameraWasTriggering()) { + replayCachedTriggerItems(); + } + + replayCachedSpeedChangeItems(); + } + + /* lets check if we reached the current mission item */ + if (_mission_type != MissionType::MISSION_TYPE_NONE && is_mission_item_reached_or_completed()) { + /* If we just completed a takeoff which was inserted before the right waypoint, + there is no need to report that we reached it because we didn't. */ + if (_work_item_type != WorkItemType::WORK_ITEM_TYPE_CLIMB) { + set_mission_item_reached(); + } + + if (_mission_item.autocontinue) { + /* switch to next waypoint if 'autocontinue' flag set */ + advance_mission(); + set_mission_items(); + } + } + + /* see if we need to update the current yaw heading */ + if (!_param_mis_mnt_yaw_ctl.get() + && (_vehicle_status_sub.get().vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) + && (_navigator->get_vroi().mode != vehicle_roi_s::ROI_NONE) + && !(_mission_item.nav_cmd == NAV_CMD_TAKEOFF + || _mission_item.nav_cmd == NAV_CMD_VTOL_TAKEOFF + || _mission_item.nav_cmd == NAV_CMD_DO_VTOL_TRANSITION + || _mission_item.nav_cmd == NAV_CMD_LAND + || _mission_item.nav_cmd == NAV_CMD_VTOL_LAND + || _work_item_type == WorkItemType::WORK_ITEM_TYPE_ALIGN_HEADING)) { + // Mount control is disabled If the vehicle is in ROI-mode, the vehicle + // needs to rotate such that ROI is in the field of view. + // ROI only makes sense for multicopters. + heading_sp_update(); + } + + // TODO: Add vtol heading update method if required. + // Question: Why does vtol ever have to update heading? + + /* check if landing needs to be aborted */ + if ((_mission_item.nav_cmd == NAV_CMD_LAND) + && (_navigator->abort_landing())) { + + do_abort_landing(); + } + + if (_work_item_type == WorkItemType::WORK_ITEM_TYPE_PRECISION_LAND) { + _navigator->get_precland()->on_active(); + + } else if (_navigator->get_precland()->is_activated()) { + _navigator->get_precland()->on_inactivation(); + } + + updateAltToAvoidTerrainCollisionAndRepublishTriplet(_mission_item); +} + +void MissionBase::update_mission() +{ + if (_mission.count == 0u || !_is_current_planned_mission_item_valid || !isMissionValid()) { + if (_land_detected_sub.get().landed) { + /* landed, refusing to take off without a mission */ + mavlink_log_critical(_navigator->get_mavlink_log_pub(), "No valid mission available, refusing takeoff\t"); + events::send(events::ID("mission_not_valid_refuse"), {events::Log::Error, events::LogInternal::Disabled}, + "No valid mission available, refusing takeoff"); + + } else { + mavlink_log_critical(_navigator->get_mavlink_log_pub(), "No valid mission available, loitering\t"); + events::send(events::ID("mission_not_valid_loiter"), {events::Log::Error, events::LogInternal::Disabled}, + "No valid mission available, loitering"); + } + + _mission_type = MissionType::MISSION_TYPE_NONE; + + } else { + if (_mission_type == MissionType::MISSION_TYPE_NONE) { + mavlink_log_info(_navigator->get_mavlink_log_pub(), "Executing Mission\t"); + events::send(events::ID("mission_execute"), events::Log::Info, "Executing Mission"); + } + + _mission_type = MissionType::MISSION_TYPE_MISSION; + } + + /* Reset vehicle_roi + * Missions that do not explicitly configure ROI would not override + * an existing ROI setting from previous missions */ + _navigator->reset_vroi(); + + if (_navigator->get_mission_result()->valid) { + /* reset work item if new mission has been accepted */ + _work_item_type = WorkItemType::WORK_ITEM_TYPE_DEFAULT; + + /* reset mission failure if we have an updated valid mission */ + _navigator->get_mission_result()->failure = false; + + /* reset sequence info as well */ + _navigator->get_mission_result()->seq_reached = -1; + _navigator->get_mission_result()->seq_total = _mission.count; + } + + // we start from the first item so can reset the cache + if (_mission.current_seq == 0) { + resetItemCache(); + } + + set_mission_result(); +} + +void +MissionBase::advance_mission() +{ + /* do not advance mission item if we're processing sub mission work items */ + if (_work_item_type != WorkItemType::WORK_ITEM_TYPE_DEFAULT) { + return; + } + + if (_mission_type == MissionType::MISSION_TYPE_MISSION) { + _is_current_planned_mission_item_valid = setNextMissionItem(); + + if (!_is_current_planned_mission_item_valid) { + // Mission ended + if (_land_detected_sub.get().landed) { + mavlink_log_info(_navigator->get_mavlink_log_pub(), "Mission finished, landed\t"); + + events::send(events::ID("mission_finished"), events::Log::Info, "Mission finished, landed"); + + } else { + /* https://en.wikipedia.org/wiki/Loiter_(aeronautics) */ + mavlink_log_info(_navigator->get_mavlink_log_pub(), "Mission finished, loitering\t"); + + events::send(events::ID("mission_finished_loiter"), events::Log::Info, "Mission finished, loitering"); + } + + // Reset jump counter if the mission was completed + if ((_mission.current_seq + 1) == _mission.count) { + resetMissionJumpCounter(); + } + } + } +} + +void +MissionBase::set_mission_items() +{ + bool set_end_of_mission{false}; + + if (_is_current_planned_mission_item_valid && _mission_type == MissionType::MISSION_TYPE_MISSION && isMissionValid()) { + /* By default set the mission item to the current planned mission item. Depending on request, it can be altered. */ + if (loadCurrentMissionItem()) { + /* force vtol land */ + if (_navigator->force_vtol() && _mission_item.nav_cmd == NAV_CMD_LAND) { + _mission_item.nav_cmd = NAV_CMD_VTOL_LAND; + } + + setActiveMissionItems(); + + } else { + set_end_of_mission = true; + } + + } else { + set_end_of_mission = true; + } + + if (set_end_of_mission) { + setEndOfMissionItems(); + _navigator->mode_completed(getNavigatorStateId()); + } +} + +bool MissionBase::loadCurrentMissionItem() +{ + const dm_item_t dm_item = static_cast(_mission.mission_dataman_id); + bool success = _dataman_cache.loadWait(dm_item, _mission.current_seq, reinterpret_cast(&_mission_item), + sizeof(mission_item_s), MAX_DATAMAN_LOAD_WAIT); + + if (!success) { + mavlink_log_critical(_navigator->get_mavlink_log_pub(), "Mission item could not be set.\t"); + events::send(events::ID("mission_item_set_failed"), events::Log::Error, + "Mission item could not be set"); + } + + return success; +} + +void MissionBase::setEndOfMissionItems() +{ + position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet(); + + if (_land_detected_sub.get().landed) { + _mission_item.nav_cmd = NAV_CMD_IDLE; + + } else { + if (pos_sp_triplet->current.valid && pos_sp_triplet->current.type == position_setpoint_s::SETPOINT_TYPE_LOITER) { + setLoiterItemFromCurrentPositionSetpoint(&_mission_item); + + } else { + setLoiterItemFromCurrentPosition(&_mission_item); + } + } + + /* update position setpoint triplet */ + pos_sp_triplet->previous.valid = false; + mission_item_to_position_setpoint(_mission_item, &pos_sp_triplet->current); + pos_sp_triplet->next.valid = false; + + // set mission finished + _navigator->get_mission_result()->finished = true; + _navigator->set_mission_result_updated(); + + publish_navigator_mission_item(); // for logging + _navigator->set_position_setpoint_triplet_updated(); + + _mission_type = MissionType::MISSION_TYPE_NONE; +} + +void +MissionBase::set_mission_item_reached() +{ + _navigator->get_mission_result()->seq_reached = _mission.current_seq; + _navigator->set_mission_result_updated(); + + reset_mission_item_reached(); +} + +void +MissionBase::set_mission_result() +{ + _navigator->get_mission_result()->finished = false; + _navigator->get_mission_result()->seq_current = _mission.current_seq > 0 ? _mission.current_seq : 0; + + _navigator->set_mission_result_updated(); +} + +bool MissionBase::do_need_move_to_item() +{ + float d_current = get_distance_to_next_waypoint(_mission_item.lat, _mission_item.lon, + _global_pos_sub.get().lat, _global_pos_sub.get().lon); + + return d_current > _navigator->get_acceptance_radius(); +} + +void MissionBase::handleLanding(WorkItemType &new_work_item_type, mission_item_s next_mission_items[], + size_t &num_found_items) +{ + position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet(); + + bool needs_to_land = !_land_detected_sub.get().landed && + ((_mission_item.nav_cmd == NAV_CMD_VTOL_LAND) + || (_mission_item.nav_cmd == NAV_CMD_LAND)); + + bool needs_vtol_landing = _vehicle_status_sub.get().is_vtol && + (_vehicle_status_sub.get().vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING) && + (_mission_item.nav_cmd == NAV_CMD_VTOL_LAND) && + !_land_detected_sub.get().landed; + + /* ignore yaw for landing items */ + /* XXX: if specified heading for landing is desired we could add another step before the descent + * that aligns the vehicle first */ + if (_mission_item.nav_cmd == NAV_CMD_LAND || _mission_item.nav_cmd == NAV_CMD_VTOL_LAND) { + _mission_item.yaw = NAN; + } + + /* move to land wp as fixed wing */ + if (needs_vtol_landing) { + if (_work_item_type == WorkItemType::WORK_ITEM_TYPE_DEFAULT) { + + new_work_item_type = WorkItemType::WORK_ITEM_TYPE_MOVE_TO_LAND; + + /* use current mission item as next position item */ + num_found_items = 1u; + next_mission_items[0u] = _mission_item; + + float altitude = _global_pos_sub.get().alt; + + if (pos_sp_triplet->current.valid && pos_sp_triplet->current.type == position_setpoint_s::SETPOINT_TYPE_POSITION) { + altitude = pos_sp_triplet->current.alt; + } + + _mission_item.altitude = altitude; + _mission_item.altitude_is_relative = false; + _mission_item.nav_cmd = NAV_CMD_WAYPOINT; + _mission_item.autocontinue = true; + _mission_item.time_inside = 0.0f; + _mission_item.vtol_back_transition = true; + + _navigator->reset_position_setpoint(pos_sp_triplet->previous); + } + + /* transition to MC */ + if (_work_item_type == WorkItemType::WORK_ITEM_TYPE_MOVE_TO_LAND) { + + set_vtol_transition_item(&_mission_item, vtol_vehicle_status_s::VEHICLE_VTOL_STATE_MC); + + new_work_item_type = WorkItemType::WORK_ITEM_TYPE_MOVE_TO_LAND_AFTER_TRANSITION; + } + + } else if (needs_to_land) { + /* move to landing waypoint before descent if necessary */ + if ((_vehicle_status_sub.get().vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) && + do_need_move_to_item() && + (_work_item_type == WorkItemType::WORK_ITEM_TYPE_DEFAULT || + _work_item_type == WorkItemType::WORK_ITEM_TYPE_MOVE_TO_LAND_AFTER_TRANSITION)) { + + new_work_item_type = WorkItemType::WORK_ITEM_TYPE_MOVE_TO_LAND; + + /* use current mission item as next position item */ + num_found_items = 1u; + next_mission_items[0u] = _mission_item; + + /* + * Ignoring waypoint altitude: + * Set altitude to the same as we have now to prevent descending too fast into + * the ground. Actual landing will descend anyway until it touches down. + * XXX: We might want to change that at some point if it is clear to the user + * what the altitude means on this waypoint type. + */ + float altitude = _global_pos_sub.get().alt; + + if (pos_sp_triplet->current.valid + && pos_sp_triplet->current.type == position_setpoint_s::SETPOINT_TYPE_POSITION) { + altitude = pos_sp_triplet->current.alt; + } + + _mission_item.altitude = altitude; + _mission_item.altitude_is_relative = false; + _mission_item.nav_cmd = NAV_CMD_WAYPOINT; + _mission_item.autocontinue = true; + + // have to reset here because these field were used in set_vtol_transition_item + _mission_item.time_inside = 0.f; + _mission_item.acceptance_radius = _navigator->get_acceptance_radius(); + + // make previous setpoint invalid, such that there will be no prev-current line following. + // if the vehicle drifted off the path during back-transition it should just go straight to the landing point + _navigator->reset_position_setpoint(pos_sp_triplet->previous); + + // set gimbal to neutral position (level with horizon) to reduce change of damage on landing + _navigator->acquire_gimbal_control(); + _navigator->set_gimbal_neutral(); + _navigator->release_gimbal_control(); + + } else { + + if (_mission_item.land_precision > 0 && _mission_item.land_precision < 3) { + new_work_item_type = WorkItemType::WORK_ITEM_TYPE_PRECISION_LAND; + + startPrecLand(_mission_item.land_precision); + } + } + } +} + +bool MissionBase::position_setpoint_equal(const position_setpoint_s *p1, const position_setpoint_s *p2) const +{ + return ((p1->valid == p2->valid) && + (p1->type == p2->type) && + (fabsf(p1->vx - p2->vx) < FLT_EPSILON) && + (fabsf(p1->vy - p2->vy) < FLT_EPSILON) && + (fabsf(p1->vz - p2->vz) < FLT_EPSILON) && + (fabs(p1->lat - p2->lat) < DBL_EPSILON) && + (fabs(p1->lon - p2->lon) < DBL_EPSILON) && + (fabsf(p1->alt - p2->alt) < FLT_EPSILON) && + ((fabsf(p1->yaw - p2->yaw) < FLT_EPSILON) || (!PX4_ISFINITE(p1->yaw) && !PX4_ISFINITE(p2->yaw))) && + (fabsf(p1->loiter_radius - p2->loiter_radius) < FLT_EPSILON) && + (p1->loiter_direction_counter_clockwise == p2->loiter_direction_counter_clockwise) && + (fabsf(p1->acceptance_radius - p2->acceptance_radius) < FLT_EPSILON) && + (fabsf(p1->cruising_speed - p2->cruising_speed) < FLT_EPSILON) && + ((fabsf(p1->cruising_throttle - p2->cruising_throttle) < FLT_EPSILON) || (!PX4_ISFINITE(p1->cruising_throttle) + && !PX4_ISFINITE(p2->cruising_throttle)))); + +} + +void +MissionBase::report_do_jump_mission_changed(int index, int do_jumps_remaining) +{ + /* inform about the change */ + _navigator->get_mission_result()->item_do_jump_changed = true; + _navigator->get_mission_result()->item_changed_index = index; + _navigator->get_mission_result()->item_do_jump_remaining = do_jumps_remaining; + + _navigator->set_mission_result_updated(); +} + +void +MissionBase::checkMissionRestart() +{ + if (_system_disarmed_while_inactive && _mission_has_been_activated && (_mission.count > 0U) + && ((_mission.current_seq + 1) == _mission.count)) { + setMissionIndex(0); + _inactivation_index = -1; // reset + _is_current_planned_mission_item_valid = isMissionValid(); + resetMissionJumpCounter(); + _navigator->reset_cruising_speed(); + _navigator->reset_vroi(); + set_mission_result(); + } +} + +void +MissionBase::check_mission_valid(bool forced) +{ + // Allow forcing it, since we currently not rechecking if parameters have changed. + if (forced || + (_navigator->get_mission_result()->mission_id != _mission.mission_id) || + (_navigator->get_mission_result()->geofence_id != _mission.geofence_id) || + (_navigator->get_mission_result()->home_position_counter != _navigator->get_home_position()->update_count)) { + + _navigator->get_mission_result()->mission_id = _mission.mission_id; + _navigator->get_mission_result()->geofence_id = _mission.geofence_id; + _navigator->get_mission_result()->home_position_counter = _navigator->get_home_position()->update_count; + + MissionFeasibilityChecker missionFeasibilityChecker(_navigator, _dataman_client); + _navigator->get_mission_result()->valid = missionFeasibilityChecker.checkMissionFeasible(_mission); + _navigator->get_mission_result()->seq_total = _mission.count; + _navigator->get_mission_result()->seq_reached = -1; + _navigator->get_mission_result()->failure = false; + + set_mission_result(); + + // only warn if the check failed on merit + if ((!_navigator->get_mission_result()->valid) && _mission.count > 0U) { + PX4_WARN("mission check failed"); + } + + } +} + +void +MissionBase::heading_sp_update() +{ + struct position_setpoint_triplet_s *pos_sp_triplet = + _navigator->get_position_setpoint_triplet(); + + // Only update if current triplet is valid + if (pos_sp_triplet->current.valid) { + + double point_from_latlon[2] = { _global_pos_sub.get().lat, + _global_pos_sub.get().lon + }; + double point_to_latlon[2] = { _global_pos_sub.get().lat, + _global_pos_sub.get().lon + }; + float yaw_offset = 0.0f; + + // Depending on ROI-mode, update heading + switch (_navigator->get_vroi().mode) { + case vehicle_roi_s::ROI_LOCATION: { + // ROI is a fixed location. Vehicle needs to point towards that location + point_to_latlon[0] = _navigator->get_vroi().lat; + point_to_latlon[1] = _navigator->get_vroi().lon; + // No yaw offset required + yaw_offset = 0.0f; + break; + } + + case vehicle_roi_s::ROI_WPNEXT: { + // ROI is current waypoint. Vehcile needs to point towards current waypoint + point_to_latlon[0] = pos_sp_triplet->current.lat; + point_to_latlon[1] = pos_sp_triplet->current.lon; + // Add the gimbal's yaw offset + yaw_offset = _navigator->get_vroi().yaw_offset; + break; + } + + case vehicle_roi_s::ROI_NONE: + case vehicle_roi_s::ROI_WPINDEX: + case vehicle_roi_s::ROI_TARGET: + case vehicle_roi_s::ROI_ENUM_END: + default: { + return; + } + } + + // Get desired heading and update it. + // However, only update if distance to desired heading is + // larger than acceptance radius to prevent excessive yawing + float d_current = get_distance_to_next_waypoint(point_from_latlon[0], + point_from_latlon[1], point_to_latlon[0], point_to_latlon[1]); + + if (d_current > _navigator->get_acceptance_radius()) { + float yaw = matrix::wrap_pi( + get_bearing_to_next_waypoint(point_from_latlon[0], + point_from_latlon[1], point_to_latlon[0], + point_to_latlon[1]) + yaw_offset); + + _mission_item.yaw = yaw; + pos_sp_triplet->current.yaw = _mission_item.yaw; + + } else { + if (!PX4_ISFINITE(pos_sp_triplet->current.yaw)) { + _mission_item.yaw = NAN; + pos_sp_triplet->current.yaw = _mission_item.yaw; + } + } + + // we set yaw directly so we can run this in parallel to the FOH update + publish_navigator_mission_item(); + _navigator->set_position_setpoint_triplet_updated(); + } +} + +void +MissionBase::do_abort_landing() +{ + // Abort FW landing, loiter above landing site in at least MIS_LND_ABRT_ALT + if (_mission_type == MissionType::MISSION_TYPE_NONE) { + return; + } + + if (_mission_item.nav_cmd != NAV_CMD_LAND) { + return; + } + + const float alt_landing = get_absolute_altitude_for_item(_mission_item); + const float alt_sp = math::max(alt_landing + _navigator->get_landing_abort_min_alt(), + _global_pos_sub.get().alt); + + // turn current landing waypoint into an indefinite loiter + _mission_item.nav_cmd = NAV_CMD_LOITER_UNLIMITED; + _mission_item.altitude_is_relative = false; + _mission_item.altitude = alt_sp; + _mission_item.loiter_radius = _navigator->get_loiter_radius(); + _mission_item.acceptance_radius = _navigator->get_acceptance_radius(); + _mission_item.autocontinue = false; + _mission_item.origin = ORIGIN_ONBOARD; + + mission_item_to_position_setpoint(_mission_item, &_navigator->get_position_setpoint_triplet()->current); + + // XXX: this is a hack to invalidate the "next" position setpoint for the fixed-wing position controller during + // the landing abort hold. otherwise, the "next" setpoint would still register as a "LAND" point, and trigger + // the early landing configuration (flaps and landing airspeed) during the hold. + _navigator->get_position_setpoint_triplet()->next.lat = (double)NAN; + _navigator->get_position_setpoint_triplet()->next.lon = (double)NAN; + _navigator->get_position_setpoint_triplet()->next.alt = NAN; + + publish_navigator_mission_item(); // for logging + _navigator->set_position_setpoint_triplet_updated(); + + mavlink_log_info(_navigator->get_mavlink_log_pub(), "Holding at %d m above landing waypoint.\t", + (int)(alt_sp - alt_landing)); + events::send(events::ID("mission_holding_above_landing"), events::Log::Info, + "Holding at {1:.0m_v} above landing waypoint", alt_sp - alt_landing); + + // reset mission index to start of landing + if (hasMissionLandStart()) { + _is_current_planned_mission_item_valid = true; + setMissionIndex(_mission.land_start_index); + + } else { + // move mission index back (landing approach point) + _is_current_planned_mission_item_valid = (goToPreviousItem(false) == PX4_OK); + } + + // send reposition cmd to get out of mission + vehicle_command_s vcmd = {}; + + vcmd.command = vehicle_command_s::VEHICLE_CMD_DO_REPOSITION; + vcmd.param1 = -1; + vcmd.param2 = 1; + vcmd.param5 = _mission_item.lat; + vcmd.param6 = _mission_item.lon; + vcmd.param7 = alt_sp; + + _navigator->publish_vehicle_cmd(&vcmd); +} + +void MissionBase::publish_navigator_mission_item() +{ + navigator_mission_item_s navigator_mission_item{}; + + navigator_mission_item.sequence_current = _mission.current_seq; + navigator_mission_item.nav_cmd = _mission_item.nav_cmd; + navigator_mission_item.latitude = _mission_item.lat; + navigator_mission_item.longitude = _mission_item.lon; + navigator_mission_item.altitude = _mission_item.altitude; + + navigator_mission_item.time_inside = get_time_inside(_mission_item); + navigator_mission_item.acceptance_radius = _mission_item.acceptance_radius; + navigator_mission_item.loiter_radius = _mission_item.loiter_radius; + navigator_mission_item.yaw = _mission_item.yaw; + + navigator_mission_item.frame = _mission_item.frame; + navigator_mission_item.frame = _mission_item.origin; + + navigator_mission_item.loiter_exit_xtrack = _mission_item.loiter_exit_xtrack; + navigator_mission_item.force_heading = _mission_item.force_heading; + navigator_mission_item.altitude_is_relative = _mission_item.altitude_is_relative; + navigator_mission_item.autocontinue = _mission_item.autocontinue; + navigator_mission_item.vtol_back_transition = _mission_item.vtol_back_transition; + + navigator_mission_item.timestamp = hrt_absolute_time(); + + _navigator_mission_item_pub.publish(navigator_mission_item); +} + +bool MissionBase::isMissionValid() const +{ + bool ret_val{false}; + + if (((_mission.current_seq < _mission.count) || (_mission.count == 0U && _mission.current_seq <= 0)) && + (_mission.mission_dataman_id == DM_KEY_WAYPOINTS_OFFBOARD_0 || + _mission.mission_dataman_id == DM_KEY_WAYPOINTS_OFFBOARD_1) && + (_mission.timestamp != 0u) && + (_navigator->get_mission_result()->valid)) { + ret_val = true; + } + + return ret_val; +} + +int MissionBase::getNonJumpItem(int32_t &mission_index, mission_item_s &mission, bool execute_jump, + bool write_jumps, bool mission_direction_backward) +{ + if (mission_index >= _mission.count || mission_index < 0) { + return PX4_ERROR; + } + + const dm_item_t mission_dataman_id = (dm_item_t)_mission.mission_dataman_id; + int32_t new_mission_index{mission_index}; + mission_item_s new_mission; + + for (uint16_t jump_count = 0u; jump_count < MAX_JUMP_ITERATION; jump_count++) { + /* read mission item from datamanager */ + bool success = _dataman_cache.loadWait(mission_dataman_id, new_mission_index, reinterpret_cast(&new_mission), + sizeof(mission_item_s), MAX_DATAMAN_LOAD_WAIT); + + if (!success) { + /* not supposed to happen unless the datamanager can't access the SD card, etc. */ + mavlink_log_critical(_navigator->get_mavlink_log_pub(), "Waypoint could not be read.\t"); + events::send(events::ID("mission_failed_to_read_wp"), events::Log::Error, + "Waypoint {1} could not be read from storage", new_mission_index); + return PX4_ERROR; + } + + if (new_mission.nav_cmd == NAV_CMD_DO_JUMP) { + if (new_mission.do_jump_mission_index >= _mission.count || new_mission.do_jump_mission_index < 0) { + PX4_ERR("Do Jump mission index is out of bounds."); + return PX4_ERROR; + } + + if ((new_mission.do_jump_current_count < new_mission.do_jump_repeat_count) && execute_jump) { + if (write_jumps) { + new_mission.do_jump_current_count++; + success = _dataman_cache.writeWait(mission_dataman_id, new_mission_index, reinterpret_cast(&new_mission), + sizeof(struct mission_item_s)); + + if (!success) { + /* not supposed to happen unless the datamanager can't access the dataman */ + mavlink_log_critical(_navigator->get_mavlink_log_pub(), "DO JUMP waypoint could not be written.\t"); + events::send(events::ID("mission_failed_to_write_do_jump"), events::Log::Error, + "DO JUMP waypoint could not be written"); + // Still continue searching for next non jump item. + } + + report_do_jump_mission_changed(new_mission_index, new_mission.do_jump_repeat_count - new_mission.do_jump_current_count); + } + + new_mission_index = new_mission.do_jump_mission_index; + + } else { + if (mission_direction_backward) { + new_mission_index--; + + } else { + new_mission_index++; + } + } + + } else { + break; + } + } + + mission_index = new_mission_index; + mission = new_mission; + + return PX4_OK; +} + +int MissionBase::goToItem(int32_t index, bool execute_jump, bool mission_direction_backward) +{ + mission_item_s mission_item; + + if (getNonJumpItem(index, mission_item, execute_jump, true, mission_direction_backward) == PX4_OK) { + setMissionIndex(index); + return PX4_OK; + + } else { + return PX4_ERROR; + } +} + +void MissionBase::setMissionIndex(int32_t index) +{ + if (index != _mission.current_seq) { + _mission.current_seq = index; + _mission.timestamp = hrt_absolute_time(); + _mission_pub.publish(_mission); + } +} + +void MissionBase::getPreviousPositionItems(int32_t start_index, int32_t items_index[], + size_t &num_found_items, uint8_t max_num_items) +{ + num_found_items = 0u; + + int32_t next_mission_index{start_index}; + + for (size_t item_idx = 0u; item_idx < max_num_items; item_idx++) { + if (next_mission_index < 0) { + break; + } + + mission_item_s next_mission_item; + bool found_next_item{false}; + + do { + next_mission_index--; + found_next_item = getNonJumpItem(next_mission_index, next_mission_item, true, false, true) == PX4_OK; + } while (!MissionBlock::item_contains_position(next_mission_item) && found_next_item); + + if (found_next_item) { + items_index[item_idx] = next_mission_index; + num_found_items = item_idx + 1; + + } else { + break; + } + } +} + +void MissionBase::getNextPositionItems(int32_t start_index, int32_t items_index[], + size_t &num_found_items, uint8_t max_num_items) +{ + // Make sure vector does not contain any preexisting elements. + num_found_items = 0u; + + int32_t next_mission_index{start_index}; + + for (size_t item_idx = 0u; item_idx < max_num_items; item_idx++) { + if (next_mission_index >= _mission.count) { + break; + } + + mission_item_s next_mission_item; + bool found_next_item{false}; + + do { + found_next_item = getNonJumpItem(next_mission_index, next_mission_item, true, false, false) == PX4_OK; + next_mission_index++; + } while (!MissionBlock::item_contains_position(next_mission_item) && found_next_item); + + if (found_next_item) { + items_index[item_idx] = math::max(next_mission_index - 1, + static_cast(0)); // subtract 1 to get the index of the first position item + num_found_items = item_idx + 1; + + } else { + break; + } + } +} + +int MissionBase::goToNextItem(bool execute_jump) +{ + if (_mission.current_seq + 1 >= (_mission.count)) { + return PX4_ERROR; + } + + return goToItem(_mission.current_seq + 1, execute_jump); +} + +int MissionBase::goToPreviousItem(bool execute_jump) +{ + if (_mission.current_seq <= 0) { + return PX4_ERROR; + } + + return goToItem(_mission.current_seq - 1, execute_jump, true); +} + +int MissionBase::goToPreviousPositionItem(bool execute_jump) +{ + size_t num_found_items{0U}; + int32_t previous_position_item_index; + getPreviousPositionItems(_mission.current_seq, &previous_position_item_index, num_found_items, 1); + + if (num_found_items == 1U) { + setMissionIndex(previous_position_item_index); + return PX4_OK; + + } else { + return PX4_ERROR; + } +} + +int MissionBase::goToNextPositionItem(bool execute_jump) +{ + size_t num_found_items{0U}; + int32_t next_position_item_index; + getNextPositionItems(_mission.current_seq + 1, &next_position_item_index, num_found_items, 1); + + if (num_found_items == 1U) { + setMissionIndex(next_position_item_index); + return PX4_OK; + + } else { + return PX4_ERROR; + } +} + +int MissionBase::setMissionToClosestItem(double lat, double lon, float alt, float home_alt, + const vehicle_status_s &vehicle_status) +{ + int32_t min_dist_index(-1); + float min_dist(FLT_MAX), dist_xy(FLT_MAX), dist_z(FLT_MAX); + const dm_item_t mission_dataman_id = static_cast(_mission.mission_dataman_id); + + for (int32_t mission_item_index = 0; mission_item_index < _mission.count; mission_item_index++) { + mission_item_s mission; + + bool success = _dataman_cache.loadWait(mission_dataman_id, mission_item_index, reinterpret_cast(&mission), + sizeof(mission_item_s), MAX_DATAMAN_LOAD_WAIT); + + if (!success) { + /* not supposed to happen unless the datamanager can't access the SD card, etc. */ + mavlink_log_critical(_navigator->get_mavlink_log_pub(), "Could not set mission closest to position.\t"); + events::send(events::ID("mission_failed_set_closest"), events::Log::Error, + "Could not set mission closest to position"); + return PX4_ERROR; + } + + if (MissionBlock::item_contains_position(mission)) { + // do not consider land waypoints for a fw + if (!((mission.nav_cmd == NAV_CMD_LAND) && + (vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING) && + (!vehicle_status.is_vtol))) { + float dist = get_distance_to_point_global_wgs84(mission.lat, mission.lon, + MissionBlock::get_absolute_altitude_for_item(mission, home_alt), + lat, + lon, + alt, + &dist_xy, &dist_z); + + if (dist < min_dist) { + min_dist = dist; + min_dist_index = mission_item_index; + } + } + } + } + + setMissionIndex(min_dist_index); + + return PX4_OK; +} + +void MissionBase::resetMission() +{ + /* we do not need to reset mission if is already.*/ + if (_mission.count == 0u) { + return; + } + + /* Set a new mission*/ + _mission.timestamp = hrt_absolute_time(); + _mission.current_seq = 0; + _mission.land_start_index = -1; + _mission.land_index = -1; + _mission.count = 0u; + _mission.mission_id = 0u; + _mission.mission_dataman_id = _mission.mission_dataman_id == DM_KEY_WAYPOINTS_OFFBOARD_0 ? + DM_KEY_WAYPOINTS_OFFBOARD_1 : + DM_KEY_WAYPOINTS_OFFBOARD_0; + + bool success = _dataman_client.writeSync(DM_KEY_MISSION_STATE, 0, reinterpret_cast(&_mission), + sizeof(mission_s)); + + if (success) { + _mission_pub.publish(_mission); + + } else { + PX4_ERR("Mission Initialization failed."); + } +} + +void MissionBase::resetMissionJumpCounter() +{ + const dm_item_t mission_dataman_id = static_cast(_mission.mission_dataman_id); + + for (size_t mission_index = 0u; mission_index < _mission.count; mission_index++) { + mission_item_s mission_item; + + bool success = _dataman_client.readSync(mission_dataman_id, mission_index, reinterpret_cast(&mission_item), + sizeof(mission_item_s), MAX_DATAMAN_LOAD_WAIT); + + if (!success) { + /* not supposed to happen unless the datamanager can't access the SD card, etc. */ + mavlink_log_critical(_navigator->get_mavlink_log_pub(), "Mission could not reset jump count.\t"); + events::send(events::ID("mission_failed_set_jump_count"), events::Log::Error, + "Mission could not reset jump count"); + break; + } + + if (mission_item.nav_cmd == NAV_CMD_DO_JUMP) { + mission_item.do_jump_current_count = 0u; + + bool write_success = _dataman_cache.writeWait(mission_dataman_id, mission_index, + reinterpret_cast(&mission_item), + sizeof(struct mission_item_s)); + + if (!write_success) { + PX4_ERR("Could not write mission item for jump count reset."); + break; + } + } + } +} + +void MissionBase::cacheItem(const mission_item_s &mission_item) +{ + switch (mission_item.nav_cmd) { + case NAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE: + _last_gimbal_configure_item = mission_item; + break; + + case NAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW: + _last_gimbal_control_item = mission_item; + break; + + case NAV_CMD_SET_CAMERA_MODE: + _last_camera_mode_item = mission_item; + break; + + case NAV_CMD_DO_SET_CAM_TRIGG_DIST: + case NAV_CMD_DO_TRIGGER_CONTROL: + case NAV_CMD_IMAGE_START_CAPTURE: + case NAV_CMD_IMAGE_STOP_CAPTURE: + _last_camera_trigger_item = mission_item; + break; + + case NAV_CMD_DO_CHANGE_SPEED: + _last_speed_change_item = mission_item; + break; + + case NAV_CMD_DO_VTOL_TRANSITION: + // delete speed changes after a VTOL transition + _last_speed_change_item = {}; + break; + + default: + break; + } +} + +void MissionBase::replayCachedGimbalItems() +{ + if (_last_gimbal_configure_item.nav_cmd > 0) { + issue_command(_last_gimbal_configure_item); + _last_gimbal_configure_item = {}; // delete cached item + } + + if (_last_gimbal_control_item.nav_cmd > 0) { + issue_command(_last_gimbal_control_item); + _last_gimbal_control_item = {}; // delete cached item + } +} + +void MissionBase::replayCachedCameraModeItems() +{ + if (_last_camera_mode_item.nav_cmd > 0) { + issue_command(_last_camera_mode_item); + _last_camera_mode_item = {}; // delete cached item + } +} + +void MissionBase::replayCachedTriggerItems() +{ + if (_last_camera_trigger_item.nav_cmd > 0) { + issue_command(_last_camera_trigger_item); + _last_camera_trigger_item = {}; // delete cached item + } +} + +void MissionBase::replayCachedSpeedChangeItems() +{ + if (_last_speed_change_item.nav_cmd == NAV_CMD_DO_CHANGE_SPEED) { + issue_command(_last_speed_change_item); + _last_speed_change_item = {}; // delete cached item + } +} + +void MissionBase::resetItemCache() +{ + _last_gimbal_configure_item = {}; + _last_gimbal_control_item = {}; + _last_camera_mode_item = {}; + _last_camera_trigger_item = {}; +} + +bool MissionBase::haveCachedGimbalItems() +{ + return _last_gimbal_configure_item.nav_cmd > 0 || + _last_gimbal_control_item.nav_cmd > 0; +} + +bool MissionBase::haveCachedCameraModeItems() +{ + return _last_camera_mode_item.nav_cmd > 0; +} + +bool MissionBase::cameraWasTriggering() +{ + return (_last_camera_trigger_item.nav_cmd == NAV_CMD_DO_TRIGGER_CONTROL + && (int)(_last_camera_trigger_item.params[0] + 0.5f) == 1) || + (_last_camera_trigger_item.nav_cmd == NAV_CMD_IMAGE_START_CAPTURE) || + (_last_camera_trigger_item.nav_cmd == NAV_CMD_DO_SET_CAM_TRIGG_DIST + && _last_camera_trigger_item.params[0] > FLT_EPSILON); +} + +void MissionBase::updateCachedItemsUpToIndex(const int end_index) +{ + for (int i = 0; i <= end_index; i++) { + mission_item_s mission_item; + const dm_item_t dm_current = (dm_item_t)_mission.mission_dataman_id; + bool success = _dataman_client.readSync(dm_current, i, reinterpret_cast(&mission_item), + sizeof(mission_item), 500_ms); + + if (success) { + cacheItem(mission_item); + } + } +} + +void MissionBase::parameters_update() +{ + if (_parameter_update_sub.updated()) { + parameter_update_s param_update; + _parameter_update_sub.copy(¶m_update); + + // If any parameter updated, call updateParams() to check if + // this class attributes need updating (and do so). + updateParams(); + } +} + +void MissionBase::checkClimbRequired(int32_t mission_item_index) +{ + int32_t next_mission_item_index; + size_t num_found_items{0U}; + getNextPositionItems(mission_item_index, &next_mission_item_index, num_found_items, 1U); + + if (num_found_items > 0U) { + + const dm_item_t mission_dataman_id = static_cast(_mission.mission_dataman_id); + mission_item_s mission; + _mission_init_climb_altitude_amsl = NAN; // default to NAN, overwrite below if applicable + + const bool success = _dataman_cache.loadWait(mission_dataman_id, next_mission_item_index, + reinterpret_cast(&mission), + sizeof(mission), MAX_DATAMAN_LOAD_WAIT); + + const bool is_fw_and_takeoff = mission.nav_cmd == NAV_CMD_TAKEOFF + && _vehicle_status_sub.get().vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING; + + // for FW when on a Takeoff item do not require climb before mission, as we need to keep course to takeoff item straight + if (success && !is_fw_and_takeoff) { + const float altitude_amsl_next_position_item = MissionBlock::get_absolute_altitude_for_item(mission); + const float error_below_setpoint = altitude_amsl_next_position_item - + _navigator->get_global_position()->alt; + + if (error_below_setpoint > _navigator->get_altitude_acceptance_radius()) { + + _mission_init_climb_altitude_amsl = altitude_amsl_next_position_item; + } + } + } +} + +bool MissionBase::checkMissionDataChanged(mission_s new_mission) +{ + /* count and land_index are the same if the mission_id did not change. We do not care about changes in geofence or rally counters.*/ + return ((new_mission.mission_dataman_id != _mission.mission_dataman_id) || + (new_mission.mission_id != _mission.mission_id) || + (new_mission.current_seq != _mission.current_seq)); +} + +bool MissionBase::canRunMissionFeasibility() +{ + return _navigator->home_global_position_valid() && // Need to have a home position checked + _navigator->get_global_position()->timestamp > 0 && // Need to have a position, for first waypoint check + (_geofence_status_sub.get().timestamp > 0) && // Geofence data must be loaded + (_geofence_status_sub.get().geofence_id == _mission.geofence_id) && + (_geofence_status_sub.get().status == geofence_status_s::GF_STATUS_READY); +} + +void MissionBase::updateMissionAltAfterHomeChanged() +{ + if (_navigator->get_home_position()->update_count > _home_update_counter) { + float new_alt = get_absolute_altitude_for_item(_mission_item); + float altitude_diff = new_alt - _navigator->get_position_setpoint_triplet()->current.alt; + + if (_navigator->get_position_setpoint_triplet()->previous.valid + && PX4_ISFINITE(_navigator->get_position_setpoint_triplet()->previous.alt)) { + _navigator->get_position_setpoint_triplet()->previous.alt = _navigator->get_position_setpoint_triplet()->previous.alt + + altitude_diff; + } + + _navigator->get_position_setpoint_triplet()->current.alt = _navigator->get_position_setpoint_triplet()->current.alt + + altitude_diff; + + if (_navigator->get_position_setpoint_triplet()->next.valid + && PX4_ISFINITE(_navigator->get_position_setpoint_triplet()->next.alt)) { + _navigator->get_position_setpoint_triplet()->next.alt = _navigator->get_position_setpoint_triplet()->next.alt + + altitude_diff; + } + + _navigator->set_position_setpoint_triplet_updated(); + _home_update_counter = _navigator->get_home_position()->update_count; + } +} diff --git a/src/modules/navigator/mission_base.h b/src/modules/navigator/mission_base.h new file mode 100644 index 000000000000..f819b5c0e51a --- /dev/null +++ b/src/modules/navigator/mission_base.h @@ -0,0 +1,490 @@ +/**************************************************************************** + * + * Copyright (c) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ +/** + * @file mission_base.h + * + * Mission base mode class that can be used for modes interacting with a mission. + * + */ + +#pragma once + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include "mission_block.h" +#include "navigation.h" + +using namespace time_literals; + +class Navigator; + +class MissionBase : public MissionBlock, public ModuleParams +{ +public: + MissionBase(Navigator *navigator, int32_t dataman_cache_size_signed, uint8_t navigator_state_id); + ~MissionBase() override = default; + + virtual void on_inactive() override; + virtual void on_inactivation() override; + virtual void on_activation() override; + virtual void on_active() override; + +protected: + + /** + * @brief Maximum time to wait for dataman loading + * + */ + static constexpr hrt_abstime MAX_DATAMAN_LOAD_WAIT{500_ms}; + + // Work Item corresponds to the sub-mode set on the "MAV_CMD_DO_SET_MODE" MAVLink message + enum class WorkItemType { + WORK_ITEM_TYPE_DEFAULT, /**< default mission item */ + WORK_ITEM_TYPE_CLIMB, /**< takeoff before moving to waypoint */ + WORK_ITEM_TYPE_MOVE_TO_LAND, /**< move to land waypoint before descent */ + WORK_ITEM_TYPE_ALIGN_HEADING, /**< align for next waypoint */ + WORK_ITEM_TYPE_TRANSITION_AFTER_TAKEOFF, + WORK_ITEM_TYPE_MOVE_TO_LAND_AFTER_TRANSITION, + WORK_ITEM_TYPE_PRECISION_LAND + } _work_item_type{WorkItemType::WORK_ITEM_TYPE_DEFAULT}; /**< current type of work to do (sub mission item) */ + + enum class MissionType { + MISSION_TYPE_NONE, + MISSION_TYPE_MISSION + } _mission_type{MissionType::MISSION_TYPE_NONE}; + + /** + * @brief Get the Previous Mission Position Items + * + * @param[in] start_index is the index from where to start searching the previous mission position items + * @param[out] items_index is an array of indexes indicating the previous mission position items found + * @param[out] num_found_items are the amount of previous position items found + * @param[in] max_num_items are the maximum amount of previous position items to be searched + */ + void getPreviousPositionItems(int32_t start_index, int32_t items_index[], size_t &num_found_items, + uint8_t max_num_items); + /** + * @brief Get the next mission item containing a position setpoint + * + * @param[in] start_index is the index from where to start searching (first possible return index) + * @param[out] items_index is an array of indexes indicating the next mission position items found + * @param[out] num_found_items are the amount of next position items found + * @param[in] max_num_items are the maximum amount of next position items to be searched + */ + void getNextPositionItems(int32_t start_index, int32_t items_index[], size_t &num_found_items, + uint8_t max_num_items); + /** + * @brief Mission has a land start, a land, and is valid + * + * @return true If mission has a land start and a land item and is valid + * @return false otherwise + */ + bool hasMissionLandStart() const { return _mission.land_start_index >= 0 && _mission.land_index >= 0 && isMissionValid();}; + /** + * @brief Go to next Mission Item + * Go to next non jump mission item + * + * @param[in] execute_jump Flag indicating if a jump should be executed or ignored + * @return PX4_OK if next mission item exists, PX4_ERR otherwise + */ + int goToNextItem(bool execute_jump); + /** + * @brief Go to previous Mission Item + * Go to previous non jump mission item + * @param[in] execute_jump Flag indicating if a jump should be executed or ignored + * @return PX4_OK if previous mission item exists, PX4_ERR otherwise + */ + int goToPreviousItem(bool execute_jump); + /** + * @brief Go to Mission Item + * + * @param[in] index Index of the mission item to go to + * @param[in] execute_jump Flag indicating if a jump should be executed of ignored + * @param[in] mission_direction_backward Flag indicating if a mission is flown backward + * @return PX4_OK if the mission item exists, PX4_ERR otherwise + */ + int goToItem(int32_t index, bool execute_jump, bool mission_direction_backward = false); + /** + * @brief Go To Previous Mission Position Item + * + * @param[in] execute_jump Flag indicating if a jump should be executed or ignored + * @return PX4_OK if previous mission item exists, PX4_ERR otherwise + */ + int goToPreviousPositionItem(bool execute_jump); + /** + * @brief Go To Next Mission Position Item + * + * @param[in] execute_jump Flag indicating if a jump should be executed or ignored + * @return PX4_OK if next mission item exists, PX4_ERR otherwise + */ + int goToNextPositionItem(bool execute_jump); + /** + * @brief Go to Mission Land Start Item + * + * @return PX4_OK if land start item exists and is loaded, PX4_ERR otherwise + */ + int goToMissionLandStart(); + /** + * @brief Set the Mission to closest mission position item from current position + * + * @param[in] lat latitude of the current position + * @param[in] lon longitude of the current position + * @param[in] alt altitude of the current position + * @param[in] home_alt altitude of the home position + * @param[in] vehicle_status vehicle status struct + * @return PX4_OK if closest item is found and loaded, PX4_ERR otherwise + */ + int setMissionToClosestItem(double lat, double lon, float alt, float home_alt, const vehicle_status_s &vehicle_status); + /** + * @brief Initialize Mission + * + * @return PX4_OK if mission could be loaded, PX4_ERR otherwise + */ + int initMission(); + /** + * @brief Reset Mission + * + */ + void resetMission(); + /** + * @brief Reset Mission Jump Counter of Mission Jump Items + * + */ + void resetMissionJumpCounter(); + /** + * @brief Get the Non Jump Mission Item + * + * @param[out] mission_index Index of the mission item + * @param[out] mission The return mission item + * @param execute_jump Flag indicating if a jump item should be executed or ignored + * @param write_jumps Flag indicating if the jump counter should be updated + * @param mission_direction_backward Flag indicating if the mission is flown backwards + * @return PX4_OK if mission item could be loaded, PX4_ERR otherwise + */ + int getNonJumpItem(int32_t &mission_index, mission_item_s &mission, bool execute_jump, bool write_jumps, + bool mission_direction_backward = false); + /** + * @brief Is Mission Valid + * + * @return true is mission is valid + * @return false otherwise + */ + bool isMissionValid() const; + + /** + * @brief Check whether a mission is ready to go + * @param[in] forced flag if the check has to be run irregardles of any updates. + */ + void check_mission_valid(bool forced = false); + + /** + * On mission update + * Change behaviour after external mission update. + * @param[in] has_mission_items_changed flag if the mission items have been changed. + */ + void onMissionUpdate(bool has_mission_items_changed); + + /** + * Update mission topic + */ + void update_mission(); + + /** + * Move on to next mission item or switch to loiter + */ + void advance_mission(); + + /** + * @brief Configures mission items in current setting + * + * Configure the mission items depending on current mission item index and settings such + * as terrain following, etc. + */ + void set_mission_items(); + + /** + * @brief Load current mission item + * + * Load current mission item from dataman cache. + * @return true, if the mission item could be loaded, false otherwise + */ + bool loadCurrentMissionItem(); + + /** + * Set the mission result + */ + void set_mission_result(); + + /** + * @brief Reset the item cache + */ + void resetItemCache(); + + /** + * @brief Set the actions to be performed on Active Mission Item + * + */ + virtual void setActiveMissionItems() = 0; + /** + * @brief Set the Next Mission Item after old mission item has been completed + * + * @return true if the next mission item could be set + * @return false otherwise + */ + virtual bool setNextMissionItem() = 0; + /** + * @brief Set action at the end of the mission + * + */ + void setEndOfMissionItems(); + /** + * @brief Publish navigator mission item + * + */ + void publish_navigator_mission_item(); + + /** + * @brief Do need move to item + * + * @return true if the item is horizontally further away than the mission item + * @return false otherwise + */ + bool do_need_move_to_item(); + + /** + * @brief Handle landing + * + * @param new_work_item_type new work item type state machine to be set + * @param next_mission_items the next mission items after the current mission item + * @param num_found_items number of found next mission items + */ + void handleLanding(WorkItemType &new_work_item_type, mission_item_s next_mission_items[], + size_t &num_found_items); + /** + * @brief I position setpoint equal + * + * @param p1 First position setpoint to compare + * @param p2 Second position setpoint to compare + * @return true if both setpoints are equal + * @return false otherwise + */ + bool position_setpoint_equal(const position_setpoint_s *p1, const position_setpoint_s *p2) const; + + /** + * @brief Set the Mission Index + * + * @param[in] index Index of the mission item + */ + void setMissionIndex(int32_t index); + + bool _is_current_planned_mission_item_valid{false}; /**< Flag indicating if the currently loaded mission item is valid*/ + bool _mission_has_been_activated{false}; /**< Flag indicating if the mission has been activated*/ + bool _mission_checked{false}; /**< Flag indicating if the mission has been checked by the mission validator*/ + bool _system_disarmed_while_inactive{false}; /**< Flag indicating if the system has been disarmed while mission is inactive*/ + mission_s _mission; /**< Currently active mission*/ + float _mission_init_climb_altitude_amsl{NAN}; /**< altitude AMSL the vehicle will climb to when mission starts */ + int _inactivation_index{-1}; // index of mission item at which the mission was paused. Used to resume survey missions at previous waypoint to not lose images. + int _mission_activation_index{-1}; /**< Index of the mission item that will bring the vehicle back to a mission waypoint */ + + int32_t _load_mission_index{-1}; /**< Mission inted of loaded mission items in dataman cache*/ + int32_t _dataman_cache_size_signed; /**< Size of the dataman cache. A negativ value indicates that previous mission items should be loaded, a positiv value the next mission items*/ + + DatamanCache _dataman_cache{"mission_dm_cache_miss", 10}; /**< Dataman cache of mission items*/ + DatamanClient &_dataman_client = _dataman_cache.client(); /**< Dataman client*/ + + uORB::Subscription _mission_sub{ORB_ID(mission)}; /**< mission subscription*/ + uORB::SubscriptionData _land_detected_sub{ORB_ID(vehicle_land_detected)}; /**< vehicle land detected subscription */ + uORB::SubscriptionData _vehicle_status_sub{ORB_ID(vehicle_status)}; /**< vehicle status subscription */ + uORB::SubscriptionData _global_pos_sub{ORB_ID(vehicle_global_position)}; /**< global position subscription */ + uORB::Publication _navigator_mission_item_pub{ORB_ID::navigator_mission_item}; /**< Navigator mission item publication*/ + uORB::Publication _mission_pub{ORB_ID(mission)}; /**< Mission publication*/ +private: + /** + * @brief Maximum number of jump mission items iterations + * + */ + static constexpr uint16_t MAX_JUMP_ITERATION{10u}; + /** + * @brief Update Dataman cache + * + */ + virtual void updateDatamanCache(); + /** + * @brief Update mission subscription + * + */ + void updateMavlinkMission(); + + /** + * Reset mission + */ + void checkMissionRestart(); + + /** + * Set a mission item as reached + */ + void set_mission_item_reached(); + + /** + * Updates the heading of the vehicle. Rotary wings only. + */ + void heading_sp_update(); + + /** + * Abort landing + */ + void do_abort_landing(); + + /** + * Inform about a changed mission item after a DO_JUMP + */ + void report_do_jump_mission_changed(int index, int do_jumps_remaining); + + /** + * @brief Cache the mission items containing gimbal, camera mode and trigger commands + * + * @param mission_item The mission item to cache if applicable + */ + void cacheItem(const mission_item_s &mission_item); + + /** + * @brief Update the cached items up to the given index + * + * @param end_index The index to update up to + */ + void updateCachedItemsUpToIndex(int end_index); + + /** + * @brief Replay the cached gimbal items + */ + void replayCachedGimbalItems(); + + /** + * @brief Replay the cached camera mode items + */ + void replayCachedCameraModeItems(); + + /** + * @brief Replay the cached trigger items + * + */ + void replayCachedTriggerItems(); + + /** + * @brief Replay the cached speed change items and delete them afterwards + * + */ + void replayCachedSpeedChangeItems(); + + /** + * @brief Check if there are cached gimbal items to be replayed + * + * @return true if there are cached items + */ + bool haveCachedGimbalItems(); + + /** + * @brief Check if there are cached camera mode items to be replayed + * + * @return true if there are cached items + */ + bool haveCachedCameraModeItems(); + + /** + * @brief Check if the camera was triggering + * + * @return true if there was a camera trigger command in the cached items that didn't disable triggering + */ + bool cameraWasTriggering(); + + /** + * @brief Parameters update + * + * Check for parameter changes and update them if needed. + */ + void parameters_update(); + + /** + * @brief Check if a climb is necessary to align with mission altitude prior to starting the mission + * + * @param mission_item_index The index of the mission item to check if a climb is necessary + */ + void checkClimbRequired(int32_t mission_item_index); + + /** + * @brief check if relevant data in the new mission have changed. + * @param[in] new_mission new mission received over uorb + * @return true if the relevant mission data has changed, false otherwise + */ + bool checkMissionDataChanged(mission_s new_mission); + + /** + * @brief update current mission altitude after the home position has changed. + */ + + void updateMissionAltAfterHomeChanged(); + + bool canRunMissionFeasibility(); + + uint32_t _home_update_counter = 0; /**< Variable to store the previous value for home change detection.*/ + + bool _align_heading_necessary{false}; // if true, heading of vehicle needs to be aligned with heading of next waypoint. Used to create new mission items for heading alignment. + + mission_item_s _last_gimbal_configure_item {}; + mission_item_s _last_gimbal_control_item {}; + mission_item_s _last_camera_mode_item {}; + mission_item_s _last_camera_trigger_item {}; + mission_item_s _last_speed_change_item {}; + + DEFINE_PARAMETERS( + (ParamFloat) _param_mis_dist_1wp, + (ParamInt) _param_mis_mnt_yaw_ctl + ) + + uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s}; + uORB::SubscriptionData _geofence_status_sub{ORB_ID(geofence_status)}; +}; diff --git a/src/modules/navigator/mission_block.cpp b/src/modules/navigator/mission_block.cpp index 565b2f2150ce..2659ad95cc57 100644 --- a/src/modules/navigator/mission_block.cpp +++ b/src/modules/navigator/mission_block.cpp @@ -55,8 +55,8 @@ using matrix::wrap_pi; -MissionBlock::MissionBlock(Navigator *navigator) : - NavigatorMode(navigator) +MissionBlock::MissionBlock(Navigator *navigator, uint8_t navigator_state_id) : + NavigatorMode(navigator, navigator_state_id) { } @@ -110,7 +110,8 @@ MissionBlock::is_mission_item_reached_or_completed() if (int(_mission_item.params[0]) == 3) { // transition to RW requested, only accept waypoint if vehicle state has changed accordingly - return _navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING; + return _navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING + && !_navigator->get_vstatus()->in_transition_mode; } else if (int(_mission_item.params[0]) == 4) { // transition to FW requested, only accept waypoint if vehicle state has changed accordingly @@ -411,7 +412,7 @@ MissionBlock::is_mission_item_reached_or_completed() if (_waypoint_position_reached && !_waypoint_yaw_reached) { if (_navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING - && PX4_ISFINITE(_navigator->get_yaw_acceptance(_mission_item.yaw)) + && _navigator->get_yaw_to_be_accepted(_mission_item.yaw) && _navigator->get_local_position()->heading_good_for_control) { const float yaw_err = wrap_pi(_mission_item.yaw - _navigator->get_local_position()->heading); @@ -423,14 +424,6 @@ MissionBlock::is_mission_item_reached_or_completed() _waypoint_yaw_reached = true; } - // Always accept yaw during takeoff - // TODO: Ideally Navigator would handle a yaw reset and adjust its yaw setpoint, making the - // following no longer necessary. - // FlightTaskAuto is currently also ignoring the yaw setpoint during takeoff and thus "handling" it. - if (_mission_item.nav_cmd == vehicle_command_s::VEHICLE_CMD_NAV_TAKEOFF) { - _waypoint_yaw_reached = true; - } - /* if heading needs to be reached, the timeout is enabled and we don't make it, abort mission */ if (!_waypoint_yaw_reached && _mission_item.force_heading && (_navigator->get_yaw_timeout() >= FLT_EPSILON) && @@ -473,8 +466,8 @@ MissionBlock::is_mission_item_reached_or_completed() && curr_sp_new->type == position_setpoint_s::SETPOINT_TYPE_LOITER && (_mission_item.force_heading || _mission_item.nav_cmd == NAV_CMD_WAYPOINT); - // can only enforce exit course if next waypoint is not within loiter radius of current waypoint - const bool exit_course_is_reachable = dist_current_next > 1.2f * curr_sp_new->loiter_radius; + // can only enforce exit course if next waypoint is not within loiter radius of current waypoint (with small margin) + const bool exit_course_is_reachable = dist_current_next > 1.05f * curr_sp_new->loiter_radius; if (enforce_exit_course && exit_course_is_reachable) { @@ -668,7 +661,6 @@ MissionBlock::mission_item_to_position_setpoint(const mission_item_s &item, posi sp->lon = item.lon; sp->alt = get_absolute_altitude_for_item(item); sp->yaw = item.yaw; - sp->yaw_valid = PX4_ISFINITE(item.yaw); sp->loiter_radius = (fabsf(item.loiter_radius) > NAV_EPSILON_POSITION) ? fabsf(item.loiter_radius) : _navigator->get_loiter_radius(); sp->loiter_direction_counter_clockwise = item.loiter_radius < 0; @@ -694,6 +686,7 @@ MissionBlock::mission_item_to_position_setpoint(const mission_item_s &item, posi break; case NAV_CMD_TAKEOFF: + case NAV_CMD_VTOL_TAKEOFF: // if already flying (armed and !landed) treat TAKEOFF like regular POSITION if ((_navigator->get_vstatus()->arming_state == vehicle_status_s::ARMING_STATE_ARMED) @@ -703,12 +696,12 @@ MissionBlock::mission_item_to_position_setpoint(const mission_item_s &item, posi } else { sp->type = position_setpoint_s::SETPOINT_TYPE_TAKEOFF; - } - break; + // Don't set a yaw setpoint for takeoff, as Navigator doesn't handle the yaw reset. + // The yaw setpoint generation is handled by FlightTaskAuto. + sp->yaw = NAN; + } - case NAV_CMD_VTOL_TAKEOFF: - sp->type = position_setpoint_s::SETPOINT_TYPE_TAKEOFF; break; case NAV_CMD_LAND: @@ -747,7 +740,9 @@ MissionBlock::setLoiterItemFromCurrentPositionSetpoint(struct mission_item_s *it item->lat = pos_sp_triplet->current.lat; item->lon = pos_sp_triplet->current.lon; item->altitude = pos_sp_triplet->current.alt; - item->loiter_radius = pos_sp_triplet->current.loiter_radius; + item->loiter_radius = pos_sp_triplet->current.loiter_direction_counter_clockwise ? + -pos_sp_triplet->current.loiter_radius : pos_sp_triplet->current.loiter_radius; + item->yaw = pos_sp_triplet->current.yaw; } void @@ -767,8 +762,8 @@ MissionBlock::setLoiterItemFromCurrentPosition(struct mission_item_s *item) } item->altitude = loiter_altitude_amsl; - item->loiter_radius = _navigator->get_loiter_radius(); + item->yaw = NAN; } void @@ -776,10 +771,11 @@ MissionBlock::setLoiterItemFromCurrentPositionWithBreaking(struct mission_item_s { setLoiterItemCommonFields(item); - _navigator->calculate_breaking_stop(item->lat, item->lon, item->yaw); + _navigator->calculate_breaking_stop(item->lat, item->lon); item->altitude = _navigator->get_global_position()->alt; item->loiter_radius = _navigator->get_loiter_radius(); + item->yaw = NAN; } void @@ -803,7 +799,7 @@ MissionBlock::set_takeoff_item(struct mission_item_s *item, float abs_altitude) /* use current position */ item->lat = _navigator->get_global_position()->lat; item->lon = _navigator->get_global_position()->lon; - item->yaw = _navigator->get_local_position()->heading; + item->yaw = NAN; item->altitude = abs_altitude; item->altitude_is_relative = false; @@ -833,7 +829,7 @@ MissionBlock::set_land_item(struct mission_item_s *item) // set land item to current position item->lat = _navigator->get_global_position()->lat; item->lon = _navigator->get_global_position()->lon; - item->yaw = _navigator->get_local_position()->heading; + item->yaw = NAN; item->altitude = 0; item->altitude_is_relative = false; @@ -865,51 +861,60 @@ MissionBlock::set_vtol_transition_item(struct mission_item_s *item, const uint8_ { item->nav_cmd = NAV_CMD_DO_VTOL_TRANSITION; item->params[0] = (float) new_mode; - item->params[1] = 0.0f; - - // Keep yaw from previous mission item if valid, as that is containing the transition heading. - // If not valid use current yaw as yaw setpoint - if (!PX4_ISFINITE(item->yaw)) { - item->yaw = _navigator->get_local_position()->heading; // ideally that would be course and not heading - } - + item->params[1] = 0.0f; // not immediate transition item->autocontinue = true; } -void -MissionBlock::mission_apply_limitation(mission_item_s &item) +float +MissionBlock::get_absolute_altitude_for_item(const mission_item_s &mission_item) const { - // Limit altitude - const float maximum_altitude = _navigator->get_lndmc_alt_max(); - - /* do nothing if altitude max is negative */ - if (maximum_altitude > 0.0f) { - - /* absolute altitude */ - float altitude_abs = item.altitude_is_relative - ? item.altitude + _navigator->get_home_position()->alt - : item.altitude; - - /* limit altitude to maximum allowed altitude */ - if ((maximum_altitude + _navigator->get_home_position()->alt) < altitude_abs) { - item.altitude = item.altitude_is_relative ? - maximum_altitude : - maximum_altitude + _navigator->get_home_position()->alt; - } - } + return get_absolute_altitude_for_item(mission_item, _navigator->get_home_position()->alt); } float -MissionBlock::get_absolute_altitude_for_item(const mission_item_s &mission_item) const +MissionBlock::get_absolute_altitude_for_item(const mission_item_s &mission_item, float home_alt) { if (mission_item.altitude_is_relative) { - return mission_item.altitude + _navigator->get_home_position()->alt; + return mission_item.altitude + home_alt; } else { return mission_item.altitude; } } +void +MissionBlock::copy_position_if_valid(struct mission_item_s *const mission_item, + const struct position_setpoint_s *const setpoint) const +{ + if (setpoint->valid && setpoint->type == position_setpoint_s::SETPOINT_TYPE_POSITION) { + mission_item->lat = setpoint->lat; + mission_item->lon = setpoint->lon; + mission_item->altitude = setpoint->alt; + + } else { + mission_item->lat = _navigator->get_global_position()->lat; + mission_item->lon = _navigator->get_global_position()->lon; + mission_item->altitude = _navigator->get_global_position()->alt; + } + + mission_item->altitude_is_relative = false; +} + +void +MissionBlock::set_align_mission_item(struct mission_item_s *const mission_item, + const struct mission_item_s *const mission_item_next) const +{ + mission_item->nav_cmd = NAV_CMD_WAYPOINT; + copy_position_if_valid(mission_item, &(_navigator->get_position_setpoint_triplet()->current)); + mission_item->altitude_is_relative = false; + mission_item->autocontinue = true; + mission_item->time_inside = 0.0f; + mission_item->yaw = get_bearing_to_next_waypoint( + _navigator->get_global_position()->lat, _navigator->get_global_position()->lon, + mission_item_next->lat, mission_item_next->lon); + mission_item->force_heading = true; +} + void MissionBlock::initialize() { @@ -922,3 +927,144 @@ MissionBlock::initialize() _mission_item.autocontinue = true; _mission_item.origin = ORIGIN_ONBOARD; } + +void MissionBlock::setLoiterToAltMissionItem(mission_item_s &item, const PositionYawSetpoint &pos_yaw_sp, + float loiter_radius) const +{ + item.nav_cmd = NAV_CMD_LOITER_TO_ALT; + item.lat = pos_yaw_sp.lat; + item.lon = pos_yaw_sp.lon; + item.altitude = pos_yaw_sp.alt; + item.altitude_is_relative = false; + item.yaw = pos_yaw_sp.yaw; + + item.acceptance_radius = _navigator->get_acceptance_radius(); + item.time_inside = 0.0f; + item.autocontinue = true; + item.origin = ORIGIN_ONBOARD; + item.loiter_radius = loiter_radius; +} + +void MissionBlock::setLoiterHoldMissionItem(mission_item_s &item, const PositionYawSetpoint &pos_yaw_sp, + float loiter_time, float loiter_radius) const +{ + const bool autocontinue = (loiter_time > -FLT_EPSILON); + + if (autocontinue) { + item.nav_cmd = NAV_CMD_LOITER_TIME_LIMIT; + + } else { + item.nav_cmd = NAV_CMD_LOITER_UNLIMITED; + } + + item.lat = pos_yaw_sp.lat; + item.lon = pos_yaw_sp.lon; + item.altitude = pos_yaw_sp.alt; + item.altitude_is_relative = false; + + item.yaw = NAN; + + item.acceptance_radius = _navigator->get_acceptance_radius(); + item.time_inside = math::max(loiter_time, 0.0f); + item.autocontinue = autocontinue; + item.origin = ORIGIN_ONBOARD; + item.loiter_radius = loiter_radius; +} + +void MissionBlock::setMoveToPositionMissionItem(mission_item_s &item, const PositionYawSetpoint &pos_yaw_sp) const +{ + item.nav_cmd = NAV_CMD_WAYPOINT; + item.lat = pos_yaw_sp.lat; + item.lon = pos_yaw_sp.lon; + item.altitude = pos_yaw_sp.alt; + item.altitude_is_relative = false; + + item.autocontinue = true; + item.acceptance_radius = _navigator->get_acceptance_radius(); + item.time_inside = 0.f; + item.origin = ORIGIN_ONBOARD; + + item.yaw = pos_yaw_sp.yaw; +} + +void MissionBlock::setLandMissionItem(mission_item_s &item, const PositionYawSetpoint &pos_yaw_sp) const +{ + item.nav_cmd = NAV_CMD_LAND; + item.lat = pos_yaw_sp.lat; + item.lon = pos_yaw_sp.lon; + item.altitude = pos_yaw_sp.alt; + item.yaw = pos_yaw_sp.yaw; + item.acceptance_radius = _navigator->get_acceptance_radius(); + item.time_inside = 0.0f; + item.autocontinue = true; + item.origin = ORIGIN_ONBOARD; +} + +void MissionBlock::startPrecLand(uint16_t land_precision) +{ + if (_mission_item.land_precision == 1) { + _navigator->get_precland()->set_mode(PrecLandMode::Opportunistic); + _navigator->get_precland()->on_activation(); + + } else { //_mission_item.land_precision == 2 + _navigator->get_precland()->set_mode(PrecLandMode::Required); + _navigator->get_precland()->on_activation(); + } +} + +void MissionBlock::updateAltToAvoidTerrainCollisionAndRepublishTriplet(mission_item_s mission_item) +{ + // Avoid flying into terrain using the distance sensor. Enable through the parameter NAV_MIN_GND_DIST. + // Only active during commanded descents with vz>0 (to prevent climb-aways), excluding landing and VTOL transitions. + // It changes the altitude setpoint in the triplet to maintain the current altitude and republish the triplet. + // We also change the mission item altitude used for acceptance calculations to prevent getting stuck in a loop. + + // This threshold is needed to prevent the check from re-triggering due to small altitude over-shoots while + // tracking the new altitude setpoint. + static constexpr float kAltitudeDifferenceForDescentCondition = 2.f; + + + if (_navigator->get_nav_min_gnd_dist_param() > FLT_EPSILON && _mission_item.nav_cmd != NAV_CMD_LAND + && _mission_item.nav_cmd != NAV_CMD_VTOL_LAND && _mission_item.nav_cmd != NAV_CMD_DO_VTOL_TRANSITION + && _navigator->get_local_position()->dist_bottom_valid + && _navigator->get_local_position()->dist_bottom < _navigator->get_nav_min_gnd_dist_param() + && _navigator->get_local_position()->vz > FLT_EPSILON + && _navigator->get_global_position()->alt - get_absolute_altitude_for_item(mission_item) > + kAltitudeDifferenceForDescentCondition) { + + _navigator->sendWarningDescentStoppedDueToTerrain(); + + struct position_setpoint_s *curr_sp = &_navigator->get_position_setpoint_triplet()->current; + curr_sp->alt = _navigator->get_global_position()->alt; + _navigator->set_position_setpoint_triplet_updated(); + + _mission_item.altitude = _navigator->get_global_position()->alt; + _mission_item.altitude_is_relative = false; + } +} + +void MissionBlock::updateFailsafeChecks() +{ + updateMaxHaglFailsafe(); +} + +void MissionBlock::updateMaxHaglFailsafe() +{ + const float target_alt = _navigator->get_position_setpoint_triplet()->current.alt; + + if (_navigator->get_global_position()->terrain_alt_valid + && ((target_alt - _navigator->get_global_position()->terrain_alt) > _navigator->get_local_position()->hagl_max)) { + // Handle case where the altitude setpoint is above the maximum HAGL (height above ground level) + mavlink_log_info(_navigator->get_mavlink_log_pub(), "Target altitude higher than max HAGL\t"); + events::send(events::ID("navigator_fail_max_hagl"), events::Log::Error, "Target altitude higher than max HAGL"); + + _navigator->trigger_hagl_failsafe(getNavigatorStateId()); + + // While waiting for a failsafe action from commander, keep the curren position + setLoiterItemFromCurrentPosition(&_mission_item); + + mission_item_to_position_setpoint(_mission_item, &_navigator->get_position_setpoint_triplet()->current); + + _navigator->set_position_setpoint_triplet_updated(); + } +} diff --git a/src/modules/navigator/mission_block.h b/src/modules/navigator/mission_block.h index 450b57ba7b63..c19fcfe11877 100644 --- a/src/modules/navigator/mission_block.h +++ b/src/modules/navigator/mission_block.h @@ -64,7 +64,7 @@ class MissionBlock : public NavigatorMode /** * Constructor */ - MissionBlock(Navigator *navigator); + MissionBlock(Navigator *navigator, uint8_t navigator_state_id); virtual ~MissionBlock() = default; MissionBlock(const MissionBlock &) = delete; @@ -91,6 +91,15 @@ class MissionBlock : public NavigatorMode */ static bool item_contains_gate(const mission_item_s &item); + /** + * Get the absolute altitude for mission item + * + * @param mission_item the mission item of interest + * @param home_alt the home altitude in [m AMSL]. + * @return Mission item altitude in [m AMSL] + */ + static float get_absolute_altitude_for_item(const mission_item_s &mission_item, float home_alt); + /** * Check if the mission item contains a marker * @@ -124,7 +133,30 @@ class MissionBlock : public NavigatorMode _payload_deploy_timeout_s = timeout_s; } + /** + * Copies position from setpoint if valid, otherwise copies current position + */ + void copy_position_if_valid(struct mission_item_s *const mission_item, + const struct position_setpoint_s *const setpoint) const; + + /** + * Create mission item to align towards next waypoint + */ + void set_align_mission_item(struct mission_item_s *const mission_item, + const struct mission_item_s *const mission_item_next) const; + + void updateFailsafeChecks() override; + protected: + /** + * @brief heading mode for setting navigation items + * + */ + enum class HeadingMode { + NAVIGATION_HEADING = 0, + DESTINATION_HEADING, + CURRENT_HEADING, + }; /** * Check if mission item has been reached (for Waypoint based mission items) or Completed (Action based mission items) * @@ -175,10 +207,17 @@ class MissionBlock : public NavigatorMode */ void set_vtol_transition_item(struct mission_item_s *item, const uint8_t new_mode); - /** - * General function used to adjust the mission item based on vehicle specific limitations - */ - void mission_apply_limitation(mission_item_s &item); + void setLoiterToAltMissionItem(mission_item_s &item, const PositionYawSetpoint &pos_yaw_sp, float loiter_radius) const; + + void setLoiterHoldMissionItem(mission_item_s &item, const PositionYawSetpoint &pos_yaw_sp, float loiter_time, + float loiter_radius) const; + + void setMoveToPositionMissionItem(mission_item_s &item, const PositionYawSetpoint &pos_yaw_sp) const; + + void setLandMissionItem(mission_item_s &item, const PositionYawSetpoint &pos_yaw_sp) const; + + void startPrecLand(uint16_t land_precision); + void updateAltToAvoidTerrainCollisionAndRepublishTriplet(mission_item_s mission_item); /** * @brief Issue a command for mission items with a nav_cmd that specifies an action @@ -212,4 +251,8 @@ class MissionBlock : public NavigatorMode bool _payload_deploy_ack_successful{false}; // Flag to keep track of whether we received an acknowledgement for a successful payload deployment hrt_abstime _payload_deployed_time{0}; // Last payload deployment start time to handle timeouts float _payload_deploy_timeout_s{0.0f}; // Timeout for payload deployment in Mission class, to prevent endless loop if successful deployment ack is never received + +private: + void updateMaxHaglFailsafe(); + }; diff --git a/src/modules/navigator/mission_feasibility_checker.cpp b/src/modules/navigator/mission_feasibility_checker.cpp index ba21850c6c8a..8049df1236cf 100644 --- a/src/modules/navigator/mission_feasibility_checker.cpp +++ b/src/modules/navigator/mission_feasibility_checker.cpp @@ -41,7 +41,6 @@ */ #include "mission_feasibility_checker.h" -#include "MissionFeasibility/FeasibilityChecker.hpp" #include "mission_block.h" #include "navigator.h" @@ -78,9 +77,12 @@ MissionFeasibilityChecker::checkMissionFeasible(const mission_s &mission) for (size_t i = 0; i < mission.count; i++) { struct mission_item_s missionitem = {}; - const ssize_t len = sizeof(struct mission_item_s); - if (dm_read((dm_item_t)mission.dataman_id, i, &missionitem, len) != len) { + bool success = _dataman_client.readSync((dm_item_t)mission.mission_dataman_id, i, + reinterpret_cast(&missionitem), + sizeof(mission_item_s)); + + if (!success) { _navigator->get_mission_result()->warning = true; /* not supposed to happen unless the datamanager can't access the SD card, etc. */ return false; @@ -95,7 +97,7 @@ MissionFeasibilityChecker::checkMissionFeasible(const mission_s &mission) failed |= _feasibility_checker.someCheckFailed(); - failed |= !checkGeofence(mission, _navigator->get_home_position()->alt, home_valid); + failed |= !checkMissionAgainstGeofence(mission, _navigator->get_home_position()->alt, home_valid); _navigator->get_mission_result()->warning = failed; @@ -103,7 +105,7 @@ MissionFeasibilityChecker::checkMissionFeasible(const mission_s &mission) } bool -MissionFeasibilityChecker::checkGeofence(const mission_s &mission, float home_alt, bool home_valid) +MissionFeasibilityChecker::checkMissionAgainstGeofence(const mission_s &mission, float home_alt, bool home_valid) { if (_navigator->get_geofence().isHomeRequired() && !home_valid) { mavlink_log_critical(_navigator->get_mavlink_log_pub(), "Geofence requires valid home position\t"); @@ -116,9 +118,12 @@ MissionFeasibilityChecker::checkGeofence(const mission_s &mission, float home_al if (_navigator->get_geofence().valid()) { for (size_t i = 0; i < mission.count; i++) { struct mission_item_s missionitem = {}; - const ssize_t len = sizeof(missionitem); - if (dm_read((dm_item_t)mission.dataman_id, i, &missionitem, len) != len) { + bool success = _dataman_client.readSync((dm_item_t)mission.mission_dataman_id, i, + reinterpret_cast(&missionitem), + sizeof(mission_item_s)); + + if (!success) { /* not supposed to happen unless the datamanager can't access the SD card, etc. */ return false; } @@ -133,7 +138,8 @@ MissionFeasibilityChecker::checkGeofence(const mission_s &mission, float home_al // Geofence function checks against home altitude amsl missionitem.altitude = missionitem.altitude_is_relative ? missionitem.altitude + home_alt : missionitem.altitude; - if (MissionBlock::item_contains_position(missionitem) && !_navigator->get_geofence().check(missionitem)) { + if (MissionBlock::item_contains_position(missionitem) && !_navigator->get_geofence().checkPointAgainstAllGeofences( + missionitem.lat, missionitem.lon, missionitem.altitude)) { mavlink_log_critical(_navigator->get_mavlink_log_pub(), "Geofence violation for waypoint %zu\t", i + 1); events::send(events::ID("navigator_mis_geofence_violation"), {events::Log::Error, events::LogInternal::Info}, diff --git a/src/modules/navigator/mission_feasibility_checker.h b/src/modules/navigator/mission_feasibility_checker.h index 902d803eda22..31751f659fa4 100644 --- a/src/modules/navigator/mission_feasibility_checker.h +++ b/src/modules/navigator/mission_feasibility_checker.h @@ -42,26 +42,27 @@ #pragma once -#include +#include #include #include #include "MissionFeasibility/FeasibilityChecker.hpp" -class Geofence; class Navigator; class MissionFeasibilityChecker: public ModuleParams { private: Navigator *_navigator{nullptr}; + DatamanClient &_dataman_client; FeasibilityChecker _feasibility_checker; - bool checkGeofence(const mission_s &mission, float home_alt, bool home_valid); + bool checkMissionAgainstGeofence(const mission_s &mission, float home_alt, bool home_valid); public: - MissionFeasibilityChecker(Navigator *navigator) : + MissionFeasibilityChecker(Navigator *navigator, DatamanClient &dataman_client) : ModuleParams(nullptr), _navigator(navigator), + _dataman_client(dataman_client), _feasibility_checker() { diff --git a/src/modules/navigator/mission_params.c b/src/modules/navigator/mission_params.c index 9b411355bc45..1c637b8a50d9 100644 --- a/src/modules/navigator/mission_params.c +++ b/src/modules/navigator/mission_params.c @@ -44,13 +44,13 @@ */ /** - * Take-off altitude + * Default take-off altitude * - * This is the minimum altitude the system will take off to. + * This is the relative altitude the system will take off to + * if not otherwise specified. * * @unit m * @min 0 - * @max 80 * @decimal 1 * @increment 0.5 * @group Mission @@ -68,6 +68,7 @@ PARAM_DEFINE_FLOAT(MIS_TAKEOFF_ALT, 2.5f); * @value 2 Require a landing * @value 3 Require a takeoff and a landing * @value 4 Require both a takeoff and a landing, or neither + * @value 5 Same as previous when landed, in-air require landing only if no valid VTOL approach is present * @group Mission */ PARAM_DEFINE_INT32(MIS_TKO_LAND_REQ, 0); @@ -86,7 +87,7 @@ PARAM_DEFINE_INT32(MIS_TKO_LAND_REQ, 0); * @increment 100 * @group Mission */ -PARAM_DEFINE_FLOAT(MIS_DIST_1WP, 900); +PARAM_DEFINE_FLOAT(MIS_DIST_1WP, 10000); /** * Enable yaw control of the mount. (Only affects multicopters and ROI mission items) diff --git a/src/modules/navigator/navigation.h b/src/modules/navigator/navigation.h index c194b8053256..87dd05d16675 100644 --- a/src/modules/navigator/navigation.h +++ b/src/modules/navigator/navigation.h @@ -104,6 +104,7 @@ enum NAV_CMD { NAV_CMD_FENCE_POLYGON_VERTEX_EXCLUSION = 5002, NAV_CMD_FENCE_CIRCLE_INCLUSION = 5003, NAV_CMD_FENCE_CIRCLE_EXCLUSION = 5004, + NAV_CMD_RALLY_POINT = 5100, NAV_CMD_CONDITION_GATE = 4501, NAV_CMD_DO_WINCH = 42600, NAV_CMD_INVALID = UINT16_MAX /* ensure that casting a large number results in a specific error */ @@ -199,16 +200,18 @@ struct mission_item_s { /** * dataman housekeeping information for a specific item. - * Corresponds to the first dataman entry of DM_KEY_FENCE_POINTS and DM_KEY_SAFE_POINTS + * Corresponds to the dataman entry of DM_KEY_FENCE_POINTS_STATE and DM_KEY_SAFE_POINTS_STATE */ struct mission_stats_entry_s { + uint32_t opaque_id; /**< opaque identifier for current stored mission stats */ uint16_t num_items; /**< total number of items stored (excluding this one) */ - uint16_t update_counter; /**< This counter is increased when (some) items change (this can wrap) */ + uint8_t dataman_id; /**< dm_item_t storage place*/ + uint8_t padding[1]; }; /** * Geofence vertex point. - * Corresponds to the DM_KEY_FENCE_POINTS dataman item + * Corresponds to the DM_KEY_FENCE_POINTS_0 dataman item */ struct mission_fence_point_s { double lat; @@ -227,18 +230,29 @@ struct mission_fence_point_s { }; /** - * Safe Point (Rally Point). - * Corresponds to the DM_KEY_SAFE_POINTS dataman item + * @brief Position and yaw setpoint struct. + * Used in RTL state machine. + * */ -struct mission_safe_point_s { - double lat; - double lon; - float alt; - uint8_t frame; /**< MAV_FRAME */ - - uint8_t _padding0[3]; /**< padding struct size to alignment boundary */ +struct PositionYawSetpoint { + double lat; /**< latitude setpoint in WGS84 [rad].*/ + double lon; /**< longitude setpoint in WGS84 [rad].*/ + float alt; /**< altitude setpoint in MSL [m].*/ + float yaw; /**< yaw setpoint [rad].*/ }; + +/** + * Crc32 mission item struct. + * Used to pack relevant mission item ifnromation for us in crc32 mission calculation. + */ +typedef struct __attribute__((packed)) CrcMissionItem { + uint8_t frame; + uint16_t command; + uint8_t autocontinue; + float params[7]; +} CrcMissionItem_t; + #if (__GNUC__ >= 5) || __clang__ #pragma GCC diagnostic pop #endif // GCC >= 5 || Clang diff --git a/src/modules/navigator/navigator.h b/src/modules/navigator/navigator.h index b62bffe3349b..ec72881fc527 100644 --- a/src/modules/navigator/navigator.h +++ b/src/modules/navigator/navigator.h @@ -49,7 +49,9 @@ #include "navigator_mode.h" #include "rtl.h" #include "takeoff.h" +#if CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF #include "vtol_takeoff.h" +#endif //CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF #include "navigation.h" @@ -63,9 +65,11 @@ #include #include #include +#include #include #include #include +#include #include #include #include @@ -77,6 +81,7 @@ #include #include #include +#include #include #include #include @@ -142,7 +147,6 @@ class Navigator : public ModuleBase, public ModuleParams /** * Setters */ - void set_can_loiter_at_sp(bool can_loiter) { _can_loiter_at_sp = can_loiter; } void set_position_setpoint_triplet_updated() { _pos_sp_triplet_updated = true; } void set_mission_result_updated() { _mission_result_updated = true; } @@ -171,8 +175,6 @@ class Navigator : public ModuleBase, public ModuleParams Geofence &get_geofence() { return _geofence; } - bool get_can_loiter_at_sp() { return _can_loiter_at_sp; } - float get_loiter_radius() { return _param_nav_loiter_rad.get(); } /** @@ -199,25 +201,21 @@ class Navigator : public ModuleBase, public ModuleParams * * @return the desired cruising speed for this mission */ - float get_cruising_speed(); + float get_cruising_speed() { return _cruising_speed_current_mode; } /** * Set the cruising speed * - * Passing a negative value or leaving the parameter away will reset the cruising speed - * to its default value. - * - * For VTOL: sets cruising speed for current mode only (multirotor or fixed-wing). - * + * Passing a negative value will reset the cruising speed + * to its default value. Will automatically be reset to default + * on mode switch. */ - void set_cruising_speed(float speed = -1.0f); + void set_cruising_speed(float desired_speed) { _cruising_speed_current_mode = desired_speed; } /** * Reset cruising speed to default values - * - * For VTOL: resets both cruising speeds. */ - void reset_cruising_speed(); + void reset_cruising_speed() { _cruising_speed_current_mode = -1.f; } /** * Set triplets to invalid @@ -242,58 +240,34 @@ class Navigator : public ModuleBase, public ModuleParams void set_cruising_throttle(float throttle = NAN) { _mission_throttle = throttle; } /** - * Get the yaw acceptance given the current mission item + * Get if the yaw acceptance is required at the current mission item * * @param mission_item_yaw the yaw to use in case the controller-derived radius is finite * - * @return the yaw at which the next waypoint should be used or NaN if the yaw at a waypoint - * should be ignored + * @return true if the yaw acceptance is required, false if not required */ - float get_yaw_acceptance(float mission_item_yaw); + bool get_yaw_to_be_accepted(float mission_item_yaw); orb_advert_t *get_mavlink_log_pub() { return &_mavlink_log_pub; } - void increment_mission_instance_count() { _mission_result.instance_count++; } - - int mission_instance_count() const { return _mission_result.instance_count; } - void set_mission_failure_heading_timeout(); - bool is_planned_mission() const { return _navigation_mode == &_mission; } - - bool on_mission_landing() { return (_mission.landing() && _navigation_mode == &_mission); } - - bool start_mission_landing() { return _mission.land_start(); } - bool get_mission_start_land_available() { return _mission.get_land_start_available(); } - int get_mission_landing_index() { return _mission.get_land_start_index(); } - - double get_mission_landing_start_lat() { return _mission.get_landing_start_lat(); } - double get_mission_landing_start_lon() { return _mission.get_landing_start_lon(); } - float get_mission_landing_start_alt() { return _mission.get_landing_start_alt(); } - - double get_mission_landing_lat() { return _mission.get_landing_lat(); } - double get_mission_landing_lon() { return _mission.get_landing_lon(); } - float get_mission_landing_alt() { return _mission.get_landing_alt(); } - - float get_mission_landing_loiter_radius() { return _mission.get_landing_loiter_rad(); } - // RTL bool in_rtl_state() const { return _vstatus.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_RTL; } bool abort_landing(); - void geofence_breach_check(bool &have_geofence_position_data); + void geofence_breach_check(); // Param access int get_loiter_min_alt() const { return _param_min_ltr_alt.get(); } int get_landing_abort_min_alt() const { return _param_mis_lnd_abrt_alt.get(); } - float get_takeoff_min_alt() const { return _param_mis_takeoff_alt.get(); } - int get_takeoff_land_required() const { return _para_mis_takeoff_land_req.get(); } + float get_param_mis_takeoff_alt() const { return _param_mis_takeoff_alt.get(); } float get_yaw_timeout() const { return _param_mis_yaw_tmt.get(); } float get_yaw_threshold() const { return math::radians(_param_mis_yaw_err.get()); } - float get_lndmc_alt_max() const { return _param_lndmc_alt_max.get(); } + float get_nav_min_gnd_dist_param() const { return _param_nav_min_gnd_dist.get(); } float get_vtol_back_trans_deceleration() const { return _param_back_trans_dec_mss; } @@ -301,12 +275,21 @@ class Navigator : public ModuleBase, public ModuleParams void acquire_gimbal_control(); void release_gimbal_control(); + void set_gimbal_neutral(); + + void calculate_breaking_stop(double &lat, double &lon); - void calculate_breaking_stop(double &lat, double &lon, float &yaw); - void stop_capturing_images(); + void stop_capturing_images(); + void disable_camera_trigger(); void mode_completed(uint8_t nav_state, uint8_t result = mode_completed_s::RESULT_SUCCESS); + void set_failsafe_status(uint8_t nav_state, bool failsafe); + + void sendWarningDescentStoppedDueToTerrain(); + + void trigger_hagl_failsafe(uint8_t nav_state); + private: int _local_pos_sub{-1}; @@ -327,6 +310,7 @@ class Navigator : public ModuleBase, public ModuleParams uORB::Publication _geofence_result_pub{ORB_ID(geofence_result)}; uORB::Publication _mission_result_pub{ORB_ID(mission_result)}; + uORB::Publication _navigator_status_pub{ORB_ID(navigator_status)}; uORB::Publication _pos_sp_triplet_pub{ORB_ID(position_setpoint_triplet)}; uORB::Publication _vehicle_cmd_ack_pub{ORB_ID(vehicle_command_ack)}; uORB::Publication _vehicle_cmd_pub{ORB_ID(vehicle_command)}; @@ -344,10 +328,9 @@ class Navigator : public ModuleBase, public ModuleParams vehicle_local_position_s _local_pos{}; /**< local vehicle position */ vehicle_status_s _vstatus{}; /**< vehicle status */ - bool _rtl_activated{false}; - // Publications geofence_result_s _geofence_result{}; + navigator_status_s _navigator_status{}; position_setpoint_triplet_s _pos_sp_triplet{}; /**< triplet of position setpoints */ position_setpoint_triplet_s _reposition_triplet{}; /**< triplet for non-mission direct position command */ position_setpoint_triplet_s _takeoff_triplet{}; /**< triplet for non-mission direct takeoff command */ @@ -357,20 +340,25 @@ class Navigator : public ModuleBase, public ModuleParams Geofence _geofence; /**< class that handles the geofence */ GeofenceBreachAvoidance _gf_breach_avoidance; - hrt_abstime _last_geofence_check = 0; + hrt_abstime _last_geofence_check{0}; + + bool _navigator_status_updated{false}; + hrt_abstime _last_navigator_status_publication{0}; + + hrt_abstime _wait_for_vehicle_status_timestamp{0}; /**< If non-zero, wait for vehicle_status update before processing next cmd */ - bool _geofence_violation_warning_sent{false}; /**< prevents spaming to mavlink */ - bool _can_loiter_at_sp{false}; /**< flags if current position SP can be used to loiter */ + bool _geofence_reposition_sent{false}; /**< flag if reposition command has been sent for current geofence breach*/ + hrt_abstime _time_loitering_after_gf_breach{0}; /**< timestamp of when loitering after a geofence breach was started */ bool _pos_sp_triplet_updated{false}; /**< flags if position SP triplet needs to be published */ bool _pos_sp_triplet_published_invalid_once{false}; /**< flags if position SP triplet has been published once to UORB */ bool _mission_result_updated{false}; /**< flags if mission result has seen an update */ - bool _shouldEngageMissionForLanding{false}; - Mission _mission; /**< class that handles the missions */ Loiter _loiter; /**< class that handles loiter */ Takeoff _takeoff; /**< class for handling takeoff commands */ +#if CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF VtolTakeoff _vtol_takeoff; /**< class for handling VEHICLE_CMD_NAV_VTOL_TAKEOFF command */ +#endif //CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF Land _land; /**< class for handling land commands */ PrecLand _precland; /**< class for handling precision land commands */ RTL _rtl; /**< class that handles RTL */ @@ -387,8 +375,7 @@ class Navigator : public ModuleBase, public ModuleParams float _param_mpc_jerk_auto{4.f}; /**< initialized with the default jerk auto value to prevent division by 0 if the parameter is accidentally set to 0 */ float _param_mpc_acc_hor{3.f}; /**< initialized with the default horizontal acc value to prevent division by 0 if the parameter is accidentally set to 0 */ - float _mission_cruising_speed_mc{-1.0f}; - float _mission_cruising_speed_fw{-1.0f}; + float _cruising_speed_current_mode{-1.0f}; float _mission_throttle{NAN}; traffic_buffer_s _traffic_buffer{}; @@ -409,6 +396,8 @@ class Navigator : public ModuleBase, public ModuleParams */ void publish_mission_result(); + void publish_navigator_status(); + void publish_vehicle_command_ack(const vehicle_command_s &cmd, uint8_t result); bool geofence_allows_position(const vehicle_global_position_s &pos); @@ -426,14 +415,14 @@ class Navigator : public ModuleBase, public ModuleParams (ParamFloat) _param_nav_traff_a_ver, /**< avoidance Distance Vertical*/ (ParamInt) _param_nav_traff_collision_time, (ParamFloat) _param_min_ltr_alt, /**< minimum altitude in Loiter mode*/ + (ParamFloat) + _param_nav_min_gnd_dist, /**< minimum distance to ground (Mission and RTL)*/ // non-navigator parameters: Mission (MIS_*) (ParamFloat) _param_mis_takeoff_alt, - (ParamInt) _para_mis_takeoff_land_req, (ParamFloat) _param_mis_yaw_tmt, (ParamFloat) _param_mis_yaw_err, (ParamFloat) _param_mis_payload_delivery_timeout, - (ParamFloat) _param_lndmc_alt_max, (ParamInt) _param_mis_lnd_abrt_alt ) }; diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp index cbd0bd8fa2c7..dbf3324b867e 100644 --- a/src/modules/navigator/navigator_main.cpp +++ b/src/modules/navigator/navigator_main.cpp @@ -41,6 +41,7 @@ * @author Julian Oes * @author Anton Babushkin * @author Thomas Gubler + * and many more... */ #include "navigator.h" @@ -48,7 +49,7 @@ #include #include -#include +#include #include #include #include @@ -75,7 +76,9 @@ Navigator::Navigator() : _mission(this), _loiter(this), _takeoff(this), +#if CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF _vtol_takeoff(this), +#endif //CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF _land(this), _precland(this), _rtl(this) @@ -87,7 +90,9 @@ Navigator::Navigator() : _navigation_mode_array[3] = &_takeoff; _navigation_mode_array[4] = &_land; _navigation_mode_array[5] = &_precland; +#if CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF _navigation_mode_array[6] = &_vtol_takeoff; +#endif //CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF /* iterate through navigation modes and initialize _mission_item for each */ for (unsigned int i = 0; i < NAVIGATOR_MODE_ARRAY_SIZE; i++) { @@ -144,7 +149,6 @@ void Navigator::params_update() void Navigator::run() { - bool have_geofence_position_data = false; /* Try to load the geofence: * if /fs/microsd/etc/geofence.txt load from this file */ @@ -168,6 +172,9 @@ void Navigator::run() fds[2].fd = _mission_sub; fds[2].events = POLLIN; + uint32_t geofence_id{0}; + uint32_t safe_points_id{0}; + /* rate-limit position subscription to 20 Hz / 50 ms */ orb_set_interval(_local_pos_sub, 50); @@ -192,27 +199,28 @@ void Navigator::run() orb_copy(ORB_ID(vehicle_status), _vehicle_status_sub, &_vstatus); if (fds[2].revents & POLLIN) { - // copy mission to clear any update mission_s mission; orb_copy(ORB_ID(mission), _mission_sub, &mission); + + if (mission.geofence_id != geofence_id) { + geofence_id = mission.geofence_id; + _geofence.updateFence(); + } + + if (mission.safe_points_id != safe_points_id) { + safe_points_id = mission.safe_points_id; + _rtl.updateSafePoints(safe_points_id); + } } /* gps updated */ if (_gps_pos_sub.updated()) { _gps_pos_sub.copy(&_gps_pos); - - if (_geofence.getSource() == Geofence::GF_SOURCE_GPS) { - have_geofence_position_data = true; - } } /* global position updated */ if (_global_pos_sub.updated()) { _global_pos_sub.copy(&_global_pos); - - if (_geofence.getSource() == Geofence::GF_SOURCE_GLOBALPOS) { - have_geofence_position_data = true; - } } /* check for parameter updates */ @@ -232,7 +240,8 @@ void Navigator::run() // Handle Vehicle commands int vehicle_command_updates = 0; - while (_vehicle_command_sub.updated() && (vehicle_command_updates < vehicle_command_s::ORB_QUEUE_LENGTH)) { + while (_wait_for_vehicle_status_timestamp == 0 && _vehicle_command_sub.updated() + && (vehicle_command_updates < vehicle_command_s::ORB_QUEUE_LENGTH)) { vehicle_command_updates++; const unsigned last_generation = _vehicle_command_sub.get_last_generation(); @@ -254,18 +263,23 @@ void Navigator::run() // only update the reposition setpoint if armed, as it otherwise won't get executed until the vehicle switches to loiter, // which can lead to dangerous and unexpected behaviors (see loiter.cpp, there is an if(armed) in there too) - bool reposition_valid = true; + // Wait for vehicle_status before handling the next command, otherwise the setpoint could be overwritten + _wait_for_vehicle_status_timestamp = hrt_absolute_time(); vehicle_global_position_s position_setpoint{}; - position_setpoint.lat = cmd.param5; - position_setpoint.lon = cmd.param6; - position_setpoint.alt = PX4_ISFINITE(cmd.param7) ? cmd.param7 : get_global_position()->alt; - if (have_geofence_position_data) { - reposition_valid = geofence_allows_position(position_setpoint); + if (PX4_ISFINITE(cmd.param5) && PX4_ISFINITE(cmd.param6)) { + position_setpoint.lat = cmd.param5; + position_setpoint.lon = cmd.param6; + + } else { + position_setpoint.lat = get_global_position()->lat; + position_setpoint.lon = get_global_position()->lon; } - if (reposition_valid) { + position_setpoint.alt = PX4_ISFINITE(cmd.param7) ? cmd.param7 : get_global_position()->alt; + + if (geofence_allows_position(position_setpoint)) { position_setpoint_triplet_s *rep = get_reposition_triplet(); position_setpoint_triplet_s *curr = get_position_setpoint_triplet(); @@ -300,11 +314,9 @@ void Navigator::run() // Go on and check which changes had been requested if (PX4_ISFINITE(cmd.param4)) { rep->current.yaw = cmd.param4; - rep->current.yaw_valid = true; } else { rep->current.yaw = NAN; - rep->current.yaw_valid = false; } if (PX4_ISFINITE(cmd.param5) && PX4_ISFINITE(cmd.param6)) { @@ -339,8 +351,7 @@ void Navigator::run() if (_vstatus.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING && (get_position_setpoint_triplet()->current.type != position_setpoint_s::SETPOINT_TYPE_TAKEOFF)) { - calculate_breaking_stop(rep->current.lat, rep->current.lon, rep->current.yaw); - rep->current.yaw_valid = true; + calculate_breaking_stop(rep->current.lat, rep->current.lon); } else { // For fixedwings we can use the current vehicle's position to define the loiter point @@ -358,6 +369,27 @@ void Navigator::run() rep->current.loiter_radius = get_loiter_radius(); } + if (PX4_ISFINITE(curr->current.loiter_minor_radius) && fabsf(curr->current.loiter_minor_radius) > FLT_EPSILON) { + rep->current.loiter_minor_radius = curr->current.loiter_minor_radius; + + } else { + rep->current.loiter_minor_radius = NAN; + } + + if (PX4_ISFINITE(curr->current.loiter_orientation) && fabsf(curr->current.loiter_minor_radius) > FLT_EPSILON) { + rep->current.loiter_orientation = curr->current.loiter_orientation; + + } else { + rep->current.loiter_orientation = 0.0f; + } + + if (curr->current.loiter_pattern > 0) { + rep->current.loiter_pattern = curr->current.loiter_pattern; + + } else { + rep->current.loiter_pattern = position_setpoint_s::LOITER_TYPE_ORBIT; + } + rep->current.loiter_direction_counter_clockwise = curr->current.loiter_direction_counter_clockwise; } @@ -368,6 +400,8 @@ void Navigator::run() rep->next.valid = false; + _time_loitering_after_gf_breach = 0; // have to manually reset this in all LOITER cases + } else { mavlink_log_critical(&_mavlink_log_pub, "Reposition is outside geofence\t"); events::send(events::ID("navigator_reposition_outside_geofence"), {events::Log::Error, events::LogInternal::Info}, @@ -386,18 +420,15 @@ void Navigator::run() // only supports MAV_FRAME_GLOBAL and MAV_FRAMEs with absolute altitude amsl - bool change_altitude_valid = true; - vehicle_global_position_s position_setpoint{}; position_setpoint.lat = get_global_position()->lat; position_setpoint.lon = get_global_position()->lon; position_setpoint.alt = PX4_ISFINITE(cmd.param1) ? cmd.param1 : get_global_position()->alt; - if (have_geofence_position_data) { - change_altitude_valid = geofence_allows_position(position_setpoint); - } + // Wait for vehicle_status before handling the next command, otherwise the setpoint could be overwritten + _wait_for_vehicle_status_timestamp = hrt_absolute_time(); - if (change_altitude_valid) { + if (geofence_allows_position(position_setpoint)) { position_setpoint_triplet_s *rep = get_reposition_triplet(); position_setpoint_triplet_s *curr = get_position_setpoint_triplet(); @@ -420,7 +451,6 @@ void Navigator::run() rep->current.cruising_throttle = get_cruising_throttle(); rep->current.acceptance_radius = get_acceptance_radius(); rep->current.yaw = NAN; - rep->current.yaw_valid = false; // Position is not changing, thus we keep the setpoint rep->current.lat = PX4_ISFINITE(curr->current.lat) ? curr->current.lat : get_global_position()->lat; @@ -432,8 +462,7 @@ void Navigator::run() if (_vstatus.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING && (get_position_setpoint_triplet()->current.type != position_setpoint_s::SETPOINT_TYPE_TAKEOFF)) { - calculate_breaking_stop(rep->current.lat, rep->current.lon, rep->current.yaw); - rep->current.yaw_valid = true; + calculate_breaking_stop(rep->current.lat, rep->current.lon); } if (PX4_ISFINITE(curr->current.loiter_radius) && curr->current.loiter_radius > FLT_EPSILON) { @@ -452,6 +481,8 @@ void Navigator::run() rep->next.valid = false; + _time_loitering_after_gf_breach = 0; // have to manually reset this in all LOITER cases + } else { mavlink_log_critical(&_mavlink_log_pub, "Altitude change is outside geofence\t"); events::send(events::ID("navigator_change_altitude_outside_geofence"), {events::Log::Error, events::LogInternal::Info}, @@ -465,22 +496,21 @@ void Navigator::run() // for multicopters the orbit command is directly executed by the orbit flighttask - bool orbit_location_valid = true; - vehicle_global_position_s position_setpoint{}; position_setpoint.lat = PX4_ISFINITE(cmd.param5) ? cmd.param5 : get_global_position()->lat; position_setpoint.lon = PX4_ISFINITE(cmd.param6) ? cmd.param6 : get_global_position()->lon; position_setpoint.alt = PX4_ISFINITE(cmd.param7) ? cmd.param7 : get_global_position()->alt; - if (have_geofence_position_data) { - orbit_location_valid = geofence_allows_position(position_setpoint); - } + // Wait for vehicle_status before handling the next command, otherwise the setpoint could be overwritten + _wait_for_vehicle_status_timestamp = hrt_absolute_time(); - if (orbit_location_valid) { + if (geofence_allows_position(position_setpoint)) { position_setpoint_triplet_s *rep = get_reposition_triplet(); rep->current.type = position_setpoint_s::SETPOINT_TYPE_LOITER; rep->current.loiter_radius = get_loiter_radius(); rep->current.loiter_direction_counter_clockwise = false; + rep->current.loiter_orientation = 0.0f; + rep->current.loiter_pattern = position_setpoint_s::LOITER_TYPE_ORBIT; rep->current.cruising_throttle = get_cruising_throttle(); // on entering Loiter mode, reset speed setpoint to default @@ -503,10 +533,66 @@ void Navigator::run() rep->current.valid = true; rep->current.timestamp = hrt_absolute_time(); + _time_loitering_after_gf_breach = 0; // have to manually reset this in all LOITER cases + } else { mavlink_log_critical(&_mavlink_log_pub, "Orbit is outside geofence"); } + } else if (cmd.command == vehicle_command_s::VEHICLE_CMD_DO_FIGUREEIGHT && + get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING) { +#ifdef CONFIG_FIGURE_OF_EIGHT + // Only valid for fixed wing mode + + vehicle_global_position_s position_setpoint{}; + position_setpoint.lat = PX4_ISFINITE(cmd.param5) ? cmd.param5 : get_global_position()->lat; + position_setpoint.lon = PX4_ISFINITE(cmd.param6) ? cmd.param6 : get_global_position()->lon; + position_setpoint.alt = PX4_ISFINITE(cmd.param7) ? cmd.param7 : get_global_position()->alt; + + // Wait for vehicle_status before handling the next command, otherwise the setpoint could be overwritten + _wait_for_vehicle_status_timestamp = hrt_absolute_time(); + + if (geofence_allows_position(position_setpoint)) { + position_setpoint_triplet_s *rep = get_reposition_triplet(); + rep->current.type = position_setpoint_s::SETPOINT_TYPE_LOITER; + rep->current.loiter_minor_radius = fabsf(get_loiter_radius()); + rep->current.loiter_direction_counter_clockwise = get_loiter_radius() < 0; + rep->current.loiter_orientation = 0.0f; + rep->current.loiter_pattern = position_setpoint_s::LOITER_TYPE_FIGUREEIGHT; + rep->current.cruising_speed = get_cruising_speed(); + + if (PX4_ISFINITE(cmd.param2) && fabsf(cmd.param2) > FLT_EPSILON) { + rep->current.loiter_minor_radius = fabsf(cmd.param2); + } + + rep->current.loiter_radius = 2.5f * rep->current.loiter_minor_radius; + + if (PX4_ISFINITE(cmd.param1)) { + rep->current.loiter_radius = fabsf(cmd.param1); + rep->current.loiter_direction_counter_clockwise = cmd.param1 < 0; + } + + rep->current.loiter_radius = math::max(rep->current.loiter_radius, 2.0f * rep->current.loiter_minor_radius); + + if (PX4_ISFINITE(cmd.param4)) { + rep->current.loiter_orientation = cmd.param4; + } + + rep->current.lat = position_setpoint.lat; + rep->current.lon = position_setpoint.lon; + rep->current.alt = position_setpoint.alt; + + rep->current.valid = true; + rep->current.timestamp = hrt_absolute_time(); + + _time_loitering_after_gf_breach = 0; // have to manually reset this in all LOITER cases + + } else { + mavlink_log_critical(&_mavlink_log_pub, "Figure 8 is outside geofence"); + } + +#endif // CONFIG_FIGURE_OF_EIGHT + } else if (cmd.command == vehicle_command_s::VEHICLE_CMD_NAV_TAKEOFF) { position_setpoint_triplet_s *rep = get_takeoff_triplet(); @@ -522,19 +608,18 @@ void Navigator::run() rep->current.cruising_speed = -1.f; // reset to default if (home_global_position_valid()) { - // Only set yaw if we know the true heading - // We assume that the heading is valid when the global position is valid because true heading - // is required to fuse NE (e.g.: GNSS) data. // TODO: we should be more explicit here - rep->current.yaw = cmd.param4; rep->previous.valid = true; rep->previous.timestamp = hrt_absolute_time(); } else { - rep->current.yaw = get_local_position()->heading; rep->previous.valid = false; } + // Don't set a yaw setpoint for takeoff, as Navigator doesn't handle the yaw reset. + // The yaw setpoint generation is handled by FlightTaskAuto. + rep->current.yaw = NAN; + if (PX4_ISFINITE(cmd.param5) && PX4_ISFINITE(cmd.param6)) { rep->current.lat = cmd.param5; rep->current.lon = cmd.param6; @@ -555,6 +640,8 @@ void Navigator::run() // CMD_NAV_TAKEOFF is acknowledged by commander +#if CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF + } else if (cmd.command == vehicle_command_s::VEHICLE_CMD_NAV_VTOL_TAKEOFF) { _vtol_takeoff.setTransitionAltitudeAbsolute(cmd.param7); @@ -564,13 +651,15 @@ void Navigator::run() // loiter height is the height above takeoff altitude at which the vehicle will establish on a loiter circle _vtol_takeoff.setLoiterHeight(cmd.param1); +#endif //CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF } else if (cmd.command == vehicle_command_s::VEHICLE_CMD_DO_LAND_START) { // find NAV_CMD_DO_LAND_START in the mission and // use MAV_CMD_MISSION_START to start the mission from the next item containing a position setpoint + uint8_t result{vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED}; - if (_mission.land_start()) { + if (_mission.get_land_start_available()) { vehicle_command_s vcmd = {}; vcmd.command = vehicle_command_s::VEHICLE_CMD_MISSION_START; vcmd.param1 = _mission.get_land_start_index(); @@ -578,9 +667,10 @@ void Navigator::run() } else { PX4_WARN("planned mission landing not available"); + result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_CANCELLED; } - publish_vehicle_command_ack(cmd, vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED); + publish_vehicle_command_ack(cmd, result); } else if (cmd.command == vehicle_command_s::VEHICLE_CMD_MISSION_START) { if (_mission_result.valid && PX4_ISFINITE(cmd.param1) && (cmd.param1 >= 0)) { @@ -597,7 +687,7 @@ void Navigator::run() set_cruising_speed(cmd.param2); } else { - set_cruising_speed(); + reset_cruising_speed(); /* if no speed target was given try to set throttle */ if (cmd.param3 > FLT_EPSILON) { @@ -665,7 +755,7 @@ void Navigator::run() check_traffic(); /* Check geofence violation */ - geofence_breach_check(have_geofence_position_data); + geofence_breach_check(); /* Do stuff according to navigation state set by commander */ NavigatorMode *navigation_mode_new{nullptr}; @@ -674,7 +764,6 @@ void Navigator::run() case vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION: _pos_sp_triplet_published_invalid_once = false; - _mission.set_execution_mode(mission_result_s::MISSION_EXECUTION_MODE_NORMAL); navigation_mode_new = &_mission; break; @@ -684,131 +773,33 @@ void Navigator::run() navigation_mode_new = &_loiter; break; - case vehicle_status_s::NAVIGATION_STATE_AUTO_RTL: { - _pos_sp_triplet_published_invalid_once = false; - const bool rtl_activated_now = !_rtl_activated; - - switch (_rtl.get_rtl_type()) { - case RTL::RTL_TYPE_MISSION_LANDING: - case RTL::RTL_TYPE_CLOSEST: { - // If a mission landing is desired we should only execute mission navigation mode if we currently are in fw mode. - // In multirotor mode no landing pattern is required so we can just navigate to the land point directly and don't need to run mission. - if (rtl_activated_now) { - _shouldEngageMissionForLanding = _rtl.getRTLDestinationTypeMission() - && _vstatus.vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING; - } - - if (_shouldEngageMissionForLanding && (on_mission_landing() || _rtl.getRTLState() > RTL::RTL_STATE_CLIMB)) { - - // already in a mission landing, we just need to inform the user and stay in mission - if (rtl_activated_now) { - mavlink_log_info(get_mavlink_log_pub(), "RTL to Mission landing, continue landing\t"); - events::send(events::ID("rtl_land_at_mission_continue_landing"), events::Log::Info, - "RTL to Mission landing, continue landing"); - } - - if (_navigation_mode != &_mission) { - // the first time we're here start the mission landig - start_mission_landing(); - } + case vehicle_status_s::NAVIGATION_STATE_AUTO_RTL: - _mission.set_execution_mode(mission_result_s::MISSION_EXECUTION_MODE_FAST_FORWARD); - navigation_mode_new = &_mission; - - } else { - navigation_mode_new = &_rtl; - } - - break; - } - - case RTL::RTL_TYPE_MISSION_LANDING_REVERSED: - if (_mission.get_land_start_available() && !get_land_detected()->landed) { - // the mission contains a landing spot - _mission.set_execution_mode(mission_result_s::MISSION_EXECUTION_MODE_FAST_FORWARD); - - if (_navigation_mode != &_mission) { - if (_navigation_mode == nullptr) { - // switching from an manual mode, go to landing if not already landing - if (!on_mission_landing()) { - start_mission_landing(); - } - - } else { - // switching from an auto mode, continue the mission from the closest item - _mission.set_closest_item_as_current(); - } - } - - if (rtl_activated_now) { - mavlink_log_info(get_mavlink_log_pub(), "RTL Mission activated, continue mission\t"); - events::send(events::ID("navigator_rtl_mission_activated"), events::Log::Info, - "RTL Mission activated, continue mission"); - } - - navigation_mode_new = &_mission; - - } else { - // fly the mission in reverse if switching from a non-manual mode - _mission.set_execution_mode(mission_result_s::MISSION_EXECUTION_MODE_REVERSE); - - if ((_navigation_mode != nullptr && (_navigation_mode != &_rtl || _mission.get_mission_changed())) && - (! _mission.get_mission_finished()) && - (!get_land_detected()->landed)) { - // determine the closest mission item if switching from a non-mission mode, and we are either not already - // mission mode or the mission waypoints changed. - // The seconds condition is required so that when no mission was uploaded and one is available the closest - // mission item is determined and also that if the user changes the active mission index while rtl is active - // always that waypoint is tracked first. - if ((_navigation_mode != &_mission) && (rtl_activated_now || _mission.get_mission_waypoints_changed())) { - _mission.set_closest_item_as_current(); - } - - if (rtl_activated_now) { - mavlink_log_info(get_mavlink_log_pub(), "RTL Mission activated, fly mission in reverse\t"); - events::send(events::ID("navigator_rtl_mission_activated_rev"), events::Log::Info, - "RTL Mission activated, fly mission in reverse"); - } - - navigation_mode_new = &_mission; - - } else { - if (rtl_activated_now) { - mavlink_log_info(get_mavlink_log_pub(), "RTL Mission activated, fly to home\t"); - events::send(events::ID("navigator_rtl_mission_activated_home"), events::Log::Info, - "RTL Mission activated, fly to home"); - } - - navigation_mode_new = &_rtl; - } - } - - break; - - default: - if (rtl_activated_now) { - mavlink_log_info(get_mavlink_log_pub(), "RTL HOME activated\t"); - events::send(events::ID("navigator_rtl_home_activated"), events::Log::Info, "RTL activated"); - } + // If we are already in mission landing, do not switch. + if (_navigation_mode == &_mission && _mission.isLanding()) { + navigation_mode_new = &_mission; + break; - navigation_mode_new = &_rtl; - break; + } else { + _pos_sp_triplet_published_invalid_once = false; + } - } + navigation_mode_new = &_rtl; - _rtl_activated = true; - break; - } + break; case vehicle_status_s::NAVIGATION_STATE_AUTO_TAKEOFF: _pos_sp_triplet_published_invalid_once = false; navigation_mode_new = &_takeoff; break; +#if CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF + case vehicle_status_s::NAVIGATION_STATE_AUTO_VTOL_TAKEOFF: _pos_sp_triplet_published_invalid_once = false; navigation_mode_new = &_vtol_takeoff; break; +#endif //CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF case vehicle_status_s::NAVIGATION_STATE_AUTO_LAND: _pos_sp_triplet_published_invalid_once = false; @@ -831,15 +822,9 @@ void Navigator::run() case vehicle_status_s::NAVIGATION_STATE_STAB: default: navigation_mode_new = nullptr; - _can_loiter_at_sp = false; break; } - if (_vstatus.nav_state != vehicle_status_s::NAVIGATION_STATE_AUTO_RTL) { - _rtl_activated = false; - _rtl.resetRtlState(); - } - // Do not execute any state machine while we are disarmed if (_vstatus.arming_state != vehicle_status_s::ARMING_STATE_ARMED) { navigation_mode_new = nullptr; @@ -869,25 +854,27 @@ void Navigator::run() if (did_not_switch_takeoff_to_loiter && did_not_switch_to_loiter_with_valid_loiter_setpoint) { reset_triplets(); } + } - - // transition to hover in Descend mode - if (_vstatus.nav_state == vehicle_status_s::NAVIGATION_STATE_DESCEND && - _vstatus.is_vtol && _vstatus.vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING && - force_vtol()) { - vehicle_command_s vcmd = {}; - vcmd.command = NAV_CMD_DO_VTOL_TRANSITION; - vcmd.param1 = vtol_vehicle_status_s::VEHICLE_VTOL_STATE_MC; - publish_vehicle_cmd(&vcmd); - mavlink_log_info(&_mavlink_log_pub, "Transition to hover mode and descend.\t"); - events::send(events::ID("navigator_transition_descend"), events::Log::Critical, - "Transition to hover mode and descend"); - } - + // VTOL: transition to hover in Descend mode if force_vtol() is true + if (_vstatus.nav_state == vehicle_status_s::NAVIGATION_STATE_DESCEND && + _vstatus.is_vtol && _vstatus.vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING && + force_vtol()) { + vehicle_command_s vcmd = {}; + vcmd.command = NAV_CMD_DO_VTOL_TRANSITION; + vcmd.param1 = vtol_vehicle_status_s::VEHICLE_VTOL_STATE_MC; + publish_vehicle_cmd(&vcmd); + mavlink_log_info(&_mavlink_log_pub, "Transition to hover mode and descend.\t"); + events::send(events::ID("navigator_transition_descend"), events::Log::Critical, + "Transition to hover mode and descend"); } _navigation_mode = navigation_mode_new; + if (_wait_for_vehicle_status_timestamp != 0 && _vstatus.timestamp > _wait_for_vehicle_status_timestamp) { + _wait_for_vehicle_status_timestamp = 0; + } + /* iterate through navigation modes and set active/inactive for each */ for (unsigned int i = 0; i < NAVIGATOR_MODE_ARRAY_SIZE; i++) { if (_navigation_mode_array[i]) { @@ -909,19 +896,27 @@ void Navigator::run() publish_mission_result(); } + publish_navigator_status(); + + _geofence.run(); + perf_end(_loop_perf); } } -void Navigator::geofence_breach_check(bool &have_geofence_position_data) +void Navigator::geofence_breach_check() { - if (have_geofence_position_data && - (_geofence.getGeofenceAction() != geofence_result_s::GF_ACTION_NONE) && + // reset the _time_loitering_after_gf_breach time if no longer in LOITER (and 100ms after it was triggered) + if (_vstatus.nav_state != vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER + && hrt_elapsed_time(&_time_loitering_after_gf_breach) > 100_ms) { + _time_loitering_after_gf_breach = 0; + } + + if ((_geofence.getGeofenceAction() != geofence_result_s::GF_ACTION_NONE) && (hrt_elapsed_time(&_last_geofence_check) > GEOFENCE_CHECK_INTERVAL_US)) { const position_controller_status_s &pos_ctrl_status = _position_controller_status_sub.get(); - matrix::Vector2 fence_violation_test_point; geofence_violation_type_u gf_violation_type{}; float test_point_bearing; float test_point_distance; @@ -947,111 +942,123 @@ void Navigator::geofence_breach_check(bool &have_geofence_position_data) } } + double current_latitude = _global_pos.lat; + double current_longitude = _global_pos.lon; + float current_altitude = _global_pos.alt; + bool position_valid = _global_pos.timestamp > 0; + + if (_geofence.getSource() == Geofence::GF_SOURCE_GPS) { + current_latitude = _gps_pos.latitude_deg; + current_longitude = _gps_pos.longitude_deg; + current_altitude = _gps_pos.altitude_msl_m; + position_valid = _global_pos.timestamp > 0; + } + + if (!position_valid) { + // we don't have a valid position yet, so we can't check for geofence violations + return; + } + _gf_breach_avoidance.setHorizontalTestPointDistance(test_point_distance); _gf_breach_avoidance.setVerticalTestPointDistance(vertical_test_point_distance); _gf_breach_avoidance.setTestPointBearing(test_point_bearing); - _gf_breach_avoidance.setCurrentPosition(_global_pos.lat, _global_pos.lon, _global_pos.alt); + _gf_breach_avoidance.setCurrentPosition(current_latitude, current_longitude, current_altitude); _gf_breach_avoidance.setMaxHorDistHome(_geofence.getMaxHorDistanceHome()); - _gf_breach_avoidance.setMaxVerDistHome(_geofence.getMaxVerDistanceHome()); if (home_global_position_valid()) { _gf_breach_avoidance.setHomePosition(_home_pos.lat, _home_pos.lon, _home_pos.alt); } - if (_geofence.getPredict()) { - fence_violation_test_point = _gf_breach_avoidance.getFenceViolationTestPoint(); + double test_point_latitude = current_latitude; + double test_point_longitude = current_longitude; + float test_point_altitude = current_altitude; - } else { - fence_violation_test_point = matrix::Vector2d(_global_pos.lat, _global_pos.lon); - vertical_test_point_distance = 0; + if (_geofence.getPredict()) { + matrix::Vector2fence_violation_test_point = _gf_breach_avoidance.getFenceViolationTestPoint(); + test_point_latitude = fence_violation_test_point(0); + test_point_longitude = fence_violation_test_point(1); + test_point_altitude = current_altitude + vertical_test_point_distance; } - gf_violation_type.flags.dist_to_home_exceeded = !_geofence.isCloserThanMaxDistToHome(fence_violation_test_point(0), - fence_violation_test_point(1), - _global_pos.alt); + if (_time_loitering_after_gf_breach > 0) { + // if we are in the loitering state after breaching a GF, only allow new ones to be set, but not unset + _geofence_result.geofence_max_dist_triggered |= !_geofence.isCloserThanMaxDistToHome(test_point_latitude, + test_point_longitude, test_point_altitude); + _geofence_result.geofence_max_alt_triggered |= !_geofence.isBelowMaxAltitude(test_point_altitude); + _geofence_result.geofence_custom_fence_triggered |= !_geofence.isInsidePolygonOrCircle(test_point_latitude, + test_point_longitude, test_point_altitude); - gf_violation_type.flags.max_altitude_exceeded = !_geofence.isBelowMaxAltitude(_global_pos.alt + - vertical_test_point_distance); - - gf_violation_type.flags.fence_violation = !_geofence.isInsidePolygonOrCircle(fence_violation_test_point(0), - fence_violation_test_point(1), - _global_pos.alt); + } else { + _geofence_result.geofence_max_dist_triggered = !_geofence.isCloserThanMaxDistToHome(test_point_latitude, + test_point_longitude, test_point_altitude); + _geofence_result.geofence_max_alt_triggered = !_geofence.isBelowMaxAltitude(test_point_altitude); + _geofence_result.geofence_custom_fence_triggered = !_geofence.isInsidePolygonOrCircle(test_point_latitude, + test_point_longitude, test_point_altitude); + } _last_geofence_check = hrt_absolute_time(); - have_geofence_position_data = false; _geofence_result.timestamp = hrt_absolute_time(); - _geofence_result.primary_geofence_action = _geofence.getGeofenceAction(); - _geofence_result.home_required = _geofence.isHomeRequired(); - - if (gf_violation_type.value) { - /* inform other apps via the mission result */ - _geofence_result.primary_geofence_breached = true; - - using geofence_violation_reason_t = events::px4::enums::geofence_violation_reason_t; + _geofence_result.geofence_action = _geofence.getGeofenceAction(); - if (gf_violation_type.flags.fence_violation) { - _geofence_result.geofence_violation_reason = (uint8_t)geofence_violation_reason_t::fence_violation; - - } else if (gf_violation_type.flags.max_altitude_exceeded) { - _geofence_result.geofence_violation_reason = (uint8_t)geofence_violation_reason_t::max_altitude_exceeded; - - } else if (gf_violation_type.flags.dist_to_home_exceeded) { - _geofence_result.geofence_violation_reason = (uint8_t)geofence_violation_reason_t::dist_to_home_exceeded; - - } + if (_geofence_result.geofence_max_dist_triggered || _geofence_result.geofence_max_alt_triggered || + _geofence_result.geofence_custom_fence_triggered) { /* Issue a warning about the geofence violation once and only if we are armed */ - if (!_geofence_violation_warning_sent && _vstatus.arming_state == vehicle_status_s::ARMING_STATE_ARMED) { + if (!_geofence_reposition_sent && _vstatus.arming_state == vehicle_status_s::ARMING_STATE_ARMED + && _geofence.getGeofenceAction() == geofence_result_s::GF_ACTION_LOITER) { // we have predicted a geofence violation and if the action is to loiter then // demand a reposition to a location which is inside the geofence - if (_geofence.getGeofenceAction() == geofence_result_s::GF_ACTION_LOITER) { - position_setpoint_triplet_s *rep = get_reposition_triplet(); - matrix::Vector2 loiter_center_lat_lon; - matrix::Vector2 current_pos_lat_lon(_global_pos.lat, _global_pos.lon); - float loiter_altitude_amsl = _global_pos.alt; + position_setpoint_triplet_s *rep = get_reposition_triplet(); + + matrix::Vector2 loiter_center_lat_lon; + float loiter_altitude_amsl = current_altitude; + double loiter_latitude = current_latitude; + double loiter_longitude = current_longitude; + if (_geofence.getPredict()) { if (_vstatus.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) { // the computation of the braking distance does not match the actual braking distance. Until we have a better model // we set the loiter point to the current position, that will make sure that the vehicle will loiter inside the fence loiter_center_lat_lon = _gf_breach_avoidance.generateLoiterPointForMultirotor(gf_violation_type, &_geofence); + loiter_latitude = loiter_center_lat_lon(0); + loiter_longitude = loiter_center_lat_lon(1); loiter_altitude_amsl = _gf_breach_avoidance.generateLoiterAltitudeForMulticopter(gf_violation_type); } else { loiter_center_lat_lon = _gf_breach_avoidance.generateLoiterPointForFixedWing(gf_violation_type, &_geofence); + loiter_latitude = loiter_center_lat_lon(0); + loiter_longitude = loiter_center_lat_lon(1); + loiter_altitude_amsl = _gf_breach_avoidance.generateLoiterAltitudeForFixedWing(gf_violation_type); } - - rep->current.timestamp = hrt_absolute_time(); - rep->current.yaw = get_local_position()->heading; - rep->current.yaw_valid = true; - rep->current.lat = loiter_center_lat_lon(0); - rep->current.lon = loiter_center_lat_lon(1); - rep->current.alt = loiter_altitude_amsl; - rep->current.valid = true; - rep->current.loiter_radius = get_loiter_radius(); - rep->current.type = position_setpoint_s::SETPOINT_TYPE_LOITER; - rep->current.cruising_throttle = get_cruising_throttle(); - rep->current.acceptance_radius = get_acceptance_radius(); - rep->current.cruising_speed = get_cruising_speed(); - } - _geofence_violation_warning_sent = true; + rep->current.timestamp = hrt_absolute_time(); + rep->current.yaw = NAN; + rep->current.lat = loiter_latitude; + rep->current.lon = loiter_longitude; + rep->current.alt = loiter_altitude_amsl; + rep->current.valid = true; + rep->current.loiter_radius = get_loiter_radius(); + rep->current.type = position_setpoint_s::SETPOINT_TYPE_LOITER; + rep->current.cruising_throttle = get_cruising_throttle(); + rep->current.acceptance_radius = get_acceptance_radius(); + rep->current.cruising_speed = get_cruising_speed(); + + _geofence_reposition_sent = true; + _time_loitering_after_gf_breach = hrt_absolute_time(); } } else { - /* inform other apps via the mission result */ - _geofence_result.primary_geofence_breached = false; - /* Reset the _geofence_violation_warning_sent field */ - _geofence_violation_warning_sent = false; + _geofence_reposition_sent = false; } _geofence_result_pub.publish(_geofence_result); @@ -1063,7 +1070,7 @@ int Navigator::task_spawn(int argc, char *argv[]) _task_id = px4_task_spawn_cmd("navigator", SCHED_DEFAULT, SCHED_PRIORITY_NAVIGATION, - PX4_STACK_ADJUSTED(1952), + PX4_STACK_ADJUSTED(2200), (px4_main_t)&run_trampoline, (char *const *)argv); @@ -1136,43 +1143,6 @@ float Navigator::get_altitude_acceptance_radius() } } -float Navigator::get_cruising_speed() -{ - /* there are three options: The mission-requested cruise speed, or the current hover / plane speed */ - if (_vstatus.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) { - if (_mission_cruising_speed_mc > 0.0f) { - return _mission_cruising_speed_mc; - - } else { - return -1.0f; - } - - } else { - if (_mission_cruising_speed_fw > 0.0f) { - return _mission_cruising_speed_fw; - - } else { - return -1.0f; - } - } -} - -void Navigator::set_cruising_speed(float speed) -{ - if (_vstatus.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) { - _mission_cruising_speed_mc = speed; - - } else { - _mission_cruising_speed_fw = speed; - } -} - -void Navigator::reset_cruising_speed() -{ - _mission_cruising_speed_mc = -1.0f; - _mission_cruising_speed_fw = -1.0f; -} - void Navigator::reset_triplets() { reset_position_setpoint(_pos_sp_triplet.previous); @@ -1188,13 +1158,13 @@ void Navigator::reset_position_setpoint(position_setpoint_s &sp) sp.timestamp = hrt_absolute_time(); sp.lat = static_cast(NAN); sp.lon = static_cast(NAN); + sp.yaw = NAN; sp.loiter_radius = get_loiter_radius(); sp.acceptance_radius = get_default_acceptance_radius(); sp.cruising_speed = get_cruising_speed(); sp.cruising_throttle = get_cruising_throttle(); sp.valid = false; sp.type = position_setpoint_s::SETPOINT_TYPE_IDLE; - sp.disable_weather_vane = false; sp.loiter_direction_counter_clockwise = false; } @@ -1224,7 +1194,7 @@ float Navigator::get_acceptance_radius() return acceptance_radius; } -float Navigator::get_yaw_acceptance(float mission_item_yaw) +bool Navigator::get_yaw_to_be_accepted(float mission_item_yaw) { float yaw = mission_item_yaw; @@ -1236,7 +1206,7 @@ float Navigator::get_yaw_acceptance(float mission_item_yaw) yaw = pos_ctrl_status.yaw_acceptance; } - return yaw; + return PX4_ISFINITE(yaw); } void Navigator::load_fence_from_file(const char *filename) @@ -1304,6 +1274,9 @@ void Navigator::check_traffic() } } } + + _adsb_conflict.remove_expired_conflicts(); + } bool Navigator::abort_landing() @@ -1383,6 +1356,40 @@ void Navigator::set_mission_failure_heading_timeout() } } +void Navigator::trigger_hagl_failsafe(const uint8_t nav_state) +{ + if ((_navigator_status.failure != navigator_status_s::FAILURE_HAGL) || _navigator_status.nav_state != nav_state) { + _navigator_status.failure = navigator_status_s::FAILURE_HAGL; + _navigator_status.nav_state = nav_state; + + _navigator_status_updated = true; + } +} + +void Navigator::publish_navigator_status() +{ + uint8_t current_nav_state = _vstatus.nav_state; + + if (_navigation_mode != nullptr) { + current_nav_state = _navigation_mode->getNavigatorStateId(); + } + + if (_navigator_status.nav_state != current_nav_state) { + _navigator_status.nav_state = current_nav_state; + _navigator_status.failure = navigator_status_s::FAILURE_NONE; + _navigator_status_updated = true; + } + + if (_navigator_status_updated + || (hrt_elapsed_time(&_last_navigator_status_publication) > 500_ms)) { + _navigator_status.timestamp = hrt_absolute_time(); + _navigator_status_pub.publish(_navigator_status); + + _navigator_status_updated = false; + _last_navigator_status_publication = hrt_absolute_time(); + } +} + void Navigator::publish_vehicle_cmd(vehicle_command_s *vcmd) { vcmd->timestamp = hrt_absolute_time(); @@ -1428,7 +1435,7 @@ void Navigator::publish_vehicle_cmd(vehicle_command_s *vcmd) break; default: - vcmd->target_component = _vstatus.component_id; + vcmd->target_component = 0; break; } @@ -1493,29 +1500,28 @@ bool Navigator::geofence_allows_position(const vehicle_global_position_s &pos) if ((_geofence.getGeofenceAction() != geofence_result_s::GF_ACTION_NONE) && (_geofence.getGeofenceAction() != geofence_result_s::GF_ACTION_WARN)) { - if (PX4_ISFINITE(pos.lat) && PX4_ISFINITE(pos.lon)) { - return _geofence.check(pos, _gps_pos); + if (PX4_ISFINITE(pos.lat) && PX4_ISFINITE(pos.lon) && PX4_ISFINITE(pos.alt)) { + return _geofence.checkPointAgainstAllGeofences(pos.lat, pos.lon, pos.alt); } } return true; } -void Navigator::calculate_breaking_stop(double &lat, double &lon, float &yaw) +void Navigator::calculate_breaking_stop(double &lat, double &lon) { // For multirotors we need to account for the braking distance, otherwise the vehicle will overshoot and go back - float course_over_ground = atan2f(_local_pos.vy, _local_pos.vx); + const float course_over_ground = atan2f(_local_pos.vy, _local_pos.vx); // predict braking distance const float velocity_hor_abs = sqrtf(_local_pos.vx * _local_pos.vx + _local_pos.vy * _local_pos.vy); - float multirotor_braking_distance = math::trajectory::computeBrakingDistanceFromVelocity(velocity_hor_abs, - _param_mpc_jerk_auto, _param_mpc_acc_hor, 0.6f * _param_mpc_jerk_auto); + const float multirotor_braking_distance = math::trajectory::computeBrakingDistanceFromVelocity(velocity_hor_abs, + _param_mpc_jerk_auto, _param_mpc_acc_hor, 0.6f * _param_mpc_jerk_auto); waypoint_from_heading_and_distance(get_global_position()->lat, get_global_position()->lon, course_over_ground, multirotor_braking_distance, &lat, &lon); - yaw = get_local_position()->heading; } void Navigator::mode_completed(uint8_t nav_state, uint8_t result) @@ -1527,6 +1533,37 @@ void Navigator::mode_completed(uint8_t nav_state, uint8_t result) _mode_completed_pub.publish(mode_completed); } + +void Navigator::disable_camera_trigger() +{ + // Disable camera trigger + vehicle_command_s cmd {}; + cmd.command = vehicle_command_s::VEHICLE_CMD_DO_TRIGGER_CONTROL; + // Pause trigger + cmd.param1 = -1.0f; + cmd.param3 = 1.0f; + publish_vehicle_cmd(&cmd); +} + +void Navigator::set_gimbal_neutral() +{ + vehicle_command_s vcmd = {}; + vcmd.command = vehicle_command_s::VEHICLE_CMD_DO_GIMBAL_MANAGER_PITCHYAW; + vcmd.param1 = NAN; + vcmd.param2 = NAN; + vcmd.param3 = NAN; + vcmd.param4 = NAN; + vcmd.param5 = gimbal_manager_set_attitude_s::GIMBAL_MANAGER_FLAGS_NEUTRAL; + publish_vehicle_cmd(&vcmd); +} + +void Navigator::sendWarningDescentStoppedDueToTerrain() +{ + mavlink_log_critical(&_mavlink_log_pub, "Terrain collision risk, descent is stopped\t"); + events::send(events::ID("navigator_terrain_collision_risk"), events::Log::Critical, + "Terrain collision risk, descent is stopped"); +} + int Navigator::print_usage(const char *reason) { if (reason) { @@ -1552,7 +1589,7 @@ controller. PRINT_MODULE_USAGE_NAME("navigator", "controller"); PRINT_MODULE_USAGE_COMMAND("start"); PRINT_MODULE_USAGE_COMMAND_DESCR("fencefile", "load a geofence file from SD card, stored at etc/geofence.txt"); - PRINT_MODULE_USAGE_COMMAND_DESCR("fake_traffic", "publishes 4 fake transponder_report_s uORB messages"); + PRINT_MODULE_USAGE_COMMAND_DESCR("fake_traffic", "publishes 24 fake transponder_report_s uORB messages"); PRINT_MODULE_USAGE_DEFAULT_COMMANDS(); return 0; diff --git a/src/modules/navigator/navigator_mode.cpp b/src/modules/navigator/navigator_mode.cpp index 5adb0b1bdbe9..1c0882923402 100644 --- a/src/modules/navigator/navigator_mode.cpp +++ b/src/modules/navigator/navigator_mode.cpp @@ -42,8 +42,9 @@ #include "navigator_mode.h" #include "navigator.h" -NavigatorMode::NavigatorMode(Navigator *navigator) : - _navigator(navigator) +NavigatorMode::NavigatorMode(Navigator *navigator, uint8_t navigator_state_id) : + _navigator(navigator), + _navigator_state_id(navigator_state_id) { /* set initial mission items */ on_inactivation(); @@ -55,12 +56,12 @@ NavigatorMode::run(bool active) { if (active) { if (!_active) { - _navigator->set_mission_result_updated(); on_activation(); } else { /* periodic updates when active */ on_active(); + updateFailsafeChecks(); } } else { diff --git a/src/modules/navigator/navigator_mode.h b/src/modules/navigator/navigator_mode.h index 3aa6f255f684..9164a92b92fc 100644 --- a/src/modules/navigator/navigator_mode.h +++ b/src/modules/navigator/navigator_mode.h @@ -41,12 +41,14 @@ #pragma once +#include + class Navigator; class NavigatorMode { public: - NavigatorMode(Navigator *navigator); + NavigatorMode(Navigator *navigator, uint8_t navigator_state_id); virtual ~NavigatorMode() = default; NavigatorMode(const NavigatorMode &) = delete; NavigatorMode &operator=(const NavigatorMode &) = delete; @@ -54,6 +56,10 @@ class NavigatorMode void run(bool active); + bool isActive() {return _active;}; + + uint8_t getNavigatorStateId() const { return _navigator_state_id; } + /** * This function is called while the mode is inactive */ @@ -74,9 +80,12 @@ class NavigatorMode */ virtual void on_active(); + virtual void updateFailsafeChecks() {}; + protected: Navigator *_navigator{nullptr}; private: bool _active{false}; + uint8_t _navigator_state_id{0}; }; diff --git a/src/modules/navigator/navigator_params.c b/src/modules/navigator/navigator_params.c index 7ef16df6f453..325b19abf605 100644 --- a/src/modules/navigator/navigator_params.c +++ b/src/modules/navigator/navigator_params.c @@ -43,7 +43,7 @@ /** * Loiter radius (FW only) * - * Default value of loiter radius for missions, Hold mode, Return mode, etc. (fixedwing only). + * Default value of loiter radius in FW mode (e.g. for Loiter mode). * * @unit m * @min 25 @@ -187,3 +187,21 @@ PARAM_DEFINE_INT32(NAV_FORCE_VT, 1); * @group Mission */ PARAM_DEFINE_FLOAT(NAV_MIN_LTR_ALT, -1.f); + +/** + * Minimum height above ground during Mission and RTL + * + * Minimum height above ground the vehicle is allowed to descend to during Mission and RTL, + * excluding landing commands. + * Requires a distance sensor to be set up. + * Note: only prevents the vehicle from descending further, but does not force it to climb. + * + * Set to a negative value to disable. + * + * @unit m + * @min -1 + * @decimal 1 + * @increment 1 + * @group Mission + */ +PARAM_DEFINE_FLOAT(NAV_MIN_GND_DIST, -1.f); diff --git a/src/modules/navigator/precland.cpp b/src/modules/navigator/precland.cpp index 080491d37ca7..74c81569cf3d 100644 --- a/src/modules/navigator/precland.cpp +++ b/src/modules/navigator/precland.cpp @@ -62,7 +62,7 @@ static constexpr const char *LOST_TARGET_ERROR_MESSAGE = "Lost landing target while landing"; PrecLand::PrecLand(Navigator *navigator) : - MissionBlock(navigator), + MissionBlock(navigator, vehicle_status_s::NAVIGATION_STATE_AUTO_PRECLAND), ModuleParams(navigator) { _handle_param_acceleration_hor = param_find("MPC_ACC_HOR"); diff --git a/src/modules/navigator/rtl.cpp b/src/modules/navigator/rtl.cpp index 919ff71e41ce..63e2ab185ff1 100644 --- a/src/modules/navigator/rtl.cpp +++ b/src/modules/navigator/rtl.cpp @@ -42,681 +42,509 @@ #include "rtl.h" #include "navigator.h" -#include -#include - -#include +#include "mission_block.h" - -static constexpr float DELAY_SIGMA = 0.01f; +#include +#include using namespace time_literals; using namespace math; +using matrix::wrap_pi; -RTL::RTL(Navigator *navigator) : - MissionBlock(navigator), - ModuleParams(navigator) -{ - _param_mpc_z_v_auto_up = param_find("MPC_Z_V_AUTO_UP"); - _param_mpc_z_v_auto_dn = param_find("MPC_Z_V_AUTO_DN"); - _param_mpc_land_speed = param_find("MPC_LAND_SPEED"); - _param_fw_climb_rate = param_find("FW_T_CLMB_R_SP"); - _param_fw_sink_rate = param_find("FW_T_SINK_R_SP"); - _param_fw_airspeed_trim = param_find("FW_AIRSPD_TRIM"); - _param_mpc_xy_cruise = param_find("MPC_XY_CRUISE"); - _param_rover_cruise_speed = param_find("GND_SPEED_THR_SC"); -} +static constexpr float MAX_DIST_FROM_HOME_FOR_LAND_APPROACHES{10.0f}; // [m] We don't consider safe points valid if the distance from the current home to the safe point is smaller than this distance +static constexpr float MIN_DIST_THRESHOLD = 2.f; -void RTL::on_inactivation() +RTL::RTL(Navigator *navigator) : + NavigatorMode(navigator, vehicle_status_s::NAVIGATION_STATE_AUTO_RTL), + ModuleParams(navigator), + _rtl_direct(navigator) { - if (_navigator->get_precland()->is_activated()) { - _navigator->get_precland()->on_inactivation(); - } } -void RTL::on_inactive() +void RTL::updateDatamanCache() { - // Limit inactive calculation to 1Hz - if ((hrt_absolute_time() - _destination_check_time) > 1_s) { - _destination_check_time = hrt_absolute_time(); - - const vehicle_global_position_s &global_position = *_navigator->get_global_position(); + bool success; - const bool global_position_recently_updated = global_position.timestamp > 0 - && hrt_elapsed_time(&global_position.timestamp) < 10_s; + switch (_dataman_state) { - rtl_time_estimate_s rtl_time_estimate{}; - rtl_time_estimate.valid = false; + case DatamanState::UpdateRequestWait: - // Calculate RTL destination and time estimate only when there is a valid home and global position - if (_navigator->home_global_position_valid() && global_position_recently_updated) { - find_RTL_destination(); - calcRtlTimeEstimate(RTLState::RTL_STATE_NONE, rtl_time_estimate); - rtl_time_estimate.valid = true; + if (_initiate_safe_points_updated) { + _initiate_safe_points_updated = false; + _dataman_state = DatamanState::Read; } - rtl_time_estimate.timestamp = hrt_absolute_time(); - _rtl_time_estimate_pub.publish(rtl_time_estimate); - } -} - -void RTL::find_RTL_destination() -{ - // get home position: - home_position_s &home_landing_position = *_navigator->get_home_position(); + break; - // get global position - const vehicle_global_position_s &global_position = *_navigator->get_global_position(); + case DatamanState::Read: - // set destination to home per default, then check if other valid landing spot is closer - _destination.set(home_landing_position); + _dataman_state = DatamanState::ReadWait; + success = _dataman_client_safepoint.readAsync(DM_KEY_SAFE_POINTS_STATE, 0, reinterpret_cast(&_stats), + sizeof(mission_stats_entry_s)); - // get distance to home position - double dlat = home_landing_position.lat - global_position.lat; - double dlon = home_landing_position.lon - global_position.lon; + if (!success) { + _error_state = DatamanState::Read; + _dataman_state = DatamanState::Error; + } - double lon_scale = cos(radians(global_position.lat)); + break; - auto coord_dist_sq = [lon_scale](double lat_diff, double lon_diff) -> double { - double lon_diff_scaled = lon_scale * matrix::wrap(lon_diff, -180., 180.); - return lat_diff * lat_diff + lon_diff_scaled * lon_diff_scaled; - }; + case DatamanState::ReadWait: - double min_dist_squared = coord_dist_sq(dlat, dlon); + _dataman_client_safepoint.update(); - _destination.type = RTL_DESTINATION_HOME; + if (_dataman_client_safepoint.lastOperationCompleted(success)) { - const bool vtol_in_rw_mode = _navigator->get_vstatus()->is_vtol - && _navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING; + if (!success) { + _error_state = DatamanState::ReadWait; + _dataman_state = DatamanState::Error; + } else if (_opaque_id != _stats.opaque_id) { - // consider the mission landing if not RTL_TYPE_HOME_OR_RALLY type set - if (_param_rtl_type.get() != RTL_TYPE_HOME_OR_RALLY && _navigator->get_mission_start_land_available()) { - double mission_landing_lat; - double mission_landing_lon; - float mission_landing_alt; + _opaque_id = _stats.opaque_id; + _safe_points_updated = false; - if (vtol_in_rw_mode) { - mission_landing_lat = _navigator->get_mission_landing_lat(); - mission_landing_lon = _navigator->get_mission_landing_lon(); - mission_landing_alt = _navigator->get_mission_landing_alt(); + _dataman_cache_safepoint.invalidate(); - } else { - mission_landing_lat = _navigator->get_mission_landing_start_lat(); - mission_landing_lon = _navigator->get_mission_landing_start_lon(); - mission_landing_alt = _navigator->get_mission_landing_start_alt(); - } + if (_dataman_cache_safepoint.size() != _stats.num_items) { + _dataman_cache_safepoint.resize(_stats.num_items); + } - dlat = mission_landing_lat - global_position.lat; - dlon = mission_landing_lon - global_position.lon; - double dist_squared = coord_dist_sq(dlat, dlon); + for (int index = 0; index < _dataman_cache_safepoint.size(); ++index) { + _dataman_cache_safepoint.load(static_cast(_stats.dataman_id), index); + } - // always find closest destination if in hover and VTOL - if (_param_rtl_type.get() == RTL_TYPE_CLOSEST || (vtol_in_rw_mode && !_navigator->on_mission_landing())) { + _dataman_state = DatamanState::Load; - // compare home position to landing position to decide which is closer - if (dist_squared < min_dist_squared) { - _destination.type = RTL_DESTINATION_MISSION_LANDING; - min_dist_squared = dist_squared; - _destination.lat = mission_landing_lat; - _destination.lon = mission_landing_lon; - _destination.alt = mission_landing_alt; + } else { + _dataman_state = DatamanState::UpdateRequestWait; } - - } else { - // it has to be the mission landing - _destination.type = RTL_DESTINATION_MISSION_LANDING; - min_dist_squared = dist_squared; - _destination.lat = mission_landing_lat; - _destination.lon = mission_landing_lon; - _destination.alt = mission_landing_alt; } - } - // do not consider rally point if RTL type is set to RTL_TYPE_MISSION_LANDING_REVERSED, so exit function and use either home or mission landing - if (_param_rtl_type.get() == RTL_TYPE_MISSION_LANDING_REVERSED) { - return; - } + break; - // compare to safe landing positions - mission_safe_point_s closest_safe_point {}; - mission_stats_entry_s stats; - int ret = dm_read(DM_KEY_SAFE_POINTS, 0, &stats, sizeof(mission_stats_entry_s)); - int num_safe_points = 0; + case DatamanState::Load: - if (ret == sizeof(mission_stats_entry_s)) { - num_safe_points = stats.num_items; - } + _dataman_cache_safepoint.update(); - // check if a safe point is closer than home or landing - int closest_index = 0; + if (!_dataman_cache_safepoint.isLoading()) { + _dataman_state = DatamanState::UpdateRequestWait; + _safe_points_updated = true; + } - for (int current_seq = 1; current_seq <= num_safe_points; ++current_seq) { - mission_safe_point_s mission_safe_point; + break; - if (dm_read(DM_KEY_SAFE_POINTS, current_seq, &mission_safe_point, sizeof(mission_safe_point_s)) != - sizeof(mission_safe_point_s)) { - PX4_ERR("dm_read failed"); - continue; - } + case DatamanState::Error: + PX4_ERR("Safe points update failed! state: %" PRIu8, static_cast(_error_state)); + _dataman_state = DatamanState::UpdateRequestWait; + break; - // TODO: take altitude into account for distance measurement - dlat = mission_safe_point.lat - global_position.lat; - dlon = mission_safe_point.lon - global_position.lon; - double dist_squared = coord_dist_sq(dlat, dlon); + default: + break; - if (dist_squared < min_dist_squared) { - closest_index = current_seq; - min_dist_squared = dist_squared; - closest_safe_point = mission_safe_point; - } } - if (closest_index > 0) { - _destination.type = RTL_DESTINATION_SAFE_POINT; - - // There is a safe point closer than home/mission landing - // TODO: handle all possible mission_safe_point.frame cases - switch (closest_safe_point.frame) { - case 0: // MAV_FRAME_GLOBAL - _destination.lat = closest_safe_point.lat; - _destination.lon = closest_safe_point.lon; - _destination.alt = closest_safe_point.alt; - _destination.yaw = home_landing_position.yaw; - break; - - case 3: // MAV_FRAME_GLOBAL_RELATIVE_ALT - _destination.lat = closest_safe_point.lat; - _destination.lon = closest_safe_point.lon; - _destination.alt = closest_safe_point.alt + home_landing_position.alt; // alt of safe point is rel to home - _destination.yaw = home_landing_position.yaw; - break; + if (_mission_id != _mission_sub.get().mission_id) { + _mission_id = _mission_sub.get().mission_id; + const dm_item_t dm_item = static_cast(_mission_sub.get().mission_dataman_id); + _dataman_cache_landItem.invalidate(); - default: - mavlink_log_critical(_navigator->get_mavlink_log_pub(), "RTL: unsupported MAV_FRAME\t"); - events::send(events::ID("rtl_unsupported_mav_frame"), events::Log::Error, "RTL: unsupported MAV_FRAME ({1})", - closest_safe_point.frame); - break; + if (_mission_sub.get().land_index > 0) { + _dataman_cache_landItem.load(dm_item, _mission_sub.get().land_index); } } - if (_param_rtl_cone_half_angle_deg.get() > 0 - && _navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) { - _rtl_alt = calculate_return_alt_from_cone_half_angle((float)_param_rtl_cone_half_angle_deg.get()); - - } else { - _rtl_alt = max(global_position.alt, _destination.alt + _param_rtl_return_alt.get()); - } + _dataman_cache_landItem.update(); } -void RTL::on_activation() +void RTL::on_inactivation() { - _rtl_state = RTL_STATE_NONE; - - // output the correct message, depending on where the RTL destination is - switch (_destination.type) { - case RTL_DESTINATION_HOME: - mavlink_log_info(_navigator->get_mavlink_log_pub(), "RTL: landing at home position.\t"); - events::send(events::ID("rtl_land_at_home"), events::Log::Info, "RTL: landing at home position"); + switch (_rtl_type) { + case RtlType::RTL_MISSION_FAST: // Fall through + case RtlType::RTL_MISSION_FAST_REVERSE: // Fall through + case RtlType::RTL_DIRECT_MISSION_LAND: + _rtl_mission_type_handle->on_inactivation(); break; - case RTL_DESTINATION_MISSION_LANDING: - mavlink_log_info(_navigator->get_mavlink_log_pub(), "RTL: landing at mission landing.\t"); - events::send(events::ID("rtl_land_at_mission"), events::Log::Info, "RTL: landing at mission landing"); + case RtlType::RTL_DIRECT: + _rtl_direct.on_inactivation(); break; - case RTL_DESTINATION_SAFE_POINT: - mavlink_log_info(_navigator->get_mavlink_log_pub(), "RTL: landing at safe landing point.\t"); - events::send(events::ID("rtl_land_at_safe_point"), events::Log::Info, "RTL: landing at safe landing point"); + default: break; } +} - const vehicle_global_position_s &global_position = *_navigator->get_global_position(); +void RTL::on_inactive() +{ + _global_pos_sub.update(); + _vehicle_status_sub.update(); + _mission_sub.update(); + _home_pos_sub.update(); + _wind_sub.update(); - if (_navigator->get_land_detected()->landed) { - // For safety reasons don't go into RTL if landed. - _rtl_state = RTL_STATE_LANDED; + updateDatamanCache(); - } else if ((global_position.alt < _destination.alt + _param_rtl_return_alt.get()) || _rtl_alt_min) { + parameters_update(); - // If lower than return altitude, climb up first. - // If rtl_alt_min is true then forcing altitude change even if above. - _rtl_state = RTL_STATE_CLIMB; + switch (_rtl_type) { + case RtlType::RTL_MISSION_FAST: + case RtlType::RTL_MISSION_FAST_REVERSE: + case RtlType::RTL_DIRECT_MISSION_LAND: + _rtl_mission_type_handle->on_inactive(); + break; - } else { - // Otherwise go straight to return - _rtl_state = RTL_STATE_RETURN; + case RtlType::RTL_DIRECT: + _rtl_direct.on_inactive(); + break; + + default: + break; } - // reset cruising speed and throttle to default for RTL - _navigator->reset_cruising_speed(); - _navigator->set_cruising_throttle(); + // Limit inactive calculation to 0.5Hz + hrt_abstime now{hrt_absolute_time()}; - set_rtl_item(); + if ((now - _destination_check_time) > 2_s) { + _destination_check_time = now; + setRtlTypeAndDestination(); + publishRemainingTimeEstimate(); + } } -void RTL::on_active() +void RTL::publishRemainingTimeEstimate() { - if (_rtl_state != RTL_STATE_LANDED && is_mission_item_reached_or_completed()) { - advance_rtl(); - set_rtl_item(); - } - - if (_rtl_state == RTL_STATE_LAND && _param_rtl_pld_md.get() > 0) { - _navigator->get_precland()->on_active(); - - } else if (_navigator->get_precland()->is_activated()) { - _navigator->get_precland()->on_inactivation(); - } + const bool global_position_recently_updated = _global_pos_sub.get().timestamp > 0 + && hrt_elapsed_time(&_global_pos_sub.get().timestamp) < 10_s; - // Limit rtl time calculation to 1Hz - if ((hrt_absolute_time() - _destination_check_time) > 1_s) { - _destination_check_time = hrt_absolute_time(); + rtl_time_estimate_s estimated_time{}; + estimated_time.valid = false; - const vehicle_global_position_s &global_position = *_navigator->get_global_position(); - - const bool global_position_recently_updated = global_position.timestamp > 0 - && hrt_elapsed_time(&global_position.timestamp) < 10_s; + if (_navigator->home_global_position_valid() && global_position_recently_updated) { + switch (_rtl_type) { + case RtlType::RTL_DIRECT: + estimated_time = _rtl_direct.calc_rtl_time_estimate(); + break; - rtl_time_estimate_s rtl_time_estimate{}; - rtl_time_estimate.valid = false; + case RtlType::RTL_DIRECT_MISSION_LAND: + case RtlType::RTL_MISSION_FAST: + case RtlType::RTL_MISSION_FAST_REVERSE: + estimated_time = _rtl_mission_type_handle->calc_rtl_time_estimate(); + break; - // Calculate RTL destination and time estimate only when there is a valid home and global position - if (_navigator->home_global_position_valid() && global_position_recently_updated) { - find_RTL_destination(); - calcRtlTimeEstimate(_rtl_state, rtl_time_estimate); - rtl_time_estimate.valid = true; + default: + break; } - - rtl_time_estimate.timestamp = hrt_absolute_time(); - _rtl_time_estimate_pub.publish(rtl_time_estimate); } + + _rtl_time_estimate_pub.publish(estimated_time); } -void RTL::set_rtl_item() +void RTL::on_activation() { - _navigator->set_can_loiter_at_sp(false); + setRtlTypeAndDestination(); + + switch (_rtl_type) { + case RtlType::RTL_DIRECT_MISSION_LAND: // Fall through + case RtlType::RTL_MISSION_FAST: // Fall through + case RtlType::RTL_MISSION_FAST_REVERSE: + _rtl_mission_type_handle->setReturnAltMin(_enforce_rtl_alt); + _rtl_mission_type_handle->on_activation(); + break; - const vehicle_global_position_s &gpos = *_navigator->get_global_position(); + case RtlType::RTL_DIRECT: + _rtl_direct.setReturnAltMin(_enforce_rtl_alt); + _rtl_direct.on_activation(); + break; - position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet(); + default: + break; + } - const float destination_dist = get_distance_to_next_waypoint(_destination.lat, _destination.lon, gpos.lat, gpos.lon); - const float loiter_altitude = math::min(_destination.alt + _param_rtl_descend_alt.get(), _rtl_alt); + // set gimbal to neutral position (level with horizon) to reduce change of damage on landing + _navigator->acquire_gimbal_control(); + _navigator->set_gimbal_neutral(); + _navigator->release_gimbal_control(); +} - // if we will switch to mission for landing, already set the loiter radius (incl. direction) from mission - const float landing_loiter_radius = _destination.type == RTL_DESTINATION_MISSION_LANDING ? - _navigator->get_mission_landing_loiter_radius() : _param_rtl_loiter_rad.get(); +void RTL::on_active() +{ + _global_pos_sub.update(); + _vehicle_status_sub.update(); + _mission_sub.update(); + _home_pos_sub.update(); + _wind_sub.update(); - const RTLHeadingMode rtl_heading_mode = static_cast(_param_rtl_hdg_md.get()); + updateDatamanCache(); - switch (_rtl_state) { - case RTL_STATE_CLIMB: { + switch (_rtl_type) { + case RtlType::RTL_MISSION_FAST: + case RtlType::RTL_MISSION_FAST_REVERSE: + case RtlType::RTL_DIRECT_MISSION_LAND: + _rtl_mission_type_handle->on_active(); + _rtl_mission_type_handle->updateFailsafeChecks(); + break; - _mission_item.nav_cmd = NAV_CMD_LOITER_TO_ALT; + case RtlType::RTL_DIRECT: + _rtl_direct.on_active(); + _rtl_direct.updateFailsafeChecks(); + break; - _mission_item.lat = gpos.lat; - _mission_item.lon = gpos.lon; - _mission_item.altitude = _rtl_alt; - _mission_item.altitude_is_relative = false; + default: + break; + } - if (rtl_heading_mode != RTLHeadingMode::RTL_DESTINATION_HEADING) { - _mission_item.yaw = _navigator->get_local_position()->heading; + // Keep publishing remaining time estimates every 2 seconds + hrt_abstime now{hrt_absolute_time()}; - } else { - _mission_item.yaw = _destination.yaw; - } + if ((now - _destination_check_time) > 2_s) { + _destination_check_time = now; + publishRemainingTimeEstimate(); + } +} - _mission_item.acceptance_radius = _navigator->get_acceptance_radius(); - _mission_item.time_inside = 0.0f; - _mission_item.autocontinue = true; - _mission_item.origin = ORIGIN_ONBOARD; - _mission_item.loiter_radius = _navigator->get_loiter_radius(); - - mavlink_log_info(_navigator->get_mavlink_log_pub(), "RTL: climb to %d m (%d m above destination)\t", - (int)ceilf(_rtl_alt), (int)ceilf(_rtl_alt - _destination.alt)); - events::send(events::ID("rtl_climb_to"), events::Log::Info, - "RTL: climb to {1m_v} ({2m_v} above destination)", - (int32_t)ceilf(_rtl_alt), (int32_t)ceilf(_rtl_alt - _destination.alt)); - break; - } +void RTL::setRtlTypeAndDestination() +{ - case RTL_STATE_RETURN: { + init_rtl_mission_type(); - // For FW flight:set to LOITER_TIME (with 0s loiter time), such that the loiter (orbit) status - // can be displayed on groundstation and the WP is accepted once within loiter radius - if (_navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING) { - _mission_item.nav_cmd = NAV_CMD_LOITER_TIME_LIMIT; + uint8_t safe_point_index{0U}; + if (_param_rtl_type.get() != 2) { + // check the closest allowed destination. + DestinationType destination_type{DestinationType::DESTINATION_TYPE_HOME}; + PositionYawSetpoint rtl_position; + float rtl_alt; + findRtlDestination(destination_type, rtl_position, rtl_alt, safe_point_index); - } else { - _mission_item.nav_cmd = NAV_CMD_WAYPOINT; - } + switch (destination_type) { + case DestinationType::DESTINATION_TYPE_MISSION_LAND: + _rtl_type = RtlType::RTL_DIRECT_MISSION_LAND; + _rtl_mission_type_handle->setRtlAlt(rtl_alt); + break; - _mission_item.lat = _destination.lat; - _mission_item.lon = _destination.lon; - _mission_item.altitude = _rtl_alt; // Don't change altitude - _mission_item.altitude_is_relative = false; + case DestinationType::DESTINATION_TYPE_SAFE_POINT: // Fallthrough + case DestinationType::DESTINATION_TYPE_HOME: // Fallthrough + default: - if (rtl_heading_mode == RTLHeadingMode::RTL_NAVIGATION_HEADING && - destination_dist > _param_rtl_min_dist.get()) { - _mission_item.yaw = get_bearing_to_next_waypoint(gpos.lat, gpos.lon, _destination.lat, _destination.lon); + loiter_point_s landing_loiter; + landing_loiter.lat = rtl_position.lat; + landing_loiter.lon = rtl_position.lon; + landing_loiter.height_m = NAN; - } else if (rtl_heading_mode == RTLHeadingMode::RTL_DESTINATION_HEADING || - destination_dist < _param_rtl_min_dist.get()) { - // Use destination yaw if close to _destination. - _mission_item.yaw = _destination.yaw; + land_approaches_s rtl_land_approaches{readVtolLandApproaches(rtl_position)}; - } else if (rtl_heading_mode == RTLHeadingMode::RTL_CURRENT_HEADING) { - _mission_item.yaw = _navigator->get_local_position()->heading; + if (_vehicle_status_sub.get().is_vtol + && (_vehicle_status_sub.get().vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING) + && rtl_land_approaches.isAnyApproachValid()) { + landing_loiter = chooseBestLandingApproach(rtl_land_approaches); } - _mission_item.acceptance_radius = _navigator->get_acceptance_radius(); - _mission_item.time_inside = 0.0f; - _mission_item.autocontinue = true; - _mission_item.origin = ORIGIN_ONBOARD; - _mission_item.loiter_radius = landing_loiter_radius; - - mavlink_log_info(_navigator->get_mavlink_log_pub(), "RTL: return at %d m (%d m above destination)\t", - (int)ceilf(_mission_item.altitude), (int)ceilf(_mission_item.altitude - _destination.alt)); - events::send(events::ID("rtl_return_at"), events::Log::Info, - "RTL: return at {1m_v} ({2m_v} above destination)", - (int32_t)ceilf(_mission_item.altitude), (int32_t)ceilf(_mission_item.altitude - _destination.alt)); + _rtl_type = RtlType::RTL_DIRECT; + _rtl_direct.setRtlAlt(rtl_alt); + _rtl_direct.setRtlPosition(rtl_position, landing_loiter); break; } + } - case RTL_STATE_DESCEND: { - _mission_item.nav_cmd = NAV_CMD_LOITER_TO_ALT; - _mission_item.lat = _destination.lat; - _mission_item.lon = _destination.lon; - _mission_item.altitude = loiter_altitude; - _mission_item.altitude_is_relative = false; - - // Except for vtol which might be still off here and should point towards this location. - const float d_current = get_distance_to_next_waypoint(gpos.lat, gpos.lon, _mission_item.lat, _mission_item.lon); - - if (_navigator->get_vstatus()->is_vtol && (d_current > _navigator->get_acceptance_radius())) { - _mission_item.yaw = get_bearing_to_next_waypoint(gpos.lat, gpos.lon, _mission_item.lat, _mission_item.lon); - - } else if (rtl_heading_mode == RTLHeadingMode::RTL_CURRENT_HEADING) { - _mission_item.yaw = _navigator->get_local_position()->heading; + // Publish rtl status + _rtl_status_pub.get().timestamp = hrt_absolute_time(); + _rtl_status_pub.get().safe_points_id = _safe_points_id; + _rtl_status_pub.get().is_evaluation_pending = _dataman_state != DatamanState::UpdateRequestWait; + _rtl_status_pub.get().has_vtol_approach = false; - } else { - _mission_item.yaw = _destination.yaw; - } + if ((_param_rtl_type.get() == 0) || (_param_rtl_type.get() == 3)) { + _rtl_status_pub.get().has_vtol_approach = _home_has_land_approach || _one_rally_point_has_land_approach; - _mission_item.acceptance_radius = _navigator->get_acceptance_radius(); - _mission_item.time_inside = 0.0f; - _mission_item.autocontinue = true; - _mission_item.origin = ORIGIN_ONBOARD; - _mission_item.loiter_radius = landing_loiter_radius; + } else if (_param_rtl_type.get() == 1) { + _rtl_status_pub.get().has_vtol_approach = _one_rally_point_has_land_approach; + } - // Disable previous setpoint to prevent drift. - pos_sp_triplet->previous.valid = false; + _rtl_status_pub.get().rtl_type = static_cast(_rtl_type); + _rtl_status_pub.get().safe_point_index = safe_point_index; - mavlink_log_info(_navigator->get_mavlink_log_pub(), "RTL: descend to %d m (%d m above destination)\t", - (int)ceilf(_mission_item.altitude), (int)ceilf(_mission_item.altitude - _destination.alt)); - events::send(events::ID("rtl_descend_to"), events::Log::Info, - "RTL: descend to {1m_v} ({2m_v} above destination)", - (int32_t)ceilf(_mission_item.altitude), (int32_t)ceilf(_mission_item.altitude - _destination.alt)); - break; - } + _rtl_status_pub.update(); - case RTL_STATE_LOITER: { - const bool autocontinue = (_param_rtl_land_delay.get() > FLT_EPSILON); +} - if (autocontinue) { - _mission_item.nav_cmd = NAV_CMD_LOITER_TIME_LIMIT; - mavlink_log_info(_navigator->get_mavlink_log_pub(), "RTL: loiter %.1fs\t", - (double)_param_rtl_land_delay.get()); - events::send(events::ID("rtl_loiter"), events::Log::Info, "RTL: loiter {1:.1}s", _param_rtl_land_delay.get()); +void RTL::findRtlDestination(DestinationType &destination_type, PositionYawSetpoint &rtl_position, float &rtl_alt, + uint8_t &safe_point_index) +{ + // set destination to home per default, then check if other valid landing spot is closer + rtl_position.alt = _home_pos_sub.get().alt; + rtl_position.lat = _home_pos_sub.get().lat; + rtl_position.lon = _home_pos_sub.get().lon; + rtl_position.yaw = _home_pos_sub.get().yaw; + destination_type = DestinationType::DESTINATION_TYPE_HOME; - } else { - _mission_item.nav_cmd = NAV_CMD_LOITER_UNLIMITED; - mavlink_log_info(_navigator->get_mavlink_log_pub(), "RTL: completed, loitering\t"); - events::send(events::ID("rtl_completed_loiter"), events::Log::Info, "RTL: completed, loitering"); - } + const bool vtol_in_rw_mode = _vehicle_status_sub.get().is_vtol + && (_vehicle_status_sub.get().vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING); - _mission_item.lat = _destination.lat; - _mission_item.lon = _destination.lon; - _mission_item.altitude = loiter_altitude; // Don't change altitude. - _mission_item.altitude_is_relative = false; + const bool vtol_in_fw_mode = _vehicle_status_sub.get().is_vtol + && (_vehicle_status_sub.get().vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING); - if (rtl_heading_mode == RTLHeadingMode::RTL_CURRENT_HEADING) { - _mission_item.yaw = _navigator->get_local_position()->heading; + // get distance to home position + float home_dist{get_distance_to_next_waypoint(_global_pos_sub.get().lat, _global_pos_sub.get().lon, rtl_position.lat, rtl_position.lon)}; + float min_dist; - } else { - _mission_item.yaw = _destination.yaw; - } + _home_has_land_approach = hasVtolLandApproach(rtl_position); - _mission_item.acceptance_radius = _navigator->get_acceptance_radius(); - _mission_item.time_inside = max(_param_rtl_land_delay.get(), 0.0f); - _mission_item.autocontinue = autocontinue; - _mission_item.origin = ORIGIN_ONBOARD; - _mission_item.loiter_radius = landing_loiter_radius; + if (((_param_rtl_type.get() == 1) && !vtol_in_rw_mode) || (vtol_in_fw_mode && (_param_rtl_approach_force.get() == 1) + && !_home_has_land_approach)) { + // Set minimum distance to maximum value when RTL_TYPE is set to 1 and we are not in RW mode or we forces approach landing for vtol in fw and it is not defined for home. + min_dist = FLT_MAX; - _navigator->set_can_loiter_at_sp(true); + } else { + min_dist = home_dist; + } - break; + // consider the mission landing if available and allowed + if (((_param_rtl_type.get() == 1) || (_param_rtl_type.get() == 3) || (fabsf(FLT_MAX - min_dist) < FLT_EPSILON)) + && hasMissionLandStart()) { + mission_item_s land_mission_item; + const dm_item_t dm_item = static_cast(_mission_sub.get().mission_dataman_id); + bool success = _dataman_cache_landItem.loadWait(dm_item, _mission_sub.get().land_index, + reinterpret_cast(&land_mission_item), sizeof(mission_item_s), 500_ms); + + if (!success) { + /* not supposed to happen unless the datamanager can't access the SD card, etc. */ + mavlink_log_critical(_navigator->get_mavlink_log_pub(), "Mission land item could not be read.\t"); + events::send(events::ID("rtl_failed_to_read_land_item"), events::Log::Error, + "Mission land item could not be read"); } - case RTL_STATE_HEAD_TO_CENTER: { - _mission_item.nav_cmd = NAV_CMD_WAYPOINT; - _mission_item.lat = _destination.lat; - _mission_item.lon = _destination.lon; - _mission_item.altitude = loiter_altitude; - _mission_item.altitude_is_relative = false; + float dist{get_distance_to_next_waypoint(_global_pos_sub.get().lat, _global_pos_sub.get().lon, land_mission_item.lat, land_mission_item.lon)}; - if (rtl_heading_mode == RTLHeadingMode::RTL_NAVIGATION_HEADING) { - _mission_item.yaw = get_bearing_to_next_waypoint(gpos.lat, gpos.lon, _destination.lat, _destination.lon); + if ((dist + MIN_DIST_THRESHOLD) < min_dist) { + if (_param_rtl_type.get() != 0) { + min_dist = dist; - } else if (rtl_heading_mode == RTLHeadingMode::RTL_DESTINATION_HEADING) { - _mission_item.yaw = _destination.yaw; - - } else if (rtl_heading_mode == RTLHeadingMode::RTL_CURRENT_HEADING) { - _mission_item.yaw = _navigator->get_local_position()->heading; + } else { + // Mission landing is not allowed, but home has no approaches. Still use mission landing. + min_dist = FLT_MAX; } - _mission_item.vtol_back_transition = true; - // acceptance_radius will be overwritten since vtol_back_transition is set, - // set as a default value only - _mission_item.acceptance_radius = _navigator->get_acceptance_radius(); - _mission_item.time_inside = 0.0f; - _mission_item.autocontinue = true; - _mission_item.origin = ORIGIN_ONBOARD; - - // Disable previous setpoint to prevent drift. - pos_sp_triplet->previous.valid = false; - break; + setLandPosAsDestination(rtl_position, land_mission_item); + destination_type = DestinationType::DESTINATION_TYPE_MISSION_LAND; } + } - case RTL_STATE_TRANSITION_TO_MC: { - set_vtol_transition_item(&_mission_item, vtol_vehicle_status_s::VEHICLE_VTOL_STATE_MC); - break; - } + if (_safe_points_updated) { - case RTL_MOVE_TO_LAND_HOVER_VTOL: { - _mission_item.nav_cmd = NAV_CMD_WAYPOINT; - _mission_item.lat = _destination.lat; - _mission_item.lon = _destination.lon; - _mission_item.altitude = loiter_altitude; - _mission_item.altitude_is_relative = false; + _one_rally_point_has_land_approach = false; - if (rtl_heading_mode == RTLHeadingMode::RTL_NAVIGATION_HEADING) { - _mission_item.yaw = get_bearing_to_next_waypoint(gpos.lat, gpos.lon, _destination.lat, _destination.lon); + for (int current_seq = 0; current_seq < _dataman_cache_safepoint.size(); ++current_seq) { + mission_item_s mission_safe_point; - } else if (rtl_heading_mode == RTLHeadingMode::RTL_DESTINATION_HEADING) { - _mission_item.yaw = _destination.yaw; + bool success = _dataman_cache_safepoint.loadWait(static_cast(_stats.dataman_id), current_seq, + reinterpret_cast(&mission_safe_point), + sizeof(mission_item_s), 500_ms); - } else if (rtl_heading_mode == RTLHeadingMode::RTL_CURRENT_HEADING) { - _mission_item.yaw = _navigator->get_local_position()->heading; + if (!success) { + PX4_ERR("dm_read failed"); + continue; } - _mission_item.acceptance_radius = _navigator->get_acceptance_radius(); - _mission_item.origin = ORIGIN_ONBOARD; - break; - } + // Ignore safepoints which are too close to the homepoint + const float dist_to_home = get_distance_to_next_waypoint(_home_pos_sub.get().lat, _home_pos_sub.get().lon, + mission_safe_point.lat, mission_safe_point.lon); - case RTL_STATE_LAND: { - // Land at destination. - _mission_item.nav_cmd = NAV_CMD_LAND; - _mission_item.lat = _destination.lat; - _mission_item.lon = _destination.lon; - _mission_item.altitude = _destination.alt; - _mission_item.altitude_is_relative = false; + if (mission_safe_point.nav_cmd == NAV_CMD_RALLY_POINT && dist_to_home > MAX_DIST_FROM_HOME_FOR_LAND_APPROACHES) { + float dist{get_distance_to_next_waypoint(_global_pos_sub.get().lat, _global_pos_sub.get().lon, mission_safe_point.lat, mission_safe_point.lon)}; - if (rtl_heading_mode == RTLHeadingMode::RTL_CURRENT_HEADING) { - _mission_item.yaw = _navigator->get_local_position()->heading; + PositionYawSetpoint safepoint_position; + setSafepointAsDestination(safepoint_position, mission_safe_point); - } else { - _mission_item.yaw = _destination.yaw; - } - - _mission_item.acceptance_radius = _navigator->get_acceptance_radius(); - _mission_item.time_inside = 0.0f; - _mission_item.autocontinue = true; - _mission_item.origin = ORIGIN_ONBOARD; - _mission_item.land_precision = _param_rtl_pld_md.get(); + bool current_safe_point_has_approaches{hasVtolLandApproach(safepoint_position)}; - if (_mission_item.land_precision == 1) { - _navigator->get_precland()->set_mode(PrecLandMode::Opportunistic); - _navigator->get_precland()->on_activation(); + _one_rally_point_has_land_approach |= current_safe_point_has_approaches; - } else if (_mission_item.land_precision == 2) { - _navigator->get_precland()->set_mode(PrecLandMode::Required); - _navigator->get_precland()->on_activation(); + if (((dist + MIN_DIST_THRESHOLD) < min_dist) && (!vtol_in_fw_mode || (_param_rtl_approach_force.get() == 0) + || current_safe_point_has_approaches)) { + min_dist = dist; + rtl_position = safepoint_position; + destination_type = DestinationType::DESTINATION_TYPE_SAFE_POINT; + safe_point_index = current_seq; + } } - - mavlink_log_info(_navigator->get_mavlink_log_pub(), "RTL: land at destination\t"); - events::send(events::ID("rtl_land_at_destination"), events::Log::Info, "RTL: land at destination"); - break; - } - - case RTL_STATE_LANDED: { - set_idle_item(&_mission_item); - set_return_alt_min(false); - break; } - - default: - break; } - reset_mission_item_reached(); - - // Execute command if set. This is required for commands like VTOL transition. - if (!item_contains_position(_mission_item)) { - issue_command(_mission_item); - } - - // Convert mission item to current position setpoint and make it valid. - mission_apply_limitation(_mission_item); + if (_param_rtl_cone_half_angle_deg.get() > 0 + && _vehicle_status_sub.get().vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) { + rtl_alt = calculate_return_alt_from_cone_half_angle(rtl_position, (float)_param_rtl_cone_half_angle_deg.get()); - if (mission_item_to_position_setpoint(_mission_item, &pos_sp_triplet->current)) { - _navigator->set_position_setpoint_triplet_updated(); + } else { + rtl_alt = max(_global_pos_sub.get().alt, rtl_position.alt + _param_rtl_return_alt.get()); } } -void RTL::advance_rtl() +void RTL::setLandPosAsDestination(PositionYawSetpoint &rtl_position, mission_item_s &land_mission_item) const { - // determines if the vehicle should loiter above land - const bool descend_and_loiter = _param_rtl_land_delay.get() < -DELAY_SIGMA || _param_rtl_land_delay.get() > DELAY_SIGMA; - - // vehicle is a vtol and currently in fixed wing mode - const bool vtol_in_fw_mode = _navigator->get_vstatus()->is_vtol - && _navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING; - - switch (_rtl_state) { - case RTL_STATE_CLIMB: - _rtl_state = RTL_STATE_RETURN; - break; - - case RTL_STATE_RETURN: - _rtl_state = RTL_STATE_DESCEND; - break; - - case RTL_STATE_DESCEND: - - if (descend_and_loiter) { - _rtl_state = RTL_STATE_LOITER; - - } else if (vtol_in_fw_mode) { - _rtl_state = RTL_STATE_HEAD_TO_CENTER; - - } else { - _rtl_state = RTL_STATE_LAND; - } - - break; - - case RTL_STATE_LOITER: - - if (vtol_in_fw_mode) { - _rtl_state = RTL_STATE_HEAD_TO_CENTER; - - } else { - _rtl_state = RTL_STATE_LAND; - } - - break; - - case RTL_STATE_HEAD_TO_CENTER: - - _rtl_state = RTL_STATE_TRANSITION_TO_MC; - - break; - - case RTL_STATE_TRANSITION_TO_MC: - - _rtl_state = RTL_MOVE_TO_LAND_HOVER_VTOL; - - break; - - case RTL_MOVE_TO_LAND_HOVER_VTOL: - - _rtl_state = RTL_STATE_LAND; + rtl_position.alt = land_mission_item.altitude_is_relative ? land_mission_item.altitude + + _home_pos_sub.get().alt : land_mission_item.altitude; + rtl_position.lat = land_mission_item.lat; + rtl_position.lon = land_mission_item.lon; + rtl_position.yaw = _home_pos_sub.get().yaw; +} +void RTL::setSafepointAsDestination(PositionYawSetpoint &rtl_position, + const mission_item_s &mission_safe_point) const +{ + // There is a safe point closer than home/mission landing + // TODO: handle all possible mission_safe_point.frame cases + switch (mission_safe_point.frame) { + case 0: // MAV_FRAME_GLOBAL + rtl_position.lat = mission_safe_point.lat; + rtl_position.lon = mission_safe_point.lon; + rtl_position.alt = mission_safe_point.altitude; + rtl_position.yaw = _home_pos_sub.get().yaw;; break; - case RTL_STATE_LAND: - _rtl_state = RTL_STATE_LANDED; - _navigator->mode_completed(vehicle_status_s::NAVIGATION_STATE_AUTO_RTL); + case 3: // MAV_FRAME_GLOBAL_RELATIVE_ALT + rtl_position.lat = mission_safe_point.lat; + rtl_position.lon = mission_safe_point.lon; + rtl_position.alt = mission_safe_point.altitude + _home_pos_sub.get().alt; // alt of safe point is rel to home + rtl_position.yaw = _home_pos_sub.get().yaw;; break; default: + mavlink_log_critical(_navigator->get_mavlink_log_pub(), "RTL: unsupported MAV_FRAME\t"); + events::send(events::ID("rtl_unsupported_mav_frame"), events::Log::Error, "RTL: unsupported MAV_FRAME ({1})", + mission_safe_point.frame); break; } } -float RTL::calculate_return_alt_from_cone_half_angle(float cone_half_angle_deg) +float RTL::calculate_return_alt_from_cone_half_angle(const PositionYawSetpoint &rtl_position, + float cone_half_angle_deg) const { - const vehicle_global_position_s &gpos = *_navigator->get_global_position(); - // horizontal distance to destination - const float destination_dist = get_distance_to_next_waypoint(_destination.lat, _destination.lon, gpos.lat, gpos.lon); + const float destination_dist = get_distance_to_next_waypoint(_global_pos_sub.get().lat, _global_pos_sub.get().lon, + rtl_position.lat, rtl_position.lon); // minium rtl altitude to use when outside of horizontal acceptance radius of target position. // We choose the minimum height to be two times the distance from the land position in order to // avoid the vehicle touching the ground while still moving horizontally. - const float return_altitude_min_outside_acceptance_rad_amsl = _destination.alt + 2.0f * - _navigator->get_acceptance_radius(); + const float return_altitude_min_outside_acceptance_rad_amsl = rtl_position.alt + 2.0f * _param_nav_acc_rad.get(); - float return_altitude_amsl = _destination.alt + _param_rtl_return_alt.get(); + const float max_return_altitude = rtl_position.alt + _param_rtl_return_alt.get(); - if (destination_dist <= _navigator->get_acceptance_radius()) { - return_altitude_amsl = _destination.alt + 2.0f * destination_dist; + float return_altitude_amsl = max_return_altitude; - } else { + if (destination_dist <= _param_nav_acc_rad.get()) { + return_altitude_amsl = rtl_position.alt + 2.0f * destination_dist; + } else { if (destination_dist <= _param_rtl_min_dist.get()) { // constrain cone half angle to meaningful values. All other cases are already handled above. const float cone_half_angle_rad = radians(constrain(cone_half_angle_deg, 1.0f, 89.0f)); // minimum altitude we need in order to be within the user defined cone - const float cone_intersection_altitude_amsl = destination_dist / tanf(cone_half_angle_rad) + _destination.alt; + const float cone_intersection_altitude_amsl = destination_dist / tanf(cone_half_angle_rad) + rtl_position.alt; return_altitude_amsl = min(cone_intersection_altitude_amsl, return_altitude_amsl); } @@ -724,211 +552,166 @@ float RTL::calculate_return_alt_from_cone_half_angle(float cone_half_angle_deg) return_altitude_amsl = max(return_altitude_amsl, return_altitude_min_outside_acceptance_rad_amsl); } - return max(return_altitude_amsl, gpos.alt); + return constrain(return_altitude_amsl, _global_pos_sub.get().alt, max_return_altitude); } -void RTL::calcRtlTimeEstimate(const RTLState rtl_state, rtl_time_estimate_s &rtl_time_estimate) +void RTL::init_rtl_mission_type() { - const vehicle_global_position_s &gpos = *_navigator->get_global_position(); - - // Sum up time estimate for various segments of the landing procedure - switch (rtl_state) { - case RTL_STATE_NONE: - case RTL_STATE_CLIMB: { - // Climb segment is only relevant if the drone is below return altitude - const float climb_dist = gpos.alt < _rtl_alt ? (_rtl_alt - gpos.alt) : 0; - - if (climb_dist > FLT_EPSILON) { - rtl_time_estimate.time_estimate += climb_dist / getClimbRate(); - } - } - - // FALLTHROUGH - case RTL_STATE_RETURN: - - // Add cruise segment to home - rtl_time_estimate.time_estimate += get_distance_to_next_waypoint( - _destination.lat, _destination.lon, gpos.lat, gpos.lon) / getCruiseGroundSpeed(); + RtlType new_rtl_mission_type{RtlType::RTL_DIRECT_MISSION_LAND}; - // FALLTHROUGH - case RTL_STATE_HEAD_TO_CENTER: - case RTL_STATE_TRANSITION_TO_MC: - case RTL_STATE_DESCEND: { - // when descending, the target altitude is stored in the current mission item - float initial_altitude = 0.f; - float loiter_altitude = 0.f; + if (_param_rtl_type.get() == 2) { + if (hasMissionLandStart()) { + new_rtl_mission_type = RtlType::RTL_MISSION_FAST; - if (rtl_state == RTL_STATE_DESCEND) { - // Take current vehicle altitude as the starting point for calculation - initial_altitude = gpos.alt; // TODO: Check if this is in the right frame - loiter_altitude = _mission_item.altitude; // Next waypoint = loiter - - - } else { - // Take the return altitude as the starting point for the calculation - initial_altitude = _rtl_alt; // CLIMB and RETURN - loiter_altitude = math::min(_destination.alt + _param_rtl_descend_alt.get(), _rtl_alt); - } - - // Add descend segment (first landing phase: return alt to loiter alt) - rtl_time_estimate.time_estimate += fabsf(initial_altitude - loiter_altitude) / getDescendRate(); + } else { + new_rtl_mission_type = RtlType::RTL_MISSION_FAST_REVERSE; } + } - // FALLTHROUGH - case RTL_STATE_LOITER: - // Add land delay (the short pause for deploying landing gear) - // TODO: Check if landing gear is deployed or not - rtl_time_estimate.time_estimate += _param_rtl_land_delay.get(); - - // FALLTHROUGH - case RTL_MOVE_TO_LAND_HOVER_VTOL: - case RTL_STATE_LAND: { - float initial_altitude; - - // Add land segment (second landing phase) which comes after LOITER - if (rtl_state == RTL_STATE_LAND) { - // If we are in this phase, use the current vehicle altitude instead - // of the altitude paramteter to get a continous time estimate - initial_altitude = gpos.alt; + if (_set_rtl_mission_type == new_rtl_mission_type) { + return; + } + if (_rtl_mission_type_handle) { + delete _rtl_mission_type_handle; + _rtl_mission_type_handle = nullptr; + _set_rtl_mission_type = RtlType::NONE; + } - } else { - // If this phase is not active yet, simply use the loiter altitude, - // which is where the LAND phase will start - const float loiter_altitude = math::min(_destination.alt + _param_rtl_descend_alt.get(), _rtl_alt); - initial_altitude = loiter_altitude; - } + switch (new_rtl_mission_type) { + case RtlType::RTL_DIRECT_MISSION_LAND: + _rtl_mission_type_handle = new RtlDirectMissionLand(_navigator); + _set_rtl_mission_type = RtlType::RTL_DIRECT_MISSION_LAND; + // RTL type is either direct or mission land have to set it later. + break; - // Prevent negative times when close to the ground - if (initial_altitude > _destination.alt) { - rtl_time_estimate.time_estimate += (initial_altitude - _destination.alt) / getHoverLandSpeed(); - } - } + case RtlType::RTL_MISSION_FAST: + _rtl_mission_type_handle = new RtlMissionFast(_navigator); + _set_rtl_mission_type = RtlType::RTL_MISSION_FAST; + _rtl_type = RtlType::RTL_MISSION_FAST; + break; + case RtlType::RTL_MISSION_FAST_REVERSE: + _rtl_mission_type_handle = new RtlMissionFastReverse(_navigator); + _set_rtl_mission_type = RtlType::RTL_MISSION_FAST_REVERSE; + _rtl_type = RtlType::RTL_MISSION_FAST_REVERSE; break; - case RTL_STATE_LANDED: - // Remaining time is 0 + default: break; } - - // Prevent negative durations as phyiscally they make no sense. These can - // occur during the last phase of landing when close to the ground. - rtl_time_estimate.time_estimate = math::max(0.f, rtl_time_estimate.time_estimate); - - // Use actual time estimate to compute the safer time estimate with additional scale factor and a margin - rtl_time_estimate.safe_time_estimate = _param_rtl_time_factor.get() * rtl_time_estimate.time_estimate - + _param_rtl_time_margin.get(); } -float RTL::getCruiseSpeed() +void RTL::parameters_update() { - float ret = 1e6f; + if (_parameter_update_sub.updated()) { + parameter_update_s param_update; + _parameter_update_sub.copy(¶m_update); - if (_navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) { - if (_param_mpc_xy_cruise == PARAM_INVALID || param_get(_param_mpc_xy_cruise, &ret) != PX4_OK) { - ret = 1e6f; - } + // If any parameter updated, call updateParams() to check if + // this class attributes need updating (and do so). + updateParams(); - } else if (_navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING) { - if (_param_fw_airspeed_trim == PARAM_INVALID || param_get(_param_fw_airspeed_trim, &ret) != PX4_OK) { - ret = 1e6f; - } - - } else if (_navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROVER) { - if (_param_rover_cruise_speed == PARAM_INVALID || param_get(_param_rover_cruise_speed, &ret) != PX4_OK) { - ret = 1e6f; + if (!isActive()) { + setRtlTypeAndDestination(); } } - - return ret; } -float RTL::getHoverLandSpeed() +bool RTL::hasMissionLandStart() const { - float ret = 1e6f; - - if (_param_mpc_land_speed == PARAM_INVALID || param_get(_param_mpc_land_speed, &ret) != PX4_OK) { - ret = 1e6f; - } - - return ret; + return _mission_sub.get().land_start_index >= 0 && _mission_sub.get().land_index >= 0 + && _navigator->get_mission_result()->valid; } -matrix::Vector2f RTL::get_wind() +bool RTL::hasVtolLandApproach(const PositionYawSetpoint &rtl_position) const { - _wind_sub.update(); - matrix::Vector2f wind; - - if (hrt_absolute_time() - _wind_sub.get().timestamp < 1_s) { - wind(0) = _wind_sub.get().windspeed_north; - wind(1) = _wind_sub.get().windspeed_east; - } - - return wind; + return readVtolLandApproaches(rtl_position).isAnyApproachValid(); } -float RTL::getClimbRate() +loiter_point_s RTL::chooseBestLandingApproach(const land_approaches_s &vtol_land_approaches) { - float ret = 1e6f; + const float wind_direction = atan2f(_wind_sub.get().windspeed_east, _wind_sub.get().windspeed_north); + int8_t min_index = -1; + float wind_angle_prev = INFINITY; - if (_navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) { - if (_param_mpc_z_v_auto_up == PARAM_INVALID || param_get(_param_mpc_z_v_auto_up, &ret) != PX4_OK) { - ret = 1e6f; - } + for (int i = 0; i < vtol_land_approaches.num_approaches_max; i++) { - } else if (_navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING) { + if (vtol_land_approaches.approaches[i].isValid()) { + const float wind_angle = wrap_pi(get_bearing_to_next_waypoint(_home_pos_sub.get().lat, + _home_pos_sub.get().lon, vtol_land_approaches.approaches[i].lat, + vtol_land_approaches.approaches[i].lon) - wind_direction); + + if (fabsf(wind_angle) < wind_angle_prev) { + min_index = i; + wind_angle_prev = fabsf(wind_angle); + } - if (_param_fw_climb_rate == PARAM_INVALID || param_get(_param_fw_climb_rate, &ret) != PX4_OK) { - ret = 1e6f; } } - return ret; + if (min_index >= 0) { + return vtol_land_approaches.approaches[min_index]; + + } else { + + return loiter_point_s(); + } } -float RTL::getDescendRate() +land_approaches_s RTL::readVtolLandApproaches(PositionYawSetpoint rtl_position) const { - float ret = 1e6f; - if (_navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) { - if (_param_mpc_z_v_auto_dn == PARAM_INVALID || param_get(_param_mpc_z_v_auto_dn, &ret) != PX4_OK) { - ret = 1e6f; - } + // go through all mission items in the rally point storage. If we find a mission item of type NAV_CMD_RALLY_POINT + // which is within MAX_DIST_FROM_HOME_FOR_LAND_APPROACHES of our current home position then treat ALL following mission items of type NAV_CMD_LOITER_TO_ALT which come + // BEFORE the next mission item of type NAV_CMD_RALLY_POINT as land approaches for the home position + land_approaches_s vtol_land_approaches{}; - } else if (_navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING) { - if (_param_fw_sink_rate == PARAM_INVALID || param_get(_param_fw_sink_rate, &ret) != PX4_OK) { - ret = 1e6f; - } + if (!_safe_points_updated) { + return vtol_land_approaches; } - return ret; -} + bool foundHomeLandApproaches = false; + uint8_t sector_counter = 0; -float RTL::getCruiseGroundSpeed() -{ - float cruise_speed = getCruiseSpeed(); + for (int current_seq = 0; current_seq < _stats.num_items; ++current_seq) { + mission_item_s mission_item{}; + + bool success_mission_item = _dataman_cache_safepoint.loadWait(static_cast(_stats.dataman_id), current_seq, + reinterpret_cast(&mission_item), + sizeof(mission_item_s)); - if (_navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING) { - const vehicle_global_position_s &global_position = *_navigator->get_global_position(); - matrix::Vector2f wind = get_wind(); + if (!success_mission_item) { + PX4_ERR("dm_read failed"); + break; + } - matrix::Vector2f to_destination_vec; - get_vector_to_next_waypoint(global_position.lat, global_position.lon, _destination.lat, _destination.lon, - &to_destination_vec(0), &to_destination_vec(1)); + if (mission_item.nav_cmd == NAV_CMD_RALLY_POINT) { - const matrix::Vector2f to_home_dir = to_destination_vec.unit_or_zero(); + if (foundHomeLandApproaches) { + break; + } - const float wind_towards_home = wind.dot(to_home_dir); - const float wind_across_home = matrix::Vector2f(wind - to_home_dir * wind_towards_home).norm(); + const float dist_to_safepoint = get_distance_to_next_waypoint(mission_item.lat, mission_item.lon, rtl_position.lat, + rtl_position.lon); + if (dist_to_safepoint < MAX_DIST_FROM_HOME_FOR_LAND_APPROACHES) { + foundHomeLandApproaches = true; + vtol_land_approaches.land_location_lat_lon = matrix::Vector2d(mission_item.lat, mission_item.lon); + } - // Note: use fminf so that we don't _rely_ on wind towards home to make RTL more efficient - const float ground_speed = sqrtf(cruise_speed * cruise_speed - wind_across_home * wind_across_home) + fminf( - 0.f, wind_towards_home); + sector_counter = 0; + } - cruise_speed = ground_speed; + if (foundHomeLandApproaches && mission_item.nav_cmd == NAV_CMD_LOITER_TO_ALT) { + vtol_land_approaches.approaches[sector_counter].lat = mission_item.lat; + vtol_land_approaches.approaches[sector_counter].lon = mission_item.lon; + vtol_land_approaches.approaches[sector_counter].height_m = MissionBlock::get_absolute_altitude_for_item(mission_item, + _home_pos_sub.get().alt); + vtol_land_approaches.approaches[sector_counter].loiter_radius_m = mission_item.loiter_radius; + sector_counter++; + } } - return cruise_speed; + return vtol_land_approaches; } diff --git a/src/modules/navigator/rtl.h b/src/modules/navigator/rtl.h index 3c6dea1a2b7b..e7b720bd6152 100644 --- a/src/modules/navigator/rtl.h +++ b/src/modules/navigator/rtl.h @@ -44,55 +44,38 @@ #include #include "navigator_mode.h" -#include "mission_block.h" - +#include "navigation.h" +#include +#include "rtl_base.h" +#include "rtl_direct.h" +#include "rtl_direct_mission_land.h" +#include "rtl_mission_fast.h" +#include "rtl_mission_fast_reverse.h" + +#include #include +#include #include +#include +#include +#include #include -#include -#include -#include -#include class Navigator; -class RTL : public MissionBlock, public ModuleParams +class RTL : public NavigatorMode, public ModuleParams { public: RTL(Navigator *navigator); ~RTL() = default; - enum RTLType { - RTL_TYPE_HOME_OR_RALLY = 0, - RTL_TYPE_MISSION_LANDING, - RTL_TYPE_MISSION_LANDING_REVERSED, - RTL_TYPE_CLOSEST, - }; - - enum RTLDestinationType { - RTL_DESTINATION_HOME = 0, - RTL_DESTINATION_MISSION_LANDING, - RTL_DESTINATION_SAFE_POINT, - }; - - enum RTLHeadingMode { - RTL_NAVIGATION_HEADING = 0, - RTL_DESTINATION_HEADING, - RTL_CURRENT_HEADING, - }; - - enum RTLState { - RTL_STATE_NONE = 0, - RTL_STATE_CLIMB, - RTL_STATE_RETURN, - RTL_STATE_DESCEND, - RTL_STATE_LOITER, - RTL_STATE_TRANSITION_TO_MC, - RTL_MOVE_TO_LAND_HOVER_VTOL, - RTL_STATE_LAND, - RTL_STATE_LANDED, - RTL_STATE_HEAD_TO_CENTER, + enum class RtlType { + NONE, + RTL_DIRECT, + RTL_DIRECT_MISSION_LAND, + RTL_MISSION_FAST, + RTL_MISSION_FAST_REVERSE, }; void on_inactivation() override; @@ -100,98 +83,161 @@ class RTL : public MissionBlock, public ModuleParams void on_activation() override; void on_active() override; - void find_RTL_destination(); - - void set_return_alt_min(bool min) { _rtl_alt_min = min; } + void initialize() override {}; - int get_rtl_type() const { return _param_rtl_type.get(); } + void set_return_alt_min(bool min) { _enforce_rtl_alt = min; } - void get_rtl_xy_z_speed(float &xy, float &z); - - matrix::Vector2f get_wind(); - - RTLState getRTLState() { return _rtl_state; } - - bool getRTLDestinationTypeMission() { return _destination.type == RTLDestinationType::RTL_DESTINATION_MISSION_LANDING; } - - void resetRtlState() { _rtl_state = RTL_STATE_NONE; } + void updateSafePoints(uint32_t new_safe_point_id) { _initiate_safe_points_updated = true; _safe_points_id = new_safe_point_id; } private: + enum class DestinationType { + DESTINATION_TYPE_HOME, + DESTINATION_TYPE_MISSION_LAND, + DESTINATION_TYPE_SAFE_POINT, + }; - void set_rtl_item(); - - void advance_rtl(); - - float calculate_return_alt_from_cone_half_angle(float cone_half_angle_deg); - void calcRtlTimeEstimate(const RTLState rtl_state, rtl_time_estimate_s &rtl_time_estimate); - - float getCruiseGroundSpeed(); - - float getClimbRate(); - - float getDescendRate(); +private: - float getCruiseSpeed(); + /** + * @brief Check mission landing validity + * @return true if mission has a land start, a land and is valid + */ + bool hasMissionLandStart() const; + + /** + * @brief function to call regularly to do background work + */ + void updateDatamanCache(); + + void setRtlTypeAndDestination(); + + /** + * @brief Publish the remaining time estimate to go to the RTL landing point. + * + */ + void publishRemainingTimeEstimate(); + + /** + * @brief Find RTL destination. + * + */ + void findRtlDestination(DestinationType &destination_type, PositionYawSetpoint &rtl_position, float &rtl_alt, + uint8_t &safe_point_index); + + /** + * @brief Set the position of the land start marker in the planned mission as destination. + * + */ + void setLandPosAsDestination(PositionYawSetpoint &rtl_position, mission_item_s &land_mission_item) const; + + /** + * @brief Set the safepoint as destination. + * + * @param mission_safe_point is the mission safe point/rally point to set as destination. + */ + void setSafepointAsDestination(PositionYawSetpoint &rtl_position, const mission_item_s &mission_safe_point) const; + + /** + * @brief calculate return altitude from cone half angle + * + * @param[in] rtl_position landing position of the rtl + * @param[in] cone_half_angle_deg half angle of the cone [deg] + * @return return altitude + */ + float calculate_return_alt_from_cone_half_angle(const PositionYawSetpoint &rtl_position, + float cone_half_angle_deg) const; + + /** + * @brief initialize RTL mission type + * + */ + void init_rtl_mission_type(); + + /** + * @brief Update parameters + * + */ + void parameters_update(); + + /** + * @brief read VTOL land approaches + * + * @param[in] rtl_position landing position of the rtl + * + */ + land_approaches_s readVtolLandApproaches(PositionYawSetpoint rtl_position) const; + + /** + * @brief Has VTOL land approach + * + * @param[in] rtl_position landing position of the rtl + * + * @return true if home land approaches are defined for home position + * @return false otherwise + */ + bool hasVtolLandApproach(const PositionYawSetpoint &rtl_position) const; + + /** + * @brief Choose best landing approach + * + * Choose best landing approach for home considering wind + * + * @return loiter_point_s best landing approach + */ + loiter_point_s chooseBestLandingApproach(const land_approaches_s &vtol_land_approaches); + + enum class DatamanState { + UpdateRequestWait, + Read, + ReadWait, + Load, + Error + }; - float getHoverLandSpeed(); + hrt_abstime _destination_check_time{0}; - RTLState _rtl_state{RTL_STATE_NONE}; + RtlBase *_rtl_mission_type_handle{nullptr}; + RtlType _set_rtl_mission_type{RtlType::NONE}; - struct RTLPosition { - double lat; - double lon; - float alt; - float yaw; - uint8_t safe_point_index; ///< 0 = home position, 1 = mission landing, >1 = safe landing points (rally points) - RTLDestinationType type{RTL_DESTINATION_HOME}; + RtlType _rtl_type{RtlType::RTL_DIRECT}; - void set(const home_position_s &home_position) - { - lat = home_position.lat; - lon = home_position.lon; - alt = home_position.alt; - yaw = home_position.yaw; - safe_point_index = 0; - type = RTL_DESTINATION_HOME; - } - }; + bool _home_has_land_approach; ///< Flag if the home position has a land approach defined + bool _one_rally_point_has_land_approach; ///< Flag if a rally point has a land approach defined - RTLPosition _destination{}; ///< the RTL position to fly to (typically the home position or a safe point) + DatamanState _dataman_state{DatamanState::UpdateRequestWait}; + DatamanState _error_state{DatamanState::UpdateRequestWait}; + uint32_t _opaque_id{0}; ///< dataman safepoint id: if it does not match, safe points data was updated + bool _safe_points_updated{false}; ///< flag indicating if safe points are updated to dataman cache + mutable DatamanCache _dataman_cache_safepoint{"rtl_dm_cache_miss_geo", 4}; + DatamanClient &_dataman_client_safepoint = _dataman_cache_safepoint.client(); + bool _initiate_safe_points_updated{true}; ///< flag indicating if safe points update is needed + mutable DatamanCache _dataman_cache_landItem{"rtl_dm_cache_miss_land", 2}; + uint32_t _mission_id = 0u; + uint32_t _safe_points_id = 0u; - hrt_abstime _destination_check_time{0}; + mission_stats_entry_s _stats; - float _rtl_alt{0.0f}; // AMSL altitude at which the vehicle should return to the home position + RtlDirect _rtl_direct; - bool _rtl_alt_min{false}; + bool _enforce_rtl_alt{false}; DEFINE_PARAMETERS( - (ParamFloat) _param_rtl_return_alt, - (ParamFloat) _param_rtl_descend_alt, - (ParamFloat) _param_rtl_land_delay, - (ParamFloat) _param_rtl_min_dist, (ParamInt) _param_rtl_type, (ParamInt) _param_rtl_cone_half_angle_deg, - (ParamInt) _param_rtl_pld_md, - (ParamFloat) _param_rtl_loiter_rad, - (ParamInt) _param_rtl_hdg_md, - (ParamFloat) _param_rtl_time_factor, - (ParamInt) _param_rtl_time_margin + (ParamFloat) _param_rtl_return_alt, + (ParamFloat) _param_rtl_min_dist, + (ParamFloat) _param_nav_acc_rad, + (ParamInt) _param_rtl_approach_force ) - param_t _param_mpc_z_v_auto_up{PARAM_INVALID}; - param_t _param_mpc_z_v_auto_dn{PARAM_INVALID}; - param_t _param_mpc_land_speed{PARAM_INVALID}; - param_t _param_fw_climb_rate{PARAM_INVALID}; - param_t _param_fw_sink_rate{PARAM_INVALID}; - - param_t _param_fw_airspeed_trim{PARAM_INVALID}; - param_t _param_mpc_xy_cruise{PARAM_INVALID}; - param_t _param_rover_cruise_speed{PARAM_INVALID}; + uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s}; + uORB::SubscriptionData _global_pos_sub{ORB_ID(vehicle_global_position)}; /**< global position subscription */ + uORB::SubscriptionData _vehicle_status_sub{ORB_ID(vehicle_status)}; /**< vehicle status subscription */ + uORB::SubscriptionData _mission_sub{ORB_ID(mission)}; + uORB::SubscriptionData _home_pos_sub{ORB_ID(home_position)}; uORB::SubscriptionData _wind_sub{ORB_ID(wind)}; + uORB::Publication _rtl_time_estimate_pub{ORB_ID(rtl_time_estimate)}; + uORB::PublicationData _rtl_status_pub{ORB_ID(rtl_status)}; }; - -float time_to_home(const matrix::Vector3f &to_home_vec, - const matrix::Vector2f &wind_velocity, float vehicle_speed_m_s, - float vehicle_descent_speed_m_s); diff --git a/src/modules/navigator/rtl_base.h b/src/modules/navigator/rtl_base.h new file mode 100644 index 000000000000..a4c88e06b026 --- /dev/null +++ b/src/modules/navigator/rtl_base.h @@ -0,0 +1,57 @@ +/*************************************************************************** + * + * Copyright (c) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ +/** + * @file rtl_base.h + * + * Helper class for RTL modes using the mission + * + */ + +#pragma once + +#include "mission_base.h" +#include + +class RtlBase : public MissionBase +{ +public: + RtlBase(Navigator *navigator, int32_t dataman_cache_size_signed): + MissionBase(navigator, dataman_cache_size_signed, vehicle_status_s::NAVIGATION_STATE_AUTO_RTL) {}; + virtual ~RtlBase() = default; + + virtual rtl_time_estimate_s calc_rtl_time_estimate() = 0; + + virtual void setReturnAltMin(bool min) { (void)min;}; + + virtual void setRtlAlt(float alt) { (void)alt;}; +}; diff --git a/src/modules/navigator/rtl_direct.cpp b/src/modules/navigator/rtl_direct.cpp new file mode 100644 index 000000000000..145b99d0d1db --- /dev/null +++ b/src/modules/navigator/rtl_direct.cpp @@ -0,0 +1,549 @@ +/**************************************************************************** + * + * Copyright (c) 2013-2024 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ +/** + * @file rtl.cpp + * + * Helper class to access RTL + * + * @author Julian Oes + * @author Anton Babushkin + * @author Julian Kent + */ + +#include + +#include "rtl_direct.h" +#include "navigator.h" +#include + +#include + +using namespace math; + +RtlDirect::RtlDirect(Navigator *navigator) : + MissionBlock(navigator, vehicle_status_s::NAVIGATION_STATE_AUTO_RTL), + ModuleParams(navigator) +{ + _destination.lat = static_cast(NAN); + _destination.lon = static_cast(NAN); + _land_approach.lat = static_cast(NAN); + _land_approach.lon = static_cast(NAN); + _land_approach.height_m = NAN; +} + +void RtlDirect::on_inactivation() +{ + if (_navigator->get_precland()->is_activated()) { + _navigator->get_precland()->on_inactivation(); + } + + _rtl_state = RTLState::IDLE; +} + +void RtlDirect::on_activation() +{ + _global_pos_sub.update(); + _land_detected_sub.update(); + _vehicle_status_sub.update(); + + parameters_update(); + + _rtl_state = getActivationLandState(); + + // reset cruising speed and throttle to default for RTL + _navigator->reset_cruising_speed(); + _navigator->set_cruising_throttle(); + + set_rtl_item(); + + mavlink_log_info(_navigator->get_mavlink_log_pub(), "RTL: start return at %d m (%d m above destination)\t", + (int)ceilf(_rtl_alt), (int)ceilf(_rtl_alt - _destination.alt)); + events::send(events::ID("vrtl_return_at"), events::Log::Info, + "RTL: start return at {1m_v} ({2m_v} above destination)", + (int32_t)ceilf(_rtl_alt), (int32_t)ceilf(_rtl_alt - _destination.alt)); +} + +void RtlDirect::on_active() +{ + _global_pos_sub.update(); + _vehicle_status_sub.update(); + + parameters_update(); + + if (_rtl_state != RTLState::IDLE && is_mission_item_reached_or_completed()) { + set_rtl_item(); + } + + if (_rtl_state != RTLState::IDLE) { //TODO: rename _rtl_state to _rtl_state_next (when in IDLE we're actually in LAND) + //check for terrain collision and update altitude if needed + // note: it may trigger multiple times during a RTL, as every time the altitude set is reset + updateAltToAvoidTerrainCollisionAndRepublishTriplet(_mission_item); + } + + if (_rtl_state == RTLState::LAND && _param_rtl_pld_md.get() > 0) { + // Need to update the position and type on the current setpoint triplet. + _navigator->get_precland()->on_active(); + + } else if (_navigator->get_precland()->is_activated()) { + _navigator->get_precland()->on_inactivation(); + } +} + +void RtlDirect::setRtlPosition(PositionYawSetpoint rtl_position, loiter_point_s loiter_pos) +{ + _home_pos_sub.update(); + + parameters_update(); + + // Only allow to set a new approach if the mode is not activated yet. + if (!isActive()) { + _destination = rtl_position; + _force_heading = false; + + // Input sanitation + if (!PX4_ISFINITE(_destination.lat) || !PX4_ISFINITE(_destination.lon)) { + // We don't have a valid rtl position, use the home position instead. + _destination.lat = _home_pos_sub.get().lat; + _destination.lon = _home_pos_sub.get().lon; + _destination.alt = _home_pos_sub.get().alt; + _destination.yaw = _home_pos_sub.get().yaw; + } + + if (!PX4_ISFINITE(_destination.alt)) { + // Not a valid rtl land altitude. Assume same altitude as home position. + _destination.alt = _home_pos_sub.get().alt; + } + + _land_approach = sanitizeLandApproach(loiter_pos); + + const float dist_to_destination{get_distance_to_next_waypoint(_land_approach.lat, _land_approach.lon, _destination.lat, _destination.lon)}; + + if (dist_to_destination > _navigator->get_acceptance_radius()) { + _force_heading = true; + } + } +} + +void RtlDirect::set_rtl_item() +{ + position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet(); + + const float destination_dist = get_distance_to_next_waypoint(_destination.lat, _destination.lon, + _global_pos_sub.get().lat, _global_pos_sub.get().lon); + const float loiter_altitude = math::min(_land_approach.height_m, _rtl_alt); + + const bool is_close_to_destination = destination_dist < _param_rtl_min_dist.get(); + + switch (_rtl_state) { + case RTLState::CLIMBING: { + PositionYawSetpoint pos_yaw_sp { + .lat = _global_pos_sub.get().lat, + .lon = _global_pos_sub.get().lon, + .alt = _rtl_alt, + .yaw = _param_wv_en.get() ? NAN : _navigator->get_local_position()->heading, + }; + setLoiterToAltMissionItem(_mission_item, pos_yaw_sp, _navigator->get_loiter_radius()); + + _rtl_state = RTLState::MOVE_TO_LOITER; + break; + } + + case RTLState::MOVE_TO_LOITER: { + PositionYawSetpoint pos_yaw_sp { + .lat = _land_approach.lat, + .lon = _land_approach.lon, + .alt = _rtl_alt, + }; + + // For FW flight:set to LOITER_TIME (with 0s loiter time), such that the loiter (orbit) status + // can be displayed on groundstation and the WP is accepted once within loiter radius + if (_vehicle_status_sub.get().vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING) { + pos_yaw_sp.yaw = NAN; + setLoiterHoldMissionItem(_mission_item, pos_yaw_sp, 0.f, _land_approach.loiter_radius_m); + + } else { + // already set final yaw if close to destination and weather vane is disabled + pos_yaw_sp.yaw = (is_close_to_destination && !_param_wv_en.get()) ? _destination.yaw : NAN; + setMoveToPositionMissionItem(_mission_item, pos_yaw_sp); + } + + _rtl_state = RTLState::LOITER_DOWN; + + break; + } + + case RTLState::LOITER_DOWN: { + PositionYawSetpoint pos_yaw_sp{ + .lat = _land_approach.lat, + .lon = _land_approach.lon, + .alt = loiter_altitude, + .yaw = !_param_wv_en.get() ? _destination.yaw : NAN, // set final yaw if weather vane is disabled + }; + + setLoiterToAltMissionItem(_mission_item, pos_yaw_sp, _land_approach.loiter_radius_m); + + pos_sp_triplet->next.valid = true; + pos_sp_triplet->next.lat = _destination.lat; + pos_sp_triplet->next.lon = _destination.lon; + pos_sp_triplet->next.type = position_setpoint_s::SETPOINT_TYPE_LAND; + + if (_force_heading) { + _mission_item.force_heading = true; + } + + // Disable previous setpoint to prevent drift. + pos_sp_triplet->previous.valid = false; + + _rtl_state = RTLState::LOITER_HOLD; + + break; + } + + case RTLState::LOITER_HOLD: { + PositionYawSetpoint pos_yaw_sp { + .lat = _land_approach.lat, + .lon = _land_approach.lon, + .alt = loiter_altitude, + .yaw = !_param_wv_en.get() ? _destination.yaw : NAN, // set final yaw if weather vane is disabled + }; + + setLoiterHoldMissionItem(_mission_item, pos_yaw_sp, _param_rtl_land_delay.get(), _land_approach.loiter_radius_m); + + if (_param_rtl_land_delay.get() < -FLT_EPSILON) { + mavlink_log_info(_navigator->get_mavlink_log_pub(), "RTL: completed, loitering\t"); + events::send(events::ID("rtl_completed_loiter"), events::Log::Info, "RTL: completed, loitering"); + } + + if (_vehicle_status_sub.get().is_vtol + && _vehicle_status_sub.get().vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING) { + _rtl_state = RTLState::MOVE_TO_LAND; + + } else { + _rtl_state = RTLState::MOVE_TO_LAND_HOVER; + } + + break; + } + + case RTLState::MOVE_TO_LAND: { + + PositionYawSetpoint pos_yaw_sp{_destination}; + pos_yaw_sp.alt = loiter_altitude; + pos_yaw_sp.yaw = NAN; + + setMoveToPositionMissionItem(_mission_item, pos_yaw_sp); + + // Prepare for transition + _mission_item.vtol_back_transition = true; + _mission_item.force_heading = false; + + // set previous item location to loiter location such that vehicle tracks line between loiter + // location and land location after exiting the loiter circle + pos_sp_triplet->previous.lat = _land_approach.lat; + pos_sp_triplet->previous.lon = _land_approach.lon; + pos_sp_triplet->previous.alt = get_absolute_altitude_for_item(_mission_item); + pos_sp_triplet->previous.valid = true; + + _rtl_state = RTLState::TRANSITION_TO_MC; + + break; + } + + case RTLState::TRANSITION_TO_MC: { + set_vtol_transition_item(&_mission_item, vtol_vehicle_status_s::VEHICLE_VTOL_STATE_MC); + + _rtl_state = RTLState::MOVE_TO_LAND_HOVER; + + break; + } + + case RTLState::MOVE_TO_LAND_HOVER: { + PositionYawSetpoint pos_yaw_sp{_destination}; + pos_yaw_sp.alt = loiter_altitude; + pos_yaw_sp.yaw = !_param_wv_en.get() ? _destination.yaw : NAN; // set final yaw if weather vane is disabled + + setMoveToPositionMissionItem(_mission_item, pos_yaw_sp); + _navigator->reset_position_setpoint(pos_sp_triplet->previous); + + _rtl_state = RTLState::LAND; + + break; + } + + case RTLState::LAND: { + PositionYawSetpoint pos_yaw_sp{_destination}; + pos_yaw_sp.yaw = !_param_wv_en.get() ? _destination.yaw : NAN; // set final yaw if weather vane is disabled + setLandMissionItem(_mission_item, pos_yaw_sp); + + _mission_item.land_precision = _param_rtl_pld_md.get(); + + startPrecLand(_mission_item.land_precision); + + _rtl_state = RTLState::IDLE; + + mavlink_log_info(_navigator->get_mavlink_log_pub(), "RTL: land at destination\t"); + events::send(events::ID("rtl_land_at_destination"), events::Log::Info, "RTL: land at destination"); + break; + } + + case RTLState::IDLE: { + set_idle_item(&_mission_item); + _navigator->mode_completed(getNavigatorStateId()); + break; + } + + default: + break; + } + + reset_mission_item_reached(); + + // Execute command if set. This is required for commands like VTOL transition. + if (!MissionBlock::item_contains_position(_mission_item)) { + issue_command(_mission_item); + + } else { + // Convert mission item to current position setpoint and make it valid. + if (mission_item_to_position_setpoint(_mission_item, &pos_sp_triplet->current)) { + _navigator->set_position_setpoint_triplet_updated(); + } + } + + publish_rtl_direct_navigator_mission_item(); // for logging +} + +RtlDirect::RTLState RtlDirect::getActivationLandState() +{ + _land_detected_sub.update(); + + RTLState land_state; + + if (_land_detected_sub.get().landed) { + // For safety reasons don't go into RTL if landed. + land_state = RTLState::IDLE; + + } else if ((_global_pos_sub.get().alt < _rtl_alt) || _enforce_rtl_alt) { + land_state = RTLState::CLIMBING; + + } else { + land_state = RTLState::MOVE_TO_LOITER; + } + + return land_state; +} + +rtl_time_estimate_s RtlDirect::calc_rtl_time_estimate() +{ + _global_pos_sub.update(); + _rtl_time_estimator.update(); + + _rtl_time_estimator.reset(); + + RTLState start_state_for_estimate; + + if (isActive()) { + start_state_for_estimate = _rtl_state; + + } else { + start_state_for_estimate = getActivationLandState(); + } + + // Calculate RTL time estimate only when there is a valid destination + // TODO: Also check if vehicle position is valid + if (PX4_ISFINITE(_destination.lat) && PX4_ISFINITE(_destination.lon) && PX4_ISFINITE(_destination.alt)) { + + loiter_point_s land_approach = sanitizeLandApproach(_land_approach); + + const float loiter_altitude = min(land_approach.height_m, _rtl_alt); + + // Sum up time estimate for various segments of the landing procedure + switch (start_state_for_estimate) { + case RTLState::CLIMBING: { + // Climb segment is only relevant if the drone is below return altitude + if ((_global_pos_sub.get().alt < _rtl_alt) || _enforce_rtl_alt) { + _rtl_time_estimator.addVertDistance(_rtl_alt - _global_pos_sub.get().alt); + } + } + + // FALLTHROUGH + case RTLState::MOVE_TO_LOITER: { + matrix::Vector2f direction{}; + get_vector_to_next_waypoint(_global_pos_sub.get().lat, _global_pos_sub.get().lon, land_approach.lat, + land_approach.lon, &direction(0), &direction(1)); + _rtl_time_estimator.addDistance(get_distance_to_next_waypoint(_global_pos_sub.get().lat, _global_pos_sub.get().lon, + land_approach.lat, land_approach.lon), direction, 0.f); + } + + // FALLTHROUGH + case RTLState::LOITER_DOWN: { + // when descending, the target altitude is stored in the current mission item + float initial_altitude = 0.f; + + if (start_state_for_estimate == RTLState::LOITER_DOWN) { + // Take current vehicle altitude as the starting point for calculation + initial_altitude = _global_pos_sub.get().alt; // TODO: Check if this is in the right frame + + } else { + // Take the return altitude as the starting point for the calculation + initial_altitude = _rtl_alt; // CLIMB and RETURN + } + + _rtl_time_estimator.addVertDistance(loiter_altitude - initial_altitude); + } + + // FALLTHROUGH + case RTLState::LOITER_HOLD: + // Add land delay (the short pause for deploying landing gear) + _rtl_time_estimator.addWait(_param_rtl_land_delay.get()); + + if (_param_rtl_land_delay.get() < -FLT_EPSILON) { // Set to loiter infinitely and not land. Stop calculation here + break; + } + + + // FALLTHROUGH + case RTLState::MOVE_TO_LAND: + case RTLState::TRANSITION_TO_MC: + case RTLState::MOVE_TO_LAND_HOVER: { + // Add cruise segment to home + float move_to_land_dist{0.f}; + matrix::Vector2f direction{}; + + if (start_state_for_estimate >= RTLState::MOVE_TO_LAND) { + move_to_land_dist = get_distance_to_next_waypoint( + _global_pos_sub.get().lat, _global_pos_sub.get().lon, _destination.lat, _destination.lon); + get_vector_to_next_waypoint(_global_pos_sub.get().lat, _global_pos_sub.get().lon, _destination.lat, _destination.lon, + &direction(0), &direction(1)); + + } else { + move_to_land_dist = get_distance_to_next_waypoint( + land_approach.lat, land_approach.lon, _destination.lat, _destination.lon); + get_vector_to_next_waypoint(land_approach.lat, land_approach.lon, _destination.lat, _destination.lon, &direction(0), + &direction(1)); + } + + _rtl_time_estimator.addDistance(move_to_land_dist, direction, 0.f); + } + + // FALLTHROUGH + case RTLState::LAND: { + float initial_altitude; + + // Add land segment (second landing phase) which comes after LOITER + if (start_state_for_estimate == RTLState::LAND) { + // If we are in this phase, use the current vehicle altitude instead + // of the altitude paramteter to get a continous time estimate + initial_altitude = _global_pos_sub.get().alt; + + + } else { + // If this phase is not active yet, simply use the loiter altitude, + // which is where the LAND phase will start + initial_altitude = loiter_altitude; + } + + _rtl_time_estimator.addDescendMCLand(_destination.alt - initial_altitude); + } + + break; + + case RTLState::IDLE: + // Remaining time is 0 + break; + } + } + + return _rtl_time_estimator.getEstimate(); +} + +void RtlDirect::parameters_update() +{ + if (_parameter_update_sub.updated()) { + parameter_update_s param_update; + _parameter_update_sub.copy(¶m_update); + + // If any parameter updated, call updateParams() to check if + // this class attributes need updating (and do so). + updateParams(); + } +} + +loiter_point_s RtlDirect::sanitizeLandApproach(loiter_point_s land_approach) const +{ + loiter_point_s sanitized_land_approach{land_approach}; + + if (!PX4_ISFINITE(land_approach.lat) || !PX4_ISFINITE(land_approach.lon)) { + sanitized_land_approach.lat = _destination.lat; + sanitized_land_approach.lon = _destination.lon; + + } + + if (!PX4_ISFINITE(land_approach.height_m)) { + sanitized_land_approach.height_m = _destination.alt + _param_rtl_descend_alt.get(); + } + + if (!PX4_ISFINITE(land_approach.loiter_radius_m) || fabsf(land_approach.loiter_radius_m) <= FLT_EPSILON) { + sanitized_land_approach.loiter_radius_m = _param_rtl_loiter_rad.get(); + } + + return sanitized_land_approach; +} + +void RtlDirect::publish_rtl_direct_navigator_mission_item() +{ + navigator_mission_item_s navigator_mission_item{}; + + navigator_mission_item.sequence_current = static_cast(_rtl_state); + navigator_mission_item.nav_cmd = _mission_item.nav_cmd; + navigator_mission_item.latitude = _mission_item.lat; + navigator_mission_item.longitude = _mission_item.lon; + navigator_mission_item.altitude = _mission_item.altitude; + + navigator_mission_item.time_inside = get_time_inside(_mission_item); + navigator_mission_item.acceptance_radius = _mission_item.acceptance_radius; + navigator_mission_item.loiter_radius = _mission_item.loiter_radius; + navigator_mission_item.yaw = _mission_item.yaw; + + navigator_mission_item.frame = _mission_item.frame; + navigator_mission_item.frame = _mission_item.origin; + + navigator_mission_item.loiter_exit_xtrack = _mission_item.loiter_exit_xtrack; + navigator_mission_item.force_heading = _mission_item.force_heading; + navigator_mission_item.altitude_is_relative = _mission_item.altitude_is_relative; + navigator_mission_item.autocontinue = _mission_item.autocontinue; + navigator_mission_item.vtol_back_transition = _mission_item.vtol_back_transition; + + navigator_mission_item.timestamp = hrt_absolute_time(); + + _navigator_mission_item_pub.publish(navigator_mission_item); +} diff --git a/src/modules/navigator/rtl_direct.h b/src/modules/navigator/rtl_direct.h new file mode 100644 index 000000000000..b1f6a75b81ae --- /dev/null +++ b/src/modules/navigator/rtl_direct.h @@ -0,0 +1,178 @@ +/*************************************************************************** + * + * Copyright (c) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ +/** + * @file rtl_direct.h + * + * Helper class for RTL + * + * @author Julian Oes + * @author Anton Babushkin + */ + +#pragma once + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include "mission_block.h" +#include "navigation.h" +#include "safe_point_land.hpp" + +using namespace time_literals; + +class Navigator; + +class RtlDirect : public MissionBlock, public ModuleParams +{ +public: + RtlDirect(Navigator *navigator); + + ~RtlDirect() = default; + + /** + * @brief on inactivation + * + */ + void on_inactivation() override; + + /** + * @brief on activation. + * Initialize the return to launch calculations. + * + */ + void on_activation() override; + + /** + * @brief on active + * Update the return to launch calculation and set new setpoints for controller if necessary. + * + */ + void on_active() override; + + /** + * @brief Calculate the estimated time needed to return to launch. + * + * @return estimated time to return to launch. + */ + rtl_time_estimate_s calc_rtl_time_estimate(); + + void setReturnAltMin(bool min) { _enforce_rtl_alt = min; } + void setRtlAlt(float alt) {_rtl_alt = alt;}; + + void setRtlPosition(PositionYawSetpoint position, loiter_point_s loiter_pos); + +private: + /** + * @brief Return to launch state machine. + * + */ + enum class RTLState { + CLIMBING, + MOVE_TO_LOITER, + LOITER_DOWN, + LOITER_HOLD, + MOVE_TO_LAND, + TRANSITION_TO_MC, + MOVE_TO_LAND_HOVER, + LAND, + IDLE + } _rtl_state{RTLState::IDLE}; /*< Current state in the state machine.*/ + +private: + /** + * @brief Set the return to launch control setpoint. + * + */ + void set_rtl_item(); + + /** + * @brief sanitize land_approach + * + */ + loiter_point_s sanitizeLandApproach(loiter_point_s land_approach) const; + + /** + * Check for parameter changes and update them if needed. + */ + void parameters_update(); + + /** + * @brief Publish navigator mission item + * + */ + void publish_rtl_direct_navigator_mission_item(); + + RTLState getActivationLandState(); + + void setLoiterPosition(); + + bool _enforce_rtl_alt{false}; + bool _force_heading{false}; + RtlTimeEstimator _rtl_time_estimator; + + PositionYawSetpoint _destination; ///< the RTL position to fly to + loiter_point_s _land_approach; + + float _rtl_alt{0.0f}; ///< AMSL altitude at which the vehicle should return to the home position + + DEFINE_PARAMETERS( + (ParamFloat) _param_rtl_descend_alt, + (ParamFloat) _param_rtl_land_delay, + (ParamFloat) _param_rtl_min_dist, + (ParamInt) _param_rtl_pld_md, + (ParamFloat) _param_rtl_loiter_rad, + + // external params + (ParamBool) _param_wv_en + ) + + uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s}; + uORB::SubscriptionData _global_pos_sub{ORB_ID(vehicle_global_position)}; /**< global position subscription */ + uORB::SubscriptionData _home_pos_sub{ORB_ID(home_position)}; /**< home position subscription */ + uORB::SubscriptionData _land_detected_sub{ORB_ID(vehicle_land_detected)}; /**< vehicle land detected subscription */ + uORB::SubscriptionData _vehicle_status_sub{ORB_ID(vehicle_status)}; /**< vehicle status subscription */ + uORB::SubscriptionData _wind_sub{ORB_ID(wind)}; + uORB::Publication _navigator_mission_item_pub{ORB_ID::navigator_mission_item}; /**< Navigator mission item publication*/ +}; diff --git a/src/modules/navigator/rtl_direct_mission_land.cpp b/src/modules/navigator/rtl_direct_mission_land.cpp new file mode 100644 index 000000000000..5f55b92affd8 --- /dev/null +++ b/src/modules/navigator/rtl_direct_mission_land.cpp @@ -0,0 +1,401 @@ +/*************************************************************************** + * + * Copyright (c) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ +/** + * @file rtl_direct_mission_land.cpp + * + * Helper class for RTL + * + * @author Julian Oes + * @author Anton Babushkin + */ + +#include "rtl_direct_mission_land.h" +#include "navigator.h" + +#include + +static constexpr int32_t DEFAULT_DIRECT_MISSION_LAND_CACHE_SIZE = 5; + +RtlDirectMissionLand::RtlDirectMissionLand(Navigator *navigator) : + RtlBase(navigator, DEFAULT_DIRECT_MISSION_LAND_CACHE_SIZE) +{ + +} + +void +RtlDirectMissionLand::updateDatamanCache() +{ + int32_t start_index; + + start_index = math::min(_mission.land_start_index, static_cast(_mission.count)); + + if ((start_index >= 0) && (_mission.count > 0) && hasMissionLandStart() && (start_index != _load_mission_index)) { + + int32_t end_index = static_cast(_mission.count); + + // Check that we load all data into the cache + if (end_index - start_index > _dataman_cache_size_signed) { + _dataman_cache.invalidate(); + _dataman_cache_size_signed = end_index - start_index; + _dataman_cache.resize(_dataman_cache_size_signed); + } + + for (int32_t index = start_index; index != end_index; index += math::signNoZero(_dataman_cache_size_signed)) { + + _dataman_cache.load(static_cast(_mission.mission_dataman_id), index); + } + + _load_mission_index = start_index; + } + + _dataman_cache.update(); +} + +void RtlDirectMissionLand::on_inactive() +{ + MissionBase::on_inactive(); + + updateDatamanCache(); +} + +void RtlDirectMissionLand::on_activation() +{ + _land_detected_sub.update(); + _global_pos_sub.update(); + + _needs_climbing = false; + + if (hasMissionLandStart()) { + _is_current_planned_mission_item_valid = (goToItem(_mission.land_start_index, false) == PX4_OK); + + _needs_climbing = checkNeedsToClimb(); + + } else { + _is_current_planned_mission_item_valid = false; + } + + + if (_land_detected_sub.get().landed) { + // already landed, no need to do anything, invalidad the position mission item. + _is_current_planned_mission_item_valid = false; + } + + MissionBase::on_activation(); +} + +bool RtlDirectMissionLand::setNextMissionItem() +{ + return (goToNextPositionItem(true) == PX4_OK); +} + +void RtlDirectMissionLand::setActiveMissionItems() +{ + WorkItemType new_work_item_type{WorkItemType::WORK_ITEM_TYPE_DEFAULT}; + position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet(); + + // Climb to altitude + if (_needs_climbing && _work_item_type == WorkItemType::WORK_ITEM_TYPE_DEFAULT) { + // TODO: check if we also should use NAV_CMD_LOITER_TO_ALT for rotary wing + if (_vehicle_status_sub.get().vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) { + _mission_item.nav_cmd = NAV_CMD_WAYPOINT; + + } else { + _mission_item.nav_cmd = NAV_CMD_LOITER_TO_ALT; + } + + _mission_item.lat = _global_pos_sub.get().lat; + _mission_item.lon = _global_pos_sub.get().lon; + _mission_item.altitude = _rtl_alt; + _mission_item.altitude_is_relative = false; + + _mission_item.acceptance_radius = _navigator->get_acceptance_radius(); + _mission_item.time_inside = 0.0f; + _mission_item.autocontinue = true; + _mission_item.origin = ORIGIN_ONBOARD; + _mission_item.loiter_radius = _navigator->get_loiter_radius(); + + mavlink_log_info(_navigator->get_mavlink_log_pub(), "RTL Mission land: climb to %d m\t", + (int)ceilf(_rtl_alt)); + events::send(events::ID("rtl_mission_land_climb"), events::Log::Info, + "RTL Mission Land: climb to {1m_v}", + (int32_t)ceilf(_rtl_alt)); + + _needs_climbing = false; + mission_item_to_position_setpoint(_mission_item, &pos_sp_triplet->current); + + new_work_item_type = WorkItemType::WORK_ITEM_TYPE_CLIMB; + + } else if (_vehicle_status_sub.get().vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING && + _vehicle_status_sub.get().is_vtol && + !_land_detected_sub.get().landed && _work_item_type == WorkItemType::WORK_ITEM_TYPE_DEFAULT) { + // Transition to fixed wing if necessary. + set_vtol_transition_item(&_mission_item, vtol_vehicle_status_s::VEHICLE_VTOL_STATE_FW); + _mission_item.yaw = _navigator->get_local_position()->heading; + + // keep current setpoints (FW position controller generates wp to track during transition) + pos_sp_triplet->current.type = position_setpoint_s::SETPOINT_TYPE_POSITION; + + new_work_item_type = WorkItemType::WORK_ITEM_TYPE_TRANSITION_AFTER_TAKEOFF; + + } else if (item_contains_position(_mission_item)) { + + static constexpr size_t max_num_next_items{1u}; + int32_t next_mission_items_index[max_num_next_items]; + size_t num_found_items = 0; + getNextPositionItems(_mission.current_seq + 1, next_mission_items_index, num_found_items, max_num_next_items); + + mission_item_s next_mission_items[max_num_next_items]; + const dm_item_t mission_dataman_id = static_cast(_mission.mission_dataman_id); + + for (size_t i = 0U; i < num_found_items; i++) { + mission_item_s next_mission_item; + bool success = _dataman_cache.loadWait(mission_dataman_id, next_mission_items_index[i], + reinterpret_cast(&next_mission_item), sizeof(next_mission_item), MAX_DATAMAN_LOAD_WAIT); + + if (success) { + next_mission_items[i] = next_mission_item; + + } else { + num_found_items = i; + break; + } + } + + if (_mission_item.nav_cmd == NAV_CMD_LAND || + _mission_item.nav_cmd == NAV_CMD_VTOL_LAND) { + handleLanding(new_work_item_type, next_mission_items, num_found_items); + + } else { + // convert mission item to a simple waypoint, keep loiter to alt + if (_mission_item.nav_cmd != NAV_CMD_LOITER_TO_ALT) { + _mission_item.nav_cmd = NAV_CMD_WAYPOINT; + } + + _mission_item.autocontinue = true; + _mission_item.time_inside = 0.0f; + + pos_sp_triplet->previous = pos_sp_triplet->current; + } + + if (num_found_items > 0) { + mission_item_to_position_setpoint(next_mission_items[0u], &pos_sp_triplet->next); + } + + mission_item_to_position_setpoint(_mission_item, &pos_sp_triplet->current); + } + + issue_command(_mission_item); + + /* set current work item type */ + _work_item_type = new_work_item_type; + + reset_mission_item_reached(); + + if (_mission_type == MissionType::MISSION_TYPE_MISSION) { + set_mission_result(); + } + + publish_navigator_mission_item(); // for logging + _navigator->set_position_setpoint_triplet_updated(); +} + +rtl_time_estimate_s RtlDirectMissionLand::calc_rtl_time_estimate() +{ + _rtl_time_estimator.update(); + _rtl_time_estimator.reset(); + + if (_mission.count > 0 && hasMissionLandStart()) { + int32_t start_item_index{-1}; + bool is_in_climbing_submode{false}; + + if (isActive()) { + start_item_index = math::max(_mission.current_seq, _mission.land_start_index); + is_in_climbing_submode = _needs_climbing; + + } else { + start_item_index = _mission.land_start_index; + is_in_climbing_submode = checkNeedsToClimb(); + } + + if (start_item_index >= 0 && start_item_index < static_cast(_mission.count)) { + float altitude_at_calculation_point; + matrix::Vector2d hor_position_at_calculation_point{_global_pos_sub.get().lat, _global_pos_sub.get().lon}; + + if (is_in_climbing_submode) { + if (_enforce_rtl_alt) { + _rtl_time_estimator.addVertDistance(_rtl_alt - _global_pos_sub.get().alt); + altitude_at_calculation_point = _rtl_alt; + + } else { + if (_global_pos_sub.get().alt < _rtl_alt) { + _rtl_time_estimator.addVertDistance(_rtl_alt - _global_pos_sub.get().alt); + } + + altitude_at_calculation_point = math::max(_rtl_alt, _global_pos_sub.get().alt); + } + + } else { + altitude_at_calculation_point = _global_pos_sub.get().alt; + } + + while (start_item_index < _mission.count && start_item_index >= 0) { + int32_t next_mission_item_index; + size_t num_found_items{0U}; + getNextPositionItems(start_item_index, &next_mission_item_index, num_found_items, 1U); + + if (num_found_items > 0U) { + mission_item_s next_position_mission_item; + const dm_item_t dataman_id = static_cast(_mission.mission_dataman_id); + bool success = _dataman_cache.loadWait(dataman_id, next_mission_item_index, + reinterpret_cast(&next_position_mission_item), sizeof(next_position_mission_item), MAX_DATAMAN_LOAD_WAIT); + + if (!success) { + // Could not load the mission item, mark time estimate as invalid. + _rtl_time_estimator.reset(); + break; + } + + switch (next_position_mission_item.nav_cmd) { + case NAV_CMD_LOITER_UNLIMITED: { + _rtl_time_estimator.reset(); + break; + } + + case NAV_CMD_LOITER_TIME_LIMIT: { + // Go to loiter + matrix::Vector2f direction{}; + get_vector_to_next_waypoint(hor_position_at_calculation_point(0), hor_position_at_calculation_point(1), + next_position_mission_item.lat, next_position_mission_item.lon, &direction(0), &direction(1)); + + float hor_dist = get_distance_to_next_waypoint(hor_position_at_calculation_point(0), + hor_position_at_calculation_point(1), next_position_mission_item.lat, next_position_mission_item.lon); + + _rtl_time_estimator.addDistance(hor_dist, direction, 0.f); + + // add time + _rtl_time_estimator.addWait(next_position_mission_item.time_inside); + break; + } + + case NAV_CMD_LOITER_TO_ALT: { + // Go to point horizontally + matrix::Vector2f direction{}; + get_vector_to_next_waypoint(hor_position_at_calculation_point(0), hor_position_at_calculation_point(1), + next_position_mission_item.lat, next_position_mission_item.lon, &direction(0), &direction(1)); + + float hor_dist = get_distance_to_next_waypoint(hor_position_at_calculation_point(0), + hor_position_at_calculation_point(1), next_position_mission_item.lat, next_position_mission_item.lon); + + _rtl_time_estimator.addDistance(hor_dist, direction, 0.f); + + // Add the vertical loiter + _rtl_time_estimator.addVertDistance(get_absolute_altitude_for_item(next_position_mission_item) - + altitude_at_calculation_point); + + break; + } + + case NAV_CMD_LAND: // Fallthrough + case NAV_CMD_VTOL_LAND: { + + matrix::Vector2f direction{}; + get_vector_to_next_waypoint(hor_position_at_calculation_point(0), hor_position_at_calculation_point(1), + next_position_mission_item.lat, next_position_mission_item.lon, &direction(0), &direction(1)); + + float hor_dist = get_distance_to_next_waypoint(hor_position_at_calculation_point(0), + hor_position_at_calculation_point(1), next_position_mission_item.lat, next_position_mission_item.lon); + + // For fixed wing, add diagonal line + if ((_vehicle_status_sub.get().vehicle_type != vehicle_status_s::VEHICLE_TYPE_FIXED_WING) + && (!_vehicle_status_sub.get().is_vtol)) { + + + _rtl_time_estimator.addDistance(hor_dist, direction, + get_absolute_altitude_for_item(next_position_mission_item) - altitude_at_calculation_point); + + } else { + // For VTOL, Rotary, go there horizontally first, then land + _rtl_time_estimator.addDistance(hor_dist, direction, 0.f); + + _rtl_time_estimator.addDescendMCLand(get_absolute_altitude_for_item(next_position_mission_item) - + altitude_at_calculation_point); + } + + break; + } + + default: { + // Default assume can go to the location directly + matrix::Vector2f direction{}; + get_vector_to_next_waypoint(hor_position_at_calculation_point(0), hor_position_at_calculation_point(1), + next_position_mission_item.lat, next_position_mission_item.lon, &direction(0), &direction(1)); + + float hor_dist = get_distance_to_next_waypoint(hor_position_at_calculation_point(0), + hor_position_at_calculation_point(1), next_position_mission_item.lat, next_position_mission_item.lon); + + _rtl_time_estimator.addDistance(hor_dist, direction, + get_absolute_altitude_for_item(next_position_mission_item) - altitude_at_calculation_point); + break; + } + } + + start_item_index = next_mission_item_index + 1; + hor_position_at_calculation_point(0) = next_position_mission_item.lat; + hor_position_at_calculation_point(1) = next_position_mission_item.lon; + altitude_at_calculation_point = get_absolute_altitude_for_item(next_position_mission_item); + + + } else { + start_item_index = -1; + } + } + } + } + + return _rtl_time_estimator.getEstimate(); +} + +bool RtlDirectMissionLand::checkNeedsToClimb() +{ + bool needs_climbing{false}; + + if ((_global_pos_sub.get().alt < _rtl_alt) || _enforce_rtl_alt) { + + // If lower than return altitude, climb up first. + // If enforce_rtl_alt is true then forcing altitude change even if above. + needs_climbing = true; + + } + + return needs_climbing; +} diff --git a/src/modules/navigator/rtl_direct_mission_land.h b/src/modules/navigator/rtl_direct_mission_land.h new file mode 100644 index 000000000000..9bfdd620c4a4 --- /dev/null +++ b/src/modules/navigator/rtl_direct_mission_land.h @@ -0,0 +1,79 @@ +/*************************************************************************** + * + * Copyright (c) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ +/** + * @file rtl_direct_mission_land.h + * + * Helper class for RTL + * + * @author Julian Oes + * @author Anton Babushkin + */ + +#pragma once + +#include "rtl_base.h" + +#include + +#include +#include +#include + +class Navigator; + +class RtlDirectMissionLand : public RtlBase +{ +public: + RtlDirectMissionLand(Navigator *navigator); + ~RtlDirectMissionLand() = default; + + void on_activation() override; + void on_inactive() override; + + rtl_time_estimate_s calc_rtl_time_estimate() override; + + void setReturnAltMin(bool min) override { _enforce_rtl_alt = min; }; + void setRtlAlt(float alt) override {_rtl_alt = alt;}; + +private: + bool setNextMissionItem() override; + void setActiveMissionItems() override; + void updateDatamanCache() override; + bool checkNeedsToClimb(); + + bool _needs_climbing{false}; //< Flag if climbing is required at the start + bool _enforce_rtl_alt{false}; + float _rtl_alt{0.0f}; ///< AMSL altitude at which the vehicle should return to the land position + + RtlTimeEstimator _rtl_time_estimator; +}; diff --git a/src/modules/navigator/rtl_mission_fast.cpp b/src/modules/navigator/rtl_mission_fast.cpp new file mode 100644 index 000000000000..0bcafd94e8fb --- /dev/null +++ b/src/modules/navigator/rtl_mission_fast.cpp @@ -0,0 +1,195 @@ +/*************************************************************************** + * + * Copyright (c) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ +/** + * @file rtl_mission_fast.cpp + * + * Helper class for RTL + * + * @author Julian Oes + * @author Anton Babushkin + */ + +#include "rtl_mission_fast.h" +#include "navigator.h" + +#include + +static constexpr int32_t DEFAULT_MISSION_FAST_CACHE_SIZE = 5; + +RtlMissionFast::RtlMissionFast(Navigator *navigator) : + RtlBase(navigator, DEFAULT_MISSION_FAST_CACHE_SIZE) +{ + +} + +void RtlMissionFast::on_inactive() +{ + MissionBase::on_inactive(); + _vehicle_status_sub.update(); + _mission_index_prior_rtl = _vehicle_status_sub.get().nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION ? + _mission.current_seq : -1; +} + +void RtlMissionFast::on_activation() +{ + _home_pos_sub.update(); + + // set mission item to closest item if not already in mission + if (_mission_index_prior_rtl < 0) { + _is_current_planned_mission_item_valid = setMissionToClosestItem(_global_pos_sub.get().lat, _global_pos_sub.get().lon, + _global_pos_sub.get().alt, _home_pos_sub.get().alt, _vehicle_status_sub.get()) == PX4_OK; + + } else { + setMissionIndex(_mission_index_prior_rtl); + _is_current_planned_mission_item_valid = isMissionValid(); + } + + if (_land_detected_sub.get().landed) { + // already landed, no need to do anything, invalidad the position mission item. + _is_current_planned_mission_item_valid = false; + } + + MissionBase::on_activation(); +} + +bool RtlMissionFast::setNextMissionItem() +{ + return (goToNextPositionItem(true) == PX4_OK); +} + +void RtlMissionFast::setActiveMissionItems() +{ + WorkItemType new_work_item_type{WorkItemType::WORK_ITEM_TYPE_DEFAULT}; + position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet(); + + /* Skip VTOL/FW Takeoff item if in air, fixed-wing and didn't start the takeoff already*/ + if ((_mission_item.nav_cmd == NAV_CMD_VTOL_TAKEOFF || _mission_item.nav_cmd == NAV_CMD_TAKEOFF) && + (_work_item_type == WorkItemType::WORK_ITEM_TYPE_DEFAULT) && + (_vehicle_status_sub.get().vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING) && + !_land_detected_sub.get().landed) { + if (setNextMissionItem()) { + if (!loadCurrentMissionItem()) { + setEndOfMissionItems(); + return; + } + + } else { + setEndOfMissionItems(); + return; + } + } + + // Transition to fixed wing if necessary. + if (_vehicle_status_sub.get().vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING && + _vehicle_status_sub.get().is_vtol && + !_land_detected_sub.get().landed && _work_item_type == WorkItemType::WORK_ITEM_TYPE_DEFAULT) { + set_vtol_transition_item(&_mission_item, vtol_vehicle_status_s::VEHICLE_VTOL_STATE_FW); + _mission_item.yaw = _navigator->get_local_position()->heading; + + // keep current setpoints (FW position controller generates wp to track during transition) + pos_sp_triplet->current.type = position_setpoint_s::SETPOINT_TYPE_POSITION; + + new_work_item_type = WorkItemType::WORK_ITEM_TYPE_TRANSITION_AFTER_TAKEOFF; + + } else if (item_contains_position(_mission_item)) { + + static constexpr size_t max_num_next_items{1u}; + int32_t next_mission_items_index[max_num_next_items]; + size_t num_found_items = 0; + getNextPositionItems(_mission.current_seq + 1, next_mission_items_index, num_found_items, max_num_next_items); + + mission_item_s next_mission_items[max_num_next_items]; + const dm_item_t mission_dataman_id = static_cast(_mission.mission_dataman_id); + + for (size_t i = 0U; i < num_found_items; i++) { + mission_item_s next_mission_item; + bool success = _dataman_cache.loadWait(mission_dataman_id, next_mission_items_index[i], + reinterpret_cast(&next_mission_item), sizeof(next_mission_item), MAX_DATAMAN_LOAD_WAIT); + + if (success) { + next_mission_items[i] = next_mission_item; + + } else { + num_found_items = i; + break; + } + } + + if (_mission_item.nav_cmd == NAV_CMD_LAND || + _mission_item.nav_cmd == NAV_CMD_VTOL_LAND) { + handleLanding(new_work_item_type, next_mission_items, num_found_items); + + } else { + // convert mission item to a simple waypoint, keep loiter to alt + if (_mission_item.nav_cmd != NAV_CMD_LOITER_TO_ALT) { + _mission_item.nav_cmd = NAV_CMD_WAYPOINT; + } + + _mission_item.autocontinue = true; + _mission_item.time_inside = 0.0f; + + pos_sp_triplet->previous = pos_sp_triplet->current; + } + + + + if (num_found_items > 0) { + mission_item_to_position_setpoint(next_mission_items[0u], &pos_sp_triplet->next); + } + + mission_item_to_position_setpoint(_mission_item, &pos_sp_triplet->current); + } + + issue_command(_mission_item); + + /* set current work item type */ + _work_item_type = new_work_item_type; + + reset_mission_item_reached(); + + if (_mission_type == MissionType::MISSION_TYPE_MISSION) { + set_mission_result(); + } + + publish_navigator_mission_item(); // for logging + _navigator->set_position_setpoint_triplet_updated(); +} + +rtl_time_estimate_s RtlMissionFast::calc_rtl_time_estimate() +{ + rtl_time_estimate_s time_estimate; + time_estimate.valid = false; + time_estimate.timestamp = hrt_absolute_time(); + + return time_estimate; +} diff --git a/src/modules/navigator/rtl_mission_fast.h b/src/modules/navigator/rtl_mission_fast.h new file mode 100644 index 000000000000..c782a471bd7a --- /dev/null +++ b/src/modules/navigator/rtl_mission_fast.h @@ -0,0 +1,70 @@ +/*************************************************************************** + * + * Copyright (c) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ +/** + * @file rtl_mission_fast.h + * + * Helper class for RTL + * + * @author Julian Oes + * @author Anton Babushkin + */ + +#pragma once + +#include "rtl_base.h" + +#include +#include +#include + +class Navigator; + +class RtlMissionFast : public RtlBase +{ +public: + RtlMissionFast(Navigator *navigator); + ~RtlMissionFast() = default; + + void on_activation() override; + void on_inactive() override; + + rtl_time_estimate_s calc_rtl_time_estimate() override; + +private: + bool setNextMissionItem() override; + void setActiveMissionItems() override; + + int _mission_index_prior_rtl{-1}; + + uORB::SubscriptionData _home_pos_sub{ORB_ID(home_position)}; /**< home position subscription */ +}; diff --git a/src/modules/navigator/rtl_mission_fast_reverse.cpp b/src/modules/navigator/rtl_mission_fast_reverse.cpp new file mode 100644 index 000000000000..d7c42516e41d --- /dev/null +++ b/src/modules/navigator/rtl_mission_fast_reverse.cpp @@ -0,0 +1,268 @@ +/*************************************************************************** + * + * Copyright (c) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ +/** + * @file rtl_mission_fast_reverse.cpp + * + * Helper class for RTL + * + * @author Julian Oes + * @author Anton Babushkin + */ + +#include "rtl_mission_fast_reverse.h" +#include "navigator.h" + +#include + +static constexpr int32_t DEFAULT_MISSION_FAST_REVERSE_CACHE_SIZE = 5; + +RtlMissionFastReverse::RtlMissionFastReverse(Navigator *navigator) : + RtlBase(navigator, -DEFAULT_MISSION_FAST_REVERSE_CACHE_SIZE) +{ + +} + +void RtlMissionFastReverse::on_inactive() +{ + MissionBase::on_inactive(); + _vehicle_status_sub.update(); + _mission_index_prior_rtl = _vehicle_status_sub.get().nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION ? + _mission.current_seq : -1; +} + +void RtlMissionFastReverse::on_activation() +{ + _home_pos_sub.update(); + + // set mission item to closest item if not already in mission. If we are in mission, set to the previous item. + if (_mission_index_prior_rtl < 0) { + _is_current_planned_mission_item_valid = setMissionToClosestItem(_global_pos_sub.get().lat, _global_pos_sub.get().lon, + _global_pos_sub.get().alt, _home_pos_sub.get().alt, _vehicle_status_sub.get()) == PX4_OK; + + } else { + setMissionIndex(math::max(_mission_index_prior_rtl - 1, 0)); + _is_current_planned_mission_item_valid = isMissionValid(); + } + + if (_land_detected_sub.get().landed) { + // already landed, no need to do anything, invalidate the position mission item. + _is_current_planned_mission_item_valid = false; + } + + MissionBase::on_activation(); +} + +void RtlMissionFastReverse::on_active() +{ + _home_pos_sub.update(); + MissionBase::on_active(); +} + +bool RtlMissionFastReverse::setNextMissionItem() +{ + return (goToPreviousPositionItem(true) == PX4_OK); +} + +void RtlMissionFastReverse::setActiveMissionItems() +{ + WorkItemType new_work_item_type{WorkItemType::WORK_ITEM_TYPE_DEFAULT}; + position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet(); + + // Transition to fixed wing if necessary. + if (_vehicle_status_sub.get().vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING && + _vehicle_status_sub.get().is_vtol && + !_land_detected_sub.get().landed && _work_item_type == WorkItemType::WORK_ITEM_TYPE_DEFAULT) { + set_vtol_transition_item(&_mission_item, vtol_vehicle_status_s::VEHICLE_VTOL_STATE_FW); + _mission_item.yaw = _navigator->get_local_position()->heading; + + // keep current setpoints (FW position controller generates wp to track during transition) + pos_sp_triplet->current.type = position_setpoint_s::SETPOINT_TYPE_POSITION; + + new_work_item_type = WorkItemType::WORK_ITEM_TYPE_TRANSITION_AFTER_TAKEOFF; + + } else if (item_contains_position(_mission_item)) { + int32_t next_mission_item_index; + size_t num_found_items = 0; + getPreviousPositionItems(_mission.current_seq, &next_mission_item_index, num_found_items, 1u); + + // If the current item is a takeoff item or there is no further position item start landing. + if (_mission_item.nav_cmd == NAV_CMD_TAKEOFF || + _mission_item.nav_cmd == NAV_CMD_VTOL_TAKEOFF || + num_found_items == 0) { + handleLanding(new_work_item_type); + + } else { + // convert mission item to a simple waypoint, keep loiter to alt + if (_mission_item.nav_cmd != NAV_CMD_LOITER_TO_ALT) { + _mission_item.nav_cmd = NAV_CMD_WAYPOINT; + } + + _mission_item.autocontinue = true; + _mission_item.time_inside = 0.0f; + + pos_sp_triplet->previous = pos_sp_triplet->current; + } + + if (num_found_items > 0) { + + const dm_item_t mission_dataman_id = static_cast(_mission.mission_dataman_id); + mission_item_s next_mission_item; + bool success = _dataman_cache.loadWait(mission_dataman_id, next_mission_item_index, + reinterpret_cast(&next_mission_item), sizeof(mission_item_s), MAX_DATAMAN_LOAD_WAIT); + + if (success) { + mission_item_to_position_setpoint(next_mission_item, &pos_sp_triplet->next); + } + } + + mission_item_to_position_setpoint(_mission_item, &pos_sp_triplet->current); + } + + issue_command(_mission_item); + + /* set current work item type */ + _work_item_type = new_work_item_type; + + reset_mission_item_reached(); + + if (_mission_type == MissionType::MISSION_TYPE_MISSION) { + set_mission_result(); + } + + publish_navigator_mission_item(); // for logging + _navigator->set_position_setpoint_triplet_updated(); +} + +void RtlMissionFastReverse::handleLanding(WorkItemType &new_work_item_type) +{ + position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet(); + + bool needs_to_land = !_land_detected_sub.get().landed; + bool vtol_in_fw = _vehicle_status_sub.get().is_vtol && + (_vehicle_status_sub.get().vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING); + + if (needs_to_land) { + if (_work_item_type == WorkItemType::WORK_ITEM_TYPE_DEFAULT) { + // Go to Take off location + new_work_item_type = WorkItemType::WORK_ITEM_TYPE_CLIMB; + + if (!PX4_ISFINITE(_mission_item.altitude)) { + _mission_item.altitude = _global_pos_sub.get().alt; + _mission_item.altitude_is_relative = false; + } + + _mission_item.nav_cmd = NAV_CMD_WAYPOINT; + _mission_item.autocontinue = true; + _mission_item.time_inside = 0.0f; + _mission_item.vtol_back_transition = true; + + pos_sp_triplet->previous = pos_sp_triplet->current; + } + + if (vtol_in_fw) { + if (_work_item_type == WorkItemType::WORK_ITEM_TYPE_CLIMB) { + // Go to home location + new_work_item_type = WorkItemType::WORK_ITEM_TYPE_MOVE_TO_LAND; + + float altitude = _global_pos_sub.get().alt; + + if (pos_sp_triplet->current.valid && pos_sp_triplet->current.type == position_setpoint_s::SETPOINT_TYPE_POSITION) { + altitude = pos_sp_triplet->current.alt; + } + + _mission_item.lat = _home_pos_sub.get().lat; + _mission_item.lon = _home_pos_sub.get().lon; + _mission_item.altitude = altitude; + _mission_item.altitude_is_relative = false; + _mission_item.nav_cmd = NAV_CMD_WAYPOINT; + _mission_item.autocontinue = true; + _mission_item.time_inside = 0.0f; + _mission_item.vtol_back_transition = true; + + pos_sp_triplet->previous = pos_sp_triplet->current; + } + + /* transition to MC */ + if (_work_item_type == WorkItemType::WORK_ITEM_TYPE_MOVE_TO_LAND) { + + set_vtol_transition_item(&_mission_item, vtol_vehicle_status_s::VEHICLE_VTOL_STATE_MC); + _mission_item.altitude = _global_pos_sub.get().alt; + _mission_item.altitude_is_relative = false; + _mission_item.yaw = NAN; + + new_work_item_type = WorkItemType::WORK_ITEM_TYPE_MOVE_TO_LAND_AFTER_TRANSITION; + + // make previous setpoint invalid, such that there will be no prev-current line following + // if the vehicle drifted off the path during back-transition it should just go straight to the landing point + _navigator->reset_position_setpoint(pos_sp_triplet->previous); + } + + } else if ((_work_item_type == WorkItemType::WORK_ITEM_TYPE_CLIMB || + _work_item_type == WorkItemType::WORK_ITEM_TYPE_MOVE_TO_LAND || + _work_item_type == WorkItemType::WORK_ITEM_TYPE_MOVE_TO_LAND_AFTER_TRANSITION)) { + _mission_item.nav_cmd = NAV_CMD_LAND; + _mission_item.lat = _home_pos_sub.get().lat; + _mission_item.lon = _home_pos_sub.get().lon; + _mission_item.yaw = NAN; + + if ((_vehicle_status_sub.get().vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) && + do_need_move_to_item()) { + new_work_item_type = WorkItemType::WORK_ITEM_TYPE_MOVE_TO_LAND; + + _mission_item.altitude = _global_pos_sub.get().alt; + _mission_item.altitude_is_relative = false; + _mission_item.nav_cmd = NAV_CMD_WAYPOINT; + _mission_item.autocontinue = true; + _mission_item.time_inside = 0.0f; + + // make previous setpoint invalid, such that there will be no prev-current line following. + // if the vehicle drifted off the path during back-transition it should just go straight to the landing point + _navigator->reset_position_setpoint(pos_sp_triplet->previous); + + } else { + _mission_item.altitude = _home_pos_sub.get().alt; + _mission_item.altitude_is_relative = false; + _navigator->reset_position_setpoint(pos_sp_triplet->previous); + } + } + } +} + +rtl_time_estimate_s RtlMissionFastReverse::calc_rtl_time_estimate() +{ + rtl_time_estimate_s time_estimate; + time_estimate.valid = false; + time_estimate.timestamp = hrt_absolute_time(); + + return time_estimate; +} diff --git a/src/modules/navigator/rtl_mission_fast_reverse.h b/src/modules/navigator/rtl_mission_fast_reverse.h new file mode 100644 index 000000000000..f1301a5ccafd --- /dev/null +++ b/src/modules/navigator/rtl_mission_fast_reverse.h @@ -0,0 +1,72 @@ +/*************************************************************************** + * + * Copyright (c) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ +/** + * @file rtl_mission_fast_reverse.h + * + * Helper class for RTL + * + * @author Julian Oes + * @author Anton Babushkin + */ + +#pragma once + +#include "rtl_base.h" + +#include +#include +#include + +class Navigator; + +class RtlMissionFastReverse : public RtlBase +{ +public: + RtlMissionFastReverse(Navigator *navigator); + ~RtlMissionFastReverse() = default; + + void on_activation() override; + void on_active() override; + void on_inactive() override; + + rtl_time_estimate_s calc_rtl_time_estimate() override; + +private: + bool setNextMissionItem() override; + void setActiveMissionItems() override; + void handleLanding(WorkItemType &new_work_item_type); + + int _mission_index_prior_rtl{-1}; + + uORB::SubscriptionData _home_pos_sub{ORB_ID(home_position)}; /**< home position subscription */ +}; diff --git a/src/modules/navigator/rtl_params.c b/src/modules/navigator/rtl_params.c index ef78a37020bf..6fd734cc8e41 100644 --- a/src/modules/navigator/rtl_params.c +++ b/src/modules/navigator/rtl_params.c @@ -160,18 +160,6 @@ PARAM_DEFINE_INT32(RTL_PLD_MD, 0); */ PARAM_DEFINE_FLOAT(RTL_LOITER_RAD, 80.0f); -/** - * RTL heading mode - * - * Defines the heading behavior during RTL - * - * @value 0 Towards next waypoint. - * @value 1 Heading matches destination. - * @value 2 Use current heading. - * @group Return Mode - */ -PARAM_DEFINE_INT32(RTL_HDG_MD, 0); - /** * RTL time estimate safety margin factor * @@ -200,3 +188,13 @@ PARAM_DEFINE_FLOAT(RTL_TIME_FACTOR, 1.1f); * @group Return To Land */ PARAM_DEFINE_INT32(RTL_TIME_MARGIN, 100); + +/** + * RTL force approach landing + * + * Only consider RTL point, if it has an approach defined. + * + * @boolean + * @group Return To Land + */ +PARAM_DEFINE_INT32(RTL_APPR_FORCE, 0); diff --git a/src/modules/navigator/safe_point_land.hpp b/src/modules/navigator/safe_point_land.hpp new file mode 100644 index 000000000000..6b80132175b7 --- /dev/null +++ b/src/modules/navigator/safe_point_land.hpp @@ -0,0 +1,110 @@ +/*************************************************************************** + * + * Copyright (c) 2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ +/** + * @file safe_point_land.hpp + * This file defines helper structs that are used to define land approaches which consists of a land location and a number of + * loiter circles. Each loiter circle defines a possible approach for landing at the land location. + * + */ + +#pragma once + +#include +#include + +struct loiter_point_s { + loiter_point_s() { reset(); } + double lat; + double lon; + float height_m; + float loiter_radius_m; + + void reset() + { + lat = lon = static_cast(NAN); + height_m = NAN; + loiter_radius_m = NAN; + } + + bool isValid() const { return PX4_ISFINITE(lat) && PX4_ISFINITE(lon) && PX4_ISFINITE(height_m); } +}; + +// defines one land location and a maximum of num_approaches_max loiter points +struct land_approaches_s { + + static constexpr uint8_t num_approaches_max = 8; + loiter_point_s approaches[num_approaches_max]; + matrix::Vector2d land_location_lat_lon; + + land_approaches_s() + { + resetAllApproaches(); + } + + void resetAllApproaches() + { + for (uint8_t i = 0; i < num_approaches_max; i++) { + approaches[i].reset(); + } + } + + bool isAnyApproachValid() const + { + for (uint8_t i = 0; i < num_approaches_max; i++) { + if (approaches[i].isValid()) { + return true; + } + } + + return false; + } + + float getMaxDistLandToLoiterCircle() const + { + // returns negative infinity if there is no valid approach + float dist_max = -INFINITY; + + for (uint8_t i = 0; i < num_approaches_max; i++) { + if (approaches[i].isValid()) { + float dist = get_distance_to_next_waypoint(land_location_lat_lon(0), land_location_lat_lon(1), approaches[i].lat, + approaches[i].lon) + approaches[i].loiter_radius_m; + + if (dist > dist_max) { + dist_max = dist; + } + } + } + + return dist_max; + } +}; diff --git a/src/modules/navigator/takeoff.cpp b/src/modules/navigator/takeoff.cpp index f998b9c1d93a..d9b22720f34a 100644 --- a/src/modules/navigator/takeoff.cpp +++ b/src/modules/navigator/takeoff.cpp @@ -43,7 +43,7 @@ #include Takeoff::Takeoff(Navigator *navigator) : - MissionBlock(navigator) + MissionBlock(navigator, vehicle_status_s::NAVIGATION_STATE_AUTO_TAKEOFF) { } @@ -68,7 +68,7 @@ Takeoff::on_active() } else if (is_mission_item_reached_or_completed() && !_navigator->get_mission_result()->finished) { _navigator->get_mission_result()->finished = true; _navigator->set_mission_result_updated(); - _navigator->mode_completed(vehicle_status_s::NAVIGATION_STATE_AUTO_TAKEOFF); + _navigator->mode_completed(getNavigatorStateId()); position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet(); @@ -85,8 +85,6 @@ Takeoff::on_active() } } - mission_apply_limitation(_mission_item); - mission_item_to_position_setpoint(_mission_item, &pos_sp_triplet->current); _navigator->set_position_setpoint_triplet_updated(); @@ -98,71 +96,40 @@ Takeoff::set_takeoff_position() { struct position_setpoint_triplet_s *rep = _navigator->get_takeoff_triplet(); - float abs_altitude = 0.0f; - - float min_abs_altitude; - - // TODO: review this, comments are talking about home pos, the validity is checked but the - // current altitude is used instead. Also, the "else" case does not consider the current altitude at all. - if (_navigator->home_alt_valid()) { //only use home position if it is valid - min_abs_altitude = _navigator->get_global_position()->alt + _navigator->get_takeoff_min_alt(); - - } else { //e.g. flow - min_abs_altitude = _navigator->get_takeoff_min_alt(); - } - - // Use altitude if it has been set. If home position is invalid use min_abs_altitude - events::LogLevel log_level = events::LogLevel::Disabled; + float takeoff_altitude_amsl = 0.f; - if (rep->current.valid && PX4_ISFINITE(rep->current.alt) && _navigator->home_alt_valid()) { - abs_altitude = rep->current.alt; - - // If the altitude suggestion is lower than home + minimum clearance, raise it and complain. - if (abs_altitude < min_abs_altitude) { - if (abs_altitude < min_abs_altitude - 0.1f) { // don't complain if difference is smaller than 10cm - mavlink_log_critical(_navigator->get_mavlink_log_pub(), - "Using minimum takeoff altitude: %.2f m\t", (double)_navigator->get_takeoff_min_alt()); - log_level = events::LogLevel::Warning; - } - - abs_altitude = min_abs_altitude; - } + if (rep->current.valid && PX4_ISFINITE(rep->current.alt)) { + takeoff_altitude_amsl = rep->current.alt; } else { - // Use home + minimum clearance but only notify. - abs_altitude = min_abs_altitude; + takeoff_altitude_amsl = _navigator->get_global_position()->alt + _navigator->get_param_mis_takeoff_alt(); mavlink_log_info(_navigator->get_mavlink_log_pub(), - "Using minimum takeoff altitude: %.2f m\t", (double)_navigator->get_takeoff_min_alt()); - log_level = events::LogLevel::Info; - } + "Using default takeoff altitude: %.1f m\t", (double)_navigator->get_param_mis_takeoff_alt()); - if (log_level != events::LogLevel::Disabled) { - events::send(events::ID("navigator_takeoff_min_alt"), {log_level, events::LogInternal::Info}, - "Using minimum takeoff altitude: {1:.2m}", - _navigator->get_takeoff_min_alt()); + events::send(events::ID("navigator_takeoff_default_alt"), {events::Log::Info, events::LogInternal::Info}, + "Using default takeoff altitude: {1:.2m}", + _navigator->get_param_mis_takeoff_alt()); } - if (abs_altitude < _navigator->get_global_position()->alt) { + if (takeoff_altitude_amsl < _navigator->get_global_position()->alt) { // If the suggestion is lower than our current alt, let's not go down. - abs_altitude = _navigator->get_global_position()->alt; + takeoff_altitude_amsl = _navigator->get_global_position()->alt; mavlink_log_critical(_navigator->get_mavlink_log_pub(), "Already higher than takeoff altitude\t"); events::send(events::ID("navigator_takeoff_already_higher"), {events::Log::Error, events::LogInternal::Info}, "Already higher than takeoff altitude (not descending)"); } // set current mission item to takeoff - set_takeoff_item(&_mission_item, abs_altitude); + set_takeoff_item(&_mission_item, takeoff_altitude_amsl); _navigator->get_mission_result()->finished = false; _navigator->set_mission_result_updated(); reset_mission_item_reached(); // convert mission item to current setpoint struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet(); - mission_apply_limitation(_mission_item); mission_item_to_position_setpoint(_mission_item, &pos_sp_triplet->current); pos_sp_triplet->previous.valid = false; - pos_sp_triplet->current.yaw_valid = true; pos_sp_triplet->next.valid = false; if (rep->current.valid) { @@ -181,12 +148,5 @@ Takeoff::set_takeoff_position() memset(rep, 0, sizeof(*rep)); } - if (PX4_ISFINITE(pos_sp_triplet->current.lat) && PX4_ISFINITE(pos_sp_triplet->current.lon)) { - _navigator->set_can_loiter_at_sp(true); - - } else { - _navigator->set_can_loiter_at_sp(false); - } - _navigator->set_position_setpoint_triplet_updated(); } diff --git a/src/modules/navigator/vtol_takeoff.cpp b/src/modules/navigator/vtol_takeoff.cpp index 73b8c46bb707..f9a552ef58fc 100644 --- a/src/modules/navigator/vtol_takeoff.cpp +++ b/src/modules/navigator/vtol_takeoff.cpp @@ -43,7 +43,7 @@ using matrix::wrap_pi; VtolTakeoff::VtolTakeoff(Navigator *navigator) : - MissionBlock(navigator), + MissionBlock(navigator, vehicle_status_s::NAVIGATION_STATE_AUTO_VTOL_TAKEOFF), ModuleParams(navigator) { } @@ -51,7 +51,7 @@ VtolTakeoff::VtolTakeoff(Navigator *navigator) : void VtolTakeoff::on_activation() { - if (_navigator->home_global_position_valid()) { + if (hrt_elapsed_time(&_navigator->get_global_position()->timestamp) < 1_s) { set_takeoff_position(); _takeoff_state = vtol_takeoff_state::TAKEOFF_HOVER; _navigator->reset_cruising_speed(); @@ -71,12 +71,10 @@ VtolTakeoff::on_active() position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet(); _mission_item.nav_cmd = NAV_CMD_WAYPOINT; - _mission_item.yaw = wrap_pi(get_bearing_to_next_waypoint(_navigator->get_home_position()->lat, - _navigator->get_home_position()->lon, _loiter_location(0), _loiter_location(1))); + _mission_item.yaw = wrap_pi(get_bearing_to_next_waypoint(_mission_item.lat, + _mission_item.lon, _loiter_location(0), _loiter_location(1))); _mission_item.force_heading = true; - mission_apply_limitation(_mission_item); mission_item_to_position_setpoint(_mission_item, &pos_sp_triplet->current); - pos_sp_triplet->current.disable_weather_vane = true; pos_sp_triplet->current.cruising_speed = -1.f; _navigator->set_position_setpoint_triplet_updated(); @@ -117,8 +115,9 @@ VtolTakeoff::on_active() // we need the vehicle to loiter indefinitely but also we want this mission item to be reached as soon // as the loiter is established. therefore, set a small loiter time so that the mission item will be reached quickly, // however it will just continue loitering as there is no next mission item - _mission_item.time_inside = 1; + _mission_item.time_inside = 1.f; _mission_item.loiter_radius = _navigator->get_loiter_radius(); + _mission_item.acceptance_radius = _navigator->get_acceptance_radius(); _mission_item.altitude = _navigator->get_home_position()->alt + _param_loiter_alt.get(); mission_item_to_position_setpoint(_mission_item, &pos_sp_triplet->current); @@ -152,7 +151,7 @@ VtolTakeoff::on_active() // the VTOL takeoff is done _navigator->get_mission_result()->finished = true; _navigator->set_mission_result_updated(); - _navigator->mode_completed(vehicle_status_s::NAVIGATION_STATE_AUTO_VTOL_TAKEOFF); + _navigator->mode_completed(getNavigatorStateId()); break; } @@ -171,19 +170,17 @@ VtolTakeoff::set_takeoff_position() // set current mission item to takeoff set_takeoff_item(&_mission_item, _transition_alt_amsl); - _mission_item.lat = _navigator->get_home_position()->lat; - _mission_item.lon = _navigator->get_home_position()->lon; + _mission_item.lat = _navigator->get_global_position()->lat; + _mission_item.lon = _navigator->get_global_position()->lon; _navigator->get_mission_result()->finished = false; _navigator->set_mission_result_updated(); // convert mission item to current setpoint struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet(); - mission_apply_limitation(_mission_item); mission_item_to_position_setpoint(_mission_item, &pos_sp_triplet->current); pos_sp_triplet->previous.valid = false; - pos_sp_triplet->current.yaw_valid = true; pos_sp_triplet->next.valid = false; _navigator->set_position_setpoint_triplet_updated(); diff --git a/src/modules/px4iofirmware/Kconfig b/src/modules/px4iofirmware/Kconfig index 37f01af65878..1f4e4c1c6088 100644 --- a/src/modules/px4iofirmware/Kconfig +++ b/src/modules/px4iofirmware/Kconfig @@ -2,4 +2,4 @@ menuconfig MODULES_PX4IOFIRMWARE bool "px4iofirmware" default n ---help--- - Enable support for px4iofirmware \ No newline at end of file + Enable support for px4iofirmware diff --git a/src/modules/px4iofirmware/mixer.cpp b/src/modules/px4iofirmware/mixer.cpp index 9fc40dcbde5c..936c1265055e 100644 --- a/src/modules/px4iofirmware/mixer.cpp +++ b/src/modules/px4iofirmware/mixer.cpp @@ -176,19 +176,31 @@ mixer_tick() atomic_modify_clear(&r_status_flags, (PX4IO_P_STATUS_FLAGS_FAILSAFE)); } + const bool armed_output = should_arm || should_arm_nothrottle || (source == MIX_FAILSAFE); + const bool disarmed_output = (!armed_output && should_always_enable_pwm) + || (r_setup_arming & PX4IO_P_SETUP_ARMING_LOCKDOWN); + + if (disarmed_output) { + source = MIX_DISARMED; + } + /* * Run the mixers. */ if (source == MIX_FAILSAFE) { - /* copy failsafe values to the servo outputs */ + // Set failsafe value if the PWM output isn't disabled for (unsigned i = 0; i < PX4IO_SERVO_COUNT; i++) { - r_page_servos[i] = r_page_servo_failsafe[i]; + if (r_page_servos[i] != 0) { + r_page_servos[i] = r_page_servo_failsafe[i]; + } } } else if (source == MIX_DISARMED) { - /* copy disarmed values to the servo outputs */ + // Set disarmed value if the PWM output isn't disabled for (unsigned i = 0; i < PX4IO_SERVO_COUNT; i++) { - r_page_servos[i] = r_page_servo_disarmed[i]; + if (r_page_servos[i] != 0) { + r_page_servos[i] = r_page_servo_disarmed[i]; + } } } @@ -215,9 +227,7 @@ mixer_tick() isr_debug(5, "> PWM disabled"); } - if (mixer_servos_armed - && (should_arm || should_arm_nothrottle || (source == MIX_FAILSAFE)) - && !(r_setup_arming & PX4IO_P_SETUP_ARMING_LOCKDOWN)) { + if (mixer_servos_armed && (armed_output || disarmed_output)) { /* update the servo outputs. */ for (unsigned i = 0; i < PX4IO_SERVO_COUNT; i++) { up_pwm_servo_set(i, r_page_servos[i]); @@ -230,22 +240,5 @@ mixer_tick() } else if (r_setup_features & PX4IO_P_SETUP_FEATURES_SBUS1_OUT) { sbus1_output(_sbus_fd, r_page_servos, PX4IO_SERVO_COUNT); } - - } else if (mixer_servos_armed && (should_always_enable_pwm || (r_setup_arming & PX4IO_P_SETUP_ARMING_LOCKDOWN))) { - /* set the disarmed servo outputs. */ - for (unsigned i = 0; i < PX4IO_SERVO_COUNT; i++) { - up_pwm_servo_set(i, r_page_servo_disarmed[i]); - /* copy values into reporting register */ - r_page_servos[i] = r_page_servo_disarmed[i]; - } - - /* set S.BUS1 or S.BUS2 outputs */ - if (r_setup_features & PX4IO_P_SETUP_FEATURES_SBUS1_OUT) { - sbus1_output(_sbus_fd, r_page_servo_disarmed, PX4IO_SERVO_COUNT); - } - - if (r_setup_features & PX4IO_P_SETUP_FEATURES_SBUS2_OUT) { - sbus2_output(_sbus_fd, r_page_servo_disarmed, PX4IO_SERVO_COUNT); - } } } diff --git a/src/modules/px4iofirmware/serial.cpp b/src/modules/px4iofirmware/serial.cpp index ef4a18cba7e3..f945f05d4750 100644 --- a/src/modules/px4iofirmware/serial.cpp +++ b/src/modules/px4iofirmware/serial.cpp @@ -379,4 +379,3 @@ dma_reset(void) stm32_dmastart(rx_dma, rx_dma_callback, NULL, false); rCR3 |= USART_CR3_DMAR; } - diff --git a/src/modules/rc_update/RCUpdateTest.cpp b/src/modules/rc_update/RCUpdateTest.cpp index 393ffdae12d6..d0df1c28be79 100644 --- a/src/modules/rc_update/RCUpdateTest.cpp +++ b/src/modules/rc_update/RCUpdateTest.cpp @@ -38,45 +38,121 @@ using namespace rc_update; -TEST(RCUpdateTest, ModeSlotUnassigned) +class TestRCUpdate : public RCUpdate +{ +public: + void UpdateManualSwitches(const hrt_abstime ×tamp_sample) { RCUpdate::UpdateManualSwitches(timestamp_sample); } + void updateParams() { RCUpdate::updateParams(); } + void setChannel(size_t index, float channel_value) { _rc.channels[index] = channel_value; } +}; + +class RCUpdateTest : public ::testing::Test, ModuleParams +{ +public: + RCUpdateTest() : ModuleParams(nullptr) + { + // Disable autosaving parameters to avoid busy loop in param_set() + param_control_autosave(false); + } + + void checkModeSlotSwitch(float channel_value, uint8_t expected_slot) + { + // GIVEN: First channel is configured as mode switch + _param_rc_map_fltmode.set(1); + _param_rc_map_fltmode.commit(); + EXPECT_EQ(_param_rc_map_fltmode.get(), 1); + _rc_update.updateParams(); + // GIVEN: First channel has some value + _rc_update.setChannel(0, channel_value); + + // WHEN: we update the switches two times to pass the simple outlier protection + _rc_update.UpdateManualSwitches(0); + _rc_update.UpdateManualSwitches(0); + + // THEN: we receive the expected mode slot + uORB::SubscriptionData manual_control_switches_sub{ORB_ID(manual_control_switches)}; + EXPECT_EQ(manual_control_switches_sub.get().mode_slot, expected_slot); + } + + void checkModeSlotButton(uint8_t button_bitmask, uint8_t channel, float channel_value, uint8_t expected_slot) + { + // GIVEN: No mode switch is mapped + _param_rc_map_fltmode.set(0); + _param_rc_map_fltmode.commit(); + EXPECT_EQ(_param_rc_map_fltmode.get(), 0); + // GIVEN: Buttons are configured + _param_rc_map_fltm_btn.set(button_bitmask); + _param_rc_map_fltm_btn.commit(); + EXPECT_EQ(_param_rc_map_fltm_btn.get(), button_bitmask); + _rc_update.updateParams(); + // GIVEN: First channel has some value + _rc_update.setChannel(channel - 1, channel_value); + + // WHEN: we update the switches 4 times: + // - initiate the button press + // - keep the same button pressed + // - hold the button for 50ms + // - pass the simple outlier protection + _rc_update.UpdateManualSwitches(0); + _rc_update.UpdateManualSwitches(0); + _rc_update.UpdateManualSwitches(51_ms); + _rc_update.UpdateManualSwitches(51_ms); + + // THEN: we receive the expected mode slot + uORB::SubscriptionData manual_control_switches_sub{ORB_ID(manual_control_switches)}; + EXPECT_EQ(manual_control_switches_sub.get().mode_slot, expected_slot); + + // Reset channel value for the next test + _rc_update.setChannel(channel - 1, 0.f); + } + + void checkReturnSwitch(float channel_value, float threshold, uint8_t expected_position) + { + // GIVEN: First channel is configured as return switch + _param_rc_map_return_sw.set(1); + _param_rc_map_return_sw.commit(); + _param_rc_return_th.set(threshold); + _param_rc_return_th.commit(); + _rc_update.updateParams(); + EXPECT_EQ(_param_rc_map_return_sw.get(), 1); + EXPECT_FLOAT_EQ(_param_rc_return_th.get(), threshold); + // GIVEN: First channel has some value + _rc_update.setChannel(0, channel_value); + + // WHEN: we update the switches two times to pass the simple outlier protection + _rc_update.UpdateManualSwitches(0); + _rc_update.UpdateManualSwitches(0); + + // THEN: we receive the expected mode slot + uORB::SubscriptionData manual_control_switches_sub{ORB_ID(manual_control_switches)}; + EXPECT_EQ(manual_control_switches_sub.get().return_switch, expected_position); + } + + TestRCUpdate _rc_update; + + DEFINE_PARAMETERS( + (ParamInt) _param_rc_map_fltmode, + (ParamInt) _param_rc_map_fltm_btn, + (ParamInt) _param_rc_map_return_sw, + (ParamFloat) _param_rc_return_th + ) +}; + +TEST_F(RCUpdateTest, ModeSlotUnassigned) { - RCUpdate rc_update; // GIVEN: Default configuration with no assigned mode switch - EXPECT_EQ(rc_update._param_rc_map_fltmode.get(), 0); + EXPECT_EQ(_param_rc_map_fltmode.get(), 0); // WHEN: we update the switches two times to pass the simple outlier protection - rc_update.UpdateManualSwitches(0); - rc_update.UpdateManualSwitches(0); + _rc_update.UpdateManualSwitches(0); + _rc_update.UpdateManualSwitches(0); // THEN: we receive no mode slot uORB::SubscriptionData manual_control_switches_sub{ORB_ID(manual_control_switches)}; - manual_control_switches_sub.update(); - EXPECT_EQ(manual_control_switches_sub.get().mode_slot, 0); // manual_control_switches_s::MODE_SLOT_NONE } -void checkModeSlotSwitch(float channel_value, uint8_t expected_slot) -{ - RCUpdate rc_update; - - // GIVEN: First channel is configured as mode switch - rc_update._param_rc_map_fltmode.set(1); - EXPECT_EQ(rc_update._param_rc_map_fltmode.get(), 1); - // GIVEN: First channel has some value - rc_update._rc.channels[0] = channel_value; - - // WHEN: we update the switches two times to pass the simple outlier protection - rc_update.UpdateManualSwitches(0); - rc_update.UpdateManualSwitches(0); - - // THEN: we receive the expected mode slot - uORB::SubscriptionData manual_control_switches_sub{ORB_ID(manual_control_switches)}; - manual_control_switches_sub.update(); - - EXPECT_EQ(manual_control_switches_sub.get().mode_slot, expected_slot); -} - -TEST(RCUpdateTest, ModeSlotSwitchAllValues) +TEST_F(RCUpdateTest, ModeSlotSwitchAllValues) { checkModeSlotSwitch(-1.f, 1); // manual_control_switches_s::MODE_SLOT_1 checkModeSlotSwitch(-.5f, 2); // manual_control_switches_s::MODE_SLOT_2 @@ -86,36 +162,7 @@ TEST(RCUpdateTest, ModeSlotSwitchAllValues) checkModeSlotSwitch(1.f, 6); // manual_control_switches_s::MODE_SLOT_6 } -void checkModeSlotButton(uint8_t button_configuration, uint8_t channel, float channel_value, uint8_t expected_slot) -{ - RCUpdate rc_update; - - // GIVEN: Buttons are configured - rc_update._param_rc_map_fltm_btn.set(button_configuration); - EXPECT_EQ(rc_update._param_rc_map_fltm_btn.get(), button_configuration); - // GIVEN: buttons are mapped - rc_update.update_rc_functions(); - // GIVEN: First channel has some value - rc_update._rc.channels[channel - 1] = channel_value; - - // WHEN: we update the switches 4 times: - // - initiate the button press - // - keep the same button pressed - // - hold the button for 50ms - // - pass the simple outlier protection - rc_update.UpdateManualSwitches(0); - rc_update.UpdateManualSwitches(0); - rc_update.UpdateManualSwitches(51_ms); - rc_update.UpdateManualSwitches(51_ms); - - // THEN: we receive the expected mode slot - uORB::SubscriptionData manual_control_switches_sub{ORB_ID(manual_control_switches)}; - manual_control_switches_sub.update(); - - EXPECT_EQ(manual_control_switches_sub.get().mode_slot, expected_slot); -} - -TEST(RCUpdateTest, ModeSlotButtonAllValues) +TEST_F(RCUpdateTest, ModeSlotButtonAllValues) { checkModeSlotButton(1, 1, -1.f, 0); // button not pressed -> manual_control_switches_s::MODE_SLOT_NONE checkModeSlotButton(1, 1, 0.f, 0); // button not pressed over threshold -> manual_control_switches_s::MODE_SLOT_NONE @@ -131,3 +178,58 @@ TEST(RCUpdateTest, ModeSlotButtonAllValues) checkModeSlotButton(31, 6, 1.f, 0); // button 6 pressed but not configured -> manual_control_switches_s::MODE_SLOT_NONE checkModeSlotButton(63, 6, 1.f, 6); // button 6 pressed -> manual_control_switches_s::MODE_SLOT_6 } + +TEST_F(RCUpdateTest, ReturnSwitchUnassigned) +{ + // GIVEN: Default configuration with no assigned return switch + EXPECT_EQ(_param_rc_map_return_sw.get(), 0); + + // WHEN: we update the switches two times to pass the simple outlier protection + _rc_update.UpdateManualSwitches(0); + _rc_update.UpdateManualSwitches(0); + + // THEN: we receive an unmapped return switch state + uORB::SubscriptionData manual_control_switches_sub{ORB_ID(manual_control_switches)}; + EXPECT_EQ(manual_control_switches_sub.get().return_switch, 0); // manual_control_switches_s::SWITCH_POS_NONE +} + +TEST_F(RCUpdateTest, ReturnSwitchPositiveThresholds) +{ + checkReturnSwitch(-1.f, 0.5f, 3); // Below threshold -> SWITCH_POS_OFF + checkReturnSwitch(0.f, 0.5f, 3); // On threshold -> SWITCH_POS_OFF + checkReturnSwitch(.001f, 0.5f, 1); // Slightly above threshold -> SWITCH_POS_ON + checkReturnSwitch(1.f, 0.5f, 1); // Above threshold -> SWITCH_POS_ON + + checkReturnSwitch(-1.f, 0.75f, 3); // Below threshold -> SWITCH_POS_OFF + checkReturnSwitch(0.f, 0.75f, 3); // Below threshold -> SWITCH_POS_OFF + checkReturnSwitch(.5f, 0.75f, 3); // On threshold -> SWITCH_POS_OFF + checkReturnSwitch(.501f, 0.75f, 1); // Slightly above threshold -> SWITCH_POS_ON + checkReturnSwitch(1.f, 0.75f, 1); // Above threshold -> SWITCH_POS_ON + + checkReturnSwitch(-1.f, 0.f, 3); // On minimum threshold -> SWITCH_POS_OFF + checkReturnSwitch(-.999f, 0.f, 1); // Slightly above minimum threshold -> SWITCH_POS_ON + checkReturnSwitch(1.f, 0.f, 1); // Above minimum threshold -> SWITCH_POS_ON + + checkReturnSwitch(-1.f, 1.f, 3); // Below maximum threshold -> SWITCH_POS_OFF + checkReturnSwitch(1.f, 1.f, 3); // On maximum threshold -> SWITCH_POS_OFF +} + +TEST_F(RCUpdateTest, ReturnSwitchNegativeThresholds) +{ + checkReturnSwitch(1.f, -0.5f, 3); // Above threshold -> SWITCH_POS_OFF + checkReturnSwitch(0.f, -0.5f, 3); // On threshold -> SWITCH_POS_OFF + checkReturnSwitch(-.001f, -0.5f, 1); // Slightly below threshold -> SWITCH_POS_ON + checkReturnSwitch(-1.f, -0.5f, 1); // Below threshold -> SWITCH_POS_ON + + checkReturnSwitch(1.f, -0.75f, 3); // Above threshold -> SWITCH_POS_OFF + checkReturnSwitch(.5f, -0.75f, 3); // On threshold -> SWITCH_POS_OFF + checkReturnSwitch(.499f, -0.75f, 1); // Slightly below threshold -> SWITCH_POS_ON + checkReturnSwitch(-1.f, -0.75f, 1); // Below threshold -> SWITCH_POS_ON + + checkReturnSwitch(1.f, -1.f, 3); // On maximum threshold -> SWITCH_POS_OFF + checkReturnSwitch(.999f, -1.f, 1); // Slighly below maximum threshold -> SWITCH_POS_ON + checkReturnSwitch(-1.f, -1.f, 1); // Below minimum threshold -> SWITCH_POS_ON + + checkReturnSwitch(1.f, -.001f, 3); // Above minimum threshold -> SWITCH_POS_OFF + checkReturnSwitch(-1.f, -.001f, 1); // Slightly below minimum threshold -> SWITCH_POS_OFF +} diff --git a/src/modules/rc_update/params_deprecated.c b/src/modules/rc_update/params_deprecated.c index 93c06dd19c0b..550f2169ee12 100644 --- a/src/modules/rc_update/params_deprecated.c +++ b/src/modules/rc_update/params_deprecated.c @@ -63,143 +63,3 @@ * @value 18 Channel 18 */ PARAM_DEFINE_INT32(RC_MAP_MODE_SW, 0); - -/** - * Rattitude switch channel (deprecated) - * - * @min 0 - * @max 18 - * @group Radio Switches - * @value 0 Unassigned - * @value 1 Channel 1 - * @value 2 Channel 2 - * @value 3 Channel 3 - * @value 4 Channel 4 - * @value 5 Channel 5 - * @value 6 Channel 6 - * @value 7 Channel 7 - * @value 8 Channel 8 - * @value 9 Channel 9 - * @value 10 Channel 10 - * @value 11 Channel 11 - * @value 12 Channel 12 - * @value 13 Channel 13 - * @value 14 Channel 14 - * @value 15 Channel 15 - * @value 16 Channel 16 - * @value 17 Channel 17 - * @value 18 Channel 18 - */ -PARAM_DEFINE_INT32(RC_MAP_RATT_SW, 0); - -/** - * Position Control switch channel (deprecated) - * - * @min 0 - * @max 18 - * @group Radio Switches - * @value 0 Unassigned - * @value 1 Channel 1 - * @value 2 Channel 2 - * @value 3 Channel 3 - * @value 4 Channel 4 - * @value 5 Channel 5 - * @value 6 Channel 6 - * @value 7 Channel 7 - * @value 8 Channel 8 - * @value 9 Channel 9 - * @value 10 Channel 10 - * @value 11 Channel 11 - * @value 12 Channel 12 - * @value 13 Channel 13 - * @value 14 Channel 14 - * @value 15 Channel 15 - * @value 16 Channel 16 - * @value 17 Channel 17 - * @value 18 Channel 18 - */ -PARAM_DEFINE_INT32(RC_MAP_POSCTL_SW, 0); - -/** - * Acro switch channel (deprecated) - * - * @min 0 - * @max 18 - * @group Radio Switches - * @value 0 Unassigned - * @value 1 Channel 1 - * @value 2 Channel 2 - * @value 3 Channel 3 - * @value 4 Channel 4 - * @value 5 Channel 5 - * @value 6 Channel 6 - * @value 7 Channel 7 - * @value 8 Channel 8 - * @value 9 Channel 9 - * @value 10 Channel 10 - * @value 11 Channel 11 - * @value 12 Channel 12 - * @value 13 Channel 13 - * @value 14 Channel 14 - * @value 15 Channel 15 - * @value 16 Channel 16 - * @value 17 Channel 17 - * @value 18 Channel 18 - */ -PARAM_DEFINE_INT32(RC_MAP_ACRO_SW, 0); - -/** - * Stabilize switch channel mapping (deprecated) - * - * @min 0 - * @max 18 - * @group Radio Switches - * @value 0 Unassigned - * @value 1 Channel 1 - * @value 2 Channel 2 - * @value 3 Channel 3 - * @value 4 Channel 4 - * @value 5 Channel 5 - * @value 6 Channel 6 - * @value 7 Channel 7 - * @value 8 Channel 8 - * @value 9 Channel 9 - * @value 10 Channel 10 - * @value 11 Channel 11 - * @value 12 Channel 12 - * @value 13 Channel 13 - * @value 14 Channel 14 - * @value 15 Channel 15 - * @value 16 Channel 16 - * @value 17 Channel 17 - * @value 18 Channel 18 - */ -PARAM_DEFINE_INT32(RC_MAP_STAB_SW, 0); - -/** - * Manual switch channel mapping (deprecated) - * - * @min 0 - * @max 18 - * @group Radio Switches - * @value 0 Unassigned - * @value 1 Channel 1 - * @value 2 Channel 2 - * @value 3 Channel 3 - * @value 4 Channel 4 - * @value 5 Channel 5 - * @value 6 Channel 6 - * @value 7 Channel 7 - * @value 8 Channel 8 - * @value 9 Channel 9 - * @value 10 Channel 10 - * @value 11 Channel 11 - * @value 12 Channel 12 - * @value 13 Channel 13 - * @value 14 Channel 14 - * @value 15 Channel 15 - * @value 16 Channel 16 - * @value 17 Channel 17 - * @value 18 Channel 18 - */ -PARAM_DEFINE_INT32(RC_MAP_MAN_SW, 0); diff --git a/src/modules/rc_update/rc_update.cpp b/src/modules/rc_update/rc_update.cpp index af4931c472ff..fb5491d7653c 100644 --- a/src/modules/rc_update/rc_update.cpp +++ b/src/modules/rc_update/rc_update.cpp @@ -72,23 +72,23 @@ RCUpdate::RCUpdate() : char nbuf[16]; /* min values */ - sprintf(nbuf, "RC%d_MIN", i + 1); + snprintf(nbuf, sizeof(nbuf), "RC%d_MIN", i + 1); _parameter_handles.min[i] = param_find(nbuf); /* trim values */ - sprintf(nbuf, "RC%d_TRIM", i + 1); + snprintf(nbuf, sizeof(nbuf), "RC%d_TRIM", i + 1); _parameter_handles.trim[i] = param_find(nbuf); /* max values */ - sprintf(nbuf, "RC%d_MAX", i + 1); + snprintf(nbuf, sizeof(nbuf), "RC%d_MAX", i + 1); _parameter_handles.max[i] = param_find(nbuf); /* channel reverse */ - sprintf(nbuf, "RC%d_REV", i + 1); + snprintf(nbuf, sizeof(nbuf), "RC%d_REV", i + 1); _parameter_handles.rev[i] = param_find(nbuf); /* channel deadzone */ - sprintf(nbuf, "RC%d_DZ", i + 1); + snprintf(nbuf, sizeof(nbuf), "RC%d_DZ", i + 1); _parameter_handles.dz[i] = param_find(nbuf); } @@ -101,7 +101,7 @@ RCUpdate::RCUpdate() : } rc_parameter_map_poll(true /* forced */); - parameters_updated(); + updateParams(); // Call is needed to populate the _rc.function array _button_pressed_hysteresis.set_hysteresis_time_from(false, 50_ms); } @@ -123,11 +123,12 @@ bool RCUpdate::init() return true; } -void RCUpdate::parameters_updated() +void RCUpdate::updateParams() { + ModuleParams::updateParams(); + // rc values for (unsigned int i = 0; i < RC_MAX_CHAN_COUNT; i++) { - float min = 0.f; param_get(_parameter_handles.min[i], &min); _parameters.min[i] = min; @@ -155,8 +156,14 @@ void RCUpdate::parameters_updated() update_rc_functions(); - // deprecated parameters, will be removed post v1.12 once QGC is updated + _rc_calibrated = _param_rc_chan_cnt.get() > 0 + && (_param_rc_map_throttle.get() > 0 + || _param_rc_map_roll.get() > 0 + || _param_rc_map_pitch.get() > 0 + || _param_rc_map_yaw.get() > 0); + { + // deprecated parameter, needs to be fully removed from QGC int32_t rc_map_value = 0; if (param_get(param_find("RC_MAP_MODE_SW"), &rc_map_value) == PX4_OK) { @@ -165,41 +172,6 @@ void RCUpdate::parameters_updated() param_reset(param_find("RC_MAP_MODE_SW")); } } - - if (param_get(param_find("RC_MAP_RATT_SW"), &rc_map_value) == PX4_OK) { - if (rc_map_value != 0) { - PX4_WARN("RC_MAP_RATT_SW deprecated"); - param_reset(param_find("RC_MAP_RATT_SW")); - } - } - - if (param_get(param_find("RC_MAP_POSCTL_SW"), &rc_map_value) == PX4_OK) { - if (rc_map_value != 0) { - PX4_WARN("RC_MAP_POSCTL_SW deprecated"); - param_reset(param_find("RC_MAP_POSCTL_SW")); - } - } - - if (param_get(param_find("RC_MAP_ACRO_SW"), &rc_map_value) == PX4_OK) { - if (rc_map_value != 0) { - PX4_WARN("RC_MAP_ACRO_SW deprecated"); - param_reset(param_find("RC_MAP_ACRO_SW")); - } - } - - if (param_get(param_find("RC_MAP_STAB_SW"), &rc_map_value) == PX4_OK) { - if (rc_map_value != 0) { - PX4_WARN("RC_MAP_STAB_SW deprecated"); - param_reset(param_find("RC_MAP_STAB_SW")); - } - } - - if (param_get(param_find("RC_MAP_MAN_SW"), &rc_map_value) == PX4_OK) { - if (rc_map_value != 0) { - PX4_WARN("RC_MAP_MAN_SW deprecated"); - param_reset(param_find("RC_MAP_MAN_SW")); - } - } } // Center throttle trim when it's set to the minimum to correct for hardcoded QGC RC calibration @@ -210,8 +182,12 @@ void RCUpdate::parameters_updated() const uint16_t throttle_min = _parameters.min[throttle_channel]; const uint16_t throttle_trim = _parameters.trim[throttle_channel]; const uint16_t throttle_max = _parameters.max[throttle_channel]; + const bool throttle_rev = _parameters.rev[throttle_channel]; + + const bool normal_case = !throttle_rev && (throttle_trim == throttle_min); + const bool reversed_case = throttle_rev && (throttle_trim == throttle_max); - if (throttle_min == throttle_trim) { + if (normal_case || reversed_case) { const uint16_t new_throttle_trim = (throttle_min + throttle_max) / 2; _parameters.trim[throttle_channel] = new_throttle_trim; } @@ -379,7 +355,6 @@ void RCUpdate::Run() // update parameters from storage updateParams(); - parameters_updated(); } rc_parameter_map_poll(); @@ -551,19 +526,16 @@ void RCUpdate::Run() perf_end(_loop_perf); } -switch_pos_t RCUpdate::get_rc_sw2pos_position(uint8_t func, float on_th) const +switch_pos_t RCUpdate::getRCSwitchOnOffPosition(uint8_t function, float threshold) const { - if (_rc.function[func] >= 0) { - const bool on_inv = (on_th < 0.f); - - const float value = 0.5f * _rc.channels[_rc.function[func]] + 0.5f; + if (_rc.function[function] >= 0) { + float value = 0.5f * _rc.channels[_rc.function[function]] + 0.5f; // Rescale [-1,1] -> [0,1] range - if (on_inv ? value < on_th : value > on_th) { - return manual_control_switches_s::SWITCH_POS_ON; - - } else { - return manual_control_switches_s::SWITCH_POS_OFF; + if (threshold < 0.f) { + value = -value; } + + return (value > threshold) ? manual_control_switches_s::SWITCH_POS_ON : manual_control_switches_s::SWITCH_POS_OFF; } return manual_control_switches_s::SWITCH_POS_NONE; @@ -630,18 +602,18 @@ void RCUpdate::UpdateManualSwitches(const hrt_abstime ×tamp_sample) } } - switches.return_switch = get_rc_sw2pos_position(rc_channels_s::FUNCTION_RETURN, _param_rc_return_th.get()); - switches.loiter_switch = get_rc_sw2pos_position(rc_channels_s::FUNCTION_LOITER, _param_rc_loiter_th.get()); - switches.offboard_switch = get_rc_sw2pos_position(rc_channels_s::FUNCTION_OFFBOARD, _param_rc_offb_th.get()); - switches.kill_switch = get_rc_sw2pos_position(rc_channels_s::FUNCTION_KILLSWITCH, _param_rc_killswitch_th.get()); - switches.arm_switch = get_rc_sw2pos_position(rc_channels_s::FUNCTION_ARMSWITCH, _param_rc_armswitch_th.get()); - switches.transition_switch = get_rc_sw2pos_position(rc_channels_s::FUNCTION_TRANSITION, _param_rc_trans_th.get()); - switches.gear_switch = get_rc_sw2pos_position(rc_channels_s::FUNCTION_GEAR, _param_rc_gear_th.get()); - switches.engage_main_motor_switch = get_rc_sw2pos_position(rc_channels_s::FUNCTION_ENGAGE_MAIN_MOTOR, - _param_rc_eng_mot_th.get()); + switches.return_switch = getRCSwitchOnOffPosition(rc_channels_s::FUNCTION_RETURN, _param_rc_return_th.get()); + switches.loiter_switch = getRCSwitchOnOffPosition(rc_channels_s::FUNCTION_LOITER, _param_rc_loiter_th.get()); + switches.offboard_switch = getRCSwitchOnOffPosition(rc_channels_s::FUNCTION_OFFBOARD, _param_rc_offb_th.get()); + switches.kill_switch = getRCSwitchOnOffPosition(rc_channels_s::FUNCTION_KILLSWITCH, _param_rc_killswitch_th.get()); + switches.arm_switch = getRCSwitchOnOffPosition(rc_channels_s::FUNCTION_ARMSWITCH, _param_rc_armswitch_th.get()); + switches.transition_switch = getRCSwitchOnOffPosition(rc_channels_s::FUNCTION_TRANSITION, _param_rc_trans_th.get()); + switches.gear_switch = getRCSwitchOnOffPosition(rc_channels_s::FUNCTION_GEAR, _param_rc_gear_th.get()); + switches.engage_main_motor_switch = + getRCSwitchOnOffPosition(rc_channels_s::FUNCTION_ENGAGE_MAIN_MOTOR, _param_rc_eng_mot_th.get()); #if defined(ATL_MANTIS_RC_INPUT_HACKS) - switches.photo_switch = get_rc_sw2pos_position(rc_channels_s::FUNCTION_AUX_3, 0.5f); - switches.video_switch = get_rc_sw2pos_position(rc_channels_s::FUNCTION_AUX_4, 0.5f); + switches.photo_switch = getRCSwitchOnOffPosition(rc_channels_s::FUNCTION_AUX_3, 0.5f); + switches.video_switch = getRCSwitchOnOffPosition(rc_channels_s::FUNCTION_AUX_4, 0.5f); #endif // last 2 switch updates identical within 1 second (simple protection from bad RC data) @@ -687,6 +659,7 @@ void RCUpdate::UpdateManualControlInput(const hrt_abstime ×tamp_sample) manual_control_input.aux4 = get_rc_value(rc_channels_s::FUNCTION_AUX_4, -1.f, 1.f); manual_control_input.aux5 = get_rc_value(rc_channels_s::FUNCTION_AUX_5, -1.f, 1.f); manual_control_input.aux6 = get_rc_value(rc_channels_s::FUNCTION_AUX_6, -1.f, 1.f); + manual_control_input.valid = _rc_calibrated; // publish manual_control_input topic manual_control_input.timestamp = hrt_absolute_time(); diff --git a/src/modules/rc_update/rc_update.h b/src/modules/rc_update/rc_update.h index 309c67af06e9..edd9e18dfcfb 100644 --- a/src/modules/rc_update/rc_update.h +++ b/src/modules/rc_update/rc_update.h @@ -89,6 +89,7 @@ class RCUpdate : public ModuleBase, public ModuleParams, public px4::W int print_status() override; +protected: static constexpr uint64_t VALID_DATA_MIN_INTERVAL_US{1_s / 3}; // assume valid RC input is at least 3 Hz void Run() override; @@ -109,7 +110,7 @@ class RCUpdate : public ModuleBase, public ModuleParams, public px4::W /** * Update our local parameter cache. */ - void parameters_updated(); + void updateParams() override; /** * Get and limit value for specified RC function. Returns NAN if not mapped. @@ -117,15 +118,16 @@ class RCUpdate : public ModuleBase, public ModuleParams, public px4::W float get_rc_value(uint8_t func, float min_value, float max_value) const; /** - * Get switch position for specified function. + * Get on/off switch position from the RC channel of the specified function + * + * @param function according to rc_channels_s::FUNCTION_XXX + * @param threshold according to RC_XXX_TH parameters, negative means on and off are flipped */ - switch_pos_t get_rc_sw2pos_position(uint8_t func, float on_th) const; + switch_pos_t getRCSwitchOnOffPosition(uint8_t function, float threshold) const; /** * Update parameters from RC channels if the functionality is activated and the * input has changed since the last update - * - * @param */ void set_params_from_rc(); @@ -170,6 +172,7 @@ class RCUpdate : public ModuleBase, public ModuleParams, public px4::W manual_control_switches_s _manual_switches_previous{}; manual_control_switches_s _manual_switches_last_publish{}; rc_channels_s _rc{}; + bool _rc_calibrated{false}; rc_parameter_map_s _rc_parameter_map {}; float _param_rc_values[rc_parameter_map_s::RC_PARAM_MAP_NCHAN] {}; /**< parameter values for RC control */ diff --git a/src/modules/replay/Kconfig b/src/modules/replay/Kconfig index a2868f08f562..b3c75f837c18 100644 --- a/src/modules/replay/Kconfig +++ b/src/modules/replay/Kconfig @@ -2,4 +2,4 @@ menuconfig MODULES_REPLAY bool "replay" default n ---help--- - Enable support for replay \ No newline at end of file + Enable support for replay diff --git a/src/modules/replay/Replay.cpp b/src/modules/replay/Replay.cpp index 6218b09e00da..b12e899cc0e9 100644 --- a/src/modules/replay/Replay.cpp +++ b/src/modules/replay/Replay.cpp @@ -47,6 +47,7 @@ #include #include #include +#include #include #include @@ -65,6 +66,7 @@ #include "ReplayEkf2.hpp" #define PARAMS_OVERRIDE_FILE PX4_ROOTFSDIR "/replay_params.txt" +#define DYNAMIC_PARAMS_OVERRIDE_FILE PX4_ROOTFSDIR "/replay_params_dynamic.txt" using namespace std; using namespace time_literals; @@ -124,6 +126,38 @@ Replay::setupReplayFile(const char *file_name) _replay_file = strdup(file_name); } +void +Replay::setParameter(const string ¶meter_name, const double parameter_value) +{ + param_t handle = param_find(parameter_name.c_str()); + param_type_t param_format = param_type(handle); + + if (param_format == PARAM_TYPE_INT32) { + int32_t orig_value = 0; + param_get(handle, &orig_value); + + int32_t value = (int32_t)parameter_value; + + if (orig_value != value) { + PX4_WARN("Setting %s (INT32) %d -> %d", param_name(handle), orig_value, value); + } + + param_set(handle, (const void *)&value); + + } else if (param_format == PARAM_TYPE_FLOAT) { + float orig_value = 0; + param_get(handle, &orig_value); + + float value = (float)parameter_value; + + if (fabsf(orig_value - value) > FLT_EPSILON) { + PX4_WARN("Setting %s (FLOAT) %.3f -> %.3f", param_name(handle), (double)orig_value, (double)value); + } + + param_set(handle, (const void *)&value); + } +} + void Replay::setUserParams(const char *filename) { @@ -149,37 +183,57 @@ Replay::setUserParams(const char *filename) mystrstream >> pname; mystrstream >> value_string; - double param_value_double = stod(value_string); - - param_t handle = param_find(pname.c_str()); - param_type_t param_format = param_type(handle); _overridden_params.insert(pname); - if (param_format == PARAM_TYPE_INT32) { - int32_t orig_value = 0; - param_get(handle, &orig_value); + double param_value_double = stod(value_string); - int32_t value = (int32_t)param_value_double; + setParameter(pname, param_value_double); + } +} - if (orig_value != value) { - PX4_WARN("setting %s (INT32) %d -> %d", param_name(handle), orig_value, value); - } +void +Replay::readDynamicParams(const char *filename) +{ + _dynamic_parameter_schedule.clear(); - param_set(handle, (const void *)&value); + string line; + string param_name; + string value_string; + string time_string; + ifstream myfile(filename); - } else if (param_format == PARAM_TYPE_FLOAT) { - float orig_value = 0; - param_get(handle, &orig_value); + if (!myfile.is_open()) { + return; + } - float value = (float)param_value_double; + PX4_INFO("Reading dynamic params from %s...", filename); - if (fabsf(orig_value - value) > FLT_EPSILON) { - PX4_WARN("setting %s (FLOAT) %.3f -> %.3f", param_name(handle), (double)orig_value, (double)value); - } + while (!myfile.eof()) { + getline(myfile, line); - param_set(handle, (const void *)&value); + if (line.empty() || line[0] == '#') { + continue; } + + istringstream mystrstream(line); + mystrstream >> param_name; + mystrstream >> value_string; + mystrstream >> time_string; + + _dynamic_parameters.insert(param_name); + + double param_value = stod(value_string); + uint64_t change_timestamp = (uint64_t)(stod(time_string) * 1e6); + + // Construct and store parameter change event + ParameterChangeEvent change_event = {change_timestamp, param_name, param_value}; + _dynamic_parameter_schedule.push_back(change_event); } + + // Sort by event time + sort(_dynamic_parameter_schedule.begin(), _dynamic_parameter_schedule.end()); + + _next_param_change = 0; } bool @@ -338,33 +392,30 @@ Replay::readFormat(std::ifstream &file, uint16_t msg_size) } -string Replay::parseOrbFields(const string &fields) +string Replay::getOrbFields(const orb_metadata *meta) { - string ret{}; - - // convert o_fields from " timestamp;[5] array;" to "uint64_t timestamp;int8_t[5] array;" - for (int format_idx = 0; format_idx < (int)fields.length();) { - const char *end_field = strchr(fields.c_str() + format_idx, ';'); + char format[3000]; + char buffer[2048]; + uORB::MessageFormatReader format_reader(buffer, sizeof(buffer)); - if (!end_field) { - PX4_ERR("Format error in %s", fields.c_str()); - return ""; - } + if (!format_reader.readUntilFormat(meta->o_id)) { + PX4_ERR("failed to find format for topic %s", meta->o_name); + return ""; + } - const char *c_type = orb_get_c_type(fields[format_idx]); + int field_length = 0; + int format_length = 0; - if (c_type) { - string str_type = c_type; - ret += str_type; - ++format_idx; - } + while (format_reader.readNextField(field_length)) { + format_length += snprintf(format + format_length, sizeof(buffer) - format_length - 1, "%s;", buffer); + } - int len = end_field - (fields.c_str() + format_idx) + 1; - ret += fields.substr(format_idx, len); - format_idx += len; + if (uORB::MessageFormatReader::expandMessageFormat(format, format_length, sizeof(format)) < 0) { + PX4_ERR("failed to expand message format for %s", meta->o_name); + return ""; } - return ret; + return format; } bool @@ -402,7 +453,7 @@ Replay::readAndAddSubscription(std::ifstream &file, uint16_t msg_size) // FIXME: this should check recursively, all used nested types string file_format = _file_formats[topic_name]; - const string orb_fields = parseOrbFields(orb_meta->o_fields); + const string orb_fields = getOrbFields(orb_meta); if (file_format != orb_fields) { // check if we have a compatibility conversion available @@ -611,7 +662,8 @@ Replay::readAndApplyParameter(std::ifstream &file, uint16_t msg_size) string type = key.substr(0, pos); string param_name = key.substr(pos + 1); - if (_overridden_params.find(param_name) != _overridden_params.end()) { + if (_overridden_params.find(param_name) != _overridden_params.end() || + _dynamic_parameters.find(param_name) != _dynamic_parameters.end()) { //this parameter is overridden, so don't apply it return true; } @@ -826,6 +878,7 @@ Replay::readDefinitionsAndApplyParams(std::ifstream &file) } setUserParams(PARAMS_OVERRIDE_FILE); + readDynamicParams(DYNAMIC_PARAMS_OVERRIDE_FILE); return true; } @@ -896,7 +949,7 @@ Replay::run() Subscription &sub = *_subscriptions[next_msg_id]; - if (next_file_time == 0) { + if (next_file_time == 0 || next_file_time < _file_start_time) { //someone didn't set the timestamp properly. Consider the message invalid nextDataMessage(replay_file, sub, next_msg_id); continue; @@ -908,6 +961,17 @@ Replay::run() readAndHandleAdditionalMessages(replay_file, next_additional_message_pos); last_additional_message_pos = next_additional_message_pos; + // Perform scheduled parameter changes + while (_next_param_change < _dynamic_parameter_schedule.size() && + _dynamic_parameter_schedule[_next_param_change].timestamp <= next_file_time) { + const auto param_change = _dynamic_parameter_schedule[_next_param_change]; + PX4_WARN("Performing param change scheduled for t=%.3lf at t=%.3lf.", + (double)param_change.timestamp / 1.e6, + (double)next_file_time / 1.e6); + setParameter(param_change.parameter_name, param_change.parameter_value); + _next_param_change++; + } + const uint64_t publish_timestamp = handleTopicDelay(next_file_time, timestamp_offset); // It's time to publish diff --git a/src/modules/replay/Replay.hpp b/src/modules/replay/Replay.hpp index 94ecc9d416fd..75ee3c109582 100644 --- a/src/modules/replay/Replay.hpp +++ b/src/modules/replay/Replay.hpp @@ -33,6 +33,7 @@ #pragma once +#include #include #include #include @@ -220,6 +221,23 @@ class Replay : public ModuleBase private: std::set _overridden_params; + + struct ParameterChangeEvent { + uint64_t timestamp; + std::string parameter_name; + double parameter_value; + + // Comparison operator such that sorting is done by timestamp + bool operator<(const ParameterChangeEvent &other) const + { + return timestamp < other.timestamp; + } + }; + + std::set _dynamic_parameters; + std::vector _dynamic_parameter_schedule; + size_t _next_param_change; + std::map _file_formats; ///< all formats we read from the file uint64_t _file_start_time; @@ -275,9 +293,11 @@ class Replay : public ModuleBase /** get the size of a type that can be an array */ static size_t sizeOfFullType(const std::string &type_name_full); + void setParameter(const std::string ¶meter_name, const double parameter_value); void setUserParams(const char *filename); + void readDynamicParams(const char *filename); - std::string parseOrbFields(const std::string &fields); + std::string getOrbFields(const orb_metadata *meta); static char *_replay_file; }; diff --git a/src/modules/replay/ReplayEkf2.cpp b/src/modules/replay/ReplayEkf2.cpp index 6b246a4ea443..1add36489d82 100644 --- a/src/modules/replay/ReplayEkf2.cpp +++ b/src/modules/replay/ReplayEkf2.cpp @@ -45,6 +45,7 @@ #include #include #include +#include #include #include #include @@ -104,6 +105,9 @@ ReplayEkf2::onSubscriptionAdded(Subscription &sub, uint16_t msg_id) } else if (sub.orb_meta == ORB_ID(vehicle_visual_odometry)) { _vehicle_visual_odometry_msg_id = msg_id; + + } else if (sub.orb_meta == ORB_ID(aux_global_position)) { + _aux_global_position_msg_id = msg_id; } // the main loop should only handle publication of the following topics, the sensor topics are @@ -130,6 +134,7 @@ ReplayEkf2::publishEkf2Topics(const ekf2_timestamps_s &ekf2_timestamps, std::ifs handle_sensor_publication(ekf2_timestamps.vehicle_air_data_timestamp_rel, _vehicle_air_data_msg_id); handle_sensor_publication(ekf2_timestamps.vehicle_magnetometer_timestamp_rel, _vehicle_magnetometer_msg_id); handle_sensor_publication(ekf2_timestamps.visual_odometry_timestamp_rel, _vehicle_visual_odometry_msg_id); + handle_sensor_publication(0, _aux_global_position_msg_id); // sensor_combined: publish last because ekf2 is polling on this if (!findTimestampAndPublish(ekf2_timestamps.timestamp / 100, _sensor_combined_msg_id, replay_file)) { @@ -214,6 +219,7 @@ ReplayEkf2::onExitMainLoop() print_sensor_statistics(_vehicle_air_data_msg_id, "vehicle_air_data"); print_sensor_statistics(_vehicle_magnetometer_msg_id, "vehicle_magnetometer"); print_sensor_statistics(_vehicle_visual_odometry_msg_id, "vehicle_visual_odometry"); + print_sensor_statistics(_aux_global_position_msg_id, "aux_global_position"); } } // namespace px4 diff --git a/src/modules/replay/ReplayEkf2.hpp b/src/modules/replay/ReplayEkf2.hpp index 43c7de19131c..bb7f8d135939 100644 --- a/src/modules/replay/ReplayEkf2.hpp +++ b/src/modules/replay/ReplayEkf2.hpp @@ -88,6 +88,7 @@ class ReplayEkf2 : public Replay uint16_t _vehicle_air_data_msg_id = msg_id_invalid; uint16_t _vehicle_magnetometer_msg_id = msg_id_invalid; uint16_t _vehicle_visual_odometry_msg_id = msg_id_invalid; + uint16_t _aux_global_position_msg_id = msg_id_invalid; }; } //namespace px4 diff --git a/src/modules/rover_ackermann/CMakeLists.txt b/src/modules/rover_ackermann/CMakeLists.txt new file mode 100644 index 000000000000..f02a91c0b6dc --- /dev/null +++ b/src/modules/rover_ackermann/CMakeLists.txt @@ -0,0 +1,49 @@ +############################################################################ +# +# Copyright (c) 2024 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +add_subdirectory(RoverAckermannGuidance) + +px4_add_module( + MODULE modules__rover_ackermann + MAIN rover_ackermann + SRCS + RoverAckermann.cpp + RoverAckermann.hpp + DEPENDS + RoverAckermannGuidance + px4_work_queue + SlewRate + pure_pursuit + MODULE_CONFIG + module.yaml +) diff --git a/src/modules/rover_ackermann/Kconfig b/src/modules/rover_ackermann/Kconfig new file mode 100644 index 000000000000..3ba13506598a --- /dev/null +++ b/src/modules/rover_ackermann/Kconfig @@ -0,0 +1,6 @@ +menuconfig MODULES_ROVER_ACKERMANN + bool "rover_ackermann" + default n + depends on MODULES_CONTROL_ALLOCATOR + ---help--- + Enable support for control of ackermann drive rovers diff --git a/src/modules/rover_ackermann/RoverAckermann.cpp b/src/modules/rover_ackermann/RoverAckermann.cpp new file mode 100644 index 000000000000..5409e40d841a --- /dev/null +++ b/src/modules/rover_ackermann/RoverAckermann.cpp @@ -0,0 +1,246 @@ +/**************************************************************************** + * + * Copyright (c) 2024 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include "RoverAckermann.hpp" + +using namespace time_literals; +using namespace matrix; + +RoverAckermann::RoverAckermann() : + ModuleParams(nullptr), + ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::rate_ctrl) +{ + _rover_ackermann_status_pub.advertise(); + updateParams(); +} + +bool RoverAckermann::init() +{ + ScheduleOnInterval(10_ms); // 100 Hz + return true; +} + +void RoverAckermann::updateParams() +{ + ModuleParams::updateParams(); + + // Update slew rates + if (_param_ra_max_accel.get() > FLT_EPSILON && _param_ra_max_speed.get() > FLT_EPSILON) { + _throttle_with_accel_limit.setSlewRate(_param_ra_max_accel.get() / _param_ra_max_speed.get()); + } + + if (_param_ra_max_steering_rate.get() > FLT_EPSILON && _param_ra_max_steer_angle.get() > FLT_EPSILON) { + _steering_with_rate_limit.setSlewRate((M_DEG_TO_RAD_F * _param_ra_max_steering_rate.get()) / + _param_ra_max_steer_angle.get()); + } +} + +void RoverAckermann::Run() +{ + if (should_exit()) { + ScheduleClear(); + exit_and_cleanup(); + return; + } + + updateSubscriptions(); + + // Timestamps + hrt_abstime timestamp_prev = _timestamp; + _timestamp = hrt_absolute_time(); + const float dt = math::constrain(_timestamp - timestamp_prev, 1_ms, 5000_ms) * 1e-6f; + + // Generate motor setpoints + if (_armed) { + switch (_nav_state) { + case vehicle_status_s::NAVIGATION_STATE_MANUAL: { + manual_control_setpoint_s manual_control_setpoint{}; + + if (_manual_control_setpoint_sub.update(&manual_control_setpoint)) { + _motor_setpoint.steering = manual_control_setpoint.roll; + _motor_setpoint.throttle = manual_control_setpoint.throttle; + } + + } break; + + case vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION: + case vehicle_status_s::NAVIGATION_STATE_AUTO_RTL: + _motor_setpoint = _ackermann_guidance.computeGuidance(_nav_state); + break; + + default: // Unimplemented nav states will stop the rover + _motor_setpoint.steering = 0.f; + _motor_setpoint.throttle = 0.f; + _throttle_with_accel_limit.setForcedValue(0.f); + _steering_with_rate_limit.setForcedValue(0.f); + break; + } + + } else { // Reset on disarm + _motor_setpoint.steering = 0.f; + _motor_setpoint.throttle = 0.f; + _throttle_with_accel_limit.setForcedValue(0.f); + _steering_with_rate_limit.setForcedValue(0.f); + } + + publishMotorSetpoints(applySlewRates(_motor_setpoint, dt)); +} + +void RoverAckermann::updateSubscriptions() +{ + if (_parameter_update_sub.updated()) { + updateParams(); + } + + if (_vehicle_status_sub.updated()) { + vehicle_status_s vehicle_status; + _vehicle_status_sub.copy(&vehicle_status); + _nav_state = vehicle_status.nav_state; + _armed = vehicle_status.arming_state == 2; + } + + if (_local_position_sub.updated()) { + vehicle_local_position_s local_position{}; + _local_position_sub.copy(&local_position); + const Vector3f rover_velocity = {local_position.vx, local_position.vy, local_position.vz}; + _actual_speed = rover_velocity.norm(); + } +} +motor_setpoint_struct RoverAckermann::applySlewRates(motor_setpoint_struct motor_setpoint, const float dt) +{ + // Sanitize actuator commands + if (!PX4_ISFINITE(motor_setpoint.steering)) { + motor_setpoint.steering = 0.f; + } + + if (!PX4_ISFINITE(motor_setpoint.throttle)) { + motor_setpoint.throttle = 0.f; + } + + // Acceleration slew rate + if (_param_ra_max_accel.get() > FLT_EPSILON && _param_ra_max_speed.get() > FLT_EPSILON + && fabsf(motor_setpoint.throttle) > fabsf(_throttle_with_accel_limit.getState())) { + _throttle_with_accel_limit.update(motor_setpoint.throttle, dt); + + } else { + _throttle_with_accel_limit.setForcedValue(motor_setpoint.throttle); + } + + // Steering slew rate + if (_param_ra_max_steering_rate.get() > FLT_EPSILON && _param_ra_max_steer_angle.get() > FLT_EPSILON) { + _steering_with_rate_limit.update(motor_setpoint.steering, dt); + + } else { + _steering_with_rate_limit.setForcedValue(motor_setpoint.steering); + } + + motor_setpoint_struct motor_setpoint_temp{}; + motor_setpoint_temp.steering = math::constrain(_steering_with_rate_limit.getState(), -1.f, 1.f); + motor_setpoint_temp.throttle = math::constrain(_throttle_with_accel_limit.getState(), -1.f, 1.f); + return motor_setpoint_temp; +} + +void RoverAckermann::publishMotorSetpoints(motor_setpoint_struct motor_setpoint_with_slew_rates) +{ + // Publish rover Ackermann status (logging) + rover_ackermann_status_s rover_ackermann_status{}; + rover_ackermann_status.timestamp = _timestamp; + rover_ackermann_status.throttle_setpoint = _motor_setpoint.throttle; + rover_ackermann_status.steering_setpoint = _motor_setpoint.steering; + rover_ackermann_status.actual_speed = _actual_speed; + _rover_ackermann_status_pub.publish(rover_ackermann_status); + + // Publish to motor + actuator_motors_s actuator_motors{}; + actuator_motors.reversible_flags = _param_r_rev.get(); + actuator_motors.control[0] = motor_setpoint_with_slew_rates.throttle; + actuator_motors.timestamp = _timestamp; + _actuator_motors_pub.publish(actuator_motors); + + // Publish to servo + actuator_servos_s actuator_servos{}; + actuator_servos.control[0] = motor_setpoint_with_slew_rates.steering; + actuator_servos.timestamp = _timestamp; + _actuator_servos_pub.publish(actuator_servos); +} + +int RoverAckermann::task_spawn(int argc, char *argv[]) +{ + RoverAckermann *instance = new RoverAckermann(); + + if (instance) { + _object.store(instance); + _task_id = task_id_is_work_queue; + + if (instance->init()) { + return PX4_OK; + } + + } else { + PX4_ERR("alloc failed"); + } + + delete instance; + _object.store(nullptr); + _task_id = -1; + + return PX4_ERROR; +} + +int RoverAckermann::custom_command(int argc, char *argv[]) +{ + return print_usage("unknown command"); +} + +int RoverAckermann::print_usage(const char *reason) +{ + if (reason) { + PX4_ERR("%s\n", reason); + } + + PRINT_MODULE_DESCRIPTION( + R"DESCR_STR( +### Description +Rover ackermann module. +)DESCR_STR"); + + PRINT_MODULE_USAGE_NAME("rover_ackermann", "controller"); + PRINT_MODULE_USAGE_COMMAND("start"); + PRINT_MODULE_USAGE_DEFAULT_COMMANDS(); + return 0; +} + +extern "C" __EXPORT int rover_ackermann_main(int argc, char *argv[]) +{ + return RoverAckermann::main(argc, argv); +} diff --git a/src/modules/rover_ackermann/RoverAckermann.hpp b/src/modules/rover_ackermann/RoverAckermann.hpp new file mode 100644 index 000000000000..3617b5b80ba6 --- /dev/null +++ b/src/modules/rover_ackermann/RoverAckermann.hpp @@ -0,0 +1,144 @@ +/**************************************************************************** + * + * Copyright (c) 2024 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#pragma once + +// PX4 includes +#include +#include +#include +#include +#include +#include + +// uORB includes +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + + +// Standard library includes +#include + +// Local includes +#include "RoverAckermannGuidance/RoverAckermannGuidance.hpp" +using motor_setpoint_struct = RoverAckermannGuidance::motor_setpoint; + +using namespace time_literals; + +class RoverAckermann : public ModuleBase, public ModuleParams, + public px4::ScheduledWorkItem +{ +public: + /** + * @brief Constructor for RoverAckermann + */ + RoverAckermann(); + ~RoverAckermann() override = default; + + /** @see ModuleBase */ + static int task_spawn(int argc, char *argv[]); + + /** @see ModuleBase */ + static int custom_command(int argc, char *argv[]); + + /** @see ModuleBase */ + static int print_usage(const char *reason = nullptr); + + bool init(); + + +protected: + void updateParams() override; + +private: + void Run() override; + + /** + * @brief Update uORB subscriptions. + */ + void updateSubscriptions(); + + /** + * @brief Apply slew rates to motor setpoints. + * @param motor_setpoint Normalized steering and throttle setpoints. + * @param dt Time since last update [s]. + * @return Motor setpoint with applied slew rates. + */ + motor_setpoint_struct applySlewRates(motor_setpoint_struct motor_setpoint, float dt); + + /** + * @brief Publish motor setpoints to ActuatorMotors/ActuatorServos and logging values to RoverAckermannStatus. + * @param motor_setpoint_with_slew_rate Normalized motor_setpoint with applied slew rates. + */ + void publishMotorSetpoints(motor_setpoint_struct motor_setpoint_with_slew_rates); + + // uORB subscriptions + uORB::Subscription _manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)}; + uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)}; + uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)}; + uORB::Subscription _local_position_sub{ORB_ID(vehicle_local_position)}; + + // uORB publications + uORB::PublicationMulti _actuator_motors_pub{ORB_ID(actuator_motors)}; + uORB::Publication _actuator_servos_pub{ORB_ID(actuator_servos)}; + uORB::Publication _rover_ackermann_status_pub{ORB_ID(rover_ackermann_status)}; + + // Class instances + RoverAckermannGuidance _ackermann_guidance{this}; + + // Variables + int _nav_state{0}; + motor_setpoint_struct _motor_setpoint; + hrt_abstime _timestamp{0}; + float _actual_speed{0.f}; + SlewRate _steering_with_rate_limit{0.f}; + SlewRate _throttle_with_accel_limit{0.f}; + bool _armed{false}; + + // Parameters + DEFINE_PARAMETERS( + (ParamInt) _param_r_rev, + (ParamFloat) _param_ra_max_steer_angle, + (ParamFloat) _param_ra_max_speed, + (ParamFloat) _param_ra_max_accel, + (ParamFloat) _param_ra_max_steering_rate + ) +}; diff --git a/src/modules/rover_ackermann/RoverAckermannGuidance/CMakeLists.txt b/src/modules/rover_ackermann/RoverAckermannGuidance/CMakeLists.txt new file mode 100644 index 000000000000..72928c7e25be --- /dev/null +++ b/src/modules/rover_ackermann/RoverAckermannGuidance/CMakeLists.txt @@ -0,0 +1,39 @@ +############################################################################ +# +# Copyright (c) 2024 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +px4_add_library(RoverAckermannGuidance + RoverAckermannGuidance.cpp +) + +target_link_libraries(RoverAckermannGuidance PUBLIC pid) +target_include_directories(RoverAckermannGuidance PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}) diff --git a/src/modules/rover_ackermann/RoverAckermannGuidance/RoverAckermannGuidance.cpp b/src/modules/rover_ackermann/RoverAckermannGuidance/RoverAckermannGuidance.cpp new file mode 100644 index 000000000000..48890323bbb4 --- /dev/null +++ b/src/modules/rover_ackermann/RoverAckermannGuidance/RoverAckermannGuidance.cpp @@ -0,0 +1,330 @@ +/**************************************************************************** + * + * Copyright (c) 2024 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include "RoverAckermannGuidance.hpp" + +#include + +using namespace matrix; +using namespace time_literals; + +RoverAckermannGuidance::RoverAckermannGuidance(ModuleParams *parent) : ModuleParams(parent) +{ + _rover_ackermann_guidance_status_pub.advertise(); + updateParams(); + pid_init(&_pid_throttle, PID_MODE_DERIVATIV_NONE, 0.001f); +} + +void RoverAckermannGuidance::updateParams() +{ + ModuleParams::updateParams(); + pid_set_parameters(&_pid_throttle, + _param_ra_p_speed.get(), // Proportional gain + _param_ra_i_speed.get(), // Integral gain + 0, // Derivative gain + 1, // Integral limit + 1); // Output limit +} + +RoverAckermannGuidance::motor_setpoint RoverAckermannGuidance::computeGuidance(const int nav_state) +{ + updateSubscriptions(); + + // Distances to waypoints + _distance_to_prev_wp = get_distance_to_next_waypoint(_curr_pos(0), _curr_pos(1), + _prev_wp(0), _prev_wp(1)); + _distance_to_curr_wp = get_distance_to_next_waypoint(_curr_pos(0), _curr_pos(1), + _curr_wp(0), _curr_wp(1)); + _distance_to_next_wp = get_distance_to_next_waypoint(_curr_pos(0), _curr_pos(1), + _next_wp(0), _next_wp(1)); + + // Catch return to launch + if (nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_RTL) { + _mission_finished = _distance_to_next_wp < _acceptance_radius; + } + + // Guidance logic + if (_mission_finished) { // Mission is finished + _desired_steering = 0.f; + _desired_speed = 0.f; + + } else if (_distance_to_curr_wp < _acceptance_radius) { // Catch delay command + _desired_speed = 0.f; + + } else { // Regular guidance algorithm + + _desired_speed = calcDesiredSpeed(_wp_max_desired_vel, _param_ra_miss_vel_min.get(), + _param_ra_miss_vel_gain.get(), _distance_to_prev_wp, _distance_to_curr_wp, _acceptance_radius, + _prev_acceptance_radius, _param_ra_max_accel.get(), _param_ra_max_jerk.get(), nav_state); + + _desired_steering = calcDesiredSteering(_pure_pursuit, _curr_wp_ned, _prev_wp_ned, _curr_pos_ned, + _param_ra_wheel_base.get(), _desired_speed, _vehicle_yaw, _param_ra_max_steer_angle.get()); + + } + + // Calculate throttle setpoint + hrt_abstime timestamp_prev = _timestamp; + _timestamp = hrt_absolute_time(); + const float dt = math::constrain(_timestamp - timestamp_prev, 1_ms, 5000_ms) * 1e-6f; + const float throttle = calcThrottleSetpoint(_pid_throttle, _desired_speed, _actual_speed, _param_ra_max_speed.get(), + dt); + + // Publish ackermann controller status (logging) + _rover_ackermann_guidance_status.timestamp = _timestamp; + _rover_ackermann_guidance_status.desired_speed = _desired_speed; + _rover_ackermann_guidance_status.pid_throttle_integral = _pid_throttle.integral; + _rover_ackermann_guidance_status_pub.publish(_rover_ackermann_guidance_status); + + // Return motor setpoints + motor_setpoint motor_setpoint_temp; + motor_setpoint_temp.steering = math::interpolate(_desired_steering, -_param_ra_max_steer_angle.get(), + _param_ra_max_steer_angle.get(), -1.f, 1.f); // Normalize steering setpoint + motor_setpoint_temp.throttle = throttle; + return motor_setpoint_temp; +} + +void RoverAckermannGuidance::updateSubscriptions() +{ + if (_vehicle_global_position_sub.updated()) { + vehicle_global_position_s vehicle_global_position{}; + _vehicle_global_position_sub.copy(&vehicle_global_position); + _curr_pos = Vector2d(vehicle_global_position.lat, vehicle_global_position.lon); + } + + if (_local_position_sub.updated()) { + vehicle_local_position_s local_position{}; + _local_position_sub.copy(&local_position); + + if (!_global_ned_proj_ref.isInitialized() + || (_global_ned_proj_ref.getProjectionReferenceTimestamp() != local_position.ref_timestamp)) { + _global_ned_proj_ref.initReference(local_position.ref_lat, local_position.ref_lon, local_position.ref_timestamp); + } + + _curr_pos_ned = Vector2f(local_position.x, local_position.y); + const Vector3f rover_velocity = {local_position.vx, local_position.vy, local_position.vz}; + _actual_speed = rover_velocity.norm(); + } + + if (_home_position_sub.updated()) { + home_position_s home_position{}; + _home_position_sub.copy(&home_position); + _home_position = Vector2d(home_position.lat, home_position.lon); + } + + if (_position_setpoint_triplet_sub.updated()) { + updateWaypointsAndAcceptanceRadius(); + } + + if (_vehicle_attitude_sub.updated()) { + vehicle_attitude_s vehicle_attitude{}; + _vehicle_attitude_sub.copy(&vehicle_attitude); + matrix::Quatf vehicle_attitude_quaternion = Quatf(vehicle_attitude.q); + _vehicle_yaw = matrix::Eulerf(vehicle_attitude_quaternion).psi(); + } + + if (_mission_result_sub.updated()) { + mission_result_s mission_result{}; + _mission_result_sub.copy(&mission_result); + _mission_finished = mission_result.finished; + } +} + +void RoverAckermannGuidance::updateWaypointsAndAcceptanceRadius() +{ + position_setpoint_triplet_s position_setpoint_triplet{}; + _position_setpoint_triplet_sub.copy(&position_setpoint_triplet); + + // Global waypoint coordinates + _prev_wp = _curr_pos.isAllFinite() ? _curr_pos : Vector2d(0, 0); // Fallback if previous waypoint is invalid + _curr_wp = Vector2d(0, 0); + _next_wp = _home_position.isAllFinite() ? _home_position : Vector2d(0, 0); // Enables corner slow down with RTL + + if (position_setpoint_triplet.current.valid && PX4_ISFINITE(position_setpoint_triplet.current.lat) + && PX4_ISFINITE(position_setpoint_triplet.current.lon)) { + _curr_wp = Vector2d(position_setpoint_triplet.current.lat, position_setpoint_triplet.current.lon); + + } + + if (position_setpoint_triplet.previous.valid && PX4_ISFINITE(position_setpoint_triplet.previous.lat) + && PX4_ISFINITE(position_setpoint_triplet.previous.lon)) { + _prev_wp = Vector2d(position_setpoint_triplet.previous.lat, position_setpoint_triplet.previous.lon); + + } + + if (position_setpoint_triplet.next.valid && PX4_ISFINITE(position_setpoint_triplet.next.lat) + && PX4_ISFINITE(position_setpoint_triplet.next.lon)) { + _next_wp = Vector2d(position_setpoint_triplet.next.lat, position_setpoint_triplet.next.lon); + + } + + // NED waypoint coordinates + _curr_wp_ned = _global_ned_proj_ref.project(_curr_wp(0), _curr_wp(1)); + _prev_wp_ned = _global_ned_proj_ref.project(_prev_wp(0), _prev_wp(1)); + _next_wp_ned = _global_ned_proj_ref.project(_next_wp(0), _next_wp(1)); + + // Update acceptance radius + _prev_acceptance_radius = _acceptance_radius; + + if (_param_ra_acc_rad_max.get() >= _param_nav_acc_rad.get()) { + _acceptance_radius = updateAcceptanceRadius(_curr_wp_ned, _prev_wp_ned, _next_wp_ned, _param_nav_acc_rad.get(), + _param_ra_acc_rad_gain.get(), _param_ra_acc_rad_max.get(), _param_ra_wheel_base.get(), _param_ra_max_steer_angle.get()); + + } else { + _acceptance_radius = _param_nav_acc_rad.get(); + } + + if (position_setpoint_triplet.current.cruising_speed > 0.f) { + _wp_max_desired_vel = math::constrain(position_setpoint_triplet.current.cruising_speed, 0.f, _param_ra_max_speed.get()); + + } else { + _wp_max_desired_vel = _param_ra_miss_vel_def.get(); + } +} + +float RoverAckermannGuidance::updateAcceptanceRadius(const Vector2f &curr_wp_ned, const Vector2f &prev_wp_ned, + const Vector2f &next_wp_ned, const float default_acceptance_radius, const float acceptance_radius_gain, + const float acceptance_radius_max, const float wheel_base, const float max_steer_angle) +{ + // Setup variables + const Vector2f curr_to_prev_wp_ned = prev_wp_ned - curr_wp_ned; + const Vector2f curr_to_next_wp_ned = next_wp_ned - curr_wp_ned; + float acceptance_radius = default_acceptance_radius; + + // Calculate acceptance radius s.t. the rover cuts the corner tangential to the current and next line segment + if (curr_to_next_wp_ned.norm() > FLT_EPSILON && curr_to_prev_wp_ned.norm() > FLT_EPSILON) { + float cosin = curr_to_prev_wp_ned.unit_or_zero() * curr_to_next_wp_ned.unit_or_zero(); + cosin = math::constrain(cosin, -1.f, 1.f); // Protect against float precision problem + const float theta = acosf(cosin) / 2.f; + const float min_turning_radius = wheel_base / sinf(max_steer_angle); + const float acceptance_radius_temp = min_turning_radius / tanf(theta); + const float acceptance_radius_temp_scaled = acceptance_radius_gain * + acceptance_radius_temp; // Scale geometric ideal acceptance radius to account for kinematic and dynamic effects + acceptance_radius = math::constrain(acceptance_radius_temp_scaled, default_acceptance_radius, + acceptance_radius_max); + } + + // Publish updated acceptance radius + position_controller_status_s pos_ctrl_status{}; + pos_ctrl_status.acceptance_radius = acceptance_radius; + pos_ctrl_status.timestamp = hrt_absolute_time(); + _position_controller_status_pub.publish(pos_ctrl_status); + return acceptance_radius; +} + +float RoverAckermannGuidance::calcDesiredSpeed(const float miss_vel_def, const float miss_vel_min, + const float miss_vel_gain, const float distance_to_prev_wp, const float distance_to_curr_wp, const float acc_rad, + const float prev_acc_rad, const float max_accel, const float max_jerk, const int nav_state) +{ + // Catch improper values + if (miss_vel_min < 0.f || miss_vel_min > miss_vel_def || miss_vel_gain < FLT_EPSILON) { + return miss_vel_def; + } + + // Cornering slow down effect + if (distance_to_prev_wp <= prev_acc_rad && prev_acc_rad > FLT_EPSILON) { + const float cornering_speed = miss_vel_gain / prev_acc_rad; + return math::constrain(cornering_speed, miss_vel_min, miss_vel_def); + + } else if (distance_to_curr_wp <= acc_rad && acc_rad > FLT_EPSILON) { + const float cornering_speed = miss_vel_gain / acc_rad; + return math::constrain(cornering_speed, miss_vel_min, miss_vel_def); + + } + + // Straight line speed + if (max_accel > FLT_EPSILON && max_jerk > FLT_EPSILON && acc_rad > FLT_EPSILON) { + float max_velocity{0.f}; + + if (nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_RTL) { + max_velocity = math::trajectory::computeMaxSpeedFromDistance(max_jerk, + max_accel, distance_to_curr_wp, 0.f); + + } else { + const float cornering_speed = miss_vel_gain / acc_rad; + max_velocity = math::trajectory::computeMaxSpeedFromDistance(max_jerk, + max_accel, distance_to_curr_wp - acc_rad, cornering_speed); + } + + return math::constrain(max_velocity, miss_vel_min, miss_vel_def); + + } else { + return miss_vel_def; + } + +} + +float RoverAckermannGuidance::calcDesiredSteering(PurePursuit &pure_pursuit, const Vector2f &curr_wp_ned, + const Vector2f &prev_wp_ned, const Vector2f &curr_pos_ned, const float wheel_base, const float desired_speed, + const float vehicle_yaw, const float max_steering) +{ + const float desired_heading = pure_pursuit.calcDesiredHeading(curr_wp_ned, prev_wp_ned, curr_pos_ned, + desired_speed); + const float lookahead_distance = pure_pursuit.getLookaheadDistance(); + const float heading_error = matrix::wrap_pi(desired_heading - vehicle_yaw); + // For logging + _rover_ackermann_guidance_status.lookahead_distance = lookahead_distance; + _rover_ackermann_guidance_status.heading_error = (heading_error * 180.f) / (M_PI_F); + + float desired_steering{0.f}; + + if (math::abs_t(heading_error) <= M_PI_2_F) { + desired_steering = atanf(2 * wheel_base * sinf(heading_error) / lookahead_distance); + + + } else { + desired_steering = atanf(2 * wheel_base * (sign(heading_error) * 1.0f + sinf(heading_error - + sign(heading_error) * M_PI_2_F)) / lookahead_distance); + } + + return math::constrain(desired_steering, -max_steering, max_steering); + +} + +float RoverAckermannGuidance::calcThrottleSetpoint(PID_t &pid_throttle, const float desired_speed, + const float actual_speed, const float max_speed, const float dt) +{ + float throttle = 0.f; + + if (desired_speed < FLT_EPSILON) { + pid_reset_integral(&pid_throttle); + + } else { + throttle = pid_calculate(&pid_throttle, desired_speed, actual_speed, 0, dt); + } + + if (_param_ra_max_speed.get() > 0.f) { // Feed-forward term + throttle += math::interpolate(desired_speed, 0.f, max_speed, 0.f, 1.f); + } + + return math::constrain(throttle, 0.f, 1.f); +} diff --git a/src/modules/rover_ackermann/RoverAckermannGuidance/RoverAckermannGuidance.hpp b/src/modules/rover_ackermann/RoverAckermannGuidance/RoverAckermannGuidance.hpp new file mode 100644 index 000000000000..de5ef587807c --- /dev/null +++ b/src/modules/rover_ackermann/RoverAckermannGuidance/RoverAckermannGuidance.hpp @@ -0,0 +1,235 @@ +/**************************************************************************** + * + * Copyright (c) 2024 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#pragma once + +// PX4 includes +#include +#include + +// uORB includes +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +// Standard library includes +#include +#include +#include +#include +#include +#include + +using namespace matrix; + +/** + * @brief Class for ackermann drive guidance. + */ +class RoverAckermannGuidance : public ModuleParams +{ +public: + /** + * @brief Constructor for RoverAckermannGuidance. + * @param parent The parent ModuleParams object. + */ + RoverAckermannGuidance(ModuleParams *parent); + ~RoverAckermannGuidance() = default; + + /** + * @brief Struct for steering and throttle setpoints. + * @param steering Steering setpoint. + * @param throttle Throttle setpoint. + */ + struct motor_setpoint { + float steering{0.f}; + float throttle{0.f}; + }; + + /** + * @brief Calculate motor setpoints based on the mission plan. + * @param nav_state Vehicle navigation state. + * @return Motor setpoints for throttle and steering. + */ + motor_setpoint computeGuidance(int nav_state); + +protected: + /** + * @brief Update the parameters of the module. + */ + void updateParams() override; + +private: + /** + * @brief Update uORB subscriptions + */ + void updateSubscriptions(); + + /** + * @brief Update global/NED waypoint coordinates and acceptance radius. + */ + void updateWaypointsAndAcceptanceRadius(); + + /** + * @brief Publish the acceptance radius for current waypoint based on the angle between a line segment + * from the previous to the current waypoint/current to the next waypoint and maximum steer angle of the vehicle. + * @param curr_wp_ned Current waypoint in NED frame [m]. + * @param prev_wp_ned Previous waypoint in NED frame [m]. + * @param next_wp_ned Next waypoint in NED frame [m]. + * @param default_acceptance_radius Default acceptance radius for waypoints [m]. + * @param acceptance_radius_gain Tuning parameter that scales the geometric optimal acceptance radius for the corner cutting [-]. + * @param acceptance_radius_max Maximum value for the acceptance radius [m]. + * @param wheel_base Rover wheelbase [m]. + * @param max_steer_angle Rover maximum steer angle [rad]. + * @return Updated acceptance radius [m]. + */ + float updateAcceptanceRadius(const Vector2f &curr_wp_ned, const Vector2f &prev_wp_ned, + const Vector2f &next_wp_ned, float default_acceptance_radius, float acceptance_radius_gain, + float acceptance_radius_max, float wheel_base, float max_steer_angle); + + + /** + * @brief Calculate the desired speed setpoint. During cornering the speed is calculated as the inverse + * of the acceptance radius multiplied with a tuning factor. On straight lines it is based on a velocity trajectory + * such that the rover will arrive at the next corner with the desired cornering speed under consideration of the + * maximum acceleration and jerk. + * @param miss_vel_def Default desired velocity for the rover during mission [m/s]. + * @param miss_vel_min Minimum desired velocity for the rover during mission [m/s]. + * @param miss_vel_gain Tuning parameter for the slow down effect during cornering [-]. + * @param distance_to_prev_wp Distance to the previous waypoint [m]. + * @param distance_to_curr_wp Distance to the current waypoint [m]. + * @param acc_rad Acceptance radius of the current waypoint [m]. + * @param prev_acc_rad Acceptance radius of the previous waypoint [m]. + * @param max_accel Maximum allowed acceleration for the rover [m/s^2]. + * @param max_jerk Maximum allowed jerk for the rover [m/s^3]. + * @param nav_state Current nav_state of the rover. + * @return Speed setpoint for the rover [m/s]. + */ + float calcDesiredSpeed(float miss_vel_def, float miss_vel_min, float miss_vel_gain, float distance_to_prev_wp, + float distance_to_curr_wp, float acc_rad, float prev_acc_rad, float max_accel, float max_jerk, int nav_state); + + /** + * @brief Calculate desired steering angle. The desired steering is calulated as the steering that is required to + * reach the point calculated using the pure pursuit algorithm (see PurePursuit.hpp). + * @param pure_pursuit Pure pursuit class instance. + * @param curr_wp_ned Current waypoint in NED frame [m]. + * @param prev_wp_ned Previous waypoint in NED frame [m]. + * @param curr_pos_ned Current position of the vehicle in NED frame [m]. + * @param wheel_base Rover wheelbase [m]. + * @param desired_speed Desired speed for the rover [m/s]. + * @param vehicle_yaw Current yaw of the rover [rad]. + * @param max_steering Maximum steering angle of the rover [rad]. + * @return Steering setpoint for the rover [rad]. + */ + float calcDesiredSteering(PurePursuit &pure_pursuit, const Vector2f &curr_wp_ned, const Vector2f &prev_wp_ned, + const Vector2f &curr_pos_ned, float wheel_base, float desired_speed, float vehicle_yaw, float max_steering); + + /** + * @brief Calculate the throttle setpoint. Calculated with a PID controller using the difference between + * the desired/actual speed and a feedforward term based on the full throttle speed. + * @param pid_throttle Reference to PID instance. + * @param desired_speed Reference speed for the rover [m/s]. + * @param actual_speed Actual speed of the rover [m/s]. + * @param max_speed Rover speed at full throttle [m/s]. + * @param dt Time interval since last update [s]. + * @return Normalized throttle setpoint [0, 1]. + */ + float calcThrottleSetpoint(PID_t &pid_throttle, float desired_speed, float actual_speed, float max_speed, float dt); + + // uORB subscriptions + uORB::Subscription _position_setpoint_triplet_sub{ORB_ID(position_setpoint_triplet)}; + uORB::Subscription _vehicle_global_position_sub{ORB_ID(vehicle_global_position)}; + uORB::Subscription _local_position_sub{ORB_ID(vehicle_local_position)}; + uORB::Subscription _vehicle_attitude_sub{ORB_ID(vehicle_attitude)}; + uORB::Subscription _mission_result_sub{ORB_ID(mission_result)}; + uORB::Subscription _home_position_sub{ORB_ID(home_position)}; + + // uORB publications + uORB::Publication _rover_ackermann_guidance_status_pub{ORB_ID(rover_ackermann_guidance_status)}; + uORB::Publication _position_controller_status_pub{ORB_ID(position_controller_status)}; + rover_ackermann_guidance_status_s _rover_ackermann_guidance_status{}; + + // Class instances + MapProjection _global_ned_proj_ref{}; // Transform global to NED coordinates + PurePursuit _pure_pursuit{this}; // Pure pursuit library + + // Rover variables + float _desired_steering{0.f}; + float _vehicle_yaw{0.f}; + float _desired_speed{0.f}; + float _actual_speed{0.f}; + Vector2d _curr_pos{}; + Vector2f _curr_pos_ned{}; + PID_t _pid_throttle; + hrt_abstime _timestamp{0}; + + // Waypoint variables + Vector2d _home_position{}; + Vector2f _curr_wp_ned{}; + Vector2f _prev_wp_ned{}; + Vector2f _next_wp_ned{}; + Vector2d _curr_wp{}; + Vector2d _prev_wp{}; + Vector2d _next_wp{}; + float _distance_to_prev_wp{0.f}; + float _distance_to_curr_wp{0.f}; + float _distance_to_next_wp{0.f}; + float _acceptance_radius{0.5f}; + float _prev_acceptance_radius{0.5f}; + float _wp_max_desired_vel{0.f}; + bool _mission_finished{false}; + + // Parameters + DEFINE_PARAMETERS( + (ParamFloat) _param_ra_wheel_base, + (ParamFloat) _param_ra_max_steer_angle, + (ParamFloat) _param_ra_acc_rad_max, + (ParamFloat) _param_ra_acc_rad_gain, + (ParamFloat) _param_ra_miss_vel_def, + (ParamFloat) _param_ra_miss_vel_min, + (ParamFloat) _param_ra_miss_vel_gain, + (ParamFloat) _param_ra_p_speed, + (ParamFloat) _param_ra_i_speed, + (ParamFloat) _param_ra_max_speed, + (ParamFloat) _param_ra_max_jerk, + (ParamFloat) _param_ra_max_accel, + (ParamFloat) _param_nav_acc_rad + ) +}; diff --git a/src/modules/rover_ackermann/module.yaml b/src/modules/rover_ackermann/module.yaml new file mode 100644 index 000000000000..6571d0eeebeb --- /dev/null +++ b/src/modules/rover_ackermann/module.yaml @@ -0,0 +1,175 @@ +module_name: Rover Ackermann + +parameters: + - group: Rover Ackermann + definitions: + RA_WHEEL_BASE: + description: + short: Wheel base + long: Distance from the front to the rear axle + type: float + unit: m + min: 0.001 + max: 100 + increment: 0.001 + decimal: 3 + default: 0.5 + + RA_MAX_STR_ANG: + description: + short: Maximum steering angle + long: The maximum angle that the rover can steer + type: float + unit: rad + min: 0.1 + max: 1.5708 + increment: 0.01 + decimal: 2 + default: 0.5236 + + RA_ACC_RAD_MAX: + description: + short: Maximum acceptance radius for the waypoints + long: | + The controller scales the acceptance radius based on the angle between + the previous, current and next waypoint. + Higher value -> smoother trajectory at the cost of how close the rover gets + to the waypoint (Set to -1 to disable corner cutting). + type: float + unit: m + min: -1 + max: 100 + increment: 0.01 + decimal: 2 + default: 3 + + RA_ACC_RAD_GAIN: + description: + short: Tuning parameter for corner cutting + long: | + The geometric ideal acceptance radius is multiplied by this factor + to account for kinematic and dynamic effects. + Higher value -> The rover starts to cut the corner earlier. + type: float + min: 1 + max: 100 + increment: 0.01 + decimal: 2 + default: 2 + + RA_MISS_VEL_DEF: + description: + short: Default rover velocity during a mission + type: float + unit: m/s + min: 0 + max: 100 + increment: 0.01 + decimal: 2 + default: 2 + + RA_MISS_VEL_MIN: + description: + short: Minimum rover velocity during a mission + long: | + The velocity off the rover is reduced based on the corner it has to take + to smooth the trajectory (Set to -1 to disable) + type: float + unit: m/s + min: -1 + max: 100 + increment: 0.01 + decimal: 2 + default: 1 + + RA_MISS_VEL_GAIN: + description: + short: Tuning parameter for the velocity reduction during cornering + long: | + The cornering speed is equal to the inverse of the acceptance radius + of the WP multiplied with this factor. + Lower value -> More velocity reduction during cornering. + type: float + min: 0.05 + max: 100 + increment: 0.01 + decimal: 2 + default: 5 + + RA_SPEED_P: + description: + short: Proportional gain for ground speed controller + type: float + min: 0 + max: 100 + increment: 0.01 + decimal: 2 + default: 1 + + RA_SPEED_I: + description: + short: Integral gain for ground speed controller + type: float + min: 0 + max: 100 + increment: 0.01 + decimal: 2 + default: 1 + + RA_MAX_SPEED: + description: + short: Speed the rover drives at maximum throttle + long: | + This is used for the feed-forward term of the speed controller. + A value of -1 disables the feed-forward term in which case the + Integrator (RA_SPEED_I) becomes necessary to track speed setpoints. + type: float + unit: m/s + min: -1 + max: 100 + increment: 0.01 + decimal: 2 + default: -1 + + RA_MAX_ACCEL: + description: + short: Maximum acceleration for the rover + long: | + This is used for the acceleration slew rate, the feed-forward term + for the speed controller during missions and the corner slow down effect. + Note: For the corner slow down effect RA_MAX_JERK, RA_MISS_VEL_GAIN and + RA_MISS_VEL_MIN also have to be set. + type: float + unit: m/s^2 + min: -1 + max: 100 + increment: 0.01 + decimal: 2 + default: -1 + + RA_MAX_JERK: + description: + short: Maximum jerk + long: | + Limit for forwards acc/deceleration change. + This is used for the corner slow down effect. + Note: RA_MAX_ACCEL, RA_MISS_VEL_GAIN and RA_MISS_VEL_MIN also have to be set + for this to be enabled. + type: float + unit: m/s^3 + min: -1 + max: 100 + increment: 0.01 + decimal: 2 + default: -1 + + RA_MAX_STR_RATE: + description: + short: Maximum steering rate for the rover + type: float + unit: deg/s + min: -1 + max: 1000 + increment: 0.01 + decimal: 2 + default: -1 diff --git a/src/modules/rover_differential/CMakeLists.txt b/src/modules/rover_differential/CMakeLists.txt new file mode 100644 index 000000000000..beaec32a8776 --- /dev/null +++ b/src/modules/rover_differential/CMakeLists.txt @@ -0,0 +1,49 @@ +############################################################################ +# +# Copyright (c) 2023-2024 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +add_subdirectory(RoverDifferentialGuidance) + +px4_add_module( + MODULE modules__rover_differential + MAIN rover_differential + SRCS + RoverDifferential.cpp + RoverDifferential.hpp + DEPENDS + RoverDifferentialGuidance + px4_work_queue + modules__control_allocator # for parameter CA_R_REV + pure_pursuit + MODULE_CONFIG + module.yaml +) diff --git a/src/modules/rover_differential/Kconfig b/src/modules/rover_differential/Kconfig new file mode 100644 index 000000000000..840e2cdbf98f --- /dev/null +++ b/src/modules/rover_differential/Kconfig @@ -0,0 +1,6 @@ +menuconfig MODULES_ROVER_DIFFERENTIAL + bool "rover_differential" + default n + depends on MODULES_CONTROL_ALLOCATOR + ---help--- + Enable support for control of differential rovers diff --git a/src/modules/rover_differential/RoverDifferential.cpp b/src/modules/rover_differential/RoverDifferential.cpp new file mode 100644 index 000000000000..ab89392a0ec8 --- /dev/null +++ b/src/modules/rover_differential/RoverDifferential.cpp @@ -0,0 +1,256 @@ +/**************************************************************************** + * + * Copyright (c) 2023-2024 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include "RoverDifferential.hpp" +using namespace matrix; +using namespace time_literals; + +RoverDifferential::RoverDifferential() : + ModuleParams(nullptr), + ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::rate_ctrl) +{ + updateParams(); + _rover_differential_status_pub.advertise(); + pid_init(&_pid_yaw_rate, PID_MODE_DERIVATIV_NONE, 0.001f); +} + +bool RoverDifferential::init() +{ + ScheduleOnInterval(10_ms); // 100 Hz + return true; +} + +void RoverDifferential::updateParams() +{ + ModuleParams::updateParams(); + + _max_yaw_rate = _param_rd_max_yaw_rate.get() * M_DEG_TO_RAD_F; + + pid_set_parameters(&_pid_yaw_rate, + _param_rd_p_gain_yaw_rate.get(), // Proportional gain + _param_rd_i_gain_yaw_rate.get(), // Integral gain + 0.f, // Derivative gain + 1.f, // Integral limit + 1.f); // Output limit + +} + +void RoverDifferential::Run() +{ + if (should_exit()) { + ScheduleClear(); + exit_and_cleanup(); + return; + } + + hrt_abstime timestamp_prev = _timestamp; + _timestamp = hrt_absolute_time(); + const float dt = math::constrain(_timestamp - timestamp_prev, 1_ms, 5000_ms) * 1e-6f; + + // uORB subscriber updates + if (_parameter_update_sub.updated()) { + parameter_update_s parameter_update; + _parameter_update_sub.copy(¶meter_update); + updateParams(); + } + + if (_vehicle_status_sub.updated()) { + vehicle_status_s vehicle_status{}; + _vehicle_status_sub.copy(&vehicle_status); + _nav_state = vehicle_status.nav_state; + } + + if (_vehicle_angular_velocity_sub.updated()) { + vehicle_angular_velocity_s vehicle_angular_velocity{}; + _vehicle_angular_velocity_sub.copy(&vehicle_angular_velocity); + _vehicle_body_yaw_rate = vehicle_angular_velocity.xyz[2]; + } + + if (_vehicle_attitude_sub.updated()) { + vehicle_attitude_s vehicle_attitude{}; + _vehicle_attitude_sub.copy(&vehicle_attitude); + _vehicle_attitude_quaternion = matrix::Quatf(vehicle_attitude.q); + _vehicle_yaw = matrix::Eulerf(_vehicle_attitude_quaternion).psi(); + } + + if (_vehicle_local_position_sub.updated()) { + vehicle_local_position_s vehicle_local_position{}; + _vehicle_local_position_sub.copy(&vehicle_local_position); + Vector3f velocity_in_local_frame(vehicle_local_position.vx, vehicle_local_position.vy, vehicle_local_position.vz); + Vector3f velocity_in_body_frame = _vehicle_attitude_quaternion.rotateVectorInverse(velocity_in_local_frame); + _vehicle_forward_speed = velocity_in_body_frame(0); + } + + // Navigation modes + switch (_nav_state) { + case vehicle_status_s::NAVIGATION_STATE_MANUAL: { + manual_control_setpoint_s manual_control_setpoint{}; + + if (_manual_control_setpoint_sub.update(&manual_control_setpoint)) { + _differential_setpoint.throttle = manual_control_setpoint.throttle; + _differential_setpoint.yaw_rate = manual_control_setpoint.roll * _param_rd_man_yaw_scale.get(); + + } + + _differential_setpoint.closed_loop_yaw_rate = false; + } break; + + case vehicle_status_s::NAVIGATION_STATE_ACRO: { + manual_control_setpoint_s manual_control_setpoint{}; + + if (_manual_control_setpoint_sub.update(&manual_control_setpoint)) { + _differential_setpoint.throttle = manual_control_setpoint.throttle; + _differential_setpoint.yaw_rate = math::interpolate(manual_control_setpoint.roll, + -1.f, 1.f, + -_max_yaw_rate, _max_yaw_rate); + } + + _differential_setpoint.closed_loop_yaw_rate = true; + } break; + + case vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION: + case vehicle_status_s::NAVIGATION_STATE_AUTO_RTL: + _differential_setpoint = _rover_differential_guidance.computeGuidance(_vehicle_yaw, _vehicle_forward_speed, + _nav_state); + break; + + default: // Unimplemented nav states will stop the rover + _differential_setpoint.throttle = 0.f; + _differential_setpoint.yaw_rate = 0.f; + _differential_setpoint.closed_loop_yaw_rate = false; + break; + } + + float speed_diff_normalized = _differential_setpoint.yaw_rate; + + // Closed loop yaw rate control + if (_differential_setpoint.closed_loop_yaw_rate) { + if (fabsf(_differential_setpoint.yaw_rate - _vehicle_body_yaw_rate) < YAW_RATE_ERROR_THRESHOLD) { + speed_diff_normalized = 0.f; + pid_reset_integral(&_pid_yaw_rate); + + } else { + const float speed_diff = _differential_setpoint.yaw_rate * _param_rd_wheel_track.get(); // Feedforward + speed_diff_normalized = math::interpolate(speed_diff, -_param_rd_max_speed.get(), + _param_rd_max_speed.get(), -1.f, 1.f); + speed_diff_normalized = math::constrain(speed_diff_normalized + + pid_calculate(&_pid_yaw_rate, _differential_setpoint.yaw_rate, _vehicle_body_yaw_rate, 0, dt), + -1.f, 1.f); // Feedback + } + + } else { + pid_reset_integral(&_pid_yaw_rate); + } + + // Publish rover differential status (logging) + rover_differential_status_s rover_differential_status{}; + rover_differential_status.timestamp = _timestamp; + rover_differential_status.actual_speed = _vehicle_forward_speed; + rover_differential_status.desired_yaw_rate_deg_s = M_RAD_TO_DEG_F * _differential_setpoint.yaw_rate; + rover_differential_status.actual_yaw_rate_deg_s = M_RAD_TO_DEG_F * _vehicle_body_yaw_rate; + rover_differential_status.pid_yaw_rate_integral = _pid_yaw_rate.integral; + _rover_differential_status_pub.publish(rover_differential_status); + + // Publish to motors + actuator_motors_s actuator_motors{}; + actuator_motors.reversible_flags = _param_r_rev.get(); + computeMotorCommands(_differential_setpoint.throttle, speed_diff_normalized).copyTo(actuator_motors.control); + actuator_motors.timestamp = _timestamp; + _actuator_motors_pub.publish(actuator_motors); + +} + +matrix::Vector2f RoverDifferential::computeMotorCommands(float forward_speed, const float speed_diff) +{ + float combined_velocity = fabsf(forward_speed) + fabsf(speed_diff); + + if (combined_velocity > 1.0f) { // Prioritize yaw rate + float excess_velocity = fabsf(combined_velocity - 1.0f); + forward_speed -= sign(forward_speed) * excess_velocity; + } + + // Calculate the left and right wheel speeds + return Vector2f(forward_speed - speed_diff, + forward_speed + speed_diff); +} + +int RoverDifferential::task_spawn(int argc, char *argv[]) +{ + RoverDifferential *instance = new RoverDifferential(); + + if (instance) { + _object.store(instance); + _task_id = task_id_is_work_queue; + + if (instance->init()) { + return PX4_OK; + } + + } else { + PX4_ERR("alloc failed"); + } + + delete instance; + _object.store(nullptr); + _task_id = -1; + + return PX4_ERROR; +} + +int RoverDifferential::custom_command(int argc, char *argv[]) +{ + return print_usage("unk_timestampn command"); +} + +int RoverDifferential::print_usage(const char *reason) +{ + if (reason) { + PX4_ERR("%s\n", reason); + } + + PRINT_MODULE_DESCRIPTION( + R"DESCR_STR( +### Description +Rover Differential controller. +)DESCR_STR"); + + PRINT_MODULE_USAGE_NAME("rover_differential", "controller"); + PRINT_MODULE_USAGE_COMMAND("start"); + PRINT_MODULE_USAGE_DEFAULT_COMMANDS(); + return 0; +} + +extern "C" __EXPORT int rover_differential_main(int argc, char *argv[]) +{ + return RoverDifferential::main(argc, argv); +} diff --git a/src/modules/rover_differential/RoverDifferential.hpp b/src/modules/rover_differential/RoverDifferential.hpp new file mode 100644 index 000000000000..3dafe99b0566 --- /dev/null +++ b/src/modules/rover_differential/RoverDifferential.hpp @@ -0,0 +1,136 @@ +/**************************************************************************** + * + * Copyright (c) 2023-2024 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#pragma once + +// PX4 includes +#include +#include +#include +#include +#include + +// uORB includes +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +// Standard libraries +#include +#include + +// Local includes +#include "RoverDifferentialGuidance/RoverDifferentialGuidance.hpp" + +using namespace time_literals; + +class RoverDifferential : public ModuleBase, public ModuleParams, + public px4::ScheduledWorkItem +{ +public: + RoverDifferential(); + ~RoverDifferential() override = default; + + /** @see ModuleBase */ + static int task_spawn(int argc, char *argv[]); + + /** @see ModuleBase */ + static int custom_command(int argc, char *argv[]); + + /** @see ModuleBase */ + static int print_usage(const char *reason = nullptr); + + bool init(); + + /** + * @brief Computes motor commands for differential drive. + * + * @param forward_speed Linear velocity along the x-axis. + * @param speed_diff Speed difference between left and right wheels. + * @return matrix::Vector2f Motor velocities for the right and left motors. + */ + matrix::Vector2f computeMotorCommands(float forward_speed, const float speed_diff); + +protected: + void updateParams() override; + +private: + void Run() override; + + // uORB Subscriptions + uORB::Subscription _manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)}; + uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)}; + uORB::Subscription _vehicle_angular_velocity_sub{ORB_ID(vehicle_angular_velocity)}; + uORB::Subscription _vehicle_attitude_sub{ORB_ID(vehicle_attitude)}; + uORB::Subscription _vehicle_local_position_sub{ORB_ID(vehicle_local_position)}; + uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)}; + + // uORB Publications + uORB::PublicationMulti _actuator_motors_pub{ORB_ID(actuator_motors)}; + uORB::Publication _rover_differential_status_pub{ORB_ID(rover_differential_status)}; + + // Instances + RoverDifferentialGuidance _rover_differential_guidance{this}; + + // Variables + float _vehicle_body_yaw_rate{0.f}; + float _vehicle_forward_speed{0.f}; + float _vehicle_yaw{0.f}; + float _max_yaw_rate{0.f}; + int _nav_state{0}; + matrix::Quatf _vehicle_attitude_quaternion{}; + hrt_abstime _timestamp{0}; + PID_t _pid_yaw_rate; // The PID controller for yaw rate + RoverDifferentialGuidance::differential_setpoint _differential_setpoint; + + // Constants + static constexpr float YAW_RATE_ERROR_THRESHOLD = 0.1f; // [rad/s] Error threshold for the closed loop yaw rate control + + DEFINE_PARAMETERS( + (ParamFloat) _param_rd_man_yaw_scale, + (ParamFloat) _param_rd_wheel_track, + (ParamFloat) _param_rd_p_gain_yaw_rate, + (ParamFloat) _param_rd_i_gain_yaw_rate, + (ParamFloat) _param_rd_max_speed, + (ParamFloat) _param_rd_max_yaw_rate, + (ParamInt) _param_r_rev + ) +}; diff --git a/src/modules/rover_differential/RoverDifferentialGuidance/CMakeLists.txt b/src/modules/rover_differential/RoverDifferentialGuidance/CMakeLists.txt new file mode 100644 index 000000000000..0fd7b68c394e --- /dev/null +++ b/src/modules/rover_differential/RoverDifferentialGuidance/CMakeLists.txt @@ -0,0 +1,39 @@ +############################################################################ +# +# Copyright (c) 2023-2024 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +px4_add_library(RoverDifferentialGuidance + RoverDifferentialGuidance.cpp +) + +target_link_libraries(RoverDifferentialGuidance PUBLIC pid) +target_include_directories(RoverDifferentialGuidance PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}) diff --git a/src/modules/rover_differential/RoverDifferentialGuidance/RoverDifferentialGuidance.cpp b/src/modules/rover_differential/RoverDifferentialGuidance/RoverDifferentialGuidance.cpp new file mode 100644 index 000000000000..efad52e7b874 --- /dev/null +++ b/src/modules/rover_differential/RoverDifferentialGuidance/RoverDifferentialGuidance.cpp @@ -0,0 +1,247 @@ +/**************************************************************************** + * + * Copyright (c) 2023-2024 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include "RoverDifferentialGuidance.hpp" + +#include + +using namespace matrix; +using namespace time_literals; + +RoverDifferentialGuidance::RoverDifferentialGuidance(ModuleParams *parent) : ModuleParams(parent) +{ + updateParams(); + _rover_differential_guidance_status_pub.advertise(); + pid_init(&_pid_heading, PID_MODE_DERIVATIV_NONE, 0.001f); + pid_init(&_pid_throttle, PID_MODE_DERIVATIV_NONE, 0.001f); + +} + +void RoverDifferentialGuidance::updateParams() +{ + ModuleParams::updateParams(); + + _max_yaw_rate = _param_rd_max_yaw_rate.get() * M_DEG_TO_RAD_F; + pid_set_parameters(&_pid_heading, + _param_rd_p_gain_heading.get(), // Proportional gain + _param_rd_i_gain_heading.get(), // Integral gain + 0.f, // Derivative gain + _max_yaw_rate, // Integral limit + _max_yaw_rate); // Output limit + pid_set_parameters(&_pid_throttle, + _param_rd_p_gain_speed.get(), // Proportional gain + _param_rd_i_gain_speed.get(), // Integral gain + 0.f, // Derivative gain + 1.f, // Integral limit + 1.f); // Output limit +} + +RoverDifferentialGuidance::differential_setpoint RoverDifferentialGuidance::computeGuidance(const float yaw, + const float actual_speed, const int nav_state) +{ + // Initializations + bool mission_finished{false}; + float desired_speed{0.f}; + float desired_yaw_rate{0.f}; + hrt_abstime timestamp_prev = _timestamp; + _timestamp = hrt_absolute_time(); + const float dt = math::constrain(_timestamp - timestamp_prev, 1_ms, 5000_ms) * 1e-6f; + + // uORB subscriber updates + if (_vehicle_global_position_sub.updated()) { + vehicle_global_position_s vehicle_global_position{}; + _vehicle_global_position_sub.copy(&vehicle_global_position); + _curr_pos = Vector2d(vehicle_global_position.lat, vehicle_global_position.lon); + } + + if (_local_position_sub.updated()) { + vehicle_local_position_s local_position{}; + _local_position_sub.copy(&local_position); + + if (!_global_ned_proj_ref.isInitialized() + || (_global_ned_proj_ref.getProjectionReferenceTimestamp() != local_position.ref_timestamp)) { + _global_ned_proj_ref.initReference(local_position.ref_lat, local_position.ref_lon, local_position.ref_timestamp); + } + + _curr_pos_ned = Vector2f(local_position.x, local_position.y); + } + + if (_position_setpoint_triplet_sub.updated()) { + updateWaypoints(); + } + + if (_mission_result_sub.updated()) { + mission_result_s mission_result{}; + _mission_result_sub.copy(&mission_result); + mission_finished = mission_result.finished; + } + + if (_home_position_sub.updated()) { + home_position_s home_position{}; + _home_position_sub.copy(&home_position); + _home_position = Vector2d(home_position.lat, home_position.lon); + } + + const float desired_heading = _pure_pursuit.calcDesiredHeading(_curr_wp_ned, _prev_wp_ned, _curr_pos_ned, + math::max(actual_speed, 0.f)); + + const float heading_error = matrix::wrap_pi(desired_heading - yaw); + + const float distance_to_next_wp = get_distance_to_next_waypoint(_curr_pos(0), _curr_pos(1), + _curr_wp(0), + _curr_wp(1)); + + if (nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_RTL + && distance_to_next_wp < _param_nav_acc_rad.get()) { // Return to launch + mission_finished = true; + } + + // State machine + if (!mission_finished && distance_to_next_wp > _param_nav_acc_rad.get()) { + if (_currentState == GuidanceState::STOPPED) { + _currentState = GuidanceState::DRIVING; + } + + if (_currentState == GuidanceState::DRIVING && fabsf(heading_error) > _param_rd_trans_drv_trn.get()) { + pid_reset_integral(&_pid_heading); + _currentState = GuidanceState::SPOT_TURNING; + + } else if (_currentState == GuidanceState::SPOT_TURNING && fabsf(heading_error) < _param_rd_trans_trn_drv.get()) { + pid_reset_integral(&_pid_heading); + _currentState = GuidanceState::DRIVING; + } + + } else { // Mission finished or delay command + _currentState = GuidanceState::STOPPED; + } + + // Guidance logic + switch (_currentState) { + case GuidanceState::DRIVING: { + desired_speed = _param_rd_miss_spd_def.get(); + + if (_param_rd_max_jerk.get() > FLT_EPSILON && _param_rd_max_accel.get() > FLT_EPSILON) { + desired_speed = math::trajectory::computeMaxSpeedFromDistance(_param_rd_max_jerk.get(), + _param_rd_max_accel.get(), distance_to_next_wp, 0.0f); + desired_speed = math::constrain(desired_speed, -_param_rd_max_speed.get(), _param_rd_max_speed.get()); + } + + desired_yaw_rate = pid_calculate(&_pid_heading, heading_error, 0.f, 0.f, dt); + } break; + + case GuidanceState::SPOT_TURNING: + if (actual_speed < TURN_MAX_VELOCITY) { // Wait for the rover to stop + desired_yaw_rate = pid_calculate(&_pid_heading, heading_error, 0.f, 0.f, dt); // Turn on the spot + } + + break; + + case GuidanceState::STOPPED: + default: + desired_speed = 0.f; + desired_yaw_rate = 0.f; + break; + + } + + // Closed loop speed control + float throttle{0.f}; + + if (fabsf(desired_speed) < FLT_EPSILON) { + pid_reset_integral(&_pid_throttle); + + } else { + throttle = pid_calculate(&_pid_throttle, desired_speed, actual_speed, 0, + dt); + + if (_param_rd_max_speed.get() > FLT_EPSILON) { // Feed-forward term + throttle += math::interpolate(desired_speed, + 0.f, _param_rd_max_speed.get(), + 0.f, 1.f); + } + } + + // Publish differential controller status (logging) + _rover_differential_guidance_status.timestamp = _timestamp; + _rover_differential_guidance_status.desired_speed = desired_speed; + _rover_differential_guidance_status.pid_throttle_integral = _pid_throttle.integral; + _rover_differential_guidance_status.lookahead_distance = _pure_pursuit.getLookaheadDistance(); + _rover_differential_guidance_status.pid_heading_integral = _pid_heading.integral; + _rover_differential_guidance_status.heading_error_deg = M_RAD_TO_DEG_F * heading_error; + _rover_differential_guidance_status.state_machine = (uint8_t) _currentState; + _rover_differential_guidance_status_pub.publish(_rover_differential_guidance_status); + + // Return setpoints + differential_setpoint differential_setpoint_temp; + differential_setpoint_temp.throttle = math::constrain(throttle, 0.f, 1.f); + differential_setpoint_temp.yaw_rate = math::constrain(desired_yaw_rate, -_max_yaw_rate, + _max_yaw_rate); + differential_setpoint_temp.closed_loop_yaw_rate = true; + return differential_setpoint_temp; +} + +void RoverDifferentialGuidance::updateWaypoints() +{ + position_setpoint_triplet_s position_setpoint_triplet{}; + _position_setpoint_triplet_sub.copy(&position_setpoint_triplet); + + // Global waypoint coordinates + if (position_setpoint_triplet.current.valid && PX4_ISFINITE(position_setpoint_triplet.current.lat) + && PX4_ISFINITE(position_setpoint_triplet.current.lon)) { + _curr_wp = Vector2d(position_setpoint_triplet.current.lat, position_setpoint_triplet.current.lon); + + } else { + _curr_wp = Vector2d(0, 0); + } + + if (position_setpoint_triplet.previous.valid && PX4_ISFINITE(position_setpoint_triplet.previous.lat) + && PX4_ISFINITE(position_setpoint_triplet.previous.lon)) { + _prev_wp = Vector2d(position_setpoint_triplet.previous.lat, position_setpoint_triplet.previous.lon); + + } else { + _prev_wp = _curr_pos; + } + + if (position_setpoint_triplet.next.valid && PX4_ISFINITE(position_setpoint_triplet.next.lat) + && PX4_ISFINITE(position_setpoint_triplet.next.lon)) { + _next_wp = Vector2d(position_setpoint_triplet.next.lat, position_setpoint_triplet.next.lon); + + } else { + _next_wp = _home_position; + } + + // NED waypoint coordinates + _curr_wp_ned = _global_ned_proj_ref.project(_curr_wp(0), _curr_wp(1)); + _prev_wp_ned = _global_ned_proj_ref.project(_prev_wp(0), _prev_wp(1)); + +} diff --git a/src/modules/rover_differential/RoverDifferentialGuidance/RoverDifferentialGuidance.hpp b/src/modules/rover_differential/RoverDifferentialGuidance/RoverDifferentialGuidance.hpp new file mode 100644 index 000000000000..29a131f8d8e2 --- /dev/null +++ b/src/modules/rover_differential/RoverDifferentialGuidance/RoverDifferentialGuidance.hpp @@ -0,0 +1,163 @@ +/**************************************************************************** + * + * Copyright (c) 2023-2024 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#pragma once + +// PX4 includes +#include +#include + +// uORB includes +#include +#include +#include +#include +#include +#include +#include +#include +#include + +// Standard libraries +#include +#include +#include +#include +#include +#include + +using namespace matrix; + +/** + * @brief Enum class for the different states of guidance. + */ +enum class GuidanceState { + SPOT_TURNING, // The vehicle is currently turning on the spot. + DRIVING, // The vehicle is currently driving. + STOPPED // The vehicle is stopped. +}; + +/** + * @brief Class for differential rover guidance. + */ +class RoverDifferentialGuidance : public ModuleParams +{ +public: + /** + * @brief Constructor for RoverDifferentialGuidance. + * @param parent The parent ModuleParams object. + */ + RoverDifferentialGuidance(ModuleParams *parent); + ~RoverDifferentialGuidance() = default; + + struct differential_setpoint { + float throttle{0.f}; + float yaw_rate{0.f}; + bool closed_loop_yaw_rate{false}; + }; + + /** + * @brief Compute guidance for the vehicle. + * @param yaw The yaw orientation of the vehicle in radians. + * @param actual_speed The velocity of the vehicle in m/s. + * @param dt The time step in seconds. + * @param nav_state Navigation state of the rover. + */ + RoverDifferentialGuidance::differential_setpoint computeGuidance(float yaw, float actual_speed, + int nav_state); + + /** + * @brief Update global/ned waypoint coordinates + */ + void updateWaypoints(); + +protected: + /** + * @brief Update the parameters of the module. + */ + void updateParams() override; + +private: + // uORB subscriptions + uORB::Subscription _position_setpoint_triplet_sub{ORB_ID(position_setpoint_triplet)}; + uORB::Subscription _vehicle_global_position_sub{ORB_ID(vehicle_global_position)}; + uORB::Subscription _mission_result_sub{ORB_ID(mission_result)}; + uORB::Subscription _local_position_sub{ORB_ID(vehicle_local_position)}; + uORB::Subscription _home_position_sub{ORB_ID(home_position)}; + + // uORB publications + uORB::Publication _rover_differential_guidance_status_pub{ORB_ID(rover_differential_guidance_status)}; + rover_differential_guidance_status_s _rover_differential_guidance_status{}; + + // Variables + MapProjection _global_ned_proj_ref{}; // Transform global to ned coordinates. + GuidanceState _currentState{GuidanceState::DRIVING}; // The current state of guidance. + PurePursuit _pure_pursuit{this}; // Pure pursuit library + hrt_abstime _timestamp{0}; + float _max_yaw_rate{0.f}; + + + // Waypoints + Vector2d _curr_pos{}; + Vector2f _curr_pos_ned{}; + Vector2d _prev_wp{}; + Vector2f _prev_wp_ned{}; + Vector2d _curr_wp{}; + Vector2f _curr_wp_ned{}; + Vector2d _next_wp{}; + Vector2d _home_position{}; + + // Controllers + PID_t _pid_heading; // The PID controller for the heading + PID_t _pid_throttle; // The PID controller for velocity + + // Constants + static constexpr float TURN_MAX_VELOCITY = 0.2f; // Velocity threshhold for starting the spot turn [m/s] + + // Parameters + DEFINE_PARAMETERS( + (ParamFloat) _param_rd_p_gain_heading, + (ParamFloat) _param_rd_i_gain_heading, + (ParamFloat) _param_rd_p_gain_speed, + (ParamFloat) _param_rd_i_gain_speed, + (ParamFloat) _param_rd_max_speed, + (ParamFloat) _param_nav_acc_rad, + (ParamFloat) _param_rd_max_jerk, + (ParamFloat) _param_rd_max_accel, + (ParamFloat) _param_rd_miss_spd_def, + (ParamFloat) _param_rd_max_yaw_rate, + (ParamFloat) _param_rd_trans_trn_drv, + (ParamFloat) _param_rd_trans_drv_trn + + ) +}; diff --git a/src/modules/rover_differential/module.yaml b/src/modules/rover_differential/module.yaml new file mode 100644 index 000000000000..be0a76c60e9b --- /dev/null +++ b/src/modules/rover_differential/module.yaml @@ -0,0 +1,172 @@ +module_name: Rover Differential + +parameters: + - group: Rover Differential + definitions: + + RD_WHEEL_TRACK: + description: + short: Wheel track + long: Distance from the center of the right wheel to the center of the left wheel + type: float + unit: m + min: 0.001 + max: 100 + increment: 0.001 + decimal: 3 + default: 0.5 + + RD_MAN_YAW_SCALE: + description: + short: Manual yaw rate scale + long: | + In manual mode the setpoint for the yaw rate received from the rc remote + is scaled by this value. + type: float + min: 0.01 + max: 1 + increment: 0.01 + decimal: 2 + default: 1 + + RD_HEADING_P: + description: + short: Proportional gain for heading controller + type: float + min: 0 + max: 100 + increment: 0.01 + decimal: 2 + default: 1 + + RD_HEADING_I: + description: + short: Integral gain for heading controller + type: float + min: 0 + max: 100 + increment: 0.01 + decimal: 2 + default: 0.1 + + RD_SPEED_P: + description: + short: Proportional gain for speed controller + type: float + min: 0 + max: 100 + increment: 0.01 + decimal: 2 + default: 1 + + RD_SPEED_I: + description: + short: Integral gain for ground speed controller + type: float + min: 0 + max: 100 + increment: 0.01 + decimal: 2 + default: 0 + + RD_YAW_RATE_P: + description: + short: Proportional gain for angular velocity controller + type: float + min: 0 + max: 100 + increment: 0.01 + decimal: 2 + default: 1 + + RD_YAW_RATE_I: + description: + short: Integral gain for angular velocity controller + type: float + min: 0 + max: 100 + increment: 0.01 + decimal: 2 + default: 0 + + RD_MAX_JERK: + description: + short: Maximum jerk + long: Limit for forwards acc/deceleration change. + type: float + unit: m/s^3 + min: 0 + max: 100 + increment: 0.01 + decimal: 2 + default: 0.5 + + RD_MAX_ACCEL: + description: + short: Maximum acceleration + long: Maximum acceleration is used to limit the acceleration of the rover + type: float + unit: m/s^2 + min: 0 + max: 100 + increment: 0.01 + decimal: 2 + default: 0.5 + + RD_MAX_SPEED: + description: + short: Maximum speed the rover can drive + long: This parameter is used to map desired speeds to normalized motor commands. + type: float + unit: m/s + min: 0 + max: 100 + increment: 0.01 + decimal: 2 + default: 7 + + RD_MAX_YAW_RATE: + description: + short: Maximum allowed yaw rate for the rover. + long: | + This parameter is used to cap desired yaw rates and map controller inputs to desired yaw rates in acro mode. + type: float + unit: deg/s + min: 0.01 + max: 1000 + increment: 0.01 + decimal: 2 + default: 90 + + RD_MISS_SPD_DEF: + description: + short: Default rover speed during a mission + type: float + unit: m/s + min: 0 + max: 100 + increment: 0.01 + decimal: 2 + default: 1 + + RD_TRANS_TRN_DRV: + description: + short: Heading error threshhold to switch from spot turning to driving + type: float + unit: rad + min: 0.001 + max: 3.14159 + increment: 0.01 + decimal: 3 + default: 0.0872665 + + RD_TRANS_DRV_TRN: + description: + short: Heading error threshhold to switch from driving to spot turning + type: float + unit: rad + min: 0.001 + max: 3.14159 + increment: 0.01 + decimal: 3 + default: 0.174533 diff --git a/src/modules/rover_pos_control/RoverPositionControl.cpp b/src/modules/rover_pos_control/RoverPositionControl.cpp index 9a0a7d2c208c..928ce13c6edb 100644 --- a/src/modules/rover_pos_control/RoverPositionControl.cpp +++ b/src/modules/rover_pos_control/RoverPositionControl.cpp @@ -122,8 +122,8 @@ RoverPositionControl::manual_control_setpoint_poll() if (_control_mode.flag_control_attitude_enabled) { // STABILIZED mode generate the attitude setpoint from manual user inputs - _att_sp.roll_body = 0.0; - _att_sp.pitch_body = 0.0; + float roll_body = 0.0; + float pitch_body = 0.0; /* reset yaw setpoint to current position if needed */ if (_reset_yaw_sp) { @@ -137,10 +137,10 @@ RoverPositionControl::manual_control_setpoint_poll() _manual_yaw_sp = wrap_pi(_manual_yaw_sp + _att_sp.yaw_sp_move_rate * dt); } - _att_sp.yaw_body = _manual_yaw_sp; - _att_sp.thrust_body[0] = (_manual_control_setpoint.throttle + 1.f) * .5f; + float yaw_body = _manual_yaw_sp; + _att_sp.thrust_body[0] = _manual_control_setpoint.throttle; - Quatf q(Eulerf(_att_sp.roll_body, _att_sp.pitch_body, _att_sp.yaw_body)); + const Quatf q(Eulerf(roll_body, pitch_body, yaw_body)); q.copyTo(_att_sp.q_d); _att_sp.timestamp = hrt_absolute_time(); @@ -152,7 +152,7 @@ RoverPositionControl::manual_control_setpoint_poll() // Set heading from the manual roll input channel _yaw_control = _manual_control_setpoint.roll; // Nominally yaw: _manual_control_setpoint.yaw; // Set throttle from the manual throttle channel - _throttle_control = (_manual_control_setpoint.throttle + 1.f) * .5f; + _throttle_control = _manual_control_setpoint.throttle; _reset_yaw_sp = true; } diff --git a/src/modules/sensors/data_validator/DataValidatorGroup.cpp b/src/modules/sensors/data_validator/DataValidatorGroup.cpp index a7ded78d26cb..eabf61788ca4 100644 --- a/src/modules/sensors/data_validator/DataValidatorGroup.cpp +++ b/src/modules/sensors/data_validator/DataValidatorGroup.cpp @@ -230,6 +230,10 @@ float *DataValidatorGroup::get_best(uint64_t timestamp, int *index) if (_first_failover_time == 0) { _first_failover_time = timestamp; } + + if (max_confidence < FLT_EPSILON) { + max_index = -1; + } } } diff --git a/src/modules/sensors/module.yaml b/src/modules/sensors/module.yaml index 70670f882c3a..5fa440d5ff24 100644 --- a/src/modules/sensors/module.yaml +++ b/src/modules/sensors/module.yaml @@ -360,6 +360,7 @@ parameters: short: Magnetometer ${i} rotation relative to airframe long: | An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero. + Set to "Custom Euler Angle" to define the rotation using CAL_MAG${i}_ROLL, CAL_MAG${i}_PITCH and CAL_MAG${i}_YAW. category: System type: enum values: @@ -405,12 +406,52 @@ parameters: 38: Roll 90°, Pitch 68°, Yaw 293° 39: Pitch 315° 40: Roll 90°, Pitch 315° + 100: Custom Euler Angle min: -1 - max: 40 + max: 100 default: -1 num_instances: *max_num_sensor_instances instance_start: 0 + CAL_MAG${i}_ROLL: + description: + short: Magnetometer ${i} Custom Euler Roll Angle + long: Setting this parameter changes CAL_MAG${i}_ROT to "Custom Euler Angle" + category: System + type: float + default: 0.0 + min: -180 + max: 180 + unit: deg + num_instances: *max_num_sensor_instances + instance_start: 0 + + CAL_MAG${i}_PITCH: + description: + short: Magnetometer ${i} Custom Euler Pitch Angle + long: Setting this parameter changes CAL_MAG${i}_ROT to "Custom Euler Angle" + category: System + type: float + default: 0.0 + min: -180 + max: 180 + unit: deg + num_instances: *max_num_sensor_instances + instance_start: 0 + + CAL_MAG${i}_YAW: + description: + short: Magnetometer ${i} Custom Euler Yaw Angle + long: Setting this parameter changes CAL_MAG${i}_ROT to "Custom Euler Angle" + category: System + type: float + default: 0.0 + min: -180 + max: 180 + unit: deg + num_instances: *max_num_sensor_instances + instance_start: 0 + CAL_MAG${i}_XOFF: description: short: Magnetometer ${i} X-axis offset diff --git a/src/modules/sensors/sensor_params_flow.c b/src/modules/sensors/sensor_params_flow.c index 174cf5ba944c..b8abaab5f6f7 100644 --- a/src/modules/sensors/sensor_params_flow.c +++ b/src/modules/sensors/sensor_params_flow.c @@ -60,7 +60,7 @@ PARAM_DEFINE_INT32(SENS_FLOW_ROT, 0); * @min 0.0 * @max 1.0 * @increment 0.1 - * @decimal 1 + * @decimal 2 * @group Sensor Calibration */ PARAM_DEFINE_FLOAT(SENS_FLOW_MINHGT, 0.08f); @@ -77,7 +77,7 @@ PARAM_DEFINE_FLOAT(SENS_FLOW_MINHGT, 0.08f); * @min 1.0 * @max 100.0 * @increment 0.1 - * @decimal 1 + * @decimal 2 * @group Sensor Calibration */ PARAM_DEFINE_FLOAT(SENS_FLOW_MAXHGT, 100.f); diff --git a/src/modules/sensors/sensors.hpp b/src/modules/sensors/sensors.hpp index 102be087b141..911005249c6c 100644 --- a/src/modules/sensors/sensors.hpp +++ b/src/modules/sensors/sensors.hpp @@ -263,4 +263,4 @@ class Sensors : public ModuleBase, public ModuleParams, public px4::Sch #endif // CONFIG_SENSORS_VEHICLE_MAGNETOMETER (ParamBool) _param_sens_imu_mode ) -}; \ No newline at end of file +}; diff --git a/src/modules/sensors/vehicle_acceleration/VehicleAcceleration.cpp b/src/modules/sensors/vehicle_acceleration/VehicleAcceleration.cpp index af2f948f3a86..938e926a616f 100644 --- a/src/modules/sensors/vehicle_acceleration/VehicleAcceleration.cpp +++ b/src/modules/sensors/vehicle_acceleration/VehicleAcceleration.cpp @@ -215,9 +215,11 @@ void VehicleAcceleration::Run() // update corrections first to set _selected_sensor bool selection_updated = SensorSelectionUpdate(); + ParametersUpdate(); + _calibration.SensorCorrectionsUpdate(selection_updated); + SensorBiasUpdate(selection_updated); - ParametersUpdate(); // require valid sensor sample rate to run if (!PX4_ISFINITE(_filter_sample_rate)) { @@ -229,9 +231,12 @@ void VehicleAcceleration::Run() } // process all outstanding messages + int sensor_sub_updates = 0; sensor_accel_s sensor_data; - while (_sensor_sub.update(&sensor_data)) { + while ((sensor_sub_updates < sensor_accel_s::ORB_QUEUE_LENGTH) && _sensor_sub.update(&sensor_data)) { + sensor_sub_updates++; + const Vector3f accel_raw{sensor_data.x, sensor_data.y, sensor_data.z}; if (accel_raw.isAllFinite()) { diff --git a/src/modules/sensors/vehicle_air_data/CMakeLists.txt b/src/modules/sensors/vehicle_air_data/CMakeLists.txt index c8457cc2df24..909f249a7c01 100644 --- a/src/modules/sensors/vehicle_air_data/CMakeLists.txt +++ b/src/modules/sensors/vehicle_air_data/CMakeLists.txt @@ -40,4 +40,6 @@ target_link_libraries(vehicle_air_data data_validator px4_work_queue sensor_calibration + PUBLIC + atmosphere ) diff --git a/src/modules/sensors/vehicle_air_data/VehicleAirData.cpp b/src/modules/sensors/vehicle_air_data/VehicleAirData.cpp index 472d228c580c..c18d670cfc44 100644 --- a/src/modules/sensors/vehicle_air_data/VehicleAirData.cpp +++ b/src/modules/sensors/vehicle_air_data/VehicleAirData.cpp @@ -36,11 +36,14 @@ #include #include #include +#include + namespace sensors { using namespace matrix; +using namespace atmosphere; static constexpr uint32_t SENSOR_TIMEOUT{300_ms}; @@ -160,9 +163,11 @@ void VehicleAirData::Run() } if (_advertised[uorb_index]) { + int sensor_sub_updates = 0; sensor_baro_s report; - while (_sensor_sub[uorb_index].update(&report)) { + while ((sensor_sub_updates < sensor_baro_s::ORB_QUEUE_LENGTH) && _sensor_sub[uorb_index].update(&report)) { + sensor_sub_updates++; if (_calibration[uorb_index].device_id() != report.device_id) { _calibration[uorb_index].set_device_id(report.device_id); @@ -189,8 +194,9 @@ void VehicleAirData::Run() // pressure corrected with offset (if available) _calibration[uorb_index].SensorCorrectionsUpdate(); const float pressure_corrected = _calibration[uorb_index].Correct(report.pressure); + const float pressure_sealevel_pa = _param_sens_baro_qnh.get() * 100.f; - float data_array[3] {pressure_corrected, report.temperature, PressureToAltitude(pressure_corrected)}; + float data_array[3] {pressure_corrected, report.temperature, getAltitudeFromPressure(pressure_corrected, pressure_sealevel_pa)}; _voter.put(uorb_index, report.timestamp, data_array, report.error_count, _priority[uorb_index]); _timestamp_sample_sum[uorb_index] += report.timestamp_sample; @@ -251,11 +257,11 @@ void VehicleAirData::Run() const float pressure_pa = _data_sum[instance] / _data_sum_count[instance]; const float temperature = _temperature_sum[instance] / _data_sum_count[instance]; - float altitude = PressureToAltitude(pressure_pa, temperature); + const float pressure_sealevel_pa = _param_sens_baro_qnh.get() * 100.f; + const float altitude = getAltitudeFromPressure(pressure_pa, pressure_sealevel_pa); // calculate air density - float air_density = pressure_pa / (CONSTANTS_AIR_GAS_CONST * (_air_temperature_celsius - - CONSTANTS_ABSOLUTE_NULL_CELSIUS)); + const float air_density = getDensityFromPressureAndTemp(pressure_pa, temperature); // populate vehicle_air_data with and publish vehicle_air_data_s out{}; @@ -265,6 +271,7 @@ void VehicleAirData::Run() out.baro_temp_celcius = temperature; out.baro_pressure_pa = pressure_pa; out.rho = air_density; + out.eas2tas = sqrtf(kAirDensitySeaLevelStandardAtmos / math::max(air_density, FLT_EPSILON)); out.calibration_count = _calibration[instance].calibration_count(); out.timestamp = hrt_absolute_time(); @@ -295,32 +302,6 @@ void VehicleAirData::Run() perf_end(_cycle_perf); } -float VehicleAirData::PressureToAltitude(float pressure_pa, float temperature) const -{ - // calculate altitude using the hypsometric equation - static constexpr float T1 = 15.f - CONSTANTS_ABSOLUTE_NULL_CELSIUS; // temperature at base height in Kelvin - static constexpr float a = -6.5f / 1000.f; // temperature gradient in degrees per metre - - // current pressure at MSL in kPa (QNH in hPa) - const float p1 = _param_sens_baro_qnh.get() * 0.1f; - - // measured pressure in kPa - const float p = pressure_pa * 0.001f; - - /* - * Solve: - * - * / -(aR / g) \ - * | (p / p1) . T1 | - T1 - * \ / - * h = ------------------------------- + h1 - * a - */ - float altitude = (((powf((p / p1), (-(a * CONSTANTS_AIR_GAS_CONST) / CONSTANTS_ONE_G))) * T1) - T1) / a; - - return altitude; -} - void VehicleAirData::CheckFailover(const hrt_abstime &time_now_us) { // check failover and report (save failover report for a cycle where parameters didn't update) diff --git a/src/modules/sensors/vehicle_air_data/VehicleAirData.hpp b/src/modules/sensors/vehicle_air_data/VehicleAirData.hpp index 390f25767f87..fd28de34f8c6 100644 --- a/src/modules/sensors/vehicle_air_data/VehicleAirData.hpp +++ b/src/modules/sensors/vehicle_air_data/VehicleAirData.hpp @@ -79,8 +79,6 @@ class VehicleAirData : public ModuleParams, public px4::ScheduledWorkItem bool ParametersUpdate(bool force = false); void UpdateStatus(); - float PressureToAltitude(float pressure_pa, float temperature = 15.f) const; - static constexpr int MAX_SENSOR_COUNT = 4; uORB::Publication _sensors_status_baro_pub{ORB_ID(sensors_status_baro)}; diff --git a/src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.cpp b/src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.cpp index e688a788e9bc..01750b42598b 100644 --- a/src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.cpp +++ b/src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.cpp @@ -79,7 +79,7 @@ bool VehicleAngularVelocity::Start() return false; } - if (!SensorSelectionUpdate(true)) { + if (!SensorSelectionUpdate(hrt_absolute_time(), true)) { ScheduleNow(); } @@ -277,7 +277,7 @@ bool VehicleAngularVelocity::SensorSelectionUpdate(const hrt_abstime &time_now_u // if no gyro was selected use the first valid sensor_gyro_fifo if (!device_id_valid) { device_id = sensor_gyro_fifo_sub.get().device_id; - PX4_WARN("no gyro selected, using sensor_gyro_fifo:%" PRIu8 " %" PRIu32, i, sensor_gyro_fifo_sub.get().device_id); + PX4_DEBUG("no gyro selected, using sensor_gyro_fifo:%" PRIu8 " %" PRIu32, i, sensor_gyro_fifo_sub.get().device_id); } if (sensor_gyro_fifo_sub.get().device_id == device_id) { @@ -319,7 +319,7 @@ bool VehicleAngularVelocity::SensorSelectionUpdate(const hrt_abstime &time_now_u // if no gyro was selected use the first valid sensor_gyro if (!device_id_valid) { device_id = sensor_gyro_sub.get().device_id; - PX4_WARN("no gyro selected, using sensor_gyro:%" PRIu8 " %" PRIu32, i, sensor_gyro_sub.get().device_id); + PX4_DEBUG("no gyro selected, using sensor_gyro:%" PRIu8 " %" PRIu32, i, sensor_gyro_sub.get().device_id); } if (sensor_gyro_sub.get().device_id == device_id) { @@ -790,6 +790,8 @@ void VehicleAngularVelocity::Run() const hrt_abstime time_now_us = hrt_absolute_time(); + ParametersUpdate(); + // update corrections first to set _selected_sensor const bool selection_updated = SensorSelectionUpdate(time_now_us); @@ -801,9 +803,8 @@ void VehicleAngularVelocity::Run() } } - ParametersUpdate(); - _calibration.SensorCorrectionsUpdate(selection_updated); + SensorBiasUpdate(selection_updated); if (_reset_filters) { @@ -821,9 +822,12 @@ void VehicleAngularVelocity::Run() if (_fifo_available) { // process all outstanding fifo messages + int sensor_sub_updates = 0; sensor_gyro_fifo_s sensor_fifo_data; - while (_sensor_gyro_fifo_sub.update(&sensor_fifo_data)) { + while ((sensor_sub_updates < sensor_gyro_fifo_s::ORB_QUEUE_LENGTH) && _sensor_gyro_fifo_sub.update(&sensor_fifo_data)) { + sensor_sub_updates++; + const float inverse_dt_s = 1e6f / sensor_fifo_data.dt; const int N = sensor_fifo_data.samples; static constexpr int FIFO_SIZE_MAX = sizeof(sensor_fifo_data.x) / sizeof(sensor_fifo_data.x[0]); @@ -862,9 +866,12 @@ void VehicleAngularVelocity::Run() } else { // process all outstanding messages + int sensor_sub_updates = 0; sensor_gyro_s sensor_data; - while (_sensor_sub.update(&sensor_data)) { + while ((sensor_sub_updates < sensor_gyro_s::ORB_QUEUE_LENGTH) && _sensor_sub.update(&sensor_data)) { + sensor_sub_updates++; + if (Vector3f(sensor_data.x, sensor_data.y, sensor_data.z).isAllFinite()) { if (_timestamp_sample_last == 0 || (sensor_data.timestamp_sample <= _timestamp_sample_last)) { @@ -905,7 +912,7 @@ void VehicleAngularVelocity::Run() // force reselection on timeout if (time_now_us > _last_publish + 500_ms) { - SensorSelectionUpdate(true); + SensorSelectionUpdate(time_now_us, true); } perf_end(_cycle_perf); diff --git a/src/modules/sensors/vehicle_gps_position/gps_blending.cpp b/src/modules/sensors/vehicle_gps_position/gps_blending.cpp index 0ecdc0a4e494..73b5fe1ceea0 100644 --- a/src/modules/sensors/vehicle_gps_position/gps_blending.cpp +++ b/src/modules/sensors/vehicle_gps_position/gps_blending.cpp @@ -70,13 +70,14 @@ void GpsBlending::update(uint64_t hrt_now_us) // Check for new data on selected GPS, and clear blend offsets for (uint8_t i = 0; i < GPS_MAX_RECEIVERS_BLEND; i++) { _NE_pos_offset_m[i].zero(); - _hgt_offset_mm[i] = 0.0f; + _hgt_offset_m[i] = 0.0; } // Only use a secondary instance if the fallback is allowed if ((_primary_instance > -1) && (gps_select_index != _primary_instance) - && !_fallback_allowed) { + && _primary_instance_available + && (_gps_state[_primary_instance].fix_type >= 3)) { gps_select_index = _primary_instance; } @@ -87,6 +88,10 @@ void GpsBlending::update(uint64_t hrt_now_us) _gps_updated[gps_select_index] = false; } } + + for (uint8_t i = 0; i < GPS_MAX_RECEIVERS_BLEND; i++) { + _time_prev_us[i] = _gps_state[i].timestamp; + } } bool GpsBlending::blend_gps_data(uint64_t hrt_now_us) @@ -121,6 +126,10 @@ bool GpsBlending::blend_gps_data(uint64_t hrt_now_us) if (raw_dt > 0.0f && raw_dt < GPS_TIMEOUT_S) { _gps_dt[i] = 0.1f * raw_dt + 0.9f * _gps_dt[i]; + if (i == _primary_instance) { + _primary_instance_available = true; + } + } else if ((present_dt >= GPS_TIMEOUT_S) && (_gps_state[i].timestamp > 0)) { // Timed out - kill the stored fix for this receiver and don't track its (stale) gps_dt _gps_state[i].timestamp = 0; @@ -129,9 +138,8 @@ bool GpsBlending::blend_gps_data(uint64_t hrt_now_us) _gps_state[i].vel_ned_valid = 0; if (i == _primary_instance) { - // Allow using a secondary instance when the primary - // receiver has timed out - _fallback_allowed = true; + // Allow using a secondary instance when the primary receiver has timed out + _primary_instance_available = false; } continue; @@ -443,38 +451,38 @@ sensor_gps_s GpsBlending::gps_blend_states(float blend_weights[GPS_MAX_RECEIVERS // Convert each GPS position to a local NEU offset relative to the reference position Vector2f blended_NE_offset_m{0, 0}; - float blended_alt_offset_mm = 0.0f; + double blended_alt_offset_m = 0.0; for (uint8_t i = 0; i < GPS_MAX_RECEIVERS_BLEND; i++) { if ((blend_weights[i] > 0.0f) && (i != gps_best_index)) { // calculate the horizontal offset Vector2f horiz_offset{}; - get_vector_to_next_waypoint((gps_blended_state.lat / 1.0e7), (gps_blended_state.lon / 1.0e7), - (_gps_state[i].lat / 1.0e7), (_gps_state[i].lon / 1.0e7), + get_vector_to_next_waypoint(gps_blended_state.latitude_deg, gps_blended_state.longitude_deg, + _gps_state[i].latitude_deg, _gps_state[i].longitude_deg, &horiz_offset(0), &horiz_offset(1)); // sum weighted offsets blended_NE_offset_m += horiz_offset * blend_weights[i]; - // calculate vertical offset - float vert_offset = (float)(_gps_state[i].alt - gps_blended_state.alt); + // calculate vertical offset, meters + double vert_offset_m = _gps_state[i].altitude_msl_m - gps_blended_state.altitude_msl_m; // sum weighted offsets - blended_alt_offset_mm += vert_offset * blend_weights[i]; + blended_alt_offset_m += vert_offset_m * (double)blend_weights[i]; } } // Add the sum of weighted offsets to the reference position to obtain the blended position - const double lat_deg_now = (double)gps_blended_state.lat * 1.0e-7; - const double lon_deg_now = (double)gps_blended_state.lon * 1.0e-7; + const double lat_deg_now = gps_blended_state.latitude_deg; + const double lon_deg_now = gps_blended_state.longitude_deg; double lat_deg_res = 0; double lon_deg_res = 0; add_vector_to_global_position(lat_deg_now, lon_deg_now, blended_NE_offset_m(0), blended_NE_offset_m(1), &lat_deg_res, &lon_deg_res); - gps_blended_state.lat = (int32_t)(1.0E7 * lat_deg_res); - gps_blended_state.lon = (int32_t)(1.0E7 * lon_deg_res); - gps_blended_state.alt += (int32_t)blended_alt_offset_mm; + gps_blended_state.latitude_deg = lat_deg_res; + gps_blended_state.longitude_deg = lon_deg_res; + gps_blended_state.altitude_msl_m += blended_alt_offset_m; // Take GPS heading from the highest weighted receiver that is publishing a valid .heading value int8_t gps_best_yaw_index = -1; @@ -493,6 +501,21 @@ sensor_gps_s GpsBlending::gps_blend_states(float blend_weights[GPS_MAX_RECEIVERS gps_blended_state.heading_accuracy = _gps_state[gps_best_yaw_index].heading_accuracy; } + // Blend UTC timestamp from all receivers that are publishing a valid time_utc_usec value + double utc_weight_sum = 0.0; + double utc_time_sum = 0.0; + + for (uint8_t i = 0; i < GPS_MAX_RECEIVERS_BLEND; i++) { + if (_gps_state[i].time_utc_usec > 0) { + utc_time_sum += (double)_gps_state[i].time_utc_usec * (double)blend_weights[i]; + utc_weight_sum += (double)blend_weights[i]; + } + } + + if (utc_weight_sum > 0.0) { + gps_blended_state.time_utc_usec = (uint64_t)(utc_time_sum / utc_weight_sum); + } + return gps_blended_state; } @@ -508,38 +531,36 @@ void GpsBlending::update_gps_offsets(const sensor_gps_s &gps_blended_state) // calculate the filter coefficient that achieves the time constant specified by the user adjustable parameter alpha[i] = constrain(omega_lpf * 1e-6f * (float)(_gps_state[i].timestamp - _time_prev_us[i]), 0.0f, 1.0f); - - _time_prev_us[i] = _gps_state[i].timestamp; } } // Calculate a filtered position delta for each GPS relative to the blended solution state for (uint8_t i = 0; i < GPS_MAX_RECEIVERS_BLEND; i++) { Vector2f offset; - get_vector_to_next_waypoint((_gps_state[i].lat / 1.0e7), (_gps_state[i].lon / 1.0e7), - (gps_blended_state.lat / 1.0e7), (gps_blended_state.lon / 1.0e7), + get_vector_to_next_waypoint(_gps_state[i].latitude_deg, _gps_state[i].longitude_deg, + gps_blended_state.latitude_deg, gps_blended_state.longitude_deg, &offset(0), &offset(1)); _NE_pos_offset_m[i] = offset * alpha[i] + _NE_pos_offset_m[i] * (1.0f - alpha[i]); - _hgt_offset_mm[i] = (float)(gps_blended_state.alt - _gps_state[i].alt) * alpha[i] + - _hgt_offset_mm[i] * (1.0f - alpha[i]); + _hgt_offset_m[i] = (gps_blended_state.altitude_msl_m - _gps_state[i].altitude_msl_m) * (double)alpha[i] + + _hgt_offset_m[i] * (1.0 - (double)alpha[i]); } // calculate offset limits from the largest difference between receivers Vector2f max_ne_offset{}; - float max_alt_offset = 0; + double max_alt_offset = 0.0; for (uint8_t i = 0; i < GPS_MAX_RECEIVERS_BLEND; i++) { for (uint8_t j = i; j < GPS_MAX_RECEIVERS_BLEND; j++) { if (i != j) { Vector2f offset; - get_vector_to_next_waypoint((_gps_state[i].lat / 1.0e7), (_gps_state[i].lon / 1.0e7), - (_gps_state[j].lat / 1.0e7), (_gps_state[j].lon / 1.0e7), + get_vector_to_next_waypoint(_gps_state[i].latitude_deg, _gps_state[i].longitude_deg, + _gps_state[j].latitude_deg, _gps_state[j].longitude_deg, &offset(0), &offset(1)); - max_ne_offset(0) = fmaxf(max_ne_offset(0), fabsf(offset(0))); - max_ne_offset(1) = fmaxf(max_ne_offset(1), fabsf(offset(1))); - max_alt_offset = fmaxf(max_alt_offset, fabsf((float)(_gps_state[i].alt - _gps_state[j].alt))); + max_ne_offset(0) = fmax(max_ne_offset(0), fabsf(offset(0))); + max_ne_offset(1) = fmax(max_ne_offset(1), fabsf(offset(1))); + max_alt_offset = fmax(max_alt_offset, fabs(_gps_state[i].altitude_msl_m - _gps_state[j].altitude_msl_m)); } } } @@ -548,7 +569,7 @@ void GpsBlending::update_gps_offsets(const sensor_gps_s &gps_blended_state) for (uint8_t i = 0; i < GPS_MAX_RECEIVERS_BLEND; i++) { _NE_pos_offset_m[i](0) = constrain(_NE_pos_offset_m[i](0), -max_ne_offset(0), max_ne_offset(0)); _NE_pos_offset_m[i](1) = constrain(_NE_pos_offset_m[i](1), -max_ne_offset(1), max_ne_offset(1)); - _hgt_offset_mm[i] = constrain(_hgt_offset_mm[i], -max_alt_offset, max_alt_offset); + _hgt_offset_m[i] = constrain(_hgt_offset_m[i], -max_alt_offset, max_alt_offset); } } @@ -558,26 +579,26 @@ void GpsBlending::calc_gps_blend_output(sensor_gps_s &gps_blended_state, // Convert each GPS position to a local NEU offset relative to the reference position // which is defined as the positon of the blended solution calculated from non offset corrected data Vector2f blended_NE_offset_m{0, 0}; - float blended_alt_offset_mm = 0.0f; + double blended_alt_offset_m = 0.0; for (uint8_t i = 0; i < GPS_MAX_RECEIVERS_BLEND; i++) { if (blend_weights[i] > 0.0f) { // Add the sum of weighted offsets to the reference position to obtain the blended position - const double lat_deg_orig = (double)_gps_state[i].lat * 1.0e-7; - const double lon_deg_orig = (double)_gps_state[i].lon * 1.0e-7; + const double lat_deg_orig = _gps_state[i].latitude_deg; + const double lon_deg_orig = _gps_state[i].longitude_deg; double lat_deg_offset_res = 0; double lon_deg_offset_res = 0; add_vector_to_global_position(lat_deg_orig, lon_deg_orig, _NE_pos_offset_m[i](0), _NE_pos_offset_m[i](1), &lat_deg_offset_res, &lon_deg_offset_res); - float alt_offset = _gps_state[i].alt + (int32_t)_hgt_offset_mm[i]; + double alt_offset_m = _gps_state[i].altitude_msl_m + _hgt_offset_m[i]; // calculate the horizontal offset Vector2f horiz_offset{}; - get_vector_to_next_waypoint((gps_blended_state.lat / 1.0e7), (gps_blended_state.lon / 1.0e7), + get_vector_to_next_waypoint(gps_blended_state.latitude_deg, gps_blended_state.longitude_deg, lat_deg_offset_res, lon_deg_offset_res, &horiz_offset(0), &horiz_offset(1)); @@ -585,23 +606,23 @@ void GpsBlending::calc_gps_blend_output(sensor_gps_s &gps_blended_state, blended_NE_offset_m += horiz_offset * blend_weights[i]; // calculate vertical offset - float vert_offset = alt_offset - gps_blended_state.alt; + double vert_offset_m = alt_offset_m - gps_blended_state.altitude_msl_m; // sum weighted offsets - blended_alt_offset_mm += vert_offset * blend_weights[i]; + blended_alt_offset_m += vert_offset_m * (double)blend_weights[i]; } } // Add the sum of weighted offsets to the reference position to obtain the blended position - const double lat_deg_now = (double)gps_blended_state.lat * 1.0e-7; - const double lon_deg_now = (double)gps_blended_state.lon * 1.0e-7; + const double lat_deg_now = gps_blended_state.latitude_deg; + const double lon_deg_now = gps_blended_state.longitude_deg; double lat_deg_res = 0; double lon_deg_res = 0; add_vector_to_global_position(lat_deg_now, lon_deg_now, blended_NE_offset_m(0), blended_NE_offset_m(1), &lat_deg_res, &lon_deg_res); - gps_blended_state.lat = (int32_t)(1.0E7 * lat_deg_res); - gps_blended_state.lon = (int32_t)(1.0E7 * lon_deg_res); - gps_blended_state.alt = gps_blended_state.alt + (int32_t)blended_alt_offset_mm; + gps_blended_state.latitude_deg = lat_deg_res; + gps_blended_state.longitude_deg = lon_deg_res; + gps_blended_state.altitude_msl_m = gps_blended_state.altitude_msl_m + blended_alt_offset_m; } diff --git a/src/modules/sensors/vehicle_gps_position/gps_blending.hpp b/src/modules/sensors/vehicle_gps_position/gps_blending.hpp index fa5280663226..fa646578e604 100644 --- a/src/modules/sensors/vehicle_gps_position/gps_blending.hpp +++ b/src/modules/sensors/vehicle_gps_position/gps_blending.hpp @@ -126,12 +126,12 @@ class GpsBlending int _selected_gps{0}; int _np_gps_suitable_for_blending{0}; int _primary_instance{0}; ///< if -1, there is no primary isntance and the best receiver is used // TODO: use device_id - bool _fallback_allowed{false}; + bool _primary_instance_available{false}; bool _is_new_output_data_available{false}; matrix::Vector2f _NE_pos_offset_m[GPS_MAX_RECEIVERS_BLEND] {}; ///< Filtered North,East position offset from GPS instance to blended solution in _output_state.location (m) - float _hgt_offset_mm[GPS_MAX_RECEIVERS_BLEND] {}; ///< Filtered height offset from GPS instance relative to blended solution in _output_state.location (mm) + double _hgt_offset_m[GPS_MAX_RECEIVERS_BLEND] {}; ///< Filtered height offset from GPS instance relative to blended solution in _output_state.location (meters) uint64_t _time_prev_us[GPS_MAX_RECEIVERS_BLEND] {}; ///< the previous value of time_us for that GPS instance - used to detect new data. uint8_t _gps_time_ref_index{0}; ///< index of the receiver that is used as the timing reference for the blending update diff --git a/src/modules/sensors/vehicle_gps_position/gps_blending_test.cpp b/src/modules/sensors/vehicle_gps_position/gps_blending_test.cpp index 1baaf1da4260..50352162c08d 100644 --- a/src/modules/sensors/vehicle_gps_position/gps_blending_test.cpp +++ b/src/modules/sensors/vehicle_gps_position/gps_blending_test.cpp @@ -60,10 +60,10 @@ sensor_gps_s GpsBlendingTest::getDefaultGpsData() sensor_gps_s gps_data{}; gps_data.timestamp = _time_now_us - 10e3; gps_data.time_utc_usec = 0; - gps_data.lat = 47e7; - gps_data.lon = 9e7; - gps_data.alt = 800e3; - gps_data.alt_ellipsoid = 800e3; + gps_data.latitude_deg = 47.0; + gps_data.longitude_deg = 9.0; + gps_data.altitude_msl_m = 800.0; + gps_data.altitude_ellipsoid_m = 800.0; gps_data.s_variance_m_s = 0.2f; gps_data.c_variance_rad = 0.5f; gps_data.eph = 0.7f; @@ -213,9 +213,9 @@ TEST_F(GpsBlendingTest, dualReceiverBlendingHPos) EXPECT_FLOAT_EQ(gps_blending.getOutputGpsData().eph, gps_data1.eph); // TODO: should be greater than EXPECT_EQ(gps_blending.getOutputGpsData().timestamp, gps_data0.timestamp); EXPECT_EQ(gps_blending.getOutputGpsData().timestamp_sample, gps_data0.timestamp_sample); - EXPECT_EQ(gps_blending.getOutputGpsData().lat, gps_data0.lat); - EXPECT_EQ(gps_blending.getOutputGpsData().lon, gps_data0.lon); - EXPECT_EQ(gps_blending.getOutputGpsData().alt, gps_data0.alt); + EXPECT_EQ(gps_blending.getOutputGpsData().latitude_deg, gps_data0.latitude_deg); + EXPECT_EQ(gps_blending.getOutputGpsData().latitude_deg, gps_data0.latitude_deg); + EXPECT_EQ(gps_blending.getOutputGpsData().altitude_msl_m, gps_data0.altitude_msl_m); } TEST_F(GpsBlendingTest, dualReceiverFailover) @@ -235,16 +235,14 @@ TEST_F(GpsBlendingTest, dualReceiverFailover) const float duration_s = 10.f; runSeconds(duration_s, gps_blending, gps_data1, 1); - // THEN: the primary instance should be selected even if - // not available. No data is then available - EXPECT_EQ(gps_blending.getSelectedGps(), 0); + // THEN: the secondary instance as the primary one is not available + EXPECT_EQ(gps_blending.getSelectedGps(), 1); EXPECT_EQ(gps_blending.getNumberOfGpsSuitableForBlending(), 1); - EXPECT_FALSE(gps_blending.isNewOutputDataAvailable()); + EXPECT_TRUE(gps_blending.isNewOutputDataAvailable()); // BUT WHEN: the data of the primary receiver is avaialbe sensor_gps_s gps_data0 = getDefaultGpsData(); - gps_blending.setGpsData(gps_data0, 0); - gps_blending.update(_time_now_us); + runSeconds(1.f, gps_blending, gps_data0, gps_data1); // THEN: the primary instance is selected and the data // is available @@ -274,4 +272,50 @@ TEST_F(GpsBlendingTest, dualReceiverFailover) // THEN: the primary receiver should be used again EXPECT_EQ(gps_blending.getSelectedGps(), 0); EXPECT_TRUE(gps_blending.isNewOutputDataAvailable()); + + // BUT IF: the secondary receiver has better metrics than the primary one + gps_data1.satellites_used = gps_data0.satellites_used + 2; + + runSeconds(1.f, gps_blending, gps_data0, gps_data1); + + // THEN: the selector shouldn't switch again as the primary one is available + EXPECT_EQ(gps_blending.getSelectedGps(), 0); + EXPECT_TRUE(gps_blending.isNewOutputDataAvailable()); + + // BUT IF: the primary receiver looses its fix + gps_data0.fix_type = 1; + + runSeconds(1.f, gps_blending, gps_data0, gps_data1); + + // THEN: the selector should switch as the primary one is unable to provide correct data + EXPECT_EQ(gps_blending.getSelectedGps(), 1); + EXPECT_TRUE(gps_blending.isNewOutputDataAvailable()); +} + +TEST_F(GpsBlendingTest, dualReceiverUTCTime) +{ + GpsBlending gps_blending; + sensor_gps_s gps_data0 = getDefaultGpsData(); + sensor_gps_s gps_data1 = getDefaultGpsData(); + + // WHEN: Only GPS1 has a nonzero UTC time + gps_blending = GpsBlending(); + gps_data1.time_utc_usec = 1700000000000000ULL; + gps_blending.setGpsData(gps_data0, 0); + gps_blending.setGpsData(gps_data1, 1); + gps_blending.setBlendingUseHPosAccuracy(true); + gps_blending.update(_time_now_us); + // THEN: GPS 1 time should be used + EXPECT_EQ(gps_blending.getOutputGpsData().time_utc_usec, gps_data1.time_utc_usec); + + // WHEN: Both GPSes have a nonzero UTC time + gps_blending = GpsBlending(); + gps_data0.time_utc_usec = 1700000000001000ULL; + gps_data1.time_utc_usec = 1700000000000000ULL; + gps_blending.setGpsData(gps_data0, 0); + gps_blending.setGpsData(gps_data1, 1); + gps_blending.setBlendingUseHPosAccuracy(true); + gps_blending.update(_time_now_us); + // THEN: The average of the two timestamps should be used + EXPECT_EQ(gps_blending.getOutputGpsData().time_utc_usec, 1700000000000500ULL); } diff --git a/src/modules/sensors/vehicle_imu/VehicleIMU.cpp b/src/modules/sensors/vehicle_imu/VehicleIMU.cpp index 8ca2464b5efe..f5b73434969d 100644 --- a/src/modules/sensors/vehicle_imu/VehicleIMU.cpp +++ b/src/modules/sensors/vehicle_imu/VehicleIMU.cpp @@ -70,6 +70,8 @@ VehicleIMU::VehicleIMU(int instance, uint8_t accel_index, uint8_t gyro_index, co _sensor_gyro_sub.set_required_updates(sensor_gyro_s::ORB_QUEUE_LENGTH / 2); #endif + _notify_clipping = _param_sens_imu_notify_clipping.get(); + // advertise immediately to ensure consistent ordering _vehicle_imu_pub.advertise(); _vehicle_imu_status_pub.advertise(); @@ -192,7 +194,12 @@ void VehicleIMU::Run() // reset data gap monitor _data_gap = false; - while (_sensor_gyro_sub.updated() || _sensor_accel_sub.updated()) { + int sensor_sub_updates = 0; + + while ((_sensor_gyro_sub.updated() || _sensor_accel_sub.updated()) + && (sensor_sub_updates < math::max(sensor_accel_s::ORB_QUEUE_LENGTH, sensor_gyro_s::ORB_QUEUE_LENGTH))) { + sensor_sub_updates++; + bool updated = false; bool consume_all_gyro = !_intervals_configured || _data_gap; @@ -220,11 +227,16 @@ void VehicleIMU::Run() // update accel until integrator ready and caught up to gyro + int sensor_accel_sub_updates = 0; + while (_sensor_accel_sub.updated() + && (sensor_accel_sub_updates < sensor_accel_s::ORB_QUEUE_LENGTH) && (!_accel_integrator.integral_ready() || !_intervals_configured || _data_gap || (_accel_timestamp_sample_last < (_gyro_timestamp_sample_last - 0.5f * _accel_interval_us))) ) { + sensor_accel_sub_updates++; + if (UpdateAccel()) { updated = true; } @@ -374,7 +386,7 @@ bool VehicleIMU::UpdateAccel() _publish_status = true; - if (_accel_calibration.enabled() && (hrt_elapsed_time(&_last_accel_clipping_notify_time) > 3_s)) { + if (_notify_clipping && _accel_calibration.enabled() && (hrt_elapsed_time(&_last_accel_clipping_notify_time) > 3_s)) { // start notifying the user periodically if there's significant continuous clipping const uint64_t clipping_total = _status.accel_clipping[0] + _status.accel_clipping[1] + _status.accel_clipping[2]; @@ -503,7 +515,7 @@ bool VehicleIMU::UpdateGyro() _publish_status = true; - if (_gyro_calibration.enabled() && (hrt_elapsed_time(&_last_gyro_clipping_notify_time) > 3_s)) { + if (_notify_clipping && _gyro_calibration.enabled() && (hrt_elapsed_time(&_last_gyro_clipping_notify_time) > 3_s)) { // start notifying the user periodically if there's significant continuous clipping const uint64_t clipping_total = _status.gyro_clipping[0] + _status.gyro_clipping[1] + _status.gyro_clipping[2]; @@ -645,6 +657,7 @@ bool VehicleIMU::Publish() imu.gyro_device_id = _gyro_calibration.device_id(); delta_angle_corrected.copyTo(imu.delta_angle); delta_velocity_corrected.copyTo(imu.delta_velocity); + imu.delta_angle_clipping = _delta_angle_clipping; imu.delta_velocity_clipping = _delta_velocity_clipping; imu.accel_calibration_count = _accel_calibration.calibration_count(); imu.gyro_calibration_count = _gyro_calibration.calibration_count(); @@ -652,6 +665,7 @@ bool VehicleIMU::Publish() _vehicle_imu_pub.publish(imu); // reset clip counts + _delta_angle_clipping = 0; _delta_velocity_clipping = 0; // record gyro publication latency and integrated samples diff --git a/src/modules/sensors/vehicle_imu/VehicleIMU.hpp b/src/modules/sensors/vehicle_imu/VehicleIMU.hpp index ab06dbf03ef1..689d72f61426 100644 --- a/src/modules/sensors/vehicle_imu/VehicleIMU.hpp +++ b/src/modules/sensors/vehicle_imu/VehicleIMU.hpp @@ -158,6 +158,8 @@ class VehicleIMU : public ModuleParams, public px4::ScheduledWorkItem uint8_t _delta_angle_clipping{0}; uint8_t _delta_velocity_clipping{0}; + bool _notify_clipping{true}; + hrt_abstime _last_accel_clipping_notify_time{0}; hrt_abstime _last_gyro_clipping_notify_time{0}; @@ -198,7 +200,8 @@ class VehicleIMU : public ModuleParams, public px4::ScheduledWorkItem DEFINE_PARAMETERS( (ParamInt) _param_imu_integ_rate, - (ParamBool) _param_sens_imu_autocal + (ParamBool) _param_sens_imu_autocal, + (ParamBool) _param_sens_imu_notify_clipping ) }; diff --git a/src/modules/sensors/vehicle_imu/imu_parameters.c b/src/modules/sensors/vehicle_imu/imu_parameters.c index ebe8a465a672..eca9d9fc1248 100644 --- a/src/modules/sensors/vehicle_imu/imu_parameters.c +++ b/src/modules/sensors/vehicle_imu/imu_parameters.c @@ -60,3 +60,15 @@ PARAM_DEFINE_INT32(IMU_INTEG_RATE, 200); * @group Sensors */ PARAM_DEFINE_INT32(SENS_IMU_AUTOCAL, 1); + +/** + * IMU notify clipping + * + * Notify the user if the IMU is clipping + * + * @boolean + * + * @category system + * @group Sensors + */ +PARAM_DEFINE_INT32(SENS_IMU_CLPNOTI, 1); diff --git a/src/modules/sensors/vehicle_magnetometer/VehicleMagnetometer.cpp b/src/modules/sensors/vehicle_magnetometer/VehicleMagnetometer.cpp index 8ee9380f30bb..df90ffdf9006 100644 --- a/src/modules/sensors/vehicle_magnetometer/VehicleMagnetometer.cpp +++ b/src/modules/sensors/vehicle_magnetometer/VehicleMagnetometer.cpp @@ -259,7 +259,7 @@ void VehicleMagnetometer::UpdateMagCalibration() // State variance assumed for magnetometer bias storage. // This is a reference variance used to calculate the fraction of learned magnetometer bias that will be used to update the stored value. // Larger values cause a larger fraction of the learned biases to be used. - static constexpr float magb_vref = 2.5e-7f; + static constexpr float magb_vref = 2.5e-6f; static constexpr float min_var_allowed = magb_vref * 0.01f; static constexpr float max_var_allowed = magb_vref * 500.f; @@ -275,10 +275,10 @@ void VehicleMagnetometer::UpdateMagCalibration() const Vector3f bias_variance{estimator_sensor_bias.mag_bias_variance}; const bool valid = (hrt_elapsed_time(&estimator_sensor_bias.timestamp) < 1_s) - && (estimator_sensor_bias.mag_device_id != 0) && - estimator_sensor_bias.mag_bias_valid && - estimator_sensor_bias.mag_bias_stable && - (bias_variance.min() > min_var_allowed) && (bias_variance.max() < max_var_allowed); + && (estimator_sensor_bias.mag_device_id != 0) + && estimator_sensor_bias.mag_bias_valid + && estimator_sensor_bias.mag_bias_stable + && (bias_variance.min() > min_var_allowed) && (bias_variance.max() < max_var_allowed); if (valid) { // find corresponding mag calibration @@ -288,8 +288,20 @@ void VehicleMagnetometer::UpdateMagCalibration() _mag_cal[i].device_id = estimator_sensor_bias.mag_device_id; // readd estimated bias that was removed before publishing vehicle_magnetometer (_calibration_estimator_bias) - _mag_cal[i].offset = _calibration[mag_index].BiasCorrectedSensorOffset(bias + _calibration_estimator_bias[mag_index]); + const Vector3f mag_cal_offset = _calibration[mag_index].BiasCorrectedSensorOffset(bias + + _calibration_estimator_bias[mag_index]); + if ((mag_cal_offset - _mag_cal[i].offset).longerThan(0.001f)) { + const Vector3f mag_cal_orig{_calibration[mag_index].offset()}; + + PX4_DEBUG("%d (%" PRIu32 ") EST:%d offset: [%.2f, %.2f, %.2f]->[%.2f, %.2f, %.2f] (full [%.3f, %.3f, %.3f])", + mag_index, _calibration[mag_index].device_id(), i, + (double)mag_cal_orig(0), (double)mag_cal_orig(1), (double)mag_cal_orig(2), + (double)mag_cal_offset(0), (double)mag_cal_offset(1), (double)mag_cal_offset(2), + (double)_mag_cal[i].offset(0), (double)_mag_cal[i].offset(1), (double)_mag_cal[i].offset(2)); + } + + _mag_cal[i].offset = mag_cal_offset; _mag_cal[i].variance = bias_variance; _in_flight_mag_cal_available = true; @@ -329,7 +341,7 @@ void VehicleMagnetometer::UpdateMagCalibration() if (_calibration[mag_index].set_offset(mag_cal_offset)) { - PX4_INFO("%d (%" PRIu32 ") EST:%d offset: [%.2f, %.2f, %.2f]->[%.2f, %.2f, %.2f] (full [%.3f, %.3f, %.3f])", + PX4_INFO("%d (%" PRIu32 ") EST:%d offset: [%.3f, %.3f, %.3f]->[%.3f, %.3f, %.3f] (full [%.3f, %.3f, %.3f])", mag_index, _calibration[mag_index].device_id(), i, (double)mag_cal_orig(0), (double)mag_cal_orig(1), (double)mag_cal_orig(2), (double)mag_cal_offset(0), (double)mag_cal_offset(1), (double)mag_cal_offset(2), @@ -340,6 +352,14 @@ void VehicleMagnetometer::UpdateMagCalibration() _calibration_estimator_bias[mag_index].zero(); calibration_param_save_needed = true; + + } else { + // new offset not saved + PX4_DEBUG("%d (%" PRIu32 ") EST:%d rejected: [%.3f, %.3f, %.3f]->[%.3f, %.3f, %.3f] (full [%.3f, %.3f, %.3f])", + mag_index, _calibration[mag_index].device_id(), i, + (double)mag_cal_orig(0), (double)mag_cal_orig(1), (double)mag_cal_orig(2), + (double)mag_cal_offset(0), (double)mag_cal_offset(1), (double)mag_cal_offset(2), + (double)_mag_cal[i].offset(0), (double)_mag_cal[i].offset(1), (double)_mag_cal[i].offset(2)); } } } @@ -369,8 +389,8 @@ void VehicleMagnetometer::UpdatePowerCompensation() if (_vehicle_thrust_setpoint_0_sub.update(&vehicle_thrust_setpoint)) { const matrix::Vector3f thrust_setpoint = matrix::Vector3f(vehicle_thrust_setpoint.xyz); - for (auto &cal : _calibration) { - cal.UpdatePower(thrust_setpoint.length()); + for (int i = 0; i < MAX_SENSOR_COUNT; i++) { + _calibration[i].UpdatePower(thrust_setpoint.length()); } } @@ -382,14 +402,14 @@ void VehicleMagnetometer::UpdatePowerCompensation() if (_battery_status_sub.update(&bat_stat)) { float power = bat_stat.current_a * 0.001f; // current in [kA] - for (auto &cal : _calibration) { - cal.UpdatePower(power); + for (int i = 0; i < MAX_SENSOR_COUNT; i++) { + _calibration[i].UpdatePower(power); } } } else { - for (auto &cal : _calibration) { - cal.UpdatePower(0.f); + for (int i = 0; i < MAX_SENSOR_COUNT; i++) { + _calibration[i].UpdatePower(0.f); } } } @@ -412,6 +432,10 @@ void VehicleMagnetometer::Run() } } + for (int i = 0; i < MAX_SENSOR_COUNT; i++) { + _calibration[i].SensorCorrectionsUpdate(); + } + UpdatePowerCompensation(); UpdateMagBiasEstimate(); @@ -437,9 +461,11 @@ void VehicleMagnetometer::Run() } if (_advertised[uorb_index]) { + int sensor_mag_updates = 0; sensor_mag_s report; - while (_sensor_sub[uorb_index].update(&report)) { + while ((sensor_mag_updates < sensor_mag_s::ORB_QUEUE_LENGTH) && _sensor_sub[uorb_index].update(&report)) { + sensor_mag_updates++; if (_calibration[uorb_index].device_id() != report.device_id) { _calibration[uorb_index].set_device_id(report.device_id); diff --git a/src/modules/sensors/vehicle_magnetometer/VehicleMagnetometer.hpp b/src/modules/sensors/vehicle_magnetometer/VehicleMagnetometer.hpp index 042a40147637..c90398fe1f6c 100644 --- a/src/modules/sensors/vehicle_magnetometer/VehicleMagnetometer.hpp +++ b/src/modules/sensors/vehicle_magnetometer/VehicleMagnetometer.hpp @@ -146,6 +146,7 @@ class VehicleMagnetometer : public ModuleParams, public px4::ScheduledWorkItem Current_inst0, Current_inst1 }; + MagCompensationType _mag_comp_type{MagCompensationType::Disabled}; perf_counter_t _cycle_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": cycle")}; @@ -158,6 +159,7 @@ class VehicleMagnetometer : public ModuleParams, public px4::ScheduledWorkItem uint64_t _timestamp_sample_sum[MAX_SENSOR_COUNT] {}; matrix::Vector3f _data_sum[MAX_SENSOR_COUNT] {}; + int _data_sum_count[MAX_SENSOR_COUNT] {}; hrt_abstime _last_publication_timestamp[MAX_SENSOR_COUNT] {}; diff --git a/src/modules/sensors/vehicle_optical_flow/VehicleOpticalFlow.cpp b/src/modules/sensors/vehicle_optical_flow/VehicleOpticalFlow.cpp index 87f356781e24..e629095be65a 100644 --- a/src/modules/sensors/vehicle_optical_flow/VehicleOpticalFlow.cpp +++ b/src/modules/sensors/vehicle_optical_flow/VehicleOpticalFlow.cpp @@ -112,22 +112,34 @@ void VehicleOpticalFlow::Run() if (_sensor_flow_sub.update(&sensor_optical_flow)) { // clear data accumulation if there's a gap in data - if (((sensor_optical_flow.timestamp_sample - _flow_timestamp_sample_last) - > sensor_optical_flow.integration_timespan_us * 1.5f) - || (_accumulated_count > 0 && _quality_sum == 0)) { + const uint64_t integration_gap_threshold_us = sensor_optical_flow.integration_timespan_us * 2; + + if ((sensor_optical_flow.timestamp_sample >= _flow_timestamp_sample_last + integration_gap_threshold_us) + || (_accumulated_count > 0 && (sensor_optical_flow.quality > 0) && _quality_sum == 0)) { + ClearAccumulatedData(); } - const hrt_abstime timestamp_oldest = sensor_optical_flow.timestamp_sample - lroundf( - sensor_optical_flow.integration_timespan_us); + const hrt_abstime timestamp_oldest = sensor_optical_flow.timestamp_sample - sensor_optical_flow.integration_timespan_us; const hrt_abstime timestamp_newest = sensor_optical_flow.timestamp; // delta angle // - from sensor_optical_flow if available, otherwise use synchronized sensor_gyro if available - if (sensor_optical_flow.delta_angle_available && Vector3f(sensor_optical_flow.delta_angle).isAllFinite()) { + if (sensor_optical_flow.delta_angle_available && Vector2f(sensor_optical_flow.delta_angle).isAllFinite()) { // passthrough integrated gyro if available - _delta_angle += _flow_rotation * Vector3f{sensor_optical_flow.delta_angle}; + Vector3f delta_angle(sensor_optical_flow.delta_angle); + + if (!PX4_ISFINITE(delta_angle(2))) { + // Some sensors only provide X and Y angular rates, rotate them but place back the NAN on the Z axis + delta_angle(2) = 0.f; + _delta_angle += _flow_rotation * delta_angle; + _delta_angle(2) = NAN; + + } else { + _delta_angle += _flow_rotation * delta_angle; + } + _delta_angle_available = true; } else { @@ -203,12 +215,7 @@ void VehicleOpticalFlow::Run() const float interval_us = 1e6f / _param_sens_flow_rate.get(); // don't allow publishing faster than SENS_FLOW_RATE - if (sensor_optical_flow.timestamp_sample < _last_publication_timestamp + interval_us) { - publish = false; - } - - // integrate for full interval unless we haven't published recently - if ((hrt_elapsed_time(&_last_publication_timestamp) < 1_ms) && (_integration_timespan_us < interval_us)) { + if (_integration_timespan_us < interval_us) { publish = false; } } @@ -271,8 +278,6 @@ void VehicleOpticalFlow::Run() vehicle_optical_flow.timestamp = hrt_absolute_time(); _vehicle_optical_flow_pub.publish(vehicle_optical_flow); - _last_publication_timestamp = vehicle_optical_flow.timestamp_sample; - // vehicle_optical_flow_vel if distance is available (for logging) if (_distance_sum_count > 0 && PX4_ISFINITE(_distance_sum)) { @@ -285,12 +290,12 @@ void VehicleOpticalFlow::Run() // NOTE: the EKF uses the reverse sign convention to the flow sensor. EKF assumes positive LOS rate // is produced by a RH rotation of the image about the sensor axis. const Vector2f flow_xy_rad{-vehicle_optical_flow.pixel_flow[0], -vehicle_optical_flow.pixel_flow[1]}; - const Vector3f gyro_xyz{-vehicle_optical_flow.delta_angle[0], -vehicle_optical_flow.delta_angle[1], -vehicle_optical_flow.delta_angle[2]}; + const Vector3f gyro_rate_integral{-vehicle_optical_flow.delta_angle[0], -vehicle_optical_flow.delta_angle[1], -vehicle_optical_flow.delta_angle[2]}; const float flow_dt = 1e-6f * vehicle_optical_flow.integration_timespan_us; // compensate for body motion to give a LOS rate - const Vector2f flow_compensated_XY_rad = flow_xy_rad - gyro_xyz.xy(); + const Vector2f flow_compensated_XY_rad = flow_xy_rad - gyro_rate_integral.xy(); Vector3f vel_optflow_body; vel_optflow_body(0) = - range * flow_compensated_XY_rad(1) / flow_dt; @@ -315,21 +320,18 @@ void VehicleOpticalFlow::Run() flow_vel.vel_ne[1] = flow_vel_ne(1); } - // flow_uncompensated_integral - flow_xy_rad.copyTo(flow_vel.flow_uncompensated_integral); + const Vector2f flow_rate(flow_xy_rad * (1.f / flow_dt)); + flow_rate.copyTo(flow_vel.flow_rate_uncompensated); - // flow_compensated_integral - flow_compensated_XY_rad.copyTo(flow_vel.flow_compensated_integral); + const Vector2f flow_rate_compensated(flow_compensated_XY_rad * (1.f / flow_dt)); + flow_rate_compensated.copyTo(flow_vel.flow_rate_compensated); - const Vector3f measured_body_rate(gyro_xyz * (1.f / flow_dt)); + const Vector3f measured_body_rate(gyro_rate_integral * (1.f / flow_dt)); // gyro_rate flow_vel.gyro_rate[0] = measured_body_rate(0); flow_vel.gyro_rate[1] = measured_body_rate(1); - - // gyro_rate_integral - flow_vel.gyro_rate_integral[0] = gyro_xyz(0); - flow_vel.gyro_rate_integral[1] = gyro_xyz(1); + flow_vel.gyro_rate[2] = measured_body_rate(2); flow_vel.timestamp = hrt_absolute_time(); diff --git a/src/modules/sensors/vehicle_optical_flow/VehicleOpticalFlow.hpp b/src/modules/sensors/vehicle_optical_flow/VehicleOpticalFlow.hpp index 186af594a8d9..fb424ea5aff8 100644 --- a/src/modules/sensors/vehicle_optical_flow/VehicleOpticalFlow.hpp +++ b/src/modules/sensors/vehicle_optical_flow/VehicleOpticalFlow.hpp @@ -117,8 +117,6 @@ class VehicleOpticalFlow : public ModuleParams, public px4::ScheduledWorkItem uint16_t _quality_sum{0}; uint8_t _accumulated_count{0}; - hrt_abstime _last_publication_timestamp{0}; - int _distance_sensor_selected{-1}; // because we can have several distance sensor instances with different orientations hrt_abstime _last_range_sensor_update{0}; diff --git a/src/modules/simulation/Kconfig b/src/modules/simulation/Kconfig index 569ab38c6ade..a417092ed94b 100644 --- a/src/modules/simulation/Kconfig +++ b/src/modules/simulation/Kconfig @@ -2,6 +2,7 @@ menu "Simulation" menuconfig COMMON_SIMULATION bool "Common simulation modules" default n + depends on PLATFORM_POSIX select MODULES_SIMULATION_BATTERY_SIMULATOR select MODULES_SIMULATION_PWM_OUT_SIM select MODULES_SIMULATION_SENSOR_AIRSPEED_SIM diff --git a/src/modules/simulation/battery_simulator/battery_simulator_params.c b/src/modules/simulation/battery_simulator/battery_simulator_params.c index d634714cf3c9..986ae0b596bc 100644 --- a/src/modules/simulation/battery_simulator/battery_simulator_params.c +++ b/src/modules/simulation/battery_simulator/battery_simulator_params.c @@ -31,6 +31,18 @@ * ****************************************************************************/ +/** + * Simulator Battery enabled + * + * Enable or disable the internal battery simulation. This is useful + * when the battery is simulated externally and interfaced with PX4 + * through MAVLink for example. + * + * @boolean + * @group SITL + */ +PARAM_DEFINE_INT32(SIM_BAT_ENABLE, 1); + /** * Simulator Battery drain interval * diff --git a/src/modules/simulation/gz_bridge/CMakeLists.txt b/src/modules/simulation/gz_bridge/CMakeLists.txt index 8462dec6d375..c7d36e36a5ad 100644 --- a/src/modules/simulation/gz_bridge/CMakeLists.txt +++ b/src/modules/simulation/gz_bridge/CMakeLists.txt @@ -1,6 +1,6 @@ ############################################################################ # -# Copyright (c) 2022 PX4 Development Team. All rights reserved. +# Copyright (c) 2022-2023 PX4 Development Team. All rights reserved. # # Redistribution and use in source and binary forms, with or without # modification, are permitted provided that the following conditions @@ -32,13 +32,13 @@ ############################################################################ # Find the gz_Transport library -find_package(gz-transport - #REQUIRED COMPONENTS core - NAMES - #ignition-transport11 # IGN (Fortress and earlier) no longer supported - gz-transport12 - #QUIET -) +# First look for GZ Harmonic libraries +find_package(gz-transport NAMES gz-transport13) + +# If Harmonic not found, look for GZ Garden libraries +if(NOT gz-transport_FOUND) + find_package(gz-transport NAMES gz-transport12) +endif() if(gz-transport_FOUND) @@ -64,6 +64,8 @@ if(gz-transport_FOUND) GZMixingInterfaceESC.hpp GZMixingInterfaceServo.cpp GZMixingInterfaceServo.hpp + GZMixingInterfaceWheel.cpp + GZMixingInterfaceWheel.hpp DEPENDS mixer_module px4_work_queue @@ -72,14 +74,26 @@ if(gz-transport_FOUND) module.yaml ) - file(GLOB gz_models - LIST_DIRECTORIES true - RELATIVE ${PX4_SOURCE_DIR}/Tools/simulation/gz/models - ${PX4_SOURCE_DIR}/Tools/simulation/gz/models/* + px4_add_git_submodule(TARGET git_gz PATH "${PX4_SOURCE_DIR}/Tools/simulation/gz") + include(ExternalProject) + ExternalProject_Add(gz + SOURCE_DIR ${PX4_SOURCE_DIR}/Tools/simulation/gz + CMAKE_ARGS -DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX} + BINARY_DIR ${PX4_BINARY_DIR}/build_gz + INSTALL_COMMAND "" + DEPENDS git_gz + USES_TERMINAL_CONFIGURE true + USES_TERMINAL_BUILD true + EXCLUDE_FROM_ALL true + BUILD_ALWAYS 1 ) - file(GLOB gz_worlds - ${PX4_SOURCE_DIR}/Tools/simulation/gz/worlds/*.sdf + set(gz_worlds + default + windy + baylands + lawn + rover ) # find corresponding airframes @@ -100,56 +114,20 @@ if(gz-transport_FOUND) set(model_only) string(REGEX REPLACE ".*_gz_" "" model_only ${gz_airframe}) - if(EXISTS "${PX4_SOURCE_DIR}/Tools/simulation/gz/models/${model_only}") - - if((EXISTS "${PX4_SOURCE_DIR}/Tools/simulation/gz/models/${model_only}/model.sdf")) - #message(STATUS "Ignition SDF file found for ${model_only}") - else() - message(WARNING "Ignition no SDF file found for ${model_only}") - endif() - - else() - message(WARNING "model directory ${PX4_SOURCE_DIR}/Tools/simulation/gz/models/${model_only} not found") - endif() - endforeach() - - foreach(model ${gz_models}) - - # match model to airframe - set(airframe_model_only) - set(airframe_sys_autostart) - set(gz_airframe_found) - foreach(gz_airframe IN LISTS gz_airframes) - - string(REGEX REPLACE ".*_gz_" "" airframe_model_only ${gz_airframe}) - string(REGEX REPLACE "_gz_.*" "" airframe_sys_autostart ${gz_airframe}) - - if(model STREQUAL ${airframe_model_only}) - set(gz_airframe_found ${gz_airframe}) - break() - endif() - endforeach() - - if(gz_airframe_found) - #message(STATUS "gz model: ${model} (${airframe_model_only}), airframe: ${gz_airframe_found}, SYS_AUTOSTART: ${airframe_sys_autostart}") - else() - message(WARNING "gz missing model: ${model} (${airframe_model_only}), airframe: ${gz_airframe_found}, SYS_AUTOSTART: ${airframe_sys_autostart}") - endif() - foreach(world ${gz_worlds}) get_filename_component("world_name" ${world} NAME_WE) if(world_name STREQUAL "default") - add_custom_target(gz_${model} - COMMAND ${CMAKE_COMMAND} -E env PX4_SIM_MODEL=gz_${model} $ + add_custom_target(gz_${model_only} + COMMAND ${CMAKE_COMMAND} -E env PX4_SIM_MODEL=gz_${model_only} $ WORKING_DIRECTORY ${SITL_WORKING_DIR} USES_TERMINAL DEPENDS px4 ) else() - add_custom_target(gz_${model}_${world_name} - COMMAND ${CMAKE_COMMAND} -E env PX4_SIM_MODEL=gz_${model} PX4_GZ_WORLD=${world_name} $ + add_custom_target(gz_${model_only}_${world_name} + COMMAND ${CMAKE_COMMAND} -E env PX4_SIM_MODEL=gz_${model_only} PX4_GZ_WORLD=${world_name} $ WORKING_DIRECTORY ${SITL_WORKING_DIR} USES_TERMINAL DEPENDS px4 @@ -157,7 +135,6 @@ if(gz-transport_FOUND) endif() endforeach() endforeach() - # PX4_GZ_MODELS, PX4_GZ_WORLDS, GZ_SIM_RESOURCE_PATH configure_file(gz_env.sh.in ${PX4_BINARY_DIR}/rootfs/gz_env.sh) diff --git a/src/modules/simulation/gz_bridge/GZBridge.cpp b/src/modules/simulation/gz_bridge/GZBridge.cpp index db7517fc479d..29d19fe11177 100644 --- a/src/modules/simulation/gz_bridge/GZBridge.cpp +++ b/src/modules/simulation/gz_bridge/GZBridge.cpp @@ -35,7 +35,7 @@ #include -#include +#include #include #include @@ -95,6 +95,12 @@ int GZBridge::init() model_pose_v.push_back(0.0); } + // If model position z is less equal than 0, move above floor to prevent floor glitching + if (model_pose_v[2] <= 0.0) { + PX4_INFO("Model position z is less or equal 0.0, moving upwards"); + model_pose_v[2] = 0.5; + } + gz::msgs::Pose *p = req.mutable_pose(); gz::msgs::Vector3d *position = p->mutable_position(); position->set_x(model_pose_v[0]); @@ -116,15 +122,59 @@ int GZBridge::init() bool result; std::string create_service = "/world/" + _world_name + "/create"; - if (_node.Request(create_service, req, 1000, rep, result)) { - if (!rep.data() || !result) { - PX4_ERR("EntityFactory service call failed"); + bool gz_called = false; + // Check if PX4_GZ_STANDALONE has been set. + char *standalone_val = std::getenv("PX4_GZ_STANDALONE"); + + if ((standalone_val != nullptr) && (std::strcmp(standalone_val, "1") == 0)) { + // Check if Gazebo has been called and if not attempt to reconnect. + while (gz_called == false) { + if (_node.Request(create_service, req, 1000, rep, result)) { + if (!rep.data() || !result) { + PX4_ERR("EntityFactory service call failed"); + return PX4_ERROR; + + } else { + gz_called = true; + } + } + + // If Gazebo has not been called, wait 2 seconds and try again. + else { + PX4_WARN("Service call timed out as Gazebo has not been detected."); + system_usleep(2000000); + } + } + } + + + // If PX4_GZ_STANDALONE has been set, you can try to connect but GZ_SIM_RESOURCE_PATH needs to be set correctly to work. + else { + if (!callEntityFactoryService(create_service, req)) { return PX4_ERROR; } - } else { - PX4_ERR("Service call timed out"); - return PX4_ERROR; + std::string scene_info_service = "/world/" + _world_name + "/scene/info"; + bool scene_created = false; + + while (scene_created == false) { + if (!callSceneInfoMsgService(scene_info_service)) { + PX4_WARN("Service call timed out as Gazebo has not been detected."); + system_usleep(2000000); + + } else { + scene_created = true; + } + } + + gz::msgs::StringMsg follow_msg{}; + follow_msg.set_data(_model_name); + callStringMsgService("/gui/follow", follow_msg); + gz::msgs::Vector3d follow_offset_msg{}; + follow_offset_msg.set_x(-2.0); + follow_offset_msg.set_y(-2.0); + follow_offset_msg.set_z(2.0); + callVector3dService("/gui/follow/offset", follow_offset_msg); } } @@ -161,6 +211,13 @@ int GZBridge::init() return PX4_ERROR; } + // Laser Scan: optional + std::string laser_scan_topic = "/world/" + _world_name + "/model/" + _model_name + "/link/link/sensor/lidar_2d_v2/scan"; + + if (!_node.Subscribe(laser_scan_topic, &GZBridge::laserScanCallback, this)) { + PX4_WARN("failed to subscribe to %s", laser_scan_topic.c_str()); + } + #if 0 // Airspeed: /world/$WORLD/model/$MODEL/link/airspeed_link/sensor/air_speed/air_speed std::string airpressure_topic = "/world/" + _world_name + "/model/" + _model_name + @@ -181,6 +238,15 @@ int GZBridge::init() return PX4_ERROR; } + // GPS: /world/$WORLD/model/$MODEL/link/base_link/sensor/navsat_sensor/navsat + std::string nav_sat_topic = "/world/" + _world_name + "/model/" + _model_name + + "/link/base_link/sensor/navsat_sensor/navsat"; + + if (!_node.Subscribe(nav_sat_topic, &GZBridge::navSatCallback, this)) { + PX4_ERR("failed to subscribe to %s", nav_sat_topic.c_str()); + return PX4_ERROR; + } + if (!_mixing_interface_esc.init(_model_name)) { PX4_ERR("failed to init ESC output"); return PX4_ERROR; @@ -191,6 +257,11 @@ int GZBridge::init() return PX4_ERROR; } + if (!_mixing_interface_wheel.init(_model_name)) { + PX4_ERR("failed to init motor output"); + return PX4_ERROR; + } + ScheduleNow(); return OK; } @@ -282,7 +353,7 @@ int GZBridge::task_spawn(int argc, char *argv[]) #if defined(ENABLE_LOCKSTEP_SCHEDULER) // lockstep scheduler wait for initial clock set before returning - int sleep_count_limit = 1000; + int sleep_count_limit = 10000; while ((instance->world_time_us() == 0) && sleep_count_limit > 0) { // wait for first clock message @@ -388,7 +459,7 @@ void GZBridge::airspeedCallback(const gz::msgs::AirSpeedSensor &air_speed) report.timestamp_sample = time_us; report.device_id = 1377548; // 1377548: DRV_DIFF_PRESS_DEVTYPE_SIM, BUS: 1, ADDR: 5, TYPE: SIMULATION report.differential_pressure_pa = static_cast(air_speed_value); // hPa to Pa; - report.temperature = static_cast(air_speed.temperature()) + CONSTANTS_ABSOLUTE_NULL_CELSIUS; // K to C + report.temperature = static_cast(air_speed.temperature()) + atmosphere::kAbsoluteNullCelsius; // K to C report.timestamp = hrt_absolute_time();; _differential_pressure_pub.publish(report); @@ -525,10 +596,6 @@ void GZBridge::poseInfoCallback(const gz::msgs::Pose_V &pose) vehicle_angular_velocity_groundtruth.timestamp = hrt_absolute_time(); _angular_velocity_ground_truth_pub.publish(vehicle_angular_velocity_groundtruth); - if (!_pos_ref.isInitialized()) { - _pos_ref.initReference((double)_param_sim_home_lat.get(), (double)_param_sim_home_lon.get(), hrt_absolute_time()); - } - vehicle_local_position_s local_position_groundtruth{}; #if defined(ENABLE_LOCKSTEP_SCHEDULER) local_position_groundtruth.timestamp_sample = time_us; @@ -555,31 +622,27 @@ void GZBridge::poseInfoCallback(const gz::msgs::Pose_V &pose) local_position_groundtruth.heading = euler.psi(); - local_position_groundtruth.ref_lat = _pos_ref.getProjectionReferenceLat(); // Reference point latitude in degrees - local_position_groundtruth.ref_lon = _pos_ref.getProjectionReferenceLon(); // Reference point longitude in degrees - local_position_groundtruth.ref_alt = _param_sim_home_alt.get(); - local_position_groundtruth.ref_timestamp = _pos_ref.getProjectionReferenceTimestamp(); - - local_position_groundtruth.timestamp = hrt_absolute_time(); - _lpos_ground_truth_pub.publish(local_position_groundtruth); - if (_pos_ref.isInitialized()) { - // publish position groundtruth - vehicle_global_position_s global_position_groundtruth{}; -#if defined(ENABLE_LOCKSTEP_SCHEDULER) - global_position_groundtruth.timestamp_sample = time_us; -#else - global_position_groundtruth.timestamp_sample = hrt_absolute_time(); -#endif - _pos_ref.reproject(local_position_groundtruth.x, local_position_groundtruth.y, - global_position_groundtruth.lat, global_position_groundtruth.lon); + local_position_groundtruth.ref_lat = _pos_ref.getProjectionReferenceLat(); // Reference point latitude in degrees + local_position_groundtruth.ref_lon = _pos_ref.getProjectionReferenceLon(); // Reference point longitude in degrees + local_position_groundtruth.ref_alt = _alt_ref; + local_position_groundtruth.ref_timestamp = _pos_ref.getProjectionReferenceTimestamp(); + local_position_groundtruth.xy_global = true; + local_position_groundtruth.z_global = true; - global_position_groundtruth.alt = _param_sim_home_alt.get() - static_cast(position(2)); - global_position_groundtruth.timestamp = hrt_absolute_time(); - _gpos_ground_truth_pub.publish(global_position_groundtruth); + } else { + local_position_groundtruth.ref_lat = static_cast(NAN); + local_position_groundtruth.ref_lon = static_cast(NAN); + local_position_groundtruth.ref_alt = NAN; + local_position_groundtruth.ref_timestamp = 0; + local_position_groundtruth.xy_global = false; + local_position_groundtruth.z_global = false; } + local_position_groundtruth.timestamp = hrt_absolute_time(); + _lpos_ground_truth_pub.publish(local_position_groundtruth); + pthread_mutex_unlock(&_node_mutex); return; } @@ -664,6 +727,210 @@ void GZBridge::odometryCallback(const gz::msgs::OdometryWithCovariance &odometry pthread_mutex_unlock(&_node_mutex); } +void GZBridge::navSatCallback(const gz::msgs::NavSat &nav_sat) +{ + if (hrt_absolute_time() == 0) { + return; + } + + pthread_mutex_lock(&_node_mutex); + + const uint64_t time_us = (nav_sat.header().stamp().sec() * 1000000) + (nav_sat.header().stamp().nsec() / 1000); + + if (time_us > _world_time_us.load()) { + updateClock(nav_sat.header().stamp().sec(), nav_sat.header().stamp().nsec()); + } + + // initialize gps position + if (!_pos_ref.isInitialized()) { + _pos_ref.initReference(nav_sat.latitude_deg(), nav_sat.longitude_deg(), hrt_absolute_time()); + _alt_ref = nav_sat.altitude(); + + } else { + // publish GPS groundtruth + vehicle_global_position_s global_position_groundtruth{}; +#if defined(ENABLE_LOCKSTEP_SCHEDULER) + global_position_groundtruth.timestamp_sample = time_us; +#else + global_position_groundtruth.timestamp_sample = hrt_absolute_time(); +#endif + global_position_groundtruth.lat = nav_sat.latitude_deg(); + global_position_groundtruth.lon = nav_sat.longitude_deg(); + global_position_groundtruth.alt = nav_sat.altitude(); + _gpos_ground_truth_pub.publish(global_position_groundtruth); + } + + pthread_mutex_unlock(&_node_mutex); +} + +void GZBridge::laserScanCallback(const gz::msgs::LaserScan &scan) +{ + static constexpr int SECTOR_SIZE_DEG = 10; // PX4 Collision Prevention only has 36 sectors of 10 degrees each + + double angle_min_deg = scan.angle_min() * 180 / M_PI; + double angle_step_deg = scan.angle_step() * 180 / M_PI; + + int samples_per_sector = std::round(SECTOR_SIZE_DEG / angle_step_deg); + int number_of_sectors = scan.ranges_size() / samples_per_sector; + + std::vector ds_array(number_of_sectors, UINT16_MAX); + + // Downsample -- take average of samples per sector + for (int i = 0; i < number_of_sectors; i++) { + + double sum = 0; + + int samples_used_in_sector = 0; + + for (int j = 0; j < samples_per_sector; j++) { + + double distance = scan.ranges()[i * samples_per_sector + j]; + + // inf values mean no object + if (isinf(distance)) { + continue; + } + + sum += distance; + samples_used_in_sector++; + } + + // If all samples in a sector are inf then it means the sector is clear + if (samples_used_in_sector == 0) { + ds_array[i] = scan.range_max(); + + } else { + ds_array[i] = sum / samples_used_in_sector; + } + } + + // Publish to uORB + obstacle_distance_s obs {}; + + // Initialize unknown + for (auto &i : obs.distances) { + i = UINT16_MAX; + } + + obs.timestamp = hrt_absolute_time(); + obs.frame = obstacle_distance_s::MAV_FRAME_BODY_FRD; + obs.sensor_type = obstacle_distance_s::MAV_DISTANCE_SENSOR_LASER; + obs.min_distance = static_cast(scan.range_min() * 100.); + obs.max_distance = static_cast(scan.range_max() * 100.); + obs.angle_offset = static_cast(angle_min_deg); + obs.increment = static_cast(SECTOR_SIZE_DEG); + + // Map samples in FOV into sectors in ObstacleDistance + int index = 0; + + // Iterate in reverse because array is FLU and we need FRD + for (std::vector::reverse_iterator i = ds_array.rbegin(); i != ds_array.rend(); ++i) { + + uint16_t distance_cm = (*i) * 100.; + + if (distance_cm >= obs.max_distance) { + obs.distances[index] = obs.max_distance + 1; + + } else if (distance_cm < obs.min_distance) { + obs.distances[index] = 0; + + } else { + obs.distances[index] = distance_cm; + } + + index++; + } + + _obstacle_distance_pub.publish(obs); +} + +bool GZBridge::callEntityFactoryService(const std::string &service, const gz::msgs::EntityFactory &req) +{ + bool result; + gz::msgs::Boolean rep; + + if (_node.Request(service, req, 1000, rep, result)) { + if (!rep.data() || !result) { + PX4_ERR("EntityFactory service call failed."); + return false; + } + + } else { + PX4_ERR("Service call timed out. Check GZ_SIM_RESOURCE_PATH is set correctly."); + return false; + } + + return true; +} + +bool GZBridge::callSceneInfoMsgService(const std::string &service) +{ + bool result; + gz::msgs::Empty req; + gz::msgs::Scene rep; + + if (_node.Request(service, req, 1000, rep, result)) { + if (!result) { + PX4_ERR("Scene Info service call failed."); + return false; + + } else { + return true; + } + + } else { + PX4_ERR("Service call timed out. Check GZ_SIM_RESOURCE_PATH is set correctly."); + return false; + } + + return true; +} + +bool GZBridge::callStringMsgService(const std::string &service, const gz::msgs::StringMsg &req) +{ + bool result; + + gz::msgs::Boolean rep; + + if (_node.Request(service, req, 1000, rep, result)) { + if (!rep.data() || !result) { + PX4_ERR("String service call failed"); + return false; + + } + } + + else { + PX4_ERR("Service call timed out: %s", service.c_str()); + return false; + } + + return true; +} + +bool GZBridge::callVector3dService(const std::string &service, const gz::msgs::Vector3d &req) +{ + bool result; + + gz::msgs::Boolean rep; + + if (_node.Request(service, req, 1000, rep, result)) { + if (!rep.data() || !result) { + PX4_ERR("String service call failed"); + return false; + + } + } + + else { + PX4_ERR("Service call timed out: %s", service.c_str()); + return false; + } + + return true; +} + + void GZBridge::rotateQuaternion(gz::math::Quaterniond &q_FRD_to_NED, const gz::math::Quaterniond q_FLU_to_ENU) { // FLU (ROS) to FRD (PX4) static rotation @@ -689,6 +956,7 @@ void GZBridge::Run() _mixing_interface_esc.stop(); _mixing_interface_servo.stop(); + _mixing_interface_wheel.stop(); exit_and_cleanup(); return; @@ -704,6 +972,7 @@ void GZBridge::Run() _mixing_interface_esc.updateParams(); _mixing_interface_servo.updateParams(); + _mixing_interface_wheel.updateParams(); } ScheduleDelayed(10_ms); @@ -719,6 +988,9 @@ int GZBridge::print_status() PX4_INFO_RAW("Servo outputs:\n"); _mixing_interface_servo.mixingOutput().printStatus(); + PX4_INFO_RAW("Wheel outputs:\n"); + _mixing_interface_wheel.mixingOutput().printStatus(); + return 0; } diff --git a/src/modules/simulation/gz_bridge/GZBridge.hpp b/src/modules/simulation/gz_bridge/GZBridge.hpp index b7d40eef36cd..fc2cb3a6e9ad 100644 --- a/src/modules/simulation/gz_bridge/GZBridge.hpp +++ b/src/modules/simulation/gz_bridge/GZBridge.hpp @@ -35,6 +35,7 @@ #include "GZMixingInterfaceESC.hpp" #include "GZMixingInterfaceServo.hpp" +#include "GZMixingInterfaceWheel.hpp" #include #include @@ -56,6 +57,8 @@ #include #include #include +#include +#include #include #include @@ -63,7 +66,11 @@ #include #include +#include #include +#include +#include +#include using namespace time_literals; @@ -102,7 +109,48 @@ class GZBridge : public ModuleBase, public ModuleParams, public px4::S void imuCallback(const gz::msgs::IMU &imu); void poseInfoCallback(const gz::msgs::Pose_V &pose); void odometryCallback(const gz::msgs::OdometryWithCovariance &odometry); + void navSatCallback(const gz::msgs::NavSat &nav_sat); + void laserScanCallback(const gz::msgs::LaserScan &scan); + /** + * @brief Call Entityfactory service + * + * @param req + * @return true + * @return false + */ + bool callEntityFactoryService(const std::string &service, const gz::msgs::EntityFactory &req); + + + /** + * @brief Call scene info service + * + * @param service + * @param req + * @return true + * @return false + */ + bool callSceneInfoMsgService(const std::string &service); + + /** + * @brief Call String service + * + * @param service + * @param req + * @return true + * @return false + */ + bool callStringMsgService(const std::string &service, const gz::msgs::StringMsg &req); + + /** + * @brief Call Vector3d Service + * + * @param service + * @param req + * @return true + * @return false + */ + bool callVector3dService(const std::string &service, const gz::msgs::Vector3d &req); /** * * Convert a quaterion from FLU_to_ENU frames (ROS convention) @@ -117,6 +165,7 @@ class GZBridge : public ModuleBase, public ModuleParams, public px4::S uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s}; //uORB::Publication _differential_pressure_pub{ORB_ID(differential_pressure)}; + uORB::Publication _obstacle_distance_pub{ORB_ID(obstacle_distance)}; uORB::Publication _angular_velocity_ground_truth_pub{ORB_ID(vehicle_angular_velocity_groundtruth)}; uORB::Publication _attitude_ground_truth_pub{ORB_ID(vehicle_attitude_groundtruth)}; uORB::Publication _gpos_ground_truth_pub{ORB_ID(vehicle_global_position_groundtruth)}; @@ -129,12 +178,14 @@ class GZBridge : public ModuleBase, public ModuleParams, public px4::S GZMixingInterfaceESC _mixing_interface_esc{_node, _node_mutex}; GZMixingInterfaceServo _mixing_interface_servo{_node, _node_mutex}; + GZMixingInterfaceWheel _mixing_interface_wheel{_node, _node_mutex}; px4::atomic _world_time_us{0}; pthread_mutex_t _node_mutex; MapProjection _pos_ref{}; + double _alt_ref{}; // starting altitude reference matrix::Vector3d _position_prev{}; matrix::Vector3d _velocity_prev{}; @@ -149,10 +200,4 @@ class GZBridge : public ModuleBase, public ModuleParams, public px4::S float _temperature{288.15}; // 15 degrees gz::transport::Node _node; - - DEFINE_PARAMETERS( - (ParamFloat) _param_sim_home_lat, - (ParamFloat) _param_sim_home_lon, - (ParamFloat) _param_sim_home_alt - ) }; diff --git a/src/modules/simulation/gz_bridge/GZMixingInterfaceESC.cpp b/src/modules/simulation/gz_bridge/GZMixingInterfaceESC.cpp index 38eeadf11ffe..c1a88f7bda9c 100644 --- a/src/modules/simulation/gz_bridge/GZMixingInterfaceESC.cpp +++ b/src/modules/simulation/gz_bridge/GZMixingInterfaceESC.cpp @@ -53,6 +53,8 @@ bool GZMixingInterfaceESC::init(const std::string &model_name) return false; } + _esc_status_pub.advertise(); + ScheduleNow(); return true; diff --git a/src/modules/simulation/gz_bridge/GZMixingInterfaceESC.hpp b/src/modules/simulation/gz_bridge/GZMixingInterfaceESC.hpp index e8e3c5a244b9..316ff6195aab 100644 --- a/src/modules/simulation/gz_bridge/GZMixingInterfaceESC.hpp +++ b/src/modules/simulation/gz_bridge/GZMixingInterfaceESC.hpp @@ -35,6 +35,7 @@ #include +#include #include #include diff --git a/src/modules/simulation/gz_bridge/GZMixingInterfaceWheel.cpp b/src/modules/simulation/gz_bridge/GZMixingInterfaceWheel.cpp new file mode 100644 index 000000000000..2198bacbaaf3 --- /dev/null +++ b/src/modules/simulation/gz_bridge/GZMixingInterfaceWheel.cpp @@ -0,0 +1,123 @@ +/**************************************************************************** + * + * Copyright (c) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include "GZMixingInterfaceWheel.hpp" + +bool GZMixingInterfaceWheel::init(const std::string &model_name) +{ + + std::string wheel_speed_topic = "/model/" + model_name + "/command/motor_speed"; + + if (!_node.Subscribe(wheel_speed_topic, &GZMixingInterfaceWheel::wheelSpeedCallback, this)) { + PX4_ERR("failed to subscribe to %s", wheel_speed_topic.c_str()); + return false; + } + + std::string wheel_topic = "/model/" + model_name + "/command/motor_speed"; + _actuators_pub = _node.Advertise(wheel_topic); + + if (!_actuators_pub.Valid()) { + PX4_ERR("failed to advertise %s", wheel_topic.c_str()); + return false; + } + + _wheel_encoders_pub.advertise(); + + ScheduleNow(); + + return true; +} + +bool GZMixingInterfaceWheel::updateOutputs(bool stop_wheels, uint16_t outputs[MAX_ACTUATORS], unsigned num_outputs, + unsigned num_control_groups_updated) +{ + unsigned active_output_count = 0; + + for (unsigned i = 0; i < num_outputs; i++) { + if (_mixing_output.isFunctionSet(i)) { + active_output_count++; + + } else { + break; + } + } + + if (active_output_count > 0) { + gz::msgs::Actuators wheel_velocity_message; + wheel_velocity_message.mutable_velocity()->Resize(active_output_count, 0); + + for (unsigned i = 0; i < active_output_count; i++) { + // Offsetting the output allows for negative values despite unsigned integer to reverse the wheels + static constexpr double output_offset = 100.0; + double scaled_output = (double)outputs[i] - output_offset; + wheel_velocity_message.set_velocity(i, scaled_output); + } + + + if (_actuators_pub.Valid()) { + return _actuators_pub.Publish(wheel_velocity_message); + } + } + + return false; +} + +void GZMixingInterfaceWheel::Run() +{ + pthread_mutex_lock(&_node_mutex); + _mixing_output.update(); + _mixing_output.updateSubscriptions(false); + pthread_mutex_unlock(&_node_mutex); +} + +void GZMixingInterfaceWheel::wheelSpeedCallback(const gz::msgs::Actuators &actuators) +{ + if (hrt_absolute_time() == 0) { + return; + } + + pthread_mutex_lock(&_node_mutex); + + wheel_encoders_s wheel_encoders{}; + + for (int i = 0; i < actuators.velocity_size(); i++) { + wheel_encoders.wheel_speed[i] = (float)actuators.velocity(i); + } + + if (actuators.velocity_size() > 0) { + wheel_encoders.timestamp = hrt_absolute_time(); + _wheel_encoders_pub.publish(wheel_encoders); + } + + pthread_mutex_unlock(&_node_mutex); +} diff --git a/src/modules/simulation/gz_bridge/GZMixingInterfaceWheel.hpp b/src/modules/simulation/gz_bridge/GZMixingInterfaceWheel.hpp new file mode 100644 index 000000000000..281606dd6195 --- /dev/null +++ b/src/modules/simulation/gz_bridge/GZMixingInterfaceWheel.hpp @@ -0,0 +1,88 @@ +/**************************************************************************** + * + * Copyright (c) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#pragma once + +#include + +#include +#include + + +#include +#include + + +// GZBridge mixing class for Wheels. +// It is separate from GZBridge to have separate WorkItems and therefore allowing independent scheduling +// All work items are expected to run on the same work queue. +class GZMixingInterfaceWheel : public OutputModuleInterface +{ +public: + static constexpr int MAX_ACTUATORS = MixingOutput::MAX_ACTUATORS; + + GZMixingInterfaceWheel(gz::transport::Node &node, pthread_mutex_t &node_mutex) : + OutputModuleInterface(MODULE_NAME "-actuators-wheel", px4::wq_configurations::rate_ctrl), + _node(node), + _node_mutex(node_mutex) + {} + + bool updateOutputs(bool stop_wheels, uint16_t outputs[MAX_ACTUATORS], + unsigned num_outputs, unsigned num_control_groups_updated) override; + + MixingOutput &mixingOutput() { return _mixing_output; } + + bool init(const std::string &model_name); + + void stop() + { + _mixing_output.unregister(); + ScheduleClear(); + } + +private: + friend class GZBridge; + + void Run() override; + + void wheelSpeedCallback(const gz::msgs::Actuators &actuators); + + gz::transport::Node &_node; + pthread_mutex_t &_node_mutex; + + MixingOutput _mixing_output{"SIM_GZ_WH", MAX_ACTUATORS, *this, MixingOutput::SchedulingPolicy::Auto, false, false}; + + gz::transport::Node::Publisher _actuators_pub; + + uORB::Publication _wheel_encoders_pub{ORB_ID(wheel_encoders)}; +}; diff --git a/src/modules/simulation/gz_bridge/module.yaml b/src/modules/simulation/gz_bridge/module.yaml index d4258bd0e99a..35cccb61bcf2 100644 --- a/src/modules/simulation/gz_bridge/module.yaml +++ b/src/modules/simulation/gz_bridge/module.yaml @@ -25,3 +25,12 @@ actuator_output: max: { min: 0, max: 1000, default: 1000 } failsafe: { min: 0, max: 1000 } num_channels: 8 + - param_prefix: SIM_GZ_WH + group_label: 'Wheels' + channel_label: 'Wheels' + standard_params: + disarmed: { min: 0, max: 200, default: 100 } + min: { min: 0, max: 200, default: 0 } + max: { min: 0, max: 200, default: 200 } + failsafe: { min: 0, max: 200 } + num_channels: 2 diff --git a/src/modules/simulation/gz_bridge/parameters.c b/src/modules/simulation/gz_bridge/parameters.c index 513c67436cef..26f874e8933e 100644 --- a/src/modules/simulation/gz_bridge/parameters.c +++ b/src/modules/simulation/gz_bridge/parameters.c @@ -39,27 +39,3 @@ * @group UAVCAN */ PARAM_DEFINE_INT32(SIM_GZ_EN, 0); - -/** - * simulator origin latitude - * - * @unit deg - * @group Simulator - */ -PARAM_DEFINE_FLOAT(SIM_GZ_HOME_LAT, 47.397742f); - -/** - * simulator origin longitude - * - * @unit deg - * @group Simulator - */ -PARAM_DEFINE_FLOAT(SIM_GZ_HOME_LON, 8.545594); - -/** - * simulator origin altitude - * - * @unit m - * @group Simulator - */ -PARAM_DEFINE_FLOAT(SIM_GZ_HOME_ALT, 488.0); diff --git a/src/modules/simulation/sensor_gps_sim/SensorGpsSim.cpp b/src/modules/simulation/sensor_gps_sim/SensorGpsSim.cpp index 1e1b5be22c06..5641706345a0 100644 --- a/src/modules/simulation/sensor_gps_sim/SensorGpsSim.cpp +++ b/src/modules/simulation/sensor_gps_sim/SensorGpsSim.cpp @@ -116,7 +116,7 @@ void SensorGpsSim::Run() double latitude = gpos.lat + math::degrees((double)generate_wgn() * 0.2 / CONSTANTS_RADIUS_OF_EARTH); double longitude = gpos.lon + math::degrees((double)generate_wgn() * 0.2 / CONSTANTS_RADIUS_OF_EARTH); - float altitude = gpos.alt + (generate_wgn() * 0.5f); + double altitude = (double)(gpos.alt + (generate_wgn() * 0.5f)); Vector3f gps_vel = Vector3f{lpos.vx, lpos.vy, lpos.vz} + noiseGauss3f(0.06f, 0.077f, 0.158f); @@ -132,7 +132,7 @@ void SensorGpsSim::Run() if (_sim_gps_used.get() >= 4) { // fix sensor_gps.fix_type = 3; // 3D fix - sensor_gps.s_variance_m_s = 0.5f; + sensor_gps.s_variance_m_s = 0.4f; sensor_gps.c_variance_rad = 0.1f; sensor_gps.eph = 0.9f; sensor_gps.epv = 1.78f; @@ -153,10 +153,10 @@ void SensorGpsSim::Run() sensor_gps.timestamp_sample = gpos.timestamp_sample; sensor_gps.time_utc_usec = 0; sensor_gps.device_id = device_id.devid; - sensor_gps.lat = roundf(latitude * 1e7); // Latitude in 1E-7 degrees - sensor_gps.lon = roundf(longitude * 1e7); // Longitude in 1E-7 degrees - sensor_gps.alt = roundf(altitude * 1000.f); // Altitude in 1E-3 meters above MSL, (millimetres) - sensor_gps.alt_ellipsoid = sensor_gps.alt; + sensor_gps.latitude_deg = latitude; // Latitude in degrees + sensor_gps.longitude_deg = longitude; // Longitude in degrees + sensor_gps.altitude_msl_m = altitude; // Altitude in meters above MSL + sensor_gps.altitude_ellipsoid_m = altitude; sensor_gps.noise_per_ms = 0; sensor_gps.jamming_indicator = 0; sensor_gps.vel_m_s = sqrtf(gps_vel(0) * gps_vel(0) + gps_vel(1) * gps_vel(1)); // GPS ground speed, (metres/sec) diff --git a/src/modules/simulation/sensor_mag_sim/SensorMagSim.cpp b/src/modules/simulation/sensor_mag_sim/SensorMagSim.cpp index ff5e5e31aae2..97c2626f75b4 100644 --- a/src/modules/simulation/sensor_mag_sim/SensorMagSim.cpp +++ b/src/modules/simulation/sensor_mag_sim/SensorMagSim.cpp @@ -113,11 +113,11 @@ void SensorMagSim::Run() if (gpos.eph < 1000) { // magnetic field data returned by the geo library using the current GPS position - const float mag_declination_gps = get_mag_declination_radians(gpos.lat, gpos.lon); - const float mag_inclination_gps = get_mag_inclination_radians(gpos.lat, gpos.lon); - const float mag_strength_gps = get_mag_strength_gauss(gpos.lat, gpos.lon); + const float declination_rad = math::radians(get_mag_declination_degrees(gpos.lat, gpos.lon)); + const float inclination_rad = math::radians(get_mag_inclination_degrees(gpos.lat, gpos.lon)); + const float field_strength_gauss = get_mag_strength_gauss(gpos.lat, gpos.lon); - _mag_earth_pred = Dcmf(Eulerf(0, -mag_inclination_gps, mag_declination_gps)) * Vector3f(mag_strength_gps, 0, 0); + _mag_earth_pred = Dcmf(Eulerf(0, -inclination_rad, declination_rad)) * Vector3f(field_strength_gauss, 0, 0); _mag_earth_available = true; } diff --git a/src/modules/simulation/simulator_mavlink/SimulatorMavlink.cpp b/src/modules/simulation/simulator_mavlink/SimulatorMavlink.cpp index e3bc981805c1..20eed499b5f0 100644 --- a/src/modules/simulation/simulator_mavlink/SimulatorMavlink.cpp +++ b/src/modules/simulation/simulator_mavlink/SimulatorMavlink.cpp @@ -96,6 +96,8 @@ SimulatorMavlink::SimulatorMavlink() : snprintf(param_name, sizeof(param_name), "%s_%s%d", "PWM_MAIN", "FUNC", i + 1); param_get(param_find(param_name), &_output_functions[i]); } + + _esc_status_pub.advertise(); } void SimulatorMavlink::parameters_update(bool force) @@ -324,11 +326,22 @@ void SimulatorMavlink::update_sensors(const hrt_abstime &time, const mavlink_hil } // differential pressure - if ((sensors.fields_updated & SensorSource::DIFF_PRESS) == SensorSource::DIFF_PRESS && !_airspeed_blocked) { + if ((sensors.fields_updated & SensorSource::DIFF_PRESS) == SensorSource::DIFF_PRESS && !_airspeed_disconnected) { + + const float blockage_fraction = 0.7; // defines max blockage (fully ramped) + const float airspeed_blockage_rampup_time = 1_s; // time it takes to go max blockage, linear ramp + + float airspeed_blockage_scale = 1.f; + + if (_airspeed_blocked_timestamp > 0) { + airspeed_blockage_scale = math::constrain(1.f - (hrt_absolute_time() - _airspeed_blocked_timestamp) / + airspeed_blockage_rampup_time, 1.f - blockage_fraction, 1.f); + } + differential_pressure_s report{}; report.timestamp_sample = time; report.device_id = 1377548; // 1377548: DRV_DIFF_PRESS_DEVTYPE_SIM, BUS: 1, ADDR: 5, TYPE: SIMULATION - report.differential_pressure_pa = sensors.diff_pressure * 100.f; // hPa to Pa; + report.differential_pressure_pa = sensors.diff_pressure * 100.f * airspeed_blockage_scale; // hPa to Pa; report.temperature = _sensors_temperature; report.timestamp = hrt_absolute_time(); _differential_pressure_pub.publish(report); @@ -402,10 +415,10 @@ void SimulatorMavlink::handle_message_hil_gps(const mavlink_message_t *msg) if (!_gps_blocked) { sensor_gps_s gps{}; - gps.lat = hil_gps.lat; - gps.lon = hil_gps.lon; - gps.alt = hil_gps.alt; - gps.alt_ellipsoid = hil_gps.alt; + gps.latitude_deg = hil_gps.lat / 1e7; + gps.longitude_deg = hil_gps.lon / 1e7; + gps.altitude_msl_m = hil_gps.alt / 1e3; + gps.altitude_ellipsoid_m = hil_gps.alt / 1e3; gps.s_variance_m_s = 0.25f; gps.c_variance_rad = 0.5f; @@ -1429,12 +1442,18 @@ void SimulatorMavlink::check_failure_injections() if (failure_type == vehicle_command_s::FAILURE_TYPE_OFF) { PX4_WARN("CMD_INJECT_FAILURE, airspeed off"); supported = true; - _airspeed_blocked = true; + _airspeed_disconnected = true; + + } else if (failure_type == vehicle_command_s::FAILURE_TYPE_WRONG) { + PX4_WARN("CMD_INJECT_FAILURE, airspeed wrong (simulate pitot blockage)"); + supported = true; + _airspeed_blocked_timestamp = hrt_absolute_time(); } else if (failure_type == vehicle_command_s::FAILURE_TYPE_OK) { PX4_INFO("CMD_INJECT_FAILURE, airspeed ok"); supported = true; - _airspeed_blocked = false; + _airspeed_disconnected = false; + _airspeed_blocked_timestamp = 0; } } else if (failure_unit == vehicle_command_s::FAILURE_UNIT_SENSOR_VIO) { diff --git a/src/modules/simulation/simulator_mavlink/SimulatorMavlink.hpp b/src/modules/simulation/simulator_mavlink/SimulatorMavlink.hpp index ee4118a302d1..7790622c5e1a 100644 --- a/src/modules/simulation/simulator_mavlink/SimulatorMavlink.hpp +++ b/src/modules/simulation/simulator_mavlink/SimulatorMavlink.hpp @@ -294,7 +294,8 @@ class SimulatorMavlink : public ModuleParams bool _mag_stuck[MAG_COUNT_MAX] {}; bool _gps_blocked{false}; - bool _airspeed_blocked{false}; + bool _airspeed_disconnected{false}; + hrt_abstime _airspeed_blocked_timestamp{0}; bool _vio_blocked{false}; float _last_magx[MAG_COUNT_MAX] {}; diff --git a/src/modules/simulation/simulator_mavlink/sitl_targets_gazebo-classic.cmake b/src/modules/simulation/simulator_mavlink/sitl_targets_gazebo-classic.cmake index 10c50b9c4515..b67fe546ccd7 100644 --- a/src/modules/simulation/simulator_mavlink/sitl_targets_gazebo-classic.cmake +++ b/src/modules/simulation/simulator_mavlink/sitl_targets_gazebo-classic.cmake @@ -81,6 +81,8 @@ if(gazebo_FOUND) iris_foggy_lidar iris_irlock iris_obs_avoid + iris_depth_camera + iris_downward_depth_camera iris_opt_flow iris_opt_flow_mockup iris_rplidar @@ -91,6 +93,7 @@ if(gazebo_FOUND) plane_catapult plane_lidar px4vision + quadtailsitter r1_rover rover standard_vtol @@ -109,6 +112,7 @@ if(gazebo_FOUND) empty ksql_airport mcmillan_airfield + ramped_up_wind sonoma_raceway warehouse windy diff --git a/src/modules/simulation/simulator_sih/sih.cpp b/src/modules/simulation/simulator_sih/sih.cpp index ee666d47574b..399a4ecc938d 100644 --- a/src/modules/simulation/simulator_sih/sih.cpp +++ b/src/modules/simulation/simulator_sih/sih.cpp @@ -243,8 +243,8 @@ void Sih::parameters_updated() _KDW = _sih_kdw.get(); _H0 = _sih_h0.get(); - _LAT0 = (double)_sih_lat0.get() * 1.0e-7; - _LON0 = (double)_sih_lon0.get() * 1.0e-7; + _LAT0 = (double)_sih_lat0.get(); + _LON0 = (double)_sih_lon0.get(); _COS_LAT0 = cosl((long double)radians(_LAT0)); _MASS = _sih_mass.get(); @@ -546,6 +546,7 @@ void Sih::publish_ground_truth(const hrt_abstime &time_now_us) local_position.heading = Eulerf(_q).psi(); local_position.heading_good_for_control = true; + local_position.unaided_heading = NAN; local_position.timestamp = hrt_absolute_time(); _local_position_ground_truth_pub.publish(local_position); @@ -645,7 +646,7 @@ int Sih::task_spawn(int argc, char *argv[]) _task_id = px4_task_spawn_cmd("sih", SCHED_DEFAULT, SCHED_PRIORITY_MAX, - 1250, + 1560, (px4_main_t)&run_trampoline, (char *const *)argv); diff --git a/src/modules/simulation/simulator_sih/sih.hpp b/src/modules/simulation/simulator_sih/sih.hpp index e77b7d15e281..8988474e01b1 100644 --- a/src/modules/simulation/simulator_sih/sih.hpp +++ b/src/modules/simulation/simulator_sih/sih.hpp @@ -61,7 +61,7 @@ #include // matrix, vectors, dcm, quaterions #include // math::radians, -#include // to get the physical constants +#include // to get the physical constants #include // to get the real time #include #include @@ -134,7 +134,7 @@ class Sih : public ModuleBase, public ModuleParams // hard constants static constexpr uint16_t NB_MOTORS = 6; static constexpr float T1_C = 15.0f; // ground temperature in Celsius - static constexpr float T1_K = T1_C - CONSTANTS_ABSOLUTE_NULL_CELSIUS; // ground temperature in Kelvin + static constexpr float T1_K = T1_C - atmosphere::kAbsoluteNullCelsius; // ground temperature in Kelvin static constexpr float TEMP_GRADIENT = -6.5f / 1000.0f; // temperature gradient in degrees per metre // Aerodynamic coefficients static constexpr float RHO = 1.225f; // air density at sea level [kg/m^3] @@ -273,8 +273,8 @@ class Sih : public ModuleBase, public ModuleParams (ParamFloat) _sih_l_pitch, (ParamFloat) _sih_kdv, (ParamFloat) _sih_kdw, - (ParamInt) _sih_lat0, - (ParamInt) _sih_lon0, + (ParamFloat) _sih_lat0, + (ParamFloat) _sih_lon0, (ParamFloat) _sih_h0, (ParamFloat) _sih_distance_snsr_min, (ParamFloat) _sih_distance_snsr_max, diff --git a/src/modules/simulation/simulator_sih/sih_params.c b/src/modules/simulation/simulator_sih/sih_params.c index 60dd336a9bde..16c58430f63e 100644 --- a/src/modules/simulation/simulator_sih/sih_params.c +++ b/src/modules/simulation/simulator_sih/sih_params.c @@ -235,33 +235,31 @@ PARAM_DEFINE_FLOAT(SIH_KDW, 0.025f); * Initial geodetic latitude * * This value represents the North-South location on Earth where the simulation begins. - * A value of 45 deg should be written 450000000. * * LAT0, LON0, H0, MU_X, MU_Y, and MU_Z should ideally be consistent among each others * to represent a physical ground location on Earth. * - * @unit deg*1e7 - * @min -850000000 - * @max 850000000 + * @unit deg + * @min -90 + * @max 90 * @group Simulation In Hardware */ -PARAM_DEFINE_INT32(SIH_LOC_LAT0, 454671160); +PARAM_DEFINE_FLOAT(SIH_LOC_LAT0, 47.397742f); /** * Initial geodetic longitude * * This value represents the East-West location on Earth where the simulation begins. - * A value of 45 deg should be written 450000000. * * LAT0, LON0, H0, MU_X, MU_Y, and MU_Z should ideally be consistent among each others * to represent a physical ground location on Earth. * - * @unit deg*1e7 - * @min -1800000000 - * @max 1800000000 + * @unit deg + * @min -180 + * @max 180 * @group Simulation In Hardware */ -PARAM_DEFINE_INT32(SIH_LOC_LON0, -737578370); +PARAM_DEFINE_FLOAT(SIH_LOC_LON0, 8.545594f); /** * Initial AMSL ground altitude @@ -282,7 +280,7 @@ PARAM_DEFINE_INT32(SIH_LOC_LON0, -737578370); * @increment 0.01 * @group Simulation In Hardware */ -PARAM_DEFINE_FLOAT(SIH_LOC_H0, 32.34f); +PARAM_DEFINE_FLOAT(SIH_LOC_H0, 489.4f); /** * distance sensor minimum range diff --git a/src/modules/temperature_compensation/CMakeLists.txt b/src/modules/temperature_compensation/CMakeLists.txt index 50e6a181e059..df20d1d40733 100644 --- a/src/modules/temperature_compensation/CMakeLists.txt +++ b/src/modules/temperature_compensation/CMakeLists.txt @@ -40,6 +40,7 @@ px4_add_module( temperature_calibration/accel.cpp temperature_calibration/baro.cpp temperature_calibration/gyro.cpp + temperature_calibration/mag.cpp temperature_calibration/task.cpp DEPENDS mathlib diff --git a/src/modules/temperature_compensation/TemperatureCompensation.cpp b/src/modules/temperature_compensation/TemperatureCompensation.cpp index 9dbdd7ee5e4c..bcc8a2e3d3de 100644 --- a/src/modules/temperature_compensation/TemperatureCompensation.cpp +++ b/src/modules/temperature_compensation/TemperatureCompensation.cpp @@ -52,6 +52,37 @@ int TemperatureCompensation::initialize_parameter_handles(ParameterHandles ¶ char nbuf[16] {}; int ret = PX4_ERROR; + /* accelerometer calibration parameters */ + parameter_handles.accel_tc_enable = param_find("TC_A_ENABLE"); + int32_t accel_tc_enabled = 0; + ret = param_get(parameter_handles.accel_tc_enable, &accel_tc_enabled); + + + if (ret == PX4_OK && accel_tc_enabled) { + for (unsigned j = 0; j < ACCEL_COUNT_MAX; j++) { + snprintf(nbuf, sizeof(nbuf), "TC_A%d_ID", j); + parameter_handles.accel_cal_handles[j].ID = param_find(nbuf); + + for (unsigned i = 0; i < 3; i++) { + snprintf(nbuf, sizeof(nbuf), "TC_A%d_X3_%d", j, i); + parameter_handles.accel_cal_handles[j].x3[i] = param_find(nbuf); + snprintf(nbuf, sizeof(nbuf), "TC_A%d_X2_%d", j, i); + parameter_handles.accel_cal_handles[j].x2[i] = param_find(nbuf); + snprintf(nbuf, sizeof(nbuf), "TC_A%d_X1_%d", j, i); + parameter_handles.accel_cal_handles[j].x1[i] = param_find(nbuf); + snprintf(nbuf, sizeof(nbuf), "TC_A%d_X0_%d", j, i); + parameter_handles.accel_cal_handles[j].x0[i] = param_find(nbuf); + } + + snprintf(nbuf, sizeof(nbuf), "TC_A%d_TREF", j); + parameter_handles.accel_cal_handles[j].ref_temp = param_find(nbuf); + snprintf(nbuf, sizeof(nbuf), "TC_A%d_TMIN", j); + parameter_handles.accel_cal_handles[j].min_temp = param_find(nbuf); + snprintf(nbuf, sizeof(nbuf), "TC_A%d_TMAX", j); + parameter_handles.accel_cal_handles[j].max_temp = param_find(nbuf); + } + } + /* rate gyro calibration parameters */ parameter_handles.gyro_tc_enable = param_find("TC_G_ENABLE"); int32_t gyro_tc_enabled = 0; @@ -59,56 +90,56 @@ int TemperatureCompensation::initialize_parameter_handles(ParameterHandles ¶ if (ret == PX4_OK && gyro_tc_enabled) { for (unsigned j = 0; j < GYRO_COUNT_MAX; j++) { - sprintf(nbuf, "TC_G%d_ID", j); + snprintf(nbuf, sizeof(nbuf), "TC_G%d_ID", j); parameter_handles.gyro_cal_handles[j].ID = param_find(nbuf); for (unsigned i = 0; i < 3; i++) { - sprintf(nbuf, "TC_G%d_X3_%d", j, i); + snprintf(nbuf, sizeof(nbuf), "TC_G%d_X3_%d", j, i); parameter_handles.gyro_cal_handles[j].x3[i] = param_find(nbuf); - sprintf(nbuf, "TC_G%d_X2_%d", j, i); + snprintf(nbuf, sizeof(nbuf), "TC_G%d_X2_%d", j, i); parameter_handles.gyro_cal_handles[j].x2[i] = param_find(nbuf); - sprintf(nbuf, "TC_G%d_X1_%d", j, i); + snprintf(nbuf, sizeof(nbuf), "TC_G%d_X1_%d", j, i); parameter_handles.gyro_cal_handles[j].x1[i] = param_find(nbuf); - sprintf(nbuf, "TC_G%d_X0_%d", j, i); + snprintf(nbuf, sizeof(nbuf), "TC_G%d_X0_%d", j, i); parameter_handles.gyro_cal_handles[j].x0[i] = param_find(nbuf); } - sprintf(nbuf, "TC_G%d_TREF", j); + snprintf(nbuf, sizeof(nbuf), "TC_G%d_TREF", j); parameter_handles.gyro_cal_handles[j].ref_temp = param_find(nbuf); - sprintf(nbuf, "TC_G%d_TMIN", j); + snprintf(nbuf, sizeof(nbuf), "TC_G%d_TMIN", j); parameter_handles.gyro_cal_handles[j].min_temp = param_find(nbuf); - sprintf(nbuf, "TC_G%d_TMAX", j); + snprintf(nbuf, sizeof(nbuf), "TC_G%d_TMAX", j); parameter_handles.gyro_cal_handles[j].max_temp = param_find(nbuf); } } - /* accelerometer calibration parameters */ - parameter_handles.accel_tc_enable = param_find("TC_A_ENABLE"); - int32_t accel_tc_enabled = 0; - ret = param_get(parameter_handles.accel_tc_enable, &accel_tc_enabled); + /* magnetometer calibration parameters */ + parameter_handles.mag_tc_enable = param_find("TC_M_ENABLE"); + int32_t mag_tc_enabled = 0; + ret = param_get(parameter_handles.mag_tc_enable, &mag_tc_enabled); - if (ret == PX4_OK && accel_tc_enabled) { - for (unsigned j = 0; j < ACCEL_COUNT_MAX; j++) { - sprintf(nbuf, "TC_A%d_ID", j); - parameter_handles.accel_cal_handles[j].ID = param_find(nbuf); + if (ret == PX4_OK && mag_tc_enabled) { + for (unsigned j = 0; j < MAG_COUNT_MAX; j++) { + snprintf(nbuf, sizeof(nbuf), "TC_M%d_ID", j); + parameter_handles.mag_cal_handles[j].ID = param_find(nbuf); for (unsigned i = 0; i < 3; i++) { - sprintf(nbuf, "TC_A%d_X3_%d", j, i); - parameter_handles.accel_cal_handles[j].x3[i] = param_find(nbuf); - sprintf(nbuf, "TC_A%d_X2_%d", j, i); - parameter_handles.accel_cal_handles[j].x2[i] = param_find(nbuf); - sprintf(nbuf, "TC_A%d_X1_%d", j, i); - parameter_handles.accel_cal_handles[j].x1[i] = param_find(nbuf); - sprintf(nbuf, "TC_A%d_X0_%d", j, i); - parameter_handles.accel_cal_handles[j].x0[i] = param_find(nbuf); + snprintf(nbuf, sizeof(nbuf), "TC_M%d_X3_%d", j, i); + parameter_handles.mag_cal_handles[j].x3[i] = param_find(nbuf); + snprintf(nbuf, sizeof(nbuf), "TC_M%d_X2_%d", j, i); + parameter_handles.mag_cal_handles[j].x2[i] = param_find(nbuf); + snprintf(nbuf, sizeof(nbuf), "TC_M%d_X1_%d", j, i); + parameter_handles.mag_cal_handles[j].x1[i] = param_find(nbuf); + snprintf(nbuf, sizeof(nbuf), "TC_M%d_X0_%d", j, i); + parameter_handles.mag_cal_handles[j].x0[i] = param_find(nbuf); } - sprintf(nbuf, "TC_A%d_TREF", j); - parameter_handles.accel_cal_handles[j].ref_temp = param_find(nbuf); - sprintf(nbuf, "TC_A%d_TMIN", j); - parameter_handles.accel_cal_handles[j].min_temp = param_find(nbuf); - sprintf(nbuf, "TC_A%d_TMAX", j); - parameter_handles.accel_cal_handles[j].max_temp = param_find(nbuf); + snprintf(nbuf, sizeof(nbuf), "TC_M%d_TREF", j); + parameter_handles.mag_cal_handles[j].ref_temp = param_find(nbuf); + snprintf(nbuf, sizeof(nbuf), "TC_M%d_TMIN", j); + parameter_handles.mag_cal_handles[j].min_temp = param_find(nbuf); + snprintf(nbuf, sizeof(nbuf), "TC_M%d_TMAX", j); + parameter_handles.mag_cal_handles[j].max_temp = param_find(nbuf); } } @@ -119,25 +150,25 @@ int TemperatureCompensation::initialize_parameter_handles(ParameterHandles ¶ if (ret == PX4_OK && baro_tc_enabled) { for (unsigned j = 0; j < BARO_COUNT_MAX; j++) { - sprintf(nbuf, "TC_B%d_ID", j); + snprintf(nbuf, sizeof(nbuf), "TC_B%d_ID", j); parameter_handles.baro_cal_handles[j].ID = param_find(nbuf); - sprintf(nbuf, "TC_B%d_X5", j); + snprintf(nbuf, sizeof(nbuf), "TC_B%d_X5", j); parameter_handles.baro_cal_handles[j].x5 = param_find(nbuf); - sprintf(nbuf, "TC_B%d_X4", j); + snprintf(nbuf, sizeof(nbuf), "TC_B%d_X4", j); parameter_handles.baro_cal_handles[j].x4 = param_find(nbuf); - sprintf(nbuf, "TC_B%d_X3", j); + snprintf(nbuf, sizeof(nbuf), "TC_B%d_X3", j); parameter_handles.baro_cal_handles[j].x3 = param_find(nbuf); - sprintf(nbuf, "TC_B%d_X2", j); + snprintf(nbuf, sizeof(nbuf), "TC_B%d_X2", j); parameter_handles.baro_cal_handles[j].x2 = param_find(nbuf); - sprintf(nbuf, "TC_B%d_X1", j); + snprintf(nbuf, sizeof(nbuf), "TC_B%d_X1", j); parameter_handles.baro_cal_handles[j].x1 = param_find(nbuf); - sprintf(nbuf, "TC_B%d_X0", j); + snprintf(nbuf, sizeof(nbuf), "TC_B%d_X0", j); parameter_handles.baro_cal_handles[j].x0 = param_find(nbuf); - sprintf(nbuf, "TC_B%d_TREF", j); + snprintf(nbuf, sizeof(nbuf), "TC_B%d_TREF", j); parameter_handles.baro_cal_handles[j].ref_temp = param_find(nbuf); - sprintf(nbuf, "TC_B%d_TMIN", j); + snprintf(nbuf, sizeof(nbuf), "TC_B%d_TMIN", j); parameter_handles.baro_cal_handles[j].min_temp = param_find(nbuf); - sprintf(nbuf, "TC_B%d_TMAX", j); + snprintf(nbuf, sizeof(nbuf), "TC_B%d_TMAX", j); parameter_handles.baro_cal_handles[j].max_temp = param_find(nbuf); } } @@ -154,6 +185,33 @@ int TemperatureCompensation::parameters_update() return ret; } + /* accelerometer calibration parameters */ + param_get(parameter_handles.accel_tc_enable, &_parameters.accel_tc_enable); + + if (_parameters.accel_tc_enable == 1) { + for (unsigned j = 0; j < ACCEL_COUNT_MAX; j++) { + if (param_get(parameter_handles.accel_cal_handles[j].ID, &(_parameters.accel_cal_data[j].ID)) == PX4_OK) { + param_get(parameter_handles.accel_cal_handles[j].ref_temp, &(_parameters.accel_cal_data[j].ref_temp)); + param_get(parameter_handles.accel_cal_handles[j].min_temp, &(_parameters.accel_cal_data[j].min_temp)); + param_get(parameter_handles.accel_cal_handles[j].max_temp, &(_parameters.accel_cal_data[j].max_temp)); + + for (unsigned int i = 0; i < 3; i++) { + param_get(parameter_handles.accel_cal_handles[j].x3[i], &(_parameters.accel_cal_data[j].x3[i])); + param_get(parameter_handles.accel_cal_handles[j].x2[i], &(_parameters.accel_cal_data[j].x2[i])); + param_get(parameter_handles.accel_cal_handles[j].x1[i], &(_parameters.accel_cal_data[j].x1[i])); + param_get(parameter_handles.accel_cal_handles[j].x0[i], &(_parameters.accel_cal_data[j].x0[i])); + } + + } else { + // Set all cal values to zero + memset(&_parameters.accel_cal_data[j], 0, sizeof(_parameters.accel_cal_data[j])); + + PX4_WARN("FAIL ACCEL %d CAL PARAM LOAD - USING DEFAULTS", j); + ret = PX4_ERROR; + } + } + } + /* rate gyro calibration parameters */ param_get(parameter_handles.gyro_tc_enable, &_parameters.gyro_tc_enable); @@ -181,28 +239,28 @@ int TemperatureCompensation::parameters_update() } } - /* accelerometer calibration parameters */ - param_get(parameter_handles.accel_tc_enable, &_parameters.accel_tc_enable); + /* magnetometer calibration parameters */ + param_get(parameter_handles.mag_tc_enable, &_parameters.mag_tc_enable); - if (_parameters.accel_tc_enable == 1) { - for (unsigned j = 0; j < ACCEL_COUNT_MAX; j++) { - if (param_get(parameter_handles.accel_cal_handles[j].ID, &(_parameters.accel_cal_data[j].ID)) == PX4_OK) { - param_get(parameter_handles.accel_cal_handles[j].ref_temp, &(_parameters.accel_cal_data[j].ref_temp)); - param_get(parameter_handles.accel_cal_handles[j].min_temp, &(_parameters.accel_cal_data[j].min_temp)); - param_get(parameter_handles.accel_cal_handles[j].max_temp, &(_parameters.accel_cal_data[j].max_temp)); + if (_parameters.mag_tc_enable == 1) { + for (unsigned j = 0; j < MAG_COUNT_MAX; j++) { + if (param_get(parameter_handles.mag_cal_handles[j].ID, &(_parameters.mag_cal_data[j].ID)) == PX4_OK) { + param_get(parameter_handles.mag_cal_handles[j].ref_temp, &(_parameters.mag_cal_data[j].ref_temp)); + param_get(parameter_handles.mag_cal_handles[j].min_temp, &(_parameters.mag_cal_data[j].min_temp)); + param_get(parameter_handles.mag_cal_handles[j].max_temp, &(_parameters.mag_cal_data[j].max_temp)); for (unsigned int i = 0; i < 3; i++) { - param_get(parameter_handles.accel_cal_handles[j].x3[i], &(_parameters.accel_cal_data[j].x3[i])); - param_get(parameter_handles.accel_cal_handles[j].x2[i], &(_parameters.accel_cal_data[j].x2[i])); - param_get(parameter_handles.accel_cal_handles[j].x1[i], &(_parameters.accel_cal_data[j].x1[i])); - param_get(parameter_handles.accel_cal_handles[j].x0[i], &(_parameters.accel_cal_data[j].x0[i])); + param_get(parameter_handles.mag_cal_handles[j].x3[i], &(_parameters.mag_cal_data[j].x3[i])); + param_get(parameter_handles.mag_cal_handles[j].x2[i], &(_parameters.mag_cal_data[j].x2[i])); + param_get(parameter_handles.mag_cal_handles[j].x1[i], &(_parameters.mag_cal_data[j].x1[i])); + param_get(parameter_handles.mag_cal_handles[j].x0[i], &(_parameters.mag_cal_data[j].x0[i])); } } else { // Set all cal values to zero - memset(&_parameters.accel_cal_data[j], 0, sizeof(_parameters.accel_cal_data[j])); + memset(&_parameters.mag_cal_data[j], 0, sizeof(_parameters.mag_cal_data[j])); - PX4_WARN("FAIL ACCEL %d CAL PARAM LOAD - USING DEFAULTS", j); + PX4_WARN("FAIL MAG %d CAL PARAM LOAD - USING DEFAULTS", j); ret = PX4_ERROR; } } @@ -311,6 +369,15 @@ bool TemperatureCompensation::calc_thermal_offsets_3D(const SensorCalData3D &coe return ret; } +int TemperatureCompensation::set_sensor_id_accel(uint32_t device_id, int topic_instance) +{ + if (_parameters.accel_tc_enable != 1) { + return 0; + } + + return set_sensor_id(device_id, topic_instance, _accel_data, _parameters.accel_cal_data, ACCEL_COUNT_MAX); +} + int TemperatureCompensation::set_sensor_id_gyro(uint32_t device_id, int topic_instance) { if (_parameters.gyro_tc_enable != 1) { @@ -320,13 +387,13 @@ int TemperatureCompensation::set_sensor_id_gyro(uint32_t device_id, int topic_in return set_sensor_id(device_id, topic_instance, _gyro_data, _parameters.gyro_cal_data, GYRO_COUNT_MAX); } -int TemperatureCompensation::set_sensor_id_accel(uint32_t device_id, int topic_instance) +int TemperatureCompensation::set_sensor_id_mag(uint32_t device_id, int topic_instance) { - if (_parameters.accel_tc_enable != 1) { + if (_parameters.mag_tc_enable != 1) { return 0; } - return set_sensor_id(device_id, topic_instance, _accel_data, _parameters.accel_cal_data, ACCEL_COUNT_MAX); + return set_sensor_id(device_id, topic_instance, _mag_data, _parameters.mag_cal_data, MAG_COUNT_MAX); } int TemperatureCompensation::set_sensor_id_baro(uint32_t device_id, int topic_instance) @@ -352,6 +419,32 @@ int TemperatureCompensation::set_sensor_id(uint32_t device_id, int topic_instanc return -1; } +int TemperatureCompensation::update_offsets_accel(int topic_instance, float temperature, float *offsets) +{ + // Check if temperature compensation is enabled + if (_parameters.accel_tc_enable != 1) { + return 0; + } + + // Map device ID to uORB topic instance + uint8_t mapping = _accel_data.device_mapping[topic_instance]; + + if (mapping == 255) { + return -1; + } + + // Calculate and update the offsets + calc_thermal_offsets_3D(_parameters.accel_cal_data[mapping], temperature, offsets); + + // Check if temperature delta is large enough to warrant a new publication + if (fabsf(temperature - _accel_data.last_temperature[topic_instance]) > 1.0f) { + _accel_data.last_temperature[topic_instance] = temperature; + return 2; + } + + return 1; +} + int TemperatureCompensation::update_offsets_gyro(int topic_instance, float temperature, float *offsets) { // Check if temperature compensation is enabled @@ -378,26 +471,26 @@ int TemperatureCompensation::update_offsets_gyro(int topic_instance, float tempe return 1; } -int TemperatureCompensation::update_offsets_accel(int topic_instance, float temperature, float *offsets) +int TemperatureCompensation::update_offsets_mag(int topic_instance, float temperature, float *offsets) { // Check if temperature compensation is enabled - if (_parameters.accel_tc_enable != 1) { + if (_parameters.mag_tc_enable != 1) { return 0; } // Map device ID to uORB topic instance - uint8_t mapping = _accel_data.device_mapping[topic_instance]; + uint8_t mapping = _mag_data.device_mapping[topic_instance]; if (mapping == 255) { return -1; } // Calculate and update the offsets - calc_thermal_offsets_3D(_parameters.accel_cal_data[mapping], temperature, offsets); + calc_thermal_offsets_3D(_parameters.mag_cal_data[mapping], temperature, offsets); // Check if temperature delta is large enough to warrant a new publication - if (fabsf(temperature - _accel_data.last_temperature[topic_instance]) > 1.0f) { - _accel_data.last_temperature[topic_instance] = temperature; + if (fabsf(temperature - _mag_data.last_temperature[topic_instance]) > 1.0f) { + _mag_data.last_temperature[topic_instance] = temperature; return 2; } @@ -433,6 +526,19 @@ int TemperatureCompensation::update_offsets_baro(int topic_instance, float tempe void TemperatureCompensation::print_status() { PX4_INFO("Temperature Compensation:"); + + PX4_INFO(" accel: enabled: %" PRId32, _parameters.accel_tc_enable); + + if (_parameters.accel_tc_enable == 1) { + for (int i = 0; i < ACCEL_COUNT_MAX; ++i) { + uint8_t mapping = _accel_data.device_mapping[i]; + + if (_accel_data.device_mapping[i] != 255) { + PX4_INFO(" using device ID %" PRId32 " for topic instance %i", _parameters.accel_cal_data[mapping].ID, i); + } + } + } + PX4_INFO(" gyro: enabled: %" PRId32, _parameters.gyro_tc_enable); if (_parameters.gyro_tc_enable == 1) { @@ -445,14 +551,14 @@ void TemperatureCompensation::print_status() } } - PX4_INFO(" accel: enabled: %" PRId32, _parameters.accel_tc_enable); + PX4_INFO(" mag: enabled: %" PRId32, _parameters.mag_tc_enable); - if (_parameters.accel_tc_enable == 1) { - for (int i = 0; i < ACCEL_COUNT_MAX; ++i) { - uint8_t mapping = _accel_data.device_mapping[i]; + if (_parameters.mag_tc_enable == 1) { + for (int i = 0; i < MAG_COUNT_MAX; ++i) { + uint8_t mapping = _mag_data.device_mapping[i]; - if (_accel_data.device_mapping[i] != 255) { - PX4_INFO(" using device ID %" PRId32 " for topic instance %i", _parameters.accel_cal_data[mapping].ID, i); + if (_mag_data.device_mapping[i] != 255) { + PX4_INFO(" using device ID %" PRId32 " for topic instance %i", _parameters.mag_cal_data[mapping].ID, i); } } } diff --git a/src/modules/temperature_compensation/TemperatureCompensation.h b/src/modules/temperature_compensation/TemperatureCompensation.h index 051bc7349637..7975e2465f3c 100644 --- a/src/modules/temperature_compensation/TemperatureCompensation.h +++ b/src/modules/temperature_compensation/TemperatureCompensation.h @@ -49,13 +49,15 @@ namespace temperature_compensation { -static constexpr uint8_t GYRO_COUNT_MAX = 4; static constexpr uint8_t ACCEL_COUNT_MAX = 4; -static constexpr uint8_t BARO_COUNT_MAX = 4; +static constexpr uint8_t GYRO_COUNT_MAX = 4; +static constexpr uint8_t MAG_COUNT_MAX = 4; +static constexpr uint8_t BARO_COUNT_MAX = 4; -static_assert(GYRO_COUNT_MAX == 4, "GYRO_COUNT_MAX must be 4 (if changed, add/remove TC_* params to match the count)"); static_assert(ACCEL_COUNT_MAX == 4, "ACCEL_COUNT_MAX must be 4 (if changed, add/remove TC_* params to match the count)"); +static_assert(GYRO_COUNT_MAX == 4, "GYRO_COUNT_MAX must be 4 (if changed, add/remove TC_* params to match the count)"); +static_assert(MAG_COUNT_MAX == 4, "MAG_COUNT_MAX must be 4 (if changed, add/remove TC_* params to match the count)"); static_assert(BARO_COUNT_MAX == 4, "BARO_COUNT_MAX must be 4 (if changed, add/remove TC_* params to match the count)"); static constexpr uint8_t SENSOR_COUNT_MAX = 4; @@ -74,12 +76,13 @@ class TemperatureCompensation /** supply information which device_id matches a specific uORB topic_instance * (needed if a system has multiple sensors of the same type) * @return index for compensation parameter entry containing matching device ID on success, <0 otherwise */ - int set_sensor_id_gyro(uint32_t device_id, int topic_instance); int set_sensor_id_accel(uint32_t device_id, int topic_instance); + int set_sensor_id_gyro(uint32_t device_id, int topic_instance); + int set_sensor_id_mag(uint32_t device_id, int topic_instance); int set_sensor_id_baro(uint32_t device_id, int topic_instance); /** - * Apply Thermal corrections to gyro (& other) sensor data. + * Apply Thermal corrections to accel, gyro, mag, and baro sensor data. * @param topic_instance uORB topic instance * @param sensor_data input sensor data, output sensor data with applied corrections * @param temperature measured current temperature @@ -89,8 +92,9 @@ class TemperatureCompensation * 1: corrections applied but no changes to offsets, * 2: corrections applied and offsets updated */ - int update_offsets_gyro(int topic_instance, float temperature, float *offsets); int update_offsets_accel(int topic_instance, float temperature, float *offsets); + int update_offsets_gyro(int topic_instance, float temperature, float *offsets); + int update_offsets_mag(int topic_instance, float temperature, float *offsets); int update_offsets_baro(int topic_instance, float temperature, float *offsets); /** output current configuration status to console */ @@ -178,11 +182,14 @@ class TemperatureCompensation // create a struct containing all thermal calibration parameters struct Parameters { + int32_t accel_tc_enable{0}; + SensorCalData3D accel_cal_data[ACCEL_COUNT_MAX] {}; + int32_t gyro_tc_enable{0}; SensorCalData3D gyro_cal_data[GYRO_COUNT_MAX] {}; - int32_t accel_tc_enable{0}; - SensorCalData3D accel_cal_data[ACCEL_COUNT_MAX] {}; + int32_t mag_tc_enable{0}; + SensorCalData3D mag_cal_data[MAG_COUNT_MAX] {}; int32_t baro_tc_enable{0}; SensorCalData1D baro_cal_data[BARO_COUNT_MAX] {}; @@ -190,11 +197,14 @@ class TemperatureCompensation // create a struct containing the handles required to access all calibration parameters struct ParameterHandles { + param_t accel_tc_enable{PARAM_INVALID}; + SensorCalHandles3D accel_cal_handles[ACCEL_COUNT_MAX] {}; + param_t gyro_tc_enable{PARAM_INVALID}; SensorCalHandles3D gyro_cal_handles[GYRO_COUNT_MAX] {}; - param_t accel_tc_enable{PARAM_INVALID}; - SensorCalHandles3D accel_cal_handles[ACCEL_COUNT_MAX] {}; + param_t mag_tc_enable{PARAM_INVALID}; + SensorCalHandles3D mag_cal_handles[MAG_COUNT_MAX] {}; param_t baro_tc_enable{PARAM_INVALID}; SensorCalHandles1D baro_cal_handles[BARO_COUNT_MAX] {}; @@ -271,8 +281,9 @@ class TemperatureCompensation float last_temperature[SENSOR_COUNT_MAX] {}; }; - PerSensorData _gyro_data; PerSensorData _accel_data; + PerSensorData _gyro_data; + PerSensorData _mag_data; PerSensorData _baro_data; template diff --git a/src/modules/temperature_compensation/TemperatureCompensationModule.cpp b/src/modules/temperature_compensation/TemperatureCompensationModule.cpp index a0df44779119..ec1935918164 100644 --- a/src/modules/temperature_compensation/TemperatureCompensationModule.cpp +++ b/src/modules/temperature_compensation/TemperatureCompensationModule.cpp @@ -65,6 +65,24 @@ void TemperatureCompensationModule::parameters_update() { _temperature_compensation.parameters_update(); + // Accel + for (uint8_t uorb_index = 0; uorb_index < ACCEL_COUNT_MAX; uorb_index++) { + sensor_accel_s report; + + if (_accel_subs[uorb_index].copy(&report)) { + int temp = _temperature_compensation.set_sensor_id_accel(report.device_id, uorb_index); + + if (temp < 0) { + PX4_INFO("No temperature calibration available for accel %" PRIu8 " (device id %" PRIu32 ")", uorb_index, + report.device_id); + _corrections.accel_device_ids[uorb_index] = 0; + + } else { + _corrections.accel_device_ids[uorb_index] = report.device_id; + } + } + } + // Gyro for (uint8_t uorb_index = 0; uorb_index < GYRO_COUNT_MAX; uorb_index++) { sensor_gyro_s report; @@ -83,20 +101,20 @@ void TemperatureCompensationModule::parameters_update() } } - // Accel - for (uint8_t uorb_index = 0; uorb_index < ACCEL_COUNT_MAX; uorb_index++) { - sensor_accel_s report; + // Mag + for (uint8_t uorb_index = 0; uorb_index < MAG_COUNT_MAX; uorb_index++) { + sensor_mag_s report; - if (_accel_subs[uorb_index].copy(&report)) { - int temp = _temperature_compensation.set_sensor_id_accel(report.device_id, uorb_index); + if (_mag_subs[uorb_index].copy(&report)) { + int temp = _temperature_compensation.set_sensor_id_mag(report.device_id, uorb_index); if (temp < 0) { - PX4_INFO("No temperature calibration available for accel %" PRIu8 " (device id %" PRIu32 ")", uorb_index, + PX4_INFO("No temperature calibration available for mag %" PRIu8 " (device id %" PRIu32 ")", uorb_index, report.device_id); - _corrections.accel_device_ids[uorb_index] = 0; + _corrections.mag_device_ids[uorb_index] = 0; } else { - _corrections.accel_device_ids[uorb_index] = report.device_id; + _corrections.mag_device_ids[uorb_index] = report.device_id; } } } @@ -126,16 +144,16 @@ void TemperatureCompensationModule::accelPoll() // For each accel instance for (uint8_t uorb_index = 0; uorb_index < ACCEL_COUNT_MAX; uorb_index++) { - sensor_accel_s report; + sensor_accel_s sensor_accel; - // Grab temperature from report - if (_accel_subs[uorb_index].update(&report)) { - if (PX4_ISFINITE(report.temperature)) { + // Grab temperature from accel + if (_accel_subs[uorb_index].update(&sensor_accel)) { + if (PX4_ISFINITE(sensor_accel.temperature)) { // Update the offsets and mark for publication if they've changed - if (_temperature_compensation.update_offsets_accel(uorb_index, report.temperature, offsets[uorb_index]) == 2) { + if (_temperature_compensation.update_offsets_accel(uorb_index, sensor_accel.temperature, offsets[uorb_index]) == 2) { - _corrections.accel_device_ids[uorb_index] = report.device_id; - _corrections.accel_temperature[uorb_index] = report.temperature; + _corrections.accel_device_ids[uorb_index] = sensor_accel.device_id; + _corrections.accel_temperature[uorb_index] = sensor_accel.temperature; _corrections_changed = true; } } @@ -149,16 +167,63 @@ void TemperatureCompensationModule::gyroPoll() // For each gyro instance for (uint8_t uorb_index = 0; uorb_index < GYRO_COUNT_MAX; uorb_index++) { - sensor_gyro_s report; + sensor_gyro_s sensor_gyro; + + // Grab temperature from gyro + if (_gyro_subs[uorb_index].update(&sensor_gyro)) { + if (PX4_ISFINITE(sensor_gyro.temperature)) { + // Update the offsets and mark for publication if they've changed + if (_temperature_compensation.update_offsets_gyro(uorb_index, sensor_gyro.temperature, offsets[uorb_index]) == 2) { + + _corrections.gyro_device_ids[uorb_index] = sensor_gyro.device_id; + _corrections.gyro_temperature[uorb_index] = sensor_gyro.temperature; + _corrections_changed = true; + } + + } else { + + _corrections.gyro_device_ids[uorb_index] = sensor_gyro.device_id; + + // Use accelerometer of the same instance if gyro temperature was NAN. + sensor_accel_s sensor_accel; + + if (_accel_subs[uorb_index].update(&sensor_accel)) { + _corrections.gyro_temperature[uorb_index] = sensor_accel.temperature; + _corrections_changed = true; + } + } + } + } +} + +void TemperatureCompensationModule::magPoll() +{ + float *offsets[] = {_corrections.mag_offset_0, _corrections.mag_offset_1, _corrections.mag_offset_2, _corrections.mag_offset_3 }; + + // For each mag instance + for (uint8_t uorb_index = 0; uorb_index < MAG_COUNT_MAX; uorb_index++) { + sensor_mag_s sensor_mag; // Grab temperature from report - if (_gyro_subs[uorb_index].update(&report)) { - if (PX4_ISFINITE(report.temperature)) { + if (_mag_subs[uorb_index].update(&sensor_mag)) { + if (PX4_ISFINITE(sensor_mag.temperature)) { // Update the offsets and mark for publication if they've changed - if (_temperature_compensation.update_offsets_gyro(uorb_index, report.temperature, offsets[uorb_index]) == 2) { + if (_temperature_compensation.update_offsets_mag(uorb_index, sensor_mag.temperature, offsets[uorb_index]) == 2) { - _corrections.gyro_device_ids[uorb_index] = report.device_id; - _corrections.gyro_temperature[uorb_index] = report.temperature; + _corrections.mag_device_ids[uorb_index] = sensor_mag.device_id; + _corrections.mag_temperature[uorb_index] = sensor_mag.temperature; + _corrections_changed = true; + } + + } else { + + _corrections.mag_device_ids[uorb_index] = sensor_mag.device_id; + + // Use primary baro instance if mag temperature was NAN. + sensor_baro_s sensor_baro; + + if (_accel_subs[0].update(&sensor_baro)) { + _corrections.mag_temperature[uorb_index] = sensor_baro.temperature; _corrections_changed = true; } } @@ -172,16 +237,28 @@ void TemperatureCompensationModule::baroPoll() // For each baro instance for (uint8_t uorb_index = 0; uorb_index < BARO_COUNT_MAX; uorb_index++) { - sensor_baro_s report; + sensor_baro_s sensor_baro; // Grab temperature from report - if (_baro_subs[uorb_index].update(&report)) { - if (PX4_ISFINITE(report.temperature)) { + if (_baro_subs[uorb_index].update(&sensor_baro)) { + if (PX4_ISFINITE(sensor_baro.temperature)) { // Update the offsets and mark for publication if they've changed - if (_temperature_compensation.update_offsets_baro(uorb_index, report.temperature, offsets[uorb_index]) == 2) { + if (_temperature_compensation.update_offsets_baro(uorb_index, sensor_baro.temperature, offsets[uorb_index]) == 2) { - _corrections.baro_device_ids[uorb_index] = report.device_id; - _corrections.baro_temperature[uorb_index] = report.temperature; + _corrections.baro_device_ids[uorb_index] = sensor_baro.device_id; + _corrections.baro_temperature[uorb_index] = sensor_baro.temperature; + _corrections_changed = true; + } + + } else { + + _corrections.baro_device_ids[uorb_index] = sensor_baro.device_id; + + // Use primary accelerometer instance if baro temperature was NAN. + sensor_accel_s sensor_accel; + + if (_accel_subs[0].update(&sensor_accel)) { + _corrections.baro_temperature[uorb_index] = sensor_accel.temperature; _corrections_changed = true; } } @@ -204,16 +281,22 @@ void TemperatureCompensationModule::Run() if (cmd.command == vehicle_command_s::VEHICLE_CMD_PREFLIGHT_CALIBRATION) { bool got_temperature_calibration_command = false; bool accel = false; - bool baro = false; bool gyro = false; + bool mag = false; + bool baro = false; + + if ((int)(cmd.param5) == vehicle_command_s::PREFLIGHT_CALIBRATION_TEMPERATURE_CALIBRATION) { + accel = true; + got_temperature_calibration_command = true; + } if ((int)(cmd.param1) == vehicle_command_s::PREFLIGHT_CALIBRATION_TEMPERATURE_CALIBRATION) { gyro = true; got_temperature_calibration_command = true; } - if ((int)(cmd.param5) == vehicle_command_s::PREFLIGHT_CALIBRATION_TEMPERATURE_CALIBRATION) { - accel = true; + if ((int)(cmd.param2) == vehicle_command_s::PREFLIGHT_CALIBRATION_TEMPERATURE_CALIBRATION) { + mag = true; got_temperature_calibration_command = true; } @@ -223,7 +306,7 @@ void TemperatureCompensationModule::Run() } if (got_temperature_calibration_command) { - int ret = run_temperature_calibration(accel, baro, gyro); + int ret = run_temperature_calibration(accel, baro, gyro, mag); // publish ACK vehicle_command_ack_s command_ack{}; @@ -258,6 +341,7 @@ void TemperatureCompensationModule::Run() accelPoll(); gyroPoll(); + magPoll(); baroPoll(); // publish sensor corrections if necessary @@ -306,27 +390,34 @@ int TemperatureCompensationModule::custom_command(int argc, char *argv[]) if (!strcmp(argv[0], "calibrate")) { bool accel_calib = false; - bool baro_calib = false; bool gyro_calib = false; + bool mag_calib = false; + bool baro_calib = false; bool calib_all = true; int myoptind = 1; int ch; + const char *myoptarg = nullptr; - while ((ch = px4_getopt(argc, argv, "abg", &myoptind, &myoptarg)) != EOF) { + while ((ch = px4_getopt(argc, argv, "agmb", &myoptind, &myoptarg)) != EOF) { switch (ch) { case 'a': accel_calib = true; calib_all = false; break; - case 'b': - baro_calib = true; + case 'g': + gyro_calib = true; calib_all = false; break; - case 'g': - gyro_calib = true; + case 'm': + mag_calib = true; + calib_all = false; + break; + + case 'b': + baro_calib = true; calib_all = false; break; @@ -349,7 +440,8 @@ int TemperatureCompensationModule::custom_command(int argc, char *argv[]) vcmd.timestamp = hrt_absolute_time(); vcmd.param1 = (float)((gyro_calib || calib_all) ? vehicle_command_s::PREFLIGHT_CALIBRATION_TEMPERATURE_CALIBRATION : NAN); - vcmd.param2 = NAN; + vcmd.param2 = (float)((mag_calib + || calib_all) ? vehicle_command_s::PREFLIGHT_CALIBRATION_TEMPERATURE_CALIBRATION : NAN); vcmd.param3 = NAN; vcmd.param4 = NAN; vcmd.param5 = ((accel_calib @@ -398,8 +490,9 @@ a temperature cycle. PRINT_MODULE_USAGE_NAME("temperature_compensation", "system"); PRINT_MODULE_USAGE_COMMAND_DESCR("start", "Start the module, which monitors the sensors and updates the sensor_correction topic"); PRINT_MODULE_USAGE_COMMAND_DESCR("calibrate", "Run temperature calibration process"); - PRINT_MODULE_USAGE_PARAM_FLAG('g', "calibrate the gyro", true); PRINT_MODULE_USAGE_PARAM_FLAG('a', "calibrate the accel", true); + PRINT_MODULE_USAGE_PARAM_FLAG('g', "calibrate the gyro", true); + PRINT_MODULE_USAGE_PARAM_FLAG('m', "calibrate the mag", true); PRINT_MODULE_USAGE_PARAM_FLAG('b', "calibrate the baro (if none of these is given, all will be calibrated)", true); PRINT_MODULE_USAGE_DEFAULT_COMMANDS(); diff --git a/src/modules/temperature_compensation/TemperatureCompensationModule.h b/src/modules/temperature_compensation/TemperatureCompensationModule.h index 24e9ea5f49cf..496c20b614c0 100644 --- a/src/modules/temperature_compensation/TemperatureCompensationModule.h +++ b/src/modules/temperature_compensation/TemperatureCompensationModule.h @@ -54,6 +54,7 @@ #include #include #include +#include #include #include @@ -97,6 +98,7 @@ class TemperatureCompensationModule : public ModuleBase + */ + +#include "mag.h" +#include +#include +#include + +TemperatureCalibrationMag::TemperatureCalibrationMag(float min_temperature_rise, float min_start_temperature, + float max_start_temperature) + : TemperatureCalibrationCommon(min_temperature_rise, min_start_temperature, max_start_temperature) +{ + // init subscriptions + _num_sensor_instances = orb_group_count(ORB_ID(sensor_mag)); + + if (_num_sensor_instances > SENSOR_COUNT_MAX) { + _num_sensor_instances = SENSOR_COUNT_MAX; + } + + for (unsigned i = 0; i < _num_sensor_instances; i++) { + _sensor_subs[i] = orb_subscribe_multi(ORB_ID(sensor_mag), i); + } +} + +TemperatureCalibrationMag::~TemperatureCalibrationMag() +{ + for (unsigned i = 0; i < _num_sensor_instances; i++) { + orb_unsubscribe(_sensor_subs[i]); + } +} + +int TemperatureCalibrationMag::update_sensor_instance(PerSensorData &data, int sensor_sub) +{ + bool finished = data.hot_soaked; + + bool updated; + orb_check(sensor_sub, &updated); + + if (!updated) { + return finished ? 0 : 1; + } + + sensor_mag_s mag_data; + orb_copy(ORB_ID(sensor_mag), sensor_sub, &mag_data); + + if (finished) { + // if we're done, return, but we need to return after orb_copy because of poll() + return 0; + } + + if (PX4_ISFINITE(mag_data.temperature)) { + data.has_valid_temperature = true; + + } else { + return 0; + } + + data.device_id = mag_data.device_id; + + data.sensor_sample_filt[0] = mag_data.x; + data.sensor_sample_filt[1] = mag_data.y; + data.sensor_sample_filt[2] = mag_data.z; + data.sensor_sample_filt[3] = mag_data.temperature; + + // wait for min start temp to be reached before starting calibration + if (data.sensor_sample_filt[3] < _min_start_temperature) { + return 1; + } + + if (!data.cold_soaked) { + // allow time for sensors and filters to settle + if (hrt_absolute_time() > 10E6) { + // If intial temperature exceeds maximum declare an error condition and exit + if (data.sensor_sample_filt[3] > _max_start_temperature) { + return -TC_ERROR_INITIAL_TEMP_TOO_HIGH; + + } else { + data.cold_soaked = true; + data.low_temp = data.sensor_sample_filt[3]; // Record the low temperature + data.high_temp = data.low_temp; // Initialise the high temperature to the initial temperature + data.ref_temp = data.sensor_sample_filt[3] + 0.5f * _min_temperature_rise; + return 1; + } + + } else { + return 1; + } + } + + // check if temperature increased + if (data.sensor_sample_filt[3] > data.high_temp) { + data.high_temp = data.sensor_sample_filt[3]; + data.hot_soak_sat = 0; + + } else { + return 1; + } + + //TODO: Detect when temperature has stopped rising for more than TBD seconds + if (data.hot_soak_sat == 10 || (data.high_temp - data.low_temp) > _min_temperature_rise) { + data.hot_soaked = true; + } + + if (sensor_sub == _sensor_subs[0]) { // debug output, but only for the first sensor + TC_DEBUG("\nMag: %.20f,%.20f,%.20f,%.20f, %.6f, %.6f, %.6f\n\n", (double)data.sensor_sample_filt[0], + (double)data.sensor_sample_filt[1], + (double)data.sensor_sample_filt[2], (double)data.sensor_sample_filt[3], (double)data.low_temp, (double)data.high_temp, + (double)(data.high_temp - data.low_temp)); + } + + //update linear fit matrices + double relative_temperature = (double)data.sensor_sample_filt[3] - (double)data.ref_temp; + data.P[0].update(relative_temperature, (double)data.sensor_sample_filt[0]); + data.P[1].update(relative_temperature, (double)data.sensor_sample_filt[1]); + data.P[2].update(relative_temperature, (double)data.sensor_sample_filt[2]); + + return 1; +} + +int TemperatureCalibrationMag::finish() +{ + for (unsigned uorb_index = 0; uorb_index < _num_sensor_instances; uorb_index++) { + finish_sensor_instance(_data[uorb_index], uorb_index); + } + + int32_t enabled = 1; + int result = param_set_no_notification(param_find("TC_M_ENABLE"), &enabled); + + if (result != PX4_OK) { + PX4_ERR("unable to reset TC_M_ENABLE (%i)", result); + } + + return result; +} + +int TemperatureCalibrationMag::finish_sensor_instance(PerSensorData &data, int sensor_index) +{ + if (!data.has_valid_temperature) { + PX4_WARN("Result Mag %d does not have a valid temperature sensor", sensor_index); + + uint32_t param = 0; + set_parameter("TC_M%d_ID", sensor_index, ¶m); + return 0; + } + + if (!data.hot_soaked || data.tempcal_complete) { + return 0; + } + + double res[3][4] = {}; + data.P[0].fit(res[0]); + res[0][3] = 0.0; // normalise the correction to be zero at the reference temperature + PX4_INFO("Result Mag %d Axis 0: %.20f %.20f %.20f %.20f", sensor_index, (double)res[0][0], (double)res[0][1], + (double)res[0][2], + (double)res[0][3]); + data.P[1].fit(res[1]); + res[1][3] = 0.0; // normalise the correction to be zero at the reference temperature + PX4_INFO("Result Mag %d Axis 1: %.20f %.20f %.20f %.20f", sensor_index, (double)res[1][0], (double)res[1][1], + (double)res[1][2], + (double)res[1][3]); + data.P[2].fit(res[2]); + res[2][3] = 0.0; // normalise the correction to be zero at the reference temperature + PX4_INFO("Result Mag %d Axis 2: %.20f %.20f %.20f %.20f", sensor_index, (double)res[2][0], (double)res[2][1], + (double)res[2][2], + (double)res[2][3]); + data.tempcal_complete = true; + + char str[30]; + float param = 0.0f; + int result = PX4_OK; + + set_parameter("TC_M%d_ID", sensor_index, &data.device_id); + + for (unsigned axis_index = 0; axis_index < 3; axis_index++) { + for (unsigned coef_index = 0; coef_index <= 3; coef_index++) { + snprintf(str, sizeof(str), "TC_M%d_X%d_%d", sensor_index, 3 - coef_index, axis_index); + param = (float)res[axis_index][coef_index]; + result = param_set_no_notification(param_find(str), ¶m); + + if (result != PX4_OK) { + PX4_ERR("unable to reset %s", str); + } + } + } + + set_parameter("TC_M%d_TMAX", sensor_index, &data.high_temp); + set_parameter("TC_M%d_TMIN", sensor_index, &data.low_temp); + set_parameter("TC_M%d_TREF", sensor_index, &data.ref_temp); + return 0; +} diff --git a/src/modules/temperature_compensation/temperature_calibration/mag.h b/src/modules/temperature_compensation/temperature_calibration/mag.h new file mode 100644 index 000000000000..2e4d4e78f270 --- /dev/null +++ b/src/modules/temperature_compensation/temperature_calibration/mag.h @@ -0,0 +1,55 @@ +/**************************************************************************** + * + * Copyright (c) 2022-2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#pragma once + +#include "common.h" +#include "polyfit.hpp" + +class TemperatureCalibrationMag : public TemperatureCalibrationCommon<3, 3> +{ +public: + TemperatureCalibrationMag(float min_temperature_rise, float min_start_temperature, float max_start_temperature); + virtual ~TemperatureCalibrationMag(); + + /** + * @see TemperatureCalibrationBase::finish() + */ + int finish(); + +private: + + virtual inline int update_sensor_instance(PerSensorData &data, int sensor_sub); + + inline int finish_sensor_instance(PerSensorData &data, int sensor_index); +}; diff --git a/src/modules/temperature_compensation/temperature_calibration/task.cpp b/src/modules/temperature_compensation/temperature_calibration/task.cpp index 7328784522f7..a447390d5a95 100644 --- a/src/modules/temperature_compensation/temperature_calibration/task.cpp +++ b/src/modules/temperature_compensation/temperature_calibration/task.cpp @@ -56,6 +56,7 @@ #include "accel.h" #include "baro.h" #include "gyro.h" +#include "mag.h" class TemperatureCalibration; @@ -68,12 +69,13 @@ class TemperatureCalibration { public: - TemperatureCalibration(bool accel, bool baro, bool gyro) : _accel(accel), _baro(baro), _gyro(gyro) {} + TemperatureCalibration(bool accel, bool gyro, bool mag, bool baro) : + _accel(accel), _gyro(gyro), _mag(mag), _baro(baro) {}; + ~TemperatureCalibration() = default; /** * Start task. - * * @return OK on success. */ int start(); @@ -93,8 +95,9 @@ class TemperatureCalibration int _control_task = -1; // task handle for task const bool _accel; ///< enable accel calibration? - const bool _baro; ///< enable baro calibration? - const bool _gyro; ///< enable gyro calibration? + const bool _gyro; ///< enable gyro calibration? + const bool _mag; ///< enable mag calibration? + const bool _baro; ///< enable baro calibration? }; void TemperatureCalibration::task_main() @@ -163,6 +166,17 @@ void TemperatureCalibration::task_main() } } + if (_mag) { + calibrators[num_calibrators] = new TemperatureCalibrationMag(min_temp_rise, min_start_temp, max_start_temp); + + if (calibrators[num_calibrators]) { + ++num_calibrators; + + } else { + PX4_ERR("alloc failed"); + } + } + hrt_abstime next_progress_output = hrt_absolute_time() + 1e6; // control LED's: blink, then turn solid according to progress @@ -270,7 +284,7 @@ void TemperatureCalibration::task_main() } param_notify_changes(); - int ret = param_save_default(); + int ret = param_save_default(true); if (ret != 0) { PX4_ERR("Failed to save params (%i)", ret); @@ -331,11 +345,12 @@ void TemperatureCalibration::publish_led_control(led_control_s &led_control) _led_control_pub.publish(led_control); } -int run_temperature_calibration(bool accel, bool baro, bool gyro) +int run_temperature_calibration(bool accel, bool gyro, bool mag, bool baro) { if (temperature_calibration::instance.load() == nullptr) { - PX4_INFO("Starting temperature calibration task (accel=%i, baro=%i, gyro=%i)", (int)accel, (int)baro, (int)gyro); - temperature_calibration::instance.store(new TemperatureCalibration(accel, baro, gyro)); + PX4_INFO("Starting temperature calibration task (accel=%i, gyro=%i, mag=%i, baro=%i)", (int)accel, (int)gyro, (int)mag, + (int)baro); + temperature_calibration::instance.store(new TemperatureCalibration(accel, gyro, mag, baro)); if (temperature_calibration::instance.load() == nullptr) { PX4_ERR("alloc failed"); diff --git a/src/modules/temperature_compensation/temperature_calibration/temperature_calibration.h b/src/modules/temperature_compensation/temperature_calibration/temperature_calibration.h index d5a7bd257771..8d326dc7cd28 100644 --- a/src/modules/temperature_compensation/temperature_calibration/temperature_calibration.h +++ b/src/modules/temperature_compensation/temperature_calibration/temperature_calibration.h @@ -36,4 +36,4 @@ /** start temperature calibration in a new task for one or multiple sensors * @return 0 on success, <0 error otherwise */ -int run_temperature_calibration(bool accel, bool baro, bool gyro); +int run_temperature_calibration(bool accel, bool gyro, bool mag, bool baro); diff --git a/src/modules/uuv_att_control/uuv_att_control.cpp b/src/modules/uuv_att_control/uuv_att_control.cpp index dd985c278873..52baccb8dde6 100644 --- a/src/modules/uuv_att_control/uuv_att_control.cpp +++ b/src/modules/uuv_att_control/uuv_att_control.cpp @@ -138,16 +138,10 @@ void UUVAttitudeControl::control_attitude_geo(const vehicle_attitude_s &attitude */ Eulerf euler_angles(matrix::Quatf(attitude.q)); - float roll_u; - float pitch_u; - float yaw_u; - float thrust_x; - float thrust_y; - float thrust_z; - - float roll_body = attitude_setpoint.roll_body; - float pitch_body = attitude_setpoint.pitch_body; - float yaw_body = attitude_setpoint.yaw_body; + const Eulerf setpoint_euler_angles(matrix::Quatf(attitude_setpoint.q_d)); + const float roll_body = setpoint_euler_angles(0); + const float pitch_body = setpoint_euler_angles(1); + const float yaw_body = setpoint_euler_angles(2); float roll_rate_desired = rates_setpoint.roll; float pitch_rate_desired = rates_setpoint.pitch; @@ -186,14 +180,14 @@ void UUVAttitudeControl::control_attitude_geo(const vehicle_attitude_s &attitude torques(1) = torques(1) - omega(1) * _param_pitch_d.get(); /**< Pitch */ torques(2) = torques(2) - omega(2) * _param_yaw_d.get(); /**< Yaw */ - roll_u = torques(0); - pitch_u = torques(1); - yaw_u = torques(2); + float roll_u = torques(0); + float pitch_u = torques(1); + float yaw_u = torques(2); // take thrust as - thrust_x = attitude_setpoint.thrust_body[0]; - thrust_y = attitude_setpoint.thrust_body[1]; - thrust_z = attitude_setpoint.thrust_body[2]; + float thrust_x = attitude_setpoint.thrust_body[0]; + float thrust_y = attitude_setpoint.thrust_body[1]; + float thrust_z = attitude_setpoint.thrust_body[2]; constrain_actuator_commands(roll_u, pitch_u, yaw_u, thrust_x, thrust_y, thrust_z); @@ -234,9 +228,8 @@ void UUVAttitudeControl::Run() _vehicle_rates_setpoint_sub.update(&_rates_setpoint); if (input_mode == 1) { // process manual data - _attitude_setpoint.roll_body = _param_direct_roll.get(); - _attitude_setpoint.pitch_body = _param_direct_pitch.get(); - _attitude_setpoint.yaw_body = _param_direct_yaw.get(); + Quatf attitude_setpoint(Eulerf(_param_direct_roll.get(), _param_direct_pitch.get(), _param_direct_yaw.get())); + attitude_setpoint.copyTo(_attitude_setpoint.q_d); _attitude_setpoint.thrust_body[0] = _param_direct_thrust.get(); _attitude_setpoint.thrust_body[1] = 0.f; _attitude_setpoint.thrust_body[2] = 0.f; diff --git a/src/modules/uuv_pos_control/uuv_pos_control.cpp b/src/modules/uuv_pos_control/uuv_pos_control.cpp index d402941b4a16..272ea56def8d 100644 --- a/src/modules/uuv_pos_control/uuv_pos_control.cpp +++ b/src/modules/uuv_pos_control/uuv_pos_control.cpp @@ -97,9 +97,8 @@ void UUVPOSControl::publish_attitude_setpoint(const float thrust_x, const float vehicle_attitude_setpoint_s vehicle_attitude_setpoint = {}; vehicle_attitude_setpoint.timestamp = hrt_absolute_time(); - vehicle_attitude_setpoint.roll_body = roll_des; - vehicle_attitude_setpoint.pitch_body = pitch_des; - vehicle_attitude_setpoint.yaw_body = yaw_des; + const Quatf attitude_setpoint(Eulerf(roll_des, pitch_des, yaw_des)); + attitude_setpoint.copyTo(vehicle_attitude_setpoint.q_d); vehicle_attitude_setpoint.thrust_body[0] = thrust_x; vehicle_attitude_setpoint.thrust_body[1] = thrust_y; diff --git a/src/modules/uxrce_dds_client/CMakeLists.txt b/src/modules/uxrce_dds_client/CMakeLists.txt index 2150f9456fd7..60c390892b35 100644 --- a/src/modules/uxrce_dds_client/CMakeLists.txt +++ b/src/modules/uxrce_dds_client/CMakeLists.txt @@ -137,11 +137,16 @@ else() ${CMAKE_CURRENT_SOURCE_DIR} COMPILE_FLAGS #-O0 + # -DDEBUG_BUILD ${MAX_CUSTOM_OPT_LEVEL} SRCS ${CMAKE_CURRENT_BINARY_DIR}/dds_topics.h uxrce_dds_client.cpp uxrce_dds_client.h + vehicle_command_srv.cpp + vehicle_command_srv.h + srv_base.cpp + srv_base.h DEPENDS microxrceddsclient libmicroxrceddsclient diff --git a/src/modules/uxrce_dds_client/Micro-XRCE-DDS-Client b/src/modules/uxrce_dds_client/Micro-XRCE-DDS-Client index 4248559f3b11..711aef423edd 160000 --- a/src/modules/uxrce_dds_client/Micro-XRCE-DDS-Client +++ b/src/modules/uxrce_dds_client/Micro-XRCE-DDS-Client @@ -1 +1 @@ -Subproject commit 4248559f3b111155c783e524e461ccc83e768103 +Subproject commit 711aef423edd1820347b866d1e4164832df35d04 diff --git a/src/modules/uxrce_dds_client/dds_topics.h.em b/src/modules/uxrce_dds_client/dds_topics.h.em index dc79e0fabdb1..3c4311e6c333 100644 --- a/src/modules/uxrce_dds_client/dds_topics.h.em +++ b/src/modules/uxrce_dds_client/dds_topics.h.em @@ -21,68 +21,107 @@ import os #include #include -#include +#include #include +#include +#include @[for include in type_includes]@ #include +#include @[end for]@ +#define UXRCE_DEFAULT_POLL_RATE 10 + +typedef bool (*UcdrSerializeMethod)(const void* data, ucdrBuffer& buf, int64_t time_offset); + +static constexpr int max_topic_size = 512; +@[ for pub in publications]@ +static_assert(sizeof(@(pub['simple_base_type'])_s) <= max_topic_size, "topic too large, increase max_topic_size"); +@[ end for]@ + +struct SendSubscription { + const struct orb_metadata *orb_meta; + uxrObjectId data_writer; + const char* dds_type_name; + const char* topic; + uint32_t topic_size; + UcdrSerializeMethod ucdr_serialize_method; +}; + // Subscribers for messages to send struct SendTopicsSubs { + SendSubscription send_subscriptions[@(len(publications))] = { @[ for pub in publications]@ - uORB::Subscription @(pub['topic_simple'])_sub{ORB_ID(@(pub['topic_simple']))}; - uxrObjectId @(pub['topic_simple'])_data_writer{}; + { ORB_ID(@(pub['topic_simple'])), + uxr_object_id(0, UXR_INVALID_ID), + "@(pub['dds_type'])", + "@(pub['topic'])", + ucdr_topic_size_@(pub['simple_base_type'])(), + &ucdr_serialize_@(pub['simple_base_type']), + }, @[ end for]@ + }; + + px4_pollfd_struct_t fds[@(len(publications))] {}; uint32_t num_payload_sent{}; + void init(); void update(uxrSession *session, uxrStreamId reliable_out_stream_id, uxrStreamId best_effort_stream_id, uxrObjectId participant_id, const char *client_namespace); void reset(); }; +void SendTopicsSubs::init() { + for (unsigned idx = 0; idx < sizeof(send_subscriptions)/sizeof(send_subscriptions[0]); ++idx) { + fds[idx].fd = orb_subscribe(send_subscriptions[idx].orb_meta); + fds[idx].events = POLLIN; + orb_set_interval(fds[idx].fd, UXRCE_DEFAULT_POLL_RATE); + } +} + void SendTopicsSubs::reset() { num_payload_sent = 0; -@[ for idx, pub in enumerate(publications)]@ - @(pub['topic_simple'])_data_writer = uxr_object_id(0, UXR_INVALID_ID); -@[ end for]@ + for (unsigned idx = 0; idx < sizeof(send_subscriptions)/sizeof(send_subscriptions[0]); ++idx) { + send_subscriptions[idx].data_writer = uxr_object_id(0, UXR_INVALID_ID); + } }; void SendTopicsSubs::update(uxrSession *session, uxrStreamId reliable_out_stream_id, uxrStreamId best_effort_stream_id, uxrObjectId participant_id, const char *client_namespace) { int64_t time_offset_us = session->time_offset / 1000; // ns -> us -@[ for idx, pub in enumerate(publications)]@ - { - @(pub['simple_base_type'])_s data; + alignas(sizeof(uint64_t)) char topic_data[max_topic_size]; - if (@(pub['topic_simple'])_sub.update(&data)) { - - if (@(pub['topic_simple'])_data_writer.id == UXR_INVALID_ID) { + for (unsigned idx = 0; idx < sizeof(send_subscriptions)/sizeof(send_subscriptions[0]); ++idx) { + if (fds[idx].revents & POLLIN) { + // Topic updated, copy data and send + orb_copy(send_subscriptions[idx].orb_meta, fds[idx].fd, &topic_data); + if (send_subscriptions[idx].data_writer.id == UXR_INVALID_ID) { // data writer not created yet - create_data_writer(session, reliable_out_stream_id, participant_id, ORB_ID::@(pub['topic_simple']), client_namespace, "@(pub['topic_simple'])", "@(pub['dds_type'])", @(pub['topic_simple'])_data_writer); + create_data_writer(session, reliable_out_stream_id, participant_id, static_cast(send_subscriptions[idx].orb_meta->o_id), client_namespace, send_subscriptions[idx].topic, + send_subscriptions[idx].dds_type_name, send_subscriptions[idx].data_writer); } - if (@(pub['topic_simple'])_data_writer.id != UXR_INVALID_ID) { + if (send_subscriptions[idx].data_writer.id != UXR_INVALID_ID) { ucdrBuffer ub; - uint32_t topic_size = ucdr_topic_size_@(pub['simple_base_type'])(); - if (uxr_prepare_output_stream(session, best_effort_stream_id, @(pub['topic_simple'])_data_writer, &ub, topic_size) != UXR_INVALID_REQUEST_ID) { - ucdr_serialize_@(pub['simple_base_type'])(data, ub, time_offset_us); + uint32_t topic_size = send_subscriptions[idx].topic_size; + if (uxr_prepare_output_stream(session, best_effort_stream_id, send_subscriptions[idx].data_writer, &ub, topic_size) != UXR_INVALID_REQUEST_ID) { + send_subscriptions[idx].ucdr_serialize_method(&topic_data, ub, time_offset_us); // TODO: fill up the MTU and then flush, which reduces the packet overhead uxr_flash_output_streams(session); num_payload_sent += topic_size; } else { - //PX4_ERR("Error uxr_prepare_output_stream UXR_INVALID_REQUEST_ID @(pub['topic_simple'])"); + //PX4_ERR("Error uxr_prepare_output_stream UXR_INVALID_REQUEST_ID %s", send_subscriptions[idx].subscription.get_topic()->o_name); } } else { - //PX4_ERR("Error UXR_INVALID_ID @(pub['topic_simple'])"); + //PX4_ERR("Error UXR_INVALID_ID %s", send_subscriptions[idx].subscription.get_topic()->o_name); } } } -@[ end for]@ } // Publishers for received messages @@ -91,6 +130,10 @@ struct RcvTopicsPubs { uORB::Publication<@(sub['simple_base_type'])_s> @(sub['topic_simple'])_pub{ORB_ID(@(sub['topic_simple']))}; @[ end for]@ +@[ for sub in subscriptions_multi]@ + uORB::PublicationMulti<@(sub['simple_base_type'])_s> @(sub['topic_simple'])_pub{ORB_ID(@(sub['topic_simple']))}; +@[ end for]@ + uint32_t num_payload_received{}; bool init(uxrSession *session, uxrStreamId reliable_out_stream_id, uxrStreamId reliable_in_stream_id, uxrStreamId best_effort_in_stream_id, uxrObjectId participant_id, const char *client_namespace); @@ -104,8 +147,8 @@ static void on_topic_update(uxrSession *session, uxrObjectId object_id, uint16_t pubs->num_payload_received += length; switch (object_id.id) { -@[ for idx, sub in enumerate(subscriptions)]@ - case @(idx)+1000: { +@[ for idx, sub in enumerate(subscriptions + subscriptions_multi)]@ + case @(idx)+ (65535U / 32U) + 1: { @(sub['simple_base_type'])_s data; if (ucdr_deserialize_@(sub['simple_base_type'])(*ub, data, time_offset_us)) { @@ -125,10 +168,10 @@ static void on_topic_update(uxrSession *session, uxrObjectId object_id, uint16_t bool RcvTopicsPubs::init(uxrSession *session, uxrStreamId reliable_out_stream_id, uxrStreamId reliable_in_stream_id, uxrStreamId best_effort_in_stream_id, uxrObjectId participant_id, const char *client_namespace) { -@[ for idx, sub in enumerate(subscriptions)]@ +@[ for idx, sub in enumerate(subscriptions + subscriptions_multi)]@ { - uint16_t queue_depth = uORB::DefaultQueueSize<@(sub['simple_base_type'])_s>::value * 2; // use a bit larger queue size than internal - create_data_reader(session, reliable_out_stream_id, best_effort_in_stream_id, participant_id, @(idx), client_namespace, "@(sub['topic_simple'])", "@(sub['dds_type'])", queue_depth); + uint16_t queue_depth = orb_get_queue_size(ORB_ID(@(sub['simple_base_type']))) * 2; // use a bit larger queue size than internal + create_data_reader(session, reliable_out_stream_id, best_effort_in_stream_id, participant_id, @(idx), client_namespace, "@(sub['topic'])", "@(sub['dds_type'])", queue_depth); } @[ end for]@ diff --git a/src/modules/uxrce_dds_client/dds_topics.yaml b/src/modules/uxrce_dds_client/dds_topics.yaml index 8b62f01cdb3f..e9e67cff25ed 100644 --- a/src/modules/uxrce_dds_client/dds_topics.yaml +++ b/src/modules/uxrce_dds_client/dds_topics.yaml @@ -5,12 +5,33 @@ ##### publications: + - topic: /fmu/out/register_ext_component_reply + type: px4_msgs::msg::RegisterExtComponentReply + + - topic: /fmu/out/arming_check_request + type: px4_msgs::msg::ArmingCheckRequest + + - topic: /fmu/out/mode_completed + type: px4_msgs::msg::ModeCompleted + + - topic: /fmu/out/battery_status + type: px4_msgs::msg::BatteryStatus + - topic: /fmu/out/collision_constraints type: px4_msgs::msg::CollisionConstraints + - topic: /fmu/out/estimator_status_flags + type: px4_msgs::msg::EstimatorStatusFlags + - topic: /fmu/out/failsafe_flags type: px4_msgs::msg::FailsafeFlags + - topic: /fmu/out/manual_control_setpoint + type: px4_msgs::msg::ManualControlSetpoint + + - topic: /fmu/out/message_format_response + type: px4_msgs::msg::MessageFormatResponse + - topic: /fmu/out/position_setpoint_triplet type: px4_msgs::msg::PositionSetpointTriplet @@ -23,12 +44,18 @@ publications: # - topic: /fmu/out/vehicle_angular_velocity # type: px4_msgs::msg::VehicleAngularVelocity + - topic: /fmu/out/vehicle_land_detected + type: px4_msgs::msg::VehicleLandDetected + - topic: /fmu/out/vehicle_attitude type: px4_msgs::msg::VehicleAttitude - topic: /fmu/out/vehicle_control_mode type: px4_msgs::msg::VehicleControlMode + - topic: /fmu/out/vehicle_command_ack + type: px4_msgs::msg::VehicleCommandAck + - topic: /fmu/out/vehicle_global_position type: px4_msgs::msg::VehicleGlobalPosition @@ -47,7 +74,31 @@ publications: - topic: /fmu/out/vehicle_trajectory_waypoint_desired type: px4_msgs::msg::VehicleTrajectoryWaypoint +# Create uORB::Publication subscriptions: + - topic: /fmu/in/register_ext_component_request + type: px4_msgs::msg::RegisterExtComponentRequest + + - topic: /fmu/in/unregister_ext_component + type: px4_msgs::msg::UnregisterExtComponent + + - topic: /fmu/in/config_overrides_request + type: px4_msgs::msg::ConfigOverrides + + - topic: /fmu/in/arming_check_reply + type: px4_msgs::msg::ArmingCheckReply + + - topic: /fmu/in/message_format_request + type: px4_msgs::msg::MessageFormatRequest + + - topic: /fmu/in/mode_completed + type: px4_msgs::msg::ModeCompleted + + - topic: /fmu/in/config_control_setpoints + type: px4_msgs::msg::VehicleControlMode + + - topic: /fmu/in/manual_control_input + type: px4_msgs::msg::ManualControlSetpoint - topic: /fmu/in/offboard_control_mode type: px4_msgs::msg::OffboardControlMode @@ -61,6 +112,9 @@ subscriptions: - topic: /fmu/in/sensor_optical_flow type: px4_msgs::msg::SensorOpticalFlow + - topic: /fmu/in/goto_setpoint + type: px4_msgs::msg::GotoSetpoint + - topic: /fmu/in/telemetry_status type: px4_msgs::msg::TelemetryStatus @@ -82,8 +136,29 @@ subscriptions: - topic: /fmu/in/vehicle_command type: px4_msgs::msg::VehicleCommand + - topic: /fmu/in/vehicle_command_mode_executor + type: px4_msgs::msg::VehicleCommand + - topic: /fmu/in/vehicle_trajectory_bezier type: px4_msgs::msg::VehicleTrajectoryBezier - topic: /fmu/in/vehicle_trajectory_waypoint type: px4_msgs::msg::VehicleTrajectoryWaypoint + + - topic: /fmu/in/vehicle_thrust_setpoint + type: px4_msgs::msg::VehicleThrustSetpoint + + - topic: /fmu/in/vehicle_torque_setpoint + type: px4_msgs::msg::VehicleTorqueSetpoint + + - topic: /fmu/in/actuator_motors + type: px4_msgs::msg::ActuatorMotors + + - topic: /fmu/in/actuator_servos + type: px4_msgs::msg::ActuatorServos + + - topic: /fmu/in/aux_global_position + type: px4_msgs::msg::VehicleGlobalPosition + +# Create uORB::PublicationMulti +subscriptions_multi: diff --git a/src/modules/uxrce_dds_client/generate_dds_topics.py b/src/modules/uxrce_dds_client/generate_dds_topics.py index 75fd6dbd9cee..4052958df87b 100644 --- a/src/modules/uxrce_dds_client/generate_dds_topics.py +++ b/src/modules/uxrce_dds_client/generate_dds_topics.py @@ -2,7 +2,7 @@ ################################################################################ # # Copyright 2017 Proyectos y Sistemas de Mantenimiento SL (eProsima). -# Copyright (c) 2018-2021 PX4 Development Team. All rights reserved. +# Copyright (c) 2018-2023 PX4 Development Team. All rights reserved. # # Redistribution and use in source and binary forms, with or without # modification, are permitted provided that the following conditions are met: @@ -85,45 +85,40 @@ merged_em_globals = {} all_type_includes = [] -for p in msg_map['publications']: +def process_message_type(msg_type): # eg TrajectoryWaypoint from px4_msgs::msg::TrajectoryWaypoint - simple_base_type = p['type'].split('::')[-1] + simple_base_type = msg_type['type'].split('::')[-1] # eg TrajectoryWaypoint -> trajectory_waypoint base_type_name_snake_case = re.sub(r'(? trajectory_waypoint - base_type_name_snake_case = re.sub(r'(? +//#include "utilities.hpp" + + +#define TOPIC_NAME_SIZE 128 +#define REQUEST_TYPE_SIZE 128 +#define REPLY_TYPE_SIZE 128 + +static bool generate_request_name(char *request, const char *client_namespace, const char *name) +{ + if (client_namespace != nullptr) { + int ret = snprintf(request, TOPIC_NAME_SIZE, "rq/%s/fmu/%sRequest", client_namespace, name); + return (ret > 0 && ret < TOPIC_NAME_SIZE); + } + + int ret = snprintf(request, TOPIC_NAME_SIZE, "rq/fmu/%sRequest", name); + return (ret > 0 && ret < TOPIC_NAME_SIZE); +} + +static bool generate_reply_name(char *reply, const char *client_namespace, const char *name) +{ + if (client_namespace != nullptr) { + int ret = snprintf(reply, TOPIC_NAME_SIZE, "rr/%s/fmu/%sReply", client_namespace, name); + return (ret > 0 && ret < TOPIC_NAME_SIZE); + } + + int ret = snprintf(reply, TOPIC_NAME_SIZE, "rr/fmu/%sReply", name); + return (ret > 0 && ret < TOPIC_NAME_SIZE); +} + +static bool generate_request_type_name(char *request, const char *name) +{ + int ret = snprintf(request, REQUEST_TYPE_SIZE, "px4_msgs::srv::dds_::%s_Request_", name); + return (ret > 0 && ret < REQUEST_TYPE_SIZE); +} + +static bool generate_reply_type_name(char *reply, const char *name) +{ + int ret = snprintf(reply, REPLY_TYPE_SIZE, "px4_msgs::srv::dds_::%s_Response_", name); + return (ret > 0 && ret < REPLY_TYPE_SIZE); +} + +SrvBase::SrvBase(uxrSession *session, uxrStreamId reliable_out_stream_id, uxrStreamId input_stream_id, + uxrObjectId participant_id) : + session_(session), + reliable_out_stream_id_(reliable_out_stream_id) + +{ + +} + +bool SrvBase::create_replier(uxrStreamId input_stream_id, + uxrObjectId participant_id, uint16_t index, const char *client_namespace, const char *service_name_simple, + const char *service_type_name_simple, uint16_t queue_depth) +{ +// request and reply names + char request_name[TOPIC_NAME_SIZE]; + char reply_name[TOPIC_NAME_SIZE]; + + if (!generate_request_name(request_name, client_namespace, service_name_simple)) { + return false; + } + + if (!generate_reply_name(reply_name, client_namespace, service_name_simple)) { + return false; + } + + // request and reply types + char request_type_name[REQUEST_TYPE_SIZE]; + char reply_type_name[REPLY_TYPE_SIZE]; + + if (!generate_request_type_name(request_type_name, service_type_name_simple)) { + return false; + } + + if (!generate_reply_type_name(reply_type_name, service_type_name_simple)) { + return false; + } + + + // Use the second half of the available ID space. + // Add 1 so that we get a nice hex starting number: 0x800 instead of 0x7ff. + uint16_t id = index + (65535U / 32U) + 1; + + replier_id_ = uxr_object_id(id, UXR_REPLIER_ID); + + //char service_name[TOPIC_NAME_SIZE]; + + const uxrQoS_t qos = { + .durability = UXR_DURABILITY_PERSISTENT, + .reliability = UXR_RELIABILITY_RELIABLE, + .history = UXR_HISTORY_KEEP_LAST, + .depth = 1, + }; + + uint16_t replier_req = uxr_buffer_create_replier_bin(session_, reliable_out_stream_id_, replier_id_, participant_id, + service_name_simple, request_type_name, reply_type_name, request_name, reply_name, qos, UXR_REPLACE); + uint8_t status; + + if (!uxr_run_session_until_all_status(session_, 1000, &replier_req, &status, 1)) { + return false; + } + + + // Request requests + uxrDeliveryControl delivery_control = { + 0 + }; + delivery_control.max_samples = UXR_MAX_SAMPLES_UNLIMITED; + uint16_t read_data_req = + uxr_buffer_request_data(session_, reliable_out_stream_id_, replier_id_, input_stream_id, &delivery_control); + (void) read_data_req; + + return true; +} diff --git a/src/modules/uxrce_dds_client/srv_base.h b/src/modules/uxrce_dds_client/srv_base.h new file mode 100644 index 000000000000..d8a038d42bf7 --- /dev/null +++ b/src/modules/uxrce_dds_client/srv_base.h @@ -0,0 +1,102 @@ +/**************************************************************************** + * + * Copyright (c) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#pragma once + +#include + +/** @class SrvBase The SrvBase class defines the common properties and methods of a service requester. */ +class SrvBase +{ +public: + /** + * @brief Constructor. + * @param session pointer to the micro xrce-dds session. + * @param reliable_out_stream_id output stream ID. + * @param input_stream_id input stream ID. + * @param participant_id participant ID. + * @return Returns false iff successful, otherwise false. + */ + SrvBase(uxrSession *session, uxrStreamId reliable_out_stream_id, uxrStreamId input_stream_id, + uxrObjectId participant_id); + + virtual ~SrvBase() + { + + }; + + /** + * @brief Virtual method that process an incoming request from xrce_dds. + * @param ub Buffer that stores the incoming request message. + * @param time_offset_us time offset between agent and client. + * @return Returns false iff successful, otherwise false. + */ + virtual bool process_request(ucdrBuffer *ub, const int64_t time_offset_us) = 0; + + /** + * @brief Virtual method that process and send a reply. + * @return Returns false iff successful, otherwise false. + */ + virtual bool process_reply() = 0; + + /** @var is_reply_pending_ Flag for pending replies */ + bool is_reply_pending_; + + /** @var session_ xrce_dds session pointer */ + uxrSession *session_; + + /** @var reliable_out_stream_id_ output stream */ + uxrStreamId reliable_out_stream_id_; + + /** @var replier_id_ uxrce_dds replier */ + uxrObjectId replier_id_; + + /** @var sample_id_ uxrce_dds sample identifier to link request and reply */ + SampleIdentity sample_id_; + +protected: + /** + * @brief xrce_dds replier creator. + * @param input_stream_id input stream. + * @param participant_id partecipant id. + * @param index index used to create the replier id. + * @param client_namespace namespace of the client. + * @param service_name_simple name of the service. + * @param service_type_name_simple name of the service type. + * @param queue_depth lenght of the queue. + * @return Returns false iff successful, otherwise false. + */ + bool create_replier(uxrStreamId input_stream_id, uxrObjectId participant_id, uint16_t index, + const char *client_namespace, const char *service_name_simple, const char *service_type_name_simple, + uint16_t queue_depth); +}; diff --git a/src/modules/uxrce_dds_client/utilities.hpp b/src/modules/uxrce_dds_client/utilities.hpp index 91e1996fb878..70886ec795ff 100644 --- a/src/modules/uxrce_dds_client/utilities.hpp +++ b/src/modules/uxrce_dds_client/utilities.hpp @@ -10,34 +10,42 @@ uxrObjectId topic_id_from_orb(ORB_ID orb_id, uint8_t instance = 0) { - if (orb_id != ORB_ID::INVALID) { - uint16_t id = static_cast(orb_id) + (instance * UINT8_MAX); - uxrObjectId topic_id = uxr_object_id(id, UXR_TOPIC_ID); + // Note that the uxrObjectId.id is a uint16_t so we need to cap the ID, + // and urx does not allow us to use the upper 4 bits. + const unsigned max_id = 65535U / 32U; + const unsigned id = static_cast(orb_id) + (instance * ORB_TOPICS_COUNT); + + if (orb_id != ORB_ID::INVALID && id < max_id) { + uxrObjectId topic_id = uxr_object_id(static_cast(id), UXR_TOPIC_ID); return topic_id; } return uxrObjectId{}; } -static bool generate_topic_name(char *topic, const char *client_namespace, const char *direction, const char *name) +static bool generate_topic_name(char *topic_name, const char *client_namespace, const char *topic) { + if (topic[0] == '/') { + topic++; + } + if (client_namespace != nullptr) { - int ret = snprintf(topic, TOPIC_NAME_SIZE, "rt/%s/fmu/%s/%s", client_namespace, direction, name); + int ret = snprintf(topic_name, TOPIC_NAME_SIZE, "rt/%s/%s", client_namespace, topic); return (ret > 0 && ret < TOPIC_NAME_SIZE); } - int ret = snprintf(topic, TOPIC_NAME_SIZE, "rt/fmu/%s/%s", direction, name); + int ret = snprintf(topic_name, TOPIC_NAME_SIZE, "rt/%s", topic); return (ret > 0 && ret < TOPIC_NAME_SIZE); } static bool create_data_writer(uxrSession *session, uxrStreamId reliable_out_stream_id, uxrObjectId participant_id, - ORB_ID orb_id, const char *client_namespace, const char *topic_name_simple, const char *type_name, + ORB_ID orb_id, const char *client_namespace, const char *topic, const char *type_name, uxrObjectId &datawriter_id) { // topic char topic_name[TOPIC_NAME_SIZE]; - if (!generate_topic_name(topic_name, client_namespace, "out", topic_name_simple)) { + if (!generate_topic_name(topic_name, client_namespace, topic)) { PX4_ERR("topic path too long"); return false; } @@ -83,19 +91,20 @@ static bool create_data_writer(uxrSession *session, uxrStreamId reliable_out_str } static bool create_data_reader(uxrSession *session, uxrStreamId reliable_out_stream_id, uxrStreamId input_stream_id, - uxrObjectId participant_id, uint16_t index, const char *client_namespace, const char *topic_name_simple, + uxrObjectId participant_id, uint16_t index, const char *client_namespace, const char *topic, const char *type_name, uint16_t queue_depth) { // topic char topic_name[TOPIC_NAME_SIZE]; - if (!generate_topic_name(topic_name, client_namespace, "in", topic_name_simple)) { + if (!generate_topic_name(topic_name, client_namespace, topic)) { PX4_ERR("topic path too long"); return false; } - uint16_t id = index + 1000; - + // Use the second half of the available ID space. + // Add 1 so that we get a nice hex starting number: 0x800 instead of 0x7ff. + uint16_t id = index + (65535U / 32U) + 1; uxrObjectId topic_id = uxr_object_id(id, UXR_TOPIC_ID); uint16_t topic_req = uxr_buffer_create_topic_bin(session, reliable_out_stream_id, topic_id, participant_id, topic_name, diff --git a/src/modules/uxrce_dds_client/uxrce_dds_client.cpp b/src/modules/uxrce_dds_client/uxrce_dds_client.cpp index b9f1d066e41f..20428c691ebb 100644 --- a/src/modules/uxrce_dds_client/uxrce_dds_client.cpp +++ b/src/modules/uxrce_dds_client/uxrce_dds_client.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2022 PX4 Development Team. All rights reserved. + * Copyright (c) 2022-2023 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -37,6 +37,9 @@ #include "uxrce_dds_client.h" +// services +#include "vehicle_command_srv.h" + #include #include #include @@ -46,10 +49,6 @@ #include #include -#if defined(CONFIG_NET) || defined(__PX4_POSIX) -# define UXRCE_DDS_CLIENT_UDP 1 -#endif - #define STREAM_HISTORY 4 #define BUFFER_SIZE (UXR_CONFIG_SERIAL_TRANSPORT_MTU * STREAM_HISTORY) // MTU==512 by default @@ -57,8 +56,8 @@ using namespace time_literals; -void on_time(uxrSession *session, int64_t current_time, int64_t received_timestamp, int64_t transmit_timestamp, - int64_t originate_timestamp, void *args) +static void on_time(uxrSession *session, int64_t current_time, int64_t received_timestamp, int64_t transmit_timestamp, + int64_t originate_timestamp, void *args) { // latest round trip time (RTT) int64_t rtt = current_time - originate_timestamp; @@ -73,72 +72,143 @@ void on_time(uxrSession *session, int64_t current_time, int64_t received_timesta Timesync *timesync = static_cast(args); timesync->update(current_time / 1000, transmit_timestamp, originate_timestamp); - //fprintf(stderr, "time_offset: %ld, timesync: %ld, diff: %ld\n", session->time_offset/1000, timesync->offset(), session->time_offset/1000 + timesync->offset()); - session->time_offset = -timesync->offset() * 1000; // us -> ns } } +static void on_time_no_sync(uxrSession *session, int64_t current_time, int64_t received_timestamp, + int64_t transmit_timestamp, + int64_t originate_timestamp, void *args) +{ + session->time_offset = 0; +} + +static void on_request(uxrSession *session, uxrObjectId object_id, uint16_t request_id, SampleIdentity *sample_id, + ucdrBuffer *ub, uint16_t length, void *args) +{ + (void) request_id; + (void) length; + (void) args; + + const int64_t time_offset_us = session->time_offset / 1000; // ns -> us + + UxrceddsClient *client = (UxrceddsClient *)args; + + client->process_requests(object_id, sample_id, ub, time_offset_us); +} + UxrceddsClient::UxrceddsClient(Transport transport, const char *device, int baudrate, const char *agent_ip, - const char *port, bool localhost_only, bool custom_participant, const char *client_namespace) : + const char *port, const char *client_namespace) : ModuleParams(nullptr), - _localhost_only(localhost_only), _custom_participant(custom_participant), + _transport(transport), + _baudrate(baudrate), _client_namespace(client_namespace) { - if (transport == Transport::Serial) { + if (device) { + // store serial port name */ + strncpy(_device, device, sizeof(_device) - 1); + } - int fd = -1; +#if defined(UXRCE_DDS_CLIENT_UDP) - for (int attempt = 0; attempt < 3; attempt++) { - fd = open(device, O_RDWR | O_NOCTTY | O_NONBLOCK); + if (agent_ip) { + strncpy(_agent_ip, agent_ip, sizeof(_agent_ip) - 1); + } - if (fd < 0) { - PX4_ERR("open %s failed (%i)", device, errno); - // sleep before trying again - usleep(1'000'000); + if (port) { + strncpy(_port, port, sizeof(_port) - 1); + } - } else { - break; - } +#endif // UXRCE_DDS_CLIENT_UDP +} + +bool UxrceddsClient::init() +{ + deinit(); + + if (_transport == Transport::Serial) { + int fd = open(_device, O_RDWR | O_NOCTTY | O_NONBLOCK); + + if (fd < 0) { + PX4_ERR("open %s failed (%i)", _device, errno); + return false; } _transport_serial = new uxrSerialTransport(); - if (fd >= 0 && setBaudrate(fd, baudrate) == 0 && _transport_serial) { - // TODO: - uint8_t remote_addr = 0; // Identifier of the Agent in the connection - uint8_t local_addr = 1; // Identifier of the Client in the serial connection + // TODO: + uint8_t remote_addr = 0; // Identifier of the Agent in the connection + uint8_t local_addr = 1; // Identifier of the Client in the serial connection - if (uxr_init_serial_transport(_transport_serial, fd, remote_addr, local_addr)) { - _comm = &_transport_serial->comm; - _fd = fd; + if (_transport_serial + && setBaudrate(fd, _baudrate) + && uxr_init_serial_transport(_transport_serial, fd, remote_addr, local_addr) + ) { + PX4_INFO("init serial %s @ %d baud", _device, _baudrate); - } else { - PX4_ERR("uxr_init_serial_transport failed"); - } + _comm = &_transport_serial->comm; + _fd = fd; + + return true; } - } else if (transport == Transport::Udp) { + PX4_ERR("init serial %s @ %d baud failed", _device, _baudrate); + close(fd); + + delete _transport_serial; + _transport_serial = nullptr; + + return false; + } #if defined(UXRCE_DDS_CLIENT_UDP) + + if (_transport == Transport::Udp) { _transport_udp = new uxrUDPTransport(); - strncpy(_port, port, PORT_MAX_LENGTH - 1); - strncpy(_agent_ip, agent_ip, AGENT_IP_MAX_LENGTH - 1); - if (_transport_udp) { - if (uxr_init_udp_transport(_transport_udp, UXR_IPv4, _agent_ip, _port)) { - _comm = &_transport_udp->comm; - _fd = _transport_udp->platform.poll_fd.fd; + if (_transport_udp && uxr_init_udp_transport(_transport_udp, UXR_IPv4, _agent_ip, _port)) { - } else { - PX4_ERR("uxr_init_udp_transport failed"); - } + PX4_INFO("init UDP agent IP:%s, port:%s", _agent_ip, _port); + + _comm = &_transport_udp->comm; + _fd = _transport_udp->platform.poll_fd.fd; + + return true; + + } else { + PX4_ERR("init UDP agent IP:%s, port:%s failed", _agent_ip, _port); } + } -#else - PX4_ERR("UDP not supported"); -#endif +#endif // UXRCE_DDS_CLIENT_UDP + + return false; +} + +void UxrceddsClient::deinit() +{ + if (_fd >= 0) { + close(_fd); + _fd = -1; + } + + if (_transport_serial) { + uxr_close_serial_transport(_transport_serial); + delete _transport_serial; + _transport_serial = nullptr; + } + +#if defined(UXRCE_DDS_CLIENT_UDP) + + if (_transport_udp) { + uxr_close_udp_transport(_transport_udp); + delete _transport_udp; + _transport_udp = nullptr; } + +#endif // UXRCE_DDS_CLIENT_UDP + + _comm = nullptr; } UxrceddsClient::~UxrceddsClient() @@ -146,24 +216,122 @@ UxrceddsClient::~UxrceddsClient() delete _subs; delete _pubs; + delete_repliers(); + if (_transport_serial) { uxr_close_serial_transport(_transport_serial); delete _transport_serial; } + perf_free(_loop_perf); + perf_free(_loop_interval_perf); + +#if defined(UXRCE_DDS_CLIENT_UDP) + if (_transport_udp) { uxr_close_udp_transport(_transport_udp); delete _transport_udp; } + +#endif // UXRCE_DDS_CLIENT_UDP } -void UxrceddsClient::run() +static void fillMessageFormatResponse(const message_format_request_s &message_format_request, + message_format_response_s &message_format_response) { - if (!_comm) { - PX4_ERR("init failed"); + message_format_response.protocol_version = message_format_request_s::LATEST_PROTOCOL_VERSION; + message_format_response.success = false; + + if (message_format_request.protocol_version == message_format_request_s::LATEST_PROTOCOL_VERSION) { + static_assert(sizeof(message_format_request.topic_name) == sizeof(message_format_response.topic_name), "size mismatch"); + memcpy(message_format_response.topic_name, message_format_request.topic_name, + sizeof(message_format_response.topic_name)); + + // Get the topic name by searching for the last '/' + int idx_last_slash = -1; + bool found_null = false; + + for (int i = 0; i < (int)sizeof(message_format_request.topic_name); ++i) { + if (message_format_request.topic_name[i] == 0) { + found_null = true; + break; + } + + if (message_format_request.topic_name[i] == '/') { + idx_last_slash = i; + } + } + + if (found_null && idx_last_slash != -1) { + const char *topic_name = message_format_request.topic_name + idx_last_slash + 1; + // Find the format + const orb_metadata *const *topics = orb_get_topics(); + const orb_metadata *topic_meta{nullptr}; + + for (size_t i = 0; i < orb_topics_count(); i++) { + if (strcmp(topic_name, topics[i]->o_name) == 0) { + topic_meta = topics[i]; + break; + } + } + + if (topic_meta) { + message_format_response.message_hash = topic_meta->message_hash; + // The topic type is already checked by DDS + message_format_response.success = true; + } + } + } + + message_format_response.timestamp = hrt_absolute_time(); +} + +void UxrceddsClient::handleMessageFormatRequest() +{ + message_format_request_s message_format_request; + + if (_message_format_request_sub.update(&message_format_request)) { + message_format_response_s message_format_response; + fillMessageFormatResponse(message_format_request, message_format_response); + _message_format_response_pub.publish(message_format_response); + } +} + +void UxrceddsClient::syncSystemClock(uxrSession *session) +{ + struct timespec ts = {}; + px4_clock_gettime(CLOCK_REALTIME, &ts); + + // UTC timestamps in microseconds + int64_t system_utc = int64_t(ts.tv_sec) * 1000000LL + int64_t(ts.tv_nsec / 1000L); + int64_t agent_utc = int64_t(hrt_absolute_time()) + (session->time_offset / 1000LL); // ns to us + + uint64_t delta = abs(system_utc - agent_utc); + + if (delta < 5_s) { + // Only set the time if it's more than 5 seconds off (matches Mavlink and GPS logic) + PX4_DEBUG("agents UTC time is %s by %-5" PRId64 "us, not setting clock", agent_utc > system_utc ? "ahead" : "behind", + llabs(system_utc - agent_utc)); return; } + ts.tv_sec = agent_utc / 1_s; + ts.tv_nsec = (agent_utc % 1_s) * 1000; + + if (px4_clock_settime(CLOCK_REALTIME, &ts)) { + PX4_ERR("failed setting system clock"); + + } else { + char buf[40]; + struct tm date_time; + localtime_r(&ts.tv_sec, &date_time); + strftime(buf, sizeof(buf), "%a %Y-%m-%d %H:%M:%S %Z", &date_time); + PX4_INFO("successfully set system clock: %s", buf); + } +} + +void UxrceddsClient::run() +{ _subs = new SendTopicsSubs(); _pubs = new RcvTopicsPubs(); @@ -173,6 +341,17 @@ void UxrceddsClient::run() } while (!should_exit()) { + + while (!should_exit() && !_comm) { + if (!init()) { + // sleep before trying again + px4_usleep(1'000'000); + } + } + + _participant_config = static_cast(_param_uxrce_dds_ptcfg.get()); + _synchronize_timestamps = (_param_uxrce_dds_synct.get() > 0); + bool got_response = false; while (!should_exit() && !got_response) { @@ -186,7 +365,7 @@ void UxrceddsClient::run() // Session // The key identifier of the Client. All Clients connected to an Agent must have a different key. - const uint32_t key = (uint32_t)_param_xrce_key.get(); + const uint32_t key = (uint32_t)_param_uxrce_key.get(); if (key == 0) { PX4_ERR("session key must be different from zero"); @@ -218,68 +397,63 @@ void UxrceddsClient::run() uxrStreamId reliable_in = uxr_create_input_reliable_stream(&session, input_reliable_stream_buffer, sizeof(input_reliable_stream_buffer), STREAM_HISTORY); - (void)reliable_in; uxrStreamId best_effort_in = uxr_create_input_best_effort_stream(&session); - (void)best_effort_in; // Create entities uxrObjectId participant_id = uxr_object_id(0x01, UXR_PARTICIPANT_ID); - uint16_t domain_id = _param_xrce_dds_dom_id.get(); - - // const char *participant_name = "px4_micro_xrce_dds"; - // uint16_t participant_req = uxr_buffer_create_participant_bin(&session, reliable_out, participant_id, domain_id, - // participant_name, UXR_REPLACE); - - char participant_xml[PARTICIPANT_XML_SIZE]; - int ret = snprintf(participant_xml, PARTICIPANT_XML_SIZE, "%s%s/px4_micro_xrce_dds%s", - _localhost_only ? - "" - "" - "" - "" - "udp_localhost" - "UDPv4" - "
127.0.0.1
" - "" - "" - "" - "" - "" - : - "" - "" - "", - _client_namespace != nullptr ? - _client_namespace - : - "", - _localhost_only ? - "false" - "udp_localhost" - "" - "" - "" - : - "" - "" - "" - ); - - if (ret < 0 || ret >= PARTICIPANT_XML_SIZE) { - PX4_ERR("create entities failed: namespace too long"); - return; - } - + uint16_t domain_id = _param_uxrce_dds_dom_id.get(); uint16_t participant_req{}; - if (_custom_participant) { + if (_participant_config == ParticipantConfig::Custom) { + // Create participant by reference (XML not required) participant_req = uxr_buffer_create_participant_ref(&session, reliable_out, participant_id, domain_id, "px4_participant", UXR_REPLACE); } else { + // Construct participant XML and create participant by XML + char participant_xml[PARTICIPANT_XML_SIZE]; + int ret = snprintf(participant_xml, PARTICIPANT_XML_SIZE, "%s%s/px4_micro_xrce_dds%s", + (_participant_config == ParticipantConfig::LocalHostOnly) ? + "" + "" + "" + "" + "udp_localhost" + "UDPv4" + "
127.0.0.1
" + "" + "" + "" + "" + "" + : + "" + "" + "", + _client_namespace != nullptr ? + _client_namespace + : + "", + (_participant_config == ParticipantConfig::LocalHostOnly) ? + "false" + "udp_localhost" + "" + "" + "" + : + "" + "" + "" + ); + + if (ret < 0 || ret >= PARTICIPANT_XML_SIZE) { + PX4_ERR("create entities failed: namespace too long"); + return; + } + participant_req = uxr_buffer_create_participant_xml(&session, reliable_out, participant_id, domain_id, participant_xml, UXR_REPLACE); } @@ -296,24 +470,40 @@ void UxrceddsClient::run() return; } + // create VehicleCommand replier + if (_num_of_repliers < MAX_NUM_REPLIERS) { + if (add_replier(new VehicleCommandSrv(&session, reliable_out, reliable_in, participant_id, _client_namespace, + _num_of_repliers))) { + PX4_ERR("replier init failed"); + return; + } + } + _connected = true; // Set time-callback. - uxr_set_time_callback(&session, on_time, &_timesync); + if (_synchronize_timestamps) { + uxr_set_time_callback(&session, on_time, &_timesync); - // Synchronize with the Agent - bool synchronized = false; + } else { + uxr_set_time_callback(&session, on_time_no_sync, nullptr); + } - while (!synchronized) { - synchronized = uxr_sync_session(&session, 1000); + uxr_set_request_callback(&session, on_request, this); - if (synchronized) { + // Spin until sync with the Agent + while (_synchronize_timestamps) { + if (uxr_sync_session(&session, 1000) && _timesync.sync_converged()) { PX4_INFO("synchronized with time offset %-5" PRId64 "us", session.time_offset / 1000); - //sleep(1); - } else { - usleep(10000); + if (_param_uxrce_dds_syncc.get() > 0) { + syncSystemClock(&session); + } + + break; } + + px4_usleep(10'000); } hrt_abstime last_sync_session = 0; @@ -323,21 +513,74 @@ void UxrceddsClient::run() bool had_ping_reply = false; uint32_t last_num_payload_sent{}; uint32_t last_num_payload_received{}; + int poll_error_counter = 0; + + _subs->init(); while (!should_exit() && _connected) { - _subs->update(&session, reliable_out, best_effort_out, participant_id, _client_namespace); + perf_begin(_loop_perf); + perf_count(_loop_interval_perf); + + int orb_poll_timeout_ms = 10; + int bytes_available = 0; + + if (ioctl(_fd, FIONREAD, (unsigned long)&bytes_available) == OK) { + if (bytes_available > 10) { + orb_poll_timeout_ms = 0; + } + } + + /* Wait for topic updates for max 10 ms */ + int poll = px4_poll(_subs->fds, (sizeof(_subs->fds) / sizeof(_subs->fds[0])), orb_poll_timeout_ms); + + /* Handle the poll results */ + if (poll > 0) { + _subs->update(&session, reliable_out, best_effort_out, participant_id, _client_namespace); + + } else { + if (poll < 0) { + // poll error + if (poll_error_counter < 10 || poll_error_counter % 50 == 0) { + // prevent flooding + PX4_ERR("ERROR while polling uorbs: %d", poll); + } + + poll_error_counter++; + } + } + + // run session with 0 timeout (non-blocking) uxr_run_session_timeout(&session, 0); + // check if there are available replies + process_replies(); + // time sync session - if (hrt_elapsed_time(&last_sync_session) > 1_s) { - if (uxr_sync_session(&session, 100)) { + if (_synchronize_timestamps && hrt_elapsed_time(&last_sync_session) > 1_s) { + + if (uxr_sync_session(&session, 10) && _timesync.sync_converged()) { //PX4_INFO("synchronized with time offset %-5" PRId64 "ns", session.time_offset); last_sync_session = hrt_absolute_time(); + + if (_param_uxrce_dds_syncc.get() > 0) { + syncSystemClock(&session); + } + } + + if (!_timesync_converged && _timesync.sync_converged()) { + PX4_INFO("time sync converged"); + + } else if (_timesync_converged && !_timesync.sync_converged()) { + PX4_WARN("time sync no longer converged"); } + + _timesync_converged = _timesync.sync_converged(); } + handleMessageFormatRequest(); + // Check for a ping response /* PONG_IN_SESSION_STATUS */ if (session.on_pong_flag == 1) { @@ -355,38 +598,51 @@ void UxrceddsClient::run() last_status_update = now; } - // Handle ping - if (now - last_ping > 500_ms) { + // Handle ping, unless we're actively sending & receiving payloads successfully + if ((_last_payload_tx_rate > 0) && (_last_payload_rx_rate > 0)) { + _connected = true; + num_pings_missed = 0; last_ping = now; - if (had_ping_reply) { - num_pings_missed = 0; + } else { + if (hrt_elapsed_time(&last_ping) > 1_s) { + last_ping = now; - } else { - ++num_pings_missed; - } + if (had_ping_reply) { + num_pings_missed = 0; - uxr_ping_agent_session(&session, 0, 1); + } else { + ++num_pings_missed; + } - had_ping_reply = false; - } + int timeout_ms = 1'000; // 1 second + uint8_t attempts = 1; + uxr_ping_agent_session(&session, timeout_ms, attempts); + + had_ping_reply = false; + } - if (num_pings_missed > 2) { - PX4_INFO("No ping response, disconnecting"); - _connected = false; + if (num_pings_missed >= 3) { + PX4_INFO("No ping response, disconnecting"); + _connected = false; + } } - px4_usleep(1000); + perf_end(_loop_perf); + } + delete_repliers(); + uxr_delete_session_retries(&session, _connected ? 1 : 0); _last_payload_tx_rate = 0; _last_payload_tx_rate = 0; _subs->reset(); + _timesync.reset_filter(); } } -int UxrceddsClient::setBaudrate(int fd, unsigned baud) +bool UxrceddsClient::setBaudrate(int fd, unsigned baud) { int speed; @@ -459,7 +715,7 @@ int UxrceddsClient::setBaudrate(int fd, unsigned baud) default: PX4_ERR("ERR: unknown baudrate: %d", baud); - return -EINVAL; + return false; } struct termios uart_config; @@ -507,20 +763,62 @@ int UxrceddsClient::setBaudrate(int fd, unsigned baud) /* set baud rate */ if ((termios_state = cfsetispeed(&uart_config, speed)) < 0) { PX4_ERR("ERR: %d (cfsetispeed)", termios_state); - return -1; + return false; } if ((termios_state = cfsetospeed(&uart_config, speed)) < 0) { PX4_ERR("ERR: %d (cfsetospeed)", termios_state); - return -1; + return false; } if ((termios_state = tcsetattr(fd, TCSANOW, &uart_config)) < 0) { PX4_ERR("ERR: %d (tcsetattr)", termios_state); - return -1; + return false; } - return 0; + return true; +} + +bool UxrceddsClient::add_replier(SrvBase *replier) +{ + if (_num_of_repliers < MAX_NUM_REPLIERS) { + _repliers[_num_of_repliers] = replier; + + _num_of_repliers++; + } + + return false; +} + +void UxrceddsClient::process_requests(uxrObjectId object_id, SampleIdentity *sample_id, ucdrBuffer *ub, + const int64_t time_offset_us) +{ + for (uint8_t i = 0; i < _num_of_repliers; i++) { + if (object_id.id == _repliers[i]->replier_id_.id + && object_id.type == _repliers[i]->replier_id_.type) { + + _repliers[i]->process_request(ub, time_offset_us); + memcpy(&(_repliers[i]->sample_id_), sample_id, sizeof(_repliers[i]->sample_id_)); + break; + } + } +} + +void UxrceddsClient::process_replies() +{ + for (uint8_t i = 0; i < _num_of_repliers; i++) { + _repliers[i]->process_reply(); + } +} + +void UxrceddsClient::delete_repliers() +{ + for (uint8_t i = 0; i < _num_of_repliers; i++) { + delete (_repliers[i]); + _repliers[i] = nullptr; + } + + _num_of_repliers = 0; } int UxrceddsClient::custom_command(int argc, char *argv[]) @@ -533,7 +831,7 @@ int UxrceddsClient::task_spawn(int argc, char *argv[]) _task_id = px4_task_spawn_cmd("uxrce_dds_client", SCHED_DEFAULT, SCHED_PRIORITY_DEFAULT, - PX4_STACK_ADJUSTED(10000), + PX4_STACK_ADJUSTED(12000), (px4_main_t)&run_trampoline, (char *const *)argv); @@ -551,23 +849,29 @@ int UxrceddsClient::print_status() #if defined(UXRCE_DDS_CLIENT_UDP) if (_transport_udp != nullptr) { - PX4_INFO("Using transport: udp"); - PX4_INFO("Agent IP: %s", _agent_ip); - PX4_INFO("Agent port: %s", _port); - + PX4_INFO("Using transport: udp"); + PX4_INFO("Agent IP: %s", _agent_ip); + PX4_INFO("Agent port: %s", _port); + PX4_INFO("Custom participant: %s", _participant_config == ParticipantConfig::Custom ? "yes" : "no"); + PX4_INFO("Localhost only: %s", _participant_config == ParticipantConfig::LocalHostOnly ? "yes" : "no"); } #endif if (_transport_serial != nullptr) { - PX4_INFO("Using transport: serial"); + PX4_INFO("Using transport: serial"); } if (_connected) { - PX4_INFO("Payload tx: %i B/s", _last_payload_tx_rate); - PX4_INFO("Payload rx: %i B/s", _last_payload_rx_rate); + PX4_INFO("Payload tx: %i B/s", _last_payload_tx_rate); + PX4_INFO("Payload rx: %i B/s", _last_payload_rx_rate); } + PX4_INFO("timesync converged: %s", _timesync.sync_converged() ? "true" : "false"); + + perf_print_counter(_loop_perf); + perf_print_counter(_loop_interval_perf); + return 0; } @@ -589,12 +893,9 @@ UxrceddsClient *UxrceddsClient::instantiate(int argc, char *argv[]) const char *device = nullptr; int baudrate = 921600; - bool localhost_only = false; - bool custom_participant = false; - const char *client_namespace = nullptr;//"px4"; - while ((ch = px4_getopt(argc, argv, "t:d:b:h:p:lcn:", &myoptind, &myoptarg)) != EOF) { + while ((ch = px4_getopt(argc, argv, "t:d:b:h:p:n:", &myoptind, &myoptarg)) != EOF) { switch (ch) { case 't': if (!strcmp(myoptarg, "serial")) { @@ -631,14 +932,6 @@ UxrceddsClient *UxrceddsClient::instantiate(int argc, char *argv[]) case 'p': snprintf(port, PORT_MAX_LENGTH, "%s", myoptarg); break; - - case 'l': - localhost_only = true; - break; - - case 'c': - custom_participant = true; - break; #endif // UXRCE_DDS_CLIENT_UDP case 'n': @@ -694,8 +987,7 @@ UxrceddsClient *UxrceddsClient::instantiate(int argc, char *argv[]) } } - return new UxrceddsClient(transport, device, baudrate, agent_ip, port, localhost_only, custom_participant, - client_namespace); + return new UxrceddsClient(transport, device, baudrate, agent_ip, port, client_namespace); } int UxrceddsClient::print_usage(const char *reason) @@ -721,8 +1013,6 @@ UXRCE-DDS Client used to communicate uORB topics with an Agent over serial or UD PRINT_MODULE_USAGE_PARAM_INT('b', 0, 0, 3000000, "Baudrate (can also be p:)", true); PRINT_MODULE_USAGE_PARAM_STRING('h', nullptr, "", "Agent IP. If not provided, defaults to UXRCE_DDS_AG_IP", true); PRINT_MODULE_USAGE_PARAM_INT('p', -1, 0, 65535, "Agent listening port. If not provided, defaults to UXRCE_DDS_PRT", true); - PRINT_MODULE_USAGE_PARAM_FLAG('l', "Restrict to localhost (use in combination with ROS_LOCALHOST_ONLY=1)", true); - PRINT_MODULE_USAGE_PARAM_FLAG('c', "Use custom participant config (profile_name=\"px4_participant\")", true); PRINT_MODULE_USAGE_PARAM_STRING('n', nullptr, nullptr, "Client DDS namespace", true); PRINT_MODULE_USAGE_DEFAULT_COMMANDS(); diff --git a/src/modules/uxrce_dds_client/uxrce_dds_client.h b/src/modules/uxrce_dds_client/uxrce_dds_client.h index aab381b73dc6..a0c563b27963 100644 --- a/src/modules/uxrce_dds_client/uxrce_dds_client.h +++ b/src/modules/uxrce_dds_client/uxrce_dds_client.h @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2022 PX4 Development Team. All rights reserved. + * Copyright (c) 2022-2023 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -38,8 +38,22 @@ #include +#include +#include +#include + #include +#include + +#if defined(CONFIG_NET) || defined(__PX4_POSIX) +# define UXRCE_DDS_CLIENT_UDP 1 +#endif + +#include "srv_base.h" + +#define MAX_NUM_REPLIERS 5 + class UxrceddsClient : public ModuleBase, public ModuleParams { public: @@ -49,7 +63,7 @@ class UxrceddsClient : public ModuleBase, public ModuleParams }; UxrceddsClient(Transport transport, const char *device, int baudrate, const char *host, const char *port, - bool localhost_only, bool custom_participant, const char *client_namespace); + const char *client_namespace); ~UxrceddsClient(); @@ -71,29 +85,83 @@ class UxrceddsClient : public ModuleBase, public ModuleParams /** @see ModuleBase::print_status() */ int print_status() override; + /** + * @brief Method to add a new replyer to the replier array. + * @param replier pointer to the new replier. + * @return Returns false iff successful, otherwise false. + */ + bool add_replier(SrvBase *replier); + + /** + * @brief Method to process new incoming requests and dispatch them to the appropriate server. + * @param object_id replier object id + * @param sample_id pointer to specific request. + * @param time_offset_us time offset between agent and client. + * @param ub pointer to the received request data + */ + void process_requests(uxrObjectId object_id, SampleIdentity *sample_id, ucdrBuffer *ub, const int64_t time_offset_us); + + /** + * @brief Method to process the available replies. + * @return Returns false iff successful, otherwise false. + */ + void process_replies(); + + /** + * @brief Method to delete all repliers. + * @return Returns false iff successful, otherwise false. + */ + void delete_repliers(); + private: - int setBaudrate(int fd, unsigned baud); - const bool _localhost_only; - const bool _custom_participant; + bool init(); + void deinit(); + + bool setBaudrate(int fd, unsigned baud); + + void handleMessageFormatRequest(); + + uORB::Publication _message_format_response_pub{ORB_ID(message_format_response)}; + uORB::Subscription _message_format_request_sub{ORB_ID(message_format_request)}; + + /** Synchronizes the system clock if the time is off by more than 5 seconds */ + void syncSystemClock(uxrSession *session); + + Transport _transport{}; + + uxrSerialTransport *_transport_serial{nullptr}; + char _device[32] {}; + int _baudrate{}; + const char *_client_namespace; + enum class ParticipantConfig { + Default, + LocalHostOnly, + Custom, + } _participant_config{ParticipantConfig::Default}; + + bool _synchronize_timestamps; // max port characters (5+'\0') static const uint8_t PORT_MAX_LENGTH = 6; + // max agent ip characters (15+'\0') static const uint8_t AGENT_IP_MAX_LENGTH = 16; -#if defined(CONFIG_NET) || defined(__PX4_POSIX) - char _port[PORT_MAX_LENGTH]; - char _agent_ip[AGENT_IP_MAX_LENGTH]; -#endif +#if defined(UXRCE_DDS_CLIENT_UDP) + char _port[PORT_MAX_LENGTH] {}; + char _agent_ip[AGENT_IP_MAX_LENGTH] {}; + uxrUDPTransport *_transport_udp{nullptr}; +#endif // UXRCE_DDS_CLIENT_UDP SendTopicsSubs *_subs{nullptr}; RcvTopicsPubs *_pubs{nullptr}; - uxrSerialTransport *_transport_serial{nullptr}; - uxrUDPTransport *_transport_udp{nullptr}; + SrvBase *_repliers[MAX_NUM_REPLIERS]; + uint8_t _num_of_repliers{0}; + uxrCommunication *_comm{nullptr}; int _fd{-1}; @@ -101,10 +169,18 @@ class UxrceddsClient : public ModuleBase, public ModuleParams int _last_payload_rx_rate{}; ///< in B/s bool _connected{false}; + bool _timesync_converged{false}; + Timesync _timesync{timesync_status_s::SOURCE_PROTOCOL_DDS}; + perf_counter_t _loop_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": cycle")}; + perf_counter_t _loop_interval_perf{perf_alloc(PC_INTERVAL, MODULE_NAME": cycle interval")}; + DEFINE_PARAMETERS( - (ParamInt) _param_xrce_dds_dom_id, - (ParamInt) _param_xrce_key + (ParamInt) _param_uxrce_dds_dom_id, + (ParamInt) _param_uxrce_key, + (ParamInt) _param_uxrce_dds_ptcfg, + (ParamInt) _param_uxrce_dds_syncc, + (ParamInt) _param_uxrce_dds_synct ) }; diff --git a/src/modules/uxrce_dds_client/vehicle_command_srv.cpp b/src/modules/uxrce_dds_client/vehicle_command_srv.cpp new file mode 100644 index 000000000000..c25d6757d4a9 --- /dev/null +++ b/src/modules/uxrce_dds_client/vehicle_command_srv.cpp @@ -0,0 +1,90 @@ +/**************************************************************************** + * + * Copyright (c) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include "vehicle_command_srv.h" +#include +#include + +VehicleCommandSrv::VehicleCommandSrv(uxrSession *session, uxrStreamId reliable_out_stream_id, + uxrStreamId input_stream_id, uxrObjectId participant_id, const char *client_namespace, const uint8_t index) : + SrvBase(session, reliable_out_stream_id, input_stream_id, participant_id) +{ + uint16_t queue_depth = orb_get_queue_size(ORB_ID(vehicle_command)) * 2; // use a bit larger queue size than internal + create_replier(input_stream_id, participant_id, index, client_namespace, "vehicle_command", "VehicleCommand", + queue_depth); +}; + +VehicleCommandSrv::~VehicleCommandSrv() +{ + +}; + +bool VehicleCommandSrv::process_request(ucdrBuffer *ub, const int64_t time_offset_us) +{ + vehicle_command_s data; + + if (ucdr_deserialize_vehicle_command(*ub, data, time_offset_us)) { + vehicle_command_pub_.publish(data); + is_reply_pending_ = true; + last_command_sent_ = data.command; + last_command_sent_timestamp_ = hrt_absolute_time(); + } + + return 0; +} + +bool VehicleCommandSrv::process_reply() +{ + vehicle_command_ack_s cmd_ack; + + if (is_reply_pending_ && vehicle_command_ack_sub_.update(&cmd_ack)) { + if (cmd_ack.command == last_command_sent_ && cmd_ack.timestamp > last_command_sent_timestamp_) { + last_command_sent_ = 0; + is_reply_pending_ = false; + + ucdrBuffer reply_ub; + const uint32_t topic_size = ucdr_topic_size_vehicle_command_ack(); + uint8_t reply_buffer[topic_size] = { + 0 + + }; + const int64_t time_offset_us = session_->time_offset / 1000; // ns -> us + ucdr_init_buffer(&reply_ub, reply_buffer, sizeof(reply_buffer)); + ucdr_serialize_vehicle_command_ack(&cmd_ack, reply_ub, time_offset_us); + + uxr_buffer_reply(session_, reliable_out_stream_id_, replier_id_, &sample_id_, reply_buffer, sizeof(reply_buffer)); + } + } + + return 0; +} diff --git a/src/modules/uxrce_dds_client/vehicle_command_srv.h b/src/modules/uxrce_dds_client/vehicle_command_srv.h new file mode 100644 index 000000000000..4888b4f53e70 --- /dev/null +++ b/src/modules/uxrce_dds_client/vehicle_command_srv.h @@ -0,0 +1,73 @@ +/**************************************************************************** + * + * Copyright (c) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#pragma once + +#include +#include + +#include +#include + +#include "srv_base.h" + +/** + * @see SrvBase + * @class VehicleCommandSrv The VehicleCommandSrv class implement the VehicleCommand service server. + */ +class VehicleCommandSrv : public SrvBase +{ +private: + uORB::Publication vehicle_command_pub_{ORB_ID(vehicle_command)}; + uORB::Subscription vehicle_command_ack_sub_{ORB_ID(vehicle_command_ack)}; + uint32_t last_command_sent_{0}; + hrt_abstime last_command_sent_timestamp_{0}; +public: + /** + * @brief Constructor. + * @see SrvBase. + * @param client_namespace namespace for the client service. + * @param index index used to create the replier id. + * @return Returns false iff successful, otherwise false. + */ + VehicleCommandSrv(uxrSession *session, uxrStreamId reliable_out_stream_id, uxrStreamId input_stream_id, + uxrObjectId participant_id, const char *client_namespace, const uint8_t index); + + ~VehicleCommandSrv(); + + /** @see SrvBase */ + bool process_request(ucdrBuffer *ub, const int64_t time_offset_us); + + /** @see SrvBase */ + bool process_reply(); +}; diff --git a/src/modules/vtol_att_control/CMakeLists.txt b/src/modules/vtol_att_control/CMakeLists.txt index e6316b14593f..780217ccc6dc 100644 --- a/src/modules/vtol_att_control/CMakeLists.txt +++ b/src/modules/vtol_att_control/CMakeLists.txt @@ -40,4 +40,3 @@ px4_add_module( tailsitter.cpp standard.cpp ) - diff --git a/src/modules/vtol_att_control/standard.cpp b/src/modules/vtol_att_control/standard.cpp index 9be4ce5b3ec6..105ee1ee6efa 100644 --- a/src/modules/vtol_att_control/standard.cpp +++ b/src/modules/vtol_att_control/standard.cpp @@ -172,6 +172,11 @@ void Standard::update_transition_state() VtolType::update_transition_state(); + const Eulerf attitude_setpoint_euler(Quatf(_v_att_sp->q_d)); + float roll_body = attitude_setpoint_euler.phi(); + float pitch_body = attitude_setpoint_euler.theta(); + float yaw_body = attitude_setpoint_euler.psi(); + // we get attitude setpoint from a multirotor flighttask if climbrate is controlled. // in any other case the fixed wing attitude controller publishes attitude setpoint from manual stick input. if (_v_control_mode->flag_control_climb_rate_enabled) { @@ -181,7 +186,7 @@ void Standard::update_transition_state() } memcpy(_v_att_sp, _mc_virtual_att_sp, sizeof(vehicle_attitude_setpoint_s)); - _v_att_sp->roll_body = _fw_virtual_att_sp->roll_body; + roll_body = Eulerf(Quatf(_fw_virtual_att_sp->q_d)).phi(); } else { // we need a recent incoming (fw virtual) attitude setpoint, otherwise return (means the previous setpoint stays active) @@ -200,45 +205,46 @@ void Standard::update_transition_state() } else if (_pusher_throttle <= _param_vt_f_trans_thr.get()) { // ramp up throttle to the target throttle value + const float dt = math::min((now - _last_time_pusher_transition_update) / 1e6f, 0.05f); _pusher_throttle = math::min(_pusher_throttle + - _param_vt_psher_slew.get() * _dt, _param_vt_f_trans_thr.get()); + _param_vt_psher_slew.get() * dt, _param_vt_f_trans_thr.get()); + + _last_time_pusher_transition_update = now; } - _airspeed_trans_blend_margin = _param_vt_arsp_trans.get() - _param_vt_arsp_blend.get(); + _airspeed_trans_blend_margin = getTransitionAirspeed() - getBlendAirspeed(); // do blending of mc and fw controls if a blending airspeed has been provided and the minimum transition time has passed if (_airspeed_trans_blend_margin > 0.0f && PX4_ISFINITE(_airspeed_validated->calibrated_airspeed_m_s) && _airspeed_validated->calibrated_airspeed_m_s > 0.0f && - _airspeed_validated->calibrated_airspeed_m_s >= _param_vt_arsp_blend.get() && + _airspeed_validated->calibrated_airspeed_m_s >= getBlendAirspeed() && _time_since_trans_start > getMinimumFrontTransitionTime()) { - mc_weight = 1.0f - fabsf(_airspeed_validated->calibrated_airspeed_m_s - _param_vt_arsp_blend.get()) / + mc_weight = 1.0f - fabsf(_airspeed_validated->calibrated_airspeed_m_s - getBlendAirspeed()) / _airspeed_trans_blend_margin; // time based blending when no airspeed sensor is set - } else if (_param_fw_arsp_mode.get() || !PX4_ISFINITE(_airspeed_validated->calibrated_airspeed_m_s)) { + } else if (!_param_fw_use_airspd.get() || !PX4_ISFINITE(_airspeed_validated->calibrated_airspeed_m_s)) { mc_weight = 1.0f - _time_since_trans_start / getMinimumFrontTransitionTime(); mc_weight = math::constrain(2.0f * mc_weight, 0.0f, 1.0f); } // ramp up FW_PSP_OFF - _v_att_sp->pitch_body = math::radians(_param_fw_psp_off.get()) * (1.0f - mc_weight); - + pitch_body = math::radians(_param_fw_psp_off.get()) * (1.0f - mc_weight); _v_att_sp->thrust_body[0] = _pusher_throttle; - - const Quatf q_sp(Eulerf(_v_att_sp->roll_body, _v_att_sp->pitch_body, _v_att_sp->yaw_body)); + const Quatf q_sp(Eulerf(roll_body, pitch_body, yaw_body)); q_sp.copyTo(_v_att_sp->q_d); } else if (_vtol_mode == vtol_mode::TRANSITION_TO_MC) { if (_v_control_mode->flag_control_climb_rate_enabled) { // control backtransition deceleration using pitch. - _v_att_sp->pitch_body = update_and_get_backtransition_pitch_sp(); + pitch_body = update_and_get_backtransition_pitch_sp(); } - const Quatf q_sp(Eulerf(_v_att_sp->roll_body, _v_att_sp->pitch_body, _v_att_sp->yaw_body)); + const Quatf q_sp(Eulerf(roll_body, pitch_body, yaw_body)); q_sp.copyTo(_v_att_sp->q_d); _pusher_throttle = 0.0f; diff --git a/src/modules/vtol_att_control/standard.h b/src/modules/vtol_att_control/standard.h index 280f2e5042ee..6136f872075f 100644 --- a/src/modules/vtol_att_control/standard.h +++ b/src/modules/vtol_att_control/standard.h @@ -76,6 +76,7 @@ class Standard : public VtolType float _pusher_throttle{0.0f}; float _airspeed_trans_blend_margin{0.0f}; + hrt_abstime _last_time_pusher_transition_update{0}; void parameters_update() override; diff --git a/src/modules/vtol_att_control/standard_params.c b/src/modules/vtol_att_control/standard_params.c index 5bbb4d5cc031..f46f644f181d 100644 --- a/src/modules/vtol_att_control/standard_params.c +++ b/src/modules/vtol_att_control/standard_params.c @@ -48,6 +48,7 @@ * Fixed-wing forward actuators refers to puller/pusher (standard VTOL), or forward-tilt (tiltrotor VTOL). * Only active if demanded down pitch is below VT_PITCH_MIN. * Use VT_FWD_THRUST_SC to tune it. + * Descend mode is treated as Landing too. * * Only active (if enabled) in Altitude, Position and Auto modes, not in Stabilized. * @@ -71,6 +72,8 @@ PARAM_DEFINE_INT32(VT_FWD_THRUST_EN, 0); * * @min 0.0 * @max 2.0 + * @increment 0.01 + * @decimal 2 * @group VTOL Attitude Control */ PARAM_DEFINE_FLOAT(VT_FWD_THRUST_SC, 0.7f); @@ -83,6 +86,8 @@ PARAM_DEFINE_FLOAT(VT_FWD_THRUST_SC, 0.7f); * @unit s * @min 0.0 * @max 20.0 + * @increment 0.1 + * @decimal 1 * @group VTOL Attitude Control */ PARAM_DEFINE_FLOAT(VT_B_TRANS_RAMP, 3.0f); diff --git a/src/modules/vtol_att_control/tailsitter.cpp b/src/modules/vtol_att_control/tailsitter.cpp index ff812f926e27..eaacbe68d611 100644 --- a/src/modules/vtol_att_control/tailsitter.cpp +++ b/src/modules/vtol_att_control/tailsitter.cpp @@ -67,6 +67,10 @@ void Tailsitter::update_vtol_state() if (_vtol_vehicle_status->fixed_wing_system_failure) { // Failsafe event, switch to MC mode immediately + if (_vtol_mode != vtol_mode::MC_MODE) { + _transition_start_timestamp = hrt_absolute_time(); + } + _vtol_mode = vtol_mode::MC_MODE; } else if (!_attc->is_fixed_wing_requested()) { @@ -88,15 +92,8 @@ void Tailsitter::update_vtol_state() case vtol_mode::TRANSITION_BACK: const float pitch = Eulerf(Quatf(_v_att->q)).theta(); - float pitch_threshold_mc = PITCH_THRESHOLD_AUTO_TRANSITION_TO_MC; - - // if doing transition in Stabilized mode set threshold to max angle plus 5° margin - if (!_v_control_mode->flag_control_altitude_enabled) { - pitch_threshold_mc = math::radians(-_param_mpc_tilt_max.get() - 5.f); - } - // check if we have reached pitch angle to switch to MC mode - if (pitch >= pitch_threshold_mc || _time_since_trans_start > _param_vt_b_trans_dur.get()) { + if (pitch >= PITCH_THRESHOLD_AUTO_TRANSITION_TO_MC || _time_since_trans_start > _param_vt_b_trans_dur.get()) { _vtol_mode = vtol_mode::MC_MODE; } @@ -128,6 +125,7 @@ void Tailsitter::update_vtol_state() case vtol_mode::TRANSITION_BACK: // failsafe into fixed wing mode _vtol_mode = vtol_mode::FW_MODE; + _trans_finished_ts = hrt_absolute_time(); break; } } @@ -172,31 +170,32 @@ void Tailsitter::update_transition_state() // calculate rotation axis for transition. _q_trans_start = Quatf(_v_att->q); Vector3f z = -_q_trans_start.dcm_z(); - _trans_rot_axis = z.cross(Vector3f(0, 0, -1)); + _trans_rot_axis = z.cross(Vector3f(0.f, 0.f, -1.f)); // as heading setpoint we choose the heading given by the direction the vehicle points - float yaw_sp = atan2f(z(1), z(0)); + const float yaw_sp = atan2f(z(1), z(0)); // the intial attitude setpoint for a backtransition is a combination of the current fw pitch setpoint, // the yaw setpoint and zero roll since we want wings level transition. - // If for some reason the fw attitude setpoint is not recent then don't sue it and assume 0 pitch + // If for some reason the fw attitude setpoint is not recent then don't use it and assume 0 pitch if (_fw_virtual_att_sp->timestamp > (now - 1_s)) { - _q_trans_start = Eulerf(0.0f, _fw_virtual_att_sp->pitch_body, yaw_sp); + const float pitch_body = Eulerf(Quatf(_fw_virtual_att_sp->q_d)).theta(); + _q_trans_start = Eulerf(0.f, pitch_body, yaw_sp); } else { - _q_trans_start = Eulerf(0.0f, 0.f, yaw_sp); + _q_trans_start = Eulerf(0.f, 0.f, yaw_sp); } - // attitude during transitions are controlled by mc attitude control so rotate the desired attitude to the // multirotor frame _q_trans_start = _q_trans_start * Quatf(Eulerf(0, -M_PI_2_F, 0)); } else if (_vtol_mode == vtol_mode::TRANSITION_FRONT_P1) { // initial attitude setpoint for the transition should be with wings level - _q_trans_start = Eulerf(0.0f, _mc_virtual_att_sp->pitch_body, _mc_virtual_att_sp->yaw_body); - Vector3f x = Dcmf(Quatf(_v_att->q)) * Vector3f(1, 0, 0); - _trans_rot_axis = -x.cross(Vector3f(0, 0, -1)); + const Eulerf setpoint_euler(Quatf(_mc_virtual_att_sp->q_d)); + _q_trans_start = Eulerf(0.f, setpoint_euler.theta(), setpoint_euler.psi()); + Vector3f x = Dcmf(Quatf(_v_att->q)) * Vector3f(1.f, 0.f, 0.f); + _trans_rot_axis = -x.cross(Vector3f(0.f, 0.f, -1.f)); } _q_trans_sp = _q_trans_start; @@ -206,10 +205,8 @@ void Tailsitter::update_transition_state() _q_trans_sp.normalize(); // tilt angle (zero if vehicle nose points up (hover)) - float cos_tilt = _q_trans_sp(0) * _q_trans_sp(0) - _q_trans_sp(1) * _q_trans_sp(1) - _q_trans_sp(2) * - _q_trans_sp(2) + _q_trans_sp(3) * _q_trans_sp(3); - cos_tilt = cos_tilt > 1.0f ? 1.0f : cos_tilt; - cos_tilt = cos_tilt < -1.0f ? -1.0f : cos_tilt; + const float cos_tilt = math::constrain(_q_trans_sp(0) * _q_trans_sp(0) - _q_trans_sp(1) * _q_trans_sp(1) - + _q_trans_sp(2) * _q_trans_sp(2) + _q_trans_sp(3) * _q_trans_sp(3), -1.f, 1.f); const float tilt = acosf(cos_tilt); if (_vtol_mode == vtol_mode::TRANSITION_FRONT_P1) { @@ -235,20 +232,21 @@ void Tailsitter::update_transition_state() _v_att_sp->thrust_body[2] = _mc_virtual_att_sp->thrust_body[2]; + if (_vtol_mode == vtol_mode::TRANSITION_BACK) { + const float progress = math::constrain(_time_since_trans_start / B_TRANS_THRUST_BLENDING_DURATION, 0.f, 1.f); + blendThrottleBeginningBackTransition(progress); + } + _v_att_sp->timestamp = hrt_absolute_time(); const Eulerf euler_sp(_q_trans_sp); - _v_att_sp->roll_body = euler_sp.phi(); - _v_att_sp->pitch_body = euler_sp.theta(); - _v_att_sp->yaw_body = euler_sp.psi(); - _q_trans_sp.copyTo(_v_att_sp->q_d); } void Tailsitter::waiting_on_tecs() { // copy the last trust value from the front transition - _v_att_sp->thrust_body[0] = _thrust_transition; + _v_att_sp->thrust_body[0] = -_last_thr_in_mc; } void Tailsitter::update_fw_state() @@ -304,12 +302,27 @@ void Tailsitter::fill_actuator_outputs() _torque_setpoint_0->xyz[2] = _vehicle_torque_setpoint_virtual_fw->xyz[2] * _param_vt_fw_difthr_s_r.get(); } + // for the short period after switching to FW where there is no thrust published yet from the FW controller, + // keep publishing the last MC thrust to keep the motors running + if (hrt_elapsed_time(&_trans_finished_ts) < 50_ms) { + _thrust_setpoint_0->xyz[2] = _last_thr_in_mc; + _torque_setpoint_0->xyz[0] = 0.f; + _torque_setpoint_0->xyz[1] = 0.f; + _torque_setpoint_0->xyz[2] = 0.f; + } + } else { + _thrust_setpoint_0->xyz[2] = _vehicle_thrust_setpoint_virtual_mc->xyz[2]; + + // for the short period after starting the backtransition where there is no thrust published yet from the MC controller, + // keep publishing the last FW thrust to keep the motors running + if (_vtol_mode != vtol_mode::TRANSITION_FRONT_P1 && hrt_elapsed_time(&_transition_start_timestamp) < 50_ms) { + _thrust_setpoint_0->xyz[2] = -_last_thr_in_fw_mode; + } + _torque_setpoint_0->xyz[0] = _vehicle_torque_setpoint_virtual_mc->xyz[0]; _torque_setpoint_0->xyz[1] = _vehicle_torque_setpoint_virtual_mc->xyz[1]; _torque_setpoint_0->xyz[2] = _vehicle_torque_setpoint_virtual_mc->xyz[2]; - - _thrust_setpoint_0->xyz[2] = _vehicle_thrust_setpoint_virtual_mc->xyz[2]; } // Control surfaces @@ -324,19 +337,12 @@ void Tailsitter::fill_actuator_outputs() bool Tailsitter::isFrontTransitionCompletedBase() { const bool airspeed_triggers_transition = PX4_ISFINITE(_airspeed_validated->calibrated_airspeed_m_s) - && !_param_fw_arsp_mode.get() ; + && _param_fw_use_airspd.get(); bool transition_to_fw = false; const float pitch = Eulerf(Quatf(_v_att->q)).theta(); - float pitch_threshold_fw = PITCH_THRESHOLD_AUTO_TRANSITION_TO_FW; - - // if doing transition in Stabilized mode set threshold to max angle minus 5° margin - if (!_v_control_mode->flag_control_altitude_enabled) { - pitch_threshold_fw = math::radians(-_param_mpc_tilt_max.get() + 5.f); - } - - if (pitch <= pitch_threshold_fw) { + if (pitch <= PITCH_THRESHOLD_AUTO_TRANSITION_TO_FW) { if (airspeed_triggers_transition) { transition_to_fw = _airspeed_validated->calibrated_airspeed_m_s >= _param_vt_arsp_trans.get() ; @@ -347,3 +353,14 @@ bool Tailsitter::isFrontTransitionCompletedBase() return transition_to_fw; } + +void Tailsitter::blendThrottleAfterFrontTransition(float scale) +{ + // note: MC throttle is negative (as in negative z), while FW throttle is positive (positive x) + _v_att_sp->thrust_body[0] = scale * _v_att_sp->thrust_body[0] + (1.f - scale) * (-_last_thr_in_mc); +} + +void Tailsitter::blendThrottleBeginningBackTransition(float scale) +{ + _v_att_sp->thrust_body[2] = scale * _v_att_sp->thrust_body[2] + (1.f - scale) * (-_last_thr_in_fw_mode); +} diff --git a/src/modules/vtol_att_control/tailsitter.h b/src/modules/vtol_att_control/tailsitter.h index 3770caec2c1f..135acd6c92aa 100644 --- a/src/modules/vtol_att_control/tailsitter.h +++ b/src/modules/vtol_att_control/tailsitter.h @@ -54,6 +54,9 @@ static constexpr float PITCH_THRESHOLD_AUTO_TRANSITION_TO_FW = -1.05f; // -60° // [rad] Pitch threshold required for completing transition to hover in automatic transitions static constexpr float PITCH_THRESHOLD_AUTO_TRANSITION_TO_MC = -0.26f; // -15° +// [s] Thrust blending duration from fixed-wing to back transition throttle +static constexpr float B_TRANS_THRUST_BLENDING_DURATION = 0.5f; + class Tailsitter : public VtolType { @@ -66,6 +69,8 @@ class Tailsitter : public VtolType void update_fw_state() override; void fill_actuator_outputs() override; void waiting_on_tecs() override; + void blendThrottleAfterFrontTransition(float scale) override; + void blendThrottleBeginningBackTransition(float scale); private: enum class vtol_mode { @@ -88,8 +93,7 @@ class Tailsitter : public VtolType bool isFrontTransitionCompletedBase() override; DEFINE_PARAMETERS_CUSTOM_PARENT(VtolType, - (ParamFloat) _param_fw_psp_off, - (ParamFloat) _param_mpc_tilt_max + (ParamFloat) _param_fw_psp_off ) diff --git a/src/modules/vtol_att_control/tiltrotor.cpp b/src/modules/vtol_att_control/tiltrotor.cpp index 3be203dd5926..3a1904257993 100644 --- a/src/modules/vtol_att_control/tiltrotor.cpp +++ b/src/modules/vtol_att_control/tiltrotor.cpp @@ -43,12 +43,10 @@ #include "vtol_att_control_main.h" using namespace matrix; -using namespace time_literals; -#define FRONTTRANS_THR_MIN 0.25f -#define BACKTRANS_THROTTLE_DOWNRAMP_DUR_S 1.0f -#define BACKTRANS_THROTTLE_UPRAMP_DUR_S 1.0f; -#define BACKTRANS_MOTORS_UPTILT_DUR_S 1.0f; +#define FRONTTRANS_THR_MIN 0.25f +#define BACKTRANS_THROTTLE_DOWNRAMP_DUR_S 0.5f +#define BACKTRANS_THROTTLE_UPRAMP_DUR_S 0.5f Tiltrotor::Tiltrotor(VtolAttitudeControl *attc) : VtolType(attc) @@ -183,44 +181,8 @@ void Tiltrotor::update_mc_state() { VtolType::update_mc_state(); - /*Motor spin up: define the first second after arming as motor spin up time, during which - * the tilt is set to the value of VT_TILT_SPINUP. This allows the user to set a spin up - * tilt angle in case the propellers don't spin up smoothly in full upright (MC mode) position. - */ - - const int spin_up_duration_p1 = 1000_ms; // duration of 1st phase of spinup (at fixed tilt) - const int spin_up_duration_p2 = 700_ms; // duration of 2nd phase of spinup (transition from spinup tilt to mc tilt) - - // reset this timestamp while disarmed - if (!_v_control_mode->flag_armed) { - _last_timestamp_disarmed = hrt_absolute_time(); - _tilt_motors_for_startup = _param_vt_tilt_spinup.get() > 0.01f; // spinup phase only required if spinup tilt > 0 - - } else if (_tilt_motors_for_startup) { - // leave motors tilted forward after arming to allow them to spin up easier - if (hrt_absolute_time() - _last_timestamp_disarmed > (spin_up_duration_p1 + spin_up_duration_p2)) { - _tilt_motors_for_startup = false; - } - } - - if (_tilt_motors_for_startup) { - if (hrt_absolute_time() - _last_timestamp_disarmed < spin_up_duration_p1) { - _tilt_control = _param_vt_tilt_spinup.get(); - - } else { - // duration phase 2: begin to adapt tilt to multicopter tilt - float delta_tilt = (_param_vt_tilt_mc.get() - _param_vt_tilt_spinup.get()); - _tilt_control = _param_vt_tilt_spinup.get() + delta_tilt / spin_up_duration_p2 * (hrt_absolute_time() - - (_last_timestamp_disarmed + spin_up_duration_p1)); - } - - _mc_yaw_weight = 0.0f; //disable yaw control during spinup - - } else { - // normal operation - _tilt_control = VtolType::pusher_assist() + _param_vt_tilt_mc.get(); - _mc_yaw_weight = 1.0f; - } + _tilt_control = VtolType::pusher_assist() + _param_vt_tilt_mc.get(); + _mc_yaw_weight = 1.0f; } void Tiltrotor::update_fw_state() @@ -241,6 +203,11 @@ void Tiltrotor::update_transition_state() const hrt_abstime now = hrt_absolute_time(); + const Eulerf attitude_setpoint_euler(Quatf(_v_att_sp->q_d)); + float roll_body = attitude_setpoint_euler.phi(); + float pitch_body = attitude_setpoint_euler.theta(); + float yaw_body = attitude_setpoint_euler.psi(); + // we get attitude setpoint from a multirotor flighttask if altitude is controlled. // in any other case the fixed wing attitude controller publishes attitude setpoint from manual stick input. if (_v_control_mode->flag_control_climb_rate_enabled) { @@ -250,7 +217,7 @@ void Tiltrotor::update_transition_state() } memcpy(_v_att_sp, _mc_virtual_att_sp, sizeof(vehicle_attitude_setpoint_s)); - _v_att_sp->roll_body = _fw_virtual_att_sp->roll_body; + roll_body = Eulerf(Quatf(_fw_virtual_att_sp->q_d)).phi(); _thrust_transition = -_mc_virtual_att_sp->thrust_body[2]; } else { @@ -281,20 +248,17 @@ void Tiltrotor::update_transition_state() _mc_roll_weight = 1.0f; _mc_yaw_weight = 1.0f; - if (!_param_fw_arsp_mode.get() && PX4_ISFINITE(_airspeed_validated->calibrated_airspeed_m_s) && - _airspeed_validated->calibrated_airspeed_m_s >= _param_vt_arsp_blend.get()) { - const float weight = 1.0f - (_airspeed_validated->calibrated_airspeed_m_s - _param_vt_arsp_blend.get()) / - (_param_vt_arsp_trans.get() - _param_vt_arsp_blend.get()); - _mc_roll_weight = weight; - _mc_yaw_weight = weight; + if (_param_fw_use_airspd.get() && PX4_ISFINITE(_airspeed_validated->calibrated_airspeed_m_s) && + _airspeed_validated->calibrated_airspeed_m_s >= getBlendAirspeed()) { + _mc_roll_weight = 1.0f - (_airspeed_validated->calibrated_airspeed_m_s - getBlendAirspeed()) / + (getTransitionAirspeed() - getBlendAirspeed()); } // without airspeed do timed weight changes - if ((_param_fw_arsp_mode.get() || !PX4_ISFINITE(_airspeed_validated->calibrated_airspeed_m_s)) && + if ((!_param_fw_use_airspd.get() || !PX4_ISFINITE(_airspeed_validated->calibrated_airspeed_m_s)) && _time_since_trans_start > getMinimumFrontTransitionTime()) { _mc_roll_weight = 1.0f - (_time_since_trans_start - getMinimumFrontTransitionTime()) / (getOpenLoopFrontTransitionTime() - getMinimumFrontTransitionTime()); - _mc_yaw_weight = _mc_roll_weight; } // add minimum throttle for front transition @@ -321,7 +285,8 @@ void Tiltrotor::update_transition_state() // tilt rotors back once motors are idle if (_time_since_trans_start > BACKTRANS_THROTTLE_DOWNRAMP_DUR_S) { - float progress = (_time_since_trans_start - BACKTRANS_THROTTLE_DOWNRAMP_DUR_S) / BACKTRANS_MOTORS_UPTILT_DUR_S; + float progress = (_time_since_trans_start - BACKTRANS_THROTTLE_DOWNRAMP_DUR_S) / math::max(_param_vt_bt_tilt_dur.get(), + 0.1f); progress = math::constrain(progress, 0.0f, 1.0f); _tilt_control = moveLinear(_param_vt_tilt_fw.get(), _param_vt_tilt_mc.get(), progress); } @@ -330,7 +295,7 @@ void Tiltrotor::update_transition_state() // control backtransition deceleration using pitch. if (_v_control_mode->flag_control_climb_rate_enabled) { - _v_att_sp->pitch_body = update_and_get_backtransition_pitch_sp(); + pitch_body = update_and_get_backtransition_pitch_sp(); } if (_time_since_trans_start < BACKTRANS_THROTTLE_DOWNRAMP_DUR_S) { @@ -361,7 +326,7 @@ void Tiltrotor::update_transition_state() _v_att_sp->thrust_body[2] = -_thrust_transition; - const Quatf q_sp(Eulerf(_v_att_sp->roll_body, _v_att_sp->pitch_body, _v_att_sp->yaw_body)); + const Quatf q_sp(Eulerf(roll_body, pitch_body, yaw_body)); q_sp.copyTo(_v_att_sp->q_d); _mc_roll_weight = math::constrain(_mc_roll_weight, 0.0f, 1.0f); @@ -458,7 +423,7 @@ void Tiltrotor::blendThrottleDuringBacktransition(float scale, float target_thro float Tiltrotor::timeUntilMotorsAreUp() { - return BACKTRANS_THROTTLE_DOWNRAMP_DUR_S + BACKTRANS_MOTORS_UPTILT_DUR_S; + return BACKTRANS_THROTTLE_DOWNRAMP_DUR_S + _param_vt_bt_tilt_dur.get(); } float Tiltrotor::moveLinear(float start, float stop, float progress) diff --git a/src/modules/vtol_att_control/tiltrotor.h b/src/modules/vtol_att_control/tiltrotor.h index 369e335684d2..cac172c2aec1 100644 --- a/src/modules/vtol_att_control/tiltrotor.h +++ b/src/modules/vtol_att_control/tiltrotor.h @@ -91,15 +91,13 @@ class Tiltrotor : public VtolType void blendThrottleDuringBacktransition(const float scale, const float target_throttle); bool isFrontTransitionCompletedBase() override; - hrt_abstime _last_timestamp_disarmed{0}; /**< used for calculating time since arming */ - bool _tilt_motors_for_startup{false}; DEFINE_PARAMETERS_CUSTOM_PARENT(VtolType, (ParamFloat) _param_vt_tilt_mc, (ParamFloat) _param_vt_tilt_trans, (ParamFloat) _param_vt_tilt_fw, - (ParamFloat) _param_vt_tilt_spinup, - (ParamFloat) _param_vt_trans_p2_dur + (ParamFloat) _param_vt_trans_p2_dur, + (ParamFloat) _param_vt_bt_tilt_dur ) }; diff --git a/src/modules/vtol_att_control/tiltrotor_params.c b/src/modules/vtol_att_control/tiltrotor_params.c index c1eed416ec21..92fa558454da 100644 --- a/src/modules/vtol_att_control/tiltrotor_params.c +++ b/src/modules/vtol_att_control/tiltrotor_params.c @@ -39,7 +39,7 @@ */ /** - * Position of tilt servo in mc mode + * Normalized tilt in Hover * * @min 0.0 * @max 1.0 @@ -50,7 +50,7 @@ PARAM_DEFINE_FLOAT(VT_TILT_MC, 0.0f); /** - * Position of tilt servo in transition mode + * Normalized tilt in transition to FW * * @min 0.0 * @max 1.0 @@ -58,10 +58,10 @@ PARAM_DEFINE_FLOAT(VT_TILT_MC, 0.0f); * @decimal 3 * @group VTOL Attitude Control */ -PARAM_DEFINE_FLOAT(VT_TILT_TRANS, 0.3f); +PARAM_DEFINE_FLOAT(VT_TILT_TRANS, 0.4f); /** - * Position of tilt servo in fw mode + * Normalized tilt in FW * * @min 0.0 * @max 1.0 @@ -72,29 +72,29 @@ PARAM_DEFINE_FLOAT(VT_TILT_TRANS, 0.3f); PARAM_DEFINE_FLOAT(VT_TILT_FW, 1.0f); /** - * Tilt when disarmed and in the first second after arming + * Duration of front transition phase 2 * - * This specific tilt during spin-up is necessary for some systems whose motors otherwise don't - * spin-up freely. + * Time in seconds it takes to tilt form VT_TILT_TRANS to VT_TILT_FW. * - * @min 0.0 - * @max 1.0 + * @unit s + * @min 0.1 + * @max 5.0 * @increment 0.01 - * @decimal 2 + * @decimal 3 * @group VTOL Attitude Control */ -PARAM_DEFINE_FLOAT(VT_TILT_SPINUP, 0.0f); +PARAM_DEFINE_FLOAT(VT_TRANS_P2_DUR, 0.5f); /** - * Duration of front transition phase 2 + * Duration motor tilt up in backtransition * - * Time in seconds it takes to tilt form VT_TILT_TRANS to VT_TILT_FW. + * Time in seconds it takes to tilt form VT_TILT_FW to VT_TILT_MC. * * @unit s * @min 0.1 - * @max 5.0 - * @increment 0.01 - * @decimal 3 + * @max 10 + * @increment 0.1 + * @decimal 1 * @group VTOL Attitude Control */ -PARAM_DEFINE_FLOAT(VT_TRANS_P2_DUR, 0.5f); +PARAM_DEFINE_FLOAT(VT_BT_TILT_DUR, 1.f); diff --git a/src/modules/vtol_att_control/vtol_att_control_main.cpp b/src/modules/vtol_att_control/vtol_att_control_main.cpp index 8dee7fd0c078..199dcac84c56 100644 --- a/src/modules/vtol_att_control/vtol_att_control_main.cpp +++ b/src/modules/vtol_att_control/vtol_att_control_main.cpp @@ -206,45 +206,41 @@ void VtolAttitudeControl::quadchute(QuadchuteReason reason) { if (!_vtol_vehicle_status.fixed_wing_system_failure) { + // only publish generic warning through mavlink to safe flash + mavlink_log_critical(&_mavlink_log_pub, "Quad-chute triggered\t"); + switch (reason) { case QuadchuteReason::TransitionTimeout: - mavlink_log_critical(&_mavlink_log_pub, "Quadchute: transition timeout\t"); events::send(events::ID("vtol_att_ctrl_quadchute_tout"), events::Log::Critical, "Quad-chute triggered due to transition timeout"); break; case QuadchuteReason::ExternalCommand: - mavlink_log_critical(&_mavlink_log_pub, "Quadchute: external command\t"); events::send(events::ID("vtol_att_ctrl_quadchute_ext_cmd"), events::Log::Critical, "Quad-chute triggered due to external command"); break; case QuadchuteReason::MinimumAltBreached: - mavlink_log_critical(&_mavlink_log_pub, "Quadchute: minimum altitude breached\t"); events::send(events::ID("vtol_att_ctrl_quadchute_min_alt"), events::Log::Critical, "Quad-chute triggered due to minimum altitude breach"); break; case QuadchuteReason::UncommandedDescent: - mavlink_log_critical(&_mavlink_log_pub, "Quadchute: Uncommanded descent detected\t"); events::send(events::ID("vtol_att_ctrl_quadchute_alt_loss"), events::Log::Critical, "Quad-chute triggered due to uncommanded descent detection"); break; case QuadchuteReason::TransitionAltitudeLoss: - mavlink_log_critical(&_mavlink_log_pub, "Quadchute: loss of altitude during transition\t"); events::send(events::ID("vtol_att_ctrl_quadchute_trans_alt_err"), events::Log::Critical, "Quad-chute triggered due to loss of altitude during transition"); break; case QuadchuteReason::MaximumPitchExceeded: - mavlink_log_critical(&_mavlink_log_pub, "Quadchute: maximum pitch exceeded\t"); events::send(events::ID("vtol_att_ctrl_quadchute_max_pitch"), events::Log::Critical, "Quad-chute triggered due to maximum pitch angle exceeded"); break; case QuadchuteReason::MaximumRollExceeded: - mavlink_log_critical(&_mavlink_log_pub, "Quadchute: maximum roll exceeded\t"); events::send(events::ID("vtol_att_ctrl_quadchute_max_roll"), events::Log::Critical, "Quad-chute triggered due to maximum roll angle exceeded"); break; @@ -288,10 +284,10 @@ VtolAttitudeControl::Run() return; } - const hrt_abstime now = hrt_absolute_time(); - #if !defined(ENABLE_LOCKSTEP_SCHEDULER) + const hrt_abstime now = hrt_absolute_time(); + // prevent excessive scheduling (> 500 Hz) if (now - _last_run_timestamp < 2_ms) { return; @@ -299,9 +295,6 @@ VtolAttitudeControl::Run() #endif // !ENABLE_LOCKSTEP_SCHEDULER - const float dt = math::min((now - _last_run_timestamp) / 1e6f, kMaxVTOLAttitudeControlTimeStep); - _last_run_timestamp = now; - if (!_initialized) { if (_vtol_type->init()) { @@ -313,8 +306,6 @@ VtolAttitudeControl::Run() } } - _vtol_type->setDt(dt); - perf_begin(_loop_perf); bool updated_fw_in = _vehicle_torque_setpoint_virtual_fw_sub.update(&_vehicle_torque_setpoint_virtual_fw); @@ -373,6 +364,8 @@ VtolAttitudeControl::Run() _air_density = air_data.rho; } + _vtol_type->handleEkfResets(); + // check if mc and fw sp were updated const bool mc_att_sp_updated = _mc_virtual_att_sp_sub.update(&_mc_virtual_att_sp); const bool fw_att_sp_updated = _fw_virtual_att_sp_sub.update(&_fw_virtual_att_sp); diff --git a/src/modules/vtol_att_control/vtol_att_control_main.h b/src/modules/vtol_att_control/vtol_att_control_main.h index 94044b338458..6ef046f05f8a 100644 --- a/src/modules/vtol_att_control/vtol_att_control_main.h +++ b/src/modules/vtol_att_control/vtol_att_control_main.h @@ -50,7 +50,7 @@ #pragma once #include -#include +#include #include #include #include @@ -92,8 +92,6 @@ using namespace time_literals; extern "C" __EXPORT int vtol_att_control_main(int argc, char *argv[]); -static constexpr float kMaxVTOLAttitudeControlTimeStep = 0.1f; // max time step [s] - class VtolAttitudeControl : public ModuleBase, public ModuleParams, public px4::WorkItem { public: @@ -209,9 +207,11 @@ class VtolAttitudeControl : public ModuleBase, public Modul vtol_vehicle_status_s _vtol_vehicle_status{}; float _home_position_z{NAN}; - float _air_density{CONSTANTS_AIR_DENSITY_SEA_LEVEL_15C}; // [kg/m^3] + float _air_density{atmosphere::kAirDensitySeaLevelStandardAtmos}; // [kg/m^3] - hrt_abstime _last_run_timestamp{0}; +#if !defined(ENABLE_LOCKSTEP_SCHEDULER) + hrt_abstime _last_run_timestamp {0}; +#endif // !ENABLE_LOCKSTEP_SCHEDULER /* For multicopters it is usual to have a non-zero idle speed of the engines * for fixed wings we want to have an idle speed of zero since we do not want diff --git a/src/modules/vtol_att_control/vtol_att_control_params.c b/src/modules/vtol_att_control/vtol_att_control_params.c index 3c8d3c4719c4..3bcb56e4984c 100644 --- a/src/modules/vtol_att_control/vtol_att_control_params.c +++ b/src/modules/vtol_att_control/vtol_att_control_params.c @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2014-2022 PX4 Development Team. All rights reserved. + * Copyright (c) 2014-2023 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -79,7 +79,6 @@ PARAM_DEFINE_FLOAT(VT_F_TRANS_DUR, 5.0f); /** * Maximum duration of a back transition * - * Time in seconds used for a back transition maximally. * Transition is also declared over if the groundspeed drops below MPC_XY_CRUISE. * * @unit s @@ -94,10 +93,6 @@ PARAM_DEFINE_FLOAT(VT_B_TRANS_DUR, 10.0f); /** * Target throttle value for the transition to fixed-wing flight. * - * standard vtol: pusher - * - * tailsitter, tiltrotor: main throttle - * * @min 0.0 * @max 1.0 * @increment 0.01 @@ -109,7 +104,6 @@ PARAM_DEFINE_FLOAT(VT_F_TRANS_THR, 1.0f); /** * Approximate deceleration during back transition * - * The approximate deceleration during a back transition in m/s/s * Used to calculate back transition distance in an auto mode. * For standard vtol and tiltrotors a controller is used to track this value during the transition. * @@ -197,12 +191,12 @@ PARAM_DEFINE_FLOAT(VT_FW_MIN_ALT, 0.0f); /** * Quad-chute uncommanded descent threshold * - * Threshold for integrated height rate error to trigger a uncommanded-descent quad-chute. - * Only checked in altitude-controlled fixed-wing flight. - * Additional conditions that have to be met for uncommanded descent detection are a positive (climbing) height - * rate setpoint and a negative (sinking) current height rate estimate. + * Altitude error threshold for quad-chute triggering during fixed-wing flight. + * The check is only active if altitude is controlled and the vehicle is below the current altitude reference. + * The altitude error is relative to the highest altitude the vehicle has achieved since it has flown below the current + * altitude reference. * - * Set to 0 do disable this threshold. + * Set to 0 do disable. * * @unit m * @min 0.0 @@ -211,14 +205,14 @@ PARAM_DEFINE_FLOAT(VT_FW_MIN_ALT, 0.0f); * @decimal 1 * @group VTOL Attitude Control */ -PARAM_DEFINE_FLOAT(VT_QC_HR_ERROR_I, 0.0f); +PARAM_DEFINE_FLOAT(VT_QC_ALT_LOSS, 0.0f); /** * Quad-chute transition altitude loss threshold * - * Altitude loss threshold for quad-chute triggering during VTOL transition to fixed-wing flight. + * Altitude loss threshold for quad-chute triggering during VTOL transition to fixed-wing flight + * in altitude-controlled flight modes. * Active until 5s after completing transition to fixed-wing. - * Only active if altitude estimate is valid and in altitude-controlled mode. * If the current altitude is more than this value below the altitude at the beginning of the * transition, it will instantly switch back to MC mode and execute behavior defined in COM_QC_ACT. * @@ -344,23 +338,9 @@ PARAM_DEFINE_FLOAT(VT_FW_DIFTHR_S_P, 1.f); */ PARAM_DEFINE_FLOAT(VT_FW_DIFTHR_S_Y, 0.1f); -/** - * Backtransition deceleration setpoint to pitch feedforward gain. - * - * - * @unit rad s^2/m - * @min 0 - * @max 0.2 - * @decimal 2 - * @increment 0.01 - * @group VTOL Attitude Control - */ -PARAM_DEFINE_FLOAT(VT_B_DEC_FF, 0.f); - /** * Backtransition deceleration setpoint to pitch I gain. * - * * @unit rad s/m * @min 0 * @max 0.3 @@ -373,9 +353,8 @@ PARAM_DEFINE_FLOAT(VT_B_DEC_I, 0.1f); /** * Minimum pitch angle during hover. * - * Minimum pitch angle during hover flight. If the desired pitch angle is is lower than this value - * then the fixed-wing forward actuation can be used to compensate for the missing thrust in forward direction - * (see VT_FW_TRHUST_EN) + * Any pitch setpoint below this value is translated to a forward force by the fixed-wing forward actuation if + * VT_FW_TRHUST_EN is set to 1. * * @unit deg * @min -10.0 @@ -390,8 +369,7 @@ PARAM_DEFINE_FLOAT(VT_PITCH_MIN, -5.0f); * Minimum pitch angle during hover landing. * * Overrides VT_PITCH_MIN when the vehicle is in LAND mode (hovering). - * During landing it can be beneficial to allow lower minimum pitch angles as it can avoid the wings - * generating too much lift and preventing the vehicle from sinking at the desired rate. + * During landing it can be beneficial to reduce the pitch angle to reduce the generated lift in head wind. * * @unit deg * @min -10.0 diff --git a/src/modules/vtol_att_control/vtol_type.cpp b/src/modules/vtol_att_control/vtol_type.cpp index 2f7c95528541..458b3927fb9c 100644 --- a/src/modules/vtol_att_control/vtol_type.cpp +++ b/src/modules/vtol_att_control/vtol_type.cpp @@ -45,11 +45,17 @@ #include #include #include +#include using namespace matrix; #define THROTTLE_BLENDING_DUR_S 1.0f +// [.] minimum ratio between the actual vehicle weight and the vehicle nominal weight (weight at which the performance limits are derived) +static constexpr float kMinWeightRatio = 0.5f; + +// [.] maximum ratio between the actual vehicle weight and the vehicle nominal weight (weight at which the performance limits are derived) +static constexpr float kMaxWeightRatio = 2.0f; VtolType::VtolType(VtolAttitudeControl *att_controller) : ModuleParams(nullptr), @@ -158,6 +164,8 @@ void VtolType::update_transition_state() _time_since_trans_start = (float)(t_now - _transition_start_timestamp) * 1e-6f; check_quadchute_condition(); + + _last_thr_in_mc = _vehicle_thrust_setpoint_virtual_mc->xyz[2]; } float VtolType::update_and_get_backtransition_pitch_sp() @@ -176,7 +184,7 @@ float VtolType::update_and_get_backtransition_pitch_sp() // get accel error, positive means decelerating too slow, need to pitch up (must reverse dec_max, as it is a positive number) const float accel_error_forward = dec_sp + accel_body_forward; - const float pitch_sp_new = _param_vt_b_dec_ff.get() * dec_sp + _accel_to_pitch_integ; + const float pitch_sp_new = _accel_to_pitch_integ; float integrator_input = _param_vt_b_dec_i.get() * accel_error_forward; @@ -202,7 +210,7 @@ bool VtolType::isFrontTransitionCompletedBase() { // continue the transition to fw mode while monitoring airspeed for a final switch to fw mode const bool airspeed_triggers_transition = PX4_ISFINITE(_airspeed_validated->calibrated_airspeed_m_s) - && !_param_fw_arsp_mode.get(); + && _param_fw_use_airspd.get(); const bool minimum_trans_time_elapsed = _time_since_trans_start > getMinimumFrontTransitionTime(); const bool openloop_trans_time_elapsed = _time_since_trans_start > getOpenLoopFrontTransitionTime(); @@ -210,7 +218,7 @@ bool VtolType::isFrontTransitionCompletedBase() if (airspeed_triggers_transition) { transition_to_fw = minimum_trans_time_elapsed - && _airspeed_validated->calibrated_airspeed_m_s >= _param_vt_arsp_trans.get(); + && _airspeed_validated->calibrated_airspeed_m_s >= getTransitionAirspeed(); } else { transition_to_fw = openloop_trans_time_elapsed; @@ -272,26 +280,25 @@ bool VtolType::isMinAltBreached() bool VtolType::isUncommandedDescent() { - if (_param_vt_qc_hr_error_i.get() > FLT_EPSILON && _v_control_mode->flag_control_altitude_enabled - && hrt_elapsed_time(&_tecs_status->timestamp) < 1_s) { + const float current_altitude = -_local_pos->z + _local_pos->ref_alt; - // TODO if TECS publishes local_position_setpoint dependency on tecs_status can be dropped here + if (_param_vt_qc_alt_loss.get() > FLT_EPSILON && _local_pos->z_valid && _local_pos->z_global + && _v_control_mode->flag_control_altitude_enabled + && PX4_ISFINITE(_tecs_status->altitude_reference) + && (current_altitude < _tecs_status->altitude_reference) + && hrt_elapsed_time(&_tecs_status->timestamp) < 1_s) { - if (_tecs_status->height_rate < -FLT_EPSILON && _tecs_status->height_rate_setpoint > FLT_EPSILON) { - // vehicle is currently in uncommended descend, start integrating error + if (!PX4_ISFINITE(_quadchute_ref_alt)) { + _quadchute_ref_alt = current_altitude; + } - const hrt_abstime now = hrt_absolute_time(); - float dt = static_cast(now - _last_loop_quadchute_timestamp) / 1e6f; - dt = math::constrain(dt, 0.0001f, 0.1f); - _last_loop_quadchute_timestamp = now; + _quadchute_ref_alt = math::min(math::max(_quadchute_ref_alt, current_altitude), + _tecs_status->altitude_reference); - _height_rate_error_integral += (_tecs_status->height_rate_setpoint - _tecs_status->height_rate) * dt; + return (_quadchute_ref_alt - current_altitude) > _param_vt_qc_alt_loss.get(); - } else { - _height_rate_error_integral = 0.f; // reset - } - - return (_height_rate_error_integral > _param_vt_qc_hr_error_i.get()); + } else { + _quadchute_ref_alt = NAN; } return false; @@ -311,6 +318,20 @@ bool VtolType::isFrontTransitionAltitudeLoss() return result; } +void VtolType::handleEkfResets() +{ + // check if there is a reset in the z-direction, and if so, shift the transition start z as well + if (_local_pos->z_reset_counter != _altitude_reset_counter) { + _local_position_z_start_of_transition += _local_pos->delta_z; + _altitude_reset_counter = _local_pos->z_reset_counter; + + if (PX4_ISFINITE(_quadchute_ref_alt)) { + _quadchute_ref_alt -= _local_pos->delta_z; + } + + } +} + bool VtolType::isPitchExceeded() { // fixed-wing maximum pitch angle @@ -425,16 +446,21 @@ float VtolType::pusher_assist() } + // the vehicle is "landing" if it is in auto mode and the type is set to LAND, and + // "descending" if it is in auto and climb rate controlled but not altitude controlled + const bool vehicle_is_landing_or_descending = _v_control_mode->flag_control_auto_enabled + && ((_attc->get_pos_sp_triplet()->current.valid + && _attc->get_pos_sp_triplet()->current.type == position_setpoint_s::SETPOINT_TYPE_LAND) || + (_v_control_mode->flag_control_climb_rate_enabled && !_v_control_mode->flag_control_altitude_enabled)); + // disable pusher assist depending on setting of forward_thrust_enable_mode: switch (_param_vt_fwd_thrust_en.get()) { case DISABLE: // disable in all modes return 0.0f; break; - case ENABLE_WITHOUT_LAND: // disable in land mode - if (_attc->get_pos_sp_triplet()->current.valid - && _attc->get_pos_sp_triplet()->current.type == position_setpoint_s::SETPOINT_TYPE_LAND - && _v_control_mode->flag_control_auto_enabled) { + case ENABLE_WITHOUT_LAND: // disable in land/descend mode + if (vehicle_is_landing_or_descending) { return 0.0f; } @@ -454,10 +480,8 @@ float VtolType::pusher_assist() break; - case ENABLE_ABOVE_MPC_LAND_ALT1_WITHOUT_LAND: // disable if below MPC_LAND_ALT1 or in land mode - if ((_attc->get_pos_sp_triplet()->current.valid - && _attc->get_pos_sp_triplet()->current.type == position_setpoint_s::SETPOINT_TYPE_LAND - && _v_control_mode->flag_control_auto_enabled) || + case ENABLE_ABOVE_MPC_LAND_ALT1_WITHOUT_LAND: // disable if below MPC_LAND_ALT1 or in land/descend mode + if (vehicle_is_landing_or_descending || (!PX4_ISFINITE(dist_to_ground) || (dist_to_ground < _param_mpc_land_alt1.get()))) { return 0.0f; } @@ -465,9 +489,7 @@ float VtolType::pusher_assist() break; case ENABLE_ABOVE_MPC_LAND_ALT2_WITHOUT_LAND: // disable if below MPC_LAND_ALT2 or in land mode - if ((_attc->get_pos_sp_triplet()->current.valid - && _attc->get_pos_sp_triplet()->current.type == position_setpoint_s::SETPOINT_TYPE_LAND - && _v_control_mode->flag_control_auto_enabled) || + if (vehicle_is_landing_or_descending || (!PX4_ISFINITE(dist_to_ground) || (dist_to_ground < _param_mpc_land_alt2.get()))) { return 0.0f; } @@ -475,10 +497,9 @@ float VtolType::pusher_assist() break; } - // if the thrust scale param is zero or the drone is not in some position or altitude control mode, + // if the thrust scale param is zero or the drone is not in a climb rate controlled mode, // then the pusher-for-pitch strategy is disabled and we can return - if (_param_vt_fwd_thrust_sc.get() < FLT_EPSILON || !(_v_control_mode->flag_control_position_enabled - || _v_control_mode->flag_control_altitude_enabled)) { + if (_param_vt_fwd_thrust_sc.get() < FLT_EPSILON || !(_v_control_mode->flag_control_climb_rate_enabled)) { return 0.0f; } @@ -542,10 +563,10 @@ float VtolType::pusher_assist() tilt_new = R_yaw_correction * tilt_new; // now extract roll and pitch setpoints - _v_att_sp->pitch_body = atan2f(tilt_new(0), tilt_new(2)); - _v_att_sp->roll_body = -asinf(tilt_new(1)); + const float pitch_body = atan2f(tilt_new(0), tilt_new(2)); + const float roll_body = -asinf(tilt_new(1)); - const Quatf q_sp(Eulerf(_v_att_sp->roll_body, _v_att_sp->pitch_body, euler_sp(2))); + const Quatf q_sp(Eulerf(roll_body, pitch_body, euler_sp(2))); q_sp.copyTo(_v_att_sp->q_d); } @@ -565,7 +586,7 @@ float VtolType::getFrontTransitionTimeFactor() const const float rho = math::constrain(_attc->getAirDensity(), 0.7f, 1.5f); if (PX4_ISFINITE(rho)) { - float rho0_over_rho = CONSTANTS_AIR_DENSITY_SEA_LEVEL_15C / rho; + float rho0_over_rho = atmosphere::kAirDensitySeaLevelStandardAtmos / rho; return sqrtf(rho0_over_rho) * rho0_over_rho; } @@ -586,3 +607,22 @@ float VtolType::getOpenLoopFrontTransitionTime() const { return getFrontTransitionTimeFactor() * _param_vt_f_tr_ol_tm.get(); } +float VtolType::getTransitionAirspeed() const +{ + // Since the stall airspeed increases with vehicle weight, we increase the transition airspeed + // by the same factor. + + float weight_ratio = 1.0f; + + if (_param_weight_base.get() > FLT_EPSILON && _param_weight_gross.get() > FLT_EPSILON) { + weight_ratio = math::constrain(_param_weight_gross.get() / + _param_weight_base.get(), kMinWeightRatio, kMaxWeightRatio); + } + + return sqrtf(weight_ratio) * _param_vt_arsp_trans.get(); +} + +float VtolType::getBlendAirspeed() const +{ + return _param_vt_arsp_blend.get(); +} diff --git a/src/modules/vtol_att_control/vtol_type.h b/src/modules/vtol_att_control/vtol_type.h index 12703f5a24dc..8f9ae9ef3861 100644 --- a/src/modules/vtol_att_control/vtol_type.h +++ b/src/modules/vtol_att_control/vtol_type.h @@ -237,14 +237,20 @@ class VtolType : public ModuleParams */ float getOpenLoopFrontTransitionTime() const; - virtual void parameters_update() = 0; + /** + * + * @return The calibrated blending airspeed [m/s] + */ + float getBlendAirspeed() const; /** - * @brief Set current time delta * - * @param dt Current time delta [s] + * @return The calibrated transition airspeed [m/s] */ - void setDt(float dt) {_dt = dt; } + float getTransitionAirspeed() const; + + virtual void parameters_update() = 0; + /** * @brief Resets the transition timer states. @@ -252,6 +258,12 @@ class VtolType : public ModuleParams */ void resetTransitionStates(); + /** + * @brief Handle EKF position resets. + * + */ + void handleEkfResets(); + protected: VtolAttitudeControl *_attc; mode _common_vtol_mode; @@ -287,9 +299,7 @@ class VtolType : public ModuleParams // motors spinning up or cutting too fast when doing transitions. float _thrust_transition = 0.0f; // thrust value applied during a front transition (tailsitter & tiltrotor only) float _last_thr_in_fw_mode = 0.0f; - - float _height_rate_error_integral{0.f}; - + float _last_thr_in_mc = 0.f; hrt_abstime _trans_finished_ts = 0; hrt_abstime _transition_start_timestamp{0}; @@ -300,7 +310,8 @@ class VtolType : public ModuleParams hrt_abstime _last_loop_ts = 0; float _transition_dt = 0; - hrt_abstime _last_loop_quadchute_timestamp = 0; + + float _quadchute_ref_alt{NAN}; // altitude (AMSL) reference to compute quad-chute altitude loss condition float _accel_to_pitch_integ = 0; @@ -310,14 +321,14 @@ class VtolType : public ModuleParams bool isFrontTransitionCompleted(); virtual bool isFrontTransitionCompletedBase(); - float _dt{0.0025f}; // time step [s] - float _local_position_z_start_of_transition{0.f}; // altitude at start of transition + int _altitude_reset_counter{0}; + DEFINE_PARAMETERS_CUSTOM_PARENT(ModuleParams, (ParamBool) _param_vt_elev_mc_lock, (ParamFloat) _param_vt_fw_min_alt, - (ParamFloat) _param_vt_qc_hr_error_i, + (ParamFloat) _param_vt_qc_alt_loss, (ParamInt) _param_vt_fw_qc_p, (ParamInt) _param_vt_fw_qc_r, (ParamFloat) _param_vt_qc_t_alt_loss, @@ -330,14 +341,13 @@ class VtolType : public ModuleParams (ParamFloat) _param_vt_arsp_trans, (ParamFloat) _param_vt_f_trans_thr, (ParamFloat) _param_vt_arsp_blend, - (ParamBool) _param_fw_arsp_mode, + (ParamBool) _param_fw_use_airspd, (ParamFloat) _param_vt_trans_timeout, (ParamFloat) _param_mpc_xy_cruise, (ParamInt) _param_vt_fw_difthr_en, (ParamFloat) _param_vt_fw_difthr_s_y, (ParamFloat) _param_vt_fw_difthr_s_p, (ParamFloat) _param_vt_fw_difthr_s_r, - (ParamFloat) _param_vt_b_dec_ff, (ParamFloat) _param_vt_b_dec_i, (ParamFloat) _param_vt_b_dec_mss, @@ -346,7 +356,10 @@ class VtolType : public ModuleParams (ParamInt) _param_vt_fwd_thrust_en, (ParamFloat) _param_mpc_land_alt1, (ParamFloat) _param_mpc_land_alt2, - (ParamFloat) _param_vt_lnd_pitch_min + (ParamFloat) _param_vt_lnd_pitch_min, + (ParamFloat) _param_weight_base, + (ParamFloat) _param_weight_gross + ) private: diff --git a/src/modules/zenoh/CMakeLists.txt b/src/modules/zenoh/CMakeLists.txt new file mode 100644 index 000000000000..e3a8166dff73 --- /dev/null +++ b/src/modules/zenoh/CMakeLists.txt @@ -0,0 +1,100 @@ +############################################################################ +# +# Copyright (c) 2023 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +function(message) + if (NOT MESSAGE_QUIET) + _message(${ARGN}) + endif() +endfunction() + +set(POSIX_COMPATIBLE YES) +set(BUILD_SHARED_LIBS OFF) +set(BUILD_TESTING OFF) +set(CHECK_THREADS NO) +set(MESSAGE_QUIET ON) +set(ZENOH_DEBUG ${CONFIG_ZENOH_DEBUG}) + +px4_add_git_submodule(TARGET git_zenoh-pico PATH "zenoh-pico") +add_subdirectory(zenoh-pico) +unset(MESSAGE_QUIET) +add_dependencies(zenohpico git_zenoh-pico px4_platform) +target_compile_options(zenohpico PUBLIC -Wno-cast-align + -Wno-narrowing + -Wno-stringop-overflow + -Wno-stringop-truncation + -Wno-unused-result + -DZ_BATCH_SIZE_RX=512 + -DZ_BATCH_SIZE_TX=512 + -DZ_FRAG_MAX_SIZE=1024) + +target_compile_options(zenohpico PRIVATE -Wno-missing-prototypes) +if(CONFIG_PLATFORM_NUTTX) + target_compile_options(zenohpico PRIVATE -DUNIX_NO_MULTICAST_IF) +endif() + +if(CONFIG_ZENOH_SERIAL) + target_compile_options(zenohpico PRIVATE -DZ_LINK_SERIAL) +endif() + + +px4_add_module( + MODULE modules__zenoh + MAIN zenoh + SRCS + zenoh.cpp + zenoh_config.cpp + publishers/zenoh_publisher.cpp + subscribers/zenoh_subscriber.cpp + MODULE_CONFIG + module.yaml + DEPENDS + cdr + uorb_msgs + px4_work_queue + zenohpico + zenoh_topics + git_zenoh-pico + INCLUDES + ${PX4_BINARY_DIR}/msg + zenoh-pico/include + ${CMAKE_CURRENT_LIST_DIR} + ${PX4_BINARY_DIR}/src/modules/zenoh/ + COMPILE_FLAGS + -Wno-pointer-compare + -Wno-cast-align + -Wno-address-of-packed-member + -Wno-double-promotion + -Wno-unused + -DZENOH_LINUX + -D_Bool=int8_t +) diff --git a/src/modules/zenoh/Kconfig b/src/modules/zenoh/Kconfig new file mode 100644 index 000000000000..c3c042df1317 --- /dev/null +++ b/src/modules/zenoh/Kconfig @@ -0,0 +1,61 @@ +menuconfig MODULES_ZENOH + bool "Zenoh" + default n + select LIB_CDRSTREAM + ---help--- + Enable support for Zenoh + +if MODULES_ZENOH + config ZENOH_DEBUG + int "Zenoh debug level" + default 0 + help + Set Zenoh debug level + 0: NONE + 1: ERROR + 2: INFO + ERROR + 3: DEBUG + INFO + ERROR + + # Choose exactly one item + choice ZENOH_PUBSUB_SELECTION + prompt "Publishers/Subscribers selection" + default ZENOH_PUBSUB_ALL + + config ZENOH_PUBSUB_MINIMAL + bool "Minimal" + select ZENOH_PUBSUB_COLLISION_CONSTRAINTS + select ZENOH_PUBSUB_FAILSAFE_FLAGS + select ZENOH_PUBSUB_POSITION_SETPOINT_TRIPLET + select ZENOH_PUBSUB_SENSOR_COMBINED + select ZENOH_PUBSUB_TIMESYNC_STATUS + select ZENOH_PUBSUB_VEHICLE_ATTITUDE + select ZENOH_PUBSUB_VEHICLE_CONTROL_MODE + select ZENOH_PUBSUB_VEHICLE_GLOBAL_POSITION + select ZENOH_PUBSUB_SENSOR_GPS + select ZENOH_PUBSUB_VEHICLE_LOCAL_POSITION + select ZENOH_PUBSUB_VEHICLE_ODOMETRY + select ZENOH_PUBSUB_VEHICLE_STATUS + select ZENOH_PUBSUB_TRAJECTORY_WAYPOINT + select ZENOH_PUBSUB_OFFBOARD_CONTROL_MODE + select ZENOH_PUBSUB_ONBOARD_COMPUTER_STATUS + select ZENOH_PUBSUB_OBSTACLE_DISTANCE + select ZENOH_PUBSUB_SENSOR_OPTICAL_FLOW + select ZENOH_PUBSUB_TELEMETRY_STATUS + select ZENOH_PUBSUB_TRAJECTORY_SETPOINT + select ZENOH_PUBSUB_VEHICLE_ATTITUDE_SETPOINT + select ZENOH_PUBSUB_VEHICLE_ODOMETRY + select ZENOH_PUBSUB_VEHICLE_RATES_SETPOINT + select ZENOH_PUBSUB_VEHICLE_COMMAND + select ZENOH_PUBSUB_VEHICLE_TRAJECTORY_BEZIER + select ZENOH_PUBSUB_VEHICLE_TRAJECTORY_WAYPOINT + + config ZENOH_PUBSUB_ALL + bool "All" + + config ZENOH_PUBSUB_CUSTOM + bool "Custom" + endchoice + +endif + +rsource "Kconfig.topics" diff --git a/src/modules/zenoh/Kconfig.topics b/src/modules/zenoh/Kconfig.topics new file mode 100644 index 000000000000..ee9fe7ce7362 --- /dev/null +++ b/src/modules/zenoh/Kconfig.topics @@ -0,0 +1,1090 @@ + +menu "Zenoh publishers/subscribers" + depends on MODULES_ZENOH + config ZENOH_PUBSUB_ACTION_REQUEST + bool "action_request" + default n + + config ZENOH_PUBSUB_ACTUATOR_ARMED + bool "actuator_armed" + default n + + config ZENOH_PUBSUB_ACTUATOR_CONTROLS_STATUS + bool "actuator_controls_status" + default n + + config ZENOH_PUBSUB_ACTUATOR_MOTORS + bool "actuator_motors" + default n + + config ZENOH_PUBSUB_ACTUATOR_OUTPUTS + bool "actuator_outputs" + default n + + config ZENOH_PUBSUB_ACTUATOR_SERVOS + bool "actuator_servos" + default n + + config ZENOH_PUBSUB_ACTUATOR_SERVOS_TRIM + bool "actuator_servos_trim" + default n + + config ZENOH_PUBSUB_ACTUATOR_TEST + bool "actuator_test" + default n + + config ZENOH_PUBSUB_ADC_REPORT + bool "adc_report" + default n + + config ZENOH_PUBSUB_AIRSPEED + bool "airspeed" + default n + + config ZENOH_PUBSUB_AIRSPEED_VALIDATED + bool "airspeed_validated" + default n + + config ZENOH_PUBSUB_AIRSPEED_WIND + bool "airspeed_wind" + default n + + config ZENOH_PUBSUB_ARMING_CHECK_REPLY + bool "arming_check_reply" + default n + + config ZENOH_PUBSUB_ARMING_CHECK_REQUEST + bool "arming_check_request" + default n + + config ZENOH_PUBSUB_AUTOTUNE_ATTITUDE_CONTROL_STATUS + bool "autotune_attitude_control_status" + default n + + config ZENOH_PUBSUB_BATTERY_STATUS + bool "battery_status" + default n + + config ZENOH_PUBSUB_BUFFER128 + bool "buffer128" + default n + + config ZENOH_PUBSUB_BUTTON_EVENT + bool "button_event" + default n + + config ZENOH_PUBSUB_CAMERA_CAPTURE + bool "camera_capture" + default n + + config ZENOH_PUBSUB_CAMERA_STATUS + bool "camera_status" + default n + + config ZENOH_PUBSUB_CAMERA_TRIGGER + bool "camera_trigger" + default n + + config ZENOH_PUBSUB_CAN_INTERFACE_STATUS + bool "can_interface_status" + default n + + config ZENOH_PUBSUB_CELLULAR_STATUS + bool "cellular_status" + default n + + config ZENOH_PUBSUB_COLLISION_CONSTRAINTS + bool "collision_constraints" + default n + + config ZENOH_PUBSUB_COLLISION_REPORT + bool "collision_report" + default n + + config ZENOH_PUBSUB_CONFIG_OVERRIDES + bool "config_overrides" + default n + + config ZENOH_PUBSUB_CONTROL_ALLOCATOR_STATUS + bool "control_allocator_status" + default n + + config ZENOH_PUBSUB_CPULOAD + bool "cpuload" + default n + + config ZENOH_PUBSUB_DATAMAN_REQUEST + bool "dataman_request" + default n + + config ZENOH_PUBSUB_DATAMAN_RESPONSE + bool "dataman_response" + default n + + config ZENOH_PUBSUB_DEBUG_ARRAY + bool "debug_array" + default n + + config ZENOH_PUBSUB_DEBUG_KEY_VALUE + bool "debug_key_value" + default n + + config ZENOH_PUBSUB_DEBUG_VALUE + bool "debug_value" + default n + + config ZENOH_PUBSUB_DEBUG_VECT + bool "debug_vect" + default n + + config ZENOH_PUBSUB_DIFFERENTIAL_DRIVE_SETPOINT + bool "differential_drive_setpoint" + default n + + config ZENOH_PUBSUB_DIFFERENTIAL_PRESSURE + bool "differential_pressure" + default n + + config ZENOH_PUBSUB_DISTANCE_SENSOR + bool "distance_sensor" + default n + + config ZENOH_PUBSUB_EKF2_TIMESTAMPS + bool "ekf2_timestamps" + default n + + config ZENOH_PUBSUB_ESC_REPORT + bool "esc_report" + default n + + config ZENOH_PUBSUB_ESC_STATUS + bool "esc_status" + default n + + config ZENOH_PUBSUB_ESTIMATOR_AID_SOURCE1D + bool "estimator_aid_source1d" + default n + + config ZENOH_PUBSUB_ESTIMATOR_AID_SOURCE2D + bool "estimator_aid_source2d" + default n + + config ZENOH_PUBSUB_ESTIMATOR_AID_SOURCE3D + bool "estimator_aid_source3d" + default n + + config ZENOH_PUBSUB_ESTIMATOR_BIAS + bool "estimator_bias" + default n + + config ZENOH_PUBSUB_ESTIMATOR_BIAS3D + bool "estimator_bias3d" + default n + + config ZENOH_PUBSUB_ESTIMATOR_EVENT_FLAGS + bool "estimator_event_flags" + default n + + config ZENOH_PUBSUB_ESTIMATOR_GPS_STATUS + bool "estimator_gps_status" + default n + + config ZENOH_PUBSUB_ESTIMATOR_INNOVATIONS + bool "estimator_innovations" + default n + + config ZENOH_PUBSUB_ESTIMATOR_SELECTOR_STATUS + bool "estimator_selector_status" + default n + + config ZENOH_PUBSUB_ESTIMATOR_SENSOR_BIAS + bool "estimator_sensor_bias" + default n + + config ZENOH_PUBSUB_ESTIMATOR_STATES + bool "estimator_states" + default n + + config ZENOH_PUBSUB_ESTIMATOR_STATUS + bool "estimator_status" + default n + + config ZENOH_PUBSUB_ESTIMATOR_STATUS_FLAGS + bool "estimator_status_flags" + default n + + config ZENOH_PUBSUB_EVENT + bool "event" + default n + + config ZENOH_PUBSUB_FAILSAFE_FLAGS + bool "failsafe_flags" + default n + + config ZENOH_PUBSUB_FAILURE_DETECTOR_STATUS + bool "failure_detector_status" + default n + + config ZENOH_PUBSUB_FIGURE_EIGHT_STATUS + bool "figure_eight_status" + default n + + config ZENOH_PUBSUB_FLIGHT_PHASE_ESTIMATION + bool "flight_phase_estimation" + default n + + config ZENOH_PUBSUB_FOLLOW_TARGET + bool "follow_target" + default n + + config ZENOH_PUBSUB_FOLLOW_TARGET_ESTIMATOR + bool "follow_target_estimator" + default n + + config ZENOH_PUBSUB_FOLLOW_TARGET_STATUS + bool "follow_target_status" + default n + + config ZENOH_PUBSUB_FUEL_TANK_STATUS + bool "fuel_tank_status" + default n + + config ZENOH_PUBSUB_GENERATOR_STATUS + bool "generator_status" + default n + + config ZENOH_PUBSUB_GEOFENCE_RESULT + bool "geofence_result" + default n + + config ZENOH_PUBSUB_GEOFENCE_STATUS + bool "geofence_status" + default n + + config ZENOH_PUBSUB_GIMBAL_CONTROLS + bool "gimbal_controls" + default n + + config ZENOH_PUBSUB_GIMBAL_DEVICE_ATTITUDE_STATUS + bool "gimbal_device_attitude_status" + default n + + config ZENOH_PUBSUB_GIMBAL_DEVICE_INFORMATION + bool "gimbal_device_information" + default n + + config ZENOH_PUBSUB_GIMBAL_DEVICE_SET_ATTITUDE + bool "gimbal_device_set_attitude" + default n + + config ZENOH_PUBSUB_GIMBAL_MANAGER_INFORMATION + bool "gimbal_manager_information" + default n + + config ZENOH_PUBSUB_GIMBAL_MANAGER_SET_ATTITUDE + bool "gimbal_manager_set_attitude" + default n + + config ZENOH_PUBSUB_GIMBAL_MANAGER_SET_MANUAL_CONTROL + bool "gimbal_manager_set_manual_control" + default n + + config ZENOH_PUBSUB_GIMBAL_MANAGER_STATUS + bool "gimbal_manager_status" + default n + + config ZENOH_PUBSUB_GOTO_SETPOINT + bool "goto_setpoint" + default n + + config ZENOH_PUBSUB_GPIO_CONFIG + bool "gpio_config" + default n + + config ZENOH_PUBSUB_GPIO_IN + bool "gpio_in" + default n + + config ZENOH_PUBSUB_GPIO_OUT + bool "gpio_out" + default n + + config ZENOH_PUBSUB_GPIO_REQUEST + bool "gpio_request" + default n + + config ZENOH_PUBSUB_GPS_DUMP + bool "gps_dump" + default n + + config ZENOH_PUBSUB_GPS_INJECT_DATA + bool "gps_inject_data" + default n + + config ZENOH_PUBSUB_GRIPPER + bool "gripper" + default n + + config ZENOH_PUBSUB_HEALTH_REPORT + bool "health_report" + default n + + config ZENOH_PUBSUB_HEATER_STATUS + bool "heater_status" + default n + + config ZENOH_PUBSUB_HOME_POSITION + bool "home_position" + default n + + config ZENOH_PUBSUB_HOVER_THRUST_ESTIMATE + bool "hover_thrust_estimate" + default n + + config ZENOH_PUBSUB_INPUT_RC + bool "input_rc" + default n + + config ZENOH_PUBSUB_INTERNAL_COMBUSTION_ENGINE_STATUS + bool "internal_combustion_engine_status" + default n + + config ZENOH_PUBSUB_IRIDIUMSBD_STATUS + bool "iridiumsbd_status" + default n + + config ZENOH_PUBSUB_IRLOCK_REPORT + bool "irlock_report" + default n + + config ZENOH_PUBSUB_LANDING_GEAR + bool "landing_gear" + default n + + config ZENOH_PUBSUB_LANDING_GEAR_WHEEL + bool "landing_gear_wheel" + default n + + config ZENOH_PUBSUB_LANDING_TARGET_INNOVATIONS + bool "landing_target_innovations" + default n + + config ZENOH_PUBSUB_LANDING_TARGET_POSE + bool "landing_target_pose" + default n + + config ZENOH_PUBSUB_LAUNCH_DETECTION_STATUS + bool "launch_detection_status" + default n + + config ZENOH_PUBSUB_LED_CONTROL + bool "led_control" + default n + + config ZENOH_PUBSUB_LOG_MESSAGE + bool "log_message" + default n + + config ZENOH_PUBSUB_LOGGER_STATUS + bool "logger_status" + default n + + config ZENOH_PUBSUB_MAG_WORKER_DATA + bool "mag_worker_data" + default n + + config ZENOH_PUBSUB_MAGNETOMETER_BIAS_ESTIMATE + bool "magnetometer_bias_estimate" + default n + + config ZENOH_PUBSUB_MANUAL_CONTROL_SETPOINT + bool "manual_control_setpoint" + default n + + config ZENOH_PUBSUB_MANUAL_CONTROL_SWITCHES + bool "manual_control_switches" + default n + + config ZENOH_PUBSUB_MAVLINK_LOG + bool "mavlink_log" + default n + + config ZENOH_PUBSUB_MAVLINK_TUNNEL + bool "mavlink_tunnel" + default n + + config ZENOH_PUBSUB_MESSAGE_FORMAT_REQUEST + bool "message_format_request" + default n + + config ZENOH_PUBSUB_MESSAGE_FORMAT_RESPONSE + bool "message_format_response" + default n + + config ZENOH_PUBSUB_MISSION + bool "mission" + default n + + config ZENOH_PUBSUB_MISSION_RESULT + bool "mission_result" + default n + + config ZENOH_PUBSUB_MODE_COMPLETED + bool "mode_completed" + default n + + config ZENOH_PUBSUB_MOUNT_ORIENTATION + bool "mount_orientation" + default n + + config ZENOH_PUBSUB_NAVIGATOR_MISSION_ITEM + bool "navigator_mission_item" + default n + + config ZENOH_PUBSUB_NORMALIZED_UNSIGNED_SETPOINT + bool "normalized_unsigned_setpoint" + default n + + config ZENOH_PUBSUB_NPFG_STATUS + bool "npfg_status" + default n + + config ZENOH_PUBSUB_OBSTACLE_DISTANCE + bool "obstacle_distance" + default n + + config ZENOH_PUBSUB_OFFBOARD_CONTROL_MODE + bool "offboard_control_mode" + default n + + config ZENOH_PUBSUB_ONBOARD_COMPUTER_STATUS + bool "onboard_computer_status" + default n + + config ZENOH_PUBSUB_ORB_TEST + bool "orb_test" + default n + + config ZENOH_PUBSUB_ORB_TEST_LARGE + bool "orb_test_large" + default n + + config ZENOH_PUBSUB_ORB_TEST_MEDIUM + bool "orb_test_medium" + default n + + config ZENOH_PUBSUB_ORBIT_STATUS + bool "orbit_status" + default n + + config ZENOH_PUBSUB_PARAMETER_RESET_REQUEST + bool "parameter_reset_request" + default n + + config ZENOH_PUBSUB_PARAMETER_SET_USED_REQUEST + bool "parameter_set_used_request" + default n + + config ZENOH_PUBSUB_PARAMETER_SET_VALUE_REQUEST + bool "parameter_set_value_request" + default n + + config ZENOH_PUBSUB_PARAMETER_SET_VALUE_RESPONSE + bool "parameter_set_value_response" + default n + + config ZENOH_PUBSUB_PARAMETER_UPDATE + bool "parameter_update" + default n + + config ZENOH_PUBSUB_PING + bool "ping" + default n + + config ZENOH_PUBSUB_POSITION_CONTROLLER_LANDING_STATUS + bool "position_controller_landing_status" + default n + + config ZENOH_PUBSUB_POSITION_CONTROLLER_STATUS + bool "position_controller_status" + default n + + config ZENOH_PUBSUB_POSITION_SETPOINT + bool "position_setpoint" + default n + + config ZENOH_PUBSUB_POSITION_SETPOINT_TRIPLET + bool "position_setpoint_triplet" + default n + + config ZENOH_PUBSUB_POWER_BUTTON_STATE + bool "power_button_state" + default n + + config ZENOH_PUBSUB_POWER_MONITOR + bool "power_monitor" + default n + + config ZENOH_PUBSUB_PPS_CAPTURE + bool "pps_capture" + default n + + config ZENOH_PUBSUB_PWM_INPUT + bool "pwm_input" + default n + + config ZENOH_PUBSUB_PX4IO_STATUS + bool "px4io_status" + default n + + config ZENOH_PUBSUB_QSHELL_REQ + bool "qshell_req" + default n + + config ZENOH_PUBSUB_QSHELL_RETVAL + bool "qshell_retval" + default n + + config ZENOH_PUBSUB_RADIO_STATUS + bool "radio_status" + default n + + config ZENOH_PUBSUB_RATE_CTRL_STATUS + bool "rate_ctrl_status" + default n + + config ZENOH_PUBSUB_RC_CHANNELS + bool "rc_channels" + default n + + config ZENOH_PUBSUB_RC_PARAMETER_MAP + bool "rc_parameter_map" + default n + + config ZENOH_PUBSUB_REGISTER_EXT_COMPONENT_REPLY + bool "register_ext_component_reply" + default n + + config ZENOH_PUBSUB_REGISTER_EXT_COMPONENT_REQUEST + bool "register_ext_component_request" + default n + + config ZENOH_PUBSUB_ROVER_ACKERMANN_GUIDANCE_STATUS + bool "rover_ackermann_guidance_status" + default n + + config ZENOH_PUBSUB_ROVER_ACKERMANN_STATUS + bool "rover_ackermann_status" + default n + + config ZENOH_PUBSUB_RPM + bool "rpm" + default n + + config ZENOH_PUBSUB_RTL_STATUS + bool "rtl_status" + default n + + config ZENOH_PUBSUB_RTL_TIME_ESTIMATE + bool "rtl_time_estimate" + default n + + config ZENOH_PUBSUB_SATELLITE_INFO + bool "satellite_info" + default n + + config ZENOH_PUBSUB_SENSOR_ACCEL + bool "sensor_accel" + default n + + config ZENOH_PUBSUB_SENSOR_ACCEL_FIFO + bool "sensor_accel_fifo" + default n + + config ZENOH_PUBSUB_SENSOR_AIRFLOW + bool "sensor_airflow" + default n + + config ZENOH_PUBSUB_SENSOR_BARO + bool "sensor_baro" + default n + + config ZENOH_PUBSUB_SENSOR_COMBINED + bool "sensor_combined" + default n + + config ZENOH_PUBSUB_SENSOR_CORRECTION + bool "sensor_correction" + default n + + config ZENOH_PUBSUB_SENSOR_GNSS_RELATIVE + bool "sensor_gnss_relative" + default n + + config ZENOH_PUBSUB_SENSOR_GPS + bool "sensor_gps" + default n + + config ZENOH_PUBSUB_SENSOR_GYRO + bool "sensor_gyro" + default n + + config ZENOH_PUBSUB_SENSOR_GYRO_FFT + bool "sensor_gyro_fft" + default n + + config ZENOH_PUBSUB_SENSOR_GYRO_FIFO + bool "sensor_gyro_fifo" + default n + + config ZENOH_PUBSUB_SENSOR_HYGROMETER + bool "sensor_hygrometer" + default n + + config ZENOH_PUBSUB_SENSOR_MAG + bool "sensor_mag" + default n + + config ZENOH_PUBSUB_SENSOR_OPTICAL_FLOW + bool "sensor_optical_flow" + default n + + config ZENOH_PUBSUB_SENSOR_PREFLIGHT_MAG + bool "sensor_preflight_mag" + default n + + config ZENOH_PUBSUB_SENSOR_SELECTION + bool "sensor_selection" + default n + + config ZENOH_PUBSUB_SENSOR_UWB + bool "sensor_uwb" + default n + + config ZENOH_PUBSUB_SENSORS_STATUS + bool "sensors_status" + default n + + config ZENOH_PUBSUB_SENSORS_STATUS_IMU + bool "sensors_status_imu" + default n + + config ZENOH_PUBSUB_SYSTEM_POWER + bool "system_power" + default n + + config ZENOH_PUBSUB_TAKEOFF_STATUS + bool "takeoff_status" + default n + + config ZENOH_PUBSUB_TASK_STACK_INFO + bool "task_stack_info" + default n + + config ZENOH_PUBSUB_TECS_STATUS + bool "tecs_status" + default n + + config ZENOH_PUBSUB_TELEMETRY_STATUS + bool "telemetry_status" + default n + + config ZENOH_PUBSUB_TILTROTOR_EXTRA_CONTROLS + bool "tiltrotor_extra_controls" + default n + + config ZENOH_PUBSUB_TIMESYNC_STATUS + bool "timesync_status" + default n + + config ZENOH_PUBSUB_TRAJECTORY_BEZIER + bool "trajectory_bezier" + default n + + config ZENOH_PUBSUB_TRAJECTORY_SETPOINT + bool "trajectory_setpoint" + default n + + config ZENOH_PUBSUB_TRAJECTORY_WAYPOINT + bool "trajectory_waypoint" + default n + + config ZENOH_PUBSUB_TRANSPONDER_REPORT + bool "transponder_report" + default n + + config ZENOH_PUBSUB_TUNE_CONTROL + bool "tune_control" + default n + + config ZENOH_PUBSUB_UAVCAN_PARAMETER_REQUEST + bool "uavcan_parameter_request" + default n + + config ZENOH_PUBSUB_UAVCAN_PARAMETER_VALUE + bool "uavcan_parameter_value" + default n + + config ZENOH_PUBSUB_ULOG_STREAM + bool "ulog_stream" + default n + + config ZENOH_PUBSUB_ULOG_STREAM_ACK + bool "ulog_stream_ack" + default n + + config ZENOH_PUBSUB_UNREGISTER_EXT_COMPONENT + bool "unregister_ext_component" + default n + + config ZENOH_PUBSUB_VEHICLE_ACCELERATION + bool "vehicle_acceleration" + default n + + config ZENOH_PUBSUB_VEHICLE_AIR_DATA + bool "vehicle_air_data" + default n + + config ZENOH_PUBSUB_VEHICLE_ANGULAR_ACCELERATION_SETPOINT + bool "vehicle_angular_acceleration_setpoint" + default n + + config ZENOH_PUBSUB_VEHICLE_ANGULAR_VELOCITY + bool "vehicle_angular_velocity" + default n + + config ZENOH_PUBSUB_VEHICLE_ATTITUDE + bool "vehicle_attitude" + default n + + config ZENOH_PUBSUB_VEHICLE_ATTITUDE_SETPOINT + bool "vehicle_attitude_setpoint" + default n + + config ZENOH_PUBSUB_VEHICLE_COMMAND + bool "vehicle_command" + default n + + config ZENOH_PUBSUB_VEHICLE_COMMAND_ACK + bool "vehicle_command_ack" + default n + + config ZENOH_PUBSUB_VEHICLE_CONSTRAINTS + bool "vehicle_constraints" + default n + + config ZENOH_PUBSUB_VEHICLE_CONTROL_MODE + bool "vehicle_control_mode" + default n + + config ZENOH_PUBSUB_VEHICLE_GLOBAL_POSITION + bool "vehicle_global_position" + default n + + config ZENOH_PUBSUB_VEHICLE_IMU + bool "vehicle_imu" + default n + + config ZENOH_PUBSUB_VEHICLE_IMU_STATUS + bool "vehicle_imu_status" + default n + + config ZENOH_PUBSUB_VEHICLE_LAND_DETECTED + bool "vehicle_land_detected" + default n + + config ZENOH_PUBSUB_VEHICLE_LOCAL_POSITION + bool "vehicle_local_position" + default n + + config ZENOH_PUBSUB_VEHICLE_LOCAL_POSITION_SETPOINT + bool "vehicle_local_position_setpoint" + default n + + config ZENOH_PUBSUB_VEHICLE_MAGNETOMETER + bool "vehicle_magnetometer" + default n + + config ZENOH_PUBSUB_VEHICLE_ODOMETRY + bool "vehicle_odometry" + default n + + config ZENOH_PUBSUB_VEHICLE_OPTICAL_FLOW + bool "vehicle_optical_flow" + default n + + config ZENOH_PUBSUB_VEHICLE_OPTICAL_FLOW_VEL + bool "vehicle_optical_flow_vel" + default n + + config ZENOH_PUBSUB_VEHICLE_RATES_SETPOINT + bool "vehicle_rates_setpoint" + default n + + config ZENOH_PUBSUB_VEHICLE_ROI + bool "vehicle_roi" + default n + + config ZENOH_PUBSUB_VEHICLE_STATUS + bool "vehicle_status" + default n + + config ZENOH_PUBSUB_VEHICLE_THRUST_SETPOINT + bool "vehicle_thrust_setpoint" + default n + + config ZENOH_PUBSUB_VEHICLE_TORQUE_SETPOINT + bool "vehicle_torque_setpoint" + default n + + config ZENOH_PUBSUB_VEHICLE_TRAJECTORY_BEZIER + bool "vehicle_trajectory_bezier" + default n + + config ZENOH_PUBSUB_VEHICLE_TRAJECTORY_WAYPOINT + bool "vehicle_trajectory_waypoint" + default n + + config ZENOH_PUBSUB_VELOCITY_LIMITS + bool "velocity_limits" + default n + + config ZENOH_PUBSUB_VTOL_VEHICLE_STATUS + bool "vtol_vehicle_status" + default n + + config ZENOH_PUBSUB_WHEEL_ENCODERS + bool "wheel_encoders" + default n + + config ZENOH_PUBSUB_WIND + bool "wind" + default n + + config ZENOH_PUBSUB_YAW_ESTIMATOR_STATUS + bool "yaw_estimator_status" + default n + + + +config ZENOH_PUBSUB_ALL_SELECTION + bool + default y if ZENOH_PUBSUB_ALL + select ZENOH_PUBSUB_ACTION_REQUEST + select ZENOH_PUBSUB_ACTUATOR_ARMED + select ZENOH_PUBSUB_ACTUATOR_CONTROLS_STATUS + select ZENOH_PUBSUB_ACTUATOR_MOTORS + select ZENOH_PUBSUB_ACTUATOR_OUTPUTS + select ZENOH_PUBSUB_ACTUATOR_SERVOS + select ZENOH_PUBSUB_ACTUATOR_SERVOS_TRIM + select ZENOH_PUBSUB_ACTUATOR_TEST + select ZENOH_PUBSUB_ADC_REPORT + select ZENOH_PUBSUB_AIRSPEED + select ZENOH_PUBSUB_AIRSPEED_VALIDATED + select ZENOH_PUBSUB_AIRSPEED_WIND + select ZENOH_PUBSUB_ARMING_CHECK_REPLY + select ZENOH_PUBSUB_ARMING_CHECK_REQUEST + select ZENOH_PUBSUB_AUTOTUNE_ATTITUDE_CONTROL_STATUS + select ZENOH_PUBSUB_BATTERY_STATUS + select ZENOH_PUBSUB_BUFFER128 + select ZENOH_PUBSUB_BUTTON_EVENT + select ZENOH_PUBSUB_CAMERA_CAPTURE + select ZENOH_PUBSUB_CAMERA_STATUS + select ZENOH_PUBSUB_CAMERA_TRIGGER + select ZENOH_PUBSUB_CAN_INTERFACE_STATUS + select ZENOH_PUBSUB_CELLULAR_STATUS + select ZENOH_PUBSUB_COLLISION_CONSTRAINTS + select ZENOH_PUBSUB_COLLISION_REPORT + select ZENOH_PUBSUB_CONFIG_OVERRIDES + select ZENOH_PUBSUB_CONTROL_ALLOCATOR_STATUS + select ZENOH_PUBSUB_CPULOAD + select ZENOH_PUBSUB_DATAMAN_REQUEST + select ZENOH_PUBSUB_DATAMAN_RESPONSE + select ZENOH_PUBSUB_DEBUG_ARRAY + select ZENOH_PUBSUB_DEBUG_KEY_VALUE + select ZENOH_PUBSUB_DEBUG_VALUE + select ZENOH_PUBSUB_DEBUG_VECT + select ZENOH_PUBSUB_DIFFERENTIAL_DRIVE_SETPOINT + select ZENOH_PUBSUB_DIFFERENTIAL_PRESSURE + select ZENOH_PUBSUB_DISTANCE_SENSOR + select ZENOH_PUBSUB_EKF2_TIMESTAMPS + select ZENOH_PUBSUB_ESC_REPORT + select ZENOH_PUBSUB_ESC_STATUS + select ZENOH_PUBSUB_ESTIMATOR_AID_SOURCE1D + select ZENOH_PUBSUB_ESTIMATOR_AID_SOURCE2D + select ZENOH_PUBSUB_ESTIMATOR_AID_SOURCE3D + select ZENOH_PUBSUB_ESTIMATOR_BIAS + select ZENOH_PUBSUB_ESTIMATOR_BIAS3D + select ZENOH_PUBSUB_ESTIMATOR_EVENT_FLAGS + select ZENOH_PUBSUB_ESTIMATOR_GPS_STATUS + select ZENOH_PUBSUB_ESTIMATOR_INNOVATIONS + select ZENOH_PUBSUB_ESTIMATOR_SELECTOR_STATUS + select ZENOH_PUBSUB_ESTIMATOR_SENSOR_BIAS + select ZENOH_PUBSUB_ESTIMATOR_STATES + select ZENOH_PUBSUB_ESTIMATOR_STATUS + select ZENOH_PUBSUB_ESTIMATOR_STATUS_FLAGS + select ZENOH_PUBSUB_EVENT + select ZENOH_PUBSUB_FAILSAFE_FLAGS + select ZENOH_PUBSUB_FAILURE_DETECTOR_STATUS + select ZENOH_PUBSUB_FIGURE_EIGHT_STATUS + select ZENOH_PUBSUB_FLIGHT_PHASE_ESTIMATION + select ZENOH_PUBSUB_FOLLOW_TARGET + select ZENOH_PUBSUB_FOLLOW_TARGET_ESTIMATOR + select ZENOH_PUBSUB_FOLLOW_TARGET_STATUS + select ZENOH_PUBSUB_FUEL_TANK_STATUS + select ZENOH_PUBSUB_GENERATOR_STATUS + select ZENOH_PUBSUB_GEOFENCE_RESULT + select ZENOH_PUBSUB_GEOFENCE_STATUS + select ZENOH_PUBSUB_GIMBAL_CONTROLS + select ZENOH_PUBSUB_GIMBAL_DEVICE_ATTITUDE_STATUS + select ZENOH_PUBSUB_GIMBAL_DEVICE_INFORMATION + select ZENOH_PUBSUB_GIMBAL_DEVICE_SET_ATTITUDE + select ZENOH_PUBSUB_GIMBAL_MANAGER_INFORMATION + select ZENOH_PUBSUB_GIMBAL_MANAGER_SET_ATTITUDE + select ZENOH_PUBSUB_GIMBAL_MANAGER_SET_MANUAL_CONTROL + select ZENOH_PUBSUB_GIMBAL_MANAGER_STATUS + select ZENOH_PUBSUB_GOTO_SETPOINT + select ZENOH_PUBSUB_GPIO_CONFIG + select ZENOH_PUBSUB_GPIO_IN + select ZENOH_PUBSUB_GPIO_OUT + select ZENOH_PUBSUB_GPIO_REQUEST + select ZENOH_PUBSUB_GPS_DUMP + select ZENOH_PUBSUB_GPS_INJECT_DATA + select ZENOH_PUBSUB_GRIPPER + select ZENOH_PUBSUB_HEALTH_REPORT + select ZENOH_PUBSUB_HEATER_STATUS + select ZENOH_PUBSUB_HOME_POSITION + select ZENOH_PUBSUB_HOVER_THRUST_ESTIMATE + select ZENOH_PUBSUB_INPUT_RC + select ZENOH_PUBSUB_INTERNAL_COMBUSTION_ENGINE_STATUS + select ZENOH_PUBSUB_IRIDIUMSBD_STATUS + select ZENOH_PUBSUB_IRLOCK_REPORT + select ZENOH_PUBSUB_LANDING_GEAR + select ZENOH_PUBSUB_LANDING_GEAR_WHEEL + select ZENOH_PUBSUB_LANDING_TARGET_INNOVATIONS + select ZENOH_PUBSUB_LANDING_TARGET_POSE + select ZENOH_PUBSUB_LAUNCH_DETECTION_STATUS + select ZENOH_PUBSUB_LED_CONTROL + select ZENOH_PUBSUB_LOG_MESSAGE + select ZENOH_PUBSUB_LOGGER_STATUS + select ZENOH_PUBSUB_MAG_WORKER_DATA + select ZENOH_PUBSUB_MAGNETOMETER_BIAS_ESTIMATE + select ZENOH_PUBSUB_MANUAL_CONTROL_SETPOINT + select ZENOH_PUBSUB_MANUAL_CONTROL_SWITCHES + select ZENOH_PUBSUB_MAVLINK_LOG + select ZENOH_PUBSUB_MAVLINK_TUNNEL + select ZENOH_PUBSUB_MESSAGE_FORMAT_REQUEST + select ZENOH_PUBSUB_MESSAGE_FORMAT_RESPONSE + select ZENOH_PUBSUB_MISSION + select ZENOH_PUBSUB_MISSION_RESULT + select ZENOH_PUBSUB_MODE_COMPLETED + select ZENOH_PUBSUB_MOUNT_ORIENTATION + select ZENOH_PUBSUB_NAVIGATOR_MISSION_ITEM + select ZENOH_PUBSUB_NORMALIZED_UNSIGNED_SETPOINT + select ZENOH_PUBSUB_NPFG_STATUS + select ZENOH_PUBSUB_OBSTACLE_DISTANCE + select ZENOH_PUBSUB_OFFBOARD_CONTROL_MODE + select ZENOH_PUBSUB_ONBOARD_COMPUTER_STATUS + select ZENOH_PUBSUB_ORB_TEST + select ZENOH_PUBSUB_ORB_TEST_LARGE + select ZENOH_PUBSUB_ORB_TEST_MEDIUM + select ZENOH_PUBSUB_ORBIT_STATUS + select ZENOH_PUBSUB_PARAMETER_RESET_REQUEST + select ZENOH_PUBSUB_PARAMETER_SET_USED_REQUEST + select ZENOH_PUBSUB_PARAMETER_SET_VALUE_REQUEST + select ZENOH_PUBSUB_PARAMETER_SET_VALUE_RESPONSE + select ZENOH_PUBSUB_PARAMETER_UPDATE + select ZENOH_PUBSUB_PING + select ZENOH_PUBSUB_POSITION_CONTROLLER_LANDING_STATUS + select ZENOH_PUBSUB_POSITION_CONTROLLER_STATUS + select ZENOH_PUBSUB_POSITION_SETPOINT + select ZENOH_PUBSUB_POSITION_SETPOINT_TRIPLET + select ZENOH_PUBSUB_POWER_BUTTON_STATE + select ZENOH_PUBSUB_POWER_MONITOR + select ZENOH_PUBSUB_PPS_CAPTURE + select ZENOH_PUBSUB_PWM_INPUT + select ZENOH_PUBSUB_PX4IO_STATUS + select ZENOH_PUBSUB_QSHELL_REQ + select ZENOH_PUBSUB_QSHELL_RETVAL + select ZENOH_PUBSUB_RADIO_STATUS + select ZENOH_PUBSUB_RATE_CTRL_STATUS + select ZENOH_PUBSUB_RC_CHANNELS + select ZENOH_PUBSUB_RC_PARAMETER_MAP + select ZENOH_PUBSUB_REGISTER_EXT_COMPONENT_REPLY + select ZENOH_PUBSUB_REGISTER_EXT_COMPONENT_REQUEST + select ZENOH_PUBSUB_ROVER_ACKERMANN_GUIDANCE_STATUS + select ZENOH_PUBSUB_ROVER_ACKERMANN_STATUS + select ZENOH_PUBSUB_RPM + select ZENOH_PUBSUB_RTL_STATUS + select ZENOH_PUBSUB_RTL_TIME_ESTIMATE + select ZENOH_PUBSUB_SATELLITE_INFO + select ZENOH_PUBSUB_SENSOR_ACCEL + select ZENOH_PUBSUB_SENSOR_ACCEL_FIFO + select ZENOH_PUBSUB_SENSOR_AIRFLOW + select ZENOH_PUBSUB_SENSOR_BARO + select ZENOH_PUBSUB_SENSOR_COMBINED + select ZENOH_PUBSUB_SENSOR_CORRECTION + select ZENOH_PUBSUB_SENSOR_GNSS_RELATIVE + select ZENOH_PUBSUB_SENSOR_GPS + select ZENOH_PUBSUB_SENSOR_GYRO + select ZENOH_PUBSUB_SENSOR_GYRO_FFT + select ZENOH_PUBSUB_SENSOR_GYRO_FIFO + select ZENOH_PUBSUB_SENSOR_HYGROMETER + select ZENOH_PUBSUB_SENSOR_MAG + select ZENOH_PUBSUB_SENSOR_OPTICAL_FLOW + select ZENOH_PUBSUB_SENSOR_PREFLIGHT_MAG + select ZENOH_PUBSUB_SENSOR_SELECTION + select ZENOH_PUBSUB_SENSOR_UWB + select ZENOH_PUBSUB_SENSORS_STATUS + select ZENOH_PUBSUB_SENSORS_STATUS_IMU + select ZENOH_PUBSUB_SYSTEM_POWER + select ZENOH_PUBSUB_TAKEOFF_STATUS + select ZENOH_PUBSUB_TASK_STACK_INFO + select ZENOH_PUBSUB_TECS_STATUS + select ZENOH_PUBSUB_TELEMETRY_STATUS + select ZENOH_PUBSUB_TILTROTOR_EXTRA_CONTROLS + select ZENOH_PUBSUB_TIMESYNC_STATUS + select ZENOH_PUBSUB_TRAJECTORY_BEZIER + select ZENOH_PUBSUB_TRAJECTORY_SETPOINT + select ZENOH_PUBSUB_TRAJECTORY_WAYPOINT + select ZENOH_PUBSUB_TRANSPONDER_REPORT + select ZENOH_PUBSUB_TUNE_CONTROL + select ZENOH_PUBSUB_UAVCAN_PARAMETER_REQUEST + select ZENOH_PUBSUB_UAVCAN_PARAMETER_VALUE + select ZENOH_PUBSUB_ULOG_STREAM + select ZENOH_PUBSUB_ULOG_STREAM_ACK + select ZENOH_PUBSUB_UNREGISTER_EXT_COMPONENT + select ZENOH_PUBSUB_VEHICLE_ACCELERATION + select ZENOH_PUBSUB_VEHICLE_AIR_DATA + select ZENOH_PUBSUB_VEHICLE_ANGULAR_ACCELERATION_SETPOINT + select ZENOH_PUBSUB_VEHICLE_ANGULAR_VELOCITY + select ZENOH_PUBSUB_VEHICLE_ATTITUDE + select ZENOH_PUBSUB_VEHICLE_ATTITUDE_SETPOINT + select ZENOH_PUBSUB_VEHICLE_COMMAND + select ZENOH_PUBSUB_VEHICLE_COMMAND_ACK + select ZENOH_PUBSUB_VEHICLE_CONSTRAINTS + select ZENOH_PUBSUB_VEHICLE_CONTROL_MODE + select ZENOH_PUBSUB_VEHICLE_GLOBAL_POSITION + select ZENOH_PUBSUB_VEHICLE_IMU + select ZENOH_PUBSUB_VEHICLE_IMU_STATUS + select ZENOH_PUBSUB_VEHICLE_LAND_DETECTED + select ZENOH_PUBSUB_VEHICLE_LOCAL_POSITION + select ZENOH_PUBSUB_VEHICLE_LOCAL_POSITION_SETPOINT + select ZENOH_PUBSUB_VEHICLE_MAGNETOMETER + select ZENOH_PUBSUB_VEHICLE_ODOMETRY + select ZENOH_PUBSUB_VEHICLE_OPTICAL_FLOW + select ZENOH_PUBSUB_VEHICLE_OPTICAL_FLOW_VEL + select ZENOH_PUBSUB_VEHICLE_RATES_SETPOINT + select ZENOH_PUBSUB_VEHICLE_ROI + select ZENOH_PUBSUB_VEHICLE_STATUS + select ZENOH_PUBSUB_VEHICLE_THRUST_SETPOINT + select ZENOH_PUBSUB_VEHICLE_TORQUE_SETPOINT + select ZENOH_PUBSUB_VEHICLE_TRAJECTORY_BEZIER + select ZENOH_PUBSUB_VEHICLE_TRAJECTORY_WAYPOINT + select ZENOH_PUBSUB_VELOCITY_LIMITS + select ZENOH_PUBSUB_VTOL_VEHICLE_STATUS + select ZENOH_PUBSUB_WHEEL_ENCODERS + select ZENOH_PUBSUB_WIND + select ZENOH_PUBSUB_YAW_ESTIMATOR_STATUS + +endmenu diff --git a/src/modules/zenoh/module.yaml b/src/modules/zenoh/module.yaml new file mode 100644 index 000000000000..25e658f9f307 --- /dev/null +++ b/src/modules/zenoh/module.yaml @@ -0,0 +1,14 @@ +module_name: Zenoh bridge + +parameters: + - group: Zenoh + definitions: + + ZENOH_ENABLE: + description: + short: Zenoh Enable + long: Zenoh + category: System + type: int32 + reboot_required: true + default: 0 diff --git a/src/modules/zenoh/publishers/uorb_publisher.hpp b/src/modules/zenoh/publishers/uorb_publisher.hpp new file mode 100644 index 000000000000..fd41e4f2e88c --- /dev/null +++ b/src/modules/zenoh/publishers/uorb_publisher.hpp @@ -0,0 +1,105 @@ +/**************************************************************************** + * + * Copyright (c) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file uorb_publisher.hpp + * + * Defines generic, templatized uORB over Zenoh / ROS2 + * + * @author Peter van der Perk + */ + +#pragma once + +#include "zenoh_publisher.hpp" +#include +#include + +#define CDR_SAFETY_MARGIN 12 + +class uORB_Zenoh_Publisher : public Zenoh_Publisher +{ +public: + uORB_Zenoh_Publisher(const orb_metadata *meta, const uint32_t *ops) : + Zenoh_Publisher(), + _uorb_meta{meta}, + _cdr_ops(ops) + { + _uorb_sub = orb_subscribe(meta); + }; + + ~uORB_Zenoh_Publisher() override = default; + + // Update the uORB Subscription and broadcast a Zenoh ROS2 message + virtual int8_t update() override + { + uint8_t data[_uorb_meta->o_size]; + orb_copy(_uorb_meta, _uorb_sub, data); + + uint8_t buf[_uorb_meta->o_size + 4 + CDR_SAFETY_MARGIN]; + memcpy(buf, ros2_header, sizeof(ros2_header)); + + dds_ostream_t os; + os.m_buffer = buf; + os.m_index = (uint32_t)sizeof(ros2_header); + os.m_size = (uint32_t)sizeof(ros2_header) + _uorb_meta->o_size + CDR_SAFETY_MARGIN; + os.m_xcdr_version = DDSI_RTPS_CDR_ENC_VERSION_2; + + if (dds_stream_write(&os, + &dds_allocator, + (const char *)&data, + _cdr_ops)) { + return publish((const uint8_t *)buf, os.m_size); + + } else { + return _Z_ERR_MESSAGE_SERIALIZATION_FAILED; + } + }; + + void setPollFD(px4_pollfd_struct_t *pfd) + { + pfd->fd = _uorb_sub; + pfd->events = POLLIN; + } + + void print() + { + printf("uORB %s -> ", _uorb_meta->o_name); + Zenoh_Publisher::print(); + } + +private: + const orb_metadata *_uorb_meta; + int _uorb_sub; + const uint32_t *_cdr_ops; +}; diff --git a/src/modules/zenoh/publishers/zenoh_publisher.cpp b/src/modules/zenoh/publishers/zenoh_publisher.cpp new file mode 100644 index 000000000000..8ce688d2b787 --- /dev/null +++ b/src/modules/zenoh/publishers/zenoh_publisher.cpp @@ -0,0 +1,95 @@ +/**************************************************************************** + * + * Copyright (c) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file zenoh_publisher.cpp + * + * Zenoh publisher + * + * @author Peter van der Perk + */ + +#include "zenoh_publisher.hpp" + + +Zenoh_Publisher::Zenoh_Publisher() +{ + this->_topic[0] = 0x0; +} + +Zenoh_Publisher::~Zenoh_Publisher() +{ + undeclare_publisher(); +} + +int Zenoh_Publisher::undeclare_publisher() +{ + z_undeclare_publisher(z_publisher_move(&_pub)); + return 0; +} + +int Zenoh_Publisher::declare_publisher(z_owned_session_t s, const char *keyexpr) +{ + strncpy(this->_topic, keyexpr, sizeof(this->_topic)); + + z_view_keyexpr_t ke; + z_view_keyexpr_from_str(&ke, this->_topic); + + if (z_declare_publisher(&_pub, z_loan(s), z_loan(ke), NULL) < 0) { + printf("Unable to declare publisher for key expression!\n"); + return -1; + } + + if (!z_publisher_check(&_pub)) { + printf("Unable to declare publisher for key expression!\n"); + return -1; + } + + return 0; +} + +int8_t Zenoh_Publisher::publish(const uint8_t *buf, int size) +{ + z_publisher_put_options_t options; + z_publisher_put_options_default(&options); + options.encoding = NULL; + + z_owned_bytes_t payload; + z_bytes_serialize_from_slice(&payload, buf, size); + return z_publisher_put(z_loan(_pub), z_move(payload), &options); +} + +void Zenoh_Publisher::print() +{ + printf("Topic: %s\n", this->_topic); +} diff --git a/src/modules/zenoh/publishers/zenoh_publisher.hpp b/src/modules/zenoh/publishers/zenoh_publisher.hpp new file mode 100644 index 000000000000..a12849c78682 --- /dev/null +++ b/src/modules/zenoh/publishers/zenoh_publisher.hpp @@ -0,0 +1,70 @@ +/**************************************************************************** + * + * Copyright (c) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file zenoh_publisher.hpp + * + * Defines basic functionality of Zenoh publisher class + * + * @author Peter van der Perk + */ + +#pragma once + +#include +#include + +#include +#include +#include + +class Zenoh_Publisher : public ListNode +{ +public: + Zenoh_Publisher(); + virtual ~Zenoh_Publisher(); + + virtual int declare_publisher(z_owned_session_t s, const char *keyexpr); + + virtual int undeclare_publisher(); + + virtual int8_t update() = 0; + + virtual void print(); + +protected: + int8_t publish(const uint8_t *, int size); + + z_owned_publisher_t _pub; + char _topic[60]; // The Topic name is somewhere is the Zenoh stack as well but no good api to fetch it. +}; diff --git a/src/modules/zenoh/subscribers/uorb_subscriber.hpp b/src/modules/zenoh/subscribers/uorb_subscriber.hpp new file mode 100644 index 000000000000..bd59adb84606 --- /dev/null +++ b/src/modules/zenoh/subscribers/uorb_subscriber.hpp @@ -0,0 +1,110 @@ +/**************************************************************************** + * + * Copyright (c) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file uorb_subscriber.hpp + * + * Defines generic, templatized uORB over Zenoh / ROS2 + * + * @author Peter van der Perk + */ + +#pragma once + +#include "zenoh_subscriber.hpp" +#include +#include +#include + +class uORB_Zenoh_Subscriber : public Zenoh_Subscriber +{ +public: + uORB_Zenoh_Subscriber(const orb_metadata *meta, const uint32_t *ops) : + Zenoh_Subscriber(), + _uorb_meta{meta}, + _cdr_ops(ops) + { + int instance = 0; + _uorb_pub_handle = orb_advertise_multi(_uorb_meta, nullptr, &instance); + }; + + ~uORB_Zenoh_Subscriber() override = default; + + // Update the uORB Subscription and broadcast a Zenoh ROS2 message + void data_handler(const z_loaned_sample_t *sample) + { + char data[_uorb_meta->o_size]; + + const z_loaned_bytes_t *payload = z_sample_payload(sample); + size_t len = z_bytes_len(payload); + + dds_istream_t is = {.m_buffer = (unsigned char *)(payload), .m_size = static_cast(len), + .m_index = 4, .m_xcdr_version = DDSI_RTPS_CDR_ENC_VERSION_2 + }; + dds_stream_read(&is, data, &dds_allocator, _cdr_ops); + + // As long as we don't have timesynchronization between Zenoh nodes + // we've to manually set the timestamp + fix_timestamp(data); + + // ORB_ID::input_rc needs additional timestamp fixup + if (static_cast(_uorb_meta->o_id) == ORB_ID::input_rc) { + memcpy(&data[8], data, sizeof(hrt_abstime)); + } + + orb_publish(_uorb_meta, _uorb_pub_handle, &data); + }; + + void fix_timestamp(char *data) + { + hrt_abstime now = hrt_absolute_time(); + memcpy(data, &now, sizeof(hrt_abstime)); + } + + void print() + { + Zenoh_Subscriber::print("uORB", _uorb_meta->o_name); + } + +protected: + // Default payload-size function -- can specialize in derived class + size_t get_payload_size() + { + return _uorb_meta->o_size; + } + +private: + const orb_metadata *_uorb_meta; + orb_advert_t _uorb_pub_handle; + const uint32_t *_cdr_ops; +}; diff --git a/src/modules/zenoh/subscribers/zenoh_subscriber.cpp b/src/modules/zenoh/subscribers/zenoh_subscriber.cpp new file mode 100644 index 000000000000..79f37d89812a --- /dev/null +++ b/src/modules/zenoh/subscribers/zenoh_subscriber.cpp @@ -0,0 +1,106 @@ +/**************************************************************************** + * + * Copyright (c) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file zenoh_subscriber.cpp + * + * Zenoh subscriber + * + * @author Peter van der Perk + */ + +#include "zenoh_subscriber.hpp" + +static void data_handler_cb(const z_loaned_sample_t *sample, void *arg) +{ + static_cast(arg)->data_handler(sample); +} + +void Zenoh_Subscriber::data_handler(const z_loaned_sample_t *sample) +{ + z_view_string_t keystr; + z_keyexpr_as_view_string(z_sample_keyexpr(sample), &keystr); + z_owned_slice_t value; + z_bytes_deserialize_into_slice(z_sample_payload(sample), &value); + printf(">> [Subscriber] Received ('%s' size '%d')\n", z_string_data(z_loan(keystr)), (int)z_slice_len(z_loan(value))); +} + + +Zenoh_Subscriber::Zenoh_Subscriber() +{ + this->_topic[0] = 0x0; +} + +Zenoh_Subscriber::~Zenoh_Subscriber() +{ + undeclare_subscriber(); +} + +int Zenoh_Subscriber::undeclare_subscriber() +{ + z_undeclare_subscriber(z_subscriber_move(&_sub)); + return 0; +} + +int Zenoh_Subscriber::declare_subscriber(z_owned_session_t s, const char *keyexpr) +{ + z_owned_closure_sample_t callback; + z_closure_sample(&callback, data_handler_cb, NULL, this); + + strncpy(this->_topic, keyexpr, sizeof(this->_topic)); + + z_view_keyexpr_t ke; + z_view_keyexpr_from_str(&ke, this->_topic); + + if (z_declare_subscriber(&_sub, z_loan(s), z_loan(ke), z_closure_sample_move(&callback), NULL) < 0) { + printf("Unable to declare subscriber.\n"); + exit(-1); + } + + if (!z_subscriber_check(&_sub)) { + printf("Unable to declare subscriber for key expression!\n %s\n", keyexpr); + return -1; + } + + return 0; +} + +void Zenoh_Subscriber::print() +{ + printf("Topic: %s\n", this->_topic); +} + +void Zenoh_Subscriber::print(const char *type_string, const char *topic_string) +{ + printf("Topic: %s -> %s %s \n", this->_topic, type_string, topic_string); +} diff --git a/src/modules/zenoh/subscribers/zenoh_subscriber.hpp b/src/modules/zenoh/subscribers/zenoh_subscriber.hpp new file mode 100644 index 000000000000..1b6d10922045 --- /dev/null +++ b/src/modules/zenoh/subscribers/zenoh_subscriber.hpp @@ -0,0 +1,74 @@ +/**************************************************************************** + * + * Copyright (c) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file zenoh_subscriber.hpp + * + * Defines basic functionality of Zenoh subscriber class + * + * @author Peter van der Perk + */ + +#pragma once + +#include +#include + +#include +#include +#include + +// CycloneDDS CDR Deserializer +#include +#include + +class Zenoh_Subscriber : public ListNode +{ +public: + Zenoh_Subscriber(); + virtual ~Zenoh_Subscriber(); + + virtual int declare_subscriber(z_owned_session_t s, const char *keyexpr); + + virtual int undeclare_subscriber(); + + virtual void data_handler(const z_loaned_sample_t *sample); + + virtual void print(); + +protected: + virtual void print(const char *type_string, const char *topic_string); + + z_owned_subscriber_t _sub; + char _topic[60]; // The Topic name is somewhere is the Zenoh stack as well but no good api to fetch it. +}; diff --git a/src/modules/zenoh/zenoh-pico b/src/modules/zenoh/zenoh-pico new file mode 160000 index 000000000000..f093aa7955bb --- /dev/null +++ b/src/modules/zenoh/zenoh-pico @@ -0,0 +1 @@ +Subproject commit f093aa7955bb24dfa3e626de084583711e3bac5c diff --git a/src/modules/zenoh/zenoh.cpp b/src/modules/zenoh/zenoh.cpp new file mode 100644 index 000000000000..6411734a2918 --- /dev/null +++ b/src/modules/zenoh/zenoh.cpp @@ -0,0 +1,304 @@ +/**************************************************************************** + * + * Copyright (c) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include "zenoh.h" +#include "zenoh-pico/api/macros.h" +#include "zenoh-pico/api/primitives.h" +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include + +// CycloneDDS CDR Deserializer +#include + +// Auto-generated header to all uORB <-> CDR conversions +#include + + +#define Z_PUBLISH +#define Z_SUBSCRIBE + +extern "C" __EXPORT int zenoh_main(int argc, char *argv[]); + +ZENOH::ZENOH(): + ModuleParams(nullptr) +{ + +} + +ZENOH::~ZENOH() +{ + +} + +void ZENOH::run() +{ + char mode[NET_MODE_SIZE]; + char locator[NET_LOCATOR_SIZE]; + int8_t ret; + int i; + + Zenoh_Config z_config; + + z_config.getNetworkConfig(mode, locator); + + z_owned_config_t config; + z_config_default(&config); + zp_config_insert(z_loan_mut(config), Z_CONFIG_MODE_KEY, mode); + + if (locator[0] != 0) { + zp_config_insert(z_loan_mut(config), Z_CONFIG_CONNECT_KEY, locator); + + } else if (strcmp(Z_CONFIG_MODE_PEER, mode) == 0) { + zp_config_insert(z_loan_mut(config), Z_CONFIG_CONNECT_KEY, Z_CONFIG_MULTICAST_LOCATOR_DEFAULT); + } + + PX4_INFO("Opening session..."); + z_owned_session_t s; + ret = z_open(&s, z_move(config)); + + if (ret < 0) { + PX4_ERR("Unable to open session, ret: %d", ret); + return; + } + + PX4_INFO("Checking session..."); + + if (!z_session_check(&s)) { + PX4_ERR("Unable to check session!"); + return; + } + + PX4_INFO("Starting reading/writing tasks..."); + + // Start read and lease tasks for zenoh-pico + if (zp_start_read_task(z_loan_mut(s), NULL) < 0 || zp_start_lease_task(z_loan_mut(s), NULL) < 0) { + PX4_ERR("Unable to start read and lease tasks"); + z_close(z_move(s)); + return; + } + +#ifdef Z_SUBSCRIBE + _sub_count = z_config.getSubCount(); + _zenoh_subscribers = (Zenoh_Subscriber **)malloc(sizeof(Zenoh_Subscriber *)*_sub_count); + { + char topic[TOPIC_INFO_SIZE]; + char type[TOPIC_INFO_SIZE]; + + for (i = 0; i < _sub_count; i++) { + z_config.getSubscriberMapping(topic, type); + _zenoh_subscribers[i] = genSubscriber(type); + + if (_zenoh_subscribers[i] != 0) { + _zenoh_subscribers[i]->declare_subscriber(s, topic); + } + + + } + + if (z_config.getSubscriberMapping(topic, type) < 0) { + PX4_WARN("Subscriber mapping parsing error"); + } + } +#endif + +#ifdef Z_PUBLISH + + _pub_count = z_config.getPubCount(); + _zenoh_publishers = (uORB_Zenoh_Publisher **)malloc(_pub_count * sizeof(uORB_Zenoh_Publisher *)); + px4_pollfd_struct_t pfds[_pub_count]; + + { + char topic[TOPIC_INFO_SIZE]; + char type[TOPIC_INFO_SIZE]; + + for (i = 0; i < _pub_count; i++) { + z_config.getPublisherMapping(topic, type); + _zenoh_publishers[i] = genPublisher(type); + + if (_zenoh_publishers[i] != 0) { + _zenoh_publishers[i]->declare_publisher(s, topic); + _zenoh_publishers[i]->setPollFD(&pfds[i]); + } + } + + if (z_config.getSubscriberMapping(topic, type) < 0) { + PX4_WARN("Publisher mapping parsing error"); + } + } + + if (_pub_count == 0) { + // Nothing to publish but we don't want to stop this thread + while (!should_exit()) { + usleep(1000); + } + } + + while (!should_exit()) { + int pret = px4_poll(pfds, _pub_count, 100); + + if (pret == 0) { + //PX4_INFO("Zenoh poll timeout\n"); + + } else { + for (i = 0; i < _pub_count; i++) { + if (pfds[i].revents & POLLIN) { + ret = _zenoh_publishers[i]->update(); + + if (ret < 0) { + PX4_WARN("Publisher error %i", ret); + + } + } + } + } + } + +#endif + + // Exiting cleaning up publisher and subscribers + for (i = 0; i < _sub_count; i++) { + delete _zenoh_subscribers[i]; + } + + free(_zenoh_subscribers); + + for (i = 0; i < _pub_count; i++) { + delete _zenoh_publishers[i]; + } + + free(_zenoh_publishers); + + // Stop read and lease tasks for zenoh-pico + zp_stop_read_task(z_session_loan_mut(&s)); + zp_stop_lease_task(z_session_loan_mut(&s)); + + z_close(z_session_move(&s)); + exit_and_cleanup(); +} + +int ZENOH::custom_command(int argc, char *argv[]) +{ + if (argc > 0 && strcmp("config", argv[0]) == 0) { + Zenoh_Config z_config; + + if (z_config.cli(argc, argv) == 0) { + return 0; + } + } + + return print_usage("Unrecognized command."); +} + +int ZENOH::print_usage(const char *reason) +{ + if (reason) { + printf("%s\n\n", reason); + } + + PRINT_MODULE_USAGE_NAME("zenoh", "driver"); + PRINT_MODULE_DESCRIPTION(R"DESC_STR( +### Description + +Zenoh demo bridge + )DESC_STR"); + PRINT_MODULE_USAGE_COMMAND("start"); + PRINT_MODULE_USAGE_COMMAND("stop"); + PRINT_MODULE_USAGE_COMMAND("status"); + PRINT_MODULE_USAGE_COMMAND("config"); + PX4_INFO_RAW(" addpublisher Publish uORB topic to Zenoh\n"); + PX4_INFO_RAW(" addsubscriber Publish Zenoh topic to uORB\n"); + PX4_INFO_RAW(" net Zenoh network mode\n"); + PX4_INFO_RAW(" values: client|peer \n"); + PX4_INFO_RAW(" client: locator address e.g. tcp/10.41.10.1:7447#iface=eth0\n"); + PX4_INFO_RAW(" peer: multicast address e.g. udp/224.0.0.224:7446#iface=eth0\n"); + return 0; +} + +int ZENOH::print_status() +{ + PX4_INFO("running"); + + PX4_INFO("Publishers"); + + for (int i = 0; i < _pub_count; i++) { + _zenoh_publishers[i]->print(); + } + + PX4_INFO("Subscribers"); + + for (int i = 0; i < _sub_count; i++) { + _zenoh_subscribers[i]->print(); + } + + return 0; +} + +int ZENOH::task_spawn(int argc, char *argv[]) +{ + + int task_id = px4_task_spawn_cmd( + "zenoh", + SCHED_DEFAULT, + SCHED_PRIORITY_DEFAULT, + 4096, + &run_trampoline, + argv + ); + + if (task_id < 0) { + return -errno; + + } else { + _task_id = task_id; + return 0; + } +} + +ZENOH *ZENOH::instantiate(int argc, char *argv[]) +{ + return new ZENOH(); +} + +int zenoh_main(int argc, char *argv[]) +{ + return ZENOH::main(argc, argv); +} diff --git a/src/modules/zenoh/zenoh.h b/src/modules/zenoh/zenoh.h new file mode 100644 index 000000000000..a7cb0465a934 --- /dev/null +++ b/src/modules/zenoh/zenoh.h @@ -0,0 +1,95 @@ +/**************************************************************************** + * + * Copyright (c) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#ifndef ZENOH_MODULE_H +#define ZENOH_MODULE_H + +#include +#include +#include +#include + +#include +#include +#include +#include +#include + +#include "zenoh_config.hpp" +#include "publishers/uorb_publisher.hpp" +#include "subscribers/uorb_subscriber.hpp" + +class ZENOH : public ModuleBase, public ModuleParams +{ +public: + ZENOH(); + + ~ZENOH(); + + + /** + * @see ModuleBase::custom_command + */ + static int custom_command(int argc, char *argv[]); + + /** + * @see ModuleBase::print_usage + */ + static int print_usage(const char *reason = nullptr); + + /** + * @see ModuleBase::print_usage + */ + int print_status(); + + /** + * @see ModuleBase::task_spawn + */ + static int task_spawn(int argc, char *argv[]); + + static ZENOH *instantiate(int argc, char *argv[]); + + void run() override; + +private: + + Zenoh_Config _config; + + int _pub_count; + uORB_Zenoh_Publisher **_zenoh_publishers; + int _sub_count; + Zenoh_Subscriber **_zenoh_subscribers; + +}; + +#endif //ZENOH_MODULE_H diff --git a/src/modules/zenoh/zenoh_config.cpp b/src/modules/zenoh/zenoh_config.cpp new file mode 100644 index 000000000000..83f81fb31bbe --- /dev/null +++ b/src/modules/zenoh/zenoh_config.cpp @@ -0,0 +1,409 @@ +/**************************************************************************** + * + * Copyright (c) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file zenoh_config.cpp + * + * Zenoh configuration backend + * + * @author Peter van der Perk + */ + +#include "zenoh_config.hpp" + +#include +#include +#include +#include +#include + +#include + + +const char *default_net_config = Z_CONFIG_MODE_DEFAULT; +const char *default_pub_config = ""; +const char *default_sub_config = ""; //TODO maybe use YAML + + +Zenoh_Config::Zenoh_Config() +{ + bool correct_config = true; + DIR *dir = opendir(ZENOH_ROOT_PATH); + fp_mapping = NULL; + + if (dir) { + /* Directory exists. */ + closedir(dir); + + if (access(ZENOH_NET_CONFIG_PATH, F_OK) != 0) { + correct_config = false; + + } else if (access(ZENOH_PUB_CONFIG_PATH, F_OK) != 0) { + correct_config = false; + + } else if (access(ZENOH_SUB_CONFIG_PATH, F_OK) != 0) { + correct_config = false; + } + + } else { + /* opendir() failed */ + correct_config = false; + } + + if (!correct_config) { + generate_clean_config(); + } +} + +Zenoh_Config::~Zenoh_Config() +{ + if (fp_mapping != NULL) { + fclose(fp_mapping); + } +} + +int Zenoh_Config::AddPubSub(char *topic, char *datatype, const char *filename) +{ + { + char f_topic[TOPIC_INFO_SIZE]; + char f_type[TOPIC_INFO_SIZE]; + + while (getPubSubMapping(f_topic, f_type, filename) > 0) { + if (strcmp(topic, f_topic) == 0 + || strcmp(datatype, f_type) == 0) { + printf("Already mapped to uORB %s -> %s\n", f_type, f_topic); + return 0; + } + + } + } + + for (size_t i = 0; i < orb_topics_count(); i++) { + const struct orb_metadata *meta = get_orb_meta((ORB_ID)i); + + if (meta != NULL && + strcmp(meta->o_name, datatype) == 0) { + FILE *fp = fopen(filename, "a"); + + if (fp) { + fprintf(fp, "%s;%s\n", topic, datatype); + + } else { + return -1; + } + + fclose(fp); + return 1; + } + } + + printf("%s not found\n", datatype); + return 0; +} + + +int Zenoh_Config::SetNetworkConfig(char *mode, char *locator) +{ + + FILE *fp = fopen(ZENOH_NET_CONFIG_PATH, "w"); + + if (fp) { + if (locator == 0) { + fprintf(fp, "%s\n", mode); + + } else { + fprintf(fp, "%s;%s\n", mode, locator); + } + + } else { + return -1; + } + + fclose(fp); + return 0; +} + +int Zenoh_Config::cli(int argc, char *argv[]) +{ + if (argc == 1) { + dump_config(); + + } else if (argc == 3) { + if (strcmp(argv[1], "net") == 0) { + SetNetworkConfig(argv[2], 0); + } + + } else if (argc == 4) { + if (strcmp(argv[1], "addpublisher") == 0) { + if (AddPubSub(argv[2], argv[3], ZENOH_PUB_CONFIG_PATH) > 0) { + printf("Added %s %s to publishers\n", argv[2], argv[3]); + + } else { + printf("Could not add uORB %s -> %s to publishers\n", argv[3], argv[2]); + } + + } else if (strcmp(argv[1], "addsubscriber") == 0) { + if (AddPubSub(argv[2], argv[3], ZENOH_SUB_CONFIG_PATH) > 0) { + printf("Added %s -> uORB %s to subscribers\n", argv[2], argv[3]); + + } else { + printf("Could not add %s -> uORB %s to subscribers\n", argv[2], argv[3]); + } + + } else if (strcmp(argv[1], "net") == 0) { + SetNetworkConfig(argv[2], argv[3]); + } + } + + //TODO make CLI to modify configuration now you would have to manually modify the files + return 0; +} + +const char *Zenoh_Config::get_csv_field(char *line, int num) +{ + const char *tok; + + for ( + tok = strtok(line, ";"); + tok && *tok; + tok = strtok(NULL, ";\n")) { + if (!--num) { + return tok; + } + } + + return NULL; +} + +void Zenoh_Config::getNetworkConfig(char *mode, char *locator) +{ + FILE *fp; + char buffer[NET_CONFIG_LINE_SIZE]; + + fp = fopen(ZENOH_NET_CONFIG_PATH, "r"); + + // If file opened successfully, then read the file + if (fp) { + fgets(buffer, NET_CONFIG_LINE_SIZE, fp); + const char *config_locator = get_csv_field(buffer, 2); + char *config_mode = (char *)get_csv_field(buffer, 1); + + if (config_mode) { + config_mode[strcspn(config_mode, "\n")] = 0; + strncpy(mode, config_mode, NET_MODE_SIZE); + + } else { + mode[0] = 0; + } + + if (config_locator) { + strncpy(locator, config_locator, NET_LOCATOR_SIZE); + + } else { + locator[0] = 0; + } + + } else { + printf("Failed to open the file\n"); + } + + //Close the file + fclose(fp); +} + +int Zenoh_Config::getLineCount(const char *filename) +{ + int lines = 0; + int ch; + + // Open file in write mode + FILE *fp = fopen(filename, "r"); + + while ((ch = fgetc(fp)) != EOF) { + if (ch == '\n') { + lines++; + } + } + + //Close the file + fclose(fp); + + return lines; +} + +// Very rudamentary here but we've to wait for a more advanced param system +int Zenoh_Config::getPubSubMapping(char *topic, char *type, const char *filename) +{ + char buffer[MAX_LINE_SIZE]; + + if (fp_mapping == NULL) { + fp_mapping = fopen(filename, "r"); + } + + if (fp_mapping) { + while (fgets(buffer, MAX_LINE_SIZE, fp_mapping) != NULL) { + if (buffer[0] != '\n') { + const char *config_type = get_csv_field(buffer, 2); + const char *config_topic = get_csv_field(buffer, 1); + + strncpy(type, config_type, TOPIC_INFO_SIZE); + strncpy(topic, config_topic, TOPIC_INFO_SIZE); + return 1; + } + + } + + } else { + printf("Failed to open the file\n"); + return -1; + } + + //Close the file + fclose(fp_mapping); + fp_mapping = NULL; + return 0; + +} + + +void Zenoh_Config::dump_config() +{ + printf("Network config:\n"); + { + char mode[NET_MODE_SIZE]; + char locator[NET_LOCATOR_SIZE]; + getNetworkConfig(mode, locator); + + printf("Mode: %s\n", mode); + + if (locator[0] == 0) { + printf("Locator: scout\n"); + + } else { + printf("Locator: %s\n", locator); + } + + printf("\n"); + } + + { + char topic[TOPIC_INFO_SIZE]; + char type[TOPIC_INFO_SIZE]; + + printf("Publisher config:\n"); + + while (getPubSubMapping(topic, type, ZENOH_PUB_CONFIG_PATH) > 0) { + printf("Topic: %s\n", topic); + printf("Type: %s\n", type); + } + + printf("\nSubscriber config:\n"); + + while (getPubSubMapping(topic, type, ZENOH_SUB_CONFIG_PATH) > 0) { + printf("Topic: %s\n", topic); + printf("Type: %s\n", type); + } + } +} + + +void Zenoh_Config::generate_clean_config() +{ + printf("Generate clean\n"); + FILE *fp; + + DIR *dir = opendir(ZENOH_ROOT_PATH); + + if (dir) { + printf("Zenoh directory exists\n"); + + } else { + /* Create zenoh dir. */ + if (mkdir(ZENOH_ROOT_PATH, 0700) < 0) { + printf("Failed to create Zenoh directory\n"); + return; + } + + } + + if (access(ZENOH_NET_CONFIG_PATH, F_OK) != 0) { + // Open file in write mode + fp = fopen(ZENOH_NET_CONFIG_PATH, "w"); + + // If file opened successfully, then write the string to file + if (fp) { + fputs(default_net_config, fp); + + } else { + printf("Failed to open the file\n"); + return; + } + + //Close the file + fclose(fp); + } + + if (access(ZENOH_PUB_CONFIG_PATH, F_OK) != 0) { + // Open file in write mode + fp = fopen(ZENOH_PUB_CONFIG_PATH, "w"); + + // If file opened successfully, then write the string to file + if (fp) { + fputs(default_pub_config, fp); + + } else { + printf("Failed to open the file\n"); + return; + } + + //Close the file + fclose(fp); + } + + if (access(ZENOH_SUB_CONFIG_PATH, F_OK) != 0) { + // Open file in write mode + fp = fopen(ZENOH_SUB_CONFIG_PATH, "w"); + + // If file opened successfully, then write the string to file + if (fp) { + fputs(default_sub_config, fp); + + } else { + printf("Failed to open the file\n"); + return; + } + + //Close the file + fclose(fp); + } +} diff --git a/src/modules/zenoh/zenoh_config.hpp b/src/modules/zenoh/zenoh_config.hpp new file mode 100644 index 000000000000..68a1f7121fb4 --- /dev/null +++ b/src/modules/zenoh/zenoh_config.hpp @@ -0,0 +1,103 @@ +/**************************************************************************** + * + * Copyright (c) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file zenoh_config.hpp + * + * Defines Zenoh configuration backend + * + * @author Peter van der Perk + */ + +#pragma once + +#include +#include + +#include +#include +#include + +#define ZENOH_MAX_PATH_LENGTH (128 + 40) +#define ZENOH_ROOT_PATH CONFIG_BOARD_ROOT_PATH"/zenoh" +#define ZENOH_PUB_CONFIG_PATH ZENOH_ROOT_PATH"/pub.csv" +#define ZENOH_SUB_CONFIG_PATH ZENOH_ROOT_PATH"/sub.csv" +#define ZENOH_NET_CONFIG_PATH ZENOH_ROOT_PATH"/net.txt" + +#define NET_MODE_SIZE sizeof("client") +#define NET_LOCATOR_SIZE 64 +#define NET_CONFIG_LINE_SIZE NET_MODE_SIZE + NET_LOCATOR_SIZE +#define TOPIC_INFO_SIZE 64 +#define MAX_LINE_SIZE 2*TOPIC_INFO_SIZE + +class Zenoh_Config +{ +public: + Zenoh_Config(); + ~Zenoh_Config(); + + int cli(int argc, char *argv[]); + + void getNetworkConfig(char *mode, char *locator); + int getPubCount() + { + return getLineCount(ZENOH_PUB_CONFIG_PATH); + } + int getSubCount() + { + return getLineCount(ZENOH_SUB_CONFIG_PATH); + } + int getPublisherMapping(char *topic, char *type) + { + return getPubSubMapping(topic, type, ZENOH_PUB_CONFIG_PATH); + } + int getSubscriberMapping(char *topic, char *type) + { + return getPubSubMapping(topic, type, ZENOH_SUB_CONFIG_PATH); + } + + +private: + int getPubSubMapping(char *topic, char *type, const char *filename); + int AddPubSub(char *topic, char *datatype, const char *filename); + int SetNetworkConfig(char *mode, char *locator); + int getLineCount(const char *filename); + + const char *get_csv_field(char *line, int num); + void generate_clean_config(); + void dump_config(); + + FILE *fp_mapping; + + +}; diff --git a/src/systemcmds/actuator_test/CMakeLists.txt b/src/systemcmds/actuator_test/CMakeLists.txt index a71e080b5bef..a919bf17c785 100644 --- a/src/systemcmds/actuator_test/CMakeLists.txt +++ b/src/systemcmds/actuator_test/CMakeLists.txt @@ -37,4 +37,3 @@ px4_add_module( SRCS actuator_test.cpp ) - diff --git a/src/systemcmds/bl_update/Kconfig b/src/systemcmds/bl_update/Kconfig index f84e2f923efe..59e072f5b53c 100644 --- a/src/systemcmds/bl_update/Kconfig +++ b/src/systemcmds/bl_update/Kconfig @@ -1,6 +1,7 @@ menuconfig SYSTEMCMDS_BL_UPDATE bool "bl_update" default n + depends on PLATFORM_NUTTX ---help--- Enable support for bl_update diff --git a/src/systemcmds/bsondump/bsondump.cpp b/src/systemcmds/bsondump/bsondump.cpp index 50021eba147f..a7615d0143c2 100644 --- a/src/systemcmds/bsondump/bsondump.cpp +++ b/src/systemcmds/bsondump/bsondump.cpp @@ -36,19 +36,27 @@ #include #include +#include #include -static void print_usage(const char *reason = nullptr) +static void print_usage(const char *reason = nullptr, const char *command = nullptr) { if (reason) { PX4_ERR("%s", reason); } - PRINT_MODULE_DESCRIPTION("read BSON from a file and print in human form"); + PRINT_MODULE_DESCRIPTION("Utility to read BSON from a file and print or output document size."); - PRINT_MODULE_USAGE_NAME_SIMPLE("bsondump", "command"); - PRINT_MODULE_USAGE_ARG("", "File name", false); + if (command == nullptr || strcmp(command, "docsize") == 0) { + PRINT_MODULE_USAGE_NAME_SIMPLE("bsondump docsize", "command"); + PRINT_MODULE_USAGE_ARG("", "The BSON file to decode for document size.", false); + } + + if (command == nullptr) { + PRINT_MODULE_USAGE_NAME_SIMPLE("bsondump", "command"); + PRINT_MODULE_USAGE_ARG("", "The BSON file to decode and print.", false); + } } static int bson_print_callback(bson_decoder_t decoder, bson_node_t node) @@ -82,58 +90,140 @@ static int bson_print_callback(bson_decoder_t decoder, bson_node_t node) return -1; } +static int +bson_docsize_callback(bson_decoder_t decoder, bson_node_t node) +{ + + if (node->type == BSON_EOO) { + PX4_DEBUG("end of parameters"); + return 0; + } + + return 1; +} + extern "C" __EXPORT int bsondump_main(int argc, char *argv[]) { - if (argc != 2) { - print_usage(); + + if (argc < 2) { + print_usage("Invalid number of arguments."); + return -1; + } + + const char *command = argv[1]; + + if (strcmp(command, "docsize") == 0) { + + if (argc != 3) { + print_usage("Usage: bsondump docsize ", "docsize"); + return -1; + } + + const char *file_name = argv[2]; + int source_fd = open(file_name, O_RDONLY); + + if (source_fd < 0) { + PX4_ERR("open '%s' failed (%i)", file_name, errno); + return 1; + } + + bson_decoder_s decoder{}; + int result = -1; + + if (bson_decoder_init_file(&decoder, source_fd, bson_docsize_callback) == 0) { + + do { + result = bson_decoder_next(&decoder); + + } while (result > 0); + + PX4_INFO("DECODED_SIZE:%" PRId32 " SAVED_SIZE:%" PRId32 "\n", + decoder.total_decoded_size, decoder.total_document_size); + } + + close(source_fd); + + if (decoder.total_decoded_size != decoder.total_document_size && decoder.total_document_size == 0) { + + PX4_WARN("Mismatch in BSON sizes and saved size is zero. Setting document size to decoded size."); + + source_fd = open(file_name, O_RDWR); + + if (source_fd == -1) { + perror("Failed to re-open source file for reading and writing"); + return -1; + } + + // Modify the first 4 bytes with the correct decoded size + uint32_t corrected_size = decoder.total_decoded_size; + + if (lseek(source_fd, 0, SEEK_SET) == (off_t) -1) { + perror("Failed to seek to the beginning of the file"); + close(source_fd); + return -1; + } + + if (write(source_fd, &corrected_size, sizeof(corrected_size)) != sizeof(corrected_size)) { + perror("Failed to write the corrected size to the file"); + close(source_fd); + return -1; + } + + close(source_fd); + + return 1; + } + + return 0; + } else { - char *file_name = argv[1]; - if (file_name) { - int fd = open(file_name, O_RDONLY); + const char *file_name = argv[1]; - if (fd < 0) { - PX4_ERR("open '%s' failed (%i)", file_name, errno); - return 1; + int fd = open(file_name, O_RDONLY); - } else { - PX4_INFO_RAW("[bsondump] reading from %s\n", file_name); + if (fd < 0) { + PX4_ERR("open '%s' failed (%i)", file_name, errno); + return 1; - bson_decoder_s decoder{}; + } else { + PX4_INFO_RAW("[bsondump] reading from %s\n", file_name); - if (bson_decoder_init_file(&decoder, fd, bson_print_callback) == 0) { - PX4_INFO_RAW("BSON document size %" PRId32 "\n", decoder.total_document_size); + bson_decoder_s decoder{}; - int result = -1; + if (bson_decoder_init_file(&decoder, fd, bson_print_callback) == 0) { + PX4_INFO_RAW("BSON document size %" PRId32 "\n", decoder.total_document_size); - do { - result = bson_decoder_next(&decoder); + int result = -1; - } while (result > 0); + do { + result = bson_decoder_next(&decoder); - close(fd); + } while (result > 0); - if (result == 0) { - PX4_INFO_RAW("BSON decoded %" PRId32 " bytes (double:%" PRIu16 ", string:%" PRIu16 ", bin:%" PRIu16 ", bool:%" PRIu16 - ", int32:%" PRIu16 ", int64:%" PRIu16 ")\n", - decoder.total_decoded_size, - decoder.count_node_double, decoder.count_node_string, decoder.count_node_bindata, decoder.count_node_bool, - decoder.count_node_int32, decoder.count_node_int64); + close(fd); - return 0; + if (result == 0) { + PX4_INFO_RAW("BSON decoded %" PRId32 " bytes (double:%" PRIu16 ", string:%" PRIu16 ", bin:%" PRIu16 ", bool:%" PRIu16 + ", int32:%" PRIu16 ", int64:%" PRIu16 ")\n", + decoder.total_decoded_size, + decoder.count_node_double, decoder.count_node_string, decoder.count_node_bindata, decoder.count_node_bool, + decoder.count_node_int32, decoder.count_node_int64); - } else if (result == -ENODATA) { - PX4_WARN("no data"); - return -1; + return 0; - } else { - PX4_ERR("failed (%d)", result); - return -1; - } + } else if (result == -ENODATA) { + PX4_WARN("no data"); + return -1; + + } else { + PX4_ERR("failed (%d)", result); + return -1; } } } + } return -1; diff --git a/src/systemcmds/dumpfile/CMakeLists.txt b/src/systemcmds/dumpfile/CMakeLists.txt index e8a7c1c5ac20..00fce2ce7bf8 100644 --- a/src/systemcmds/dumpfile/CMakeLists.txt +++ b/src/systemcmds/dumpfile/CMakeLists.txt @@ -39,4 +39,3 @@ px4_add_module( dumpfile.cpp DEPENDS ) - diff --git a/src/systemcmds/gpio/Kconfig b/src/systemcmds/gpio/Kconfig index ba8d0547875e..08348182847c 100644 --- a/src/systemcmds/gpio/Kconfig +++ b/src/systemcmds/gpio/Kconfig @@ -2,4 +2,4 @@ menuconfig SYSTEMCMDS_GPIO bool "gpio" default n ---help--- - Enable support for gpio \ No newline at end of file + Enable support for gpio diff --git a/src/systemcmds/gpio/gpio.cpp b/src/systemcmds/gpio/gpio.cpp index 343c1bbd18e7..20db2a96d00b 100644 --- a/src/systemcmds/gpio/gpio.cpp +++ b/src/systemcmds/gpio/gpio.cpp @@ -314,8 +314,8 @@ Read the value on port H pin 4 configured as pullup, and it is high Set the output value on Port E pin 7 to high $ gpio write E7 1 --force -Set the output value on device /dev/gpin1 to high -$ gpio write /dev/gpin1 1 +Set the output value on device /dev/gpio1 to high +$ gpio write /dev/gpio1 1 )DESCR_STR"); diff --git a/src/systemcmds/hardfault_log/CMakeLists.txt b/src/systemcmds/hardfault_log/CMakeLists.txt index fca7fc683929..8cd4ca9fea86 100644 --- a/src/systemcmds/hardfault_log/CMakeLists.txt +++ b/src/systemcmds/hardfault_log/CMakeLists.txt @@ -35,6 +35,7 @@ px4_add_module( MAIN hardfault_log COMPILE_FLAGS -Wno-cast-align # TODO: fix and enable + STACK_MAIN 4096 SRCS hardfault_log.c DEPENDS diff --git a/src/systemcmds/hardfault_log/Kconfig b/src/systemcmds/hardfault_log/Kconfig index 50cfca75fca2..2c3908ed0de2 100644 --- a/src/systemcmds/hardfault_log/Kconfig +++ b/src/systemcmds/hardfault_log/Kconfig @@ -1,6 +1,7 @@ menuconfig SYSTEMCMDS_HARDFAULT_LOG bool "hardfault_log" default n + depends on PLATFORM_NUTTX ---help--- Enable support for hardfault_log diff --git a/src/systemcmds/hardfault_log/hardfault_log.c b/src/systemcmds/hardfault_log/hardfault_log.c index 2dc690e10132..f8ff269ec6b8 100644 --- a/src/systemcmds/hardfault_log/hardfault_log.c +++ b/src/systemcmds/hardfault_log/hardfault_log.c @@ -66,6 +66,10 @@ #include #endif +#ifdef HAS_SSARC +#include +#endif + #include "chip.h" #if defined(CONSTRAINED_FLASH_NO_HELP) @@ -137,6 +141,21 @@ static int genfault(int fault) /* This is not going to happen */ break; + case 2: + asm("BX %0" : : "r"(0x0)); + /* This is not going to happen */ + break; + + case 3: { + char buffer[128] = {0}; + void *dest = (void *)0x0; + + memcpy(dest, &buffer, 128); + /* This is not going to happen */ + } + break; + + default: break; @@ -1266,7 +1285,8 @@ static void print_usage(void) PRINT_MODULE_USAGE_COMMAND_DESCR("rearm", "Drop an uncommitted hardfault"); PRINT_MODULE_USAGE_COMMAND_DESCR("fault", "Generate a hardfault (this command crashes the system :)"); - PRINT_MODULE_USAGE_ARG("0|1", "Hardfault type: 0=divide by 0, 1=Assertion (default=0)", true); + PRINT_MODULE_USAGE_ARG("0|1|2|3", + "Hardfault type: 0=divide by 0, 1=Assertion, 2=jump to 0x0, 3=write to 0x0 (default=0)", true); PRINT_MODULE_USAGE_COMMAND_DESCR("commit", "Write uncommitted hardfault to /fs/microsd/fault_%i.txt (and rearm, but don't reset)"); diff --git a/src/systemcmds/i2c_launcher/CMakeLists.txt b/src/systemcmds/i2c_launcher/CMakeLists.txt new file mode 100644 index 000000000000..af625f8d9213 --- /dev/null +++ b/src/systemcmds/i2c_launcher/CMakeLists.txt @@ -0,0 +1,40 @@ +############################################################################ +# +# Copyright (c) 2023 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ +px4_add_module( + MODULE systemcmds__i2c_launcher + MAIN i2c_launcher + COMPILE_FLAGS + SRCS + i2c_launcher.cpp + DEPENDS + ) diff --git a/src/systemcmds/i2c_launcher/Kconfig b/src/systemcmds/i2c_launcher/Kconfig new file mode 100644 index 000000000000..8063dc39edc1 --- /dev/null +++ b/src/systemcmds/i2c_launcher/Kconfig @@ -0,0 +1,10 @@ +menuconfig SYSTEMCMDS_I2C_LAUNCHER + bool "i2c_launcher" + default n + ---help--- + Daemon that starts drivers based on found I2C devices. + +menuconfig USER_I2C_LAUNCHER + bool "i2c_launcher running as userspace module" + default n + depends on SYSTEMCMDS_I2C_LAUNCHER diff --git a/src/systemcmds/i2c_launcher/i2c_launcher.cpp b/src/systemcmds/i2c_launcher/i2c_launcher.cpp new file mode 100644 index 000000000000..db8b52213218 --- /dev/null +++ b/src/systemcmds/i2c_launcher/i2c_launcher.cpp @@ -0,0 +1,272 @@ +/**************************************************************************** + * + * Copyright (C) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include +#include "i2c_launcher.hpp" +#include +#include +#include +#include + +constexpr I2CLauncher::I2CDevice I2CLauncher::_devices[]; + +I2CLauncher::I2CLauncher(int bus) : + ModuleParams(nullptr), + ScheduledWorkItem(MODULE_NAME, px4::device_bus_to_wq(bus)), + _bus(bus) +{ +} + +I2CLauncher::~I2CLauncher() +{ +} + +bool I2CLauncher::init() +{ + ScheduleOnInterval(1_s); + + return true; +} + +void I2CLauncher::Run() +{ + if (should_exit()) { + ScheduleClear(); + exit_and_cleanup(); + return; + } + + if (_parameter_update_sub.updated()) { + parameter_update_s param_update; + _parameter_update_sub.copy(¶m_update); + updateParams(); + } + + + if (_vehicle_status_sub.updated()) { + vehicle_status_s vehicle_status; + + if (_vehicle_status_sub.copy(&vehicle_status)) { + + _armed = (vehicle_status.arming_state == vehicle_status_s::ARMING_STATE_ARMED); + } + } + + if (_armed) { + // Don't try to configure devices when armed. + return; + } + + scan_i2c_bus(_bus); +} + +void I2CLauncher::scan_i2c_bus(int bus) +{ + struct i2c_master_s *i2c_dev = px4_i2cbus_initialize(bus); + + if (i2c_dev == nullptr) { + PX4_ERR("invalid bus %d", bus); + return; + } + + for (unsigned i = 0; i < sizeof(_devices) / sizeof(_devices[0]); ++i) { + + bool running = false; + { + // We need to check whether any of the devices with the same I2C address are already running, + // because even if they are not running, we could not address them. + for (unsigned j = 0; j < sizeof(_devices) / sizeof(_devices[0]); ++j) { + + if (_devices[i].i2c_addr != _devices[j].i2c_addr) { + continue; + } + + BusCLIArguments bus_cli_arguments{true, false}; + bus_cli_arguments.bus_option = I2CSPIBusOption::I2CExternal; + bus_cli_arguments.requested_bus = bus; + + BusInstanceIterator i2c_bus_instance_iterator { + _devices[j].cmd, bus_cli_arguments, _devices[j].devid_driver_index}; + + while (i2c_bus_instance_iterator.next()) { + if (i2c_bus_instance_iterator.runningInstancesOnBusCount() > 0) { + running = true; + break; + } + } + } + } + + if (running) { + continue; + } + + const unsigned retries = 1; + + bool found = false; + + for (unsigned retry_count = 0; retry_count < retries; ++retry_count) { + + uint8_t send_data = 0; + uint8_t recv_data = 0; + i2c_msg_s msgv[2] {}; + + // Send + msgv[0].frequency = 100000; + msgv[0].addr = _devices[i].i2c_addr; + msgv[0].flags = 0; + msgv[0].buffer = &send_data; + msgv[0].length = sizeof(send_data); + + // Receive + msgv[1].frequency = 100000; + msgv[1].addr = _devices[i].i2c_addr; + msgv[1].flags = I2C_M_READ; + msgv[1].buffer = &recv_data;; + msgv[1].length = sizeof(recv_data); + + if (I2C_TRANSFER(i2c_dev, &msgv[0], 2) == PX4_OK) { + found = true; + break; + } + } + + if (found) { + char buf[32]; + snprintf(buf, sizeof(buf), "%s -X -b %d -t %d start", _devices[i].cmd, bus, bus); + + PX4_INFO("Found address 0x%x, running '%s'\n", _devices[i].i2c_addr, buf); + + // Try starting, if it succeeds we assume it's started and we no longer have to + // check this device. + const int ret = system(buf); + + if (ret == 0) { + PX4_INFO("Started 0x%x successfully", _devices[i].i2c_addr); + + } else { + PX4_INFO("Could not start 0x%x, returned %d", _devices[i].i2c_addr, ret); + } + } + } + + px4_i2cbus_uninitialize(i2c_dev); +} + +int I2CLauncher::custom_command(int argc, char *argv[]) +{ + return print_usage("unknown command"); +} + +int I2CLauncher::print_usage(const char *reason) +{ + if (reason) { + PX4_WARN("%s\n", reason); + } + + PRINT_MODULE_DESCRIPTION( + R"DESCR_STR( +### Description +Daemon that starts drivers based on found I2C devices. + +)DESCR_STR"); + + PRINT_MODULE_USAGE_NAME("i2c_launcher", "system"); + PRINT_MODULE_USAGE_COMMAND("start"); + PRINT_MODULE_USAGE_PARAM_INT('b', 0, 1, 4, "Bus number", false); + PRINT_MODULE_USAGE_DEFAULT_COMMANDS(); + + return 0; +} + +extern "C" __EXPORT int i2c_launcher_main(int argc, char *argv[]) +{ + using ThisDriver = I2CLauncher; + + static I2CLauncher* instances[I2C_BUS_MAX_BUS_ITEMS]; + int bus = -1; + int myoptind = 1; + int ch; + const char *myoptarg = nullptr; + + const char *verb = argv[1]; + + while ((ch = px4_getopt(argc, argv, "b:", &myoptind, &myoptarg)) != EOF) { + switch (ch) { + case 'b': + bus = strtol(myoptarg, nullptr, 10); + break; + + default: + return ThisDriver::print_usage("unrecognized flag"); + } + } + + if (bus == -1) { + PX4_ERR("bus not set"); + return PX4_ERROR; + } + + if (bus > I2C_BUS_MAX_BUS_ITEMS) { + PX4_ERR("bus out of bound"); + return PX4_ERROR; + } + + + if (!verb) { + ThisDriver::print_usage(); + return -1; + } + + if (strcmp(verb, "start") == 0) { + + instances[bus] = new I2CLauncher(bus); + + if (instances[bus]) { + + if (instances[bus]->init()) { + return PX4_OK; + } + + } else { + PX4_ERR("alloc failed"); + } + + delete instances[bus]; + + return PX4_ERROR; + } + + ThisDriver::print_usage(); + return -1; +} diff --git a/src/systemcmds/i2c_launcher/i2c_launcher.hpp b/src/systemcmds/i2c_launcher/i2c_launcher.hpp new file mode 100644 index 000000000000..18884e3ac4c2 --- /dev/null +++ b/src/systemcmds/i2c_launcher/i2c_launcher.hpp @@ -0,0 +1,88 @@ +/**************************************************************************** + * + * Copyright (C) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#pragma once + +#include +#include +#include +#include +#include +#include + +#include +#include +#include +#include +#include + +using namespace time_literals; + +class I2CLauncher : public ModuleBase, public ModuleParams, public px4::ScheduledWorkItem +{ +public: + I2CLauncher(int bus); + + ~I2CLauncher() override; + + static int task_spawn(int argc, char *argv[]); + + static int custom_command(int argc, char *argv[]); + + static int print_usage(const char *reason = nullptr); + + bool init(); + +private: + struct I2CDevice { + const char *cmd; + uint8_t i2c_addr; + uint8_t devid_driver_index; + }; + + static constexpr I2CDevice _devices[] = { + {"ina226", 0x41, DRV_POWER_DEVTYPE_INA226}, + {"ina228", 0x45, DRV_POWER_DEVTYPE_INA228}, + {"ina238", 0x45, DRV_POWER_DEVTYPE_INA238}, + }; + + void Run() override; + + static void scan_i2c_bus(int bus); + + uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)}; + uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)}; // regular subscription for additional data + + int _bus; + bool _armed {false}; +}; diff --git a/src/systemcmds/i2cdetect/Kconfig b/src/systemcmds/i2cdetect/Kconfig index a763581b3a87..6231326e4fc0 100644 --- a/src/systemcmds/i2cdetect/Kconfig +++ b/src/systemcmds/i2cdetect/Kconfig @@ -2,4 +2,4 @@ menuconfig SYSTEMCMDS_I2CDETECT bool "i2cdetect" default n ---help--- - Enable support for i2cdetect \ No newline at end of file + Enable support for i2cdetect diff --git a/src/systemcmds/io_bypass_control/Kconfig b/src/systemcmds/io_bypass_control/Kconfig index 4a50afd948ba..16c89bd13021 100644 --- a/src/systemcmds/io_bypass_control/Kconfig +++ b/src/systemcmds/io_bypass_control/Kconfig @@ -1,6 +1,7 @@ menuconfig SYSTEMCMDS_IO_BYPASS_CONTROL bool "IO Bypass control deamon" default n + depends on PLATFORM_NUTTX ---help--- Simple daemon that listens uORB actuator_outputs to control PWM output Useful for full offboard control using RTPS. diff --git a/src/systemcmds/io_bypass_control/io_controller.cpp b/src/systemcmds/io_bypass_control/io_controller.cpp index 3732a2a6b53b..cc02df5dbd3f 100644 --- a/src/systemcmds/io_bypass_control/io_controller.cpp +++ b/src/systemcmds/io_bypass_control/io_controller.cpp @@ -98,7 +98,6 @@ IOController::IOController(const char *name, const px4::wq_config_t &config) : void IOController::Run() { - actuator_outputs_s actuator_outputs; while (_actuator_outputs_sub.update(&actuator_outputs)) { @@ -118,8 +117,5 @@ void IOController::Run() up_pwm_update(i); } } - } - - } diff --git a/src/systemcmds/led_control/CMakeLists.txt b/src/systemcmds/led_control/CMakeLists.txt index a7396160cce1..7b742d0f5297 100644 --- a/src/systemcmds/led_control/CMakeLists.txt +++ b/src/systemcmds/led_control/CMakeLists.txt @@ -38,4 +38,3 @@ px4_add_module( led_control.cpp DEPENDS ) - diff --git a/src/systemcmds/mft/Kconfig b/src/systemcmds/mft/Kconfig index a104b1fd0dd3..554c9199fbfd 100644 --- a/src/systemcmds/mft/Kconfig +++ b/src/systemcmds/mft/Kconfig @@ -1,5 +1,6 @@ menuconfig SYSTEMCMDS_MFT bool "mft" default n + depends on PLATFORM_NUTTX ---help--- Enable support for mft diff --git a/src/systemcmds/microbench/microbench_main.cpp b/src/systemcmds/microbench/microbench_main.cpp index f56dbd6a2c68..56e441cc0936 100644 --- a/src/systemcmds/microbench/microbench_main.cpp +++ b/src/systemcmds/microbench/microbench_main.cpp @@ -69,7 +69,7 @@ const struct { {"microbench_matrix", test_microbench_matrix, 0}, {"microbench_uorb", test_microbench_uorb, 0}, - {nullptr, nullptr, 0} + {"null", nullptr, 0} }; #define NMICROBENCHMARKS (sizeof(microbenchmarks) / sizeof(microbenchmarks[0])) diff --git a/src/systemcmds/mtd/CMakeLists.txt b/src/systemcmds/mtd/CMakeLists.txt index 1f2d23cb47e7..4f068d107316 100644 --- a/src/systemcmds/mtd/CMakeLists.txt +++ b/src/systemcmds/mtd/CMakeLists.txt @@ -38,4 +38,3 @@ px4_add_module( mtd.cpp DEPENDS ) - diff --git a/src/systemcmds/mtd/Kconfig b/src/systemcmds/mtd/Kconfig index 661e8ee7f68e..dd01cfc3d21f 100644 --- a/src/systemcmds/mtd/Kconfig +++ b/src/systemcmds/mtd/Kconfig @@ -1,6 +1,7 @@ menuconfig SYSTEMCMDS_MTD bool "mtd" default n + depends on PLATFORM_NUTTX ---help--- Enable support for mtd diff --git a/src/systemcmds/netman/Kconfig b/src/systemcmds/netman/Kconfig index d94b0ff82be3..6502969ddf8a 100644 --- a/src/systemcmds/netman/Kconfig +++ b/src/systemcmds/netman/Kconfig @@ -1,6 +1,7 @@ menuconfig SYSTEMCMDS_NETMAN bool "netman" default n + depends on PLATFORM_NUTTX ---help--- Enable support for netman @@ -10,3 +11,11 @@ menuconfig USER_NETMAN depends on BOARD_PROTECTED && SYSTEMCMDS_NETMAN ---help--- Put netman in userspace memory + +config NETMAN_FALLBACK_IPADDR + hex "Fallback IPv4 address" + default 0xA290A02 + depends on SYSTEMCMDS_NETMAN + ---help--- + If NETINIT_DHCPC is set, getting an IP from DHCP server is first attempted. + If this fails, this IP address is used as a static fallback (default=10.41.10.2). diff --git a/src/systemcmds/netman/netman.cpp b/src/systemcmds/netman/netman.cpp index d4fa54187546..a7014c62de28 100644 --- a/src/systemcmds/netman/netman.cpp +++ b/src/systemcmds/netman/netman.cpp @@ -51,10 +51,10 @@ #include #include -constexpr char DEFAULT_NETMAN_CONFIG[] = "/fs/microsd/net.cfg"; +constexpr char DEFAULT_NETMAN_CONFIG[] = CONFIG_BOARD_ROOT_PATH "/net.cfg"; #if defined(CONFIG_NETINIT_DHCPC) -# define DEFAULT_PROTO IPv4PROTO_FALLBACK -# define DEFAULT_IP 0XC0A80003 // 192.168.0.3 +# define DEFAULT_PROTO IPv4PROTO_FALLBACK +# define DEFAULT_IP CONFIG_NETMAN_FALLBACK_IPADDR #else # define DEFAULT_PROTO IPv4PROTO_STATIC # define DEFAULT_IP CONFIG_NETINIT_IPADDR @@ -201,7 +201,7 @@ class net_params struct ipv4cfg_s ipcfg; int rv = ipcfg_read(netdev, (FAR struct ipcfg_s *) &ipcfg, AF_INET); - if (rv == -EINVAL || + if (rv == -EINVAL || rv == -ENOENT || (rv == OK && (ipcfg.proto > IPv4PROTO_FALLBACK || ipcfg.ipaddr == 0xffffffff))) { // Build a default ipcfg.ipaddr = HTONL(DEFAULT_IP); @@ -375,7 +375,7 @@ int update(const char *path, const char *netdev) sleep(1); - px4_reboot_request(false); + px4_reboot_request(REBOOT_REQUEST); while (1) { px4_usleep(1); } // this command should not return on success @@ -405,12 +405,25 @@ static void usage(const char *reason) memory. On boot the `update` option will be run. If a network configuration does not exist. The default setting will be saved in non-volatile and the system rebooted. - On Subsequent boots, the `update` option will check for the existence of - `net.cfg` in the root of the SD Card. It will saves the network settings - from `net.cfg` in non-volatile memory, delete the file and reboot the system. - The `save` option will `net.cfg` on the SD Card. Use this to edit the settings. - The `show` option will display the network settings to the console. + #### update + + `netman update` is run automatically by [a startup script](../concept/system_startup.md#system-startup). + When run, the `update` option will check for the existence of `net.cfg` in the root of the SD Card. + It then saves the network settings from `net.cfg` in non-volatile memory, + deletes the file and reboots the system. + + #### save + + The `save` option will save settings from non-volatile memory to a file named + `net.cfg` on the SD Card filesystem for editing. Use this to edit the settings. + Save does not immediately apply the network settings; the user must reboot the flight stack. + By contrast, the `update` command is run by the start-up script, commits the settings to non-volatile memory, + and reboots the flight controller (which will then use the new settings). + + #### show + + The `show` option will display the network settings in `net.cfg` to the console. ### Examples $ netman save # Save the parameters to the SD card. diff --git a/src/systemcmds/nshterm/CMakeLists.txt b/src/systemcmds/nshterm/CMakeLists.txt index 14f669c3de44..757ade306303 100644 --- a/src/systemcmds/nshterm/CMakeLists.txt +++ b/src/systemcmds/nshterm/CMakeLists.txt @@ -39,4 +39,3 @@ px4_add_module( nshterm.cpp DEPENDS ) - diff --git a/src/systemcmds/nshterm/Kconfig b/src/systemcmds/nshterm/Kconfig index f9d20b0bfb72..3745b7bf238b 100644 --- a/src/systemcmds/nshterm/Kconfig +++ b/src/systemcmds/nshterm/Kconfig @@ -1,6 +1,7 @@ menuconfig SYSTEMCMDS_NSHTERM bool "nshterm" default n + depends on PLATFORM_NUTTX ---help--- Enable support for nshterm diff --git a/src/systemcmds/param/CMakeLists.txt b/src/systemcmds/param/CMakeLists.txt index 0a27cf958949..056401daf75e 100644 --- a/src/systemcmds/param/CMakeLists.txt +++ b/src/systemcmds/param/CMakeLists.txt @@ -35,6 +35,7 @@ px4_add_module( MAIN param COMPILE_FLAGS -Wno-array-bounds + STACK_MAIN 4096 SRCS param.cpp DEPENDS diff --git a/src/systemcmds/param/Kconfig b/src/systemcmds/param/Kconfig index 899da054fbcc..a168ca8a16e9 100644 --- a/src/systemcmds/param/Kconfig +++ b/src/systemcmds/param/Kconfig @@ -2,4 +2,4 @@ menuconfig SYSTEMCMDS_PARAM bool "param" default n ---help--- - Enable support for param \ No newline at end of file + Enable support for param diff --git a/src/systemcmds/param/param.cpp b/src/systemcmds/param/param.cpp index 2f7842f1261b..f1f355514c86 100644 --- a/src/systemcmds/param/param.cpp +++ b/src/systemcmds/param/param.cpp @@ -509,7 +509,7 @@ do_import(const char *param_file_name) static int do_save_default() { - return param_save_default(); + return param_save_default(true); } static int diff --git a/src/systemcmds/reboot/CMakeLists.txt b/src/systemcmds/reboot/CMakeLists.txt index 60f4cee88951..5987399037ef 100644 --- a/src/systemcmds/reboot/CMakeLists.txt +++ b/src/systemcmds/reboot/CMakeLists.txt @@ -39,4 +39,3 @@ px4_add_module( DEPENDS px4_platform ) - diff --git a/src/systemcmds/reboot/reboot.cpp b/src/systemcmds/reboot/reboot.cpp index 8d0b3419e81b..6e5c159d7008 100644 --- a/src/systemcmds/reboot/reboot.cpp +++ b/src/systemcmds/reboot/reboot.cpp @@ -44,6 +44,7 @@ #include #include #include +#include static void print_usage() { @@ -51,6 +52,9 @@ static void print_usage() PRINT_MODULE_USAGE_NAME_SIMPLE("reboot", "command"); PRINT_MODULE_USAGE_PARAM_FLAG('b', "Reboot into bootloader", true); +#ifdef BOARD_HAS_ISP_BOOTLOADER + PRINT_MODULE_USAGE_PARAM_FLAG('i', "Reboot into ISP (1st stage bootloader)", true); +#endif PRINT_MODULE_USAGE_ARG("lock|unlock", "Take/release the shutdown lock (for testing)", true); } @@ -58,17 +62,24 @@ static void print_usage() extern "C" __EXPORT int reboot_main(int argc, char *argv[]) { int ch; - bool to_bootloader = false; + reboot_request_t request = REBOOT_REQUEST; int myoptind = 1; const char *myoptarg = nullptr; - while ((ch = px4_getopt(argc, argv, "b", &myoptind, &myoptarg)) != -1) { + while ((ch = px4_getopt(argc, argv, "bi", &myoptind, &myoptarg)) != -1) { switch (ch) { case 'b': - to_bootloader = true; + request = REBOOT_TO_BOOTLOADER; break; +#ifdef BOARD_HAS_ISP_BOOTLOADER + + case 'i': + request = REBOOT_TO_ISP; + break; +#endif + default: print_usage(); return 1; @@ -98,7 +109,7 @@ extern "C" __EXPORT int reboot_main(int argc, char *argv[]) return ret; } - int ret = px4_reboot_request(to_bootloader); + int ret = px4_reboot_request(request); if (ret < 0) { PX4_ERR("reboot failed (%i)", ret); diff --git a/src/systemcmds/reflect/CMakeLists.txt b/src/systemcmds/reflect/CMakeLists.txt index 19241deaeca5..eb0e4042a72e 100644 --- a/src/systemcmds/reflect/CMakeLists.txt +++ b/src/systemcmds/reflect/CMakeLists.txt @@ -38,4 +38,3 @@ px4_add_module( reflect.c DEPENDS ) - diff --git a/src/systemcmds/reflect/reflect.c b/src/systemcmds/reflect/reflect.c index 4ef393682deb..c74ae06a887e 100644 --- a/src/systemcmds/reflect/reflect.c +++ b/src/systemcmds/reflect/reflect.c @@ -121,7 +121,9 @@ reflect_main(int argc, char *argv[]) } if (n > 0) { - write(1, buf, n); + if (write(1, buf, n) < 0) { + return -1; + } } total += n; diff --git a/src/systemcmds/sd_bench/CMakeLists.txt b/src/systemcmds/sd_bench/CMakeLists.txt index 9ab943a90b58..84e200eb2a28 100644 --- a/src/systemcmds/sd_bench/CMakeLists.txt +++ b/src/systemcmds/sd_bench/CMakeLists.txt @@ -38,4 +38,3 @@ px4_add_module( sd_bench.cpp DEPENDS ) - diff --git a/src/systemcmds/sd_bench/sd_bench.cpp b/src/systemcmds/sd_bench/sd_bench.cpp index 990932432162..6912c5a3368c 100644 --- a/src/systemcmds/sd_bench/sd_bench.cpp +++ b/src/systemcmds/sd_bench/sd_bench.cpp @@ -50,11 +50,13 @@ #include +#define MAX(a,b) ((a) > (b) ? (a) : (b)) + typedef struct sdb_config { int num_runs; ///< number of runs int run_duration; ///< duration of a single run [ms] bool synchronized; ///< call fsync after each block? - bool aligned; + int unaligned; unsigned int total_blocks_written; } sdb_config_t; @@ -83,6 +85,7 @@ static void usage() PRINT_MODULE_USAGE_PARAM_FLAG('k', "Keep the test file", true); PRINT_MODULE_USAGE_PARAM_FLAG('s', "Call fsync after each block (default=at end of each run)", true); PRINT_MODULE_USAGE_PARAM_FLAG('u', "Test performance with unaligned data", true); + PRINT_MODULE_USAGE_PARAM_FLAG('U', "Test performance with forced byte unaligned data", true); PRINT_MODULE_USAGE_PARAM_FLAG('v', "Verify data and block number", true); } @@ -98,10 +101,11 @@ extern "C" __EXPORT int sd_bench_main(int argc, char *argv[]) cfg.synchronized = false; cfg.num_runs = 5; cfg.run_duration = 2000; - cfg.aligned = true; + cfg.unaligned = 0; uint8_t *block = nullptr; + uint8_t *block_alloc = nullptr; - while ((ch = px4_getopt(argc, argv, "b:r:d:ksuv", &myoptind, &myoptarg)) != EOF) { + while ((ch = px4_getopt(argc, argv, "b:r:d:ksuUv", &myoptind, &myoptarg)) != EOF) { switch (ch) { case 'b': block_size = strtol(myoptarg, nullptr, 0); @@ -124,7 +128,11 @@ extern "C" __EXPORT int sd_bench_main(int argc, char *argv[]) break; case 'u': - cfg.aligned = false; + cfg.unaligned = 2; + break; + + case 'U': + cfg.unaligned = 1; break; case 'v': @@ -151,11 +159,24 @@ extern "C" __EXPORT int sd_bench_main(int argc, char *argv[]) } //create some data block - if (cfg.aligned) { - block = (uint8_t *)px4_cache_aligned_alloc(block_size); + if (cfg.unaligned == 0) { + block_alloc = (uint8_t *)px4_cache_aligned_alloc(block_size); + block = block_alloc; } else { - block = (uint8_t *)malloc(block_size); + block_alloc = (uint8_t *)malloc(block_size + 4); + + if (block_alloc) { + // Force odd byte alignment + if (cfg.unaligned == 1 && ((uintptr_t)block_alloc % 0x1) == 0) { + block = block_alloc + 1; + + } else { + block = block_alloc; + } + } + + printf("Block ptr %p\n", block); } if (!block) { @@ -177,7 +198,7 @@ extern "C" __EXPORT int sd_bench_main(int argc, char *argv[]) read_test(bench_fd, &cfg, block, block_size); } - free(block); + free(block_alloc); close(bench_fd); if (!keep) { @@ -202,6 +223,7 @@ void write_test(int fd, sdb_config_t *cfg, uint8_t *block, int block_size) unsigned int total_blocks = 0; cfg->total_blocks_written = 0; unsigned int *blocknumber = (unsigned int *)(void *)&block[0]; + unsigned int max_max_write_time = 0; for (int run = 0; run < cfg->num_runs; ++run) { hrt_abstime start = hrt_absolute_time(); @@ -245,24 +267,40 @@ void write_test(int fd, sdb_config_t *cfg, uint8_t *block, int block_size) total_elapsed += elapsed; total_blocks += num_blocks; + max_max_write_time = MAX(max_max_write_time, max_write_time); } cfg->total_blocks_written = total_blocks; PX4_INFO(" Avg : %8.2lf KB/s", (double)block_size * total_blocks / total_elapsed / 1024.); + PX4_INFO(" Overall max write time: %i ms", max_max_write_time); } int read_test(int fd, sdb_config_t *cfg, uint8_t *block, int block_size) { uint8_t *read_block = nullptr; + uint8_t *block_alloc = nullptr; PX4_INFO(""); PX4_INFO("Testing Sequential Read Speed of %d blocks", cfg->total_blocks_written); - if (cfg->aligned) { - read_block = (uint8_t *)px4_cache_aligned_alloc(block_size); + if (cfg->unaligned == 0) { + block_alloc = (uint8_t *)px4_cache_aligned_alloc(block_size); + read_block = block_alloc; } else { - read_block = (uint8_t *)malloc(block_size); + block_alloc = (uint8_t *)malloc(block_size + 4); + + if (block_alloc) { + // Force odd byte alignment + if (cfg->unaligned == 1 && ((uintptr_t)block_alloc % 0x1) == 0) { + read_block = block_alloc + 1; + + } else { + read_block = block_alloc; + } + } + + printf("Read Block ptr %p\n", read_block); } if (!read_block) { @@ -326,6 +364,6 @@ int read_test(int fd, sdb_config_t *cfg, uint8_t *block, int block_size) PX4_INFO(" Avg : %8.2lf KB/s %d blocks read and verified", (double)block_size * total_blocks / total_elapsed / 1024., total_blocks); - free(read_block); + free(block_alloc); return 0; } diff --git a/src/systemcmds/serial_passthru/Kconfig b/src/systemcmds/serial_passthru/Kconfig index cfbbf9933da2..aabd8c59fe27 100644 --- a/src/systemcmds/serial_passthru/Kconfig +++ b/src/systemcmds/serial_passthru/Kconfig @@ -11,7 +11,7 @@ config SERIAL_PASSTHRU_UBLOX bool "Detect and Auto Connect on U-Center messages" default n ---help--- - This option will enable the cdc_acm_check to launch + This option will enable the cdcacm_autostart to launch The passthru driver. # @@ -54,4 +54,4 @@ config SERIAL_PASSTHRU_UBLOX_BAUDRATE ---help--- This option sets the baudrate for the passthru. -endif #SYSTEMCMDS_SERIAL_PASSTHRU \ No newline at end of file +endif #SYSTEMCMDS_SERIAL_PASSTHRU diff --git a/src/systemcmds/serial_test/.gitignore b/src/systemcmds/serial_test/.gitignore index ab9845d6fe4b..7d522907613e 100644 --- a/src/systemcmds/serial_test/.gitignore +++ b/src/systemcmds/serial_test/.gitignore @@ -1,3 +1,2 @@ /serial_test - diff --git a/src/systemcmds/system_time/CMakeLists.txt b/src/systemcmds/system_time/CMakeLists.txt index edb2865f4ea4..1cccb2e3ae01 100644 --- a/src/systemcmds/system_time/CMakeLists.txt +++ b/src/systemcmds/system_time/CMakeLists.txt @@ -36,4 +36,4 @@ px4_add_module( SRCS system_time.cpp DEPENDS - ) \ No newline at end of file + ) diff --git a/src/systemcmds/system_time/system_time.cpp b/src/systemcmds/system_time/system_time.cpp index e98e09b5a122..361e7578618c 100644 --- a/src/systemcmds/system_time/system_time.cpp +++ b/src/systemcmds/system_time/system_time.cpp @@ -126,4 +126,4 @@ Set the system time and read it back PRINT_MODULE_USAGE_COMMAND_DESCR("set", "Set the system time, provide time in unix epoch time format"); PRINT_MODULE_USAGE_COMMAND_DESCR("get", "Get the system time"); -} \ No newline at end of file +} diff --git a/src/systemcmds/tests/CMakeLists.txt b/src/systemcmds/tests/CMakeLists.txt index ab948cf8a238..72d99c6708ab 100644 --- a/src/systemcmds/tests/CMakeLists.txt +++ b/src/systemcmds/tests/CMakeLists.txt @@ -36,7 +36,7 @@ set(srcs test_bezierQuad.cpp test_bitset.cpp test_bson.cpp - test_dataman.c + test_dataman.cpp test_file.c test_file2.c test_float.cpp @@ -93,6 +93,7 @@ px4_add_module( SRCS ${srcs} DEPENDS + dataman_client version ) diff --git a/src/systemcmds/tests/test_dataman.c b/src/systemcmds/tests/test_dataman.c deleted file mode 100644 index e55332306073..000000000000 --- a/src/systemcmds/tests/test_dataman.c +++ /dev/null @@ -1,220 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2018-2019 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file test_dataman.c - * Tests for the data manager. - */ - -#include -#include -#include - -#include - -#include -#include -#include -#include -#include - -#include -#include -#include - -#include "tests_main.h" - -#include "dataman/dataman.h" - -static px4_sem_t *sems; -static bool *task_returned_error; -int test_dataman(int argc, char *argv[]); - -#define NUM_MISSIONS_TEST 50 - -#define DM_MAX_DATA_SIZE sizeof(struct mission_s) - -static int -task_main(int argc, char *argv[]) -{ - char buffer[DM_MAX_DATA_SIZE]; - - PX4_INFO("Starting dataman test task %s", argv[2]); - /* try to read an invalid item */ - int my_id = atoi(argv[2]); - - /* try to read an invalid item */ - if (dm_read(DM_KEY_NUM_KEYS, 0, buffer, sizeof(buffer)) >= 0) { - PX4_ERR("%d read an invalid item failed", my_id); - goto fail; - } - - /* try to read an invalid index */ - if (dm_read(DM_KEY_SAFE_POINTS, DM_KEY_SAFE_POINTS_MAX, buffer, sizeof(buffer)) >= 0) { - PX4_ERR("%d read an invalid index failed", my_id); - goto fail; - } - - srand(hrt_absolute_time() ^ my_id); - unsigned hit = 0; - unsigned miss = 0; - hrt_abstime wstart = hrt_absolute_time(); - - for (unsigned i = 0; i < NUM_MISSIONS_TEST; i++) { - memset(buffer, my_id, sizeof(buffer)); - buffer[1] = i; - unsigned hash = i ^ my_id; - unsigned len = (hash % (DM_MAX_DATA_SIZE / 2)) + 2; - - int ret = dm_write(DM_KEY_WAYPOINTS_OFFBOARD_1, hash, buffer, len); - //PX4_INFO("ret: %d", ret); - - if (ret != len) { - PX4_WARN("task %d: write failed ret=%d, index: %d, length: %d", my_id, ret, hash, len); - goto fail; - } - - if (i % (NUM_MISSIONS_TEST / 10) == 0) { - PX4_INFO("task %d: %.0f%%", my_id, (double)i * 100.0f / NUM_MISSIONS_TEST); - } - - px4_usleep(rand() & ((64 * 1024) - 1)); - } - - hrt_abstime rstart = hrt_absolute_time(); - hrt_abstime wend = rstart; - - for (unsigned i = 0; i < NUM_MISSIONS_TEST; i++) { - unsigned hash = i ^ my_id; - ssize_t len2 = dm_read(DM_KEY_WAYPOINTS_OFFBOARD_1, hash, buffer, sizeof(buffer)); - ssize_t len = (hash % (DM_MAX_DATA_SIZE / 2)) + 2; - - if (len2 != len) { - PX4_WARN("task %d: read failed length test, index %d, ret=%zd, len=%zd", my_id, hash, len2, len); - goto fail; - } - - if (buffer[0] == my_id) { - hit++; - - if (len2 != len) { - PX4_WARN("task %d: read failed length test, index %d, wanted %zd, got %zd", my_id, hash, len, len2); - goto fail; - } - - if (buffer[1] != i) { - PX4_WARN("task %d: data verification failed, index %d, wanted %d, got %d", my_id, hash, my_id, buffer[1]); - goto fail; - } - - } else { - miss++; - } - } - - hrt_abstime rend = hrt_absolute_time(); - PX4_INFO("task %d pass, hit %d, miss %d, io time read %" PRIu64 "ms. write %" PRIu64 "ms.", - my_id, hit, miss, (rend - rstart) / NUM_MISSIONS_TEST / 1000, (wend - wstart) / NUM_MISSIONS_TEST / 1000); - px4_sem_post(sems + my_id); - return 0; - -fail: - PX4_ERR("test_dataman FAILED: task %d, buffer %02x %02x %02x %02x %02x %02x", - my_id, buffer[0], buffer[1], buffer[2], buffer[3], buffer[4], buffer[5]); - px4_sem_post(sems + my_id); - task_returned_error[my_id] = true; - return -1; -} - -int test_dataman(int argc, char *argv[]) -{ - int i = 0; - unsigned num_tasks = 4; - char buffer[DM_MAX_DATA_SIZE]; - - if (argc > 1) { - num_tasks = atoi(argv[1]); - } - - sems = (px4_sem_t *)malloc(num_tasks * sizeof(px4_sem_t)); - task_returned_error = (bool *)calloc(num_tasks, sizeof(bool)); - PX4_INFO("Running %d tasks", num_tasks); - - for (i = 0; i < num_tasks; i++) { - int task; - - char a[16]; - snprintf(a, 16, "%d", i); - - char *av[] = {"tests_dataman", a, NULL}; - - px4_sem_init(sems + i, 1, 0); - /* sems use case is a signal */ - px4_sem_setprotocol(sems + i, SEM_PRIO_NONE); - - /* start the task */ - if ((task = px4_task_spawn_cmd("dataman", SCHED_DEFAULT, SCHED_PRIORITY_DEFAULT, 2048, task_main, av)) <= 0) { - PX4_ERR("task start failed"); - } - } - - for (i = 0; i < num_tasks; i++) { - px4_sem_wait(sems + i); - px4_sem_destroy(sems + i); - } - - free(sems); - - bool got_error = false; - - for (i = 0; i < num_tasks; i++) { - if (task_returned_error[i]) { - got_error = true; - break; - } - } - - free(task_returned_error); - - if (got_error) { - return -1; - } - - for (i = 0; i < NUM_MISSIONS_TEST; i++) { - if (dm_read(DM_KEY_WAYPOINTS_OFFBOARD_1, i, buffer, sizeof(buffer)) != 0) { - break; - } - } - - return 0; -} diff --git a/src/systemcmds/tests/test_dataman.cpp b/src/systemcmds/tests/test_dataman.cpp new file mode 100644 index 000000000000..bea7a7ca416b --- /dev/null +++ b/src/systemcmds/tests/test_dataman.cpp @@ -0,0 +1,1150 @@ +/**************************************************************************** + * + * Copyright (C) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file test_dataman.cpp + * Tests for Dataman. + */ + +#include + +#include +#include +#include +#include +#include + +#include "dataman_client/DatamanClient.hpp" + +class DatamanTest : public UnitTest +{ +public: + DatamanTest(); + virtual bool run_tests(); + +private: + + enum class State { + Write, + WriteWait, + Read, + ReadWait, + Clear, + ClearWait, + OperationCompleted, + CompareBuffers, + Exit + }; + + //Sync + bool testSyncReadInvalidItem(); + bool testSyncWriteInvalidItem(); + bool testSyncReadInvalidIndex(); + bool testSyncWriteInvalidIndex(); + bool testSyncReadBufferOverflow(); + bool testSyncWriteBufferOverflow(); + bool testSyncMutipleClients(); + bool testSyncWriteReadAllItemsMaxSize(); + bool testSyncClearAll(); + + //Async + bool testAsyncReadInvalidItem(); + bool testAsyncWriteInvalidItem(); + bool testAsyncReadInvalidIndex(); + bool testAsyncWriteInvalidIndex(); + bool testAsyncReadBufferOverflow(); + bool testAsyncWriteBufferOverflow(); + bool testAsyncMutipleClients(); + bool testAsyncWriteReadAllItemsMaxSize(); + bool testAsyncClearAll(); + + //Cache + bool testCache(); + + //This will reset the items but it will not restore the compact key. + bool testResetItems(); + + DatamanClient _dataman_client1{}; + DatamanClient _dataman_client2{}; + DatamanClient _dataman_client3{}; + DatamanClient _dataman_client_thread1{}; + DatamanClient _dataman_client_thread2{}; + DatamanClient _dataman_client_thread3{}; + + DatamanCache _dataman_cache{"test_dm_cache_miss", 10}; + + static void *testAsyncThread(void *arg); + + static constexpr uint32_t DM_MAX_DATA_SIZE{MISSION_ITEM_SIZE}; + static_assert(sizeof(dataman_response_s::data) == DM_MAX_DATA_SIZE, "data size != DM_MAX_DATA_SIZE"); + + uint8_t _buffer_read[DM_MAX_DATA_SIZE]; + uint8_t _buffer_write[DM_MAX_DATA_SIZE]; + + bool _response_success{false}; + + px4::atomic_int _thread_index{0}; + px4::atomic_bool _thread_tests_success{false}; + + uint16_t _max_index[DM_KEY_NUM_KEYS] {}; + + static constexpr uint32_t OVERFLOW_LENGTH = sizeof(_buffer_write) + 1; +}; + +DatamanTest::DatamanTest() +{ + for (uint32_t i = 0; i < DM_KEY_NUM_KEYS; ++i) { + _max_index[i] = g_per_item_max_index[i]; + } + +#ifndef __PX4_NUTTX + _max_index[DM_KEY_WAYPOINTS_OFFBOARD_0] = 200; + _max_index[DM_KEY_WAYPOINTS_OFFBOARD_1] = 200; +#endif + +} + +bool +DatamanTest::testSyncReadInvalidItem() +{ + + bool success = _dataman_client1.readSync(DM_KEY_NUM_KEYS, 0, _buffer_read, 2); + return !success; +} + +bool +DatamanTest::testSyncWriteInvalidItem() +{ + bool success = _dataman_client1.writeSync(DM_KEY_NUM_KEYS, 0, _buffer_write, 2); + return !success; +} + + +bool +DatamanTest::testSyncReadInvalidIndex() +{ + bool success = _dataman_client1.readSync(DM_KEY_SAFE_POINTS_0, DM_KEY_SAFE_POINTS_MAX, _buffer_read, 2); + return !success; +} + +bool +DatamanTest::testSyncWriteInvalidIndex() +{ + bool success = _dataman_client1.writeSync(DM_KEY_SAFE_POINTS_0, DM_KEY_SAFE_POINTS_MAX, _buffer_write, 2); + return !success; +} + +bool +DatamanTest::testSyncReadBufferOverflow() +{ + bool success = _dataman_client1.readSync(DM_KEY_WAYPOINTS_OFFBOARD_0, 0, _buffer_read, OVERFLOW_LENGTH); + return !success; +} + +bool +DatamanTest::testSyncWriteBufferOverflow() +{ + bool success = _dataman_client1.writeSync(DM_KEY_WAYPOINTS_OFFBOARD_0, 0, _buffer_write, OVERFLOW_LENGTH); + return !success; +} + +bool +DatamanTest::testSyncMutipleClients() +{ + // Prepare write buffer + for (uint32_t i = 0; i < DM_MAX_DATA_SIZE; ++i) { + _buffer_write[i] = (uint8_t)i; + } + + bool success = _dataman_client1.writeSync(DM_KEY_WAYPOINTS_OFFBOARD_0, 0x11, _buffer_write, sizeof(_buffer_write)); + + if (!success) { + return false; + } + + success = _dataman_client1.readSync(DM_KEY_WAYPOINTS_OFFBOARD_0, 0x11, _buffer_read, sizeof(_buffer_read)); + + if (!success) { + return false; + } + + success = _dataman_client2.writeSync(DM_KEY_WAYPOINTS_OFFBOARD_0, 0x22, _buffer_write, sizeof(_buffer_write)); + + if (!success) { + return false; + } + + success = _dataman_client3.readSync(DM_KEY_WAYPOINTS_OFFBOARD_0, 0x22, _buffer_read, sizeof(_buffer_read)); + + if (!success) { + return false; + } + + success = _dataman_client1.writeSync(DM_KEY_WAYPOINTS_OFFBOARD_0, 0x33, _buffer_write, sizeof(_buffer_write)); + + if (!success) { + return false; + } + + success = _dataman_client1.readSync(DM_KEY_WAYPOINTS_OFFBOARD_0, 0x33, _buffer_read, sizeof(_buffer_read)); + + if (!success) { + return false; + } + + //Compare content from buffers + for (uint32_t i = 0; i < g_per_item_size[DM_KEY_MISSION_STATE]; ++i) { + if (_buffer_read[i] != _buffer_write[i]) { + return false; + } + } + + return success; +} + +bool +DatamanTest::testSyncWriteReadAllItemsMaxSize() +{ + bool success = false; + + // Iterate all items + for (uint32_t item = DM_KEY_SAFE_POINTS_0; item < DM_KEY_NUM_KEYS; ++item) { + + // writeSync + for (uint32_t index = 0U; index < _max_index[item]; ++index) { + + // Prepare write buffer + for (uint32_t i = 0; i < g_per_item_size[item]; ++i) { + _buffer_write[i] = (uint8_t)(index % UINT8_MAX); + } + + success = _dataman_client1.writeSync((dm_item_t)item, index, _buffer_write, g_per_item_size[item]); + + if (!success) { + PX4_ERR("writeSync failed at item = %" PRIu32 ", index = %" PRIu32, item, index); + return false; + } + } + + // readSync + for (uint32_t index = 0U; index < _max_index[item]; ++index) { + + success = _dataman_client1.readSync((dm_item_t)item, index, _buffer_read, g_per_item_size[item]); + + if (!success) { + PX4_ERR("readSync failed at item = %" PRIu32 ", index = %" PRIu32, item, index); + return false; + } + + // Check read buffer + for (uint32_t i = 0U; i < g_per_item_size[item]; ++i) { + + uint8_t expected_value = (index % UINT8_MAX); + + if (expected_value != _buffer_read[i]) { + PX4_ERR("readSync failed at item = %" PRIu32 ", index = %" PRIu32 ", element= %" PRIu32 ", expected: %" PRIu8 + ", received: %" PRIu8, item, index, i, expected_value, _buffer_read[i]); + return false; + } + } + } + } + + return true; +} + +bool +DatamanTest::testSyncClearAll() +{ + bool success = false; + + // Iterate all items + for (uint32_t item = DM_KEY_SAFE_POINTS_0; item < DM_KEY_NUM_KEYS; ++item) { + + success = _dataman_client1.clearSync((dm_item_t)item); + + if (!success) { + PX4_ERR("clearSync failed at item = %" PRIu32, item); + return false; + } + } + + return success; +} + +bool +DatamanTest::testAsyncReadInvalidItem() +{ + bool success = true; + + State state = State::Read; + hrt_abstime start_time = hrt_absolute_time(); + + //While loop represents a task + while (state != State::Exit) { + + _dataman_client1.update(); + + + switch (state) { + + case State::Read: + + state = State::ReadWait; + success = _dataman_client1.readAsync(DM_KEY_NUM_KEYS, 0, _buffer_read, 2); + + if (!success) { + return false; + } + + break; + + case State::ReadWait: + if (_dataman_client1.lastOperationCompleted(_response_success)) { + state = State::OperationCompleted; + + if (!_response_success) { + //Test ends here + return true; + } + } + + break; + + default: + break; + + } + + if (hrt_elapsed_time(&start_time) > 1_s) { + PX4_ERR("Test timeout!"); + return false; + } + + //Simulate rescheduling the task after a 1 ms delay to allow time for the dataman task to operate. + px4_usleep(1_ms); + } + + return false; +} + +bool +DatamanTest::testAsyncWriteInvalidItem() +{ + bool success = true; + + State state = State::Write; + hrt_abstime start_time = hrt_absolute_time(); + + //While loop represents a task + while (state != State::Exit) { + + _dataman_client1.update(); + + + switch (state) { + + case State::Write: + + state = State::WriteWait; + success = _dataman_client1.writeAsync(DM_KEY_NUM_KEYS, 0, _buffer_write, 2); + + if (!success) { + return false; + } + + break; + + case State::WriteWait: + if (_dataman_client1.lastOperationCompleted(_response_success)) { + state = State::OperationCompleted; + + if (!_response_success) { + //Test ends here + return true; + } + } + + break; + + default: + break; + + } + + if (hrt_elapsed_time(&start_time) > 1_s) { + PX4_ERR("Test timeout!"); + return false; + } + + //Simulate rescheduling the task after a 1 ms delay to allow time for the dataman task to operate. + px4_usleep(1_ms); + } + + return false; +} + +bool +DatamanTest::testAsyncReadInvalidIndex() +{ + bool success = true; + + State state = State::Read; + hrt_abstime start_time = hrt_absolute_time(); + + //While loop represents a task + while (state != State::Exit) { + + _dataman_client1.update(); + + + switch (state) { + + case State::Read: + + state = State::ReadWait; + success = _dataman_client1.readAsync(DM_KEY_SAFE_POINTS_0, DM_KEY_SAFE_POINTS_MAX, _buffer_read, 2); + + if (!success) { + return false; + } + + break; + + case State::ReadWait: + if (_dataman_client1.lastOperationCompleted(_response_success)) { + state = State::OperationCompleted; + + if (!_response_success) { + //Test ends here + return true; + } + } + + break; + + default: + break; + + } + + if (hrt_elapsed_time(&start_time) > 1_s) { + PX4_ERR("Test timeout!"); + return false; + } + + //Simulate rescheduling the task after a 1 ms delay to allow time for the dataman task to operate. + px4_usleep(1_ms); + } + + return false; +} + +bool +DatamanTest::testAsyncWriteInvalidIndex() +{ + bool success = true; + + State state = State::Write; + hrt_abstime start_time = hrt_absolute_time(); + + //While loop represents a task + while (state != State::Exit) { + + _dataman_client1.update(); + + + switch (state) { + + case State::Write: + + state = State::WriteWait; + success = _dataman_client1.writeAsync(DM_KEY_SAFE_POINTS_0, DM_KEY_SAFE_POINTS_MAX, _buffer_write, 2); + + if (!success) { + return false; + } + + break; + + case State::WriteWait: + if (_dataman_client1.lastOperationCompleted(_response_success)) { + state = State::OperationCompleted; + + if (!_response_success) { + //Test ends here + return true; + } + } + + break; + + default: + break; + + } + + if (hrt_elapsed_time(&start_time) > 1_s) { + PX4_ERR("Test timeout!"); + return false; + } + + //Simulate rescheduling the task after a 1 ms delay to allow time for the dataman task to operate. + px4_usleep(1_ms); + } + + return false; +} + +bool +DatamanTest::testAsyncReadBufferOverflow() +{ + bool success = _dataman_client1.readAsync(DM_KEY_SAFE_POINTS_0, DM_KEY_SAFE_POINTS_MAX, _buffer_read, OVERFLOW_LENGTH); + + return !success; +} + +bool +DatamanTest::testAsyncWriteBufferOverflow() +{ + bool success = _dataman_client1.writeAsync(DM_KEY_SAFE_POINTS_0, DM_KEY_SAFE_POINTS_MAX, _buffer_write, + OVERFLOW_LENGTH); + + return !success; +} + +bool +DatamanTest::testAsyncMutipleClients() +{ + pthread_t thread1{}; + pthread_t thread2{}; + pthread_t thread3{}; + + _thread_tests_success.store(true); + _thread_index.store(0); + + // Test multiple dataman clients + uint32_t ret = pthread_create(&thread1, nullptr, &testAsyncThread, this); + + if (ret != 0) { + printf("pthread_create failed: %" PRIu32 "\n", ret); + _thread_tests_success.store(false); + } + + ret = pthread_create(&thread2, nullptr, &testAsyncThread, this); + + if (ret != 0) { + printf("pthread_create failed: %" PRIu32 "\n", ret); + _thread_tests_success.store(false); + } + + ret = pthread_create(&thread3, nullptr, &testAsyncThread, this); + + if (ret != 0) { + printf("pthread_create failed: %" PRIu32 "\n", ret); + _thread_tests_success.store(false); + } + + pthread_join(thread1, nullptr); + pthread_join(thread2, nullptr); + pthread_join(thread3, nullptr); + + return _thread_tests_success.load(); +} + +void *DatamanTest::testAsyncThread(void *arg) +{ + DatamanTest *dataman_test = (DatamanTest *)arg; + const uint32_t index = dataman_test->_thread_index.fetch_add(1); + State state = State::Write; + + hrt_abstime start_time = hrt_absolute_time(); + + uint8_t buffer_read[DM_MAX_DATA_SIZE] = {}; + uint8_t buffer_write[DM_MAX_DATA_SIZE] = {}; + + bool success; + bool response_success; + + // Prepare write buffer + for (uint8_t i = 0; i < g_per_item_size[DM_KEY_WAYPOINTS_OFFBOARD_0]; ++i) { + buffer_write[i] = i * index; + } + + DatamanClient *dataman_client{nullptr}; + + if (index == 0) { + dataman_client = &(dataman_test->_dataman_client_thread1); + + } else if (index == 1) { + dataman_client = &(dataman_test->_dataman_client_thread2); + + } else if (index == 2) { + dataman_client = &(dataman_test->_dataman_client_thread3); + + } else { + PX4_ERR("Unknown thread %" PRIu32 "!", index); + return nullptr; + } + + while (state != State::Exit) { + + dataman_client->update(); + + switch (state) { + + case State::Write: + + state = State::WriteWait; + success = dataman_client->writeAsync(DM_KEY_WAYPOINTS_OFFBOARD_0, index, buffer_write, sizeof(buffer_write)); + + if (!success) { + PX4_ERR("writeAsync failed for index %" PRIu32 "!", index); + state = State::Exit; + dataman_test->_thread_tests_success.store(false); + } + + break; + + case State::WriteWait: + + if (dataman_client->lastOperationCompleted(response_success)) { + state = State::Read; + + if (!response_success) { + PX4_ERR("writeAsync failed to get success operation complete for the index %" PRIu32 "!", index); + state = State::Exit; + dataman_test->_thread_tests_success.store(false); + } + } + + break; + + case State::Read: + + state = State::ReadWait; + success = dataman_client->readAsync(DM_KEY_WAYPOINTS_OFFBOARD_0, index, buffer_read, sizeof(buffer_read)); + + if (!success) { + PX4_ERR("readAsync failed for index %" PRIu32 "!", index); + state = State::Exit; + dataman_test->_thread_tests_success.store(false); + } + + break; + + case State::ReadWait: + if (dataman_client->lastOperationCompleted(response_success)) { + state = State::CompareBuffers; + + if (!response_success) { + PX4_ERR("readAsync failed to get success operation complete for the index %" PRIu32 "!", index); + state = State::Exit; + dataman_test->_thread_tests_success.store(false); + } + } + + break; + + case State::CompareBuffers: + + for (uint32_t i = 0; i < g_per_item_size[DM_KEY_WAYPOINTS_OFFBOARD_0]; ++i) { + if (buffer_write[i] != buffer_read[i]) { + PX4_ERR("buffer are not the same for index %" PRIu32 "!", index); + dataman_test->_thread_tests_success.store(false); + break; + } + } + + state = State::Exit; + break; + + default: + break; + + } + + if (hrt_elapsed_time(&start_time) > 2_s) { + PX4_ERR("Test timeout! index=%" PRIu32, index); + state = State::Exit; + dataman_test->_thread_tests_success.store(false); + } + + //Simulate rescheduling the task after a 1 ms delay to allow time for the dataman task to operate. + px4_usleep(1_ms); + } + + PX4_INFO("Thread %" PRIu32 " finished!", index); + px4_usleep(200_ms); + + return nullptr; +} + +bool +DatamanTest::testAsyncWriteReadAllItemsMaxSize() +{ + bool success = false; + State state = State::Write; + + uint32_t item = DM_KEY_SAFE_POINTS_0; + uint32_t index = 0U; + + hrt_abstime start_time = hrt_absolute_time(); + + //While loop represents a task + while (state != State::Exit) { + + _dataman_client1.update(); + + switch (state) { + + case State::Write: + + state = State::WriteWait; + + // Prepare write buffer + for (uint32_t i = 0; i < g_per_item_size[item]; ++i) { + _buffer_write[i] = (uint8_t)(index % UINT8_MAX); + } + + success = _dataman_client1.writeAsync((dm_item_t)item, index, _buffer_write, g_per_item_size[item]); + + if (!success) { + return false; + } + + break; + + case State::Read: + state = State::ReadWait; + success = _dataman_client1.readAsync((dm_item_t)item, index, _buffer_read, g_per_item_size[item]); + + if (!success) { + return false; + } + + break; + + case State::ReadWait: + if (_dataman_client1.lastOperationCompleted(_response_success)) { + if (!_response_success) { + return false; + } + + state = State::CompareBuffers; + } + + break; + + case State::WriteWait: + if (_dataman_client1.lastOperationCompleted(_response_success)) { + if (!_response_success) { + return false; + } + + state = State::Read; + } + + break; + + case State::CompareBuffers: + state = State::Write; + + for (uint32_t i = 0U; i < g_per_item_size[item]; ++i) { + + if (_buffer_write[i] != _buffer_read[i]) { + PX4_ERR("readAsync failed at item = %" PRIu32 ", index = %" PRIu32 ", element= %" PRIu32 ", expected: %" PRIu8 + ", received: %" PRIu8, item, index, i, _buffer_write[i], _buffer_read[i]); + return false; + } + } + + if (index < _max_index[item] - 1) { + ++index; + + } else { + + if (item < DM_KEY_NUM_KEYS - 1) { + index = 0U; + ++item; + + } else { + state = State::Exit; + } + } + + break; + + default: + break; + } + + if (hrt_elapsed_time(&start_time) > 20_s) { + PX4_ERR("Test timeout!"); + return false; + } + + //Simulate rescheduling the task after a 1 ms delay to allow time for the dataman task to operate. + px4_usleep(1_ms); + + } + + return success; +} + +bool +DatamanTest::testAsyncClearAll() +{ + bool success = true; + + State state = State::Clear; + hrt_abstime start_time = hrt_absolute_time(); + uint32_t item = DM_KEY_SAFE_POINTS_0; + + //While loop represents a task + while (state != State::Exit) { + + _dataman_client1.update(); + + switch (state) { + + case State::Clear: + + state = State::ClearWait; + success = _dataman_client1.clearAsync((dm_item_t)item); + + if (!success) { + PX4_ERR("Failed at item %" PRIu32, item); + return false; + } + + break; + + case State::ClearWait: + if (_dataman_client1.lastOperationCompleted(_response_success)) { + state = State::OperationCompleted; + + if (!_response_success) { + PX4_ERR("Failed at item %" PRIu32, item); + return false; + } + } + + break; + + case State::OperationCompleted: + if (item < DM_KEY_NUM_KEYS - 1) { + state = State::Clear; + ++item; + + } else { + state = State::Exit; + } + + break; + + default: + break; + + } + + if (hrt_elapsed_time(&start_time) > 5_s) { + PX4_ERR("Test timeout!"); + return false; + } + + //Simulate rescheduling the task after a 1 ms delay to allow time for the dataman task to operate. + px4_usleep(1_ms); + } + + return true; +} + +//Cache +bool +DatamanTest::testCache() +{ + bool success = false; + dm_item_t item = DM_KEY_WAYPOINTS_OFFBOARD_0; + uint32_t uniq_number = 13; // Use this to make sure stored data is from this test + + for (uint32_t index = 0; index < 15; ++index) { + uint8_t value = index + uniq_number; + memset(_buffer_write, value, sizeof(_buffer_write)); + success = _dataman_cache.client().writeSync(item, index, _buffer_write, sizeof(_buffer_write)); + + if (!success) { + return false; + } + } + + // Write one extra for loadWait with timeout + uint32_t extra_index = 100; + _buffer_write[0] = 123; + success = _dataman_cache.client().writeSync(item, extra_index, _buffer_write, sizeof(_buffer_write)); + + if (!success) { + return false; + } + + // Load cache + for (uint32_t index = 0; index < _dataman_cache.size(); ++index) { + if (!_dataman_cache.load(item, index)) { + return false; + } + } + + hrt_abstime start_time = hrt_absolute_time(); + + // loop represents the task, we collect the data + while (_dataman_cache.isLoading()) { + + px4_usleep(1_ms); + _dataman_cache.update(); + + if (hrt_elapsed_time(&start_time) > 2_s) { + PX4_ERR("Test timeout!"); + return false; + } + } + + // check cached data + for (uint32_t index = 0; index < _dataman_cache.size(); ++index) { + + uint8_t value = index + uniq_number; + success = _dataman_cache.loadWait(item, index, _buffer_read, sizeof(_buffer_read)); + + if (!success) { + PX4_ERR("Failed loadWait at index %" PRIu32, index); + return false; + } + + for (uint32_t i = 0; i < sizeof(_buffer_read); ++i) { + if (_buffer_read[i] != value) { + PX4_ERR("Wrong data recived %" PRIu8" , expected %" PRIu8, _buffer_read[i], value); + return false; + } + } + } + + // expected to fail without timeout set + success = _dataman_cache.loadWait(item, extra_index, _buffer_read, sizeof(_buffer_read)); + + if (success) { + PX4_ERR("loadWait unexpectedly succeeded"); + return false; + } + + // expected to success with timeout set + success = _dataman_cache.loadWait(item, extra_index, _buffer_read, sizeof(_buffer_read), 100_ms); + + if (!success) { + PX4_ERR("loadWait failed"); + return false; + } + + // expected to success without timeout set (item is now cached) + success = _dataman_cache.loadWait(item, extra_index, _buffer_read, sizeof(_buffer_read)); + + if (!success) { + PX4_ERR("loadWait failed"); + return false; + } + + uint32_t old_cache_size = _dataman_cache.size(); + _dataman_cache.resize(5); + + // check cached data after resize (reduced, the first item got overwritten by extra_index) + for (uint32_t index = 1; index < _dataman_cache.size(); ++index) { + uint8_t value = index + uniq_number; + success = _dataman_cache.loadWait(item, index, _buffer_read, sizeof(_buffer_read)); + + if (!success) { + PX4_ERR("Failed loadWait at index %" PRIu32, index); + return false; + } + + for (uint32_t i = 0; i < sizeof(_buffer_read); ++i) { + if (_buffer_read[i] != value) { + PX4_ERR("Wrong data recived %" PRIu8" , expected %" PRIu8, _buffer_read[i], value); + return false; + } + } + } + + for (uint32_t index = _dataman_cache.size(); index < old_cache_size; ++index) { + uint8_t value = index + uniq_number; + success = _dataman_cache.loadWait(item, index, _buffer_read, sizeof(_buffer_read)); + + if (success) { + PX4_ERR("loadWait unexpectedly succeeded at index %" PRIu32, index); + return false; + } + } + + _dataman_cache.invalidate(); + _dataman_cache.resize(15); + + // Load cache + for (uint32_t index = 0; index < _dataman_cache.size(); ++index) { + _dataman_cache.load(item, index); + } + + start_time = hrt_absolute_time(); + + // loop represents the task, we collect the data + while (_dataman_cache.isLoading()) { + + px4_usleep(1_ms); + _dataman_cache.update(); + + if (hrt_elapsed_time(&start_time) > 2_s) { + PX4_ERR("Test timeout!"); + return false; + } + } + + // check cached data + for (uint32_t index = 0; index < _dataman_cache.size(); ++index) { + uint8_t value = index + uniq_number; + success = _dataman_cache.loadWait(item, index, _buffer_read, sizeof(_buffer_read)); + + if (!success) { + PX4_ERR("Failed loadWait at index %" PRIu32, index); + return false; + } + + for (uint32_t i = 0; i < sizeof(_buffer_read); ++i) { + if (_buffer_read[i] != value) { + PX4_ERR("Wrong data recived %" PRIu8" , expected %" PRIu8, _buffer_read[i], value); + return false; + } + } + } + + // invalidate and check cached data + _dataman_cache.invalidate(); + + for (uint32_t index = 0; index < _dataman_cache.size(); ++index) { + uint8_t value = index + uniq_number; + success = _dataman_cache.loadWait(item, index, _buffer_read, sizeof(_buffer_read)); + + // expected to fail + if (success) { + PX4_ERR("loadWait unexpectedly succeeded at index %" PRIu32, index); + return false; + } + + } + + return true; +} + +bool +DatamanTest::testResetItems() +{ + bool success = false; + + mission_s mission{}; + mission.timestamp = hrt_absolute_time(); + mission.mission_dataman_id = DM_KEY_WAYPOINTS_OFFBOARD_0; + mission.count = 0; + mission.current_seq = 0; + + success = _dataman_client1.writeSync(DM_KEY_MISSION_STATE, 0, reinterpret_cast(&mission), sizeof(mission_s)); + + if (!success) { + PX4_ERR("failed to reset DM_KEY_MISSION_STATE"); + return false; + } + + success = _dataman_client1.readSync(DM_KEY_MISSION_STATE, 0, reinterpret_cast(&mission), sizeof(mission_s)); + + if (!success) { + PX4_ERR("failed to read DM_KEY_MISSION_STATE"); + return false; + } + + mission_stats_entry_s stats; + stats.num_items = 0; + stats.opaque_id = 0; + + success = _dataman_client1.writeSync(DM_KEY_FENCE_POINTS_STATE, 0, reinterpret_cast(&stats), + sizeof(mission_stats_entry_s)); + + if (!success) { + PX4_ERR("failed to reset DM_KEY_FENCE_POINTS_STATE"); + return false; + } + + success = _dataman_client1.writeSync(DM_KEY_SAFE_POINTS_STATE, 0, reinterpret_cast(&stats), + sizeof(mission_stats_entry_s)); + + if (!success) { + PX4_ERR("failed to reset DM_KEY_SAFE_POINTS_STATE"); + return false; + } + + return success; +} + +bool DatamanTest::run_tests() +{ + ut_run_test(testSyncReadInvalidItem); + ut_run_test(testSyncWriteInvalidItem); + ut_run_test(testSyncReadInvalidIndex); + ut_run_test(testSyncWriteInvalidIndex); + ut_run_test(testSyncReadBufferOverflow); + ut_run_test(testSyncWriteBufferOverflow); + ut_run_test(testSyncMutipleClients); + ut_run_test(testSyncWriteReadAllItemsMaxSize); + ut_run_test(testSyncClearAll); + + ut_run_test(testAsyncReadInvalidItem); + ut_run_test(testAsyncWriteInvalidItem); + ut_run_test(testAsyncReadInvalidIndex); + ut_run_test(testAsyncWriteInvalidIndex); + ut_run_test(testAsyncReadBufferOverflow); + ut_run_test(testAsyncWriteBufferOverflow); + ut_run_test(testAsyncMutipleClients); + ut_run_test(testAsyncWriteReadAllItemsMaxSize); + ut_run_test(testAsyncClearAll); + + ut_run_test(testCache); + + ut_run_test(testResetItems); + + return (_tests_failed == 0); +} + +ut_declare_test_c(test_dataman, DatamanTest) diff --git a/src/systemcmds/tests/test_file2.c b/src/systemcmds/tests/test_file2.c index 6f270de7013e..606f39abf309 100644 --- a/src/systemcmds/tests/test_file2.c +++ b/src/systemcmds/tests/test_file2.c @@ -224,4 +224,3 @@ int test_file2(int argc, char *argv[]) return test_corruption(filename, write_chunk, write_size, flags); } - diff --git a/src/systemcmds/tests/test_float.cpp b/src/systemcmds/tests/test_float.cpp index aaccf1a4f059..8316c5dbe2b3 100644 --- a/src/systemcmds/tests/test_float.cpp +++ b/src/systemcmds/tests/test_float.cpp @@ -89,7 +89,7 @@ bool FloatTest::singlePrecisionTests() fabsf(atan2f_ones - 0.785398163397448278999490867136f) < 2.0f * FLT_EPSILON); char sbuf[30]; - sprintf(sbuf, "%8.4f", (double)0.553415f); + snprintf(sbuf, sizeof(sbuf), "%8.4f", (double)0.553415f); ut_compare("sbuf[0]", sbuf[0], ' '); ut_compare("sbuf[1]", sbuf[1], ' '); ut_compare("sbuf[2]", sbuf[2], '0'); @@ -100,7 +100,7 @@ bool FloatTest::singlePrecisionTests() ut_compare("sbuf[7]", sbuf[7], '4'); ut_compare("sbuf[8]", sbuf[8], '\0'); - sprintf(sbuf, "%8.4f", (double) - 0.553415f); + snprintf(sbuf, sizeof(sbuf), "%8.4f", (double) - 0.553415f); ut_compare("sbuf[0]", sbuf[0], ' '); ut_compare("sbuf[1]", sbuf[1], '-'); ut_compare("sbuf[2]", sbuf[2], '0'); @@ -144,7 +144,7 @@ bool FloatTest::doublePrecisionTests() char sbuf[30]; - sprintf(sbuf, "%8.4f", 0.553415); + snprintf(sbuf, sizeof(sbuf), "%8.4f", 0.553415); ut_compare("sbuf[0]", sbuf[0], ' '); ut_compare("sbuf[1]", sbuf[1], ' '); ut_compare("sbuf[2]", sbuf[2], '0'); @@ -156,7 +156,7 @@ bool FloatTest::doublePrecisionTests() ut_compare("sbuf[8]", sbuf[8], '\0'); - sprintf(sbuf, "%8.4f", -0.553415); + snprintf(sbuf, sizeof(sbuf), "%8.4f", -0.553415); ut_compare("sbuf[0]", sbuf[0], ' '); ut_compare("sbuf[1]", sbuf[1], '-'); ut_compare("sbuf[2]", sbuf[2], '0'); diff --git a/src/systemcmds/tests/test_mount.cpp b/src/systemcmds/tests/test_mount.cpp index d7675714de8b..2d7bb895a436 100644 --- a/src/systemcmds/tests/test_mount.cpp +++ b/src/systemcmds/tests/test_mount.cpp @@ -62,7 +62,7 @@ int test_mount(int argc, char *argv[]) const unsigned iterations = 2000; const unsigned alignments = 10; - const char *cmd_filename = "/fs/microsd/mount_test_cmds.txt"; + const char *cmd_filename = CONFIG_BOARD_ROOT_PATH "/mount_test_cmds.txt"; /* check if microSD card is mounted */ diff --git a/src/systemcmds/tests/test_parameters.cpp b/src/systemcmds/tests/test_parameters.cpp index 1d15eae785f2..77b45ce55e8c 100644 --- a/src/systemcmds/tests/test_parameters.cpp +++ b/src/systemcmds/tests/test_parameters.cpp @@ -316,7 +316,7 @@ bool ParameterTest::exportImport() } // save - if (param_save_default() != PX4_OK) { + if (param_save_default(true) != PX4_OK) { PX4_ERR("param_save_default failed"); return false; } @@ -461,7 +461,7 @@ bool ParameterTest::exportImportAll() } // save - if (param_save_default() != PX4_OK) { + if (param_save_default(true) != PX4_OK) { PX4_ERR("param_save_default failed"); return false; } @@ -561,7 +561,7 @@ bool ParameterTest::exportImportAll() } // save - if (param_save_default() != PX4_OK) { + if (param_save_default(true) != PX4_OK) { PX4_ERR("param_save_default failed"); return false; } diff --git a/src/systemcmds/tests/tests_main.c b/src/systemcmds/tests/tests_main.c index 8a895c157a95..af25fd074e97 100644 --- a/src/systemcmds/tests/tests_main.c +++ b/src/systemcmds/tests/tests_main.c @@ -81,7 +81,7 @@ const struct { {"bezier", test_bezierQuad, 0}, {"bitset", test_bitset, 0}, {"bson", test_bson, 0}, - {"dataman", test_dataman, OPT_NOJIGTEST | OPT_NOALLTEST}, + {"dataman", test_dataman, OPT_NOJIGTEST | OPT_NOALLTEST}, {"file2", test_file2, OPT_NOJIGTEST}, {"float", test_float, 0}, {"hott_telemetry", test_hott_telemetry, OPT_NOJIGTEST | OPT_NOALLTEST}, diff --git a/src/systemcmds/topic_listener/CMakeLists.txt b/src/systemcmds/topic_listener/CMakeLists.txt index e5f127fd1ff9..caf6201e4802 100644 --- a/src/systemcmds/topic_listener/CMakeLists.txt +++ b/src/systemcmds/topic_listener/CMakeLists.txt @@ -38,4 +38,3 @@ px4_add_module( SRCS listener_main.cpp ) - diff --git a/src/systemcmds/usb_connected/CMakeLists.txt b/src/systemcmds/usb_connected/CMakeLists.txt index f06ba157a9bd..0d308672bd23 100644 --- a/src/systemcmds/usb_connected/CMakeLists.txt +++ b/src/systemcmds/usb_connected/CMakeLists.txt @@ -38,4 +38,3 @@ px4_add_module( usb_connected.cpp DEPENDS ) - diff --git a/src/systemcmds/ver/ver.cpp b/src/systemcmds/ver/ver.cpp index ab75009d1ec5..a2b5c1885a5c 100644 --- a/src/systemcmds/ver/ver.cpp +++ b/src/systemcmds/ver/ver.cpp @@ -51,6 +51,9 @@ static const char sz_ver_hw_str[] = "hw"; static const char sz_ver_hwcmp_str[] = "hwcmp"; static const char sz_ver_hwtypecmp_str[] = "hwtypecmp"; +#if defined(BOARD_HAS_HW_SPLIT_VERSIONING) +static const char sz_ver_hwbasecmp_str[] = "hwbasecmp"; +#endif static const char sz_ver_git_str[] = "git"; static const char sz_ver_bdate_str[] = "bdate"; static const char sz_ver_buri_str[] = "uri"; @@ -84,6 +87,11 @@ static void usage(const char *reason) PRINT_MODULE_USAGE_COMMAND_DESCR("hwtypecmp", "Compare hardware type (returns 0 on match)"); PRINT_MODULE_USAGE_ARG(" []", "Hardware type to compare against (eg. V2). An OR comparison is used if multiple are specified", false); +#if defined(BOARD_HAS_HW_SPLIT_VERSIONING) + PRINT_MODULE_USAGE_COMMAND_DESCR("hwbasecmp", "Compare hardware base (returns 0 on match)"); + PRINT_MODULE_USAGE_ARG(" []", + "Hardware type to compare against (eg. V2). An OR comparison is used if multiple are specified", false); +#endif } extern "C" __EXPORT int ver_main(int argc, char *argv[]) @@ -129,12 +137,50 @@ extern "C" __EXPORT int ver_main(int argc, char *argv[]) return 1; } +#if defined(BOARD_HAS_HW_SPLIT_VERSIONING) + + if (!strncmp(argv[1], sz_ver_hwbasecmp_str, sizeof(sz_ver_hwbasecmp_str))) { + if (argc >= 3 && argv[2] != nullptr) { + const char *board_type = px4_board_base_type(); + + for (int i = 2; i < argc; ++i) { + if (strcmp(board_type, argv[i]) == 0) { + return 0; // if one of the arguments match, return success + } + } + + } else { + PX4_ERR("Not enough arguments, try 'ver hwbasecmp {000...999}[1:*]'"); + } + + return 1; + } + +#endif /* check if we want to show all */ bool show_all = !strncmp(argv[1], sz_ver_all_str, sizeof(sz_ver_all_str)); if (show_all || !strncmp(argv[1], sz_ver_hw_str, sizeof(sz_ver_hw_str))) { PX4_INFO_RAW("HW arch: %s\n", px4_board_name()); -#if defined(BOARD_HAS_VERSIONING) + +#if defined(BOARD_HAS_HW_SPLIT_VERSIONING) + char sbase[14] = "NA"; + char sfmum[14] = "NA"; + int base = GET_HW_BASE_ID(); + int fmu = GET_HW_FMUM_ID(); + + if (base >= 0) { + snprintf(sbase, sizeof(sbase), "0x%0" STRINGIFY(HW_INFO_VER_DIGITS) "X", base); + } + + if (fmu >= 0) { + snprintf(sfmum, sizeof(sfmum), "0x%0" STRINGIFY(HW_INFO_REV_DIGITS) "X", fmu); + } + + PX4_INFO_RAW("HW type: %s\n", strlen(HW_INFO_INIT_PREFIX) ? HW_INFO_INIT_PREFIX : "NA"); + PX4_INFO_RAW("HW FMUM ID: %s\n", sfmum); + PX4_INFO_RAW("HW BASE ID: %s\n", sbase); +#elif defined(BOARD_HAS_VERSIONING) char vb[14] = "NA"; char rb[14] = "NA"; int v = px4_board_hw_version(); diff --git a/src/templates/template_module/CMakeLists.txt b/src/templates/template_module/CMakeLists.txt index ddda8ba394ed..2e8e0644c24f 100644 --- a/src/templates/template_module/CMakeLists.txt +++ b/src/templates/template_module/CMakeLists.txt @@ -37,4 +37,3 @@ px4_add_module( SRCS template_module.cpp ) - diff --git a/src/templates/template_module/template_module.h b/src/templates/template_module/template_module.h index 0212fe9a3cd0..83a5db2c2c15 100644 --- a/src/templates/template_module/template_module.h +++ b/src/templates/template_module/template_module.h @@ -87,4 +87,3 @@ class TemplateModule : public ModuleBase, public ModuleParams uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s}; }; - diff --git a/srv/VehicleCommand.srv b/srv/VehicleCommand.srv new file mode 100644 index 000000000000..134e2a810f20 --- /dev/null +++ b/srv/VehicleCommand.srv @@ -0,0 +1,3 @@ +VehicleCommand request +--- +VehicleCommandAck reply diff --git a/test/mavsdk_tests/CMakeLists.txt b/test/mavsdk_tests/CMakeLists.txt index 90b27f943aac..2049f0d0a6a8 100644 --- a/test/mavsdk_tests/CMakeLists.txt +++ b/test/mavsdk_tests/CMakeLists.txt @@ -17,6 +17,8 @@ if(MAVSDK_FOUND) test_main.cpp autopilot_tester.cpp autopilot_tester_failure.cpp + autopilot_tester_rtl.cpp + autopilot_tester_figure_eight.cpp # follow-me needs a MAVSDK update: # https://github.com/mavlink/MAVSDK/pull/1770 # autopilot_tester_follow_me.cpp @@ -27,6 +29,10 @@ if(MAVSDK_FOUND) test_multicopter_offboard.cpp test_multicopter_manual.cpp test_vtol_mission.cpp + test_vtol_figure_eight.cpp + test_vtol_rtl.cpp + test_vtol_mission_wind.cpp + test_vtol_loiter_airspeed_failure_blockage.cpp # test_multicopter_follow_me.cpp ) @@ -35,6 +41,8 @@ if(MAVSDK_FOUND) ${CMAKE_THREAD_LIBS_INIT} ) + target_include_directories(mavsdk_tests PUBLIC ${CMAKE_BINARY_DIR}/..) + target_compile_options(mavsdk_tests PRIVATE -Wall diff --git a/test/mavsdk_tests/autopilot_tester.cpp b/test/mavsdk_tests/autopilot_tester.cpp index c58dd28bf63d..f3ba47f87176 100644 --- a/test/mavsdk_tests/autopilot_tester.cpp +++ b/test/mavsdk_tests/autopilot_tester.cpp @@ -76,6 +76,7 @@ void AutopilotTester::connect(const std::string uri) _offboard.reset(new Offboard(system)); _param.reset(new Param(system)); _telemetry.reset(new Telemetry(system)); + _mavlink_passthrough.reset(new MavlinkPassthrough(system)); } void AutopilotTester::wait_until_ready() @@ -163,6 +164,11 @@ void AutopilotTester::set_rc_loss_exception(AutopilotTester::RcLossException mas } } +void AutopilotTester::set_param_vt_fwd_thrust_en(int value) +{ + CHECK(_param->set_param_int("VT_FWD_THRUST_EN", value) == Param::Result::Success); +} + void AutopilotTester::arm() { const auto result = _action->arm(); @@ -219,6 +225,12 @@ void AutopilotTester::wait_until_altitude(float rel_altitude_m, std::chrono::sec REQUIRE(fut.wait_for(timeout) == std::future_status::ready); } +void AutopilotTester::wait_until_fixedwing(std::chrono::seconds timeout) +{ + REQUIRE(poll_condition_with_timeout( + [this]() { return _telemetry->vtol_state() == Telemetry::VtolState::Fw; }, timeout)); +} + void AutopilotTester::prepare_square_mission(MissionOptions mission_options) { const auto ct = get_coordinate_transformation(); @@ -259,16 +271,23 @@ void AutopilotTester::execute_mission() REQUIRE(poll_condition_with_timeout( [this]() { return _mission->start_mission() == Mission::Result::Success; }, std::chrono::seconds(3))); - // TODO: Adapt time limit based on mission size, flight speed, sim speed factor, etc. + float speed_factor = 1.0f; - wait_for_mission_finished(std::chrono::seconds(90)); + if (_info != nullptr) { + speed_factor = _info->get_speed_factor().second; + } + + const float mission_finish_waiting_time_in_simulation_s = 500.f; + float mission_finish_waiting_time_in_real_s = mission_finish_waiting_time_in_simulation_s / speed_factor; + + wait_for_mission_finished(std::chrono::seconds(static_cast(mission_finish_waiting_time_in_real_s))); } void AutopilotTester::execute_mission_and_lose_gps() { CHECK(_param->set_param_int("SYS_FAILURE_EN", 1) == Param::Result::Success); - start_and_wait_for_first_mission_item(); + start_and_wait_for_mission_sequence(1); CHECK(_failure->inject(Failure::FailureUnit::SensorGps, Failure::FailureType::Off, 0) == Failure::Result::Success); @@ -280,7 +299,7 @@ void AutopilotTester::execute_mission_and_lose_mag() { CHECK(_param->set_param_int("SYS_FAILURE_EN", 1) == Param::Result::Success); - start_and_wait_for_first_mission_item(); + start_and_wait_for_mission_sequence(1); CHECK(_failure->inject(Failure::FailureUnit::SensorMag, Failure::FailureType::Off, 0) == Failure::Result::Success); @@ -296,7 +315,7 @@ void AutopilotTester::execute_mission_and_lose_baro() { CHECK(_param->set_param_int("SYS_FAILURE_EN", 1) == Param::Result::Success); - start_and_wait_for_first_mission_item(); + start_and_wait_for_mission_sequence(1); CHECK(_failure->inject(Failure::FailureUnit::SensorBaro, Failure::FailureType::Off, 0) == Failure::Result::Success); @@ -312,7 +331,7 @@ void AutopilotTester::execute_mission_and_get_baro_stuck() { CHECK(_param->set_param_int("SYS_FAILURE_EN", 1) == Param::Result::Success); - start_and_wait_for_first_mission_item(); + start_and_wait_for_mission_sequence(1); CHECK(_failure->inject(Failure::FailureUnit::SensorBaro, Failure::FailureType::Stuck, 0) == Failure::Result::Success); @@ -328,7 +347,7 @@ void AutopilotTester::execute_mission_and_get_mag_stuck() { CHECK(_param->set_param_int("SYS_FAILURE_EN", 1) == Param::Result::Success); - start_and_wait_for_first_mission_item(); + start_and_wait_for_mission_sequence(1); CHECK(_failure->inject(Failure::FailureUnit::SensorMag, Failure::FailureType::Stuck, 0) == Failure::Result::Success); @@ -376,9 +395,16 @@ void AutopilotTester::execute_mission_raw() { REQUIRE(_mission->start_mission() == Mission::Result::Success); - // TODO: Adapt time limit based on mission size, flight speed, sim speed factor, etc. + float speed_factor = 1.0f; - wait_for_mission_raw_finished(std::chrono::seconds(120)); + if (_info != nullptr) { + speed_factor = _info->get_speed_factor().second; + } + + const float waiting_time_simulation_time_s = 300.f; // currently this is tuned for the VTOL wind test + float waiting_time_absolute_s = waiting_time_simulation_time_s / speed_factor; + + wait_for_mission_raw_finished(std::chrono::seconds(static_cast(waiting_time_absolute_s))); } void AutopilotTester::execute_rtl() @@ -426,15 +452,18 @@ void AutopilotTester::fly_forward_in_posctl() } CHECK(_manual_control->start_position_control() == ManualControl::Result::Success); + store_home(); + wait_until_ready(); + arm(); - // Climb up for 20 seconds - for (unsigned i = 0; i < 20 * manual_control_rate_hz; ++i) { + // Climb up for 5 seconds + for (unsigned i = 0; i < 5 * manual_control_rate_hz; ++i) { CHECK(_manual_control->set_manual_control_input(0.f, 0.f, 1.f, 0.f) == ManualControl::Result::Success); sleep_for(std::chrono::milliseconds(1000 / manual_control_rate_hz)); } - // Fly forward for 60 seconds - for (unsigned i = 0; i < 60 * manual_control_rate_hz; ++i) { + // Fly forward for 10 seconds + for (unsigned i = 0; i < 10 * manual_control_rate_hz; ++i) { CHECK(_manual_control->set_manual_control_input(0.5f, 0.f, 0.5f, 0.f) == ManualControl::Result::Success); sleep_for(std::chrono::milliseconds(1000 / manual_control_rate_hz)); } @@ -461,15 +490,18 @@ void AutopilotTester::fly_forward_in_altctl() } CHECK(_manual_control->start_altitude_control() == ManualControl::Result::Success); + store_home(); + wait_until_ready(); + arm(); - // Climb up for 20 seconds - for (unsigned i = 0; i < 20 * manual_control_rate_hz; ++i) { + // Climb up for 5 seconds + for (unsigned i = 0; i < 5 * manual_control_rate_hz; ++i) { CHECK(_manual_control->set_manual_control_input(0.f, 0.f, 1.f, 0.f) == ManualControl::Result::Success); sleep_for(std::chrono::milliseconds(1000 / manual_control_rate_hz)); } - // Fly forward for 60 seconds - for (unsigned i = 0; i < 60 * manual_control_rate_hz; ++i) { + // Fly forward for 10 seconds + for (unsigned i = 0; i < 10 * manual_control_rate_hz; ++i) { CHECK(_manual_control->set_manual_control_input(0.5f, 0.f, 0.5f, 0.f) == ManualControl::Result::Success); sleep_for(std::chrono::milliseconds(1000 / manual_control_rate_hz)); } @@ -484,6 +516,65 @@ void AutopilotTester::fly_forward_in_altctl() } } } +void AutopilotTester::fly_forward_in_offboard_attitude() +{ + // This test does not depend on valid position estimate. + // Wait for raw gps & stable attitude estimate + CHECK(poll_condition_with_timeout( + [this]() { + auto attitude = _telemetry->attitude_euler(); + return _telemetry->raw_gps().altitude_ellipsoid_m > 0.f && fabsf(attitude.roll_deg) < 5.f + && fabsf(attitude.pitch_deg) < 5.f; + }, std::chrono::seconds(20))); + + const float start_altitude_ellipsoid_m = _telemetry->raw_gps().altitude_ellipsoid_m; + + Offboard::Attitude attitude{}; + _offboard->set_attitude(attitude); + REQUIRE(_offboard->start() == Offboard::Result::Success); + + // Wait until we can arm + CHECK(poll_condition_with_timeout( + [this]() { return _telemetry->health().is_armable; }, std::chrono::seconds(20))); + arm(); + + const unsigned offboard_rate_hz = 50; + + // Climb + const float climb_altitude_m = 10.f; + attitude.thrust_value = 0.8f; + + while (_telemetry->raw_gps().altitude_ellipsoid_m - start_altitude_ellipsoid_m < climb_altitude_m) { + CHECK(_offboard->set_attitude(attitude) == Offboard::Result::Success); + sleep_for(std::chrono::milliseconds(1000 / offboard_rate_hz)); + } + + // Fly forward for 3s + attitude.thrust_value = 0.8f; + attitude.pitch_deg = -20.f; + + for (unsigned i = 0; i < 3 * offboard_rate_hz; ++i) { + CHECK(_offboard->set_attitude(attitude) == Offboard::Result::Success); + sleep_for(std::chrono::milliseconds(1000 / offboard_rate_hz)); + } + + // Check attitude + auto attitude_estimate = _telemetry->attitude_euler(); + CHECK(fabsf(attitude.roll_deg - attitude_estimate.roll_deg) < 5.f); + CHECK(fabsf(attitude.pitch_deg - attitude_estimate.pitch_deg) < 5.f); + + // Descend + attitude.thrust_value = 0.4f; + attitude.pitch_deg = 0.f; + + for (unsigned i = 0; i < 6 * offboard_rate_hz; ++i) { + CHECK(_offboard->set_attitude(attitude) == Offboard::Result::Success); + sleep_for(std::chrono::milliseconds(1000 / offboard_rate_hz)); + } + + attitude.thrust_value = 0.0f; + CHECK(_offboard->set_attitude(attitude) == Offboard::Result::Success); +} void AutopilotTester::start_checking_altitude(const float max_deviation_m) { @@ -501,6 +592,65 @@ void AutopilotTester::stop_checking_altitude() _telemetry->subscribe_position(nullptr); } +void AutopilotTester::check_tracks_mission_raw(float corridor_radius_m, bool reverse) +{ + auto mission_raw = _mission_raw->download_mission(); + CHECK(mission_raw.first == MissionRaw::Result::Success); + + auto mission_items = mission_raw.second; + auto ct = get_coordinate_transformation(); + + _telemetry->set_rate_position_velocity_ned(5); + _telemetry->subscribe_position_velocity_ned([ct, mission_items, corridor_radius_m, reverse, + this](Telemetry::PositionVelocityNed position_velocity_ned) { + auto progress = _mission_raw->mission_progress(); + + + std::function(std::vector, unsigned, mavsdk::geometry::CoordinateTransformation)> + get_waypoint_for_sequence = [](std::vector mission_items, int sequence, auto ct) { + for (auto waypoint : mission_items) { + + if (waypoint.seq == (uint32_t)sequence) { + return get_local_mission_item_from_raw_item(waypoint, ct); + } + } + + return std::array({0.0f, 0.0f, 0.0f}); + }; + + if (progress.current > 0 && progress.current < progress.total) { + // Get shortest distance of current position to 3D line between previous and next waypoint + + std::array current { position_velocity_ned.position.north_m, + position_velocity_ned.position.east_m, + position_velocity_ned.position.down_m }; + std::array wp_prev = get_waypoint_for_sequence(mission_items, + reverse ? progress.current + 1 : progress.current - 1, ct); + std::array wp_next = get_waypoint_for_sequence(mission_items, progress.current, ct); + + float distance_to_trajectory = point_to_line_distance(current, wp_prev, wp_next); + + CHECK(distance_to_trajectory < corridor_radius_m); + } + }); +} + +void AutopilotTester::check_mission_land_within(float acceptance_radius_m) +{ + auto mission_raw = _mission_raw->download_mission(); + CHECK(mission_raw.first == MissionRaw::Result::Success); + + // Get last mission item + MissionRaw::MissionItem land_mission_item = mission_raw.second.back(); + bool is_landing_item = (land_mission_item.command == 85) || (land_mission_item.command == 21); + CHECK(is_landing_item); + Telemetry::GroundTruth land_coord{}; + land_coord.latitude_deg = static_cast(land_mission_item.x) / 1E7; + land_coord.longitude_deg = static_cast(land_mission_item.y) / 1E7; + + CHECK(ground_truth_horizontal_position_close_to(land_coord, acceptance_radius_m)); +} + void AutopilotTester::check_tracks_mission(float corridor_radius_m) { auto mission = _mission->download_mission(); @@ -535,6 +685,28 @@ void AutopilotTester::check_current_altitude(float target_rel_altitude_m, float CHECK(std::abs(_telemetry->position().relative_altitude_m - target_rel_altitude_m) <= max_distance_m); } +void AutopilotTester::execute_rtl_when_reaching_mission_sequence(int sequence_number) +{ + start_and_wait_for_mission_sequence_raw(sequence_number); + execute_rtl(); +} + +void AutopilotTester::send_custom_mavlink_command(const MavlinkPassthrough::CommandInt &command) +{ + _mavlink_passthrough->send_command_int(command); +} + +void AutopilotTester::send_custom_mavlink_message(mavlink_message_t &message) +{ + _mavlink_passthrough->send_message(message); +} + +void AutopilotTester::add_mavlink_message_callback(uint16_t message_id, + std::function< void(const mavlink_message_t &)> callback) +{ + _mavlink_passthrough->subscribe_message_async(message_id, std::move(callback)); +} + std::array AutopilotTester::get_current_position_ned() { mavsdk::Telemetry::PositionVelocityNed position_velocity_ned = _telemetry->position_velocity_ned(); @@ -642,15 +814,15 @@ bool AutopilotTester::ground_truth_horizontal_position_far_from(const Telemetry: return pass; } -void AutopilotTester::start_and_wait_for_first_mission_item() +void AutopilotTester::start_and_wait_for_mission_sequence(int sequence_number) { auto prom = std::promise {}; auto fut = prom.get_future(); - _mission->subscribe_mission_progress([&prom, this](Mission::MissionProgress progress) { + _mission->subscribe_mission_progress([&prom, this, sequence_number](Mission::MissionProgress progress) { std::cout << time_str() << "Progress: " << progress.current << "/" << progress.total << std::endl; - if (progress.current >= 1) { + if (progress.current >= sequence_number) { _mission->subscribe_mission_progress(nullptr); prom.set_value(); } @@ -661,6 +833,25 @@ void AutopilotTester::start_and_wait_for_first_mission_item() REQUIRE(fut.wait_for(std::chrono::seconds(60)) == std::future_status::ready); } +void AutopilotTester::start_and_wait_for_mission_sequence_raw(int sequence_number) +{ + auto prom = std::promise {}; + auto fut = prom.get_future(); + + _mission_raw->subscribe_mission_progress([&prom, this, sequence_number](MissionRaw::MissionProgress progress) { + std::cout << time_str() << "Progress: " << progress.current << "/" << progress.total << std::endl; + + if (progress.current >= sequence_number) { + _mission_raw->subscribe_mission_progress(nullptr); + prom.set_value(); + } + }); + + REQUIRE(_mission_raw->start_mission() == MissionRaw::Result::Success); + + REQUIRE(fut.wait_for(std::chrono::seconds(60)) == std::future_status::ready); +} + void AutopilotTester::wait_for_flight_mode(Telemetry::FlightMode flight_mode, std::chrono::seconds timeout) { auto prom = std::promise {}; @@ -781,3 +972,25 @@ void AutopilotTester::report_speed_factor() std::this_thread::sleep_for(std::chrono::milliseconds(100)); } } + +void AutopilotTester::enable_fixedwing_mectrics() +{ + CHECK(getTelemetry()->set_rate_fixedwing_metrics(10.f) == Telemetry::Result::Success); +} + +void AutopilotTester::check_airspeed_is_valid() +{ + // If the airspeed was invalidated during the flight, the airspeed is sent in the + // telemetry is NAN and stays so with the default parameter settings. + const Telemetry::FixedwingMetrics &metrics = getTelemetry()->fixedwing_metrics(); + REQUIRE(std::isfinite(metrics.airspeed_m_s)); +} + +void AutopilotTester::check_airspeed_is_invalid() +{ + // If the airspeed was invalidated during the flight, the airspeed is sent in the + // telemetry is NAN and stays so with the default parameter settings. + const Telemetry::FixedwingMetrics &metrics = getTelemetry()->fixedwing_metrics(); + std::cout << "Reported airspeed after failure: " << metrics.airspeed_m_s ; + REQUIRE(!std::isfinite(metrics.airspeed_m_s)); +} diff --git a/test/mavsdk_tests/autopilot_tester.h b/test/mavsdk_tests/autopilot_tester.h index bb4b826c0ee2..2586fd213ef8 100644 --- a/test/mavsdk_tests/autopilot_tester.h +++ b/test/mavsdk_tests/autopilot_tester.h @@ -39,6 +39,7 @@ #include #include #include +#include #include #include #include @@ -48,6 +49,7 @@ #include #include #include +#include #include #include #include @@ -108,6 +110,7 @@ class AutopilotTester void set_rtl_altitude(const float altitude_m); void set_height_source(HeightSource height_source); void set_rc_loss_exception(RcLossException mask); + void set_param_vt_fwd_thrust_en(int value); void arm(); void takeoff(); void land(); @@ -116,6 +119,7 @@ class AutopilotTester void wait_until_disarmed(std::chrono::seconds timeout_duration = std::chrono::seconds(60)); void wait_until_hovering(); // TODO: name suggests, that function waits for drone velocity to be zero and not just drone in the air void wait_until_altitude(float rel_altitude_m, std::chrono::seconds timeout); + void wait_until_fixedwing(std::chrono::seconds timeout); void wait_until_speed_lower_than(float speed, std::chrono::seconds timeout); void prepare_square_mission(MissionOptions mission_options); void prepare_straight_mission(MissionOptions mission_options); @@ -134,12 +138,23 @@ class AutopilotTester void offboard_land(); void fly_forward_in_posctl(); void fly_forward_in_altctl(); + void fly_forward_in_offboard_attitude(); void request_ground_truth(); void check_mission_item_speed_above(int item_index, float min_speed_m_s); void check_tracks_mission(float corridor_radius_m = 1.5f); + void check_tracks_mission_raw(float corridor_radius_m = 1.f, bool reverse = false); + void check_mission_land_within(float acceptance_radius_m); void start_checking_altitude(const float max_deviation_m); void stop_checking_altitude(); void check_current_altitude(float target_rel_altitude_m, float max_distance_m = 1.5f); + void execute_rtl_when_reaching_mission_sequence(int sequence_number); + void send_custom_mavlink_command(const MavlinkPassthrough::CommandInt &command); + void send_custom_mavlink_message(mavlink_message_t &message); + void add_mavlink_message_callback(uint16_t message_id, std::function< void(const mavlink_message_t &)> callback); + + void enable_fixedwing_mectrics(); + void check_airspeed_is_valid(); + void check_airspeed_is_invalid(); // Blocking call to get the drone's current position in NED frame std::array get_current_position_ned(); @@ -153,8 +168,12 @@ class AutopilotTester mavsdk::Param *getParams() const { return _param.get();} mavsdk::Telemetry *getTelemetry() const { return _telemetry.get();} mavsdk::ManualControl *getManualControl() const { return _manual_control.get();} + MavlinkPassthrough *getMavlinkPassthrough() const { return _mavlink_passthrough.get();} std::shared_ptr get_system() { return _mavsdk.systems().at(0);} - Telemetry::GroundTruth getHome() + mavsdk::geometry::CoordinateTransformation get_coordinate_transformation(); + bool ground_truth_horizontal_position_close_to(const Telemetry::GroundTruth &target_pos, float acceptance_radius_m); + + const Telemetry::GroundTruth &getHome() { // Check if home was stored before it is accessed CHECK(_home.absolute_altitude_m != NAN); @@ -189,17 +208,16 @@ class AutopilotTester } private: - mavsdk::geometry::CoordinateTransformation get_coordinate_transformation(); mavsdk::Mission::MissionItem create_mission_item( const mavsdk::geometry::CoordinateTransformation::LocalCoordinate &local_coordinate, const MissionOptions &mission_options, const mavsdk::geometry::CoordinateTransformation &ct); - bool ground_truth_horizontal_position_close_to(const Telemetry::GroundTruth &target_pos, float acceptance_radius_m); bool ground_truth_horizontal_position_far_from(const Telemetry::GroundTruth &target_pos, float min_distance_m); bool estimated_position_close_to(const Offboard::PositionNedYaw &target_pos, float acceptance_radius_m); bool estimated_horizontal_position_close_to(const Offboard::PositionNedYaw &target_pos, float acceptance_radius_m); - void start_and_wait_for_first_mission_item(); + void start_and_wait_for_mission_sequence(int sequence_number); + void start_and_wait_for_mission_sequence_raw(int sequence_number); void wait_for_flight_mode(Telemetry::FlightMode flight_mode, std::chrono::seconds timeout); void wait_for_landed_state(Telemetry::LandedState landed_state, std::chrono::seconds timeout); void wait_for_mission_finished(std::chrono::seconds timeout); @@ -270,6 +288,7 @@ class AutopilotTester std::unique_ptr _failure{}; std::unique_ptr _info{}; std::unique_ptr _manual_control{}; + std::unique_ptr _mavlink_passthrough; std::unique_ptr _mission{}; std::unique_ptr _mission_raw{}; std::unique_ptr _offboard{}; diff --git a/test/mavsdk_tests/autopilot_tester_figure_eight.cpp b/test/mavsdk_tests/autopilot_tester_figure_eight.cpp new file mode 100644 index 000000000000..402c72d3a2a5 --- /dev/null +++ b/test/mavsdk_tests/autopilot_tester_figure_eight.cpp @@ -0,0 +1,175 @@ + +/**************************************************************************** + * + * Copyright (c) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include "autopilot_tester_figure_eight.h" + +#include +#include +#include +#include + +#include +#include + +using namespace mavsdk::geometry; + +void AutopilotTesterFigureEight::execute_figure_eight() +{ + + MavlinkPassthrough::CommandInt figure_eight_command; + + auto ct = get_coordinate_transformation(); + const auto global_center = ct.global_from_local(_figure_eight.center); + + figure_eight_command.target_sysid = getMavlinkPassthrough()->get_target_sysid(); + figure_eight_command.target_compid = getMavlinkPassthrough()->get_target_compid(); + figure_eight_command.command = 35; // Figure eight command + figure_eight_command.frame = MAV_FRAME_GLOBAL_INT; + figure_eight_command.param1 = _figure_eight.major_axis; + figure_eight_command.param2 = _figure_eight.minor_axis; + figure_eight_command.param3 = NAN; + figure_eight_command.param4 = _figure_eight.orientation; + figure_eight_command.x = static_cast(global_center.latitude_deg * 1E7); + figure_eight_command.y = static_cast(global_center.longitude_deg * 1E7); + figure_eight_command.z = _figure_eight.alt; + + send_custom_mavlink_command(figure_eight_command); +} + +void AutopilotTesterFigureEight::set_figure_eight(const double major_axis, const double minor_axis, + const double orientation, const double home_offset_N, const double home_offset_E, const double rel_alt) +{ + _figure_eight.major_axis = major_axis; + _figure_eight.minor_axis = minor_axis; + _figure_eight.orientation = orientation; + _figure_eight.alt = getHome().absolute_altitude_m + rel_alt; + _figure_eight.center = {home_offset_N, home_offset_E}; +} + +void AutopilotTesterFigureEight::check_tracks_figure_eight(std::chrono::seconds timeout, double corridor_radius_m) +{ + auto prom = std::promise {}; + auto fut = prom.get_future(); + + const double cos_or = cos(_figure_eight.orientation); + const double sin_or = sin(_figure_eight.orientation); + + std::vector figure_eight_point_of_interest; + figure_eight_point_of_interest.push_back(_figure_eight.center); + figure_eight_point_of_interest.push_back({_figure_eight.center.north_m + cos_or * (abs(_figure_eight.major_axis) - _figure_eight.minor_axis) - sin_or * (- _figure_eight.minor_axis), _figure_eight.center.east_m + sin_or * (abs(_figure_eight.major_axis) - _figure_eight.minor_axis) + cos_or * (- _figure_eight.minor_axis)}); + figure_eight_point_of_interest.push_back({_figure_eight.center.north_m + cos_or * (abs(_figure_eight.major_axis)) - sin_or * 0., _figure_eight.center.east_m + sin_or * (abs(_figure_eight.major_axis)) + cos_or * 0.}); + figure_eight_point_of_interest.push_back({_figure_eight.center.north_m + cos_or * (abs(_figure_eight.major_axis) - _figure_eight.minor_axis) - sin_or * (_figure_eight.minor_axis), _figure_eight.center.east_m + sin_or * (abs(_figure_eight.major_axis) - _figure_eight.minor_axis) + cos_or * (_figure_eight.minor_axis)}); + figure_eight_point_of_interest.push_back({_figure_eight.center.north_m + cos_or * (-abs(_figure_eight.major_axis) + _figure_eight.minor_axis) - sin_or * (- _figure_eight.minor_axis), _figure_eight.center.east_m + sin_or * (-abs(_figure_eight.major_axis) + _figure_eight.minor_axis) + cos_or * (- _figure_eight.minor_axis)}); + figure_eight_point_of_interest.push_back({_figure_eight.center.north_m + cos_or * (-abs(_figure_eight.major_axis)) - sin_or * 0., _figure_eight.center.east_m + sin_or * (-abs(_figure_eight.major_axis)) + cos_or * (0.)}); + figure_eight_point_of_interest.push_back({_figure_eight.center.north_m + cos_or * (-abs(_figure_eight.major_axis) + _figure_eight.minor_axis) - sin_or * (+ _figure_eight.minor_axis), _figure_eight.center.east_m + sin_or * (-abs(_figure_eight.major_axis) + _figure_eight.minor_axis) + cos_or * (_figure_eight.minor_axis)}); + + std::vector order_to_fly; + + if (_figure_eight.major_axis > 0) { + order_to_fly = std::vector {0, 1, 2, 3, 0, 4, 5, 6, 0}; + + } else { + order_to_fly = std::vector {0, 3, 2, 1, 0, 6, 5, 4, 0}; + } + + getTelemetry()->subscribe_position_velocity_ned([&figure_eight_point_of_interest, &prom, corridor_radius_m, + &order_to_fly, this](Telemetry::PositionVelocityNed position_velocity_ned) { + static size_t index{0}; + int32_t close_index{-1}; + + for (size_t interest_point_index{0}; interest_point_index < figure_eight_point_of_interest.size(); + interest_point_index++) { + if ((abs(position_velocity_ned.position.north_m - figure_eight_point_of_interest[interest_point_index].north_m) < + corridor_radius_m) && + (abs(position_velocity_ned.position.east_m - figure_eight_point_of_interest[interest_point_index].east_m) < + corridor_radius_m)) { + close_index = static_cast(interest_point_index); + break; + } + } + + if (close_index >= 0) { + if (close_index == order_to_fly[index]) { // Still at the same point already found + // Do nothing + + } else if (close_index == order_to_fly[index + 1]) { // reached the next expected point + index++; + + } else { // reached an out of order point + + if (index > 0U) { // only set to false if we already hve passed the first center point + getTelemetry()->subscribe_position_velocity_ned(nullptr); + prom.set_value(false); + } + } + } + + if (index + 1 == order_to_fly.size()) { + getTelemetry()->subscribe_position_velocity_ned(nullptr); + prom.set_value(true); + } + }); + + REQUIRE(fut.wait_for(timeout) == std::future_status::ready); + CHECK(fut.get() == true); +} + +void AutopilotTesterFigureEight::check_receive_execution_status(std::chrono::seconds timeout) +{ + auto prom = std::promise {}; + auto fut = prom.get_future(); + + auto ct = get_coordinate_transformation(); + const auto global_center = ct.global_from_local(_figure_eight.center); + + add_mavlink_message_callback(MAVLINK_MSG_ID_FIGURE_EIGHT_EXECUTION_STATUS, [&prom, global_center, + this](const mavlink_message_t &message) { + add_mavlink_message_callback(MAVLINK_MSG_ID_FIGURE_EIGHT_EXECUTION_STATUS, nullptr); + mavlink_figure_eight_execution_status_t status_message; + + mavlink_msg_figure_eight_execution_status_decode(&message, &status_message); + CHECK(abs(status_message.major_radius - _figure_eight.major_axis) < 1E-4); + CHECK(abs(status_message.minor_radius - _figure_eight.minor_axis) < 1E-4); + CHECK(abs(status_message.orientation - _figure_eight.orientation) < 1E-7); + CHECK(status_message.x == static_cast(global_center.latitude_deg * 1E7)); + CHECK(status_message.y == static_cast(global_center.longitude_deg * 1E7)); + CHECK(abs(status_message.z - _figure_eight.alt) < 1E-4); + + prom.set_value(); + + return true; + }); + + REQUIRE(fut.wait_for(timeout) == std::future_status::ready); +} diff --git a/test/mavsdk_tests/autopilot_tester_figure_eight.h b/test/mavsdk_tests/autopilot_tester_figure_eight.h new file mode 100644 index 000000000000..17761d8d2bc3 --- /dev/null +++ b/test/mavsdk_tests/autopilot_tester_figure_eight.h @@ -0,0 +1,64 @@ +/**************************************************************************** + * + * Copyright (c) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#pragma once + +#include "autopilot_tester.h" + +#include +#include +#include + +class AutopilotTesterFigureEight : public AutopilotTester +{ +public: + AutopilotTesterFigureEight() = default; + ~AutopilotTesterFigureEight() = default; + + void set_figure_eight(double major_axis, double minor_axis, double orientation, double home_offset_N, + double home_offset_E, double rel_alt); + + void execute_figure_eight(); + void check_tracks_figure_eight(std::chrono::seconds timeout, double corridor_radius_m = 5.f); + void check_receive_execution_status(std::chrono::seconds timeout); + +private: + + struct { + double major_axis; + double minor_axis; + double orientation; + CoordinateTransformation::LocalCoordinate center; + double alt; + } _figure_eight; +}; diff --git a/test/mavsdk_tests/autopilot_tester_rtl.cpp b/test/mavsdk_tests/autopilot_tester_rtl.cpp new file mode 100644 index 000000000000..d24b59e90db3 --- /dev/null +++ b/test/mavsdk_tests/autopilot_tester_rtl.cpp @@ -0,0 +1,264 @@ + +/**************************************************************************** + * + * Copyright (c) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include "autopilot_tester_rtl.h" + +#include "math_helpers.h" +#include +#include +#include +#include +#include + +#include + + +void AutopilotTesterRtl::connect(const std::string uri) +{ + AutopilotTester::connect(uri); +} + +void AutopilotTesterRtl::set_rtl_type(int rtl_type) +{ + CHECK(getParams()->set_param_int("RTL_TYPE", rtl_type) == Param::Result::Success); +} + +void AutopilotTesterRtl::set_rtl_appr_force(int rtl_appr_force) +{ + CHECK(getParams()->set_param_int("RTL_APPR_FORCE", rtl_appr_force) == Param::Result::Success); +} + +void AutopilotTesterRtl::set_takeoff_land_requirements(int req) +{ + CHECK(getParams()->set_param_int("MIS_TKO_LAND_REQ", req) == Param::Result::Success); +} + +void AutopilotTesterRtl::upload_custom_mission(std::chrono::seconds timeout) +{ + std::promise prom; + auto fut = prom.get_future(); + + uint8_t mission_type = _custom_mission[0].mission_type; + // Register callback to mission item request. + add_mavlink_message_callback(MAVLINK_MSG_ID_MISSION_REQUEST_INT, [this, mission_type, + &prom](const mavlink_message_t &message) { + + mavlink_mission_request_int_t request_int_message; + mavlink_msg_mission_request_int_decode(&message, &request_int_message); + + if (request_int_message.mission_type == mission_type) { + // send requested element. + mavlink_message_t mission_item_int_mavlink_message; + mavlink_msg_mission_item_int_encode(getMavlinkPassthrough()->get_our_sysid(), getMavlinkPassthrough()->get_our_compid(), + &mission_item_int_mavlink_message, &(_custom_mission[request_int_message.seq])); + send_custom_mavlink_message(mission_item_int_mavlink_message); + + if (request_int_message.seq + 1U == _custom_mission.size()) { + add_mavlink_message_callback(MAVLINK_MSG_ID_MISSION_REQUEST_INT, nullptr); + prom.set_value(); + } + } + }); + + // send mission count + mavlink_mission_count_t mission_count_message; + mission_count_message.count = _custom_mission.size(); + mission_count_message.target_system = getMavlinkPassthrough()->get_target_sysid(); + mission_count_message.target_component = getMavlinkPassthrough()->get_target_compid(); + mission_count_message.mission_type = mission_type; + + mavlink_message_t mission_count_mavlink_message; + mavlink_msg_mission_count_encode(getMavlinkPassthrough()->get_our_sysid(), getMavlinkPassthrough()->get_our_compid(), + &mission_count_mavlink_message, &mission_count_message); + + send_custom_mavlink_message(mission_count_mavlink_message); + + REQUIRE(fut.wait_for(timeout) == std::future_status::ready); +} + +void AutopilotTesterRtl::add_home_to_rally_point() +{ + add_local_rally_point({0., 0.}); +} + +void AutopilotTesterRtl::add_home_with_approaches_to_rally_point() +{ + add_local_rally_point({0., 0.}); + add_approaches_to_point({0., 0.}); +} + +void AutopilotTesterRtl::add_local_rally_point(mavsdk::geometry::CoordinateTransformation::LocalCoordinate + local_coordinate) +{ + _rally_points.push_back(local_coordinate); + + mavsdk::geometry::CoordinateTransformation ct(get_coordinate_transformation()); + mavsdk::geometry::CoordinateTransformation::GlobalCoordinate pos(ct.global_from_local(local_coordinate)); + + // Set rally point + mavlink_mission_item_int_t tmp_mission_item; + tmp_mission_item.param1 = 0.f; + tmp_mission_item.param2 = 0.f; + tmp_mission_item.param3 = 0.f; + tmp_mission_item.param4 = 0.f; + tmp_mission_item.x = static_cast(pos.latitude_deg * 1E7); + tmp_mission_item.y = static_cast(pos.longitude_deg * 1E7); + tmp_mission_item.z = 0.f; + tmp_mission_item.seq = static_cast(_custom_mission.size()); + tmp_mission_item.command = MAV_CMD_NAV_RALLY_POINT; + tmp_mission_item.target_system = getMavlinkPassthrough()->get_target_sysid(); + tmp_mission_item.target_component = getMavlinkPassthrough()->get_target_compid(); + tmp_mission_item.frame = MAV_FRAME_GLOBAL_RELATIVE_ALT; + tmp_mission_item.current = 0; + tmp_mission_item.autocontinue = 0; + tmp_mission_item.mission_type = MAV_MISSION_TYPE_RALLY; + + _custom_mission.push_back(tmp_mission_item); +} + +void AutopilotTesterRtl::add_local_rally_with_approaches_point( + mavsdk::geometry::CoordinateTransformation::LocalCoordinate local_coordinate) +{ + add_local_rally_point(local_coordinate); + add_approaches_to_point(local_coordinate); +} + +void AutopilotTesterRtl::add_approaches_to_point(mavsdk::geometry::CoordinateTransformation::LocalCoordinate + local_coordinate) +{ + + mavsdk::geometry::CoordinateTransformation ct(get_coordinate_transformation()); + + // Set north loiter to alt + mavsdk::geometry::CoordinateTransformation::LocalCoordinate tmp_coordinate{local_coordinate}; + tmp_coordinate.north_m += 200.; + mavsdk::geometry::CoordinateTransformation::GlobalCoordinate pos(ct.global_from_local(tmp_coordinate)); + mavlink_mission_item_int_t tmp_mission_item; + tmp_mission_item.param1 = 0.f; + tmp_mission_item.param2 = 80.f; + tmp_mission_item.param3 = 0.f; + tmp_mission_item.param4 = 0.f; + tmp_mission_item.x = static_cast(pos.latitude_deg * 1E7); + tmp_mission_item.y = static_cast(pos.longitude_deg * 1E7); + tmp_mission_item.z = 15.f; + tmp_mission_item.seq = static_cast(_custom_mission.size()); + tmp_mission_item.command = MAV_CMD_NAV_LOITER_TO_ALT; + tmp_mission_item.target_system = getMavlinkPassthrough()->get_target_sysid(); + tmp_mission_item.target_component = getMavlinkPassthrough()->get_target_compid(); + tmp_mission_item.frame = MAV_FRAME_GLOBAL_RELATIVE_ALT; + tmp_mission_item.current = 0; + tmp_mission_item.autocontinue = 0; + tmp_mission_item.mission_type = MAV_MISSION_TYPE_RALLY; + + _custom_mission.push_back(tmp_mission_item); + + // Set east loiter to alt + tmp_coordinate = local_coordinate; + tmp_coordinate.east_m += 200.; + pos = ct.global_from_local(tmp_coordinate); + tmp_mission_item.x = static_cast(pos.latitude_deg * 1E7); + tmp_mission_item.y = static_cast(pos.longitude_deg * 1E7); + tmp_mission_item.seq = static_cast(_custom_mission.size()); + + _custom_mission.push_back(tmp_mission_item); +} + +void AutopilotTesterRtl::check_rally_point_within(float acceptance_radius_m) +{ + auto old_home(getHome()); + mavsdk::geometry::CoordinateTransformation ct({old_home.latitude_deg, old_home.longitude_deg}); + Telemetry::GroundTruth land_coord{}; + mavsdk::geometry::CoordinateTransformation::GlobalCoordinate pos; + bool within_rally_point{false}; + + for (const auto &rally_point : _rally_points) { + pos = ct.global_from_local(rally_point); + land_coord.latitude_deg = pos.latitude_deg; + land_coord.longitude_deg = pos.longitude_deg; + within_rally_point |= ground_truth_horizontal_position_close_to(land_coord, acceptance_radius_m); + } + + CHECK(within_rally_point); +} + +void AutopilotTesterRtl::check_rtl_approaches(float acceptance_radius_m, std::chrono::seconds timeout) +{ + auto prom = std::promise {}; + auto fut = prom.get_future(); + auto ct = get_coordinate_transformation(); + auto return_rtl_alt = getParams()->get_param_float("RTL_RETURN_ALT"); + auto descend_rtl_alt = getParams()->get_param_float("RTL_DESCEND_ALT"); + REQUIRE(return_rtl_alt.first == Param::Result::Success); + REQUIRE(descend_rtl_alt.first == Param::Result::Success); + + getTelemetry()->subscribe_position_velocity_ned([&prom, acceptance_radius_m, return_rtl_alt, descend_rtl_alt, ct, + this](Telemetry::PositionVelocityNed position_velocity_ned) { + + if ((-position_velocity_ned.position.down_m < return_rtl_alt.second - 3.) + && (position_velocity_ned.velocity.down_m_s > 0.05)) { + // We started to loiter down so we should be on the approach loiter + bool on_approach_loiter(false); + + for (const auto mission_item : _custom_mission) { + if (mission_item.command == MAV_CMD_NAV_LOITER_TO_ALT) { + mavsdk::geometry::CoordinateTransformation::LocalCoordinate pos(ct.local_from_global({static_cast(mission_item.x) / 1E7, static_cast(mission_item.y) / 1E7})); + double rel_distance_to_center = sqrt(sq(position_velocity_ned.position.north_m - pos.north_m) + sq( + position_velocity_ned.position.east_m - pos.east_m)); + + if ((rel_distance_to_center > (mission_item.param2 - acceptance_radius_m)) + && (rel_distance_to_center > (mission_item.param2 + acceptance_radius_m))) { + on_approach_loiter |= true; + + if (-position_velocity_ned.position.down_m < descend_rtl_alt.second + 3.) { + // We reached the altitude + getTelemetry()->subscribe_position_velocity_ned(nullptr); + prom.set_value(true); + return; + + } + } + } + } + + if (!on_approach_loiter) { + getTelemetry()->subscribe_position_velocity_ned(nullptr); + prom.set_value(false); + + } + } + }); + + REQUIRE(fut.wait_for(timeout) == std::future_status::ready); + REQUIRE(fut.get()); +} diff --git a/test/mavsdk_tests/autopilot_tester_rtl.h b/test/mavsdk_tests/autopilot_tester_rtl.h new file mode 100644 index 000000000000..eaa3c5fd9d0c --- /dev/null +++ b/test/mavsdk_tests/autopilot_tester_rtl.h @@ -0,0 +1,73 @@ +/**************************************************************************** + * + * Copyright (c) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#pragma once + +#include "autopilot_tester.h" + +#include + +#include +#include +#include + + +class AutopilotTesterRtl : public AutopilotTester +{ +public: + AutopilotTesterRtl() = default; + ~AutopilotTesterRtl() = default; + + void set_rtl_type(int rtl_type); + void set_rtl_appr_force(int rtl_appr_force); + void set_takeoff_land_requirements(int req); + void add_home_to_rally_point(); + void add_home_with_approaches_to_rally_point(); + void add_local_rally_point(mavsdk::geometry::CoordinateTransformation::LocalCoordinate local_coordinate); + void add_local_rally_with_approaches_point(mavsdk::geometry::CoordinateTransformation::LocalCoordinate + local_coordinate); + void connect(const std::string uri); + void check_rally_point_within(float acceptance_radius_m); + void check_rtl_approaches(float acceptance_radius_m, std::chrono::seconds timeout); + /* NOTE mavsdk mission upload should be used when possible. Only use this when uploading a mission which is not yet suppported by mavsdk. + * Used here to to test the new way of uploading approaches for rally points. */ + void upload_custom_mission(std::chrono::seconds timeout); + + +private: + void add_approaches_to_point(mavsdk::geometry::CoordinateTransformation::LocalCoordinate local_coordinate); + + std::unique_ptr _failure{}; + std::vector _custom_mission{}; + std::vector _rally_points{}; +}; diff --git a/test/mavsdk_tests/catch2/catch.hpp b/test/mavsdk_tests/catch2/catch.hpp index db1fed3b9813..71c863abeeb8 100644 --- a/test/mavsdk_tests/catch2/catch.hpp +++ b/test/mavsdk_tests/catch2/catch.hpp @@ -17963,4 +17963,3 @@ using Catch::Detail::Approx; // end catch_reenable_warnings.h // end catch.hpp #endif // TWOBLUECUBES_SINGLE_INCLUDE_CATCH_HPP_INCLUDED - diff --git a/test/mavsdk_tests/configs/sitl.json b/test/mavsdk_tests/configs/sitl.json index daff0aefc6c9..c2af766f2e95 100644 --- a/test/mavsdk_tests/configs/sitl.json +++ b/test/mavsdk_tests/configs/sitl.json @@ -7,13 +7,19 @@ { "model": "iris", "vehicle": "iris", - "test_filter": "[multicopter],[offboard]", + "test_filter": "[multicopter],[offboard][offboard_attitude]", + "timeout_min": 10 + }, + { + "model": "iris", + "vehicle": "iris", + "test_filter": "[offboard_attitude]", "timeout_min": 10 }, { "model": "standard_vtol", "vehicle": "standard_vtol", - "test_filter": "[vtol]", + "test_filter": "[vtol], [vtol_wind], [vtol_airspeed_fail]", "timeout_min": 10 }, { diff --git a/test/mavsdk_tests/math_helpers.h b/test/mavsdk_tests/math_helpers.h index 34817381efef..3f26d3aa1877 100644 --- a/test/mavsdk_tests/math_helpers.h +++ b/test/mavsdk_tests/math_helpers.h @@ -44,6 +44,20 @@ std::array get_local_mission_item(const Mission::MissionItem &item, const return {static_cast(local.north_m), static_cast(local.east_m), -item.relative_altitude_m}; } +template +std::array get_local_mission_item_from_raw_item(const mavsdk::MissionRaw::MissionItem &item, + const CoordinateTransformation &ct) +{ + using GlobalCoordinate = mavsdk::geometry::CoordinateTransformation::GlobalCoordinate; + GlobalCoordinate global; + global.latitude_deg = item.x / 1e7; + global.longitude_deg = item.y / 1e7; + + + auto local = ct.local_from_global(global); + return {static_cast(local.north_m), static_cast(local.east_m), -item.z}; +} + template T sq(T x) { diff --git a/test/mavsdk_tests/mavsdk_test_runner.py b/test/mavsdk_tests/mavsdk_test_runner.py index 47ccd62d58cb..785806d30869 100755 --- a/test/mavsdk_tests/mavsdk_test_runner.py +++ b/test/mavsdk_tests/mavsdk_test_runner.py @@ -7,6 +7,7 @@ import math import os import psutil # type: ignore +import re import signal import subprocess import sys @@ -402,6 +403,13 @@ def start_runners(self, if self.config['mode'] == 'sitl': if self.config['simulator'] == 'gazebo': + # Use RegEx to extract worldname.world from case name + match = re.search(r'\((.*?\.world)\)', case) + if match: + world_name = match.group(1) + else: + world_name = 'empty.world' + gzserver_runner = ph.GzserverRunner( os.getcwd(), log_dir, @@ -409,7 +417,8 @@ def start_runners(self, case, self.get_max_speed_factor(test), self.verbose, - self.build_dir) + self.build_dir, + world_name) self.active_runners.append(gzserver_runner) gzmodelspawn_runner = ph.GzmodelspawnRunner( @@ -444,6 +453,8 @@ def start_runners(self, self.debugger, self.verbose, self.build_dir) + for env_key in test.get('env', []): + px4_runner.env[env_key] = str(test['env'][env_key]) self.active_runners.append(px4_runner) mavsdk_tests_runner = ph.TestRunner( diff --git a/test/mavsdk_tests/process_helper.py b/test/mavsdk_tests/process_helper.py index fa6bc95b4e32..5c8701e39dac 100644 --- a/test/mavsdk_tests/process_helper.py +++ b/test/mavsdk_tests/process_helper.py @@ -221,7 +221,8 @@ def __init__(self, case: str, speed_factor: float, verbose: bool, - build_dir: str): + build_dir: str, + world_name: str): super().__init__(log_dir, model, case, verbose) self.name = "gzserver" self.cwd = workspace_dir @@ -234,7 +235,7 @@ def __init__(self, self.args = ["-o0", "-e0", "gzserver", "--verbose", os.path.join(workspace_dir, PX4_GAZEBO_WORLDS, - "empty.world")] + world_name)] def has_started_ok(self) -> bool: # Wait until gzerver has started and connected to gazebo master. diff --git a/test/mavsdk_tests/test_multicopter_failure_injection.cpp b/test/mavsdk_tests/test_multicopter_failure_injection.cpp index 75d804813282..d553ed759639 100644 --- a/test/mavsdk_tests/test_multicopter_failure_injection.cpp +++ b/test/mavsdk_tests/test_multicopter_failure_injection.cpp @@ -51,4 +51,3 @@ TEST_CASE("Failure Injection - Reject mid-air when it is disabled", "[multicopte std::chrono::seconds until_disarmed_timeout = std::chrono::seconds(180); tester.wait_until_disarmed(until_disarmed_timeout); } - diff --git a/test/mavsdk_tests/test_multicopter_manual.cpp b/test/mavsdk_tests/test_multicopter_manual.cpp index 951f0f241653..34fa8b435167 100644 --- a/test/mavsdk_tests/test_multicopter_manual.cpp +++ b/test/mavsdk_tests/test_multicopter_manual.cpp @@ -38,9 +38,6 @@ TEST_CASE("Fly forward in position control", "[multicopter][vtol]") { AutopilotTester tester; tester.connect(connection_url); - tester.wait_until_ready(); - tester.store_home(); - tester.arm(); tester.fly_forward_in_posctl(); std::chrono::seconds until_disarmed_timeout = std::chrono::seconds(180); tester.wait_until_disarmed(until_disarmed_timeout); @@ -51,9 +48,6 @@ TEST_CASE("Fly forward in altitude control", "[multicopter][vtol]") { AutopilotTester tester; tester.connect(connection_url); - tester.wait_until_ready(); - tester.store_home(); - tester.arm(); tester.fly_forward_in_altctl(); std::chrono::seconds until_disarmed_timeout = std::chrono::seconds(180); tester.wait_until_disarmed(until_disarmed_timeout); diff --git a/test/mavsdk_tests/test_multicopter_offboard.cpp b/test/mavsdk_tests/test_multicopter_offboard.cpp index b8984d4207e9..84d75ad049c8 100644 --- a/test/mavsdk_tests/test_multicopter_offboard.cpp +++ b/test/mavsdk_tests/test_multicopter_offboard.cpp @@ -34,6 +34,7 @@ #include "autopilot_tester.h" #include +static constexpr float acceptance_radius = 0.3f; TEST_CASE("Offboard takeoff and land", "[multicopter][offboard]") { @@ -45,10 +46,10 @@ TEST_CASE("Offboard takeoff and land", "[multicopter][offboard]") tester.set_rc_loss_exception(AutopilotTester::RcLossException::Offboard); tester.arm(); std::chrono::seconds goto_timeout = std::chrono::seconds(90); - tester.offboard_goto(takeoff_position, 0.1f, goto_timeout); + tester.offboard_goto(takeoff_position, acceptance_radius, goto_timeout); tester.offboard_land(); tester.wait_until_disarmed(std::chrono::seconds(120)); - tester.check_home_within(1.0f); + tester.check_home_within(2.0f); } TEST_CASE("Offboard position control", "[multicopter][offboard]") @@ -63,13 +64,22 @@ TEST_CASE("Offboard position control", "[multicopter][offboard]") tester.store_home(); tester.set_rc_loss_exception(AutopilotTester::RcLossException::Offboard); tester.arm(); - std::chrono::seconds goto_timeout = std::chrono::seconds(120); - tester.offboard_goto(takeoff_position, 0.1f, goto_timeout); - tester.offboard_goto(setpoint_1, 0.1f, goto_timeout); - tester.offboard_goto(setpoint_2, 0.1f, goto_timeout); - tester.offboard_goto(setpoint_3, 0.1f, goto_timeout); - tester.offboard_goto(takeoff_position, 0.1f, goto_timeout); + std::chrono::seconds goto_timeout = std::chrono::seconds(10); + tester.offboard_goto(takeoff_position, acceptance_radius, goto_timeout); + tester.offboard_goto(setpoint_1, acceptance_radius, goto_timeout); + tester.offboard_goto(setpoint_2, acceptance_radius, goto_timeout); + tester.offboard_goto(setpoint_3, acceptance_radius, goto_timeout); + tester.offboard_goto(takeoff_position, acceptance_radius, goto_timeout); tester.offboard_land(); tester.wait_until_disarmed(std::chrono::seconds(120)); - tester.check_home_within(1.0f); + tester.check_home_within(2.0f); +} + +TEST_CASE("Offboard attitude control", "[multicopter][offboard_attitude]") +{ + AutopilotTester tester; + tester.connect(connection_url); + tester.set_rc_loss_exception(AutopilotTester::RcLossException::Offboard); + tester.fly_forward_in_offboard_attitude(); + tester.wait_until_disarmed(std::chrono::seconds(120)); } diff --git a/test/mavsdk_tests/test_vtol_figure_eight.cpp b/test/mavsdk_tests/test_vtol_figure_eight.cpp new file mode 100644 index 000000000000..4c9e01e4b36b --- /dev/null +++ b/test/mavsdk_tests/test_vtol_figure_eight.cpp @@ -0,0 +1,83 @@ +/**************************************************************************** + * + * Copyright (c) 2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include "autopilot_tester_figure_eight.h" + +#include +#include + +TEST_CASE("Figure eight execution clockwise", "[vtol]") +{ + AutopilotTesterFigureEight tester; + tester.connect(connection_url); + tester.wait_until_ready(); + tester.store_home(); + const float takeoff_altitude = 20.f; + tester.set_takeoff_altitude(takeoff_altitude); + std::this_thread::sleep_for(std::chrono::seconds(3)); + tester.arm(); + tester.takeoff(); + tester.wait_until_hovering(); + tester.wait_until_altitude(takeoff_altitude, std::chrono::seconds(30)); + tester.transition_to_fixedwing(); + tester.wait_until_fixedwing(std::chrono::seconds(5)); + std::this_thread::sleep_for(std::chrono::seconds(1)); + tester.set_figure_eight(150., 50., 0., 200., 0., 20.); + tester.execute_figure_eight(); + tester.check_tracks_figure_eight(std::chrono::seconds(120), 10.); + // tester.check_receive_execution_status(std::chrono::seconds( + // 5)); //TODO With mavsdk we can't subscribe to custom messages. Need to wait until messages are recognised by mavsdk +} + +TEST_CASE("Figure eight execution counterclockwise", "[vtol]") +{ + AutopilotTesterFigureEight tester; + tester.connect(connection_url); + tester.wait_until_ready(); + tester.store_home(); + const float takeoff_altitude = 20.f; + tester.set_takeoff_altitude(takeoff_altitude); + std::this_thread::sleep_for(std::chrono::seconds(3)); + tester.arm(); + tester.takeoff(); + tester.wait_until_hovering(); + tester.wait_until_altitude(takeoff_altitude, std::chrono::seconds(30)); + tester.transition_to_fixedwing(); + tester.wait_until_fixedwing(std::chrono::seconds(5)); + std::this_thread::sleep_for(std::chrono::seconds(1)); + tester.set_figure_eight(-150., 50., 30.*M_PI / 180., 200., 0., 20.); + tester.execute_figure_eight(); + tester.check_tracks_figure_eight(std::chrono::seconds(120), 10.); + // tester.check_receive_execution_status(std::chrono::seconds( + // 5)); //TODO With mavsdk we can't subscribe to custom messages. Need to wait until messages are recognised by mavsdk. +} diff --git a/test/mavsdk_tests/test_vtol_loiter_airspeed_failure_blockage.cpp b/test/mavsdk_tests/test_vtol_loiter_airspeed_failure_blockage.cpp new file mode 100644 index 000000000000..5dafefe71443 --- /dev/null +++ b/test/mavsdk_tests/test_vtol_loiter_airspeed_failure_blockage.cpp @@ -0,0 +1,67 @@ +/**************************************************************************** + * + * Copyright (c) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include "autopilot_tester.h" +#include "autopilot_tester_failure.h" + + +TEST_CASE("Fly VTOL Loiter with airspeed failure", "[vtol_airspeed_fail]") +{ + AutopilotTesterFailure tester; + tester.connect(connection_url); + tester.wait_until_ready(); + + tester.enable_fixedwing_mectrics(); + + // configuration + const float takeoff_altitude = 10.f; + tester.set_takeoff_altitude(takeoff_altitude); + + tester.load_qgc_mission_raw_and_move_here("test/mavsdk_tests/vtol_mission.plan"); + tester.arm(); + + tester.takeoff(); + tester.wait_until_altitude(takeoff_altitude, std::chrono::seconds(30)); + tester.transition_to_fixedwing(); + + + // tester.wait_until_altitude(50.f, std::chrono::seconds(30)); + std::this_thread::sleep_for(std::chrono::seconds(10)); + tester.inject_failure(mavsdk::Failure::FailureUnit::SensorAirspeed, mavsdk::Failure::FailureType::Wrong, 0, + mavsdk::Failure::Result::Success); + + + std::this_thread::sleep_for(std::chrono::seconds(10)); + + tester.check_airspeed_is_invalid(); // it's enough to check once after landing, as invalidation is permanent +} diff --git a/test/mavsdk_tests/test_vtol_mission_wind.cpp b/test/mavsdk_tests/test_vtol_mission_wind.cpp new file mode 100644 index 000000000000..f7df5035b654 --- /dev/null +++ b/test/mavsdk_tests/test_vtol_mission_wind.cpp @@ -0,0 +1,52 @@ +/**************************************************************************** + * + * Copyright (c) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include "autopilot_tester.h" + + +TEST_CASE("Fly VTOL mission with wind change (ramped_up_wind.world)", "[vtol_wind]") +{ + AutopilotTester tester; + tester.connect(connection_url); + tester.wait_until_ready(); + + tester.set_param_vt_fwd_thrust_en(1); // disable in land to be more robust in wind (less lift) + tester.enable_fixedwing_mectrics(); + + tester.load_qgc_mission_raw_and_move_here("test/mavsdk_tests/vtol_mission_straight_south.plan"); + tester.arm(); + tester.execute_mission_raw(); + tester.wait_until_disarmed(); + + tester.check_airspeed_is_valid(); // it's enough to check once after landing, as invalidation is permanent +} diff --git a/test/mavsdk_tests/test_vtol_rtl.cpp b/test/mavsdk_tests/test_vtol_rtl.cpp new file mode 100644 index 000000000000..c98a3cd3ef62 --- /dev/null +++ b/test/mavsdk_tests/test_vtol_rtl.cpp @@ -0,0 +1,229 @@ +/**************************************************************************** + * + * Copyright (c) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include "autopilot_tester_rtl.h" + +TEST_CASE("RTL direct Home", "[vtol]") +{ + AutopilotTesterRtl tester; + tester.connect(connection_url); + tester.wait_until_ready(); + tester.store_home(); + tester.load_qgc_mission_raw_and_move_here("test/mavsdk_tests/vtol_mission_with_land_start.plan"); + // fly directly to home position + tester.set_rtl_type(0); + tester.set_rtl_appr_force(0); + tester.arm(); + tester.execute_rtl_when_reaching_mission_sequence(2); + tester.wait_until_disarmed(std::chrono::seconds(120)); + tester.check_home_within(5.0f); +} + +TEST_CASE("RTL direct Mission Land", "[vtol]") +{ + AutopilotTesterRtl tester; + tester.connect(connection_url); + tester.wait_until_ready(); + tester.store_home(); + tester.load_qgc_mission_raw_and_move_here("test/mavsdk_tests/vtol_mission_with_land_start.plan"); + // Do not allow home + tester.set_rtl_type(1); + tester.arm(); + tester.execute_rtl_when_reaching_mission_sequence(2); + tester.wait_until_disarmed(std::chrono::seconds(120)); + tester.check_mission_land_within(5.0f); +} + +TEST_CASE("RTL with Mission Landing", "[vtol]") +{ + AutopilotTesterRtl tester; + tester.connect(connection_url); + tester.wait_until_ready(); + tester.load_qgc_mission_raw_and_move_here("test/mavsdk_tests/vtol_mission.plan"); + // Vehicle should follow the mission and use the mission landing + tester.set_rtl_type(2); + tester.arm(); + tester.execute_rtl_when_reaching_mission_sequence(2); + tester.check_tracks_mission_raw(40.0f); + tester.wait_until_disarmed(std::chrono::seconds(120)); +} + +TEST_CASE("RTL with Reverse Mission", "[vtol]") +{ + AutopilotTesterRtl tester; + tester.connect(connection_url); + tester.wait_until_ready(); + tester.set_takeoff_land_requirements(0); + tester.load_qgc_mission_raw_and_move_here("test/mavsdk_tests/vtol_mission_without_landing.plan"); + // vehicle should follow the mission in reverse and land at the home position // TODO enable checks again if MAVSDK can handle mission in reverse order + tester.set_rtl_type(2); + tester.arm(); + tester.execute_rtl_when_reaching_mission_sequence(6); + //tester.check_tracks_mission_raw(35.0f); + tester.wait_until_disarmed(std::chrono::seconds(120)); +} + +TEST_CASE("RTL direct home without approaches", "[vtol]") +{ + AutopilotTesterRtl tester; + tester.connect(connection_url); + tester.wait_until_ready(); + tester.store_home(); + tester.load_qgc_mission_raw_and_move_here("test/mavsdk_tests/vtol_mission_with_land_start.plan"); + // fly directly to home position + tester.set_rtl_type(0); + tester.set_rtl_appr_force(0); + // reupload rally points with approaches + tester.add_home_to_rally_point(); + tester.upload_custom_mission(std::chrono::seconds(10)); + tester.arm(); + tester.execute_rtl_when_reaching_mission_sequence(4); + tester.wait_until_disarmed(std::chrono::seconds(150)); + tester.check_home_within(5.0f); +} + +TEST_CASE("RTL direct home without approaches forced", "[vtol]") +{ + AutopilotTesterRtl tester; + tester.connect(connection_url); + tester.wait_until_ready(); + tester.store_home(); + tester.load_qgc_mission_raw_and_move_here("test/mavsdk_tests/vtol_mission_with_land_start.plan"); + // fly directly to home position + tester.set_rtl_type(0); + tester.set_rtl_appr_force(1); + // reupload rally points with approaches + tester.add_home_to_rally_point(); + tester.upload_custom_mission(std::chrono::seconds(10)); + tester.arm(); + tester.execute_rtl_when_reaching_mission_sequence(4); + tester.wait_until_disarmed(std::chrono::seconds(150)); + tester.check_mission_land_within(5.f); +} + +TEST_CASE("RTL direct home with approaches", "[vtol]") +{ + AutopilotTesterRtl tester; + tester.connect(connection_url); + tester.wait_until_ready(); + tester.store_home(); + tester.load_qgc_mission_raw_and_move_here("test/mavsdk_tests/vtol_mission_with_land_start.plan"); + // fly directly to home position + tester.set_rtl_type(0); + // reupload rally points with approaches + tester.add_home_with_approaches_to_rally_point(); + tester.upload_custom_mission(std::chrono::seconds(10)); + tester.arm(); + tester.execute_rtl_when_reaching_mission_sequence(4); + tester.check_rtl_approaches(5., std::chrono::seconds(60)); + tester.wait_until_disarmed(std::chrono::seconds(150)); + tester.check_home_within(5.0f); +} + +TEST_CASE("RTL direct home not as rally point", "[vtol]") +{ + AutopilotTesterRtl tester; + tester.connect(connection_url); + tester.wait_until_ready(); + tester.store_home(); + tester.load_qgc_mission_raw_and_move_here("test/mavsdk_tests/vtol_mission_with_land_start.plan"); + // fly directly to home position + tester.set_rtl_type(1); + // reupload rally points with approaches + tester.add_home_with_approaches_to_rally_point(); + tester.upload_custom_mission(std::chrono::seconds(10)); + tester.arm(); + tester.execute_rtl_when_reaching_mission_sequence(2); + tester.wait_until_disarmed(std::chrono::seconds(150)); + tester.check_mission_land_within(5.0f); +} + +TEST_CASE("RTL direct rally without approaches", "[vtol]") +{ + AutopilotTesterRtl tester; + tester.connect(connection_url); + tester.wait_until_ready(); + tester.store_home(); + tester.load_qgc_mission_raw_and_move_here("test/mavsdk_tests/vtol_mission_with_land_start.plan"); + // Do not allow home position + tester.set_rtl_type(1); + tester.set_rtl_appr_force(0); + // reupload rally points with approaches + tester.add_local_rally_point({100., -200.}); + tester.upload_custom_mission(std::chrono::seconds(10)); + tester.arm(); + tester.execute_rtl_when_reaching_mission_sequence(3); + tester.wait_until_disarmed(std::chrono::seconds(150)); + tester.check_rally_point_within(5.0f); + tester.check_home_not_within(20.); +} + +TEST_CASE("RTL direct rally without approaches forced", "[vtol]") +{ + AutopilotTesterRtl tester; + tester.connect(connection_url); + tester.wait_until_ready(); + tester.store_home(); + tester.load_qgc_mission_raw_and_move_here("test/mavsdk_tests/vtol_mission_with_land_start.plan"); + // Do not allow home position + tester.set_rtl_type(1); + tester.set_rtl_appr_force(1); + // reupload rally points with approaches + tester.add_local_rally_point({100., -2000.}); + tester.upload_custom_mission(std::chrono::seconds(10)); + tester.arm(); + tester.execute_rtl_when_reaching_mission_sequence(3); + tester.wait_until_disarmed(std::chrono::seconds(150)); + tester.check_mission_land_within(5.f); +} + +TEST_CASE("RTL direct rally with approaches", "[vtol]") +{ + AutopilotTesterRtl tester; + tester.connect(connection_url); + tester.wait_until_ready(); + tester.store_home(); + tester.load_qgc_mission_raw_and_move_here("test/mavsdk_tests/vtol_mission_with_land_start.plan"); + // Do not allow home position + tester.set_rtl_type(1); + tester.set_rtl_appr_force(0); + // reupload rally points with approaches + tester.add_local_rally_with_approaches_point({100., -200.}); + tester.upload_custom_mission(std::chrono::seconds(10)); + tester.arm(); + tester.execute_rtl_when_reaching_mission_sequence(3); + tester.check_rtl_approaches(5., std::chrono::seconds(60)); + tester.wait_until_disarmed(std::chrono::seconds(150)); + tester.check_rally_point_within(5.0f); + tester.check_home_not_within(20.); +} diff --git a/test/mavsdk_tests/vtol_mission_straight_south.plan b/test/mavsdk_tests/vtol_mission_straight_south.plan new file mode 100644 index 000000000000..fa6d37472b7a --- /dev/null +++ b/test/mavsdk_tests/vtol_mission_straight_south.plan @@ -0,0 +1,73 @@ +{ + "UUID": "6c95e3a0dedfb83ac6a4c3711fa182224c31dba9", + "fileType": "Plan", + "geoFence": { + "circles": [ + ], + "polygons": [ + ], + "version": 2 + }, + "groundStation": "QGroundControl", + "mission": { + "cruiseSpeed": 15, + "firmwareType": 12, + "globalPlanAltitudeMode": 1, + "hoverSpeed": 5, + "items": [ + { + "AMSLAltAboveTerrain": null, + "Altitude": 30, + "AltitudeMode": 1, + "MISSION_ITEM_ID": "1", + "autoContinue": true, + "command": 84, + "doJumpId": 1, + "frame": 3, + "params": [ + 0, + 0, + 0, + null, + 47.39712597967924, + 8.545720879548579, + 30 + ], + "type": "SimpleItem" + }, + { + "AMSLAltAboveTerrain": null, + "Altitude": 30, + "AltitudeMode": 1, + "MISSION_ITEM_ID": "2", + "autoContinue": true, + "command": 21, + "doJumpId": 2, + "frame": 3, + "params": [ + 0, + 0, + 0, + null, + 47.392, + 8.54578066404548, + 30 + ], + "type": "SimpleItem" + } + ], + "plannedHomePosition": [ + 47.3977508, + 8.5456074, + 488.145 + ], + "vehicleType": 20, + "version": 2 + }, + "rallyPoints": { + "points": [ + ], + "version": 2 + }, + "version": 1 +} diff --git a/test/mavsdk_tests/vtol_mission_with_land_start.plan b/test/mavsdk_tests/vtol_mission_with_land_start.plan new file mode 100644 index 000000000000..4438190d1e2a --- /dev/null +++ b/test/mavsdk_tests/vtol_mission_with_land_start.plan @@ -0,0 +1,203 @@ +{ + "fileType": "Plan", + "geoFence": { + "circles": [ + ], + "polygons": [ + ], + "version": 2 + }, + "groundStation": "QGroundControl", + "mission": { + "cruiseSpeed": 15, + "firmwareType": 12, + "globalPlanAltitudeMode": 1, + "hoverSpeed": 5, + "items": [ + { + "AMSLAltAboveTerrain": 20, + "Altitude": 20, + "AltitudeMode": 1, + "autoContinue": true, + "command": 84, + "doJumpId": 1, + "frame": 3, + "params": [ + 0, + 0, + 0, + null, + 47.39833113265167, + 8.545508725338607, + 20 + ], + "type": "SimpleItem" + }, + { + "AMSLAltAboveTerrain": 20, + "Altitude": 20, + "AltitudeMode": 1, + "autoContinue": true, + "command": 16, + "doJumpId": 2, + "frame": 3, + "params": [ + 0, + 0, + 0, + null, + 47.399332700068925, + 8.54481499384454, + 20 + ], + "type": "SimpleItem" + }, + { + "AMSLAltAboveTerrain": 30, + "Altitude": 30, + "AltitudeMode": 1, + "autoContinue": true, + "command": 16, + "doJumpId": 3, + "frame": 3, + "params": [ + 0, + 0, + 0, + null, + 47.39908888031702, + 8.54344001880591, + 30 + ], + "type": "SimpleItem" + }, + { + "AMSLAltAboveTerrain": 30, + "Altitude": 30, + "AltitudeMode": 1, + "autoContinue": true, + "command": 16, + "doJumpId": 4, + "frame": 3, + "params": [ + 0, + 0, + 0, + null, + 47.39760160279815, + 8.542394178137585, + 30 + ], + "type": "SimpleItem" + }, + { + "AMSLAltAboveTerrain": 30, + "Altitude": 30, + "AltitudeMode": 1, + "autoContinue": true, + "command": 16, + "doJumpId": 5, + "frame": 3, + "params": [ + 0, + 0, + 0, + null, + 47.396941861414504, + 8.54282818797708, + 30 + ], + "type": "SimpleItem" + }, + { + "AMSLAltAboveTerrain": 30, + "Altitude": 30, + "AltitudeMode": 1, + "autoContinue": true, + "command": 16, + "doJumpId": 6, + "frame": 3, + "params": [ + 0, + 0, + 0, + null, + 47.396686401111786, + 8.544419333554089, + 30 + ], + "type": "SimpleItem" + }, + { + "AMSLAltAboveTerrain": 15, + "Altitude": 15, + "AltitudeMode": 1, + "autoContinue": true, + "command": 189, + "doJumpId": 7, + "frame": 2, + "params": [ + 1, + -40, + 1, + null, + 47.39697211349564, + 8.545053363814125, + 15 + ], + "type": "SimpleItem" + }, + { + "AMSLAltAboveTerrain": 15, + "Altitude": 15, + "AltitudeMode": 1, + "autoContinue": true, + "command": 31, + "doJumpId": 8, + "frame": 3, + "params": [ + 1, + -40, + 1, + null, + 47.39697211349564, + 8.545053363814125, + 15 + ], + "type": "SimpleItem" + }, + { + "AMSLAltAboveTerrain": 15, + "Altitude": 15, + "AltitudeMode": 1, + "autoContinue": true, + "command": 85, + "doJumpId": 9, + "frame": 3, + "params": [ + 0, + 0, + 15, + null, + 47.3976926, + 8.54600971, + 0 + ], + "type": "SimpleItem" + } + ], + "plannedHomePosition": [ + 47.39775218584113, + 8.545620889782981, + 489.0021493051957 + ], + "vehicleType": 20, + "version": 2 + }, + "rallyPoints": { + "points": [ + ], + "version": 2 + }, + "version": 1 +} diff --git a/test/mavsdk_tests/vtol_mission_without_landing.plan b/test/mavsdk_tests/vtol_mission_without_landing.plan new file mode 100644 index 000000000000..e52e3f6fa4a8 --- /dev/null +++ b/test/mavsdk_tests/vtol_mission_without_landing.plan @@ -0,0 +1,184 @@ +{ + "fileType": "Plan", + "geoFence": { + "circles": [ + ], + "polygons": [ + ], + "version": 2 + }, + "groundStation": "QGroundControl", + "mission": { + "cruiseSpeed": 15, + "firmwareType": 12, + "globalPlanAltitudeMode": 1, + "hoverSpeed": 5, + "items": [ + { + "AMSLAltAboveTerrain": 20, + "Altitude": 20, + "AltitudeMode": 1, + "autoContinue": true, + "command": 84, + "doJumpId": 1, + "frame": 3, + "params": [ + 0, + 0, + 0, + null, + 47.39833113265167, + 8.545508725338607, + 20 + ], + "type": "SimpleItem" + }, + { + "AMSLAltAboveTerrain": 20, + "Altitude": 20, + "AltitudeMode": 1, + "autoContinue": true, + "command": 16, + "doJumpId": 2, + "frame": 3, + "params": [ + 0, + 0, + 0, + null, + 47.399332700068925, + 8.54481499384454, + 20 + ], + "type": "SimpleItem" + }, + { + "AMSLAltAboveTerrain": 30, + "Altitude": 30, + "AltitudeMode": 1, + "autoContinue": true, + "command": 16, + "doJumpId": 3, + "frame": 3, + "params": [ + 0, + 0, + 0, + null, + 47.39908888031702, + 8.54344001880591, + 30 + ], + "type": "SimpleItem" + }, + { + "AMSLAltAboveTerrain": 30, + "Altitude": 30, + "AltitudeMode": 1, + "autoContinue": true, + "command": 16, + "doJumpId": 4, + "frame": 3, + "params": [ + 0, + 0, + 0, + null, + 47.39760160279815, + 8.542394178137585, + 30 + ], + "type": "SimpleItem" + }, + { + "AMSLAltAboveTerrain": 30, + "Altitude": 30, + "AltitudeMode": 1, + "autoContinue": true, + "command": 16, + "doJumpId": 5, + "frame": 3, + "params": [ + 0, + 0, + 0, + null, + 47.396941861414504, + 8.54282818797708, + 30 + ], + "type": "SimpleItem" + }, + { + "AMSLAltAboveTerrain": 30, + "Altitude": 30, + "AltitudeMode": 1, + "autoContinue": true, + "command": 16, + "doJumpId": 6, + "frame": 3, + "params": [ + 0, + 0, + 0, + null, + 47.396686401111786, + 8.544419333554089, + 30 + ], + "type": "SimpleItem" + }, + { + "AMSLAltAboveTerrain": 30, + "Altitude": 30, + "AltitudeMode": 1, + "autoContinue": true, + "command": 16, + "doJumpId": 7, + "frame": 3, + "params": [ + 0, + 0, + 0, + null, + 47.397202447861446, + 8.545440338322464, + 30 + ], + "type": "SimpleItem" + }, + { + "AMSLAltAboveTerrain": 20, + "Altitude": 20, + "AltitudeMode": 1, + "autoContinue": true, + "command": 16, + "doJumpId": 8, + "frame": 3, + "params": [ + 0, + 0, + 0, + null, + 47.39766309343905, + 8.545713820298545, + 20 + ], + "type": "SimpleItem" + } + ], + "plannedHomePosition": [ + 47.39775218584113, + 8.545620889782981, + 489.0021493051957 + ], + "vehicleType": 20, + "version": 2 + }, + "rallyPoints": { + "points": [ + ], + "version": 2 + }, + "version": 1 +} diff --git a/validation/module_schema.yaml b/validation/module_schema.yaml index 6d733a6e519a..1e1baa103707 100644 --- a/validation/module_schema.yaml +++ b/validation/module_schema.yaml @@ -142,17 +142,17 @@ parameters: # (Extend this list as needed) type: string allowed: [ - '%', 'Hz', 'mAh', + '%', 'Hz', '1/s', 'mAh', 'rad', '%/rad', 'rad/s', 'rad/s^2', '%/rad/s', 'rad s^2/m','rad s/m', 'bit/s', 'B/s', - 'deg', 'deg*1e7', 'deg/s', + 'deg', 'deg*1e7', 'deg/s', 'deg/s^2', 'celcius', 'gauss', 'gauss/s', 'mgauss', 'mgauss^2', - 'hPa', 'kg', 'kg/m^2', 'kg m^2', - 'mm', 'm', 'm/s', 'm^2', 'm/s^2', 'm/s^3', 'm/s^2/sqrt(Hz)', 'm/s/rad', + 'hPa', 'kg', 'kg/m^2', 'kg m^2', 'kg/m^3', + 'mm', 'm', 'm/s', 'm^2', 'm/s^2', 'm/s^3', 'm/s^2/sqrt(Hz)', 'm/s/rad', 'g0', 'Ohm', 'V', 'A', 'us', 'ms', 's', 'S', 'A/%', '(m/s^2)^2', 'm/m', 'tan(rad)^2', '(m/s)^2', 'm/rad', - 'm/s^3/sqrt(Hz)', 'm/s/sqrt(Hz)', 's/(1000*PWM)', '%m/s', 'min', 'us/C', + 'm/s^3/sqrt(Hz)', 'm/s/sqrt(Hz)', 's/(1000*PWM)', '%m/s', 'min', 'us/C', 'N/(m/s)', 'Nm/(rad/s)', 'Nm', 'N', 'rpm', 'normalized_thrust/s', 'normalized_thrust', 'norm', 'SD'] @@ -590,5 +590,3 @@ mixer: minlength: 3 maxlength: 3 type: number - -